Manual Aquamaster Atobá

6454742-B-000
SERIAL LINK I/O ALARM INDICATIONS
SERIAL LINK I/O ALARM INDICATIONS
Running indication
Each SLIO board status is indicated by Running LED indication.
• Status ok indicated by green light.
• Failure status indicated by red light.
CAN bus indication

Each SLIO board status is indicated by CAN Status LED indication.
• Status sending/transmitting indicated by green light.
• Failure status indicated by red light.
• If no light is active the status is idle.
Alarm indications
Each channel on SLIO board are equipped with LED indications.
If LED …
• is not light then channel is not active.
• light is Green then channel is active and operation is normal.
• light is Red then Channel has failure.
Rev. Date Drawn Checked Approv. Changed pages Description

0 15 Mar. 00 JASA New document.
B 27 Feb. 06 JESO New layout.
Page 1 ( 1 ) 6454742-B-000 U
TUNING INSTRUCTION WORK NO. 514-F172
1. GENERAL ARRANGEMENT OF NODES.....................................................................4
2. PROJECT DATA ...........................................................................................................5

2.1. Prime mover data ...........................................................................................................................5
3. BCU UNITS ...................................................................................................................6

3.1. BCU7888.01.....................................................................................................................................6
3.1.1. 1A4 GATEWAY UNIT ........................................................................................................6
3.2. BCU7894.01.....................................................................................................................................6
3.2.1. 2A4 GATEWAY UNIT ........................................................................................................6
4. BSU7874.05 (CS1) ........................................................................................................7

4.1. AQM1 SLIO units ............................................................................................................................7
4.1.1. Converter UG10.................................................................................................................8
4.2. AQM2 SLIO units ............................................................................................................................9
4.2.1. Converter UG10...............................................................................................................10
5. BSU8396.02 (CS2) ......................................................................................................11

5.1. AQM1 SLIO units ..........................................................................................................................11
5.2. AQM2 SLIO units ..........................................................................................................................12
6. EIU8489.01 ..................................................................................................................13
6.1. AQM1 SLIO units ..........................................................................................................................13
6.1.1. Converters UG1-UG8 ......................................................................................................13
6.2. AQM2 SLIO units ..........................................................................................................................14
6.2.1. Converters UG1-UG8 ......................................................................................................14
7. ACUFE22 FOR AQM1.................................................................................................15

7.1. SLIO units .....................................................................................................................................15
7.2. Converter UG15 ............................................................................................................................16
7.3. A2 Gateway unit ...........................................................................................................................16

A 23.04.2007 YRMI TAOJ JAJA New document.
B 31.03.2008 AASU ESKO JAJA 4 Update ACU programs
C 11.03.2009 AKHA TUPE JAPA 4 Applications updated.
Page 1 ( 33 ) 6459381-C-000 U
7.4. CanOpen converter COC.............................................................................................................17
8. ACUFE22 FOR AQM2.................................................................................................18

8.1. SLIO units .....................................................................................................................................18
8.2. Converter UG15 ............................................................................................................................19
8.3. A2 Gateway unit ...........................................................................................................................19
8.4. CanOpen converter COC.............................................................................................................20
9. THRUST DIRECTION INDICATOR (TDI)....................................................................21

9.1. Angle display ................................................................................................................................21
9.2. RPM display ..................................................................................................................................21
10. BRIDGE CONTROL UNIT TUNING ............................................................................22

10.1. Port side unit (1A3) ......................................................................................................................22
10.1.1. Node power “ON” waiting time.........................................................................................22
10.1.2. Aquapilot tuning ...............................................................................................................22
10.1.3. Aquapilot thrust tuning .....................................................................................................22
10.1.4. Touch alarm and Autopilot override.................................................................................23
10.1.5. Aquapilot dimmer tuning ..................................................................................................23
10.1.6. DP and joystick control ....................................................................................................23
10.1.7. Steering control................................................................................................................23
10.2. Stbd side unit (2A3)......................................................................................................................24
10.2.1. Node power “ON” waiting time.........................................................................................24
10.2.2. Aquapilot tuning ...............................................................................................................24
10.2.3. Aquapilot thrust tuning .....................................................................................................24
10.2.4. Touch alarm and Autopilot override.................................................................................25
10.2.5. Aquapilot dimmer tuning ..................................................................................................25
10.2.6. DP and joystick control ....................................................................................................25
10.2.7. Steering control................................................................................................................25
11. FOLLOW-UP CONTROL OF AQUAPILOTS ..............................................................26

11.1.1. Common parameters .......................................................................................................26
11.1.2. Adjusting the RPM follow-up............................................................................................26
11.1.3. Adjusting the steering follow-up.......................................................................................26
12. AQUAMASTER CONTROL UNIT TUNING.................................................................27

12.1. Pitch combinator settings ...........................................................................................................27
12.2. Aquamaster Control Unit (ACU) Port side .................................................................................30
12.2.1. Remote Control Tuning....................................................................................................30
12.2.2. Pitch remote control turning.............................................................................................30
Page 2 ( 33 ) 6459381-C-000 U
12.2.3. Local control tuning..........................................................................................................30

12.2.4. Steering feedback tuning .................................................................................................30
12.2.5. Pitch feedback tuning ......................................................................................................31
12.2.6. PM Load curve tuning ......................................................................................................31
12.2.7. PM load measurement tuning..........................................................................................31
12.3. Aquamaster Control Unit (ACU) Stbd side ................................................................................32
12.3.1. Remote Control Tuning....................................................................................................32
12.3.2. Pitch remote control turning.............................................................................................32
12.3.3. Local control tuning..........................................................................................................32
12.3.4. Steering feedback tuning .................................................................................................32
12.3.5. Pitch feedback tuning ......................................................................................................33
12.3.6. PM Load curve tuning ......................................................................................................33
12.3.7. PM load measurement tuning..........................................................................................33
Page 3 ( 33 ) 6459381-C-000 U
1. General arrangement of nodes
General arrangement of nodes
BRIDGE
1A3 2A3
PORT NODE STBD NODE
ID: 41 ID: 42
NAME: BCU1 NAME: BCU2
APPL: 3450032-B-205 APPL: 3450033-B-205
A1 A1
AQM1 NODE AQM2 NODE
ID: 11 ID: 12
NAME: ACU011 NAME: ACU012
APPL: 3450045-G-041 APPL: 3450046-G-041
Software version, node name and node identification
Page 4 ( 33 ) 6459381-C-000 U
2. Project data
2.1. Prime mover data

Full rpm: 1789 constant
Prime mover load curve & Fuel rack measurements
Speed / Speed Output / Fuel Load Load Load
rpm /% kW Rack % measure measure
position / mA /%
1789 100 1500 100
Page 5 ( 33 ) 6459381-C-000 U
3. BCU units
3.1. BCU7888.01
3.1.1. 1A4 GATEWAY UNIT

Mode Switch
Setting MS1-1 MS1-2 MS1-3 MS1-4

On X X X
Off X
Identification number setting.

• ID = 1871
NOTE! Mode Switch 1-4 On then enter the ID number via HHT
connection with HHT or PC terminal program.
3.2. BCU7894.01
3.2.1. 2A4 GATEWAY UNIT

Mode Switch

On X X X
Off X

• ID = 1872
Page 6 ( 33 ) 6459381-C-000 U
4. BSU7874.05 (CS1)
4.1. AQM1 SLIO units
SLIO type: 02 SLIO nro: 0 SLIO ID: 1A30 Port
Signal name Calibration points

Connector
channel (*
Channel
Value of
Value of
process
Input or
Type of
In / Out
Output.
signal.
Pin
XP7 1 0 In A7 AQP1-POT-X Max 1 Connect 13 to 15 (A50.x)

Zero 0 Connect 13 to 10 (A50.x)
Min -1 Connect 13 to 16 (A50.x)
2 1 In A7 AQP1-POT-Y Max 1 Connect 14 to 15 (A50.x)
3 2 In A7 AQP1-THR Max 1 AQP full ahead (+100 %).
Zero 0 AQP zero-position ( 0%)
Min -1 AQP full astern (-100 %).
4 3 Out A8 DIM1-SET Max 1 10 V
Zero
Min 0 0V
5 4 Out A8 DIM=SET Max 1 10 V
Zero
Min 0 0V
6 5 Max
Zero
Min
7 6 Out A8 A11-M1-S Max 1 10 V
Zero 0 0V
Min -1 -10 V
8 7 Out A8 A11-M2-S Max 1 10 V
Zero 0 0V
Min -1 -10 V
*) Type of the channels: A7 = 0.5 V – 4.5 V

A8 = +/- 10 V
Page 7 ( 33 ) 6459381-C-000 U
Calibration points
Signal name
Connector
channel (*
Channel
Value of
Value of
process
Input or
Type of
In / Out
Output.
signal.
Pin
XP7 1 0 Max
Zero
Min
2 1 In A3 AUPI-RQ Max 1 20 mA
Zero 0 12 mA
Min -1 4 mA
3 2 Max
Zero
Min
4 3 Max
Zero
Min
5 4 Max
Zero
Min
6 5 Max
Zero
Min
7 6 Max
Zero
Min
8 7 Max
Zero
Min
*) Type of the channels: A3 = 4-20 mA passive
4.1.1. Converter UG10

Type: MCR-C-U/I-10B/4-DCI
Input: -10…+10 V
Output: 4…20 mA
Page 8 ( 33 ) 6459381-C-000 U
SLIO type: 02 SLIO nro: 0 SLIO ID: 2A30 Stbd
Calibration points
Signal name
Connector
channel (*
Channel
Value of
Value of
process
Input or
Type of
Output.
In / Out
signal.
Pin

Zero
Min 0 0V
Zero
Min 0 0V
6 5 Max
Zero
Min
7 6 Out A8 A11-M1-S Max 1 10 V
Zero 0 0V
Min -1 -10 V
8 7 Out A8 A11-M2-S Max 1 10 V
Zero 0 0V
Min -1 -10 V

A8 = +/- 10 V
Page 9 ( 33 ) 6459381-C-000 U
Calibration points
Signal name
Connector
channel (*
Channel
Value of
Value of
process
Input or
Type of
In / Out
Output.
signal.
Pin
XP7 1 0 Max
Zero
Min
2 1 In A3 AUPI-RQ Max 1 20 mA
Zero 0 12 mA
Min -1 4 mA
3 2 Max
Zero
Min
4 3 Max
Zero
Min
5 4 Max
Zero
Min
6 5 Max
Zero
Min
7 6 Max
Zero
Min
8 7 Max
Zero
Min
*) Type of the channels: A3 = 4-20 mA passive
4.2.1. Converter UG10

Type: MCR-C-U/I-10B/4-DCI
Input: -10…+10 V
Output: 4…20 mA
Page 10 ( 33 ) 6459381-C-000 U
5. BSU8396.02 (CS2)

Connector
channel (*
Channel
Value of
Value of
process
Input or
Type of
In / Out
Output.
signal.
Pin

Zero
Min 0 0V
Zero
Min 0 0V
6 5 In A9 SUP-IN Max supply Value of supply voltage. For
voltage example 23.50
Zero 0 0V
Min
7 6 Out A8 A12-M1-S Max 1 10 V
Zero 0 0V
Min -1 -10 V
8 7 Out A8 A12-M2-S Max 1 10 V
Zero 0 0V
Min -1 -10 V

A8 = +/- 10 V
A9 = +/- 10 V
Page 11 ( 33 ) 6459381-C-000 U
Calibration points
Signal name
Connector
channel (*
Channel
Value of
Value of
process
Input or
Type of
Output.
In / Out
signal.
Pin

Zero
Min 0 0V
Zero
Min 0 0V
voltage example 23.50
Zero 0 0V
Min
7 6 Out A8 A12-M1-S Max 1 10 V
Zero 0 0V
Min -1 -10 V
8 7 Out A8 A12-M2-S Max 1 10 V
Zero 0 0V
Min -1 -10 V

A8 = +/- 10 V
A9 = +/- 10 V
Page 12 ( 33 ) 6459381-C-000 U
6. EIU8489.01
SLIO type: 02 SLIO nro: 9 SLIO ID: 1A3.9 Port

Connector
channel (*
Channel
Value of
Value of
process
Input or
Type of
In / Out
Output.
signal.
Pin
XP7 1 0 In A3 DP1-RQ Max 1 20 mA

Zero 0 12 mA
Min -1 4 mA
2 1 In A3 JOY-RQ Max 1 20 mA
Zero 0 12 mA
Min -1 4 mA
3 2 In A3 DP-THR Max 1 20 mA
Zero 0 12 mA
Min -1 4 mA
4 3 In A3 JOY-THR Max 1 20 mA
Zero 0 12 mA
Min -1 4 mA
5 4 Out A4 ACT-FII-DP Max 1 20 mA
Zero 0 12 mA
Min -1 4 mA
6 5 Out A4 ACT-FII-JO Max 1 20 mA
Zero 0 12 mA
Min -1 4 mA
7 6 Out A4 ACT-THR-DP Max 1 20 mA
Zero
Min 0 4 mA
8 7 Out A4 ACT-THR-JO Max 1 20 mA
Zero
Min 0 4 mA
*) Type of the channels: A3 = 4-20mA passive

A4 = 4-20mA active
6.1.1. Converters UG1-UG8

Type: MCR-C-UI/UI-DCI- 0-20 mA / 0-20 mA
Input: 0 – 20 mA
Output: 0 – 20 mA
Page 13 ( 33 ) 6459381-C-000 U
SLIO type: 02 SLIO nro: 9 SLIO ID: 2A3.9 Stbd
Calibration points
Signal name
Connector
channel (*
Channel
Value of
Value of
process
Input or
Type of
In / Out
Output.
signal.
Pin
XP7 1 0 In A3 DP1-RQ Max 1 20 mA

Zero 0 12 mA
Min -1 4 mA
2 1 In A3 JOY-RQ Max 1 20 mA
Zero 0 12 mA
Min -1 4 mA
3 2 In A3 DP-THR Max 1 20 mA
Zero 0 12 mA
Min -1 4 mA
4 3 In A3 JOY-THR Max 1 20 mA
Zero 0 12 mA
Min -1 4 mA
5 4 Out A4 ACT-FII-DP Max 1 20 mA
Zero 0 12 mA
Min -1 4 mA
6 5 Out A4 ACT-FII-JO Max 1 20 mA
Zero 0 12 mA
Min -1 4 mA
7 6 Out A4 ACT-THR-DP Max 1 20 mA
Zero
Min 0 4 mA
8 7 Out A4 ACT-THR-JO Max 1 20 mA
Zero
Min 0 4 mA
*) Type of the channels: A3 = 4-20mA passive

A4 = 4-20mA active
6.2.1. Converters UG1-UG8

Input: 0 – 20 mA
Output: 0 – 20 mA
Page 14 ( 33 ) 6459381-C-000 U
7. ACUfe22 for AQM1
7.1. SLIO units
SLIO type: 02 SLIO nro: 0 SLIO ID: A1.0 Port

Connector
channel (*
Channel
Value of
Value of
process
Input or
Type of
In / Out
Output.
signal.
Pin
XP7 1 0 Max
Zero
Min
2 1 Max
Zero
Min
voltage example 23.50.
Zero
Min 0 0V
4 3 Max
Zero
Min
5 4 Max
Zero
Min
6 5 Max
Zero
Min
7 6 In A3 FPS-IN Max 1.0 Max. fuel rack position
Zero
Min 0.0 Min. fuel rack position
8 7 In A7 CP-RAW Max 1.0 Max.piston positive machinal
limit
Zero
Min 0.0 Max. piston negative machinal
limit

A9 = +/- 10 V
A3 = 4-20mA passive
Page 15 ( 33 ) 6459381-C-000 U
7.2. Converter UG15

Input: 0 – 20 mA
Output: 0 – 20 mA
7.3. A2 Gateway unit

Mode Switch

On X X X
Off X

• ID = 1851
Page 16 ( 33 ) 6459381-C-000 U
7.4. CanOpen converter COC

Settings for CanOpen corverter
GatewaySettings
Gateway Node ID 1881
NMT Period 10
CANOpen speed 0
CanMan -> CanOpen

MsgId NodeId PdoId ScaleFactor
1011 1 6 1
1012 1 8 1
1015 2 6 1
1016 2 8 1
CanOpen -> CanMan

NodeId PdoId PdoField CanManMsgId ScaleFactor
1 5 1 1013 1
1 5 2 1014 1
2 5 1 1017 1
2 5 2 1018 1
Switches
ON OFF
SW1 X
SW2 X
SW3 X
SW4 X
There is separate users guide Canman to CanOpen gateway. If you do not

have that please ask it from technical support of Aquamaster service.
Page 17 ( 33 ) 6459381-C-000 U
8. ACUfe22 for AQM2
8.1. SLIO units
SLIO type: 02 SLIO nro: 0 SLIO ID: A1.0 Stbd

Connector
channel (*
Channel
Value of
Value of
process
Input or
Type of
In / Out
Output.
signal.
Pin
XP7 1 0 Max
Zero
Min
2 1 Max
Zero
Min
voltage example 23.50.
Zero
Min 0 0V
4 3 Max
Zero
Min
5 4 Max
Zero
Min
6 5 Max
Zero
Min
7 6 In A3 FPS-IN Max 1.0 Max. fuel rack position
Zero
Min 0.0 Min. fuel rack position
8 7 In A7 CP-RAW Max 1.0 Max.piston positive machinal
limit
Zero
Min 0.0 Max. piston negative machinal
limit

A9 = +/- 10 V
A3 = 4-20mA passive
Page 18 ( 33 ) 6459381-C-000 U
8.2. Converter UG15

Input: 0 – 20 mA
Output: 0 – 20 mA
8.3. A2 Gateway unit

Mode Switch

On X X X
Off X

• ID = 1852
Page 19 ( 33 ) 6459381-C-000 U
8.4. CanOpen converter COC
Settings for CanOpen corverter
GatewaySettings
Gateway Node ID 1882
NMT Period 10
CANOpen speed 0
CanMan -> CanOpen

MsgId NodeId PdoId ScaleFactor
1021 1 6 1
1022 1 8 1
1025 2 6 1
1026 2 8 1
CanOpen -> CanMan

NodeId PdoId PdoField CanManMsgId ScaleFactor
1 5 1 1023 1
1 5 2 1024 1
2 5 1 1027 1
2 5 2 1028 1
Switches
ON OFF
SW1 X
SW2 X
SW3 X
SW4 X
There is separate users guide Canman to CanOpen gateway. If you do not

have that please ask it from technical support of Aquamaster service.
Page 20 ( 33 ) 6459381-C-000 U
9. Thrust direction indicator (TDI)
9.1. Angle display
Setting SW1-1 SW1-2 SW1-3 SW1-4 SW1-5 SW1-6 SW1-7 SW1-8

On X X X X X
Off X X X
9.2. RPM display
RPM of PM 1789 RPM

Gear ratio 7,087
RPM of prop. 252,4 RPM
puls / rev. 20 kpl
RPM S5,S6,S7 = 236 2,3,6
Pitch +Max S1,S2 = 26 2,6

Pitch -Max S3,S4 = 13 1,3
CS1 AQM1
RPM of prop. 100 %
RPM-display rpm
LED-display %
CS1 AQM2
RPM of prop. 100 %
RPM-display rpm
LED-display %
CS2 AQM1
RPM of prop. 100 %
RPM-display rpm
LED-display %
CS2 AQM2
RPM of prop. 100 %
RPM-display rpm
LED-display %
Page 21 ( 33 ) 6459381-C-000 U
10. Bridge control unit tuning
10.1. Port side unit (1A3)

CCN Unit ID 41
10.1.1. Node power “ON” waiting time

• Process: SUPERVIS
• Parameter PONTIME
Take time from node power “ON” until node running led is green. Time on
seconds + 10 = PONTIME.
10.1.2. Aquapilot tuning

• Process: CS1 & CS2
• parameter AQP1-P-ZER (AQP2-P-ZER) (zero offset correction)
• Set the parameter to be the same as AQP1-FIIZ (AQP2-FIIZ) when
Aquapilot control levers are at 0º-position.
CS1 CS2
AQP1-P-ZER
AQP2-P-ZER
• Table AQP1-COR-T (AQP2-COR-T) (unlinearity correction)

• Set the table to correspond Aquapilot control lever position. Turn
Aquapilot 45 degrees and set the next value and so on ( 360º )
CS1 CS2
Y(n) X(n) X(n)
Degree AQP1-FIIZ AQP2-FIIZ
45º
90º
135º
180º
225º
270º
315º
10.1.3. Aquapilot thrust tuning

• Table AQP1-THR-T (AQP2-THR-T) (thrust request curve)
• Set X(0) = -2 and Y(0) = -1
• Set X(1) = -1 and Y(1) = -1
• Set X(2) = -0.02 and Y(2) = 0
Page 22 ( 33 ) 6459381-C-000 U
• Set X(3) = 0.02 and Y(3) = 0

• Set X(4) = 1 and Y(4) = 1
• Set X(5) = 2 and Y(5) = 1
10.1.4. Touch alarm and Autopilot override

• Set parameter *DIS-AP-EN = ON
• Set parameter *TAU-EN = ON
10.1.5. Aquapilot dimmer tuning

• Set parameter *NETDIM-EN = OFF
10.1.6. DP and joystick control

• Process LOGICAL
• Parameters *DP-IN-C and *JOY-IN-C (DP in command, joystick in
command)
• Set parameter *DP-IN-C = ON
• Set parameter *JOY-IN-C = ON
• Parameters *JOY-PAR and *DP-PARAM (Joystick / DP
deactivation is enabled only, when the AQP lever is in upright
position)
• Set parameters *JOY-PAR and *DP-PARAM = ON
10.1.7. Steering control

• Process COMMAND
• Parameter *SIDESEL stands for side selection for steering
calculations
• ON = PORT, OFF = STBD
• Set parameter *SIDESEL = ON for AQM1
Page 23 ( 33 ) 6459381-C-000 U
10.2. Stbd side unit (2A3)

CCN Unit ID 42
10.2.1. Node power “ON” waiting time

• Process: SUPERVIS
• Parameter PONTIME
Take time from node power “ON” until node running led is green. Time on
seconds + 10 = PONTIME.
10.2.2. Aquapilot tuning

• parameter AQP1-P-ZER (AQP2-P-ZER) (zero offset correction)
• Set the parameter to be the same as AQP1-FIIZ (AQP2-FIIZ) when
Aquapilot control levers are at 0º-position.
CS1 CS2
AQP1-P-ZER
AQP2-P-ZER
• Table AQP1-COR-T (AQP2-COR-T) (unlinearity correction)

• Set the table to correspond Aquapilot control lever position. Turn
Aquapilot 45 degrees and set the next value and so on ( 360º )
CS1 CS2
Y(n) X(n) X(n)
Degree AQP1-FIIZ AQP2-FIIZ
45º
90º
135º
180º
225º
270º
315º
10.2.3. Aquapilot thrust tuning

• Table AQP1-THR-T (AQP2-THR-T) (thrust request curve)
• Set X(0) = -2 and Y(0) = -1
• Set X(1) = -1 and Y(1) = -1
• Set X(2) = -0.02 and Y(2) = 0
• Set X(3) = 0.02 and Y(3) = 0
Page 24 ( 33 ) 6459381-C-000 U
• Set X(4) = 1 and Y(4) = 1

• Set X(5) = 2 and Y(5) = 1
10.2.4. Touch alarm and Autopilot override

• Set parameter *DIS-AP-EN = ON
• Set parameter *TAU-EN = ON
10.2.5. Aquapilot dimmer tuning

• Set parameter *NETDIM-EN = ON
10.2.6. DP and joystick control

• Process LOGICAL
• Parameters *DP-IN-C and *JOY-IN-C (DP in command, joystick in
command)
• Set parameter *DP-IN-C = ON
• Set parameter *JOY-IN-C = ON
• Parameters *JOY-PAR and *DP-PARAM (Joystick / DP
deactivation is enabled only, when the AQP lever is in upright
position)
• Set parameters *JOY-PAR and *DP-PARAM = ON
10.2.7. Steering control

• Process COMMAND
• Parameter *SIDESEL stands for side selection for steering
calculations
• ON = PORT, OFF = STBD
• Set parameter *SIDESEL = OFF for AQM2
Page 25 ( 33 ) 6459381-C-000 U
11. Follow-up control of Aquapilots
11.1.1. Common parameters

Aquapilot follow-up can be enabled by parameter *FU-ENABLE
• Set parameter *FU-ENABLE = ON
All Aquapilots have own parameters, marked -1 and -2
Common parameters have an effect on both follow-up controls (RPM and
steering).
• Minimum command level is controlled by parameter MIN+CMD (limits
0.300..0.700)
• Maximum control speed is controlled by parameter FU-SPEED
• Command signal ramp time is set by parameter CMD-RAMP
• Delayed follow-up control delay is set by parameter FU-W-TIME (limits
0.00 ..30s, 0.00s correspond continuous follow-up control)
11.1.2. Adjusting the RPM follow-up

• Accuracy of rpm follow-up control is determined by parameter DZ-R-S
(limits 0.02…0.10 corresponding 2%…10% of the full scale)
• Accuracy of delayed rpm follow-up control is determined by parameter
DZ-R-L (limits 0.10…0.30 corresponding 10%…30% of the full scale)
• Follow-up command gain is set by parameter RPM-GAIN (limits 0.1 …
1.00)
11.1.3. Adjusting the steering follow-up

• Accuracy of steering follow-up control is determined by parameter DZ-
S (limits 1…10 degrees)
• Accuracy of delayed steering follow-up control is determined by
parameter DZ-L (limits 10-90 degrees)
• Follow-up command gain is set by parameter STE-GAIN (limits 0.1 …
1.00)
• The difference in set and actual value in which the maximum steering
speed is achieved, is set by parameter MAX+STE
• Maximum follow-up angle difference is set by parameter FU-ANGLE
Page 26 ( 33 ) 6459381-C-000 U
12. Aquamaster Control Unit Tuning
12.1. Pitch combinator settings

• Process COMMAND
• Set Tables Mx-PIT (x=combinator mode number) according to
factory setting combinator curves.
• Set parameters *Mx-LOAD according to mode spesific settings.
• Mode 1. AQP control

M1-PIT
X(n) Y(n)
-1,00 -1,00
-0,30 -0,70
0,00 0,00
0,10 0,21
0,25 0,39
0,40 0,52
0,55 0,64
0,80 0,80
0,90 0,90
1,00 1,00
2,00 1,00
*M1-LOAD = ON
• Mode 2. DP control
M2-PIT
X(n) Y(n)
-1,00 -1,00
-0,30 -0,70
0,00 0,00
0,10 0,21
0,25 0,39
0,40 0,52
0,55 0,64
0,80 0,80
0,90 0,90
1,00 1,00
2,00 1,00
*M2-LOAD = ON
Page 27 ( 33 ) 6459381-C-000 U
Mode 3. Joystick control

M3-PIT
X(n) Y(n)
-1,00 -1,00
-0,30 -0,70
0,00 0,00
0,10 0,21
0,25 0,39
0,40 0,52
0,55 0,64
0,80 0,80
0,90 0,90
1,00 1,00
2,00 1,00
*M3-LOAD = ON
• Tables SLOW-PIT (set pitch angle to pre-adjusted value in

slowdown situation)
SLOW-PIT
X(n) Y(n)
-1,00 -0,50
0,00 0,00
1,00 0,50
2,00 0,50
Page 28 ( 33 ) 6459381-C-000 U
• Tables SHUT-PIT (set pitch angle to zero position in shutdown

situation)
SHUT-PIT
X(n) Y(n)
-1,00 0,00
0,00 0,00
1,00 0,00
2,00 0,00
Page 29 ( 33 ) 6459381-C-000 U
12.2. Aquamaster Control Unit (ACU) Port side

CCN Unit (A1) ID 11
12.2.1. Remote Control Tuning

• Process TURNCONT
• Table SPEED-T (Turning speed)
• The minimum turning speed command is set by Y0 (default 0.3)
• The maximum turning speed command is set by Y1 (default 1.0)
12.2.2. Pitch remote control turning

• Process PITCHCON
• Time from –100% to 100% = 7s (0.5 º/s ±10%)
• Set maximum POSITIVE pitch angle speed by setting the
PWM-P-MAX
• Set maximum NEGATIVE pitch angle speed by setting the
PWM-N-MAX
• Set minimum POSITIVE pitch angle speed by setting the
PWM-P-MIN so that there is no overshoot and desired set
value is reached.
• Set minimum NEGATIVE pitch angle speed by setting the
PWM-N-MIN so that there is no overshoot and desired set
value is reached.
12.2.3. Local control tuning

• Parameter LOCAL-POS (Local control Pitch positive direction)
• Set parameter value for positive direction pitch movement
in local control so that movement of pitch can be controlled.
• Parameter LOCAL-NEG (Local control Pitch negative direction)
• Set parameter value for negative direction pitch movement
NOTE! Non follow-up pitch control (local / back-up) has to be set

half speed from follow-up speed. Time from –100% to
100% = 15s
12.2.4. Steering feedback tuning

• Process FEEDBACK
• See description of the ATC-T zero setting from service manual
Page 30 ( 33 ) 6459381-C-000 U
12.2.5. Pitch feedback tuning

• Read the value of CP-RAW signal when pitch (Blade angle) is set
to the 25,5° and set parameter CP-FB-MAX to that value.
to the 0,0° and set parameter CP-FB-ZERO to that value.
to the –12,5° and set parameter CP-FB-MIN to that value.
12.2.6. PM Load curve tuning

• Process LOADCON
• Set Table LOAD-CRV according to table specified in section 2.1
Prime mover data.
X(n) Y(n)
PM-RPM% Max. load %
-10 0
0 0
100 100
110 100
12.2.7. PM load measurement tuning

• Process LOADCON
• Set Table FPS-CRV according to table specified in section 2.1
Prime mover data
X(n) Y(n)
FPS-MEAS FPS %
-1,0 0,0
0,0 0,0
0,9 1,0
1,0 1,1
2,0 1,1
Page 31 ( 33 ) 6459381-C-000 U
12.3. Aquamaster Control Unit (ACU) Stbd side

CCN Unit (A1) ID 12
12.3.1. Remote Control Tuning

• Process TURNCONT
• Table SPEED-T (Turning speed)
• The minimum turning speed command is set by Y0 (default 0.3)
• The maximum turning speed command is set by Y1 (default 1.0)
12.3.2. Pitch remote control turning

• Time from –100% to 100% = 7s (0.5 º/s ±10%)
• Set maximum POSITIVE pitch angle speed by setting the
PWM-P-MAX
• Set maximum NEGATIVE pitch angle speed by setting the
PWM-N-MAX
• Set minimum POSITIVE pitch angle speed by setting the
PWM-P-MIN so that there is no overshoot and desired set
value is reached.
• Set minimum NEGATIVE pitch angle speed by setting the
PWM-N-MIN so that there is no overshoot and desired set
value is reached.
12.3.3. Local control tuning

• Parameter LOCAL-POS (Local control Pitch positive direction)
• Set parameter value for positive direction pitch movement
• Parameter LOCAL-NEG (Local control Pitch negative direction)
• Set parameter value for negative direction pitch movement
NOTE! Non follow-up pitch control (local / back-up) has to be set

half speed from follow-up speed. Time from –100% to
100% = 15s
12.3.4. Steering feedback tuning

• See description of the ATC-T zero setting from service manual
Page 32 ( 33 ) 6459381-C-000 U
12.3.5. Pitch feedback tuning

to the 25,5° and set parameter CP-FB-MAX to that value.
to the 0,0° and set parameter CP-FB-ZERO to that value.
to the –12,5° and set parameter CP-FB-MIN to that value.
12.3.6. PM Load curve tuning

• Process LOADCON
• Set Table LOAD-CRV according to table specified in section 2.1
Prime mover data.
X(n) Y(n)
PM-RPM% Max. load %
-10 0
0 0
100 100
110 100
12.3.7. PM load measurement tuning

• Process LOADCON
• Set Table FPS-CRV according to table specified in section 2.1
Prime mover data
X(n) Y(n)
FPS-MEAS FPS %
-1,0 0,0
0,0 0,0
0,9 1,0
1,1 1,1
2,0 1,1
Page 33 ( 33 ) 6459381-C-000 U
Fault Tracing Instruction (ESU)
1. Failure tracing
Code Fault Possible cause To correct malfunction

1 Overcurrent Frequency converter has detected Check loading.
too high a current (>4*IH) in the Check motor.
motor cable: Check cables.
− sudden heavy load increase
− short circuit in motor cables
− unsuitable motor
2 Overvoltage The DC-link voltage has exceeded Make the deceleration time longer. Use
the limits defined in Table 4-7. brake chopper or brake resistor
− too short a deceleration time (available as options)
− high overvoltage spikes in supply
3 Earth fault Current measurement has detected Check motor cables and motor.
that the sum of motor phase current
is not zero.
− insulation failure in cables or
motor
5 Charging The charging switch is open, when Reset the fault and restart.
switch the START command has been Should the fault re-occur, contact RR
given. Service.
− faulty operation
− component failure
6 Emergency Stop signal has been given from

stop the option board.
7 Saturation trip Various causes: Cannot be reset from the keypad.

− defective component Switch off power.
− brake resistor short-circuit or DO NOT RE-CONNECT POWER!
overload Contact factory.
If this fault appears simultaneously with
Fault 1, check motor cables and motor

A 1.10.2007 Mars TuPe IiLi New document
B 17.1.2007 IiLi AKHA TUPE 5 Added Application Specific Alarms
Page 1 ( 8 ) 6459838-B-000 U
8 System fault - component failure Reset the fault and restart.

- faulty operation Should the fault re-occur, contact RR
Note exceptional fault data record, Service.
see
7.3.4.3.
S1 = Feedback of motor voltage
S2 = Reserved
S3 = Reserved
S4 = ASIC trip
S5 = Disturbance in VaconBus
S6 = Feedback of charging switch
S7 = Charging switch
S8 = No power to driver card
S9 = Power unit communication
(TX)
S10 = Power unit communication
(Trip)
S11 = Power unit comm.
(Measurement)
9 Undervoltage DC-link voltage is under the voltage In case of temporary supply voltage
limits defined in Table 4-7. break reset the fault and restart
− most probable cause: too low a the frequency converter. Check the
supply voltage supply voltage. If it is adequate, an
− frequency converter internal fault internal failure has occurred.
Contact RR Service.
10 Input line Input line phase is missing. Check supply voltage and cable.
supervision
11 Output phase Current measurement has detected Check motor cable and motor.
supervision that there is no current in one motor
phase.
12 Brake chopper − no brake resistor installed Check brake resistor.

supervision − brake resistor is broken If the resistor is ok, the chopper is faulty.
− brake chopper failure Contact RR Service.
13 Frequency Heatsink temperature is under –

converter 10°C
undertemperatur
e
14 Frequency Heatsink temperature is over 90°C Check the correct amount and flow of
converter (or 77ºC, NX_6, FR6). cooling air.
overtemperature Overtemperature warning is issued Check the heatsink for dust.
when the heatsink temperature Check the ambient temperature.
exceeds 85°C (72ºC). Make sure that the switching frequency
is not too high in relation to ambient
temperature and motor load.
15 Motor stalled Motor stall protection has tripped. Check motor.
Page 2 ( 8 ) 6459838-B-000 U
16 Motor Motor overheating has been Decrease the motor load.

overtemperature detected by frequency converter If no motor overload exists, check the
motor temperature model. Motor is temperature model parameters.
overloaded.
17 Motor Motor underload protection has

underload tripped.
22 EEPROM Parameter save fault

checksum fault − faulty operation
− component failure
24 Counter fault Values displayed on counters are

incorrect
25 Microprocessor − faulty operation Reset the fault and restart.

watchdog fault − component failure Should the fault re-occur, contact RR
Service.
26 Start-up Start-up of the drive has been Cancel prevention of start-up.

prevented prevented.
29 Thermistor The thermistor input of option board Check motor cooling and loading
fault has detected increase of the motor Check thermistor connection
temperature (If thermistor input of the option board is
not in use it has to be short circuited)
31 IGBT IGBT Inverter Bridge Check loading.

temperature overtemperature protection has Check motor size.
(hardware) detected too high a short term
overload current
32 Fan cooling Cooling fan of the frequency Contact RR Service.

converter does not start, when ON
command is given
34 CAN bus Sent message not acknowledged. Ensure that there is another device on
communication the bus with the same configuration.
35 Application Problem in application software Contact your distributor. If you are

application programmer check the
application program.
36 Control unit NXS Control Unit can not control Change control unit
NXP Power Unit and vice versa
37 Device changed Option board or control unit Reset

(same type) changed. Note: No fault time data record!
Same type of board or same power
rating of drive.
38 Device added Option board or drive added. Reset

(same type) Drive of same power rating or same Note: No fault time data record!
type of board added.
Page 3 ( 8 ) 6459838-B-000 U
39 Device removed Option board removed. Reset

Drive removed. Note: No fault time data record!
40 Device unknown Unknown option board or drive. Contact RR Service.
41 IGBT IGBT Inverter Bridge Check loading.

temperature overtemperature Check motor size.
protection has detected too high a
short term overload current
42 Brake resistor Brake resistor overtemperature Set the deceleration time longer.
overtemperature protection has detected too heavy Use external brake resistor.
braking
43 Encoder fault Note the exceptional Fault data Check encoder channel connections.
record. Check the encoder board.
See 7.3.4.3. Additional codes:
1 = Encoder 1 channel A is missing
2 = Encoder 1 channel B is missing
3 = Both encoder 1 channels are
missing
4 = Encoder reversed
44 Device changed Option board or control unit Reset

(different type) changed. Note: No fault time data record!
Option board of different type or Note: Application parameter values
different power rating of drive. restored to default.
45 Device added Option board or drive added. Reset

(different type) Option board of different type or Note: No fault time data record!
drive of different power rating Note: Application parameter values
added. restored to default.
50 Analogue input Current at the analogue input is < Check the current loop circuitry.
Iin < 4mA (sel. 4mA.
signal range 4 − control cable is broken or loose
to 20 mA) − signal source has failed
51 External fault Digital input fault.
52 Keypad The connection between the control Check keypad connection and possible
communication keypad and the frequency keypad cable.
fault converter is broken.
53 Fieldbus fault The data connection between the Check installation.

fieldbus Master and the fieldbus If installation is correct contact RR
board is broken Service.
54 Slot fault Defective option board or slot Check board and slot.
Contact RR Service.
Page 4 ( 8 ) 6459838-B-000 U
57 Identification Identification run has failed Run command was removed before
completion of id-run.
Motor is not connected.
There is load on motor shaft.
60 S-bus fault SystemBus connection is broken Check optical fibre cable.

between Master and Slave. Check option board parameters.
62 CanOpen fault Toggle bit is missing. Check cabling and option board.
63 Encoder fault Application based speed error fault. Check encoder channel connections.
Actual speed doesn’t follow Check the encoder board
reference value.
64 Analogue input Current at the analogue input of the Check the current loop circuitry.
Iin < 4mA slave is < 4mA.
2. I/O channels describtion
2.1. Control board

The control board is connected to the power unit through a D-connector (1) or
fibre optic cables (FR9):
2.2. Option cards

Board slots on the control board:
Page 5 ( 8 ) 6459838-B-000 U
2.2.1. Slot A : NXOPTA1
Terminal Technical Information

+10 Vref Reference voltage Maximum current 10 mA
1
AI1+ Analogue input, Selection V or mA with jumper block X1:
2
voltage or current Default: 0– +10V (Ri = 200 kΩ)
(-10V…..+10V Joystick control,
selected with a jumper)
0– 20mA (Ri = 250 Ω)
GND/AI1– Analogue input common Differential input if not connected to ground;
3
Allows ±20V differential mode voltage to GND
AI2+ Analogue input, Selection V or mA with jumper block X2:
4
voltage or current Default: 0– 20mA (Ri = 250 Ω)
0– +10V (Ri = 200 kΩ)
GND/AI2– Analogue input common Differential input if not connected to ground;
5
24 Vout 24V auxiliary voltage ±15%, maximum current 250mA (all boards
6
(bidirectional) total);150mA (from single board); Can also be used
as external power backup for the control unit (and
fieldbus)
GND I/O ground Ground for reference and controls

7
DIN1 Digital input 1
8 Ri = min. 5kΩ
DIN2 Digital input 2 18…30V = "1"
9
Page 6 ( 8 ) 6459838-B-000 U

10
CMA Digital input common A Must be connected to GND or 24V of I/O terminal
11
for or to external 24V or GND
DIN1, DIN2 and DIN3. Selection with jumper block X3
24 Vout 24V auxiliary voltage Same as terminal #6
12
(bidirectional)
GND I/O ground Same as terminal #7
13
14
DIN5 Digital input 5 Ri = min. 5kΩ
15 18…30V = "1"
16
CMB Digital input common B Must be connected to GND or 24V of I/O terminal
17
for or to external 24V or GND
DIN4, DIN5 and DIN6 Selection with jumper block X3
AO1+ Analogue signal Output signal range:
18
(+output) Current 0(4)–20mA, RL max 500Ω or
AO1– Analogue output Voltage 0—10V, RL >1kΩ
19
common Selection with jumper block X6
DO1 Open collector output Maximum Uin = 48VDC
20
Maximum current = 50 mA
2.2.2. Slot B : NXOPTA3
Terminal Signal Technical Information

RO1/1 Relay output 1 Switching capacity 24VDC/8A
21
250VAC/8A
RO1/2 125VDC/0.4A
22
Min.switching load 5V/10mA
RO1/3
23
RO2/1 Switching capacity 24VDC/8A
25 Relay output 2
250VAC/8A
RO2/2 125VDC/0.4A
26
TI1+ Thermistor input
28
TI1–
29
2.2.3. Slot C : NXOPTA5

DIC1A+ Pulse input A (differential); Voltage range
1
10…24V
Page 7 ( 8 ) 6459838-B-000 U
DIC1A–
2
DIC2B+ Pulse input B; phase shift of 90 degrees
3
compared to Pulse input A (differential); Voltage
range 10…24V
DIC2B–
4
DIC3Z+ Pulse input Z; one pulse per revolution
5
(differential);
Voltage range 10…24V
DIC3Z–
6
ENC1Q Reserved for future use
7
DIC4 Reserved for future use
8
GND Ground for control and inputs ENC1Q and DIC4
9
+15V/+24V Control voltage (auxiliary voltage) output to
10
encoder;
Output voltage selectable with jumper X4.
2.2.4. Slot D : NXOPTD2

H1 System Bus optical input 1 (RX1)
1
H2 System Bus optical output 1/2 (TX1/TX2);
2
Selected with jumper X5
CAN_L Monitor Bus negative data
21
CAN_H Monitor Bus positive data
22
CAN_SHIELD Monitor Bus shield
23
2.2.5. Slot E : NXOPTC6

CAN_GND Ground / 0V / V-
1
CAN_L CAN_L bus line (dominant low)
2
(CAN_SHLD) Optional CAN shield
3
CAN_H CAN_H bus line (dominant high)
4
(CAN_V+)
5
Page 8 ( 8 ) 6459838-B-000 U
Control I/O Connections for Frequency Converter

CONTENTS
1. I/O CHANNELS DESCRIBTION....................................................................................2

1.1. Control board..................................................................................................................................2
1.2. Option cards ...................................................................................................................................2

A 30.07.2007 MARS IILI TUPE All Initial Issue
Page 1 ( 5 ) 6460070-A-000 U
1. I/O channels describtion
1.1. Control board

The control board is connected to the power unit through a D-connector (1) or fibre optic cables
(FR9):
1.2. Option cards

Board slots on the control board:
Page 2 ( 5 ) 6460070-A-000 U
Terminal Signal Description

1 +10 Reference voltage Maximum current 10 mA
Vref
2 AI1+ Analogue input, voltage or current Selection V or mA with jumper block X1:
Default: 0– +10V (Ri = 200 kΩ)
0– 20mA (Ri = 250 Ω)
3 GND/ Analogue input common Differential input if not connected to ground;
AI1–
4 AI2+ Analogue input, voltage or current Selection V or mA with jumper block X2:
Default: 0– 20mA (Ri = 250 Ω)
0– +10V (Ri = 200 kΩ)
5 GND/ Analogue input common Differential input if not connected to ground;
AI2– Allows ±20V differential mode voltage to GND
6 24 24V auxiliary voltage ±15%, maximum current 250mA (all boards
Vout total);150mA (from single board); Can also be
(bidirec used as external power backup for the control
tional) unit (and fieldbus)
7 GND I/O ground Ground for reference and controls
8 DIN1 Digital input 1
9 DIN2 Digital input 2 Ri = min. 5kΩ

18…30V = "1"
11 CMA Digital input common A for Must be connected to GND or 24V of I/O
DIN1, DIN2 and DIN3. terminal or to external 24V or GND
Selection with jumper block X3
12 24 24V auxiliary voltage Same as terminal #6
Vout
(bidirec
tional)
13 GND I/O ground Same as terminal #7
15 DIN5 Digital input 5 Ri = min. 5kΩ

18…30V = "1"
17 CMB Digital input common B for Must be connected to GND or 24V of I/O
DIN4, DIN5 and DIN6 terminal or to external 24V or GND
18 AO1+ Analogue signal (+output) Output signal range:
Current 0(4)–20mA, RL max 500Ω or
AO1– Analogue output common Voltage 0—10V, RL >1kΩ
19
20 DO1 Open collector output Maximum Uin = 48VDC
Maximum current = 50 mA
SLOT A : NXOPTA1
Page 3 ( 5 ) 6460070-A-000 U
Terminal Signal Description

21 RO1/1 Relay output 1 Switching capacity 24VDC/8A
250VAC/8A
22 RO1/2 125VDC/0.4A
Min.switching load 5V/10Ma
23 RO1/3
25 RO2/1 Relay output 2 Switching capacity 24VDC/8A
250VAC/8A
26 RO2/2 125VDC/0.4A
28 TI1+ Thermistor input
29 TI1–
SLOT B: NXOPTA3
Terminal Description
1 DIC1A+ Pulse input A (differential); Voltage
range 10…24V
2 DIC1A–
3 DIC2B+ Pulse input B; phase shift of 90 degrees

compared to Pulse input A (differential);
Voltage range 10…24V
4 DIC2B–
5 DIC3Z+ Pulse input Z; one pulse per revolution

(differential); Voltage range 10…24V
6 DIC3Z–
7 ENC1Q Reserved for future use
8 DIC4 Reserved for future use
9 GND Ground for control and inputs ENC1Q

and DIC4
10 +15V/ Control voltage (auxiliary voltage) output
+24V to encoder;
Output voltage selectable with jumper
X4.
SLOT C : NXOPTA5
Page 4 ( 5 ) 6460070-A-000 U
1 H1 System Bus optical input 1 (RX1)
2 H2 System Bus optical output 1/2

(TX1/TX2);
Selected with jumper X5
21 CAN_L Monitor Bus negative data
22 CAN_H Monitor Bus positive data
23 CAN_SHIELD Monitor Bus shield
SLOT D : NXOPTD2
1 CAN_GND Ground / 0V / V-
2 CAN_L CAN_L bus line (dominant low)

3 (CAN_SHLD) Optional CAN shield
4 CAN_H CAN_H bus line (dominant high)
5 (CAN_V+)
SLOT E : NXOPTC6
Page 5 ( 5 ) 6460070-A-000 U
MONITORING VALUES - FREQUENCY CONVERTER
MONITORING VALUES OF NXP FREQUENCY

CONVERTER
Num. Monitoring value Unit Description

V1.1 Output frequency Hz Frequency to the motor
V1.2 Frequency reference Hz
V1.3 Motor speed rpm Calculated motor speed
V1.4 Motor current A Measured motor current
V1.5 Motor torque % Calculated motor shaft torque
V1.6 Motor power % Calculated motor shaft power
V1.7 Motor voltage V Calculated motor voltage
V1.8 DC-link voltage V Measured DC-link voltage
V1.9 Unit temperature °C Heat sink temperature
V1.10 Motor temperature % Calculated motor temperature. See All in One
application manual.
V1.11 Voltage input V AI1
V1.12 Current input mA AI2
V1.13 DIN1, DIN2, DIN3 Digital input statuses
V1.14 DIN4, DIN5, DIN6 Digital input statuses
V1.15 DO1, RO1, RO2 Digital and relay output statuses
V1.16 Analogue output mA AO1
V1.17 Multimonitoring items Display three selectable monitoring values. See
chapter 7.3.6.5.

A 30 Jul. 07 MARS TUPE IILI All Initial issue
Page 1 ( 1 ) 6460072-A-000 U
Operation Panel User's Guide

CONTENTS
1. CONTROL KEYPAD .....................................................................................................2

1.1. Indications on the Keypad display ...............................................................................................2
1.1.1. Drive status indications ......................................................................................................3
1.1.2. Control place indications....................................................................................................3
1.1.3. Status LEDs (green – green – red)....................................................................................3
1.1.4. Text lines............................................................................................................................4
1.2. Keypad push-buttons ....................................................................................................................4
1.2.1. Button descriptions ............................................................................................................4
1.3. Navigation on the control keypad ................................................................................................5
1.3.1. Monitoring menu (M1)........................................................................................................7
1.3.2. Parameter menu (M2)........................................................................................................7
1.3.3. Keypad control menu (M3) ................................................................................................7
1.3.4. Active faults menu (M4) .....................................................................................................7
1.3.5. Fault history menu (M5) .....................................................................................................8
1.3.6. System menu (M6).............................................................................................................8
1.3.7. Expander board menu (M7) ...............................................................................................9

A 31.07.2007 IILI Initial Issue
Page 1 ( 9 )
1. Control Keypad
The control keypad is the link between the Vacon frequency converter and the
user. The Vacon NX control keypad features an alphanumeric display with
seven indicators for the Run status (RUN, , READY, STOP, ALARM,
FAULT) and three indicators for the control place (I/O term/
Keypad/BusComm). There are also three Status Indicator LEDs (green -
green - red), see Status LEDs (green – green – red) below.
The control information, i.e. the number of menu, description of menu or the
displayed value and the numeric information are presented on three text lines.
The frequency converter is operable through the nine push-buttons of the
control keypad. Furthermore, the buttons serve the purposes of parameter
setting and value monitoring.
The keypad is detachable and isolated from the input line potential.
1.1. Indications on the Keypad display
1 2 3 4 5 6
RUN STOP READY ALARM FAULT
• I/O term Keypad Bus/Comm
•• a b c
•••
run
ready fault
I II II
Figure 1 - Vacon control keypad and drive status indications
Page 2 ( 9 )
1.1.1. Drive status indications

The drive status indications tell the user what the status of the motor and the
drive is and whether the motor control software has detected irregularities in
motor or frequency converter functions.
RUN = Motor is running; Blinks when the stop command has been given but
1 the frequency is still ramping down.
2
= Indicates the direction of motor rotation.
3 STOP = Indicates that the drive is not running.
READY = Lights when AC power is on. In case of a trip, the symbol will
4 not light up.
ALARM = Indicates that the drive is running outside a certain limit and a
5 warning is given.
6 FAULT = Indicates that unsafe operating conditions were encountered

due to which the drive was stopped.
1.1.2. Control place indications

The symbols I/O term, Keypad and Bus/Comm (see Figure 1) indicate the
choice of control place made in the Keypad control menu (M3) (see chapter
see chapter 1.3.3).
a I/O term= I/O terminals are the selected control place; i.e.
START/STOP commands or reference values etc. are given
through the I/O terminals.
b Keypad = Control keypad is the selected control place; i.e. the motor
can be started or stopped, or its reference values etc. altered
from the keypad.
c Bus/Comm= The frequency converter is controlled through a fieldbus.
1.1.3. Status LEDs (green – green – red)

The status LEDs light up in connection with the READY, RUN and FAULT
drive status indicators.
I = Illuminates with the AC power connected to the drive and no faults

are active. Simultaneously, the drive status indicator READY is lit up.
II = Illuminates when the drive is running. Blinks when the STOP button
has been pushed and the drive is ramping down.
II = Blinks when unsafe operating conditions were encountered due to

which the drive was stopped (Fault Trip). Simultaneously, the drive
status indicator FAULT blinks on the display and the fault description
can be seen, see chapter Error! Reference source not found.,
Active Faults.
Page 3 ( 9 )
1.1.4. Text lines

The three text lines (•, ••, •••) provide the user with information on his present
location in the keypad menu structure as well as with information related to the
operation of the drive.
•= Location indication; displays the symbol and number of menu,

parameter etc.
Example: M2 = Menu 2 (Parameters); P2.1.3 = Acceleration time
•• = Description line; Displays the description of menu, value or fault.

••• = Value line; Displays the numerical and textual values of references,
parameters etc. and the number of submenus available in each menu.
1.2. Keypad push-buttons

The Vacon alphanumeric control keypad features 9 push-buttons that are
used for the control of the frequency converter (and motor), parameter setting
and value monitoring.
Figure 2 - Keypad push-buttons
1.2.1. Button descriptions

= This button is used to reset active faults.
= This button is used to switch between two latest displays. May be

useful when you want to see how the changed new value influences
some other value.
= The Enter button serves for:

1) confirmation of selections
2) fault history reset (2…3 seconds)
= Browser button up
Browse the main menu and the pages of different submenus.
Edit values.
= Browser button down
Browse the main menu and the pages of different submenus.
Page 4 ( 9 )
Edit values.
= Menu button left
Move backward in menu.
Move cursor left (in parameter menu).
Exit edit mode.
Hold down for 3 seconds to return to main menu.
= Menu button right
Move forward in menu.
Move cursor right (in parameter menu).
Enter edit mode.
= Start button.
Pressing this button starts the motor if the keypad is the active
control place. See Chapter 1.3.3.
= Stop button.
Not used in RR Oy Ab Applications
1.3. Navigation on the control keypad

The data on the control keypad are arranged in menus and submenus. The
menus are used for example for the display and editing of measurement and
control signals, parameter settings, reference values and fault displays.
Through the menus, you can also adjust the contrast of the display.
RUN READY
Location Local
Description
Monitor
Number of items
available; Item value V1V14
The first menu level consists of menus M1 to M7 and is called the Main menu.
The user can navigate in the main menu using the Browser buttons up and
down. The desired submenu can be entered from the main menu using the
Menu buttons. When there still are pages to enter under the currently
displayed menu or page, you can see an arrow ( ) in the lower right corner of
the display and by pressing the Menu button right, you can reach the next
menu level.
The control keypad navigation chart is shown on the next page. Please note
that the menu M1 is located in the lower left corner. From there you will be
able to navigate your way up to the desired menu using the menu and browser
buttons.
More detailed descriptions of the menus you will find later in this Chapter.
Page 5 ( 9 )
RE ADY R EADY R EADY

I / Ot e r m I / O te rm I/ O t e r m
Expander boards A:NXOPTA1 Parameters

G1G5 G 1 G 1 P 1 P 3
S TO P R EADY S TO P R EADY
I /O t e rm I /O t e rm
e n te r Change
System Menu Language value
S 1 S 9 E n g lis h Brows e
RE ADY RE ADY R E ADY

I /O t e rm I /O t e rm I/ O t e r m
Fault history 11 Output phase Operation days

H 1 H3 T 1 T 7 17
S TO P FAULT S TO P FAULT S TO P FAULT

I /O t e rm I /O t e r m I /O t e r m
Active faults o r: 11 Output phase Operation days

F0 F T 1 T 7 17
ST OP R EADY ST OP R EADY
I /O t e r m I /O t e rm
e n te r
Keypad control Control Place

P 1 P 3 I/O Te r m in a l Brows e Cvhaalnugee
R EADY R EADY R E ADY

I /O t e r m I /O t e r m L oc a l
e n te r
Parameters Basic parameters Min Frequency
G 1 G 9 P 1 P 15 1 3 .9 5 H z Brows e Cvhaalnugee
RU N R EADY R UN RE ADY
I /O t e r m I / O t e rm
Monitor Output frequency

V1 V1 5 1 3 . 9 5 Hz
Figure 3 - Keypad navigation chart
Page 6 ( 9 )
1.3.1. Monitoring menu (M1)

You can enter the Monitoring menu from the Main menu by pushing the Menu
button right when the location indication M1 is visible on the first line of the
display.
The monitored signals carry the indication V#.# and they are listed in
Monitoring Values of Frequency Converter document. The values are updated
once every 0.3 seconds.
This menu is meant only for signal checking.
1.3.2. Parameter menu (M2)

Parameters are the way of conveying the commands of the user to the
frequency converter. The parameter values can be edited by entering the
Parameter Menu from the Main Menu when the location indication M2 is
visible on the first line of the display.
Push the Menu button right once to move into the Parameter Group Menu
(G#). Locate the parameter group desired by using the Browser buttons and
push the Menu button right again to enter the group and its parameters. Use
again the Browser buttons to find the parameter (P#) you want to edit. From
here you can proceed in two different ways: Pushing the Menu button right
takes you to the edit mode. As a sign of this, the parameter value starts to
blink. You can now change the value in two different manners:
The value will not change unless the Enter button is pushed. Pressing the
Menu button left takes you back to the previous menu.
You can return to the Main menu anytime by pressing the Menu button left for
3 seconds.
Note! The parameter change is only to be done by Rolls-Royce

service personnel.
1.3.3. Keypad control menu (M3)

This is function is not in use in Rolls.-Royce Oy Ab applications.
1.3.4. Active faults menu (M4)

The Active faults menu can be entered from the Main menu by pushing the
Menu button right when the location indication M4 is visible on the first line of
the keypad display.
When a fault brings the frequency converter to a stop, the location indication
F1, the fault code, a short description of the fault and the fault type symbol
will appear on the display. In addition, the indication FAULT or ALARM (see
Figure 1) is displayed and, in case of a FAULT, the red led on the keypad
starts to blink. If several faults occur simultaneously, the list of active faults
can be browsed with the Browser buttons.
The memory of active faults can store the maximum of 10 faults in the order of
appearance. The display can be cleared with the Reset button and the read-
out will return to the same state it was before the fault trip. The fault remains
Page 7 ( 9 )
active until it is cleared with the Reset button or with a reset signal from the I/O
terminal or fieldbus.
Fault type symbol Meaning

This type of fault is a sign of an unusual
operating condition. It does not cause the drive
A (Alarm) to stop, nor does it require any special actions.
The 'A fault' remains in the display for about 30
seconds.
An 'F fault' is a kind of fault that makes the
F (Fault) drive stop. Actions need to be taken in order to
restart the drive.
If an 'AR fault' occurs the drive will also
stop immediately. The fault is reset
automatically and the drive tries to restart
AR (Fault Autoreset)
the motor. Finally, if the restart is not
successful, a fault trip (FT, see below)
occurs.
If the drive is unable to restart the motor
after an AR fault an FT fault occurs. The
FT (Fault Trip)
effect of the 'FT fault' is basically the same
as that of the F fault: the drive is stopped.
Table 1 – Fault Types
1.3.5. Fault history menu (M5)

The Fault history menu can be entered from the Main menu by pushing the
Menu button right when the location indication M5 is visible on the first line of
the keypad display.
All faults are stored in the Fault history menu in which you can browse through
them using the Browser buttons. You can return to the previous menu anytime
by pushing the Menu button left.
The memory of the frequency converter can store a maximum of 30 faults in
the order of appearance. The number of faults currently in the fault history is
shown on the value line of the main page (H1 H#). The order of the faults is
indicated by the location indication in the upper left corner of the display. The
latest fault carries the indication F5.1, the second latest F5.2 etc. If there are
30 uncleared faults in the memory the next occurring fault will erase the oldest
from the memory.
Pressing the Enter button for about 2 to 3 seconds resets the whole fault
history. Then, the symbol H# will change to 0.
1.3.6. System menu (M6)

The System menu can be entered from the main menu by pushing the Menu
button right when the location indication M6 is visible on the display.
The controls associated with the general use of the frequency converter, such
as application selection, customised parameter sets or information about the
Page 8 ( 9 )
hardware and software are located under the System menu. The number of
submenus and subpages is shown with the symbol S (or P) on the value line.
1.3.7. Expander board menu (M7)

The Expander board menu makes it possible for the user
1) to see what expander boards are connected to the control board and
2) to reach and edit the parameters associated with the expander board.
Enter the following menu level (G#) with the Menu button right. At this level,
you can browse through slots A to E with the Browser buttons to see what
expander boards are connected. On the lowermost line of the display you also
see the number of parameters associated with the board. You can view and
edit the parameter values in the same way as described in chapter 1.3.2.
Note! The parameter change is only to be done by Rolls-Royce

service personnel.
Page 9 ( 9 )
COMANDO LIEBRA
ACIONAMENTO APOS
BLACKOUT (3seg)
TEMPORIZADOR PARA
REENERGIZAR EM
CASO DE BLACKOUT
LIGA / DESLIGA
PASSADIÇO
LIGA / DESLIGA
LOCAL

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6454742-B-000

SERIAL LINK I/O ALARM INDICATIONS

SERIAL LINK I/O ALARM INDICATIONS

CAN bus indication

Rev. Date Drawn Checked Approv. Changed pages Description

TUNING INSTRUCTION WORK NO. 514-F172

1. GENERAL ARRANGEMENT OF NODES.....................................................................4

2. PROJECT DATA ...........................................................................................................5

3. BCU UNITS ...................................................................................................................6

4. BSU7874.05 (CS1) ........................................................................................................7

5. BSU8396.02 (CS2) ......................................................................................................11

7. ACUFE22 FOR AQM1.................................................................................................15

Rev. Date Drawn Checked Approv. Changed pages Description

7.4. CanOpen converter COC.............................................................................................................17

8. ACUFE22 FOR AQM2.................................................................................................18

9. THRUST DIRECTION INDICATOR (TDI)....................................................................21

10. BRIDGE CONTROL UNIT TUNING ............................................................................22

11. FOLLOW-UP CONTROL OF AQUAPILOTS ..............................................................26

12. AQUAMASTER CONTROL UNIT TUNING.................................................................27

12.2.3. Local control tuning..........................................................................................................30

1. General arrangement of nodes

General arrangement of nodes

Software version, node name and node identification

2.1. Prime mover data

3.1.1. 1A4 GATEWAY UNIT

Setting MS1-1 MS1-2 MS1-3 MS1-4

Identification number setting.

3.2.1. 2A4 GATEWAY UNIT

Setting MS1-1 MS1-2 MS1-3 MS1-4

Identification number setting.

4.1. AQM1 SLIO units

SLIO type: 02 SLIO nro: 0 SLIO ID: 1A30 Port

Signal name Calibration points

XP7 1 0 In A7 AQP1-POT-X Max 1 Connect 13 to 15 (A50.x)

*) Type of the channels: A7 = 0.5 V – 4.5 V

SLIO type: 02 SLIO nro: 1 SLIO ID: 1A31 Port

*) Type of the channels: A3 = 4-20 mA passive

4.1.1. Converter UG10

4.2. AQM2 SLIO units

SLIO type: 02 SLIO nro: 0 SLIO ID: 2A30 Stbd

XP7 1 0 In A7 AQP1-POT-X Max 1 Connect 13 to 15 (A50.x)

*) Type of the channels: A7 = 0.5 V – 4.5 V

SLIO type: 02 SLIO nro: 1 SLIO ID: 2A31 Stbd

*) Type of the channels: A3 = 4-20 mA passive

4.2.1. Converter UG10

5.1. AQM1 SLIO units

SLIO type: 02 SLIO nro: 2 SLIO ID: 1A32 Port

Signal name Calibration points

XP7 1 0 In A7 AQP2-POT-X Max 1 Connect 13 to 15 (A50.x)

*) Type of the channels: A7 = 0.5 V – 4.5 V

5.2. AQM2 SLIO units

SLIO type: 02 SLIO nro: 2 SLIO ID: 2A32 Stbd

XP7 1 0 In A7 AQP2-POT-X Max 1 Connect 13 to 15 (A50.x)

*) Type of the channels: A7 = 0.5 V – 4.5 V

6.1. AQM1 SLIO units

SLIO type: 02 SLIO nro: 9 SLIO ID: 1A3.9 Port

Signal name Calibration points

XP7 1 0 In A3 DP1-RQ Max 1 20 mA

*) Type of the channels: A3 = 4-20mA passive

6.1.1. Converters UG1-UG8

6.2. AQM2 SLIO units

SLIO type: 02 SLIO nro: 9 SLIO ID: 2A3.9 Stbd

XP7 1 0 In A3 DP1-RQ Max 1 20 mA