Professional Documents
Culture Documents
Acs 800-104 Inverter FW
Acs 800-104 Inverter FW
Firmware Manual
System Application Program 7.x
System Application Program 7.x
Firmware Manual
3AFE64670646 REV C
EN
EFFECTIVE: 04.12.2006
Table of contents
Table of contents
Start-up
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
How to start-up the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Control panel
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Overview of the panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Identification display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Panel operation mode keys and displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Status row . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Drive control with the panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
How to start, stop and change direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
How to set speed reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Actual signal display mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
How to select actual signals to the display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
How to display the full name of the actual signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
How to view and reset the fault history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
How to display and reset an active fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
About the fault history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Parameter mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
How to select a parameter and change the value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
How to adjust a source selection parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Function mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
How to copy parameters from one drive to other drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
How to set the contrast of the display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Drive selection mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
How to select a drive and change its panel link ID number . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Reading and entering packed boolean values on the display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Table of contents
6
Program features
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Local control vs. external control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Control modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
External control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Local control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Analogue inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Analogue outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Digital inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Digital outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Diagnostics and control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
RMIO board connection diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Control through communication link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Control through I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Actual signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Motor identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Undervoltage control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Overvoltage control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Automatic start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Auto restart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Diagnostics and control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Emergency stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
If an emergency stop signal is activated when the motor is already stopped . . . . . . . . . . . . . . 63
If an emergency stop signal is activated when the motor is running . . . . . . . . . . . . . . . . . . . . . 63
Emergency stop through fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Diagnostics and control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Prevention of Unexpected Start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
DC magnetising . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
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Constant DC magnetising . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
DC hold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Flux braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Flux optimisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Acceleration and deceleration ramps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Variable slope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Diagnostics and control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Oscillation damping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Speed filtering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Speed controller tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Low speed fine tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Run interlock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Motor control, DTC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Scalar control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
IR compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Hexagonal motor flux . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Parallel connected inverters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Reduced run function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Removing a broken inverter module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Current measurement calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Programmable protection functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
AI<Min . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Panel loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Motor temperature protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Motor thermal mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Table of contents
8
Temperature sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Thermal sensor connection through I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Thermal connection through analogue I/O extension . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
I/O configuration example 1 with motor temperature measurement . . . . . . . . . . . . . . . . . . . 85
I/O configuration example 2 with motor temperature measurement . . . . . . . . . . . . . . . . . . . 85
Alternative thermal connection for PTC thermistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Short time overload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Maximum current load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Stall protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Underload protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Motor phase loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Earth fault and current unbalance protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Communication fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Master/Follower link communication fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Speed measurement fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Motor fan control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Preprogrammed faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Overcurrent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
DC overvoltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
DC undervoltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Drive temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
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Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Short circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Run disable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Overfrequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Input phase loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Control board temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
I/O monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Start inhibit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Overswitching frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
System fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Operation limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Parameter lock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Adaptive programming with DriveAP 2.x . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Master/Follower . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Diagnostics and control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Master drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Follower drive(s) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Load share function with speed controlled Follower . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Master/Follower link specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Inverter fan speed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Inverter charging logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Monitoring panel NLMD-01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Pulse encoder, RTAC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Position counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Diagnostics and control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Firmware loading package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Program boot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Memory handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
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Fault tracing
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
Alarm and fault indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
How to reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
Fault history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
Alarm messages generated by the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
Alarm messages generated by the control panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
Fault messages generated by the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
Application macros
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
Overview of macros . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
User macros . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
How to create user macro 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
How to recall user macro 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
Fieldbus control
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259
System overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259
Redundant fieldbus control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260
RDCO channels CH0...3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260
Commissioning and supporting tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261
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Terms
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13
Compatibility
The manual is compatible with ACS800 System Application Program version
AMXR7210 and later. See signal 04.01 SW PACKAGE VER.
Safety instructions
Follow all safety instructions delivered with the drive.
• Read the complete safety instructions before you install, commission, or use
the drive. For single drive the complete safety instructions are given at the
beginning of the hardware manual. For multidrive safety instructions, see
ACS800 Multidrive Safety Instructions [3AFE64760432 (English)].
• Read the software function specific warnings and notes before changing the
default settings of the function. For each function, the warnings and notes are
given in this manual in the section describing the related user-adjustable
parameters.
Reader
The reader of the manual is expected to know the standard electrical wiring
practices, electronic components, and electrical schematic symbols.
Contents
The manual consists of the following chapters:
• Start-up instructs in setting up the application program.
• Control panel gives instructions for using the panel.
• Program features contains the feature descriptions and the reference lists of the
user settings and diagnostic signals.
• Actual signals and parameters describes the actual signals and parameters of the
drive.
• Fault tracing lists the alarm and fault messages with the possible causes and
remedies.
• Application macros contains a short description of each macro.
• Fieldbus control describes the communication through the serial communication
link.
• Control block diagrams contains control block diagrams.
• Terms lists the terms and abbreviation used in this manual.
Start-up
Start-up
16
Safety
The start-up may only be carried out by a qualified electrician.
The safety instructions must be followed during the start-up procedure. See the safety
instructions on the first pages of the appropriate hardware manual or for multidrive,
see ACS800 Multidrive Safety Instructions [3AFE64760432 (English)].
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 Standard ID run needs to be performed during the drive start-up. (ID run is essential only
in applications which require the ultimate in motor control accuracy.)
Connect fibre optic cables between DDCS channel CH3 (of the RDCO-0x module) and the
NDPC cable adapter connected to PCMCIA card in the PC.
Disconnect the external control system from channel CH0 of the RDCO-0x module or from
the fieldbus adapter module type Rxxx connected to Slot 1 of the RMIO board.
Power up
Switch the power on.
Start the DriveWindow program.
Switch the drive to local control mode.
Motor data entering
Open the parameter list (Parameters) from the DriveWindow menu.
Select the language. 99.01 LANGUAGE
Double-click the DriveWindow Parameters window to upload
parameters and signals.
Select the motor control mode. 99.08 MOTOR CTRL
MODE
DTC is suitable for most cases. The SCALAR control mode is
recommended
- for multimotor drives with variable number of motors
- when the nominal current of the motor is less than 1/6 of the nominal
output current of the drive (inverter)
- when the drive is used for test purposes with no motor connected.
Start-up
17
Enter the motor data from the motor nameplate: Note: Set the motor data to
exactly the same value as
ABB Motors on the motor nameplate. For
example, if the motor
3 motor M2AA 200 MLA 4
IEC 200 M/L 55
nominal speed is 1440 rpm
No on the nameplate, setting
Ins.cl. F IP 55 the value of parameter
V Hz kW r/min A cos IA/IN t E/s
690 Y 50 30 1475 32.5 0.83
99.05 MOTOR NOM
400 D 50 30 1475 56 0.83 SPEED to 1500 rpm results
660 Y 50 30 1470 34 0.83 380 V in wrong operation of the
380 D 50 30 1470 59 0.83 mains drive.
415 D 50 30 1475 54 0.83
440 D 35 1770 59 0.83
voltage
60
Cat. no 3GAA 202 001 - ADA
After the motor parameters have been set, alarm ID MAGN REQ is ** ALARM **
displayed. ID MAGN REQ
Multimotor drives
i.e. more than one motor is connected to one drive
Note: Scalar control mode is recommended with multimotor drives
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.
Start-up
18
Check that the motors have the same relative slip, nominal voltage
and number of poles. If the manufacturer motor data is insufficient,
use the following formulas to calculate the slip and the number of
poles:
⎛ fN ⋅ 60⎞ * * Round to the nearest integer value.
p = Int ⎜ -----------------⎟
⎝ nN ⎠
f ⋅ 60
n N
= ----------------
-
S p
n S – nN
s = --------------------- ⋅ 100%
n
S
where
p = number of pole pairs (= motor pole number / 2)
fN = motor nominal frequency [Hz]
nN = motor nominal speed [rpm]
s = motor slip [%]
nS = motor synchronous speed [rpm].
Set the sum of the motor nominal currents. 99.03 MOTOR NOM
CURRENT
Set the nominal motor frequencies. Frequencies must be the same. 99.04 MOTOR NOM FREQ
Note: If scalar control is used (parameter 99.08 MOTOR CTRL
MODE = SCALAR), this setting does not apply.
Set the sum of the motor nominal powers. 99.06 MOTOR NOM
POWER
If the motor powers are close to each other or the same but the
99.05 MOTOR NOM
nominal speeds vary slightly, parameter 99.05 MOTOR NOM
SPEED
SPEED can be set to an average value of the motor speeds.
Optional modules
Activate all optional modules connected to the RDCO-0x module. Parameter group 98
Select the connection interface and operation mode for the OPTION MODULES
modules.
I/O communication
Check the possible I/O signal selections. Parameter groups
10 DIGITAL INPUTS...
15 ANALOGUE OUTPUTS
Run interlock
If RUN INTERLOCK function is needed (prevents motor start): 16.14 RUN INTERLOCK
Program the interlocking with adaptive programming. 08.01 MAIN STATUS
WORD bit 13
See ACS600 / ACS800 Application Guide Adaptive Program for
System Application Program 7.x [3AFE68420075 (English)].
Start-up
19
- Open the control switch: 08.02 bit 8 = 1, AGPS (Gate Driver Power
supply board) 230/115 VAC circuit is open (active).
- Close the control switch: 08.02 bit 8 = 0, AGPS 230/115 VAC circuit
is closed (normal state).
Deactivate the logging of the Prevention of Unexpected Start-up 31.02 START INHIBIT ALM
alarm to the fault/alarm logger if the function will be used frequently.
Without deactivation, the logger will be filled with START INHIBI
alarms.
If there is an emergency stop circuit in use, check that the circuit 08.01 MAIN STATUS
functions (emergency stop signal is connected to digital input DI1 WORD bit 4 OFF 2 STA and
bit 5 OFF 3 STA
and the feedback signal is sent through digital output DO1). For
more information, see section Emergency stop on page 63.
Select the emergency stop mode. 21.04 EME STOP MODE
Optional DC switch
Activate the fuse switch control if R7i/R8i inverter is equipped with 98.12 FUSE SWITCH CTRL
a DC switch or if R7i inverter includes charging option +F272. 08.20 INV ENABLED
WORD
Start-up
20
Speed measurement
with pulse encoder
Check the speed scaling of the motor. 50.01 SPEED SCALING
Check other speed scaling and encoder settings. Parameter group 50 SPEED
MEASUREMENT
Start-up
21
Start-up
22
With multimotor drives the ID run can be performed with the machinery coupled or
uncoupled.
Start-up
23
Start function
Select the start function. 21.01 START FUNCTION
The fastest start is achieved when parameter 21.01 START
FUNCTION is set to AUTO (flying start).
The highest possible starting torque is achieved when parameter
21.01 START FUNCTION is set to DC MAGN (DC magnetising) or
CNST DC MAGN (constant DC magnetising).
Note: When parameter 21.01 START FUNCTION setting is
DC MAGN or CNST DC MAGN, flying start (start to a rotating motor)
is not possible.
When constant DC magnetising is used, the shaft movement during 21.11 START JERK COMP
the magnetising can be minimised:
Adjust parameter 21.11 START JERK COMP setting.
Set operation limits according to the process requirements. Parameter group 20 LIMITS
Set the thermal model alarm and fault limits. 30.28 THERM MOD ALM L
30.29 THERM MOD FLT L
Start-up
24
Set the motor nominal temperature rise. 30.30 MOT NOM TEMP
RISE
Note: If the ABB motor rating plate includes temperature coefficient
value (MNTRC), multiply it by 80°C to get the motor nominal
temperature rise.
Set the typical ambient temperature of the motor. 30.31 AMBIENT TEMP
Start-up
25
Optimise the P-part of the speed controller: Set the integration time 24.09 TIS
to its maximum value to change the PI (proportional integral)
controller into a P controller:
Give a step change up, for example 20 rpm. When the speed is 23.10 SPEED STEP
stabilised, give a step change down, for example -20 rpm.
Increase the relative gain until the response is sufficient: 24.03 KPS
y-axis = 02.09 TORQ REF 2
01.04 MOTOR
SPEED
Start-up
26
Reduce the integration time until an overshoot is observed in the 24.09 TIS
response.
Adjust the integration time so that there is no overshoot or only
a slight overshoot (depending on the drive application). The integral
part is used to correct the error between the reference and the
actual value (which is caused by the proportional control) as quickly
as possible.
If the drive is stable and allows a high relative gain (KPS),
an overcompensated step response is obtained if the integration
time is set short.
y-axis = 02.09 TORQ REF 2
01.04 MOTOR
SPEED
Start-up
27
Speed filtering
The measured speed always has a small ripple because of mechanical interference and couplings.
A small ripple is acceptable as long as it does not affect the speed control chain. Reducing the
ripple with filters may cause speed controller tuning problems. A long filter time constant and fast
acceleration time contradict one other.
If the speed measurement shows rapid oscillation, it can be filtered 23.06 SPEED ERROR FILT
with a speed error filter: 50.06 SP ACT FILT TIME
- Set the speed error filter time constant.
- Set the time constant of the first order actual speed filter.
If there is no gear box and no pulse encoder feedback and if fast
oscillation is observed:
- Decrease the time constant of the first order actual speed filter to
its minimum.
See control block diagrams in sections Speed measurement on
page 280 and Scalar control on page 287.
If there is a substantial backlash in the drive, and the drive oscillates 24.04 KPSMIN
at low torque due to the mechanism: 24.05 KPS WEAKPOINT
- Set the adaptive speed control parameters. 24.06 KPS WP FILT TIME
If the adaptability has to be made abrupt (i.e. par. 24.03 KPS value
is high, and par. 24.04 value is low) the drive can start to oscillate as
the load varies. Use a speed step to test the adaptability (for
example 50 rpm). See section Manual speed controller tuning on
page 25.
If mechanical oscillation at a certain frequency is observed (narrow 26.04 OSC
frequency band), reduce oscillation: COMPENSATION
26.05 OSCILLATION FREQ
See section Oscillation damping on page 70.
26.06 OSCILLATION
PHASE
26.07 OSCILLATION GAIN
Start-up
28
Select the scalar control mode. Parameter group 29 SCALAR 99.08 MOTOR CTRL
CONTROL becomes visible. Parameters 29.02 FREQUENCY MAX MODE
and 29.03 FREQUENCY MIN are updated by the software
according to parameter 20.02 MAXIMUM SPEED and 20.01
MINIMUM SPEED values.
See control block diagram in section Scalar control on page 287.
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 high breakaway torque or in
applications where the motor must rotate slowly, i.e. at a low frequency.
Set the relative output voltage boost at zero speed (IR 29.04 IR COMPENSATION
compensation).
Value can be set to 0...30% of the motor nominal voltage. Select
a value at which the motor is able to start and run at constant speed
over the whole speed range.
U/UN
(%) Relative output voltage. IR compensation
is set to 15%.
100%
f (Hz)
Field weakening point
Start-up
29
For analogue signal, set the analogue input parameters. 11.01 EXT REF1 SEL
98.06 AI/O EXT MODULE 1
Parameter group 13
ANALOGUE INPUTS
Switching between I/O and external control can be controlled via 10.07 HAND/AUTO
a digital input.
Voltage control
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.
To prevent the DC voltage from exceeding the overvoltage control limit, the overvoltage controller
automatically decreases the generating torque when the limit is reached.
Activate the undervoltage and overvoltage controllers. 30.22 UNDERVOLTAGE
CTL
30.23 OVERVOLTAGE CTL
Start-up
30
Set the maximum allowed power supply failure time. 21.10 AUTO RESTART
TIME
Activate the fault mask to prevent PPCC link fault indications. 30.24 PPCC FAULT MASK
Select the data to be sent from the Master drive to the Follower. Master drive parameters
Example: Speed and torque references are sent from the Master 70.10 MASTER SIGNAL 2
drive to the Follower drive: 70.11 MASTER SIGNAL 3
Follower drive parameters
Master drive par. 70.10 = 2301 (23.01 SPEED REF).
70.17 FOLL SPEED REF
Master drive par. 70.11 = 210 (02.10 TORQ REF 3).
70.18 FOLL TORQ REF
Speed reference source:
Follower drive par. 70.17 = MASTER (or controlled by 07.03 AUX
CTRL WORD 2 bits 6 and 7).
Torque reference source:
Follower drive par. 70.18 = MASTER (or controlled by 07.03 AUX
CTRL WORD 2 bits 6 and 8).
Note: If parameter 70.08 CH2 M/F MODE is set to FOLLOWER,
parameter 70.10 MASTER SIGNAL 2 and 70.11 MASTER
SIGNAL 3 settings are not effective.
Load share function with speed controlled Follower drive (activated 07.03 AUX CTRL WORD 2
by 07.03 AUX CTRL WORD 2 bit 9): bit 9
23.18 FOLL SPD CTRL
Select the correction mode (23.19 FOLL SPD COR MODE) and
COR
increase the correction term (23.18 FOLL SPD CTRL COR) until the
23.19 FOLL SPD COR
Follower follows the Master torque accurately enough. MODE
Test the load sharing in practice by changing the load share value 25.03 LOAD SHARE
(within allowed range of the drive application) while the system is
running.
Test that the emergency stop functions with the Master/Follower 21.04 EME STOP MODE
application.
Start-up
31
If required start torque is not achieved, i.e. motor will not start to 28.15 RS20 [mOhm]
rotate, decrease the stator resistance of the motor model.
Start-up
32
Start-up
33
Control panel
No. Use
ENTER 1 Start
2 Stop
Control panel
34
Identification display
When the control panel is connected to the panel link for the first time, or when the
drive is powered up, the identification display shows the panel software version:
After the Identification Display, the panel enters the Drive Selection Mode and
displays the inverter type:
ID NUMBER 1
After two seconds, the display will clear, and the Actual Signal Display Mode will
appear.
Note: The panel can be connected to the drive while power is applied to the drive.
Control panel
35
Parameter Mode
Function Mode
Status row
The figure below describes the status row digits.
Control panel
36
Control panel
37
Control panel
38
2. To select a row (a blinking cursor indicates the selected 1 L -> 0.0 rpm 0
row). LED PANE 0 %
MOTOR SP 0.0 rpm
MOTOR TO 0.00 %
5. To accept the selection and to return to the Actual Signal 1 L -> 0.0 rpm 0
ENTER
Display Mode. LED PANE 0 %
SPEED RE 0.0 rpm
MOTOR TO 0.00 %
6. To cancel the selection and keep the original selection. 1 L -> 0.0 rpm 0
ACT PAR LED PANE 0 %
MOTOR SP 0.0 rpm
The selected keypad mode is entered.
FUNC DRIVE MOTOR TO 0.00 %
1. To display the full name of the three actual signals. Hold 1 L -> 0.0 rpm 0
LED PANEL OUTP
ACT MOTOR SPEED FILT
MOTOR TORQUE FILT
2. To return to the Actual Signal Display Mode. Release 1 L -> 0.0 rpm 0
LED PANE 0 %
ACT MOTOR SP 0.0 rpm
MOTOR TO 0.00 %
Control panel
39
Note: The fault history cannot be reset if there are active faults or alarms.
3. To select the previous (UP) or the next fault/alarm 1 L -> 0.0 rpm
(DOWN). 2 LAST FAULT
H MIN S
Control panel
40
Parameter mode
In the Parameter Mode, the user can:
• view parameter values
• change parameter settings.
The panel enters the Parameter Mode when the user presses the PAR key.
Note: Certain parameters do not allow changes. If tried, no change is accepted, and
the following warning is displayed:
**WARNING**
WRITE ACCESS DENIED
PARAMETER SETTING
NOT POSSIBLE
Control panel
41
6b. To cancel the new setting and keep the original value, 1 L -> 0.0 rpm O
ACT PAR
press any of the mode selection keys. 10 DIGITAL OUTPUTS
The selected mode is entered. 02 DIRECTION
FUNC DRIVE FORWARD
Control panel
42
ENTER
2. To scroll between the inversion, group, index and bit 1 L -> 0.0 rpm O
fields.1) 55 ADAPTIVE PROG1
06 INPUT1
[±000.000.00]
1)
Control panel
43
Function mode
In the Function Mode, the user can:
• Upload group 10...98 parameter values from the drive to the panel.
• Download group 10...97 parameter values from the panel to the drive.1)
• Copy group 10...97 parameter values from one drive to another by using the
upload and download functions.
• Adjust the contrast of the display.
The panel enters the Function Mode when the user presses the FUNC key.
The upload function can be performed also when the drive is running. During upload,
only a STOP command can be given to the drive.
The download function can only be performed, when the drive is stopped.
1)
The parameter groups 98, 99 and the results of the motor identification are not included.
Note:
• Upload before downloading.
• Ensure the firmware (e.g. system firmware) and its version are the same in both
drives. See signals 04.02 DTC SW VERSION and 04.03 APPLIC SW VERSION.
• Before removing the panel from a drive, ensure the panel is in remote operating
mode (selected with the LOC/REM key).
• Stop the drive before downloading.
• Parameter groups 98 and 99 will not be copied.
Control panel
44
2. To enter the page that contains the upload, download and 1 L -> 0.0 rpm O
contrast functions. UPLOAD <=<=
DOWNLOAD =>=>
CONTRAST 0
3. To select the upload function (a flashing cursor indicates 1 L -> 0.0 rpm O
the selected function). UPLOAD <=<=
DOWNLOAD =>=>
CONTRAST 0
8. Ensure the drive is in local control (L shown on the first row 1 L -> 0.0 rpm 0
LOC
of the display). If necessary, press the LOC/REM key to LED PANE 0 %
REM
change to local control. MOTOR SP 0.0 rpm
MOTOR TO 0.00 %
10. To enter the page that contains the upload, download and 1 L -> 0.0 rpm O
contrast functions. UPLOAD <=<=
DOWNLOAD =>=>
CONTRAST 0
11. To select the download function (a flashing cursor 1 L -> 0.0 rpm O
indicates the selected function). UPLOAD <=<=
DOWNLOAD =>=>
CONTRAST 0
Control panel
45
2. To enter the page that contains the upload, download and 1 L -> 0.0 rpm O
contrast functions. UPLOAD <=<=
DOWNLOAD =>=>
CONTRAST 0
6.b To cancel the new setting and retain the original value by 1 L -> 0.0 rpm 0
pressing any of the mode selection keys. ACT PAR LED PANE 0 %
MOTOR SP 0.0 rpm
MOTOR TO 0.00 %
The selected mode is entered. FUNC DRIVE
Note: The default ID number setting of the drive should not be changed unless the
drive is to be connected to the panel link with other drives on-line.
Control panel
46
3. To connect to the last displayed drive and to enter another 1 L -> 0.0 rpm 0
mode, press one of the mode selection keys. ACT PAR LED PANE 0 %
MOTOR SP 0.0 rpm
FUNC MOTOR TO 0.00 %
The selected mode is entered.
Bit 15 Bit 0
Control panel
47
Program features
Standard I/O
Advant controller
(e.g. AC 80, AC 800M)
Control modes
The System Application Program has two main control modes: remote (external
control) and local (local control). The control mode is selected with the LOC/REM
key on the CDP 312R control panel or with the DriveWindow PC tool.
Program features
48
External control
When the drive is in external control, commands are given through a serial link
(connected to option module in Slot 1/2 of the drive or to DDCS channel CH0 of the
RDCO module) or the I/O terminals (digital and analogue inputs). The desired
alternative is selected by parameter 98.02 COMM. MODULE.
A HAND/AUTO function is suitable for applications requiring alternation between
serial communication control and I/O control. A digital input can be selected for
changing the control location. The function is activated by parameter
10.07 HAND/AUTO.
It is possible to use two serial communication interfaces with one drive. See section
Redundant fieldbus control on page 260.
I/O extension modules are connected to option Slot 1/2 of the drive or to DDCS
channel CH0 of the RDCO module. All I/O extension units connected to DDCS
channel CH1 are connected in ring topology. Channel CH1 acts as a master in the
communication link.The RMIO is the actual master of the communication link. Each
I/O unit has an individual address, set with DIP switches on the unit. Before use,
each I/O unit must be activated by parameter group 98 OPTION MODULES.
External control is indicated by a blank on the panel display.
1 ->1242 rpm I
Local control
When the drive is in local control, the control commands are given from the control
panel keypad or from a PC equipped with DriveWindow. When control panel is used,
L indicates local control on the panel display.
1 L ->1242 rpm I
Local control mode is mainly used during commissioning and maintenance. The
control panel always overrides the external control signal sources when used in local
mode. Changing the control location to local can be disabled by parameter
16.04 LOCAL LOCK.
In local control, the emergency stop activation signal source can be selected by
parameter 21.12 LOCAL EM STOP MODE.
Settings
Parameter Additional information
10.07 HAND/AUTO Activation of the HAND/AUTO function
16.04 LOCAL LOCK Activation of the local control lock
21.12 LOCAL EM STOP MODE Selection of the source for the emergency stop activation signal in
local control mode
98 OPTION MODULES Activation of the optional I/O and serial communication
Program features
49
The following diagram presents the external control interface and I/O connections.
RDIO/RAIO/RTAC RDIO/RAIO/RTAC
CH2 CH1
ACS800 PCMCIA PCMCIA
drives board and board and
CH3 ACS800 CH2
... NDPA-02 NDPA-02
drives
CH8 CH3 Laptop PCI
... PC adapter
ACS800 CH8
Desktop
PC
Program features
50
Analogue inputs
The drive has three programmable non-galvanically isolated analogue inputs on
the RMIO board: one voltage input (0/2...10 V or -10...10 V) and two current inputs
(0/4...20 mA). The accuracy of the analogue inputs is +/-0.5% and the update cycle
is 10 ms.
Two extension inputs are available if an optional Analogue I/O Extension 1 module,
RAIO, is used. The input signal range is selected with DIP switches. The hardware
filter time constant of the RMIO analogue inputs is approximately 1 ms.
For more information, see RAIO-01 Analogue I/O Extension User's Manual
[3AFE64484567 (English)].
Each input can be filtered, and the maximum and minimum values can be adjusted.
Analogue inputs can be used
• for motor temperature measurement
• as I/O speed or torque reference source
• as a communication interface for an external control system (e.g. fieldbus control)
• in adaptive programming using function blocks.
Analogue input speed reference can be summed with the fieldbus adapter speed
reference if parameter 11.02 AI+FBA SPEED REF is activated and parameter
98.02 COMM. MODULE is set to FIELDBUS.
See control block diagram in section I/O speed and torque references and motor
temperature protection on page 279.
Two extra inputs are also available for adaptive block programming if an optional
Analogue I/O Extension 2 module, RAIO, is used. (See blocks EXT2_AI1...2 in the
ACS600 / ACS800 Application Guide Adaptive Program for System Application
Program 7.x [3AFE68420075 (English)].)
Program features
51
RMIO board
AI Input type Resolution Signal Additional information
(1
AI1 0...+/-10 VDC 11 bits MOTOR 1 TEMP Motor temperature measurement with 1...3 PTC thermistor,
R = 200 kΩ + sign or Pt100 or KTY84-1xx sensors.
i
I/O speed reference Speed reference for I/O control or HAND/AUTO function (par.
10.07 HAND/AUTO).
AI2 0/4...20 mA 11 bits I/O speed reference Speed reference (mA) for I/O control or HAND/AUTO function
Ri = 100 kΩ + sign or (par. 10.07 HAND/AUTO)
used in the adaptive
programming
AI3 0/4...20 mA 11 bits I/O torque reference Torque reference for I/O control or HAND/AUTO function
Ri = 100 kΩ + sign or (par. 10.07 HAND/AUTO)
used in the adaptive
programming
Program features
52
Example:
-10...+10 V bipolar speed reference signal:
• Set parameter 13.01 AI1 HIGH VALUE to 20000 and 13.02 AI1 LOW VALUE to
-20000.
• Select -10 V by parameter 13.12 MINIMUM AI1.
• Set speed scaling: Parameter 50.01 SPEED SCALING defines the speed
reference in rpm which corresponds to value 20000.
Settings
Parameter Additional information
10.07 HAND/AUTO Switching between I/O control and serial communication control
through a digital input
11 REFERENCE SELECT Selection of analogue input as a reference source
13 ANALOGUE INPUTS Processing of the analogue inputs
30.27 AI<MIN FUNC Selection of the supervision with analogue input signal loss
98 OPTION MODULES Activation of the optional I/O and serial communication.
Definition of the analogue input signal type (bipolar or unipolar).
Diagnostics
Actual value Additional information
01.16, 01.17 MOTOR 1 TEMP Values of analogue inputs AI1...AI2 with motor temperature
measurement
01.19...01.21 Non-scaled values of analogue inputs AI1...AI3
01.41 EXT2 AI1, 01.42 EXT2 AI2 Non-scaled values of analogue inputs AI1...AI2 of I/O extension
module EXT2
02.25 ADDITIVE SP REF Sum of the analogue input speed reference and fieldbus adapter
reference
Program features
53
Analogue outputs
The drive has two programmable non-galvanically isolated current outputs
(0/4...20 mA) on the RMIO board. Two outputs can be added by using an optional
Analogue I/O Extension module, RAIO. For more information, see RAIO-01
Analogue I/O Extension User's Manual [3AFE64484567 (English)].
Analogue output signals can be inverted and filtered. The analogue output signals
can be proportional to motor speed, process speed (scaled motor speed), output
frequency, output current, motor torque, motor power, etc. It is possible to write
a value to an analogue output through a serial communication link (e.g. fieldbus
link).
The resolution of the RMIO board analogue outputs is 10 bits and the accuracy is
+/-1%. The resolution of the RAIO module analogue outputs is 12 bits and the
accuracy is +/-0.5%.
The analogue output update cycle is 10 ms.
Two extra outputs are also available for adaptive block programming if an optional
Analogue I/O Extension 2 module, RAIO, is used.
RMIO board
AO Input type Resolution Signal Additional information
AO1 0(4)...20 mA 12 bits AO1_OUT The output can be used as a constant current source
Ri = 700 Ω to supply temperature measurement sensor Pt100,
PTC or KTY84-1xx. The current is set automatically
according to the type of the sensor.
AO2 0(4)...20 mA 12 bits AO2_OUT The output can be controlled by an external control
Ri = 700 Ω system.
RAIO module
AO Input type Resolution Signal Additional information
AO3 0(4)...20 mA 12 bits AO3_OUT See parameter 98.06 AI/O EXT MODULE 1 and
Ri = 700 Ω parameter group 15 ANALOGUE OUTPUTS.
AO4 0(4)...20 mA 12 bits AO4_OUT Isolated from analogue inputs, power supply and
Ri = 700 Ω earth. Test voltage: 1.5 kV AC, 1 minute.
(isolated from
the power
supply)
Settings
Parameter Additional information
15 ANALOGUE OUTPUTS Selection and processing of analogue output values
98 OPTION MODULES Activation of optional I/O and serial communication
Diagnostics
Actual value Additional information
01.23 AO1 [mA] Values of analogue outputs AO1...AO2
01.24 AO1 [mA]
Program features
54
Digital inputs
The drive has seven digital inputs on the RMIO board. Digital input DI1 is reserved
for the emergency stop signal and digital input DI2 is reserved for the run enable
signal. Digital inputs DI3...DI7 are freely programmable. Six inputs can be added by
using optional Digital I/O Extension modules, RDIOs. RDIO modules can also be
used to replace the RMIO board digital inputs. For more information, see RDIO-01
Digital I/O Extension User's Manual [3AFE64485733 (English)].
All digital inputs can be read through a serial communication link (e.g. fieldbus link).
The maximum number of digital inputs is 13.
DI RMIO board RDIO module 1 RDIO module 2 Par. setting
I/O name DI1 DI2 DI3 DI4 DI5 DI6 DI7 Ext1 Ext1 Ext1 Ext2 Ext2 Ext2
in software DI1 DI2 DI3 DI1 DI2 D13
DI1 1 2
DI2 1 2 1: Par. 98.03 1)
DI3 1 2 and par. 98.04
= NO
DI4 1 3
2: Par. 98.03 1)
DI5 1 3
= REPLACE
DI6 1 3 3: Par. 98.04 =
2)
DI7(DIIL) 1 REPLACE
EXT1 DI1 5 5: Par. 98.03 1)
= EXTEND
EXT1 D12 5
6: Par. 98.04 =
EXT1 DI3 5
EXTEND
EXT2 DI1 3) 6
3)
EXT2 DI2 6
3)
EXT2 DI3 6
I/O extension module 1/2 is activated by parameters 98.03/98.04 and 98.09/98.10.
1) 98.03 DI/O EXT MODULE 1: NO = No RDIO module 1 used, REPLACE = RDIO replaces RMIO
DI1, DI2, DI3.
2) D17 is a normal input, which is not connected to interlock circuit.
3) See parameter group 10 DIGITAL INPUTS.
Settings
Parameter Additional information
10 DIGITAL INPUTS Selection and processing of digital input values
98 OPTION MODULES Activation of the optional I/O and serial communication
Diagnostics
Actual value Additional information
01.15 DI6-1 STATUS Values of RMIO digital inputs
08.05 DI STATUS WORD Values of RMIO and extended digital inputs
Program features
55
Digital outputs
The drive has three programmable digital outputs on the RMIO board. Four outputs
can be added by using optional Digital I/O Extension modules, RDIOs. RDIO
modules can also be used to replace the RMIO board digital outputs. For more
information, see RDIO-01 Digital I/O Extension User's Manual [3AFE64485733
(English)].
The maximum number of digital outputs is 7.
It is possible to write a value to a digital output through a serial communication link
(e.g. fieldbus link).
DO RMIO board RDIO RDIO Parameter setting
module 1 module 2
I/O name DO1 DO2 DO3 Ext1 Ext1 Ext2 Ext2
in software DO1 DO2 DO1 DO2
DO1 1 2 1: Par. 98.03 (1 and par. 98.04 = NO
2: Par. 98.03 (1 = REPLACE
DO2 1 2
3: Par. 98.04 = REPLACE
DO3 1 3
5: Par. 98.03 (1 = EXTEND
EXT1 DO1 2, 5 (controlled by signal 07.03 AUX
EXT1 DO2 2, 5 CONTRL WORD 2)
EXT2 DO1 6 6: Par. 98.04 = EXTEND
EXT2 DO2 3, 6
I/O extension module 1/2 is activated by parameters 98.03/98.04 and 98.09/98.10.
(1 98.03
DI/O EXT MODULE 1: NO = No RDIO module 1 used, REPLACE = RDIO replaces RMIO
DO1 and DO2.
Settings
Parameter Additional information
14 DIGITAL OUTPUTS Processing of the RMIO and RDIO digital outputs
30.26 COM LOSS RO Selection of the supervision of fieldbus controlled RMIO and RDIO
digital outputs DO1...3 in a communication break
98 OPTION MODULES Activation of optional I/O and serial communication
Program features
56
Program features
57
X20
Motor temperature 1 VREF Reference voltage -10 VDC, max 10 mA
measurement 1...3 2 GND 1 kΩ < RL < 10 kΩ
Pt100, PTC or X21
KTY84-1xx 1 VREF Reference voltage 10 VDC, max 10 mA
2 GND 1 kΩ < RL < 10 kΩ
AI1+ 3 AI1+ Speed reference unipolar (default) (range for
AI1- AI1: -10 V… 0 ...10 V, Rin > 200 kΩ
4 AI1-
5 AI2+ Speed reference (current 0(4)…20 mA),
6 AI2- alternative, see par. 11.01, Rin = 100 Ω
mA-type of alternative
AO1- for references 7 AI3+ Torque reference, (current 0(4)…20 mA)
AO1+ 8 AI3- (TORQ REF B), Rin = 100 Ω
% 9 AO1+ Motor torque 0…20 mA = 0 … motor nom.
If parameter 30.03 = 10 AO1- torque, RL < 700 Ω
1...3 × PT100 or PTC rpm 11 AO2+ Motor speed 0…20 mA = 0 … motor nom.
12 AO2- speed, RL < 700 Ω
X22
1 DI1 No Emergency Stop
2 DI2 Run Enabled
3 DI3 1)
4 DI4 1)
5 DI5 Reset
6 DI6 1)
1)See parameter group 10 7 +24 V +24 VDC, max. 100 mA
DIGITAL INPUTS for Start/ 8 +24 V
Stop/Direction control. 9 DGND1 Digital ground
10 DGND2 Digital ground
11 DI7 (DIIL) 1)
X23
Use external power supply if the total current
1 +24 V Auxiliary voltage output 24 VDC, 250 mA or
consumption exceeds 250 mA.
2 GND 130 mA if an NLMD-01 panel is included
X25
1 RO11 Relay output 1
2 RO12 Emergency Stop (default)
DO3: Motor fan control. See 3 RO13
parameter 10.06 MOTOR FAN X26
ACK and parameter groups 1 RO21 Relay output 2
14 DIGITAL OUTPUTS and 2 RO22 Run (default)
35 MOTOR FAN CTRL. 3 RO23
X27
1 RO31 Relay output 3
2 RO32 Fault (default)
3 RO33
Program features
58
Actual signals
Several actual signals are available:
• drive output frequency, current, voltage and power
• motor speed and torque
• intermediate circuit DC voltage
• drive temperature
• operating time counter (h), kWh counter, fan-on time counter (h) and motor run time
counter (h)
• digital I/O and analogue I/O status.
Three signals can be shown simultaneously on the control panel display. It is also
possible to read the values through a serial communication link or through analogue
outputs.
Settings
Parameter Additional information
15 ANALOGUE OUTPUTS Selection of an actual signal to an analogue output
16.09 RESET COUNTER Resetting of the cooling fan running time counter
51 MASTER ADAPTER (fieldbus Settings of the fieldbus adapter used in serial communication
adapter)
92 D SET TR ADDR Selection of an actual signal to a data set (serial communication)
93 D SET TR ADDR
Diagnostics
Actual value Additional information
01 ACTUAL SIGNALS... Lists of actual signals
09 FAULT WORDS
Motor identification
The performance of Direct Torque Control is based on an accurate motor model
determined during the motor start-up. A motor Identification Magnetisation is
automatically done the first time the start command is given. During this first start-up,
called ID MAGN, the motor is magnetised at zero speed for several seconds to allow
the motor model to be created. This identification method is suitable for most
applications. In demanding applications, a separate identification run can be
performed.
Settings
Parameter Additional information
99.07 MOTOR ID RUN Selection of the motor identification run
Program features
59
Undervoltage control
If the incoming supply voltage is cut off, the drive will continue to operate by utilising
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 the
operation after the break if the main contactor remained closed.
Undervoltage control limit is 0.82 · 1.35 · U1min, where U1min is the minimum value of
the input voltage range.
See control block diagram in section Torque reference on page 284.
Note: Cabinet assembled units equipped with main contactor option must be
equipped with a hold circuit (e.g. UPS) which keeps the contactor control circuit
closed during a short supply break.
Umains
TM fout UDC
(Nm) (Hz) (VDC) 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.
Note: The undervoltage controller is able to adjust the torque in all operating
quadrants without limitations, if the following parameter values are set high enough:
- power limits: 20.17, 20.18,
- torque limits: 20.05, 20.06 and
- maximum current: 20.04.
Program features
60
Settings
Parameter Additional information
20.04 MAXIMUM CURRENT Maximum current
20.05 MAXIMUM TORQUE and Torque limits
20.06 MINIMUM TORQUE
20.14 ADAPTIVE UDC MEAS Deactivation of the adaptive UDC measurement. Measurement
should be deactivated if undervoltage control is in use in
a application with several drives connected to the same DC bus.
20.15 UNDERVOLT TORQ UP and Limitation of the maximum/minimum torque during undervoltage
20.16 UNDERVOLT TORQ DN control, when adaptive UDC measurement is deactivated.
20.17 P MOTORING LIM and Power limits
20.18 P GENERATING LIM
30.22 UNDERVOLTAGE CTL Activation of the undervoltage controller
Diagnostics
Actual value Additional information
08.03 LIMIT WORD 1, bit 12 DC undervoltage limit
Program features
61
Overvoltage control
Overvoltage control of the intermediate DC link is needed with two-quadrant
line-side converters when the motor operates within the generating quadrant.
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 control limit is 1.24 · 1.35 · U1max, where U1max is the maximum
value of the input voltage range.
Settings
Parameter Additional information
30.23 OVERVOLTAGE CTL Activation of the overvoltage controller
Diagnostics
Actual value Additional information
08.03 LIMIT WORD 1, bit 13 DC overvoltage limit
Automatic start
Since the drive can detect the state of the motor within a few milliseconds,
the starting is immediate under all conditions. For example the starting of turbining
pumps or windmilling fans is easy.
Settings
Parameter Additional information
21.01 START FUNCTION Selection of the start function
Program features
62
Auto restart
It is possible to restart the drive automatically after a short power supply failure (max.
5 seconds) using the AUTO RESTART function if
- the RMIO board is powered through an UPS (Uninterruptible Power System)
- digital input DI2 circuit remains closed during the power supply failure
- the inverter is allowed to run for max. 5 seconds without inverter fans.
The maximum time for a power failure for the auto restart function is adjustable
(21.10 AUTO RESTART TIME). The factory setting is five seconds.
Note: Check that the auxiliary control circuit functions correctly during a power
supply failure.
When a power supply failure occurs
• 08.01 MAIN STATUS WORD is frozen and DC UNDERVOLT fault (signal 09.02
Fault Word 2 bit 2) is masked. DC UNDERVOLT fault is internally reset.
• DC UNDERVOLT alarm is activated (signal 09.05 Alarm Word 2 bit 14 value is 1).
• 07.01 MAIN CONTROL WORD bit 0 (ON) changes from 1 to 0 and back to 1.
• Start function is forced temporarily to the flying start mode (parameter 21.01
START FUNCTION setting is AUTO).
• After a successful restart, alarm RESTARTED is activated (signal 09.05 Alarm
Word 2 bit 15 value is 1).
Note: If the power supply failure lasts over 5 seconds: Auto restart function is
cancelled, 08.01 Main Status Word is restored and DC UNDERVOLT fault (signal
09.02 Fault Word 2 bit 2) is unmasked.
PPCC fault indications can be masked when auto restart function has been selected.
Settings
Parameter Additional information
21.09 AUTO RESTART Selection of the auto restart function
21.10 AUTO RESTART TIME Maximum duration of the power failure
30.24 PPCC FAULT MASK Activation of the fault mask (prevents PPCC fault indications)
Program features
63
Emergency stop
ACS800 hardware and System Application Program fulfil the following emergency
stop category classes:
• Class 0 Immediate removal of power
• Class 1 Controlled emergency stop.
The emergency stop signal is connected to digital input DI1 of the RMIO board or
DI1 of the RDIO I/O Extension module 1 (par. 98.03 DI/O EXT MODULE 1 setting
must be REPLACE). The function is activated by digital input DI1 or by setting 07.01
Main Control Word bit 2 (OFF3) to 0.
The emergency stop feedback signal is sent through digital output DO1 of the drive
RMIO board (or the RDIO I/O Extension module 1) to the Auxiliary Control Unit,
which contains the control relays for the common emergency stop circuit.
The purpose of the feedback signal is to confirm that the emergency stop function
has been received and the drive program is running. If no feedback is received, the
main AC supply will be switched off after a short delay defined by the Auxiliary
Control Unit’s adjustable relays.
Note: During emergency stop, torque selector parameter 26.01 TORQUE
SELECTOR is internally set to speed control when parameter 21.04 EME STOP
MODE setting is STOP RAMPING or STOP TORQ.
Note: When an emergency stop signal is detected, the emergency stop function
cannot be cancelled even though the signal is cancelled.
Program features
64
OFF3 OFF2
ACTIVE OFF_3_STA ACTIVE OFF_2_STA
(MSW Bit5=0) (MSW Bit4=0)
n(f)=0 / I=0
SWITCH-ON
INHIBITED ON_INHIBIT
(MSW Bit6=1)
ON (MCW Bit0=0)
Settings
Parameter Additional information
21.04 EME STOP MODE Selection of the emergency stop mode
21.05 EMSTOP DER MAX L Maximum deceleration rate for the emergency stop
21.06 EMSTOP DER MIN L Minimum deceleration rate for the emergency stop
21.07 EM STOP DEC MON DEL Time delay between the emergency stop signal and the start
of the deceleration monitoring
21.12 LOCAL EMSTOP MODE Selection of the source for the emergency stop activation
signal in local control mode
98.03 DI/O EXT MODULE 1 Activation of the RDIO I/O Extension module 1
Program features
65
WARNING! Prevention of Unexpected Start-up does not disconnect the voltage from
the main and auxiliary circuits. Therefore, maintenance work on electrical parts may
only be carried out after disconnecting the drive system from the input power line.
Settings
Parameter Additional information
31.02 START INHIBIT ALM Deactivation of the logging of START INHIBI alarm into the
fault/alarm logger.
Diagnostics
Actual value Additional information
08.02 AUX STATUS WORD, bit 8 Prevention of Unexpected Start-up activation status
09.04 ALARM WORD 1, bit 0 / Prevention of Unexpected Start-up alarm/fault
09.06 FAULT WORD 3, bit 5
Program features
66
DC magnetising
When DC magnetising is activated, the drive automatically magnetises the motor
before starting. This feature guarantees the highest possible breakaway torque, up
to 200% of the motor nominal torque.
The automatic start feature (section Auto restart on page 62) and DC magnetising
cannot be activated at the same time.
Settings
Parameter Additional information
21.01 START/STOP FUNC Selection of the DC magnetising
Constant DC magnetising
When constant DC magnetising is activated, the drive automatically magnetises the
motor for the defined magnetising time before starting. Constant DC magnetising
guarantees the highest possible breakaway torque when the pre-magnetising time is
set long enough. By adjusting the premagnetising time, it is possible to synchronise
the motor start and for example mechanical brake release.
The automatic start feature (section Auto restart on page 62) and DC magnetising
cannot be activated at the same time.
Settings
Parameter Additional information
21.01 START/STOP FUNC Selection of the constant DC magnetising
21.02 CONST MAGN TIME Magnetising time
DC hold
By activating the motor DC hold feature it is possible to lock the rotor at zero speed.
When both the reference and the motor speed fall below the preset DC hold speed,
the drive stops the motor and starts to inject DC into the motor. When the reference
speed again exceeds the DC hold speed, normal drive operation resumes.
Motor
Speed
DC hold
DC hold
speed
t
Speed
Reference
DC hold
speed
t
Program features
67
Settings
Parameter Additional information
17.01 DC HOLD Activation of the DC hold function
17.02 DC HOLD SPEED DC hold speed
17.03 DC HOLD CURRENT DC hold current
Flux braking
The drive can provide greater deceleration by raising the level of magnetisation in
the motor. By increasing the motor flux, the energy generated by the motor during
braking can be converted to motor thermal energy. This feature is useful in motor
power ranges below 15 kW.
Motor
speed
No flux braking
Flux braking
t (s)
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 motor is efficient. The stator current of the motor increases
during the flux braking, not the rotor current. The stator cools much more
efficiently than the rotor.
Settings
Parameter Additional information
27.02 FLUX BRAKING Activation of the flux braking function
Flux optimisation
Flux optimisation reduces the total energy consumption and motor noise level when
the drive operates below the nominal load. The total efficiency (motor and the drive)
can be improved by 1% to 10%, depending on the load torque and speed.
Note: Flux optimisation limits the dynamic control performance of the drive because
with a small flux reference the drive torque cannot be increased fast.
Settings
Parameter Additional information
27.01 FLUX OPTIMIZATION Activation of the flux optimisation function
Program features
68
Program features
69
S-curve: Ideal for conveyors carrying fragile loads, or other applications where
a smooth transition is required when changing the speed.
Motor
speed
Linear
S-curve
2 t (s)
Emergency stop ramp time can be defined by parameter 22.04 EME STOP RAMP.
See section Emergency stop on page 63.
Variable slope
When variable slope is activated by parameter 22.06 VARIABLE SLOPE, the slope
of the speed ramp is controlled during a speed reference change.
If the updating time interval for the external control system and the time for the
speed reference change defined by 22.07 VAR SLOPE RATE are equal,
02.02 SPEED REF 3 is a straight line.
This function is active only in the REMOTE control mode.
Speed ref
SPEED REF
Settings
Parameter Additional information
22 ACCEL/DECEL Settings of the ramp function
Program features
70
Oscillation damping
Oscillation damping function damps mechanical oscillations. As an output the
oscillation damping algorithm produces a sine wave. This sine wave can be summed
with the torque reference with a suitable gain and phase.
Note: Changing the speed error lowpass filter time constant and integration time of
the speed controller can effect the tuning of the oscillation damping algorithm. It is
recommended to tune the speed controller before tuning this algorithm. Speed
controller gain can be altered after the tuning of the oscillation damping algorithm.
See control block diagram in section Torque reference on page 284.
Program features
71
Settings
Parameter Additional information
26.04 OSC COMPENSATION Activation of the torsional vibration damping
26.05 OSCILLATION FREQ Oscillation frequency
26.06 OSCILLATION PHASE Phase angle of the sine wave
26.07 OSCILLATION GAIN Oscillation gain
Speed filtering
The measured speed always has a small ripple because of mechanical interference
and couplings. A small ripple is acceptable as long as it does not affect the speed
control loops. Reducing the ripple with filters may cause tuning problems. A long
filter time constant and fast acceleration time contradict each other.
If the speed measurement shows rapid oscillation, it can be filtered with a speed
error filter and by setting the time constant of the first order actual speed filter.
If fast oscillation is observed and the application has no gear box and no pulse
encoder feedback: decrease the time constant of the first order actual speed filter to
its minimum value.
If there is a substantial backlash in the drive, and the drive oscillates at low torque
due to the mechanism, adaptive speed control can be used (parameters 24.05 KPS
WEAKPOINT and 24.06 KPS WP FILT TIME). If the adaptivity has to be made
abrupt, the drive can start to oscillate as the load varies: Use a speed step to test the
adaptivity (for example 50 rpm).
For adaptive speed control as a function of the motor frequency, see parameters
24.17...24.20.
Settings
Parameter Additional information
23.06 SPEED ERROR FILT Speed error filter time constant
24.04 KPS MIN Gain when speed controller output is zero.
24.05 KPS WEAKPOINT Speed controller output when gain is KPS.
24.06 KPS WP FILT TIME Rate of change of the gain
24.17...24.20 Adaptive speed control as a function of the motor frequency
50.06 SP ACT FILT TIME Time constant of the first order actual speed filter
Program features
72
Proportional,
integral + Torque
Speed + Error +
reference - value + reference
Derivative
Calculated or measured
actual speed
The figure below shows speed responses at a speed reference step (typically,
1 to 20%).
n
nN
%
A B C D
A: Undercompensated t
B: Normally tuned (PI tuning)
C: Normally tuned (manually). Better dynamic performance than with B
D: Overcompensated speed controller
Settings
Parameter Additional information
23.10 SPEED STEP Additional speed step given to the speed controller
24.01 PI TUNE Activation of the automatic speed controller tuning
24.09 TIS Integration time of the speed controller
24.03 KPS Relative gain of the speed controller
Program features
73
Diagnostics
Actual value Additional information
08.03 LIMIT WORD 1, bits 1 and 2 Speed control torque minimum and maximum limits
Settings
Parameter Additional information
50.03 SPEED FB SEL Definition of the used speed feedback value
50.13 ZERO DETECT DELAY Adjusting the low speed fine tuning
50.14 SPEED HOLD TIME
Run interlock
Drive run can be prevented by the run interlock function. If the function is active,
motor start is prevented or motor is stopped if it was already running.
Note: Run interlock does not reset the start request.
Run interlock can be controlled by adaptive programming. Example: Run interlock is
activated by digital input DI3:
DI3 = 1: No run interlock (normal state)
DI3 = 0: Run interlock active
RUN INTERLOCK
RUN INTERLOCKED = 0 BLOCK 2
DI3 WR-I
BLOCK 1
C16 GROUP
SWITCH-B
8.05.2 -8.05.2
OUT ACT C14 INDEX
57.09 +57.09
X22:3 C1 NO INPUT
C0 NC
Program features
74
Settings
Parameter Additional information
16.14 RUN INTERLOCK Activation of the run interlock function
Diagnostics
Actual value Additional information
08.01 MAIN STATUS WORD, bit 13 Run interlock function status
Settings
Parameter Additional information
99.08 MOTOR CTRL MODE Selection of the motor control mode
99.07 MOTOR ID RUN Selection of the motor identification run
Program features
3 P H A S E S U P P L Y
3
B lo c k d ia g r a m o f th e D ir e c t T o r q u e C o n tr o l m e th o d
A C S 8 0 0
F R E Q U E N C Y R E F S P E E D a n d D IR E C T T O R Q U E A S IC
2 9 .0 1 F R E Q U E N C Y a n d F L U X
C O N T R O L T O R Q U E U S E D R E F H Y S T E R E S IS T o r q b its
S P E E D R E F C O N T R O L
2 3 .0 1 2 .1 3 O p tim a l
F lu x b its S w itc h in g
M O T O R S P E E D
1 .0 4 F L U X U S E D R E F C o n tro l
C o n tr o l b its
F R E Q U E N C Y 2 .1 4
1 .0 5
M O T O R C T R L M O D E C O N T R O L
M O D E
9 9 .0 8
F L U X A C T 2 .1 5 1 .0 8 M O T O R T O R Q U E
M O T O R M O D E L D C V O L T A G E
C U R R E N T
C A L C U L A T E M
A C T U A L V A L U E S
E S T IM A T E a n d
C A L C U L A T E
75
Program features
76
Scalar control
It is possible to select scalar control as the motor control method instead of Direct
Torque Control (DTC). In the scalar control mode, the drive is controlled with
a frequency reference. The outstanding performance of the default motor control
method, Direct Torque Control, is not achieved with scalar control.
It is recommended to activate the scalar control mode in the following special
applications:
• Multimotor drives: 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.
• 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 via a step-up transformer.
See control block diagram in section Scalar control on page 287.
See also the start-up procedure with scalar control in section Scalar control and IR
compensation on page 27.
Settings
Parameter Additional information
99.08 MOTORCTRL MODE Selection of the motor control mode
IR compensation
IR compensation is active only when the motor control mode is scalar (see section
Scalar control on page 76). 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 high breakaway torque or in applications where the motor
must rotate slowly, i.e. at a low frequency. In Direct Torque Control, no IR
compensation is possible/needed.
Motor voltage
IR compensation
Umax
No compensation
f (Hz)
Field weakening point
Settings
Parameter Additional information
29.04 IR COMPENSATION Activation of the IR compensation
Program features
77
Settings
Parameter Additional information
27.08 HEX FIELD WEAKEN Selection of the motor flux control
U V W
PBU CH3
RMIO
CH1 CH2
1 2 3
INT INT INT
U V W U V W U V W ...
Program features
78
WARNING! The safety instructions must be followed. See the safety instructions on
the first pages of the appropriate hardware manual or the safety manual.
• Disconnect the supply voltage and all auxiliary voltages from the drive.
• Remove the broken inverter module from the cabinet. See appropriate hardware
manual.
• Fasten the air baffle provided with the unit to the top module guide to block airflow
through the empty module space.
• Disable the charging monitoring of the isolated module, i.e. set switch S1...S3
of the ASFC-01 board to DIS (= disabled).
• Switch on the supply voltage. INT COFIG fault (09.06 Fault Word 3 bit 7 value
is 1) now indicates that the number of the connected inverter modules has
changed.
• If the operation is continued with limited current, number of existing inverter
modules must be set by parameter 16.10 INT CONFIG USER.
• Reset the fault and start the drive. PPCS link is reconfigured automatically and
the maximum current is limited (internally) in relation to the new inverter
configuration and inverter nominal current.
Note: If INT CONFIG fault reappears, the number of parallel connected inverters
defined by parameter 16.10 INT CONFIG USER is incorrect. See signal 08.22 INT
CONFIG WORD.
Note: When the isolated module is reconnected, set switch S1/S2/S3 of the
ASFC-01 board back to the enabled position.
Program features
79
Note: If all switches S1, S2 and S3 of the ASFC-01 board are set to DIS
(= disabled), the main contactors of the DC switches will not close.
When inverter hardware configuration is changed back to the original, parameter
16.10 INT CONFIG USER value automatically restores back to the original value.
Settings
Parameter Additional information
16.10 INT CONFIG USER Number of parallel connected inverter modules (R8i) in the drive
20.04 MAXIMUM CURRENT Maximum motor current
Diagnostics
Actual value Additional information
08.22 INT CONFIG WORD Inverters recognized by the application program
09.06 FAULT WORD 3, bit 7 Number of recognized inverters
Settings
Parameter Additional information
99.07 MOTOR ID RUN Activation of current measurement calibration
AI<Min
AI<Min function defines the drive operation if an analogue input signal falls below the
preset minimum limit.
Settings
Parameter Additional information
30.27 AI<MIN FUNC Selection of the supervision with analogue input signal loss
Diagnostics
Alarm Signal
AI<MIN FUNC Signal 09.05 Alarm Word 2 bit 10 value is 1.
Fault Signal
AI<MIN FUNC Signal 09.02 Fault Word 2 bit 10 value is 1.
Program features
80
Panel loss
Panel loss function defines the operation of the drive if the control panel or
DriveWindow selected as control location for the drive stops communicating.
Settings
Parameter Additional information
30.21 PANEL LOSS Selection of the supervision in control panel or DriveWindow
communication break
Diagnostics
Alarm Signal
PANEL LOSS Signal 09.05 Alarm Word 2 bit 13 value is 1.
Fault Signal
PANEL LOSS Signal 09.02 Fault Word 2 bit 13 value is 1.
40
Maximum ambient temperature 40 40 40
Insulation class B F H
Maximum winding temperature 130°C 155°C 180°C
Program features
81
50
Temp. t Zero speed load
rise
Speed
100%
63%
t
Motor thermal time
Settings
Parameter Additional information
30.01 MOT THERM P MODE Selection of the motor thermal protection mode
30.02 MOTOR THERM PROT Selection of the supervision with motor overtemperature
30.09...30.12 Definition of the user-defined thermal model
30.28...30.29 Fault and alarm limits
30.30 MOT NOM TEMP RISE Nominal temperature rise
30.31 AMBIENT TEMP Ambient temperature
Diagnostics
Alarm Signal
MOTOR TEMP Signal 09.04 Alarm Word 1 bit 3 value is 1.
Fault Signal
MOTOR TEMP Signal 09.01 Fault Word 1 bit 6 value is 1.
Program features
82
Temperature sensors
It is possible to detect motor overtemperature by connecting a motor temperature
sensor to analogue inputs and outputs of the drive.
Analogue output feeds constant current 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 analogue input
and converts it to degrees centigrade. The System Application program supports two
measurement channels: AI1 (of the RMIO or RAIO) and AI2 (of the RAIO) for
motor 1 and motor 2 temperature measurements. The constant current level is
automatically set by the application program according to the sensor type selection.
Sensor type Unit Scaling
Pt100 °C
PTC Ω normal 0...1.5 kΩ
overtemperature > 4 kΩ
KTY84-1xx, Ω 90°C = 936 Ω
(silicon 110°C = 1063 Ω
temperature 130°C = 1197 Ω
sensor)
150°C = 1340 Ω
WARNING! According to IEC 664, the connection of the motor temperature sensor
to the RMIO board, requires double or reinforced insulation between motor live parts
and the sensor. Reinforced insulation entails a clearance and creepage distance of
8 mm (400 / 500 VAC equipment). If the assembly does not fulfil the requirement:
the RMIO board terminals must be protected against contact and they may not be
connected to other equipment
or
the temperature sensor must be isolated from the RMIO board terminals.
Program features
83
AI1+
Motor AI1-
T T T
AO1+
AO1-
Settings
Parameter Additional information
30.03 MOT1 TEMP AI1 SEL Activation of the motor 1 temperature measurement function and
selection of the sensor type
30.04...30.05 Alarm and fault limits
31.03 TEMP MEAS FLT SEL Selection of the supervision with motor temperature measurement
circuit fault
Diagnostics
Actual value Additional information
01.16 MOTOR 1 TEMP Measured temperature of motor 1
Alarm Signal
MOTOR TEMP M Signal 09.04 Alarm Word 1 bit 2 value is 1.
T MEAS CIRC Signal 09.04 Alarm Word 1 bit 6 value is 1.
Fault Signal
MOTOR TEMP M Signal 09.01 Fault Word 1 bit 5 value is 1.
T MEAS CIRC Signal 09.06 Fault Word 3 bit 4 value is 1.
Program features
84
AO1+
AO1-
AI1+
Motor AI1-
T T T
AO1+
AO1-
Settings
Parameter Additional information
30.03 MOT1 TEMP AI1 SEL / Activation of the motor 1/2 temperature measurement function and
30.06 MOT2 TEMP AI2 SEL selection of the sensor type
30.04...30.05 / 30.07...30.08 Alarm and fault limits
31.03 TEMP MEAS FLT SEL Selection of the supervision with motor temperature measurement
circuit fault
98.06 AI/O EXT MODULE 1 Activation of the motor temperature measurement with analogue I/O
extension module
98.11 AI/O EXT1 LOCATION Activation of the communication to the optional analogue I/O
extension module
Diagnostics
Actual value Additional information
01.16 MOTOR 1 TEMP / Measured temperature of motor 1/2
01.17 MOTOR 2 TEMP
Alarm Signal
MOTOR TEMP M Signal 09.04 Alarm Word 1 bit 2 value is 1.
T MEAS CIRC Signal 09.04 Alarm Word 1 bit 6 value is 1.
Fault Signal
MOTOR TEMP M Signal 09.01 Fault Word 1 bit 5 value is 1.
T MEAS CIRC Signal 09.06 Fault Word 3 bit 4 value is 1.
Program features
85
RMIO
+ RMIO RMIO +
Motor 1 temperature measurement and
AI1 AO1
protection
AI2
AI3 1.21 AI3
PTC /
Pt100 / KTY84-1xx
Parameter Setting
30.03 MOT1 TEMP AI1 SEL 1xPT100
2xPT100
3xPT100
or
1...3 PTC
RMIO
SPEED REF if
RMIO 98.02 = NO or
RMIO
AI1 1.19 AI1 HAND/AUTO AO1 AO1 mA
AI2 1.20 AI2 signals
AI3
TORQUE REF if for AO AO2 AO2
1.21 AI3 mA
98.02 = NO or
HAND/AUTO
PTC /
Pt100 / KTY84-1xx
+ RAIO RAIO +
AI1 Motor 1 temperature measurement and AO1
protection
+ +
AI2 Motor 2 temperature measurement and AO2
protection
Parameter Setting
30.03 MOT1 TEMP AI1 SEL and 1xPT100
30.06 MOT2 TEMP AI2 SEL 2xPT100
3xPT100
or
1...3 PTC
98.06 AI/O EXT MODE TEMP MEAS
98.11 AI/O EXT1 LOCATION Select according to the hardware configuration.
Program features
86
6 DI6
7 +24 VDC
T
Motor
6 DI6
7 +24 VDC
T
Motor
Diagnostics
Alarm Signal
KLIXON Signal 09.04 Alarm Word 1 bit 2 value is 1.
Fault Signal
KLIXON Signal 09.01 Fault Word 1 bit 5 value is 1.
Program features
87
Diagnostics
Signal Additional information
08.07 LIMIT WORD INV Information on the internal current limits
Diagnostics
AlarM Signal
ACS800 TEMP Signal 09.04 Alarm Word 1 bit 4 value is 1.
FaulT Signal
ACS800 TEMP Signal 09.01 Fault Word 1 bit 3 value is 1.
Program features
88
Stall protection
The drive protects the motor in a stall situation. It is possible to adjust the supervision
limits (torque, frequency, time) and choose how the drive reacts to a motor stall
condition (alarm indication / fault indication & stop the drive / no reaction).
Stall limit is defined by parameters 20.04 MAXIMUM CURRENT...20.10 TREF
TORQMIN. Torque and current limits must be set according to the maximum load of
the used application.
Note: Stall limit is restricted by internal current limit TORQ_INV_CUR_LIM.
When the application reaches the stall limit and the output frequency of the drive is
below the stall frequency: Fault MOTOR STALL is activated after the stall time delay.
Settings
Parameter Additional information
20.04...20.10 Stall limit
30.13 STALL FUNCTION Selection of the supervision in a stall situation
30.14 STALL FREQ HI Frequency limit for the stall protection
30.15 STALL TIME Delay time for the stall protection
Diagnostics
Actual value Additional information
08.03 LIMIT WORD 1 Torque limits and user-defined current limit
Alarm Signal
MOTOR STALL Signal 09.05 Alarm Word 2 bit 9 value is 1.
Fault Signal
MOTOR STALL Signal 09.02 Fault Word 2 bit 14 value is 1.
Program features
89
Underload protection
Loss of motor load may indicate process malfunction. The drive provides
an underload function to protect the machinery and process in such a serious fault
condition. Supervision limits - underload curve and underload time - can be chosen
as well as the action taken by the drive upon the underload condition (alarm
indication / fault indication & stop the drive / no reaction).
The protection is activated if all the following conditions are fulfilled at the same time:
• Motor load is below the underload curve selected by the user.
• Motor load has been below the selected underload curve longer than the time set
by the user.
• Output frequency of the drive is more than 10% of the motor nominal frequency.
Settings
Parameter Additional information
30.16 UNDERLOAD FUNC Selection of the supervision in a underload condition
30.17 UNDERLOAD TIME Time limit
30.18 UNDERLOAD CURVE Selection of the load curve
Diagnostics
Alarm Signal
UNDERLOAD Signal 09.05 Alarm Word 2 bit 1 value is 1.
Fault Signal
UNDERLOAD Signal 09.01 Fault Word 1 bit 8 value is 1.
Diagnostics
Fault Signal
MOTOR PHASE Signal 09.02 Fault Word 2 bit 15 value is 1.
Program features
90
Diagnostics
Alarm Signal
EARTH FAULT Signal 09.04 Alarm Word 1 bit 14 value is 1.
Fault Signal
EARTH FAULT Signal 09.01 Fault Word 1 bit 4 value is 1.
CUR UNBAL x * Signal 09.01 Fault Word 1 bit 4 value is 1.
See also signal 09.13 CURRENT UNBALANCE.
* For parallel connected inverter modules
Communication fault
The communication fault function supervises the messages received from DDCS
channel CH0 or fieldbus adapter module type Rxxx. The action taken by the drive
upon the communication fault (alarm indication / fault indication & stop the drive) can
be chosen.
Note: If the data update time to data set 10 is less than 2 s (data sets 10...33 are
activated by setting parameter 98.02 to ADVANT-N/FB), both alarm and fault
indications are activated.
Note: When COMM MODULE fault is activated, torque selector (26.01 TORQUE
SELECTOR) is set to speed control.
Settings
Parameter Additional information
70.04 CH0 TIME OUT Delay time for communication supervision
70.05 CH0 COM LOSS CTRL Selection of the supervision with communication fault
Program features
91
Diagnostics
Alarm Signal
COMM MODULE Signal 09.05 Alarm Word 2 bit 11 value is 1.
Fault Signal
COMM MODULE Signal 09.02 Fault Word 2 bit 12 value is 1.
Diagnostics
Alarm Signal
CH2 COM LOSS Signal 09.04 Alarm Word 1 bit 11 value is 1.
Fault Signal
CH2 COM LOSS Signal 09.01 Fault Word 1 bit 11 value is 1.
Program features
92
Settings
Parameter Additional information
50.03 SPEED FB SEL Selection of the speed feedback
50.05 ENCODER ALM/FLT Selection of the supervision with speed measurement error
50.11 ENCODER DELAY Delay time for speed measurement supervision
Diagnostics
Actual value Additional information
08.02 AUX STATUS WORD, Internal speed feedback is followed.
bit12
Alarm Signal
ENCODER ERR Signal 09.04 Alarm Word 1 bit 5 value is 1.
Fault Signal
ENCODER ERR Signal 09.02 Fault Word 2 bit 5 value is 1.
Diagnostics
Alarm Signal
MOTOR FAN Signal 09.05 Alarm Word 2 bit 0 value is set to 1.
Fault Signal
MOTOR FAN Signal 09.06 Fault Word 3 bit 0 value is set to 1.
Program features
93
Preprogrammed faults
Overcurrent
The overcurrent trip limit is 3.5 · Ihd, where Ihd is the nominal motor current for
heavy-duty use.
There are two sources for the overcurrent fault:
• RMIO software trip level (97% of the measurement range, time level
100 microseconds)
• hardware trip level with parallel connected units (overcurrent is detected by the
APBU board logic).
Note: With parallel connected inverters the overcurrent fault indication is
OVERCURR x.
Diagnostics
Actual value Additional information
09.14 OVERCURRENT FAULT Overcurrent
Fault Signal
OVERCURRENT Signal 09.01 Fault Word 1 bit 1 value is 1.
OVERCURR x * Signal 09.01 Fault Word 1 bit 1 value is 1.
* For parallel connected inverter modules
DC overvoltage
The DC overvoltage trip limit is 1.3 · 1.35 · U1max, where U1max is the maximum
value of the input voltage range.
Unom of the inverter unit U1max UDC overvoltage trip limit
400 V 415 V 728 VDC
500 V 500 V 877 VDC
690 V 690 V 1210 VDC
Program features
94
Diagnostics
Fault Signal
DC OVERVOLT Signal 09.01 Fault Word 1 bit 2 value is 1.
DC undervoltage
The DC undervoltage trip limit is 0.60 · 1.35 · U1min, where U1min is the minimum
value of the input voltage range.
Unom of the inverter unit U1min UDC undervoltage trip limit
400 V 380 V 308 VDC
500 V 380 V 308 VDC
690 V 525 V 425 VDC
Diagnostics
Fault Signal
DC UNDERVOLT Signal 09.02 Fault Word 2 bit 2 value is 1.
Drive temperature
The drive supervises the inverter module temperature. There are two supervision
limits: alarm limit and fault trip limit. These limits are inverter type-specific.
Note: The temperature difference between several parallel connected inverter
modules is also monitored. If the temperature of one module compared to the
average temperature of the rest of the modules exceeds the limit, alarm/fault is
activated.
Diagnostics
Alarm Signal
ACS800 TEMP Signal 09.04 Alarm Word 1 bit 4 value is 1.
TEMP DIF xy * Signal 09.18 TEMP DIF ALM WORD
Fault Signal
ACS800 TEMP Signal 09.01 Fault Word 1 bit 3 value is 1.
ACS TEMP xy * Signal 09.16 OVERTEMP WORD
TEMP DIF xy * Signal 09.17 TEMP DIF FLT WORD
* For parallel connected inverter modules
Program features
95
Short circuit
Short circuit protection is based on the power semiconductor (IGBT) voltage
measurement (100 microsecond time level). If voltage Uce (collector-emitter voltage)
will not rise within an application-specific time, short circuit fault is activated. This
supervision is active also when no switch-off command has been issued to the IGBT.
The supervision is used for the inverter output circuit protection. If a short circuit
occurs, the drive will not start and a fault is activated.
Diagnostics
Fault Signal
SHORT CIRC Signal 09.01 Fault Word 1 bit 0 value is 1.
SC INV xy * Signal 09.15 SHORT CIRC FAULT
* For parallel connected inverter modules
Run disable
To activate the RUN ENABLE signal, a voltage signal must be connected to digital
input DI2. If the voltage drops to 0 V, the drive coasts to stop and fault RUN ENABLE
is generated. The drive will not start before the RUN ENABLE signal is active.
RUN ENABLE signal is also used to control the inverter charging. See section
Inverter charging logic on page 108.
Diagnostics
Fault Signal
RUN DISABLE Signal 09.02 Fault Word 2 bit 4 and 08.02 Auxiliary Status Word
bit 4 values are 1.
Overfrequency
If the drive output frequency exceeds the preset level (20.11 FREQ TRIP MARGIN),
for example in overshooting of the speed control, the drive is stopped and a fault
indication is given.
Diagnostics
Fault Signal
OVERFREQ Signal 09.01 Fault Word 1 bit 9 value is 1.
Program features
96
I/O monitoring
If there is a communication break or signal read error with the RMIO Control board
I/O or with the I/O extension module or I/O extension link, alarm is activated.
Diagnostics
Alarm Signal
DIO ALARM Signal 09.04 Alarm Word 1 bit 7 value is 1.
AIO ALARM Signal 09.04 Alarm Word 1 bit 8 value is 1.
EXT DIO ALM Signal 09.04 Alarm Word 1 bit 9 value is 1.
EXT AIO ALM Signal 09.04 Alarm Word 1 bit 10 value is 1.
Start inhibit
When Prevention of an Unexpected Start-up is activated, the voltage supply of the
AGPS-0x (Gate Driver Power Supply) board is disconnected and
- alarm START INHIBI is generated if the drive was stopped
- fault START INHIBI is generated if the Prevention of Unexpected Start-up is
activated during motor run or if motor start command is given while the Prevention of
Unexpected Start-up is active.
The logging of START INHIBI alarm to the fault/alarm logger can be deactivated by
parameter 31.02 START INHIBIT ALM.
For more information, see Prevention of Unexpected Start-up on page 65.
Settings
Parameter Additional information
31.02 START INHIBIT ALM Deactivation of the logging of START INHIBI alarm into the
fault/alarm logger
Diagnostics
Alarm Signal
START INHIBI Signal 09.04 Alarm Word 1 bit 0 value is 1.
Fault Signal
START INHIBI 08.21 START INHIBI WORD.
09.06 Fault Word 3 bit 5 value is 1.
Program features
97
Overswitching frequency
If the inner DTC control loop exceeds the maximum switching frequency, a fault is
generated.
Diagnostics
Fault Signal
OVER SWFREQ Signal 09.02 Fault Word 2 bit 9 value is 1.
System fault
If an RMIO board software error causes a communication break, a system fault is
activated.
Diagnostics
Actual value Additional information
09.03 SYSTEM FAULT WORD System fault information
Fault Signal
SYSTEM FAULT Signal 09.01 Fault Word 1 bit 7 value is 1.
Operation limits
The drive has adjustable limits for speed, current (maximum), torque (maximum),
power and DC voltage.
Settings
Parameter Additional information
20 LIMITS Drive limits
Parameter lock
The user can prevent parameter changes to the flash memory (EPROM) by
activating the parameter lock. The lock prevents parameter changing from the
CDP 312R control panel. From an external control system (e.g. fieldbus control
system) parameter changes to the RAM memory are allowed, even when the lock is
active.
Settings
Parameter Additional information
16.02 PARAMETER LOCK Selection of the state of the parameter lock
16.03 PASS CODE Selection of the pass code
Program features
98
Program features
99
Master/Follower
In a Master/Follower application, the system is run by several drives and the motor
shafts are coupled to each other (via gears, chains, belts etc.). The Master drive
controls the Follower drive(s) via a fibre optic link: The Master sends a broadcast
message to the Follower. The Follower does not send any feedback data to the
Master via the serial Master/Follower link).
Program features
100
Program features
U S E D M O T O R S P E E D T O R Q U E S E L E C T O R = S P E E D
S P E E D S P E E D S P E E D
F O L L S P E E D 7 0 .1 7 R E F 2 R E F 3 S P E E D 2 6 .0 1
R E F
R E F C O N T R O L T O R Q U E R E F 2
2 . 21 79 2 . 01 19 2 . 01 29 2 . 01 9 T O R Q U E R E F 3
S P E E D R E F 2 3 .0 1
P ID 2 . 1 09
T O R Q U E
M /F M O D E = 7 0 .0 8 C O N F IG U R A T IO N R E F A 2 5 .0 1
M A S T E R
M A S T E R S IG N A L 1 M A S T E R S IG N A L 2 M A S T E R S IG N A L 3
7 0 .0 9 M /F R E F E R E N C E S 7 0 .1 0 M /F R E F E R E N C E S 7 0 .1 1 M /F R E F E R E N C E S
D a ta s e t 4 1 .1 D a ta s e t 4 1 .2 D a ta s e t 4 1 .3
M C W S P E E D R E F T O R Q U E R E F
X
M A S T E R D R IV E M A S T E R S G N 3 S C A L E 7 0 .3 0
D S M C W
M /F M O D E = 7 0 .0 8 C O N F IG U R A T IO N D S 4 1 . 12 2 . 21 9
F O L L O W E R
D S S P E E D R E F D S 4 1 .3
2 .1 9 D S 4 1 .2
A block diagram for torque controlled Follower:
X D S T O R Q R E F A
F O L L O W E R S G N 3 S C A L E 7 0 .3 1 2 .2 0
L O A D S H A R E 2 5 .0 3
F O L L O W E R
F O L L S P D C T R L C O R 2 3 .1 8 L O A D S H A R E
F O L L S P D C O R R E N A = F A L S E 7 .0 3 b 9
T O R Q U E S E L E C T O R = 3 ...6
F O L L S P E E D U S E D F O L L S P D C O R R O U T 2 .3 0 (n o t S P E E D o r Z E R O )
R E F M O T O R S P E E D
S P E E D S P E E D
7 0 .1 7 R E F 2 S P E E D 2 6 .0 1
R E F
C O N T R O L T O R Q U E R E F 2
2 . 21 79 2 . 01 19 2 . 01 9 T O R Q U E R E F 3
S P E E D R E F 2 3 .0 1
P ID 2 . 1 09
D R O O P R A T E 2 4 .0 2 T O R Q U E R E F A 2 5 .0 1
= 0
F O L L O W E R D R IV E F O L L T O R Q R E F 7 0 .1 8
= D S T O R Q R E F A
M A S T E R - F O L L O W E R A P P L IC A T IO N P R IN C IP L E : T O R Q U E C O N T R O L L E D F O L L O W E R
U S E D M O T O R S P E E D T O R Q U E S E L E C T O R = S P E E D
S P E E D S P E E D S P E E D
F O L L S P E E D 7 0 .1 7 R E F 2 R E F 3 S P E E D 2 6 .0 1
R E F
R E F C O N T R O L T O R Q U E R E F 2
2 . 21 79 2 . 01 19 2 . 01 29 2 . 01 9 T O R Q U E R E F 3
S P E E D R E F 2 3 .0 1
P ID 2 . 1 09
T O R Q U E
M /F M O D E = 7 0 .0 8 C O N F IG U R A T IO N R E F A 2 5 .0 1
M A S T E R
M A S T E R S IG N A L 1 M A S T E R S IG N A L 2 M A S T E R S IG N A L 3
7 0 .0 9 M /F R E F E R E N C E S 7 0 .1 0 M /F R E F E R E N C E S 7 0 .1 1 M /F R E F E R E N C E S
D a ta s e t 4 1 .1 D a ta s e t 4 1 .2 D a ta s e t 4 1 .3
M C W S P E E D R E F T O R Q U E R E F
X
M A S T E R D R IV E M A S T E R S G N 3 S C A L E 7 0 .3 0
D S M C W
M /F M O D E = 7 0 .0 8 C O N F IG U R A T IO N D S 4 1 . 12 2 . 21 9
F O L L O W E R
D S S P E E D R E F D S 4 1 .3
2 .1 9 D S 4 1 .2
X D S T O R Q R E F A
F O L L O W E R S G N 3 S C A L E 7 0 .3 1 2 .2 0
L O A D S H A R E 2 5 .0 3
F O L L O W E R
F O L L S P D C T R L C O R 2 3 .1 8 L O A D S H A R E
F O L L S P D C O R R E N A = T R U E 7 .0 3 b 9
F O L L S P E E D U S E D F O L L S P D C O R R O U T 2 .3 0 T O R Q U E S E L E C T O R = S P E E D
R E F M O T O R S P E E D
S P E E D S P E E D
7 0 .1 7 R E F 2 S P E E D 2 6 .0 1
R E F
C O N T R O L T O R Q U E R E F 2
2 . 21 79 2 . 01 19 2 . 01 9 T O R Q U E R E F 3
S P E E D R E F 2 3 .0 1
P ID 2 . 1 09
A block diagram for speed controlled Follower with load share function:
D R O O P R A T E 2 4 .0 2 T O R Q U E R E F A 2 5 .0 1
= 0
F O L L O W E R D R IV E F O L L T O R Q R E F 7 0 .1 8
M A S T E R - F O L L O W E R A P P L IC A T IO N P R IN C IP L E : S P E E D C O N T R O L L E D F O L L O W E R W IT H L O A D S H A R E F U N C T IO N
101
Program features
102
Parameter selection (70.08 CH2 M/F MODE) defines whether the drive is the Master
or the Follower in the communication link. Parameter selection can be changed
on-line through an external control system (e.g. fieldbus control system via 07.03
bits 6, 10 and 11). Typically the speed controlled process master drive is configured
also as the Master of the communication.
The Master station is typically speed controlled and the other drives follow its torque
or speed reference. In general, torque control of the Follower should be used when
the motor shafts of the Master and Follower drives are coupled to each other and no
speed difference between the drives is possible. Pulse encoders are recommended
to be used in all of the torque controlled Followers.
The source for the Follower torque/speed reference is selected by parameter 70.17
FOLL SPEED REF / 70.18 FOLL TORQ REF. The Follower reference can also be
selected through external control by 07.03 Auxiliary Control Word 2 bits 6...8.
The load sharing between the Master and the Follower can be adjusted by
a parameter (par. 25.03 LOAD SHARE of the Follower drive).
A Master/Follower link is formed by connecting the DDCS CH2 channels of two or
more drives in a ring or star configuration (NDBU branching unit is required with star
configuration).
Ring configuration:
T = Transmitter; R = Receiver; RMIO = I/O and Control Board
Please note that channels CH0/CH2/CH3 are located on the optional RDCO-0x module.
V17
V17
V18
V18
V18
T R T R T R
Program features
103
Star configuration:
T = Transmitter; R = Receiver; RMIO = I/O and Control Board
Please note that channels CH0/CH2/CH3 are located on the optional RDCO-0x module.
Master
ACS800
RMIO-XX
CH2 RDCO-0X
V17
V18
T R
Follower 1 Follower n
ACS800 ACS800
NDBU
RMIO-XX
... RMIOXX
V17
V18
T R T R
See control block diagrams in sections Speed reference on page 281 and Torque
reference on page 284.
Program features
104
Settings
Parameter Additional information
23.07...23.09 Definition of the speed supervision function for
a torque-controlled Follower drive
25.03 LOAD SHARE Load share (i.e. scaling factor for torque reference 02.28 USED
TORQ REF)
25.03 LOAD SHARE Load share function with speed controlled Follower
23.18 FOLL SPD CTRL COR,
23.19 FOLL SPD COR MODE
26.01 TORQUE SELECTOR Selection of the torque reference
70.07...70.14, 70.17, 70.18, Settings of the Master/Follower link
70.30...70.32
Master drive
The torque reference source address is defined in the Master drive by parameter
70.11 MASTER SIGNAL 3 to be sent as data set 41 to the Follower drives. Speed
reference 70.10 MASTER SIGNAL 2 can also be sent through the link in the same
DDCS message if the Followers are speed controlled.
Typical Master drive parameter settings are:
Master drive parameter Setting
70.08 CH2 M/F MODE MASTER
70.09 MASTER SIGNAL 1 07.01 MAIN CTRL WORD
70.10 MASTER SIGNAL 2 23.01 SPEED REF
70.11 MASTER SIGNAL 3 02.10 TORQ REF 3
The Master drive sends master references 1...3 in one DDCS broadcast message
(cyclic communication) every 2 ms.
70.11 MASTER SIGNAL 3 can be scaled by parameter 70.30 MASTER SGN3
SCALE before it is sent to the Follower drive. Rescaling is done by parameter 70.31.
FOLLOW SGN3 SCALE. Scaling is useful e.g. when torque reference received from
the Master needs to be relative to the power of the motor connected to the Follower:
Program features
105
Follower drive(s)
In the Follower mode the speed and torque references are read from data set 41.
The Follower mode includes only fast data read from data set 41. Therefore Follower
mode can also be used with an external control system connected to DDCS channel
CH0 by sending a message to data set 41 from the control system. This is useful
when fast communication is required but there is no need for a real Master/Follower
application.
Data set # Data word # Default parameter address Follower signal
41 1 - 02.29 DS MCW
2 23.01 SPEED REF 02.18 DS SPEED REF
3 25.01 TORQ REF A 02.20 DS TORQ REF A
In some applications, both speed and torque control of the Followers are required.
For example if it is necessary to accelerate all drives along the same speed ramp up
to a certain speed before torque control can be started, switching between the speed
and torque control is required. The switching is done by controlling parameter 26.01
TORQ SELECTOR from an external control system (e.g. fieldbus control system) or
via adaptive programming.
A speed supervision function for a torque controlled Follower drive is available. See
parameters 23.07 WINDOW INTG ON...23.09 WINDOW WIDTH NEG and signal
07.02 AUX CTRL WORD 1 bit 7.
The Follower drive is able to detect a communication break. The action taken by the
drive upon a communication brake is defined by parameters 70.13 CH2 TIMEOUT
and 70.14 CH2 COM LOSS CTRL.
Feedback data from the Follower drives must be handled by an external control
system connected to DDCS channel CH0.
See also section Master/Follower communication on page 30 for Master/Follower
configuration during drive start-up.
Program features
106
Program features
107
Drive Drive
stopped modulating
50
Fan Fan
acceleration deceleration
time time
IGBT temperature / °C
Charging
Drive Drive
stopped modulating
50
Fan Fan
acceleration deceleration
time time
10
IGBT temperature / °C
Charging
Fan speed / Hz
16.08 is set to CONTROLLED
Drive
Drive modulating
stopped
55
Fan deceleration time
10
Charging IGBT temperature / °C
90 112
Settings
Parameter Additional information
16.08 FAN SPD CTRL MODE Selection of the inverter fan speed control
Program features
108
DC bars
DC switch
DI2
charging charging
logic relay
M
With R8i inverters equipped with an optional DC switch, the charging logic is
controlled by the Switch Fuse Control Board, ASFC.
Settings
Parameter Additional information
98.12 FUSE SWITCH CTRL Activation of the inverter DC switch monitoring (with R8i inverters
equipped with an optional DC switch)
Diagnostics
Actual value Additional information
08.05 DI STATUS WORD Digital input status
08.20 INV ENABLED WORD Inverter module operation status
Program features
109
Settings
Parameter Additional information
18 LED PANEL CTRL Settings of the Led Monitoring Display panel
Position counter
The number of pulse encoder pulses can be counted by using signal 07.02 Auxiliary
Control Word 1 bits 9...11. The calculation has three output modes: number of
pulses, number of revolutions and motor shaft position in degrees.
When faster synchronising is required, see parameter 10.04 SYNC CMD.
Program features
110
Program features
P O S IT IO N C O U N T : L O G IC A N D C A L C U L A T IO N D IA G R A M
&
S Y N C C M D D I S Y N C C O M M A N D
1 0 .0 4 > 1
S S
S Y N C C O M M A N D 7 .0 2 b 9 8 .0 2 b 5 S Y N C R D Y
R R
S Y N C D IS A B L E 7 .0 2 b 1 0
F A U L T 8 .0 1 b 3
> 1 1
R E S E T S Y N C R D Y 7 .0 2 b 1 1
3 .0 7 P O S C O U N T L O W
3 .0 8 P O S C O U N T H IG H
P O S C O U N T IN IT L O W 5 0 .0 8
P O S C O U N T IN IT H IG H 5 0 .0 9 3 .0 9 P O S C O U N T D E G R E E S
P U L S E S F R O M E N C O D E R 3 .1 0 P O S C O U N T R O U N D S
A D D
P O S C O U N T M O D E = R O U N D & D E G 5 0 .0 7
111
Example:
A basic position count function can be seen in the following figure. When
synchronisation is enabled (07.02 bit 10 SYNC DISABLE value is 0) and the next
positive edge of the SYNC CMD (07.02 bit 9) is encountered, the initial values of
POS COUNT INIT LOW and POS COUNT INIT HIGH (par. 50.08 and 50.09) are
loaded into the counter. (Initial values can only be used in the pulse edge count
mode.) Status signal SYNC RDY (08.02 bit 5) is set to indicate position counter
synchronisation. When the positioning has been completed by an external control
system (i.e. the motor can be stopped or some other sequence started), signal
SYNC RDY can be reset by RESET SYNC RDY (07.02 bit 11).
ENCODER PULSES
Settings
Parameter Additional information
10.04 SYNC CMD Synchronisation of the position count
50 SPEED MEASUREMENT Settings of the encoder and processing of the position counter
(50.07...50.09)
98.01 ENCODER MODULE Activation of the RTAC module
Program features
112
Firmware
Program boot
The application program of the RMIO board is saved to the FPROM memory. After
switching on the auxiliary power, the program starts routines for initialisation and
loading of all tasks, parameters and the application program from the FPROM to the
RAM memory. This takes 8 seconds. A reset is given at the end of the boot
procedure and the control mode of the drive is changed to remote.
Memory handling
Parameter value changes through DriveWindow or CDP 312R control panel are
stored to the RAM and FPROM memories. Parameter value changes through
an external control system are stored only to the RAM memory. However, if
parameter changes made through external control need to be saved to the FPROM,
saving can be executed by setting parameter 16.06 PARAMETER BACKUP to
SAVE.
DriveWindow parameter
or CDP 312R change
RAM memory
Par. 16.06
POWER-UP
USER 1
USER 1 Parameter file SAVE
LOAD
USER MACRO 1 file USER 2
USER 2
SAVE
LOAD
USER MACRO 2 file
FACTORY
FACTORY FILE
FPROM memory
When the power is turned off, 16 latest faults or alarms are saved to the FPROM
memory.
Settings
Parameter Additional information
16.06 PARAMETER BACKUP Saving of parameters from the RAM memory to the FPROM
memory
Program features
113
Diagnostics
Actual value Additional information
04.01 SW PACKAGE VER Type and version of the firmware package
04.03 APPLIC SW VERSION Type and the version of the application program
Diagnostics
Drive diagnostics is informed by signals, data loggers and event and fault loggers.
The default trigger mode for data loggers is a fault condition. Data logger 1 can also
be triggered by an external control system (e.g. fieldbus) or adaptive programming
via 07.02 Auxiliary Control Word 1 (bits 0 and 1).
Program features
114
Note that the new node address becomes valid only after the next power-up of the
drive.
Note: If backup restore function does not restore all the information (e.g. ID run
results), restore the backup again.
Program features
115
Settings
Parameter Additional information
70.15 CH3 NODE ADDR Definition of the channel CH3 node address
Diagnostics
Actual value Additional information
04.01 SOFTWARE VERSION Firmware package type and version
Settings
Parameter Additional information
97.01 DEVICE NAME Definition of the drive name
99.11 APPLICATION MACRO Activation of user macro 1/2
Program features
116
• Select from the File menu: Parameters - Save as (parameter file name *.dwp).
• Save both user macros (if used) to the PC: Parameters - Save as (parameter file
name *.dwp). (User macros are activated by setting parameter 99.11
APPLICATION MACRO to USER1/2 LOAD.)
• Create a DriveWindow backup file (*.BPG) to PC. For instructions, see
DriveWindow 2 User’s Manual [3AFE64560981 (English)].
• Upload DriveAP 2.x application to PC (if used) from the DriveAP drive menu:
Upload - Save as (file name *.ap).
Program features
117
2) Download the new software version to the RMIO board from the DOS loading
package according to the software downloading instructions.
3) Restore parameters (groups 10...98) and ID run results from the old software
version to the new software version:
• Select remote control mode.
• Open the parameter file of the old software by selecting from the File menu:
Parameters - Open - (parameter file name *.dwp) - Open.
• Select the appropriate drive.
• Select from the File menu: Parameters - Download.
Note: When user macros are restored, save the stored user macro files (*.dwp) as
user macro 1 and 2 of the new software.
• A version conflict notification appears. Proceed by clicking the YES button.
Program features
118
• A user macro notification appears. If it is safe to proceed, click the YES button.
• Use compare function (File -Parameters -Compare) to check the values of the
downloaded parameters.
• Check the settings of the new parameters.
Note: If adaptive programming is used and it has been created by the CDP 312R
control panel or DriveWindow, connections and blocks are activated automatically
when the parameter file is restored (parameter groups 53...66). If adaptive program
has been created by DriveAP 2.x, the program must be opened as follows:
• Open the DriveAP 2.x application into the RMIO board by selecting from the File
menu: Open - (block application file *.ap).
• Check that the DriveAP version is 2.1 or later.
• Select from the DriveAP Drive menu: Download.
• Start the adaptive program tasks by DriveAP 2.x.
Program features
119
Fieldbus equivalent
Serial communication data between fieldbus adapter and drive is transferred in
integer format. Thus the drive actual and reference signal values must be scaled to
16-bit integer values. Fieldbus equivalent defines the scaling between the signal
value and the integer used in serial communication.
All the read and sent values are limited to 16 bits (-32768...32767).
Example 1: If 20.09 TREF TORQMAX is set from external control system, an integer
value of 100 corresponds to 1%.
Example 2: Speed reference is defined by parameter 23.01 SPEED REF. Parameter
50.01 SPEED SCALING defines the motor speed (in rpm) at maximum reference
(20000 for external control system). Thus, sending a value 20000 from an external
control system into parameter 23.01 sets the speed reference to the rpm value
defined by parameter 50.01.
Fieldbus addresses
Type Rxxx adapter modules (such as RPBA, RCAN, RDNA, etc.): See the
appropriate user’s manual.
PROFIBUS-DP NPBA-12 module: See column PB in the following signal and
parameter tables. (Add 4000 in FMS Mode.)
Interbus-S NIBA-01 module:
xxyy · 100 + 12288 converted into hexadecimal (xx = parameter number and
yy = subindex)
Example: The index for drive parameter 13.09 AI3 LOW VALUE is 1309 + 12288 =
13597 = 351D (hex).
Actual signal Signal measured or calculated by the drive. Can be monitored by the
user. No user setting possible.
B Boolean
C Character string
FbEq Fieldbus equivalent: The scaling between the value shown on the panel
and the integer used in serial communication.
I Integer
P Pointer
Pb Packed boolean
R Real
2 Torque control
01.26 LED PANEL OUTPUT NLMD-01 LED panel output. See parameter group 18 LED PANEL 1 = 1 26 R
CTRL.
% Panel output
01.27 CABLE Motor cable thermal model output monitoring. See parameter 1=1 27 R
TEMPERATURE group 36 MOTOR CABLE PROTECTION.
% 102% corresponds to the trip limit.
01.28 IU Measured output current of phase U 1=1 28 R
0...300 A Current
01.29 IV Calculated output current of phase V 1=1 29 R
0...300 A Current
Software application
B = MultiBlock Programming Application
C = Crane Application
F = ACF600
H = PFC macro
J = Cascade Application
M = System Application
N = PMSM System Application
O = OEM device
P = Motion Control Application
S = Standard Application
T = FCB Application Template
U = Liquid Cooling Unit Application
04.02 DTC SW VERSION Motor control software version. This fixed part of the application - C
program consists of motor control, operational system,
communication control of the DDCS channels and Modbus
software for the control panel.
04.03 APPLIC SW VERSION Displays the type and the version of the application program. - C
04.04 APBU EPLD Displays the APBU logic software version. APBU branching unit is C
VERSION used with parallel connected inverter modules. Signal value is
updated only after the PPCC link has been successful established.
3 TRIPPED Fault
7 ALARM Alarm
8 MODULATING Modulating
15 Not in use
1 OVERCURRENT Overcurrent
8 UNDERLOAD Underload
9 OVERFREQ Overspeed
8 Not in use
15 Not in use
1 UNDERLOAD Underload
2 Not in use
1 Not in use
12 Not in use
15 Not in use
15 Not in use
15 Not in use
15 Not in use
13.01 AI1 HIGH VALUE Defines the integer value that corresponds to the maximum 20000 176 I
value of analogue input AI1.
With I/O control, value 20000 corresponds the speed defined by
parameter 50.01 SPEED SCALING.
Note: Parameter is not active if AI1 is used for motor 1
temperature measurement. See parameter 30.03 MOT1 TEMP
AI1 SEL.
-32768...32767 Integer value
13.02 AI1 LOW VALUE Defines the integer value that corresponds to the minimum 0 177 I
value of analogue input AI1.
With I/O control, when bipolar I/O reference is used, value
-20000 corresponds the maximum negative speed defined by
parameter 50.01 SPEED SCALING.
Note: Parameter is not active if AI1 is used for motor 1
temperature measurement. See parameter 30.03 MOT1 TEMP
AI1 SEL.
-32768...32767 Integer value
13.03 FILTER AI1 Defines the filter time constant for analogue input AI1. 1000 178 I
The hardware filter time constant of the RMIO analogue input is
1 ms.
0...30000 ms Filter time constant
13.04 AI2 HIGH VALUE Defines the integer value that corresponds to the maximum 0 179 I
value of analogue input AI2.
-32768...32767 Integer value
13.05 AI2 LOW VALUE Defines the integer value that corresponds to the minimum 0 180 I
value of analogue input AI2.
-32768...32767 Integer value
13.06 MINIMUM AI2 Defines the minimum value for analogue input AI2. 1 181 I
1 = 0 mA 0 mA (range 0...20 mA)
2 = 4 mA 4 mA (range 4...20 mA)
3 = -20 mA -20 mA. Used with a bipolar type of an analogue input.
*Example: If parameters 14.02 and 14.03 are set to 801 and 1, DO1 is active when 08.01 Main Status Word bit 1 is
1 = READY. If parameters 14.02 and 14.03 are set to -801 and 3, DO1 is active when 08.01 Main Status Word bit 3 is 0.
15.01 ANALOGUE Connects a measured signal to analogue output AO1. 106 226 I
OUTPUT1 If temperature measurement (parameter 30.03 MOT1 TEMP
AI1 SEL) is selected, analogue output AO1 is used for
supplying constant current for the sensor.
An external control system can also control the output. The data
set in which the signal is transmitted to the drive is directed into
one of the data parameters 19.01...19.08 using parameters
90.01...90.18. The data parameter is then coupled to the
analogue output with this parameter.
0...9999 Parameter index in (x)xyy format, where (x)x= parameter group,
y = parameter number. For example value 2301 denotes
parameter 23.01.
15.02 INVERT AO1 Selects analogue output AO1 signal inversion. 1=1 NO 227 B
0 = NO Minimum signal value corresponds to the minimum output
value.
1 = YES Maximum signal value corresponds to the minimum output
value.
15.03 MINIMUM AO1 Defines the offset value for analogue output AO1. 1 228 I
Note: Parameter is not effective if motor 1 temperature
measurement is activated by parameter 30.03 MOT1 TEMP AI1
SEL.
1 = 0 mA 0 mA
2 = 4 mA 4 mA
3 = 10 mA With bipolar signals the defined minimum value 10 mA is in the
middle of the range 0...20 mA. For example:
-1000 rpm = 0 mA and 1000 rpm = 20 mA
Bipolar signals indicate the direction of torque, speed etc.
Bipolar signals are also needed for testing purposes.
15.04 FILTER AO1 Defines the filter time constant for analogue output AO1. 100 = 0.1 229 R
1s
0...10 s Filter time constant
15.05 SCALE AO1 Defines the nominal value of the signal connected to analogue 1=1 100 230 R
output AO1. See parameter 15.01 ANALOGUE OUTPUT1.
The value corresponds to 20 mA at the output.
0...65536 Nominal value
15.06 ANALOGUE Connects a measured signal to analogue output AO2. 101 231 I
OUTPUT2
0...9999 Parameter index in (x)xyy format, where (x)x= parameter group,
y = parameter number. For example value 1506 denotes
parameter 15.06.
15.07 INVERT AO2 Selects analogue output AO2 signal inversion. 1=1 NO 232 B
0 = NO Minimum signal value corresponds to the minimum output
value.
1 = YES Maximum signal value corresponds to the minimum output
value.
SPEEDmotor
DC hold
Ref.
DC HOLD SPEED t
(par. 17.02)
The source and the scale of the display signal are defined by
this parameter group.
Note: If NLMD -01 and CDP 312R control panel are used
together, actual signal 01.26 LED PANEL OUTPUT must be the
first signal in CDP 312R Actual Signal Display Mode. Otherwise
the NLMD-01 LED bar display will show an incorrect value.
18.01 LED PANEL Selects the signal source for the NLMD-01 Monitoring Display. 107 301 I
OUTPUT
0...9999 For example parameter index 109 denotes parameter 01.09
POWER.
Note: The unit of the selected signal must be percent (%).
AC 800M / AC 80 RMIO/NAMC-xx
Dataset table
Address For
Data
Data set Index assignment of DriveWindow
set
15 dataset PC tool
Index 1 Group Index
1
Index 2 92 08 19.02
B 15 2
Index 3
3
19.01 DATA 1 Stores data written from a user-defined source. 1=1 326 R
Example: Monitor a signal written by an external control system
to data set 18 word 3 using the DriveWindow PC tool as follows:
Define the data set 18 word 3 destination address in the
converter application program by setting parameter 90.15 DATA
SET 18 VAL 3 to 1901 (points to 19.01 DATA 1.)
Set DriveWindow monitoring channel to read parameter 19.01.
-32768...32767 Data value
19.02 DATA 2 See parameter 19.01 DATA 1. 1=1 327 R
-32768...32767 Data value ...
... ... ... ...
19.08 DATA 8 1=1 333 R
-32768...32767 Data value
f / Hz
20 Hz
UDC / V
UDC nominal
DC UNDERVOLT LIM
UNDERVOLT TORQ DN
(par. 20.16) UDC undervoltage trip limit
-T
0...600% Value in percent of the maximum motor torque
20.16 UNDERVOLT Limits the minimum torque at undervoltage trip limit. This -10 = -125 366 R
TORQ DN parameter is used together with the undervoltage controller -1%
(30.22 UNDERVOLTAGE CTL) to tune the generating torque
level of the drive during a supply power failure. See parameters
20.15 UNDERVOLT TORQ UP and 20.14 ADAPTIVE UDC
MEAS.
DC undervoltage trip limit is 0.6 · 1.35 · U1min, where U1min is
the minimum value of the input voltage range.
-500...0% Value in percent of the minimum motor torque
20.17 P MOTORING LIM Defines the allowed maximum power fed by the inverter to the 100 = 300 367 R
motor. 1%
0...600% Power limit in percent of the motor nominal power
20.18 P GENERATING Defines the allowed maximum power fed by the motor to the 100 = -300 368 R
LIM inverter. 1%
-600...0% Power limit in percent of the motor nominal power
21 START/STOP Start and stop modes of the motor
FUNC Note: Coast stop is always the stop mode in a fault situation.
21.01 START FUNCTION Selects the motor starting method. 1 376 I
1 = AUTO Automatic start guarantees optimal motor start in most cases.
It includes the flying start function (starting to a rotating
machine) and the automatic restart function. 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.
2 = DC MAGN DC magnetising should be selected if a high break-away torque
is required. The drive pre-magnetises the motor before the
start. The pre-magnetising time is determined automatically,
being typically 200 ms to 2 s depending on the motor size. DC
magnetising guarantees the highest possible break-away
torque.
Note: Starting to a rotating machine is not possible when DC
magnetising is selected.
Note: DC magnetising cannot be selected if parameter 99.08
MOTOR CTRL MODE = SCALAR.
Linear
S-curve
t (s)
22.06 VARIABLE SLOPE Controls the slope of the speed ramp during a speed reference 1 = 1 OFF 406 B
change. See parameter 22.07 VAR SLOPE RATE and section
Variable slope on page 69.
1 = ON Control active
0 = OFF Control inactive
22.07 VAR SLOPE RATE Defines the rate of the speed reference change, when 1 = 1 ms 4.05 407 R
parameter 22.06 VARIABLE SLOPE is ON.
Set this parameter to the same value as the updating time
interval of the external control system.
4.1...30000 ms Rate of the speed reference change
22.08 BAL RAMP REF Forces the output of the speed ramp to a selected value. The See par. 0 408 R
function is activated by setting 07.02 AUX CTRL WORD 1 bit 3 50.01.
value to 1.
See par. Speed ramp output
20.01...20.02 (rpm)
23 SPEED REF Speed reference functions. See control block diagram in
section Speed reference on page 281.
23.01 SPEED REF Defines the main speed reference for the speed controller input. See par. 0 426 R
50.01.
See par. Speed reference.
20.01...20.02 (rpm) Note: The value of this parameter value is not saved to the
flash memory.
23.02 CONST SPEED 1 Defines constant speed 1. Constant speed reference is 1=1 0 427 I
activated by 07.01 MAIN CONTROL WORD bit 8. See also
Main Control Word bits 4...6.
-18000...18000 rpm Constant speed 1
20
0
20log10|H(ω)|
-20
-40
-60
0 50 100 150
f / Hz
0.5...500 Hz Zero frequency
23.14 DAMPING OF Defines the damping coefficient for the 23.13 FREQUENCY OF 100 = 0 R
ZERO ZERO. Value 0 corresponds to the maximum elimination of the 1.0
resonance frequency FREQUENCY OF ZERO.
20
fzero = 45 Hz
ξzero = 0.25
0 ξpole = 1
20log10|H(ω)|
-20 fzero = 45 Hz
ξzero = 0
ξpole = 1
-40
-60
0 50 100 150
f / Hz
Note: To ensure that the resonance frequency band is filtered,
not amplified, DAMPING OF ZERO must be smaller than
DAMPING OF POLE (parameter 23.16).
-1...1 Damping coefficient
fzero = 45 Hz
-20 fzero = 45 Hz
fpole = 30 Hz
fpole = 40 Hz
-40 ξzero = 0
ξzero = 0
ξpole = 0.25
ξpole = 0.25
-60
50 100
0
f / Hz
1
sTIS
Yr + u
+ + +
- + KPS
+
Tds
τfs+1
+
b
-
y
24.01 PI TUNE Activates automatic tuning of the speed controller. Tuning is 1=1 OFF 451 B
based on the estimation of the mechanical time constant.
Parameters 24.03 KPS, 24.09 TIS and 24.15 ACC COMP DER
TIME are updated after the PI tuning.
Instructions:
- Run the motor at a constant speed of 20 to 40% of the rated
speed.
- Activate the PI tune by setting this parameter to 1 = ON.
Note: The motor load must be connected to the motor.
0 = OFF Inactive
1 = ON Active
Motor speed
% of
nominal
No drooping
100% } Par. 24.02
Drooping DROOP RATE
100%
Speed Controller Drive load
Output / %
Error value
Controller output
Controller
output = KPS · e e = Error value
t
0...250 Gain. If KPS is set to 1, a 10% change in error value (reference
- actual value) causes the speed controller output to change by
10%.
KPS MIN
(par. 25.04)
TORQUE REF 5
(par. 02.12)
KPS WEAKPOINT (par. 24.05)
Gain = KPS = 1
TIS = Integration time > 0
KPS · e Td= Derivation time = 0
t
TI
Controller Output
Δe
KPS · Td · KPS · e
Ts
Error Value
e = Error value
KPS · e
TIS t
Speed reference
Acceleration compensation
KPS
TIS
0...200 Hz Frequency
24.18 KPS TIS MAX Defines the frequency at which KPS (gain) and TIS (integration 100 = 11.7 468 R
FREQ time) become constant. See parameter 24.17 KPS TIS MIN 1 Hz
FREQ.
0...200 Hz Frequency
24.19 KPS VAL MIN Defines the relative gain at speed defined by parameter 24.17 1 = 1% 100 469 R
FREQ KPS TIS MIN FREQ.
100...500% Value in percent of KPS (gain)
24.20 TIS VAL MIN FREQ Defines the integral time at speed defined by 24.17 KPS TIS 1 = 1% 100 470 R
MIN FREQ.
100...500% Value in percent of TIS (integration time)
25 TORQUE REF Torque reference functions. See control block diagram in
section Torque reference on page 284.
25.01 TORQUE REF A Defines torque reference A. Reference can be scaled by 100 = 0 476 R
parameter 25.03 LOAD SHARE. 1%
Note: This signal is reset when the control is switched to I/O
control. See parameter 10.07 AUTO/HAND.
See par. Torque reference A
20.06...20.05 (%)
25.02 TORQ REF A FTC Defines the low pass filter time constant for TORQUE REF A 1 = 1 ms 0 477 R
(25.01).
0...60000 ms Low pass filter time constant
25.03 LOAD SHARE Scales the external torque reference defined by parameter 10 = 1% 100 478 R
25.01 TORQUE REF A to a required level.
Note: Drooping (24.022 DROOP RATE) must be disabled when
load share is used with speed controlled Follower drives.See
section Load share function with speed controlled Follower on
page 106.
-400...400% Value in percent of TORQUE REF A
26.01 TORQUE Selects the reference used in motor torque control. 2 501 I
SELECTOR
1 = ZERO This selection forces the output of the torque selector to zero.
2 = SPEED Speed control
3 = TORQUE Torque control
Note: If TORQUE is selected, the drive does not restrict the
speed variation as long as the speed is within the limits defined
by parameters 20.01 MINIMUM SPEED and 20.02 MAXIMUM
SPEED. More definite speed supervision is often needed.
In those cases, the selection ADD should be used instead of
TORQUE.
Note: To prevent torque limitation in the generating mode, keep
the minimum torque limits < 0.
4 = MINIMUM The torque selector compares the torque reference (02.08
TORQ REF1) and the speed controller output (02.09 TORQ
REF2), and the smaller of them is used as the reference for the
motor torque control. If the speed error becomes negative, the
drive follows TORQ REF2 until the speed error becomes
positive again (latch function). Thus the drive never accelerates
uncontrolled if the load is lost in torque control.
5 = MAXIMUM The torque selector compares the torque reference (02.08
TORQ REF1) and the speed controller output (02.09 TORQ
REF 2) and the greater of them is used as the reference for the
motor torque control. If the speed error becomes positive, the
drive follows TORQ REF2 until the speed error becomes
negative again (latch function). Thus the drive never
accelerates uncontrolled if the load is lost in torque control.
RS INC2
(par. 28.10) f / Hz
0 1,25 · fN
f (Hz)
Field weakening point
30.02 MOTOR THERM Selects how the drive reacts when the motor overtemperature 1 602 I
PROT is detected by the function defined by parameter 30.01 MOT
THERM MODE.
The fault and alarm limits are defined by parameters 30.28
THERM MOD ALM LIM and 30.29 THERM MOD FLT LIM.
Note: An external temperature measurement is activated by
parameter 30.03 MOT1 TEMP AI1 SEL or 30.06 MOT2 TEMP
AI2 SEL. External temperature measurement alarm and fault
limits are defined by parameters 30.04, 30.05, 30.07 and 30.08.
1 = FAULT The drive generates alarm MOTOR TEMP when the
temperature exceeds the alarm level. The drive trips on fault
MOTOR TEMP when the temperature exceeds the fault level.
2 = WARNING The drive generates alarm MOTOR TEMP when the
temperature exceeds the alarm level.
3 = NO Inactive
30.03 MOT1 TEMP AI1 Activates the motor 1 temperature measurement function and 1 603 I
SEL selects the sensor type. See section Temperature sensors on
page 82.
1 = NOT IN USE Inactive
2 = 1xPT100 The function is active. The temperature is measured with one
Pt100 sensor. Analogue output AO1 feeds constant current
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 analogue input AI1 and converts it to degrees
centigrade.
Constant current: 9.1 mA (0...10 V range with RMIO or 0...2 V
range with RAIO)
3 = 2xPT100 The function is active. Temperature is measured using two
Pt100 sensors. See selection 1xPT100.
Constant current: 9.1 mA (0...10 V range with RAIO)
4 = 3xPT100 The function is active. Temperature is measured using three
Pt100 sensors. See selection 1xPT100.
Constant current: 9.1 mA (0...10 V range with RAIO)
1330
T
Constant current: 1.6 mA (0...10 V range with RAIO)
30.04 MOT 1 TEMP ALM Defines the alarm limit for motor 1 temperature measurement 1 = 1°C 110°C 604 R
L activated by parameter 30.03 MOT1 TEMP AI1 SEL Alarm or 1 Ω or 0 Ω
MOTOR TEMP M is generated when the limit is exceeded.
-10...180°C (Pt100) Limit in °C or Ω
/ 0...5000 ohm
(PTC / KTY84-1xx)
30.05 MOT 1 TEMP FLT L Defines the fault trip limit for motor 1 temperature measurement 1 = 1°C 130°C 605 R
activated by parameter 30.03 MOT1 TEMP AI1 SEL. Fault or 1 Ω or 0 Ω
MOTOR TEMP M is generated when the limit is exceeded.
-10...180°C (Pt100) Limit in °C or Ω
/ 0...5000 ohm
(PTC / KTY84-1xx)
30.06 MOT2 TEMP AI2 Activates the motor 2 temperature measurement function and 1 606 I
SEL selects the sensor type. Two motors can be protected only by
using an RAIO I/O Extension module (parameter 98.06 AI/O
EXT MODULE 1 setting must be TEMP MEAS).
Note: If parameter 98.06 selection is not TEMP MEAS, the
analogue I/O extension is used for motor 1 temperature
measurement (the standard I/O terminals are not in use).
See section Temperature sensors on page 82.
1 = NOT IN USE Inactive
2 = 1xPT100 See 30.03 MOT1 TEMP AI1 SEL.
Constant current: 9.1 mA (0...2 V range with RAIO)
3 = 2xPT100 See 30.03 MOT1 TEMP AI1 SEL.
Constant current: 9.1 mA (0...10 V range with RAIO)
Temperature
t
100%
63%
par. 30.10
100
50
par. 30.11
Underload curve
Underload region
f
0.1 · fN
1 = NO Protection is inactive.
2 = WARNING The drive generates alarm UNDERLOAD.
3 = FAULT The drive trips on fault UNDERLOAD.
30.17 UNDERLOAD TIME Time limit for the underload function. See parameter 30.16 1=1 600 617 R
UNDERLOAD FUNC.
0...600 s Underload time
30.18 UNDERLOAD Selects the load curve for the underload function. See 1 618 I
CURVE parameter 30.16 UNDERLOAD FUNC.
TM / TN
TM = Motor torque
(%) TN= Nominal motor torque
100 ƒN = Nominal motor frequency
80 3
70%
60 2
50%
40 1 5
30%
20
4
0
ƒN 2.4 · ƒN
30.22 UNDERVOLTAGE Activates the undervoltage control of the intermediate DC link. 1=1 OFF 622 B
CTL 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
stop. This will act as a power-loss ride-through functionality in
systems with high inertia, such as a centrifuge or a fan.
Note: The undervoltage controller is able to adjust the torque
within all operating quadrants without limitations, if the following
parameter values are set high enough:
- power limits: 20.17, 20.18,
- torque limits: 20.05, 20.06 and
- maximum current: 20.04.
See section Undervoltage control on page 59.
1 = ON Active
0 = OFF Inactive
30.28 THERM MOD ALM Defines the thermal model alarm limit. See parameter 30.02 90 I
LIM MOTOR THERM PROT. The calculated temperature of the
thermal model is shown by signal 01.18 MOTOR TEMP EST.
0...300°C Thermal model alarm limit
30.29 THERM MOD FLT Defines the thermal model fault trip limit. See parameter 30.02 110 I
LIM MOTOR THERM PROT. The calculated temperature of the
thermal model is shown by signal 01.18 MOTOR TEMP EST.
0...300°C Thermal model fault limit
30.30 MOT NOM TEMP Defines the temperature rise of the motor when the motor is 1 = 1°C 80 R
RISE loaded with nominal current.
Temperature
Motor
nominal
temperature
rise
Ambient temperature t
speed 0
t1 t1
speed
control 0
P-part t2 t2 t2 t2
t1 = ZERO DETECT DELAY = 250 ms
t2 = SPEED HOLD TIME = 4 ms
A long ZERO DETECT DELAY time gives accurate speed
measurement. Short SPEED HOLD TIME keeps the speed
control stable, because speed control output is not influenced
by the earlier speed measurement sample.
If the value of the P-part is very large, forcing it to zero causes
undesirable torque steps.
The tuning values depend on the mechanics. Therefore after
increasing these parameter values, check that the actual torque
value is still smooth.
1...2000 ms Zero detect delay
55.02 FAULTED PAR Points out the faulted parameter in adaptive program task 1. I
0...32768 Value
55.05 BLOCK1 Selects the function block type for Block 1 in the adaptive I
program task 1.
0...32768 Function block type
57.02 FAULTED PAR Points out the faulted parameter in adaptive program task 2. I
0...32768 Value
57.05 BLOCK 1 Selects the function block type for Block 1 in the adaptive I
program task 2.
0...32768 Function block type
57.06 INPUT 1 Selects the source for input I1 of Block 1. P
-255.255.31 … Parameter index or a constant value:
+255.255.31 / C.- - Parameter pointer: Inversion, group, index and bit fields. The
32768 … C.32768 bit number is effective only for blocks handling boolean inputs.
- Constant value: Inversion and constant fields. Inversion field
must have value C to enable the constant setting.
Example: The state of digital input DI2 is connected to Input 1
as follows:
- Set the source selection parameter (55.06) to +.01.15.01.
(The application program stores the state of digital input DI2 to
bit 1 of actual signal 01.15.)
- If you need an inverted value, switch the sign of the pointer
value (-01.15.01.).
57.07 INPUT 2 Selects the source for input I2 of Block 1.
See parameter 57.06 INPUT 1.
57.08 INPUT 3 Selects the source for input I3 of Block 1.
See parameter 57.06 INPUT 1.
32
90.01 D SET 10 VAL 1 Selects the address into which data word 1 of data set 10 is 701 1735 I
written. Update time is 2 ms.
0...9999 Parameter index
90.02 D SET 10 VAL 2 Selects the address into which data word 2 of data set 10 is 1736 I
written. Update time is 2 ms.
0...9999 Parameter index
90.03 D SET 10 VAL 3 Selects the address into which data word 3 of data set 10 is 1737 I
written. Update time is 2 ms.
0...9999 Parameter index
90.04 D SET 12 VAL 1 Selects the address into which data word 1 of data set 12 is 1738 I
written. Update time is 4 ms.
0...9999 Parameter index
90.05 D SET 12 VAL 2 Selects the address into which data word 2 of data set 12 is 1739 I
written. Update time is 4 ms.
0...9999 Parameter index
90.06 D SET 12 VAL 3 Selects the address into which data word 3 of data set 12 is 1740 I
written. Update time is 4 ms.
0...9999 Parameter index
90.07 D SET 14 VAL 1 Selects the address into which data word 1 of data set 14 is 1741 I
written. Update time is 10 ms.
0...9999 Parameter index
90.08 D SET 14 VAL 2 Selects the address into which data word 2 of data set 14 is 1742 I
written. Update time is 10 ms.
0...9999 Parameter index
90.09 D SET 14 VAL 3 Selects the address into which data word 3 of data set 14 is 1743 I
written. Update time is 10 ms.
0...9999 Parameter index
External Group
11
control
CH0 13 92.01...92.18
system
15 93.01...93.09
33
92.01 D SET 11 VAL 1 Selects the address from which data word 1 of data set 11 is 1771 I
read. Update time is 2 ms.
0...9999 Parameter index
92.02 D SET 11 VAL 2 Selects the address from which data word 2 of data set 11 is 1772 I
read. Update time is 2 ms.
0...9999 Parameter index
92.03 D SET 11 VAL 3 Selects the address from which data word 3 of data set 11 is 1773 I
read. Update time is 2 ms.
0...9999 Parameter index
92.04 D SET 13 VAL 1 Selects the address from which data word 1 of data set 13 is 1774 I
read. Update time is 4 ms.
0...9999 Parameter index
92.05 D SET 13 VAL 2 Selects the address from which data word 2 of data set 13 is 1775 I
read. Update time is 4 ms.
0...9999 Parameter index
92.06 D SET 13 VAL 3 Selects the address from which data word 3 of data set 13 is 1776 I
read. Update time is 4 ms.
0...9999 Parameter index
92.07 D SET 15 VAL 1 Selects the address from which data word 1 of data set 15 is 1777 I
read. Update time is 10 ms.
0...9999 Parameter index
92.08 D SET 15 VAL 2 Selects the address from which data word 2 of data set 15 is 1778 I
read. Update time is 10 ms.
0...9999 Parameter index
92.09 D SET 15 VAL 3 Selects the address from which data word 3 of data set 15 is 1779 I
read. Update time is 10 ms.
0...9999 Parameter index
92.10 D SET 17 VAL 1 Selects the address from which data word 1 of data set 17 is 1780 I
read. Update time is 10 ms.
0...9999 Parameter index
Fieldbus ACTIVE
adapter SUPPLY
UNIT
INVERTER
UNIT
S
P P Q
cos ( 30 ) = ---- = ------------------------
S 2 2 30°
P +Q
P
Positive reference 30° denotes capacitive load.
Negative reference 30° denotes inductive load.
P = signal 01.09 POWER value
Parameter 24.02 values are converter to degrees by the
line-side converter application program: -3000...3000 =
-30°...30°. Values above 3000 or below -3000 equal to -30°/30°,
since the range is limited to -3000/3000.
-10000...10000 Reference value
95.02 LCU DC REF [V] Defines the intermediate circuit DC voltage reference for the 1=1V 0 I
line-side converter. This reference is written into line-side
converter parameter 23.01 DC VOLT REF.
Note: The IGBT Supply Unit DC voltage is limited by its
minimum value. With 400 V supply, the minimum DC voltage is
approximately 560 V.
For more information, see IGBT Supply Control Program 7.x
Firmware manual [3AFE68315735 (English)].
0...1100 V Voltage
95.03 LCU PAR1 SEL Selects the line-side converter address from which the actual 106 I
signal 03.31 LCU ACT SIGNAL1 is read from.
0...10000 Line-side converter parameter index. Default value 106 =
line-side converter parameter 01.06 LINE CURRENT.
For more information, see IGBT Supply Control Program 7.x
Firmware manual [3AFE68315735 (English)].
3
drive through a fibre optic DDCS link. 8
67
45
Note: Module node number must be 0
(default setting of switch S1).
ON ON 0(4)…20 mA
0(2)…10 V
1 2 3 4 5 6
0…2 V
1 2 3 4 5 6
(Default)
Switch S2 (Current or voltage signal)
ON ON Current signal
± 0(4)…20 mA
1 2 3 4 5 6
(Default)
1 2 3 4 5 6
ON ON Voltage signal
± 0(2)…10 V
1 2 3 4 5 6 1 2 3 4 5 6
ON ON Voltage signal
± 0…2 V
1 2 3 4 5 6 1 2 3 4 5 6
The analogue I/O extension module replaces AI1 and AI2 of the
RMIO board, and extends the outputs with AO3 and AO4.
Note: The communication must be activated by parameter
98.11 AI/O EXT1 LOCATION.
1 = NO Inactive
2 = UNIPOLAR AI Unipolar
3 = BIBOLAR AI Bipolar
4 = TEMP MEAS Motor temperature measurement (Pt100, PTC or KTY84-1xx)
with RAIO/NAIO module. See parameter 30.06 MOT2 TEMP
AI2 SEL.
98.08 COMM PROFILE Defines the profile on which the communication with the
fieldbus or another drive is based. Visible only when fieldbus
communication is activated by parameter 98.02 COMM.
MODULE.
ABB DRIVES ABB Drives profile
3
Note: Module node number must be set to 2 4 5 78
6
with switch S1.
98.10 DI/O EXT2 Activates the communication to the optional digital I/O 2 1910 I
LOCATION extension module 2 and defines the type and connection
interface of the module. Parameter 98.04 DI/O EXT MODULE 2
activates digital I/O extension module 2.
Faster DC input signal detection can be achieved by disabling
the hardware filter of the digital input with the configuration DIP
switch on the circuit board of the module.
DIP switch S2 (RDIO)
DI3 DI2 DI1
ON
Enabled
Hardware filtering
Disabled
1 2 3 4
01
9AB
drive through a fibre optic DDCS link.
2
3
Note: Module node number must be set to 3 8
67
45
01
drive through a fibre optic DDCS link. 9AB
2
3
Note: Module node number must be set to 5 8
67
45
ON ON Voltage signal
± 0(2)…10 V
1 2 3 4 5 6 1 2 3 4 5 6
ON ON Voltage signal
± 0…2 V
1 2 3 4 5 6 1 2 3 4 5 6
01
9AB
drive through a fibre optic DDCS link.
2
3
Note: Module node number must be set to 6 8
67
45
RAM memory
Par. 16.06
POWER-UP
USER 1
USER 1 Parameter file SAVE
LOAD
USER MACRO 1 file USER 2
USER 2
SAVE
LOAD
USER MACRO 2 file
FACTORY
FACTORY FILE
FPROM memory
Fault tracing
Safety
WARNING! Only qualified electricians are allowed to maintain the drive. Read the
Safety Instructions on the first pages of the appropriate hardware manual or the
safety manual before you work on the drive.
How to reset
The drive can be reset either by pressing the keypad RESET key, by digital input or
fieldbus, or switching the supply voltage off for a while. When the fault has been
removed, the motor can be restarted.
Fault history
When a fault is detected, it is stored in the fault history. The latest faults and alarms
are stored together with the time stamp at which the event was detected. See
section Fault and event loggers on page 113 and chapter Control panel for more
information.
Fault tracing
238
Abbreviations
AW Alarm Word
LW Limit Word
FW Fault Word
Fault tracing
239
ANALOG IO Analogue I/O error on RMIO board If AIMA-01 I/O Module Adapter is used, check
(5441) RMIO board channel CH1 fibre optic cables.
9.04 AW 1 bit 8 Replace RMIO board.
AI<MIN FUNC Analogue control signal is below minimum Check for proper analogue control signal
(8110) allowed value. This can be caused by incorrect levels.
signal level or failure in control wiring. Check control wiring.
9.05 AW 2 bit 10
(programmable Check Fault Function parameter.
Fault Function, see Check analogue input AI minimum value
par. 30.27) settings (parameter group 13 ANALOGUE
INPUTS).
ALM (xx) Drive internal alarm Check for loose connections in drive cabinet.
8.01 MSW bit 7 Write down alarm code (in brackets). Contact
your local ABB representative.
BATT FAILURE APBU branching unit memory backup battery With parallel connected inverter modules,
(5581) error caused by enable backup battery by setting actuator 6 of
- incorrect APBU switch S3 setting switch S3 to ON.
9.05 AW 2 bit 12
- too low battery voltage. Replace backup battery.
Note: Actuator 6 of switch S3 is normally
activated (ON) during commissioning.
Note: Set actuator 6 of switch S3 to OFF when
APBU is stored as spare part.
BR OVERHEAT Brake resistor overload Stop drive. Let resistor cool down.
(7112) Check parameter settings of resistor overload
protection function (parameter group 34
BRAKE CHOPPER).
Check that braking cycle meets allowed limits.
Check that supply AC voltage of drive is not
excessive.
CABLE TEMP Motor cable temperature is too high (i.e. Check motor load.
(4080) relative cable temperature 01.27 CABLE Check motor cable and its type.
9.05 AW 2 bit 3 TEMPERATURE is 102%).
Check cable thermal model settings
(parameter group 36 MOTOR CABLE
PROTECTION).
Fault tracing
240
CH2 COMM LOSS RMIO channel CH2 (Master/Follower link) Check fibre optic cables on DDCS channels
(7520) communication error CH2s.
9.04 AW 1 bit 11 Check that fibre optic cable loop is closed.
(programmable Replace fibre optic cables.
Fault Function, see Check that there is one master drive and
par. 70.14) remainder are followers in M/F link (70.08 CH2
M/F MODE).
Check if Master can communicate.
Replace optional RDCO module.
COMM MODULE Cyclical communication between drive and Check fieldbus communication status. See
(7510) type Rxxx fieldbus module or between drive chapter Fieldbus control, or appropriate
9.05 AW 2 bit 11 and external control system connected to fieldbus adapter manual.
DDCS channel CH0 is lost. Check group 51 MASTER ADAPTER (fieldbus
(programmable
Fault Function, see adapter) parameter settings.
par. 70.04 and Check group 52 STANDARD MODBUS
70.05) (Standard Modbus link) parameter settings.
Check drive node address.
Check that bus master is communicating and
correctly configured.
Check cable connections and earthings.
Check fieldbus adapter connection.
Check optic fibres between Advant controller
(or type Nxxx fieldbus adapter) and RMIO
board DDCS channel CH0.
Replace fibre optic cables.
EARTH FAULT Drive has detected load unbalance typically Check that there are no power factor correction
(2330) due to external fault (earth fault in motor or capacitors or surge absorbers in motor cable.
9.04 AW 1 bit 14 motor cable) or internal fault (damaged Check that there is no earth fault in motor or
component). motor cables:
(programmable
Fault Function, see - measure insulation resistances of motor and
par. 30.20) motor cable.
If no earth fault can be detected, contact your
local ABB representative.
Earth fault level can be sensitive with If no earth fault is detected, increase
non-parallel connected R8i inverter modules parameter setting 30.25 EARTH FAULT
with long motor cables. LEVEL by one.
Fault tracing
241
EM STOP Emergency Stop has been activated either by Return emergency stop push button to normal
9.04 AW 1 bit 1 digital input DI1 (if programmed with adaptive position.
programming blocks) or by 07.01 MAIN Check that Control Word is sent by external
CONTROL WORD bit 1 or 2 (= 0). control system to drive. See 07.01 MAIN
CONTROL WORD bits 1 and 2 or CW block
(see ACS600/ACS800 Application Guide
Adaptive Program for System Application
Program 7.x [3AFE68420075 (English)]).
Change drive status to READY: Main Control
Word bit 0 is first set to 0 and then back to 1.
With local and I/O control: Restart drive.
EM STOP DEC Motor speed is not within defined limits during Check parameter 21.05 EMSTOP DER MAX L
9.04 AW 1 bit 13 emergency stop deceleration. and 21.07 EM STOP DEC MON DEL settings.
Check load.
ENCODER A<>B Pulse encoder phasing is wrong: Phase A is Interchange connection of pulse encoder
(7302) connected to terminal of phase B and vice phases A and B.
versa.
9.05 AW 2 bit 4
ENCODER ERR Communication fault between pulse encoder Check parameter group 50 SPEED
(7301) and pulse encoder interface module or MEASUREMENT settings.
9.04 AW 1 bit 5 between pulse encoder interface module and Check encoder pulse number.
drive.
(programmable Check pulse encoder and its wiring and
Fault Function, see This can be caused by loose cable connection, module and its wiring including Ch A and Ch B
par. 50.05) communication time-out, faulty pulse encoder, phasing. Sign of 01.03 SPEED MEASURED
faulty pulse encoder module, or too great must be same as sign of internal actual speed
difference between estimated and measured 01.02 MOTOR SPEED. If not, exchange
actual speeds. channels A and B.
Check connection between RMIO board and
RTAC pulse encoder module.
Check fibre optic connection between RMIO
board and RTAC pulse encoder module.
Check earthing of pulse encoder cable.
Check for highly emissive components nearby.
EXT ANALOG IO Analogue I/O error on RAIO I/O Extension Check cabinet temperature.
(7081) module Replace RAIO module if alarm is continuously
9.04 AW 1 bit 10 active.
EXT DIGITAL IO Digital input error on RDIO I/O Extension Check cabinet temperature.
(7082) module Replace RDIO module if alarm is continuously
9.04 AW 1 bit 9 active.
ID MAGN Motor identification magnetisation is on. This Wait until drive indicates that motor
alarm belongs to normal start-up procedure. identification is completed.
Fault tracing
242
ID MAGN REG Motor identification is required. This alarm Start Identification Magnetisation by pressing
belongs to normal start-up procedure. Drive Start key, or select ID run and start. See
expects user to select how motor identification parameter 99.07 MOTOR ID RUN.
should be performed: by Identification
Magnetisation or by ID run.
ID N CHANGED Drive ID (i.e. Modbus ID) number has been Change ID number back to 1. See section How
changed from 1. to select a drive and change its panel link ID
number on page 46.
INV DISABLED Drive DC switch has been opened while drive Close DC switch.
(3200) was stopped. DC switch status of each parallel connected
9.02 FW 2 bit 4 This diagnostics is valid only for R8i inverter inverter module can be monitored by signal
8.20 INV modules equipped with AFSC Fuse Switch 08.20 INV ENABLED WORD.
ENABLED WORD Controller unit. If DC switch is not included in drive system,
deactivate this function by par. 98.12 FUSE
SWITCH CTRL. Note: With R7i inverter units
equipped with charging option +F272
monitoring must be active.
I/O SP REF Analogue input AI1 of RMIO board has been Use analogue input AI2 for speed reference by
(7281) selected for speed reference and motor setting parameter 11.01 EXT REF1 SELECT to
temperature measurement when I/O control STD AI2
(98.02 = NO) or HAND/AUTO (10.07 HAND/ or
AUTO) function has been selected. use RAIO Analogue I/O Extension module.
See 98.06 AI/O EXT MODULE 1.
KLIXON Motor 1 or motor 2 overtemperature: Thermal Check motor ratings and load.
(4311) switch or thermistor relay connected to digital Check cable.
input has opened or overtemperature is
(programmable Check PTC thermistor and thermal switch /
detected by PTC thermistor connected digital
Fault Function, see thermistor relay connections.
input DI6.
par. 31.01) If thermistor resistance is over 4 kohm, motor
temperature is too high. Wait for motor to cool
down. State of DI6 returns back to 1 when
thermistor resistance is between 0...1.5 kohm.
Replace I/O board if voltage of selected digital
input for thermal switch / thermistor relay is
correct, but state of DI6 is 0 (01.15 DI6-1
STATUS or 08.05 DI STATUS WORD).
Check parameter 10.05 KLIXON setting.
Check Fault Function parameter.
MACRO CHANGE Macro is restoring or user macro is being Wait until drive has finished task.
saved.
M/F CONNECT Incompatible data type has been selected to be Change 70.09...70.11 parameter values.
sent by Master drive to Follower drive(s).
MOD CHOKE T Overtemperature in choke of liquid cooled R8i Check inverter fan.
(FF89) inverter module Check ambient temperature.
09.11 AW 3 bit 13 Check liquid cooling system.
Fault tracing
243
MOTOR FAN Acknowledgement signal is missing from Check acknowledgement circuit (35.02 FAN
(7083) external motor fan control circuit. ACK DELAY).
9.05 AW 2 bit 0 Check overload protection device of motor fan.
If protection has tripped, reset it.
Check condition of fan bearings by rotating fan
manually.
Replace fan.
MOTOR STALL Motor is operating in stall region due to e.g. Check motor load and drive ratings.
(7121) excessive load or insufficient motor power. Check Fault Function parameters.
9.05 AW 2 bit 9
(programmable
Fault Function, see
par. 30.13...30.15)
MOTOR STARTS Motor identification run starts (drive is in Local Wait until drive indicates that motor
control mode). This alarm belongs to ID run identification is completed.
procedure.
MOTOR TEMP Motor overtemperature based on motor Check motor ratings, load and cooling.
(4310) thermal model. This can be caused by Check start-up data.
9.04 AW 1 bit 3 excessive load, insufficient motor power,
Check Fault Function parameter.
inadequate cooling or incorrect start-up data.
(programmable Check parameter 30.28 THERM MOD ALM L
Fault Function, see setting. If USER MODE is selected, check
par. 30.02) parameter 30.09...30.12, 30.30 and 30.31
settings.
MOTOR TEMP M Measured motor 1 or 2 temperature has Check alarm limit value.
(4312) exceeded alarm limit set by parameters 30.04 Check that actual number of sensors
MOT 1 TEMP ALM L or 30.07 MOT 2 TEMP corresponds to set parameter value (30.03
9.04 AW 1 bit 2
ALM L. MOT1 TEMP AI1 SEL or 30.06 MOT2 TEMP
(programmable
AI2 SEL).
Fault Function, see
par. 30.04 or 30.07) Let motor cool down. Ensure proper motor
cooling: Check cooling fan, clean cooling
surfaces, etc.
Check motor ratings and load.
Check start-up data.
Check Fault Function parameter.
Check Pt100, KTY84-1xx or PTC connections
of AI and AO of RMIO board or RAIO
Extension module.
If RAIO Extension module is used for
temperature measurement, check DIP switch
and parameter 98.06 AIO EXT MODULE 1
settings.
Fault tracing
244
MPROT SWITCH Motor overload, i.e. motor protection switch Check motor ratings and load.
(4315) has opened. Check cable connections.
9.04 AW 1 bit 12 Check Fault Function parameter.
(programmable Check parameter 10.11 MOT PROT SWITCH
Fault Function, see setting.
par. 31.04) Check digital input status. See 01.15 DI6-1
STATUS or 08.05 DI STATUS WORD.
PANEL LOSS Control panel or DriveWindow selected as Check control panel connection. Check control
(5300) active control location for drive has ceased panel connector. See appropriate hardware
communicating. manual.
9.05 AW 2 bit 13
Press RESET key (on control panel or
(programmable
DriveWindow).
Fault Function, see
par. 30.21) Replace control panel in mounting platform.
Check Fault Function parameter.
Check DriveWindow connections.
POWDOWN FILE Error in restoring powerdown.ddf file Replace RMIO board if alarm is continuously
9.05 AW 2 bit 8 active.
POWFAIL FILE Error in restoring powerfail.ddf file during RMIO Replace RMIO board if alarm is continuously
(FFA0) board power switch-off. active.
9.05 AW 2 bit 7
REPLACE FAN Running time of inverter cooling fan has Change fan.
exceeded its estimated life time. Reset fan run time counter (01.31 FAN-ON-
TIME).
SAFETY SWITCH Safety switch was opened while drive was Close safety switch.
(7084) stopped (parameter 10.09 SAFETY SWITCH).
9.04 AW 1 bit 15
START INHIBI Prevention of Unexpected Start-up has been Close Prevention of Unexpected Start-up
(FF7A) activated while drive was stopped. switch.
9.04 AW 1 bit 0 If switch is closed and fault is still active, check
power supply at AGPS board input terminals.
Replace AGPS board.
SWC ON INHIB Drive is in ON INHIB state. Set 07.01 MAIN CONTROL WORD bit 0 first to
8.01 MSW bit 6 0, then back to 1.
Fault tracing
245
SYNCRO SPEED Motor nominal speed setting is incorrect: Value Check nominal speed from motor rating plate
is too near synchronous speed of motor. and set parameter 99.05 MOTOR NOM
Tolerance is 0.1%. SPEED exactly accordingly.
This alarm is active only in DTC mode.
SYSTEM START Inverter software has been started, i.e. If this alarm appears during normal operation
auxiliary voltage +24 VDC is connected. of drive, check RMIO board power supply.
Check +24 VDC supply circuit connections.
Check for possible short cuts in +24 VDC
circuit.
T MEAS CIRC Error in motor temperature measurement Check connections of motor temperature
(FF91) circuit. This can be caused by broken measurement circuit. See section Temperature
temperature sensor or cable. sensors on page 82 for connection diagrams.
9.04 AW 1 bit 6
(programmable
Fault Function, see
par. 31.03)
UNDERLOAD Motor load is too low due to e.g. release Check for problem in driven equipment.
(FF6A) mechanism in driven equipment. Check Fault Function parameters.
9.05 AW 2 bit 1
(programmable
Fault Function, see
par. 30.16...30.18)
Fault tracing
246
DOWNLOADING Download function of panel has failed. No data Make sure panel is in local mode.
FAILED has been copied from panel to drive. Retry (there might be interference on link).
Contact your local ABB representative.
DRIVE Program versions in panel and drive do not Check program versions. See signal group 04
INCOMPATIBLE match. It is not possible to copy data from INFORMATION.
DOWNLOADING panel to drive.
NOT POSSIBLE
DRIVE IS Downloading is not possible while motor is Stop motor. Perform download.
RUNNING running.
DOWNLOADING
NOT POSSIBLE
NO Cabling problem or hardware malfunction on Press RESET key. Panel reset may take up to
COMMUNICATION panel link. half a minute, please wait.
Check panel link connections.
Panel type is not compatible with drive Check panel type and version of drive
application program version. application program. Panel type is printed on
panel cover. Application program version is
stored in signal 04.03 APPLIC SW VERSION.
NO FREE ID Panel link already includes 31 stations. Disconnect another station from link to free ID
NUMBERS number.
ID NUMBER
SETTING NOT
POSSIBLE
NOT UPLOADED No upload function has been performed. Perform upload function before downloading.
DOWNLOADING See section Function mode on page 43.
NOT POSSIBLE
UPLOADING Upload function of panel has failed. No data Retry (there might be interference on link).
FAILED has been copied from drive to panel. Contact your local ABB representative.
WRITE ACCESS Certain parameters do not allow changes while Stop motor and change parameter value.
DENIED motor is running. If tried, no change is
PARAMETER accepted, and alarm is displayed.
SETTING NOT
POSSIBLE Parameter lock is on. Open parameter lock by parameter 16.02
PARAMETER LOCK.
Fault tracing
247
ACS TEMP x y Excessive internal temperature in inverter unit Check ambient conditions.
(4210) of several parallel connected inverter modules. Check air flow and fan operation.
9.01 FW 1 bit 3 x (1...12) refers to faulty inverter module
Check heatsink fins for dust pick-up.
number and y (U, V, W) refers to faulty phase.
9.16 OVERTEMP Check motor power against unit power.
WORD
AI<MIN FUNC Analogue control signal is below minimum Check for proper analogue control signal
(8110) allowed value. This can be caused by incorrect levels.
signal level or failure in control wiring. Check control wiring.
9.02 FW 2 bit 10
(programmable Check Fault Function parameter.
Fault Function, see Check analogue input AI minimum value
par. 30.27) settings (parameter group 13 ANALOGUE
INPUTS).
BC OVERHEAT Brake chopper overload Stop drive. Let chopper cool down.
(7114) Check parameter settings of resistor overload
protection function (parameter group 34
BRAKE CHOPPER).
Check that braking cycle meets allowed limits.
Check that supply AC voltage of drive is not
excessive.
BC SHORT CIR Short circuit in brake chopper IGBT(s) Replace brake chopper.
(7113) Ensure brake resistor is connected and not
damaged.
BR BROKEN Brake resistor is not connected or it is Check resistor and resistor connection.
(7110) damaged. Check that resistance rating meets
Resistance rating of brake resistor is too high. specifications. See drive hardware manual.
BR OVERHEAT Brake resistor overload Stop drive. Let resistor cool down.
(7112) Check parameter settings of resistor overload
protection function (parameter group 34
BRAKE CHOPPER).
Check that braking cycle meets allowed limits.
Check that supply AC voltage of drive is not
excessive.
Fault tracing
248
CABLE TEMP Motor cable temperature is too high (i.e. Check motor load.
(4080) relative cable temperature 01.27 CABLE Check motor cable and its type.
9.02 FW 2 bit 3 TEMPERATURE is 106%).
Check cable thermal model settings
(parameter group 36 MOTOR CABLE
PROTECTION).
CH2 COMM LOSS RMIO channel CH2 (Master/Follower link) Check fibre optic cables on DDCS channels
(7520) communication error CH2s.
9.01 FW 1 bit 11 Check that fibre optic cable loop is closed.
(programmable Replace fibre optic cables.
Fault function, see Check that there is one Master drive and
par. 70.14) remainder are Followers in M/F link (70.08
CH2 M/F MODE).
Check if Master can communicate.
Replace optional RDCO module.
COMM MODULE Cyclical communication between drive and Check fieldbus communication status. See
(7510) type Rxxx fieldbus module or between drive chapter Fieldbus control, or appropriate
9.02 FW 2 bit 12 and external control system connected to fieldbus adapter manual.
DDCS channel CH0 is lost. Check group 51 MASTER ADAPTER (fieldbus
(programmable
Fault function, see adapter) parameter settings.
par. 70.04 and Note: When COMM MODULE fault is Check group 52 STANDARD MODBUS
70.05) activated, torque selector (26.01 TORQUE (Standard Modbus link) parameter settings.
SELECTOR) is set to speed control. Check drive node address.
Check that bus master is communicating and
correctly configured.
Check cable connections and earthings.
Check fieldbus adapter connections.
Check optic fibres between Advant controller
(or type Nxxx fieldbus adapter) and RMIO
board DDCS channel CH0.
Replace fibre optic cables.
CTRL B TEMP RMIO control board temperature is out of Check cabinet air flow and fan operation.
(4110) acceptable range. Environment temperature is
9.02 FW 2 bit 7 too high (> 80°C).
CURR MEAS Current transformer failure in output current Check current transducer connections to Main
(2211) measurement circuit Circuit Interface Board, AINT.
CUR UNBAL x Drive has detected excessive output current Check motor and motor cable circuit.
(2330) unbalance in inverter unit of several parallel Check that there are no power factor correction
9.13 CURRENT connected inverter modules. This can be capacitors or surge absorbers in motor cable.
UNBALANCE caused by external fault (earth fault, motor
DO NOT change parameter 30.25 EARTH
fault, motor cabling fault, etc.) or internal fault
9.01 FW 1 bit 4 FAULT LEVEL.setting.
(damaged inverter component). x (1...12)
refers to faulty inverter module number. Check contents of APBU branching unit data
logger.
Contact your local ABB representative.
Fault tracing
249
DC HIGH RUSH Drive supply voltage is excessive. DC voltage Check supply voltage level, rated voltage of
(FF80) rises too fast for overvoltage controller (if used) drive and allowed voltage range of drive.
9.06 FW 3 bit 11 to react.
When supply voltage is over 124% of unit
voltage rating (415, 500 or 690 V), motor
speed rushes to trip level (40% of nominal
speed).
DC OVERVOLT Excessive intermediate circuit DC voltage. This Check that overvoltage controller is on
(3210) can be caused by (parameter 30.23 OVERVOLTAGE CTL).
9.01 FW 1 bit 2 1. Static or transient overvoltages in mains. Check mains for static or transient overvoltage.
2. Faulty brake chopper or resistor(s) (if used). Check brake chopper and resistor(s) (if used).
3. Too short deceleration time (if there is no
Check deceleration time.
brake chopper or regenerative incoming
section). If regenerative incoming section is used, check
4. Internal fault in inverter unit. that diode mode is not forced during
deceleration: Check that TSU 07.01 Main
DC overvoltage trip limit is 1.3 · 1.35 · U1max,
Control Word bit 9 status is FALSE.
where U1max is maximum value of input
voltage range. Use coast to stop function (if applicable).
Check DC voltage level and inverter nominal
Unom of UDC overvoltage
U1max voltage.
inverter unit trip limit
Retrofit frequency converter with brake
400 V 415 V 728 VDC
chopper and brake resistor(s).
500 V 500 V 877 VDC
690 V 690 V 1210 VDC
DC UNDERVOLT Intermediate circuit DC voltage is not sufficient Check mains supply and fuses.
(3220) due to missing mains phase in diode rectifier With standard drive hardware:
9.02 FW 2 bit 2 bridge.
Check that RUN ENABLE signal connected to
DC undervoltage trip limit is 0.6 · 1.35 · U1min, digital input DI2 is active (1 = active) when
where U1min is minimum value of input voltage inverter is powered.
range.
EARTH FAULT Drive has detected load unbalance typically Check that there are no power factor correction
(2330) due to external fault (earth fault in motor or capacitors or surge absorbers in motor cable.
9.01 FW 1 bit 4 motor cable) or internal fault (damaged Check that there is no earth fault in motor or
component). motor cables:
(programmable
Fault Function, see - measure insulation resistances of motor and
par. 30.20) motor cable.
If no earth fault can be detected, contact your
local ABB representative.
Earth fault level can be sensitive with non- If no earth fault is detected, increase
parallel connected R8i inverter modules with parameter setting 30.25 EARTH FAULT
long motor cables. LEVEL by one.
Fault tracing
250
ENCODER A<>B Pulse encoder phasing is wrong: Phase A is Interchange connection of pulse encoder
(7302) connected to terminal of phase B and vice phases A and B.
9.06 FW 3 bit 10 versa.
ENCODER ERR Communication fault between pulse encoder Check parameter group 50 SPEED
(7301) and pulse encoder interface module or MEASUREMENT settings.
9.02 FW 2 bit 5 between pulse encoder interface module and Check encoder pulse number.
drive.
(programmable Check pulse encoder and its wiring and
Fault Function, see This can be caused by loose cable connection, module and its wiring including Ch A and Ch B
par. 50.05) communication time-out, faulty pulse encoder, phasing. Sign of signal 01.03 SPEED
faulty pulse encoder module, or too great MEASURED must be same as sign of internal
difference between estimated and measured actual speed 01.02 MOTOR SPEED. If not,
actual speeds. exchange channels A and B.
Check connection between RMIO and optional
RDCO module.
Check fibre optic connection between RMIO
board and RTAC pulse encoder module.
Check earthing of pulse encoder cable.
Check for highly emissive components nearby.
FACTORY FILE Factory macro parameter file error Replace RMIO board.
9.03 SFW bit 0
FLT (xx) Drive internal fault Check for loose connections in drive cabinet.
8.01 MSW bit 3 Write down Fault code (in brackets). Contact
your local ABB representative.
GD DISABLED X AGPS power supply of parallel connected R8i Check Prevention of Unexpected Start-up
(FF7A) inverter module has been switched off during circuit.
run. X (1...12) refers to inverter module Replace AGPS board of R8i inverter module.
9.06 FW 3 bit 6
number.
ID RUN FAIL Motor ID run is not completed successfully. Check nominal motor values from parameter
(FF84) group 99 START-UP DATA.
8.01 MSW bit 3 Check that no external control system is
connected to drive.
Switch off auxiliary voltage supply from RMIO
board and power-up drive again.
Check group 20 LIMITS parameter settings.
20.02 MAXIMUM SPEED should be at least
80% of 99.05 NOMINAL SPEED.
Check that no limits prevent ID run. Restore
factory settings and try again.
Check that motor shaft is not locked.
ILLEGAL Operating system error Change RMIO board of RDCU control unit.
INSTRUCTION
9.03 SFW bit 11
Fault tracing
251
INT CONFIG Number of R8i inverter modules recognized by Check status of inverters. See signal 08.22 INT
(5410) application program during PPCC link CONFIG WORD.
configuration is not equal to original number of Check fibre optic cables between APBU and
9.06 FW 3 bit 7
inverters. inverter modules.
Check inverter modules which are not
recognized by application program.
If reduced run function is used, isolate faulted
inverter module from main circuit and write
number of remaining inverter modules to
parameter 16.10 INT CONFIG USER. Reset
drive. See section Reduced run function on
page 78.
INV DISABLED DC switch has opened while drive was running Close DC switch.
(3200) or start command was given. DC switch status of each parallel connected
9.02 FW 2 bit 4 This diagnostics is valid only for R8i inverter inverter module can be monitored by signal
modules equipped with AFSC-0x Fuse Switch 08.20 INV ENABLED WORD.
Controller unit. If DC switch is not included in drive system,
deactivate this function by par. 98.12 FUSE
SWITCH CTRL. Note: With R7i inverter units
equipped with charging option +F272
monitoring must be active.
IO COMM ERR I/O communication fault. This can be caused Option slot installation (RAIO, RDIO, RTAC):
(7000) by faulty I/O unit, defective fibre optic cable - Check option module status LED (WD/INIT,
9.02 FW 2 bit 6 connection or incorrect module identification yellow). LED is lit when drive is configuring
number (if I/O extension modules are present module during power-up. If LED does not go
via optic link). out after one second, configuration has failed.
- Check option module connections.
- Check connection between option module
and RMIO board.
- Change option module.
- Switch drive supply power off and on again.
I/O Module Adapter installation (AIMA-01):
- Replace fibre optic cables.
- Check node ID of extension I/O module.
- Check light intensity of fibre optic channels on
AIMA-01 adapter. See I/O Module Adapter
AIMA-01User’s Manual [3AFE 64661442
(English)].
- Replace I/O module adapter / extension
unit(s) if fault is still active.
Fault tracing
252
KLIXON Motor 1 or motor 2 overtemperature: Thermal Check motor ratings and load.
(4311) switch or thermistor relay connected to digital Check cable.
input has opened or overtemperature detected
9.01 FW 1 bit 5 Check PTC thermistor and thermal switch /
by PTC thermistor connected digital input DI6.
(programmable thermistor relay connections.
Fault Function, see If PTC thermistor resistance is over 4 kohm,
par. 31.01) motor temperature is too high. Wait for motor
to cool down. State of DI6 returns back to 1
when thermistor resistance is between 0...1.5
kohm.
Replace I/O board if voltage of selected digital
input for thermal switch / thermistor relay is
correct, but state of DI6 is 0 (01.15 DI6-1
STATUS or 08.05 DI STATUS WORD).
Check parameter 10.05 KLIXON setting.
Check Fault Function parameter.
LINE CONV ERR Line-side converter fault Shift panel from motor-side converter control
(FF51) board to line-side converter control board.
9.06 FW 3 bit 3 See line-side converter firmware manual for
fault description.
MOD CHOKE T Overtemperature in choke of liquid cooled R8i Check inverter fan.
(FF89) inverter module Check ambient temperature.
09.06 FW 3 bit 13 Check liquid cooling system.
MOTOR FAN Acknowledgement signal is missing from Check acknowledgement circuit (35.02 FAN
(7083) external motor fan control circuit. ACK DELAY).
9.06 FW 3 bit 0 Check overload protection device of motor fan.
If protection has tripped, reset it.
Check condition of fan bearings by rotating fan
manually.
Replace fan.
MOTOR PHASE One of motor phases is lost due to fault in Check motor and motor cable.
(FF56) motor, motor cable, thermal relay (if used) or Check thermal relay (if used).
9.02 FW 2 bit 15 internal fault.
Check Fault Function parameter. Deactivate
(programmable protection.
Fault Function, see Fault can also appear with small motors
par. 30.19). (< 30 kW) at low speed. Deactivate protection
in this case.
MOTOR STALL Motor is operating in stall region due to e.g. Check motor load and drive ratings.
(7121) excessive load or insufficient motor power. Check Fault Function parameters.
9.02 FW 2 bit 14
(programmable
Fault Function, see
par. 30.13...30.15)
Fault tracing
253
MOTOR TEMP Motor overtemperature based on motor Check motor ratings, load and cooling.
(4310) thermal model. This can be caused by Check start-up data.
9.01 FW 1 bit 6 excessive load, insufficient motor power,
Check Fault Function parameter.
inadequate cooling or incorrect start-up data.
(programmable Check parameter 30.29 THERM MOD FLT LIM
Fault Function, see setting. If USER MODE is selected, check
par. 30.02) parameter 30.09...30.12, 30.30 and 30.31
settings.
MOTOR TEMP M Measured motor 1 or 2 temperature has Check fault limit value.
(4312) exceeded fault limit set by parameter 30.05 Check that actual number of sensors
MOT 1 TEMP FLT L or 30.08 MOT 2 TEMP corresponds to set parameter value (30.03
9.01 FW 1 bit 5
FLT L. MOT1 TEMP AI1 SEL or 30.06 MOT2 TEMP
(programmable
AI2 SEL).
Fault Function, see
par. 30.05 or 30.08) Let motor cool down. Ensure proper motor
cooling: Check cooling fan, clean cooling
surfaces, etc.
Check motor ratings and load.
Check start-up data.
Check Fault Function parameter.
Check Pt100, KTY84-1xx or PTC connections
of AI and AO of RMIO board or RAIO
Extension module.
If RAIO Extension module is used for
temperature measurement, check DIP switch
and parameter 98.06 AIO EXT MODULE 1
settings.
MPROT SWITCH Motor overload, i.e. motor protection switch Check motor ratings and load.
(4315) has opened. Check cable connections.
9.01 FW 1 bit 10 Check Fault Function parameter.
(programmable Check parameter 10.11 MOT PROT SWITCH
Fault Function, see setting.
par. 31.04) Check digital input status. See 01.15 DI6-1
STATUS or 08.05 DI STATUS WORD.
NO MOTOR DATA Motor data is not given or motor data does not Check motor data (parameters 99.02...99.06).
(FF52) match with inverter data.
9.02 FW 2 bit 1
OVERFREQ Motor is turning faster than highest allowed Check minimum/maximum speed settings.
(7123) speed due to incorrectly set minimum/ Check adequacy of motor braking torque.
maximum speed, insufficient braking torque or
9.01 FW1 bit 9 Check applicability of torque control.
changes in load when torque reference is
used. If drive has Diode Supply Unit (DSU), check
need for brake chopper and resistor(s).
Check parameter 20.11 FREQ TRIP MARGIN
setting.
Fault tracing
254
OVER SWFREQ Switching frequency is too high. This can be Replace RMIO board.
(FF55) caused by electronic board hardware fault. Replace AINT board.
9.02 FW 2 bit 8 With parallel connected inverter modules,
replace branching unit.
PANEL LOSS Control panel or DriveWindow selected as Check control panel connection. Check control
(5300) active control location for drive has ceased panel connector. See appropriate hardware
communicating. manual.
9.02 FW 2 bit 13
Press RESET key (on control panel or
(programmable
DriveWindow).
Fault Function, see
par. 30.21) Replace control panel in mounting platform.
Check Fault Function parameter.
Check DriveWindow connection.
PARAM CRC CRC (Cyclic Redundancy Check) error Switch control board power off and on again.
(6320) Reload firmware to control board.
Replace control board.
Fault tracing
255
POWER FAIL x AINT board powerfail in R8i inverter unit of Check that AINT board power cable is
(3381) several parallel connected inverter modules. connected.
x refers to inverter module number (x = 1…12). Check that POW board is working correctly.
Replace AINT board.
PPCC LINK AINT board current measurement or Check fibre optic cables between RMIO and
(5210) communication fault between RMIO and AINT. AINT boards.
9.02 FW 2 bit 11 Fault can be masked with 30.24 PPCC FAULT If fault is still active, replace RMIO and/or AINT
MASK. board.
Check IGBT(s).
Replace fibre optic cables.
If RMIO is powered from external supply,
ensure that supply is on. See parameter 16.07
CTRL BOARD SUPPLY.
Check that there is no short circuit in power
stage. Short circuit or overcurrent caused by
faulty IGBTs can activate PPCC LINK fault.
PPCC LINK xx AINT board current measurement or Check fibre optic cable connection between
(5210) communication fault between RMIO and AINT RMIO and AINT boards.
in inverter unit of several parallel connected Check cabling of branching unit.
9.02 FW 2 bit 11
inverter modules. xx (1...12) refers to faulty
If fault is still active, replace branching unit,
inverter module number.
RMIO and/or AINT board.
Fault can be masked with 30.24 PPCC FAULT
Check IGBT(s).
MASK.
Replace fibre optic cables.
Check that there is no short circuit in power
stage. Short circuit or overcurrent caused by
faulty IGBTs can activate PPCC LINK fault.
If fault is still active, replace inverter module.
RUN DISABLE No Run enable signal received, because: Check that RUN ENABLE signal connected to
(FF54) - circuit connected to digital input DI2 is open digital input DI2 is active (1 = active, i.e. circuit
(0 = open) is closed) when inverter is powered.
9.02 FW2 bit 4
- of external device fault.
Note: If DC switch is opened, fault RUN
DISABLE is activated.
SAFETY SWITCH Safety switch was opened during run Close safety switch.
(7084) (parameter 10.09 SAFETY SWITCH)
09.06 FW3 bit 2
SC INV x y Short circuit (i.e. excessive output current) in Check motor and motor cable.
(2340) inverter unit of several parallel connected Check inverter module IGBTs.
9.01 FW 1 bit 0 inverter modules. x (1...12) refers to faulty
If faulty IGBT module is detected, replace
inverter module number and y (U, V, W) refers
9.15 SHORT CIRC IGBT module or inverter module.
to faulty phase.
FAULT
Fault tracing
256
SHORT CIRC Short circuit fault (i.e. excessive output current) Check motor and motor cable.
(2340) Check inverter module IGBTs.
9.01 FW 1 bit 0 If faulty IGBT module is detected, replace
9.15 SHORT CIRC IGBT module or inverter module.
FAULT
START INHIBI Prevention of Unexpected Start-up has been Close Prevention of Unexpected Start-up
(FF7A) activated during motor run or motor start switch.
8.21 START INHIBI command has been given when Prevention of If switch is closed and fault is still active, check
WORD for ACS800 Unexpected Start-up is active. power supply at AGPS board input terminals.
9.06 FW 3 bit 5 Replace AGPS board.
SUPPLY PHASE DC voltage ripple in intermediate circuit is too Check mains fuses.
(3130) high. This can be caused by missing mains Check if mains supply is unbalanced.
9.02 FW 2 bit 0 phase in diode bridge rectifier, or DC voltage
oscillation due to thyristor rectifying (if used).
T MEAS CIRC Error in motor temperature measurement Check connections of motor temperature
(FF91) circuit. This can be caused by broken measurement circuit. See section Temperature
temperature sensor or cable. sensors on page 82 for connection diagrams.
9.06 FW 3 bit 4
(programmable
Fault Function, see
par. 31.03)
UNDERLOAD Motor load is too low due to e.g. release Check for problem in driven equipment.
(FF6A) mechanism in driven equipment. Check Fault Function parameters.
9.01 FW 1 bit 8
(programmable
Fault Function, see
par. 30.16...30.18)
USER MACRO No user macro saved or file is defective. Create user macro.
(FFA1)
9.03 SFW bit 1
Fault tracing
257
Application macros
Overview of macros
Application macros are preprogrammed parameter sets. While starting the drive, the
user selects the FACTORY macro by parameter 99.11 APPLICATION MACRO,
makes the essential changes and saves the result as a user macro (USER 1 or 2
SAVE). User macro settings can be recalled (USER 1 or 2 LOAD). The table below
contains a summary of the macros.
Factory Ordinary speed control applications where no, one, two or three constant speeds are
used:
- conveyors
- speed controlled pumps and fans
- test benches with predefined constant speeds.
User The user can save the customised standard macro i.e. the parameter settings and the
results of the motor identification to permanent memory, and recall the data at a later
time.
There are three parameter files available in the FPROM memory: PARAMETER.ddf,
USER_MACRO1.ddf and USER_MACRO2.ddf.
With Factory macro all parameter changes are saved automatically to file
PARAMETER.ddf. When user macros are in use, all parameter changes must be
saved to the corresponding user macro file by parameter 99.11 APPLICATION
MACRO. See section User macros on page 258.
Application macros
258
User macros
It is possible to create two user macros. They can be saved and restored by
parameters 99.09 APPLIC RESTORE and 99.11 APPLICATION MACRO. The user
macro allows the user to save parameter settings including parameter group 99
START-UP DATA and the results of the motor identification to permanent memory,
and to recall the data at a later time.
Two user macros are essential when switching between two motors is required.
Note: User macro load restores also the motor settings in group 99 START-UP
DATA and the results of the motor identification. Check that the settings correspond
to the used motor.
See also section User macro save with DriveWindow on page 115.
Example: The user can switch the drive between two motors without having to adjust
the motor parameters and to repeat the motor identification every time the motor is
changed. The user needs only to adjust the settings and perform the motor
identification once for both motors and then to save the data as two user macros.
When the motor is changed, only the corresponding user macro needs to be loaded,
and the drive is ready to operate.
Application macros
259
Fieldbus control
System overview
The drive can be connected to an external control system – usually a fieldbus
controller – via an adapter module. The drive can be set to receive all of its control
information through the external control interface, or the control can be distributed
between the external control interface and other available sources, for example
digital and analogue inputs.
The following diagram shows the control interfaces and I/O connections of the drive.
Fieldbus
controller
Fieldbus
(* (*
ACS800 Other
devices
Advant
Fieldbus adapter Controller controller
Rxxx (e.g. AC 800M,
Modbus AC 80)
Slot 1
RMIO board
(*
RMBA-01 adapter
std. Modbus link
Slot 1 or 2 I/O adapter
RTAC/RDIO/RAIO
CH1
RDCO comm. AIMA-01 I/O
module (DDCS) adapter module
or
Data Flow
Control Word (CW)
References
Process I/O (cyclic)
Status Word (SW)
Actual values
(* Either an Rxxx or Nxxx, and an RMBA-01 adapter can be connected to the drive simultaneously.
Fieldbus control
260
ACS800
RMIO board
RPBA-01 adapter
PROFIBUS-DP link
Slot 1
RMBA-01 adapter
std. Modbus link
Slot 2
The control (i.e. the Main Reference data set, see section Data sets 1 and 2 on
page 267) is activated by setting parameter 98.02 COMM. MODULE to FIELDBUS
or STD MODBUS.
In case there is a communication problem with one fieldbus, the control can be
switched to the other fieldbus. Switching between the buses can be controlled
e.g. with adaptive programming. Parameters and signals can be read by both
fieldbuses, but simultaneous cyclical writing to the same parameter is forbidden.
The RMIO board CH0 supports either DriveBus or DDCS protocol. DriveBus
protocol is faster than the DDCS protocol.
Fieldbus control
261
COMMUNICATION INITIALISATION
70.01 CH0 0-254 1 Defines the node address for DDCS channel CH0
NODE ADDR
71.01 CH0 YES = NO Selects the communication mode for DDCS channel
DRIVEBUS DriveBus mode CH0
MODE* NO = DDCS
mode
70.04 CH0 0...60000 ms Defines the delay time before channel CH0 (type
TIMEOUT Nxxx adapter) or type Rxxx fieldbus adapter
interface communication break alarm/fault is
indicated.
70.05 CH0 STOP Defines the action taken after CH0 or type Rxxx
COM LOSS RAMPNG fieldbus adapter interface communication fault
CTRL STOP TORQ
COAST STOP
LAST SPEED
CNST SPEED1
Fieldbus control
262
70.19 CH0 RING Default value is STAR which Selects the topology of the channel CH0 link.
HW STAR is typically used with
CONNECTI branching units (NDBU).
ON This parameter has no effect
in DriveBus mode.
51.02 These parameters are adapter module-specific. For more information, see the module manual.
(FIELDBUS Note that not all of these parameters are necessarily visible.
PARAMETE
R 2)
...
51.26
(FIELDBUS
PARAMETE
R 26)
51.28 FILE xyz (binary - Displays the required CPI firmware revision of the
CPI FW coded fieldbus adapter as defined in the configuration file
REV** decimal) stored in the memory of the drive. The CPI firmware
version of the fieldbus adapter (refer to par. 51.32)
must contain the same or a later CPI version to be
compatible. x = major revision number; y = minor
revision number; z = correction number. Example:
107 = revision 1.07.
51.29 FILE xyz (binary - Displays the fieldbus adapter module configuration
CONFIG ID** coded file identification stored in the memory of the drive.
decimal) This information is drive application program-
dependent.
51.30 FILE xyz (binary - Displays the fieldbus adapter module configuration
CONFIG coded file revision stored in the memory of the drive.
REV** decimal) x = major revision number; y = minor revision
number; z = correction number. Example:
1 = revision 0.01.
51.31 FBA (0) IDLE; - Displays the status of the adapter module.
STATUS** (1) EXEC. INIT; IDLE = Adapter not configured.
(2) TIME OUT; EXEC. INIT = Adapter initialising.
(3) CONFIG TIME OUT = A timeout has occurred in the
ERROR; communication between the adapter and the drive.
(4) OFF-LINE; CONFIG ERROR = Adapter configuration error. The
(5) ON-LINE; major or minor revision code of the CPI firmware
(6) RESET revision stored in the adapter differs from that stated
in the configuration file in the memory of the drive.
OFF-LINE = Adapter is off-line.
ON-LINE = Adapter is on-line.
RESET = Adapter performing a hardware reset.
Fieldbus control
263
52.03 PARITY NONE1STOPBIT Defines the parity setting for the standard
NONE2STOPBIT Modbus link.
ODD
EVEN
Fieldbus control
264
The drive parameters, data words, references and actual values are mapped into the
4xxyy register area:
Signal Address Modbus address
For the mapping of other signals and parameters see section Modbus and Modbus
Plus address on page 120.
More information on Modbus communication is available from the Modicon website
http://www.modicon.com.
Modbus link
The CDP 312R control panel, NLMD-01 Led Monitoring Display panel or
DriveWindow can be connected to the drive through a Modbus link. The
communication speed of the link is 9600 bit/s (8 data bits, 1 stop bit, odd parity).
The connected device is the master of the communication link. NBCI-01 Bus
Connection Modules must be used if the distance between the panel and the drive is
over three metres.
Modbus is designed for integration with Modicon PLCs (PLC = Programmable Logic
Controller) or other automation devices, and its services correspond mainly to the
PLC architecture. The drive looks like a Modicon PLC from the network.
Fieldbus control
265
TB811 × ×
TB810 ×
If branching unit NDBU-85/95 is used with CI810A, TB810 Optical ModuleBus Port
Interface must be used.
Fieldbus control
266
The following table lists the parameters, which need to be defined when setting up
communication between the drive and Advant controller.
Parameter Alternative Setting for Function/Information
settings fieldbus control
70.01 CH0 0-254 AC 800M DriveBus (CI858) 1...24 Defines the node address for DDCS
NODE ADDR AC 800M ModuleBus 1...125 channel CH0.
AC 80 DriveBus 1-12
AC 80 ModuleBus 17-125
FCI (CI810A) 17-125
APC2 1
71.01 CH0 YES = DriveBus AC 800M DriveBus (CI858) YES Defines the communication mode for
DRIVEBUS mode AC 800M ModuleBus NO DDCS channel CH0.
MODE.* NO = DDCS mode AC 80 DriveBus YES
APC2/AC80 ModuleBus/FCI
(CI810A) NO
70.05 CH0 STOP RAMPNG Defines the action taken after CH0
COM LOSS STOP TORQ (Advant controller) communication fault.
CTRL COAST STOP
LAST SPEED
CNST SPEED1
70.19 CH0 HW RING Default value is STAR which is Selects the topology of the channel CH0
CONNECTION STAR typically used with branching units link.
(NDBU).
This parameter has no effect in the
DriveBus mode.
Fieldbus control
267
Fieldbus control
268
Fieldbus control
269
Fieldbus control
270
Fieldbus control
271
Fieldbus control
272
Fieldbus control
273
Control examples
Control example: START by AUTO- or DC MAGN-mode, STOP by ramp generator control
State
1 100%
DC Voltage ON
30% FLUX ACTUAL
FLUX 0%
23.01 SPEED REF
Par. 50.10 ABOVE SPEED LIMIT
MOTOR SPEED
Par. 20.03 ZERO SPEED LIMIT 0 rpm
2 1
0 ON, OFF1
1
1 OFF2
1
MCW 7.01 bits
2 OFF3
3 6
3 RUN 0
4 RAMP OUT ZERO 1
5 RAMP HOLD 1
6 RAMP IN ZERO 1
4
7 RESET 7
0
8 INCHING1 0
9 INCHING2 0
10 REMOTE CMD 1
1
0 RDY ON
1
1 RDY RUN
2 RDY REF
MSW 8.01 bits
0
3 TRIPPED 0
4 OFF 2 STA 1
5 OFF 3 STA 1
6 SWC ON INHIB 0
7 ALARM 0
8 AT SETPOINT 0
9 REMOTE 1
10 ABOVE LIMIT
0
0
1
ACW 7.02 bits
2 RAMP BYPASS
0
3 BAL RAMP OUT
0
4 FLUX ON DC 0
5 FLUX ON 0
6
7
0
ASW 8.02 bits
...
3 MAGNETIZED 0
...
4 ZERO SPEED 5 1
t
Fieldbus control
274
DC Voltage ON 1
100%
FLUX 0%
23.01 SPEED REF
Par. 50.10 ABOVE SPEED LIMIT
MOTOR SPEED
Par. 20.03 ZERO SPEED LIMIT 0 rpm
2 1
0 ON, OFF1
1
1 OFF2
1
MCW 7.01 bits
2 OFF3
3 RUN
9
4 0
4 RAMP OUT ZERO 1
6 1
5 RAMP HOLD 10
6 RAMP IN ZERO 1
7 RESET 0
8 INCHING1 0
9 INCHING2 0
10 REMOTE CMD 1
1
0 RDY ON
1
1 RDY RUN
2 RDY REF
MSW 8.01 bits
0
3 TRIPPED 0
4 OFF 2 STA 1
5 OFF 3 STA 1
6 ON INHIBITED 0
7 ALARM 0
8 AT SETPOINT 0
9 REMOTE 1
10 ABOVE LIMIT
0
0
1
ACW 7.02 bits
2 RAMP BYPASS 0
3 BAL RAMP OUT 0
5 8 1
4 FLUX ON DC 3
5 FLUX ON
0
6
7
0
ASW 8.02 bits
...
3 MAGNETIZED 0
...
7 1
4 ZERO SPEED
t
Fieldbus control
275
Control example: FAULT RESET, RUN by CONST SPEED 1 (INCHING 1), CONST
SPEED 2, (INCHING 2) and SPEED REF State
DC Voltage ON
FLUX 100%
0%
23.01 SPEED REF
MOTOR SPEED
Par. 50.10 ABOVE SPEED LIMIT
Par. 23.02 CONST SPEED 1
Par. 20.03 ZERO SPEED LIMIT 0 rpm
Par. 23.03 CONST SPEED2
1
0 ON, OFF1
4 1
1 OFF2
1
MCW 7.01 bits
2 OFF3
2 1
3 RUN 6 1
4 RAMP OUT ZERO
5 RAMP HOLD 5 9 1
6 RAMP IN ZERO 1
3
7 RESET 0
8 INCHING1 0
7
9 INCHING2 0
10 REMOTE CMD 8 1
1
0 RDY ON
1
1 RDY RUN
1
2 RDY REF
MSW 8.01 bits
3 TRIPPED 1 0
4 OFF 2 STA 1
5 OFF 3 STA 1
6 ON INHIBITED
0
7 ALARM 0
8 AT SETPOINT 1
9 REMOTE 1
10 ABOVE LIMIT 1
0
1
ACW 7.02 bits
2 RAMP BYPASS 0
3 BAL RAMP OUT 0
4 FLUX ON DC 0
5 FLUX ON 0
6
7
0
ASW 8.02 bits
...
3 MAGNETIZED 1
...
4 ZERO SPEED 1
Fieldbus control
276
Control example: Emergency Stop (OFF3) with ramp and AUTO RESTART after
a short supply power failure
State
DC Voltage 100%
UDC 75% 0%
Undervoltage trip limit
100%
FLUX
0%
23.01 SPEED REF
Par. 50.10 ABOVE SPEED LIMIT
MOTOR SPEED
Par. 20.03 ZERO SPEED LIMIT 0 rpm
0 ON, OFF1 1
1 OFF2 1
1
MCW 7.01 bits
2 OFF3
1
3 RUN
1
4 RAMP OUT ZERO
5 RAMP HOLD 1
1
6 RAMP IN ZERO
7 RESET
0
8 INCHING1 0
9 INCHING2 0
10 REMOTE CMD *) 1
1
0 RDY ON
1
1 RDY RUN
1
2 RDY REF
MSW 8.01 bits
3 TRIPPED 0
4 OFF 2 STA 1
5 OFF 3 STA 1
6 ON INHIBITED 0
7 ALARM 1) 2)
0
8 AT SETPOINT 1
9 REMOTE 1
10 ABOVE LIMIT 1
Internal Control MCW
0 ON, OFF1
...
1
3 MAGNETIZED
...
4 ZERO SPEED
0
t
Fieldbus control
277
R e la y o u tp u t
D ig ita l in p u ts R O 1 E M E R G E N C Y
1 6 .0 1
A B B
D R IV E
H A N D /A U T O D I P R O F IL E
O F F 3
1 0 .0 7 M C W O F F 2 U S E D M C W
L O C A L M C W S T A T E
7 .0 1 2 .2 6 M A C H IN E
F ie ld b u s
A d a p te r D S 8 1 .1
R M B A -0 1
P a r. C O M M M O D U L E
A B B D S 1 0 g ro u p 9 8 .0 2 R U N
A u t o m a t io n , 9 0 , 9 2 R U N
.... R E A D / S T D M O D B U S 4 S U P P L Y U N IT C O N T R O L A C T IV A T E D
N -ty p e o f > 1
D S 2 4 W R IT E &
F ie ld b u s A D V A N T /N -F B 3 S U P P L Y U N IT M S W b it 0 R D Y _ O N
F U N C &
F ie ld b u s F IE L D B U S 2
A d a p te rs
D S 1 .1 *) R U N IN T E R L O C K 1 6 .1 4
I/O C O N T R O L N O 1
A U T O R E S T A R T 2 1 .0 9 A U T O R E S T A R T
F U N C T IO N
A U T O R E S T A R T T IM E 2 1 .1 0
S T A R T / S T O P
D I R A M P O U T Z E R O
S T A R T /S T O P C H 0 T IM E O U T 7 0 .0 4 C H 0 / F IE L D B U S
C O M M L O S S
1 0 .0 1 I/O R A M P IN Z E R O
C H 0 C O M L O S S C T R L 7 0 .0 5 C O N T R O L
M C W
Z E R O S P E E D 8 .0 2 b 1 1
I/O O F F
S T A R T b it 0
S T O P F U N C T IO N 2 1 .0 3
/ S T O P R U N
Z E R O S P E E D L IM IT 2 0 .0 3 b it 3 I/O C O N T R O L S U P P L Y U N IT O N b it0
L O G IC D D C S
C O N T R O L
R E S E T R A M P C H 1
( w ith s in g le d r iv e s ) R E S E T B it 7
IN Z E R O c o m m u n ic a t io n
b it 6
R E S E T D I
R E S E T
1 0 .0 3 b it 7 * ) N o t e ! R U N I N T E R L O C K c a n b e c o n n e c t e d to e .g . d ig ita l in p u t b y A d a p t iv e P r o g r a m m in g .
M A IN C O N T R O L W O R D C O N T R O L - S Y S T E M A P P L IC A T IO N p a g e 1 (1 0 )
0 = F O R W A R D D IR E C T IO N
D I 1 = R E V E R S E D IR E C T IO N (2 0 0 0 0 = = P a r. 5 0 .0 1 S P E E D S C A L IN G )
D IR E C T IO N 1 0 .0 2 -1
I/O S P E E D
1 X R E F E R E N C E
R M IO
A N A L O G U E
A I2 H IG H V A L U E 1 3 .0 4 IN P U T
E X T R E F 1 S E L E C T = S T D A I2 1 1 .0 1
A I2 L O W V A L U E 1 3 .0 5 A I2
= P T 1 0 0 o r P T C
M IN IM U M A I2 1 3 .0 6
3 0 .0 3
F IL T E R A I2 1 3 .0 7 &
= N O 9 8 .0 6
C O M M M O D U L E = N O 9 8 .0 2
&
R M IO A I/O E X T M O D U L E 1 9 8 .0 6
A N A L O G U E = U N IP O L A R o r B IP O L A R
A I1 H IG H V A L U E 1 3 .0 1 IN P U T
A I1
A I1 L O W V A L U E 1 3 .0 2 M O T O R 1 T E M P E R A T U R E
P R O T E C T IO N 1 .1 6 M O T O R 1 T E M P
M IN IM U M A I1 1 3 .1 2 M O T 1 T E M P A L M L 3 0 .0 4
F IL T E R A I1 1 3 .0 3 P T 1 0 0
M O T 1 T E M P F L T L 3 0 .0 5 P T C
A I/O E X T M O D U L E 1
A I/O 9 8 .0 6
E X T E N S IO N
M O D U L E 1 = T E M P M E A S
E X T 1 :A I1
M O T O R 2 T E M P E R A T U R E
P R O T E C T IO N 1 .1 7 M O T O R 2 T E M P
A I/O E X T 1 L O C A T IO N 9 8 .1 1 M O T 2 T E M P A L M L 3 0 .0 7
P T 1 0 0
M O T 2 T E M P F L T L 3 0 .0 8 P T C
E X T 1 :A I2
A I/O E X T M O D U L E 1 = U N IP O L A R o r B IP O L A R A I 9 8 .0 6
R M IO &
A N A L O G U E A I/O E X T 1 L O C A T IO N = N O T IN U S E 9 8 .1 1
( u n s c a le d )
A I3 H IG H V A L U E 1 3 .0 8 IN P U T
1 .2 1 A I3 [m A ] E X T 1 A I/O A I1 u n s c a le d
1 .1 9 A I1 [V ]
A I3 L O W V A L U E 1 3 .0 9 I/O T O R Q U E R E F E R E N C E B
R M IO A I1 u n s c a le d
M IN IM U M A I3 1 3 .1 0 A I3
(1 0 0 0 0 = = M O T O R N O M IN A L T O R Q U E )
I/O speed and torque references and motor temperature protection
F IL T E R A I3 1 3 .1 1 E X T 1 A I/O A I2 u n s c a le d
1 .2 0 A I2 [m A ]
R M IO A I2 u n s c a le d
A I/O
E X T E N S IO N
A I1 E X T 2 M O D E 9 8 .1 3 M O D U L E 2
A I2 E X T 2 M O D E 9 8 .1 4 E X T 2 :A I1 1 .4 1 E X T 2 A I1
A I/O E X T 2 L O C A T IO N 9 8 .1 5
I/O S P E E D A N D T O R Q U E R E F E R E N C E S A N D
E X T 2 :A I2 1 .4 2 E X T 2 A I2
M O T O R T E M P E R A T U R E P R O T E C T IO N - S Y S T E M A P P L IC A T IO N p a g e 2 (1 0 )
279
E N C O D E R E R R O R F IL T E R
5 0 .0 6
S P E E D M E A S U R E D M O T O R S P E E D
P u ls e E n c o d e r E N C O D E R 1 .0 3
R T A C -0 1 1 .0 4
S P E E D
P u ls e C A L C T o s p e e d c o n tro l
E n c o d e r M O T O R
M o d u le M O D E L 1 .0 2
E N C O D E R M O D U L E 9 8 .0 1
S P E E D E S T IM A T E D
S P E E D S C A L IN G 5 0 .0 1
S P E E D M E A S M O D E 5 0 .0 2
E N C O D E R P U L S E N R 5 0 .0 4 F IL T E R
N T A C -0 2 E N C O D E R A L M /F L T 5 0 .0 5
M O T O R S P E E D F IL T
E N C O D E R D E L A Y 5 0 .1 1
P u ls e 1 .0 1
E n c o d e r Z E R O D E T E C T D E L A Y 5 0 .1 3
P u ls e E n c o d e r M o d u le M O T O R S P F IL T T IM 5 0 .1 2
S P E E D H O L D T IM E 5 0 .1 4
a lte r n a tiv e
P O S IT IO N
C O U N T E R
F U N C T IO N
P O S C O U N T M O D E 5 0 .0 7 3 .0 7 P O S C O U N T L O W
P O S C O U N T IN IT L O W 5 0 .1 4 3 .0 8 P O S C O U N T H IG H
P O S C O U N T IN IT H IG H 5 0 .1 4
S Y N C C M D D I S Y N C C O M M A N D 3 .0 9 P O S C O U N T D E G R E E S x x .x x In p u t fo r re fe re n c e o r c o m m a n d
1 0 .0 4 3 .1 0 P O S C O U N T R O U N D S x x .x x P a ra m e te r (s a v e d to F L A S H m e m o ry )
S Y N C C O M M A N D 7 .0 2 b 9
S Y N C D IS A B L E 7 .0 2 b 1 0 8 .0 2 b 5 S Y N C R D Y x .x x R e a d o n ly s ig n a l
R E S E T S Y N C R D Y 7 .0 2 b 1 1 x .x x > x B it o f p a c k e d b o o le a n w o r d
S P E E D M E A S U R E M E N T C H A IN - S Y S T E M A P P L IC A T IO N p a g e 3 (1 0 )
L IM IT E R
M IN IM U M S P E E D 2 0 .0 1
M A X IM U M S P E E D 2 0 .0 2
Speed reference
F O L L R E F S E L A C W 2 = O N 7 .0 3 b 6
S P E E D R E F 2
F O L L S P E E D R E F = O N 7 .0 3 b 7 S P E E D S H A R E 2 3 .0 5
2 .0 1
F O L L S P E E D R E F = M A S T E R 7 0 .1 7
X
D A T A S E T E N A B L E R A M P E D IN C H R E F 7 .0 2 b 1 2
C H 2 M /F M O D E = F O L L O W E R 7 0 .0 8 &
D S 4 1 .2
L O C A L C O N T R O L
M a s te r / R A M P E D IN C H R E F 2 3 .1 7
F o llo w e r D S S P E E D R E F
M A S T E R F O L L O W E R S P E E D R E F U S E D S P E E D R E F
a p p lic a tio n
2 .1 9
in te r fa c e 2 .2 7
L O C A L C O N T R O L +
F ie ld b u s L O C A L R E F
A d a p te r D S 8 1 .2 S P E E D R E F 2 3 .0 1
R M B A -0 1 C O M M M O D U L E
A B B P a r. 9 8 .0 2 L O C A L M O D E
A u t o m a t io n ,
D S 1 0 g ro u p
C O M M M O D U L E = N O 9 8 .0 2 &
N -ty p e o f .... 9 0 , 9 2
R E A D / S T D M O D B U S 4 A I+ F B A S P E E D R E F = O N 1 1 .0 2 A D D IT IV E
F ie ld b u s
A d a p te rs
D S 2 4 W R IT E A D V A N T /N -F B 3 S P E E D R E F
F U N C I/O S P E E D R E F E R E N C E
F ie ld b u s F IE L D B U S 2 2 .2 5
A d a p te rs
D S 1 .2 0
N O 1 F R E Q U E N C Y R E F E R E N C E
I/O S P E E D R E F E R E N C E ( s e e fig u r e o n p a g e 1 0 ) x x .x x In p u t fo r re fe re n c e o r c o m m a n d
x x .x x P a ra m e te r (s a v e d to F L A S H m e m o ry )
x .x x R e a d o n ly s ig n a l
M O T O R C T R L M O D E = S C A L A R 9 9 .0 8
x .x x > x B it o f p a c k e d b o o le a n w o r d
S P E E D R E F E R E N C E C H A IN - S Y S T E M A P P L IC A T IO N p a g e 4 (1 0 )
281
R A M P _ O U T _ Z E R O 7 .0 1 b 4
C O N S T S P E E D 1 2 3 .0 2 S P E E D R E F 3 S P E E D R E F 4
C O N S T S P E E D 2 2 3 .0 3 2 .0 2 2 .1 8
R A M P O U T Z E R O 7 .0 1 b 4 S P E E D C O R R E C T IO N +
0 2 3 .0 4
R A M P B Y P A S S 7 .0 2 b 2
B A L R A M P O U T 7 .0 2 b 3
E M E R G E N C Y
S T O P O F F 3 B A L R A M P R E F 2 2 .0 8
7 .0 1 b 2
> 1 A C C /D E C
7 .0 1 b 6
0
R A M P IN S P E E D R E F 2
Z E R O 2 .0 1
A C C E L E R T IM E 2 2 .0 1
S P E E D C O N T R O L
A C C E L .
A C C /D E C T IM E S C L E 2 2 .0 3 D S T O R Q R E F A 2 .2 0 L O A D S H A R E
d V /d t
F U N C T IO N O F
2 .1 6 L O A D S H A R E 2 5 .0 3 S P E E D
D E C E L E R T IM E 2 2 .0 2 D E C E L .
( d n / d t ) C O N T R O L L E D
re f
E M E S T O P R A M P 2 2 .0 4 F O L L S P D C T R L C O R 2 3 .1 8 F O L L O W E R F O L L S P D
C O R R O U T
S H A P E T IM E 2 2 .0 5 F O L L S P D C O R M O D E 2 3 .1 9
2 .3 0
R A M P H O L D 7 .0 1 b 5 0
F O L L S P D C O R R E N A 7 .0 3 b 9
V A R IA B L E S L O P E 2 2 .0 6
&
L O C A L C O N T R O L
V A R IA B L E
S L O P E
V A R S L O P E R A T E 2 2 .0 7 F U N C T IO N
S P E E D R E F E R E N C E R A M P C H A IN -S Y S T E M A P P L IC A T IO N p a g e 5 (1 0 )
A C C E L E R
A C C C O M P D E R T IM E 2 4 .1 4 C O M P
A C C C O M P F IL T T IM E 2 4 .1 5 T O R Q A C C C O M P R E F
2 .0 7
Speed control
S P E E D R E F 3 2 .0 2
L IM IT E R
S P C T O R Q M A X 2 0 .0 7
K P S 2 4 .0 3
S P E E D S P C T O R Q M IN 2 0 .0 8
-1 E R R O R N E G K P S M IN 2 4 .0 4
K P S
X 2 .0 3 K P S W E A K P O IN T 2 4 .0 5
K P S B A L _ N C O N T 7 .0 2 b 8
K P S W P F IL T T IM E 2 4 .0 6 K P S T O R Q U E R E F 2
M IN
X B A L R E F 2 4 .1 1
- T O R Q 2 .0 9
D R O O P R A T E 2 4 .0 2 R E F 2
S P E E D R E F 4 S E T P W E IG H T IN G K P S
W E A K P O IN T
2 .1 8 + S P E E D S T E P 2 3 .1 0 + 2 4 .0 7 S P C T O R Q M IN L IM
S U B T O R Q U E P R O P R E F 8 .0 3 b 1
M O T O R S P E E D S E T P O IN T W E IG H T P
F IL T E R W IN D O W 2 .0 4 S P C T O R Q M A X L IM
1 .0 4 - + 2 4 .0 8 8 .0 3 b 2
0
S P E E D E R R O R F IL T 2 3 .0 6 T IS 2 4 .0 9 2 .0 5 +
T IS IN IT V A L U E 2 4 .1 0
I T O R Q U E
R F E S P E E D F IL T E R 2 3 .1 2
IN T E G
F R E Q U E N C Y O F Z E R O 2 3 .1 3 R F E R E F
D A M P IN G O F Z E R O 2 3 .1 4 D E R IV A T IO N T IM E 2 4 .1 2 2 .0 6
F R E Q U E N C Y O F P O L E 2 3 .1 5 D E R IV F IL T T IM E 2 4 .1 3 D T O R Q U E D E R R E F
D A M P IN G O F P O L E 2 3 .1 6
K P S ,
T IS
K P S T IS M IN F R E Q 2 4 .1 7 K P S V A L
M IN F R E Q
K P S
K P S T IS M A X F R E Q 2 4 .1 8 T IS
W IN D O W W ID T H P O S 2 3 .0 8 K P S V A L
M IN F R E Q x x .x x In p u t fo r re fe re n c e o r c o m m a n d
K P S V A L M IN F R E Q 2 4 .1 9 F R E Q
W IN D O W W ID T H N E G 2 3 .0 9 K P S T IS
M A X F R E Q
T IS V A L M IN F R E Q 2 4 .2 0 x x .x x P a ra m e te r (s a v e d to F L A S H m e m o ry )
K P S T IS
M IN F R E Q
W IN D O W C T R L 7 .0 2 b 7 x .x x R e a d o n ly s ig n a l
&
W IN D O W IN T G O N 2 3 .0 7 x .x x > x B it o f p a c k e d b o o le a n w o r d
S P E E D C O N T R O L - S Y S T E M A P P L IC A T IO N p a g e 6 (1 0 )
283
F O L L R E F S E L A C W 2 = O N 7 .0 3 b 6
F O L L T O R Q U E R E F = O N 7 .0 3 b 8
T R E F T O R Q
D A T A S E T X T O R Q R E F 1
D S 4 1 .3 + 2 .0 8
M a s te r / M A S T E R F O L L O W E R T O R Q U E R E F D S T O R Q R E F A U S E D T O R Q R E F A F IL T E R
F o llo w e r 2 .2 0
a p p lic a tio n 2 .2 8
in te r fa c e
T O R Q R E F A F T C 2 5 .0 2
S T D M O D B U S D S 8 1 .3
R M B A -0 1 C O M M M O D U L E 9 8 .0 2
A B B P a r. S T D M O D B U S 4
D S 1 0 g ro u p
A u t o m a t io n D S 1 0 .3 A D V A N T /N -F B 3
.... 9 0 , 9 2
N -ty p e o f R E A D / F IE L D B U S 2
F ie ld b u s D S 2 4 W R IT E D S 1 .3 2 5 .0 1
A d a p te rs F U N C . 1
N O T O R Q U E R E F A
N -ty p e o f D S 1 .3
F ie ld b u s
A d a p te rs R - t y p e o f F ie ld b u s A d a p t e r L O C A L C O N T R O L
&
W ith R - ty p e o f F ie ld b u s a d a p te r s , d e f in e to r q u e r e fe r e n c e T O R Q U E C O N T R O L R A M P
Torque reference chain continues on the following page.
T O R Q U E R E F A o r B in p a r a m e te r g r o u p 5 1 . T O R Q U E R E F B
L O C A L R E F
2 5 .0 4
C O M M M O D U L E = F IE L D B U S 9 8 .0 2
> 1
C O M M M O D U L E = N O 9 8 .0 2 T O R Q R A M P U P 2 5 .0 5
T O R Q R A M P D O W N 2 5 .0 6
I/O T O R Q U E R E F E R E N C E B
F IE L D B U S T O R Q U E R E F B
(N -ty p e o r R M B A -0 1 )
N o te ! W ith o th e r R - ty p e o f F ie ld b u s m o d u le s ,
to r q u e r e fe r e n c e is a s s ig n e d b y P a r . g r o u p 5 1 . T O R Q U E R E F E R E N C E C H A IN - S Y S T E M A P P L IC A T IO N p a g e 7 (1 0 )
F R E Q
T O R Q U E S T E P 2 6 .0 3 L IM IT E R
S P E E D R E F 4 T O R Q U E R E F 5 T O R Q F R E Q L IM R E F
2 .1 8 + 2 .1 2 2 .2 2
L O A D C O M P E N S A T IO N 2 6 .0 2 T O R Q U E R E F 4
+
M O T O R S P E E D S U B
O S C IL L A T IO N 2 .1 1
1 .0 4 - T O R Q U E R E F 3 + F R E Q M A X L IM IT
D A M P IN G
F R E Q U E N C Y 1 .0 5
2 .1 0 8 .0 3 b 1 1
O S C C O M P E N S A T IO N 2 6 .0 4
F R E Q M IN L IM IT
O S C IL L A T IO N F R E Q 2 6 .0 5 F R E Q U E N C Y M A X 2 9 .0 2 8 .0 3 b 1 0
O S C IL L A T IO N P H A S E 2 6 .0 6 F R E Q U E N C Y M IN 2 9 .0 3 F R E Q L IM IT
O S C IL L A T IO N G A IN 2 6 .0 7 F R E Q T R IP M A R G IN 2 0 .1 1 8 .0 3 b 1 5
T O R Q U E S E L E C T O R T O R Q U E S E L E C T O R
2 6 .0 1
0
D C
S P E E D V O L T A G E
L IM IT E R
T O R Q U E R E F 1 T O R Q F R E Q L IM R E F T O R Q D C L IM R E F
T O R Q U E 2 .2 2 2 .2 3
2 .0 8
F ro m to r q u e r e fe r e n c e c h a in D C V O L T A G E 1 .1 0
M IN
U N D E R V O L T A G E C T L 3 0 .2 2
U N D E R D C U N D E R V O L T L IM
V O L T A G E
M A X U N D E R V O L T T O R Q U P 2 0 .1 5 C O N T R O L 8 .0 3 b 1 2
U N D E R V O L T T O R Q D N 2 0 .1 6
T O R Q U E R E F 2
A D D D C O V E R V O L T L IM
O V E R
2 .0 9 O V E R V O L T A G E C T L 3 0 .2 3 V O L T A G E
C O N T R O L
8 .0 3 b 1 3
F ro m s p e e d c o n tr o lle r
P O W E R T O R Q U E T O R Q U E
L IM IT L IM IT E R L IM IT
C A L C . C A L C
T O R Q D C L IM R E F T O R Q P O W L IM R E F T O R Q F R E Q L IM R E F T O R Q U S E D R E F
2 .2 3 2 .2 4 2 .2 2 2 .1 3
F R E Q U E N C Y 1 .0 5 F L U X U S E D R E F 2 .1 4 M O T O R C U R R E N T 1 .0 6
T O R Q M A X L IM T O R Q U S E R C U R L IM
P M O T O R IN G L IM P M O T O R IN G L IM M IN IM U M T O R Q U E 2 0 .0 6 8 .0 3 b 6 8 .0 3 b 3
2 0 .1 7 8 .0 4 b 0 T O R Q M IN L IM M A X IM U M C U R R E N T 2 0 .0 4 T O R Q IN V C U R L IM
M A X IM U M T O R Q U E 2 0 .0 5
8 .0 3 b 5 8 .0 3 b 4
P G E N E R A T IN G L IM P G E N E R A T IN G L IM P U L L O U T T C O E F M A X 2 0 .1 2 T O R Q M O T O R L IM
2 0 .1 8 8 .0 4 b 1 P U L L O U T T C O F M IN 2 0 .1 3 8 .0 3 b 0 IN V E R T E R M A X IM U M C U R R E N T
T O R Q U E R E F E R E N C E C H A IN - S Y S T E M A P P L IC A T IO N p a g e 8 (1 0 )
285
S T A R T
S T A R T F U N C T IO N 2 1 .0 1 C O N T R O L
A U T O
S T A R T
D C M A G N
F IE L D
F L U X M IN 2 7 .0 5
F L U X F L U X W E A K E N IN G
B R A K IN G F L U X U S E D R E F
O P T IM IS A T IO N
M O T O R T O R Q U E 1 .0 8 2 .1 4
Flux and DTC control
F L U X R E F 2 7 .0 3
F L U X B R A K IN G
M O T O R N O M F R E Q
2 7 .0 2 IN T E R N A L
F R E Q U E N C Y 1 .0 5 F L U X R E F 8 .0 3 b 9 F L U X M IN L IM IT
F L U X O P T IM IS A T IO N 2 7 .0 1
C A L C U L A T IO N
D C V O L T A G E 1 .1 0 2 .2 1 F IE L D W K P O IN T A C T
F L U X M A X 2 7 .0 4
F L U X M IN 2 7 .0 5
D IR E C T T O R Q U E A S IC A C S 8 0 0
a n d F L U X
H Y S T E R E S IS T o r q b its
C O N T R O L
O p tim a l
F lu x b its S w itc h in g
C o n tro l
C o n tr o l b its
T O R Q U E U S E D R E F 2 .1 3
F L U X A C T 2 .1 5 1 .0 8 M O T O R T O R Q U E
x x .x x In p u t fo r re fe re n c e o r c o m m a n d
M O T O R M O D E L D C V O L T A G E A C T U A L
x x .x x P a ra m e te r (s a v e d to F L A S H m e m o ry )
C U R R E N T A C T U A L
x .x x R e a d o n ly s ig n a l C A L C U L A T E M
A C T U A L V A L U E S
x .x x > x B it o f p a c k e d b o o le a n w o r d
E S T IM A T E a n d
C A L C U L A T E
F L U X A N D D T C C O N T R O L - S Y S T E M A P P L IC A T IO N p a g e 9 (1 0 )
A C C E L E R T IM E 2 2 .0 1 R A M P
D E C E L E R T IM E 2 2 .0 2
E M E S T O P R A M P 2 2 .0 4
S H A P E T IM E 2 2 .0 5 D C
V O L T A G E
Scalar control
L IM IT E R
T O R Q F R E Q L IM R E F T O R Q D C L IM R E F
S P E E D S H A R E 2 3 .0 5
2 .2 2 2 .2 3
X
L IM IT E R D C V O L T A G E 1 .1 0
F R E Q U E N C Y M A X 2 9 .0 2
L O C A L C O N T R O L
F R E Q U E N C Y M IN 2 9 .0 3 U N D E R V O L T A G E C T L
L O C A L R E F U N D E R D C U N D E R V O L T L IM
V O L T A G E
3 0 .2 2 C O N T R O L 8 .0 3 b 1 2
F R E Q U E N C Y R E F E R E N C E 2 9 .0 1
F R E Q U E N C Y R E F O V E R V O L T A G E C T L D C O V E R V O L T L IM
O V E R
V O L T A G E
3 0 .2 3 C O N T R O L
8 .0 3 b 1 3
F L U X U S E D R E F 2 .1 4 S C A L A R C O N T R O L A S IC A C S 8 0 0
T O R Q U E
L IM IT S W IT C H IN G F R E Q R E F T o r q b its
C A L C O p tim a l
T O R Q U S E D R E F F R E Q U E N C Y 1 .0 5 F lu x b its S w itc h in g
2 .1 3 C o n tro l
C o n tr o l b its
M O T O R C U R R E N T 1 .0 6
T O R Q U S E R C U R L IM
8 .0 3 b 3 IR
D C V O L T A G E A C T U A L
C O M P E N S A T IO N
M A X IM U M C U R R E N T 2 0 .0 4 T O R Q IN V C U R L IM M O T O R N O M F R E Q
8 .0 3 b 4 M O T O R N O M V O L T A G E C U R R E N T A C T U A L
IR C O M P E N S A T IO N 2 9 .0 4 2 .1 5 F L U X A C T
IN V E R T E R M A X IM U M C U R R E N T
M A IN C O N T R O L W O R D 1 .0 8 M O T O R T O R Q U E
M
S C A L A R C O N T R O L - S Y S T E M A P P L IC A T IO N p a g e 1 0 (1 0 )
287
Terms
ACS800/ACS600 AC drive
AIMA I/O Module Adapter Extension unit for mounting of I/O extension modules
AINT Main Circuit Interface Board Interface for RMIO/NAMC and main circuit
APBU PPCS Branching Unit Optical PPCS branching unit used with parallel
inverter modules.
AC 80 Advant Controller 80
CDP 312R Common Drives Panel 312 Control panel is used for setting drive parameters and
monitoring the drive. Control panel uses the Modbus-
protocol.
CE Marking Communauté Européenne Marking CE marking is the manufacturer's claim that the
product meets the essential requirements of all
relevant European Directives.
DDCS Distributed Drives Communication Communication protocol used with drive products
System
DSP Digital Signal Processor Processor type used in RMIO and NAMC board
Terms
290
DTC Direct Torque Control See section Motor control, DTC on page 74.
FCB Function Chart Builder Software tool for ACS800 Template Application
programming
FCE Function Chart Editor FCB editor for application block drawing
ICMC Integrated Control Motor Circuit Motor and inverter control ASIC used in ACS600
ICU Incoming Unit Section through which the drive connects to the main
supply
ID run Identification run During the identification run, the drive will identify the
characteristics of the motor for optimum motor control.
IEEE Institute of Electrical and Electronic US professional society which takes part in
Engineers standardisation. For example IEEE Conference
Reviews.
ISO International Organisation for E.g. ISO 9000 series of quality standards
Standardisation
Terms
291
KTY-84-1xx Silicon temperature sensor Temperature dependent silicon sensor. Used e.g. in
AC motors to indicate motor temperature.
LCD Liquid Crystal Display Electronic display type used in the CDP 312R control
panel
NAIO Analogue I/O Extension Module Optional module to replace or extend analogue I/O
channels
NBRC Brake Chopper Controller Board Controls the operation of the brake chopper (NBRA).
NCPC Control Panel Cable Optional cable for remote connection of the CDP
312R control panel
NDIO Digital I/O Extension Module Optional module to replace or extend digital I/O
channels
NDNA DeviceNet Adapter Module Optional module which enables the connection of the
drive to a DeviceNet system.
NDPC Cable adapter between DDCS link and Cable adapter between CH3 optic fibre cable and
PC NDPA card. Used with DriveWare products.
NIBA Interbus-S Adapter Module Optional module which enables connection of a drive
to an InterBus-S system
NLMD Led Monitoring Display The NLMD-01 Monitoring Display has a LED bar to
show an absolute real type value. Used for signal
monitoring.
NMBA Modbus Adapter Module Optional module which enables the connection of the
drive to a Modbus system.
NPBA PROFIBUS Adapter Module Optional module which enables the connection of the
drive to a PROFIBUS system.
Terms
292
PCMCIA Personal Computer Memory Card DDCS/PCMCIA interface used with DriveWindow as
International Association an interface between the PC and the drive.
PFC Pump and Fan Control Drive macro for controlling pump and fan sections
PID Proportional, Integral and Derivate Drive speed control is based on PID algorithm.
PPCS Power Plate Communication System Optical serial link for inverter control
ppr Pulses per revolution E.g. number of encoder pulses per one revolution
RAIO Analogue I/O Extension Module Optional I/O module for ACS800 to replace or extend
analogue I/O channels.
RDCO DDCS Communication Option Module Optional I/O module for DDCS communication for
ACS800. Includes channels CH0…CH3.
RDCU Drive Control Unit DIN rail installable drive controller unit which consists
of an RMIO board, a bottom plate and a plastic cover.
RDIO Digital I/O Extension Module Optional module for ACS800 to replace or extend
digital I/O channels.
RDNA DeviceNet Adapter Module Optional module which enables the connection of the
drive to a DeviceNet system.
RMBA Modbus Adapter Module Optional module through which a drive is connected
to a Modbus serial communication bus.
RMIO Motor Control and I/O Board Motor, I/O and inverter control board
RFE Resonance Frequency Eliminator Software filter used in the drive to eliminate
oscillations.
RMS Root Mean Square For sine wave the RMS value is obtained by dividing
the maximum value by the square root of 2.
Terms
293
RTAC Pulse Encoder Interface Module Optional pulse encoder interface for ACS800
SW Software
UPS Uninterrupted Power Supply Power supply equipment with battery to maintain
output voltage during power failure
Terms
294
Terms
3AFE64670646 REV C / EN
EFFECTIVE: 04.12.2006