Electrical and PLC 24t

0 1 2 3 4 5 6 7 8 9
ELECTRICAL DIAGRAMS
ADDITIONAL INFORMATION:
POWER SUPPLY:
- TOUCH PANEL IN FRONT OF CRANE OPERATOR
Power Supply: 400V-50HZ - EWON REMOTE CONNECTION
© Talleres JASO Industrial, S.L. All rights of exploitation in any form and by any means reserved. The content of this document may not be reproduced, even extracts, unless permission is granted. DIN 34
- SOUND AND LIGHTS ALARMS

Control Voltage: 110V-50HZ - ACCESS LIGHTING WITH LED FLUORESCENTS
- 50°C MAXIMUN TEMPERATURE HAS BEEN CONSIDERED
Auxiliary Services Voltage 220V-50HZ - MAGNET
- GRAB
CHARACTERISTICS:
Command: CABIN + RADIO COMMAND
Cabinet: E-ROOM
Plug + Side: 32 PINS PLUG
WIRING IN ENCLOSURE:
PARALLEL CONNECTION BEFORE MAIN SWITCH ORANGE
WIRING OF POWER BLACK
WIRING OF A. SERVICES BLACK
WIRING OF COMMAND RED
WIRING OF DIGITAL INPUTS BLUE
WIRING OF COIL'S COMMON COMMAND WHITE
NOTE: ALL WIRES LABELED ACCORDING TO DRAWINGS

A CREATION 52223-52224 20/09/2016 Jokin
NOTE: REGULATION PROTECTIONS ENGINE ACCORDING TO IN MOTOR REVISION REFERENCE DATE DONE
E.M. APPROVED IASCO - IRAN ALLOY STEEL CO. INVALIDATES / REPLACES TO: REV A3
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
YAZD (IRAN) SHEET Nº: 1 CONTINUES: 2 REV: A
A DATE 2 CRANES 24T SPAN 40M DOCUMENT REFERENCE:
INITIAL ISSUE REASON COVER OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
MOTORS BRAKES
* MOVEMENTS CRANE COMMAND
CONTROLLER
KW R.P.M. IN(A) BRAND SPEED (mpm) SYSTEM BRAND
2 LIFTING 110 1487 194 ABB 0..16 ELECTRO-HYDRAULIC SIBRE DRIVER (TEE ATV71)
4 LONG TRAVEL 2x37 985 2x69,8 ABB 0..80 ELECTRO-HYDRAULIC SIBRE DRIVER (TEE ATV71)
CABIN + RADIO COMMAND

5 CROSS TRAVEL 2x3 1456 2x6,4 SEW 0..40 ELECTROMAGNET SEW DRIVER (TEE ATV71)
6 GRAB 51 - 94 BLUG PROGRESSIVE STARTER (TEE)
7 MAGNET 30 - 136 SGM -
TERMINAL BLOCKS: Static cables:
X1: MAIN DISTRIBUTION (A. SERVICES) Power: H07RNF ROUND
X2: MAIN LIFTING Command:

no shielded: H07RNF ROUND
X4: LONG TRAVEL
BASTIDOR RECINTO shielded VV_YCY ROUND
X5: CROSS TRAVEL
Dynamic cables:
X6: GRAB
X7: MAGNETS Power:
Up to 35mm²: H07VVH6F FLAT
From 50mm² to 150mm²: H07RNF ROUND
X10: BOX ON THE TROLLEY (FIX PART) Command:

X_.1: POWER
no shielded: H07VVH6F FLAT
X_.2: AUXILIARY SERVICES shielded H07VVH6F_CY FLAT
X_.3: COMMAND CA
X21: CONTROL DESK RIGHT X_.4: COMMAND CC Turning zone cables:
X22: CONTROL DESK LEFT Power:
* H07RNF-TENAFLEX ROUND
Rest: H07RNF ROUND
Command:
no shielded: H07RNF-TENAFLEX ROUND
shielded Olflex FD855CP ROUND
Connection note: All wire connecting with terminals

Shielded cables separated
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON GENERAL INFORMATION OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
TABLE OF CONTENTS
Page/column DESCRIPTION DATE
1 COVER 09/11/2016
2 GENERAL INFORMATION 08/11/2016
3 INDICE DE PAGINAS 03/02/2017
3.a INDICE DE PAGINAS 03/02/2017

3.b INDICE DE PAGINAS 03/02/2017
3.c INDICE DE PAGINAS 03/02/2017
3.d INDICE DE PAGINAS 03/02/2017
50 FRONT PLATE 03/02/2017
100 POWER SUPPLY 03/02/2017
101 AUXILIARY SERVICES TRANSFORMER 09/11/2016
102 AUXILIARY SERVICES 03/02/2017
109 COMMAND CIRCUIT TRASFORMER 03/02/2017
110 MAIN DISTRIBUTION (EMERGENCY STOPS) 03/02/2017
111 MAIN DISTRIBUTION 13/12/2016
112 MAIN DISTIBUTION (GENERAL CONTACTOR) 03/02/2017
113 GENERAL (SIGNALLING CIRCUIT) 06/12/2016
114 GENERAL (24VDC DISTRIBUTION) 03/02/2017
115 GENERAL (24VDC DISTRIBUTION) 08/11/2016
117 MAIN DISTRIBUTION (PLC) 08/11/2016
118 MAIN DISTRIBUTION (SWITCH ETHERNET) 08/11/2016
119 MAIN DISTRIBUTION (MODEM 3G INTERNET) 08/11/2016
120 MAIN DISTRIBUTION (TOUCH PANEL) 23/11/2016
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
YAZD (IRAN) SHEET Nº: 3 CONTINUES: 3.a REV: A
INITIAL ISSUE REASON INDICE DE PAGINAS OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
TABLE OF CONTENTS
121 MAIN DISTRIBUTION (CABIN SLAVE I/O) 23/11/2016
125 MAIN DISTRIBUTION (INPUTS PLC)) 28/11/2016
126 MAIN DISTRIBUTION (CABIN PLC INPUTS) 13/12/2016
127 MAIN DISTRIBUTION (PLC OUTPUTS) 06/12/2016

200 LIFTING (POWER) 23/11/2016
201 MAIN LIFTING DRUM REELS 06/12/2016
202 OVERLOAD SWITCH MAIN HOIST 13/12/2016
203 LIFTING (DRIVE CONTROL) 06/12/2016
204 LIFTING (DRIVE CONTROL) 20/12/2016
205 THERMICAL SENSORS PTC MAIN HOIST 14/11/2016
206 HOIST (CONTROL) 20/12/2016
207 HOIST (CONTROL) 06/12/2016
210 RADIO CONTROL AND CABIN MAIN HOIST 20/12/2016
400 LONG TRAVEL (POWER) 06/12/2016
402 LONG TRAVEL (DRIVE COMMAND) 13/12/2016
403 LONG TRAVEL (DRIVE COMMAND) 13/12/2016
404 THERMICAL SENSORS PTC LONG TRAVEL 08/11/2016
405 LONG TRAVEL (COMMAND) 13/12/2016
406 LONG TRAVEL (COMMAND) 05/01/2017
410 LONG TRAVEL (RADIO AND CABIN) 13/12/2016
500 CROSS TRAVEL (POWER) 31/01/2017
502 CROSS TRAVEL (DRIVE COMMAND) 09/11/2016
503 CROSS TRAVEL (DRIVE COMMAND) 13/12/2016
505 CROSS TRAVEL (COMMAND) 03/02/2017
506 CROSS TRAVEL (COMMAND) 03/02/2017
510 CROSS TRAVEL (RADIO AND CABIN) 13/12/2016
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
YAZD (IRAN) SHEET Nº: 3.a CONTINUES: 3.b REV: A
0 1 2 3 4 5 6 7 8 9
TABLE OF CONTENTS
600 GRAB (POWER) 03/02/2017
601 GRAB (COMMAND) 03/02/2017
700 MAGNET (POWER) 03/02/2017
701 MAGNET (COMMAND) 03/02/2017

706 MAGNET ELECTRIC DIAGRAMS 08/11/2016
800 CONTROL DESK (CONFIGURATION) 13/12/2016
801 DESK CONTROL (RIGHT JOYSTICK) 13/12/2016
802 DESK CONTROL (LEFT JOYSTICK) 13/12/2016
803 RADIO CONTROL (CONFIGURATION) 09/11/2016
804 CABINET CONNECTOR 24/10/2016
805 CABINET CONNECTOR 24/10/2016
900 PARAMETERS (LIFTING) 08/11/2016
901 PARAMETERS (LONG TRAVEL) 08/11/2016
902 PARAMETERS (CROSS TRAVEL) 08/11/2016
903 PARAMETERS (GRAB) 03/02/2017
904 DIGITAL INPUT/OUTPUT SUMMARY (CABINET) 31/01/2017
905 DIGITAL INPUT/OUTPUT SUMMARY (CABINET) 31/01/2017
906 INPUT/OUTPUT SUMMARY (CONTROL DESK) 31/01/2017
907 LABELS 08/11/2016
908 LABELS 08/11/2016
909 PLC'S LABELS 08/11/2016
910 LABELS IN CABINET 09/11/2016
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
YAZD (IRAN) SHEET Nº: 3.b CONTINUES: 3.c REV: A
0 1 2 3 4 5 6 7 8 9
TABLE OF CONTENTS
1000 X1.1: MAIN DISTRIBUTION (POWER) 03/02/2017
1001 X1.2: GENERAL COMMAND (AUX.SERVICES) 03/02/2017
1002 X1.3: MAIN DISTRIBUTION (COMMAND AC) 08/11/2016
1003 X1.4: MAIN DISTRIBUTION (COMMAND DC) 09/11/2016

1004 X2.1: HOIST (POWER) 08/11/2016
1005 X2.3: LIFTING (COMMAND DC) 08/11/2016
1006 X2.4: LIFTING (COMMAND DC) 09/11/2016
1007 X4.1: OVERHEAD TRAVELLING (POWER) 08/11/2016
1008 X4.4: OVERHEAD DISPLACEMENT (COMMAND DC) 08/11/2016
1009 X5.1: TROLLEY TRAVELLING (POWER) 08/11/2016
1010 X5.4: TROLLEY TRAVELLING (POWER) 09/11/2016
1011 X6.1: SLEWING (POWER) 08/11/2016
1012 X6.3: ELECTROMAGNET (COMMAND AC) 08/11/2016
1013 X7.1: ELECTROMAGNET (POWER) 03/02/2017
1014 X7.4: ELECTROMAGNET (POWER) 08/11/2016
1015 X10.1: BOX ON THE TROLLEY (POWER) 18/01/2017
1016 X10.2: BOS ON THE TROLLEY (AUXILIARY S.) 08/11/2016
1017 X10.3: BOX ON THE TROLLEY (COMMAND AC) 08/11/2016
1018 X10.4: BOX ON THE TROLLEY (COMMAND DC) 09/11/2016
1019 X21.2: PUPITRE DE MANDO DERECHO (S. AUXILIARES) 13/12/2016
1020 X21.3: PUPITRE DE MANDO DERECHO (MANDO CA) 13/12/2016
1021 X21.4: CONTROL DESK (COMMAND DC) 13/12/2016
1022 X22.4: CONTROL DESK (COMMAND DC) 08/11/2016
2000 PARTS LIST 03/02/2017
2001 PARTS LIST 03/02/2017
2002 PARTS LIST 03/02/2017
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
YAZD (IRAN) SHEET Nº: 3.c CONTINUES: 3.d REV: A
0 1 2 3 4 5 6 7 8 9
TABLE OF CONTENTS
2003 PARTS LIST 03/02/2017
2004 PARTS LIST 03/02/2017
2005 PARTS LIST 03/02/2017
2006 PARTS LIST 03/02/2017

2007 PARTS LIST 03/02/2017
2008 PARTS LIST 03/02/2017
2009 PARTS LIST 03/02/2017
2010 PARTS LIST 03/02/2017
2011 PARTS LIST 03/02/2017
2012 PARTS LIST 03/02/2017
2013 PARTS LIST 03/02/2017
2014 PARTS LIST 03/02/2017
2015 PARTS LIST 03/02/2017
2016 PARTS LIST 03/02/2017
2017 PARTS LIST 03/02/2017
2018 PARTS LIST 03/02/2017
2019 PARTS LIST 03/02/2017
2050 OUTER ELEMENTS 03/02/2017
2051 OUTER ELEMENTS 03/02/2017
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
YAZD (IRAN) SHEET Nº: 3.d CONTINUES: 50 REV: A
0 1 2 3 4 5 6 7 8 9
LIFTING LONG TRAVEL CROSS TRAVEL-GRAB RADIO RECEIVER PLC CABINET AIR CONDITIONING
50M1
117U10
119U11
117U1
117U3
117U4
117U5
117U6
117U7
117U8
117U9
118U1
103Q1 103Q2 104Q1 104Q2 104Q3
11 12 13 A9F79606 A9F79616 A9F79606 A9F79606 A9F79606
10 16 17 18
14 15
500Q1
GV2ME08
70
500Q2
GV2L22
71
600Q1
LV430630
72
*
PARRILLA SUBIDA CABLES
100Q1
LV432893
5
400Q4
LV431631
66
200Q2
LV432693
59
500A1
ATV71HU75N4
3 600A1
ATS22C14Q
114Q10
114Q11
114Q1
114U1
114Q2
114Q3
114Q4
114Q5
114Q6
114Q7
114Q8
114Q9
4
107Q1 107Q3 107Q4 108Q1 109Q1 109Q2 109Q4 109Q5 109Q6

A9F79616 A9F74604 A9F74604 A9F79606 GV2RT14 A9F79616 A9F74103 A9F74103 A9F74103
19 20 21 22 23 24 25 26 27
500L1
INDVW3A4506
80
MAGNET CABINET
102KA1
112KA1
112KA5
113KA1
113KA3
113KA5
127KA1
127KA2
127KA3
127KA4
400A1
202KA1
202KA2
202KA3
202KA4
202KA5
202KA6
206KA1
208KA1
208KA2
402KA1
402KA2
402KA3
402KA4
402KA5
402KA6
402KA7
407KA1
ATV71HD75N4
2
*
109Q7 114Q1 114Q2 114Q3 114Q4 114Q5 114Q6 114Q7 114Q8 114Q9 114Q10 114Q11
A9F74103 A9F75204 A9F79610 A9F73102 A9F73102 A9F73102 A9F73102 A9F73102 A9F73102 A9F73102 A9F73102 A9F73102
1660 mm
28 29 30 31 32 33 34 35 36 37 38 39
200Q1 206KM1
GV2ME05 LC1D09F7
60 400Q1 400Q2 400Q3 73 205F1 404F1
GV2ME08 GV2ME05 GV2ME05 LT3SA00MW LT3SA00MW
112KM1 67 68 69 LT3-SA00MW LT3-SA00MW
LC1F400 78 79
6 505KM1
LC1D09F7
75
500F1 500F2
LRD12 LRD12
76 77
FOLDING TABLE
200A1
ATV71HC13N4
1
502KA1
502KA2
502KA3
502KA4
502KA5
502KA6
506KA1
506KA2
601KA1
601KA2
601KA3
601KA4
601KA5
601KA6
605KA1
605KA2
701KA1
701KA2
701KA3
701KA4
701KA5
701KA6
110KA2 110KA3 110KA4 110KA5 111KA1 111KA2 111KA3
CAD32F7 CAD32F7 CAD32F7 CAD32F7 CAD32F7 CAD32F7 CAD32F7
41 42 43 44 45 46 47
1200 mm
405KM1
201Q1 201Q2 201Q3 201Q4 202Q1 LC1D09F7
GV2ME10 GV2ME07 GV2ME07 GV2ME07 A9F74602 74
61 62 63 64 65
110KA1 111KA4 112KA3 112KA4 113KA2 113KA4 113KA6

CAD32F7 CAD32F7 CAD50F7 CAD32F7 CAD32F7 CAD32F7 CAD32F7
40 48 50 51 54 56 58
* * *
400 mm
200L1
IND0,04MH314A
9
101T1
TR5001
7
109T1
TR1503
8
5600 mm m
m
0
1000 mm 40
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON FRONT PLATE OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
400V-50HZ
L1
WARNING LABEL IN MAIN SWITCHGEAR:
L2 RED BACKGROUND AND WHITE LETTERS
L3 "WARNING: SWITCH OFF

100Q1+101Q1 IN
PE ORDER TO GUARANTEE
LACK OF VOLTAGE IN
THE CRANE"
* PE
3(2(1X120mm²))+
1x120mm² PE
ORANGE CABLE
4mm²
R3 / 101.1
S3 / 101.1 AUXILIARY SERVICES
3(2(1X120mm²))+
1x120mm² PE
35mm²
R2 / 700.0
1 3 5 1 S2 / 700.0 MAGNET
100Q1 T2 / 700.0
630A 4
112.2
I> I> I> 4mm²

2 4 6 R2 / 201.0
S2 / 201.0 GRAB AND MAGNET REELERS
T2 / 201.0
6mm²
R2 / 102.0 COMMAND
S2 / 102.0
T2 / 102.0 GENERAL CABINET'S AND COMMAND CABIN'S FAN
185mm²
50mm²
R1 / 600.0
S1 / 600.0
1 3 5 T1 / 600.0 GRAB
112KM1
112.4 2 4 6
400A 4mm²
R1 / 500.1
S1 / 500.1 CROSS TRAVEL
T1 / 500.1
70mm²
R1 / 400.2
S1 / 400.2 LONG TRAVEL
T1 / 400.2
120mm²
R1 / 200.0
S1 / 200.0 LIFTING
T1 / 200.0
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON POWER SUPPLY OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
400V-50HZ 220V-50HZ.
100.6 / R3 L / 103.0
100.6 / S3 N / 103.0
4mm²
1 3 5
101Q1
13-18A
..A 4mm²
I> I> I>
2 4 6
1 3 5
101Q4
4mm² 9-14A
..A
I> I> I>
2 4 6
0V 400V
101T1
5000VA
0V 230V
4mm²
PE
4mm²
PE
N 1
101Q2
25A N 2
X1.2 201 202

4mm²
N 1
101Q3
25A-30MA
I ‎Δ
101REFR1
N 2
L1 L2 PE
4mm²
CABIN AIR CONDITIONING
4000W
220V-50HZ.
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON AUXILIARY SERVICES TRANSFORMER OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
100.6 / R2 400V-50HZ 400V-50HZ

R2 / 109.1
100.6 / S2 S2 / 109.1
100.6 / T2 T2 / 109.1
STOP AIR CONDITIONING AIR CONDITIONING CABINET ALARM TEMP. AIR

CABINET OK CONDITIONING
Q_RFR_RECINTO_PARO I_RFR_RECINTO_OK I_RFR_RECINTO_TEMP
A0.0 E0.0 E0.1
905.1 904.1 904.1
117U9 117U3 117U3
2 2 3
24VDC
P1 / 103.5
102REFR3 AIR CONDITIONIG BOX

A1 11
102KA1
6mm² 1P A2 12
* FAN * * FAN * *
u v w u v w u v w u v w u v w u v w u v w
PE X1.3 301 302 X1.4 401 402 403
12x2,5mm²
12x2,5mm²
114.1 / M M / 112.0
4x4mm²
X1.1 101 102 103
102REFR2
R S T PE 39 40 41 42 45 46 19 20 21 16 17 18 22 23 24 25 26 27 30 31 32 33 34 35 36 37 38
ON / OFF DEVICE OK T ALARM

1 3 5
*
Q1
32A
I> I> I>
2 4 6
AIR CONDITIONING CABINET INSIDE ELECTRICAL ROOM 600
500
11 12 102.3
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON AUXILIARY SERVICES OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
220V-50HZ. 220V-50HZ.
101.8 / L L / 104.1
101.8 / N N / 104.1
N 1 N 1
103Q1 103Q2
24VDC
6A N 2 102.4 / P1 P1 / 109.4 16A N 2
X1.2 210 X1.2 203 X1.4 404
1-3
2,5mm²
103S3 1
* 2 4 103S5
2
X1.2 211 212
2,5mm²
X1.2 204 206
X1.4 405
X1.4 406
X21.2 201 204 X21.2 202 205 X21.2 203 206
X1.2 205 207

1
103S6 3 3
2 4 2 103S7
103S4 CABIN 4 4
* 1-3 LIGHTING
SELECTOR
X1.4 407
X1.2 208
X1.2 209 X21.2 207 208
117U3 PE PE
1
904.1
1 1 1 1
E0.2
I_PUERTAS 103H5
103H1 103H2 103H3 103H4 CABINET'S DOORS OPEN
23W
23W 23W 23W 23W 2
0V PE 220V 0V PE 220V
2 2 2 2
103XU1 103XU2
RIGHT CONTROL DESK

4x23W LED FLUORESCENTS FOR ELECTRICAL PLUGS
ROOM ILLUMINATION
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
0 1 2 3 4 5 6 7 8 9
220V-50HZ. 220V-50HZ.
103.8 / L L / 107.0
103.8 / N N / 107.0
N 1 N 1 N 1
104Q1 104Q2 104Q3
6A N 2 6A N 2 6A N 2
2,5mm²
X1.2 213 X1.2 229
104S1 1-3 IN END-CARRIAGE 104S4 1-3

ACCESS IN END-CARRIAGE
ACCESS
2 4 2 4 X1.2 241 242
X1.2 214 216

2,5mm²
X1.2 215 217 X10.2 201 X10.2 203
X1.2 230 232
2 4 2 4 X1.2 231 233

IN ELECTRICAL 104S6 3 3
ROOM ENTRY
104S2 1-3 1-3
4 4
X1.2 218 220 2 4

X1.2 219 221 IN ELECTRICAL
ROOM ENTRY
104S5 1-3
X10.2 202 X10.2 204
2 4
IN CABIN
ENTRY
104S3 1-3
X1.2 234
X1.2 222
X10.2 205 206
X1.2 223 224 225 X1.2 235 236 237

1
1 1 1 1 1
104H5
104H1 104H2 104H6 104H3 104H4 23W
23W 23W 23W 23W 23W 2
X21.2 209 210 211 2 2 2 2 2
X1.2 226 227 228 X1.2 238 239 240 X10.2 207 208
2x23W LED FLUORESCENTS FOR SUPPLY OPPOSITE SIDE ILLUMINATION 1 IN PLATFORM AND 1 IN CABIN STAIRS TROLLEY LIGHT 1X23W
2x23W LED FLUORESCENTS FOR SUPPLY SIDE ACCESS ILLUMINATION
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
0 1 2 3 4 5 6 7 8 9
220V-50HZ. 220V-50HZ.
104.8 / L L / 108.2
104.8 / N N / 108.2
N 1 N 1 N 1
107Q1 107Q3 107Q4
16A N 2 4A N 2 4A N 2
2,5mm²
61 71 53 83
112KM1 112KM1
112.4 62 72 112.4 54 84
X1.2 243 244
X10.2 209 210

220V-50HZ.
CL1 / 600.2
CL2 / 600.2
PE PE PE
200M1
200.3 1HE1 1HE2
120W x1
0V PE 220V 0V PE 220V 0V PE 220V

x2
107XU1 107XU2 107XU3
SOCKETS IN THE FRAME LIFTING MOTOR HEATING

RESISTOR
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
0 1 2 3 4 5 6 7 8 9
220V-50HZ.
107.8 / L
107.8 / N
2,5mm²
N 1
108Q1
6A N 2
13 43 13 43
113KA2 113KA4
113.3 14 44 113.5 14 44
X1.2 245 246 X1.2 247 248
x1
108H1 108H2
x2
HORN ROTATING LIGHT
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
0 1 2 3 4 5 6 7 8 9
400V-50HZ
102.2 / R2
102.2 / S2
102.2 / T2
4mm²
24VDC
103.5 / P1 P1 / 110.0
1 3 5
109Q1
6-10A
..A
I> I> I>
2 4 6
109RST1
21
2,5mm² L1
PHASE SEQUENCE
L2 RELAY 24
L3
0V 400V
109T1
1500VA 5
0V 115V
117U3
904.1
PE E0.3
I_RST
PHASE SEQUENCE RELAY
N 1
109Q2
16A N 2
110V-50HZ
1 11 1 11 1 11 1 11
109Q4 109Q5 109Q6 109Q7
3A 2 14 3A 2 14 3A 2 14 3A 2 14
200.8
400.8
500.8
601.2
1,5mm² 1,5mm² 1,5mm² 1,5mm² 1,5mm² 1,5mm² 1,5mm²
0 / 110.0 1 / 110.0 10 / 114.2 2 / 206.1 4 / 405.3 5 / 505.0 6 / 601.5

COMMAND MAIN 24V COMMON LIFTING LONG TRAVEL TROLLEY GRAB
0V DISTRIBUTION COMMAND TRAVEL COMMAND
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON COMMAND CIRCUIT TRASFORMER OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
110V-50HZ 110V-50HZ
109.3 / 1 1 / 111.0
X1.3 303 X1.3 304 X1.3 305 X1.3 306 X1.3 307
1 / 111.7
13 13 13 13 X21.3 301
110S1 110S2 110S3 110S4
14 14 14 14
13
X1.3 310 X1.3 311 X1.3 312 X1.3 313 110S5

14
X21.3 303
X1.3 314
FEEDER END CARRIAGE FEEDER OPPOSITE END FEEDER OPPOSITE END

FEEDER END CARRIAGE CABIN OPPOSITE CABIN SIDE CARRIAGE CABIN SIDE CARRIAGE OPPOSITE CABIN DESK CONTROL EMERGENCY
SIDE EMERGENCY STOP EMERGENCY STOP EMERGENCY STOP SIDE EMERGENCY STOP STOP
IACS_PARO1 IACS_PARO2 IACS_PARO3 IACS_PARO4 IPM_PARO
E0.4 E0.5 E0.6 E0.7 E1.0
904.1 904.1 904.1 904.1 904.1
117U3 117U3 117U3 117U3 117U3
6 7 8 9 12
A1 44 A1 44 A1 44 A1 44 A1 44
110KA1 110KA2 110KA3 110KA4 110KA5
A2 43 A2 43 A2 43 A2 43 A2 43
24VDC
109.5 / P1 P1 / 111.0
109.2 / 0 0 / 111.0
FEEDER END CARRIAGE FEEDER END CARRIAGE FEEDER OPPOSITE END CARRIAGE FEEDER OPPOSITE END CARRIAGE DESK CONTROL
CABIN SIDE OPPOSITE CABIN SIDE CABIN SIDE OPPOSITE CABIN SIDE EMERGENCY STOP
EMERGENCY STOP EMERGENCY STOP EMERGENCY STOP EMERGENCY STOP
13 14 112.3 13 14 112.3 13 14 112.3 13 14 112.3 13 14 112.3

44 43 110.2 44 43 110.3 44 43 110.5 44 43 110.6 44 43 110.8
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON MAIN DISTRIBUTION (EMERGENCY STOPS) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
110V-50HZ 110V-50HZ
110.9 / 1 1 / 112.0
X1.3 308 X1.3 309
110V-50HZ
53 110.8 / 1
113KA6
113.7 54 X10.3 301 302 X21.3 302
1 1 3 3
C 1 111S1 111S2 112S2

* 207.2 2 LIFTING 2 126.4 4 4
207.3 COUNTERWEIGHT L.S. DESK CONTROL
207.5 SELECTION
207.4
111RADIO /1
RADIO HOIST SAFETY
RECEIVER LS
X21.3 304
X1.3 317
X10.3 303 304
X1.3 315 316
C 32 C 2
GND STOP
RADIO STOP LIFTING SAFETY L.SWITCH LIFTING COUNTERWEIGHT L.S.
IR_PARO IE_SEG IE_CONTRAPESO
E1.1 E1.2 E1.3
904.1 904.1 904.1
117U3 117U3 117U3
13 14 15
44
113KA6
113.7 43
A1 44 A1 44 A1 44 A1
111KA1 111KA2 111KA3 111KA4
A2 43 A2 43 A2 43 A2
24VDC
110.9 / P1 P1 / 112.0
110.9 / 0 0 / 112.0
RADIO MAIN LIFTINING LIFTING WORK SELECTION
STOP SAFETY COUNTERWEIGHT L.S. FROM DESK CONTROL
L.SWITCH RELAY
13 14 112.3 13 14 112.2 13 14 112.2 13 14 112.2

21 22 112.2 44 43 111.5 44 43 111.6 21 22 112.3
44 43 111.3
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON MAIN DISTRIBUTION OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
110V-50HZ 110V-50HZ
111.9 / 1 1 / 113.1
1
100Q1
GENERAL ON
100.1 4
Q_CG
A0.1
905.1
13 21
117U9
111KA4
111.8 14 22
3 PUPITRE
21 13
111KA1
111.2 22 14 13 43
RADIO 112KA4 112KA4
SPARE
112.7 14 112.7 44
Q_RESERVA1
11
A0.2
110RST1 905.1
117U9
13 3
110KA1 112S1 LABEL: 'TEST
/ START' 4
110.1 14 4
14
13
A1 11 110KA2
112KA1 110.3 14 13 23
A2 14 112KA3 112KA3
MAIN CONTACTOR TEST MODE
13 112.3 14 112.3 24
I_CG I_ENSAYO
110KA3 E1.4 E1.5
13 110.4 14
904.1 904.1
111KA2 117U3 117U3
111.4 14 13
110KA4 16 17
110.6 14
13
111KA3 13
111.6 14 110KA5
110.7 14
A1 A1 54 A1 22 A1
112KA3 112KM1 112KA4 112KA5
A2 400A A2 53 A2 21 1P A2
24VDC 24VDC
111.9 / P1 P1 / 113.1
102.3 / M M / 113.1
111.9 / 0 0 / 113.1
GENERAL GENERAL CONTACTOR 0FF: TEST
(AUXILIARY) ON: START
1 2 100.1
11 14 112.2 13 14 112.4 3 4 100.2 13 14 112.4
23 24 112.5 5 6 100.2 22 21 112.7
53 54 107.7 43 44 112.5
54 53 112.6
61 62 107.5
71 72 107.5
83 84 107.8
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON MAIN DISTIBUTION (GENERAL CONTACTOR) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
110V-50HZ 110V-50HZ
112.9 / 1 1 / 201.6
24VDC 24VDC
112.9 / P1 P1 / 114.2
HORN ROTATING LIGHT RADIO CONTROL

Q_SIRENA Q_ROTOLAMPARA Q_RADIO
A0.3 A0.4 A0.5
905.1 905.1 905.1
117U9 117U9 117U9
5 6 7
A1 11 A1 11 A1 11
113KA1 113KA3 113KA5
1P A2 14 1P A2 14 1P A2 14
A1 A1 A1
113KA2 113KA4 113KA6
A2 A2 A2
112.9 / M M / 117.0
112.9 / 0 0 / 114.2
HORN ROTATING LIGHT RADIO CONTROL
03 04 503.5
11 14 113.3 13 14 108.4 11 14 113.5 13 14 108.5 11 14 113.7 13 14 204.5
43 44 108.4 43 44 108.5 21 22 204.5
31 32 403.5
44 43 111.1
53 54 111.2
61 62 503.5
83 84 403.5
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON GENERAL (SIGNALLING CIRCUIT) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
110V-50HZ
109.4 / 10
113.8 / 0 0 / 201.6
114U1
24VDC-10A POWER
1 3
SUPPLIER
114Q1
4A 2 4
L1
PE
M L+
PE
PE
N 1
114Q2
10A N 2
1 11 1 11 1 11 1 11 1 11 1 1 11 1 11 1 11
X1.4 408 409 410 114Q3 114Q4 114Q5 114Q6 114Q7 114Q8 114Q9 114Q10 114Q11
2A 2 14 2A 2 14 2A 2 14 2A 2 14 2A 2 14 2A 2 2A 2 14 2A 2 14 2A 2 14
B B B B B B B B B
115.3
115.4
200.8
400.8
500.8
700.8
115.5
115.6
X21.4 401
X1.4 411 X1.4 412
X21.4 402
X21.4 403 X21.4 405
X21.4 404 X21.4 406

X22.4 401
120.2 / M
121.2 / M
102.2 / M
117.0 / P0
120.2 / P00
121.2 / P00
200.7 / P2
400.7 / P4
500.7 / P5
601.0 / P6
700.7 / P7
125.5 / P9
802.0 / P10
126.0 / P10
113.8 / P1 P1 / 115.2
PLC CABIN ELEMENTS MAIN LIFTING LONG TRAVEL CROSS TRAVEL GRAB MAGNET RADIO DESK CONTROL
POWER SUPPLY POWER DISTRIBUTION
SUPPLY
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON GENERAL (24VDC DISTRIBUTION) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
24VDC 24VDC
114.3 / P1 P1 / 125.0
11 11 11 11
114Q3 114Q4 114Q10 114Q11
114.2 14 114.3 14 114.8 14 114.9 14
18 19 2 3
117U3 117U3 117U4 117U4

904.1 904.1 904.1 904.1
E1.6 E1.7 E2.0 E2.1
ICC_PROT_CABINA ICC_PROT_GENERAL ICC_PROT_RADIO ICC_PROT_PUPITRE
CABINET ELEMENTS MAIN DISTRIBUTION RADIO CONTROL PROTECTION DESK CONTROL PROTECTION
PROTECTION PROTECTION
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON GENERAL (24VDC DISTRIBUTION) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
117U1 117U3 117U4 117U5 117U6 117U7 117U9 117U10 117U11
16 DI 16 DI 16 DI 16 DI 16 DI
CPU 315-2 PN/DP 16 DO 16 DO 16 DO
DP.: 2
SM321 SM321 SM321 SM321 SM321 SM322 SM322 SM322
IP.: 192.168.1.10
MASK: 255.255.255.0
PUERTA DE ENLACE: 192.168.1.100
EB0 EB2 EB4 EB6 EB8 AB0 AB2 AB4
MPI/DP
EB1 EB3 EB5 EB7 EB9 AB1 AB3 AB5

PN
24VDC
20 20 20 20 20 1 11 10 20 1 11 10 20 1 11 10 20
L M PE 1M 1M 1M 1M 1M 1L+ 2L+ 1M 2M 1L+ 2L+ 1M 2M 1L+ 2L+ 1M 2M
PE
24VDC
114.1 / P0 P0 / 118.3
113.8 / M M / 118.3
117U2
1
CABLE 1m
ETH1 / 118.3 SWITCH
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON MAIN DISTRIBUTION (PLC) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
118U1
CABLE 1m
* 117.3 / ETH1 1
CABLE 1m
2 ETH2 / 119.4 TO 3G ETHERNET MODEM
118U2
CABLE 3m
3
118U3
CABLE 3m
4
118U4 118U5
24VDC
L M PE IE FC IE FC
OUTLET RJ45 OUTLET RJ45
1 1
PE
24VDC
117.9 / P0 P0 / 119.3
117.9 / M M / 119.3
ETH3 / 120.5 TO CABIN TOUCH PANEL
ETH4 / 121.3 TO CABIN SLAVE
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON MAIN DISTRIBUTION (SWITCH ETHERNET) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
ANTENNA INSIDE CABINET
119U11
EWON
IP.: 192.168.1.100
MPI/DP
PN
24VDC
L M PE
PE
24VDC
118.4 / P0
118.4 / M M / 120.4
119U12
1
CABLE 1m
SWITCH 118.7 / ETH2
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON MAIN DISTRIBUTION (MODEM 3G INTERNET) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
120U1
9´ TOUCH PANEL
IP: 192.168.1.11
MASK: 255.255.255.0
GATEWAY: 192.168.1.100
24VDC
L M PE
120U2
PE 1
24VDC
114.2 / P00
114.0 / M M / 119.4
SWITCH WIFI 118.7 / ETH3
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON MAIN DISTRIBUTION (TOUCH PANEL) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
121U1 121U3 121U4
16 DI 16 DI
ET200SP
IP: 192.168.1.12
MASK: 255.255.255.0
GATEWAY: 192.168.1.100 EB20 EB22
EB21 EB23
24VDC
PN1 PN2
17 18
L M PE L+ M
PE
24VDC
114.2 / P00
114.0 / M M / 127.0
121U2
1
SWITCH 118.7 / ETH4
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON MAIN DISTRIBUTION (CABIN SLAVE I/O) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
24VDC 24VDC 24VDC

115.7 / P1 P1 / 127.0 114.8 / P9
X1.4 413 X1.4 414 X1.4 415 X1.4 416

C 3
COMMAND
0V
3 3 3 3
125SH1 125SH2 125SH3 125SH4
127.4 4 127.5 4 127.5 4 127.6 4
FEEDER FEEDER OPOSSITE FEEDER OPOSSITE FEEDER
END CARRIAGE END CARRIAGE END CARRIAGE END CARRIAGE
CABIN SIDE OPOSSITE CABIN SIDE CABIN SIDE OPOSSITE
CABIN SIDE
C 4 C 5 C 6 C 7
X1.4 417 X1.4 418 X1.4 419 X1.4 420 START HORN SHUNT GRAB-MAGNET
4 5 6 7 8
117U4 117U4 117U4 117U4 117U4

904.1 904.1 904.1 904.1 904.1
E2.2 E2.3 E2.4 E2.5 E2.6
IACS_PETICION IR_MARCHA IR_SIRENA IR_SHUNTADO IR_GRABE_MAGNET
CRANE ACCESS REQUEST ON RADIO CONTROL HORN RADIO CONTROL SHUNT RADIO CONTROL GRAB-MANET SELECTION
RADIO CONTROL
0-GRAB
1-MAGNET
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON MAIN DISTRIBUTION (INPUTS PLC)) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
24VDC 24VDC
114.9 / P10 P10 / 705.0
3 13 13 3 13 13
126SH1 126S2 126S3 112S2 126S4 126S5
127.2 4 14 14 111.8 4 14 14
1 2 3 4 5 6 7 8 9
121U3 121U3 121U3 121U3 121U3 121U3 121U3 121U3 121U3

906.1 906.1 906.1 906.1 906.1 906.1 906.1 906.1 906.1
E20.0 E20.1 E20.2 E20.3 E20.4 E20.5 E20.6 E20.7 E21.0
IPM_MARCHA IPM_SHUNTADO IPM_SIRENA IPM_PUPITRE IPM_TEST IPM_PULPO_ELECTROIMAN I_RESERVA6 I_RESERVA11 I_RESERVA12
ON DESK CONTROL SHUNT DESK CONTROL HORN DESK CONTROL DESK CONTROL SELECTION LAMPS TEST DESK CONTROL GRAB-MAGNET SELECTION SPARE SPARE SPARE
DESK CONTROL
0-RADIO 0-GRAB
1-CABINE 1-MAGNET
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON MAIN DISTRIBUTION (CABIN PLC INPUTS) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
24VDC
125.4 / P1 P1 / 201.7
CRANE PERMISION ACCESS

ON LAMP CRANE LAMPS SPARE SPARE
QPM_MARCHA QACS_PERMISO Q_RESERVA3 Q_RESERVA4
A0.6 A0.7 A1.0 A1.1
905.1 905.1 905.1 905.1
117U9 117U9 117U9 117U9
8 9 12 13
A1 11 A1 11 A1 A1
127KA1 127KA2 127KA4 127KA5
1P A2 14 1P A2 14 1P A2 1P A2
X1.4 421
X21.4 407
X1.4 422 423 424 425
x1
126SH1
126.1 x2 x1 x1 x1 x1
125SH1 125SH2 125SH3 125SH4
X21.4 408 125.1 x2 125.2 x2 125.3 x2 125.4 x2
X1.4 426
X1.4 427 428 429 430
121.6 / M M / 201.5
ON LAMP ACCESS PERMISION LAMP
11 14 127.2 11 14 127.4
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON MAIN DISTRIBUTION (PLC OUTPUTS) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
400V-50HZ
100.6 / R1
100.6 / S1
100.6 / T1
120mm² 24Vdc 24Vdc
1 3 5 1 114.4 / P2 P2 / 201.8
200Q2
400A 4
200R1
200.8
I> I> I> 1 2
2 4 6
95mm² 1,9ohm - 35Kw 43
4mm²
200Q1
200.1 44
*
R1A
1 3 5 43
120mm² 200A1 R02

200Q1 1
0,63-1A 44 200Q2 200.3
..A 200.8
200.3
I> I> I> 4
2 4 6
200A1 R02
200.8 L1 L2 L3 P0 PA/+ PB
203.1 R1C
11
204.3
206.2 109Q4
132KW 259A/
ATV71 (380...500V) 109.5 14
380...460V/
50-60HZ
U V W PE A A- B B- +VS 0VS
1 3 5
206KM1 11
206.2 2 4 6 114Q5
9A 114.4 14
120mm²
UT VT WT 9 12
PE PE
200L1 117U4 117U4
40µH - 314A
U V W 904.1 904.1
PE E2.7 E3.0
2,5mm² 120mm² IE_PROT IE_V_OK
PE PE X2.4 401 402 403 404 405 406
LIFTING PROTECTION LIFTING CONVERTER OK
X2.1 101 102 103

*
X10.1 115 116 117 X10.1 101 102 103 X10.4 401 402 403 404 405 406
YELLOW
U V W
WHITE
GREEN
BLACK
PE
BLUE
200Y1
RED
200W
M U V W
3
˜ 200M1
M
200A2
1 -1 2 -2 Vcc 0V SHIELD
107.5 3~
205.3 PE A+ A- Z+
ELECTRO-HIDRAULIC BRAKE ‎Δ B-
B+ Z-
USB 3-I-EB 500/60-AVN
Motor M3BP 315SMA4 ENCODER ON MOTOR AXE
110 Kw/1487 rpm 194A
Encoder L&L 861.007956.1024 (30V)
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON LIFTING (POWER) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
400V-50HZ
100.6 / R2
24VDC
100.6 / S2 127.5 / P1 P1 / 202.3
100.6 / T2
24VDC
200.9 / P2 P2 / 205.3
110V-50HZ
113.8 / 1 1 / 202.1
1 3 5 43
201Q1
4-6,3A 44 LIFTING DRUM REEL
5A CONTACTOR
43
201.8
I> I> I> QE_ENROLLADOR
2 4 6 A2.0 201Q1
201.1 44
905.5
117U10
1 3 5
201KM1 2
201.7 2 4 6
9A 43
201Q2
201.1 44
2,5mm²
A1 11
201KA1
1P A2 14 43
1 3 5 43 1 3 5 43 1 3 5 43 201Q3
201Q2 201Q3 201Q4 201.3 44
1,6-2,5A 44 1,6-2,5A 44 1,6-2,5A 44
1,6A 1,6A 1,6A
201.8
201.8
201.8
I> I> I> I> I> I> I> I> I>
2 4 6 2 4 6 2 4 6
43
A1 14 201Q4
2,5mm² 2,5mm² 2,5mm²
201KM1 201.4 44
9A A2 13
PE PE PE
X2.1 104 105 106 X2.1 107 108 109 X2.1 110 111 112
X10.1 124 125 126 X10.1 127 128 129 X10.1 130 131 132
127.9 / M M / 203.1
114.3 / 0 0 / 202.1
U V W U V W U V W
4 13
201M1
M 201M2
M 201M3
M
0,37Kw 3~ 0,37Kw 3~ 0,75Kw 3~ 117U5 117U4
904.6 904.1
E4.2 E3.1
IE_ENROLLADOR IE_ENR_PROT
LIFTING DRUM REEL CABLE REELS PROTECTION
CONTACTOR
42x2,5mm² 3,5x35mm²
11 14 201.7 1
3
2
4
201.1
201.1
5 6 201.1
CABLE REEL GRAB DRUM REEL MAGNET 14 13 201.7
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON MAIN LIFTING DRUM REELS OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
110V-50HZ
201.7 / 1
201.8 / 0 0 / 202.3
N 1
202Q1
2A N 2
X2.3 301 302
X10.3 305 306

PE 110V-50HZ
202U1
GND
0V
48..230V
OUT-1
OUT-5
POWER
ALM100N
LOAD CELL 1
4..20mA
OUT-1
OUT-5
+12V
SHLD
GND
LOAD LIMIT SLACK CABLE

IE_LC IE_CF
X10.3 307
E3.2 X10.3 308
E3.3
904.1 904.1
X2.3 303
117U4 X2.3 304
117U4
GREEN
BLACK
RED
14 15
A1 14 A1 14
202KA1 202KA2
A2 13 A2 13
202U2
24VDC
201.8 / P1
CELL 1 202.3 / 0 0 / 206.1
LOAD LIMIT SLACK
CABLE
14 13 202.4 14 13 202.6
43 44 203.3
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON OVERLOAD SWITCH MAIN HOIST OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
200A1
200.3
ATV71 (380...500V)
PWR +24 LI1 LI2 LI3 LI4 LI5 LI6

43
202KA1
202.3 44
21 21
207KA1 207KA2
207.2 24 207.5 24
A1 11 A1 11 A1 11 A1 11 A1 11 A1 11
203KA1 203KA2 203KA3 203KA4 203KA5 203KA6
1P A2 14 1P A2 14 1P A2 14 1P A2 12 1P A2 14 1P A2 14
201.8 / M M / 205.3
14 15 16 17 18 19
117U9 117U9 117U9 117U9 117U9 117U9

905.1 905.1 905.1 905.1 905.1 905.1
A1.2 A1.3 A1.4 A1.5 A1.6 A1.7
QE_SUBIR QE_BAJAR QE_RESET QE_RALENTIZADO QE_RAPIDA QE_RESERVA
LIFTING RAISE LIFTING LOWER LIFTING RESET LIFTING SLOW DOWN LIFTING FAST LIFTING DRIVE SPARE
11 14 203.3 11 14 203.4 11 14 203.5 11 12 203.6 11 14 203.7 11 14 203.8
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON LIFTING (DRIVE CONTROL) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
200A1
200.3
ATV71 (380...500V)
COM AI1- +10 AI1+

PE
21 13
113KA6
113.7 22 14
X2.4 407 408 409
X21.4 409 410 411
801.7 / A0NSD TO DESK CONTROL
801.7 / A1NSD
801.8 / A2NSD
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON LIFTING (DRIVE CONTROL) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
24Vdc
201.9 / P2 P2 / 206.1
T1 A1 95
205F1
T2 A2 96
X2.4 410 411
X10.4 407 408
16
117U4
904.1
E3.4
200M1
200.3 TH1 TH2 PE IE_SONDA
PE LIFTING THERMICAL SENSOR
U
203.8 / M M / 206.6
LIFTING THERMICAL SENSOR THERMICAL SENSOR
RELAY
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON THERMICAL SENSORS PTC MAIN HOIST OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
110V-50HZ
109.5 / 2
SPARE SPARE
Q_RESERVA7 Q_RESERVA8
A2.1 A2.2
905.5 905.5
117U10 117U10
R2A 3 4
200A1
200.3
BRAKE
R2C A1 A1
206KA2 206KA3
1P A2 1P A2
LIFTING BRAKE CONTACTOR

IE_FRENO
E3.5
205.5 / M M / 207.1
904.1
117U4
17
A1 14
206KM1
9A A2 13
24Vdc
205.5 / P2 P2 / 207.1
202.6 / 0 0 / 405.2
BRAKE
CONTACTOR
1 2 200.1
3 4 200.1
5 6 200.1
14 13 206.3
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON HOIST (CONTROL) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
24Vdc
206.8 / P2
X1.4 431
X10.4 409
11 11 13 11
111S1 111S1 111S1 111S1
111.4 12 111.4 12 111.4 14 111.4 12
/2 /3 /4 /5
X10.4 410 X10.4 411 412 413
X1.4 432 X1.4 433 434 435
A1 11 A1 11
207KA1 207KA2
4P A2 14 4P A2 14
206.8 / M M / 402.0
18 19 2 3 5
117U4 117U4 117U5 117U5 117U5

904.1 904.1 904.6 904.6 904.6
E3.6 E3.7 E4.0 E4.1 E4.3
IE_SUBIR IE_RAL_SUBIR IE_CABINA IE_BAJAR RESERVA
UP LIMIT SWITCH SLOWDOWN RAISE CABIN LIMIT SWITCH DOWN LIMIT SWITCH SPARE
11 14 207.2 11 14 207.5
21 24 203.3 21 24 203.4
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON HOIST (CONTROL) OF.: 52223-52224
© Talleres JASO Industrial, S.L. All rights of exploitation in any form and by any means reserved. The content of this document may not be reproduced, even extracts, unless permission is granted. DIN 34 0 1 2 3 4 5 6 7 8 9
RNSD / 801.4
HMD / 801.1
ND / 801.3
SD / 801.4
C 8 C 9 C 10
LIFTIN RAISE LIFTING LIFTING
LOWER FAST
6 7 8 10 11 12 13
117U5 117U5 117U5 121U3 121U3 121U3 121U3

904.6 904.6 904.6 906.1 906.1 906.1 906.1
E4.4 E4.5 E4.6 E21.1 E21.2 E21.3 E21.4
IRE_SUBIR IRE_BAJAR IRE_RAPIDA IPME_HM IPME_SUBIR IPME_BAJAR IPME_RAPIDA
RADIO CONTROL LIFTING RADIO CONTROL LIFTIN LOWER RADIO CONTROL LIFTING FAST DESK CONTROL LIFTING DEAD DESK CONTROL LIFTINF RAISE DESK CONTROL LIFTING DESK CONTROL LIFTINF FAST
RAISE MAN LOWER
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON RADIO CONTROL AND CABIN MAIN HOIST OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
400V-50HZ
100.6 / R1
100.6 / S1
100.6 / T1
70mm²
24Vdc 24Vdc
1 3 5 1 400R1 114.4 / P4 P4 / 404.1
1 2
400Q4
200A 4 3,3 ohm 15KW
400.8
I> I> I>
50mm² 43
4 4 6
400Q1
X4.1 101 102 400.0 44
4mm²
43
70mm²
400Q2
1 3 5 43 400.0 44
400Q1
2,5-4A 44
..A 400A1 R1A
43
400.8
I> I> I> 400.9 L1 L2 L3 P0 PA/+ PB R02

2 4 6 400Q3 400A1
402.0
400.2 44 400.4
403.3
405.4
1 3 5 75KW 160A/380V ATV71 (380...500V)
124A/460V
405KM1 50-60HZ
1 R02
405.4 2 4 6 U V W PE 400Q4 R1C
9A 400.4 4
2,5mm² 11
PE
109Q5
109.6 14
1 3 5 43 1 3 5 43
400Q2 400Q3 11
0,63-1A 44 0,63-1A 44 114Q6
..A ..A
400.8
400.8
I> I> I> I> I> I> 114.4 14

2 4 6 2 4 6
35mm² 35mm²
PE PE 9 12
2,5mm² 2,5mm²
PE PE 117U5 117U5
X4.1 103 105 107 X4.1 104 106 108
904.6 904.6
E4.7 E5.0
X4.1 109 110 111 X4.1 112 113 114
IP_PROT IP_V_OK
U V W
LONG TRAVEL PROTECTION BRIDGE DISPLACEMENT
CONVERTER OK
U V W
PE 400M2
M
400Y2 3~
380W
M U V W 404.3
‎Δ PE
3 M
400Y1
U V W
PE
˜ 400M1
3~
380W
M 404.1
‎Δ
3 ELECTRO-HYDRAULIC BRAKES
˜
USB 3-05-EB100 EDc100/30-AVN
Motors type M2BA 250SMA6 37 Kw 985 rpm 69,8A 400V.-50Hz.
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON LONG TRAVEL (POWER) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
400A1
400.4
TRANSLATION SHUNT
ATV71 (380...500V) QP_SHUNTADO
A3.1
905.5
117U10
13
21 11 21 21
406KA2 402KA7 406KA1 402KA7
406.5 24 402.8 14 406.1 24 402.8 24
A1 11 A1 11 A1 11 A1 11 A1 11 A1 11 A1
402KA1 402KA2 402KA3 402KA4 402KA5 402KA6 402KA7
1P A2 14 1P A2 14 1P A2 14 1P A2 12 1P A2 14 1P A2 14 4P A2
207.8 / M M / 404.1
*
5 6 7 8 9 12
117U10 117U10 117U10 117U10 117U10 117U10

905.5 905.5 905.5 905.5 905.5 905.5
A2.3 A2.4 A2.5 A2.6 A2.7 A3.0
QP_ADEL QP_ATRAS QP_RAPIDA QP_RALENTIZADO QP_RESERVA QP_RESET
BRIDGE FORWARD BRIDGE BACKWARD FAST BRIDGE BRIDGE SLOW DOWN * BRIDGE RESET
11 14 402.2 11 14 402.3 11 14 402.4 11 12 402.5 11 14 402.6 11 14 402.7 11 14 402.2

21 24 402.4
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON LONG TRAVEL (DRIVE COMMAND) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
400A1
400.4
ATV71 (380...500V)
COM AI1- +10 AI1+

PE
31 83
113KA6
113.7 32 84
X4.4 401 402 403
X22.4 402 403 404
802.7 / A0NSI TO DESK CONTROL
802.7 / A1NSI
802.8 / A2NSI
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON LONG TRAVEL (DRIVE COMMAND) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
24Vdc 24Vdc
400.9 / P4 P4 / 405.2
T1 A1 95
404F1
T2 A2 96
X4.4 404 405 X4.4 406 407 408
13
117U5
904.6
E5.1
400M1 400M2
400.4 TH1 TH2 PE 400.5 TH1 TH2 PE IP_SONDA
PE PE BRIDGE MOTORS THERMICAL
U U SENSORS
U U
U U
402.9 / M M / 406.0
BRIDGE MOTOR 1 THERMICAL SENSOR BRIDGE MOTOR 2 THERMICAL SENSOR *
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON THERMICAL SENSORS PTC LONG TRAVEL OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
110V-50HZ
109.6 / 4
R2A
400A1
400.4
BRAKE
R2C
BRIDGE BRAKE CONTACTOR SPARE SPARE

IP_FRENO RESERVA RESERVA
E5.2 E5.3 E5.4
904.6 904.6 904.6
117U5 117U5 117U5
14 15 16
A1 14
405KM1
9A A2 13
24Vdc 24Vdc
404.6 / P4 P4 / 406.0
206.8 / 0 0 / 505.0
BRAKE
CONTACTOR
1 2 400.0
3 4 400.1
5 6 400.1
14 13 405.5
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON LONG TRAVEL (COMMAND) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
24Vdc 24Vdc
405.7 / P4
X4.4 409 X4.4 410 X4.4 411
1 11
1 3 1 3
406S1 406S1
406.3 2 406.1 12 406S3 406S4
/1 /2 LIMIT FORWARD CELL SLOW DOWN FORWARD CELL
2 4 2 4
X4.4 412 X4.4 413 X4.4 414 416 X4.4 415 417
A1 11 A1 11
406KA1 406KA2
4P A2 14 4P A2 14
17 18 19 2
117U5 117U5 117U5 117U6

904.6 904.6 904.6 904.6
E5.5 E5.6 E5.7 E6.0
IP_FC_LIMITE_ATRAS IP_FC_RAL_ATRAS IP_FOT_LIMITE_ADELANTE IP_FOT_RAL_ADELANTE
BRIDGE LIMIT SWITCH BRIDGE LIMIT SWITCH LIMIT FORWARD CELL SLOW DOWN FORWARD CELL
BACWARD LIMIT BACWARD SLOW DOWN
404.6 / M M / 502.1
11 14 406.2 11 14 406.6
21 24 402.3 21 24 402.2
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON LONG TRAVEL (COMMAND) OF.: 52223-52224
RNSI / 802.4
HMI / 802.1
NI / 802.3
SI / 802.4
C 11 C 12 C 13
BRIDGE BRIDGE FAST
FORWARD BACKWARD BRIDGE
X22.4 405 406 407 408 409
X21.4 412 413 414 415 416
3 4 5 14 15 16 1 2
117U6 117U6 117U6 121U3 121U3 121U3 121U4 121U4

904.6 904.6 904.6 906.1 906.1 906.1 906.1 906.1
E6.1 E6.2 E6.3 E21.5 E21.6 E21.7 E22.0 E22.1
IRP_ADEL IRP_ATRAS IRP_RAPIDA IPMP_HM IPMP_ATRAS IPMP_ADEL IPMP_RAPIDA I_RESERVA7
RADIO CONTROL BRIDGE RADIO CONTROL BRIDGE RADIO CONTROL BRIDGE FAST DESK CONTROL TRASLATIONS DESK CONTROL BRIDGE DESK CONTROL BRIDGE DESK CONTROL BRIDGE FAST SPARE
FORWARD BACKWARD DEAD MAN BACKWARD FORWARD
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON LONG TRAVEL (RADIO AND CABIN) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
400V-50HZ
100.6 / R1
100.6 / S1
100.6 / T1
4mm²
24Vdc 24Vdc
1 3 5 43 500R1 114.5 / P5 P5 / 505.0
1 2
500Q2
25A 44 19ohms - 2Kw
2,5mm²
500.8
I> I> I>
2 4 6 43
X5.1 107 108 500Q1
500.1 44
43
S1
500Q2
2,5mm² 4mm²
500L1 500.3 44
R1A
1 3 5 43
E1 R02
500Q1 500A1
2,5-4A 44 95 500.3
2,5A 500A1 500F1
500.8
I> I> I> 500.9 L1 L2 L3 P0 PA/+ PB

2 4 6 500.4 96
502.0
503.3 R02
505.2 R1C
7,5KW 17,6A/380V ATV71 (380...500V) 95
14A/460V
50-60HZ
500F2
1 3 5 PE 500.6 96
U V W
505KM1
505.2 2 4 6 11
9A 109Q6
109.7 14
PE
X5.1 109 110 111
11
114Q7
2,5mm² 114.5 14
1 3 5 95 1 3 5 95
500F1 500F2
X10.1 118 120 122 X10.1 119 121 123 5,5-8A 2 4 6 96 5,5-8A 2 4 6 96
6 7
6,2A 500.8 6,2A 500.8
2,5mm² 2,5mm²
2,5mm² 2,5mm² 117U6 117U6
2 3
PE PE 904.6 904.6
500V2 E6.4 E6.5
X5.1 101 102 103 X5.1 104 105 106
IC_PROT IC_V_OK
CROSS TRAVEL PROTECTION TROLLEY DISPLACEMENT
2 3 X10.1 109 110 111 X10.1 112 113 114 CONVERTER OK
500V1
2,5mm² 2,5mm²
500Y2 U V W
500M2
M
3Kw 3~
500Y1 U V W Y
500M1
M
ELECTROMAGNETIC BRAKES 3Kw 3~
Y
Motors SEW FA77/G DRN100L4BE5
3 Kw 1456 rpm 6,4A. 400V.-50Hz.
Brake:400V.-50Hz
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON CROSS TRAVEL (POWER) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
500A1
500.3
ATV71 (380...500V)
21 21
506KA1 506KA2
506.2 24 506.4 24
A1 11 A1 11 A1 11 A1 11 A1 11 A1 11
502KA1 502KA2 502KA3 502KA4 502KA5 502KA6
1P A2 14 1P A2 14 1P A2 14 1P A2 12 1P A2 14 1P A2 14
406.9 / M M / 506.1
14 15 16 17 18 19
117U10 117U10 117U10 117U10 117U10 117U10

905.5 905.5 905.5 905.5 905.5 905.5
A3.2 A3.3 A3.4 A3.5 A3.6 A3.7
QC_IZDA QC_DCHA QC_RAPIDA QC_RALENTIZADO QC_RESERVA QC_RESET
TROLLEY LEFT TROLLEY RIGHT CROSS TRAVEL FAST CROSS TRAVEL SLOWING SPARE CROSS TRAVEL DRIVER RESET
DOWN
11 14 502.3 11 14 502.4 11 14 502.5 11 12 502.6 11 14 502.7 11 14 502.8
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON CROSS TRAVEL (DRIVE COMMAND) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
500A1
500.3
ATV71 (380...500V)
COM AI1- +10 AI1+

PE
61 03
113KA6
113.7 62 04
X5.4 401 402 403
X22.4 410 411 412
802.8 / A0EOI TO DESK CONTROL
802.8 / A1EOI
802.9 / A2EOI
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON CROSS TRAVEL (DRIVE COMMAND) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
110V-50HZ
109.7 / 5
R2A
500A1
500.3
BRAKE
R2C
TROLLEY BRAKE COTACTOR SPARE SPARE

IC_FRENO RESERVA RESERVA
E6.6 E6.7 E7.0
904.6 904.6 904.6
117U6 117U6 117U6
8 9 12
A1 14
505KM1
9A A2 13
24Vdc 24Vdc
500.9 / P5 P5 / 506.1
405.7 / 0 0 / 601.5
BRAKE
CONTACTOR
1 2 500.1
3 4 500.1
5 6 500.1
14 13 505.3
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON CROSS TRAVEL (COMMAND) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
24Vdc
505.9 / P5
X5.4 404
X10.4 414 X10.4 415

11 11 11 11 1
506S1/1 506S1/2 506S1/3 506S1/4 506S2
12 12 12 12 2
X10.4 416 417 418 419 X10.4 420
X5.4 405 406 407 408 X5.4 409
A1 11 A1 11 11 11
506KA1 506KA2 506KA3
4P A2 14 4P A2 14 1P 14 14
502.8 / M M / 600.4
13 14 15 16 17
117U6 117U6 117U6 117U6 117U6

904.6 904.6 904.6 904.6 904.6
E7.1 E7.2 E7.3 E7.4 E7.5
IC_IZDA IC_RAL_IZDA IC_DCHA IC_RAL_DCHA IC_CABINA
TROLLEY LEFT LIMIT SWITCH TROLLEY LEFT SLOW DOWN TROLLEY RIGHT LIMIT SWITCH TROLLEY RIGHT SLOW DOWN TROLLEY CABIN LIMIT SWITCH
SWITCH
11 14 506.2 11 14 506.5 11 14 506.7

21 24 502.3 21 24 502.4
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON CROSS TRAVEL (COMMAND) OF.: 52223-52224
REOI / 802.6
OI / 802.6
EI / 802.5
C 14 C 15 C 16
TROLLEY TROLLEY CROSS
LEFT RIGHT TRAVEL FAST
X22.4 413 414 415 416
X21.4 417 418 419 420
18 19 2 3 4 5 6
117U6 117U6 117U7 121U4 121U4 121U4 121U4

904.6 904.6 905.1 906.1 906.1 906.1 906.1
E7.6 E7.7 E8.0 E22.2 E22.3 E22.4 E22.5
IRC_IZDA IRC_DCHA IRC_RAPIDA IPMC_IZDA IPMC_DCHA IPMC_RAPIDA I_RESERVA9
RADIO CONTROL TROLLEY LEFT RADIO CONTROL TROLLEY RADIO CONTROL TROLLEY FAST DESK CONTROL TROLLEY LEFT DESK CONTROL TROLLEY DESK CONTROL TROLLEY FAST SPARE
RIGHT RIGHT
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON CROSS TRAVEL (RADIO AND CABIN) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
400V-50HZ
100.6 / R1
100.6 / S1 GRAB DRIVER READY ON GRAB
100.6 / T1 QPU_DRIVER_LISTO QPU_MARCHA
A4.0 A4.1
50mm² 905.5 905.5
117U11 117U11
1 3 5 1
600Q1 2 3
160A 4 24Vdc 24Vdc
Ir 0,7
601.2
Im 5
I> I> I> 220V-50HZ.
4 4 6 107.8 / CL1
A1 11 11 A1
107.8 / CL2
600KA1 600KA2 1P
1P A2 14 14 A2
506.8 / M M / 601.7
11 14 600.5 11 14 600.6
600A1
601.1 L1 L2 L3 CL1 CL2 +24V LI1 LI2
601.3
75KW 140A/400V ATS22
T1 T2 T3 PE
50mm² PE
PE
X6.1 101 102 103
X10.1 106 107 108
600ENR1
601.5 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 PE
42x2,5mm²
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 PE
600U1
601.0 U V W PE
P7-6300-1,8 6,3m³ 51KW 94A/400V CLOSURE TIME 17S OPENING TIME 9S 7890KG CREDEBLUG GRAB
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON GRAB (POWER) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
24Vdc
114.6 / P6
OPEN GRAB CLOSURE GRAB

QPU_ABRIR QPU_CERRAR
A4.2 A4.3
905.5 905.5
117U11 117U11
4 5
24Vdc 24Vdc
R2A R1A
600A1 600A1
1
600.1 600.1
READY 600Q1
110V-50HZ
600.1 4 EN MARCHA 109.8 / 6
R2C R1C
A1 11 A1 11
601KA1 601KA2
11 1P A2 14 1P A2 14
109Q7
109.8 14
505.9 / 0 0/ 600.8 / M M / 701.0
11 14 601.7 11 14 601.8
3 4 5
X6.3 301 302 303
117U7 117U7 117U7

905.1 905.1 905.1 X10.3 309 310 311
E8.1 E8.2 E8.3

IPU_LISTO IPU_Q IPU_BYPASS
GRAB DRIVER READY GRAB PROTECTION BYPASS GRAB DRIVER 600ENR1
600.1 1 2 3
42x2,5mm²
39 40 41
600U1
600.1
Y1 (ABRIR-OPEN) Y2 (CERRAR-CLOSURE)
Y1 Y2
CREDEBLUG GRAB
110V-50HZ
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON GRAB (COMMAND) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
100.6 / R2
400V-50HZ TRANSFOMATOR
100.6 / S2
100.6 / T2
PE
35mm²
1 3 5 1
700Q1
160A 4
Ir 0,7 24VDC 24VDC
-TM1 114.7 / P7 P7 / 703.4
700.8
Im 5
I> I> I>
4 4 6
35mm²
PE
X7.1 101 102 103

1
35mm² 35mm²
700Q1
700.1 4
L1 L2 L3 PE 400 400 400 340 340 340 PE
700U1 X01
701.0 -X01 2 3 4 PE 9 10 11 12 13 14 8
702.1
703.0
SGM GANTRY S.p.a. Mod. XYMFIUZZ0006 114Q9

11
114.7 14
6 7 5
X01 L7- L8+ PE
50mm²
X7.1 104 106

X7.1 105 107
50mm² PE
6
X10.1 104 105
117U7
905.1
700ENR1 E8.4
IIM_PROT
MAGNET PROTECTION
3x35mm²
700M1
- + PE
BOX HOOK WITH KEY
OPEN WITH KEY THAT EXTRACT
ON THE LOCATED SWIVEL SWITCH
PE
IN CRANE CABINET
MAGNET 30KW (220V-136A)

9000KG
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON MAGNET (POWER) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
700U1
700.0
SGM GANTRY S.p.a. Mod. XYMFIUZZ0006

-X03 17 18 19 20 21 22
411 401 402 403 404 420
X7.4 401 402 403 404 405 406
MAGNET ON SAFETY MAGNET OFF MAGNET OFF MAGNET ADJUST SELECTION MAGNET TIPPING MAGNET RESET
QIM_IMANTAR QIM_SEG_DESIMAN QIM_DESIMANT QIM_REGRESO QIM_TIPPING QIM_RESET
A4.4 A4.5 A4.6 A5.0 A4.7 A5.1
905.5 905.5 905.5 905.5 905.5 905.5
1
117U11 117U11 117U11 117U11 117U11 117U11
704L1
703.7 2
6 7 8 12 9 13
A1 11 A1 11 A1 11 A1 11 A1 11 A1 11
701KA1 701KA2 701KA3 701KA4 701KA5 701KA6
1P A2 14 1P A2 14 1P A2 14 1P A2 14 1P A2 14 1P A2 14
411 / 702.2
601.9 / M M / 702.2
MAGNETS ON MAGNETS OFF DEMAGNETIZE ADJUST SELECTION TIPPING RESET
SAFETY
11 14 701.2 11 14 701.3 11 14 701.4 11 14 701.5 11 14 701.6 11 14 701.8
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON MAGNET (COMMAND) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
700U1
700.0
SGM GANTRY S.p.a. Mod. XYMFIUZZ0006

23 24 25
-X03 405 406 407
X7.4 407 X7.4 408 X7.4 409
MAGNET POWER-1 SELECTION MAGNET POWER-2 SELECTION MAGNET POWER-3 SELECTION

QIM_PWR1 QIM_PWR2 QIM_PWR3
A5.2 A5.3 A5.4
905.5 905.5 905.5
117U11 117U11 117U11
14 15 16
A1 11 A1 11 A1 11
702KA1 702KA2 702KA3
1P A2 12 1P A2 14 1P A2 14
701.8 / 411
701.8 / M M / 703.4
MAGNET POWER-1 SELECTION MAGNET POWER-2 SELECTION MAGNET POWER-3 SELECTION
11 12 702.4 11 14 702.6 11 14 702.7
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
0 1 2 3 4 5 6 7 8 9
700U1
700.0
SGM GANTRY S.p.a. Mod. XYMFIUZZ0006 KA50

14
11 MAGNET DEMAGNETIZED
-X03 8 9 10 11 12 13 -X03 2 3 5 6
1N 1000 1001 1002 905 906 415 416 910 911
1,5mm²
X7.4 410 411 X7.4 412 X7.4 413
13
704S1 INSTALLED NEXT TO UNLOCKING UNIT
BY SOLENOID 704L1
* 14
7
x1 x1 x1 x1 x1
-HL13 -HL14 -HL15 -HL11 -HL12 117U7
x2 x2 x2 x2 x2
BLANCO
AMARILLO
NARANJA
VERDE
ROJO
905.1 x1
E8.5
704L1 INSTALLED NEXT TO HELP
IIM_FALLO UNLOCKING PUSH BUTTON KEY 704S1
701.0
MAGNET EQUIPMENT WARNING x2
UNLOCKING UNIT
BY SOLENOID
MAGNET ON
ADJUST SELECTION
WARNING MAGNET ON > 10MN
MAGNET EQUIPMENT READY
MAGNET OVERHEATING ALARM
24VDC
700.8 / P7
702.7 / M
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
0 1 2 3 4 5 6 7 8 9
C 17 C 18 C 19 C 20 C 21 C 22 C 23 C 24
MAGNETS ON MAGNETS OFF DEMAGNETIZE TIPPING POWER-2 POWER-3 ADJUST SELECTION RESET
SAFETY
8 9 12 13 14 15 16 17
117U7 117U7 117U7 117U7 117U7 117U7 117U7 117U7

905.1 905.1 905.1 905.1 905.1 905.1 905.1 905.1
E8.6 E8.7 E9.0 E9.1 E9.2 E9.3 E9.4 E9.5
IRIM_IMANTAR IRIM_SEG_DES IRIM_DESIMAN IRIM_TIPPING IRIM_GR2 IRIM_GR3 IRIM_SELECCION_AJUSTE IRIM_RESET
RADIO CONTROL MAGNET ON RADIO CONTROL MAGNET OFF RADIO CONTROL MAGNET OFF RADIO CONTROL MAGNET RADIO CONTROL MAGNET RADIO CONTROL MAGNET RADIO CONTROL MAGNET RADIO CONTROL MAGNET
SAFETY TIPPING POWER-2 POWER-3 ADJUST SELECTION RESET
18 19
117U7 117U7
905.1 905.1
E9.6 E9.7
RESERVA RESERVA
SPARE SPARE
SPARE SPARE SPARE

RESERVA RESERVA RESERVA
A5.5 A5.6 A5.7
905.5 905.5 905.5
117U11 117U11 117U11
17 18 19
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
0 1 2 3 4 5 6 7 8 9
24VDC 24VDC
126.9 / P10 P10 / 801.0
OD / 801.6
ED / 801.5
24VDC
24VDC
X21.4 421
13 3 3 3 3 3
704S2 704S4 704S5 704S6 704S7
14 4 4 4 4 4
X21.4 422 X21.4 423
7 8 9 10 11 12 13 14
121U4 121U4 121U4 121U4 121U4 121U4 121U4 121U4

906.1 906.1 906.1 906.1 906.1 906.1 906.1 906.1
E22.6 E22.7 E23.0 E23.1 E23.2 E23.3 E23.4 E23.5
IPMCUIM_CERRAR_IMANTAR IPMIM_SEG_DESIM IPMCUIM_ABRIR_DESIMANT IPMIM_TIPPING IPMIM_PW2 IPMIM_PW3 IPMIM_SEL_AJUSTE IPMIM_RESET
DESK CONTROL CLOSURE DESK CONTROL SAFETY DESK CONTROL OPEN DESK CONTROL MAGNET DESK CONTROL MAGNET DESK CONTROL MAGNET DESK CONTROL MAGNET DESK CONTROL MAGNET RESET
GRAB-MAGNET ON MAGNET OFF GRAB-MAGNET OFF TIPPING POWER-2 POWER-3 ADJUST SELECTION
15 16
121U4 121U4
906.1 906.1
E23.6 E23.7
RESERVA RESERVA
SPARE SPARE
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
S1690590B-C-D -- Talleres Jaso -- Electr. DWG for Approval - REV. 02 - L....pdf
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON MAGNET ELECTRIC DIAGRAMS OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
TOUCH SCREEN
MAGNETS OFF
SAFETY
300 mm 300 mm
30 50mm 50mm
FORWARD LOWER
50 mm
801S1
TROLLEY GRAB
LEFT RIGHT CLOSE OPEN
ON OFF
802S1 MAGNET
EMERGENCY
BACKWARD RAISE
STOP
BRIDGE LIFTING
50
TIPPING
GREEN
START
RESET SHUNT
30
MAGNETS
POWER
1
2
ADJUSTMENT
3
SELECTION
SIREN
620 mm
RADIO
DESK
RESET
GRAB-MAGNET
LAMP CABIN
TEST LIGHTING
LIGHTING
ACCESS
X22 X21
220V-50HZ 220V-50HZ
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON CONTROL DESK (CONFIGURATION) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
24VDC
705.8 / P10
801S1 ANALOGICAL INPUT NS ANALOGICAL INPUT EW

*
* * * * * * * *
11 11
3 7 7 1 3 5 3 1 5
DEAD MAN * * NORTH SOUTH * EAST WEST * 12 12
10 10
4 8 8 2 4 6 4 2 6
GREEN
GREEN
BLACK
BLACK
RED
RED
210.5 / HMD
210.7 / ND
210.6 / SD
210.8 / RNSD
705.3 / ED
705.1 / OD
/ REOD
204.4 / A0NSD
204.4 / A1NSD
204.5 / A2NSD
/ A0EOD
/ A1EOD
/ A2EOD
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON DESK CONTROL (RIGHT JOYSTICK) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
24VDC
114.9 / P10
802S1 ANALOGICAL INPUT NS ANALOGICAL INPUT EW

*
* * * * * * * *
11 11
3 7 7 1 3 5 3 1 5
DEAD MAN * * NORTH SOUTH * EAST WEST * 12 12
10 10
4 8 8 2 4 6 4 2 6
GREEN
GREEN
BLACK
BLACK
RED
RED
410.4 / HMI
410.6 / NI
410.5 / SI
410.7 / RNSI
510.6 / EI
510.5 / OI
510.7 / REOI
403.4 / A0NSI
403.4 / A1NSI
403.5 / A2NSI
503.4 / A0EOI
503.4 / A1EOI
503.5 / A2EOI
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON DESK CONTROL (LEFT JOYSTICK) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
*
* *
*
*
*
FORWARD LOWER
803RAD1
GRAB OPEN-MAGNET OFF

GRAB CLOSE-MAGNET ON
2 2
RIGHT TROLLEY
LEFT TROLLEY
1 1
N N
2 1O A E 1 2 2 1O B E 1 2
S S
1 1 RESET
MAGNET
2 2
BACKWARD RAISE
ADJUSTEMENT BRIDGE * LIFTING
TIPPING
SELECTION
2 3
1 3 GRAB
MAGNETS OFF
SAFETY STOP SIREN
N
2 CRL6 4 P1
1 P1 7 M101
MAGNETS MAGNET S
FORCE SHUNT
ADJUSTEMENT
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON RADIO CONTROL (CONFIGURATION) OF.: 52223-52224
L 110V-50HZ
0
C 1 111.2
110V-50Hz
C 2 111.2 STOP
Plug diagram:
C 3 125.5 COMMAND 0V
1
C 4 125.5 START
OWNER ENGINNERING:
C 5 125.6 SIREN
SHUNT
2
C 6 125.7
C 7 125.8 SHUNT
C 8 210.1 ELEVACION SUBIR

3
C 9 210.2 ELEVACION BAJAR

CABINET CONNECTOR
A
C 10 210.3 ELEVACION RAPIDA
E.M.
Jokin
Jokin
INITIAL ISSUE
PUENTE ADELANTE
4
C 11 410.1
C 12 410.2 PUENTE ATRAS
REASON
DATE
DRAWN
CHECKED
APPROVED
C 13 410.3 PUENTE RAPIDA
5
C 14 510.1 CARRO IZQUIERDA
C 15 510.2 CARRO DERECHA
CARRO RAPIDA
6
C 16 510.3
MAGNETS ON
YAZD (IRAN)
C 17 704.1
CABINET CONNECTOR
2 CRANES 24T SPAN 40M
C 18 704.2 MAGNETS OFF SAFETY

7
IASCO - IRAN ALLOY STEEL CO.
C 19 704.3 DEMAGNETIZE
SHEET Nº:
C 20 704.4 SELECT SHEETS

OF.:
804
SELECT GROUP 2
8
C 21 704.5
DOCUMENT REFERENCE:
C 22 704.6 SELECT GROUP 2

52223-52224
INVALIDATES / REPLACES TO: REV
CONTINUES: 805

9

A3
REV: A
0 1 2 3 4 5 6 7 8 9
Plug diagram: CABINET CONNECTOR
GND
GND
111.1
32
C
OWNER ENGINNERING:
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Jokin DRAWN
INITIAL ISSUE REASON CABINET CONNECTOR OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
EtF EXTERNAL FAULT
EtF EXTERNAL FAULT ASS. NO

MAIN MENU
1 DRIVE MENU 1.7.- APPLICATION FUNCT. (FUn)
1.1.- SIMPLY START (SIM)

PSS- PRESET SPEEDS
CFG MACRO CONFIGURATION HOISTING (PRESS AND HOLD DOWN 2s) PS2 2 PRESET SPEEDS LI5
nPr RATED MOTOR POWER 110 Kw SP2 PRESET SPEED 2 50 Hz

UnS RATED MOTOR VOLT. 400 V BLC- BRAKE LOGIC CONTROL
nCr RATED MOT. CURRENT 194 A BLC BRAKE ASSIGNMENT R2
FrS RATED MOTOR FREQ. 50 Hz Ibr BRAKE RELEASE I FW 194 A
nSP RATED MOTOR SPEED 1487 rpm brt BRAKE RELEASE TIME 0,3 seg
tFr MAX REQUENCY 50 HZ tbE BRAKE ENGAGE DELAY 0 seg
tUn AUTO TUNING SI bEt BRAKE ENGAGE TIME 0,3 seg
PHr OUTPUT PH ROTATION ABC BRA- RAMPS
ItH MOT. THERM. CURRENT 194 A BRA DECELERATION RAMP ADAPTATION NO
ACC ACCELERATION 1,5 seg NlP- PARAM. SET SWITCHING
dEC DECELERATION 1,5 seg CHA1 2 PARAMETERS SETS LI4
LSP LOW SPEED 5 Hz SpS PARAMETER SELECTION
HSP HIGH SPEED 50 Hz 1.3 SETTINGS
HSP HIGH SPEED

1.11.- IDENTIFICATION (VERSION CHECK)
PS1 SET 1
APLIC. SOFTWARE V 3.3 IE 40 HSP HIGH SPEED 10 Hz
MC SOFTWARE V 2.3 IE 34 PS2 SET 2
HSP HIGH SPEED 50 Hz

1.8.- FAULT MANAGEMENT (FLt)
1.4.- MOTOR CONTROL (drC)
Sdd ENCODER FAULT Ctt MOTOR CONTROL TYPE CVF (CLOSED-LOOP)
Sdd LOAD SLIP DETECTION YES rEG ENCODER USAGE rEG (CONTROL & SAFETY)
ECC ENCODER COUPLING YES
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON PARAMETERS (LIFTING) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
1.5.- INPUTS/OUTPUTS CFG
r2- R2 CONFIGURATION
r2 R2 ASSIGNMENT bLC *
MAIN MENU
1 DRIVE MENU 1.7.-APPLICATION FUNCT. (FUn)

PSS- PRESET SPEEDS
CFG MACRO CONFIGURATION HANDLING (PUSH DURING 2") PS4 * NO
nCr RATED MOT. CURRENT 140 A BLC BRAKE ASSIGNMENT R2
FrS RATED MOTOR FREQ. 50 Hz bSt * Traslacion
tFr MAX REQUENCY 50 Hz tbE BRAKE ENGAGE DELAY 0 seg
PHr OUTPUT PH ROTATION ABC ttr RESTART TIME 0,1 seg
ItH MOT. THERM. CURRENT 140 A

BRA- RAMPS
ACC ACCELERATION 5 seg
BRA- DECELERATION RAMP ADAPTATION NO
dEC DECELERATION 5 seg
NlP- PARAM. SET SWITCHING
LSP LOW SPEED 5 Hz
CHA1 2 PARAMETERS SETS LI4
SpS PARAMETER SELECTION
1.3 SETTINGS
HSP HIGH SPEED
APLIC. SOFTWARE V 3.3 IE 40 PS1 SET 1
MC SOFTWARE V 2.3 IE 34 HSP HIGH SPEED 50 Hz
PS2 SET 2
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON PARAMETERS (LONG TRAVEL) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
1.5.- INPUTS/OUTPUTS CFG
r2- R2 CONFIGURATION
r2 R2 ASSIGNMENT bLC *
MAIN MENU
1 DRIVE MENU 1.7.-APPLICATION FUNCT. (FUn)

PSS- PRESET SPEEDS
CFG MACRO CONFIGURATION HANDLING (PUSH DURING 2") PS4 * NO
nCr RATED MOT. CURRENT 12,8 A BLC BRAKE ASSIGNMENT R2
FrS RATED MOTOR FREQ. 50 Hz bSt * Traslacion
tFr MAX REQUENCY 50 Hz tbE BRAKE ENGAGE DELAY 0 seg
PHr OUTPUT PH ROTATION ABC ttr RESTART TIME 0,1 seg
ItH MOT. THERM. CURRENT 12,8 A

BRA- RAMPS
ACC ACCELERATION 4 seg
BRA- DECELERATION RAMP ADAPTATION NO
dEC DECELERATION 4 seg
NlP- PARAM. SET SWITCHING
LSP LOW SPEED 5 Hz
CHA1 2 PARAMETERS SETS LI4
SpS PARAMETER SELECTION
1.3 SETTINGS
HSP HIGH SPEED
APLIC. SOFTWARE V 3.3 IE 40 PS1 SET 1
MC SOFTWARE V 2.3 IE 34 HSP HIGH SPEED 50 Hz
PS2 SET 2
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON PARAMETERS (CROSS TRAVEL) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
CÓDIGO DESCRIPCION
conF Configuración
IcL 140A
dLtA Linea: Conectado a la línea de alimentación del motor
UIn 400V
In 94A
Cod nLoc: No bloqueado
LAC ON
Protección
Ubd Off
Grdd Off
PHr Off
Entradas/Salidas
LI2 Strt
r1 Run
r2 trIp
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON PARAMETERS (GRAB) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
117U3 117U5
2 2
E0.0 102.4 I_RFR_RECINTO_OK AIR CONDITIONING CABINET OK E4.0 207.4 IE_CABINA CABIN LIMIT SWITCH
3 3
E0.1 102.5 I_RFR_RECINTO_TEMP ALARM TEMP. AIR CONDITIONING E4.1 207.5 IE_BAJAR DOWN LIMIT SWITCH
4 4
E0.2 103.5 I_PUERTAS CABINET'S DOORS OPEN E4.2 201.7 IE_ENROLLADOR LIFTING DRUM REEL CONTACTOR
5 5
E0.3 109.4 I_RST PHASE SEQUENCE RELAY E4.3 207.7 RESERVA SPARE
6 6
E0.4 110.2 IACS_PARO1 FEEDER END CARRIAGE CABIN SIDE EMERGENCY STOP E4.4 210.1 IRE_SUBIR RADIO CONTROL LIFTING RAISE
7 7
E0.5 110.3 IACS_PARO2 FEEDER END CARRIAGE OPPOSITE CABIN SIDE EMERGENCY STOP E4.5 210.2 IRE_BAJAR RADIO CONTROL LIFTIN LOWER
8 8
E0.6 110.5 IACS_PARO3 FEEDER OPPOSITE END CARRIAGE CABIN SIDE EMERGENCY STOP E4.6 210.3 IRE_RAPIDA RADIO CONTROL LIFTING FAST
9 9
E0.7 110.6 IACS_PARO4 FEEDER OPPOSITE END CARRIAGE OPPOSITE CABIN SIDE EMERGENCY STOP E4.7 400.8 IP_PROT LONG TRAVEL PROTECTION
12 12
E1.0 110.8 IPM_PARO DESK CONTROL EMERGENCY STOP E5.0 400.9 IP_V_OK BRIDGE DISPLACEMENT CONVERTER OK
13 13
E1.1 111.3 IR_PARO RADIO STOP E5.1 404.5 IP_SONDA BRIDGE MOTORS THERMICAL SENSORS
14 14
E1.2 111.5 IE_SEG LIFTING SAFETY L.SWITCH E5.2 405.5 IP_FRENO BRIDGE BRAKE CONTACTOR
15 15
E1.3 111.6 IE_CONTRAPESO LIFTING COUNTERWEIGHT L.S. E5.3 405.6 RESERVA SPARE
16 16
E1.4 112.6 I_CG MAIN CONTACTOR E5.4 405.7 RESERVA SPARE
17 17
E1.5 112.7 I_ENSAYO TEST MODE E5.5 406.2 IP_FC_LIMITE_ATRAS BRIDGE LIMIT SWITCH BACWARD LIMIT
18 18
E1.6 115.3 ICC_PROT_CABINA CABINET ELEMENTS PROTECTION E5.6 406.3 IP_FC_RAL_ATRAS BRIDGE LIMIT SWITCH BACWARD SLOW DOWN
19 19
E1.7 115.4 ICC_PROT_GENERAL MAIN DISTRIBUTION PROTECTION E5.7 406.6 IP_FOT_LIMITE_ADELANTE LIMIT FORWARD CELL
117U4 117U6
2 2
E2.0 115.5 ICC_PROT_RADIO RADIO CONTROL PROTECTION E6.0 406.8 IP_FOT_RAL_ADELANTE SLOW DOWN FORWARD CELL
3 3
E2.1 115.6 ICC_PROT_PUPITRE DESK CONTROL PROTECTION E6.1 410.1 IRP_ADEL RADIO CONTROL BRIDGE FORWARD
4 4
E2.2 125.1 IACS_PETICION CRANE ACCESS REQUEST E6.2 410.2 IRP_ATRAS RADIO CONTROL BRIDGE BACKWARD
5 5
E2.3 125.6 IR_MARCHA ON RADIO CONTROL E6.3 410.3 IRP_RAPIDA RADIO CONTROL BRIDGE FAST
6 6
E2.4 125.7 IR_SIRENA HORN RADIO CONTROL E6.4 500.8 IC_PROT CROSS TRAVEL PROTECTION
7 7
E2.5 125.8 IR_SHUNTADO SHUNT RADIO CONTROL E6.5 500.9 IC_V_OK TROLLEY DISPLACEMENT CONVERTER OK
8 8
E2.6 125.9 IR_GRABE_MAGNET GRAB-MANET SELECTION RADIO CONTROL E6.6 505.3 IC_FRENO TROLLEY BRAKE COTACTOR
9 9
E2.7 200.8 IE_PROT LIFTING PROTECTION E6.7 505.4 RESERVA SPARE
12 12
E3.0 200.9 IE_V_OK LIFTING CONVERTER OK E7.0 505.5 RESERVA SPARE
13 13
E3.1 201.8 IE_ENR_PROT CABLE REELS PROTECTION E7.1 506.2 IC_IZDA TROLLEY LEFT LIMIT SWITCH
14 14
E3.2 202.4 IE_LC LOAD LIMIT E7.2 506.3 IC_RAL_IZDA TROLLEY LEFT SLOW DOWN
15 15
E3.3 202.6 IE_CF SLACK CABLE E7.3 506.5 IC_DCHA TROLLEY RIGHT LIMIT SWITCH
16 16
E3.4 205.5 IE_SONDA LIFTING THERMICAL SENSOR E7.4 506.6 IC_RAL_DCHA TROLLEY RIGHT SLOW DOWN SWITCH
17 17
E3.5 206.3 IE_FRENO LIFTING BRAKE CONTACTOR E7.5 506.7 IC_CABINA TROLLEY CABIN LIMIT SWITCH
18 18
E3.6 207.2 IE_SUBIR UP LIMIT SWITCH E7.6 510.1 IRC_IZDA RADIO CONTROL TROLLEY LEFT
19 19
E3.7 207.3 IE_RAL_SUBIR SLOWDOWN RAISE E7.7 510.2 IRC_DCHA RADIO CONTROL TROLLEY RIGHT
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON DIGITAL INPUT/OUTPUT SUMMARY (CABINET) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
117U7 117U10
2 2
E8.0 510.3 IRC_RAPIDA RADIO CONTROL TROLLEY FAST A2.0 201.6 QE_ENROLLADOR LIFTING DRUM REEL CONTACTOR
3 3
E8.1 601.1 IPU_LISTO GRAB DRIVER READY A2.1 206.7 Q_RESERVA7 SPARE
4 4
E8.2 601.2 IPU_Q GRAB PROTECTION A2.2 206.8 Q_RESERVA8 SPARE
5 5
E8.3 601.3 IPU_BYPASS BYPASS GRAB DRIVER A2.3 402.2 QP_ADEL BRIDGE FORWARD
6 6
E8.4 700.8 IIM_PROT MAGNET PROTECTION A2.4 402.3 QP_ATRAS BRIDGE BACKWARD
7 7
E8.5 703.5 IIM_FALLO MAGNET EQUIPMENT WARNING A2.5 402.4 QP_RAPIDA FAST BRIDGE
8 8
E8.6 704.1 IRIM_IMANTAR RADIO CONTROL MAGNET ON A2.6 402.5 QP_RALENTIZADO BRIDGE SLOW DOWN
9 9
E8.7 704.2 IRIM_SEG_DES RADIO CONTROL MAGNET OFF SAFETY A2.7 402.6 QP_RESERVA *
12 12
E9.0 704.3 IRIM_DESIMAN RADIO CONTROL MAGNET OFF A3.0 402.7 QP_RESET BRIDGE RESET
13 13
E9.1 704.4 IRIM_TIPPING RADIO CONTROL MAGNET TIPPING A3.1 402.8 QP_SHUNTADO TRANSLATION SHUNT
14 14
E9.2 704.5 IRIM_GR2 RADIO CONTROL MAGNET POWER-2 A3.2 502.2 QC_IZDA TROLLEY LEFT
15 15
E9.3 704.6 IRIM_GR3 RADIO CONTROL MAGNET POWER-3 A3.3 502.3 QC_DCHA TROLLEY RIGHT
16 16
E9.4 704.7 IRIM_SELECCION_AJUSTE RADIO CONTROL MAGNET ADJUST SELECTION A3.4 502.4 QC_RAPIDA CROSS TRAVEL FAST
17 17
E9.5 704.8 IRIM_RESET RADIO CONTROL MAGNET RESET A3.5 502.5 QC_RALENTIZADO CROSS TRAVEL SLOWING DOWN
18 18
E9.6 704.1 RESERVA SPARE A3.6 502.6 QC_RESERVA SPARE
19 19
E9.7 704.2 RESERVA SPARE A3.7 502.7 QC_RESET CROSS TRAVEL DRIVER RESET
117U9 117U11
2 2
A0.0 102.3 Q_RFR_RECINTO_PARO STOP AIR CONDITIONING CABINET A4.0 600.4 QPU_DRIVER_LISTO GRAB DRIVER READY
3 3
A0.1 112.1 Q_CG GENERAL ON A4.1 600.7 QPU_MARCHA ON GRAB
4 4
A0.2 112.8 Q_RESERVA1 SPARE A4.2 601.7 QPU_ABRIR OPEN GRAB
5 5
A0.3 113.2 Q_SIRENA HORN A4.3 601.8 QPU_CERRAR CLOSURE GRAB
6 6
A0.4 113.4 Q_ROTOLAMPARA ROTATING LIGHT A4.4 701.1 QIM_IMANTAR MAGNET ON
7 7
A0.5 113.6 Q_RADIO RADIO CONTROL A4.5 701.2 QIM_SEG_DESIMAN SAFETY MAGNET OFF
8 8
A0.6 127.1 QPM_MARCHA ON LAMP A4.6 701.3 QIM_DESIMANT MAGNET OFF
9 9
A0.7 127.3 QACS_PERMISO CRANE PERMISION ACCESS CRANE LAMPS A4.7 701.6 QIM_TIPPING MAGNET TIPPING
12 12
A1.0 127.7 Q_RESERVA3 SPARE A5.0 701.5 QIM_REGRESO MAGNET ADJUST SELECTION
13 13
A1.1 127.8 Q_RESERVA4 SPARE A5.1 701.7 QIM_RESET MAGNET RESET
14 14
A1.2 203.3 QE_SUBIR LIFTING RAISE A5.2 702.3 QIM_PWR1 MAGNET POWER-1 SELECTION
15 15
A1.3 203.4 QE_BAJAR LIFTING LOWER A5.3 702.5 QIM_PWR2 MAGNET POWER-2 SELECTION
16 16
A1.4 203.5 QE_RESET LIFTING RESET A5.4 702.6 QIM_PWR3 MAGNET POWER-3 SELECTION
17 17
A1.5 203.6 QE_RALENTIZADO LIFTING SLOW DOWN A5.5 704.1 RESERVA SPARE
18 18
A1.6 203.7 QE_RAPIDA LIFTING FAST A5.6 704.2 RESERVA SPARE
19 19
A1.7 203.8 QE_RESERVA LIFTING DRIVE SPARE A5.7 704.3 RESERVA SPARE
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON DIGITAL INPUT/OUTPUT SUMMARY (CABINET) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
121U3
1
E20.0 126.1 IPM_MARCHA ON DESK CONTROL
2
E20.1 126.2 IPM_SHUNTADO SHUNT DESK CONTROL
3
E20.2 126.3 IPM_SIRENA HORN DESK CONTROL
4
E20.3 126.4 IPM_PUPITRE DESK CONTROL SELECTION
5
E20.4 126.5 IPM_TEST LAMPS TEST DESK CONTROL
6
E20.5 126.6 IPM_PULPO_ELECTROIMAN GRAB-MAGNET SELECTION DESK CONTROL
7
E20.6 126.7 I_RESERVA6 SPARE
8
9
10
E21.1 210.5 IPME_HM DESK CONTROL LIFTING DEAD MAN
11
E21.2 210.6 IPME_SUBIR DESK CONTROL LIFTINF RAISE
12
E21.3 210.7 IPME_BAJAR DESK CONTROL LIFTING LOWER
13
E21.4 210.8 IPME_RAPIDA DESK CONTROL LIFTINF FAST
14
E21.5 410.4 IPMP_HM DESK CONTROL TRASLATIONS DEAD MAN
15
E21.6 410.5 IPMP_ATRAS DESK CONTROL BRIDGE BACKWARD
16
E21.7 410.6 IPMP_ADEL DESK CONTROL BRIDGE FORWARD
121U4
1
E22.0 410.7 IPMP_RAPIDA DESK CONTROL BRIDGE FAST
2
3
E22.2 510.5 IPMC_IZDA DESK CONTROL TROLLEY LEFT
4
E22.3 510.6 IPMC_DCHA DESK CONTROL TROLLEY RIGHT
5
E22.4 510.7 IPMC_RAPIDA DESK CONTROL TROLLEY FAST
6
7
E22.6 705.1 IPMCUIM_CERRAR_IMANTAR DESK CONTROL CLOSURE GRAB-MAGNET ON
8
E22.7 705.2 IPMIM_SEG_DESIM DESK CONTROL SAFETY MAGNET OFF
9
E23.0 705.3 IPMCUIM_ABRIR_DESIMANT DESK CONTROL OPEN GRAB-MAGNET OFF
10
E23.1 705.4 IPMIM_TIPPING DESK CONTROL MAGNET TIPPING
11
E23.2 705.5 IPMIM_PW2 DESK CONTROL MAGNET POWER-2
12
E23.3 705.6 IPMIM_PW3 DESK CONTROL MAGNET POWER-3
13
E23.4 705.7 IPMIM_SEL_AJUSTE DESK CONTROL MAGNET ADJUST SELECTION
14
E23.5 705.8 IPMIM_RESET DESK CONTROL MAGNET RESET
15
E23.6 705.7 RESERVA SPARE
16
E23.7 705.8 RESERVA SPARE
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON INPUT/OUTPUT SUMMARY (CONTROL DESK) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
* *
*
10 mm
BRIDGE LIFTING
LOWER
*
FORWARD
15
START TEST
GRAB 40 mm
TROLLEY CLOSE OPEN
50 mm
50 mm
50 mm
LEFT RIGHT ON OFF
MAGNET
BACKWARD RAISE
50 mm 50 mm
15
MAGNETS OFF SAFETY
50 mm
120 mm
"ATTENTION: DISCONNECT
100Q1+101Q1
60 mm
TO ENSURE THE ABSENCE OF

VOLTAGE IN THE CRANE"
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON LABELS OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
27 mm
CONTROL
18 mm
MAIN TEST ACCESS CABIN

START SHUNT SIREN
RADIO DESK LAMP LIGHTING LIGHTING
TIPPING MAGNET ADJUSTEMENTS MAGNET GRAB-MAGNET

POWER SELECTION RESET
27 mm 27 mm
* *
8
ACCESS ACCESS LIGHTING
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON LABELS OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
E0 .0 E2 .0 E4 .0 E6 .0 E8 .0 A0 .0 A2 .0 A4 .0
E0 .1 E2 .1 E4 .1 E6 .1 E8 .1 A0 .1 A2 .1 A4 .1
E0 .2 E2 .2 E4 .2 E6 .2 E8 .2 A0 .2 A2 .2 A4 .2
E0 .3 E2 .3 E4 .3 E6 .3 E8 .3 A0 .3 A2 .3 A4 .3
E0 .4 E2 .4 E4 .4 E6 .4 E8 .4 A0 .4 A2 .4 A4 .4
E0 .5 E2 .5 E4 .5 E6 .5 E8 .5 A0 .5 A2 .5 A4 .5
E0 .6 E2 .6 E4 .6 E6 .6 E8 .6 A0 .6 A2 .6 A4 .6
E0 .7 E2 .7 E4 .7 E6 .7 E8 .7 A0 .7 A2 .7 A4 .7
117U3 117U4 117U5 117U6 117U7 117U9 117U10 117U11
E 1 .0 E 3 .0 E 5 .0 E 7 .0 E 9 .0 A 1 .0 A 3 .0 A 5 .0
E 1 .1 E 3 .1 E 5 .1 E 7 .1 E 9 .1 A 1 .1 A 3 .1 A 5 .1
E 1 .2 E 3 .2 E 5 .2 E 7 .2 E 9 .2 A 1 .2 A 3 .2 A 5 .2
E 1 .3 E 3 .3 E 5 .3 E 7 .3 E 9 .3 A 1 .3 A 3 .3 A 5 .3
E 1 .4 E 3 .4 E 5 .4 E 7 .4 E 9 .4 A 1 .4 A 3 .4 A 5 .4
E1 .5 E3 .5 E5 .5 E7 .5 E9 .5 A1 .5 A3 .5 A5 .5
E1 .6 E3 .6 E5 .6 E7 .6 E9 .6 A1 .6 A3 .6 A5 .6
E1 .7 E3 .7 E5 .7 E7 .7 E9 .7 A1 .7 A3 .7 A5 .7
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON PLC'S LABELS OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
WHITE BACKGROUND BLACK LETTERING

250 mm
50 mm
MAIN PROTECTION GRAB
1 UNIDAD 1 UNIDAD
AUXILIARY SERVICES MAGNET

1 UNIDAD 1 UNIDAD
LIFTING RADIO RECEIVER

1 UNIDAD 1 UNIDAD
LONG TRAVEL PLC

1 UNIDAD 1 UNIDAD
CROSS TRAVEL CABINET AIR CONDITIONING

1 UNIDAD 1 UNIDAD
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON LABELS IN CABINET OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
102.1
102.1
102.2
Page/column
5 10 15 20 25 30 35 40 45 50 55 60 65 70
2
4
6
Connection
Short destination
100Q1
100Q1
100Q1
Bushing name
Jumpers
X1.1
101
102
103
Bushing name
Strip name
R
S
T
Connection
102REFR2
102REFR2
102REFR2
Short destination
PROTECTION 100Q1
4x6mm²
ASOFRIGO CABINET
W01114
3(2(1X120mm²))+
1x120mm² PE
12x2,5mm²
12x2,5mm²
4x4mm²
CABINET AIR CONDITIONING

*
W01101
W01102
W01103
W01104
W01105
W01106
W01107
W01111
W01112
W01113
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON X1.1: MAIN DISTRIBUTION (POWER) OF.: 52223-52224
Strip name
0
X1.2
Page/column
1
Jumpers
Connection
Connection
Bushing name
Bushing name
W01201
Short destination
Short destination
CABINA
4x4mm² 101REFR1 L1 201 101Q4 2 101.6
REFRIGERADOR
OWNER ENGINNERING:
W01202 101REFR1 L2 202 101Q4 6 101.7
4x2,5mm² 103S3 1-3 203 103Q1 2 103.2
W01203 103S3 2 204 103.1
4x2,5mm²
5
103S4 2 205 103.1

103S3 4 206 103.2
2
103S4 4 207 103.2

103S4 1-3 208 103.2
W01204 3x2,5mm² 103H1 1 209 103.2
10
103H1 2 210 103Q1 N 103.1

W01205 12x2,5mm² X21.2 201 211 103Q2 N 103.7
W01206 X21.2 204 212 103Q2 2 103.7
4x2,5mm² 104S1 1-3 213 104Q1 2 104.2
104S1 2 214 104.2
7x1mm²
15
104S2 3 215 104.2

W01207 104S1 4 216 104.2
3
104S2 4 217 104.2

104S2 4 218 104.2
4x2,5mm² 104S3 2 219 104.2
20
W01217 104S2 1-3 220 104.2

104S3 4 221 104.2
A
104S3 1-3 222 104.2
W01208 3x2,5mm² 104H1 1 223 104.2
104H2 1 224 104.2
3x2,5mm²
25
W01209 104H6 1 225 104.3
E.M.
Jokin
Jokin
W01218
INITIAL ISSUE
104H1 2 226 104Q1 N 104.2
4
104H2 2 227 104.2

W01210 104H6 2 228 104.3
4x2,5mm² 104S4 1-3 229 104Q2 2 104.5
30
W01211 104S4 2 230 104.5

4x2,5mm² 104S5 2 231 104.5
104S4 4 232 104.5
REASON
DATE
DRAWN
CHECKED
104S5 4 233 104.5
APPROVED
W01212 104S5 1-3 234 104.5
3x2,5mm²
35
104H3 1 235 104.5

104H4 1 236 104.5
5
W01213
3x2,5mm² 237 104.6
104H3 2 238 104Q2 N 104.5
104H4 2 239 104.5
40
240 104.6
W01214 12x2,5mm² X10.2 201 241 104Q3 N 104.6
X10.2 203 242 104Q3 2 104.7
X10.2 209 243 112KM1 62 107.5
W01215 X10.2 210 244 112KM1 72 107.5
3x2,5mm²
45
108H1 245 113KA2 14 108.4

108H1 246 113KA2 44 108.4
6
3x1,5mm² 108H2 x1 247 113KA4 14 108.5

W01216 108H2 x2 248 113KA4 44 108.5
50
YAZD (IRAN)
55
X1.2: GENERAL COMMAND (AUX.SERVICES)

7

60
SHEET Nº:
OF.:
65
1001
8
DOCUMENT REFERENCE:
70
52223-52224
CONTINUES: 1002
9
A3
REV: A
Strip name
0
X1.3
Page/column
1
Jumpers
Connection
Connection
Bushing name
Bushing name
Short destination
Short destination
W01301
W01302 3x2,5mm² 102REFR2 39 301 102KA1 12 102.3
OWNER ENGINNERING:
W01303 102REFR2 40 302 102KA1 11 102.3
W01304 3x2,5mm² 110S1 13 303 109Q2 2 110.1
3x2,5mm² 110S2 13 304 110.3
3x2,5mm²
5
110S3 13 305 110.4

3x2,5mm² 110S4 13 306 110.6
2
W01306
4x2,5mm² X21.3 301 307 113KA6 53 110.7
W01305 X10.3 301 308 100Q1 1 111.4
12x2,5mm² 309 111.5
W01307
10
110S1 14 310 110KA1 A1 110.1

110S2 14 311 110KA2 A1 110.3
110S3 14 312 110KA3 A1 110.4
110S4 14 313 110KA4 A1 110.6
X21.3 303 314 110KA5 A1 110.7
15
X10.3 303 315 111KA2 A1 111.4

X10.3 304 316 111KA3 A1 111.6
3
X21.3 304 317 111KA4 A1 111.8

20
A
W01307
25
E.M.
Jokin
Jokin
INITIAL ISSUE
4
X2.3
30
REASON
DATE
DRAWN
CHECKED
APPROVED
35
5
40
45
6
50
YAZD (IRAN)
55
X1.3: MAIN DISTRIBUTION (COMMAND AC)

7

60
SHEET Nº:
OF.:
65
1002
8
DOCUMENT REFERENCE:
70
52223-52224
CONTINUES: 1003
9
A3
REV: A
Strip name
0
X1.4
Page/column
1
Jumpers
Connection
Connection
Bushing name
Bushing name
Short destination
Short destination
W01401
5x1mm² AP 102REFR2 41 401 102.4
OWNER ENGINNERING:
102REFR2 42 402 117U3 2 102.4
102REFR2 46 403 117U3 3 102.5
W01402 3x1mm² AP 103S5 1 404 109RST1 25 103.5
5
103S5 2 405 103.5

3x1mm² AP 103S6 1 406 103.5
W01403
2
103S6 2 407 117U3 4 103.5

W01404
12x15mm² AP X21.4 401 408 114.0
409 114.0
10
410 102KA1 A2 114.1

W01405 X21.4 403 411 114Q3 2 114.2
W01406 X21.4 405 412 114Q11 2 114.9
5x1mm² AP 125SH1 3 413 114Q11 11 125.1
W01407
5x1mm² AP
125SH2 3 414 125.2
5x1mm² AP
15
125SH3 3 415 125.2

5x1mm² AP
125SH4 3 416 127KA1 11 125.3
3
W01408
125SH1 4 417 117U4 4 125.1
125SH2 4 418 125.2
125SH3 4 419 125.2
20
125SH4 4 420 125.3

X21.4 407 421 127KA1 14 127.2
A
125SH1 x1 422 127KA2 14 127.4
125SH2 x1 423 127.5
125SH3 x1 424 127.5
25
125SH4 x1 425 127.6
E.M.
Jokin
Jokin
INITIAL ISSUE
X21.4 408 426 127KA1 A2 127.2
4
125SH1 x2 427 127KA2 A2 127.4

125SH2 x2 428 127.5
125SH3 x2 429 127.5
30
125SH4 x2 430 127KA4 A2 127.6

W01409 4x2x1mm² AP X10.4 409 431 206KM1 13 207.2
X10.4 410 432 207KA1 A1 207.2
REASON
DATE
DRAWN
CHECKED
X10.4 411 433 117U4 19 207.3
APPROVED
X10.4 412 434 117U5 2 207.4
35
X10.4 413 435 207KA2 A1 207.5

5
40
45
6
50
YAZD (IRAN)
55
X1.4: MAIN DISTRIBUTION (COMMAND DC)

7

60
SHEET Nº:
OF.:
65
1003
8
DOCUMENT REFERENCE:
70
52223-52224
CONTINUES: 1004
9
A3
REV: A
W02101
W02102 3(1x120mm²)+ Strip name
0
W02103 1x120mm² PE
W02104
*
X2.1
AL CARRO
2(1x95mm²)+
1x70mm² PE
Page/column
*
W02105
1
W02106
Jumpers
W02107
Connection
Connection
Bushing name
Bushing name
Short destination
Short destination
W02108
12x2,5mm² X10.1 115 101 206KM1 2 200.1
OWNER ENGINNERING:
X10.1 116 102 206KM1 4 200.1
X10.1 117 103 206KM1 6 200.1
W02109
12x2,5mm² X10.1 124 104 201Q2 2 201.1
5
X10.1 125 105 201Q2 4 201.1

X10.1 126 106 201Q2 6 201.1
2
X10.1 127 107 201Q3 2 201.3

X10.1 128 108 201Q3 4 201.3
X10.1 129 109 201Q3 6 201.3
10
X10.1 130 110 201Q4 2 201.4

X10.1 131 111 201Q4 4 201.5
X10.1 132 112 201Q4 6 201.5
W02108
15
3
X5.1
20
A
25
E.M.
Jokin
Jokin
INITIAL ISSUE
4
30
REASON
DATE
DRAWN
CHECKED
APPROVED
35
5
40
45
6
50
YAZD (IRAN)
X2.1: HOIST (POWER)

55
7

60
SHEET Nº:
OF.:
65
1004
8
DOCUMENT REFERENCE:
70
52223-52224
CONTINUES: 1005
9
A3
REV: A
0 1 2 3 4 5 6 7 8 9
202.2
202.2
202.3
202.5
Page/column
5 10 15 20 25 30 35 40 45 50 55 60 65 70
N
2
A1
A1
Connection
Short destination
202KA1
202KA2
202Q1
202Q1
Bushing name
Jumpers
X2.3
301
302
303
304
Bushing name
Strip name
305
306
307
308
Connection
Short destination
X10.3
X10.3
X10.3
X10.3
X1.3 X6.3
W01307
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON X2.3: LIFTING (COMMAND DC) OF.: 52223-52224
Strip name
0
X2.4
Page/column
1
Jumpers
Connection
Connection
Bushing name
Bushing name
Short destination
Short destination
4x2x1mm² AP X10.4 401 401 200A1 A 200.5
OWNER ENGINNERING:
W02401
X10.4 402 402 200A1 A- 200.5
X10.4 403 403 200A1 B 200.6
X10.4 404 404 200A1 B- 200.6
5
X10.4 405 405 200A1 +VS 200.6

X10.4 406 406 200A1 0VS 200.6
2
5x1mm² AP X21.4 409 407 200A1 AI1- 204.4

W02402
X21.4 410 408 200A1 +10 204.4
X21.4 411 409 113KA6 22 204.5
10
X10.4 407 410 205F1 T1 205.3

X10.4 408 411 205F1 T2 205.3
15
3
20
A
25
E.M.
Jokin
Jokin
INITIAL ISSUE
4
30
REASON
DATE
DRAWN
CHECKED
APPROVED
35
5
40
45
6
50
YAZD (IRAN)
X2.4: LIFTING (COMMAND DC)

55
7

60
SHEET Nº:
OF.:
65
1006
8
DOCUMENT REFERENCE:
70
52223-52224
CONTINUES: 1007
9
A3
REV: A
Strip name
0
X4.1
Page/column
1
Jumpers
Connection
Connection
W04101
Bushing name
Bushing name
W04102
Short destination
Short destination
W04103 2(1x50mm²)+
1x50mm² PE 400R1 1 101 400A1 PA/+ 400.5
OWNER ENGINNERING:
W04104 400R1 2 102 400A1 PB 400.6
3
4x35mm²
M
400M1 ‎Δ U 103 400A1 U 400.4
3
M
400M2 ‎Δ U 104 400.5
5
4x35mm² 400M1 ‎Δ V 105 400A1 V 400.4

W04105 400M2 ‎Δ V 106 400.5
2
400M1 ‎Δ W 107 400A1 W 400.4

400M2 ‎Δ W 108 400.6
3
4x2,5mm²
M
W04106 400Y1 U 109 400Q2 2 400.0
10
400Y1 V 110 400Q2 4 400.1

400Y1 W 111 400Q2 6 400.1
3
4x2,5mm²
M
W04107 400Y2 U 112 400Q3 2 400.2
400Y2 V 113 400Q3 4 400.2
400Y2 W 114 400Q3 6 400.3
15
3
20
A
25
E.M.
Jokin
Jokin
INITIAL ISSUE
4
30
REASON
DATE
DRAWN
CHECKED
APPROVED
35
5
40
45
6
50
YAZD (IRAN)
X4.1: OVERHEAD TRAVELLING (POWER)
55
7

60
SHEET Nº:
OF.:
65
1007
8
DOCUMENT REFERENCE:
70
52223-52224
CONTINUES: 1008
9
A3
REV: A
Strip name
0
X4.4
Page/column
1
Jumpers
Connection
Connection
Bushing name
Bushing name
Short destination
Short destination
W04401
5x1mm² AP X22.4 402 401 400A1 AI1- 403.4
OWNER ENGINNERING:
X22.4 403 402 400A1 +10 403.4
X22.4 404 403 113KA6 32 403.5
W04402
3x1mm² AP 400M1 TH1 404 404F1 T1 404.2
5
400M1 TH2 405 404.2

W04403
3x1mm² AP 400M2 TH1 406 404.3
2
400M2 TH2 407 404F1 T2 404.3

W04404 408 404.3
5x1mm² AP 406S1 1 409 405KM1 13 406.1
5x1mm² AP
10
406S3 1 410 406KA1 11 406.5

5x1mm² AP
406S4 1 411 406KA2 11 406.8
406S1 2 412 406KA1 11 406.1
W04405
406S1 12 413 117U5 18 406.3
W04406
406S3 2 414 406KA1 14 406.5
15
406S4 2 415 406KA2 14 406.8

406S3 4 416 406KA2 11 406.5
3
406S4 4 417 117U6 2 406.8

20
A
25
E.M.
Jokin
Jokin
INITIAL ISSUE
4
30
REASON
DATE
DRAWN
CHECKED
APPROVED
35
5
40
45
6
50
YAZD (IRAN)
55
7
X4.4: OVERHEAD DISPLACEMENT (COMMAND DC)

60
SHEET Nº:
OF.:
65
1008
8
DOCUMENT REFERENCE:
70
52223-52224
CONTINUES: 1009
9
A3
REV: A
Strip name
0
X5.1
X2.1
W02108
Page/column
1
Jumpers
Connection
Connection
Bushing name
Bushing name
Short destination
Short destination
W05101
12x2,5mm² X10.1 109 101 500F1 2 500.3
OWNER ENGINNERING:
X10.1 110 102 500F1 4 500.4
X10.1 111 103 500F1 6 500.4
X10.1 112 104 500F2 2 500.5
5
X10.1 113 105 500F2 4 500.5

X10.1 114 106 500F2 6 500.6
2
W05102
3x2,5mm² 500R1 1 107 500A1 PA/+ 500.5
500R1 2 108 500A1 PB 500.6
X10.1 118 109 505KM1 2 500.1
10
X10.1 120 110 505KM1 4 500.1

X10.1 122 111 505KM1 6 500.1
15
3
20
A
25
E.M.
Jokin
Jokin
INITIAL ISSUE
4
30
REASON
DATE
DRAWN
CHECKED
APPROVED
35
5
40
45
6
50
YAZD (IRAN)
X5.1: TROLLEY TRAVELLING (POWER)
55
7

60
SHEET Nº:
OF.:
65
1009
8
DOCUMENT REFERENCE:
70
52223-52224
CONTINUES: 1010
9
A3
REV: A
Strip name
0
X5.4
Page/column
1
Jumpers
Connection
Connection
Bushing name
Bushing name
Short destination
Short destination
W05401
5x1mm² AP X22.4 410 401 500A1 AI1- 503.4
OWNER ENGINNERING:
X22.4 411 402 500A1 +10 503.4
X22.4 412 403 113KA6 62 503.5
4x2x1mm² AP X10.4 414 404 506KA1 11 506.2
W05402
5
X10.4 416 405 506KA1 A1 506.2

X10.4 417 406 117U6 14 506.3
2
X10.4 418 407 506KA2 A1 506.4

X10.4 419 408 117U6 16 506.6
X10.4 420 409 506KA3 11 506.7
10
15
3
20
A
25
E.M.
Jokin
Jokin
INITIAL ISSUE
4
30
REASON
DATE
DRAWN
CHECKED
APPROVED
35
5
40
45
6
50
YAZD (IRAN)
X5.4: TROLLEY TRAVELLING (POWER)
55
7

60
SHEET Nº:
OF.:
65
1010
8
DOCUMENT REFERENCE:
70
52223-52224
CONTINUES: 1011
9
A3
REV: A
0 1 2 3 4 5 6 7 8 9
600.1
600.1
600.1
Page/column
5 10 15 20 25 30 35 40 45 50 55 60 65 70
T1
T2
T3
Connection
Short destination
600A1
600A1
600A1
Bushing name
Jumpers
X6.1
101
102
103
Bushing name
Strip name
106
107
108
Connection
Short destination
X10.1
X10.1
X10.1
3(1x50mm²)
W06101
W06102
W06103
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON X6.1: SLEWING (POWER) OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
601.5
601.7
601.8
Page/column
5 10 15 20 25 30 35 40 45 50 55 60 65 70
A2
14
14
Connection
Short destination
505KM1
601KA1
601KA2
Bushing name
Jumpers
X6.3
301
302
303
Bushing name
Strip name
309
310
311
Connection
Short destination
X10.3
X10.3
X10.3
X2.3
W01307
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON X6.3: ELECTROMAGNET (COMMAND AC) OF.: 52223-52224
Strip name
0
X7.1
Page/column
1
Jumpers
Connection
Connection
Bushing name
Bushing name
Short destination
Short destination
4x35mm²
W07101 700U1 2 101 700Q1 4 700.1
OWNER ENGINNERING:
700U1 3 102 700Q1 4 700.1
W07102-W07103 700U1 4 103 700Q1 6 700.1
2(1x50mm²)
700U1 6 104 700.2
5
X10.1 104 105 700.2

W07104-W07105 2(1x50mm²) 700U1 7 106 700.3
2
X10.1 105 107 700.3

10
15
W07106
3
4x35mm²
4x35mm²
20
W07107
700U1
A
TRANSFORMER BOX
25
E.M.
Jokin
Jokin
INITIAL ISSUE
4
30
8x1mm² AP.
REASON
DATE
DRAWN
CHECKED
APPROVED
35
W07403
5
40
45
6
50
YAZD (IRAN)
X7.1: ELECTROMAGNET (POWER)
55
7

60
SHEET Nº:
OF.:
65
1013
8
DOCUMENT REFERENCE:
70
52223-52224
CONTINUES: 1014
9
A3
REV: A
Strip name
0
X7.4
Page/column
1
Jumpers
Connection
Connection
Bushing name
Bushing name
Short destination
Short destination
W07401
12x1mm² AP 700U1 17 401 704L1 1 701.0
OWNER ENGINNERING:
700U1 18 402 701KA1 11 701.2
700U1 19 403 701KA3 11 701.4
700U1 20 404 701KA4 11 701.5
5
700U1 21 405 701KA5 11 701.6

700U1 22 406 701KA6 11 701.8
2
700U1 23 407 702KA1 11 702.4

700U1 24 408 702KA2 11 702.6
700U1 25 409 702KA3 11 702.7
10
700U1 2 410 700Q1 1 703.5

700U1 4 411 117U7 7 703.5
W07402
12x1mm² AP 700U1 5 412 703.6
700U1 6 413 704S1 13 703.7
15
3
20
A
25
E.M.
Jokin
Jokin
INITIAL ISSUE
4
30
REASON
DATE
DRAWN
CHECKED
APPROVED
35
5
40
45
6
50
YAZD (IRAN)
X7.4: ELECTROMAGNET (POWER)
55
7

60
SHEET Nº:
OF.:
65
1014
8
DOCUMENT REFERENCE:
70
52223-52224
CONTINUES: 1015
9
A3
REV: A
L=1,8m
Strip name
0
27m
1
X10.1
+
2333-400-2
44m
11
2333-400-5
+
Page/column
Cadenas: 3,66m
1
1
W10101
6m
Jumpers
2333-400-6
W10102
Connection
Connection
W10103 W02101
Bushing name
Bushing name
W10104 W02102
Short destination
Short destination
3(1x120mm²)+ W02103 3(1x120mm²)+
W02104
3
1x70mm² PE 1x120mm² PE
M
200M1 U 101 200L1 U 200.3
OWNER ENGINNERING:
‎Δ
200M1 ‎Δ V 102 200L1 V 200.3
W07104
200M1 ‎Δ W 103 200L1 W 200.3
W10105 3,5x35mm² 2(1x50mm²) W07105
700M1 - 104 X7.1 105 700.2
5
MAGNET 700M1 + 105 X7.1 107 700.3

42x2,5mm² 600ENR1 1 106 X6.1 101
3(1x50mm²) 600.1
2
W10106 W06101-W06102-W06103
GRAB 600ENR1 12 107 X6.1 102 600.1
600ENR1 23 108 X6.1 103 600.1
3
12x2,5mm²
M
500M1 Y U 109 X5.1 101 500.3
7x2,5mm² (1) W05101
10
500M1 Y V 110 X5.1 102 500.4

W10107
500M1 Y W 111 X5.1 103 500.4
3
M
500M2 Y U 112 X5.1 104 500.5
7x2,5mm² (2) 500M2 Y V 113 X5.1 105 500.5
W10108
500M2 Y W 114 X5.1 106 500.6
3
4x2,5mm² 12x2,5mm²
M
15
200Y1 U 115 X2.1 101 200.1

W10109 W02108
200Y1 V 116 X2.1 102 200.1
3
(1) 200Y1 W 117 X2.1 103 200.1

500V1 2 118 X5.1 109 500.1
500V2 2 119 500.2
(2)
20
120 X5.1 110 500.1

121 500.2
A
500V1 3 122 X5.1 111 500.1
500V2 3 123 500.2
3
4x2,5mm² 12x2,5mm²
M
201M1 U 124 X2.1 104 201.1
W10110 W02109
25
201M1 V 125 X2.1 105 201.1
E.M.
Jokin
Jokin
INITIAL ISSUE
201M1 W 126 X2.1 106 201.1
4
3
4x2,5mm²
M
201M2 U 127 X2.1 107 201.3
W10111
201M2 V 128 X2.1 108 201.3
201M2 W 129 X2.1 109 201.3
3
4x2,5mm²
M
30
201M3 U 130 X2.1 110 201.4

W10112
201M3 V 131 X2.1 111 201.5
201M3 W 132 X2.1 112 201.5
REASON
DATE
DRAWN
CHECKED
APPROVED
W10106
35
5
X10.3
40
45
6
50
YAZD (IRAN)
X10.1: BOX ON THE TROLLEY (POWER)
55
7

60
SHEET Nº:
OF.:
65
1015
8
DOCUMENT REFERENCE:
70
52223-52224
CONTINUES: 1016
9
A3
REV: A
Strip name
0
X10.2
Page/column
1
Jumpers
Connection
Connection
Bushing name
Bushing name
Short destination
Short destination
W10201
5x1mm² AP. 104S6 3 201 X1.2 241
12x2,5mm² 104.6
OWNER ENGINNERING:
104S6 4 202 W01214 104.6
104S6 3 203 X1.2 242 104.7
104S6 4 204 104.7
W10202 3x2,5mm²
5
104H5 1 205 104.7

206 104.7
2
104H5 2 207 104.7

208 104.7
W10203
3x2,5mm² 200M1 1HE1 209 X1.2 243 107.5
10
200M1 1HE2 210 X1.2 244 107.5

15
3
20
A
25
E.M.
Jokin
Jokin
INITIAL ISSUE
4
30
REASON
DATE
DRAWN
CHECKED
APPROVED
35
5
40
45
6
50
YAZD (IRAN)
55
X10.2: BOS ON THE TROLLEY (AUXILIARY S.)

7

60
SHEET Nº:
OF.:
65
1016
8
DOCUMENT REFERENCE:
70
52223-52224
CONTINUES: 1017
9
A3
REV: A
Strip name
0
X10.3
Page/column
W10106
1
Jumpers
X10.1
Connection
Connection
Bushing name
Bushing name
W10301
Short destination
Short destination
8x1mm² AP 111S1/1 1 301 X1.3 308
12x2,5mm² 111.4
OWNER ENGINNERING:
W10302 W01307
111S2 1 302 111.6
3x1mm² AP 111S1/1 2 303 X1.3 315 111.4
111S2 2 304 X1.3 316 111.6
CELL1
5
202U1 0V 305 X2.3 301 202.2

202U1 48..230V 306 X2.3 302 202.2
2
W10303
202U1 OUT-1 307 X2.3 303 202.3
202U1 OUT-5 308 X2.3 304 202.5
600ENR1 39 309 X6.3 301 601.5
10
600ENR1 40 310 X6.3 302 601.7

600ENR1 41 311 X6.3 303 601.8
15
W10301
3
X10.4
20
A
25
E.M.
Jokin
Jokin
INITIAL ISSUE
4
30
REASON
DATE
DRAWN
CHECKED
APPROVED
35
5
40
45
6
50
YAZD (IRAN)
55
X10.3: BOX ON THE TROLLEY (COMMAND AC)

7

60
SHEET Nº:
OF.:
65
1017
8
DOCUMENT REFERENCE:
70
52223-52224
CONTINUES: 1018
9
A3
REV: A
Strip name
0
X10.4
Page/column
1
Jumpers
W10301
Connection
Connection
X10.3
Bushing name
Bushing name
Short destination
Short destination
W10401
8x1mm² AP 200A2 1 401 X2.4 401
4x2x1mm² AP 200.5
OWNER ENGINNERING:
200A2 -1 402 X2.4 402 W02401 200.5
200A2 2 403 X2.4 403 200.6
200A2 -2 404 X2.4 404 200.6
5
200A2 Vcc 405 X2.4 405 200.6

200A2 0V 406 X2.4 406 200.6
2
3x1mm² AP 200M1 TH1 407 X2.4 410 205.3

W10402
200M1 TH2 408 X2.4 411 205.3
111S1/2 11 409 X1.4 431
4x2x1mm² AP 207.2
W01409
10
111S1/2 12 410 X1.4 432 207.2

111S1/3 12 411 X1.4 433 207.3
W10403 111S1/4 14 412 X1.4 434 207.4
111S1/5 12 413 X1.4 435 207.5
8x1mm² AP 506S1 11 414 X5.4 404
4x2x1mm² AP 506.2
W05402
15
506S2 1 415 506.7

3x1mm² AP 506S1 12 416 X5.4 405 506.2
3
W10404
506S1 12 417 X5.4 406 506.3
506S1 12 418 X5.4 407 506.4
506S1 12 419 X5.4 408 506.6
20
506S2 2 420 X5.4 409 506.7
A
25
E.M.
Jokin
Jokin
INITIAL ISSUE
4
30
REASON
DATE
DRAWN
CHECKED
APPROVED
35
5
40
45
6
50
YAZD (IRAN)
55
X10.4: BOX ON THE TROLLEY (COMMAND DC)

7

60
SHEET Nº:
OF.:
65
1018
8
DOCUMENT REFERENCE:
70
52223-52224
CONTINUES: 1019
9
A3
REV: A
Strip name
0
X21.2
Page/column
1
Jumpers
Connection
Connection
Bushing name
Bushing name
Short destination
Short destination
12x2,5mm² X1.2 211 201 103S7 3 103.7
OWNER ENGINNERING:
W01205
202 103XU1 0V 103.8
203 103XU2 0V 103.9
X1.2 212 204 103S7 3 103.7
5
205 103XU1 220V 103.8

206 103XU2 220V 103.9
2
W21201 3x2,5mm² 103H5 2 207 103S7 4 103.7

103H5 1 208 103S7 4 103.7
209 104.0
10
210 104.1
211 104.1
15
3
20
A
25
E.M.
Jokin
Jokin
INITIAL ISSUE
4
30
REASON
DATE
DRAWN
CHECKED
APPROVED
35
5
40
45
6
50
YAZD (IRAN)
55
7
X21.2: PUPITRE DE MANDO DERECHO (S. AUXILIARES)

60
SHEET Nº:
OF.:
65
1019
8
DOCUMENT REFERENCE:
70
52223-52224
CONTINUES: 1020
9
A3
REV: A
0 1 2 3 4 5 6 7 8 9
110.7
111.8
110.7
111.8
Page/column
5 10 15 20 25 30 35 40 45 50 55 60 65 70
13
3
14
4
Connection
Short destination
110S5
112S2
110S5
112S2
Bushing name
X21.3
Jumpers
301
302
303
304
Bushing name
Strip name
307
314
317
Connection
Short destination
X1.3
X1.3
X1.3
4x2,5mm²
W01306
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON X21.3: PUPITRE DE MANDO DERECHO (MANDO CA) OF.: 52223-52224
Strip name
0
X21.4
Page/column
1
Jumpers
Connection
Connection
Bushing name
Bushing name
Short destination
Short destination
W01404 12x15mm² AP X1.4 408 401 114.0
OWNER ENGINNERING:
W21403
3x1mm² AP 120U1 M 402 121U1 M 114.0
HMI X1.4 411 403 114.2
120U1 L 404 121U1 L 114.2
5
X1.4 412 405 114.9

12x15mm² AP X22.4 401 406 126SH1 3 114.9
W21401
2
X1.4 421 407 126SH1 x1 127.2

X1.4 426 408 126SH1 x2 127.2
W02402
5x1mm² AP X2.4 407 409 204.4
10
X2.4 408 410 800S1 204.4

X2.4 409 411 800S1 204.5
X22.4 405 412 121U3 17 410.4
X22.4 406 413 121U3 18 410.5
X22.4 407 414 121U3 19 410.6
15
X22.4 408 415 121U4 2 410.7

X22.4 409 416 121U4 3 410.8
3
X22.4 413 417 121U4 4 510.5

X22.4 414 418 121U4 5 510.6
X22.4 415 419 121U4 6 510.7
20
W21402 X22.4 416 420 121U4 7 510.8

3x1mm² AP 704S2 13 421 126S5 13 705.2
A
704S2 14 422 121U4 9 705.2
423 705.2
25
E.M.
Jokin
Jokin
INITIAL ISSUE
4
30
REASON
DATE
DRAWN
CHECKED
APPROVED
35
5
40
45
6
50
YAZD (IRAN)
X21.4: CONTROL DESK (COMMAND DC)
55
7

60
SHEET Nº:
OF.:
65
1021
8
DOCUMENT REFERENCE:
70
52223-52224
CONTINUES: 1022
9
A3
REV: A
Strip name
0
X22.4
Page/column
1
Jumpers
Connection
Connection
Bushing name
Bushing name
Short destination
Short destination
W21401
12x15mm² AP X21.4 406 401 801S1 3 114.9
OWNER ENGINNERING:
5x1mm² AP
W04401 X4.4 401 402 403.4
X4.4 402 403 801S1 403.4
X4.4 403 404 801S1 403.5
5
X21.4 412 405 801S1 4 410.4

X21.4 413 406 801S1 4 410.5
2
X21.4 414 407 801S1 2 410.6

X21.4 415 408 801S1 6 410.7
X21.4 416 409 410.8
5x1mm² AP
10
W05401 X5.4 401 410 503.4

X5.4 402 411 801S1 503.4
X5.4 403 412 801S1 503.5
X21.4 417 413 801S1 2 510.5
X21.4 418 414 801S1 4 510.6
15
X21.4 419 415 801S1 6 510.7

X21.4 420 416 510.8
3
20
A
25
E.M.
Jokin
Jokin
INITIAL ISSUE
4
30
REASON
DATE
DRAWN
CHECKED
APPROVED
35
5
40
45
6
50
YAZD (IRAN)
X22.4: CONTROL DESK (COMMAND DC)
55
7

60
SHEET Nº:
OF.:
65
1022
8
DOCUMENT REFERENCE:
70
52223-52224
CONTINUES: 2000
9
A3
REV: A
0 1 2 3 4 5 6 7 8 9
PARTS LIST
Strip name Quantity Denomination BRAND REFERENCE Observations *
BASTIDOR 1 FOLDING TABLE RITTAL TS4638800 613mm x 400mm 100.0
BASTIDOR 1 BOX ELECTRIC DIAGRAMS RITTAL SZ4115000 355mm x 260mm x 90mm 100.0
100Q1 1 MAGNETOTERMIC PROTECTION III MG LV432893 NSX630N Micrologic 630A 100.1
100Q1 1 HANDLE MG LV432599 EMPUÑ.ROJA+TAPA AMARILLA 100.1

100Q1 1 AUXILIARY CONTACTS SCHNEIDER 29450 100.1
100Q1 2 COVER MG LV432591 NSX400..630 100.1
101Q1 1 MAGNETOTERMIC PROTECTION III TEE GV2RT20 13..18A Id=20In 101.3
101Q1 1 LIMITER BLOCK SCHNEIDER GV1L3 100KA 101.3
101T1 1 TRANSFORMATOR II EREMU TR5001 5000VA 400V+-5%/230V 101.3
101Q2 1 MAGNETOTHERMIC PROTECTION I+N SCHNEIDER A9F79625 iC60N 25A "C" 101.3
101Q3 1 DIFERENTIAL PROTECTION II SCHNEIDER A9R60225 25A-30MA - ACTI9 101.3
101Q4 1 MAGNETOTERMIC PROTECTION III TEE GV2ME16 9-14A 101.6
101Q4 1 LIMITER BLOCK SCHNEIDER GV1L3 100KA 101.6
102KA1 1 MINIRELAY SCHNEIDER RPM12BD 24VCC 1NANC LED 102.3
102KA1 1 BASE FOR RPM RELAY SCHNEIDER RPZF1 1NA/NC 102.3
102KA1 1 LOCKING DEVICE SCHNEIDER RPZR235 RPZ-F1 102.3
102KA1 1 PROTECTION DIODE SCHNEIDER RXM040W 6-250V 102.3
103S3 1 METALIC BOX WITH 22MM HOLE SCHNEIDER XAPM1201 103.1
103S3 1 2 FIXED POSITIONS SELECTOR SCHNEIDER XB4BD21 22mm 1NA 103.1
103S3 1 ADAPTABLE CONTACT SCHNEIDER ZBE102 1NC 103.1
103H1 1 LED FLUORESCENT PHILIPS 84046600 23W, WT120C LED22S/840 PSU L1200 103.2
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
INITIAL ISSUE REASON PARTS LIST OF.: 52223-52224
0 1 2 3 4 5 6 7 8 9
PARTS LIST
103S5 1 LIMIT SWITCH SCHNEIDER XCKM115 NA+NC IP65 103.5

103S6 1 LIMIT SWITCH SCHNEIDER XCKM115 NA+NC IP65 103.5
103S7 1 ADAPTABLE CONTACT SCHNEIDER ZBE101 1NA 103.7
103XU1 1 SOCKET WITH COVER MG PKS51B 10/16A 2P+T 103.8
103XU2 1 SOCKET WITH COVER MG PKS51B 10/16A 2P+T 103.9
104S2 1 METALIC BOX 74,5mm DEPTH TEE XAPM1501 1 HOLE 22MM 104.2
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
0 1 2 3 4 5 6 7 8 9
PARTS LIST

107XU1 1 SOCKET WITH COVER EUNEA 9603607 16A ( REF. SCHNEIDER ENN36731) 107.1
108H1 1 HORN RODMAN S67I220 220V-50/60HZ 108.4
108H2 1 LIGHT ROTARY F.C. BIPLAMP1121086043 48-230V A.C. AMBER LED 108.5
109Q1 1 MAGNETOTERMIC PROTECTION III TEE GV2RT14 6..10A Id=20In 100KA 109.2
109T1 1 TRANSFORMATOR II EREMU TR1503 1500VA 400V+-5%/115V 109.2
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
0 1 2 3 4 5 6 7 8 9
PARTS LIST
109RST1 1 VOLTAGE CONTROL RELAY TEE RM4TA32 109.3
109Q4 1 MAGNETOTHERMIC PROTECTION I SCHNEIDER A9F74103 iC60N 3A "C" 109.5
109Q4 1 N.O. OR N.C. CONTACT SCHNEIDER A9A26924 NC/NO 109.5

110S1 1 EMERGENCY STOP BUTTON SCHNEIDER XB4BS8445 40mm RED 110.1
110KA1 1 AUXILIARY CONTACTOR SCHNEIDER CAD32F7 3NA+2NC 110V-50/60HZ. 110.1
110KA1 1 OVERVOLTAGE PROTECTION MODULE SCHNEIDER LAD4RCU 110-240V 9-32A 110.1
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
0 1 2 3 4 5 6 7 8 9
PARTS LIST
111RADIO 1 RADIO COMMAND IKUSI IK321 S/CONFIG. 111.1

111S1 1 GEARED CAM RAVASI PFD9067A0025003 25v 6LS - TOP - -40ºC/80ºC - IP67 111.4
111S2 1 LIMIT SWITCH SCHMER TD44111YT -40ºC...+200ºC 111.6
112S2 1 KEY SELECTOR 2 FIXED POSITIONS TEE XB4BG21 22mm 2 EXTRACC. LEFT 111.8
112KA3 1 AUXILIARY CONTACTOR SCHNEIDER CAD50F7 5NA 110V-50/60HZ. 112.3
112KM1 1 CONTACTOR III TEE LC1F400 400A 112.4
112KM1 1 COIL FOR LC1-F400 TEE LX1FJ110 110/120V 40-400HZ. 112.4
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
0 1 2 3 4 5 6 7 8 9
PARTS LIST
112KM1 1 OVERVOLTAGE PROTECTION MODULE SUPPORT SCHNEIDER LA9D09981 LC1-F 112.4
112KM1 1 OVERVOLTAGE PROTECTION MODULE TEE LA4FRCF 110V 112.4
112KM1 1 AUXILIARY CONTACTS SCHNEIDER LADN22 2NA+2NC 112.4
112KM1 1 PROTECTION COVER TEE LA9F703 F225-400 112.4

112KM1 1 AUXILIARY CONTACTS SCHNEIDER LADN11 NA+NC 112.4
112S1 1 SUPPORT OF THE PUSHBUTTON 22MM SCHNEIDER 15151 112.7
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
0 1 2 3 4 5 6 7 8 9
PARTS LIST

113KA6 1 AUXILIARY CONTACTS SCHNEIDER LADN22 2NA+2NC 113.7
114U1 1 24VDC SUPPLY SIEMENS 6EP13342AA00 10A 120-230VAV / 24V 114.0
114Q3 1 MAGNETOTHERMIC PROTECTION I SCHNEIDER A9F73102 iC60N 2A "B" 114.2
114Q1 1 MAGNETOTHERMIC PROTECTION II SCHNEIDER A9F75204 iCN60 4A "D" 114.3
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
0 1 2 3 4 5 6 7 8 9
PARTS LIST
117U1 1 CPU 315-PN-DP PROFINET-PROFIBUS SIEMENS 6ES73152EH140AB0 117.0

117U1 1 MICRO MEMORY CARD SIEMENS 6ES79538LF300AA0 S7-300 64KB 117.0
117U1 1 S7-300 SUPPORT PROFILE SIEMENS 6ES73901AE800AA0 480mm 117.0
117U2 1 RJ45 - RJ45 CABLE ELEKTR RJ45BDLF100 1m - SHIELDED 117.3
117U3 1 S7-300 INPUTS CARD SIEMENS 6ES73211BH020AA0 16 ENTRADAS DIGITALES 24VDC 117.4
117U3 1 SCREW CONNECTOR S7-300 SIEMENS 6ES73921AJ000AA0 20P 117.4
117U9 1 S7-300 OUTPUTS CARD SIEMENS 6ES73221BH010AA0 16 SALIDAS DIGITALES 24VDC 117.7
118U1 1 SCALANCE X005 SIEMENS 6GK50050BA001AA3 SWTCH ETHERNET 24VDC 118.3
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
0 1 2 3 4 5 6 7 8 9
PARTS LIST
118U4 1 IE FC OUTLET RJ45 SIEMENS 6GK19011FC000AA0 FIX ETHERNET + RJ45 2x2 118.5
118U5 1 IE FC OUTLET RJ45 SIEMENS 6GK19011FC000AA0 FIX ETHERNET + RJ45 2x2 118.6
119U11 1 MODEM HSUPA + MPI EWON EW2626B 24VDC 119.3

119U11 1 MODEM ANTENNA 3G (HSUPA) EWON 118009140 3 METROS 119.3
120U1 1 CONFORT TOUCH PANEL SIEMENS 6AV21240JC010AX0 TP900 9'' 24DC 120.3
120U2 1 RJ45 CONNECTOR SIEMENS 6GK19011BB102AA0 2x2 hilos 100Mbit/s 120.5
121U1 1 * SIEMENS 6ES71556AA000BN0 SLAVE PROFINET 121.2
121U2 1 RJ45 CONNECTOR SIEMENS 6GK19011BB102AA0 2x2 hilos 100Mbit/s 121.4
121U3 1 16 DIGITAL INPUTS ET200SP SIEMENS 6ES71316BH000BA0 24Vdc 121.5
121U3 1 WHITE BASE UNIT ET200SP SIEMENS 6ES71936BP000DA0 TYPE A0 121.5
121U4 1 16 DIGITAL INPUTS ET200SP SIEMENS 6ES71316BH000BA0 24Vdc 121.5
121U4 1 DARK BASE UNIT ET200SP SIEMENS 6ES71936BP000BA0 TYPE A0 121.5
125SH1 1 PUSHBUTTON WITH LIGHT TEE XB4BW36B5 22mm 24VDC BLUE 125.1
125SH1 1 METALIC BOX WITH 22MM HOLE SCHNEIDER XAPM1201 125.1
126SH1 1 PUSHBUTTON WITH LIGHT TEE XB4BW33B5 22mm 24V GREEN 126.1
126S2 1 PUSH-BUTTON TEE XB4BA51 22mm 126.2
126S3 1 PUSH-BUTTON TEE XB4BA21 22mm BLACK 126.3
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
0 1 2 3 4 5 6 7 8 9
PARTS LIST

200Q1 1 MAGNETOTERMIC PROTECTION III SCHNEIDER GV2ME05 0,63-1A 200.1
200Q1 1 AUXILIARY CONTACTS TEE GVAN11 NA+NC 200.1
200A1 1 SPEED DRIVER SCHNEIDER ATV71HC13N4 132KW 259A/380...460V/50-60HZ 200.3
200A1 1 ENCODER CARD SCHNEIDER VW3A3407 200.3
200Q2 1 MAGNETOTERMIC PROTECTION III MG LV432693 NSX400N Micrologic 400A 200.3
200Q2 2 COVER MG LV432591 NSX400..630 200.3
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
0 1 2 3 4 5 6 7 8 9
PARTS LIST
200L1 1 INDUCTANCE III EREMU IND0,04MH314A 0,04mH-314A 200.3
200A2 1 INCREMENTAL ENCODER L&L 8610079561024 9..30V 1024 IMP/REV. 200.4
200R1 1 BRAKING RESISTANCE RAZART 1,9OHM35KW 1,9 OHM.-35 KW 200.5
201Q1 1 MAGNETOTERMIC PROTECTION III TEE GV2ME10 4-6,3A 201.1

201Q2 1 MAGNETOTERMIC PROTECTION III SCHNEIDER GV2ME07 1,6-2,5A 201.1
201KM1 1 CONTACTOR III SCHNEIDER LC1D09F7 9A 110V-50/60HZ. NA+NC 201.7
201KM1 1 OVERVOLTAGE PROTECTION MODULE SCHNEIDER LAD4RCU 110-240V 9-32A 201.7
202U1 1 LOAD-LIMITER ELECTRONIC DEVICE AIRPES ALM100N 48-115-230V-50HZ. 202.1
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
0 1 2 3 4 5 6 7 8 9
PARTS LIST

205F1 1 THERMICAL SENSOR RELAY SCHNEIDER LT3SA00MW 24-230V AC/DC 205.4
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
0 1 2 3 4 5 6 7 8 9
PARTS LIST

207KA1 1 RELAY SCHNEIDER RXM4AB2BD 24VDC 4NANC 6A/250VAC 207.2
207KA1 1 SOCLE FOR RXM4AB2 SCHNEIDER RXZE2S114M 6A 207.2
207KA1 1 CLIP SCHNEIDER RXZ400 207.2
400A1 1 SPEED DRIVER SCHNEIDER ATV71HD75N4 75KW 160A/380V 124A/460V 50-60HZ 400.4
400Q4 1 MAGNETOTERMIC PROTECTION III SCHNEIDER LV431631 NSX250F TM200D 200A 400.4
OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
0 1 2 3 4 5 6 7 8 9
PARTS LIST
400Q4 2 COVER SCHNEIDER LV429515 NSX100..250 400.4
400R1 1 BRAKING RESISTANCE RAZART 3,3OHM15000 3,3 ohm 15KW 400.6

OWNER ENGINNERING:
Jokin CHECKED
Jokin DRAWN
0 1 2 3 4 5 6 7 8 9
PARTS LIST

404F1 1 THERMICAL SENSOR RELAY SCHNEIDER LT3SA00MW 24-230V AC/DC 404.4
406S1 1 LIMIT SWITCH RAVASI 7101 406.1
406S3 1 PHOTOELECTRIC DETECTOR SCHNEIDER XUX1ARCNT16 S=14 MTS.; 20..265Vac - 10..36Vdc 406.5
406S4 1 PHOTOELECTRIC DETECTOR SCHNEIDER XUX1ARCNT16 S=14 MTS.; 20..265Vac - 10..36Vdc 406.8
500A1 1 SPEED DRIVER SCHNEIDER ATV71HU75N4 7,5KW 17,6A/380V 14A/460V 50-60HZ 500.3
500Q2 1 MAGNETIC PROTECTION III SCHNEIDER GV2L22 25A 500.3
500F1 1 THERMAL RELAY III SCHNEIDER LRD12 5,5..8A 500.3
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PARTS LIST
500F1 1 THERMAR RELAY TERMINAL SCHNEIDER LAD7B106 LRD-01…35 ; LR3-D01…D35 500.3
500L1 1 BUS CC CHOKE TEE INDVW3A4506 500.5
500F2 1 THERMAL RELAY III SCHNEIDER LRD12 5,5..8A 500.5
500F2 1 THERMAR RELAY TERMINAL SCHNEIDER LAD7B106 LRD-01…35 ; LR3-D01…D35 500.5

500R1 1 BRAKING RESISTANCE RAZART 19OHM2KW 19 ohm 2KW 500.6
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506S1/1 1 LIMIT SWITCH RAVASI 7551 RALENT+CORTE EN 2 SENTIDOS 506.2
506S2 1 LIMIT SWITCH RAVASI 7101 506.7
600A1 1 PROGRESSIVE STARTER SCHNEIDER ATS22C14Q 75KW 140A/400V 600.1
600A1 1 PROTECTION COVER TEE LA9F702 F150-185 600.1
600Q1 1 MAGNETOTERMIC PROTECTION III MG LV430630 NSX160F TM160D 160A 36KA 600.1
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700Q1 1 MAGNETOTERMIC PROTECTION III MG LV430630 NSX160F TM160D 160A 36KA 700.1
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PARTS LIST

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704S1 1 SUPPORT OF THE PUSHBUTTON 22MM SCHNEIDER 15151 703.7
704L1 1 SWITCH KEY AND SOLENOIDE FEGEMU 440TMSRUE110A 24VCC- 20A - 2NA+2NC 703.7
704L1 1 KEYLOCK FEGEMU 440TMSALE10A 703.7
704L1 1 A TYPE KEY FEGEMU 440TAKEYE100A 703.7
704S2 1 PEDAL TEE XPEM110 705.2
704S2 1 PEDAL PROTECTION COVER TEE XPEZ901 PARA XPE-M 705.2
704S5 1 3 POSITIONS SELECTOR TEE XB4BD33 22mm NA+NA 705.5
801S1 1 JOYSTICK AGUT VNS022AKEARUGD85T 801.0
802S1 1 JOYSTICK AGUT VNS022AKEARUGD85T 802.0
803RAD1 1 RADIO IKUSI TM70321 S/CONFIG. 803.2
803RAD1 1 ANTENNA CABLE IKUSI PROLONG ANTENA IKUSI PARA ANTENA EXTERIOR 803.2
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OUTER ELEMENTS
Quantity Denomination BRAND * Observations
2 JOYSTICK AGUT VNS022AKEARUGD85T
1 LOAD-LIMITER ELECTRONIC DEVICE AIRPES ALM100N 48-115-230V-50HZ.
1 LIGHT ROTARY F.C. BIPLAMP1121086043 48-230V A.C. AMBER LED

1 SWITCH KEY AND SOLENOIDE FEGEMU 440TMSRUE110A 24VCC- 20A - 2NA+2NC
1 KEYLOCK FEGEMU 440TMSALE10A
1 A TYPE KEY FEGEMU 440TAKEYE100A
1 RADIO IKUSI TM70321 S/CONFIG.
1 ANTENNA CABLE IKUSI PROLONG ANTENA IKUSI PARA ANTENA EXTERIOR
1 INCREMENTAL ENCODER L&L 8610079561024 9..30V 1024 IMP/REV.
2 SOCKET WITH COVER MG PKS51B 10/16A 2P+T
11 LED FLUORESCENT PHILIPS 84046600 23W, WT120C LED22S/840 PSU L1200
1 GEARED CAM RAVASI PFD9067A0025003 25v 6LS - TOP - -40ºC/80ºC - IP67
2 LIMIT SWITCH RAVASI 7101
1 LIMIT SWITCH RAVASI 7551 RALENT+CORTE EN 2 SENTIDOS
1 BRAKING RESISTANCE RAZART 1,9OHM35KW 1,9 OHM.-35 KW
1 BRAKING RESISTANCE RAZART 3,3OHM15000 3,3 ohm 15KW
1 BRAKING RESISTANCE RAZART 19OHM2KW 19 ohm 2KW
1 HORN RODMAN S67I220 220V-50/60HZ
1 LIMIT SWITCH SCHMER TD44111YT -40ºC...+200ºC
8 METALIC BOX WITH 22MM HOLE SCHNEIDER XAPM1201
10 2 FIXED POSITIONS SELECTOR SCHNEIDER XB4BD21 22mm 1NA
7 ADAPTABLE CONTACT SCHNEIDER ZBE102 1NC
2 LIMIT SWITCH SCHNEIDER XCKM115 NA+NC IP65
3 ADAPTABLE CONTACT SCHNEIDER ZBE101 1NA
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0 1 2 3 4 5 6 7 8 9
OUTER ELEMENTS
Quantity Denomination BRAND * Observations
5 EMERGENCY STOP BUTTON SCHNEIDER XB4BS8445 40mm RED
2 PHOTOELECTRIC DETECTOR SCHNEIDER XUX1ARCNT16 S=14 MTS.; 20..265Vac - 10..36Vdc
1 CONFORT TOUCH PANEL SIEMENS 6AV21240JC010AX0 TP900 9'' 24DC

2 RJ45 CONNECTOR SIEMENS 6GK19011BB102AA0 2x2 hilos 100Mbit/s
1 * SIEMENS 6ES71556AA000BN0 SLAVE PROFINET
2 16 DIGITAL INPUTS ET200SP SIEMENS 6ES71316BH000BA0 24Vdc
1 WHITE BASE UNIT ET200SP SIEMENS 6ES71936BP000DA0 TYPE A0
1 DARK BASE UNIT ET200SP SIEMENS 6ES71936BP000BA0 TYPE A0
1 METALIC BOX 74,5mm DEPTH TEE XAPM1501 1 HOLE 22MM
1 KEY SELECTOR 2 FIXED POSITIONS TEE XB4BG21 22mm 2 EXTRACC. LEFT
1 PUSH-BUTTON TEE XB4BA51 22mm
6 PUSH-BUTTON TEE XB4BA21 22mm BLACK
1 PEDAL TEE XPEM110
1 PEDAL PROTECTION COVER TEE XPEZ901 PARA XPE-M
1 3 POSITIONS SELECTOR TEE XB4BD33 22mm NA+NA
4 PUSHBUTTON WITH LIGHT TEE XB4BW36B5 22mm 24VDC BLUE
1 PUSHBUTTON WITH LIGHT TEE XB4BW33B5 22mm 24V GREEN
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YAZD (IRAN) SHEET Nº: 2051 CONTINUES: REV: A
INITIAL ISSUE REASON OUTER ELEMENTS OF.: 52223-52224
Altivar 71
Programming manual
Variable speed drives for
synchronous and
Retain for future use asynchronous motors
Software V2.5
Contents
Before you begin______________________________________________________________________________________________ 4

Documentation structure________________________________________________________________________________________ 5
Software enhancements ________________________________________________________________________________________ 6
Steps for setting up____________________________________________________________________________________________ 8
Factory configuration __________________________________________________________________________________________ 9
Application functions__________________________________________________________________________________________ 10
Setup - Preliminary recommendations ____________________________________________________________________________ 14
Graphic display terminal _______________________________________________________________________________________ 17
Description of terminal __________________________________________________________________________________ 17
Description of the graphic screen __________________________________________________________________________ 18
First power-up - [5. LANGUAGE] menu _____________________________________________________________________ 21
Subsequent power ups __________________________________________________________________________________ 22
Programming: Example of accessing a parameter_____________________________________________________________ 23
Quick navigation _______________________________________________________________________________________ 24
Integrated display terminal _____________________________________________________________________________________ 27
Functions of the display and the keys_______________________________________________________________________ 27
Accessing menus ______________________________________________________________________________________ 28
Accessing menu parameters _____________________________________________________________________________ 29
[2. ACCESS LEVEL] (LAC-) ____________________________________________________________________________________ 30
Structure of parameter tables ___________________________________________________________________________________ 33
Interdependence of parameter values ____________________________________________________________________________ 34
Finding a parameter in this document ____________________________________________________________________________ 35
[1.1 SIMPLY START] (SIM-)____________________________________________________________________________________ 36
[1.2 MONITORING] (SUP-) ____________________________________________________________________________________ 44
[1.3 SETTINGS] (SEt-) ________________________________________________________________________________________ 53
[1.4 MOTOR CONTROL] (drC-) _________________________________________________________________________________ 68
[1.5 INPUTS / OUTPUTS CFG] (I-O-) ____________________________________________________________________________ 89
[1.6 COMMAND] (CtL-)_______________________________________________________________________________________ 117
[1.7 APPLICATION FUNCT.] (FUn-) ____________________________________________________________________________ 130
[1.8 FAULT MANAGEMENT] (FLt-) _____________________________________________________________________________ 216
[1.9 COMMUNICATION] (COM-) _______________________________________________________________________________ 240
[1.10 DIAGNOSTICS] ________________________________________________________________________________________ 244
[1.11 IDENTIFICATION] ______________________________________________________________________________________ 246
[1.12 FACTORY SETTINGS] (FCS-) ____________________________________________________________________________ 247
[1.13 USER MENU] (USr-) ____________________________________________________________________________________ 250
[1.14 PROGRAMMABLE CARD] (PLC-) _________________________________________________________________________ 251
[3. OPEN/SAVE AS] _________________________________________________________________________________________ 252
[4. PASSWORD] (COd-)______________________________________________________________________________________ 254
[6 MONITORING CONFIG.] ___________________________________________________________________________________ 256
[7 DISPLAY CONFIG.] _______________________________________________________________________________________ 260
[MULTIPOINT SCREEN] _____________________________________________________________________________________ 265
Maintenance _______________________________________________________________________________________________ 266
Faults - Causes - Remedies ___________________________________________________________________________________ 267
User settings tables _________________________________________________________________________________________ 273
Index of functions ___________________________________________________________________________________________ 275
Index of parameter codes _____________________________________________________________________________________ 276
3
Before you begin
Read and understand these instructions before performing any procedure on this drive.
DANGER
HAZARDOUS VOLTAGE
• Read and understand the Installation Manual before installing or operating the ATV71 drive. Installation, adjustment,
repair, and maintenance must be performed by qualified personnel.
• The user is responsible for compliance with all international and national electrical standards in force concerning
protective grounding of all equipment.
• Many parts of this variable speed drive, including the printed circuit boards, operate at the line voltage. DO NOT
TOUCH.
Use only electrically insulated tools.
• DO NOT touch unshielded components or terminal strip screw connections with voltage present.
• DO NOT short across terminals PA/+ and PC/- or across the DC bus capacitors.
• Install and close all the covers before applying power or starting and stopping the drive.
• Before servicing the variable speed drive

- Disconnect all power.
- Place a “DO NOT TURN ON” label on the variable speed drive disconnect.
- Lock the disconnect in the open position.
• Disconnect all power including external control power that may be present before servicing the drive. WAIT 15
MINUTES to allow the DC bus capacitors to discharge. Then follow the DC bus voltage measurement procedure
given in the Installation Manual to verify that the DC voltage is less than 45 V. The drive LEDs are not accurate
indicators of the absence of DC bus voltage.
Failure to follow these instructions will result in death or serious injury.
CAUTION
DAMAGED EQUIPMENT
Do not operate or install any drive that appears damaged.
Failure to follow this instruction can result in equipment damage.
4
Documentation structure
The following Altivar 71 technical documents are available on the Telemecanique website (www.telemecanique.com) as well as on the
CD-ROM supplied with the drive.
Installation Manual
This bulletin contains complete mounting and wiring instructions.
Programming manual
This describes the functions, parameters and use of the drive terminal (integrated display terminal and graphic display terminal).
The communication functions are not described in this manual, but in the manual for the bus or network used.
Communication Parameters Manual

This manual describes:
• The drive parameters with specific information for use via a bus or communication network.
• The operating modes specific to communication (state chart).
• The interaction between communication and local control.
Manuals for Modbus, CANopen, Ethernet, Profibus, INTERBUS, Uni-Telway, FIPIO

and Modbus Plus, etc.
These manuals describe the assembly, connection to the bus or network, signaling, diagnostics, and configuration of the communication-
specific parameters via the integrated display terminal or the graphic display terminal.
They also describe the communication services of the protocols.
ATV 58-58F/ATV 71 Migration Manual

This manual describes the differences between the Altivar 71 and the Altivar 58/58F and explains how to replace an Altivar 58 or 58F,
including how to replace drives communicating on a bus or a network.
ATV 78/ATV 61/71 Migration Manual

This manual describes the differences between the Altivar 61/71 and Altivar 78 and explains how to replace an Altivar 78.
5
Software enhancements
Since the Altivar ATV 71 was first launched, it has benefited from the addition of several new functions. The software version has been
updated to V2.5. The old versions can be replaced by this new one without any modifications.
Although this documentation relates to version V2.5, it can still be used with earlier versions, as the updates merely involve the addition of
values and parameters, and none of the parameters of the previous versions have been modified or removed.
Enhancements made to version V1.2 in comparison to V1.1

Factory setting
Note 1: In version V1.1, the analog input was 0 ± 10 V. For safety reasons, in the new version this input has been set to 0 + 10 V.
Note 2: In version V1.1, analog output AO1 was assigned to the motor frequency. In the new version, this output is not assigned
at all.
With the exception of these two parameters, the factory settings of version V1.1 remain the same in the new version. The new functions
are factory-set to disabled.
Motor frequency range

The maximum output frequency has been extended from 1000 to 1600 Hz (depending on the drive rating and control profile).
New parameters and functions
Menu [1.2 MONITORING] (SUP-)

Addition of internal states and values relating to the new functions described below.
Menu [1.3 SETTINGS] (SEt-)

• [High torque thd.] (ttH) page 65.
• [Low torque thd.] (ttL) page 65.
• [Pulse warning thd.] (FqL) page 66.
• [Freewheel stop Thd.] (FFt) page66.
Menu[1.4 MOTOR CONTROL] (drC-)

• [rpm increment] (InSP) page 68.
• Extension of the following configurations to all drive ratings; previously limited to 45 kW (60 HP) for ATV71pppM3X and to 75 kW
(100 HP) for ATV71pppN4:synchronous motor[Sync. mot.] (SYn) page 70, sinus filter [Sinus filter] (OFI) page 81, noise reduction
[Noise reduction] (nrd) page 82, braking balance [Braking balance] (bbA) page 84.
Menu [1.5 INPUTS / OUTPUTS CFG] (I-O-)

• Input Al1 can now be configured to 0 +10 V or 0 ± 10 V via [AI1 Type] (AI1t) page 93.
• [AI net. channel] (AIC1) page 97.
• New methods of assigning relays and logic outputs page 102 : rope slack, high torque threshold, low torque threshold, motor in
forward rotation, motor in reverse rotation, measured speed threshold reached, load variation detection.
• Analog output AO1 can now be used as a logic output and assigned to relay functions and logic outputs, page 107.
• New method of modifying the scale of analog outputs page 109 using the parameters [Scaling AOx min] (ASLx) and [Scaling AOx
max] (ASHx).
• New methods of assigning logic outputs page 110: signed motor torque and measured motor speed.
• New methods of assigning alarm groups page 114 : rope slack, high torque threshold, low torque threshold, measured speed
threshold reached, load variation detection.
6
Software enhancements
Menu [1.7 APPLICATION FUNCT.] (Fun-)

• The summing, subtraction and multiplication reference functions can now be assigned to virtual input [Network AI] (AIU1) page 135.
• New parameter [Freewheel stop Thd.] (FFt) page 140 used to set a threshold for switching to freewheel at the end of a stop on ramp
or fast stop.
• Brake engage at regulated zero speed [Brake engage at 0] (bECd) page 161.
• Weight [Weight sensor ass.] (PES) page 166 can now be assigned to virtual input [Network AI] (AIU1).
• New "rope slack" function page 170, with the parameters [Rope slack config.] (rSd) and [Rope slack trq level] (rStL).
• Use of the ramp [Acceleration 2] (AC2) page 178 when starting and "waking up" the PID function.
• The torque limitation [TORQUE LIMITATION] (tOL-) page 185 can now be configured in whole % or in 0.1% increments using [Torque
increment] (IntP) and assigned to virtual input [Network AI] (AIU1).
• New "stop at distance calculated after deceleration limit switch" function page 194, with the parameters [Stop distance] (Std), [Rated
linear speed] (nLS) and [Stop corrector] (SFd).
• Positioning by sensors or limit switch [POSITIONING BY SENSORS] (LPO-) page 195 can now be configured in positive logic or
negative logic using [Stop limit config. (SAL) and [Slowdown limit cfg.] (dAL).
• Parameter set switching [PARAM. SET SWITCHING] (MLP-) page 198 can now be assigned to the frequency thresholds attained
[Freq. Th. att.] (FtA) and [Freq. Th. 2 attain.] (F2A).
• New half-floor: menu [HALF FLOOR] (HFF-) page 212.
Menu [1.8 FAULT MANAGEMENT] (FLt)

• Possibility of reinitializing the drive without turning it off, via [Product reset] (rP) page 217.
• Possibility of reinitializing the drive via a logic input without turning it off, using [Product reset assig.] (rPA) page 217.
• The possibility of configuring the "output phase loss" fault [Output Phase Loss] (OPL) page 221 to [Output cut] (OAC) has been
extended to all drive ratings (previously limited to45 kW (60 HP) for ATV71pppM3X and 75 kW (100HP) for ATV71pppN4).
• The external fault [EXTERNAL FAULT] (EtF-) page 224 can now be configured in positive or negative logic via [External fault config.]
(LEt).
• New monitoring function based on speed measurement via "Pulse input" page 231, via the [FREQUENCY METER] menu (FqF-).
• New function for detecting load variation page 233, via the [DYNAMIC LOAD DETECT] menu (dLd-).
• Short-circuit faults on the braking unit can now be configured via[Brake res. fault Mgt] bUb) page 235.
Menu [7 DISPLAY CONFIG.]

• In [7.4 KEYPAD PARAMETERS] page 262, the [KEYPAD CONTRAST] and [KEYPAD STAND-BY] parameters to adjust the contrast
and stand-by mode of the graphic display unit.

Extension of the range with the addition of ATV71ppppY drives for 500 to 690 V supplies.
There are no new parameters, but the adjustment ranges and factory settings of some parameters have been adapted to the new voltages.
[1.5 INPUTS / OUTPUTS CFG] (I-O-) menu

Increased adjustment range for the relay and logic output delay parameters: 0 to 60000 ms instead of 0 to 9999 ms.

[1.3 SETTINGS] (SEt-) menu
• New parameters [Skip Frequency] (JPF), [Skip Frequency 2] (JF2) and [3rd Skip Frequency] (JF3) page 66 allow to avoid critical
speed which generate resonances.
• New parameter [Skip.Freq.Hysteresis] (JFH) page 66 to adjust the range of skip frequency.
• Possibility to adjust the parameter [Torque ratio] (trt) page 66 (visible too in [TORQUE CONTROL] (tOr-) menu page 182).
Important:
For V2.5 version, the behaviour of the following functions is different from the previous version when type of stop "freewheel" is selected
(factory value):
• [LIMIT SWITCHES] (LSt-) function,
• [POSITIONING BY SENSORS] (LPO-) function,
• "shutdown" command by communication (see CiA402 state chart in communication parameters manual).
Actually, on previous versions, type of stop "freewheel" was not well done.
7
Steps for setting up
INSTALLATION
v 1 Consult the Installation Manual
PROGRAMMING
Procedure applicable if the factory configuration, page 9, and use of the
[SIMPLY START] (SIM-) menu only are sufficient for the application.
b 2 Power up without run command

v If you are using a separate power
supply for the control section, follow
the instructions on page 14.
b 3 Select the language, if the drive

has a graphic display terminal
b 4 Configure the [SIMPLY START]

(SIM-) menu
Tips: v 2-wire or 3-wire control
v Macro configuration
• Before you start programming, complete v Motor parameters
the user setting tables, page 271. ) Perform an auto-tuning
operation
• Perform an auto-tuning operation to v Motor thermal current
optimize performance, page 42.
v Acceleration and deceleration
• If you get lost, return to the factory ramps
settings, page 247. v Speed variation range
Note: Check that the wiring of the

drive is compatible with its
configuration. b 5 Start
8
Factory configuration
Drive factory settings

The Altivar 71 is factory-set for the most common operating conditions:
• Macro configuration: Start/Stop
• Motor frequency: 50 Hz
• Constant torque application with asynchronous motor and sensorless flux vector control
• Normal stop mode on deceleration ramp
• Stop mode in the event of a fault: freewheel
• Linear, acceleration and deceleration ramps: 3 seconds
• Low speed: 0 Hz
• High speed: 50 Hz
• Motor thermal current = rated drive current
• Standstill injection braking current = 0.7 x rated drive current, for 0.5 seconds
• No automatic starts after a fault
• Switching frequency 2.5 kHz or 4 kHz depending on drive rating
• Logic inputs:
- LI1: forward, LI2: Forward (2 operating direction), 2-wire control on transition
- L13, L14, LI5, LI6: inactive (not assigned)
• Analog inputs:
- AI1: speed reference 0 +10 V
- AI2: 0-20 mA, inactive (not assigned)
• Relay R1: The contact opens in the event of a fault (or drive off).
• Relay R2: Inactive (not assigned)
• Analog output AO1: 0-20 mA, inactive (not assigned)
If the above values are compatible with the application, the drive can be used without changing the settings.
Option card factory settings

The option card inputs/outputs are not factory-set.
9
Application functions
The tables on the following pages show the most common combinations of functions and applications, in order to guide your selection.
The applications in these tables relate to the following machines in particular:
• Hoisting: cranes, overhead cranes, gantries (vertical hoisting, translation, slewing), lifting platforms
• Elevators: elevators in retrofit up to 1.2 m/s
• Handling: palletizers/depalletizers, conveyors, roller tables
• Packing: carton packers, labeling machines
• Textiles: weaving looms, carding frames, washing machines, spinners, drawing frames
• Wood: automatic lathes, saws, milling
• High inertia: centrifuges, mixers, unbalanced machines (beam pumps, presses)
• Process
Each machine has its own special features, and the combinations listed here are neither mandatory nor exhaustive.
Some functions are designed specifically for a particular application. In this case, the application is identified by a tab in the
margin on the relevant programming pages.
Motor control functions
Applications
High inertia
Handling
Functions Page
Hoisting
Process
Packing
Textiles
Wood
Lifts
V/f ratio 70 b b b
Sensorless flux vector control 70 b b b b b b b b
Flux vector control with sensor 70 b b b b b b b b
2-point vector control 70 b b
Open-loop synchronous motor 70 b
Output frequency of up to 1600 Hz 68 b b
Motor overvoltage limiting 82 b b
DC bus connection (see User's Manual) - b b
Motor fluxing using a logic input 153 b b b
Switching frequency of up to 16 kHz 81 b b b
Auto-tuning 69 b b b b b b b b
10
Functions on speed references
Applications
High inertia
Handling
Functions Page
Hoisting
Process
Packing
Textiles
Wood
Lifts
Differential bipolar reference 90 b b b
Reference delinearization (magnifying glass effect) 92 b b
Frequency control input 124 b b
Reference switching 125 - 134
b
Reference summing 133 b
Reference subtraction 133 b
Reference multiplication 133 b
S ramps 136 b b b
Jog operation 144 b b b
Preset speeds 145 b b b b b
+ speed / - speed using single action pushbuttons 148
(1 step)
b
+ speed / - speed using double action pushbuttons 148
(2 steps)
b
+/- speed around a reference 150 b b
Save reference 152 b
11
Application-specific functions
Applications
High inertia
Handling
Functions Page
Hoisting
Process
Packing
Textiles
Wood
Lifts
Fast stop 140 b b
Limit switch management 154 b b b
Brake control 156 b b b
Load measurement 165 b b
High-speed hoisting 167 b
Rope slack 170 b
PID regulator 172 b
Torque monitoring 181 b b b
Motor/generator torque limit 184 b b b b
Load sharing 84 b b
Line contactor control 188 b b b
Output contactor control 190 b
Positioning by limit switches or sensors 192 b b
Stop at distance calculated after deceleration limit switch 194 b b
ENA system (mechanical with unbalanced load) 79 b
Parameter switching 197 b b b b b b b b
Motor or configuration switching 200 b b b
Traverse control 204 b
Stop configuration 140 b b b b
Evacuation 211 b
Half floor 212 b
12
Safety functions/fault management
Applications
High inertia
Handling
Functions Page
Hoisting
Process
Packing
Textiles
Wood
Lifts
Power Removal (safety function, see User's Manual) - b b b b b b b b
Deferred stop on thermal alarm 223 b
Alarm handling 114 b b b b b b b b
Fault management 215 to 237 b b b b b b b b
IGBT tests 226 b b b b b b b b
Catch a spinning load 219 b b b
Braking resistor thermal protection 235 b b b b
Motor protection with PTC probes 215 b b b b b b b b
Undervoltage management 225 b b b
4-20mA loss 227 b b b b b b
Uncontrolled output cut (output phase loss) 221 b
Automatic restart 218 b
Use of the "Pulse input" input to measure the speed of 231
rotation of the motor.
b b b
Load variation detection 233 b
13
Setup - Preliminary recommendations
Turning on and configuring the drive
DANGER
UNINTENDED EQUIPMENT OPERATION
• Before turning on and configuring the Altivar 71, check that the PWR (POWER REMOVAL) input is deactivated (at
state 0) in order to prevent unintended operation.
• Before turning on the drive, or when exiting the configuration menus, check that the inputs assigned to the run
command are deactivated (at state 0) since they can cause the motor to start immediately.
CAUTION
INCOMPATIBLE LINE VOLTAGE
Before turning on and configuring the drive, ensure that the line voltage is compatible with the supply voltage range shown
on the drive nameplate. The drive may be damaged if the line voltage is not compatible.
Separate control section power supply

Only supply power to the power section the next time the drive is powered up when:
A) The drive control section is powered independently of the power section (P24 and 0V terminals).
B) Whenever an option card is added or replaced.
Power switching via line contactor
CAUTION
RISK OF EQUIPMENT DAMAGE
• Avoid operating the contactor frequently (premature ageing of the filter capacitors).
• Cycle times < 60 s may result in damage to the pre-charge resistor.
Failure to follow these instructions can result in equipment damage.
User adjustment and extension of functions

• The display unit and buttons can be used to modify the settings and to extend the functions described in the following pages.
• Return to factory settings is made easy by the [1.12 FACTORY SETTINGS] (FCS-) menu, see page 245.
• There are three types of parameter:
- Display: Values displayed by the drive
- Adjustment: Can be changed during operation or when stopped
- Configuration: Can only be modified when stopped and no braking is taking place. Can be displayed during operation.
DANGER
• Check that changes made to the settings during operation do not present any danger.
• We recommend stopping the drive before making any changes.
14
Starting
Important:
• In factory settings mode, the motor can only be supplied with power once the “forward”, “reverse” and “DC injection stop” commands
have been reset:
- On power-up or a manual fault reset or after a stop command
If they have not been reset, the drive will display "nSt" but will not start.
• If the automatic restart function has been configured ([Automatic restart] (Atr) parameter in the [1.8-FAULT MANAGEMENT] (FLt-)
menu, see page 218), these commands are taken into account without a reset being necessary.
Test on a low power motor or without a motor

• In factory settings mode, [Output Phase Loss] detection (OPL) page 221 is active (OPL = YES). To check the drive in a test or
maintenance environment without having to switch to a motor with the same rating as the drive (particularly useful in the case of high
power drives), deactivate [Output Phase Loss] (OPL = no).
• Configure [Motor control type] (Ctt) = [V/F 2pts] (UF2) or [V/F 5pts] (UF5) ([1.4-MOTOR CONTROL] (drC-) menu, see page 70)
CAUTION
Motor thermal protection will not be provided by the drive if the motor current is less than 0.2 times the rated drive current.
Provide an alternative means of thermal protection.
Using motors in parallel

• Configure [Motor control type] (Ctt) = [V/F 2pts] (UF2) or [V/F 5pts] (UF5) ([1.4-MOTOR CONTROL] (drC-) menu, see page 70)
CAUTION
Motor thermal protection is no longer provided by the drive. Provide an alternative means of thermal protection on every
motor.
15
ATV71pppY - Network which presents often under voltage

To assure an optimal running of an ATV71pppY used on network which presents often under voltage (network voltage contained between
425 V and 446 V), it is necessary to adjust [Prevention level] (UPL) = 383 V ([1.8-FAULT MANAGEMENT] (FLt-) menu, see page 226).
Using motor with nominal voltage lower than drive supply voltage
• Configure [Vector Control 2pt] (UC2) = [Yes] (YES) ([1.4-MOTOR CONTROL] (drC-) menu, see page 72)
CAUTION
• To protect a motor which has a nominal voltage lower than drive supply voltage, it is mandatory to use
[Vector Control 2pt] (UC2) function in order to limit maximal voltage of the motor lower than network voltage.
• Nevertheless, it is necessary to check that instantaneous voltage applied to the motor (link to DC bus voltage) are
compatible with characteristics of this one.
16
Graphic display terminal
Although the graphic display terminal is optional for low-power drives, it is a standard component on high-power drives (see catalog). The
graphic display terminal can be disconnected and connected remotely (on the door of an enclosure for example) using the cables and
accessories available as options (see catalog).
Description of terminal
1 Graphic display
2 Function keys
F1, F2, F3, F4,
see page 18.
7 ESC key: Aborts a value, a
3 STOP/RESET parameter or a menu to return
button to the previous selection
4 RUN button 6 Button for reversing the direction

of rotation of the motor
5 Navigation button:
• Press (ENT): - To save the current value
- To enter the selected menu or parameter
• Turn CW/ - To increment or decrement a value
CCW: - To go to the next or previous line
- To increase or decrease the reference if control via
the terminal is activated
Note: Buttons 3, 4, 5 and 6 can be used to control the drive directly, if control via the terminal is activated.
Disconnected terminal
When the terminal is disconnected, 2 LEDs become visible:
Green LED:
Red LED:
DC bus ON
Fault
HMI Modbus
17
Description of the graphic screen
1 RDY Term +0.00 Hz 0A

2 1 DRIVE MENU 6
1.1 SIMPLY START
1.2 MONITORING
3 1.3 SETTINGS
1.4 MOTOR CONTROL
1.5 INPUTS / OUTPUTS CFG
4 Code << >> Quick 5
F1 F2 F3 F4
1. Display line. Its content can be configured; the factory settings show:
• The drive state (see page 19)
• The active control channel:
- Term: Terminals
- HMI: Graphic display terminal
- MDB: Integrated Modbus
- CAN: Integrated CANopen
- NET: Communication card
- APP: Controller Inside card
• Frequency reference
• Current in the motor
2. Menu line. Indicates the name of the current menu or submenu.
3. Menus, submenus, parameters, values, bar charts, etc., are displayed in drop-down window format on a maximum of 5 lines.
The line or value selected by the navigation button is displayed in reverse video.
4. Section displaying the functions assigned to the F1 to F4 keys and aligned with them, for example:
• Code F1 : Displays the code of the selected parameter, i.e., the code corresponding to the 7-segment display.
• HELP F1 : Contextual help
• << F2 : Navigate horizontally to the left, or go to previous menu/submenu or, for a value, go to the next digit up, displayed
in reverse video (see the example on page 20).
• >> F3 : Navigate horizontally to the right or go to next menu/submenu (going to the [2 ACCESS LEVEL] menu in this
example) or, for a value, go to the next digit down, displayed in reverse video (see the example on page 20).
• Quick F4 : Quick navigation, see page 24.
The function keys are dynamic and contextual.

Other functions (application functions) can be assigned to these keys via the [1.6 COMMAND] menu.
5. Indicates that there are no more levels below this display window.
Indicates that there are more levels below this display window.
6. Indicates that this display window does not scroll further up.
Indicates that there are more levels above this display window.
18
Drive state codes:

- ACC: Acceleration
- CLI: Current limit
- CTL: Controlled stop on input phase loss
- DCB: DC injection braking in progress
- DEC: Deceleration
- FLU: Motor fluxing in progress
- FST: Fast stop
- NLP: No line power (no line supply on L1, L2, L3)
- NST: Freewheel stop
- OBR: Auto-adapted deceleration
- PRA: Power Removal function active (drive locked)
- RDY: Drive ready
- RUN: Drive running
- SOC: Controlled output cut in progress
- TUN: Auto-tuning in progress
- USA: Undervoltage alarm
19
Example configuration windows:
RDY Term +0.00Hz 0A When only one selection is possible, the selection made is indicated by
5 LANGUAGE Example: Only one language can be chosen.
English
Français
Deutsch
Español
Italiano
<< >> Quick
Chinese
PARAMETER SELECTION When multiple selection is possible, the selections made are indicated by
1.3 SETTINGS Example: A number of parameters can be chosen to form the [USER MENU].
Ramp increment
Acceleration
Deceleration
Acceleration 2
Deceleration 2
Edit
Example configuration window for one value:
RDY Term +0.00Hz 0A RDY Term +0.00Hz 0A

Acceleration Acceleration
>>
9.51 s 951 s
Min = 0.01 Max = 99.99 Min = 0.01 Max = 99.99
<< >> Quick << >> Quick
The << and >> arrows (keys F2 and F3) are used to select the digit to be modified, and the navigation button is rotated to increase or
decrease this number.
20
First power-up - [5. LANGUAGE] menu

The first time the drive is powered up, the user will automatically be guided through the menus as far as [1. DRIVE MENU].
The parameters in the [1.1 SIMPLY START] submenu must be configured and auto-tuning performed before the motor is started up.
ATV31HU22N4 Display for 3 seconds following power-up

2.2kW/3HP 380/480V
Config. n°1
3 seconds
5 LANGUAGE
English Automatically switches to [5 LANGUAGE]
Français
menu 3 seconds later.
Deutsch
Select the language and press ENT.
Español
Italiano
Chinese
RDY Term +0.00Hz 0.0A

2 ACCESS LEVEL Switches to [2 ACCESS LEVEL] menu
Basic (see page 30)
Standard
Select the access level and press ENT.
Advanced
Expert

1 DRIVE MENU Switches to [1 DRIVE MENU]
1.1 SIMPLY START (see page 26)
1.2. MONITORING
1.3. SETTINGS
1.4. MOTOR CONTROL
1.5. INPUTS / OUTPUTS CFG
Code << >> Quick
ESC

MAIN MENU Press ESC to return to [MAIN MENU]
1 DRIVE MENU
2 ACCESS LEVEL
3 OPEN / SAVE AS
4 PASSWORD
5 LANGUAGE
Code Quick
21
Subsequent power ups
ATV71HU22N4
2.2kW/3HP 380/480V
Config. n°1
3 seconds
RDY Term +38Hz 0.0A

1. DRIVE MENU
1.1 SIMPLY START
1.2 MONITORING Switches to [1. DRIVE MENU] 3 seconds later.
1.3 SETTINGS
1.4 MOTOR CONTROL
Code << >> Quick
10 seconds
RDY Term +38Hz 0.0A

Frequency ref.
If no operator inputs are made, switches to "Display"

38 Hz automatically 10 seconds later (the display will vary
depending on the selected configuration).
Min=0 Max=60
Quick
ENT or ESC
RDY Term +38Hz 0.0A

MAIN MENU
1 DRIVE MENU
2 ACCESS LEVEL
3 OPEN / SAVE AS
Users can return to [MAIN MENU] by pressing ENT or
4 PASSWORD
5 LANGUAGE
ESC.
Code Quick
22
Programming: Example of accessing a parameter

Accessing the acceleration ramp
RDY Term +0.00Hz 0A RDY Term +0.00Hz 0A RDY Term +0.00Hz 0A

1 DRIVE MENU 1.3 SETTINGS Acceleration
1.1 SIMPLY START ENT Ramp increment: 01 ENT
1.2 MONITORING Acceleration 9.51 s
1.3 SETTINGS
ESC
Deceleration: 9.67 s
ENT or
9.51 s
1.4 MOTOR CONTROL Acceleration 2: 12.58 s
1.5 INPUTS / OUTPUTS CFG Deceleration 2: 13.45 s Min = 0.01 Max = 99.99
Code << >> Quick Code << >> Quick ESC << >> Quick
Note:
• To select a parameter:
- Turn the navigation button to scroll vertically.
• To modify a parameter:
- Use the << and >> keys (F2 and F3) to scroll horizontally and select the digit to be modified (the selected digit changes to white
on a black background).
- Turn the navigation button to modify the digit.
• To cancel the modification:

- Press ESC.
• To save the modification:

- Press the navigation button (ENT).
23
Quick navigation
If the "Quick" function is displayed above the F4 key, you can gain quick access to a parameter from any screen.
Example:
RDY Term +0.00Hz 0A

1.4 MOTOR CONTROL
Standard mot. freq: 5 0Hz IEC
Rated motor power: 0.37 kW (0.5 HP)
Rated motor volt.: 206 V
Rated mot. current: 1.0 A
Rated motor freq.: 50.0 Hz
Code << >> Quick
Press F4 to access the Quick screen, which contains

4 selection options.
• [HOME]: Return to [MAIN MENU].

QUICK NAVIGATION MAIN MENU
RETURN TO MAIN MENU
ENT 1 DRIVE MENU
DIRECT ACCESS TO... 2 ACCESS LEVEL
10 LAST MODIFICATIONS 3 OPEN / SAVE AS
GOTO MULTIPOINT SCREEN 4 PASSWORD
5 LANGUAGE
Code Code Quick
• [DIRECT ACCESS TO...] : Opens the direct access window, which

See page 263 will contain the text "1". The function keys << and >> (F2 and F3)
can be used to select each of the numbers and the navigation
button to increment or decrement the numbers: 1.3 in the example
below.

DIRECT ACCESS TO... 1.3 SETTINGS
ENT Ramp increment: 01
1.3 Acceleration 9.51 s
Deceleration: 9.67 s
SETTINGS Acceleration 2: 12.58 s
Deceleration 2: 13.45 s
<< >> Code << >> Quick
• [10 LAST MODIFICATIONS]: Opens a window in which the last 10

parameters modified can be accessed directly.

10 LAST MODIFICATIONS Rated mot. current
Acceleration: 10 s
ENA prop.gain: 1.2 ENT
Rated mot. current: 15 A 15.0 A
Preset speed 4: 20 Hz
Preset speed 5: 30 Hz ESC
Code << >>
24
[MAIN MENU] - Menu mapping
RDY Term +0.00Hz 0A

MAIN MENU RDY Term +0.00Hz 0A
1 DRIVE MENU 1 DRIVE MENU
2 ACCESS LEVEL 1.1 SIMPLY START
3 OPEN / SAVE AS 1.2 MONITORING
4 PASSWORD 1.3 SETTINGS
5 LANGUAGE 1.4 MOTOR CONTROL
Code Quick 1.5 INPUTS / OUTPUTS CFG
6 MONITORING CONFIG. Code << >> Quick
7 DISPLAY CONFIG. 1.6 COMMAND
1.7 APPLICATION FUNCT.
1.8 FAULT MANAGEMENT
1.9 COMMUNICATION
1.10 DIAGNOSTICS
1.11 IDENTIFICATION
1.12 FACTORY SETTINGS
1.13 USER MENU
1.14 PROGRAMMABLE CARD
Content of [MAIN MENU] menus
[1 DRIVE MENU] See next page

[2 ACCESS LEVEL] Defines which menus can be accessed (level of complexity)
[3 OPEN / SAVE AS] Can be used to save and recover drive configuration files
[4 PASSWORD] Provides password protection for the configuration
[5 LANGUAGE] Language selection
[6 MONITORING CONFIG.] Customization of information displayed on the graphic display terminal during operation
[7 DISPLAY CONFIG.] • Customization of parameters
• Creation of a customized user menu
• Customization of the visibility and protection mechanisms for menus and parameters
25
[1 DRIVE MENU]
RDY Term +0.00Hz 0A

1 DRIVE MENU
1.1 SIMPLY START
1.2 MONITORING
1.3 SETTINGS
1.4 MOTOR CONTROL
Code << >> Quick
1.6 COMMAND
1.9 COMMUNICATION
1.10 DIAGNOSTICS
1.11 IDENTIFICATION
1.13 USER MENU
Content of [1. DRIVE MENU] menus:
[1.1 SIMPLY START]: Simplified menu for a quick start

[1.2 MONITORING]: Visualization of current, motor and input/output values
[1.3 SETTINGS]: Accesses the adjustment parameters, which can be modified during operation
[1.4 MOTOR CONTROL]: Motor parameters (motor nameplate, auto-tuning, switching frequency, control algorithms, etc.)
[1.5 INPUTS / OUTPUTS CFG]: I/O configuration (scaling, filtering, 2-wire control, 3-wire control, etc.)
[1.6 COMMAND]: Configuration of command and reference channels (graphic display terminal, terminals, bus, etc.)
[1.7 APPLICATION FUNCT.] : Configuration of application functions (e.g., preset speeds, PID, brake logic control, etc.)
[1.8 FAULT MANAGEMENT]: Configuration of fault management
[1.9 COMMUNICATION]: Communication parameters (fieldbus)
[1.10 DIAGNOSTICS]: Motor/drive diagnostics
[1.11 IDENTIFICATION]: Identifies the drive and the internal options
[1.12 FACTORY SETTINGS]: Access to configuration files and return to factory settings
[1.13 USER MENU]: Specific menu set up by the user in the [7. DISPLAY CONFIG.] menu
[1.14 PROGRAMMABLE CARD]: : Configuration of optional Controller Inside card
26
Integrated display terminal
Low-power Altivar 71 drives (see catalog) feature an integrated display terminal with a 7-segment 4-digit display. The graphic display
terminal described on the previous pages can also be connected to these drives as an option.
Functions of the display and the keys
• 2 Modbus status LEDs
• Four 7-segment • 2 CANopen status LEDs

displays
• Returns to the previous • Exits a menu or parameter,

menu or parameter, or or aborts the displayed
increases the displayed value to return to the
value previous value in the
memory
• Goes to the next menu
or parameter, or • Enters a menu or
decreases the parameter, or saves the
displayed value displayed parameter or
value
Note: • Pressing or does not store the selection.
• Press and hold down (>2 s) or to scroll through the data quickly.
Save and store the selection: ENT
The display flashes when a value is stored.
Normal display, with no fault present and no startup:
- 43.0 : Display of the parameter selected in the SUP menu (default selection: motor frequency)
- CLI: Current limit
- CtL: Controlled stop on input phase loss
- dCb: DC injection braking in progress
- FLU: Motor fluxing in progress
- FSt: Fast stop.
- nLP: No line power (no line supply on L1, L2, L3)
- nSt: Freewheel stop
- Obr: Auto-adapted deceleration
- PrA: Power Removal function active (drive locked)
- rdY = Drive ready
- SOC: Controlled output cut in progress
- tUn: Auto-tuning in progress
- USA: Undervoltage alarm
The display flashes to indicate the presence of a fault.
27
Accessing menus
Power-up
XXX Displays the state of the drive
ENT
ENT
ESC
SIM- SIMPLY START (page 36) Simplified menu for fast startup
ESC
ENT
ESC (page 44) Visualization of current, motor and input/output values
SUP- MONITORING
ESC
ENT
ESC
(page 53) Adjustment parameters, can be modified during
SEt- SETTINGS
ESC operation
ENT
ESC
(page 69) Motor parameters (motor nameplate, auto-tuning,
drC- MOTOR CONTROL
ESC switching frequency, control algorithms, etc.)
ENT
ESC
(page 87) I/O configuration (scaling, filtering, 2-wire control,
I-O- INPUTS / OUTPUTS CFG
ESC 3-wire control, etc.)
ENT
ESC (page 115) Configuration of command and reference channels
CtL- COMMAND (graphic display terminal, terminals, bus, etc.)
Menus ESC
ENT
ESC
(page 128)Configuration of application functions (e.g., preset
FUn- APPLICATION FUNCT.
ESC speeds, PID, brake logic control, etc.)
ENT
ESC
FLt- FAULT MANAGEMENT (page 214) Configuration of fault management

ESC
ENT
ESC
CON- COMMUNICATION (page 238) Communication parameters (fieldbus)

ESC
ENT
ESC (page 245) Access to configuration files and return to factory
FCS- FACTORY SETTINGS
ESC settings
ENT
ESC
(page 248) Specific menu, set up by the user using the graphic
USr- USER MENU
ESC display terminal.
ENT
ESC
(page 249) Menu for the Controller Inside card, if present.
SPL- PROGRAMMABLE CARD
ESC
ENT
ESC
COd- PASSWORD (page 252)

ESC
ENT
ESC
LAC-
(page 30)
ACCESS LEVEL
ESC
A dash appears after menu and submenu codes to differentiate them from parameter codes.
Examples: FUn- menu, ACC parameter.
The grayed-out menus may not be accessible depending on the control access (LAC) configuration.
28
Accessing menu parameters

ENT
Save and store the displayed selection :
Menu Parameter Value or assignment The display flashes when a value is stored.
SEt- ACC 15 0
ENT ENT
.
ESC
1 flash
ESC ESC (save)
dEC 26 0.
ENT
26 0.
(Next parameter)
All the menus are "drop-down" type menus, which means that after the last parameter, if
you continue to press , you will return to the first parameter and, conversely, you can
ENT
Menu 1st switch from the first parameter to the last parameter by pressing .
ESC
nth
last
Selection of multiple assignments for one parameter

Example: List of group 1 alarms in [INPUTS / OUTPUTS CFG]
menu (I-O-)
ENT
A number of alarms can be selected by "checking" them as
I-O-
follows.
ESC
Alarm not selected

The digit on the right indicates: selected
Alarm selected not selected.
The same principle is used for all multiple selections.
29
[2. ACCESS LEVEL] (LAC-)
With graphic display terminal

Basic
Access to 5 menus only, and access to 6 submenus only in the
[1. DRIVE MENU] menu.
A single function can be assigned to each input.

2 ACCESS LEVEL MAIN MENU 1. DRIVE MENU
Basic 1 DRIVE MENU 1.1 SIMPLY START
Standard 2 ACCESS LEVEL 1.2. MONITORING
Advanced 3 OPEN / SAVE AS 1.3. SETTINGS
Expert 4 PASSWORD 1.11. IDENTIFICATION
5 LANGUAGE 1.12. FACTORY SETTINGS
<< >> Quick Code << >> Quick Code << >> Quick
1.13 USER MENU
Standard
This is the factory-set level. Access to 6 menus only, and access to all
submenus in the [1. DRIVE MENU] menu.
A single function can be assigned to each input.

MAIN MENU 1 DRIVE MENU
1 DRIVE MENU 1.1 SIMPLY START
2 ACCESS LEVEL 1.2 MONITORING
3 OPEN / SAVE AS 1.3 SETTINGS
4 PASSWORD 1.4 MOTOR CONTROL
5 LANGUAGE 1.5 INPUTS / OUTPUTS CFG
Code Quick Code << >> Quick
6 MONITORING CONFIG. 1.6 COMMAND
Advanced 1.9 COMMUNICATION
Access to all menus and submenus. 1.10 DIAGNOSTICS
Several functions can be assigned to 1.11 IDENTIFICATION
each input. 1.12 FACTORY SETTINGS
1.13 USER MENU
RDY Term +0.00Hz 0A
MAIN MENU
1 DRIVE MENU
2 ACCESS LEVEL
3 OPEN / SAVE AS
4 PASSWORD
5 LANGUAGE
Code Quick
6 MONITORING CONFIG.
7 DISPLAY CONFIG.
Expert
Access to all menus and submenus as for [Advanced] level, and access to
additional parameters.
Several functions can be assigned to each input.
RDY Term +0.00Hz 0A

MAIN MENU
1 DRIVE MENU
2 ACCESS LEVEL
3 OPEN / SAVE AS
4 PASSWORD
5 LANGUAGE
Code Quick
7 DISPLAY CONFIG.
30
With integrated display terminal:
Power-up
ENT
ESC
SIM-
ESC
COd-
ENT
ESC
LAC- ACCESS LEVEL

ESC
Code Name/Description Factory setting
LAC- Std
bAS • bAS: Limited access to SIM, SUP, SEt, FCS, USr, COd and LAC menus. Only one function can be assigned to
each input.
Std • Std: Access to all menus on the integrated display terminal. Only one function can be assigned to each input.
Adu • AdU: Access to all menus on the integrated display terminal. Several functions can be assigned to each input.
Epr • EPr: Access to all menus on the integrated display terminal and access to additional parameters. Several functions
can be assigned to each input.
31
Comparison of the menus that can be accessed on the graphic display terminal/
integrated display terminal
Graphic display terminal Integrated display terminal Access level

[2 ACCESS LEVEL] LAC- (Access level)
[3 OPEN/SAVE AS] -
[4 PASSWORD] COd- (Password)
[5 LANGUAGE] -
Basic bAS
[1 DRIVE MENU] [1.1 SIMPLY START] SIM- (Simply start)
[1.2 MONITORING] SUP- (Monitoring)
[1.3 SETTINGS] SEt- (Settings)
Standard Std (factory setting)

[1.11 IDENTIFICATION] -
[1.12 FACTORY SETTINGS] FCS- (Factory settings)
[1.13 USER MENU] USr- (User menu)
Advanced AdU
A single function can be assigned to each input. A single function can be assigned to
each input.
[1.4 MOTOR CONTROL] drC- (Motor control)
Expert EPr
[1.5 INPUTS / OUTPUTS CFG] I-O- (I/O configuration)
[1.6 COMMAND] CtL- (Command)
[1.7 APPLICATION FUNCT.] FUn- (Application functions)
[1.8 FAULT MANAGEMENT] FLt- (Fault management)
[1.9 COMMUNICATION] COM- (Communication)
[1.10 DIAGNOSTICS] -
[1.14 PROGRAMMABLE CARD] (1) PLC- (Controller Inside card) (1)
[6 MONITORING CONFIG.] -
A single function can be assigned to each input. A single function can be assigned to
each input.
[7 DISPLAY CONFIG.] -
Several functions can be assigned to each input. Several functions can be assigned
to each input.
Expert parameters Expert parameters
Several functions can be assigned to each input. Several functions can be assigned
to each input.
(1) Can be accessed if the Controller Inside card is present.
32
Structure of parameter tables
The parameter tables in the descriptions of the various menus can be used with both the graphic display terminal and the integrated display
terminal. They, therefore, contain information for these two terminals in accordance with the description below.
Example:
[1.7 APPLICATION FUNCT.] (FUn-)

6
1
Code Name/Description Adjustment range Factory setting

2 UPd- b [+/- SPEED]
Function can be accessed for reference channel [Ref.2 channel] (Fr2) = [+/- speed] (UPdt) ,
see page 125
3 USP M [+ speed assignment] 7

[No] (nO)
no v [No] (nO): function inactive

4 LI1 v [LI1] (LI1)
8
1. Name of menu on 4-digit 7-segment display. 5. Name of menu on graphic display terminal.
2. Submenu code on 4-digit 7-segment display. 6. Name of submenu on graphic display terminal.
3. Parameter code on 4-digit 7-segment display. 7. Name of parameter on graphic display terminal.
4. Parameter value on 4-digit 7-segment display. 8. Value of parameter on graphic display terminal.
Note :
• The text in square brackets [ ] indicates what you will see on the graphic display terminal.
• The factory settings correspond to [Macro configuration] (CFG) = [Start/Stop] (StS). This is the macro configuration set at
the factory.
33
Interdependence of parameter values
The configuration of certain parameters modifies the adjustment range of other parameters, in order to reduce the risk of errors. This may
result in the modification of a factory setting or a value you have already selected.
Example:
1. [Current Limitation] (CLI) page 60 set to 1.6 In or left at its factory setting, 1.5 In
2. [Switching freq.] (SFr) page 60 set to 1 kHz (and confirmed with "ENT") restricts [Current Limitation] (CLI) to 1.36 In
3. If [Switching freq.] (SFr) is increased to 4 kHz, [Current limitation] (CLI) is no longer restricted, but remains at 1.36 In. If you require
1.6 In, you must reset [Current Limitation] (CLI).
34
Finding a parameter in this document
The following assistance with finding explanations on a parameter is provided:
• With the integrated display terminal: Direct use of the parameter code index, page 274, to find the page giving details of the
displayed parameter.
• With the graphic display terminal: Select the required parameter and press F1 : [Code]. The parameter code is displayed instead
of its name while the key is held down.
Example: ACC

1.3 SETTINGS 1.3 SETTINGS
Ramp increment: 01 Code Ramp increment: 01
Acceleration 9.51 s ACC 9.51 s
Deceleration: 9.67 s Deceleration: 9.67 s
Acceleration 2: 12.58 s Acceleration 2: 12.58 s
Deceleration 2: 13.45 s Deceleration 2: 13.45 s
Code << >> Quick Code << >> Quick
Then use the parameter code index, page 274, to find the page giving details of the displayed parameter.
35
[1.1 SIMPLY START] (SIM-)
With graphic display terminal:
RDY Term +0.00Hz 0A RDY Term +0.00Hz 0A RUN Term +50.00Hz 80A
MAIN MENU 1 DRIVE MENU 1.1 SIMPLY START
ENT ENT
1 DRIVE MENU 1.1 SIMPLY START 2/3 wire control
2 ACCESS LEVEL 1.2 MONITORING Macro configuration
3 OPEN / SAVE AS 1.3 SETTINGS Customized macro
4 PASSWORD 1.4 MOTOR CONTROL Standard mot. freq
5 LANGUAGE 1.5 INPUTS / OUTPUTS CFG Input phase loss
Code Quick Code << >> Quick Code << >> Quick

Power-up
ENT
ENT
ESC
SIM- SIMPLY START

ESC
ESC
SUP-
ESC
LAC-
The [1.1-SIMPLY START] (SIM-) menu can be used for fast startup, which is sufficient for the majority of applications.
The parameters in this menu can only be modified when the drive is stopped and no run command is present, with the following exceptions:
• Auto-tuning, which causes the motor to start up
• The adjustment parameters on page 43
Note : The parameters of the [1.1 SIMPLY START] (SIM-) menu must be entered in the order in which they appear, as the later
ones are dependent on the first ones.
For example [2/3 wire control] (tCC) must be configured before any other parameters.
The [1.1 SIMPLY START] (SIM-) menu should be configured on its own or before the other drive configuration menus. If a modification
has previously been made to any of them, in particular in [1.4 MOTOR CONTROL] (drC-), some [1.1 SIMPLY START] (SIM-) parameters
may be changed, for example, the motor parameters, if a synchronous motor has been selected. Returning to the [1.1 SIMPLY START]
(SIM-) menu after modifying another drive configuration menu is unnecessary but does not pose any risk. Changes following modification
of another configuration menu are not described, to avoid unnecessary complication in this section.
Macro configuration
Macro configuration provides a means of speeding up the configuration of functions for a specific field of application.
7 macro configurations are available:
• Start/stop (factory configuration)

• Handling
• General use
• Hoisting
• PID regulator
• Communication bus
• Master/slave
Selecting a macro configuration assigns the parameters in this macro configuration.
Each macro configuration can still be modified in the other menus.
36
Macro configuration parameters

Assignment of the inputs/outputs
Input/ [Start/Stop] [M. handling] [Gen. Use] [Hoisting] [PID regul.] [Network C.] [Mast./
output slave]
AI1 [Ref.1 channel] [Ref.1 channel] [Ref.1 channel] [Ref.1 channel] [Ref.1 channel] [Ref.2 channel] [Ref.1 channel]
(PID reference) ([Ref.1 channel]
= integrated
Modbus) (1)
AI2 [No] [Summing ref. 2] [Summing ref. 2] [No] [PID feedback] [No] [Torque
reference]
AO1 [No] [No] [No] [No] [No] [No] [No]
R1 [No drive flt] [No drive flt] [No drive flt] [No drive flt] [No drive flt] [No drive flt] [No drive flt]
R2 [No] [No] [No] [Brk control] [No] [No] [No]
LI1 (2-wire) [Forward] [Forward] [Forward] [Forward] [Forward] [Forward] [Forward]
LI2 (2-wire) [Reverse] [Reverse] [Reverse] [Reverse] [Reverse] [Reverse] [Reverse]
LI3 (2-wire) [No] [2 preset speeds] [Jog] [Fault reset] [PID integral [Ref. 2 [Trq/spd
reset] switching] switching]
LI4 (2-wire) [No] [4 preset speeds] [Fault reset] [External fault] [2 preset PID [Fault reset] [Fault reset]
ref.]
LI5 (2-wire) [No] [8 preset speeds] [Torque limitation] [No] [4 preset PID [No] [No]
ref.]
LI6 (2-wire) [No] [Fault reset] [No] [No] [No] [No] [No]
LI1 (3-wire) Stop Stop Stop Stop Stop Stop Stop
LI2 (3-wire) [Forward] [Forward] [Forward] [Forward] [Forward] [Forward] [Forward]
LI3 (3-wire) [Reverse] [Reverse] [Reverse] [Reverse] [Reverse] [Reverse] [Reverse]
LI4 (3-wire) [No] [2 preset speeds] [Jog] [Fault reset] [PID integral [Ref. 2 [Trq/spd
reset] switching] switching]
LI5 (3-wire) [No] [4 preset speeds] [Fault reset] [External fault] [2 preset PID [Fault reset] [Fault reset]
ref.]
LI6 (3-wire) [No] [8 preset speeds] [Torque limitation] [No] [4 preset PID [No] [No]
ref.]
Option cards
LI7 to LI14 [No] [No] [No] [No] [No] [No] [No]
LO1 to LO4 [No] [No] [No] [No] [No] [No] [No]
R3/R4 [No] [No] [No] [No] [No] [No] [No]
AI3, AI4 [No] [No] [No] [No] [No] [No] [No]
RP [No] [No] [No] [No] [No] [No] [No]
AO2 [I motor] [I motor] [I motor] [I motor] [I motor] [I motor] [I motor]
AO3 [No] [Sign. torque] [No] [Sign. torque] [PID Output] [No] [Motor freq.]
Graphic display terminal keys
F1 key [No] [No] [No] [No] [No] Control [No]
via graphic
display terminal
F2, F3, F4 [No] [No] [No] [No] [No] [No] [No]
keys
In 3-wire control, the assignment of inputs LI1 to LI6 shifts.
(1) To start with integrated Modbus [Modbus Address] (Add) must first be configured, page 240.
Note: These assignments are reinitialized every time the macro configuration changes.
37
Macro configuration parameters

Other configurations and settings
In addition to the assignment of inputs/outputs, other parameters are assigned only in the Hoisting and Mast./slave macro configurations.
Hoisting:
• [Movement type] (bSt) = [Hoisting] (UEr) page 160
• [Brake contact] (bCI) = [No] (nO) page 160
• [Brake impulse] (bIP) = [No] (nO) page 160
• [Brake release I FW] (Ibr) = [Rated mot. current] (nCr) page 160
• [Brake Release time] (brt) = 0.5 s page 161
• [Brake release freq] (bIr) = [Auto] (AUtO) page 161
• [Brake engage freq] (bEn) = [Auto] (AUto) page 161
• [Brake engage time] (bEt) = 0.5 s page 161
• [Engage at reversal] (bEd) = [No] (nO) page 162
• [Jump at reversal] (JdC) = [Auto] (AUtO) page 162
• [Time to restart] (ttr) = 0 s page162
• [Current ramp time] (brr) = 0 s page 164
• [Low speed] (LSP) = Rated motor slip calculated by the drive, page 43
• [Output Phase Loss] (OPL) = [Yes] (YES) page 221. No further modifications can be made to this parameter.
• [Catch on the fly] (FLr) = [No] (nO) page 219. No further modifications can be made to this parameter.
Mast./slave:
• [Motor control type] (Ctt) = [SVC I] (CUC) page 70
Note: These assignments are forced every time the macro configuration changes, except for [Motor control type] (Ctt) for the Mast./slave
macro configuration, if it is configured in [FVC] (FUC).
Return to factory settings:

Returning to factory settings with [Config. Source] (FCSI) = [Macro-Conf] (InI) page 247 will return the drive to the selected macro
configuration. The [Macro configuration] (CFG) parameter does not change, although [Customized macro] (CCFG) disappears.
Note :
• The factory settings that appear in the parameter tables correspond to [Macro configuration] (CFG) = [Start/Stop] (StS).
This is the macro configuration set at the factory.
38
Example diagrams for use with the macro configurations

[Hoisting] (HSt) diagram
3 Forward Reverse
(Ascend) (Descend) (1)
L1 L2 L3 LI1 +24 LI2 R2A

ATV71H 2
R2C
U V W AI1
KM10
Electromagnetic brake
M
3
(1) A contact on the Preventa module must be inserted in the brake control circuit to engage it safely when the "Power Removal" safety
function is activated (see connection diagrams in the Installation Manual).
[Mast./slave] (MSL) diagram
Speed Torque
Forward Reverse
Forward Reverse
3
3
L1 L2 L3 LI1 +24 LI2 LI1 LI2 +24 LI3 L1 L2 L3

ATV 71Hpppp ATV 71Hpppp
AI1 AI1
Master drive Slave drive
U V W A01 COM COM AI2 U V W
M1 M2
3 3
When the two motors are mechanically connected, the Speed/torque contact closing results in operation in Mast./slave mode. The master
drive regulates the speed and controls the slave drive in torque mode to ensure distribution of the load.
39
tCC M [2/3 wire control] [2 wire] (2C)
2C v [2 wire] (2C)
3C v [3 wire] (3C)
2-wire control: This is the input state (0 or 1) or edge (0 to 1 or 1 to 0), which controls running or stopping.
Example of "source" wiring:

ATV 71
+24 LI1 LIx LI1: forward
LIx: reverse
3-wire control (pulse commands): A "forward" or "reverse" pulse is sufficient to command starting, a "stop"
pulse is sufficient to command stopping.

ATV 71
+24 LI1 LI2 LIx LI1: stop
LI2: forward
LIx: reverse
WARNING
To change the assignment of [2/3 wire control] (tCC) press and hold down the “ENT” key for 2 s.
The following function will be returned to factory settings: [2 wire type] (tCt) page 88 as will all
functions which assign logic inputs.
The macro configuration selected will also be reset it if has been customized (loss of custom settings).
Check that this change is compatible with the wiring diagram used.
Failure to follow these instructions can result in death or serious injury.
CFG M [Macro configuration] [Start/Stop] (StS)
StS v [Start/Stop] (StS): Start/stop

HdG v [M. handling] (HdG): Handling
HSt v [Hoisting] (HSt): Hoisting
GEn v [Gen. Use] (GEn): General use
PId v [PID regul.] (PId): PID regulation
nEt v [Network C.] (nEt): Communication bus
MSL v [Mast./slave] (MSL): Master/slave
WARNING
To change the assignment of [Macro configuration] (CFG) press and hold down the “ENT” key for 2 s.
Check that the selected macro configuration is compatible with the wiring diagram used.
CCFG M [Customized macro]

Read-only parameter, only visible if at least one macro configuration parameter has been modified.
YES v [Yes] (YES)
40
bFr M [Standard mot. freq] [50Hz IEC] (50)
50 v [50Hz IEC] (50): IEC

60 v [60Hz NEMA] (60): NEMA
This parameter modifies the presets of the following parameters:[Rated motor volt.] (UnS) below, [High speed]
(HSP) page 43, [Freq. threshold] (Ftd) page 66, [Rated motor freq.] (FrS) and [Max frequency] (tFr) .
IPL M [Input phase loss] According to drive

rating
nO v [Ignore] (nO): Fault ignored, to be used when the drive is supplied via a single-phase supply or by the
DC bus.
YES v [Freewheel] (YES): Fault, with freewheel stop.
If one phase disappears, the drive switches to fault mode [Input phase loss] (IPL), but if 2 or 3 phases
disappear, the drive continues to operate until it trips on an undervoltage fault.
This parameter is only accessible in this menu on ATV71H037M3 to HU75M3 drives (used with a single
phase supply).
nPr M [Rated motor power] According to drive

rating
According to drive
rating
Rated motor power given on the nameplate, in kW if [Standard mot. freq] (bFr) = [50Hz IEC] (50), in HP if
[Standard mot. freq] (bFr) = [60Hz NEMA] (60).
UnS M [Rated motor volt.] According to drive

rating
According to drive
rating and [Standard
mot. freq] (bFr)
Rated motor voltage given on the nameplate.
ATV71pppM3: 100 to 240 V - ATV71pppN4: 200 to 480 V - ATV71pppY: 400 to 690 V
nCr M [Rated mot. current] 0.25 to 1.5 In (1) According to drive

mot. freq] (bFr)
Rated motor current given on the nameplate.
FrS M [Rated motor freq.] 10 to 500 Hz 50 Hz
Rated motor frequency given on the nameplate.

The factory setting is 50 Hz, or preset to 60 Hz if [Standard mot. freq] (bFr) is set to 60 Hz.
nSP M [Rated motor speed] 0 to 60000 RPM According to drive

rating
Rated motor speed given on the nameplate.
0 to 9999 rpm then 10.00 to 60.00 krpm on the integrated display terminal.
If, rather than the rated speed, the nameplate indicates the synchronous speed and the slip in Hz or as a %,
calculate the rated speed as follows:
100 - slip as a %
• Nominal speed = Synchronous speed x
100
or
50 - slip in Hz
• Nominal speed = Synchronous speed x (50 Hz motors)
50
or
60 - slip in Hz
60
tFr M [Max frequency] 10 to 1600 Hz 60 Hz
The maximum value is limited by the following conditions:
• It must not exceed 10 times the value of [Rated motor freq.] (FrS)
• It must not exceed 500 Hz for ATV71pppY drives or those rated higher than ATV71HD37 (values between
500 Hz and 1600 Hz are only possible for powers limited to 37 kW (50 HP).
(1) In corresponds to the rated drive current indicated in the Installation Manual and on the drive nameplate.
41
tUn M [Auto tuning] [No] (nO)
nO v [No] (nO): Auto-tuning not performed.

YES v [Yes] (YES): Auto-tuning is performed as soon as possible, then the parameter automatically changes to [Done]
(dOnE).
dOnE v [Done] (dOnE): Use of the values given the last time auto-tuning was performed.
Caution:
• It is essential that all motor parameters ([Rated motor volt.] (UnS), [Rated motor freq.] (FrS), [Rated mot.
current] (nCr), [Rated motor speed] (nSP), [Rated motor power] (nPr)) are configured correctly before
starting auto-tuning.
If at least one of these parameters is modified after auto-tuning has been performed, [Auto tuning] (tUn) will
return to [No] (nO) and must be repeated.
• Auto-tuning is only performed if no stop command has been activated. If a "freewheel stop" or "fast stop"
function has been assigned to a logic input, this input must be set to 1 (active at 0).
• Auto-tuning takes priority over any run or prefluxing commands, which will be taken into account after the
auto-tuning sequence.
• If auto-tuning fails, the drive displays [No] (nO) and, depending on the configuration of [Autotune fault mgt]
(tnL) page 235, may switch to [Auto-tuning] (tnF) fault mode.
• Auto-tuning may last for 1 to 2 seconds. Do not interrupt the process. Wait for the display to change to
"[Done] (dOnE)" or "[No] (nO)".
Note: During auto-tuning the motor operates at rated current.
tUS M [Auto tuning status] [Not done] (tAb)
(for information only, cannot be modified)

tAb v [Not done] (tAb): The default stator resistance value is used to control the motor.
PEnd v [Pending] (PEnd): Auto-tuning has been requested but not yet performed.
PrOG v [In Progress] (PrOG): Auto-tuning in progress.
FAIL v [Failed] (FAIL): Auto-tuning has failed.
dOnE v [Done] (dOnE): The stator resistance measured by the auto-tuning function is used to control the motor.
PHr M [Output Ph rotation] [ABC] (AbC)
AbC v [ABC] (AbC): Forward

ACb v [ACB] (ACb): Reverse
This parameter can be used to reverse the direction of rotation of the motor without reversing the wiring.
42
Parameters that can be changed during operation or when stopped
ItH M [Mot. therm. current] 0.2 to 1.5 In (1) According to drive

rating
Motor thermal protection current, to be set to the rated current indicated on the nameplate.
ACC M [Acceleration] 0.1 to 999.9 s 3.0 s
Time to accelerate from 0 to the [Rated motor freq.] (FrS) (page 41). Make sure that this value is compatible
with the inertia being driven.
dEC M [Deceleration] 0.1 to 999.9 s 3.0 s
Time to decelerate from the [Rated motor freq.] (FrS) (page 41) to 0. Make sure that this value is compatible
LSP M [Low speed] 0
Motor frequency at minimum reference, can be set between 0 and [High speed] (HSP).
HSP M [High speed] 50 Hz
Motor frequency at maximum reference, can be set between [Low speed] (LSP) and [Max frequency] (tFr). The
factory setting changes to 60 Hz if [Standard mot. freq] (bFr) = [60Hz NEMA] (60).
43
[1.2 MONITORING] (SUP-)
RDY Term +0.00Hz 0A

RDY Term +0.00Hz 0A 1 DRIVE MENU RUN Term +50.00 Hz 80A
MAIN MENU 1.1 SIMPLY START ENT 1.2 MONITORING
ENT
1 DRIVE MENU 1.2 MONITORING I/O MAP
2 ACCESS LEVEL 1.3 SETTINGS PROG. CARD I/O MAP
3 OPEN / SAVE AS 1.4 MOTOR CONTROL COMMUNICATION MAP
4 PASSWORD 1.5 INPUTS / OUTPUTS CFG Alarm groups :
5 LANGUAGE Code << >> Quick HMI Frequency ref. :

Power-up
ENT
ESC
SIM-
ENT
ESC
SUP- MONITORING
ESC
ESC
SEt-
ESC
LAC-
44

This menu can be used to display the inputs/outputs, the drive internal states and values, and the communication data and values.
RUN Term +50.00Hz 80A

1.2 MONITORING
I/O MAP I/O
PROG. CARD I/O MAP I/O of the Controller Inside card if it is present
COMMUNICATION MAP Communication data and values
Alarm groups:
HMI Frequency ref.:
Drive internal drive states and values (see page 50)
Code << >> Quick
I/O

Move from one screen to another
I/O MAP
(from LOGIC INPUT MAP
LOGIC INPUT MAP
ANALOG INPUTS IMAGE
to FREQ. SIGNAL IMAGE)
LOGIC OUTPUT MAP by turning the navigation button
ANALOG OUTPUTS IMAGE
FREQ. SIGNAL IMAGE
Code Quick
RUN Term +50.00Hz 80A RUN Term +50.00Hz 80A

State 0 Access to the selected input or
LOGIC INPUT MAP LI1 assignment
output configuration:
PR LI1 LI2 LI3 LI4 LI5 LI6 LI7 Forward
State 1 1 Press ENT.
0 Pre Fluxing
LI8 LI9 LI10 LI11 LI12 LI13 LI14 LI1 On Delay : 0 ms
1
0

ANALOG INPUTS IMAGE ENT AI1 assignment
AI1 : 9.87 V Ref.1 channel
AI2 : 2.35 mA Forced local
Torque reference
AI1 min value : 0.0 V
AI1 max value : 10.0 V
Code << >> Quick Quick

LOGIC OUTPUT MAP ENT LO1 assignment
State 0 R1 R2 LO No
LO1 delay time : 0 ms
State 1 LO1 active at : 1
LOA: 0000000000000010b LO1 holding time : 0 ms

ANALOG OUTPUTS IMAGE ENT AO1 assignment
AO1 : 9.87 V Motor freq.
AO1 min output : 4 mA
AO1 max output : 20 mA
AO1 Filter : 10 ms

FREQ. SIGNAL IMAGE ENT RP assignment
RP input : 25.45 kHz Frequency ref.
Encoder : 225 kHz RP min value : 2 kHz
RP max value : 50 kHz
RP filter : 0 ms
45
Controller Inside card I/O

Move from one screen to another
PROG. CARD I/O MAP
(from PROG CARD LI MAP
PROG CARD LI MAP
PROG. CARD AI MAP
to PROG. CARD AO MAP)
PROG CARD LO MAP by turning the navigation button
PROG. CARD AO MAP
Code Quick

State 0
PROG CARD LI MAP
LI51 LI52 LI53 LI54 LI55 LI56 LI57 LI58
State 1 1
0
LI59 LI60
1
0
<< >> Quick

PROG CARD AI MAP AI51
ENT
AI51 : 0.000 mA
AI52 : 9.87 V
0 mA
Min = 0.001 Max = 20,000
Code << >> Quick << >> Quick

State 0
PROG CARD LO MAP
LO51 LO52 LO53 LO54 LO55 LO56
State 1 1
0
<< >> Quick

PROG. CARD AO MAP AO51
ENT
AO51 : 0.000 mA
AO52 : 9.87 V
0 mA
Min = 0.001 Max = 20,000
46

Communication
RUN Term +50.00Hz 80A [COMMUNICATION MAP] indicates the types of bus used for control or reference, the
COMMUNICATION MAP corresponding command and reference values, the status word, the words selected in
Command Channel : Modbus the [DISPLAY CONFIG.] menu, etc.
Cmd value : ABCD Hex
The display format (hexadecimal or decimal) can be configured in the [DISPLAY
Active ref. channel: CANopen
CONFIG.] menu.
Frequency ref. : -12.5 Hz
ETA state word: 2153 Hex
Code Quick
W3141 : F230 Hex
W2050 : F230 Hex
W4325 : F230 Hex
W0894 : F230 Hex
COM. SCANNER INPUT MAP RUN Term +50.00Hz 80A
COM SCAN OUTPUT MAP COM. SCANNER INPUT MAP
CMD. WORD IMAGE Com Scan In1 val.: 0
FREQ. REF. WORD MAP Com Scan In2 val.: 0
MODBUS NETWORK DIAG Com Scan In3 val.: 0
MODBUS HMI DIAG Com Scan In4 val.: 0
CANopen MAP Com Scan In5 val.: 0
PROG. CARD SCANNER Code Quick
COM SCAN OUTPUT MAP
Com Scan In6 val.: 0
Com Scan Out1 val.: 0
Code Quick

CMD. WORD IMAGE
Modbus cmd.: 0000 Hex.
CANopen cmd.: 0000 Hex.
COM. card cmd. : 0000 Hex.
Prog. card cmd: 0000 Hex.
Code Quick FREQ. REF. WORD MAP
Ref. Modbus: 0.0 Hz
Ref. CANopen: 0.0 Hz
Com. card ref. : 0.0 Hz
Prog. Card ref: 0.0 Hz
Code Quick
[COM. SCANNER INPUT MAP] and [COM SCAN OUTPUT MAP]:

Visualization of registers exchanged periodically (8 input and 8 output) for integrated Modbus and for fieldbus cards.
47

Communication (continued)
The state of the LEDs, the periodic data, the address, the speed, and the
format, etc,. is given for each bus.
COMMUNICATION MAP
Command Channel : Modbus LED off
Cmd value : ABCD Hex LED on
Frequency ref. : -12.5 Hz Communication via Modbus
ETA state word: 2153 Hex RUN Term +50.00Hz 80A
Code Quick MODBUS NETWORK DIAG
W3141 : F230 Hex COM LED :
W2050 : F230 Hex Mb NET frames nb.
W4325 : F230 Hex Mb NET CRC errors
W0894 : F230 Hex
COM. SCANNER INPUT MAP
COM SCAN OUTPUT MAP Code Quick
CMD. WORD IMAGE
FREQ. REF. WORD MAP Communication via the graphic display terminal
MODBUS NETWORK DIAG RUN Term +50.00Hz 80A
MODBUS HMI DIAG MODBUS HMI DIAG
CANopen MAP COM LED :
PROG. CARD SCANNER Mb HMI frames nb.
Mb HMI CRC errors
PDO configuration using

Code Quick
the network tool.
Some PDOs cannot be
Communication via CANopen used.
CANopen MAP PDO1 IMAGE
RUN LED: Received PDO1-1 : FDBA Hex
ERR LED: Received PDO1-2
PDO1 IMAGE Received PDO1-3
PDO2 IMAGE Received PDO1-4
PDO3 IMAGE Transmit PDO1-1 : FDBA Hex
Code Quick Code Quick
Canopen NMT state Transmit PDO1-2
Number of TX PDO 0 Transmit PDO1-3
Number of RX PDO 0 Transmit PDO1-4
Error code 0
RX Error Counter 0 RUN Term +50.00Hz 80A
TX Error Counter 0 PDO2 IMAGE
Received PDO2-1 : FDBA Hex
Received PDO2-2
Received PDO2-3
PDO images are only visible if
Received PDO2-4
CANopen has been enabled
Transmit PDO2-1 : FDBA Hex
(address other than OFF) and if Code Quick
the PDOs are active. Transmit PDO2-2
Transmit PDO2-3
Transmit PDO2-4

PDO3 IMAGE
Received PDO3-1 : FDBA Hex
Received PDO3-2
Received PDO3-3
Received PDO3-4
Transmit PDO3-1 : FDBA Hex
Code Quick
Transmit PDO3-2
Transmit PDO3-3
Transmit PDO3-4
48

Communication (continued)

COMMUNICATION MAP
Command Channel : Modbus
Cmd value : ABCD Hex
Frequency ref. : -12.5 Hz
ETA state word: 2153 Hex
Code Quick
W3141 : F230 Hex
W2050 : F230 Hex RUN Term +50.00Hz 80A
W4325 : F230 Hex Input scanner
W0894 : F230 Hex Prg.card. scan in1: 0
COM. SCANNER INPUT MAP Prg.card. scan in2: 0
COM SCAN OUTPUT MAP Prg.card. scan in3: 0
CMD. WORD IMAGE Controller Inside card Prg.card. scan in4: 0
FREQ. REF. WORD MAP RUN Term +50.00Hz 80A Prg.card. scan in5: 0
MODBUS NETWORK DIAG PROG. CARD SCANNER Code Quick
MODBUS HMI DIAG Input scanner Prg.card scan in6: 0
CANopen MAP Output scanner Prg.card scan in7: 0
PROG. CARD SCANNER Prg.card scan in8: 0
Code Quick

Output scanner
PLC card.scan Out1: 0
PLC card.scan Out5 : 0
Code Quick
[Input scanner] and [Output scanner]:

Visualization of registers exchanged periodically (8 input and 8 output).
49
With graphic display terminal: Drive-internal states and values
Name/Description
[Alarm groups] (ALGr) Current alarm group numbers
[HMI Frequency ref.] (LFr) in Hz. Frequency reference via the graphic display terminal (can be accessed if the function has been
configured).
[Internal PID ref.] (rPI) as a process value. PID reference via graphic display terminal (can be accessed if the function has been
configured).
[HMI torque ref.] (Ltr) as a % of the rated torque. Torque reference via graphic display terminal.
[Multiplying coeff.] (MFr) as a % (can be accessed if [Multiplier ref. -] (MA2,MA3) page 135 has been assigned)
[Frequency ref.] (FrH) in Hz
[Torque reference] (trr) as a % of the rated torque (can be accessed if the function has been configured)
[Output frequency] (rFr) in Hz
[Measured output fr.] (MMF) in Hz: The measured motor speed is displayed if an encoder card has been inserted, otherwise 0 appears.
[Pulse in. work. freq.] (FqS) in Hz: Frequency of the "Pulse input" input used by the [FREQUENCY METER] (FqF-) function, page 232.
[Motor current] (LCr) in A
[ENA avg speed] (AUS) in Hz: The parameter can be accessed if [ENA system] (EnA) = [Yes] (YES) (see page 80)
[Motor speed] (SPd) in rpm
[Motor voltage] (UOP) in V
[Motor power] (OPr) as a % of the rated power
[Motor torque] (Otr) as a % of the rated torque
[Mains voltage] (ULn) in V. Line voltage from the point of view of the DC bus, motor running or stopped.
[Motor thermal state] (tHr) as a %
[Drv.thermal state] (tHd) as a %
[DBR thermal state] (tHb) as a % (can only be accessed on high rating drives)
[Consumption] (APH) in Wh, kWh or MWh (accumulated consumption)
[Run time] (rtH) in seconds, minutes or hours (length of time the motor has been switched on)
[Power on time] (PtH) in seconds, minutes or hours (length of time the drive has been switched on)
[IGBT alarm counter] (tAC) in seconds (length of time the "IGBT temperature" alarm has been active)
[PID reference] (rPC) as a process value (can be accessed if the PID function has been configured)
[PID feedback] (rPF) as a process value (can be accessed if the PID function has been configured)
[PID error] (rPE) as a process value (can be accessed if the PID function has been configured)
[PID Output] (rPO) in Hz (can be accessed if the PID function has been configured)
[Date/Time] (CLO) Current date and time generated by the Controller Inside card (can be accessed if the card has been
inserted)
[- - - - -] (o02) Words generated by the Controller Inside card (can be accessed if the card has been inserted)
to
[- - - - -] (o06)
[Config. active] (CnFS) Active configuration [Config. n°0, 1 or 2]
[Utilised param. set] (CFPS) [Set n°1, 2 or 3] (can be accessed if parameter switching has been enabled, see page 198)
[ALARMS] (ALr-) List of current alarms. If an alarm is present, a appears.
[OTHER STATE] (SSt-) List of secondary states:
- [In motor fluxing] (FLX): In motor fluxing - [HSP attained] (FLA): High speed attained
- [PTC1 alarm] (PtC1): Probe alarm 1 - [Load slipping] (AnA): Slipping alarm
- [PTC2 alarm] (PtC2): Probe alarm 2 - [Set 1 active] (CFP1): Parameter set 1
- [LI6=PTC alarm] (PtC3): LI6 = PTC probe alarm active
- [Fast stop in prog.] (FSt): Fast stop in progress - [Set 2 active] (CFP2): Parameter set 2
- [Current Th. attained] (CtA): Current threshold active
attained ([Current threshold] (Ctd) page 65) - [Set 3 active] (CFP3): Parameter set 3
- [Freq. Th. attained] (FtA): Frequency threshold active
attained ([Freq. threshold] (Ftd) page 66) - [In braking] (brS): Drive braking
- [Freq. Th. 2 attained] (F2A): 2nd frequency threshold - [DC bus loading] (dbL): DC bus loading
attained ([Freq. threshold 2] (F2d) page 66) - [Forward] (MFrd): Motor running forward
- [Frequency ref. att.] (SrA): Frequency reference - [Reverse] (MrrS): Motor running in reverse
attained - [High torque alarm] (ttHA): Motor torque
- [Motor th. state att.] (tSA): Motor 1 thermal state overshooting high threshold [High torque
attained thd.] (ttH) page 65.
- [External fault alarm] (EtF): External fault alarm - [Low torque alarm] (ttLA): Motor torque
- [Auto restart] (AUtO): Automatic restart in progress undershooting low threshold [Low torque
- [Remote] (FtL) : Line mode control thd.] (ttL) page 65.
- [Auto-tuning] (tUn): Performing auto-tuning - [Freq. meter Alarm] (FqLA): Measured
- [Undervoltage] (USA): Undervoltage alarm speed threshold attained: [Pulse warning
- [Cnfg.1 act.] (CnF1): Configuration 1 active thd.] (FqL) page 66.
- [Cnfg.2 act.] (CnF2): Configuration 2 active
50
With integrated display terminal

This menu can be used to display the drive inputs, states and internal values.
IOM- I/O MAP

LIA-
b Logic input functions
L1A Can be used to display the functions assigned to each input. If no functions have been assigned, nO is
to displayed.
L14A Use the and arrows to scroll through the functions. If a number of functions have been assigned
to the same input, check that they are compatible.
LIS1
b State of logic inputs LI1 to LI8
Can be used to visualize the state of logic inputs LI1 to LI8
(display segment assignment: high = 1, low = 0)
State 1
State 0
LI1 LI2 LI3 LI4 LI5 LI6 LI7 LI8
Example above: LI1 and LI6 are at 1; LI2 to LI5, LI7 and LI8 are at 0.
LIS2
b State of logic inputs LI9 to LI14 and Power Removal
Can be used to visualize the state of logic inputs LI9 to LI14 and PR (Power Removal)
(display segment assignment: high = 1, low = 0)
State 1
State 0
LI9 LI10 LI11 LI12 LI13 LI14 PR
Example above: LI9 and LI14 are at 1, LI10 to LI13 are at 0 and PR (Power Removal) is at 1.
AIA-
b Analog input functions
AI1A Can be used to display the functions assigned to each input. If no functions have been assigned, nO is
AI2A displayed. Use the and arrows to scroll through the functions. If a number of functions have been
AI3A assigned to the same input, check that they are compatible.
AI4A
51
With integrated display terminal: Drive-internal states and values
Code Name/Description Unit
ALGr Alarm groups: Current alarm group numbers
rPI Internal PID reference: PID reference via graphic display terminal (can be accessed if the function has been as a process
configured). value
MFr Multiplication coefficient (can be accessed if [Multiplier ref. -] (MA2,MA3) page 135 has been assigned) %
FrH Frequency ref. Hz
trr Torque reference: Can be accessed if the function has been configured %.
rFr Output frequency Hz
MMF The measured motor speed is displayed if an encoder card has been inserted, otherwise 0 appears. Hz
FqS Frequency of the "Pulse input" input used by the [FREQUENCY METER] (FqF-) function, page 232. Hz
LCr Motor current A
AUS ENA avg SPEED: The parameter can be accessed if EnA = YES (see page 80) Hz
SPd Motor speed rpm
UOP Motor voltage V
OPr Motor power %
Otr Motor torque %
ULn Line voltage: Line voltage from the point of view of the DC bus, motor running or stopped. V
tHr Motor thermal state %
tHd Drv thermal state %
tHb DBR thermal state: Can be accessed on high rating drives only. %
APH Power consumption Wh, kWh or

MWh
rtH Run time: Length of time the motor has been turned on seconds,
minutes or
PtH Power on time: Length of time the drive has been turned on hours
tAC IGBT alarm counter: Length of time the "IGBT temperature" alarm has been active seconds
rPC PID reference: Can be accessed if the PID function has been configured as a process
value
rPF PID feedback: Can be accessed if the PID function has been configured
rPE PID error: Can be accessed if the PID function has been configured
rPO PID Output: Can be accessed if the PID function has been configured Hz
CLO- tIME, dAY: Current date and time generated by the Controller Inside card (can be accessed if the card has
been inserted)
o02 Word generated by the Controller Inside card (can be accessed if the card has been inserted)
CnFS Config. active: CnF0, 1 or 2 (can be accessed if motor or configuration switching has been enabled, see
page 203)
CFPS Utilised param. set: CFP1, 2 or 3 (can be accessed if parameter switching has been enabled, see page 198)
52
[1.3 SETTINGS] (SEt-)
RDY Term +0.00Hz 0A

1 DRIVE MENU
RDY Term +0.00Hz 0A 1.1 SIMPLY START RUN Term +50.00Hz 80A
MAIN MENU 1.2 MONITORING 1.3 SETTINGS
ENT ENT
1 DRIVE MENU 1.3 SETTINGS Ramp increment
2 ACCESS LEVEL 1.4 MOTOR CONTROL Acceleration
3 OPEN / SAVE AS 1.5 INPUTS / OUTPUTS CFG Deceleration
4 PASSWORD Code << >> Quick Acceleration 2
5 LANGUAGE Deceleration 2

Power-up
ENT
ESC
SIM-
ENT
ESC
SEt- ADJUST
ESC
ESC
drC-
ESC
LAC-
53
The adjustment parameters can be modified with the drive running or stopped.
DANGER
• Check that changes made to the settings during operation do not present any danger.
• We recommend stopping the drive before making any changes.
Inr M [Ramp increment] 0,01 - 0,1 - 1 0,1
0.01 v [0,01]: ramp up to 99.99 seconds

0.1 v [0,1]: ramp up to 999.9 seconds
1 v [1]: ramp up to 6000 seconds
This parameter is valid for [Acceleration] (ACC), [Deceleration] (dEC), [Acceleration 2] (AC2) and [Deceleration
2] (dE2).
ACC M [Acceleration] 0.01 to 6000 s (1) 3.0 s
Time to accelerate from 0 to the [Rated motor freq.] (FrS) (page 68). Make sure that this value is compatible
dEC M [Deceleration] 0.01 to 6000 s (1) 3.0 s
Time to decelerate from the [Rated motor freq.] (FrS) (page 68) to 0. Make sure that this value is compatible
AC2 M [Acceleration 2] 0.01 to 6000 s (1) 5.0 s
See page 138

g Time to accelerate from 0 to the [Rated motor freq.] (FrS). Make sure that this value is compatible with the
inertia being driven.
dE2 M [Deceleration 2] 0.01 to 6000 s (1) 5.0 s
See page 138

g Time to decelerate from the [Rated motor freq.] (FrS) to 0. Make sure that this value is compatible with the
tA1 M [Begin Acc round] 0 to 100% 10%
g See page 137

Rounding of start of acceleration ramp as a % of the [Acceleration] (ACC) or [Acceleration 2] (AC2) ramp time.
tA2 M [End Acc round] 10%
See page 137

g - Rounding of end of acceleration ramp as a % of the [Acceleration] (ACC) or [Acceleration 2] (AC2) ramp
time.
- Can be set between 0 and (100% - [Begin Acc round] (tA1))
tA3 M Begin Dec round] 0 to 100% 10%
g See page 137

Rounding of start of deceleration ramp as a % of the [Deceleration] (dEC) or [Deceleration 2] (dE2) ramp time.
(1) Range 0.01 to 99.99 s or 0.1 to 999.9 s or 1 to 6000 s according to [Ramp increment] (Inr).
These parameters only appear if the corresponding function has been selected in another menu. When the parameters can
g also be accessed and adjusted from within the configuration menu for the corresponding function, their description is detailed
in these menus, on the pages indicated, to aid programming.
54
tA4 M [End Dec round] 10%
See page 137

g - Rounding of end of deceleration ramp as a % of the [Deceleration] (dEC) or [Deceleration 2] (dE2) ramp
time.
- Can be set between 0 and (100% - [Begin Dec round] (tA3))
LSP M [Low speed] 0 Hz
Motor frequency at minimum reference, can be set between 0 and [High speed] (HSP).
HSP M [High speed] 50 Hz
Motor frequency at maximum reference, can be set between [Low speed] (LSP) and [Max frequency] (tFr). The
factory setting changes to 60 Hz if [Standard mot. freq] (bFr) = [60Hz NEMA] (60).
ItH M [Mot. therm. current] 0.2 to 1.5 In (1) According to drive

rating
Motor thermal protection current, to be set to the rated current indicated on the nameplate.
SPG M [Speed prop. gain] 0 to 1000% 40%
Speed loop proportional gain
SIt M [Speed time integral] 1 to 1000% 100%
Speed loop integral time constant.
SFC M [K speed loop filter] 0 to 100 0
Speed loop filter coefficient.
(1) In corresponds to the rated drive current indicated in the Installation Manual or on the drive nameplate.
55
Parameter settings for [K speed loop filter] (SFC), [Speed prop. gain] (SPG) and
[Speed time integral] (SIt)
• The following parameters can only be accessed in vector control profiles: [Motor control type] (Ctt) page 70 = [SVC V] (UUC), [SVC I]
(CUC), [FVC] (FUC), or [Sync. mot.] (SYn) and if [ENA system] (EnA) page 80 = [No] (nO).
• The factory settings are suitable for most applications.
General case: Setting for [K speed loop filter] (SFC) = 0

The regulator is an "IP" type with filtering of the speed reference, for applications requiring flexibility and stability (hoisting or high inertia,
for example).
• [Speed prop. gain] (SPG) affects excessive speed.
• [Speed time integral] (SIt) affects the passband and response time.
Initial response Reduction in SIT Reduction in SIT

Reference division Reference division Reference division
1 1 1
0,8 0,8 0,8
0,6 0,6 0,6
0,4 0,4 0,4
0,2 0,2 0,2
0 0 0
0 50 100 150 200 250 300 350 400 450 500 0 50 100 150 200 250 300 350 400 450 500 0 50 100 150 200 250 300 350 400 450 500
Time in ms Time in ms Time in ms
Initial response Increase in SPG Increase in SPG
1 1 1
0,8 0,8 0,8
0,6 0,6 0,6
0,4 0,4 0,4
0,2 0,2 0,2
0 0 0
0 50 100 150 200 250 300 350 400 450 500 0 50 100 150 200 250 300 350 400 450 500 0 50 100 150 200 250 300 350 400 450 500
56
Special case: Parameter [K speed loop filter] (SFC) not 0

This parameter must be reserved for specific applications that require a short response time (trajectory positioning or servo control).
- When set to 100 as described above the regulator is a “PI” type, without filtering of the speed reference.
- Settings between 0 and 100 will obtain an intermediate function between the settings below and those on the previous page.
Example: Setting for [K speed loop filter] (SFC) = 100
• [Speed prop. gain] (SPG) affects the passband and response time.
• [Speed time integral] (SIt) affects excessive speed.
Initial response Reduction in SIT Reduction in SIT

1 1 1
0,8 0,8 0,8
0,6 0,6 0,6
0,4 0,4 0,4
0,2 0,2 0,2
0 0 0
0 50 100 150 200 250 300 350 400 450 500 0 50 100 150 200 250 300 350 400 450 500 0 50 100 150 200 250 300 350 400 450 500
Initial response Increase in SPG Increase in SPG

1 1 1
0,8 0,8 0,8
0,6 0,6 0,6
0,4 0,4 0,4
0,2 0,2 0,2
0 0 0
0 50 100 150 200 250 300 350 400 450 500 0 50 100 150 200 250 300 350 400 450 500 0 50 100 150 200 250 300 350 400 450 500
57
GPE M [ENA prop.gain] 1 to 9999 250
g See page 80
GIE M [ENA integral gain] 0 to 9999 100
g See page 80
UFr M [IR compensation] 25 to 200% 100%
g See page 73
SLP M [Slip compensation] 0 to 300% 100%
g See page 73
dCF M [Ramp divider] 0 to 10 4
g See page 140
IdC M [DC inject. level 1] 0.1 to 1.41 In (1) 0.64 In (1)
g See page 141

Level of DC injection braking current activated via logic input or selected as stop mode.
CAUTION
Check that the motor will withstand this current without overheating.
tdI M [DC injection time 1] 0.1 to 30 s 0.5 s
See page 141

g Maximum current injection time [DC inject. level 1] (IdC). After this time the injection current becomes
[DC inject. level 2] (IdC2).
IdC2 M [DC inject. level 2] 0.1 In (2) to [DC inject.

level 1] (IdC)
0.5 In (1)
g See page 141

Injection current activated by logic input or selected as stop mode, once period of time [DC injection time 1] (tdI)
has elapsed.
CAUTION
tdC M [DC injection time 2] 0.1 to 30 s 0.5 s
g See page 141

Maximum injection time [DC inject. level 2] (IdC2) for injection selected as stop mode only.
58
SdC1 M [Auto DC inj. level 1] 0 to 1.2 In (1) 0.7 In (1)
g Level of standstill DC injection current. This parameter can be accessed if [Auto DC injection] (AdC) page 142
is not [No] (nO)
This parameter is forced to 0 if [Motor control type] (Ctt) page 70 = [Sync. mot.] (SYn).
CAUTION
tdCI M [Auto DC inj. time 1] 0.1 to 30 s 0.5 s
Standstill injection time. This parameter can be accessed if [Auto DC injection] (AdC) page 142 is not [No] (nO)
g If [Motor control type] (Ctt) page 70 = [FVC] (FUC) or [Sync. mot.] (SYn) this time corresponds to the zero speed
maintenance time.
SdC2 M [Auto DC inj. level 2] 0 to 1.2 In (1) 0.5 In (1)
g 2nd level of standstill DC injection current.

This parameter can be accessed if [Auto DC injection] (AdC) page 142 is not [No] (nO)
This parameter is forced to 0 if [Motor control type] (Ctt) page 70 = [Sync. mot.] (SYn).
CAUTION
tdC2 M [Auto DC inj. time 2] 0 to 30 s 0s
2nd standstill injection time.

g This parameter can be accessed if [Auto DC injection] (AdC) page 142 = [Yes] (YES)
AdC SdC2 Operation

Note: When [Motor control type] (Ctt) page 70
I = [FVC] (FUC):
YES x SdC1 [Auto DC inj. level 1] (SdC1), [Auto DC inj.
SdC2 level 2] (SdC2) and [Auto DC inj. time 2]
tdC1 tdC1 + tdC2 t (tdC2) are not accessible. Only [Auto DC inj.
I
Ct ≠0 time 1] (tdC1) can be accessed. This then
SdC1
corresponds to a zero speed maintenance
SdC2
time.
tdC1 t
I
Ct =0 SdC1
1
Run command
0
t
Speed
0
t
59
SFr M [Switching freq.] According to rating According to rating
Switching frequency setting.

Adjustment range: This can vary between 1 and 16 kHz, but the minimum and maximum values, as well as
the factory setting, can be limited in accordance with the type of drive (ATV71H or W), the rating (power and
voltage) and the configuration of the [Sinus filter] (OFI) and [Motor surge limit] (SUL) parameters, page 82.
If the value is less than 2 kHz, [Current Limitation] (CLI) and [I Limit. 2 value] (CL2) page 60 are limited to
1.36 In.
Adjustment with drive running:
- If the initial value is less than 2 kHz, it is not possible to increase it above 1.9 kHz while running.
- If the initial value is greater than or equal to 2 kHz, a minimum of 2 kHz must be maintained while running.
Adjustment with the drive stopped: No restrictions.
Note: In the event of excessive temperature rise, the drive will automatically reduce the switching
frequency and reset it once the temperature returns to normal.
Note: If [Motor control type] (Ctt) page 70 = [FVC] (FUC), we do not recommend setting the switching
frequency to a value less than 2 kHz (in order to avoid speed instability).
.
CAUTION
On ATV71p075N4 to U40N4, drives, if the RFI filters are disconnected (operation on an IT system), the drive's
switching frequency must not exceed 4 kHz.
CLI M [Current Limitation] 0 to 1.65 In (1) 1.5 In (1)
Used to limit the motor current.

The adjustment range is limited to 1.36 In if [Switching freq.] (SFr) page 60 is less than 2 kHz.
Note: If the setting is less than 0.25 In, the drive may lock in [Output Phase Loss] (OPF) fault mode if
this has been enabled (see page 221). If it is less than the no-load motor current, the limitation no longer
has any effect.
CAUTION
Check that the motor will withstand this current, particularly in the case of permanent magnet synchronous
motors, which are susceptible to demagnetization.
CL2 M [I Limit. 2 value] 0 to 1.65 In (1) 1.5 In (1)
See page 187

has any effect.
g
CAUTION
60
FLU M [Motor fluxing] [No] (FnO)
FnC v [Not cont.] (FnC): Non-continuous mode

FCt v [Continuous] (FCt): Continuous mode. This option is not possible if [Auto DC injection] (AdC) page 142 is
[Yes] (YES) or if [Type of stop] (Stt) page 140 is [Freewheel] (nSt).
FnO v [No] (FnO): Function inactive This option is not possible if [Motor control type] (Ctt) page 70 = [SVCI] (CUC)
or [FVC] (FUC).
If [Motor control type] (Ctt) page 70 = [SVCI] (CUC), [FVC] (FUC) or [Sync. mot.] (SYn) the factory setting is
replaced by [Not cont.] (FnC).
In order to obtain rapid high torque on startup, magnetic flux needs to already have been established in the
motor.
• In [Continuous] (FCt) mode, the drive automatically builds up flux when it is powered up.
• In [Not cont.] (FnC) mode, fluxing occurs when the motor starts up.
The flux current is greater than nCr (configured rated motor current) when the flux is established and is then
adjusted to the motor magnetizing current...
CAUTION
If [Motor control type] (Ctt) page 70 = [Sync. mot.] (SYn), the [Motor fluxing] (FLU) parameter causes the
alignment of the rotor and not the fluxing.
If [Brake assignment] (bLC) page 160 is not [No] (nO), the [Motor fluxing] (FLU) parameter has no effect.
tLS M [Low speed time out] 0 to 999.9 s 0s
Maximum operating time at [Low speed] (LSP) (see page 43)

Following operation at LSP for a defined period, a motor stop is requested automatically. The motor will restart
if the reference is greater than LSP and if a run command is still present.
Caution: A value of 0 indicates an unlimited period of time.
Note: If [Low speed time out] (tLS) is not 0, [Type of stop] (Stt) page 140 is forced to [Ramp stop] (rMP)
(only if a ramp stop can be configured).
JGF M [Jog frequency] 0 to 10 Hz 10 Hz
g See page 144

Reference in jog operation
JGt M [Jog delay] 0 to 2.0 s 0.5 s
g See page 144

Anti-repeat delay between 2 consecutive jog operations.
61
SP2 M [Preset speed 2] 0 to 1600 Hz 10 Hz
g See page 147

Preset speed 2
g See page 147

Preset speed 3
g See page 147

Preset speed 4
g See page 147

Preset speed 5
g See page 147

Preset speed 6
g See page 147

Preset speed 7
g See page 147

Preset speed 8
g See page 147

Preset speed 9
g See page 147

Preset speed 10
g See page 147

Preset speed 11
g See page 147

Preset speed 12
g See page 147

Preset speed 13
g See page 147

Preset speed 14
62
g See page 147

Preset speed 15
g See page 147

Preset speed 16
MFr M [Multiplying coeff.] 0 to 100% 100%
Multiplying coefficient, can be accessed if [Multiplier ref.-] (MA2,MA3) page 135 has been assigned to the
graphic terminal
SrP M [+/-Speed limitation] 0 to 50% 10%
g See page 151

Limitation of +/- speed variation
rPG M [PID prop. gain] 0.01 to 100 1
g See page 176

Proportional gain
rIG M [PID integral gain] 0.01 to 100 1
g See page 177

Integral gain
rdG M [PID derivative gain] 0.00 to 100 0
g See page 177

Derivative gain
PrP M [PID ramp] 0 to 99.9 s 0
See page 177

g PID acceleration/deceleration ramp, defined to go from [Min PID reference] (PIP1) to [Max PID reference]
(PIP2) and vice versa.
POL M [Min PID output] - 500 to 500 or -1600

to 1600 according to
0 Hz
rating
g See page 177

Minimum value of regulator output in Hz
POH M [Max PID output] 0 to 500 or 1600

according to rating
60 Hz
g See page 177

Maximum value of regulator output in Hz
PAL M [Min fbk alarm] See page 177 (1) 100
g See page 177

Minimum monitoring threshold for regulator feedback
PAH M [Max fbk alarm] See page 177 (1) 1000
g See page 177

Maximum monitoring threshold for regulator feedback
(1) If a graphic display terminal is not in use, values greater than 9999 will be displayed on the 4-digit display with a period mark after the
thousand digit, e.g., 15.65 for 15650.
63
PEr M [PID error Alarm] 0 to 65535 (1) 100
g See page 177

Regulator error monitoring threshold
PSr M [Speed input %] 1 to 100% 100%
g See page 178

Multiplying coefficient for predictive speed input.
rP2 M [Preset ref. PID 2] See page 180 (1) 300
g See page 180

Preset PID reference
g See page 180

g See page 180

Ibr M [Brake release I FW] 0 to 1.32 In (2) 0
g See page 160

Brake release current threshold for lifting or forward movement
Ird M [Brake release I Rev] 0 to 1.32 In (2) 0
g See page 160

Brake release current threshold for lowering or reverse movement
brt M [Brake Release time] 0 to 5.00 s 0s
g See page 161

Brake release time delay
bIr M [Brake release freq] [Auto] (AUtO)

0 to 10 Hz
[Auto] (AUtO)
g See page 161

Brake release frequency threshold
bEn M [Brake engage freq] [Auto] (AUtO)

0 to 10 Hz
[Auto] (AUtO)
g See page 161

Brake engage frequency threshold
tbE M [Brake engage delay] 0 to 5.00 s 0s
See page 161

g Time delay before request to engage brake. To delay the engaging of the brake, for horizontal movement only, if
you wish the brake to engage when the drive comes to a complete stop.
64
bEt M [Brake engage time] 0 to 5.00 s 0s
g See page 161

Brake engage time (brake response time)
JdC M [Jump at reversal] [Auto] (AUtO)

0 to 10 Hz
[Auto] (AUtO)
g See page 162
ttr M [Time to restart] 0 to 5.00 s 0s
g See page 162

Time between the end of a brake engage sequence and the start of a brake release sequence
tLIM M [Motoring torque lim] 0 to 300% 100%
See page 185

g Torque limitation in generator mode, as a % or in 0.1% increments of the rated torque in accordance with the
[Torque increment] (IntP) parameter, page 185.
tLIG M [Gen. torque lim] 0 to 300% 100%
See page 185

g Torque limitation in generator mode, as a % or in 0.1% increments of the rated torque in accordance with the
[Torque increment] (IntP) parameter, page 185.
trH M [Traverse freq. high] 0 to 10 Hz 4 Hz
g See page 209
trL M [Traverse freq. low] 0 to 10 Hz 4 Hz
g See page 209
qSH M [Quick step High] 0 to [Traverse freq.

high] (trH)
0 Hz
g See page 209
qSL M [Quick step Low] 0 to [Traverse freq.

low] (trL)
0 Hz
g See page 209
Ctd M [Current threshold] 0 to 1.5 In (1) In (1)
Current threshold for [I attained] (CtA) function assigned to a relay or a logic output (see page 102).
ttH M [High torque thd.] -300% to +300% 100%
High current threshold for [High tq. att.] (ttHA) function assigned to a relay or a logic output (see page 102), as
a % of the rated motor torque.
ttL M [Low torque thd.] -300% to +300% 50%
Low current threshold for [Low tq. att.] (ttLA) function assigned to a relay or a logic output (see page 102), as
a % of the rated motor torque.
65
FqL M [Pulse warning thd.] 0 Hz to 30.00 kHz 0 Hz
Speed threshold measured by the FREQUENCY METER] FqF-) function, page 232, assigned to a relay or a
g logic output (see page 102).
Ftd M [Freq. threshold] 0.0 to 1600 Hz [High speed] (HSP)
Frequency threshold for [Freq.Th.att.] (FtA) function assigned to a relay or a logic output (see page 102), or
used by the [PARAM. SET SWITCHING] (MLP-) function, page 198.
F2d M [Freq. threshold 2] 0.0 to 1600 Hz [High speed] (HSP)
Frequency threshold for [Freq. Th. 2 attain.] (F2A) function assigned to a relay or a logic output (see page 102),
or used by the [PARAM. SET SWITCHING] (MLP-) function, page 198.
FFt M [Freewheel stop Thd] 0.0 to 1600 Hz 0.0 Hz
See page 140

g This parameter supports switching from a ramp stop or a fast stop to a freewheel stop below a low speed
threshold.
It can be accessed if [Type of stop] (Stt) = [Fast stop] (FSt) or [Ramp stop] (rMP).
v 0.0: Does not switch to freewheel stop.
v 0,1 to 1600 Hz: Speed threshold below which the motor will switch to freewheel stop.
ttd M [Motor therm. level] 0 to 118% 100%
g See page 221

Trip threshold for motor thermal alarm (logic output or relay)
JPF M [Skip Frequency] 0 to 500 or 1,600 Hz

according to rating
0 Hz
Skip frequency. This parameter prevents prolonged operation within an adjustable range around the regulated
frequency. This function can be used to prevent a critical speed, which would cause resonance, being reached.
Setting the function to 0 renders it inactive.
JF2 M [Skip Frequency 2] 0 to 500 or 1,600 Hz

according to rating
0 Hz
2nd skip frequency. This parameter prevents prolonged operation within an adjustable range around the
regulated frequency. This function can be used to prevent a critical speed, which would cause resonance,
being reached. Setting the function to 0 renders it inactive.
JF3 M [3rd Skip Frequency] 0 to 500 or 1,600 Hz

according to rating
0 Hz
3rd skip frequency. This parameter prevents prolonged operation within an adjustable range around the
regulated frequency. This function can be used to prevent a critical speed, which would cause resonance,
being reached. Setting the function to 0 renders it inactive.
JFH M [Skip.Freq.Hysteresis] 0.1 to 10 Hz 1 Hz
Parameter visible if at least one skip frequency [Skip Frequency] (JPF), [Skip Frequency 2] (JF2) or [3rd Skip
Frequency] (JF3) is different from 0.
Skip frequency range: between (JPF – JFH) and (JPF + JFH), for example.
This adjustment is common to all 3 frequencies (JPF, JF2 and JF3).
LbC M [Load correction] 0 to 1000 Hz 0
g Rated correction in Hz. See page 84
trt M [Torque ratio] 0 to 1000% 100%
T Coefficient applied to [Torque reference] (tr1).
66
[1.4 MOTOR CONTROL] (drC-)
RDY Term +0.00Hz 0A

1 DRIVE MENU
1.1 SIMPLY START
RDY Term +0.00Hz 0A 1.2 MONITORING RUN Term +50.00Hz 80A
MAIN MENU 1.3 SETTINGS 1.4 MOTOR CONTROL
ENT ENT
1 DRIVE MENU 1.4 MOTOR CONTROL Standard mot. freq
2 ACCESS LEVEL 1.5 INPUTS / OUTPUTS CFG Rated motor power
3 OPEN / SAVE AS Code << >> Quick Rated motor volt.
4 PASSWORD Rated mot. current
5 LANGUAGE Rated motor freq.

Power-up
ENT
ESC
SIM-
ENT
ESC
drC- MOTOR CONTROL
ESC
ESC
I-O-
ESC
LAC-
67
The parameters in the [1.4 MOTOR CONTROL] (drC-) menu can only be modified when the drive is stopped and no run command is
present, with the following exceptions:
• [Auto tuning] (tUn) page 69, which may cause the motor to start up.
• Parameters containing the sign Tin the code column, which can be modified with the drive running or stopped.
bFr M [Standard mot. freq] [50Hz IEC] (50)
50 v [50Hz IEC] (50): IEC

60 v [60Hz NEMA] (60) : NEMA
This parameter modifies the presets of the following parameters: [High speed] (HSP) page 43, [Freq. threshold]
(Ftd) page 66, [Rated motor volt.] (UnS), [Rated motor freq.] (FrS) and [Max frequency] (tFr).
nPr M [Rated motor power] According to drive

rating
According to drive
rating
The parameter cannot be accessed if [Motor control type] (Ctt) page 70 = [Sync. mot.] (SYn).
Rated motor power given on the nameplate, in kW if [Standard mot. freq] (bFr) = [50Hz IEC] (50), in HP if
[Standard mot. freq] (bFr) = [60Hz NEMA] (60).
UnS M [Rated motor volt.] According to drive

rating
According to drive
mot. freq] (bFr)
Rated motor voltage given on the nameplate.
ATV71pppM3: 100 to 240 V - ATV71pppN4: 200 to 480 V - ATV71pppY: 400 to 690 V.
nCr M [Rated mot. current] 0.25 to 1.5 In (1) According to drive

mot. freq] (bFr)
Rated motor current given on the nameplate.
FrS M [Rated motor freq.] 10 to 1600 Hz 50 Hz
Rated motor frequency given on the nameplate.
The maximum value is limited to 500 Hz if [Motor control type] (Ctt) (page 70) is not V/F, or for ATV71pppY
drives, or for drives rated higher than ATV71HD37.
Values between 500 Hz and 1600 Hz are only possible in V/F control and for powers limited to 37 kW (50 HP).
In this case configure [Motor control type] (Ctt) before [Rated motor freq.] (FrS).
InSP M [rpm increment] [x1 rpm] (1)
Increment of parameter [Rated motor speed] (nSP).

1 v [x1 rpm] (1): Increment of 1 rpm, to be used if [Rated motor speed] (nSP) does not exceed 65535 rpm.
10 v [x10 rpm] (10) : Increment of 10 rpm, to be used if [Rated motor speed] (nSP) exceeds 65535 rpm.
Note 1: Changing [rpm increment] (InSP) will restore [Rated motor speed] (nSP) to its factory setting.
Note 2: For ATV71pppY range, [rpm increment] (InSP) is fixed to 1.
nSP M [Rated motor speed] 0 to 96000 rpm According to drive

rating
Rated motor speed given on the nameplate. Adjustable between 0 and 65535 rpm if [rpm increment] (InSP) =
[x1 rpm] (1) or between 0.00 and 96.00 krpm if [rpm increment] (InSP) = [x10 rpm] (10).
0 to 9999 rpm then 10.00 to 65.53 or 96.00 krpm on the integrated display terminal.
If, rather than the rated speed, the nameplate indicates the synchronous speed and the slip in Hz or as a %,
calculate the rated speed as follows:
100 - slip as a %
• Nominal speed = Synchronous speed x
100
or
50 - slip in Hz
50
or
60 - slip in Hz
60
68
tFr M [Max frequency] 10 to 1600 Hz
The maximum value is limited by the following conditions:
• It must not exceed 10 times the value of [Rated motor freq.] (FrS)
• It must not exceed 500 Hz if [Motor control type] (Ctt) (page 70) is not V/F or for ATV71pppY drives, or for
drives rated higher than ATV71HD37.
Values between 500 Hz and 1600 Hz are only possible in V/F control and for powers limited to 37 kW
(50 HP). In this case configure [Motor control type] (Ctt) before [Max frequency] (tFr).
tUn M [Auto tuning] [No] (nO)
nO v [No] (nO): Auto-tuning not performed.

YES v [Yes] (YES): Auto-tuning is performed as soon as possible, then the parameter automatically changes to [Done]
(dOnE).
dOnE v [Done] (dOnE): Use of the values given the last time auto-tuning was performed.
Caution:
• It is essential that all the motor parameters are correctly configured before starting auto-tuning.
- Asynchronous motor: [Rated motor volt.](UnS), [Rated motor freq.] (FrS), [Rated mot. current] (nCr),
[Rated motor speed] (nSP), [Rated motor power] (nPr)
- Synchronous motor: [Nominal I sync.] (nCrS), [Nom motor spdsync] (nSPS), [Pole pairs] (PPnS), [Syn.
EMF constant] (PHS), [Autotune L d-axis] (LdS), [Autotune L q-axis] (LqS)
If one or more of these parameters is modified after auto-tuning has been performed, [Auto tuning] (tUn) will
return to [No] (nO) and the procedure must be repeated.
• Auto-tuning is only performed if no stop command has been activated. If a "freewheel stop" or "fast stop"
function has been assigned to a logic input, this input must be set to 1 (active at 0).
• Auto-tuning takes priority over any run or prefluxing commands, which will be taken into account after the
auto-tuning sequence.
• If auto-tuning fails, the drive displays [No] (nO) and, depending on the configuration of [Autotune fault mgt]
(tnL) page 235, may switch to [Auto-tuning] (tnF) fault mode.
• Auto-tuning may last for 1 to 2 seconds. Do not interrupt the process. Wait for the display to change to
"[Done] (dOnE)" or "[No] (nO)".
Note: During auto-tuning the motor operates at rated current.
AUt M [Automatic autotune] [No] (nO)
nO v [No] (nO): Function inactive

YES v [Yes] (YES): Auto-tuning is performed on every power-up.
Caution: Same comments as for [Auto tuning] (tUn) above.
If [Profile] (CHCF) = [8 serie] (SE8), then [Automatic autotune] (AUt) is fixed to [No] (nO).
tUS M [Auto tuning state] [Not done] (tAb)
For information only, cannot be modified.

tAb v [Not done] (tAb): The default stator resistance value is used to control the motor.
PEnd v [Pending] (PEnd): Auto-tuning has been requested but not yet performed.
PrOG v [In Progress] (PrOG): Auto-tuning in progress
FAIL v [Failed] (FAIL): Auto-tuning has failed.
dOnE v [Done] (dOnE): The stator resistance measured by the auto-tuning function is used to control the motor.
CUS v [Customized] (CUS): Auto-tuning has been performed, but at least one parameter set by this auto-tuning
operation has subsequently been modified. The [Auto tuning] (tUn) parameter then returns to [No] (nO). The
following auto-tuning parameters are affected:
[Cust. stator R syn] (rSAS) page 73, [Cust stator resist.] (rSA), [Idw] (IdA), [LFw] (LFA) and [T2w] (trA) page 74.
PHr M [Output Ph rotation] [ABC] (AbC)
AbC v [ABC] (AbC): Forward

ACb v [ACB] (ACb): Reverse
This parameter can be used to reverse the direction of rotation of the motor without reversing the wiring.
Do not modify the [Output Ph rotation] (PHr) parameter when [Motor control type] (Ctt)
page 70 = [FVC] (FUC). The direction of rotation must be modified, if required, before or during the
procedure to check the encoder page 77 when [Motor control type] (Ctt) is not [FVC] (FUC).
69
Ctt M [Motor control type] [SVC V] (UUC)
UUC v [SVC V] (UUC): Open-loop voltage flux vector control with automatic slip compensation according to the load.
This type of control is recommended when replacing an ATV58. It supports operation with a number of motors
connected in parallel on the same drive (if the motors are identical).
CUC v [SVC I] (CUC): Open-loop current flux vector control. This type of control is recommended when replacing an
ATV58F used in an open-loop configuration. It does not support operation with a number of motors connected
in parallel on the same drive.
FUC v [FVC] (FUC) : Closed-loop current flux vector control for motors with incremental encoder type sensor; this
option can only be selected if an incremental encoder card has been inserted. This function is not possible,
however, when using an encoder that generates signal "A" only.
This type of control is recommended when replacing an ATV58F used in a closed-loop configuration. It provides
better performance in terms of speed and torque accuracy and enables torque to be obtained at zero speed. It
does not support operation with a number of motors connected in parallel on the same drive.
It is essential that the encoder check page 77 is performed successfully before selecting [FVC]
(FUC).
UF2 v [V/F 2pts] (UF2): Simple V/F profile without slip compensation. It supports operation with:
- Special motors (wound rotor, tapered rotor, etc.)
- A number of motors in parallel on the same drive
- High-speed motors
- Motors with a low power rating in comparison to that of the drive
Voltage
UnS
The profile is defined by

the values of parameters
UnS, FrS and U0.
U0
Frequency
FrS
UF5 v [V/F 5pts] (UF5): 5-segment V/F profile: As V/F 2 pts profile but also supports the avoidance of resonance
(saturation).
Voltage
UnS
U5
The profile is defined

U4 by the values of
parameters UnS, FrS,
U0 to U5 and F0 to F5.
U3
U1
FrS > F5 > F4 > F3 > F2 > F1
U2
U0
Frequency
F1 F2 F3 F4 F5 FrS
SYn v [Sync. mot.] (SYn): For synchronous permanent magnet motors with sinusoidal electromotive force (EMF)
only. This selection is prohibited with ATV71ppppY ( 500 to 690 V).
This selection makes the asynchronous motor parameters inaccessible, and the synchronous motor
parameters accessible.
70
U0 M [U0] 0 to 600 or 1000 V 0

according to rating
V/F profile setting. The parameter can be accessed if [Motor control type] (Ctt) = [V/F 2pts] (UF2) or [V/F 5pts]
(UF5)
U1 M [U1] 0 to 600 or 1000 V 0

according to rating
V/F profile setting. The parameter can be accessed if [Motor control type] (Ctt) = [V/F 5pts] (UF5)
F1 M [F1] 0 to 1600 Hz 0
U2 M [U2] 0 to 600 or 1000 V 0

according to rating
F2 M [F2] 0 to 1600 Hz 0
U3 M [U3] 0 to 600 or 1000 V 0

according to rating
F3 M [F3] 0 to 1600 Hz 0
U4 M [U4] 0 to 600 or 1000 V 0

according to rating
F4 M [F4] 0 to 1600 Hz 0
U5 M [U5] 0 to 600 or 1000 V 0

according to rating
F5 M [F5] 0 to 1600 Hz 0
71
UC2 M [Vector Control 2pt] [No] (nO)
The parameter can be accessed if [Motor control type] (Ctt) is not [Sync. mot.] (SYn).
YES v [Yes] (YES): Function active.
Used in applications in which the motor rated speed and frequency need to be exceeded in order to optimize
operation at constant power, or when the maximum voltage of the motor needs to be limited to a value below
the line voltage.
The voltage/frequency profile must then be adapted in accordance with the motor's capabilities to operate at
maximum voltage UCP and maximum frequency FCP.
Motor voltage
Max. voltage UCP
Rated motor volt. UnS
Frequency
Rated motor freq. Freq. Const Power FCP
UCP M [V. constant power] According to drive

rating
According to drive
mot. freq] (bFr)
The parameter can be accessed if [Vector Control 2pt] (UC2) = [Yes] (YES)
FCP M [Freq. Const Power] According to drive

rating and [Rated
= [Standard mot. freq]
(bFr)
motor freq.] (FrS)
The parameter can be accessed if [Vector Control 2pt] (UC2) = [Yes] (YES)
72
Synchronous motor parameters:

These parameters can be accessed if [Motor control type] (Ctt) page 70 = [Sync. mot.] (SYn). In this case, the asynchronous motor
parameters cannot be accessed.
nCrS M [Nominal I sync.] 0.25 to 1.5 In (2) According to drive

rating
Rated synchronous motor current given on the nameplate.
nSPS M [Nom motor spdsync] 0 to 60000 rpm According to drive

rating
Rated motor speed given on the nameplate.
On the integrated display unit: 0 to 9999 rpm then 10.00 to 60.00 krpm.
PPnS M [Pole pairs] 1 to 50 According to drive

rating
Number of pairs of poles on the synchronous motor.
PHS M [Syn. EMF constant] 0 to 65535 According to drive

rating
Synchronous motor EMF constant, in mV per rpm (peak voltage per phase).
On the integrated display unit: 0 to 9999 then 10.00 to 65.53 (10000 to 65536).
LdS M [Autotune L d-axis] 0 to 655.3 According to drive

rating
Axis "d" stator inductance in mH (per phase).
On motors with smooth poles [Autotune L d-axis] (LdS) = [Autotune L q-axis] (LqS) = Stator inductance L.
LqS M [Autotune L q-axis] 0 to 655.3 According to drive

rating
Axis "q" stator inductance in mH (per phase).
On motors with smooth poles [Autotune L d-axis] (LdS) = [Autotune L q-axis] (LqS) = Stator inductance L.
rSAS M [Cust. stator R syn] According to drive

rating
According to drive
rating
Cold state stator resistance (per winding) The factory setting is replaced by the result of the auto-tuning
operation, if it has been performed.
The value can be entered by the user, if he knows it.
Value in milliohms (mΩ) up to 75 kW (100 HP), in hundredths of milliohms (mΩ/100) above 75 kW (100 HP).
UFr M [IR compensation] (1) 25 to 200% 100%
The parameter can be accessed if [Motor control type] (Ctt) is not [V/F 2pts] (UF2) and [V/F 5pts] (UF5).
T Used to optimize the torque at very low speed (increase [IR compensation] (UFr) if the torque is insufficient).
Check that the [IR compensation] (UFr) value is not too high when the motor is warm (risk of instability).
SLP M [Slip compensation] (1) 0 to 300% 100%
The parameter can be accessed if [Motor control type] (Ctt) is not [V/F 2pts] (UF2), [V/F 5pts] (UF5) and
[Sync. mot.] (SYn).
Adjusts the slip compensation around the value set by the rated motor speed.
T The speeds given on motor nameplates are not necessarily exact.
• If slip setting < actual slip: The motor is not rotating at the correct speed in steady state, but at a speed lower
than the reference.
• If slip setting > actual slip: The motor is overcompensated and the speed is unstable.
(1) The parameter can also be accessed in the [1.3 SETTINGS] (SEt-) menu.
T Parameter that can be modified during operation or when stopped.
73
Motor parameters that can be accessed in [Expert] mode.

These include:
• Parameters calculated by the drive during auto-tuning, in read-only mode. For example, R1r, calculated cold stator resistance.
• The possibility of replacing some of these calculated parameters by other values, if necessary. For example, R1w, measured cold
stator resistance.
When a parameter Xyw is modified by the user, the drive uses it in place of the calculated parameter Xyr.
Asynchronous motor
If an auto-tuning operation is performed or if one of the motor parameters on which auto-tuning depends is modified ([Rated motor volt.]
(UnS), [Rated motor freq.] (FrS), [Rated mot. current] (nCr), [Rated motor speed] (nSP), [Rated motor power] (nPr)), parameters Xyw return
to their factory settings.
Code Name/Description
rSM M [Stator R measured]

Cold stator resistance, calculated by the drive, in read-only mode. Value in milliohms (mΩ) up to 75 kW
(100 HP), in hundredths of milliohms (mΩ/100) above 75 kW (100 HP).
IdM M [Idr]
Magnetizing current in A, calculated by the drive, in read-only mode.
LFM M [Lfr]
Leakage inductance in mH, calculated by the drive, in read-only mode.
trM M [T2r]
Rotor time constant in mS, calculated by the drive, in read-only mode.
nSL M [Nominal motor slip]

Rated slip in Hz, calculated by the drive, in read-only mode.
To modify the rated slip, modify the [Rated motor speed] (nSP) (page 68).
PPn M [Pr]
Number of pairs of poles, calculated by the drive, in read-only mode.
rSA M [Cust stator resist.]

Cold state stator resistance (per winding), modifiable value. In milliohms (mΩ) up to 75 kW (100 HP), in
hundredths of milliohms (mΩ/100) above 75 kW (100 HP). On the integrated display unit: 0 to 9999 then
10.00 to 65.53 (10000 to 65536).
IdA M [Idw]
Magnetizing current in A, modifiable value.
LFA M [Lfw]
Leakage inductance in mH, modifiable value.
trA M [T2w]
Rotor time constant in mS, modifiable value.
74
Synchronous motor
rSMS M [R1rS]
Cold state stator resistance (per winding), in read-only mode. This is the drive factory setting or the result
of the auto-tuning operation, if it has been performed.
Value in milliohms (mΩ) up to 75 kW (100 HP), in hundredths of milliohms (mΩ/100) above 75 kW (100 HP).
FrSS M [Nominal freq sync.]

Motor frequency at rated speed in Hz, calculated by the drive (rated motor frequency), in read-only mode.
75
Selecting the encoder

Follow the recommendations in the catalog and the Installation Manual.
EnS M [Encoder type] [AABB] (AAbb)
The parameter can be accessed if an incremental encoder card has been inserted (1).
To be configured in accordance with the type of card and encoder used.
AAbb v [AABB] (AAbb): For signals A, A-, B, B-.
Ab v [AB] (Ab): For signals A, B.
A v [A] (A): For signal A. Value cannot be accessed if [Encoder usage] (EnU) page 78 = [Spd fdk reg.] (rEG).
PGI M [Number of pulses] 100 to 5000 1024
Number of pulses per encoder revolution.

The parameter can be accessed if an incremental encoder card has been inserted (1).
(1) The encoder parameters can only be accessed if the encoder card has been inserted, and the available selections will depend on the
type of encoder card used. The encoder configuration can also be accessed in the [1.5- INPUTS / OUTPUTS CFG] (I/O) menu.
76
Encoder check procedure

This procedure applies to all types of encoder.
1. Set [Motor control type] (Ctt) to a value other than [FVC] (FUC) even if it is the required configuration. For example, use [SVC V] (UUC)
for an asynchronous motor and [Sync. mot.] (SYn) for a synchronous motor.
2. Configure the motor parameters in accordance with the specifications on the rating plate.
• Asynchronous motor (see page 68): [Rated motor power] (nPr), [Rated motor volt.] (UnS), [Rated mot. current] (nCr), [Rated motor
freq.] (FrS), [Rated motor speed] (nSP).
• Synchronous motor (see "Synchronous motor parameters" on page 73): [Nominal I sync.] (nCrS), [Nom motor spdsync] (nSPS), [Pole
pairs] (PPnS), [Syn. EMF constant] (PHS), [Autotune L d-axis] (LdS), [Autotune L q-axis] (LqS), [Cust. stator R syn] (rSAS). [Current
limitation] (CLI) must not exceed the maximum motor current, otherwise demagnetization may occur.
3. Set [Encoder usage] (EnU) = [No] (nO).
4. Perform auto-tuning.
5. In the case of an incremental encoder, set [Encoder type] (EnS) and [Number of pulses] (PGI) page 76 according to the encoder used.
6. Set [Encoder check] (EnC) = [Yes] (YES)
7. Check that the rotation of the motor is safe.
8. Set the motor rotating at stabilized speed ≈ 15% of the rated speed for at least 3 seconds, and use the [1.2-MONITORING] (SUP-) menu
to monitor its behavior.
9. If it trips on an [Encoder fault] (EnF), [Encoder check] (EnC) returns to [No] (nO).
- Check the parameter settings (see points 1 to 4 above).
- Check that the mechanical and electrical operation of the encoder, its power supply and connections are all OK.
- Reverse the direction of rotation of the motor ([Output Ph rotation] (PHr) parameter page 69) or the encoder signals.
10. Repeat the operations from step 5 onwards until [Encoder check] (EnC) changes to [Done] (dOnE).
11. If necessary, change [Motor control type] (Ctt) to [FVC] (FUC).
77
EnC M [Encoder check] [Not done] (nO)
Encoder feedback check. See procedure on previous page.

The parameter can be accessed if an encoder card has been inserted (1).
nO v [Not done] (nO) Check not performed.
YES v [Yes] (YES): Activates monitoring of the encoder.
dOnE v [Done] (dOnE): Check performed successfully.
The check procedure checks:
- The direction of rotation of the encoder/motor
- The presence of signals (wiring continuity)
- The number of pulses/revolution
If a fault is detected, the drive locks in [Encoder fault] (EnF) fault mode.
EnU M [Encoder usage] [No] (nO)
The parameter can be accessed if an encoder card has been inserted (1).
SEC v [Fdbk monit.] (SEC): The encoder provides speed feedback for monitoring only.
rEG v [Spd fdk reg.] (rEG): The encoder provides speed feedback for regulation and monitoring. This
configuration is automatic if the drive is configured for closed-loop operation ([Motor control type] (Ctt) = [FVC]
(FUC). If [Motor control type] (Ctt) = [SVC V] (UUC) the encoder operates in speed feedback mode and enables
static correction of the speed to be performed. This configuration is not accessible for other [Motor control type]
(Ctt) values.
PGr v [Speed ref.] (PGr): The encoder provides a reference. Can only be selected with an incremental encoder
card.
(1) The encoder parameters can only be accessed if the encoder card has been inserted, and the available selections will depend on the
type of encoder card used. The encoder configuration can also be accessed in the [1.5- INPUTS / OUTPUTS CFG] (I/O) menu.
78
[ENA SYSTEM]
Beam pumps
ENA SYSTEM is a control profile designed for rotating machines with unbalanced load.
It is used primarily for oil pumps. The operating principle applied:
- Allows operation without a braking resistor
- Reduces mechanical stress on the rod
- Reduces line current fluctuations
- Reduces energy consumption by improving the electric power/current ratio
[ENA prop.gain]
This setting is used to achieve a compromise between the reduced energy consumption (and/or line current fluctuations) and the
mechanical stress to which the rod is subject.
Energy is saved by reducing current fluctuations and increasing the current while retaining the same average speed.
[ENA integral gain]

This setting is used to smooth the DC bus voltage.
Start up the machine with a low integral and proportional gain (proportional 25% and integral 10%) in order to avoid an overvoltage trip in
the absence of a braking resistor. See if these settings are suitable.
Recommended adjustments to be made during operation:

• To eliminate the braking resistor and, therefore, the increase in the DC bus voltage:
Display the machine speed on the graphic display terminal.
Reduce the integral gain value until the machine speed drops. When this point is reached, increase the integral gain until the machine
speed stabilizes.
Use the graphic display terminal or an oscilloscope to check that the DC bus voltage is stable.
• To save energy:
Reducing the proportional gain (gradually) may increase energy savings by reducing the maximum value of the line current, but it will
increase speed variations and, therefore, mechanical stress.
The aim is to identify settings that will enable energy to be saved and minimize mechanical stress.
When reducing the proportional gain, it may be necessary to readjust the integral gain in order to avoid an overvoltage trip.
Note: Once the adjustments are complete, check that the pump starts up correctly. If the ENA integral gain setting is too low, this may lead
to insufficient torque on startup.
[Reduction ratio]
This setting corresponds to the motor speed ahead of gearbox/speed after gearbox ratio. This parameter is used to display the average
speed in Hz and the machine speed in customer units (e.g., in strokes per minute) on the graphic display terminal. In order to be displayed
on the graphic display terminal, these values must be selected in the [1.2 MONITORING] (SUP-) menu.
Adjustment recommendations for prevention of tripping on an [Overspeed] (SOF) fault

ENA SYSTEM authorizes overspeed, which can trigger an [Overspeed] (SOF) fault. To avoid this occurring, it is advisable to increase the
value of the following parameters slightly:
• [Max frequency] (tFr) page 69
• [Overspd. pulse thd.] (FqA) page 232, if the "frequency meter" function is configured
79
Beam pumps
EnA M [ENA system] [No] (nO)
The parameter can be accessed if [Motor control type] (Ctt) = [SVC V] (UUC), see page 70.
nO v [No] (nO) : Function inactive
YES v [Yes] (YES) : Function active.
GPE M [ENA prop.gain] (1) 1 to 9999 250
T The parameter can be accessed if [ENA system] (EnA) = [Yes] (YES)
GIE M [ENA integral gain] (1) 0 to 9999 100
rAP M [Reduction ratio] (1) 10.0 to 999.9 10
(1) The parameter can also be accessed in the [1.3 SETTINGS] (SEt-)menu.
80
OFI M [Sinus filter] [No] (nO)
nO v [No] (nO): No sinus filter

YES v [Yes] (YES): Use of a sinus filter, to limit overvoltages on the motor and reduce the ground fault leakage
current.
[Sinus filter] (OFI) is forced to [No] (nO) on ATV71p037M3 and ATV71p075N4, and on all ATV71ppppY.
Note: The settings for [Current Limitation] (CLI) and [I Limit. 2 value] (CL2) page 60 must be made once
[Sinus filter] (OFI) has been set to [Yes] (YES) and [Motor control type] (Ctt) page 70 has been set to [V/
F 2pts] (UF2) or [V/F 5pts] (UF5). This is due to the fact that for certain ratings, this configuration will
result in a reduced factory setting (1.36 In) for current limitations.
CAUTION
If [Sinus filter] (OFI) = [Yes] (YES), [Motor control type] (Ctt) page 70 must be [V/F 2pts] (UF2), [V/F 5pts] (UF5),
(or [SVC V] (UUC) only up to 45 kW for ATV71pppM3X and 75 kW for ATV71pppN4), and [Max frequency]
(tFr) must not exceed 100 Hz.
SFr M [Switching freq.] (1) According to rating According to rating
T Switching frequency setting.

Adjustment range: This can vary between 1 and 16 kHz, but the minimum and maximum values, as well as
the factory setting, can be limited in accordance with the type of drive (ATV71H or W), the rating (power and
voltage) and the configuration of the [Sinus filter] (OFI) and [Motor surge limit] (SUL) parameters, page 82.
If the value is less than 2 kHz, [Current Limitation] (CLI) and [I Limit. 2 value] (CL2) page 60 are limited to
1.36 In.
Adjustment with drive running:
- If the initial value is less than 2 kHz, it is not possible to increase it above 1.9 kHz while running.
- If the initial value is greater than or equal to 2 kHz, a minimum of 2 kHz must be maintained while running.
Adjustment with the drive stopped: No restrictions.
Note: In the event of excessive temperature rise, the drive will automatically reduce the switching
frequency and reset it once the temperature returns to normal.
Note: If [Motor control type] (Ctt) page 70 = [FVC] (FUC), we do not recommend setting the switching
frequency to a value less than 2 kHz (in order to avoid speed instability).
CAUTION
On ATV71p075N4 to U40N4, drives, if the RFI filters are disconnected (operation on an IT system), the drive's
switching frequency must not exceed 4 kHz.
CLI M [Current Limitation] (1) 0 to 1.65 In (2) 1.5 In (2)
T Used to limit the motor current.

The adjustment range is limited to 1.36 In if [Switching freq.] (SFr) is less than 2 kHz.
has any effect.
CAUTION
81
nrd M [Noise reduction] According to rating
nO v [No] (nO): Fixed frequency. Factory setting at and above ATV71HD55M3X, ATV71HD90N4 and
ATV71HC11Y.
YES v [Yes] (YES): Frequency with random modulation. Factory setting up to ATV71HD45M3X, ATV71HD75N4 and
ATV71HD90Y.
Random frequency modulation prevents any resonance, which may occur at a fixed frequency.
SUL M [Motor surge limit.] [No] (nO)
This function limits motor overvoltages and is useful in the following applications:
- NEMA motors
- Japanese motors
- Spindle motors
- Rewound motors
YES v [Yes] (YES) : Function active
This parameter is forced to [No] (nO) if [Sinus filter] (OFI) previous page = [Yes] (YES).
This parameter can remain = [No] (nO) for 230/400 V motors used at 230 V, or if the length of cable between
the drive and the motor does not exceed:
- 4 m with unshielded cables
- 10 m with shielded cables
10 μs
SOP M [Volt surge limit. opt]
Optimization parameter for transient overvoltages at the motor terminals. Can be accessed if [Motor surge
limit.] (SUL) = [Yes] (YES).
Set to 6, 8, or 10 μs, according to the following table.
The value of the "SOP" parameter corresponds to the attenuation time of the cable used. It is defined to prevent the superimposition of
voltage wave reflections resulting from long cable lengths. It limits overvoltages to twice the DC bus rated voltage.
The tables on the following page give examples of correspondence between the "SOP" parameter and the length of the cable between the
drive and the motor. For longer cable lengths, a sinus filter or a dV/dt protection filter must be used.
• For motors in parallel, the sum of all the cable lengths must be taken into consideration. Compare the length given in the table row
corresponding to the power for one motor with that corresponding to the total power, and select the shorter length. Example: Two
7.5 kW (10 HP) motors - take the lengths on the 15 kW (20 HP) table row, which are shorter than those on the 7.5 kW (10 HP) row,
and divide by the number of motors to obtain the length per motor (with unshielded "GORSE" cable and SOP = 6, the result is
40/2 = 20 m maximum for each 7.5 kW (10 HP) motor).
In special cases (for example, different types of cable, different motor powers in parallel, different cable lengths in parallel, etc.), we
recommend using an oscilloscope to check the overvoltage values obtained at the motor terminals.
To retain the overall drive performance, do not increase the SOP value unnecessarily.
82
Tables giving the correspondence between the SOP parameter and the cable length,
for 400 V line supply
Altivar 71 Motor Cable cross-section Maximum cable length in meters

Reference Power Unshielded "GORSE" cable Shielded "GORSE" cable
Type H07 RN-F 4Gxx Type GVCSTV-LS/LH
kW HP in mm2 AWG SOP = 10 SOP = 8 SOP = 6 SOP = 10 SOP = 8 SOP = 6
ATV71H075N4 0.75 1 1.5 14 109.36 yd 76.55 yd 49.21 yd 114.83 yd 92.96 yd 71.08 yd
ATV71HU15N4 1.5 2 1.5 14 109.36 yd 76.55 yd 49.21 yd 114.83 yd 92.96 yd 71.08 yd
ATV71HU30N4 3 - 1.5 14 120.30 yd 71.08 yd 49.21 yd 114.83 yd 92.96 yd 71.08 yd
ATV71HU40N4 4 5 1.5 14 120.30 yd 71.08 yd 49.21 yd 114.83 yd 92.96 yd 71.08 yd
ATV71HU55N4 5.5 7.5 2.5 14 131.23 yd 71.08 yd 49.21 yd 114.83 yd 92.96 yd 71.08 yd
ATV71HD11N4 11 15 6 10 125.77 yd 65.62 yd 49.21 yd 109.36 yd 82.02 yd 60.15 yd
ATV71HD18N4 18.5 25 10 8 125.77 yd 65.62 yd 38.28 yd 164.04 yd 82.02 yd 54.68 yd
ATV71HD55N4 55 75 70 2/0 218.72 yd 54.68 yd 27.34 yd 164.04 yd 60.15 yd 32.81 yd
ATV71HD75N4 75 100 95 4/0 218.72 yd 49.21 yd 27.34 yd 164.04 yd 60.15 yd 32.81 yd
Altivar 71 Motor Cable cross-section Maximum cable length in meters

Reference Power Shielded "BELDEN" cable Shielded "PROTOFLEX" cable
Type 2950x Type EMV 2YSLCY-J
kW HP in mm2 AWG SOP = 10 SOP = 8 SOP = 6 SOP = 10 SOP = 8 SOP = 6
ATV71H075N4 0.75 1 1.5 14 54.68 yd 43.74 yd 32.81 yd
ATV71HU15N4 1.5 2 1.5 14 54.68 yd 43.74 yd 32.81 yd
ATV71HU22N4 2.2 3 1.5 14 54.68 yd 43.74 yd 32.81 yd
ATV71HU30N4 3 - 1.5 14 54.68 yd 43.74 yd 32.81 yd
ATV71HU40N4 4 5 1.5 14 54.68 yd 43.74 yd 32.81 yd
ATV71HU55N4 5.5 7.5 2.5 14 54.68 yd 43.74 yd 32.81 yd
ATV71HU75N4 7.5 10 2.5 14 54.68 yd 43.74 yd 32.81 yd
ATV71HD11N4 11 15 6 10 54.68 yd 43.74 yd 32.81 yd
ATV71HD15N4 15 20 10 8 54.68 yd 43.74 yd 32.81 yd
ATV71HD18N4 18.5 25 10 8 54.68 yd 43.74 yd 32.81 yd
ATV71HD22N4 22 30 16 6 82.02 yd 43.74 yd 27.34 yd
ATV71HD30N4 30 40 25 4 82.02 yd 43.74 yd 27.34 yd
ATV71HD37N4 37 50 35 5 82.02 yd 43.74 yd 27.34 yd
ATV71HD45N4 45 60 50 0 82.02 yd 43.74 yd 27.34 yd
ATV71HD55N4 55 75 70 2/0 82.02 yd 32.81 yd 16.40 yd
ATV71HD75N4 75 100 95 4/0 82.02 yd 32.81 yd 16.40 yd
For 230/400 V motors used at 230 V, the [Motor surge limit.] (SUL) parameter can remain = [No] (nO).
83
Ubr M [Braking level] According to drive

voltage rating
T DC bus voltage threshold above which the braking transistor cuts in to limit this voltage.
ATV71ppppM3p: factory setting 395 V.
ATV71ppppN4: factory setting 785 V.
ATV71ppppY: factory setting 1127 V or 1080 V according to rating.
The adjustment range depends on the voltage rating of the drive and the [Mains voltage] (UrES) parameter,
page 225.
bbA M [Braking balance] [No] (nO)

YES v [Yes] (YES) : Function active, to be used on drives connected in parallel via their DC bus. Used to balance
the braking power between the drives. The [Braking level] (Ubr) parameter must be set to the same value on
the various drives.
The value[Yes] (YES) is possible only if [Dec ramp adapt.] (brA) = [No] (nO) (see page 139)
LbA M [Load sharing] [No] (nO)
When 2 motors are connected mechanically and therefore at the same speed, and each is controlled by a drive,
this function can be used to improve torque distribution between the two motors. To do this, it varies the speed
based on the torque.
YES v [Yes] (YES) : Function active
The parameter can only be accessed if [Motor control type] (Ctt) page 70 is not [V/F 2pts] (UF2) or [V/F 5pts]
(UF5).
LbC M [Load correction] (1) 0 to 1000 Hz 0
T Rated correction in Hz.

The parameter can be accessed if [Load sharing] (LbA) = [Yes] (YES)
Torque LbC
Nominal torque
0 Frequency
Nominal torque
LbC
84
Load sharing, parameters that can be accessed at expert level

Principle
Torque reference
Reference +
Ramp
Speed loop
Speed -
Balancing
Filter
K
LBC LBF
LBC1
LBC2
LBC3
The load sharing factor K is determined by the torque and speed, with two factors K1 and K2 (K = K1 x K2).
K1
Speed
LBC1 LBC2
K2
LBC
LBC3
Torque
LBC3 Rated
torque x (1 + LBC3)
LBC
85
LbC1 M [Correction min spd] 0 to 999.9 Hz 0
T The parameter can be accessed if [Load sharing] (LbA) = [Yes] (YES)

Minimum speed for load correction in Hz. Below this threshold, no corrections are made. Used to prevent
correction at very low speed if this would hamper rotation of the motor.
LbC2 M [Correction max spd] [Correction min spd]

(LbC1) + 0.1
0,1
T at 1000 Hz
The parameter can be accessed if [Load sharing] (LbA) = [Yes] (YES)
Speed threshold in Hz above which maximum load correction is applied.
LbC3 M [Torque offset] 0 to 300% 0%

Minimum torque for load correction as a % of the rated torque. Below this threshold, no corrections are made.
Used to avoid torque instabilities when the torque direction is not constant.
LbF M [Sharing filter] 100 ms to 20 s 100 ms

Time constant (filter) for correction in ms. Used in the event of flexible mechanical coupling in order to avoid
instabilities.
86
[1.5 INPUTS / OUTPUTS CFG] (I-O-)
RDY Term +0.00Hz 0A

1 DRIVE MENU
1.1 SIMPLY START
1.2 MONITORING
RDY Term +0.00Hz 0A 1.3 SETTINGS RUN Term +50.00Hz 80A
MAIN MENU 1.4 MOTOR CONTROL 1.5 INPUTS / OUTPUTS CFG
ENT ENT
1 DRIVE MENU 1.5 INPUTS / OUTPUTS CFG 2/3 wire control
2 ACCESS LEVEL Code << >> Quick 2 wire type
3 OPEN / SAVE AS Reverse assign.
4 PASSWORD LI1 CONFIGURATION
5 LANGUAGE LIx CONFIGURATION

Power-up
ENT
ESC
SIM-
ENT
ESC
I-O- INPUTS / OUTPUTS CFG

ESC
ESC
CtL-
ESC
LAC-
87
The parameters in the [1.5 INPUTS / OUTPUTS CFG] (I-O-) menu can only be modified when the drive is stopped and no run command is
present.
tCC M [2/3 wire control] [2 wire] (2C)
2C v [2 wire] (2C)
3C v [3 wire] (3C)
2-wire control: This is the input state (0 or 1) or edge (0 to 1 or 1 to 0), which controls running or stopping.

ATV 71
+24 LI1 LIx LI1: forward
LIx: reverse
3-wire control (pulse commands): A "forward" or "reverse" pulse is sufficient to command starting, a "stop"
pulse is sufficient to command stopping.

ATV 71
+24 LI1 LI2 LIx LI1: stop
LI2: forward
LIx: reverse
WARNING
To change the assignment of [2/3 wire control] (tCC) press and hold down the “ENT” key for 2 s.
It causes the following functions to return to factory setting: [2 wire type] (tCt) and [Reverse assign.]
(rrS) below, and all functions which assign logic inputs and analog inputs.
The macro configuration selected will also be reset it if has been customized (loss of custom settings).
It is advisable to configure this parameter before configuring the [1.6 COMMAND] (CtL-) and [1.7
APPLICATION FUNCT.] (FUn-) menus.
Check that this change is compatible with the wiring diagram used.
tCt M [2 wire type] [Transition] (trn)
LEL v [Level] (LEL): State 0 or 1 is taken into account for run (1) or stop (0).
trn v [Transition] (trn): A change of state (transition or edge) is necessary to initiate operation, in order to prevent
accidental restarts after a break in the power supply.
PFO v [Fwd priority] (PFO): State 0 or 1 is taken into account for run or stop, but the "forward" input always takes
priority over the "reverse" input.
rrS M [Reverse assign.] [LI2] (LI2)
nO v [No] (nO): Not assigned

LI1 v [LI1] (LI1) to [LI6] (LI6)
- v [LI7] (LI7) to [LI10] (LI10): If VW3A3201 logic I/O card has been inserted
- v [LI11] (LI11) to [LI14] (LI14): If VW3A3202 extended I/O card has been inserted
C101 v [C101] (C101) to [C115] (C115): With integrated Modbus in [I/O profile] (IO)
- v [C201] (C201) to [C215] (C215): With integrated CANopen in [I/O profile] (IO)
- v [C301] (C301) to [C315] (C315): With a communication card in [I/O profile] (IO)
- v [C401] (C401) to [C415] (C415): With a Controller Inside card in [I/O profile] (IO)
Cd00 v [CD00] (Cd00) to [CD13] (Cd13): In [I/O profile] (IO) can be switched with possible logic inputs
- v [CD14] (Cd14) to [CD15] (Cd15): In [I/O profile] (IO) can be switched without logic inputs
Assignment of the reverse direction command.
88
L1- b [LI1 CONFIGURATION]

L1A M [LI1 assignment]
Read-only parameter, cannot be configured.
It displays all the functions that are assigned to input LI1 in order to check for multiple assignments.
L1d M [LI1 On Delay] 0 to 200 ms 0
This parameter is used to take account of the change of the logic input to state 1 with a delay that can be
adjusted between 0 and 200 milliseconds, in order to filter out possible interference. The change to state 0
is taken into account without delay.
WARNING
Check that the delay set does not pose a risk or lead to undesired operation.
The relative order in which these inputs are taken into account may be modified according to the delay
values of the various logic inputs, and thus lead to unintended operation.
L-- b [LIx CONFIGURATION]

All the logic inputs available on the drive are processed as in the example for LI1 above, up to LI6, LI10 or
LI14, depending on whether or not option cards have been inserted.
89
Configuration of analog inputs and Pulse input

The minimum and maximum input values (in volts, mA, etc.) are converted to % in order to adapt the references to the application.
Minimum and maximum input values:

The minimum value corresponds to a reference of 0% and the maximum value to a reference of 100%. The minimum value may be greater
than the maximum value:
Reference
Reference
100% 100%
Current or Current or
voltage or voltage or
frequency frequency
input input
0% 0%
[Min value] [Max value] 20 mA or [Max value] [Min value] 20 mA or
(CrLx or (CrHx or 10 V or (CrHx or (CrLx or 10 V or
ULx or PIL) UHx or PFr) 30.00 kHz UHx or PFr) ULx or PIL) 30.00 kHz
For +/- bidirectional inputs, the min. and max. are relative to the absolute value, for example, +/- 2 to 8 V.
Negative min. value of Pulse input:
Reference
100%
Frequency
input
-30,00 [RP min 0% [RP max value] 30.00
kHz value] (PFr) kHz
(PIL)
Range (output values): For analog inputs only

This parameter is used to configure the reference range to [0% V100%] or [-100% V +100%] in order to obtain a bidirectional output from
a unidirectional input.
Reference Reference
100% 100%
Current Current
or or
voltage voltage
[Min value]
0% input 0% input
[Min value] [Max value] 20 mA [Max value] 20 mA
Range 0 V 100% or 10 V or 10 V
- 100%
Range - 100% V + 100%
90
bSP M [Reference template] [Standard] (bSd)
bSd v [Standard] (bSd)

Frequency At zero reference the frequency = LSP
HSP
LSP
-100%
Reference
0% +100%
LSP
HSP
bLS v [Pedestal] (bLS)

Frequency At reference = 0 to LSP the frequency = LSP
HSP
LSP
-100%
Reference
LSP +100%
HSP
bnS v [Deadband] (bnS)

Frequency At reference = 0 to LSP the frequency = 0
HSP
-100% LSP
Reference
0
LSP +100%
HSP
bnS0 v [Deadband 0] (bnS0)

Frequency This operation is the same as [Standard] (bSd),
except that in the following cases at zero
HSP reference, the frequency = 0:
• The signal is less than [Min value], which is
greater than 0 (example 1 V on a 2 - 10 V input)
LSP • The signal is greater than [Min value], which is
-100% greater than [Max value] (example 11 V on a
0%
Reference 10 - 0 V input).
+100%
LSP
If the input range is configured as
HSP "bidirectional", operation remains identical to
[Standard] (bSd).
This parameter defines how the speed reference is taken into account, for analog inputs and Pulse
input only. In the case of the PID regulator, this is the PID output reference.
The limits are set by the [Low speed] (LSP) and [High speed] (HSP) parameters, page 43
91
Delinearization: For analog inputs only

The input can be delinearized by configuring an intermediate point on the input/output curve of this input:
For range 0 V 100%
Reference
100%
Current
[Interm. point Y] or
voltage
0% input
[Min value] [Interm. point [Max value] 20 mA
(0%) X] (100%) or 10 V
Note: For [Interm. point X], 0% corresponds to [Min value] and 100% to [Max value]
For range -100% V 100%
Reference
100%
[Interm. point Y] Current

[Min value] - [Interm.
or
(- 100%) point X]
voltage input
0%
0% [Interm. point [Max value] 20 mA
X] (100%) or 10 V
- [Interm. point Y]
- 100%
92
AI1 - b [AI1 CONFIGURATION]

AI1A M [AI1 assignment]
It displays all the functions associated with input AI1 in order to check, for example, for compatibility
problems.
AI1t M [AI1 Type] [Voltage] (10U)
10U v [Voltage] (10U): Positive voltage input (negative values are interpreted as zero: the input is
unidirectional).
n10U v [Voltage +/-] (n10U): Positive and negative voltage input (the input is bidirectional).
UIL1 M [AI1 min value] 0 to 10.0 V 0V
UIH1 M [AI1 max value] 0 to 10.0 V 10.0 V
AI1F M [AI1 filter] 0 to 10.00 s 0s
Interference filtering.
AI1E M [AI1 Interm. point X] 0 to 100% 0%
Input delinearization point coordinate.

• 0% corresponds to [AI1 min value] (UIL1).
• 100% corresponds to [AI1 max value] (UIH1).
AI1S M [AI1 Interm. point Y] 0 to 100% 0%
Output delinearization point coordinate (frequency reference).
93
AI2- b [AI2 CONFIGURATION]

problems.
AI2t M [AI2 Type] [Current] (0 A)
10U v [Voltage] (10U): Voltage input

0A v [Current] (0 A): Current input
CrL2 M [AI2 min value] 0 to 20.0 mA 0 mA
The parameter can be accessed if [AI2 Type] (AI2t) = [Current] (0 A)
The parameter can be accessed if [AI2 Type] (AI2t) = [Voltage] (10U)
CrH2 M [AI2 max. value] 0 to 20.0 mA 20.0 mA
UIH2 M [AI2 max. value] 0 to 10.0 V 10.0 V
AI2L M [AI2 range] [0 - 100%] (POS)
POS v [0 - 100%] (POS): Unidirectional input

nEG v [+/- 100%] (nEG): Bidirectional input
Example: On a 0/10 V input
- 0 V corresponds to reference -100%
- 5 V corresponds to reference 0%
- 10 V corresponds to reference + 100%

• 0% corresponds to [Min value] if the range is 0 V 100%.
[Max value] + [Min value]
• 0% corresponds to 2 if the range is -100% V + 100%.
• 100% corresponds to [Max value].
94
AI3 - b [AI3 CONFIGURATION]

Can be accessed if a VW3A3202 option card has been inserted

problems.
AI3t M [AI3 Type] [Current] (0 A)

CrL3 M [AI3 min. value] 0 to 20.0 mA 0 mA
CrH3 M [AI3 max. value] 0 to 20.0 mA 20.0 mA

Example: On a 4 - 20 mA input
- 4 mA corresponds to reference -100%
- 12 mA corresponds to reference 0%
- 20 mA corresponds to reference + 100%
Since AI3 is, in physical terms, a bidirectional input, the [+/- 100%] (nEG) configuration must only be used
if the signal applied is unidirectional. A bidirectional signal is not compatible with a bidirectional
configuration.

• 0% corresponds to [Min value] (CrL3) if the range is 0 V 100%.
[AI3 max. value] (CrH3) - [AI3 min. value]
• 0% corresponds to (CrL3) if the range is -100% V +100%.
2
• 100% corresponds to [AI3 max. value] (CrH3).
95
AI4- b [AI4 CONFIGURATION]


problems.
AI4t M [AI4 Type] [Voltage] (10U)
10U v [Voltage] (10U): Voltage input

CrL4 M [AI4 min value] 0 to 20.0 mA 0 mA
CrH4 M [AI4 max value] 0 to 20.0 mA 20.0 mA
UIH4 M [AI4 max value] 0 to 10.0 V 10.0 V

Example: On a 0/10 V input
- 0 V corresponds to reference -100%
- 5 V corresponds to reference 0%
- 10 V corresponds to reference + 100%
AI4E M [AI4 Interm.point X] 0 to 100% 0%

• 0% corresponds to [Min value] if the range is 0 V 100%.
[Max value] + [Min value]
• 0% corresponds to 2 if the range is -100% V + 100%.
• 100% corresponds to [Max value].
AI4S M [AI4 Interm.point Y] 0 to 100% 0%
96
AU1- b [VIRTUAL AI1]

AIC1 M [AI net. channel] [No] (nO)
Virtual input.
This parameter can also be accessed in the [PID REGULATOR] (PId-)submenu page 176.
nO [No] (nO): Not assigned (in this case, the virtual input does not appear in the analog input assignment
parameters for the functions)
Mdb v [Modbus] (Mdb): Integrated Modbus
CAn v [CANopen] (CAn): Integrated CANopen
nEt v [Com. card] (nEt): Communication card (if inserted)
APP v [C.Insid. card] (APP): Controller Inside card (if inserted)
Scale: the value 8192 transmitted by this input is equivalent to 10 V on a 10 V input.
WARNING
If the equipment switches to forced local mode (see page 241), the virtual input remains fixed at the last
value transmitted.
Do not use the virtual input and forced local mode in the same configuration.
97
PLI- b [RP CONFIGURATION]

PIA M [RP assignment]

It displays all the functions associated with the Pulse In input in order to check, for example, for compatibility
problems.
PIL M [RP min value] - 30.00 to 30.00 kHz 0
Frequency corresponding to the minimum speed
PFr M [RP max value] 0 to 30.00 kHz 30.00 kHz
Frequency corresponding to the maximum speed
PFI M [RP filter] 0 to 1000 ms 0
98
Configuration of the encoder input serving as a reference, with a frequency

generator
This reference is not signed, therefore the directions of operation must be given via the control channel (logic inputs, for example).
Minimum and maximum values (input values):

The minimum value corresponds to a minimum reference of 0% and the maximum value to a maximum reference of 100%. The minimum
value may be greater than the maximum value. It may also be negative.
Reference
Reference
100 % 100 %
Frequency Frequency
input input
0 0
[Freq. min. value] [Freq. max. value] 300 kHz [Freq. max. value] [Freq. min. value] 300 kHz
(EIL) (EFr) (EFr) (EIL)
Reference
100 %
Frequency
[Freq. min. value] 0 [Freq. max. value] 300 kHz input
(EIL) (EFr)
A reference can be obtained at zero frequency by assigning a negative value to the minimum value.
99
The encoder configuration can also be accessed in the [1.4 MOTOR CONTROL] (drC-) menu.
IEn- b [ENCODER CONFIGURATION]

The encoder parameters can only be accessed if the encoder card has been inserted, and the available
selections will depend on the type of encoder card used.
EnS M [Encoder type] [AABB] (AAbb)
The parameter can be accessed if an incremental encoder card has been inserted.
To be configured in accordance with the type of encoder used.
AAbb v [AABB] (AAbb): For signals A, A-, B, B-.
Ab v [AB] (Ab): For signals A, B.
A v [A] (A): For signal A. Value cannot be accessed if [Encoder usage] (EnU) page 101 = [Spd fdk reg.] (rEG).
EnC M [Encoder check] [Not done] (nO)
Checks the encoder feedback. See procedure page 79.

The parameter can be accessed if an encoder card has been inserted and if [Encoder usage] (EnU) page
101 is not [Speed ref.] (PGr).
nO v [Not done] (nO): Check not performed.
YES v [Yes] (YES): Activates monitoring of the encoder.
dOnE v [Done] (dOnE): Check performed successfully.
The check procedure checks:
- The direction of rotation of the encoder/motor
- The presence of signals (wiring continuity)
- The number of pulses/revolution
If a fault is detected, the drive locks in [Encoder fault] (EnF) fault mode.
100
b [ENCODER CONFIGURATION] (continued)
EnU M [Encoder usage] [No] (nO)
The parameter can be accessed if an encoder card has been inserted.

nO v [No] (nO): Function inactive. In this case, the other parameters cannot be accessed.
SEC v [Fdbk monit.] (SEC): The encoder provides speed feedback for monitoring only.
rEG v [Spd fdk reg.] (rEG): The encoder provides speed feedback for regulation and monitoring. This
configuration is automatic if the drive is configured for closed-loop operation ([Motor control type] (Ctt) =
[FVC] (FUC). If [Motor control type] (Ctt) = [SVC V] (UUC) the encoder operates in speed feedback mode
and enables static correction of the speed to be performed. This configuration is not accessible for other
[Motor control type] (Ctt) values.
PGr v [Speed ref.] (PGr): The encoder provides a reference. Can only be selected with an incremental encoder
card.
PGI M [Number of pulses] 100 to 5000 1024
Number of pulses per encoder revolution.

The parameter can be accessed if an incremental encoder card has been inserted.
PGA M [Reference type] [Encoder] (EnC)
The parameter can be accessed if [Encoder usage] (EnU) = [Speed ref.] (PGr).
EnC v [Encoder] (EnC) : Use of an encoder.
PtG v [Freq. gen.] (PtG): Use of a frequency generator (unsigned reference).
EIL M [Freq. min. value] - 300 to 300 kHz 0
The parameter can be accessed if [Encoder usage] (EnU) = [Speed ref.] (PGr) and if [Reference type]
(PGA) = [Freq. gen.] (PtG).
Frequency corresponding to the minimum speed
EFr M [Freq. max value] 0.00 to 300 kHz 300 kHz
The parameter can be accessed if [Encoder usage] (EnU) = [Speed ref.] (PGr) and if [Reference type]
(PGA) = [Freq. gen.] (PtG).
Frequency corresponding to the maximum speed
EFI M [Freq. signal filter] 0 to 1000 ms 0
The parameter can be accessed if [Encoder usage] (EnU) = [Speed ref.] (PGr).
101
r1- b [R1 CONFIGURATION]

r1 M [R1 Assignment] [No drive flt] (FLt)

FLt v [No drive flt] (FLt): Drive not faulty (relay normally energized, and de-energized if there is a fault)
rUn v [Drv running] (rUn): Drive running
FtA v [Freq. Th. attain.] (FtA): Frequency threshold attained ([Freq. threshold] (Ftd) page 66)
FLA v [HSP attain.] (FLA): High speed attained
CtA v [I attained] (CtA): Current threshold attained ([Current threshold] (Ctd) page 65)
SrA v [Freq.ref.att] (SrA): Frequency reference attained
tSA v [Th.mot. att.] (tSA): Motor 1 thermal state attained
PEE v [PID error al] (PEE): PID error alarm
PFA v [PID fdbk al] (PFA): PID feedback alarm
AP2 v [AI2 Al. 4-20] (AP2): Alarm indicating absence of 4-20 mA signal on input A12
F2A v [Freq. Th 2 attain.] (F2A): Frequency threshold 2 attained ([Freq. threshold 2] (F2d) page 66)
tAd v [Th. drv. att.] (tAd): Drive thermal state attained
rSdA v [Rope slack ] (rSdA): Rope slack (see [Rope slack config.] parameter (rSd) page 171)
ttHA v [High tq. att.] (ttHA): Motor torque overshooting high threshold[High torque thd.] (ttH) page 65.
ttLA v [Low tq. att.] (ttLA): Motor torque undershooting low threshold[Low torque thd.] (ttL) page 65.
MFrd v [Forward] (MFrd): Motor in forward rotation
MrrS v [Reverse] (MrrS): Motor in reverse rotation
tS2 v [Th.mot2 att] (tS2): Motor 2 thermal state attained
AtS v [Neg Torque] (AtS): Negative torque (braking)
CnF0 v [Cnfg.0 act.] (CnF0): Configuration 0 active
CFP1 v [Set 1 active] (CFP1): Parameter set 1 active
dbL v [DC charged] (dbL): DC bus charging
brS v [In braking] (brS): Drive braking
PrM v [P. removed] (PRM): Drive locked by "Power removal" input
FqLA v [Fr.met. alar.] (FqLA): Measured speed threshold attained: [Pulse warning thd.] (FqL) page 66.
MCP v [I present] (MCP): Motor current present
LSA v [Limit sw. att] (LSA): Limit switch attained
dLdA v [Load alarm] (dLdA): Load variation detection (see page 234).
AG1 v [Alarm Grp 1] (AGI): Alarm group 1
AG2 v [Alarm Grp 2] (AG2): Alarm group 2
AG3 v [Alarm Grp 3] (AG3): Alarm group 3
P1A v [PTC1 alarm] (P1A): Probe alarm 1
PLA v [LI6=PTC al.] (PLA): LI6 = PTC probe alarm
EFA v [Ext. fault al] (EFA): External fault alarm
USA v [Under V. al.] (USA): Undervoltage alarm
UPA v [Uvolt warn] (UPA): Undervoltage warning
AnA v [slipping al.] (AnA): Slipping alarm
tHA v [Al. °C drv] (tHA): Drive overheating
bSA v [Load mvt al] (bSA): Braking speed alarm
bCA v [Brk cont. al] (bCA): Brake contact alarm
SSA v [Lim T/I att.] (SSA): Torque limit alarm
rtA v [Trq. ctrl. al.] (rtA): Torque control alarm
tJA v [IGBT al.] (tJA): IGBT alarm
bOA v [Brake R. al.] (bOA): Braking resistor temperature alarm
APA v [Option al.] (APA): Alarm generated by the Controller Inside card.
AP3 v [AI3 Al. 4-20] (AP3): Alarm indicating absence of 4-20 mA signal on input AI3
rdY v [Ready] (rdY): Drive ready
102
b [R1 CONFIGURATION] (continued)
r1d M [R1 Delay time] 0 to 60000 ms (1) 0
The change in state only takes effect once the configured time has elapsed, when the information becomes
true.
The delay cannot be set for the [No drive flt] (FLt) assignment, and remains at 0.
r1S M [R1 Active at] [1 ] (POS)
Configuration of the operating logic:

POS v [1] (POS): State 1 when the information is true
nEG v [0] (nEG): State 0 when the information is true
Configuration [1] (POS) cannot be modified for the [No drive flt] (FLt), assignment.
r1H M [R1 Holding time] 0 to 9999 ms 0
false.
The holding time cannot be set for the [No drive flt] (FLt) assignment, and remains at 0.

r2 M [R2 Assignment] [No] (nO)
Identical to R1 (see page 102) with the addition of (shown for information only as these selections can only
be configured in the [1.7 APPLICATION FUNCT.] (Fun-)) menu:
bLC v [Brk control] (bLC): Brake contactor control
LLC v [Input cont.] (LLC): Line contactor control
OCC v [Output cont] (OCC): Output contactor control
EbO v [End reel] (EbO): End of reel(traverse control function)
tSY v [Sync. wobble] (tSY): "Counter wobble" synchronization
dCO v [DC charging] (dCO): DC bus precharging contactor control.
The delay cannot be set for the [No drive flt] (FLt), [Brk control] (bLC), [Output cont.] (OCC), [DC charging]
(dCO), and [Input cont.] (LLC) assignments, and remains at 0.
true.

The configuration [1 ] (POS) cannot be modified for the [No drive flt] (FLt), [Brk control] (bLC), [DC charging]
(dCO), and [Input cont.] (LLC) assignments.
The holding time cannot be set for the [No drive flt] (FLt), [Brk control] (bLC), [DC charging] (dCO), and
[Input cont] (LLC) assignments, and remains at 0.
false.
(1) 0 to 9999 ms then 10.00 to 60.00 s on the integrated display terminal.
103

Identical to R2
true.

false.

Identical to R2 (see page 103)
true.

false.
104
LO1- b [LO1 CONFIGURATION]

LO1 M [LO1 assignment] [No] (nO)
LO1d M [LO1 delay time] 0 to 60000 ms (1) 0
true.
LO1S M [LO1 active at] [1 ] (POS)

LO1H M [LO1 holding time] 0 to 9999 ms 0
false.

Identical to LO1.
true.

false.
105

Identical to LO1 (see page 105).
true.

false.

Identical to LO1 (see page 105).
true.

false.
106
Use of analog output AO1 as a logic output

Analog output AO1 can be used as a logic output, by assigning DO1. In this case, when set to 0 this output corresponds to the AO1 min.
value (0 V or 0 mA, for example), and when set to 1 to the AO1 max. value (10 V or 20 mA, for example).
The electrical characteristics of this analog output remain unchanged. As these differ from logic output characteristics, it is important to
ensure that they are compatible with the intended application.
dO1- b [DO1 CONFIGURATION]

dO1 M [DO1 assignment] [No] (nO)
dO1d M [DO1 delay time] 0 to 60000 ms (1) 0
true.
dO1S M [DO1 active at] [1 ] (POS)

dO1H M [DO1 holding time] 0 to 9999 ms 0
false.
107
Configuration of analog outputs

Minimum and maximum values (output values):
The minimum output value, in volts or mA, corresponds to the lower limit of the assigned parameter and the maximum value corresponds
to its upper limit. The minimum value may be greater than the maximum value:
Parameter assigned
Parameter assigned
Upper limit Upper limit
Lower Current or Lower Current or

limit voltage limit voltage
[Min Output] [Max Output] 20 mA output [Max Output] [Min Output] 20 mA
output
(AOLx or (AOHx or or (AOHx or (AOLx or or
UOLx) UOHx) 10 V UOHx) UOLx) 10 V
Outputs AO2 and AO3 configured as bipolar outputs (strongly recommended for signed parameters):
The [min Output] (UOLx) and [max Output] (UOHx) parameters are absolute values, although they function symmetrically. In the case of
bipolar outputs, always set the maximum value higher than the minimum value.
The [max Output] (UOHx) corresponds to the upper limit of the assigned parameter, and the [min Output] (UOLx) corresponds to an average
value between the upper and lower limits (0 for a signed and symmetrical parameter such as in the example below).
Parameter
assigned
Upper limit
- 10 V
Voltage
[Min Output] [Max Output] + 10 V output
(UOLx) (UOHx)
Lower limit
108
Scaling of the assigned parameter

The scale of the assigned parameter can be adapted in accordance with requirements by modifying the values of the lower and upper limits
by means of two parameters for each analog output.
These parameters are given in %; 100% corresponds to the total variation range of the configured parameter, so:
- 100% = upper limit - lower limit For example, [Sign. torque] (Stq) which varies between -3 and +3 times the rated torque, 100%
corresponds to 6 times the rated torque.
• The parameter [Scaling AOx min] (ASLx) modifies the lower limit: new value = lower limit + (range x ASLx). The value 0% (factory
setting) does not modify the lower limit.
• The parameter [Scaling AOx max] (ASHx) modifies the upper limit: new value = lower limit + (range x ASLx). The value 100% (factory
setting) does not modify the upper limit.
• [Scaling AOx min] (ASLx) must always be lower than [Scaling AOx max] (ASHx).
Upper limit of the assigned parameter
100 %
New scale
ASHx
ASLx
Lower limit of the assigned parameter
Application example 1
The value of the signed motor torque at the AO2 output is to be transferred with +/- 10 V, with a range of -2 Tr to +2 Tr.
The parameter [Sign. torque.] (Stq) varies between -3 and +3 times the rated torque, or a range of 6 times the rated torque.
[Scaling AO2 min] (ASL2) must modify the lower limit by 1x the rated torque, or 100/6 = 16.7% (new value = lower limit + (range x ASL2).
[Scaling AO2 max] (ASH2) must modify the upper limit by 1x the rated torque, or 100 - 100/6 = 83.3 % (new value = lower limit + (range x
ASH2).
Application example 2
The value of the motor current at the AO2 output is to be transferred with 0 - 20 mA, range 2 In motor, In motor being the equivalent of a
0.8 In drive.
The parameter [I motor] (OCr) varies between 0 and 2 times the rated drive current, or a range of 2.5 times the rated drive current.
[Scaling AO2 min] (ASL2) must not modify the lower limit, which therefore remains at its factory setting of 0%.
[Scaling AO2 max] (ASH2) must modify the upper limit by 0.5x the rated motor torque, or 100 - 100/5 = 80 % (new value = lower limit +
(range x ASH2).
109
AO1- b [AO1 CONFIGURATION]

AO1 M [AO1 assignment] [No] (nO)

OCr v [I motor] (OCr): Current in the motor, between 0 and 2 In (In = rated drive current indicated in the
Installation Manual and on the drive nameplate).
OFr v [Motor freq.] (OFr): Output frequency, from 0 to [Max frequency] (tFr)
OrP v [Ramp out.] (OrP): From 0 to [Max frequency] (tFr)
trq v [Motor torq.] (trq): Motor torque, between 0 and 3 times the rated motor torque.
Stq v [Sign. torque] (Stq): Signed motor torque, between -3 and +3 times the rated motor torque. The + sign
corresponds to the motor mode and the - sign to the generator mode (braking).
OrS v [sign ramp] (OrS) : Signed ramp output, between - [Max frequency] (tFr) and + [Max frequency] (tFr)
OPS v [PID ref.] (OPS) : PID regulator reference between [Min PID reference] (PIP1) and [Max PID reference]
(PIP2)
OPF v [PID feedback] (OPF): PID regulator feedback between [Min PID feedback] (PIF1) and [Max PID
feedback] (PIF2)
OPE v [PID error] (OPE): PID regulator error between- 5 % and + 5 % of ([Max PID feedback] (PIF2) - [Min PID
feedback] (PIF1))
OPI v [PID Output] (OPI) : PID regulator output between [Low speed] (LSP) and [High speed] (HSP)
OPr v [Mot. power] (OPr): Motor power, between 0 and 2.5 times [Rated motor power] (nPr)
tHr v [Mot thermal] (tHr): Motor thermal state, between 0 and 200% of the rated thermal state.
tHd v [Drv thermal] (tHd): Drive thermal state, between 0 and 200% of the rated thermal state.
tqMS v [Torque 4Q] (tqMS) : Signed motor torque, between -3 and +3 times the rated motor torque. The + sign
and the - sign correspond to the physical direction of the torque, regardless of mode (motor or generator).
Example of usage: "master-slave" with the TORQUE CONTROL] (tOr-) function, page 182.
OFrr v [Meas.mot.fr] (OFrr): Measured motor speed.
OFS v [Sig. o/p frq.] (OFS): Signed output frequency, between - [Max frequency] (tFr) and + [Max frequency]
(tFr)
tHr2 v [Mot therm2] (tHr2): Motor thermal state 2, between 0 and 200 % of the rated thermal state.
tHr3 v [Mot therm3] (tHr3): Motor thermal state 3, between 0 and 200% of the rated thermal state.
Utr v [Uns. TrqRef] (Utr): Torque reference, between 0 and 3 times the rated motor torque
Str v [Uns. TrqRef] (Utr): Signed torque reference, between - 3 and + 3 times the rated motor torque
tqL v [Torque lim.] (tqL): Torque limit, between 0 and 3 times the rated motor torque
UOP v [Motor volt.] (UOP): Voltage applied to the motor, between 0 and [Rated motor volt.] (UnS)
dO1 v [dO1] (dO1): Assignment to a logic output. This assignment can only appear if [DO1 assignment] (dO1)
page 107 has been assigned. This is the only possible choice in this case, and is only displayed for
informational purposes.
AO1t M [AO1 Type] [Current] (0A)
10U v [Voltage] (10U): Voltage output

0A v [Current] (0A): Current output
AOL1 M [AO1 min Output] 0 to 20.0 mA 0 mA
The parameter can be accessed if [AO1 Type] (AO1t) = [Current] (0A)
AOH1 M [AO1 max Output] 0 to 20.0 mA 20.0 mA
UOL1 M [AO1 min Output] 0 to 10.0 V 0V
The parameter can be accessed if [AO1 Type] (AO1t) = [Voltage] (10U)
UOH1 M [AO1 max Output] 0 to 10.0 V 10.0 V
The parameter can be accessed if [AO1 Type] (AO1t) = [Voltage] (10U)
110
AO1- b [AO1 CONFIGURATION] (continued)
ASL1 M [Scaling AO1 min] 0 to 100.0 % 0%
Scaling of the lower limit of the assigned parameter, as a % of the maxiumum possible variation.
ASH1 M [Scaling AO1 max] 0 to 100.0 % 100.0 %
Scaling of the upper limit of the assigned parameter, as a % of the maxiumum possible variation.
AO1F M [AO1 Filter] 0 to 10.00 s 0s
Interference filtering. This parameter is forced to 0 if[AO1 asisgnment] (AO1) = [dO1] (dO1).
111

Same assignments as AO1, without [dO1] (dO1).

n10U v [Voltage +/-] (n10U): Bipolar voltage output.
The parameter can be accessed if [AO2 Type] (AO2t) = [Voltage] (10U) or [Voltage +/-] (n10U)
112

Same assignments as AO1, without [dO1] (dO1).

n10U v [Voltage +/-] (n10U): Bipolar voltage output.
113
The following submenus group the alarms into 1 to 3 groups, each of which can be assigned to a relay or a logic output for remote signaling.
These groups can also be displayed on the graphic display terminal (see [6 MONITORING CONFIG.] menu) and viewed via the [1.2
MONITORING] (SUP) menu.
When one or a number of alarms selected in a group occurs, this alarm group is activated.
A1C-
b [ALARM GRP1 DEFINITION]
Selection to be made from the following list:
PLA v [LI6=PTC al.] (PLA): LI6 = PTC probe alarm
EFA v [Ext. fault al.] (EFA): External fault alarm
USA v [Under V. al.] (USA): Undervoltage alarm
AnA v [slipping al.] (AnA): Slipping alarm
CtA v [I attained] (CtA): Current threshold attained ([Current threshold] (Ctd) page 65)
FtA v [Freq.Th.att.] (FtA): Frequency threshold attained ([Freq. threshold] (Ftd) page 66)
F2A v [Freq. Th. 2 attain.] (F2A): Frequency threshold 2 attained ([Freq. Th. 2 attain] (F2d) page 66)
SrA v [Freq.ref.att] (SrA): Frequency reference attained
tSA v [Th.mot. att.] (tSA): Motor 1 thermal state attained
tS3 v [Th.mot3 att] (tS3) : Motor 3 thermal state attained
UPA v [Uvolt warn] (UPA): Undervoltage warning
FLA v [HSP attain.] (FLA): High speed attained
tHA v [Al. °C drv] (tHA): Drive overheating
bSA v [Load mvt al] (bSA): Braking speed alarm
bCA v [Brk cont. al] (bCA): Brake contact alarm
PEE v [PID error al] (PEE): PID error alarm
PFA v [PID fdbk al.] (PFA): PID feedback alarm
AP2 v [AI2 Al. 4-20] (AP2): Alarm indicating absence of 4-20 mA signal on input A12
SSA v [Lim T/I att.] (SSA): Torque limit alarm
tAd v [Th. drv. att.] (tAd): Drive thermal state attained
tJA v [IGBT alarm] (tJA): IGBT alarm
rtA v [Torque Control al.] (rtA): Torque control alarm
bOA v [Brake R. al.] (bOA): Braking resistor temperature alarm
APA v [Option al.] (APA): Alarm generated by an option card.
UrA v [Regen. underV. al.] (UrA): Reserved.
rSdA v [Rope slack alarm] (rSdA) : Rope slack (see [Rope slack config.] (rSd) parameter page 171)
ttHA v [High torque alarm] (ttHA): Motor torque overshooting high threshold [High torque thd.] (ttH) page 65.
ttLA v [Low torque alarm] (ttLA) : Motor torque undershooting low threshold[Low torque thd.] (ttL) page 65.
FqLA v [Freq. meter Alarm] (FqLA) : Measured speed threshold attained: [Pulse warning thd.] (FqL) page 66.
dLdA v [Dynamic load alarm] (dLdA): Load variation detection (see[DYNAMIC LOAD DETECT.] (dLd-) page
234).
See the multiple selection procedure on page 29 for the integrated display terminal, and page 20 for the graphic
display terminal.
A2C-
Identical to [ALARM GRP1 DEFINITION] (A1C-)
A3C-
Identical to [ALARM GRP1 DEFINITION] (A1C-)
114
[1.6 COMMAND] (CtL-)
RDY Term +0.00Hz 0A

1 DRIVE MENU
1.1 SIMPLY START
1.2 MONITORING
1.3 SETTINGS
1.4 MOTOR CONTROL
RDY Term +0.00Hz 0A 1.5 INPUTS / OUTPUTS CFG RUN Term +50.00Hz 80A
MAIN MENU Code << >> Quick 1.6 COMMAND
ENT ENT
1 DRIVE MENU 1.6 COMMAND Ref. 1 channel
2 ACCESS LEVEL 1.7 APPLICATION FUNCT. RV Inhibition
3 OPEN / SAVE AS 1.8 FAULT MANAGEMENT Stop Key priority
4 PASSWORD 1.9 COMMUNICATION Profile
5 LANGUAGE 1.10 DIAGNOSTICS Cmd switching
Code Quick 1.11 IDENTIFICATION Code << >> Quick
1.13 USER MENU

Power-up
ENT
ESC
SIM-
ESC
I-O-
ENT
ESC
CtL- COMMAND
ESC
ESC
FUn-
ESC
LAC-
115
The parameters in the [1.6 COMMAND] (CtL) menu can only be modified when the drive is stopped and no run command is present.
Command and reference channels

Run commands (forward, reverse, stop, etc.) and references can be sent using the following channels:
Control Reference
• Terminals: logic inputs LI • Terminals: analog inputs AI, frequency input, encoder
• Graphic display terminal • Graphic display terminal
• Integrated Modbus • Integrated Modbus
• Integrated CANopen • Integrated CANopen
• Communication card • Communication card
• Controller Inside card • Controller Inside card
• +/- speed via the terminals
• +/- speed via the graphic display terminal
The behavior of the Altivar 71 can be adapted according to requirements:

• [8 serie] (SE8): To replace an Altivar 58. See the Migration Manual.
• [Not separ.] (SIM): Command and reference are sent via the same channel.
• [Separate] (SEP): Command and reference may be sent via different channels.
In these configurations, control via the communication bus is performed in accordance with the DRIVECOM standard with only 5 freely-
assignable bits (see Communication Parameters Manual). The application functions cannot be accessed via the communication interface.
• [I/O profile] (IO): The command and the reference can come from different channels. This configuration both simplifies and extends
use via the communication interface.
Commands may be sent via the logic inputs on the terminals or via the communication bus.
When commands are sent via a bus, they are available on a word, which acts as virtual terminals containing only logic inputs.
Application functions can be assigned to the bits in this word. More than one function can be assigned to the same bit.
Note: Stop commands from the terminals remain active even if the terminals are not the active command channel.
Note : The integrated Modbus channel has 2 physical communication ports:

- The Modbus network port
- The Modbus HMI port
The drive does not differentiate between these two ports, but recognizes the graphic display terminal irrespective of the port to
which it is connected.
116
Reference channel for [Not separ.] (SIM), [Separate] (SEP) and [I/O profile] (IO)
configurations, PID not configured
[Ref 1B switching] 279/

H/>
0V nO
[Ref.1 channel]
2H$ AI1
Note: Forced local is not
(FRA + SA2 + SA3 - dA2 - dA3) x MA2 x MA3
2H$> FRA Preset

AI2 active in [I/O profile].
speeds
[Ref.1B channel] AI3
[Summing ref. 2] nO 72H
AI4
;-% Graphic display
(SP1) terminal LCC
[Summing ref. 3]
;-& SP2
[Subtract. ref. 2] LI
@-% SP16
[Subtract. ref. 3] Jog
@-& operation
[Multiplier ref. 2] nO
8-%
[Multiplier ref. 3]
8-& +/- speed around a
reference
Channel 1
[PID REGULATOR] :52

[High Ramps
nO LI speed]
PID not assigned
HSP ACC DEC
FrH rFr
nO
[Ref.2 channel] nO
LSP AC2 DE2
2H%
[Low speed]
Channel
279
Key: H2/ Forced local
[Ref. 2 switching]
Parameter:
The black square represents
the factory setting assignment
Instructions
Fr1, SA2, SA3, dA2, dA3, MA2, MA3:
• Terminals, graphic display terminal, integrated Modbus, integrated CANopen, communication card, Controller Inside card
Fr1b, for SEP and IO:

Fr1b, for SIM:

• Terminals, only accessible if Fr1 = terminals
Fr2:
• Terminals, graphic display terminal, integrated Modbus, integrated CANopen, communication card, Controller Inside card, and +/-
speed
Note :[Ref.1B channel] (Fr1b) and [Ref 1B switching] (rCb) must be configured in the [1.7 APPLICATION FUNCT.] (Fun-) menu.
117
Reference channel for [Not separ.] (SIM), [Separate] (SEP) and [I/O profile] (IO)
configurations, PID configured with PID references at the terminals
[Ref 1B switching]
279/
H/>
[Ref.1 channel] 0V nO
2H$ AI1 Note: Forced local is not
2H$> FRA AI2 active in [I/O profile].
FRA + SA2 + SA3 - dA2 - dA3
[Ref.1B channel] PID AI3

A B 72H
[Summing ref. 2] See page 172 AI4
;-%
LCC
[Summing ref. 3]
;-&
Graphic display
[Subtract. ref. 2] terminal
@-%
[Subtract. ref. 3]
@-&
[High
LI Ramps (1)
speed]
HSP ACC DEC
Channel 1 FrH rFr
nO
[Ref.2 channel]
LSP AC2 DE2
2H%
Channel 2 [Low speed]
279
Key: H2/ Forced local
[Ref. 2 switching]
Parameter:
The black square represents the
factory setting assignment
Instructions
Fr1:
Fr1b, for SEP and IO:

Fr1b, for SIM:

• Terminals, only accessible if Fr1 = terminals
SA2, SA3, dA2, dA3:

• Terminals only
Fr2:
• Terminals, graphic display terminal, integrated Modbus, integrated CANopen, communication card, Controller Inside card, and +/-
speed
(1) Ramps not active if the PID function is active in automatic mode.
Note :[Ref.1B channel] (Fr1b) and [Ref 1B switching] (rCb) must be configured in the [1.7 APPLICATION FUNCT.] (Fun-) menu.
118
Command channel for [Not separ.] (SIM) configuration

Reference and command, not separate
The command channel is determined by the reference channel. Parameters Fr1, Fr2, rFC, FLO and FLOC are common to reference and
command.
Example: if the reference is Fr1 = AI1 (analog input at the terminals), control is via LI (logic input at the terminals).
279/
LI nO
AI1
AI2
[Ref.1 channel] AI3

2H$ AI4
LCC
(RUN/STOP
FWD/REV)
Graphic display
terminal
LI
[Profile]
/4/2 279 Forced local
[Ref. 2 switching] H2/
nO
SIM
CMD Forward
Reverse
nO STOP
Graphic display STOP YES

terminal LI
:;I
2H% (Stop Key priority)
[Ref.2 channel]
Key:
Parameter:
The black square represents
the factory setting assignment
119
Command channel for [Separate] (SEP) configuration

Separate reference and command
Parameters FLO and FLOC are common to reference and command.
Example: If the reference is in forced local mode via AI1 (analog input at the terminals), command in
forced local mode is via LI (logic input at the terminals).
The command channels Cd1 and Cd2 are independent of the reference channels Fr1, Fr1b and Fr2.
279/
LI nO
AI1
AI2
AI3
[Cmd channel 1]
AI4
/@$
LCC
(RUN/STOP
FWD/REV)
Graphic display
terminal
LI
[Profile]
[Cmd switching] //; 279 Forced local
/4/2
SEP
nO
Forward
CMD
Reverse
STOP
nO
terminal
:;I
/@% (Stop Key priority)
[Cmd channel 2]
Key:
Parameter:
The black rectangle represents the factory
setting assignment, except for [Profile].
Commands
Cd1, Cd2:
120
Command channel for [I/O profile] (IO) configuration

Separate reference and command, as in [Separate] (SEP) configuration
The command channels Cd1 and Cd2 are independent of the reference channels Fr1, Fr1b and Fr2.
[Cmd channel 1]
/@$
Note: Forced local is not

active in [I/O profile].
LI
[Profile]
[Cmd switching] //; 279 Forced local
/4/2
I/O
nO
Forward
CMD
Reverse
STOP
nO
terminal
:;I
/@% (Stop Key priority)
[Cmd channel 2]
Key:
Parameter:
The black rectangle represents the factory
setting assignment, except for [Profile].
Commands
Cd1, Cd2:
121
Command channel for [I/O profile] (IO) configuration

Selection of a command channel:
A command or an action can be assigned:
• To a fixed channel by selecting an LI input or a Cxxx bit:
- By selecting e.g., LI3, this action will always be triggered by LI3 regardless of which command channel is switched.
- By selecting e.g., C214, this action will always be triggered by integrated CANopen with bit 14 regardless of which command
channel is switched.
• To a switchable channel by selecting a CDxx bit:

- By selecting, e.g., CD11, this action will be triggered by
LI12 if the terminals channel is active
C111 if the integrated Modbus channel is active
C211 if the integrated CANopen channel is active
C311 if the communication card channel is active
C411 if the Controller Inside card channel is active
If the active channel is the graphic display terminal, the functions and commands assigned to CDxx switchable internal bits are inactive.
Note:
• CD14 and CD15 can only be used for switching between 2 networks. They do not have equivalent logic inputs.
Communication Controller Inside Internal bit, can be

Terminals Integrated Modbus Integrated CANopen
card card switched
CD00
LI2 (1) C101 (1) C201 (1) C301 (1) C401 (1) CD01
LI3 C102 C202 C302 C402 CD02
LI4 C103 C203 C303 C403 CD03
LI5 C104 C204 C304 C404 CD04
LI6 C105 C205 C305 C405 CD05
LI7 C106 C206 C306 C406 CD06
LI8 C107 C207 C307 C407 CD07
LI9 C108 C208 C308 C408 CD08
LI10 C109 C209 C309 C409 CD09
LI11 C110 C210 C310 C410 CD10
LI12 C111 C211 C311 C411 CD11
LI13 C112 C212 C312 C412 CD12
LI14 C113 C213 C313 C413 CD13
- C114 C214 C314 C414 CD14
- C115 C215 C315 C415 CD15
(1) If [2/3 wire control] (tCC) page 88 = [3 wire] (3C), LI2, C101, C201, C301, and C401 cannot be accessed.
122
Assignment conditions for logic inputs and control bits

The following elements are available for every command or function that can be assigned to a logic input or a control bit:
[LI1] (LI1)
to Drive with or without option
[LI6] (LI6)
[LI7] (LI7)
to With VW3A3201 logic I/O card
[LI10] (LI10)
[LI11] (LI11)
to With VW3A3202 extended I/O card
[LI14] (LI14)
[C101] (C101)
to With integrated Modbus in [I/O profile] (IO) configuration
[C110] (C110)
[C111] (C111)
to With integrated Modbus regardless of configuration
[C115] (C115)
[C201] (C201)
to With integrated CANopen in [I/O profile] (IO) configuration
[C210] (C210)
[C211] (C211)
to With integrated CANopen regardless of configuration
[C215] (C215)
[C301] (C301)
to With a communication card in [I/O profile] (IO) configuration
[C310] (C310)
[C311] (C311)
to With a communication card regardless of configuration
[C315] (C315)
[C401] (C401)
to With Controller Inside card in [I/O profile] (IO) configuration
[C410] (C410)
[C411] (C411)
to With Controller Inside card regardless of configuration
[C415] (C415)
[CD00] (Cd00)
to In [I/O profile] (IO) configuration
[CD10] (Cd10)
[CD11] (Cd11)
to Regardless of configuration
[CD15] (Cd15)
Note : In [I/O profile] (IO) configuration, LI1 cannot be accessed and if [2/3 wire control] (tCC) page 88 = [3 wire] (3C), LI2, C101,
C201, C301 and C401 cannot be accessed either.
WARNING
Inactive communication channels are not monitored (no lock following malfunction in the event of a communication bus
failure). Make sure that the commands and functions assigned to bits C101 to C415 will not pose a risk in the event of the
failure of the associated communication bus.
123
Fr1 M [Ref.1 channel] [AI1] (AI1)
AI1 v [AI1] (AI1): Analog input

AI3 v [AI3] (AI3): Analog input, if VW3A3202 extension card has been inserted
LCC v [HMI] (LCC): Graphic display terminal
PI v [RP] (PI): Frequency input, if VW3A3202 extension card has been inserted,
PG v [Encoder] (PG): Encoder input, if encoder card has been inserted
rIn M [RV Inhibition] [No] (nO)
nO v [No] (nO)
YES v [Yes] (YES)
Inhibition of movement in reverse direction, does not apply to direction requests sent by logic inputs.
- Reverse direction requests sent by logic inputs are taken into account.
- Reverse direction requests sent by the graphic display terminal are not taken into account.
- Reverse direction requests sent by the line are not taken into account.
- Any reverse speed reference originating from the PID, summing input, etc., is interpreted as a zero
reference (0 Hz).
PSt M [Stop Key priority] [Yes] (YES)
nO v [No] (nO)
YES v [Yes] (YES): Gives priority to the STOP key on the graphic display terminal when the graphic display terminal
is not enabled as the command channel.
Press and hold down ENT for 2 seconds in order for any change in the assignment of [Stop Key priority] (PSt)
to be taken into account.
This will be a freewheel stop. If the active command channel is the graphic display terminal, the stop will be
performed according to the [Type of stop] (Stt) page 140 irrespective of the configuration of [Stop Key priority]
(PSt).
CHCF M [Profile] [Not separ.] (SIM)
SE8 v [8 serie] (SE8): ATV58 interchangeability (see Migration Manual). The[8 serie] (SE8) configuration is used to
load, via PowerSuite, for example, an ATV58 drive configuration in an ATV71 that has already been set to this
configuration.This assignment cannot be accessed if a Controller Inside card has been inserted.
Note: Modifications to the configuration of the ATV71 must only be made using PowerSuite when it is
in this configuration, otherwise operation cannot be guaranteed.
SIM v [Not separ.] (SIM): Reference and command, not separate

SEP v [Separate] (SEP): Separate reference and command. This assignment cannot be accessed in [I/O profile]
(IO).
IO v [I/O profile] (IO): I/O profile
When [8 serie] (SE8) is selected and [I/O profile] (IO) is deselected, the drive automatically returns to the factory
setting (this is mandatory). This factory setting only affects the [1 DRIVE MENU] menu. It does not affect either
[1.9 COMMUNICATION] or [1.5 PROGRAMMABLE CARD].
- With the graphic display terminal, a screen appears to perform this operation. Follow the instructions on
the screen.
- With the integrated display terminal, press ENT and hold it down (for 2 s). This will save the selection and
return to the factory setting.
124
CCS M [Cmd switching] [ch1 active] (Cd1)
The parameter can be accessed if [Profile] (CHCF) = [Separate] (SEP) or [I/O profile] (IO)
Cd1 v [ch1 active] (Cd1): [Cmd channel 1] (Cd1) active (no switching)
Cd2 v [ch2 active] (Cd2): [Cmd channel 2] (Cd2) active (no switching)
LI1 v [LI1] (LI1)
- :
- :
- v [...] (...): See the assignment conditions on page 123 (not CDOO to CD14).
If the assigned input or bit is at 0, channel [Cmd channel 1] (Cd1) is active.
If the assigned input or bit is at 1, channel [Cmd channel 2] (Cd2) is active.
Cd1 M [Cmd channel 1] [Terminals] (tEr)
tEr v [Terminals] (tEr): Terminals

The parameter is available if [Profile] (CHCF) = [Separate] (SEP) or [I/O profile] (IO).
Cd2 M [Cmd channel 2] [Modbus] (Mdb)
tEr v [Terminals] (tEr): Terminals

The parameter is available if [Profile] (CHCF) = [Separate] (SEP) or [I/O profile] (IO).
rFC M [Ref. 2 switching] [ch1 active] (Fr1)
Fr1 v [ch1 active] (Fr1): no switching, [Ref.1 channel] (Fr1) active

LI1 v [LI1] (LI1)
- :
- :
If the assigned input or bit is at 0, channel [Ref.1 channel] (Fr1) is active.
If the assigned bit or input is at 1, channel [Ref.2 channel] (Fr2) is active.
Fr2 M [Ref.2 channel] [No] (nO)
nO v [No] (nO): Not assigned. If [Profile] (CHCF) = [Not separ.] (SIM) the command is at the terminals with a zero
reference. If [Profile] (CHCF) = [Separate] (SEP) or [I/O profile] (IO) the reference is zero.
UPdt v [+/- Speed] (UPdt) : +/- Speed command
PI v [RP] (PI): Frequency input, if VW3A3202 extension card has been inserted
125
COP M [Copy channel 1 <> 2] [No] (nO)
Can be used to copy the current reference and/or the command by means of switching, in order to avoid speed
surges, for example.
If [Profile] (CHCF) page 124 = [Not separ.] (SIM) or [Separate] (SEP), copying will only be possible from
channel 1 to channel 2.
If [Profile] (CHCF) = [I/O profile] (IO), copying will be possible in both directions.
nO v [No] (nO): No copy
SP v [Reference] (SP): Copy reference
Cd v [Command] (Cd): Copy command
ALL v [Cmd + ref.] (ALL): Copy command and reference
- A reference or a command cannot be copied to a channel on the terminals.
- The reference copied is FrH (before ramp) unless the destination channel reference is set via +/- speed.
In this case, the reference copied is rFr (after ramp).
WARNING
Copying the command and/or reference can change the direction of rotation.
Check that this is safe.
126
As the graphic display terminal may be selected as the command and/or reference channel, its action modes can be configured.
The parameters on this page can only be accessed on the graphic display terminal, and not on the integrated display terminal.
Comments:
• The display terminal command/reference is only active if the command and/or reference channels from the terminal are active with
the exception of [T/K] (command via the display terminal), which takes priority over these channels. Press [T/K] (command via the
display terminal) again to revert control to the selected channel.
• Command and reference via the display terminal are impossible if the latter is connected to more than one drive.
• The JOG, preset speed and +/- speed functions can only be accessed if [Profile] (CHCF) = [Not separ.] (SIM).
• The preset PID reference functions can only be accessed if [Profile] (CHCF) = [Not separ.] (SIM) or [Separate] (SEP)
• The [T/K] (command via the display terminal) can be accessed regardless of the [Profile] (CHCF).
Name/Description Adjustment range Factory setting
M [F1 key assignment] [No]
v [No]: Not assigned

v [Jog] : JOG operation
v [Preset spd2]: Press the key to run the drive at the 2nd preset speed [Preset speed 2] (SP2) page 147. Press STOP to stop
the drive.
v [Preset spd3]: Press the key to run the drive at the 3rd preset speed [Preset speed 3] (SP3) page 147. Press STOP to stop
the drive.
v [PID ref. 2]: Sets a PID reference equal to the 2nd preset PID reference [Preset ref. PID 2] (rP2) page 180, without sending
a run command. Only operates if [Ref.1 channel] (Fr1) = [HMI] (LCC). Does not operate with the [T/K] function.
v [PID ref. 3] : Sets a PID reference equal to the 3rd preset PID reference [Preset ref. PID 3] (rP3) page 180, without sending
a run command. Only operates if [Ref.1 channel] (Fr1) = [HMI] (LCC). Does not operate with the [T/K] function.
v [+speed]: Faster, only operates if [Ref.2 channel] (Fr2) = [HMI] (LCC). Press the key to run the drive and increase the speed.
Press STOP to stop the drive.
v [- speed]: Slower, only operates if [Ref.2 channel] (Fr2) = [HMI] (LCC) and if a different key has been assigned to [+ speed].
Press the key to run the drive and decrease the speed. Press STOP to stop the drive.
v [T/K]: Command via the display terminal: takes priority over[Cmd switching] (CCS) and over [Ref. 2 switching] (rFC).
Identical to [F1 key assignment].
M [HMI cmd.] [Stop]
When the [T/K] function is assigned to a key and that function is active, this parameter defines the behavior at the moment when
control returns to the graphic display terminal.
v [Stop] : Stops the drive (although the controlled direction of operation and reference of the previous channel are copied (to be taken
into account on the next RUN command)).
v [Bumpless]: Does not stop the drive (the controlled direction of operation and the reference of the previous channel are copied).
127
RDY Term +0.00Hz 0A

1 DRIVE MENU
1.1 SIMPLY START
1.2 MONITORING
1.3 SETTINGS
1.4 MOTOR CONTROL
RDY Term +0.00Hz 0A Code << >> Quick RUN Term +50.00Hz 80A
MAIN MENU 1.6 COMMAND 1.7 APPLICATION FUNCT.
ENT ENT
1 DRIVE MENU 1.7 APPLICATION FUNCT. REFERENCE SWITCH.
2 ACCESS LEVEL 1.8 FAULT MANAGEMENT REF. OPERATIONS
3 OPEN / SAVE AS 1.9 COMMUNICATION RAMP
4 PASSWORD 1.10 DIAGNOSTICS STOP CONFIGURATION
5 LANGUAGE 1.11 IDENTIFICATION AUTO DC INJECTION
Code Quick 1.12 FACTORY SETTINGS Code << >> Quick
6 MONITORING CONFIG. 1.13 USER MENU
7 DISPLAY CONFIG. 1.14 PROGRAMMABLE CARD
With integrated display terminal: Summary of functions:

Power-up
Code Name Page
rEF- [REFERENCE SWITCH.] 134
XXX Displays the state of the drive OAI- [REF. OPERATIONS] 135
rPt- [RAMP] 136
ENT
Stt- [STOP CONFIGURATION] 140
AdC- [AUTO DC INJECTION] 142
ESC
SIM- JOG- [JOG] 144

PSS- [PRESET SPEEDS] 146
UPd- [+/- SPEED] 149
ESC SrE- [+/-SPEED AROUND REF.] 151
CtL-
SPM- [MEMO REFERENCE] 152
ENT
ESC
FUn- APPLICATION FUNCT. FLI- [FLUXING BY LI] 153

ESC
LSt- [LIMIT SWITCHES] 155
ESC
FLt- bLC- [BRAKE LOGIC CONTROL] 160

ELM- [EXTERNAL WEIGHT MEAS.] 166
HSH- [HIGH SPEED HOISTING] 171
ESC
PId- [PID REGULATOR] 176
LAC- Pr1- [PID PRESET REFERENCES] 180
tOr- [TORQUE CONTROL] 182
tOL- [TORQUE LIMITATION] 185
CLI- [2nd CURRENT LIMIT.] 187
LLC- [LINE CONTACTOR COMMAND] 189
OCC- [OUTPUT CONTACTOR CMD] 191
LPO- [POSITIONING BY SENSORS] 195
MLP- [PARAM. SET SWITCHING] 198
MMC- [MULTIMOTORS/CONFIG.] 203
tnL- [AUTO TUNING BY LI] 203
trO- [TRAVERSE CONTROL] 209
rFt- [EVACUATION] 211
HFF- [HALF FLOOR] 212
dCO- [DC BUS SUPPLY] 213
128
The parameters in the [1.7 APPLICATION FUNCT.] (FUn-) menu can only be modified when the drive is stopped and there is no run
command, except for parameters with a T symbol in the code column, which can be modified with the drive running or stopped.
Note: Compatibility of functions

The choice of application functions may be limited by the number of I/O and by the fact that some functions are incompatible with
one another. Functions that are not listed in the table below are fully compatible.
If there is an incompatibility between functions, the first function configured will prevent the others being configured.
Each of the functions on the following pages can be assigned to one of the inputs or outputs.
A single input can activate several functions at the same time (reverse and 2nd ramp for example), The user must therefore ensure
that these functions can be used at the same time. It is only possible to assign one input to several functions at [Advanced] (AdU) and
[Expert] (EPr) levels.
Before assigning a command, reference or function to an input or output, the user must make sure that this input or output has
not already been assigned and that another input or output has not been assigned to an incompatible or undesirable function.
The drive factory setting or macro configurations automatically configure functions, which may prevent other functions being assigned.
It may be necessary to unconfigure one or more functions in order to be able to enable another. Check the compatibility table below.
129
Compatibility table
Management of limit switches (page 155)
Open-loop synchronous motor (page 73)

+/- speed around a reference (page 151)
Positioning by sensors (page 195)

Reference operations (page 135)
High speed hoisting (page 171)

Brake logic control (page 160)
DC injection stop (page 140)

Traverse control (page 209)
Catch on the fly (page 219)
Freewheel stop (page 140)

JOG operation (page 144)
Torque control (page 182)

Preset speeds (page 146)
PID regulator (page 176)

+/- speed (3) (page 149)
Load sharing (page 84)

Fast stop (page 140)
Reference operations (page 135) A p(4) A p(1)
+/- speed (3) (page 149) p p p(1)
Management of limit switches (page 155) p
Preset speeds (page 146) X A p(1)
PID regulator (page 176) p(4) p p p p p p p(1) p p
Traverse control (page 209) p p p p p p(1)
JOG operation (page 144) X p X p p p p p p(1)
Brake logic control (page 160) p p p p p p
Catch on the fly (page 219) p p(1)
DC injection stop (page 140) p p(2) A p
Fast stop (page 140) p(2) A
Freewheel stop (page 140) X X
+/- speed around a reference (page 151) p p p p(1)
High speed hoisting (page 171) p p p p p
Torque control (page 182) p(1) p(1) p(1) p(1) p(1) p(1) p p(1) p(1) p p p(1) p
Load sharing (page 84) p p
Positioning by sensors (page 195) p p p(1)
Open-loop synchronous motor (page 73) p p p
(1) Torque control and these functions are only incompatible while torque control mode is active.
(2) Priority is given to the first of these two stop modes to be activated.
(3) Excluding special application with reference channel Fr2 (see diagrams on pages 117 and 118).
(4) Only the multiplier reference is incompatible with the PID regulator.
Incompatible functions Compatible functions Not applicable
Priority functions (functions, which cannot be active at the same time):
The function indicated by the arrow has priority over the other.
Stop functions have priority over run commands.

Speed references via logic command have priority over analog references.
Note: This compatibility table does not affect commands that can be assigned to the keys of the graphic display terminal (see page
127.
130
Incompatible functions
The following functions will be inaccessible or deactivated in the cases described below:
Automatic restart
This is only possible for control type [2/3 wire control] (tCC) = [2 wire] (2C) and [2 wire type] (tCt) = [Level] (LEL) or [Fwd priority] (PFO).
See page 88.
Catch a spinning load

This is only possible for control type [2/3 wire control] (tCC) = [2 wire] (2C) and [2 wire type] (tCt) = [Level] (LEL) or [Fwd priority] (PFO).
See page 88.
This function is locked if automatic injection on stop [Auto DC injection] (AdC) = [Continuous] (Ct). See page 142.
The SUP- monitoring menu (page 44) can be used to display the functions assigned to each input in order to check their compatibility.
When a function is assigned, a appears on the graphic display terminal, as illustrated in the example below:
RDY Term +0.00Hz 0A

REFERENCE SWITCH.
REF. OPERATIONS
RAMP
STOP CONFIGURATION
AUTO DC INJECTION
Code << >> Quick
JOG
If you attempt to assign a function that is incompatible with another function that has
already been assigned, an alarm message will appear:
With the graphic display terminal:
RDY Term +0.00Hz 0A

INCOMPATIBILITY
The function can't be assigned
because an incompatible
function is already selected. See
programming book.
ENT or ESC to continue
With the integrated display terminal:

COMP flashes until ENT or ESC is pressed.
When you assign a logic input, an analog input, a reference channel or a bit to a
function, pressing the HELP button will display the functions that may already have
been activated by this input, bit or channel.
131
When a logic input, an analog input, a reference channel or a bit that has already
been assigned is assigned to another function, the following screens appear:
With the graphic display terminal:
RUN +50.00Hz 1250A +50.00Hz

WARNING - ASSIGNED TO
Ref. 2 switching
ENT->Continue ESC->Cancel
If the access level permits this new assignment, pressing ENT confirms the assignment.
If the access level does not permit this new assignment, pressing ENT results in the following display:
RUN +50.00Hz 1250A +50.00Hz

ASSIGNMENT FORBIDDEN
Un-assign the present
functions, or select
Advanced access level
The code for the first function, which is already assigned, is displayed flashing.
If the access level permits this new assignment, pressing ENT confirms the assignment.
If the access level does not permit this new assignment, pressing ENT has no effect, and the message continues to flash. It is only possible
to exit by pressing ESC.
132
Summing input/Subtracting input/Multiplier

Fr1 or Fr1b
SA2
SA3
dA2 A
dA3
MA2
MA3
A = (Fr1 or Fr1b + SA2 + SA3 - dA2 - dA3) x MA2 x MA3
• If SA2, SA3, dA2, dA3 are not assigned, they are set to 0.
• If MA2, MA3 are not assigned, they are set to 1.
• A is limited by the minimum LSP and maximum HSP parameters.
• For multiplication, the signal on MA2 or MA3 is interpreted as a %; 100% corresponds to the maximum value of the corresponding
input. If MA2 or MA3 is sent via the communication bus or graphic display terminal, an MFr multiplication variable,
page 50 must be sent via the bus or graphic display terminal.
• Reversal of the direction of operation in the event of a negative result can be inhibited (see page 124).
133
rEF- b [REFERENCE SWITCH.]

rCb M [Ref 1B switching] [ch1 active] (Fr1)
See the diagrams on pages 117 and 118.

Fr1b v [ch1B active] (Fr1b): no switching, [Ref.1B channel] (Fr1b) active
LI1 v [LI1] (LI1)
- :
- :
• If the assigned input or bit is at 0, [Ref.1 channel] (Fr1) is active (see page 124).
• If the assigned input or bit is at 1, [Ref.1B channel] (Fr1b) is active.
[Ref 1B switching] (rCb) is forced to [ch1 active] (Fr1) if [Profile] (CHCF) = [Not separ.] (SIM) with [Ref.1
channel] (Fr1) assigned via the terminals (analog inputs, encoder, pulse input); see page 124.
Fr1b M [Ref.1B channel] [No] (nO)

Note:
In the following instances, only assignments via the terminals are possible:
- [Profile] (CHCF) = [Not separ.] (SIM) with [Ref.1 channel] (Fr1) assigned via the terminals (analog
inputs, encoder, pulse input); see page 124.
- PID configured with PID references via the terminals
134
OAI- b [REF. OPERATIONS]

Reference = (Fr1 or Fr1b + SA2 + SA3 - dA2 - dA3) x MA2 x MA3. See the diagrams on pages117 and 118.
Note: This function cannot be used with certain other functions. Follow the instructions on page 129.
SA2 M [Summing ref. 2] [No] (nO)
Selection of a reference to be added to [Ref.1 channel] (Fr1) or [Ref.1B channel] (Fr1b).

nO v [No] (nO): No source assigned
AIU1 v [Network AI] (AIU1): Virtual input via communication bus, can be configured using [AI net. channel]
(AIC1) page 97.
WARNING
value transmitted.
SA3 M [Summing ref. 3] [No] (nO)
Selection of a reference to be added to [Ref.1 channel] (Fr1) or [Ref.1B channel] (Fr1b).

• Possible assignments are identical to [Summing ref. 2] (SA2) above.
dA2 M [Subtract. ref. 2] [No] (nO)
Selection of a reference to be subtracted from [Ref.1 channel] (Fr1) or [Ref.1B channel] (Fr1b).
dA3 M [Subtract. ref. 3] [No] (nO)
Selection of a reference to be subtracted from [Ref.1 channel] (Fr1) or [Ref.1B channel] (Fr1b).
MA2 M [Multiplier ref. 2] [No] (nO)
Selection of a multiplier reference [Ref.1 channel] (Fr1) or [Ref.1B channel] (Fr1b).

MA3 M [Multiplier ref. 3] [No] (nO)
Selection of a multiplier reference [Ref.1 channel] (Fr1) or [Ref.1B channel] (Fr1b).

135
rPt- b [RAMP]
rPt M [Ramp type] [Linear] (LIn)
LIn v [Linear] (LIn)

S v [S ramp] (S)
U v [U ramp] (U)
CUS v [Customized] (CUS)
S ramps
f (Hz) f (Hz)
FrS FrS The rounding coefficient is fixed,
where t2 = 0.6 x t1
and t1 = set ramp time.
0 0
t t
t2 t2
t1 t1
U ramps
f (Hz) f (Hz)
FrS FrS
The rounding coefficient is fixed,

where t2 = 0.5 x t1
0 0 and t1 = set ramp time.
t t
t2 t2
t1 t1
Customized ramps
f (Hz) f (Hz) tA1: adjustable from 0 to 100%
FrS FrS
tA2: adjustable from 0 to (100% - tA1)
tA3: adjustable from 0 to 100%
tA4: adjustable from 0 to (100% - tA3)
0 0
t t
tA1 tA2 tA3 tA4
As a % of t1, where t1 = set ramp time
t1 t1
Inr M [Ramp increment] (1) [0,1 ] (0.1)
T
0.01 v [0,01]: Ramp up to 99.99 seconds
0.1 v [0,1]: Ramp up to 999.9 seconds
1 v [1]: Ramp up to 6000 seconds
This parameter is valid for [Acceleration] (ACC), [Deceleration] (dEC), [Acceleration 2] (AC2) and
[Deceleration 2] (dE2).
ACC M [Acceleration] (1) 0.01 to 6000 s (2) 3.0 s
T Time to accelerate from 0 to the [Rated motor freq.] (FrS) (page 68). Make sure that this value is compatible
dEC M [Deceleration] (1) 0.01 to 6000 s (2) 3.0 s
T Time to decelerate from the [Rated motor freq.] (FrS) (page 68) to 0. Make sure that this value is compatible
(2) Range 0.01 to 99.99 s or 0.1 to 999.9 s or 1 to 6000 s according to [Ramp increment] (Inr).
136
b [RAMP] (continued)
tA1 M [Begin Acc round] (1) 0 to 100% 10%
T - Rounding of start of acceleration ramp as a % of the [Acceleration] (ACC) or [Acceleration 2] (AC2)

ramp time.
- Can be set between 0 and 100%
- The parameter can be accessed if the [Ramp type] (rPt) is [Customized] (CUS).
tA2 M [End Acc round] (1) 10%
T - Rounding of end of acceleration ramp as a % of the [Acceleration] (ACC) or [Acceleration 2] (AC2)

ramp time.
- Can be set between 0 and (100% - [Begin Acc round] (tA1))
tA3 M [Begin Dec round] (1) 0 to 100% 10%
T - Rounding of start of deceleration ramp as a % of the [Deceleration] (dEC) or [Deceleration 2] (dE2)

ramp time.
- Can be set between 0 and 100%
tA4 M [End Dec round] (1) 10%
T - Rounding of end of deceleration ramp as a % of the [Deceleration] (dEC) or [Deceleration 2] (dE2) ramp
time.
- Can be set between 0 and (100% - [Begin Dec round] (tA3))
137
b [RAMP] (continued)
Frt M [Ramp 2 threshold] 0 to 500 or 1600 Hz
according to rating
0 Hz
Ramp switching threshold

The 2nd ramp is switched if the value of Frt is not 0 (0 deactivates the function) and the output frequency is
greater than Frt.
Threshold ramp switching can be combined with [Ramp switch ass.] (rPS) switching as follows:
LI or bit Frequency Ramp

0 <Frt ACC, dEC
0 >Frt AC2, dE2
1 <Frt AC2, dE2
1 >Frt AC2, dE2
rPS M [Ramp switch ass.] [No] (nO)

LI1 v [LI1] (LI1)
- :
- :
- v [...] (...): See the assignment conditions on page 123.
- ACC and dEC are enabled when the assigned input or bit is at 0.
- AC2 and dE2 are enabled when the assigned input or bit is at 1.
AC2 M [Acceleration 2] (1) 0.01 to 6000 s (2) 5.0 s
T Time to accelerate from 0 to the [Rated motor freq.] (FrS). Make sure that this value is compatible with the
The parameter can be accessed if [Ramp 2 threshold] (Frt) > 0 or if [Ramp switch ass.] (rPS) is assigned.
dE2 M [Deceleration 2] (1) 0.01 to 6000 s (2) 5.0 s
T Time to decelerate from [Rated motor freq.] (FrS) to 0. Make sure that this value is compatible with the
The parameter can be accessed if [Ramp 2 threshold] (Frt) > 0 or if [Ramp switch ass.] (rPS) is assigned.
(2) Range 0.01 to 99.99 s or 0.1 to 999.9 s or 1 to 6000 s according to [Ramp increment] (Inr) page 136.
138
brA M [Dec ramp adapt.] [Yes] (YES)
Activating this function automatically adapts the deceleration ramp, if this has been set at too low a value
for the inertia of the load, which can cause an overvoltage fault.
YES v [Yes] (YES): Function active, for applications that do not require strong deceleration.
The following selections appear depending on the rating of the drive and [Motor control type] (Ctt) page 70.
They enable stronger deceleration to be obtained than with [Yes] (YES). Use comparative testing to
determine your selection.
dYnA v [High torq. A] (dYnA)
dYnb v [High torq. B] (dYnb)
dYnC v [High torq. C] (dYnC)
[Dec ramp adapt.] (brA) is forced to [No] (nO) if the brake logic control[Brake assignment] (bLC) is assigned
(page 160), or if [Braking balance] (bbA) page 84 = [Yes] (YES). The factory setting changes to [High torq.
A] (dYnA) with certain ratings if [Sinus filter] (OFI) page 81 = [Yes] (YES).
The function is incompatible with applications requiring:
- Positioning on a ramp
- The use of a braking resistor (the resistor would not operate correctly)
CAUTION
Do not use [High torq. A] (dYnA), [High torq. B] (dYnB) or [High torq. C] (dYnC) configurations if the motor is
a permanent magnet synchronous motor, as it will be demagnetized.
139
Stt- b [STOP CONFIGURATION]

Note: Some types of stop cannot be used with all other functions. Follow the instructions on page
129.
Stt M [Type of stop] [Ramp stop] (rMP)
Stop mode on disappearance of the run command or appearance of a stop command.

rMP v [Ramp stop] (rMP): Stop on ramp.
FSt v [Fast stop] (FSt): Fast stop
nSt v [Freewheel stop] (nSt): Freewheel stop
dCI v [DC injection] (dCI): DC injection stop
Note: If the "brake logic" function on page 160 has been enabled, or if [Low speed time out]
(tLS) page 61 or 179 is not 0, only ramp type stops may be configured.
FFt M [Freewheel stop Thd.] (1) 0.0 to 1600 Hz 0.0 Hz
T This parameter supports switching from a ramp stop or a fast stop to a freewheel stop below a low speed
threshold.
It can be accessed if [Type of stop] (Stt) = [Fast stop] (FSt) or [Ramp stop] (rMP).
v 0.0: Does not switch to freewheel stop.
v 0.1 to 1600 Hz: Speed threshold below which the motor will switch to freewheel stop.
nSt M [Freewheel stop ass.] [No] (nO)

Cd00 v [CD00] (Cd00) to [CD13] (Cd13): In [I/O profile] can be switched with possible logic inputs
- v [CD14] (Cd14) to [CD15] (Cd15): In [I/O profile] can be switched without logic inputs
The stop is activated when the input or the bit changes to 0. If the input returns to state 1 and the run
command is still active, the motor will only restart if [2/3 wire control] (tCC) page 88 = [2 wire] (2C) and
the [2 wire type] (tCt) = [Level] (LEL) or [Fwd priority] (PFO). If not, a new run command must be sent.
FSt M [Fast stop assign.] [No] (nO)
Note: This function cannot be used with certain other functions. Follow the instructions on page
129.
LI1 v [LI1] (LI1)
- :
- :
The stop is activated when the input changes to 0 or the bit changes to 1 (bit in [I/O profile] (IO) at 0). If
the input returns to state 1 and the run command is still active, the motor will only restart if [2/3 wire
control] (tCC) page 88 = [2 wire] (2C) and the [2 wire type] (tCt) = [Level] (LEL) or [Fwd priority] (PFO).
If not, a new run command must be sent.
dCF M [Ramp divider] (1) 0 to 10 4
T The parameter can be accessed if [Type of stop] (Stt) = [Fast stop] (FSt) and if [Fast stop assign.] (FSt)
is not [No] (nO).
The ramp that is enabled (dEC or dE2) is then divided by this coefficient when stop requests are sent.
Value 0 corresponds to a minimum ramp time.
140
b [STOP CONFIGURATION] (continued)

dCI M [DC injection assign.] [No] (nO)

LI1 v [LI1] (LI1)
- :
- :
DC injection braking is initiated when the assigned input or bit changes to state 1.
If the input returns to state 1 and the run command is still active, the motor will only restart if [2/3 wire control]
(tCC) page 88 = [2 wire] (2C) and [2 wire type] (tCt) = [Level] (LEL) or [Fwd priority] (PFO). If not, a new run
command must be sent.
IdC M [DC inject. level 1] (1) (3) 0.1 to 1.41 In (2) 0.64 In (2)
T Level of DC injection braking current activated via logic input or selected as stop mode.
The parameter can be accessed if [Type of stop] (Stt) = [DC injection] (dCI) or if [DC injection assign.] (dCI)
is not [No] (nO).
CAUTION
tdI M [DC injection time 1] (1) (3) 0.1 to 30 s 0.5 s
T Maximum current injection time [DC inject. level 1] (IdC). After this time the injection current becomes [DC
inject. level 2] (IdC2).
is not [No] (nO).
IdC2 M [DC inject. level 2] (1) (3) 0.1 In (2) to [DC inject.
level 1] (IdC)
0.5 In (2)
T Injection current activated by logic input or selected as stop mode, once period of time [DC injection time 1] (tdI)
has elapsed.
is not [No] (nO).
CAUTION
tdC M [DC injection time 2] (1) (3) 0.1 to 30 s 0.5 s
T Maximum injection time [DC inject. level 2] (IdC2) for injection, selected as stop mode only.
The parameter can be accessed if [Stop type] (Stt) = [DC injection] (dCI).
(3) Warning: These settings are independent of the [AUTO DC INJECTION] (AdC-) function.
141
AdC- b [AUTO DC INJECTION]

AdC M [Auto DC injection] [Yes] (YES)
T Automatic current injection on stopping (at the end of the ramp)
nO v [No] (nO): No injection.

YES v [Yes] (YES): Adjustable injection time.
Ct v [Continuous] (Ct): Continuous standstill injection.
Warning, there is an interlock between this function and [Motor fluxing] (FLU) page 153. If [Motor fluxing]
(FLU) = [Continuous] (FCt) [Auto DC injection] (Adc) must be [No] (nO).
Note: This parameter gives rise to the injection of current even if a run command has not been sent.
It can be accessed with the drive running.
SdC1 M [Auto DC inj. level 1] (1) 0 to 1.2 In (2) 0.7 In (2)
T Level of standstill DC injection current [Auto DC injection] (AdC) is not [No] (nO). This parameter is forced
to 0 if [Motor control type] (Ctt) page 70 = [Sync. mot.] (SYn)..
CAUTION
tdC1 M [Auto DC inj. time 1] (1) 0.1 to 30 s 0.5 s
T Standstill injection time. The parameter can be accessed if [Auto DC injection] (AdC) is not [No] (nO).
If [Motor control type] (Ctt) page 70 = [FVC] (FUC) or [Sync. mot.](SYn) this time corresponds to the zero
speed maintenance time.
T 2nd level of standstill DC injection current.

The parameter can be accessed if [Auto DC injection] (AdC) is not [No] (nO).
This parameter is forced to 0 if [Motor control type] (Ctt) page 70 = [Sync. mot.] (SYn)..
CAUTION
142
b [AUTO DC INJECTION] (continued)

tdC2 M [Auto DC inj. time 2] (1) 0 to 30 s 0s
T 2nd standstill injection time. The parameter can be accessed if [Auto DC injection] (AdC) = [Yes] (YES.)
AdC SdC2 Operation

Note: When [Motor control type] (Ctt) page 70
I = [FVC] (FUC):
YES x SdC1
[Auto DC inj. level 1] (SdC1), [Auto DC inj.
SdC2 level 2] (SdC2) and [Auto DC inj. time 2]
tdC1 tdC1 + tdC2 t (tdC2) cannot be accessed, only [Auto DC inj.
I
Ct ≠0 SdC1
time 1] (tdC1) can be accessed. This then
SdC2
corresponds to a zero speed maintenance
time.
tdC1 t
I
Ct SdC1
=0
t
1
Run command
0
t
Speed
0
t
143
JOG- b [JOG]
JOG M [JOG] [No] (nO)
Pulse operation.
The JOG function is only active if the command channel and the reference channels are on the
terminals.
Selecting the assigned logic input or bit activates the function.
C101 v [C101] (C101) to [C115] (C115): With integrated Modbus in [I/O profile] (IO) profile
- v [C201] (C201) to [C215] (C215): With integrated CANopen in [I/O profile] (IO) profile
- v [C301] (C301) to [C315] (C315): With a communication card in [I/O profile] (IO) profile
- v [C401] (C401) to [C415] (C415): With a Controller Inside card in [I/O profile] (IO) profile
Cd00 v [CD00] (Cd00) to [CD13] (Cd13): In [I/O profile] profile can be switched with possible logic inputs
- v [CD14] (Cd14) to [CD15] (Cd15): In [I/O profile] profile can be switched without logic inputs
The function is active when the assigned input or bit is at 1.
Example: 2-wire control operation (tCC = 2C)
Motor Ramp Ramp

frequency DEC/DE2 forced to 0.1 s
Reference
JGF reference
JGF reference
LI (JOG)
1
0
JGt
Forward
1
Reverse
1
JGF M [Jog frequency] (1) 0 to 10 Hz 10 Hz
T The parameter can be accessed if [JOG] (JOG) is not [No] (nO).

Reference in jog operation
JGt M [Jog delay] (1) 0 to 2.0 s 0.5 s
T The parameter can be accessed if [JOG] (JOG) is not [No] (nO).

Anti-repeat delay between 2 consecutive jog operations.
(1) The parameter can also be accessed in the [1.3 SETTINGS] (SEt-) menu.
144
Preset speeds
2, 4, 8 or 16 speeds can be preset, requiring 1, 2, 3 or 4 logic inputs respectively.
Note: You must configure 2 and 4 speeds in order to obtain 4 speeds.

You must configure 2, 4 and 8 speeds in order to obtain 8 speeds.
You must configure 2, 4, 8, and 16 speeds in order to obtain 16 speeds.
Combination table for preset speed inputs
16 speeds 8 speeds 4 speeds 2 speeds Speed reference

LI (PS16) LI (PS8) LI (PS4) LI (PS2)
0 0 0 0 Reference (1)
0 0 0 1 SP2
0 0 1 0 SP3
0 0 1 1 SP4
0 1 0 0 SP5
0 1 0 1 SP6
0 1 1 0 SP7
0 1 1 1 SP8
1 0 0 0 SP9
1 0 0 1 SP10
1 0 1 0 SP11
1 0 1 1 SP12
1 1 0 0 SP13
1 1 0 1 SP14
1 1 1 0 SP15
1 1 1 1 SP16
(1) See the diagram on page 117: Reference 1 = (SP1).
145
PSS- b [PRESET SPEEDS]

PS2 M [2 preset speeds] [No] (nO)

LI1 v [LI1] (LI1)
- :
- :

LI1 v [LI1] (LI1)
- :
- :
To obtain 4 speeds you must also configure 2 speeds.

LI1 v [LI1] (LI1)
- :
- :
To obtain 8 speeds you must also configure 2 and 4 speeds.

LI1 v [LI1] (LI1)
- :
- :
To obtain 16 speeds you must also configure 2, 4 and 8 speeds.
146
b [PRESET SPEEDS] (continued)

SP2 M [Preset speed 2] (1) 0 to 1600 Hz 10 Hz
T
SP3 M [Preset speed 3] (1) 15 Hz
T
T
T
T
T
T
T
T
T
T
T
T
T
T The appearance of these [Preset speed x] (SPx) parameters is determined by the number of speeds
configured.
147
+/- speed
Two types of operation are available.
1. Use of single action buttons: Two logic inputs are required in addition to the operating direction(s).
The input assigned to the “+ speed” command increases the speed, the input assigned to the “- speed” command decreases the speed.
2. Use of double action buttons: Only one logic input assigned to “+ speed” is required.
+/- speed with double-press buttons:
Description: 1 button pressed twice (2 steps) for each direction of rotation. A contact closes each time the button is pressed.
Released (- speed) 1st press 2nd press

(speed maintained) (faster)
Forward button – a a and b
Reverse button – c c and d
Example of wiring:
ATV 71 control LI1: forward

terminals LIx: Reverse
LIy: + speed
LI1 LIx LIy +24
b d
a c
Motor frequency
LSP
0
LSP
Forward
2nd press
b b
1nd press
a a a a a a a
0
Reverse
2nd press
d
1nd press
c c c
0
Do not use this +/-speed type with 3-wire control.
Whichever type of operation is selected, the max. speed is set by [High speed] (HSP) (see page 43).
Note:
If the reference is switched via rFC (see page 125) from any one reference channel to another reference channel with "+/- speed", the value
of reference rFr (after ramp) may be copied at the same time in accordance with the [Copy channel 1 --> 2] (COP) parameter, see page 126.
If the reference is switched via rFC (see page 125) from one reference channel to any other reference channel with "+/- speed", the value
of reference rFr (after ramp) is always copied at the same time.
This prevents the speed being incorrectly reset to zero when switching takes place.
148
UPd- b [+/- SPEED]

Function can be accessed if reference channel [Ref.2 channel] (Fr2) = [+/-Speed] (UPdt) see page 125.
USP M [+ speed assignment] [No] (nO)

Function active if the assigned input or bit is at 1.
dSP M [-Speed assignment] [No] (nO)

Str M [Reference saved] [No] (nO)
Associated with the "+/- speed" function, this parameter can be used to save the reference:
• When the run commands disappear (saved to RAM)
• When the line supply or the run commands disappear (saved to EEPROM)
Therefore, the next time the drive starts up, the speed reference is the last reference saved.
nO v [No] (nO): No save (the next time the drive starts up, the speed reference is [Low speed] (LSP), see
page 43)
rAM v [RAM] (rAM): Saved in RAM
EEP v [EEprom] (EEP): Saved in EEPROM
149
+/- speed around a reference

The reference is given by Fr1 or Fr1b with summing/subtraction/multiplication functions and preset speeds if relevant (see the diagram on
page 117). For improved clarity, we will call this reference A. The action of the +speed and -speed buttons can be set as a % of this
reference A. On stopping, the reference (A +/- speed) is not saved, so the drive restarts with reference A+ only.
The maximum total reference is always limited by [High speed] (HSP) and the minimum reference by [Low speed] (LSP), see page 43.
Example of 2-wire control:
[Acceleration 2] (AC2)
Motor frequency
[Deceleration 2] (dE2)
+ SrP%
Reference A +
- SrP%
LSP
LSP
- SrP%
Reference A -
+ SrP%
+speed
-speed
Direction of operation
Forward Forward
Reverse
150
SrE- b [+/-SPEED AROUND REF.]

The function can be accessed for reference channel [Ref.1 channel] (Fr1).
USI M [+ speed assignment] [No] (nO)

LI1 v [LI1] (LI1)
- :
- :
dSI M [-Speed assignment] [No] (nO)

LI1 v [LI1] (LI1)
- :
- :
SrP M [+/-Speed limitation] 0 to 50 % 10 %
T This parameter limits the variation range with +/- speed as a % of the reference. The ramps used in this
function are[Acceleration 2] (AC2) and [Deceleration 2] (dE2).
The parameter can be accessed if +/- speed is assigned.
Time to accelerate from 0 to the [Rated motor freq.] (FrS). Make sure that this value is compatible with the
dE2 M [Deceleration 2] (1) 0.01 to 6000 s (2) 5.0 s
Time to decelerate from the [Rated motor freq.] (FrS) to 0. Make sure that this value is compatible with the
151
Save reference
Saving a speed reference value using a logic input command lasting longer than 0.1 s.
• This function is used to control the speed of several drives alternately via a single analog reference and one logic input for each drive.
• It is also used to confirm a line reference (communication bus or network) on several drives via a logic input. This allows movements
to be synchronized by getting rid of variations when the reference is set.
• The reference is acquired 100 ms after the rising edge of the request. A new reference is not then acquired until a new request is
made.
F: Motor frequency
Reference
t
0
Run command
t
0
LIx (saved)
0 t
100 ms 100 ms 100 ms
SPM- b [MEMO REFERENCE]

SPM M [Ref. memo ass.] [No] (nO)

LI14 v [LI11] (LI11) to [LI14] (LI14): If VW3A3202 extended I/O card has been inserted
Assignment to a logic input
Function active if the assigned input is at 1.
152
FLI- b [FLUXING BY LI]

FLU M [Motor fluxing] (1) [No] (FnO)
T
FnC v [Not cont.] (FnC): Non-continuous mode
FCt v [Continuous] (FCt): Continuous mode. This option is not possible if [Auto DC injection] (AdC) page 142
is [Yes] (YES) or if [Type of stop] (Stt) page 140 is [Freewheel] (nSt).
FnO v [No] (FnO): Function inactive This option is not possible if [Motor control type] (Ctt) page 70 = [SVCI] (CUC)
or [FVC] (FUC).
If [Motor control type] (Ctt) page 70 = [SVCI] (CUC), [FVC] (FUC) or [Sync. mot.] (SYn) or [SVC V] (UUC)
at and above ATV71HD55M3X, ATV71HD90N4 and ATV71HC11Y, the factory setting is replaced by [Not
cont.] (FnC).
In order to obtain rapid high torque on startup, magnetic flux needs to already have been established in the
motor.
• In [Continuous] (FCt) mode, the drive automatically builds up flux when it is powered up.
• In [Not cont.] (FnC) mode, fluxing occurs when the motor starts up.
The flux current is greater than nCr (configured rated motor current) when the flux is established and is then
adjusted to the motor magnetizing current...
CAUTION
If [Motor control type] (Ctt) page 70 = [Sync. mot.] (SYn), the [Motor fluxing] (FLU) parameter causes the
alignment of the rotor and not the fluxing.
If [Brake assignment] (bLC) page 160 is not [No] (nO), the [Motor fluxing] (FLU) parameter has no effect.
FLI M [Fluxing assignment] [No] (nO)

LI1 v [LI1] (LI1)
- :
- :
Assignment is only possible if [Motor fluxing] (FLU) = [Not cont.] (FnC).
- If an LI or a bit is assigned to the motor fluxing command, flux is built up when the assigned input or bit
is at 1.
- If an LI or a bit has not been assigned, or if the assigned LI or bit is at 0 when a run command is sent,
fluxing occurs when the motor starts.
153
Limit switch management

This function can be used to manage trajectory limits using limit switches.
Handling
The stop mode is configurable.

When the stop contact is activated, startup in the other direction is authorized.
Example:
Reverse Forward
Reverse Forward stop
stop
The stop is activated when the input is at 0 (contact open).

Lifts
Hoisting
154
[1.7 APPLICATION FUNCT.] (FUn-
Handling
LSt- b [LIMIT SWITCHES]
LAF M [Stop FW limit sw.] [No] (nO)

LAr M [Stop RV limit sw.] [No] (nO)
Lifts
Same assignments possible as for [Stop FW limit sw.] (LAF) below.
LAS M [Stop type] [Freewheel] (nSt)
rMP v [Ramp stop] (rMP)

FSt v [Fast stop] (FSt)
nSt v [Freewheel] (nSt)
When the assigned input changes to 0, the stop is controlled in accordance with the selected type.
Restarting is only authorized for the other operating direction once the motor has stopped.
If the two inputs [Stop FW limit sw.] (LAF) and [Stop RV limit sw.] (LAr) are assigned and at state 0, restarting
will be impossible.
The parameter can be accessed if [Stop FW limit sw.] (LAF) or [Stop RV limit sw.] (LAr) is assigned.
Hoisting
155
Brake logic control

Used to control an electromagnetic brake by the drive, for horizontal and vertical hoisting applications, and for unbalanced machines.
Handling
Principle:
Vertical hoisting movement:
Maintain motor torque in the driving load holding direction during brake opening and closing, in order to hold the load, start smoothly when
the brake is released and stop smoothly when the brake is engaged.
Horizontal movement:
Synchronize brake release with the build-up of torque during startup and brake engage at zero speed on stopping, to prevent jolting.
Recommended settings for brake logic control for a vertical hoisting application:
WARNING
Check that the selected settings and configurations will not result in the dropping or loss of control of the load being lifted.
Lifts
1. Brake impulse (bIP): YES. Ensure that the direction of rotation FW corresponds to lifting the load.
For applications in which the load being lowered is very different from the load being lifted, set BIP = 2 Ibr (e.g., ascent always with a
load and descent always without a load).
2. Brake release current (Ibr and Ird if BIP = 2 Ibr): Adjust the brake release current to the rated current indicated on the motor.
During testing, adjust the brake release current in order to hold the load smoothly.
3. Acceleration time: For hoisting applications it is advisable to set the acceleration ramps to more than 0.5 seconds. Ensure that the drive
does not exceed the current limit.
The same recommendation applies for deceleration.
Reminder: For a hoisting movement, a braking resistor should be used.
Hoisting
4. Brake release time (brt): Set according to the type of brake. It is the time required for the mechanical brake to release.
5. Brake release frequency (bIr), in open-loop mode only: Leave in [Auto], adjust if necessary.
6. Brake engage frequency (bEn): Leave in [Auto], adjust if necessary.
7. Brake engage time (bEt): Set according to the type of brake. It is the time required for the mechanical brake to engage.
Recommended settings for brake logic control for a horizontal hoisting application:
1. Brake impulse (bIP): No
2. Brake release current (Ibr): Set to 0.
3. Brake release time (brt): Set according to the type of brake. It is the time required for the mechanical brake to release.
4. Brake engage frequency (bEn), in open-loop mode only: Leave in [Auto], adjust if necessary.
5. Brake engage time (bEt): Set according to the type of brake. It is the time required for the mechanical brake to engage.
156
Brake logic control, horizontal movement in open-loop mode
Handling
Frequency
Reference
t
bEn
Fluxed motor
Flux current
SdC1
Rated flux
current
t
Ibr attained
Torque current
Lifts
0 attained
Ibr
t
Direction of
operation Forward Reverse
t
Relay
or logic
output
t
0
Hoisting
Brake contact
State of brake
Released
Engaged t
brt tbE bEt ttr
Type of motor
Torque
Injection
control
Flux
Locking
Frequency
Key:
- (bEn): [Brake engage freq]
- (bEt): [Brake engage time]
- (brt): [Brake Release time]
- (Ibr): [Brake release I FW]
- (SdC1): [Auto DC inj. level 1]
- (tbE): [Brake engage delay]
- (ttr): [Time to restart]
157
Brake logic control, vertical movement in open-loop mode

Handling
Frequency
Reference
bIr
JdC
t
JdC
bEn
Fluxed motor
Flux current
Rated flux
current
t
Ibr attained
Torque current
Lifts
0 attained
Ibr
t
Direction of
operation Ascending Descending
t
Relay
or logic
output
t
0
Hoisting
Brake contact
State of brake
Released
Engaged t
brt tbE bEt ttr
Type of motor
control
Torque
Injection
Flux
Locking
Frequency
Key:
- (bEn): [Brake engage freq]
- (bIr): [Brake release freq]
- (JdC): [Jump at reversal]
158
Brake logic control, vertical or horizontal movement in closed-loop mode
Handling
Frequency
Reference
Fluxed motor
Flux current
Rated flux
current
t
Ibr attained
Torque current
Lifts
0 attained
Ibr
t
Direction of
operation Forward or Reverse or
ascending descending
t
Relay
or logic
output
t
0
Hoisting
Brake contact
State of brake
Released
Engaged t
brt tbE bEt ttr
Type of motor
control
Torque
Injection
Flux
Locking
Frequency
Key:
159

Handling
bLC- b [BRAKE LOGIC CONTROL]

bLC M [Brake assignment] [No] (nO)
Note: If the brake is assigned, only a ramp stop is possible. Check the [Type of stop] (Stt) page
140.
Brake logic control can only be assigned if [Motor control type] (Ctt) page 70 = [SVC V] (UUC), [SVC I]
(CUC) or [FVC] (FUC).
Logic output or control relay
nO v [No] (nO): Function not assigned (in this case, none of the function parameters can be accessed).
r2 v [R2] (r2)
- to
r4 [R4] (r4): Relay (selection extended to R3 or R4 if one or two I/O cards have been inserted).
LO1 [LO1] (LO1)
- to
LO4 [LO4] (LO4): Logic output (if one or two I/O cards have been inserted, LO1 to LO2 or LO4 can be selected).
v
Lifts
dO1 [dO1] (dO1): Analog output AO1 functioning as a logic output. Selection can be made if [AO1 assignment]
(AO1) page 110 = [No] (nO).
bSt M [Movement type] [Hoisting] (UEr)
HOr v [Traveling] (HOr): Resistive-load movement (translational motion of overhead crane, for example).
UEr v [Hoisting] (UEr): Driving-load movement (hoisting winch, for example).
If [Weight sensor ass.] (PES) page 166 is not [No] (nO) [Movement type] (bSt) is forced to [Hoisting] (UEr).
bCI M [Brake contact] [No] (nO)
If the brake has a monitoring contact (closed for released brake).

LI1 v [LI1] (LI1)
- :
- :
Hoisting
bIP M [Brake impulse] [No] (nO)
T
The parameter can be accessed if [Weight sensor ass.] (PES) = [No] (nO) (see page 166) and if [Movement
type] (bSt) = [Hoisting] (UEr).
nO v [No] (nO): The motor torque is given in the required operating direction, at current Ibr.
YES v [Yes] (YES): The motor torque is always Forward (check that this direction corresponds to ascending), at
current Ibr.
2Ibr v [2 IBR] (2Ibr): The torque is in the required direction, at current Ibr for Forward and Ird for Reverse, for
certain specific applications.
Ibr M [Brake release I FW] (1) 0 to 1.32 In (2) 0
T Brake release current threshold for ascending or forward movement

The parameter can be accessed if [Weight sensor ass.] (PES) = [No] (nO) (see page 166).
Ird M [Brake release I Rev] (1) 0 to 1.32 In (2) 0
T Brake release current threshold for descending or reverse movement

The parameter can be accessed if [Brake impulse] (bIP) = [2 IBR] (2Ibr).
160
Handling
b [BRAKE LOGIC CONTROL] (continued)
brt M [Brake Release time] (1) 0 to 5.00 s 0
T Brake release time delay
bIr M [Brake release freq] (1) [Auto] (AUtO)
T
Brake release frequency threshold (initialization of acceleration ramp).
The parameter can be accessed if [Motor control type] (Ctt) page 70 is not [FVC] (FUC) and if [Movement
type] (bSt) page 160 is [Hoisting] (UEr).
AUtO v [Auto] (AUtO): The drive takes a value equal to the rated slip of the motor, calculated using the drive
parameters.
- v 0 to 10 Hz: Manual control
bEn M [Brake engage freq] (1) [Auto] (AUtO)
Lifts
Brake engage frequency threshold
The parameter can be accessed if [Motor control type] (Ctt) page 70 is not [FVC] (FUC).
parameters.
- v 0 to 10 Hz: Manual control
bECd M [Brake engage at 0] [No] (nO)
Brake engages at regulated zero speed.

The parameter can be accessed if [Motor control type] (Ctt) page 70 = [FVC] (FUC).
Can be used to engage the brake at zero speed in closed-loop mode with speed regulation. This parameter
can be used to adjust the brake engage delay once zero speed has been reached.
If a speed other than zero is then required, the command to release the brake is sent following torque
application.
nO v [No] (nO): Brake does not engage at regulated zero speed.
Hoisting
- v 0.0 to 30.0 s: Brake engage delay once zero speed is reached.
tbE M [Brake engage delay] (1) 0 to 5.00 s 0
T Time delay before request to engage brake. To delay brake engagement, if you wish the brake to be engaged
when the drive comes to a complete stop.
bEt M [Brake engage time] (1) 0 to 5.00 s 0
T Brake engage time (brake response time)
T Level of standstill DC injection current.

Note: The parameter can be accessed if [Motor control type] (Ctt) page 70 is not [FVC] (FUC) and
if [Movement type] (bSt) page 160 is [Traveling] (HOr).
CAUTION
161

Handling
b [BRAKE LOGIC CONTROL] (continued)

bEd M [Engage at reversal] [No] (nO)
T
nO v [No] (nO): The brake does not engage.
YES v [Yes] (YES): The brake engages.
Can be used to select whether or not the brake engages on transition to zero speed when the operating
direction is reversed.
JdC M [Jump at reversal] (1) 0 to 10.0 Hz [Auto] (AUtO)
T
The parameter can be accessed if [Motor control type] (Ctt) page 70 is not [FVC] (FUC) and if [Movement
type] (bSt) page 160 is [Hoisting] (UEr).
parameters.
v
Lifts
- 0 to 10 Hz: Manual control

When the reference direction is reversed, this parameter can be used to avoid loss of torque (and
consequential release of load) on transition to zero speed. Parameter is not applicable if [Engage at
reversal] (bEd) = [Yes] (YES).
ttr M [Time to restart] (1) 0 to 5.00 s 0
T Time between the end of a brake engage sequence and the start of a brake release sequence

Hoisting
162
Brake control logic expert parameters

Handling
brH0 M [BRH b0] 0
Selection of the brake restart sequence if a run command is repeated while the brake is engaging.
0 v [0] (0): The engage/release sequence is executed in full.
1 v [1] (1): The brake is released immediately.
Use in open-loop and closed-loop mode.
• A run command may be requested during the brake engagement phase. Whether or not the brake release
sequence is executed depends on the value selected for [BRH b0] (brH0).
Run command
Frequency
Lifts
[BRH b0] (brH0) = 0
Relay or
logic output
Frequency
bEn
[BRH b0] (brH0) = 1
Relay or
logic output
Note: If a run command is requested during the "ttr" phase, the complete brake control sequence is
initialized.
M [BRH b1] 0
Hoisting
brH1
Deactivation of the brake contact in steady state fault.

0 v [0] (0): The brake contact in steady state fault is active (fault if the contact is open during operation). The
brF brake contact fault is monitored in all operating phases.
1 v [1] (1): The brake contact in steady state fault is inactive. The brF brake contact fault is only monitored
during the brake release and engage phases.
163

Handling
brH2 M [BRH b2] 0
Taking the brake contact into account for the brake control sequence.
0 v [0] (0): The brake contact is not taken into account.
1 v [1] (1): The brake contact is taken into account.
Use in open-loop and closed-loop mode.
• If a logic input is assigned to the brake contact.
[BRH b2] (brH2) = 0: During the brake release sequence, the reference is enabled at the end of the time
[Brake Release time] (brt). During the brake engage sequence, the current changes to 0 according to the
ramp [Current ramp time] (brr) at the end of the [Brake engage time] (bEt).
[BRH b2] (brH2) = 1: When the brake is released, the reference is enabled when the logic input changes
to 1. When the brake is engaged, the current changes to 0 according to the ramp [Current ramp time] (brr)
when the logic input changes to 0.
Run command
Lifts
Relay or
logic output
brt bEt
Torque
Frequency current
Ibr brr [BRH b2] (brH2) = 0
Logic input
Brake contact
Torque
Frequency current brr
blr Ibr
[BRH b2] (brH2) = 1
brH3 M [BRH b3] 0

Hoisting
In closed-loop mode only. Management of the absence of brake contact response, if it is assigned.
0 v [0] (0): During the brake engage sequence, the brake contact must be open before the end of [Brake
engage time] (bEt), otherwise the drive locks in a brF brake contact fault.
1 v [1] (1): During the brake engage sequence, the brake contact must be open before the end of [Brake
engage time] (bEt), otherwise a bCA brake contact alarm is triggered and zero speed is maintained.
brH4 M [BRH_b4] 0
In closed-loop mode only. Activation of the speed loop at zero if a movement for which no command has
been given occurs (measurement of a speed greater than a fixed min. threshold).
0 v [0] (0): No action in the event of a movement for which no command has been given.
1 v [1] (1): If a movement occurs for which no command has been given, the drive switches to zero speed
regulation, with no brake release command, and a bSA alarm is triggered.
brr M [Current ramp time] 0 to 5.00 s 0s
T Torque current ramp time (increase and decrease) for a current variation equal to [Brake release I FW] (Ibr).
164
Load measurement
This function uses the information supplied by a weight sensor to adapt the current [Brake release I FW] (Ibr) of the [BRAKE LOGIC
CONTROL] (bLC-) function. The signal from the weight sensor can be assigned to an analog input (usually a 4 - 20 mA signal), to the
Lifts
pulse-in input or to the encoder input, according to the type of weight sensor.
Examples:
- Measurement of the total weight of a hoisting winch and its load
- Measurement of the total weight of an elevator winch, the cabin and counterweight
The current [Brake release I FW] (Ibr) is adapted in accordance with the curve below.
Ibr
[Point 2y] (CP2)
Hoisting
[Point 1x]
(LP1)
0 Weight sensor signal
[Point 2x] 100%
LP2
Zero load
[Point 1y] (CP1)
This curve can represent a weight sensor on an elevator winch, where zero load on the motor occurs when the load in the cabin is not zero.
165
ELM- b [EXTERNAL WEIGHT MEAS.]

Lifts
PES M [Weight sensor ass.] [No] (nO)
Function can be accessed if brake logic control is assigned (see page 160).
If [Weight sensor ass.] (PES) is not [No] (nO), [Movement type] (bSt) page 160 is forced to [Hoisting] (UEr).
AIU1 v [Network AI] (AIU1): Virtual input via communication bus, to be configured via [AI net. channel] (AIC1)
page 97.
WARNING
Hoisting

value transmitted.
LP1 M [Point 1 X] 0 to 99.99% 0
0 to 99.99% of signal on assigned input.

[Point 1x] (LP1) must be less than [Point 2x] (LP2).
The parameter can be accessed if [Weight sensor ass.] (PES) is assigned.
CP1 M [Point 1Y] -1.36 to +1.36 In (1) - In
Current corresponding to load [Point 1 X] (LP1), in A.

LP2 M [Point 2X] 0.01 to 100% 50%
0.01 to 100% of signal on assigned input.

[Point 2x] (LP2) must be greater than [Point 1x] (LP1).
CP2 M [Point 2Y] -1.36 to +1.36 In (1) 0
Current corresponding to load [Point 2x] (LP2), in A.

IbrA M [Ibr 4-20 mA loss] 0 to 1.36 In (1) 0
T Brake release current in the event of the loss of the weight sensor information.
This parameter can be accessed if the weight sensor is assigned to an analog current input and the 4-20 mA
loss fault is deactivated.
Recommended settings:
- 0 for elevators
- Rated motor current for a hoisting application
166
High-speed hoisting
This function can be used to optimize the cycle times for hoisting movements for zero or lightweight loads. It authorizes operation at
Hoisting
"constant power" in order to reach a speed greater than the rated speed without exceeding the rated motor current.
The speed remains limited by the [High speed] (HSP) parameter, page 43.
The function acts on the speed reference pedestal and not on the reference itself.
Principle:
Frequency
High speed
HSP
Co Ascending
ns
tan
Rated t po
we
motor r
frequency FrS
Torque
0 max.
Tr: Rated Torque
motor
torque
Rated
motor r
frequency FrS we
t po
tan
o ns Descending
C
High speed
HSP
167
There are 2 possible operating modes:
• "Speed reference" mode: The maximum permissible speed is calculated by the drive during a speed step that is set so that the drive
Hoisting
can measure the load.

• "Current limitation" mode: The maximum permissible speed is the speed that supports current limitation in motor mode, in the
"Ascending" direction only. For the "Descending" direction, operation is always in "Speed reference" mode.
Speed reference mode
Ascend or Descend
command
Reference
HSP
FrS
OSP
0 t
Frequency
HSP
Calculated limit
FrS
OSP
0 t
tOS
OSP: Adjustable speed step for load measurement

tOS: Load measuring time
Two parameters are used to reduce the speed calculated by the drive, for ascending and descending.
168
Current limiting mode
Hoisting
Ascend command
Reference
HSP
FrS
SCL
0 t
Frequency
HSP
Limit imposed
by current
FrS limitation
SCL
0 t
Current
CLO
SCL: Adjustable speed threshold, above which current limitation is active

CLO: Current limitation for high-speed function
Note: The speed reached for a specific current will be lower in case of network undervoltage in comparison with nominal network
voltage.
169
Rope slack
The "rope slack" function can be used to prevent starting up at high speed when a load has been set down ready for lifting but the rope is
Hoisting
still slack (as illustrated below).
Speed
OSP
Load
tOS
rStL
The speed step (OSP parameters) described on page 168 is used to measure the load. The effective measurement cycle will not be
triggered until the load reaches the adjustable threshold rStL, which corresponds to the weight of the hook.
A logic output or a relay can be assigned to the indication of the "rope slack" state in the [1.5 INPUTS / OUTPUTS CFG] (I-O-) menu.
170
Hoisting
HSH- b [HIGH SPEED HOISTING]
HSO M [High speed hoisting] [No] (nO)

SSO v [Speed ref] (SSO): "Speed reference" mode
CSO v [I Limit] (CSO): "Current limitation" mode
COF M [Motor speed coeff.] 0 to 100% 100%
T Speed reduction coefficient calculated by the drive for Ascending direction.

The parameter can be accessed if [High speed hoisting] (HSO) = [Speed ref] (SSO).
COr M [Gen. speed coeff] 0 to 100% 50%
T Speed reduction coefficient calculated by the drive for Descending direction.

The parameter can be accessed if [High speed hoisting] (HSO) is not [No] (nO).
tOS M [Load measuring tm.] 0.1 s to 65 s 0.5 s
T Duration of speed step for measurement.

OSP M [Measurement spd] 0 to [Rated motor

freq.] (FrS)
40 Hz
T Speed stabilized for measurement.

CLO M [High speed I Limit] 0 to 1.65 In (1) In
T Current limitation at high speed.

The parameter can be accessed if [High speed hoisting] (HSO) = [I Limit] (CSO).
The adjustment range is limited to 1.36 In if [Switching freq.](SFr) page 60 is less than 2 kHz.
Note: If the setting is less than 0.25 In, the drive may lock in [Output Phase Loss] (OPF) fault mode
if this has been enabled (see page 221).
SCL M [I Limit. frequency] 0 to 500 or 1600 Hz

according to rating
40 Hz
T Frequency threshold, above which the high-speed limitation current is active.

The parameter can be accessed if [High speed hoisting] (HSO) = [I Limit] (CSO)
rSd M [Rope slack config.] [No] (nO)
Rope slack function. The parameter can be accessed if [High speed hoisting] (HSO) is not [No] (nO).
drI v [Drive estim.] (drI): Measurement of the load by estimating the torque generated by the drive.
PES v [Ext. sensor] (PES): Measurement of the load using a weight sensor, can only be assigned if [Weight
sensor ass.] (PES) page 166 is not [No] (nO).
rStL M [Rope slack trq level] 0 to 100% 0%
Adjustment threshold corresponding to a load weighing slightly less than the hook when off-load, as a % of
the rated load.
The parameter can be accessed if [Rope slack trq level] (rSd) has been assigned.
171
PID regulator
Block diagram
Process
The function is activated by assigning an analog input to the PID feedback (measurement).
LI Restart error
Error threshold Auto/
Pr2 (wake-up)
inversion Manual
Pr4 Ramp
Internal PIC tLS PAU
reference PII rdG POH AC2
nO nO
YES + rSL (1) +
rPI rIG
- x(-1) rPG (manu)
A PrP YES 0 +
Reference A nO
rP2 POL B
Pages 118 rP3 Gains Pages
and 119 118 and
rP4
119
PIF
nO Preset PID references

AI1 Predictive Ramps
..... Scaling speed
AI4 reference ACC DEC
RP PIF1 / PIF2 FPI x PSr
PIP1 / PIP2
Encoder
Network AI
Preset manual references
PID
feedback
Manual nO
reference
PIN
Key:
SP2
Parameter:
SP16 The black rectangle
represents the factory
setting assignment
(1) Ramp AC2 is only active when the PID function starts up and during PID "wake-ups".
PID feedback:
The PID feedback must be assigned to one of the analog inputs AI1 to AI4, to the frequency input or the encoder, according to whether any
extension cards have been inserted.
PID reference:
The PID reference must be assigned to the following parameters:
• Preset references via logic inputs (rP2, rP3, rP4)
• In accordance with the configuration of [Act. internal PID ref.] (PII) pages 176:
- Internal reference (rPI) or
- Reference A (Fr1 or Fr1b, see page 118)
Combination table for preset PID references
LI (Pr4) LI (Pr2) Pr2 = nO Reference

rPI or A
0 0 rPI or A
0 1 rP2
1 0 rP3
1 1 rP4
A predictive speed reference can be used to initialize the speed on restarting the process.
172
Scaling of feedback and references:

• PIF1, PIF2 parameters
Can be used to scale the PID feedback (sensor range).
Process
This scale MUST be maintained for all other parameters.
• PIP1, PIP2 parameters

Can be used to scale the adjustment range, i.e., the reference. The adjustment range MUST lie within the sensor range.
The maximum value of the scaling parameters is 32767. To facilitate installation, we recommend using values as close as possible
to this maximum level, while retaining powers of 10 in relation to the actual values.
Example (see graph below): Adjustment of the volume in a tank, between 6 m3 and 15 m3.
- Sensor used 4-20 mA, 4.5 m3 for 4 mA, 20 m3 for 20 mA, with the result that PIF1 = 4500 and PIF2 = 20000.
- Adjustment range 6 to 15 m3, with the result that PIP1 = 6000 (min. reference) and PIP2 = 15000 (max. reference).
- Example references:
- rP1 (internal reference) = 9500
- rp2 (preset reference) = 6500
- rP3 (preset reference) = 8000
- rP4 (preset reference) = 11200
The [DISPLAY CONFIG.] menu can be used to customize the name of the unit displayed and its format.
Adjustment range
(reference)
PIP2 (15000)
PIP1 (6000)
PID feedback
PIF1 PIF2
(4500) (20000)
Other parameters:
• rSL parameter:
Can be used to set the PID error threshold, above which the PID regulator will be reactivated (wake-up) after a stop due to the max.
time threshold being exceeded at low speed (tLS).
• Reversal of the direction of correction (PIC): If PIC = nO, the speed of the motor will increase when the error is positive, for example:
pressure control with a compressor. If PIC = YES, the speed of the motor will decrease when the error is positive, for example:
temperature control using a cooling fan.
• The integral gain may be short-circuited by a logic input.
• An alarm on the PID feedback may be configured and indicated by a logic output.
• An alarm on the PID error may be configured and indicated by a logic output.
173
"Manual - Automatic" operation with PID

This function combines the PID regulator, the preset speeds and a manual reference. Depending on the state of the logic input, the speed
reference is given by the preset speeds or by a manual reference input via the PID function.
Process
Manual reference (PIM)

• Analog inputs AI1 to AI4
• Frequency input
• Encoder
Predictive speed reference (FPI)
• [AI1] (AI1): Analog input

• [AI2] (AI2): Analog input
• [AI3] (AI3): Analog input, if VW3A3202 extension card has been inserted
• [AI4] (AI4): Analog input, if VW3A3202 extension card has been inserted
• [RP] (PI): Frequency input, if VW3A3202 extension card has been inserted
• [Encoder] (PG): Encoder input, if encoder card has been inserted
• [HMI] (LCC): Graphic display terminal
• [Modbus] (Mdb): Integrated Modbus
• [CANopen] (CAn): Integrated CANopen
• [Com. card] (nEt): Communication card (if inserted)
• [C.Insid. card] (APP): Controller Inside card (if inserted)
Setting up the PID regulator

1. Configuration in PID mode
See the diagram on page 172.
2. Perform a test in factory settings mode (in most cases, this will be sufficient).
To optimize the drive, adjust rPG or rIG gradually and independently and observe the effect on the PID feedback in relation to the
reference.
3. If the factory settings are unstable or the reference is incorrect
• Perform a test with a speed reference in Manual mode (without PID regulator) and with the drive on load for the speed range of the
system:
- In steady state, the speed must be stable and comply with the reference and the PID feedback signal must be stable.
- In transient state, the speed must follow the ramp and stabilize quickly, and the PID feedback must follow the speed.
If this is not the case, see the settings for the drive and/or sensor signal and wiring.
• Switch to PID mode.

• Set brA to no (no auto-adaptation of the ramp).
• Set the PID ramp (PrP) to the minimum permitted by the mechanism without triggering an ObF fault.
• Set the integral gain (rIG) to minimum.
• Leave the derivative gain (rdG) at 0.
• Observe the PID feedback and the reference.
• Switch the drive ON/OFF a number of times or vary the load or reference rapidly a number of times.
• Set the proportional gain (rPG) in order to ascertain the best compromise between response time and stability in transient phases
(slight overshoot and 1 to 2 oscillations before stabilizing).
• If the reference varies from the preset value in steady state, gradually increase the integral gain (rIG), reduce the proportional gain
(rPG) in the event of instability (pump applications), find a compromise between response time and static precision (see diagram).
• Lastly, the derivative gain may permit the overshoot to be reduced and the response time to be improved, although this will make it
more difficult to obtain a compromise in terms of stability, as it depends on 3 gains.
• Perform in-production tests over the whole reference range.
174
Stabilization time
Regulated
Process
value rPG high
Overshoot
Reference Static error
Proportional
gain
rPG low
Rise time
time
rIG high
Reference
Integral
gain
rIG low
time
Reference
rPG and rIG correct
rdG increased
time
The oscillation frequency depends on the system kinematics.
Parameter Rise time Overshoot Stabilization time Static error

rPG =
rIG
rdG = =
175

Process
PId- b [PID REGULATOR]

PIF M [PID feedback ass.] [No] (nO)
nO v [No] (nO): Not assigned (function inactive) In this case, none of the function parameters can be accessed.
AIU1 v [Network AI] (AIU1): Virtual input via communication bus
Note: If the equipment switches to forced local mode (see page 241), the virtual input remains fixed
at the last value transmitted.
AIC1 M [AI net. channel] [No] (nO)
The parameter can be accessed if [PID feedback ass.] (PIF) = [Network AI] (AIU1). This parameter can also
be accessed in the [1.5 INPUTS / OUTPUTS CFG] (I-O-) menu.
PIF1 M [Min PID feedback] (1) 100
T Value for minimum feedback. Adjustment range from 0 to [Max PID feedback] (PIF2) (2).
PIF2 M [Max PID feedback] (1) 1000
T Value for maximum feedback Adjustment range from [Min PID feedback] (PIF1) to 32767 (2).
PIP1 M [Min PID reference] (1) 150
T Minimum process value. Adjustment range from [Min PID feedback] (PIF1) to [Max PID reference] (PIP2)
(2).
PIP2 M [Max PID reference] (1) 900
Maximum process value Adjustment range from [Min PID reference] (PIP1) to [Max PID feedback] (PIF2)
(2).
PII M [Act. internal PID ref.] [No] (nO)
Internal PID regulator reference

nO v [No] (nO): The PID regulator reference is given by Fr1 or Fr1b with summing/subtraction/multiplication
functions (see the diagram on page 117).
YES v [Yes] (YES): The PID regulator reference is internal via parameter rPI.
rPI M [Internal PID ref.] 150
T Internal PID regulator reference This parameter can also be accessed in the [1.2 MONITORING] (SUP-)
menu. Adjustment range from [Min PID reference] (PIP1) to [Max PID reference] (PIP2) (2).
rPG M [PID prop. gain] 0.01 to 100 1
T Proportional gain
176
Process
b [PID REGULATOR] (continued)
rIG M [PID integral gain] 0.01 to 100 1
T Integral gain
rdG M [PID derivative gain] 0.00 to 100 0
T Derivative gain
PrP M [PID ramp] (1) 0 to 99.9 s 0s
T PID acceleration/deceleration ramp, defined to go from [Min PID reference] (PIP1) to [Max PID reference]
(PIP2) and vice versa.
PIC M [PID correct. reverse] [No] (nO)
nO v [No] (nO)
YES v [Yes] (YES)
Reversal of the direction of correction (PIC):
If PIC = nO, the speed of the motor will increase when the error is positive. Example: pressure control with
a compressor.
If PIC = YES, the speed of the motor will decrease when the error is positive. Example: temperature control
using a cooling fan.
POL M [Min PID output] (1) - 500 to 500 or -1600

to 1600 according to
0 Hz
T rating
Minimum value of regulator output in Hz
POH M [Max PID output] (1) 0 to 500 or 1600

according to rating
60 Hz
T Maximum value of regulator output in Hz
PAL M [Min fbk alarm] (1) 100
T Minimum monitoring threshold for regulator feedback

Adjustment range from [Min PID feedback] (PIF1) to [Max PID feedback] (PIF2) (2).
PAH M [Max fbk alarm] (1) 1000
T Maximum monitoring threshold for regulator feedback

Adjustment range from [Min PID feedback] (PIF1) to [Max PID feedback] (PIF2) (2).
PEr M [PID error Alarm] (1) 0 to 65535 (2) 100
T Regulator error monitoring threshold
PIS M [PID integral reset] [No] (nO)

LI1 v [LI1] (LI1)
- :
- :
If the assigned input or bit is at 0, the function is inactive (the PID integral is enabled).
If the assigned input or bit is at 1, the function is active (the PID integral is disabled).
thousand digit,
e.g., 15.65 for 15650.
177

Process

FPI M [Speed ref. assign.] [No] (nO)
PID regulator predictive speed input

nO v [No] (nO): Not assigned (function inactive)
PSr M [Speed input %] (1) 1 to 100% 100%
T Multiplying coefficient for predictive speed input.

The parameter cannot be accessed if [Speed ref. assign.] (FPI) = [No] (nO).
PAU M [Auto/Manual assign.] [No] (nO)
nO v [No] (nO): The PID is always active.

LI1 v [LI1] (LI1)
- :
- :
If the assigned input or bit is at 0, the PID is active.
If the assigned input or bit is at 1, manual operation is active.
T Time to accelerate from 0 to the [Rated motor freq.] (FrS). Make sure that this value is compatible with the
Ramp AC2 is only active when the PID function starts up and during PID "wake-ups".
PIM M [Manual reference] [No] (nO)
Manual speed input. The parameter can be accessed if [Auto/Manual assign.] (PAU) is not [No] (nO).
The preset speeds are active on the manual reference if they have been configured.
thousand digit,
e.g., 15.65 for 15650.
178
Process
tLS M [Low speed time out] (1) 0 to 999.9 s 0s
T Maximum operating time at [Low speed] (LSP) (see page 43)

Following operation at LSP for a defined period, a motor stop is requested automatically. The motor restarts
if the reference is greater than LSP and if a run command is still present.
Caution: Value 0 corresponds to an unlimited period.
Note: If [Low speed time out] (tLS) is not 0, [Type of stop] (Stt) page 140 is forced to [Ramp stop]
(rMP) (only if a ramp stop can be configured).
rSL M [PID wake up thresh.] 0.0 to 100.0 0
If the "PID" and "Low speed operating time" tLS functions are configured at the same time, the PID regulator
may attempt to set a speed lower than LSP.
This results in unsatisfactory operation, which consists of starting, operating at low speed then stopping,
and so on…
Parameter rSL (restart error threshold) can be used to set a minimum PID error threshold for restarting after
a stop at prolonged LSP.
The function is inactive if tLS = 0 or if rSL = 0.
WARNING
Check that unintended restarts will not present any danger.
179

Process
Pr1- b [PID PRESET REFERENCES]

Function can be accessed if [PID feedback ass.] (PIF) is assigned.
Pr2 M [2 preset PID ref.] [No] (nO)

LI1 v [LI1] (LI1)
- :
- :
If the assigned input or bit is at 0, the function is inactive.
If the assigned input or bit is at 1, the function is active.
Pr4 M [4 preset PID ref.] [No] (nO)
Make sure that [2 preset PID ref.] (Pr2) has been assigned before assigning this function.
LI1 v [LI1] (LI1)
- :
- :
rP2 M [2 preset PID ref.] (1) 300
T The parameter can be accessed if [Preset ref. PID 2] (Pr2) is assigned.

Adjustment range from [Min PID reference] (PIP1) to [Max PID reference] (PIP2) (2).


180
Torque regulation
Speed
reference Speed
Speed control
Torque/
current M
Torque limitation
reference Torque
[Torque ref. sign] [Torque ratio] [Torque ramp time]
(tSd) (trt) (trP)
LI LI
The function can be used to switch between operation in speed regulation mode and operation in torque control mode.
In torque control mode, the speed may vary within a configurable "deadband". When it reaches a lower or upper limit, the drive automatically
reverts to speed regulation mode (fallback) and remains at this limit speed. The regulated torque is therefore no longer maintained and two
scenarios may occur.
• If the torque returns to the required value, the drive will return to torque control mode.
• If the torque does not return to the required value at the end of a configurable period of time, the drive will switch to fault or alarm mode.
WARNING
Check that the changes in the behavior of the motor do not present any danger.
Torque
A
Torque
limitation
E
Torque C
B
reference
Speed
dead
band
Speed Speed
reference
- AB and CD: "Fallback" to speed regulation

- BC: Torque control zone
- E: Ideal operating point
The torque sign and value can be transmitted via a logic output and an analog output.
181
tOr- b [TORQUE CONTROL]

This function can only be accessed for [Motor control type] (Ctt) = [SVC I] (CUC) or [FVC] (FUC).
Note 1: This function cannot be used with certain other functions. Follow the instructions on page 129.
Note 2: This function is not compatible with the fault management of [Load slipping] (AnF).
tSS M [Trq/spd switching] [No] (nO)
nO v [No] (nO): Function inactive, thereby preventing access to other parameters.

YES v [Yes] (YES): Permanent torque control
LI1 v [LI1] (LI1)
- :
- :
If the assigned input or bit is at 1: Torque control
If the assigned input or bit is at 0: Speed regulation
tr1 M [Torque ref. channel] [No] (nO)
nO v [No] (nO): Not assigned (zero torque reference).

AI3 v [AI3] (AI3): Analog input, if VW3A3202 I/O card has been inserted
AI4 v [AI4] (AI4): Analog input, if VW3A3202 I/O card has been inserted
PI v [RP] (PI): Frequency input, if VW3A3202 I/O card has been inserted
100% of the reference corresponds to 300% of the rated torque.
tSd M [Torque ref. sign] [No] (nO)

LI1 v [LI1] (LI1)
- :
- :
If the assigned input or bit is at 0, the torque sign is the same as the reference.
If the assigned input or bit is at 1, the torque sign is the opposite of the reference.
trt M [Torque ratio] 0 to 1000% 100%
T Coefficient applied to [Torque reference] (tr1).
trP M [Torque ramp time] 0 to 99.99 s 3s
T Rise and fall time for a variation of 100% of the rated torque.
tSt M [Torque control stop] [Speed] (SPd)
SPd v [Speed] (SPd): Speed regulation stop, in accordance with the type of stop configuration (see page 140)
YES v [Freewheel] (YES): Freewheel stop
SPn v [Spin] (SPn): Zero torque stop, but maintaining the flux in the motor. This type of operation is only possible
if [Motor control type] (Ctt) = [FVC] (FUC).
SPt M [Spin time] 0 to 3600 s 1
T The parameter can be accessed if [Torque control stop] (tSt) = [Spin] (SPn)
Spin time following stop, in order to remain ready to restart quickly.
182
b [TORQUE CONTROL] (continued)

dbp M [Positive deadband] 0 to 2 x [Max
frequency] (tFr)
10 Hz
T Positive deadband.
Value added algebraically to the speed reference.
Example for dbP = 10:
• If reference = +50 Hz: + 50 + 10 = 60
• If reference = - 50 Hz: - 50 + 10 = - 40
dbn M [Negative deadband] 0 to 2 x [Max

frequency] (tFr)
10 Hz
T Negative deadband.
Value subtracted algebraically from the speed reference.
Example for dbn = 10:
• If reference = +50 Hz: + 50 - 10 = 40
• If reference = - 50 Hz: - 50 - 10 = - 60
rtO M [Torque ctrl time out] 0 to 999.9 s 60
Time following automatic exit of torque control mode in the event of a fault or alarm.
tOb M [Torq. ctrl fault mgt] [Alarm] (ALrM)
Response of drive once time [Torque ctrl time out] (rtO) has elapsed.
ALrM v [Alarm] (ALrM)
FLt v [Fault] (FLt) : Fault with freewheel stop.
Note: If the motor is equipped with an encoder assigned to speed feedback, the "torque control" function will trigger a [Load slipping]
(AnF) fault. One of the following solutions should be applied:
• Set [Load slip detection] (Sdd) page 230 = [No] (nO).
• Set both [Positive deadband] (dbP) and [Negative deadband] (dbn) to a value less than 10% of the rated motor frequency.
183
Torque limitation
There are two types of torque limitation:
• With a value that is fixed by a parameter
• With a value that is set by an analog input (AI, pulse or encoder)
If both types are enabled, the lowest value is taken into account. The two types of limitation can be configured or switched remotely using
a logic input or via the communication bus.
[Torque limit. activ.] (tLA)
[Motoring torque [Yes]

lim] (tLIM) (YES)
Torque
limitation via
[LI]
parameter
[Gen. torque lim]
(tLIG)
[No]
LI (nO)
Limitation
value
[Analog limit. act.] (tLC) Lowest value
taken into account
[Yes]
Torque (YES)
limitation via [AI]
[AI.] (AI.) analog input,
RP or [LI]
[RP] (PI)
[Encoder] (PG) Encoder
[No]
(nO)
LI
[Torque ref. assign.] (tAA)
184
tOL- b [TORQUE LIMITATION]

This function cannot be accessed in V/F profile mode.
tLA M [Torque limit. activ.] [No] (nO)

YES v [Yes] (YES): Function always active
LI1 v [LI1] (LI1)
- :
- :
IntP M [Torque increment] [1 %] (1)
The parameter cannot be accessed if [Torque limit. activ.] (tLA) = [No] (nO)
Selection of units for the [Motoring torque lim] (tLIM) and [Gen. torque lim] (tLIG) parameters.
0.1 v [0,1%] (0.1) : unit 0.1%.
1 v [1%] (1): unit 1%.
tLIM M [Motoring torque lim] (1) 0 to 300% 100%
T The parameter cannot be accessed if [Torque limit. activ.] (tLA) = [No] (nO)
Torque limitation in motor mode, as a % or in 0.1% increments of the rated torque in accordance with the
[Torque increment] (IntP) parameter.
tLIG M [Gen. torque lim] (1) 0 to 300% 100%
T The parameter cannot be accessed if [Torque limit. activ.] (tLA) = [No] (nO)
Torque limitation in generator mode, as a % or in 0.1% increments of the rated torque in accordance with
the [Torque increment] (IntP) parameter.
tAA M [Torque ref. assign.] [No] (nO)
If the function is assigned, the limitation varies between 0% and 300% of the rated torque on the basis of
the 0% to 100% signal applied to the assigned input.
Examples:
- 12 mA on a 4-20 mA input results in limitation to 150% of the rated torque.
- 2.5 V on a 10 V input results in 75% of the rated torque.
AI1 v [AI1] (AI1)
- to
AI4 [AI4] (AI4): Analog input, if VW3A3202 I/O card has been inserted
PI v [RP] (PI): Frequency input, if VW3A3202 I/O card has been inserted
AIU1 v [Network AI] (AIU1): Virtual input via communication bus, to be configured via [AI net. channel] (AIC1)
page 97.
WARNING
value transmitted.
185
b [TORQUE LIMITATION] (continued)
tLC M [Analog limit. act.] [Yes] (YES)
The parameter can be accessed if [Torque ref. assign.] (tAA) is not [No] (nO).
YES v [Yes] (YES): The limitation depends on the input assigned by [Torque ref. assign.] (tAA).
LI1 v [LI1] (LI1)
- :
- :
If the assigned input or bit is at 0:
• The limitation is specified by the [Motoring torque lim] (tLIM) and [Gen. torque lim.] parameters (tLIG) if
[Torque limit. activ.] (tLA) is not [No] (nO).
• No limitation if [Torque limit. activ.] (tLA) = [No] (nO).
If the assigned input or bit is at 1:
• The limitation depends on the input assigned by [Torque ref. assign.] (tAA).
Note: If [Torque limitation] (tLA) and [Torque ref. assign.] (tAA) are enabled at the same time, the lowest
value will be taken into account.
186
CLI- b [2nd CURRENT LIMIT.]

LC2 M [Current limit 2] [No] (nO)
nO v [No] (nO): Function inactive.

LI1 v [LI1] (LI1)
- :
- :
If the assigned input or bit is at 0, the first current limitation is active.
If the assigned input or bit is at 1, the second current limitation is active.
CL2 M [I Limit. 2 value] (1) 0 to 1.65 In (2) 1.5 In (2)
T Second current limitation The parameter can be accessed if [Current limit 2] (LC2) is not [No] (nO).
if this has been enabled (see page 221). If it is less than the no-load motor current, the limitation no
longer has any effect.
CAUTION
CLI M [Current Limitation] (1) 0 to 1.65 In (2) 1.5 In (2)
T First current limitation

if this has been enabled (see page 221). If it is less than the no-load motor current, the limitation no
longer has any effect.
CAUTION
187
Line contactor command

The line contactor closes every time a run command (forward or reverse) is sent and opens after every stop, as soon as the drive is locked.
For example, if the stop mode is stop on ramp, the contactor will open when the motor reaches zero speed.
Note: The drive control power supply must be provided via an external 24 V source.
Example circuit:
Note: The "Run/Reset" button must be pressed once the
Emergency
"Emergency stop" button has been released.
stop
3 Run/Reset
a line
K11
K10
K11
KM1
L1 L2 L3
ATV 71
U V W 0 LIp P24 LIn LO/Rp
LIp = Run command [Forward] or [Reverse]
Forward K11 K10 LO/Rp [Line contactor ass.] (LLC)
or LIn = [Drive lock] (LES)
M reverse
3
0V 24 V
24 V power supply
CAUTION
This function can only be used for a small number of consecutive operations with a cycle time longer than 60 s (in
order to avoid premature aging of the filter capacitor charging circuit).
188
LLC- b [LINE CONTACTOR COMMAND]

LLC M [Line contactor ass.] [No] (nO)

LO1 v [LO1] (LO1)
- to
r2 [R2] (r2)
- to
r4 [R4] (r4): Relay (selection of R2 extended to R3 or R4 if one or two I/O cards have been inserted).
dO1 v [dO1] (dO1): Analog output AO1 functioning as a logic output. Selection can be made if [AO1 assignment]
(AO1) page 110 = [No] (nO).
LES M [Drive lock] [No] (nO)

LI1 v [LI1] (LI1)
- :
- :
The drive locks when the assigned input or bit changes to 0.
LCt M [Mains V. time out] 5 to 999 s 5s
Monitoring time for closing of line contactor. If, once this time has elapsed, there is no voltage on the drive
power circuit, the drive will lock with a "Line contactor" fault (LCF).
189
Output contactor command

This allows the drive to control a contactor located between the drive and the motor. The request for the contactor to close is made when
a run command is sent. The request for the contactor to open is made when there is no longer any current in the motor.
CAUTION
If a DC injection braking function has been configured it should not be left operating too long in stop mode, as the contactor only
opens at the end of braking.
Output contactor feedback

The corresponding logic input should be at 1 when there is no run command and at 0 during operation.
In the event of an inconsistency, the drive trips on an FCF2 fault if the output contactor fails to close (LIx at 1) and on an FCF1 fault if it is
stuck (LIx at 0).
The parameter [Delay to motor run] (dbS) can be used to delay tripping in fault mode when a run command is sent and the [Delay to open
cont.] (dAS) parameter delays the fault when a stop command is set.
Note:
Fault FCF2 (contactor failing to close) can be reset by the run command changing state from 1 to 0 (0 --> 1 --> 0 in 3-wire control).
ATV 71 Control Feedback
U V W 0 LOp/Rp P24 LIp
K20 KM2
KM2
K20
KM2
M
3
The [Out. contactor ass.] (OCC) and [Output contact. fdbk] (rCA) functions can be used individually or together.
190
OCC- b [OUTPUT CONTACTOR CMD]

OCC M [Out. contactor ass.] [No] (nO)

LO1 v [LO1] (LO1)
- to
r2 [R2] (r2)
- to
(AO1) page 110 = [No] (nO).
rCA M [Output contact. fdbk] [No] (nO)

LI1 v [LI1] (LI1)
- :
- :
- v [...] (...) : See the assignment conditions on page 123.
The motor starts up when the assigned input or bit changes to 0.
dbS M [Delay to motor run] 0.05 to 60 s 0.15
T Time delay for:

• Motor control following the sending of a run command
• Output contactor fault monitoring, if the feedback is assigned. If the contactor fails to close at the end of
the set time, the drive will lock in FCF2 fault mode.
This parameter can be accessed if [Out. contactor ass.] (OCC) is assigned or if [Output contact. fdbk] (rCA)
is assigned.
The time delay must be greater than the closing time of the output contactor.
dAS M [Delay to open cont.] 0 to 5.00 s 0.10
T Time delay for output contactor opening command following motor stop.
This parameter can be accessed if [Output contact. fdbk] (rCA) is assigned.
The time delay must be greater than the opening time of the output contactor. If it is set to 0, the fault will
not be monitored.
If the contactor fails to open at the end of the set time, the drive will lock in FCF1 fault mode.
191
Positioning by sensors or limit switches

This function is used for managing positioning using position sensors or limit switches linked to logic inputs or using control word bits:
• Slowing down
• Stopping
The action logic for the inputs and bits can be configured on a rising edge (change from 0 to 1) or a falling edge (change from 1 to 0). The
example below has been configured on a rising edge:
Forward run command
Reverse run command
[Slowdown forward]
[Stop FW limit sw.]
Speed
[Low speed]
(LSP)
The slowdown mode and stop mode can be configured.

The operation is identical for both directions of operation. Slowdown and stopping operate according to the same logic, described below.
Example: Forward slowdown, on rising edge

- Forward slowdown takes place on a rising edge (change from 0 to 1) of the input or bit assigned to forward slowdown if this rising
edge occurs in forward operation. The slowdown command is then memorized, even in the event of a power outage. Operation
in the opposite direction is authorized at high speed. The slowdown command is deleted on a falling edge (change from 1 to 0)
of the input or bit assigned to forward slowdown if this falling edge occurs in reverse operation.
- A bit or a logic input can be assigned to disable this function.
- Although forward slowdown is disabled while the disable input or bit is at 1, sensor changes continue to be monitored and saved.
192
Example: Positioning on a limit switch, on rising edge
Reverse Reverse Forward Forward

Reverse Forward slowdown stop
stop slowdown
Operation with short cams:

In this instance, when operating for the first time or after restoring the factory settings, the drive must initially be started outside the slowdown
and stop zones in order to initialize the function.
Forward slowdown zone
Forward slowdown
Forward stop zone
Forward stop
Operation with long cams:

In this instance, there is no restriction, which means that the function is initialized across the whole trajectory.
Forward slowdown zone
Forward slowdown
Forward stop zone
Forward stop
193
Stop at distance calculated after deceleration limit switch

This function can be used to control the stopping of the moving part automatically once a preset distance has been traveled after the
slowdown limit switch.
On the basis of the rated linear speed and the speed estimated by the drive when the slowdown limit switch is tripped, the drive will induce
the stop at the configured distance.
This function is useful in applications where one manual-reset overtravel limit switch is common to both directions. It will then only respond
to ensure safety if the distance is exceeded. The stop limit switch retains priority in respect of the function.
The [Deceleration type] (dSF) parameter can be configured to obtain either of the functions described below:
Frequency
[Deceleration type] (dSF) = [Standard] (Std)
Slowdown
frequency
Distance
B
A: Slowdown limit switch reached
A
B: Automatic stop at a distance
[Stop distance] (Std)
Frequency
[Deceleration type] (dSF) = [Optimized] (OPt)
Slowdown
frequency
Distance
A B
Note :
• If the deceleration ramp is modified while stopping at a distance is in progress, this distance will not be observed.
• If the direction is modified while stopping at a distance is in progress, this distance will not be observed.
DANGER
• Check that the parameters configured are consistent (in particular, you should check that the required distance is
possible).
• This function does not replace the stop limit switch, which remains necessary for safety reasons.
194
LPO- b [POSITIONING BY SENSORS]

SAF M [Stop FW limit sw.] [No] (nO)

SAr M [Stop RV limit sw.] [No] (nO)
Same assignments possible as for [Stop FW limit sw.] (SAF) above.
SAL M [Stop limit config.] [Active high] (HIG)
The parameter can be accessed if at least one limit switch or one stop sensor has been assigned. It defines
the positive or negative logic of the bits or inputs assigned to the stop.
LO v [Active low] (LO): Stop controlled on a falling edge (change from 1 to 0) of the assigned bits or inputs.
HIG v [Active high] (HIG): Stop controlled on a rising edge (change from 0 to 1) of the assigned bits or inputs.
dAF M [Slowdown forward] [No] (nO)
dAr M [Slowdown reverse] [No] (nO)
dAL M [Slowdown limit cfg.] [Active high] (HIG)
The parameter can be accessed if at least one limit switch or one slowdown sensor has been assigned. It
defines the positive or negative logic of the bits or inputs assigned to the slowdown.
LO v [Active low] (LO): Slowdown controlled on a falling edge (change from 1 to 0) of the assigned bits or
inputs.
HIG v [Active high] (HIG): Slowdown controlled on a rising edge (change from 0 to 1) of the assigned bits or
inputs.
195
b [POSITIONING BY SENSORS] (continued)

CLS M [Disable limit sw.] [No] (nO)
The parameter can be accessed if at least one limit switch or one sensor has been assigned.
LI1 v [LI1] (LI1)
- :
- :
The action of the limit switches is disabled when the assigned bit or input is at 1. If, at this time, the drive is
stopped or being slowed down by limit switches, it will restart up to its speed reference.
PAS M [Stop type] [Ramp stop] (rMP)
rMP v [Ramp stop] (rMP): On ramp
FSt v [Fast stop] (FSt): Fast stop (ramp time reduced by [Ramp divider] (dCF), see page 140)
YES v [Freewheel] (YES): Freewheel stop
dSF M [Deceleration type] [Standard] (Std)
Std v [Standard] (Std): Uses the [Deceleration] (dEC) or [Deceleration 2] (dE2) ramp (depending on which has
been enabled).
OPt v [Optimized] (OPt): The ramp time is calculated on the basis of the actual speed when the slowdown
contact switches, in order to limit the operating time at low speed (optimization of the cycle time: the
slowdown time is constant regardless of the initial speed).
Std M [Stop distance] [No] (nO)
Activation and adjustment of the "Stop at distance calculated after the slowdown limit switch" function.
nO v [No] (nO): Function inactive (the next two parameters will, therefore, be inaccessible).
- v 0.01 yd to 10.94 yd: Stop distance range in yards.
nLS M [Rated linear speed] 0.20 to 5.00 m/s 1.00 m/s
Rated linear speed in meters/second.
SFd M [Stop corrector] 50 to 200% 100%
Scaling factor applied to the stop distance to compensate, for example, a non-linear ramp.
196
Parameter set switching [PARAM. SET SWITCHING]

A set of 1 to 15 parameters from the [1.3 SETTINGS] (SEt-) menu on page 53 can be selected and 2 or 3 different values assigned. These
2 or 3 sets of values can then be switched using 1 or 2 logic inputs or control word bits. This switching can be performed during operation
(motor running).
It can also be controlled on the basis of one or two frequency thresholds, whereby each threshold acts as a logic input (0 = threshold not
reached, 1 = threshold reached).
Values 1 Values 2 Values 3

Parameter 1 Parameter 1 Parameter 1 Parameter 1
Input LI or bit or frequency threshold 0 1 0 or 1
2 values
Input LI or bit or frequency threshold 0 0 1
3 values
Note: Do not modify the parameters in the [1.3 SETTINGS] (SEt-) menu, because any modifications made in this menu
([1.3 SETTINGS] (SEt-)) will be lost on the next power-up. The parameters can be adjusted during operation in the
[PARAM. SET SWITCHING] (MLP-) menu, on the active configuration.
Note: Parameter set switching cannot be configured from the integrated display terminal.
Parameters can only be adjusted on the integrated display terminal if the function has been configured previously via the graphic display
terminal, by PowerSuite or via the bus or communication network. If the function has not been configured, the MLP- menu and the PS1-,
PS2-, PS3- submenus will not appear.
197
MLP- b [PARAM. SET SWITCHING]

CHA1 M [2 parameter sets] [No] (nO)

FtA v [Freq. Th.att.] (FtA): Switching via [Freq. threshold] (Ftd) page 66.
F2A v [Freq. Th. 2 attain.] (F2A): Switching via [Freq. threshold 2] (Ftd) page 66.
LI1 v [LI1] (LI1)
- :
- :
Switching 2 parameter sets
CHA2 M [3 parameter sets] [No] (nO)

FtA v [Freq. Th.att.] (FtA): Switching via [Freq. threshold] (Ftd) page 66.
F2A v [Freq. Th. 2 attain.] (F2A): Switching via [Freq. threshold 2] (Ftd) page 66.
LI1 v [LI1] (LI1)
- :
- :
Switching 3 parameter sets
Note: In order to obtain 3 parameter sets, [2 parameter sets] must also be configured.
M [PARAMETER SELECTION]
The parameter can only be accessed on the graphic display terminal if [2 parameter sets] is not [No].
Making an entry in this parameter opens a window containing all the adjustment parameters that can be
accessed.
Select 1 to 15 parameters using ENT (a tick then appears next to the parameter). Parameter(s) can also be
deselected using ENT.
Example:
PARAMETER SELECTION
1.3 SETTINGS
Ramp increment
---------
---------
---------
PS1- M [SET 1]
The parameter can be accessed if at least 1 parameter has been selected in [PARAMETER SELECTION].
Making an entry in this parameter opens a settings window containing the selected parameters in the order
in which they were selected.
With the graphic display terminal :

SET1 Acceleration
Acceleration : 9.51 s ENT
Deceleration : 9.67 s
Acceleration 2 : 12.58 s 9.51 s
Deceleration 2 : 13.45 s
Begin Acc round: 2.3 s Min = 0.1 Max = 999.9
Code Quick << >> Quick

Proceed as in the Settings menu using the parameters that appear.
198
b [PARAM. SET SWITCHING] (continued)

PS2- M [SET 2]
The parameter can be accessed if at least 1 parameter has been selected in [PARAMETER SELECTION].
Procedure identical to [SET 1] (PS1-).
PS3- M [SET 3]
The parameter can be accessed if [3 parameter sets] is not [No] and if at least 1 parameter has been
selected in [PARAMETER SELECTION].
Procedure identical to [SET 1] (PS1-).
Note: We recommend that a parameter set switching test is carried out while stopped and a check is made to ensure that
it has been performed correctly.
Some parameters are interdependent and in this case may be restricted at the time of switching.
Interdependencies between parameters must be respected, even between different sets.
Example: The highest [Low speed] (LSP) must be below the lowest [High speed] (HSP).
199
Motor or configuration switching [MULTIMOTORS/CONFIG.]

The drive may contain up to 3 configurations, which can be saved using the [1.12 FACTORY SETTINGS] (FCS-) menu, page 245.
Each of these configurations can be activated remotely, enabling adaptation to:
• 2 or 3 different motors or mechanisms (multimotor mode)
• 2 or 3 different configurations for a single motor (multiconfiguration mode)
The two switching modes cannot be combined.

Note: The following conditions MUST be observed:
• Switching may only take place when stopped (drive locked). If a switching request is sent during operation, it will not be executed
until the next stop.
• In the event of motor switching, the following additional conditions apply:
- When the motors are switched, the power and control terminals concerned must also be switched as appropriate.
- The maximum power of the drive must not be exceeded by any of the motors.
• All the configurations to be switched must be set and saved in advance in the same hardware configuration, this being the
definitive configuration (option and communication cards). Failure to follow this instruction can cause the drive to lock on an
[Incorrect config.] (CFF) fault.
Menu and parameters switched in multimotor mode

• [1.3 SETTINGS] (SEt-)
• [1.4 MOTOR CONTROL] (drC-)
• [1.5 INPUTS / OUTPUTS CFG] (I-O-)
• [1.6 COMMAND] (CtL-)
• [1.7 APPLICATION FUNCT.] (FUn-) with the exception of the [MULTIMOTORS/CONFIG.] function (to be configured once only)
• [1.8 FAULT MANAGEMENT] (FLt)
• [1.13 USER MENU]
• [USER CONFIG.]: The name of the configuration specified by the user in the [1.12 FACTORY SETTINGS] (FCS-) menu
Menu and parameters switched in multiconfiguration mode

As in multimotor mode, except for the motor parameters that are common to the three configurations:
- Rated current
- Thermal current
- Rated voltage
- Rated frequency
- Rated speed
- Rated power
- IR compensation
- Slip compensation
- Synchronous motor parameters
- Type of thermal protection
- Thermal state
- The auto-tuning parameters and motor parameters that can be accessed in expert mode
- Type of motor control
Note: No other menus or parameters can be switched.
200
Transfer of a drive configuration to another one, with graphic display terminal, when
the drive uses [MULTIMOTORS/CONFIG.] function
Let A be the source drive and B the drive addressed. In this example, switching are controled by logic input.
1. Connect graphic display terminal to the drive A.

2. Put logic input LI ([2 Configurations] (CnF1)) and LI ([3 Configurations] (CnF2)) to 0.
3. Download configuration 0 in a file of graphic display terminal (example : file 1 of the graphic display terminal).
4. Put logic input LI ([2 Configurations] (CnF1)) to 1 and leave logic input LI ([3 Configurations] (CnF2)) to 0.
8. Connect graphic display terminal to the drive B.
9. Put logic input LI ([2 Configurations] (CnF1)) and LI ([3 Configurations] (CnF2)) to 0.
10. Make a factory setting of the drive B.
11. Download the configuration file 0 in the drive (file 1 of graphic display terminal in this example).
Nota: Steps 6, 7, 14 et 15 are necessary only if [MULTIMOTORS/CONFIG.] function is used with 3 configurations or 3 motors.
Graphic display
terminal
Current
configuration
Network
Modbus
CANopen
[2 Configurations] (CnF1)
Terminal
[3 Configurations] (CnF2)
CnF1 = 0, CnF2 = 0 CnF1 = 1, CnF2 = 0 CnF1 = 0, CnF2 = 1

ou
CnF1= 1, CnF2 = 1
Configuration 0 Configuration 1 Configuration 2

or motor 0 or motor 1 or motor 2
201
Switching command
Depending on the number of motors or selected configuration (2 or 3), the switching command is sent using one or two logic inputs. The
table below lists the possible combinations.
LI LI Number of configuration
2 motors or configurations 3 motors or configurations or active motor
0 0 0
1 0 1
0 1 2
1 1 2
Schematic diagram for multimotor mode
ATV 71
Configuration 0 LO or R
LI
Configuration 1
Configuration 0
LO or R
if the 2 contacts + 24 V Configuration 1
are open Configuration 2
LO or R
LI Configuration 2
M0 M1 M2
Auto-tuning in multimotor mode

This auto-tuning can be performed:
• Manually using a logic input when the motor changes
• Automatically each time the motor is activated for the 1st time after switching on the drive, if the [Automatic autotune] (AUt) parameter
on page 69 = [Yes] (YES).
Motor thermal states in multimotor mode:

The drive protects the three motors individually. Each thermal state takes into account all stop times, including drive shutdowns.
It is, therefore, not necessary to perform auto-tuning every time the power is switched on. It is sufficient to auto-tune each motor at least
once.
Configuration information output

In the [1.5 INPUTS / OUTPUTS CFG] (I-O-) menu, a logic output can be assigned to each configuration or motor (2 or 3) for remote
information transmission.
Note: As the [1.5 INPUTS / OUTPUTS CFG] (I-O-) menu is switched, these outputs must be assigned in all configurations in which
information is required.
202
MMC- b [MULTIMOTORS/CONFIG.]
CHM M [Multimotors] [No] (nO)
nO v [No] (nO): Multiconfiguration possible

YES v [Yes] (YES): Multimotor possible
CnF1 M [2 Configurations] [No] (nO)
nO v [No] (nO): No switching

C111 v [C111] (C111) to [C115] (C115): With integrated Modbus
- v [C211] (C211) to [C215] (C215): With integrated CANopen
- v [C311] (C311) to [C315] (C315): With a communication card
- v [C411] (C411) to [C415] (C415): With a Controller Inside card
Switching of 2 motors or 2 configurations
CnF2 M [3 Configurations] [No] (nO)
nO v [No] (nO): No switching

C111 v [C111] (C111) to [C115] (C115): With integrated Modbus
- v [C211] (C211) to [C215] (C215): With integrated CANopen
- v [C311] (C311) to [C315] (C315): With a communication card
- v [C411] (C411) to [C415] (C415): With a Controller Inside card
Switching of 3 motors or 3 configurations
Note: In order to obtain 3 motors or 3 configurations, [2 Configurations] (CnF1) must also be configured.
tnL- b [AUTO TUNING BY LI]

tUL M [Auto-tune assign.] [No] (nO)

LI1 v [LI1] (LI1)
- :
- :
Auto-tuning is performed when the assigned input or bit changes to 1.
Note: Auto-tuning causes the motor to start up.
203
Traverse control
Function for winding reels of yarn (in textile applications)
Textiles
Traverse control Winding drive

drive
Reel of yarn
Gearbox Main shaft
Winding motor
Thread guide
Thread
Gearbox
Cam
Traverse control motor
The speed of rotation of the cam must follow a precise profile to ensure that the reel is steady, compact and linear:
Run command
LI or traverse
control bit
Motor speed
Base reference
ACC
ramp
dEC ramp
start of function end of function

Bit 15 of word LRS1
(traverse control active)
t
The function starts when the drive has reached its base reference and the traverse control command has been enabled.
When the traverse control command is disabled, the drive returns to its base reference, following the ramp determined by the traverse
control function. The function then stops, as soon as it has returned to this reference.
Bit 15 of word LRS1 is at 1 while the function is active.
204
Function parameters:
These define the cycle of frequency variations around the base reference, as shown in the diagram below:
Textiles
Motor speed tdn tUP Frequency jump
qSH
trH
Base
reference
trL
qSL
Frequency jump
0 t
• trC: [Yarn control]: Assignment of the traverse control command to a logic input or to a communication bus control word bit
• tdn: [Traverse ctrl. decel] time, in seconds
• tUP: [Traverse ctrl. accel.] time, in seconds
• trH: [Traverse freq. high], in Hertz
• trL: [Traverse Freq. Low], in Hertz
• qSH: [Quick step High], in Hertz
• qSL: [Quick step Low], in Hertz
Reel parameters:
• tbO: [Reel time]: Time taken to make a reel, in minutes.
This parameter is intended to signal the end of winding. When the traverse control operating time since command trC
reaches the value of tbO, the logic output or one of the relays changes to state 1, if the corresponding function EbO has
been assigned.
The traverse control operating time EbOt can be monitored online by a communication bus and in the Monitoring menu.
• dtF: [Decrease ref. speed]: Decrease in the base reference.
In certain cases, the base reference has to be reduced as the reel increases in size. The dtF value corresponds to time
tbO. Once this time has elapsed, the reference continues to fall, following the same ramp. If low speed LSP is at 0, the
speed reaches 0 Hz, the drive stops and must be reset by a new run command.
If low speed LSP is not 0, the traverse control function continues to operate above LSP.
Motor speed
Base reference
dtF With LSP = 0
0 t
tbO
Motor speed
Base reference
dtF With LSP > 0
LSP
0 t
tbO
205
• rtr: [Init. traverse ctrl] Reinitialize traverse control.

This command can be assigned to a logic input or to a communication bus control word bit. It resets the EbO alarm and
Textiles
the EbOt operating time to zero and reinitializes the reference to the base reference. As long as rtr remains at 1, the
traverse control function is disabled and the speed remains the same as the base reference.
This command is used primarily when changing reels.
Motor speed
Base reference
dtF
0 t
tbO
Run
0 t
trC
0 t
EbOt
tbO
0 t
bit 15 of LRS1
0 t
EbO
0 t
rtr
0 t
206
Counter wobble
Textiles
tSY SnC
Synchronization Reel of yarn
Gearbox Main shaft
Winding motor
Thread guide
Thread
Gearbox
Thread guide motor Cam
The "Counter wobble" function is used in certain applications to obtain a constant yarn tension when the "Traverse control" function is
producing considerable variations in speed on the yarn guide motor (trH and trL, see page 209).
Two motors must be used (one master and one slave).
The master controls the speed of the yarn guide, the slave controls the winding speed. The function assigns the slave a speed profile, which
is in antiphase to that of the master. This means that synchronization is required, using one of the master’s logic outputs and one of the
slave’s logic inputs.
Run command on
master and slave
t
Traverse control
command on master
and slave t
Yarn guide motor trH

speed trL
(master drive)
tSY/SnC synchronization
t
trH
Winding motor speed
(slave drive) trL
207
Connection of synchronization I/O

Textiles
ATV 71 ATV 71
(SnCO) LOp LIp (SnCI)
COM COM
The starting conditions for the function are:

- Base speeds reached on both drives
- [Yarn control] (trC) input activated
- Synchronization signal present
Note: On the slave drive, the [Quick step High] (qSH) and [Quick step Low] (qSL) parameters should generally be left at zero.
208
Textiles
trO- b [TRAVERSE CONTROL]
trC M [Yarn control] [No] (nO)
nO v [No] (nO): Function inactive, thereby preventing access to other parameters.

LI1 v [LI1] (LI1)
- :
- :
The "traverse control" cycle starts when the assigned input or bit changes to 1 and stops when it changes
to 0.
trH M [Traverse freq. high] (1) 0 to 10 Hz 4 Hz
T
trL M [Traverse Freq. Low] (1) 0 to 10 Hz 4 Hz
T
qSH M [Quick step High] (1) 0 to [Traverse freq.
high] (trH)
0 Hz
T
qSL M [Quick step Low] (1) 0 to [Traverse Freq.
Low] (trL)
0 Hz
T
tUP M [Traverse ctrl. accel.] 0.1 to 999.9 s 4s
T
tdn M [Traverse ctrl. decel] 0.1 to 999.9 s 4s
T
tbO M [Reel time] 0 to 9999 minutes 0 minute
T Reel execution time
EbO M [End reel] [No] (nO)
nO v [No] (nO): Function not assigned.

LO1 v [LO1] (LO1)
- to
r2 v [R2] (r2)
- to
(AO1) page 110 = [No] (nO).
The assigned output or relay changes to state 1 when the traverse control operating time reaches the [Reel
time] (tbO).
209

Textiles
b [TRAVERSE CONTROL] (continued)

SnC M [Counter wobble] [No] (nO)

LI1 v [LI1] (LI1)
- :
- :
Synchronization input.
To be configured on the winding drive (slave) only.
tSY M [Sync. wobble] [No] (nO)

LO1 v [LO1] (LO1)
- to
r2 v [R2] (r2)
- to
(AO1) page 110 = [No] (nO).
Synchronization output.
To be configured on the yarn guide drive (master) only.
dtF M [Decrease ref. speed] 0 to 1600 Hz 0 Hz
T Decrease in the base reference during the traverse control cycle.
rtr M [Init. traverse ctrl] [No] (nO)

LI1 v [LI1] (LI1)
- :
- :
When the state of the assigned input or bit changes to 1, the traverse control operating time is reset to zero,
along with [Decrease ref. speed] (dtF).
210
Evacuation function
The evacuation function is designed for "elevator" applications. It is only accessible for ATV71pppN4 (380/480 V) drives up to
Elevator
ATV71pD75N4, and ATV71pppY (500/690 V) drives up to ATV71pD90Y.
When an elevator is stuck between 2 floors due to a power outage, it must be possible to evacuate its occupants within a reasonable period
of time.
This function requires an emergency power supply to be connected to the drive.
This power supply is at a reduced voltage, and only allows a derated operating mode, at reduced speed, but with full torque.
The function requires:

• One logic input to control "evacuation" operation
• Reduction of the voltage monitoring threshold
• An appropriate low speed reference
Following a power outage, the drive can restart without going into [Undervoltage] (USF) fault mode if the corresponding logic input is at 1
at the same time.
CAUTION
• This input must not be at 1 when the drive is powered from the line supply. To ensure this and also avoid any
short-circuits, supply changeover contactors must be used.
• Set this input to 0 before connecting the emergency power supply to the line supply.
rFt- b [EVACUATION]
Function only accessible for ATV71pppN4 (380/480 V) drives up to ATV71pD75N4, and ATV71pppY
(500/690 V) drives up to ATV71pD90Y.
rFt- M [Evacuation assign.] [No] (nO)

LI14 v [LI11] (LI11) to [LI14] (LI14): If VW3A3202 extended I/O card has been inserted.
Evacuation is activated when the assigned input is at 1, if the drive is stationary.
Evacuation is activated when the assigned input is at 0, as soon as the drive stops.
rSU M [Evacuation Input V.] According to voltage

rating
According to voltage
rating
Minimum permissible AC voltage value of the emergency power supply.
The parameter can be accessed if [Evacuation assign.] (rFt) is not [No] (nO).
• ATV71pppN4: range from 220 to 320 V, factory setting 220 V.
• ATV71pppY: range from 380 to 415 V, factory setting 400 V.
rSP M [Evacuation freq.] 5 Hz
T Value of the "evacuation" mode frequency reference.

The parameter can be accessed if [Evacuation assign.] (rFt) is not [No] (nO).
The adjustment range is determined by the [Low speed] (LSP) (page 55), [Rated motor freq.] (FrS) and
[Rated motor volt.] (UnS) (page 68) parameters and by [Evacuation Input V.] (rSU) above.
• If LSP < (Frs x rSU/UnS): rSP min. = LSP, rSP max. = (Frs x rSU/UnS)
• If LSP u (Frs x rSU/UnS): rSP = (Frs x rSU/UnS).
211
Half floor
The "half floor" function is designed for "elevator" applications.
Elevator
When an elevator sets off from floors and half floors, the cycle time for half floors can be too long, as the elevator does not have time to
reach full speed before crossing the slowdown limit switch. As a result, the slowdown time is unnecessarily long.
The "half floor" function can be used to compensate this by not triggering slowdown until the speed reaches a preset threshold [Half-floor
speed] (HLS) in order that the final part of the path will be the same as for a standard floor.
The graphs below illustrate the various operating scenarios with and without the function:
Frequency Standard floor
A: Slowdown limit switch reached

B: Stop limit switch reached
Slowdown
frequency
Distance
A B
Frequency
Half floor without function
Slowdown
frequency
Distance
A B
Frequency Half floor with function
[Half-floor
The function is only activated if, when the slowdown limit
speed] (HLS)
switch is tripped, the motor frequency is less than [Half-floor
speed] (HLS). Acceleration is then maintained up to this value
Slowdown prior to slowing down.
frequency The final part of the path is identical to that of the standard
Distance floor.
A B
HFF- b [HALF FLOOR]

HLS M [Half-floor speed] [No] (nO)
Activation and adjustment of the "half floor" function. This function has priority over all speed reference
functions (preset speeds, for example) with the exception of those generated via fault monitoring (fallback
speed, for example).
- v 0.1 Hz to 500.0 Hz: Activation of the function by adjusting the motor frequency to be reached prior to
slowing down.
212
Direct power supply via DC bus

This function is only accessible for ATV71pppM3 drives u 18.5 kW, ATV71pppN4 drives u 18.5 kW and all ratings of ATV71pppY
drives.
Direct power supply via the DC bus requires a protected direct current source with adequate power and voltage as well as a suitably
dimensioned resistor and capacitor precharging contactor. Consult Schneider Electric for information about specifying these components.
The "direct power supply via DC bus" function can be used to control the precharging contactor via a relay or a logic input on the drive.
Example circuit using R2 relay:
DC power
supply
- +
Contactor power
supply
A1
- KM1
A2
A1
R2A
R2C
PA /+
P0
PC /-
ATV71ppp
W / T3
U / T1
V / T2
W1
U1
V1
M
3a
dCO- b [DC BUS SUPPLY]

This function is only accessible for ATV71pppM3 drives u 18.5 kW, ATV71pppN4 drives u 18.5 kW and all
ratings of ATV71pppY drives.
dCO M [Precharge cont. ass.] [No] (nO)

LO1 v [LO1] (LO1)
- to
r2 [R2] (r2)
- to
(AO1) page 110 = [No] (nO).
213
[1.8 FAULT MANAGEMENT] (FLt-)
RDY Term +0.00Hz 0A

1 DRIVE MENU
1.1 SIMPLY START
1.2 MONITORING
1.3 SETTINGS
1.4 MOTOR CONTROL
Code << >> Quick
RDY Term +0.00Hz 0A 1.6 COMMAND RUN Term +50.00Hz 80A
MAIN MENU 1.7 APPLICATION FUNCT. 1.8 FAULT MANAGEMENT
ENT ENT
1 DRIVE MENU 1.8 FAULT MANAGEMENT PTC MANAGEMENT
2 ACCESS LEVEL 1.9 COMMUNICATION FAULT RESET
3 OPEN / SAVE AS 1.10 DIAGNOSTICS AUTOMATIC RESTART
4 PASSWORD 1.11 IDENTIFICATION CATCH ON THE FLY
5 LANGUAGE 1.12 FACTORY SETTINGS MOTOR THERMAL PROT.
Code Quick 1.13 USER MENU Code << >> Quick
With integrated display terminal: Summary of functions:

Power-up
Code Name Page
PtC- [PTC MANAGEMENT] 216
XXX Displays the state of the drive rSt- [FAULT RESET] 217
Atr- [AUTOMATIC RESTART] 218
ENT
FLr- [CATCH ON THE FLY] 219
ESC
tHt- [MOTOR THERMAL PROT.] 221
SIM- OPL- [OUTPUT PHASE LOSS] 221
IPL- [INPUT PHASE LOSS] 222
OHL- [DRIVE OVERHEAT] 222
SAt- [THERMAL ALARM STOP] 223
ESC
FUn- EtF- [EXTERNAL FAULT] 224
ESC
ENT USb- [UNDERVOLTAGE MGT] 225
FLt- FAULT MANAGEMENT tIt- [IGBT TESTS] 226
ESC
ESC LFL- [4-20mA LOSS] 227

CON-
InH- [FAULT INHIBITION] 228
CLL- [COM. FAULT MANAGEMENT] 229
Sdd- [ENCODER FAULT] 230
tId- [TORQUE OR I LIM. DETECT] 230
ESC
LAC- FqF- [FREQUENCY METER] 232

dLd- [DYNAMIC LOAD DETECT.] 234
brP- [DB RES. PROTECTION] 235
bUF- [BU PROTECTION] 235
tnF- [AUTO TUNING FAULT] 235
PPI- [CARDS PAIRING] 236
LFF- [FALLBACK SPEED] 237
FSt- [RAMP DIVIDER] 237
dCI- [DC INJECTION] 237
214
The parameters in the [1.8 FAULT MANAGEMENT] (FLt-) menu can only be modified when the drive is stopped and there is no run
command, except for parameters with a T symbol in the code column, which can be modified with the drive running or stopped.
PTC probes
3 sets of PTC probes can be managed by the drive in order to protect the motors:
• 1 on logic input LI6 converted for this use by switch "SW2" on the control card.
• 1 on each of the 2 option cards VW3A3201 and VW3A3202.
Each of these sets of PTC probes is monitored for the following faults:
• Motor overheating
• Sensor break fault
• Sensor short-circuit fault
Protection via PTC probes does not disable protection via I2t calculation performed by the drive (the two types of protection can be
combined).
215
PtC- b [PTC MANAGEMENT]

PtCL M [LI6 = PTC probe] [No] (nO)
Can be accessed if switch SW2 on the control card is set to PTC.

nO v [No] (nO): Not used
AS v [Always] (AS): "PTC probe" faults are monitored permanently, even if the power supply is not connected
(as long as the control remains connected to the power supply).
rdS v [Power ON] (rdS): "PTC probe" faults are monitored while the drive power supply is connected.
v [Motor ON] (rS): "PTC probe" faults are monitored while the motor power supply is connected.
rS
PtC1 M [PTC1 probe] [No] (nO)
Can be accessed if a VW3A3201 option card has been inserted.

rS
PtC2 M [PTC2 probe] [No] (nO)
Can be accessed if a VW3A3202 option card has been inserted.

rS
216
rSt- b [FAULT RESET]

rSF M [Fault reset] [No] (nO)
Manual fault reset

Faults are reset when the assigned input or bit changes to 1, if the cause of the fault has disappeared.
The STOP/RESET button on the graphic display terminal performs the same function.
See pages 265 to 269 for a list of faults that can be reset manually.
rP M [Product reset] [No] (nO)
Parameter can only be accessed in [ACCESS LEVEL] = [Expert] mode.

Drive reinitialization. Can be used to reset all faults without having to disconnect the drive from the power
supply.
YES v [Yes] (YES): Reinitialization. Press and hold down the "ENT" key for 2 s. The parameter changes back to
[No] (nO) automatically as soon as the operation is complete. The drive can only be reinitialized when
locked.
CAUTION
Make sure that the cause of the fault that led to the drive locking has been removed before
reinitializing.
rPA M [Product reset assig.] [No] (nO)
Parameter can only be modified in [ACCESS LEVEL] = [Expert] mode.

Drive reinitialization via logic input. Can be used to reset all faults without having to disconnect the drive
from the power supply. The drive is reinitialized on a rising edge (change from 0 to 1) of the assigned input.
The drive can only be reinitialized when locked.
LI14 v [LI11] (LI11) to [LI14] (LI14): If VW3A3202 extended I/O card has been inserted.
To assign reinitialization, press and hold down the "ENT" key for 2 s.
CAUTION
Make sure that the cause of the fault that led to the drive locking has been removed before
reinitializing.
217
Atr- b [AUTOMATIC RESTART]

Atr M [Automatic restart] [No] (nO)

YES v [Yes] (YES): Automatic restart, after locking on a fault, if the fault has disappeared and the other operating
conditions permit the restart. The restart is performed by a series of automatic attempts separated by
increasingly longer waiting periods: 1 s, 5 s, 10 s, then 1 minute for the following attempts.
The drive fault relay remains activated if this function is active. The speed reference and the operating
direction must be maintained.
Use 2-wire control ([2/3 wire control] (tCC) = [2 wire] (2C) and [2 wire type] (tCt) = [Level] (LEL) see page
88).
WARNING
Check that an automatic restart will not endanger personnel or equipment in any way.
If the restart has not taken place once the configurable time tAr has elapsed, the procedure is aborted and
the drive remains locked until it is turned off and then on again.
The faults, which permit this function, are listed on page 268:
tAr M [Max. restart time] [5 minutes] (5)
5 v [5 min] (5): 5 minutes

10 v [10 minutes] (10): 10 minutes
30 v [30 minutes] (30): 30 minutes
1h v [1 hour] (1h): 1 hour
2h v [2 hours] (2h): 2 hours
3h v [3 hours] (3h): 3 hours
Ct v [Unlimited] (Ct): Unlimited
This parameter appears if [Automatic restart] (Atr) = [Yes] (YES). It can be used to limit the number of
consecutive restarts on a recurrent fault.
218
FLr- b [CATCH ON THE FLY]

FLr M [Catch on the fly] [No] (nO)
Used to enable a smooth restart if the run command is maintained after the following events:
• Loss of line supply or disconnection
• Reset of current fault or automatic restart
• Freewheel stop.
The speed given by the drive resumes from the estimated speed of the motor at the time of the restart, then
follows the ramp to the reference speed.
This function requires 2-wire level control.
YES v [Yes] (YES): Function active
When the function is operational, it activates at each run command, resulting in a slight delay of the current
(0.5 s max.).
[Catch on the fly] (FLr) is forced to [No] (nO) if brake logic control [Brake assignment] (bLC) is assigned
(page 160) or if [Motor control type] (Ctt) page 70 = [FVC] (FUC) or if, in open-loop control, [Auto DC
injection] (AdC) page 142 = [Continuous] (Ct).
UCb M [Sensitivity] 0.4 to 15% 0.6%
T Parameter accessible at and above ATV71HD55M3X, ATV71HD90N4 and ATV71HC11Y.

Adjusts the catch-on-the-fly sensitivity around the zero speed.
Decrease the value if the drive is not able to perform the catch on the fly, and increase it if the drive locks
on a fault as it performs the catch on the fly.
219
Motor thermal protection

Function:
Thermal protection by calculating the I2t.
Note:The memory of the motor thermal state is saved when the drive is switched off. The power-off time is used to recalculate the
thermal state the next time the drive is switched on.
• Naturally-cooled motors:
The tripping curves depend on the motor frequency.
• Force-cooled motors:
Only the 50 Hz tripping curve needs to be considered, regardless of the motor frequency.
Trip time in seconds
1 Hz 3 Hz 5 Hz
10 Hz 20 Hz 50 Hz
10 000
1 000
100
0,7 0,8 0,9 1 1,1 1,2 1,3 1,4 1,5 1,6
Motor current/ItH
220
tHt- b [MOTOR THERMAL PROT.]

tHt M [Motor protect. type] [Self cooled] (ACL)
nO v [No] (nO): No protection.

ACL v [Self cooled] (ACL): For self-cooled motors
FCL v [Force-cool] (FCL): For force-cooled motors
Note: A fault trip will occur when the thermal state reaches 118% of the rated state and reactivation will
occur when the state falls back below 100%.
ttd M [Motor therm. level] (1) 0 to 118% 100%
T Trip threshold for motor thermal alarm (logic output or relay)
ttd2 M [Motor2 therm. level] 0 to 118% 100%
T Trip threshold for motor 2 thermal alarm (logic output or relay)
T Trip threshold for motor 3 thermal alarm (logic output or relay)
OLL M [Overload fault mgt] [Freewheel] (YES)
Type of stop in the event of a motor thermal fault.

nO v [Ignore] (nO): Fault ignored.
YES v [Freewheel] (YES): Freewheel stop.
Stt v [Per STT] (Stt): Stop according to configuration of [Type of stop] (Stt) page 140, without fault tripping. In
this case the fault relay does not open and the drive is ready to restart as soon as the fault disappears,
according to the restart conditions of the active command channel (e.g., according to [2/3 wire control] (tCC)
and [2 wire type] (tCt) page 88 if control is via the terminals). Configuring an alarm for this fault is
recommended (assigned to a logic output, for example) in order to indicate the cause of the stop.
LFF v [fallback spd] (LFF): Change to fallback speed, maintained as long as the fault persists and the run
command has not been removed (2).
rLS v [Spd maint.] (rLS): The drive maintains the speed being applied when the fault occurred, as long as the
fault is present and the run command has not been removed (2).
FSt v [Fast stop] (FSt): Fast stop.
dCI v [DC injection] (dCI): DC injection stop. This type of stop cannot be used with certain other functions. See
table on page 129.
OPL- b [OUTPUT PHASE LOSS]

OPL M [Output Phase Loss] [Yes] (YES)

YES v [Yes] (YES): Tripping on OPF fault with freewheel stop.
OAC v [Output cut] (OAC): No fault triggered, but management of the output voltage in order to avoid an
overcurrent when the link with the motor is re-established and catch on the fly performed (even if this
function has not been configured).
Note: [Output phase loss] (OPL) is forced to [No] (nO) if [Motor control type] (Ctt) page 70 = [Sync. mot.]
(SYn). For other [Motor control type] (Ctt) configurations, [Output phase loss] (OPL) is forced to [Yes] (YES)
if brake logic control is configured (see page 160).
Odt M [OutPh time detect] 0.5 to 10 s 0.5 s
T Time delay for taking the [Output Phase Loss] (OPL) fault into account.
(2) Because, in this case, the fault does not trigger a stop, it is essential to assign a relay or logic output to its indication.
221
IPL- b [INPUT PHASE LOSS]

IPL M [Input phase loss] According to drive
rating
nO v [Ignore] (nO): Fault ignored, to be used when the drive is supplied via a single phase supply or by the DC
bus.
YES v [Freewheel] (YES): Fault with freewheel stop.
If one phase disappears, the drive switches to fault mode [Input phase loss] (IPL) but if 2 or 3 phases
disappear, the drive continues to operate until it trips on an undervoltage fault.
Factory setting: [Ignore] (nO) for ATV71p037M3 to U30M3, [Freewheel] (YES) for all others.
OHL- b [DRIVE OVERHEAT]

OHL M [Overtemp fault mgt] [Freewheel] (YES)
CAUTION
Inhibiting faults results in the drive not being protected. This invalidates the warranty.
Check that the possible consequences do not present any risk.
Behavior in the event of the drive overheating

table on page 129.
Note: A fault trip will occur when the thermal state reaches 118% of the rated state and reactivation will
occur when the state falls back below 90%.
tHA M [Drv therm. state al] 0 to 118% 100%
T Trip threshold for drive thermal alarm (logic output or relay)
222
Deferred stop on thermal alarm

This function is designed in particular for elevator applications. It prevents the elevator stopping between two floors if the drive or motor
Elevator
overheats, by authorizing operation until the next stop. At the next stop, the drive is locked until the thermal state falls back to a value, which
undershoots the set threshold by 20%. Example: A trip threshold set at 80% enables reactivation at 60%.
One thermal state threshold must be defined for the drive, and one thermal state threshold for the motor(s), which will trip the deferred stop.
SAt- b [THERMAL ALARM STOP]

SAt M [Thermal alarm stop] [No] (nO)
nO v [No] (nO) : Function inactive (in this case, the following parameters cannot be accessed)
YES v [Yes] (YES) : Freewheel stop on drive or motor thermal alarm
CAUTION
The drive and motor are no longer protected in the event of thermal alarm stops. This invalidates
the warranty.
tHA M [Drv therm. state al] 0 to 118% 100%
T Thermal state threshold of the drive tripping the deferred stop.
ttd M [Motor therm. level] 0 to 118% 100%
T Thermal state threshold of the motor tripping the deferred stop.
T Thermal state threshold of the motor 2 tripping the deferred stop.
T Thermal state threshold of the motor 3 tripping the deferred stop.
223
EtF- b [EXTERNAL FAULT]

EtF M [External fault ass.] [No] (nO)

LI1 v [LI1] (LI1)
- :
- :
If the assigned bit is at 0, there is no external fault.
If the assigned bit is at 1, there is an external fault.
Logic can be configured via [External fault config] (LEt) if a logic input has been assigned.
LEt M [External fault config] [Active high] (HIG)
Parameter can be accessed if the external fault has been assigned to a logic input. It defines the positive
or negative logic of the input assigned to the fault.
LO v [Active low] (LO): Fault on falling edge (change from 1 to 0) of the assigned input.
HIG v [Active high] (HIG): Fault on rising edge (change from 0 to 1) of the assigned input.
EPL M [External fault mgt] [Freewheel] (YES)
Type of stop in the event of an external fault

table on page 129.
224
USb- b [UNDERVOLTAGE MGT]

USb M [UnderV. fault mgt] [Flt&R1open] (0)
Behavior of the drive in the event of an undervoltage

0 v [Flt&R1open] (0): Fault and fault relay open.
1 v [Flt&R1close] (1): Fault and fault relay closed.
2 v [Alarm] (2): Alarm and fault relay remains closed. The alarm can be assigned to a logic output or a relay.
UrES M [Mains voltage] According to drive
voltage rating
According to drive
voltage rating
Rated voltage of the line supply in V.
For ATV71ATV71pppM3:
200 v [200V ac] (200): 200 Volts AC
220 v [220V ac] (220): 220 Volts AC
240 v [240V ac] (240): 240 Volts AC
260 v [260V ac] (260): 260 Volts AC (factory setting)
For ATV71pppN4:
380 v [380V ac] (380): 380 Volts AC
400 v [400V ac] (400): 400 Volts AC
440 v [440V ac] (440): 440 Volts AC
460 v [460V ac] (460): 460 Volts AC
480 v [480V ac] (480): 480 Volts AC (factory setting)
For ATV71pppY:
500 v [500 Vac] (500): 500 Volts AC
600 v [600 Vac] (600): 600 Volts AC
690 v [690 Vac] (690): 690 Volts AC (factory setting)
USL M [Undervoltage level]
Undervoltage fault trip level setting in V. The adjustment range and factory setting are determined by the
drive voltage rating and the [Mains voltage] (UrES) value.
USt M [Undervolt. time out] 0.2 s to 999.9 s 0.2 s
Time delay for taking undervoltage fault into account
StP M [UnderV. prevention] [No] (nO)
Behavior in the event of the undervoltage fault prevention level being reached
nO v [No] (nO): No action
MMS v [DC Maintain] (MMS): This stop mode uses the inertia to maintain the DC bus voltage as long as
possible.
rMP v [Ramp stop] (rMP): Stop following an adjustable ramp [Max stop time] (StM).
LnF v [Lock-out] (LnF): Lock (freewheel stop) without fault
225
USb- b [UNDERVOLTAGE MGT] (continued)

tSM M [UnderV. restart tm] 1.0 s to 999.9 s 1.0 s
Time delay before authorizing the restart after a complete stop for [UnderV. prevention] (StP) = [Ramp stop]
(rMP), if the voltage has returned to normal.
UPL M [Prevention level]

Undervoltage fault prevention level setting in V, which can be accessed if [UnderV. prevention] (StP) is not
[No] (nO). The adjustment range and factory setting are determined by the drive voltage rating and the
[Mains voltage] (UrES) value.
StM M [Max stop time] 0.01 to 60.00 s 1.00 s
T Ramp time if [UnderV. prevention] (StP) = [Ramp stop] (rMP).
tbS M [DC bus maintain tm] 1 to 9999 s 9999 s
T DC bus maintain time if [UnderV. prevention] (StP) = [DC Maintain] (MMS).
tIt- b [IGBT TESTS]

Strt M [IGBT test] [No] (nO)
nO v [No] (nO): No test

YES v [Yes] (YES): The IGBTs are tested on power up and every time a run command is sent. These tests cause
a slight delay (a few ms). In the event of a fault, the drive will lock. The following faults can be detected:
- Drive output short-circuit (terminals U-V-W): SCF display
- IGBT faulty: xtF, where x indicates the number of the IGBT concerned
- IGBT short-circuited: x2F, where x indicates the number of the IGBT concerned
226
LFL- b [4-20mA LOSS]

LFL2 M [AI2 4-20mA loss] [Ignore] (nO)
nO v [Ignore] (nO): Fault ignored. This configuration is the only one possible if [AI2 min. value] (CrL2) page 94
is not greater than 3 mA or if [AI2 Type] (AI2t) page 94 = [Voltage] (10U).
table on page 129.
is not greater than 3 mA.
table on page 129.
is not greater than 3 mA or if [AI4 Type] (AI4t) page 96 = [Voltage] (10U).
table on page 129.
227
Parameter can be accessed in [Expert] mode.
InH- b [FAULT INHIBITION]

InH M [Fault inhibit assign.] [No] (nO)
To assign fault inhibit, press and hold down the “ENT” key for 2 s.
CAUTION
Inhibiting faults results in the drive not being protected. This invalidates the warranty.

LI1 v [LI1] (LI1)
- :
- :
If the assigned input or bit is at 0, fault monitoring is active. If the assigned input or bit is at 1, fault monitoring
is inactive. Active faults are reset on a rising edge (change from 0 to 1) of the assigned input or bit.
Note: The "Power Removal" function and any faults that prevent any form of operation are not affected by
this function.
A list of faults affected by this function appears on pages 265 to 270.
228
CLL- b [COM. FAULT MANAGEMENT]

CLL M [Network fault mgt] [Freewheel] (YES)
Behavior of the drive in the event of a communication fault with a communication card
table on page 129.
COL M [CANopen fault mgt] [Freewheel] (YES)
Behavior of the drive in the event of a communication fault with integrated CANopen
table on page 129.
SLL M [Modbus fault mgt] [Freewheel] (YES)
Behavior of the drive in the event of a communication fault with integrated Modbus
table on page 129.
229
Sdd- b [ENCODER FAULT]

Can be accessed if the encoder option card has been inserted and the encoder is used for speed feedback
(see page 78).
Sdd M [Load slip detection] [No] (nO)
no v [No] (nO): Fault not monitored. Only the alarm may be assigned to a logic output or a relay.
YES v [Yes] (YES): Fault monitored.
[Load slip detection] (Sdd) is forced to [Yes] (YES) if [Motor control type] (Ctt) page 70 = [FVC] (FUC).
The fault is triggered by comparison with the ramp output and the speed feedback, and is only effective for
speeds greater than 10% of the [Rated motor freq.] (FrS), see page 68.
In the event of a fault, the drive will switch to a freewheel stop, and if the brake logic control function has
been configured, the brake command will be set to 0.
ECC M [Encoder coupling] [No] (nO)
nO v [No] (nO): Fault not monitored.

YES v [Yes] (YES): Fault monitored.
If the brake logic control function has been configured, the factory setting changes to [Yes] (YES).
[Encoder coupling] (ECC) = [Yes] (YES) is only possible if [Load slip detection] (Sdd) = [Yes] (YES) and
[Motor control type] (Ctt) page 70 = [FVC] (FUC) and [Brake assignment] (bLC) page 160 is not [No] (nO).
The fault monitored is the break in the mechanical coupling of the encoder.
In the event of a fault, the drive will switch to a freewheel stop, and if the brake logic control function has
been configured, the brake command will be set to 0.
ECt M [Encoder check time] 2 to 10 s 2s
Encoder faults filtering time.

The parameter can be accessed if [Encoder coupling] (ECC) = [Yes] (YES)
tId- b [TORQUE OR I LIM. DETECT]

SSb M [Trq/I limit. stop] [Ignore] (nO)
Behavior in the event of switching to torque or current limitation

table on page 129.
StO M [Trq/I limit. time out] 0 to 9999 ms 1000 ms
T (If fault has been configured)

Time delay for taking SSF "Limitation" fault into account
230
Use of the "Pulse input" input to measure the speed of rotation of the motor.
This function uses the "Pulse input" input from the VW3A3202 extension card and can, therefore, only be used if this card has been inserted
Handling
and if the "Pulse input" input is not being used for another function.
Example of use
An indexed disk driven by the motor and connected to a proximity sensor can be used to generate a frequency signal that is proportional
to the speed of rotation of the motor.
Elevators
Time, in seconds
When applied to the "Pulse input" input, this signal supports:

• Measurement and display of the motor speed: signal frequency = 1/T. This frequency is displayed by means of the [Pulse in. work.
freq.] (FqS) parameter, page 50 or 52.
• Overspeed detection (if the measured speed exceeds a preset threshold, the drive will trip on a fault).
• Brake failure detection, if brake logic control has been configured: If the speed does not drop sufficiently quickly following a command
to engage the brake, the drive will trip on a fault. This function can be used to detect worn brake linings.
• Detection of a speed threshold that can be adjusted using [Pulse warning thd.] (FqL) page 66 and is assignable to a relay or logic
output, see page 102.
Hoisting
231

Handling
FqF- b [FREQUENCY METER]

FqF M [Frequency meter] [No] (nO)
Activation of the speed measurement function.

nO v [No] (nO): Function inactive, In this case, none of the function parameters can be accessed.
YES v [Yes] (YES): Function active, assignment only possible if no other functions have been assigned to the
"Pulse input" input.
FqC M [Pulse scal. divisor] 1.0 to 100.0 1.0
• Scaling factor for the "Pulse input" input (divisor). The frequency measured is displayed by means of the [Pulse
in. work. freq.] (FqS) parameter, page 50 or 52.
FqA M [Overspd. pulse thd.] [No] (nO)

Elevators
Activation and adjustment of overspeed monitoring: [Overspeed] (SOF) fault.

nO v [No] (nO): No overspeed monitoring.
- v 1 Hz to 30.00 Hz: Adjustment of the frequency tripping threshold on the "Pulse input" input divided by
[Pulse scal. divisor] (FqC).
tdS M [Pulse overspd delay] 0.0 s to 10.0 s 0.0 s
Time delay for taking overspeed fault into account
Fdt M [Level fr. pulse ctrl] [No] (nO)
Activation and adjustment of monitoring for the input Pulse input (speed feedback): [Speed fdback loss]
(SPF) fault.
nO v [No] (nO): No monitoring of speed feedback.
- v 0.1 Hz to 500.0 Hz: Adjustment of the motor frequency threshold for tripping a speed feedback fault
(difference between the estimated frequency and the measured speed).
Fqt M [Pulse thd. wo Run] [No] (nO)

Hoisting
Activation and adjustment of brake failure monitoring: [Brake feedback] (brF). If brake logic control [Brake
assignment] (bLC) page 160 is not configured, this parameter is forced to [No] (nO).
v [No] (nO): No brake monitoring.
nO v 1 Hz to 1000 Hz: Adjustment of the motor frequency threshold for tripping abrake failure fault (detection of
- speeds other than zero).
tqb M [Pulse thd. wo Run] 0.0 s to 10.0 s 0.0 s
Time delay for taking brake failure fault into account.
232
Load variation detection

This detection is only possible with the "high-speed hoisting" function. It can be used to detect if an obstacle has been reached, triggering
Hoisting
a sudden (upward) increase or (downward) decrease in the load.
Load variation detection triggers a [Dynamic load fault] fault (dLF). The [Dyn. load Mgt.] (dLb) parameter can be used to configure the
response of the drive in the event of this fault.
Load variation detection can also be assigned to a relay or a logic output.
There are two possible detection modes, depending on the configuration of high-speed hoisting:
"Speed reference" mode

[High speed hoisting] (HSO) page 171 = [Speed ref] (SSO).
Torque variation detection.
During high-speed operation, the load is compared to that measured during the speed step. The permissible load variation and its duration
can be configured. If exceeded, the drive switches to fault mode.
"Current limitation" mode

[High speed hoisting] (HSO) page 171 = [Current Limit] (CSO).
On ascend, during high-speed operation, an increase in load will result in a drop in speed. Even if high-speed operation has been activated,
if the motor frequency drops below the [I Limit Frequency] (SCL) threshold page 171 the drive will switch to fault mode. The detection is
realised only for a positive variations of the load and only in the high speed area (area upper to [I Limit. frequency] (SCL)).
On descend, operation takes the form of "speed reference" mode.
233

Hoisting
dLd- b [DYNAMIC LOAD DETECT.]

Load variation detection. This can be accessed if [High speed hoisting] (HSO) page 171 is not [No] (nO).
tLd M [Dynamic load time] [No] (nO)
Activation of load variation detection and adjustment of time delay for taking load variation fault[Dynamic
load fault] (dLF) into account.
nO v [No] (nO): No load variation detection.
- v 0.00 s to 10.00 s : Adjustment of the time delay for taking fault into account.
dLd M [Dynamic load time] 1 to 100 % 100 %
Adjustment of the trip threshold for load variation detection, as a % of the load measured during the speed
step.
dLb M [Dyn. load Mgt.] [Freewheel] (YES)
Behavior of the drive in the event of a load variation fault.

Stt v [Per STT] (Stt): Stop according to configuration of[Type of stop] (Stt) page 140, without tripping fault. In
according to the restart conditions of the active command channel, (e.g. according to [2/3 wire control] (tCC)
LFF v [Fallback spd.] (LFF): Change to fallback speed, maintained as long as the fault persists and the run
rLS v [Spd maint.] (rLS): The drive maintains the speed at the time the fault occurred, as long as the fault
persists and the run command has not been removed (1).
234
brP- b [DB RES. PROTECTION]

brO M [DB res. protection] [No] (nO)
nO v [No] (nO): No braking resistor protection (thereby preventing access to the other function parameters).
v [Alarm] (YES): Alarm. The alarm may be assigned to a logic output or a relay (see page 102)
YES v [Fault] (FLt): Switch to fault (bOF) with locking of drive (freewheel stop).
FLt
Note: The thermal state of the resistor can be displayed on the graphic display terminal. It is
calculated for as long as the drive control remains connected to the power supply.
brP M [DB Resistor Power] 0.1 kW (0.13 HP) to

1000 kW (1333 HP)
0.1 kW (0.13 HP)
T This parameter can be accessed if[DB res. protection] (brO) is not [No] (nO).
Rated power of the resistor used.
brU M [DB Resistor value] 0.1 to 200 ohms 0.1 ohms
T This parameter can be accessed if[DB res. protection] (brO) is not [No] (nO).
Rated value of the braking resistor in ohms.
bUF- b [BU PROTECTION]

Parameter accessible at and above ATV71HD55M3X, ATV71HD90N4 and ATV71HC11Y.
bUb M [Brake res. fault Mgt] [Freewheel] (YES)
Management of short-circuit [DB unit sh. circuit] (bUF) and overheating [Internal- th. sensor] (InFb) faultsin
the braking unit.
nO v [Ignore] (nO): Fault ignored. Configuration to be used if there is no resistor or braking unit
connected to the drive.
YES v [Freewheel] (YES): freewheel stop.
tnF- b [AUTO TUNING FAULT]

tnL M [Autotune fault mgt] [Freewheel] (YES)

235
Card pairing
Function can only be accessed in [Expert] mode.
This function is used to detect whenever a card has been replaced or the software has been modified in any way.
When a pairing password is entered, the parameters of the cards currently inserted are stored. On every subsequent power-up these
parameters are verified and, in the event of a discrepancy, the drive locks in HCF fault mode. Before the drive can be restarted you must
revert to the original situation or re-enter the pairing password.
The following parameters are verified:

• The type of card for: all cards.
• The software version for: the two control cards, the VW3A3202 extension card, the Controller Inside card and the communication
cards.
• The serial number for: the two control cards.
PPI- b [CARDS PAIRING]

PPI M [Pairing password] OFF to 9999 [OFF] (OFF)
The [OFF] (OFF) value signifies that the card pairing function is inactive.
The [ON] (On) value signifies that card pairing is active and that an access code must be entered in order to
start the drive in the event of a card pairing fault.
As soon as the code has been entered the drive is unlocked and the code changes to [ON] (On).
- The PPI code is an unlock code known only to Schneider Electric Product Support.
236
LFF- b [FALLBACK SPEED]

LFF M [Fallback speed] 0 to 1600 Hz 0 Hz
Selection of the fallback speed
FSt- b [RAMP DIVIDER]

dCF M [Ramp divider] (1) 0 to 10 4
T The ramp that is enabled (dEC or dE2) is then divided by this coefficient when stop requests are sent.
Value 0 corresponds to a minimum ramp time.
dCI- b [DC INJECTION]

IdC M [DC inject. level 1] (1) (3) 0.1 to 1.41 In (2) 0.64 In (2)
T Level of DC injection braking current activated via logic input or selected as stop mode.
CAUTION
tdI M [DC injection time 1] (1) (3) 0.1 to 30 s 0.5 s
T Maximum current injection time [DC inject. level 1] (IdC). After this time the injection current becomes
[DC inject. level 2] (IdC2).
IdC2 M [DC inject. level 2] (1) (3) 0.1 In (2) to [DC inject.
level 1] (IdC)
0.5 In (2)
T Injection current activated by logic input or selected as stop mode, once period of time [DC injection time 1] (tdI)
has elapsed.
CAUTION
tdC M [DC injection time 2] (1) (3) 0.1 to 30 s 0.5 s
T Maximum injection time [DC inject. level 2] (IdC2) for injection, selected as stop mode only.
(Can be accessed if [Type of stop] (Stt) = [DC injection] (dCI)).
(1) The parameter can also be accessed in the [1.3 SETTINGS] (SEt-) and [1.7 APPLICATION FUNCT.] (FUn-) menus.
(3) Warning: These settings are independent of the [AUTO DC INJECTION] (AdC-) function.
237
[1.9 COMMUNICATION] (COM-)
RDY Term +0.00Hz 0A

1 DRIVE MENU
1.1 SIMPLY START
1.2 MONITORING
1.3 SETTINGS
1.4 MOTOR CONTROL
Code << >> Quick
1.6 COMMAND
RDY Term +0.00Hz 0A 1.7 APPLICATION FUNCT. RUN Term +50.00Hz 80A
MAIN MENU 1.8 FAULT MANAGEMENT 1.9 COMMUNICATION
ENT ENT
1 DRIVE MENU 1.9 COMMUNICATION COM. SCANNER INPUT
2 ACCESS LEVEL 1.10 DIAGNOSTICS COM. SCANNER OUTPUT
3 OPEN / SAVE AS 1.11 IDENTIFICATION MODBUS HMI
4 PASSWORD 1.12 FACTORY SETTINGS MODBUS NETWORK
5 LANGUAGE 1.13 USER MENU CANopen
Code Quick 1.14 PROGRAMMABLE CARD Code << >> Quick

Power-up
ENT
ESC
SIM-
ESC
FLt-
ENT
ESC
CON- COMMUNICATION
ESC
ESC
FCS-
ESC
LAC-
238
b [COM. SCANNER INPUT]

Only accessible via graphic display terminal
nMA1 M [Scan. IN1 address] 3201
Address of the 1st input word.
Address of the 2nd input word.
Address of the 3rd input word.
Address of the 4th input word.
b [COM. SCANNER OUTPUT]

Only accessible via graphic display terminal
nCA1 M [Scan.Out1 address] 8501
Address of the 1st output word.
Address of the 2nd output word.
Address of the 3rd output word.
Address of the 4th output word.
239
Md2- b [MODBUS HMI]

Communication with the graphic display terminal
tbr2 M [HMI baud rate] 19.2 kbps
9.6 or 19.2 kbps via the integrated display terminal.

9600 or 19200 bauds via the graphic display terminal.
The graphic display terminal only operates if [HMI baud rate] (tbr2) = 19200 bauds (19.2 kbps).
In order for any change in the assignment of [HMI baud rate] (tbr2) to be taken into account you must:
- Provide confirmation in a confirmation window if using the graphic display terminal
- Press the ENT key for 2 s if using the integrated display terminal
tFO2 M [HMI format] 8E1
Read-only parameter, cannot be modified.
Md1- b [MODBUS NETWORK]

Add M [Modbus Address] OFF
OFF to 247
AMOA M [Modbus add Prg C.] OFF
Modbus address of the Controller Inside card

OFF at 247
The parameter can be accessed if the Controller Inside card has been inserted and depending on its
configuration (please consult the specific documentation).
AMOC M [Modbus add Com.C.] OFF
Modbus address of the communication card

OFF to 247
The parameter can be accessed if a communication card has been inserted and depending on its
configuration (please consult the specific documentation).
tbr M [Modbus baud rate] 19.2 kbps
4.8 - 9.6 - 19.2 - 38.4 kbps on the integrated display terminal.

4800, 9600, 19200 or 38400 bauds on the graphic display terminal.
tFO M [Modbus format] 8E1
8O1 - 8E1 - 8n1, 8n2
ttO M [Modbus time out] 10.0 s
0.1 to 30 s
CnO- b [CANopen]
AdCO M [CANopen address] OFF
OFF to 127
bdCO M [CANopen bit rate] 125 kbps
50 - 125 - 250 - 500 kbps - 1 Mbps
ErCO M [Error code]

Read-only parameter, cannot be modified.
240
- b [COMMUNICATION CARD]
See the specific documentation for the card used.
LCF- b [FORCED LOCAL]

FLO M [Forced local assign.] [No] (nO)

LI14 v [LI11] (LI11) to [LI14] (LI14): If VW3A3202 extended I/O card has been inserted
Forced local mode is active when the input is at state 1.
[Forced local assign.] (FLO) is forced to [No] (nO) if [Profile] (CHCF) page 124 = [I/O profile] (IO).
FLOC M [Forced local Ref.] [No] (nO)
nO v [No] (nO): Not assigned (control via the terminals with zero reference).
LCC v [HMI] (LCC): Assignment of the reference and command to the graphic display terminal.
Reference: [HMI Frequency ref.] (LFr), page 50, command: RUN/STOP/FWD/REV buttons.
If the reference is assigned to an analog input, [RP] (PI) or [Encoder] (PG) the command is automatically
assigned to the terminals as well (logic inputs)
FLOt M [Time-out forc. local] 10.0 s
0.1 to 30 s
The parameter can be accessed if [Forced local assign.] (FLO) is not [No] (nO).
Time delay before communication monitoring is resumed on leaving forced local mode.
241
[1.10 DIAGNOSTICS]
This menu can only be accessed with the graphic display terminal.
RDY Term +0.00Hz 0A

1 DRIVE MENU
1.1 SIMPLY START
1.2 MONITORING
1.3 SETTINGS
1.4 MOTOR CONTROL
Code << >> Quick
1.6 COMMAND
RDY Term +0.00Hz 0A 1.8 FAULT MANAGEMENT RUN Term +50.00Hz 80A
MAIN MENU 1.9 COMMUNICATION 1.10 DIAGNOSTICS
ENT ENT
1 DRIVE MENU 1.10 DIAGNOSTICS FAULT HISTORY
2 ACCESS LEVEL 1.11 IDENTIFICATION CURRENT FAULT LIST
3 OPEN / SAVE AS 1.12 FACTORY SETTINGS MORE FAULT INFO
4 PASSWORD 1.13 USER MENU TEST PROCEDURES
5 LANGUAGE 1.14 PROGRAMMABLE CARD SERVICE MESSAGE
RUN Term +50.00Hz 80A RUN Term +50.00Hz 80A This screen indicates the state of the drive at the
FAULT HISTORY ENT internal com. link moment the selected fault occurred.
internal com. link Drive state RDY
----- ETA status word ...
----- ETI status word ...
----- Cmd word ...
----- Motor current ...
Code Quick HELP Quick
Output frequency ...
Elapsed time ...
RUN Term +50.00Hz 80A Line voltage ...
CURRENT FAULT LIST ENT Motor thermal state ...
internal com. link Command Channel ...
----- Channel ref. active ...
-----
-----
-----
Code Quick
RUN Term +50.00Hz 80A This screen indicates the number of

MORE FAULT INFO communication faults, for example, with the option
Network fault 0 cards.
Application fault 0 Number: from 0 to 65535
Internal link fault 1 0
Internal link fault 2 0
Code Quick
242
[1.10 DIAGNOSTICS]
[THYRISTORS TEST] is only accessible for ATV71pppM3 drives u 18.5 kW, ATV71pppN4 drives > 18.5 kW and all ratings of ATV71pppY drives.

TEST PROCEDURES ENT THYRISTORS TEST TEST IN PROGRESS
THYRISTORS TEST
ENT
TRANSISTOR TEST 2s
ENT to perform the test
ESC to cancel
Quick
RDY Term +50.00Hz 0A

THYRISTORS RESULT
Thyristor 1 Failed
Thyristor 2 OK
Thyristor 3 OK
Quick

ENT TRANSISTOR TEST TEST IN PROGRESS
ENT
Check that a motor is connected. 2s
Enter the motor nameplate data.
ENT to perform the test

ESC to cancel
RDY Term +50.00Hz 0A

TRANSISTOR RESULT
The result for each IGBT is displayed IGBT 1 OK
on 2 lines: IGBT 1 OK
IGBT 2 OK
- The first line shows whether or not it
IGBT 2 Open
has short-circuited
IGBT 3 OK
- The second line shows whether or not Quick
it is open IGBT 3 OK
IGBT 4 OK
IGBT 4 OK
IGBT 5 OK
IGBT 5 OK
IGBT 6 short-circuit
IGBT 6 OK
Note: To start the tests, press and hold down (2 s) the ENT key.
243
[1.11 IDENTIFICATION]
RDY Term +0.00Hz 0A

1 DRIVE MENU
1.1 SIMPLY START
1.2 MONITORING
1.3 SETTINGS
1.4 MOTOR CONTROL
Code << >> Quick
1.6 COMMAND
RDY Term +0.00Hz 0A 1.9 COMMUNICATION RUN Term 1250A +50.00Hz
MAIN MENU 1.10 DIAGNOSTICS 1.11 IDENTIFICATION
ENT ENT
1 DRIVE MENU 1.11 IDENTIFICATION ATV71HU15N4
2 ACCESS LEVEL 1.12 FACTORY SETTINGS xx.x kW / yy.y HP
3 OPEN / SAVE AS 1.13 USER MENU 380/480 V
4 PASSWORD 1.14 PROGRAMMABLE CARD Appli. Software Vx.x IE xx
5 LANGUAGE MC Software Vx.x IE xx
6W0410xxxxxxxxxx
product Vx.x
OPTION 1
I/O EXTENSION CARD
Vx.x IE xx
OPTION 2
FIPIO CARD
Vx.x IE xx
GRAPHIC TERMINAL
GRAPHIC S
Vx.x IE xx
ENCODER
RS 422
The [1.11 IDENTIFICATION] menu can only be accessed on the graphic display terminal.
This is a read-only menu that cannot be configured. It enables the following information to be displayed:
• Drive reference, power rating and voltage
• Drive software version
• Drive serial number
• Type of options present, with their software version
244
[1.12 FACTORY SETTINGS] (FCS-)
RDY Term +0.00Hz 0A

1 DRIVE MENU
1.1 SIMPLY START
1.2 MONITORING
1.3 SETTINGS
1.4 MOTOR CONTROL
Code << >> Quick
1.6 COMMAND
1.9 COMMUNICATION
RDY Term +0.00Hz 0A 1.10 DIAGNOSTICS RUN Term +50.00Hz 80A
MAIN MENU 1.11 IDENTIFICATION ENT 1.12 FACTORY SETTINGS
ENT
1 DRIVE MENU 1.12 FACTORY SETTINGS Config. source : Macro-Conf.
2 ACCESS LEVEL 1.13 USER MENU PARAMETER GROUP LIST
3 OPEN / SAVE AS 1.14 PROGRAMMABLE CARD Goto FACTORY SETTINGS
4 PASSWORD Save config : No
5 LANGUAGE
Power-up
ENT
ESC
SIM-
ESC
CON-
ENT
ESC
FCS- FACTORY SETTINGS

ESC
ESC
LAC-
The [1.12 FACTORY SETTINGS] (FCS-) menu is used to:
• Replace the current configuration with the factory configuration or a previously saved configuration.
All or part of the current configuration can be replaced: select a group of parameters in order to select the menus you wish to load
with the selected source configuration.
• Save the current configuration to a file.
245
RUN Term 1250A +50.00Hz RUN Term 1250A +50.00Hz Selection of source configuration
1.12 FACTORY SETTINGS Config. Source
Config. source : Macro-Conf.
ENT Macro-Conf
PARAMETER GROUP LIST Config 1
Goto FACTORY SETTINGS Config 2
Save config : No
RUN Term 1250A +50.00Hz Selection of the menus to be

ENT PARAMETER GROUP LIST replaced
All
Drive menu
Note: In factory configuration
Settings
Motor param
and after a return to "factory
Comm. menu settings", [PARAMETER
Code Quick GROUP LIST] will be empty.
RUN Term 1250A +50.00Hz Command to return to "factory

Goto FACTORY SETTINGS settings"
ENT
PLEASE CHECK THAT
THE DRIVE WIRING IS OK
ESC=abort ENT=validate
RUN Term 1250A +50.00Hz

Goto FACTORY SETTINGS This window appears if no group
of parameters is selected.
First select the
parameter group(s)
Press ENT or ESC
to continue
ENT RUN Term 1250A +50.00Hz

Save config
No
Config 0
Config 1
Config 2
Quick
246
FCSI M [Config. Source]

Choice of source configuration.
InI v [Macro-Conf] (InI) Factory configuration, return to selected macro configuration.
CFG1 v [Config 1] (CFG1)
CFG2 v [Config 2] (CFG2)
If the configuration switching function is configured, it will not be possible to access [Config 1] (CFG1) and
[Config 2] (CFG2).
FrY-
M [PARAMETER GROUP LIST]
Selection of menus to be loaded
ALL v [All] (ALL): All parameters.
drM v [Drive menu] (drM): The [1 DRIVE MENU] menu without [1.9 COMMUNICATION] and [1.14
PROGRAMMABLE CARD]. In the[7 DISPLAY CONFIG.]menu, [Return std name] page 259 returns to [No].
SEt v [Settings] (SEt): The [1.3 SETTINGS] menu without the [IR compensation] (UFr), [Slip compensation (SLP)
and [Mot. therm. current] (ItH) parameters
MOt v [Motor param] (MOt):motor parameters, see list below.
The following selections can only be accessed if [Config. Source] (FCSI) = [Macro-Conf.] (InI):
COM v [Comm. menu] (COM): The [1.9 COMMUNICATION] menu without either [Scan. In1 address] (nMA1) to
[Scan. In8 address] (nMA8) or [Scan.Out1 address] (nCA1) to [Scan.Out8 address] (nCA8).
PLC v [Prog. card menu] (PLC): the [1.14 PROGRAMMABLE CARD] menu.
MOn v [Monitor config.] (MOn): the [6 MONITORING CONFIG.] menu.
dIS v [Display config.] (dIS): the [7 DISPLAY CONFIG.] menu.
See the multiple selection procedure on page 29 for the integrated display terminal and page 20 for the graphic
display terminal.
Note: In factory configuration and after a return to "factory settings", [PARAMETER GROUP LIST]
will be empty.
GFS M [Goto FACTORY SETTINGS]

It is only possible to revert to the factory settings if at least one group of parameters has previously been
selected.
nO - No
YES - Yes: The parameter changes back to nO automatically as soon as the operation is complete.
With the graphic display terminal: see previous page
SCSI M [Save config]

nO v [No] (nO):
Str0 v [Config 0] (Str0): Press and hold down the "ENT" key for 2 s.
The active configuration to be saved does not appear for selection. For example, if it is [Config 0] (Str0), only
[Config 1] (Str1) and [Config 2] (Str2) appear. The parameter changes back to[No] (nO) as soon as the
operation is complete.
List of motor parameters

[1.4 MOTOR CONTROL] (drC-) menu:
[Rated motor power] (nPr) - [Rated motor volt.] (UnS) - [Rated mot current] (nCr) - [Rated motor freq.] (FrS) - [Rated motor speed] (nSP) -
[Auto tuning] (tUn) - [Auto tuning status] (tUS) - [U0] (U0) to [U5] (U5) - [F1] (F1) to [F5] (F5) - [V. constant power] (UCP) - [Freq. Const
Power] (FCP) - [Nominal I sync] (nCrS) - [Nom motor spdsync] (nSPS) - [Pole pairs.] (PPnS) - [Syn. EMF constant] (PHS) - [Autotune L d-
axis] (LdS) - [Autotune L q-axis] (LqS) - [Cust. stator R syn] (rSAS) - [IR compensation] (UFr) - [Slip compensation] (SLP) - motor parameters
that can be accessed in[Expert] mode page 74.
[1.3 SETTINGS] (SEt-) menu:

[Mot. therm. current] (ItH)
Example of total return to factory settings

1. [Config. Source] (FCSI) = [Macro-Conf] (InI)
2. [PARAMETER GROUP LIST] (FrY-) = [All] (ALL)
3. [Goto FACTORY SETTINGS] (GFS = YES)
247
[1.13 USER MENU] (USr-)
This menu contains the parameters selected in the [7 DISPLAY CONFIG.] menu on page 258.
RDY Term +0.00Hz 0A

1 DRIVE MENU
1.1 SIMPLY START
1.2 MONITORING
1.3 SETTINGS
1.4 MOTOR CONTROL
Code << >> Quick
1.6 COMMAND
1.9 COMMUNICATION
1.10 DIAGNOSTICS
RDY Term +0.00Hz 0A 1.11 IDENTIFICATION RUN Term 1250A +50.00Hz
MAIN MENU ENT 1.12 FACTORY SETTINGS 1.13 USER MENU
ENT
1 DRIVE MENU 1.13 USER MENU
2 ACCESS LEVEL 1.14 PROGRAMMABLE CARD
3 OPEN / SAVE AS
4 PASSWORD
5 LANGUAGE
Power-up
ENT
ESC
SIM-
ESC
FCS-
ENT
ESC
USr- USER MENU

ESC
ESC
ESC
LAC-
248
[1.14 PROGRAMMABLE CARD] (PLC-)
This menu can only be accessed if a Controller Inside card has been inserted. Please refer to the documentation specific to this card.
RDY Term +0.00Hz 0A

1 DRIVE MENU
1.1 SIMPLY START
1.2 MONITORING
1.3 SETTINGS
1.4 MOTOR CONTROL
Code << >> Quick
1.6 COMMAND
1.9 COMMUNICATION
1.10 DIAGNOSTICS
1.11 IDENTIFICATION
RDY Term +0.00Hz 0A 1.12 FACTORY SETTINGS RUN Term 1250A +50.00Hz
MAIN MENU 1.13 USER MENU ENT 1.14 PROGRAMMABLE CARD
ENT
1 DRIVE MENU 1.14 PROGRAMMABLE CARD
2 ACCESS LEVEL
3 OPEN / SAVE AS
4 PASSWORD
5 LANGUAGE
Power-up
ENT
ESC
SIM-
ESC
USr-
ENT
ESC
PLC- PROGRAMMABLE CARD

ESC
ESC
COd-
ESC
LAC-
249
[3. OPEN/SAVE AS]
RDY Term +0.00Hz 0A

MAIN MENU
1 DRIVE MENU RUN Term 1250A +50.00Hz
2 ACCESS LEVEL 3. OPEN / SAVE AS
ENT
3 OPEN / SAVE AS OPEN
4 PASSWORD SAVE AS
5 LANGUAGE
Code Quick
Code << >> Quick
[Open]: To download one of the 4 files from the graphic display terminal to the drive.
[SAVE AS]: To download the current drive configuration to the graphic display terminal.

3. OPEN / SAVE AS OPEN DOWNLOAD GROUP
ENT ENT See details on
OPEN File 1 Used None
the next page
SAVE AS File 2 Empty All
File 3 Empty Drive menu
File 4 Empty Motor parameters
Communication
Code << >> Quick Code << >> Quick Code Quick
Prog. control. inside card
Note: Opening an empty
file has no effect. ENT
RDY Term +0.00Hz 0A

DOWNLOAD
PLEASE CHECK THAT

THE DRIVE WIRING IS OK
ESC = abort ENT = continue
Code Quick
ENT
ENT

SAVE AS DOWNLOAD
File 1 Used ENT
File 2 Free
IN PROGRESS
File 3 Free
File 4 Free
ENT
Saving to a used file
deletes and replaces the RDY Term +0.00Hz 0A
configuration contained in DOWNLOAD
this file.
DONE
ENT or ESC to continue
Code Quick
Various messages may appear when the download is requested:
• [IN PROGRESS]
• [DONE]
• Error messages if download not possible
• [Motor parameters are NOT COMPATIBLE. Do you want to continue?]: In this case the download is possible, but the parameters will
be restricted.
250
[3. OPEN/SAVE AS]
[DOWNLOAD GROUP]
[None] : No parameters
[All]: All parameters in all menus
[Drive menu] : The entire [1 DRIVE MENU] without [1.9 COMMUNICATION] and [1.14
PROGRAMMABLE CARD].
[Motor parameters]: [Rated motor power] (nPr) in the [1.4 MOTOR CONTROL] (drC-) menu
[Rated motor volt.] (UnS)
[Rated mot. current] (nCr)
[Rated motor freq.] (FrS)
[Rated motor speed] (nSP)
[Auto tuning] (tUn)
[Auto tuning status] (tUS)
[U0] (U0) to [U5] (U5)
[F1] (F1) to [F5] (F5)
[V. constant power] (UCP)
[Freq. Const Power] (FCP)
[Nominal I sync.] (nCrS)
[Nom motor spdsync] (nSPS)
[Pole pairs] (PPnS)
[Syn. EMF constant] (PHS)
[Autotune L d-axis] (LdS)
[Autotune L q-axis] (LqS)
[Cust. stator R syn] (rSAS)
[IR compensation] (UFr)
[Slip compensation] (SLP)
The motor parameters that can
be accessed in [Expert] mode,
page 74
[Mot. therm. current] (ItH) in the [1.3 SETTINGS] (SEt-) menu
[Communication] : All the parameters in the [1.9 COMMUNICATION] menu
[Prog. control. inside card] : All the parameters in the [1.14 PROGRAMMABLE CARD] menu
251
[4. PASSWORD] (COd-)
RDY Term +0.00Hz 0A

MAIN MENU
1 DRIVE MENU
2 ACCESS LEVEL
4 PASSWORD
3 OPEN / SAVE AS ENT Status : Unlocked
4 PASSWORD
PIN code 1 : Unlocked
5 LANGUAGE
Code Quick
Upload rights : Permitted
Download rights : Unlock. drv
Code << >> Quick
Power-up
ENT
ESC
SIM-
ENT
ESC
COd- PASSWORD
ESC
ESC
LAC-
Enables the configuration to be protected with an access code or a password to be entered in order to access a protected configuration.
Example with graphic display terminal:

4 PASSWORD PIN code 1
Status : Unlocked
PIN code 2 : Unlocked 9520
Upload rights : Permitted
Download rights : Unlock. drv Min = Unlocked Max = 9999
• The drive is unlocked when the PIN codes are set to [unlocked] (OFF) (no password) or when the correct code has been entered.
• Before protecting the configuration with an access code, you must:
- Define the [Upload rights] (ULr) and [Download rights] (dLr).
- Make a careful note of the code and keep it in a safe place where you will always be able to find it.
• The drive has 2 access codes, enabling 2 access levels to be set up.
- PIN code 1 is a public unlock code: 6969.
- PIN code 2 is an unlock code known only to Schneider Electric Product Support. It can only be accessed in [Expert] mode.
- Only one PIN1 or PIN2 code can be used - the other must remain set to [OFF] (OFF).
Note: When the unlock code is entered, the user access code appears.
The following items are access-protected:

• Return to factory settings ( [1.12 FACTORY SETTINGS] (FCS-) menu.
• The channels and parameters protected by the [1.13 USER MENU] as well as the menu itself.
• The custom display settings ([7 DISPLAY CONFIG.] menu).
252
[4. PASSWORD] (COd-)
CSt M [Status] [Unlocked] (ULC)
Information parameter, cannot be modified.

LC v [Locked] (LC): The drive is locked by a password.
ULC v [Unlocked] (ULC): The drive is not locked by a password.
COd M [PIN code 1] OFF to 9999 [OFF] (OFF)
1st access code. The value [OFF] (OFF) indicates that no password has been set [Unlocked]. The value
[ON] (On) indicates that the drive is protected and an access code must be entered in order to unlock it. Once
the correct code has been entered, it remains on the display and the drive is unlocked until the next time the
power supply is disconnected.
- PIN code 1 is a public unlock code: 6969.
COd2 M [PIN code 2] OFF to 9999 [OFF] (OFF)
Parameter can only be accessed in [Expert] mode.

2nd access code. The value [OFF] (OFF) indicates that no password has been set [Unlocked]. The value
[ON] (On) indicates that the drive is protected and an access code must be entered in order to unlock it. Once
the correct code has been entered, it remains on the display and the drive is unlocked until the next time the
power supply is disconnected.
- PIN code 2 is an unlock code known only to Schneider Electric Product Support.
ULr M [Upload rights] [Permitted] (ULr0)
Read or copy the current configuration to the drive.

ULr0 v [Permitted] (ULr0): The current drive configuration can always be uploaded to the graphic display terminal
or PowerSuite.
ULr1 v [Not allowed] (ULr1): The current drive configuration can only be uploaded to the graphic display terminal
or PowerSuite if the drive is not protected by an access code or if the correct code has been entered.
dLr M [Download rights] [Unlock. drv] (dLr1)
Writes the current configuration to the drive or downloads a configuration to the drive
dLr0 v [Locked drv] (dLr0): A configuration file can only be downloaded to the drive if the drive is protected by an
access code, which is the same as the access code for the configuration to be downloaded.
dLr1 v [Unlock. drv] (dLr1): A configuration file can be downloaded to the drive or a configuration in the drive can
be modified if the drive is unlocked (access code entered) or is not protected by an access code.
dLr2 v [Not allowed] (dLr2): Download not authorized.
dLr3 v [Lock/unlock] (dLr3): Combination of [Locked drv.] (dLr0) and [Unlock. drv] (dLr1).
253
[6 MONITORING CONFIG.]
RDY Term +0.00Hz 0A

MAIN MENU
1 DRIVE MENU
2 ACCESS LEVEL
3 OPEN / SAVE AS
4 PASSWORD
5 LANGUAGE RUN Term +40.00Hz 80A
Code Quick ENT 6 MONITORING CONFIG.
6 MONITORING CONFIG. 6.1 PARAM. BAR SELECT
7 DISPLAY CONFIG. 6.2 MONITOR SCREEN TYPE
6.3 COM. MAP CONFIG.
Code << >> Quick
This can be used to configure the information displayed on the graphic display screen during operation.

6.1 PARAM. BAR SELECT
6.2 MONITOR SCREEN TYPE
6.3 COM. MAP CONFIG.
Code << >> Quick
[6.1. PARAM. BAR SELECT]: Selection of 1 to 2 parameters displayed on the top line (the first 2 cannot be modified).
[6.2. MONITOR SCREEN TYPE]: Selection of parameters displayed in the centre of the screen and the display mode (digital values or
bar graph format).
[6.3. COM. MAP CONFIG.]: Selection of the words displayed and their format.
254
Name/Description
b [6.1 PARAM. BAR SELECT]

v [Alarm groups]
v [Frequency ref.] in Hz: parameter displayed in factory configuration.
v [Torque reference] as a %
v [Output frequency] in Hz
v [Motor current] in A: parameter displayed in factory configuration.
v [ENA avg speed] in Hz
v [Motor speed] in rpm
v [Motor voltage] in V
v [Motor power] in W
v [Motor torque] as a %
v [Mains voltage] in V
v [Motor thermal state] as a %
v [Drv. thermal state] as a %
v [DBR thermal state] as a %
v [Consumption] in Wh or kWh depending on drive rating
v [Run time] in hours (length of time the motor has been switched on)
v [Power on time] in hours (length of time the drive has been switched on)
v [IGBT alarm counter] in seconds (total time of IGBT overheating alarms)
v [PID reference] as a %
v [PID feedback] as a %
v [PID error] as a %
v [PID Output] in Hz
v [- - - - 02] Word generated by the Controller Inside card (can be accessed if the card has been inserted)
to
v [Config. active] CNFO, 1 or 2 (see page 200)
v [Utilised param. set] SET1, 2 or 3 (see page 198)
Select the parameter using ENT (a then appears next to the parameter). Parameter(s) can also be deselected using ENT.
1 or 2 parameters can be selected.
Example:
PARAM. BAR SELECT

MONITORING
---------
---------
---------
---------
255
Name/Description
b [6.2. MONITOR SCREEN TYPE]

M [Display value type]
v [Digital]: Display of one or two digital values on the screen (factory configuration).
v [Bar graph]: Display of one or two bar graphs on the screen.
v [List]: Display a list of between one and five values on the screen.
M [PARAMETER SELECTION]
v [Alarm groups] can only be accessed if [Display value type] = [List]
v [Frequency ref.] in Hz: parameter displayed in factory configuration.
v [Torque reference] as a %
v [Output frequency] in Hz
v [Motor current] in A
v [ENA avg speed] in Hz
v [Motor speed] in rpm
v [Motor voltage] in V
v [Motor power] in W
v [Motor torque] as a %
v [Mains voltage] in V
v [Motor thermal state] as a %
v [Drv. thermal state] as a %
v [DBR thermal state] as a %
v [Consumption] in Wh or kWh depending on drive rating
v [Run time] in hours (length of time the motor has been switched on)
v [Power on time] in hours (length of time the drive has been switched on)
v [IGBT alarm counter] in seconds (total time of IGBT overheating alarms)
v [PID reference] as a %
v [PID feedback] as a %
v [PID error] as a %
v [PID Output] in Hz
v [- - - - 02] Word generated by the Controller Inside card (can be accessed if the card has been
to inserted)
v [Config. active] CNFO, 1 or 2 (see page 200), can only be accessed if [Display value type] = [List]
v [Utilised param. set] SET1, 2 or 3 (see page 198), can only be accessed if [Display value type] = [List]
Select the parameter(s) using ENT (a then appears next to the parameter). Parameter(s) can also be deselected using ENT.
PARAMETER SELECTION
MONITORING
---------
---------
---------
---------
Examples include:
Display of 2 digital values Display of 2 bar graphs Display of a list of 5

values
RUN Term +35.00Hz 80A RUN Term +35.00Hz 80A RUN Term +35.00Hz 80A
Motor speed Min Motor speed max MONITORING
0 1250 rpm 1500 Frequency ref. : 50.1Hz
1250 rpm Motor current: 80 A
Motor current Min Motor current max Motor speed: 1250 rpm
0 80 A 150 Motor thermal state: 80%
80 A Drv thermal state : 80%
Quick Quick Quick
256
Name/Description
b [6.3. COM. MAP CONFIG.]

M [Word 1 add. select.]
Select the address of the word to be displayed by pressing the <<, >> (F2 and F3) keys and rotating the navigation button.
M [Format word 1]
Format of word 1.
v [Hex]: Hexadecimal
v [Signed] : Decimal with sign
v [Unsigned] : Decimal without sign
M [Format word 2]
Format of word 2.
M [Format word 3]
Format of word 3.
M [Format word 4]
Format of word 4.
It will then be possible to view the selected words in the [COMMUNICATION MAP] submenu of the [1.2 MONITORING]
menu.
Example:

COMMUNICATION MAP
- - - - - - - -- -
- - - - -- - - - -
W3141: F230 Hex
<< >> Quick
257
[7 DISPLAY CONFIG.]
This menu can only be accessed with the graphic display terminal. It can be used to customize parameters or a menu and to access
parameters.
RDY Term +0.00Hz 0A

MAIN MENU
1 DRIVE MENU
2 ACCESS LEVEL
3 OPEN / SAVE AS
4 PASSWORD
5 LANGUAGE
Code Quick Rdy Term +0.00Hz 0A
6 MONITORING CONFIG. ENT 7 DISPLAY CONFIG.
7 DISPLAY CONFIG. 7.1 USER PARAMETERS
7.2 USER MENU
7.3 PARAMETER ACCESS
7.4 KEYPAD PARAMETERS
Code << >> Quick
7.1: USER PARAMETERS: Customization of 1 to 15 parameters.
7.2 USER MENU: Creation of a customized menu.
7.3 PARAMETER ACCESS: Customization of the visibility and protection mechanisms of menus and parameters.
7.4 KEYPAD PARAMETERS: Adjustment of the contrast and stand-by mode of the graphic display terminal (parameters stored in the
terminal rather than in the drive).
258
[7 DISPLAY CONFIG.]
If [Return std name] = [Yes] the display reverts to standard but the custom settings remain stored.
RDY Term +0.00Hz 0A PARAMETER SELECTION PARAMETER SELECTION

7.1 USER PARAMETERS 1 DRIVE MENU 1.3 SETTINGS Selection of 1 to 15 parameters
Return std name : No ENT 1.1 SIMPLY START Ramp increment to be customized
PARAMETER SELECTION 1.2 MONITORING ENT Acceleration
CUSTOMIZED SELECTION 1.3 SETTINGS Deceleration
USER MENU NAME 1.4 MOTOR CONTROL Acceleration 2
DEVICE NAME 1.5 INPUTS / OUTPUTS CFG Deceleration 2
Code << >> Quick Code << >> Quick List
SERVICE MESSAGE List
CONFIGURATION 0
CONFIGURATION 1 Note : The 1st line is [PARAMETER SELECTION] or
CONFIGURATION 2 RDY Term +0.00Hz 0A [RDY Term +0.00 Hz 0A] depending on the path (ENT or List).
ATV SERIAL NUMBER CUSTOMIZED SELECTION
ENT Ramp increment List of customized parameters
Acceleration
Speed prop. gain
Delete
ENT
RDY Term +0.00Hz 0A RDY Term +0.00Hz 0A If no custom settings have

Ramp increment ENT User name been made, the
User name 1 DRIVE MENU standard value appears
Unit FLOW REFERENCE
(names, units, etc.).
Multiplier
Divisor
Offset Nb characters max. 13
Display on 1 or 2 lines of
ABC << >> characters.
Offsets and coefficients are Use F1 to change to ABC, abc, 123, *[-.
numerical values. Do not use Use the navigation selector button to increment the character
too high a multiplier (99999 - (alphabetical order) and << and >> (F2 and F3) to switch to the
max display). next or previous character respectively.
ENT RDY Term +0.00Hz 0A RDY Term +0.00Hz 0A

Unit Customized
- Standard: use of the factory set Standard 1 DRIVE MENU
Customized LBS
unit
- Customized: customization of
%
the unit Nb characters max. 3
mA
- %, mA, etc.: select from drop- ABC << >>
Quick
down list
Once you have entered the unit, if you press ENT, the Ramp
increment screen will re-appear in order to display the name.
Press ESC to return to Unit.
The message entered appears RDY Term +0.00Hz 0A

RDY Term +0.00Hz 0A LINE 2
while the "View" button is pressed.
SERVICE MESSAGE 1 DRIVE MENU
LINE 1 For any service, dial:
ENT
LINE 2
LINE 3
LINE 4 Nb characters max. 23
LINE 5 ABC << >> Quick
View Quick
Names (USER MENU NAME, DRIVE NAME, configuration, serial no., lines of messages, names of
RDY Term +0.00Hz 0A units, etc.) are customized as in the example of the parameter name shown opposite.
USER MENU NAME If no custom settings have been made, the standard value appears (names, units, etc.).
1 DRIVE MENU Display on 1 or 2 lines of characters.
FLOW REFERENCE
Use F1 to change to ABC, abc, 123, *[-.
Use the navigation selector button to increment the character (alphabetical order) and << and >> (F2
Nb characters max. 18
and F3) to switch to the next or previous character respectively.
ABC << >> Quick
259
[7 DISPLAY CONFIG.]
RDY Term +0.00Hz 0A PARAMETER SELECTION PARAMETER SELECTION Selection of parameters

7.2 USER MENU ENT 1 DRIVE MENU 1.3 SETTINGS included in the user menu
PARAMETER SELECTION 1.1 SIMPLY START Ramp increment
SELECTED LIST 1.2 MONITORING ENT Acceleration
1.3 SETTINGS Deceleration
1.4 MOTOR CONTROL Acceleration 2
1.5 INPUTS / OUTPUTS CFG Deceleration 2
Code << >> Quick Code << >> Quick List
List Note: The 1st line is

[PARAMETER SELECTION]
or
[RDY Term +0.00 Hz 0A]
depending on the path (ENT or
ENT List).
RDY Term +0.00Hz 0A Parameter list

SELECTED LIST making up the user menu.
Ramp increment
Acceleration
Speed prop. gain
Delete Up Down
Use the F2 and F3 keys to

arrange the parameters in the
list (example below using F3).
RDY Term +0.00Hz 0A

SELECTED LIST
Acceleration
Ramp increment
Speed prop. gain
Delete Up Down
260
[7 DISPLAY CONFIG.]
RDY Term +0.00Hz 0A

7.3 PARAMETER ACCESS
PROTECTION ENT
VISIBILITY
Code << >> Quick

Selection to display all
VISIBILITY PARAMETERS parameters or only the
ENT
PARAMETERS Active active parameters.
MENUS All Press ESC to exit this screen.
Code Quick Quick

ENT
ENT MENUS You remain exclusively in the
1. DRIVE MENU [1. DRIVE MENU] menu. All
1.1 SIMPLY START menus are selected by default.
1.2 MONITORING Press ENT to deselect a menu.
1.3 SETTINGS
Press ENT to reselect a menu.
1.4 MOTOR CONTROL
RDY Term +0.00Hz 0A RDY Term +0.00Hz 0A IMPORTANT: The protected channel (or channels) must be
PROTECTION PROTECTED CHANNELS
selected, as a protected parameter on a selected channel
PROTECTED CHANNELS HMI
remains accessible on the channels that are not selected.
PROTECTED PARAMS POWERSUITE
ENT MODBUS
CANopen
COM. CARD
PROG. CARD
PROTECTED PARAMS PROTECTED PARAMS In these screens all parameters in the [1.
ENT 1 DRIVE MENU 1.3 SETTINGS DRIVE MENU] menu can be protected
1.1 SIMPLY START ENT and are displayed for selection, except
Ramp increment
for the Expert parameters.
1.2 MONITORING Acceleration
1.3 SETTINGS Deceleration
Press the All button to select all the
parameters. Press the All button again to
1.4 MOTOR CONTROL Acceleration 2 deselect all the parameters.
1.5 INPUTS / OUTPUTS CFG Deceleration 2
All
No selections can be made in this

screen if there are no parameters.
PROTECTED PARAMS
REF. OPERATIONS
RAMP
STOP CONFIGURATION
AUTO DC INJECTION PROTECTED PARAMS
ENT
JOG JOG
JOG
Jog frequency
Jog delay
Note: The protected parameters are no longer accessible and are not, therefore, displayed for the selected channels.
261
[7 DISPLAY CONFIG.]
RDY Term +0.00Hz 0A

7.4 KEYPAD PARAMETERS
Contrast
Keypad stand-by
Code << >> Quick
Name/Description Adjustment range Factory setting
M [Keypad contrast] 0 to 100 % 50 %
Adjustment of contrast on graphic display unit.
M [Keypad stand-by] [5]
Configures and adjusts the stand-by mode of the graphic display unit.
v [No]: No stand-by mode.
v [1] to [10]: Adjusts the time during which the terminal is to remain idle before stand-by mode is triggered, in minutes.
After this idle time, the display backlight turns off and the contrast is reduced. The screen returns to normal operation when a
key or the navigation button is pressed. It also returns to normal operation if the terminal exits the normal display mode, for
example, if a fault occurs.
262
[MULTIPOINT SCREEN]
Communication is possible between a graphic display terminal and a number of drives connected on the same bus. The addresses of the
drives must be configured in advance in the [1.9 COMMUNICATION] menu using the [Modbus Address] (Add) parameter, page 240.
When a number of drives are connected to the same display terminal, the terminal automatically displays the following screens:
CONNECTION IN PROGRESS
Vxxxxxx
ENT
MULTIPOINT ADDRESSES Selection of drives for multipoint dialog (select each address and check the box by
Address 1 pressing ENT).
Address 2 This screen only appears the first time the drive is powered up, or if the "Cfg Add"
Address 3
function key on the MULTIPOINT SCREEN is pressed (see below).
Address 4
Address 5
Address 6
ESC
MULTIPOINT SCREEN
ESC
RUN +952 Rpm 101 A 3
Rdy 0 Rpm 0A 2 Motor speed Selection of a drive for multipoint dialog
ENT
RUN +952 Rpm 101 A 3
NLP +1500 Rpm 1250 A 4 +952 rpm
Not connected 5 Motor current
Rdy + 0 Rpm 0A 6
101 A
Cfg Add HOME T/K
Cfg Add
In multipoint mode, the command channel is not displayed. From left

to right, the state, then the 2 selected parameters and finally the drive
address appear.
All menus can be accessed in multipoint mode. Only drive control via the graphic display terminal is not authorized, apart from
the Stop key, which locks all the drives.
If there is a fault on a drive, this drive is displayed.
263
Maintenance
Servicing
The Altivar 71 does not require any preventive maintenance. It is nevertheless advisable to perform the following regularly:
• Check the condition and tightness of the connections.
• Ensure that the temperature around the unit remains at an acceptable level and that ventilation is effective (average service life of
fans: 3 to 5 years, depending on the operating conditions).
• Remove any dust from the drive.
Assistance with maintenance, fault display

If a problem arises during setup or operation, first check that the recommendations relating to the environment, mounting and connections
have been observed.
The first fault detected is saved and displayed, and the drive locks.
The drive switching to fault mode can be indicated remotely via a logic output or a relay, which can be configured in the [1.5 INPUTS /
OUTPUTS CFG] (I-O-) menu, see, for example, [R1 CONFIGURATION] (r1-) page 102.
Menu [1.10 DIAGNOSTICS]

This menu can only be accessed with the graphic display terminal. It displays faults and their cause in plain text and can be used to carry
out tests, see page 242.
Clearing the fault

Disconnect the drive power supply in the event of a non-resettable fault.
Wait for the display to disappear completely.
Find the cause of the fault in order to correct it.
The drive is unlocked after a fault:

• By switching off the drive until the display disappears completely, then switching on again
• Automatically in the scenarios described for the[AUTOMATIC RESTART] (Atr-) function, page 218
• By means of a logic input or control bit assigned to the [FAULT RESET] (rSt-) function, page 217
• By pressing the STOP/RESET button on the graphic display terminal
Menu [1.2 MONITORING] (SUP-):

This is used to prevent and find the causes of faults by displaying the drive state and its current values.
It can be accessed with the integrated display terminal.
Spares and repairs:

Consult Schneider Electric product support.
264
Faults - Causes - Remedies
Drive does not start, no fault displayed

• If the display does not light up, check the power supply to the drive.
• The assignment of the "Fast stop" or "Freewheel" functions will prevent the drive starting if the corresponding logic inputs are not
powered up. The ATV71 then displays [Freewheel] (nSt) in freewheel stop and [Fast stop] (FSt) in fast stop. This is normal since these
functions are active at zero so that the drive will be stopped safely if there is a wire break.
• Make sure that the run command input or inputs are activated in accordance with the selected control mode ([2/3 wire control] (tCC)
and [2 wire type] (tCt) parameters, page 88).
• If an input is assigned to the limit switch function and this input is at zero, the drive can only be started up by sending a command for
the opposite direction (see pages 154 and 192).
• If the reference channel or command channel is assigned to a communication bus, when the power supply is connected, the drive
will display [Freewheel] (nSt) and remain in stop mode until the communication bus sends a command.
Faults, which cannot be reset automatically

The cause of the fault must be removed before resetting by turning off and then back on.
AnF, brF, ECF, EnF, SOF, SPF and tnF faults can also be reset remotely by means of a logic input or control bit ([Fault reset] (rSF)
parameter, page 217).
AnF, EnF, InFA, InFb, SOF, SPF, and tnF faults can be inhibited and cleared remotely by means of a logic input or control bit ([Fault inhibit
assign.] (InH) parameter, page 228).
Fault Name Probable cause Remedy
AI2F [AI2 input] • Non-conforming signal on analog input • Check the wiring of analog input AI2 and the value of the
AI2 signal.
AnF [Load slipping] • The encoder speed feedback does not • Check the motor, gain and stability parameters.
match the reference • Add a braking resistor.
• Check the size of the motor/drive/load.
• Check the encoder’s mechanical coupling and its wiring.
• If the "torque control" function is used, see "Note" on page
183.
bOF [DBR overload] • The braking resistor is under excessive • Check the size of the resistor and wait for it to cool down
stress • Check the [DB Resistor Power] (brP) and [DB Resistor value]
(brU) parameters, page 235.
brF [Brake feedback] • The brake feedback contact does not • Check the feedback circuit and the brake logic control circuit
match the brake logic control • Check the mechanical state of the brake
• The brake does not stop the motor • Check the brake linings
quickly enough (detected by measuring
the speed on the "Pulse input" input).
bUF [DB unit sh. Circuit] • Short-circuit output from braking unit • Check the wiring of the braking unit and the resistor.
• Braking unit not connected • Check the braking resistor
• The monitoring of this fault must be disabled by the [Brake
res. fault Mgt.] (bUb) parameter, page 235 if there is no
resistor or braking unit connected to the drive, at and above
55 kW (75 HP) for ATV71pppM3X and at and above 90 kW
(120 HP) for ATV71pppN4.
CrF1 [Precharge] • Charging relay control fault or • Turn the drive off and then back on again
charging resistor damaged • Check the internal connections
• Inspect/repair the drive
CrF2 [Thyr. soft charge] • DC bus charging fault (thyristors)
ECF [Encoder coupling] • Break in encoder’s mechanical coupling • Check the encoder’s mechanical coupling
EEF1 [Control Eeprom] • Internal memory fault, control card • Check the environment (electromagnetic compatibility)
• Turn off, reset, return to factory settings
EEF2 [Power Eeprom] • Internal memory fault, power card
EnF [Encoder] • Encoder feedback fault • Check [Number of pulses] (PGI) and [Encoder type] (EnS)
page 76.
• Check that the encoder’s mechanical and electrical
operation, its power supply and connections are all correct
• If necessary, reverse the direction of rotation of the motor
([Output Ph rotation] (PHr) parameter, page 69) or the
encoder signals
FCF1 [Out. contact. stuck] • The output contactor remains closed • Check the contactor and its wiring
although the opening conditions have • Check the feedback circuit
been met
265
Faults, which cannot be reset automatically (continued)
HdF [IGBT • Short-circuit or grounding at the drive • Check the cables connecting the drive to the motor, and the
desaturation] output motor insulation.
• Perform the diagnostic tests via the [1.10 DIAGNOSTICS]
menu.
ILF [internal com. link] • Communication fault between option • Check the environment (electromagnetic compatibility)
card and drive • Check the connections
• Check that no more than 2 option cards (max. permitted)
have been installed on the drive
• Replace the option card
InF1 [Rating error] • The power card is different from the • Check the reference of the power card
card stored
InF2 [Incompatible PB] • The power card is incompatible with the • Check the reference of the power card and its compatibility.
control card
InF3 [Internal serial link] • Communication fault between the • Check the internal connections
internal cards • Inspect/repair the drive
InF4 [Internal-mftg zone] • Internal data inconsistent • Recalibrate the drive (performed by Schneider Electric
Product Support).
InF6 [Internal - fault • The option installed in the drive is not • Check the reference and compatibility of the option.
option] recognized
InF7 [Internal-hard init.] • Initialization of the drive is incomplete • Turn off and reset.
InF8 [Internal-ctrl supply] • The control power supply is incorrect • Check the control section power supply
InF9 [Internal- I measure] • The current measurements are incorrect • Replace the current sensors or the power card.
InFA [Internal-mains • The input stage is not operating • Perform the diagnostic tests via the [1.10 DIAGNOSTICS]
circuit] correctly menu.
InFb [Internal- th. • The drive temperature sensor is not • Replace the drive temperature sensor
sensor] operating correctly • Inspect/repair the drive
• The braking unit's temperature sensor • Replace the braking unit's temperature sensor
is not operating correctly. • Inspect/repair the braking unit
• The monitoring of this fault must be disabled by the [Brake
res. fault Mgt.] (bUb) parameter, page 235 if there is no
braking unit connected to the drive.
InFC [Internal-time • Fault on the electronic time • Inspect/repair the drive
meas.] measurement component
InFE [internal- CPU ] • Internal microprocessor fault • Turn off and reset. Inspect/repair the drive.
OCF [Overcurrent] • Parameters in the [SETTINGS] (SEt-) • Check the parameters.
and [1.4 MOTOR CONTROL] (drC-) • Check the size of the motor/drive/load.
menus are not correct. • Check the state of the mechanism.
• Inertia or load too high
• Mechanical locking
PrF [Power removal] • Fault with the drive’s "Power removal" • Inspect/repair the drive
safety function
SCF1 [Motor short circuit] • Short-circuit or grounding at the drive
• Check the cables connecting the drive to the motor, and the
output motor insulation.
SCF2 [Impedant sh. circuit] • Perform the diagnostic tests via the [1.10 DIAGNOSTICS]
menu.
SCF3 [Ground short circuit]
• Significant earth leakage current at the • Reduce the switching frequency.
drive output if several motors are • Connect chokes in series with the motor.
connected in parallel • Check the adjustment of speed loop and brake.
SOF [Overspeed] • Instability or driving load too high • Check the motor, gain and stability parameters.
• Add a braking resistor.
• Check the size of the motor/drive/load.
• Check the parameters settings for the [FREQUENCY
METER] (FqF-) function, page 232, if it is configured
266
Faults, which cannot be reset automatically (continued)
SPF [Speed fdback loss] • Encoder feedback signal missing • Check the wiring between the encoder and the drive
• Check the encoder
• Signal on "Pulse input" missing, if the • Check the wiring of the input cable and the detector used
input is used for speed measurement
tnF [Auto-tuning] • Special motor or motor whose power is • Check that the motor/drive are compatible
not suitable for the drive
• Motor not connected to the drive • Check that the motor is present during auto-tuning
• If an output contactor is being used, close it during auto-
tuning
267
Faults that can be reset with the automatic restart function, after the cause has disappeared
These faults can also be reset by turning on and off or by means of a logic input or control bit ([Fault reset] (rSF) parameter, page 217).
APF, CnF, COF, EPF1, EPF2, FCF2, LFF2, LFF3, LFF4, ObF, OHF, OLF, OPF1, OPF2, OSF, OtF1, OtF2, OtFL, PHF, PtF1, PtF2, PtFL,
SLF1, SLF2, SLF3, SrF, SSF and tJF faults can be inhibited and cleared remotely by means of a logic input or control bit ([Fault inhibit
assign.] (InH)parameter, page 228).
APF [Application fault] • Controller Inside card fault • Please refer to the card documentation
bLF [Brake control] • Brake release current not reached • Check the drive/motor connection
• Check the motor windings
• Check the [Brake release I FW] (Ibr) and [Brake release I
Rev] (Ird) settings, page 160
• Brake engage frequency threshold • Apply the recommended settings for [Brake engage freq]
[Brake engage freq] (bEn) only (bEn).
regulated when brake logic control is
assigned
CnF [Com. network] • Communication fault on • Check the environment (electromagnetic compatibility)
communication card • Check the wiring.
• Check the time-out
• Replace the option card
COF [CANopen com.] • Interruption in communication on the • Check the communication bus.
CANopen bus • Check the time-out
• Refer to the CANopen User's Manual
EPF1 [External flt-LI/Bit] • Fault triggered by an external device, • Check the device which caused the fault, and reset
depending on user
EPF2 [External fault • Fault triggered by a communication • Check for the cause of the fault and reset
com.] network
FCF2 [Out. contact. • The output contactor remains open • Check the contactor and its wiring
open.] although the closing conditions have • Check the feedback circuit
been met
LCF [input contactor] • The drive is not turned on even though • Check the contactor and its wiring
[Mains V. time out ] (LCt) has elapsed. • Check the time-out
• Check the line/contactor/drive connection
LFF2 [AI2 4-20mA loss] • Loss of the 4-20 mA reference on • Check the connection on the analog inputs.
[AI3 4-20mA loss] analog input AI2, AI3 or AI4
LFF3 [AI4 4-20mA loss]
LFF4
ObF [Overbraking] • Braking too sudden or driving load • Increase the deceleration time
• Install a braking resistor if necessary
• Activate the [Dec ramp adapt.] (brA) function, page 139, if it
is compatible with the application
OHF [Drive overheat] • Drive temperature too high • Check the motor load, the drive ventilation and the ambient
temperature. Wait for the drive to cool down before
restarting.
OLF [Motor overload] • Triggered by excessive motor current • Check the setting of the motor thermal protection, check the
motor load. Wait for the drive to cool down before restarting.
OPF1 [1 output phase • Loss of one phase at drive output • Check the connections from the drive to the motor
loss]
268
Faults that can be reset with the automatic restart function, after the cause has disappeared
(continued)
OPF2 [3 motor phase loss] • Motor not connected or motor • Check the connections from the drive to the motor
power too low • If an output contactor is being used, parameterize [Output
• Output contactor open Phase Loss] (OPL) = [Output cut] (OAC), page 221.
• Instantaneous instability in the • Test on a low power motor or without a motor:In factory
motor current settings mode, motor phase loss detection is active [Output
Phase Loss] (OPL) = [Yes] (YES). To check the drive in a test
or maintenance environment, without having to use a motor
with the same rating as the drive (in particular for high power
drives), deactivate motor phase loss detection [Output Phase
Loss] (OPL) = [No] (nO)
• Check and optimize the following parameters: [IR
compensation] (UFr), page 73, [Rated motor volt.] (UnS) and
[Rated mot. current] (nCr) page 68 and perform [Auto-tuning]
(tUn) page 69.
OSF [Mains overvoltage] • Line voltage too high • Check the line voltage
• Disturbed mains supply
OtF1 [PTC1 overheat] • Overheating of the PTC1 probes • Check the motor load and motor size.
detected • Check the motor ventilation.
• Overheating of the PTC2 probes • Wait for the motor to cool before restarting
OtF2 [PTC2 overheat]
detected • Check the type and state of the PTC probes
OtFL [LI6=PTC overheat] • Overheating of PTC probes

detected on input LI6
PtF1 [PTC1 probe] • PTC1 probes open or short- • Check the PTC probes and the wiring between them and the
circuited motor/drive
PtF2 [PTC2 probe] • PTC2 probes open or short-
circuited
PtFL [LI6=PTC probe] • PTC probes on input LI6 open or
short-circuited
SCF4 [IGBT short circuit] • Power component fault • Perform a test via the [1.10 DIAGNOSTICS] menu.
SCF5 [Motor short circuit] • Short-circuit at drive output • Check the cables connecting the drive to the motor, and the
motor’s insulation
• Perform tests via the [1.10 DIAGNOSTICS] menu.
SLF1 [Modbus com.] • Interruption in communication on • Check the communication bus.
the Modbus bus • Check the time-out
• Refer to the Modbus User's Manual
SLF2 [PowerSuite com.] • Fault communicating with • Check the PowerSuite connecting cable.
PowerSuite • Check the time-out
SLF3 [HMI com.] • Fault communicating with the • Check the terminal connection
graphic display terminal • Check the time-out
SrF [TORQUE TIME • The time-out of the torque control • Check the function’s settings
OUT FLT] function is attained • Check the state of the mechanism
SSF [Torque/current lim] • Switch to torque limitation • Check if there are any mechanical problems
• Check the parameters of [TORQUE LIMITATION]
(tLA-) page 185 and the parameters of the
[TORQUE OR I LIM. DETECT.] (tId-) fault, page 230).
tJF [IGBT overheat] • Drive overheated • Check the size of the load/motor/drive.
• Reduce the switching frequency.
• Wait for the motor to cool before restarting
269
Faults that can be reset as soon as their causes disappear
The USF fault can be inhibited and cleared remotely by means of a logic input or control bit ([Fault inhibit assign.] (InH) parameter, page
228).
CFF [Incorrect config.] • Option card changed or removed • Check that there are no card errors.
• In the event of the option card being changed/removed
deliberately, see the remarks below
• Control card replaced by a control • Check that there are no card errors.
card configured on a drive with a • In the event of the control card being changed deliberately,
different rating see the remarks below
• The current configuration is • Return to factory settings or retrieve the backup

inconsistent configuration, if it is valid (see page 247)
CFI [Invalid config.] • Invalid configuration • Check the configuration loaded previously.
The configuration loaded in the drive • Load a compatible configuration
via the bus or communication network
is inconsistent.
dLF [Dynamic load • Abnormal load variation • Check that the load is not blocked by an obstacle
fault] • Removal of a run command causes a reset
HCF [Cards pairing] • The [CARDS PAIRING] (PPI-) • In the event of a card error, reinsert the original card
function, page 236, has been • Confirm the configuration by entering the [Pairing password]
configured and a drive card has been (PPI) if the card was changed deliberately
changed
PHF [Input phase loss] • Drive incorrectly supplied or a fuse • Check the power connection and the fuses.
blown
• Failure of one phase
• 3-phase ATV71 used on a single- • Use a 3-phase line supply.
phase line supply
• Unbalanced load • Disable the fault by[Input phase loss] (IPL) = [No] (nO). (page
This protection only operates with the 222)
drive on load
USF [Undervoltage] • Line supply too low • Check the voltage and the parameters of [UNDERVOLTAGE
• Transient voltage dip MGT] (USb-), page 225
Option card changed or removed

When an option card is removed or replaced by another, the drive locks in [Incorrect config.] (CFF) fault mode on power-up. If the card has
been deliberately changed or removed, the fault can be cleared by pressing the ENT key twice, which causes the factory settings to be
restored (see page 247) for the parameter groups affected by the card. These are as follows:
Card replaced by a card of the same type

• I/O cards: [Drive menu] (drM)
• Encoder cards: [Drive menu] (drM)
• Communication cards: only the parameters that are specific to communication cards
• Controller Inside cards: [Prog. card menu] (PLC)
Card removed (or replaced by a different type of card)

• I/O card: [Drive menu] (drM)
• Encoder card: [Drive menu] (drM)
• Communication card: [Drive menu] (drM) and parameters specific to communication cards
• Controller Inside card: [Drive menu] (drM) and [Prog. card menu] (PLC)
Control card changed

When a control card is replaced by a control card configured on a drive with a different rating, the drive locks in [Incorrect config.] (CFF)
fault mode on power-up. If the card has been deliberately changed, the fault can be cleared by pressing the ENT key twice, which causes
all the factory settings to be restored.
270
User settings tables
Menu [1.1 SIMPLY START] (SIM-)
Code Name Factory setting Customer setting
tCC [2/3 wire control] [2 wire] (2C)
CFG [Macro configuration] [Start/Stop] (StS)
bFr [Standard mot. freq] [50 Hz] (50)
nPr [Rated motor power] According to drive

rating
UnS [Rated motor volt.] According to drive

rating
nCr [Rated mot. current] According to drive

rating
FrS [Rated motor freq.] 50 Hz
nSP [Rated motor speed] According to drive

rating
tFr [Max frequency] 60 Hz
PHr [Output Ph rotation] ABC
ItH [Mot. therm. current] According to drive

rating
ACC [Acceleration] 3.0 s
dEC [Deceleration] 3.0 s
LSP [Low speed] 0
HSP [High speed] 50 Hz
Functions assigned to I/O

Inputs Functions assigned Inputs Functions assigned
Outputs Outputs
LI1 LO1
LI2 LO2
LI3 LO3
LI4 LO4
LI5 AI1
LI6 AI2
LI7 AI3
LI8 AI4
LI9 R1
LI10 R2
LI11 R3
LI12 R4
LI13 RP
LI14 Encoder
271
User settings tables
Other parameters (table to be created by the user)

Code Name Customer setting Code Name Customer setting
272
Index of functions
[2 wire] (2C) 40
[2nd CURRENT LIMIT.] 187
[3 wire] (3C) 40
+/- speed 148
+/- speed around a reference 150
[AUTO DC INJECTION] 142
[AUTOMATIC RESTART] 218
[Auto tuning] 42
[AUTO TUNING BY LI] 203
Brake logic control 156
[CATCH ON THE FLY] 219
Command and reference channels 116
Deferred stop on thermal alarm 223
Direct power supply via DC bus 213
[DRIVE OVERHEAT] 222
[ENA SYSTEM] 79
[ENCODER CONFIGURATION] 100
[EVACUATION] 211
[1.12 FACTORY SETTINGS] (FCS-) 245
[FAULT RESET] 217
[FLUXING BY LI] 153
Half floor 212
High-speed hoisting 167
[JOG] 144
Limit switch management 154
Line contactor command 188
Load measurement 165
[Load sharing] 84
Load variation detection 233
Motor or configuration switching [MULTIMOTORS/CONFIG.] 200
Motor thermal protection 220
[Noise reduction] 82
Output contactor command 190
Parameter set switching [PARAM. SET SWITCHING] 197
[4. PASSWORD] (COd-) 252
PID regulator 172
Positioning by sensors or limit switches 192
Preset speeds 145
PTC probes 215
[RAMP] 136
[REFERENCE SWITCH.] 134
Rope slack 170
[RP CONFIGURATION] 98
Save reference 152
[STOP CONFIGURATION] 140
Stop at distance calculated after deceleration limit switch 194
Summing input/Subtracting input/Multiplier 133
Synchronous motor 75
Torque limitation 184
Torque regulation 181
Traverse control 204
Use of the "Pulse input" input to measure the speed of rotation of the motor. 231
273
Index of parameter codes
Code Page
[1.5 INPUTS / OUTPUTS CFG]
[1.8 FAULT MANAGEMENT]

[1.7 APPLICATION FUNCT.]
[1.12 FACTORY SETTINGS]

[1.4 MOTOR CONTROL]
[1.9 COMMUNICATION]
[1.1 SIMPLY START]
[1.2 MONITORING]
[1.6 COMMAND]
[4 PASSWORD]
[1.3 SETTINGS]
(SIM-)
(SUP-)
(SEt-)
(drC-)
(I-O-)
(CtL-)
(FUn-)
(FLt-)
(COM-)
(FCS-)
(COd-)
A1C- 114
A2C- 114
A3C- 114
AC2 54 138 151
178
ACC 43 54 136
AdC 142
AdCO 240
Add 240
AI1A 51 93
AI1E 93
AI1F 93
AI1S 93
AI1t 93
AI2A 51 94
AI2E 94
AI2F 94
AI2L 94
AI2S 94
AI2t 94
AI3A 51 95
AI3E 95
AI3F 95
AI3L 95
AI3S 95
AI3t 95
AI4A 51 96
AI4E 96
AI4F 96
AI4L 96
AI4S 96
AI4t 96
AIC1 97 176
ALGr 50, 52
AMOA 240
AMOC 240
274
Code Page


[1.4 MOTOR CONTROL]
[1.9 COMMUNICATION]
[1.1 SIMPLY START]
[1.2 MONITORING]
[1.6 COMMAND]
[4 PASSWORD]
[1.3 SETTINGS]
(SIM-)
(SUP-)
(SEt-)
(drC-)
(I-O-)
(CtL-)
(FUn-)
(FLt-)
(COM-)
(FCS-)
(COd-)
AO1 110
AO1F 111
AO1t 110
AO2 112
AO2F 112
AO2t 112
AO3 113
AO3F 113
AO3t 113
AOH1 110
AOH2 112
AOH3 113
AOL1 110
AOL2 112
AOL3 113
APH 50, 52
ASH1 111
ASH2 112
ASH3 113
ASL1 111
ASL2 112
ASL3 113
Atr 218
AU1- 97
AUS 50, 52
AUt 69
bbA 84
bCI 160
bdCO 240
bECd 161
bEd 162
bEn 64 161
bEt 65 161
bFr 41 68
bIP 160
bIr 64 161
275
Code Page


[1.4 MOTOR CONTROL]
[1.9 COMMUNICATION]
[1.1 SIMPLY START]
[1.2 MONITORING]
[1.6 COMMAND]
[4 PASSWORD]
[1.3 SETTINGS]
(SIM-)
(SUP-)
(SEt-)
(drC-)
(I-O-)
(CtL-)
(FUn-)
(FLt-)
(COM-)
(FCS-)
(COd-)
bLC 160
brA 139
brH0 163
brH1 163
brH2 164
brH3 164
brH4 164
brO 235
brP 235
brr 164
brt 64 161
brU 235
bSP 91
bSt 160
bUb 235
CCFG 40
CCS 125
Cd1 125
Cd2 125
CFG 40
CFPS 50, 52
CHA1 198
CHA2 198
CHCF 124
CHM 203
CL2 60 187
CLI 60 81 187
CLL 229
CLO 171
CLS 196
CnF1 203
CnF2 203
CnFS 50, 52
COd 253
COd2 253
COF 171
276
dO1
dLr
dLd
dLb
dEC
dE2
dCO
dCI
dCF
dbS
dbp
dbn
dAS
dAr
dAL
dAF
dA3
dA2
Ctt
Ctd
CSt
CP2
CP1
COr
COP
COL
dO1S
dO1H
dO1d
CrL4
CrL3
CrL2
CrH4
CrH3
CrH2
Code
[1.1 SIMPLY START]
43
(SIM-)
[1.2 MONITORING]
(SUP-)
[1.3 SETTINGS]
54
54
58
65
(SEt-)
[1.4 MOTOR CONTROL]
70
(drC-)
96
95
94
96
95
94
107
107
107
107
(I-O-)
[1.6 COMMAND]
126
Page
(CtL-)
136
151
213
141
140
191
183
183
191
195
195
195
135
135
166
166
171
138,
(FUn-)
234
234
237
229
(FLt-)
[1.9 COMMUNICATION]
(COM-)

(FCS-)
[4 PASSWORD]
253
253
(COd-)
277
278
F5
F4
F3
F2
F1
FqC
FqA
FPI
FLU
FLr
FLO
FLI
FFt
Fdt
FCP
F2d
EtF
EPL
EnU
EnS
EnC
EnA
EIL
EFr
EFI
ECt
ECC
EbO
dtF
dSP
dSI
dSF
FLOt
FLOC
FCSI
ErCO
Code
[1.1 SIMPLY START]

(SIM-)
[1.2 MONITORING]
(SUP-)
[1.3 SETTINGS]
61
66
66
(SEt-)
[1.4 MOTOR CONTROL]
72
71
71
71
71
71
78
76
78
80
(drC-)
101
100
100
101
101
101
(I-O-)
[1.6 COMMAND]
Page
(CtL-)
178
153
153
140
209
210
149
151
196
(FUn-)
232
232
219
232
224
224
230
230
(FLt-)
[1.9 COMMUNICATION]
241
241
241
240 (COM-)
247
(FCS-)
[4 PASSWORD]
(COd-)
Code Page


[1.4 MOTOR CONTROL]
[1.9 COMMUNICATION]
[1.1 SIMPLY START]
[1.2 MONITORING]
[1.6 COMMAND]
[4 PASSWORD]
[1.3 SETTINGS]
(SIM-)
(SUP-)
(SEt-)
(drC-)
(I-O-)
(CtL-)
(FUn-)
(FLt-)
(COM-)
(FCS-)
(COd-)
FqF 232
FqL 66
FqS 50, 52
Fqt 232
Fr1 124
Fr1b 134
Fr2 125
FrH 50, 52
FrS 41 68
FrSS 75
Frt 138
FrY- 247
FSt 140
Ftd 66
GFS 247
GIE 58 80
GPE 58 80
HFF- 212
HLS 212
HSO 171
HSP 43 55
Ibr 64 160
IbrA 166
IdA 74
IdC 58 141 237
IdC2 58 141 237
IdM 74
InH 228
Inr 54 136
InSP 68
IntP 185
IPL 41 222
Ird 64 160
ItH 43 55
JdC 65 162
JF2 66
279
Code Page


[1.4 MOTOR CONTROL]
[1.9 COMMUNICATION]
[1.1 SIMPLY START]
[1.2 MONITORING]
[1.6 COMMAND]
[4 PASSWORD]
[1.3 SETTINGS]
(SIM-)
(SUP-)
(SEt-)
(drC-)
(I-O-)
(CtL-)
(FUn-)
(FLt-)
(COM-)
(FCS-)
(COd-)
JF3 66
JFH 66
JGF 61 144
JGt 61 144
JOG 144
JPF 66
L1A to L14A 51 89
L1d to L14d 89
LAF 155
LAr 155
LAS 155
LbA 84
LbC 66 84
LbC1 86
LbC2 86
LbC3 86
LbF 86
LC2 187
LCr 50, 52
LCt 189
LdS 73
LES 189
LEt 224
LFA 74
LFF 237
LFL2 227
LFL3
LFL4
LFM 74
LIS1 51
LIS2 51
LLC 189
LO1 105
LO1d 105
LO1H 105
LO1S 105
LO2 105
280
Code Page


[1.4 MOTOR CONTROL]
[1.9 COMMUNICATION]
[1.1 SIMPLY START]
[1.2 MONITORING]
[1.6 COMMAND]
[4 PASSWORD]
[1.3 SETTINGS]
(SIM-)
(SUP-)
(SEt-)
(drC-)
(I-O-)
(CtL-)
(FUn-)
(FLt-)
(COM-)
(FCS-)
(COd-)
LO2d 105
LO2H 105
LO2S 105
LO3 106
LO3d 106
LO3H 106
LO3S 106
LO4 106
LO4d 106
LO4H 106
LO4S 106
LP1 166
LP2 166
LqS 73
LSP 43 55
MA2 135
MA3 135
MFr 50, 52 63
MMF 50, 52
nCA1 239
nCA2 239
nCA3 239
nCA4 239
nCA5 239
nCA6 239
nCA7 239
nCA8 239
nCr 41 68
nCrS 73
nLS 196
nMA1 239
nMA2 239
nMA3 239
nMA4 239
nMA5 239
nMA6 239
281
Code Page


[1.4 MOTOR CONTROL]
[1.9 COMMUNICATION]
[1.1 SIMPLY START]
[1.2 MONITORING]
[1.6 COMMAND]
[4 PASSWORD]
[1.3 SETTINGS]
(SIM-)
(SUP-)
(SEt-)
(drC-)
(I-O-)
(CtL-)
(FUn-)
(FLt-)
(COM-)
(FCS-)
(COd-)
nMA7 239
nMA8 239
nPr 41 68
nrd 82
nSL 74
nSP 41 68
nSPS 73
nSt 140
o02 50, 52
o03 50, 52
o04 50, 52
o05 50, 52
o06 50, 52
OCC 191
Odt 221
OFI 81
OHL 222
OLL 221
OPL 221
OPr 50, 52
OSP 171
PAH 63 177
PAL 63 177
PAS 196
PAU 178
PEr 64 177
PES 166
PFI 98
PFr 98
PGA 101
PGI 76 101
PHS 73
PHr 42 69
PIA 98
PIC 177
PIF 176
282
Code Page


[1.4 MOTOR CONTROL]
[1.9 COMMUNICATION]
[1.1 SIMPLY START]
[1.2 MONITORING]
[1.6 COMMAND]
[4 PASSWORD]
[1.3 SETTINGS]
(SIM-)
(SUP-)
(SEt-)
(drC-)
(I-O-)
(CtL-)
(FUn-)
(FLt-)
(COM-)
(FCS-)
(COd-)
PIF1 176
PIF2 176
PII 176
PIL 98
PIM 178
PIP1 176
PIP2 176
PIS 177
POH 63 177
POL 63 177
PPI 236
PPn 74
PPnS 73
Pr2 180
Pr4 180
PrP 63 177
PS1- 198
PS2- 199
PS3- 199
PS2 146
PS4 146
PS8 146
PS16 146
PSr 64 178
PSt 124
PtC1 216
PtC2 216
PtCL 216
PtH 50, 52
qSH 65 209
qSL 65 209
r1 102
r1d 103
r1H 103
r1S 103
r2 103
283
Code Page


[1.4 MOTOR CONTROL]
[1.9 COMMUNICATION]
[1.1 SIMPLY START]
[1.2 MONITORING]
[1.6 COMMAND]
[4 PASSWORD]
[1.3 SETTINGS]
(SIM-)
(SUP-)
(SEt-)
(drC-)
(I-O-)
(CtL-)
(FUn-)
(FLt-)
(COM-)
(FCS-)
(COd-)
r2d 103
r2H 103
r2S 103
r3 104
r3d 104
r3H 104
r3S 104
r4 104
r4d 104
r4H 104
r4S 104
rAP 80
rCA 191
rCb 134
rdG 63 177
rFC 125
rFr 50, 52
rFt- 211
rIG 63 177
rIn 124
rP 217
rP2 64 180
rP3 64 180
rP4 64 180
rPA 217
rPC 50, 52
rPE 50, 52
rPF 50, 52
rPG 63 176
rPI 176
rPO 50, 52
rPS 138
rPt 136
rrS 88
rSA 74
rSAS 73
284
SP6
SP5
SP4
SP3
SP2
SOP
SnC
SLP
SLL
SIt
SFr
SFd
SFC
Sdd
SCL
SAt
SAr
SAL
SAF
SA3
SA2
rtr
rtO
rtH
rSU
rSP
rSM
rSL
rSF
rSd
SdC2
SdC1
SCSI
rStL
rSMS
Code
[1.1 SIMPLY START]

(SIM-)
[1.2 MONITORING]
(SUP-)
50, 52
[1.3 SETTINGS]
62
62
62
62
62
58
55
60
55
59
59
(SEt-)
[1.4 MOTOR CONTROL]
82
73
81
75
74
(drC-)

(I-O-)
[1.6 COMMAND]
Page
(CtL-)
147
147
147
147
147
210
196
142
161
171
195
195
195
135
135
210
183
211
171
211
179
171
142,
(FUn-)
229
230
223
217
(FLt-)
[1.9 COMMUNICATION]
(COM-)
247
(FCS-)
[4 PASSWORD]
(COd-)
285
Code Page


[1.4 MOTOR CONTROL]
[1.9 COMMUNICATION]
[1.1 SIMPLY START]
[1.2 MONITORING]
[1.6 COMMAND]
[4 PASSWORD]
[1.3 SETTINGS]
(SIM-)
(SUP-)
(SEt-)
(drC-)
(I-O-)
(CtL-)
(FUn-)
(FLt-)
(COM-)
(FCS-)
(COd-)
SP7 62 147
SP8 62 147
SP9 62 147
SP10 62 147
SP11 62 147
SP12 62 147
SP13 62 147
SP14 62 147
SP15 63 147
SP16 63 147
SPd 50, 52
SPG 55
SPM 152
SPt 182
SrP 63 151
SSb 230
Std 196
StM 226
StO 230
StP 225
Str 149
Strt 226
Stt 140
SUL 82
tA1 54 137
tA2 54 137
tA3 54 137
tA4 55 137
tAA 185
tAC 50, 52
tAr 218
tbE 64 161
tbO 209
tbr 240
tbr2 240
tbS 226
286
Code Page


[1.4 MOTOR CONTROL]
[1.9 COMMUNICATION]
[1.1 SIMPLY START]
[1.2 MONITORING]
[1.6 COMMAND]
[4 PASSWORD]
[1.3 SETTINGS]
(SIM-)
(SUP-)
(SEt-)
(drC-)
(I-O-)
(CtL-)
(FUn-)
(FLt-)
(COM-)
(FCS-)
(COd-)
tCC 40 88
tCt 88
tdI 58 141 237
tdC 58 141 237
tdC1 59 142
tdC2 59 143
tdn 209
tdS 232
tFO 240
tFO2 240
tFr 41 69
tHA 222,
223
tHd 50, 52
tHr 50, 52
tHt 221
tLA 185
tLC 186
tLd 234
tLIG 65 185
tLIM 65 185
tLS 61 179
tnL 235
tOb 183
tOS 171
tqb 232
tr1 182
trA 74
trC 209
trH 65 209
trL 65 209
trM 74
trP 182
trr 50, 52
trt 66 182
tSd 182
287
288
U5
U4
U3
U2
U1
U0
ULr
ULn
UFr
UCP
UCb
UC2
Ubr
tUS
tUP
tUn
tUL
ttr
ttO
ttL
ttH
ttd
tSY
tSt
tSS
tSM
UIL4
UIL2
UIL1
UIH4
UIH2
UIH1
ttd3
ttd2
Code
[1.1 SIMPLY START]
42
42
(SIM-)
[1.2 MONITORING]
(SUP-)
50, 52
[1.3 SETTINGS]
58
65
65
65
66
(SEt-)
[1.4 MOTOR CONTROL]
73
72
72
84
71
71
71
71
71
71
69
69
(drC-)
96
94
93
96
94
93
(I-O-)
[1.6 COMMAND]
Page
(CtL-)
209
203
162
210
182
182
(FUn-)
219
240
223
223
223
226
221,
221,
221,
(FLt-)
[1.9 COMMUNICATION]
(COM-)

(FCS-)
[4 PASSWORD]
253
(COd-)
USt
USP
USL
USI
USb
UPL
UOP
UnS
UrES
UOL3
UOL2
UOL1
UOH3
UOH2
UOH1
Code
[1.1 SIMPLY START]
41
(SIM-)
[1.2 MONITORING]
(SUP-)
50, 52
[1.3 SETTINGS]
68
(SEt-)
[1.4 MOTOR CONTROL]

(drC-)
113
112
110
113
112
110
(I-O-)
[1.6 COMMAND]
Page
(CtL-)
149
151
(FUn-)
225
225
225
225
226
(FLt-)
[1.9 COMMUNICATION]
(COM-)

(FCS-)
[4 PASSWORD]
(COd-)
289
atv71_programming_manual_en_v5
2008-01
ABB industrial drives
Firmware manual
ACS880 crane control program (option +N5050)
List of related manuals
Drive hardware manuals Code (English)
*ACS880-01 drives hardware manual 3AUA0000078093
ACS880-04 drive modules (200 to 710 kW, 300 to 3AUA0000128301
700 hp) hardware manual
ACS880-04 single drive module packages hardware 3AUA0000138495
manual
*ACS880-07 drives (45 to 630 kW, 50 to 700 hp) 3AUA0000105718
hardware manual
*ACS880-07 drives (560 to 2800 kW) hardware manual 3AUA0000143261
*ACS880-17 drives hardware manual 3AXD50000020436
*ACS880-37 drives hardware manual 3AXD50000020437
ACS880-104 inverter modules hardware manual 3AUA0000104271
ACS880-107 inverter units hardware manual 3AUA0000102519
Drive firmware manuals and guides

Adaptive programming application guide 3AXD50000028574
Drive (IEC 61131-3) application programming manual 3AUA0000127808
SynRM motor control program (+N7502) supplement 3AXD50000026332
Option manuals and guides

ACX-AP-x assistant control panels user’s manual 3AUA0000085685
Drive composer Start-up and maintenance PC tool 3AUA0000094606
User’s manual
Manuals and quick guides for I/O extension modules,
fieldbus adapters, encoder interfaces, etc.
You can find manuals and other product documents in PDF format on the Internet. See section
Document library on the Internet on the inside of the back cover. For manuals not available in the
Document library, contact your local ABB representative.
*A list of links to all manuals applicable to this product is available in the Document library:
Product Code
ACS880-01 drives 9AKK105408A7004
ACS880-04 drive modules (200 to 710 kW, 300 to 700 hp) 9AKK105713A4819
ACS880-07 drives (45 to 630 kW, 50 to 700 hp) 9AKK105408A8149
ACS880-07 drives (560 to 2800 kW) 9AKK105713A6663
Firmware manual
ACS880 crane control program (option
+N5050)
Table of contents
4. Quick start-up guide
 2017 ABB Oy. All Rights Reserved. 3AXD50000027678 Rev D

EN
EFFECTIVE: 2017-03-15
Table of contents 5
Table of contents
1. Introduction to the manual
Contents of this chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Applicability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Licensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Parameter access levels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Target audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Contents of the manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Related documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Safety
Terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Cyber security disclaimer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
2. Quick start-up guide

Before you start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Drive start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Crane control start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Control through the I/O interface using a joystick . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Control through the I/O interface using the step reference logic . . . . . . . . . . . . . . . . . . . . 33
Control through the fieldbus interface using the fieldbus control word . . . . . . . . . . . . . . . 36
Control through the fieldbus interface using the crane control word and a joystick . . . . . 39
Configuring Mechanical brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Configuring Slowdown inputs and limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Configuring speed feedback using a HTL encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Configuring Lifetime monitor function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Configuring Lifetime monitor maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
3. Using the control panel
4. Crane program features

Overview of the crane control program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Crane control interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Overview diagram of a crane drive and its control interfaces . . . . . . . . . . . . . . . . . . . . . . 53
Emergency control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Function block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Start/stop interlocking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Joystick zero position interlocking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Joystick reference interlocking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Pending start interlocking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Position counter initialization and scaling in crane application . . . . . . . . . . . . . . . . . . . . . . . . 58
Initialization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
6 Table of contents
Scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Master/follower communication in crane application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Master/follower communication types in crane application . . . . . . . . . . . . . . . . . . . . . . . 62
D2D-link configuration in crane application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Shaft synchro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Synchro control - basic function block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Synchro control - full function block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Example 1: Parameter settings for Synchro control (Speed-speed+position) setup . . . . 73
Example 2: Parameter settings for encoder mounted/ not mounted on motor shaft . . . . 75
Mechanical brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Inputs of the brake control logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Outputs of the brake control logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Brake control timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Wiring example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Brake system checks – overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Brake system checks – Torque proving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Brake system checks – Brake slip . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Brake matching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Brake opening torque selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Brake safe closure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Extended run time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Speed reference handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Possible control devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Step reference selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Speed reference priorities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Dead-band function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Parabolic speed reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Speed reference ramping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
External speed limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Crane motor potentiometer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Supervision and limit switch logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
End limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Slowdown . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Fast stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Speed matching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Motor overspeed monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Inverter overload detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Slack rope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Watchdog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Lifetime monitoring and maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Conical motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Hoist speed optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Operation chart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Load margin calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
Auto calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
Weight calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Load speed limit testing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
Smooth lifting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Antisway . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
Antisway functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
Table of contents 7
Antisway function block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

Sway tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
Automatic ON switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
Ramp times . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Limit switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Antisway communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
Fieldbus communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
Antisway commissioning instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
Measuring and calculating a real pendulum arm with an empty hook . . . . . . . . . . . . . . 133
Determining pendulum arm offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
Power on acknowledgement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
Function description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
Timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
Wiring example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Crane warning masking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
Toggle bit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Function description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Function block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
Timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Example of Toggle bit function setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Maintenance counters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
Crane operating hours counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
Brake operated counts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
Number of power on counts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
5. Standard program features

Contents of this chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
Local control vs. external control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
Local control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
External control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Operating modes of the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
General representation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Speed control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Torque control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
Drive configuration and programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
Programming via parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
Adaptive programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
Application programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Control interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Programmable analog inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Programmable analog outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Programmable digital inputs and outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
Programmable relay outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
Programmable I/O extensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
Fieldbus control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
Master/follower functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
External controller interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
Control of a supply unit (LSU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
Motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
Direct torque control (DTC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
8 Table of contents
Reference ramping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172

Constant speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
Critical speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
Speed controller autotune . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
Oscillation damping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
Rush control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
Encoder support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
Position counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
Scalar motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
Autophasing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
Flux braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
DC magnetization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
Hexagonal motor flux pattern . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
Application control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
Motor potentiometer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
DC voltage control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
Overvoltage control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
Undervoltage control (power loss ride-through) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
Voltage control and trip limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
Brake chopper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
Safety and protections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
Emergency stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
Motor thermal protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
Thermal protection of motor cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
User load curve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
Other programmable protection functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
Automatic fault resets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
Fault and warning messages, data logging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
Signal supervision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
Maintenance timers and counters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
Load analyzer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
Miscellaneous . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
User parameter sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
Parameter checksum calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
User lock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
Data storage parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Reduced run function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
du/dt filter support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
Sine filter support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
6. Default control connections
7. Parameters
Contents of this chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
Terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
Summary of parameter groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
Parameter listing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
01 Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
03 Input references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
Table of contents 9
04 Warnings and faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229

05 Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
06 Control and status words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
07 System info . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248
09 Crane application signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
10 Standard DI, RO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
11 Standard DIO, FI, FO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264
12 Standard AI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270
13 Standard AO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274
14 I/O extension module 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
19 Operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
20 Start/stop/direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
21 Start/stop mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323
22 Speed reference selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329
23 Speed reference ramp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
24 Speed reference conditioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 347
25 Speed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353
26 Torque reference chain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 363
30 Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 371
31 Fault functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
32 Supervision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 390
33 Generic timer & counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 397
35 Motor thermal protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 407
36 Load analyzer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 419
37 User load curve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 424
43 Brake chopper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 428
44 Mechanical brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 429
46 Monitoring/scaling settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 438
47 Data storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 441
49 Panel port communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 444
50 Fieldbus adapter (FBA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 446
51 FBA A settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 454
52 FBA A data in . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455
53 FBA A data out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456
54 FBA B settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456
55 FBA B data in . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457
56 FBA B data out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 458
58 Embedded fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 458
60 DDCS communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 466
61 D2D and DDCS transmit data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 484
62 D2D and DDCS receive data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488
74 Speed matching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 495
75 Hoist speed optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 496
76 Conical motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 502
77 Antisway . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 503
78 External sway control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 516
82 Synchro control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 516
83 Smooth lifiting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 519
85 ACC interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520
10 Table of contents
90 Feedback selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 523

91 Encoder module settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 533
92 Encoder 1 configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 536
93 Encoder 2 configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 543
95 HW configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 545
96 System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 549
97 Motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 559
98 User motor parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 564
99 Motor data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 566
200 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 573
8. Additional Parameter data

Parameters list view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 575
Terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 576
Fieldbus addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 576
Parameter groups 1...9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 577
Parameter groups 10...99 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 583
9. Fault tracing
Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 637
Indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 637
Warnings and faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 637
Pure events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 638
Editable messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 638
Warning/fault history and analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 638
Event logs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 638
Factory data logger . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 639
Other data loggers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 639
Parameters that contain warning/fault information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 639
QR Code generation for mobile service application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 640
Warning messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 641
Fault messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 661
10. Fieldbus control through the embedded fieldbus interface (EFB)

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 681
System overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 681
Connecting the fieldbus to the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 682
Setting up the embedded fieldbus interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 683
Setting the drive control parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 684
Basics of the embedded fieldbus interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 686
Control word and Status word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 687
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 687
Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 687
Data input/outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 687
Register addressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 688
About the control profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 689
Table of contents 11
The ABB Drives profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 690

Control Word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 690
Status Word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 692
State transition diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 693
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 694
Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 695
Modbus holding register addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 696
The Transparent profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 697
Modbus function codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 698
Exception codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 699
Coils (0xxxx reference set) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 700
Discrete inputs (1xxxx reference set) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 701
Error code registers (holding registers 400090…400100) . . . . . . . . . . . . . . . . . . . . . . . . . . . 703
11. Fieldbus control through a fieldbus adapter

System overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 705
Basics of the fieldbus control interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 707
Control word and Status word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 708
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 708
Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 709
Contents of the fieldbus Control word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 711
Contents of the fieldbus status word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 713
The state diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 714
Setting up the drive for fieldbus control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 715
Parameter setting example: FPBA (PROFIBUS DP) . . . . . . . . . . . . . . . . . . . . . . . . . . . 716
12. Drive-to-drive link
13. Control chain diagrams

Speed reference source selection I . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 722
Speed reference source selection II . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 723
Speed reference ramping and shaping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 724
Crane speed reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 725
Motor feedback configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 726
Load feedback and position counter configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 727
Speed error calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 728
Speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 729
Torque reference source selection and modification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 730
Operating mode selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 731
Reference selection for torque controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 732
Torque limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 733
Torque controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 734
Master/Follower communication I (Master) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 735
Master/Follower communication II (Follower) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 736
12 Table of contents
14. Example circuit diagrams

ACS880 crane control: Hoist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 738
ACS880 crane control: Trolley . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 739
ACS880 crane control: Long travel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 740
Further information
Product and service inquiries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 741
Product training . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 741
Providing feedback on ABB Drives manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 741
Document library on the Internet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 741
Introduction to the manual 13
3
Introduction to the manual
Contents of this chapter
This chapter describes the contents of the manual. It also contains information on the
applicability, safety and intended audience.
Applicability
This manual applies to the ACS880 crane control program (option +N5050), crane
application version 4.00 (loading package ACRLX 4.00.0.0) or later, and primary
control version 2.5x or later.
You can see firmware and loading package versions in parameters.
Example:
Parameter Loading package version
07.04 Firmware name AINFB or AINFC
07.05 Firmware version 2.51.6.2
07.06 Loading package name ACRLB (BCON) or ACRLC (ZCON)
07.07 Loading package version 4.0.0.0
This crane application program is based on IEC standard 61131-3. It is an in-house

application, therefore the application code is locked and cannot be modified by the
user.
14 Introduction to the manual
Licensing
The Crane control program (+N5050), version ACRLx v4.00.0.0 or later comes with a
license key on the ZMU-02 memory unit. The program activates only after
recognizing the key and correspondingly registers itself with the crane software.
Device License key
ZMU-02 memory unit license key N8015 MU Interlock key – Crane
Crane software (loading package) N8016 Licensed appl Crane
You can see the license information in the Drive Composer PC tool or in the ACS-AP-
x control panel from System info → Licenses.
After the program is downloaded to the memory unit with the license key, the program
remains there unless you remove it. This makes it possible for you to upgrade the
crane application later on a separate crane loading package.
If the program was loaded to the memory unit without the license key, then the drive
indicates a fault 64A5 Licensing fault. See the auxiliary fault code in the Event logger
to know the plus code of the missing license, in this case N8015. For further
assistance, contact your local ABB representative.
Safety instructions
Follow all safety instructions delivered with the drive.
• Read the complete safety instructions before you install, commission, or use
the drive. The complete safety instructions are delivered with the drive as either
part of the Hardware manual, or, in the case of ACS880 multidrives, as a separate
document.
• Read the firmware function-specific warnings and notes before changing
parameter values. These warnings and notes are included in the parameter
descriptions presented in chapter Parameters.
Parameter access levels

The parameters in the Crane control program are visible based on the two access
levels: Short menu and Long menu.
Short menu (pass code 1) – Lists the most common crane parameters. In this menu
parameters are visible only when you set parameter 96.02 Pass code = 1. See also
the parameter indexes marked in chapter Additional Parameter data on page 575.
Long menu (pass code 584) – Lists the complete signals and parameters in the
control program, for example Synchro control, Smooth lifting, etc. These parameters
are visible only when you set parameter 96.02 Pass code = 584.
Note: It is recommended that you create the backup of complete parameters list
using the long menu. However, you can also access the complete parameters list in
the offline mode.
Target audience
This manual is intended for people who design, commission, or operate the drive
system.
Contents of the manual

This manual contains the following chapters:
• Introduction to the manual contains information on the applicability, licensing, and
safety instructions. The chapter aslo includes the list of of terms and
abbreviations used in this manual.
• Quick start-up guide contains the basic start-up sequence of the drive and
additional alternative checklists for starting up the drive with the control program.
• Using the control panel provides basic instructions on using the control panel.
• Crane program features describes the program features specific to the crane
application.
• Standard program features describes the control locations and operation modes,
as well as the program features that are not specific to crane applications.
• Default control connections presents the default connection diagram.
• Parameters describes the parameters of the drive.
• Additional Parameter data contains further information on the parameters.
• Fault tracing lists the warning and fault messages with possible causes and
remedies.
• Fieldbus control through the embedded fieldbus interface (EFB) describes the
communication to and from a fieldbus network using the embedded fieldbus
interface of the drive.
• Fieldbus control through a fieldbus adapter describes the communication to and
from a fieldbus network using an optional fieldbus adapter module.
• Drive-to-drive link describes the communication between drives connected
together by the drive-to-drive (D2D) link.
• Control chain diagrams shows the parameter structure within the drive.
• Example circuit diagrams shows the circuit connections for the crane application
to use with hoist, trolley and long travel cranes.
Related documents
See the List of related manuals on the inside of the front cover.
Terms and abbreviations

Term/abbreviation Definition
AC 800M Type of programmable controller manufactured by ABB.
ACS800 A product family of ABB drives
ACS-AP-I Type of control panel used with ACS880 drives
AI Analog input; interface for analog input signals
AO Analog output; interface for analog output signals
BCU Type of control unit used in ACS880 drives, primarily those with
parallel-connected inverter or supply modules.
DC link DC circuit between rectifier and inverter
DDCS Distributed drives communication system; a protocol used in
communication between ABB drive equipment.
DI Digital input; interface for digital input signals
DIO Digital input/output; interface that can be used as a digital input or
output
DO Digital output; interface for digital output signals
Drive Frequency converter for controlling AC motors. The drive consists of a
rectifier and an inverter connected together by the DC link. In drives
up to approximately 500 kW, these are integrated into a single module
(drive module). Larger drives typically consist of separate supply and
inverter units.
ACS880 crane control program is used to control the inverter part of
the drive.
DriveBus A communication link used by, for example, ABB controllers. ACS880
drives can be connected to the DriveBus link of the controller. See
page 166.
DTC Direct torque control. See page 171.
FAIO-01 Optional analog I/O extension module
FBA Fieldbus adapter
FCAN-01 Optional CANopen adapter
FCNA-01 Optional ControlNet adapter
FDCO-0x Optional DDCS communication module
FDIO-01 Optional digital I/O extension module
FDNA-01 Optional DeviceNet™ adapter
FEA-03 Optional I/O extension adapter
FECA-01 Optional EtherCAT® adapter
FEN-01 Optional TTL encoder interface module
FEN-11 Optional absolute encoder interface module
FEN-21 Optional resolver interface module
FEN-31 Optional HTL encoder interface module
FENA-11 Optional Ethernet/IP, Modbus/TCP and PROFINET IO adapter
FENA-21 Optional dual-port Ethernet/IP, Modbus/TCP and PROFINET IO
adapter
FEPL-02 Optional POWERLINK adapter
FIO-01 Optional digital I/O extension module
FIO-11 Optional analog I/O extension module
FPBA-01 Optional PROFIBUS DP adapter
FPTC-01 Optional thermistor protection module. Not released for sales at the
time of publication.
FPTC-02 Optional ATEX-certified thermistor protection protection module for
potentially explosive atmospheres. Not released for sales at the time of
publication.
FSCA-01 Optional Modbus adapter
FSO-xx Optional safety functions module
HTL High-threshold logic
ID run Motor identification run. During the identification run, the drive
identifies the characteristics of the motor for optimum motor control.
IGBT Insulated gate bipolar transistor; a voltage-controlled semiconductor
type widely used in inverters and IGBT supply units due to their easy
controllability and high switching frequency
INU-LSU Type of optical DDCS communication link between two converters, for
example the Supply unit and the Inverter unit of a drive system.
Inverter unit The part of the drive that converts DC to AC for the motor.
I/O Input/Output
ISU An IGBT supply unit; type of supply unit implemented using IGBT
switching components, used in regenerative and low-harmonic drives.
Line-side converter See Supply unit.
LSU See Supply unit.
ModuleBus A communication link used by, for example, ABB controllers. ACS880
drives can be connected to the optical ModuleBus link of the controller.
Motor-side converter See Inverter unit.
Network control With fieldbus protocols based on the Common Industrial Protocol
(CIPTM ), such as DeviceNet and Ethernet/IP, denotes the control of the
drive using the Net Ctrl and Net Ref objects of the ODVA AC/DC Drive
Profile. For more information, see www.odva.org, and the following
manuals:
• FDNA-01 DeviceNet adapter module User’s manual
(3AFE68573360 [English]), and
• FENA-01/-11/-21 Ethernet adapter module User’s manual
(3AUA0000093568 [English]).
Parameter User-adjustable operation instruction to the drive, or signal measured
or calculated by the drive
PID controller Proportional–integral–derivative controller. Drive speed control is
based on PID algorithm.
PLC Programmable logic controller
Power unit Contains the power electronics and power connections of the drive (or
inverter module). The drive control unit is connected to the power unit.
PTC Positive temperature coefficient
RDCO-0x Optional DDCS communication module
RFG Ramp function generator.
RO Relay output; interface for a digital output signal. Implemented with a
relay.
SSI Synchronous serial interface
STO Safe torque off
Supply unit The part of the drive that converts AC to DC. An IGBT supply unit (ISU)
is also capable of feeding regenerative energy back into the supply
network.
TTL Transistor-transistor logic
UPS Uninterruptible power supply; power supply equipment with battery to
maintain output voltage during power failure
ZCU Type of control unit used in ACS880 drives (primarily in drive modules,
or inverter/supply units consisting of a single power module). Consists
of a ZCON board built into a plastic housing.
Depending on the type of hardware, the control unit may be integrated
into or fitted onto the drive/inverter module, or installed separately.
Cyber security disclaimer

This product is designed to be connected to and to communicate information and
data via a network interface. It is Customer's sole responsibility to provide and
continuously ensure a secure connection between the product and Customer network
or any other network (as the case may be). Customer shall establish and maintain
any appropriate measures (such as but not limited to the installation of firewalls,
application of authentication measures, encryption of data, installation of anti-virus
programs, etc) to protect the product, the network, its system and the interface
against any kind of security breaches, unauthorized access, interference, intrusion,
leakage and/or theft of data or information. ABB and its affiliates are not liable for
damages and/or losses related to such security breaches, any unauthorized access,
interference, intrusion, leakage and/or theft of data or information.
Quick start-up guide 21
2
Quick start-up guide
This chapter contains the basic start-up sequence of the drive and additional
alternative checklists for starting up the drive with the control program. See following
sections:
• Drive start-up on page 22
• Crane control start-up on page 29
In this chapter, the drive is set up using the ACS-AP-I control panel. You can also do
the start-up sequence using the Drive composer PC tool.
Before you start

Make sure that the drive has been mechanically and electrically installed as
described in the appropriate Quick installation guide and/or Hardware manual.
Safety
WARNING! All electrical installation and maintenance work on the drive should
be carried out by qualified electricians only.
Never work on the drive, the brake chopper circuit, the motor cable or the motor when
power is applied to the drive. Always make sure by measuring that no voltage is
actually present.
22 Quick start-up guide
WARNING! Make sure that the machinery into which the drive with brake
control function is integrated fulfills the personnel safety regulations. Note that
the frequency converter (a Complete Drive Module or a Basic Drive Module, as
defined in IEC 61800-2), is not considered as a safety device mentioned in the
European Machinery Directive and related harmonized standards. Thus, the
personnel safety of the complete machinery must not be based on a specific
frequency converter feature (such as the brake control function), but it has to be
implemented as defined in the application specific regulations.
Drive start-up
Safety
WARNING! Obey all safety instructions for the drive. Only qualified electricians are
allowed to start up the drive.
Check the installation. See the installation checklist in the appropriate Hardware 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 an incorrect direction of rotation, or
• a Normal ID run is required during the drive start-up, when the load torque is higher
than 20% or the machinery is not able to withstand the nominal torque transient during
the ID run.
1 – Power-up, date and time settings

Power up the drive.
Remote 0.0 rpm
Note: It is normal that warning messages
appear at various points along the start-up
process. To hide a message and to resume
Motor speed used
rpm 0.00
the start-up process, press .
Hide any warnings now to enter the Home
Motor current
A 0.00
view (shown on the right).
The two commands at the bottom of the
display (in this case, Options and Menu),
Motor torque %
% 0.0
show the functions of the two softkeys Options 12:34 Menu
and located below the display. The
commands assigned to the softkeys vary
depending on the context.
In the Home view, press (Menu).

Remote 0.0 rpm
The main Menu (right) appears.
Menu
Parameters
Assistants
Energy efficiency
Event log
Exit 12:34 Select
Highlight Settings on the menu using
Remote 0.0 rpm
and and press (Select).
Settings
Language
Date & time
Edit texts
Display settings
Back 12:34 Select

In the Settings menu, highlight Date & time
Remote 0.0 rpm
(if not already highlighted) and press
(Select). Date & time
Date 01.01.1980
Time 12:34:56
Show date as day.month.year
Show time as 24-hour
Daylight saving EU
Next daylight saving start 28.03.
Back 12:35 Edit
In the Date & time menu, highlight Date (if

Remote 0.0 rpm
not already highlighted) and press
(Select). Date
Day Month Year
01 .01.1980
Tuesday
Cancel 12:35 Save

Set the correct date:

Remote 0.0 rpm
• Use and to move the cursor left
and right.
• Use and to change the value.
Motor speed used
rpm 0.00
• Press
setting.
(Save) to accept the new Motor current
A 0.00
0.0
Check/adjust all the remaining settings in the Motor torque %
Date & time menu. %
The Show clock setting determines whether
the time is shown at all times in the bottom Options 12:35 Menu
pane of the display.
After you have made the settings, press
(Back or Exit) repeatedly until the
Home view (right) reappears.
2 – Supply voltage and motor data settings

Switch to local control to ensure that external
Local 0.0 rpm
control is disabled by pressing the Loc/Rem
key. Local control is indicated by the text
“Local” in the top pane.
Motor speed used
rpm 0.00
Motor current
A 0.00
Motor torque %
% 0.0
Options 12:36 Menu
Open the main Menu by pressing
Local 0.0 rpm
(Menu).
Menu
Parameters
Assistants
Energy efficiency
Event log
Exit 12:36 Select
Highlight Parameters and press

Local 0.0 rpm
(Select).
Parameters
Favorites
By function
Complete list
Modified
Back 12:36 Select

Highlight Complete list using and
Local 0.0 rpm
and press (Select).
Complete list
A listing of parameter groups is displayed.
01 Actual values
03 Input references
04 Warnings and faults
05 Diagnostics
06 Control and status words
07 System info
Back 12:36 Select
Highlight parameter group 95 HW
Local 0.0 rpm
configuration and press (Select).
95 HW configuration
Note that the list wraps around in either
direction between groups 99 and 01. In this 95.01 Supply voltage Not given
case, it is quicker to use to locate group 95.02 Adaptive voltage limits Disable
95 on the list. 95.04 Control board supply Internal 24V
After selecting a group, a listing of
parameters within the group is displayed.
Back 12:36 Edit

Highlight parameter 95.01 Supply voltage (if
Local 0.0 rpm
not already highlighted) and press
(Edit). 95.01 Supply voltage
The available parameter settings are listed. [0] Not given
[1] 208…240 V
[2] 380…415 V
[3] 440…480 V
[4] 500 V
Cancel 12:36 Save
Highlight the correct setting on the list and

Local 0.0 rpm
press (Save).
95 HW configuration
95.01 Supply voltage 380…415 V
95.02 Adaptive voltage limits Disable
95.04 Control board supply Internal 24V
Back 12:36 Edit

Press (Back) to display the list of parameter groups again. Select parameter group
99 Motor data, and set parameter 99.03 Motor type.
Set parameter 99.04 Motor control mode.
DTC = Direct torque control; Scalar
DTC is suitable for most cases. Scalar mode is recommended if
• the nominal current of the motor is less than 1/6 of the nominal current of the drive,
• the drive is used for test purposes with no motor connected, or
• the drive controls multiple motors and the number of motors connected is variable.
Refer to the motor nameplate for the following parameter settings. Whenever possible, enter
the values exactly as shown on the motor nameplate.
Example of a nameplate of an induction Example of a nameplate of a permanent
(asynchronous) motor: magnet motor:
ABB Motors ABB Motors

3 motor M2AA 200 MLA 4 3 ~ motor M2BJ 280SMB 10 B3
IEC 200 M/L 55

No S1 SPEC INSUL. No 3424522
Ins.cl. F IP 55 JK-21640-1 Ins.cl. F IP 55
V Hz kW r/min A cos IA/IN t E/s V Hz kW r/min A cos M IA/IN t E/s
690 Y 50 30 1475 32.5 0.83
400 D 50 30 1475 56 0.83 400 D 50 55 600 103 0.97
660 Y 50 30 1470 34 0.83
380 D 50 30 1470 59 0.83 Prod. code 2GBJ285220-ADA405445477
415 D 50 30 1475 54 0.83
440 D 60 35 1770 59 0.83 6316/C3 6316/C3 630kg
Cat. no 3GAA 202 001 - ADA
6312/C3 6210/C3 180 IEC 34-1
IEC 34-1
99.06 Motor nominal current

The allowable range is
• in DTC mode: 1/6 × IHd … 2 × IHd of the drive
• in Scalar mode: 0 … 2 × IHd
Note: With numerical parameter values:
• Use and to change the value of a digit.
• Use and to move the cursor left and right.
• Press (Save) to enter the value.
Make the following parameter settings in the same manner.

99.07 Motor nominal voltage
The allowable range is 1/6 × UN … 2 × UN of the drive.
With permanent magnet motors, the nominal voltage is the BackEMF voltage at nominal
speed. If the voltage is given in volt/rpm (eg. 60 V per 1000 rpm), the voltage at a nominal
speed of 3000 rpm is 3 × 60 V = 180 V. Note that nominal voltage is not the same as
equivalent DC motor voltage (EDCM) given by some manufacturers. The nominal voltage
can be calculated by dividing the EDCM voltage by 1.7 (or square root of 3).
99.08 Motor nominal frequency
With permanent magnet motors, if the nominal frequency is not shown on the nameplate,
it can be calculated using the following formula:
f = n × p / 60
where n = nominal motor speed, p = number of pole pairs.
99.09 Motor nominal speed
99.10 Motor nominal power
99.11 Motor nominal cos Φ

99.12 Motor nominal torque
These values are not required, but can be entered to improve control accuracy. If not
known, leave at 0.
99.13 ID run requested
This parameter selects the mode of the identification run (DTC motor control mode only).
Note: The drive must be in local control for the identification run.
WARNING! The identification run modes marked thus * will run the motor in the
forward direction (see below for details). Make sure it is safe to run the motor
before choosing any of these modes.
*Normal mode should be selected whenever possible. This mode is recommended for
hoist drives. The driven machinery must be de-coupled from the motor if
• the load torque is higher than 20%, or
• the machinery is not able to withstand the nominal torque transient during the
identification run.
Note: In Normal mode, brake will open automatically when start command is given.
*Reduced mode should be selected if the mechanical losses are higher than 20%, ie. the
load cannot be de-coupled, or full flux is required to keep the motor brake open (eg. with
conical motors).
The Standstill mode should be selected if neither the *Normal or *Reduced mode can be
used. This mode is recommended for trolley and long travel motions with which it is very
difficult or impossible to disconnect the motor from the mechanical system. Notes:
• This mode cannot be used with a permanent magnet motor if the load torque is higher
than 20% of nominal.
• Mechanical brake is not opened by the logic for the identification run.
Ensure that the Safe torque off and emergency stop circuits (if present) are closed.
Start the identification run by pressing the A warning will indicate that the
(Start) button. identification run is in progress.
Check that the motor runs in the correct direction (forward direction shown below). With a
positive speed reference, the motor has to run to the direction of lifting a load.
The identification run has completed when the drive stops and the value of parameter
99.13 reverts to None.
If the motor ran in the wrong direction, correct the motor cabling or adjust parameter
99.16 Motor phase order.
Crane control start-up

This section contains the following alternative control schemes for starting up the
drive with the control program:
• Control through the I/O interface using a joystick (page 30)
• Control through the I/O interface using the step reference logic (page 33)
• Control through the fieldbus interface using the fieldbus control word (page 36)
• Control through the fieldbus interface using the crane control word and a joystick
(page 39).
In addition, this section describes how to configure the following program features:
• Configuring Mechanical brake control (page 43)
• Configuring Slowdown inputs and limits (page 44)
• Configuring speed feedback using a HTL encoder (page 45)
• Configuring Lifetime monitor function (page 46)
• Configuring Lifetime monitor maintenance (page 47).
Note: In scalar motor control or in trolley and long travel movements, disable Torque
proving and Brake open torque. See Configuring Mechanical brake control on
page 43.
 Control through the I/O interface using a joystick

This section describes how to set up the drive for control through the I/O interface
using a joystick.
Safety
Preliminary actions
Make sure that you have completed the basic start-up sequence of the drive. See Drive
start-up on page 22.
Power up the drive and wait for 10 seconds.
This is to make sure that all the boards are powered and the application is running.
Switch to local control by pressing the Loc/Rem key, or alternatively, use the Drive composer
PC tool.
Brake circuit check

Make sure that you can safely do the brake circuit check. For example, make sure that
the load is not hanging from a hook.
Make sure that the brake circuit is working:
1. Start the crane drive in LOCAL mode and check that the brake is open and motor is
running.
2. If the brake does not open, check parameters 10.24 RO1 source = 44.210.0 and 44.06
Brake control enable = Selected
Note: Parameter 10.24 RO1 source is read only. To get access, set parameter 96.02
Pass code = 584.
Control signal settings

Select the signal sources for start and stop control.
20.01 Ext1 commands = In1 Start fwd; In2 Start rev
20.03 Ext1 in1 source = DI1
Select the signal source for speed reference 1.
22.11 Speed ref1 source = AI1 scaled
Define the analog input AI1 scales.
12.15 AI1 unit selection = V
12.17 AI1 min = 0 V
12.18 AI1 max = 10 V
12.19 AI1 scaled at AI1 min = The required maximum speed for reverse direction
12.20 AI1 scaled at AI1 max = The required maximum speed for forward direction
Set the required ramp times.

23.201 Crane ramp set selection
23.201 Crane acc time 1
23.202 Crane dec tme 1
23.204 Crane dec time 2
Set the speed limits.
30.11 Minimum speed = The same value as for 12.19 AI1 scaled at AI1 min
30.12 Maximum speed = The same value as for 12.20 AI1 scaled at AI1 max
Set the torque and current limits.
30.17 Maximum current = Nominal motor current [A]
30.19 Minimum torque 1 = Nominal motor torque (for example, -100%)
30.20 Maximum torque 1 = Nominal motor torque (for example, 100%)
Note: After the trial run, you must set the above limits according to the application
requirements.
Brake and limit switches settings

Configure these functions:
• Mechanical brake control (see page 43)
• End limit 1, End limit 2 and Slowdown (see page 44).
Trial run
Do a trial run with an empty hook.
Make sure that the brake and safety circuits are working.
Do a trial run with real load.

Control connections
This figure shows the control connections for the joystick set-up described on
page 30.
XPOW External power input

1 +24VI
24 V DC, 2 A
2 GND
XAI Reference voltage and analog inputs
1 +VREF 10 V DC, RL 1…10 kohm
2 -VREF -10 V DC, RL 1…10 kohm
3 AGND Ground
4 AI1+ Speed reference
5 AI1- 0(2)…10 V, Rin > 200 kohm
6 AI2+ By default not in use.
7 AI2- 0(4)…20 mA, Rin > 100 ohm
XAO Analog outputs
1 AO1 Motor speed rpm
2 AGND 0…20 mA, RL < 500 ohm
3 AO2 Motor current
4 AGND 0…20 mA, RL < 500 ohm
XD2D Drive-to-drive link
1 B
2 A Drive-to-drive link
3 BGND
XRO1, XRO2, XRO3 Relay outputs
1 NC Open brake command (Par. 44.210, b0)
2 COM 250 V AC / 30 V DC
3 NO 2A
1 NC Watchdog ok (Par. 32.227, b0)
2 COM 250 V AC / 30 V DC
External brake circuit
3 NO 2A
1 NC Fault (-1)
2 COM 250 V AC / 30 V DC
Auxiliary contact 3 NO 2A
of main contactor XD24 Digital interlock
1 DIIL Power ackn. (par. 20.212) / Run enable (par. 20.12)
2 +24VD +24 V DC 200 mA
3 DICOM Digital input ground
4 +24VD +24 V DC 200 mA
5 DIOGND Digital input/output ground
XDIO Digital input/outputs
1 DIO1 Output: Open brake command
2 DIO2 Output: Not in use.
XDI Digital inputs
1 DI1 Start forward (= positive speed = lifting load)
2 DI2 Start reverse (= negative speed = lowering load)
3 DI3 Fault reset
4 DI4 Not in use.
5 DI5 Not in use.
6 DI6 Not in use.
Safe torque off circuits must be closed for the drive to start. See
XSTO
Hardware manual of drive.
X12 Safety options connection
X13 Control panel connection
X205 Memory unit connection
 Control through the I/O interface using the step reference logic
This section describes how to set up the drive for control through the I/O interface
using the step reference logic.
Safety
Preliminary actions
PC tool.
Brake circuit check

• Open the brake temporarily by setting parameter 10.24 RO1 source to Energized.
• Set parameter 10.24 RO1 source back to its default value (44.210.0).
Control signal settings

Select the signal sources for start and stop control.
20.01 Ext1 commands = In1 Start fwd; In2 Start rev
Define the Step reference logic.
22.203 Step reference mode = Enabled
22.204 Step reference select 2 = Pointer xx.xx (DI4)
22.207 Step reference 1 = Reference 1 according to the application speed
Set the speed limits so that they correspond to the step references 1…4.
30.11 Minimum speed
30.12 Maximum speed
requirements.

Trial run

Control connections
This figure shows the control connections for the step reference set-up described on
page 33.

1 +24VI
24 V DC, 2 A
2 GND
3 AGND Ground
5 AI1- 0(2)…10 V, Rin > 200 kohm
7 AI2- 0(4)…20 mA, Rin > 100 ohm
XAO Analog outputs
2 AGND 0…20 mA, RL < 500 ohm
3 AO2 Motor current
4 AGND 0…20 mA, RL < 500 ohm
1 B
3 BGND
2 COM
3 NO 250 V AC / 30 V DC
2 COM 250 V AC / 30 V DC
3 NO 2A
1 NC Fault (-1)
2 COM 250 V AC / 30 V DC
2 +24VD +24 V DC 200 mA
4 +24VD +24 V DC 200 mA
2 DIO2 Output: Not in use
XDI Digital inputs
1 DI1 Start forward (= positive speed = lifting load)
2 DI2 Start reverse (= negative speed = lowering load)
3 DI3 Fault reset
4 DI4 Step reference 2 selection. See par. 22.204.
XSTO
 Control through the fieldbus interface using the fieldbus control

word
This section describes how to set up the drive for control through the fieldbus
interface using the fieldbus control word.
Safety
Preliminary actions
PC tool.
Brake circuit check

Fieldbus communication settings

Start up the fieldbus adapter module. See the appropriate fieldbus adapter module user’s
manual. An example of the FPBA-01 start-up procedure is given below.
50.01 FBA A enable = Option slot x
50.02 FBA A comm loss func = Fault
50.03 FBA A comm loss t out = 1 s
50.04 FBA A ref1 type = Speed
46.01 Speed scaling = According to the maximum speed of the application
Set the adapter module configuration parameters in group 51.
At the minimum, set the required node address in parameter 51.02 Node address and the
communication profile in 51.05 Profile.
52.01 FBA A data in1 = SW 16bit
52.02 FBA A data in2 = 1.1 [16]
53.01 FBA A data out1 = CW 16bit
53.02 FBA A data out2 = Ref1 16bit
Save the valid parameter values to the permanent memory.

96.07 Parameter save manually = Save
Validate the settings made in parameter groups 51, 52 and 53.
51.27 FBA A par refresh = Refresh
Switch power off and on.
Make sure that the settings in parameter group 51 are correct (type of the fieldbus
adapter module, node address, and so on).
Define the start and stop control sources.
20.01 Ext1 commands = Fieldbus A
Select the source for the speed reference.
22.11 Speed ref1 source = FB A ref1
30.11 Minimum speed
30.12 Maximum speed
requirements.

Trial run
Make sure that the brake and safety circuits are working before.

Control connections
This figure shows the control connections for the fieldbus control word set-up
described on page 36.

1 +24VI
24 V DC, 2 A
2 GND
3 AGND Ground
5 AI1- 0(2)…10 V, Rin > 200 kohm
7 AI2- 0(4)…20 mA, Rin > 100 ohm
XAO Analog outputs
2 AGND 0…20 mA, RL < 500 ohm
3 AO2 Motor current
4 AGND 0…20 mA, RL < 500 ohm
1 B
3 BGND
2 COM
3 NO 250 V AC / 30 V DC
2 COM 250 V AC / 30 V DC
3 NO 2A
1 NC Fault (-1)
2 COM 250 V AC / 30 V DC
2 +24VD +24 V DC 200 mA
4 +24VD +24 V DC 200 mA
XDI Digital inputs
1 DI1
2 DI2
3 DI3 Fault reset
4 DI4
5 DI5
6 DI6
XSTO
 Control through the fieldbus interface using the crane control word
and a joystick
This section describes how to set up the drive for control through the fieldbus
interface using the crane control word and a joystick.
Safety
Preliminary actions
PC tool.
Brake circuit check

Fieldbus communication settings

Start up the fieldbus adapter module. See the appropriate fieldbus adapter module user’s
manual. An example of the FPBA-01 start-up procedure is given below.
50.01 FBA A enable = Option slot x
50.02 FBA A comm loss func = Fault
50.03 FBA A comm loss t out = 1 s
50.04 FBA A ref1 type = Speed or Frequency
50.05 FBA A ref2 type = Speed or Frequency
Set the adapter module configuration parameters in group 51.
At the minimum, set the required node address in parameter 51.02 Node address and the
communication profile in 51.05 Profile.
52.01 FBA A data in1 = SW 16bit
52.02 FBA A data in2 = 1.1 [16]
53.01 FBA A data out1 = CW 16bit
53.03 FBA A data out3 = Other -> 20.216
Save the valid parameter values to the permanent memory.

96.07 Parameter save manually = Save
Validate the settings made in parameter groups 51, 52 and 53.
51.27 FBA A par refresh = Refresh
Switch power off and on.
Make sure that the settings in parameter group 51 are correct (type of the fieldbus
adapter module, node address, and so on).
Define the start and stop control sources. Contents of par. 20.216 Crane control
20.01 Ext1 commands = In1 Start fwd; In2 word 1:
Start rev
20.03 Ext1 in1 source = P.20.216.0
20.04 Ext1 in2 source = P.20.216.1
Select the source for the speed reference.

22.11 Speed ref1 source = FB A ref1
30.11 Minimum speed
30.12 Maximum speed

Trial run

Control connections
This figure shows the control connections for the crane control word set-up described
on page 39.

1 +24VI
24 V DC, 2 A
2 GND
3 AGND Ground
5 AI1- 0(2)…10 V, Rin > 200 kohm
7 AI2- 0(4)…20 mA, Rin > 100 ohm
XAO Analog outputs
2 AGND 0…20 mA, RL < 500 ohm
3 AO2 Motor current
4 AGND 0…20 mA, RL < 500 ohm
1 B
3 BGND
2 COM
3 NO 250 V AC / 30 V DC
2 COM 250 V AC / 30 V DC
3 NO 2A
1 NC Fault (-1)
2 COM 250 V AC / 30 V DC
2 +24VD +24 V DC 200 mA
4 +24VD +24 V DC 200 mA
XDI Digital inputs
1 DI1
2 DI2
3 DI3 Fault reset
4 DI4
5 DI5
6 DI6
XSTO
 Configuring Mechanical brake control
Safety
Parameter settings
Activate the brake control logic.
44.06 Brake control enable = Selected
10.24 RO1 source = 44.210.0
Define the brake opening and closing delays.
44.08 Brake open delay
44.13 Brake close delay
Select the source for the brake acknowledge signal.
44.07 Brake acknowledge selection = According to the application requirements. For
example, DI3 or No acknowledge.
Select the source for the brake opening torque. At first, select the following:
44.09 Brake open torque source = Brake open torque
44.200 Brake open torque = 50%
After the trial run, select the brake opening torque source according to the application
requirements.
proving and Brake open torque. Select the following:
44.09 Brake open torque source = Zero
44.202 Torque proving = Disable
If a pulse encoder does not exist in the system, activate the Brake safe closure function in
parameter 44.207 Safety close select.
Trial run
During final testing, and especially when you monitor the actual speed and torque, tune
the brake control parameters.
The aim is to get the fastest possible response for the control commands without any jerk
or roll-back in the actual speed while opening or closing the brake.
 Configuring Slowdown inputs and limits
Safety
Parameter settings
Select the Slowdown inputs and reference.
20.200 Slowdown select = Either select one incoming signal in both directions, or two
inputs, one input for each direction.
20.201 Slowdown input 1
20.202 Slowdown input 2 (If necessary)
22.200 Slowdown reference = According to the application requirements
Define the end limits.
20.205 End limit 1
20.206 End limit 2
Trial run
Test the connected inputs and outputs in the local control mode before the final trial run.
 Configuring speed feedback using a HTL encoder
Safety
Parameter settings
Specify the type of the encoder interface module (parameter 91.11 Module 1 type =
FEN-31) and the slot the module is installed into (91.12 Module 1 location).
Specify the type of the encoder (92.01 Encoder 1 type = HTL). The parameter listing will
be re-read from the drive after the value is changed.
Specify the interface module that the encoder is connected to (92.02 Encoder 1 source =
Module 1).
Set the number of pulses according to encoder nameplate (92.10 Pulses/revolution).
If the encoder rotates at a different speed to the motor (ie. is not mounted directly on the
motor shaft), enter the gear ratio in 90.43 Motor gear numerator and 90.44 Motor gear
denominator.
Set parameter 91.10 Encoder parameter refresh to Refresh to apply the new parameter
settings. The parameter will automatically revert to Done.
Check that 91.02 Module 1 status is showing the correct interface module type (FEN-31).
Also check the status of the module; both LEDs should be glowing green.
Start the motor with a reference of, for example, 400 rpm.
Compare the estimated speed (01.02 Motor speed estimated) with the measured speed
(01.04 Encoder 1 speed filtered). If the values are the same, set the encoder as the
feedback source (90.41 Motor feedback selection = Encoder 1).
Specify the action taken in case the feedback signal is lost (90.45 Motor feedback fault).
 Configuring Lifetime monitor function
Safety
Preliminary actions
Make sure that you have made the Lifetime monitor parameters visible using the user
lock pass code 584 in parameter 96.02 Pass code.
Configure parameters as in Parameter settings, but set parameter 75.70 Start lifetime
monitor = Off.
Parameter settings
WARNING! Incorrect values can cause wrong results of lifetime calculation, that
can further lead to accidents and injuries.
The functionality should be verified by a commissioning engineer together with the
customer.
Define the hoist nominal values:
75.03 Motor base speed
75.31 Hoist nominal load
75.32 Hoist nominal speed
75.33 Hoist maximum speed
Tune the hoist lost weight calculation as per the instructions on page 121.
Set the lifetime monitor parameters:

75.71 Crane lifetime
75.74 Lifetime speed scaling
Start the Lifetime monitor function:
75.70 Start lifetime monitor = On
After setting the parameters, hide the Lifetime monitor function parameters with 96.02
Pass code = 1.
Monitor the values in the signals:
09.10 Lifetime left
09.11 Lifetime left in percent
09.12 Load spectrum factor
09.13 Lifetime sw
75.80 Lifetime used
Warnings or maintenance indicators can be taken from 09.13 Lifetime sw, bit 1. When the
bit is set to 1, the drive generates the warning D216 Liftetime left less 10%, for example to
the relay output ROxx .
 Configuring Lifetime monitor maintenance

The following maintenance tasks can be done if any changes are recorded in the load
spectrum of the crane system.
• Copying old values to new system (page 47)
• Reseting the load spectrum recorder (page 48)
Copying old values to new system

If you replaced a control board or a complete drive, copy the old values to the new
system (e.g. from the parameter file). Follow the instructions below:
Safety
Preliminary actions
monitor = Off.
Parameter settings
Crane operating hours (run with open brake):
1. Copy the value from parameter 09.20 Crane operation hours into parameter 33.201
Crane operation hrs init value.
2. Activate the set command with parameter 33.200 Set crane operation hours.
Lifetime monitor actual values:
1. Copy the value from parameter 09.12 Load spectrum factor into parameter 75.73
Preset value of load spectrum.
2. Activate 75.72 Reset load spectrum = Reset.
Re-start the Lifetime monitor function:
Pass code = 1.
Reseting the load spectrum recorder

If you did some maintenance work on a hoist unit, reset the load spectrum recorder to
its starting values. Follow the instructions below:
Safety
Preliminary actions
monitor = Off.
Parameter settings
Crane operating hours (run with open brake):
1. Set parameter 33.201 Crane operation hrs init value = 0.
2. Activate the set command with parameter 33.200 Set crane operation hours.
Lifetime monitor actual values:
1. Set parameter 75.73 Preset value of load spectrum = 0.
2. Activate 75.72 Reset load spectrum = Reset.
Re-start the Lifetime monitor function:
Pass code = 1.
Using the control panel 49
3
Using the control panel
Refer to ACX-AP-x assistant control panels user’s manual (3AUA0000085685
[English]).
50 Using the control panel
Crane program features 51
4
Crane program features
This chapter describes some of the more important functions within the control
program that are specific to crane applications, how to use them and how to program
them to operate.
Contents See page
Overview of the crane control program 52
Crane control interface 53
Start/stop interlocking 56
Position counter initialization and scaling in crane application 58
Master/follower communication in crane application 62
Shaft synchro 69
Mechanical brake control 79
Speed reference handling 93
Supervision and limit switch logic 102
Conical motor control 113
Hoist speed optimization 116
Smooth lifting 123
Antisway 124
Power on acknowledgement 139
Crane warning masking 141
Toggle bit 142
Maintenance counters 145
52 Crane program features
Overview of the crane control program

ABB industrial drive modules with the crane control program can be used in cranes
that require independent movements, both in
• indoor electric overhead traveling (EOT) cranes and
• outdoor tower cranes.
Indoor cranes like EOT cranes typically have such motions as hoist, trolley and long
travel. Outdoor cranes like tower cranes typically have such motions as hoist and
trolley.
The start, stop and control signals can be analog, digital or fieldbus-based from a
programmable logic controller (PLC). See a typical crane control interface in section
Crane control interface on page 53.
The control program includes four different user parameter sets for customizing the
parameter settings. Each set includes two different control locations and an
overriding emergency control location. For more information, see section User
parameter sets on page 211.
ABB product offering for cranes highlights safety and performance. With a crane
drive, every component that increases safety must be used. For example, in hoist
drives, closed loop control (encoder or external supervision) must be used for safe
speed supervision.
Crane control interface

The control program includes external control locations EXT1 and EXT2 for normal
operation. For temporary overriding control, the control program includes an
emergency control mode. For more information on the external control locations, see
section Local control vs. external control on page 148.
See related topics listed below:
• Overview diagram of a crane drive and its control interfaces (page 53)
• Emergency control mode (page 54)
• Function block diagram (page 55)
 Overview diagram of a crane drive and its control interfaces

PE L1 L2 L3
K1 Main contactor and acknowledgement

to DIIL
External control voltage
24 V to drive control board
Examples of crane control signals

Joystic start/stop up (DI1)
Joystic start/stop down (DI2)
Local control Joystick reference AI1/Joystick
Slowdown input (DI3)
Fault reset (DI4)
Brake acknowledge (DI5) Crane
(DI6) control
Power on acknowledge (DIIL) device/logic
Control panel or Drive Ready output status
composer PC tool Fault output status
(optional)
Encoder Mechanical
interface brake control
module (RO1)
Brake chopper
Brake resistor (in the drive)
3
Mechanical brake
Encoder (disk or drum)
 Emergency control mode

The Emergency control mode overrides control locations EXT1 and EXT2 when the
drive is in external control.
Note: If you have, for example, a control panel in local control, the Emergency control
mode does not override it.
The end-user can use the Emergency control mode as the last control possibility to
safely operate the crane, for example, if control locations EXT1 and EXT2 are not
working. The Emergency control mode is not meant to be used in normal operation.
When the drive operates in the Emergency control mode, it uses the emergency
control speed reference (22.202) and the active acceleration and deceleration times.
Notes:
• When emergency control mode is enabled, parameters 20.01 Ext1 commands
and 20.06 Ext2 commands are automaticly set as Not selected, This setting
prevents, for example, fieldbus communication fault, that stops the drive from
starting.
• When emergency control is disabled, the last set values are restored into
parameters 20.01 Ext1 commands and 20.06 Ext2 commands.
See the below Function block diagram. See also section Speed reference priorities
on page 94.
 Function block diagram
19.12 Ext1 control mode
20.01 Ext1 commands

SPEED 20.03 Ext1 in1 source
TORQUE 20.04 Ext1 in2 source
MIN
MAX
ADD
19.14 Ext2 control mode
SPEED
TORQUE
MIN 20.06 Ext2 commands
MAX 20.08 Ext2 in1 source
ADD 20.09 Ext2 in2 source
20.207 Emergency control enable
19.11 Ext1/Ext2 selection
20.208 Emergency control forward
20.209 Emergency control reverse
Settings
Parameters: 20.207 Emergency control enable, 20.208 Emergency control forward,
20.209 Emergency control reverse, 22.202 Emergency control reference, 23.23
Emergency stop time
Signals: 09.02 Crane SW2
Warnings: -
Faults: -
Start/stop interlocking
The Start/stop interlocking function of the control program lets the end-user start the
crane only when the drive is ready to operate.
The function includes the following features:
• Joystick zero position interlocking (page 56)
• Joystick reference interlocking (page 57)
• Pending start interlocking (page 57).
 Joystick zero position interlocking

This function supervises the zero position of the joystick while the drive is running and
a stop command is given, or if the drive trips on a fault. A falling edge of the zero
position input (20.214) must occur before the end-user can give a new start command
after stopping or tripping. If the drive logic does not detect a falling edge (that is, the
signal remains high) before a new start command is given, the drive generates a
warning (D209).
This figure shows how the joystick works with NO (normally open) contact elements
for start/stop in the forward and reverse directions and one NC (normally closed)
contact element for the zero position.
Dead band
Reverse Forward
direction
NC NC
CO CO
NO NO
NC
CO
NO
 Joystick reference interlocking

This function can be used for checking the analog reference coming from the joystick.
If the joystick zero position input (20.214) is active and the speed reference or torque
reference is greater than +/- 10% of the minimum or maximum scaled value of the
used reference, the drive generates a warning (D208) after a time delay (20.215).
Timing diagram
The diagram shows the operation of the Joystick reference check warning.
20.214
Joystick zero t (s)
position
10% of AI1 (AI2) scaled

at+10%
AI1 (AI2) max
22.01
Speed ref t (s)
unlimited
10% of -10%
AI1 (AI2) scaled
at AI1 (AI2) min
20.215 Joystick warning delay
D208
Joystick t (s)
reference
check
 Pending start interlocking

When the joystick zero position input (20.214) is not used for Joystick zero position
interlocking (page 56), the drive generates a warning (D207) when it trips on a fault or
stops in some condition, and the start request remains active.
Settings
Parameters: 20.214 Joystick zero position, 20.215 Joystick warning delay
Warnings: D207 Wrong start sequence, D208 Joystick reference check, D209
Joystick zero position2
Faults: -
Position counter initialization and scaling in crane

application
In addition to the standard position counter feature (on page 182), the crane control
program contains additional parameters to initialize (reset/preset) the counter value.
• Initialization (page 58)
• Scaling (page 59)
• Example 1: Calculating linear speed of rope (page 60)
• Example 2: Parameter settings (page 61)
 Initialization
The initialization method (parameter 90.201 Position counter init method) can be
selected based on the reset condition that is rising or falling edge of the reset source
input while the drive is in modulating or in standby mode. You can also manually
trigger the position initialization command by setting the parameter 90.200 Position
counter init source = True.
Position counter initialization for crane control program
Application program
90.200 Position counter init source Reset
90.202 Position counter init sw
90.201 Position counter init method Reset condition bit 0 = Pos counter init command
bit 1 = Reset pos counter init ready
Primary control program
90.67 Pos counter init cmd source
90.69 Reset pos counter init ready
See Load feedback and position counter configuration on page 727
Parameter 90.202 Position counter init sw shows the status of the position counter
initialization function. Bit 0 is connected as default into parameter 90.67 Pos counter
init cmd source and Bit 1 is connected as default into parameter 90.69 Reset pos
counter init ready.
If only the position counter of primary control program is needed, then set their
corresponding parameters. See Position counter on page 182.
 Scaling
The crane control program uses this function to calculate the actual position of the
hook. The Shaft synchro function can use this hook position to synchronize the
Master and Follower drives. The Antisway function also uses this hook position in
trolley and long travel drives.
Actual position
Encoder pulses calculation
Primary control program

90.05 Load position scaled
90.65 Pos counter init value
90.51 Load feedback selection
90.63 Feed constant numerator
90.64 Feed constant denominator
Application control program

90.200 Position counter init source
90.201 Position counter init method
The position is determined based on the encoder located on the motor shaft. You can
enable the position calculation, by defining the factor that scales the encoder pulse to
the actual position units. See the example below.
Note:
• In M/F communication when synchro control is enabled, the scaling factor
converts rotation speed reference to linear speed reference.
• The value of parameter 90.05 Load position scaled remains over power failure.
Example 1: Calculating linear speed of rope
Diameter = 1000 mm
Ratio = 1:2.54
Number of rope
pulleys in the hook
and drum (e.g. 2)
π × D ( mm ) P90.63
Scaling = ------------------------------------------------------------------------------------------------ = -----------------
GearRatio × NumberOfRopePulleys P90.64
π × 100 0 ( mm ) 3141, 59 P90.63 = 314159

Example1 = ------------------------------------ = --------------------- → ------------------------------------------
2, 54 × 2 5, 08 P90.64 = 508
π × 100 0 ( mm ) P90.63 = 618

Example2 = ------------------------------------ = 618, 424 → ---------------------------------
2, 54 × 2 P90.64 = 1
Example 2: Parameter settings

The following configuration can be used for position counter initialization and scaling:
• 90.05 Load position scaled (actual value of the counter used in synchro control)
• 90.51 Load feedback selection = Encoder 1
• 90.60 Pos counter error and boot action = Continue from previous value (this
value remains even after a power failure)
• 90.63 Feed constant numerator = 618
• 90.64 Feed constant denominator = 1
• 90.65 Pos counter init value = 0.000 (Preset value for the counter)
• 90.66 Pos counter init value source = Pos counter init value (90.65)
• 90.200 Position counter init source = P.10.1.4 (DI5, End limit 1 switch)
• 90.201 Position counter init method = Rising edge running (when you start
lowering from end limit 1 switch (upper limit), the switch will close and the rising
edge will preset the counter automaticly (rising edge when running)
Settings:
Parameters: 90.200 Position counter init source, 90.201 Position counter init method
Signals: 90.202 Position counter init sw
Master/follower communication in crane application

The master/follower function in the Crane control program is designed specifically for
crane setups. The function uses D2D-communication link instead of the standard
optical link, because it contains more nodes and additional interlock signals. The
control program uses the same D2D-link for antisway communication between the
hoist, trolley and long travel drives. See the detailed diagram of D2D-link
configuration in crane application on page 64.
• Master/follower communication types in crane application (page 62)
• D2D-link configuration in crane application (page 64)
• Example 1: Parameter settings for D2D-link configuration in a Speed-to-speed
setup (page 66)
• Example 2: Parameter settings for D2D-link configuration in a Speed-to-torque
setup (page 67)
• Example 3: Parameter settings for antisway communication from host to main
trolley (page 68)
 Master/follower communication types in crane application

The following master/follower connections are possible in a crane application:
• When the motor shafts are coupled to each other for running a common load, the
master drive is speed controlled and transmits the torque reference to the follower
drives. The follower drive is in torque control mode, for example, a hoist with two
drives and motors running a common drum. See figure below.
M/F communication for drives with shafts running a common load
Speed controlled master Torque controlled follower
D2D link
Common load and shafts coupled together
Speed controller Torque control
common word, torque reference

• When the motor shafts are not coupled to each other, the speed reference of the
master drive is transmitted to the follower drives. In this case, the follower drive is
speed controlled, for example, two trolleys in a common bridge. See figure below.
M/F communication for drives with separate drums and shaft synchro
Hoist drive-1 Hoist drive-2 Hoist drive-3
D2D-link: D2D-link:
Hoist position Hoist position
and linear and linear
speed speed
Note: In trolley and long travel drives, speed control is achieved with speed correction (±)
from the synchro control function. See description in section Shaft synchro control function.
• In a synchro control (electrical shaft), the speed reference and position of the
master drive are transmitted to the follower drives. The follower drives are in
speed control mode with speed correction, where the position of the follower
drives is compared with the position of the master drive and the required speed
correction is added to its own speed reference chain. For more information, see
Shaft synchro on page 69.
 D2D-link configuration in crane application

The figure below shows the D2D-link configuration.
Node 1
Node 4 Node 5 Node 6 Node 7
MAIN HOIST Follower Hoist 2 Follower Hoist 3 Follower Hoist 4
Follower Hoist 1
Hoist drives
Antisway communication: Position load
M/F communication: CW, speed, torque, position

Node 2
MAIN TROLLEY Node 8 Node 9
Follower trolley 1 Follower trolley 2
Trolley drives
Node 3 M/F communication: CW, speed, torque
MAIN LONG
TRAVEL Node 10 Node 11
Follower LT 1 Follower LT 2
Long travel drives
Controlling drives M/F communication: CW, speed, torque
The total number of the drives in the crane master-follower/D2D-link is 11:

• Main hoist and 4 followers
• Main trolley and 2 followers
• Main long travel and 2 followers
Main hoist is the master for the complete communication network and must always
exist in the system.
Master/follower communication: The main drive (main hoist, main trolley, main
long travel) communicates to the follower drives through command and status words,
interlocks and references. This communication works only when both the master and
the follower(s) drives are in external control location EXT2. If the drives are in wrong
control locations, the warning D20E M/F control location mismatch appears. See
figure below.
Drive-1, Master Drive-2, Follower
EXT1 for one hook

Standalone
19.11 Ext1/Ext2 selection 19.11 Ext1/Ext2 selection
EXT2 for two hook

M/F + synchro control
D2D
D2D
Antisway communication: The main hoist drive transmits antisway data, for
example, position and load to the main trolley and long travel drives. This
communication works also in control location EXT1.
D2D-link: In each drive, master/follower communication or antisway communication
through the D2D-link is activated with parameter 60.200 Crane drive type (main hoist,
main trolley, etc.) by selecting the appropriate drive type. The application then sets all
the needed parameters through the D2D-link. User should not set any of these
parameters manually in the parameter groups 60 DDCS communication, 61 D2D and
DDCS transmit data and 62 D2D and DDCS receive data.
Communication supervision is activated with parameter 60.201 Crane drives
structure in the main drives. Each of the main drives supervises its respective
followers. Setting in the main hoist can be 60.201 = 0000000001111000, bits 3, 4, 5
and 6 are set, Follower hoist 1…4 are supervised.
Example 1: Parameter settings for D2D-link configuration in a Speed-to-speed

setup
The table below shows the master-follower settings for speed-to-speed setup.
Note: Do not change any other parameters in group 60 than listed here. The
selections in parameter 60.200 Crane drive type automatically changes the rest of
communication parameters.
Parameter Master Follower Notes
Selecting the control location
19.11 Ext1/Ext2 selection DI6 DI6 Or another source
19.14 Ext2 control mode Speed Speed -
Setting D2D communication parameters
60.200 Crane drive type Main hoist Follower hoist 1 • Main hoist is D2D master.
• D2D communication can
be established only if the
main hoist drive exists.
60.201 Crane drives bit 3 = Follower Not needed Setup the bits of used drives
structure hoist 1 = 1 in the master drive.
Rest of the bits
=0
Setting reference signals parameters
22.12 Speed ref2 source AI1 scaled Not needed If reference comes from AI1.
22.14 Speed ref1/2 Follow Follow Ext1/Ext2
selection Ext1/Ext2
Setting Start/Stop/Direction parameters
20.06 Ext2 commands In1 Start fwd; Not selected The Follower drive must be
In2 Start rev set to Not selected.
20.07 Ext2 start trigger Level Not needed Default value
type
20.08 Ext2 in1 source DI1 Not selected Start command fwd
20.09 Ext2 in2 source DI2 Not selected Start command rev
Example 2: Parameter settings for D2D-link configuration in a Speed-to-torque

setup
The below table shows the master-follower settings for speed-to-torque setup.
Parameter Master Follower Notes
19.14 Ext2 control mode Speed Torque -
60.200 Crane drive type Main hoist Follower hoist 1 • Main hoist is D2D master.
60.201 Crane drives bit 3 = Follower Not needed Setup the bits of used drives
structure hoist 1 = 1 in the master drive.
Rest of the bits
=0
22.14 Speed ref1/2 Follow Not needed
selection Ext1/Ext2
26.14 Torque ref1/2 Not needed Torque EXT2, then torque
selection reference 2 reference 2
type
Example 3: Parameter settings for antisway communication from host to main

trolley
The below table shows the master-follower settings for antisway communication from
host to main trolley.
Parameter Master (Hoist) Antisway drive Notes
(trolley)
The control location in both drives is selected according to the The hoist and antisway
control circuit diagram and application requirements. drives work independently
from each other.
60.200 Crane drive type Main hoist Main trolley • Main hoist is D2D master.
60.201 Crane drives bit 1 = Main Not needed Setup the bits of used drives
structure trolley = 1 in the D2D master drive in
Rest of the bits case supervision of D2D
=0 communication is needed.
77.20 Pendulum length Par 90.05 Load D2D In the hoist drive, configure
source 1 position scaled settings for scaling and
position counter.
77.30 Load signal source Not needed D2D In the antisway drive,
configure settings if load
information is needed. For
example, offset steps.
77.80 Load to antisway Internal = 77.81 Not needed In hoist drive, configure
selection Hoist load from settings if load signal is
torque act, needed in the antisway
Other = 75.40 drive.
Relative hoist If 75.40 Relative hoist load is
load used, configure required
settings in group 75 Hoist
speed optimization.
Note: Similar settings are used for long travel drive. See (trolley) column. Set
parameter 60.200 Crane drive type = Main long travel.
Shaft synchro
The Shaft synchro function synchronises the master and follower drives when the
drives are in the master/follower mode (see Master/follower communication types in
crane application on page 62). However, synchronisation is used only when the
drives are set to speed control mode and have control location EXT2 active. The
master drive position is transferred to the follower through the D2D-link. The follower
uses the difference between the positions as the speed correction factor in the speed
control loop of the follower drive. Therefore, in both master and follower drives, you
must define position counter with scalings and runtime initializations.
• Synchro control - basic function block diagram (page 69)
• Synchro control - full function block diagram (page 72)
• Example 1: Parameter settings for Synchro control (Speed-speed+position) setup
(page 73)
• Example 2: Parameter settings for encoder mounted/ not mounted on motor shaft
(page 75)
• Settings for identical mechanics (page 75)
• Settings for non-identical mechanics (page 77)
 Synchro control - basic function block diagram

The diagram shows the basic functionality of the synchro control function. For full
functionality, see the Synchro control - full function block diagram on page 72.
Actual Position error

Encoder 90.05 calculation
pulses position 82.20
Load position (mm)
calculation Act position error
scaled
(mm)
90.63 In master drive
Feed constant
numerator 82.01 60.212
Enable Follower 1 position error
Synchro control
90.64 82.02
Feed constant Sync ON
Synchro sel
denominator
82.03 Mode
Sync corr mode
Master
position
The parameter 82.01 Synchro control = On activates the execution of the Shaft
synchro function in the master and follower drives. The master sends linear rope
speed instead of motor rotation speed reference. In both, master and follower
position calculation must be set to corresponding real linear speed, see Power on
acknowledgement on page 139.
With parameter 82.02 Synchro sel the source is defined to activate position error
calculation and speed correction to reference chain in follower drive.
Normally both the hoist drives are driven in standalone mode (EXT1) to the right
position separately. Then switchover to EXT 2 happens and master/follower
communication is activated between the drives. Finally with parameter 82.02 Synchro
sel position calculation and corrections are activated according to the selected
correction mode. Correction modes are defined with parameter 82.03 Sync corr
mode.
Direct mode: In this mode, the follower runs at the same position as the master drive
(master position = follower position). See figure below.
Offset mode: In this mode, the position difference (offset) between the master and
follower drives at the time of activating 82.02 Synchro sel is the controlled manner.
See figure below.
82.03 Sync corr mode = Direct 82.03 Sync corr mode = Offset
 Synchro control - full function block diagram

The full functionality of synchro control is a combination of the basic function and the
synchro correction. See the elongated block diagram below.
Actual Position error

Encoder 90.05 calculation
pulses position
Load position (mm) 82.20 Act position error
calculation
scaled
(mm)
90.63 In master drive
Feed constant
numerator 82.01 60.212
Enable Follower 1 position error
Synchro control
90.64 82.02 Sync ON
Feed constant Synchro sel
denominator
82.03 Mode
Sync corr mode
Master
position
82.06
Sync corr scale Speed
correction
factor 82.23
Position (mm/rpm) Correction speed ref
Err Lim + Primary
82.05 control
Position corr limit speed
controller
82.04 Master loop
Gain speed +
Sync gain
Sync
82.07 fault 82.11
Sync err limit Synchro sw
82.08 D10B
Sync err fault delay Synchron fault
The first part of the synchro control function is the basic function described in Synchro
control - basic function block diagram on page 69. The second part of the synchro
control function is the synchro correction. Parameter 82.05 Position corr limit is used
for limiting the speed correction in millimeters. If the detected error exceeds this
parameter, the speed correction is limited to these parameter values.
When detected absolute error is greater than the value defined in 82.07 Sync err limit
for a period longer than 82.08 Sync err fault delay, the drive trips on D10B Synchron
fault and 82.11 Synchro sw, bit 3 is set.
To reset the fault, deactivate 82.02 Synchro sel (example, DIx).
 Example 1: Parameter settings for Synchro control (Speed-

speed+position) setup
The example below shows the parameter settings of the system with main hoist and
follower hoist1 (linear speed - linear speed + position).
selection in parameter 60.200 Crane drive type automatically changes the rest of
Parameter Master Follower Remarks
19.14 Ext2 control mode Speed Speed -
60.200 Crane drive type Main hoist Follower hoist 1 Main hoist is D2D master.
D2D communication can be
established only if the main
hoist drive exists.
60.201 Crane drives 3 = Follower Not needed Setup the bits of used drives
structure hoist1 = 1 in the master drive.
Rest of the bits
=0
22.11 Speed ref1 source AI1 scaled AI1 scaled If reference comes from AI1.
22.14 Speed ref1/2 Follow Not needed -
selection Ext1/Ext2
20.01 Ext1 commands In1 Start fwd; In1 Start fwd; In2 Default value
In2 Start rev Start rev
20.02 Ext1 start trigger Level Level Default value
type
20.03 Ext1 in1 source DI1 DI1 Start command fwd
20.04 Ext1 in2 source DI2 DI2 Start command rev
type
Setting the Synchro control function parameters
82.01 Synchro control ON ON Or pointer to DI
82.02 Synchro sel Select Select Or pointer to DI
Parameter Master Follower Remarks

82.03 Sync corr mode Offset Offset Or Direct
82.04 Sync gain Not needed 2 P controller tunning
82.05 Position corr limit Not needed 100 Maximum position error
value that is used by P-
controller.
82.06 Sync corr scale Not needed 3 rpm/mm Position to speed coefficient
that is used by P-controller.
82.07 Sync err limit Not needed 50 mm Allowed position error
difference that triggers the
fault delay timer.
82.08 Sync err fault delay Not needed 5s Delay time before the
detected Sync error appears.
82.09 Position hysteresis Not needed 10 mm Allowed position difference
between the master and
follower drives.
Setting the position feedback source and position scaling parameters. See also Position
counter initialization and scaling in crane application on page 58.
90.51 Load feedback Encoder 1 Encoder 1 -
selection
90.63 Feed constant 1 (scale: gear 1 Rev to mm scaling
numerator ratio, diameter) parameter
90.64 Feed constant 1 (scale: gear 1 Rev to mm scaling
denominator ratio, diameter) parameter
 Example 2: Parameter settings for encoder mounted/ not mounted

on motor shaft
The basic parameters settings of position counter, for example, resetting and scaling,
are described in the section Position counter initialization and scaling in crane
application on page 58. This example describes the parameter settings for scaling of
position counter in such cases where,
• the encoder is not mounted on the motor shaft
and/or
• the crane mechanics is not same in the master and follower drive systems.
The Shaft synchro function uses the same set of parameters for speed reference
scaling and position scaling. Due to this, additional parameter settings are needed
when the encoder is not mounted on a motor shaft. The settings are based on the
following conditions of the crane mechanics.
• If the crane mechanics are same in the master and follower drive systems and
when the encoder is mounted/not mounted on the motor shaft, you can use the
Settings for identical mechanics on page 75.
• If the crane mechanics are not same in the master and follower drive systems and
when the encoder is mounted/not mounted on a motor shaft, you can use the
Settings for non-identical mechanics on page 77.
Settings for identical mechanics

Encoder mounted on motor shaft Encoder not mounted on motor shaft
(is on the drum shaft)
Common for both conditions
Used speed reference = 1000 rpm
Drum diameter: 500 mm = 0.5 m
One turn of the drum causes the rope to shift by: 3.14 x Drum diameter = 3.14 x 0.5 m =
1.57 m
Polyspast number 2 (two ropes), then one turn of the drum shifts the hook by: 1.57 m/2 =
0.785 m
Gearbox (motor to drum), I = 10, then one turn of the motor causes: 0.785 m/10 = 0.0785 m
I = 10 I = 10
Enco der Gea rb ox Gea rb ox
Motor Motor
I = 0.785 I = 1.57 I = 0.785 I = 1.57
Enco der
0.5 m 0.5 m
2 2
Encoder mounted on motor shaft Encoder not mounted on motor shaft

(is on the drum shaft)
Master drive settings
Set the following parameters for the Synchro Set the following parameters for the Synchro
control function, to scale the rotation of the control function, to scale the rotation of the
motor to linear speed of the hook: encoder shaft to linear speed of the hook:
90.63 Feed constant numerator = 785 90.63 Feed constant numerator = 785
90.64 Feed constant denominator = 10000 90.64 Feed constant denominator = 1000
Position calculation: Position calculation:
Scaling = 0.0785 Scaling = 0.785
Speed of the motor = 1000 rpm Speed of the motor = 1000 rpm
Speed of the encoder = 1000 rpm Speed of the encoder = 1000/10 = 100 rpm
Position = 0.0785 meter/motor revolution Position = 0.785/10 meter/motor revolution
Linear speed reference to follower = 1000 x Linear speed reference to follower = 1000 x
0.0785 = 78.5 mpm (meter/minute) 0.785 = 785 mpm (meter/minute)
Note: Linear speed is calculated in relation to
encoder (if encoder speed reference was
1000 rpm).
Follower drive settings
In follower drive, set the following In follower drive, set the following parameters
parameters for Synchro control function, to for Synchro control function, to convert linear
convert linear speed of the master drive to speed of master drive to rotational speed
rotational speed reference for the follower reference for the follower motor:
motor:
Linear speed of master = 78.5 mpm Linear speed of master = 785 mpm
Speed reference for motor = Speed reference of motor = 785/0.785 =
78.5/ 0.0785 = 1000 rpm 1000 rpm
Position = 0.0785 meter/motor revolution Position = 0.785/10 meter/motor revolution
Settings for non-identical mechanics

Encoder mounted on motor shaft Encoder not mounted on motor shaft (is
on the drum shaft)
Common for both conditions
Used speed reference = 1000 rpm
Drum diameter: 500 mm = 0.5 m
One turn of the drum causes the rope to shift by: 3.14 x Drum diameter = 3.14 x 0.5 m =
1.57 m
Polyspast number 2 (two ropes), then one turn of the drum shifts the hook by: 1.57 m/2 =
0.785 m
Gearbox (motor to drum), I = 10, then one turn of the motor causes: 0.785 m/10 = 0.0785 m
I = 10 I = 10
Enco der Gea rb ox Gea rb ox
Motor Motor
I = 0.785 I = 1.57 I = 0.785 I = 1.57
Enco der
0.5 m 0.5 m
2 2
Master/Follower drive settings

Set the following parameters for the Synchro Set the following parameters for the Synchro
control function, to scale the rotation of the control function, to scale the rotation of the
motor to linear speed of the hook: motor shaft to linear speed of the hook:
Set the following parameters to compensate the Set the following parameters to compensate
difference in rotation between the encoder shaft the difference in rotation between the
and motor shaft: encoder shaft and motor shaft:
Note: When the encoder is mounted on motor
shaft, value in parameters 90.53 and 90.54 is 1.
90.53 Load gear numerator = 1 90.53 Load gear numerator = 10
90.54 Load gear denominator = 1 90.54 Load gear denominator = 1
Position calculation: Position calculation:
Position = Encoder revolutions * (90.63/90.64) * Position = Encoder revolutions *
(90.53/90.54) (90.63/90.64) * (90.53/90.54)
Position scaling = 0.0785 Position scaling = 0.0785 * 10 = 0.785
Speed of motor = 1000 rpm Speed of motor = 1000 rpm
Speed of encoder = 1000 rpm Speed of encoder = 1000/10 = 100 rpm
Position = 0.0785 m/motor revolution Position = 0.0785 m/motor revolution
Position = 0.0785 m/encoder revolution Position = 0.785 m/encoder revolution
Encoder mounted on motor shaft Encoder not mounted on motor shaft (is
on the drum shaft)
Master drive results
Linear speed reference to follower = Used Linear speed reference to follower = Used
speed reference * (90.63/90.64) speed reference * (90.63/90.64)
Linear speed reference to follower = 1000 * Linear speed reference to follower = 1000 *
0.0785 = 78.5 m/min 0.0785 = 78.5 m/min
Follower drive results
Speed reference for motor = Linear speed Speed reference for motor = Linear speed
reference from master/(90.63/90.64) reference from master/(90.63/90.64)
Speed reference for motor = 78.5/0.0785 = Speed reference for motor = 78.5/0.0785 =
1000 rpm 1000 rpm
Settings
Parameters: 82.01 Synchro control, 82.02 Synchro sel, 82.03 Sync corr mode, 82.04
Sync gain, 82.05 Position corr limit, 82.06 Sync corr scale, 82.07 Sync err limit, 82.08
Sync err fault delay, 82.09 Position hysteresis, 90.53 Load gear numerator, 90.54
Load gear denominator, 90.63 Feed constant numerator, 90.64 Feed constant
denominator
Signals: 82.11 Synchro sw, 82.20 Act position error, 82.21 Master position, 82.22
Offset value, 82.23 Correction speed ref, 82.24 Master linear speed ref.
Warnings: D20E M/F control location mismatch
Faults: D10B Synchron fault, D10C M/F comm loss
Mechanical brake control

A mechanical brake can be used for holding the motor and driven machinery at zero
speed when the drive is stopped, or not powered. The brake control logic observes
the settings of parameter group 44 Mechanical brake control as well as several
external signals. The Brake control timing diagram on page 80 shows an example of
a close-open-close sequence.
• Inputs of the brake control logic (page 79)
• Outputs of the brake control logic (page 79)
• Brake control timing diagram (page 80)
• Wiring example (page 81)
• Brake system checks – overview (page 82)
• Brake system checks – Torque proving (page 84)
• Brake system checks – Brake slip (page 85)
• Brake matching (page 86)
• Brake opening torque selection (page 90)
• Brake safe closure (page 91)
• Extended run time (page 92)
 Inputs of the brake control logic

Signals that affect the state of the control logic are
• brake status acknowledgement (optional, defined by 44.07 Brake acknowledge
selection),
• bit 2 of 06.11 Main status word (indicates whether the drive is ready to follow the
given reference or not),
• bit 6 of 06.16 Drive status word 1 (indicates whether the drive is modulating or
not),
• optional FSO-xx safety functions module.
The brake control is, by default, enabled without supervision (44.07 Brake
acknowledge selection = No acknowledge).
 Outputs of the brake control logic

The mechanical brake is controlled by bit 0 of parameter 44.210 Crane brake status.
This bit is selected by default as the source of the relay output RO1 and digital
input/output DIO1. See the wiring example on page 80.
The brake control logic, in various states, requests the drive control logic to hold the
motor, increase the torque, or ramp down the speed. These requests are visible in
parameter 44.210 Crane brake status.
Settings
Parameters: 44 Mechanical brake control
 Brake control timing diagram

The simplified timing diagram below illustrates the operation of the brake control
function.
Start command
(06.16 b5)
Modulating
(06.16 b6) tmd
textmt
Following reference
(06.16 b4)
Torque reference Ts Tmem

Tp
Speed reference ncs

trod
Brake control
signal (44.210 b0) tod tccd
Opening torque tcd tcfd
request (44.01 b1)
Hold stopped tlfd
request (44.01 b2)
Ramp to stopped
request (44.01 b3) tbsc
Torque proved
Tpv Torque proving reference (parameter 44.203 Torque proving reference)

Ts Start torque at brake open (parameter 44.03 Brake open torque reference)
Tmem Stored torque value at brake close (44.02 Brake torque memory)
tmd Motor magnetization delay
tod Brake open delay (parameter 44.08 Brake reopen delay)
ncs Brake close speed (parameter 44.14 Brake close level)
tccd Brake close command delay (parameter 44.15 Brake close level delay)
tcd Brake close delay (parameter 44.13 Brake close delay)
tcfd Brake close fault delay (parameter 44.18 Brake fault delay)
trod Brake reopen delay (parameter 44.16 Brake reopen delay)
tbscd Brake system check time (parameter 44.204 Brake system check time)
textmt Extended run time (parameter 44.211 Extended runtime)
tlfd Brake long fall delay (parameter 44.213 Brake long fall delay)
Note: In case of any fault, the brake will close immediately. The brake control uses
relay output RO1 as default.
 Wiring example
The figure below shows a brake control wiring example. The brake control hardware
and wiring must be acquired and installed by the customer.
WARNING! The drive (a Complete Drive Module or a Basic Drive Module, as

defined in IEC 61800-2), is not considered a safety device mentioned in the
European Machinery Directive and related harmonized standards. Thus, the
personnel safety of the complete machinery must not be based on a specific drive
feature (such as the brake control function), but it has to be implemented as defined
in the application-specific regulations.
WARNING! Make sure that the machinery into which the drive with brake
control function is integrated fulfills the personnel safety regulations.
Use relay output RO1 for brake control in the crane control program. Make sure that
parameter 10.24 RO1 source = P.44.210.0.
The brake is controlled by bit 0 of parameter 44.210 Crane brake status. The source
of brake acknowledge (status supervision) is selected by parameter 44.07 Brake
acknowledge selection. In this example,
• parameter 10.24 RO1 source is set to bit 0 of 44.210 Crane brake status, and
• parameter 44.07 Brake acknowledge selection is set to DI5.
Brake control Drive control unit

hardware XRO1*
115/230 VAC
1 NC
2 COM
3 NO
Emergency XD24
brake
4 +24VD
XDIO
5 DI5
Motor Mechanical brake
* Note: Parameter 10.24 RO1 source must be set to bit 0 of par. 44.210.
 Brake system checks – overview

The brake system checks consist of electrical and mechanical tests.
• The electrical test makes sure that the drive can produce torque before it releases
the brake and starts the crane operation. That is, electrical components like the
drive, motor cable and motor itself are ready to start.
• The mechanical test makes sure that the motor brake is not slipping.
Both tests are done in parallel (at the same time) during a check time (44.204). If both
tests are performed successfully during the check time, the drive opens the brake,
and the crane hoist motion starts.
For more detailed information on the tests, see sections:
• Brake system checks – Torque proving on page 84
• Brake system checks – Brake slip on page 85.
• 44.09 Brake open torque source = Zero
• 44.200 Brake open torque = 0%
• 44.202 Torque proving = Disable
This flowchart shows the brake system check sequence.
Enable Brake control

(44.210 bit 0)
Enable Torque proving
(44.202 = Enable)
Start command activated

and motor running
DC magnetization time
(21.02) elapsed
Brake system check time

(44.204) started
Torque reference =
Torque proving reference
(44.203)
Motor torque (01.10) > Motor speed > Brake

Torque proving slip speed limit
No reference (44.203) No
(44.205)
Yes Yes
No
Brake system check Brake system Brake system Brake slip fault delay
time (44.204) check time check time (44.206) elapsed
elapsed (44.204) elapsed (44.204) elapsed
D100 Torque prove Torque proving ok Brake slip ok D101 Brake slip
Torque proving ok
Brake slip ok
Brake open
command
Timing diagram
This timing diagram shows the operation of the Torque proving and Brake system
check functions.
Torque (%)
b b * b b 26.02
a a a a a a a a
01.10
t (s)
Started & magnetized
Torque prove ok (09.01 t (s)
b1) and Brake open cmd
(44.210 b0) t (s)
D100 Torque prove
t (s)
Speed (rpm) 01.01
Brake slip speed limit

(44.205)
t (s)
Torque prove ok (09.01 b1)

and Brake open cmd
(44.210 b0) t
D101 Brake slip

t (s)
Symbol Description
a Brake system check time (44.204)
b Brake slip fault delay (44.206)
* Torque proving reference is held for the brake system check time
even though the torque has been proved.
 Brake system checks – Torque proving

Torque proving makes sure that the drive can produce torque before it releases the
brake and starts the crane operation. The function is mainly intended for hoist drives,
but you can also activate it in drives that control other crane motions if the drives have
encoder feedback in use.
Torque proving gives a positive or negative torque reference against a closed
mechanical brake. If torque proving is successful, in other words, the actual torque of
the drive reaches the reference level (44.203), the drive lets the brake open and
starts the next step in the starting sequence.
You can select the direction of the torque proving with a parameter (44.201). By
default, the setting is False, which means that the torque is applied in the hoisting
direction.
A time delay (44.204) defines the time during which the torque reference (44.203) is
active and the electrical and mechanical tests of the crane system are completed.
Unsuccessful torque proving trips the drive (D100).
See also the Timing diagram on page 84.
Settings
Parameters: 44.201 Torque proving sign, 44.202 Torque proving, 44.203 Torque
proving reference, 44.204 Brake system check time
Signals: 09.01 Crane SW1, 09.03 Crane FW1
Warnings: -
Faults: D100 Torque prove
 Brake system checks – Brake slip

The Brake slip function examines the system for brake slips while the control program
is performing Torque proving with the brake closed. If the motor actual speed
exceeds a speed limit (44.205) during a check time (44.204), and stays there for
longer than a time delay (44.206), the drive trips on a fault (D101).
See also the Timing diagram on page 84.
Settings
Parameters: 44.204 Brake system check time, 44.205 Brake slip speed limit, 44.206
Brake slip fault delay
Signals: 09.03 Crane FW1
Warnings: -
Faults: D101 Brake slip
 Brake matching
The Brake matching function detects mechanical brake slips
and downward movement of the load (see the example of an
EOT crane) during the following conditions:
• when mechanical brake control is in use EOT crane
• when the operator has given a stop command and
• when the target is to close the brake.
Note: Slip detection is based on the motor encoder position
signal. The function works only if an encoder is used.
The function can be used for automatic restart of the crane
or for warning (alarm) indication.
Note: Brake match function is not enabled as default.
WARNING! This function does not replace any local safety regulations and
devices.
The function is meant only to support in case of a brake failure.
Check the functionality at the time of commissioning.
The figure below shows an electrical hoist motor connected to a gear box with an
electro-hydraulic mechanical drum brake and a rope drum. This is a typical
application where Brake matching can be used to improve safety.
Rope drum
Encoder hoistmotor
with encoder
Gear box
Electro-hydraulic
drum brake
Automatic restart of the crane

Brake matching function can be used to restart the crane automatically. Restarting
the crane with fixed zero speed reference means holding the crane and the load
electrically due to a mechanical brake malfunction.
Note: The automatic restart is possible only after performing manual start at least
once after power-up.
Brake matching modes

The Brake matching modes can be selected with parameter 44.220 Brake match
mode (page 436).
Warning mode – The warning Brake match is generated when the drive is stopped
or break slippage is detected during extended run time or later when the drive is not
modulating. The crane is not restarted, but a warning is generated for further external
action (a signal horn or an alarm lamp).
Restart mode – The crane restarts automatically with fixed zero speed reference if
brake slippage is detected in these two conditions,
• after the brake was closed during extended run time and
• during the time period defined in parameter 44.222 Brake match timeout after
modulation is stopped.
If brake slippage is detected after the timeout is elapsed, the crane is not restarted,
but the warning Brake match is generated.
If you used the Brake matching function to restart the crane (with Restart mode), then
the drive runs with fixed zero speed reference until you take over the crane control
and bring the load electrically to the floor or to a safe place. Additionally, with Restart
mode, the function checks that parameter 44.211 Extended runtime is set to at least 3
seconds. If the value is below 3 seconds, the function sets the value to be exactly 3
seconds. This setting allows the drive to restart quickly while it is still modulating and
brake slippage is detected.
You can take over the control of the crane using the control switch conncted to a
digital input configured with parameter 44.223 Brake match ref enable. See
instructions for Controlling the crane below.Brake matching modes
Controlling the crane

1. Take over the control of the crane when the digital input value changes from 0
to 1.
2. Bring the load down to a safe place on the floor with a normal joystick operation.
Note that,
• When using using joystick, the standard user start command is required to
control the drive, to open the brake and to release the reference.
• If the drive is controlled from fieldbus, the operation is enabled when the digital
input configured with parameter 44.223 Brake match ref enable changes from
0 to 1. After the reference becomes higher than the brake close speed, the
drive starts following the reference.
3. When the load is in a safe place, switch off the crane and disable the control of
the crane with the control switch by changing the digital input value from 1 to 0.
4. After the input value is FALSE (0), the drive is switched off and the relay output for
the mechanical brake is closed.
See also Brake matching timing diagram below.
Brake matching timing diagram

The Brake matching function is triggered based on signals from the motor encoder.
The actual load position signal (parameter 90.05 Load position scaled) is used to
detect brake slippage. If the slippage exceeds the limit defined in parameter 44.221
Brake match position limit, the warning Brake match is generated and the drive is
started if the necessary conditions defined in Restart mode is satisfied. When the
motor is started, it holds the load at zero speed and the mechanical brake is still
closed.
01.10 Motor torque 44.13 Brake 44.211 Extended

close delay runtime
Time
90.05 Load position

scaled
44.221 Brake match position limit
Brake slip detected*

)
Brake starts to close
Brake open command Time

44.210 b0
Time
Brake match active
44.224 b3 Time
*) Brake slip is detected if the change in the actual encoder position signal 90.05 Load position scaled
exceeds the limit defined in parameter 44.221 Brake match position limit. The increasing value of the actual
load position signal 90.05 Load position scaled indicates that the mechanical brake slips while the brake is
closed. The brake slip detection comparison is started when delay time in parameter 44.13 Brake close delay
elapses.
Note: For correct brake matching function, configure parameter group 90 Feedback
selection according to the actual crane set-up.
Settings
Parameters: 44.220 Brake match mode, 44.221 Brake match position limit, 44.222
Brake match timeout, 44.223 Brake match ref enable
Signals: 09.02 Crane SW2, bit 11, 90.05 Load position scaled, 44.224 Brake match
SW
Warnings: Brake match, Brake match config
Faults:-
 Brake opening torque selection

The Brake opening torque selection function ensures the right starting torque level
after brake opening. This way, the function prevents the load from rolling back. The
function is in operation when torque proving is complete and the brake open
command is given.
The alternative sources for the brake opening torque reference are:
• Brake open torque: a fixed value defined by a parameter (44.200)
• Brake torque memory: a torque value that was in use when the brake was closed
• torque reference defined by an analog input or fieldbus references.
You can select the direction of the brake opening torque with a parameter (44.201).
By default, the parameter is set to False, which means that the torque is applied in
the hoisting direction.
Note: In scalar motor control or in trolley and long travel, disable Torque proving and
Brake open torque. Select the following:
Settings
Parameters: 44.09 Brake open torque source, 44.200 Brake open torque, 44.201
Torque proving sign
Signals: -
Warnings: -
Faults: -
 Brake safe closure

The Brake safe closure function performs a forced closure of the brake and prevents
the end-user from operating the drive at very low speeds. We recommend this
function especially in hoist drives which, for some reason, have no pulse encoder. (As
a safety measure, a speed feedback device is highly recommended in hoist drives.)
The Brake safe closure function monitors the motor speed estimate when the drive is
running. When both the estimated motor speed (01.01) and the ramped and shaped
speed reference (23.02) are below a user-defined speed limit (44.208) longer than a
user-defined delay (44.209), the drive trips on a fault (D102) and closes the motor
brake.
Timing diagram
A diagram shows the operation of the Brake safe closure fault.
Speed (rpm) 01.01
23.02
44.208 (+)
t (s)
44.208 (-)
44.209
D102 Brake
safe closure
t (s)
44.207 =
Enable
t (s)
Start
command
t (s)
Settings
Parameters: 44.207 Safety close select, 44.208 Safety close speed, 44.209 Safety
close delay
Warnings: -
Faults: D102 Brake safe closure
 Extended run time

The Extended run time function minimizes the delay between consecutive start
commands. It keeps the motor magnetized for a defined time period after the brake is
closed and the brake close delay time is elapsed. During the delay period, the motor
is kept magnetized (modulating), to be ready for immediate restart. Because of this
action, the next start can be considerably faster by skipping certain start sequence
steps, such as magnetization (page 192) and torque proving (page 84).
The function works based on timer off module using the inverted signal BRAKE
CLOSED state as input (parameter 44.01, Bit 5). When this input signal goes low, the
Extended run time operation (parameter 44.212, Bit 1) is activated and connects to
parameter 21.12 Continuous magnetization command, which keeps the drive
modulating for the time defined in parameter 44.211 Extended runtime after the brake
is closed.
If the drive trips during the extended run time operation, the function timer resets.
Refer the Brake control timing diagram (page 80), to see the operation of the
Extended run time function.
Note: The Extended run time function is available only in DTC motor control mode
(see page 150) when the drive is in Remote mode and only when parameter 21.03
Stop mode is set as Ramp.
WARNING: Make sure the motor is capable of absorbing or dissipating the

thermal energy generated by continuous magnetization, for example by forced
ventilation.
Settings
Parameters: 44.211 Extended runtime, 21.12 Continuous magnetization command,
Signals: 44.01 Brake control status, 44.212 Extended runtime sw
Warnings: -
Faults: -
Speed reference handling

• Possible control devices (page 93)
• Step reference selection (page 93)
• Speed reference priorities (page 94)
• Dead-band function (page 95)
• Parabolic speed reference (page 96)
• Speed reference ramping (page 98)
• External speed limitation (page 98)
• Crane motor potentiometer (page 99)
 Possible control devices

The user can give speed reference through any of the following:
• control panel
• PC tool (Drive composer)
• joystick connected to an analog input
• control device connected to the fieldbus interface
• control device connected to digital inputs or the step references.
Unipolar joysticks
Unipolar joysticks give the speed reference value with analog signal 0…10 V. The
direction commands are specified with two digital inputs. One option is to use the
zero position signal for the joystick (that is, the neutral position of the joystick).
Bipolar joysticks
Bipolar joysticks give the speed reference value with analog signal -10…10 V. The
direction commands are specified with polarity of the analog signal, + or -. One digital
input is needed for starting the crane.
To use a bipolar joystick, set parameter 20.01 Ext1 commands to In1 Start.
 Step reference selection

You can select between four step reference speeds. The polarity of the references
depends on the direction in which the end-user gives the start command using digital
inputs (20.03 Ext1 in1 source and 20.04 Ext1 in2 source).
The table below shows how the control program determines which step reference
speed is used. Any other parameter value combination selects step reference
speed 1 (22.207).
22.203 Step 22.204 Step 22.205 Step 22.206 Step Used reference
reference reference reference reference
mode select 2 select 3 select 4
1 0 0 0 22.207 Step reference 1
See also section Speed reference priorities on page 94.
Settings
Parameters: 22.203 Step reference mode, 22.204 Step reference select 2 ... 22.206
Step reference select 4, 22.207 Step reference 1 … 22.210 Step reference 4
Signals: -
Warnings: -
Faults: -
 Speed reference priorities

The speed references of the control program have the following priorities. The lowest
priority is the first one and the highest priority the last one on the list.
• The primary speed reference is the one selected in parameters 22.11, 22.12 and
22.14.
• If the speed reference source is an analog signal, the speed reference is scaled
based on the dead-band forward and reverse settings (30.203, 30.204).
• If the Constant speed function is selected, the drive uses the constant speeds
(22.21…22.32) as the speed reference.
• If the Step reference mode is enabled (22.203) and the drive is not in local control,
the drive uses the step reference (22.207…22.210) as the speed reference.
• If the Emergency control mode is active (20.207), the drive uses the emergency
control reference (22.202) as the speed reference with the polarity based on
parameters 20.208 and 20.209.
The speed reference selected according to the previous principle is limited as follows:
• If the External speed limitation command is active (30.200), the drive limits the
speed reference to a predefined value (30.201 or 30.202).
• If the Hoist speed optimization function is active (75.01), the drive limits the speed
reference to the value calculated by the function (09.05).
• If the Slowdown function is active (20.200), the drive limits the speed reference to
the slowdown reference (22.202).
The value that results is the final speed reference used by the crane system (09.06).
For more information on the speed references and related parameters, see sections:
• Dead-band function on page 95
• Constant speeds on page 172
• Step reference selection on page 93
• Emergency control mode on page 54
• External speed limitation on page 98
• Hoist speed optimization on page 116
• Slowdown on page 103
 Dead-band function
The accuracy of an analog input signal near zero is poor. With the Dead-band
function, you can freeze the speed reference for a defined band area (that is, dead
band) or ignore a low speed reference caused by possible crane vibrations on the
joystick.
The function re-scales the analog signal based on the dead-band settings, and then
calculates a new speed reference.
Example
In the example:
• Analog input reference (AI1) comes from the joystick:
• Par. 12.18 AI1 max = 10 V
• Par. 12.17 AI1 min = 0 V
• Par. 12.20 AI1 scaled at AI1 max = 1500
• 0…5 V gives the reverse speed reference.
• 5 V is the joystick zero position.
• 5…10 V gives the forward speed reference.
When parameter 30.203 Deadband forward is set to 2%, it means that there is a
deadband area of 30 rpm (2% of par. 12.20 AI1 scaled at AI1 max = 1500 rpm) in the
forward direction. Inside this deadband area, the resulting speed reference is zero.
Actual signal 09.06 Crane speed reference shows the final speed reference used,
and when the speed reference is outside this dead-band area. In this case, actual
signal 09.06 starts to show a positive reference starting from the point where the
scaled value of analog input AI1 (12.12 AI1 scaled value) exceeds 30 rpm.
Settings
Parameters: 30.203 Deadband forward, 30.204 Deadband reverse
Signals: 09.06 Crane speed reference
Warnings: -
Faults: -
 Parabolic speed reference

Normally, joystick movements cause a linear change to the speed reference: a 50%
change in position gives a 50% speed reference. Quite often accurate load handling
is needed in lower speed areas, for example, when the end-user needs to position
the load manually, or when the lack of space causes limitations. In such situations,
the end-user can control joystick movements more accurately with a parabolic speed
reference instead of a linear reference.
The Parabolic speed reference function (22.211) changes the interrelationship of the
incoming signal (that is, the joystick movement) and the speed reference according a
mathematical function. The mathematical functions available are X2 (= Parabolic 1),
X3 (= Parabolic 2) and linear interrelationship (= Linear). The joystick has parameters
for setting the deadband in the forward (30.203) and reverse (30.204) directions.
Besides the joystick, the source of a parabolic speed reference can also be an analog
signal from an external device.
Operation chart
This graph shows the parabolic reference curves compared to the linear speed
reference curve.
Crane speed reference (%)

100
80
60
40
a
20
1 2 3
0
0 20 40 60 80 100
Incoming signal (%)
Symbol Description
1 Linear interrelationship (Linear)
2 X2 (Parabolic 1)
3 X3 (Parabolic 2)
Settings
Parameters: 22.211 Speed reference shape
Signals: 09.06 Crane speed reference
Warnings: -
Faults: -
 Speed reference ramping

The control program has two user-selectable acceleration and deceleration ramps.
You can adjust the acceleration/deceleration times and the ramp shape, and control
switching between the two ramps via a digital input.
Based on the ramp set selection (par. 23.200) different ramp times are used:
• Acc/Dec 1 means acceleration time 1 (par. 23.201) and deceleration time 1 (par.
23.202) are used.
• Acc/Dec 2 means acceleration time 2 (par. 23.203) and deceleration time 2 (par.
23.204) are used.
• Acc/Dec Direction means acceleration time 1 (par. 23.201) and deceleration time
1 (par. 23.202) are used when motor is running in the forward direction, and
acceleration time 2 (par. 23.203) and deceleration time 2 (par. 23.204) are used
when motor is running in the reverse direction.
Settings
Parameters: 23.16 Shape time acc 1 … 23.19 Shape time dec 2, 23.200 Crane ramp
set selection … 23.206 Crane dec time 2, 46.01 Speed scaling
Signals: -
Warnings: -
Faults: -
 External speed limitation

The External speed limitation function limits the speed reference to a predefined
value while the External speed limitation command (30.200) is active. The source of
the command can be a digital input, a PLC digital input using fieldbus communication,
or any other signal bit.
If the External speed limitation command is activated when the motor is running in the
forward direction, the drive limits the speed reference to the maximum limit (30.202).
If the command is activated when the motor is running in the reverse direction, the
drive limits the speed reference to the minimum limit (30.201).
Settings
Parameters: 30.200 External speed limits, 30.201 External min speed limit, 30.202
External max speed limit
Warnings: D20D External speed limit2
Faults: -
 Crane motor potentiometer

The crane motor potentiometer function can be used in retrofit cases with older
controllers. The function is used instead of the normal motor potentiometer which
contains separate incoming signals for increasing and decreasing the reference.
These signals are not effective when the drive is stopped. The function can be
enabled with parameter 22.220 Crane motpot enable.
Note: If you prefer to use the normal motor potentiometer, open the user lock by
entering your pass code into parameter 96.02 Pass code. When the user lock is
open, the motor potentiometer parameters 22.71...22.80 are visible and you can
configure the normal motor potentiometer. For more information, see Parameter
access levels on page 15.
The following example shows the behavior of the motor potentiometer value:
22.227 Crane motpot max value
22.224 Crane motpot min speed

Time
22.226 Crane motpot min value
Start fwd command 1

0
Time
1
Start rev command
0 Time
1
22.223 Crane motpot accel sel
0 Time

The function uses three signals, start forward, start reverse, and accelerate as shown
in the above diagram.
Forward direction
You can increase the motor potentiometer reference (parameter 22.80 Motor
potentiometer ref act) with any of these two methods:
• When forward command is activated, motor potentiometer reference (22.80)
increases to the crane motor potentiometer minimum speed (parameter 22.224
Crane motpot min speed).
or
• When crane motor potentiometer acceleration command (parameter 22.223

Crane motpot accel sel) is activated together with the forward command, then
motor potentiometer reference (22.80) increases.
Note: When you release the acceleration command (22.223), the motor
potentiometer reference (22.80) will remain in the last reached level. If the
existing motor potentiometer reference (22.80) is less than the reference
maximum value (parameter 22.227 Crane motpot max value), further acceleration
is possible only when acceleration command (parameter 22.223) is activated
again.
If a forward command appears,
• When actual speed reference (22.80) is less than the crane motor
potentiometer minimum speed (22.224), the crane will accelerate to the
minimum speed (22.224).
• When actual speed reference (22.80) is higher than the crane motor
potentiometer minimum speed (22.224), and if it is in the same direction, then
the speed reference will remain at the last speed before the forward command
was given. If it is in the reverse direction, the crane will decelerate to zero
speed, change direction and accelerate to the crane motor potentiometer
The motor potentiometer reference (22.80) uses the following ramp time:
• When 22.80 Motor potentiometer ref act is more than 0, it is uses the ramp time in
parameters 23.201 Crane acc time 1 and 23.202 Crane dec tme 1.
• When 22.80 Motor potentiometer ref act is less than 0, it is uses the ramp time in
parameters 23.203 Crane acc time 2 and 23.206 Crane dec time 2.
Reverse direction
You can decrease the motor potentiometer reference (parameter 22.80 Motor
potentiometer ref act) with either of the two methods:
• Activating the reverse command, decreases the motor potentiometer reference
(22.80) to the negative value of the crane motor potentiometer minimum speed
(parameter 22.224 Crane motpot min speed).
or
• Activating the crane motor potentiometer acceleration command (parameter
22.223 Crane motpot accel sel) together with reverse command, decreases the
motor potentiometer reference (22.80).
Note that when you release the acceleration command (22.223), the motor
potentiometer reference (22.80) remains in the last reached level. If the existing
motor potentiometer reference (22.80) is more than the reference maximum value
(parameter 22.226 Crane motpot min value), further acceleration is possible by
activating the acceleration command (22.223) again.
If a reverse command appears,

• When actual speed reference (22.80) is less than the crane motor
potentiometer minimum speed (22.224), the crane will accelerate to the
• When actual speed reference (22.80) is higher than the crane motor
potentiometer minimum speed (22.224), and if it is in the same direction, then
the speed reference will remain at the last speed before the reverse command
was given. If it is in the forward direction, the crane will decelerate to zero
speed, change direction and accelerate to crane motor potentiometer
The motor potentiometer reference (22.80) uses the following ramp time:
• When 22.80 Motor potentiometer ref act is more than 0, it is uses the ramp time in
parameters 23.201 Crane acc time 1 and 23.202 Crane dec tme 1.
• When 22.80 Motor potentiometer ref act is less than 0, it is uses the ramp time in
Direction change
• If the actual motor potentiometer reference (22.80) is negative, then activating the
forward command starts increasing until it reaches 0 using the ramp time defined
in parameter 23.204 Crane dec time 2 and after 0 it uses the ramp time defined in
parameter 23.201 Crane acc time 1.
• If the actual motor potentiometer reference (22.80) is positive, then activating the
reverse command starts decreasing until it reaches 0 using the ramp time defined
in parameter 23.202 Crane dec tme 1 and after 0 it uses the ramp time defined in
parameter 23.203 Crane acc time 2.
Settings
Parameters: 22.220 Crane motpot enable 22.223 Crane motpot accel sel, 22.224
Crane motpot min speed, 22.226 Crane motpot min value, 22.227 Crane motpot max
value, 23.201 Crane acc time 1, 23.202 Crane dec tme 1, 23.203 Crane acc time 2,
Signals: 22.80 Motor potentiometer ref act, 22.225 Crane motpot sw
Warnings: -
Faults: -
Supervision and limit switch logic

• End limits (page 102)
• Slowdown (page 103)
• Fast stop (page 105)
• Speed matching (page 105)
• Motor overspeed monitoring (page 107)
• Inverter overload detection (page 108)
• Slack rope (page 108)
• Watchdog (page 109)
• Lifetime monitoring and maintenance (page 111)
 End limits
The End limits 1 and 2 of the control program enable you to connect sensors directly
to the drive to make the crane stop safely when it reaches the end position of its
travel. If one of the two limits is active, the function activates an emergency stop
command. The two limits are independent of each other.
End limit 1 (par. 20.205) – for forward lifting (positive) direction. Make sure the input is
wired to the forward (positive) limit switch.
End limit 2 (par. 20.206) – for reverse lowering (negative) direction. Make sure the
input is wired to the reverse (negative) limit switch.
The below active and inactive conditions are applicable for both limits 1 and 2:
• the limits are active when the limit input to the drive is False, in other words, when
the normally-closed limit switch is off (0)
• the limits are inactive when the limit input to the drive is True, in other words, the
normally-closed limit switch is on (1). This condition is applicable for the normal
operation of the crane.
The following steps describe the End limit 1 operation in the forward lifting (positive)
direction. The same can be applied for End limit 2 in the reverse lowering (negative)
direction:
1. When End limit 1 is activated while the drive is running in the forward lifting
(positive) direction, the function activates an emergency stop command (Em stop
off3).
The drive then decelerates according to the defined emergency stop time (23.23).
2. The limit input must be back to inactive before the end-user can start the drive in
the forward lifting (positive) direction. However, the end-user can run the drive in
the reverse lowering (negative) direction even when the End limit 1 is active.
3. When the End limit 1 command is activated, the drive also generates a warning
D205 End limit 1.
Settings
Parameters: 20.205 End limit 1, 20.206 End limit 2
Warnings: D205 End limit 1, D206 End limit 2
Faults: D108 End limits I/O error
 Slowdown
The Slowdown function limits the speed reference when the crane is operating in the
slowdown area.
Emergency stop
Endlimits 1/2 area

(20.205/20.206)
Forward Slowdown area
(Up) (20.200)
Speed reference =
Drive speed
reference
Speed reference =
Reverse Drive speed
(Down) reference limited to
slowdown reference
(22.200)
Emergency stop
The Slowdown function has four modes:

• Slowdown with direction
• Slowdown without direction (safe zone)
• Slowdown double bit
• Slowdown position.
Slowdown with direction

This mode is activated when Slowdown input 1 (20.201) changes from 1 (True) to 0
(False). The function then limits the speed reference to the slowdown reference limit
(22.200) in the direction of motion at the time of the activation. As long as the supply
voltage is not switched off, the drive remembers the direction of motion and allows full
speed in the opposite direction.
If the Slowdown command is activated after the drive has stopped, the function allows
only slow speed in both directions. The function also limits the speed reference in
both directions if the Slowdown command is activated when the drive is being
powered up.
Slowdown without direction (safe zone)

Like Slowdown with direction, the Slowdown without direction mode is activated by
Slowdown input 1 (20.201), but the speed reference is limited in both forward and
reverse directions instead of just one direction. You can use this mode to create a
safe zone, for example, for trolley and long-travel movements.
Slowdown double bit

In this mode, two switches are used through two inputs. Slowdown input 1 (20.201) is
used for the Slowdown command in the forward direction, while slowdown input 2
(20.202) is used for the Slowdown command in the reverse direction. When the
Slowdown command is activated (20.201 or 20.202 = 0), the function limits the speed
reference to the slowdown reference limit (22.200).
Slowdown position
In this mode, two position limits (20.203 Slowdown up position or 20.204 Slowdown
dn position) are used:
• Slowdown up position limit (20.203) - used for the Slowdown command in the
forward direction
• Slowdown down position limit (20.204) - used for the Slowdown command in the
reverse direction.
The function activates the slowdown command and limits the speed reference to the
slowdown reference limit defined in parameter 22.200 Slowdown select, based on
any of these conditions:
• when 90.05 Load position scaled is greater than the slowdown up position limit
(20.203) in the forward direction
or
• when 90.05 Load position scaled is less than the slowdown down position limit
(20.204) in the reverse direction.
Settings
Parameters: 20.200 Slowdown select, 20.201 Slowdown input 1, 20.202 Slowdown
input 2, 20.203 Slowdown up position, 20.204 Slowdown dn position, 22.200
Slowdown reference
Warnings: D201 Slowdown up, D202 Slowdown down, D20C Slowdown safe zone
Faults: -
 Fast stop
The Fast stop function stops the drive extremely fast from high speed. It can be used,
for example, to stop the swift downward movement of a bucket crane before the
ropes unwind and pile up on top of the crane. The Fast stop function is not an
emergency stop function.
The function has three modes:
• Ramping and mechanical braking – In this mode the drive decelerates to zero
speed according to a defined ramp time. The mechanical brake closes when the
drive reaches the brake close speed.
• Torque limit and mechanical braking – In this mode the drive decelerates to
zero speed against the drive torque limits. The mechanical brake closes when the
drive reaches the brake close speed.
• Mechanical braking only – In this mode the function forces the mechanical
brake to close.
When the function is activated, the drive generates a warning (D20A).
Settings
Parameters: 20.210 Fast stop input, 20.211 Fast stop mode, 23.206 Fast stop
deceleration time
Warnings: D20A Fast stop
Faults: -
 Speed matching
The Speed matching function compares the crane speed reference continuously to
the actual motor speed to detect any differences. The function makes sure that the
motor follows the speed reference when stopped, during acceleration or deceleration,
and when running at the constant speed. The function also makes sure that the brake
does not slip when the drive has stopped with the brake closed.
The function has two deviation levels:

• one for checking the speed deviation during a ramping state, that is, acceleration
and deceleration (74.03)
• one for checking the speed deviation during a constant speed (74.02).
The drive trips on a fault (D105) if the drive is running, and
• the motor is running in a steady state, and the difference between the motor
actual speed (01.01) and the ramped and shaped speed reference (23.02) is
greater than the steady state deviation level for longer than a delay (74.04)
or
• the motor is accelerating or decelerating, and the difference between the motor
actual speed (01.01) and the ramped and shaped speed reference (23.02) is
greater than the ramping state deviation level for longer than a delay (74.04).
The drive generates a warning (D200) if the drive is stopped, and
• the difference between the motor actual speed and the speed reference is greater
than the steady state deviation level for longer than a delay (74.04)
and
• the brake control is active and the brake is closed.
Timing diagrams
The diagram shows the operation of the Speed match fault.
Speed (rpm) 01.01
23.02
74.02 (+30 rpm)

74.03 (+50 rpm)
74.02 (+30 rpm)
t (s)
74.04 74.04
D105
Speed match
t (s)
The diagram shows the operation of the Brake slip at standstill2 warning.
Speed (rpm) 01.01

23.02
74.02 (+30 rpm)
t (s)
74.04 Because the drive is stopped, the

ramped and shaped speed
reference (23.02) is zero.
Drive
stopped
Brake t (s)
control
active t (s)
D200
t (s)
Brake slip at
Settings
Parameters: 74 Speed matching
Warnings: D200 Brake slip at standstill2
Faults: D105 Speed match
 Motor overspeed monitoring

The Motor overspeed monitoring function is an internal protection function. It
supervises the motor speed and trips the drive at motor overspeed.
If the motor speed exceeds the defined level (31.200), and a time delay (31.201)
elapses, the drive trips on a fault (D104), stops and closes the brake.
Settings
Parameters: 31.200 Motor overspeed level, 31.201 Motor overspeed level delay
Warnings: -
Faults: D104 Over speed
 Inverter overload detection

The Inverter overload detection function makes sure that the inverter is capable of
providing sufficient current and torque and that the drive is operating within the
defined inverter current and torque limits. The function is meant mainly for hoist
motion.
To make sure that the inverter current and torque limits are not exceeded, the
function monitors the corresponding status bits. The function is in operation while the
motor is in the generating mode and generating more than 10% of the motor nominal
power and running at an actual speed greater than 5% of the motor synchronous
speed. If the limits are exceeded in this condition, and a time delay (31.204) elapses,
the drive trips on a fault (D106) and closes the brake for safety reasons.
The function monitors the following inverter current and torque limit status bits in
parameter 30.02 Torque limit status:
• Bit 2 Minimum torque
• Bit 3 Maximum torque
• Bit 4 Internal current
• Bit 5 Load angle
• Bit 6 Motor pullout.
To activate the status bit monitoring, you need to select the above-mentioned bits with
the corresponding bits of parameter 31.202 Inverter overload selection. You can also
select to monitor an additional bit of your own selection (31.203).
Settings
Parameters: 31.202 Inverter overload selection, 31.203 User limit bit selection,
31.204 Inverter overload delay
Signals: 09.03 Crane FW1, 30.02 Torque limit status
Warnings: -
Faults: D106 Inverter overload
 Slack rope
The Slack rope function provides warnings against any slackness in the rope which
may result when the boom is thrust upwards by heavy and strong wind in outdoor
cranes or when the hook jams in a mechanical structure in indoor industrial cranes.
The function can be enabled with parameter 75.60 Slack rope and by setting the
slack rope load level with parameter 75.62 Slack rope detection delay to different
than -400%.
Block diagram
75.60 Slack rope

Slack rope
75.61 Slack rope load level
75.62 Slack rope detection delay 09.02 Crane SW2, bit 9
06.19 Speed control status word, bit 2
75.40 Relative hoist load Filter

75.42 Relative hoist load filtered
Set
75.38 Load filter time D217 Slack rope
31.205 Crane warning masking, bit 9 En
The function detects a slack rope condition at the time of lowering the crane, if value
in parameter 75.42 Relative hoist load filtered is less than slack rope load level
(par. 75.62) during the delay time defined in parameter 75.62 Slack rope detection
delay. Parameter 09.02 Crane SW2, bit 9, shows the slack rope detected status.
When a slack rope condition is detected, drive generates the warning D217 Slack
rope or a Fast stop according to the selection defined in parameter 75.60 Slack rope.
The warning can be masked with parameter 31.205 Crane warning masking, bit 9 to
0.
Settings
Parameters: 75.60 Slack rope, 75.61 Slack rope load level, 75.62 Slack rope
detection delay, 75.42 Relative hoist load filtered, 75.38 Load filter time, 75.40
Relative hoist load
Signals: 09.02 Crane SW2, 31.205 Crane warning masking
Warnings: D217 Slack rope
Faults: -
 Watchdog
The Watchdog function monitors the drive critical warnings (alarm)s and opens the
relay output RO2 (default settings) of the drive, when any of the monitored warnings
or when the watchdog user bit in parameter 32.225 Watchdog user bit is active. The
watchdog signal (parameter 32.227 Watchdog sw) can be used for safety, emergency
interlocks or controlling the main contactor.
The critical warnings can be selected with parameter 32.226 Watchdog mask. When
a selected warning in the list is activated, the drive opens the relay output RO2
(default settings) of the drive. Unselected warnings are ignored.
Bit Warning Warning code
0 Fb A comm A7C1 FBA A communication
1 Fb B comm A7C2 FBA B communication
2 M/F comm A7CB MF comm loss
Bit Warning Warning code

3 Braking resistor failure A791 Brake resistor
4 Braking resistor temp A793 BR excess temperature
5 Braking chopper failure A79B BC short circuit
6 Brake chopper temp A79C BC IGBT excess temperature
7 Brake closing failure A7A1 Mechanical brake closing failed
15 User bit 1 -
Note: The Watchdog function requires an external 24 V connection to the drive

control board.
Watchdog test
The Watchdog test function performs periodical tests to check the condition of the
watchdog circuit. The circuit consists of one digital input for Power on
acknowledgement signal (parameter 20.212) and watchdog relay output RO2
(parameter 32.227 Watchdog sw, bit 1). You can enable the function with parameter
32.221 Watchdog test.
The testing of watchdog circuit starts after the main contactor was closed, as
indicated by the Power on acknowledgement signal (20.212) and the delay time
defined with parameter 32.222 Watchdog test delay is elapsed.
After the test, the watchdog relay output RO2 opens for a fixed time of 0.5 s and
closes again. If the Power on acknowledgement signal (20.212) does not deactivate
and reactivate within the time defined in parameter 32.224 Watchdog fault delay, then
the fault D10D Watchdog test fault occurs.
If the crane is powered up frequently, parameter 32.223 Watchdog re test delay can
be used to prevent the test from starting every time the main contractor is closed. The
next watchdog test sequence executes only after the re-test delay time is passed.
Note: The Watchdog test function can be used only when the drive is powered using
an external power supply. Otherwise, the drive will perform the watchdog test every
time the drive is powered up without considering the value of parameter 32.223
Watchdog re test delay.
Settings
Parameters: 32.221 Watchdog test, 32.222 Watchdog test delay, 32.223 Watchdog
re test delay, 32.224 Watchdog fault delay, 32.225 Watchdog user bit,
Signals: 20.212 Power on acknowledge,32.227 Watchdog sw, 32.226 Watchdog
mask
Warnings: D215 Watchdog warning
Faults: D10D Watchdog test fault
 Lifetime monitoring and maintenance

The Lifetime of the lifting equipment in the crane system can be monitored to
determine the maintenance needs. One possible way is using the built-in functionality
of the inverter. The inverter monitors the working cycles of the hoist considering the
operating time, the lifting and lowering speeds and the load. All these values are
known signals in the inverter or from the sizing of the hoist.
The function can be activated with the parameter 75.70 Start lifetime monitor and the
lifetime hours can be defined with parameter 75.71 Crane lifetime. See also
instructions for Configuring Lifetime monitor function on page 46.
The function indicates the remaining mechanical lifetime of the crane hoist. See
signals 09.10 Lifetime left and 09.11 Lifetime left in percent. There are other signals
supporting the function:
• Total operating time or brake open time of the drive (09.20 Crane operation hours)
• Continuously calculated actual hoist load (75.43 Absolute hoist load filtered)
• Load spectrum factor Km for function of load and time (09.12 Load spectrum
factor)
The correct load signal can be acheived by defining the weight calculation according
to the Tunning procedure on page 121, which is part of the commissioning the hoist
speed optimization procedure.
During the lifetime of the crane installation, it is needed to record the changes to the
load spectrum as a consequence of inverter replacement or any maintenance work
on the hoist unit. A set of protected (hidden) parameters in the control program can
be used to record these changes.
Parameters used for maintenance records are protected with password to

prevent the operation and manipulation by any unauthorized personnel.
Only authorized personnel shall work on these protected parameters.
Maintenance work
• If you replaced a control board or a complete drive, then copy the old values to
the new system, for example, from the parameter file. See instructions for
Copying old values to new system on page 47.
• If you did some maintenance work on a hoist unit, reset the load spectrum
recorder to its starting values. See instructions for Reseting the load spectrum
recorder on page 48.
Settings
Parameters: 75.70 Start lifetime monitor, 75.71 Crane lifetime, 75.72 Reset load
spectrum, 75.73 Preset value of load spectrum, 75.74 Lifetime speed scaling, 75.75
Lifetime factor
Signals: 09.10 Lifetime left, 09.11 Lifetime left in percent, 09.12 Load spectrum factor,
09.13 Lifetime sw, 09.20 Crane operation hours, 75.43 Absolute hoist load filtered
Warnings: D216 Liftetime left less 10%
Faults: -
Conical motor control

This function handles the brake control for conical motors, which do not have a
external mechanical brake. A conical motor has an internal brake, which opens or
closes according to the motor flux level. The brake opens when the motor flux level is
higher than the normal flux level and closes when the flux is below the normal flux
level. You can find the opening and closing flux levels on the motor rating plate or ask
the motor manufacturer for the levels. The opening flux level has to be kept active for
a certain period of time. The time depends on the motor.
When a conical motor is switched on, axial force is created as a result of the
electromagnetic field (flux) and the air gap between the cone-shaped rotor and stator.
This axial force overcomes the return force of the brake spring and moves the rotor
shaft and brake disc in an axial direction. The brake is then released, allowing the
motor to start up. After the motor is switched off or if the voltage fails, the magnetic
force collapses, and the motor mechanically brakes to a standstill by the return force
of the brake spring.
1
3
No. Description
1 Conical rotor
2 Brake rotor spring
3 Motor housing
4 Internal brake
Notes:
• Mechanical brake control (44.06) must be active when the Conical motor control
function is used. If mechanical brake control is not active, the drive trips on a fault
(D10A).
• Brake close delay (44.13) must be greater than 0 seconds.
When the Conical motor control function is enabled and the start command is given,
the motor flux ramps up over the normal level (100%) to the start flux level (76.02)
during a flux ramp-up time (76.05). The ramp-up time makes sure that the brake
opens faster and there is minimal roll-back that can cause a load dip. The start flux
level is kept as the reference for a hold time (76.04) to make sure that there is enough
time for the brake to open.
After the start flux hold time is over, the normal flux level (100%) is activated for
normal running. The flux ramps down from the start flux level to the normal level
(100%) during a flux ramp-down time (76.06).
When the stop command is given, the drive decelerates the motor. When the motor
speed (01.01) decreases below the zero speed limit (21.06), the motor starts to use
the stop flux level (76.03) as the flux reference. The flux ramps down from the normal
level (100%) to the stop flux level during the ramp-down time. When the actual motor
flux reaches the stop flux level, the brake closes.
Timing diagram
This diagram shows brake opening and closing as well as the normal running flux
levels.
Speed (rpm)
01.01
Flux ref (%) t (s)

(09.09)
76.04
76.02
76.06
100% flux
76.03
76.05
Start t (s)
command
Rotor
released
Settings
Parameters: 76 Conical motor
Signals: 09.01 Crane SW1, 09.09 Flux reference
Warnings: -
Faults: D10A Brake not selected
Hoist speed optimization

• Overview (page 116)
• Operation chart (page 117)
• Load margin calculation (page 119)
• Auto calculation (page 120)
• Weight calculation (page 121)
• Load speed limit testing (page 122)
 Overview
If a hoist drive needs to run above its nominal speed (in the field weakening range),
you need to enable its Hoist speed optimization (HSO) function. You also need to
define the necessary variables for the function, such as the actual load values vs. the
corresponding speed limit values. On the basis of the given data, the function
automatically defines the allowed maximum speed depending on the actual load that
the hoist is currently moving.
HSO: Speed limitation

Manual setup
Auto calculation
Weight Weight
calculation tuning 75.43 Absolute hoist load filtered
Crane nominal data
Weight calculation Lifetime monitor
The diagram shows the relationship between different functions in the hoist speed
optimization.
• HSO: Speed limitation, load vs speed points for both direction can be either
manually defined or can be calculated and set automatically. When function is
activated the speed reference is limited within safe limits.
• Auto calculation needs crane nominal data. If values are known, you can directly
enter the values into parameters 75.03 and 75.27...75.35. If it is needed to verify
the crane nominal data, then the weight calculation function can be used by
comparing the measured weight and test weight. The efficiency and inertia
parameters can be tuned to find the correct reading from weight calculation.
These parameters are finally used for auto calculation. See tuning instructions on
page 121.
• Weight calculation is used for Lifetime monitor function. Note that this
calculation is not meant for overload protection.
• Lifetime monitor function monitors all working cycles of the hoist, considering
the operating time, the lifting and lowering speed and the load. All these values
are known signals for the inverter or from the sizing of the hoist.
HSO speed limitation defined manually

For manual parameterization of HSO speed limitation, you need to define these
variables for the function:
• motor base speed (at which point the actual load is defined and above which the
function is in use)
• actual load values vs. corresponding speed limit values for both forward and
reverse directions.
Note: The function operates assuming that the load remains constant after the motor
exceeds the motor base speed once until the drive stops and receives a new start
command.
 Operation chart
The below chart shows the operating principle of the Hoist speed optimization
function. The function controls the maximum speed limit according to the active load.
250
Torque
75.25 Load 4 down 200 75.15 Load 4 up

75.26 Load 4 speed down 75.16 Load 4 speed up
75.23 Load 3 down 75.13 Load 3 up

75.24 Load 3 speed down 150 75.14 Load 3 speed up

75.22 Load 2 speed down 75.12 Load 2 speed up
75.19 Load 1 down 100
75.09 Load 1 up
75.20 Load 1 speed down 75.10 Load1 speed up
75.18 Load 0 50
75.08 Load 0
speed down speed up
0
-4000 -3000 -2000 -1000 0 1000 2000 3000 4000
Speed
The right side of the chart shows the actual load values Vs. the corresponding speed
limit values for the forward direction. The left side shows the actual load values Vs.
the corresponding speed limit values for the reverse direction.
Notes:
• Give the actual load values in increasing order and the speed limit values in
decreasing order. Otherwise the function will limit the speed to the base speed
and generates a warning.
• Set all points in correct order. See example below.
Example
The example below shows how to set the load and speed values shown in the
operation chart on page 117.
Note: The values in this example only shows the sequence and the setting method.
You need to set the actual parameter values according to the actual motor details and
the load.
In the example, motor nominal torque is equal to 100% that corresponds to motor
base speed value 1500 rpm (75.03).
Enable the Hoist speed optimization function and define its attributes as follows:
• 75.03 Motor base speed = 1500 rpm
• 75.07 Load 0 up = 60%
• 75.08 Load 0 speed up = 2000 rpm
• 75.09 Load 1 up = 70%
• 75.10 Load1 speed up = 1800 rpm
• 75.11 Load 2 up = 80%
• 75.13 Load 3 up = 90%
• 75.15 Load 4 up = 100%
You must set the parameters for the reverse direction in the same order. Otherwise,
the function limits the speed to the motor base speed (75.03).
 Load margin calculation

The Hoist speed optimization function applies a load margin (75.04) to the detected
base speed torque (75.03).
The below formulas show how to calculate the load margin:
X (%) = Y · (Load margin (%) / 100)
Z=Y-X
where:
• X = Torque or load offset
• Y = Torque at base speed
• Z = Base speed torque after the load margin has been deducted.
You can use the value of Z with a set of torque (%) and speed (rpm) parameters to
calculate the load speed limit in the forward and reverse directions.
See Operation chart on page 117.
Example
In this example:
• 75.04 Load margin = 10%
• 01.10 Motor torque (monitored by the function during the base speed crossover) =
60%.
The Hoist speed optimization function calculates the new maximum torque based on
the load margin. See below calcualtions:
X (%) = Y · (Load margin (%)/100)
Z=Y-X
X (%) = 60% · (10%/100) = 6%
Z = 60% - 6% = 54%
The new torque value that the function uses is 54% instead of the actual torque value
(60%).
Note: If you do not want the function to use the load margin (75.04), set the value to
zero.
 Auto calculation
The control program can automatically calculate the speed Vs torque curve with the
data defined in the following parameters:
• 75.03 Motor base speed = 1500 rpm (corresponds to parameter 75.32 Hoist
nominal speed)
• 75.27 Hoist efficiency up
• 75.28 Hoist efficiency down
• 75.29 Inertia up
• 75.30 Inertia down
• 75.31 Hoist nominal load
• 75.32 Hoist nominal speed
• 75.33 Hoist maximum speed
• 75.35 Motor Tmax/Tn
After settings these parameters, activate auto calculation with parameter
75.36 Calculate load curve = Calculate. The control program sets the load curve
parameters for one time. After this operation, you can manually change the load
curve parameters.
The auto calculated hoist load values are shown in parameters 75.40 Relative hoist
load and 75.41 Absolute hoist load.
Note:
• Auto calculation can be activated only when the drive is in standby state.
• If you changed acceleration/deceleration time after activating auto calculation,
then you must again execute auto calculation.
 Weight calculation
The Weight calculation function can be tuned with test runs of known load. Before
starting the function tuning, configure the parameters 75.03, 75.27...75.35. The hoist
efficiency and inertia of the hoist system can be set with parameters 75.03 Motor
base speed, 75.27 Hoist efficiency up, 75.28 Hoist efficiency down, 75.29 Inertia up
and 75.30 Inertia down.
Tunning procedure
1. Lift a known load with constant speed and adjust the value in parameter 75.27
Hoist efficiency up to the correct load value shown in signal 75.43 Absolute hoist
load filtered.
• If value in signal 75.43 is less than the weight of the known load, increase the
value in parameter 75.27 Hoist efficiency up.
• If value in signal 75.43 is more than the weight of the known load, decrease
value in parameter 75.27 Hoist efficiency up.
2. Lower the known load with constant speed and adjust the value in parameter
75.28 Hoist efficiency down to the correct load value shown in signal 75.43
Absolute hoist load filtered.
• If value in signal 75.43 is more than the weight of the known load, increase the
value in parameter 75.28 Hoist efficiency down.
• If value in signal 75.43 is less than the weight of the known load, decrease
value in parameter 75.28 Hoist efficiency down.
3. Lift the known load with variable speed (accelerating and decelerating) and adjust
the value in parameter 75.29 Inertia up to the correct load value shown in signal
75.43 Absolute hoist load filtered during acceleration and deceleration.
• If value in signal 75.43 is more than the weight of the known load during
acceleration, increase the value in parameter 75.29 Inertia up.
• If value in signal 75.43 is less than the weight of the known load during
acceleration, decrease value in parameter 75.29 Inertia up.
4. Lower the known load with variable speed (accelerating and decelerating) and
adjust the value in parameter 75.30 Inertia down to the correct load value shown
in signal 75.43 Absolute hoist load filtered during acceleration and deceleration.
• If value in signal 75.43 is more than the weight of the known load during
acceleration, increase the value in parameter 75.30 Inertia down.
• If value in signal 75.43 is less than the weight of the known load during
acceleration, decrease value in parameter 75.30 Inertia down.
 Load speed limit testing

You can check the load speed limit with a signal (09.05) by entering the test values
into a parameter (75.05) without running the motor. Give a positive value for the
forward direction and a negative value for the reverse direction.
Settings
Parameters: 75 Hoist speed optimization
Signals: 09.01 Crane SW1, 09.05 Load speed limit, 09.07 Load speed error status,
75.43 Absolute hoist load filtered
Warnings: D203 Hoist speed up limit, D204 Hoist speed down limit
Faults: D103 Hoist speed opt settings
Smooth lifting
The Smooth lifting function can be used to decrease the mechanical stress in crane
construction that occurs mainly during load lifting. The function monitors the load on
the hoist after each lowering operation and ramps down the speed if load is detected.
The function releases control only after the load is lifted. See the timing diagram
below:
Smooth lifting function triggered
23.01 Speed ref ramp input

83.10 Smooth lifting sw, bit 0
Time
01.10 Motor torque (%)

90.01Motor speed for control
83.07 Smooth lifting zero Time
speed delay
83.04 Smooth lifting acc speed
diff
83.05 Smooth lifiting speed diff
24.03 Speed error filtered
Time
83.03 Smooth lifting torque step

Actual motor torque derivative
Time
The function can be enabled with parameter 83.01 Smooth lifiting and following
charactersistics can be configured:
• Sensitivity (parameters 83.03 Smooth lifting torque step, 83.04 Smooth lifting acc
speed diff, 83.05 Smooth lifiting speed diff)
• Triggering margins (parameters 83.02 Smooth lifting delay, 83.06 Smooth lifting
torque lim, 83.07 Smooth lifting zero speed delay)
• Speed of reaction (parameter 83.08 Smooth lifiting dec time multiplier)
Settings
Parameters: group 83 Smooth lifiting
Signals: 83.10 Smooth lifting sw
Antisway
• Antisway functional description (page 124)
• Sway tracking (page 129)
• Automatic ON switching (page 129)
• Ramp times (page 130)
• Limit switches (page 130)
• Antisway communication (page 131)
• Fieldbus communication (page 131)
• Antisway commissioning instructions (page 132)
• Measuring and calculating a real pendulum arm with an empty hook (page 133)
• Determining pendulum arm offset (page 135)
 Antisway functional description

The Antisway function is designed for indoor cranes to prevent unnecessary swaying
of the load. The function eliminates load sway by adjusting the operator given speed
reference. It gives the crane operator a better control of the crane, cutting the time
movements by higher speed and shorter acceleration and deceleration times.
The function works without any additional antisway sensors (open-loop). The function
needs to know the total pendulum arm length to define the time constant of
swaying (τ) that can control trolley and long travel accelerations and decelerations.
See the acceleration and deceleration movements in the figure below.
Total pendulum arm length is the sum of rope length and offset. See the below figure
on page 126.
• Rope length is based on the hoist position. This value is transfered either from
the hoist drive (with encoder) or from a PLC.
• Offset or pendulum arm offset is the distance between hook and gravity point of
the lifted object. It can vary for different load types. See Total pendulum arm
length on page 126.
Note: The accuracy of antisway control is as good as the known real pendulum arm
length.
Total pendulum arm length
Hook position = rope length
Total pendulum arm length
Offset = Distance between hook

and gravity point of lifted object
t = time constant
Offset determination
Pendulum arm offset determination is needed if the shape of lifted load varies. The
determination is based on one of the following methods. The final offset is added to
the pendulum arm length (from the hoist drive) and this result is used by the antisway
core.
Step offset: Uses the step logic and consists of three offset values that are selected
by either digital inputs DIx, PTR, or hoist load. For more information, see Step offset
on page 135.
Linear offset: Used when the weight of the lifted load (hoist load) correlates with the
shape of lifted load. The values are set in this parameter combination: Min load-Min
offset and Max load-Max offset. See Linear offset/weight sensitive offset on page
136.
Direct offset: The value comes directly from the fieldbus, analog inputs or PTR. See
Direct offset on page 137.
Auto offset: Used when the load is every time lifted from the same floor level.
Offset = maximum length - actual hook position. See Auto offset on page 138.
Note: In some cases, a separate offset is not needed because the hook may consist
of a fixed lifting device like the grab device (for waste handling) or a magnnetic disc
(for waste metal handling). These lifting devices are fixed permanently to the hook.
External disturbances
Because there is no feedback signal for the real load sway, Antisway function cannot
compensate the effect of external disturbances (see figure below) such as wind or un-
direct lifting, or the difference between the behavior of real pendulum and behavior of
pendulum model in the frequency converter (wrong settings during start-up).
For successful operation, the function should have the following actual values from
the hoist drive:
• Load/torque. If the hoist and antisway drives have D2D communication, then
antisway drives calculate the actual load from the actual hoist torque.
• Hook position/rope length.
 Antisway function block diagram

The main parts of the Antisway function are shown in the block diagram below.
Antisway
core
Antisway
On/Off On/Off
logic
77.27 Pendulum arm
D2D, Hook length
AIx, position + 77.70 Total pendulum
(scaling) arm length
PTR... Pendulum Pendulum arm
arm length
DIx, 77.69
AIx, Total pendulum offset Speed ref out 77.73 Speed ref
Load,
Offset + from antisway
PTR... 77.72 Speed ref into

Speed
reference antisway
Speed ref in
(from
operator)
Antisway On/Off is activated with parameter 77.01 Antisway enable. When antisway
is enabled, for example, with digital inputs DIx, then it is possible to switch Off/On
antisway automatically if parameter 77.02 Enable auto on function is enabled with
following parameters:
• minimum speed logic (parameter 77.05 Antisway enable minimum speed)
• pendulum arm minimum/maximum length (parameters 77.03 Auto on at
maximum pendulum and 77.04 Auto on a minimum pendulum).
See also Automatic ON switching on page 129.
Pendulum arm length is the sum of hook position and offset. See Total pendulum
arm length on page 126.
• The value of hook position is transfered from the hoist drive. The signal source
for hoist position can be selected with parameter 77.20 Pendulum length
source 1.
• Offset can be determined by step reference logic with actual hoist load (see
parameters 77.33...77.54).
• Offset can also be automatically determined using the Auto offset mode
(parameter 77.56). This method is used if the load is lifted up from the same
floor level and when different load types and loading devices are used.
Antisway core modifies the speed reference ramp with the known pendulum arm
length (parameters 77.72 and 77.73) to eliminate load swaying. You can check the
status of the Antisway function in parameter 77.71 Antisway status.
 Sway tracking
The Sway tracking function allows the drive to compensate the sway caused by
movements before switching on the Antisway function.
The pendulum state calculation is activated whenever the speed reference changes.
This allows the load swing compensation even if the Antisway function is enabled
after the crane movement is already started.
• If sway tracking is enabled (parameter 77.07 Sway tracking enable) and the
antisway function is disabled (parameters 77.01 Antisway enable and 77.02
Enable auto on function), the control program tracks the sway movement caused
by the given speed reference.
Note: If Antisway function is enabled during acceleration, the control program
compensates the existing (calculated) sway.
• If sway tracking is disabled (parameter 77.07) and the Antisway function is
disabled (parameters 77.01 and 77.02), the control program does not track the
sway movement. This gives the possibility for the crane operator during start
(during hoisting) to compensate manually the initial sway before enabling the
Antisway function.
You can check the status of the Sway tracking function in parameter 77.71 Antisway
status, bit 2.
 Automatic ON switching
Switching the Antisway function ON and OFF can be automated based on the hoist
position for the following occurrences:
• speed reference is above the set minimum speed (parameter 77.05 Antisway
enable minimum speed)
• pendulum arm length is between the set minimum and maximum length
(parameters 77.03 Auto on at maximum pendulum and 77.04 Auto on a minimum
pendulum
• time has not elapsed for Antisway function to end calculations (parameter 77.11
Antisway timeout)
If it is frequently needed to correct the initial sway during hoisting of the load
(example, trolley movement of waste-handling grab cranes), it is possible to define a
certain lifting range where the Antisway function is always ON. Outside that range, it
is always OFF. The AUTO ON function operates only when the Antisway function is
switched ON and auto on function is enabled with parameter 77.02 Enable auto on
function. If the Antisway function is disabled, then the AUTO ON function has no
effect.
You can check the status of the auto ON for antisway function in parameter 77.71
Antisway status, bit 11, 13, 14 and 15.
 Ramp times
The control program takes the ramp time based on the activation of Antisway
function.
• If parameter 77.01 Antisway enable = Enable, ramp time is taken from parameter
77.08 Antisway ramp time.
• If parameter 77.01 Antisway enable = Disable, ramp time is taken from
In many cases, a higher acceleration rate can be utilized when driving the crane with
the Antisway function.
 Limit switches
The distance to stop the crane from full speed can be estimated using the following
formula (units are SI units):
v
s = --- ( τ + t acc ) ,t acc = deceleration time
4
Here τ is the longest possible pendulum time constant. It can be estimated from the
hoisting height
τ = 2 h
2
4hπ
τ = ------------
(approximation from g , where g = gravity and h = length of pendulum arm)
Example: The hoisting height is 16 m, crane full speed is 30 m/min (0.5 m/s), normal
deceleration time for manual driving is 5 sec (parameter 23.202 Crane dec tme 1).
For a linear ramp (antisway OFF), the slowdown distance of the crane would be
1 1 m
s = --- v × t acc  --- × 0, 5 ---- × 5 s = 1, 25m
2 2 s
With Antisway function enabled the basic ramp time can be set shorter, for example
4 seconds (parameter 77.08 Antisway ramp time). In this case, the slowdown
distance of the load is:
τ = 2 × 16 = 8 s
0, 5ms
s = ---------------- × ( 8 s + 4 s ) = 1, 5m
4
Note: Stopping the load without antisway control (with linear ramp) in this example
can cause overshoot of the load (swaying) which can make the real stopping distance
of the load longer than the calculated distance (1.25 m).
With antisway (1.5 m), there is no overshoot problem and the load travels
perpendicular to the trolley (because the load stops at equilibrium).
 Antisway communication
Antisway communication can be used for delivering signals from the hoist drive to the
Antisway function like hoist position and hoist torque. Antisway drives (trolley and
long travel) form a chain. D2D communication must be used.
See Example 3: Parameter settings for antisway communication from host to main
trolley on page 68.
 Fieldbus communication
In case of fieldbus controlled antisway drive (trolley/long travel), to get a faster
response to the start and stop commands, use parameter 20.216 Crane control word
1. Do the following parameter settings:
• 20.01 Ext1 commands = In1 Start fwd; In2 Start rev
• 20.03 Ext1 in1 source = Par. 20.216, bit 0
• 20.04 Ext1 in2 source = Par. 20.216, bit 1,
instead of fieldbus control word (20.01 Ext1 commands = Fieldbus A).
 Antisway commissioning instructions

Preparations
The general parameter settings for Antisway function are in group 77 Antisway on
page 503. For best results it is essential to define the pendulum arm calculation
parameters as accurately as possible. The mathematical length of pendulum arm can
be different for bridge and trolley directions, so these settings should be done
separately for both movements.
Before proceeding with parameter settings for Antisway function, the following checks
are done:
Preliminary actions
Trial run the crane drives (hoist, trolley and long travel) to confirm the crane works as
planned without the Antisway function.
Check the position counter settings and function (rope length measurement) in the hoist
drive or in an overriding system (PLC). The output of the position counter can be read in
parameter 90.05 Load position scaled.
In the hoist drive, set parameter 90.05 Load position scaled into D2D-link communication
with parameter 77.20 Pendulum length source 1 = par. 90.05.
Build and configure Antisway communication between the drives according to the
master/follower communication setup instructions. See Example 3: Parameter settings
for antisway communication from host to main trolley on page 68. See also figure in The
figure below shows the D2D-link configuration. on page 64.
Check that actual length in parameter 77.21 Active length from source follows the value
sent by the hoist drive.
Check that actual load is as shown in parameter 77.31 Active load (when driving hoist up
and down). The transmitted load value is set in the hoist drive with parameter 77.80 Load
to antisway selection (Internal = 77.81 Hoist load from torque act, Other…(75.40 Relative
hoist load, but in this case hoist speed optimization needs real crane data)
 Measuring and calculating a real pendulum arm with an empty hook

When measuring and calculating the real pendulum arm length, note that the real
pendulum arm length is not same as the rope length/hook position. The following
procedure sets the two values (rope length/hook position and real pendulum arm
length) to coincide with each other.
Note: This operation is done with an empty hook and Antisway function disabled.
Time for five full cycles 2 1

=
5
77.22 Up position swing time 77.21 Active length from source -->
UP 77.23 Up position length value
Time for five full cycles

= 77.21 Active length from source -->
5
77.24 Down position swing 77.25 Down position length value
time
DOWN
4 3
Hook in UP position
Step Action
1 Set parameter 77.01 Antisway enable = Disable. The mathematical length of pendulum
arm can be different for bridge and trolley directions, so these settings must be done for
both movements. See the above picture.
2 Move the hook to UP position, for example, 25% from top position (UP).
3 In the trolley drive, read the signal in parameter 77.21 Active length from source and
enter it to parameter 77.23 Up position length value. See (1) in above figure.
4 In the trolley drive, initiate load swing, for example, stop the trolley using emergency
stop.
5 Measure the time for five full oscillations. Divide the measured time by the number of
full oscillations (5). Set the calculated time in the parameter 77.22 Up position swing
time. See (2) in above figure.
6 While the hook is in the same UP position, repeat steps 3 to 5 with the long travel drive.
Hook in DOWN position
Step Action
1 Make sure that parameter 77.01 Antisway enable = Disable. The mathematical length
of pendulum arm can be different for bridge and trolley directions, so these settings
must be done for both movements. See the above picture.
2 Lower the hook to DOWN to the floor level, for example, 75% from top position (UP).
3 In the trolley drive, read the signal in parameter 77.21 Active length from source and
enter it to parameter 77.25 Down position length value. See (3) in above figure.
4 In the trolley drive, initiate load swing, for example, stop the trolley by using emergency
stop/fast stop.
5 Measure the time for five full oscillations. Divide the measured time by the number of
full oscillations (5). Set the calculated time in the parameter 77.24 Down position swing
time. See (4) in above figure.
6 While the hook is in the same DOWN position, repeat steps 3 to 5 with the long travel
drive.
Test with an empty hook
Step Action
1 Set parameters 77.01 Antisway enable = Enable and

77.02 Enable auto on function = Disable
2 Execute the test with an empty hook. Test the trolley and long travel movements.
3 If swinging still exists, switch OFF antisway temporarily and swing the hook. Now
measure/calculate the time for full cycle time and calculate the real pendulum length
using the below formula. Compare the results with parameter 77.27 Pendulum arm
length.
Pendulum arm length = 0.25 x One_full_cycle_time2 = 1/4 τ2
4 If the values are different, make sure the values are correct in parameters 77.22...77.25
and the actual position shown in parameter 77.21 Active length from source is updated
from the hoist drive or from the PLC.
 Determining pendulum arm offset

The pendulum arm offset is determined using one of the following methods.
• Step offset (page 135)
• Linear offset/weight sensitive offset (page 136)
• Direct offset (page 137)
• Auto offset (page 138)
The final offset is added to the pendulum arm length (from the hoist drive) and this
result is used by the antisway core. For more information, see Total pendulum arm
length on page 126.
Step offset
When the lifted load varies in shape, size and weight, the step offset method can be
used. The control can be taken from Load or from digital I/O (example, crane operator
or PLC). The load step is selected with parameter selection is made with parameters
77.36...77.38. The figure below illustrates the load based offset control.
Offset steps controlled by the actual load of the hoist.
COMP
77.31 77.33 Step1 source =
Active load IN1 IN>IN2 Load step 1 SWITCH
77.36 IN2 ACT
Load step1 77.39 Step offset1 IN1
COMP
IN>IN2 77.34 Step2 source =
IN1 SWITCH
Load step 2
77.37 IN2 ACT
Load step2
77.40 Step offset2 IN1
COMP
IN>IN2 77.35 Step3 source =
IN1 SWITCH
Load step 3
77.38 IN2 ACT
Load step3
77.41 Step offset3 IN1
BASIC PENDULUM ARM LENGTH

77.70 77.27 +/- OFFSET 1 [m]
Total pendulum Pendulum arm SUM
arm length length
+/- OFFSET 2 [m]
77.42 Active step +/- OFFSET 3 [m]

offset
Linear offset/weight sensitive offset

The below procedure describes the configurations when offset is directly proportional
(linear) to the weight of the lifted load. An example figure of the linear load
configuration and the load curve is shown after this procedure on page 137.
Step Action
1 Read the empty hook or the lowest possible load from parameter 77.31 Active load
(when moving UP).
2 Enter the value into parameter 77.52 Load min. Above this load, the linear effect to
pendulum arm is calculated.
3 Measure the pendulum time and calculate the corresponding total pendulum arm length
(five full cycles/5 = τ [s], length [m] = 0.25 x τ) m. Make sure that Antisway function is
disabled.
4 Calculate the difference between the result of step 3 and value in parameter
77.27 Pendulum arm length. Set this value into parameter 77.50 Load offset min.
5 Connect the highest possible load to the hook and read the load value from parameter
77.31 Active load (when moving UP).
6 Enter the value read in step 5 into parameter 77.53 Load max.
7 Measure the pendulum time and calculate the corresponding total pendulum arm length
(five full cycles/5 = τ [s], length [m] = 0.25 x τ) m. Make sure that Antisway function is
disabled.
8 Calculate the difference between the result of step 7 and value in parameter
77.27 Pendulum arm length. Set this value into parameter 77.51 Load offset max.
9 Trial run with different load. If swaying still exist, then calculate the real pendulum arm
length and compare with value in parameter 77.70 Total pendulum arm length and tune
points of linear offset.
Note: The accuracy remains same for any measurement unit other than millimeters,
for example, centimeters.
Example: Linear load configuration
a b c
15 tn
30 tn
45 tn
a, b and c are the pendulum arm offset
Linear load curve
77.51
77.50
77.52 77.53
Direct offset
When the pendulum arm offset is determined in a PLC program the value of the offset
can be directly written into the antisway drive. The value can be first written into, for
example, parameter 47.21 Data storage 1 int16 and picked up using pointer selection
in parameter 77.65 Direct offset source (=Parameter 47.21).
The source for direct offset can also be from analog inputs AI.
Auto offset
The Auto offset mode (parameter 77.56 Auto offset enable) can be used only when
the load is always lifted up from the same (approximately) floor level and it is
especially useful when several different load types and loading devices (lifting straps)
are in use.
In Auto offset mode, parameter 77.56 Auto offset enable is considered as full
pendulum arm length, meaning the load is just/almost touching the floor level.
The below procedure describes the configurations to use in the Auto offset mode.
Step Action
1 Measure and calculate the real pendulum arm length with an empty hook. See
page 133.
2 Pick-up the lightest load to be lifted during normal operation.
3 Enter a suitable load value between the empty condition (point 1) and small load
condition into parameter 77.58 Load minimum in auto mode (this is the decision level
between a load and no-load condition).
4 Put the empty hook swaying when close to the floor level and calculate the pendulum
arm. Enter the result into parameter 77.57 Full pendulum arm.
Five cycles/5 = ___ s, length = 0.25 x tau = ___ m
5 Put the load on the floor and lift it up and measure/calculate again. Compare that value
to the actual calculated pendulum arm in the signal 77.70 Total pendulum arm length. If
the values differ from each other considerably, change the setting of the parameter
77.57 Full pendulum arm respectively and repeat the measurement. The actual signal
77.60 Active auto offset shows the active offset.
Lifting different kind of objects from the same level
New offset is calculated every time

the load is lifted from the floor.
Eg. Offset = Parameter 77.57 Full
pendulum arm - hook position
Parameter 77.60 Active auto offset
= 77.57 Full pendulum arm -
77.27 Pendulum arm length
Power on acknowledgement
See related topics:
• Function description (page 139)
• Timing diagram (page 139)
• Wiring example (page 140)
 Function description
The Power on acknowledgement function checks that the main power is connected
and the drive is ready for operation. You can use this function, for example, to
automatically reset faults that are generated during the drive in standby.
The control board (BCU-xx or ZCU-xx) consists of an external +24 V power supply
that can be selected with parameter 95.04 Control board supply.
The source to Power on acknowledgement signal (par. 20.212) can be from the
following sources:
• typically from the auxiliary contact of the main contactor. By default, the signal is
connected to the DIIL input of the drive control unit. This is the default connection.
or
• from the Safe torque off (STO), parameter 06.18 Start inhibit status word, bit 7
inverted.
If the drive trips on a fault, and the Power on acknowledgment signal is activated (a
rising edge), the drive generates an internal fault reset after a time delay (20.213).
Meanwhile the Power on acknowledgement circuit is open (par. 20.212 = False) and
the drive shows the warning D20B Power on acknowledge.
 Timing diagram
Power on acknowledgement
Internal fault reset

20.213
Note: The same input [DIIL or STO status (P.6.18.7)] for Power on acknowledge (par. 20.212)
is also used for RUN ENABLE (par. 20.12 Run enable 1 source).
 Wiring example
~3
Drive control unit

XD24 Digital interlock
~ 1 DIIL Power acknowledge. See par. 20.212.
2 +24VD +24 V DC 200 mA
1
ACS880
Item Description
1 Main contactor
2 Auxiliary contact
Note: By default, the input DIIL is also used in par. 20.12 Run enable 1 source
Settings
Parameters: 20.212 Power on acknowledge, 20.213 Power on ackn reset delay
Warnings: D20B Power on acknowledge
Faults: -
Crane warning masking

The Crane warning masking function masks the predefined crane control warnings.
The warnings are defined with the two16-bit word parameters 31.40 Disable warnings
and 31.205 Crane warning masking. Each bit corresponds to a warning. The table
below lists the warnings and describes the bit conditions for masking a warning.
Bit Parameter 31.40 Disable warnings Parameter 31.205 Crane warning masking
0 = corresponding warning appears in the 0 = corresponding warning is masked. The
event logger or control panel. warning can be read only from parameters
1 = corresponding warning is masked. The 09.01 Crane SW1 and 09.02 Crane SW2.
warning can be read only from parameters 1 = corresponding warning appears in the
30.02 Torque limit status and 06.19 Speed event logger or control panel.
control status word
0 Overvoltage (A3A1 DC link overvoltage) D200 Brake slip at standstill2
1 - D201 Slowdown up, D202 Slowdown down
2 Encoder 1 error (A7E1 Encoder) D20C Slowdown safe zone
3 Encoder 2 error (A7E1 Encoder) D203 Hoist speed up limit, D204 Hoist speed down
limit
4 - D205 End limit 1, D206 End limit 2
5 - D20D External speed limit2
6 - D208 Joystick reference check
7 - D209 Joystick zero position2
8 - D20B Power on acknowledge
9 - D217 Slack rope
10 - D20A Fast stop
11 - E200 Follower 1 faulted, E201 Follower 2 faulted,
E202 Follower 3 faulted, D20F Follower 4 Faulted
Settings
Parameter: 31.40 Disable warnings, 31.205 Crane warning masking
Signals: 06.19 Speed control status word, 09.01 Crane SW1, 09.02 Crane SW2,
30.02 Torque limit status
Warnings: -
Faults: -
Toggle bit
• Function description (page 142)
• Function block diagram (page 142)
• Timing diagram (page 143)
• Example of Toggle bit function setup (page 143)
 Function description
The Toggle bit function can be used as an additional communication supervision
between the overriding system, e.g. a PLC and the drive. The function can be
activated with parameter 31.211 Toggle bit enable. The value of parameter 31.215
Toggle bit statusword, bit 0 is transfered into the overriding system through fieldbus.
Once the return bit (from the input defined with 31.214 Toggle bit source) is equal to
the value of 31.215, bit 0, the value of the latter is inverted and the timer is reset. In
the event of a communication loss, the return bit is not updated during the defined
delay and the function triggers a warning/fault. See the below timing diagram.
 Function block diagram

External control
PLC
Fieldbus status word ACS880

e.g. Main status word
from drive, bit 13
Fieldbus control word,

e.g. User control word
parameter 06.100, bit 0
ACS880 Crane control program

Toggle bit
31.211 Toggle bit enable supervision
ENABLE
D210 Toggle bit supervision wrn
31.212 Toggle bit action ACTION SEL
D109 Toggle bit supervision flt
DELAY
31.213 Toggle bit time delay
BIT IN BIT OUT 31.215 Toggle bit statusword, bit 0
31.214 Toggle bit source
Note: External control is intended to work like a repeater and does not modify the
signal in any way.
 Timing diagram
31.215
Toggle bit statusword,
bit 0
31.214
Toggle bit source
2
31.213
Toggle bit time delay 1 1 1
Toggle bit delay elapsed

time 4
31.215 Toggle bit statusword , D210 Toggle bit supervision wrn
bit 1, if 31.212
Toggle bit action = Warning 3 5
31.215 Toggle bit statusword , D109 Toggle bit supervision flt

bit 2, if 31.212
Toggle bit action = Fault
• As soon as the input configured by 31.214 Toggle bit source = 31.215 Toggle bit statusword bit 0, the
value of the latter is inverted and the toggle bit timer is reset.
• If in the time defined with 31.213 Toggle bit time delay, the return bit (31.214) is not equal to the output
toggle bit (31.215 bit 0), then the drive generates a warning or a fault depending on the setting in
31.212 Toggle bit action.
• Internal warning/fault flags are reset once the return bit is equal to the output toggle bit.
• Warning D210 Toggle bit supervision wrn is active according to firmware instruction.
• Fault D109 Toggle bit supervision flt remains active until a reset command is received.
 Example of Toggle bit function setup

The example below shows the parameter settings to configure the toggle bit function.
The software in the overriding system, such as the PLC, receives the bit from the
drive in data in1 (Main status word containing the toggle bit output) and redirects the
bit without any modifications back to the drive over fieldbus (in this example, PLC
uses data out 6 to send the return bit).
Parameter Value Remarks
Set the Toggle bit main settings
31.211 Toggle bit enable Enable
31.212 Toggle bit action Fault
31.213 Toggle bit time delay 500 ms Depends on communication speed
and software in the overriding
system.
31.214 Toggle bit source P.47.21.0 P.6.100.0 User control word 1 can
also be used.
Set bit 13 of the Main status word to transmit the Toggle bit out bit
06.32 MSW bit 13 sel P.31.215.0 The toggle bit output bit is added to
the main status word.
Set the overriding system to receive the status word containing the Toggle bit output bit as
data in1.
52.01 FBA A data in1 SW 16bit
Parameter Value Remarks

Set data storage parameter 47.21 to receive the Toggle bit return bit redirected from the
overriding system.
53.06 FBA data out 6 P.47.21[16] P.6.100.0 User control word 1 can
(see page 456) also be used.
Settings
Parameter: 31.211 Toggle bit enable, 31.212 Toggle bit action, 31.213 Toggle bit time
delay, 31.214 Toggle bit source.
Signal: 31.215 Toggle bit statusword
Warning: D210 Toggle bit supervision wrn
Fault: D109 Toggle bit supervision flt

Maintenance counters
In addition to the Supervision function (group 32 Supervision), the crane control
program contains the following three maintenance counters for supervising:
• Crane operating hours counter (page 145)
• Brake operated counts (page 145)
• Number of power on counts (page 146).
The values of these maintenance counters can be set/reset after some maintenance
actions or drive unit replacements. All these counters have warning limits. Parameter
09.02 Crane SW2 shows the actual status of these counter.
 Crane operating hours counter

This counter supervises the crane operating hours, for example, number of hours the
hoist was running with open brake.
Settings:
Parameters: 09.20 Crane operation hours, 33.200 Set crane operation hours, 33.201
Crane operation hrs init value, and 33.202 Crane operation hrs warning limit.
Warnings: D212 Crane operating hours
Faults: -
 Brake operated counts

This counter supervises the number of times mechanical brake was opened.
Settings:
Parameters: 09.21 Brake operation count, 33.210 Set brake oper counts, 33.211
Brake oper counts init value, and 33.212 Brake oper counts warning limit.
Warnings: D213 Brake oper counts
Faults: -
 Number of power on counts

This counter supervises the number of times the main power was connected to the
drive. It counts the number of power acknowledgments (parameter 20.212 Power on
acknowledge). See also Power on acknowledgement on page 139.
Settings:
Parameters: 09.22 Number of pwr on, 33.220 Set number of power on, 33.221
Number of pwr on init value, and 33.222 Number of pwr on warning limit.
Warnings: D214 Number of power on
Faults: -
Standard program features 147
5
Standard program features
The chapter describes
• the control locations and operating modes supported by the control program
• some of the more important functions in the control program that are not specific
to crane applications, such as motor control.
Contents See page
Local control vs. external control 148
Operating modes of the drive 150
Drive configuration and programming 153
Control interfaces 157
Motor control 171
Application control 195
DC voltage control 197
Safety and protections 201
Diagnostics 209
Miscellaneous 211
148 Standard program features
Local control vs. external control

The ACS880 has two main control locations:
• Local control (see page 148) and
• External control (see page 149).
The control location is selected with the Loc/Rem key on the control panel or in the
PC tool.
ACS880
2)
External control
I/O 1)
Local control PLC
Fieldbus adapter (Fxxx) or

DDCS communication
module
Embedded fieldbus
interface (EFB) or
Control panel or Drive master/follower link
composer PC tool (optional)
Control panel
M
3~
MOTOR
Encoder
1) Extra inputs/outputs can be added by installing optional I/O extension modules (FIO-xx) in
drive slots.
2) Encoder or resolver interface module(s) (FEN-xx) installed in drive slots.
 Local control
The control commands are given from the control panel keypad or from a PC
equipped with Drive composer when the drive is set to local control. Speed and
torque control modes are available for local control; frequency mode is available
when scalar motor control mode is used (see parameter 19.16 Local control mode).
Local control is mainly used during commissioning and maintenance. The control
panel always overrides the external control signal sources when used in local control.
Changing the control location to local can be prevented by parameter 19.17 Local
control disable.
The user can select by a parameter (49.05 Communication loss action) how the drive
reacts to a control panel or PC tool communication break. (The parameter has no
effect in external control.)
WARNING! With crane application, in local control, some supervisons and

interlocking are bypassed. For safety reasons, it is not recommneded to use
local control or you can limit the usage to very short period.
 External control
When the drive is in external control, control commands are given through
• the I/O terminals (digital and analog inputs), or optional I/O extension modules
• the embedded fieldbus interface or an optional fieldbus adapter module
• the external (DDCS) controller interface, and/or
• the master/follower link., and/or
• the control panel.
Two external control locations, EXT1 and EXT2, are available. The user can select
the sources of the start and stop commands separately for each location by
parameters 20.01…20.10. The operating mode can be selected separately for each
location (in parameter group 19 Operation mode), which enables quick switching
between different operating modes, for example speed and torque control. Selection
between EXT1 and EXT2 is done via any binary source such as a digital input or
fieldbus control word (see parameter 19.11 Ext1/Ext2 selection). The source of
reference is selectable for each control location separately.
The control location selection is checked on a 2 ms time level.
Using the control panel as an external control source

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

The drive can operate in several operating modes with different types of reference.
The mode is selectable for each control location (Local, EXT1 and EXT2) in
parameter group 19 Operation mode.
• General representation (page 151)
• Speed control mode (page 151)
• Torque control mode (page 152)
 General representation
The following is a general representation of the reference types and control chains.
The page numbers refer to detailed diagrams in chapter Control chain diagrams.
Speed Speed reference Speed reference Speed error Motor feedback

reference source selection ramping and calculation configuration
source selection II shaping (p 728) (p 726)
I (p 723) (p 724)
(p 722)
Torque Speed controller Load feedback

reference (p 729) and position
source selection counter
and modification configuration
(p 730) (p 727)
Reference Operating mode

selection for selection
torque controller (p 731)
(p 732)
Torque limitation
(p 733) Torque
controller
(p 734)
DTC motor
control mode
Scalar motor
control mode
 Speed control mode

The motor follows a speed reference given to the drive. This mode can be used either
with estimated speed as feedback, or with an encoder or resolver for better speed
control accuracy.
Note: As a safety measure, hoist drives must be equipped with a speed feedback
device, such as a pulse encoder.
Speed control mode is available in both local and external control. It is also available
both in DTC (Direct Torque Control) and scalar motor control modes. Parameter
99.04 Motor control mode can be used to select between DTC and scalar control
modes.
 Torque control mode

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

The crane control program is divided into two parts:
• firmware program
• application program.
Crane control program
Application program Firmware
Crane control Speed control

interface Drive logic
Mechanical brake I/O interface
control Parameter
Crane safety interface
Fieldbus interface
Protections M
Feedback
The firmware program performs the main control functions, including speed control,
drive logic (start/stop), I/O, feedback, communication and protection functions. The
application program extends the functions of the firmware program. Both the
application and firmware functions are configured and programmed with parameters.
• Programming via parameters (page 153)
• Adaptive programming (page 154)
• Application programming (page 156)
 Programming via parameters

Parameters configure all of the standard drive operations and can be set via
• the control panel, as described in chapter Using the control panel
• the Drive composer PC tool, as described in Drive composer user’s manual
(3AUA0000094606 [English]), or
• the fieldbus interface, as described in chapters Fieldbus control through the
embedded fieldbus interface (EFB) and Fieldbus control through a fieldbus
adapter.
All parameter settings are stored automatically to the permanent memory of the drive.
However, if an external +24 V DC power supply is used for the drive control unit, it is
highly recommended to force a save by using parameter 96.07 Parameter save
manually before powering down the control unit after any parameter changes have
been made.
If necessary, the default parameter values can be restored by parameter 96.06

Parameter restore.
 Adaptive programming
Conventionally, the user can control the operation of the drive by parameters.
However, the standard parameters have a fixed set of choices or a setting range. To
further customize the operation of the drive, an adaptive program can be constructed
out of a set of function blocks.
The Drive composer pro PC tool (version 1.10 or later, available separately) has an
Adaptive programming feature with a graphical user interface for building the custom
program. The function blocks include the usual arithmetic and logical functions, as
well as eg. selection, comparison and timer blocks. The program can contain a
maximum of 20 blocks. The adaptive program is executed on a 10 ms time level.
The physical inputs, drive status information, actual values, constants and data
storage parameters can be used as the input for the program. The output of the
program can be used eg. as a start signal, external event or reference, or connected
to the drive outputs. See below for a listing of the available inputs and outputs. Note
that connecting the output of the adaptive program to a selection parameter will write-
protect the parameter.
Parameter 07.30 Adaptive program status shows the status of the adaptive program.
The program can be disabled with parameter 96.70 Disable adaptive program.
For more information, see the Adaptive programming application guide
(3AXD50000028574 [English]).
Inputs available to the adaptive program
Input Source
I/O
DI1 10.02 DI delayed status, bit 0
DIIL 10.02 DI delayed status, bit 15
AI1 12.11 AI1 actual value
AI2 12.21 AI2 actual value
DIO1 11.02 DIO delayed status, bit 0
DIO2 11.02 DIO delayed status, bit 1
Actual signals
Motor speed 01.01 Motor speed used
Output frequency 01.06 Output frequency
Motor current 01.07 Motor current
Motor torque 01.10 Motor torque
Motor shaft power 01.17 Motor shaft power
Status
Enabled 06.16 Drive status word 1, bit 0
Inputs available to the adaptive program

Input Source
Inhibited 06.16 Drive status word 1, bit 1
Ready to start 06.16 Drive status word 1, bit 3
Tripped 06.11 Main status word, bit 3
At setpoint 06.11 Main status word, bit 8
Limiting 06.16 Drive status word 1, bit 7
Ext1 active 06.16 Drive status word 1, bit 10
Ext2 active 06.16 Drive status word 1, bit 11
Data storage
Data storage 1 real32 47.01 Data storage 1 real32
Outputs available to the adaptive program

Output Target
I/O
RO3 10.30 RO3 source
AO1 13.12 AO1 source
AO2 13.22 AO2 source
DIO1 11.06 DIO1 output source
DIO2 11.10 DIO2 output source
Start control
Ext1/Ext2 selection 19.11 Ext1/Ext2 selection
Ext1 in1 cmd 20.03 Ext1 in1 source
Fault reset 31.11 Limit word 1
Speed control
Speed ref1 22.11 Speed ref1 source
Speed ref2 22.12 Speed ref2 source
Speed additive 1 22.15 Speed additive 1 source
Speed controller proportional gain 25.02 Speed proportional gain
Speed controller integration time 25.03 Speed integration time
Limit function
Minimum torque 2 30.21 Minimum torque 2 source
Maximum torque 2 30.22 Maximum torque 2 source
Events
External event 1 31.01 External event 1 source
Outputs available to the adaptive program

Output Target
Data storage
Data storage 1 real 32 47.01 Data storage 1 real32
... ...
Data storage 8 real 32 47.08 Data storage 8 real32
 Application programming
The crane application program is based on the IEC 61131-3 standard. The program is
an in-house application and is locked to the user to avoid any changes to the
program.
Control interfaces
• Programmable analog inputs (page 157)
• Programmable analog outputs (page 157)
• Programmable digital inputs and outputs (page 158)
• Programmable relay outputs (page 158)
• Programmable I/O extensions (page 158)
• Fieldbus control (page 159)
• Master/follower functionality (page 160)
• External controller interface (page 166)
• Control of a supply unit (LSU) (page 168)
 Programmable analog inputs

The control unit has two programmable analog inputs. Each of the inputs can be
independently set as a voltage (0/2…10 V or -10…10 V) or current (0/4…20 mA)
input by a jumper or switch on the control unit. Each input can be filtered, inverted
and scaled. The analog inputs on the control unit are read on a 0.5 ms time level.
The number of analog inputs can be increased by installing FIO-11 or FAIO-01 I/O
extensions (see Programmable I/O extensions below). The analog inputs on
extension modules are read on a 2 ms time level.
The drive can be set to perform an action (for example, to generate a warning or fault)
if the value of an analog input moves out of a predefined range.
Settings
Parameter group 12 Standard AI (page 270).
 Programmable analog outputs

The control unit has two current (0…20 mA) analog outputs. Each output can be
filtered, inverted and scaled. The analog outputs on the control unit are updated on a
0.5 ms time level.
The number of analog outputs can be increased by installing FIO-11 or FAIO-01 I/O
extensions (see Programmable I/O extensions below). The analog outputs on
extension modules are updated on a 2 ms time level.
Settings
Parameter group 13 Standard AO (page 274).
 Programmable digital inputs and outputs

The control unit has six digital inputs, a digital start interlock input, and two digital
input/outputs (I/O that can be set as either an input or an output). The digital inputs on
the control unit are read on a 0.5 ms time level.
One digital input (DI6) doubles as a PTC thermistor input. See section Motor thermal
protection (page 202).
Digital input/output DIO1 can be used as a frequency input, DIO2 as a frequency
output.
The number of digital inputs/outputs can be increased by installing FIO-01, FIO-11 or
FDIO-01 I/O extensions (see Programmable I/O extensions below). The digital inputs
on extension modules are read on a 2 ms time level.
Settings
Parameter groups 10 Standard DI, RO (page 257) and 11 Standard DIO, FI, FO
(page 264).
 Programmable relay outputs

The control unit has three relay outputs. The signal to be indicated by the outputs can
be selected by parameters. The relay outputs on the control unit are updated on a
0.5 ms time level.
Relay outputs can be added by installing FIO-01 or FDIO-01 I/O extensions. The
relay outputs on extension modules are updated on a 2 ms time level.
Note:
• By default, relay output RO1 is used for the brake control command (10.24 RO1
source = 44.210, b0). The default value must not be changed.
• By default relay output RO2 is used for the watchdog output (10.27 RO2 source =
32.227, b1). The default value must not be changed.
Settings
Parameter group 10 Standard DI, RO (page 257).
 Programmable I/O extensions

Inputs and outputs can be added by using I/O extension modules. One to three
modules can be mounted on the slots of the control unit. Slots can be added by
connecting an FEA-03 I/O extension adapter.
The table below shows the number of I/O on the control unit as well as optional I/O
extension modules.
Digital inputs Digital I/Os Analog inputs Analog outputs Relay outputs
Location
(DI) (DIO) (AI) (AO) (RO)
Control unit 6 + DIIL 2 2 2 3
FIO-01 - 4 - - 2
FIO-11 - 2 3 1 -
FAIO-01 - - 2 2 -
FDIO-01 3 - - - 2
Three I/O extension modules can be activated and configured using parameter
groups 14…16.
Note: Each configuration parameter group contains parameters that display the
values of the inputs on that particular extension module. These parameters are only
way of utilizing the inputs on I/O extension modules as signal sources. To connect to
an input, choose the setting Other in the source selector parameter, then specify the
appropriate value parameter (and bit, for digital signals) in group 14, 15 or 16.
Settings
• Parameter groups 14 I/O extension module 1 (page 278), 15 I/O extension
module 2 (page 298), 16 I/O extension module 3 (page 302).
• Parameter 60.41 (page 474).
 Fieldbus control
The drive can be connected to several different automation systems through its
fieldbus interfaces. See chapters Fieldbus control through the embedded fieldbus
interface (EFB) (page 681) and Fieldbus control through a fieldbus adapter
(page 705).
Settings
Parameter groups 50 Fieldbus adapter (FBA) (page 446), 51 FBA A settings
(page 454), 52 FBA A data in (page 455), and 53 FBA A data out (page 456), 54 FBA
B settings (page 456), 55 FBA B data in (page 457), and 56 FBA B data
out(page 458).
 Master/follower functionality
General
Note: The crane control program uses its own master/follower communication with
D2D-link and ready made crane application interlocks with Synchro and antisway
controls. See section Master/follower communication in crane application on page 62.
However, the Master/Follower functionality can be implemented as described in this
section, but then you must separately build the crane application based interlocking.
The master/follower functionality can be used to link several drives together so that
the load can be evenly distributed between the drives. This is ideal in applications
where the motors are coupled to each other via gearing, chain, belt, etc.
The external control signals are typically connected to one drive only which acts as
the master. The master controls up to 10 followers by sending broadcast messages
over an electrical cable or fiber optic link. The master can read feedback signals from
up to 3 selected followers.
Speed-controlled
master
M
~ Process master
M
Process follower ~
(For example) Torque- or speed-
Master Control word Follower
controlled
Speed reference follower
DDCS
DDCS
Master/follower link
(For example)
Status word
01.01 Motor speed used
01.10 Motor torque
Fieldbus control
External control system (eg. PLC)

The master drive is typically speed-controlled and the other drives follow its torque or
speed reference. In general, a follower should be
• torque-controlled when the motor shafts of the master and the follower are rigidly
coupled by gearing, chain etc. so that no speed difference between the drives is
possible
• speed-controlled when the motor shafts of the master and the follower are flexibly
coupled so that a slight speed difference is possible. When both the master and
the follower are speed-controlled, drooping is also typically used (see parameter
25.08 Drooping rate). The distribution of load between the master and follower
can alternatively be adjusted as described in section Load share function with a
speed-controlled follower on page 162.
Note:
• With a speed-controlled follower (without load sharing), pay attention to the
acceleration and deceleration ramp times of the follower. If the ramp times are set
longer than in the master, the follower will follow its own acceleration/deceleration
ramp times rather than those from the master. In general, it is recommended to
set identical ramp times in both the master and the follower(s). Any ramp shape
settings (see parameters 23.16...23.19) should only be applied in the master.
• In some applications, both speed control and torque control of the follower are
required. In those cases, the operating mode can be switched by parameter
(19.12 Ext1 control mode or 19.14 Ext2 control mode). Another method is to set
one external control location to speed control mode, the other to torque control
mode. Then, a digital input of the follower can be used to switch between the
control locations. See sections Local control vs. external control (page 148) and
Operating modes of the drive (page 150).
• With torque control, follower parameter 26.15 Load share can be used to scale
the incoming torque reference for optimal load sharing between the master and
the follower. Some torque-controlled follower applications, eg. where the torque is
very low, or very low speed operation is required, may require encoder feedback.
• If a drive needs to quickly switch between master and follower statuses, one user
parameter set (see page 211) can be saved with the master settings, another with
the follower settings. The suitable settings can then be activated using eg. digital
inputs.
• In the crane application, the master/follower functionality is implemented in the
application program instead of the primary control program, because it contains
more number of nodes and more interlock signals. The function uses the D2D-link
and also uses antisway communication from the hoist drive to long travel and
trolley drives.
In case of limited followers, you can use the primary control based
Master/follower function having speed-torque or speed-speed combination with
limited interlocking.
For more information of the crane control master/follower function, see
Master/follower communication in crane application on page 62.
Load share function with a speed-controlled follower

Load sharing between the master and a speed-controlled follower can be used in
various applications. The load share function is implemented by fine-tuning the
follower speed reference with an additional trim based on the torque reference. The
torque reference is selected by parameter 23.42 Follower speed corr torq source (by
default, reference 2 received from the master). Load share is adjusted by parameter
26.15 Load share and activated by the source selected by 23.40 Follower speed
correction enable. Parameter 23.41 Follower speed correction gain provides a gain
adjustment for the speed correction. The final correction signal added to the speed
reference is shown by 23.39 Follower speed correction out. See the block diagram on
page 728.
Notes:
• The function can be enabled only when the drive is a speed-controlled follower in
remote control mode.
• Drooping (25.08 Drooping rate) is ignored when the load share function is active.
• The master and follower should have the same speed control tuning values.
• The speed correction term is limited by the speed error window parameters 24.44
Speed error window low and 24.43 Speed error window high. An active limitation
is indicated by 06.19 Speed control status word.
Communication
A master/follower link can be built by connecting the drives together with fiber optic
cables (may require additional equipment depending on existing drive hardware), or
by wiring together the XD2D connectors of the drives. The medium is selected by
parameter 60.01 M/F communication port.
Parameter 60.03 M/F mode defines whether the drive is the master or a follower on
the communication link. Typically, the speed-controlled process master drive is also
configured as the master in the communication.
The communication on the master/follower link is based on the DDCS protocol, which
employs data sets (specifically, data set 41). One data set contains three 16-bit
words. The contents of the data set are freely configurable using parameters
61.01…61.03. The data set broadcast by the master typically contains the control
word, speed reference and torque reference, while the followers return a status word
with two actual values.
The default setting of parameter 61.01 M/F data 1 selection is Follower CW. With this
setting in the master, a word consisting of bits 0…11 of 06.01 Main control word and
four bits selected by parameters 06.45…06.48 is broadcast to the followers.
However, bit 3 of the follower control word is modified so that it remains on as long as
the master is modulating, and its switching to 0 causes the follower to coast to a stop.
This is to synchronize the stopping of both master and follower.
Note: When the master is ramping down to a stop, the follower observes the
decreasing reference but receives no stop command until the master stops
modulating and clears bit 3 of the follower control word. Because of this, the
maximum and minimum speed limits on the follower drive should not have the same
sign − otherwise the follower would be pushed against the limit until the master finally
stops.
Three words of additional data can optionally be read from each follower. The
followers from which data is read are selected by parameter 60.14 M/F follower
selection in the master. In each follower drive, the data to be sent is selected by
parameters 61.01…61.03. The data is transferred in integer format over the link, and
displayed by parameters 62.28…62.36 in the master. The data can then be
forwarded to other parameters using 62.04…62.12.
To indicate faults in the followers, each follower must be configured to transmit its
status word as one of the above-mentioned data words. In the master, the
corresponding target parameter must be set to Follower SW. The action to be taken
when a follower is faulted is selected by 60.17 Follower fault action. External events
(see parameter group 31 Fault functions) can be used to indicate the status of other
bits of the status word.
Block diagrams of the master/follower communication are presented on pages 735
and 736.
Construction of the master/follower link

The master/follower link is formed by connecting the drives together using either
• shielded twisted-pair cable between the XD2D terminals of the drives, or
• fiber optic cables. Drives with a ZCU control unit require an additional FDCO
DDCS communication module; drives with a BCU control unit require an RDCO
module.
For connection diagrams of master/follower wiring with electrical cable (D2D), see the
drive hardware manuals.
Ring configuration with fiber optic cables
Master Follower 1 Follower 2
(ZCU) Control unit (BCU) Control unit (ZCU) Control unit
FDCO RDCO FDCO

CH2
T R T R T R
T = Transmitter; R = Receiver
Star configuration with fiber optic cables (1)
(ZCU) Control unit (ZCU) Control unit (BCU) Control unit
FDCO FDCO RDCO

CH2
T R T R T R
Follower 3
T = Transmitter (ZCU) Control unit

R = Receiver
T R
FDCO
R T R T R T R T
MSTR CH0 CH1 CH2
NDBU
Star configuration with fiber optic cables (2)
(ZCU) Control unit (ZCU) Control unit (BCU) Control unit
FDCO FDCO RDCO

CH2
TR TR T R
Follower 3
T = Transmitter (ZCU) Control unit

R = Receiver
T R
FDCO
R TR TR TR T
CHx CHx CHx CHx
NDBU
X13 = REGEN
Example parameter settings

The following is a checklist of parameters that need to be set when configuring the
master/follower link. In this example, the master broadcasts the Follower control
word, a speed reference and a torque reference. The follower returns a status word
and two actual values (this is not compulsory but is shown for clarity).
Master settings:
• Master/follower link activation
• 60.01 M/F communication port (fiber optic channel or XD2D selection)
• (60.02 M/F node address = 1)
• 60.03 M/F mode = DDCS master
• 60.05 M/F HW connection (Ring or Star for fiber optic, Star for wire)
• Data to be broadcast to the followers
• 61.01 M/F data 1 selection = Follower CW (Follower control word)
• 61.02 M/F data 2 selection = Used speed reference
• 61.03 M/F data 3 selection = Torque reference act 5
• Data to be read from the followers (optional)
• 60.14 M/F follower selection (selection of followers that data is read from)
• 62.04 Follower node 2 data 1 sel … 62.12 Follower node 4 data 3 sel
(mapping of data received from followers)
Follower settings:
• Master/follower link activation
• 60.01 M/F communication port (fiber optic channel or XD2D selection)
• 60.02 M/F node address = 2…60
• 60.03 M/F mode = DDCS follower
• 60.05 M/F HW connection (Ring or Star for fiber optic, Star for electrical cable)
• Mapping of data received from master
• 62.01 M/F data 1 selection = CW 16bit
• 62.02 M/F data 2 selection = Ref1 16bit
• 62.03 M/F data 3 selection = Ref2 16bit
• Selection of operating mode and control location
• 19.12 Ext1 control mode = Speed or Torque
• 20.01 Ext1 commands = M/F link
• 20.02 Ext1 start trigger type = Level
• Selection of reference sources
• 22.11 Speed ref1 source = M/F reference 1
• 26.11 Torque ref1 source = M/F reference 2
• Selection of data to be sent to master (optional)
• 61.01 M/F data 1 selection = SW 16bit
• 61.02 M/F data 2 selection = Act1 16bit
• 61.03 M/F data 3 selection = Act2 16bit
Specifications of the fiber optic master/follower link

• Maximum fiber optic cable length:
• FDCO-01/02 or RDCO-04 with POF (Plastic Optic Fiber): 30 m
• FDCO-01/02 or RDCO-04 with HCS (Hard-clad Silica Fiber): 200 m
• For distances up to 1000 m, use two NOCR-01 optical converter/repeaters
with glass optic cable (GOF, 6.25 micrometers, Multi-Mode)
• Maximum shielded twisted-pair cable length: 50 m
• Transmission rate: 4 Mbit/s
• Total performance of the link: < 5 ms to transfer references between the master
and followers.
• Protocol: DDCS (Distributed Drives Communication System)
Settings and diagnostics

Parameter groups 60 DDCS communication (page 466), 61 D2D and DDCS transmit
data (page 484) and 62 D2D and DDCS receive data (page 488).
 External controller interface

General
The drive can be connected to an external controller (such as the ABB AC 800M)
using either fiber optic or twisted-pair cables. The ACS880 is compatible with both the
ModuleBus and DriveBus connections. Note that some features of DriveBus (such as
BusManager) are not supported.
Topology
An example connection with either a ZCU-based or BCU-based drive using fiber optic
cables is shown below.
Drives with ZCU control unit require an additional FDCO DDCS communication
module; drives with a BCU control unit require an RDCO or FDCO module. The BCU
has a dedicated slot for the RDCO − an FDCO module can also be used with a BCU
control unit but it will reserve one of the three universal option module slots. Ring and
star configurations are also possible much in the same way as with the
master/follower link (see section Master/follower functionality on page 160). The
notable difference is that the external controller connects to channel CH0 on the
RDCO module instead of CH2. The channel on the FDCO communication module
can be freely selected. See the connection diagram below.
ACS880 ACS880
Controller (ZCU) Control unit (BCU) Control unit
FDCO RDCO
CH0
T R T R T R
The external controller can also be wired to the D2D (RS-485) connector using
shielded, twisted-pair cable. The selection of the connection is made by parameter
60.51 DDCS controller comm port.
The transfer rate can be selected with parameter 60.56 DDCS controller baud rate.
Communication
The communication between the controller and the drive consists of data sets of three
16-bit words each. The controller sends a data set to the drive, which returns the next
data set to the controller.
The communication uses data sets 10…33. The contents of the data sets are freely
configurable, but data set 10 typically contains the control word and one or two
references, while data set 11 returns the status word and selected actual values. For
ModuleBus communication, the ACS880 can be set up as a “standard drive” or an
“engineered drive” by parameter 60.50 DDCS controller drive type. ModuleBus
communication uses data sets 1...4 with a “standard drive” and data sets 10...33 with
an “engineered drive”.
The word that is defined as the control word is internally connected to the drive logic;
the coding of the bits is as presented in section Contents of the fieldbus Control word
(page 711). Likewise, the coding of the status word is as shown in section Contents of
the fieldbus status word (page 713).
By default, data sets 32 and 33 are dedicated for the mailbox service, which enables
the setting or inquiry of parameter values as follows:
Controller ACS880
Parameter write to drive

Transmit address Data set Par. Value
Value = 4865* 3 2 .1
Transmit data Data set 1 9 .0 1 1 2 3 4
Value = 1234 3 2 .2 1
.
Transmit address Data set
.
.
.
.
.
feedback 3 3 .1
Value = 4865*
Parameter read from drive
Inquire address Data set 2 4 .0 3 4 3 0 0
Value = 6147** 3 2 .3 . .
. .
Inquired data Data set . .
Value = 4300 3 3 .2
Inquire address Data set
feedback 3 3 .3
Value = 6147**
*19.01 -> 13h.01h -> 1301h = 4865

**24.03 -> 18h.03h -> 1803h = 6147
By parameter 60.64 Mailbox dataset selection, data sets 24 and 25 can be selected
instead of data sets 32 and 33.
The update intervals of the data sets are as follows:
• Data sets 10...11:2 ms
• Data sets 18...25, 32, 33:100 ms.
Settings
Parameter groups 60 DDCS communication (page 466), 61 D2D and DDCS transmit
data (page 484) and 62 D2D and DDCS receive data (page 488).
 Control of a supply unit (LSU)

General
With drives that consist of a supply unit and one inverter unit, the supply unit can be
controlled through the inverter unit. (In drive systems consisting of multiple inverter
units, this feature is not typically used.) For example, the inverter unit can send a
control word and references to the supply unit, enabling the control of both units from
the interfaces of one control program.
For more information, refer to the firmware manual of the other converter.
Topology
The control units of the supply unit and the inverter unit are connected by fiber optic
cables. With BCU-x2 control units equipped with RDCO modules, CH1 of the inverter
is connected to CH0 of the supply unit.
An example connection with a BCU-based drive system is shown below.
Supply unit (LSU) Inverter unit (INU)
(BCU) Control unit (BCU) Control unit
RDCO RDCO
CH0 CH1
T R T R
With single drives consisting of separate supply and inverter units, the connection is
factory-wired.
The fibre optic link specifications stated under Specifications of the fiber optic
master/follower link (page 166) apply.
Communication
The communication between the converters and the drive consists of data sets of
three 16-bit words each. The inverter unit sends a data set to the supply unit, which
returns the next data set to the inverter unit.
The communication uses data sets 10 and 11, updated at 2 ms intervals. Data set 10
is sent by the inverter unit to the supply unit, while data set 11 is sent by the supply
unit to the inverter unit. The contents of the data sets are freely configurable, but data
set 10 typically contains the control word, while data set 11 returns the status word.
With ACS880 single drives with a separately-controlled supply unit, the basic
communication is initialized by parameter 95.20 HW options word 1. This will make
several parameters visible (see below).
If the supply unit is regenerative (such as an IGBT supply unit), it is possible to send
a DC voltage and/or reactive power reference to it from inverter parameter grou 94
LSU control. A regenerative supply unit will also send actual signals to the inverter
unit which are visible in parameter group 01 Actual values.
Settings
• Parameters 01.102...01.164 (page 227), 05.111...05.121 (page 237), and 95.20
HW options word 1 (page 548).
• Parameter groups 60 DDCS communication (page 466), 61 D2D and DDCS
transmit data (page 484), and 62 D2D and DDCS receive data (page 488).
Motor control
• Direct torque control (DTC) (page 171)
• Reference ramping (page 172)
• Constant speeds (page 172)
• Critical speeds (page 173)
• Speed controller autotune (page 173)
• Oscillation damping (page 177)
• Rush control (page 179)
• Encoder support (page 179)
• Position counter (page 182)
• Scalar motor control (page 187)
• Autophasing (page 188)
• Flux braking (page 191)
• DC magnetization (page 192)
• Hexagonal motor flux pattern (page 194)
 Direct torque control (DTC)

The motor control of the ACS880 is based on direct torque control (DTC), the ABB
premium motor control platform. The switching of the output semiconductors is
controlled to achieve the required stator flux and motor torque. The switching
frequency is changed only if the actual torque and stator flux values differ from their
reference values by more than the allowed hysteresis. The reference value for the
torque controller comes from the speed controller or directly from an external torque
reference source.
Motor control requires measurement of the DC voltage and two motor phase
currents. Stator flux is calculated by integrating the motor voltage in vector space.
Motor torque is calculated as a cross product of the stator flux and the rotor current.
By utilizing the identified motor model, the stator flux estimate is improved. Actual
motor shaft speed is not needed for the motor control.
The main difference between traditional control and DTC is that torque control
operates at the same time level as the power switch control. There is no separate
voltage and frequency controlled PWM modulator; the output stage switching is
wholly based on the electromagnetic state of the motor.
The best motor control accuracy is achieved by activating a separate motor
identification run (ID run).
See also section Scalar motor control (page 187).
Settings
Parameters 99.04 Motor control mode (page 567) and 99.13 ID run requested (page
569).
 Reference ramping
Acceleration and deceleration ramping times can be set individually for speed, torque
and frequency reference.
With a speed or frequency reference, the ramps are defined as the time it takes for
the drive to accelerate or decelerate between zero speed or frequency and the value
defined by parameter 46.01 Speed scaling. The user can switch between two preset
ramp sets using a binary source such as a digital input. For speed reference, also the
shape of the ramp can be controlled.
With a torque reference, the ramps are defined as the time it takes for the reference
to change between zero and nominal motor torque (parameter 01.30 Nominal torque
scale).
Special acceleration/deceleration ramps

The change rate of the motor potentiometer function (page 187) is adjustable. The
same rate applies in both directions.
A deceleration ramp can be defined for emergency stop (“Off3” mode).
Settings
• Speed reference ramping: Parameters 23.16…23.19 and 46.01
(pages 23.19 and 438).
• Motor potentiometer: Parameters 22.220...22.227 (page 339).
 Constant speeds
Constant speeds and frequencies are predefined references that can be quickly
activated, for example, through digital inputs. It is possible to define up to 7 constant
speeds for speed control.
WARNING: Constant speeds override the normal reference irrespective of

where the reference is coming from.
The constant speeds function operates on a 2 ms time level.
Settings
Parameter groups 22 Speed reference selection (page 329).
 Critical speeds
Critical speeds (sometimes called “skip speeds”) can be predefined for applications
where it is necessary to avoid certain motor speeds or speed ranges because of, for
example, mechanical resonance problems.
The Critical speeds function prevents the reference from dwelling within a critical
band for extended times. When a changing reference (22.87 Speed reference act 7)
enters a critical range, the output of the function (22.01 Speed ref unlimited) freezes
until the reference exits the range. Any instant change in the output is smoothed out
by the ramping function further in the reference chain.
Example
A fan has vibrations in the range of 540 to 690 rpm and 1380 to 1560 rpm. To make
the drive avoid these speed ranges,
• enable the critical speeds function by turning on bit 0 of parameter 22.51 Critical
speed function, and
• set the critical speed ranges as in the figure below.
22.01 Speed ref unlimited (rpm)

(output of function)
1 Par. 22.52 = 540 rpm
2 Par. 22.53 = 690 rpm
1560
3 Par. 22.54 = 1380 rpm
1380
4 Par. 22.55 = 1560 rpm
690
540
1 2 3 4 22.87 Speed reference act 7 (rpm)

(input of function)
Settings
• Critical speeds: parameters 22.51…22.57 (page 334)
 Speed controller autotune

The speed controller of the drive can be automatically adjusted using the autotune
function. Autotuning is based on an estimation of the mechanical time constant
(inertia) of the motor and machine.
The autotune routine runs the motor through a series of acceleration/deceleration
cycles, the number of which can be adjusted by parameter 25.40 Autotune repeat
times. Higher values produce more accurate results, especially if the difference
between initial and maximum speeds is small.
The maximum torque reference used during autotuning is the initial torque (ie. torque
when the routine is activated) plus 25.38 Autotune torque step, unless limited by the
maximum torque limit (parameter group 30 Limits) or the nominal motor torque (99
Motor data). The calculated maximum speed during the routine is the initial speed (ie.
speed when the routine is activated) + 25.39 Autotune speed step, unless limited by
30.12 Maximum speed or 99.09 Motor nominal speed.
The diagram below shows the behavior of speed and torque during the autotune
routine. In this example, 25.40 Autotune repeat times is set to 2.
Initial torque + [25.38]
Initial torque
t
Initial speed + [25.39]
Initial speed
Notes:
• If the drive cannot produce the requested braking power during the routine, the
results will be based on the acceleration stages only, and not as accurate as with
full braking power.
• The motor exceeds the calculated maximum speed slightly at the end of each
acceleration stage.
Before activating the autotune routine

The prerequisites for performing the autotune routine are:
• The motor identification run (ID run) has been successfully completed
• Speed and torque limits (parameter group 30 Limits) have been set
• The speed feedback has been monitored for noise, vibrations and other
disturbances caused by the mechanics of the system, and following parameters
are set to eliminate these disturbances:
• speed feedback filtering (parameter group 90 Feedback selection)
• speed error filtering (24 Speed reference conditioning) and
• zero speed (21.06 and 21.07)
have been set to eliminate these disturbances.
• The drive has been started and is running in speed control mode.
After these conditions have been fulfilled, autotuning can be activated by parameter
25.33 Speed controller autotune (or the signal source selected by it).
Autotune modes
Autotuning can be performed in three different ways depending on the setting of
parameter 25.34 Speed controller autotune mode. The selections Smooth, Normal
and Tight define how the drive torque reference should react to a speed reference
step after tuning. The selection Smooth will produce a slow but robust response;
Tight will produce a fast response but possibly too high gain values for some
applications. The figure below shows speed responses at a speed reference step
(typically 1…20%).
n
%
nN
A B C D
t
A: Undercompensated
B: Normally tuned (autotuning)
C: Normally tuned (manually). Better dynamic performance than with B
D: Overcompensated speed controller
Autotune results
At the end of a successful autotune routine, its results are automatically transferred
into parameters
• 25.02 Speed proportional gain (proportional gain of the speed controller)
• 25.03 Speed integration time (integration time of the speed controller)
• 25.37 Mechanical time constant (mechanical time constant of the motor and
machine).
Nevertheless, it is still possible to manually adjust the controller gain, integration time
and derivation time.
The figure below is a simplified block diagram of the speed controller. The controller
output is the reference for the torque controller.
Derivative
acceleration
compensation
Proportional,
Speed integral + Torque
+ Error +
reference - value + reference
Derivative
Actual speed
Warning indications
A warning message, AF90 Speed controller autotuning, will be generated if the
autotune routine does not complete successfully. See chapter Fault tracing (page
637) for further information.
Settings
Parameters 25.33…25.40 (page 361).
 Oscillation damping
The oscillation damping function can be used to cancel out oscillations caused by
mechanics or an oscillating DC voltage. The input – a signal reflecting the oscillation
– is selected by parameter 26.53 Oscillation compensation input. The oscillation
damping function outputs a sine wave (26.58 Oscillation damping output) which can
be summed with the torque reference with a suitable gain (26.57 Oscillation damping
gain) and phase shift (26.56 Oscillation damping phase).
The oscillation damping algorithm can be activated without connecting the output to
the reference chain, which makes it possible to compare the input and output of the
function and make further adjustments before applying the result.
Tuning procedure for oscillation damping
• Select the input by 26.53 Oscillation compensation input

• Activate algorithm by 26.51 Oscillation damping
• Set 26.57 Oscillation damping gain to 0
• Calculate the oscillation frequency from the signal (use the

Drive composer PC tool) and set 26.55 Oscillation damping
frequency
• Set 26.56 Oscillation damping phase*
• Increase 26.57 Oscillation damping gain gradually so that the

algorithm starts to take effect.
oscillation amplitude decreases oscillation amplitude increases
• Increase 26.57 Oscillation damping gain • Try other values for 26.56 Oscillation
and adjust 26.56 Oscillation damping damping phase
phase if necessary
*If the phasing of a DC oscillation cannot

• Increase 26.57 Oscillation damping gain be determined by measuring, the value of
to suppress the oscillation totally. 0 degrees is usually a suitable initial value.
Note: Changing the speed error low-pass filter time constant or the integration time of
the speed controller can affect the tuning of the oscillation damping algorithm. It is
recommended to tune the speed controller before the oscillation damping algorithm.
(The speed controller gain can be adjusted after the tuning of this algorithm.)
Settings
Parameters 26.51…26.58
 Rush control
In torque control, the motor could potentially rush if the load were suddenly lost. The
control program has a rush control function that decreases the torque reference
whenever the motor speed exceeds 30.11 Minimum speed or 30.12 Maximum speed.
Motor speed
Overspeed trip level
31.30 Overpeed trip margin

30.12
0
Time
Rush control active
30.11
31.30 Overpeed trip margin
The function is based on a PI controller. The proportional gain and integration time
can be defined by parameters. Settings these to zero disables rush control.
Settings
Parameters 26.81 Rush control gain and 26.82 Rush control integration time
 Encoder support
The program supports two single-turn or multiturn encoders (or resolvers). The
following optional interface modules are available:
• TTL encoder interface FEN-01: two TTL inputs, TTL output (for encoder
emulation and echo) and two digital inputs
• Absolute encoder interface FEN-11: absolute encoder input, TTL input, TTL
output (for encoder emulation and echo) and two digital inputs
• Resolver interface FEN-21: resolver input, TTL input, TTL output (for encoder
emulation and echo) and two digital inputs
• HTL encoder interface FEN-31: HTL encoder input, TTL output (for encoder
emulation and echo) and two digital inputs.
• HTL/TTL encoder interface FSE-31 (for use with an FSO-xx safety functions
module): Two HTL/TTL encoder inputs (one HTL input supported at the time of
publication).
The interface module is to be installed onto one of the option slots on the drive control
unit. The module (except the FSE-31) can also be installed onto an FEA-03 extension
adapter.
Encoder echo and emulation

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

Three different sources can be used as speed and position feedback: encoder 1,
encoder 2, or motor position estimate. Any of these can be used for load position
calculation or motor control. The load position calculation makes it possible, for
example, to determine the position of a conveyor belt or the height of the load on a
crane. The feedback sources are selected by parameters 90.41 Motor feedback
selection and 90.51 Load feedback selection.
For detailed parameter connections of the motor and load feedback functions, see
the block diagrams on pages 726 and 727. For more information on load position
calculation, see section Position counter (page 182).
Any mechanical gear ratios between the components (motor, motor encoder, load,
load encoder) are specified using the gear parameters shown in the diagram below.
Load encoder to load Motor to load scaling Motor encoder to motor
scaling scaling
90.53 90.43
90.62
X Load X X
X
e Y Y
M YY
e
Motor
Load encoder
encoder
90.61
90.54
90.44
Any gear ratio between the load encoder and the load is defined by 90.53 Load gear
numerator and 90.54 Load gear denominator. Similarly, any gear ratio between the
motor encoder and the motor is defined by 90.43 Motor gear numerator and 90.44
Motor gear denominator. In case the internal estimated position is chosen as load
feedback, the gear ratio between the motor and load can be defined by 90.61 Gear
numerator and 90.62 Gear denominator. By default, all of the ratios mentioned above
are 1:1. The ratios can only be changed with the drive stopped; new settings require
validation by 91.10 Encoder parameter refresh.
 Position counter
Note: The crane control program uses its own interface to the position counter. The
difference is a reset/preset logic. See Power on acknowledgement on page 139. The
user can build a position counter for crane application without using any ready-made
logic.
The control program contains a position counter feature that can be used to indicate
the position of a load. The output of the counter function, parameter 90.07 Load
position scaled int, indicates the scaled number of revolutions read from the selected
source (see section Load and motor feedback on page 180).
The relation between revolutions of the motor shaft and the translatory movement of
the load (in any given unit of distance) is define by parameters 90.63 Feed constant
numerator and 90.64 Feed constant denominator. This gear function can be changed
without the need of a parameter refresh or position counter reintialization. However,
the counter ouput is updated only after the new position input data is received.
For detailed parameter connections of the load feedback function, see the block
diagram on page 727.
(Proximity switch) Source set by 90.67 1

0
(Initialization inhibit) Source set by 90.68 1
0
90.35 Pos counter status 1
bit 4, Pos counter init ready 0
90.35 Pos counter status 1
bit 5, Position counter re-init disabled 0
(Re-init request) Source set by 90.69 1

0
Drive fault 1
0
+2147483
90.07 Load position scaled int
(Initial value) Source set by 90.59

(by default, 90.58)
-21474838
The position counter is initialized by setting a known physical position of the load into
the control program. The initial position (for example, the home/zero position, or the
distance from it) can be entered manually in a parameter (90.58 Pos counter init
value int), or taken from another parameter. This position is set as the value of the
position counter (90.07 Load position scaled int) when the source selected by 90.67
Pos counter init cmd source, such as a proximity switch connected to a digital input, is
activated. A successful initialization is indicated by bit 4 of 90.35 Pos counter status.
Any subsequent initialization of the counter must first be enabled by 90.69 Reset pos
counter init ready. To define a time window for initializations, 90.68 Disable pos
counter initialization can be used to inhibit the signal from the proximity switch. An
active fault in the drive also prevents counter initialization.
Encoder error handling

When an encoder is used for load feedback, the action taken in case of an encoder
error is specified by 90.55 Load feedback fault. If the parameter is set to Warning, the
calculation continues smoothly using estimated motor position. If the encoder
recovers from the error, the calculation will smoothly switch back to encoder
feedback. The load position signals (90.04, 90.05 and 90.07) will continue to be
updated all the time, but bit 6 of 90.35 Pos counter status will be set to indicate
potentially inaccurate position data. In addition, bit 4 of 90.35 will be cleared upon the
next stop as a recommendation to reinitialize the position counter.
Parameter 90.60 Pos counter error and boot action defines whether position
calculation resumes from the previous value over an encoder error or control unit
reboot. By default, bit 4 of 90.35 Pos counter status is cleared after an error,
indicating that reinitialization is needed. With 90.60 set to Continue from previous
value, the position values are retained over an error or reboot; bit 6 of 90.35 is set
however to indicate that an error occurred.
Note: With a multiturn absolute encoder, bit 6 of 90.35 is cleared at the next stop of
the drive if the encoder has recovered from the error; bit 4 is not cleared. The status
of the position counter is retained over a control unit reboot, after which position
calculation resumes from the absolute position given by the encoder, taking into
account the initial position specified by 90.58.
WARNING! If the drive is in stopped state when an encoder error occurs, or if

the drive is not powered, parameters 90.04, 90.05, 90.07 and 90.35 are not
updated because no movement of the load can be detected. When using previous
position values (90.60 Pos counter error and boot action is set to Continue from
previous value), be aware that the position data is unreliable if the load is able to
move.
Reading/writing position counter values through fieldbus

The parameters of the position counter function, such as 90.07 Load position scaled
int and 90.58 Pos counter init value int, can be accessed from an upper-level control
system in the following formats:
• 16-bit integer (if 16 bits are sufficient for the application)
• 32-bit integer (can be accessed as two consequent 16-bit words)
For example, to read parameter 90.07 Load position scaled int through fieldbus, set
the selection parameter of the desired dataset (in group 52) to Other – 90.07, and
select the format. If you select a 32-bit format, the subsequent data word is also
automatically reserved.
Configuration of HTL encoder motor feedback

In the Quick start-up guide, see section Configuring speed feedback using a HTL
encoder on page 45.
Example 1: Using the same encoder for both load and motor feedback
The drive controls a motor used for lifting a load in a crane. An encoder attached to
the motor shaft is used as feedback for motor control. The same encoder is also used
for calculating the height of the load in the desired unit. A gear exists between the
motor shaft and the cable drum. The encoder is configured as Encoder 1 as shown in
Configuration of HTL encoder motor feedback above. In addition, the following
settings are made:
• 90.43 Motor gear numerator = 1
• 90.44 Motor gear denominator = 1
(No gear is needed as the encoder is mounted directly on the motor shaft.)
• 90.53 Load gear numerator = 1
• 90.54 Load gear denominator = 50
The cable drum turns one revolution per 50 revolutions of the motor shaft.
• 90.61 Gear numerator = 1
• 90.62 Gear denominator = 1
(These parameters need not be changed as position estimate is not being used
for feedback.)
• 90.63 Feed constant numerator = 7
• 90.64 Feed constant denominator = 10
The load moves 70 centimeters, ie. 7/10 of a meter, per one revolution of the
cable drum.
The load height in meters can be read from 90.07 Load position scaled int, while
90.03 Load speed displays the rotational speed of the cable drum.
Example 2: Using two encoders

One encoder (encoder 1) is used for motor feedback. The encoder is connected to
the motor shaft through a gear. Another encoder (encoder 2) measures the line
speed elsewhere in the machine. Each encoder is configured as shown in
Configuration of HTL encoder motor feedback above. In addition, the following
settings are made:
• 90.41 Motor feedback selection = Encoder 1
• 90.43 Motor gear numerator = 1
• 90.44 Motor gear denominator = 3
The encoder turns three revolutions per one revolution of the motor shaft.
The line speed measured by encoder 2 can be read from 90.03 Load speed. This
value is given in rpm which can be converted into another unit by using 90.53 Load
gear numerator and 90.54 Load gear denominator. Note that the feed constant gear
cannot be used in this conversion because it does not affect 90.03 Load speed.
Example 3: ACS 600 / ACS800 compatibility

With ACS 600 and ACS800 drives, both the rising and falling edges from encoder
channels A and B are typically counted to achieve best possible accuracy. Thus the
received pulse number per revolution equals four times the nominal pulse number of
the encoder.
In this example, an HTL-type 2048-pulse encoder is fitted directly on the motor shaft.
The desired initial position to correspond the proximity switch is 66770.
In the ACS880, the following settings are made:
• 92.01 Encoder 1 type = HTL
• 92.02 Encoder 1 source = Module 1
• 92.10 Pulses/revolution = 2048
• 92.13 Position estimation enable = Enable 92.13
• 90.63 Feed constant numerator = 8192 (that is 4 × value of 92.10, as the
received number of pulses is 4 times nominal. See also parameter 92.12
Resolver polepairs)
• The desired “data out” parameter is set to Other – 90.58 Pos counter init value
int (32-bit format). Only the high word needs to be specified – the subsequent
data word is reserved for the low word automatically.
• The desired sources (such as digital inputs or user bits of the control word) are
selected in 90.67 Pos counter init cmd source and 90.69 Reset pos counter
init ready.
In the PLC, if the initial value is set in 32-bit format using low and high words
(corresponding to ACS800 parameters POS COUNT INIT LO and POS COUNT INIT
HI), enter the value 66770 into these words as follows:
For example,
PROFIBUS:
• FBA data out x = POS COUNT INIT HI = 1 (as bit 16 equals 66536)
• FBA data out (x + 1) = POS COUNT INIT LO = 1234.
ABB Automation using DDCS communication, eg.:
• Data set 12.1 = POS COUNT INIT HI
• Data set 12.2 = POS COUNT INIT LO
To test the configuration of the PLC, initialize the position counter with the encoder
connected. The initial value sent from the PLC should immediately be reflected by
90.07 Load position scaled int in the drive. The same value should then appear in the
PLC after having been read from the drive.
Settings
Parameter groups 90 Feedback selection (page 523), 91 Encoder module settings
(page 533), 92 Encoder 1 configuration (page 536) and 93 Encoder 2 configuration
(page 543).
 Scalar motor control

It is possible to select scalar control as the motor control method instead of DTC
(Direct Torque Control). In scalar control mode, the drive is controlled with a speed
reference. However, the outstanding performance of DTC is not achieved in scalar
control.
It is recommended to activate scalar motor control mode
• if the nominal current of the motor is less than 1/6 of the nominal output current of
the drive
• if the drive is used without a motor connected (for example, for test purposes)
• if the drive runs a medium-voltage motor through a step-up transformer, or
• in multimotor drives, if the
• load is not equally shared between the motors,
• motors are of different sizes, or
• motors are to be changed after motor identification (ID run)
The scalar control mode can be used for long travel and trolley movements.
Note:
• Scalar control mode must not be used for hoisting the drive.
• In scalar control, some standard features are not available.
• For crane application, disable Torque proving and Brake open torque. Select the
following:
See also section Operating modes of the drive (page 150).
IR compensation for scalar motor control

IR compensation (also known as voltage boost) is Motor voltage
available only when the motor control mode is
IR compensation
scalar. When IR compensation is activated, the
drive gives an extra voltage boost to the motor at
low speeds. IR compensation is useful in
applications that require a high break-away torque.
In Direct Torque Control (DTC), no IR No compensation
compensation is possible or needed as it is applied
f (Hz)
automatically.
Settings
Parameters 97.12 IR comp step-up frequency, 97.13 IR compensation and 99.04
Motor control mode.
 Autophasing
Autophasing is an automatic measurement routine to determine the angular position
of the magnetic flux of a permanent magnet synchronous motor or the magnetic axis
of a synchronous reluctance motor. The motor control requires the absolute position
of the rotor flux in order to control motor torque accurately.
Sensors like absolute encoders and resolvers indicate the rotor position at all times
after the offset between the zero angle of rotor and that of the sensor has been
established. On the other hand, a standard pulse encoder determines the rotor
position when it rotates but the initial position is not known. However, a pulse encoder
can be used as an absolute encoder if it is equipped with Hall sensors, albeit with
coarse initial position accuracy. Hall sensors generate commutation pulses that
change their state six times during one revolution, so it is only known within which 60°
sector of a complete revolution the initial position is.
Many encoders give a zero pulse (also called Z-pulse) once during each rotation. The
position of the zero pulse is fixed. If this position is known with respect to zero
position used by motor control, the rotor position at the instant of the zero pulse is
also known.
Using zero pulse improves the robustness of the rotor position measurement. The
rotor position must be determined during starting because the initial value given the
encoder is zero. The autophasing routine determines the position, but there is a risk
of some position error. If the zero pulse position is known in advance, the position
found by autophasing can be corrected as soon as the zero pulse is detected for the
first time after starting.
Rotor
ș
Absolute encoder/resolver
S
The autophasing routine is performed with permanent magnet synchronous motors

and synchronous reluctance motors in the following cases:
1. One-time measurement of the rotor and encoder position difference when an
absolute encoder, a resolver, or an encoder with commutation signals is used
2. At every power-up when an incremental encoder is used
3. With open-loop motor control, repetitive measurement of the rotor position at
every start.
4. When the position of the zero pulse must be measured before the first start after
power-up.
Note: In closed-loop control, autophasing is performed automatically after the motor
identification run (ID run). Autophasing is also performed automatically before starting
when necessary.
In open-loop control, the zero angle of the rotor is determined before the starting. In
closed-loop control, the actual angle of the rotor is determined with autophasing when
the sensor indicates zero angle. The offset of the angle must be determined because
the actual zero angles of the sensor and the rotor do not usually match. The
autophasing mode determines how this operation is done both in open-loop and
closed-loop control.
The rotor position offset used in motor control can also be given by the user – see
parameter 98.15 Position offset user. Note that the autophasing routine also writes its
result into this parameter. The results are updated even if user settings are not
enabled by 98.01 User motor model mode.
Note: In open-loop mode, the motor always turns when it is started as the shaft is
turned towards the remanence flux.
Autophasing modes
Several autophasing modes are available (see parameter 21.13 Autophasing mode).
The turning mode (Turning) is recommended especially with case 1 (see the list
above) as it is the most robust and accurate method. In turning mode, the motor shaft
is turned back and forward (±360/polepairs)° in order to determine the rotor position.
In case 3 (open-loop control), the shaft is turned only in one direction and the angle is
smaller.
Another turning mode, Turning with Z-pulse, can be used if there is difficulty using the
normal turning mode, for example, because of significant friction. With this mode, the
rotor is turned slowly until a zero pulse is detected from the encoder. When the zero
pulse is detected for the first time, its position is stored into parameter 98.15 Position
offset user, which can be edited for fine-tuning. Note that it is not mandatory to use
this mode with a zero pulse encoder. In open-loop control, the two turning modes are
identical.
The standstill modes (Standstill 1, Standstill 2) can be used if the motor cannot be
turned (for example, when the load is connected). As the characteristics of motors
and loads differ, testing must be done to find out the most suitable standstill mode.
The drive is capable of determining the rotor position when started into a running
motor in open-loop or closed-loop control. In this situation, the setting of 21.13
Autophasing mode has no effect.
The autophasing routine can fail and therefore it is recommended to perform the
routine several times and check the value of parameter 98.15 Position offset user.
An autophasing fault (3385 Autophasing) can occur with a running motor if the
estimated angle of the motor differs too much from the measured angle. This could
be caused by, for example, the following:
• The encoder is slipping on the motor shaft
• An incorrect value has been entered into 98.15 Position offset user
• The motor is already turning before the autophasing routine is started
• Turning mode is selected in 21.13 Autophasing mode but the motor shaft is
locked
• Turning with Z-pulse mode is selected in 21.13 Autophasing mode, but no zero
pulse is detected within a revolution of the motor
• The wrong motor type is selected in 99.03 Motor type
• Motor ID run has failed.
Settings
Parameters 21.13 Autophasing mode, 98.15 Position offset user and 99.13 ID run
requested
 Flux braking
The drive can provide greater deceleration by raising the level of magnetization in the
motor. By increasing the motor flux, the energy generated by the motor during
braking can be converted to motor thermal energy.
Motor TBr
(%) TBr = Braking torque
speed TN TN = 100 Nm
No flux braking 60
40 Flux braking
20
Flux braking No flux braking
t (s) f (Hz)
The drive monitors the motor status continuously, also during flux braking. Therefore,
flux braking can be used both for stopping the motor and for changing the speed. The
other benefits of flux braking are:
• The braking starts immediately after a stop command is given. The function does
not need to wait for the flux reduction before it can start the braking.
• The cooling of the induction motor is efficient. The stator current of the motor
increases during flux braking, not the rotor current. The stator cools much more
efficiently than the rotor.
• Flux braking can be used with induction motors and permanent magnet
synchronous motors.
Two braking power levels are available:
• Moderate braking provides faster deceleration compared to a situation where flux
braking is disabled. The flux level of the motor is limited to prevent excessive
heating of the motor.
• Full braking exploits almost all available current to convert the mechanical braking
energy to motor thermal energy. Braking time is shorter compared to moderate
braking. In cyclic use, motor heating may be significant.
WARNING: The motor needs to be rated to absorb the thermal energy

generated by flux braking.
Settings
Parameter 97.05 Flux braking
 DC magnetization
DC magnetization can be applied to the motor to
• heat the motor to remove or prevent condensation, or
• to lock the rotor at, or near zero speed.
Pre-heating
A motor pre-heating function is available to prevent condensation in a stopped motor,
or to remove condensation from the motor before start. Pre-heating involves feeding
a DC current into the motor to heat up the windings.
Pre-heating is deactivated at start, or when one of the other DC magnetization
functions is activated. With the drive stopped, pre-heating is disabled by the safe
torque off function, a drive fault state, or the process PID sleep function. Pre-heating
can only start after one minute has elapsed from stopping the drive.
A digital source to control pre-heating is selected by parameter 21.14 Pre-heating
input source. The heating current is set by 21.16 Pre-heating current.
Pre-magnetization
Pre-magnetization refers to DC magnetization of the motor before start. Depending
on the selected start mode (21.01 Start mode or 21.19 Scalar start mode), pre-
magnetization can be applied to guarantee the highest possible breakaway torque,
up to 200% of the nominal torque of the motor. By adjusting the pre-magnetization
time (21.02 Magnetization time), it is possible to synchronize the motor start and, for
example, the release of a mechanical brake.
DC hold
The function makes it possible to lock the rotor at (near) zero speed in the middle of
normal operation. DC hold is activated by parameter 21.08 DC current control. When
both the reference and motor speed drop below a certain level (parameter 21.09 DC
hold speed), the drive stops generating sinusoidal current and starts to inject DC into
the motor. The current is set by parameter 21.10 DC current reference. When the
reference exceeds parameter 21.09 DC hold speed, normal drive operation

continues.
Motor speed DC hold
Reference
21.09 DC hold speed
Notes:
• DC hold is only available in speed control in DTC motor control mode (see
page 150).
• The function applies the DC current to one phase only, depending on the position
of the rotor. The return current will be shared between the other phases.
Post-magnetization
This feature keeps the motor magnetized for a certain period (parameter 21.11 Post
magnetization time) after stopping. This is to prevent the machinery from moving
under load, for example before a mechanical brake can be applied. Post-
magnetization is activated by parameter 21.08 DC current control. The magnetization
current is set by parameter 21.10 DC current reference.
Note: Post-magnetization is only available in speed control in DTC motor control
mode.
Continuous magnetization
This feature is used in processes requiring motors to be stopped (for example, to
stand by until the new material is processed) and then quickly start without
magnetizing them first.
In crane application, the Extended run time function uses this feature with parameter
21.12 Continuous magnetization command. See Extended run time on page 92.
Settings
Parameters 06.21 Drive status word 3, 21.01 Start mode, 21.02 Magnetization time,
21.08...21.12, 21.14 Pre-heating input source, 21.16 Pre-heating current.
 Hexagonal motor flux pattern

Note: This feature is available only in scalar motor control mode (see page 150).
Typically, the drive controls the motor flux so that the rotating flux vector follows a
circular pattern. This is ideal for most applications. However, when operating above
the field weakening point (FWP), it is not possible to reach 100% of the output
voltage. This reduces the peak load capacity of the drive.
Using a hexagonal motor flux vector pattern, the maximum output voltage can be
reached above the field weakening point. This increases the peak load capacity
compared to the circular pattern, but the continuous load capacity in the range of
FWP … 1.6 × FWP is reduced because of increasing losses. With hexagonal motor
flux active, the pattern changes from circular to hexagonal gradually as the frequency
rises from 100% to 120% of the FWP.
Settings
Parameters 97.18 Hexagonal field weakening and 97.19 Hexagonal field weakening
point (page 563).
Application control
 Motor potentiometer
The motor potentiometer is, in effect, a counter whose value can be adjusted up and
down using two digital signals selected by parameters 22.73 Motor potentiometer up
source and 22.74 Motor potentiometer down source. Note that these signals have no
effect when the drive is stopped.
When enabled by 22.71 Motor potentiometer function, the motor potentiometer
assumes the value set by 22.72 Motor potentiometer initial value. Depending on the
mode selected in 22.71, the motor potentiometer value is either retained or reset over
a power cycle.
The change rate is defined in 22.75 Motor potentiometer ramp time as the time it
would take for the value to change from the minimum (22.76 Motor potentiometer min
value) to the maximum (22.77 Motor potentiometer max value) or vice versa. If the up
and down signals are simultaneously on, the motor potentiometer value does not
change.
The output of the function is shown by 22.80 Motor potentiometer ref act, which can
directly be set as the source of any selector parameter such as 22.11 Speed ref1
source.
The following example shows the behavior of the motor potentiometer value.
1
22.73
0
1
22.74
0
22.77
22.80
0
22.76
22.75
Note: In crane application, the motor potentiometer parameters 22.71…22.80 are

hidden because these parameters are used for crane motor potentiometer function
(see page 99).
You can use the normal motor potentiometer by opening the user lock in parameter
96.02 Pass code with the code 584. Then the motor potentiometer parameters
22.71...22.80 are visible. Again set parameter 96.02 to 1 to hide this and the rest of
hidden parameters
Settings
Parameters 22.71…22.80.
DC voltage control
• Overvoltage control (page 197)
• Undervoltage control (power loss ride-through) (page 197)
• Voltage control and trip limits (page 199)
• Brake chopper (page 200)
 Overvoltage control
Overvoltage control of the intermediate DC link is typically needed when the motor is
in generating mode. The motor can generate when it decelerates or when the load
overhauls the motor shaft, causing the shaft to turn faster than the applied speed or
frequency. To prevent the DC voltage from exceeding the overvoltage control limit,
the overvoltage controller automatically decreases the generating torque when the
limit is reached. The overvoltage controller also increases any programmed
deceleration times if the limit is reached; to achieve shorter deceleration times, a
brake chopper and resistor may be required.
 Undervoltage control (power loss ride-through)

If the incoming supply voltage is cut off, the drive will continue to operate by utilizing
the kinetic energy of the rotating motor. The drive will be fully operational as long as
the motor rotates and generates energy to the drive. The drive can continue
operation after the break if the main contactor (if present) remained closed.
Note: Units equipped with a main contactor must be equipped with a hold circuit (e.g.
UPS) to keep the contactor control circuit closed during a short supply break.
Umains
TM fout UDC
(Nm) (Hz) (V DC)
UDC
160 80 520
120 60 390
fout
80 40 260
TM
40 20 130
t (s)
1.6 4.8 8 11.2 14.4
UDC= intermediate circuit voltage of the drive, fout = output frequency of the drive, TM = motor torque
Loss of supply voltage at nominal load (fout = 40 Hz). The intermediate circuit DC voltage drops to the
minimum limit. The controller keeps the voltage steady as long as the mains is switched off. The drive runs
the motor in generator mode. The motor speed falls but the drive is operational as long as the motor has
enough kinetic energy.
Automatic restart
It is possible to restart the drive automatically after a short (max. 5 seconds) power
supply failure by using the Automatic restart function provided that the drive is
allowed to run for 5 seconds without the cooling fans operating.
When enabled, the function takes the following actions upon a supply failure to
enable a successful restart:
• The undervoltage fault is suppressed (but a warning is generated)
• Modulation and cooling is stopped to conserve any remaining energy
• DC circuit pre-charging is enabled.
If the DC voltage is restored before the expiration of the period defined by parameter
21.18 Auto restart time and the start signal is still on, normal operation will continue.
However, if the DC voltage remains too low at that point, the drive trips on a fault,
3280 Standby timeout.
WARNING! Before you activate the function, make sure that no dangerous
situations can occur. the function restarts the drive automatically and continues
operation after a supply break.
 Voltage control and trip limits

The control and trip limits of the intermediate DC voltage regulator are relative to the
supply voltage as well as drive/inverter type. The DC voltage is approximately 1.35
times the line-to-line supply voltage, and is displayed by parameter 01.11 DC voltage.
The following table shows the values of selected DC voltage levels in volts. All
voltages are relative to the supply voltage range selected in parameter 95.01 Supply
voltage.
Supply voltage range [V] (see 95.01 Supply voltage)

Level 208…240 380…415 440…480 500 525…600 660…690
Overvoltage fault limit 489/440* 800 878 880 1113 1218
Overvoltage control limit 389 700 778 810 1013 1118
Internal brake chopper at 100%
403 697 806 806 1008 1159
pulse width
Internal brake chopper at 0%
375 648 749 780 936 1077
pulse width
Overvoltage warning limit 373 644 745 776 932 1071
DC voltage at upper bound of
324 560 648 675 810 932
supply voltage range (UDCmax)
DC voltage at lower bound of
281 513 594 675 709 891
supply voltage range
Undervoltage control and warning
239 436 505 574 602 757
limit
Charging activation/standby limit 225 410 475 540 567 713
Undervoltage fault limit 168 308 356 405 425 535
*489 V with frames R1...R3, 440 V with frames R4...R8.
Settings
Parameters 01.11 DC voltage, 30.30 Overvoltage control, 30.31 Undervoltage
control, 95.01 Supply voltage and 95.02 Adaptive voltage limits.
 Brake chopper
A brake chopper can be used to handle the energy generated by a decelerating
motor. When the DC voltage rises high enough, the chopper connects the DC circuit
to an external brake resistor. The chopper operates on the pulse width modulation
principle.
The internal brake choppers of ACS880 drives start conducting when the DC link
voltage reaches 1.156 × UDCmax. 100% pulse width is reached at approximately 1.2 ×
UDCmax, depending on supply voltage range – see table under Voltage control and
trip limits above. (UDCmax is the DC voltage corresponding to the maximum of the AC
supply voltage range.) For information on external brake choppers, refer to their
documentation.
Note: For runtime braking, overvoltage control (parameter 30.30 Overvoltage control)
needs to be disabled for the chopper to operate.
In the crane control program, the overvoltage control (parameter 30.30 Overvoltage
control) is disabled by default and brake chopper (parameter 43.06 Brake chopper
function) is set as Enabled without thermal model.
Settings
Parameters 01.11 DC voltage and 30.30 Overvoltage control; parameter group 43
Brake chopper.
Safety and protections

• Emergency stop (page 201)
• Motor thermal protection (page 202)
• Thermal protection of motor cable (page 205)
• User load curve (page 205)
• Other programmable protection functions (page 206)
• Automatic fault resets (page 208)
 Emergency stop
The emergency stop function is used by the control program. An emergency stop can
be generated through fieldbus (parameter 06.01 Main control word, bits 0…2).
The mode of the emergency stop from the control program is always Off3: Stop by
the emergency stop ramp, defined by parameter 23.23 Emergency stop time.
The ramp-down of the motor speed can be supervised by parameters 31.32
Emergency ramp supervision and 31.33 Emergency ramp supervision delay.
Notes:
• For SIL 3 / PL e-level emergency stop functions, the drive can be fitted with a
TÜV-certified FSO-xx safety options module. The module can then be
incorporated into certified safety systems.
• The installer of the equipment is responsible for installing the emergency stop
devices and all additional devices needed for the emergency stop function to fulfill
the required emergency stop categories. For more information, contact your local
ABB representative.
• After an emergency stop signal is detected, the emergency stop function cannot
be canceled even though the signal is canceled.
• If the minimum (or maximum) torque limit is set to 0%, the emergency stop
function may not be able to stop the drive.
• Speed and torque reference additives (parameters 22.15, 22.17, 26.16, 26.25 and
26.41) and reference ramp shapes (23.16...23.19) are ignored in case of
emergency ramp stops.
Note: In the crane control program, the crane movement can be stopped using the
Fast stop function. See section Fast stop on page 105.
Settings
Parameters 06.17 Drive status word 2, 06.18 Start inhibit status word,
23.23 Emergency stop time, 31.32 Emergency ramp supervision and 31.33
Emergency ramp supervision delay.
 Motor thermal protection

The control program features two separate motor temperature monitoring functions.
The temperature data sources and warning/trip limits can be set up independently for
each function.
The motor temperature can be monitored using
• the motor thermal protection model (estimated temperature derived internally
inside the drive), or
• sensors installed in the windings. This results in a more accurate motor model.
In addition to temperature monitoring, a protection function is available for ‘Ex’ motors
installed in a potentially explosive atmosphere.
Motor thermal protection model

The drive calculates the temperature of the motor on the basis of the following
assumptions:
1. When power is applied to the drive for the first time, the motor is assumed to be at
ambient temperature (defined by parameter 35.50 Motor ambient temperature).
After this, when power is applied to the drive, the motor is assumed to be at the
estimated temperature.
2. Motor temperature is calculated using the user-adjustable motor thermal time and
motor load curve. The load curve should be adjusted in case the ambient
temperature exceeds 30 °C.
Note: The motor thermal model can be used when only one motor is connected to
the inverter.
Temperature monitoring using PTC sensors

One PTC sensor can be connected to digital input DI6. FEN-xx encoder interfaces
(optional) also have a connection for one PTC sensor.
+24VD
T
DI6
The resistance of the PTC sensor increases when its temperature rises. The
increasing resistance of the sensor decreases the voltage at the input, and eventually
its state switches from 1 to 0, indicating overtemperature.
1...3 PTC sensors can also be connected in series to an analog input and an analog
output. The analog output feeds a constant excitation current of 1.6 mA through the
sensor. The sensor resistance increases as the motor temperature rises, as does the
voltage over the sensor. The temperature measurement function calculates the
resistance of the sensor and generates an indication if overtemperature is detected.
For wiring of the sensor, refer to the Hardware Manual of the drive.
The figure below shows typical PTC sensor resistance values as a function of
temperature.
Ohm
4000
1330
550
100
In addition to the above, optional FEN-xx encoder interfaces, and FPTC-xx modules
have connections for PTC sensors. Refer to the module-specific documentation for
more information.
Temperature monitoring using Pt100 or PT1000 sensors

1…3 Pt100 or PT1000 sensors can be connected in series to an analog input and an
analog output.
The analog output feeds a constant excitation current of 9.1 mA (Pt100) or 1 mA
(Pt1000) through the sensor. The sensor resistance increases as the motor
temperature rises, as does the voltage over the sensor. The temperature
measurement function reads the voltage through the analog input and converts it into
degrees Celsius.
The warning and fault limits can be adjusted by parameters.
For the wiring of the sensor, refer to the Hardware Manual of the drive.
Temperature monitoring using KTY84 sensors

One KTY84 sensor can be connected to an analog input and an analog output on the
control unit.
The analog output feeds a constant excitation current of 2.0 mA through the sensor.
The sensor resistance increases as the motor temperature rises, as does the voltage
over the sensor. The temperature measurement function reads the voltage through
the analog input and converts it into degrees Celsius.
FEN-xx encoder interfaces (optional) also have a connection for one KTY84 sensor.
The figure and table below show typical KTY84 sensor resistance values as a
function of the motor operating temperature.
Ohm
3000
2000
KTY84 scaling
90 °C = 936 ohm
110 °C = 1063 ohm
130 °C = 1197 ohm 1000
150 °C = 1340 ohm
0 T oC
-100 0 100 200 300
The warning and fault limits can be adjusted by parameters.

For the wiring of the sensor, refer to the Hardware Manual of the drive.
Motor fan control logic (parameters 35.100…35.106)

If the motor has an external cooling fan, it is possible to use a drive signal (for
example, running/stopped) to control the starter of the fan via a relay or digital output.
A digital input can be selected for fan feedback. A loss of the feedback signal will
optionally cause a warning or a fault.
Start and stop delays can be defined for the fan. In addition, a feedback delay can be
set to define the time within which feedback must be received after the fan starts.
Ex motor support (parameters 95.15, bit 0)

The control program has a temperature protection function for Ex motors located in a
potentially explosive atmosphere. The protection is enabled by setting bit 0 of
parameter 95.15 Special HW settings.
Settings
Parameter groups 35 Motor thermal protection and 91 Encoder module settings;
parameter 95.15 Special HW settings.
 Thermal protection of motor cable

The control program contains a thermal protection function for the motor cable. This
function should be used, for example, when the nominal current of the drive exceeds
the current-carrying capacity of the motor cable.
The program calculates the temperature of the cable on the basis of the following
data:
• Measured output current (parameter 01.07 Motor current)
• Nominal continuous current rating of the cable, specified by 35.61 Cable nominal
current, and
• Thermal time constant of the cable, specified by 35.62 Cable thermal rise time.
When the calculated temperature of the cable reaches 102% of the rated maximum,
a warning (A480 Motor cable overload) is given. The drive trips on a fault (4000 Motor
cable overload) when 106% is reached.
Settings
Parameters 35.60…35.62.
 User load curve

The user load curve provides a function that monitors an input signal (eg. motor
torque or motor current) as a function of drive output speed or frequency. The
function includes both high limit (overload) and low limit (underload) monitoring.
Overload monitoring can, for example, be used to detect a pump becoming clogged
or a saw blade hitting a knot. Underload monitoring can detect the load being lost, for
example because of the snapping of a transmission belt.
The monitoring is effective within a motor speed and/or frequency range. The
frequency range is used with a frequency reference in scalar motor control mode;
otherwise, the speed range is used. The range is defined by five speed (parameters
37.11…37.15) or frequency (37.16…37.20) values. The values are positive, but the
monitoring is symmetrically active in the negative direction as the sign of the
monitored signal is ignored. Outside the speed/frequency range, the monitoring is
disabled.
An underload (37.21…37.25) and overload (37.31…37.35) limit is set for each of the
five speed or frequency points. Between these points, the limits are interpolated
linearly to form overload and underload curves.
Monitored signal (37.02)
OVERLOAD
37.31 (%)
37.35 (%)
ALLOWED 37.25 (%)

OPERATION
37.21 (%)
UNDERLOAD
37.11 (rpm) 37.12 37.13 37.14 37.15 Speed

37.16 (Hz) 37.17 37.18 37.19 37.20 Frequency
The action (none, warning or fault) taken when the signal exits the allowed operation
area can be selected separately for overload and underload conditions (parameters
37.03 and 37.04 respectively). Each condition also has an optional timer to delay the
selected action (37.41 and 37.42).
Settings
Parameter group 37 User load curve (page 424).
 Other programmable protection functions

External events (parameters 31.01…31.10)
Five different event signals from the process can be connected to selectable inputs to
generate trips and warnings for the driven equipment. When the signal is lost, an
external event (fault, warning, or a mere log entry) is generated. The contents of the
message can be edited on the control panel by selecting Menu - Settings - Edit
texts.
Motor phase loss detection (parameter 31.19)

The parameter selects how the drive reacts whenever a motor phase loss is detected.
Earth (Ground) fault detection (parameter 31.20)

The earth fault detection function is based on sum current measurement. Note that
• an earth fault in the supply cable does not activate the protection
• in a grounded supply, the protection activates within 2 milliseconds
• in an ungrounded supply, the supply capacitance must be 1 microfarad or more
• the capacitive currents caused by shielded motor cables up to 300 meters will not
activate the protection
• the protection is deactivated when the drive is stopped.
Supply phase loss detection (parameter 31.21)

The parameter selects how the drive reacts whenever a supply phase loss is
detected.
Safe torque off detection (parameter 31.22)

The drive monitors the status of the Safe torque off input, and this parameter selects
which indications are given when the signals are lost. (The parameter does not affect
the operation of the Safe torque off function itself). For more information on the Safe
torque off function, see the Hardware manual.
Swapped supply and motor cabling (parameter 31.23)

The drive can detect if the supply and motor cables have accidentally been swapped
(for example, if the supply is connected to the motor connection of the drive). The
parameter selects if a fault is generated or not. Note that the protection should be
disabled in drive/inverter hardware supplied from a common DC bus.
Stall protection (parameters 31.24…31.28)

The drive protects the motor in a stall situation. It is possible to adjust the supervision
limits (current, frequency and time) and choose how the drive reacts to a motor stall
condition.
Overspeed protection (parameter 31.30)

The user can set overspeed limits by specifying a margin that is added to the
currently-used maximum and minimum speed limits.
Ramp stop supervision (parameters 31.32, 31.33, 31.37 and 31.38)

The control program has a supervision function for both the normal and emergency
stop ramps. The user can either define a maximum time for stopping, or a maximum
deviation from the expected deceleration rate. If the drive fails to stop in the expected
manner, a fault is generated and the drive coasts to a stop.
Custom motor current fault limit (parameter 31.42)

The control program sets a motor current limit based on drive hardware. In most
cases, the default value is appropriate. However, a lower limit can be manually set by
the user, for example, to protect a permanent magnet motor from demagnetization.
Local control loss detection (parameter 49.05)

The parameter selects how the drive reacts to a control panel or PC tool
communication break.
 Automatic fault resets

The drive can automatically reset itself after overcurrent, overvoltage, undervoltage
and external faults. The user can also specify a fault (excluding Safe torque off
related faults) that is reset automatically.
By default, automatic resets are off and must be specifically activated by the user.
WARNING! Before you activate the function, make sure that no dangerous
situations can occur. The function resets the drive automatically and continues
operation after a fault.
Settings
Diagnostics
• Fault and warning messages, data logging (page 209)
• Signal supervision (page 209)
• Maintenance timers and counters (page 209)
• Load analyzer (page 210)
 Fault and warning messages, data logging

See chapter Fault tracing (page 637).
 Signal supervision
Three signals can be selected to be supervised by this function. Whenever a
supervised signal exceeds or falls below predefined limits, a bit in 32.01 Supervision
status is activated, and a warning or fault generated. The contents of the message
can be edited on the control panel by selecting Menu - Settings - Edit texts.
The supervised signal is low-pass filtered. The supervision operates on a 2 ms time
level. The configuration parameters are scanned for changes on a 10 ms time level.
Settings
Parameter group 32 Supervision
 Maintenance timers and counters

The program has six different maintenance timers or counters that can be configured
to generate a warning when a pre-defined limit is reached. The contents of the
message can be edited on the control panel by selecting Menu - Settings - Edit
texts.
The timer/counter can be set to monitor any parameter. This feature is especially
useful as a service reminder.
There are three types of counters:
• On-time timers. Measures the time a binary source (for example, a bit in a status
word) is on.
• Signal edge counters. The counter is incremented whenever the monitored binary
source changes state.
• Value counters. The counter measures, by integration, the monitored parameter.
A warning is given when the calculated area below the signal peak exceeds a
user-defined limit.
Settings
Parameter group 33 Generic timer & counter
 Load analyzer
Peak value logger
The user can select a signal to be monitored by a peak value logger. The logger
records the peak value of the signal along with the time the peak occurred, as well as
motor current, DC voltage and motor speed at the time of the peak. The peak value is
sampled at 2 ms intervals.
Amplitude loggers
The control program has two amplitude loggers.
For amplitude logger 2, you can select a signal to be sampled at 200 ms intervals,
and specify a value that corresponds to 100%. The collected samples are sorted into
10 read-only parameters according to their amplitude. Each parameter represents an
amplitude range of 10 percentage points wide, and displays the percentage of the
collected samples that fall within that range. Note that the lowest range also contains
negative values (if any), while the highest range also contains the values above
100%.
Percentage of samples
<10%
>90%
10…20%
20…30%
30…40%
40…50%
50…60%
60…70%
70…80%
80…90%
Amplitude ranges
(parameters 36.40…36.49)
Amplitude logger 1 is fixed to monitor motor current, and cannot be reset. With
amplitude logger 1, 100% corresponds to the maximum output current of the drive
(Imax as given in the hardware manual). The measured current is logged
continuously. The distribution of samples is shown by parameters 36.20…36.29.
Settings
Parameter group 36 Load analyzer
Miscellaneous
• User parameter sets (page 211)
• Parameter checksum calculation (page 211)
• User lock (page 212)
• Data storage parameters (page 213)
• Reduced run function (page 213)
• du/dt filter support (page 215)
• Sine filter support (page 215)
 User parameter sets

The drive supports four user parameter sets that can be saved to the permanent
memory and recalled using drive parameters. It is also possible to use digital inputs to
switch between user parameter sets.
A user parameter set contains all editable values in parameter groups 10…99 except
• forced I/O values such as parameters 10.03 DI force selection and 10.04 DI force
data
• I/O extension module settings (groups 14…16)
• fieldbus communication enable parameters (50.01 FBA A enable and 50.31 FBA
B enable)
• other fieldbus communication settings (groups 51...56 and 58)
• encoder configuration settings (groups 92…93), and
• parameter 95.01 Supply voltage.
As the motor settings are included in the user parameter sets, make sure the settings
correspond to the motor used in the application before recalling a user set. In an
application where different motors are used with the drive, the motor ID run needs to
be performed with each motor and the results saved to different user sets. The
appropriate set can then be recalled when the motor is switched.
Settings
Signal: 09.02 Crane SW1, bits 2...5 indicates the loaded user set 1...4
 Parameter checksum calculation

A parameter checksum can be calculated from a user-definable set of parameters to
monitor changes in the drive configuration. The calculated checksum is compared to
1…4 reference checksums; in case of a mismatch, an event (a pure event, warning or
fault) is generated.
By default, the set of parameters included in the calculation contain most parameters
with the exception of
• actual signals
• parameter group 47 Data storage
• parameters that are activated to validate new settings (such as 51.27 and 96.07)
• parameters that are not saved to the flash memory (such as 96.24…96.26)
• parameters that are internally calculated from others (such as 98.09…98.14).
• dynamic parameters (eg. parameters that vary according to hardware), and
• application program parameters.
The default set can be edited using the Drive customizer PC tool.
Settings
Parameters 96.53…96.59 (page 555).
 User lock
For better cybersecurity, it is highly recommended that you set a master password to
prevent for example, the changing of parameter values and/or the loading of firmware
and other files.
WARNING! ABB will not be liable for damages or losses caused by failure to
activate the user lock using a new pass code. See Cyber security disclaimer
(page 19).
To activate the user lock for the first time,

1. Enter the default pass code, 10000000, into 96.02 Pass code. This makes the
parameters 96.100…96.102 visible.
2. Enter a new pass code into 96.100 Change user pass code. Always use eight
digits. If using Drive composer, finish with the Enter key.
3. Confirm the new pass code in 96.101 Confirm user pass code.
WARNING! Store the pass code in a safe place. If the pass code is lost, even
ABB cannot open the user lock.
4. In 96.102 User lock functionality, define the actions you want to prevent.
Note: We recommend that you select all the actions unless otherwise required by
the application.
5. Enter an invalid (random) pass code into 96.02 Pass code.
6. Activate 96.08 Control board boot, or cycle the power to the control unit.
7. Check that parameters 96.100…96.102 are hidden. If they are not hidden, then
enter another random pass code into 96.02.
To reopen the lock, enter your pass code into 96.02 Pass code. This will again make
parameters 96.100…96.102 visible.
Settings
Parameters 96.02 (page 550) and 96.100…96.102 (page 558).
 Data storage parameters

Twenty-four (sixteen 32-bit, eight 16-bit) parameters are reserved for data storage.
These parameters are unconnected by default and can be used for different
purposes, for example, linking, testing and commissioning. They can be written to
and read from using other parameters’ source or target selections.
Note that “Analog src” type parameters (see page 576) expect a 32-bit real (floating
point) source – in other words, parameters 47.01…47.08 can be used as a value
source of other parameters while 47.11…47.28 cannot.
To use a 16-bit integer (received in DDCS data sets) as the source of another
parameter, write the value into one of the “real32” type storage parameters
(47.01…47.08). Select the storage parameter as the source, and define a suitable
scaling method between the 16-bit and 32-bit values in parameters 47.31…47.38.
Settings
Parameter group 47 Data storage
 Reduced run function

A “reduced run” function is available for inverter units consisting of parallel-connected
inverter modules. The function makes it possible to continue operation with limited
current even if one (or more) module is out of service, for example, because of
maintenance work. In principle, reduced run is possible with only one module, but the
physical requirements of operating the motor still apply; for example, the modules
remaining in use must be able to provide the motor with enough magnetizing current.
Activation of the reduced run function

Note: For cabinet-built drives, the wiring accessories and the air baffle needed during
the procedure are available from ABB, and are included in the delivery.
WARNING! Follow the safety instructions provided for the drive or

inverter unit in question.
1. Disconnect the supply voltage and all auxiliary voltages from the drive/inverter
unit.
2. If the inverter control unit is powered from the faulty module, install an extension
to the wiring and connect it to one of the remaining modules.
3. Remove the module(s) to be serviced from its bay. See the appropriate hardware
manual for instructions.
4. If the Safe torque off (STO) function is in use, install jumpering in the STO wiring
in place of the missing module (unless the module was the last on the chain).
5. Install an air baffle to the top module guide to block the airflow through the empty
module bay.
6. In case the inverter unit has a DC switch with a charging circuit, disable the
appropriate channel on the xSFC-xx charging controller.
7. Switch on the power to the drive/inverter unit.
8. Enter the number of inverter modules present into parameter 95.13 Reduced run
mode.
9. Reset all faults and start the drive/inverter unit. The maximum current is now
automatically limited according to the new inverter configuration. A mismatch
between the number of detected modules (95.14) and the value set in 95.13 will
generate a fault.
After all modules have been reinstalled, parameter 95.13 Reduced run mode must
be reset to 0 to disable the reduced run function. In case the inverter is equipped with
a charging circuit, the charging monitoring must be reactivated for all modules. If the
Safe torque off (STO) function is in use, an acceptance test must be performed (see
the hardware manual of the drive/inverter unit for instructions).
Settings
Parameters 06.17 and 95.13...95.14
 du/dt filter support

With an external du/dt filter connected to the output of the drive, bit 13 of 95.20 HW
options word 1 must be switched on. The setting enables an overtemperature
protection for the filter. Note that the setting is not to be activated with inverter
modules with internal du/dt filters.
Settings
Parameters 95.20 HW options word 1.
 Sine filter support

The control program has a setting that enables the use of sine filters (available
separately from ABB and others).
With an ABB sine filter connected to the output of the drive, bit 1 of 95.15 Special HW
settings must be switched on. The setting limits the switching and output frequencies
to
• prevent the drive from operating at filter resonance frequencies, and
• protect the filter from overheating.
With a custom sine filter, bit 3 of 95.15 Special HW settings must be switched on.
(The setting does not limit the output frequency.) Additional parameters must be set
according to the properties of the filter as listed below.
Settings
For both ABB and custom filters: Parameter 95.15 Special HW settings (page 547).
For custom filters: Parameters 97.01 Switching frequency reference, 97.02 Minimum
switching frequency (page 559), 99.18 Sine filter inductance and 99.19 Sine filter
capacitance (page 573).
Default control connections 217
6
Default control connections
The default I/O connections of the control program are shown in section Control
through the I/O interface using a joystick on page 30.
218 Default control connections
Parameters 219
7
Parameters
The chapter describes the parameters, including actual signals, of the control
program.

Term Definition
Actual signal Type of parameter that is the result of a measurement or calculation by
the drive, or contains status information. Most actual signals are read-
only, but some (especially counter-type actual signals) can be reset.
Bit pointer setting A parameter setting that points to the value of a bit in another parameter
(usually an actual signal), or that can be fixed to 0 (FALSE) or 1 (TRUE).
When adjusting a bit pointer setting on the optional control panel, “Const”
is selected in order to fix the value to 0 (displayed as “C.False”) or 1
(“C.True”). “Pointer” is selected to define a source from another
parameter.
A pointer value is given in the format P.xx.yy.zz, where xx = parameter
group, yy = parameter index, zz = bit number.
Pointing to a non existing bit will be interpreted as 0 (FALSE).
In addition to the “Const” and “Pointer” selections, bit pointer settings may
also have other pre-selected settings.
Def (In the following table, shown on the same row as the parameter name)
The default value of a parameter.
Note: Certain configurations or optional equipment may require specific
default values. These are labeled as follows:
(95.20 bx) = Default changed or write-protected by parameter 95.20,
bit x.
220 Parameters
Term Definition
FbEq16 (In the following table, shown on the same row as the parameter range,
or for each selection)
16-bit fieldbus equivalent: The scaling between the value shown on the
panel and the integer used in communication when a 16-bit value is
selected for transmission to an external system.
A dash (-) indicates that the parameter is not accessible in 16-bit format.
The corresponding 32-bit scalings are listed in chapter Additional
Parameter data (page 575).
Other The value is taken from another parameter.
Choosing “Other” displays a parameter list in which the user can specify
the source parameter.
Note: The source parameter must be a 32-bit real (floating point) number.
To use a 16-bit integer (for example, received from an external device in
data sets) as the source, use data storage parameters 47.01…47.08.
Other [bit] The value is taken from a specific bit in another parameter.
Choosing “Other” displays a parameter list in which the user can specify
the source parameter and bit.
Parameter Either a user-adjustable operating instruction for the drive, or an actual
signal.
p.u. Per unit
Parameters 221
Summary of parameter groups

The groups that contain parameters specific to crane applications are in bold.
Group Contents Page
01 Actual values Basic signals for monitoring the drive. 224
03 Input references Values of references received from various sources. 228
04 Warnings and faults Information on warnings and faults that occurred last. 229
05 Diagnostics Various run-time-type counters and measurements related to drive 236
maintenance.
06 Control and status words Drive control and status words. 238
07 System info Drive hardware and firmware information. 248
09 Crane application signals Signals related to crane applications. 251
10 Standard DI, RO Configuration of digital inputs and relay outputs. 257
11 Standard DIO, FI, FO Configuration of digital input/outputs and frequency inputs/outputs. 264
12 Standard AI Configuration of standard analog inputs. 270
13 Standard AO Configuration of standard analog outputs. 274
14 I/O extension module 1 Configuration of I/O extension module 1. 278
19 Operation mode Selection of local and external control location sources and 306
operating modes.
20 Start/stop/direction Start/stop/direction and run/start enable signal source selection; 308
positive/negative reference enable signal source selection.
21 Start/stop mode Start and stop modes; emergency stop mode and signal source 323
selection; DC magnetization settings; autophasing mode
selection.
22 Speed reference selection Speed reference selection; motor potentiometer settings. 329
23 Speed reference ramp Speed reference ramp settings (programming of the acceleration 341
and deceleration rates for the drive).
24 Speed reference Speed error calculation; speed error window control configuration; 347
conditioning speed error step.
25 Speed control Speed controller settings. 353
26 Torque reference chain Settings for the torque reference chain. 363
30 Limits Drive operation limits. 371
31 Fault functions Settings that define the behavior of the drive upon fault situations. 379
32 Supervision Configuration of signal supervision functions 1…3. 390
33 Generic timer & counter (This group is visible only when user lock is open with pass code 397
584. See parameter 96.02 Pass code.)
35 Motor thermal protection Motor thermal protection settings such as temperature 407
measurement configuration, load curve definition and motor fan
control configuration.
36 Load analyzer Peak value and amplitude logger settings. 419
37 User load curve Settings for user load curve. 424
43 Brake chopper Settings for the internal brake chopper. 428
44 Mechanical brake control Configuration of mechanical brake control. 429
222 Parameters
Group Contents Page

46 Monitoring/scaling settings Speed supervision settings; actual signal filtering; general scaling 438
settings.
47 Data storage Data storage parameters that can be written to and read from 441
using other parameters’ source and target settings.
49 Panel port communication Communication settings for the control panel port on the drive. 444
50 Fieldbus adapter (FBA) Fieldbus communication configuration. 446
51 FBA A settings Fieldbus adapter A configuration. 454
52 FBA A data in Selection of data to be transferred from drive to fieldbus controller 455
through fieldbus adapter A.
53 FBA A data out Selection of data to be transferred from fieldbus controller to drive 456
through fieldbus adapter A.
54 FBA B settings Fieldbus adapter B configuration. 456
55 FBA B data in Selection of data to be transferred from drive to fieldbus controller 457
through fieldbus adapter B.
56 FBA B data out Selection of data to be transferred from fieldbus controller to drive 458
56 FBA B data out Selection of data to be transferred from fieldbus controller to drive 458
58 Embedded fieldbus Configuration of the embedded fieldbus (EFB) interface. 458
60 DDCS communication All of the above utilize a fiber optic link which also requires an 466
FDCO module (typically with ZCU control units) or an RDCO
module (with BCU control units). To build a master/follower
configuration, shielded twisted-pair cable can alternatively be
used to link the XD2D connectors of the drives together. For wiring
instructions, see the hardware manual of the drive.
61 D2D and DDCS transmit Defines the data sent to the DDCS link. 484
data
62 D2D and DDCS receive Mapping of data received through the DDCS link. 488
data
74 Speed matching Settings for Speed matching. 495
75 Hoist speed optimization Settings for Hoist speed optimization. 496
76 Conical motor Settings for Conical motor control. 502
77 Antisway Settings for Antisway control. 503
78 External sway control External sway control configuration. 516
82 Synchro control Synchro control configuration. 516
83 Smooth lifiting Smooth lifting configuration. 519
85 ACC interface ACC inteface configuration. 520
90 Feedback selection Motor and load feedback configuration. 523
91 Encoder module settings Configuration of encoder interface modules. 533
92 Encoder 1 configuration Settings for encoder 1. 536
93 Encoder 2 configuration Settings for encoder 2. 543
95 HW configuration Various hardware-related settings. 545
96 System Language selection; access levels; macro selection; parameter 549
save and restore; control unit reboot; user parameter sets; unit
selection; data logger triggering; parameter checksum calculation;
user lock.
Parameters 223
Group Contents Page

97 Motor control Motor model settings. 559
98 User motor parameters Motor values supplied by the user that are used in the motor 564
model.
99 Motor data Motor configuration settings. 566
200 Safety FSO-xx settings. 573
224 Parameters
Parameter listing
No. Name/Value Description Def/FbEq16
01
01 Actual values Basic signals for monitoring the drive.
All parameters in this group are read-only unless otherwise
noted.
01.01 Motor speed used Measured or estimated motor speed depending on which -
type of feedback is used (see parameter 90.41 Motor
feedback selection). A filter time constant for this signal can
be defined by parameter 46.11 Filter time motor speed.
-30000.00 … Measured or estimated motor speed. See par.
30000.00 rpm 46.01
01.02 Motor speed Estimated motor speed in rpm. A filter time constant for this -
estimated signal can be defined by parameter 46.11 Filter time motor
speed.
-30000.00 … Estimated motor speed. See par.
30000.00 rpm 46.01
01.03 Motor speed % Shows the value of 01.01 Motor speed used in percent of 10 = 1%
the synchronous speed of the motor.
-1000.00 ... Measured or estimated motor speed. See par.
1000.00% 46.01
01.04 Encoder 1 speed Speed of encoder 1 in rpm. A filter time constant for this -
filtered signal can be defined by parameter 46.11 Filter time motor
speed.
-30000.00 … Encoder 1 speed. See par.
30000.00 rpm 46.01
01.05 Encoder 2 speed Speed of encoder 2 in rpm. A filter time constant for this -
filtered signal can be defined by parameter 46.11 Filter time motor
speed.
30000.00 rpm 46.01
01.06 Output frequency Estimated drive output frequency in Hz. A filter time constant -
for this signal can be defined by parameter 46.12 Filter time
output frequency.
-500.00 … 500.00 Estimated output frequency. See par.
Hz 46.02
01.07 Motor current Measured (absolute) motor current in A. -
0.00 … 30000.00 A Motor current. See par.
46.05
01.08 Motor current % of Motor current (drive output current) in percent of nominal -
motor nom motor current.
0.0 … 1000.0% Motor current. 1 = 1%
01.10 Motor torque Motor torque in percent of the nominal motor torque. See -
also parameter 01.30 Nominal torque scale.
A filter time constant for this signal can be defined by
parameter 46.13 Filter time motor torque.
-1600.0 … Motor torque. See par.
1600.0% 46.03
01.11 DC voltage Measured DC link voltage. -
0.00 … 2000.00 V DC link voltage. 10 = 1 V
Parameters 225

01.13 Output voltage Calculated motor voltage in V AC. -
0…2000 V Motor voltage. 1=1V
01.14 Output power Drive output power. The unit is selected by parameter 96.16 -
Unit selection. A filter time constant for this signal can be
defined by parameter 46.14 Filter time power out.
-32768.00 … Output power. 1 = 1 unit
32767.00 kW or hp
01.15 Output power % of Shows the value of 01.14 Output power in percent of the -
motor nom nominal power of the motor.
-300.00…300.00% Output power. 10 = 1%
01.17 Motor shaft power Estimated mechanical power at motor shaft. The unit is -
selected by parameter 96.16 Unit selection. A filter time
constant for this signal can be defined by parameter 46.14
Filter time power out.
-32768.00 … Motor shaft power. 1 = 1 unit
32767.00 kW or hp
01.18 Inverter GWh Amount of energy that has passed through the drive -
motoring (towards the motor) in full gigawatt-hours. The minimum
value is zero.
0…32767 GWh Motoring energy in GWh. 1 = 1 GWh
01.19 Inverter MWh Amount of energy that has passed through the drive -
motoring (towards the motor) in full megawatt-hours. Whenever the
counter rolls over, 01.18 Inverter GWh motoring is
incremented.The minimum value is zero.
0…999 MWh Motoring energy in MWh. 1 = 1 MWh
01.20 Inverter kWh Amount of energy that has passed through the drive -
motoring (towards the motor) in full kilowatt-hours. Whenever the
counter rolls over, 01.19 Inverter MWh motoring is
0…999 kWh Motoring energy in kWh. 10 = 1 kWh
01.21 U-phase current Measured U-phase current. -
-30000.00 … U-phase current. See par.
30000.00 A 46.05
01.22 V-phase current Measured V-phase current. -
-30000.00 … V-phase current. See par.
30000.00 A 46.05
01.23 W-phase current Measured W-phase current. -
-30000.00 … W-phase current. See par.
30000.00 A 46.05
01.24 Flux actual % Used flux reference in percent of nominal flux of motor. -
0…200% Flux reference. 1 = 1%
01.29 Speed change rate Rate of actual speed change. Positive values indicate -
acceleration, negative values indicate deceleration.
See also parameters 31.32 Emergency ramp supervision
and 31.33 Emergency ramp supervision delay, 31.37 Ramp
stop supervision and 31.38 Ramp stop supervision delay.
-15000 … Rate of speed change. 1 = 1 rpm/s
15000 rpm/s
226 Parameters

01.30 Nominal torque Torque that corresponds to 100% of nominal motor torque. -
scale The unit is selected by parameter 96.16 Unit selection
Note: This value is copied from parameter 99.12 Motor
nominal torque if entered. Otherwise the value is calculated
from other motor data.
0.000… Nominal torque. 1 = 100 unit
N·m or lb·ft
01.31 Ambient Measured temperature of incoming cooling air. The unit is -
temperature selected by parameter 96.16 Unit selection.
-40 … 120 °C or °F Cooling air temperature. 1 = 1°
01.32 Inverter GWh Amount of energy that has passed through the drive -
regenerating (towards the supply) in full gigawatt-hours. The minimum
value is zero.
0…32767 GWh Regenerative energy in GWh. 1 = 1 GWh
01.33 Inverter MWh Amount of energy that has passed through the drive -
regenerating (towards the supply) in full megawatt-hours. Whenever the
counter rolls over, 01.32 Inverter GWh regenerating is
0…999 MWh Regenerative energy in MWh. 1 = 1 MWh
01.34 Inverter kWh Amount of energy that has passed through the drive -
regenerating (towards the supply) in full kilowatt-hours. Whenever the
counter rolls over, 01.33 Inverter MWh regenerating is
0…999 kWh Regenerative energy in kWh. 10 = 1 kWh
01.35 Mot - regen energy Amount of net energy (motoring energy - regenerating -
GWh energy) that is passed through the drive in full gigawatt-
hours.
-32768… Energy balance in GWh. 1 = 1 GWh
32767 GWh
01.36 Mot - regen energy Amount of net energy (motoring energy - regenerating -
MWh energy) that passed through the drive in full megawatt-
hours. Whenever the counter rolls over, 01.35 Mot - regen
energy GWh is incremented or decremented.
-999…999 MWh Energy balance in MWh. 1 = 1 MWh
01.37 Mot - regen energy Amount of energy (motoring energy - regenerating energy) -
kWh that passed through the drive in full kilowatt-hours.
Whenever the counter rolls over, 01.36 Mot - regen energy
MWh is incremented or decremented.
-999…999 kWh Energy balance in kWh. 10 = 1 kWh
01.61 Abs motor speed Absolute value of 01.01 Motor speed used. -
used
0.00 … 30000.00 Measured or estimated motor speed. See par.
rpm 46.01
01.62 Abs motor speed Absolute value of 01.03 Motor speed %. -
%
0.00 … 1000.00% Measured or estimated motor speed. See par.
46.01
01.63 Abs output Absolute value of 01.06 Output frequency. -
frequency
0.00 … 500.00 Hz Estimated output frequency. See par.
46.02
Parameters 227

01.64 Abs motor torque Absolute value of 01.10 Motor torque. -
0.0 … 1600.0% Motor torque. See par.
46.03
01.65 Abs output power Absolute value of 01.14 Output power. -
0.00 … 32767.00 Output power. 1 = 1 unit
kW or hp
01.66 Abs output power Absolute value of 01.15 Output power % of motor nom. -
% motor nom
0.00 … 300.00% Output power. 1 = 1%
01.68 Abs motor shaft Absolute value of 01.17 Motor shaft power. -
power
0.00 … 32767.00 Motor shaft power. 1 = 1 unit
kW or hp
01.70 Ambient Measured temperature of incoming cooling air. -
temperature % The amplitude range of 0…100% corresponds to 0…60 °C
or 32…140 °F.
See also 01.31 Ambient temperature.
-200.00…200.00% Cooling air temperature 100 = 1%
01.102 Line current (Visible only when IGBT supply unit control is activated by -
95.20)
Estimated line current flowing through the supply unit.
0.00 ... 30000.00 A Estimated line current. See par
46.05
01.104 Active current (Visible only when IGBT supply unit control is activated by -
95.20)
Estimated active current flowing through the supply unit.
0.00 ... 30000.00 A Estimated active current. See par
46.05
01.106 Reactive current (Visible only when IGBT supply unit control is activated by -
95.20)
Estimated reactive current flowing through the supply unit.
0.00 ... 30000.00 A Estimated reactive current. See par
46.05
01.108 Grid frequency (Visible only when IGBT supply unit control is activated by -
95.20)
Estimated frequency of the power supply network.
0.00 ... 100.00 Hz Estimated supply frequency. See par
46.02
01.109 Grid voltage (Visible only when IGBT supply unit control is activated by -
95.20)
Estimated voltage of the power supply network.
0.00 ... 2000.00 V Estimated supply voltage. 10 = 1 V
01.110 Grid apparent (Visible only when IGBT supply unit control is activated by -
power 95.20)
Estimated apparent power transferred through the supply
unit.
-30000.00 ... Estimated apparent power. See par
30000.00 kVA 46.04
228 Parameters

01.112 Grid power (Visible only when IGBT supply unit control is activated by -
95.20)
Estimated power transferred through the supply unit.
-30000.00 ... Estimated supply power. See par
30000.00 kW 46.04
01.114 Grid reactive (Visible only when IGBT supply unit control is activated by -
power 95.20)
Estimated reactive power transferred through the supply
unit.
-30000.00 ... Estimated reactive power. 10 = 1 kvar
30000.00 kvar
01.116 LSU cos Φ (Visible only when IGBT supply unit control is activated by -
95.20)
Power factor of the supply unit.
-1.00 ... 1.00 Power factor. 100 = 1
01.164 LSU nominal (Visible only when IGBT supply unit control is activated by -
power 95.20)
Nominal power of the supply unit.
0 ... 30000 kW Nominal power. 1 = 1 kW
03
03 Input references Values of references received from various sources.
noted.
03.01 Panel reference Local reference given from the control panel or PC tool. -
-100000.00 … Local control panel or PC tool reference. 1 = 10
100000.00
03.02 Panel reference 2 Remote reference given from the control panel or PC tool. -
-30000.00 … Remote control panel or PC tool reference. 1 = 10
30000.00
03.05 FB A reference 1 Reference 1 received through fieldbus adapter A. -
See also chapter Fieldbus control through a fieldbus adapter
(page 705).
-100000.00 … Reference 1 from fieldbus adapter A. 1 = 10
100000.00
03.06 FB A reference 2 Reference 2 received through fieldbus adapter A. -
-100000.00 … Reference 2 from fieldbus adapter A. 1 = 10
100000.00
03.07 FB B reference 1 Reference 1 received through fieldbus adapter B. -
-100000.00 … Reference 1 from fieldbus adapter B. 1 = 10
100000.00
03.08 FB B reference 2 Reference 2 received through fieldbus adapter B. -
-100000.00 … Reference 2 from fieldbus adapter B. 1 = 10
100000.00
03.09 EFB reference 1 Scaled reference 1 received through the embedded fieldbus 1 = 10
interface. The scaling is defined by 58.26 EFB ref1 type.
-30000.00 … Reference 1 received through the embedded fieldbus 1 = 10
30000.00 interface.
Parameters 229

03.10 EFB reference 2 Scaled reference 2 received through the embedded fieldbus 1 = 10
interface. The scaling is defined by 58.27 EFB ref2 type.
-30000.00 … Reference 2 received through the embedded fieldbus 1 = 10
30000.00 interface.
03.11 DDCS controller Reference 1 received from the external (DDCS) controller. 1 = 10
ref 1 The value has been scaled according to parameter 60.60
DDCS controller ref1 type.
See also section External controller interface (page 166).
-30000.00 … Scaled reference 1 received from external controller. 1 = 10
30000.00
03.12 DDCS controller Reference 2 received from the external (DDCS) controller. 1 = 10
ref 2 The value has been scaled according to parameter 60.61
DDCS controller ref2 type.
-30000.00 … Scaled reference 2 received from external controller. 1 = 10
30000.00
03.13 M/F or D2D ref1 Master/follower reference 1 received from the master. The 1 = 10
value has been scaled according to parameter 60.10 M/F
ref1 type.
See also section Master/follower functionality (page 160).
-30000.00 … Scaled reference 1 received from master. 1 = 10
30000.00
03.14 M/F or D2D ref2 Master/follower reference 2 received from the master. The 1 = 10
value has been scaled according to parameter 60.11 M/F
ref2 type.
-30000.00 … Scaled reference 2 received from master. 1 = 10
30000.00
04
04 Warnings and faults Information on warnings and faults that occurred last.
For explanations of individual warning and fault codes, see
chapter Fault tracing.
noted.
04.01 Tripping fault Code of the 1st active fault (the fault that caused the current -
trip).
0000h…FFFFh 1st active fault. 1=1
04.02 Active fault 2 Code of the 2nd active fault. -
0000h…FFFFh 2nd active fault. 1=1
04.03 Active fault 3 Code of the 3rd active fault. -
0000h…FFFFh 3rd active fault. 1=1
04.04 Active fault 4 Code of the 4th active fault. -
0000h…FFFFh 4th active fault. 1=1
04.05 Active fault 5 Code of the 5th active fault. -
0000h…FFFFh 5th active fault. 1=1
04.06 Active warning 1 Code of the 1st active warning. -
0000h…FFFFh 1st active warning. 1=1
04.07 Active warning 2 Code of the 2nd active warning. -
0000h…FFFFh 2nd active warning. 1=1
04.08 Active warning 3 Code of the 3rd active warning. -
230 Parameters

0000h…FFFFh 3rd active warning. 1=1
04.09 Active warning 4 Code of the 4th active warning. -
0000h…FFFFh 4th active warning. 1=1
04.10 Active warning 5 Code of the 5th active warning. -
0000h…FFFFh 5th active warning. 1=1
04.11 Latest fault Code of the 1st stored (non-active) fault. -
0000h…FFFFh 1st stored fault. 1=1
04.12 2nd latest fault Code of the 2nd stored (non-active) fault. -
0000h…FFFFh 2nd stored fault. 1=1
04.13 3rd latest fault Code of the 3rd stored (non-active) fault. -
0000h…FFFFh 3rd stored fault. 1=1
04.14 4th latest fault Code of the 4th stored (non-active) fault. -
0000h…FFFFh 4th stored fault. 1=1
04.15 5th latest fault Code of the 5th stored (non-active) fault. -
0000h…FFFFh 5th stored fault. 1=1
04.16 Latest warning Code of the 1st stored (non-active) warning. -
0000h…FFFFh 1st stored warning. 1=1
04.17 2nd latest warning Code of the 2nd stored (non-active) warning. -
0000h…FFFFh 2nd stored warning. 1=1
04.18 3rd latest warning Code of the 3rd stored (non-active) warning. -
0000h…FFFFh 3rd stored warning. 1=1
04.19 4th latest warning Code of the 4th stored (non-active) warning. -
0000h…FFFFh 4th stored warning. 1=1
04.20 5th latest warning Code of the 5th stored (non-active) warning. -
0000h…FFFFh 5th stored warning. 1=1
Parameters 231

04.21 Fault word 1 ACS800-compatible fault word 1. -
The bit assignments of this word correspond to FAULT
WORD 1 in the ACS800. Parameter 04.120 Fault/Warning
word compatibility determines whether the bit assignments
are according to the ACS800 Standard or ACS800 System
control program.
Each bit can indicate several ACS880 events as listed
below.
This parameter is read-only.
Bit ACS800 fault name ACS880 events indicated by this bit

(04.120 = ACS800 (04.120 = ACS800 (see Fault tracing, page 637)
Standard ctrl System ctrl
program) program)
0 SHORT CIRC SHORT CIRC 2340
1 OVERCURRENT OVERCURRENT 2310
2 DC OVERVOLT DC OVERVOLT 3210
3 ACS800 TEMP ACS800 TEMP 2381, 4210, 4290, 42F1, 4310, 4380
4 EARTH FAULT EARTH FAULT 2330, 2392, 3181
5 THERMISTOR MOTOR TEMP M 4981
6 MOTOR TEMP MOTOR TEMP 4982
7 SYSTEM_FAULT SYSTEM_FAULT 6481, 6487, 64A1, 64A2, 64A3, 64B1,
64E1, 6881, 6882, 6883, 6885
8 UNDERLOAD UNDERLOAD -
9 OVERFREQ OVERFREQ 7310
10 Reserved MPROT SWITCH 9081
11 Reserved CH2 COMM LOSS 7582
12 Reserved SC (INU1) 2340 (XXYY YY01)
0000h…FFFFh ACS800-compatible fault word 1. 1=1

232 Parameters

04.22 Fault word 2 ACS800-compatible fault word 2. -
The bit assignments of this word correspond to FAULT
control program.
Each bit can indicate several ACS880 events as listed
below.
Bit ACS800 fault name ACS880 events indicated by this bit

program) program)
0 SUPPLY PHASE SUPPLY PHASE 3130
1 NO MOT DATA NO MOTOR DATA -
2 DC UNDERVOLT DC UNDERVOLT 3220
3 Reserved CABLE TEMP 4000
4 RUN ENABLE RUN DISABLE AFEB
5 ENCODER ERR ENCODER ERR 7301, 7380, 7381, 73A0, 73A1
6 I/O COMM IO COMM ERR 7080, 7082
7 CTRL B TEMP CTRL B TEMP -
8 EXTERNAL FLT SELECTABLE 9082
9 OVER SWFREQ OVER SWFREQ -
10 AI < MIN FUNC AI<MIN FUNC 80A0
11 PPCC LINK PPCC LINK 5681, 5682, 5690, 5691, 5692, 5693, 5694
12 COMM MODULE COMM MODULE 6681, 7510, 7520, 7581
13 PANEL LOSS PANEL LOSS 7081
14 MOTOR STALL MOTOR STALL 7121
15 MOTOR PHASE MOTOR PHASE 3381
0000h…FFFFh ACS800-compatible fault word 2. 1=1

Parameters 233

04.31 Warning word 1 ACS800-compatible warning (alarm) word 1. -
The bit assignments of this word correspond to ALARM
word compatibility determines whether the assignments are
according to the ACS800 Standard or ACS800 System
control program.
Each may indicate several ACS880 warnings as listed
below.
Bit ACS800 alarm name ACS880 events indicated by this bit

program) program)
0 START INHIBIT START INHIBI B5A0
1 Reserved EM STOP AFE1, AFE2
2 THERMISTOR MOTOR TEMP M A491
3 MOTOR TEMP MOTOR TEMP A492
4 ACS800 TEMP ACS800 TEMP A2BA, A4A1, A4A9, A4B0, A4B1, A4F6
5 ENCODER ERR ENCODER ERR A797, A7B0, A7B1, A7E1
6 T MEAS ALM T MEAS CIRC A490, A5EA, A782, A8A0
7 Reserved DIGITAL IO -
8 Reserved ANALOG IO -
9 Reserved EXT DIGITAL IO -
10 Reserved EXT ANALOG IO A6E5, A7AA, A7AB
11 Reserved CH2 COMM LOSS A7CB
12 COMM MODULE MPROT SWITCH A981
13 Reserved EM STOP DEC -
14 EARTH FAULT EARTH FAULT A2B3
15 Reserved SAFETY SWITC A983
0000h…FFFFh ACS800-compatible warning (alarm) word 1. 1=1

234 Parameters

04.32 Warning word 2 ACS800-compatible warning (alarm) word 2. -
The bit assignments of this word correspond to ALARM
control program.
Each may indicate several ACS880 warnings as listed
below.
Bit ACS800 alarm name ACS880 events indicated by this bit

program) program)
0 Reserved MOTOR FAN A781
1 UNDERLOAD UNDERLOAD -
2 Reserved INV OVERLOAD -
3 Reserved CABLE TEMP A480
4 ENCODER ENCODER A<>B -
5 Reserved FAN OVERTEMP A984
6 Reserved Reserved -
7 POWFAIL FILE POWFAIL FILE -
8 ALM (OS_17) POWDOWN FILE -
9 MOTOR STALL MOTOR STALL A780
10 AI < MIN FUNC AI<MIN FUNC A8A0
11 Reserved COMM MODULE A6D1, A6D2, A7C1, A7C2, A7CA, A7CE
12 Reserved BATT FAILURE -
13 PANEL LOSS PANEL LOSS A7EE
14 Reserved DC UNDERVOLT A3A2
15 Reserved RESTARTED -
0000h…FFFFh ACS800-compatible warning (alarm) word 2. 1=1

04.40 Event word 1 User-defined event word. This word collects the status of the -
events (warnings, faults or pure events) selected by
parameters 04.41…04.72.
For each event, an auxiliary code can optionally be specified
for filtering.
Bit Name Description

0 User bit 0 1 = Event selected by parameters 04.41 (and 04.42) is active
… … …
0000h…FFFFh User-defined event word. 1=1

Parameters 235

04.41 Event word 1 bit 0 (Visible when user lock is open with pass code 584. See 0000h
code parameter 96.02 Pass code.)
Selects the hexadecimal code of an event (warning, fault or
pure event) whose status is shown as bit 0 of 04.40 Event
word 1. The event codes are listed in chapter Fault tracing
(page 637).
0000h…FFFFh Code of event. 1=1
04.42 Event word 1 bit 0 (Visible when user lock is open with pass code 584. See 0000 0000h
aux code parameter 96.02 Pass code.)
Specifies an auxiliary code for the event selected by the
previous parameter. The selected event is indicated by the
event word only if its auxiliary code matches the value of this
parameter.
With a value of 0000 0000h, the event word will indicate the
event regardless of the auxiliary code.
0000h … FFFFh Code of warning, fault or pure event. 1=1
(page 637).
parameter.
… … … …
(page 637).
parameter.
04.57 Event word 1 bit 8 Selects the hexadecimal code of an event (warning, fault or 0000h
code pure event) whose status is shown as bit 15 of 04.40 Event
(page 637).
236 Parameters

04.58 Event word 1 bit 8 Specifies an auxiliary code for the event selected by the 0000 0000h
aux code previous parameter. The selected event is indicated by the
parameter.
… … … …
04.71 Event word 1 bit 15 Selects the hexadecimal code of an event (warning, fault or 0000h
code pure event) whose status is shown as bit 15 of 04.40 Event
(page 637).
04.72 Event word 1 bit 15 Specifies an auxiliary code for the event selected by the 0000 0000h
aux code previous parameter. The selected event is indicated by the
parameter.
04.120 Fault/Warning Selects whether the bit assignments of parameters False
word compatibility 04.21…04.32 correspond to the ACS800 Standard control
program or the ACS800 System control program.
ACS800 Standard The bit assignments of parameters 04.21…04.32 0
ctrl program correspond to the ACS800 Standard control program as
follows:
04.21 Fault word 1: 03.05 FAULT WORD 1
04.31 Warning word 1: 03.08 ALARM WORD 1
ACS800 System The bit assignments of parameters 04.21…04.32 1
ctrl program correspond to the ACS800 System control program as
follows:
05
05 Diagnostics Various run-time-type counters and measurements related
to drive maintenance.
noted.
05.01 On-time counter On-time counter. The counter runs when the drive is -
powered.
0…65535 d On-time counter. 1=1d
05.02 Run-time counter Motor run-time counter. The counter runs when the inverter -
modulates.
0…65535 d Motor run-time counter. 1=1d
05.04 Fan on-time Running time of the drive cooling fan. Can be reset from the -
counter control panel by keeping Reset depressed for over 3
seconds.
0…65535 d Cooling fan run-time counter. 1=1d
Parameters 237

05.11 Inverter Estimated drive temperature in percent of fault limit. The -
temperature actual trip temperature varies according to the type of the
drive.
0.0% = 0 °C (32 °F)
94% approx. = Warning limit
100.0% = Fault limit
-40.0 … 160.0% Drive temperature in percent. 1 = 1%
05.22 Diagnostic word 3 Diagnostic word 3. -
Bit Name Value

0…10 Reserved
11 Fan command 1 = Drive fan is rotating above idle speed
12 Fan service counter 1 = Drive fan service counter has reached its limit
13…15 Reserved
0000h…FFFFh Diagnostic word 3. 1=1

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

06
06 Control and status Drive control and status words.
words
06.01 Main control word The main control word of the drive. This parameter shows -
the control signals as received from the selected sources
(such as digital inputs, the fieldbus interfaces and the
application program).
The bit assignments of the word are as described on page
711. The related status word and state diagram are
presented on pages 713 and 714 respectively.
Note: Bits 12…15 can be used to carry additional control
data, and used as a signal source by any binary-source
selector parameter.
0000h…FFFFh Main control word. 1=1
06.02 Application control The drive control word received from the application -
word program (if any). The bit assignments are described on page
711.
0000h…FFFFh Application program control word. 1=1
06.03 FBA A transparent Displays the unaltered control word received from the PLC -
control word through fieldbus adapter A when a transparent
communication profile is selected eg. by parameter group
51 FBA A settings. See section Control word and Status
word (page 708).
00000000h … Control word received through fieldbus adapter A. -
FFFFFFFFh
06.04 FBA B transparent Displays the unaltered control word received from the PLC -
control word through fieldbus adapter B when a transparent
communication profile is selected eg. by parameter group
54 FBA B settings. See section Control word and Status
word (page 708).
00000000h … Control word received through fieldbus adapter B. 1=1
FFFFFFFFh
06.05 EFB transparent Displays the unaltered control word received from the PLC -
control word through the embedded fieldbus interface when a
transparent communication profile is selected in parameter
58.25 Control profile. See section The Transparent profile
(page 697).
00000000h … Control word received through the embedded fieldbus 1=1
FFFFFFFFh interface.
06.11 Main status word Main status word of the drive. -
The bit assignments are described on page 713. The related
control word and state diagram are presented on pages 711
and 714 respectively.
0000h…FFFFh Main status word. 1=1
Parameters 239

06.16 Drive status word 1 Drive status word 1. -

0 Enabled 1 = Both run enable (see par. 20.12) and start enable (20.19) signals
are
present, and Safe torque off is not activated.
Notes:
• In I/O or local control, clearing this bit makes the drive enter the
SWITCH-ON INHIBITED state (see page 713).
• This bit is not affected by the presence of a fault.
1 Inhibited 1 = Start inhibited. See parameters 06.18 and 06.25 for the source of
the inhibiting signal.
2 DC charged 1 = DC circuit is charged. If present, the DC switch is closed, and
charging switch is open.
0 = Charging is not complete. If the inverter unit is not equipped with a
DC switch (option +F286).
3 Ready to 1 = Drive is ready to receive a start command
start
4 Following 1 = Drive is ready to follow given reference
reference
5 Started 1 = Drive is started
6 Modulating 1 = Drive is modulating (output stage is controlled)
7 Limiting 1 = Any operating limit (speed, torque, etc.) is active
8 Local 1 = Drive is in local control
control
9 Network ctrl 1 = Drive is in network control (see page 18)
10 Ext1 active 1 = Control location EXT1 is active
11 Ext2 active 1 = Control location EXT2 is active
12 Reserved
13 Start 1 = Start requested
request
14…15 Reserved
0000h…FFFFh Drive status word 1. 1=1

240 Parameters


0 Identification run done 1 = Motor identification (ID) run is performed
1 Magnetized 1 = The motor is magnetized
2 Torque control 1 = Torque control mode is active
3 Speed control 1 = Speed control mode is active
4 Hoist speed optimization 1 = Hoist speed optimization mode is active
5 Safe reference active 1 = A “safe” reference is applied by functions such as
parameters 49.05 and 50.02
6 Last speed active 1 = A “last speed” reference is applied by functions such as
parameters 49.05 and 50.02
7 Loss of reference 1 = Reference signal lost
8 Emergency stop failed 1 = Emergency stop failed (see parameters 31.32 and 31.33)
9 Jogging active 1 = Jogging enable signal is on
10 Above limit 1 = Actual speed, frequency or torque equals or exceeds limit
(defined by parameters 46.31…46.33. Valid in both directions
of rotation.
11 Emergency stop active 1 = An emergency stop command signal is active, or the
drive is stopping after receiving an emergency stop
command.
12 Reduced run 1 = Reduced run active (see section Reduced run function on
page 213)
13 Reserved
14 Stop failed 1 = Stopping failed (see parameters 31.37 and 31.38)
15 Reserved

Parameters 241

06.18 Start inhibit status Start inhibit status word. This word specifies the source of -
word the inhibiting signal that is preventing the drive from starting.
After the condition is removed, the start command must be
cycled. See bit-specific notes.
See also parameter 06.25 Drive inhibit status word 2, and
06.16 Drive status word 1, bit 1.
Bit Name Description Note

0 Not ready run 1 = DC voltage is missing or drive has not been parametrized a
correctly. Check the parameters in groups 95 and 99.
1 Ctrl location 1 = Control location has changed a,c
changed
2 SSW inhibit 1 = Control program is keeping itself in inhibited state a
3 Fault reset 1 = A fault has been reset a,c
4 Lost start enable 1 = Start enable signal missing a
5 Lost run enable 1 = Run enable signal missing a
6 FSO inhibit 1 = Operation prevented by FSO-xx safety functions module b
7 STO 1 = Safe torque off is active b
8 Current calibration 1 = Current calibration routine has finished b,c
ended
9 ID run ended 1 = Motor identification run has finished b,c
10 Auto phase ended 1 = Autophasing routine has finished b,c
11 Em Off1 1 = Emergency stop signal (mode off1) b
14 Auto reset inhibit 1 = The autoreset function is inhibiting operation
15 Jogging active 1 = The jogging enable signal is inhibiting operation b
Notes:
a If bit 1 of 06.16 Drive status word 1 is still set after the removal of the inhibiting condition,
and edge triggering is selected for the active external control location, a fresh rising-edge
start signal is required. See parameters 20.02, 20.07 and 20.19.
b If bit 1 of 06.16 Drive status word 1 is still set after the removal of the inhibiting condition, a
fresh rising-edge start signal is required.
c Informative bit. The inhibiting condition need not be removed by the user.
0000h…FFFFh Start inhibit status word. 1=1

242 Parameters

06.19 Speed control Speed control status word. -
status word This parameter is read-only.

0 Zero speed 1 = Drive is running at zero speed, ie. the absolute value of par.
90.01 Motor speed for control has remained below 21.06 Zero
speed limit for longer than 21.07 Zero speed delay.
Notes:
• This bit is not updated when mechanical brake control is enabled
by par. 44.06 and the drive is modulating.
• During a ramp stop when the drive is running forward, the delay
count runs whenever [90.01] < [21.06]. From the reverse
direction, the delay count runs whenever
90.01 > -[21.06].
1 Forward 1 = Drive is running in forward direction above zero speed limit,
ie. [90.01] > +[21.06].
2 Reverse 1 = Drive is running in reverse direction above zero speed limit,
ie. [90.01] < -[21.06].
3 Out of window 1 = Speed error window control active (see par. 24.41)
4 Internal speed 1 = Estimated speed feedback used in motor control, that is
feedback estimated speed is selected by par. 90.41 or 90.46, or the selected
encoder has faulted (par. 90.45)
0 = Encoder 1 or 2 is used for speed feedback.
5 Encoder 1 1 = Encoder 1 used for speed feedback in motor control
feedback 0 = Encoder 1 faulted or not selected as source of speed feedback
(see par. 90.41 and 90.46)
6 Encoder 2 1 = Encoder 2 used for speed feedback in motor control
feedback 0 = Encoder 2 faulted or not selected as source of speed feedback
(see par. 90.41 and 90.46)
7 Any constant 1 = A constant speed or frequency has been selected; see par.
speed request 06.20.
8 Follower speed 1 = Minimum limit of speed correction (in a speed-controlled
corr min lim follower) has been reached (see par. 23.39…23.41).
9 Follower speed 1 = Maximum limit of speed correction (in a speed-controlled
corr max lim follower) has been reached (see par. 23.39…23.41).
10…15 Reserved
0000h…FFFFh Speed control status word. 1=1

06.20 Constant speed Constant speed/frequency status word. Indicates which -
status word constant speed or frequency is active (if any). See also
parameter 06.19 Speed control status word, bit 7, and
section Constant speeds (page 172).

0 Constant speed 1 1 = Constant speed or frequency 1 selected
7…15 Reserved
0000h…FFFFh Constant speed/frequency status word. 1=1

Parameters 243


0 DC hold active 1 = DC hold is active (see par. 21.08)
1 Post-magnetizing active 1 = Post-magnetizing is active (see par. 21.08)
2 Motor pre-heating active 1 = Motor pre-heating is active (see par. 21.14)
3 PM smooth start active Reserved.
4…15 Reserved

06.25 Drive inhibit status Drive inhibit status word 2. This word specifies the source of -
word 2 the inhibiting signal that is preventing the drive from starting.
After the condition is removed, the start command must be
cycled. See bit-specific notes.
See also parameter 06.18 Start inhibit status word, and
06.16 Drive status word 1, bit 1.
Bit Name Description Note

0 Follower drive1 = A follower is preventing the master from starting. a
1 Application 1 = The application program is preventing the drive from b
starting.
2 Aux. power failure 1 = A control unit auxiliary power failure is preventing the
drive from starting.
3 Encoder feedback 1 = The encoder feedback configuration is preventing the a
4 Ref source 1 = A reference source parametrization conflict is preventing b
parametrization the drive from starting. See warning A6DA Reference
source parametrization (page 647).
5…15 Reserved
Notes:
a If bit 1 of 06.16 Drive status word 1 is still set after the removal of the inhibiting
condition,
and edge triggering is selected for the active external control location, a fresh rising-
edge start signal is required. See parameters 20.02, 20.07 and 20.19.
b If bit 1 of 06.16 Drive status word 1 is still set after the removal of the inhibiting
condition, a fresh rising-edge start signal is required.
0000h…FFFFh Start inhibit status word 2. 1=1

06.29 MSW bit 10 sel Selects a binary source whose status is transmitted as bit 10 Above limit
of 06.11 Main status word.
False 0. 0
True 1. 1
Above limit Bit 10 of 06.17 Drive status word 1 (see page 240). 2
Other [bit] Source selection (see Terms and abbreviations on -
page 219).
06.30 MSW bit 11 sel Selects a binary source whose status is transmitted as bit 11 Ext ctrl loc
False 0. 0
244 Parameters

True 1. 1
Ext ctrl loc Bit 11 of 06.01 Main control word (see page 238). 2
page 219).
06.31 MSW bit 12 sel Selects a binary source whose status is transmitted as bit 12 Ext run
of 06.11 Main status word. enable
False 0. 0
True 1. 1
Ext run enable Inverted bit 5 of 06.18 Start inhibit status word (see 2
page 241).
Other [bit] Source selection (see Terms and abbreviations on page -
219).
06.32 MSW bit 13 sel Selects a binary source whose status is transmitted as bit 13 False
False 0. 0
True 1. 1
page 219).
06.33 MSW bit 14 sel Selects a binary source whose status is transmitted as bit 14 False
False 0. 0
True 1. 1
page 219).
06.45 Follower CW user Selects a binary source whose status is transmitted as bit 12 MCW user bit
bit 0 selection of the Follower control word to follower drives. (Bits 0…11 of 0
the Follower control word are taken from 06.01 Main control
word.)
False 0. 0
True 1. 1
MCW user bit 0 Bit 12 of 06.01 Main control word (see page 238). 2
page 219).
word.)
False 0. 0
True 1. 1
Parameters 245

page 219).
word.)
False 0. 0
True 1. 1
219).
word.)
False 0. 0
True 1. 1
219).
06.50 User status word 1 User-defined status word. This word shows the status of the -
binary sources selected by parameters 06.60…06.75. This
parameter is read-only.

0 User status bit 0 Status of source selected by parameter 06.60
… … …
0000h…FFFFh User-defined status word. 1=1

06.60 User status word 1 Selects a binary source whose status is shown as bit 0 of False
bit 0 sel 06.50 User status word 1.
False 0. 0
True 1. 1
219).
06.61 User status word 1 Selects a binary source whose status is shown as bit 1 of Out of
bit 1 sel 06.50 User status word 1. window
False 0. 0
True 1. 1
Out of window Bit 3 of 06.19 Speed control status word (see page 242). 2
246 Parameters

219).
06.62 User status word 1 Selects a binary source whose status is shown as bit 2 of Emergency
bit 2 sel 06.50 User status word 1. stop failed
False 0. 0
True 1. 1
Emergency stop Bit 8 of 06.17 Drive status word 2 (see page 240). 2
failed
page 219).
06.63 User status word 1 Selects a binary source whose status is shown as bit 3 of Magnetized
False 0. 0
True 1. 1
Magnetized Bit 1 of 06.17 Drive status word 2 (see page 240). 2
page 219).
06.64 User status word 1 Selects a binary source whose status is shown as bit 4 of Run disable
False 0. 0
True 1. 1
Run disable Bit 5 of 06.18 Start inhibit status word (see page 241). 2
219).
False 0. 0
True 1. 1
219).
False 0. 0
True 1. 1
219).
06.67 User status word 1 Selects a binary source whose status is shown as bit 7 of Identification
bit 7 sel 06.50 User status word 1. run done
False 0. 0
True 1. 1
Identification run Bit 0 of 06.17 Drive status word 2 (see page 240). 2
done
page 219).
Parameters 247

06.68 User status word 1 Selects a binary source whose status is shown as bit 8 of Start
bit 8 sel 06.50 User status word 1. inhibition
False 0. 0
True 1. 1
Start inhibition Bit 7 of 06.18 Start inhibit status word (see page 241). 2
page 219).
06.69 User status word 1 Selects a binary source whose status is shown as bit 9 of Limiting
False 0. 0
True 1. 1
Limiting Bit 7 of 06.16 Drive status word 1 (see page 239). 2
page 219).
06.70 User status word 1 Selects a binary source whose status is shown as bit 10 of Torque
bit 10 sel 06.50 User status word 1. control
False 0. 0
True 1. 1
Torque control Bit 2 of 06.17 Drive status word 2 (see page 240). 2
page 219).
06.71 User status word 1 Selects a binary source whose status is shown as bit 11 of Zero speed
False 0. 0
True 1. 1
Zero speed Bit 0 of 06.19 Speed control status word (see page 242). 2
219).
06.72 User status word 1 Selects a binary source whose status is shown as bit 12 of Internal
bit 12 sel 06.50 User status word 1. speed
feedback
False 0. 0
True 1. 1
Internal speed Bit 4 of 06.19 Speed control status word (see page 242). 2
feedback
page 219).
False 0. 0
True 1. 1
page 219).
False 0. 0
248 Parameters

True 1. 1
page 219).
False 0. 0
True 1. 1
page 219).
06.100 User control word 1 User-defined control word 1. -

0 User control word 1 bit 0 User-defined bit.
… … …
0000h…FFFFh User-defined control word 1. 1=1

06.101 User control word 2 User-defined control word 2. -

… … …
0000h…FFFFh User-defined control word 2. 1=1

07
07 System info Drive hardware and firmware information.
All parameters in this group are read-only.
07.03 Drive rating id Type of the drive/inverter unit. -
07.04 Firmware name Firmware identification. Example: AINF6 -
07.05 Firmware version Version number of the firmware. Example: 2.31.0.0 -
07.06 Loading package Name of the firmware loading package. Example: ACRL6 -
name
07.07 Loading package Version number of the firmware loading package. -
version Example: 3.00.0.0
07.08 Bootloader version Version number of the firmware bootloader. -
07.11 Cpu usage Microprocessor load in percent. -
0…100% Microprocessor load. 1 = 1%
07.13 PU logic version Version number of the power unit logic. -
number
Parameters 249

07.21 Application (Visible only with option +N8010 [application -
environment programmability])
status 1 Shows which tasks of the application program are running.
See the Drive (IEC 61131-3) application programming
manual (3AUA0000127808 [English]).

0 Pre task 1 = Pre-task running.
1 Appl task1 1 = Task 1 running.
4…14 Reserved
15 Task monitoring 1 = Task monitoring enabled.
0000h…FFFFh Application program task status. 1=1

07.22 Application (Visible only with option +N8010 [application -
environment status programmability])
2 Shows the status of the openings in the application
program.
See the Drive (IEC 61131-3) application programming
manual (3AUA0000127808 [English]).

0 Opening1 Status of opening 1 in the application program.
… … …
0000h…FFFFh Application program opening status. 1=1

07.23 Application name (Visible only with option +N8010 [application -
programmability])
First five ASCII letters of the name given to the application
program in the programming tool. The full name is visible
under System info on the control panel or the Drive
composer PC tool.
_N/A_ = None.
07.24 Application version (Visible only with option +N8010 [application -
programmability])
Application program version number given to the application
program in the programming tool. Also visible under System
info on the control panel or the Drive composer PC tool.
07.25 Customization First five ASCII letters of the name given to the -
package name customization package. The full name is visible under
System info on the control panel or the Drive composer PC
tool.
_N/A_ = None.
07.26 Customization Customization package version number. Also visible under -
package version System info on the control panel or the Drive composer PC
tool.
250 Parameters

07.30 Adaptive program Shows the status of the adaptive program. -
status See section Adaptive programming (page 154).

0 Initialized 1 = Adaptive program initialized
1 Editing 1 = Adaptive program is being edited
2 Edit done 1 = Editing of adaptive program finished
3 Running 1 = Adaptive program running
4…13 Reserved
14 State changing 1 = State change in progress in adaptive programming engine
15 Faulted 1 = Error in adaptive program
0000h…FFFFh Adaptive program status. 1=1

07.40 IEC application (Visible only with option +N8010 [application -
Cpu usage peak programmability])
Displays the peak loading of the microprocessor caused by
the application program. This parameter can, for example,
be used to check the effect of a given application program
functionality on the CPU load. The value is in percent of an
internal quota.
The value can be reset from the control panel by keeping
the Reset depressed for over 3 seconds.
0.0 .. 100.0% Peak microprocessor loading caused by application 10 = 1%
program.
07.41 IEC application (Visible only with option +N8010 [application -
Cpu load average programmability])
Displays the average loading of the microprocessor caused
by the application program. The value is in percent of an
internal quota.
0.0 .. 100.0% Average microprocessor loading caused by application 10 = 1%
program.
Parameters 251

09
09 Crane application Signals related to crane applications.
signals All parameters in this group are read-only.
09.01 Crane SW1 Crane control program status word 1. -

0 Brake slip at standstill
1 = Speed matching function detected a brake slip when the
motor was not running.
1 Slowdown activated 1 = Slowdown command is active either in the forward or
reverse direction.
2 Slowdown up 1 = Slowdown command is inactive in the forward direction.
3 Slowdown down 1 = Slowdown command is inactive in the reverse direction.
4 Load speed enabled 1 = Hoist speed optimization is active.
5 Hoist speed opt up 1 = Speed reference is limited in the forward direction by
limit Hoist speed optimization.
6 Hoist speed opt down 1 = Speed reference is limited in the reverse direction by
limit Hoist speed optimization.
7 End limit 1 1 = End limit 1 command is inactive.
8 End limit 2 1 = End limit 2 command is inactive.
9 Wrong start sequence 1 = Drive does not accept a start command because of a
wrong start sequence.
10 Joystick reference 1 = Reference is greater than +/- 10% of the minimum or
check maximum scaled value of the used joystick reference, and
the joystick zero position input is active.
11 Joystick zero position 1 = Drive does not accept a start command because of a
wrong state of the joystick zero position input.
12 Brake control selected 1 = Mechanical brake control is selected.
13 Torque prove ok 1 = Torque proving has been successfully performed or
Torque proving has been disabled.
14 Fast stop 1 = Fast stop command is active.
15 Power on 1 = Power on acknowledgement circuit is open, main
acknowledge warning contactor is open, warning D20B Power on acknowledge is
generated.
0 = Power on acknowledgement circuit is closed, main
contactor is closed.
See parameter 20.212 Power on acknowledge (page 321)
and section Power on acknowledgement (page 139).
0000h…FFFFh Crane control program status word 1. 1=1

252 Parameters

09.02 Crane SW2 Crane control program status word 2. -

0 External speed limit 1 = External speed limit1 is active.
1 Emergency control activated 1 = Emergency control mode is active.
2 User set 1 has been loaded 1 = User set 1 is loaded.
6 Crane operating hours warning 1 = Warning D212 Crane operating hours activated.
7 Brake oper counts warning 1 = Warning D213 Brake oper counts activated.
8 Number of power on warning 1 = Warning D214 Number of power on activated.
9 Slack rope detected 1 = Warning D217 Slack rope activated.
10 Hso high speed active 1 = Hoist speed optimization high speed limit is
active, i.e. speed can go above the limit defined in
parameter 75.03 Motor base speed.
11 Brake match 1 = Brake slip detected when brake is closed.
12…15 Reserved
0b0000…0b1111 Crane control program status word 2. 1=1

09.03 Crane FW1 Crane fault status word 1 with fault bits. -

0 Inverter overload 1 = D106 Inverter overload (page 678)
1 Speed match 1 = D105 Speed match (page 678)
2 Over speed 1 = D104 Over speed (page 678)
3 ID run and remote 1 = D107 ID run and remote (page 678)
4 End limits IO error 1 = D108 End limits I/O error (page 678)
5 Hoist speed optimization settings 1 = D103 Hoist speed opt settings (page 678)
6 Torque prove 1 = D100 Torque prove (page 678)
7 Brake slip 1 = D101 Brake slip (page 678)
8 Brake safe closure 1 = D102 Brake safe closure (page 678)
9 Reserved1
10 Reserved2
11...15 Not used
0000h…FFFFh Crane fault status word 1 with fault bits. 1=1

09.05 Load speed limit Shows the speed limit calculated by the Hoist speed 0.00 rpm
optimization function.
0.00 … Speed limit calculated by the Hoist speed optimization 1 = 1 rpm
30000.00 rpm function.
09.06 Crane speed Shows the final speed reference calculated by the control 0.00 rpm
reference program.
0.00 … Final speed reference calculated by the control program. 1 = 1 rpm
30000.00 rpm
Parameters 253

09.07 Load speed error Load speed limit error status word (Hoist speed -
status optimization)

0...1Reserved
2 Order value error 1 = Parameters for load values are not set in increasing order, or
parameters for speed limit values are not set in decreasing order.
3…15 Reserved
0b0000…0b1111 Load speed limit error status word. 1=1

09.09 Flux reference Shows the crane flux reference in percent of the nominal 0%
flux of the motor.
0…200% Crane flux reference. 1 = 1%
09.10 Lifetime left Shows the remaining lifetime hours from the defined lifetime -
hours in parameter 75.71 Crane lifetime.
0 ... 10000 h Left lifetime hours. 1=1h
09.11 Lifetime left in Shows the percent of remaining lifetime from the defined -
percent lifetime hours in parameter 75.71 Crane lifetime.
0.00 ... 100.00% Left lifetime in percent. 100 = 1%
09.12 Load spectrum Shows the load spectrum factor. -
factor
0.00 ... 10.00 Load spectrum factor. 10 = 1
09.13 Lifetime sw Lifetime status word. -

0 Lifetime monitor active 1 = Lifetime monitor function is activated.
1 Warning: less 10% lifetime left 1 = Warning D216 Liftetime left less 10%
2…15 Reserved
0000b…0111b Load speed limit error status word. 1=1

09.20 Crane operation Shows the number of hours the crane was operating with 0 hr
hours open brake. The counter can be initialized/preset with
parameters 33.200...33.202.
0…1100000 Hours 1 = 1 hr
09.21 Brake operation Shows the number of times the mechanical brake was 0
count opened. The counter can be initialized/preset with
parameters 33.210...33.212.
0…4294967295 Mechanical brake open counts 1=1
09.22 Number of pwr on Shows the number of times the crane system was 0
powered on. The counter counts the number of power
acknowledges. The source is set with parameter 20.212.
The counter can be initialized/preset with parameters
33.220...33.222.
0…65535 Power on counts 1=1
09.31 Motor load Shows the motor torque in percent of nominal motor torque. 0.0%
Negative sign indicates generating side of motor.
Positive sign indicates motor side.
-1600.0...1600.0% Motor load in percent. 10 = 1%
254 Parameters

09.40 ACC Crane (Visible only when user lock is open with pass code 584. -
fieldbus SW See parameter 96.02 Pass code.)
ACC interface crane control program fieldbus status word.

0 RDY FOR ON Ready for on
1 POWER ON ACKN Power on acknowledgement
2 RDY FOR RUN Ready for run (magnetized)
3 RUNNING Running (producing torque)
4 ZERO SPEED At zero speed
5 REM LOC Remote/ Local (1 = Remote)
6 TORQ PROV OK Torque proving is Ok
7 USER 1 OR 2 User macro 1 or 2 is active
8 FAULT Fault is active
9 WARNING Warning is active
10 LIMIT Drive is in torque limit
11 SYNC Synchronisation input (e.g. DI3) status
12 SYNC RDY Synchronisation ready
13 BRAKE LONG FTIME Brake long falling time indication
14 COMTEST TRA Communication test transmit bit
15 Reserved
0b0000…0b1111 ACC interface crane control program fieldbus status word. 1=1
09.41 ACC Crane fault (Visible only when user lock is open with pass code 584. -
word 1 See parameter 96.02 Pass code.)
ACC interface crane control program fault status word 1.

0 MOT OVERSP Motor overspeed fault
1 TORQ FLT Torque fault
2 BRAKE FLT Mechanical brake fault
3 ELECTR SHAFT Electrical shaft control fault
4 TORQ PR FLT Torque proving fault
5 MAS OSC FLT Fieldbus “oscillator” (toggle) bit fault
6 CHOPPER FLT Braking chopper fault
7 INV OVERLOD Inverter overload
8 EXTERNAL FLT External fault
9 MF COMM ERR Master/follower bus communication fault
10 PANEL LOSS Panel communication fault
11 I/O COMM I/O board communication fault
12 AMBIENT TEMP Drive ambient over temperature
13 THERMISTOR Thermistor fault (DI6)
14 MF RUN FLT Master/follower running fault
15 COMM MODULE Communication fault in Comm module
0b0000…0b1111 ACC interface crane control program fault status word 1. 1=1
Parameters 255

09.42 ACC Crane fault (Visible only when user lock is open with pass code 584. -
ACC interface crane control program fault status word 2.

0 DC OVERVOLT DC link overvoltage
1 DC UNDERVOLT DC link undervoltage
2 OVERCURRENT Overcurrent fault
3 EARTH FAULT Earth fault
4 MOTOR PHASE Motor phase loss fault
5 USER MACRO User macro requested in not saved, or shared motion change
fault
6 ACS880 TEMP Over temperature in IGBT power plate
7 MOTOR TEMP Motor over temperature (calculated)
8 OVERFREQ Over frequency fault
9 START INHIBIT Start inhibit fault (“Prevention of unexpected start” is active)
10 SHORT CIRCUIT Short circuit at output
11 PPCC LINK Power plate communication link fault (INT board)
12 SUPPLY PHASE Supply phase is missing (DC ripple)
13 ENCODER ERR Encoder module/ speed deviation fault
14...15 Reserved
0b0000…0b1111 ACC interface crane control program fault status word 2. 1=1
09.43 ACC Crane alarm (Visible only when user lock is open with pass code 584. -
ACC interface crane control program alarm status word 1.
Bit Name Descri ption

0 MOTOR TEMP Motor high (95%) temperature (calculated)
1 COMM MODULE Comm module communication alarm
2 ID RUN FAIL ID run failed
3 ACS880 TEMP High temperature in IGBT power plate
4 ENCODER ERR Encoder module speed deviation alarm
5 JOYSTICK Joystick supervision alarm (standalone)
6 START INHIBIT Start inhibit alarm (“Prevention of unexpected start” is active)
7 Reserved
8 THERMISTOR Thermistor alarm (DI6)
9 NO MOT DATA No motor data or too low nominal current entered
10 LIFETIME>90% Crane hoist machinery lifteime exceeded 90% of total lifetime set
in parameter 75.71 Crane lifetime.
11...15 Reserved
0b0000…0b1111 ACC interface crane control program alarm status word 1. 1=1
256 Parameters

auxiliary SW See parameter 96.02 Pass code.)
ACC interface crane control program auxiliary status word.

0 DIR A Standalone direction A order
1 DIR B Standalone direction B order
2 ZERO POS Standalone zero position order
3 SLOWDOWN DIR A Standalone slowdown direction A
4 SLOWDOWN DIR B Standalone slowdown direction B
5 ELSHAFT ON ACKN Electric shaft control on acknowledge
6 BRAKE LIFT Brake lift order
7 FOLL SEP ACKN Follower separate acknowledge
8 LOGG DATA READY Drive datalogger data is ready (triggered)
9 AI3 LIMIT ACTIVE Analog input AI3 speed limit is active (AI3 < 10 mA)
10 SLACK ROPE Slack rope is detected
11 COMTEST MF Master/follower communication test
12 FAST STOP Fast stop is active
13 MOTOR1 Motor 1 or user macro 1 is activated
14 MOTOR2 Motor 2 or user macro 2 is activated
15 Reserved
0b0000…0b1111 ACC interface crane control program auxiliary status word. 1=1
fieldbus CW See parameter 96.02 Pass code.)
ACC interface crane control program fieldbus control word.

0 COMTEST REC Communication test receive bit
1 DRIVE ON Drive On (magnetize) from PLC in fieldbus mode
2 HIGH SPEED High speed selected (power optimization)
3 START OVR Start order from PLC in fieldbus mode
4 RAMP HOLD Speed ramp hold signal
5 SEPARATE Separate control select signal (only in master/follower
control)
6 TORQ CTRL SEL Torque control selected (Torque ref = DS1.3)
7 LOAD MES SEL Load measurement selected (enable LOAD MEAS REF)
8 RESET OVR Reset fault from overriding control (PLC)
9 FAST STOP 1 Fast stop type 1 selected (torque limit stop)
10 FAST STOP 11 Fast stop type 11 selected
11 PGM SYNC Program synchronisation of position measurement
12 HW SYNC INHIBIT Hardware (DI) synchronisation of position measurement is
blocked
13 RESET SYNC READY Reset synchronisation is ready
14 USER MACRO User macro 1 or 2 change request
CHANGE
15 ENABLE FB CTRL Enable fieldbus control in stand alone Joystick mode (not
FB Joystick mode). Used by Sway control.
0b0000…0b1111 ACC interface crane control program fieldbus control word. 1=1
Parameters 257

auxiliary CW See parameter 96.02 Pass code.)
ACC interface crane control program auxiliary control word.

0 FB ZERO POS Fieldbus transmitted zero position signal from Joystick
1 FB START DIR A Fieldbus transmitted Start Dir A signal from Joystick
2 FB START DIR B Fieldbus transmitted Start Dir B signal from Joystick
3 FB JOYST TQREF SEL Fieldbus Joystick mode torque control is selected
4 FB ELSHAFT ON Fieldbus electric shaft control is on (enabled) for master or
slave drive
5 RESTART DLOG Restart the drive data loggers
6 TRIGG LOGGER Forced trigger (stop) of the drive data loggers
7 DISABLE SLACKROPE Disable the slack rope makes a fast stop (stop on torque
limit)
8...15 Reserved
0b0000…0b1111 ACC interface crane control program auxiliary control word. 1=1
09.47 ACC DC voltage (Visible only when user lock is open with pass code 584. -
See parameter 96.02 Pass code.)
Shows the DC voltage for ACC interface.
0...2000 V ACC interface DC voltage 1=1V
09.48 ACC Shaft power (Visible only when user lock is open with pass code 584. 0
Shows the shaft power for ACC interface.
-300...300 kW ACC interface shaft power 1 = 1 kW
09.49 ACC Measured (Visible only when user lock is open with pass code 584. 0.00 %
load See parameter 96.02 Pass code.)
Shows the measured load for ACC interface.
-300.00...300.00 % Percent of ACC interface measured load. 100 = 1%
09.50 Crane speed (Visible only when user lock is open with pass code 584. 0.00 rpm
reference cor See parameter 96.02 Pass code.)
Shows the crane speed reference correction value.
-30000.00... Speed correction. 100 = 1 rpm
30000.00 rpm
10
10 Standard DI, RO Configuration of digital inputs and relay outputs.
10.01 DI status Displays the electrical status of digital inputs DIIL and -
DI6…DI1. The activation/deactivation delays of the inputs (if
any are specified) are ignored. A filtering time can be
defined by parameter 10.51 DI filter time.
Bits 0…5 reflect the status of DI1…DI6; bit 15 reflects the
status of the DIIL input. Example: 1000000000010011b =
DIIL, DI5, DI2 and DI1 are on, DI3, DI4 and DI6 are off.
0000h…FFFFh Status of digital inputs. 1=1
258 Parameters

10.02 DI delayed status Displays the status of digital inputs DIIL and DI6…DI1. This -
word is updated only after activation/deactivation delays (if
any are specified).
Bits 0…5 reflect the delayed status of DI1…DI6; bit 15
reflects the delayed status of the DIIL input.
0000h…FFFFh Delayed status of digital inputs. 1=1
10.03 DI force selection The electrical statuses of the digital inputs can be 0000h
overridden for eg. testing purposes. A bit in parameter 10.04
DI force data is provided for each digital input, and its value
is applied whenever the corresponding bit in this parameter
is 1.
Bit Value
0 1 = Force DI1 to value of bit 0 of parameter 10.04 DI force data.
6…14 Reserved
15 1 = Force DIL to value of bit 15 of parameter 10.04 DI force data.
0000h…FFFFh Override selection for digital inputs. 1=1

10.04 DI force data Contains the values that the digital inputs are forced to when 0000h
selected by 10.03 DI force selection.
Bit 0 is the forced value for DI1; bit 15 is the forced value for
the DIIL input.
0000h…FFFFh Forced values of digital inputs. 1=1
10.05 DI1 ON delay (Visible only when user lock is open with pass code 584. 0.0 s
Defines the activation delay for digital input DI1.
1
*DI status
0
1
**Delayed DI
status 0
Time
tOn tOff tOn tOff
tOn = 10.05 DI1 ON delay

tOff = 10.06 DI1 OFF delay
*Electrical status of digital input. Indicated by 10.01 DI status.
**Indicated by 10.02 DI delayed status.
0.0 … 3000.0 s Activation delay for DI1. 10 = 1 s
10.06 DI1 OFF delay (Visible only when user lock is open with pass code 584. 0.0 s
Defines the deactivation delay for digital input DI1. See
parameter 10.05 DI1 ON delay.
0.0 … 3000.0 s Deactivation delay for DI1. 10 = 1 s
Parameters 259

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

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

260 Parameters

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

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

Parameters 261

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

10.21 RO status Status of relay outputs RO8…RO1. Example: 00000001b = -
RO1 is energized, RO2…RO8 are de-energized.
0000h…FFFFh Status of relay outputs. 1=1
10.24 RO1 source Selects a drive signal to be connected to relay output RO1. P. 44.210.0
Note: The default value of this parameter is 44.210 Crane
brake status, bit 0. The default value must not be changed.
RO1 is to be used only for the control of the mechanical
brake.
Not energized Output is not energized. 0
Energized Output is energized. 1
Ready run Bit 1 of 06.11 Main status word (see page 238). 2
Enabled Bit 0 of 06.16 Drive status word 1 (see page 239). 4
Started Bit 5 of 06.16 Drive status word 1 (see page 239). 5
Running Bit 6 of 06.16 Drive status word 1 (see page 239). 7
Ready ref Bit 2 of 06.11 Main status word (see page 238). 8
At setpoint Bit 8 of 06.11 Main status word (see page 238). 9
Reverse Bit 2 of 06.19 Speed control status word (see page 242). 10
Warning Bit 7 of 06.11 Main status word (see page 238). 13
Fault Bit 3 of 06.11 Main status word (see page 238). 14
Fault (-1) Inverted bit 3 of 06.11 Main status word (see page 238). 15
262 Parameters

Open brake Do not use this selection. 22
command Note: The default value of this parameter is 44.210 Crane
brake status, bit 0. The default value must not be changed.
Ext2 active Bit 11 of 06.16 Drive status word 1 (see page 239). 23
Remote control Bit 9 of 06.11 Main status word (see page 238). 24
Supervision 1 Bit 0 of 32.01 Supervision status (see page 390). 33
RO/DIO control Bit 0 of 10.99 RO/DIO control word (see page 264). 40
word bit0
word bit1
word bit2
word bit8
word bit9
Other [bit] A specific bit in another parameter. -
10.25 RO1 ON delay (Visible only when user lock is open with pass code 584. 0.0 s
Defines the activation delay for relay output RO1.
1
Status of selected
source
0
1
RO status
0
Time
tOn tOff tOn tOff
tOn = 10.25 RO1 ON delay

tOff = 10.26 RO1 OFF delay
0.0 … 3000.0 s Activation delay for RO1. 10 = 1 s
10.26 RO1 OFF delay (Visible only when user lock is open with pass code 584. 0.0 s
Defines the deactivation delay for relay output RO1. See
parameter 10.25 RO1 ON delay.
0.0 … 3000.0 s Deactivation delay for RO1. 10 = 1 s
Parameters 263

10.27 RO2 source Selects a drive signal to be connected to relay output RO2. 32.227, b1
For the available selections, see parameter 10.24 RO1
source.
By default this source is parameter 32.227, b1 Watchdog
relay control.
See parameter 96.02 Pass code.) (95.20 b3)
1
Status of selected
source
0
1
RO status
0
Time
tOn tOff tOn tOff

See parameter 96.02 Pass code.) (95.20 b3)
10.30 RO3 source Selects a drive signal to be connected to relay output RO3. Fault (-1)
For the available selections, see parameter 10.24 RO1
source.
1
Status of selected
source
0
1
RO status
0
Time
tOn tOff tOn tOff

264 Parameters

10.51 DI filter time (Visible only when user lock is open with pass code 584. 10.0 ms
Defines a filtering time for parameter 10.01 DI status.
0.3 … 100.0 ms Filtering time for 10.01. 10 = 1 ms
10.99 RO/DIO control Storage parameter for controlling the relay outputs and 0000h
word digital input/outputs eg. through the embedded fieldbus
interface.
To control the relay outputs (RO) and the digital
input/outputs (DIO) of the drive, send a control word with the
bit assignments shown below as Modbus I/O data. Set the
target selection parameter of that particular data
(58.101…58.124) to RO/DIO control word. In the source
selection parameter of the desired output, select the
appropriate bit of this word.

0 RO1 Source bits for relay outputs RO1…RO3 (see parameters 10.24,
1 RO2 10.27 and 10.30).
2 RO3
3…7 Reserved
8 DIO1 Source bits for digital input/outputs DIO1…DIO3 (see parameters
9 DIO2 11.06 and 11.10).
10…15 Reserved
0000h…FFFFh RO/DIO control word. 1=1

11
11 Standard DIO, FI, FO Configuration of digital input/outputs and frequency
inputs/outputs.
11.01 DIO status Displays the status of digital input/outputs DIO2 and DIO1. -
The activation/deactivation delays (if any are specified) are
ignored. A filtering time (for input mode) can be defined by
parameter 10.51 DI filter time.
Example: 0010 = DIO2 is on and DIO1 is off.
0000b…0011b Status of digital input/outputs. 1=1
11.02 DIO delayed status Displays the delayed status of digital input/outputs DIO2 and -
DIO1. This word is updated only after activation/deactivation
delays (if any are specified).
Example: 0010 = DIO2 is on and DIO1 is off.
0000b…0011b Delayed status of digital input/outputs. 1=1
11.05 DIO1 function Selects whether DIO1 is used as a digital output or input, or Output
a frequency input.
Output DIO1 is used as a digital output. 0
Input DIO1 is used as a digital input. 1
Frequency DIO1 is used as a frequency input. 2
11.06 DIO1 output Selects a drive signal to be connected to digital input/output 44.210, b0
source DIO1 when parameter 11.05 DIO1 function is set to Output.
Not energized Output is off. 0
Energized Output is on. 1
Parameters 265

command Note: The default value for this parameter is 44.210 Crane
brake status, bit 0.
word bit0
word bit1
word bit2
word bit8
word bit9
219).
266 Parameters

11.07 DIO1 ON delay Defines the activation delay for digital input/output DIO1 0.0 s
(when used as a digital output or digital input).
1
*DIO status
0
1
**Delayed DIO
status 0
Time
tOn tOff tOn tOff
tOn = 11.07 DIO1 ON delay

tOff = 11.08 DIO1 OFF delay
*Electrical status of DIO (in input mode) or status of selected source (in output mode). Indicated
by 11.01 DIO status.
**Indicated by 11.02 DIO delayed status.
0.0 … 3000.0 s Activation delay for DIO1. 10 = 1 s
11.08 DIO1 OFF delay Defines the deactivation delay for digital input/output DIO1 0.0 s
(when used as a digital output or digital input). See
parameter 11.07 DIO1 ON delay.
0.0 … 3000.0 s Deactivation delay for DIO1. 10 = 1 s
11.09 DIO2 function Selects whether DIO2 is used as a digital output or input, or Output
a frequency output.
Frequency DIO2 is used as a frequency output. 2
11.10 DIO2 output Selects a drive signal to be connected to digital input/output Running
source DIO2 when parameter 11.09 DIO2 function is set to Output.
For the available selections, see parameter 11.06 DIO1
output source.
11.11 DIO2 ON delay Defines the activation delay for digital input/output DIO2 0.0 s
(when used as a digital output or digital input).
1
*DIO status
0
1
**Delayed DIO
status 0
Time
tOn tOff tOn tOff

Parameters 267

11.12 DIO2 OFF delay Defines the deactivation delay for digital input/output DIO2 0.0 s
(when used as a digital output or digital input). See
parameter 11.11 DIO2 ON delay.
11.38 Freq in 1 actual Displays the value of frequency input 1 (via DIO1 when it is -
value used as a frequency input) before scaling. See parameter
11.42 Freq in 1 min.
0 … 16000 Hz Unscaled value of frequency input 1. 1 = 1 Hz
11.39 Freq in 1 scaled Displays the value of frequency input 1 (via DIO1 when it is -
used as a frequency input) after scaling. See parameter
-32768.000 … Scaled value of frequency input 1. 1=1
32767.000
11.42 Freq in 1 min (Visible only when user lock is open with pass code 584. 0 Hz
Defines the minimum input frequency for frequency input 1
(DIO1 when it is used as a frequency input).
The incoming frequency signal (11.38 Freq in 1 actual value)
is scaled into an internal signal (11.39 Freq in 1 scaled) by
parameters 11.42…11.45 as follows:
11.39
11.45
11.44
fin (11.38)
11.42 11.43
0 … 16000 Hz Minimum frequency of frequency input 1 (DIO1). 1 = 1 Hz

11.43 Freq in 1 max (Visible only when user lock is open with pass code 584. 16000 Hz
Defines the maximum input frequency for frequency input 1
(DIO1 when it is used as a frequency input). See parameter
0 … 16000 Hz Maximum frequency for frequency input 1 (DIO1). 1 = 1 Hz
11.44 Freq in 1 at scaled (Visible only when user lock is open with pass code 584. 0.000
min See parameter 96.02 Pass code.)
Defines the value that corresponds to the minimum input
frequency defined by parameter 11.42 Freq in 1 min. See
diagram at parameter 11.42 Freq in 1 min.
-32768.000 … Value corresponding to minimum of frequency input 1. 1=1
32767.000
268 Parameters

11.45 Freq in 1 at scaled (Visible only when user lock is open with pass code 584. 1500.000;
max See parameter 96.02 Pass code.) 1800.000
Defines the value that is required to correspond internally to (95.20 b0)
the maximum input frequency defined by parameter 11.43
Freq in 1 max. See diagram at parameter 11.42 Freq in 1
min.
-32768.000 … Value corresponding to maximum of frequency input 1. 1=1
32767.000
11.54 Freq out 1 actual Displays the value of frequency output 1 after scaling. See -
value parameter 11.58 Freq out 1 src min.
0 … 16000 Hz Value of frequency output 1. 1=1
11.55 Freq out 1 source (Visible only when user lock is open with pass code 584. Motor speed
See parameter 96.02 Pass code.) used
Selects a signal to be connected to frequency output 1.
Zero None. 0
Motor speed used 01.01 Motor speed used (page 224). 1
Output frequency 01.06 Output frequency (page 224). 3
Motor current 01.07 Motor current (page 224). 4
Motor torque 01.10 Motor torque (page 224). 6
DC voltage 01.11 DC voltage (page 224). 7
Power inu out 01.14 Output power (page 225). 8
Speed ref ramp in 23.01 Speed ref ramp input (page 341). 10
Speed ref ramped 23.02 Speed ref ramp output (page 341). 11
Speed ref used 24.01 Used speed reference (page 347). 12
Torq ref used 26.02 Torque reference used (page 363). 13
Freq ref used Not in use. 14
Process PID out Not in use. 16
Process PID fbk Not in use. 17
Process PID act Not in use. 18
Process PID dev Not in use. 19
Other Source selection (see Terms and abbreviations on page -
219).
Parameters 269

11.58 Freq out 1 src min (Visible only when user lock is open with pass code 584. 0.000
Defines the real value of the signal (selected by parameter
11.55 Freq out 1 source and shown by parameter 11.54
Freq out 1 actual value) that corresponds to the minimum
value of frequency output 1 (defined by parameter 11.60
Freq out 1 at src min).
fout (11.54)
11.61
11.60
11.58 11.59 Signal (real)

selected by
par. 11.55
fout (11.54)
11.61
11.60

selected by
par. 11.55
-32768.000 … Real signal value corresponding to minimum value of 1=1

32767.000 frequency output 1.
11.59 Freq out 1 src max (Visible only when user lock is open with pass code 584. 1500.000;
See parameter 96.02 Pass code.) 1800.000
Defines the real value of the signal (selected by parameter (95.20 b0)
11.55 Freq out 1 source and shown by parameter 11.54
Freq out 1 actual value) that corresponds to the maximum
value of frequency output 1 (defined by parameter 11.61
Freq out 1 at src max). See parameter 11.58 Freq out 1 src
min.
-32768.000 … Real signal value corresponding to maximum value of 1=1
32767.000 frequency output 1.
11.60 Freq out 1 at src (Visible only when user lock is open with pass code 584. 0 Hz
min See parameter 96.02 Pass code.)
Defines the minimum value of frequency output 1. See
diagrams at parameter 11.58 Freq out 1 src min.
0…16000 Hz Minimum value of frequency output 1. 1 = 1 Hz
270 Parameters

11.61 Freq out 1 at src (Visible only when user lock is open with pass code 584. 16000 Hz
max See parameter 96.02 Pass code.)
Defines the maximum value of frequency output 1. See
diagrams at parameter 11.58 Freq out 1 src min.
0…16000 Hz Maximum value of frequency output 1. 1 = 1 Hz
11.81 DIO filter time (Visible only when user lock is open with pass code 584. 10.0 ms
Defines a filtering time for parameter 11.01 DIO status. The
filtering time will only affect the DIOs that are in input mode.
12
12 Standard AI Configuration of standard analog inputs.
12.01 AI tune Triggers the analog input tuning function.
Connect the signal to the input and select the appropriate
tuning function.
No action AI tune is not activated. 0
AI1 min tune Current analog input AI1 signal value is set as minimum 1
value of AI1 into parameter 12.17 AI1 min. The value reverts
back to No action automatically.
AI1 max tune Current analog input AI1 signal value is set as maximum 2
value of AI1 into parameter 12.18 AI1 max. The value
reverts back to No action automatically.
AI2 min tune Current analog input AI2 signal value is set as minimum 3
value of AI2 into parameter 12.27 AI2 min. The value reverts
back to No action automatically.
AI2 max tune Current analog input AI2 signal value is set as maximum 4
value of AI2 into parameter 12.28 AI2 max. The value
reverts back to No action automatically.
12.03 AI supervision Selects how the drive reacts when an analog input signal No action
function moves out of the minimum and/or maximum limits specified
for the input.
The supervision applies a margin of 0.5 V or 1.0 mA to the
limits. For example, if the maximum limit for the input is
7.000 V, the maximum limit supervision activates at 7.500 V.
The inputs and the limits to be observed are selected by
parameter 12.04 AI supervision selection.
Note: Analog input signal supervision is only active when
• the analog input is set as the source (using the AI1
scaled or AI2 scaled selection) in parameter 22.11, 22.12,
22.15, 22.17, 23.42, 26.11, 26.12, 26.16, 26.25, 28.11,
28.12, 30.21, 30.22, 40.16, 40.17, 40.50, 41.16, 41.17,
41.50 or 44.09, and is used as the active source or
supervision is forced using parameter 12.05 AI
supervision force.
No action No action taken. 0
Fault Drive trips on 80A0 AI supervision. 1
Warning Drive generates an A8A0 AI supervision warning. 2
Last speed Drive generates a warning (A8A0 AI supervision) and 3
freezes the speed (or frequency) to the level the drive was
operating at. The speed/frequency is determined on the
basis of actual speed using 850 ms low-pass filtering.
WARNING! Make sure that it is safe to continue
operation in case of a communication break.
Parameters 271

Speed ref safe Drive generates a warning (A8A0 AI supervision) and sets 4
the speed to the speed defined by parameter 22.41 Speed
ref safe.
12.04 AI supervision Specifies the analog input limits to be supervised. See 0000b
selection parameter 12.03 AI supervision function.

0 AI1 < MIN 1 = Minimum limit supervision of AI1 active.
1 AI1 > MAX 1 = Maximum limit supervision of AI1 active.
4…15 Reserved
0000b…1111b Activation of analog input supervision. 1=1

12.05 AI supervision Activates analog input supervision separately for each 0000 0000b
force control location (see section Local control vs. external
control on page 148).
The parameter is primarily intended for analog input
supervision when the input is connected to the application
program and not selected as a control source by drive
parameters.

0 AI1 Ext 1 1 = AI1 supervision is active when EXT1 is used.
2 AI1 Local 1 = AI1 supervision is active when local control is used.
3 Reserved
6 AI2 Local 1 = AI2 supervision is active when local control is used.
7…15 Reserved
0000b…1111b Analog input supervision selection. 1=1

12.11 AI1 actual value Displays the value of analog input AI1 in mA or V -
(depending on whether the input is set to current or voltage
by a hardware setting).
-22.000 … 22.000 Value of analog input AI1. 1000 = 1 mA
mA or V or V
12.12 AI1 scaled value Displays the value of analog input AI1 after scaling. See -
parameters 12.19 AI1 scaled at AI1 min and 12.20 AI1
scaled at AI1 max.
-32768.000 … Scaled value of analog input AI1. 1=1
32767.000
272 Parameters

12.15 AI1 unit selection Selects the unit for readings and settings related to analog V
input AI1.
Note: This setting must match the corresponding hardware
setting on the drive control unit (see the hardware manual of
the drive). Control board reboot (either by cycling the power
or through parameter 96.08 Control board boot) is required
to validate any changes in the hardware settings.
V Volts. 2
mA Milliamperes. 10
12.16 AI1 filter time Defines the filter time constant for analog input AI1. 0.100 s
%
Unfiltered signal
100
63 Filtered signal
t
T
O = I × (1 - e-t/T )
I = filter input (step)

O = filter output
t = time
T = filter time constant
Note: The signal is also filtered due to the signal interface

hardware (approximately 0.25 ms time constant). This
cannot be changed by any parameter.
0.000 … 30.000 s Filter time constant. 1000 = 1 s
12.17 AI1 min Defines the minimum site value for analog input AI1. 0.000 mA or
Set the value actually sent to the drive when the analog V
signal from plant is wound to its minimum setting.
See also parameter 12.01 AI tune.
-22.000 … Minimum value of AI1. 1000 = 1 mA
22.000 mA or V or V
12.18 AI1 max Defines the maximum site value for analog input AI1. 20.000 mA or
Set the value actually sent to the drive when the analog 10.000 V
signal from plant is wound to its maximum setting.
-22.000 … Maximum value of AI1. 1000 = 1 mA
22.000 mA or V or V
Parameters 273

12.19 AI1 scaled at AI1 Defines the real internal value that corresponds to the -1500.000
min minimum analog input AI1 value defined by parameter 12.17
AI1 min. (Changing the polarity settings of 12.19 and 12.20
can effectively invert the analog input.)
AIscaled (12.12)
12.20
AIin (12.11)
12.17
12.18
12.19
-32768.000 … Real value corresponding to minimum AI1 value. 1=1

32767.000
12.20 AI1 scaled at AI1 Defines the real internal value that corresponds to the 1500.000;
max maximum analog input AI1 value defined by parameter 1800.000
12.18 AI1 max. See the drawing at parameter 12.19 AI1 (95.20 b0)
scaled at AI1 min.
-32768.000 … Real value corresponding to maximum AI1 value. 1=1
32767.000
12.21 AI2 actual value Displays the value of analog input AI2 in mA or V -
(depending on whether the input is set to current or voltage
by a hardware setting).
-22.000 … 22.000 Value of analog input AI2. 1000 = 1 mA
mA or V or V
12.22 AI2 scaled value Displays the value of analog input AI2 after scaling. See -
parameters 12.29 AI2 scaled at AI2 min and 12.30 AI2
scaled at AI2 max.
32767.000
12.25 AI2 unit selection Selects the unit for readings and settings related to analog mA
input AI2.
Note: This setting must match the corresponding jumper
setting on the drive control unit (see the hardware manual of
the drive). Control board reboot (either by cycling the power
or through parameter 96.08 Control board boot) is required
to validate any changes in the jumper settings.
V Volts. 2
mA Milliamperes. 10
12.26 AI2 filter time Defines the filter time constant for analog input AI2. See 0.100 s
parameter 12.16 AI1 filter time.
274 Parameters

12.27 AI2 min Defines the minimum site value for analog input AI2. 0.000 mA or
Set the value actually sent to the drive when the analog V
signal from plant is wound to its minimum setting.
-22.000 … 22.000 Minimum value of AI2. 1000 = 1 mA
mA or V or V
12.28 AI2 max Defines the maximum site value for analog input AI2. 20.000 mA or
Set the value actually sent to the drive when the analog 10.000 V
signal from plant is wound to its maximum setting.
-22.000 … 22.000 Maximum value of AI2. 1000 = 1 mA
mA or V or V
12.29 AI2 scaled at AI2 Defines the real value that corresponds to the minimum 0.000
min analog input AI2 value defined by parameter 12.27 AI2 min.
(Changing the polarity settings of 12.29 and 12.30 can
effectively invert the analog input.)
AIscaled (12.22)
12.30
AIin (12.21)
12.27
12.28
12.29

32767.000
12.30 AI2 scaled at AI2 Defines the real value that corresponds to the maximum 100.000
max analog input AI2 value defined by parameter 12.28 AI2 max.
See the drawing at parameter 12.29 AI2 scaled at AI2 min.
32767.000
13
13 Standard AO Configuration of standard analog outputs.
13.11 AO1 actual value Displays the value of AO1 in mA. -
0.000…22.000 mA Value of AO1. 1000 = 1 mA
13.12 AO1 source Selects a signal to be connected to analog output AO1. Motor speed
Alternatively, sets the output to excitation mode to feed a used
constant current to a temperature sensor.
Zero None. 0
Parameters 275

Speed ref ramp out 23.02 Speed ref ramp output (page 341). 11
Freq ref used Not used 14
Process PID out Not used. 16
Process PID fbk Not used 17
Process PID act Not used 18
Process PID dev Not used 19
Force PT100 The output is used to feed an excitation current to 1…3 20
excitation Pt100 sensors. See section Motor thermal protection
(page 202).
Force KTY84 The output is used to feed an excitation current to a KTY84 21
excitation sensor. See section Motor thermal protection (page 202).
Force PTC The output is used to feed an excitation current to 1…3 PTC 22
excitation sensors. See section Motor thermal protection (page 202).
Force Pt1000 The output is used to feed an excitation current to 1…3 23
excitation Pt1000 sensors. See section Motor thermal protection
(page 202).
AO1 data storage 13.91 AO1 data storage (page 278). 37
Other The value is taken from another parameter. -
13.16 AO1 filter time Defines the filtering time constant for analog output AO1. 0.100 s
%
Unfiltered signal
100
63 Filtered signal
t
T
O = I × (1 - e-t/T)

O = filter output
t = time

276 Parameters

13.17 AO1 source min Defines the real minimum value of the signal (selected by 0.0
parameter 13.12 AO1 source) that corresponds to the
minimum required AO1 output value (defined by
parameter 13.19 AO1 out at AO1 src min).
IAO1 (mA)
13.20
13.19

selected by
13.12
Programming 13.17 as the maximum value and 13.18 as

the minimum value inverts the output.
IAO1 (mA)
13.20
13.19

selected by
13.12
-32768.0 … Real signal value corresponding to minimum AO1 output 1=1

32767.0 value.
13.18 AO1 source max Defines the real maximum value of the signal (selected by 1500.0;
parameter 13.12 AO1 source) that corresponds to the 1800.0
maximum required AO1 output value (defined by (95.20 b0)
parameter 13.20 AO1 out at AO1 src max). See parameter
13.17 AO1 source min.
-32768.0 … Real signal value corresponding to maximum AO1 output 1=1
32767.0 value.
13.19 AO1 out at AO1 src Defines the minimum output value for analog output AO1. 0.000 mA
min See also drawing at parameter 13.17 AO1 source min.
0.000 … Minimum AO1 output value. 1000 = 1 mA
22.000 mA
13.20 AO1 out at AO1 src Defines the maximum output value for analog output AO1. 20.000 mA
max See also drawing at parameter 13.17 AO1 source min.
0.000 … Maximum AO1 output value. 1000 = 1 mA
22.000 mA
Parameters 277

13.21 AO2 actual value Displays the value of AO2 in mA. -
0.000 … Value of AO2. 1000 = 1 mA
22.000 mA
13.22 AO2 source Selects a signal to be connected to analog output AO2. Motor current
Alternatively, sets the output to excitation mode to feed a
For the selections, see parameter 13.12 AO1 source.
13.26 AO2 filter time Defines the filtering time constant for analog output AO2. 0.100 s
See parameter 13.16 AO1 filter time.
13.27 AO2 source min Defines the real minimum value of the signal (selected by 0.0
minimum required AO2 output value (defined by
parameter 13.29 AO2 out at AO2 src min).
IAO2 (mA)
13.30
13.29

selected by
13.22
Programming 13.27 as the maximum value and 13.28 as

the minimum value inverts the output.
IAO2 (mA)
13.30
13.29

selected by
13.22
-32768.0…32767.0 Real signal value corresponding to minimum AO2 output 1=1

value.
278 Parameters

13.28 AO2 source max Defines the real maximum value of the signal (selected by 100.0
maximum required AO2 output value (defined by
parameter 13.30 AO2 out at AO2 src max). See parameter
13.27 AO2 source min.
-32768.0…32767.0 Real signal value corresponding to maximum AO2 output 1=1
value.
13.29 AO2 out at AO2 src Defines the minimum output value for analog output AO2. 0.000 mA
min See also drawing at parameter 13.27 AO2 source min.
0.000…22.000 mA Minimum AO2 output value. 1000 = 1 mA
13.30 AO2 out at AO2 src Defines the maximum output value for analog output AO2. 20.000 mA
max See also drawing at parameter 13.27 AO2 source min.
0.000…22.000 mA Maximum AO2 output value. 1000 = 1 mA
13.91 AO1 data storage (Visible only when user lock is open with pass code 584. 0.00
Storage parameter for controlling analog output AO1 eg.
through fieldbus.
In 13.12 AO1 source, select AO1 data storage. Then set this
parameter as the target of the incoming value data.
With the embedded fieldbus interface, simply set the target
selection parameter of that particular data (58.101…58.124)
to AO1 data storage.
-327.68 … 327.67 Storage parameter for AO1. 100 = 1
13.92 AO2 data storage (Visible only when user lock is open with pass code 584. 0.00
Storage parameter for controlling analog output AO2 eg.
through fieldbus.
In 13.22 AO2 source, select AO2 data storage. Then set this
parameter as the target of the incoming value data.
With the embedded fieldbus interface, simply set the target
selection parameter of that particular data (58.101…58.124)
to AO2 data storage.
-327.68 … 327.67 Storage parameter for AO2. 100 = 1
14
14 I/O extension module Configuration of I/O extension module 1.
1 See also section Programmable I/O extensions (page 158).
Note: The contents of the parameter group vary according
to the selected I/O extension module type.
14.01 Module 1 type Activates (and specifies the type of) I/O extension module 1. None
None Inactive. 0
FIO-01 FIO-01. 1
FIO-11 FIO-11. 2
FDIO-01 FDIO-01. 3
FAIO-01 FAIO-01. 4
14.02 Module 1 location Specifies the slot (1…3) on the control unit of the drive into Slot 1
which the I/O extension module is installed. Alternatively,
specifies the node ID of the slot on a FEA-0x extension
adapter.
Slot 1 Slot 1. 1
Slot 2 Slot 2. 2
Parameters 279

Slot 3 Slot 3. 3
4…254 Node ID of the slot on the FEA-0x extension adapter. 1=1
14.03 Module 1 status Displays the status of I/O extension module 1. No option
No option No module detected in the specified slot. 0
No communication A module has been detected but cannot be communicated 1
with.
Unknown The module type is unknown. 2
FIO-01 An FIO-01 module has been detected and is active. 15
FIO-11 An FIO-11 module has been detected and is active. 20
FAIO-01 An FAIO-01 module has been detected and is active. 24
14.05 DI status (Visible when 14.01 Module 1 type = FDIO-01) -
Displays the status of the digital inputs/outputs on the
extension module. The activation/deactivation delays (if any
are specified) are ignored. A filtering time (for input mode)
can be defined by parameter 14.08 DI filter time.
Bit 0 indicates the status of DI1.
Note: The number of active bits in this parameter depends
on the number of digital input/outputs on the extension
module.
Example: 0101b = DI1 and DI3 are on, remainder are off.
00000000h… Status of digital inputs. 1=1
FFFFFFFFh
14.05 DIO status (Visible when 14.01 Module 1 type = FIO-01 or FIO-11) -
Displays the status of the digital input/outputs on the
extension module. The activation/deactivation delays (if any
are specified) are ignored. A filtering time (for input mode)
can be defined by parameter 14.08 DIO filter time.
Bit 0 indicates the status of DIO1.
module.
Example: 1001b = DIO1 and DIO4 are on, remainder are
off.
00000000h… Status of digital input/outputs. 1=1
FFFFFFFFh
14.06 DI delayed status (Visible when 14.01 Module 1 type = FDIO-01) -
Displays the delayed status of the digital inputs on the
extension module. The word is updated only after
activation/deactivation delays (if any are specified).
Bit 0 indicates the status of DI1.
on the number of digital inputs on the extension module.
Example: 0101b = DI1 and DI3 are on, remainder are off.
00000000h… Delayed status of digital inputs. 1=1
FFFFFFFFh
280 Parameters

14.06 DIO delayed status (Visible when 14.01 Module 1 type = FIO-01 or FIO-11) -
Displays the delayed status of the digital input/outputs on
the extension module. This word is updated only after
activation/deactivation delays (if any are specified).
Bit 0 indicates the status of DIO1.
module.
Example: 1001b = DIO1 and DIO4 are on, remainder are
off.
00000000h… Delayed status of digital input/outputs. 1=1
FFFFFFFFh
14.08 DI filter time (Visible when 14.01 Module 1 type = FDIO-01) 10.0 ms
Defines a filtering time for parameter 14.05 DI status.
14.08 DIO filter time (Visible when 14.01 Module 1 type = FIO-01 or FIO-11) 10.0 ms
Defines a filtering time for parameter 14.05 DIO status. The
filtering time will only affect the DIOs that are in input mode.
14.09 DIO1 function (Visible when 14.01 Module 1 type = FIO-01 or FIO-11) Input
Selects whether DIO1 of the extension module is used as a
digital input or output.
14.11 DIO1 output (Visible when 14.01 Module 1 type = FIO-01 or FIO-11) Not
source Selects a drive signal to be connected to digital input/output energized
DIO1 of the extension module when parameter 14.09 DIO1
function is set to Output.
Not energized Output is not energized. 0
Energized Output is energized. 1
command
Parameters 281

word bit0
word bit1
word bit2
word bit8
word bit9
219).
14.12 DI1 ON delay (Visible when 14.01 Module 1 type = FDIO-01) 0.00 s
Defines the activation delay for digital input/output DI1.
1
*DI status
0
1
**Delayed DI
status 0
Time
tOn tOff tOn tOff

by 14.05 DI status.
282 Parameters

14.12 DIO1 ON delay (Visible when 14.01 Module 1 type = FIO-01 or FIO-11) 0.00 s
Defines the activation delay for digital input/output DIO1.
1
*DIO status
0
1
**Delayed DIO
status 0
Time
tOn tOff tOn tOff

14.13 DI1 OFF delay (Visible when 14.01 Module 1 type = FDIO-01) 0.00 s
Defines the deactivation delay for digital input/output DI1.
See parameter 14.12 DI1 ON delay.
14.13 DIO1 OFF delay (Visible when 14.01 Module 1 type = FIO-01 or FIO-11) 0.00 s
Defines the deactivation delay for digital input/output DIO1.
See parameter 14.12 DIO1 ON delay.
DIO2 when parameter 14.14 DIO2 function is set to Input.
output source.
Defines the activation delay for digital input DI2. See
Parameters 283

14.19 DIO3 function (Visible when 14.01 Module 1 type = FIO-01) Input
14.19 AI supervision (Visible when 14.01 Module 1 type = FIO-11 or FAIO-01) No action
function Selects how the drive reacts when an analog input signal
moves out of the minimum and/or maximum limits specified
for the input.
The inputs and the limits to be observed are selected by
parameter 14.20 AI supervision selection.
Fault Drive trips on 80A0 AI supervision. 1
Warning Drive generates an A8A0 AI supervision warning. 2
Last speed Drive generates a warning (A8A0 AI supervision) and 3
freezes the speed (or frequency) to the level the drive was
operating at. The speed/frequency is determined on the
Speed ref safe Drive generates a warning (A8A0 AI supervision) and sets 4
ref safe.
14.20 AI supervision (Visible when 14.01 Module 1 type = FIO-11 or FAIO-01) 0000 0000b
selection Specifies the analog input limits to be supervised. See
parameter 14.19 AI supervision function.
on the number of inputs on the extension module.

4 AI3 < MIN 1 = Minimum limit supervision of AI3 active (FIO-11 only).
5 AI3 > MAX 1 = Maximum limit supervision of AI3 active (FIO-11 only).
6…15 Reserved
0000 0000b … Activation of analog input supervision. 1=1

0011 1111b
14.21 DIO3 output (Visible when 14.01 Module 1 type = FIO-01) Not
DIO3 when parameter 14.19 DIO3 function is set to Input.
output source.
284 Parameters

14.21 AI tune (Visible when 14.01 Module 1 type = FIO-11 or FAIO-01) No action
Triggers the analog input tuning function, which enables the
use of actual measurements as the minimum and maximum
input values instead of potentially inaccurate estimates.
Apply the minimum or maximum signal to the input and
select the appropriate tuning function.
See also the drawing at parameter 14.35 AI1 scaled at AI1
min.
No action Tuning action completed or no action has been requested. 0
The parameter automatically reverts to this value after any
tuning action.
AI1 min tune The measured value of AI1 is set as the minimum value of 1
AI1 into parameter 14.33 AI1 min.
AI1 max tune The measured value of AI1 is set as the maximum value of 2
AI1 into parameter 14.34 AI1 max.
AI2 min tune The measured value of AI2 is set as the minimum value of 3
AI2 max tune The measured value of AI2 is set as the maximum value of 4
AI3 min tune (Visible when 14.01 Module 1 type = FIO-11) 5
The measured value of AI3 is set as the minimum value of
AI3 max tune (Visible when 14.01 Module 1 type = FIO-11) 6
The measured value of AI3 is set as the maximum value of
14.22 AI force selection (Visible when 14.01 Module 1 type = FIO-11 or FAIO-01) 0000b
The true readings of the analog inputs can be overridden for
eg. testing purposes. A forced value parameter is provided
for each analog input, and its value is applied whenever the
corresponding bit in this parameter is 1.

0 AI1 1 = Force mode: Force AI1 to value of parameter 14.28 AI1 force data.
1 AI2 1 = Force mode: Force AI2 to value of parameter 14.43 AI2 force data.
2 AI3 1 = Force mode: Force AI3 to value of parameter 14.58 AI3 force data
(FIO-11 only).
3…15 Reserved
0000b…0111b Forced values selector for analog inputs. 1=1
Defines the deactivation delay for digital input/output DI3.
Parameters 285

14.23 DIO3 OFF delay (Visible when 14.01 Module 1 type = FIO-01) 0.00 s
DIO4 when parameter 14.24 DIO4 function is set to Output.
output source.
14.26 AI1 actual value (Visible when 14.01 Module 1 type = FIO-11 or FAIO-01) -
Displays the value of analog input AI1 in mA or V
(depending on whether the input is set to current or voltage).
-22.000 … Value of analog input AI1. 1000 = 1 mA
22.000 mA or V or V
14.27 DIO4 ON delay Visible when 14.01 Module 1 type = FIO-01 or FIO-11) 0.00 s
14.27 AI1 scaled value (Visible when 14.01 Module 1 type = FIO-11 or FAIO-01) -
Displays the value of analog input AI1 after scaling. See
parameter 14.35 AI1 scaled at AI1 min.
32767.000
14.28 AI1 force data (Visible when 14.01 Module 1 type = FIO-11 or FAIO-01)
Forced value that can be used instead of the true reading of
the input. See parameter 14.22 AI force selection.
-22.000 … Forced value of analog input AI1. 1000 = 1 mA
22.000 mA or V or V
14.29 AI1 HW switch (Visible when 14.01 Module 1 type = FIO-11 or FAIO-01) -
position Shows the position of the hardware current/voltage selector
on the I/O extension module.
Note: The setting of the current/voltage selector must match
the unit selection made in parameter 14.30 AI1 unit
selection. I/O module reboot either by cycling the power or
through parameter 96.08 Control board boot is required to
validate any changes in the hardware settings.
V Volts. 2
mA Milliamperes. 10
286 Parameters

14.30 AI1 unit selection (Visible when 14.01 Module 1 type = FIO-11 or FAIO-01) mA
Selects the unit for readings and settings related to analog
input AI1.
setting on the I/O extension module (see the manual of the
I/O extension module). The hardware setting is shown by
parameter 14.29 AI1 HW switch position. I/O module reboot
either by cycling the power or through parameter 96.08
Control board boot is required to validate any changes in the
hardware settings.
V Volts. 2
mA Milliamperes. 10
14.31 RO status (Visible when 14.01 Module 1 type = FIO-01 or FDIO-01) -
Status of relay outputs on the I/O extension module.
Example: 0001b = RO1 is energized, RO2 is de-energized.
0000b…1111b Status of relay outputs. 1=1
14.31 AI1 filter gain (Visible when 14.01 Module 1 type = FIO-11 or FAIO-01) 1 ms
Selects a hardware filtering time for AI1.
See also parameter 14.32 AI1 filter time.
No filtering No filtering. 0
125 us 125 microseconds. 1
1 ms 1 millisecond. 4
2 ms 2 milliseconds. 5
7.9375 ms 7.9375 milliseconds. 7
14.32 AI1 filter time (Visible when 14.01 Module 1 type = FIO-11 or FAIO-01) 0.100 s
Defines the filter time constant for analog input AI1.
%
Unfiltered signal
100
63 Filtered signal
t
T
O = I × (1 - e-t/T)

O = filter output
t = time

hardware. See parameter 14.31 AI1 filter gain.
Parameters 287

14.33 AI1 min (Visible when 14.01 Module 1 type = FIO-11 or FAIO-01) 0.000 mA or
Defines the minimum value for analog input AI1. V
22.000 mA or V or V
14.34 RO1 source (Visible when 14.01 Module 1 type = FIO-01 or FDIO-01) Not
Selects a drive signal to be connected to relay output RO1. energized
output source.
14.34 AI1 max (Visible when 14.01 Module 1 type = FIO-11 or FAIO-01) 10.000 mA or
Defines the maximum value for analog input AI1. V
22.000 mA or V or V
14.35 RO1 ON delay (Visible when 14.01 Module 1 type = FIO-01 or FDIO-01) 0.00 s
1
Status of selected
source
0
1
RO status
0
Time
tOn tOff tOn tOff

14.35 AI1 scaled at AI1 (Visible when 14.01 Module 1 type = FIO-11 or FAIO-01) 0.000
min Defines the real value that corresponds to the minimum
analog input AI1 value defined by parameter 14.33 AI1 min.
AIscaled (14.27)
14.36
AIin (14.26)
14.33
14.34
14.35

32767.000
288 Parameters

14.36 RO1 OFF delay (Visible when 14.01 Module 1 type = FIO-01 or FDIO-01) 0.00 s
max Defines the real value that corresponds to the maximum
analog input AI1 value defined by parameter 14.34 AI1 max.
32767.000
Selects a drive signal to be connected to relay output RO2. energized
output source.
Defines the activation delay for relay output RO2. See
22.000 mA or V or V
32767.000
14.43 AI2 force data (Visible when 14.01 Module 1 type = FIO-11 or FAIO-01) 0.000 mA
22.000 mA or V or V
V Volts. 2
mA Milliamperes. 10
Parameters 289

input AI2.
hardware settings.
V Volts. 2
mA Milliamperes. 10
%
Unfiltered signal
100
63 Filtered signal
t
T
O = I × (1 - e-t/T)

O = filter output
t = time

290 Parameters

22.000 mA or V or V
22.000 mA or V or V
AIscaled (14.42)
14.51
AIin (14.41)
14.48
14.49
14.50

32767.000
32767.000
14.56 AI3 actual value (Visible when 14.01 Module 1 type = FIO-11) -
22.000 mA or V or V
14.57 AI3 scaled value (Visible when 14.01 Module 1 type = FIO-11) -
32767.000
Parameters 291

14.58 AI3 force data (Visible when 14.01 Module 1 type = FIO-11) 0.000 mA
22.000 mA or V or V
14.59 AI3 HW switch (Visible when 14.01 Module 1 type = FIO-11) -
V Volts. 2
mA Milliamperes. 10
14.60 AI3 unit selection (Visible when 14.01 Module 1 type = FIO-11) mA
input AI3.
hardware settings.
V Volts. 2
mA Milliamperes. 10
14.61 AI3 filter gain (Visible when 14.01 Module 1 type = FIO-11) 1 ms
292 Parameters

14.62 AI3 filter time (Visible when 14.01 Module 1 type = FIO-11) 0.100 s
%
Unfiltered signal
100
63 Filtered signal
t
T
O = I × (1 - e-t/T)

O = filter output
t = time

14.63 AI3 min (Visible when 14.01 Module 1 type = FIO-11) 0.000 mA or
22.000 mA or V or V
14.64 AI3 max (Visible when 14.01 Module 1 type = FIO-11) 10.000 mA or
22.000 mA or V or V
Parameters 293

14.65 AI3 scaled at AI3 (Visible when 14.01 Module 1 type = FIO-11) 0.000
AIscaled (14.57)
14.66
AIin (14.56)
14.63
14.64
14.65

32767.000
32767.000
14.71 AO force selection (Visible when 14.01 Module 1 type = FIO-11 or FAIO-01) 00b
The value of the analog output can be overridden for eg.
testing purposes. A forced value parameter (14.78 AO1
force data) is provided for the analog output, and its value is
applied whenever the corresponding bit in this parameter is
1.

0 AO1 1 = Force mode: Force AO1 to value of parameter 14.78 AO1 force data.
1 AO2 1 = Force mode: Force AO2 to value of parameter 14.88 AO2 force data
(FAIO-01 only).
3…15 Reserved
00b…11b Forced values selector for analog outputs. 1=1

14.76 AO1 actual value (Visible when 14.01 Module 1 type = FIO-11 or FAIO-01) -
Displays the value of AO1 in mA.
0.000…22.000 mA Value of AO1. 1000 = 1 mA
14.77 AO1 source (Visible when 14.01 Module 1 type = FIO-11 or FAIO-01) Zero
Selects a signal to be connected to analog output AO1.
Zero None. 0
294 Parameters

Freq ref used Not used 14
Process PID out Not used 16
Process PID fbk Not used 17
Process PID act Not used 18
Process PID dev Not used 19
Force PT100 The output is used to feed an excitation current to 1…3 20
excitation Pt100 sensors. See section Motor thermal protection (page
202).
Force KTY84 The output is used to feed an excitation current to a KTY84 21
excitation sensor. See section Motor thermal protection (page 202).
Force PTC The output is used to feed an excitation current to 1…3 PTC 22
excitation sensors. See section Motor thermal protection (page 202).
Force Pt1000 The output is used to feed an excitation current to 1…3 23
excitation Pt1000 sensors. See section Motor thermal protection (page
202).
219).
14.78 AO1 force data (Visible when 14.01 Module 1 type = FIO-11 or FAIO-01) 0.000 mA
Forced value that can be used instead of the selected output
signal. See parameter 14.71 AO force selection.
0.000…22.000 mA Forced value of analog output AO1. 1000 = 1 mA
Parameters 295

14.79 AO1 filter time (Visible when 14.01 Module 1 type = FIO-11 or FAIO-01) 0.100 s
Defines the filtering time constant for analog output AO1.
%
Unfiltered signal
100
63 Filtered signal
t
T
O = I × (1 - e-t/T)

O = filter output
t = time

296 Parameters

14.80 AO1 source min (Visible when 14.01 Module 1 type = FIO-11 or FAIO-01) 0.0
14.77 AO1 source) that corresponds to the minimum AO1
output value (defined by parameter 14.82 AO1 out at AO1
src min).
IAO1 (mA)
14.83
14.82

selected by par.
14.77
IAO1 (mA)
14.83
14.82

selected by par.
14.77

value.
14.81 AO1 source max (Visible when 14.01 Module 1 type = FIO-11 or FAIO-01) 1500.0
14.77 AO1 source) that corresponds to the maximum AO1
src max). See parameter 14.80 AO1 source min.
value.
14.82 AO1 out at AO1 src (Visible when 14.01 Module 1 type = FIO-11 or FAIO-01) 0.000 mA
min Defines the minimum output value for analog output AO1.
See also drawing at parameter 14.80 AO1 source min.
0.000…22.000 mA Minimum AO1 output value. 1000 = 1 mA
max Defines the maximum output value for analog output AO1.
Parameters 297

14.86 AO2 actual value (Visible when 14.01 Module 1 type = FAIO-01) -
Displays the value of AO2 in mA.
0.000…22.000 mA Value of AO2. 1000 = 1 mA
14.87 AO2 source (Visible when 14.01 Module 1 type = FAIO-01) Zero
Selects a signal to be connected to analog output AO2.
For the selections, see parameter 14.77 AO1 source.
14.88 AO2 force data (Visible when 14.01 Module 1 type = FAIO-01) 0.000 mA
Forced value that can be used instead of the selected output
signal. See parameter 14.71 AO force selection.
0.000…22.000 mA Forced value of analog output AO2. 1000 = 1 mA
14.89 AO2 filter time (Visible when 14.01 Module 1 type = FAIO-01) 0.100 s
Defines the filtering time constant for analog output AO2.
0.000…30.000 s Filter time constant. 1000 = 1 s
14.90 AO2 source min (Visible when 14.01 Module 1 type = FAIO-01) 0.0
14.87 AO2 source) that corresponds to the minimum AO2
src min).
IAO2 (mA)
14.93
14.92

selected by par.
14.87
IAO2 (mA)
14.93
14.92

selected by par.
14.87

value.
298 Parameters

14.91 AO2 source max (Visible when 14.01 Module 1 type = FAIO-01) 100.0
14.87 AO2 source) that corresponds to the maximum AO2
src max). See parameter 14.90 AO2 source min.
value.
14.92 AO2 out at AO2 src (Visible when 14.01 Module 1 type = FAIO-01) 0.000 mA
min Defines the minimum output value for analog output AO2.
0.000… 22.000 mA Minimum AO2 output value. 1000 = 1 mA
max Defines the maximum output value for analog output AO2.
15
15.01 Module 2 type See parameter 14.01 Module 1 type. None
15.02 Module 2 location See parameter 14.02 Module 1 location. Slot 1
15.03 Module 2 status See parameter 14.03 Module 1 status. No option
See parameter 14.05 DI status.
See parameter 14.05 DIO status.
See parameter 14.06 DI delayed status.
See parameter 14.06 DIO delayed status.
See parameter 14.08 DIO filter time.
See parameter 14.09 DIO1 function.
source See parameter 14.11 DIO1 output source. energized
See parameter 14.13 DI1 OFF delay.
See parameter 14.13 DIO1 OFF delay.
Parameters 299

function See parameter 14.19 AI supervision function.
selection See parameter 14.20 AI supervision selection.
See parameter 14.21 AI tune.
15.22 DIO3 ON delay (Visible when 15.01 Module 2 type = FIO-01) 0.00 s
See parameter 14.22 AI force selection.
See parameter 14.26 AI1 actual value.
See parameter 14.27 AI1 scaled value.
See parameter 14.28 AI1 force data.
position See parameter 14.29 AI1 HW switch position.
300 Parameters

See parameter 14.30 AI1 unit selection.
See parameter 14.31 RO status.
See parameter 14.31 AI1 filter gain.
See parameter 14.32 AI1 filter time.
See parameter 14.33 AI1 min. V
See parameter 14.34 RO1 source. energized
See parameter 14.34 AI1 max. V
15.35 RO1 ON delay (Visible when 15.01 Module 2 type = FIO-01 or FAIO-01) 0.00 s
See parameter 14.35 RO1 ON delay.
min See parameter 14.35 AI1 scaled at AI1 min.
15.36 RO1 OFF delay (Visible when 15.01 Module 2 type = FIO-01 or FAIO-01) 0.00 s
See parameter 14.36 RO1 OFF delay.
max See parameter 14.36 AI1 scaled at AI1 max.
15.37 RO2 source (Visible when 15.01 Module 2 type = FIO-01 or FAIO-01) Not
15.38 RO2 ON delay (Visible when 15.01 Module 2 type = FIO-01 or FAIO-01) 0.00 s
15.39 RO2 OFF delay (Visible when 15.01 Module 2 type = FIO-01 or FAIO-01) 0.00 s
Parameters 301

See parameter 14.71 AO force selection.
See parameter 14.76 AO1 actual value.
See parameter 14.77 AO1 source.
See parameter 14.78 AO1 force data.
See parameter 14.80 AO1 source min.
See parameter 14.81 AO1 source max.
min See parameter 14.82 AO1 out at AO1 src min.
max See parameter 14.83 AO1 out at AO1 src max.
302 Parameters

16
16.01 Module 3 type See parameter 14.01 Module 1 type. None
16.02 Module 3 location See parameter 14.02 Module 1 location. Slot 1
16.03 Module 3 status See parameter 14.03 Module 1 status. No option
See parameter 14.05 DI status.
See parameter 14.05 DIO status.
See parameter 14.06 DI delayed status.
See parameter 14.06 DIO delayed status.
16.08 DI filter time (Visible when 16.01 Module 3 type = FDIO-01) 10.0 ms
See parameter 14.08 DI filter time.
See parameter 14.08 DIO filter time.
Parameters 303

function See parameter 14.19 AI supervision function.
selection See parameter 14.20 AI supervision selection.
See parameter 14.21 AI tune.
See parameter 14.22 AI force selection.
16.28 AI1 force data (Visible when 16.01 Module 3 type = FIO-11 or FAIO-01)
304 Parameters

See parameter 14.31 RO status.
Parameters 305

See parameter 14.71 AO force selection.
306 Parameters

19
19 Operation mode Selection of local and external control location sources and
operating modes.
See also section Operating modes of the drive (page 150).
19.01 Actual operation Displays the operating mode currently used. -
mode Note: Speed control is the only applicable operating mode
for the control program.
See parameters 19.11…19.14.
Zero None. 1
Speed Speed control (in DTC motor control mode). 2
Torque Torque control (in DTC motor control mode). 3
Min The torque selector is comparing the output of the speed 4
controller (25.01 Torque reference speed control) and
torque reference (26.74 Torque ref ramp out) and the
smaller of the two is used.
Max The torque selector is comparing the output of the speed 5
controller (25.01 Torque reference speed control) and
torque reference (26.74 Torque ref ramp out) and the
greater of the two is used.
Add The speed controller output is added to the torque 6
reference.
Scalar (Hz) Frequency control in scalar motor control mode. 10
Scalar (rpm) Speed control in scalar motor control mode. 11
Forced magn. Motor is in magnetizing mode. 20
19.11 Ext1/Ext2 selection Selects the source for external control location EXT1/EXT2 EXT1
selection.
0 = EXT1
1 = EXT2
EXT1 EXT1 (permanently selected). 0
EXT2 EXT2 (permanently selected). 1
FBA A MCW bit 11 Control word bit 11 received through fieldbus interface A. 2
Parameters 307

DI1 Digital input DI1 (10.02 DI delayed status, bit 0). 3
DIO1 Digital input/output DIO1 (11.02 DIO delayed status, bit 0). 11
EFB MCW bit 11 Control word bit 11 received through the embedded fieldbus 32
interface.
219).
19.12 Ext1 control mode Selects the operating mode for external control location Speed
EXT1.
Note: Speed is the only applicable selection for the crane
control program.
Zero None. 1
Speed Speed control. The torque reference used is 25.01 Torque 2
reference speed control (output of the speed reference
chain).
Torque Torque control. The torque reference used is 26.74 Torque 3
ref ramp out (output of the torque reference chain).
Minimum Combination of selections Speed and Torque: the torque 4
selector compares the speed controller output (25.01
Torque reference speed control) and the torque reference
(26.74 Torque ref ramp out) and selects the smaller of the
two.
If speed error becomes negative, the drive follows the speed
controller output until speed error becomes positive again.
This prevents the drive from accelerating uncontrollably if
the load is lost in torque control.
Maximum Combination of selections Speed and Torque: the torque 5
selector compares the speed controller output (25.01
Torque reference speed control) and the torque reference
(26.74 Torque ref ramp out) and selects the greater of the
two.
If speed error becomes positive, the drive follows the speed
controller output until speed error becomes negative again.
This prevents the drive from accelerating uncontrollably if
the load is lost in torque control.
Add Combination of selections Speed and Torque: Torque 6
selector adds the speed reference chain output to the torque
reference chain output.
19.14 Ext2 control mode Selects the operating mode for external control location Speed
EXT2.
For the selections, see parameter 19.12 Ext1 control mode.
308 Parameters

19.16 Local control mode Selects the operating mode for local control. Speed
Note: Speed is the only applicable selection for the crane
control program.
Speed Speed control. The torque reference used is 25.01 Torque 0
reference speed control (output of the speed reference
chain).
Torque Torque control. The torque reference used is 26.74 Torque 1
ref ramp out (output of the torque reference chain).
19.17 Local control Enables/disables local control (start and stop buttons on the No
disable control panel, and the local controls on the PC tool).
WARNING! Before disabling local control, make
sure the control panel is not needed for stopping the
drive.
WARNING! For crane application, in local control,
some supervisons and interlocking are bypassed.
For safety reasons, it is not recommneded to use
local control or you can limit the usage to very short period.
No Local control enabled. 0
Yes Local control disabled. 1
20
20 Start/stop/direction Start/stop/direction and run/start enable signal source
selection; positive/negative reference enable signal source
selection.
For information on control locations, see section Local
control vs. external control (page 148).
20.01 Ext1 commands Selects the source of start, stop and direction commands for In1 Start fwd;
external control location 1 (EXT1). In2 Start rev
See also parameters 20.02…20.05.
Not selected No start or stop command sources selected. 0
In1 Start The source of the start and stop commands is selected by 1
parameter 20.03 Ext1 in1 source. The state transitions of
the source bits are interpreted as follows:
State of source 1 (20.03) Command

0 -> 1 (20.02 = Edge) Start
1 (20.02 = Level)
0 Stop
In1 Start; In2 Dir The source selected by 20.03 Ext1 in1 source is the start 2
signal; the source selected by 20.04 Ext1 in2 source
determines the direction. The state transitions of the source
bits are interpreted as follows:
State of source 1 State of source 2 Command

(20.03) (20.04)
0 Any Stop
0 -> 1 (20.02 = Edge) 0 Start
1 (20.02 = Level) forward
1 Start
reverse
Parameters 309

In1 Start fwd; In2 The source selected by 20.03 Ext1 in1 source is the forward 3
Start rev start signal; the source selected by 20.04 Ext1 in2 source is
the reverse start signal. The state transitions of the source

(20.03) (20.04)
0 0 Stop
0 -> 1 (20.02 = Edge) 0 Start
0 0 -> 1 (20.02 = Edge) Start
1 (20.02 = Level) reverse
1 1 Stop
In1P Start; In2 Stop The sources of the start and stop commands are selected 4
by parameters 20.03 Ext1 in1 source and 20.04 Ext1 in2
source. The state transitions of the source bits are
interpreted as follows:

(20.03) (20.04)
0 -> 1 1 Start
Any 0 Stop
Note: The start signal is always edge-triggered with this

setting regardless of parameter 20.02 Ext1 start trigger type.
In1P Start; In2 The sources of the start and stop commands are selected 5
Stop; In3 Dir by parameters 20.03 Ext1 in1 source and 20.04 Ext1 in2
source. The source selected by 20.05 Ext1 in3 source
State of State of State of Command

source 1 source 2 source 3
(20.03) (20.04) (20.05)
0 -> 1 1 0 Start forward
0 -> 1 1 1 Start reverse
Any 0 Any Stop

In1P Start fwd; The sources of the start and stop commands are selected 6
In2P Start rev; In3 by parameters 20.03 Ext1 in1 source, 20.04 Ext1 in2 source
Stop and 20.05 Ext1 in3 source. The state transitions of the
source bits are interpreted as follows:

(20.03) (20.04) (20.05)
0 -> 1 Any 1 Start forward
Any 0 -> 1 1 Start reverse
Any Any 0 Stop

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

Fieldbus A The start and stop commands are taken from fieldbus 12
adapter A.
Note: The start signal is always level-triggered with this
Embedded fieldbus The start and stop commands are taken from the embedded 14
fieldbus interface.
M/F link The start and stop commands are taken from another drive 15
through the drive-to-drive link or the master/follower link.
DDCS controller The start and stop commands are taken from an external 16
(DDCS) controller.
Application The start and stop commands are taken from the application 21
Program program control word (parameter 06.02 Application control
word).
ATF Reserved. 22
20.02 Ext1 start trigger Defines whether the start signal for external control location Level
type EXT1 is edge-triggered or level-triggered.
Note: This parameter is only effective when parameter
20.01 Ext1 commands is set to In1 Start, In1 Start; In2 Dir,
In1 Start fwd; In2 Start rev or Control panel.
Edge The start signal is edge-triggered. 0
Level The start signal is level-triggered. 1
20.03 Ext1 in1 source Selects source 1 for parameter 20.01 Ext1 commands. DI1
Not selected 0 (always off). 0
Selected 1 (always on). 1
page 219).
20.04 Ext1 in2 source Selects source 2 for parameter 20.01 Ext1 commands. DI2
For the available selections, see parameter 20.03 Ext1 in1
source.
20.05 Ext1 in3 source Selects source 3 for parameter 20.01 Ext1 commands. Not selected
source.
Parameters 311

20.06 Ext2 commands Selects the source of start, stop and direction commands for In1 Start fwd;
external control location 2 (EXT2). In2 Start rev
See also parameters 20.07…20.10.
Not selected No start or stop command sources selected. 0
In1 Start The source of the start and stop commands is selected by 1
parameter 20.08 Ext2 in1 source. The state transitions of
the source bits are interpreted as follows:
State of source 1 (20.08) Command

0 -> 1 (20.07 = Edge) Start
1 (20.07 = Level)
0 Stop
In1 Start; In2 Dir The source selected by 20.08 Ext2 in1 source is the start 2
signal; the source selected by 20.09 Ext2 in2 source

(20.08) (20.09)
0 Any Stop
0 -> 1 (20.07 = Edge) 0 Start
1 Start
reverse
In1 Start fwd; In2 The source selected by 20.08 Ext2 in1 source is the forward 3
Start rev start signal; the source selected by 20.09 Ext2 in2 source is
the reverse start signal. The state transitions of the source

(20.08) (20.09)
0 0 Stop
0 -> 1 (20.07 = Edge) 0 Start
0 0 -> 1 (20.07 = Edge) Start
1 (20.07 = Level) reverse
1 1 Stop
In1P Start; In2 Stop The sources of the start and stop commands are selected 4
by parameters 20.08 Ext2 in1 source and 20.09 Ext2 in2
source. The state transitions of the source bits are
interpreted as follows:

(20.08) (20.09)
0 -> 1 1 Start
Any 0 Stop

312 Parameters

In1P Start; In2 The sources of the start and stop commands are selected 5
Stop; In3 Dir by parameters 20.08 Ext2 in1 source and 20.09 Ext2 in2
source. The source selected by 20.10 Ext2 in3 source

(20.08) (20.09) (20.10)
0 -> 1 1 0 Start forward
0 -> 1 1 1 Start reverse
Any 0 Any Stop

In1P Start fwd; The sources of the start and stop commands are selected 6
In2P Start rev; In3 by parameters 20.08 Ext2 in1 source, 20.09 Ext2 in2 source
Stop and 20.10 Ext2 in3 source. The state transitions of the
source bits are interpreted as follows:

(20.08) (20.09) (20.10)
0 -> 1 Any 1 Start forward
Any 0 -> 1 1 Start reverse
Any Any 0 Stop

Control panel The start and stop commands are taken from the control 11
panel.
Fieldbus A The start and stop commands are taken from fieldbus 12
adapter A.
Embedded fieldbus The start and stop commands are taken from the embedded 14
fieldbus interface.
M/F link The start and stop commands are taken from another drive 15
through the drive-to-drive link or the master/follower link.
DDCS controller The start and stop commands are taken from an external 16
(DDCS) controller.
Application The start and stop commands are taken from the application 21
Program program control word (parameter 06.02 Application control
word).
setting regardless of parameter 20.07 Ext2 start trigger
type..
ATF Reserved. 22
Parameters 313

20.07 Ext2 start trigger Defines whether the start signal for external control location Level
type EXT2 is edge-triggered or level-triggered.
Note: This parameter is only effective when parameter
20.06 Ext2 commands is set to In1 Start, In1 Start; In2 Dir,
In1 Start fwd; In2 Start rev or Control panel.
Edge The start signal is edge-triggered. 0
Level The start signal is level-triggered. 1
source.
source.
source.
20.11 Run enable stop Selects the way the motor is stopped when the run enable Coast
mode signal switches off. (95.20 b10)
The source of the run enable signal is selected by
parameter 20.12 Run enable 1 source.
Coast Stop by switching off the output semiconductors of the drive. 0
The motor coasts to a stop.
WARNING! If a mechanical brake is used, ensure it
is safe to stop the drive by coasting.
Ramp Stop along the active deceleration ramp. See parameter 1
group 23 Speed reference ramp on page 341.
Torque limit Stop according to torque limits (parameters 30.19 and 2
30.20).
20.12 Run enable 1 Selects the source of the external run enable signal. If the DIIL
source run enable signal is switched off, the drive will not start. If (95.20 b10);
already running, the drive will stop according to the setting Selected
of parameter 20.11 Run enable stop mode (95.20 b5);
1 = Run enable signal on. DI5
Note: The warning that indicates a missing signal can be (95.20 b9)
suppressed using parameter 20.30 Enable signals warning
function.
See also parameter 20.19 Enable start command.
Not selected 0. 0
Selected 1. 1
314 Parameters

interface.
DIIL DIIL input (10.02 DI delayed status, bit 15). 33
Active control Control word bit 3 received from the active control source. In 34
source MCW bit 3 case the active source is the control panel, PC tool or drive
I/O, the run enable signal is always on.
Note: If the drive is running, switching bit 3 off effectively
removes both the start and run enable signals. In this case,
the stop mode is determined by 20.11 Run enable stop
mode. The order of stop modes from highest to lowest
priority is Coast – Torque limit – Ramp.
page 219).
20.19 Enable start (Visible only when user lock is open with pass code 584. Selected
command See parameter 96.02 Pass code.)
Selects the source for the start enable signal.
1 = Start enable.
With the signal switched off, any drive start command is
inhibited. (Switching the signal off while the drive is running
will not stop the drive.)
Notes:
• If a level-triggered start command is on when the start
enable signal switches on, the drive will start. (An edge-
triggered start signal must be cycled for the drive to start.)
See parameters 20.02 Ext1 start trigger type and 20.07
Ext2 start trigger type.
• The warning that indicates a missing signal can be
suppressed using parameter 20.30 Enable signals
warning function.
See also parameter 20.12 Run enable 1 source.
Not selected 0. 0
Selected 1. 1
219).
Parameters 315

20.23 Positive speed (Visible only when user lock is open with pass code 584. Selected
enable See parameter 96.02 Pass code.)
Selects the source of the positive speed enable command.
1 = Positive speed enabled.
0 = Positive speed interpreted as zero speed reference. In
the figure below, 23.01 Speed ref ramp input is set to zero
after the positive speed enable signal has cleared.
Actions in different control modes:
Speed control: Speed reference is set to zero and the motor
is stopped along the currently active deceleration ramp. The
rush controller prevents additional torque terms from
running the motor in the positive direction.
20.23 Positive speed enable
20.24 Negative speed enable
01.01 Motor speed used
Example: The motor is rotating in the forward direction. To

stop the motor, the positive speed enable signal is
deactivated by a hardware limit switch (e.g. via digital input).
If the positive speed enable signal remains deactivated and
the negative speed enable signal is active, only reverse
rotation of the motor is allowed.
Not selected 0. 0
Selected 1. 1
page 219).
20.24 Negative speed (Visible only when user lock is open with pass code 584. Selected
Selects the source of the negative speed reference enable
command. See parameter 20.23 Positive speed enable.
316 Parameters

20.30 Enable signals Selects enable signal (eg. run enable, start enable) 11b
warning function warnings to be suppressed. This parameter can be used to
prevent these warnings from flooding the event log.
Whenever a bit of this parameter is set to 1, the
corresponding warning is suppressed, ie. no warning is
generated even if the signal is switched off.
The bits of this binary number correspond to the following
warnings:
Bit Name Warning

0 Enable Start AFEA Enable start signal missing
1 Run enable 1 AFEB Run enable missing
2…15 Reserved
00b…11b Suppression of “enable signal missing” warnings. 1=1

20.200 Slowdown select Selects the mode of the Slowdown function. Single bit
For more information on the function, see section Slowdown with direction
on page 103.
Single bit with Slowdown uses two switches through one input. Either of 1
direction the switches triggers the Slowdown command, but it is not
known which one.
Parameter 20.201 Slowdown input 1 selects the input to
which the switches are connected for activating the
Slowdown command. The drive remembers the direction
from which the slowdown switch was hit.
Single bit without Slowdown uses two switches through one input. Either of 2
direction the switches triggers the Slowdown command, but it is not
known which one.
Parameter 20.201 Slowdown input 1 selects the input to
which the switches are connected for activating the
Slowdown command. The Slowdown command is active
both in forward and reverse directions. A safe zone can be
created using this selection.
Double bit Slowdown uses two switches through two inputs. Either of 3
the switches triggers the Slowdown command.
Parameter 20.201 Slowdown input 1 is only used in the
forward direction and parameter 20.202 Slowdown input 2 in
the reverse direction.
20.201 Slowdown input 1 Selects the source for activating the Slowdown command Inactive
• in the forward direction when the Double bit mode is (true)
active
• both in forward and reverse directions when the Single bit
with direction or Single bit without direction mode is
active.
0 = Slowdown command is active.
1 = Slowdown command is inactive.
When the command is active, the drive limits the speed
reference to the value of parameter 22.200 Slowdown
reference.
Active (false) 0. 0
Inactive (true) 1. 1
Parameters 317

219).
20.202 Slowdown input 2 Selects the source for activating the Slowdown command in Inactive
the reverse direction when the Double bit mode is active. (true)
0 = Slowdown command is active.
1 = Slowdown command is inactive.
When the command is active, the drive limits the speed
reference to the value of parameter 22.200 Slowdown
reference.
Active (false) 0. 0
219).
20.203 Slowdown up Defines the Up position limit for Slowdown function in the 0.000
position forward direction.
When the actual position of crane (signal 90.05 Load
position scaled) is greater than this value, the slowdown
command in the forward direction is activated. When the
command is active, the drive limits the speed reference to
the value of parameter 22.200 Slowdown reference.
-32000.000... Up position limit. 1000 = 1
32000.000
20.204 Slowdown dn Defines the Down position limit for Slowdown function in the 0.000
position reverse direction.
When the actual position of crane (signal 90.05 Load
position scaled) is less than this value, the slowdown
command in the reverse direction is activated. When the
command is active, the drive limits the speed reference to
the negative value of parameter 22.200 Slowdown
reference.
-32000.000... Down position limit. 1000 = 1
32000.000
318 Parameters

20.205 End limit 1 Selects the source for activating the End limit 1 command. Inactive
When this command is active, the End limit function (true)
activates an emergency stop command in the forward
direction (i.e. positive speed reference) and drive will stop
within the time defined in parameter 23.23 Emergency stop
time. The action for the end limit command is selected with
parameter 20.218 End limit action.
See also description of End limits on page 102.
Active (false) End limit 1 command is active. 0
Inactive (true) End limit 1 command is inactive. 1

219).
20.206 End limit 2 Selects the source for activating the End limit 2 command. Inactive
When this command is active, the End limit function (true)
activates an emergency stop command in the reverse
direction (i.e. negative speed reference) and drive will stop
within the time defined in parameter 23.23 Emergency stop
time. The action for the end limit command is selected with
parameter 20.218 End limit action.
See also description of End limits on page 102.
Active (false) End limit 2 command is active. 0
Inactive (true) End limit 2 command is inactive. 1
page 219).
Parameters 319

20.207 Emergency control Selects the source for activating the Emergency control Disable
enable mode.
0 = Emergency control mode is inactive (normal operation).
1 = Emergency control mode is active.
Parameters 20.208 and 20.209 are applicable only when the
Emergency control mode is active. For more information on
the function, see section Emergency control mode on
page 54.
Notes:
• When emergency control mode is enabled, parameters
20.01 Ext1 commands and 20.06 Ext2 commands are
automaticly set as Not selected, This setting prevents, for
example, fieldbus communication fault, that stops the
• When emergency control is disabled, the last set values
are restored into parameters 20.01 Ext1 commands and
20.06 Ext2 commands.
Disable 0. 0
Enable 1. 1
page 219).
20.208 Emergency control Selects the source for activating the Emergency control start False
forward command in the forward direction. This parameter is
applicable only when the Emergency control mode is
enabled using parameter 20.207.
0 = Emergency control start command is inactive.
1 = Emergency control start command is active.
When the command is active, the drive uses the speed
reference defined in parameter 22.202 Emergency control
reference with positive polarity as the reference.
False 0. 0
True 1. 1
page 219).
320 Parameters

20.209 Emergency control Selects the source for activating the Emergency control start False
reverse command in the reverse direction. This parameter is
applicable only when the Emergency control mode is
activated using parameter 20.207.
0 = Emergency control start command is inactive.
1 = Emergency control start command is active.
When the command is active, the drive uses the speed
reference defined in parameter 22.202 Emergency control
reference with negative polarity as the reference.
False 0. 0
True 1. 1
page 219).
20.210 Fast stop input Selects the source for activating the Fast stop command. Inactive
0 = Fast stop command is active. (true)
1 = Fast stop command is inactive (normal operation).
When the command is active, the drive decelerates
according to the value of parameter 23.206 Fast stop
deceleration time.
Active (false) 0. 0
page 219).
20.211 Fast stop mode Selects the mode of the Fast stop function. Ramp
Ramp The drive decelerates to zero speed according to a defined 1
ramp time. The mechanical brake closes when the drive
reaches the brake close speed.
Torque limit The drive decelerates to zero speed against the drive torque 2
limits. The mechanical brake closes when the drive reaches
the brake close speed.
Mechanical brake The function forces the mechanical brake to close. 3
Parameters 321

20.212 Power on Selects the source for activating the Power on DIL
acknowledge acknowledgement signal.
1 = Power on acknowledgement circuit is closed, main
contactor is closed.
0 = Power on acknowledgement circuit is open, main
contactor is open, warning D20B Power on acknowledge
generated.
For more information on the function, see section Power on
False 0. 0
True 1. 1
DIL DIIL input (10.02 DI delayed status, bit 15). 2
page 219).
20.213 Power on ackn Defines the time delay for a fault reset after the Power on 1000 ms
reset delay acknowledgement signal is activated.
0…30000 ms Time delay. 1 = 1 ms
20.214 Joystick zero Selects the source for activating the joystick zero position Disable
position input.
0 = Joystick is not at zero position.
1 = Joystick is at zero position.
For more information, see section Start/stop interlocking on
page 56.
Disable 0. 0
Enable 1. 1
page 219).
20.215 Joystick warning Defines the time delay for generating warning D208 Joystick 1000 ms
delay reference check.
The warning is generated if 20.214 Joystick zero position is
active and the speed reference is greater than +/- 10% of
the minimum or maximum scaled value of the joystick
reference used.
322 Parameters

20.216 Crane control word Crane control program control word 1. Can be updated from -
1 the fieldbus using parameter group 53 FBA A data out or 56
FBA B data out.
Notes:
• These bits are not connected to any function by default.
Bit names are existing, for which you need to make
connections separately.
For example, parameter 20.03 Ext1 in1 source = 20.216,
bit 0 and 20.04 Ext1 in2 source = 20.216, bit 1.
• When using bits 0 and 1, for the start command in
forward and reverse direction, the speed reference must
be an absolute value because the directions are defined
by these bits.

0 Start forward 1 = Start command in the forward direction.
1 Start reverse 1 = Start command in the reverse direction.
2 Fault reset 1 = Fault reset activated.
3 Step reference mode 1 = Step reference mode enabled.
4 Step reference select 2 1 = Step reference selection pointer 2 enabled.
7 Slowdown input 1 1 = Slowdown command in the forward direction is deactivated.
8 Slowdown input 2 1 = Slowdown command in the reverse direction is deactivated.
9 End limit 1 1 = End limit 1 command deactivated.
10 End limit 2 1 = End limit 2 command deactivated.
11 Fast stop 1 = Fast stop command activated.
12 Crane ramp set select 1 = Acceleration/deceleration ramp set 2 selected.
0 = Acceleration/deceleration ramp set 1 selected.
13 External speed limits 1 = External speed limit activated.
14 Torque proving sign 1 = Torque proving and brake open torque directions inverted.
15 Hoist speed 1 = Hoist speed optimization function enabled.
optimization sel
0000h…FFFFh Crane control program control word 1. -

20.218 End limit action Selects the action that can be used if the end limit command Emergency
is active. stop
Note: It is recommended not to change the end limit action
to other than the default selection, unless it is really needed
to fulfill specific requirements.
WARNING! Do not use Coast stop for hoist drives
to avoid load dropping.
Normal stop Normal ramp is used when end limit command is active. 0
Emergency stop Emergency stop ramp is used when end limit command is 1
active.
Fast stop Fast stop ramp is used when end limit command is active. 2
Coast stop Coast stop is initiated when end limit command is active. 3
Parameters 323

21
21 Start/stop mode Start and stop modes; emergency stop mode and signal
source selection; DC magnetization settings; autophasing
mode selection.
21.01 Start mode Selects the motor start function for the DTC motor control Constant
mode, ie. when 99.04 Motor control mode is set to DTC. time
Notes:
• The start function for the scalar motor control mode is
selected by parameter 21.19 Scalar start mode.
• Starting into a rotating motor is not possible when DC
magnetizing is selected (Fast or Constant time).
• With permanent magnet motors and synchronous
reluctance motors, Automatic start mode must be used.
• This parameter cannot be changed while the drive is
running.
See also section DC magnetization (page 192).
Fast The drive pre-magnetizes the motor before start. The pre- 0
magnetizing time is determined automatically, being
typically 200 ms to 2 s depending on motor size. This mode
should be selected if a high break-away torque is required.
Constant time The drive pre-magnetizes the motor before start. The pre- 1
magnetizing time is defined by parameter 21.02
Magnetization time. This mode should be selected if
constant pre-magnetizing time is required (e.g. if the motor
start must be synchronized with the release of a mechanical
brake). This setting also guarantees the highest possible
break-away torque when the pre-magnetizing time is set
long enough.
WARNING! The drive will start after the set
magnetizing time has passed even if motor
magnetization is not completed. In applications
where a full break-away torque is essential, ensure that the
constant magnetizing time is long enough to allow
generation of full magnetization and torque.
Automatic Automatic start guarantees optimal motor start in most 2
cases. It includes the flying start function (starting into a
rotating motor) and the automatic restart function (a stopped
motor can be restarted immediately without waiting the
motor flux to die away). The drive motor control program
identifies the flux as well as the mechanical state of the
motor and starts the motor instantly under all conditions.
Flying start This method is intended for asynchronous motors only, and 3
is optimized for applications where the drive must be started
into a rotating motor at high frequencies (above 150 Hz).
324 Parameters

21.02 Magnetization time Defines the pre-magnetization time when 500 ms
• parameter 21.01 Start mode is set to Constant time (in
DTC motor control mode), or
• parameter 21.19 Scalar start mode is set to Const time
(in scalar motor control mode).
After the start command, the drive automatically
premagnetizes the motor for the set time. To ensure full
magnetizing, set this parameter to the same value as, or
higher than, the rotor time constant. If not known, use the
rule-of-thumb value given in the table below:
Motor rated power Constant magnetizing time

< 1 kW > 50 to 100 ms
1 to 10 kW > 100 to 200 ms
10 to 200 kW > 200 to 1000 ms
200 to 1000 kW > 1000 to 2000 ms
Note: This parameter cannot be changed while the drive is

running.
0 … 10000 ms Constant DC magnetizing time. 1 = 1 ms
21.06 Zero speed limit Defines the zero speed limit. The motor is stopped along a 30.00 rpm
speed ramp (when ramped stop is selected) until the
defined zero speed limit is reached. After the zero speed
delay, the motor coasts to a stop.
0.00 … Zero speed limit. See par.
30000.00 rpm 46.01
21.07 Zero speed delay Defines the delay for the zero speed delay function. The 0 ms
function is useful in applications where a smooth and quick
restarting is essential. During the delay, the drive knows the
rotor position accurately.
Without zero speed delay:
The drive receives a stop command and decelerates along
a ramp. When actual motor speed falls below the value of
parameter 21.06 Zero speed limit, inverter modulation is
stopped and the motor coasts to a standstill.
Speed
Speed controller switched off:

Motor coasts to a stop.
21.06 Zero speed limit
Time
Parameters 325

With zero speed delay:
The drive receives a stop command and decelerates along
a ramp. When actual motor speed falls below the value of
parameter 21.06 Zero speed limit, the zero speed delay
function activates. During the delay the function keeps the
speed controller live: the inverter modulates, motor is
magnetized and the drive is ready for a quick restart.
Speed
Speed controller remains
active. Motor is decelerated to
true zero speed.
21.06 Zero speed limit
Delay Time
0 … 30000 ms Zero speed delay. 1 = 1 ms

21.08 DC current control (Visible only when user lock is open with pass code 584. 0000b
Activates/deactivates the DC hold and post-magnetization
functions. See section DC magnetization (page 192).
Notes:
• These functions are only available in speed control in
DTC motor control mode (see page 171).
• DC magnetization causes the motor to heat up. In
applications where long DC magnetization times are
required, externally ventilated motors should be used. If
the DC magnetization period is long, DC magnetization
cannot prevent the motor shaft from rotating if a constant
load is applied to the motor.
Bit Value
0 1 = Enable DC hold. See section DC hold (page 192).
Note: The DC hold function has no effect if the start signal is switched off.
1 1 = Enable post-magnetization. See section Post-magnetization (page 193).
2…15 Reserved
0000b…0011b DC magnetization selection. 1=1

21.09 DC hold speed (Visible only when user lock is open with pass code 584. 5.00 rpm
Defines the DC hold speed. See parameter 21.08 DC
current control, and section DC hold (page 192).
0.00 … 1000.00 DC hold speed. See par.
rpm 46.01
21.10 DC current (Visible only when user lock is open with pass code 584. 30.0%
reference See parameter 96.02 Pass code.)
Defines the DC hold current in percent of the motor nominal
current. See parameter 21.08 DC current control, and
section DC magnetization (page 192).
0.0 … 100.0% DC hold current. 1 = 1%
326 Parameters

21.11 Post magnetization (Visible only when user lock is open with pass code 584. 0s
time See parameter 96.02 Pass code.)
Defines the length of time for which post-magnetization is
active after stopping the motor. The magnetization current is
defined by parameter 21.10 DC current reference.
See parameter 21.08 DC current control.
0…3000 s Post-magnetization time. 1=1s
21.12 Continuous (Visible only when user lock is open with pass code 584. Par. 44.212,
magnetization See parameter 96.02 Pass code.) bit 0
command Activates/deactivates (or selects a source that
activates/deactivates) continuous magnetization. See
section Motor potentiometer (page 195).
The magnetization current is calculated on the basis of flux
reference (see parameter group 97 Motor control).
Notes:
• This function is only available when ramping is the
selected stop mode (see parameter 21.03 Stop mode),
and only in speed control in DTC motor control mode
(see page 150).
• Continuous magnetization causes the motor to heat up.
In applications where long magnetization times are
required, externally ventilated motors should be used.
• Continuous magnetization may not be able to prevent the
motor shaft from rotating during a long period if a
constant load is applied to the motor.
0 = Normal operation
1 = Magnetization active
Off 0. 0
On 1. 1
219).
21.13 Autophasing mode (Visible only when user lock is open with pass code 584. Turning
Selects the way autophasing is performed.
See section Autophasing on page 188.
Turning This mode gives the most accurate autophasing result. This 0
mode can be used, and is recommended, if the motor is
allowed to rotate during the ID run and the start-up is not
time-critical.
Note: This mode will cause the motor to rotate. The load
torque must be less than 5%
Standstill 1 Faster than the Turning mode, but not as accurate. The 1
motor will not rotate.
Standstill 2 An alternative standstill autophasing mode that can be used 2
if the Turning mode cannot be used, and the Standstill 1
mode gives erratic results. However, this mode is
considerably slower than Standstill 1.
Turning with Z- This mode should be used if the zero pulse signal of the 3
pulse pulse encoder is to be observed, and other modes do not
give a result. The motor will turn until a zero pulse is
detected.
Parameters 327

21.14 Pre-heating input (Visible only when user lock is open with pass code 584. Off
source See parameter 96.02 Pass code.)
Selects the source of the motor pre-heat on/off command.
See section Pre-heating (page 192).
Note: The pre-heating function will not activate if
• the Safe torque off function is active,
• a fault is active,
• less than one minute has elapsed after stopping, or
• PID sleep function is active.
Pre-heating is deactivated when the drive is started, and
overridden by pre-magnetization, post-magnetization or
continuous magnetization.
0 = Pre-heating inactive
1 = Pre-heating active
Off 0. Pre-heating is always deactivated. 0
On 1. Pre-heating is always activated when the drive is stopped 1
(apart from conditions stated above).
Supervision 1 Supervision 1 active (32.01 Supervision status, bit 0). 8
219).
21.16 Pre-heating current (Visible only when user lock is open with pass code 584. 0.0%
Defines the motor pre-heating current that is fed into the
motor when the source selected by 21.14 Pre-heating input
source is on. The value is in percent of the nominal motor
current.
0.0 … 30.0% Pre-heating current. 1 = 1%
21.18 Auto restart time (Visible only when user lock is open with pass code 584. 0.1 s
The motor can be automatically started after a short supply
power failure using the automatic restart function. See
section Automatic restart (page 198).
When this parameter is set to 0.0 seconds, automatic
restarting is disabled. Otherwise, the parameter defines the
maximum duration of the power failure after which restarting
is attempted. Note that this time also includes the DC pre-
charging delay.
WARNING! Before you activate the function, make
sure that no dangerous situations can occur. The
function restarts the drive automatically and
continues operation after a supply break.
0.0 s Automatic restarting disabled. 0
0.1 … 5.0 s Maximum power failure duration. 1=1s
328 Parameters

21.19 Scalar start mode (Visible only when user lock is open with pass code 584. Normal
Selects the motor start function for the scalar motor control
mode, ie. when 99.04 Motor control mode is set to Scalar.
Notes:
• The start function for the DTC motor control mode is
selected by parameter 21.01 Start mode.
• With permanent magnet motors, Automatic start mode
must be used.
running.
See also section DC magnetization (page 192).
Normal Immediate start from zero speed. 0
Const time The drive pre-magnetizes the motor before start. The pre- 1
magnetizing time is defined by parameter 21.02
Magnetization time. This mode should be selected if
constant pre-magnetizing time is required (e.g. if the motor
start must be synchronized with the release of a mechanical
brake). This setting also guarantees the highest possible
break-away torque when the pre-magnetizing time is set
long enough.
Note: This mode cannot be used to start into a rotating
motor.
WARNING! The drive will start after the set
magnetizing time has passed even if motor
magnetization is not completed. In applications
where a full break-away torque is essential, ensure that the
constant magnetizing time is long enough to allow
generation of full magnetization and torque.
Automatic This setting should be used in applications where flying 2
starts (ie. starting into a rotating motor) are required.
21.20 Follower force (Visible only when user lock is open with pass code 584. Not selected
ramp stop See parameter 96.02 Pass code.)
In a torque-controlled follower drive, forces (or selects a
source that forces) the drive to switch to speed control upon
a ramp stop command.
1 = Ramp stop forces speed control
Not selected 0. 0
Selected 1. 1
219).
Parameters 329

22
22 Speed reference Speed reference selection; motor potentiometer settings.
selection See the control chain diagrams on pages 722…724.
22.01 Speed ref unlimited Displays the output of the speed reference selection block. -
See the control chain diagram on page 723.
-30000.00 … Value of the selected speed reference. See par.
30000.00 rpm 46.01
22.11 Speed ref1 source Selects speed reference source 1. AI1 scaled
Two signal sources can be defined by this parameter and
22.12 Speed ref2 source. A digital source selected by 22.14
Speed ref1/2 selection can be used to switch between the
two sources, or a mathematical function (22.13 Speed ref1
function) applied to the two signals to create the reference.
22.11
22.13
0
AI Ref1
22.81
FB
…… ADD 22.14
Other SUB 0
MUL 22.83
22.12 MIN 1
MAX
0
AI 22.82
FB
……
Other
Zero None. 0
AI1 scaled 12.12 AI1 scaled value (see page 271). 1
FB A ref1 03.05 FB A reference 1 (see page 228). 4
EFB ref1 03.09 EFB reference 1 (see page 228). 8
DDCS ctrl ref1 03.11 DDCS controller ref 1 (see page 229). 10
M/F reference 1 03.13 M/F or D2D ref1 (see page 229). 12
Motor 22.80 Motor potentiometer ref act (output of the motor 15
potentiometer potentiometer).
PID Not in use. 16
Control panel (ref Control panel reference, with initial value from last-used 18
saved) panel reference. See section Using the control panel as an
external control source (page 149).
Control panel (ref Control panel reference, with initial value from previous 19
copied) source or actual value. See section Using the control panel
as an external control source (page 149).
330 Parameters

219).
22.12 Speed ref2 source Selects speed reference source 2. Zero
For the selections, and a diagram of reference source
selection, see parameter 22.11 Speed ref1 source.
22.13 Speed ref1 Selects a mathematical function between the reference Ref1
function sources selected by parameters 22.11 Speed ref1 source
and 22.12 Speed ref2 source. See diagram at 22.11 Speed
ref1 source.
Ref1 Signal selected by 22.11 Speed ref1 source is used as 0
speed reference 1 as such (no function applied).
Add (ref1 + ref2) The sum of the reference sources is used as speed 1
reference 1.
Sub (ref1 - ref2) The subtraction ([22.11 Speed ref1 source] - [22.12 Speed 2
ref2 source]) of the reference sources is used as speed
reference 1.
Mul (ref1 × ref2) The multiplication of the reference sources is used as speed 3
reference 1.
Min (ref1, ref2) The smaller of the reference sources is used as speed 4
reference 1.
Max (ref1, ref2) The greater of the reference sources is used as speed 5
reference 1.
22.14 Speed ref1/2 Configures the selection between speed references 1 and 2. Follow
selection See diagram at 22.11 Speed ref1 source. Ext1/Ext2
0 = Speed reference 1 selection
1 = Speed reference 2
Speed reference 1 0. 0
Speed reference 2 1. 1
Follow Ext1/Ext2 Speed reference 1 is used when external control location 2
selection EXT1 is active. Speed reference 2 is used when external
control location EXT2 is active.
See also parameter 19.11 Ext1/Ext2 selection.
219).
22.15 Speed additive 1 (Visible only when user lock is open with pass code 584. Zero
Defines a reference to be added to the speed reference
after reference selection (see page 722).
For the selections, see parameter 22.11 Speed ref1 source.
Note: For safety reasons, the additive is not applied when
any of the stop functions are active.
Parameters 331

22.16 Speed share (Visible only when user lock is open with pass code 584. 1.000
Defines a scaling factor for the selected speed reference
(speed reference 1 or 2, multiplied by the defined value).
Speed reference 1 or 2 is selected by parameter 22.14
Speed ref1/2 selection.
-8.000 …8.000 Speed reference scaling factor. 1000 = 1
22.17 Speed additive 2 (Visible only when user lock is open with pass code 584. Zero
Defines a reference to be added to the speed reference
after the speed share function (see page 722).
For the selections, see parameter 22.11 Speed ref1 source.
any of the stop functions are active.
22.21 Constant speed (Visible only when user lock is open with pass code 584. 0000b
function See parameter 96.02 Pass code.)
Determines how constant speeds are selected, and whether
the rotation direction signal is considered or not when
applying a constant speed.
Bit Name Information

0 Constant 1 = Packed: 7 constant speeds are selectable using the three sources
speed mode defined by parameters 22.22, 22.23 and 22.24.
0 = Separate: Constant speeds 1, 2 and 3 are separately activated by
the sources defined by parameters 22.22, 22.23 and 22.24
respectively. In case of conflict, the constant speed with the smaller
number takes priority.
1 Direction 1 = Start dir: To determine running direction for a constant speed, the
enable sign of the constant speed setting (parameters 22.26…22.32) is
multiplied by the direction signal (forward: +1, reverse: -1). This
effectively allows the drive to have 14 (7 forward, 7 reverse) constant
speeds if all values in 22.26…22.32 are positive.
WARNING: If the direction signal is reverse and the active
constant speed is negative, the drive will run in the forward
direction.
0 = Accord Par: The running direction for the constant speed is
determined by the sign of the constant speed setting (parameters
22.26…22.32).
2…15 Reserved
0000b…0011b Constant speed configuration word. 1=1

332 Parameters

22.22 Constant speed (Visible only when user lock is open with pass code 584. Not selected
sel1 See parameter 96.02 Pass code.)
When bit 0 of parameter 22.21 Constant speed function is 0
(Separate), selects a source that activates constant speed
1.
(Packed), this parameter and parameters 22.23 Constant
speed sel2 and 22.24 Constant speed sel3 select three
sources whose states activate constant speeds as follows:
Source defined Source defined Source defined Constant speed active

by par. 22.22 by par. 22.23 by par. 22.24
0 0 0 None
1 0 0 Constant speed 1
Not selected 0 (always off). 0

Selected 1 (always on). 1
219).
2.
sources that are used to activate constant speeds. See table
at parameter 22.22 Constant speed sel1.
For the selections, see parameter 22.22 Constant speed
sel1.
Parameters 333

3.
sources that are used to activate constant speeds. See table
at parameter 22.22 Constant speed sel1.
For the selections, see parameter 22.22 Constant speed
sel1.
22.26 Constant speed 1 (Visible only when user lock is open with pass code 584. 300.00 rpm
Defines constant speed 1 (the speed the motor will turn
when constant speed 1 is selected).
-30000.00 … Constant speed 1. See par.
30000.00 rpm 46.01
Defines constant speed 2.
30000.00 rpm 46.01
30000.00 rpm 46.01
30000.00 rpm 46.01
30000.00 rpm 46.01
30000.00 rpm 46.01
30000.00 rpm 46.01
334 Parameters

22.41 Speed ref safe (Visible only when user lock is open with pass code 584. 0.00 rpm
Defines a safe speed reference that is used with supervision
functions such as
• 12.03 AI supervision function
• 49.05 Communication loss action
• 50.02 FBA A comm loss func
• 50.32FBA B comm loss func
• 58.14 Communication loss action.
-30000.00 … Safe speed reference. See par.
30000.00 rpm 46.01
22.51 Critical speed (Visible only when user lock is open with pass code 584. 0000b
Enables/disables the critical speeds function. Also
determines whether the specified ranges are effective in
both rotating directions or not.
See also section Critical speeds (page 173).

0 Enable 1 = Enable: Critical speeds enabled.
0 = Disable: Critical speeds disabled.
1 Sign mode 1 = Signed: The signs of parameters 22.52…22.57 are taken into
account.
0 = Absolute: Parameters 22.52…22.57 are handled as absolute
values. Each range is effective in both directions of rotation.
2…15 Reserved
0000b…0011b Critical speeds configuration word. 1=1

22.52 Critical speed 1 low (Visible only when user lock is open with pass code 584. 0.00 rpm
Defines the low limit for critical speed range 1.
Note: This value must be less than or equal to the value of
22.53 Critical speed 1 high.
-30000.00 … Low limit for critical speed 1. See par.
30000.00 rpm 46.01
22.53 Critical speed 1 (Visible only when user lock is open with pass code 584. 0.00 rpm
high See parameter 96.02 Pass code.)
Defines the high limit for critical speed range 1.
Note: This value must be greater than or equal to the value
of 22.52 Critical speed 1 low.
-30000.00 … High limit for critical speed 1. See par.
30000.00 rpm 46.01
30000.00 rpm 46.01
Parameters 335

30000.00 rpm 46.01
30000.00 rpm 46.01
30000.00 rpm 46.01
22.71 Motor (Visible when user lock is open with pass code 584. See Disabled
potentiometer parameter 96.02 Pass code.)
function Activates and selects the mode of the motor potentiometer.
See section Scalar motor control (page 187).
Disabled Motor potentiometer is disabled and its value set to 0. 0
Enabled (init at When enabled, the motor potentiometer first adopts the 1
stop/power-up) value defined by parameter 22.72 Motor potentiometer initial
value. When the drive is running, the value can be adjusted
from the up and down sources defined by parameters 22.73
Motor potentiometer up source and 22.74 Motor
potentiometer down source.
A stop or a power cycle restarts the motor potentiometer to
the initial value (22.72).
Enabled (resume As Enabled (init at stop/power-up), but the motor 2
always) potentiometer value is retained over a stop or a power cycle.
22.72 Motor (Visible when user lock is open with pass code 584. See 0.00
initial value Defines an initial value (starting point) for the motor
potentiometer. See the selections of parameter 22.71 Motor
potentiometer function.
-32768.00 … Initial value for motor potentiometer. 1=1
32767.00
22.73 Motor (Visible when user lock is open with pass code 584. See Not selected
potentiometer up parameter 96.02 Pass code.)
source Selects the source of motor potentiometer up signal.
0 = No change
1 = Increase motor potentiometer value. (If both the up and
down sources are on, the potentiometer value will not
change.)
Not selected 0. 0
Selected 1. 1
336 Parameters

219).
22.74 Motor (Visible when user lock is open with pass code 584. See Not selected
down source Selects the source of motor potentiometer down signal.
0 = No change
1 = Decrease motor potentiometer value. (If both the up and
down sources are on, the potentiometer value will not
change.)
For the selections, see parameter 22.73 Motor
potentiometer up source.
22.75 Motor (Visible when user lock is open with pass code 584. See 60.0 s
ramp time Defines the change rate of the motor potentiometer. This
parameter specifies the time required for the motor
potentiometer to change from minimum (22.76) to maximum
(22.77). The same change rate applies in both directions.
0.0 … 3600.0 s Motor potentiometer change time. 10 = 1 s
22.76 Motor (Visible when user lock is open with pass code 584. See -1500.00
potentiometer min parameter 96.02 Pass code.)
value Defines the minimum value of the motor potentiometer.
-32768.00 … Motor potentiometer minimum. 1=1
32767.00
22.77 Motor (Visible when user lock is open with pass code 584. See 1500.00
potentiometer max parameter 96.02 Pass code.)
value Defines the maximum value of the motor potentiometer.
-32768.00 … Motor potentiometer maximum. 1=1
32767.00
22.80 Motor Displays the output of the motor potentiometer function. -
potentiometer ref (The motor potentiometer is configured using parameters
act 22.71…22.74.)
-32768.00 … Value of motor potentiometer. 1=1
32767.00
22.81 Speed reference Displays the value of speed reference source 1 (selected by -
act 1 parameter 22.11 Speed ref1 source). See the control chain
-30000.00 … Value of reference source 1. See par.
30000.00 rpm 46.01
Parameters 337

22.82 Speed reference Displays the value of speed reference source 2 (selected by -
act 2 parameter 22.12 Speed ref2 source). See the control chain
-30000.00 … Value of reference source 2. See par.
30000.00 rpm 46.01
22.83 Speed reference Displays the value of speed reference after the -
act 3 mathematical function applied by parameter 22.13 Speed
ref1 function and reference 1/2 selection (22.14 Speed
ref1/2 selection). See the control chain diagram on page
722.
-30000.00 … Speed reference after source selection. See par.
30000.00 rpm 46.01
22.84 Speed reference Displays the value of speed reference after application of -
act 4 1st speed additive (22.15 Speed additive 1 source). See the
control chain diagram on page 722.
-30000.00 … Speed reference after additive 1. See par.
30000.00 rpm 46.01
22.85 Speed reference Displays the value of speed reference after the application -
act 5 of the speed share scaling factor (22.16 Speed share).See
the control chain diagram on page 722.
-30000.00 … Speed reference after speed share scaling. See par.
30000.00 rpm 46.01
22.86 Speed reference Displays the value of speed reference after application of -
act 6 2nd speed additive (22.17 Speed additive 2 source). See
the control chain diagram on page 722.
-30000.00 … Speed reference after additive 2. See par.
30000.00 rpm 46.01
22.87 Speed reference Displays the value of speed reference before application of -
act 7 critical speeds. See the control chain diagram on page 723.
The value is received from 22.86 Speed reference act 6
unless overridden by
• any constant speed
• network control reference
• control panel reference
• safe speed reference.
-30000.00 … Speed reference before application of critical speeds. See par.
30000.00 rpm 46.01
22.200 Slowdown Defines the speed reference limit used while the Slowdown 150.00 rpm
reference function is active (20.200 Slowdown select).
This reference is an absolute value, and its polarity is based
on the motor direction.
0.00 … Slowdown reference limit. 1 = 1 rpm
30000.00 rpm
338 Parameters

22.202 Emergency control Defines the speed reference limit used while the Emergency 200.00 rpm
reference control mode is active (20.207 Emergency control enable).
This reference is an absolute value, and its polarity is
defined by the start commands 20.208 Emergency control
forward and 20.209 Emergency control reverse.
0.00 … Emergency control reference limit. 1 = 1 rpm
30000.00 rpm
22.203 Step reference Selects the source for activating the Step reference mode. False
mode 0 = Step reference mode is inactive.
1 = Step reference mode is active.
The combination of parameter values 22.204 Step reference
select 2 … 22.206 Step reference select 4 determines which
step reference speed is used. For the parameter value
combinations, see section Step reference selection on
page 93.
False 0. 0
True 1. 1
219).
22.204 Step reference Defines source bit 2 for selecting the step reference. False
select 2 0 = Source bit 2 is disabled.
1 = Source bit 2 is enabled.
See also parameter 22.203 Step reference mode.
False 0. 0
True 1. 1
219).
False 0. 0
True 1. 1
Parameters 339

219).
False 0. 0
True 1. 1
219).
22.207 Step reference 1 Defines step reference speed 1. 500.00 rpm
0.00 … Step reference speed 1. 1 = 1 rpm
30000.00 rpm
30000.00 rpm
30000.00 rpm
22.210 Step reference 4 Defines step reference speed 4. 1000.00
30000.00 rpm
22.211 Speed reference Defines the speed reference shape. Linear
shape See also section Parabolic speed reference on page 96.
Linear Linear speed reference. 0
2
Parabolic 1 X speed reference. 1
Parabolic 2 X3 speed reference. 2
22.220 Crane motpot Enables or selects the source to activate the Crane motor Disable
enable potentiometer function. See section Crane motor
potentiometer on page 99.
Disable Crane motor potentiometer function is disabled. 0
Enable Crane motor potentiometer function is enabled. 1
340 Parameters

219).
22.223 Crane motpot Selects the source of Crane motor potentiometer accelerate False
accel sel signal. See section Crane motor potentiometer on page 99.
False No change. 0
True Increases the motor potentiometer value depending on the 1
selected direction. The possible effect can be seen in
parameter 22.225 Crane motpot sw, bits 3 and 4.
219).
22.224 Crane motpot min Defines an initial value (starting point) for the motor 0 rpm
speed potentiometer at start. See section Crane motor
potentiometer on page 99.
0...32000 rpm Minimum speed. 1 = 1 rpm
22.225 Crane motpot sw Crane motor potentiometer status word. -

0 Motpot Status of the Crane motor potentiometer function.
enabled 1 = Crane motor potentiometer enabled.
0 = Crane motor potentiometer disabled.
1...2 Reserved
3 Motpot up Used as source for four inputs of the motor potentiometer to increase
source the output value.
1 = Crane motor potentiometer with increased output reference.
0 = Crane motor potentiometer without increased output reference.
4 Motpot dn Used as source for four inputs of the motor potentiometer to decrease
source the output value.
1 = Crane motor potentiometer with decreased output reference.
0 = Crane motor potentiometer without decreased output reference.
5…15 Reserved
0000b…0011b Status word. 1=1

22.226 Crane motpot min Defines the minimum value of the Crane motor -1500.00
value potentiometer.
-32768.00... Minimum value 100 = 1
32767.00
Parameters 341

22.227 Crane motpot max Defines the maximum value of Crane motor potentiometer. 1500.00
value
-32768.00... Maximum value 100 = 1
32767.00
23
23 Speed reference Speed reference ramp settings (programming of the
ramp acceleration and deceleration rates for the drive).
23.01 Speed ref ramp Displays the used speed reference (in rpm) before it enters -
input the ramping and shaping functions. See the control chain
-30000.00 … Speed reference before ramping and shaping. See par.
30000.00 rpm 46.01
23.02 Speed ref ramp Displays the ramped and shaped speed reference in rpm. -
output See the control chain diagram on page 724.
-30000.00 … Speed reference after ramping and shaping. See par.
30000.00 rpm 46.01
342 Parameters

23.16 Shape time acc 1 Defines the shape of the acceleration ramp at the beginning 0.000 s
of the acceleration.
0.000 s: Linear ramp. Suitable for steady acceleration or
deceleration and for slow ramps.
0.001…1000.000 s: S-curve ramp. S-curve ramps are ideal
for lifting applications. The S-curve consists of symmetrical
curves at both ends of the ramp and a linear part in
between.
Acceleration:
Linear ramp:
23.17 = 0 s
Speed
Shape time
Linear ramp:
23.16 = 0 s
S-curve ramp:
23.17 > 0 s
S-curve ramp:
23.16 > 0 s
Time
Deceleration:
Speed
S-curve ramp:
23.18 > 0 s
Linear ramp:
23.18 = 0 s
S-curve ramp:
23.19 > 0 s
Linear ramp:
23.19 = 0 s
Time
0.000 … Ramp shape at start of acceleration. 10 = 1 s

1800.000 s
23.17 Shape time acc 2 Defines the shape of the acceleration ramp at the end of the 0.000 s
acceleration. See parameter 23.16 Shape time acc 1.
0.000 … Ramp shape at end of acceleration. 10 = 1 s
1800.000 s
23.18 Shape time dec 1 Defines the shape of the deceleration ramp at the beginning 0.000 s
of the deceleration. See parameter 23.16 Shape time acc 1.
0.000 … Ramp shape at start of deceleration. 10 = 1 s
1800.000 s
Parameters 343

23.19 Shape time dec 2 Defines the shape of the deceleration ramp at the end of the 0.000 s
deceleration. See parameter 23.16 Shape time acc 1.
0.000 … Ramp shape at end of deceleration. 10 = 1 s
1800.000 s
23.23 Emergency stop In the speed control mode, this parameter defines the 3.000 s
time deceleration rate for emergency stop Off3 as the time it
would take for the speed to decrease from the value of
parameter 46.01 Speed scaling to zero.
Emergency stop can also be activated through fieldbus.
0.000 … Emergency stop Off3 deceleration time. 10 = 1 s
1800.000 s
23.24 Speed ramp in (Visible only when user lock is open with pass code 584. Inactive
zero source See parameter 96.02 Pass code.)
Selects a source that forces the speed reference to zero just
before it enters the ramp function.
0 = Force speed reference to zero before the ramp function
1 = Speed reference continues towards the ramp function as
normal
Active 0. 0
Inactive 1. 1
219).
23.26 Ramp out (Visible only when user lock is open with pass code 584. Not selected
balancing enable See parameter 96.02 Pass code.)
Selects the source for enabling/disabling speed reference
ramp balancing.
This function is used to generate a smooth transfer from a
torque- or tension-controlled motor back to being speed-
controlled. The balancing output would be tracking the
present “line” speed of the application and when transfer is
required, the speed reference can then be quickly “seeded”
to the correct line speed. Balancing is also possible in the
speed controller.
See also parameter 23.27 Ramp out balancing ref.
0 = Disabled
1 = Enabled
Not selected 0. 0
Selected 1. 1
344 Parameters

219).
23.27 Ramp out (Visible only when user lock is open with pass code 584. 0.00 rpm
balancing ref See parameter 96.02 Pass code.)
Defines the reference for speed ramp balancing. The output
of the ramp generator is forced to this value when balancing
is enabled by parameter 23.26 Ramp out balancing enable.
-30000.00 … Speed ramp balancing reference. See par.
30000.00 rpm 46.01
23.28 Variable slope (Visible only when user lock is open with pass code 584. Off
Activates the variable slope function, which controls the
slope of the speed ramp during a speed reference change.
This allows for a constantly variable ramp rate to be
generated, instead of just the standard two ramps normally
available. If the update interval of the signal from an external
control system and the variable slope rate (23.29 Variable
slope rate) are equal, the resulting speed reference (23.02
Speed ref ramp output) is a straight line.
Speed reference
Speed
reference
23.02 Speed ref ramp output
Time
t = update interval of signal from external control system

A = speed reference change during t
This function is only active in remote control.

Off Variable slope disabled. 0
On Variable slope enabled (not available in local control). 1
page 219).
Parameters 345

23.29 Variable slope rate (Visible only when user lock is open with pass code 584. 50 ms
Defines the rate of the speed reference change when
variable slope is enabled by parameter 23.28 Variable slope
enable.
For the best result, enter the reference update interval into
this parameter.
2…30000 ms Variable slope rate. 1 = 1 ms
23.39 Follower speed (Visible only when user lock is open with pass code 584. -
correction out See parameter 96.02 Pass code.)
Displays the speed correction term for the load share
function with a speed-controlled follower drive.
-30000.00 … Speed correction term. See par.
30000.00 rpm 46.01
23.40 Follower speed (Visible only when user lock is open with pass code 584. Not selected
correction enable See parameter 96.02 Pass code.)
With a speed-controlled follower, selects the source for
enabling/disabling the load share function.
0 = Disabled
1 = Enabled
Not selected 0. 0
Selected 1. 1
219).
23.41 Follower speed (Visible only when user lock is open with pass code 584. 1.00%
correction gain See parameter 96.02 Pass code.)
Adjusts the gain of the speed correction term in a speed-
controlled follower. In effect, defines how accurately the
follower follows the master torque. A greater value results in
a more accurate performance.
See section Load share function with a speed-controlled
follower (page 162).
0.00 … 100.00% Speed correction term adjustment. 1 = 1%
23.42 Follower speed (Visible only when user lock is open with pass code 584. MF ref 2
corr torq source See parameter 96.02 Pass code.)
Selects the source of the torque reference for the load share
function. See section Load share function with a speed-
controlled follower (page 162).
NULL None. 0
MF ref 2 03.14 M/F or D2D ref2 (page 229). 1
346 Parameters

page 219).
23.200 Crane ramp set Selects the source that switches between the two sets of Acc/Dec 1
selection acceleration/deceleration times defined by parameters
23.201…23.204.
0 = Acceleration time 1 and deceleration time 1 are in force.
1 = Acceleration time 2 and deceleration time 2 are in force.
2 = Acceleration time 1 and deceleration time 1 are in force
in the forward direction, and acceleration time 2 and
deceleration time 2 are in force in the reverse direction.
Acc/Dec 1 0. 0
Acc/Dec 2 1. 1
Acc/Dec Direction 2. 2
page 219).
23.201 Crane acc time 1 Defines acceleration time 1 as the time required for the 3.00 s
speed to change from zero to the speed defined by
parameter 46.01 Speed scaling (not to parameter 30.12
Maximum speed).
If the speed reference increases faster than the set
acceleration rate, the motor speed will follow the
acceleration rate.
If the speed reference increases slower than the set
acceleration rate, the motor speed will follow the reference.
If the acceleration time is set too short, the drive will
automatically prolong the acceleration in order not to exceed
the drive torque limits.
0.00 …1800.00 s Acceleration time 1. 10 = 1.0 s
Parameters 347

23.202 Crane dec tme 1 Defines deceleration time 1 as the time required for the 3.00 s
speed to change from the speed defined by parameter
46.01 Speed scaling (not from parameter 30.12 Maximum
speed) to zero.
If the speed reference decreases slower than the set
deceleration rate, the motor speed will follow the reference.
If the reference changes faster than the set deceleration
rate, the motor speed will follow the deceleration rate.
If the deceleration rate is set too short, the drive will
automatically prolong the deceleration in order not to
exceed drive torque limits. If there is any doubt about the
deceleration time being too short, ensure that DC
overvoltage control is on (parameter 30.30 Overvoltage
control).
Note: If a short deceleration time is needed for a high inertia
application, the drive should be equipped with braking
equipment such as a brake chopper and brake resistor.
0.00 …1800.00 s Deceleration time 1. 10 = 1.0 s
23.203 Crane acc time 2 Defines acceleration time 2. See parameter 23.201 Crane 3.00 s
acc time 1.
0.00 …1800.00 s Acceleration time 2. 10 = 1.0 s
23.204 Crane dec time 2 Defines deceleration time 2. See parameter 23.202 Crane 3.00 s
dec tme 1.
0.00 …1800.00 s Deceleration time 2. 10 = 1.0 s
23.206 Fast stop Defines the time within which the drive stops if the drive 0.50 s
deceleration time receives a Fast stop command (20.210 Fast stop input).
0.00 …3000.00 s Fast stop deceleration time. 10 = 1.0 s
24
24 Speed reference Speed error calculation; speed error window control
conditioning configuration; speed error step.
See the control chain diagrams on pages 727 and 729.
24.01 Used speed Displays the ramped and corrected speed reference (before -
reference speed error calculation).See the control chain diagram on
page 727.
-30000.00 … Speed reference used for speed error calculation. See par.
30000.00 rpm 46.01
24.02 Used speed Displays the speed feedback used for speed error -
feedback calculation. See the control chain diagram on page 727.
-30000.00 … Speed feedback used for speed error calculation. See par.
30000.00 rpm 46.01
24.03 Speed error filtered Displays the filtered speed error. See the control chain -
diagram on page 727.This parameter is read-only.
-30000.0 … Filtered speed error. See par.
30000.0 rpm 46.01
348 Parameters

24.04 Speed error Displays the inverted (unfiltered) speed error. See the -
inverted control chain diagram on page 727.This parameter is read-
only.
-30000.0 … Inverted speed error. See par.
30000.0 rpm 46.01
24.12 Speed error filter Defines the time constant of the speed error low-pass filter. 0 ms
time If the used speed reference changes rapidly, the possible
interferences in the speed measurement can be filtered with
the speed error filter. Reducing the ripple with this filter may
cause speed controller tuning problems. A long filter time
constant and fast acceleration time contradict one another.
A very long filter time results in unstable control.
0…10000 ms Speed error filtering time constant. 0 = filtering disabled. 1 = 1 ms
24.13 RFE speed filter Enables/disables resonance frequency filtering. The filtering Off
is configured by parameters 24.13…24.17.
The speed error value coming to the speed controller is
filtered by a common 2nd order band-elimination filter to
eliminate the amplification of mechanical resonance
frequencies.
Note: Tuning the resonance frequency filter requires a basic
understanding of frequency filters. Incorrect tuning can
amplify mechanical oscillations and damage the drive
hardware. To ensure the stability of the speed controller,
stop the drive or disable the filtering before changing the
parameter settings.
0 = Resonance frequency filtering disabled.
1 = Resonance frequency filtering enabled.
Off 0. 0
On 1. 1
24.14 Frequency of zero Defines the zero frequency of the resonance frequency filter. 45.00 Hz
The value must be set near the resonance frequency, which
is filtered out before the speed controller.
The drawing shows the frequency response.
20log10|H(ω)|
20
-20
-40
-60
0 50 100 150
f (Hz)
0.50 … 500.00 Hz Zero frequency. 1 = 1 Hz

Parameters 349

24.15 Damping of zero Defines the damping coefficient for parameter 24.14. The 0.000
value of 0 corresponds to the maximum elimination of the
resonance frequency.
20log10|H(ω)|
20
fzero = 45 Hz
ξzero = 0.250
ξpole = 1
0
-20
fzero = 45 Hz
ξzero = 0
-40 ξpole = 1
-60
0 50 100 150
f (Hz)
Note: To ensure that the resonance frequency band is

filtered (rather than amplified), the value of 24.15 must be
smaller than 24.17.
-1.000 … 1.000 Damping coefficient. 100 = 1
24.16 Frequency of pole Defines the frequency of pole of the resonance frequency 40.00 Hz
filter.
20log 10|H(ω)|
40
fzero = 45 Hz
fpole = 50 Hz
20 ξzero = 0
ξpole = 0.250
0
-20
fzero = 45 Hz fzero = 45 Hz
fpole = 30 Hz fpole = 40 Hz
-40 ξzero = 0 ξzero = 0
ξpole = 0.250 ξpole = 0.250
-60
0 50 100
f (Hz)
Note: If this value is very different from the value of 24.14,

the frequencies near the frequency of pole are amplified,
which can damage the driven machine.
0.50 … 500.00 Hz Frequency of pole. 1 = 1 Hz
350 Parameters

24.17 Damping of pole Defines the damping coefficient for parameter 24.16. The 0.250
coefficient shapes the frequency response of the resonance
frequency filter. A narrower bandwidth results in better
dynamic properties. By setting this parameter to 1, the effect
of the pole is eliminated.
20log10|H(ω)|
40
fzero = 45 Hz
fpole = 40 Hz
20 ξzero = 0
ξpole = 0.050
0
-20
fzero = 45 Hz fzero = 45 Hz
fpole = 40 Hz fpole = 40 Hz
-40 ξzero = 0 ξzero = 0
ξpole = 0.750 ξpole = 0.250
-60
0 50 100
f (Hz)
Note: To ensure that the resonance frequency band is

filtered (rather than amplified), the value of 24.15 must be
smaller than 24.17.
-1.000 … 1.000 Damping coefficient. 100 = 1
Parameters 351

24.41 Speed error (Visible only when user lock is open with pass code 584. Disable
window control See parameter 96.02 Pass code.)
enable Enables/disables speed error window control, sometimes
also referred to as deadband control or strip break
protection. It forms a speed supervision function for a
torque-controlled drive, preventing the motor from running
away if the material that is being held under tension breaks.
Note: Speed error window control is only effective when the
Add operating mode is active (see parameters 19.12 and
19.14), or when the drive is a speed-controlled follower.
In normal operation, window control keeps the speed
controller input at zero so the drive stays in torque control.
If the motor load is lost, then the motor speed will rise as the
torque controller tries to maintain torque. The speed error
(speed reference - actual speed) will increase until it exits
the speed error window. When this is detected, the
exceeding part of the error value is connected to the speed
controller. The speed controller produces a reference term
relative to the input and gain (25.02 Speed proportional
gain) which the torque selector adds to the torque reference.
The result is used as the internal torque reference for the
drive.
The activation of speed error window control is indicated by
bit 3 of 06.19 Speed control status word.
The window boundaries are defined by 24.43 Speed error
window high and 24.44 Speed error window low as follows:
Speed (rpm)
Reference + [24.44] rpm

Speed error Reference
window
Reference - [24.43] rpm
Forward
0 rpm
Reverse
Reference + [24.43] rpm

Speed error Reference
window
Reference - [24.44] rpm
Note that it is parameter 24.44 (rather than 24.43) that

defines the overspeed limit in both directions of rotation.
This is because the function monitors speed error (which is
negative in case of overspeed, positive in case of
underspeed).
Example: In a load loss condition, the internal torque
reference of the drive is decreased to prevent an excessive
rise of the motor speed. If window control were inactive, the
motor speed would rise until a speed limit of the drive were
reached.
0 = Speed error window control disabled
1 = Speed error window control enabled
352 Parameters

Disable 0. 0
Enable 1. 1
219).
24.42 Speed window (Visible only when user lock is open with pass code 584. Normal
control mode See parameter 96.02 Pass code.) speed control
When speed error window control (see parameter 24.41
Speed error window control enable) is enabled, this
parameter determines whether the speed controller only
observes the proportional term instead of all three (P, I and
D) terms.
Normal speed All three terms (parameters 25.02, 25.03 and 25.04) are 0
control observed by the speed controller.
P-control Only the proportional term (25.02) is observed by the speed 1
controller. The integral and derivative terms are internally
forced to zero.
24.43 Speed error (Visible only when user lock is open with pass code 584. 0.00 rpm
window high See parameter 96.02 Pass code.)
Defines the upper boundary of the speed error window. See
parameter 24.41 Speed error window control enable.
0.00 … 3000.00 Upper boundary of speed error window. See par.
rpm 46.01
24.44 Speed error (Visible only when user lock is open with pass code 584. 0.00 rpm
window low See parameter 96.02 Pass code.)
Defines the lower boundary of the speed error window. See
parameter 24.41 Speed error window control enable.
0.00 … 3000.00 Lower boundary of speed error window. See par.
rpm 46.01
24.46 Speed error step (Visible only when user lock is open with pass code 584. 0.00 rpm
Defines an additional speed error step given to the input of
the speed controller (and added to the speed error value).
This can be used in large drive systems for dynamic speed
normalizing.
WARNING! Make sure the error step value is
removed when a stop command is given.
-3000.00 … Speed error step. See par.

3000.00 rpm 46.01
24.200 Speed correction (Visible only when user lock is open with pass code 584. 0.00 rpm
Defines a speed reference correction, ie. a value added to
the existing reference between ramping and limitation. This
is useful to trim the speed if necessary, for example to adjust
draw between sections of a paper machine.
Note: For safety reasons, the correction is not applied when
an emergency stop is active.
WARNING! If the speed reference correction
exceeds 21.06 Zero speed limit, a ramp stop may be
impossible. Make sure the correction is reduced or
removed when a ramp stop is required.
-10000.00 ... Speed reference correction. 100 = 1 rpm
10000.00 rpm
Parameters 353

25
25 Speed control Speed controller settings.
25.01 Torque reference Displays the speed controller output that is transferred to the -
speed control torque controller. See the control chain diagram on
page 729.
-1600.0 … Limited speed controller output torque. See par.
1600.0% 46.03
25.02 Speed proportional Defines the proportional gain (Kp) of the speed controller. 10.00;
gain Too high a gain may cause speed oscillation. The figure 5.00
below shows the speed controller output after an error step (95.21 b1)
when the error remains constant.
%
Gain = Kp = 1
TI = Integration time = 0
TD= Derivation time = 0
Error value
Controller output
Controller e = Error value
output = Kp × e
Time
If gain is set to 1.00, a 10% error (reference - actual value)

in the motor synchronous speed produces a proportional
term of 10%.
Note: This parameter is automatically set by the speed
controller autotune function. See section Speed controller
autotune (page 173).
0.00 …250.00 Proportional gain for speed controller. 100 = 1
354 Parameters

25.03 Speed integration Defines the integration time of the speed controller. The 2.50 s;
time integration time defines the rate at which the controller 5.00
output changes when the error value is constant and the (95.21 b1)
proportional gain of the speed controller is 1. The shorter the
integration time, the faster the continuous error value is
corrected.
Setting the integration time to zero disables the I-part of the
controller. This is useful to do when tuning the proportional
gain; adjust the proportional gain first, then return the
integration time.
The integrator has anti-windup control for operation at a
torque or current limit.
The figure below shows the speed controller output after an
error step when the error remains constant.
Controller output
Gain = Kp = 1
TI = Integration time > 0
TD= Derivation time = 0
Kp × e
Kp × e e = Error value
Time
TI
Note: This parameter is automatically set by the speed controller autotune function. See section
Speed controller autotune (page 173).
0.00 … 1000.00 s Integration time for speed controller. 10 = 1 s
Parameters 355

25.04 Speed derivation Defines the derivation time of the speed controller. 0.000 s
time Derivative action boosts the controller output if the error
value changes. The longer the derivation time, the more the
speed controller output is boosted during the change. If the
derivation time is set to zero, the controller works as a PI
controller, otherwise as a PID controller. The derivation
makes the control more responsive for disturbances. For
simple applications (especially those without an encoder),
derivative time is not normally required and should be left at
zero.
The figure below shows the speed controller output after an
error step when the error remains constant. The speed error
derivative must be filtered with a low pass filter to eliminate
disturbances.
Controller output
Δe
Kp × TD ×
TsKp × e
Error value
Kp × e e = Error value
TI Time
Gain = Kp = 1
TI = Integration time > 0
TD= Derivation time > 0
Ts= Sample time period = 500 µs
Δe = Error value change between two samples
0.000 … 10.000 s Derivation time for speed controller. 1000 = 1 s

25.05 Derivation filter Defines the derivation filter time constant. See parameter 8 ms
time 25.04 Speed derivation time.
0…10000 ms Derivation filter time constant. 1 = 1 ms
356 Parameters

25.06 Acc comp Defines the derivation time for acceleration(/deceleration) 0.00 s
derivation time compensation. In order to compensate for high inertia load
during acceleration, a derivative of the reference is added to
the output of the speed controller. The principle of a
derivative action is described under parameter 25.04 Speed
derivation time.
Note: As a general rule, set this parameter to the value
between 50 and 100% of the sum of the mechanical time
constants of the motor and the driven machine.
The figure below shows the speed responses when a high
inertia load is accelerated along a ramp.
No acceleration compensation:
Speed reference
Actual speed
Time
Acceleration compensation:
Speed reference
Actual speed
Time
0.00 … 1000.00 s Acceleration compensation derivation time. 10 = 1 s

25.07 Acc comp filter Defines the acceleration (or deceleration) compensation 8.0 ms
time filter time constant. See parameters 25.04 Speed derivation
time and 25.06 Acc comp derivation time.
0.0 … 1000.0 ms Acceleration/deceleration compensation filter time. 1 = 1 ms
Parameters 357

25.08 Drooping rate Defines the droop rate in percent of the nominal motor 0.00%
speed. Drooping decreases the drive speed slightly as the
drive load increases. The actual speed decrease at a certain
operating point depends on the droop rate setting and the
drive load (= torque reference / speed controller output). At
100% speed controller output, drooping is at its nominal
level, i.e. equal to the value of this parameter. The drooping
effect decreases linearly to zero along with the decreasing
load.
The droop rate can be used e.g. to adjust the load sharing in
a Master/Follower application run by several drives. In a
Master/Follower application the motor shafts are coupled to
each other.
The correct droop rate for a process must be found out case
by case in practice.
Speed decrease = Speed controller output × Drooping × Nominal speed

Example: Speed controller output is 50%, droop rate is 1%, nominal speed of the drive is
1500 rpm.
Speed decrease = 0.50 × 0.01 × 1500 rpm = 7.5 rpm.
Motor speed in
% of nominal
No drooping
100%
Drooping 25.08 Drooping rate
Speed controller Drive load

output / %
100%
0.00 … 100.00% Droop rate. 100 = 1%

25.11 Speed control min (Visible only when user lock is open with pass code 584. -300.0%
torque See parameter 96.02 Pass code.)
Defines the minimum speed controller output torque.
-1600.0 … 0.0% Minimum speed controller output torque. See par.
46.03
25.12 Speed control max (Visible only when user lock is open with pass code 584. 300.0%
Defines the maximum speed controller output torque.
0.0 … 1600.0% Maximum speed controller output torque. See par.
46.03
25.13 Min torq sp ctrl em (Visible only when user lock is open with pass code 584. -400.0%
stop See parameter 96.02 Pass code.)
Defines the minimum speed controller output torque during
a ramped emergency stop (Off1 or Off3).
-1600.0 … 0.0% Minimum speed controller output torque for ramped See par.
emergency stop. 46.03
358 Parameters

25.14 Max torq sp ctrl em (Visible only when user lock is open with pass code 584. 400.0%
stop See parameter 96.02 Pass code.)
Defines the maximum speed controller output torque during
a ramped emergency stop (Off1 or Off3).
0.0 … 1600.0% Maximum speed controller output torque for ramped See par.
emergency stop. 46.03
25.15 Proportional gain (Visible only when user lock is open with pass code 584. 10.00:
em stop See parameter 96.02 Pass code.) 5.00
Defines the proportional gain for the speed controller when (95.21 b1)
an emergency stop is active. See parameter 25.02 Speed
proportional gain.
1.00 … 250.00 Proportional gain upon an emergency stop. 100 = 1
25.18 Speed adapt min (Visible only when user lock is open with pass code 584. 0 rpm
limit See parameter 96.02 Pass code.)
Minimum actual speed for speed controller adaptation.
Speed controller gain and integration time can be adapted
according to actual speed (90.01 Motor speed for control).
This is done by multiplying the gain (25.02 Speed
proportional gain) and integration time (25.03 Speed
integration time) by coefficients at certain speeds. The
coefficients are defined individually for both gain and
integration time.
When actual speed is below or equal to 25.18 Speed adapt
min limit, the gain and integration time are multiplied by
25.21 Kp adapt coef at min speed and 25.22 Ti adapt coef at
min speed respectively.
When actual speed is equal to or above 25.19 Speed adapt
max limit, no adaptation takes place (the coefficient is 1).
When actual speed is between 25.18 Speed adapt min limit
and 25.19 Speed adapt max limit, the coefficients for the
gain and integration time are calculated linearly on the basis
of the breakpoints.
See also the control chain diagram on page 729.
Coefficient for Kp or TI Kp = Proportional gain

TI = Integration time
1.000
25.21 Kp adapt coef at min speed

or 25.22 Ti adapt coef at min Actual speed
speed (90.01) (rpm)
0 25.18 Speed 25.19 Speed

adapt min limit adapt max limit
0…30000 rpm Minimum actual speed for speed controller adaptation. 1 = 1 rpm
Parameters 359

25.19 Speed adapt max (Visible only when user lock is open with pass code 584. 0 rpm
Maximum actual speed for speed controller adaptation.
See parameter 25.18 Speed adapt min limit.
0…30000 rpm Maximum actual speed for speed controller adaptation. 1 = 1 rpm
25.21 Kp adapt coef at (Visible only when user lock is open with pass code 584. 1.000
min speed See parameter 96.02 Pass code.)
Proportional gain coefficient at minimum actual speed.
0.000 … 10.000 Proportional gain coefficient at minimum actual speed. 1000 = 1
25.22 Ti adapt coef at (Visible only when user lock is open with pass code 584. 1.000
min speed See parameter 96.02 Pass code.)
Integration time coefficient at minimum actual speed.
0.000 … 10.000 Integration time coefficient at minimum actual speed. 1000 = 1
25.25 Torque adapt max (Visible only when user lock is open with pass code 584. 0.0%
Maximum torque reference for speed controller adaptation.
Speed controller gain can be adapted according to the final
unlimited torque reference (26.01 Torque reference to TC).
This can be used to smooth out disturbances caused by a
small load and backlashes.
The functionality involves multiplying the gain (25.02 Speed
proportional gain) by a coefficient within a certain torque
range.
When the torque reference is 0%, the gain is multiplied by
the value of parameter 25.27 Kp adapt coef at min torque.
When the torque reference is equal to or above 25.25
Torque adapt max limit, no adaptation takes place (the
coefficient is 1).
Between 0% and 25.25 Torque adapt max limit, the
coefficient for the gain is calculated linearly on the basis of
the breakpoints.
Filtering can be applied on the torque reference using
parameter 25.26 Torque adapt filt time.
Coefficient for K p (proportional gain)
1.000
25.27 Kp adapt coef at min torque

Final torque reference
(26.01) (rpm)
0 25.25 Torque
adapt max limit
0.0 … 1600.0% Maximum torque reference for speed controller adaptation. See par.
46.03
360 Parameters

25.26 Torque adapt filt (Visible only when user lock is open with pass code 584. 0.000 s
Defines a filter time constant for the adaptation, in effect
adjusting the rate of change of the gain.
See parameter 25.25 Torque adapt max limit.
0.000 … 100.000 s Filter time for adaptation. 100 = 1 s
25.27 Kp adapt coef at (Visible only when user lock is open with pass code 584. 1.000
min torque See parameter 96.02 Pass code.)
Proportional gain coefficient at 0% torque reference.
See parameter 25.25 Torque adapt max limit.
0.000 … 10.000 Proportional gain coefficient at 0% torque reference. 1000 = 1
25.30 Flux adaption (Visible only when user lock is open with pass code 584. Enable
Enables/disables speed controller adaptation based on
motor flux reference (01.24 Flux actual %).
The proportional gain of the speed controller is multiplied by
a coefficient of 0…1 between 0…100% flux reference
respectively.
Coefficient for Kp (proportional gain)
1.000
Flux reference
(01.24) (%)
0.000
0 100
Disable Speed controller adaptation based on flux reference 0

disabled.
Enable Speed controller adaptation based on flux reference 1
enabled.
Parameters 361

25.33 Speed controller (Visible only when user lock is open with pass code 584. Off
autotune See parameter 96.02 Pass code.)
Activates (or selects a source that activates) the speed
controller autotune function. See section Speed controller
autotune (page 173).
The autotune will automatically set parameters 25.02 Speed
proportional gain, 25.03 Speed integration time and 25.37
Mechanical time constant.
The prerequisites for performing the autotune routine are:
• the motor identification run (ID run) has been successfully
completed
• the speed and torque limits (parameter group 30 Limits)
have been set
• speed feedback filtering (parameter group 90 Feedback
selection), speed error filtering (24 Speed reference
conditioning) and zero speed (21 Start/stop mode) have
been set, and
• the drive has been started and is running in speed control
mode.
WARNING! The motor and machinery will run
against the torque and speed limits during the
autotune routine. MAKE SURE IT IS SAFE TO
ACTIVATE THE AUTOTUNE FUNCTION!
The autotune routine can be aborted by stopping the drive.
0 -> 1 = Activate speed controller autotune
Note: The value does not revert to 0 automatically.
Off 0. 0
On 1. 1
219).
25.34 Speed controller (Visible only when user lock is open with pass code 584. Normal
autotune mode See parameter 96.02 Pass code.)
Defines a control preset for the speed controller autotune
function. The setting affects the way the torque reference
will respond to a speed reference step.
Smooth Slow but robust response. 0
Normal Medium setting. 1
Tight Fast response. May produce too high a gain value for some 2
applications.
25.37 Mechanical time (Visible only when user lock is open with pass code 584. -
constant See parameter 96.02 Pass code.)
Mechanical time constant of the drive and the machinery as
determined by the speed controller autotune function. The
value can be adjusted manually.
0.00 … 1000.00 s Mechanical time constant. 10 = 1 s
25.38 Autotune torque (Visible only when user lock is open with pass code 584. 10.00%
step See parameter 96.02 Pass code.)
Defines an added torque value used by the autotune
function. This value is scaled to motor nominal torque.
Note that the torque used by the autotune function can also
be limited by the torque limits (in parameter group 30 Limits)
and nominal motor torque.
0.00 … 100.00% Autotune torque step. 100 = 1%
362 Parameters

25.39 Autotune speed (Visible only when user lock is open with pass code 584. 10.00%
step See parameter 96.02 Pass code.)
Defines a speed value added to the initial speed for the
autotune routine. The initial speed (speed used when
autotune is activated) plus the value of this parameter is the
calculated maximum speed used by the autotune routine.
The maximum speed can also be limited by the speed limits
(in parameter group 30 Limits) and nominal motor speed.
The value is scaled to motor nominal speed.
Note: The motor will exceed the calculated maximum speed
slightly at the end of each acceleration stage.
0.00 … 100.00% Autotune speed step. 100 = 1%
25.40 Autotune repeat (Visible only when user lock is open with pass code 584. 10
times See parameter 96.02 Pass code.)
Determines how many acceleration/deceleration cycles are
performed during the autotune routine. Increasing the value
will improve the accuracy of the autotune function, and allow
the use of smaller torque or speed step values.
1…10 Number of cycles during autotune routine. 1=1
25.53 Torque prop (Visible only when user lock is open with pass code 584. -
Displays the output of the proportional (P) part of the speed
controller. See the control chain diagram on page 729.
-30000.0 … P-part output of speed controller. See par.
30000.0% 46.03
25.54 Torque integral (Visible only when user lock is open with pass code 584. -
Displays the output of the integral (I) part of the speed
-30000.0 … I-part output of speed controller. See par.
30000.0% 46.03
25.55 Torque deriv (Visible only when user lock is open with pass code 584. -
Displays the output of the derivative (D) part of the speed
-30000.0 … D-part output of speed controller. See par.
30000.0% 46.03
25.56 Torque acc (Visible only when user lock is open with pass code 584. -
compensation See parameter 96.02 Pass code.)
Displays the output of the acceleration compensation
function. See the control chain diagram on page 729.
-30000.0 … Output of acceleration compensation function. See par.
30000.0% 46.03
Parameters 363

25.57 Torque reference (Visible only when user lock is open with pass code 584. -
unbalanced See parameter 96.02 Pass code.)
Displays the acceleration-compensated output of the speed
-30000.0 … Acceleration-compensated output of speed controller. See par.
30000.0% 46.03
26
26 Torque reference Settings for the torque reference chain.
chain See the control chain diagrams on pages 730 and 732.
26.01 Torque reference Displays the final torque reference given to the torque -
to TC controller in percent. This reference is then acted upon by
various final limiters, like power, torque, load etc.
-1600.0 … Torque reference for torque control. See par.
1600.0% 46.03
26.02 Torque reference Displays the final torque reference (in percent of motor -
used nominal torque) given to the DTC core, and comes after
frequency, voltage and torque limitation. See the control
chain diagram on page 733.
-1600.0 … Torque reference for torque control. See par.
1600.0% 46.03
26.08 Minimum torque ref Defines the minimum torque reference. Allows for local -300.0%
limiting of the torque reference before it is passed on to the
torque ramp controller. For absolute torque limiting, refer to
parameter 30.19 Minimum torque 1.
-1000.0 … 0.0% Minimum torque reference. See par.
46.03
26.09 Maximum torque Defines the maximum torque reference. Allows for local 300.0%
ref limiting of the torque reference before it is passed on to the
torque ramp controller. For absolute torque limiting, refer to
parameter 30.20 Maximum torque 1.
0.0 … 1000.0% Maximum torque reference. See par.
46.03
364 Parameters

26.11 Torque ref1 source (Visible only when user lock is open with pass code 584. Zero
Selects torque reference source 1.
Two signal sources can be defined by this parameter and
26.12 Torque ref2 source. A digital source selected by 26.14
Torque ref1/2 selection can be used to switch between the
two sources, or a mathematical function (26.13 Torque ref1
function) applied to the two signals to create the reference.
26.11
26.13
0
AI Ref1
26.70
FB
…… ADD 26.14
Other SUB 0
MUL 26.72
26.12 MIN 1
MAX
0
AI 26.71
FB
……
Other
Zero None. 0
Motor 22.80 Motor potentiometer ref act (output of the motor 15
potentiometer potentiometer).
PID Not in use. 16
Control panel (ref Control panel reference, with initial value from last-used 18
saved) panel reference. See section Using the control panel as an
external control source (page 149).
Control panel (ref Control panel reference, with initial value from previous 19
copied) source or actual value. See section Using the control panel
as an external control source (page 149).
219).
Parameters 365

26.12 Torque ref2 source (Visible only when user lock is open with pass code 584. Zero
Selects torque reference source 2.
For the selections, and a diagram of reference source
selection, see parameter 26.11 Torque ref1 source.
26.13 Torque ref1 (Visible only when user lock is open with pass code 584. Ref1
Selects a mathematical function between the reference
sources selected by parameters 26.11 Torque ref1 source
and 26.12 Torque ref2 source. See diagram at 26.11 Torque
ref1 source.
Ref1 Signal selected by 26.11 Torque ref1 source is used as 0
torque reference 1 as such (no function applied).
Add (ref1 + ref2) The sum of the reference sources is used as torque 1
reference 1.
Sub (ref1 - ref2) The subtraction ([26.11 Torque ref1 source] - [26.12 Torque 2
ref2 source]) of the reference sources is used as torque
reference 1.
Mul (ref1 × ref2) The multiplication of the reference sources is used as torque 3
reference 1.
Min (ref1, ref2) The smaller of the reference sources is used as torque 4
reference 1.
Max (ref1, ref2) The greater of the reference sources is used as torque 5
reference 1.
26.14 Torque ref1/2 (Visible only when user lock is open with pass code 584. Torque
selection See parameter 96.02 Pass code.) reference 1
Configures the selection between torque references 1 and
2. See diagram at 26.11 Torque ref1 source.
0 = Torque reference 1
1 = Torque reference 2
Torque reference 1 0. 0
Torque reference 2 1. 1
Follow Ext1/Ext2 Torque reference 1 is used when external control location 2
selection EXT1 is active. Torque reference 2 is used when external
control location EXT2 is active.
See also parameter 19.11 Ext1/Ext2 selection.
219).
366 Parameters

26.15 Load share (Visible only when user lock is open with pass code 584. 1.000
Defines the scaling factor for the torque reference (the
torque reference is multiplied by the value).
This allows drives sharing the load between two motors on
the same mechanical plant to be tailored to share the
correct amount each, yet use the same master torque
reference.
-8.000 … 8.000 Torque reference scaling factor. 1000 = 1
26.16 Torque additive 1 (Visible only when user lock is open with pass code 584. Zero
Selects the source for torque reference additive 1.
For the selections, see parameter 26.11 Torque ref1 source.
26.17 Torque ref filter (Visible only when user lock is open with pass code 584. 0.000 s
Defines a low-pass filter time constant for the torque
reference.
0.000 … 30.000 s Filter time constant for torque reference. 1000 = 1 s
26.18 Torque ramp up (Visible only when user lock is open with pass code 584. 0.000 s
Defines the torque reference ramp-up time, ie. the time for
the reference to increase from zero to nominal motor torque.
0.000 … 60.000 s Torque reference ramp-up time. 100 = 1 s
26.19 Torque ramp down (Visible only when user lock is open with pass code 584. 0.000 s
Defines the torque reference ramp-down time, ie. the time
for the reference to decrease from nominal motor torque to
zero.
0.000 … 60.000 s Torque reference ramp-down time. 100 = 1 s
Parameters 367

26.25 Torque additive 2 (Visible only when user lock is open with pass code 584. Zero
Selects the source of torque reference additive 2.
The value received from the selected source is added to the
torque reference after operating mode selection. Because of
this, the additive can be used in speed and torque modes.
WARNING! If the additive exceeds the limits set by
parameters 25.11 Speed control min torque and
25.12 Speed control max torque, a ramp stop may
be impossible. Make sure the additive is reduced or
removed when a ramp stop is required eg. by using
parameter 26.26 Force torque ref add 2 zero.
For the selections, see parameter 26.11 Torque ref1 source.
26.26 Force torque ref (Visible only when user lock is open with pass code 584. Not selected
add 2 zero See parameter 96.02 Pass code.)
Selects a source that forces torque reference additive 2 (see
parameter 26.25 Torque additive 2 source) to zero.
1 = Force torque reference additive 2 to zero.
Not selected 0. 0
Selected 1. 1
219).
26.41 Torque step (Visible only when user lock is open with pass code 584. 0.0%
When enabled by parameter 26.42 Torque step enable,
adds an additional step to the torque reference.
WARNING! If the torque step exceeds the limits set
by parameters 25.11 Speed control min torque and
25.12 Speed control max torque, a ramp stop may
be impossible. Make sure the torque step is reduced or
removed when a ramp stop is required eg. by using
parameter 26.42 Torque step enable.
-300.0 … 300.0% Torque step. See par.
46.03
26.42 Torque step enable (Visible only when user lock is open with pass code 584. Disable
Enables/disables a torque step (defined by parameter 26.41
Torque step).
Disable Torque step disabled. 0
368 Parameters

Enable Torque step enabled. 1
26.51 Oscillation (Visible only when user lock is open with pass code 584. Not selected
damping See parameter 96.02 Pass code.)
Parameters 26.51…26.58 configure the oscillation damping
function. See section Oscillation damping (page 177), and
the block diagram on page 732.
This parameter enables (or selects a source that enables)
the oscillation damping algorithm.
1 = Oscillation damping algorithm enabled
Not selected 0. 0
Selected 1. 1
219).
26.52 Oscillation (Visible only when user lock is open with pass code 584. Not selected
damping out See parameter 96.02 Pass code.)
enable Determines (or selects a source that determines) whether
the output of the oscillation damping function is applied to
the torque reference or not.
Note: Before enabling the oscillation damping output, adjust
parameters 26.53…26.57. Then monitor the input signal
(selected by 26.53) and the output (26.58) to make sure that
the correction is safe to apply.
1 = Apply oscillation damping output to torque reference
Not selected 0. 0
Selected 1. 1
page 219).
Parameters 369

26.53 Oscillation (Visible only when user lock is open with pass code 584. Speed error
compensation See parameter 96.02 Pass code.)
input Selects the input signal for the oscillation damping function.
Note: Before changing this parameter run-time, disable the
oscillation damping output using parameter 26.52. Monitor
the behavior of 26.58 before re-enabling the output.
Speed error -(24.04 Speed error inverted), ie. 0
24.01 Used speed reference - 24.02 Used speed feedback.
Note: This setting is not supported in scalar motor control
mode.
DC voltage 01.11 DC voltage. (The value is internally filtered.) 1
26.55 Oscillation (Visible only when user lock is open with pass code 584. 31.0 Hz
damping frequency See parameter 96.02 Pass code.)
Defines the center frequency of the oscillation damping filter.
Set the value according to the number of oscillation peaks in
the monitored signal (selected by 26.53) per second.
0.1 … 60.0 Hz Center frequency for oscillation damping. 10 = 1 Hz
26.56 Oscillation (Visible only when user lock is open with pass code 584. 180 deg
damping phase See parameter 96.02 Pass code.)
Defines a phase shift for the output of the filter.
0…360 deg Phase shift for oscillation damping function output. 10 = 1 deg
26.57 Oscillation (Visible only when user lock is open with pass code 584. 1.0%
damping gain See parameter 96.02 Pass code.)
Defines a gain for the output of the oscillation damping
function, ie. how much the output of the filter is amplified
before it is added to the torque reference.
Oscillation gain is scaled according to the speed controller
gain so that changing the gain will not disturb oscillation
damping.
0.0 … 100.0% Gain setting for oscillation damping output. 10 = 1%
26.58 Oscillation Displays the output of the oscillation damping function. This -
damping output value is added to the torque reference (as allowed by
parameter 26.52 Oscillation damping out enable).
-1600.000 … Output of the oscillation damping function. 10 = 1%
1600.000%
26.70 Torque reference Displays the value of torque reference source 1 (selected by -
act 1 parameter 26.11 Torque ref1 source). See the control chain
-1600.0 … Value of torque reference source 1. See par.
1600.0% 46.03
370 Parameters

26.71 Torque reference Displays the value of torque reference source 2 (selected by -
act 2 parameter 26.12 Torque ref2 source). See the control chain
-1600.0 … Value of torque reference source 2. See par.
1600.0% 46.03
26.72 Torque reference Displays the torque reference after the function applied by -
act 3 parameter 26.13 Torque ref1 function (if any), and after
selection (26.14 Torque ref1/2 selection). See the control
chain diagram on page 730.
-1600.0 … Torque reference after selection. See par.
1600.0% 46.03
26.73 Torque reference Displays the torque reference after application of reference -
act 4 additive 1. See the control chain diagram on page 730.
-1600.0 … Torque reference after application of reference additive 1. See par.
1600.0% 46.03
26.74 Torque ref ramp Displays the torque reference after limiting and ramping. -
out See the control chain diagram on page 730.
-1600.0 … Torque reference after limiting and ramping. See par.
1600.0% 46.03
26.75 Torque reference Displays the torque reference after control mode selection. -
act 5 See the control chain diagram on page 732.
-1600.0 … Torque reference after control mode selection. See par.
1600.0% 46.03
26.76 Torque reference Displays the torque reference after application of reference -
act 6 additive 2. See the control chain diagram on page 732.
-1600.0 … Torque reference after application of reference additive 2. See par.
1600.0% 46.03
26.77 Torque ref add A Displays the value of the source of torque reference additive -
actual 2. See the control chain diagram on page 732.
-1600.0 … Torque reference additive 2. See par.
1600.0% 46.03
26.78 Torque ref add B Displays the value of torque reference additive 2 before it is -
actual added to torque reference. See the control chain diagram on
page 732.
-1600.0 … Torque reference additive 2. See par.
1600.0% 46.03
26.81 Rush control gain (Visible only when user lock is open with pass code 584. 10.0
Rush controller gain term. See section Rush control
(page 179).
0.0 …10000.0 Rush controller gain (0.0 = disabled). 1=1
Parameters 371

26.82 Rush control (Visible only when user lock is open with pass code 584. 2.0 s
integration time See parameter 96.02 Pass code.)
Rush controller integration time term.
0.0 …10.0 s Rush controller integration time (0.0 = disabled). 1=1s
30
30 Limits Drive operation limits.
30.01 Limit word 1 Displays limit word 1. -

0 Torq lim 1 = Drive torque is being limited by the motor control
(undervoltage control, current control, load angle control or pull-
out control), or by the torque limits defined by parameters.
1 Spd ctl tlim min 1 = Speed controller output is being limited by 25.11 Speed control
min torque
2 Spd ctl tlim max 1 = Speed controller output is being limited by 25.12 Speed
control max torque
3 Torq ref max 1 = Torque reference ramp input is being limited by 26.09
Maximum torque ref, source of 30.25 Maximum torque sel, 30.26
Power motoring limit or 30.27 Power generating limit. See
4 Torq ref min 1 = Torque reference ramp input is being limited by 26.08
Minimum torque ref, source of 30.18 Minimum torque sel, 30.26
Power motoring limit or 30.27 Power generating limit. See
5 Tlim max speed 1 = Torque reference is being limited by the rush control because
of maximum speed limit (30.12 Maximum speed)
6 Tlim min speed 1 = Torque reference is being limited by the rush control because
of minimum speed limit (30.11 Minimum speed)
7 Max speed ref 1 = Speed reference is being limited by 30.12 Maximum speed
lim
8 Min speed ref lim 1 = Speed reference is being limited by 30.11 Minimum speed
9 Max freq ref lim 1 = Frequency reference is being limited by 30.14 Maximum
frequency
10 Min freq ref lim 1 = Frequency reference is being limited by 30.13 Minimum
frequency
11 Reserved
12 Sw freq ref lim 1 = Requested output frequency cannot be reached because of
switching frequency limitation (because of eg. output filtering or
ATEX-related protections)
13…15 Reserved
0000h…FFFFh Limit word 1. 1=1

372 Parameters

30.02 Torque limit status Displays the torque controller limitation status word. -

0 Undervoltage *1 = Intermediate DC circuit undervoltage
1 Overvoltage *1 = Intermediate DC circuit overvoltage
2 Minimum torque *1 = Torque is being limited by 30.26 Power motoring limit, 30.27
Power generating limit or the source of 30.18 Minimum torque sel.
See diagram on page 733.
3 Maximum torque *1 = Torque is being limited by 30.20 Maximum torque 1, 30.26
Power motoring limit or 30.27 Power generating limit
4 Internal current 1 = An inverter current limit (identified by bits 8…11) is active
5 Load angle (With permanent magnet motors and synchronous reluctance
motors only)
1 = Load angle limit is active, ie. the motor cannot produce any
more torque
6 Motor pullout (With asynchronous motors only)
Motor pull-out limit is active, ie. the motor cannot produce
anymore torque
7 Reserved
8 Thermal 1 = Input current is being limited by the main circuit thermal limit
9 Max current *1 = Maximum output current (IMAX) is being limited
10 User current *1 = Output current is being limited by 30.17 Maximum current
11 Thermal IGBT *1 = Output current is being limited by a calculated thermal current
value
12 IGBT *1 = Output current is being limited because of estimated IGBT
overtemperature temperature
13 IGBT overload *1 = Output current is being limited because of IGBT junction to
case temperature
14…15 Reserved
*Only one out of bits 0…3, and one out of bits 9…11 can be on simultaneously. The bit
typically indicates the limit that is exceeded first.
0000h…FFFFh Torque limitation status word. 1=1

30.11 Minimum speed Defines the minimum allowed speed. -1500.00
WARNING! This value must not be higher than rpm;
30.12 Maximum speed. -1800.00 rpm
WARNING! In frequency control mode, this limit is (95.20 b0)
not effective. Make sure the frequency limits (30.13
and 30.14) are set appropriately if frequency control
is used.
-30000.00 … Minimum allowed speed. See par.
30000.00 rpm 46.01
30.12 Maximum speed Defines the maximum allowed speed. 1500.00 rpm;
WARNING! This value must not be lower than 30.11 1800.00 rpm
Minimum speed. (95.20 b0)
WARNING! In frequency control mode, this limit is
not effective. Make sure the frequency limits (30.13
and 30.14) are set appropriately if frequency control
is used.
-30000.00 … Maximum speed. See par.
30000.00 rpm 46.01
Parameters 373

30.13 Minimum Defines the minimum allowed frequency. -50.00 Hz;
frequency WARNING! This value must not be higher than -60.00 Hz
30.14 Maximum frequency. (95.20 b0)
WARNING! This limit is effective in frequency control
mode only.
-500.00 … Minimum frequency. See par.
500.00 Hz 46.02
30.14 Maximum Defines the maximum allowed frequency. 50.00 Hz;
frequency WARNING! This value must not be lower than 30.13 60.00 Hz
Minimum frequency. (95.20 b0)
WARNING! This limit is effective in frequency control
mode only.
-500.00 … Maximum frequency. See par.
500.00 Hz 46.02
30.15 Maximum start A temporary motor current limit specifically for starting can Disable
current enable be defined by this parameter and 30.16 Maximum start
current.
When this parameter is set to Enable, the drive observes the
start current limit defined by 30.16 Maximum start current.
The limit is in force for 2 seconds after initial magnetization
(of an asynchronous induction motor) or autophasing (of a
permanent magnet motor), but not more often than once in
every 7 seconds. Otherwise, the limit defined by 30.17
Maximum current is in force.
Note: The availability of a start current higher than the
general limit depends on drive hardware.
Disable Start current limit disabled. 0
Enable Start current limit enabled. 1
30.16 Maximum start Defines a maximum start current when enabled by -
current parameter 30.15 Maximum start current enable.
0.00 … 30000.00 A Maximum start current. 1=1A
30.17 Maximum current Defines the maximum allowed motor current. 0.00 A
0.00 … 30000.00 A Maximum motor current. 1=1A
374 Parameters

30.18 Minimum torque Selects a source that switches between two different Minimum
sel predefined minimum torque limits. torque 1
0 = Minimum torque limit defined by 30.19 is active
1 = Minimum torque limit selected by 30.21 is active
The user can define two sets of torque limits, and switch
between the sets using a binary source such as a digital
input. The minimum limit selection (30.18) is independent of
the maximum limit selection (30.25).
The first set of limits is defined by parameters 30.19 and
30.20. The second set has selector parameters for both the
minimum (30.21) and maximum (30.22) limits that allows to
use the selectable analog source (such as an analog input).
30.21
0
AI1 30.18
AI2 1
PID
30.23 User-defined
0
Other minimum torque
limit
30.19
30.22
0
AI1 30.25
AI2 1
PID
30.24 User-defined
0
Other maximum torque
limit
30.20
The limit selection parameters are updated on a 10 ms time
level.
Note: In addition to the user-defined limits, torque may be
limited for other reasons (such as power limitation). Refer to
the block diagram on page 733.
Minimum torque 1 0 (minimum torque limit defined by 30.19 is active). 0
Minimum torque 2 1 (minimum torque limit selected by 30.21 is active). 1
source
page 219).
Parameters 375

30.19 Minimum torque 1 Defines a minimum torque limit for the drive (in percent of -300.0%
nominal motor torque). See diagram at parameter 30.18
Minimum torque sel.
The limit is effective when
• the source selected by 30.18 Minimum torque sel is 0, or
• 30.18 is set to Minimum torque 1.
-1600.0 … Minimum torque limit 1. See par.
1600.0% 46.03
30.20 Maximum torque 1 Defines a maximum torque limit for the drive (in percent of 300.0%
nominal motor torque). See diagram at parameter 30.18
Minimum torque sel.
The limit is effective when
• the source selected by 30.25 Maximum torque sel is 0, or
30.25 is set to Maximum torque 1.
-1600.0 … Maximum torque 1. See par.
1600.0% 46.03
30.21 Minimum torque 2 Defines the source of the minimum torque limit for the drive Minimum
source (in percent of nominal motor torque) when torque 2
• the source selected by parameter 30.18 Minimum torque
sel is 1, or
• 30.18 is set to Minimum torque 2 source.
See diagram at 30.18 Minimum torque sel.
Note: Any positive values received from the selected source
are inverted.
Zero None. 0
PID Not in use. 5
Minimum torque 2 30.23 Maximum torque 2. 6
Other Source selection (see Terms and abbreviations on -
page 219).
30.22 Maximum torque 2 Defines the source of the maximum torque limit for the drive Maximum
source (in percent of nominal motor torque) when torque 2
• the source selected by parameter 30.25 Maximum torque
sel is 1, or
• 30.25 is set to Maximum torque 2 source.
Note: Any negative values received from the selected
source are inverted.
Zero None. 0
PID Not in use. 5
Maximum torque 2 30.24 Maximum torque 2. 6
page 219).
376 Parameters

30.23 Minimum torque 2 Defines the minimum torque limit for the drive (in percent of -300.0%
nominal motor torque) when
• the source selected by parameter 30.18 Minimum torque
sel is 1, and
• 30.21 is set to Minimum torque 2.
-1600.0 … 0.0% Minimum torque limit 2. See par.
46.03
30.24 Maximum torque 2 Defines the maximum torque limit for the drive (in percent of 300.0%
nominal motor torque) when
• the source selected by parameter 30.25 Maximum torque
sel is 1, and
• 30.22 is set to Maximum torque 2.
0.0 … 1600.0% Maximum torque limit 2. See par.
46.03
30.25 Maximum torque Selects a source that switches between two different Maximum
sel maximum torque limits. torque 1
0 = Maximum torque limit 1 defined by 30.20 is active
1 = Maximum torque limit selected by 30.22 is active
See also parameter 30.18 Minimum torque sel.
Maximum torque 1 0. 0
Maximum torque 2 1. 1
source
page 219).
30.26 Power motoring Defines the maximum shaft power in motoring mode, i.e. 300.00%
limit when power is transferred from the motor to the
machinery. The value is given in percent of nominal motor
power.
0.00 … 600.00% Maximum shaft power in motoring mode. 1 = 1%
30.27 Power generating Defines the maximum shaft power in generating mode, i.e. -300.00%
limit when power is transferred from the machinery to the
motor. The value is given in percent of nominal motor power.
-600.00 … 0.00% Maximum shaft power in generating mode. 1 = 1%
Parameters 377

30.30 Overvoltage Enables the overvoltage control of the intermediate DC link. Disable
control Fast braking of a high inertia load causes the voltage to rise
to the overvoltage control limit. To prevent the DC voltage
from exceeding the limit, the overvoltage controller
automatically decreases the braking torque.
Note: If the drive is equipped with a brake chopper and
resistor, or a regenerative supply unit, the controller must be
disabled.
Disable Overvoltage control disabled. 0
Enable Overvoltage control enabled. 1
30.31 Undervoltage Enables the undervoltage control of the intermediate DC Enable
control link. If the DC voltage drops due to input power cut off, the
undervoltage controller will automatically decrease the
motor torque in order to keep the voltage above the lower
limit. By decreasing the motor torque, the inertia of the load
will cause regeneration back to the drive, keeping the DC
link charged and preventing an undervoltage trip until the
motor coasts to a stop. This will act as a power-loss ride-
through functionality in systems with high inertia, such as a
centrifuge or a fan.
Disable Undervoltage control disabled. 0
Enable Undervoltage control enabled. 1
30.200 External speed Selects the source for activating the External speed Disable
limits limitation command.
0 = External speed limitation command is inactive.
1 = External speed limitation command is active.
When the command is active, the drive speed reference is
limited to the value defined with parameter 30.201 External
min speed limit or 30.202 External max speed limit,
depending on the motor direction.
For more information on the function, see section External
speed limitation on page 98.
Disable 0. 0
Enable 1. 1
page 219).
30.201 External min speed Defines the speed reference limit used in the reverse -300.00 rpm
limit direction when the External speed limit command (30.200
External speed limits) is active.
-30000.00 … External minimum speed limit. 1 = 1 rpm
0.00 rpm
378 Parameters

30.202 External max Defines the speed reference limit used in the forward 300.00 rpm
speed limit direction when the External speed limit command (30.200
External speed limits) is active.
0.00 … External maximum speed limit. 1 = 1 rpm
30000.00 rpm
30.203 Deadband forward Defines the dead-band area for the positive speed reference 2.00%
when the speed reference is taken from an analog input.
The analog speed reference is blocked for the dead-band
area, and the speed reference is scaled from the dead-band
forward value (30.203) to 100% instead of 0 to 100% of the
analog input.
This diagram shows the effect of the dead-band forward
(30.203) and dead-band reverse (30.204) values when
analog input 1 () is the source of the speed reference.
AI scaled
12.20 AI1 scaled at AI1 max
Dead-band forward
12.17 AI1 min AI mA/V
Dead-band reverse 12.18 AI1 max
12.19 AI1 scaled at AI1 min
For more information, see section Dead-band function on

page 95.
0.00 … 100.00% Dead-band forward setting in percent of the analog input 10 = 1.0%
signal (12.11 AI1 actual value).
30.204 Deadband reverse Defines the dead-band area for the negative speed 2.00%
reference when the speed reference is taken from an analog
input.
The analog speed reference is blocked for the dead-band
area, and the speed reference is scaled from the dead-band
reverse value (30.204) to 100% instead of 0 to 100% of the
analog input.
See the diagram in parameter 30.203 Deadband forward for
the effect of the dead-band reverse value in the reference
scaling.
0.00 … 100.00% Dead-band reverse setting in percent of the analog input 10 = 1.0%
signal (12.11 AI1 actual value).
Parameters 379

31
31 Fault functions Settings that define the behavior of the drive upon fault
situations.
31.01 External event 1 Defines the source of external event 1. Inactive
source See also parameter 31.02 External event 1 type. (true); DI6
0 = Trigger event (95.20 b8)
Active (false) 0. 0
page 219).
31.02 External event 1 Selects the type of external event 1. Fault
type (95.20 b8)
Fault The external event generates a fault. 0
Warning The external event generates a warning. 1
Warning/Fault If the drive is modulating, the external event generates a 3
fault. Otherwise, the event generates a warning.
31.03 External event 2 Defines the source of external event 2. See also parameter Inactive
source 31.04 External event 2 type. (true); DIIL
For the selections, see parameter 31.01 External event 1 (95.20 b5)
source.
31.04 External event 2 Selects the type of external event 2.
type
source 31.06 External event 3 type. (true)
For the selections, see parameter 31.01 External event 1
source.
type
380 Parameters

source.
type
source.
type
31.11 Fault reset Selects the source of an external fault reset signal. The DI3
selection signal resets the drive after a fault trip if the cause of the
fault no longer exists.
0 -> 1 = Reset
Note: A fault reset from the fieldbus interface is always
observed regardless of this parameter.
Not selected 0. 0
Selected 1. 1
interface.
page 219).
Parameters 381

31.12 Autoreset selection Selects faults that are automatically reset. The parameter is 0000h
a 16-bit word with each bit corresponding to a fault type.
Whenever a bit is set to 1, the corresponding fault is
automatically reset.
The number and interval of reset attempts are defined by
parameters 31.14…31.16.
WARNING! Before you activate the function, make
sure that no dangerous situations can occur. The
function resets the drive automatically and continues
operation after a fault.
Notes:
• The autoreset function is only available in external
control; see section Local control vs. external control
(page 148).
• Faults related to the Safe torque off (STO) function
cannot be automatically reset.
The bits of the binary number correspond to the following
faults:
Bit Fault
0 Overcurrent
1 Overvoltage
2 Undervoltage
3 AI supervision fault
4 Supply unit
5…7 Reserved
8 Application fault 1 (defined in the application program)
9 Application fault 2 (defined in the application program)
10 Selectable fault (see parameter 31.13 User selectable fault)
11 External fault 1 (from source selected by parameter 31.01 External event 1 source)
0000h…FFFFh Automatic reset configuration word. 1=1

31.13 User selectable Defines the fault that can be automatically reset using 0000h
fault parameter 31.12 Autoreset selection, bit 10.
The faults are listed in chapter Fault tracing (page 637).
0000h…FFFFh Fault code. 10 = 1
31.14 Number of trials Defines the maximum number of automatic resets that the 0
drive is allowed to attempt within the time specified by 31.15
Total trials time.
If the fault persists, subsequent reset attempts will be made
at intervals defined by 31.16 Delay time.
The faults to be automatically reset are defined by 31.12
Autoreset selection.
0…5 Number of automatic resets. 1=1
382 Parameters

31.15 Total trials time Defines a time window for automatic fault resets. The 30.0 s
maximum number of attempts made during any period of
this length is defined by 31.14 Number of trials.
Note: If the fault condition remains and cannot be reset,
each reset attempt will generate an event and start a new
time window. In practice, if the specified number of resets
(31.14) at specified intervals (31.16) take longer than the
value of 31.15, the drive will continue to attempt resetting
the fault until the cause is eventually removed.
1.0 … 600.0 s Time for automatic resets. 10 = 1 s
31.16 Delay time Defines the time that the drive will wait after a fault (or a 0.0 s
previous reset attempt) before attempting an automatic
reset. See parameter 31.12 Autoreset selection.
0.0 … 120.0 s Autoreset delay. 10 = 1 s
31.19 Motor phase loss Selects how the drive reacts when a motor phase loss is Fault
detected.
Fault The drive trips on fault 3381 Output phase loss. 1
31.20 Earth fault Selects how the drive reacts when an earth fault or current Fault
unbalance is detected in the motor or the motor cable.
Warning The drive generates an A2B3 Earth leakage warning. 1
Fault The drive trips on fault 2330 Earth leakage. 2
31.21 Supply phase loss Selects how the drive reacts when a supply phase loss is Fault
detected.
Fault The drive trips on fault 3130 Input phase loss. 1
31.22 STO indication Selects which indications are given when one or both Safe Fault/Fault
run/stop torque off (STO) signals are switched off or lost. The
indications also depend on whether the drive is running or
stopped when this occurs.
The tables at each selection below show the indications
generated with that particular setting.
Notes:
• This parameter does not affect the operation of the STO
function itself. The STO function will operate regardless
of the setting of this parameter: a running drive will stop
upon removal of one or both STO signals, and will not
start until both STO signals are restored and all faults
reset.
• The loss of only one STO signal always generates a fault
as it is interpreted as a malfunction.
For more information on the STO, see the Hardware manual
of the drive.
Parameters 383

Fault/Fault 0
Inputs Indication (running or stopped)
IN1 IN2
0 0 Fault 5091 Safe torque off
0 1 Faults 5091 Safe torque off and FA81 Safe
torque off 1 loss
1 0 Faults 5091 Safe torque off and FA82 Safe
torque off 2 loss
1 1 (Normal operation)
Fault/Warning 1
Inputs Indication
IN1 IN2 Running Stopped
0 0 Fault 5091 Safe Warning A5A0 Safe
torque off torque off
0 1 Faults 5091 Safe Warning A5A0 Safe
torque off and FA81 torque off and fault
Safe torque off 1 loss FA81 Safe torque off 1
loss
1 0 Faults 5091 Safe Warning A5A0 Safe
loss
Fault/Event 2
Inputs Indication
IN1 IN2 Running Stopped
0 0 Fault 5091 Safe Event B5A0 Safe
torque off torque off
0 1 Faults 5091 Safe Event B5A0 Safe
loss
1 0 Faults 5091 Safe Event B5A0 Safe
loss
Warning/Warning 3
IN1 IN2
0 0 Warning A5A0 Safe torque off
0 1 Warning A5A0 Safe torque off and fault FA81
Safe torque off 1 loss
1 0 Warning A5A0 Safe torque off and fault FA82
384 Parameters

Event/Event 4
IN1 IN2
0 0 Event B5A0 Safe torque off
0 1 Event B5A0 Safe torque off and fault FA81
1 0 Event B5A0 Safe torque off and fault FA82
No indication/No 5
indication
IN1 IN2
0 0 None
0 1 Fault FA81 Safe torque off 1 loss
1 0 Fault FA82 Safe torque off 2 loss
31.23 Wiring or earth Selects how the drive reacts to incorrect input power and Fault
fault motor cable connection (i.e. input power cable is connected
to drive motor connection).
Note: The protection must be disabled with drive/inverter
hardware supplied from a common DC bus.
Fault The drive trips on fault 3181 Wiring or earth fault. 1
31.24 Stall function Selects how the drive reacts to a motor stall condition. Fault
A stall condition is defined as follows:
• The drive exceeds the stall current limit (31.25 Stall
current limit), and
• the output frequency is below the level set by parameter
31.27 Stall frequency limit or the motor speed is below
the level set by parameter 31.26 Stall speed limit, and
• the conditions above have been true longer than the time
set by parameter 31.28 Stall time.
No action None (stall supervision disabled). 0
Warning The drive generates an A780 Motor stall warning. 1
Fault The drive trips on fault 7121 Motor stall. 2
31.25 Stall current limit Stall current limit in percent of the nominal current of the 200.0%
motor. See parameter 31.24 Stall function.
0.0 … 1600.0% Stall current limit. 10 = 1%
31.26 Stall speed limit Stall speed limit in rpm. See parameter 31.24 Stall function. 150.00 rpm;
180.00 rpm
(95.20 b0)
0.00 … Stall speed limit. See par.
10000.00 rpm 46.01
31.27 Stall frequency limit Stall frequency limit. See parameter 31.24 Stall function. 15.00 rpm;
Note: Setting the limit below 10 Hz is not recommended. 18.00 rpm
(95.20 b0)
0.00 … 500.00 Hz Stall frequency limit. See par.
46.02
Parameters 385

31.28 Stall time Stall time. See parameter 31.24 Stall function. 20 s
0 … 3600 s Stall time. 1=1s
31.30 Overpeed trip Defines, together with 30.11 Minimum speed and 30.12 500.00 rpm
margin Maximum speed, the maximum allowed speed of the motor
(overspeed protection). If actual speed (90.01 Motor speed
for control) exceeds the speed limit defined by parameter
30.11 or 30.12 by more than the value of this parameter, the
drive trips on the 7310 Overspeed fault.
WARNING! This function only supervises the speed
in DTC motor control mode. The function is not
effective in scalar motor control mode.
Example: If the maximum speed is 1420 rpm and speed trip
margin is 300 rpm, the drive trips at 1720 rpm.
Speed (90.01)
31.30
30.12
0
Time
30.11
31.30
0.00…10000.0 rpm Overspeed trip margin. See par.

46.01
31.32 Emergency ramp Parameters 31.32 Emergency ramp supervision and 31.33 0%
supervision Emergency ramp supervision delay, together with 01.29
Speed change rate, provide a supervision function for
emergency stop mode Off3.
The supervision is based on either
• observing the time within which the motor stops, or
• comparing the actual and expected deceleration rates.
If this parameter is set to 0%, the maximum stop time is
directly set in parameter 31.33. Otherwise, 31.32 defines the
maximum allowed deviation from the expected deceleration
rate, which is calculated from parameter 23.23 Emergency
stop time (Off3). If the actual deceleration rate (01.29)
deviates too much from the expected rate, the drive trips on
73B0 Emergency ramp failed, sets bit 8 of 06.17 Drive
status word 2, and coasts to a stop.
If 31.32 is set to 0% and 31.33 is set to 0 s, the emergency
stop ramp supervision is disabled.
0…300% Maximum deviation from expected deceleration rate. 1 = 1%
386 Parameters

31.33 Emergency ramp If parameter 31.32 Emergency ramp supervision is set to 0s
supervision delay 0%, this parameter defines the maximum time an
emergency stop (mode Off3) is allowed to take. If the motor
has not stopped when the time elapses, the drive trips on
73B0 Emergency ramp failed, sets bit 8 of 06.17 Drive
If 31.32 is set to a value other than 0%, this parameter
defines a delay between the receipt of the emergency stop
command and the activation of the supervision. It is
recommended to specify a short delay to allow the speed
change rate to stabilize.
0…32767 s Maximum ramp-down time, or supervision activation delay. 1=1s
31.35 Main fan fault Selects how the drive reacts when a main cooling fan fault is Fault
function detected.
Fault The drive trips on fault 5080 Fan. 0
Warning The drive generates an A581 Fan warning. 1
31.36 Aux fan fault (Only visible with a ZCU control unit) Off
bypass Temporarily suppresses auxiliary fan faults.
Certain drive types (especially those protected to IP55) have
an auxiliary fan built into the front cover as standard. If the
fan is sticking or disconnected, the control program first
generates a warning (A582 Auxiliary fan missing), then a
fault (5081 Auxiliary fan broken).
If it is necessary to operate the drive without the front cover
(for example, during commissioning), this parameter can be
activated to temporarily suppress the fault.
Notes:
• The parameter must be activated within 2 minutes of
control unit reboot (either by cycling the power or by
parameter 96.08).
• The parameter only suppresses the fault, not the
warning.
• The parameter will be in effect until the auxiliary fan is
reconnected and detected, or until the next control unit
reboot.
Off Normal operation. 0
Temporarily The auxiliary fan fault indication is temporarily suppressed. 1
bypassed The setting will revert automatically to Off.
Parameters 387

31.37 Ramp stop Parameters 31.37 Ramp stop supervision and 31.38 Ramp 0%
supervision stop supervision delay, together with 01.29 Speed change
rate, provide a supervision function for normal (ie. non-
emergency) ramp stopping.
The supervision is based on either
• observing the time within which the motor stops, or
• comparing the actual and expected deceleration rates.
If this parameter is set to 0%, the maximum stop time is
directly set in parameter 31.38. Otherwise, 31.37 defines the
maximum allowed deviation from the expected deceleration
rate, which is calculated from parameters 23.11...23.19. If
the actual deceleration rate (01.29) deviates too much from
the expected rate, the drive trips on 73B1 Stop failed, sets
bit 14 of 06.17 Drive status word 2, and coasts to a stop.
If 31.32 is set to 0% and 31.33 is set to 0 s, the ramp stop
supervision is disabled.
0…300% Maximum deviation from expected deceleration rate. 1 = 1%
31.38 Ramp stop If parameter 31.37 Ramp stop supervision is set to 0%, this 0s
supervision delay parameter defines the maximum time a ramp stop is allowed
to take. If the motor has not stopped when the time elapses,
the drive trips on 73B1 Stop failed, sets bit 14 of 06.17 Drive
If 31.37 is set to a value other than 0%, this parameter
defines a delay between the receipt of the stop command
and the activation of the supervision. It is recommended to
specify a short delay to allow the speed change rate to
stabilize.
0…32767 s Maximum ramp-down time, or supervision activation delay. 1=1s
31.40 Disable warnings Selects warnings to be masked. The parameter is a 16-bit 0000b
word with each bit corresponding to a warning. Whenever a
bit is set to 1, the corresponding warning is masked.
warnings:
Bit Fault
0 Overvoltage
1 Reserved
2 Encoder 1
3 Encoder 2
4…15 Reserved
0000b…0001b Warning masking word. 1=1

31.42 Overcurrent fault Sets a custom motor current fault limit. -
limit The drive automatically sets an internal motor current limit
according to the drive hardware. The internal limit is
appropriate in most cases, but this parameter can be used
to set a lower current limit, for example, to protect a
permanent magnet motor from demagnetization.
With this parameter at 0.0 A, only the internal limit is in
force.
0.0 … 30000.0 A Custom motor current fault limit. See par.
46.05
388 Parameters

31.200 Motor overspeed Defines the motor overspeed level. The parameter value is 2000.00 rpm
level applicable in both forward and reverse directions. For more
information on the function, see section Motor overspeed
monitoring on page 107.
0.00 … Motor overspeed level. 1 = 1 rpm
30000.00 rpm
31.201 Motor overspeed Defines the time delay for generating fault D104 Over speed 1000 ms
level delay after the motor speed has exceeded the level defined with
parameter 31.200 Motor overspeed level.
31.202 Inverter overload Selects the bits to be monitored by the Inverter overload 000000b
selection detection function. When a bit value = 1, the corresponding
bits in parameter 30.02 Torque limit status are used for
generating fault D106 Inverter overload. You can also select
to monitor a bit of your own selection.
For more information on the function, see section Inverter
overload detection on page 108.

0 Minimum torque See parameter 30.02 Torque limit status.
1 Maximum torque See parameter 30.02 Torque limit status.
2 Maximum current See parameter 30.02 Torque limit status.
3 Load angle See parameter 30.02 Torque limit status.
4 Motor pullout See parameter 30.02 Torque limit status.
5 User bit A bit of your own selection.
6…15 Reserved
000000b…111111b Inverter current and torque limit bits. -

31.203 User limit bit Selects the source for disabling or enabling the user- False
selection selectable limit bit for the Inverter overload function.
0 = User-selectable limit bit is disabled.
1 = User-selectable limit bit is enabled.
False 0. 0
True 1. 1
219).
31.204 Inverter overload Defines the time delay for generating fault D106 Inverter 3000 ms
delay overload after the drive has exceeded any of the inverter
current and torque limits defined with parameter 31.202
Inverter overload selection.
0…30000 s Time delay. 1 = 1 ms
Parameters 389

31.205 Crane warning Selects which crane control warnings trigger events to the 11111111b
masking drive.
Whenever a bit of this parameter is set to 1, the
corresponding warning can trigger an event.
If a bit is set to 0, the warning does not appear in the event
logger or control panel, and the warning can be read only
from parameters 09.01 Crane SW1 and 09.02 Crane SW2.
warnings:
Bit Name Warning

0 Brake slip at standstill D200 Brake slip at standstill2
1 Slowdown up/down D201 Slowdown up, D202 Slowdown down
2 Slowdown safe zone D20C Slowdown safe zone
3 Hoist speed up/down limit D203 Hoist speed up limit, D204 Hoist speed down
limit
4 End limit 1/2 D205 End limit 1, D206 End limit 2
5 External speed limit D20D External speed limit2
6 Joystick reference check D208 Joystick reference check
7 Joystick zero position D209 Joystick zero position2
8 Power on acknowledge D20B Power on acknowledge
9 Slack rope D217 Slack rope
10 Fast stop D20A Fast stop
11 Follower drive faulted E200 Follower 1 faulted, E201 Follower 2 faulted,
E202 Follower 3 faulted, D20F Follower 4 Faulted
12…15 Reserved
00000000b… Crane control warnings that trigger events to the drive. -

11111111b
31.211 Toggle bit enable Selects the source for enabling the Toggle bit function. Disable
Disable Toggle bit function is disabled. 0
Enable Toggle bit function is enabled. 1
Const Bit point setting (see Terms and abbreviations on page 219). -
Pointer
31.212 Toggle bit action Selects how the drive reacts when there is communication Warning
loss between the overriding system and the drive in both
directions.
Warning The drive generates a warning (D210 Toggle bit supervision 0
wrn).
Fault Drive trips on D109 Toggle bit supervision flt. 1
390 Parameters

31.213 Toggle bit time Defines the delay time for activating warning/fault. 100 ms
delay
0...1000 ms Delay time. 1=1
31.214 Toggle bit source Selects the source signal from the fieldbus control word to False
the Toggle bit function. The signal comes, for example, from
a overriding system (PLC) through a fieldbus. The function
transfers the output from parameter 31.215 Toggle bit
statusword, bit 0, into the overriding system through the
fieldbus.
False 0. 0
True 1. 1
219).
31.215 Toggle bit Status word for Toggle bit function. 11111111b
statusword

0 Toggle bit out (pulse out) This bit should be connected to the status word that is
transferred to the overriding system. See 31.214 Toggle bit
source.
1 Warning active 1 = Warning D210 Toggle bit supervision wrn is active.
2 Fault active 1 = Fault D109 Toggle bit supervision flt is active.
3 Enabled 1 = Toggle bit function is enabled
4…15 Reserved
00000000b… Status word. -

11111111b
32
32 Supervision Configuration of signal supervision functions 1…3.
Three values can be chosen to be monitored; a warning or
fault is generated whenever predefined limits are exceeded.
See also section Signal supervision (page 209).
32.01 Supervision status Signal supervision status word. 0000b
Indicates whether the values monitored by the signal
supervision functions are within or outside their respective
limits.
Note: This word is independent of the drive actions defined
by parameters 32.06, 32.16 and 32.26.

0 Supervision 1 active 1 = Signal selected by 32.07 is outside its limits.
3…15 Reserved
0000…0111b Signal supervision status word. 1=1

Parameters 391

32.05 Supervision 1 Selects the mode of signal supervision function 1. Disabled
function Determines how the monitored signal (see parameter 32.07)
is compared to its lower and upper limits (32.09 and 32.10
respectively). The action to be taken when the condition is
fulfilled is selected by 32.06.
Disabled Signal supervision 1 not in use. 0
Low Action is taken whenever the signal falls below its lower 1
limit.
High Action is taken whenever the signal rises above its upper 2
limit.
Abs low Action is taken whenever the absolute value of the signal 3
falls below its (absolute) lower limit.
Abs high Action is taken whenever the absolute value of the signal 4
rises above its (absolute) upper limit.
Both Action is taken whenever the signal falls below its low limit 5
or rises above its high limit.
Abs both Action is taken whenever the absolute value of the signal 6
falls below its (absolute) low limit or rises above its
(absolute) high limit.
32.06 Supervision 1 Selects the action the drive takes when the value monitored No action
action by signal supervision 1 exceeds its limits.
Note: This parameter does not affect the status indicated by
32.01 Supervision status.
Warning A warning (A8B0 Signal supervision) is generated. 1
Fault The drive trips on 80B0 Signal supervision. 2
32.07 Supervision 1 Selects the signal to be monitored by signal supervision Zero
signal function 1.
Zero None. 0
Speed 01.01 Motor speed used (page 224). 1
Frequency 01.06 Output frequency (page 224). 3
Current 01.07 Motor current (page 224). 4
Torque 01.10 Motor torque (page 224). 6
Output power 01.14 Output power (page 225). 8
AI1 12.11 AI1 actual value (page 271). 9
AI2 12.21 AI2 actual value (page 273). 10
Torque ref used 26.02 Torque reference used (page 363). 21
Process PID output Not in use. 24
Process PID Not in use. 25
feedback
219).
392 Parameters

32.08 Supervision 1 filter Defines a filter time constant for the signal monitored by 0.000 s
time signal supervision 1.
0.000 … 30.000 s Signal filter time. 1000 = 1 s
32.09 Supervision 1 low Defines the lower limit for signal supervision 1. 0.00
-21474830.00 … Low limit. -
21474830.00
32.10 Supervision 1 high Defines the upper limit for signal supervision 1. 0.00
-21474830.00 … Upper limit. -
21474830.00
limit.
limit.
Warning A warning (A8B1 Signal supervision 2) is generated. 1
Fault The drive trips on 80B1 Signal supervision 2. 2
signal function 2.
For the available selections, see parameter 32.07
Supervision 1 signal.
32.18 Supervision 2 filter Defines the filter time constant for the signal monitored by 0.000 s
-21474830.00 … Low limit. -
21474830.00
-21474830.00 … Upper limit. -
21474830.00
Parameters 393

limit.
limit.
Warning A warning (A8B2 Signal supervision 3) is generated. 1
Fault The drive trips on 80B2 Signal supervision 3. 2
signal function 3.
For the available selections, see parameter 32.07
Supervision 1 signal.
32.28 Supervision 3 filter Defines the filter time constant for the signal monitored by 0.000 s
-21474830.00 … Low limit. -
21474830.00
-21474830.00 … Upper limit. -
21474830.00
32.221 Watchdog test (Visible only when user lock is open with pass code 584. Disable
Enables the Watchdog test function.
During power-up, the function performs a check-in of the
watchdog circuit.
See also Watchdog on page 109.
Disable Watchdog test function disabled. 0
Enable Watchdog test function enabled. 1
219).
394 Parameters

32.222 Watchdog test (Visible only when user lock is open with pass code 584. 2.0 s
delay See parameter 96.02 Pass code.)
Defines the delay time for performing the watchdog test
after the Power on acknowledgment signal (parameter
20.212) is activated.
0.0 ...10.0 s Delay time 10 = 1 s
32.223 Watchdog re test (Visible only when user lock is open with pass code 584. 1800.0 s
Defines the delay time to prevent repeating the watchdog
tests upon a power-up, after the test has been performed
once.
With this delay time, you can,
• prevent the next watchdog test
• make sure that the test is not performed every time the
drive is powered up.
Note: The Watchdog function is applicable only when the
drive is using an external power supply. Otherwise, the drive
performs the watchdog test every time the drive is
powered up without considering this parameter.
0.0 ... 1800.0 s Re-test delay time 10 = 1 s
32.224 Watchdog fault (Visible only when user lock is open with pass code 584. 2.0 s
Defines the delay time for generating the D10D Watchdog
test fault, when watchdog test fails.
0.0 ...10.0 s Fault delay time 10 = 1 s
32.225 Watchdog user bit (Visible only when user lock is open with pass code 584. Disable
Selects the source for the watchdog signal bit used with pre-
defined critical warning (alarm) bits for generating the D10D
Watchdog test fault. When this bit is activated, the drive trips
on the fault immediately.
Disable Watchdog user bit function disabled. 0
Enable Watchdog user bit function enabled. 1
219).
Parameters 395

32.226 Watchdog mask (Visible only when user lock is open with pass code 584. -
Allows to select the warnings that can be monitored by
Watchdog function.
Note: The Brake closing failure (bit 7) warning is active only
when the delay time defined with parameter 44.213 Brake
long fall delay elapsed after the brake close command and
brake acknowledge is not received.
The parameter is a 16-bit word with each bit corresponding
to a warning. Whenever a bit is set to 1, the corresponding
warning is generated. This eliminates the possibility of drive
tripping to fault. The bits of this binary number correspond to
the following warnings:
Bit Function Warning Description

0 Fb A comm A7C1 FBA A communication 1 = Parameter 50.02 FBA A comm
loss func is forced to Warning, if
previous selection was Fault or Fault
always.
1 Fb B comm A7C2 FBA B communication 1 = Parameter 50.32 FBA B comm
loss func is forced to Warning, if
previous selection was Fault or Fault
always.
2 M/F comm A7CB MF comm loss 1 = Parameter 60.09 M/F comm loss
function and 60.59 DDCS controller
comm loss function is forced to
Warning, if previous selection was
Fault or Fault always.
3 Braking resistor failure A791 Brake resistor Fault reaction cannot be prevented.
4 Braking resistor temp A793 BR excess
temperature
5 Braking chopper failure A79B BC short circuit
6 Braking chopper temp A79C BC IGBT excess
temperature
7 Brake closing failure A7A1 Mechanical brake 1 = Parameter 44.17 Brake fault
closing failed function is forced to Open fault, if
previous selection was Fault.
8…14 Reserved -
15 User bit 1 - 1 = Allows the Watchdog function to
monitor the status of the bit selected
by pointer parameter 32.225
Watchdog user bit.
0000b…0111b Watchdog warnings. 1=1

396 Parameters

32.227 Watchdog sw Displays the status of Watchdog function. The word can be -
used as the source for e.g., control relay.

0 Watchdog fault active 1 = Watchdog test failed. D10D Watchdog test fault has
been detected.
1 Watchdog relay control 0 = Watchdog is Ok
1 = Watchdog tripped
Note: By default, this bit is connected to relay output RO2
(10.27 RO2 source).
2 Watchdog test done 0 = Watchdog test is executing
1 = Watchdog test is done
3…10 Reserved
11 Test step 1 (internal) -
12 Test step 2 (internal) -
13…15 Reserved
0b0000…0b1111 Watchdog status word. 1=1

32.228 Watchdog trip sw Displays the warnings that trip the Watchdog function.
The parameter is a 16-bit word with each bit corresponding
to a warning or fault. Whenever a bit is set to 1, the
corresponding warning or fault is generated. The bits of this
binary number correspond to the following warnings and
faults:
Bit Name
0 A7C1 FBA A comm
1 A7C2 FBA B comm
2 A7CB M/F comm loss
3 D10C M/F comm loss
4 A791 Brake resistor
5 A793 Brake resistor temp
6 A79B Br chop short circuit
7 A79C Brake igbt temp
8 A7A1 Brake closing fail
9…14 Reserved
15 User bit 1
0000h…FFFFh Watchdog status word. 1=1

Parameters 397

33
33 Generic timer & (This group is visible only when user lock is open with pass
counter code 584. See parameter 96.02 Pass code.)
Configuration of maintenance timers/counters.
See also section Maintenance timers and counters (page
209).
33.01 Counter status (Visible only when user lock is open with pass code 584. -
Displays the maintenance timer/counter status word,
indicating which maintenance timers/counters have
exceeded their limits.

0 On-time1 1 = On-time timer 1 has reached its preset limit.
1 On-time2 1 = On-time timer 2 has reached its preset limit.
2 Edge 1 1 = Signal edge counter 1 has reached its preset limit.
3 Edge 2 1 = Signal edge counter 2 has reached its preset limit.
4 Value 1 1 = Value counter 1 has reached its preset limit.
5 Value 2 1 = Value counter 2 has reached its preset limit.
6…15 Reserved
0000 0000b … Maintenance time/counter status word. 1=1

0011 1111b
33.10 On-time 1 actual (Visible only when user lock is open with pass code 584. -
Displays the actual present value of on-time timer 1.
The timer runs whenever the signal selected by parameter
33.13 On-time 1 source is on.
When the timer exceeds the limit set by 33.11 On-time 1
warn limit, bit 0 of 33.01 Counter status is set to 1. The
warning specified by 33.14 On-time 1 warn message is also
given if enabled by 33.12 On-time 1 function.
The timer can be reset from the Drive composer PC tool, or
from the control panel by keeping Reset depressed for over
3 seconds.
0…4294967295 s Actual present value of on-time timer 1. -
33.11 On-time 1 warn (Visible only when user lock is open with pass code 584. 0s
Sets the warning limit for on-time timer 1.
0…4294967295 s Warning limit for on-time timer 1. -
398 Parameters

33.12 On-time 1 function (Visible only when user lock is open with pass code 584. 0000b
Configures on-time timer 1.
Bit Function
0 Counter mode
0 = Loop: When the limit is reached, the counter is reset. The counter status (bit 0 of
33.01) switches to 1 for one second. The warning (if enabled) stays active for at least
10 seconds.
1 = Saturate: When the limit is reached, the counter status (bit 0 of 33.01) switches to
1, and remains so until 33.10 is reset. The warning (if enabled) also stays active until
33.10 is reset.
1 Warning enable
0 = Disable: No warning is given when the limit is reached
1 = Enable: A warning (see 33.14) is given when the limit is reached
2…15 Reserved
0000b…0011b On-time timer 1 configuration word. 1=1

33.13 On-time 1 source (Visible only when user lock is open with pass code 584. False
Selects the signal to be monitored by on-time timer 1.
False Constant 0 (timer disabled). 0
True Constant 1. 1
RO1 Bit 0 of 10.21 RO status (page 261). 2
219).
33.14 On-time 1 warn (Visible only when user lock is open with pass code 584. On-time 1
message See parameter 96.02 Pass code.) exceeded
Selects the optional warning message for on-time timer 1.
On-time 1 A886 On-time 1. The message text can be edited on the 0
exceeded control panel by choosing Menu – Settings – Edit texts.
Clean device A88C Device clean. 6
Maintain additional A890 Additional cooling. 7
cooling fan
Maintain cabinet A88E Cabinet fan. 8
fan
Maintain DC A88D DC capacitor. 9
capacitors
Maintain motor A880 Motor bearing. 10
bearing
Parameters 399

33.20 On-time 2 actual (Visible only when user lock is open with pass code 584. -
Displays the actual present value of on-time timer 2.
The timer runs whenever the signal selected by parameter
33.23 On-time 2 source is on.
When the timer exceeds the limit set by 33.21 On-time 2
warn limit, bit 1 of 33.01 Counter status is set to 1. The
warning specified by 33.24 On-time 2 warn message is also
given if enabled by 33.22 On-time 2 function.
The timer can be reset from the Drive composer PC tool, or
from the control panel by keeping Reset depressed for over
3 seconds.
0…4294967295 s Actual present value of on-time timer 2. -
33.21 On-time 2 warn (Visible only when user lock is open with pass code 584. 0s
Sets the warning limit for on-time timer 2.
0…4294967295 s Warning limit for on-time timer 2. -
33.22 On-time 2 function (Visible only when user lock is open with pass code 584. 00b
Configures on-time timer 2.
Bit Function
0 Counter mode
10 seconds.
33.20 is reset.
1 Warning enable
2…15 Reserved
00b…11b On-time timer 2 configuration word. 1=1

33.23 On-time 2 source (Visible only when user lock is open with pass code 584. False
Selects the signal to be monitored by on-time timer 2.
False Constant 0 (timer disabled). 0
True Constant 1. 1
219).
33.24 On-time 2 warn (Visible only when user lock is open with pass code 584. On-time 2
message See parameter 96.02 Pass code.) exceeded
Selects the optional warning message for on-time timer 2.
On-time 2 A887 On-time 2. The message text can be edited on the 1
exceeded control panel by choosing Menu – Settings – Edit texts.
Clean device A88C Device clean. 6
Maintain additional A890 Additional cooling. 7
cool fan
400 Parameters

Maintain cabinet A88E Cabinet fan. 8
fan
Maintain DC A88D DC capacitor. 9
capacitors
bearing
33.30 Edge counter 1 (Visible only when user lock is open with pass code 584. -
actual See parameter 96.02 Pass code.)
Actual present value of signal edge counter 1.
The counter is incremented every time the signal selected
by parameter 33.33 Edge counter 1 source switches on or
off (or either, depending on the setting of 33.32 Edge
counter 1 function). A divisor may be applied to the count
(see 33.34 Edge counter 1 divider).
When the counter exceeds the limit set by 33.31 Edge
counter 1 warn limit, bit 2 of 33.01 Counter status is set to 1.
The warning specified by 33.35 Edge counter 1 warn
message is also given if enabled by 33.32 Edge counter 1
function.
The counter can be reset from the Drive composer PC tool,
or from the control panel by keeping Reset depressed for
over 3 seconds.
0…4294967295 Actual present value of signal edge counter 1. -
33.31 Edge counter 1 (Visible only when user lock is open with pass code 584. 0
warn limit See parameter 96.02 Pass code.)
Sets the warning limit for signal edge counter 1.
0…4294967295 Warning limit for signal edge counter 1. -
33.32 Edge counter 1 (Visible only when user lock is open with pass code 584. 0000b
Configures signal edge counter 1.
Bit Function
0 Counter mode
33.01) switches to 1 and remains so until the counter is again incremented. The
warning (if enabled) stays active for at least 10 seconds.
33.30 is reset.
1 Warning enable
2 Count rising edges
0 = Disable: Rising edges are not counted
1 = Enable: Rising edges are counted
3 Count falling edges
0 = Disable: Falling edges are not counted
1 = Enable: Falling edges are counted
4…15 Reserved
0000b…1111b Edge counter 1 configuration word. 1=1

Parameters 401

33.33 Edge counter 1 (Visible only when user lock is open with pass code 584. False
Selects the signal to be monitored by signal edge counter 1.
False Constant 0. 0
True Constant 1. 1
219).
divider See parameter 96.02 Pass code.)
Defines a divisor for signal edge counter 1. Determines how
many signal edges increment the counter by 1.
1…4294967295 Divisor for signal edge counter 1. -
33.35 Edge counter 1 (Visible only when user lock is open with pass code 584. Edge counter
warn message See parameter 96.02 Pass code.) 1 exceeded
Selects the optional warning message for signal edge
counter 1.
Edge counter 1 A888 Edge counter 1. The message text can be edited on 2
exceeded the control panel by choosing Menu – Settings – Edit texts.
Counted main A884 Main contactor. 11
contactor
Counted output A881 Output relay. 12
relay
Counted motor A882 Motor starts. 13
starts
Counted power ups A883 Power ups. 14
Counted DC A885 DC charge. 15
charges
33.40 Edge counter 2 (Visible only when user lock is open with pass code 584. -
Displays the actual present value of signal edge counter 2.
The counter is incremented every time the signal selected
by parameter 33.43 Edge counter 2 source switches on or
off (or either, depending on the setting of 33.42 Edge
counter 2 function). A divisor may be applied to the count
(see 33.44 Edge counter 2 divider).
When the counter exceeds the limit set by 33.41 Edge
The warning specified by 33.45 Edge counter 2 warn
message is also given if enabled by 33.42 Edge counter 2
function.
over 3 seconds.
0…4294967295 Actual present value of signal edge counter 2. -
Sets the warning limit for signal edge counter 2.
0…4294967295 Warning limit for signal edge counter 2. -
402 Parameters

33.42 Edge counter 2 (Visible only when user lock is open with pass code 584. 0000b
Configures signal edge counter 2.
Bit Function
0 Counter mode
33.01) remains 1 until the counter is again incremented. The warning (if enabled)
stays active for at least 10 seconds.
1 = Saturate: After the limit is reached, the counter status (bit 3 of 33.01) remains 1
until 33.40 is reset. The warning (if enabled) also stays active until 33.40 is reset.
1 Warning enable
2 Count rising edges
0 = Disable: Rising edges are not counted
1 = Enable: Rising edges are counted
3 Count falling edges
0 = Disable: Falling edges are not counted
1 = Enable: Falling edges are counted
4…15 Reserved
0000b…1111b Edge counter 2 configuration word. 1=1

33.43 Edge counter 2 (Visible only when user lock is open with pass code 584. False
Selects the signal to be monitored by signal edge counter 2.
False 0. 0
True 1. 1
219).
Defines a divisor for signal edge counter 2. Determines how
many signal edges increment the counter by 1.
1…4294967295 Divisor for signal edge counter 2. -
33.45 Edge counter 2 (Visible only when user lock is open with pass code 584. Edge counter
warn message See parameter 96.02 Pass code.) 2 exceeded
Selects the optional warning message for signal edge
counter 2.
Edge counter 2 A889 Edge counter 2. The message text can be edited on 3
Counted main A884 Main contactor. 11
contactor
Counted output A881 Output relay. 12
relay
Counted motor A882 Motor starts. 13
starts
Counted power ups A883 Power ups. 14
Counted DC A885 DC charge. 15
charges
Parameters 403

33.50 Value counter 1 (Visible only when user lock is open with pass code 584. -
Displays the actual present value of value counter 1.
The value of the source selected by parameter 33.53 Value
counter 1 source is read at one-second intervals and added
to the counter. A divisor can be applied to the count (see
33.54 Value counter 1 divider).
When the counter exceeds the limit set by 33.51 Value
The warning specified by 33.55 Value counter 1 warn
message is also given if enabled by 33.52 Value counter 1
function.
over 3 seconds.
-2147483008 … Actual present value of value counter 1. -
2147483008
33.51 Value counter 1 (Visible only when user lock is open with pass code 584. 0
Sets the limit for value counter 1.
With a positive limit, bit 4 of 33.01 Counter status is set to 1
(and a warning optionally generated) when the counter is
equal or greater than the limit.
With a negative limit, bit 4 of 33.01 Counter status is set to 1
equal or smaller than the limit.
0 = Counter disabled.
-2147483008 … Limit for value counter 1. -
2147483008
33.52 Value counter 1 (Visible only when user lock is open with pass code 584. 0000b
Configures value counter 1.
Bit Function
0 Counter mode
33.01) switches to 1 for one second. The warning (if enabled) stays active for at
least 10 seconds.
1 = Saturate: When the limit is reached, the counter status (bit 4 of 33.01) switches
to 1, and remains so until 33.50 is reset. The warning (if enabled) also stays active
until 33.50 is reset.
1 Warning enable
1 = Enable: A warning is given when the limit is reached
2…15 Reserved
0000b…0011b Value counter 1 configuration word. 1=1

33.53 Value counter 1 (Visible only when user lock is open with pass code 584. Not selected
Selects the signal to be monitored by value counter 1.
Not selected None (counter disabled). 0
Motor speed 01.01 Motor speed used (see page 224). 1
Other The value is taken from another parameter. -
404 Parameters

33.54 Value counter 1 (Visible only when user lock is open with pass code 584. 1.000
Defines a divisor for value counter 1. The value of the
monitored signal is divided by this value before integration.
0.001 … Divisor for value counter 1. -
2147483.000
33.55 Value counter 1 (Visible only when user lock is open with pass code 584. Value
warn message See parameter 96.02 Pass code.) counter 1
Selects the optional warning message for value counter 1. exceeded
Value counter 1 A88A Value counter 1. The message text can be edited on 4
bearing
33.60 Value counter 2 (Visible only when user lock is open with pass code 584. -
Displays the actual present value of value counter 2.
The value of the source selected by parameter 33.63 Value
counter 2 source is read at one-second intervals and added
to the counter. A divisor can be applied to the count (see
33.64 Value counter 2 divider).
When the counter exceeds the limit set by 33.61 Value
The warning specified by 33.65 Value counter 2 warn
message is also given if enabled by 33.62 Value counter 2
function.
over 3 seconds.
-2147483008 … Actual present value of value counter 2. -
2147483008
33.61 Value counter 2 (Visible only when user lock is open with pass code 584. 0
Sets the limit for value counter 2.
With a positive limit, bit 5 of 33.01 Counter status is set to 1
equal or greater than the limit.
With a negative limit, bit 5 of 33.01 Counter status is set to 1
equal or smaller than the limit.
0 = Counter disabled.
-2147483008 … Limit for value counter 2. -
2147483008
Parameters 405

33.62 Value counter 2 (Visible only when user lock is open with pass code 584. 0000b
Configures value counter 2.
Bit Function
0 Counter mode
10 seconds.
33.60 is reset.
1 Warning enable
2…15 Reserved
0000b…0011b Value counter 2 configuration word. 1=1

33.63 Value counter 2 (Visible only when user lock is open with pass code 584. Not selected
Selects the signal to be monitored by value counter 2.
Not selected None (counter disabled). 0
Motor speed 01.01 Motor speed used (see page 224). 1
219).
33.64 Value counter 2 (Visible only when user lock is open with pass code 584. 1.000
Defines a divisor for value counter 2. The value of the
monitored signal is divided by this value before integration.
0.001 … Divisor for value counter 2. -
2147483.000
33.65 Value counter 2 (Visible only when user lock is open with pass code 584. Value
warn message See parameter 96.02 Pass code.) counter 2
Selects the optional warning message for value counter 2. exceeded
Value counter 2 A88B Value counter 2. The message text can be edited on 5
bearing
33.200 Set crane (Visible when user lock is open with pass code 584. See Done
operation hours parameter 96.02 Pass code.)
Selects the command to initialize current crane operation
time to the value specified with parameter 33.201 Crane
operation hrs init value. Actual value can be read from
parameter 09.20 Crane operation hours.
Done Reset done. 0
Set Resets the time counter. 1
Other [bit] Source selection (see Terms and abbreviations on page
219).
406 Parameters

33.201 Crane operation (Visible when user lock is open with pass code 584. See 0 hour
hrs init value parameter 96.02 Pass code.)
Defines the value to which current crane operation time is
reset upon activation of corresponding command.
This parameter can be used to initialize the crane operation
counter to the previous value after replacing the control
board or after doing a firmware upgrade.
0...1100000 hours Crane operation time 1 = 1 hour
33.202 Crane operation (Visible when user lock is open with pass code 584. See 0 hour
hrs warning limit parameter 96.02 Pass code.)
Defines the operation time limit at which a corresponding
maintenance warning (D212 Crane operating hours) is
activated.
0...1100000 hours Crane operation time limit 1 = 1 hour
33.210 Set brake oper (Visible when user lock is open with pass code 584. See
counts parameter 96.02 Pass code.)
Selects the command to initialize the current value of brake
open counter to the value specified with parameter 33.211
Brake oper counts init value. Actual value can be read from
parameter 09.21 Brake operation count.
Done Reset done 0
Set Resets the brake operating counter. 1
219).
33.211 Brake oper counts (Visible when user lock is open with pass code 584. See 0 hour
init value parameter 96.02 Pass code.)
Defines the value to which the brake operation counter is
reset upon activation of corresponding command. Using this
parameter after replacing the control board or upgrading
firmware will initialize the brake operation counter to the
previous value.
33.212 Brake oper counts (Visible when user lock is open with pass code 584. See 0 hour
warning limit parameter 96.02 Pass code.)
Defines the operation time limit at which a corresponding
maintenance warning (D213 Brake oper counts) is
activated.
33.220 Set number of (Visible when user lock is open with pass code 584. See
power on parameter 96.02 Pass code.)
Selects the command to initialize the current value of power
on counter to the value specified with parameter 33.221
Number of pwr on init value. Actual value can be read from
parameter 09.22 Number of pwr on.
Done Reset done 0
Set Resets the power on counter. 1
219).
Parameters 407

33.221 Number of pwr on (Visible when user lock is open with pass code 584. See 0
init value parameter 96.02 Pass code.)
Defines the value to which the power on counter is reset
upon activation of corresponding command. Using this
parameter after replacing the control board or after
upgrading firmware will initialize the power on counter to the
previous value.
0...65535 Counts 1=1
33.222 Number of pwr on (Visible when user lock is open with pass code 584. See 0
warning limit parameter 96.02 Pass code.)
Defines the counter limit at which a corresponding
maintenance warning (D214 Number of power on) is
activated.
0...65535 Counts 1=1
35
35 Motor thermal Motor thermal protection settings such as temperature
protection measurement configuration, load curve definition and motor
fan control configuration.
See also section Motor thermal protection (page 202).
35.01 Motor estimated Displays the motor temperature as estimated by the internal -
temperature motor thermal protection model (see parameters
35.50…35.55). The unit is selected by parameter 96.16 Unit
selection
-60 … 1000 Estimated motor temperature. 1=1°
°C or °F
35.02 Measured Displays the temperature received through the source -
temperature 1 defined by parameter 35.11 Temperature 1 source. The unit
is selected by parameter 96.16 Unit selection.
Note: With a PTC sensor, the unit is ohms.
-60 … 5000 °C, Measured temperature 1. 1 = 1 unit
-76 … 9032 °F,
0 ohm or
[35.12] ohm
35.03 Measured Displays the temperature received through the source -
temperature 2 defined by parameter 35.21 Temperature 2 source. The unit
is selected by parameter 96.16 Unit selection.
-60 … 5000 °C, Measured temperature 2. 1 = 1 unit
-76 … 9032 °F,
0 ohm or
[35.22] ohm
408 Parameters

35.04 FPTC status word Displays the status of optional FPTC-xx thermistor -
protection modules. The word can be used as the source of
eg. external events.
Note: The “module found” bits are updated regardless of
whether the corresponding module is activate. However, the
“fault active” and “warning active” bits are not updated if the
module is not activated. The modules are activated by
parameter 35.30 FPTC configuration word.

0 Module found in slot 1 1 = Yes: An FPTC-xx module has been detected in slot 1.
1 Fault active in slot 1 1 = Yes: The module in slot 1 has an active fault.
2 Warning active in slot 1 1 = Yes: The module in slot 1 has an active warning.
9…15 Reserved
0000h…FFFFh FPTC-xx status word. 1=1

35.11 Temperature 1 Selects the source from which measured temperature 1 is Disabled
source read.
For wiring examples, see the hardware manual of the drive.
Usually this source is from a sensor connected to the motor
controlled by the drive, but it could be used to measure and
monitor a temperature from other parts of the process as
long as a suitable sensor is used as per the selection list.
Disabled None. Temperature monitoring function 1 is disabled. 0
Estimated Estimated motor temperature (see parameter 35.01 Motor 1
temperature estimated temperature).
The temperature is estimated from an internal drive
calculation. It is important to set up the ambient temperature
of the motor in 35.50 Motor ambient temperature.
Parameters 409

KTY84 analog I/O KTY84 sensor connected to the analog input selected by 2
parameter 35.14 Temperature 1 AI source and an analog
output. The input and output can be on the drive control unit
or on an extension module.
The following settings are required:
• Set the hardware jumper or switch related to the analog
input to U (voltage). Any change must be validated by a
control unit reboot.
• Set the unit selection parameter of the input to volt.
• Set the source selection parameter of the analog output
to “Force KTY84 excitation”.
• Select the analog input in parameter 35.14. In case the
input is located on an I/O extension module, use the
selection Other to point at the actual input value
parameter (for example, 14.26 AI1 actual value).
The analog output feeds a constant current through the
sensor. As the resistance of the sensor changes along with
its temperature, the voltage over the sensor changes. The
voltage is read by the analog input and converted into
degrees.
KTY84 encoder KTY84 sensor connected to encoder interface 1. 3
module 1 See also parameters 91.21 Module 1 temp sensor type and
91.22 Module 1 temp filter time.
1 x Pt100 analog Pt100 sensor connected to a standard analog input selected 5
I/O by parameter 35.14 Temperature 1 AI source and an analog
The required settings are the same as with selection KTY84
analog I/O, except that the source selection parameter of
the analog output must be set to Force PT100 excitation.
2 x Pt100 analog As selection 1 x Pt100 analog I/O, but with two sensors 6
I/O connected in series. Using multiple sensors improves
measurement accuracy significantly.
3 x Pt100 analog As selection 1 x Pt100 analog I/O, but with three sensors 7
PTC DI6 PTC sensor connected to digital input DI6 (see the 8
connection diagram on page 202).
Note: Either 0 ohm (normal temperature) or 4000 ohm
(excessive temperature) will be shown by 35.02 Measured
temperature 1.
PTC analog I/O PTC sensor connected to a standard analog input selected 20
by parameter 35.14 Temperature 1 AI source and an analog
the analog output must be set to Force PTC excitation.
temperature 1.
410 Parameters

PTC encoder PTC sensor connected to encoder interface 1. 9
Direct temperature The temperature is taken from the source selected by 11
parameter 35.14 Temperature 1 AI source. The value of the
source is assumed to be in the unit of temperature specified
by 96.16 Unit selection.
1 × Pt1000 analog Pt1000 sensor connected to a standard analog input 13
I/O selected by parameter 35.14 Temperature 1 AI source and
an analog output. The input and output can be on the drive
control unit or on an extension module.
the analog output must be set to Force Pt1000 excitation.
2 × Pt1000 analog As selection 1 × Pt1000 analog I/O, but with two sensors 14
3 × Pt1000 analog As selection 1 × Pt1000 analog I/O, but with three sensors 15
35.12 Temperature 1 fault Defines the fault limit for temperature monitoring function 1. 130 °C or
limit When measured temperature 1 exceeds the limit, the drive 266 °F
trips on fault 4981 External temperature 1.
The unit is selected by parameter 96.16 Unit selection.
-60 … 5000 °C or Fault limit for temperature monitoring function 1. 1 = 1 unit
ohm, or
-76 … 1832 °F
35.13 Temperature 1 Defines the warning limit for temperature monitoring 110 °C or
warning limit function 1. When measured temperature 1 exceeds this 230 °F
limit, the warning (A491 External temperature 1) is
generated.
-60 … 5000 °C or Warning limit for temperature monitoring function 1. 1 = 1 unit
ohm, or
-76 … 9032 °F
35.14 Temperature 1 AI Specifies the analog input when the setting of 35.11 Not selected
source Temperature 1 source requires measurement through an
analog input.
Note: If the input is located on an I/O extension module, use
the selection Other to point to the AI actual value in group
14, 15 or 16, eg. 14.26 AI1 actual value.
Not selected None. 0
AI1 actual value Analog input AI1 on the control unit. 1
219).
Parameters 411

35.21 Temperature 2 Selects the source from which measured temperature 2 is Disabled
source read.
For wiring examples, see the hardware manual of the drive.
Usually this source is from a sensor connected to the motor
controlled by the drive, but it could be used to measure and
monitor a temperature from other parts of the process as
long as a suitable sensor is used as per the selection list.
Disabled None. Temperature monitoring function 2 is disabled. 0
Estimated Estimated motor temperature (see parameter 35.01 Motor 1
temperature estimated temperature).
The temperature is estimated from an internal drive
calculation. It is important to set up the ambient temperature
of the motor in 35.50 Motor ambient temperature.
KTY84 analog I/O KTY84 sensor connected to the analog input selected by 2
parameter 35.24 Temperature 2 AI source and an analog
The following settings are required:
• Set the hardware jumper or switch related to the analog
input to U (voltage). Any change must be validated by a
control unit reboot.
• Set the unit selection parameter of the input to volt.
• Set the source selection parameter of the analog output
to “Force KTY84 excitation”.
• Select the analog input in parameter 35.24. In case the
input is located on an I/O extension module, use the
selection Other to point at the actual input value
parameter (for example, 14.26 AI1 actual value).
The analog output feeds a constant current through the
sensor. As the resistance of the sensor changes along with
its temperature, the voltage over the sensor changes. The
voltage is read by the analog input and converted into
degrees.
1 x Pt100 analog Pt100 sensor connected to a standard analog input selected 5
I/O by parameter 35.24 Temperature 2 AI source and an analog
the analog output must be set to Force PT100 excitation.
2 x Pt100 analog As selection 1 x Pt100 analog I/O, but with two sensors 6
3 x Pt100 analog As selection 1 x Pt100 analog I/O, but with three sensors 7
412 Parameters

PTC DI6 PTC sensor connected to digital input DI6 (see the 8
connection diagram on page 202).
temperature 2.
Direct temperature The temperature is taken from the source selected by 11
parameter 35.24 Temperature 2 AI source. The value of the
source is assumed to be in the unit of temperature specifiec
by 96.16 Unit selection.
1 × Pt1000 analog Pt1000 sensor connected to a standard analog input 13
I/O selected by parameter 35.24 Temperature 2 AI source and
an analog output. The input and output can be on the drive
control unit or on an extension module.
the analog output must be set to Force Pt1000 excitation.
2 × Pt1000 analog As selection 1 × Pt1000 analog I/O, but with two sensors 14
3 × Pt1000 analog As selection 1 × Pt1000 analog I/O, but with three sensors 15
PTC analog I/O PTC sensor connected to a standard analog input selected 20
by parameter 35.24 Temperature 2 AI source and an analog
the analog output must be set to Force PTC excitation.
temperature 2.
35.22 Temperature 2 fault Defines the fault limit for temperature monitoring function 2. 130 °C or
limit When measured temperature 2 exceeds the limit, the drive 266 °F
trips on fault 4982 External temperature 2.
-60 … 5000 °C or Fault limit for temperature monitoring function 2. 1 = 1 unit
-76 … 9032 °F
35.23 Temperature 2 Defines the warning limit for temperature monitoring 110 °C or
warning limit function 2. When measured temperature 2 exceeds the limit, 230 °F
a warning (A492 External temperature 2) is generated.
-60 … 5000 °C or Warning limit for temperature monitoring function 2. 1 = 1 unit
-76 … 9032 °F
Parameters 413

35.24 Temperature 2 AI Selects the input for parameter 35.21 Temperature 2 source, Not selected
source selections KTY84 analog I/O, 1 x Pt100 analog I/O, 2 x
Pt100 analog I/O, 3 x Pt100 analog I/O and Direct
temperature.
219).
35.30 FPTC configuration Activates FEX-01/FPTC-01 temperature monitoring 0000 0000b
word modules installed on the control unit of the drive. Using this
word, it is also possible to suppress the warnings (but not
faults) from each module.

0 Module in slot 1 1 = Yes: Module installed in slot 1.
1 Disable slot 1 warning 1 = Yes: Warnings from the module in slot 1 suppressed.
6…15 Reserved
0000 0000b … FEX-01/FPTC-01 module configuration word. 1=1

0011 1111b
35.50 Motor ambient Defines the ambient temperature of the motor for the motor 20 °C or
temperature thermal protection model. The unit is selected by parameter 68 °F
96.16 Unit selection.
The motor thermal protection model estimates the motor
temperature on the basis of parameters 35.50…35.55. The
motor temperature increases if it operates in the region
above the load curve, and decreases if it operates in the
region below the load curve.
WARNING! The model cannot protect the motor if it
does not cool properly because of dust, dirt, etc.
-60 … 100 °C or Ambient temperature. 1 = 1 °C
-75 … 212 °F
414 Parameters

35.51 Motor load curve (Visible only when user lock is open with pass code 584. 100%
Defines the motor load curve together with parameters
35.52 Zero speed load and 35.53 Break point. The load
curve is used by the motor thermal protection model to
estimate the motor temperature.
When the parameter is set to 100%, the maximum load is
taken as the value of parameter 99.06 Motor nominal
current (higher loads heat up the motor). The load curve
level should be adjusted if the ambient temperature differs
from the nominal value set in 35.50 Motor ambient
temperature.
I/IN
(%) I = Motor current
IN = Nominal motor current
150
35.51
100
50
35.52
35.53 Drive output

frequency
50 … 150% Maximum load for the motor load curve. 1 = 1%

35.52 Zero speed load (Visible only when user lock is open with pass code 584. 100%
35.51 Motor load curve and 35.53 Break point. Defines the
maximum motor load at zero speed of the load curve. A
higher value can be used if the motor has an external motor
fan to boost the cooling. See the motor manufacturer's
recommendations.
See parameter 35.51 Motor load curve.
50 … 150% Zero speed load for the motor load curve. 1 = 1%
35.53 Break point (Visible only when user lock is open with pass code 584. 45.00 Hz
35.51 Motor load curve and 35.52 Zero speed load. Defines
the break point frequency of the load curve i.e. the point at
which the motor load curve begins to decrease from the
value of parameter 35.51 Motor load curve towards the
value of parameter 35.52 Zero speed load.
See parameter 35.51 Motor load curve.
1.00 … 500.00 Hz Break point for the motor load curve. See par.
46.02
Parameters 415

35.54 Motor nominal (Visible only when user lock is open with pass code 584. 80 °C or 176
temperature rise See parameter 96.02 Pass code.) °F
Defines the temperature rise of the motor above ambient
when the motor is loaded with nominal current. See the
motor manufacturer's recommendations.
Temperature
Motor nominal
temperature rise
Ambient temperature
Time
0…300 °C or The unit is selected by parameter 96.16 Unit selection. 1 = 1 °C

32…572 °F
35.55 Motor thermal time (Visible only when user lock is open with pass code 584. 256 s
constant See parameter 96.02 Pass code.)
Defines the thermal time constant for use with the motor
thermal protection model, defined as the time to reach 63%
of the nominal motor temperature. See the motor
manufacturer's recommendations.
Motor current
100%
Time
Temperature rise
100%
63%
Motor thermal time Time
100 … 10000 s Motor thermal time constant. 1=1s

416 Parameters

35.60 Cable temperature (Visible only when user lock is open with pass code 584. 0.0%
Shows the calculated temperature of the motor cable. See
section Thermal protection of motor cable (page 205).
102% = overtemperature warning (A480 Motor cable
overload)
106% = overtemperature fault (4000 Motor cable overload)
0.0 … 200.0% Calculated temperature of motor cable. 1 = 1%
35.61 Cable nominal (Visible only when user lock is open with pass code 584. 10000.00 A
current See parameter 96.02 Pass code.)
Specifies the continuous current of the motor cable for the
thermal protection function in the control program.
WARNING! The value entered in this parameter
must be limited according to all factors affecting the
loadability of the cable, such as ambient
temperature, cabling arrangement, and shrouding. Refer to
the technical data from the cable manufacturer.
0.00 … 10000.00 A Continuous current-carrying capacity of motor cable. 1=1A
35.62 Cable thermal rise (Visible only when user lock is open with pass code 584. 1s
Specifies the thermal time of the motor cable for the thermal
protection function in the control program. This value is
defined as the time to reach 63% of the nominal cable
temperature when the cable is loaded with nominal current
(parameter 35.61 Cable nominal current).
0 s = Thermal protection of motor cable disabled
Refer to the technical data from the cable manufacturer.
Cable current
100%
Time
Temperature rise
100%
63%
Cable thermal time Time
0s Thermal protection of motor cable disabled. 1=1s

1…50000 s Motor cable thermal time constant. 1=1s
Parameters 417

35.100 DOL starter control (Visible only when user lock is open with pass code 584. Off, 06.16 b6
source See parameter 96.02 Pass code.) (95.20 b6)
Parameters 35.100…35.106 configure a monitored
start/stop control logic for external equipment such as a
contactor-controlled motor cooling fan.
This parameter selects the signal that starts and stops the
fan.
0 = Stop
1 = Start
The output controlling the fan contactor is to be connected
to parameter 35.105, bit 1. On and off delays can be set for
the fan by 35.101 and 35.102 respectively. A feedback
signal from the fan can be connected to an input selected by
35.103; the loss of the feedback will optionally trigger a
warning or fault (see 35.104 and 35.106).
Off 0 (function disabled). 0
On 1. 1
219).
35.101 DOL starter on (Visible only when user lock is open with pass code 584. 0s
Defines a start delay for the motor fan.
The delay timer starts when the control source selected by
parameter 35.100 switches on. After the delay, bit 1 of
35.105 switches on.
0…42949673 s Motor fan start delay. 1=1s
35.102 DOL starter off (Visible only when user lock is open with pass code 584. 20 min
Defines a stop delay for the motor fan.
The delay timer starts when the control source selected by
parameter 35.100 switches off. After the delay, bit 1 of
35.105 switches off.
0…715828 min Motor fan stop delay. 1 = 1 min
35.103 DOL starter (Visible only when user lock is open with pass code 584. Not selected;
feedback source See parameter 96.02 Pass code.) DI5
Selects the input for motor fan feedback signal. (95.20 b6)
0 = Stopped
1 = Running
After the fan is started (bit 1 of 35.105 switches on),
feedback is expected within the time set by 35.104.
Not selected 0. 0
Selected 1. 1
418 Parameters

219).
35.104 DOL starter (Visible only when user lock is open with pass code 584. 0 s; 5 s
feedback delay See parameter 96.02 Pass code.) (95.20 b6)
Defines a feedback delay for the motor fan.
The delay timer starts when bit 1 of 35.105 switches on. If
no feedback is received from the fan until the delay elapses,
the action selected by 35.106 is taken.
Note: This delay is only applied at start. If the feedback
signal is lost during run, the action selected by 35.106 is
taken immediately.
0…42949673 s Motor fan start delay. 1=1s
35.105 DOL starter status (Visible only when user lock is open with pass code 584. -
word See parameter 96.02 Pass code.)
Status of the motor fan control logic.
Bit 1 is the control output for the fan, to be selected as the
source of, for example, a digital or relay output.
The other bits indicate the statuses of the selected control
and feedback sources, and the fault status.

0 Start command Status of fan control source selected by 35.100.
0 = Stop requested
1 = Start requested
1 Delayed start Fan control bit (delays observed). Select this bit as the source of
command the output controlling the fan.
0 = Stopped
1 = Started
2 DOL feedback Status of fan feedback (source selected by 35.103).
0 = Stopped
1 = Running
3 DOL fault (-1) Fault status.
0 = Fault (fan feedback missing). The action taken is selected by
35.106.
1 = No fault
4…15 Reserved
0000b…1111b Status of motor fan control logic. 1=1

35.106 DOL starter event (Visible only when user lock is open with pass code 584. Fault
type See parameter 96.02 Pass code.)
Selects the action taken when missing fan feedback is
detected by the motor fan control logic.
Warning The drive generates a warning (A781 Motor fan). 1
Fault Drive trips on 71B1 Motor fan. 2
Parameters 419

36
36 Load analyzer Peak value and amplitude logger settings.
See also section Load analyzer (page 210).
36.01 PVL signal source (Visible only when user lock is open with pass code 584. Power inu
See parameter 96.02 Pass code.) out
Selects the signal to be monitored by the peak value logger.
The signal is filtered using the filtering time specified by
parameter 36.02 PVL filter time.
The peak value is stored, along with other pre-selected
signals at the time, into parameters 36.10…36.15.
The peak value logger can be reset using parameter 36.09
Reset loggers. The date and time of the last reset are stored
into parameters 36.16 and 36.17 respectively.
Zero None (peak value logger disabled). 0
219).
36.02 PVL filter time (Visible only when user lock is open with pass code 584. 2.00 s
Defines a filtering time for the peak value logger. See
parameter 36.01 PVL signal source.
0.00 … 120.00 s Peak value logger filtering time. 100 = 1 s
420 Parameters

36.06 AL2 signal source (Visible only when user lock is open with pass code 584. Ambient
See parameter 96.02 Pass code.) temperature
Selects the signal to be monitored by amplitude logger 2.
The signal is sampled at 200 ms intervals and can be scaled
using parameter 36.07 AL2 signal scaling.
The results are displayed by parameters 36.40…36.49.
Each parameter represents an amplitude range, and shows
what portion of the samples fall within that range.
Amplitude logger 2 can be reset using parameter 36.09
Reset loggers. The logger is also reset whenever the signal
source or scaling is changed. The date and time of the last
reset are stored into parameters 36.50 and 36.51
respectively.
Zero None (amplitude logger 2 disabled). 0
Ambient 01.31 Ambient temperature (page 226). 20
temperature The amplitude range of 0...100% corresponds to 0...60 °C or
32...140 °F.
219).
36.07 AL2 signal scaling (Visible only when user lock is open with pass code 584. 100.00
Defines the signal value that corresponds to 100%
amplitude.
0.00 … 32767.00 Signal value corresponding to 100%. 1=1
36.09 Reset loggers (Visible only when user lock is open with pass code 584. Done
Resets the peak value logger and/or amplitude logger 2.
(Amplitude logger 1 cannot be reset.)
Done Reset completed or not requested (normal operation). 0
All Reset both the peak value logger and amplitude logger 2. 1
PVL Reset the peak value logger. 2
AL2 Reset amplitude logger 2. 3
Parameters 421

36.10 PVL peak value (Visible only when user lock is open with pass code 584. 0.00
Displays the peak value recorded by the peak value logger.
-32768.00 … Peak value. 1=1
32767.00
36.11 PVL peak date (Visible only when user lock is open with pass code 584. -
Displays the date on which the peak value was recorded.
- Peak occurrence date. -
36.12 PVL peak time (Visible only when user lock is open with pass code 584. -
Displays the time at which the peak value was recorded.
- Peak occurrence time. -
36.13 PVL current at (Visible only when user lock is open with pass code 584. 0.00 A
peak See parameter 96.02 Pass code.)
Displays the motor current at the moment the peak value
was recorded.
-32768.00 … Motor current at peak. 1=1A
32767.00 A
36.14 PVL DC voltage at (Visible only when user lock is open with pass code 584. 0.00 V
peak See parameter 96.02 Pass code.)
Displays the voltage in the intermediate DC circuit of the
drive at the moment the peak value was recorded.
0.00 … 2000.00 V DC voltage at peak. 10 = 1 V
36.15 PVL speed at peak (Visible only when user lock is open with pass code 584. 0.00 rpm
Displays the motor speed at the moment the peak value was
recorded.
-32768.00 … Motor speed at peak. See par.
32767.00 rpm 46.01
36.16 PVL reset date (Visible only when user lock is open with pass code 584. -
Displays the date on which the peak value logger was last
reset.
- Last reset date of the peak value logger. -
36.17 PVL reset time (Visible only when user lock is open with pass code 584. -
Displays the time at which the peak value logger was last
reset.
- Last reset time of the peak value logger. -
36.20 AL1 below 10% (Visible only when user lock is open with pass code 584. 0.00%
Displays the percentage of samples recorded by amplitude
logger 1 that fall between 0 and 10%.
0.00 … 100.00% Amplitude logger 1 samples between 0 and 10%. 1 = 1%
36.21 AL1 10 to 20% (Visible only when user lock is open with pass code 584. 0.00%
422 Parameters

0.00 … 100.00% (Visible only when user lock is open with pass code 584. 1 = 1%
Amplitude logger 1 samples between 50 and 60%.
36.29 AL1 over 90% (Visible only when user lock is open with pass code 584. 0.00%
logger 1 that exceed 90%.
0.00 … 100.00% Amplitude logger 1 samples over 90%. 1 = 1%
36.40 AL2 below 10% (Visible only when user lock is open with pass code 584. 0.00%
Parameters 423

36.49 AL2 over 90% (Visible only when user lock is open with pass code 584. 0.00%
See parameter 96.02 Pass code.)Displays the percentage
of samples recorded by amplitude
logger 2 that exceed 90%.
0.00 … 100.00% Amplitude logger 2 samples over 90%. 1 = 1%
36.50 AL2 reset date (Visible only when user lock is open with pass code 584. -
Displays the date on which amplitude logger 2 was last
reset.
- Last reset date of amplitude logger 2. -
424 Parameters

36.51 AL2 reset time (Visible only when user lock is open with pass code 584. -
Displays the time at which amplitude logger 2 was last reset.
- Last reset time of amplitude logger 2. -
MIN(In1,In2) Smaller of the two sources. 5
MAX(In1,In2) Greater of the two sources. 6
37
37 User load curve Settings for user load curve.
See also section User load curve (page 205).
37.01 ULC output status (Visible only when user lock is open with pass code 584. -
Displays the status of the monitored signal. (The status word
is independent of the actions and delays selected by
parameters 37.03, 37.04, 37.41 and 37.42.)

0 Under load limit 1 = Monitored signal is below the underload curve
1 Reserved
2 Over load limit 1 = Monitored signal is above the overload curve
3…15 Reserved
000b … 101b Status of the monitored signal. 1=1

37.02 ULC supervision (Visible only when user lock is open with pass code 584. Not selected
signal See parameter 96.02 Pass code.)
Selects the signal to be monitored. The function compares
the absolute value of the signal against the load curve.
Not selected No signal selected (monitoring disabled). 0
Motor current % 01.07 Motor current (see page 224). 2
Motor torque % 01.10 Motor torque (see page 224). 3
Output power % of 01.15 Output power % of motor nom (see page 225). 4
motor nominal
219).
37.03 ULC overload (Visible only when user lock is open with pass code 584. Disabled
actions See parameter 96.02 Pass code.)
Selects how the drive reacts if the absolute value of the
monitored signal stays above the overload curve for longer
than the value of 37.41 ULC overload timer.
Disabled No action taken. 0
Warning The drive generates a warning (A8BE ULC overload 1
warning).
Fault Drive trips on 8002 ULC overload fault. 2
Parameters 425

Warning/Fault The drive generates a warning (A8BE ULC overload 3
warning) if the signal stays continuously above the overload
curve for half of the time defined by 37.41 ULC overload
timer.
The drive trips on 8002 ULC overload fault if the signal stays
continuously above the overload curve for the time defined
by 37.41 ULC overload timer.
37.04 ULC underload (Visible only when user lock is open with pass code 584. Disabled
actions See parameter 96.02 Pass code.)
Selects how the drive reacts if the absolute value of the
monitored signal stays below the underload curve for longer
than the value of 37.42 ULC underload timer.
Disabled No action taken. 0
Warning The drive generates a warning (A8BF ULC underload 1
warning).
Fault Drive trips on 8001 ULC underload fault. 2
Warning/Fault The drive generates a warning (A8BF ULC underload 3
warning) if the signal stays continuously below the
underload curve for half of the time defined by 37.42 ULC
underload timer.
The drive trips on 8001 ULC underload fault if the signal
stays continuously below the underload curve for the time
defined by 37.42 ULC underload timer.
37.11 ULC speed table (Visible only when user lock is open with pass code 584. 150.0 rpm
point 1 See parameter 96.02 Pass code.)
Defines the 1st speed point on the X-axis of the user load
curve.
The speed points are used in DTC motor control mode, and
in scalar motor control mode when speed control is being
used.
The five points must be in order from lowest to highest. The
points are defined as positive values, but the range is
symmetrically effective also in the negative direction. The
monitoring is not active outside these two areas.
0.0 … 30000.0 rpm Speed. 1 = 1 rpm
Defines the 2nd speed point on the X-axis of the user load
curve.
0.0 … 30000.0 rpm Speed. 1 = 1 rpm
Defines the 3rd speed point on the X-axis of the user load
curve.
0.0 … 30000.0 rpm Speed. 1 = 1 rpm
Defines the 4th speed point on the X-axis of the user load
curve.
0.0 … 30000.0 rpm Speed. 1 = 1 rpm
426 Parameters

Defines the 5th speed point on the X-axis of the user load
curve.
0.0 … 30000.0 rpm Speed. 1 = 1 rpm
37.16 ULC frequency (Visible only when user lock is open with pass code 584. 5.0 Hz
table point 1 See parameter 96.02 Pass code.)
Defines the 1st frequency point on the X-axis of the user
load curve.
The frequency points are used in scalar motor control mode
when frequency control is being used.
The five points must be in order from lowest to highest. The
points are defined as positive values, but the range is
symmetrically effective also in the negative direction. The
monitoring is not active outside these two areas.
0.0 … 500.0 Hz Frequency. 1 = 1 Hz
Defines the 2nd frequency point on the X-axis of the user
load curve.
0.0 … 500.0 Hz Frequency. 1 = 1 Hz
Defines the 3rd frequency point on the X-axis of the user
load curve.
0.0 … 500.0 Hz Frequency. 1 = 1 Hz
Defines the 4th frequency point on the X-axis of the user
load curve.
0.0 … 500.0 Hz Frequency. 1 = 1 Hz
Defines the 5th frequency point on the X-axis of the user
load curve.
0.0 … 500.0 Hz Frequency. 1 = 1 Hz
37.21 ULC underload (Visible only when user lock is open with pass code 584. 10.0%
Defines the 1st point of the underload curve.
Each point of the underload curve must have a lower value
than the corresponding overload point.
0.0 … 1600.0% Underload point. 1 = 1%
Defines the 2nd point of the underload curve.
0.0 … 1600.0% Underload point. 1 = 1%
Defines the 3rd point of the underload curve.
0.0 … 1600.0% Underload point. 1 = 1%
Parameters 427

Defines the 4th point of the underload curve.
0.0 … 1600.0% Underload point. 1 = 1%
Defines the 5th point of the underload curve.
0.0 … 1600.0% Underload point. 1 = 1%
37.31 ULC overload point (Visible only when user lock is open with pass code 584. 300.0%
1 See parameter 96.02 Pass code.)
Defines the 1st point of the overload curve.
Each point of the overload curve must have a higher value
than the corresponding underload point.
0.0 … 1600.0% Overload point. 1 = 1%
Defines the 2nd point of the overload curve.
0.0 … 1600.0% Overload point. 1 = 1%
Defines the 3rd point of the overload curve.
0.0 … 1600.0% Overload point. 1 = 1%
Defines the 4th point of the overload curve.
0.0 … 1600.0% Overload point. 1 = 1%
Defines the 5th point of the overload curve.
0.0 … 1600.0% Overload point. 1 = 1%
37.41 ULC overload timer (Visible only when user lock is open with pass code 584. 20.0 s
Defines the time for which the monitored signal must
continuously stay above the overload curve before the drive
takes the action selected by 37.03 ULC overload actions.
0.0 … 10000.0 s Overload timer. 1=1s
37.42 ULC underload (Visible only when user lock is open with pass code 584. 20.0 s
timer See parameter 96.02 Pass code.)
Defines the time for which the monitored signal must
continuously stay below the underload curve before the
drive takes the action selected by 37.04 ULC underload
actions.
0.0 … 10000.0 s Underload timer. 1=1s
428 Parameters

43
43 Brake chopper Settings for the internal brake chopper.
43.01 Braking resistor Displays the estimated temperature of the brake resistor, or -
temperature how close the brake resistor is to being too hot.
The value is given in percent where 100% is the
temperature the resistor would reach if the maximum
continuous braking power (43.09 Brake resistor Pmax cont)
is applied to the resistor for 100% rated time. The thermal
time constant (43.08 Brake resistor thermal tc) defines the
rated time to achieve 63% temperature. 100% would be
reached when 100% time has elapsed.
0.0 … 120.0% Estimated brake resistor temperature. 1 = 1%
43.06 Brake chopper Enables brake chopper control. Enabled
function Note: Before enabling brake chopper control, ensure that without
• a brake resistor is connected thermal
• the supply voltage range (parameter 95.01 Supply model
voltage) has been selected correctly.
Disabled Brake chopper control disabled. 0
Enabled with Brake chopper control enabled with resistor overload 1
thermal model protection.
Note: Before using this setting, ensure that overvoltage
control is switched off (parameter 30.30 Overvoltage
control).
Enabled without Brake chopper control enabled without resistor overload 2
thermal model protection. This setting can be used, for example, if the
resistor is equipped with a thermal circuit breaker that is
wired to stop the drive if the resistor overheats.
Note: Before using this setting, ensure that overvoltage
control is switched off (parameter 30.30 Overvoltage
control).
Overvoltage peak Brake chopper control enabled in an overvoltage condition. 3
protection This setting is intended for situations where
• the braking chopper is not needed for runtime operation,
that is to dissipate the inertial energy of the motor,
• the motor is able to store a considerable amount of
magnetic energy in its windings, and
• the motor might, deliberately or inadvertently, be stopped
by coasting.
In such a situation, the motor would potentially discharge
enough magnetic energy towards the drive to cause
damage. To protect the drive, the brake chopper can be
used with a small resistor dimensioned merely to handle the
magnetic energy (not the inertial energy) of the motor.
With this setting, the brake chopper is activated only
whenever the DC voltage exceeds the overvoltage limit.
During normal use, the brake chopper is not operating.
43.07 Brake chopper run Selects the source for quick brake chopper on/off control. On
enable 0 = Brake chopper IGBT pulses are cut off
1 = Normal brake chopper IGBT modulation.
This parameter can be used to program the chopper control
to function only when the supply is missing from a drive with
a regenerative supply unit.
Off 0. 0
Parameters 429

On 1. 1
219).
43.08 Brake resistor Defines the thermal time constant of the brake resistor for 0s
thermal tc overload protection.
0 … 10000 s Brake resistor thermal time constant. 1=1s
43.09 Brake resistor Defines the maximum continuous braking power of the 0.00 kW
Pmax cont resistor (in kW) which will raise the resistor temperature to
the maximum allowed value. The value is used in the
overload protection.
0.00 … Maximum continuous braking power. 1 = 1 kW
10000.00 kW
43.10 Brake resistance Defines the resistance value of the brake resistor. The value 0.00 ohm
is used for brake chopper protection.
0.00 … Brake resistor resistance value. 1 = 1 ohm
1000.00 ohm
43.11 Brake resistor fault Selects the fault limit for the brake resistor temperature 105%
limit protection function. When the limit is exceeded, the drive
trips on fault 7183 BR excess temperature.
The value is given in percent of the temperature the resistor
reaches when loaded with the power defined by parameter
43.09 Brake resistor Pmax cont. .
0 … 150% Brake resistor temperature fault limit. 1 = 1%
43.12 Brake resistor Selects the warning limit for the brake resistor temperature 95%
warning limit protection function. When the limit is exceeded, the drive
generates a A793 BR excess temperature warning.
The value is given in percent of the temperature the resistor
reaches when loaded with the power defined by parameter
43.09 Brake resistor Pmax cont. .
0 … 150% Brake resistor temperature warning limit. 1 = 1%
44
44 Mechanical brake Configuration of mechanical brake control.
control See also section Mechanical brake control (page 79).
44.01 Brake control Displays the mechanical brake control status word. -
status This parameter is read-only.

0 Open command Close/open command to brake actuator (0 = close, 1 = open).
Connect this bit to desired output.
1 Opening torque 1 = Opening torque requested from drive logic
request
2 Hold stopped request 1 = Hold requested from drive logic
3 Ramp to stopped 1 = Ramping down to zero speed requested from drive logic
4 Enabled 1 = Brake control is enabled
5 Closed 1 = Brake control logic in BRAKE CLOSED state
6 Opening 1 = Brake control logic in BRAKE OPENING state
7 Open 1 = Brake control logic in BRAKE OPEN state
8 Closing 1 = Brake control logic in BRAKE CLOSING state
9…15 Reserved
0000h…FFFFh Mechanical brake control status word. 1=1

430 Parameters

44.02 Brake torque Displays the torque (in percent) at the instant of the previous -
memory brake close command.
This value can be used as a reference for the brake open
torque. See parameters 44.09 Brake open torque source
and 44.200 Brake open torque.
-1600.0…1600.0% Torque at brake closure. See par.
46.03
44.03 Brake open torque Displays the currently active brake open torque. See -
reference parameters 44.09 Brake open torque source and 44.200
Brake open torque.
-1600.0…1600.0% Currently active brake open torque. See par.
46.03
44.06 Brake control Activates/deactivates (or selects a source that Selected
enable activates/deactivates) the mechanical brake control logic.
0 = Brake control inactive
1 = Brake control active
Not selected 0. 0
Selected 1. 1
page 219).
44.07 Brake Activates or selects the source for brake open/close status No
acknowledge (acknowledgement) supervision. acknowledge
selection The supervision time for brake acknowledge is applicable in
the following conditions:
• when brake is closed and an open command is given, the
supervision time for acknowledgement is as defined in
parameter 44.08 Brake open delay.
• when brake is open and a close command is given, the
supervision time for acknowledgement is as defined in
parameter 44.13 Brake close delay.
See also, parameters descripiton in 44.08 Brake open delay
and 44.13 Brake close delay.
When a brake control error (unexpected state of the
acknowledgement signal) is detected, the drive reacts as
defined by parameter 44.17 Brake fault function.
0 = Brake closed
1 = Brake open
Off 0. 0
On 1. 1
No acknowledge Brake open/closed supervision disabled. 2
Parameters 431

page 219).
44.08 Brake open delay Defines the brake open delay time, i.e. the delay between 1.00 s
the internal open brake command and the release of motor
speed control. The delay timer starts when the drive has
magnetized the motor and increased the motor torque to the
level required for brake release (parameter 44.03 Brake
open torque reference). Simultaneously with the timer start,
the brake control logic energizes the brake control output
and the brake starts to open.
When brake acknowledge (parameter 44.07 Brake
acknowledge selection) is used, the value defined in this
parameter is used as the supervision time for the
acknowledge signal during the brake opening sequence.
Note: Set this parameter to a value slightly higher than the
value of the mechanical brake open delay time specified by
the brake manufacturer, to match the additional delay
caused by external relay logic.
0.00 … 5.00 s Brake open delay. 100 = 1 s
44.09 Brake open torque Defines a source that is used as a brake opening torque Brake torque
source reference if memory
• its absolute value is greater than the setting of parameter
44.200 Brake open torque, and
• its sign is the same as the setting of 44.200 Brake open
torque.
See parameter 44.200 Brake open torque.
Note: For scalar motor control, disable Torque proving and
Zero Zero. 0
FBA ref1 03.05 FB A reference 1 (see page 228). 3
FBA ref2 03.06 FB A reference 2 (see page 228). 4
Brake torque Parameter 44.02 Brake torque memory. 7
memory
Brake open torque Parameter 44.200 Brake open torque. 8
page 219).
432 Parameters

44.11 Keep brake closed Selects a source that prevents the brake from opening. Not selected
0 = Normal brake operation
1 = Keep brake closed
running.
Not selected 0. 0
Selected 1. 1
page 219).
44.13 Brake close delay Defines the delay time between a close command (that is, 3.00 s
when the brake control output is de-energized) and when
the drive stops modulating. This is to keep the motor live
and under control until the brake actually closes.
When brake acknowledge (parameter 44.07 Brake
acknowledge selection) is used, the value defined in this
parameter is used as the supervision time for the
acknowledge signal during the brake closing sequence.
Note: Set this parameter to a value slightly higher than the
value of the mechanical brake close delay time specified by
the brake manufacturer, to avoid roll-back in the closing
phase (additional delay caused by external relay logic).
0.00 … 60.00 s Brake close delay. 100 = 1 s
44.14 Brake close level Defines the brake close speed as an absolute value. 60.00 rpm
After motor speed remains below this level for the duration
of the brake close level delay (44.15 Brake close level
delay), a close command is given.
0.00 … Brake close speed. See par.
1000.00 rpm 46.01
44.15 Brake close level Defines a brake close level delay. See parameter 44.14 0.00 s
delay Brake close level.
0.00 … 10.00 s Brake close level delay. 100 = 1 s
44.16 Brake reopen Defines a minimum time between brake closure and a 0.00 s
delay subsequent open command.
0.00 … 10.00 s Brake reopen delay. 100 = 1 s
Parameters 433

44.17 Brake fault function Determines how the drive reacts upon a mechanical brake Fault
control error.
Note: If parameter 44.07 Brake acknowledge selection is
set to No acknowledge, acknowledgement status
supervision is disabled altogether and will generate no
warnings or faults. However, the brake open conditions are
always supervised.
Fault The drive trips on a 71A2 Mechanical brake closing failed / 0
71A3 Mechanical brake opening failed fault if the status of
the acknowledgement does not match the status presumed
by the brake control logic.
The drive trips on a 71A5 Mechanical brake opening not
allowed fault if the brake open conditions cannot be fulfilled
(for example, the required motor starting torque is not
achieved).
Warning The drive generates a A7A1 Mechanical brake closing failed 1
/ A7A2 Mechanical brake opening failed warning if the
status of the acknowledgement does not match the status
presumed by the brake control logic.
The drive generates a A7A5 Mechanical brake opening not
allowed warning if the brake open conditions cannot be
fulfilled (for example, the required motor starting torque is
not achieved).
Open fault Upon closing the brake, the drive generates a A7A1 2
Mechanical brake closing failed warning if the status of the
acknowledgement does not match the status presumed by
the brake control logic.
Upon opening the brake, the drive trips on a 71A3
Mechanical brake opening failed fault if the status of the
acknowledgement does not match the status presumed by
the brake control logic.
The drive trips on a 71A5 Mechanical brake opening not
allowed fault if the brake open conditions cannot be fulfilled
(for example, the required motor starting torque is not
achieved).
44.18 Brake fault delay Defines a close fault delay, ie. time between brake closure 0.00 s
and brake close fault trip.
0.00 … 60.00 s Brake close fault delay. 100 = 1 s
44.200 Brake open torque Defines the minimum absolute value of the brake open 30.0%
torque (motor torque requested at brake release in percent
of motor nominal torque).
The value of the source selected by parameter 44.09 Brake
open torque source is used as the brake open torque only if
it has the same sign as this parameter and has a greater
absolute value.
0.0 … 1000.0% Minimum torque at brake release. 10 = 1.0%
434 Parameters

44.201 Torque proving Selects the source for the signal which inverts the torque False
sign proving and brake open torque values.
0 = Not inverted. Torque is applied in the hoisting direction.
1 = Inverted. Torque is applied in the reverse direction.
False 0. 0
True 1. 1
page 219).
44.202 Torque proving Selects whether Torque proving (electrical test) is active or Enable
not. For more information on the function, see section Brake
system checks – Torque proving on page 84.
Disable Torque proving is inactive. 0
Enable Torque proving is active. 1
page 219).
44.203 Torque proving Defines the Torque proving (electrical test) reference to be 25.00%
reference used when the Torque proving function is enabled.
0.00 … 300.00% Torque proving (electrical test) reference in percentage of 10 = 1.0%
the motor nominal torque (01.10 Motor torque).
44.204 Brake system Defines the time delay during which Torque proving is active 300 ms
check time and the electrical and mechanical tests of the crane system
are done against a closed brake. If the actual torque cannot
be reached during this check time, the drive trips on fault
D100 Torque prove.
100…30000 ms Time delay. 10 = 1 ms
44.205 Brake slip speed Defines the speed limit used for examining the system for 30.0 rpm
limit brake slips during Torque proving (mechanical test). For
more information on the function, see section Brake system
checks – Brake slip on page 85.
0.0 … 30000.0 rpm Brake slip speed limit. 1 = 1 rpm
Parameters 435

44.206 Brake slip fault Defines the time delay before the drive trips on fault D101 300 ms
delay Brake slip during Torque proving (mechanical test).
If a brake slip is detected during the system check time
(44.204 Brake system check time), the fault is generated
immediately, even if the check time had not yet elapsed.
44.207 Safety close select Selects whether the Brake safe closure function is active or Disable
not. For more information on the function, see section Brake
safe closure on page 91.
Disable Brake safe closure function is inactive. 0
Enable Brake safe closure function is active. 1
page 219).
44.208 Safety close speed Defines the speed limit for the Brake safe closure function. 50.00 rpm
0.00 … Brake safe closure speed. 1 = 1 rpm
30000.00 rpm
44.209 Safety close delay Defines the time delay before the drive trips on fault D102 2000 ms
Brake safe closure.
44.210 Crane brake status Shows the status of the brake. -

0 Crane open brake command 0 = Brake is closed.
1= Brake is open.
1 Brake acknowledge with delay 0 = Brake is closed.
1= Brake is open.
2…15 Reserved
0b0000…1b1111 Brake status. -

44.211 Extended runtime Defines the time period during which drive keeps the motor 0.0 s
magnetized after the brake is closed. The Extended run
time function is enabled if this value is less than 3600
seconds or greater than 0 seconds.
See also, section Extended run time on page 92.
Note: The extended run time function is active only when all
these conditions are satisfied:
• the drive is set to DTC motor control mode (see page
150)
• the drive is in Remote control
WARNING! Extended runtime causes the
motor to heat up. In cases where long
magnetization time is required, make sure to use
motors with external ventilation.
0.0…3600.0 s Time period. 10 = 1 s
436 Parameters

44.212 Extended runtime Shows the status of the Extended runtime function. Bit 0 is -
sw connected as default into parameter 21.12 Continuous
magnetization command.

0 Extended run in operation 0 = Extended run time is active.
1= Extended run time is not active.
1 Extended run enabled 1 = Extended run time function is enabled.
0 = Extended run time function is disabled.
2…15 Reserved
0b0000…1b1111 Extended runtime status. -

44.213 Brake long fall Defines the additional delay time (after 44.13 Brake close 0.0 s
delay delay) to close the brake before the Watchdog function
opens the relay output RO2 (default setting) of the drive.
Note: This setting is effective only when the Brake closing
failure (bit 7) warning of the parameter 32.226 Watchdog
mask is set to 1.
0.0 ... 60.0 s Delay time. 10 = 1 s
44.220 Brake match mode Selects the Brake matching mode. See also Brake matching Disabled
on page 86.
Disabled Brake matching function is disabled. 0
Warning Brake matching Warning mode is enabled. 1
The warning Brake match is generated when the drive is
stopped or when brake slippage is detected during extended
run time or later when the drive is not modulating. The crane
is not restarted, but the warning is generated for further
external action (a signal horn or an alarm lamp).
Restart Brake matching Restart mode is enabled. 2
The crane restarts automatically with fixed zero speed
reference if brake slippage is detected in these two
conditions,
• after the brake was closed during extended run time and
• during the time period defined with parameter 44.222
Brake match timeout after modulation is stopped.
If brake slippage is detected after the timeout is elapsed, the
crane is not restarted, but the warning Brake match is
generated.
The drive runs with fixed zero speed reference until you take
over the crane control and bring the load electrically to the
floor or to a safe place.
See also Brake matching modes on page 87.
44.221 Brake match Defines the brake matching position limit. 0.000
position limit
0.000...500.000 Brake matching position limit in meters. 1000 = 1
44.222 Brake match Defines the maximum timeout within which the crane can be 0s
timeout restarted if brake matching Mode 3 is selected with
parameter 44.220 Brake match mode. The timer starts when
the drive stops modulating.
Note: If value is set as 32767, timeout is disabled.
0...32767 s Time. 1=1s
Parameters 437

44.223 Brake match ref Selects the source for the operator to take over the control Disable
enable after brake slippage was detected (that is, releases joystick
reference control). Brake matching Mode 2 and Mode 3
restarts the drive and runs with fixed zero speed reference
until you take over the crane and bring the load electrically
to the floor or to a safe place.
Disable Brake match reference input is inactive. 0
Enable Brake match referenc input is active. 1
DI1 Digital input DI1 (10.01 DI status, bit 0). 2
page 219).
44.224 Brake match SW Brake match function status word. 0b0000

0 Enabled Brake match function is enabled and all configurations are
correct.
1 Start command Brake match function is forcing start command when brake
slipping is detected.
2 Reference release Reference release command is activated when brake match
function restarted the drive.
3 Brake match active Brake match active warning is active. After brake slipping is
detected, the warning is active until next normal start command
is given.
4 Configuration error Not all drive parameters are configured to enable the use of
brake match function.
5 Hold zero speed Hold zero speed command is active.
6 Timeout timer running Timeout timer is running after the drive stopped modulation.
7 Brake slipping Brake slipping is detected after the brake was closed.
8...15 Reserved
0b0000…1b1111 Brake matching status word. -

44.230 Brake (Visible only when user lock is open with pass code 584. No
acknowledge See parameter 96.02 Pass code.) acknowledge
selection Activates or selects the source for brake open
(acknowledgement) supervision.
Note: Parameter 44.07 Brake acknowledge selection must
be set in parameter 44.210 Crane brake status, bit 1 (Brake
acknowledge with delay).
Off 0. 0
On 1. 1
No acknowledge Brake open/closed supervision is disabled. 2
438 Parameters

page 219).
44.231 Brake (Visible only when user lock is open with pass code 584. 0.500 s
acknowledge delay See parameter 96.02 Pass code.)
Defines the delay time for brake open supervision, i.e. the
delay between the internal open brake command and the
brake acknowledge signal (parameter 44.230 Brake
acknowledge selection).
When a brake control error (unexpected state of the
acknowledgement signal) is detected after delay time is
elapsed, the drive reacts as defined in parameter 44.17
Brake fault function.
0 = Brake closed
1 = Brake open
Note: Parameter 44.07 Brake acknowledge selection must
be set in parameter 44.210 Crane brake status, bit 1 (Brake
acknowledge with delay).
0.000 … 5.000 s Brake acknowledge delay. 1000 = 1 s
46
46 Monitoring/scaling Speed supervision settings; actual signal filtering; general
settings scaling settings.
46.01 Speed scaling Defines the maximum speed value used to define the 1500.00 rpm;
acceleration ramp rate and the initial speed value used to 1800.00 rpm
define the deceleration ramp rate (see parameter group 23 (95.20 b0)
Speed reference ramp). The speed acceleration and
deceleration ramp times are therefore related to this value
(not to parameter 30.12 Maximum speed).
Also defines the 16-bit scaling of speed-related parameters.
The value of this parameter corresponds to 20000 in
fieldbus, master/follower etc. communication.
0.10… Acceleration/deceleration terminal/initial speed. 1 = 1 rpm
30000.00 rpm
46.02 Frequency scaling (Visible only when user lock is open with pass code 584. 50.00 Hz;
See parameter 96.02 Pass code.) 60.00 Hz
Defines the maximum frequency value used to define the (95.20 b0)
acceleration ramp rate and the initial frequency value used
to define deceleration ramp rate. The frequency
acceleration and deceleration ramp times are therefore
related to this value (not to parameter 30.14 Maximum
frequency).
Also defines the 16-bit scaling of frequency-related
parameters. The value of this parameter corresponds to
20000 in fieldbus, master/follower etc. communication.
0.10 … 1000.00 Hz Acceleration/deceleration terminal/initial frequency. 10 = 1 Hz
Parameters 439

46.03 Torque scaling Defines the 16-bit scaling of torque parameters. The value 100.0%
of this parameter (in percent of nominal motor torque)
corresponds to 10000 in fieldbus, master/follower etc.
communication.
See also parameter 46.42 Torque decimals.
0.1 … 1000.0% Torque corresponding to 10000 on fieldbus. 10 = 1%
46.04 Power scaling Defines the output power value that corresponds to 10000 in 1000.00 kW
fieldbus, master/follower etc. communication. The unit is or hp
selected by parameter 96.16 Unit selection.
0.10 … 30000.00 Power corresponding to 10000 on fieldbus. 1 = 1 unit
kW or
0.10 … 40214.48
hp
46.05 Current scaling Defines the 16-bit scaling of current parameters. The value 10000 A
of this parameter corresponds to 10000 in fieldbus,
master/follower, etc., communication.
0…30000 A Current corresponding to 10000 on fieldbus. 1=1A
46.06 Speed ref zero Defines a speed corresponding to a zero reference received 0.00 rpm
scaling from fieldbus (either the embedded fieldbus interface, or
interface FBA A or FBA B). For example, with a setting of
500, the fieldbus reference range of 0…20000 would
correspond to a speed of 500…[46.01] rpm.
Note: This parameter is effective only with the ABB Drives
communication profile.
0.00 … 30000.00 Speed corresponding to minimum fieldbus reference. 1 = 1 rpm
rpm
46.07 Frequency ref zero (Visible only when user lock is open with pass code 584. 0.00 Hz
scaling See parameter 96.02 Pass code.)
Defines a frequency corresponding to a zero reference
received from fieldbus (either the embedded fieldbus
interface, or interface FBA A or FBA B). For example, with a
setting of 30, the fieldbus reference range of 0…20000
would correspond to a speed of 30…[46.02] Hz.
Note: This parameter is effective only with the ABB Drives
communication profile.
0.00 … 1000.00 Hz Frequency corresponding to minimum fieldbus reference. 10 = 1 Hz
46.11 Filter time motor Defines a filter time for signals 01.01 Motor speed used, 500 ms
speed 01.02 Motor speed estimated, 01.04 Encoder 1 speed
filtered and 01.05 Encoder 2 speed filtered.
0…20000 ms Motor speed signal filter time. 1 = 1 ms
46.12 Filter time output Defines a filter time for signal 01.06 Output frequency. 500 ms
frequency
0…20000 ms Output frequency signal filter time. 1 = 1 ms
46.13 Filter time motor Defines a filter time for signal 01.10 Motor torque. 2 ms
torque
0…20000 ms Motor torque signal filter time. 1 = 1 ms
46.14 Filter time power Defines a filter time for signal 01.14 Output power. 100 ms
out
0…20000 ms Output power signal filter time. 1 = 1 ms
440 Parameters

46.21 At speed Defines the “at setpoint” limits for speed control of the drive. 100.00 rpm
hysteresis When the absolute difference between reference (22.87
Speed reference act 7) and actual speed (90.01 Motor
speed for control) is smaller than 46.21 At speed hysteresis,
the drive is considered to be “at setpoint”. This is indicated
by bit 8 of 06.11 Main status word.
90.01 (rpm)
22.87 + 46.21 (rpm)

Drive at setpoint 22.87 (rpm)
(06.11 bit 8 = 1)
22.87 - 46.21 (rpm)
0 rpm
0.00 … Limit for “at setpoint” indication in speed control. See par.
30000.00 rpm 46.01
46.22 At frequency (Visible only when user lock is open with pass code 584. 10.00 Hz
hysteresis See parameter 96.02 Pass code.)
Defines the “at setpoint” limits for frequency control of the
drive. When the absolute difference between reference and
actual frequency (01.06 Output frequency) is smaller than
46.22 At frequency hysteresis, the drive is considered to be
“at setpoint”. This is indicated by bit 8 of 06.11 Main status
word.
0.00 … 1000.00 Hz Limit for “at setpoint” indication in frequency control. See par.
46.02
46.23 At torque Defines the “at setpoint” limits for torque control of the drive. 10.0%
hysteresis When the absolute difference between reference (26.73
Torque reference act 4) and actual torque (01.10 Motor
torque) is smaller than 46.23 At torque hysteresis, the drive
is considered to be “at setpoint”. This is indicated by bit 8 of
06.11 Main status word.
0.0…300.0% Limit for “at setpoint” indication in torque control. See par.
46.03
46.31 Above speed limit Defines the trigger level for “above limit” indication in speed 1500.00 rpm
control. When actual speed exceeds the limit, bit 10 of 06.17
Drive status word 2 is set.
0.00 … 30000.00 “Above limit” indication trigger level for speed control. See par.
rpm 46.01
46.32 Above frequency (Visible only when user lock is open with pass code 584. 50.00 Hz
Defines the trigger level for “above limit” indication in
frequency control. When actual frequency exceeds the limit,
bit 10 of 06.17 Drive status word 2 is set.
0.00 … 1000.00 Hz “Above limit” indication trigger level for frequency control. See par.
46.02
Parameters 441

46.33 Above torque limit Defines the trigger level for “above limit” indication in torque 300.0%
control. When actual torque exceeds the limit, bit 10 of
06.17 Drive status word 2 is set.
0.0 … 1600.0% “Above limit” indication trigger level for torque control. See par.
46.03
46.42 Torque decimals Defines the number of decimal places of torque-related 1
parameters.
0…2 Number of decimal places of torque parameters. 1=1
47
47 Data storage Data storage parameters that can be written to and read
from using other parameters’ source and target settings.
Note that there are different storage parameters for different
data types. Integer-type storage parameters cannot be used
as the source of other parameters.
See also section Data storage parameters (page 213).
47.01 Data storage 1 Data storage parameter 1. 0.000
real32 Parameters 47.01…47.08 are real 32-bit numbers that can
be used as source values of other parameters.
Storage parameters 47.01…47.08 can be used as the target
of received 16-bit data (parameter group 62 D2D and DDCS
receive data) or the source of transmitted 16-bit data
(parameter group 61 D2D and DDCS transmit data). The
scaling and range are defined by parameters 47.31…47.38.
See par. 47.31 32-bit real (floating point) number. See par.
47.31
real32 See also parameter 47.01 Data storage 1 real32.
47.32
47.33
real32 See also parameter 47.01 Data storage 1 real32
47.34
47.35
47.36
47.37
442 Parameters

47.38
47.11 Data storage 1 Data storage parameter 9. 0
int32
-2147483648 … 32-bit integer. -
2147483647
int32
-2147483648 … 32-bit integer. -
2147483647
int32
-2147483648 … 32-bit integer. -
2147483647
int32
-2147483648 … 32-bit integer. -
2147483647
int32
-2147483648 … 32-bit integer. -
2147483647
int32
-2147483648 … 32-bit integer. -
2147483647
int32
-2147483648 … 32-bit integer. -
2147483647
int32
-2147483648 … 32-bit integer. -
2147483647
int16
-32768 … 32767 16-bit integer. 1=1
int16
-32768 … 32767 16-bit integer. 1=1
int16
-32768 … 32767 16-bit integer. 1=1
int16
-32768 … 32767 16-bit integer. 1=1
Parameters 443

int16
-32768 … 32767 16-bit integer. 1=1
int16
-32768 … 32767 16-bit integer. 1=1
int16
-32768 … 32767 16-bit integer. 1=1
int16
-32768 … 32767 16-bit integer. 1=1
47.31 Data storage 1 Defines the scaling of parameter 47.01 Data storage 1 Unscaled
real32 type real32 to and from 16-bit integer format. This scaling is used
when the data storage parameter is the target of received
16-bit data (defined in parameter group 62 D2D and DDCS
receive data), or when the data storage parameter is the
source of transmitted 16-bit data (defined in parameter
group 61 D2D and DDCS transmit data).
The setting also defines the visible range of the storage
parameter.
Unscaled Data storage only. Range: -2147483.264 … 2147473.264. 0
Transparent Scaling: 1 = 1. Range: -32768 … 32767. 1
General Scaling: 1 = 100. Range: -327.68 … 327.67. 2
Torque The scaling is defined by parameter 46.03 Torque scaling. 3
Range: -1600.0 … 1600.0.
Speed The scaling is defined by parameter 46.01 Torque scaling. 4
Range: -1600.0 … 1600.0.
Frequency The scaling is defined by parameter 46.02 Frequency 5
scaling. Range: -500.00 … 500.00.
47.32 Data storage 2 Defines the 16-bit scaling of parameter 47.02 Data storage 2 Unscaled
real32 type real32.
See parameter 47.31 Data storage 1 real32 type.
real32 type real32.
real32 type real32.
real32 type real32.
real32 type real32.
real32 type real32.
444 Parameters

real32 type real32.
49
49 Panel port Communication settings for the control panel port on the
communication drive.
49.01 Node ID number Defines the node ID of the drive. All devices connected to 1
the network must have a unique node ID.
Note: For networked drives, it is advisable to reserve ID 1
for spare/replacement drives.
•
1…32 Node ID. 1=1
49.03 Baud rate Defines the transfer rate of the link. 230.4 kbps
38.4 kbps 38.4 kbit/s. 1
57.6 kbps 57.6 kbit/s. 2
86.4 kbps 86.4 kbit/s. 3
115.2 kbps 115.2 kbit/s. 4
230.4 kbps 230.4 kbit/s. 5
49.04 Communication Sets a timeout for control panel (or PC tool) communication. 10.0 s
loss time If a communication break lasts longer than the timeout, the
action specified by parameter 49.05 Communication loss
action is taken.
0.3 … 3000.0 s Panel/PC tool communication timeout. 10 = 1 s
49.05 Communication Selects how the drive reacts to a control panel (or PC tool) Fault
loss action communication break.
Fault Drive trips on 7081 Panel port communication. 1
Last speed Drive generates an A7EE Panel loss warning and freezes 2
the speed to the level the drive was operating at. The speed
is determined on the basis of actual speed using 850 ms
low-pass filtering.
Speed ref safe Drive generates an A7EE Panel loss warning and sets the 3
speed to the speed defined by parameter 22.41 Speed ref
safe.
Fault always Drive trips on 7081 Panel port communication. This occurs 4
even though no control is expected from the panel (or PC
tool).
Warning Drive generates an A7EE Panel loss warning. This occurs 5
even though no control is expected from the panel (or PC
tool).
49.06 Refresh settings Applies the settings of parameters 49.01…49.05. Done

Note: Refreshing may cause a communication break, so
reconnecting the drive may be required.
Done Refresh done or not requested. 0
Parameters 445

Refresh Refresh parameters 49.01…49.05. The value reverts 1
automatically to Done.
49.07 Panel comm (Visible only when user lock is open with pass code 584. 0000b
supervision force See parameter 96.02 Pass code.)
Activates control panel communication monitoring
separately for each control location (see section Local
control vs. external control on page 148).
The parameter is primarily intended for monitoring the
communication with the panel when it is connected to the
application program and not selected as a control source by
drive parameters.
Bit Name Value

0 Ext 1 1 = Communication monitoring active when Ext 1 is being used.
2 Local 1 = Communication monitoring active when local control is being used.
3…15 Reserved
0000b…0111b Panel communication monitoring selection. 1=1

49.08 Secondary comm. (Visible only when user lock is open with pass code 584. No action
loss action See parameter 96.02 Pass code.)
Selects how the drive reacts to a control panel (or PC tool)
communication break when the panel is parametrized as an
alternative control or reference source but is not currently
the active source.
Warning Drive generates an A7EE Panel loss warning. 5
49.14 Panel speed (Visible only when user lock is open with pass code 584. rpm
reference unit See parameter 96.02 Pass code.)
Defines the unit for speed reference when given from the
control panel.
rpm rpm. 0
% Percent of absolute value of 30.12 Maximum speed or 30.11 1
Minimum speed, whichever is greater.
49.15 Minimum ext (Visible only when user lock is open with pass code 584. -30000.00
speed ref panel See parameter 96.02 Pass code.) rpm
Defines a minimum limit for control panel speed reference in
external control.
In local control, the limits in parameter group 30 Limits are in
force. See section Local control vs. external control
(page 148).
-30000.00 … Minimum speed reference. See par.
30000.00 rpm 46.01
446 Parameters

49.16 Maximum ext (Visible only when user lock is open with pass code 584. 30000.00
speed ref panel See parameter 96.02 Pass code.) rpm
Defines a maximum limit for control panel speed reference
in external control.
(page 148).
-30000.00 … Maximum speed reference. See par.
30000.00 rpm 46.01
49.17 Minimum ext (Visible only when user lock is open with pass code 584. -500.00 Hz
frequency ref panel See parameter 96.02 Pass code.)
Defines a minimum limit for control panel frequency
reference in external control.
(page 148).
-500.00 … Minimum frequency reference. See par.
500.00 Hz 46.01
49.18 Maximum ext (Visible only when user lock is open with pass code 584. 500.00 Hz
frequency ref panel See parameter 96.02 Pass code.)
Defines a maximum limit for control panel frequency
reference in external control.
(page 148).
-500.00 … Maximum frequency reference. See par.
500.00 Hz 46.02
49.24 Panel actual (Visible only when user lock is open with pass code 584. Automatic
Selects an actual value to be displayed in the top right
corner of the control panel.
Note: This parameter is effective only when the control
panel is not an active reference source.
Automatic The active reference is displayed. 0
Process PID Not used. 1
setpoint actual
page 219).
50
50 Fieldbus adapter Fieldbus communication configuration.
(FBA) See also chapter Fieldbus control through a fieldbus adapter
(page 705).
50.01 FBA A enable Enables/disables communication between the drive and Disable
fieldbus adapter A, and specifies the slot the adapter is
installed into.
Disable Communication between drive and fieldbus adapter A 0
disabled.
Option slot 1 Communication between drive and fieldbus adapter A 1
enabled. The adapter is in slot 1.
Parameters 447

50.02 FBA A comm loss Selects how the drive reacts upon a fieldbus communication No action
func break. The time delay is defined by parameter 50.03 FBA A
comm loss t out.
Fault Communication break detection active. Upon a 1
communication break, the drive trips on a 7510 FBA A
communication fault and coasts to a stop.
Last speed Communication break detection active. Upon a 2
communication break, the drive generates a warning (A7C1
FBA A communication) and freezes the speed to the level
the drive was operating at. The speed is determined on the
Speed ref safe Communication break detection active. Upon a 3
FBA A communication) and sets the speed to the value
defined by parameter 22.41 Speed ref safe.
Fault always Drive trips on 7510 FBA A communication. This occurs even 4
though no control is expected from the fieldbus.
Warning Drive generates an A7C1 FBA A communication warning. 5
This occurs even though no control is expected from the
fieldbus.
50.03 FBA A comm loss t Defines the time delay before the action defined by 0.3 s
out parameter 50.02 FBA A comm loss func is taken. Time
count starts when the communication link fails to update the
message.
As a rule of thumb, this parameter should be set to at least 3
times the transmit interval of the master.
0.3 … 6553.5 s Time delay. 1=1s
50.04 FBA A ref1 type Selects the type and scaling of reference 1 received from Auto
fieldbus adapter A.
Note: Fieldbus-specific communication profiles may use
different scalings. For more information, see the manual of
the fieldbus adapter.
Auto Type and scaling are chosen automatically according to 0
which reference chain (see settings Torque, Speed,
Frequency) the incoming reference is connected to. If the
reference is not connected to any chain, no scaling is
applied (as with setting Transparent).
Transparent No scaling is applied (the 16-bit scaling is 1 = 1 unit). 1
General Generic reference with a scaling of 100 = 1 (ie. integer and 2
two decimals).
Speed The scaling is defined by parameter 46.01 Speed scaling. 4
scaling.
448 Parameters

50.05 FBA A ref2 type Selects the type and scaling of reference 2 received from Auto
fieldbus adapter A.
For the selections, see parameter 50.04 FBA A ref1 type
50.07 FBA A actual 1 Selects the type/source and scaling of actual value 1 Auto
type transmitted to the fieldbus network through fieldbus adapter
A.
Auto Type/source and scaling follow the type of reference 1 0
selected by parameter 50.04 FBA A ref1 type. See the
individual settings below for the sources and scalings.
Transparent The value selected by parameter 50.10 FBA A act1 1
transparent source is sent as actual value 1. No scaling is
applied (the 16-bit scaling is 1 = 1 unit).
General The value selected by parameter 50.10 FBA A act1 2
transparent source is sent as actual value 1 with a 16-bit
scaling of 100 = 1 unit (ie. integer and two decimals).
Torque 01.10 Motor torque is sent as actual value 1. The scaling is 3
defined by parameter 46.03 Torque scaling.
Speed 01.01 Motor speed used is sent as actual value 1. The 4
scaling is defined by parameter 46.01 Speed scaling.
Frequency 01.06 Output frequency is sent as actual value 1. The 5
scaling is defined by parameter 46.02 Frequency scaling.
Position Motor position is sent as actual value 1. See parameter 6
90.06 Motor position scaled.
50.08 FBA A actual 2 Selects the type/source and scaling of actual value 2 Auto
type transmitted to the fieldbus network through fieldbus adapter
A.
See parameter 50.07 FBA A actual 1 type.
50.09 FBA A SW Selects the source of the fieldbus status word when fieldbus Not selected
transparent source adapter is set to a transparent communication profile, for
example, by its configuration parameters (group 51 FBA A
settings).
Not selected No source selected. -
page 219).
50.10 FBA A act1 When parameter 50.07 FBA A actual 1 type is set to Not selected
transparent source Transparent or General, this parameter selects the source of
actual value 1 transmitted to the fieldbus network through
fieldbus adapter A.
page 219).
50.11 FBA A act2 When parameter 50.08 FBA A actual 2 type is set to Not selected
fieldbus adapter A.
page 219).
Parameters 449

50.12 FBA A debug Enables the display of raw (unmodified) data received from Disable
mode and sent to fieldbus adapter A in parameters 50.13…50.18.
This functionality should only be used for debugging.
Disable Display of raw data from fieldbus adapter A disabled. 0
Fast Display of raw data from fieldbus adapter A enabled. 1
50.13 FBA A control word Displays the raw (unmodified) control word sent by the -
master (PLC) to fieldbus adapter A if debugging is enabled
by parameter 50.12 FBA A debug mode.
00000000h … Control word sent by master to fieldbus adapter A. -
FFFFFFFFh
50.14 FBA A reference 1 Displays raw (unmodified) reference REF1 sent by the -
-2147483648 … Raw REF1 sent by master to fieldbus adapter A. -
2147483647
50.15 FBA A reference 2 Displays raw (unmodified) reference REF2 sent by the -
-2147483648 … Raw REF2 sent by master to fieldbus adapter A. -
2147483647
50.16 FBA A status word Displays the raw (unmodified) status word sent by fieldbus -
adapter A to the master (PLC) if debugging is enabled by
parameter 50.12 FBA A debug mode.
00000000h … Status word sent by fieldbus adapter A to master. -
FFFFFFFFh
50.17 FBA A actual value Displays raw (unmodified) actual value ACT1 sent by -
1 fieldbus adapter A to the master (PLC) if debugging is
enabled by parameter 50.12 FBA A debug mode.
-2147483648 … Raw ACT1 sent by fieldbus adapter A to master. -
2147483647
50.18 FBA A actual value Displays raw (unmodified) actual value ACT2 sent by -
2 fieldbus adapter A to the master (PLC) if debugging is
enabled by parameter 50.12 FBA A debug mode.
-2147483648 … Raw ACT2 sent by fieldbus adapter A to master. -
2147483647
450 Parameters

50.21 FBA A timelevel sel Selects the communication time levels. Normal
In general, lower time levels of read/write services reduce
CPU load. The table below shows the time levels of the
read/write services for cyclic high and cyclic low data with
each parameter setting.
Selection Cyclic high * Cyclic low **

Monitoring 10 ms 10 ms
Normal 2 ms 10 ms
Fast 500 µs 2 ms
Very fast 250 µs 2 ms
* Cyclic high data consists of fieldbus Status word, Act1 and

Act2.
** Cyclic low data consists of the parameter data mapped to
parameter groups 52 FBA A data in and 53 FBA A data out,
and acyclic data.
Control word, Ref1 and Ref2 are handled as interrupts
generated on receipt of cyclic high messages.
Normal Normal speed. 0
Fast Fast speed. 1
Very fast Very fast speed. 2
Monitoring Low speed. Optimized for PC tool communication and 3
monitoring usage.
50.26 FBA A comm Activates fieldbus communication monitoring separately for 0000b
supervision force each control location (see section Local control vs. external
communication with FBA A when it is connected to the
drive parameters.
Bit Name Value

0 Ext 1 1 = Communication monitoring active when Ext 1 is used.
2 Local 1 = Communication monitoring active when local control is used.
3…15 Reserved
0000b…0111b FBA A communication monitoring selection. 1=1

50.31 FBA B enable Enables/disables communication between the drive and Disable
fieldbus adapter B, and specifies the slot the adapter is
installed into.
Disable Communication between drive and fieldbus adapter B 0
disabled.
Option slot 1 Communication between drive and fieldbus adapter B 1
Parameters 451

50.32 FBA B comm loss Selects how the drive reacts upon a fieldbus communication No action
func break. The time delay is defined by parameter 50.33 FBA B
comm loss timeout.
Fault Communication break detection active. Upon a 1
communication break, the drive trips on a 7520 FBA B
communication fault and coasts to a stop.
Last speed Communication break detection active. Upon a 2
FBA B communication) and freezes the speed to the level
the drive was operating at. The speed is determined on the
Speed ref safe Communication break detection active. Upon a 3
FBA B communication) and sets the speed to the value
defined by parameter 22.41 Speed ref safe.
Fault always Drive trips on 7520 FBA B communication. This occurs even 4
though no control is expected from the fieldbus.
Warning Drive generates an A7C2 FBA B communication warning. 5
This occurs even though no control is expected from the
fieldbus.
50.33 FBA B comm loss Defines the time delay before the action defined by 0.3 s
timeout parameter 50.32 FBA B comm loss func is taken. Time
count starts when the communication link fails to update the
message.
0.3 … 6553.5 s Time delay. 1=1s
50.34 FBA B ref1 type Selects the type and scaling of reference 1 received from Auto
fieldbus adapter B.
For the selections, see parameter 50.04 FBA A ref1 type.
50.35 FBA B ref2 type Selects the type and scaling of reference 2 received from Auto
fieldbus adapter B.
For the selections, see parameter 50.04 FBA A ref1 type.
50.37 FBA B actual 1 Selects the type/source and scaling of actual value 1 Auto
type transmitted to the fieldbus network through fieldbus
adapter B.
50.38 FBA B actual 2 Selects the type/source and scaling of actual value 2 Auto
type transmitted to the fieldbus network through fieldbus
adapter B.
50.39 FBA B SW Selects the source of the fieldbus status word when the Not selected
transparent source fieldbus adapter is set to a transparent communication
profile, for example, by its configuration parameters (group
54 FBA B settings).
452 Parameters

219).
50.40 FBA B act1 When parameter 50.37 FBA B actual 1 type is set to Not selected
fieldbus adapter B.
page 219).
50.41 FBA B act2 When parameter 50.38 FBA B actual 2 type is set to Not selected
fieldbus adapter B.
page 219).
50.42 FBA B debug Enables the display of raw (unmodified) data received from Disable
mode and sent to fieldbus adapter B in parameters 50.43…50.48.
This functionality should only be used for debugging.
Disable Display of raw data from fieldbus adapter B disabled. 0
Fast Display of raw data from fieldbus adapter B enabled. 1
50.43 FBA B control word Displays the raw (unmodified) control word sent by the -
master (PLC) to fieldbus adapter B if debugging is enabled
by parameter 50.42 FBA B debug mode.
00000000h … Control word sent by master to fieldbus adapter B. -
FFFFFFFFh
50.44 FBA B reference 1 Displays raw (unmodified) reference REF1 sent by the -
-2147483648 … Raw REF1 sent by master to fieldbus adapter B. -
2147483647
50.45 FBA B reference 2 Displays raw (unmodified) reference REF2 sent by the -
-2147483648 … Raw REF2 sent by master to fieldbus adapter B. -
2147483647
50.46 FBA B status word Displays the raw (unmodified) status word sent by fieldbus -
adapter B to the master (PLC) if debugging is enabled by
parameter 50.42 FBA B debug mode.
00000000h … Status word sent by fieldbus adapter B to master. -
FFFFFFFFh
Parameters 453

50.47 FBA B actual value Displays raw (unmodified) actual value ACT1 sent by -
1 fieldbus adapter B to the master (PLC) if debugging is
enabled by parameter 50.42 FBA B debug mode.
-2147483648 … Raw ACT1 sent by fieldbus adapter B to master. -
2147483647
50.48 FBA B actual value Displays raw (unmodified) actual value ACT2 sent by -
2 fieldbus adapter B to the master (PLC) if debugging is
enabled by parameter 50.42 FBA B debug mode.
-2147483648 … Raw ACT2 sent by fieldbus adapter B to master. -
2147483647
50.51 FBA B timelevel sel Selects the communication time levels. Normal
In general, lower time levels of read/write services reduce
CPU load. The table below shows the time levels of the
read/write services for cyclic high and cyclic low data with
each parameter setting.
Selection Cyclic high * Cyclic low **

Monitoring 10 ms 10 ms
Normal 2 ms 10 ms
Fast 500 µs 2 ms
Very fast 250 µs 2 ms
* Cyclic high data consists of fieldbus Status word, Act1 and

Act2.
** Cyclic low data consists of the parameter data mapped to
parameter groups 55 FBA B data in and 56 FBA B data out,
and acyclic data.
Control word, Ref1 and Ref2 are handled as interrupts
generated on receipt of cyclic high messages.
Normal Normal speed. 0
Fast Fast speed. 1
Very fast Very fast speed. 2
Monitoring Low speed. Optimized for PC tool communication and 3
monitoring usage.
50.56 FBA B comm Activates fieldbus communication monitoring separately for 0000b
communication with FBA B when it is connected to the
drive parameters.
Bit Name Value

3…15 Reserved
0000b…0111b FBA B communication monitoring selection. 1=1

454 Parameters

51
51 FBA A settings Fieldbus adapter A configuration.
51.01 FBA A type Displays the type of the connected fieldbus adapter module. -
0 = Module is not found or is not properly connected, or is
disabled by parameter 50.01 FBA A enable; 1 = FPBA;
32 = FCAN; 37 = FDNA; 101 = FCNA, 128 = FENA-11/21;
135 = FECA; 136 = FEPL; 485 = FSCA.
51.02 FBA A Par2 Parameters 51.02…51.26 are adapter module-specific. For -
more information, see the documentation of the fieldbus
adapter module. Note that not all of these parameters are
necessarily in use.
0…65535 Fieldbus adapter configuration parameter. 1=1
… … … …
51.26 FBA A Par26 See parameter 51.02 FBA A Par2. -
51.27 FBA A par refresh Validates any changed fieldbus adapter module Done
configuration settings. After refreshing, the value reverts
running.
Done Refreshing done. 0
Refresh Refreshing. 1
51.28 FBA A par table ver Displays the parameter table revision of the fieldbus adapter -
module mapping file (stored in the memory of the drive).
In format axyz, where ax = major table revision number; yz =
minor table revision number.
Parameter table revision of adapter module. -
51.29 FBA A drive type Displays the drive type code in the fieldbus adapter module -
code mapping file (stored in the memory of the drive).
0…65535 Drive type code stored in the mapping file. 1=1
51.30 FBA A mapping file Displays the fieldbus adapter module mapping file revision -
ver stored in the memory of the drive in decimal format.
0…65535 Mapping file revision. 1=1
51.31 D2FBA comm Displays the status of the fieldbus adapter module -
status communication.
Idle Adapter is not configured. 0
Exec.init Adapter is initializing. 1
Time out A timeout has occurred in the communication between the 2
adapter and the drive.
Conf.err Adapter configuration error: mapping file not found in the file 3
system of the drive, or mapping file upload has failed more
than three times.
Off-line Fieldbus communication is off-line. 4
Parameters 455

On-line Fieldbus communication is on-line, or fieldbus adapter has 5
been configured not to detect a communication break. For
adapter.
Reset Adapter is performing a hardware reset. 6
51.32 FBA A comm SW Displays the patch and build versions of the adapter module
ver firmware in format xxyy, where xx = patch version number,
yy = build version number.
Example: C802 = 200.02 (patch version 200, build
version 2).
Patch and build versions of adapter module firmware. -
51.33 FBA A appl SW ver Displays the major and minor versions of the adapter
module firmware in format xyz, where x = major revision
number, yy = minor revision number.
Example: 300 = 3.00 (major version 3, minor version 00).
Major and minor versions of adapter module firmware. -
52
52 FBA A data in Selection of data to be transferred from drive to fieldbus
controller through fieldbus adapter A.
Note: 32-bit values require two consecutive parameters.
Whenever a 32-bit value is selected in a data parameter, the
next parameter is automatically reserved.
52.01 FBA A data in1 Parameters 52.01…52.12 select data to be transferred from None
the drive to the fieldbus controller through fieldbus adapter
A.
None None. 0
CW 16bit Control Word (16 bits) 1
Ref1 16bit Reference REF1 (16 bits) 2
SW 16bit Status Word (16 bits) 4
Act1 16bit Actual value ACT1 (16 bits) 5
SW2 16bit Status Word 2 (16 bits) 24
219).
… … … …
52.12 FBA A data in12 See parameter 52.01 FBA A data in1. None
456 Parameters

53
53 FBA A data out Selection of data to be transferred from fieldbus controller to
drive through fieldbus adapter A.
Note: 32-bit values require two consecutive parameters.
Whenever a 32-bit value is selected in a data parameter, the
next parameter is automatically reserved.
53.01 FBA A data out1 Parameters 53.01…53.12 select data to be transferred from None
the fieldbus controller to the drive through fieldbus adapter
A.
None None. 0
CW2 16bit Control Word 2 (16 bits) 21
page 219).
… … … …
53.12 FBA A data out12 See parameter 53.01 FBA A data out1. None
54
54 FBA B settings Fieldbus adapter B configuration.
54.01 FBA B type Displays the type of the connected fieldbus adapter module. -
0 = Module is not found or is not properly connected, or is
disabled by parameter 50.31 FBA B enable; 1 = FPBA;
32 = FCAN; 37 = FDNA; 101 = FCNA, 128 = FENA-11/21;
135 = FECA; 136 = FEPL; 485 = FSCA.
54.02 FBA B Par2 Parameters 54.02…54.26 are adapter module-specific. For -
adapter module. Note that not all of these parameters are
necessarily in use.
… … …
54.26 FBA B Par26 See parameter 54.02 FBA A Par2. -
54.27 FBA B par refresh Validates any changed fieldbus adapter module Done
configuration settings. After refreshing, the value reverts
running.
Parameters 457

54.28 FBA B par table ver Displays the parameter table revision of the fieldbus adapter -
module mapping file (stored in the memory of the drive).
In format axyz, where ax = major table revision number; yz =
minor table revision number.
0…65535 Parameter table revision of adapter module. -
54.29 FBA B drive type Displays the drive type code in the fieldbus adapter module -
code mapping file (stored in the memory of the drive).
0…65535 Drive type code stored in the mapping file. 1=1
54.30 FBA B mapping file Displays the fieldbus adapter module mapping file revision -
ver stored in the memory of the drive in decimal format.
Mapping file revision. 1=1
54.31 D2FBA B comm Displays the status of the fieldbus adapter module -
status communication.
Not configured Adapter is not configured. 0
Initializing Adapter is initializing. 1
Time out A timeout has occurred in the communication between the 2
adapter and the drive.
Configuration error Adapter configuration error: mapping file not found in the file 3
system of the drive, or mapping file upload has failed more
than three times.
Off-line Fieldbus communication is off-line. 4
On-line Fieldbus communication is on-line, or fieldbus adapter has 5
been configured not to detect a communication break. For
adapter.
Reset Adapter is performing a hardware reset. 6
54.32 FBA B comm SW Displays the patch and build versions of the adapter module
ver firmware in format xxyy, where xx = patch version number,
yy = build version number.
Example: C802 = 200.02 (patch version 200, build
version 2).
Patch and build versions of adapter module firmware. -
54.33 FBA B appl SW ver Displays the major and minor versions of the adapter
module firmware in format xyz, where x = major revision
number, yy = minor revision number.
Example: 300 = 3.00 (major version 3, minor version 00).
Major and minor versions of adapter module firmware. -
55
55 FBA B data in Selection of data to be transferred from drive to fieldbus
controller through fieldbus adapter B.
55.01 FBA B data in1 Parameters 55.01…55.12 select data to be transferred from None
the drive to the fieldbus controller through fieldbus adapter
B.
None None. 0
458 Parameters

SW2 16bit Status Word 2 (16 bits) 24
page 219).
… … …
55.12 FBA B data in12 See parameter 55.01 FBA B data in1. None
56
56 FBA B data out Selection of data to be transferred from fieldbus controller to
drive through fieldbus adapter B.
56.01 FBA B data out1 Parameters 56.01…56.12 select data to be transferred from None
the fieldbus controller to the drive through fieldbus
adapter B.
None None. 0
CW2 16bit Control Word 2 (16 bits) 21
page 219).
… … …
56.12 FBA B data out12 See parameter 56.01 FBA B data out1. None
58
58 Embedded fieldbus Configuration of the embedded fieldbus (EFB) interface.
See also chapter Fieldbus control through the embedded
fieldbus interface (EFB) (page 681).
58.01 Protocol enable Enables/disables the embedded fieldbus interface and None
selects the protocol to use.
Note: When the embedded fieldbus interface is enabled, the
drive-to-drive link functionality is automatically disabled.
None None (communication disabled). 0
Modbus RTU Embedded fieldbus interface is enabled and uses the 1
Modbus RTU protocol.
Parameters 459

58.02 Protocol ID Displays the protocol ID and revision. -
Protocol ID and revision. 1=1
58.03 Node address Defines the node address of the drive on the fieldbus link. 1
Values 1…247 are allowable. Two devices with the same
address are not allowed on-line.
Changes to this parameter take effect after the control unit is
rebooted or the new settings validated by parameter 58.06
Communication control.
0…255 Node address (values 1…247 are allowable). 1=1
58.04 Baud rate Selects the transfer rate of the fieldbus link. 19.2 kbps
Autodetect Enables automatic detection of the transfer rate. When 0
activated, the bus is monitored for a period of time, after
which the parameter is set to the detected transfer rate.
Note that parameter 58.05 Parity must be set before
autodetection is activated.
9.6 kbps 9.6 kbit/s. 2
19.2 kbps 19.2 kbit/s. 3
38.4 kbps 38.4 kbit/s. 4
57.6 kbps 57.6 kbit/s. 5
76.8 kbps 76.8 kbit/s. 6
115.2 kbps 115.2 kbit/s. 7
58.05 Parity Selects the number of data bits, type of parity bit, and 8 EVEN 1
number of stop bits.
8 NONE 1 Eight data bits, no parity bit, one stop bit. 0
8 NONE 2 Eight data bits, no parity bit, two stop bits. 1
8 EVEN 1 Eight data bits, even parity bit, one stop bit. 2
8 ODD 1 Eight data bits, odd parity bit, one stop bit. 3
58.06 Communication Validates any changes in the EFB settings, or activates Enabled
control silent mode.
Enabled Normal operation. 0
Refresh settings Validates any changed EFB configuration settings. Reverts 1
automatically to Enabled.
Silent mode Activates silent mode (no messages are transmitted). 2
Silent mode can be terminated by activating the Refresh
settings selection of this parameter.
460 Parameters

58.07 Communication Displays the status of the EFB communication. -
diagnostics This parameter is read-only.

0 Init failed 1 = EFB initialization failed
1 Addr config err 1 = Node address not allowed by protocol
2 Silent mode 1 = Drive not allowed to transmit
0 = Drive allowed to transmit
3 Autobauding 1 = Drive attempting to determine transfer rate
4 Wiring error 1 = Errors detected (A/B wires possibly swapped)
5 Parity error 1 = Error detected: check parameters 58.04 and 58.05
6 Baud rate error 1 = Error detected: check parameters 58.05 and 58.04
7 No bus activity 1 = 0 bytes received during last 5 seconds
8 No packets 1 = 0 packets (addressed to any device) detected during last
5 seconds
9 Noise or addressing 1 = Errors detected (interference, or another device with the
error same address on line)
10 Comm loss 1 = 0 packets addressed to the drive received within timeout
(58.16)
11 CW/Ref loss 1 = No control word or references received within timeout
(58.16)
12 Not active Reserved
13 Protocol 1 1 = Protocol-dependent status information
14 Protocol 2 1 = Protocol-dependent status information
15 Internal error 1 = Problem with calls to drive control program
0000h…FFFFh EFB communication status. 1=1

58.08 Received packets Displays a count of valid packets addressed to the drive. -
During normal operation, this number increases constantly.
0…4294967295 Number of received packets addressed to the drive. 1=1
58.09 Transmitted Displays a count of valid packets transmitted by the drive. -
packets During normal operation, this number increases constantly.
0…4294967295 Number of transmitted packets. 1=1
58.10 All packets Displays a count of valid packets addressed to any device -
on the bus. During normal operation, this number increases
constantly.
0…4294967295 Number of all received packets. 1=1
58.11 UART errors Displays a count of character errors received by the drive. -
An increasing count indicates a configuration problem on
the bus.
0…4294967295 Number of UART errors. 1=1
Parameters 461

58.12 CRC errors Displays a count of packets with a CRC error received by -
the drive. An increasing count indicates interference on the
bus.
0…4294967295 Number of CRC errors. 1=1
58.14 Communication Selects how the drive reacts to an EFB communication No
loss action break.
See also parameters 58.15 Communication loss mode and
58.16 Communication loss time.
No No action taken (monitoring disabled). 0
Fault Drive trips on 6681 EFB comm loss. This only occurs if 1
control is expected from the EFB.
Last speed Drive generates an A7CE EFB comm loss warning and 2
freezes the speed to the level the drive was operating at.
This only occurs if control is expected from the EFB.
The speed is determined on the basis of actual speed using
850 ms low-pass filtering.
Speed ref safe Drive generates an A7CE EFB comm loss warning and sets 3
ref safe. This only occurs if control is expected from the
EFB.
Fault always Drive trips on 6681 EFB comm loss. This occurs even 4
though no control is expected from the EFB.
58.15 Communication Defines which message types reset the timeout counter for None
loss mode detecting an EFB communication loss.
See also parameters 58.14 Communication loss action and
58.16 Communication loss time.
None None (monitoring disabled). 0
Any message Any message addressed to the drive resets the timeout. 1
Cw / Ref1 / Ref2 A write of the control word or a reference resets the timeout. 2
58.16 Communication Sets a timeout for EFB communication. If a communication 30.0 s
loss time break lasts longer than the timeout, the action specified by
parameter 58.14 Communication loss action is taken.
See also parameter 58.15 Communication loss mode.
0.0 … 6000.0 s EFB communication timeout. 1=1
462 Parameters

58.17 Transmit delay Defines a minimum response delay in addition to any fixed 0 ms
delay imposed by the protocol.
0…65535 ms Minimum response delay. 1=1
58.18 EFB control word Displays the control word for debugging purposes. -
0000h…FFFFh Control word. 1=1
58.19 EFB status word Displays the status word for debugging purposes. -
0000h…FFFFh Status word. 1=1
58.25 Control profile Defines the communication profile used by the protocol. ABB Drives
ABB Drives ABB Drives profile (with a 16-bit control word) with registers 0
in the classic format for backward compatibility.
Transparent Transparent profile (16-bit or 32-bit control word) with 2
registers in the classic format.
58.26 EFB ref1 type Selects the type and scaling of reference 1 received through Auto
the embedded fieldbus interface.
The scaled reference is displayed by 03.09 EFB reference
1.
Transparent No scaling is applied. 1
two decimals).
scaling.
58.27 EFB ref2 type Selects the type and scaling of reference 2 received through Torque
the embedded fieldbus interface.
The scaled reference is displayed by 03.10 EFB reference
2.
For the selections, see parameter 58.26 EFB ref1 type.
58.28 EFB act1 type Selects the type/source and scaling of actual value 1 Auto
transmitted to the fieldbus network through the embedded
fieldbus interface.
selected by parameter 58.26 EFB ref1 type. See the
Transparent The value selected by parameter 58.31 EFB act1 1
General The value selected by parameter 58.31 EFB act1 2
Parameters 463

58.29 EFB act2 type Selects the type/source and scaling of actual value 2 Torque
transmitted to the fieldbus network through the embedded
fieldbus interface.
selected by parameter 58.27 EFB ref2 type. See the
Transparent The value selected by parameter 58.32 EFB act2 1
General The value selected by parameter 58.32 EFB act2 2
58.30 EFB status word Selects the source of the status word when 58.25 Control Not selected
transparent source profile is set to Transparent.
page 219).
58.31 EFB act1 Selects the source of actual value 1 when 58.28 EFB act1 Not selected
transparent source type is set to Transparent or General.
page 219).
58.32 EFB act2 Selects the source of actual value 1 when 58.29 EFB act2 Not selected
transparent source type is set to Transparent or General.
page 219).
464 Parameters

58.33 Addressing mode Defines the mapping between parameters and holding Mode 0
registers in the 400101…465535 Modbus register range.
Mode 0 16-bit values (groups 1…99, indexes 1…99): 0
Register address = 400000 + 100 × parameter group +
parameter index. For example, parameter 22.80 would be
mapped to register 400000 + 2200 + 80 = 402280.
32-bit values (groups 1…99, indexes 1…99):
2 × parameter index. For example, parameter 22.80 would
be mapped to register 420000 + 4400 + 160 = 424560.
parameter index. For example, parameter 22.80 would be
mapped to register 400000 + 5632 + 80 = 405712.
2 × parameter index. For example, parameter 22.80 would
be mapped to register 400000 + 11264 + 160 = 411424.
58.34 Word order Selects in which order 16-bit registers of 32-bit parameters LO-HI
are transfered.
For each register, the first byte contains the high order byte
and the second byte contains the low order byte.
HI-LO The first register contains the high order word, the second 0
contains the low order word.
LO-HI The first register contains the low order word, the second 1
contains the high order word.
58.36 EFB comm Activates fieldbus communication monitoring separately for 0000b
communication with EFB when it is connected to the
drive parameters.
Bit Name Value

3…15 Reserved
0000b…0111b EFB communication monitoring selection. 1=1

Parameters 465

58.101 Data I/O 1 Defines the address in the drive which the Modbus master None
accesses when it reads from or writes to register address
400001.
The master defines the type of the data (input or output).
The value is transmitted in a Modbus frame consisting of
two 16-bit words. If the value is 16-bit, it is transmitted in the
LSW (least significant word). If the value is 32-bit, the
subsequent parameter is also reserved for it and must be
set to None.
None None. 0
CW 16bit Control Word (16 bits). 1
Ref1 16bit Reference REF1 (16 bits). 2
SW 16bit Status Word (16 bits). 4
Act1 16bit Actual value ACT1 (16 bits). 5
CW 32bit Control Word (32 bits). 11
SW 32bit Status Word (32 bits). 14
CW2 16bit Control Word 2 (16 bits). 21
When a 32-bit control word is used, this setting means the
most-significant 16 bits.
SW2 16bit Status Word 2 (16 bits). 24
When a 32-bit control word is used, this setting means the
most-significant 16 bits.
RO/DIO control Parameter 10.99 RO/DIO control word. 31
word
AO1 data storage Parameter 13.91 AO1 data storage. 32
AO2 data storage Parameter 13.92 AO2 data storage. 33
page 219).
58.102 Data I/O 2 Defines the address in the drive which the Modbus master Ref1 16bit
400002.
For the selections, see parameter 58.101 Data I/O 1.
58.103 Data I/O 3 Defines the address in the drive which the Modbus master Ref2 16bit
400003.
58.104 Data I/O 4 Defines the address in the drive which the Modbus master SW 16bit
400004.
466 Parameters

58.105 Data I/O 5 Defines the address in the drive which the Modbus master Act1 16bit
400005.
58.106 Data I/O 6 Defines the address in the drive which the Modbus master Act2 16bit
400006.
58.107 Data I/O 7 Parameter selector for Modbus register address 400007. None
… … … …
58.124 Data I/O 24 Parameter selector for Modbus register address 400024. None
60
60 DDCS DDCS communication configuration.
communication The DDCS protocol is used in the communication between
• drives in a master/follower configuration (see page 160),
• the drive and an external controller such as the AC 800M
(see page 166), or
• the drive (or more precisely, an inverter unit) and the
supply unit of the drive system (see page 168).
All of the above utilize a fiber optic link which also requires
an FDCO module (typically with ZCU control units) or an
RDCO module (with BCU control units). To build a
master/follower configuration, shielded twisted-pair cable
can alternatively be used to link the XD2D connectors of the
drives together. For wiring instructions, see the hardware
manual of the drive.
60.01 M/F Selects the connection used by the master/follower Not in use
communication functionality.
port
Not in use None (communication disabled). 0
Slot 1A Channel A on FDCO module in slot 1 (with ZCU control unit 1
only).
only).
only).
Slot 1B Channel B on FDCO module in slot 1 (with ZCU control unit 4
only).
only).
only).
XD2D Drive-to-drive link. 7
RDCO CH 2 Channel 2 on RDCO module (with BCU control unit only). 12
60.02 M/F node address Selects the node address of the drive for master/follower 1
communication. No two nodes on-line may have the same
address.
Note: The allowable addresses for the master are 0 and 1.
The allowable addresses for followers are 2…60.
1…254 Node address.
Parameters 467

60.03 M/F mode Defines the role of the drive on the master/follower link. Not in use
Not in use Master/follower functionality not active. 0
DDCS master The drive is the master on the master/follower (DDCS) link. 1
DDCS follower The drive is a follower on the master/follower (DDCS) link. 2
D2D master The drive is the master on the drive-to-drive (D2D) link. 3
Note: Use the setting DDCS master if using the
master/follower functionality (see page 160) through the
XD2D connector.
D2D follower The drive is a follower on the drive-to-drive (D2D) link. 4
Note: Use the setting DDCS follower if using the
XD2D connector.
DDCS forcing The role of the drive on the master/follower (DDCS) link is 5
defined by parameters 60.15 Force master and 60.16 Force
follower.
D2D forcing The role of the drive on the drive-to-drive (D2D) link is 6
defined by parameters 60.15 Force master and 60.16 Force
follower.
Note: Use the setting DDCS forcing if using the
XD2D connector.
60.05 M/F HW (Visible only when user lock is open with pass code 584. Ring
connection See parameter 96.02 Pass code.)
Selects the topology of the master/follower link.
Note: Use the setting Star if using the master/follower
functionality (see page 160) through the XD2D connector
(as opposed to a fiber optic link).
Ring The devices are connected in a ring topology. Forwarding of 0
messages is enabled.
Star The devices are connected in a star topology (for example, 1
through a branching unit). Forwarding of messages is
disabled.
60.07 M/F link control (Visible only when user lock is open with pass code 584. 10
Defines the light intensity of the transmission LED of RDCO
module channel CH2. (This parameter is effective only when
parameter 60.01 M/F communication port is set to RDCO
CH 2. FDCO modules have a hardware transmitter current
selector.)
In general, use higher values with longer fiber optic cables.
The maximum setting is applicable to the maximum length
of the fiber optic link.
1…15 Light intensity.
60.08 M/F comm loss (Visible only when user lock is open with pass code 584. 100 ms
timeout See parameter 96.02 Pass code.)
Sets a timeout for master/follower communication. If a
communication break lasts longer than the timeout, the
action specified by parameter 60.09 M/F comm loss function
is taken.
See also parameter 60.19 M/F comm supervision sel 1.
0…65535 ms Master/follower communication timeout.
468 Parameters

60.09 M/F comm loss (Visible only when user lock is open with pass code 584. Fault
Selects how the drive reacts to a master/follower
communication break.
Warning The drive generates a warning (A7CB MF comm loss). 1
Fault Drive trips on 7582 MF comm loss. 2
Fault always Drive trips on 7582 MF comm loss. This occurs even though 3
no control is expected from the master/follower link.
60.10 M/F ref1 type (Visible only when user lock is open with pass code 584. Auto
Selects the type and scaling of reference 1 received from
the master/follower link. The resulting value is shown by
03.13 M/F or D2D ref1.
two decimals).
scaling.
60.11 M/F ref2 type (Visible only when user lock is open with pass code 584. Torque
the master/follower link. The resulting value is shown by
03.14 M/F or D2D ref2.
For the selections, see parameter 60.10 M/F ref1 type.
60.12 M/F act1 type (Visible only when user lock is open with pass code 584. Auto
Selects the type/source and scaling of actual value ACT1
transmitted to the master/follower link.
selected by parameter 60.10 M/F ref1 type. See the
Transparent Reserved. 1
General Reserved. 2
Parameters 469

60.13 M/F act2 type (Visible only when user lock is open with pass code 584. Auto
Selects the type and scaling of actual value 2 transmitted to
the master/follower link.
selected by parameter 60.11 M/F ref2 type. See the
General Reserved. 2
60.14 M/F follower (Visible only when user lock is open with pass code 584. None
selection See parameter 96.02 Pass code.)
(Effective in the master only.) Defines the followers from
which data is read. See also parameters 62.28…62.33.
For the selections, see parameter 60.10 M/F ref1 type.
Follower node 2 Data is read from the follower with node address 2. 2
Follower nodes Data is read from the followers with node addresses 2 and 6
2+3 3.
2+4 4.
3+4 4.
Follower nodes Data is read from the followers with node addresses 2, 3 14
2+3+4 and 4.
None None. 0
60.15 Force master (Visible only when user lock is open with pass code 584. FALSE
When parameter 60.03 M/F mode is set to DDCS forcingor
D2D forcing, this parameter selects a source that forces the
drive to be the master on the master/follower link.
1 = Drive is master on the master/follower link
FALSE 0. 0
TRUE 1. 1
219).
60.16 Force follower (Visible only when user lock is open with pass code 584. FALSE
When parameter 60.03 M/F mode is set to DDCS forcingor
D2D forcing, this parameter selects a source that forces the
drive to be a follower on the master/follower link.
1 = Drive is follower on the master/follower link
FALSE 0. 0
470 Parameters

TRUE 1. 1
219).
60.17 Follower fault (Visible only when user lock is open with pass code 584. Fault
action See parameter 96.02 Pass code.)
(Effective in the master only.) Selects how the drive reacts to
a fault in a follower.
See also parameter 60.23 M/F status supervision sel 1.
Note: Each follower must be configured to transmit its status
word as one of the three data words in parameters
61.01…61.03. In the master, the corresponding target
parameter (62.04…62.12) must be set to Follower SW.
No action No action taken. Unaffected drives on the master/follower 0
link will continue running.
Warning The drive generates a warning (AFE7 Follower). 1
Fault Drive trips on FF7E Follower. All followers will be stopped. 2
60.18 Follower enable (Visible only when user lock is open with pass code 584. Always
Interlocks the starting of the master to the status of the
followers.
See also parameter 60.23 M/F status supervision sel 1.
Note: Each follower must be configured to transmit its status
word as one of the three data words in parameters
61.01…61.03. In the master, the corresponding target
parameter (62.04…62.12) must be set to Follower SW.
MSW bit 0 The master can only be started if all followers are ready to 0
switch on (bit 0 of 06.11 Main status word in each follower is
on).
MSW bit 1 The master can only be started if all followers are ready to 1
operate (bit 1 of 06.11 Main status word in each follower is
on).
MSW bits 0 + 1 The master can only be started if all followers are ready to 2
switch on and ready to operate (bits 0 and 1 of 06.11 Main
status word in each follower are on).
Always The starting of the master is not interlocked to the status of 3
the followers.
MSW bit 12 The master can only be started if user-definable bit 12 of 4
06.11 Main status word in each follower is on. See
parameter 06.31 MSW bit 12 sel.
MSW bits 0 + 12 The master can only be started if both bit 0 and bit 12 of 5
06.11 Main status word in each follower is on.
MSW bits 1 + 12 The master can only be started if both bit 1 and bit 12 of 6
06.11 Main status word in each follower is on.
Parameters 471

60.19 M/F comm (Visible only when user lock is open with pass code 584. -
supervision sel 1 See parameter 96.02 Pass code.)
Note: This parameter is effective only when the drive is the
master on a drive-to-drive master/follower link. See
parameters 60.01 M/F communication port and 60.03 M/F
mode.
In the master, parameters 60.19 M/F comm supervision sel
1 and 60.20 M/F comm supervision sel 2 specify the
followers that are monitored for loss of communication.
This parameter selects which followers (out of followers
1…16) are monitored. Each of the selected followers is
polled by the master. If no reply is received, the action
specified in 60.09 M/F comm loss function is taken.
The status of communication is shown by 62.37 M/F
communication status 1 and 62.38 M/F communication
status 2.

0 Follower 1 1 = Follower 1 is polled by the master.
… … …
0000h…FFFFh Selection of followers for communication supervision (1). 1=1

60.20 M/F comm (Visible only when user lock is open with pass code 584. -
Selects which followers (out of followers 17…32) are
monitored for loss of communication. See parameter 60.19
M/F comm supervision sel 1.

… … …
0000h…FFFFh Selection of followers for communication supervision (2). 1=1

472 Parameters

60.23 M/F status (Visible only when user lock is open with pass code 584. -
Note: This parameter is effective only when the drive is the
master on a drive-to-drive master/follower link. See
parameters 60.01 M/F communication port and 60.03 M/F
mode.
In the master, parameters 60.23 M/F status supervision sel
1 and 60.24 M/F status supervision sel 2 specify the
followers whose status word is monitored by the master.
This parameter selects the followers (out of followers 1…16)
whose status words are monitored by the master.
If a follower reports a fault (bit 3 of the status word is on), the
action specified in 60.17 Follower fault action is taken. Bits 0
and 1 of the status word (ready states) are handled as
defined by 60.18 Follower enable.
Using 60.27 M/F status supv mode sel 1 and 60.28 M/F
status supv mode sel 2, it is possible to define whether any
given follower is only monitored when it is stopped.
The status of communication is shown by 62.37 M/F
communication status 1 and 62.38 M/F communication
status 2.

0 Follower 1 1 = Status of follower 1 is monitored.
… … …
0000h…FFFFh M/F follower status supervision selection (followers 1…16). 1=1

60.24 M/F status (Visible only when user lock is open with pass code 584. -
Selects the followers (out of followers 17…32) whose status
words are monitored by the master.
See parameter 60.23 M/F status supervision sel 1.

… … …
0000h…FFFFh M/F follower status supervision selection (followers 17…32). 1 = 1

Parameters 473

60.27 M/F status supv (Visible only when user lock is open with pass code 584. -
mode sel 1 See parameter 96.02 Pass code.)
In the master, parameters 60.27 M/F status supv mode sel 1
and 60.28 M/F status supv mode sel 2 specify the mode of
follower status word monitoring. Each follower can
individually be set to be monitored continuously, or only
when it is in stopped state.
This parameter selects the mode of status word monitoring
of followers 1…16.

0 Follower 1 0 = Status of follower 1 is monitored continuously.
1 = Status of follower 1 is monitored only when it is in stopped state.
… … …
0000h…FFFFh M/F status supervision mode selection 1. 1=1

60.28 M/F status supv (Visible only when user lock is open with pass code 584. -
mode sel 2 See parameter 96.02 Pass code.)
Selects the mode of status word monitoring of followers
17…32.

… … …
0000h…FFFFh M/F status supervision mode selection 2. 1=1

60.31 M/F wake up delay (Visible only when user lock is open with pass code 584. 60.0 s
Defines a wake-up delay during which no master/follower
communication faults or warnings are generated. This is to
allow all drives on the master/follower link to power up.
The master cannot be started until the delay elapses or all
monitored followers are found to be ready.
0.0 … 180.0 s Master/follower wake-up delay. 10 = 1 s
474 Parameters

60.32 M/F comm (Visible only when user lock is open with pass code 584. 0000b
supervision force See parameter 96.02 Pass code.)
Activates master/follower communication monitoring
communication with master or follower when it is connected
to the application program and not selected as a control
source by drive parameters.
Bit Name Value

3…15 Reserved
0000b…0111b Master/follower communication monitoring selection. 1=1

60.41 Extension adapter (Visible only when user lock is open with pass code 584. No connect
com port See parameter 96.02 Pass code.)
Selects the channel used for connecting an optional FEA-xx
extension adapter.
No connect None (communication disabled). 0
Slot 1A Channel A on FDCO module in slot 1. 1
Slot 1B Channel B on FDCO module in slot 1. 4
RDCO CH 3 Channel CH 3 on RDCO module (with BCU control unit 13
only).
60.50 DDCS controller (Visible only when user lock is open with pass code 584. ABB
drive type See parameter 96.02 Pass code.) engineered
In ModuleBus communication, defines whether the drive is drive
of the “engineered” or “standard” type.
ABB engineered The drive is an “engineered drive” (data sets 10…25 are 0
drive used).
ABB standard drive The drive is a “standard drive” (data sets 1…4 are used). 1
60.51 DDCS controller (Visible only when user lock is open with pass code 584. Not in use
comm port See parameter 96.02 Pass code.)
Selects the DDCS channel used for connecting an external
controller (such as an AC 800M).
Not in use None (communication disabled). 0
Parameters 475

XD2D Connector XD2D. 7
RDCO CH 0 Channel 0 on RDCO module (with BCU control unit only). 10
60.52 DDCS controller (Visible only when user lock is open with pass code 584. 1
node address See parameter 96.02 Pass code.)
Selects the node address of the drive for communication
with the external controller. No two nodes on-line may have
the same address.
With an AC 800M (CI858) DriveBus connection, drives must
be addressed 1…24.
With an AC 80 DriveBus connection, drives must be
addressed 1…12.
With optical ModuleBus, the drive address is set according
to the position value as follows:
1. Multiply the hundreds of the position value by 16.
2. Add the tens and ones of the position value to the result.
For example, if the position value is 101, this parameter
must be set to 1×16 + 1 = 17.
1…254 Node address.
60.55 DDCS controller (Visible only when user lock is open with pass code 584. Star
HW connection See parameter 96.02 Pass code.)
Selects the topology of the fiber optic link with an external
controller.
Ring The devices are connected in a ring topology. Forwarding of 0
messages is enabled.
Star The devices are connected in a star topology (for example, 1
through a branching unit). Forwarding of messages is
disabled.
60.56 DDCS controller (Visible only when user lock is open with pass code 584. 4 mbps
baud rate See parameter 96.02 Pass code.)
Selects the communication speed of the channel selected
by parameter 60.51 DDCS controller comm port.
1 mbps 1 megabit/second. 1
60.57 DDCS controller (Visible only when user lock is open with pass code 584. 10
link control See parameter 96.02 Pass code.)
Defines the light intensity of the transmission LED of RDCO
module channel CH0. (This parameter is effective only when
parameter 60.51 DDCS controller comm port is set to RDCO
CH 0. FDCO modules have a hardware transmitter current
selector.)
In general, use higher values with longer fiber optic cables.
The maximum setting is applicable to the maximum length
of the fiber optic link.
1…15 Light intensity.
476 Parameters

60.58 DDCS controller (Visible only when user lock is open with pass code 584. 100 ms
comm loss time See parameter 96.02 Pass code.)
Sets a timeout for communication with the external
controller. If a communication break lasts longer than the
timeout, the action specified by parameter 60.59 DDCS
controller comm loss function is taken.
times the transmit interval of the controller.
Notes:
• There is a 60-second boot-up delay immediately after
power-up. During the delay, the communication break
monitoring is disabled (but communication itself can be
active).
• With an AC 800M controller, the controller detects a
communication break immediately but re-establishing the
communication is done at 9-second idle intervals. Also
note that the sending interval of a data set is not the
same as the execution interval of the application task. On
ModuleBus, the sending interval is defined by controller
parameter Scan Cycle Time (by default, 100 ms).
0…60000 ms Timeout for communication with external controller.
60.59 DDCS controller (Visible only when user lock is open with pass code 584. Fault
comm loss function See parameter 96.02 Pass code.)
Selects how the drive reacts to a communication break
between the drive and the external controller.
No action No action taken (monitoring disabled). 0
Fault Drive trips on 7581 DDCS controller comm loss. This only 1
occurs if control is expected from the external controller.
Last speed Drive generates an A7CA DDCS controller comm loss 2
warning and freezes the speed to the level the drive was
operating at. This only occurs if control is expected from the
external controller.
The speed is determined on the basis of actual speed using
850 ms low-pass filtering.
Speed ref safe Drive generates an A7CA DDCS controller comm loss 3
warning and sets the speed to the speed defined by
parameter 22.41 Speed ref safe. This only occurs if control
is expected from the external controller.
Fault always Drive trips on 7581 DDCS controller comm loss. This occurs 4
even though no control is expected from the external
controller.
Warning Drive generates an A7CA DDCS controller comm loss 5
warning. This occurs even though no control is expected
from the external controller.
Parameters 477

60.60 DDCS controller (Visible only when user lock is open with pass code 584. Auto
ref1 type See parameter 96.02 Pass code.)
the external controller. The scaling of the reference is
defined by parameters 46.01…46.04, depending on which
reference type is selected by this parameter. The resulting
value is shown by 03.11 DDCS controller ref 1.
two decimals).
scaling.
ref2 type See parameter 96.02 Pass code.)
the external controller. The scaling of the reference is
defined by parameters 46.01…46.04, depending on which
reference type is selected by this parameter. The resulting
value is shown by 03.12 DDCS controller ref 2.
For the selections, see parameter 60.60 DDCS controller
ref1 type.
act1 type See parameter 96.02 Pass code.)
transmitted to the external controller.
selected by parameter 60.60 DDCS controller ref1 type. See
the individual settings below for the sources and scalings.
General Reserved. 2
act2 type See parameter 96.02 Pass code.)
transmitted to the external controller.
selected by parameter 60.61 DDCS controller ref2 type. See
the individual settings below for the sources and scalings.
General Reserved. 2
478 Parameters

60.64 Mailbox dataset (Visible only when user lock is open with pass code 584. Dataset
selection See parameter 96.02 Pass code.) 32/33
Selects the pair of data sets used by the mailbox service in
the drive/controller communication.
See section External controller interface (page 166).
Dataset 32/33 Data sets 32 and 33. 0
Dataset 24/25 Data sets 24 and 25. 1
60.65 DDCS controller (Visible only when user lock is open with pass code 584. 0000b
comm supervision See parameter 96.02 Pass code.)
force Activates DDCS controller communication monitoring
communication with the controller when it is connected to
the application program and not selected as a control
source by drive parameters.
Bit Name Value

3…15 Reserved
0000b…0111b DDCS controller communication monitoring selection. 1=1

60.200 Crane drive type Selects the crane drive type for M/F communication in the Not selected
D2D-link.
All drives in the link must have individual value of this
parameter. After setting this parameter, the application will
automatically set D2D-link communication parameters. For
example, parameters 60.01...60.03. These parameters are
not allowed to change manually.
Note: Reboot the drive after setting parameters 60.200 and
60.201. See Master/follower communication in crane
application on page 62.
Not selected Crane drive type is not selected. 0
Main hoist (D2D Main hoist (D2D master) 1
master)
Main trolley Main trolley 2
Main long travel Main long travel 3
Follower hoist 1 Follower hoist 1 4
Follower trolley 1 Follower trolley 1 8
Parameters 479

Follower trolley 2 Follower trolley 2 9
Follower long Follower long travel 1 10
travel 1
Follower long Follower long travel 2 11
travel 2
60.201 Crane drives Sets the crane M/F communication supervision in the D2D- -
structure link.
Setting the bit from 0 to 1 activates supervision. For
example, in the main hoist drive setting bits 3,4,5,6 activates
supervision between main hoist and its followers. Similarly,
in the main trolley drive setting bits 7 and 8 activates
supervision.
Note:
• It is not recommended to activate all the bits in the main
hoist drive, because a communication problem between
the main trolley and its follower trips the main hoist.
• Reboot the drive after setting parameters 60.200 and
60.201.

0 0
1 Main trolley Main trolley
2 Main long travel Main long travel
3 Follower hoist 1 Follower hoist 1
7 Follower trolley 1 Follower trolley 1
8 Follower trolley 2 Follower trolley 2
9 Follower long travel 1 Follower long travel 1
10 Follower long travel 2 Follower long travel 2
11...15 Reserved
0000h…FFFFh M/F communication status (followers 1…16). 1=1

60.202 CW1 Control word 1 generated by current drive. -

0 Start Start command with Running bit combined in follower side
1 Modulating Modulating status of this drive
2 Brake closed Brake closed status of this drive
3...11 Reserved
12 Master toggle Internal information - used for M/F communication
13 Master Reply for Internal information - used for M/F communication
followers 1 Toggle bit
14 Master Reply for Internal information - used for M/F communication
followers 2 Toggle bit
15 Reset Reset command
0000h…FFFFh Control word 1 1=1

480 Parameters

60.203 CW2 Control word 2 generated by current drive. -

0 System ready Par 06.11 bit device Ready run
1 System fault Par 06.11 bit device Tripped
2 Ext speed limit External speed limit is active. Application related status
3 System running Par 06.16 bit Modulating
4 Off3 Emergency stop
5 Torq prv ok Application related status
6 Slowdown up Application related status
7 Slowdown dn Application related status
8 High-end cmd Application related status
9 Low-end cmd Application related status
10 Ext 2 act Par 06.16 bit Ext2 active
11 Synchron sel on Application related status
12 Start inhibit Application related status
13 Reserved
14 Fast stop Application related status
15 Master not in ext 2 Application related status
0000h…FFFFh Control word 2 1=1

60.204 Ref1 Reference 1. Shows the speed reference type for Synchro -
control. The value depends on the Synchro On/Off (par.
82.01) different data transfered.
Synchro On Linear speed reference -
Synchro Off Device_speed_ref_used_24.01 Used speed reference -
(Normal M/F)
60.205 Ref2 Reference 2. Shows the torque/ load position reference type -
for Synchro control. The value depends on Synchro On or
Off (par. 82.01) different data transfered.
Synchro On Device_Load_position_scaled_90.05 Load position (Master -
position)
Synchro Off Device_Torque_ref5_act_26.75 Torque reference act 5 -
(Normal M/F)
Parameters 481

60.206 Master SW1 Master drive application status word 1. -

2 Ext speed limit External speed limit is active. Application related status
4 Modulating Modulating status of drive
13 Reserved Brake closed status of drive
0000h…FFFFh Status word 1 1=1

60.207 Master SW2 Master drive application status word 2. -
Used by application internally for D2D supervision.
60.210 Follower 1 SW1 Follower x drive application status word 1. -

2 Ext speed limit Application related status
13 Reserved

482 Parameters

60.212 Follower 1 position Shows the follower x drive position difference compared -
error with the master drive.
This parameter is visible only in master drive.
60.213 Follower 1 position Shows the actual position of the follower x drive. -
actual This parameter is visible only in master drive.

13 Reserved

Parameters 483


13 Reserved

60.219 Follower 3 SW2 Follower x drive status word 2. -
484 Parameters


13 Reserved

60.225 Follower 4 position Shows the actual position of the follower x drive.
60.226 Hoist position Shows the value of hoist position transferred from the main -
hoist drive through D2D link to all drives. See parameter
77.20 Pendulum length source 1.
60.227 Hoist position 2 Shows the hoist position signal source 2 for pendulum -
calculation.
See parameter 77.28 Pendulum length source 2.
60.228 Hoist load Shows the hoist load value transferred from the main hoist -
drive through D2D link to all drives. See parameter
77.80 Load to antisway selection.
61
61 D2D and DDCS Defines the data sent to the DDCS link.
transmit data See also parameter group 60 DDCS communication.
61.01 M/F data 1 (Visible only when user lock is open with pass code 584. Follower CW
Preselects the data to be sent as word 1 onto the
master/follower link.
See also parameter 61.25 M/F data 1 value.
None None. 0
Parameters 485

Note: Using this setting to send a reference to the follower
is not recommended as the source signal is filtered. Use the
“reference” selections instead.
Note: Using this setting to send a reference to the follower
is not recommended as the source signal is filtered. Use the
“reference” selections instead.
Follower CW A word consisting of bits 0…11 of 06.01 Main control word 27
and the bits selected by parameters 06.45…06.48.
Used speed 24.01 Used speed reference (page 347). 6145
reference
Torque reference 26.02 Torque reference used (page 363). 6658
used
Torque reference 26.75 Torque reference act 5 (page 370). 6731
act 5
page 219).
61.02 M/F data 2 (Visible only when user lock is open with pass code 584. Used speed
selection See parameter 96.02 Pass code.) reference
Preselects the data to be sent as word 2 onto the
For the selections, see parameter 61.01 M/F data 1
selection.
61.03 M/F data 3 (Visible only when user lock is open with pass code 584. Torque
selection See parameter 96.02 Pass code.) reference act
Preselects the data to be sent as word 3 onto the 5
selection.
61.25 M/F data 1 value Shows the data to be sent onto the master/follower link as 0
word 1 as an integer.
If no data has been preselected by 61.01 M/F data 1
selection, the value to be sent can be written directly into
this parameter.
0…65535 Data to be sent as word 1 in master/follower communication.
this parameter.
this parameter.
486 Parameters

61.45 Data set 2 data 1 (Visible only when user lock is open with pass code 584. None
Parameters 61.45…61.50 preselect data to be sent in data
sets 2 and 4 to the external controller. These data sets are
used in ModuleBus communication with a “standard drive”
(60.50 DDCS controller drive type = ABB standard drive).
Parameters 61.95…61.100 display the data to be sent to the
external controller. If no data has been preselected, the
value to be sent can be written directly into these
parameters.
For example, this parameter preselects the data for word 1
of data set 2. Parameter 61.95 Data set 2 data 1 value
displays the selected data in integer format. If no data is
preselected, the value to be sent can be written directly into
parameter 61.95.
None None. 0
219).
Preselects the data to be sent as word 2 of data set 2 to the
See also parameter 61.96 Data set 2 data 2 value.
For the selections, see parameter 61.45 Data set 2 data 1
selection.
See parameter 61.45 Data set 2 data 1 selection.
… … … …
Parameters 61.51…61.74 preselect data to be sent in data
sets 11, 13, 15, 17, 19, 21, 23 and 25 to the external
controller.
Parameters 61.101…61.124 display the data to be sent to
the external controller. If no data has been preselected, the
value to be sent can be written directly into these
parameters.
For example, this parameter preselects the data for word 1
of data set 11. Parameter 61.101 Data set 11 data 1 value
displays the selected data in integer format. If no data is
parameter 61.101.
None None. 0
Parameters 487

page 219).
selection.
selection.
… … … …
61.95 Data set 2 data 1 Displays (in integer format) the data to be sent to the 0
value external controller as word 1 of data set 2.
If no data has been preselected by 61.45 Data set 2 data 1
this parameter.
0…65535 Data to be sent as word 1 of data set 2.
this parameter.
this parameter.
… … … …
If no data has been selected by 61.50 Data set 4 data 3
this parameter.
488 Parameters

value external controller as word 1 of dataset 11.
this parameter.
this parameter.
this parameter.
this parameter.
… … … …
this parameter.
62
62 D2D and DDCS Mapping of data received through the DDCS link.
receive data See also parameter group 60 DDCS communication.
62.01 M/F data 1 (Visible only when user lock is open with pass code 584. None
(Follower only) Defines a target for the data received as
word 1 from the master through the master/follower link.
See also parameter 62.25 MF data 1 value.
None None. 0
219).
Parameters 489

selection.
selection.
62.04 Follower node 2 (Visible only when user lock is open with pass code 584. Follower SW
data 1 sel See parameter 96.02 Pass code.)
Defines a target for the data received as word 1 from the
first follower (ie. the follower with node address 2) through
See also parameter 62.28 Follower node 2 data 1 value.
None None. 0
Follower SW Status word of the follower. See also parameter 60.18 26
Follower enable.
219).
62.05 Follower node 2 (Visible only when user lock is open with pass code 584. None
For the selections, see parameter 62.04 Follower node 2
data 1 sel.
data 1 sel.
second follower (ie. the follower with node address 3)
through the master/follower link.
data 1 sel.
490 Parameters

data 1 sel.
data 1 sel.
third follower (ie. the follower with node address 4) through
data 1 sel.
data 1 sel.
data 1 sel.
62.25 MF data 1 value (Follower only) Displays, in integer format, the data received 0
from the master as word 1.
Parameter 62.01 M/F data 1 selection can be used to select
a target for the received data. This parameter can also be
used as a signal source by other parameters.
0…65535 Data received as word 1 in master/follower communication.
Parameters 491

62.28 Follower node 2 Displays, in integer format, the data received from the first 0
data 1 value follower (ie. follower with node address 2) as word 1.
Parameter 62.04 Follower node 2 data 1 sel can be used to
select a target for the received data. This parameter can
also be used as a signal source by other parameters.
0…65535 Data received as word 1 from follower with node address 2.
62.31 Follower node 3 Displays, in integer format, the data received from the 0
data 1 value second follower (ie. follower with node address 3) as word 1.
62.34 Follower node 4 Displays, in integer format, the data received from the third 0
492 Parameters

62.37 M/F In the master, displays the status of the communication with -
communication followers specified by parameter 60.19 M/F comm
status 1 supervision sel 1.
In a follower, bit 0 indicates the status of the communication
with the master.

0 Follower 1 1 (in the master) = Communication with follower 1 OK.
1 (in a follower) = Communication with master OK.
1 Follower 2 1 = Communication with follower 2 OK.
… … …

62.38 M/F In the master, displays the status of the communication with -
communication followers specified by parameter 60.20 M/F comm
status 2 supervision sel 2.

… … …

62.41 M/F follower ready In the master, displays the ready status of the -
status 1 communication with followers specified by parameter 60.23
M/F status supervision sel 1.

0 Follower 1 1 = Follower 1 ready.
… … …
0000h…FFFFh Follower 1…16 ready status. 1=1

Parameters 493

62.42 M/F follower ready In the master, displays the ready status of the -
status 2 communication with followers specified by parameter 60.24
M/F status supervision sel 2.

… … …
0000h…FFFFh Follower 17…32 ready status. 1=1

Parameters 62.45…62.50 define a target for the data
received in data sets 1 and 3 from the external controller.
These data sets are used in ModuleBus communication with
a “standard drive” (60.50 DDCS controller drive type = ABB
standard drive).
Parameters 62.95…62.100 display the data received from
the external controller in integer format, and can be used as
sources by other parameters.
For example, this parameter selects a target for word 1 of
data set 1. Parameter 62.95 Data set 1 data 1 value displays
the received data in integer format, and can also be used as
a source by other parameters.
None None. 0
219).
Defines a target for the data received as word 2 of data set
1.
selection.
… … … …
494 Parameters

Parameters 62.51…62.74 define a target for the data
received in data sets 10, 12, 14, 16, 18, 20, 22 and 24 from
the external controller.
Parameters 62.101…62.124 display the data received from
the external controller in integer format, and can be used as
sources by other parameters.
For example, this parameter selects a target for word 1 of
data set 10. Parameter 62.101 Data set 10 data 1 value
displays the received data in integer format, and can also be
used as a source by other parameters.
None None. 0
219).
10.
selection.
10.
selection.
… … … …
62.95 Data set 1 data 1 Displays (in integer format) the data received from the 0
A target for this data can be selected by parameter 62.45
Data set 1 data 1 selection. The value can also be used as a
source by another parameter.
0…65535 Data received as word 1 of data set 1.
Parameters 495

… … … …
Data set 10 data 1 selection. The value can also be used as
a source by another parameter.
… … … …
74
74 Speed matching Settings for Speed matching.
See also section Speed matching on page 105.
74.01 Motor speed match Enables the Speed matching function. Enable
Disable Speed matching disabled. 0
Enable Speed matching enabled. 1
496 Parameters

219).
74.02 Motor speed Defines the absolute motor speed deviation level for the 30.00 rpm
steady deviation steady state.
level Note: We recommend to define this value as minimum
settings that is double the nominal slip speed of the motor.
0.00 … Speed deviation level for the steady state. 1 = 1 rpm
30000.00 rpm
74.03 Motor speed ramp Defines the absolute motor speed deviation level for the 70.00 rpm
deviation level ramping state (acceleration/deceleration).
0.00 … Speed deviation level for the ramping state. 1 = 1 rpm
30000.00 rpm
74.04 Speed match fault Defines the time delay for generating fault D105 Speed 1000 ms
delay match and warning D200 Brake slip at standstill2.
75
75 Hoist speed Settings for Hoist speed optimization.
optimization See also section Hoist speed optimization on page 116.
75.01 Hoist speed Enables the Hoist speed optimization function. Disable
optimization sel
Disable Hoist speed optimization is disabled. 0
Enable Hoist speed optimization is enabled. 1
219).
75.02 High speed Enables to use speed above the limit defined in parameter Disable
75.03 Motor base speed, when Hoist speed optimization
function is enabled.
Note: This parameter is not effective when Hoist speed
optimization function is disabled. See parameter 75.01 Hoist
speed optimization sel.
Disable Hoist speed optimization is disabled. 0
Enable Hoist speed optimization is enabled. 1
Parameters 497

219).
75.03 Motor base speed Defines the motor base speed. 1500.00 rpm
When the actual motor speed exceeds this value either in
the forward or reverse direction, the Hoist speed
optimization function uses this value to check for the actual
motor torque after the period of time defined in parameter
75.06 Hold ramp.
This motor torque is further used with parameters
75.07…75.25 to calculate the speed limit in the forward and
reverse directions.
If you do not set parameters 75.07…75.25 in the correct
order, the speed is always limited to this base speed.
0.00… Motor base speed. 100 = 1 rpm
30000.00 rpm
75.04 Load margin Defines a torque margin for the set load values. The Hoist 0.00%
speed optimization function applies this margin to the
detected base speed torque. The margin can be used for
reserving tolerance for motor actual current because of
voltage drops.
0.00 … 100.00% Torque margin as percentage of the monitored current. 100 = 1%
75.05 Load speed limit Defines a test value (torque) for calculating the load speed 0.00%
test limit when the drive is not running.
-30000.00 … Test value (torque). 10 = 1.0%
30000.00%
75.06 Hold ramp Defines the time period for holding speed reference at the 200.00 ms
motor base speed before the function checks for actual
motor torque.
This motor torque is considered by the Hoist speed
optimization function as the base speed torque for the
particular load used.
0.00… Hold ramp time. 1 = 1 ms
10000.00 ms
75.07 Load 0 up Defines the torque value (X1) in the forward direction for the 0.00%
load speed graph.
If the Hoist speed optimization function detects this value as
the base speed torque in the forward direction, the load
speed limit calculated is the speed defined in parameter
75.07 Load 0 up.
Notes:
• You must define two load and speed parameters at the
minimum.
• If you set a load parameter to zero, all the parameters
above this parameter must be set to zero.
• The load parameters must be in increasing order and the
speed parameters in decreasing order.
If any of the above conditions is not met, the speed is limited
to the motor base speed.
0.00 … 300.00% Torque value (X1) in the forward direction. 100 = 1%
498 Parameters

75.08 Load 0 speed up Defines the speed limit value (Y1) in the forward direction 0.00 rpm
based on 75.07 Load 0 up (X1).
This value can be the maximum allowed speed with an
empty hook in the forward direction.
See the notes in 75.07 Load 0 up.
0.00…3000.00 rpm Speed limit value (Y1) in the forward direction. 100 = 1 rpm
75.09 Load 1 up Defines the torque value at load1 (X2) in the forward 0.00%
direction for the load speed graph.
0.00…300.00% Torque value (X2) in the forward direction. 100 = 1%
75.10 Load1 speed up Defines the speed limit value (Y2) in the forward direction 0.00 rpm
based on 75.09 Load 1 up.
0.00…300.00% Torque value (X3) in the forward direction. 100 = 1%
0.00 … Speed limit value (Y4) in the forward direction. 100 = 1 rpm
3000.00 rpm
This torque can be the torque at the base speed with
maximum load when the motor is running in the forward
direction.
75.17 Load 0 down Defines the torque value X1 in the reverse direction for the 0.00%
hoist speed optimization graph.
If the Hoist speed optimization function detects this value as
the base speed torque in the reverse direction, the load
speed limit calculated is the speed defined in parameter
75.17 Load 0 down.
0.00 … 300.00% Torque value (X1) in the reverse direction. 100 = 1%
Parameters 499

75.18 Load 0 speed Defines the speed limit value (Y1) in the reverse direction 0.00 rpm
down based on 75.17 Load 0 down.
This value can be the maximum allowed speed with an
empty hook in the reverse direction.
0.00…3000.00 rpm Speed limit value (Y1) in the reverse direction. 100 = 1 rpm
75.19 Load 1 down Defines the torque value at load1 (X2) in the reverse 0.00%
0.00…300.00% Torque value (X2) in the reverse direction. 100 = 1%
0.00 … 300.00% Torque value (X4) in the reverse direction. 100 = 1%
This torque can be the torque at the base speed with the
maximum load when the motor is running in the reverse
direction.
75.27 Hoist efficiency up Allows the user to define the mechanical efficiency of the 0.9
system.
0.00…1.00 Efficiency 100 = 1
75.28 Hoist efficiency Allows the user to define the mechanical efficiency of the 0.9
down system.
0.00…1.00 Efficiency 100 = 1
75.29 Inertia up Allows the user to define the motor maximum overload 1.5 kgm2
ability (estimated pull out torque at base speed).
0.00...100.00 kgm2 Overload ability. 100 = 1 kgm2
75.30 Inertia down Allows the user to define the motor maximum overload 1.5 kgm2
ability (estimated pull out torque at base speed).
0.00...100.00 kgm2 Overload ability. 100 = 1 kgm2
500 Parameters

75.31 Hoist nominal load Defines the hoist load for hoist speed optimization. 1.0 Tn
0.0…32000.0 Tn Load in Tons. 10 = 1 Tn
75.32 Hoist nominal Defines the nominal speed of the hoist drive. 1 m/min
speed
0.00 ... Speed 100 =
1000.00 m/min 1 m/min
75.33 Hoist maximum Defines the maximum speed limit of the hoist drive. This 1 m/min
speed value is used to plot equal divisions on the load curve.
0.00 ... Speed limit. 100 =
1000.00 m/min 1 m/min
75.35 Motor Tmax/Tn Allows the user to define the motor pull-out torque (from 2.7
motor catalogue or rating plate).
0.00...10.00 Torque value 100 = 1
75.36 Calculate load Enables load curve calculation. No
curve
No Load curve calculation is disabled. 0
Calculate Load curve calculation is enabled. 1
75.38 Load filter time Defines the time constant of the absolute hoist load and 1000 ms
relative hoist load low pass filter.
0 ... 30000 ms Load filter time. 1 = 1 ms
75.39 Load reset speed (Visible only when user lock is open with pass code 584. 95 %
level See parameter 96.02 Pass code.)
Defines the speed level depending on motor base speed
(parameter 75.03 Motor base speed) to initiate Hold ramp
function (parameter 75.06 Hold ramp), that monitors the
actual motor torque at the motor base speed. Based on this
value the Hoist speed optimization function defines the
allowed maximum speed.
When actual speed goes below the defined load reset
speed level, a new motor torque value is calculated again
when actual speed gets to the point of motor base speed.
See also parameter 75.03 Motor base speed.
0.00…100.00% Percent of motor base speed 100 = 1 %
75.40 Relative hoist load Shows the calculated relative hoist load value from load -
curve calculation.
This signal from the hoist drive can be used in antisway
drives to define pendulum arm offset. (In the hoist drive,
parameter 77.80 Load to antisway selection is equal to this
value).
At 100%, value is equal to hoist nominal load (par. 75.31).
To get correct value, set parameters 75.31...75.36.
This parameter is read only.
75.41 Absolute hoist load Shows the calculated absolute hoist load value from load -
curve calculation.
This signal can be used for fine tuning hoist speed
optimization (by comparing actual value with reading on the
external system, if exists). To get correct value of this signal,
see settings in par. 75.40.
Parameters 501

75.42 Relative hoist load Shows the filtered value of the parameter 75.40 Relative -
filtered hoist load for the filter time constant defined with parameter
75.38 Load filter time.
75.43 Absolute hoist load Shows the filtered value of the parameter 75.41 Absolute -
filtered hoist load for the filter time constant defined with parameter
75.38 Load filter time.
75.56 Required hoist Defines the relation between required motor power and 100 %
power up existing motor power for lifting load if an oversized motor is
used.
Example: If Required power = 45 kW and Existing motor
power = 55 kW, then parameter settings = 45/55 *100 =
81.82%
0.01...200.00 % Percent of required hoist power up. 100 = 1%
75.57 Required hoist Defines the relation between required motor power and 100 %
power down existing motor power for lowering load if an oversized motor
is used.
See also parameter 75.56 Required hoist power up.
0.01...200.00 % Percent of required hoist power down. 100 = 1%
75.60 Slack rope Enables the Slack rope function and selects how the drive Disabled
should react when a slack rope condition is detected.
See also Slack rope on page 108.
Disabled Slack rope function is disabled. 0
Warning When a slack rope condition is detected, the warning D217 1
Slack rope is generated.
Fast stop When a slack rope condition is detected, the warning D20A 2
Fast stop is generated and a Fast stop is triggered. The
warning D217 Slack rope is also generated if it is not
masked.
See also Fast stop on page 105.
75.61 Slack rope load Defines the slack rope load level. A slack rope condition is -400.00%
level detected at the time of lowering the crane, if value in
parameter 75.42 Relative hoist load filtered is less than this
value during the delay time defined in parameter 75.62
Slack rope detection delay.
-400.00...400.00% Load level 100 = 1%
75.62 Slack rope Defines the delay time for detecting a slack rope condition 0.0 s
detection delay when parameter 75.42 Relative hoist load filtered is less
than the slack rope load level defined in parameter 75.61
Slack rope load level at the time of lowering the crane.
0.0 ... 100.0 s Slack rope detection delay time. 10 = 1 s
75.70 Start lifetime (Visible when user lock is open with pass code 584. See Off
monitor parameter 96.02 Pass code.)
Activates the lifetime function.
Off Lifetime monitor function is Off. 0
On Lifetime monitor function is On. 1
502 Parameters

75.71 Crane lifetime (Visible when user lock is open with pass code 584. See 10000 h
parameter 96.02 Pass code.)
Defines the user defined lifetime for the mechanics of the
crane.
0...10000 h Lifetime hours 1=1h
75.72 Reset load (Visible when user lock is open with pass code 584. See Done
spectrum parameter 96.02 Pass code.)
Allows to reset the load spectrum to the value defined in
parameter 75.73 Preset value of load spectrum.
See also Configuring Lifetime monitor maintenance on page
47.
Reset Reset activated. 0
Done Reset done. 1
75.73 Preset value of (Visible when user lock is open with pass code 584. See 1
load spectrum parameter 96.02 Pass code.)
Defines the preset value that is accounted when parameter
75.72 Reset load spectrum is set to Reset.
See also Configuring Lifetime monitor maintenance on page
47.
0 ... 10 Preset value 1=1
75.74 Lifetime speed (Visible when user lock is open with pass code 584. See 100%
scaling parameter 96.02 Pass code.)
Defines the relation between required hoist speed to the
motor nominal speed.
For example:
At 2 m/min, nominal hoist speed = 2000 rpm
Base speed of the motor = 1380 rpm
Speed scaling = 2000/1380 = 145%
0 ... 200% Percent of nominal motor speed to reach the hoist nominal 1 = 1%
speed.
75.75 Lifetime factor (Visible when user lock is open with pass code 584. See 1.000
Defines the scaling factor for the lifetime monitor function.
0.000 ... 2.000 Scaling factor 1000 = 1
75.80 Lifetime used (Visible when user lock is open with pass code 584. See PAR:
parameter 96.02 Pass code.) POWER
Shows the used lifetime hours. SAVE
This parameter is used as memory cell (at power failure).
0 ...10000 h Lifetime hours
75.81 Load at stop Shows the load value when drive stops. Off
Off When drive stops load value resets to 0. 0
On When drive stops the last known value of the load remains 1
visible.
76
76 Conical motor Settings for Conical motor control.
See also section Conical motor control on page 113.
76.01 Conical motor Enables the Conical motor control function. Disable
control Note: Mechanical brake control must be enabled when the
Conical motor control function is used. See parameter 44.06
Brake control enable.
Disable Conical motor control function is disabled. 0
Parameters 503

Enable Conical motor control function is enabled. 1
76.02 Start flux level Defines the start flux level, that is, the flux level for opening 125%
the brake. The drive uses this value as the flux reference
when the Conical motor function is activated and the drive is
started.
See also parameter 76.04 Start flux hold time.
0…150% Start flux level in percentage of the motor nominal flux. 1 = 1%
76.03 Stop flux level Defines the stop flux level, that is, the flux level for closing 75%
the brake. The drive uses this value as the flux reference
when the stop command is given and the motor actual
speed is below 21.06 Zero speed limit.
0…100% Stop flux level in percentage of the motor nominal flux. 1 = 1%
76.04 Start flux hold time Defines the hold time for the start flux level as the flux 2000 ms
reference. This hold time makes sure that the start flux level
is active for the time required for the brake to open.
0…10000 ms Start flux hold time. 1 = 1 ms
76.05 Flux ramp up time Defines the time for the flux reference to ramp up from the 2000 ms
normal flux level (100%) to the start flux level, and from the
stop flux level to the normal level (100%).
0…10000 ms Flux ramp-up time. 1 = 1 ms
76.06 Flux ramp down Defines the time for the flux reference to ramp down from 2000 ms
time the normal flux level (100%) to the stop flux level, and from
the start flux level to the normal level (100%).
0…10000 ms Flux ramp-down time. 1 = 1 ms
77
77 Antisway Settings for Antisway control.
This parameter group has a dynamic view. The content of
this parameter group depends on the selection in parameter
60.200 Crane drive type. For example, if the drive type is
Main hoist (D2D master), then the view is limited to only the
necessary parameters needed for the Main hosit. If
parameter 60.200 Crane drive type = Not selected, then all
parameters in this group are visible.
See also section Antisway on page 124.
77.01 Antisway enable Enables the Antisway function. Disable
Disable Antisway function is disabled. 0
Enable Antisway function is enabled. 1
page 219).
504 Parameters

77.02 Enable auto on (Visible only when parameter 60.200 Crane drive type = Disable
function Main trolley or Main long travel)
Enables some Antisway auto On/Off functions. See
parameters 77.03, 77.04 and 77.05.
Note: This parameter is effective only if the Antisway
function is enabled (parameter 77.01).
Disable Antisway control function is disabled. 0
Enable Antisway control function is enabled. 1
page 219).
77.03 Auto on at (Visible only when parameter 60.200 Crane drive type = 100.000 m
maximum Main trolley or Main long travel)
pendulum Defines the maximum limit for pendulum arm length. If the
pendulum arm length (parameter 77.27) is less than this
value, Antisway function is automatically On.
Note: This parameter is effective only if both Antisway
function (parameter 77.01 Antisway enable) and Auto On
function (parameter 77.02) is enabled.
0.000...100.000 m Maximum pendulum arm length. 1000 = 1 m
77.04 Auto on a minimum (Visible only when parameter 60.200 Crane drive type = 0.000 m
pendulum Main trolley or Main long travel)
Defines the minimum limit for pendulum arm length. If the
pendulum arm length (parameter 77.27) is more than this
value, Antisway function is automatically On.
Note: This parameter is effective only if both Antisway
functions are enabled with parameters 77.01 Antisway
enable and 77.02 Enable auto on function.
0.000...100.000 m Minimum pendulum arm length. 1000 = 1 m
77.05 Antisway enable (Visible only when parameter 60.200 Crane drive type = 0.00 rpm
minimum speed Main trolley or Main long travel)
Defines the minimum speed limit to enable Antisway
function in trolley/long travel drives.
• If actual speed (parameter 90.01 Motor speed for control)
is less than this value, Antisway function is deactivated.
• If actual speed (parameter 90.01 Motor speed for control)
is more than this value, Antisway function is activated.
Note: This parameter is not effective at zero speed.
0.00... Minimum speed. 100 = 1 rpm
32000.00 rpm
77.06 Antisway enable in (Visible only when parameter 60.200 Crane drive type = Normal ramp
slowdown Main trolley or Main long travel)
Enables Antisway function during drive slowdown.
Normal ramp Normal ramp time without Antisway 0

Antisway Antisway is active during slowdown 1
Parameters 505

77.07 Sway tracking (Visible only when parameter 60.200 Crane drive type = Disable
enable Main trolley or Main long travel)
Enables the Sway tracking function that allows the drive to
compensate the sway caused by movements before
switching on Antisway function.
Disable Sway function is disabled. 0
Enable Sway function is enabled. 1
page 219).
77.08 Antisway ramp (Visible only when parameter 60.200 Crane drive type = 3.00 s
time Main trolley or Main long travel)
Defines ramp time for Antisway function.
Note:
• When Antisway function is disabled, ramp time is taken
from parameters 23.201...23.204.
• It is recommend to set this value less than the normal
ramp time.
0.00...1800.00 s Antisway ramp time. 100 = 1 s
77.09 Antisway gain (Visible only when parameter 60.200 Crane drive type = 1.00
Main trolley or Main long travel)
Defines Antisway gain factor.
The acceleration rate increases with gain when speed
reference is changed in smaller steps.
Example: If gain is 5, then acceleration rate (parameter
22.01 Asway ramp time) is applied with 20% difference
between the speed reference and actual speed. In this case
the program produces maximum acceleration at 20% speed
reference change and the crane is more dynamic.
If gain is 1, then acceleration is applied with 100% difference
between the speed reference and actual speed. With
smaller speed steps acceleration rate is limited
proportionally to the difference between speed reference
and actual speed.
Note: When changing the gain value it is recommended to
start from 1 and check the behaviour of the crane when
increasing it.
1.00...5.00 Gain factor. 100 = 1
506 Parameters

77.10 Short rope mode (Visible only when parameter 60.200 Crane drive type = Disable
enable Main trolley or Main long travel)
Enables the short rope mode (SR mode).
• The SR mode keeps the sway angle constant during
acceleration rather than allowing several oscillations in
the acceleration pattern.
• With this mode the time to execute the acceleration
pattern is longer (up to 1.33 times) than in the normal
mode. The difference may be 5.3 s against 4.9 s (+8%).
• In a open loop system, this mode improves the antisway
performance by reducing the cumulative error in sway
calculation.
The difference between normal mode and SR mode is
illustrated below.
Disable SR mode is disabled. 0

Enable SR mode is enabled. 1
219).
77.11 Antisway timeout (Visible only when parameter 60.200 Crane drive type = 0s
Allows to define the time at which Antisway function can end
all calculations.
The timeout counter starts as soon as speed reference is 0.
With this parameter the antisway drive can control
oscillations and force the antisway output to zero after this
timeout value.
Note: You must define a timeout longer than the time
constant, so that antisway output is not forced to 0 before
the sway is compensated. If this value is set to 0, the
timeout feature is deactivated.
0...32000 s Timeout value 1=1s
77.15 Lock antisway in (Visible when user lock is open with pass code 584. See Lock
hoist parameter 96.02 Pass code.)
Locks/unlocks Antisway function in hoist drives.
Note: This functionality is used when the hoist drive (master
of the complete D2D-link) is placed as master trolley or
master long travel. The trolley or long travel may have more
than two followers.
Unlock Antisway function is unlocked and can be used in hoist 0
drives.
For example, when the system does not have hoist drive,
but this motion is used as trolley or long travel motion.
Lock Antisway function is disabled in hoist drives. 1
Parameters 507

77.20 Pendulum length (Visible only when parameter 60.200 Crane drive type = D2D
source 1 either of these: Main hoist (D2D master), Main trolley, Main
long travel or Follower hoist 1...4)
Selects the hoist position signal source 1 for pendulum
calculation.
In the hoist drive, this parameter defines the source signal
transmitted to the antisway drive when the D2D-link is used.
In the antisway drive, this parameter selects the hoist
position signal source for pendulum calculation (par. 77.20 =
par. 90.05).
NULL None. 0
D2D Value comes through the D2D link from the main hoist. 1
AI1 12.12 AI1 scaled value (see page 271). 2
Load pos Value comes from parameter 90.05 Load position scaled. 4
Encoder settings and scaling are done in group 90
Feedback selection.
Hoist length from Value comes from parameter 77.91 Hoist pos fba int. 5
77.91 Hoist position signal is in INT16 format from fieldbus.
page 219).
77.21 Active length from (Visible only when parameter 60.200 Crane drive type = -
source either of these: Main hoist (D2D master), Main trolley, Main
long travel or Follower hoist 1...4)
Shows the active length from the selected source
(parameter 77.20). Scaling of pendulum arm length is done
with parameters 77.22...77.25.
77.22 Up position swing (Visible only when parameter 60.200 Crane drive type = 4.00 s
time Main trolley or Main long travel)
Defines the time constant of one full swaying cycle when
hook is at UP position.
For accurate results, we recommend to take five full swaying
cycle time and divide the total by 5. The calculated result is
stored in this parameter. For more details, see section Hook
in UP position on page 133.
1.00...20.00 s Sway cycle time in UP position. 100 = 1 s
77.23 Up position length (Visible only when parameter 60.200 Crane drive type = 20000.00
value Main trolley or Main long travel)
Defines the measurement point when hook is at UP position
during the swaying test. The scaled value is shown in
parameter 77.21 Active length from source.
-32768.00... Scaled pendulum arm length. 100 = 1
32768.00
77.24 Down position (Visible only when parameter 60.200 Crane drive type = 4.00 s
swing time Main trolley or Main long travel)
Defines the time constant of one full swaying cycle when
hook is at DOWN position.
For accurate results, we recommend to take five full swaying
cycle time and divide the total by 5. The calculated result is
stored in this parameter. For more details, see section Hook
in DOWN position on page 134.
1.00...20.00 s Sway cycle time in DOWN position. 100 = 1 s
508 Parameters

77.25 Down position (Visible only when parameter 60.200 Crane drive type = 20000.00
length value Main trolley or Main long travel)
Defines the measurement point when the hook is at DOWN
position during the swaying test. The scaled value is shown
in parameter 77.21 Active length from source.
-32768.00... Scaled pendulum arm length. 100 = 1
32768.00
77.26 Maximum (Visible only when parameter 60.200 Crane drive type = 100.000 m
pendulum length Main trolley or Main long travel)
Defines the maximum pendulum arm length. It limits the
maximum pendulum arm length in the selected source.
1.000...100.000 m Pendulum arm length. 1000 = 1 m
77.27 Pendulum arm (Visible only when parameter 60.200 Crane drive type = -
length Main trolley or Main long travel)
Shows the actual pendulum arm length.
0.00...100.00 m Actual pendulum arm length. 100 = 1 m
77.28 Pendulum length (Visible only when parameter 60.200 Crane drive type = Not selected
source 2 Main hoist (D2D))
Selects the hoist position signal source 2 for pendulum
calculation.
Not selected 0. 0
Hoist follower 1 Hoist follower 1 activated. 1
page 219).
77.29 Pendulum length (Visible only when parameter 60.200 Crane drive type = Source 1
source sel Main trolley or Main long travel)
Selects the hoist position signal source 1 or 2 for pendulum
calculation.
Source 1 Hoist position signal source 1 activated. See parameter 0
Source 2 Hoist position signal source 2 activated. See parameter 1
page 219).
77.30 Load signal source (Visible only when parameter 60.200 Crane drive type =
Selects the load signal source for pendulum arm offset
calculation.
NULL 0. 0
D2D Value comes through the D2D link from the main hoist. 1
Hoist load from Value comes from parameter 77.92 Hoist load fba int. 4
77.92 Hoist load signal is in INT16 format from fieldbus.
Parameters 509

page 219).
77.31 Active load (Visible only when parameter 60.200 Crane drive type = -
Shows the active load signal.
- Load signal 100 = 1%
77.33 Step1 source (Visible only when parameter 60.200 Crane drive type = FALSE
Selects the source to activate offset step 1. The offset value
is defined with parameter 77.39 Step offset1.
FALSE Step 1 source is not activated. 0
TRUE Step 1 source is activated. 1
Load step 1 When hoist load is greater than 77.36 Load step1, then 8
77.39 Step offset1 is added to the final pendulum arm
length.
219).
length.
page 219).
510 Parameters

length.
Step 1 and 2 When step1 and step2 are active at the same time, then 9
length.
page 219).
77.36 Load step1 (Visible only when parameter 60.200 Crane drive type = 0.00%
Defines the step1 load weight above which the offset 1 (par.
77.39) is added to the pendulum arm length. See parameter
77.33 Step1 source.
0.00...300.00% Percent of step1 load weight. 100 = 1%
77.34 Step2 source.
0.00...300.00% Percent of step 2 load weight. 100 = 1%
77.35 Step3 source.
0.00...300.00% Percent of step3 load weight. 100 = 1%
77.39 Step offset1 (Visible only when parameter 60.200 Crane drive type = 0.00 m
Defines the step1 offset that adds to the final pendulum arm
length.
0.00...300.00 m Offset 1. 1=1m
Defines the step 2 offset that adds to the final pendulum arm
length.
0.00...300.00 m Offset 2. 1=1m
Defines the step 3 offset that adds to the final pendulum arm
length.
0.00...300.00 m Offset 3. 1=1m
Parameters 511

77.42 Active step offset (Visible only when parameter 60.200 Crane drive type = -
Shows the active step offset.
- Active step offset. 100 = 1 m
77.50 Load offset min (Visible only when parameter 60.200 Crane drive type = 0.00 m
Defines the offset for minimum load (parameter 77.52 Load
min) on the linear curve.
0.00...100.00 m Load offset minimum value. 100 = 1 m
77.51 Load offset max (Visible only when parameter 60.200 Crane drive type = 0
Defines offset for maximum load (parameter 77.53 Load
max) on the linear curve.
0.00...100.00 m Load offset minimum. 1=1
77.52 Load min (Visible only when parameter 60.200 Crane drive type = 0.00%
Defines minimum load on the linear curve. The offset in
parameter 77.50 Load offset min is added to this value.
0.00...300.00% Minimum load. 100 = 1 m
77.53 Load max (Visible only when parameter 60.200 Crane drive type = 100.00%
Defines maximum load on the linear curve. The offset in
parameter 77.51 Load offset max is added to this value.
0.00...300.00% Maximum load. 1=1
77.54 Active linear offset (Visible only when parameter 60.200 Crane drive type = -
Shows the active linear offset.
- Active linear offset 100 = 1 m
77.56 Auto offset enable (Visible only when parameter 60.200 Crane drive type = Disable
Enables auto offset mode. When the lifted load is greater
than the minimum load (parameter 77.58 Load minimum in
auto mode), the difference between total arm length
(parameter 77.57 Full pendulum arm) and actual hook
position (parameter 77.27 Pendulum arm length) is
calculated and result is shown in 77.60 Active auto offset.
Note: This setting is used only when the load is lifted up
from the same floor level, and when different load types and
loading devices (lifting straps) are used.
Disable Auto offset mode is disabled. 0
Enable Auto offset mode is enabled. 1
page 219).
77.57 Full pendulum arm (Visible only when parameter 60.200 Crane drive type = 0.000 m
Defines the total length from hoist drum to the floor level
(lifting basement). See parameter 77.56 Auto offset enable.
0.000...100.000 m Total pendulum arm length. 1=1m
512 Parameters

77.58 Load minimum in (Visible only when parameter 60.200 Crane drive type = 0.00%
auto mode Main trolley or Main long travel)
Defines the minimum load at which auto offset value is
calculated. If lifted load is greater than this value, auto offset
is calculated as 77.57 Full pendulum arm - 77.27 Pendulum
arm length.
0.00...300.00% Minimum load. 1=1%
77.60 Active auto offset (Visible only when parameter 60.200 Crane drive type = -
Shows the active auto offset value if 77.56 Auto offset
enable is set.
0.000...100.000 m Active auto offset value. 1000 = 1 m
77.65 Direct offset source (Visible only when parameter 60.200 Crane drive type = No
Selects the source for direct offset. Parameter 77.67 Active
direct offset shows the actual value.
No Direct offset is not active. 0
page 219).
77.67 Active direct offset (Visible only when parameter 60.200 Crane drive type = -
Shows the active direct offset.
77.69 Total pendulum (Visible only when parameter 60.200 Crane drive type = -
offset Main trolley or Main long travel)
Shows the total pendulum offset.
77.70 Total pendulum (Visible only when parameter 60.200 Crane drive type = -
arm length Main trolley or Main long travel)
Shows the total pendulum arm length (sum of 77.27
Pendulum arm length + 77.69 Total pendulum offset limited
with 77.26 Maximum pendulum length).
Parameters 513

77.71 Antisway status (Visible only when parameter 60.200 Crane drive type = -
Shows the active status of antisway control.

0 Antisway control is 1 = Antisway logic activated and allows changing the speed
on reference.
1 Antisway pattern is 1 = Antisway logic is calculating new reference.
on
2 Sway tracking is on 1 = Antisway logic provides sway tracking.
3 Brake is on 0 = Brake closed
1 = Brake open
4 Offset 1 is selected 1 = Offset 1 selected. See parameter 77.39 Step offset1.
7 Offset 1 and 2 are 1 = Offset 1 and 2 (parameters 77.39 and 77.40) values are added
selected to pendulum.
8 Offset load 1 level 1 = Load level 1 reached. See parameter 77.36 Load step1.
reached
reached
reached
11 Auto mode load level 1 = Load level defined for auto offset activation is reached.
reached
12 Reserved
13 Above minimum 1 = Condition to enable Antisway function: actual speed is greater
speed than defined minimum speed. See parameter 75.05 Antisway
enable minimum speed.
14 Minimum pendulum 1 = Condition to enable Antisway function: Pendulum arm length is
higher than the defined limit. See parameter 75.04 Auto on a
minimum pendulum
15 Maximum pendulum 1 = Condition to enable Antisway function: Pendulum arm length is
higher than the defined limit. See parameter 75.03 Auto on at
maximum pendulum
77.72 Speed ref into (Visible only when parameter 60.200 Crane drive type = -
antisway Main trolley or Main long travel)
Shows the speed reference into the antisway core.
-30000.00... Speed reference 100 = 1 rpm
30000.00 rpm
77.73 Speed ref from (Visible only when parameter 60.200 Crane drive type = -
antisway Main trolley or Main long travel)
Shows the speed reference from antisway control. This is
connected to the speed reference chain.
-30000.00... Speed reference -
30000.00 rpm
514 Parameters

77.75 Pendulum angle (Visible only when parameter 60.200 Crane drive type = -
Shows the sway angle of pendulum arm.
77.76 Pendulum time (Visible only when parameter 60.200 Crane drive type = -
constant Main trolley or Main long travel)
Shows the calculated internal time constant.
- Time constant -
77.80 Load to antisway (Visible only when parameter 60.200 Crane drive type = NULL
selection either of these: Main hoist (D2D), Main trolley or Main long
travel)
Selects the signal type to transmit the load signal from hoist
drive to antisway drives (trolley and long travel)
NULL None 0
Internal Internally calculated load value from actual torque. Active 1
value can be seen in parameter 77.81.
219).
For example, parameter 75.40 Relative hoist load, if hoist
speed optimization was set.
77.81 Hoist load from (Visible only when parameter 60.200 Crane drive type = -
torque act either of these: Main hoist (D2D), Main trolley or Main long
travel)
Shows the calculated load value from actual torque.
- Load value. -
77.82 Hoist load to (Visible only when parameter 60.200 Crane drive type = -
antisway either of these: Main hoist (D2D), Main trolley or Main long
travel)
Shows the load value transmitted from hoist drive to
antisway drive based on the signal selected with parameter
77.80 Load to antisway selection.
- Load value from hoist drive. -
77.91 Hoist pos fba int (Visible only when parameter 60.200 Crane drive type = 0
Shows the hoist position signal in INT16 format from
fieldbus.
-32768...-32767 Hoist position. 1=1
77.92 Hoist load fba int (Visible only when parameter 60.200 Crane drive type = 0
Shows the hoist load signal in INT16 format from fieldbus.
-32768...-32767 Hoist load. 1=1
77.122 Up position swing (Visible only when user lock is open with pass code 584. 4.00 s
time 1 See parameter 96.02 Pass code.)
Defines the UP position swing time used when parameter
77.29 Pendulum length source sel = Source 1. See also
description in parameter 77.22 Up position swing time and
description in section Hook in UP position.
1.00...20.00 s Source 1 sway cycle time in UP position. 100 = 1 s
Parameters 515

77.123 Up position length (Visible only when user lock is open with pass code 584. 20000.00
value 1 See parameter 96.02 Pass code.)
Defines the UP position length used when parameter 77.29
Pendulum length source sel = Source 1.
See also description in parameter 77.23 Up position length
value.
-32768.00... Source 1 scaled pendulum arm length in UP position. 100 = 1
32768.00
77.124 Down position (Visible only when user lock is open with pass code 584. 4.00 s
swing time 1 See parameter 96.02 Pass code.)
Defines the DOWN position swing time used when
parameter 77.29 Pendulum length source sel = Source 2.
See also description in parameter 77.24 Down position
swing time (page 507) and description in section Hook in
DOWN position. (page 134)
1.00...20.00 s Source 1 sway cycle time in DOWN position. 100 = 1 s
77.125 Down position (Visible only when user lock is open with pass code 584. 20000.00
length value 1 See parameter 96.02 Pass code.)
Defines the DOWN position length used when parameter
77.29 Pendulum length source sel = Source 1.
length value.
-32768.00... Source 1 scaled pendulum arm length in DOWN position. 100 = 1
32768.00
77.126 Maximum (Visible only when user lock is open with pass code 584. 100.000 m
pendulum length 1 See parameter 96.02 Pass code.)
Limits the maximum pendulum arm length when parameter
1.000...100.000 m Source 1 pendulum arm length. 1000 = 1 m
77.132 Up position swing (Visible only when user lock is open with pass code 584. 4.00 s
time 2 See parameter 96.02 Pass code.)
Defines the UP position swing time used when parameter
77.29 Pendulum length source sel = Source 2. See also
description in parameter 77.22 Up position swing time
(page 507) and description in section Hook in UP position
(page 133).
1.00...20.00 s Source 2 sway cycle time in UP position. 100 = 1 s
77.133 Up position length (Visible only when user lock is open with pass code 584. 20000.00
value 2 See parameter 96.02 Pass code.)
Defines the UP position length used when parameter 77.29
Pendulum length source sel = Source 2.
See also description in parameter 77.23 Up position length
value.
-32768.00... Source 2 scaled pendulum arm length in UP position. 100 = 1
32768.00
77.134 Down position (Visible only when user lock is open with pass code 584. 4.00 s
swing time 2 See parameter 96.02 Pass code.)
Defines the DOWN position swing time used when
parameter 77.29 Pendulum length source sel = Source 2.
swing time (page 507) and description in section Hook in
DOWN position (page 134).
1.00...20.00 s Source 1 sway cycle time in DOWN position. 100 = 1 s
516 Parameters

77.135 Down position (Visible only when user lock is open with pass code 584. 20000.00
length value 2 See parameter 96.02 Pass code.)
Defines the DOWN position length used when parameter
length value.
-32768.00... Source 1 scaled pendulum arm length in DOWN position. 100 = 1
32768.00
77.136 Maximum (Visible only when user lock is open with pass code 584. 100.000 m
pendulum length 2 See parameter 96.02 Pass code.)
Limits the maximum pendulum arm length when parameter
1.000...100.000 m Source 2 pendulum arm length. 1000 = 1 m
78
78 External sway (Parameters in this group are visible only when user lock is
control open with pass code 584. See parameter 96.02 Pass code.)
External sway control configuration.
These parameters are used only with NS100-antisway
sensor manufactured by NoSwing®. For more information,
see www.noswing.fi.
Note: This is not an ABB product. For full parameter
description, contact the manufacturer.
82
82 Synchro control Synchro control configuration.
See description on page 69.
82.01 Synchro control (Visible only when user lock is open with pass code 584. Off
Enables the Synchro control function.
Off Synchro control function is disabled. 0
On Synchro control function is enabled. 1
219).
82.02 Synchro sel (Visible only when user lock is open with pass code 584. No
Activates Synchro control and defines the input for the
Synchro command. When this command is active and the
drive is in Master/Follower mode, the shaft synchronisation
is enabled.
This parameter is active only when the Synchro control
function is enabled with parameter 82.01 Synchro control.
No Synchro command is not active. 0
Select Synchro command is always active. 1
page 219).
Parameters 517

82.03 Sync corr mode (Visible only when user lock is open with pass code 584. Direct
Defines the synchronisation correction mode used in
Synchro command activation with parameter 82.02 Synchro
sel.
Direct Direct mode of synchronization correction. In this mode, the 0
difference between the Master position and the Follower
position at the time of Synchro command activation is taken
as position error. No permanent offset is calculated in this
mode.
Offset Offset mode of synchronization correction. In this mode, the 1
difference between the Master position and the Follower
position at the time of Synchro command activation is taken
as an offset and is not considered as position error.
82.04 Sync gain (Visible only when user lock is open with pass code 584. 1.00
Defines the gain for Synchro control (P-controller) in
Follower drives.
0.00...100.00 Gain 100 = 1
82.05 Position corr limit (Visible only when user lock is open with pass code 584. 1.00
Defines the maximum/minimum limit for position correction
value. The difference between the Master and Follower
position in unit (mm) is limited to this value before it is given
as speed correction factor to the Follower speed loop.
0.00...100.00 Gain 100 = 1
82.06 Sync corr scale (Visible only when user lock is open with pass code 584. 1.00
Defines the scaling factor for final speed correction
reference in slave speed loop. The scaling value
corresponds to a correction of speed in rpm for a position
error of 1 mm.
0.00... Gain 100 =
100.00 rpm/mm 1 rpm/mm
82.07 Sync err limit (Visible only when user lock is open with pass code 584. 1.00 mm
Defines the synchronization error limit in the Follower drive
for the fault supervision of synchronization error. The fault
delay timer is activated immediately when the actual
position is greater or equal to this limit and is reset.
0.00...100.00 mm Synchronization error limit. 100 = 1 mm
82.08 Sync err fault delay (Visible only when user lock is open with pass code 584. 2s
Defines the time delay in generating the fault due to
synchronization error. The fault is generated when the
synchronization error limit (par. 82.07 Sync err limit) is active
and the corresponding delay time has elapsed.
0...100 s Synchronization error limit. 1=1s
518 Parameters

82.09 Position hysteresis (Visible only when user lock is open with pass code 584. 5.00 mm
Defines the position hysteresis for stop sequence in
synchronization mode. The drive stops only when the
absolute synchronization position error is in this range.
Note: This parameter is applicable only for Follower drives
in the synchronization mode.
0.00...50.00 mm Synchronization error limit. 100 = 1 mm
82.11 Synchro sw (Visible only when user lock is open with pass code 584. -
Displays the status of Synchro control function.

0 Synchro on Synchro control function is On.
1 Synchro Synchro control function is selected and Position correction logic
selected modifies the speed reference.
2 Synchro fault Fault condition tripped and still presented due to position difference
going beyond limits defined in parameter 82.07 Sync err limit.
3...15 Reserved
0b0000h…0b1111h Follower 17…32 ready status. 1=1

82.20 Act position error (Visible only when user lock is open with pass code 584. -
Shows the actual position error.
- Position error -
82.21 Master position (Visible only when user lock is open with pass code 584. -
See parameter 96.02 Pass code.)S
hows the Synchro control position in Master drive. If the
Synchro control function is Off, this signal is set to 0,
because when Synchro control is Off, different signals can
be transferred.
- Synchro control position. -
82.22 Offset value (Visible only when user lock is open with pass code 584. -
Shows the offset value.
- Offset value. -
82.23 Correction speed (Visible only when user lock is open with pass code 584. -
ref See parameter 96.02 Pass code.)
Shows the speed reference correction.
- Offset value. -
82.24 Master linear (Visible only when user lock is open with pass code 584. -
speed ref See parameter 96.02 Pass code.)
Shows the linear speed reference correction in Master drive.
- Offset value. -
Parameters 519

82.25 Actual linear speed (Visible only when user lock is open with pass code 584. -
ref See parameter 96.02 Pass code.)
Shows the actual speed reference of the drive.
- Offset value. -
83
83 Smooth lifiting Smooth lifting configuration.
See description of Smooth lifting on page 123.
83.01 Smooth lifiting (Visible only when user lock is open with pass code 584. Disable
Enables the Smooth lifting function.
Disable Smooth lifting function is disabled. 0
Enable Smooth lifting function is enabled. 1
page 219).
83.02 Smooth lifting (Visible only when user lock is open with pass code 584. 0 ms
Defines the delay time to apply the reference before the
smooth lifiting function starts monitorin the torque. This
delay time also prevents from triggering the smooth lifting
function after the brake is opened.
0...1000 ms Delay time 1 = 1 ms
83.03 Smooth lifting (Visible only when user lock is open with pass code 584. 1%
torque step See parameter 96.02 Pass code.)
Defines the rising limit of torque at intervals of 2 ms.This
condition indicates that peak torque condition.
0...1600 % Torque rising limit. 1 =1 %
83.04 Smooth lifting acc (Visible only when user lock is open with pass code 584. 5.0 rpm
speed diff See parameter 96.02 Pass code.)
Defines the difference between reference speed and actual
speed during acceleration. When the difference is more or
equal (i.e., 83.04 Smooth lifting acc speed diff + 83.05
Smooth lifiting speed diff), then one of the conditions for
smooth lfiting is satisfied.
0.0...32000.0 rpm Speed difference 10 = 1 rpm
83.05 Smooth lifiting (Visible only when user lock is open with pass code 584. 5.0 rpm
speed diff See parameter 96.02 Pass code.)
Defines the difference between reference speed and actual
speed. When a sudden speed difference appears one of the
condition for smooth lifting is satisfied. If value is smaller, the
function is more sensitive.
0.0...32000.0 rpm Speed difference 10 = 1 rpm
83.06 Smooth lifting (Visible only when user lock is open with pass code 584. 50 %
torque lim See parameter 96.02 Pass code.)
Defines the torque limit above which the smooth lifting
function cannot execute. It is recommended to set this value
gradually higher than the torque required to lift an empty
hook.
0...1600 % Percent of torque limit. 1 = 1%
520 Parameters

83.07 Smooth lifting zero (Visible only when user lock is open with pass code 584. 0.0 s
speed delay See parameter 96.02 Pass code.)
Defines the time during which drive reference is kept at
0 rpm after the smooth lifting function was triggered and
motor speed reached 0 rpm.
0.0...32757.0 s Smooth lifting zero speed delay time in seconds. 10 = 1 s
83.08 Smooth lifiting dec (Visible only when user lock is open with pass code 584. 0.50
time multiplier See parameter 96.02 Pass code.)
Defines the ramp multiplier applied to the deceleration time
when the smooth lifiting function is executed.
Deceleration time = Deceleration time defined in parameter
23.202 Crane dec tme 1 or 23.204 Crane dec time 2
(whichever is used) * this value.
0.00...1000.00 Ramp multiplier 100 = 1
83.10 Smooth lifting sw (Visible only when user lock is open with pass code 584. -
Shows the status of smooth lifting function.
Bit Name Value

0 Function executed 1 = Function executed now.
Note: This bit must be connected to parameter 23.04
(inverted).
1 Director lifting 1 = Current direction is lifting.
2 Speed drop detected 1 = Differece between reference speed and actual speed is
more than the defined speed.
83.05 + 83.04 * 83.10, bit 8
3 Torque rise detected 1 = Torque difference is more than the value defined in
parameter 83.03.
4 Delay time elapsed 1 = Delay time defined in parameter 83.02 is elapsed.
5 Ready to trigger 1 = Smooth lifting function is ready to be executed.
Note: After execution, this bit resets to 0.
6 Torque below limit 1 = Actual torque is below the value defined in parameter
83.06.
7 Ready to execute 1 = Drive successfully finished torque proving and shock load is
ready to execute.
8 Acc speed error in use 1 = Drive is accelerating and function is less sensitive.
9…15 Reserved
0000b …1111b Position counter status word. 1=1

85
85 ACC interface ACC inteface configuration.
Note: These parameters are used only when you replace
the ACC600/ACS800 Crane drive control (ACC600 or
ACS800/+N652).
For the complete description and instructions on how to use
the ACC interface, contact ABB.
85.01 ACC interface (Visible only when user lock is open with pass code 584. Disable
Enables ACC interface.
Disable ACC interface is disabled. 0
Enable ACC interface is enabled. 1
Parameters 521

page 219).
85.02 ACC Ena EXT2 ctrl (Visible only when user lock is open with pass code 584. True
mode selection See parameter 96.02 Pass code.)
Enables external control location EXT2 for ACC interface.
False EXT2 is disabled. 0
True EXT2 is enabled. 1
85.03 ACC EXT2 control (Visible only when user lock is open with pass code 584. ACC FB
mode sel See parameter 96.02 Pass code.) CW.TORQ
Selects the EXT2 control mode type for ACC interface. CTRL SEL
Speed Speed is used as the EXT2 control mode for ACC interface. 0
Torque Torque is used as the EXT2 control mode for ACC interface. 1
ACC FB Torque control is selected as the ACC fieldbu interface. See 2
CW.TORQ CTRL parameter 09.45 ACC Crane fieldbus CW, bit 6.
SEL
page 219).
85.04 ACC Ramp Rate 1 (Visible only when user lock is open with pass code 584. False
Enables ramp rate for ACC interface.
False 0 0
True 1 1
85.05 ACC FB ramp rate (Visible only when user lock is open with pass code 584. 1000
Defines the ramp rate for ACC fieldbus interface.
0...5000 ACC fieldbus ramp rate. 1=1
85.06 ACC Second ramp (Visible only when user lock is open with pass code 584. Second ramp
sel See parameter 96.02 Pass code.)
Selects the source for ACC second ramp.
Normal ramp Normal ramp is disabled. 0
Second ramp Second ramp is enabled. 1
219).
85.07 ACC Second ramp (Visible only when user lock is open with pass code 584. 1.00
scale See parameter 96.02 Pass code.)
Defines the scaling of second ramp for ACC interface.
0.00...5.00 Scaled value of second ramp. 100 = 1
522 Parameters

85.20 ACC Data set 5 (Visible only when user lock is open with pass code 584. -
data 1 selection See parameter 96.02 Pass code.)
Parameters 85.20...85.36 preselects the data to be sent in
data sets 5 and 7 to the external controller for ACC
interface. These data sets are used in ModuleBus
communication with a “Standard drive”.
Parameters 85.40...85.45 shows the data to be sent to the
external controller for ACC interface. If no data is
these parameter.
... ... ... -
85.36 ACC Data set 7 (Visible only when user lock is open with pass code 584.
Preselects the ACC data to be sent as word 3 of data set 7
to the external controller.
data 1 value See parameter 96.02 Pass code.)
Parameters 85.40...85.45 show (in integer format) the data
to be sent to the external controller as word (1...3) of data
sets 5 and 7.
If no data is preselected in parameters 85.20...85.36, the
value to be sent can be written directly into this parameter.
-32767...32767 Data to be sent as word (1...3) of data sets 5 and 7.. 1=1
... ... ... -
Shows (in integer format) the data to be sent to the external
controller as word 3 of data set 7.
If no data is preselected by 85.36 ACC Data set 7 data 3
this parameter.
-32767...32767 Data to be sent as word 3 of data set 7. 1=1
Parameters 85.50...85.76 preselects the data to be sent in
data sets 6, 8, and 12 to the external controller for ACC
interface. These data sets are used in ModuleBus
communication with a “Standard drive”.
Parameters 85.80...85.88 shows the data to be sent to the
external controller for ACC interface. If no data is
these parameter.
... ... ... ...
Parameters 523

Preselects the ACC data to be sent as word 3 of data set 12
to the external controller.
Parameters 85.80...85.88 show (in integer format) the data
to be sent to the external controller as word (1...3) of data
sets 6, 8 and 12.
If no data is preselected in parameters 85.50...85.76, the
value to be sent can be written directly into this parameter.
-32767...32767 Data to be sent as word (1...3) of data sets 6, 8 and 12. 1=1
... ... ... ...
Shows (in integer format) the data to be sent to the external
controller as word 3 of data set 12.
If no data is preselected by 85.88 ACC Data set 12 data 3
value, the value to be sent can be written directly into this
parameter.
-32767...32767 Data to be sent as word 3 of data set 12. 1=1
90
90 Feedback selection Motor and load feedback configuration.
See also section Encoder support (page 179) and Position
counter (page 182), and the diagram on page 725.
90.01 Motor speed for Displays the estimated or measured motor speed that is -
control used for motor control, ie. final motor speed feedback
selected by parameter 90.41 Motor feedback selection and
filtered by parameter 90.42 Motor speed filter time.
In case measured feedback is selected, it is also scaled by
the motor gear function (90.43 Motor gear numerator and
90.44 Motor gear denominator).
-32768.00 … Motor speed used for control. See par.
32767.00 rpm 46.01
90.02 Motor position Displays the motor position (within one revolution) received -
from the source selected by parameter 90.41 Motor
feedback selection.
In case measured feedback is selected, it is also scaled by
the motor gear function (90.43 Motor gear numerator and
90.44 Motor gear denominator).
0.00000000 … Motor position. 32767 =
1.00000000 rev 1 rev
524 Parameters

90.03 Load speed Displays the estimated or measured load speed used for -
motor control, that is final load speed feedback selected by
parameter 90.51 Load feedback selection and filtered by
parameter 90.52 Load speed filter time.
If measured feedback is selected, it is scaled by the load
gear function (90.53 Load gear numerator and 90.54 Load
gear denominator).
If motor feedback or estimated feedback is used, it is
inversely scaled by 90.61 Gear numerator and 90.62 Gear
denominator (that is 90.62 divided by 90.61).
-32768.00 … Load speed. See par.
32767.00 rpm 46.01
90.04 Load position Displays the load position received from the source selected -
by parameter 90.51 Load feedback selection. The value is
multiplied as specified by parameter 90.57 Load position
resolution.
If measured feedback is selected, it is scaled by the load
gear function (90.53 Load gear numerator and 90.54 Load
gear denominator).
If motor feedback or estimated feedback is used, it is
inversely scaled by 90.61 Gear numerator and 90.62 Gear
An offset can be defined by 90.56 Load position offset.
-2147483648 … Load position. -
2147483647
90.05 Load position Displays the scaled load position in decimal format. The -
scaled position is relative to the initial position set by parameters
90.65…90.69.
The number of decimal places is defined by parameter
90.38 Pos counter decimals.
Note: This is a floating point parameter, and the accuracy is
compromised near the ends of the range.
This signal is used for synchro and antisway controls.
-2147483.648 … Scaled load position in decimal format. -
2147483.647
90.06 Motor position Displays the calculated motor position. -
scaled The axis mode (linear or rollover) and resolution are defined
by parameters 90.48 Motor position axis mode and 90.49
Motor position resolution respectively.
Note: The position value can be sent on a fast time level to
the fieldbus controller by selecting Position in either 50.07
FBA A actual 1 type, 50.08 FBA A actual 2 type, 50.37 FBA
B actual 1 type or 50.38 FBA B actual 2 type.
-2147483.648 … Motor position. -
2147483.647
Parameters 525

90.07 Load position Displays the output of the position counter function as an -
scaled int integer, enabling backwards compatibility with ACS 600 and
ACS800 drives. The position is relative to the initial position
set by parameters 90.58 and 90.59. See section Position
counter (page 182), and the block diagram on page 727.
Note: This signal is not used in synchro and antisway
controls, but instead uses signal in par. 90.05.
-2147483648 … Scaled load position in integer format. -
2147483647
90.10 Encoder 1 speed Displays encoder 1 speed in rpm. -
32767.00 rpm 46.01
90.11 Encoder 1 position Displays the actual position of encoder 1 within one -
revolution.
0.00000000 … Encoder 1 position within one revolution. 32767 =
1.00000000 rev 1 rev
90.12 Encoder 1 Displays the revolutions of (multiturn) encoder 1 within its -
multiturn value range (see parameter 92.14 Revolution data width).
revolutions This parameter is read-only.
0…16777215 Encoder 1 revolutions. -
90.13 Encoder 1 Displays the revolution count extension for encoder 1. -
revolution With a single-turn encoder, the counter is incremented when
extension encoder position (parameter 90.11) wraps around in the
positive direction, and decremented in the negative
direction.
With a multiturn encoder, the counter is incremented when
the revolutions count (parameter 90.12) exceeds the value
range in the positive direction, and decremented in the
negative direction.
-2147483648 … Encoder 1 revolution count extension. -
2147483647
90.14 Encoder 1 position Displays the raw measurement data of encoder 1 position -
raw (within one revolution) as a 24-bit unsigned integer received
from the encoder interface.
0…16777215 Raw encoder 1 position within one revolution. -
revolutions raw value range (see parameter 92.14 Revolution data width) as
a raw measurement.
0…16777215 Raw encoder 1 revolution count. -
90.20 Encoder 2 speed Displays encoder 2 speed in rpm. -
32767.00 rpm 46.01
90.21 Encoder 2 position Displays the actual position of encoder 2 within one -
revolution.
526 Parameters

0.00000000 … Encoder 2 position within one revolution. -
1.00000000 rev
multiturn value range (see parameter 93.14 Revolution data width).
revolutions This parameter is read-only.
0…16777215 Encoder 2 revolutions. -
90.23 Encoder 2 Displays the revolution count extension for encoder 2. -
revolution With a single-turn encoder, the counter is incremented when
extension encoder position (parameter 90.21) wraps around in the
positive direction, and decremented in the negative
direction.
With a multiturn encoder, the counter is incremented when
the revolutions count (parameter 90.22) exceeds the value
range in the positive direction, and decremented in the
negative direction.
-2147483648 … Encoder 2 revolution count extension. -
2147483647
90.24 Encoder 2 position Displays the raw measurement data of of encoder 2 position -
raw (within one revolution) as a 24-bit unsigned integer received
from the encoder interface.
0…16777215 Raw encoder 2 position within one revolution. -
revolutions raw value range (see parameter 93.14 Revolution data width) as
a raw measurement.
0…16777215 Raw encoder 2 revolution count. -
90.26 Motor revolution Displays the motor revolution count extension. -
extension The counter is incremented when the position selected by
90.41 Motor feedback selection wraps around in the positive
direction, and decremented in the negative direction.
-2147483648 … Motor revolution count extension. -
2147483647
90.27 Load revolution Displays the load revolution count extension. -
extension The counter is incremented when the position selected by
90.51 Load feedback selection wraps around in the positive
direction, and decremented in the negative direction.
-2147483648 … Load revolution count extension. -
2147483647
Parameters 527

90.35 Pos counter status Status information related to the position counter function. -
See section Position counter (page 182).
Bit Name Value

0 Encoder 1 1 = Encoder 1 selected as load feedback source
feedback
1 Encoder 2 1 = Encoder 2 selected as load feedback source
feedback
2 Internal position 1 = Internal load position estimate selected as load feedback
feedback source
3 Motor feedback 1 = Motor feedback selected as load feedback source
4 Pos counter init 0 = Position counter not initialized, or encoder feedback was lost.
ready Fresh counter initialization recommended.
1 = Position counter successfully initialized
5 Position counter 1 = Position counter initialization is being prevented by par. 90.68
re-init disabled
6 Position data 1 = Encoder feedback intermittent or lost. (If the drive is running,
inaccurate estimated position is used whenever encoder feedback is
unavailable. If the drive is in stopped state, position counting will
continue based on encoder data after the connection is restored.)
7…15 Reserved
0000 0000b … Position counter status word. 1=1

0111 1111b
90.38 Pos counter Scales the values of parameters 90.05 Load position scaled 3
decimals and 90.65 Pos counter init value when written from or read
to from an external source (eg. fieldbus). The setting
corresponds to the number of decimal places.
For example, with the setting of 3, an integer value of 66770
written into 90.65 Pos counter init value is divided by 1000,
so the final value applied will be 66.770. Likewise, the value
of 90.05 Load position scaled is multiplied by 1000 when
read.
0…9 Number of position counter decimal places. 1=1
90.41 Motor feedback Selects the motor speed feedback value used during motor Estimate
selection control.
Note: With a permanent magnet motor, make sure an
autophasing routine (see page 188) is performed using the
selected encoder. If necessary, set parameter 99.13 ID run
requested to Autophasing to request a fresh autophasing
routine.
Estimate A calculated speed estimate generated from the DTC core 0
is used.
Encoder 1 Actual speed measured by encoder 1. The encoder is set up 1
by the parameters in group 92 Encoder 1 configuration.
Encoder 2 Actual speed measured by encoder 2. The encoder is set up 2
by the parameters in group 93 Encoder 2 configuration.
90.42 Motor speed filter Defines a filter time for motor speed feedback used for 3 ms
time control (90.01 Motor speed for control).
0 … 10000 ms Motor speed filter time. 1 = 1 ms
528 Parameters

90.43 Motor gear Parameters 90.43 and 90.44 define a gear function between 1
numerator the motor speed feedback and motor control. The gear is
used to correct a difference between the motor and encoder
speeds for example if the encoder is not mounted directly on
the motor shaft.
90.43 Motor gear numerator Motor speed

=
90.44 Motor gear denominator Encoder speed
-2147483648 … Motor gear numerator. -

2147483647
90.44 Motor gear See parameter 90.43 Motor gear numerator. 1
denominator
-2147483648 … Motor gear denominator. -
2147483647
90.45 Motor feedback Selects how the drive reacts to loss of measured motor Fault
fault feedback.
Fault Drive trips on a 7301 Motor speed feedback or 0
7381Encoder fault.
Warning Drive generates a A7B0 Motor speed feedback or A7E1 1
Encoder warning and continues operation using estimated
feedbacks.
Note: Before using this setting, test the stability of the speed
control loop with estimated feedback by running the drive on
estimated feedback (see 90.41 Motor feedback
selection)warning.
90.46 Force open loop Forces the DTC motor model to use estimated motor speed No
as feedback. This parameter can be activated for example,
when the encoder data is unreliable because of slippage.
Note: This parameter affects only the selection of feedback
for motor model and not for the speed controller.
No The motor model uses the feedback selected by 90.41 0
Motor feedback selection.
Yes The motor model uses the calculated speed estimate 1
(regardless of the setting of 90.41 Motor feedback selection,
which in this case only selects the source of feedback for
the speed controller).
90.48 Motor position axis Selects the axis type for motor position measurement. Rollover
mode
Linear Linear. 0
Rollover The value is between 0 and 1 revolutions, and rolls over at 1
360 degrees.
90.49 Motor position Defines how many bits are used for motor position count 24
resolution within one revolution. For example, with the setting of 24,
the position value is multiplied by 16777216 for display in
parameter 90.06 Motor position scaled (or for fieldbus).
0…31 Motor position resolution. -
90.51 Load feedback Selects the source of load speed and position feedbacks None
selection used in control.
None No load feedback selected. 0
Parameters 529

Encoder 1 Load feedbacks are updated based on the speed and 1
position values read from encoder 1.
The values are scaled by the load gear function (90.53 Load
gear numerator and 90.54 Load gear denominator).
The encoder is set up by the parameters in group 92
Encoder 1 configuration.
Encoder 2 Load feedbacks are updated based on the speed and 2
position values read from encoder 2.
The values are scaled by the load gear function (90.53 Load
gear numerator and 90.54 Load gear denominator).
The encoder is set up by the parameters in group 93
Encoder 2 configuration.
Estimate Calculated speed and position estimates are used. The 3
values are scaled from the motor side to the load side using
the inverted ratio between 90.61 Gear numerator and 90.62
Gear denominator (that is 90.62 divided by 90.61).
Motor feedback The source selected by parameter 90.41 Motor feedback 4
selection for motor feedback is also used for load feedback.
Any difference between the motor and load speeds (and
positions) can be compensated by using the inverted ratio
between 90.61 Gear numerator and 90.62 Gear
90.52 Load speed filter Defines a filter time for load speed feedback (90.03 Load 4 ms
time speed).
0 … 10000 ms Load speed filter time. -
90.53 Load gear Parameters 90.53 and 90.54 define a gear function between 1
numerator the load (that is driven equipment) speed and the encoder
feedback selected by parameter 90.51 Load feedback
selection. The gear can be used to correct a difference
between the load and encoder speeds for example if the
encoder is not mounted directly on the rotated machinery.
90.53 Load gear numerator Load speed

=
90.54 Load gear denominator Encoder speed
-2147483648 … Load gear numerator. -

2147483647
90.54 Load gear See parameter 90.53 Load gear numerator. 1
denominator
-2147483648 … Load gear denominator. -
2147483647
90.55 Load feedback Selects how the drive reacts to loss of load feedback. Fault
fault
Fault Drive trips on a 73A1 Load feedback fault. 0
Warning Drive generates a A7B1 Load speed feedback warning and 1
continues operation using estimated feedbacks.
90.56 Load position Defines a load-side position offset. The resolution is 0 rev
offset determined by parameter 90.57 Load position resolution.
-2147483648 … Load-side position offset. -
2147483647 rev
530 Parameters

90.57 Load position Defines how many bits are used for load position count 16
resolution within one revolution. For example, with the setting of 16,
the position value is multiplied by 65536 for display in
parameter 90.04 Load position.
0…31 Load position resolution. -
90.58 Pos counter init Defines an initial position (or distance) for the position 0
value int counter (as an integer value) when parameter 90.59 Pos
counter init value int source is set to Pos counter init value
int.
See also section Position counter (page 182).
-2147483648 … Initial integer value for position counter. -
2147483647
90.59 Pos counter init Selects the source of the initial position integer value. When Pos counter
value int source the source selected by 90.67 Pos counter init cmd source init value int
activates, the value selected in this parameter is assumed to
be the position of the load.
Zero 0. 0
Pos counter init Parameter 90.58 Pos counter init value int. 1
value int
219).
90.60 Pos counter error Selects how the position counter reacts to loss of load Request re-
and boot action feedback. initialization
Request re- Bit 4 of 90.35 Pos counter status is cleared. Reinitialization 0
initialization of position counter is recommended.
Continue from Position counting resumes from the previous value over a 1
previous value loss of load feedback or control unit reboot. Bit 4 of 90.35
Pos counter status is not cleared, but bit 6 is set to indicate
that an error has occurred.
WARNING! If load feedback is lost when the drive is
in stopped state or not powered, the counter is not
updated even if the load moves.
90.61 Gear numerator Parameters 90.61 and 90.62 define a gear function between 1
the motor and load speeds.
90.61 Gear numerator Motor speed

=
90.62 Gear denominator Load speed
-2147483648 … Gear numerator (motor-side). -

2147483647
90.62 Gear denominator See parameter 90.61 Gear numerator. 1
-2147483648 … Gear denominator (load-side). -
2147483647
Parameters 531

90.63 Feed constant Parameters 90.63 and 90.64 define the feed constant for the 1
numerator position calculation:
90.63 Feed constant numerator

90.64 Feed constant denominator
The feed constant converts rotational motion into translatory

motion. The feed constant is the distance the load moves
during one turn of the motor shaft.
The translatory load position is shown by parameter 90.07
Load position scaled int.
Note: The load position is updated only after the new
position input data is received.
-2147483648 … Feed constant numerator. -
2147483647
90.64 Feed constant See parameter 90.63 Feed constant numerator. 1
denominator
-2147483648 … Feed constant denominator. -
2147483647
90.65 Pos counter init Defines an initial position (or distance) for the position 0.000
value counter (as a decimal number) when parameter 90.66 Pos
counter init value source is set to Pos counter init value.
See also section Position counter (page 182).
The number of decimal places is defined by parameter
90.38 Pos counter decimals.
-2147483.648 … Initial value for position counter. -
2147483.647
90.66 Pos counter init Selects the source of the initial position value. Pos counter
value source When the source selected by 90.67 Pos counter init cmd init value
source activates, the value selected in this parameter is
assumed to be the position of the load (in decimal format).
In ACS880 crane application initial position is as per par.
90.65.
Zero 0. 0
Pos counter init Parameter 90.65 Pos counter init value. 1
value
219).
90.67 Pos counter init Selects a digital source (for example, a limit switch Par.90.202,
cmd source connected to a digital input) that initializes the position bit 0
counter. When the digital source activates, the value
selected by 90.66 Pos counter init value source is assumed
to be the position of the load.
In ACS880 crane application, by default the source for this
parameter is in par. 90.202, bit 0. See also Power on
Note: Position counter initialization can be prevented by
parameter 90.68 Disable pos counter initialization.
Not selected 0. 0
Selected 1. 1
532 Parameters

219).
90.68 Disable pos Selects a source that prevents the initialization of the Not selected
counter position counter.
initialization
Not selected 0. 0
Selected 1. 1
219).
90.69 Reset pos counter Selects a source that enables a new initialization of the Par.90.202,
init ready position counter, ie. resets bit 4 of 90.35 Pos counter status. bit 1
In ACS880 crane application, by default the source for this
parameter is in par. 90.202, bit 1. See also Power on
Not selected 0. 0
Selected 1. 1
219).
Parameters 533

90.200 Position counter Selects the source for position counter initialization reset False
init source command or allows to manually reset the position counter
initialization.
Note: This parameter is applicable only for Crane
application program.
False Position counter initialization reset command. 0
True Allows manual resetting of position counter initialization. 1
219).
90.201 Position counter Selects the method of reseting the position counter Rising edge
init method initialization. standby
Rising edge Rising edge of signal when drive is running. 0
running
Rising edge Rising edge of signal when drive is in standby. 1
standby
Rising edge Rising edge of signal when drive is running or is in standby. 2
Falling edge Falling edge of signal when drive is running. 3
running
Falling edge Falling edge of signal when drive is in standby. 4
standby
Falling edge Falling edge of signal when drive is running or is in standby. 5
90.202 Position counter Status information related to the position counter -
init sw initialization function. This is used together with standard
position counter. Status word bits with default connection.
See section Power on acknowledgement (page 139).
Bit Name Value

0 Pos counter init This bit is connected as default into parameter 90.67 Pos
command counter init cmd source.
1 Reset pos counter This bit is connected as default into a parameter 90.69 Reset
init ready pos counter init ready.
2…15 Reserved
0000h…FFFFh Position counter status word. 1=1

534 Parameters

91
91 Encoder module Configuration of encoder interface modules.
settings
91.01 FEN DI status Displays the status of the digital inputs of FEN-xx encoder -
interface modules.

0 DI1 /module 1 DI1 of interface module 1 (see parameters 91.11 and 91.12)
2…3 Reserved
6…15 Reserved
0000 0000b … Status word of digital inputs on FEN-xx modules. 1=1

0011 0011b
91.02 Module 1 status Displays the type of the interface module found in the -
location specified by parameter 91.12 Module 1 location.
No option No module detected in specified slot. 0
No communication A module has been detected but cannot be communicated 1
with.
Unknown The module type is unknown. 2
FEN-01 An FEN-01 module has been detected and is active. 16
FSE-31 An FSE-31 module has been detected and is active. 25
91.03 Module 2 status Displays the type of the interface module found in the -
location specified by parameter 91.14 Module 2 location.
For the indications, see parameter 91.02 Module 1 status.
91.04 Module 1 Displays the temperature measured through the sensor -
temperature input of interface module 1. The unit is selected by
parameter 96.16 Unit selection.
0…1000 °C, °F or Temperature measured through interface module 1. -
ohm
91.06 Module 2 Displays the temperature measured through the sensor -
temperature input of interface module 2. The unit is selected by
parameter 96.16 Unit selection.
0…1000 °C, °F or Temperature measured through interface module 2. -
ohm
Parameters 535

91.10 Encoder parameter Validates any changed encoder interface module Done
refresh parameters. This is needed for any parameter changes in
groups 90…93 to take effect.
After refreshing, the value reverts automatically to Done.
Notes:
• Permanent magnet motors only: The drive performs a
fresh autophasing routine (see page 188) at next start if
the motor feedback encoder settings were changed.
• The parameter cannot be changed while the drive is
running.
91.11 Module 1 type Defines the type of the module used as interface module 1. None
FEN-01 FEN-01. 1
FEN-11 FEN-11. 2
FEN-21 FEN-21. 3
FEN-31 FEN-31. 4
FSE-31 FSE-31. 5
which the interface module is installed. Alternatively,
specifies the node ID of the slot on an FEA-0x extension
adapter.
Slot 1 Slot 1. 1
Slot 2 Slot 2. 2
Slot 3 Slot 3. 3
91.13 Module 2 type Defines the type of the module used as interface module 2. None
FEN-01 FEN-01. 1
FEN-11 FEN-11. 2
FEN-21 FEN-21. 3
FEN-31 FEN-31. 4
FSE-31 FSE-31. 5
which the interface module is installed. Alternatively,
specifies the node ID of the slot on an FEA-0x extension
adapter.
Slot 1 Slot 1. 1
Slot 2 Slot 2. 2
Slot 3 Slot 3. 3
91.21 Module 1 temp Specifies the type of temperature sensor connected to None
sensor type interface module 1.
None None. 0
PTC PTC. (The unit is ohms.) 1
536 Parameters

KTY-84 KTY84. (The unit is selected by parameter 96.16 Unit 2
selection.)
91.22 Module 1 temp Defines a filtering time for the temperature measurement 1500 ms
filter time through interface module 1.
0…10000 ms Filtering time for temperature measurement. -
91.24 Module 2 temp Specifies the type of temperature sensor connected to None
sensor type interface module 2.
None None. 0
PTC PTC. (The unit is ohms.) 1
KTY-84 KTY84. (The unit is selected by parameter 96.16 Unit 2
selection.)
91.25 Module 2 temp Defines a filtering time for the temperature measurement 1500 ms
filter time through interface 2.
0…10000 ms Filtering time for temperature measurement. -
91.31 Module 1 TTL Selects the encoder input on interface module 1 whose Not selected
output source signal is echoed by or emulated to the TTL output.
See also section Encoder support (page 179).
Not selected TTL output not in use. 0
Module input 1 Input 1 is echoed by or emulated to the TTL output. 1
91.32 Module 1 Defines the number of TTL pulses per revolution for encoder 0
emulation emulation output of interface module 1.
pulses/rev
0…65535 Number of TTL pulses for emulation. 1=1
91.33 Module 1 emulated With interface module 1, defines when zero pulses are 0.00000
Z-pulse offset emulated in relation to zero position received from the
encoder.
For example, with a value of 0.50000, a zero pulse is
emulated whenever the encoder position passes 0.5
revolutions. With a value of 0.00000, a zero pulse is
emulated whenever the encoder position passes zero
position.
0.00000 … Position of emulated zero pulses. 32767 =
1.00000 rev 1 rev
91.41 Module 2 TTL Selects the encoder input on interface module 2 whose Not selected
output source signal is echoed by or emulated to the TTL output.
See also section Encoder support (page 179).
Not selected TTL output not in use. 0
91.42 Module 2 Defines the number of TTL pulses per revolution for encoder 0
emulation emulation output of interface module 2.
pulses/rev
0…65535 Number of TTL pulses for emulation. 1=1
Parameters 537

91.43 Module 2 emulated With interface module 2, defines when zero pulses are 0
Z-pulse offset emulated in relation to zero position received from the
encoder.
For example, with a value of 0.50000, a zero pulse is
emulated whenever the encoder position passes 0.5
revolutions. With a value of 0.00000, a zero pulse is
emulated whenever the encoder position passes zero
position.
0.00000 … Position of emulated zero pulses. 32767 =
1.00000 rev 1 rev
92
92 Encoder 1 Settings for encoder 1.
configuration Notes:
• The contents of the parameter group vary according to
the selected encoder type.
• It is recommended that encoder connection 1 (this group)
is used whenever possible since the data received
through that interface is fresher than the data received
through connection 2 (group 93 Encoder 2 configuration).
92.01 Encoder 1 type Selects the type of encoder/resolver 1. None
configured
None configured Inactive. 0
TTL TTL. Module type (input): FEN-01 (X31), FEN-11 (X41) or 1
FEN-21 (X51).
TTL+ TTL+ (with commutation signals). Module type (input): FEN- 2
01 (X32).
Absolute encoder Absolute encoder. Module type (input): FEN-11 (X42). 3
Resolver Resolver. Module type (input): FEN-21 (X52). 4
HTL HTL. Module type (input): FEN-31 (X82). 5
HTL 1 HTL. Module type (input): FSE-31 (X31). 6
TTL 1 TTL. Module type (input): FSE-31 (X31). Not supported at 8
the time of publication.
92.02 Encoder 1 source Selects the interface module that the encoder is connected Module 1
to. (The physical locations and types of encoder interface
modules are defined in parameter group 91 Encoder module
settings.)
Module 1 Interface module 1. 0
92.10 Pulses/revolution (Visible when a TTL, TTL+ or HTL encoder is selected) 2048
Defines the pulse number per revolution.
0…65535 Number of pulses. -
92.10 Sine/cosine (Visible when an absolute encoder is selected) 0
number Defines the number of sine/cosine wave cycles within one
revolution.
Note: This parameter need not be set when an EnDat or
SSI encoder is used in continuous mode. See parameter
92.30 Serial link mode.
0…65535 Number of sine/cosine wave cycles within one revolution. -
538 Parameters

92.10 Excitation signal (Visible when a resolver is selected) 1 kHz
frequency Defines the frequency of the excitation signal.
Note: With an EnDat or HIPERFACE encoder and FEN-11
FPGA version VIE 12200 or later, this parameter is
automatically set upon validation of encoder settings (91.10
Encoder parameter refresh).
1…20 kHz Excitation signal frequency. 1 = 1 kHz
92.11 Pulse encoder type (Visible when a TTL, TTL+ or HTL encoder is selected) Quadrature
Selects the type of encoder.
Quadrature Quadrature encoder (with two channels, A and B) 0
Single track Single-track encoder (with one channel, A) 1
Note: With this setting, the measured speed value is always
positive regardless of direction of rotation.
92.11 Absolute position (Visible when an absolute encoder is selected) None
source Selects the source of the absolute position information.
None Not selected. 0
Commut signals Commutation signals. 1
EnDat Serial interface: EnDat encoder. 2
Hiperface Serial interface: HIPERFACE encoder. 3
SSI Serial interface: SSI encoder. 4
Tamagawa Serial interface: Tamagawa 17/33-bit encoder. 5
92.11 Excitation signal (Visible when a resolver is selected) 4.0 V
amplitude Defines the amplitude of the excitation signal.
4.0 … 12.0 V Excitation signal amplitude. 10 = 1 V
92.12 Speed calculation (Visible when a TTL, TTL+ or HTL encoder is selected) Auto rising
mode Selects the speed calculation mode.
*With a single-track encoder (parameter 92.11 Pulse
encoder type is set to Single track), the speed is always
positive.
A&B all Channels A and B: Rising and falling edges are used for 0
speed calculation.
*Channel B: Defines the direction of rotation.
Note: With a single-track encoder (parameter 92.11 Pulse
encoder type), this setting acts like setting A all.
A all Channel A: Rising and falling edges are used for speed 1
calculation.
A rising Channel A: Rising edges are used for speed calculation. 2
A falling Channel A: Falling edges are used for speed calculation. 3
Parameters 539

Auto rising One of the above modes is selected automatically 4
depending on the pulse frequency as follows:
Pulse frequency of the Used mode

channel(s)
< 2442 Hz A&B all
2442…4884 Hz A all
> 4884 Hz A rising
Auto falling One of the above modes is selected automatically 5

depending on the pulse frequency as follows:
Pulse frequency of the Used mode

channel(s)
< 2442 Hz A&B all
2442…4884 Hz A all
> 4884 Hz A falling
92.12 Zero pulse enable (Visible when an absolute encoder is selected) Disable
Enables the encoder zero pulse for the absolute encoder
input (X42) of the FEN-11 interface module.
Note: No zero pulse exists with serial interfaces, ie. when
parameter 92.11 Absolute position source is set to EnDat,
Hiperface, SSI or Tamagawa.
Disable Zero pulse disabled. 0
Enable Zero pulse enabled. 1
92.12 Resolver polepairs (Visible when a resolver is selected) 1
Defines the number of pole pairs of the resolver.
1…32 Number of resolver pole pairs. 1=1
92.13 Position estimation (Visible when a TTL, TTL+ or HTL encoder is selected) Enable
enable Selects whether position estimation is used with encoder 1
to increase position data resolution or not.
Disable Measured position used. (The resolution is 4 × pulses per 0
revolution for quadrature encoders, 2 × pulses per
revolution for single-track encoders.)
Enable Estimated position used. (Uses position interpolation; 1
extrapolated at the time of data request.)
92.13 Position data width (Visible when an absolute encoder is selected) 0
Defines the number of bits used to indicate position within
one revolution. For example, a setting of 15 bits
corresponds to 32768 positions per revolution.
The value is used when parameter 92.11 Absolute position
source is set to EnDat, Hiperface or SSI. When parameter
92.11 Absolute position source is set to Tamagawa, this
parameter is internally set to 17.
Note: With an EnDat or HIPPERFACE encoder and FEN-11
0…32 Number of bits used in position indication within one 1=1
revolution.
540 Parameters

92.14 Speed estimation (Visible when a TTL, TTL+ or HTL encoder is selected) Disable
enable Selects whether calculated or estimated speed is used.
Estimation increases the speed ripple in steady state
operation, but improves the dynamics.
Disable Last calculated speed used. (The calculation interval is 62.5 0
microseconds to 4 milliseconds.)
Enable Estimated speed (estimated at the time of data request) is 1
used.
92.14 Revolution data (Visible when an absolute encoder is selected) 0
width Defines the number of bits used in revolution counting with a
multiturn encoder. For example, a setting of 12 bits would
support counting up to 4096 revolutions.
The value is used when parameter 92.11 Absolute position
source is set to EnDat, Hiperface or SSI. When parameter
92.11 Absolute position source is set to Tamagawa, setting
this parameter to a non-zero value activates multiturn data
requesting.
Note: With an EnDat or HIPPERFACE encoder and FEN-11
0…32 Number of bits used in revolution count. 1=1
92.15 Transient filter (Visible when a TTL, TTL+ or HTL encoder is selected) 4880 Hz
Activates transient filtering for the encoder (changes in
direction of rotation are ignored above the selected pulse
frequency).
4880 Hz Change in direction of rotation allowed below 4880 Hz. 0
Disabled Change in direction of rotation allowed at any pulse 3
frequency.
92.16 Encoder 1 supply (Visible when parameter 92.01 Encoder 1 type = HTL 1, 0V
voltage HTL 2, TTL 1 or TTL 2)
Selects the power supply voltage for encoder 1.
0V Disabled. 0
5V 5 V. 1
24V 24 V. 2
92.17 Accepted pulse (Visible when parameter 92.01 Encoder 1 type = HTL 1, 0 kHz
freq of encoder 1 HTL 2, TTL 1 or TTL 2)
Defines the maximum pulse frequency of encoder 1.
0…300 kHz Pulse frequency. 1 = 1 kHz
92.21 Encoder cable fault (Visible when a TTL, TTL+ or HTL encoder is selected) A, B
mode Selects which encoder cable channels and wires are
monitored for wiring faults.
A, B A and B. 0
A, B, Z A, B and Z. 1
A+, A-, B+, B- A+, A-, B+ and B-. 2
A+, A-, B+, B-, Z+, A+, A-, B+, B-, Z+ and Z-. 3
Z-
Parameters 541

92.23 Maximum pulse (Visible when parameter 92.01 Encoder 1 type = TTL or 4 ms
waiting time HTL)
Determines a pulse waiting time used in speed calculation
for the encoder interface. If no pulse edges are detected
within this time, the measured speed is zeroed by the
interface.
Increasing the setting can improve measuring performance
especially at low, near zero speeds.
Notes:
• The parameter is only supported by FEN-xx modules with
FPGA version VIEx 2000 or later. On older modules, the
pulse waiting time is fixed to 4 ms.
• The parameter only affects speed measurement. Position
is updated whenever a new pulse edge is detected.
When the measured speed from the interface is zero, the
drive updates its speed data based on position changes.
1…200 ms Maximum pulse waiting time. 1 = 1 ms
92.24 Pulse edge filtering (Visible when parameter 92.01 Encoder 1 type = HTL) No filtering
Enables pulse edge filtering. Pulse edge filtering can
improve the reliability of measurements especially from
encoders with a single-ended connection.
Notes:
• Pulse edge filtering is only supported by FEN-31 modules
with FPGA version VIE3 2200 or later.
• Pulse edge filtering decreases the maximum pulse
frequency. With 2 µs filtering time, the maximum pulse
frequency is 200 kHz.
No filtering Filtering disabled. 0
1 µs Filtering time: 1 microsecond. 1
2 µs Filtering time: 2 microseconds. 2
92.25 Pulse (Visible when parameter 92.01 Encoder 1 type = HTL) Fault
overfrequency Selects how the drive reacts when the encoder interface
function detects a pulse overfrequency condition.
Note: This parameter is effective only with FEN-xx module
FPGA version VIEx 2200 or later.
Warning The drive generates a warning, A7E1 Encoder. The FEN-xx 0
module will continue to update speed and position data.
Fault The drive trips on fault 7381 Encoder. 1
92.30 Serial link mode (Visible when an absolute encoder is selected) Initial position
Selects the serial link mode with an EnDat or SSI encoder.
Initial position Single position transfer mode (initial position). 0
Continuous Continuous position data transfer mode. 1
Continuous speed Continuous speed and position data transfer mode. This 2
and position setting is intended for EnDat 2.2 encoders without sin/cos
signals.
Note: This setting requires an FEN-11 interface revision H
or later.
542 Parameters

92.31 EnDat max (Visible when an absolute encoder is selected) 50 ms
calculation time Selects the maximum encoder calculation time for an EnDat
encoder.
Note: This parameter needs to be set only when an EnDat
encoder is used in continuous mode, ie. without incremental
sin/cos signals (supported only as encoder 1). See also
parameter 92.30 Serial link mode.
92.32 SSI cycle time (Visible when an absolute encoder is selected) 100 us
Selects the transmission cycle for an SSI encoder.
Note: This parameter needs to be set only when an SSI
encoder is used in continuous mode, ie. without incremental
sin/cos signals (supported only as encoder 1). See also
parameter 92.30 Serial link mode.
92.33 SSI clock cycles (Visible when an absolute encoder is selected) 2
Defines the length of an SSI message. The length is defined
as the number of clock cycles. The number of cycles can be
calculated by adding 1 to the number of bits in an SSI
message frame.
2…127 SSI message length. -
92.34 SSI position msb (Visible when an absolute encoder is selected) 1
With an SSI encoder, defines the location of the MSB (most
significant bit) of the position data within an SSI message.
1…126 Position data MSB location (bit number). -
92.35 SSI revolution msb (Visible when an absolute encoder is selected) 1
With an SSI encoder, defines the location of the MSB (most
significant bit) of the revolution count within an SSI
message.
1…126 Revolution count MSB location (bit number). -
92.36 SSI data format (Visible when an absolute encoder is selected) Binary
Selects the data format for an SSI encoder.
Binary Binary code. 0
Gray Gray code. 1
92.37 SSI baud rate (Visible when an absolute encoder is selected) 100 kBit/s
Selects the baud rate for an SSI encoder.
10 kBit/s 10 kbit/s. 0
Parameters 543

1000 kBit/s 1000 kbit/s. 5
92.40 SSI zero phase (Visible when an absolute encoder is selected) 315-45 deg
Defines the phase angle within one sine/cosine signal
period that corresponds to the value of zero on the SSI
serial link data. The parameter is used to adjust the
synchronization of the SSI position data and the position
based on sine/cosine incremental signals. Incorrect
synchronization may cause an error of ±1 incremental
period.
Note: This parameter needs to be set only when an SSI
encoder is used in initial position mode (see parameter
92.30 Serial link mode).
315-45 deg 315-45 degrees. 0
45-135 deg 45-135 degrees.
135-225 deg 135-225 degrees. 2
225-315 deg 225-315 degrees. 3
92.45 Hiperface parity (Visible when an absolute encoder is selected) Odd
Defines the use of parity and stop bits with a HIPERFACE
encoder.
Typically this parameter need not be set.
Odd Odd parity indication bit, one stop bit. 0
Even Even parity indication bit, one stop bit. 1
92.46 Hiperface baud (Visible when an absolute encoder is selected) 4800 bits/s
rate Defines the transfer rate of the link with a HIPERFACE
encoder.
4800 bits/s 4800 bit/s. 0
9600 bits/s 9600 bit/s. 1
19200 bits/s 19200 bit/s. 2
38400 bits/s 38400 bit/s. 3
92.47 Hiperface node (Visible when an absolute encoder is selected) 64
address Defines the node address for a HIPERFACE encoder.
0…255 HIPERFACE encoder node address. -
92
93 Encoder 2 Settings for encoder 2.
configuration Notes:
• The contents of the parameter group vary according to
the selected encoder type.
• It is recommended that encoder connection 1 (group 92
Encoder 1 configuration) is used whenever possible
since the data received through that interface is fresher
than the data received through connection 2 (this group).
93.01 Encoder 2 type (Visible only when user lock is open with pass code 584. None
See parameter 96.02 Pass code.) configured
Selects the type of encoder/resolver 2.
None configured None. 0
TTL TTL. Module type (input): FEN-01 (X31), FEN-11 (X41) or 1
FEN-21 (X51).
544 Parameters

TTL+ TTL+ (with commutation signals). Module type (input): FEN- 2
01 (X32).
Absolute encoder Absolute encoder. Module type (input): FEN-11 (X42). 3
Resolver Resolver. Module type (input): FEN-21 (X52). 4
HTL HTL. Module type (input): FEN-31 (X82). 5
93.02 Encoder 2 source Selects the interface module that the encoder is connected Module 1
to. (The physical locations and types of encoder interface
modules are defined in parameter group 91 Encoder module
settings.)
93.10 Pulses/rev (Visible when a TTL, TTL+ or HTL encoder is selected) 2048
See parameter 92.10 Pulses/revolution.
93.10 Sine/cosine (Visible when an absolute encoder is selected) 0
number See parameter 92.10 Sine/cosine number.
93.10 Excitation signal (Visible when a resolver is selected) 1 kHz
frequency See parameter 92.10 Excitation signal frequency.
93.11 Pulse encoder type (Visible when a TTL, TTL+ or HTL encoder is selected) Quadrature
See parameter 92.11 Pulse encoder type.
93.11 Absolute position (Visible when an absolute encoder is selected) None
source See parameter 92.11 Absolute position source.
93.11 Excitation signal (Visible when a resolver is selected) 4.0 V
amplitude See parameter 92.11 Excitation signal amplitude.
93.12 Speed calculation (Visible when a TTL, TTL+ or HTL encoder is selected) Auto rising
mode See parameter 92.12 Speed calculation mode.
93.12 Zero pulse enable (Visible when an absolute encoder is selected) Disable
See parameter 92.12 Zero pulse enable.
93.12 Resolver polepairs (Visible when a resolver is selected) 1
See parameter 92.12 Resolver polepairs.
93.13 Position estimation (Visible when a TTL, TTL+ or HTL encoder is selected) Enable
enable See parameter 92.13 Position estimation enable.
93.13 Position data width (Visible when an absolute encoder is selected) 0
See parameter 92.13 Position data width.
93.14 Speed estimation (Visible when a TTL, TTL+ or HTL encoder is selected) Disable
enable See parameter 92.14 Speed estimation enable.
93.14 Revolution data (Visible when an absolute encoder is selected) 0
width See parameter 92.14 Revolution data width.
93.15 Transient filter (Visible when a TTL, TTL+ or HTL encoder is selected) 4880 Hz
See parameter 92.15 Transient filter.
Parameters 545

93.16 Encoder 2 supply (Visible when parameter 93.01 Encoder 2 type = HTL 1, 0V
voltage HTL 2, TTL 1 or TTL 2)
See parameter 92.16 Encoder 1 supply voltage.
93.17 Accepted pulse (Visible when parameter 93.01 Encoder 2 type = HTL 1, 0 kHz
freq of encoder 2 HTL 2, TTL 1 or TTL 2)
See parameter 92.17 Accepted pulse freq of encoder 1.
93.21 Encoder cable fault (Visible when a TTL, TTL+ or HTL encoder is selected) A, B
mode See parameter 92.21 Encoder cable fault mode.
93.30 Serial link mode (Visible when an absolute encoder is selected) Initial position
See parameter 92.30 Serial link mode.
93.31 EnDat calc time (Visible when an absolute encoder is selected) 50 ms
See parameter 92.31 EnDat max calculation time.
93.32 SSI cycle time (Visible when an absolute encoder is selected) 100 us
See parameter 92.32 SSI cycle time.
93.33 SSI clock cycles (Visible when an absolute encoder is selected) 2
See parameter 92.33 SSI clock cycles.
93.34 SSI position msb (Visible when an absolute encoder is selected) 1
See parameter 92.34 SSI position msb.
93.35 SSI revolution msb (Visible when an absolute encoder is selected) 1
See parameter 92.35 SSI revolution msb.
93.36 SSI data format (Visible when an absolute encoder is selected) Binary
See parameter 92.36 SSI data format.
93.37 SSI baud rate (Visible when an absolute encoder is selected) 100 kBit/s
See parameter 92.37 SSI baud rate.
93.40 SSI zero phase (Visible when an absolute encoder is selected) 315-45 deg
See parameter 92.40 SSI zero phase.
93.45 Hiperface parity (Visible when an absolute encoder is selected) Odd
See parameter 92.45 Hiperface parity.
93.46 Hiperface baud (Visible when an absolute encoder is selected) 4800 bits/s
rate See parameter 92.46 Hiperface baud rate.
93.47 Hiperface node (Visible when an absolute encoder is selected) 64
address See parameter 92.47 Hiperface node address.
95
95 HW configuration Various hardware-related settings.
95.01 Supply voltage Selects the supply voltage range. This parameter is used by -
the drive to determine the nominal voltage of the supply
network. The parameter also affects the current ratings and
the DC voltage control functions (trip and brake chopper
activation limits) of the drive.
WARNING! An incorrect setting may cause the
motor to rush uncontrollably, or the brake chopper or
resistor to overload.
Note: The selections shown depend on the hardware of the
drive. If only one voltage range is valid for the drive in
question, it is selected by default.
Not given No voltage range selected. The drive will not start 0
modulating before a range is selected.
208…240 V 208…240 V 1
380…415 V 380…415 V 2
440…480 V 440…480 V 3
546 Parameters

500 V 500 V 4
525…600 V 525…600 V 5
660…690 V 660…690 V 6
95.02 Adaptive voltage Enables adaptive voltage limits. Disable
limits Adaptive voltage limits can be used if, for example, an IGBT
supply unit is used to raise the DC voltage level. If the
communication between the inverter and the IGBT supply
unit is active (95.20 HW options word 1), the voltage limits
are related to the DC voltage reference transmitted to the
supply unit (94.20 DC voltage reference) assuming that the
reference is high enough. Otherwise, the limits are
calculated based on the measured DC voltage at the end of
the pre-charging sequence.
This function is also useful if the AC supply voltage to the
drive is high, as the warning levels are raised accordingly.
Disable Adaptive voltage limits disabled. 0
Enable Adaptive voltage limits enabled. 1
95.04 Control board Specifies how the control unit of the drive is powered. Internal 24V;
supply External 24V
(95.20 b4)
Internal 24V The drive control unit is powered from the drive power unit it 0
is connected to.
External 24V The drive control unit is powered from an external power 1
supply.
Redundant (Type BCU control units only) The drive control unit is 2
external 24V powered from two redundant external power supplies. The
loss of one of the supplies generates a warning AFEC
External power signal missing.
Parameters 547

95.08 DC switch Enables/disables DC switch monitoring via the DIIL input. Disable;
monitoring This setting is intended for use with inverter modules with an Enable
internal charging circuit that are connected to the DC bus (95.20 b7)
through a DC switch.
An auxiliary contact of the DC switch must be wired to the
DIIL input so that the input switches off when the DC switch
is opened.
DC bus
DC switch
Inverter module
DIIL
+24 V
Charging Charging
logic contactor
If the DC switch is opened with the inverter running, the

inverter is given a coast-to-stop command, and its charging
circuit activated.
Starting the inverter is prevented until the DC switch is
closed and the DC circuit in the inverter unit recharged.
Notes:
• By default, DIIL is the input for the Run enable signal.
Adjust 20.12 Run enable 1 source if necessary.
• An internal charging circuit is standard on some inverter
module types but optional on others; check with your
local ABB representative.
Disable DC switch monitoring through the DIIL input disabled. 0
Enable DC switch monitoring through the DIIL input enabled. 1
548 Parameters

95.15 Special HW Contains hardware-related settings that can be enabled and -
settings disabled by toggling the specific bits.
Note: The installation of the hardware specified by this
parameter may require derating of drive output, or impose
other limitations. Refer to the hardware manual of the drive.

0 EX motor 1 = The driven motor is an Ex motor provided by ABB for
potentially explosive atmospheres. This sets the required
minimum switching frequency for ABB Ex motors.
Note: For non-ABB Ex motors, contact your local ABB
representative.
1 ABB Sine filter 1 = An ABB sine filter is connected to the output of the
drive/inverter.
2 High speed mode 1 = Minimum switching frequency limit adaptation to output
frequency is active. This setting improves control performance at
high output frequencies (typically above 120 Hz).
3 Custome sine filter 1 = A custom sine filter is connected to the output of the
drive/inverter. See also parameters 97.01, 97.02, 99.18, 99.19.
4…15 Reserved
0000b…0111b Hardware options configuration word. 1=1

Parameters 549

95.20 HW options word 1 Specifies hardware-related options that require -
differentiated parameter defaults. Activating a bit in this
parameter makes the necessary changes in other
parameters – for example, activating an emergency stop
option reserves a digital input. In many cases, the
differentiated parameters will also be write-protected.
This parameter, as well as the changes in other parameters
implemented by it, are not affected by a parameter restore.
WARNING! After switching any bits in this word,
recheck the values of the affected parameters.

0 Supply frequency 0 = 50 Hz; 1 = 60 Hz. Affects parameters 11.45, 11.59, 12.20, 13.18,
60 Hz 30.11, 30.12, 30.13, 30.14, 31.26, 31.27, 46.01, 46.02.
1 Emergency stop 1 = Emergency stop, Category 0, without FSO module. Affects
Cat 0 21.04, 21.05, 23.11..
2 Emergency stop 1 = Emergency stop, Category 1, without FSO module. Affects
Cat 1 10.24, 21.04, 21.05, 23.11.
3 RO2 for -07 1 = Control of cabinet cooling fan (used only with specific
cabinet cooling fan ACS880-07 hardware). Affects 10.27, 10.28, 10.29.
4 Externally 1 = Control unit powered externally. Affects parameter 95.04.
powered control (Visible only with ZCU control unit).
unit
5 DC supply switch 1 = DC switch monitoring active. Affects 20.12, 31.03, 95.08.
(Visible only with ZCU control unit).
6 DOL motor switch 1 = Motor fan control is active. Affects 10.24, 35.100, 35.103,
35.104.
7 Not used
8 Service switch 1 = Service switch connected. Affects 31.01, 31.02.
9 Output contactor 1 = Output contactor present. Affects 10.24, 20.12.
10 Brake resistor, 1 = Status (eg. thermal) switches are connected to DIIL input.
sine filter, IP54 fan Affects 20.11, 20.12.
11 INU-DSU 1 = Diode supply unit control by inverter unit is active. Makes
communication several parameter visible in groups 06 Control and status words, 60
DDCS communication, 61 D2D and DDCS transmit data, and 62
D2D and DDCS receive data .
12 Reserved
13 Du/dt filter 1 = Active: An external du/dt filter is connected to the drive/inverter
activation output. The setting will limit the output switching frequency, and
force the fan of the drive/inverter module to full speed.
Note: This bit is to be left at 0 if the drive/inverter module is
equipped with internal du/dt filtering (for example, frame R8i inverter
modules with option +E205).
14 DOL fan activation 1 = The inverter unit consists of frame R8i modules with direct-
online
cooling fans (option +C188). Disables fan feedback monitoring
and changes fan control to ON/OFF type.
15 INU-ISU 1 = IGBT supply unit control by inverter unit is active. Makes several
communication parameter visible in groups 01 Actual values, 06 Control and status
words, 07 System info, 30 Limits, 31 Fault functions, 60 DDCS
communication, 61 D2D and DDCS transmit data, 62 D2D and
DDCS receive data, and 96 System.
0000h…FFFFh Hardware options configuration word 1. 1=1

550 Parameters

95.21 HW options word 2 Specifies more hardware-related options that require -
differentiated parameter defaults. See parameter 95.20 HW
options word 1.
WARNING! After switching any bits in this word,
recheck the values of the affected parameters.

0 Dual use 1 = Dual use active. For drives with option +N8200. (Allows
higher output frequencies and frequency reference limits.)
1 SynRM 1 = Synchronous reluctance motor used. Affects 25.02, 25.03,
25.15, 99.03 and 99.13.
2 Salient PM 1 = Salient-pole permanent magnet motor used. Affects 25.02,
25.03, 25.15, 99.03 and 99.13.
3…15 Reserved
0000b…0011b Hardware options configuration word 2. 1=1

96
96 System Language selection; access levels; macro selection;
parameter save and restore; control unit reboot; user
parameter sets; unit selection; data logger triggering;
parameter checksum calculation; user lock.
96.01 Language Selects the language of the parameter interface and other -
displayed information when viewed on the control panel.
Notes:
• Not all languages listed below are necessarily supported.
• This parameter does not affect the languages visible in
the Drive composer PC tool. (Those are specified under
View – Settings.)
English English. 1033
Deutsch German. 1031
Italiano Italian. 1040
Español Spanish. 3082
Portugues Portuguese. 2070
Nederlands Dutch. 1043
Français French. 1036
Dansk Danish. 1030
Suomi Finnish. 1035
Svenska Swedish. 1053
Russki Russian. 1049
Polski Polish. 1045
Czech Czech. 1029
Türkçe Turkish. 1055
Parameters 551

96.02 Pass code Pass codes can be entered into this parameter to activate 0
further access levels (see parameter 96.03 Access levels
active) or to configure the user lock.
• Entering the code “358” toggles the parameter lock,
which prevents changing all other parameters through the
control panel or the Drive composer PC tool.
• In crane application, entering pass code 584 makes
certain access levels active, for example, parameter
96.06 Parameter restore will be visible. After
reading/using the hidden parameters, activate end user
access level by entering pass code 1. This will hide par.
96.06.
• Entering the user pass code (by default, “10000000”)
enables parameters 96.100…96.102, which can be used
to define a new user pass code and to select the actions
that are to be prevented.
• Entering an invalid pass code will close the user lock if
open, i.e. hide parameters 96.100…96.102. After
entering the code, check that the parameters are hidden.
If they are not, then enter another (random) pass code.
Note: You must change the default user pass code to
maintain a high level of cybersecurity. Store the code in a
safe place – the protection cannot be disabled even by ABB
if the code is lost..
See also section User lock (page 212).
0…99999999 Pass code. -
96.03 Access levels Shows which access levels have been activated by pass 0001h
active codes entered into parameter 96.02 Pass code.
Bit Name
0 End user
1 Service
2 Advanced programmer
3…10 Reserved
11 OEM access level 1
14 Parameter lock
15 Reserved
0000h…FFFFh Active access levels. -

552 Parameters

96.06 Parameter restore (Visible when user lock is open with pass code 584. See Done
Restores the original settings of the control program, i.e.
parameter default values.
Notes:
running.
• In crane application, this parameter is hidden to the user.
To access this parameter, enter pass code 584 into
parameter 96.02 Pass code and select Restore defaults.
• Before you use the crane application again, do the
following: Enter pass code 1 into parameter 96.02 Pass
code. Switch Off and switch On power once.
Done Restoring is completed. 0
Restore defaults All editable parameter values are restored to default values, 8
except
• motor data and ID run results
• parameter 31.42 Overcurrent fault limit
• control panel/PC communication settings
• I/O extension module settings
• fieldbus adapter settings
• encoder configuration data
• application macro selection and the parameter defaults
implemented by it
• parameter 95.01 Supply voltage
• differentiated defaults implemented by parameters 95.20
HW options word 1 and 95.21 HW options word 2.
Clear all All editable parameter values are restored to default values, 62
except
• control panel/PC communication settings
• application macro selection and the parameter defaults
implemented by it
• parameter 95.01 Supply voltage
• differentiated defaults implemented by parameters 95.20
HW options word 1 and 95.21 HW options word 2
PC tool communication is interrupted during the restoring.
Reset all fieldbus Fieldbus adapter and embedded fieldbus interface settings 32
settings (parameter groups 50…58) are restored to default values.
This will also restore the default settings of the fieldbus
adapter if one is connected.
96.07 Parameter save Saves the valid parameter values to permanent memory. Done
manually This parameter should be used to store values sent from a
fieldbus, or when using an external power supply to the
control board as the supply might have a very short hold-up
time when powered off.
Note: A new parameter value is saved automatically when
changed from the PC tool or control panel but not when
altered through a fieldbus adapter connection.
Done Save completed. 0
Save Save in progress. 1
Parameters 553

96.08 Control board boot Changing the value of this parameter to 1 reboots the 0
control unit (without requiring a power off/on cycle of the
complete drive module).
The value reverts to 0 automatically.
0…1 1 = Reboot the control unit. 1=1
96.09 FSO reboot Changing the value of (or the source selected by) this False
parameter from 0 to 1 reboots the optional FSO-xx safety
functions module.
Note: The value does not revert to 0 automatically.
False 0. 0
True 1. 1
219).
96.10 User set status Shows the status of the user parameter sets. -
See also section User parameter sets (page 211).
Parameters 09.02 Crane SW1, bits 2...5 indicate active user
sets 1...4.
n/a No user parameter sets have been saved. 0
Loading A user set is being loaded. 1
Saving A user set is being saved. 2
Faulted Invalid or empty parameter set. 3
User set 1 User set 1 has been loaded. 4
96.11 User set save/load Enables the saving and restoring of up to four custom sets No action
of parameter settings. See section User parameter sets
(page 211).
The set that was in use before powering down the drive is in
use after the next power-up.
Notes:
• Hardware configuration settings such as I/O extension
module, fieldbus and encoder configuration parameters
(groups 14…16, 47, 51…56, 58 and 92…93, and
parameter 50.01 and 50.31), and forced input/output
values (such as 10.03 and 10.04) are not included in user
parameter sets.
• Parameter changes made after loading a set are not
automatically stored – they must be saved using this
parameter.
No action Load or save operation complete; normal operation. 0
User set I/O mode Load user parameter set using parameters 96.12 User set 1
I/O mode in1 and 96.13 User set I/O mode in2.
Load set 1 Load user parameter set 1. 2
Save to set 1 Save user parameter set 1. 18
554 Parameters

96.12 User set I/O mode When parameter 96.11 User set save/load is set to User set Not selected
in1 I/O mode, selects the user parameter set together with
parameter 96.13 User set I/O mode in2 as follows:
Status of source Status of source User parameter

defined by par. defined by par. set selected
96.12 96.13
0 0 Set 1
1 0 Set 2
0 1 Set 3
1 1 Set 4
Not selected 0. 0
Selected 1. 1
219).
96.13 User set I/O mode See parameter 96.12 User set I/O mode in1. Not selected
in2
96.16 Unit selection Selects the unit of parameters indicating power, temperature 0000 0000b
and torque.

0 Power unit 0 = kW
1 = hp
1 Reserved
2 Temperature unit 0 = C (°C)
1 = F (°F)
3 Reserved
4 Torque unit 0 = Nm (N·m)
1 = lbft (lb·ft)
5…15 Reserved
0000 0000b … Unit selection word. 1=1

0001 0101b
Parameters 555

96.20 Time synch Defines the 1st priority external source for synchronizing DDCS
primary source date and time of the drive. Controller
Internal No external source selected. 0
DDCS Controller External controller. 1
Fieldbus A or B Fieldbus interface A or B. 2
Fieldbus A Fieldbus interface A. 3
Fieldbus B Fieldbus interface B. 4
D2D or M/F The master station on a master/follower or drive-to-drive 5
link.
Embedded FB Embedded fieldbus interface. 6
Embedded Ethernet port on type BCU control unit. 7
Ethernet
Panel link Control panel, or Drive composer PC tool connected to the 8
control panel.
Ethernet tool link Drive composer PC tool through an FENA module. 9
96.23 M/F and D2D clock In the master drive, activates clock synchronization for Inactive
synchronization master/follower and drive-to-drive communication.
Inactive Clock synchronization not active. 0
Active Clock synchronization active. 1
96.24 Full days since 1st Number of full days passed since beginning of the year -
Jan 1980 1980.
This parameter, together with 96.25 Time in minutes within
24 h and 96.26 Time in ms within one minute makes it
possible to set the date and time in the drive via the
parameter interface from a fieldbus or application program.
This may be necessary if the fieldbus protocol does not
support time synchronization.
1…59999 Days since beginning of 1980. 1=1
96.25 Time in minutes Number of full minutes passed since midnight. For example, 0 min
within 24 h the value 860 corresponds to 2:20 pm.
See parameter 96.24 Full days since 1st Jan 1980.
1…1439 Minutes since midnight. 1=1
96.26 Time in ms within Number of milliseconds passed since last minute. 0 ms
one minute See parameter 96.24 Full days since 1st Jan 1980.
0…59999 Number of milliseconds since last minute. 1=1
556 Parameters

96.29 Time sync source Time source status word. -
status This parameter is read-only.

0 Time tick 1 = 1st priority tick received: Tick has been received from 1st priority
received source.
1 Aux Time tick 1 = 2nd priority tick received: Tick has been received from 2nd priority
received source.
2 Tick interval is 1 = Yes: Tick interval too long (accuracy compromised).
too long
3 DDCS 1 = Tick received: Tick has been received from an external controller.
controller
4 Master/Follower 1 = Tick received: Tick has been received through the master/follower
link.
5 Reserved
6 D2D 1 = Tick received: Tick has been received through the drive-to-drive link.
7 FbusA 1 = Tick received: Tick has been received through fieldbus interface A.
8 FbusB 1 = Tick received: Tick has been received through fieldbus interface B.
9 EFB 1 = Tick received: Tick has been received through the embedded
fieldbus interface.
10 Ethernet 1 = Tick received: Tick has been received through the Ethernet port on
type BCU control unit.
11 Panel link 1 = Tick received: Tick has been received from the control panel, or
Drive composer PC tool connected to the control panel.
12 Ethernet tool 1 = Tick received: Tick has been received from Drive composer PC tool
link through an FENA module.
13 Parameter 1 = Tick received: Tick has been set by parameters 96.24…96.26.
setting
14 RTC 1 = RTC time in use: Time and date have been read from the real-time
clock.
15 Drive On-Time 1 = Drive on-time in use: Time and date are displaying drive on-time.
0000h…FFFFh Time source status word 1. 1=1

96.31 Drive ID number (Visible only when user lock is open with pass code 584. 0
Specifies an ID number for the drive. The ID can be read by
an external controller through DDCS, for example, for
comparison with an ID contained by the controller’s
application.
0…32767 ID number. 1=1
96.53 Actual checksum (Visible only when user lock is open with pass code 584. 0h
Displays the actual parameter configuration checksum. The
checksum is generated and updated whenever an action is
selected in 96.54 Checksum action.
The parameters included in the calculation have been pre-
selected, but the selection can be edited using the Drive
customizer PC tool.
See also section Parameter checksum calculation
(page 211).
00000000h… Actual checksum. -
FFFFFFFFh
Parameters 557

96.54 Checksum action (Visible only when user lock is open with pass code 584. No action
Selects how the drive reacts if the parameter checksum
(96.53 Actual checksum) does not match any of the active
approved checksums (96.56…96.59). The active
checksums are selected by 96.55 Checksum control word.
No action No action taken. (The checksum feature is not in use.) 0
Pure event The drive generates an event log entry (B686 Checksum 1
mismatch).
Warning The drive generates a warning (A686 Checksum mismatch). 2
Warning and The drive generates a warning (A686 Checksum mismatch). 3
prevent start Starting the drive is prevented.
Fault The drive trips on 6200 Checksum mismatch. 4
96.55 Checksum control (Visible only when user lock is open with pass code 584. 00000000b
Bits 0…3 select to which approved checksums (out of
96.56…96.59) the actual checksum (96.53) is compared.
Bits 4…7 select an approved (reference) checksum
parameter (96.56…96.59) into which the actual checksum
from parameter 96.53 is copied.

0 Approved checksum 1 1 = Enabled: Checksum 1 (96.56) is observed.
4 Set approved checksum 1 1 = Set: Copy value of 96.53 into 96.56.
8…15 Reserved
00000000b… Checksum control word. 1=1

11111111b
96.56 Approved (Visible only when user lock is open with pass code 584. 0h
checksum 1 See parameter 96.02 Pass code.)
Approved (reference) checksum 1.
00000000h… Approved checksum 1. -
FFFFFFFFh
FFFFFFFFh
FFFFFFFFh
558 Parameters

FFFFFFFFh
96.61 User data logger (Visible only when user lock is open with pass code 584. 0000b
status word See parameter 96.02 Pass code.)
Provides status information on the user data logger. See
description of User data logger on page 639.

0 Running 1 = The user data logger is running. The bit is cleared after the post-
trigger time has passed.
1 Triggered 1 = The user data logger has been triggered. The bit is cleared when
the logger is restarted.
2 Data 1 = The user data logger contains data that can be read. Note that the
available bit is not cleared because the data is saved to the memory unit.
3 Configured 1 = The user data logger has been configured. Note that the bit is not
cleared because the configuration data is saved to the memory unit.
4…15 Reserved
0000b…1111b User data logger status word. 1=1

96.63 User data logger (Visible only when user lock is open with pass code 584. Off
trigger See parameter 96.02 Pass code.)
Triggers, or selects a source that triggers, the user data
logger.
Off 0. 0
On 1. 1
219).
96.64 User data logger (Visible only when user lock is open with pass code 584. Off
start See parameter 96.02 Pass code.)
Starts, or selects a source that starts, the user data logger.
Off 0. 0
On 1. 1
219).
96.65 Factory data logger (Visible only when user lock is open with pass code 584. 500us
time level See parameter 96.02 Pass code.)
Selects the sampling interval for the factory data logger. See
description of Factory data logger on page 639.
500us 500 microseconds. 500
2ms 2 milliseconds. 2000
10ms 10 milliseconds. 10000
Parameters 559

96.70 Disable adaptive (Visible only when user lock is open with pass code 584. No
program See parameter 96.02 Pass code.)
Enables/disables the adaptive program (if present).
See also section Adaptive programming (page 154).
No Adaptive program enabled. 0
Yes Adaptive program disabled. 1
96.100 Change user pass To change the current user pass code, enter a new code 10000000
code into this parameter as well as 96.101 Confirm user pass
code. A warning will be active until the new pass code is
confirmed. To cancel changing the pass code, close the
user lock without confirming. To close the lock, enter an
invalid pass code in parameter 96.02 Pass code, activate
parameter 96.08 Control board boot, or cycle the power.
See also section User lock (page 212).
10000000… New user pass code. -
99999999
96.101 Confirm user pass (Visible when user lock is open)
code Confirms the new user pass code entered in 96.100 Change
user pass code.
10000000… Confirmation of new user pass code. -
99999999
96.102 User lock (Visible onlly when user lock is open) 0000h
functionality Selects the actions or functionalities to be prevented by the
user lock. Note that the changes made take effect only when
the user lock is closed. See parameter 96.02 Pass code.
Note: We recommend you select all the actions and
functionalities unless otherwise required by the application.

0 Disable ABB access levels
1 = ABB access levels (service, advanced
programmer, etc.; see 96.03) disabled
1 Freeze parameter lock state 1 = Changing the parameter lock state prevented, i.e.
pass code 358 has no effect
2 Disable file download 1 = Loading of files to drive prevented. This applies to
• firmware upgrades
• safety functions module (FSO-xx) configuration
• parameter restore
• loading of adaptive or application programs
• changing home view of control panel
• editing drive texts
• editing the favorite parameters list on control panel
• configuration settings made through control panel
such as time/date formats and enabling/disabling
clock display.
3 Disable FB write to hidden 1 = Access to parameters on disabled access levels
from fieldbus is prevented.
4…10 Reserved
11 Disable OEM access level 1 1 = OEM access level 1 is disabled.
14…15 Reserved
0000h…FFFFh Selection of actions to be prevented by user lock. -

560 Parameters

96
97 Motor control Motor model settings.
97.01 Switching (Visible only when user lock is open with pass code 584. 4.500 kHz
frequency See parameter 96.02 Pass code.)
reference Defines the switching frequency when it is not otherwise
limited by the thermal model of motor.
Note: This is an expert level parameter and should not be
adjusted without appropriate skill.
0.000 … Switching frequency reference. 1000 = 1 kHz
24.000 kHz
97.02 Minimum switching (Visible only when user lock is open with pass code 584. 1.500 kHz
Defines a minimum switching frequency reference. The
actual switching frequency does not fall below this limit
under any circumstances.
Notes:
• This is an expert level parameter and should not be
• The drive has internal switching frequency limits that may
override the value entered here.
0.000 … Minimum switching frequency. 1000 = 1 kHz
24.000 kHz
97.03 Slip gain (Visible only when user lock is open with pass code 584. 100%
Defines the slip gain which is used to improve the estimated
motor slip. 100% means full slip gain; 0% means no slip
gain. The default value is 100%. Other values can be used if
a static speed error is detected despite having the setting at
full slip gain.
Example (with nominal load and nominal slip of 40 rpm): A
1000 rpm constant speed reference is given to the drive.
Despite having full slip gain (= 100%), a manual tachometer
measurement from the motor axis gives a speed value of
998 rpm. The static speed error is 1000 rpm - 998 rpm = 2
rpm. To compensate the error, the slip gain should be
increased to 105% (2 rpm / 40 rpm = 5%).
0 … 200% Slip gain. 1 = 1%
97.04 Voltage reserve (Visible only when user lock is open with pass code 584. -2%
Defines the minimum allowed voltage reserve. When the
voltage reserve has decreased to the set value, the drive
enters the field weakening area.
If the intermediate circuit DC voltage Udc = 550 V and the
voltage reserve is 5%, the RMS value of the maximum
output voltage in steady-state operation is
0.95 × 550 V / sqrt(2) = 369 V
The dynamic performance of the motor control in the field
weakening area can be improved by increasing the voltage
reserve value, but the drive enters the field weakening area
earlier.
-4 … 50% Voltage reserve. 1 = 1%
Parameters 561

97.05 Flux braking (Visible only when user lock is open with pass code 584. Disabled
Defines the level of flux braking power. (Other stopping and
braking modes can be configured in parameter group 21
Start/stop mode).
See section Flux braking (page 191).
Disabled Flux braking is disabled. 0
Moderate Flux level is limited during the braking. Deceleration time is 1
longer compared to full braking.
Full Maximum braking power. Almost all available current is 2
used to convert the mechanical braking energy to thermal
energy in the motor.
97.06 Flux reference (Visible only when user lock is open with pass code 584. User flux
select See parameter 96.02 Pass code.) reference
Defines the source of flux reference.
This parameter is used in the crane application for Conical
motor control. See section Conical motor control on
page 113.
Zero None. 0
User flux reference Parameter 97.07 User flux reference. 1
page 219).
97.07 User flux reference (Visible when user lock is open with pass code 584. See 100.00%
Defines the flux reference when parameter 97.06 Flux
reference select is set to User flux reference.
This parameter is used in the crane application for Conical
motor control. See section Conical motor control on
page 113.
0.00 … 200.00% User-defined flux reference. 100 = 1%
97.08 Optimizer minimum (Visible only when user lock is open with pass code 584. 0.0%
This parameter can be used to improve the control
dynamics of a synchronous reluctance motor or a salient
permanent magnet synchronous motor.
As a rule of thumb, define a level to which the output torque
must rise with minimum delay. This will increase the motor
current and improve the torque response at low speeds.
0.0 … 1600.0% Optimizer torque limit. 10 = 1%
97.09 Switching freq (Visible only when user lock is open with pass code 584. Normal
mode See parameter 96.02 Pass code.)
An optimization setting for balancing between control
performance and motor noise level.
Normal Control performance optimized for long motor cables. 0
Low noise Minimizes motor noise. 1
Note: This setting requires derating. Refer to the rating data
in the Hardware manual.
562 Parameters

Cyclic Control performance optimized for cyclic load applications. 2
Note: This setting is not suitable for long motor cables.
Custom This setting is to be used by ABB-authorized service 3
personnel only.
Note: This setting may require derating. Refer to the rating
data in the Hardware manual.
97.10 Signal injection (Visible only when user lock is open with pass code 584. Disabled
Enables signal injection. A high-frequency alternating signal
is injected in to the motor at low speeds to improve the
stability of torque control. Signal injection can be enabled
with different amplitude levels.
Notes:
• This is an expert level parameter and should not be
• Use as low a level as possible that gives satisfactory
performance.
• Signal injection cannot be applied to asynchronous
motors.
Disabled Signal injection is disabled. 0
Enabled (5 %) Signal injection is enabled with amplitude level of 5%. 1
97.11 TR tuning (Visible only when user lock is open with pass code 584. 100%
Rotor time constant tuning.
This parameter can be used to improve torque accuracy in
closed-loop control of an induction motor. Normally, the
motor identification run provides sufficient torque accuracy,
but manual fine-tuning can be applied in exceptionally
demanding applications to achieve optimal performance.
25…400% Rotor time constant tuning. 1 = 1%
Parameters 563

97.12 IR comp step-up (Visible only when user lock is open with pass code 584. 0.0 Hz
IR compensation (ie. output voltage boost) can be used in
step-up applications to compensate for resistive losses in
the step-up transformer, cabling and motor. As voltage
cannot be fed through a step-up transformer at 0 Hz, a
specific type of IR compensation should be used.
This parameter adds a frequency breakpoint for parameter
97.13 IR compensation as shown below.
U / UN
(%)
Relative output voltage with IR

compensation
100%
97.13
f (Hz)
97.12 Field weakening
point
0.0 Hz = Breakpoint disabled.

0.0 … 50.0 Hz IR compensation breakpoint for step-up applications. 1 = 1 Hz
97.13 IR compensation (Visible only when user lock is open with pass code 584. 0.00%
Defines the relative output voltage boost at zero speed (IR
compensation). The function is useful in applications with a
high break-away torque where direct torque control (DTC
mode) cannot be applied.
U / UN
(%)
Relative output voltage. IR

compensation
100%
15% Relative output voltage. No

IR compensation.
f (Hz)
Field weakening point
50% of nominal
frequency
See also section IR compensation for scalar motor control

on page 187.
564 Parameters

0.00 … 50.00% Voltage boost at zero speed in percent of nominal motor 1 = 1%
voltage.
97.15 Motor model (Visible only when user lock is open with pass code 584. Disabled
temperature See parameter 96.02 Pass code.)
adaptation Selects whether the temperature-dependent parameters
(such as stator or rotor resistance) of the motor model adapt
to actual (measured or estimated) temperature or not.
See parameter group 35 Motor thermal protection for
selection of temperature measurement sources.
Disabled Temperature adaptation of motor model disabled. 0
Estimated Estimated temperature (35.01 Motor estimated 1
temperature temperature) used for adaptation of motor model.
Measured Measured temperature 1 (35.02 Measured temperature 1) 2
temperature 1 used for adaptation of motor model.
Measured Measured temperature 2 (35.03 Measured temperature 2) 3
temperature 2 used for adaptation of motor model.
97.18 Hexagonal field (Visible only when user lock is open with pass code 584. Off
weakening See parameter 96.02 Pass code.)
Activates hexagonal motor flux pattern in the field
weakening area, i.e., above the limit defined by parameter
97.19 Hexagonal field weakening point.
Note: This parameter is effective only in scalar motor control
mode.
See also section Hexagonal motor flux pattern (page 194).
Off The rotating flux vector follows a circular pattern. 0
On The flux vector follows a circular pattern below, and a 1
hexagonal pattern above, the hexagonal field weakening
point (97.19).
97.19 Hexagonal field (Visible only when user lock is open with pass code 584. 120.0%
weakening point See parameter 96.02 Pass code.)
Defines the activation limit for hexagonal field weakening (in
percent of the field weakening point, i.e., the frequency at
which maximum output voltage is reached). See parameter
97.18 Hexagonal field weakening.
Note: This parameter is effective only in scalar motor control
mode.
0.0 ... 500.0% Activation limit for hexagonal field weakening. 1 = 1%
97.32 Motor torque Shows the unfiltered motor torque in percent of nominal -
unfiltered motor torque.
-1600.0 … Unfiltered motor torque. See par.
1600.0% 46.03
97.33 Speed estimate (Visible only when user lock is open with pass code 584. 5.00 ms
filter time See parameter 96.02 Pass code.)
Defines a filtering time for estimated speed. See the
0.00 … 100.00 ms Filtering time for estimated speed. 1 = 1 ms
Parameters 565

98
98 User motor Motor values supplied by the user that are used in the motor
parameters model.
These parameters are useful for non-standard motors, or to
just get more accurate motor control of the motor on site. A
better motor model always improves the shaft performance.
98.01 User motor model (Visible only when user lock is open with pass code 584. Not selected
mode See parameter 96.02 Pass code.)
Activates the motor model parameters 98.02…98.14 and
the rotor angle offset parameter 98.15.
Notes:
• Parameter value is automatically set to zero when ID run
is selected by parameter 99.13 ID run requested. The
values of parameters 98.02…98.15 are then updated
according to the motor characteristics identified during
the ID run.
• Measurements made directly from the motor terminals
during the ID run are likely to produce slightly different
values than those on a datasheet from a motor
manufacturer.
running.
Not selected Parameters 98.02…98.15 inactive. 0
Motor parameters The values of parameters 98.02…98.14 are used as the 1
motor model.
Position offset The value of parameter 98.15 is used as the rotor angle 2
offset. Parameters 98.02…98.14 are inactive.
Motor parameters The values of parameters 98.02…98.14 are used as the 3
& position offset motor model, and the value of parameter 98.15 is used as
the rotor angle offset.
98.02 Rs user (Visible only when user lock is open with pass code 584. 0.00000 p.u.
Defines the stator resistance RS of the motor model.
With a star-connected motor, RS is the resistance of one
winding. With a delta-connected motor, RS is one-third of the
resistance of one winding.
0.00000 … Stator resistance in per unit. -
0.50000 p.u.
98.03 Rr user (Visible only when user lock is open with pass code 584. 0.00000 p.u.
Defines the rotor resistance RR of the motor model.
Note: This parameter is valid only for asynchronous motors.
0.00000 … Rotor resistance in per unit. -
0.50000 p.u.
98.04 Lm user (Visible only when user lock is open with pass code 584. 0.00000 p.u.
Defines the main inductance LM of the motor model.
0.00000 … Main inductance in per unit. -
10.00000 p.u.
566 Parameters

98.05 SigmaL user (Visible only when user lock is open with pass code 584. 0.00000 p.u.
Defines the leakage inductance σLS.
0.00000 … Leakage inductance in per unit. -
1.00000 p.u.
98.06 Ld user (Visible only when user lock is open with pass code 584. 0.00000 p.u.
Defines the direct axis (synchronous) inductance.
Note: This parameter is valid only for permanent magnet
motors.
0.00000 … Direct axis inductance in per unit. -
10.00000 p.u
98.07 Lq user (Visible only when user lock is open with pass code 584. 0.00000 p.u.
Defines the quadrature axis (synchronous) inductance.
motors.
0.00000 … Quadrature axis inductance in per unit. -
10.00000 p.u
98.08 PM flux user (Visible only when user lock is open with pass code 584. 0.00000 p.u.
Defines the permanent magnet flux.
motors.
0.00000 … Permanent magnet flux in per unit. -
2.00000 p.u
98.09 Rs user SI (Visible only when user lock is open with pass code 584. 0.00000 ohm
Defines the stator resistance RS of the motor model.
0.00000 … Stator resistance. -
100.00000 ohm
98.10 Rr user SI (Visible only when user lock is open with pass code 584. 0.00000 ohm
Defines the rotor resistance RR of the motor model.
0.00000 … Rotor resistance. -
100.00000 ohm
98.11 Lm user SI (Visible only when user lock is open with pass code 584. 0.00 mH
Defines the main inductance LM of the motor model.
0.00 … Main inductance. 1 = 10000
100000.00 mH mH
98.12 SigmaL user SI (Visible only when user lock is open with pass code 584. 0.00 mH
Defines the leakage inductance σLS.
0.00 … Leakage inductance. 1 = 10 mH
100000.00 mH
Parameters 567

98.13 Ld user SI (Visible only when user lock is open with pass code 584. 0.00 mH
Defines the direct axis (synchronous) inductance.
motors.
0.00 … Direct axis inductance. 1 = 10 mH
100000.00 mH
98.14 Lq user SI (Visible only when user lock is open with pass code 584. 0.00 mH
Defines the quadrature axis (synchronous) inductance.
motors.
0.00 … Quadrature axis inductance. 1 = 10 mH
100000.00 mH
98.15 Position offset user (Visible only when user lock is open with pass code 584. 0 deg
Defines an angle offset between the zero position of the
synchronous motor and the zero position of the position
sensor.
This value is initially set by the autophasing routine when
parameter 21.13 Autophasing mode is set to Turning with Z-
pulse, and can be fine-tuned later on.
Notes:
• The value is in electrical degrees. The electrical angle
equals the mechanical angle multiplied by the number of
motor pole pairs.
• This parameter is valid only for permanent magnet
motors.
0…360 deg Angle offset. 1 = 1 deg
99
99 Motor data Motor configuration settings.
99.03 Motor type Selects the motor type. Asynchronou
Note: This parameter cannot be changed while the drive is s motor
running.
Asynchronous Standard squirrel cage AC induction motor (asynchronous 0
motor induction motor).
Permanent magnet Permanent magnet motor. Three-phase AC synchronous 1
motor motor with permanent magnet rotor and sinusoidal
BackEMF voltage.
SynRM (Only visible with option +N7502) 2
Synchronous reluctance motor. Three-phase AC
synchronous motor with salient pole rotor without
permanent magnets.
568 Parameters

99.04 Motor control mode Selects the motor control mode. DTC
DTC Direct torque control. This mode is suitable for most 0
applications.
Note: Instead of direct torque control, scalar control is also
available, and should be used in the following situations:
• with multimotor applications 1) if the load is not equally
shared between the motors, 2) if the motors are of
different sizes, or 3) if the motors are going to be changed
after the motor identification (ID run)
• if the nominal current of the motor is less than 1/6 of the
nominal output current of the drive
• if the drive is used with no motor connected (for example,
for test purposes).
See also section Operating modes of the drive on page 150.
Scalar Scalar control. The outstanding motor control accuracy of 1
DTC cannot be achieved in scalar control.
Refer to the DTC selection above for a list of applications
where scalar control should definitely be used.
Notes:
• Correct motor operation requires that the magnetizing
current of the motor does not exceed 90% of the nominal
current of the inverter.
• Some standard features are disabled in scalar control
mode.
• In crane application, disable Torque proving and Brake
open torque. Select the following:
See also section Scalar motor control (page 187), and
section Operating modes of the drive (page 150).
99.06 Motor nominal Defines the nominal motor current. Must be equal to the 0.0 A
current value on the motor rating plate. If multiple motors are
connected to the drive, enter the total current of the motors.
Notes:
• Correct motor operation requires that the magnetizing
current of the motor does not exceed 90% of the nominal
current of the drive.
running.
0.0 … 32767.0 A Nominal current of the motor. The allowable range is 1/6…2 1=1A
× IN (nominal current) of the drive (0…2 × IN with scalar
control mode).
Parameters 569

99.07 Motor nominal Defines the nominal motor voltage supplied to the motor. 0.0 V
voltage This setting must match the value on the rating plate of the
motor.
Notes:
• With permanent magnet motors, the nominal voltage is
the BackEMF voltage at nominal speed of the motor. If
the voltage is given as voltage per rpm, e.g. 60 V per
1000 rpm, the voltage for a nominal speed of 3000 rpm is
3 × 60 V = 180 V. Note that the nominal voltage is not
equal to the equivalent DC motor voltage (EDCM)
specified by some motor manufacturers. The nominal
voltage can be calculated by dividing the EDCM voltage
by 1.7 (or square root of 3).
• The stress on the motor insulation is always dependent
on the drive supply voltage. This also applies to the case
where the motor voltage rating is lower than that of the
drive and the supply.
running.
0.0 … 32767.0 V Nominal voltage of the motor. The allowable range is 1/6…2 10 = 1 V
× UN (nominal voltage) of the drive. UN equals the upper
bound of the supply voltage range selected by parameter
95.01 Supply voltage.
99.08 Motor nominal Defines the nominal motor frequency. This setting must 50.00 Hz
frequency match the value on the rating plate of the motor.
running.
0.00 … 1000.00 Hz Nominal frequency of the motor. 10 = 1 Hz
99.09 Motor nominal Defines the nominal motor speed. The setting must match 0 rpm
speed the value on the rating plate of the motor.
running.
0 … 30000 rpm Nominal speed of the motor. 1 = 1 rpm
99.10 Motor nominal Defines the nominal motor power. The setting must match 0.00 kW or
power the value on the rating plate of the motor. hp
If multiple motors are connected to the drive, enter the total
power of the motors.
running.
0.00… Nominal power of the motor. 1 = 1 unit
10000.00 kW or
0.00…13404.83 hp
99.11 Motor nominal cos Defines the cosphi of the motor for a more accurate motor 0.00
Φ model. The value is not obligatory, but is useful with an
asynchronous motor, especially when performing a standstill
identification run. With a permanent magnet or synchronous
reluctance motor, this value is not needed.
Notes:
• Do not enter an estimated value. If you do not know the
exact value, leave the parameter at zero.
running.
0.00 … 1.00 Cosphi of the motor. 100 = 1
570 Parameters

99.12 Motor nominal Defines the nominal motor shaft torque for a more accurate 0.000
torque motor model. This value can be given instead of nominal N·m or lb·ft
power (99.10) if shown on the rating plate of the motor.
Note:
• This setting is an alternative to the nominal power value
(99.10). If both are entered, 99.12 takes priority.
running.
0.000… Nominal motor torque. 1 = 1 unit
N·m or lb·ft
99.13 ID run requested Selects the type of the motor identification routine (ID run) None;
performed at the next start of the drive. During the ID run, Standstill
the drive will identify the characteristics of the motor for (95.21 b1/b2)
optimum motor control.
If no ID run was performed (or if default parameter values
were restored using parameter 96.06 Parameter restore),
this parameter is automatically set to Standstill, signifying
that an ID run must be performed. After the ID run, the drive
stops and this parameter is automatically set to None.
Notes:
• For the Advanced ID run, the machinery must always be
de-coupled from the motor.
• With a permanent magnet or synchronous reluctance
motor, a Normal, Reduced or Standstill ID run requires
that the motor shaft is NOT locked and the load torque is
less than 10%.
• Configure motor temperature measurement (if used) in
parameter group 35 Motor thermal protection before
activating the ID run.
• If a sine filter is installed, set the appropriate bit in
parameter 95.15 Special HW settings before activating
the ID run. With a non-ABB (custom) filter, set also 99.18
Sine filter inductance and 99.19 Sine filter capacitance.
• With scalar control mode (99.04 Motor control mode =
Scalar), the ID run is not requested automatically.
However, an ID run can be performed for more accurate
torque estimation.
• Once the ID run is activated, it can be canceled by
stopping the drive.
• The ID run must be performed every time any of the
motor parameters (99.04, 99.06…99.12) are changed.
• Make sure that the Safe torque off and emergency stop
circuits (if any) are closed during the ID run.
• Mechanical brake (if present) is not opened by the logic
for the ID run.
running.
None No motor ID run is requested. This mode can be selected 0
only if the ID run (Normal, Reduced, Standstill, Advanced,
Advanced Standstill) has already been performed once.
Parameters 571

Normal Normal ID run. Guarantees good control accuracy for all 1
cases. The ID run takes about 90 seconds. This mode
should be selected whenever it is possible.
Notes:
• If the load torque will be higher than 20% of motor
nominal torque, or if the machinery is not able to
withstand the nominal torque transient during the ID run,
then the driven machinery must be de-coupled from the
motor during a Normal ID run.
• Check the direction of rotation of the motor before starting
the ID run. During the run, the motor will rotate in the
forward direction.
WARNING! The motor will run at up to
approximately 50…100% of the nominal speed
during the ID run. ENSURE THAT IT IS SAFE TO
RUN THE MOTOR BEFORE PERFORMING THE ID RUN!
Reduced Reduced ID run. This mode should be selected instead of 2
the Normal or Advanced ID Run if
• mechanical losses are higher than 20% (i.e. the motor
cannot be de-coupled from the driven equipment), or if
• flux reduction is not allowed while the motor is running
(i.e. in case of a motor with an integrated brake supplied
from the motor terminals).
With this ID run mode, the resultant motor control in the field
weakening area or at high torques is not necessarily as
accurate as motor control following a Normal ID run.
Reduced ID run is completed faster than the Normal ID Run
(< 90 seconds).
Note: Check the direction of rotation of the motor before
starting the ID run. During the run, the motor will rotate in the
forward direction.
WARNING! The motor will run at up to
approximately 50…100% of the nominal speed
during the ID run. ENSURE THAT IT IS SAFE TO
RUN THE MOTOR BEFORE PERFORMING THE ID RUN!
Standstill Standstill ID run. The motor is injected with DC current. With 3
an AC induction (asynchronous) motor, the motor shaft is
not rotated. With a permanent magnet motor or
synchronous reluctance motor, the shaft can rotate up to
half a revolution.
Note: A standstill ID run should be selected only if the
Normal, Reduced or Advanced ID run is not possible due to
the restrictions caused by the connected mechanics (eg.
with lift or crane applications).
See also selection Advanced Standstill.
572 Parameters

Autophasing The autophasing routine determines the start angle of a 4
permanent magnet or synchronous reluctance motor (see
page 188). Autophasing does not update the other motor
model values.
Autophasing is automatically performed as part of the
Normal, Reduced, Standstill, Advanced or Advanced
Standstill ID runs. Using this setting, it is possible to perform
autophasing alone. This is useful after changes in the
feedback configuration, such as the replacement or addition
of an absolute encoder, resolver, or pulse encoder with
commutation signals.
Notes:
• This setting can only be used after a Normal, Reduced,
Standstill, Advanced or Advanced Standstill ID run has
already been performed.
• Depending on the selected autophasing mode, the shaft
can rotate during autophasing. See parameter 21.13
Autophasing mode.
Current Requests current measurement calibration, that is 5
measurement identification of current measurement offset and gain errors.
calibration The calibration will be performed at next start.
Advanced Advanced ID run. Guarantees the best possible control 6
accuracy. The ID run can take a couple of minutes. This
mode should be selected when top performance is needed
across the whole operating area.
Note: The driven machinery must be de-coupled from the
motor because of high torque and speed transients that are
applied.
WARNING! The motor runs at up to approximately
50...100% of the nominal speed during the ID run.
Several accelerations and decelerations are done.
ENSURE THAT IT IS SAFE TO RUN THE MOTOR
BEFORE PERFORMING THE ID RUN!
Advanced Advanced Standstill ID run. 7
Standstill This selection is recommended with AC induction motors up
to 75 kW instead of the Standstill ID run if
• the exact nominal ratings of the motor are not known, or
• the control performance of the motor is not satisfactory
after a Standstill ID run.
Note: The time it takes for the Advanced Standstill ID run to
complete varies according to motor size. With a small motor,
the ID run typically completes within 5 minutes; with a large
motor, the ID run may take up to an hour.
99.14 Last ID run Shows the type of ID run that was performed last. For more None
performed information about the different modes, see the selections of
parameter 99.13 ID run requested.
None No ID run is performed. 0
Normal Normal ID run. 1
Reduced Reduced ID run. 2
Standstill Standstill ID run. 3
Autophasing Autophasing. 4
Current Current measurement calibration. 5
measurement
calibration
Parameters 573

Advanced Advanced ID run. 6
Advanced Advanced Standstill ID run. 7
Standstill
99.15 Motor polepairs Calculated number of pole pairs in the motor. 0
calculated This parameter is read-only.
0…1000 Number of pole pairs. 1=1
99.16 Motor phase order Switches the rotation direction of motor. This parameter can UVW
be used if the motor turns in the wrong direction (for
example, because of the wrong phase order in the motor
cable), and correcting the cabling is considered impractical.
Notes:
• Changing this parameter does not affect speed reference
polarities, so positive speed reference will rotate the
motor forward. The phase order selection just ensures
that “forward” is in fact the correct direction.
• After changing this parameter, the sign of encoder
feedback (if any) must be checked. This can be done by
setting parameter 90.41 Motor feedback selection to
Estimate, and comparing the sign of 90.01 Motor speed
for control to 90.10 Encoder 1 speed (or 90.20 Encoder 2
speed). If the sign of the measurement is incorrect, the
encoder wiring must be corrected or the sign of 90.43
Motor gear numerator reversed.
UVW Normal. 0
UWV Reversed rotation direction. 1
99.18 Sine filter Defines the inductance of a custom sine filter, ie. when -
inductance parameter 95.15 Special HW settings bit 3 is activated.
Note: For an ABB sine filter (95.15 Special HW settings
bit 1), this parameter is set automatically and should not be
adjusted.
0.000 … Inductance of custom sine filter. 1000 = 1 µH
100000.000 mH
574 Parameters

99.19 Sine filter Defines the capacitance of a custom sine filter, i.e., when -
capacitance parameter 95.15 Special HW settings bit 3 is activated.
If the capacitors are star/wye-connected, enter the
capacitance of one leg into the parameter.
M
3~
C C C
99.19 = C
Drive
Sine filter
If the capacitors are delta-connected, multiply the

capacitance of one leg by 3 and enter the result into the
parameter.
M
3~
C C
Drive C
99.19 = 3 × C
Sine filter
Note: For an ABB sine filter (95.15 Special HW settings

bit 1), this parameter is set automatically and should not be
adjusted.
0.00 … Capacitance of custom sine filter. 100 = 1 µF
100000.00 µF
200
200 Safety FSO-xx settings.
This group contains parameters related to the optional FSO-xx safety functions module. For details on the
parameters in this group, refer to the documentation of the FSO-xx module.
Additional Parameter data 575
8
Additional Parameter data
This chapter lists the parameters with some additional data such as their ranges and
32-bit fieldbus scaling. For parameter descriptions, see chapter Parameters
(page 219).
Parameters list view

Parameters are visible based on access levels . See the description of Parameter
access levels on page 15.
In the below parameters table, index of those parameters that are not visible in the
short menu (pass code 1) are shaded grey.
576 Additional Parameter data

Term Definition
Actual signal Signal measured or calculated by the drive. Usually can only be monitored but not
adjusted; some counter-type signals can however be reset.
Analog src Analog source: the parameter can be set to the value of another parameter by choosing
“Other”, and selecting the source parameter from a list.
Note: The source parameter must be a 32-bit real (floating point) number. To
use a 16-bit integer (for example, received in DDCS data sets) as the
source, data storage parameters 47.01…47.08 (see page 441) can be used.
In addition to the “Other” selection, the parameter may offer other pre-selected settings.
Binary src Binary source: the value of the parameter can be taken from a specific bit in another
parameter value (“Other”). Sometimes the value can be fixed to 0 (false) or 1 (true). In
addition, the parameter may offer other pre-selected settings.
Bit pointer Bit pointer. A bit pointer can point to a single bit in the value of another parameter, or be
fixed to 0 (C.FALSE) or 1 (C.TRUE).
Data Data parameter.
FbEq32 32-bit fieldbus equivalent: The scaling between the value shown on the panel and the
integer used in communication when a 32-bit value is selected for transmission to an
external system.
The corresponding 16-bit scalings are listed in chapter Parameters (page 219).
INT16 16-bit integer value (15 bits + sign).
INT32 32-bit integer value (31 bits + sign).
List Selection list.
No. Parameter number.
PB Packed Boolean (bit list).
Real Real number.
Type Parameter type. See Analog src, Binary src, List, PB, Real.
UDINT 32-bit unsigned integer value.
UINT 32-bit unsigned integer value.
Fieldbus addresses
Refer to the User’s manual of the fieldbus adapter.
Parameter groups 1...9

Note: Grey shaded parameter index indicates that the parameter is not visible in the
short menu (pass code 1).
No. Name Type Range Unit FbEq32
01 Actual values
01.01 Motor speed used Real -30000.00 … 30000.00 rpm 100 = 1 rpm
01.02 Motor speed estimated Real -30000.00 … 30000.00 rpm 100 = 1 rpm
01.03 Motor speed % Real -1000.00 ... 1000.00 % 100 = 1%
01.04 Encoder 1 speed filtered Real -30000.00 … 30000.00 rpm 100 = 1 rpm
01.05 Encoder 2 speed filtered Real -30000.00 … 30000.00 rpm 100 = 1 rpm
01.06 Output frequency Real -500.00 … 500.00 Hz 100 = 1 Hz
01.07 Motor current Real 0.00 … 30000.00 A 100 = 1 A
01.08 Motor current % of motor nom Real 0.0 … 1000.0 % 10 = 1%
01.10 Motor torque Real -1600.0 … 1600.0 % 10 = 1%
01.11 DC voltage Real 0.00 … 2000.00 V 100 = 1 V
01.13 Output voltage Real 0…2000 V 1=1V
01.14 Output power Real -32768.00 … 32767.00 kWor hp 100 = 1 unit
01.15 Output power % of motor nom Real -300.00 … 300.00 % 10 = 1%
01.17 Motor shaft power Real -32768.00 … 32767.00 kW or hp 100 = 1 unit
01.18 Inverter GWh motoring Real 0…32767 GWh 1 = 1 GWh
01.19 Inverter MWh motoring Real 0…999 MWh 1 = 1 MWh
01.20 Inverter kWh motoring Real 0…999 kWh 1 = 1 kWh
01.21 U-phase current Real -30000.00 … 30000.00 A 100 = 1 A
01.22 V-phase current Real -30000.00 … 30000.00 A 100 = 1 A
01.23 W-phase current Real -30000.00 … 30000.00 A 100 = 1 A
01.24 Flux actual % Real 0…200 % 1 = 1%
01.29 Speed change rate Real -15000 … 15000 rpm/s 1 = 1 rpm/s
01.30 Nominal torque scale Real 0.000… N•m or 1000 = 1 unit
lb·ft
01.31 Ambient temperature Real -40 … 120 °C or °F 10 = 1°
01.32 Inverter GWh regenerating Real 0…32767 GWh 1 = 1 GWh
01.33 Inverter MWh regenerating Real 0…999 MWh 1 = 1 MWh
01.34 Inverter kWh regenerating Real 0…999 kWh 1 = 1 kWh
01.35 Mot - regen energy GWh Real -32768 … 32767 GWh 1 = 1 GWh
01.36 Mot - regen energy MWh Real -999…999 MWh 1 = 1 MWh
01.37 Mot - regen energy kWh Real -999…999 kWh 1 = 1 kWh
01.61 Abs motor speed used Real 0.00 … 30000.00 rpm 100 = 1 rpm
01.62 Abs motor speed % Real 0.00 … 1000.00 % 100 = 1 %
01.63 Abs output frequency Real 0.00 … 500.00 Hz 100 = 1 Hz
01.64 Abs motor torque Real 0.0 … 1600.0 % 10 = 1%
01.65 Abs output power Real 0.00 … 32767.00 kW or hp 100 = 1 unit

01.66 Abs output power % motor Real 0.00 … 300.00 % 10 = 1%
nom
01.68 Abs motor shaft power Real 0.00 … 32767.00 kW or hp 100 = 1 unit
01.70 Ambient temperature % Real -200.00 ... 200.00 % 100 = 1%
(Parameters 01.102…01.164 are visible only when IGBT supply unit control is activated by 95.20)
01.102 Line current Real 0.00 ... 30000.00 A 100 = 1 A
01.104 Active current Real 0.00 ... 30000.00 A 100 = 1 A
01.106 Reactive current Real 0.00 ... 30000.00 A 100 = 1 A
01.108 Grid frequency Real 0.00 ... 100.00 Hz 100 = 1 Hz
01.109 Grid voltage Real 0.00 ... 2000.00 V 100 = 1 V
01.110 Grid apparent power Real -30000.00 ... 30000.00 kVA 100 = 1 kVA
01.112 Grid power Real -30000.00 ... 30000.00 kW 100 = 1 kW
01.114 Grid reactive power Real -30000.00 ... 30000.00 kvar 100 = 1 kvar
01.116 LSU cos Φ Real -1.00 ... 1.00 - 100 = 1
01.164 LSU nominal power Real 0 ... 30000 kW 1 = 1 kW
03 Input references
03.01 Panel reference Real -100000.00 … 100000.00 - 100 = 1
03.02 Panel reference 2 Real -30000.00 … 30000.00 - 100 = 1
03.05 FB A reference 1 Real -100000.00 … 100000.00 - 100 = 1
03.06 FB A reference 2 Real -100000.00 … 100000.00 - 100 = 1
03.07 FB B reference 1 Real -100000.00 … 100000.00 - 100 = 1
03.08 FB B reference 2 Real -100000.00 … 100000.00 - 100 = 1
03.09 EFB reference 1 Real -30000.00 … 30000.00 - 100 = 1
03.10 EFB reference 2 Real -30000.00 … 30000.00 - 100 = 1
03.11 DDCS controller ref 1 Real -30000.00 … 30000.00 - 100 = 1
03.12 DDCS controller ref 2 Real -30000.00 … 30000.00 - 100 = 1
03.13 M/F or D2D ref1 Real -30000.00 … 30000.00 - 100 = 1
03.14 M/F or D2D ref2 Real -30000.00 … 30000.00 - 100 = 1
04 Warnings and faults
04.01 Tripping fault Data 0000h…FFFFh - 1=1
04.02 Active fault 2 Data 0000h…FFFFh - 1=1
04.06 Active warning 1 Data 0000h…FFFFh - 1=1
04.11 Latest fault Data 0000h…FFFFh - 1=1
04.12 2nd latest fault Data 0000h…FFFFh - 1=1

04.13 3rd latest fault Data 0000h…FFFFh - 1=1
04.14 4th latest fault Data 0000h…FFFFh - 1=1
04.15 5th latest fault Data 0000h…FFFFh - 1=1
04.16 Latest warning Data 0000h…FFFFh - 1=1
04.17 2nd latest warning Data 0000h…FFFFh - 1=1
04.18 3rd latest warning Data 0000h…FFFFh - 1=1
04.19 4th latest warning Data 0000h…FFFFh - 1=1
04.20 5th latest warning Data 0000h…FFFFh - 1=1
04.21 Fault word 1 PB 0000h…FFFFh - 1=1
04.22 Fault word 2 PB 0000h…FFFFh - 1=1
04.31 Warning word 1 PB 0000h…FFFFh - 1=1
04.32 Warning word 2 PB 0000h…FFFFh - 1=1
04.40 Event word 1 PB 0000h…FFFFh - 1=1
Parameters 04.41...04.56 are visible only when user lock is open with pass code 584.
See parameter 96.02 Pass code.
04.41 Event word 1 bit 0 code Data 0000h…FFFFh - 1=1
04.42 Event word 1 bit 0 aux code Data 0000 0000h … - 1=1
FFFF FFFFh
FFFF FFFFh
… … … … …
FFFF FFFFh
FFFF FFFFh
… … … … …
FFFF FFFFh
04.120 Fault/Warning word List 0…1 - 1=1
compatibility
05 Diagnostics
05.01 On-time counter Real 0…65535 d 1=1d
05.02 Run-time counter Real 0…65535 d 1=1d
05.04 Fan on-time counter Real 0…65535 d 1=1d
05.11 Inverter temperature Real -40.0 … 160.0 % 10 = 1%
05.22 Diagnostic word 3 PB 0x0000…0xFFFF - -
05.41 Main fan service counter Real 0…150 % 1 = 1%
05.42 Aux. fan service counter Real 0…150 % 1 = 1%
(Parameters 05.111 and 05.121 are visible only when IGBT supply unit control is activated by 95.20)

05.111 Line converter temperature Real -40.0 … 160.0 % 10 = 1%
05.121 MCB closing counter Real 0 ... 4294967295 % 1 = 1%
06 Control and status words
06.01 Main control word PB 0000h…FFFFh - 1=1
06.02 Application control word PB 0000h…FFFFh - 1=1
06.03 FBA A transparent control PB 00000000h…FFFFFFFFh - 1=1
word
06.04 FBA B transparent control PB 00000000h…FFFFFFFFh - 1=1
word
06.05 EFB transparent control word PB 00000000h…FFFFFFFFh -
06.11 Main status word PB 0000h…FFFFh - 1=1
06.16 Drive status word 1 PB 0000h…FFFFh - 1=1
06.18 Start inhibit status word PB 0000h…FFFFh - 1=1
06.19 Speed control status word PB 0000h…FFFFh - 1=1
06.20 Constant speed status word PB 0000h…FFFFh - 1=1
06.25 Drive inhibit status word 2 PB 0000h…FFFFh - 1=1
06.29 MSW bit 10 sel Binary - - 1=1
src
src
src
src
src
06.45 Follower CW user bit 0 Binary - - 1=1
selection src
selection src
selection src
selection src
06.50 User status word 1 PB 0000h…FFFFh - 1=1
06.60 User status word 1 bit 0 sel Binary - - 1=1
src
src
src
src

src
src
src
src
src
src
src
src
src
src
src
src
06.100 User control word 1 PB 0000h…FFFFh - 1=1
06.101 User control word 2 PB 0000h…FFFFh - 1=1
07 System info
07.03 Drive rating id List - - 1=1
07.04 Firmware name List - - 1=1
07.05 Firmware version Data - - 1=1
07.06 Loading package name List - - 1=1
07.07 Loading package version Data - - 1=1
07.08 Bootloader version Data - - 1=1
07.11 Cpu usage Real 0…100 % 1 = 1%
07.13 PU logic version number Data - - 1=1
(Parameters 07.21 ... 07.24 are visible only with option +N8010 [application programmability])
07.21 Application environment PB 0000h…FFFFh - 1=1
status 1
07.22 Application environment status PB 0000h…FFFFh - 1=1
2
07.23 Application name Data - - 1=1
07.24 Application version Data - - 1=1
07.25 Customization package name Data - - 1=1
07.26 Customization package Data - - 1=1
version
07.30 Adaptive program status PB 0000h…FFFFh - 1=1

(Parameters 07.40 and 07.41 are visible only with option +N8010 [application programmability])
07.40 IEC application Cpu usage Real 0.0 ... 100.0 % 10 = 1%
peak
07.41 IEC application Cpu load Real 0.0 ... 100.0 % 10 = 1%
average
09 Crane application signals
09.01 Crane SW1 PB 0000h…FFFFh - 1=1
09.02 Crane SW2 PB 00b…11b - 1=1
09.03 Crane FW1 PB 0000h…FFFFh - 1=1
09.05 Load speed limit Real 0.00…30000.00 rpm 1 = 1 rpm
09.06 Crane speed reference Real 0.00…30000.00 rpm 1 = 1 rpm
09.07 Load speed error status PB 000b…111b - 1=1
09.09 Flux reference Real 0…200 % 1 = 1%
09.10 Lifetime left Real 0 ...10000 h 1 =1 h
09.11 Lifetime left in percent Real 0.00 ... 100.00 % 100 = 1%
09.12 Load spectrum factor Real 0.00 ... 10.00 - 1=1
09.13 Lifetime sw UINT 0000 ... 0111b - 1=1
09.20 Crane operation hours Real 0...1100000 h 1=1h
09.21 Brake operation count UINT 0...4294967295 - 1=1
09.22 Number of pwr on UINT 0...65535 - 1=1
09.31 Motor load Real -1600.0...1600.0 % 10 = 1%
09.40 ACC Crane fieldbus SW PB 0b0000...0b1111 - 1=1
09.41 ACC Crane fault word 1 PB 0b0000...0b1111 - 1=1
09.42 ACC Crane fault word 2 PB 0b0000...0b1111 - 1=1
09.43 ACC Crane alarm word 1 PB 0b0000...0b1111 - 1=1
09.44 ACC Crane auxiliary SW PB 0b0000...0b1111 - 1=1
09.45 ACC Crane fieldbus CW PB 0b0000...0b1111 - 1=1
09.46 ACC Crane auxiliary CW PB 0b0000...0b1111 - 1=1
09.47 ACC DC voltage Real 0...2000 - 1=1
09.48 ACC Shaft power Real -300...300 - 1=1
09.49 ACC Measured load Real -300.00...300.00 % 100 = 1 %
09.50 Crane speed reference cor Real -30000.00...30000.00 rpm 100 = 1 rpm
Parameter groups 10...99

Note: Index of those parameters not visible in the short menu (access level 1) are
shaded grey.
10 Standard DI, RO
10.01 DI status PB 0000h…FFFFh - 1=1
10.02 DI delayed status PB 0000h…FFFFh - 1=1
10.03 DI force selection PB 0000h…FFFFh - 1=1
10.04 DI force data PB 0000h…FFFFh - 1=1
10.05 DI1 ON delay Real 0.0 … 3000.0 s 10 = 1 s
10.06 DI1 OFF delay Real 0.0 … 3000.0 s 10 = 1 s
10.21 RO status PB 0000h…FFFFh - 1=1
10.24 RO1 source Binary - - 1=1
src
10.25 RO1 ON delay Real 0.0 … 3000.0 s 10 = 1 s
10.26 RO1 OFF delay Real 0.0 … 3000.0 s 10 = 1 s
src
src
10.51 DI filter time Real 0.3 … 100.0 ms 10 = 1 ms

10.99 RO/DIO control word PB 0000h…FFFFh - 1=1
11 Standard DIO, FI, FO
11.01 DIO status PB 0000h…FFFFh - 1=1
11.02 DIO delayed status PB 0000h…FFFFh - 1=1
11.05 DIO1 function List 0…2 - 1=1
11.06 DIO1 output source Binary - 1=1
src
11.07 DIO1 ON delay Real 0.0 … 3000.0 s 10 = 1 s
11.08 DIO1 OFF delay Real 0.0 … 3000.0 s 10 = 1 s
11.10 DIO2 output source Binary - 1=1
src
11.38 Freq in 1 actual value Real 0…16000 Hz 1 = 1 Hz
11.39 Freq in 1 scaled Real -32768.000 … 32767.000 - 1000 = 1
11.42 Freq in 1 min Real 0…16000 Hz 1 = 1 Hz
11.43 Freq in 1 max Real 0…16000 Hz 1 = 1 Hz
11.44 Freq in 1 at scaled min Real -32768.000 … 32767.000 - 1000 = 1
11.45 Freq in 1 at scaled max Real -32768.000 … 32767.000 - 1000 = 1
11.54 Freq out 1 actual value Real 0…16000 Hz 1 = 1 Hz
11.55 Freq out 1 source Analog - - 1=1
src
11.58 Freq out 1 src min Real -32768.000 … 32767.000 - 1000 = 1
11.59 Freq out 1 src max Real -32768.000 … 32767.000 - 1000 = 1
11.60 Freq out 1 at src min Real 0…16000 Hz 1 = 1 Hz
11.61 Freq out 1 at src max Real 0…16000 Hz 1 = 1 Hz
11.81 DIO filter time Real 0.3 … 100.0 ms 10 = 1 ms
12 Standard AI
12.01 AI tune enum 0…4 -
12.03 AI supervision function List 0…4 - 1=1
12.04 AI supervision selection PB 0000h…FFFFh - 1=1
12.05 AI supervision force PB 0000h…FFFFh - 1=1
12.11 AI1 actual value Real -22.000 … 22.000 mA or V 1000 = 1 unit
12.12 AI1 scaled value Real -32768.000 … 32767.000 - 1000 = 1
12.15 AI1 unit selection List - - 1=1
12.16 AI1 filter time Real 0.000 … 30.000 s 1000 = 1 s
12.17 AI1 min Real -22.000 … 22.000 mA or V 1000 = 1 mA
or V

12.18 AI1 max Real -22.000 … 22.000 mA or V 1000 = 1 mA
or V
12.19 AI1 scaled at AI1 min Real -32768.000 … 32767.000 - 1000 = 1
12.20 AI1 scaled at AI1 max Real -32768.000 … 32767.000 - 1000 = 1
12.21 AI2 actual value Real -22.000 … 22.000 mA or V 1000 = 1 mA
or V
or V
or V
13 Standard AO
13.11 AO1 actual value Real 0.000 … 22.000 mA 1000 = 1 mA
13.12 AO1 source Analog - - 1=1
src
13.16 AO1 filter time Real 0.000 … 30.000 s 1000 = 1 s
13.17 AO1 source min Real -32768.0 … 32767.0 - 10 = 1
13.18 AO1 source max Real -32768.0 … 32767.0 - 10 = 1
13.19 AO1 out at AO1 src min Real 0.000 … 22.000 mA 1000 = 1 mA
13.20 AO1 out at AO1 src max Real 0.000 … 22.000 mA 1000 = 1 mA
src
Parameters 13.91 and 13.92 are visible only when user lock is open with pass code 584.
13.91 AO1 data storage Real -327.68 … 327.67 - 100 = 1
13.92 AO2 data storage Real -327.68 … 327.67 - 100 = 1
14 I/O extension module 1
14.01 Module 1 type List - - 1=1
14.02 Module 1 location Real 1…254 - 1=1
14.03 Module 1 status List 0…4 - 1=1
DIx (14.01 Module 1 type = FDIO-01)
14.05 DI status PB 00000000h…FFFFFFFFh - 1=1
14.06 DI delayed status PB 00000000h…FFFFFFFFh - 1=1

Common parameters for DIOx (14.01 Module 1 type = FIO-01 or FIO-11)
14.05 DIO status PB 00000000h…FFFFFFFFh - 1=1
14.06 DIO delayed status PB 00000000h…FFFFFFFFh - 1=1
DIO1/DIO2 (14.01 Module 1 type = FIO-01 or FIO-11)
14.11 DIO1 output source Binary - - 1=1
src
src
DIO3/DIO4 (14.01 Module 1 type = FIO-01)
src
src
RO1/RO2 (14.01 Module 1 type = FIO-01 or FDIO-01)
src
src

Common parameters for AIx (14.01 Module 1 type = FIO-11 or FAIO-01)
14.21 AI tune List 0…6 (FIO-11) - 1=1
0…4 (FAIO-01)
14.22 AI force selection PB 0000h…FFFFh - 1=1
AI1/AI2 (14.01 Module 1 type = FIO-11 or FAIO-01)
14.28 AI1 force data Real -22.000 … 22.000 mA or V 1000 = 1 unit
14.29 AI1 HW switch position List - - 1=1
14.31 AI1 filter gain List 0…7 - 1=1
or V
or V
or V
or V
AI3 (14.01 Module 1 type = FIO-11)
or V

or V
Common parameters for AOx (14.01 Module 1 type = FIO-11 or FAIO-01)
14.71 AO force selection PB 00000000h…FFFFFFFFh - 1=1
AO1 (14.01 Module 1 type = FIO-11 or FAIO-01)
src
14.78 AO1 force data Real 0.000 … 22.000 mA 1000 = 1 mA
AO2 (14.01 Module 1 type = FAIO-01)
src
15.01 Module 2 type List 0...4 - 1=1

src
src
src
src
src
src
15.21 AI tune List 0…6 (FIO-11) - 1=1
0…4 (FAIO-01)
15.22 AI force selection PB 00000000h…FFFFFFFFh - 1=1

or V
or V
or V
or V
or V
or V

src
src
16.01 Module 3 type List 0...4 - 1=1
src
16.13 DIO1 OFF delay Real 0.0 0… 3000.00 s 100 = 1 s

src
src
src
src
src
16.21 AI tune List 0…6 (FIO-11) - 1=1
0…4 (FAIO-01)
16.22 AI force selection PB 00000000h…FFFFFFFFh - 1=1
or V
or V

or V
or V
or V
or V
src

src
19 Operation mode
19.01 Actual operation mode List - - 1=1
19.11 Ext1/Ext2 selection Binary - - 1=1
src
19.12 Ext1 control mode List 1…6 - 1=1
19.14 Ext2 control mode List 1…6 - 1=1
19.16 Local control mode List 0…1 - 1=1
19.17 Local control disable List 0…1 - 1=1
20 Start/stop/direction
20.01 Ext1 commands List - - 1=1
20.02 Ext1 start trigger type List 0…1 - 1=1
20.03 Ext1 in1 source Binary - - 1=1
src
src
src
20.06 Ext2 commands List - - 1=1
20.07 Ext2 start trigger type List 0…1 - 1=1
src
src
src
20.11 Run enable stop mode List 0…2 - 1=1
20.12 Run enable 1 source Binary - - 1=1
src
20.19 Enable start command Binary - - 1=1
src
20.23 Positive speed enable Binary - - 1=1
src
20.24 Negative speed enable Binary - - 1=1
src
20.30 Enable signals warning PB 00b…11b - 1=1
function

20.200 Slowdown select List 1…3 - 1=1
20.201 Slowdown input 1 Binary - - 1=1
src
20.202 Slowdown input 2 Binary - - 1=1
src
20.203 Slowdown up position Real -32000.000...32000.000 - 100 = 1
20.204 Slowdown dn position Real -32000.000...32000.000 - 100 = 1
20.205 End limit 1 Binary - - 1=1
src
20.206 End limit 2 Binary - - 1=1
src
20.207 Emergency control enable Binary - - 1=1
src
20.208 Emergency control forward Binary - - 1=1
src
20.209 Emergency control reverse Binary - - 1=1
src
20.210 Fast stop input Binary - - 1=1
src
20.211 Fast stop mode List 1…3 - 1=1
20.212 Power on acknowledge Binary - - 1=1
src
20.213 Power on ackn reset delay Real 0…30000 ms 1 = 1 ms
20.214 Joystick zero position Binary - - 1=1
src
20.215 Joystick warning delay Real 0…30000 ms 1 = 1 ms
20.216 Crane control word 1 PB 0000h…FFFFh - 1=1
20.218 End limit action List 0…3 - 1=1
21 Start/stop mode
21.01 Start mode List 0…3 - 1=1
21.02 Magnetization time Real 0…10000 ms 1 = 1 ms
21.06 Zero speed limit Real 0.00 … 30000.00 rpm 100 = 1 rpm
21.07 Zero speed delay Real 0…30000 ms 1 = 1 ms
21.08 DC current control PB 0000b…0011b - 1=1
21.09 DC hold speed Real 0.00 … 1000.00 rpm 100 = 1 rpm
21.10 DC current reference Real 0.0 … 100.0 % 10 = 1%
21.11 Post magnetization time Real 0…30000 s 1=1s
21.12 Continuous magnetization Binary - - 1=1
command src
21.13 Autophasing mode List 0…2 - 1=1
21.14 Pre-heating input source Binary - - 1=1
src
21.16 Pre-heating current Real 0.0 … 30.0 % 10 = 1%

21.18 Auto restart time Real 0.0, 0.1 … 5.0 s 10 = 1 s
21.19 Scalar start mode List 0…2 - 1=1
21.20 Follower force ramp stop Binary - - 1=1
src
22 Speed reference selection
22.01 Speed ref unlimited Real -30000.00 … 30000.00 rpm 100 = 1 rpm
22.11 Speed ref1 source Analog - - 1=1
src
22.12 Speed ref2 source Analog - - 1=1
src
22.13 Speed ref1 function List 0…5 - 1=1
22.14 Speed ref1/2 selection Binary - - 1=1
src
22.15 Speed additive 1 source Analog - - 1=1
src
22.16 Speed share Real -8.000 … 8.000 - 1000 = 1
22.17 Speed additive 2 source Analog - - 1=1
src
22.21 Constant speed function PB 00b…11b - 1=1
22.22 Constant speed sel1 Binary - - 1=1
src
src
src
22.26 Constant speed 1 Real -30000.00 … 30000.00 rpm 100 = 1 rpm
22.41 Speed ref safe Real -30000.00 … 30000.00 rpm 100 = 1 rpm
22.51 Critical speed function PB 00b…11b - 1=1
22.52 Critical speed 1 low Real -30000.00 … 30000.00 rpm 100 = 1 rpm
22.53 Critical speed 1 high Real -30000.00 … 30000.00 rpm 100 = 1 rpm
22.71 Motor potentiometer function List 0…2 - 1=1
22.72 Motor potentiometer initial Real -32768.00 … 32767.00 - 100 = 1
value

22.73 Motor potentiometer up source Binary - - 1=1
src
22.74 Motor potentiometer down Binary - - 1=1
source src
22.75 Motor potentiometer ramp time Real 0.0 … 3600.0 s 10 = 1 s
22.76 Motor potentiometer min value Real -32768.00 … 32767.00 - 100 = 1
22.77 Motor potentiometer max Real -32768.00 … 32767.00 - 100 = 1
value
22.80 Motor potentiometer ref act Real -32768.00 … 32767.00 - 100 = 1
22.81 Speed reference act 1 Real -30000.00 … 30000.00 rpm 100 = 1 rpm
22.200 Slowdown reference Real 0.00 … 30000.00 rpm 1 = 1 rpm
22.202 Emergency control reference Real 0.00 … 30000.00 rpm 1 = 1 rpm
22.203 Step reference mode Binary - - 1=1
src
22.204 Step reference select 2 Binary - - 1=1
src
src
src
22.207 Step reference 1 Real 0.00 … 30000.00 rpm 1 = 1 rpm
22.211 Speed reference shape List 0…2 - 1=1
22.220 Crane motpot enable List 0...8 - 1=1
22.223 Crane motpot accel sel List 0...8 - 1=1
22.224 Crane motpot min speed Real 0...32000 rpm 1 = 1 rpm
22.225 Crane motpot sw PB - - 1=1
22.226 Crane motpot min value Real -32768.00...32767.00 - 100 = 1
22.227 Crane motpot max value Real -32768.00...32767.00 - 100 = 1
23 Speed reference ramp
23.01 Speed ref ramp input Real -30000.00 … 30000.00 rpm 100 = 1 rpm
23.02 Speed ref ramp output Real -30000.00 … 30000.00 rpm 100 = 1 rpm
23.16 Shape time acc 1 Real 0.000 …1800.000 s 1000 = 1 s
23.17 Shape time acc 2 Real 0.000 …1800.000 s 1000 = 1 s
23.18 Shape time dec 1 Real 0.000 …1800.000 s 1000 = 1 s

23.19 Shape time dec 2 Real 0.000 …1800.000 s 1000 = 1 s
23.23 Emergency stop time Real 0.000 …1800.000 s 1000 = 1 s
23.24 Speed ramp in zero source Binary - - 1=1
src
23.26 Ramp out balancing enable Binary - - 1=1
src
23.27 Ramp out balancing ref Real -30000.00 … 30000.00 rpm 100 = 1 rpm
23.28 Variable slope enable List 0…1 - 1=1
23.29 Variable slope rate Real 2…30000 ms 1 = 1 ms
23.39 Follower speed correction out Real -30000.00 30000.00 rpm 100 = 1 rpm
23.40 Follower speed correction Binary - - 1=1
enable src
23.41 Follower speed correction gain Real 0.00 … 100.00 % 100 = 1%
23.42 Follower speed corr torq Analog - - 1=1
source src
23.200 Crane ramp set selection Binary - - 1=1
src
23.201 Crane acc time 1 Real 0.00 …1800.00 s 10 = 1.0 s
23.202 Crane dec tme 1 Real 0.00 …1800.00 s 10 = 1.0 s
23.203 Crane acc time 2 Real 0.00 …1800.00 s 10 = 1.0 s
23.204 Crane dec time 2 Real 0.00 …1800.00 s 10 = 1.0 s
23.206 Fast stop deceleration time Real 0.00 …3000.00 s 10 = 1.0 s
24 Speed reference conditioning
24.01 Used speed reference Real -30000.00 … 30000.00 rpm 100 = 1 rpm
24.02 Used speed feedback Real -30000.00 … 30000.00 rpm 100 = 1 rpm
24.03 Speed error filtered Real -30000.0 … 30000.0 rpm 100 = 1 rpm
24.04 Speed error inverted Real -30000.0 … 30000.0 rpm 100 = 1 rpm
24.11 Speed correction Real -10000.00…10000.00 - 100 = 1
24.12 Speed error filter time Real 0…10000 ms 1 = 1 ms
24.13 RFE speed filter List 0…1 - 1=1
24.14 Frequency of zero Real 0.50 … 500.00 Hz 10 = 1 Hz
24.15 Damping of zero Real -1.000 … 1.000 - 100 = 1
24.16 Frequency of pole Real 0.50 … 500.00 Hz 10 = 1 Hz
24.17 Damping of pole Real -1.000 … 1.000 - 100 = 1
24.41 Speed error window control Binary - - 1=1
enable src
24.42 Speed window control mode List 0…1 - 1=1
24.43 Speed error window high Real 0.00 … 3000.00 rpm 100 = 1 rpm
24.44 Speed error window low Real 0.00 … 3000.00 rpm 100 = 1 rpm
24.46 Speed error step Real -3000.00 … 3000.00 rpm 100 = 1 rpm

24.200 Speed correction Real -10000.00…10000.00 rpm 100 = 1 rpm
25 Speed control
25.01 Torque reference speed Real -1600.0 … 1600.0 % 10 = 1%
control
25.02 Speed proportional gain Real 0.00 … 250.00 - 100 = 1
25.03 Speed integration time Real 0.00 … 1000.00 s 100 = 1 s
25.04 Speed derivation time Real 0.000 … 10.000 s 1000 = 1 s
25.05 Derivation filter time Real 0…10000 ms 1 = 1 ms
25.06 Acc comp derivation time Real 0.00 … 1000.00 s 100 = 1 s
25.07 Acc comp filter time Real 0.0 … 1000.0 ms 10 = 1 ms
25.08 Drooping rate Real 0.00 … 100.00 % 100 = 1%
25.11 Speed control min torque Real -1600.0 … 0.0 % 10 = 1%
25.12 Speed control max torque Real 0.0 … 1600.0 % 10 = 1%
25.13 Min torq sp ctrl em stop Real -1600.0 … 0.0 % 10 = 1%
25.14 Max torq sp ctrl em stop Real 0.0 … 1600.0 % 10 = 1%
25.15 Proportional gain em stop Real 1.00 … 250.00 - 100 = 1
25.18 Speed adapt min limit Real 0…30000 rpm 1 = 1 rpm
25.19 Speed adapt max limit Real 0…30000 rpm 1 = 1 rpm
25.21 Kp adapt coef at min speed Real 0.000 … 10.000 - 1000 = 1
25.22 Ti adapt coef at min speed Real 0.000 … 10.000 - 1000 = 1
25.25 Torque adapt max limit Real 0.0 … 1600.0 % 10 = 1%
25.26 Torque adapt filt time Real 0.000 … 100.000 s 1000 = 1 s
25.27 Kp adapt coef at min torque Real 0.000 … 10.000 - 1000 = 1
25.30 Flux adaption enable List 0…1 - 1=1
25.33 Speed controller autotune Binary - - 1=1
src
25.34 Speed controller autotune List 0…2 - 1=1
mode
25.37 Mechanical time constant Real 0.00 … 1000.00 s 100 = 1 s
25.38 Autotune torque step Real 0.00 … 100.00 % 100 = 1%
25.39 Autotune speed step Real 0.00 … 100.00 % 100 = 1%
25.40 Autotune repeat times Real 1…10 - 1=1
25.53 Torque prop reference Real -30000.0 … 30000.0 % 10 = 1%
25.54 Torque integral reference Real -30000.0 … 30000.0 % 10 = 1%
25.55 Torque deriv reference Real -30000.0 … 30000.0 % 10 = 1%
25.56 Torque acc compensation Real -30000.0 … 30000.0 % 10 = 1%
25.57 Torque reference unbalanced Real -30000.0 … 30000.0 % 10 = 1%
26 Torque reference chain
26.01 Torque reference to TC Real -1600.0 … 1600.0 % 10 = 1%
26.02 Torque reference used Real -1600.0 … 1600.0 % 10 = 1%

26.08 Minimum torque ref Real -1000.0 … 0.0 % 10 = 1%
26.09 Maximum torque ref Real 0.0 … 1000.0 % 10 = 1%
26.11 Torque ref1 source Analog - - 1=1
src
26.12 Torque ref2 source Analog - - 1=1
src
26.13 Torque ref1 function List 0…5 - 1=1
26.14 Torque ref1/2 selection Binary - - 1=1
src
26.15 Load share Real -8.000 … 8.000 - 1000 = 1
26.16 Torque additive 1 source Analog - - 1=1
src
26.17 Torque ref filter time Real 0.000 … 30.000 s 1000 = 1 s
26.18 Torque ramp up time Real 0.000 … 60.000 s 1000 = 1 s
26.19 Torque ramp down time Real 0.000 … 60.000 s 1000 = 1 s
26.25 Torque additive 2 source Analog - - 1=1
src
26.26 Force torque ref add 2 zero Binary - - 1=1
src
26.41 Torque step Real -300.0 … 300.0 % 10 = 1%
26.42 Torque step enable List 0…1 - 1=1
26.51 Oscillation damping Binary - - 1=1
src
26.52 Oscillation damping out enable Binary - - 1=1
src
26.53 Oscillation compensation input List 0…1 - 1=1
26.55 Oscillation damping frequency Real 0.1 … 60.0 Hz 10 = 1 Hz
26.56 Oscillation damping phase Real 0…360 deg 1 = 1 deg
26.57 Oscillation damping gain Real 0.0 … 100.0 % 10 = 1%
26.58 Oscillation damping output Real -1600.000 … 1600.000 % 1000 = 1%
26.70 Torque reference act 1 Real -1600.0 … 1600.0 % 10 = 1%
26.74 Torque ref ramp out Real -1600.0 … 1600.0 % 10 = 1%
26.77 Torque ref add A actual Real -1600.0 … 1600.0 % 10 = 1%
26.78 Torque ref add B actual Real -1600.0 … 1600.0 % 10 = 1%
Parameters 26.81and 26.82 are visible only when user lock is open with pass code 584.
26.81 Rush control gain Real 0.0 … 10000.0 - 10 = 1

26.82 Rush control integration time Real 0.0 … 10.0 s 10 = 1 s
30 Limits
30.01 Limit word 1 PB 0000h…FFFFh - 1=1
30.02 Torque limit status PB 0000h…FFFFh - 1=1
30.11 Minimum speed Real -30000.00 … 30000.00 rpm 100 = 1 rpm
30.12 Maximum speed Real -30000.00 … 30000.00 rpm 100 = 1 rpm
30.13 Minimum frequency Real -500.00 … 500.00 Hz 100 = 1 Hz
30.14 Maximum frequency Real -500.00 … 500.00 Hz 100 = 1 Hz
30.15 Maximum start current enable List 0…1 - 1=1
30.16 Maximum start current Real 0.00 … 30000.00 A 100 = 1 A
30.17 Maximum current Real 0.00 … 30000.00 A 100 = 1 A
30.18 Minimum torque sel Binary - - 1=1
src
30.19 Minimum torque 1 Real -1600.0 … 1600.0 % 10 = 1%
30.20 Maximum torque 1 Real -1600.0 … 1600.0 % 10 = 1%
30.21 Minimum torque 2 source Analog - - 1=1
src
30.22 Maximum torque 2 source Analog - - 1=1
src
30.23 Minimum torque 2 Real -1600.0 … 0.0 % 10 = 1%
30.24 Maximum torque 2 Real 0.0 … 1600.0 % 10 = 1%
30.25 Maximum torque sel Binary - - 1=1
src
30.26 Power motoring limit Real 0.00 … 600.00 % 100 = 1%
30.27 Power generating limit Real -600.00 … 0.00 % 100 = 1%
30.30 Overvoltage control List 0…1 - 1=1
30.31 Undervoltage control List 0…1 - 1=1
30.200 External speed limits Binary - - 1=1
src
30.201 External min speed limit Real -30000.00 … 0.00 rpm 1 = 1 rpm
30.202 External max speed limit Real 0.00 … 30000.00 rpm 1 = 1 rpm
30.203 Deadband forward Real 0.00 … 100.00 % 10 = 1.0%
30.204 Deadband reverse Real 0.00 … 100.00 % 10 = 1.0%
31 Fault functions
31.01 External event 1 source Binary - - 1=1
src
31.02 External event 1 type List 0…3 - 1=1
src
src

src
src
31.11 Fault reset selection Binary - - 1=1
src
31.12 Autoreset selection PB 0000h…FFFFh - 1=1
31.13 User selectable fault Real 0000h…FFFFh - 1=1
31.14 Number of trials Real 0…5 - 1=1
31.15 Total trials time Real 1.0 … 600.0 s 10 = 1 s
31.16 Delay time Real 0.0 … 120.0 s 10 = 1 s
31.19 Motor phase loss List 0…1 - 1=1
31.20 Earth fault List 0…2 - 1=1
31.21 Supply phase loss List 0…1 - 1=1
31.22 STO indication run/stop List 0…5 - 1=1
31.23 Wiring or earth fault List 0…1 - 1=1
31.24 Stall function List 0…2 - 1=1
31.25 Stall current limit Real 0.0 … 1600.0 % 10 = 1%
31.26 Stall speed limit Real 0.0 … 10000.0 rpm 100 = 1 rpm
31.27 Stall frequency limit Real 0.00 … 500.00 Hz 100 = 1 Hz
31.28 Stall time Real 0…3600 s 1=1s
31.30 Overpeed trip margin Real 0…10000 rpm 100 = 1 rpm
31.32 Emergency ramp supervision Real 0…300 % 1 = 1%
31.33 Emergency ramp supervision Real 0…32767 s 1=1s
delay
31.35 Main fan fault function List 0…2 - 1=1
31.36 Aux fan fault bypass List 0…1 - 1=1
31.37 Ramp stop supervision Real 0…300 % 1 = 1%
31.38 Ramp stop supervision delay Real 0…32767 s 1=1s
31.40 Disable warnings PB 0000h…FFFFh - 1=1
31.42 Overcurrent fault limit Real 0.0 … 30000.0 A 100 = 1 A
31.200 Motor overspeed level Real 0.00 …30000.00 rpm 1 = 1 rpm
31.201 Motor overspeed level delay Real 0…30000 ms 1 = 1 ms
31.202 Inverter overload selection PB 000000b…111111b - 1=1
31.203 User limit bit selection Binary - - 1=1
src
31.204 Inverter overload delay Real 0…30000 ms 1 = 1 ms
31.205 Crane warning masking PB 00000000b… - -
11111111b
31.211 Toggle bit enable Bit - - 1=1
pointer

31.212 Toggle bit action List 0…1 - 1=1
31.213 Toggle bit time delay UDINT 0…1000 ms 1=1
31.214 Toggle bit source Bit - - 1=1
pointer
31.215 Toggle bit statusword UINT - - 1=1
32 Supervision
32.01 Supervision status PB 000b…111b - 1=1
32.05 Supervision 1 function List 0…6 - 1=1
32.06 Supervision 1 action List 0…2 - 1=1
32.07 Supervision 1 signal Analog - - 1=1
src
32.08 Supervision 1 filter time Real 0.000 … 30.000 s 1000 = 1 s
32.09 Supervision 1 low Real -21474830.00 … - 100 = 1
21474830.00
32.10 Supervision 1 high Real -21474830.00 … - 100 = 1
21474830.00
src
21474830.00
32.20 Supervision 2 high Real -21474830.00 … - 100 = 1
21474830.00
src
21474830.00
32.30 Supervision 3 high Real 21474830.00 … - 100 = 1
21474830.00
32.221 Watchdog test Bit - - 1=1
pointer
32.222 Watchdog test delay UDINT 0.0 ... 10.0 s 10 = 1 s
32.223 Watchdog re test delay UDINT 0.0 ... 1800.0 s 10 = 1 s
32.224 Watchdog fault delay UDINT 0.0 ... 10.0 s 10 = 1 s
32.225 Watchdog user bit Bit - - 1=1
pointer
32.226 Watchdog mask UINT - - 1=1
32.227 Watchdog sw PB 000000b…111111b - 1=1

32.228 Watchdog trip sw PB 000000b…111111b - 1=1
33 Generic timer & counter
33.01 Counter status PB 000000b…111111b - 1=1
33.10 On-time 1 actual Real 0…4294967295 s 1=1s
33.11 On-time 1 warn limit Real 0…4294967295 s 1=1s
33.12 On-time 1 function PB 00b…11b - 1=1
33.13 On-time 1 source Binary - - 1=1
src
33.14 On-time 1 warn message List - - 1=1
33.20 On-time 2 actual Real 0…4294967295 s 1=1s
33.21 On-time 2 warn limit Real 0…4294967295 s 1=1s
33.22 On-time 2 function PB 00b…11b - 1=1
33.23 On-time 2 source Binary - - 1=1
src
33.24 On-time 2 warn message List - - 1=1
33.30 Edge counter 1 actual Real 0…4294967295 - 1=1
33.31 Edge counter 1 warn limit Real 0…4294967295 - 1=1
33.32 Edge counter 1 function PB 0000b…1111b - 1=1
33.33 Edge counter 1 source Binary - - 1=1
src
33.34 Edge counter 1 divider Real 1…4294967295 - 1=1
33.35 Edge counter 1 warn message List - - 1=1
33.40 Edge counter 2 actual Real 0…4294967295 - 1=1
33.41 Edge counter 2 warn limit Real 0…4294967295 - 1=1
33.42 Edge counter 2 function PB 0000b…1111b - 1=1
33.43 Edge counter 2 source Binary - - 1=1
src
33.44 Edge counter 2 divider Real 1…4294967295 - 1=1
33.45 Edge counter 2 warn message List - - 1=1
33.50 Value counter 1 actual Real -2147483008 … - 1=1
2147483008
33.51 Value counter 1 warn limit Real -2147483008 … - 1=1
2147483008
33.52 Value counter 1 function PB 00b…11b - 1=1

33.53 Value counter 1 source Analog - - 1=1
src
33.54 Value counter 1 divider Real 0.001 … 2147483.000 - 1000 = 1
33.55 Value counter 1 warn message List - - 1=1
33.60 Value counter 2 actual Real -2147483008 … - 1=1
2147483008
33.61 Value counter 2 warn limit Real -2147483008 … - 1=1
2147483008
33.62 Value counter 2 function PB 00b…11b - 1=1
33.63 Value counter 2 source Analog - - 1=1
src
33.64 Value counter 2 divider Real 0.001 … 2147483.000 - 1000 = 1
33.65 Value counter 2 warn message List - - 1=1
33.200 Set crane operation hours Bit - - 1=1
pointer
33.201 Crane operation hrs init value Real 0...1100000 h 1=1
33.202 Crane operation hrs warning Real 0...1100000 h 1=1
limit
33.210 Set brake oper counts Bit - - 1=1
pointer
33.211 Brake oper counts init value UINT 0...4294967295 - 1=1
33.212 Brake oper counts warning UINT 0...4294967295 - 1=1
limit
33.220 Set number of power on Bit - - 1=1
pointer
33.221 Number of pwr on init value UINT 0...65535 - 1=1
33.222 Number of pwr on warning UINT 0...65535 - 1=1
limit
35 Motor thermal protection
All parameters (35.01...35.106) in this group are visible only when user lock is open with pass code 584.
35.01 Motor estimated temperature Real -60 … 1000 °C or °F 1=1°
35.02 Measured temperature 1 Real -60 … 5000 °C, °C, °F or 1 = 1 unit
-76 … 9032 °F, 0 ohm or ohm
[35.12] ohm
35.03 Measured temperature 2 Real -60 … 5000 °C, °C, °F or 1 = 1 unit
-76 … 9032 °F, 0 ohm or ohm
[35.22] ohm
35.04 FPTC status word PB 0000h…FFFFh - 1=1
35.11 Temperature 1 source List 0…11 - 1=1
35.12 Temperature 1 fault limit Real -60 … 5000 °C or ohm, or °C, °F or 1 = 1 unit
-76 … 9032 °F ohm
35.13 Temperature 1 warning limit Real -60 … 5000 °C or ohm, or °C, °F or 1 = 1 unit
-76 … 9032 °F ohm

35.14 Temperature 1 AI source Analog - - 1=1
src
35.21 Temperature 2 source List 0…11 - 1=1
35.22 Temperature 2 fault limit Real -60 … 5000 °C or ohm, °C, °F or 1 = 1 unit
or -76 … 9032 °F ohm
35.23 Temperature 2 warning limit Real -60 … 5000 °C or ohm, °C, °F or 1 = 1 unit
or -76 … 9032 °F ohm
35.24 Temperature 2 AI source Analog - - 1=1
src
35.30 FPTC configuration word PB 0000h…FFFFh - 1=1
35.50 Motor ambient temperature Real -60 … 100 °C or °C or °F 1 = 1 °C
-76 … 212 °F
35.51 Motor load curve Real 50…150 % 1 = 1%

35.52 Zero speed load Real 50…150 % 1 = 1%
35.53 Break point Real 1.00 … 500.00 Hz 100 = 1 Hz
35.54 Motor nominal temperature Real 0…300 °C 1 = 1 °C
rise
35.55 Motor thermal time constant Real 100…10000 s 1=1s
35.60 Cable temperature Real 0.0 … 200.0 % 10 = 1%
35.61 Cable nominal current Real 0.00 … 10000.0 A 100 = 1 A
35.62 Cable thermal rise time Real 0…50000 s 1=1s
35.100 DOL starter control source Binary - - 1=1
src
35.101 DOL starter on delay Real 0…42949673 s 1=1s
35.102 DOL starter off delay Real 0…715828 min 1 = 1 min
35.103 DOL starter feedback source Binary - - 1=1
src
35.104 DOL starter feedback delay Real 0…42949673 s 1=1s
35.105 DOL starter status word PB 0000b…1111b - 1=1
35.106 DOL starter event type List 0…2 - 1=1
36 Load analyzer
All parameters (36.01...36.51 ) in this group are visible only when user lock is open with pass code 584.
36.01 PVL signal source Analog - - 1=1
src
36.02 PVL filter time Real 0.00 … 120.00 s 100 = 1 s
36.06 AL2 signal source Analog - - 1=1
src
36.07 AL2 signal scaling Real 0.00 … 32767.00 - 100 = 1
36.09 Reset loggers List 0…3 - 1=1
36.10 PVL peak value Real -32768.00 … 32767.00 - 100 = 1
36.11 PVL peak date Data - - 1=1
36.12 PVL peak time Data - - 1=1
36.13 PVL current at peak Real -32768.00 … 32767.00 A 100 = 1 A

36.14 PVL DC voltage at peak Real 0.00 … 2000.00 V 100 = 1 V
36.15 PVL speed at peak Real -32768.00 … 32767.00 rpm 100 = 1 rpm
36.16 PVL reset date Data - - 1=1
36.17 PVL reset time Data - - 1=1
36.20 AL1 below 10% Real 0.00 … 100.00 % 100 = 1%
36.21 AL1 10 to 20% Real 0.00 … 100.00 % 100 = 1%
36.22 AL1 20 to 30% Real 0.00 … 100.00 % 100 = 1%
36.23 AL1 30 to 40% Real 0.00 … 100.00 % 100 = 1%
36.24 AL1 40 to 50% Real 0.00 … 100.00 % 100 = 1%
36.25 AL1 50 to 60% Real 0.00 … 100.00 % 100 = 1%
36.26 AL1 60 to 70% Real 0.00 … 100.00 % 100 = 1%
36.27 AL1 70 to 80% Real 0.00 … 100.00 % 100 = 1%
36.28 AL1 80 to 90% Real 0.00 … 100.00 % 100 = 1%
36.29 AL1 over 90% Real 0.00 … 100.00 % 100 = 1%
36.40 AL2 below 10% Real 0.00 … 100.00 % 100 = 1%
36.41 AL2 10 to 20% Real 0.00 … 100.00 % 100 = 1%
36.42 AL2 20 to 30% Real 0.00 … 100.00 % 100 = 1%
36.43 AL2 30 to 40% Real 0.00 … 100.00 % 100 = 1%
36.44 AL2 40 to 50% Real 0.00 … 100.00 % 100 = 1%
36.45 AL2 50 to 60% Real 0.00 … 100.00 % 100 = 1%
36.46 AL2 60 to 70% Real 0.00 … 100.00 % 100 = 1%
36.47 AL2 70 to 80% Real 0.00 … 100.00 % 100 = 1%
36.48 AL2 80 to 90% Real 0.00 … 100.00 % 100 = 1%
36.49 AL2 over 90% Real 0.00 … 100.00 % 100 = 1%
36.50 AL2 reset date Data - - 1=1
36.51 AL2 reset time Data - - 1=1
37 User load curve
All parameters (37.01...37.42 ) in this group are visible only when user lock is open with pass code 584.
37.01 ULC output status word PB 0000h…FFFFh - 1=1
37.02 ULC supervision signal List - - 1=1
37.03 ULC overload actions List 0…3 - 1=1
37.04 ULC underload actions List 0…3 - 1=1
37.11 ULC speed table point 1 Real 0.0 … 30000.0 rpm 10 = 1 rpm
37.16 ULC frequency table point 1 Real 0.0 … 500.0 Hz 10 = 1 Hz

37.21 ULC underload point 1 Real 0.0 … 1600.0 % 10 = 1%
37.31 ULC overload point 1 Real 0.0 … 1600.0 % 10 = 1%
37.41 ULC overload timer Real 0.0 … 10000.0 s 10 = 1 s
37.42 ULC underload timer Real 0.0 … 10000.0 s 10 = 1 s
43 Brake chopper
43.01 Braking resistor temperature Real 0.0 … 120.0 % 10 = 1%
43.06 Brake chopper function List 0…3 - 1=1
43.07 Brake chopper run enable Binary - - 1=1
src
43.08 Brake resistor thermal tc Real 0…10000 s 1=1s
43.09 Brake resistor Pmax cont Real 0.10 … 10000.00 kW 100 = 1 kW
43.10 Brake resistance Real 0.0…1000.0 ohm 10 = 1 ohm
43.11 Brake resistor fault limit Real 0…150 % 1 = 1%
43.12 Brake resistor warning limit Real 0…150 % 1 = 1%
44 Mechanical brake control
44.01 Brake control status PB 00000000b…11111111b - 1=1
44.02 Brake torque memory Real -1600.0 … 1600.0 % 10 = 1%
44.03 Brake open torque reference Real -1600.0 … 1600.0 % 10 = 1%
44.06 Brake control enable Binary - - 1=1
src
44.07 Brake acknowledge selection Binary - - 1=1
src
44.08 Brake open delay Real 0.00 … 5.00 s 100 = 1 s
44.09 Brake open torque source Analog - - 1=1
src
44.11 Keep brake closed Binary - - 1=1
src
44.13 Brake close delay Real 0.00 … 60.00 s 100 = 1 s
44.14 Brake close level Real 0.0 … 1000.0 rpm 100 = 1 rpm
44.15 Brake close level delay Real 0.00 … 10.00 s 100 = 1 s
44.16 Brake reopen delay Real 0.00 … 10.00 s 100 = 1 s
44.17 Brake fault function List 0…2 - 1=1
44.18 Brake fault delay Real 0.00 … 60.00 s 100 = 1 s

44.200 Brake open torque Real 0.0…1000.0 % 10 = 1.0%
44.201 Torque proving sign Binary - - 1=1
src
44.202 Torque proving Binary - - 1=1
src
44.203 Torque proving reference Real 0.00 … 300.00 % 10 = 1.0%
44.204 Brake system check time Real 100…30000 ms 10 = 1 ms
44.205 Brake slip speed limit Real 0.0 … 30000.0 rpm 1 = 1 rpm
44.206 Brake slip fault delay Real 0…30000 ms 1 = 1 ms
44.207 Safety close select Binary - - 1=1
src
44.208 Safety close speed Real 0.00 … 30000.00 rpm 1 = 1 rpm
44.209 Safety close delay Real 0…30000 ms 1 = 1 ms
44.210 Crane brake status PB 00000000b…11111111b - -
44.211 Extended runtime Real 0.0…3600.0 s 10 = 1 s
44.212 Extended runtime sw DINT - - -
44.213 Brake long fall delay Real 0.0 ... 60.0 s 10 = 1 s
44.220 Brake match mode List 0...3 - 1=1
44.221 Brake match position limit Real 0.000...500.000 - 1000 = 1
44.222 Brake match timeout Real 0...32767 s 1=1s
44.223 Brake match ref enable List 0...7 - 1=1
44.224 Brake match SW PB 00000000b…11111111b - 1=1
Parameters 44.230 and 44.231 are visible only when user lock is open with pass code 584. See parameter
96.02 Pass code.
44.230 Brake acknowledge selection List 0...10 - 1=1
44.231 Brake acknowledge delay Real 0.000 ... 5.0000 s 1000 = 1 s
46 Monitoring/scaling settings
46.01 Speed scaling Real 0.10 … 30000.00 rpm 100 = 1 rpm
Parameters 46.02, 46.07, 46.22 and 46.32 are visible only when user lock is open with pass code 584. See
parameter 96.02 Pass code.
46.02 Frequency scaling Real 0.10 … 1000.00 Hz 100 = 1 Hz
46.03 Torque scaling Real 0.1 … 1000.0 % 10 = 1%
46.04 Power scaling Real 0.10 … 30000.00 kW or kW or hp 100 = 1 unit
0.10 … 40214.48 hp
46.05 Current scaling Real 0…30000 A 1=1A
46.06 Speed ref zero scaling Real 0.00 … 30000.00 rpm 100 = 1 rpm
46.07 Frequency ref zero scaling Real 0.00 … 1000.00 Hz 100 = 1 Hz
46.11 Filter time motor speed Real 0…20000 ms 1 = 1 ms
46.12 Filter time output frequency Real 0…20000 ms 1 = 1 ms
46.13 Filter time motor torque Real 0…20000 ms 1 = 1 ms
46.14 Filter time power out Real 0…20000 ms 1 = 1 ms
46.21 At speed hysteresis Real 0.00 … 30000.00 rpm 100 = 1 rpm
46.22 At frequency hysteresis Real 0.00 … 1000.00 Hz 100 = 1 Hz

46.23 At torque hysteresis Real 0.0 … 300.0 % 1 = 1%
46.31 Above speed limit Real 0.00 … 30000.00 rpm 100 = 1 rpm
46.32 Above frequency limit Real 0.00 … 1000.00 Hz 100 = 1 Hz
46.33 Above torque limit Real 0.00 … 3000.00 % 1 = 1%
46.42 Torque decimals Bit 0…2 - 1=1
pointer
47 Data storage
47.01 Data storage 1 real32 Real Defined by 47.31 - 1000 = 1
47.11 Data storage 1 int32 Real -2147483648 … - 1=1
2147483647
2147483647
2147483647
2147483647
2147483647
2147483647
2147483647
2147483647
47.21 Data storage 1 int16 Real -32768 … 32767 - 1=1
47.31 Data storage 1 real32 type List 0…5 - 1=1

49 Panel port communication
49.01 Node ID number Real 1…32 - 1=1
49.03 Baud rate List 1…5 - 1=1
49.04 Communication loss time Real 0.3 … 3000.0 s 10 = 1 s
49.05 Communication loss action List 0…5 - 1=1
49.06 Refresh settings List 0…1 - 1=1
49.07 Panel comm supervision force PB 0000h…FFFFh - 1=1
49.08 Secondary comm. loss action List 0…5 - 1=1
49.14 Panel speed reference unit List 0…1 - 1=1
49.15 Minimum ext speed ref panel Real -30000.00 … 30000.00 rpm 100 = 1 rpm
49.16 Maximum ext speed ref panel Real -30000.00 … 30000.00 rpm 100 = 1 rpm
49.17 Minimum ext frequency ref Real -500.00 … 500.00 Hz 100 = 1 Hz
panel
49.18 Maximum ext frequency ref Real -500.00 … 500.00 Hz 100 = 1 Hz
panel
49.24 Panel actual source Analog - - 1=1
src
50 Fieldbus adapter (FBA)
50.01 FBA A enable List 0…3 - 1=1
50.02 FBA A comm loss func List 0…5 - 1=1
50.03 FBA A comm loss t out Real 0.3 … 6553.5 s 10 = 1 s
50.04 FBA A ref1 type List 0…5 - 1=1
50.05 FBA A ref2 type List 0…5 - 1=1
50.07 FBA A actual 1 type List 0…6 - 1=1
50.08 FBA A actual 2 type List 0…6 - 1=1
50.09 FBA A SW transparent source Analog - - 1=1
src
50.10 FBA A act1 transparent source Analog - - 1=1
src
50.11 FBA A act2 transparent source Analog - - 1=1
src
50.12 FBA A debug mode List 0…1 - 1=1
50.13 FBA A control word Data 00000000h … FFFFFFFFh - 1=1
50.14 FBA A reference 1 Real -2147483648 … - 1=1
2147483647
50.15 FBA A reference 2 Real -2147483648 … - 1=1
2147483647
50.16 FBA A status word Data 00000000h … FFFFFFFFh - 1=1

50.17 FBA A actual value 1 Real -2147483648 … - 1=1
2147483647
50.18 FBA A actual value 2 Real -2147483648 … - 1=1
2147483647
50.21 FBA A timelevel sel List 0…3 - 1=1
50.26 FBA A comm supervision force PB 0000h…FFFFh - 1=1
50.31 FBA B enable List 0…1 - 1=1
50.32 FBA B comm loss func Real 0…5 - 1=1
50.33 FBA B comm loss timeout List 0.3 … 6553.5 s 10 = 1 s
50.34 FBA B ref1 type List 0…5 - 1=1
50.35 FBA B ref2 type List 0…5 - 1=1
50.37 FBA B actual 1 type List 0…6 - 1=1
50.38 FBA B actual 2 type Analog 0…6 - 1=1
src
50.39 FBA B SW transparent source Analog - - 1=1
src
50.40 FBA B act1 transparent source Analog - - 1=1
src
50.41 FBA B act2 transparent source List - - 1=1
50.42 FBA B debug mode Data 0…1 - 1=1
50.43 FBA B control word Real 00000000h … FFFFFFFFh - 1=1
50.44 FBA B reference 1 Real -2147483648 … - 1=1
2147483647
50.45 FBA B reference 2 Data -2147483648 … - 1=1
2147483647
50.46 FBA B status word Real 00000000h … FFFFFFFFh - 1=1

50.47 FBA B actual value 1 Real -2147483648 … - 1=1
2147483647
50.48 FBA B actual value 2 -2147483648 … - 1=1
2147483647
50.51 FBA B timelevel sel List 0…3 - 1=1
50.56 FBA B comm supervision force PB 0000h…FFFFh - 1=1
51 FBA A settings
51.01 FBA A type List - - 1=1
51.02 FBA A Par2 Real 0…65535 - 1=1
… … … … …
51.26 FBA A Par26 Real 0…65535 - 1=1
51.27 FBA A par refresh List 0…1 - 1=1
51.28 FBA A par table ver Data - - 1=1
51.29 FBA A drive type code Real 0…65535 - 1=1
51.30 FBA A mapping file ver Real 0…65535 - 1=1
51.31 D2FBA comm status List 0…6 - 1=1

51.32 FBA A comm SW ver Data - - 1=1
51.33 FBA A appl SW ver Data - - 1=1
52 FBA A data in
52.01 FBA A data in1 List - - 1=1
… … … … …
52.12 FBA A data in12 List - - 1=1
53 FBA A data out
53.01 FBA A data out1 List - - 1=1
… … … … …
53.12 FBA A data out12 List - - 1=1
54 FBA B settings
54.01 FBA B type
54.02 FBA B Par2 UINT16 0…65535 -
… … … … …
54.26 FBA B Par26 UINT16 0…65535 -
54.27 FBA B par refresh List 0…1 -
54.28 FBA B par table ver UINT16 0…65535 -
54.29 FBA B drive type code UINT16 0…65535 -
54.30 FBA B mapping file ver UINT16 0…65535 -
54.31 D2FBA B comm status List 0…6 -
54.32 FBA B comm SW ver UINT16 0…65535 -
54.33 FBA B appl SW ver UINT16 0…65535 -
55 FBA B data in
55.01 FBA B data in1 List - - 1=1
… … … … …
55.12 FBA B data in12 List - - 1=1
56 FBA B data out
56.01 FBA B data out1 List - - 1=1
… … … … …
56.12 FBA B data out12 List - - 1=1
58 Embedded fieldbus
58.01 Protocol enable List 0…1 - 1=1
58.02 Protocol ID Real 0000h…FFFFh - 1=1
58.03 Node address Real 0…255 - 1=1
58.04 Baud rate List 2…7 - 1=1
58.05 Parity List 0…3 - 1=1
58.06 Communication control List 0…2 - 1=1
58.07 Communication diagnostics PB 0000h…FFFFh - 1=1
58.08 Received packets Real 0…4294967295 - 1=1
58.09 Transmitted packets Real 0…4294967295 - 1=1
58.10 All packets Real 0…4294967295 - 1=1

58.11 UART errors Real 0…4294967295 - 1=1
58.12 CRC errors Real 0…4294967295 - 1=1
58.14 Communication loss action List 0…3 - 1=1
58.15 Communication loss mode List 0…2 - 1=1
58.16 Communication loss time Real 0.0 … 6000.0 s 10 = 1 s
58.17 Transmit delay Real 0…65535 ms 1 = 1 ms
58.18 EFB control word PB 0000h…FFFFh - 1=1
58.19 EFB status word PB 0000h…FFFFh - 1=1
58.25 Control profile List 0, 2 - 1=1
58.26 EFB ref1 type List 0…5 - 1=1
58.27 EFB ref2 type List 0…5 - 1=1
58.28 EFB act1 type List 0…6 - 1=1
58.29 EFB act2 type List 0…6 - 1=1
58.30 EFB status word transparent Analog - - 1=1
source src
58.31 EFB act1 transparent source Analog - - 1=1
src
58.32 EFB act2 transparent source Analog - - 1=1
src
58.33 Addressing mode List 0…3 - 1=1
58.34 Word order List 0…1 - 1=1
58.36 EFB comm supervision force PB 0000h…FFFFh - 1=1
58.101 Data I/O 1 Analog - - 1=1
src
58.102 Data I/O 2 Analog - - 1=1
src
58.103 Data I/O 3 Analog - - 1=1
src
58.104 Data I/O 4 Analog - - 1=1
src
58.105 Data I/O 5 Analog - - 1=1
src
58.106 Data I/O 6 Analog - - 1=1
src
58.107 Data I/O 7 Analog - - 1=1
src
… … … … …
58.124 Data I/O 24 Analog - - 1=1
src
60 DDCS communication
60.01 M/F communication port List - - -
60.02 M/F node address Real 1…254 - -
60.03 M/F mode List 0…6 - -

60.05 M/F HW connection List 0…1 - -
60.07 M/F link control Real 1…15 - -
60.08 M/F comm loss timeout Real 0…65535 ms -
60.09 M/F comm loss function List 0…3 - -
60.10 M/F ref1 type List 0…5 - -
60.11 M/F ref2 type List 0…5 - -
60.12 M/F act1 type List 0…5 - -
60.13 M/F act2 type List 0…5 - -
60.14 M/F follower selection Real 0…16 - -
60.15 Force master Binary - - 1=1
src
60.16 Force follower Binary - - 1=1
src
60.17 Follower fault action List 0…2 - 1=1
60.18 Follower enable List 0…3 - 1=1
60.19 M/F comm supervision sel 1 PB 0000h…FFFFh - 1=1
60.20 M/F comm supervision sel 2 PB 0000h…FFFFh - 1=1
60.23 M/F status supervision sel 1 PB 0000h…FFFFh - 1=1
60.24 M/F status supervision sel 2 PB 0000h…FFFFh - 1=1
60.27 M/F status supv mode sel 1 PB 0000h…FFFFh - 1=1
60.28 M/F status supv mode sel 2 PB 0000h…FFFFh - 1=1
60.31 M/F wake up delay Real 0.0 … 180.0 s 10 = 1 s
60.32 M/F comm supervision force PB 0000h…FFFFh - 1=1
60.41 Extension adapter com port List - - -
60.50 DDCS controller drive type List 0…1 - -
60.51 DDCS controller comm port List - - -
60.52 DDCS controller node address Real 1…254 - -
60.55 DDCS controller HW List 0…1 - -
connection
60.56 DDCS controller baud rate List 1…2, 4, 8 - -
60.57 DDCS controller link control Real 1…15 - -
60.58 DDCS controller comm loss Real 0…60000 ms -
time
60.59 DDCS controller comm loss List 0…5 - -
function
60.60 DDCS controller ref1 type List 0…5 - -
60.61 DDCS controller ref2 type List 0…5 - -
60.62 DDCS controller act1 type List 0…5 - -
60.63 DDCS controller act2 type List 0…5 - -
60.64 Mailbox dataset selection List 0…1 - -

60.65 DDCS controller comm PB 0000h…FFFFh - 1=1
supervision force
(Parameters 60.71…60.79 are visible only when supply unit control is activated by 95.20)
60.71 INU-LSU communication port List - - 1=1
60.77 INU-LSU link control Real 1…15 - -
60.78 INU-LSU comm loss timeout Real 0…65535 ms -
60.79 INU-LSU comm loss function Binary - - 1=1
src
60.200 Crane drive type List 0...11 - 1=1
60.201 Crane drives structure PB 0000h…FFFFh - 1=1
60.202 CW1 PB - - -
60.203 CW2 PB - - -
60.204 Ref1 PB - - -
60.205 Ref2 PB - - -
60.206 Master SW1 PB - - -
60.207 Master SW2 PB - - -
60.210 Follower 1 SW1 PB - - -
60.212 Follower 1 position error Real - - -
60.213 Follower 1 position actual Real - - -
60.226 Hoist position Real - - -
60.227 Hoist position 2 Real - - -
60.228 Hoist load Real - % -
61 D2D and DDCS transmit data
61.01 M/F data 1 selection List - - -
61.25 M/F data 1 value Real 0…65535 - -

61.45 Data set 2 data 1 selection List - - -
61.95 Data set 2 data 1 value Real 0…65535 - -

62 D2D and DDCS receive data
62.04 Follower node 2 data 1 sel List - - -
62.25 MF data 1 value Real 0…65535 - -

62.28 Follower node 2 data 1 value Real 0…65535 - -
62.37 M/F communication status 1 PB 0000h…FFFFh - 1=1
62.38 M/F communication status 2 PB 0000h…FFFFh - 1=1
62.41 M/F follower ready status 1 PB 0000h…FFFFh - 1=1
62.42 M/F follower ready status 2 PB 0000h…FFFFh - 1=1

74 Speed matching
74.01 Motor speed match Binary - - 1=1
src
74.02 Motor speed steady deviation Real 0.00 … 30000.00 rpm 1 = 1 rpm
level
74.03 Motor speed ramp deviation Real 0.00 … 30000.00 rpm 1 = 1 rpm
level
74.04 Speed match fault delay Real 0… 30000 ms 1 = 1 ms

75 Hoist speed optimization
75.01 Hoist speed optimization sel Binary - - 1=1
src
75.02 High speed List 0...7 - 1=1
75.03 Motor base speed Real 0.0 … 30000.0 rpm 1 = 1 rpm
75.04 Load margin Real 0.0 … 100.0 % 10 = 1.0%
75.05 Load speed limit test Real -30000.00 … 30000.00 % 10 = 1.0%
75.06 Hold ramp Real 0…10000 ms 1 = 1 ms
75.07 Load 0 up Real 0.0 … 300.0 % 10 = 1.0%
75.08 Load 0 speed up Real 0.0 … 3000.0 rpm 1 = 1 rpm
75.09 Load 1 up Real 0.0 … 300.0 % 10 = 1.0%
75.10 Load1 speed up Real 0.0 … 3000.0 rpm 1 = 1 rpm
75.11 Load 2 up Real 0.0 … 300.0 % 10 = 1.0%
75.13 Load 3 up Real 0.0 … 300.0 % 10 = 1.0%
75.15 Load 4 up Real 0.0 … 300.0 % 10 = 1.0%
75.17 Load 0 down Real 0.0 … 300.0 % 10 = 1.0%
75.18 Load 0 speed down Real 0.0 … 3000.0 rpm 1 = 1 rpm
75.19 Load 1 down Real 0.0 … 300.0 % 10 = 1.0%
75.21 Load 2 down Real 0.0 … 300.0 % 10 = 1.0%
75.23 Load 3 down Real 0.0 … 300.0 % 10 = 1.0%
75.25 Load 4 down Real 0.0 … 300.0 % 10 = 1.0%
75.27 Hoist efficiency up Real 0.00...1.00 - 100 = 1
75.28 Hoist efficiency down Real 0.00...1.00 - 100 = 1
75.29 Inertia up Real 0.00...100.00 kgm2 100 = 1 kgm2
75.30 Inertia down Real 0.00...100.00 kgm2 100 = 1 kgm2
75.31 Hoist nominal load Real 0.0...32000.0 Tn 10 = 1 Tn
75.32 Hoist nominal speed Real 0.00...1000.00 m/min 100 = 1 m/min
75.33 Hoist maximum speed Real 0.00...1000.00 m/min 100 = 1 m/min
75.35 Motor Tmax/Tn Real 0.00...10.00 - 100 = 1
75.36 Calculate load curve List 0...1 - -
75.38 Load filter time Real 0...30000 ms 1 = 1 ms
Parameter 75.39 is visible only when user lock is open with pass code 584. See parameter 96.02 Pass code.
75.39 Load reset speed level Real 0.00...100.00 % 100 = 1 %
75.40 Relative hoist load Real - % 100 = 1%

75.41 Absolute hoist load Real - Tn 100 = 1 Tn
75.42 Relative hoist load filtered Real - % 100 = 1%
75.43 Absolute hoist load filtered Real - Tn 100 = 1 Tn
75.56 Required hoist power up Real 0.01...200.00 % 100 = 1 %
75.57 Required hoist power down Real 0.01...200.00 % 100 = 1 %
75.60 Slack rope Real 0...2 - 1=1
75.61 Slack rope load level Real -400.00...400.00 % 100 = 1%
75.62 Slack rope detection delay Real 0.0 ... 100.0 s 10 = 1 s
75.70 Start lifetime monitor Bit 0 ... 1 - 1=1
pointer
75.71 Crane lifetime Real 0 ... 10000 h 1=1h
75.72 Reset load spectrum List 0 ... 1 - 1=1
75.73 Preset value of load spectrum Real 0 ... 10 - 1=1
75.74 Lifetime speed scaling Real 0 ... 200 % 1 = 1%
75.75 Lifetime factor Real 0.000 ... 2.000 - 1000 = 1
75.80 Lifetime used Real 0 ... 10000 - 1=1
75.81 Load at stop Bit 0 ... 1 - 1=1
pointer
76 Conical motor
76.01 Conical motor control Binary - - 1=1
src
76.02 Start flux level Real 0…150 % 1 = 1%
76.03 Stop flux level Real 0…100 % 1 = 1%
76.04 Start flux hold time Real 0…10000 ms 1 = 1 ms
76.05 Flux ramp up time Real 0…10000 ms 1 = 1 ms
76.06 Flux ramp down time Real 0…10000 ms 1 = 1 ms
77 Antisway
This parameter group has a dynamic view. For example, parameter 60.200 Crane drive type = Main hoist
(D2D master), then the view is limited to only the necessary parameters needed for the Main hosit.
All parameters in this group are visible only when parameter 60.200 Crane drive type = Not selected.
77.01 Antisway enable Bit - - 1=1
pointer
77.02 Enable auto on function Bit - - 1=1
pointer
77.03 Auto on at maximum Real 0...100 m 1=1m
pendulum
77.04 Auto on a minimum pendulum Real 0...100 m 1=1m
77.05 Antisway enable minimum Real 0...32000 rpm
speed
77.06 Antisway enable in slowdown List 0...1 - 1=1

77.07 Sway tracking enable Bit - - 1=1
pointer
77.08 Antisway ramp time Real 0...1800 s 100 = 1 s
77.09 Antisway gain DINT 1.00...5.00 - 100 - 1
77.10 Short rope mode enable Bit - - -
pointer
77.11 Antisway timeout Real 0...32000 s 1=1
77.15 Lock antisway in hoist Bit - - -
pointer
77.20 Pendulum length source 1 Val - - -
pointer
77.21 Active length from source Real - - -
77.22 Up position swing time Real 1...20 s 100 = 1 s
77.23 Up position length value Real -32768...32768 - 1=1
77.24 Down position swing time Real 1...20 s 1=1s

77.25 Down position length value Real -32768...32768 - 1=1
77.26 Maximum pendulum length Real 1.000...100.000 m 1000 = 1 m
77.27 Pendulum arm length Real 0.00...100.00 m 100 = 1 m
77.28 Pendulum length source 2 Val - - -
pointer
77.29 Pendulum length source sel List 0...1 - 1=1
77.30 Load signal source Val - % -
pointer
77.31 Active load Real 0.00...300.00 % 100 = 1%
77.33 Step1 source Bit - - -
pointer
77.34 Step2 source Bit - % -
pointer
77.35 Step3 source Bit - % -
pointer
77.36 Load step1 Real 0...300 % 100 = 1%
77.37 Load step2 Real 0...300 % 100 = 1%
77.38 Load step3 Real 0...300 % 100 = 1%
77.39 Step offset1 Real 0...100 m 1=1m
77.40 Step offset2 Real 0...100 m 1=1m
77.41 Step offset3 Real 0.00...100.00 m 1=1m
77.42 Active step offset Real 0.00...100.00 m 100 = 1 m
77.50 Load offset min Real 0.00...100.00 m 100 = 1 m
77.51 Load offset max Real 0...100 m 1=1
77.52 Load min Real 0...300 %
77.53 Load max Real 0...300 % 1=1
77.54 Active linear offset Real - m 100 = 1 m

77.56 Auto offset enable Bit - - -
pointer
77.57 Full pendulum arm Real 0.00...100.00 m 1=1m
77.58 Load minimum in auto mode Real 0.00...300.00 % 1=1%
77.60 Active auto offset Real 0.00...100.00 m 100 = 1 m
77.65 Direct offset source Val - - -
pointer
77.67 Active direct offset Real - - -
77.69 Total pendulum offset Real - - -
77.70 Total pendulum arm length Real - - -
77.71 Antisway status Word - - -
77.72 Speed ref into antisway Real -30000.00...30000.00 rpm 100 = 1 rpm
77.73 Speed ref from antisway Real -30000.00...30000.00 rpm 100 = 1 rpm
77.75 Pendulum angle Real - - -
77.76 Pendulum time constant Real - - -
77.80 Load to antisway selection Val - - -
pointer
77.81 Hoist load from torque act Real 0.00...300.00 % 100 = 1%
77.82 Hoist load to antisway Real - - -
77.91 Hoist pos fba int INT16 -32768...-32767 - 1=1
77.92 Hoist load fba int INT16 -32768...-32767 - 1=1
77.122 Up position swing time 1 Real 1.00...20.00 s 100 = 1 s
77.123 Up position length value 1 Real -32768.00...-32768.00 - 100 = 1
77.124 Down position swing time 1 Real 1.00...20.00 s 100 = 1 s
77.125 Down position length value 1 Real -32768.00...-32768.00 - 100 = 1
77.126 Maximum pendulum length 1 Real 1.000...100.000 m 1000 = 1 m
77.132 Up position swing time 2 Real 1.00...20.00 s 100 = 1 s
77.133 Up position length value 2 Real -32768.00...-32768.00 - 100 = 1
77.134 Down position swing time 2 Real 1.00...20.00 s 100 = 1 s
77.135 Down position length value 2 Real -32768.00...-32768.00 - 100 = 1
77.136 Maximum pendulum length 2 Real 1.000...100.000 m 1000 = 1 m
78 External sway control
Parameters in this group are visible only when user lock is open with pass code 584.
78.01 Enable ext sway control Binary - - 1=1
src
78.02 Ext speed corr to drive src Bit - - 1=1
pointer
78.03 Direct lift enable Bit - - 1=1
pointer
78.05 Actual speed unscaled Real -32000...32000 rpm 1 = 1 rpm
78.20 User status word 1 PB 0b0000…0b1111 - 1=1

78.30 User status word 1 bit 0 Bit - - 1=1
pointer
pointer
pointer
pointer
pointer
pointer
78.50 Ext sway control word 1 PB 0b0000...0b1111 - 1=1
78.51 Timeout delay Real 0...60 s 1=1s
78.60 Ext sway configuration word 1 PB 0b0000...0b1111 - 1=1
78.61 Ext sway configuration word 2 PB 0b0000...0b1111 - 1=1
78.62 Minimum speed for correction Real -16000...16000 rpm 1 = 1 rpm
78.63 P value for NS correction PID Real 0...32000 - 1=1
78.64 D value for NS correction PID Real 0...32000 - 1=1
78.65 Direct lift speed Real 0...32000 rpm 1 = 1 rpm
78.66 Status_alarm_word_1 PB 0b0000...0b1111 - 1=1
78.67 Ext sway measured value 1 Real -16000 ... 16000 - 1=1
78.73 Fixed correction span Real -32768 ... 32000 rpm 1 = 1 rpm
78.74 Keep alive speed Real 0 ... 32767 rpm 1 = 1 rpm
78.75 Configuration word sp 1 Real -32768 ... 32767 - 1=1
78.78 Hardware version Real -32768 ... 32767- - 1=1
78.79 Software version Real --32768 ... 32767 - 1=1
82 Synchro control
82.01 Synchro control Bit - - 1=1
pointer
82.02 Synchro sel Bit 0…150 % 1 = 1%
pointer
82.03 Sync corr mode List 0...1 - 1=1
82.04 Sync gain Real 0.00...100.00 - 100 = 1
82.05 Position corr limit Real 0.00...100.00 mm 100 = 1 mm

82.06 Sync corr scale Real 0.00...100.00 rpm/mm 100 = 1 rpm/
mm
82.07 Sync err limit Real 0.00...100.00 mm 100 = 1 mm
82.08 Sync err fault delay Real 0...100 s 1=1s
82.09 Position hysteresis Real 0.00...50.00 mm 100 = 1 mm
82.11 Synchro sw PB - - -
82.20 Act position error Real - mm -
82.21 Master position Real - mm -
82.22 Offset value Real - mm -
82.23 Correction speed ref Real - rpm -
82.24 Master linear speed ref Real - mm/min -
82.25 Actual linear speed ref Real - mm/min -
83 Smooth lifiting
83.01 Smooth lifiting List 0...1 - 1=1
83.02 Smooth lifting delay Real 0…1000 ms 1 = 1 ms
83.03 Smooth lifting torque step Real 0...1600 % 1=1%
83.04 Smooth lifting acc speed diff Real 0.0...32000.0 rpm 1 = 1 rpm
83.05 Smooth lifiting speed diff Real 0.0...32000.0 rpm 1 = 1 rpm
83.06 Smooth lifting torque lim Real 0...1600 % 1=1%
83.07 Smooth lifting zero speed Real 0...100 s 1=1s
delay
83.08 Smooth lifiting dec time Real 0...1000.00 100 = 1
multiplier
83.10 Smooth lifting sw Bit 0...100 s 1=1s
pointer
85 ACC interface
85.01 ACC interface enable Bit - - 1=1
pointer
85.02 ACC Ena EXT2 ctrl mode List 0...1 - 1=1
selection
85.03 ACC EXT2 control mode sel List 0 ...3 - 1=1
85.04 ACC Ramp Rate 1 List 0...1 - 1=1
85.05 ACC FB ramp rate Real 0...5000 - 1=1
85.06 ACC Second ramp sel Bit - - 1=1
pointer
85.07 ACC Second ramp scale Real 0.00...5.00 - 100 = 1
85.20 ACC Data set 5 data 1 Data - - 1=1
selection
selection

selection
selection
selection
selection
85.40 ACC Data set 5 data 1 value Real -32767...32767 - 1=1
selection
selection
selection
selection
selection
selection
selection
selection
selection

90 Feedback selection
90.01 Motor speed for control Real -32768.00 … 32767.00 rpm 100 = 1 rpm
90.02 Motor position Real 0.00000000 … 1.00000000 rev 100000000 =
1 rev
90.03 Load speed Real -32768.00 … 32767.00 rpm 100 = 1 rpm
90.04 Load position Real -2147483648 … - 1=1
2147483647
90.05 Load position scaled Real -2147483.648 … - 100000 = 1
2147483.647
90.06 Motor position scaled Real -2147483.648 … - 1000 = 1
2147483.647
90.07 Load position scaled int Real -2147483648 … - 1=1
2147483647
90.10 Encoder 1 speed Real -32768.00 … 32767.00 rpm 100 = 1 rpm
90.11 Encoder 1 position Real 0.00000000 … 1.00000000 rev 100000000 =
1 rev
90.12 Encoder 1 multiturn Real 0…16777215 - 1=1
revolutions
90.13 Encoder 1 revolution Real -2147483648 … - 1=1
extension 2147483647
90.14 Encoder 1 position raw Real 0…16777215 - 1=1
90.15 Encoder 1 revolutions raw Real 0…16777215 - 1=1
90.20 Encoder 2 speed Real -32768.00 … 32767.00 rpm 100 = 1 rpm
90.21 Encoder 2 position Real 0.00000000 … 1.00000000 rev 100000000 =
1 rev
90.22 Encoder 2 multiturn Real 0…16777215 - 1=1
revolutions
90.23 Encoder 2 revolution Real -2147483648 … - 1=1
extension 2147483647
90.24 Encoder 2 position raw Real 0…16777215 - 1=1
90.25 Encoder 2 revolutions raw Real 0…16777215 - 1=1
90.26 Motor revolution extension Real -2147483648 … - 1=1
2147483647
90.27 Load revolution extension Real -2147483648 … - 1=1
2147483647
90.35 Pos counter status PB 000000b…111111b - 1=1
90.38 Pos counter decimals List 0…9 - 1=1
90.41 Motor feedback selection List 0…2 - 1=1
90.42 Motor speed filter time Real 0…10000 ms 1 = 1 ms
90.43 Motor gear numerator Real -32768…32767 - 1=1
90.44 Motor gear denominator Real -32768…32767 - 1=1
90.45 Motor feedback fault List 0…1 - 1=1
90.46 Force open loop List 0…1 - 1=1
90.48 Motor position axis mode List 0…1 - 1=1
90.49 Motor position resolution Real 0…31 - 1=1

90.51 Load feedback selection List 0…4 - 1=1
90.52 Load speed filter time Real 0…10000 ms 1 = 1 ms
90.53 Load gear numerator Real -2147483648 … - 1=1
2147483647
90.54 Load gear denominator Real -2147483648 … - 1=1
2147483647
90.55 Load feedback fault List 0…1 - 1=1
90.56 Load position offset Real -2147483648 … rev 1 = 1 rev
2147483647
90.57 Load position resolution Real 0…31 - 1=1
90.58 Pos counter init value int Real -2147483648 … - 1=1
2147483647
90.59 Pos counter init value int Binary - - 1=1
source src
90.60 Pos counter error and boot List 0…1 - 1=1
action
90.61 Gear numerator Real -2147483648 … - 1=1
2147483647
90.62 Gear denominator Real -2147483648 … - 1=1
2147483647
90.63 Feed constant numerator Real -2147483648 … - 1=1
2147483647
90.64 Feed constant denominator Real -2147483648 … - 1=1
2147483647
90.65 Pos counter init value Real -2147483.648 … - 1=1
2147483.647
90.66 Pos counter init value source Binary - - 1=1
src
90.67 Pos counter init cmd source Binary - - 1=1
src
90.68 Disable pos counter Binary - - 1=1
initialization src
90.69 Reset pos counter init ready Binary - - 1=1
src
90.200 Position counter init source Bit 0...1 - 1=1
pointer
90.201 Position counter init method List 0...1 - 1=1
90.202 Position counter init sw PB - - -
91 Encoder module settings
91.01 FEN DI status PB 000000b…111111b - 1=1
91.02 Module 1 status List - - 1=1
91.03 Module 2 status List - - 1=1
91.04 Module 1 temperature Real 0…1000 °C, °F or 1 = 1 unit
ohm
91.06 Module 2 temperature Real 0…1000 °C, °F or 1 = 1 unit
ohm
91.10 Encoder parameter refresh List 0…1 - 1=1

91.11 Module 1 type List 0…4 - 1=1
91.13 Module 2 type List 0…4 - 1=1
91.21 Module 1 temp sensor type List 0…2 - 1=1
91.22 Module 1 temp filter time Real 0…10000 ms 1 = 1 ms
91.24 Module 2 temp sensor type List 0…2 - 1=1
91.25 Module 2 temp filter time Real 0…10000 ms 1 = 1 ms
91.31 Module 1 TTL output source List 0…2 - 1=1
91.32 Module 1 emulation pulses/rev Real 0…65535 - 1=1
91.33 Module 1 emulated Z-pulse Real 0.00000 … 1.00000 rev 100000 = 1 rev
offset
91.41 Module 2 TTL output source List 0…2 - 1=1
91.42 Module 2 emulation pulses/rev Real 0…65535 - 1=1
91.43 Module 2 emulated Z-pulse Real 0.00000 … 1.00000 rev 100000 = 1 rev
offset
92 Encoder 1 configuration
92.01 Encoder 1 type List 0…7 - 1=1
92.02 Encoder 1 source List 1…2 - 1=1
Other parameters in this group when a TTL, TTL+ and HTL encoder is selected
(92.16, 92.17, 92.23…92.25 visible depending on encoder type selection)
92.10 Pulses/revolution Real 0…65535 - 1=1
92.11 Pulse encoder type List 0…1 - 1=1
92.12 Speed calculation mode List 0…5 - 1=1
92.13 Position estimation enable List 0…1 - 1=1
92.14 Speed estimation enable List 0…1 - 1=1
92.15 Transient filter List 0…3 - 1=1
92.16 Encoder 1 supply voltage List 0…2 - 1=1
92.17 Accepted pulse freq of Real 0…300 kHz 1 = 1 kHz
encoder 1
92.21 Encoder cable fault mode List 0…3 - 1=1
92.23 Maximum pulse waiting time Real 1…200 ms 1 = 1 ms
92.24 Pulse edge filtering List 0…2 - 1=1
92.25 Pulse overfrequency function List 0…1 - 1=1
Other parameters in this group when an absolute encoder is selected
92.10 Sine/cosine number Real 0…65535 - 1=1
92.11 Absolute position source List 0…5 - 1=1
92.12 Zero pulse enable List 0…1 - 1=1
92.13 Position data width Real 0…32 - 1=1
92.14 Revolution data width Real 0…32 - 1=1
92.30 Serial link mode List 0…2 - 1=1
92.31 EnDat max calculation time List 0…3 - 1=1

92.32 SSI cycle time List 0…5 - 1=1
92.33 SSI clock cycles Real 2…127 - 1=1
92.34 SSI position msb Real 1…126 - 1=1
92.35 SSI revolution msb Real 1…126 - 1=1
92.36 SSI data format List 0…1 - 1=1
92.37 SSI baud rate List 0…5 - 1=1
92.40 SSI zero phase List 0…3 - 1=1
92.45 Hiperface parity List 0…1 - 1=1
92.46 Hiperface baud rate List 0…3 - 1=1
92.47 Hiperface node address Real 0…255 - 1=1
Other parameters in this group when a resolver is selected
92.10 Excitation signal frequency Real 1…20 kHz 1 = 1 kHz
92.11 Excitation signal amplitude Real 4.0 … 12.0 V 10 = 1 V
92.12 Resolver polepairs List 1…32 - 1=1
93 Encoder 2 configuration
93.01 Encoder 2 type List 0...7 - 1=1
93.02 Encoder 2 source List 1…2 - 1=1
Other parameters in this group when a TTL, TTL+ and HTL encoder is selected
(93.16, 93.17, 93.23…93.25 visible depending on encoder type selection)
93.10 Pulses/rev Real 0…65535 - 1=1
93.11 Pulse encoder type List 0…1 - 1=1
93.12 Speed calculation mode List 0…5 - 1=1
93.13 Position estimation enable List 0…1 - 1=1
93.14 Speed estimation enable List 0…1 - 1=1
93.15 Transient filter List 0…3 - 1=1
93.16 Encoder 2 supply voltage List 0…2 - 1=1
93.17 Accepted pulse freq of Real 0…300 kHz 1 = 1 kHz
encoder 2
93.21 Encoder cable fault mode List 0…3 - 1=1
93.23 Maximum pulse waiting time Real 1…200 ms 1 = 1 ms
93.24 Pulse edge filtering List 0…2 - 1=1
93.25 Pulse overfrequency function List 0…1 - 1=1
Other parameters in this group when an absolute encoder is selected
93.10 Sine/cosine number Real 0…65535 - 1=1
93.11 Absolute position source List 0…5 - 1=1
93.12 Zero pulse enable List 0…1 - 1=1
93.13 Position data width Real 0…32 - 1=1
93.14 Revolution data width Real 0…32 - 1=1
93.30 Serial link mode List 0…2 - 1=1
93.31 EnDat calc time List 0…3 - 1=1
93.32 SSI cycle time List 0…5 - 1=1

93.33 SSI clock cycles Real 2…127 - 1=1
93.34 SSI position msb Real 1…126 - 1=1
93.35 SSI revolution msb Real 1…126 - 1=1
93.36 SSI data format List 0…1 - 1=1
93.37 SSI baud rate List 0…5 - 1=1
93.40 SSI zero phase List 0…3 - 1=1
93.45 Hiperface parity List 0…1 - 1=1
93.46 Hiperface baud rate List 0…3 - 1=1
93.47 Hiperface node address Real 0…255 - 1=1
Other parameters in this group when a resolver is selected
93.10 Excitation signal frequency Real 1…20 kHz 1 = 1 kHz
93.11 Excitation signal amplitude Real 4.0 … 12.0 V 10 = 1 V
93.12 Resolver polepairs List 1…32 - 1=1
95 HW configuration
95.01 Supply voltage List 0…6 - 1=1
95.02 Adaptive voltage limits List 0…1 - 1=1
95.04 Control board supply List 0…2 - 1=1
(Parameter 95.08 is visible only with a ZCU control unit)
95.08 DC switch monitoring List 0…1 - 1=1
(Parameters 95.09...95.14 are visible only with a BCU control unit)
95.09 Switch fuse controller List 0...1 - 1=1
95.13 Reduced run mode List 0..65535 - 1=1
95.14 Connected modules PB 0000h…FFFFh - 1=1
95.15 Special HW settings PB 0000h…FFFFh - 1=1
95.20 HW options word 1 PB 0000h…FFFFh - 1=1
95.21 HW options word 2 PB 0000h…FFFFh - 1=1
96 System
96.01 Language List - - 1=1
96.02 Pass code Data 0…99999999 - 1=1
96.03 Access levels active PB 0000h…FFFFh - 1=1
Parameter 96.06 is visible when only user lock is open with pass code 584. See parameter 96.02 Pass code.
96.06 Parameter restore List - - 1=1
96.07 Parameter save manually List 0…1 - 1=1
96.08 Control board boot Real 0…1 - 1=1
96.09 FSO reboot Binary - - -
src
96.10 User set status List - - -
96.11 User set save/load List - - -
96.12 User set I/O mode in1 Binary - - -
src
96.13 User set I/O mode in2 Binary - - -
src

96.16 Unit selection PB 0000h…FFFFh - 1=1
96.20 Time synch primary source List 0…9 - 1=1
96.23 M/F and D2D clock List 0…1 - 1=1
synchronization
96.24 Full days since 1st Jan 1980 Real 1…59999 - 1=1
96.25 Time in minutes within 24 h Real 0…1439 - 1=1
96.26 Time in ms within one minute Real 0…59999 - 1=1
96.29 Time sync source status PB 0000h…FFFFh - 1=1
96.31 Drive ID number Real 0…32767 - 1=1
96.53 Actual checksum Real 00000000h…FFFFFFFFh - 1=1
96.54 Checksum action List 0…4 - 1=1
96.55 Checksum control word PB 0000h…FFFFh - 1=1
96.56 Approved checksum 1 Real 00000000h…FFFFFFFFh - 1=1
96.61 User data logger status word PB 0000h…FFFFh - 1=1
96.63 User data logger trigger Binary - - -
src
96.64 User data logger start Binary - - -
src
96.65 Factory data logger time level List - - 1=1
96.70 Disable adaptive program List 0…1 - 1=1
(Parameters 96.100…96.102 are visible only when enabled by parameter 96.02)
96.100 Change user pass code Data 10000000…99999999 - 1=1
96.101 Confirm user pass code Data 10000000…99999999 - 1=1
96.102 User lock functionality PB 0000h…FFFFh - 1=1
97 Motor control
Parameters 97.01...97.19 and 97.33 are visible only when user lock is open with pass code 584.
97.01 Switching frequency reference Real 0.000 ... 24.000 kHz 1000 = 1 kHz
97.02 Minimum switching frequency Real 0.000 ... 24.000 kHz 1000 = 1 kHz
97.03 Slip gain Real 0…200 % 1 = 1%
97.04 Voltage reserve Real -4…50 % 1 = 1%
97.05 Flux braking List 0…2 - 1=1
97.06 Flux reference select Binary - - 1=1
src
97.07 User flux reference Real 0.00 … 200.00 % 100 = 1%
97.08 Optimizer minimum torque Real 0.0 ... 1600.0 % 10 = 1%
97.09 Switching freq mode List 0…3 - 1=1
97.10 Signal injection List 0…4 - 1=1

97.11 TR tuning Real 25…400 % 1 = 1%
97.12 IR comp step-up frequency Real 0.0 … 50.0 Hz 10 = 1 Hz
97.13 IR compensation Real 0.00 … 50.00 % 100 = 1%
97.15 Motor model temperature List 0…3 - 1=1
adaptation
97.18 Hexagonal field weakening List 0…1 - 1=1
97.19 Hexagonal field weakening Real 0.0 ... 500.0 % 10 = 1%
point
97.32 Motor torque unfiltered Real -1600.0 … 1600.0 % 10 = 1%
97.33 Speed estimate filter time Real 0.00 … 100.00 ms 100 = 1 ms
98 User motor parameters
Parameters in this group are visible only when user lock is open with pass code 584.
98.01 User motor model mode List 0…3 - 1=1
98.02 Rs user Real 0.0000 … 0.50000 p.u. 100000 =
1 p.u.
98.03 Rr user Real 0.0000 … 0.50000 p.u. 100000 =
1 p.u.
98.04 Lm user Real 0.00000 … 10.00000 p.u. 100000 =
1 p.u.
98.05 SigmaL user Real 0.00000 … 1.00000 p.u. 100000 =
1 p.u.
98.06 Ld user Real 0.00000 … 10.00000 p.u. 100000 =
1 p.u.
98.07 Lq user Real 0.00000 … 10.00000 p.u. 100000 =
1 p.u.
98.08 PM flux user Real 0.00000 … 2.00000 p.u. 100000 =
1 p.u.
98.09 Rs user SI Real 0.00000 … 100.00000 ohm 100000 =
1 p.u.
98.10 Rr user SI Real 0.00000 … 100.00000 ohm 100000 =
1 p.u.
98.11 Lm user SI Real 0.00 … 100000.00 mH 100 = 1 mH
98.12 SigmaL user SI Real 0.00 … 100000.00 mH 100 = 1 mH
98.13 Ld user SI Real 0.00 … 100000.00 mH 100 = 1 mH
98.14 Lq user SI Real 0.00 … 100000.00 mH 100 = 1 mH
98.15 Position offset user Real 0…360 degrees 1 = 1 deg
electrical
99 Motor data
99.03 Motor type List 0…1 or 0...2 - 1=1
99.04 Motor control mode List 0…1 - 1=1
99.06 Motor nominal current Real 0.0 … 32767.0 A 10 = 1 A
99.07 Motor nominal voltage Real 0.0 … 32767.0 V 10 = 1 V
99.08 Motor nominal frequency Real 0.00 … 1000.00 Hz 10 = 1 Hz
99.09 Motor nominal speed Real 0 … 30000 rpm 1 = 1 rpm

99.10 Motor nominal power Real 0.00 … 10000.00 kW or kW or hp 100 = 1 unit
0.00 … 13404.83 hp
99.11 Motor nominal cos Φ Real 0.00 … 1.00 - 100 = 1
99.12 Motor nominal torque Real 0.000 … N·m or 1000 = 1 unit
lb·ft
99.13 ID run requested List 0…7 - 1=1
99.14 Last ID run performed List 0…7 - 1=1
99.15 Motor polepairs calculated Real 0…1000 - 1=1
99.16 Motor phase order List 0…1 - 1=1
99.18 Sine filter inductance Real 0.000 ... 100000.000 mH 1000 = 1 mH
99.19 Sine filter capacitance Real 0.00 ... 100000.00 μF 100 = 1 μF
200 Safety
This group contains parameters related to the optional FSO-xx safety functions module. For details on the
parameters in this group, refer to the documentation of the FSO-xx module.
Fault tracing 637
9
Fault tracing
This chapter lists the warning and fault messages including possible causes and
corrective actions. The causes of most warnings and faults can be identified and
corrected using the information in this chapter. If not, an ABB service representative
should be contacted.
Warnings and faults are listed below in separate tables. Each table is sorted by
warning/fault code.
Safety
WARNING! Only qualified electricians are allowed to service the drive. Read
the Safety instructions on the first pages of the Hardware manual before
working on the drive.
Indications
 Warnings and faults
Warnings and faults indicate an abnormal drive status. The codes and names of
active warnings/faults are displayed on the control panel of the drive as well as the
Drive composer PC tool. Only the codes of warnings/faults are available over
fieldbus.
Warnings do not need to be reset; they stop showing when the cause of the warning
ceases. Warnings do not latch and the drive will continue to operate the motor.
Faults do latch inside the drive and cause the drive to trip, and the motor stops. After
the cause of a fault is removed, the fault can be reset from a selectable source (see
638 Fault tracing
parameter 31.11 Fault reset selection) such as the control panel, Drive composer PC
tool, the digital inputs of the drive, or fieldbus. After the fault is reset, the drive can be
restarted. Note that some faults require a reboot of the control unit either by switching
the power off and on, or using parameter 96.08 Control board boot – this is
mentioned in the fault listing wherever appropriate.
Warning and fault indications can be directed to a relay output or a digital input/output
by selecting Warning, Fault or Fault (-1) in the source selection parameter. See
sections
• Programmable digital inputs and outputs (page 158)
• Programmable relay outputs (page 158), and
• Programmable I/O extensions (page 158).
 Pure events
In addition to warnings and faults, there are pure events that are only recorded in the
event logs of the drive. The codes of these events are included in the Warning
messages table.
 Editable messages
For some warnings and faults, the message text can be edited and instructions and
contact information added. To edit these messages, choose Menu - Settings - Edit
texts on the control panel.
Warning/fault history and analysis

 Event logs
The drive has two event logs that can be accessed from the main Menu on the control
panel. The logs can also be accessed (and reset) using the Drive composer PC tool.
One log contains faults and fault resets. The other log lists warnings and pure events,
as well as clearing entries. Both logs contain the 64 most recent events. All
indications are stored in the event logs with a time stamp and other information.
Auxiliary codes
Some events generate an auxiliary code that often helps in pinpointing the problem.
The auxiliary code is displayed on the control panel together with the message. It is
also stored in the event log details. In the Drive composer PC tool, the auxiliary code
(if any) is shown in the event listing.
Fault tracing 639
 Factory data logger

The drive has a data logger that samples preselected drive values at 500-
microsecond (default; see parameter 96.65 Factory data logger time level) intervals.
Approximately 7000 samples recorded immediately before and after a fault are saved
to the memory unit of the drive. The fault data of the last five faults is accessible in the
event log when viewed in the Drive composer PC tool. (The fault data is not
accessible through the control panel.)
The values that are recorded in the factory data log are 01.07 Motor current, 01.10
Motor torque, 01.11 DC voltage, 01.24 Flux actual %, 06.01 Main control word, 06.11
Main status word 24.01 Used speed reference, 30.01 Limit word 1, 30.02 Torque limit
status and 90.01 Motor speed for control. The selection of parameters cannot be
changed by the user.
 Other data loggers

User data logger
A custom data logger can be configured using the Drive composer pro PC tool. This
functionality enables the free selection of up to eight drive parameters to be sampled
at selectable intervals. The triggering conditions and the length of the monitoring
period can also be defined by the user within the limit of approximately 8000 samples.
In addition to the PC tool, the status of the logger is shown by drive parameter 96.61
User data logger status word. The triggering sources can be selected by parameters
96.63 User data logger trigger and 96.64 User data logger start). The configuration,
status and collected data is saved to the memory unit for later analysis.
PSL2 data logger

The BCU control unit used with certain drive types (especially those with parallel-
connected inverter modules) contains a data logger that collects data from the
inverter modules to help fault tracing and analysis. The data is saved onto the SD
memory card attached to the BCU, and can be analyzed by ABB service personnel.
 Parameters that contain warning/fault information

The drive is able to store a list of the active faults actually causing the drive to trip at
the present time. The faults are displayed in parameter group 04 Warnings and faults
(page 229). The parameter group also displays a list of faults and warnings that have
previously occurred.
Event word (parameters 04.40…04.72)

Parameter 04.40 Event word 1 can be configured by the user to indicate the status of
16 selectable events (ie. faults, warnings or pure events). It is possible to specify an
auxiliary code for each event to filter out other auxiliary codes.
640 Fault tracing
QR Code generation for mobile service application

A QR Code (or a series of QR Codes) can be generated by the drive for display on
the control panel. The QR code contains drive identification data, information on the
latest events, and values of status and counter parameters. The code can be read
with a mobile device containing the ABB service application, which then sends the
data to ABB for analysis. For more information on the application, contact your local
ABB service representative.
The QR Code can be generated by choosing Menu - Assistants - QR code on the
control panel.
Fault tracing 641
Warning messages
Note: The list also contains events that only appear in the Event log.
Code
Warning Cause What to do
(hex)
A2A1 Current calibration Current offset and gain Informative warning. (See parameter
measurement calibration will 99.13 ID run requested.)
occur at next start.
A2B1 Overcurrent Output current has exceeded Check motor load.
internal fault limit. . Also check parameters 46.01 Speed
scaling, 46.02 Frequency scaling and
46.03 Torque scaling.
Check motor and motor cable (including
phasing and delta/star connection).
Check there are no contactors opening
and closing in motor cable.
Check that the start-up data in parameter
group 99 corresponds to the motor rating
plate.
Check that there are no power factor
correction capacitors or surge absorbers
in motor cable.
Check encoder cable (including
phasing).
A2B3 Earth leakage Drive has detected load Check there are no power factor
unbalance typically due to correction capacitors or surge absorbers
earth fault in motor or motor in motor cable.
cable. Check for an earth fault in motor or motor
cables by measuring the insulation
resistances of motor and motor cable.
Try running the motor in scalar control
mode if allowed. (See parameter 99.04
Motor control mode.)
If no earth fault can be detected, contact
your local ABB representative.
A2B4 Short circuit Short-circuit in motor cable(s) Check motor and motor cable for cabling
or motor. errors.
Check there are no power factor
in motor cable.
A2BA IGBT overload Excessive IGBT junction to Check motor cable.
case temperature. This Check ambient conditions.
warning protects the IGBT(s) Check air flow and fan operation.
and can be activated by a short Check heatsink fins for dust pick-up.
circuit in the motor cable.
Check motor power against drive power.
642 Fault tracing
Code
(hex)
A3A1 DC link overvoltage Intermediate circuit DC voltage Check the supply voltage setting
too high (when the drive is (parameter 95.01 Supply voltage). Note
stopped). that the wrong setting of the parameter
may cause the motor to rush
A3A2 DC link undervoltage Intermediate circuit DC voltage
uncontrollably, or may overload the brake
too low (when the drive is
chopper or resistor..
stopped).
Check the supply voltage.
A3AA DC not charged The voltage of the intermediate With A3A1 or A3A2 on parallel-
DC circuit has not yet risen to connected inverter modules, the auxiliary
operating level. code indicates the affected module. The
format of the code is 000X XX00, where
“XXX” specifies the channel on the BCU
control unit.
If the problem persists, contact your local
ABB representative.
A480 Motor cable overload Calculated motor cable Check the settings of parameters 35.61
temperature has exceeded and 35.62.
warning limit. Check the dimensioning of the motor
cable in regard to required load.
A490 Incorrect temperature Sensor type mismatch Check the settings of temperature source
sensor setup parameters 35.11 and 35.21 against
91.21 and 91.24.
Faulty wiring between an Check the wiring of the sensor.
encoder interface module and The auxiliary code identifies the interface
the temperature sensor. module. (0 = Module 1, 1 = Module 2).
A491 External temperature Measured temperature 1 has Check the value of parameter 35.02
1 exceeded warning limit. Measured temperature 1.
(Editable message text) Check the cooling of the motor (or other
equipment whose temperature is being
measured).
Check the value of 35.13 Temperature 1
warning limit.
A492 External temperature Measured temperature 2 has Check the value of parameter 35.03
2 exceeded warning limit. Measured temperature 2.
measured).
Check the value of 35.23 Temperature 2
warning limit.
A497 Motor temperature 1 The thermistor protection Check the cooling of the motor.
(Editable message text) module installed in slot 1 Check the motor load and drive ratings.
indicates overtemperature. Check the wiring of the temperature
A498 Motor temperature 2 The thermistor protection sensor. Repair wiring if faulty.
(Editable message text) module installed in slot 2 Measure the resistance of the sensor.
indicates overtemperature. Replace sensor if faulty.
A499 Motor temperature 3 The thermistor protection
(Editable message text) module installed in slot 3
indicates overtemperature.
A4A0 Control board Control unit temperature is Check the auxiliary code. See actions for
temperature excessive. each code below.
(none) Temperature above warning Check ambient conditions.
limit Check air flow and fan operation.
Check heatsink fins for dust pick-up.
Fault tracing 643
Code
(hex)
1 Thermistor broken Contact an ABB service representative
for control unit replacement.
A4A1 IGBT overtemperature Estimated drive IGBT Check ambient conditions.
temperature is excessive. Check air flow and fan operation.
A4A9 Cooling Drive module temperature is Check ambient temperature. If it exceeds
excessive. 40 °C (104 °F), ensure that load current
does not exceed derated load capacity of
drive. See appropriate Hardware manual.
Check drive module cooling air flow and
fan operation.
Check inside of cabinet and heatsink of
drive module for dust pick-up. Clean
whenever necessary.
A4B0 Excess temperature Power unit module Check ambient conditions.
Check the auxiliary code (format XXXY
YYZZ). “Y YY” specifies through which
BCU control unit channel the fault was
received. “ZZ” specifies the location (1:
U-phase, 2: V-phase, 3: W-phase, 4: INT
board, 5: Brake chopper, 6: Air inlet, 7:
Power supply board, 8: du/dt filter (R8i)
or temperature switch (XT), 0FA:
Ambient temperature).
A4B1 Excess temperature High temperature difference Check the motor cabling.
difference between the IGBTs of different Check cooling of drive module(s).
phases. Check the auxiliary code (format XXXY
YYZZ). “XXX” indicates the source of
difference (0: Single module, difference
between phase IGBTs, 1: parallel-
connected modules, minimum-maximum
difference between all IGBTs of all
modules). With parallel-connected
modules, “Y YY” specifies through which
received. “ZZ” specifies the phase (0:
single module, 1: U-phase [parallel
connection], 2: W-phase [parallel
connection], 3: W-phase [parallel
connection]).
A4B2 PCB space cooling Temperature difference Check the cooling fan inside the PCB
between ambient and drive space.
module PCB space is With parallel-connected modules, check
excessive. the auxiliary code (format XXXY YYZZ).
“Y YY” specifies through which BCU
control unit channel the fault was
received.
A4F6 IGBT temperature Drive IGBT temperature is Check ambient conditions.
excessive. Check air flow and fan operation.
644 Fault tracing
Code
(hex)
A580 PU communication Communication errors Check the connections between the drive
detected between the drive control unit and the power unit.
control unit and the power unit. Check the auxiliary code (format XXXY
YYZZ). With parallel-connected modules,
“Y YY” specifies the affected BCU control
unit channel (0: broadcast). “ZZ”
specifies the error source
(8: Transmission errors in PSL link [see
“XXX”], 9: Transmitter FIFO warning limit
hit). “XXX” specifies the transmission
error direction and detailed warning code
(0: Rx/communication error, 1: Tx/Reed-
Solomon symbol error, 2: Tx/no
synchronization error, 3: Tx/Reed-
Solomon decoder failures,
4: Tx/Manchester coding errors).
A581 Fan Cooling fan feedback is Check the setting of parameter 95.20
missing. HW options word 1, bit 14.
Check the auxiliary code to identify the
fan. Code 0 denotes main fan 1. Other
codes (format XYZ): “X” specifies state
code (1: ID run, 2: normal). “Y” specifies
the index of the inverter unit connected to
BCU (0…n, always 0 for ZCU control
units). “Z” specifies the index of the fan
(1: Main fan 1, 2: Main fan 2, 3: Main fan
3).
Check fan operation and connection.
Replace fan if faulty.
A582 Auxiliary fan missing An auxiliary cooling fan The auxiliary code identifies the fan (1:
(connected to the fan Auxiliary fan 1, 2: Auxiliary fan 2).
connectors on the control unit) Check auxiliary fan(s) and connection(s).
is stuck or disconnected. Replace faulty fan.
Make sure the front cover of the drive
module is in place and tightened. If the
commissioning of the drive requires that
the cover is off, this warning will be
generated even if the corresponding fault
is defeated. See fault 5081 Auxiliary fan
broken (page 665).
A5A0 Safe torque off Safe torque off function is Check safety circuit connections. For
Programmable warning: active, i.e. safety circuit more information, see appropriate drive
31.22 STO indication signal(s) connected to hardware manual and description of
run/stop connector XSTO is lost. parameter 31.22 STO indication run/stop
(page 382).
A5EA Measurement circuit Problem with internal Check the auxiliary code (format XXXY
temperature temperature measurement of YYZZ). “Y YY” specifies through which
the drive. BCU control unit channel the fault was
received (“0 00” with a ZCU control unit).
“ZZ” specifies the location (1: U-phase,
IGBT, 2: V-phase IGBT, 3: W-phase
IGBT, 4: Power unit INT board, 5: Brake
chopper, 6: Air inlet, 7: Power supply
board, 8: du/dt filter, FAh: Air in temp).
A5EB PU board powerfail Power unit power supply Contact your local ABB representative.
failure.
Fault tracing 645
Code
(hex)
A5EC PU communication Communication errors Check the connections between the drive
internal detected between the drive control unit and the power unit.
control unit and the power unit.
A5ED Measurement circuit Problem with measurement Contact your local ABB representative.
ADC circuit of power unit (analog to
digital converter)
A5EE Measurement circuit Problem with current or voltage Contact your local ABB representative.
DFF measurement of power unit.
A5EF PU state feedback State feedback from output Contact your local ABB representative.
phases does not match control
signals.
A5F0 Charging feedback Charging in progress Information warning. Wait until charging
finishes before starting the inverter unit.
A5F3 Switching frequency Adequate motor control at Informative warning.
below requested requested output frequency
cannot be reached because of
limited switching frequency
(eg. by parameter 95.15).
A682 Flash erase speed The flash memory (in the Avoid forcing unnecessary parameter
exceeded memory unit) has been erased saves by parameter 96.07 or cyclic
too frequently, compromising parameter writes (such as user logger
the lifetime of the memory. triggering through parameters).
Check the auxiliary code (format XYYY
YZZZ). “X” specifies the source of
warning (1: generic flash erase
supervision). “ZZZ” specifies the flash
subsector number that generated the
warning.
A683 Data saving to power An error in saving data to the Check the auxiliary code. See actions for
unit power unit. each code below.
0 An error is preventing saving Cycle the power to the drive. If the
from initializing. control unit is externally powered, also
1
reboot the control unit (using parameter
2 Write error. 96.08 Control board boot) or by cycling
its power. If the problem persists, contact
A684 SD card Error related to SD card used Check the auxiliary code. See actions for
to store data (BCU control unit each code below.
only).
1 No SD card Insert a compatible, writable SD card into
the SD CARD slot of the BCU control
2 SD card write-protected
unit.
3 SD card unreadable
A686 Checksum mismatch The calculated parameter Check that all necessary approved
Programmable warning: checksum does not match any (reference) checksums (96.56…96.59)
96.54 Checksum action enabled reference checksum. are enabled in 96.55 Checksum control
word.
Check the parameter configuration.
Using 96.55 Checksum control word,
enable a checksum parameter and copy
the actual checksum into that parameter.
646 Fault tracing
Code
(hex)
A687 Checksum An action has been defined for Contact your local ABB representative for
configuration a parameter checksum configuring the feature, or disable the
mismatch but the feature has feature in 96.54 Checksum action.
not been configured.
A688 Parameter map Too much data in parameter See the Drive customizer PC tool user’s
configuration mapping table created in Drive manual (3AUA0000104167 [English]).
customizer.
A689 Mapped parameter Parameter value saturated eg. Check parameter scaling and format in
value cut by the scaling specified in parameter mapping table. See the Drive
parameter mapping table customizer PC tool user’s manual
(created in Drive customizer). (3AUA0000104167 [English]).
A6A4 Motor nominal value The motor parameters are set Check the auxiliary code. See actions for
incorrectly. each code below.
The drive is not dimensioned
correctly.
1 Slip frequency is too small Check the settings of the motor
configuration parameters in groups 98
2 Synchronous and nominal
and 99.
speeds differ too much
Check that the drive is sized correctly for
3 Nominal speed is higher than the motor.
synchronous speed with 1 pole
pair
4 Nominal current is outside
limits
5 Nominal voltage is outside
limits
6 Nominal power is higher than
apparent power
7 Nominal power not consistent
with nominal speed and torque
A6A5 No motor data Parameters in group 99 have Check that all the required parameters in
not been set. group 99 have been set.
Note: It is normal for this warning to
appear during the start-up and continue
until the motor data is entered.
A6A6 Supply voltage The supply voltage has not Set supply voltage in parameter 95.01
unselected been defined. Supply voltage.
A6D1 FBA A parameter The drive does not have a Check PLC programming.
conflict functionality requested by a Check settings of parameter groups 50
PLC, or requested functionality Fieldbus adapter (FBA) and 51 FBA A
has not been activated. settings.
A6D2 FBA B parameter The drive does not have a Check PLC programming.
conflict functionality requested by a Check settings of parameter groups 50
PLC, or requested functionality Fieldbus adapter (FBA) and 54 FBA B
Fault tracing 647
Code
(hex)
A6DA Reference source A reference source is Check the reference source selection
parametrization simultaneously connected to parameters.
multiple parameters with Check the auxiliary code (format
different units. XXYY 00ZZ). “XX” and “YY” specify the
two sets of parameters where the source
was connected to (01 = speed reference
chain [22.11, 22.12, 22.15, 22.17], 03 =
torque reference chain [26.11, 26.12,
26.16], 04 = other torque-related
parameters [26.25, 30.21, 30.22, 44.09],
“ZZ” indicates the conflicting reference
source (01…0E = index in parameter
group 3, 33 = process PID control, 3D =
motor potentiometer, 65 = AI1, 66 = AI2,
6F = frequency input).
A6E5 AI parametrization The current/voltage hardware Check the auxiliary code. The code
setting of an analog input does identifies the analog input whose settings
not correspond to parameter are in conflict.
settings. Adjust either the hardware setting (on the
drive control unit) or parameter
12.15/12.25.
Note: Control board reboot (either by
cycling the power or through parameter
96.08 Control board boot) is required to
validate any changes in the hardware
settings.
A6E6 ULC configuration User load curve configuration Check the auxiliary code (format XXXX
error. ZZZZ). “ZZZZ” indicates the problem
(see actions for each code below).
0000 Speed points inconsistent. Check that each speed point (parameters
37.11…37.15) has a higher value than
the previous point.
0001 Frequency points inconsistent. Check that each frequency point
(37.16…37.20) has a higher value than
the previous point.
0002 Underload point above Check that each overload point
overload point. (37.31…37.35) has a higher value than
the corresponding underload point
0003 Overload point below
(37.21…37.25).
underload point.
A780 Motor stall Motor is operating in stall Check motor load and drive ratings.
Programmable warning: region because of e.g. Check fault function parameters.
31.24 Stall function excessive load or insufficient
motor power.
A781 Motor fan No feedback received from Check external fan (or other equipment
Programmable warning: external fan. controlled) by the logic.
35.106 DOL starter event Check settings of parameters
type 35.100…35.106.
648 Fault tracing
Code
(hex)
A782 FEN temperature Error in temperature Check that parameter 35.11 Temperature
measurement when 1 source / 35.21 Temperature 2 source
temperature sensor (KTY or setting corresponds to actual encoder
PTC) connected to encoder interface installation.
interface FEN-xx is used.
Error in temperature FEN-01 does not support temperature
measurement when KTY measurement with KTY sensor. Use PTC
sensor connected to encoder sensor or other encoder interface
interface FEN-01 is used. module.
A791 Brake resistor Brake resistor broken or not Check that a brake resistor has been
connected. connected.
Check the condition of the brake resistor.
A793 BR excess Brake resistor temperature has Stop drive. Let resistor cool down.
temperature exceeded warning limit defined Check resistor overload protection
by parameter 43.12 Brake function settings (parameter group 43
resistor warning limit. Brake chopper).
Check warning limit setting, parameter
43.12 Brake resistor warning limit.
Check that the resistor has been
dimensioned correctly.
Check that braking cycle meets allowed
limits.
A794 BR data Brake resistor data has not One or more of the resistor data settings
been given. (parameters 43.08…43.10) is incorrect.
The parameter is specified by the
auxiliary code.
0000 0001 Resistance value too low. Check value of 43.10.
0000 0002 Thermal time constant not Check value of 43.08.
given.
0000 0003 Maximum continuous power Check value of 43.09.
not given.
A797 Speed feedback Speed feedback configuration Check the auxiliary code (format XXYY
configuration has changed. ZZZZ). “XX” specifies the number of the
encoder interface module (01:
91.11/91.12, 02: 91.13/91.14), “YY”
specifies the encoder (01: 92 Encoder 1
configuration, 02: 93 Encoder 2
configuration). “ZZZZ” indicates the
problem (see actions for each code
below).
0001 Adapter not found in specified Check module location (91.12 or 91.14).
slot.
0002 Detected type of interface Check the module type (91.11 or 91.13)
module does not match against status (91.02 or 91.03).
parameter setting.
0003 Logic version too old. Contact your local ABB representative.
0004 Software version too old. Contact your local ABB representative.
0006 Encoder type incompatible with Check module type (91.11 or 91.13)
interface module type. against encoder type (92.01 or 93.01).
0007 Adapter not configured. Check module location (91.12 or 91.14).
Fault tracing 649
Code
(hex)
0008 Speed feedback configuration Use parameter 91.10 Encoder parameter
has changed. refresh) to validate any changes in the
settings.
0009 No encoders configured to Configure the encoder in group 92
encoder module Encoder 1 configuration or 93 Encoder 2
configuration.
000A Non-existing emulation input. Check input selection (91.31 or 91.41).
000B Echo not supported by Check input selection (91.31 or 91.41),
selected input (for example, interface module type, and encoder type.
resolver or absolute encoder).
000C Emulation in continuous mode Check input selection (91.31 or 91.41)
not supported. and serial link mode (92.30 or 93.30)
settings.
A798 Encoder option comm Encoder feedback not used as Check that the encoder is selected as
loss actual feedback, or measured feedback source in parameter 90.41 or
motor feedback lost (and 90.51.
parameter 90.45/90.55 is set to Check that the encoder interface module
Warning). is properly seated in its slot.
Check that the encoder interface module
or slot connectors are not damaged. To
pinpoint the problem, try installing the
module into a different slot.
If the module is installed on an FEA-03
extension adapter, check the fiber optic
connections.
Check the auxiliary code (format XXXX
YYYY). “YYYY” indicates the problem
(see actions for each code below).
0001 Failed answer to encoder
configuration message.
0002 Failed answer to adapter
watchdog disable message.
watchdog enable message.
Contact your local ABB representative.
configuration message.
0005 Too many failed answers inline
to speed and position
messages.
0006 DDCS driver failed.
A79B BC short circuit Short circuit in brake chopper Replace brake chopper if external. Drives
IGBT with internal choppers will need to be
returned to ABB.
Ensure brake resistor is connected and
not damaged.
650 Fault tracing
Code
(hex)
A79C BC IGBT excess Brake chopper IGBT Let chopper cool down.
temperature temperature has exceeded Check for excessive ambient
internal warning limit. temperature.
Check for cooling fan failure.
Check for obstructions in the air flow.
Check the dimensioning and cooling of
the cabinet.
Check resistor overload protection
function settings (parameters
43.06…43.10).
Check minimum allowed resistor value
for the chopper being used.
limits.
Check that drive supply AC voltage is not
excessive.
A7A1 Mechanical brake Status of mechanical brake Check mechanical brake connection.
closing failed acknowledgement is not as Check mechanical brake settings in
Programmable warning: expected during brake close. parameter group 44 Mechanical brake
44.17 Brake fault function control (especially 44.213 Brake long fall
delay).
Check also setting in parameter 32.226
Watchdog mask
Check that acknowledgement signal
matches actual status of brake.
A7A2 Mechanical brake Status of mechanical brake Check mechanical brake connection.
opening failed acknowledgement is not as Check mechanical brake settings in
Programmable warning: expected during brake open. parameter group 44 Mechanical brake
44.17 Brake fault function control.
A7A5 Mechanical brake Open conditions of mechanical Check mechanical brake settings in
opening not allowed brake cannot be fulfilled (for parameter group 44 Mechanical brake
Programmable warning: example, brake has been control (especially 44.11 Keep brake
44.17 Brake fault function prevented from opening by closed).
parameter 44.11 Keep brake Check that acknowledgement signal (if
closed). used) matches actual status of brake.
Fault tracing 651
Code
(hex)
A7AA Extension AI The hardware current/voltage Check the auxiliary code (format
parametrization setting of an analog input (on XX00 00YY). “XX” specifies the number
an I/O extension module) does of the I/O extension module (01:
not correspond to parameter parameter group 14 I/O extension
settings. module 1, 02: 15 I/O extension module 2,
03: 16 I/O extension module 3). “YY”
specifies the analog input on the module.
For example, in case of I/O extension
module 1, analog input AI1 (auxiliary
code 0000 0101), the hardware
current/voltage setting on the module is
shown by parameter 14.29. The
corresponding parameter setting is
14.30. Adjust either the hardware setting
on the module or the parameter to solve
the mismatch.
Note: Control board reboot (either by
cycling the power or through parameter
96.08 Control board boot) is required to
validate any changes in the hardware
settings.
A7AB Extension I/O The I/O extension module Check the auxiliary code. The code
configuration failure types and locations specified indicates which I/O extension module is
by parameters do not match affected.
the detected configuration. Check the type and location settings of
the modules (parameters 14.01, 14.02,
15.01, 15.02, 16.01 and 16.02).
Check that the modules are properly
installed.
A7B0 Motor speed feedback No motor speed feedback is Check the auxiliary code (format XXYY
Programmable warning: received. ZZZZ). “XX” specifies the number of the
90.45 Motor feedback fault encoder interface module (01:
91.11/91.12, 02: 91.13/91.14), “YY”
below).
0001 Motor gear definition invalid or Check motor gear settings (90.43 and
outside limits. 90.44).
0002 Encoder not configured. Check encoder settings (92 Encoder 1
configuration or 93 Encoder 2
configuration).
Use parameter 91.10 Encoder parameter
refresh) to validate any changes in the
settings.
0003 Encoder stopped working. Check encoder status.
0004 Encoder drift detected. Check for slippage between encoder and
motor.
652 Fault tracing
Code
(hex)
A7B1 Load speed feedback No load speed feedback is Check the auxiliary code (format XXYY
Programmable warning: received. ZZZZ). “XX” specifies the number of the
90.55 Load feedback fault encoder interface module (01:
91.11/91.12, 02: 91.13/91.14), “YY”
below).
0001 Load gear definition invalid or Check load gear settings (90.53 and
0002 Feed constant definition invalid Check feed constant settings (90.63 and
or outside limits. 90.64).
A7C1 FBA A communication Cyclical communication Check status of fieldbus communication.
Programmable warning: between drive and fieldbus See user documentation of fieldbus
50.02 FBA A comm loss adapter module A or between interface.
func PLC and fieldbus adapter Check settings of parameter groups 50
module A is lost. Fieldbus adapter (FBA), 51 FBA A
settings, 52 FBA A data in and 53 FBA A
data out.
Check cable connections.
Check if communication master is able to
communicate.
A7C2 FBA B communication Cyclical communication Check status of fieldbus communication.
Programmable warning: between drive and fieldbus See user documentation of fieldbus
50.32 FBA B comm loss adapter module B or between interface.
func PLC and fieldbus adapter Check settings of parameter group 50
module B is lost. Fieldbus adapter (FBA).
communicate.
A7CA DDCS controller DDCS (fiber optic) Check status of controller. See user
comm loss communication between drive documentation of controller.
Programmable warning: and external controller is lost. Check settings of parameter group 60
60.59 DDCS controller DDCS communication.
comm loss function
Check cable connections. If necessary,
replace cables.
A7CB MF comm loss Master/follower Check the auxiliary code. The code
Programmable warning: communication is lost. indicates which node address (defined by
60.09 M/F comm loss parameter 60.02 in each drive) on the
function master/follower link is affected.
Check settings of parameter group 60
DDCS communication.
replace cables.
A7CE EFB comm loss Communication break in Check the status of the fieldbus master
Programmable warning: embedded fieldbus (EFB) (online/offline/error etc.).
58.14 Communication loss communication. Check cable connections to the XD2D
action connector on the control unit.
Fault tracing 653
Code
(hex)
A7E1 Encoder Encoder error. Check the auxiliary code (format XXYY
Programmable warning: ZZZZ). “XX” specifies the number of the
90.45 Motor feedback fault encoder interface module (01:
91.11/91.12, 02: 91.13/91.14), “YY”
below).
0001 Cable fault Check the conductor order at both ends
of the encoder cable.
Check the groundings of the encoder
cable.
If the encoder was working previously,
check the encoder, encoder cable and
encoder interface module for damage.
See also parameter 92.21 Encoder cable
fault mode.
0002 No encoder signal Check the condition of the encoder.
0003 Overspeed
0004 Overfrequency
0005 Resolver ID run failed
0006 Resolver overcurrent fault Contact your local ABB representative.
0007 Speed scaling error

0008 Absolute encoder
communication error
0009 Absolute encoder initialization
error
000A Absolute SSI encoder
configuration error
000B Encoder reported an internal
error
000C Encoder reported a battery
error
000D Encoder reported overspeed
or decreased resolution due to See the documentation of the encoder.
overspeed
000E Encoder reported a position
counter error
000F Encoder reported an internal
error
A7EE Panel loss Control panel (or PC tool) has Check PC tool or control panel
Programmable warning: stopped communicating. connection.
49.05 Communication loss Check control panel connector.
action
Check mounting platform if being used.
Disconnect and reconnect the control
panel.
654 Fault tracing
Code
(hex)
A880 Motor bearing Warning generated by an on- Check the auxiliary code. Check the
Programmable warnings: time timer or a value counter. source of the warning corresponding to
33.14 On-time 1 warn the code:
message 0: 33.13 On-time 1 source
33.24 On-time 2 warn
message 1: 33.23 On-time 2 source
33.55 Value counter 1 4: 33.53 Value counter 1 source
warn message 5: 33.63 Value counter 2 source.
33.65 Value counter 2
warn message
A881 Output relay Warning generated by an edge Check the auxiliary code. Check the
counter. source of the warning corresponding to
A882 Motor starts
Programmable warnings: the code:
A883 Power ups 33.35 Edge counter 1 warn 2: 33.33 Edge counter 1 source
message
A884 Main contactor 33.45 Edge counter 2 warn
3: 33.43 Edge counter 2 source.
message
A885 DC charge
A886 On-time 1 Warning generated by on-time Check the source of the warning
(Editable message text) timer 1. (parameter 33.13 On-time 1 source).
Programmable warning:
message
A887 On-time 2 Warning generated by on-time Check the source of the warning
(Editable message text) timer 2. (parameter 33.23 On-time 2 source).
message
A888 Edge counter 1 Warning generated by edge Check the source of the warning
(Editable message text) counter 1. (parameter 33.33 Edge counter 1
Programmable warning: source).
33.35 Edge counter 1
warn message
A889 Edge counter 2 Warning generated by edge Check the source of the warning
(Editable message text) counter 2. (parameter 33.43 Edge counter 2
33.45 Edge counter 2
warn message
A88A Value counter 1 Warning generated by value Check the source of the warning
(Editable message text) counter 1. (parameter 33.53 Value counter 1
warn message
A88B Value counter 2 Warning generated by value Check the source of the warning
(Editable message text) counter 2. (parameter 33.63 Value counter 2
warn message
A88C Device clean Warning generated by an on- Check the auxiliary code. Check the
time timer. source of the warning corresponding to
A88D DC capacitor
Programmable warnings: the code:
A88E Cabinet fan 33.14 On-time 1 warn message 0: 33.13 On-time 1 source
33.24 On-time 2 warn message
A88F Cooling fan 1: 33.23 On-time 2 source
10: 05.04 Fan on-time counter.
A890 Additional cooling
Fault tracing 655
Code
(hex)
A8A0 AI supervision An analog signal is outside the Check the auxiliary code (format XYY).
Programmable warning: limits specified for the analog “X” specifies the location of the input (0:
12.03 AI supervision input. AI on control unit; 1: I/O extension
function module 1, etc.), “YY” specifies the input
and limit (01: AI1 under minimum,
02: AI1 over maximum, 03: AI2 under
minimum, 04: AI2 over maximum).
Check signal level at the analog input.
Check the wiring connected to the input.
Check the minimum and maximum limits
of the input in parameter group 12
Standard AI.
A8B0 Signal supervision Warning generated by the Check the source of the warning
(Editable message text) signal supervision 1 function. (parameter 32.07 Supervision 1 signal).
32.06 Supervision 1 action
A8B1 Signal supervision 2 Warning generated by the Check the source of the warning
A8B2 Signal supervision 3 Warning generated by the Check the source of the warning
A8BE ULC overload warning Selected signal has exceeded Check for any operating conditions
Programmable fault: the user overload curve. increasing the monitored signal (for
37.03 ULC overload example, the loading of the motor if the
actions torque or current is being monitored).
Check the definition of the load curve
(parameter group 37 User load curve).
A8BF ULC underload Selected signal has fallen Check for any operating conditions
warning below the user underload decreasing the monitored signal (for
Programmable fault: curve. example, loss of load if the torque or
37.04 ULC underload current is being monitored).
actions Check the definition of the load curve
(parameter group 37 User load curve).
A8C0 Fan service counter A cooling fan has reached the Check the auxiliary code. The code
end of its estimated lifetime. indicates which fan is to be replaced.
See parameters 05.41 and 0: Main cooling fan
05.42. 1:Auxiliary cooling fan
2:Auxiliary cooling fan 2
3:Cabinet cooling fan
4:PCB compartment fan
Refer to the hardware manual of the
drive for fan replacement instructions.
A981 External warning 1 Fault in external device 1. Check the external device.
(Editable message text) Check setting of parameter 31.01
Programmable warning: External event 1 source.
31.01 External event 1
source
type
656 Fault tracing
Code
(hex)
source
type
source
type
source
type
source
type
AF8C Process PID sleep The drive is entering sleep Informative warning.
mode mode.
AF90 Speed controller The speed controller autotune Check the auxiliary code (format XXXX
autotuning routine did not complete YYYY). “YYYY” indicates the problem
successfully. (see actions for each code below).
0000 The drive was stopped before Repeat autotune until successful.
the autotune routine finished.
0001 The drive was started but was Make sure the prerequisites of the
not ready to follow the autotune run are fulfilled. See section
autotune command. Before activating the autotune routine
(page 175).
0002 Required torque reference Decrease torque step (parameter 25.38)
could not be reached before or increase speed step (25.39).
the drive reached maximum
speed.
0003 Motor could not Increase torque step (parameter 25.38)
accelerate/decelerate to or decrease speed step (25.39).
maximum/minimum speed.
0005 Motor could not decelerate Decrease torque step (parameter 25.38)
with full autotune torque. or speed step (25.39).
AFAA Autoreset A fault is about to be autoreset. Informative warning. See the settings in
parameter group 31 Fault functions.
Fault tracing 657
Code
(hex)
AFE1 Emergency stop (off2) Drive has received an Check that it is safe to continue
emergency stop (mode operation. Reset the source of the
selection off2) command. emergency stop signal (such as an
emergency stop push button). Restart
drive.
(Follower drive in a Informative warning. After stopping on a
master/follower configuration) ramp stop (Off1 or Off3) command, the
Drive has received a stop master sends a short, 10-millisecond
command from the master. coast stop (Off2) command to the
follower(s). The Off2 stop is stored in the
event log of the follower.
AFE2 Emergency stop (off1 Drive has received an Check that it is safe to continue
or off3) emergency stop (mode operation. Reset the source of the
selection off1 or off3) emergency stop signal (such as an
command. emergency stop push button). Restart
drive.
AFE7 Follower A follower drive has tripped. Check the auxiliary code. Add 2 to the
code to find out the node address of the
faulted drive.
Correct the fault in the follower drive.
AFEA Enable start signal No enable start signal Check the setting of (and the source
missing received. selected by) parameter 20.19 Enable
(Editable message text) start command.
AFEB Run enable missing No run enable signal is Check setting of parameter 20.12 Run
received. enable 1 source. Switch signal on (e.g. in
the fieldbus Control Word) or check
wiring of selected source.
AFEC External power signal 95.04 Control board supply is Check the external 24 V DC power
missing set to External 24V but no supply to the control unit, or change the
voltage is connected to the setting of parameter 95.04.
XPOW connector of the control
unit.
AFF6 Identification run Motor ID run will occur at next Informative warning.
start, or is in progress.
AFF7 Autophasing Autophasing will occur at next Informative warning.
start.
B5A0 STO event Safe torque off function is Check safety circuit connections. For
Programmable event: active, i.e. safety circuit more information, see appropriate drive
31.22 STO indication signal(s) connected to hardware manual and description of
run/stop connector XSTO is lost. parameter 31.22 STO indication run/stop
(page 382).
B5A4 SW internal Control unit rebooted Informative event.
diagnostics unexpectedly.
B686 Checksum mismatch The calculated parameter See A686 Checksum mismatch (page
Programmable event: checksum does not match any 645).
96.54 Checksum action enabled reference checksum.
D200 Brake slip at Brake is slipping when the Check the mechanical brake.
standstill2 motor is not running. Check the parameter settings in group 74
Speed matching.
D201 Slowdown up Slowdown command is active Run the motor in the opposite direction
in the forward (up) direction and deactivate the Slowdown command,
based on the selection in or let the drive run with the limited speed
parameter 20.200 Slowdown reference.
select.
658 Fault tracing
Code
(hex)
D202 Slowdown down Slowdown command is active Run the motor in the opposite direction
in the reverse (down) direction and deactivate the Slowdown command,
based on the selection in or let the drive run with the limited speed
parameter 20.200 Slowdown reference.
select.
D203 Hoist speed up limit Hoist speed optimization Check the parameter settings in group 75
function is limiting the speed Hoist speed optimization.
reference in the forward Check the physical load condition and
direction. the motor current settings.
D204 Hoist speed down limit Hoist speed optimization Check the parameter settings in group 75
function is limiting the speed Hoist speed optimization.
reference in the reverse Check the physical load condition and
direction. the motor current settings.
D205 End limit 1 End limit 1 command is active Check the wiring of the End limit 1
based on the selection in connection.
parameter 20.205 End limit 1. Run the motor in the opposite direction
and deactivate the End limit 1 command.
D206 End limit 2 End limit 2 command is active Check the wiring of the End limit 2
based on the selection in connection.
parameter 20.206 End limit 2. Run the motor in the opposite direction
and deactivate the End limit 2 command.
D207 Wrong start Drive does not accept a start Check and correct the possible causes
sequence command because the drive is for the warning, and then give the start
not ready for the following command again.
reasons:
• The main power is switched
off.
• Fieldbus control bits are
used in the wrong order.
• The upper or lower limit is
active.
D208 Joystick reference Speed reference is greater Check the wiring of the joystick zero
check than +/- 10% of the minimum position input.
or maximum scaled value of Check the wiring of the analog input
the used joystick reference, the reference signal of the joystick.
joystick zero position input
(20.214 Joystick zero position)
is active, and the delay defined
with parameter 20.215 Joystick
warning delay has elapsed.
D209 Joystick zero position2 Drive does not accept a start Check the wiring of the joystick zero
command because of a wrong position input.
state of the joystick zero
position input (20.214 Joystick
zero position).
D210 Toggle bit supervision Communication loss occurred Check communication between
wrn between the overriding system overriding system and drive.
and the drive.
Time between two consecutive
toggle bit rising edges from
overriding system is longer
than the time set in parameter
31.213 Toggle bit time delay.
Fault tracing 659
Code
(hex)
D211 Synchro sel mismatch Parameter (82.01 Synchro Check settings in parameter 82.01
control) settings are different in Synchro control. The settings should be
Master and Follower drives. same.
D212 Crane operating hours Crane actual operating time Do the required maintenance task.
(when brake was open) limit is Reset the time counter with parameter
more than the limit defined in 33.200 Set crane operation hours.
parameter 33.202 Crane
operation hrs warning limit.
D213 Brake oper counts Number of times mechanical Do the required maintenance task.
brake was open is more than Reset the brake operating counter with
the limit defined in parameter parameter 33.210 Set brake oper counts.
33.212 Brake oper counts
warning limit.
D214 Number of power on Number of times the drive was Do the required maintenance task.
powered on is more than the Reset the power on counter with
limit defined in parameter parameter 33.220 Set number of power
33.222 Number of pwr on on.
warning limit.
D215 Watchdog warning Monitored condition detected Check parameter 32.228 Watchdog trip
and watchdog relay is sw.
activated
D216 Liftetime left less 10% System lifetime is less than Do the required maintenance task.
10%. Reset the maintenance counters.
D217 Slack rope Slack rope condition detected. Check parameter settings.
75.70 Start lifetime monitor
D20A Fast stop Fast stop command (20.210 Deactivate the Fast stop command.
Fast stop input) is activated.
D20B Power on Power on acknowledge circuit Check the wiring and the setting of
acknowledge is open. parameter 20.212 Power on
acknowledge.
D20C Slowdown safe zone Crane is operating within the Check the source for activating the
safe zone limit. Slowdown command in parameter
Slowdown function mode in 20.201 Slowdown input 1.
parameter 20.200 Slowdown Check the external circuit.
select is set as Single bit See also section Slowdown on page 103.
without direction. Check parameter 31.205 Crane warning
masking, b2 for masking warning.
D20D External speed limit2 External speed limits are active Check the source from parameter 30.200
instead of the internal speed External speed limits.
limits. Check the external circuit.
See also section External speed
limitation on page 98.
Check parameter 31.205 Crane warning
masking, b5 for masking warnings.
D20E M/F control location Master and follower are not in Check that the master and the follower
mismatch the same control location. are both in control location EXT2.
D20F Follower 4 Faulted Follower drive 4 has tripped on See the follower drive 4 for more detailed
a fault. This fault message is fault description.
displayed in the master drive
only.
660 Fault tracing
Code
(hex)
E200 Follower 1 faulted Follower drive 1 has tripped on See the follower drive 1 for more detailed
only.
only.
only.
D20F Brake match Brake slippage is detected The drive may be restarted automatically
when the brake is assumed to based on the selected brake
be closed i.e., delay time in matching mode. See Brake matching
parameter 44.13 Brake close modes on page 87.
delay elapses and if the Check parameter 44.13 Brake close
change in actual load position delay.
(parameter 90.05 Load
position scaled) exceeded the
limit in 44.221 Brake match
position limit.
D218 Brake match config Not all drive parameter settings
are configured to enable the
use of the brake match
function.
For example, A Brake match
mode is selected with
parameter 44.220 Brake match
mode, when the encoder or
mechanical brake control is not
in use.
Fault tracing 661
Fault messages
Code Fault Cause What to do
(hex)
2281 Calibration Measured offset of output Try performing the current calibration
phase current measurement or again (select Current measurement
difference between output calibration at parameter 99.13). If the
phase U2 and W2 current fault persists, contact your local ABB
measurement is too great (the representative.
values are updated during
current calibration).
2310 Overcurrent Output current has exceeded Check motor load.
internal fault limit. Check acceleration times in parameter
group 23 Speed reference ramp (speed
control) and 26 Torque reference chain
(torque control). Also check parameters
31.42 Overcurrent fault limit, 46.01
Speed scaling, 46.02 Frequency scaling
and 46.03 Torque scaling.
Check motor and motor cable (including
phasing and delta/star connection).
Check there are no contactors opening
and closing in motor cable.
Check that the start-up data in parameter
group 99 corresponds to the motor rating
plate.
Check that there are no power factor
in motor cable.
Check encoder cable (including
phasing).
YYZZ). With parallel-connected inverter
received. “ZZ” indicates the phase that
triggered the fault (0: No detailed
information available, 1: U-phase, 2: V-
phase, 4: W-phase, 3/5/6/7: multiple
phases).
2330 Earth leakage Drive has detected load Check there are no power factor
Programmable fault: 31.20 unbalance typically due to correction capacitors or surge absorbers
Earth fault earth fault in motor or motor in motor cable.
With parallel-connected modules, check
the auxiliary code (format XXXY YYZZ).
“Y YY” specifies through which BCU
received.
If no earth fault can be detected, contact
662 Fault tracing

(hex)
2340 Short circuit Short-circuit in motor cable(s) Check motor and motor cable for cabling
or motor errors.
Check that parameter 99.10 Motor
nominal power is set correctly.
Check there are no power factor
in motor cable.
YYZZ). With parallel-connected inverter
received. “ZZ” indicates the location of
the short circuit (0: No detailed
information available, 1: Upper branch of
U-phase, 2: Lower branch of U-phase, 4:
Upper branch of V-phase, 8: Lower
branch of V-phase, 10: Upper branch of
W-phase, 20: Lower branch of W-phase,
other: combinations of the above).
After correcting the cause of the fault,
96.08 Control board boot) or by cycling
power.
2381 IGBT overload Excessive IGBT junction to Check motor cable.
case temperature. This fault Check ambient conditions.
protects the IGBT(s) and can Check air flow and fan operation.
be activated by a short circuit Check heatsink fins for dust pick-up.
in the motor cable.
2391 BU current difference AC phase current difference Check motor cabling.
between parallel-connected Check there are no power factor
inverter modules is excessive. correction capacitors or surge absorbers
in motor cable.
YYZZ). “XXX” specifies the source of the
first error (see “YYY”). “YYY” specifies
the module through which BCU control
unit channel the fault was received (0:
Channel 1, 1: Channel 2, 2: Channel 3,
4: Channel 4, 8: Channel 5, …, 400:
Channel 12, other: combinations of the
above). “ZZ” indicates the phase (1: U, 2:
V, 3: W).
2392 BU earth leakage Total earth leakage of inverter Check there are no power factor
modules is excessive. correction capacitors or surge absorbers
in motor cable.
Measure insulation resistances of motor
cables and motor.
3130 Input phase loss Intermediate circuit DC voltage Check input power line fuses.
Programmable fault: 31.21 is oscillating due to missing Check for loose power cable
Supply phase loss input power line phase or connections.
blown fuse. Check for input power supply imbalance.
3180 Charge relay lost No acknowledgement received Contact your local ABB representative.
from charge relay.
Fault tracing 663

(hex)
3181 Wiring or earth fault The drive hardware is supplied Switch off the protection in parameter
Programmable fault: 31.23 from a common DC bus. 31.23.
Wiring or earth fault
Incorrect input power and Check the power connections.
motor cable connection (i.e.
input power cable is connected
to drive motor connection).
Drive has detected load Check there are no power factor
unbalance typically due to correction capacitors or surge absorbers
earth fault in motor or motor in motor cable.
3210 DC link overvoltage Excessive intermediate circuit Check that overvoltage control is on
DC voltage. (parameter 30.30 Overvoltage control).
Check that the supply voltage matches
the nominal input voltage of the drive.
Check the supply line for static or
transient overvoltage.
Check brake chopper and resistor (if
present).
Check deceleration time.
Use coast-to-stop function (if applicable).
Retrofit drive with brake chopper and
brake resistor.With parallel-connected
modules, check the auxiliary code
(format XXXY YYZZ). “Y YY” specifies
through which BCU control unit channel
the fault was received.
3220 DC link undervoltage Intermediate circuit DC voltage Check supply cabling, fuses and
is not sufficient because of a switchgear.
missing supply phase, blown With parallel-connected modules, check
fuse or fault in the rectifier the auxiliary code (format XXXY YYZZ).
bridge. “Y YY” specifies through which BCU
received.
3280 Standby timeout Automatic restart failed (see Check the condition of the supply
section Automatic restart on (voltage, cabling, fuses, switchgear).
page 198).
3291 BUDC link difference Difference in DC voltages Check the auxiliary code (format XXXY
between parallel-connected YYZZ). “XXX” specifies the source of the
inverter modules. first error (see “YYY”). “YYY” specifies
the module through which BCU control
unit channel the fault was received (0:
Channel 1, 1: Channel 2, 2: Channel 3,
4: Channel 4, 8: Channel 5, …, 400:
Channel 12).
3381 Output phase loss Motor circuit fault due to Connect motor cable.
Programmable fault: 31.19 missing motor connection (all
Motor phase loss three phases are not
connected).
664 Fault tracing

(hex)
3385 Autophasing Autophasing routine (see Try other autophasing modes (see
section Autophasing on page parameter 21.13 Autophasing mode) if
188) has failed. possible.
If the Turning with Z-pulse mode is
selected, check the zero pulse given by
the encoder.
Check that the motor ID run has been
successfully completed.
Clear parameter 98.15 Position offset
user.
Check that the encoder is not slipping on
the motor shaft.
Check that the motor is not already
turning when the autophasing routine
starts.
Check the setting of parameter 99.03
Motor type.
4000 Motor cable overload Calculated motor cable Check the settings of parameters 35.61
temperature has exceeded and 35.62.
warning limit. Check the dimensioning of the motor
cable in regard to required load.
4210 IGBT overtemperature Estimated drive IGBT Check ambient conditions.
4290 Cooling Drive module temperature is Check ambient temperature. If it exceeds
excessive. 40 °C (104 °F), ensure that load current
does not exceed derated load capacity of
drive. See appropriate Hardware manual.
Check drive module cooling air flow and
fan operation.
Check inside of cabinet and heatsink of
drive module for dust pick-up. Clean
whenever necessary.
42F1 IGBT temperature Drive IGBT temperature is Check ambient conditions.
excessive. Check air flow and fan operation.
4310 Excess temperature Power unit module See A4B0 Excess temperature (page
temperature is excessive. 643).
4380 Excess temperature High temperature difference See A4B1 Excess temperature
difference between the IGBTs of different difference (page 643).
phases.
4381 PCB space cooling Temperature difference See A4B2 PCB space cooling (page
between ambient and drive 643).
module PCB space is
excessive.
4981 External temperature Measured temperature 1 has Check the value of parameter 35.02
1 exceeded fault limit. Measured temperature 1.
measured).
Check the value of parameter 35.12
Temperature 1 fault limit.
Fault tracing 665

(hex)
4982 External temperature Measured temperature 2 has Check the value of parameter 35.03
2 exceeded fault limit. Measured temperature 2.
measured).
Check the value of parameter 35.22
Temperature 2 fault limit.
4990 FPTC not found A thermistor protection module Power down the control unit and check
has been activated by that the module is properly inserted in the
parameter 35.30 but cannot be correct slot.
detected. The last digit of the auxiliary code
identifies the slot.
4991 Safe motor The thermistor protection Check the cooling of the motor.
temperature 1 module installed in slot 1 Check the motor load and drive ratings.
(Editable message text) indicates overtemperature. Check the wiring of the temperature
4992 Safe motor The thermistor protection sensor. Repair wiring if faulty.
temperature 2 module installed in slot 2 Measure the resistance of the sensor.
(Editable message text) indicates overtemperature. Replace sensor if faulty.
4993 Safe motor The thermistor protection

temperature 3 module installed in slot 3
(Editable message text) indicates overtemperature.
5080 Fan Cooling fan feedback is See A581 Fan (page 644).
missing.
5081 Auxiliary fan broken An auxiliary cooling fan Check auxiliary fan(s) and connection(s).
(connected to the fan Replace faulty fan. The auxiliary code
connectors on the control unit) identifies the fan (1: Auxiliary fan 1, 2:
is stuck or disconnected. Auxiliary fan 2).
Check the auxiliary fan(s) and
connection(s).
Make sure the front cover of the drive
module is in place and tightened. If the
commissioning of the drive requires that
the cover is off, activate parameter 31.36
Aux fan fault bypass within 2 minutes
from control unit reboot to temporarily
suppress the fault.
5090 STO hardware failure Safe torque off hardware Contact your local ABB representative,
failure. quoting the auxiliary code. The code
contains location information, especially
with parallel-connected inverter modules.
When converted into a 32-bit binary
number, the bits of the code indicate the
following:
31…28: Number of faulty inverter module
(0…11 decimal). 1111: STO_ACT states
of control unit and inverter modules in
conflict
27: STO_ACT state of inverter modules
26: STO_ACT state of control unit
25: STO1 of control unit
23…12: STO1 of inverter modules 12…1
(Bits of non-existing modules set to 1)
(Bits of non-existing modules set to 1).
666 Fault tracing

(hex)
5091 Safe torque off Safe torque off function is Check safe torque off circuit connections.
Programmable fault: 31.22 active, i.e. safety circuit For more information, see appropriate
STO indication run/stop signal(s) connected to drive hardware manual and description of
connector XSTO is broken parameter 31.22 STO indication run/stop
during start or run. (page 382).
5092 PU logic error Power unit memory has Cycle the power to the drive. If the
cleared. control unit is externally powered, also
its power. If the problem persists, contact
5093 Rating ID mismatch The hardware of the drive does Cycle the power to the drive.
not match the information Check the auxiliary code. The auxiliary
stored in the memory unit. This code categories are as follows:
may occur eg. after a firmware 1 = PU and CU ratings not the same.
update or memory unit Rating ID has changed.
replacement. 2 = Parallel connection rating ID has
changed.
3 = PU types not the same in all power
units.
4 = Parallel connection rating ID is active
in a single power unit setup.
5 = It is not possible to implement the
selected rating with the current PUs.
6 = PU rating ID is 0.
7 = Reading PU rating ID or PU type
failed on PU connection.
8 = PU not supported (illegal rating ID).
With parallel connection faults, the format
of the auxiliary code is 0X0Y. “Y”
indicates the auxiliary code category, “X”
indicates the first faulty PU channel in
hexadecimal (1…C).
5094 Measurement circuit Problem with internal See A5EA Measurement circuit
temperature temperature measurement of temperature (page 644).
the drive.
Fault tracing 667

(hex)
5681 PU communication The way the control unit is Check setting of 95.04 Control board
powered does not correspond supply.
to parameter setting.
Communication errors Check the connection between the
detected between the drive control unit and the power unit.
control unit and the power unit. Check the auxiliary code (format XXXY
YYZZ). With parallel-connected modules,
“Y YY” specifies the affected BCU control
unit channel (0: broadcast). “ZZ”
specifies the error source (1: Transmitter
side [link error], 2: Transmitter side [no
communication], 3: Receiver side [link
error], 4: Receiver side [no
communication], 5: Transmitter FIFO
error [see “XXX”], 6: Module [xINT board]
not found, 7: BAMU board not found).
“XXX” specifies the transmitter FIFO
error code (1: Internal error [invalid call
parameter], 2: Internal error
[configuration not supported],
3: Transmission buffer full).
5682 Power unit lost Connection between the drive Check the connection between the
control unit and the power unit control unit and the power unit.
is lost.
5690 PU communication Internal communication error. Contact your local ABB representative.
internal
5691 Measurement circuit Measurement circuit fault. Contact your local ABB representative,
ADC quoting the auxiliary code.
5692 PU board powerfail Power unit power supply Check the auxiliary code (format
failure. ZZZY YYXX). “YY Y” specifies the
affected inverter module (0…C, always 0
for ZCU control units). “XX” specifies the
affected power supply (1: Power supply
1, 2: Power supply 2).
5693 Measurement circuit Measurement circuit fault. Contact your local ABB representative,
DFF quoting the auxiliary code.
5694 PU communication Number of connected power Check setting of 95.31 Parallel
configuration modules differs from the connection rating id. Cycle the power to
expected. the drive. If the control unit is externally
powered, also reboot the control unit
(using parameter 96.08 Control board
boot) or by cycling its power.
If the problem persists, contact your local
ABB representative.
5696 PU state feedback State feedback from output Contact your local ABB representative,
phases does not match control quoting the auxiliary code.
signals.
5697 Charging feedback Charging feedback signal Check the feedback signal coming from
missing. the charging system.
5698 Unknown power unit Unidentified power unit logic Check power unit logic and firmware
fault fault. compatibility.
668 Fault tracing

(hex)
6000 Internal SW error Internal error. Contact your local ABB representative.
Quote the auxiliary code (check the
event details in the event log).
6181 FPGA version Firmware and FPGA file Reboot the control unit (using parameter
incompatible version in the power unit are 96.08 Control board boot) or by cycling
incompatible. power. If the problem persists, contact
6200 Checksum mismatch The calculated parameter See A686 Checksum mismatch (page
Programmable fault: 96.54 checksum does not match any 645).
Checksum action enabled reference checksum.
6306 FBA A mapping file Fieldbus adapter A mapping Contact your local ABB representative.
file read error.
6307 FBA B mapping file Fieldbus adapter B mapping Contact your local ABB representative.
file read error.
6481 Task overload Internal fault. Reboot the control unit (using parameter
power. If the problem persists, contact
6487 Stack overflow Internal fault. Reboot the control unit (using parameter
64A1 Internal file load File read error. Reboot the control unit (using parameter
64A2 Internal record load Internal record load error. Contact your local ABB representative.
64A3 Application loading Application file incompatible or Check the auxiliary code. See actions for
corrupted. each code below.
8006 Not enough memory for the
application.
8007 The application contains the
wrong library version.
800A The application contains an
unknown target (system)
library function.
64A5 Licensing fault Running the control program is Record the auxiliary codes of all active
prevented either because a licensing faults and contact your product
restrictive license exists, or vendor for further instructions.
because a required license is
missing.
64A6 Adaptive program Error running the adaptive Check the auxiliary code (format
program. XXXX YYYY). “XXXX” specifies the
number of the function block (0000 =
generic error). “YYYY” indicates the
below).
000A Program corrupted or block Restore the template program or
non-existent download the program to the drive.
000C Required block input missing Check the inputs of the block.
000E Program corrupted or block Restore the template program or
non-existent download the program to the drive.
Fault tracing 669

(hex)
0011 Program too large. Remove blocks until the error stops.
0012 Program is empty. Correct the program and download it to
the drive.
001C A non-existing parameter or Edit the program to correct the parameter
block is used in the program. reference, or to use an existing block.
001D Parameter type invalid for Edit the program to correct the parameter
selected pin. reference.
001E Output to parameter failed Check the parameter reference in the
because the parameter was program.
write-protected. Check for other sources affecting the
target parameter.
0023 Program file incompatible with Adapt the program to current block
current firmware version. library and firmware version.
0024
002A Too many blocks. Edit the program to reduce the number of
blocks.
Other – Contact your local ABB representative,
quoting the auxiliary code.
64B0 Memory unit detached The memory unit was Switch off the power to the control unit
detached when the control unit and reinstall the memory unit.
was powered. In case the memory unit was not actually
removed when the fault occurred, check
that the memory unit is properly inserted
into its connector and its mounting screw
is tight. Reboot the control unit (using
parameter 96.08 Control board boot) or
by cycling power. If the problem persists,
contact your local ABB representative.
64B1 Internal SSW fault Internal fault. Reboot the control unit (using parameter
64B2 User set fault Loading of user parameter set Ensure that a valid user parameter set
failed because exists. Reload if uncertain.
• requested set does not exist
• set is not compatible with
control program
• drive was switched off
during loading.
64E1 Kernel overload Operating system error. Reboot the control unit (using parameter
6581 Parameter system Parameter load or save failed. Try forcing a save using parameter 96.07
Parameter save manually. Retry.
65A1 FBA A parameter The drive does not have a Check PLC programming.
conflict functionality requested by Check settings of parameter groups 50
PLC, or requested functionality Fieldbus adapter (FBA) and 51 FBA A
65A2 FBA B parameter The drive does not have a Check PLC programming.
conflict functionality requested by Check settings of parameter groups 50
PLC, or requested functionality Fieldbus adapter (FBA) and 54 FBA B
670 Fault tracing

(hex)
65B1 Reference source A reference source is See A6DA Reference source
parametrization simultaneously connected to parametrization (page 647).
multiple parameters with
different units.
6681 EFB comm loss Communication break in Check the status of the fieldbus master
Programmable fault: embedded fieldbus (EFB) (online/offline/error etc.).
58.14 Communication loss communication. Check cable connections to the XD2D
action connector on the control unit.
6682 EFB config file Embedded fieldbus (EFB) Contact your local ABB representative.
configuration file could not be
read.
6683 EFB invalid Embedded fieldbus (EFB) Check the settings in parameter group 58
parameterization parameter settings Embedded fieldbus.
inconsistent or not compatible
with selected protocol.
6684 EFB load fault Embedded fieldbus (EFB) Contact your local ABB representative.
protocol firmware could not be
loaded.
Version mismatch between
EFB protocol firmware and
drive firmware.
6881 Text data overflow Internal fault. Reset the fault. Contact your local ABB
representative if the fault persists.
6882 Text 32-bit table Internal fault. Reset the fault. Contact your local ABB
overflow representative if the fault persists.
6883 Text 64-bit table Internal fault. Reset the fault. Contact your local ABB
overflow representative if the fault persists.
6885 Text file overflow Internal fault. Reset the fault. Contact your local ABB
representative if the fault persists.
7080 Option module comm Communication between drive See A798 Encoder option comm loss
loss and an option module is lost. (page 649).
7081 Panel port Control panel or PC tool Check PC tool or control panel
communication selected as active control connection.
Programmable fault: 49.05 location for drive has ceased Check control panel connector.
Communication loss communicating. Disconnect and reconnect the control
action
panel.
Check the auxiliary code. The code
specifies the I/O port used as follows: 0:
Panel, 1: Fieldbus interface A, 2:
Fieldbus interface B, 3: Ethernet, 4:
D2D/EFB port).
7082 Ext I/O comm loss The I/O extension module Check the auxiliary code (format
types specified by parameters XXYY YYYY). “XX” specifies the number
do not match the detected of the I/O extension module (01:
configuration. parameter group 14 I/O extension
module 1, 02: 15 I/O extension module 2,
03: 16 I/O extension module 3).
“YY YYYY” indicates the problem (see
actions for each code below).
Fault tracing 671

(hex)
00 0001 Communication with module Check that the module is properly seated
failed. in its slot.
Check that the module and the slot
connector is not damaged.
Try installing the module into another
slot.
00 0002 Module not found. Check the type and location settings of
the modules (parameters 14.01/14.02,
00 0003 Configuration of module failed.
15.01/15.02 or 16.01/16.02).
00 0004 Configuration of module failed. Check that the module is properly seated
in its slot.
Check that the module and the slot
connector is not damaged.
Try installing the module into another
slot.
7083 Panel reference Use of saved control panel The control panel reference can only be
conflict reference in multiple control saved for one reference type at a time.
modes attempted. Consider the possibility of using a copied
reference instead of saved reference
(see the reference selection parameter).
7084 Panel/PC tool version The current version of the Update control panel and/or PC tool.
conflict control panel and/or PC tool Contact your local ABB representative if
does not support a function. necessary.
(For example, older panel
versions cannot be used as a
source of external reference.)
7085 Incompatible option Option module not supported. Check the auxiliary code. The code
module (For example, type Fxxx-xx-M specifies the interface to which the
fieldbus adapter modules are unsupported module is connected:
not supported.) 1: Fieldbus interface A, 2: Fieldbus
interface B.
Replace the module with a supported
type.
7121 Motor stall Motor is operating in stall Check motor load and drive ratings.
Programmable fault: 31.24 region because of e.g. Check fault function parameters.
Stall function excessive load or insufficient
motor power.
7181 Brake resistor Brake resistor broken or not Check that a brake resistor has been
connected. connected.
Check the condition of the brake resistor.
Check the dimensioning of the brake
resistor.
7183 BR excess Brake resistor temperature has Stop drive. Let resistor cool down.
temperature exceeded fault limit defined by Check resistor overload protection
parameter 43.11 Brake resistor function settings (parameter group 43
fault limit. Brake chopper).
Check fault limit setting, parameter 43.11
Brake resistor fault limit.
limits.
672 Fault tracing

(hex)
7184 Brake resistor wiring Brake resistor short circuit or Check brake chopper and brake resistor
brake chopper control fault. connection.
Ensure brake resistor is not damaged.
Ensure brake resistor is not damaged.
power.
7191 BC short circuit Short circuit in brake chopper Ensure brake resistor is connected and
IGBT. not damaged.
Check the electrical specifications of the
brake resistor against the Hardware
manual.
Replace brake chopper (if replaceable).
power.
7192 BC IGBT excess Brake chopper IGBT Let chopper cool down.
temperature temperature has exceeded Check for excessive ambient
internal fault limit. temperature.
Check for cooling fan failure.
Check for obstructions in the air flow.
Check the dimensioning and cooling of
the cabinet.
Check resistor overload protection
function settings (parameter group 43
Brake chopper).
limits.
Check that drive supply AC voltage is not
excessive.
71A2 Mechanical brake Mechanical brake control fault. Check mechanical brake connection.
closing failed Activated eg. if brake Check mechanical brake settings in
Programmable fault: 44.17 acknowledgement is not as parameter group 44 Mechanical brake
Brake fault function expected during brake closing. control.
71A3 Mechanical brake Mechanical brake control fault. Check mechanical brake connection.
opening failed Activated eg. if brake Check mechanical brake settings in
Programmable fault: 44.17 acknowledgement is not as parameter group 44 Mechanical brake
Brake fault function expected during brake control.
opening. Check that acknowledgement signal
71A5 Mechanical brake Open conditions of mechanical Check mechanical brake settings in
opening not allowed brake cannot be fulfilled (for parameter group 44 Mechanical brake
Programmable fault: 44.17 example, brake has been control (especially 44.11 Keep brake
Brake fault function prevented from opening by closed).
parameter 44.11 Keep brake Check that acknowledgement signal (if
closed). used) matches actual status of brake.
71B1 Motor fan No feedback received from Check external fan (or other equipment
Programmable fault: external fan. controlled) by the logic.
35.106 DOL starter event Check settings of parameters
type
35.100…35.106.
Fault tracing 673

(hex)
7301 Motor speed feedback No motor speed feedback See A7B0 Motor speed feedback
Programmable fault: 90.45 received. (page 651).
Motor feedback fault
7310 Overspeed Motor is turning faster than Check minimum/maximum speed
highest allowed speed due to settings, parameters 30.11 Minimum
incorrectly set speed and 30.12 Maximum speed.
minimum/maximum speed, Check adequacy of motor braking torque.
insufficient braking torque or Check applicability of torque control.
changes in load when using Check need for brake chopper and
torque reference. resistor(s).
Incorrect estimated speed. Check the status of motor current
measurement.
Perform a Normal, Advanced or
Advanced Standstill ID run instead of, for
example, a Reduced or Standstill ID run.
See parameter 99.13 ID run requested
(page 569).
7380 Encoder internal Internal fault. Contact your local ABB representative.
7381 Encoder Encoder feedback fault. See A7E1 Encoder (page 653).
Programmable fault: 90.45
Motor feedback fault
73A0 Speed feedback Speed feedback configuration See A797 Speed feedback configuration
configuration incorrect. (page 648).
73A1 Load feedback No load feedback received. Check the auxiliary code (format XXYY
Programmable fault: 90.55 ZZZZ). “XX” specifies the number of the
Load feedback fault encoder interface module (01:
91.11/91.12, 02: 91.13/91.14), “YY”
below).
0001 Load gear definition invalid or Check load gear settings (90.53 and
0002 Feed constant definition invalid Check feed constant settings (90.63 and
or outside limits. 90.64).
0003 Motor/load gear definition Check motor/load gear settings (90.61
invalid or outside limits. and 90.62).
0004 Encoder not configured. Check encoder settings (92 Encoder 1
configuration or 93 Encoder 2
configuration).
Use parameter 91.10 Encoder parameter
refresh) to validate any changes in the
settings.
73B0 Emergency ramp Emergency stop did not finish Check the settings of parameters 31.32
failed within expected time. Emergency ramp supervision and 31.33
Emergency ramp supervision delay.
Check the predefined ramp time (23.23
for mode Off3).
674 Fault tracing

(hex)
73B1 Stop failed Ramp stop did not finish within Check the settings of parameters 31.37
expected time. Ramp stop supervision and 31.38 Ramp
stop supervision delay.
Check the predefined ramp times in
parameter group 23 Speed reference
ramp.
7510 FBA A communication Cyclical communication Check status of fieldbus communication.
Programmable fault: 50.02 between drive and fieldbus See user documentation of fieldbus
FBA A comm loss func adapter module A or between interface.
PLC and fieldbus adapter Check settings of parameter groups 50
module A is lost. Fieldbus adapter (FBA), 51 FBA A
settings, 52 FBA A data in and 53 FBA A
data out.
communicate.
7520 FBA B communication Cyclical communication Check status of fieldbus communication.
Programmable fault: 50.32 between drive and fieldbus See user documentation of fieldbus
FBA B comm loss func adapter module B or between interface.
PLC and fieldbus adapter Check settings of parameter group 50
module B is lost. Fieldbus adapter (FBA).
communicate.
7581 DDCS controller DDCS (fiber optic) Check status of controller. See user
comm loss communication between drive documentation of controller.
Programmable fault: 60.59 and external controller is lost. Check settings of parameter group 60
DDCS controller comm DDCS communication.
loss function
replace cables.
7582 MF comm loss Master/follower See A7CB MF comm loss (page 652).
Programmable fault: 60.09 communication is lost.
M/F comm loss function
7583 Line side unit faulted The supply unit (or other The auxiliary code specifies the original
converter) connected to the fault code in the supply unit control
inverter unit has generated a program. Refer to the firmware manual of
fault. the supply unit.
7584 LSU charge failed The supply unit was not ready Check that communication to the supply
(i.e. the main contactor/breaker unit is activated by parameter 95.20 HW
could not be closed) within the options word 1.
expected time. Check that the supply unit is enabled,
allowed to start, and can be controlled by
the inverter unit (for example, not in local
control mode).
8001 ULC underload fault Selected signal has fallen See A8BF ULC underload warning (page
Programmable fault: below the user underload 655).
37.04 ULC underload curve.
actions
8002 ULC overload fault Selected signal has exceeded See A8BE ULC overload warning (page
Programmable fault: the user overload curve. 655).
37.03 ULC overload
actions
Fault tracing 675

(hex)
80A0 AI supervision An analog signal is outside the Check the auxiliary code (format XXXX
Programmable fault: limits specified for the analog XYZZ). “Y” specifies the location of the
12.03 AI supervision input. input (0: Control unit, 1: I/O extension
function module 1, 2: I/O extension module 2, 3:
I/O extension module 3). “ZZ” specifies
the limit (01: AI1 under minimum, 02: AI1
above maximum, 03: AI2 under
minimum, 04: AI2 above maximum).
Check signal level at the analog input.
Check the wiring connected to the input.
Check the minimum and maximum limits
of the input in parameter group 12
Standard AI.
80B0 Signal supervision Fault generated by the signal Check the source of the fault (parameter
(Editable message text) supervision 1 function. 32.07 Supervision 1 signal).
Programmable fault:
80B1 Signal supervision 2 Fault generated by the signal Check the source of the fault (parameter
Programmable fault:
80B2 Signal supervision 3 Fault generated by the signal Check the source of the fault (parameter
Programmable fault:
9081 External fault 1 Fault in external device 1. Check the external device.
Programmable fault: 31.01 External event 1 source.
External event 1 source
type
type
type
type
type
676 Fault tracing

(hex)
FA81 Safe torque off 1 loss Safe torque off function is Check safety circuit connections. For
active, ie. STO circuit 1 is more information, see appropriate drive
broken. hardware manual and description of
parameter 31.22 STO indication run/stop
FA82 Safe torque off 2 loss Safe torque off function is
(page 382).
active, ie. STO circuit 2 is
broken. Check the auxiliary code, The code
contains location information, especially
with parallel-connected inverter modules.
When converted into a 32-bit binary
number, the bits of the code indicate the
following:
31…28: Number of faulty inverter module
(0…11 decimal). 1111: STO_ACT states
of control unit and inverter modules in
conflict
27: STO_ACT state of inverter modules
26: STO_ACT state of control unit
(Bits of non-existing modules set to 1)
(Bits of non-existing modules set to 1).
FB11 Memory unit missing No memory unit is attached to Power down the control unit.
the drive control unit. Check that the memory unit is properly
inserted into the control unit.
The memory unit attached to Power down the control unit. Attach a
the drive control unit is empty. memory unit (with the appropriate
firmware) to the control unit.
FB12 Memory unit The memory unit attached to Power down the control unit.
incompatible the control unit is incompatible. Attach a compatible memory unit.
FB13 Memory unit FW The firmware on the attached Power down the control unit.
incompatible memory unit is incompatible Attach a memory unit with compatible
with the drive. firmware.
FF61 ID run Motor ID run was not Check the nominal motor values in
completed successfully. parameter group 99 Motor data.
Check that no external control system is
connected to the drive.
Cycle the power to the drive (and its
control unit, if powered separately).
Check that the motor shaft is not locked.
Check the auxiliary code. The second
number of the code indicates the
below).
0001 Maximum current limit too low. Check settings of parameters 99.06
Motor nominal current and 30.17
Maximum current. Make sure that
30.17 > 99.06.
Check that the drive is dimensioned
correctly according to the motor.
Fault tracing 677

(hex)
0002 Maximum speed limit or Check settings of parameters
calculated field weakening • 30.11 Minimum speed
point too low. • 30.12 Maximum speed
• 99.07 Motor nominal voltage
• 99.08 Motor nominal frequency
• 99.09 Motor nominal speed.
Make sure that
• 30.12 > (0.55 × 99.09) >
(0.50 × synchronous speed)
• 30.11 < 0, and
• supply voltage > (0.66 × 99.07).
0003 Maximum torque limit too low. Check settings of parameter 99.12 Motor
nominal torque, and the torque limits in
group 30 Limits.
Make sure that the maximum torque limit
in force is greater than 100%.
0004 Current measurement Contact your local ABB representative.
calibration did not finish within
reasonable time.
0005…0008 Internal error. Contact your local ABB representative.
0009 (Asynchronous motors only) Contact your local ABB representative.
Acceleration did not finish
within reasonable time.
000A (Asynchronous motors only) Contact your local ABB representative.
Deceleration did not finish
within reasonable time.
000B (Asynchronous motors only) Contact your local ABB representative.
Speed dropped to zero during
ID run.
000C (Permanent magnet motors Contact your local ABB representative.
only) First acceleration did not
finish within reasonable time.
000D (Permanent magnet motors Contact your local ABB representative.
only) Second acceleration did
not finish within reasonable
time.
000E…0010 Internal error. Contact your local ABB representative.
FF7E Follower A follower drive has tripped. Check the auxiliary code. Add 2 to the
code to find out the node address of the
faulted drive.
Correct the fault in the follower drive
FF81 FB A force trip A fault trip command has been Check the fault information provided by
received through fieldbus the PLC.
adapter A.
FF82 FB B force trip A fault trip command has been Check the fault information provided by
received through fieldbus the PLC.
adapter B.
FF8E EFB force trip A fault trip command has been Check the fault information provided by
received through the the Modbus controller.
embedded fieldbus interface.
678 Fault tracing

(hex)
D100 Torque prove Drive was not able to provide Check the motor and motor cables.
sufficient torque during Torque Check that the parameter settings are as
proving. follows:
The pre-magnetizing time • 21.01 Start mode = Const time
mode is wrong or too short. • 21.02 Magnetization time = Setting is
not fixed. Enter an appropriate value.
D101 Brake slip Brake slipped during Torque Check the brake.
proving. Check whether the brake is slipping
when it is in the closed state.
D102 Brake safe closure Start command is active, the Check whether it is necessary to drive
actual speed is below the limit the application at a low speed. If it is not,
defined with parameter 44.208 change the values of parameters 44.208
Safety close speed, and the Safety close speed and 44.209 Safety
delay defined with parameter close delay to correspond to the
44.209 Safety close delay has application.
elapsed. In trolley or long-travel applications,
disable the Brake safe closure function
with parameter 44.207 Safety close
select.
D103 Hoist speed opt Parameters settings for Hoist Check the parameter settings in group 75
settings speed optimization are Hoist speed optimization.
incorrect.
D104 Over speed Motor speed has exceeded the Check the torque and current limit
motor overspeed level (31.200 settings.
Motor overspeed level), and Check the motor and motor cables.
the delay defined with Check pulse encoder connections, if
parameter 31.201 Motor used.
overspeed level delay has
elapsed.
D105 Speed match Motor speed has exceeded the Check the torque and current limit
steady state deviation level settings.
(par. 74.02) or the ramping If an encoder is used, check the encoder
state deviation level (par. settings.
74.03), and the delay defined
with parameter 74.04 Speed
match fault delay has elapsed.
D106 Inverter overload Drive has exceeded the Check the speed controller torque
inverter current or torque limits, settings.
and the delay defined with Check the torque, speed and power limit
parameter 31.204 Inverter settings.
overload delay has elapsed.
The fault condition is checked
only when the generating
power is more than 10% of the
motor nominal power and the
actual speed is greater than
5% of the motor synchronous
speed.
D107 ID run and remote Motor ID run was requested Switch the drive to local control to
when the drive was in external perform the motor ID run.
control.
D108 End limits I/O error Both End limits 1 and 2 inputs Check the wiring of End limits 1 and 2.
are active simultaneously.
Fault tracing 679

(hex)
D109 Toggle bit supervision Communication loss occurred Check communication between
flt between the overriding system overriding system and drive.
and the drive.
Time between two consecutive
toggle bit rising edges from
overriding system is longer
than the time set in parameter
31.213 Toggle bit time delay.
D10A Brake not selected Mechanical brake control was Activate mechanical brake control with
inactive when the Conical parameter 44.06 Brake control enable.
motor control function was
enabled.
D10B Synchron fault Difference in actual position of Check the limit set for position difference
Master drive and Follower in parameter 82.07 Sync err limit.
drive. Check the delay time set in parameter
For example, value in 82.08Sync err fault delay.
parameter 82.20 Act position Check the position correction
error is more than the limit parameters: 82.04 Sync gain, 82.05
defined in parameter Position corr limit, and 82.06 Sync corr
82.07 Sync err limit and the scale.
condition prevails for more
than the delay time set in
parameter 82.08Sync err fault
delay.
D10C M/F comm loss Master/follower Check the D2D link connections in trolley
communication is lost in trolley or long travel drives.
or long travel drives. Check the master drive settings in
parameter 60.201 Crane drives structure
of trolley or long travel drives.
D10D Watchdog test fault Watchdog test routine fails: Check the wiring and drive
welded contacts in main parameterization (eg. wrong relay used).
contactor. Check the mechanical condition of the
watchdog relay and main contactor.
680 Fault tracing
Fieldbus control through the embedded fieldbus interface (EFB) 681
10
Fieldbus control through the
embedded fieldbus interface
(EFB)
What this chapter contains
The chapter describes how the drive can be controlled by external devices over a
communication network (fieldbus) using the embedded fieldbus interface.
System overview
The drive can be connected to an external control system through a communication
link using either a fieldbus adapter or the embedded fieldbus interface.
The embedded fieldbus interface supports the Modbus RTU protocol. The drive
control program can handle 10 Modbus registers in a 10-millisecond time level. For
example, if the drive receives a request to read 20 registers, it will start its response
within 22 ms of receiving the request – 20 ms for processing the request and 2 ms
overhead for handling the bus. The actual response time depends on other factors as
well, such as the baud rate (a parameter setting in the drive).
The drive can be set to receive all of its control information through the fieldbus
interface, or the control can be distributed between the embedded fieldbus interface
and other available sources, for example, digital and analog inputs.
682 Fieldbus control through the embedded fieldbus interface (EFB)
Fieldbus controller
Fieldbus
Data flow
Control Word (CW)
References
Process I/O (cyclic)
Status Word (SW)
Actual values
Parameter R/W
requests/responses Service messages (acyclic)
XD2D XD2D XD2D
Control unit Control unit Control unit
Termination OFF Termination OFF Termination ON

...
ACS880 ACS880 ACS880
Connecting the fieldbus to the drive

Connect the fieldbus to terminal XD2D on the control unit of the drive. See the
appropriate Hardware Manual for more information on the connection, chaining and
termination of the link.
Note: If the XD2D connector is reserved by the embedded fieldbus interface
(parameter 58.01 Protocol enable is set to Modbus RTU), the drive-to-drive link
functionality is automatically disabled.
Setting up the embedded fieldbus interface

Set the drive up for the embedded fieldbus communication with the parameters
shown in the table below. The Setting for fieldbus control column gives either the
value to use or the default value. The Function/Information column gives a
description of the parameter.
Setting for
Parameter Function/Information
fieldbus control
COMMUNICATION INITIALIZATION
58.01 Protocol enable Modbus RTU Initializes embedded fieldbus communication.
Drive-to-drive link operation is automatically
disabled.
EMBEDDED MODBUS CONFIGURATION

58.03 Node address 1 (default) Node address. There must be no two nodes
with the same node address online.
58.04 Baud rate 19.2 kbps (default) Defines the communication speed of the link.
Use the same setting as in the master station.
58.05 Parity 8 EVEN 1 (default) Selects the parity and stop bit setting. Use the
same setting as in the master station.
58.14 Communication Fault (default) Defines the action taken when a
loss action communication loss is detected.
58.15 Communication Cw / Ref1 / Ref2 Enables/disables communication loss
loss mode (default) monitoring and defines the means for
resetting the counter of the communication
loss delay.
58.16 Communication 3.0 s (default) Defines the timeout limit for the
loss time communication monitoring.
58.17 Transmit delay 0 ms (default) Defines a response delay for the drive.
58.25 Control profile ABB Drives Selects the control profile used by the drive.
(default), See section Basics of the embedded fieldbus
Transparent interface (page 686).
58.26 EFB ref1 type Auto, Transparent, Selects the reference and actual value types.
… … General, Torque, With the Auto setting, the type is selected
58.29 EFB act2 type Speed, Frequency automatically according to the currently active
drive control mode.
58.30 EFB status word Other Defines the source of status word when 58.25
transparent Control profile = Transparent.
source
58.31 EFB act1 Other Defines the source of actual value 1 when
transparent 58.28 EFB act1 type = Transparent or
source General.
58.32 EFB act2 Other Defines the source of actual value 2 when
transparent 58.29 EFB act2 type = Transparent or
source General.
Setting for
fieldbus control
58.33 Addressing eg. Mode 0 Defines the mapping between parameters
mode (default) and holding registers in the 400001…465536
(100…65535) Modbus register range.
58.34 Word order LO-HI (default) Defines the order of the data words in the
Modbus message frame.
58.101 Data I/O 1 For example, the Define the address of the drive parameter
… default settings which the Modbus master accesses when it
58.124 Data I/O 24 (I/Os 1…6 contain reads from or writes to the register address
the control word, corresponding to Modbus In/Out parameters.
the status word, Select the parameters that you want to read
two references and or write through the Modbus I/O words.
two actual values)
RO/DIO control These settings write the incoming data into
word, AO1 data storage parameters 10.99 RO/DIO control
storage, AO2 data word, 13.91 AO1 data storage, 13.92 AO2
storage data storage.
58.06 Communication Refresh settings Validates the settings of the configuration
control parameters.
The new settings will take effect when the drive is powered up the next time, or when
they are validated by parameter 58.06 Communication control.
Setting the drive control parameters

After the embedded fieldbus interface has been set up, check and adjust the drive
control parameters listed in the table below. The Setting for fieldbus control column
gives the value or values to use when the embedded fieldbus signal is the desired
source or destination for that particular drive control signal. The
Function/Information column gives a description of the parameter.
Setting for
fieldbus control
CONTROL COMMAND SOURCE SELECTION

20.01 Ext1 Embedded fieldbus Selects fieldbus as the source for the start
commands and stop commands when EXT1 is selected
as the active control location.
20.06 Ext2 Embedded fieldbus Selects fieldbus as the source for the start
commands and stop commands when EXT2 is selected
as the active control location.
SPEED REFERENCE SELECTION

22.11 Speed ref1 EFB ref1 or EFB ref2 Selects a reference received through the
source embedded fieldbus interface as speed
reference 1.
Setting for
fieldbus control
22.12 Speed ref2 EFB ref1 or EFB ref2 Selects a reference received through the
source embedded fieldbus interface as speed
reference 2.
TORQUE REFERENCE SELECTION

26.11 Torque ref1 EFB ref1 or EFB ref2 Selects a reference received through the
source embedded fieldbus interface as torque
reference 1.
26.12 Torque ref2 EFB ref1 or EFB ref2 Selects a reference received through the
source embedded fieldbus interface as torque
reference 2.
OTHER SELECTIONS
EFB references can be selected as the source at virtually any signal selector parameter by
selecting Other, then either 03.09 EFB reference 1 or 03.10 EFB reference 2.
CONTROL OF RELAY OUTPUTS, ANALOG OUTPUTS AND DIGITAL INPUT/OUTPUTS

10.24 RO1 source RO/DIO control word Connects bit 0 of storage parameter 10.99
bit0 RO/DIO control word to relay output RO1.
11.05 DIO1 function Output (default) Sets the digital input/output to output mode.
11.09 DIO2 function
11.06 DIO1 output RO/DIO control word Connects bit 8 of storage parameter 10.99
source bit8 RO/DIO control word to digital input/output
DIO1.
11.10 DIO2 output RO/DIO control word Connects bit 9 of storage parameter 10.99
source bit9 RO/DIO control word to digital input/output
DIO2.
13.16 AO1 source AO1 data storage Connects storage parameter 13.91 AO1 data
storage to analog output AO1.
13.22 AO2 source AO2 data storage Connects storage parameter 13.92 AO2 data
storage to analog output AO2.
SYSTEM CONTROL INPUTS

96.07 Parameter save Save (reverts to Saves parameter value changes (including
manually Done) those made through fieldbus control) to
permanent memory.
Basics of the embedded fieldbus interface

The cyclic communication between a fieldbus system and the drive consists of 16-bit
data words or 32-bit data words (with the transparent control profiles).
The diagram below illustrates the operation of the embedded fieldbus interface. The
signals transferred in the cyclic communication are explained further below the
diagram.
Fieldbus network
1)
Cyclic communication EFB profile EXT1/2
Start commands
SEL
EFB CW 3)
CW 0
2) 03.09 EFB reference
REF1
1 20.01
REF2 2
03.10 EFB reference 20.06
2
Reference
EFB SW 3) selection
SW 0
2)
ACT1 Actual 1 3)
ACT2 2 Actual 2 3)
58.25
Groups
Data I/O 22/26/28/40 etc.
selection
I/O 1
I/O 2 Reference
selection
I/O 3 Par. 01.01…255.255
…
I/O 24
58.101
…
58.124 Groups
22/26/28/40 etc.
Parameter
Acyclic communication table
1. See also other parameters which can be controlled through fieldbus.

2. Data conversion if parameter 58.25 Control profile is set to ABB Drives. See section About the control
profiles (page 689).
3. If parameter 58.25 Control profile is set to Transparent,
• the sources of the status word and actual values are selected by parameters 58.30…58.32
(otherwise, actual values 1 and 2 are automatically selected according to reference type), and
• the control word is displayed by 06.05 EFB transparent control word.
 Control word and Status word

The Control Word (CW) is a 16-bit or 32-bit packed boolean word. It is the principal
means of controlling the drive from a fieldbus system. The CW is sent by the fieldbus
controller to the drive. By drive parameters, the user selects the EFB CW as the
source of drive control commands (such as start/stop, emergency stop, selection
between external control locations 1/2, or fault reset). The drive switches between its
states according to the bit-coded instructions of the CW.
The fieldbus CW is either written to the drive as it is (see parameter 06.05 EFB
transparent control word), or the data is converted. See section About the control
profiles (page 689).
The fieldbus Status Word (SW) is a 16-bit or 32-bit packed boolean word. It contains
status information from the drive to the fieldbus controller. The drive SW is either
written to the fieldbus SW as it is or the data is converted. See section About the
control profiles (page 689).
 References
EFB references 1 and 2 are 16-bit or 32-bit signed integers. The contents of each
reference word can be used as the source of virtually any signal, such as the speed,
frequency, torque or process reference. In embedded fieldbus communication,
references 1 and 2 are displayed by 03.09 EFB reference 1 and 03.10 EFB reference
2 respectively. Whether the references are scaled or not depends on the settings of
58.26 EFB ref1 type and 58.27 EFB ref2 type. See section About the control profiles
(page 689).
 Actual values
Fieldbus actual signals (ACT1 and ACT2) are 16-bit or 32-bit signed integers. They
convey selected drive parameter values from the drive to the master. Whether the
actual values are scaled or not depends on the settings of 58.28 EFB act1 type and
58.29 EFB act2 type. See section About the control profiles (page 689).
 Data input/outputs
Data input/outputs are 16-bit or 32-bit words containing selected drive parameter
values. Parameters 58.101 Data I/O 1 … 58.124 Data I/O 24 define the addresses
from which the master either reads data (input) or to which it writes data (output).
Control of drive outputs through EFB

The address selection parameters of the data input/outputs have a setting with which
the data can be written into a storage parameter in the drive. These storage
parameters are readily selectable as signal sources of the drive outputs.
The desired values of the relay outputs (RO) and digital input/outputs (DIO) can be
written in a 16-bit word into 10.99 RO/DIO control word, which is then selected as the
source of those outputs. Each of the analog outputs (AO) of the drive have a
dedicated storage parameter (13.91 AO1 data storage and 13.92 AO2 data storage),
which are available in the source selection parameters 13.12 AO1 source and 13.22
AO2 source.
 Register addressing
The address field of Modbus requests for accessing holding registers is 16 bits. This
allows the Modbus protocol to support addressing of 65536 holding registers.
Historically, Modbus master devices used 5-digit decimal addresses from 40001 to
49999 to represent holding register addresses. The 5-digit decimal addressing limited
to 9999 the number of holding registers that could be addressed.
Modern Modbus master devices typically provide a means to access the full range of
65536 Modbus holding registers. One of these methods is to use 6-digit decimal
addresses from 400001 to 465536. This manual uses 6-digit decimal addressing to
represent Modbus holding register addresses.
Modbus master devices that are limited to the 5-digit decimal addressing may still
access registers 400001 to 409999 by using 5-digit decimal addresses 40001 to
49999. Registers 410000 to 465536 are inaccessible to these masters.
Note: Register addresses of 32-bit parameters cannot be accessed by using 5-digit
register numbers.
About the control profiles

A control profile defines the rules for data transfer between the drive and the fieldbus
master, for example:
• if packed boolean words are converted and how
• how drive register addresses are mapped for the fieldbus master.
You can configure the drive to receive and send messages according to the ABB
Drives profile or the Transparent profile. With the ABB Drives profile, the embedded
fieldbus interface of the drive converts the control word and status word to and from
the native data used in the drive. The Transparent profile involves no data
conversion. The figure below illustrates the effect of the profile selection.
Profile selection
Scaling of actual SEL

values and
references
Data conversion 0
Fieldbus Drive
2
58.26…58.29
58.25
Control profile selection with parameter 58.25 Control profile:

• (0) ABB Drives
• (2) Transparent
Note that scaling of references and actual values can be selected independent of the
profile selection by parameters 58.26…58.29.
The ABB Drives profile

 Control Word
The table below shows the contents of the fieldbus Control Word for the ABB Drives
control profile. The embedded fieldbus interface converts this word to the form in
which it is used in the drive. The upper case boldface text refers to the states shown
in State transition diagram on page 693.
Bit Name Value STATE/Description
0 OFF1_ 1 Proceed to READY TO OPERATE.
CONTROL
0 Stop along currently active deceleration ramp. Proceed to
OFF1 ACTIVE; proceed to READY TO SWITCH ON
unless other interlocks (OFF2, OFF3) are active.
1 OFF2_ 1 Continue operation (OFF2 inactive).
CONTROL 0 Emergency OFF, coast to stop.
Proceed to OFF2 ACTIVE, proceed to SWITCH-ON
INHIBITED.
2 OFF3_ 1 Continue operation (OFF3 inactive).
CONTROL
0 Emergency stop, stop within time defined by drive
parameter. Proceed to OFF3 ACTIVE; proceed to
SWITCH-ON INHIBITED.
Warning: Ensure that the motor and driven machine can
be stopped using this stop mode.
3 INHIBIT_ 1 Proceed to OPERATION ENABLED.
OPERATION Notes:
• This bit is used in the crane application for normal stop
sequence and for restarting instead of BIT 0 (Off1
control).
• The run enable signal must be active. If the drive is set
to receive the Run enable signal from the fieldbus, this
bit will activate the signal.
See also parameters 06.18 Start inhibit status word and
06.25 Drive inhibit status word 2.
0 Inhibit operation. Proceed to OPERATION INHIBITED.
4 RAMP_OUT_ 1 Normal operation. Proceed to RAMP FUNCTION
ZERO GENERATOR: OUTPUT ENABLED.
0 Force Ramp Function Generator output to zero. Drive
ramps to stop (current and DC voltage limits in force).
5 RAMP_HOLD 1 Enable ramp function.
Proceed to RAMP FUNCTION GENERATOR:
ACCELERATOR ENABLED.
0 Halt ramping (Ramp Function Generator output held).

6 RAMP_IN_ 1 Normal operation. Proceed to OPERATING.
ZERO Note: This bit is effective only if the fieldbus interface is
set as the source for this signal by drive parameters.
0 Force Ramp Function Generator input to zero.
7 RESET 0=>1 Fault reset if an active fault exists. Proceed to SWITCH-
ON INHIBITED.
Note: This bit is effective only if the fieldbus interface is
set as the source for this signal by drive parameters.
0 Continue normal operation.
8 JOGGING_1 1 Accelerate to jogging 1 reference.
Notes:
• Bits 4…6 must be 0.
0 Jogging 1 disabled.
9 JOGGING_2 1 Accelerate to jogging 2 reference.
See notes at bit 8.
0 Jogging 2 disabled.
10 REMOTE_ 1 Fieldbus control enabled.
CMD 0 Control Word <> 0 or Reference <> 0: Retain last Control
Word and Reference.
Control Word = 0 and Reference = 0: Fieldbus control
enabled. Reference and deceleration/acceleration ramp
are locked.
11 EXT_CTRL_ 1 Select External Control Location EXT2. Effective if the
LOC control location is parameterized to be selected from the
fieldbus.
0 Select External Control Location EXT1. Effective if the
control location is parameterized to be selected from the
fieldbus.
12…15 Reserved
 Status Word
The table below shows the fieldbus Status Word for the ABB Drives control profile.
The embedded fieldbus interface converts the drive Status Word into this form for the
fieldbus. The upper case boldface text refers to the states shown in State transition
0 RDY_ON 1 READY TO SWITCH ON.
0 NOT READY TO SWITCH ON.
1 RDY_RUN 1 READY TO OPERATE.
0 OFF1 ACTIVE.
2 RDY_REF 1 OPERATION ENABLED.
0 OPERATION INHIBITED.
3 TRIPPED 1 FAULT.
0 No fault.
4 OFF_2_STA 1 OFF2 inactive.
0 OFF2 ACTIVE.
5 OFF_3_STA 1 OFF3 inactive.
0 OFF3 ACTIVE.
6 SWC_ON_ 1 SWITCH-ON INHIBITED.
INHIB 0 –
7 ALARM 1 Warning/Alarm.
0 No warning/alarm.
8 AT_ 1 OPERATING. Actual value equals Reference = is within
SETPOINT tolerance limits, i.e. in speed control, speed error is 10%
max. of nominal motor speed.
0 Actual value differs from Reference = is outside tolerance
limits.
9 REMOTE 1 Drive control location: REMOTE (EXT1 or EXT2).
0 Drive control location: LOCAL.
10 ABOVE_ 1 Actual frequency or speed equals or exceeds supervision
LIMIT limit (set by drive parameter). Valid in both directions of
rotation.
0 Actual frequency or speed within supervision limit.
11 USER_0 S
12 EXT_RUN_ 1 External Run enable signal received.
ENABLE
0 No external Run enable signal received.
13…15 Reserved
 State transition diagram

The diagram below shows the state transitions in the drive when the drive is using the
ABB Drives profile, and configured to follow the commands of the control word from
the embedded fieldbus interface. The upper case texts refer to the states which are
used in the tables representing the fieldbus Control and Status words. See sections
Control Word on page 690 and Status Word on page 692.
SWITCH-ON ABB Drives profile

MAINS OFF
INHIBITED (SW Bit6=1)
Power ON (CW Bit0=0)
NOT READY TO
SWITCH ON (SW Bit0=0) CW = Control Word
A B C D
SW = Status Word
n = Speed
I = Input Current
(CW=xxxx x1xx xxxx x110)
RFG = Ramp Function
(CW Bit3=0)
Generator
READY TO f = Frequency
OPERATION SWITCH ON (SW Bit0=1)
INHIBITED (SW Bit2=0)
from any state
operation (CW=xxxx x1xx xxxx x111)
inhibited Fault
READY TO
FAULT (SW Bit3=1)
from any state OPERATE (SW Bit1=1)
OFF1 (CW Bit0=0) (CW Bit7=1)

(CW=xxxx x1xx xxxx 1111
OFF1 and SW Bit12=1)
ACTIVE (SW Bit1=0)
from any state from any state
n(f)=0 / I=0 Emergency Stop Emergency OFF
(CW Bit3=1 OFF3 (CW Bit2=0) OFF2 (CW Bit1=0)
and
SW Bit12=1) OFF3 OFF2
B C D ACTIVE (SW Bit5=0) ACTIVE (SW Bit4=0)
(CW Bit4=0) n(f)=0 / I=0
OPERATION
C D
ENABLED (SW Bit2=1)
A
(CW Bit5=0) (CW=xxxx x1xx xxx1 1111)
D RFG: OUTPUT
ENABLED
B
(CW Bit6=0) (CW=xxxx x1xx xx11 1111)
RFG: ACCELERATOR STATE

ENABLED
C
condition
(CW=xxxx x1xx x111 1111)
OPERATION rising edge

(SW Bit8=1)
D
 References
The ABB drives profile supports the use of two references, EFB reference 1 and EFB
reference 2. The references are 16-bit words each containing a sign bit and a 15-bit
integer. A negative reference is formed by calculating the two’s complement from the
corresponding positive reference.
The references are scaled as defined by parameters 46.01…46.07; which scaling is
in use depends on the setting of 58.26 EFB ref1 type and 58.27 EFB ref2 type (see
page 462).
Fieldbus Drive
46.01 (with speed reference)

20000
46.02 (with frequency reference)
10000 46.03 (with torque reference)

46.04 (with power reference)
0 (with torque or power reference)

0 ±(46.06) (with speed reference)
±(46.07) (with frequency reference)
-(46.03) (with torque reference)

-10000
-(46.04) (with power reference)
-(46.01) (with speed reference)

-20000
-(46.02) (with frequency reference)
The scaled references are shown by parameters 03.09 EFB reference 1 and 03.10
EFB reference 2.
 Actual values
The ABB Drives profile supports the use of two fieldbus actual values, ACT1 and
ACT2. The actual values are 16-bit words each containing a sign bit and a 15-bit
integer. A negative value is formed by calculating the two’s complement from the
corresponding positive value.
The actual values are scaled as defined by parameters 46.01…46.04; which scaling
is in use depends on the setting of parameters 58.28 EFB act1 type and 58.29 EFB
act2 type (see page 462).
Fieldbus Drive

20000
46.03 (with torque reference)

10000
0 0

-10000

-20000
 Modbus holding register addresses

The table below shows the default Modbus holding register addresses for drive data.
This profile provides a converted 16-bit access to the data.
Register address Register data (16-bit words)
400001 Control word. See section Control Word (page 690).
The selection can be changed using parameter 58.101 Data I/O 1.
400002 Reference 1 (REF1).
400003 Reference 2 (REF2).
400004 Status Word (SW). See section Status Word (page 692).
400005 Actual value 1 (ACT1).
400006 Actual value 2 (ACT2).
400007…400024 Data in/out 7…24.
Selected by parameters 58.107 Data I/O 7 … 58.124 Data I/O 24.
400025…400089 Unused
400090…400100 Error code access. See section Error code registers (holding registers
400090…400100) (page 703).
400101…465536 Parameter read/write.
Parameters are mapped to register addresses according to parameter
58.33 Addressing mode.
The Transparent profile

The Transparent profile enables a customizable access to the drive.
The contents of the control word are user-definable. The control word received from
the fieldbus is visible in parameter 06.05 EFB transparent control word, and can be
used to control the drive using pointer parameters and/or application programming.
The status word to be sent to the fieldbus controller is selected by parameter 58.30
EFB status word transparent source. This can be, for example, the user-configurable
status word in 06.50 User status word 1.
The Transparent profile involves no data conversion of the control or status word.
Whether references or actual values are scaled depends on the setting of parameters
58.26…58.29. The references received from the fieldbus are visible in parameters
03.09 EFB reference 1 and 03.10 EFB reference 2.
The Modbus holding register addresses for the Transparent profile are as with the
ABB Drives profile (see page 696).
Modbus function codes

The table below shows the Modbus function codes supported by the embedded
fieldbus interface.
Code Function name Description
01h Read Coils Reads the 0/1 status of coils (0X references).
02h Read Discrete Inputs Reads the 0/1 status of discrete inputs (1X
references).
03h Read Holding Registers Reads the binary contents of holding registers (4X
references).
05h Write Single Coil Forces a single coil (0X reference) to 0 or 1.
06h Write Single Register Writes a single holding register (4X reference).
08h Diagnostics Provides a series of tests for checking the
communication, or for checking various internal error
conditions.
Supported subcodes:
• 00h Return Query Data: Echo/loopback test.
• 01h Restart Comm Option: Restarts and initializes
the EFB, clears communications event counters.
• 04h Force Listen Only Mode
• 0Ah Clear Counters and Diagnostic Register
• 0Bh Return Bus Message Count
• 0Ch Return Bus Comm. Error Count
• 0Dh Return Bus Exception Error Count
• 0Eh Return Slave Message Count
• 0Fh Return Slave No Response Count
• 10h Return Slave NAK (negative acknowledge)
Count
• 11h Return Slave Busy Count
• 12h Return Bus Character Overrun Count
• 14h Clear Overrun Counter and Flag
0Bh Get Comm Event Returns a status word and an event count.
Counter
0Fh Write Multiple Coils Forces a sequence of coils (0X references) to 0 or 1.
10h Write Multiple Registers Writes the contents of a contiguous block of holding
registers (4X references).
16h Mask Write Register Modifies the contents of a 4X register using a
combination of an AND mask, an OR mask, and the
register’s current contents.
17h Read/Write Multiple Writes the contents of a contiguous block of 4X
Registers registers, then reads the contents of another group of
registers (the same or different than those written) in
a server device.
Code Function name Description

2Bh / 0Eh Encapsulated Interface Supported subcodes:
Transport • 0Eh Read Device Identification: Allows reading the
identification and other information.
Supported ID codes (access type):
• 00h: Request to get the basic device identification
(stream access)
• 04h: Request to get one specific identification
object (individual access)
Supported Object IDs:
• 00h: Vendor Name (“ABB”)
• 01h: Product Code (for example, “AINFX”)
• 02h: Major Minor Revision (combination of contents
of parameters 07.05 Firmware version and 58.02
Protocol ID).
• 03h: Vendor URL (“www.abb.com”)
• 04h: Product name (for example, “ACS880”)
Exception codes
The table below shows the Modbus exception codes supported by the embedded
fieldbus interface.
Code Name Description
01h ILLEGAL FUNCTION The function code received in the query is not an
allowable action for the server.
02h ILLEGAL DATA The data address received in the query is not an
ADDRESS allowable address for the server.
03h ILLEGAL DATA VALUE The requested Quantity of Registers is larger than the
drive can handle.
Note: This error does not mean that a value written to
a drive parameter is outside the valid range.
04h SLAVE DEVICE The value written to a drive parameter is outside the
FAILURE valid range. See section Error code registers (holding
registers 400090…400100) on page 703.
06h SLAVE DEVICE BUSY The server is engaged in processing a long-duration
program command.
Coils (0xxxx reference set)

Coils are 1-bit read/write values. Control Word bits are exposed with this data type.
The table below summarizes the Modbus coils (0xxxx reference set).
Reference ABB drives profile Transparent profile
00001 OFF1_CONTROL Control Word bit 0
00004 INHIBIT_OPERATION Control Word bit 3
00005 RAMP_OUT_ZERO Control Word bit 4
00006 RAMP_HOLD Control Word bit 5
00007 RAMP_IN_ZERO Control Word bit 6
00008 RESET Control Word bit 7
00009 JOGGING_1 Control Word bit 8
00010 JOGGING_2 Control Word bit 9
00011 REMOTE_CMD Control Word bit 10
00012 EXT_CTRL_LOC Control Word bit 11
00013 User-defined (0) Control Word bit 12
00017 Reserved Control Word bit 16
00033 Reserved 10.99 RO/DIO control word, bit 0

Discrete inputs (1xxxx reference set)

Discrete inputs are 1-bit read-only values. Status Word bits are exposed with this data
type. The table below summarizes the Modbus discrete inputs (1xxxx reference set).
10001 RDY_ON Status Word bit 0
10002 RDY_RUN Status Word bit 1
10003 RDY_REF Status Word bit 2
10004 TRIPPED Status Word bit 3
10005 OFF_2_STA Status Word bit 4
10006 OFF_3_STA Status Word bit 5
10007 SWC_ON_INHIB Status Word bit 6
10008 ALARM Status Word bit 7
10009 AT_SETPOINT Status Word bit 8
10010 REMOTE Status Word bit 9
10011 ABOVE_LIMIT Status Word bit 10
10012 User-defined (0) Status Word bit 11
10016 Reserved Status Word bit 15

10033 Reserved 10.02 DI delayed status, bit 0
Error code registers (holding registers 400090…400100)

These registers contain information about the last query. The error register is cleared
when a query has finished successfully.
Reference Name Description
89 Reset Error Registers 1 = Reset internal error registers (91…95).
90 Error Function Code Function code of the failed query.
91 Error Code Set when exception code 04h is generated (see table
above).
• 00h No error
• 02h Low/High limit exceeded
• 03h Faulty Index: Unavailable index of an array
parameter
• 05h Incorrect Data Type: Value does not match the
data type of the parameter
• 65h General Error: Undefined error when handling
query
92 Failed Register The last register (discrete input, coil, or holding
register) that failed to be read or written.
93 Last Register Written The last register that was written successfully.
Successfully
94 Last Register Read The last register that was read successfully.
Successfully
Fieldbus control through a fieldbus adapter 705
11
Fieldbus control through a
fieldbus adapter
This chapter describes how the drive can be controlled by external devices over a
communication network (fieldbus) through an optional fieldbus adapter module.
The fieldbus control interface of the drive is described first, followed by a
configuration example.
System overview
The drive can be connected to an external control system through an optional
fieldbus adapter mounted onto the control unit of the drive. The drive actually has two
independent interfaces for fieldbus connection, called “fieldbus adapter A” (FBA A)
and “fieldbus adapter B” (FBA B). The drive can be configured to receive all of its
control information through the fieldbus interface(s), or the control can be distributed
between the fieldbus interface(s) and other available sources such as digital and
analog inputs, depending on how control locations EXT1 and EXT2 are configured.
Note: It is recommended that the FBA B interface is only used for monitoring.
706 Fieldbus control through a fieldbus adapter
Fieldbus adapters are available for various communication systems and protocols, for
example
• CANopen (FCAN-01 adapter)
• ControlNet (FCNA-01 adapter)
• DeviceNet (FDNA-01 adapter)
• EtherCAT® (FECA-01 adapter)
• EtherNet/IPTM (FENA-11 or FENA-21 adapter)
• Modbus/RTU (FSCA-01 adapter)
• Modbus/TCP (FENA-11 or FENA-21 adapter)
• POWERLINK (FEPL-02 adapter)
• PROFIBUS DP (FPBA-01 adapter)
• PROFINET IO (FENA-11 or FENA-21 adapter).
Note: Fielbdbus adapters with suffix “M” (eg. FPBA-01-M) are not supported.
Drive
Fieldbus
controller
Fieldbus
Other
devices
Type Fxxx fieldbus

adapter installed onto
drive control unit (slot
1, 2 or 3)
Data Flow
Control word (CW)
References
Process I/O (cyclic)
Status word (SW)
Actual values
Parameter R/W requests/responses Process I/O (cyclic) or

Service messages (acyclic)
Basics of the fieldbus control interface

The cyclic communication between a fieldbus system and the drive consists of 16- or
32-bit input and output data words. The drive is able to support a maximum of 12 data
words (16 bits) in each direction.
Data transmitted from the drive to the fieldbus controller is defined by parameters
52.01 FBA A data in1 … 52.12 FBA A data in12. The data transmitted from the
fieldbus controller to the drive is defined by parameters 53.01 FBA A data out1 …
53.12 FBA A data out12.
Fieldbus network
1)
Fieldbus adapter FBA Profile
EXT1/2
Start func
DATA Profile
OUT 2) selection
4) FBA MAIN CW
4)
FBA REF1
1
DATA OUT FBA REF2 20.01
2 selection 20.06
Fieldbus-specific interface
3
3)
… Speed/Torque
REF1 sel
12 Par. 10.01…99.99
DATA Profile
IN 2) Group 53
selection
FBA MAIN SW 22.11 / 26.11
5) 5) FBA ACT1 / 26.12
1 FBA ACT2
DATA IN
2 selection Speed/Torque
3 REF2 sel
3)
…
12 Par. 01.01…99.99
Cyclic communication 22.12 / 26.11

Group 52 / 26.12
Acyclic communication
See the manual of the fieldbus Parameter
adapter module. table
1) See also other parameters which can be controlled from fieldbus.

2) The maximum number of used data words is protocol-dependent.
3) Profile/instance selection parameters. Fieldbus module specific parameters. For more
information, see the User’s Manual of the appropriate fieldbus adapter module.
4) With DeviceNet, the control part is transmitted directly.
5) With DeviceNet, the actual value part is transmitted directly.
 Control word and Status word

The Control word is the principal means for controlling the drive from a fieldbus
system. It is sent by the fieldbus master station to the drive through the adapter
module. The drive switches between its states according to the bit-coded instructions
in the Control word, and returns status information to the master in the Status word.
The contents of the Control word and the Status word are detailed on pages 711 and
713 respectively. The drive states are presented in the state diagram (page 714).
Debugging the network words

If parameter 50.12 FBA A debug mode is set to Fast, the Control word received from
the fieldbus is shown by parameter 50.13 FBA A control word, and the Status word
transmitted to the fieldbus network by 50.16 FBA A status word.This “raw” data is
very useful to determine if the fieldbus master is transmitting the correct data before
handing control to the fieldbus network.
 References
References are 16-bit words containing a sign bit and a 15-bit integer. A negative
reference (indicating reversed direction of rotation) is formed by calculating the two’s
complement from the corresponding positive reference.
ABB drives can receive control information from multiple sources including analog
and digital inputs, the drive control panel and a fieldbus adapter module. In order to
have the drive controlled through the fieldbus, the module must be defined as the
source for control information such as reference. This is done using the source
selection parameters in groups 22 Speed reference selection and 26 Torque
reference chain.

If parameter 50.12 FBA A debug mode is set to Fast, the references received from
the fieldbus are displayed by 50.14 FBA A reference 1 and 50.15 FBA A reference 2.
Scaling of references
The references are scaled as defined by parameters 46.01…46.07; which scaling is
in use depends on the setting of 50.04 FBA A ref1 type and 50.05 FBA A ref2 type.
Fieldbus Drive

20000

10000
0 (with torque or power reference)
0 ±(46.06) (with speed reference)
±(46.07) (with frequency reference)

-10000

-20000
The scaled references are shown by parameters 03.05 FB A reference 1 and 03.06
FB A reference 2.
 Actual values
Actual values are 16-bit words containing information on the operation of the drive.
The types of the monitored signals are selected by parameters 50.07 FBA A actual 1
type and 50.08 FBA A actual 2 type.

If parameter 50.12 FBA A debug mode is set to Fast, the actual values sent to the
fieldbus are displayed by 50.17 FBA A actual value 1 and 50.18 FBA A actual value
2.
Scaling of actual values

The actual values are scaled as defined by parameters 46.01…46.04; which scaling
is in use depends on the setting of parameters 50.04 and 50.05.
Fieldbus Drive

20000

10000
0 0

-10000

-20000
 Contents of the fieldbus Control word

The upper case boldface text refers to the states shown in the state diagram (page
714).
0 Off1 control 1 Proceed to READY TO OPERATE.
0 Stop along currently active deceleration ramp. Proceed to
OFF1 ACTIVE; proceed to READY TO SWITCH ON unless
other interlocks (OFF2, OFF3) are active.
1 Off2 control 1 Continue operation (OFF2 inactive).
0 Emergency OFF, coast to a stop.
Proceed to OFF2 ACTIVE, proceed to SWITCH-ON
INHIBITED.
2 Off3 control 1 Continue operation (OFF3 inactive).
0 Emergency stop, stop within time defined by drive
parameter. Proceed to OFF3 ACTIVE; proceed to
SWITCH-ON INHIBITED.
WARNING: Ensure motor and driven machine can
be stopped using this stop mode.
3 Run 1 Proceed to OPERATION ENABLED.
Note:
• This bit is used with the crane application for normal stop
sequence and for restarting instead of BIT 0 (Off1
control).
• The run enable signal must be active. If the drive is set to
receive the Run enable signal from the fieldbus, this bit
activates the signal.
See also parameters 06.18 Start inhibit status word and
06.25 Drive inhibit status word 2.
0 Inhibit operation. Proceed to OPERATION INHIBITED.
4 Ramp out 1 Normal operation. Proceed to RAMP FUNCTION
zero GENERATOR: OUTPUT ENABLED.
0 Force Ramp function generator output to zero. The drive
will immediately decelerate to zero speed (observing the
torque limits).
5 Ramp hold 1 Enable ramp function.
Proceed to RAMP FUNCTION GENERATOR:
ACCELERATOR ENABLED.
0 Halt ramping (Ramp Function Generator output held).
6 Ramp in zero 1 Normal operation. Proceed to OPERATING.
Note: This bit is effective only if the fieldbus interface is set
as the source for this signal by drive parameters.
0 Force Ramp function generator input to zero.

7 Reset 0=>1 Fault reset if an active fault exists. Proceed to SWITCH-ON
INHIBITED.
Note: This bit is effective only if the fieldbus interface is set
as the source of the reset signal by drive parameters.
0 Continue normal operation.
8 Inching 1 1 Accelerate to inching (jogging) s

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0 1 2 3 4 5 6 7 8 9

- SOUND AND LIGHTS ALARMS

Plug + Side: 32 PINS PLUG

WIRING OF POWER BLACK

WIRING OF A. SERVICES BLACK

WIRING OF COMMAND RED

WIRING OF DIGITAL INPUTS BLUE

WIRING OF COIL'S COMMON COMMAND WHITE

NOTE: ALL WIRES LABELED ACCORDING TO DRAWINGS

CABIN + RADIO COMMAND

6 GRAB 51 - 94 BLUG PROGRESSIVE STARTER (TEE)

7 MAGNET 30 - 136 SGM -

TERMINAL BLOCKS: Static cables:

X1: MAIN DISTRIBUTION (A. SERVICES) Power: H07RNF ROUND

X2: MAIN LIFTING Command:

X10: BOX ON THE TROLLEY (FIX PART) Command:

Connection note: All wire connecting with terminals

2 GENERAL INFORMATION 08/11/2016

3 INDICE DE PAGINAS 03/02/2017

3.a INDICE DE PAGINAS 03/02/2017

3.b INDICE DE PAGINAS 03/02/2017

3.c INDICE DE PAGINAS 03/02/2017

3.d INDICE DE PAGINAS 03/02/2017

50 FRONT PLATE 03/02/2017

100 POWER SUPPLY 03/02/2017

101 AUXILIARY SERVICES TRANSFORMER 09/11/2016

102 AUXILIARY SERVICES 03/02/2017

103 AUXILIARY SERVICES 03/02/2017

104 AUXILIARY SERVICES 03/02/2017

107 AUXILIARY SERVICES 03/02/2017

108 AUXILIARY SERVICES 08/11/2016

109 COMMAND CIRCUIT TRASFORMER 03/02/2017

110 MAIN DISTRIBUTION (EMERGENCY STOPS) 03/02/2017

111 MAIN DISTRIBUTION 13/12/2016

112 MAIN DISTIBUTION (GENERAL CONTACTOR) 03/02/2017

113 GENERAL (SIGNALLING CIRCUIT) 06/12/2016

114 GENERAL (24VDC DISTRIBUTION) 03/02/2017

115 GENERAL (24VDC DISTRIBUTION) 08/11/2016

117 MAIN DISTRIBUTION (PLC) 08/11/2016

118 MAIN DISTRIBUTION (SWITCH ETHERNET) 08/11/2016

119 MAIN DISTRIBUTION (MODEM 3G INTERNET) 08/11/2016

120 MAIN DISTRIBUTION (TOUCH PANEL) 23/11/2016

121 MAIN DISTRIBUTION (CABIN SLAVE I/O) 23/11/2016

125 MAIN DISTRIBUTION (INPUTS PLC)) 28/11/2016

126 MAIN DISTRIBUTION (CABIN PLC INPUTS) 13/12/2016

127 MAIN DISTRIBUTION (PLC OUTPUTS) 06/12/2016

200 LIFTING (POWER) 23/11/2016

201 MAIN LIFTING DRUM REELS 06/12/2016

202 OVERLOAD SWITCH MAIN HOIST 13/12/2016

203 LIFTING (DRIVE CONTROL) 06/12/2016

204 LIFTING (DRIVE CONTROL) 20/12/2016

205 THERMICAL SENSORS PTC MAIN HOIST 14/11/2016

206 HOIST (CONTROL) 20/12/2016

207 HOIST (CONTROL) 06/12/2016

210 RADIO CONTROL AND CABIN MAIN HOIST 20/12/2016

400 LONG TRAVEL (POWER) 06/12/2016

402 LONG TRAVEL (DRIVE COMMAND) 13/12/2016

403 LONG TRAVEL (DRIVE COMMAND) 13/12/2016

404 THERMICAL SENSORS PTC LONG TRAVEL 08/11/2016

405 LONG TRAVEL (COMMAND) 13/12/2016

406 LONG TRAVEL (COMMAND) 05/01/2017

410 LONG TRAVEL (RADIO AND CABIN) 13/12/2016

500 CROSS TRAVEL (POWER) 31/01/2017