Asc880 PDF

ABB industrial drives
Firmware manual
ACS880 winder control program (option +N5000)
List of related manuals in English

Drive hardware manuals
*ACS880-01 drives hardware manual
*ACS880-04 drive modules (200 to 560 kW, 300 to 700 hp)
hardware manual
ACS880-04 single drive module packages hardware
manual
*ACS880-07 drives (45 to 250 kW, 60 to 300 hp) hardware
manual
*ACS880-07 drives (560 to 2800 kW) hardware manual
ACS880-104 inverter modules hardware manual
ACS880-107 inverter units hardware manual
Drive firmware manuals and guides
ACS880 winder control program firmware manual
ACS880 primary control program firmware manual
ACS880 drives with primary control program, quick startup guide
Adaptive programming application guide
Drive (IEC 61131-3) application programming manual
SynRM motor control program (+N7502) supplement
Code (English)
3AUA0000078093
3AUA0000128301
3AUA0000138495
3AUA0000105718
3AUA0000143261
3AXD50000020436
3AXD50000020437
3AUA0000104271
3AUA0000102519
3AUA0000107532
3AUA0000085967
3AUA0000098062
3AXD50000028574
3AUA0000127808
3AXD50000026332
Option manuals and guides

ACX-AP-x assistant control panels users manual
3AUA0000085685
Drive composer Start-up and maintenance PC tool Users 3AUA0000094606
manual
Manuals and quick guides for I/O extension modules,
fieldbus adapters, encoder interfaces, etc.
You can find manuals and other product documents in PDF format on the Internet. See section
Document library on the Internet on the inside of the back cover. For manuals not available in the
Document library, contact your local ABB representative.
*A list of links to all manuals applicable to this product is available in the Document library:
Product
ACS880-01 drives
ACS880-04 drive modules (200 to 710 kW, 300 to 700 hp)
ACS880-07 drives (45 to 630 kW, 50 to 700 hp)
ACS880-07 drives (560 to 2800 kW)
ACS880-17 drives
ACS880-37 drives
Code
9AKK105408A7004
9AKK105713A4819
9AKK105408A8149
9AKK105713A6663
9AKK106354A1499
9AKK106354A1500
Firmware manual
ACS880 winder control program (option +N5000)
Table of contents
Start-up guide for ACS880

winder control program
2016 ABB Oy. All Rights Reserved.
3AUA0000107532 Rev B
EN
EFFECTIVE: 2016-04-13
Table of contents 5
Table of contents
List of related manuals in English . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1. Introduction to the manual

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Applicability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Target audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Contents of the manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Related documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safety
Cyber security disclaimer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13
13
13
13
14
14
15
17
2. Using the control panel

3. Start-up guide for ACS880 winder control program
Drive start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Before you start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Winder control program start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Before you start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fault tracing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
21
22
22
22
22
29
29
29
29
4. Control locations and operating modes

Local control vs. external control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Local control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
External control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Operating modes of the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Speed control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Torque control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Frequency control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Special control modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
39
40
40
41
42
43
43
43
43
5. Winder program features

Winder overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Winder/Unwinder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Infeeder (main drive) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Material properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Line speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
45
46
46
47
48
48
6 Table of contents
Threading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diameter calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diameter hold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Tension control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Open loop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Tension torque trim . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Tension speed trim . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Dancer speed trim . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Taper function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Friction compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Inertia compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Winder stall function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Torque memory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Automatic roll change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Web loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Virtual roll . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Speed control torque limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Tension to torque conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Winder control word logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Winder status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
48
49
49
50
50
52
54
56
58
58
58
59
59
60
61
61
63
63
63
63
6. Standard program features

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Drive configuration and programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Programming via parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Adaptive programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Application programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Control interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Programmable analog inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Programmable analog outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Programmable digital inputs and outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Programmable relay outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Programmable I/O extensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Fieldbus control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Master/follower functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
External controller interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Control of a supply unit (LSU) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
Motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Direct torque control (DTC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Reference ramping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Constant speeds/frequencies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Critical speeds/frequencies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Speed controller autotune . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Oscillation damping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Rush control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Encoder support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Position counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Jogging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Scalar motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Autophasing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Table of contents 7
Flux braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DC magnetization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Application control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Application macros . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Process PID control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motor potentiometer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mechanical brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DC voltage control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overvoltage control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Undervoltage control (power loss ride-through) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Voltage control and trip limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Brake chopper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Emergency stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motor thermal protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Thermal protection of motor cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
User load curve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Other programmable protection functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Automatic fault resets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fault and warning messages, data logging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Signal supervision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Maintenance timers and counters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Energy saving calculators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Load analyzer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Miscellaneous . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
User parameter sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter checksum calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
User lock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Data storage parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reduced run function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
du/dt filter support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Sine filter support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
104
105
108
108
108
111
112
117
117
117
119
120
121
122
125
125
126
128
129
129
129
129
130
130
132
132
132
133
133
133
135
135
7. Application macros
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Factory macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Default parameter settings for the Factory macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Default control connections for the Factory macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Hand/Auto macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Default parameter settings for the Hand/Auto macro . . . . . . . . . . . . . . . . . . . . . . . . . . .
Default control connections for the Hand/Auto macro . . . . . . . . . . . . . . . . . . . . . . . . . . .
PID control macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Default parameter settings for the PID control macro . . . . . . . . . . . . . . . . . . . . . . . . . . .
Default control connections for the PID control macro . . . . . . . . . . . . . . . . . . . . . . . . . .
Sensor connection examples for the PID control macro . . . . . . . . . . . . . . . . . . . . . . . . .
Torque control macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Default parameter settings for the Torque control macro . . . . . . . . . . . . . . . . . . . . . . . .
Default control connections for the Torque control macro . . . . . . . . . . . . . . . . . . . . . . .
Sequential control macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
137
137
138
138
139
140
140
141
142
143
144
145
146
146
147
148
8 Table of contents
Operation diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Selection of constant speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Default parameter settings for the Sequential control macro . . . . . . . . . . . . . . . . . . . . .
Default control connections for the Sequential control macro . . . . . . . . . . . . . . . . . . . .
Fieldbus control macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
148
149
149
150
151
8. Parameters
Terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Summary of parameter groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter listing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
01 Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
03 Input references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
04 Warnings and faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
05 Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
06 Control and status words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
07 System info . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
09 Winder actual signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10 Standard DI, RO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11 Standard DIO, FI, FO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12 Standard AI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13 Standard AO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14 I/O extension module 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
19 Operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20 Start/stop/direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
21 Start/stop mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
22 Speed reference selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
23 Speed reference ramp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
24 Speed reference conditioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
25 Speed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
26 Torque reference chain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
28 Frequency reference chain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
30 Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
31 Fault functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
32 Supervision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
33 Generic timer & counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
35 Motor thermal protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
36 Load analyzer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
37 User load curve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
40 Process PID set 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
41 Process PID set 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
43 Brake chopper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
44 Mechanical brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
45 Energy efficiency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
46 Monitoring/scaling settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
47 Data storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
49 Panel port communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
50 Fieldbus adapter (FBA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
153
154
155
158
158
161
162
169
170
182
184
186
192
198
202
206
225
229
233
235
244
252
260
266
269
280
286
295
301
310
314
322
333
337
340
353
355
357
361
364
368
370
373
Table of contents 9
51 FBA A settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
52 FBA A data in . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
53 FBA A data out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
54 FBA B settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
55 FBA B data in . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
56 FBA B data out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
58 Embedded fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
60 DDCS communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
61 D2D and DDCS transmit data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
62 D2D and DDCS receive data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
74 Application setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
75 Winder speed settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
76 Diameter calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
77 Tension/Dancer control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
78 Winder PID controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
79 Mechanical losses compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
80 Turreting assistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
81 Winder safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
82 Virtual Roll . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
90 Feedback selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
91 Encoder module settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
92 Encoder 1 configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
93 Encoder 2 configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
94 LSU control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
95 HW configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
96 System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
97 Motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
98 User motor parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
99 Motor data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
200 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
380
382
383
383
384
385
385
393
404
409
417
421
427
431
438
444
448
451
455
458
468
471
477
479
480
485
494
498
500
505
9. Additional parameter data

Terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fieldbus addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter groups 19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter groups 1099 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
507
507
508
509
514
10. Fault tracing

Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Warnings and faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Pure events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Editable messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Warning/fault history and analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Event logs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Other data loggers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameters containing warning/fault information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
567
567
567
567
568
568
568
568
569
569
10 Table of contents
QR code generation for mobile service application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Firmware warning messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Application warning messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Firmware fault messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Application fault messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
570
571
588
589
607
11. Fieldbus control through the embedded fieldbus interface (EFB)

System overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Connecting the fieldbus to the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Setting up the embedded fieldbus interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Setting the drive control parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Basics of the embedded fieldbus interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Control word and Status word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Data input/outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Register addressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
About the control profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
The ABB Drives profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Control Word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Status Word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
State transition diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Modbus holding register addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
The Transparent profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Modbus function codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Exception codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Coils (0xxxx reference set) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Discrete inputs (1xxxx reference set) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Error code registers (holding registers 400090400100) . . . . . . . . . . . . . . . . . . . . . . . . . .
609
609
610
611
612
615
616
616
616
616
617
618
619
619
621
622
623
624
625
626
627
628
629
630
632
12. Fieldbus control through a fieldbus adapter

System overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Basics of the fieldbus control interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Control word and Status word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Contents of the fieldbus Control word (ABB Drives profile) . . . . . . . . . . . . . . . . . . . . . .
Contents of the fieldbus Status word (ABB Drives profile) . . . . . . . . . . . . . . . . . . . . . . .
The state diagram (ABB Drives profile) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Setting up the drive for fieldbus control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter setting example: FPBA (PROFIBUS DP) . . . . . . . . . . . . . . . . . . . . . . . . . . .
633
633
635
636
637
638
639
640
641
642
643
13. Control chain diagrams

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 645
Table of contents 11
Drive control diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Speed reference source selection I . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Speed reference source selection II . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Speed reference ramping and shaping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motor feedback configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Load feedback and position counter configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Speed error calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Torque reference source selection and modification . . . . . . . . . . . . . . . . . . . . . . . . . . .
Operating mode selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reference selection for torque controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Torque limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Torque controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Frequency reference selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Frequency reference modification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Process PID setpoint and feedback source selection . . . . . . . . . . . . . . . . . . . . . . . . . . .
Process PID controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Master/Follower communication I (Master) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Master/Follower communication II (Follower) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Winder control diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Winder control word logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diameter calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Tension control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Dancer control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Friction compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Inertia compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Speed reference scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Application PID controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
646
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
664
665
666
667
668
669
670
671
14. Appendix A: Motor rotor inertia, IEC

Further information
Product and service inquiries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Product training . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Providing feedback on ABB Drives manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Document library on the Internet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
677
677
677
677
12 Table of contents
Introduction to the manual 13
1
Introduction to the manual
What this chapter contains
This chapter describes the contents of the manual. It also contains information on the
compatibility, safety and intended audience.
Applicability
This manual applies to the ACS880 winder control program (option + N5000),
firmware version 2.3x or later, and application version 1.1.0.0 or later.
The firmware version of the control program is visible in parameter 07.05

Firmware version, or the System info in the main menu on the control panel.
The application version of the control program is visible in the System info in the
main menu on the control panel.
Safety instructions
Obey all safety instructions delivered with the drive.
Read the complete safety instructions before you install, commission, or use
the drive. The complete safety instructions are delivered with the drive as either
part of the Hardware manual, or, in the case of ACS880 multidrives, as a separate
document.
Read the firmware function-specific warnings and notes before changing

parameter values. These warnings and notes are included in the parameter
descriptions presented in chapter Parameters.
Target audience
This manual is intended for people who design, commission, or operate the drive
system.
14 Introduction to the manual
Contents of the manual

This manual contains the following chapters:
Introduction to the manual contains information on compatibility, safety and

intended audience. It also includes a list of terms and abbreviations used in this
manual.
Start-up guide for ACS880 winder control program contains the basic start-up
sequence of the drive and additional alternative checklists for starting up the drive
with the control program.
Using the control panel provides the basic instructions for using the control panel.
Control locations and operating modes describes the control locations and
operating modes of the drive.
Winder program features contains descriptions of the features specific to the

winder application.
Standard program features contains descriptions of the control locations and

operation modes, as well as the program features that are not specific to the
winder application.
Application macros contains a short description of each macro together with a

connection diagram. Macros are pre-defined applications which saves the users
time when configuring the drive.
Parameters describes the parameters used to program the drive.
Additional parameter data contains additional information of parameters.
Fault tracing lists the warning and fault messages with possible causes and
remedies.
Fieldbus control through the embedded fieldbus interface (EFB) describes the
communication to and from a fieldbus network using the embedded fieldbus
interface of the drive.
Fieldbus control through a fieldbus adapter describes the communication to and

from a fieldbus network using an optional fieldbus adapter module.
Drive-to-drive link describes the communication between drives connected

together by the drive-to-drive (D2D) link.
Control chain diagrams shows the parameter structure within the drive.
Appendix A: Motor rotor inertia, IEC includes reference data of motor rotor inertia.
Related documents
A list of related manuals is printed on the inside of the front cover.
Terms and abbreviations

Term/abbreviation
Definition
AC 800M
Type of programmable controller manufactured by ABB.
ACS800
A product family of ABB drives
ACS-AP-I
Type of control panel used with ACS880 drives
AI
Analog input; interface for analog input signals
AO
Analog output; interface for analog output signals
BCU
Type of control unit used in ACS880 drives, primarily those with

parallel-connected inverter or supply modules.
DC link
DC circuit between rectifier and inverter
DDCS
Distributed drives communication system; a protocol used in

communication between ABB drive equipment
DI
Digital input; interface for digital input signals
DIO
Digital input/output; interface that can be used as a digital input or

output
DO
Digital output; interface for digital output signals
Drive
Frequency converter for controlling AC motors. The drive consists of a

rectifier and an inverter connected together by the DC link. In drives up
to approximately 500 kW, these are integrated into a single module
(drive module). Larger drives typically consist of separate supply and
inverter units.
The ACS880 primary control program is used to control the inverter
part of the drive.
DriveBus
A communication link used by, for example, ABB controllers. ACS880

drives can be connected to the DriveBus link of the controller.
DTC
Direct torque control. See page 85.
FAIO-01
Optional analog I/O extension module
FBA
Fieldbus adapter
FCAN-01
Optional CANopen adapter
FCNA-01
Optional ControlNet adapter
FDCO-0x
Optional DDCS communication module
FDIO-01
Optional digital I/O extension module
FDNA-01
Optional DeviceNet adapter
FEA-03
Optional I/O extension adapter
FECA-01
Optional EtherCAT adapter
FEN-01
Optional TTL encoder interface module
FEN-11
Optional absolute encoder interface module
FEN-21
Optional resolver interface module
FEN-31
Optional HTL encoder interface module
FENA-11
Optional Ethernet/IP, Modbus/TCP and PROFINET IO adapter
Term/abbreviation
Definition
FENA-21
Optional dual-port Ethernet/IP, Modbus/TCP and PROFINET IO

adapter
FEPL-02
Optional POWERLINK adapter
FIO-01
Optional digital I/O extension module
FIO-11
Optional analog I/O extension module
FPBA-01
Optional PROFIBUS DP adapter
FPTC-01
Optional temperature measurement module. Not released for sales at

the time of publication.
FPTC-02
Optional temperature measurement module for potentially explosive

atmospheres. Not released for sales at the time of publication.
FSCA-01
Optional Modbus/RTU adapter
FSO-xx
Optional safety functions module
HTL
High-threshold logic
ID run
Motor identification run. During the identification run, the drive will
identify the characteristics of the motor for optimum motor control.
IGBT
Insulated gate bipolar transistor; a voltage-controlled semiconductor

type widely used in inverters and IGBT supply units due to their easy
controllability and high switching frequency
INU-LSU
Type of optical DDCS communication link between two converters, for

example the supply unit and the inverter unit of a drive system.
Inverter unit
In large drives (> 500 kW approx.), the part of the drive that converts
DC to AC for the motor. Consists of one or more inverter modules and
their auxiliary components.
I/O
Input/Output
ISU
An IGBT supply unit; type of supply unit implemented using IGBT

switching components, used in regenerative and low-harmonic drives.
Line-side converter
See supply unit.
LSU
See supply unit.
ModuleBus
A communication link used by, for example, ABB controllers. ACS880

drives can be connected to the optical ModuleBus link of the controller.
Motor-side converter See inverter unit.

Network control
With fieldbus protocols based on the Common Industrial Protocol

(CIPTM), such as DeviceNet and Ethernet/IP, denotes the control of the
drive using the Net Ctrl and Net Ref objects of the ODVA AC/DC Drive
Profile. For more information, see www.odva.org, and the following
manuals:
FDNA-01 DeviceNet adapter module Users manual
(3AFE68573360 [English]), and
FENA-01/-11 Ethernet adapter module Users manual
(3AUA0000093568 [English]).
Parameter
User-adjustable operation instruction to the drive, or signal measured

or calculated by the drive
Term/abbreviation
Definition
PID controller
Proportionalintegralderivative controller. Drive speed control is

based on PID algorithm.
PLC
Programmable logic controller
Power unit
Contains the power electronics and power connections of the drive (or
inverter module). The drive control unit is connected to the power unit.
PTC
Positive temperature coefficient
PU
See power unit.
RDCO-0x
Optional DDCS communication module
RFG
Ramp function generator.
RO
Relay output; interface for a digital output signal. Implemented with a

relay.
SSI
Synchronous serial interface
STO
Safe torque off
Supply unit
In large drives (> 500 kW approx.), the part of the drive that converts
AC to DC. Consists of one or more supply modules and their auxiliary
components. An IGBT supply unit (ISU) is also capable of feeding
regenerative energy back into the supply network.
TTL
Transistor-transistor logic
UPS
Uninterruptible power supply; power supply equipment with battery to

maintain output voltage during power failure
ZCU
Type of control unit used in ACS880 drives (primarily in drive modules,

or inverter/supply units consisting of a single power module). Consists
of an I/O board built into a plastic housing.
Depending on the type of hardware, the control unit may be integrated
into or fitted onto the drive/inverter module, or installed separately.
Cyber security disclaimer

This product is designed to be connected to and to communicate information and
data via a network interface. It is Customer's sole responsibility to provide and
continuously ensure a secure connection between the product and Customer network
or any other network (as the case may be). Customer shall establish and maintain
any appropriate measures (such as but not limited to the installation of firewalls,
application of authentication measures, encryption of data, installation of anti-virus
programs, etc) to protect the product, the network, its system and the interface
against any kind of security breaches, unauthorized access, interference, intrusion,
leakage and/or theft of data or information. ABB and its affiliates are not liable for
damages and/or losses related to such security breaches, any unauthorized access,
interference, intrusion, leakage and/or theft of data or information.
Using the control panel 19
2
Using the control panel
Refer to ACX-AP-x assistant control panels users manual (3AUA0000085685
[English]).
20 Using the control panel
Start-up guide for ACS880 winder control program 21
3
Start-up guide for ACS880
winder control program
This guide describes the basic start-up sequence of an ACS880 drive equipped with
winder control program:
Drive start-up (page 22)
Winder control program start-up (page 29).
The drive can be set up using the ACS-AP-I control panel or by using the Drive
composer PC tool.
22 Start-up guide for ACS880 winder control program
Drive start-up
Before you start
Make sure that the drive has been mechanically and electrically installed as
described in the appropriate Quick installation guide and/or Hardware manual.
Safety
WARNING! All electrical installation and maintenance work on the drive should
be carried out by qualified electricians only.
Never work on the drive, the braking copper circuit, the motor cable or the motor
when power is applied to the drive. Always ensure by measuring that no voltage is
actually present.
Start-up
Safety
WARNING! Obey all safety instructions for the drive. Only qualified electricians are
allowed to start up the drive.
Check the installation. See the installation checklist in the appropriate Hardware manual.
Check that the starting of the motor does not cause any danger.
De-couple the driven machine if
there is a risk of damage in case of an incorrect direction of rotation, or
a Normal ID run is required during the drive start-up, when the load torque is higher
than 20% or the machinery is not able to withstand the nominal torque transient during
the ID run.
1 Power-up, date and time settings

Power up the drive.
Note: It is normal that warning messages
appear at various points along the start-up
process. To hide a message and to resume
the start-up process, press
.
Hide any warnings now to enter the Home
view (shown on the right).
The two commands at the bottom of the
display (in this case, Options and Menu),
show the functions of the two softkeys
and
located below the display. The
commands assigned to the softkeys vary
depending on the context.
Remote
0.0 rpm
Motor speed used

rpm
Motor current
A
Motor torque %
%
Options
12:34
0.00
0.00
0.0
Menu
In the Home view, press
(Menu).
The main Menu (right) appears.
Remote
Menu
0.0 rpm
Parameters
Assistants
Energy efficiency
Exit
Highlight Settings on the menu using
and
and press
(Select).
Event log
12:34
Select
Remote
Settings
Language
Date & time
Edit texts
Display settings
0.0 rpm
Back
Select
12:34
In the Settings menu, highlight Date & time

(if not already highlighted) and press
(Select).
Remote
0.0 rpm
Date & time
Date
01.01.1980
Time
12:34:56
Show date as
day.month.year
Show time as
24-hour
Daylight saving
EU
Next daylight saving start
28.03.
Back
12:35
Edit
In the Date & time menu, highlight Date (if

not already highlighted) and press
(Select).
Remote
Date
0.0 rpm
Day Month
Year
01 .01.1980
Tuesday
Cancel
12:35
Save
Set the correct date:

Use
and
and right.
to move the cursor left
Use
and
to change the value.
Press
(Save) to accept the new
setting.
Check/adjust all the remaining settings in the
Date & time menu.
The Show clock setting determines whether
the time is shown at all times in the bottom
pane of the display.
Remote
0.0 rpm
Motor speed used

rpm
Motor current
A
Motor torque %
%
Options
12:35
0.00
0.00
0.0
Menu
After you have made the settings, press

(Back or Exit) repeatedly until the
Home view (right) reappears.
2 Supply voltage and motor data settings

Switch to local control to ensure that external
control is disabled by pressing the Loc/Rem
key. Local control is indicated by the text
Local in the top pane.
Local
0.0 rpm
Motor speed used

rpm
Motor current
A
Motor torque %
%
Options
Open the main Menu by pressing

(Menu).
12:36
Local
Menu
0.00
0.00
0.0
Menu
0.0 rpm
Parameters
Assistants
Energy efficiency
Exit
Event log
12:36
Select
Highlight Parameters and press

(Select).
Local
Parameters
Favorites
By function
Complete list
Modified
Back
Highlight Complete list using

and
and press
(Select).
A listing of parameter groups is displayed.
Highlight parameter group 95 HW

configuration and press
(Select).
Note that the list wraps around in either
direction between groups 99 and 01. In this
case, it is quicker to use
to locate group
95 on the list.
0.0 rpm
12:36
Local
Complete list
01 Actual values
03 Input references
04 Warnings and faults
05 Diagnostics
06 Control and status words
07 System info
Back
12:36
Select
0.0 rpm
Select
Local
0.0 rpm
95 HW configuration
95.01 Supply voltage
Not given
95.02 Adaptive voltage limits Disable
95.04 Control board supply Internal 24V
After selecting a group, a listing of

parameters within the group is displayed.
Back
Highlight parameter 95.01 Supply voltage (if
not already highlighted) and press
(Edit).
The available parameter settings are listed.
12:36
Local
[0] Not given
[1] 208240 V
[2] 380415 V
[3] 440480 V
[4] 500 V
Cancel
12:36
Edit
0.0 rpm
Save
Highlight the correct setting on the list and

press
(Save).
Local
0.0 rpm
95 HW configuration
380415 V
95.02 Adaptive voltage limits Disable
95.04 Control board supply Internal 24V
Back
12:36
Edit
Press
(Back) to display the list of parameter groups again. Select parameter group
99 Motor data, and set parameter 99.03 Motor type.
Set parameter 99.04 Motor control mode.
DTC = Direct torque control; Scalar
DTC is suitable for most cases. Scalar mode is recommended if
the nominal current of the motor is less than 1/6 of the nominal current of the drive,
the drive is used for test purposes with no motor connected, or
the drive controls multiple motors and the number of motors connected is variable.
Refer to the motor nameplate for the following parameter settings. Whenever possible, enter
the values exactly as shown on the motor nameplate.
Example of a nameplate of an induction
(asynchronous) motor:
Example of a nameplate of a permanent

magnet motor:
ABB Motors
3
motor
V
690 Y
400 D
660 Y
380 D
415 D
440 D
Cat. no
M2AA 200 MLA 4

IEC 200 M/L 55
No
Ins.cl. F
Hz
kW
r/min
A
cos
1475
32.5 0.83
30
50
56
1475
0.83
50
30
50
1470
34
0.83
30
1470
59
0.83
30
50
1475
54
0.83
50
30
59
0.83
35 1770
60
3GAA 202 001 - ADA
6312/C3
ABB Motors
3 ~ motor
IP 55
IA/IN t E/s
6210/C3
S1 SPEC INSUL.
JK-21640-1
r/min
cos M IA/IN
400 D
50
55
600
103
0.97
Prod. code
6316/C3
180
to change the value of a digit.

to move the cursor left and right.
(Save) to enter the value.
IP 55
kW
in DTC mode: 1/6 IHd 2 IHd of the drive

in Scalar mode: 0 2 IHd
Note: With numerical parameter values:
Press
Ins.cl. F
Hz
99.06 Motor nominal current

The allowable range is
and
and
No 3424522
IEC 34-1
Use
Use
M2BJ 280SMB 10 B3
2GBJ285220-ADA405445477
6316/C3
630kg
IEC 34-1
t E/s
Make the following parameter settings in the same manner.

99.07 Motor nominal voltage
The allowable range is 1/6 UN 2 UN of the drive.
With permanent magnet motors, the nominal voltage is the BackEMF voltage at nominal
speed. If the voltage is given in volt/rpm (eg. 60 V per 1000 rpm), the voltage at a nominal
speed of 3000 rpm is 3 60 V = 180 V. Note that nominal voltage is not the same as
equivalent DC motor voltage (EDCM) given by some manufacturers. The nominal voltage
can be calculated by dividing the EDCM voltage by 1.7 (or square root of 3).
99.08 Motor nominal frequency
With permanent magnet motors, if the nominal frequency is not shown on the nameplate,
it can be calculated using the following formula:
f = n p / 60
where n = nominal motor speed, p = number of pole pairs.
99.09 Motor nominal speed
99.10 Motor nominal power
99.11 Motor nominal cos
99.12 Motor nominal torque
These values are not required, but can be entered to improve control accuracy. If not
known, leave at 0.
99.13 ID run requested
This parameter selects the mode of the identification run (DTC motor control mode only).
Note: The drive must be in local control for the identification run.
WARNING! The identification run modes marked thus * will run the motor in the
forward direction (see below for details). Make sure it is safe to run the motor
before choosing any of these modes.
*Normal mode should be selected whenever possible.. The driven machinery must be decoupled from the motor if
the load torque is higher than 20%, or
the machinery is not able to withstand the nominal torque transient during the
identification run.
*Reduced mode should be selected if the mechanical losses are higher than 20%, ie. the
load cannot be de-coupled, or full flux is required to keep the motor brake open (eg. with
conical motors).
The Standstill mode should be selected if neither the *Normal or *Reduced mode can be
used. Notes:
This mode cannot be used with a permanent magnet motor if the load torque is higher
than 20% of nominal.
Mechanical brake is not opened by the logic for the identification run.
Ensure that the Safe torque off and emergency stop circuits (if present) are closed.
Start the identification run by pressing the
(Start) button.
A warning will indicate that the

identification run is in progress.
Check that the motor runs in the correct direction (forward direction shown below).
The identification run has completed when the drive stops and the value of parameter
99.13 reverts to None.
If the motor ran in the wrong direction, correct the motor cabling or adjust parameter
99.16 Motor phase order.
Winder control program start-up

Before you start
Note that the application start-up is possible only after the drive basic start-up
procedure is completed successfully, that is all the basic parameter configurations
made and the motor ID-run is performed. For drive basic start-up procedure, see
page 22.
Fault tracing
If an alarm or a fault is generated during commissioning, see chapter Fault tracing, for
alarms (page 586) and faults (page 605) generated by winder control program.
Start-up
Application Safety
It is recommended to assess the general physical boundaries for the machine so that the drive
could prevent any accidental damages to the mechanics.
Make sure the following parameters comply
with control and safety limits of the driven
machinery:
motor speed limits are set automatically.
However user can set custom values in
group 81 Winder safety.
30.17 Maximum current

30.19 Minimum torque 1
30.20 Maximum torque 1
maximum output current

motor torque limits
Control signal settings

To manage primary settings, the drive can be controlled either through digital and analog I/O
interface or from a PLC through fieldbus interface.
Note: By default, the application is configured to be controlled through digital and analog I/Os.
Configure the following drive essential control settings according to the active electrical
set up:
Choose the drive control interface.
20.01 Ext1 commands
Verify the drive start command source.
20.03 Ext1 in1 source
Verify the run enable command.
20.12 Run enable 1 source
Set the fault reset signal source.
31.11 Fault reset selection
Select the analog input type (voltage or

current).
12.15 AI1 unit selection 12.25 AI2 unit

selection
Note: Changing default settings of AI type

requires altering the position of jumper on
the ZCON board.
Define the analog inputs signal range.
12.17 AI1 min

12.18 AI1 max
12.27 AI2 min
12.28 AI2 max
Start-up Assistant
With the ACS-AP-I control panel available you may use the embedded Winder Start-up
Assistant to perform a quick set-up. This is a step by step guide that leads through the
essential settings of the Winder control program.
Note: The Winder assistant script requires control panel firmware version 4.61 or later. You
can check the control panel firmware version from System info of the main menu.
Power up the drive.
Note: It is normal that warning messages
appear at various points along the start-up
process. It is recommended that you fix all
of them before proceeding with application
setup.
After you fixed all warning messages, the
Home view appears. Press
located
below the display to access the Menu.
Remote
Motor speed used
rpm
Motor current
A
Motor torque
%
Options
Press
(Menu).
In the main Menu use

Assistants. Press
drive assistants.
to choose
to access the list of
0.0 rpm
12:34
Remote
Menu
0.00
0.00
0.0
Menu
0.0 rpm
Parameters
Assistants
Energy efficiency
Exit
In the Assistants list, choose Winder

assistant and press
to begin the
application setup with assistant script.
Obey the instructions on the screen. Use
.
key to access parameters
from the list and to change the selected
parameter value.
If you prefer to return to the previous screen,
press
.
Event log
12:34
Remote
Assistants
Basic setup
Winder assistant
Back
12:34
Select
0.0 rpm
Select
Winder control program settings

General settings
Basic mechanical set up describing machine operating mode, direction of motor rotation and
gearing.
74.05 Winding mode
Select the winding mode:

Winder - if the machine has to wind material
on a roll
Unwinder - if the machine has to unwind
material off the roll
Select the motor direction: Positive (onwind) or Negative (under-wind) depending
on the motor rotation direction.
74.06 Motor direction
Note: Resulting motor speed reference sign

is generated based on this parameter
setting.
Select the unit system (metric or imperial).
74.91 Unit system
Define gear ratio between the motor and

winding object.
74.11 Gear ratio 1
Example: Set this parameter value to 2 if it

takes two motor revolutions to make one
rotation of a spindle.
74.49 Winder control word
Using the fieldbus adapter and winder
control word: If you need to control the
application program functions from fieldbus,
you can turn the important program functions
on/off with a 16-bit data word in parameter
74.49 Winder control word.
Material properties settings

The following material properties settings are required to achieve better control accuracy.
Define the thickness of the material (web or
wire).
74.21 Material Thickness
Note: For wire winding application, enter a

value equivalent to the wire diameter divided
by the number of turns needed to cover one
full-width row on a spool.
Define the roll lay-down width (mm).
74.22 Material Width
Define the density of the used material

(kg/m3).
74.23 Material Density
Select the source for length.
74.29 Length source
Note: The selection Measured from

Encoder requires set-up of the virtual roll
counter settings in parameter group 82
Virtual Roll.
Diameter calculation settings

The diameter calculation function delivers roll diameter feedback. The actual diameter signal
is then used in motor speed and torque reference calculations, as well as roll weight
estimation. The function also provides a means of control over the diameter calculation
process. The list of important settings is given below.
Actual diameter acquisition methods are:
estimated
taken from a feedback device
estimated diameter updated from a feedback device at stop.
Set the diameter of the empty core (mm).
76.08 Core diameter
Set the diameter of the full roll (mm).
76.09 Full roll diameter
Estimated mode
When no diameter feedback sensor is available, the actual diameter can be estimated
based on ratio of motor actual speed to the actual line speed.
Set parameter 76.01 Diameter calculation
mode to Estimated.
76.01 Diameter calculation mode
Define the filter time for diameter calculation. 76.03 Actual diameter filter time
Define the conditions when diameter count
up or count down conditions are enabled
(diameter estimation active) or disabled
(diameter estimation stopped).
76.05 Count up enable
Select the signal source to reset the roll

diameter.
76.11 Reset estimated diameter
If you need to preset the roll diameter to a

certain value, specify the value in parameter
76.26 Estimation preset value.
76.26 Estimation preset value
76.06 Count down enable
Select the source for the preset command of 76.25 Preset estimated diameter
roll diameter.
External feedback device mode

In this mode the information about roll diameter is available from an external signal.
mode to External feedback.
Define the source for the diameter feedback 76.02 Diameter feedback Src
signal.
Note: Scale the feedback source according
to minimum/maximum diameter in mm. For
more information, see parameter description
on page 426.
External feedback device at stop mode

The external feedback sensor value is used as the source of actual diameter when the
internal diameter estimation is frozen. Otherwise the estimated diameter is used. The rate
of change of actual diameter is limited according to web thickness.
Note: Diameter estimation is frozen when diameter hold is active.

mode to External feedback at stop.
Define the source for the diameter feedback 76.02 Diameter feedback Src
signal.
Note: Scale the feedback source according
to minimum/maximum diameter in mm. For
more information, see parameter description
on page 426.
Set the rest of the parameters as in the case See section Estimated mode on page 32.
of Estimated mode.
After all diameter calculation settings are
complete, it is recommend to set the
parameter 76.11 Reset estimated diameter.
Speed reference settings

Select the source for speed reference and scaling factor.
Set parameter 75.01 Max line speed. Based 75.01 Max line speed
on this value, the application program
calculates the maximum motor speed (signal
75.61 Max motor speed at core).
Note: Make sure these settings do not
exceed the maximum/minimum motor speed
limits in group 30 Limits.
Select the source for line speed reference.
75.02 Line speed reference src
75.03 Line reference scaling

Set the line speed reference input scaling
range. The target speed reference is defined 75.01 Max line speed
as:
75.51 Line reference In = (75.02 Line speed
reference src/ 75.03 Line reference scaling)
* 75.01 Max line speed.
Note: Reference scaling could be set to 0,
then the input from parameter 75.02 is
interpreted directly as m/min (of ft/min)
without any scaling.
Set the speed reference additive parameters:
Set parameter 75.31 Overspeed ref offset,
that is speed reference additive defined in
percent of maximum line speed (parameter
75.01 Max line speed).
75.31 Overspeed ref offset
For example, 3...5% is usually enough.

Define the line speed reference ramp settings:
Set parameter 75.11 Acceleration ramp time 75.11 Acceleration ramp time
in seconds. It defines how fast the line speed
reference increases from 0 to maximum line
speed (parameter 75.01 Max line speed).
Set parameter 75.12 Deceleration ramp time 75.12 Deceleration ramp time
in seconds. It defines how fast the line speed 75.13 Stop ramp time
reference decreases from maximum line
speed (parameter 75.01 Max line speed) to
zero.
Note: In case of drive stop command, define
a separate deceleration ramp time with
parameter 75.13 Stop ramp time.
Tension control settings

The parameter settings for each tension control mode depends on the selection mode.
Tension control is enabled with parameter 77.01 Enable tension control.
Open loop
In this mode feedback from the web is not required. The tension of the web is controlled
by calculating the torque reference for the motor, which is the product of the user-given
tension reference and the actual roll radius. The tension control PID is not used.
Configure the following settings.
Set the tension control mode to Open loop
(used when feedback devices for tension
control are not available).
77.02 Tension control mode
77.03 Tension reference Src

Select the source for tension reference.
Tension reference scaling is then done with 77.06 Tension reference scaling
parameter 77.06 Tension reference scaling.
The target tension reference is then defined
as:
77.51 Tension reference In = (77.03 Tension
reference Src/ 77.06 Tension reference
scaling) * 77.05 Max tension.
then input from parameter 77.03 is
interpreted directly in Tension units without
any scaling.
Define the maximum tension to exert on the
material.
77.05 Max tension
Tension torque trim

In this mode load cell feedback is required. The tension of the web is controlled by
calculating the torque reference of the motor, which is the product of the user-given
tension reference and the actual roll radius. In addition, the tension control PI modifies the
final motor torque reference based on the tension feedback from the load cell. Configure
the following settings:
Set the tension control mode to Tension
torque trim.
Select the source for tension reference.

Tension reference scaling is then done with
as:

interpreted directly in tension units without
any scaling.
Select the source for the tension feedback
signal.
With load cell feedback device the incoming
signal is interpreted directly in force units
without any scaling. Value read by the drive
could be seen in signal 77.70 Load cell
measurement.
77.04 Load cell feedback Src

material.
77.05 Max tension
Define the amount of allowed correction to

the torque reference by the PID controller
output.
78.09 PID output range
Define the tension controller P-gain.
78.11 P-gain 1
Define the tension controller integration time. 78.12 I-time 1
Tension speed trim

In this mode load cell feedback is required. The tension of the web is controlled by
calculating the torque reference of the motor, which is the product of the user-given
tension reference and the actual roll radius. In addition, the tension control PI modifies the
final motor speed reference based on the tension feedback from the load cell. Configure
the following settings:
Enable tension control.
77.01 Enable tension control
Set the tension control mode to Tension

speed trim.
Select the source of the tension reference.

Tension reference scaling is then done with
as:

interpreted directly in tension units without
any scaling.
Select the source for feedback device.
77.04 Load cell feedback Src
With load cell feedback device the incoming

signal is interpreted directly in force units
without any scaling. Value read by the drive
could be seen in signal 77.70 Load cell
measurement.
material.
77.05 Max tension

Define the amount of allowed correction to
the speed reference by the PID controller
output in percent of maximum speed at core.
78.11 P-gain 1
Dancer speed trim

Dancer absorbs the changes in web tension, which causes the dancer position to change.
The dancer PID controller corrects the position error of the dancer by means of speed
trimming. Configure the following settings:
Set the tension control mode to Dancer
speed trim.
Enable the dancer control by setting the

parameter 77.01 Enable tension control to
TRUE.
77.32 Dancer position max

Set the Dancer position set-point. No
particular unit is defined for the dancer
77.34 Dancer position set-point 1
referencing. The maximum input used by the
drive is limited only by parameter 77.32
Dancer position max.
Select the source for Dancer position
feedback. The incoming signal is interpreted
directly as is without any scaling.
77.31 Dancer feedback Src
78.11 P-gain 1
Safety function settings

In case the material breaks, normal operation is no longer possible or it can be dangerous to
proceed. The drive is able to detect such an occurrence with the web loss function.
Open loop tension control mode: In this mode the web loss is detected when the difference
between the actual line speed and the final speed reference added with overspeed reference
goes below the defined level.
Tension torque trim or Tension/Dancer speed trim mode: In this mode a material loss is
detected when the tension feedback from the web is less than the web loss limit set by the
user.
Select the required action for the web loss
condition:
81.01 Web-loss function
Disable - no action or function is disabled

Alarm
Fault
If available, select the source for the web
loss sensor feedback signal. Usually, it is a
digital signal notifying about tension loss on
the web.
81.02 Web-loss sensor Src
Define the tripping level. When the observed

signal value drops below this level, the drive
assumes that the material is broken.
81.04 Speed error low %
Define the tripping delay timer. For the drive

to trip, the web loss condition stays valid as
long as set with this timer.
81.09 Open-loop trip delay

81.19 Closed-loop trip delay
Friction compensation settings

The Friction compensation function improves the accuracy of tension control when no tension
feedback device is available, that is running in Open loop tension control mode.
Static friction means the forces of mechanical friction between the construction parts that
interlock and prevent any relative motion until the limit where the motion occurs.
Dynamic (linear) friction means an additional friction loss component as a function of roll
speed.
For information on Friction measurement procedure and parameter settings, see parameter
description in group 79 Mechanical losses compensation (page 443).
Set the values of static and dynamic friction
in group 79 Mechanical losses
compensation. For more information, see
page 443.
79.12 Static friction torque

79.13 Friction torque at 5% speed
Inertia compensation settings

The Inertia compensation function is used to assist the acceleration and deceleration parts of
the process. For more information on Inertial compensation and parameter settings, see
parameter description in group 80 Turreting assistance (page 447).
Set parameter 79.31 Inertia compensation
enable to TRUE for using the Inertia
compensation function.
79.31 Inertia compensation enable
Select the method for calculating weight.

Based on estimated weight - in this
method weight is calculated based on
material properties
Proportional to full roll and actual
diameter.
Note: The latter method requires setting of
parameter 79.34 Full roll weight.
79.32 Inertia calculation method

79.34 Full roll weight
Define the value for fixed inertia.

Fixed inertia includes sum of the inertia of
the motor shaft, couplings, gear-box and
inertia of an empty roll.
For correct values, see technical description
documentation of these components.
For more information, see Appendix A:
Motor rotor inertia, IEC (page 671).
79.33 Fixed inertia
Control locations and operating modes 39
4
Control locations and
operating modes
This chapter describes the control locations and operating modes supported by the
control program.
40 Control locations and operating modes
Local control vs. external control

The ACS880 has two main control locations: external and local. The control location
is selected with the Loc/Rem key on the control panel or in the PC tool.
ACS880
External control
2)
I/O 1)
PLC
Local control
Fieldbus adapter (Fxxx)
or DDCS communication
module
Embedded fieldbus
interface (EFB) or
master/follower link
Control panel or Drive

composer PC tool (optional)
Control panel
3~
MOTOR
Encoder
1) Extra inputs/outputs can be added by installing optional I/O extension modules (FIO-xx) in
drive slots.
2) Encoder or resolver interface module(s) (FEN-xx) installed in drive slots.
Local control
The control commands are given from the control panel keypad or from a PC
equipped with Drive composer when the drive is set to local control. Speed and
torque control modes are available for local control; frequency mode is available
when scalar motor control mode is used (see parameter 19.16 Local control mode).
Local control is mainly used during commissioning and maintenance. The control
panel always overrides the external control signal sources when used in local control.
Changing the control location to local can be prevented by parameter 19.17 Local
control disable.
The user can select by a parameter (49.05 Communication loss action) how the drive
reacts to a control panel or PC tool communication break. (The parameter has no
effect in external control.)
External control
When the drive is in external control, control commands are given through
the I/O terminals (digital and analog inputs), or optional I/O extension modules
the embedded fieldbus interface or an optional fieldbus adapter module
the external (DDCS) controller interface
the master/follower link, and/or
the control panel.
Two external control locations, EXT1 and EXT2, are available. The user can select
the sources of the start and stop commands separately for each location by
parameters 20.0120.10. The operating mode can be selected separately for each
location (in parameter group 19 Operation mode), which enables quick switching
between different operating modes, for example speed and torque control. Selection
between EXT1 and EXT2 is done through any binary source such as a digital input or
fieldbus control word (see parameter 19.11 Ext1/Ext2 selection). The source of
reference is selectable for each operating mode separately.
Using the control panel as an external control source
The control panel can also be used as a source of start/stop commands and/or
reference in external control. Selections for the control panel are available in the
start/stop command source and reference source selection parameters.
Reference source selection parameters (except PID setpoint selectors) have two
selections for the control panel. The difference between the two selections is in the
initial reference value after the reference source switches to the control panel.
The panel reference is saved whenever another reference source is selected. If the
reference source selection parameter is set to Control panel (ref saved), the saved
value is used as the initial reference when control switches back to the panel. Note
that only one type of reference can be saved at a time: for example, attempting to use
the same saved reference with different operating modes (speed, torque, etc.)
causes the drive to trip on 7083 Panel reference conflict. The panel reference can be
separately limited by parameters in group 49 Panel port communication.
With the reference source selection parameter set to Control panel (ref copied), the
initial panel reference value depends on whether the operating mode changes with
the reference source. If the source switches to the panel and the operating mode
does not change, the last reference from the previous source is adopted. If the
operating mode changes, the drive actual value corresponding to the new mode is
adopted as the initial value.
The process PID setpoint selectors in parameter groups 40 Process PID set 1 and 41
Process PID set 2 only have one setting for the control panel. Whenever the control
panel is selected as the setpoint source, operation resumes using the previous
setpoint.
Operating modes of the drive

The drive can operate in several operating modes with different types of reference.
The mode is selectable for each control location (Local, EXT1 and EXT2) in
parameter group 19 Operation mode.
The following is a general representation of the reference types and control chains.
The page numbers refer to detailed diagrams in chapter Control chain diagrams.
Speed
reference
source selection
I
(p 646)
Speed reference
source selection
II
(p 647)
Torque
reference
source selection
and modification
(p 653)
Speed reference
scaling
(p 664)
Tension control
(p 666)
Diameter
calculation
(p 665)
Dancer control
(p 666)
Winder torque
trim chain
(p 669)
Tension to speed
correction
(p 664)
Frequency
reference
source selection
and modification
(pp 658)
Frequency
reference
modification
(p 659)
Speed reference
ramping and
shaping
(p 648)
Speed error
calculation
(p 651)
Motor feedback
configuration
(p 649)
Speed controller
(p 652)
Load feedback
and position
counter
configuration
(p 650)
Reference
selection for
torque controller
(p 655)
Operating mode
selection
(p 654)
Torque limitation
(p 656)
Torque
controller
(p 657)
DTC motor
control mode
Scalar motor
control mode
Speed control mode

The motor follows a speed reference given to the drive. This mode can be used either
with estimated speed as feedback, or with an encoder or resolver for better speed
control accuracy.
Speed control mode is available in both local and external control. It is also available
both in DTC (Direct Torque Control) and scalar motor control modes.
Torque control mode

Motor torque follows a torque reference given to the drive. Torque control is possible
without feedback, but is much more dynamic and accurate when used in conjunction
with a feedback device such as an encoder or a resolver. It is recommended that a
feedback device is used in crane, winch or lift control situations.
Torque control mode is available in DTC motor control mode for both local and
external control locations.
Frequency control mode

The motor follows a frequency reference given to the drive. Frequency control is only
available in scalar motor control mode.
Special control modes

In addition to the control modes mentioned above, the following special control
modes are available:
Process PID control. For more information, see section Process PID control (page
108).
Emergency stop modes Off1 and Off3: Drive stops along the defined deceleration
ramp and drive modulation stops.
Jogging mode: Drive starts and accelerates to the defined speed when the
jogging signal is activated. For more information, see section Jogging (page 98).
Winder program features 45
5
Winder program features
This chapter describes some of the important functions within the winder control
program, how to use them and how to program them to operate.
46 Winder program features
Winder overview
The figure below shows an example of a process with winders.
Main drive
Dancer
Web
Unwinder
ABB Drive
Spindle
ABB Drive
Roll
V/m
A
V/m
A
Load
cell
ABB Drive
NIP
Winder
Core
Example of a process with winders
Winder/Unwinder
A winding machine or winder is used for wrapping a string, twine, cord, thread, yarn,
rope, wire, ribbon, tape, etc. onto a spool, bobbin, reel, etc. The opposite process that
is getting the material off any type of core is called unwinding.
The Winder control program is used to calculate the diameter of the roll and to control
web tension and motor speed according to user given references. The diagram below
gives an overview of the winder control. The sections below explain each tension
control mode in detail with the help of control diagrams.
Winder control overview

AI1
AI2
Fieldbus
D2D
Mot-pot
77 Tension/
Dancer
Control
78 PID
motor
Torque
Trim
26 Torque
ref chain
30 Limits
97 Motor
control
79 Mech-loss
compensation
encoder
Open-loop
tension
control
76 Diameter
calculation
25 Speed
Control
78 PID
Speed
Trim
AI1
AI2
Fieldbus
D2D
Mot-pot
PID
75 Winder
Speed
reference
22 Speed ref
selection
23 Speed
ref ramp
24 Speed ref
conditioning
90
Feedback
selection
Settings
74.05 Winding mode
Infeeder (main drive)

The Winder control program can also be used in infeeder applications. Infeeder (eg,
NIP or pinch roll) is a process control section used for transporting material in the
process line. An infeeder can be tension controlled or purely speed controlled. For
tension controlled feeder, the Tension control function must be enabled and Winding
mode must be set as either Winder (if section has to push the material) or Unwinder
(if material has to be pulled).
Note: Infeeder application uses a fixed roll diameter. For this purpose, we
recommend to disable the diameter calculation using parameters in group 76
Diameter calculation.
Settings
76.08 Core diameter
Material properties
Settings based on material properties (thickness, width, density etc.) are required to
achieve better control accuracy in the control program.
Settings
Parameter group 74 Application setup (page 417)
Line speed
Line speed is the operational speed of the controlled process, given in meters per
minute (or ft/min). Because the roll radius of winders and unwinders keeps changing,
the speed reference to the motor is automatically corrected according to the actual
radius of the driven roll.
See also the Virtual roll control chain diagram on page 62.
Settings
Parameter groups 75 Winder speed settings (page 421), 22 Speed reference
selection (page 252)
Threading
Threading function works similar to Jog function. The difference is that in Threading
mode, reference is given in surface speed units (m/min or ft/min). The program
considers the actual roll diameter for determining the target motor speed reference.
Unlike the original Jog mode, Threading function also requires the drive start
command to be given after the threading forward or reverse command is set On. The
transition between threading and normal production modes is done automatically. As
soon as line speed reference goes greater than the threading speed reference, the
control program automatically switches to tension control mode, that the application
is configured to run in. This function is useful when it is needed to pick up a slack in
the material and then immediately switch to production.
If tension control is On, then tension reference signal is considered and applied to the
motor torque limit to prevent the material from breaking at the moment when slack is
removed and it gets tense.
Note: Because surface to motor speed and tension to torque calculation depends on
the actual diameter reading, the accuracy of the final used motor speed and torque
limit highly depends on the accuracy of actual diameter calculation.
Settings
Parameter group 75 Winder speed settings
Diameter calculation
This function provides the means of control over the roll diameter calculation process.
There are several options on how the diameter value can be acquired:
The diameter sensor feedback signal can be wired either directly to the drive
analog input or sent remotely through a fieldbus.
When no sensor is available, the control program can estimate the actual roll
diameter using the ratio between line surface speed feedback and the actual
motor speed. To stabilize the calculation, the actual diameter rate of change is
limited according to the web thickness setting.
Alternatively, actual diameter can also be derived from the number of revolutions
by an encoder installed either on the motor/roll shaft or on the line pulley. For
more details, see Virtual roll function on page 61.
The program uses the actual diameter signal for calculating motor speed and torque
reference, as well as estimating the roll weight. The diameter value can be reset to its
core diameter value or to the full roll diameter value, depending on the selected
winding mode (winder or unwinder) and also can be preset to a user-defined value.
See control chain diagram for Diameter calculation on page 665.
Diameter hold
Diameter hold observes the cases when diameter should not be calculated. Diameter
hold status is shown when the hold conditions are met:
drive is stopped
both count up and count down are disabled
when PID control is disabled
when torque memory is active
actual speed and actual tension is under the minimum
jogging mode is active
full roll diameter is reached
diameter reset or preset is active
web thickness is less than the minimum.
Note: For NIP or pinch roll (infeeders) the diameter of the driven roll does not change,
so diameter calculation must be disabled by setting the core and maximum diameter
to same value (empty roll diameter).
Settings
Parameter group 76 Diameter calculation (page 427)
Tension control
The Tension control function provides control over tension on a material surface. If
there is a load cell or a dancer available in a control section, then stable tension
control is maintained with the embedded PID-controller.
Due to complexity of process a number of tuning tools are used to make the control
adaptive and suitable in possible situations. The Stall function helps starting the
machine smoothly and avoids over-regulation at slow speeds. The adaptive P-gain
and integration time in combination with adjustable trimming options helps tunning
the controller to behave as desired with constantly changing roll diameter.
When no feedback device is available, the drive is still capable of estimating essential
process parameters and produce stable tension control in open loop. Features such
as Friction compensation, Inertia compensation and precise material property
settings enable achieving best possible result.
The objective of the tension control is to maintain the tension of the web, that is the
force applied to the web. The motor speed and torque must change as a function of
the web speed and roll diameter.
Motor torque = Tension reference Roll radius
See chain diagram for Tension control on page 666.
Settings
Parameter groups 77 Tension/Dancer control (page 431) and 78 Winder PID
controller (page 438)
Open loop
In this mode, feedback from the web is not required. The tension of the web is
controlled by calculating the torque reference of the motor, which is the product of the
user-given tension reference and the actual roll radius. The tension control PI is
disabled. Inertia and friction compensation can be used to improve the tension control
accuracy.
The drive is running as speed controlled; the torque limits of the speed controller are
controlled by the tension control. To ensure that the drive is always running against
the calculated speed controller torque limits, the application adds an overspeed
reference to the final speed reference. The amount of overspeed reference is
adaptable with parameters.
Since tension feedback from the web is not available, accurate web data is a
prerequisite for successful tension control. Therefore, the friction and inertia
compensation should be set up carefully when the Open loop tension control is used.
The Open loop tension control is suitable especially for non-stretchy materials which
do not set extremely high requirements for the tension.
76 Diameter
calculation
9.13 Diameter ratio
75 Winder
speed
reference
22 Speed reference selection

Selection of the motor speed
reference (rpm).
9 Winder actual values

Winder related output signals
80.21 Used Weight
79.31-79.49 Inertia compensation settings
79 Mechanical losses
compensation
77
Tension/
Dancer
control
22.11 Speed ref 1

source
22 Speed
reference
selection
75 Winder Speed reference

Generates Line speed reference according to
ramp settings and calculates motor speed
reference and ramp times with regard to actual
diameter.
Tension to torque function

Converts the percent scaled
tension reference to the motor
torque and calculates the torque
limits of the speed controller.
77 Tension control
Tension reference and taper tension
handling. In Open loop control mode
the tension PI control is not in use
because there is no tension feedback
from the process.
79.67 Inertial torque ref used %
26 Torque
reference
chain
25 Speed
control
24 Speed
reference
conditioning
79 Friction compensation
The friction of the mechanical
components is compensated by
calculating a friction compensation
torque term. Together with tension
reference it affects the torque limits
of the speed controller.
79 Inertia compensation
Corrective torque is added to the
torque reference chain to
compensate for the torque needed
in acceleration and deceleration.
26.41 Torque step
25.11 Speed control min torque

25.12 Speed control max torque
23 Speed
reference
ramp
24.11 Speed
correction
79.55 Friction torque used %
77.56 Tension torque ref %
76 Diameter calculation
Calculates the roll diameter that is
ramped according to web thicknes. An
external diameter is also supported.
9.11 Actual diameter
77.02 Tension ctrl mode

= Open loop
77.01 77.29 Tension

reference settings
75.63 Motor ref

Diameter scaled
79.51 Actual motor speed %

79.11 79.29 Friction compensation curve
76.01 76.49
Diameter
calculation
settings
75.01 75.49
Line speed
reference settings
75.66 Speed ref additive
OPEN LOOP TENSION CONTROL
26.01 Torque reference

to torgue control

speed control
24.01Used speed
reference
Open loop tension control chain diagram
Tension torque trim

Load cell feedback is required. Tension of the web is controlled by calculating the
torque reference of the motor, which is the product of the user-given tension
reference and the actual roll radius. In addition, the tension control PI modifies the
final motor torque reference based on the tension feedback from the load cell. Inertia
and friction compensation can be used to improve the tension control accuracy.
The drive is running as speed controlled; the torque limits of the speed controller are
controlled by the tension control. To ensure that the drive is always running against
the calculated speed controller torque limits, the application adds an overspeed
reference to the final speed reference. The amount of overspeed reference is
adaptable with parameters. Accurate web material information is required.
The Tension torque trim tension control may result in a stable steady-state
performance, but on the other hand it is less adaptable to a wide variety of web
materials than the Tension speed trim tension control. The Tension torque trim
tension control is suitable especially for non-stretchy materials and when high
dynamic accuracy is needed.
See the below tension torque trim control chain diagram.
22 Speed reference
selection
Selection of the line speed
reference (m/min or ft/min).

80.21 Used Weight
78 Winder
PID
77
Tension/
Dancer
control
22.11 Speed ref 1

source
9.36 Torque trim
22 Speed
reference
selection
75 Winder Speed reference

Generates Line speed reference
according to ramp settings and
calculates motor speed reference and
ramp times with regard to actual
diameter.
24.11 Speed
correction
79 Friction compensation
The friction of the mechanical
components is compensated by
calculating a friction compensation
torque term. Together with tension
reference it affects the torque limits
of the speed controller.
26 Torque
reference
chain
25 Speed
control
24 Speed
reference
conditioning
Tension to torque function

Converts the percent scaled
tension reference to the motor
torque and calculates the torque
limits of the speed controller.
Scales PI controller output [%]
according to 77.05 Maximum
tension to torque trim term.
26.41 Torque step

23 Speed
reference
ramp
77 Tension control
handling. Tension PI controller
calculates an additional torque trim
term according to tension setpoint
and tension feedback from the
process.
ramped according to web thickness.
An external diameter is also supported.
compensation
78.01 78.49 Winder PID settings
77.71 Measured tension
77.51 Tension reference Used

= Tension torque trim
77.01 77.29 Tension

reference settings
75.23 Motor ref

Diameter scaled
76 Diameter
calculation
9.13 Diameter ratio
75 Winder
speed
reference

76.01 76.49
Diameter
calculation
settings
75.01 75.49
Line speed
reference settings
TENSION TORQUE TRIM CONTROL

to torgue control

speed control
24.01Used speed
reference
Tension torque trim control chain diagram
Tension speed trim

Load cell feedback is required. Tension of the web is controlled by calculating the
torque reference of the motor, which is the product of the user-given tension
reference and the actual roll radius. In addition, the tension control PI modifies the
final motor speed reference based on the tension feedback from the load cell. Inertia
compensation can be used to improve the tension control accuracy. The drive is
running as speed controlled.
When running in the Tension speed trim control mode, the tension controller is very
adaptable to a large variety of web material characteristics. The Tension speed trim
tension control is suitable especially for stretchy materials demanding smooth control
of the tension.
See the below tension speed trim control chain diagram.
22 Speed reference
selection

80.21 Used Weight
77
Tension/
Dancer
control
77.51 Tension ref Used
22 Speed
reference
selection
75 Winder reference modification

Calculates the rotational speed
reference and ramp times according to
actual diameter.
77 Tension control
calculates an additional torque trim
term according to tension setpoint
and tension feedback from the
process.
78 Winder
PID
23 Speed
reference
ramp
22.11 Speed ref 1

source
compensation

= Tension speed trim
77.01 77.29 Tension

reference settings
75.23 Motor ref

Diameter scaled
76 Diameter
calculation
9.13 Diameter ratio
75 Winder
speed
reference
76.01 76.49
Diameter
calculation
settings
75.01 75.49
Line speed
reference settings
TENSION SPEED TRIM CONTROL
26 Torque
reference
chain
25 Speed
control
24 Speed
reference
conditioning
26.41 Torque step
9.37 Speed trim
24.11 Speed
correction

to torgue control

speed control
24.01Used speed
reference
Tension speed trim control chain diagram
Dancer speed trim

Dancer feedback signal is required. The purpose of the dancer regulation is to control
the web tension by regulating the dancer (mechanical roll/wheel) position. The
dancer is loaded from either an external source controlled by the user or by the
output of the dancer PID controller of the drive. The dancer absorbs the changes of
the web tension, which cause the dancer position to change. The dancer PID
controller corrects the position error of the dancer by means of speed trimming.
Inertia compensation can be used to improve the tension control accuracy. The drive
is running as speed controlled.
Pivot arm
Pivot and rotary pot
Cylinder or counterweight
Dancer
Dancer
An advantage of a dancer is the web storage, which acts like an accumulator to

absorb and isolate tension disturbances.
The Dancer speed trim tension control is suitable especially for stretchy materials
demanding smooth control of the tension.
See the below dancer speed trim control chain diagram.
Settings
Parameter groups 77 Tension/Dancer control (page 431), 79 Mechanical losses
compensation (page 444) and 80 Turreting assistance (page 448)
75 Winder reference modification

Calculates the rotational speed
reference and ramp times according to
actual diameter.
22 Speed reference
selection
78 Winder
PID
23 Speed
reference
ramp
77 Dancer control
Dancer reference and taper tension
calculates an additional speed trim
term according to Dancer setpoint
and dancer position from the
process.
77.82 Dancer set-point Used
77.81 Dancer set-point In
22 Speed
reference
selection

80.21 Used Weight
77
Tension/
Dancer
control
22.11 Speed ref 1

source
compensation

= Dancer speed trim
77.31 77.49 Dancer

reference settings
75.23 Motor ref

Diameter scaled
76 Diameter
calculation
9.13 Diameter ratio
75 Winder
speed
reference
76.01 76.49
Diameter
calculation
settings
75.01 75.09
Line speed
reference settings
DANCER SPEED TRIM CONTROL
26 Torque
reference
chain
25 Speed
control
24 Speed
reference
conditioning
26.41 Torque step
9.37 Speed trim
24.11 Speed
correction

to torgue control

speed control
24.01Used speed
reference
Dancer speed trim control chain diagram
Taper function
The taper function allows to reduce or increase the tension of the web as the material
builds (diameter increases). It can be used to control roll hardness and to prevent the
roll starring or crushing the core.
Settings
Parameters 77.11 Taper mode77.15 Max taper tension trim % (page 435)
Friction compensation
Friction compensation calculates the linear friction compensation term based on a
predefined friction curve. The curve is defined by static friction and dynamic friction
values at 5%, 10%, 20%, 40%, 60%, 80% and 100% of the maximum speed
(maximum speed for the winder with an empty roll).
Static friction: It is force of mechanical friction between construction parts that
interlock and prevent any relative motion until the limit where the motion occurs.
Dynamic (linear) friction: It is an additional friction loss component as a function of the
roll speed. Proper friction compensation is essential especially in the open loop
tension control to improve accuracy of the tension control.
See chain diagram for Friction compensation on page 668.
Settings
Parameter group 79 Mechanical losses compensation (page 444)
Inertia compensation
Inertia compensation calculates the inertia based on the roll diameter and material
data. Alternatively, the weight of the full roll or web data is given as the input data.
The function also calculates the inertia compensation derivation time from the
calculated inertia and known motor nominal torque and speed.
See chain diagram for Inertia compensation on page 669.
Settings
Parameter group 80 Turreting assistance (page 448)
Winder stall function

In winder stall function, roll speed is at or near zero speed. When using the winder
stall function, the stall values (speed reference, PID controller parameters) are used
instead of normal ones. Stall is used, for example, when threading web material
through a machine (low speed and tension reference) and for a machinery standstill.
Note: There is also a fault function called motor stall function (in group 31 Fault
functions) and they should not be mixed.
Settings
Parameter groups 77 Tension/Dancer control (page 431) and 78 Winder PID
controller (page 438)
Torque memory
Torque memory stores the used torque at the moment of a request and calculates the
boosted torque from the stored torque.
This function is used in continuous process lines with the automated winder roll
change. The torque is memorized before the finished roll is removed from the winding
position. When the finishing roll is isolated from the tension feedback, the torque
memory is enabled to maintain the tension in the finishing roll section. Block diagram
of torque memory function is presented on page 666.
Settings
Automatic roll change

Turret winders are used to perform an automatic roll change. In the turret winder two
center winders are located on a rotating axis, whose position is changed so that a
new roll can be started on the fly.
Winder 1
Winder 2
Turret winder
During the roll change, the web material is cut with a flying knife. To facilitate slicing of
the material, torque boost defined by the user can be applied to temporarily increase
the tension of the web. When the material is cut, the load cell or dancer is
disconnected from the web and cannot therefore be used for the tension control. To
finish the roll after cutting, the torque memorized before cutting can be used as the
torque reference for the motor.
The pivot control of the automatic roll change machine is not part of the winder control
program but has to be controlled by the user.
Settings
Web loss
The Web loss detection function enables the drive to detect an occurrence of web
loss (web break, wire break or cable breakdown) in the tension control modes from
the following conditions:
In the Open loop tension control mode, the drive detects web loss when the
difference between the actual line speed and final speed reference together with
overspeed reference goes below the defined level. This happens because, in
case of a web loss, the motor speed rushes from the line speed to overspeed
reference and the speed difference decreases to zero.
In the other tension control modes, the drive detects web loss when the tension
feedback from the web (tension or dancer position) is less than the web loss limit
set by the user.
The user can also define a time delay for the web-loss function to trigger a drive
alarm or fault.
Settings
Parameter group 81 Winder safety (page 451)
Virtual roll
Virtual roll function offers an additional method for diameter estimation. It allows to
use an encoder feedback to count how much material is delivered on a roll, and to
assume the actual diameter and the roll driven speed. The encoder can be placed
either on a pulley connected to the line surface, or directly on the motor driving the
roll.
See the below virtual roll control chain diagram.
Settings
Parameter group 82 Virtual Roll (page 455)
GEAR BOX
75.52 Line Reference Ramped
enc
enc 2r
On the Motor
On the Line pulleyy
Axis to Monitor
82.12 Encoder Placement
Gr.74 Gear Ratio Used
82.19 Hold roll Counter
82.23 VR Preset Value
82.22 Preset Virtual Roll
82.21 Reset Virtual Roll
Selection: from which axis feedback is taken
82.13 Counter input type
74.21 Material Thickness
76.09 Full Roll Diameter
76.08 Core Diameter
82.15 Line Feed Constant
74.06 Motor Direction
74.05 Winding/Unwinding
82.11 Counter source selection
Pulley circumference
90.21 Encoder 2 Position
90.11 Encoder 1 Position
Virtual Line Encoder Position
Virtual Line
dt
VIRTUAL
ROLL
82.89 VR function status
82.62 VR Diameter Ratio
82.61 Virtual Roll Diameter
82.60 Length on Roll
82.56 VR Rotating Speed
82.54 Detected Line Speed
Virtual roll control chain diagram
Speed control torque limitation

Speed control torque limitation selects the torque limit for the speed controller. The
actual torque limit is selected according to the tension control mode and direction of
rotation. By forcing input, torque limit 2 can be applied regardless of the control mode
(used, for example, for the torque memory). The block diagrams of speed control
torque limitation are presented on pages 655 and 667.
Tension to torque conversion

This function converts the percent scaled tension reference to the motor torque.
It also calculates the torque limit of the speed controller (tension reference + friction
compensation term). Block diagrams of tension to torque conversion are presented
on pages 667.
Winder control word logic

Winder control word logic controls selections through winder control word or/and
parameters. Winder features can be selected either through Control word or by
parameters. Block diagram of winder control word logic is presented on page 667.
Settings
Parameter group 74 Application setup (page 417)
Winder status
The current status of application can be obtained through specific status words.
Settings
Parameters 09.01 Winder status word, 76.88 Diameter hold status (pages 184, 431).
Standard program features 65
6
Standard program features
The chapter describes
the control locations and operating modes supported by the control program
some of the important functions in the control program that are not specific to
winder application.
66 Standard program features
Drive configuration and programming

The drive control program is divided into two parts:
firmware program
application program.
Drive control program
Application program
Functional block
program
Standard block
diagram
Parameter
interface
Firmware
Speed control
Torque control
Frequency control
Drive logic
I/O interface
Fieldbus interface
Protections
Feedback
The firmware program performs the main control functions, including speed and
torque control, drive logic (start/stop), I/O, feedback, communication and protection
functions. Firmware functions are configured and programmed with parameters, and
can be extended by application programming.
Programming via parameters

Parameters configure all of the standard drive operations and can be set via
the control panel, as described in chapter Using the control panel
the Drive composer PC tool, as described in Drive composer users manual

(3AUA0000094606 [English]), or
the fieldbus interface, as described in chapters Fieldbus control through the

embedded fieldbus interface (EFB) and Fieldbus control through a fieldbus
adapter.
All parameter settings are stored automatically to the permanent memory of the drive.
However, if an external +24 V DC power supply is used for the drive control unit, it is
highly recommended to force a save by using parameter 96.07 Parameter save
manually before powering down the control unit after any parameter changes have
been made.
If necessary, the default parameter values can be restored by parameter 96.06
Parameter restore.
Adaptive programming
Conventionally, the user can control the operation of the drive by parameters.
However, the standard parameters have a fixed set of choices or a setting range. To
further customize the operation of the drive, an adaptive program can be constructed
out of a set of function blocks.
The Drive composer pro PC tool (version 1.10 or later, available separately) has an
Adaptive programming feature with a graphical user interface for building the custom
program. The function blocks include the usual arithmetic and logical functions, as
well as eg. selection, comparison and timer blocks. The program can contain a
maximum of 20 blocks. The adaptive program is executed on a 10 ms time level.
The physical inputs, drive status information, actual values, constants and data
storage parameters can be used as the input for the program. The output of the
program can be used eg. as a start signal, external event or reference, or connected
to the drive outputs. See below for a listing of the available inputs and outputs. Note
that connecting the output of the adaptive program to a selection parameter will writeprotect the parameter.
The status of the adaptive program is shown by parameter 07.30 Adaptive program
status. The adaptive program can be disabled by 96.70 Disable adaptive program.
For more information, see the Adaptive programming application guide
(3AXD50000028574 [English]).
Inputs available to the adaptive program
Input
Source
I/O
DI1
10.02 DI delayed status, bit 0
DI2
DI3
DI4
DI5
DI6
DIIL
AI1
12.11 AI1 actual value
AI2
12.21 AI2 scaled value
DIO1
11.02 DIO delayed status, bit 0
DIO2
11.02 DIO delayed status, bit 1
Actual signals
Motor speed
01.01 Motor speed used
Output frequency
01.06 Output frequency
Motor current
01.07 Motor current
Motor torque
01.10 Motor torque
Motor shaft power
01.17 Motor shaft power
Status
Inputs available to the adaptive program

Input
Source
Enabled
06.16 Drive status word 1, bit 0
Inhibited
Ready to start
Tripped
06.11 Main status word, bit 3
At setpoint
06.11 Main status word, bit 8
Limiting
Ext1 active
Ext2 active
Data storage
Data storage 1 real32
47.01 Data storage 1 real32
Outputs available to the adaptive program

Output
Target
I/O
RO1
10.24 RO1 source
RO2
10.27 RO2 source
RO3
10.30 RO3 source
AO1
13.12 AO1 source
AO2
13.22 AO2 source
DIO1
11.06 DIO1 output source
DIO2
11.10 DIO2 output source
Start control
Ext1/Ext2 selection
19.11 Ext1/Ext2 selection
Run enable 1
20.12 Run enable 1 source
Ext1 in1 cmd
Ext1 in2 cmd
Ext1 in3 cmd
Ext2 in1 cmd
Ext2 in2 cmd
Ext2 in3 cmd
Fault reset
31.11 Fault reset selection
Speed control
Speed ref1
22.11 Speed ref1 source
Outputs available to the adaptive program

Output
Target
Speed ref2
Speed additive 1
22.15 Speed additive 1 source
Speed (controller) proportional gain
25.02 Speed proportional gain
Speed (controller) integration time
25.03 Speed integration time
Acceleration time 1
23.12 Acceleration time 1
Deceleration time 1
23.12 Deceleration time 1
Frequency control
Frequency ref1
28.11 Frequency ref1 source
Frequency ref2
Torque control
Torque ref1
26.11 Torque ref1 source
Torque ref2
Torque additive 2
26.25 Torque additive 2 source
Limitations
Minimum torque 2
30.21 Minimum torque 2 source
Maximum torque 2
30.22 Maximum torque 2 source
Events
External event 1
31.01 External event 1 source
External event 2
External event 3
External event 4
External event 5
Data storage
Data storage 1 real 32
Data storage 8 real 32
Process PID
Set 1 setpoint 1
40.16 Set 1 setpoint 1 source
Set 1 setpoint 2
Set 1 feedback 1
40.08 Set 1 feedback 1 source
Set 1 feedback 2
Set 1 (PID controller) gain
40.32 Set 1 gain
Set 1 (PID controller) integration time
40.33 Set 1 integration time
Set 1 tracking mode
40.49 Set 1 tracking mode
Set 1 track reference
40.50 Set 1 tracking ref selection
Application programming
The functions of the firmware program can be extended with application
programming. Application programmability is optionally available for the ACS880
primary control program.
Application programs can be built out of function blocks based on the IEC 61131-3
standard using a PC tool available separately.
For more information, see Programming manual: Drive application programming
(IEC 61131-3) (3AUA0000127808 [English]).
Control interfaces
Programmable analog inputs
The control unit has two programmable analog inputs. Each of the inputs can be
independently set as a voltage (0/210 V or -1010 V) or current (0/420 mA)
input by a jumper or switch on the control unit. Each input can be filtered, inverted
and scaled. The number of analog inputs can be increased by installing FIO-11 or
FAIO-01 I/O extensions (see Programmable I/O extensions below).
The drive can be set to perform an action (for example, to generate a warning or fault)
if the value of an analog input goes beyond the predefined range.
Settings
Parameter group 12 Standard AI (page 198).
Programmable analog outputs

The control unit has two current (020 mA) analog outputs. Each output can be
filtered, inverted and scaled. The number of analog outputs can be increased by
installing FIO-11 or FAIO-01 I/O extensions (see Programmable I/O extensions
below).
Settings
Parameter group 13 Standard AO (page 202).
Programmable digital inputs and outputs

The control unit has six digital inputs, a digital start interlock input, and two digital
input/outputs (I/O that can be set as either an input or an output).
One digital input (DI6) doubles as a PTC thermistor input. See section Motor thermal
protection (page 122).
Digital input/output DIO1 can be used as a frequency input, DIO2 as a frequency
output.
The number of digital inputs/outputs can be increased by installing FIO-01, FIO-11 or
FDIO-01 I/O extensions (see Programmable I/O extensions below).
Settings
Parameter groups 10 Standard DI, RO (page 186) and 11 Standard DIO, FI, FO
(page 192).
Programmable relay outputs

The control unit has three relay outputs. The signal to be indicated by the outputs can
be selected by parameters.
Relay outputs can be added by installing FIO-01 or FDIO-01 I/O extensions.
Settings
Parameter group 10 Standard DI, RO (page 186).
Programmable I/O extensions

You can add inputs and outputs using I/O extension modules.The control unit
includes slots to mount one to three modules. You can add slots by connecting an
FEA-03 I/O extension adapter.
The table below shows the number of I/O on the control unit as well as optional I/O
extension modules.
(DIO)
Analog
inputs
(AI)
Analog
outputs
(AO)
Relay
outputs
(RO)
6 + DIIL
FIO-01
FIO-11
FAIO-01
FDIO-01
Location
Control unit
Digital
inputs
(DI)
Digital I/Os
Three I/O extension modules can be activated and configured using parameter
groups 1416.
Note: Each configuration parameter group contains parameters that display the
values of the inputs on that particular extension module. These parameters are the
only way of utilizing the inputs on I/O extension modules as signal sources. To
connect to an input, choose the setting Other in the source selector parameter, then
specify the appropriate value parameter (and bit, for digital signals) in group 14, 15
or 16.
Settings
Parameter groups 14 I/O extension module 1 (page 206), 15 I/O extension module 2
(page 225) and 16 I/O extension module 3 (page 229).
Parameter 60.41 (page 400).
Fieldbus control
The drive can be connected to several different automation systems through its
fieldbus interfaces. See chapters Fieldbus control through the embedded fieldbus
interface (EFB) (page 609) and Fieldbus control through a fieldbus adapter (page
633).
Settings
Parameter groups 50 Fieldbus adapter (FBA) (page 373), 51 FBA A settings (page
380), 52 FBA A data in (page 382), and 53 FBA A data out (page 383), 54 FBA B
settings (page 383), 55 FBA B data in (page 384), 56 FBA B data out (page 385) and
58 Embedded fieldbus (page 385).
Master/follower functionality
General
The master/follower functionality can be used to link several drives together so that
the load can be evenly distributed between the drives. This is ideal in applications
where the motors are coupled to each other through gearing, chain, belt, etc.
The external control signals are typically connected to one drive only which acts as
the master. The master controls up to 10 followers by sending broadcast messages
over an electric cable or fiber optic link. The master can read feedback signals from
up to 3 selected followers.
Speed-controlled
master
Process master
Process follower
(For example)
Control word
Speed reference
Torque reference
DDCS
Master/follower link
(For example)
Status word
01.10 Motor torque
Fieldbus control
External control system (eg. PLC)
Follower
DDCS
Master
~
Torque- or speedcontrolled follower

The master drive is typically speed-controlled and the other drives follow its torque or
speed reference. In general, a follower should be
torque-controlled when the motor shafts of the master and the follower are rigidly
coupled by gearing, chain etc. so that no speed difference between the drives is
possible
speed-controlled when the motor shafts of the master and the follower are flexibly
coupled so that a slight speed difference is possible. When both the master and
the follower are speed-controlled, drooping is also typically used (see parameter
25.08 Drooping rate). The distribution of load between the master and follower
can alternatively be adjusted as described under Load share function with a
speed-controlled follower below.
Note: With a speed-controlled follower (without load sharing), pay attention to the
acceleration and deceleration ramp times of the follower. If the ramp times are set
longer than in the master, the follower will follow its own acceleration/deceleration
ramp times rather than those from the master. In general, it is recommended to set
identical ramp times in both the master and the follower(s). Any ramp shape settings
(see parameters 23.1623.19) should only be applied in the master.
In some applications, both speed control and torque control of the follower are
required. In those cases, the operating mode can be switched by parameter (19.12
Ext1 control mode or 19.14 Ext2 control mode). Another method is to set one external
control location to speed control mode, the other to torque control mode. Then, a
digital input of the follower can be used to switch between the control locations. See
chapter Control locations and operating modes (page 39).
With torque control, follower parameter 26.15 Load share can be used to scale the
incoming torque reference for optimal load sharing between the master and the
follower. Some torque-controlled follower applications, eg. where the torque is very
low, or very low speed operation is required, may require encoder feedback.
If a drive needs to quickly switch between master and follower statuses, one user
parameter set (see page 132) can be saved with the master settings, another with the
follower settings. The suitable settings can then be activated using eg. digital inputs.
Load share function with a speed-controlled follower
Load sharing between the master and a speed-controlled follower can be used in
various applications. The load share function is implemented by fine-tuning the
follower speed reference with an additional term based on a torque reference. The
torque reference is selected by parameter 23.42 Follower speed corr torq source (by
default, reference 2 received from the master). Load share is adjusted by parameter
26.15 Load share and activated by the source selected by 23.40 Follower speed
correction enable. Parameter 23.41 Follower speed correction gain provides a gain
adjustment for the speed correction. The final correction term added to the speed
reference is shown by 23.39 Follower speed correction out. See the block diagram on
page 650.

Notes:
The function can be enabled only when the drive is a speed-controlled follower in
remote control mode.
Drooping (25.08 Drooping rate) is ignored when the load share function is active.
The master and follower should have the same speed control tuning values.
The speed correction term is limited by the speed error window parameters 24.44
Speed error window low and 24.43 Speed error window high. An active limitation
is indicated by 06.19 Speed control status word.
Communication
You can build a master/follower link by connecting the drives together with fiber optic
cables (may required additional equipment depending on the existing drive
hardware), or by wiring together the XD2D connectors of the drives. The medium is
selected by parameter 60.01 M/F communication port.
Parameter 60.03 M/F mode defines whether the drive is the master or a follower on
the communication link. Typically, the speed-controlled process master drive is also
configured as the master in the communication.
The communication on the master/follower link is based on the DDCS protocol, which
employs data sets (specifically, data set 41). One data set contains three 16-bit
words. The contents of the data set are freely configurable using parameters
61.0161.03. The data set broadcast by the master typically contains the control
word, speed reference and torque reference, while the followers return a status word
with two actual values.
The default setting of parameter 61.01 M/F data 1 selection is Follower CW. With this
setting in the master, a word consisting of bits 011 of 06.01 Main control word and
four bits selected by parameters 06.4506.48 is broadcast to the followers.
However, bit 3 of the follower control word is modified so that it remains on as long as
the master is modulating, and its switching to 0 causes the follower to coast to a stop.
This is to synchronize the stopping of both master and follower.
Note: When the master is ramping down to a stop, the follower observes the
decreasing reference but receives no stop command until the master stops
modulating and clears bit 3 of the follower control word. Because of this, the
maximum and minimum speed limits on the follower drive should not have the same
sign otherwise the follower would be pushing against the limit until the master finally
stops.
Three words of additional data can optionally be read from each follower. The
followers from which data is read are selected by parameter 60.14 M/F follower
selection in the master. In each follower drive, the data to be sent is selected by
parameters 61.0161.03. The data is transferred in integer format over the link, and
displayed by parameters 62.2862.36 in the master. The data can then be
forwarded to other parameters using 62.0462.12.

To indicate faults in the followers, each follower must be configured to transmit its
status word as one of the above-mentioned data words. In the master, the
corresponding target parameter must be set to Follower SW. The action to be taken
when a follower is faulted is selected by 60.17 Follower fault action. External events
(see parameter group 31 Fault functions) can be used to indicate the status of other
bits of the status word.
Block diagrams of the master/follower communication are presented on pages 662
and 663.
Construction of the master/follower link
The master/follower link is formed by connecting the drives together using either
shielded twisted-pair cable between the XD2D terminals of the drives, or
fiber optic cables. Drives with a ZCU control unit require an additional FDCO
DDCS communication module; drives with a BCU control unit require an RDCO
module.
Connection examples are shown below. Note that a star configuration using fiber
optic cables requires an NDBU-95C DDCS branching unit.
BGND
Shield
4
Shield
See the hardware manual of the drive for wiring and termination details.
3
BGND
Follower 1
Termination OFF
XD2D
2
A
4
Shield
3
BGND
2
A
Master
Termination ON
XD2D
1
B
XD2D
Master/follower wiring with electrical cable
Follower n
Termination ON
Ring configuration with fiber optic cables

Master
(ZCU) Control unit
Follower 1
Follower 2
(BCU) Control unit

RDCO
FDCO
CH2
TR
T R
(ZCU) Control unit

FDCO
T R
T = Transmitter; R = Receiver
Star configuration with fiber optic cables (1)

Master
(ZCU) Control unit
FDCO
T R
Follower 1
Follower 2
(ZCU) Control unit
(BCU) Control unit

RDCO
FDCO
CH2
TR
T R
Follower 3
(ZCU) Control unit
T = Transmitter
R = Receiver
R T R T
CH1 CH2
NDBU
FDCO
T R
R T R T
MSTR CH0
Star configuration with fiber optic cables (2)

Master
(ZCU) Control unit
FDCO
T R
Follower 1
(ZCU) Control unit
Follower 2
(BCU) Control unit
RDCO
FDCO
CH2
T R
T R
Follower 3
(ZCU) Control unit
T = Transmitter
R = Receiver
FDCO
T R
R T R T R T R T
CHx CHx CHx CHx
NDBU
X13 = REGEN
Example parameter settings

The following is a checklist of parameters that need to be set when configuring the
master/follower link. In this example, the master broadcasts the Follower control
word, a speed reference and a torque reference. The follower returns a status word
and two actual values (this is not compulsory but is shown for clarity).
Master settings:
Master/follower link activation

60.01 M/F communication port (fiber optic channel or XD2D selection)
(60.02 M/F node address = 1)
60.03 M/F mode = DDCS master
60.05 M/F HW connection (Ring or Star for fiber optic, Star for wire)
Data to be broadcast to the followers

61.01 M/F data 1 selection = Follower CW (Follower control word)
61.02 M/F data 2 selection = Used speed reference
61.03 M/F data 3 selection = Torque reference act 5
Data to be read from the followers (optional)

60.14 M/F follower selection (selection of followers that data is read from)
62.04 Follower node 2 data 1 sel 62.12 Follower node 4 data 3 sel
(mapping of data received from followers)

Follower settings:
Master/follower link activation

60.01 M/F communication port (fiber optic channel or XD2D selection)
60.02 M/F node address = 260
60.03 M/F mode = DDCS follower
60.05 M/F HW connection (Ring or Star for fiber optic, Star for electrical cable)
Mapping of data received from master

62.01 M/F data 1 selection = CW 16bit
62.02 M/F data 2 selection = Ref1 16bit
62.03 M/F data 3 selection = Ref2 16bit
Selection of operating mode and control location

19.12 Ext1 control mode = Speed or Torque
20.01 Ext1 commands = M/F link
20.02 Ext1 start trigger type = Level
Selection of reference sources

22.11 Speed ref1 source = M/F reference 1
26.11 Torque ref1 source = M/F reference 2
Selection of data to be sent to master (optional)

61.01 M/F data 1 selection = SW 16bit
61.02 M/F data 2 selection = Act1 16bit
61.03 M/F data 3 selection = Act2 16bit
Specifications of the fiber optic master/follower link
Maximum fiber optic cable length:
FDCO-01/02 or RDCO-04 with POF (Plastic Optic Fiber): 30 m
FDCO-01/02 or RDCO-04 with HCS (Hard-clad Silica Fiber): 200 m
For distances up to 1000 m, use two NOCR-01 optical converter/repeaters

with glass optic cable (GOF, 62.5 micrometers, Multi-Mode)
Maximum shielded twisted-pair cable length: 50 m
Transmission rate: 4 Mbit/s
Total performance of the link: < 5 ms to transfer references between the master
and followers.
Protocol: DDCS (Distributed Drives Communication System)
Settings and diagnostics

Parameter groups 60 DDCS communication (page 393), 61 D2D and DDCS transmit
data (page 404) and 62 D2D and DDCS receive data (page 409).
External controller interface

General
The drive can be connected to an external controller (such as the ABB AC 800M)
using fiber optic cables or twisted-pair cable. The ACS880 is compatible with both the
ModuleBus and DriveBus connections.
Topology
An example connection with either a ZCU-based or BCU-based drive using fiber optic
cables is shown below.
Drives with a ZCU control unit require an additional FDCO DDCS communication
module; drives with a BCU control unit require an RDCO or FDCO module. The BCU
has a dedicated slot for the RDCO an FDCO module can also be used with a BCU
control unit but it will reserve one of the three universal option module slots. Ring and
star configurations are also possible much in the same way as with the
master/follower link (see section Master/follower functionality on page 74); the
notable difference is that the external controller connects to channel CH0 on the
RDCO board instead of CH2. The channel on the FDCO communication module can
be freely selected.
ACS880
Controller
(ZCU) Control unit
ACS880
(BCU) Control unit
RDCO
FDCO
T R
T R
CH0
T R
The external controller can also be wired to the D2D (RS-485) connector using
shielded, twisted-pair cable. The selection of the connection is made by parameter
60.51 DDCS controller comm port
Communication
The communication between the controller and the drive consists of data sets of three
16-bit words each. The controller sends a data set to the drive, which returns the next
data set to the controller.
The communication uses data sets 1033. The contents of the data sets are freely
configurable, but data set 10 typically contains the control word and one or two
references, while data set 11 returns the status word and selected actual values. For

ModuleBus communication, the ACS880 can be set up as a standard drive or an
engineered drive by parameter 60.50 DDCS controller drive type. ModuleBus
communication uses data sets 14 with a standard drive and data sets 1033 with
an engineered drive.
The word that is defined as the control word is internally connected to the drive logic;
the coding of the bits is as presented in section Contents of the fieldbus Control word
(ABB Drives profile) (page 639). Likewise, the coding of the status word is as shown
in section Contents of the fieldbus Status word (ABB Drives profile) (page 640).
By default, data sets 32 and 33 are dedicated for the mailbox service, which enables
the setting or inquiry of parameter values as follows:
Controller
ACS880
Parameter write to drive

Transmit address
Data set
Value = 4865*
3 2 .1
Transmit data
Data set
Value = 1234
3 2 .2
Transmit address
Data set
feedback
3 3 .1
Value = 4865*
Parameter read from drive
Inquire address
Value = 6147**
Inquired data
Value = 4300
Inquire address
feedback
Value = 6147**
Data set
3 2 .3
Par.
1 9 .0 1
Value
1 2 3 4
1
.
.
.
.
2 4 .0 3
4 3 0 0
.
.
Data set
3 3 .2
Data set
3 3 .3
*19.01 -> 13h.01h -> 1301h = 4865

**24.03 -> 18h.03h -> 1803h = 6147
By parameter 60.64 Mailbox dataset selection, data sets 24 and 25 can be selected
instead of data sets 32 and 33
The update intervals of the data sets are as follows:
Data sets 1011: 2 ms
Data sets 1825, 32, 33: 100 ms.
Settings
Parameter groups 60 DDCS communication (page 393), 61 D2D and DDCS transmit
data (page 404) and 62 D2D and DDCS receive data (page 409).
Control of a supply unit (LSU)

General
With drives that consist of a supply unit and one inverter unit, the supply unit can be
controlled through the inverter unit. (In drive systems consisting of multiple inverter
units, this feature is not typically used.) For example, the inverter unit can send a
control word and references to the supply unit, enabling the control of both units from
the interfaces of one control program.
Note: This function is only supported by inverter units with a BCU control unit.
For more information, refer to the firmware manual of the other converter.
Topology
The control units of the supply unit and the inverter unit are connected by fiber optic
cables. With BCU-x2 control units equipped with RDCO modules, CH1 of the inverter
is connected to CH0 of the supply unit.
An example connection with a BCU-based drive system is shown below.
Supply unit (LSU)
(BCU) Control unit
RDCO
CH0
T R
Inverter unit (INU)

(BCU) Control unit
RDCO
CH1
T R
The fiber optic link specifications stated under Specifications of the fiber optic
master/follower link (page 80) apply.
Communication
The communication between the converters and the drive consists of data sets of
three 16-bit words each. The inverter unit sends a data set to the supply unit, which
returns the next data set to the inverter unit.
The communication uses data sets 10 and 11, updated at 2 ms intervals. Data sets
10 is sent by the inverter unit to the supply unit, while data set 11 is sent by the supply
unit to the inverter unit. The contents of the data sets are freely configurable, but data
set 10 typically contains the control word, while data set 11 returns the status word.
With ACS880 single drives with a separate supply unit, the basic communication is
initialized by parameter 95.20 HW options word 1. If the supply unit is regenerative, it

is possible to send a DC voltage and/or reactive power reference to it from inverter
parameter group 94 LSU control.
Settings
Parameters 06.3606.43 (page 176) and 95.20 HW options word 1 (page 484).
Parameter groups 60 DDCS communication (page 393), 61 D2D and DDCS

transmit data (page 404), 62 D2D and DDCS receive data (page 409) and 94 LSU
control (page 479).
Motor control
Direct torque control (DTC)
The motor control of the ACS880 is based on direct torque control (DTC), the ABB
premium motor control platform. The switching of the output semiconductors is
controlled to achieve the required stator flux and motor torque. The switching
frequency is changed only if the actual torque and stator flux values differ from their
reference values by more than the allowed hysteresis. The reference value for the
torque controller comes from the speed controller or directly from an external torque
reference source.
Motor control requires measurement of the DC voltage and two motor phase
currents. Stator flux is calculated by integrating the motor voltage in vector space.
Motor torque is calculated as a cross product of the stator flux and the rotor current.
By utilizing the identified motor model, the stator flux estimate is improved. Actual
motor shaft speed is not needed for the motor control.
The main difference between traditional control and DTC is that torque control
operates at the same time level as the power switch control. There is no separate
voltage and frequency controlled PWM modulator; the output stage switching is
wholly based on the electromagnetic state of the motor.
The best motor control accuracy is achieved by activating a separate motor
identification run (ID run).
See also section Scalar motor control (page 101).
Settings
Parameters 99.04 Motor control mode (page 500) and 99.13 ID run requested (page
502).
Reference ramping
Acceleration and deceleration ramping times can be set individually for speed, torque
and frequency reference.
With a speed or frequency reference, the ramps are defined as the time it takes for
the drive to accelerate or decelerate between zero speed or frequency and the value
defined by parameter 46.01 Speed scaling or 46.02 Frequency scaling. The user can
switch between two preset ramp sets using a binary source such as a digital input.
For speed reference, also the shape of the ramp can be controlled.
With a torque reference, the ramps are defined as the time it takes for the reference
to change between zero and nominal motor torque (parameter 01.30 Nominal torque
scale).

Special acceleration/deceleration ramps
The acceleration/deceleration times for the jogging function can be defined
separately; see section Jogging (page 98).
The change rate of the motor potentiometer function (page 101) is adjustable. The
same rate applies in both directions.
A deceleration ramp can be defined for emergency stop (Off3 mode).
Settings
Speed reference ramping: Parameters 23.1123.19 and 46.01

(pages 260 and 364).
Torque reference ramping: Parameters 01.30, 26.18 and 26.19

Frequency reference ramping: Parameters 28.7128.75 and 46.02

Jogging: Parameters 23.20 and 23.21 (page 263).
Motor potentiometer: Parameter 22.75 (page 258).
Emergency stop (Off3 mode): Parameter 23.23 Emergency stop time

(page 263).
Constant speeds/frequencies
Constant speeds and frequencies are predefined references that can be quickly
activated, for example, through digital inputs. It is possible to define up to 7 constant
speeds for speed control and 7 constant frequencies for frequency control.
WARNING: Constant speeds and frequencies override the normal reference
irrespective of where the reference is coming from.
Settings
Parameter groups 22 Speed reference selection (page 252) and 28 Frequency
reference chain (page 286).
Critical speeds/frequencies
Critical speeds (sometimes called skip speeds) can be predefined for applications
where it is necessary to avoid certain motor speeds or speed ranges because of, for
example, mechanical resonance problems.
The critical speeds function prevents the reference from dwelling within a critical band
for extended times. When a changing reference (22.87 Speed reference act 7) enters
a critical range, the output of the function (22.01 Speed ref unlimited) freezes until the
reference exits the range. Any instant change in the output is smoothed out by the
ramping function further in the reference chain.

The function is also available for scalar motor control with a frequency reference. The
input of the function is shown by 28.96 Frequency ref act 7, the output by 28.97
Frequency ref unlimited.
Example
A fan has vibrations in the range of 540 to 690 rpm and 1380 to 1560 rpm. To make
the drive avoid these speed ranges,
enable the critical speeds function by turning on bit 0 of parameter 22.51 Critical
speed function, and
set the critical speed ranges as in the figure below.

22.01 Speed ref unlimited (rpm)
(output of function)
1
Par. 22.52 = 540 rpm
Par. 22.53 = 690 rpm
1380
Par. 22.54 = 1380 rpm
690
Par. 22.55 = 1560 rpm
1560
540
22.87 Speed reference act 7 (rpm)

(input of function)
Settings
Critical speeds: parameters 22.5122.57 (page 257)
Critical frequencies: parameters 28.5128.57 (page 291).
Speed controller autotune

The speed controller of the drive can be automatically adjusted using the autotune
function. Autotuning is based on an estimation of the mechanical time constant
(inertia) of the motor and machine.
The autotune routine runs the motor through a series of acceleration/deceleration
cycles, the number of which can be adjusted with parameter 25.40 Autotune repeat
times. Higher values produce more accurate results, especially if the difference
between initial and maximum speeds is small.
The maximum torque reference used during autotuning will be the initial torque (ie.
torque when the routine is activated) plus 25.38 Autotune torque step, unless limited
by the maximum torque limit (parameter group 30 Limits) or the nominal motor torque
(99 Motor data). The calculated maximum speed during the routine is the initial speed
(ie. speed when the routine is activated) + 25.39 Autotune speed step, unless limited
by 30.12 Maximum speed or 99.09 Motor nominal speed.

The diagram below shows the behavior of speed and torque during the autotune
routine. In this example, 25.40 Autotune repeat times is set to 2.
Initial torque + [25.38]
Initial torque
t
Initial speed + [25.39]
Initial speed
Notes:
If the drive cannot produce the requested braking power during the routine, the
results will be based on the acceleration stages only, and not as accurate as with
full braking power.
The motor exceeds the calculated maximum speed slightly at the end of each
acceleration stage.
Before activating the autotune routine

The prerequisites for performing the autotune routine are:
The motor identification run (ID run) has been successfully completed
Speed and torque limits (parameter group 30 Limits) have been set
The speed feedback has been monitored for noise, vibrations and other
disturbances caused by the mechanics of the system, and
speed feedback filtering (parameter group 90 Feedback selection)
speed error filtering (24 Speed reference conditioning) and
zero speed (21.06 and 21.07)
have been set to eliminate these disturbances.
The drive has been started and is running in speed control mode.
After these conditions have been fulfilled, autotuning can be activated by parameter
25.33 Speed controller autotune (or the signal source selected by it).

Autotune modes
Autotuning can be performed in three different ways depending on the setting of
parameter 25.34 Speed controller autotune mode. The selections Smooth, Normal
and Tight define how the drive torque reference should react to a speed reference
step after tuning. The selection Smooth produces a slow but robust response; Tight
produces a fast response but possibly too high gain values for some applications.
The figure below shows speed responses at a speed reference step (typically
120%).
n
nN
A: Undercompensated
B: Normally tuned (autotuning)
C: Normally tuned (manually). Better dynamic performance than with B
D: Overcompensated speed controller
Autotune results
At the end of a successful autotune routine, its results are automatically transferred
into parameters
25.02 Speed proportional gain (proportional gain of the speed controller)
25.03 Speed integration time (integration time of the speed controller)
25.37 Mechanical time constant (mechanical time constant of the motor and
machine).
Nevertheless, it is still possible to manually adjust the controller gain, integration time
and derivation time.

The figure below is a simplified block diagram of the speed controller. The controller
output is the reference for the torque controller.
Derivative
acceleration
compensation
Speed
reference
+
-
Error
value
Proportional,
integral
+ Torque
+ reference
Derivative
Actual speed
Warning indications
A warning message, AF90 Speed controller autotuning, is generated if the autotune
routine does not complete successfully. See chapter Fault tracing (page 567) for
further information.
Settings
Parameters 25.3325.40 (page 278).
Oscillation damping
The oscillation damping function can be used to cancel out oscillations caused by
mechanics or an oscillating DC voltage. The input a signal reflecting the oscillation
is selected by parameter 26.53 Oscillation compensation input. The oscillation
damping function outputs a sine wave (26.58 Oscillation damping output) which can
be summed with the torque reference with a suitable gain (26.57 Oscillation damping
gain) and phase shift (26.56 Oscillation damping phase).
The oscillation damping algorithm can be activated without connecting the output to
the reference chain, which makes it possible to compare the input and output of the
function and make further adjustments before applying the result.

Tuning procedure for oscillation damping
Select the input by 26.53 Oscillation compensation input
Activate algorithm by 26.51 Oscillation damping
Set 26.57 Oscillation damping gain to 0
Calculate the oscillation frequency from the signal (use the Drive
composer PC tool) and set 26.55 Oscillation damping frequency
Set 26.56 Oscillation damping phase*
Increase 26.57 Oscillation damping gain gradually so that the

algorithm starts to take effect.
oscillation amplitude decreases
Increase 26.57 Oscillation damping gain
and adjust 26.56 Oscillation damping
phase if necessary
Increase 26.57 Oscillation damping gain to

suppress the oscillation totally.
oscillation amplitude increases

Try other values for 26.56 Oscillation
damping phase
*If the phasing of a DC oscillation cannot be

determined by measuring, the value of 0
degrees is usually a suitable initial value.
Note: Changing the speed error low-pass filter time constant or the integration time of
the speed controller can affect the tuning of the oscillation damping algorithm. It is
recommended to tune the speed controller before the oscillation damping algorithm.
(The speed controller gain can be adjusted after the tuning of this algorithm.)
Settings
Rush control
In torque control, the motor could potentially rush if the load were suddenly lost. The
control program has a rush control function that decreases the torque reference
whenever the motor speed exceeds 30.11 Minimum speed or 30.12 Maximum speed.
Motor speed
Overspeed trip level

31.30 Overspeed trip margin
30.12
0
Rush control active
Time
30.11
31.30 Overspeed trip margin
The function is based on a PID controller. The proportional gain and integration time
can be defined by parameters. Setting these to zero disables rush control.
Settings
Parameters 26.81 Rush control gain and 26.82 Rush control integration time (page
286).
Encoder support
The program supports two single-turn or multi-turn encoders (or resolvers). The
following optional interface modules are available:
TTL encoder interface FEN-01: two TTL inputs, TTL output (for encoder
emulation and echo) and two digital inputs
Absolute encoder interface FEN-11: absolute encoder input, TTL input, TTL
output (for encoder emulation and echo) and two digital inputs
Resolver interface FEN-21: resolver input, TTL input, TTL output (for encoder
emulation echo) and two digital inputs
HTL encoder interface FEN-31: HTL encoder input, TTL output (for encoder
emulation and echo) and two digital inputs.
HTL/TTL encoder interface FSE-31 (for use with an FSO-xx safety functions
module): Two HTL/TTL encoder inputs (one HTL input supported at the time of
publication).
You must install the interface module onto one of the option slots of the drive control
unit. The module (except the FSE-31) can also be installed onto an FEA-03 extension
adapter.

Encoder echo and emulation
Both encoder echo and emulation are supported by the above-mentioned FEN-xx
interfaces.
Encoder echo is available with TTL, TTL+ and HTL encoders. The signal received
from the encoder is relayed to the TTL output unchanged. This enables the
connection of one encoder to several drives.
Encoder emulation also relays the encoder signal to the output, but the signal is
either scaled, or position data converted to pulses. Emulation can be used when
absolute encoder or resolver position needs to be converted to TTL pulses, or when
the signal must be converted to a different pulse number than the original.
Load and motor feedback
Three different sources can be used as speed and position feedback: encoder 1,
encoder 2, or motor position estimate. Any of these can be used for load position
calculation or motor control. The load position calculation makes it possible, for
example, to determine the position of a conveyor belt or the height of the load on a
crane. The feedback sources are selected by parameters 90.41 Motor feedback
selection and 90.51 Load feedback selection.
For detailed parameter connections of the motor and load feedback functions, see
the block diagrams on pages 549 and 550. For more information on load position
calculation, see section Position counter (page 94).
Any mechanical gear ratios between the components (motor, motor encoder, load,
load encoder) are specified using the gear parameters shown in the diagram below.
Motor to load scaling
Load encoder to load

scaling
Motor encoder to motor

scaling
90.43
90.53
90.62
Load encoder
Load
X
X
YY
90.61
90.54
e
Motor
encoder
90.44
Any gear ratio between the load encoder and the load is defined by 90.53 Load gear
numerator and 90.54 Load gear denominator. Similarly, any gear ratio between the
motor encoder and the motor is defined by 90.43 Motor gear numerator and
90.44 Motor gear denominator. In case the internal estimated position is chosen as
load feedback, the gear ratio between the motor and load can be defined by 90.61
Gear numerator and 90.62 Gear denominator.

By default, all the ratios mentioned above are 1:1. The ratios can only be changed
with the drive stopped. The new settings require validation by 91.10 Encoder
parameter refresh.
Position counter
The control program contains a position counter feature that can be used to indicate
the position of the load. The output of the counter function, parameter 90.07 Load
position scaled int, indicates the scaled number of revolutions read from the selected
source (see section Load and motor feedback on page 93).
The relation between revolutions of the motor shaft and the translatory movement of
the load (in any given unit of distance) is defined by parameters 90.63 Feed constant
numerator and 90.64 Feed constant denominator. This gear function can be changed
without the need of a parameter refresh or position counter reinitialization.
For detailed parameter connections of the load feedback function, see the block
diagram on page 650.
(Proximity switch) Source set by 90.67
(Initialization inhibit) Source set by 90.68
90.35 Pos counter status
bit 4, Pos counter init ready
90.35 Pos counter status
bit 5, Position counter re-init disabled
(Re-init request) Source set by 90.69
Drive fault
1
0
1
0
1
0
1
0
1
0
1
0
+2147483
90.07 Load position scaled int

0
(Initial value) Source set by 90.59

(by default, 90.58
-21474838
The position counter is initialized by setting a known physical position of the load into
the control program. The initial position (for example, the home/zero position, or the
distance from it) can be entered manually in a parameter (90.58 Pos counter init
value int), or taken from another parameter. This position is set as the value of the
position counter (90.07 Load position scaled int) when the source selected by 90.67
Pos counter init cmd source, such as a proximity switch connected to a digital input, is
activated. A successful initialization is indicated by bit 4 of 90.35 Pos counter status.

Any subsequent initialization of the counter must first be enabled by 90.69 Reset pos
counter init ready. To define a time window for initializations, 90.68 Disable pos
counter initialization can be used to inhibit the signal from the proximity switch. An
active fault in the drive will also prevent counter initialization.
Encoder error handling
When an encoder is used for load feedback, the action taken in case of an encoder
error is specified by 90.55 Load feedback fault. If the parameter is set to Warning, the
calculation will continue smoothly using estimated motor position. If the encoder
recovers from the error, the calculation will smoothly switch back to encoder
feedback. The load position signals (90.04, 90.05 and 90.07) will continue to be
updated all the time, but bit 6 of 90.35 Pos counter status will be set to indicate
potentially inaccurate position data. In addition, bit 4 of 90.35 will be cleared upon the
next stop as a recommendation to reinitialize the position counter.
Parameter 90.60 Pos counter error and boot action defines whether position
calculation resumes from the previous value over an encoder error or control unit
reboot. By default, bit 4 of 90.35 Pos counter status is cleared after an error,
indicating that reinitialization is needed. With 90.60 set to Continue from previous
value, the position values are retained over an error or reboot; bit 6 of 90.35 Pos
counter status is set however to indicate that an error occurred.
Note: With a multiturn absolute encoder, bit 6 of 90.35 is cleared at the next stop of
the drive if the encoder has recovered from the error; bit 4 is not cleared. The status
of the position counter is retained over a control unit reboot, after which position
calculation resumes from the absolute position given by the encoder, taking into
account the initial position specified by 90.58.
WARNING! If the drive is in stopped state when an encoder error occurs, or if
the drive is not powered, parameters 90.04, 90.05, 90.07 and 90.35 are not
updated because no movement of the load can be detected. When using previous
position values (90.60 Pos counter error and boot action is set to Continue from
previous value), be aware that the position data is unreliable if the load is able to
move.
Reading/writing position counter values through fieldbus
You can access the parameters of the position counter function, such as 90.05 Load
position scaled and 90.65 Pos counter init value from an upper-level control system in
the following formats:
16-bit integer (if 16 bits are sufficient for the application)
32-bit integer (can be accessed as two consequent 16-bit words).
For example, to read parameter 90.05 Load position scaled through fieldbus, set the
selection parameter of the desired dataset (in group 52) to Other 90.07, and select
the format. If you select a 32-bit format, the subsequent data word is also
automatically reserved.

Configuration of HTL encoder motor feedback
1. Specify the type of the encoder interface module (parameter 91.11 Module 1 type
= FEN-31) and the slot the module is installed into (91.12 Module 1 location).
2. Specify the type of the encoder (92.01 Encoder 1 type = HTL). The parameter
listing will be re-read from the drive after the value is changed.
3. Specify the interface module that the encoder is connected to (92.02 Encoder 1
source = Module 1).
4. Set the number of pulses according to encoder nameplate
(92.10 Pulses/revolution).
5. If the encoder rotates at a different speed to the motor (ie. is not mounted directly
on the motor shaft), enter the gear ratio in 90.43 Motor gear numerator and
90.44 Motor gear denominator.
6. Set parameter 91.10 Encoder parameter refresh to Refresh to apply the new
parameter settings. The parameter automatically reverts to Done.
7. Check that 91.02 Module 1 status is showing the correct interface module type
(FEN-31). Also check the status of the module; both LEDs should be glowing
green.
8. Start the motor with a reference of eg. 400 rpm.
9. Compare the estimated speed (01.02 Motor speed estimated) with the measured
speed (01.04 Encoder 1 speed filtered). If the values are the same, set the
encoder as the feedback source (90.41 Motor feedback selection = Encoder 1).
10. Specify the action taken in case the feedback signal is lost (90.45 Motor feedback
fault).
Example 1: Using the same encoder for both load and motor feedback
The drive controls a motor used for lifting a load in a crane. An encoder attached to
the motor shaft is used as feedback for motor control. The same encoder is also used
for calculating the height of the load in the desired unit. A gear exists between the
motor shaft and the cable drum. The encoder is configured as Encoder 1 as shown in
Configuration of HTL encoder motor feedback above. In addition, the following
settings are made:
(90.43 Motor gear numerator = 1)
(90.44 Motor gear denominator = 1)
(No gear is needed as the encoder is mounted directly on the motor shaft.)
90.51 Load feedback selection = Encoder 1

(90.53 Load gear numerator = 1)
90.54 Load gear denominator = 50

The cable drum turns one revolution per 50 revolutions of the motor shaft.
(90.61 Gear numerator = 1)
(90.62 Gear denominator = 1)
(These parameters need not be changed as position estimate is not being used
for feedback.)
90.63 Feed constant numerator = 7
90.64 Feed constant denominator = 10
The load moves 70 centimeters, ie. 7/10 of a meter, per one revolution of the
cable drum.
The load height in meters can be read from 90.07 Load position scaled int, while
90.03 Load speed displays the rotational speed of the cable drum.
Example 2: Using two encoders
One encoder (encoder 1) is used for motor feedback. The encoder is connected to
the motor shaft through a gear. Another encoder (encoder 2) measures the line
speed elsewhere in the machine. Each encoder is configured as shown in
Configuration of HTL encoder motor feedback above. In addition, the following
settings are made:
(90.41 Motor feedback selection = Encoder 1)
(90.43 Motor gear numerator = 1)

90.44 Motor gear denominator = 3
The encoder turns three revolutions per one revolution of the motor shaft.
The line speed measured by encoder 2 can be read from 90.03 Load speed. This
value is given in rpm which can be converted into another unit by using 90.53 Load
gear numerator and 90.54 Load gear denominator. Note that the feed constant gear
cannot be used in this conversion because it does not affect 90.03 Load speed.
Example 3: ACS 600 / ACS800 compatibility
With ACS 600 and ACS800 drives, both the rising and falling edges from encoder
channels A and B are typically counted to achieve best possible accuracy. Thus the
received pulse number per revolution equals four times the nominal pulse number of
the encoder.
In this example, an HTL-type 2048-pulse encoder is fitted directly on the motor shaft.
The desired initial position to correspond the proximity switch is 66770.
In the ACS880, the following settings are made:
92.01 Encoder 1 type = HTL

92.02 Encoder 1 source = Module 1
92.10 Pulses/revolution = 2048
92.13 Position estimation enable = Enable

90.63 Feed constant numerator = 8192 (ie. 4 value of 92.10, as the received
number of pulses is 4 times nominal. See also parameter 92.12 Resolver
polepairs)
The desired data out parameter is set to Other 90.58 Pos counter init value
int (32-bit format). Only the high word needs to be specified the subsequent
data word is reserved for the low word automatically.
The desired sources (such as digital inputs or user bits of the control word) are
selected in 90.67 Pos counter init cmd source and 90.69 Reset pos counter
init ready.
In the PLC, if the initial value is set in 32-bit format using low and high words
(corresponding to ACS800 parameters POS COUNT INIT LO and POS COUNT INIT
HI), enter the value 66770 into these words as follows:
Eg. PROFIBUS:
FBA data out x = POS COUNT INIT HI = 1 (as bit 16 equals 66536)
FBA data out (x + 1) = POS COUNT INIT LO = 1234.
ABB Automation using DDCS communication, eg.:
Data set 12.1 = POS COUNT INIT HI

Data set 12.2 = POS COUNT INIT LO
To test the configuration of the PLC, initialize the position counter with the encoder
connected. The initial value sent from the PLC should immediately be reflected by
90.07 Load position scaled int in the drive. The same value should then appear in the
PLC after having been read from the drive.
Settings
Parameter groups 90 Feedback selection (page 367), 91 Encoder module settings
(page 376), 92 Encoder 1 configuration (page 379) and 93 Encoder 2 configuration
(page 385).
Jogging
The jogging function enables the use of a momentary switch to briefly rotate the
motor. The jogging function is typically used during servicing or commissioning to
control the machinery locally.
Two jogging functions (1 and 2) are available, each with their own activation sources
and references. The signal sources are selected by parameters 20.26 Jogging 1 start
source and 20.27 Jogging 2 start source. When jogging is activated, the drive starts
and accelerates to the defined jogging speed (22.42 Jogging 1 ref or 22.43 Jogging 2
ref) along the defined jogging acceleration ramp (23.20 Acc time jogging). After the
activation signal switches off, the drive decelerates to a stop along the defined
jogging deceleration ramp (23.21 Dec time jogging).

The figure and table below provide an example of how the drive operates during
jogging. In the example, the ramp stop mode is used (see parameter 21.03 Stop
mode).
Jog cmd = State of source set by 20.26 Jogging 1 start source or 20.27 Jogging 2
start source
Jog enable = State of source set by 20.25 Jogging enable
Start cmd = State of drive start command.
Jog cmd
Jog enable
Start cmd
Speed
1 2
3 4
5 6
7 8
10 11
12 13
14 15 16
17 18
Phase
Jog
cmd
Jog
enable
Start
cmd
Description
1-2
Drive accelerates to the jogging speed along the acceleration

ramp of the jogging function.
2-3
Drive follows the jog reference.
3-4
Drive decelerates to zero speed along the deceleration ramp

of the jogging function.
4-5
Drive is stopped.
5-6
Drive accelerates to the jogging speed along the acceleration

ramp of the jogging function.
6-7
7-8

8-9
1->0
Drive is stopped. As long as the jog enable signal is on, start

commands are ignored. After jog enable switches off, a fresh
start command is required.
9-10
Drive accelerates to the speed reference along the selected

acceleration ramp (parameters 23.1123.19).
10-11
Drive follows the speed reference.
11-12
Drive decelerates to zero speed along the selected

deceleration ramp (parameters 23.1123.19).
Phase
Jog
cmd
Jog
enable
Start
cmd
12-13
Drive is stopped.
13-14
Drive accelerates to the speed reference along the selected

acceleration ramp (parameters 23.1123.19).
14-15
0->1
Drive follows the speed reference. As long as the start

command is on, the jog enable signal is ignored. If the jog
enable signal is on when the start command switches off,
jogging is enabled immediately.
15-16
0->1
Start command switches off. The drive starts to decelerate

along the selected deceleration ramp (parameters
23.1123.19).
Description
When the jog command switches on, the decelerating drive

adopts the deceleration ramp of the jogging function.
16-17
17-18
1->0

See also the block diagram on page 648.

Notes:
Jogging is not available when the drive is in local control.
Jogging cannot be enabled when the drive start command is on, or the drive
started when jogging is enabled. Starting the drive after the jog enable switches
off requires a fresh start command.
WARNING! If jogging is enabled and activated while the start command is on,
jogging activates as soon as the start command switches off.
If both jogging functions are activated, the one that was activated first has priority.
Jogging uses the speed control mode.
Ramp shape times (parameters 23.1623.19) do not apply to jogging

acceleration/deceleration ramps.
The inching functions activated through fieldbus (see 06.01 Main control word,
bits 89) use the references and ramp times defined for jogging, but do not
require the jog enable signal.
Settings
Parameters 20.25 Jogging enable (page 243), 20.26 Jogging 1 start source
(page 243), 20.27 Jogging 2 start source (page 244), 22.42 Jogging 1 ref (page 256),
22.43 Jogging 2 ref (page 256), 23.20 Acc time jogging (page 263) and 23.21 Dec
time jogging (page 263).
Scalar motor control

It is possible to select scalar control as the motor control method instead of DTC
(Direct Torque Control). In scalar control mode, the drive is controlled with a speed or
frequency reference. However, the outstanding performance of DTC is not achieved
in scalar control.
It is recommended to activate scalar motor control mode
if the nominal current of the motor is less than 1/6 of the nominal output current of
the drive
if the drive is used without a motor connected (for example, for test purposes)
if the drive is equipped with a sine filter
if the drive runs a medium-voltage motor through a step-up transformer, or
in multimotor drives, if
the load is not equally shared between the motors,
the motors are of different sizes, or
the motors are going to be changed after motor identification (ID run)
In scalar control, some standard features are not available.

See also section Operating modes of the drive (page 42).
IR compensation for scalar motor control
IR compensation (also known as
Motor voltage
voltage boost) is available only when
the motor control mode is scalar. When
IR compensation
IR compensation is activated, the drive
gives an extra voltage boost to the
motor at low speeds. IR compensation
is useful in applications that require a
high break-away torque. In step-up
No compensation
applications, voltage cannot be fed
through the transformer at 0 Hz, so an
additional breakpoint is available for
defining the compensation near zero frequency.
f (Hz)
In Direct Torque Control (DTC), no IR compensation is possible or needed as it is

applied automatically.
Settings
Parameters 19.20 Scalar control reference unit (page 235), 97.12 IR comp stepup frequency (page 496), 97.13 IR compensation (page 497) and 99.04 Motor
control mode (page 500)
Parameter group 28 Frequency reference chain (page 286).
Autophasing
Autophasing is an automatic measurement routine to determine the angular position
of the magnetic flux of a permanent magnet synchronous motor or the magnetic axis
of a synchronous reluctance motor. The motor control requires the absolute position
of the rotor flux to control motor torque accurately.
Sensors like absolute encoders and resolvers indicate the rotor position at all times
after the offset between the zero angle of rotor and that of the sensor has been
established. On the other hand, a standard pulse encoder determines the rotor
position when it rotates but the initial position is not known. However, a pulse encoder
can be used as an absolute encoder if it is equipped with Hall sensors, albeit with
coarse initial position accuracy. Hall sensors generate the so-called commutation
pulses that change their state six times during one revolution, so it is only known
within which 60 sector of a complete revolution the initial position is.
Many encoders give a zero pulse (also called Z-pulse) once during each rotation. The
position of the zero pulse is fixed. If this position is known with respect to zero
position used by motor control, the rotor position at the instant of the zero pulse is
also known.
Using zero pulse improves the robustness of the rotor position measurement. You
must determine the rotor position in the starting, because the encoder gives the initial
value as zero. The autophasing routine determines the position, but there is a risk of
some position error. If the zero pulse position is already known, you can correct the
position found by autophasing as soon the zero pulse is detected for the first time
after starting.
N
Rotor
Absolute encoder/resolver

The autophasing routine is performed with permanent magnet synchronous motors
and synchronous reluctance motors in the following cases:
1. One-time measurement of the rotor and encoder position difference when an
absolute encoder, a resolver, or an encoder with commutation signals is used
2. At every power-up when an incremental encoder is used
3. With open-loop motor control, repetitive measurement of the rotor position at
every start.
4. When the position of the zero pulse must be measured before the first start after
the power-up.
Note: In closed-loop control, autophasing is performed automatically after the motor
identification run (ID run). Autophasing is also performed automatically before starting
when necessary.
In open-loop control, the zero angle of the rotor is determined before starting. In
closed-loop control, the actual angle of the rotor is determined with autophasing when
the sensor indicates zero angle. The offset of the angle must be determined because
the actual zero angles of the sensor and the rotor do not usually match. The
autophasing mode determines how this operation is done both in open-loop and
closed-loop control.
The rotor position offset used in motor control can also be given by the user see
parameter 98.15 Position offset user. Note that the autophasing routine also writes its
result into this parameter. The results are updated even if user settings are not
enabled by 98.01 User motor model mode.
Note: In open-loop control, the motor always turns when it is started as the shaft is
turned towards the remanence flux.
Autophasing modes
Several autophasing modes are available (see parameter 21.13 Autophasing mode).
The Turning mode is recommended especially with case 1 (see the list above) as
it is the most robust and accurate method. The rotor position is determined by
turning the motor shaft back and forward (360/pole pair). In case 3 (open-loop
control), the shaft is turned only in one direction at smaller angles.
The Turning with Z-pulse mode can be used when there is a problem using the
normal turning mode, for example, in case of significant friction. You must turn the
motor slowly until the encoder detects a zero pulse. When the zero pulse is
detected for the first time, its position is stored into parameter 98.15 Position
offset user, which you can edit for fine-tuning. Note that it is not mandatory to use
this mode with a zero pulse encoder. In open-loop control, the two turning modes
are identical.
The Standstill 1 and Standstill 2 modes can be used if the motor cannot be turned
(for example, when the load is connected). As the characteristics of motors and
loads differ, you must test to know the most suitable standstill mode.

The drive determines the rotor position when started into a running motor in either
open-loop control or closed-loop control. In this situation, the setting of
21.13 Autophasing mode has no effect.
The autophasing routine can fail and therefore it is recommended to perform the
routine several times and check the value of parameter 98.15 Position offset user.
An autophasing fault (3385 Autophasing) can occur with a running motor if the
estimated angle of the motor differs too much from the measured angle. This could
be caused by, for example, in the following cases:
The encoder is slipping on the motor shaft
An incorrect value has been entered into 98.15 Position offset user
The motor is already turning before the autophasing routine is started
Turning mode is selected in 21.13 Autophasing mode but the motor shaft is
locked
Turning with Z-pulse mode is selected in 21.13 Autophasing mode, but no zero
pulse is detected within a revolution of the motor
The wrong motor type is selected in 99.03 Motor type
Motor ID run has failed.
Settings
Parameters 21.13 Autophasing mode (page 249), 98.15 Position offset user (page
499) and 99.13 ID run requested (page 502).
Flux braking
The drive can provide greater deceleration by raising the level of magnetization in the
motor. By increasing the motor flux, the energy generated by the motor during
braking can be converted to motor thermal energy.
TBr
(%)
TN
Motor
speed
No flux braking
60
40
TBr = Braking torque

TN = 100 Nm
Flux braking
20
Flux braking
No flux braking
t (s)
f (Hz)
The drive monitors the motor status continuously, also during flux braking. Therefore,
flux braking can be used both for stopping the motor and for changing the speed. The
other benefits of flux braking are:
The braking starts immediately after a stop command is given. The function does
not need to wait for the flux reduction before it can start the braking.
The cooling of the induction motor is efficient. The stator current of the motor
increases during flux braking, not the rotor current. The stator cools much more
efficiently than the rotor.
Flux braking can be used with induction motors and permanent magnet
synchronous motors.
Two braking power levels are available:
Moderate braking provides faster deceleration compared to a situation where flux

braking is disabled. The flux level of the motor is limited to prevent excessive
heating of the motor.
Full braking exploits almost all available current to convert the mechanical braking
energy to motor thermal energy. Braking time is shorter compared to moderate
braking. In cyclic use, motor heating may be significant.
WARNING: The motor needs to be rated to absorb the thermal energy
generated by flux braking.
Settings
Parameter 97.05 Flux braking (page 495).
DC magnetization
DC magnetization can be applied to the motor to
heat the motor to remove or prevent condensation, or
lock the rotor at or near zero speed.
Pre-heating
A motor pre-heating function is available to prevent condensation in a stopped motor,
or to remove condensation from the motor before start. Pre-heating involves feeding
a DC current into the motor to heat up the windings.
Pre-heating is deactivated at start, or when one of the other DC magnetization
functions is activated. With the drive stopped, pre-heating is disabled by the safe
torque off function, a drive fault state, or the process PID sleep function. Pre-heating
can only start after one minute has elapsed from stopping the drive.
A digital source to control pre-heating is selected by parameter 21.14 Pre-heating
input source. The heating current is set by 21.16 Pre-heating current.
Pre-magnetization
Pre-magnetization refers to DC magnetization of the motor before start. Depending
on the selected start mode (21.01 Start mode or 21.09 Scalar start mode), premagnetization can be applied to guarantee the highest possible breakaway torque,
up to 200% of the nominal torque of the motor. By adjusting the pre-magnetization

time (21.02 Magnetization time), it is possible to synchronize the motor start and, for
example, the release of a mechanical brake.
DC hold
The function makes it possible to lock the rotor at (near) zero speed in the middle of
normal operation. DC hold is activated by parameter 21.08 DC current control. When
both the reference and motor speed drop below a certain level (parameter 21.09 DC
hold speed), the drive will stop generating sinusoidal current and start to inject DC
into the motor. The current is set by parameter 21.10 DC current reference. When the
reference exceeds parameter 21.09 DC hold speed, normal drive operation
continues.
Motor speed
DC hold
t
Reference
21.09 DC hold speed

t
Note:
DC hold is only available in speed control in DTC motor control mode (see
page 42).
The function applies the DC current to one phase only, depending on the position
of the rotor. The return current is shared between the other phases.
Post-magnetization
This feature keeps the motor magnetized for a certain period (parameter 21.11 Post
magnetization time) after stopping. This is to prevent the machinery from moving
under load, for example before a mechanical brake can be applied. Postmagnetization is activated by parameter 21.08 DC current control. The magnetization
current is set by parameter 21.10 DC current reference.
Note: Post-magnetization is only available in speed control in DTC motor control
mode (see page 42), and only when ramping is the selected stop mode (see
parameter 21.03 Stop mode).

Continuous magnetization
The Continuous magnetization feature is active by selecting a digital signal such as a
user bit in the fieldbus control word. This can be useful in processes that require
motors to be stopped (for example, to stand by until new material is processed), then
quickly started without magnetizing them first.
Note: Continuous magnetization is only available in speed control in DTC motor
control mode (see page 42), and only when ramping is the selected stop mode (see
parameter 21.03 Stop mode).
WARNING: The motor must be designed to absorb or dissipate the thermal
energy generated by continuous magnetization, for example by forced
ventilation.
Settings
Parameters 06.21 Drive status word 3 (page 175), 21.01 Start mode, 21.02
Magnetization time, 21.0821.12, 21.14 Pre-heating input source and 21.16 Preheating current (page 250).
Application control
Application macros
Application macros are predefined application parameter edits and I/O configurations.
See chapter Application macros (page 137).
Process PID control

There is a built-in process PID controller in the drive. The controller can be used to
control process variables such as pressure, flow or fluid level.
In process PID control, a process reference (setpoint) is connected to the drive
instead of a speed reference. An actual value (process feedback) is also brought
back to the drive. The process PID control adjusts the drive speed in order to keep
the measured process quantity (actual value) at the desired level (setpoint).
The simplified block diagram below illustrates the process PID control. For a more
detailed block diagram, see page 660.
Setpoint
Limitation
AI1
AI2
D2D
FBA
Filter
Process
PID
Speed, torque or
frequency
reference chain
Process
actual
values
The control program contains two complete sets of process PID controller settings
that can be alternated whenever necessary; see parameter 40.57 PID set1/set2
selection.
Note: Process PID control is only available in external control; see section Local
control vs. external control (page 40).

Quick configuration of the process PID controller
1. Activate the process PID controller (parameter 40.07 Set 1 PID operation mode).
2. Select a feedback source (parameters 40.0840.11).
3. Select a setpoint source (parameters 40.1640.25).
4. Set the gain, integration time, derivation time, and the PID output levels (40.32
Set 1 gain, 40.33 Set 1 integration time, 40.34 Set 1 derivation time, 40.36 Set 1
output min and 40.37 Set 1 output max).
5. The PID controller output is shown by parameter 40.01 Process PID output
actual. Select it as the source of, for example, 22.11 Speed ref1 source.
Sleep function for process PID control
The sleep function can be used in PID control applications that involve relatively long
periods of low demand (for example, a tank is at level), During such periods, the
sleep function saves energy by stopping the motor completely, instead of running the
motor slowly below the efficient operating range of the system. When the feedback
changes, the PID controller wakes the drive up.
Example: The drive controls a pressure boost pump. The water consumption falls at
night. As a consequence, the process PID controller decreases the motor speed.
However, due to natural losses in the pipes and the low efficiency of the centrifugal
pump at low speeds, the motor would never stop rotating. The sleep function detects
the slow rotation and stops unnecessary pumping after the sleep delay has passed.
The drive shifts into sleep mode, still monitoring the pressure. The pumping resumes
when the pressure falls under the wake-up level (setpoint - wake-up deviation) and
the wake-up delay has passed.
Setpoint
Sleep boost time (40.45)
Sleep boost step (40.46)

Time
Wake-up delay
(40.48)
Actual value
Non-inverted
(40.31 = Not inverted (Ref - Fbk))
Wake-up level
(Setpoint - Wake-up deviation [40.47])
Time
Actual value
Wake-up level
(Setpoint + Wake-up deviation [40.47])
Inverted (40.31 = Inverted (Fbk - Ref))
Time
PID controller output
tsd = Sleep delay (40.44)

t < tsd
Sleep mode
tsd
Sleep level
(40.43)
STOP
START
Time
Tracking
In tracking mode, the PID block output is set directly to the value of parameter 40.50
(or 41.50) Set 1 tracking ref selection. The internal I term of the PID controller is set
so that no transient is allowed to pass on to the output, so when the tracking mode is
left, normal process control operation can be resumed without a significant bump.
Settings
Parameter 96.04 Macro select (macro selection)
Parameter groups 40 Process PID set 1 (page 340) and 41 Process PID set 2
(page 353).
Motor potentiometer
The motor potentiometer is, in effect, a counter whose value can be adjusted up and
down using two digital signals selected by parameters 22.73 Motor potentiometer up
source and 22.74 Motor potentiometer down source. Note that these signals have no
effect when the drive in stopped.
When enabled by 22.71 Motor potentiometer function, the motor potentiometer
assumes the value set by 22.72 Motor potentiometer initial value. Depending on the
mode selected in 22.71, the motor potentiometer value is either retained or reset over
a power cycle.
The change rate is defined in 22.75 Motor potentiometer ramp time as the time it
would take for the value to change from the minimum (22.76 Motor potentiometer min
value) to the maximum (22.77 Motor potentiometer max value) or vice versa. If the up
and down signals are simultaneously on, the motor potentiometer value does not
change.
The output of the function is shown by 22.80 Motor potentiometer ref act, which can
directly be set as the source of any selector parameter such as 22.11 Speed ref1
source.
The following example shows the behavior of the motor potentiometer value.
1
22.73
0
1
22.74
0
22.77
22.80
22.76
22.75
Settings
Mechanical brake control

A mechanical brake can be used for holding the motor and driven machinery at zero
speed when the drive is stopped, or not powered. The brake control logic observes
the settings of parameter group 44 Mechanical brake control as well as several
external signals, and moves between the states presented in the diagram on page
113. The tables below the state diagram detail the states and transitions. The timing
diagram on page 115 shows an example of a close-open-close sequence.
Inputs of the brake control logic
The start command of the drive (bit 5 of 06.16 Drive status word 1) is the main control
source of the brake control logic. An optional external open/close signal can be
selected by 44.12 Brake close request. The two signals interact as follows:
Start command = 1 AND signal selected by 44.12 Brake close request = 0

Request brake to open
Start command = 0 OR signal selected by 44.12 Brake close request = 1

Request brake to close
Another external signal for example, from a higher-level control system can be
connected via parameter 44.11 Keep brake closed to prevent the brake from opening.
Other signals that affect the state of the control logic are
brake status acknowledgement (optional, defined by 44.07 Brake acknowledge

selection),
bit 2 of 06.11 Main status word (indicates whether the drive is ready to follow the
given reference or not),
bit 6 of 06.16 Drive status word 1 (indicates whether the drive is modulating or
not),
optional FSO-xx safety functions module.
Outputs of the brake control logic

The mechanical brake is to be controlled by bit 0 of parameter 44.01 Brake control
status. This bit should be selected as the source of a relay output (or a digital
input/output in output mode) which is then wired to the brake actuator through a relay.
See the wiring example on page 116.
The brake control logic, in various states, will request the drive control logic to hold
the motor, increase the torque, or ramp down the speed. These requests are visible in
parameter 44.01 Brake control status.
Settings
Parameter group 44 Mechanical brake control (page 357).

Brake state diagram
(from any state)
(from any state)
BRAKE DISABLED
BRAKE CLOSED
BRAKE OPENING
3
6
BRAKE OPENING WAIT
10
4
BRAKE OPENING
DELAY
3
8
5
6
BRAKE CLOSING
BRAKE OPEN
BRAKE CLOSING
DELAY
7
BRAKE CLOSING WAIT
6
9
State descriptions
State name
BRAKE DISABLED
BRAKE OPENING:
BRAKE OPENING WAIT
BRAKE OPENING DELAY
BRAKE OPEN
Description
Brake control is disabled (parameter 44.06 Brake control enable = 0, and 44.01
Brake control status b4 = 0). The brake is closed (44.01 Brake control status
b0 = 1).
Brake has been requested to open. The drive logic is requested to increase the
torque up to opening torque to hold the load in place (44.01 Brake control status
b1 = 1 and b2 = 1). The state of 44.11 Keep brake closed is checked; if it is not
0 within a reasonable time, the drive trips on a 71A5 Mechanical brake opening
not allowed fault*.
Opening conditions have been met and open signal activated (44.01 Brake
control status b0 is set). The opening torque request is removed (44.01 Brake
control status b1 0). The load is held in place by the speed control of the
drive until 44.08 Brake open delay elapses.
At this point, if 44.07 Brake acknowledge selection is set to No acknowledge,
the logic proceeds to BRAKE OPEN state. If an acknowledgement signal
source has been selected, its state is checked; if the state is not brake open,
the drive trips on a 71A3 Mechanical brake opening failed fault*.
The brake is open (44.01 Brake control status b0 = 1). Hold request is removed
(44.01 Brake control status b2 = 0), and the drive is allowed to follow the
reference.
State name
Description
BRAKE CLOSING:
BRAKE CLOSING WAIT
Brake has been requested to close. The drive logic is requested to ramp down
the speed to a stop (44.01 Brake control status b3 = 1). The open signal is kept
active (44.01 Brake control status b0 = 1). The brake logic will remain in this
state until the motor speed has remained below 44.14 Brake close level for the
time defined by 44.15 Brake close level delay.
BRAKE CLOSING DELAY Closing conditions have been met. The open signal is deactivated (44.01 Brake
control status b0 0) and the closing torque written into 44.02 Brake torque
memory. The ramp-down request is maintained (44.01 Brake control status b3
= 1). The brake logic will remain in this state until 44.13 Brake close delay has
elapsed.
At this point, if 44.07 Brake acknowledge selection is set to No acknowledge,
the logic proceeds to BRAKE CLOSED state. If an acknowledgement signal
source has been selected, its state is checked; if the state is not brake closed,
the drive generates an A7A1 Mechanical brake closing failed warning. If 44.17
Brake fault function = Fault, the drive will trip on a 71A2 Mechanical brake
closing failed fault after 44.18 Brake fault delay.
BRAKE CLOSED
The brake is closed (44.01 Brake control status b0 = 0). The drive is not
necessarily modulating.
Note concerning open-loop (encoderless) applications: If the brake is kept
closed by a brake close request (either from parameter 44.12 or an FSO-xx
safety functions module) against a modulating drive for longer than 5 seconds,
the brake is forced to closed state and the drive trips on a fault, 71A5
Mechanical brake opening not allowed.
*A warning can alternatively be selected by 44.17 Brake fault function; if so, the drive will keep modulating
and remain in this state.
State change conditions ( n )

1
2
3
4
5
6
7
8
9
10
Brake control disabled (parameter 44.06 Brake control enable 0).

06.11 Main status word, bit 2 = 0 or brake is forced to close by optional FSO-xx safety functions
module.
Brake has been requested to open and 44.16 Brake reopen delay has expired.
Brake open conditions (such as 44.10 Brake open torque) fulfilled and 44.11 Keep brake closed = 0.
44.08 Brake open delay has elapsed and brake open acknowledgement (if chosen by 44.07 Brake
acknowledge selection) has been received.
Brake has been requested to close.
Motor speed has remained below closing speed 44.14 Brake close level for the duration of 44.15
Brake close level delay.
44.13 Brake close delay has elapsed and brake close acknowledgement (if chosen by 44.07 Brake
acknowledge selection) has been received.
Brake has been requested to open.
Brake control enabled (parameter 44.06 Brake control enable 1).

Timing diagram
The simplified timing diagram below illustrates the operation of the brake control
function. Refer to the state diagram above.
Start command
(06.16 b5)
Modulating (06.16 b6)
tmd
Ready ref (06.11 b2)
Torque reference
Ts
Tmem
Speed reference
ncs
Brake control signal
(44.01 b0)
tod
trod
tccd
Opening torque
request (44.01 b1)
tcd
tcfd
BCD
BRAKE
CLOSED
Hold stopped request

(44.01 b2)
Ramp to stopped
request (44.01 b3)
BRAKE
CLOSED
State
1
Ts
Tmem
tmd
tod
ncs
tccd
tcd
tcfd
trod
BOW
BOD
BCW
BCD
BOW
BOD
BCW
BRAKE OPEN
BRAKE OPENING
BRAKE CLOSING
Start torque at brake open (parameter 44.03 Brake open torque reference)
Stored torque value at brake close (44.02 Brake torque memory)
Motor magnetization delay
Brake open delay (parameter 44.08 Brake open delay)
Brake close speed (parameter 44.14 Brake close level)
Brake close command delay (parameter 44.15 Brake close level delay)
Brake close delay (parameter 44.13 Brake close delay)
Brake close fault delay (parameter 44.18 Brake fault delay)
Brake reopen delay (parameter 44.16 Brake reopen delay)
BRAKE OPENING WAIT
BRAKE OPENING DELAY
BRAKE CLOSING WAIT
BRAKE CLOSING DELAY

Wiring example
The figure below shows a brake control wiring example. The brake control hardware
and wiring is to be sourced and installed by the customer.
WARNING! Make sure that the machinery into which the drive with brake
control function is integrated fulfils the personnel safety regulations. Note that
the frequency converter (a Complete Drive Module or a Basic Drive Module, as
defined in IEC 61800-2), is not considered as a safety device mentioned in the
European Machinery Directive and related harmonised standards. Thus, the
personnel safety of the complete machinery must not be based on a specific
frequency converter feature (such as the brake control function), but it has to be
implemented as defined in the application specific regulations.
The brake is controlled by bit 0 of parameter 44.01 Brake control status. The source
of brake acknowledge (status supervision) is selected by parameter 44.07 Brake
acknowledge selection. In this example,
parameter 10.24 RO1 source is set to Open brake command (ie. bit 0 of 44.01
Brake control status), and
parameter 44.07 Brake acknowledge selection is set to DI5.

Brake control
hardware
115/230 VAC
Emergency
brake
Drive control unit

XRO1
1
NC
COM
NO
XD24
4
+24VD
XDIO
5
M
Motor
Mechanical brake
DI5
DC voltage control
Overvoltage control
Overvoltage control of the intermediate DC link is typically needed when the motor is
in generating mode. The motor can generate when it decelerates or when the load
overhauls the motor shaft, causing the shaft to turn faster than the applied speed or
frequency. To prevent the DC voltage from exceeding the overvoltage control limit,
the overvoltage controller automatically decreases the generating torque when the
limit is reached. The overvoltage controller also increases any programmed
deceleration times if the limit is reached; to achieve shorter deceleration times, a
brake chopper and resistor may be required.
Undervoltage control (power loss ride-through)

If the incoming supply voltage is cut off, the drive will continue to operate by utilizing
the kinetic energy of the rotating motor. The drive will be fully operational as long as
the motor rotates and generates energy to the drive. The drive can continue
operation after the break if the main contactor (if present) remained closed.
Note: Units equipped with a main contactor must be equipped with a hold circuit (e.g.
UPS) to keep the contactor control circuit closed during a short supply break.
Umains
TM
(Nm)
fout
(Hz)
UDC
(V DC)
UDC
160
80
520
120
60
390
80
40
260
fout
TM
40
20
130
t (s)
1.6
4.8
11.2
14.4
UDC= intermediate circuit voltage of the drive, fout = output frequency of the drive, TM = motor torque
Loss of supply voltage at nominal load (fout = 40 Hz). The intermediate circuit DC voltage drops to the
minimum limit. The controller keeps the voltage steady as long as the mains is switched off. The drive runs
the motor in generator mode. The motor speed falls but the drive is operational as long as the motor has
enough kinetic energy.

Automatic restart
It is possible to restart the drive automatically after a short (max. 5 seconds) power
supply failure by using the Automatic restart function provided that the drive is
allowed to run for 5 seconds without the cooling fans operating.
When enabled, the function takes the following actions upon a supply failure to
enable a successful restart:
The undervoltage fault is suppressed (but a warning is generated)
Modulation and cooling is stopped to conserve any remaining energy
DC circuit pre-charging is enabled.
If the DC voltage is restored before the expiration of the period defined by parameter
21.18 Auto restart time and the start signal is still on, normal operation will continue.
However, if the DC voltage remains too low at that point, the drive trips on a fault,
3280 Standby timeout.
WARNING! Before you activate the function, make sure that no dangerous
situations can occur. The function restarts the drive automatically and
continues operation after a supply break.
Voltage control and trip limits

The control and trip limits of the intermediate DC voltage regulator are relative to the
supply voltage as well as drive/inverter type. The DC voltage is approximately 1.35
times the line-to-line supply voltage, and is displayed by parameter 01.11 DC voltage.
The following diagram shows the values of selected DC voltage levels in volts. All
voltages are relative to the supply voltage range selected in parameter 95.01 Supply
voltage.
Supply voltage range [V] (see 95.01 Supply voltage)
Level
208240
380415
440480
500
525600
660690
Overvoltage fault limit
489/440*
800
878
880
1113
1218
Overvoltage control limit
389
700
778
810
1013
1118
Internal brake chopper at 100%

pulse width
403
697
806
806
1008
1159
Internal brake chopper at 0%

pulse width
375
648
749
780
936
1077
Overvoltage warning limit
373
644
745
776
932
1071
DC voltage at upper bound of

supply voltage range (UDCmax)
324
560
648
675
810
932
DC voltage at lower bound of

supply voltage range
281
513
594
675
709
891
Undervoltage control and warning

limit
239
436
505
574
602
757
Charging activation/standby limit
225
410
475
540
567
713
Undervoltage fault limit
168
308
356
405
425
535
*489 V with frames R1R3, 440 V with frames R4R8.
Settings
Parameters 01.11 DC voltage (page 158), 30.30 Overvoltage control (page 301),
30.31 Undervoltage control (page 301), 95.01 Supply voltage (page 480) and 95.02
Adaptive voltage limits (page 481).
Brake chopper
A brake chopper can be used to handle the energy generated by a decelerating
motor. When the DC voltage rises high enough, the chopper connects the DC circuit
to an external brake resistor. The chopper operates on the pulse width modulation
principle.
The internal brake choppers of ACS880 drives start conducting when the DC link
voltage reaches approximately 1.15 UDCmax. 100% pulse width is reached at
approximately 1.2 UDCmax. (UDCmax is the DC voltage corresponding to the
maximum of the AC supply voltage range.) For information on external brake
choppers, refer to their documentation.
Note: For runtime braking, you must disable overvoltage control (parameter 30.30
Overvoltage control) to operate the chopper.
Settings
Parameter 01.11 DC voltage (page 158) and 30.30 Overvoltage control (page 301);
parameter group 43 Brake chopper (page 355).
Safety and protections

Emergency stop
The emergency stop signal is connected to the input selected by parameter 21.05
Emergency stop source. An emergency stop can also be generated through fieldbus
(parameter 06.01 Main control word, bits 02).
The mode of the emergency stop is selected by parameter 21.04 Emergency stop
mode. The following modes are available:
Off1: Stop along the standard deceleration ramp defined for the particular
reference type in use
Off2: Stop by coasting
Off3: Stop by the emergency stop ramp defined by parameter 23.23 Emergency
stop time.
With Off1 or Off3 emergency stop modes, the ramp-down of the motor speed can be
supervised by parameters 31.32 Emergency ramp supervision and 31.33 Emergency
ramp supervision delay.
Notes:
For SIL 3 / PL e-level emergency stop functions, the drive can be fitted with a
TV-certified FSO-xx safety options module. The module can then be
incorporated into certified safety systems.
The installer of the equipment is responsible for installing the emergency stop
devices and all additional devices needed for the emergency stop function to fulfill
the required emergency stop categories. For more information, contact your local
ABB representative.
After an emergency stop signal is detected, the emergency stop function cannot
be canceled even though the signal is canceled.
If the minimum (or maximum) torque limit is set to 0%, the emergency stop
function may not be able to stop the drive.
Speed and torque reference additives (parameters 22.15, 22.17, 26.16, 26.25 and
26.41) and reference ramp shapes (23.1623.19) are ignored in case of
emergency ramp stops.
Settings
Parameters 06.17 Drive status word 2 (page 172), 06.18 Start inhibit status word
(page 173), 21.04 Emergency stop mode (page 246), 21.05 Emergency stop source
(page 246), 23.23 Emergency stop time (page 263), 25.13 Min torq sp ctrl em stop
(page 275), 25.14 Max torq sp ctrl em stop (page 275), 25.15 Proportional gain em
stop (page 275), 31.32 Emergency ramp supervision (page 308) and 31.33
Emergency ramp supervision delay (page 309).
Motor thermal protection

The control program features two separate motor temperature monitoring functions.
The temperature data sources and warning/trip limits can be set up independently for
each function.
The motor temperature can be monitored using
the motor thermal protection model (estimated temperature derived internally

inside the drive), or
sensors installed in the windings. This will result in a more accurate motor model.
In addition to temperature monitoring, a protection function is available for Ex motors

installed in a potentially explosive atmosphere.
Motor thermal protection model
The drive calculates the temperature of the motor on the basis of the following
assumptions:
1. When power is applied to the drive for the first time, the motor is assumed to be at
ambient temperature (defined by parameter 35.50 Motor ambient temperature).
After this, when power is applied to the drive, the motor is assumed to be at the
estimated temperature.
2. Motor temperature is calculated using the user-adjustable motor thermal time and
motor load curve. The load curve should be adjusted in case the ambient
temperature exceeds 30 C.
Note: The motor thermal model can be used when only one motor is connected to
the inverter.
Temperature monitoring using PTC sensors
One PTC sensor can be connected to digital input DI6.
+24VD
T
DI6
The resistance of the PTC sensor increases when its temperature rises. The
increasing resistance of the sensor decreases the voltage at the input, and eventually
its state switches from 1 to 0, indicating overtemperature.
13 PTC sensors can also be connected in series to an analog input and an analog
output. The analog output feeds a constant excitation current of 1.6 mA through the
sensor. The sensor resistance increases as the motor temperature rises, as does the

voltage over the sensor. The temperature measurement function calculates the
resistance of the sensor and generates an indication if overtemperature is detected.
For wiring of the sensor, refer to the Hardware Manual of the drive.
The figure below shows typical PTC sensor resistance values as a function of
temperature.
Ohm
4000
1330
550
100
In addition to the above, optional FEN-XX encoder interfaces, and FPTC-xx modules
have connections for PTC sensors. For more information, refer the module-specific
documentation.
Temperature monitoring using Pt100 or Pt1000 sensors
13 Pt100 or Pt1000 sensors can be connected in series to an analog input and an
analog output.
The analog output feeds a constant excitation current of 9.1 mA (Pt100) or 1 mA
(Pt1000) through the sensor. The sensor resistance increases as the motor
temperature rises, as does the voltage over the sensor. The temperature
measurement function reads the voltage through the analog input and converts it into
degrees Celsius.
The warning and fault limits can be adjusted by parameters.
For the wiring of the sensor, refer to the Hardware Manual of the drive.
Temperature monitoring using KTY84 sensors
One KTY84 sensor can be connected to an analog input and an analog output on the
control unit.
The analog output feeds a constant excitation current of 2.0 mA through the sensor.
The sensor resistance increases as the motor temperature rises, as does the voltage
over the sensor. The temperature measurement function reads the voltage through
the analog input and converts it into degrees Celsius.

FEN-xx encoder interfaces (optional) also have a connection for one KTY84 sensor.
The figure and table below show typical KTY84 sensor resistance values as a
function of the motor operating temperature.
Ohm
3000
2000
KTY84 scaling
90 C = 936 ohm
110 C = 1063 ohm
130 C = 1197 ohm
1000
150 C = 1340 ohm

T oC
0
-100
100
200
300
The warning and fault limits can be adjusted by parameters.

For the wiring of the sensor, refer to the Hardware Manual of the drive.
Motor fan control logic (parameters 35.10035.106)
If the motor has an external cooling fan, it is possible to use a drive signal (for
example, running/stopped) to control the starter of the fan via a relay or digital output.
A digital input can be selected for fan feedback. A loss of the feedback signal will
optionally cause a warning or a fault.
Start and stop delays can be defined for the fan. In addition, a feedback delay can be
set to define the time within which feedback must be received after the fan starts.
Ex motor support (parameter 95.14, bit 0)
The control program has a temperature protection function for Ex motors located in a
potentially explosive atmosphere. The protection is enabled by setting bit 0 of
parameter 95.15 Special HW settings.
Settings
Parameter group 35 Motor thermal protection (page 322) and 91 Encoder module
settings (page 468); parameter 95.15 Special HW settings (page 483).
Thermal protection of motor cable

The control program contains a thermal protection function for the motor cable. This
function should be used, for example, when the nominal current of the drive exceeds
the current-carrying capacity of the motor cable.
The program calculates the temperature of the cable on the basis of the following
data:
Measured output current (parameter 01.07 Motor current)
Nominal continuous current rating of the cable, specified by 35.61 Cable nominal
current, and
Thermal time constant of the cable, specified by 35.62 Cable thermal rise time.
When the calculated temperature of the cable reaches 102% of the rated maximum,
a warning (A480 Motor cable overload) is given. The drive trips on a fault (4000 Motor
cable overload) when 106% is reached.
Settings
User load curve

The user load curve provides a function that monitors an input signal (eg. motor
torque or motor current) as a function of drive output speed or frequency. The
function includes both high limit (overload) and low limit (underload) monitoring.
Overload monitoring can, for example, be used to detect a pump becoming clogged
or a saw blade hitting a knot. Underload monitoring can detect the load being lost, for
example because of the snapping of a transmission belt.
The monitoring is effective within a motor speed and/or frequency range. The
frequency range is used with a frequency reference in scalar motor control mode;
otherwise, the speed range is used. The range is defined by five speed (parameters
37.1137.15) or frequency (37.1637.20) values. The values are positive, but the
monitoring is symmetrically active in the negative direction as the sign of the
monitored signal is ignored. Outside the speed/frequency range, the monitoring is
disabled.
An underload (37.2137.25) and overload (37.3137.35) limit is set for each of the
five speed or frequency points. Between these points, the limits are interpolated
linearly to form overload and underload curves.
Monitored signal (37.02)
OVERLOAD
37.31 (%)
37.35 (%)
ALLOWED
OPERATION
37.25 (%)
37.21 (%)
UNDERLOAD
37.11 (rpm)
37.16 (Hz)
37.12
37.17
37.13
37.18
37.14
37.19
37.15
37.20
Speed
Frequency
The action (none, warning or fault) taken when the signal exits the allowed operation
area can be selected separately for overload and underload conditions (parameters
37.03 and 37.04 respectively). Each condition also has an optional timer to delay the
selected action (37.41 and 37.42).
Settings
Parameter group 37 User load curve (page 290).
Other programmable protection functions

External events (parameters 31.0131.10)
Five different event signals from the process can be connected to selectable inputs to
generate trips and warnings for the driven equipment. When the signal is lost, an
external event (fault, warning, or a mere log entry) is generated. The contents of the
messages can be edited on the control panel by selecting Menu - Settings - Edit
texts.
Motor phase loss detection (parameter 31.19)
The parameter selects how the drive reacts whenever a motor phase loss is detected.

Earth (Ground) fault detection (parameter 31.20)
The earth fault detection function is based on sum current measurement. Note that
an earth fault in the supply cable does not activate the protection
in a grounded supply, the protection activates within 2 milliseconds
in an ungrounded supply, the supply capacitance must be 1 microfarad or more
the capacitive currents caused by shielded motor cables up to 300 meters will not
activate the protection
the protection is deactivated when the drive is stopped.
Supply phase loss detection (parameter 31.21)

The parameter selects how the drive reacts whenever a supply phase loss is
detected.
Safe torque off detection (parameter 31.22)
The drive monitors the status of the Safe torque off input, and this parameter selects
which indications are given when the signals are lost. (The parameter does not affect
the operation of the Safe torque off function itself). For more information on the Safe
torque off function, see the Hardware manual.
Swapped supply and motor cabling (parameter 31.23)
The drive can detect if the supply and motor cables have accidentally been swapped
(for example, if the supply is connected to the motor connection of the drive). The
parameter selects if a fault is generated or not. Note that the protection should be
disabled in drive/inverter hardware supplied from a common DC bus.
Stall protection (parameters 31.2431.28)
The drive protects the motor in a stall situation. It is possible to adjust the supervision
limits (current, frequency and time) and choose how the drive reacts to a motor stall
condition.
Overspeed protection (parameter 31.30)
The user can set overspeed limits by specifying a margin that is added to the
currently-used maximum and minimum speed limits.
Ramp stop supervision (parameters 31.32, 31.33, 31.37 and 31.38)
The control program has a supervision function for both the normal and emergency
stop ramps. The user can either define a maximum time for stopping, or a maximum
deviation from the expected deceleration rate. If the drive fails to stop in the expected
manner, a fault is generated and the drive coasts to a stop.

Custom motor current fault limit (parameter 31.42)
The control program sets a motor current limit based on drive hardware. In most
cases, the default value is appropriate. However, a lower limit can be manually set by
the user, for example, to protect a permanent magnet motor from demagnetization.
Local control loss detection (parameter 49.05)
The parameter selects how the drive reacts to a control panel or PC tool
communication break.
Automatic fault resets

The drive can automatically reset itself after overcurrent, overvoltage, undervoltage
and external faults. The user can also specify a fault (excluding Safe torque off
related faults) to be reset automatically.
By default, automatic resets are off and must be specifically activated by the user.
WARNING! Before you activate the function, make sure that no dangerous situations
can occur. The function restarts the drive automatically and continues operation after
a supply break.
Settings
Diagnostics
Fault and warning messages, data logging
See chapter Fault tracing (page 567).
Signal supervision
Three signals can be selected to be supervised by this function. Whenever a
supervised signal exceeds or falls below predefined limits, a bit in 32.01 Supervision
status is activated, and a warning or fault generated. The contents of the message
can be edited on the control panel by selecting Menu - Settings - Edit texts.
The supervised signal is low-pass filtered.
Settings
Parameter group 32 Supervision (page 310).
Maintenance timers and counters

The program has six different maintenance timers or counters that can be configured
to generate a warning when a pre-defined limit is reached. The contents of the
message can be edited on the control panel by selecting Menu - Settings - Edit
texts.
The timer/counter can be set to monitor any parameter. This feature is especially
useful as a service reminder.
There are three types of counters:
On-time timers. Measures the time a binary source (for example, a bit in a status
word) is on.
Signal edge counters. The counter is incremented whenever the monitored binary
source changes state.
Value counters. The counter measures, by integration, the monitored parameter.

A warning is given when the calculated area below the signal peak exceeds a
user-defined limit.
Settings
Parameter group 33 Generic timer & counter (page 314).
Energy saving calculators

This feature consists of the following functionalities:
An energy optimizer that adjusts the motor flux in such a way that the total system
efficiency is maximized
A counter that monitors used and saved energy by the motor and displays them in
kWh, currency or volume of CO2 emissions, and
A load analyzer showing the load profile of the drive (see separate section on
page 130).
Note: The accuracy of the energy savings calculation is directly dependent on the
accuracy of the reference motor power given in parameter 45.19 Comparison power.
Settings
Parameter group 45 Energy efficiency (page 361).
Load analyzer
Peak value logger
The user can select a signal to be monitored by a peak value logger. The logger
records the peak value of the signal along with the time the peak occurred, as well as
motor current, DC voltage and motor speed at the time of the peak. The peak value is
sampled at 2 ms intervals.
Amplitude loggers
The control program has two amplitude loggers.
For amplitude logger 2, the user can select a signal to be sampled at 200 ms
intervals, and specify a value that corresponds to 100%. The collected samples are
sorted into 10 read-only parameters according to their amplitude. Each parameter
represents an amplitude range 10 percentage points wide, and displays the
percentage of the collected samples that have fallen within that range.
>90%
8090%
7080%
6070%
5060%
4050%
3040%
2030%
1020%
010%
Percentage of samples
Amplitude ranges
(parameters 36.4036.49)
Amplitude logger 1 is fixed to monitor motor current, and cannot be reset. With
amplitude logger 1, 100% corresponds to the maximum output current of the drive
(Imax, as given in the hardware manual). The measured current is logged
continuously. The distribution of samples is shown by parameters 36.2036.29.
Settings
Parameter group 36 Load analyzer (page 333).
Miscellaneous
User parameter sets
The drive supports four user parameter sets that can be saved to the permanent
memory and recalled using drive parameters. It is also possible to use digital inputs to
switch between user parameter sets.
A user parameter set contains all editable values in parameter groups 1099 except
forced I/O values such as parameters 10.03 DI force selection and 10.04 DI force
data
I/O extension module settings (groups 1416)
data storage parameters (group 47)

fieldbus communication settings (groups 5156 and 58)
encoder configuration settings (groups 9293), and
parameter 95.01 Supply voltage.
As the motor settings are included in the user parameter sets, make sure the settings
correspond to the motor used in the application before recalling a user set. In an
application where different motors are used with the drive, the motor ID run needs to
be performed with each motor and the results saved to different user sets. The
appropriate set can then be recalled when the motor is switched.
Settings
Parameter checksum calculation

A parameter checksum can be calculated from a user-definable set of parameters to
monitor changes in the drive configuration. The calculated checksum is compared to
14 reference checksums; in case of a mismatch, an event (a pure event, warning or
fault) is generated.
By default, the set of parameters included in the calculation contain most parameters
with the exception of
actual signals
parameter group 47 Data storage
parameters that are activated to validate new settings (such as 51.27 and 96.07)
parameters that are not saved to the flash memory (such as 96.2496.26)
parameters that are internally calculated from others (such as 98.0998.14).
dynamic parameters (eg. parameters that vary according to hardware), and
application program parameters.
The default set can be edited using the Drive customizer PC tool.
Settings
User lock
For better cyber security, you can set a master password to prevent eg. the changing
of parameter values and/or the loading of firmware and other files.
To activate the user lock for the first time, enter the default pass code, 10000000, into
96.02 Pass code. This will make parameters 96.10096.102 visible. Then enter a
new pass code into 96.100 Change user pass code, and confirm the code in 96.101
Confirm user pass code. In 96.102 User lock functionality, define the actions that you
want to prevent.
To close the user lock, enter an invalid pass code into 96.02 Pass code, activate
96.08 Control board boot, or cycle the power. With the lock closed, parameters
96.10096.102 are hidden.
To reopen the lock, enter your pass code into 96.02 Pass code. This will again make
parameters 96.10096.102 visible.
Settings
Parameters 96.02 (page 394) and 96.10096.102 (page 401).
Data storage parameters

Twenty-four (sixteen 32-bit, eight 16-bit) parameters are reserved for data storage.
These parameters are unconnected by default and can be used, for example, linking,
testing and commissioning purposes. They can be written to and read from using
other parameters source or target selections.
Note that Analog src type parameters (see page 507) expect a 32-bit real (floating
point) source in other words, parameters 47.0147.08 can be used as a value
source of other parameters while 47.1147.28 cannot.
To use a 16-bit integer (received in DDCS data sets) as the source of another
parameter, write the value into one of the real32 type storage parameters
(47.0147.08). Select the storage parameter as the source, and define a suitable
scaling method between the 16-bit and 32-bit values in parameters 47.3147.38.
Settings
Parameter group 47 Data storage (page 368).
Reduced run function

A reduced run function is available for inverter units consisting of parallel-connected
inverter modules. The function makes it possible to continue operation with limited
current even if one (or more) module is out of service, for example, because of
maintenance work. In principle, reduced run is possible with only one module, but the
physical requirements of operating the motor still apply; for example, the modules
remaining in use must be able to provide the motor with enough magnetizing current.

Activation of the reduced run function
Note: For cabinet-built drives, the wiring accessories and the air baffle needed during
the procedure are available from ABB, and are included in the delivery.
WARNING! Obey the safety instructions provided for the drive or
inverter unit in question.
1. Disconnect the supply voltage and all auxiliary voltages from the drive/inverter
unit.
2. If the inverter control unit is powered from the faulty module, install an extension
to the wiring and connect it to one of the remaining modules.
3. Remove the module(s) to be serviced from its bay. See the appropriate hardware
manual for instructions.
4. If the Safe torque off (STO) function is in use, install jumpering in the STO wiring
in place of the missing module (unless the module was the last on the chain).
5. Install an air baffle to the top module guide to block the airflow through the empty
module bay.
6. In case the inverter unit has a DC switch with a charging circuit, disable the
appropriate channel on the charging monitoring unit.
7. Switch on the power to the drive/inverter unit.
8. Enter the number of inverter modules present into parameter 95.13 Reduced run
mode.
9. Reset all faults and start the drive/inverter unit. The maximum current is now
automatically limited according to the new inverter configuration. A mismatch
between the number of detected modules (95.14) and the value set in 95.13 will
generate a fault.
After all modules have been reinstalled, parameter 95.13 Reduced run mode must be
reset to 0 to disable the reduced run function. In case the inverter is equipped with a
charging circuit, the charging monitoring must be reactivated for all modules. If the
Safe torque off (STO) function is in use, an acceptance test must be performed (see
the hardware manual of the drive/inverter unit for instructions).
Settings
Parameters 06.17 (page 172) and 95.1395.14 (page 483).
du/dt filter support

With an external du/dt filter connected to the output of the drive, bit 13 of 95.20 HW
options word 1 must be switched on. The setting enables an overtemperature
protection for the filter. Note that the setting is not to be activated with inverter
modules with internal du/dt filters.
Settings
Parameter 95.20 HW options word 1 (page 484).
Sine filter support

The control program includes settings to enable the use of ABB sine filters (available
separately). With a sine filter connected to the output of the drive, bit 1 of 95.15
Special HW settings must be switched on. The setting forces the drive to use the
scalar motor control mode, and limits the switching and output frequencies to
prevent the drive from operating at filter resonance frequencies, and
protect the filter from overheating.
Please contact your local ABB representative before connecting a sine filter from
another manufacturer.
Settings
Parameter 95.15 Special HW settings (page 483).
Application macros 137
7
Application macros
This chapter describes the intended use, operation and default control connections of
the application macros.
More information on the connectivity of the control unit is given in the Hardware
manual of the drive.
General
Application macros are sets of default parameter values suitable for the application in
question. When starting up the drive, the user typically selects the best-suited
application macro as a starting point, then makes any necessary changes to tailor the
settings to the application. This usually results in a much lower number of user edits
compared to the traditional way of programming a drive.
Application macros can be selected by parameter 96.04 Macro select. User
parameter sets are managed by the parameters in group 96 System.
138 Application macros
Factory macro
The Factory macro is suited to relatively straightforward speed control applications
such as conveyors, pumps and fans, and test benches.
The drive is speed-controlled with the reference signal connected to analog input AI1.
The start/stop commands are given through digital input DI1; running direction is
determined by DI2. This macro uses control location EXT1.
Faults are reset through digital input DI3.
DI4 switches between acceleration/deceleration time sets 1 and 2. The acceleration
and deceleration times, as well as ramp shapes, are defined by parameters
23.1223.19.
DI5 activates constant speed 1.
Default parameter settings for the Factory macro

The default parameter settings for the Factory macro are listed under Parameter
listing (page 158).
Default control connections for the Factory macro
Fault
XPOW External power input

1
+24VI
24 V DC, 2 A
2
GND
XAI
Reference voltage and analog inputs
1
+VREF 10 V DC, RL 110 kohm
2
-VREF -10 V DC, RL 110 kohm
3
AGND Ground
4
AI1+
Speed reference
0(2)10 V, Rin > 200 kohm
5
AI16
AI2+
By default not in use.
0(4)20 mA, Rin > 100 ohm
7
AI2XAO Analog outputs
1
AO1
Motor speed rpm
2
AGND 020 mA, RL < 500 ohm
3
AO2
Motor current
4
XD2D Drive-to-drive link
1
B
Drive-to-drive link
2
A
3
BGND
XRO1, XRO2, XRO3 Relay outputs
1
NC
Ready run
250 V AC / 30 V DC
2
COM
2A
3
NO
1
NC
Running
250 V AC / 30 V DC
2
COM
2A
3
NO
1
NC
Fault (-1)
250 V AC / 30 V DC
2
COM
2A
3
NO
XD24 Digital interlock
1
DIIL
Run enable
2
+24VD +24 V DC 200 mA
3
DICOM Digital input ground
4
+24VD +24 V DC 200 mA
5
DIOGND Digital input/output ground
XDIO Digital input/outputs
1
DIO1
Output: Ready run
2
DIO2
Output: Running
XDI
Digital inputs
1
DI1
Stop (0) / Start (1)
2
DI2
Forward (0) / Reverse (1)
3
DI3
Reset
4
DI4
Acc/Dec time set 1 (0) / set 2 (1)
5
DI5
Constant speed 1 (1 = On)
6
DI6
By default, not in use.
Safe torque off circuits must be closed for the drive to start. See
XSTO
Hardware manual of drive.
X12
Safety options connection
X13
Control panel connection
X205 Memory unit connection
Hand/Auto macro
The Hand/Auto macro is suited to speed control applications where two external
control devices are used.
The drive is speed-controlled from the external control locations EXT1 (Hand control)
and EXT2 (Auto control). The selection between the control locations is done through
digital input DI3.
The start/stop signal for EXT1 is connected to DI1 while running direction is
determined by DI2. For EXT2, start/stop commands are given through DI6, the
direction through DI5.
The reference signals for EXT1 and EXT2 are connected to analog inputs AI1 and
AI2 respectively.
A constant speed (by default, 300 rpm) can be activated through DI4.
Default parameter settings for the Hand/Auto macro

Below is a listing of default parameter values that differ from those listed for the
Factory macro in Parameter listing (page 158).
Parameter
Hand/Auto macro default
No.
Name
12.30
AI2 scaled at AI2 max
1500.000
19.11
Ext1/Ext2 selection
DI3
20.06
Ext2 commands
In1 Start; In2 Dir
20.08
Ext2 in1 source
DI6
20.09
Ext2 in2 source
DI5
20.12
Run enable 1 source
DIIL
22.12
Speed ref2 source
AI2 scaled
22.14
Speed ref1/2 selection
Follow Ext1/Ext2 selection
22.22
Constant speed sel1
DI4
23.11
Ramp set selection
Acc/Dec time 1
31.11
Fault reset selection
Not selected
Default control connections for the Hand/Auto macro
Fault

1
+24VI
24 V DC, 2 A
2
GND
XAI
1
2
3
AGND Ground
4
AI1+
Speed reference (Hand)
0(2)10 V, Rin > 200 kohm
5
AI16
AI2+
Speed reference (Auto)
0(4)20 mA, Rin > 100 ohm
7
1
AO1
Motor speed rpm
2
3
AO2
Motor current
4
1
B
Drive-to-drive link
2
A
3
BGND
1
NC
Ready run
250 V AC / 30 V DC
2
COM
2A
3
NO
1
NC
Running
250 V AC / 30 V DC
2
COM
2A
3
NO
1
NC
Fault (-1)
250 V AC / 30 V DC
2
COM
2A
3
NO
1
DIIL
Run enable
2
+24VD +24 V DC 200 mA
3
4
+24VD +24 V DC 200 mA
5
1
DIO1
Output: Ready run
2
DIO2
Output: Running
XDI
Digital inputs
1
DI1
Stop (0) / Start (1) Hand
2
DI2
Forward (0) / Reverse (1) Hand
3
DI3
Hand (0) / Auto (1)
4
DI4
5
DI5
Forward (0) / Reverse (1) Auto
6
DI6
Stop (0) / Start (1) Auto
XSTO
X12
X13
PID control macro

The PID control macro is suitable for process control applications, for example
closed-loop pressure, level or flow control systems such as
pressure boost pumps of municipal water supply systems
level-controlling pumps of water reservoirs
pressure boost pumps of district heating systems
material flow control on a conveyor line.
The process reference signal is connected to analog input AI1 and the process
feedback signal to AI2. Alternatively, a direct speed reference can be given to the
drive through AI1. Then the PID controller is bypassed and the drive no longer
controls the process variable.
Selection between direct speed control (control location EXT1) and process variable
control (EXT2) is done through digital input DI3.
The stop/start signals for EXT1 and EXT2 are connected to DI1 and DI6 respectively.
A constant speed (by default, 300 rpm) can be activated through DI4.
Note: When commissioning the PID loop, it is useful to run the motor in speed control
first using EXT1; this allows testing of the PID feedback polarity and scaling. Once
the feedback has been proven, the PID loop can be closed by switching to EXT2.
Default parameter settings for the PID control macro

Parameter
PID control macro default
No.
Name
12.27
AI2 min
4.000
19.11
Ext1/Ext2 selection
DI3
20.01
Ext1 commands
In1 Start
20.04
Ext1 in2 source
Not selected
20.06
Ext2 commands
In1 Start
20.08
Ext2 in1 source
DI6
20.12
Run enable 1 source
DI5
22.12
Speed ref2 source
PID
22.22
Constant speed sel1
DI4
23.11
Ramp set selection
Acc/Dec time 1
31.11
Not selected
40.07
Set 1 PID operation mode
On when drive running
40.08
Set 1 feedback 1 source
AI2 scaled
40.11
Set 1 feedback filter time
0.040 s
40.35
Set 1 derivation filter time
1.0 s
40.60
Set 1 PID activation source
Follow Ext1/Ext2 selection
Note: The macro selection does not affect parameter group 41 Process PID set 2.
Default control connections for the PID control macro
Fault

1
+24VI
24 V DC, 2 A
2
GND
XAI
1
2
3
AGND Ground
4
AI1+
Speed reference
0(2)10 V, Rin > 200 kohm
5
AI16
AI2+
Process feedback*
0(4)20 mA, Rin > 100 ohm
7
1
AO1
Motor speed rpm
2
3
AO2
Motor current
4
1
B
Drive-to-drive link
2
A
3
BGND
1
NC
Ready run
250 V AC / 30 V DC
2
COM
2A
3
NO
1
NC
Running
250 V AC / 30 V DC
2
COM
2A
3
NO
1
NC
Fault (-1)
250 V AC / 30 V DC
2
COM
2A
3
NO
1
DIIL
Digital interlock. By default, not in use.
2
+24VD +24 V DC 200 mA
3
4
+24VD +24 V DC 200 mA
5
1
DIO1
Output: Ready run
2
DIO2
Output: Running
XDI
Digital inputs
1
DI1
Stop (0) / Start (1) Speed control
2
DI2
3
DI3
Speed control (0) / Process control (1)
4
DI4
5
DI5
Run enable (1 = On)
6
DI6
Stop (0) / Start (1) Process control
XSTO
X12 Safety options connection
X13 Control panel connection
*For sensor connection examples, see page 145.
Sensor connection examples for the PID control macro

P
0/420 mA
AI2+
AI2-
Actual value measurement

-2020 mA. Rin = 100 ohm
Note: The sensor must be powered externally.
OUT
+24VD
Auxiliary voltage output (200 mA max.)
DIOGND
Ground
AI2+
AI2-

-2020 mA. Rin = 100 ohm
+24VD
Auxiliary voltage output (200 mA max.)
DIOGND
Ground
AI2+

-2020 mA. Rin = 100 ohm
0/420 mA
0/420 mA
AI2-
Power
supply
0/420 mA
Drive 1
AI2+
AI2-
+24V
Drive 2
AI2+
AI2-

-2020 mA. Rin = 100 ohm

-2020 mA. Rin = 100 ohm
Drive 3
AI2+
AI2-

-2020 mA. Rin = 100 ohm
Torque control macro

This macro is used in applications in which torque control of the motor is required.
These are typically tension applications, where a particular tension needs to be
maintained in the mechanical system.
Torque reference is given through analog input AI2, typically as a current signal in the
range of 020 mA (corresponding to 0100% of rated motor torque).
The start/stop signal is connected to digital input DI1. The direction is determined by
DI2. Through digital input DI3, it is possible to select speed control (EXT1) instead of
torque control (EXT2). As with the PID control macro, speed control can be used for
commissioning the system and checking the motor direction.
It is also possible to change the control to local (control panel or PC tool) by pressing
the Loc/Rem key. By default, the local reference is speed; if a torque reference is
required, the value of parameter 19.16 Local control mode should be changed to
Torque.
A constant speed (by default, 300 rpm) can be activated through DI4. DI5 switches
between acceleration/deceleration time sets 1 and 2. The acceleration and
deceleration times, as well as ramp shapes, are defined by parameters
23.1223.19.
Default parameter settings for the Torque control macro

Parameter
No.
Name
Torque control macro

default
19.11
Ext1/Ext2 selection
DI3
19.14
Ext2 control mode
Torque
20.02
Ext1 start trigger type
Level
20.06
Ext2 commands
In1 Start; In2 Dir
20.07
Level
20.08
Ext2 in1 source
DI1
20.09
Ext2 in2 source
DI2
20.12
Run enable 1 source
DI6
22.22
Constant speed sel1
DI4
23.11
Ramp set selection
DI5
26.11
Torque ref1 source
AI2 scaled
31.11
Not selected
Default control connections for the Torque control macro
Fault

1
+24VI
24 V DC, 2 A
2
GND
XAI
1
2
3
AGND Ground
4
AI1+
Speed reference
0(2)10 V, Rin > 200 kohm
5
AI16
AI2+
Torque reference
0(4)20 mA, Rin > 100 ohm
7
1
AO1
Motor speed rpm
2
3
AO2
Motor current
4
1
B
Drive-to-drive link
2
A
3
BGND
1
NC
Ready run
250 V AC / 30 V DC
2
COM
2A
3
NO
1
NC
Running
250 V AC / 30 V DC
2
COM
2A
3
NO
1
NC
Fault (-1)
250 V AC / 30 V DC
2
COM
2A
3
NO
1
DIIL
Digital interlock. By default, not in use.
2
+24VD +24 V DC 200 mA
3
4
+24VD +24 V DC 200 mA
5
1
DIO1
Output: Ready run
2
DIO2
Output: Running
XDI
Digital inputs
1
DI1
2
DI2
3
DI3
Speed control (0) / Torque control (1)
4
DI4
5
DI5
6
DI6
Run enable (1 = On)
XSTO
X12
X13
Sequential control macro

The Sequential control macro is suited for speed control applications in which a
speed reference, multiple constant speeds, and two acceleration and deceleration
ramps can be used.
Only EXT1 is used in this macro.
The macro offers seven preset constant speeds which can be activated by digital
inputs DI4DI6 (see parameter 22.21 Constant speed function). An external speed
reference can be given through analog input AI1. The reference is active only when
no constant speed is activated (digital inputs DI4DI6 are all off). Operational
commands can also be given from the control panel.
The start/stop commands are given through digital input DI1; running direction is
determined by DI2.
Two acceleration/deceleration ramps are selectable through DI3. The acceleration
and deceleration times, as well as ramp shapes, are defined by parameters
23.1223.19.
Operation diagram
The figure below shows an example of the use of the macro.
Speed
Speed 3
Speed 2
Stop along deceleration

ramp
Speed 1
Time
Accel1
Start/Stop
Accel1/Decel1
Speed 1
Speed 2
Accel2/Decel2
Speed 3
Accel1
Accel2
Decel2
Selection of constant speeds

By default, constant speeds 17 are selected using digital inputs DI4DI6 as
follows:
DI4
DI5
DI6
1
0
1
0
1
0
1
0
1
1
0
0
1
1
0
0
0
1
1
1
1
Constant speed active

None (External speed
reference used)
Constant speed 1
Constant speed 2
Constant speed 3
Constant speed 4
Constant speed 5
Constant speed 6
Constant speed 7
Default parameter settings for the Sequential control macro

Parameter
No.
Name
Sequential control macro

default
20.12
Run enable 1 source
DIIL
21.03
Stop mode
Ramp
22.21
Constant speed function
01b (Bit 0 = Packed)
22.22
Constant speed sel1
DI4
22.23
Constant speed sel2
DI5
22.24
Constant speed sel3
DI6
22.27
Constant speed 2
600.00 rpm
22.28
Constant speed 3
900.00 rpm
22.29
Constant speed 4
1200.00 rpm
22.30
Constant speed 5
1500.00 rpm
22.31
Constant speed 6
2400.00 rpm
22.32
Constant speed 7
3000.00 rpm
23.11
Ramp set selection
DI3
25.06
Acc comp derivation time
0.12 s
31.11
Not selected
Default control connections for the Sequential control macro
Fault

1
+24VI
24 V DC, 2 A
2
GND
XAI
1
2
3
AGND Ground
4
AI1+
Speed reference
0(2)10 V, Rin > 200 kohm
5
AI16
AI2+
0(4)20 mA, Rin > 100 ohm
7
1
AO1
Motor speed rpm
2
3
AO2
Motor current
4
1
B
Drive-to-drive link
2
A
3
BGND
1
NC
Ready run
250 V AC / 30 V DC
2
COM
2A
3
NO
1
NC
Running
250 V AC / 30 V DC
2
COM
2A
3
NO
1
NC
Fault (-1)
250 V AC / 30 V DC
2
COM
2A
3
NO
1
DIIL
Run enable
2
+24VD +24 V DC 200 mA
3
4
+24VD +24 V DC 200 mA
5
1
DIO1
Output: Ready run
2
DIO2
Output: Running
XDI
Digital inputs
1
DI1
2
DI2
3
DI3
4
DI4
Constant speed selection (see page 149)
5
DI5
6
DI6
XSTO
X12 Safety options connection
X13 Control panel connection
Fieldbus control macro

This application macro is not supported by the current firmware version.
Parameters 153
8
Parameters
The chapter describes the parameters, including actual signals, of the control
program.
154 Parameters

Term
Definition
Actual signal
Type of parameter that is the result of a measurement or calculation by the drive, or

contains status information. Most actual signals are read-only, but some (especially
counter-type actual signals) can be reset.
Def
(In the following table, shown on the same row as the parameter name)
The default value of a parameter when used in the Factory macro. For information on
other macro-specific parameter values, see chapter Application macros (page 137).
Note: Certain configurations or optional equipment may require specific default values.
These are labelled as follows:
(95.20 bx) = Default changed or write-protected by parameter 95.20, bit x.
FbEq16
(In the following table, shown on the same row as the parameter range, or for each
selection)
16-bit fieldbus equivalent: The scaling between the value shown on the panel and the
integer used in communication when a 16-bit value is selected for transmission to an
external system.
A dash (-) indicates that the parameter is not accessible in 16-bit format.
The corresponding 32-bit scalings are listed in chapter Additional parameter data (page
505).
Other
The value is taken from another parameter.

Choosing Other displays a parameter list in which the user can specify the source
parameter.
Note: The source parameter must be a 32-bit real (floating point) number. To use a 16bit integer (for example, received from an external device in data sets) as the source,
data storage parameter 47.01...47.08 (page 367) can be used.
Other [bit]
The value is taken from a specific bit in another parameter.

Choosing Other displays a parameter list in which the user can specify the source
parameter and bit.
Parameter
Either a user-adjustable operating instruction for the drive, or an actual signal.
p.u.
Per unit
Parameters 155
Summary of parameter groups

Group
Contents
Page
01 Actual values
Basic signals for monitoring the drive.
158
03 Input references
Values of references received from various sources.
161
Information on warnings and faults that occurred last.
162
05 Diagnostics
Various run-time-type counters and measurements related to drive

maintenance.
169
Drive control and status words.
170
07 System info
Drive hardware and firmware information.
182
09 Winder actual signals
Actual signals of the winder control program.
184
10 Standard DI, RO
Configuration of digital inputs and relay outputs.
186
11 Standard DIO, FI, FO
Configuration of digital input/outputs and frequency inputs/outputs.
193
12 Standard AI
Configuration of standard analog inputs.
198
13 Standard AO
Configuration of standard analog outputs.
202
14 I/O extension module 1
Configuration of I/O extension module 1.
206
225
229
19 Operation mode
Selection of local and external control location sources and

operating modes.
233
20 Start/stop/direction
Start/stop/direction and run/start/jog enable signal source selection;

positive/negative reference enable signal source selection.
235
21 Start/stop mode
Start and stop modes; emergency stop mode and signal source
selection; DC magnetization settings; autophasing mode selection.
244
Speed reference selection; motor potentiometer settings.
252
23 Speed reference ramp
Speed reference ramp settings (programming of the acceleration

and deceleration rates for the drive).
260
24 Speed reference
conditioning
Speed error calculation; speed error window control configuration;

speed error step.
266
25 Speed control
Speed controller settings.
269
26 Torque reference chain
Settings for the torque reference chain.
280
28 Frequency reference chain Settings for the frequency reference chain.
287
30 Limits
Drive operation limits.
295
31 Fault functions
Settings that define the behavior of the drive upon fault situations.
301
32 Supervision
Configuration of signal supervision functions 13.
310
33 Generic timer & counter
Configuration of maintenance timers/counters.
314
35 Motor thermal protection
Motor thermal protection settings such as temperature

measurement configuration, load curve definition and motor fan
control configuration.
322
36 Load analyzer
Peak value and amplitude logger settings.
333
37 User load curve
Settings for user load curve.
333
40 Process PID set 1
Parameter values for process PID control.
339
A second set of parameter values for process PID control.
352
43 Brake chopper
Settings for the internal brake chopper.
354
44 Mechanical brake control
Configuration of mechanical brake control.
356
156 Parameters
Group
Contents
45 Energy efficiency
Settings for the energy saving calculators.
Page
360
46 Monitoring/scaling settings Speed supervision settings; actual signal filtering; general scaling
settings.
363
47 Data storage
Data storage parameters that can be written to and read from using
other parameters source and target settings.
367
49 Panel port communication
Communication settings for the control panel port on the drive.
369
50 Fieldbus adapter (FBA)
Fieldbus communication configuration.
371
51 FBA A settings
Fieldbus adapter A configuration.
379
52 FBA A data in
Selection of data to be transferred from drive to fieldbus controller

through fieldbus adapter A.
381
53 FBA A data out
Selection of data to be transferred from fieldbus controller to drive

through fieldbus adapter A.
382
54 FBA B settings
Fieldbus adapter B configuration.
382
55 FBA B data in
Selection of data to be transferred from drive to fieldbus controller

through fieldbus adapter B.
383
56 FBA B data out
Selection of data to be transferred from fieldbus controller to drive

through fieldbus adapter B.
384
58 Embedded fieldbus
Configuration of the embedded fieldbus (EFB) interface.
384
60 DDCS communication
DDCS communication configuration.
392
61 D2D and DDCS transmit

data
Defines the data sent to the DDCS link.
403
62 D2D and DDCS receive

data
Mapping of data received through the DDCS link.
408
74 Application setup
Winder control and setup.
416
75 Winder speed settings
Ramping time adjustments and winder-related speed reference

adaptation setup.
420
Diameter calculation control and setup.
426
77 Tension/Dancer control
Tension control and setup.
430
78 Winder PID controller
PID controller settings.
437
compensation
Friction compensation control and setup.
443
80 Turreting assistance
Torque memory control and setup.
447
81 Winder safety
Settings for web loss.
450
82 Virtual Roll
Settings for the virtual roll function.
454
90 Feedback selection
Motor and load feedback configuration.
457
91 Encoder module settings
Configuration of encoder interface modules.
467
92 Encoder 1 configuration
Settings for encoder 1.
470
476
94 LSU control
Control of the supply unit of the drive, such as DC voltage and

reactive power reference.
476
95 HW configuration
Various hardware-related settings.
479
96 System
Language selection; access levels; macro selection; parameter

save and restore; control unit reboot; user parameter sets; unit
selection; data logger triggering; parameter checksum calculation;
user lock.
484
Parameters 157
Group
Contents
Page
97 Motor control
Motor model settings.
493
98 User motor parameters
Motor values supplied by the user that are used in the motor model.
497
99 Motor data
Motor configuration settings.
499
200 Safety
FSO-xx settings.
504
158 Parameters
Parameter listing
No.
Name/Value
01
Description
Def/FbEq16
01 Actual values
Basic signals for monitoring the drive.

All parameters in this group are read-only unless otherwise
noted.
01.01
Motor speed used
Measured or estimated motor speed depending on which

type of feedback is used (see parameter 90.41 Motor
feedback selection). A filter time constant for this signal can
be defined by parameter 46.11 Filter time motor speed.
-30000.00
30000.00 rpm
Measured or estimated motor speed.
See par.
46.01
Motor speed
estimated
Estimated motor speed in rpm. A filter time constant for this

signal can be defined by parameter 46.11 Filter time motor
speed.
-30000.00
30000.00 rpm
Estimated motor speed.
See par.
46.01
Motor speed %
Shows the value of 01.01 Motor speed used in percent of

the synchronous speed of the motor.
10 = 1%
-1000.00
1000.00%
See par.
46.01
Encoder 1 speed
filtered
Speed of encoder 1 in rpm. A filter time constant for this

speed.
-30000.00
30000.00 rpm
Encoder 1 speed.
See par.
46.01
Encoder 2 speed
filtered
Speed of encoder 2 in rpm.A filter time constant for this

speed.
-30000.00
30000.00 rpm
Encoder 2 speed.
See par.
46.01
Output frequency
Estimated drive output frequency in Hz. A filter time constant

for this signal can be defined by parameter 46.12 Filter time
output frequency.
-500.00 500.00
Hz
Estimated output frequency.
See par.
46.02
Motor current
Measured (absolute) motor current in A.
0.00 30000.00 A
Motor current.
See par.
46.05
Motor torque
Motor torque in percent of the nominal motor torque. See

also parameter 01.30 Nominal torque scale.
A filter time constant for this signal can be defined by
parameter 46.13 Filter time motor torque.
01.02
01.03
01.04
01.05
01.06
01.07
01.10
01.11
01.13
-1600.0 1600.0% Motor torque.
See par.
46.03
DC voltage
Measured DC link voltage.
0.00 2000.00 V
DC link voltage.
10 = 1 V
Output voltage
Calculated motor voltage in V AC.
0 2000 V
Motor voltage.
10 = 1 V
Parameters 159
No.
Name/Value
Description
Def/FbEq16
01.14
Output power
Drive output power. The unit is selected by parameter 96.16

Unit selection. A filter time constant for this signal can be
defined by parameter 46.14 Filter time power out.
-32768.00
32767.00 kW or hp
Output power.
1 = 1 unit
Output power % of
motor nom
Shows the value of 01.14 Output power in percent of the

nominal power of the motor.
-300.00 300.00%
Output power.
1 = 1%
Motor shaft power
Estimated mechanical power at motor shaft. The unit is

selected by parameter 96.16 Unit selection. A filter time
constant for this signal can be defined by parameter 46.14
Filter time power out.
-32768.00
32767.00 kW or hp
Motor shaft power.
1 = 1 unit
Inverter GWh
motoring
Amount of energy that has passed through the drive

(towards the motor) in full gigawatt-hours. The minimum
value is zero.
032767 GWh
Motoring energy in GWh.
1 = 1 GWh
Inverter MWh
motoring

(towards the motor) in full megawatt-hours. Whenever the
counter rolls over, 01.18 Inverter GWh motoring is
incremented.The minimum value is zero.
0999 MWh
Motoring energy in MWh.
1 = 1 MWh
Inverter kWh
motoring

(towards the motor) in full kilowatt-hours. Whenever the
counter rolls over, 01.19 Inverter MWh motoring is
0999 kWh
Motoring energy in kWh.
10 = 1 kWh
U-phase current
Measured U-phase current.
-30000.00
30000.00 A
U-phase current.
See par.
46.05
V-phase current
Measured V-phase current.
-30000.00
30000.00 A
V-phase current.
See par.
46.05
W-phase current
Measured W-phase current.
-30000.00
30000.00 A
W-phase current.
See par.
46.05
Flux actual %
Used flux reference in percent of nominal flux of motor.
0200%
Flux reference.
1 = 1%
Speed change rate
Rate of speed reference change after the speed ramp

generator.
See also parameters 31.32 Emergency ramp supervision,
31.33 Emergency ramp supervision delay, 31.37 Ramp stop
supervision and 31.38 Ramp stop supervision delay.
-15000 15000
rpm/s
Rate of speed change.
1 = 1 rpm/s
01.15
01.17
01.18
01.19
01.20
01.21
01.22
01.23
01.24
01.29
160 Parameters
No.
Name/Value
Description
Def/FbEq16
01.30
Nominal torque
scale
Torque that corresponds to 100% of nominal motor torque.

The unit is selected by parameter 96.16 Unit selection
Note: This value is copied from parameter 99.12 Motor
nominal torque if entered. Otherwise the value is calculated
from other motor data.
0.000 Nm or lbft
Nominal torque.
1 = 100 unit
Ambient
temperature
Measured temperature of incoming cooling air. The unit is

selected by parameter 96.16 Unit selection.
-32768 32767 C
or F
Cooling air temperature.
1 = 1
Inverter GWh
regenerating

(towards the supply) in full gigawatt-hours. The minimum
value is zero.
032767 GWh
1 = 1 GWh
Inverter MWh
regenerating

(towards the supply) in full megawatt-hours. Whenever the
counter rolls over, 01.32 Inverter GWh regenerating is
0999 MWh
1 = 1 MWh
Inverter kWh
regenerating

(towards the supply) in full kilowatt-hours. Whenever the
counter rolls over, 01.33 Inverter MWh regenerating is
0999 kWh
10 = 1 kWh
Mot - regen energy

GWh
Amount of net energy (motoring energy - regenerating

energy) that has passed through the drive in full gigawatthours.
-3276832767
GWh
1 = 1 GWh
Mot - regen energy

MWh
Amount of net energy (motoring energy - regenerating

energy) that has passed through the drive in full megawatthours. Whenever the counter rolls over, 01.35 Mot - regen
energy GWh is incremented or decremented.
-999999 MWh
1 = 1 MWh
Mot - regen energy

kWh
Amount of energy (motoring energy - regenerating energy)

that has passed through the drive in full kilowatt-hours.
Whenever the counter rolls over, 01.36 Mot - regen energy
MWh is incremented or decremented.
-999999 kWh
10 = 1 kWh
Abs motor speed

used
Absolute value of 01.01 Motor speed used.
0.00 30000.00
rpm
See par.
46.01
Abs motor speed %
Absolute value of 01.03 Motor speed %.
0.00 1000.00%
See par.
46.01
Abs output
frequency
Absolute value of 01.06 Output frequency.
0.00 500.00 Hz
Estimated output frequency.
See par.
46.02
01.31
01.32
01.33
01.34
01.35
01.36
01.37
01.61
01.62
01.63
Parameters 161
No.
Name/Value
Description
Def/FbEq16
01.64
Abs motor torque
Absolute value of 01.10 Motor torque.
0.0 1600.0%
Motor torque.
See par.
46.03
Abs output power
Absolute value of 01.14 Output power.
0.00 32767.00
kW or hp
Output power.
1 = 1 unit
Abs output power %

motor nom
Absolute value of 01.15 Output power % of motor nom.
0.00 300.00%
Output power.
1 = 1%
Abs motor shaft

power
Absolute value of 01.17 Motor shaft power.
0.00 32767.00
kW or hp
Motor shaft power.
1 = 1 unit
01.65
01.66
01.68
03
03 Input references
Values of references received from various sources.

noted.
03.01
Panel reference
Local reference given from the control panel or PC tool.
-100000.00
100000.00
Control panel or PC tool reference.
1 = 10
Panel reference 2
Remote reference given from the control panel or PC tool.
-30000.00
30000.00
Remote control panel or PC tool reference.
1 = 10
FB A reference 1
Reference 1 received through fieldbus adapter A.

See also chapter Fieldbus control through a fieldbus adapter
(page 631).
-100000.00
100000.00
Reference 1 from fieldbus adapter A.
1 = 10
FB A reference 2
Reference 2 received through fieldbus adapter A.
-100000.00
100000.00
Reference 2 from fieldbus adapter A.
1 = 10
FB B reference 1
Reference 1 received through fieldbus adapter B.
-100000.00
100000.00
Reference 1 from fieldbus adapter B.
1 = 10
FB B reference 2
Reference 2 received through fieldbus adapter B.
-100000.00
100000.00
Reference 2 from fieldbus adapter B.
1 = 10
EFB reference 1
Scaled reference 1 received through the embedded fieldbus

interface. The scaling is defined by 58.26 EFB ref1 type.
1 = 10
-30000.00
30000.00
Reference 1 received through the embedded fieldbus

interface.
1 = 10
EFB reference 2
Scaled reference 2 received through the embedded fieldbus

interface. The scaling is defined by 58.27 EFB ref2 type.
1 = 10
-30000.00
30000.00
Reference 2 received through the embedded fieldbus

interface.
1 = 10
03.02
03.05
03.06
03.07
03.08
03.09
03.10
162 Parameters
No.
Name/Value
Description
Def/FbEq16
03.11
DDCS controller ref

1
Reference 1 received from the external (DDCS) controller.

The value has been scaled according to parameter 60.60
DDCS controller ref1 type.
See also section External controller interface (page 81).
1 = 10
-30000.00
30000.00
Scaled reference 1 received from external controller.
1 = 10
DDCS controller ref

2
Reference 2 received from the external (DDCS) controller.

The value has been scaled according to parameter 60.61
DDCS controller ref2 type.
1 = 10
-30000.00
30000.00
Scaled reference 2 received from external controller.
1 = 10
M/F or D2D ref1
Master/follower reference 1 received from the master. The

value has been scaled according to parameter 60.10 M/F
ref1 type.
See also section Master/follower functionality (page 74).
1 = 10
-30000.00
30000.00
Scaled reference 1 received from master.
1 = 10
M/F or D2D ref2
Master/follower reference 2 received from the master. The

value has been scaled according to parameter 60.11 M/F
ref2 type.
1 = 10
-30000.00
30000.00
Scaled reference 2 received from master.
1 = 10
03.12
03.13
03.14
04
Information on warnings and faults that occurred last.

For explanations of individual warning and fault codes, see
chapter Fault tracing.
noted.
04.01
Tripping fault
Code of the 1st active fault (the fault that caused the current
trip).
0000hFFFFh
1st active fault.
1=1
Active fault 2
Code of the 2nd active fault.
0000hFFFFh
2nd active fault.
1=1
Active fault 3
Code of the 3rd active fault.
0000hFFFFh
3rd active fault.
1=1
Active fault 4
Code of the 4th active fault.
0000hFFFFh
4th active fault.
1=1
Active fault 5
Code of the 5th active fault.
0000hFFFFh
5th active fault.
1=1
Active warning 1
Code of the 1st active warning.
0000hFFFFh
1st active warning.
1=1
Active warning 2
Code of the 2nd active warning.
0000hFFFFh
2nd active warning.
1=1
Active warning 3
Code of the 3rd active warning.
0000hFFFFh
3rd active warning.
1=1
Active warning 4
Code of the 4th active warning.
0000hFFFFh
4th active warning.
1=1
04.02
04.03
04.04
04.05
04.06
04.07
04.08
04.09
Parameters 163
No.
Name/Value
Description
Def/FbEq16
04.10
Active warning 5
Code of the 5th active warning.
0000hFFFFh
5th active warning.
1=1
Latest fault
Code of the 1st stored (non-active) fault.
0000hFFFFh
1st stored fault.
1=1
2nd latest fault
Code of the 2nd stored (non-active) fault.
0000hFFFFh
2nd stored fault.
1=1
3rd latest fault
Code of the 3rd stored (non-active) fault.
0000hFFFFh
3rd stored fault.
1=1
4th latest fault
Code of the 4th stored (non-active) fault.
0000hFFFFh
4th stored fault.
1=1
5th latest fault
Code of the 5th stored (non-active) fault.
0000hFFFFh
5th stored fault.
1=1
Latest warning
Code of the 1st stored (non-active) warning.
0000hFFFFh
1st stored warning.
1=1
2nd latest warning
Code of the 2nd stored (non-active) warning.
0000hFFFFh
2nd stored warning.
1=1
3rd latest warning
Code of the 3rd stored (non-active) warning.
0000hFFFFh
3rd stored warning.
1=1
4th latest warning
Code of the 4th stored (non-active) warning.
0000hFFFFh
4th stored warning.
1=1
5th latest warning
Code of the 5th stored (non-active) warning.
0000hFFFFh
5th stored warning.
1=1
04.11
04.12
04.13
04.14
04.15
04.16
04.17
04.18
04.19
04.20
164 Parameters
No.
Name/Value
Description
Def/FbEq16
04.21
Fault word 1
ACS800-compatible fault word 1.

The bit assignments of this word correspond to FAULT
WORD 1 in the ACS800. Parameter 04.120 Fault/Warning
word compatibility determines whether the bit assignments
are according to the ACS800 Standard or ACS800 System
control program.
Each may indicate several ACS880 events as listed below.
This parameter is read-only.
0
1
2
3
4
5
6
ACS800 fault name

(04.120 = ACS800 (04.120 = ACS800
System ctrl
Standard ctrl
program)
program)
SHORT CIRC
SHORT CIRC
OVERCURRENT
OVERCURRENT
DC OVERVOLT
DC OVERVOLT
ACS800 TEMP
ACS800 TEMP
EARTH FAULT
EARTH FAULT
THERMISTOR
MOTOR TEMP M
MOTOR TEMP
MOTOR TEMP
SYSTEM_FAULT
8
9
10
11
12
13
14
15
UNDERLOAD
OVERFREQ
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Bit
0000hFFFFh
ACS880 events indicated by this bit

(see Fault tracing, page 565)
2340
2310
3210
2381, 4210, 4290, 42F1, 4310, 4380
2330, 2392, 3181
4981
4982
6481, 6487, 64A1, 64A2, 64A3, 64B1, 64E1,
SYSTEM_FAULT
6881, 6882, 6883, 6885
UNDERLOAD
OVERFREQ
7310
MPROT SWITCH 9081
CH2 COMM LOSS 7582
SC (INU1)
2340 (XXYY YY01)
SC (INU2)
2340 (XXYY YY02)
SC (INU3)
2340 (XXYY YY03)
SC (INU4)
2340 (XXYY YY04)
1=1
Parameters 165
No.
Name/Value
Description
Def/FbEq16
04.22
Fault word 2

The bit assignments of this word correspond to FAULT
control program.
Each may indicate several ACS880 events as listed below.
0
1
2
3
4
5
6
7
8
9
10
ACS800 fault name

(04.120 = ACS800 (04.120 = ACS800
System ctrl
Standard ctrl
program)
program)
SUPPLY PHASE
SUPPLY PHASE
NO MOT DATA
NO MOTOR DATA
DC UNDERVOLT
DC UNDERVOLT
Reserved
CABLE TEMP
RUN ENABLE
RUN DISABLE
ENCODER ERR
ENCODER ERR
I/O COMM
IO COMM ERR
CTRL B TEMP
CTRL B TEMP
EXTERNAL FLT
SELECTABLE
OVER SWFREQ
OVER SWFREQ
AI < MIN FUNC
AI<MIN FUNC
11
PPCC LINK
PPCC LINK
12
13
14
15
COMM MODULE
PANEL LOSS
MOTOR STALL
MOTOR PHASE
COMM MODULE
PANEL LOSS
MOTOR STALL
MOTOR PHASE
Bit
0000hFFFFh

3130
3220
4000
AFEB
7301, 7380, 7381, 73A0, 73A1
7080, 7082
9082
80A0
5681, 5682, 5690, 5691, 5692, 5693, 5694,
5695
6681, 7510, 7520, 7581
7081
7121
3381
1=1
166 Parameters
No.
Name/Value
Description
Def/FbEq16
04.31
Warning word 1
ACS800-compatible warning (alarm) word 1.

The bit assignments of this word correspond to ALARM
word compatibility determines whether the assignments are
according to the ACS800 Standard or ACS800 System
control program.
Each may indicate several ACS880 warnings as listed
below.
Bit
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
ACS800 alarm name

(04.120 = ACS800 (04.120 = ACS800
System ctrl
Standard ctrl
program)
program)
START INHIBIT
START INHIBI
Reserved
EM STOP
THERMISTOR
MOTOR TEMP M
MOTOR TEMP
MOTOR TEMP
ACS800 TEMP
ACS800 TEMP
ENCODER ERR
ENCODER ERR
T MEAS ALM
T MEAS CIRC
Reserved
DIGITAL IO
Reserved
ANALOG IO
Reserved
EXT DIGITAL IO
Reserved
EXT ANALOG IO
Reserved
CH2 COMM LOSS
COMM MODULE
MPROT SWITCH
Reserved
EM STOP DEC
EARTH FAULT
EARTH FAULT
Reserved
SAFETY SWITC
0000hFFFFh

B5A0
AFE1, AFE2
A491
A492
A2BA, A4A1, A4A9, A4B0, A4B1, A4F6
A797, A7B0, A7B1, A7E1
A490, A5EA, A782, A8A0
A6E5, A7AA, A7AB
A7CB, AF80
A981
A2B3
A983
1=1
Parameters 167
No.
Name/Value
Description
Def/FbEq16
04.32
Warning word 2

The bit assignments of this word correspond to ALARM
control program.
Each may indicate several ACS880 warnings as listed
below.
Bit
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
04.40
ACS800 alarm name

(04.120 = ACS800 (04.120 = ACS800
System ctrl
Standard ctrl
program)
program)
Reserved
MOTOR FAN
UNDERLOAD
UNDERLOAD
Reserved
INV OVERLOAD
Reserved
CABLE TEMP
ENCODER
ENCODER A<>B
Reserved
FAN OVERTEMP
Reserved
Reserved
POWFAIL FILE
POWFAIL FILE
ALM (OS_17)
POWDOWN FILE
MOTOR STALL
MOTOR STALL
AI < MIN FUNC
AI<MIN FUNC
Reserved
COMM MODULE
Reserved
BATT FAILURE
PANEL LOSS
PANEL LOSS
Reserved
DC UNDERVOLT
Reserved
RESTARTED

A781
A480
A984
A780
A8A0
A6D1, A6D2, A7C1, A7C2, A7CA, A7CE
A7EE
A3A2
-
0000hFFFFh
1=1
Event word 1
User-defined event word. This word collects the status of the

events (warnings, faults or pure events) selected by
parameters 04.4104.72.
For each event, an auxiliary code can optionally be specified
for filtering.
Bit
0
1
15
Name
User bit 0
User bit 1
User bit 15
0000hFFFFh
Description
1 = Event selected by parameters 04.41 (and 04.42) is active
User-defined event word.
1=1
168 Parameters
No.
Name/Value
Description
Def/FbEq16
04.41
Event word 1 bit 0

code
Selects the hexadecimal code of an event (warning, fault or

pure event) whose status is shown as bit 0 of 04.40 Event
word 1. The event codes are listed in chapter Fault tracing
(page 435).
0000h
0000hFFFFh
Code of event.
1=1
Event word 1 bit 0

aux code
Specifies an auxiliary code for the event selected by the

previous parameter. The selected event is indicated by the
event word only if its auxiliary code matches the value of this
parameter.
With a value of 0000 0000h, the event word will indicate the
event regardless of the auxiliary code.
0000 0000h
0000 0000h
FFFF FFFFh
Code of warning, fault or pure event.
1=1
Event word 1 bit 1

code

(page 435).
0000h
0000hFFFFh
Code of event.
1=1
Event word 1 bit 1

aux code

parameter.
0000 0000h
0000 0000h
FFFF FFFFh
1=1
04.71
Event word 1 bit 15

code

(page 435).
0000h
0000hFFFFh
Code of event.
1=1
Event word 1 bit 15

aux code

parameter.
0000 0000h
0000 0000h
FFFF FFFFh
1=1
Fault/Warning word
compatibility
Selects whether the bit assignments of parameters

04.2104.32 correspond to the ACS800 Standard control
program or the ACS800 System control program.
False
ACS800 Standard
ctrl program
The bit assignments of parameters 04.2104.32

correspond to the ACS800 Standard control program as
follows:
04.21 Fault word 1: 03.05 FAULT WORD 1
04.31 Warning word 1: 03.08 ALARM WORD 1
04.42
04.43
04.44
04.72
04.120
Parameters 169
No.
Name/Value
Description
Def/FbEq16
ACS800 System ctrl

program
The bit assignments of parameters 04.2104.32

correspond to the ACS800 System control program as
follows:
05
05 Diagnostics
Various run-time-type counters and measurements related

to drive maintenance.
noted.
05.01
On-time counter
On-time counter. The counter runs when the drive is

powered.
065535 d
On-time counter.
1=1d
Run-time counter
Motor run-time counter. The counter runs when the inverter

modulates.
065535 d
Motor run-time counter.
1=1d
05.02
05.04
05.11
05.22
Fan on-time counter Running time of the drive cooling fan. Can be reset from the
control panel by keeping Reset depressed for over 3
seconds.
065535 d
Cooling fan run-time counter.
1=1d
Inverter
temperature
Estimated drive temperature in percent of fault limit. The

actual trip temperature varies according to the type of the
drive.
0.0% = 0 C (32 F)
94% approx. = Warning limit
100.0% = Fault limit
-40.0 160.0%
Drive temperature in percent.
1 = 1%
Diagnostic word 3
Diagnostic word 3.
Bit
010
11
1215
05.41
Name
Reserved
Fan command
Reserved
Value
1 = Drive fan is rotating above idle speed
0000hFFFFh
Diagnostic word 3.
1=1
Main fan service

counter
Displays the age of the main cooling fan as a percentage of

its estimated lifetime. The estimate is based on the duty,
operating conditions and other operating parameters of the
fan. When the counter reaches 100%, a warning (A8C0 Fan
service counter) is generated.
Can be reset from the control panel by keeping Reset
depressed for over 3 seconds.
0150%
Main cooling fan age.
1 = 1%
170 Parameters
No.
Name/Value
Description
Def/FbEq16
05.42
Aux. fan service

counter
Displays the age of the auxiliary cooling fan as a percentage

of its estimated lifetime. The estimate is based on the duty,
operating conditions and other operating parameters of the
fan. When the counter reaches 100%, a warning (A8C0 Fan
service counter) is generated.
0150%
Auxiliary cooling fan age.
1 = 1%
06
06 Control and status

words
Drive control and status words.
06.01
Main control word
The main control word of the drive. This parameter shows

the control signals as received from the selected sources
(such as digital inputs, the fieldbus interface and the
application program).
The bit assignments of the word are as described on page
637. The related status word and state diagram are
presented on pages 638 and 639 respectively.
Note: Bits 1215 can be used to carry additional control
data, and used as a signal source by any binary-source
selector parameter.
0000hFFFFh
Main control word.
1=1
Application control
word
The drive control word received from the application

program (if any). The bit assignments are described on page
637.
0000hFFFFh
Application program control word.
1=1
FBA A transparent
control word
Displays the unaltered control word received from the PLC

through fieldbus adapter A when a transparent
communication profile is selected eg. by parameter group 51
FBA A settings. See section Control word and Status word
(page 536).
00000000h
FFFFFFFFh
Control word received through fieldbus adapter A.
FBA B transparent
control word

through fieldbus adapter B when a transparent
communication profile is selected eg. by parameter group 54
FBA B settings. See section Control word and Status word
(page 536).
00000000h
FFFFFFFFh
Control word received through fieldbus adapter B.
1=1
EFB transparent
control word

through the embedded fieldbus interface when a transparent
communication profile is selected in parameter 58.25
Control profile. See section The Transparent profile (page
526).
00000000h
FFFFFFFFh
Control word received through the embedded fieldbus

interface.
1=1
06.02
06.03
06.04
06.05
Parameters 171
No.
Name/Value
Description
Def/FbEq16
06.11
Main status word
Main status word of the drive.

The bit assignments are described on page 638. The related
control word and state diagram are presented on pages 637
and 639 respectively.
0000hFFFFh
Main status word.
1=1
Drive status word 1
Drive status word 1.

06.16
Bit
0
Name
Enabled
Description
1 = Both run enable (see par. 20.12) and start enable (20.19) signals are
present. Note: This bit is not affected by the presence of a fault.
1
Inhibited
1 = Start inhibited. See parameters 06.18 and 06.25 for the source of the
inhibiting signal.
2
DC charged 1 = DC circuit has been charged
3
Ready to
1 = Drive is ready to receive a start command
start
4
Following
1 = Drive is ready to follow given reference
reference
5
Started
1 = Drive has been started
6
Modulating 1 = Drive is modulating (output stage is being controlled)
7
Limiting
1 = Any operating limit (speed, torque, etc.) is active
8
Local control 1 = Drive is in local control
9
Network ctrl 1 = Drive is in network control (see page 16)
10
Ext1 active 1 = Control location EXT1 active
11
Ext2 active 1 = Control location EXT2 active
12
Reserved
13
Start request 1 = Start requested
1415 Reserved
0000hFFFFh
1=1
172 Parameters
No.
Name/Value
Description
Def/FbEq16
06.17
Drive status word 2

Bit
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Name
Identification run done
Magnetized
Torque control
Speed control
Power control
Safe reference active
Description
1 = Motor identification (ID) run has been performed
1 = The motor has been magnetized
1 = Torque control mode active
1 = Speed control mode active
1 = Power control mode active
1 = A safe reference is being applied by functions such as
parameters 49.05 and 50.02
Last speed active
1 = A last speed reference is being applied by functions such as
parameters 49.05 and 50.02
Loss of reference
1 = Reference signal lost
Emergency stop failed 1 = Emergency stop failed (see parameters 31.32 and 31.33)
Jogging active
1 = Jogging enable signal is on
Above limit
1 = Actual speed, frequency or torque equals or exceeds limit
(defined by parameters 46.3146.33). Valid in both directions of
rotation.
Emergency stop active 1 = An emergency stop command signal is active, or the drive is
stopping after receiving an emergency stop command.
Reduced run
1 = Reduced run active (see section Reduced run function on page
133)
Reserved
Stop failed
1 = Stopping failed (see parameters 31.37 and 31.38)
Reserved
0000hFFFFh
1=1
Parameters 173
No.
Name/Value
Description
06.18
Start inhibit status

word
Start inhibit status word. This word specifies the source of

the inhibiting signal that is preventing the drive from starting.
The conditions marked with an asterisk (*) only require that
the start command is cycled. In all other instances, the
inhibiting condition must be removed first.
See also parameter 06.25 Drive inhibit status word 2, and
06.16 Drive status word 1, bit 1.
Bit
0
Name
Not ready run
1
2
3
4
5
6
7
8
Ctrl location changed

SSW inhibit
Fault reset
Lost start enable
Lost run enable
FSO inhibit
STO
Current calibration
ended
ID run ended
Auto phase ended
Em Off1
Em Off2
Em Off3
Auto reset inhibit
Jogging active
9
10
11
12
13
14
15
0000hFFFFh
Def/FbEq16
Description
1 = DC voltage is missing or drive has not been parametrized
correctly. Check the parameters in groups 95 and 99.
* 1 = Control location has changed
1 = Control program is keeping itself in inhibited state
* 1 = A fault has been reset
1 = Start enable signal missing
1 = Run enable signal missing
1 = Operation prevented by FSO-xx safety functions module
1 = Safe torque off active
* 1 = Current calibration routine has finished
* 1 = Motor identification run has finished
* 1 = Autophasing routine has finished
1 = Emergency stop signal (mode off1)
1 = The autoreset function is inhibiting operation
1 = The jogging enable signal is inhibiting operation
Start inhibit status word.
1=1
174 Parameters
No.
Name/Value
Description
Def/FbEq16
06.19
Speed control
status word
Speed control status word.

Bit
0
Description
1 = Drive is running at zero speed
1 = Drive is running in forward direction above zero speed limit
1
Forward
(par. 21.06)
1 = Drive is running in reverse direction above zero speed limit
2
Reverse
(par. 21.06)
3
Out of window
1 = Speed error window control active (see par. 24.41)
1 = Estimated speed feedback used in motor control, ie.
estimated speed is selected by par. 90.41 or 90.46, or selected
4
Internal speed feedback encoder has faulted (par. 90.45)
0 = Encoder 1 or 2 is used for speed feedback.
1 = Encoder 1 used for speed feedback in motor control
5
Encoder 1 feedback
0 = Encoder 1 faulted or not selected as source of speed
feedback (see par. 90.41 and 90.46)
1 = Encoder 2 used for speed feedback in motor control
6
Encoder 2 feedback
0 = Encoder 2 faulted or not selected as source of speed
feedback (see par. 90.41 and 90.46)
Any constant speed
1 = A constant speed or frequency has been selected; see par.
7
request
06.20.
Follower speed corr min 1 = Minimum limit of speed correction (in a speed-controlled
8
lim
follower) has been reached (see par. 23.3923.41).
Follower speed corr max 1 = Maximum limit of speed correction (in a speed-controlled
9
lim
follower) has been reached (see par. 23.3923.41).
1015 Reserved
06.20
Name
Zero speed
0000hFFFFh
Speed control status word.
1=1
Constant speed
status word
Constant speed/frequency status word. Indicates which

constant speed or frequency is active (if any). See also
parameter 06.19 Speed control status word, bit 7, and
section Constant speeds/frequencies (page 86).
Bit
0
1
2
3
4
5
6
715
Name
Constant speed 1
Constant speed 2
Constant speed 3
Constant speed 4
Constant speed 5
Constant speed 6
Constant speed 7
Reserved
0000hFFFFh
Description
1 = Constant speed or frequency 1 selected
Constant speed/frequency status word.
1=1
Parameters 175
No.
Name/Value
Description
Def/FbEq16
06.21
Drive status word 3
Constant speed/frequency status word. Indicates which

constant speed or frequency is active (if any). See also
parameter 06.19 Speed control status word, bit 7, and
section Constant speeds/frequencies (page 86).
Bit
0
1
2
3
415
06.25
06.30
06.31
Description
1 = DC hold is active (see par. 21.08)
1 = Post-magnetizing is active (see par. 21.08)
1 = Motor pre-heating is active (see par 21.08)
Reserved.
0000hFFFFh
Constant speed/frequency status word.
Drive inhibit status

word 2
Drive inhibit status word 2. This word specifies the source of the inhibiting signal that is preventing the drive from starting.
See also parameter 06.18 Start inhibit status word, and
06.16 Drive status word 1, bit 1.
Bit
0
1
215
06.29
Name
DC hold active
Post-magnetizing active
Motor pre-heating active
PM smooth start active
Reserved
Name
Follower drive
Application
Reserved
1=1
Description
1 = A follower drive is preventing the master from starting.
1 = The application program is preventing the drive from starting.
0000hFFFFh
Start inhibit status word.
1=1
MSW bit 10 sel
Selects a binary source whose status is transmitted as bit 10

of 06.11 Main status word.
Above limit
False
0.
True
1.
Above limit
Bit 10 of 06.17 Drive status word 2 (see page 172).
Other [bit]
Source selection (see Terms and abbreviations on page

154).
MSW bit 11 sel

Ext ctrl loc
False
0.
True
1.
Ext ctrl loc
Bit 11 of 06.01 Main control word (see page 170).
Other [bit]

154).
MSW bit 12 sel

Ext run
enable
False
0.
True
1.
Ext run enable
Inverted bit 5 of 06.18 Start inhibit status word (see page

173).
176 Parameters
No.
06.32
06.33
06.36
Name/Value
Description
Def/FbEq16
Other [bit]

154).
MSW bit 13 sel

False
False
0.
True
1.
Other [bit]

154).
MSW bit 14 sel

False
False
0.
True
1.
Other [bit]

154).
LSU Status Word
(Only visible with a BCU control unit)

Shows the status of the supply unit.
See also section Control of a supply unit (LSU) on page 83),
and parameter group 60 DDCS communication.
Bit
0
1
2
3
46
7
8
9
Name
Ready on
Ready run
Ready ref
Tripped
Reserved
Alarm
Modulating
Remote
10
Net ok
1112 Reserved
13
Charging or
ready run
14
Charging
15
Description
1 = Ready to switch on
1 = Ready to operate, DC link charged
1 = Operation enabled
1 = A fault is active
1 = A warning is active
1 = The supply unit is modulating
1 = Remote control (EXT1 or EXT2)
0 = Local control
1 = Supply network voltage OK
1 = Bit 1 or bit 14 active
1 = Charging contactor closed
0 = Charging contactor open
Reserved
0000hFFFFh
Supply unit status word.
1=1
Parameters 177
No.
Name/Value
Description
06.39
Internal state
machine LSU CW

Shows the control word sent to the supply unit from the INULSU (inverter unit/supply unit) state machine.
06.40
06.41
06.42
Bit
0
Name
ON/OFF
1
2
3
OFF 2
OFF 3
START
46
7
811
12
13
14
15
Reserved
RESET
Reserved
USER BIT 0
USER BIT 1
USER BIT 2
USER BIT 3
Def/FbEq16
Description
1 = Start charging
0 = Open main contactor (switch power off)
0 = Emergency stop (Off2)
0 = Emergency stop (Off3)
1 = Start modulating
0 = Stop modulating
0 -> 1 = Reset an active fault. A fresh start command is required after reset.
See parameter 06.40 LSU CW user bit 0 selection.
0000hFFFFh
Supply unit control word.
1=1
LSU CW user bit 0

selection

of 06.39 Internal state machine LSU CW to the supply unit.
MCW user
bit 0
False
0.
True
1.
MCW user bit 0
MCW user bit 1
MCW user bit 2
MCW user bit 3
Other [bit]

154).
LSU CW user bit 1

selection

MCW user
bit 1
False
0.
True
1.
MCW user bit 0
MCW user bit 1
MCW user bit 2
MCW user bit 3
Other [bit]

154).
LSU CW user bit 2

selection

MCW user
bit 2
False
0.
178 Parameters
No.
06.43
06.45
06.46
Name/Value
Description
Def/FbEq16
True
1.
MCW user bit 0
MCW user bit 1
MCW user bit 2
MCW user bit 3
Other [bit]

154).
LSU CW user bit 3

selection

MCW user
bit 3
False
0.
True
1.
MCW user bit 0
MCW user bit 1
MCW user bit 2
MCW user bit 3
Other [bit]
Source selection (see Terms and abbreviations on

page 154).
Follower CW user
bit 0 selection

of the Follower control word to follower drives. (Bits 011 of
the Follower control word are taken from 06.01 Main control
word.)
MCW user
bit 0
False
0.
True
1.
MCW user bit 0
MCW user bit 1
MCW user bit 2
MCW user bit 3
Other [bit]

page 154).
Follower CW user
bit 1 selection

word.)
MCW user
bit 1
False
0.
True
1.
MCW user bit 0
MCW user bit 1
MCW user bit 2
MCW user bit 3
Other [bit]

page 154).
Parameters 179
No.
Name/Value
Description
Def/FbEq16
06.47
Follower CW user
bit 2 selection

word.)
MCW user
bit 2
False
0.
True
1.
MCW user bit 0
MCW user bit 1
MCW user bit 2
MCW user bit 3
Other [bit]

page 154).
Follower CW user
bit 3 selection

word.)
MCW user
bit 3
False
0.
True
1.
MCW user bit 0
MCW user bit 1
MCW user bit 2
MCW user bit 3
Other [bit]

154).
User status word 1
User-defined status word. This word shows the status of the

binary sources selected by parameters 06.6006.75.
06.48
06.50
Bit
0
1
15
06.60
06.61
Name
User status bit 0
User status bit 1
User status bit 15
Description
Status of source selected by parameter 06.60
0000hFFFFh
User-defined status word.
1=1
User status word 1

bit 0 sel
Selects a binary source whose status is shown as bit 0 of

06.50 User status word 1.
False
False
0.
True
1.
Other [bit]

page 154).
User status word 1

bit 1 sel

Out of
window
False
0.
True
1.
Out of window
Bit 3 of 06.19 Speed control status word (see page 174).
180 Parameters
No.
06.62
06.63
06.64
06.65
06.66
06.67
Name/Value
Description
Def/FbEq16
Other [bit]

154).
User status word 1

bit 2 sel

Emergency
stop failed
False
0.
True
1.
Emergency stop
failed
Other [bit]

page 154).
User status word 1

bit 3 sel

Magnetized
False
0.
True
1.
Magnetized
Other [bit]

page 154).
User status word 1

bit 4 sel

Run disable
False
0.
True
1.
Run disable
Bit 5 of 06.18 Start inhibit status word (see page 173).
Other [bit]

page 154).
User status word 1

bit 5 sel

False
False
0.
True
1.
Other [bit]

154).
User status word 1

bit 6 sel

False
False
0.
True
1.
Other [bit]

page 154).
User status word 1

bit 7 sel

Identification
run done
False
0.
True
1.
Identification run
done
Other [bit]

page 154).
Parameters 181
No.
Name/Value
Description
Def/FbEq16
06.68
User status word 1

bit 8 sel

Start
inhibition
False
0.
True
1.
Start inhibition
Bit 7 of 06.18 Start inhibit status word (see page 173).
Other [bit]

page 154).
User status word 1

bit 9 sel

Limiting
False
0.
True
1.
Limiting
Other [bit]

page 154).
User status word 1

bit 10 sel

Torque
control
False
0.
True
1.
Torque control
Other [bit]

page 154).
User status word 1

bit 11 sel

Zero speed
False
0.
True
1.
Zero speed
Other [bit]

page 154).
User status word 1

bit 12 sel

Internal
speed
feedback
False
0.
True
1.
Internal speed
feedback
Other [bit]

page 154).
User status word 1

bit 13 sel

False
False
0.
True
1.
Other [bit]

page 154).
User status word 1

bit 14 sel

False
False
0.
06.69
06.70
06.71
06.72
06.73
06.74
182 Parameters
No.
06.75
06.100
Name/Value
Description
Def/FbEq16
True
1.
Other [bit]

page 154).
User status word 1

bit 15 sel

False
False
0.
True
1.
Other [bit]

page 154).
User control word 1
User-defined control word 1.
Bit
0
1
15
06.101
Name
User control word 1 bit 0
Description
User-defined bit.
User-defined bit.
User-defined bit.
0000hFFFFh
1=1
User control word 2
Bit
0
1
15
Name
0000hFFFFh
07
Description
User-defined bit.
User-defined bit.
User-defined bit.
1=1
07 System info
Drive hardware and firmware information.

All parameters in this group are read-only.
07.03
Drive rating id
Type of the drive/inverter unit.
07.04
Firmware name
Firmware identification.
07.05
Firmware version
Version number of the firmware.
07.06
Loading package
name
Name of the firmware loading package.
07.07
Loading package
version
Version number of the firmware loading package.
07.08
Bootloader version
Version number of the firmware bootloader.
07.11
Cpu usage
Microprocessor load in percent.
0100%
Microprocessor load.
1 = 1%
PU logic version
number
Version number of the power unit logic.
07.13
Parameters 183
No.
Name/Value
Description
Def/FbEq16
07.21
Application
environment
status 1
Shows which tasks of the application program are running.

See the Drive (IEC 61131-3) application programming
manual (3AUA0000127808 [English])
Bit
0
1
2
3
414
15
07.22
Name
Pre task
Appl task1
Appl task2
Appl task3
Reserved
Task monitoring
Description
1 = Pre-task running.
1 = Task 1 running.
1 = Task 2 running.
1 = Task 3 running.
1 = Task monitoring enabled.
0000hFFFFh
Application program task status.
Application
environment
status 2
Shows the status of the openings in the application program. See the Drive (IEC 61131-3) application programming
manual (3AUA0000127808 [English]).
Bit
0
1
15
Name
Opening1
Opening2
Opening16
1=1
Description
Status of opening 1 in the application program.
0000hFFFFh
Application program opening status.
1=1
07.23
Application name
First five ASCII letters of the name given to the application

program in the programming tool. The full name is visible
under System info on the control panel or the Drive
composer PC tool.
_N/A_ = None.
07.24
Application version
Application program version number given to the application

program in the programming tool. Also visible under System
info on the control panel or the Drive composer PC tool.
07.25
Customization
package name
First five ASCII letters of the name given to the

customization package. The full name is visible under
System info on the control panel or the Drive composer PC
tool.
_N/A_ = None.
07.26
Customization
package version
Customization package version number. Also visible under

System info on the control panel or the Drive composer PC
tool.
184 Parameters
No.
Name/Value
Description
Def/FbEq16
07.30
Adaptive program
status
Shows the status of the adaptive program.

See section Adaptive programming (page 67).
Bit
0
1
2
3
413
14
15
Name
Initialized
Editing
Edit done
Running
Reserved
State changing
Faulted
0000hFFFFh
09
Description
1 = Adaptive program initialized
1 = Adaptive program is being edited
1 = Editing of adaptive program finished
1 = Adaptive program running
1 = State change in progress in adaptive programming engine
1 = Error in adaptive program
Adaptive program status.
09 Winder actual
signals
Actual signals of the winder control program.
09.01
Winder status word
Winder status word
0b0000
Bit
Name
Description
Roll end
0 = Partial roll
1 = Roll diameter equals full roll
Unwinding
0 = Wind mode is activated

1 = Unwind mode is activated
Motor direction negative
0 = Speed reference is not reversed

1 = Speed reference is reversed
Torque reference negative
0 = Torque reference positive

1 = Torque reference negative
Torque memory active
0 = Torque memory is not active

1 = Torque memory is activated
Winder stall active
0 = Stall tension is not active

1 = Stall tension is activated
PID controller is ON
0 = PID controller off

1 = PID controller on
Web loss detected
0 = No web loss detected

1 = Web loss detected
Diameter hold active
0 = Diameter hold is not active

1 = Diameter hold is activated
Threading now
0 = Line speed reference is not active

1 = Line speed reference is activated
10
Tension is ON
0 = Tension control is not active

1 = Tension control is activated
11...14
Reserved
15
Simulation mode active
0b0000 0b111111
Winder status word
1=1
0 = Simulation mode is not active

1 = Simulation mode activated
1=1
Parameters 185
No.
Name/Value
Description
Def/FbEq16
09.02
Drive control state
Displays drive operation status.
DRIVE_NOT
_ READY
DRIVE_NOT_
READY
Drive is not ready for operation.
ID_RUN_UNDONE
Motor identification (ID) run has not bee performed.
DRIVE_STOPPED
Drive is stopped.
FAULT_ACTIVE
A fault is active.
LOCAL_CONTROL
Drive is in Local control.
JOG_MODE
Jogging enable signal is On.
EXT1_RUNNING
Control location EXT1 is active.
EXT2_RUNNING
Control location EXT2 is active.
STOPPING
Drive is stopping.
EM_STOP_ACTIVE An emergency stop command signal is active, or the drive is

stopping after receiving an emergency stop command.
09.03
09.11
09.12
09.13
09.14
09.21
09.25
09.31
Actual tension ctrl

mode
Displays the active tension control mode.
Open loop
Stopped
Tension/dancer control not active.
Open loop
Open loop tension control active.
Ten torq trim
Tension control with torque trim active.
Ten spd trim
Tension control with speed trim active.
Dan spd trim
Dancer control with speed trim active.
Actual diameter
Displays the actual filtered diameter.
0.032767.0 mm
Actual filtered diameter.
Actual diameter %
Displays the actual diameter in percent of the full roll.
0.00100.00%
Actual diameter in percent of the full roll.
Diameter ratio
Displays the ratio of the actual diameter to the core.
0.0000 1.00000
Ratio of the actual diameter to the core.
Diameter ratio
inversed
Displays the diameter ratio inversed.
1.00 100.00
Inversed ratio of the actual diameter to the core.
Estimated length
Displays the total length of the material wound on the roll

estimated from the actual diameter with regard to the
defined material properties (in parameter group 74
Application setup).
0.0 100000.0 m
Estimated length.
Roll estimated
weight
Displays the total weight of the material wound on the roll

estimated from the actual diameter with regard to the
defined material properties (in parameter group 74
Application setup).
0.0 32767.0 kg
Estimated roll weight.
Actual tension
Displays the actual tension.
0.032767.0 N
Actual tension.
0.0 mm
10 = 1 mm
0.00%
100 = 1%
0.0000
10000 = 1
0.00
100 = 1
0.0 m
10 = 1 m
0.0 kg
10 = 1 kg
0.0 N
10 = 1 N
186 Parameters
No.
Name/Value
Description
09.36
Torque trim
Displays the torque reference correction term used in

Torque-trim tension control mode (parameter 77.02 Tension
control mode = Tension torque trim). The reference sign is
chosen automatically based on settings in parameters 74.05
Winding mode and 74.06 Motor direction.
-100.00 100.00%
Torque trim from the tension control.
Speed trim
Displays the speed reference correction term used for

Tension speed trim and Dancer speed trim control modes
set in parameter 77.02 Tension control mode. The control
program interprets the trimmed PI control output as motor
speed correction factor in rpm. The reference sign is chosen
automatically based on settings in parameters 74.05
Winding mode and 74.06 Motor direction.
-1000.0
1000.0 rpm
Speed reference correction term.
10 = 1 rpm
Load model torque

ref
Displays cumulative torque reference generated by the

application load model based on tension reference, effect of
estimated inertia and friction.
0.000 Nm
09.37
09.41
-32767.000...
32767.000 Nm
09.42
Tension torque
demand
09.44
100 = 1%
0.0 rpm
Displays torque reference component coming from currently

used tension reference.
0.000 Nm
1000 = 1 Nm
Friction
compensation
torque
Displays the frictional compensation torque (static +

dynamic).
-32767.000...
32767.000 Nm
Frictional compensation torque.
Inertia
compensation
torque
Displays the additional torque reference generated by the

inertia compensation function.
-32767.000...
32767.000 Nm
Additional torque reference.
10
0.00%
1000 = 1 Nm
-32767.000...
32767.000 Nm
09.43
Def/FbEq16
0.000 Nm
1000 = 1 Nm
0.000 Nm
1000 = 1 Nm
10 Standard DI, RO
Configuration of digital inputs and relay outputs.
10.01
DI status
Displays the electrical status of digital inputs DIIL and

DI6DI1. The activation/deactivation delays of the inputs (if
any are specified) are ignored.
Bits 05 reflect the status of DI1DI6; bit 15 reflects the
status of the DIIL input. Example: 1000000000010011b =
DIIL, DI5, DI2 and DI1 are on, DI3, DI4 and DI6 are off.
0000hFFFFh
Status of digital inputs.
1=1
DI delayed status
Displays the status of digital inputs DIIL and DI6DI1. This

word is updated only after activation/deactivation delays (if
any are specified).
Bits 05 reflect the delayed status of DI1DI6; bit 15
reflects the delayed status of the DIIL input.
0000hFFFFh
Delayed status of digital inputs.
1=1
10.02
Parameters 187
No.
Name/Value
Description
Def/FbEq16
10.03
DI force selection
The electrical statuses of the digital inputs can be overridden

for eg. testing purposes. A bit in parameter 10.04 DI force
data is provided for each digital input, and its value is applied
whenever the corresponding bit in this parameter is 1.
0000h
Bit
0
1
2
3
4
5
614
15
10.04
10.05
Value
1 = Force DI1 to value of bit 0 of parameter 10.04 DI force data.
Reserved
1 = Force DIL to value of bit 15 of parameter 10.04 DI force data.
0000hFFFFh
Override selection for digital inputs.
1=1
DI force data
Contains the values that the digital inputs are forced to when
selected by 10.03 DI force selection.
Bit 0 is the forced value for DI1; bit 15 is the forced value for
the DIIL input.
0000h
0000hFFFFh
Forced values of digital inputs.
1=1
DI1 ON delay
Defines the activation delay for digital input DI1.
0.0 s
1
*DI status
0
1
**Delayed DI status
0
Time
tOn
tOff
tOn
tOff
tOn = 10.05 DI1 ON delay

tOff = 10.06 DI1 OFF delay
*Electrical status of digital input. Indicated by 10.01 DI status.
**Indicated by 10.02 DI delayed status.
10.06
0.0 3000.0 s
Activation delay for DI1.
10 = 1 s
DI1 OFF delay
Defines the deactivation delay for digital input DI1. See

parameter 10.05 DI1 ON delay.
0.0 s
0.0 3000.0 s
Deactivation delay for DI1.
10 = 1 s
188 Parameters
No.
Name/Value
Description
Def/FbEq16
10.07
DI2 ON delay
0.0 s
1
*DI status
0
1
**Delayed DI status
0
Time
tOn
tOff
tOn
tOff

10.08
10.09
0.0 3000.0 s
10 = 1 s
DI2 OFF delay

0.0 s
0.0 3000.0 s
10 = 1 s
DI3 ON delay
0.0 s
1
*DI status
0
1
**Delayed DI status
0
Time
tOn
tOff
tOn
tOff

10.10
0.0 3000.0 s
10 = 1 s
DI3 OFF delay

0.0 s
0.0 3000.0 s
10 = 1 s
Parameters 189
No.
Name/Value
Description
Def/FbEq16
10.11
DI4 ON delay
0.0 s
1
*DI status
0
1
**Delayed DI status
0
Time
tOn
tOff
tOn
tOff

10.12
10.13
0.0 3000.0 s
10 = 1 s
DI4 OFF delay

0.0 s
0.0 3000.0 s
10 = 1 s
DI5 ON delay
0.0 s
1
*DI status
0
1
**Delayed DI status
0
Time
tOn
tOff
tOn
tOff

10.14
0.0 3000.0 s
10 = 1 s
DI5 OFF delay

0.0 s
0.0 3000.0 s
10 = 1 s
190 Parameters
No.
Name/Value
Description
Def/FbEq16
10.15
DI6 ON delay
0.0 s
1
*DI status
0
1
**Delayed DI status
0
Time
tOn
tOff
tOn
tOff

10.16
10.21
10.24
0.0 3000.0 s
10 = 1 s
DI6 OFF delay

0.0 s
0.0 3000.0 s
10 = 1 s
RO status
Status of relay outputs RO8RO1. Example: 00000001b =

RO1 is energized, RO2RO8 are de-energized.
0000hFFFFh
Status of relay outputs.
1=1
RO1 source
Selects a drive signal to be connected to relay output RO1.
Ready run
Not energized
Output is not energized.
Energized
Output is energized.
Ready run
Bit 1 of 06.11 Main status word (see page 171).
Enabled
Started
Magnetized
Running
Ready ref
At setpoint
Reverse
10
Zero speed
11
Above limit
12
Warning
13
Fault
14
Fault (-1)
Inverted bit 3 of 06.11 Main status word (see page 171).
15
Open brake
command
Bit 0 of 44.01 Brake control status (see page 356).
22
Ext2 active
23
Remote control
24
Supervision 1
Bit 0 of 32.01 Supervision status (see page 310).
33
Supervision 2
34
Supervision 3
35
Parameters 191
No.
10.25
Name/Value
Description
Def/FbEq16
RO/DIO control
word bit0
Bit 0 of 10.99 RO/DIO control word (see page 192).
40
RO/DIO control
word bit1
41
RO/DIO control
word bit2
42
RO/DIO control
word bit8
43
RO/DIO control
word bit9
44
Other [bit]

page 154).
RO1 ON delay
Defines the activation delay for relay output RO1.
0.0 s
1
Status of selected
source
0
1
RO status
0
Time
tOn
tOff
tOn
tOff
tOn = 10.25 RO1 ON delay

tOff = 10.26 RO1 OFF delay
0.0 3000.0 s
Activation delay for RO1.
10 = 1 s
RO1 OFF delay
Defines the deactivation delay for relay output RO1. See

parameter 10.25 RO1 ON delay.
0.0 s
0.0 3000.0 s
Deactivation delay for RO1.
10 = 1 s
10.27
RO2 source

For the available selections, see parameter 10.24 RO1
source.
Running
10.28
RO2 ON delay
0.0 s
10.26
Status of selected
source
0
1
RO status
0
Time
tOn
tOff
tOn
tOff

10.29
0.0 3000.0 s
10 = 1 s
RO2 OFF delay

0.0 s
0.0 3000.0 s
10 = 1 s
192 Parameters
No.
Name/Value
Description
Def/FbEq16
10.30
RO3 source

For the available selections, see parameter 10.24 RO1
source.
Fault (-1)
10.31
RO3 ON delay
0.0 s
1
Status of selected
source
0
1
RO status
0
Time
tOn
tOff
tOn
tOff

10.32
10.51
10.99
0.0 3000.0 s
10 = 1 s
RO3 OFF delay

0.0 s
0.0 3000.0 s
10 = 1 s
DI filter time
Defines a filtering time for parameter 10.01 DI status.
10.0 ms
0.3 100.0 ms
Filtering time for 10.01.
10 = 1 ms
RO/DIO control
word
Storage parameter for controlling the relay outputs and

digital input/outputs eg. through the embedded fieldbus
interface.
To control the relay outputs (RO) and the digital
input/outputs (DIO) of the drive, send a control word with the
bit assignments shown below as Modbus I/O data. Set the
target selection parameter of that particular data
(58.10158.124) to RO/DIO control word. In the source
selection parameter of the desired output, select the
appropriate bit of this word.
0000h
Bit
0
1
2
37
8
9
1015
Name
RO1
RO2
RO3
Reserved
DIO1
DIO2
Reserved
0000hFFFFh
Description
Source bits for relay outputs RO1RO3 (see parameters 10.24, 10.27 and
10.30).
Source bits for digital input/outputs DIO1DIO3 (see parameters 11.06

and 11.10).
RO/DIO control word.
1=1
Parameters 193
No.
Name/Value
11
Description
Def/FbEq16
Configuration of digital input/outputs and frequency

inputs/outputs.
11.01
DIO status
Displays the status of digital input/outputs DIO1 and DIO2.

The activation/deactivation delays (if any are specified) are
ignored.
Example: 0010 = DIO2 is on, DIO1 is off.
0000b0011b
Status of digital input/outputs.
1=1
DIO delayed status
Displays the delayed status of digital input/outputs DIO1 and

DIO2. This word is updated only after activation/deactivation
delays (if any are specified).
Example: 0010 = DIO2 is on, DIO1 is off.
0000b0011b
Delayed status of digital input/outputs.
1=1
DIO1 function
Selects whether DIO1 is used as a digital output or input, or

a frequency input.
Output
Output
DIO1 is used as a digital output.
Input
DIO1 is used as a digital input.
Frequency
DIO1 is used as a frequency input.
DIO1 output source
Selects a drive signal to be connected to digital input/output

DIO1 when parameter 11.05 DIO1 function is set to Output.
Ready run
Not energized
Output is off.
Energized
Output is on.
Ready run
Enabled
Started
Magnetized
Running
Ready ref
At setpoint
Reverse
10
Zero speed
11
Above limit
12
Warning
13
Fault
14
Fault (-1)
15
Open brake
command
22
Ext2 active
23
Remote control
24
Supervision 1
33
Supervision 2
34
Supervision 3
35
RO/DIO control
word bit0
40
11.02
11.05
11.06
194 Parameters
No.
11.07
Name/Value
Description
Def/FbEq16
RO/DIO control
word bit1
41
RO/DIO control
word bit2
42
RO/DIO control
word bit8
43
RO/DIO control
word bit9
44
Other [bit]

page 154).
DIO1 ON delay
Defines the activation delay for digital input/output DIO1

(when used as a digital output or digital input).
0.0 s
*DIO status
0
1
**Delayed DIO status
0
Time
tOn
tOff
tOn
tOff
tOn = 11.07 DIO1 ON delay

tOff = 11.08 DIO1 OFF delay
*Electrical status of DIO (in input mode) or status of selected source (in output mode). Indicated by 11.01 DIO
status.
**Indicated by 11.02 DIO delayed status.
11.08
11.09
11.10
0.0 3000.0 s
Activation delay for DIO1.
10 = 1 s
DIO1 OFF delay
Defines the deactivation delay for digital input/output DIO1

(when used as a digital output or digital input). See
parameter 11.07 DIO1 ON delay.
0.0 s
0.0 3000.0 s
Deactivation delay for DIO1.
10 = 1 s
DIO2 function
Selects whether DIO2 is used as a digital output or input, or

a frequency output.
Output
Output
Input
Frequency
DIO2 is used as a frequency output.
DIO2 output source

For the available selections, see parameter 11.06 DIO1
output source.
Running
Parameters 195
No.
Name/Value
Description
Def/FbEq16
11.11
DIO2 ON delay
Defines the activation delay for digital input/output DIO2

(when used as a digital output or digital input).
0.0 s
*DIO status
0
1
0
Time
tOn
tOff
tOn
tOff

status.
11.12
11.38
11.39
0.0 3000.0 s
10 = 1 s
DIO2 OFF delay
Defines the deactivation delay for digital input/output DIO2

(when used as a digital output or digital input). See
parameter 11.11 DIO2 ON delay.
0.0 s
0.0 3000.0 s
10 = 1 s
Freq in 1 actual
value
Displays the value of frequency input 1 (via DIO1 when it is

used as a frequency input) before scaling. See parameter
11.42 Freq in 1 min.
0 16000 Hz
Unscaled value of frequency input 1.
1 = 1 Hz
Freq in 1 scaled
Displays the value of frequency input 1 (via DIO1 when it is

used as a frequency input) after scaling. See parameter
11.42 Freq in 1 min.
-32768.000
32767.000
Scaled value of frequency input 1.
1=1
196 Parameters
No.
Name/Value
Description
Def/FbEq16
11.42
Freq in 1 min
Defines the minimum for the frequency actually arriving at

frequency input 1 (DIO1 when it is used as a frequency
input).
The incoming frequency signal (11.38 Freq in 1 actual value)
is scaled into an internal signal (11.39 Freq in 1 scaled) by
parameters 11.4211.45 as follows:
0 Hz
11.39
11.45
11.44
11.42
11.43
11.44
11.45
11.54
11.55
11.43
11.38
0 16000 Hz
Minimum frequency of frequency input 1 (DIO1).
1 = 1 Hz
Freq in 1 max
Defines the maximum for the frequency actually arriving at

frequency input 1 (DIO1 when it is used as a frequency
input). See parameter 11.42 Freq in 1 min.
16000 Hz
0 16000 Hz
Maximum frequency for frequency input 1 (DIO1).
1 = 1 Hz
Freq in 1 at scaled
min
Defines the value that is required to correspond internally to

the minimum input frequency defined by parameter 11.42
Freq in 1 min. See diagram at parameter 11.42 Freq in 1
min.
0.000
-32768.000
32767.000
Value corresponding to minimum of frequency input 1.
1=1
Freq in 1 at scaled
max
Defines the value that is required to correspond internally to

the maximum input frequency defined by parameter 11.43
Freq in 1 max. See diagram at parameter 11.42 Freq in 1
min.
1500.000
-32768.000
32767.000
Value corresponding to maximum of frequency input 1.
1=1
Freq out 1 actual

value
Displays the value of frequency output 1 after scaling. See

parameter 11.58 Freq out 1 src min.
0 16000 Hz
Value of frequency output 1.
1=1
Freq out 1 source
Selects a signal to be connected to frequency output 1.
Motor speed
used
Zero
None.
Motor speed used
01.01 Motor speed used (page 158).
Output frequency
01.06 Output frequency (page 158).
Motor current
01.07 Motor current (page 158).
Motor torque
01.10 Motor torque (page 158).
Parameters 197
No.
11.58
Name/Value
Description
Def/FbEq16
DC voltage
01.11 DC voltage (page 158).
Power inu out
01.14 Output power (page 159).
Speed ref ramp in
23.01 Speed ref ramp input (page 260).
10
Speed ref ramped
23.02 Speed ref ramp output (page 260).
11
Speed ref used
24.01 Used speed reference (page 266).
12
Torq ref used
26.02 Torque reference used (page 280).
13
Freq ref used
28.02 Frequency ref ramp output (page 287).
14
Process PID out
40.01 Process PID output actual (page 339).
16
Process PID fbk
40.02 Process PID feedback actual (page 339).
17
Process PID act
40.03 Process PID setpoint actual (page 340).
18
Process PID dev
40.04 Process PID deviation actual (page 340).
19
Other

page 154).
Freq out 1 src min
Defines the real value of the signal (selected by parameter

11.55 Freq out 1 source and shown by parameter 11.54 Freq
out 1 actual value) that corresponds to the minimum value of
frequency output 1 (defined by parameter 11.60 Freq out 1
at src min.
0.000
11.54
11.61
11.60
11.58
11.59
11.54
Signal (real)
selected by
par. 11.55
11.61
11.60
11.59
-32768.000
32767.000
11.58
Signal (real)
selected by
par. 11.55
Real signal value corresponding to minimum value of

frequency output 1.
1=1
198 Parameters
No.
Name/Value
Description
Def/FbEq16
11.59
Freq out 1 src max

11.55 Freq out 1 source and shown by parameter 11.54 Freq
out 1 actual value) that corresponds to the maximum value
of frequency output 1 (defined by parameter 11.61 Freq out
1 at src max). See parameter 11.58 Freq out 1 src min.
1500.000
-32768.000
32767.000
Real signal value corresponding to maximum value of

frequency output 1.
1=1
Freq out 1 at src

min
Defines the minimum value of frequency output 1. See

diagrams at parameter 11.58 Freq out 1 src min.
0 Hz
016000 Hz
Minimum value of frequency output 1.
1 = 1 Hz
Freq out 1 at src

max
Defines the maximum value of frequency output 1. See

diagrams at parameter 11.58 Freq out 1 src min.
16000 Hz
016000 Hz
Maximum value of frequency output 1.
1 = 1 Hz
11.60
11.61
12
12 Standard AI
Configuration of standard analog inputs.
12.01
AI tune
Triggers the analog input tuning function.

Connect the signal to the input and select the appropriate
tuning function.
No action
AI tune is not activated.
AI1 min tune
Current analog input AI1 signal value is set as minimum

value of AI1 into parameter 12.17 AI1 min. The value reverts
back to No action automatically.
AI1 max tune
Current analog input AI1 signal value is set as maximum

value of AI1 into parameter 12.18 AI1 max. The value
reverts back to No action automatically.
AI2 min tune
Current analog input AI2 signal value is set as minimum

value of AI2 into parameter 12.27 AI2 min. The value reverts
back to No action automatically.
AI2 max tune
Current analog input AI2 signal value is set as maximum

value of AI2 into parameter 12.28 AI2 max. The value
reverts back to No action automatically.
AI supervision
function
Selects how the drive reacts when an analog input signal

No action
moves out of the minimum and/or maximum limits specified
for the input.
The supervision applies a margin of 0.5 V or 1.0 mA to the
limits. For example, if the maximum limit for the input is
7.000 V, the maximum limit supervision activates at 7.500 V.
The inputs and the limits to be observed are selected by
parameter 12.04 AI supervision selection.
Note: Analog input signal supervision is only active when
the analog input is set as the source (using the AI1 scaled
or AI2 scaled selection) in parameter 22.11, 22.12, 22.15,
22.17, 23.42, 26.11, 26.12, 26.16, 26.25, 28.11, 28.12,
30.21, 30.22, 40.16, 40.17, 40.50, 41.16, 41.17, 41.50 or
44.09, and
is being used as the active source.
No action
No action taken.
Fault
Drive trips on 80A0 AI supervision.
Warning
Drive generates an A8A0 AI supervision warning.
12.03
Parameters 199
No.
12.04
Name/Value
Description
Def/FbEq16
Last speed
Drive generates a warning (A8A0 AI supervision) and

freezes the speed (or frequency) to the level the drive was
operating at. The speed/frequency is determined on the
basis of actual speed using 850 ms low-pass filtering.
WARNING! Make sure that it is safe to continue
operation in case of a communication break.
Speed ref safe
Drive generates a warning (A8A0 AI supervision) and sets

the speed to the speed defined by parameter 22.41 Speed
ref safe (or 28.41 Frequency ref safe when frequency
reference is being used).
AI supervision
selection
Specifies the analog input limits to be supervised. See

parameter 12.03 AI supervision function.
0000b
Bit
0
1
2
3
415
12.11
12.12
12.15
Name
AI1 < MIN
AI1 > MAX
AI2 < MIN
AI2 > MAX
Reserved
Description
1 = Minimum limit supervision of AI1 active.
1 = Maximum limit supervision of AI1 active.
0000b1111b
Activation of analog input supervision.
1=1
AI1 actual value
Displays the value of analog input AI1 in mA or V

(depending on whether the input is set to current or voltage
by a hardware setting).
-22.000 22.000
mA or V
Value of analog input AI1.
1000 = 1 mA
or V
AI1 scaled value
Displays the value of analog input AI1 after scaling. See

parameters 12.19 AI1 scaled at AI1 min and 12.20 AI1
scaled at AI1 max.
-32768.000
32767.000
Scaled value of analog input AI1.
1=1
AI1 unit selection
Selects the unit for readings and settings related to analog

input AI1.
Note: This setting must match the corresponding hardware
setting on the drive control unit (see the hardware manual of
the drive). Control board reboot (either by cycling the power
or through parameter 96.08 Control board boot) is required
to validate any changes in the hardware settings.
Volts.
mA
Milliamperes.
10
200 Parameters
No.
Name/Value
Description
Def/FbEq16
12.16
AI1 filter time
Defines the filter time constant for analog input AI1.
0.100 s
Unfiltered signal
100
63
Filtered signal
O = I (1 - e-t/T)
I = filter input (step)
O = filter output
t = time
T = filter time constant
Note: The signal is also filtered due to the signal interface
hardware (approximately 0.25 ms time constant). This
cannot be changed by any parameter.
12.17
12.18
0.000 30.000 s
Filter time constant.
1000 = 1 s
AI1 min
Defines the minimum site value for analog input AI1.

Set the value actually sent to the drive when the analog
signal from plant is wound to its minimum setting.
See also parameter 12.01 AI tune.
0.000 mA or
V
-22.000 22.000
mA or V
Minimum value of AI1.
1000 = 1 mA
or V
AI1 max
Defines the maximum site value for analog input AI1.

signal from plant is wound to its maximum setting.
20.000 mA
or 10.000 V
-22.000 22.000
mA or V
Maximum value of AI1.
1000 = 1 mA
or V
Parameters 201
No.
Name/Value
Description
Def/FbEq16
12.19
AI1 scaled at AI1

min
Defines the real internal value that corresponds to the

minimum analog input AI1 value defined by parameter 12.17
AI1 min. (Changing the polarity settings of 12.19 and 12.20
can effectively invert the analog input.)
0.000
AIscaled (12.12)
12.20
AIin (12.11)
12.17
12.18
12.19
12.20
12.21
12.22
12.25
12.26
-32768.000
32767.000
Real value corresponding to minimum AI1 value.
1=1
AI1 scaled at AI1

max
Defines the real internal value that corresponds to the

maximum analog input AI1 value defined by parameter
12.18 AI1 max. See the drawing at parameter 12.19 AI1
scaled at AI1 min.
1500.000;
1800.000
(95.20 b0)
-32768.000
32767.000
Real value corresponding to maximum AI1 value.
1=1
AI2 actual value

(depending on whether the input is set to current or voltage
by a hardware setting).
-22.000 22.000
mA or V
1000 = 1 mA
or V
AI2 scaled value

parameters 12.29 AI2 scaled at AI2 min and 12.30 AI2
scaled at AI2 max.
-32768.000
32767.000
1=1
AI2 unit selection

input AI2.
setting on the drive control unit (see the hardware manual of
the drive). Control board reboot (either by cycling the power
or through parameter 96.08 Control board boot) is required
to validate any changes in the hardware settings.
mA
Volts.
mA
Milliamperes.
10
AI2 filter time
Defines the filter time constant for analog input AI2. See
parameter 12.16 AI1 filter time.
0.100 s
0.000 30.000 s
1000 = 1 s
202 Parameters
No.
Name/Value
Description
Def/FbEq16
12.27
AI2 min
Defines the minimum site value for analog input AI2.

signal from plant is wound to its minimum setting.
0.000 mA or
V
-22.000 22.000
mA or V
1000 = 1 mA
or V
AI2 max
Defines the maximum site value for analog input AI2.

signal from plant is wound to its maximum setting.
20.000 mA
or 10.000 V
-22.000 22.000
mA or V
1000 = 1 mA
or V
AI2 scaled at AI2

min
Defines the real value that corresponds to the minimum

analog input AI2 value defined by parameter 12.27 AI2 min.
(Changing the polarity settings of 12.29 and 12.30 can
effectively invert the analog input.)
0.000
12.28
12.29
AIscaled (12.22)
12.30
AIin (12.21)
12.27
12.28
12.29
12.30
-32768.000
32767.000
1=1
AI2 scaled at AI2

max
Defines the real value that corresponds to the maximum

analog input AI2 value defined by parameter 12.28 AI2 max.
See the drawing at parameter 12.29 AI2 scaled at AI2 min.
100.000
-32768.000
32767.000
1=1
13
13 Standard AO
Configuration of standard analog outputs.
13.11
Displays the value of AO1 in mA.

13.12
AO1 actual value
0.000 22.000 mA Value of AO1.
1000 = 1 mA
AO1 source
Selects a signal to be connected to analog output AO1.

Alternatively, sets the output to excitation mode to feed a
constant current to a temperature sensor.
Motor speed
used
Zero
None.
Motor speed used
Output frequency
Motor current
Parameters 203
No.
13.16
Name/Value
Description
Def/FbEq16
Motor torque
DC voltage
Power inu out
Speed ref ramp in
10
Speed ref ramp out
11
Speed ref used
12
Torq ref used
13
Freq ref used
14
Process PID out
16
Process PID fbk
17
Process PID act
18
Process PID dev
19
Force PT100
excitation
The output is used to feed an excitation current to 13

Pt100 sensors. See section Motor thermal protection (page
122).
20
Force KTY84
excitation
The output is used to feed an excitation current to a KTY84

sensor. See section Motor thermal protection (page 122).
21
Force PTC
excitation
The output is used to feed an excitation current to 13 PTC

sensors. See section Motor thermal protection (page 122).
22
Force Pt1000
excitation

Pt1000 sensors. See section Motor thermal protection
(page 122).
23
AO1 data storage
13.91 AO1 data storage (page 206).
37
AO2 data storage
38
Other

page 154).
AO1 filter time
Defines the filtering time constant for analog output AO1.
0.100 s
Unfiltered signal
100
63
Filtered signal
O = I (1 - e-t/T)
O = filter output
t = time
0.000 30.000 s
1000 = 1 s
204 Parameters
No.
Name/Value
Description
Def/FbEq16
13.17
AO1 source min
Defines the real minimum value of the signal (selected by

parameter 13.12 AO1 source) that corresponds to the
minimum required AO1 output value (defined by parameter
13.19 AO1 out at AO1 src min).
0.0
IAO1 (mA)
13.20
13.19
13.17
13.18
Signal (real)
selected by
13.12
Programming 13.17 as the maximum value and 13.18 as the

minimum value inverts the output.
IAO1 (mA)
13.20
13.19
13.18
13.18
13.19
13.20
13.17
Signal (real)
selected by
13.12
-32768.0
32767.0
Real signal value corresponding to minimum AO1 output

value.
1=1
AO1 source max
Defines the real maximum value of the signal (selected by

maximum required AO1 output value (defined by
parameter 13.20 AO1 out at AO1 src max). See parameter
13.17 AO1 source min.
1500.0;
1800.0
(95.20 b0)
-32768.0
32767.0
Real signal value corresponding to maximum AO1 output

value.
1=1
AO1 out at AO1 src

min
Defines the minimum output value for analog output AO1.

See also drawing at parameter 13.17 AO1 source min.
0.000 mA
0.000 22.000 mA Minimum AO1 output value.
1000 = 1 mA
AO1 out at AO1 src

max
20.000 mA
Defines the maximum output value for analog output AO1.

0.000 22.000 mA Maximum AO1 output value.
1000 = 1 mA
Parameters 205
No.
Name/Value
Description
Def/FbEq16
13.21
AO2 actual value

0.000 22.000 mA
Value of AO2.
1000 = 1 mA
13.22
AO2 source

For the selections, see parameter 13.12 AO1 source.
Motor current
13.26
AO2 filter time

See parameter 13.16 AO1 filter time.
0.100 s
0.000 30.000 s
1000 = 1 s
AO2 source min
Defines the real minimum value of the signal (selected by

minimum required AO2 output value (defined by parameter
13.29 AO2 out at AO2 src min).
0.0
13.27
IAO2 (mA)
13.30
13.29
13.27
13.28
Signal (real)
selected by
13.22
Programming 13.27 as the maximum value and 13.28 as the

minimum value inverts the output.
IAO2 (mA)
13.30
13.29
13.28
-32768.0
32767.0
13.27
Signal (real)
selected by
13.22

value.
1=1
206 Parameters
No.
Name/Value
Description
Def/FbEq16
13.28
AO2 source max
Defines the real maximum value of the signal (selected by

maximum required AO2 output value (defined by
parameter 13.30 AO2 out at AO2 src max). See parameter
13.27 AO2 source min.
100.0
-32768.0
32767.0

value.
1=1
AO2 out at AO2 src

min

0.000 mA
13.29
13.30
13.91
13.92
0.000 22.000 mA Minimum AO2 output value.
1000 = 1 mA
AO2 out at AO2 src

max
20.000 mA

0.000 22.000 mA Maximum AO2 output value.
1000 = 1 mA
AO1 data storage
Storage parameter for controlling analog output AO1 eg.

through fieldbus.
In 13.12 AO1 source, select AO1 data storage. Then set this
parameter as the target of the incoming value data.
With the embedded fieldbus interface, simply set the target
selection parameter of that particular data (58.10158.124)
to AO1 data storage.
0.00
-327.68 327.67
Storage parameter for AO1.
100 = 1
AO2 data storage
Storage parameter for controlling analog output AO2 eg.

through fieldbus.
In 13.22 AO2 source, select AO2 data storage. Then set this
parameter as the target of the incoming value data.
With the embedded fieldbus interface, simply set the target
selection parameter of that particular data (58.10158.124)
to AO2 data storage.
0.00
-327.68 327.67
Storage parameter for AO2.
100 = 1
14
14 I/O extension module Configuration of I/O extension module 1.

See also section Programmable I/O extensions (page 72).
1
Note: The contents of the parameter group vary according
to the selected I/O extension module type.
14.01
14.02
14.03
Module 1 type
Activates (and specifies the type of) I/O extension module 1. None
None
Inactive.
FIO-01
FIO-01.
FIO-11
FIO-11.
FDIO-01
FDIO-01.
FAIO-01
FAIO-01.
Module 1 location
Specifies slots (13) on the control unit of the drive into

which the I/O extension module is installed. Also specifies
the node ID of the slot on the FEA-03 extension adapter.
Slot 1
Slot 1
Slot 1.
Slot 2
Slot 2.
Slot 3
Slot 3.
4254
Node ID of the slot on the FEA-03 extension adapter.
1=1
Module 1 status
Displays the status of I/O extension module 1.
No option
No option
No module detected in the specified slot.
Parameters 207
No.
14.05
14.05
14.06
14.06
Name/Value
Description
Def/FbEq16
No communication
A module has been detected but cannot be communicated

with.
Unknown
The module type is unknown.
FIO-01
An FIO-01 module has been detected and is active.
15
FIO-11
An FIO-11 module has been detected and is active.
20
FAIO-01
An FAIO-01 module has been detected and is active.
24
DI status
(Visible when 14.01 Module 1 type = FDIO-01)

Displays the status of the digital inputs on the extension
module. The activation/deactivation delays (if any are
specified) are ignored. A filtering time (for input mode) can
be defined by parameter 14.08 DI filter time.
Bit 0 indicates the status of DI1.
Note: The number of active bits in this parameter depends
on the number of digital input/outputs on the extension
module.
Example: 0101b = DI1 and DI3 are on, remainder are off.
0000b1111b
Status of digital inputs.
1=1
DIO status
(Visible when 14.01 Module 1 type = FIO-01 or FIO-11)

Displays the status of the digital input/outputs on the
extension module. The activation/deactivation delays (if any
are specified) are ignored. A filtering time (for input mode)
can be defined by parameter 14.08 DIO filter time.
Bit 0 indicates the status of DIO1.
module.
Example: 1001b = DIO1 and DIO4 are on, remainder are
off.
0000b1111b
Status of digital input/outputs.
1=1
DI delayed status

Displays the delayed status of the digital inputs on the
extension module. The word is updated only after
activation/deactivation delays (if any are specified).
Bit 0 indicates the status of DI1.
on the number of digital inputs on the extension module.
Example: 0101b = DI1 and DI3 are on, remainder are off.
0000b1111b
Delayed status of digital inputs.
1=1
DIO delayed status

Displays the status of the digital input/outputs on the
extension module. This word is updated only after
activation/deactivation delays (if any are specified).
Bit 0 indicates the status of DIO1.
module.
Example: 1001b = DIO1 and DIO4 are on, remainder are
off.
0000b1111b
Delayed status of digital input/outputs.
1=1
208 Parameters
No.
Name/Value
Description
Def/FbEq16
14.08
DI filter time

Defines a filtering time for parameter 14.05 DI status.
10.0 ms
0.8 100.0 ms
10 = 1 ms
DIO filter time

Defines a filtering time for parameter 14.05 DIO status. The
filtering time will only affect the DIOs that are in input mode.
10.0 ms
0.8 100.0 ms
10 = 1 ms
DIO1 function

Selects whether DIO1 of the extension module is used as a
digital input or output.
Input
Output
Input
DIO1 output source

DIO1 of the extension module when parameter 14.09 DIO1
function is set to Output.
Not
energized
Not energized
Output is not energized.
Energized
Output is energized.
Ready run
Enabled
Started
Magnetized
Running
Ready ref
At setpoint
Reverse
10
Zero speed
11
Above limit
12
Warning
13
Fault
14
Fault (-1)
15
Open brake
command
22
Ext2 active
23
Remote control
24
Supervision 1
33
Supervision 2
34
Supervision 3
35
RO/DIO control
word bit0
40
RO/DIO control
word bit1
41
RO/DIO control
word bit2
42
14.08
14.09
14.11
Parameters 209
No.
14.12
Name/Value
Description
Def/FbEq16
RO/DIO control
word bit8
43
RO/DIO control
word bit9
44
Other [bit]

154).
DI1 ON delay

0.00 s
*DI status
0
1
**Delayed DI status
0
Time
tOn
tOff
tOn
tOff

*Electrical status of DI or status of selected source (in output mode). Indicated by 14.05 DI status.
14.12
0.00 3000.00 s
10 = 1 s
DIO1 ON delay

Defines the activation delay for digital input/output DIO1.
0.00 s
*DIO status
0
1
0
Time
tOn
tOff
tOn
tOff

status.
14.13
14.13
0.00 3000.00 s
100 = 1 s
DI1 OFF delay

0.00 s
0.00 3000.00 s
10 = 1 s
DIO1 OFF delay

Defines the deactivation delay for digital input/output DIO1.
See parameter 14.12 DIO1 ON delay.
0.00 s
0.00 3000.00 s
100 = 1 s
210 Parameters
No.
Name/Value
Description
Def/FbEq16
14.14
DIO2 function

Input
Output
Input
14.16
DIO2 output source

output source.
Not
energized
14.17
DI2 ON delay

Defines the activation delay for digital input DI2. See
0.00 s
0.00 3000.00 s
10 = 1 s
DIO2 ON delay

0.00 s
0.00 3000.00 s
100 = 1 s
DI2 OFF delay

0.00 s
0.00 3000.00 s
10 = 1 s
DIO2 OFF delay

0.00 s
0.00 3000.00 s
100 = 1 s
DIO3 function
(Visible when 14.01 Module 1 type = FIO-01)

Input
Output
Input
AI supervision
function
(Visible when 14.01 Module 1 type = FIO-11 or FAIO-01)

Selects how the drive reacts when an analog input signal
moves out of the minimum and/or maximum limits specified
for the input.
The inputs and the limits to be observed are selected by
parameter 14.20 AI supervision selection.
No action
No action
No action taken.
Fault
Drive trips on 80A0 AI supervision.
Warning
Drive generates an A8A0 AI supervision warning.
14.17
14.18
14.18
14.19
14.19
Parameters 211
No.
14.20
Name/Value
Description
Def/FbEq16
Last speed
Drive generates a warning (A8A0 AI supervision) and

freezes the speed (or frequency) to the level the drive was
operating at. The speed/frequency is determined on the
Speed ref safe
Drive generates a warning (A8A0 AI supervision) and sets

reference is being used).
AI supervision
selection

Specifies the analog input limits to be supervised. See
parameter 14.19 AI supervision function.
on the number of inputs on the extension module.
0000 0000b
Bit
0
1
2
3
4
5
615
Name
AI1 < MIN
AI1 > MAX
AI2 < MIN
AI2 > MAX
AI3 < MIN
AI3 > MAX
Reserved
Description
1 = Minimum limit supervision of AI3 active (FIO-11 only).
1 = Maximum limit supervision of AI3 active (FIO-11 only).
0000 0000b 0011

1111b
Activation of analog input supervision.
1=1
14.21
DIO3 output source

output source.
Not
energized
14.21
AI tune

Triggers the analog input tuning function, which enables the
use of actual measurements as the minimum and maximum
input values instead of potentially inaccurate estimates.
Apply the minimum or maximum signal to the input and
select the appropriate tuning function.
See also the drawing at parameter 14.35 AI1 scaled at AI1
min.
No action
No action
Tuning action completed or no action has been requested.

The parameter automatically reverts to this value after any
tuning action.
AI1 min tune
The measured value of AI1 is set as the minimum value of

AI1 into parameter 14.33 AI1 min.
AI1 max tune
The measured value of AI1 is set as the maximum value of

AI1 into parameter 14.34 AI1 max.
AI2 min tune

212 Parameters
No.
14.22
14.22
14.22
14.23
14.23
14.24
14.26
Name/Value
Description
Def/FbEq16
AI2 max tune

AI3 min tune

AI3 max tune

DI3 ON delay

Defines the activation delay for digital input DI3. See
0.00 s
0.00 3000.00 s
10 = 1 s
DIO3 ON delay

0.00 s
0.00 3000.00 s
100 = 1 s
AI force selection

The true readings of the analog inputs can be overridden for
eg. testing purposes. A forced value parameter is provided
for each analog input, and its value is applied whenever the
corresponding bit in this parameter is 1.
0000b
Bit
0
1
2
Name
AI1
AI2
AI3
315
Reserved
Description
1 = Force mode: Force AI1 to value of parameter 14.28 AI1 force data.
1 = Force mode: Force AI2 to value of parameter 14.43 AI2 force data.
1 = Force mode: Force AI3 to value of parameter 14.58 AI3 force data
(FIO-11 only).
0000b0111b
Forced values selector for analog inputs.
1=1
DI3 OFF delay

0.00 s
0.00 3000.00 s
10 = 1 s
DIO3 OFF delay

0.00 s
0.00 3000.00 s
100 = 1 s
DIO4 function

Input
Output
Input
DIO4 output source

output source.
Not
energized
Parameters 213
No.
Name/Value
Description
14.26
AI1 actual value

(depending on whether the input is set to current or voltage).
-22.000 22.000
mA or V
1000 = 1 mA
or V
DIO4 ON delay

0.00 s
0.00 3000.00 s
100 = 1 s
AI1 scaled value

parameter 14.35 AI1 scaled at AI1 min.
-32768.000
32767.000
1=1
DIO4 OFF delay

0.00 s
0.00 3000.00 s
100 = 1 s
AI1 force data

Forced value that can be used instead of the true reading of
the input. See parameter 14.22 AI force selection.
0.000 mA
-22.000 22.000
mA or V
Forced value of analog input AI1.
1000 = 1 mA
or V
AI1 HW switch
position

Shows the position of the hardware current/voltage selector
on the I/O extension module.
Note: The setting of the current/voltage selector must match
the unit selection made in parameter 14.30 AI1 unit
selection. I/O module reboot either by cycling the power or
through parameter 96.08 Control board boot is required to
validate any changes in the hardware settings.
Volts.
mA
Milliamperes.
10
AI1 unit selection

input AI1.
setting on the I/O extension module (see the manual of the
I/O extension module). The hardware setting is shown by
parameter 14.29 AI1 HW switch position. I/O module reboot
either by cycling the power or through parameter 96.08
Control board boot is required to validate any changes in the
hardware settings.
mA
Volts.
mA
Milliamperes.
10
RO status
(Visible when 14.01 Module 1 type = FIO-01 or FDIO-01)

Status of relay outputs on the I/O extension module.
Example: 0001b = RO1 is energized, RO2 is de-energized.
0000b1111b
Status of relay outputs.
1=1
14.27
14.27
14.28
14.28
14.29
14.30
14.31
Def/FbEq16
214 Parameters
No.
Name/Value
Description
Def/FbEq16
14.31
AI1 filter gain
(Visible when 14.01 Module 1 type = FIO-11or FAIO-01)

Selects a hardware filtering time for AI1.
See also parameter 14.32 AI1 filter time.
1 ms
No filtering
No filtering.
125 us
125 microseconds.
250 us
250 microseconds.
500 us
500 microseconds.
1 ms
1 millisecond.
2 ms
2 milliseconds.
4 ms
4 milliseconds.
7.9375 ms
7.9375 milliseconds.
AI1 filter time

0.100 s
14.32
Unfiltered signal
100
63
Filtered signal
O = I (1 - e-t/T)
O = filter output
t = time
hardware. See parameter 14.31 AI1 filter gain.
0.000 30.000 s
1000 = 1 s
AI1 min

Defines the minimum value for analog input AI1.
0.000 mA or
V
-22.000 22.000
mA or V
1000 = 1 mA
or V
14.34
RO1 source

output source.
Not
energized
14.34
AI1 max

Defines the maximum value for analog input AI1.
10.000 mA or
V
-22.000 22.000
mA or V
1000 = 1 mA
or V
14.33
Parameters 215
No.
Name/Value
Description
Def/FbEq16
14.35
RO1 ON delay

0.00 s
Status of selected
source
0
1
RO status
0
Time
tOn
tOff
tOn
tOff

14.35
0.00 3000.00 s
100 = 1 s
AI1 scaled at AI1

min

0.000
AIscaled (14.27)
14.36
AIin (14.26)
14.33
14.34
14.35
14.36
14.36
14.37
-32768.000
32767.000
1=1
RO1 OFF delay

0.00 s
0.00 3000.00 s
100 = 1 s
AI1 scaled at AI1

max

100.000
-32768.000
32767.000
1=1
RO2 source

output source.
Not
energized
216 Parameters
No.
Name/Value
Description
Def/FbEq16
14.38
RO2 ON delay

Defines the activation delay for relay output RO2. See
0.00 s
0.00 3000.00 s
100 = 1 s
RO2 OFF delay

0.00 s
0.00 3000.00 s
100 = 1 s
AI2 actual value

-22.000 22.000
mA or V
1000 = 1 mA
or V
AI2 scaled value

-32768.000
32767.000
1=1
AI2 force data

0.000 mA
-22.000 22.000
mA or V
1000 = 1 mA
or V
AI2 HW switch
position

Volts.
mA
Milliamperes.
10
AI2 unit selection

input AI2.
hardware settings.
mA
Volts.
mA
Milliamperes.
10
AI2 filter gain

1 ms
No filtering
No filtering.
14.39
14.41
14.42
14.43
14.44
14.45
14.46
Parameters 217
No.
14.47
Name/Value
Description
Def/FbEq16
125 us
125 microseconds.
250 us
250 microseconds.
500 us
500 microseconds.
1 ms
1 millisecond.
2 ms
2 milliseconds.
4 ms
4 milliseconds.
7.9375 ms
AI2 filter time

0.100 s
Unfiltered signal
100
63
Filtered signal
O = I (1 - e-t/T)
O = filter output
t = time
14.48
14.49
0.000 30.000 s
1000 = 1 s
AI2 min

0.000 mA or
V
-22.000 22.000
mA or V
1000 = 1 mA
or V
AI2 max

10.000 mA or
V
-22.000 22.000
mA or V
1000 = 1 mA
or V
218 Parameters
No.
Name/Value
Description
Def/FbEq16
14.50
AI2 scaled at AI2

min

0.000
AIscaled (14.42)
14.51
AIin (14.41)
14.48
14.49
14.50
14.51
14.56
14.57
14.58
14.59
-32768.000
32767.000
1=1
AI2 scaled at AI2

max

100.000
-32768.000
32767.000
1=1
AI3 actual value

-22.000 22.000
mA or V
1000 = 1 mA
or V
AI3 scaled value

-32768.000
32767.000
1=1
AI3 force data

0.000 mA
-22.000 22.000
mA or V
1000 = 1 mA
or V
AI3 HW switch
position

Volts.
Parameters 219
No.
14.60
14.61
14.62
Name/Value
Description
Def/FbEq16
mA
Milliamperes.
10
AI3 unit selection

input AI3.
hardware settings.
mA
Volts.
mA
Milliamperes.
10
AI3 filter gain

1 ms
No filtering
No filtering.
125 us
125 microseconds.
250 us
250 microseconds.
500 us
500 microseconds.
1 ms
1 millisecond.
2 ms
2 milliseconds.
4 ms
4 milliseconds.
7.9375 ms
AI3 filter time

0.100 s
Unfiltered signal
100
63
Filtered signal
O = I (1 - e-t/T)
O = filter output
t = time
0.000 30.000 s
1000 = 1 s
220 Parameters
No.
Name/Value
Description
Def/FbEq16
14.63
AI3 min

0.000 mA or
V
-22.000 22.000
mA or V
1000 = 1 mA
or V
AI3 max

10.000 mA or
V
-22.000 22.000
mA or V
1000 = 1 mA
or V
AI3 scaled at AI3

min

0.000
14.64
14.65
AIscaled (14.57)
14.66
AIin (14.56)
14.63
14.64
14.65
14.66
14.71
-32768.000
32767.000
1=1
AI3 scaled at AI3

max

100.000
-32768.000
32767.000
1=1
AO force selection

The value of the analog output can be overridden for eg.
testing purposes. A forced value parameter (14.78 AO1
force data) is provided for the analog output, and its value is
applied whenever the corresponding bit in this parameter is
1.
00b
Bit
0
1
Name
AO1
AO2
Description
1 = Force mode: Force AO1 to value of parameter 14.78 AO1 force data.
1 = Force mode: Force AO2 to value of parameter 14.88 AO2 force data
(FAIO-01 only).
215
Reserved
00b11b
Forced values selector for analog outputs.
1=1
Parameters 221
No.
Name/Value
Description
Def/FbEq16
14.76
AO1 actual value

0.000 22.000 mA
Value of AO1.
1000 = 1 mA
AO1 source

Zero
Zero
None.
Motor speed used
Output frequency
Motor current
Motor torque
DC voltage
Power inu out
Speed ref ramp in
10
Speed ref ramp out
11
Speed ref used
12
Torq ref used
13
Freq ref used
14
Process PID out
16
Process PID fbk
17
Process PID act
18
Process PID dev
19
Force PT100
excitation

122).
20
Force KTY84
excitation
The output is used to feed an excitation current to a KTY84

sensor. See section Motor thermal protection (page 122).
21
Force PTC
excitation
The output is used to feed an excitation current to 13 PTC

sensors. See section Motor thermal protection (page 122).
22
Force Pt1000
excitation

122).
23
AO1 data storage
37
AO2 data storage
38
Other

154).
AO1 force data

Forced value that can be used instead of the selected output
signal. See parameter 14.71 AO force selection.
0.000 mA
0.000 22.000 mA
Forced value of analog output AO1.
1000 = 1 mA
14.77
14.78
222 Parameters
No.
Name/Value
Description
Def/FbEq16
14.79
AO1 filter time

0.100 s
Unfiltered signal
100
63
Filtered signal
O = I (1 - e-t/T)
O = filter output
t = time
0.000 30.000 s
1000 = 1 s
Parameters 223
No.
Name/Value
Description
Def/FbEq16
14.80
AO1 source min

14.77 AO1 source) that corresponds to the minimum AO1
output value (defined by parameter 14.82 AO1 out at AO1
src min).
0.0
IAO1 (mA)
14.83
14.82
14.80
14.81
IAO1 (mA)
Signal (real)
selected by par.
14.77
14.83
14.82
14.81
14.81
14.82
14.83
14.80
Signal (real)
selected by par.
14.77
-32768.0
32767.0

value.
1=1
AO1 source max

14.77 AO1 source) that corresponds to the maximum AO1
src max). See parameter 14.80 AO1 source min.
100.0
-32768.0
32767.0

value.
1=1
AO1 out at AO1 src

min

0.000 mA
0.000 22.000 mA
Minimum AO1 output value.
1000 = 1 mA
AO1 out at AO1 src

max

10.000 mA
0.000 22.000 mA
Maximum AO1 output value.
1000 = 1 mA
224 Parameters
No.
Name/Value
Description
Def/FbEq16
14.86
AO2 actual value
(Visible when 14.01 Module 1 type = FAIO-01)

0.000 22.000 mA Value of AO2.
1000 = 1 mA
14.87
AO2 source

For the selections, see parameter 14.77 AO1 source.
Zero
14.88
AO2 force data

Forced value that can be used instead of the selected output
signal. See parameter 14.71 AO force selection.
0.000 mA
14.89
14.90
0.000 22.000 mA Forced value of analog output AO2.
1000 = 1 mA
AO2 filter time

0.100 s
0.000 30.000 s
1000 = 1 s
AO2 source min

14.87 AO2 source) that corresponds to the minimum AO2
src min).
0.0
IAO1 (mA)
14.93
14.92
14.90
14.91
IAO1 (mA)
Signal (real)
selected by par.
14.87
14.93
14.92
14.91
-32768.0
32767.0
14.90
Signal (real)
selected by par.
14.87

value.
1=1
Parameters 225
No.
Name/Value
Description
Def/FbEq16
14.91
AO2 source max

14.87 AO2 source) that corresponds to the maximum AO2
src max). See parameter 14.90 AO2 source min.
100.0
-32768.0
32767.0

value.
1=1
AO2 out at AO2 src

min

0.000 mA
0.000 22.000 mA
Minimum AO2 output value.
1000 = 1 mA
AO2 out at AO2 src

max

10.000 mA
0.000 22.000 mA
Maximum AO2 output value.
1000 = 1 mA
14.92
14.93
15

2
15.01
Module 2 type
See parameter 14.01 Module 1 type.
None
15.02
Module 2 location
See parameter 14.02 Module 1 location.
Slot 1
15.03
Module 2 status
See parameter 14.03 Module 1 status.
No option
15.05
DI status

See parameter 14.05 DI status.
15.05
DIO status

See parameter 14.05 DIO status.
15.06
DI delayed status

See parameter 14.06 DI delayed status.
15.06
DIO delayed status

See parameter 14.06 DIO delayed status.
15.08
DI filter time

See parameter 14.08 DI filter time.
10.0 ms
15.08
DIO filter time

See parameter 14.08 DIO filter time.
10.0 ms
15.09
DIO1 function

See parameter 14.09 DIO1 function.
Input
15.11
DIO1 output source

See parameter 14.11 DIO1 output source.
Not
energized
15.12
DI1 ON delay

See parameter 14.12 DI1 ON delay.
0.00 s
15.12
DIO1 ON delay

0.00 s
15.13
DI1 OFF delay

See parameter 14.13 DI1 OFF delay.
0.00 s
15.13
DIO1 OFF delay

See parameter 14.13 DIO1 OFF delay.
0.00 s
226 Parameters
No.
Name/Value
Description
Def/FbEq16
15.14
DIO2 function

Input
15.16
DIO2 output source

Not
energized
15.17
DI2 ON delay

0.00 s
15.17
DIO2 ON delay

0.00 s
15.18
DI2 OFF delay

0.00 s
15.18
DIO2 OFF delay

0.00 s
15.19
DIO3 function

Input
15.19
AI supervision
function

See parameter 14.19 AI supervision function.
No action
15.20
AI supervision
selection

See parameter 14.20 AI supervision selection.
0000 0000b
15.21
DIO3 output source
(Visible when 15.01 Module 2 type = FIO-01 )

Not
energized
15.21
AI tune

See parameter 14.21 AI tune.
No action
15.22
DI3 ON delay

0.00 s
15.22
DIO3 ON delay

0.00 s
15.22
AI force selection

See parameter 14.22 AI force selection.
0000b
15.23
DI3 OFF delay

0.00 s
15.23
DIO3 OFF delay

0.00 s
15.24
DIO4 function

Input
15.26
DIO4 output source

Not
energized
15.26
AI1 actual value

See parameter 14.26 AI1 actual value.
15.27
DIO4 ON delay

0.00 s
15.27
AI1 scaled value

See parameter 14.27 AI1 scaled value.
15.28
DIO4 OFF delay

0.00 s
15.28
AI1 force data

See parameter 14.28 AI1 force data.
0.000 mA
Parameters 227
No.
Name/Value
Description
Def/FbEq16
15.29
AI1 HW switch
position

See parameter 14.29 AI1 HW switch position.
15.30
AI1 unit selection

See parameter 14.30 AI1 unit selection.
mA
15.31
RO status

See parameter 14.31 RO status.
15.31
AI1 filter gain

See parameter 14.31 AI1 filter gain.
1 ms
15.32
AI1 filter time

See parameter 14.32 AI1 filter time.
0.100 s
15.33
AI1 min

See parameter 14.33 AI1 min.
0.000 mA or
V
15.34
RO1 source

See parameter 14.34 RO1 source.
Not
energized
15.34
AI1 max

See parameter 14.34 AI1 max.
10.000 mA or
V
15.35
RO1 ON delay

See parameter 14.35 RO1 ON delay.
0.00 s
15.35
AI1 scaled at AI1

min

See parameter 14.35 AI1 scaled at AI1 min.
0.000
15.36
RO1 OFF delay

See parameter 14.36 RO1 OFF delay.
0.00 s
15.36
AI1 scaled at AI1

max

See parameter 14.36 AI1 scaled at AI1 max.
100.000
15.37
RO2 source

Not
energized
15.38
RO2 ON delay

0.00 s
15.39
RO2 OFF delay

0.00 s
15.41
AI2 actual value

15.42
AI2 scaled value

15.43
AI2 force data

0.000 mA
15.44
AI2 HW switch
position

15.45
AI2 unit selection

mA
15.46
AI2 filter gain

1 ms
15.47
AI2 filter time

0.100 s
15.48
AI2 min

0.000 mA or
V
228 Parameters
No.
Name/Value
Description
Def/FbEq16
15.49
AI2 max

10.000 mA or
V
15.50
AI2 scaled at AI2

min

0.000
15.51
AI2 scaled at AI2

max

100.000
15.56
AI3 actual value

15.57
AI3 scaled value

15.58
AI3 force data

0.000 mA
15.59
AI3 HW switch
position

15.60
AI3 unit selection

mA
15.61
AI3 filter gain

1 ms
15.62
AI3 filter time

0.100 s
15.63
AI3 min

0.000 mA or
V
15.64
AI3 max

10.000 mA or
V
15.65
AI3 scaled at AI3

min

0.000
15.66
AI3 scaled at AI3

max

100.000
15.71
AO force selection

See parameter 14.71 AO force selection.
00b
15.76
AO1 actual value

See parameter 14.76 AO1 actual value.
15.77
AO1 source

See parameter 14.77 AO1 source.
Zero
15.78
AO1 force data

See parameter 14.78 AO1 force data.
0.000 mA
15.79
AO1 filter time

0.100 s
15.80
AO1 source min

See parameter 14.80 AO1 source min.
0.0
15.81
AO1 source max

See parameter 14.81 AO1 source max.
100.0
15.82
AO1 out at AO1 src

min

See parameter 14.82 AO1 out at AO1 src min.
0.000 mA
15.83
AO1 out at AO1 src

max

See parameter 14.83 AO1 out at AO1 src max.
10.000 mA
Parameters 229
No.
Name/Value
Description
Def/FbEq16
15.86
AO2 actual value

15.87
AO2 source

Zero
15.88
AO2 force data

0.000 mA
15.89
AO2 filter time

0.100 s
15.90
AO2 source min

0.0
15.91
AO2 source max

100.0
15.92
AO2 out at AO2 src

min

0.000 mA
15.93
AO2 out at AO2 src

max

10.000 mA
16

3
16.01
Module 3 type
See parameter 14.01 Module 1 type.
None
16.02
Module 3 location
See parameter 14.02 Module 1 location.
Slot 1
16.03
Module 3 status
See parameter 14.03 Module 1 status.
No option
16.05
DI status

See parameter 14.05 DI status.
16.05
DIO status

See parameter 14.05 DIO status.
16.06
DI delayed status

See parameter 14.06 DI delayed status.
16.06
DIO delayed status

See parameter 14.06 DIO delayed status.
16.08
DI filter time

See parameter 14.08 DI filter time.
10.0 ms
16.08
DIO filter time

See parameter 14.08 DIO filter time.
10.0 ms
16.09
DIO1 function

Input
16.11
DIO1 output source

Not
energized
16.12
DI1 ON delay

0.00 s
16.12
DIO1 ON delay

0.00 s
16.13
DI1 OFF delay

0.00 s
230 Parameters
No.
Name/Value
Description
Def/FbEq16
16.13
DIO1 OFF delay

0.00 s
16.14
DIO2 function

Input
16.16
DIO2 output source

Not
energized
16.17
DI2 ON delay

0.00 s
16.17
DIO2 ON delay

0.00 s
16.18
DI2 OFF delay

0.00 s
16.18
DIO2 OFF delay

0.00 s
16.19
DIO3 function

Input
16.19
AI supervision
function

See parameter 14.19 AI supervision function.
No action
16.20
AI supervision
selection

See parameter 14.20 AI supervision selection.
0000 0000b
16.21
DIO3 output source

Not
energized
16.21
AI tune

See parameter 14.21 AI tune.
No action
16.22
DI3 ON delay

0.00 s
16.22
DIO3 ON delay

0.00 s
16.22
AI force selection

See parameter 14.22 AI force selection.
0000b
16.23
DI3 OFF delay

0.00 s
16.23
DIO3 OFF delay

0.00 s
16.24
DIO4 function

Input
16.26
DIO4 output source

Not
energized
16.26
AI1 actual value

16.27
DIO4 ON delay

0.00 s
16.27
AI1 scaled value

16.28
DIO4 OFF delay

0.00 s
Parameters 231
No.
Name/Value
Description
Def/FbEq16
16.28
AI1 force data

0.000 mA
16.29
AI1 HW switch
position

16.30
AI1 unit selection

mA
16.31
RO status

See parameter 14.31 RO status.
16.31
AI1 filter gain

1 ms
16.32
AI1 filter time

0.040 s
16.33
AI1 min

0.000 mA or
V
16.34
RO1 source

Not
energized
16.34
AI1 max

10.000 mA or
V
16.35
RO1 ON delay

0.00 s
16.35
AI1 scaled at AI1

min

0.000
16.36
RO1 OFF delay

0.00 s
16.36
AI1 scaled at AI1

max

100.000
16.37
RO2 source

Not
energized
16.38
RO2 ON delay

0.00 s
16.39
RO2 OFF delay

0.00 s
16.41
AI2 actual value

16.42
AI2 scaled value

16.43
AI2 force data

0.000 mA
16.44
AI2 HW switch
position

16.45
AI2 unit selection

mA
16.46
AI2 filter gain

1 ms
16.47
AI2 filter time

0.100 s
232 Parameters
No.
Name/Value
Description
Def/FbEq16
16.48
AI2 min

0.000 mA or
V
16.49
AI2 max

10.000 mA or
V
16.50
AI2 scaled at AI2

min

0.000
16.51
AI2 scaled at AI2

max

100.000
16.56
AI3 actual value

16.57
AI3 scaled value

16.58
AI3 force data

0.000 mA
16.59
AI3 HW switch
position

16.60
AI3 unit selection

mA
16.61
AI3 filter gain

1 ms
16.62
AI3 filter time

0.100 s
16.63
AI3 min

0.000 mA or
V
16.64
AI3 max

10.000 mA or
V
16.65
AI3 scaled at AI3

min

0.000
16.66
AI3 scaled at AI3

max

100.000
16.71
AO force selection

See parameter 14.71 AO force selection.
00b
16.76
AO1 actual value

16.77
AO1 source

Zero
16.78
AO1 force data

0.000 mA
16.79
AO1 filter time

0.100 s
16.80
AO1 source min

0.0
16.81
AO1 source max

100.0
16.82
AO1 out at AO1 src

min

0.000 mA
Parameters 233
No.
Name/Value
Description
Def/FbEq16
16.83
AO1 out at AO1 src

max

10.000 mA
16.86
AO2 actual value

16.87
AO2 source

Zero
16.88
AO2 force data

0.000 mA
16.89
AO2 filter time

0.100 s
16.90
AO2 source min

0.0
16.91
AO2 source max

100.0
16.92
AO2 out at AO2 src

min

0.000 mA
16.93
AO2 out at AO2 src

max

10.000 mA
19
19 Operation mode
Selection of local and external control location sources and

operating modes.
19.01
Actual operation
mode
Displays the operating mode currently used.

See parameters 19.1119.14.
Zero
None.
Speed
Speed control (in DTC motor control mode).
Torque
Torque control (in DTC motor control mode).
Min
The torque selector is comparing the output of the speed

controller (25.01 Torque reference speed control) and torque
reference (26.74 Torque ref ramp out) and the smaller of the
two is used.
Max
The torque selector is comparing the output of the speed

controller (25.01 Torque reference speed control) and torque
reference (26.74 Torque ref ramp out) and the greater of the
two is used.
Add
The speed controller output is added to the torque

reference.
Scalar (Hz)
Frequency control in scalar motor control mode.
10
Scalar (rpm)
Speed control in scalar motor control mode.
11
Forced magn.
Motor is in magnetizing mode.
20
Ext1/Ext2 selection
Selects the source for external control location EXT1/EXT2

selection.
0 = EXT1
1 = EXT2
EXT1
EXT1
EXT1 (permanently selected).
EXT2
EXT2 (permanently selected).
FBA A MCW bit 11
Control word bit 11 received through fieldbus interface A.
19.11
234 Parameters
No.
Name/Value
Description
Def/FbEq16
DI1
Digital input DI1 (10.02 DI delayed status, bit 0).
DI2
DI3
DI4
DI5
DI6
DIO1
Digital input/output DIO1 (11.02 DIO delayed status, bit 0).
11
DIO2
12
EFB MCW bit 11
Control word bit 11 received through the embedded fieldbus

interface.
32
Other [bit]

page 154).
Ext1 control mode
Selects the operating mode for external control location

EXT1.
Speed
Zero
None.
Speed
Speed control. The torque reference used is 25.01 Torque

reference speed control (output of the speed reference
chain).
Torque
Torque control. The torque reference used is 26.74 Torque

ref ramp out (output of the torque reference chain).
Minimum
Combination of selections Speed and Torque: the torque

selector compares the speed controller output (25.01 Torque
reference speed control) and the torque reference (26.74
Torque ref ramp out) and selects the smaller of the two.
If speed error becomes negative, the drive follows the speed
controller output until speed error becomes positive again.
This prevents the drive from accelerating uncontrollably if
the load is lost in torque control.
Maximum
Combination of selections Speed and Torque: the torque

selector compares the speed controller output (25.01 Torque
reference speed control) and the torque reference (26.74
Torque ref ramp out) and selects the greater of the two.
If speed error becomes positive, the drive follows the speed
controller output until speed error becomes negative again.
This prevents the drive from accelerating uncontrollably if
the load is lost in torque control.
Add
Combination of selections Speed and Torque: Torque

selector adds the speed reference chain output to the torque
reference chain output.
19.14
Ext2 control mode
Selects the operating mode for external control location

EXT2.
For the selections, see parameter 19.12 Ext1 control mode.
Speed
19.16
Local control mode
Selects the operating mode for local control.
Speed
Speed
Speed control. The torque reference used is 25.01 Torque

reference speed control (output of the speed reference
chain).
Torque
Torque control. The torque reference used is 26.74 Torque

ref ramp out (output of the torque reference chain).
19.12
Parameters 235
No.
Name/Value
Description
Def/FbEq16
19.17
Local control
disable
Enables/disables local control (start and stop buttons on the

control panel, and the local controls on the PC tool).
WARNING! Before disabling local control, ensure
that the control panel is not needed for stopping the
drive.
No
No
Local control enabled.
Yes
Local control disabled.
Scalar control
reference unit
Selects the reference type for scalar motor control mode.

See also section Operating modes of the drive (page 42),
and parameter 99.04 Motor control mode.
Rpm
Hz
Hz. The reference is taken from parameter 28.02 Frequency

ref ramp output (output of the frequency control chain).
Rpm
Rpm. The reference is taken from parameter 23.02 Speed

ref ramp output (speed reference after ramping and
shaping).
19.20
20
Start/stop/direction and run/start/jog enable signal source

selection; positive/negative reference enable signal source
selection.
For information on control locations, see section Local
control vs. external control (page 40).
20.01
Ext1 commands
Selects the source of start, stop and direction commands for

external control location 1 (EXT1).
See also parameters 20.0220.05.
In1 Start; In2

Dir
Not selected
No start or stop command sources selected.
In1 Start
The source of the start and stop commands is selected by

parameter 20.03 Ext1 in1 source. The state transitions of the
source bits are interpreted as follows:
State of source 1 (20.03)

0 -> 1 (20.02 = Edge)
1 (20.02 = Level)
0
In1 Start; In2 Dir
Command
Start
Stop
The source selected by 20.03 Ext1 in1 source is the start

signal; the source selected by 20.04 Ext1 in2 source
determines the direction. The state transitions of the source
bits are interpreted as follows:
State of source 1
(20.03)
0
0 -> 1 (20.02 = Edge)
1 (20.02 = Level)
State of source 2
(20.04)
Any
0
1
Command
Stop
Start forward
Start reverse
236 Parameters
No.
Name/Value
Description
Def/FbEq16
In1 Start fwd; In2

Start rev
The source selected by 20.03 Ext1 in1 source is the forward

start signal; the source selected by 20.04 Ext1 in2 source is
the reverse start signal. The state transitions of the source
State of source 1
(20.03)
0
0 > 1 (20.02 = Edge)
1 (20.02 = Level)
Command
Stop
Start forward
0 -> 1 (20.02 = Edge)

Start reverse
1 (20.02 = Level)
1
Stop
0
1
In1P Start; In2 Stop
State of source 2
(20.04)
0
The sources of the start and stop commands are selected by

parameters 20.03 Ext1 in1 source and 20.04 Ext1 in2
source. The state transitions of the source bits are
interpreted as follows:
State of source 1
(20.03)
0 -> 1
Any
State of source 2
(20.04)
1
0
Command
Start
Stop
Note: The start signal is always edge-triggered with this

setting regardless of parameter 20.02 Ext1 start trigger type.
In1P Start; In2 Stop;
In3 Dir

source. The source selected by 20.05 Ext1 in3 source
State of
source 1
(20.03)
0 -> 1
0 -> 1
Any
State of
source 2
(20.04)
1
1
0
State of
source 3
(20.05)
0
1
Any
Command
Start forward
Start reverse
Stop

In1P Start fwd; In2P
Start rev; In3 Stop

parameters 20.03 Ext1 in1 source, 20.04 Ext1 in2 source
and 20.05 Ext1 in3 source. The state transitions of the
State of
source 1
(20.03)
0 -> 1
Any
Any
State of
source 2
(20.04)
Any
0 -> 1
Any
State of
source 3
(20.05)
1
1
0
Command
Start forward
Start reverse
Stop
The start signal is always edge-triggered with this setting

regardless of parameter 20.02 Ext1 start trigger type.
Parameters 237
No.
Name/Value
Description
Def/FbEq16
Control panel
The start and stop commands are taken from the control
panel.
11
Fieldbus A
12
The start and stop commands are taken from fieldbus
adapter A.
Note: The start signal is always level-triggered with this
Embedded fieldbus
The start and stop commands are taken from the embedded 14
fieldbus interface.
M/F link
The start and stop commands are taken from another drive 15
through the master/follower link.
DDCS controller
16
The start and stop commands are taken from an external
(DDCS) controller.
Application Program The start and stop commands are taken from the application 21
program control word (parameter 06.02 Application control
word).
20.02
20.03
20.04
ATF
Reserved.
22
Ext1 start trigger

type
Defines whether the start signal for external control location

EXT1 is edge-triggered or level-triggered.
Note: This parameter is only effective when parameter
20.01 Ext1 commands is set to In1 Start, In1 Start; In2 Dir,
In1 Start fwd; In2 Start rev or Control panel.
Edge
Edge
The start signal is edge-triggered.
Level
The start signal is level-triggered.
Ext1 in1 source
Selects source 1 for parameter 20.01 Ext1 commands.
DI1
Not selected
0 (always off).
Selected
1 (always on).
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
Other [bit]

page 154).
Ext1 in2 source

For the available selections, see parameter 20.03 Ext1 in1
source.
DI2
238 Parameters
No.
Name/Value
Description
Def/FbEq16
20.05
Ext1 in3 source

source.
Not selected
20.06
Ext2 commands
Selects the source of start, stop and direction commands for

external control location 2 (EXT2).
See also parameters 20.0720.10.
Not selected
Not selected
No start or stop command sources selected.
In1 Start
The source of the start and stop commands is selected by

parameter 20.08 Ext2 in1 source. The state transitions of the
State of source 1 (20.08)

0 -> 1 (20.07 = Edge)
1 (20.07 = Level)
0
In1 Start; In2 Dir
Stop
State of source 2
(20.09)
Any
0
1
0
1
State of source 2
(20.09)
0
0
Stop
Start forward
Start reverse
3
Command
Stop
Start forward
0 -> 1 (20.07 = Edge)

Start reverse
1 (20.07 = Level)
1
Stop

source. The state transitions of the source bits are
interpreted as follows:
State of source 1
(20.08)
0 -> 1
Any
Command
The source selected by 20.08 Ext2 in1 source is the forward

start signal; the source selected by 20.09 Ext2 in2 source is
the reverse start signal. The state transitions of the source
State of source 1
(20.08)
0
0 -> 1 (20.07 = Edge)
1 (20.07 = Level)
In1P Start; In2 Stop
Start
The source selected by 20.08 Ext2 in1 source is the start

signal; the source selected by 20.09 Ext2 in2 source
State of source 1
(20.08)
0
0 -> 1 (20.07 = Edge)
1 (20.07 = Level)
In1 Start fwd; In2

Start rev
Command
State of source 2
(20.09)
1
0
Command
Start
Stop

Parameters 239
No.
Name/Value
Description
Def/FbEq16
In1P Start; In2 Stop;

In3 Dir

source. The source selected by 20.10 Ext2 in3 source
State of
source 1
(20.08)
0 -> 1
0 -> 1
Any
State of
source 2
(20.09)
1
1
0
State of
source 3
(20.10)
0
1
Any
Command
Start forward
Start reverse
Stop

In1P Start fwd; In2P
Start rev; In3 Stop

parameters 20.08 Ext2 in1 source, 20.09 Ext2 in2 source
and 20.10 Ext2 in3 source. The state transitions of the
State of
source 1
(20.08)
0 -> 1
Any
Any
State of
source 2
(20.09)
Any
0 -> 1
Any
State of
source 3
(20.10)
1
1
0
Command
Start forward
Start reverse
Stop

Control panel
The start and stop commands are taken from the control
panel.
Fieldbus A
12
The start and stop commands are taken from fieldbus
adapter A.
Embedded fieldbus
The start and stop commands are taken from the embedded 14
fieldbus interface.
M/F link
The start and stop commands are taken from another drive
through the drive-to-drive link or the master/follower link.
Note: Set also 20.07 Ext2 start trigger type to Level.
DDCS controller
16
The start and stop commands are taken from an external
(DDCS) controller.
11
15
Application Program The start and stop commands are taken from the application 21
program control word (parameter 06.02 Application control
word).
ATF
Reserved.
22
240 Parameters
No.
Name/Value
Description
Def/FbEq16
20.07
Ext2 start trigger

type
Defines whether the start signal for external control location

EXT2 is edge-triggered or level-triggered.
Note: This parameter is only effective when parameter
20.06 Ext2 commands is set to In1 Start, In1 Start; In2 Dir,
In1 Start fwd; In2 Start rev or Control panel.
Edge
Edge
The start signal is edge-triggered.
Level
The start signal is level-triggered.
20.08
Ext2 in1 source

source.
Not selected
20.09
Ext2 in2 source

source.
Not selected
20.10
Ext2 in3 source

source.
Not selected
20.11
Run enable stop

mode
Selects the way the motor is stopped when the run enable
signal switches off.
The source of the run enable signal is selected by parameter
20.12 Run enable 1 source.
Coast
(95.20 b10)
Coast
Stop by switching off the output semiconductors of the drive.

The motor coasts to a stop.
WARNING! If a mechanical brake is used, ensure it
is safe to stop the drive by coasting.
Ramp
Stop along the active deceleration ramp. See parameter

group 23 Speed reference ramp on page 260.
Torque limit
Stop according to torque limits (parameters 30.19 and

30.20).
Run enable 1
source
Selects the source of external run enable signal. If the run

enable signal is switched off, the drive does not start. If
already running, the drive stops according to the setting in
parameter 20.11 Run enable stop mode.
1 = Run enable signal on.
Note: You can suppress the warning that indicates a missing
signal using parameter 20.30 Enable signals warning
function.
See also parameter 20.19 Enable start command.
DIIL
(95.20 b10);
Selected
(95.20 b5);
DI5
(95.20 b10)
Not selected
0.
Selected
1.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
FBA A MCW bit 3
30
20.12
Parameters 241
No.
20.19
Name/Value
Description
Def/FbEq16
EFB MCW bit 3

interface.
32
DIIL
DIIL input (10.02 DI delayed status, bit 15).
33
Active control
source MCW bit 3
Control word bit 3 received from the active control source. In

case the active source is the control panel, PC tool or drive
I/O, the run enable signal is always on.
Note: If the drive is running, switching bit 3 off effectively
removes both the start and run enable signals. In this case,
the stop mode is determined by either 20.11 Run enable
stop mode or 21.03 Stop mode, whichever mode has higher
priority. The order of stop modes from highest to lowest
priority is Coast Torque limit Ramp.
34
Other [bit]

page 154).
Enable start
command
Selects the source for the start enable signal.

1 = Start enable.
With the signal switched off, any drive start command is
inhibited. (Switching the signal off while the drive is running
will not stop the drive.)
Notes:
If a level-triggered start command is on when the start
enable signal switches on, the drive will start. (An edgetriggered start signal must be cycled for the drive to start.)
See parameters 20.02 Ext1 start trigger type and 20.07
Ext2 start trigger type.
The warning that indicates a missing signal can be
suppressed using parameter 20.30 Enable signals
warning function.
See also parameter 20.12 Run enable 1 source.
Selected
Not selected
0.
Selected
1.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
DIIL
30
Other [bit]

page 154).
242 Parameters
No.
Name/Value
Description
Def/FbEq16
20.23
Positive speed
enable
Selects the source of the positive speed enable command.

1 = Positive speed enabled.
0 = Positive speed interpreted as zero speed reference. In
the figure below, 23.01 Speed ref ramp input is set to zero
after the positive speed enable signal has cleared.
Actions in different control modes:
Speed control: Speed reference is set to zero and the motor
is stopped along the currently active deceleration ramp. The
rush controller prevents additional torque terms from running
the motor in the positive direction.
Torque control: The rush controller monitors the rotation
direction of the motor.
Selected
20.23 Positive speed enable

20.24 Negative speed enable
23.01 Speed ref ramp input
Example: The motor is rotating in the forward direction. To

stop the motor, the positive speed enable signal is
deactivated by a hardware limit switch (e.g. via digital input).
If the positive speed enable signal remains deactivated and
the negative speed enable signal is active, only reverse
rotation of the motor is allowed.
20.24
Not selected
0.
Selected
1.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
Other [bit]

page 154).
Negative speed
enable
Selects the source of the negative speed reference enable

command. See parameter 20.23 Positive speed enable.
Selected
Parameters 243
No.
Name/Value
Description
Def/FbEq16
20.25
Jogging enable
Selects the source for a jog enable signal.

(The sources for jogging activation signals are selected by
parameters 20.26 Jogging 1 start source and 20.27 Jogging
2 start source.)
1 = Jogging is enabled.
0 = Jogging is disabled.
Note: Jogging can be enabled only when no start command
from an external control location is active. On the other
hand, if jogging is already enabled, the drive cannot be
started from an external control location (apart from inching
commands through fieldbus).
See section Jogging (page 98).
Not selected
Not selected
0.
Selected
1.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
Other [bit]

page 154).
Jogging 1 start
source
If enabled by parameter 20.25 Jogging enable, selects the

source for the activation of jogging function 1. (Jogging
function 1 can also be activated through fieldbus regardless
of parameter 20.25.)
1 = Jogging 1 active.
Note: If both jogging 1 and 2 are activated, the one that was
activated first has priority.
Not selected
Not selected
0.
Selected
1.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
Other [bit]

page 154).
20.26
244 Parameters
No.
Name/Value
Description
Def/FbEq16
20.27
Jogging 2 start
source
If enabled by parameter 20.25 Jogging enable, selects the

source for the activation of jogging function 2. (Jogging
function 2 can also be activated through fieldbus regardless
of parameter 20.25.)
1 = Jogging 2 active.
For the selections, see parameter 20.26 Jogging 1 start
source.
Note: If both jogging 1 and 2 are activated, the one that was
activated first has priority.
Not selected
20.30
Enable signals
warning function
Selects enable signal (eg. run enable, start enable) warnings

to be suppressed. This parameter can be used to prevent
these warnings from flooding the event log.
Whenever a bit of this parameter is set to 1, the
corresponding warning is suppressed, ie. no warning is
generated even if the signal is switched off.
The bits of this binary number correspond to the following
warnings:
00b
Bit
0
1
215
Name
Enable Start
Run enable 1
Reserved
00b11b
21
Warning
AFEA Enable start signal missing
AFEB Run enable missing
Suppression of enable signal missing warnings.
1=1
21 Start/stop mode
Start and stop modes; emergency stop mode and signal

source selection; DC magnetization settings; autophasing
mode selection.
21.01
Start mode
Selects the motor start function for the DTC motor control
mode, ie. when 99.04 Motor control mode is set to DTC.
Notes:
The start function for the scalar motor control mode is
selected by parameter 21.19 Scalar start mode.
Starting into a rotating motor is not possible when DC
magnetizing is selected (Fast or Constant time).
With permanent magnet motors and synchronous
reluctance motors, Automatic start mode must be used.
This parameter cannot be changed while the drive is
running.
See also section DC magnetization (page 105).
Automatic
Fast
The drive pre-magnetizes the motor before start. The premagnetizing time is determined automatically, being typically
200 ms to 2 s depending on motor size. This mode should
be selected if a high break-away torque is required.
Parameters 245
No.
21.02
Name/Value
Description
Def/FbEq16
Constant time
The drive pre-magnetizes the motor before start. The premagnetizing time is defined by parameter 21.02
Magnetization time. This mode should be selected if
constant pre-magnetizing time is required (e.g. if the motor
start must be synchronized with the release of a mechanical
brake). This setting also guarantees the highest possible
break-away torque when the pre-magnetizing time is set
long enough.
WARNING! The drive will start after the set
magnetizing time has passed even if motor
magnetization is not completed. In applications
where a full break-away torque is essential, ensure that the
constant magnetizing time is long enough to allow
generation of full magnetization and torque.
Automatic
Automatic start guarantees optimal motor start in most

cases. It includes the flying start function (starting into a
rotating motor) and the automatic restart function (a stopped
motor can be restarted immediately without waiting the
motor flux to die away). The drive motor control program
identifies the flux as well as the mechanical state of the
motor and starts the motor instantly under all conditions.
Flying start
This method is intended for asynchronous motors only, and

is optimized for applications where the drive must be started
into a rotating motor at high frequencies (above 150 Hz).
Magnetization time
Defines the pre-magnetization time when

parameter 21.01 Start mode is set to Constant time (in
DTC motor control mode), or
parameter 21.19 Scalar start mode is set to Const time (in
scalar motor control mode).
After the start command, the drive automatically
premagnetizes the motor for the set time. To ensure full
magnetizing, set this parameter to the same value as, or
higher than, the rotor time constant. If not known, use the
rule-of-thumb value given in the table below:
500 ms
Motor rated power
Constant magnetizing time
< 1 kW
> 50 to 100 ms
1 to 10 kW
> 100 to 200 ms
10 to 200 kW
> 200 to 1000 ms
200 to 1000 kW
> 1000 to 2000 ms
Note: This parameter cannot be changed while the drive is

running.
21.03
0 10000 ms
Constant DC magnetizing time.
1 = 1 ms
Stop mode
Selects the way the motor is stopped when a stop command

is received.
Additional braking is possible by selecting flux braking (see
parameter 97.05 Flux braking).
Note: This parameter has no effect in a follower drive in a
master/follower configuration.
Coast
Coast
Stop by switching off the output semiconductors of the drive.

The motor coasts to a stop.
WARNING! If a mechanical brake is used, ensure it
is safe to stop the drive by coasting.
246 Parameters
No.
21.04
21.05
Name/Value
Description
Def/FbEq16
Ramp
Stop along the active deceleration ramp. See parameter

group 23 Speed reference ramp on page 260.
Torque limit
Stop according to torque limits (parameters 30.19 and

30.20).
Emergency stop
mode
Selects the way the motor is stopped when an emergency

stop command is received.
The source of the emergency stop signal is selected by
parameter 21.05 Emergency stop source.
Ramp stop
(Off1); Coast
stop (Off2)
(95.20 b1);
Eme ramp
stop (Off3)
(95.20 b1)
Ramp stop (Off1)
With the drive running:

1 = Normal operation.
0 = Normal stop along the standard deceleration ramp
defined for the particular reference type (see section
Reference ramping [page 85]). After the drive has
stopped, it can be restarted by removing the emergency
stop signal and switching the start signal from 0 to 1.
With the drive stopped:
1 = Starting allowed.
0 = Starting not allowed.
Coast stop (Off2)

1 = Normal operation.
0 = Stop by coasting. The drive can be restarted by
restoring the start interlock signal and switching the start
signal from 0 to 1.
1 = Starting allowed.
0 = Starting not allowed.
Eme ramp stop

(Off3)

1 = Normal operation
0 = Stop by ramping along emergency stop ramp defined
by parameter 23.23 Emergency stop time. After the drive
has stopped, it can be restarted by removing the
emergency stop signal and switching the start signal from
0 to 1.
1 = Starting allowed
0 = Starting not allowed
Emergency stop
source
Selects the source of the emergency stop signal. The stop

mode is selected by parameter 21.04 Emergency stop
mode.
0 = Emergency stop active
running.
Inactive
(true); DI4
(95.20 b1),
(95.20 b2)
Active (false)
0.
Inactive (true)
1.
DIIL
DI1
DI2
DI3
DI4
Parameters 247
No.
21.06
21.07
Name/Value
Description
Def/FbEq16
DI5
DI6
DIO1
11
DIO2
12
Other [bit]

page 154).
Zero speed limit
Defines the zero speed limit. The motor is stopped along a

speed ramp (when ramped stop is selected) until the defined
zero speed limit is reached. After the zero speed delay, the
motor coasts to a stop.
30.00 rpm
0.00
30000.00 rpm
Zero speed limit.
See par.
46.01
Zero speed delay
Defines the delay for the zero speed delay function. The
function is useful in applications where a smooth and quick
restarting is essential. During the delay, the drive knows the
rotor position accurately.
0 ms
Without zero speed delay:

The drive receives a stop command and decelerates along
a ramp. When actual motor speed falls below the value of
parameter 21.06 Zero speed limit, inverter modulation is
stopped and the motor coasts to a standstill.
Speed
Speed controller switched off:
Motor coasts to a stop.
Time
248 Parameters
No.
Name/Value
Description
Def/FbEq16
With zero speed delay:

The drive receives a stop command and decelerates along a
ramp. When actual motor speed falls below the value of
parameter 21.06 Zero speed limit, the zero speed delay
function activates. During the delay the function keeps the
speed controller live: the inverter modulates, motor is
magnetized and the drive is ready for a quick restart. Zero
speed delay can be used e.g. with the jogging function.
Speed
Speed controller remains
active. Motor is decelerated to
true zero speed.
Delay
21.08
0 30000 ms
Zero speed delay.
1 = 1 ms
DC current control
Activates/deactivates the DC hold and post-magnetization

functions. See section DC magnetization (page 105).
Notes:
These functions are only available in speed control in
DTC motor control mode (see page 42).
DC magnetization causes the motor to heat up. In
applications where long DC magnetization times are
required, externally ventilated motors should be used. If
the DC magnetization period is long, DC magnetization
cannot prevent the motor shaft from rotating if a constant
load is applied to the motor.
0000b
Bit
0
1
215
21.09
21.10
Time
Value
1 = Enable DC hold. See section DC hold (page 106).
Note: The DC hold function has no effect if the start signal is switched off.
1 = Enable post-magnetization. See section Post-magnetization (page 106).
Note: Post-magnetization is only available when ramping is the selected stop mode
(see parameter 21.03 Stop mode).
Reserved
0000b0011b
DC magnetization selection.
1=1
DC hold speed
Defines the DC hold speed. See parameter 21.08 DC

current control, and section DC hold (page 106).
5.00 rpm
0.00 1000.00
rpm
DC hold speed.
See par.
46.01
DC current
reference
Defines the DC hold current in percent of the motor nominal

current. See parameter 21.08 DC current control, and
section DC magnetization (page 105).
30.0%
0.0 100.0%
DC hold current.
1 = 1%
Parameters 249
No.
Name/Value
Description
Def/FbEq16
21.11
Post magnetization
time
Defines the length of time for which post-magnetization is

active after stopping the motor. The magnetization current is
defined by parameter 21.10 DC current reference.
See parameter 21.08 DC current control.
0s
03000 s
Post-magnetization time.
1=1s
Continuous
magnetization
command
Activates/deactivates (or selects a source that

activates/deactivates) continuous magnetization. See
section Continuous magnetization (page 107).
The magnetization current is calculated on the basis of flux
reference (see parameter group 97 Motor control).
Note:
This function is available only when 21.03 Stop mode =
Ramp and DTC motor control mode is in speed control
(see page 42).
Continuous magnetization causes the motor to heat up. In
applications where long magnetization times are required,
externally ventilated motors should be used.
Continuous magnetization may not prevent the motor
shaft from rotating for a long period if a constant load is
applied to the motor.
0 = Normal operating
1 = Magnetization is active
Off
Off
0.
On
1.
Other [bit]

154).
Autophasing mode
Selects the way autophasing is performed.

See section Autophasing on page 102.
Turning
Turning
This mode gives the most accurate autophasing result. This

mode can be used, and is recommended, if the motor is
allowed to rotate during the ID run and the start-up is not
time-critical.
Note: This mode will cause the motor to rotate. The load
torque must be less than 5%.
Standstill 1
Faster than the Turning mode, but not as accurate. The

motor will not rotate.
Standstill 2
An alternative standstill autophasing mode that can be used

if the Turning mode cannot be used, and the Standstill 1
mode gives erratic results. However, this mode is
considerably slower than Standstill 1.
21.12
21.13
Turning with Z-pulse This mode is used to observe the zero pulse signal of the
pulse encoder and when other modes do not give a result.
The motor turns until a zero pulse is detected.
250 Parameters
No.
Name/Value
Description
Def/FbEq16
21.14
Pre-heating input
source
Selects the source of the motor pre-heat on/off command.

See section Pre-heating (page 105).
Note: The pre-heating function does not activate if
the Safe torque off function is active,
a fault is active,
less than one minute has elapsed after stopping, or
PID sleep function is active.
Pre-heating is deactivated when the drive is started, and
overridden by pre-magnetization, post-magnetization or
continuous magnetization.
0 = Pre-heating is inactive
1 = Pre-heating is active
Off
Off
0. Pre-heating is always deactivated.
On
1. Pre-heating is always activated when the drive is stopped

(apart from conditions stated above).
DI1
DI2
DI3
DI4
DI5
DI6
Supervision 1
Supervision 1 active (32.01 Supervision status, bit 0).
Supervision 2
Supervision 3
10
Other [bit]

page 154).
Pre-heating current
Defines the motor pre-heating current that is fed into the

motor when the source selected by 21.14 Pre-heating input
source is on. The value is in percent of the nominal motor
current.
0.0%
0.0 30.0%
Pre-heating current.
1 = 1%
Auto restart time
The motor can be automatically started after a short supply

power failure using the automatic restart function. See
section Automatic restart (page 118).
When this parameter is set to 0.0 seconds, automatic
restarting is disabled. Otherwise, the parameter defines the
maximum duration of the power failure after which restarting
is attempted. Note that this time also includes the DC precharging delay.
WARNING! Before you activate the function, make
sure that no dangerous situations can occur. The
function restarts the drive automatically and
continues operation after a supply break.
5.0 s
0.0 s
Automatic restarting disabled.
0.1 5.0 s
Maximum power failure duration.
1=1s
21.16
21.18
Parameters 251
No.
Name/Value
Description
Def/FbEq16
21.19
Scalar start mode
Selects the motor start function for the scalar motor control
mode, ie. when 99.04 Motor control mode is set to Scalar.
Notes:
The start function for the DTC motor control mode is
selected by parameter 21.01 Start mode.
With permanent magnet motors, Automatic start mode
must be used.
running.
See also section DC magnetization (page 105).
Normal
Normal
Immediate start from zero speed.
Const time
The drive pre-magnetizes the motor before start. The premagnetizing time is defined by parameter 21.02
Magnetization time. This mode should be selected if
constant pre-magnetizing time is required (e.g. if the motor
start must be synchronized with the release of a mechanical
brake). This setting also guarantees the highest possible
break-away torque when the pre-magnetizing time is set
long enough.
Note: This mode cannot be used to start into a rotating
motor.
WARNING! The drive will start after the set
magnetizing time has passed even if motor
magnetization is not completed. In applications
where a full break-away torque is essential, ensure that the
constant magnetizing time is long enough to allow
generation of full magnetization and torque.
Automatic
This setting should be used in applications where flying

starts (ie. starting into a rotating motor) are required.
Follower force ramp

stop
In a torque-controlled follower drive, forces (or selects a

source that forces) the drive to switch to speed control upon
a ramp stop command.
1 = Ramp stop forces speed control
Not selected
Not selected
0.
Selected
1.
DIIL
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
11
DIO2
12
Other [bit]

page 154).
21.20
252 Parameters
No.
Name/Value
Description
22
Def/FbEq16
22 Speed reference
selection
Speed reference selection; motor potentiometer settings.

See the control chain diagrams on pages 644646.
22.01
Speed ref unlimited
Displays the output of the speed reference selection block.

See the control chain diagram on page 645.
-30000.00
30000.00 rpm
Value of the selected speed reference.
See par.
46.01
Speed ref1 source
Selects speed reference source 1.

Two signal sources can be defined by this parameter and
22.12 Speed ref2 source. A digital source selected by 22.14
Speed ref1/2 selection can be used to switch between the
two sources, or a mathematical function (22.13 Speed ref1
function) applied to the two signals to create the reference.
AI1 scaled
22.11
22.11
0
AI
FB

22.11
Ref1
22.81
ADD
Other
SUB
22.14
0
MUL
MIN
22.12
22.83
1
MAX
0
AI
FB

22.82
Other
Zero
None.
AI1 scaled
12.12 AI1 scaled value (see page 199).
AI2 scaled
FB A ref1
03.05 FB A reference 1 (see page 161).
FB A ref2
EFB ref1
03.09 EFB reference 1 (see page 161).
EFB ref2
DDCS ctrl ref1
03.11 DDCS controller ref 1 (see page 162).
10
DDCS ctrl ref2
11
M/F reference 1
03.13 M/F or D2D ref1 (see page 162).
12
M/F reference 2
13
Motor potentiometer 22.80 Motor potentiometer ref act (output of the motor
potentiometer).
15
PID
40.01 Process PID output actual (output of the process PID

controller).
16
Control panel (ref

saved)
Control panel reference, with initial value from last-used

panel reference. See section Using the control panel as an
external control source (page 41).
18
Parameters 253
No.
Name/Value
Description
Def/FbEq16
Control panel (ref

copied)
Control panel reference, with initial value from previous

source or actual value. See section Using the control panel
as an external control source (page 41).
19
Other

154).
22.12
Speed ref2 source
Selects speed reference source 2.

For the selections, and a diagram of reference source
selection, see parameter 22.11 Speed ref1 source.
Zero
22.13
Speed ref1 function
Selects a mathematical function between the reference

sources selected by parameters 22.11 Speed ref1 source
and 22.12 Speed ref2 source. See diagram at 22.11 Speed
ref1 source.
Ref1
Ref1
Signal selected by 22.11 Speed ref1 source is used as

speed reference 1 as such (no function applied).
Add (ref1 + ref2)
The sum of the reference sources is used as speed

reference 1.
Sub (ref1 - ref2)
The subtraction ([22.11 Speed ref1 source] - [22.12 Speed

ref2 source]) of the reference sources is used as speed
reference 1.
Mul (ref1 ref2)
The multiplication of the reference sources is used as speed

reference 1.
Min (ref1, ref2)
The smaller of the reference sources is used as speed

reference 1.
Max (ref1, ref2)
The greater of the reference sources is used as speed

reference 1.
Speed ref1/2
selection
Configures the selection between speed references 1 and 2.

See diagram at 22.11 Speed ref1 source.
0 = Speed reference 1
1 = Speed reference 2
Follow
Ext1/Ext2
selection
Speed reference 1
0.
Speed reference 2
1.
Follow Ext1/Ext2
selection
Speed reference 1 is used when external control location

EXT1 is active. Speed reference 2 is used when external
control location EXT2 is active.
See also parameter 19.11 Ext1/Ext2 selection.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
11
DIO2
12
Other [bit]

154).
22.14
254 Parameters
No.
Name/Value
Description
Def/FbEq16
22.15
Speed additive 1
source
Defines a reference to be added to the speed reference after

reference selection (see page 644).
For the selections, see parameter 22.11 Speed ref1 source.
Note: For safety reasons, the additive is not applied when
any of the stop functions are active.
Zero
22.16
Speed share
Defines a scaling factor for the selected speed reference

(speed reference 1 or 2, multiplied by the defined value).
Speed reference 1 or 2 is selected by parameter 22.14
Speed ref1/2 selection.
1.000
-8.000 8.000
Speed reference scaling factor.
1000 = 1
22.17
Speed additive 2
source
Defines a reference to be added to the speed reference after

the speed share function (see page 644).
For the selections, see parameter 22.11 Speed ref1 source.
any of the stop functions are active.
Zero
22.21
Constant speed
function
Determines how constant speeds are selected, and whether

the rotation direction signal is considered or not when
applying a constant speed.
0000b
Bit
0
215
Name
Information
Constant speed 1 = Packed: 7 constant speeds are selectable using the three sources
mode
defined by parameters 22.22, 22.23 and 22.24.
0 = Separate: Constant speeds 1, 2 and 3 are separately activated by
the sources defined by parameters 22.22, 22.23 and 22.24 respectively.
In case of conflict, the constant speed with the smaller number takes
priority.
Direction
1 = Start dir: To determine running direction for a constant speed, the
enable
sign of the constant speed setting (parameters 22.2622.32) is
multiplied by the direction signal (forward: +1, reverse: -1). This
effectively allows the drive to have 14 (7 forward, 7 reverse) constant
speeds if all values in 22.2622.32 are positive.
WARNING: If the direction signal is reverse and the active
constant speed is negative, the drive will run in the forward
direction.
0 = Accord Par: The running direction for the constant speed is
determined by the sign of the constant speed setting (parameters
22.2622.32).
Reserved
0000b0011b
Constant speed configuration word.
1=1
Parameters 255
No.
Name/Value
Description
22.22
Constant speed
sel1
When bit 0 of parameter 22.21 Constant speed function is 0 DI5

(Separate), selects a source that activates constant speed 1.
When bit 0 of parameter 22.21 Constant speed function is 1
(Packed), this parameter and parameters 22.23 Constant
speed sel2 and 22.24 Constant speed sel3 select three
sources whose states activate constant speeds as follows:
Source defined Source defined Source defined

by par. 22.22
by par. 22.23
by par. 22.24
0
0
0
1
0
0
0
1
0
1
1
0
0
0
1
1
0
1
0
1
1
1
1
1
Def/FbEq16
Constant speed active

None
Constant speed 1
Constant speed 2
Constant speed 3
Constant speed 4
Constant speed 5
Constant speed 6
Constant speed 7
Not selected
0 (always off).
Selected
1 (always on).
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
Other [bit]

page 154).
22.23
Constant speed
sel2
When bit 0 of parameter 22.21 Constant speed function is 0 Not selected

sources that are used to activate constant speeds. See table
at parameter 22.22 Constant speed sel1.
For the selections, see parameter 22.22 Constant speed
sel1.
22.24
Constant speed
sel3
When bit 0 of parameter 22.21 Constant speed function is 0 Not selected

sources that are used to activate constant speeds. See table
at parameter 22.22 Constant speed sel1.
For the selections, see parameter 22.22 Constant speed
sel1.
256 Parameters
No.
Name/Value
Description
Def/FbEq16
22.26
Constant speed 1
Defines constant speed 1 (the speed the motor will turn

when constant speed 1 is selected).
300.00 rpm
-30000.00
30000.00 rpm
Constant speed 1.
See par.
46.01
Constant speed 2
Defines constant speed 2.
0.00 rpm
-30000.00
30000.00 rpm
Constant speed 2.
See par.
46.01
Constant speed 3
0.00 rpm
-30000.00
30000.00 rpm
Constant speed 3.
See par.
46.01
Constant speed 4
0.00 rpm
-30000.00
30000.00 rpm
Constant speed 4.
See par.
46.01
Constant speed 5
0.00 rpm
-30000.00
30000.00 rpm
Constant speed 5.
See par.
46.01
Constant speed 6
0.00 rpm
-30000.00
30000.00 rpm
Constant speed 6.
See par.
46.01
Constant speed 7
0.00 rpm
-30000.00
30000.00 rpm
Constant speed 7.
See par.
46.01
Speed ref safe
Defines a safe speed reference value that is used with

supervision functions such as
12.03 AI supervision function
49.05 Communication loss action
50.02 FBA A comm loss func
50.32 FBA B comm loss func
58.14 Communication loss action.
0.00 rpm
-30000.00
30000.00 rpm
Safe speed reference.
See par.
46.01
Jogging 1 ref
Defines the speed reference for jogging function 1. For more

information on jogging, see page 98.
0.00 rpm
-30000.00
30000.00 rpm
Speed reference for jogging function 1.
See par.
46.01
Jogging 2 ref
Defines the speed reference for jogging function 2. For more

information on jogging, see page 98.
0.00 rpm
-30000.00
30000.00 rpm
Speed reference for jogging function 2.
See par.
46.01
22.27
22.28
22.29
22.30
22.31
22.32
22.41
22.42
22.43
Parameters 257
No.
Name/Value
Description
Def/FbEq16
22.51
Critical speed
function
Enables/disables the critical speeds function. Also

determines whether the specified ranges are effective in
both rotating directions or not.
See also section Critical speeds/frequencies (page 86).
0000b
Bit
0
1
215
22.52
22.53
22.54
22.55
22.56
22.57
22.71
Name
Enable
Information
1 = Enable: Critical speeds enabled.
0 = Disable: Critical speeds disabled.
Sign mode 1 = Signed: The signs of parameters 22.5222.57 are taken into
account.
0 = Absolute: Parameters 22.5222.57 are handled as absolute values.
Each range is effective in both directions of rotation.
Reserved
0000b0011b
Critical speeds configuration word.
1=1
Critical speed 1 low
Defines the low limit for critical speed range 1.

Note: This value must be less than or equal to the value of
22.53 Critical speed 1 high.
0.00 rpm
-30000.00
30000.00 rpm
Low limit for critical speed 1.
See par.
46.01
Critical speed 1 high Defines the high limit for critical speed range 1.
Note: This value must be greater than or equal to the value
of 22.52 Critical speed 1 low.
0.00 rpm
-30000.00
30000.00 rpm
High limit for critical speed 1.
See par.
46.01

0.00 rpm
-30000.00
30000.00 rpm
See par.
46.01
0.00 rpm
-30000.00
30000.00 rpm
See par.
46.01

0.00 rpm
-30000.00
30000.00 rpm
See par.
46.01
0.00 rpm
-30000.00
30000.00 rpm
See par.
46.01
Motor potentiometer
function
Activates and selects the mode of the motor potentiometer.

See section Scalar motor control (page 101).
Disabled
Disabled
Motor potentiometer is disabled and its value set to 0.
258 Parameters
No.
Name/Value
Description
Def/FbEq16
Enabled (init at
stop/power-up)
When enabled, the motor potentiometer first adopts the

value defined by parameter 22.72 Motor potentiometer initial
value. When the drive is operating, the value can be
adjusted from the up and down sources defined by
parameters 22.73 Motor potentiometer up source and 22.74
Motor potentiometer down source.
A stop or a power cycle resets the motor potentiometer to
the initial value (22.72).
Enabled (resume
always)
Functions as in Enabled (init at stop/power-up), but retains

the motor potentiometer value over a stop or a power cycle.
Motor potentiometer
initial value
Defines an initial value (starting point) for the motor

potentiometer. See the selections of parameter 22.71 Motor
potentiometer function.
0.00
-32768.00
32767.00
Initial value for motor potentiometer.
1=1
Motor potentiometer
up source
Selects the source of motor potentiometer up signal.

0 = No change
1 = Increase motor potentiometer value. (If both the up and
down sources are on, the potentiometer value will not
change.)
Not selected
Not selected
0.
Selected
1.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
Other [bit]

154).
22.74
Motor potentiometer
down source
Selects the source of motor potentiometer down signal.

0 = No change
1 = Decrease motor potentiometer value. (If both the up and
down sources are on, the potentiometer value will not
change.)
For the selections, see parameter 22.73 Motor
potentiometer up source.
Not selected
22.75
Motor potentiometer
ramp time
Defines the change rate of the motor potentiometer. This

parameter specifies the time required for the motor
potentiometer to change from minimum (22.76) to maximum
(22.77). The same change rate applies in both directions.
60.0 s
0.0 3600.0 s
Motor potentiometer change time.
10 = 1 s
Motor potentiometer
min value
Defines the minimum value of the motor potentiometer.
-1500.00
-32768.00
32767.00
Motor potentiometer minimum.
1=1
22.72
22.73
22.76
Parameters 259
No.
Name/Value
Description
Def/FbEq16
22.77
Motor potentiometer
max value
Defines the maximum value of the motor potentiometer.
1500.00
-32768.00
32767.00
Motor potentiometer maximum.
1=1
Motor potentiometer
ref act
Displays the output of the motor potentiometer function.

(The motor potentiometer is configured using parameters
22.7122.74.)
-32768.00
32767.00
Value of motor potentiometer.
1=1
Speed reference act

1
Displays the value of speed reference source 1 (selected by

parameter 22.11 Speed ref1 source). See the control chain
-30000.00
30000.00 rpm
Value of reference source 1.
See par.
46.01
Speed reference act

2
Displays the value of speed reference source 2 (selected by

parameter 22.12 Speed ref2 source). See the control chain
-30000.00
30000.00 rpm
Value of reference source 2.
See par.
46.01
Speed reference act

3
Displays the value of speed reference after the

mathematical function applied by parameter 22.13 Speed
ref1 function and reference 1/2 selection (22.14 Speed
ref1/2 selection). See the control chain diagram on
page 644.
-30000.00
30000.00 rpm
Speed reference after source selection.
See par.
46.01
Speed reference act

4
Displays the value of speed reference after application of 1st

speed additive (22.15 Speed additive 1 source). See the
control chain diagram on page 644.
-30000.00
30000.00 rpm
Speed reference after additive 1.
See par.
46.01
Speed reference act

5
Displays the value of speed reference after the application of

the speed share scaling factor (22.16 Speed share). See the
-30000.00
30000.00 rpm
Speed reference after speed share scaling.
See par.
46.01
Speed reference act

6
Displays the value of speed reference after application of

2nd speed additive (22.17 Speed additive 2 source). See the
-30000.00
30000.00 rpm
Speed reference after additive 2.
See par.
46.01
22.80
22.81
22.82
22.83
22.84
22.85
22.86
260 Parameters
No.
Name/Value
Description
Def/FbEq16
22.87
Speed reference act

7
Displays the value of speed reference before application of

critical speeds. See the control chain diagram on page 645.
The value is received from 22.86 Speed reference act 6
unless overridden by
any constant speed
a jogging reference
Network control reference
control panel reference
safe speed reference.
-30000.00
30000.00 rpm
Speed reference before application of critical speeds.
See par.
46.01
23
23 Speed reference
ramp
Speed reference ramp settings (programming of the

acceleration and deceleration rates for the drive).
23.01
Speed ref ramp

input
Displays the used speed reference (in rpm) before it enters

the ramping and shaping functions. See the control chain
-30000.00
30000.00 rpm
Speed reference before ramping and shaping.
See par.
46.01
Speed ref ramp

output
Displays the ramped and shaped speed reference in rpm.

-30000.00
30000.00 rpm
Speed reference after ramping and shaping.
See par.
46.01
Ramp set selection
Selects the source that switches between the two sets of

acceleration/deceleration ramp times defined by parameters
23.1223.15.
0 = Acceleration time 1 and deceleration time 1 are active
1 = Acceleration time 2 and deceleration time 2 are active
DI4
Acc/Dec time 1
0.
Acc/Dec time 2
1.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
Other [bit]

page 154).
23.02
23.11
Parameters 261
No.
Name/Value
Description
Def/FbEq16
23.12
Acceleration time 1
Defines acceleration time 1 as the time required for the

speed to change from zero to the speed defined by
parameter 46.01 Speed scaling (not to parameter 30.12
Maximum speed).
If the speed reference increases faster than the set
acceleration rate, the motor speed will follow the
acceleration rate.
If the speed reference increases slower than the set
acceleration rate, the motor speed will follow the reference.
If the acceleration time is set too short, the drive will
automatically prolong the acceleration in order not to exceed
the drive torque limits.
20.000 s
0.000 1800.000 s
Acceleration time 1.
10 = 1 s
Deceleration time 1
Defines deceleration time 1 as the time required for the

speed to change from the speed defined by parameter 46.01
Speed scaling (not from parameter 30.12 Maximum speed)
to zero.
If the speed reference decreases slower than the set
deceleration rate, the motor speed will follow the reference.
If the reference changes faster than the set deceleration
rate, the motor speed will follow the deceleration rate.
If the deceleration rate is set too short, the drive will
automatically prolong the deceleration in order not to exceed
drive torque limits (or not to exceed a safe DC link voltage).
If there is any doubt about the deceleration time being too
short, ensure that DC overvoltage control is on (parameter
30.30 Overvoltage control).
Note: If a short deceleration time is needed for a high inertia
application, the drive should be equipped with braking
equipment such as a brake chopper and brake resistor.
20.000 s
0.000 1800.000 s
Deceleration time 1.
10 = 1 s
Acceleration time 2
Defines acceleration time 2. See parameter 23.12

Acceleration time 1. Acceleration time 2 changes according
to the roll diameter.
60.000 s
0.000 1800.000 s
10 = 1 s
Deceleration time 2
Defines deceleration time 2. See parameter 23.13

Deceleration time 1. Deceleration time 2 changes according
to the roll diameter.
60.000 s
0.000 1800.000 s
10 = 1 s
23.13
23.14
23.15
262 Parameters
No.
Name/Value
Description
Def/FbEq16
23.16
Shape time acc 1
Defines the shape of the acceleration ramp at the beginning 0.000 s

of the acceleration.
0.000 s: Linear ramp. Suitable for steady acceleration or
deceleration and for slow ramps.
0.0011000.000 s: S-curve ramp. S-curve ramps are ideal
for lifting applications. The S-curve consists of symmetrical
curves at both ends of the ramp and a linear part in between.
Note: For safety reason, shape times are not applied to
emergency stop ramps.
Acceleration:
Linear ramp:
23.17 = 0 s
Speed
Linear ramp:
23.16 = 0 s
S-curve ramp:
23.17 > 0 s
S-curve ramp:
23.16 > 0 s
Time
Deceleration:
Speed
S-curve ramp:
23.18 > 0 s
Linear ramp:
23.18 = 0 s
S-curve ramp:
23.19 > 0 s
Linear ramp:
23.19 = 0 s
Time
23.17
23.18
0.000 1800.000 s
Ramp shape at start of acceleration.
10 = 1 s
Shape time acc 2
Defines the shape of the acceleration ramp at the end of the

acceleration. See parameter 23.16 Shape time acc 1.
0.000 s
0.000 1800.000 s
Ramp shape at end of acceleration.
10 = 1 s
Shape time dec 1
Defines the shape of the deceleration ramp at the beginning

of the deceleration. See parameter 23.16 Shape time acc 1.
0.000 s
0.000 1800.000 s
Ramp shape at start of deceleration.
10 = 1 s
Parameters 263
No.
Name/Value
Description
Def/FbEq16
23.19
Shape time dec 2
Defines the shape of the deceleration ramp at the end of the

deceleration. See parameter 23.16 Shape time acc 1.
0.000 s
0.000 1800.000 s
Ramp shape at end of deceleration.
10 = 1 s
Acc time jogging
Defines the acceleration time for the jogging function i.e. the
time required for the speed to change from zero to the speed
value defined by parameter 46.01 Speed scaling.
60.000 s
0.000 1800.000 s
Acceleration time for jogging.
10 = 1 s
Dec time jogging
Defines the deceleration time for the jogging function i.e. the
time required for the speed to change from the speed value
defined by parameter 46.01 Speed scaling to zero.
60.000 s
0.000 1800.000 s
Deceleration time for jogging.
10 = 1 s
Emergency stop
time
In speed control mode, this parameter defines the

deceleration rate for emergency stop Off3 as the time it
would take for the speed to decrease from the value of
parameter 46.01 Speed scaling to zero. This also applies to
torque control because the drive switches to speed control
on receiving an emergency stop Off3 command.
In frequency control mode, this parameter specifies the time
it would take for the frequency to decrease from the value of
46.02 Frequency scaling to zero.
The emergency stop mode and activation source are
selected by parameters 21.04 Emergency stop mode and
21.05 Emergency stop source respectively. Emergency stop
can also be activated through fieldbus.
Note: Emergency stop Off1 uses the standard deceleration
ramp as defined by parameters 23.1123.19 (speed and
torque control) or 28.7128.75 (frequency control).
3.000 s
0.000 1800.000 s
Emergency stop Off3 deceleration time.
10 = 1 s
Speed ramp in zero

source
Selects a source that forces the speed reference to zero just

before it enters the ramp function.
0 = Force speed reference to zero before the ramp function
1 = Speed reference continues towards the ramp function as
normal
Inactive
Active
0.
Inactive
1.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
Other [bit]

page 154).
23.20
23.21
23.23
23.24
264 Parameters
No.
Name/Value
Description
Def/FbEq16
23.26
Ramp out balancing

enable
Selects the source for enabling/disabling speed reference

ramp balancing.
This function is used to generate a smooth transfer from a
torque- or tension-controlled motor back to being speedcontrolled. The balancing output would be tracking the
present line speed of the application and when transfer is
required, the speed reference can then be quickly seeded
to the correct line speed. Balancing is also possible in the
speed controller, see parameter 25.09 Speed ctrl balancing
enable.
See also parameter 23.27 Ramp out balancing ref.
0 = Disabled
1 = Enabled
Not selected
Not selected
0.
Selected
1.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
Other [bit]

page 154).
Ramp out balancing

ref
Defines the reference for speed ramp balancing. The output

of the ramp generator is forced to this value when balancing
is enabled by parameter 23.26 Ramp out balancing enable.
0.00 rpm
-30000.00
30000.00 rpm
Speed ramp balancing reference.
See par.
46.01
23.27
Parameters 265
No.
Name/Value
Description
Def/FbEq16
23.28
Variable slope
enable
Activates the variable slope function, which controls the

slope of the speed ramp during a speed reference change.
This allows for a constantly variable ramp rate to be
generated, instead of just the standard two ramps normally
available.
If the update interval of the signal from an external control
system and the variable slope rate (23.29 Variable slope
rate) are equal, the resulting speed reference (23.02 Speed
ref ramp output) is a straight line.
Off
Speed reference
Speed
reference
t
A
23.02 Speed ref ramp output
Time
t = update interval of signal from external control system
A = speed reference change during t
This function is only active in remote control.
23.29
23.39
23.40
Off
Variable slope disabled.
On
Variable slope enabled (not available in local control).
Other [bit]

page 154).
Variable slope rate
Defines the rate of the speed reference change when

variable slope is enabled by parameter 23.28 Variable slope
enable.
For the best result, enter the reference update interval into
this parameter.
50 ms
230000 ms
Variable slope rate.
1 = 1 ms
Follower speed
correction out
Displays the speed correction term for the load share

function with a speed-controlled follower drive.
See section Load share function with a speed-controlled
follower (page 75).
-30000.00
30000.00 rpm
Speed correction term.
See par.
46.01
Follower speed
correction enable
With a speed-controlled follower, selects the source for

enabling/disabling the load share function.
follower (page 75).
0 = Disabled
1 = Enabled
Not selected
Not selected
0.
Selected
1.
266 Parameters
No.
23.41
23.42
Name/Value
Description
Def/FbEq16
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
Other [bit]

page 154).
Follower speed
correction gain
Adjusts the gain of the speed correction term in a speedcontrolled follower. In effect, defines how accurately the
follower follows the master torque. A greater value results in
a more accurate performance.
follower (page 75).
1.00%
0.00 100.00%
Speed correction term adjustment.
1 = 1%
Follower speed corr

torq source
Selects the source of the torque reference for the load share
function. See section Load share function with a speedcontrolled follower (page 75).
MF ref 2
NULL
None.
MF ref 2
03.14 M/F or D2D ref2 (page 162).
Other

page 154).
24
24 Speed reference
conditioning
Speed error calculation; speed error window control

configuration; speed error step.
See the control chain diagrams on pages 648 and 649.
24.01
Used speed
reference
Displays the ramped and corrected speed reference (before

speed error calculation). See the control chain diagram on
page 648.
-30000.00
30000.00 rpm
Speed reference used for speed error calculation.
See par.
46.01
Used speed
feedback
Displays the speed feedback used for speed error

calculation. See the control chain diagram on page 648.
-30000.00
30000.00 rpm
Speed feedback used for speed error calculation.
See par.
46.01
Speed error filtered
Displays the filtered speed error. See the control chain

-30000.0
30000.0 rpm
Filtered speed error.
See par.
46.01
Speed error
inverted
Displays the inverted (unfiltered) speed error. See the

-30000.0
30000.0 rpm
Inverted speed error.
See par.
46.01
24.02
24.03
24.04
Parameters 267
No.
Name/Value
Description
Def/FbEq16
24.11
Speed correction
Defines a speed reference correction, ie. a value added to

the existing reference between ramping and limitation. This
is useful to trim the speed if necessary, for example to adjust
draw between sections of a paper machine.
Note: For safety reasons, the correction is not applied when
an emergency stop is active.
WARNING! If the speed reference correction
exceeds 21.06 Zero speed limit, a ramp stop may be
impossible. Make sure the correction is reduced or
removed when a ramp stop is required.
0.00 rpm
-10000.00
10000.00 rpm
Speed reference correction.
See par.
46.01
Speed error filter

time
Defines the time constant of the speed error low-pass filter.

If the used speed reference changes rapidly, the possible
interferences in the speed measurement can be filtered with
the speed error filter. Reducing the ripple with this filter may
cause speed controller tuning problems. A long filter time
constant and fast acceleration time contradict one another. A
very long filter time results in unstable control.
0 ms
010000 ms
Speed error filtering time constant. 0 = filtering disabled.
1 = 1 ms
24.12
268 Parameters
No.
Name/Value
Description
Def/FbEq16
24.41
Speed error window

control enable
Enables/disables speed error window control, sometimes

also referred to as deadband control or strip break
protection. It forms a speed supervision function for a
torque-controlled drive, preventing the motor from running
away if the material that is being held under tension breaks.
Note: Speed error window control is only effective when the
Add operating mode is active (see parameters 19.12 and
19.14), or when the drive is a speed-controlled follower (see
page 75).
In normal operation, window control keeps the speed
controller input at zero so the drive stays in torque control.
If the motor load is lost, then the motor speed will rise as the
torque controller tries to maintain torque. The speed error
(speed reference - actual speed) will increase until it exits
the speed error window. When this is detected, the
exceeding part of the error value is connected to the speed
controller. The speed controller produces a reference term
relative to the input and gain (25.02 Speed proportional
gain) which the torque selector adds to the torque reference.
The result is used as the internal torque reference for the
drive.
The activation of speed error window control is indicated by
bit 3 of 06.19 Speed control status word.
The window boundaries are defined by 24.43 Speed error
window high and 24.44 Speed error window low as follows:
Disable
Speed (rpm)
Reference + [24.44] rpm
Speed error
window
Reference
Reference - [24.43] rpm
Forward
0 rpm
Reverse
Reference + [24.43] rpm
Speed error
window
Reference
Reference - [24.44] rpm
Note that it is parameter 24.44 (rather than 24.43) that

defines the overspeed limit in both directions of rotation.
This is because the function monitors speed error (which is
negative in case of overspeed, positive in case of
underspeed).
0 = Speed error window control disabled
1 = Speed error window control enabled
Disable
0.
Enable
1.
Other [bit]

154).
Parameters 269
No.
Name/Value
Description
Def/FbEq16
24.42
Speed error window

high
When speed error window control (see parameter 24.41

Speed error window control enable) is enabled, this
parameter determines whether the speed controller only
observes the proportional term instead of all three (P, I and
D) terms.
Normal
speed
control
Normal speed
control
All three terms (parameters 25.02, 25.03 and 25.04) are

observed by the speed controller.
P-control
Only the proportional term (25.02) is observed by the speed

controller. The integral and derivative terms are internally
forced to zero.
Speed error window

high
Defines the upper boundary of the speed error window. See

parameter 24.41 Speed error window control enable.
0.00 rpm
0.00 3000.00
rpm
Upper boundary of speed error window.
See par.
46.01
Speed error window

low
Defines the lower boundary of the speed error window. See

parameter 24.41 Speed error window control enable.
0.00 rpm
0.00 3000.00
rpm
Lower boundary of speed error window.
See par.
46.01
Speed error step
Defines an additional speed error step given to the

input of the speed controller (and added to the speed
error value). This can be used in large drive systems
for dynamic speed normalizing.WARNING! Make sure the
error step value is removed when a stop command is given.
0.00 rpm
-3000.00
3000.00 rpm
Speed error step.
See par.
46.01
24.43
24.44
24.46
25
25 Speed control
Speed controller settings.

25.01
Torque reference
speed control
Displays the speed controller output that is transferred to the

torque controller. See the control chain diagram on page
649.
-1600.0 1600.0%
Limited speed controller output torque.
See par.
46.03
270 Parameters
No.
Name/Value
Description
Def/FbEq16
25.02
Speed proportional
gain
Defines the proportional gain (Kp) of the speed controller.

Too high a gain may cause speed oscillation. The figure
below shows the speed controller output after an error step
when the error remains constant.
10.00;
5.00
(95.21 b1)
%
Gain = Kp = 1
TI = Integration time = 0
TD= Derivation time = 0
Error value
Controller output
Controller
output = Kp e
e = Error value
Time
If gain is set to 1.00, a 10% error (reference - actual value) in
the motor synchronous speed produces a proportional term
of 10%.
Note: This parameter is automatically set by the speed
controller autotune function. See section Speed controller
autotune (page 87).
0.00 250.00
Proportional gain for speed controller.
100 = 1
Parameters 271
No.
Name/Value
Description
Def/FbEq16
25.03
Speed integration
time
Defines the integration time of the speed controller. The

integration time defines the rate at which the controller
output changes when the error value is constant and the
proportional gain of the speed controller is 1. The shorter the
integration time, the faster the continuous error value is
corrected.
Setting the integration time to zero disables the I-part of the
controller. This is useful to do when tuning the proportional
gain; adjust the proportional gain first, then return the
integration time.
The integrator has anti-windup control for operation at a
torque or current limit.
The figure below shows the speed controller output after an
error step when the error remains constant.
2.50 s;
5.00
(95.21 b1)
%
Controller output
Gain = Kp = 1
TI = Integration time > 0
TD= Derivation time = 0
Kp e
Kp e
e = Error value
Time
TI
Note: This parameter is automatically set by the speed
autotune (page 87).
0.00 1000.00 s
Integration time for speed controller.
10 = 1 s
272 Parameters
No.
Name/Value
Description
Def/FbEq16
25.04
Speed derivation
time
Defines the derivation time of the speed controller.

Derivative action boosts the controller output if the error
value changes. The longer the derivation time, the more the
speed controller output is boosted during the change. If the
derivation time is set to zero, the controller works as a PI
controller, otherwise as a PID controller. The derivation
makes the control more responsive for disturbances. For
simple applications (especially those without an encoder),
derivative time is not normally required and should be left at
zero.
The figure below shows the speed controller output after an
error step when the error remains constant. The speed error
derivative must be filtered with a low pass filter to eliminate
external disturbances.
0.000 s
%
Controller output
Kp TD
e
Ts
Kp e
Error value
Kp e
e = Error value
TI
Time
Gain = Kp = 1
TI = Integration time > 0
TD= Derivation time > 0
Ts= Sample time period = 500 s
e = Error value change between two samples
25.05
0.000 10.000 s
Derivation time for speed controller.
1000 = 1 s
Derivation filter time
Defines the derivation filter time constant. See parameter

25.04 Speed derivation time.
8 ms
010000 ms
Derivation filter time constant.
1 = 1 ms
Parameters 273
No.
Name/Value
Description
Def/FbEq16
25.06
Acc comp derivation

time
Defines the derivation time for acceleration(/deceleration)

compensation. In order to compensate for a high inertia load
during acceleration, a derivative of the reference is added to
the output of the speed controller. The principle of a
derivative action is described under parameter 25.04 Speed
derivation time.
Note: As a general rule, set this parameter to the value
between 50 and 100% of the sum of the mechanical time
constants of the motor and the driven machine.
The figure below shows the speed responses when a high
inertia load is accelerated along a ramp.
In winder control, signal 09.44 Inertia compensation torque
is used as acceleration compensation value. This parmeter
cannot be changed manually.
No acceleration compensation:
0.00 s
Speed reference
Actual speed
Time
Acceleration compensation:
%
Speed reference
Actual speed
Time
25.07
0.00 1000.00 s
Acceleration compensation derivation time.
10 = 1 s
Acc comp filter time
Defines the acceleration (or deceleration) compensation

filter time constant.. See parameters 25.04 Speed derivation
time and 25.06 Acc comp derivation time.
8.0 ms
0.0 1000.0 ms
Acceleration/deceleration compensation filter time.
1 = 1 ms
274 Parameters
No.
Name/Value
Description
Def/FbEq16
25.08
Drooping rate
Defines the droop rate in percent of the nominal motor

speed. Drooping decreases the drive speed slightly as the
drive load increases. The actual speed decrease at a certain
operating point depends on the droop rate setting and the
drive load (= torque reference / speed controller output). At
100% speed controller output, drooping is at its nominal
level, i.e. equal to the value of this parameter. The drooping
effect decreases linearly to zero along with the decreasing
load.
The droop rate can be used e.g. to adjust the load sharing in
a Master/Follower application run by several drives. In a
Master/Follower application the motor shafts are coupled to
each other.
The correct droop rate for a process must be found out case
by case in practice.
0.00%
Speed decrease = Speed controller output Drooping Nominal speed

Example: Speed controller output is 50%, droop rate is 1%, nominal speed of the drive is
1500 rpm.
Speed decrease = 0.50 0.01 1500 rpm = 7.5 rpm.
Motor speed in
% of nominal
No drooping
100%
Drooping
25.08 Drooping rate
Speed controller
output / %
Drive load
100%
25.09
0.00 100.00%
Droop rate.
100 = 1%
Speed ctrl balancing

enable
Selects the source for enabling/disabling speed controller

output balancing.
This function is used to generate a smooth transfer from a
torque- or tension-controlled motor back to being speedcontrolled. The balancing output would be tracking the
present line speed of the application and when transfer is
required, the speed reference can then be quickly seeded
to the correct line speed. Balancing is also possible in the
ramp generator, see parameter 23.26 Ramp out balancing
enable.
See also parameter 25.10 Speed ctrl balancing ref.
0 = Disabled
1 = Enabled
Not selected
Not selected
0.
Selected
1.
DI1
DI2
DI3
Parameters 275
No.
25.10
25.11
25.12
25.13
25.14
25.15
Name/Value
Description
Def/FbEq16
DI4
DI5
DI6
DIO1
10
DIO2
11
Other [bit]

154).
Speed ctrl balancing

ref
Defines the reference used in speed controller output

balancing. The output of the speed controller is forced to this
value when balancing is enabled by parameter 25.09 Speed
ctrl balancing enable.
0.0%
-300.0 300.0%
Speed control output balancing reference.
1 = 1%
Speed control min

torque
Defines the minimum speed controller output torque.

In Open loop tension and Tension torque trim modes this
value is changed according to tension control. See the
control diagrams on page 52 and 54.
This parameter cannot be changed manually.
-300.0%
-1600.0 0.0%
Minimum speed controller output torque.
See par.
46.03
Speed control max

torque
Defines the maximum speed controller output torque.

In Open loop tension and Tension torque trim modes this
value is changed according to tension control. See the
control diagams on page 52 and 54.
This parameter cannot be changed manually.
300.0%
0.0 1600.0%
Maximum speed controller output torque.
See par.
46.03
Min torq sp ctrl em

stop
Defines the minimum speed controller output torque during

a ramped emergency stop (Off1 or Off3).
-400.0%
-1600.0 0.0%
Minimum speed controller output torque for ramped

emergency stop.
See par.
46.03
Max torq sp ctrl em

stop
Defines the maximum speed controller output torque during

a ramped emergency stop (Off1 or Off3).
400.0%
0.0 1600.0%
Maximum speed controller output torque for ramped

emergency stop.
See par.
46.03
Proportional gain
em stop
Defines the proportional gain for the speed controller when

an emergency stop is active. See parameter 25.02 Speed
proportional gain.
10.00;
5.00
(95.21 b1)
1.00 250.00
Proportional gain upon an emergency stop.
100 = 1
276 Parameters
No.
Name/Value
Description
Def/FbEq16
25.18
Speed adapt min

limit
Minimum actual speed for speed controller adaptation.

Speed controller gain and integration time can be adapted
according to actual speed (90.01 Motor speed for control).
This is done by multiplying the gain (25.02 Speed
proportional gain) and integration time (25.03 Speed
integration time) by coefficients at certain speeds. The
coefficients are defined individually for both gain and
integration time.
When actual speed is below or equal to 25.18 Speed adapt
min limit, the gain and integration time are multiplied by
25.21 Kp adapt coef at min speed and 25.22 Ti adapt coef at
min speed respectively.
When actual speed is equal to or above 25.19 Speed adapt
max limit, no adaptation takes place (the coefficient is 1).
When actual speed is between 25.18 Speed adapt min limit
and 25.19 Speed adapt max limit, the coefficients for the
gain and integration time are calculated linearly on the basis
of the breakpoints.
0 rpm
Coefficient for Kp or TI
Kp = Proportional gain
TI = Integration time
1.000
25.21 Kp adapt coef at min speed or

25.22 Ti adapt coef at min speed
Actual speed
(90.01) (rpm)
0
25.19
25.21
25.22
25.18 Speed
adapt min limit
25.19 Speed
adapt max limit
030000 rpm
Minimum actual speed for speed controller adaptation.
1 = 1 rpm
Speed adapt max

limit
Maximum actual speed for speed controller adaptation.

See parameter 25.18 Speed adapt min limit.
0 rpm
030000 rpm
Maximum actual speed for speed controller adaptation.
1 = 1 rpm
Kp adapt coef at
min speed
Proportional gain coefficient at minimum actual speed.

1.000
0.000 10.000
Proportional gain coefficient at minimum actual speed.
1000 = 1
Ti adapt coef at min

speed
Integration time coefficient at minimum actual speed.

1.000
0.000 10.000
Integration time coefficient at minimum actual speed.
1000 = 1
Parameters 277
No.
Name/Value
Description
Def/FbEq16
25.25
Torque adapt max

limit
Maximum torque reference for speed controller adaptation.

Speed controller gain can be adapted according to the final
unlimited torque reference (26.01 Torque reference to TC).
This can be used to smooth out disturbances caused by a
small load and backlashes.
The functionality involves multiplying the gain (25.02 Speed
proportional gain) by a coefficient within a certain torque
range.
When the torque reference is 0%, the gain is multiplied by
the value of parameter 25.27 Kp adapt coef at min torque.
When the torque reference is equal to or above 25.25
Torque adapt max limit, no adaptation takes place (the
coefficient is 1).
Between 0% and 25.25 Torque adapt max limit, the
coefficient for the gain is calculated linearly on the basis of
the breakpoints.
Filtering can be applied on the torque reference using
parameter 25.26 Torque adapt filt time.
0.0%
Coefficient for Kp (proportional gain)
1.000
25.27 Kp adapt coef at min torque

Final torque reference
(26.01) (rpm)
0
25.26
25.27
25.25 Torque
adapt max limit
0.0 1600.0%
Maximum torque reference for speed controller adaptation.
10 = 1%
Torque adapt filt

time
Defines a filter time constant for the adaptation, in effect

adjusting the rate of change of the gain.
See parameter 25.25 Torque adapt max limit.
0.000 s
0.000 100.000 s
Filter time for adaptation.
100 = 1 s
Kp adapt coef at
min torque
Proportional gain coefficient at 0% torque reference.

See parameter 25.25 Torque adapt max limit.
1.000
0.000 10.000
Proportional gain coefficient at 0% torque reference.
1000 = 1
278 Parameters
No.
Name/Value
Description
Def/FbEq16
25.30
Flux adaption
enable
Enables/disables speed controller adaptation based on

motor flux reference (01.24 Flux actual %).
The proportional gain of the speed controller is multiplied by
a coefficient of 01 between 0100% flux reference
respectively.
Enable
Coefficient for Kp (proportional gain)
1.000
Flux reference
(01.24) (%)
0.000
0
25.33
100
Disable
Speed controller adaptation based on flux reference

disabled.
Enable
Speed controller adaptation based on flux reference

enabled.
Speed controller
autotune
Activates (or selects a source that activates) the speed

autotune (page 87).
The autotune will automatically set parameters 25.02 Speed
proportional gain, 25.03 Speed integration time and 25.37
Mechanical time constant.
The prerequisites for performing the autotune routine are:
the motor identification run (ID run) has been successfully
completed
the speed and torque limits (parameter group 30 Limits)
have been set
speed feedback filtering (parameter group 90 Feedback
selection), speed error filtering (24 Speed reference
conditioning) and zero speed (21 Start/stop mode) have
been set, and
the drive has been started and is running in speed control
mode.
WARNING! The motor and machinery will run
against the torque and speed limits during the
autotune routine. MAKE SURE IT IS SAFE TO
ACTIVATE THE AUTOTUNE FUNCTION!
The autotune routine can be aborted by stopping the drive.
0 -> 1 = Activate speed controller autotune
Note: The value does not revert to 0 automatically.
Off
Off
0.
On
1.
Other [bit]

page 154).
Parameters 279
No.
Name/Value
Description
Def/FbEq16
25.34
Speed controller
autotune mode
Defines a control preset for the speed controller autotune

function. The setting affects the way the torque reference will
respond to a speed reference step.
Normal
Smooth
Slow but robust response.
Normal
Medium setting.
Tight
Fast response. May produce too high a gain value for some
applications.
Mechanical time
constant
Mechanical time constant of the drive and the machinery as

determined by the speed controller autotune function. The
value can be adjusted manually.
0.00 1000.00 s
Mechanical time constant.
10 = 1 s
Autotune torque
step
Defines an added torque value used by the autotune

function. This value is scaled to motor nominal torque.
Note that the torque used by the autotune function can also
be limited by the torque limits (in parameter group 30 Limits)
and nominal motor torque.
10.00%
0.00 100.00%
Autotune torque step.
100 = 1%
Autotune speed
step
Defines a speed value added to the initial speed for the

autotune routine. The initial speed (speed used when
autotune is activated) plus the value of this parameter is the
calculated maximum speed used by the autotune routine.
The maximum speed can also be limited by the speed limits
(in parameter group 30 Limits) and nominal motor speed.
The value is scaled to motor nominal speed.
Note: The motor will exceed the calculated maximum speed
slightly at the end of each acceleration stage.
10.00%
0.00 100.00%
Autotune speed step.
100 = 1%
Autotune repeat
times
Determines how many acceleration/deceleration cycles are

performed during the autotune routine. Increasing the value
will improve the accuracy of the autotune function, and allow
the use of smaller torque or speed step values.
10
110
Number of cycles during autotune routine.
1=1
Torque prop
reference
Displays the output of the proportional (P) part of the speed

controller. See the control chain diagram on page 649.
-30000.0
30000.0%
P-part output of speed controller.
See par.
46.03
Torque integral
reference
Displays the output of the integral (I) part of the speed

-30000.0
30000.0%
I-part output of speed controller.
See par.
46.03
Torque deriv
reference
Displays the output of the derivative (D) part of the speed

-30000.0
30000.0%
D-part output of speed controller.
See par.
46.03
25.37
25.38
25.39
25.40
25.53
25.54
25.55
280 Parameters
No.
Name/Value
Description
Def/FbEq16
25.56
Torque acc
compensation
Displays the output of the acceleration compensation

function. See the control chain diagram on page 649.
-30000.0
30000.0%
Output of acceleration compensation function.
See par.
46.03
Torque reference
unbalanced
Displays the acceleration-compensated output of the speed

-30000.0
30000.0%
Acceleration-compensated output of speed controller.
See par.
46.03
25.57
26
26 Torque reference
chain
Settings for the torque reference chain.

26.01
Displays the final torque reference given to the torque

controller in percent. This reference is then acted upon by
various final limiters, like power, torque, load etc.
26.02
26.08
26.09
Torque reference to
TC
-1600.0 1600.0% Torque reference for torque control.
See par.
46.03
Torque reference
used
Displays the final torque reference (in percent of motor

nominal torque) given to the DTC core, and comes after
frequency, voltage and torque limitation.
-1600.0 1600.0% Torque reference for torque control.
See par.
46.03
Minimum torque ref
Defines the minimum torque reference. Allows for local

limiting of the torque reference before it is passed on to the
torque ramp controller. For absolute torque limiting, refer to
parameter 30.19 Minimum torque 1.
-300.0%
-1000.0 0.0%
Minimum torque reference.
See par.
46.03
Maximum torque ref Defines the maximum torque reference. Allows for local
limiting of the torque reference before it is passed on to the
torque ramp controller. For absolute torque limiting, refer to
parameter 30.20 Maximum torque 1.
300.0%
0.0 1000.0%
See par.
46.03
Maximum torque reference.
Parameters 281
No.
Name/Value
Description
Def/FbEq16
26.11
Torque ref1 source
Selects torque reference source 1.

26.12 Torque ref2 source. A digital source selected by 26.14
Torque ref1/2 selection can be used to switch between the
two sources, or a mathematical function (26.13 Torque ref1
function) applied to the two signals to create the reference.
Zero
26.11
0
AI
FB

26.13
Ref1
26.70
ADD
Other
SUB
26.14
0
MUL
MIN
26.12
0
AI
FB

26.72
1
MAX
26.71
Other
26.12
Zero
None.
AI1 scaled
AI2 scaled
FB A ref1
FB A ref2
EFB ref1
EFB ref2
DDCS ctrl ref1
10
DDCS ctrl ref2
11
M/F reference 1
12
M/F reference 2
13
potentiometer).
15
PID

controller).
16
Control panel (ref

saved)

18
Control panel (ref

copied)

19
Other

page 154).
Torque ref2 source
Selects torque reference source 2.

selection, see parameter 26.11 Torque ref1 source.
Zero
282 Parameters
No.
Name/Value
Description
Def/FbEq16
26.13
Torque ref1 function

sources selected by parameters 26.11 Torque ref1 source
and 26.12 Torque ref2 source. See diagram at 26.11 Torque
ref1 source.
Ref1
Ref1
Signal selected by 26.11 Torque ref1 source is used as

torque reference 1 as such (no function applied).
Add (ref1 + ref2)
The sum of the reference sources is used as torque

reference 1.
Sub (ref1 - ref2)
The subtraction ([26.11 Torque ref1 source] - [26.12 Torque

ref2 source]) of the reference sources is used as torque
reference 1.
Mul (ref1 ref2)
The multiplication of the reference sources is used as torque

reference 1.
Min (ref1, ref2)
The smaller of the reference sources is used as torque

reference 1.
Max (ref1, ref2)
The greater of the reference sources is used as torque

reference 1.
Torque ref1/2
selection
Configures the selection between torque references 1 and 2.

See diagram at 26.11 Torque ref1 source.
0 = Torque reference 1
1 = Torque reference 2
Torque
reference 1
Torque reference 1
0.
Torque reference 2
1.
Follow Ext1/Ext2
selection
Torque reference 1 is used when external control location

EXT1 is active. Torque reference 2 is used when external
control location EXT2 is active.
DI1
DI2
DI3
DI4
DI5
DI6
Other [bit]

page 154).
Load share
Defines the scaling factor for the torque reference (the

torque reference is multiplied by the value).
This allows drives sharing the load between two motors on
the same mechanical plant to be tailored to share the correct
amount each, yet use the same master torque reference.
1.000
-8.000 8.000
Torque reference scaling factor.
1000 = 1
26.16
Torque additive 1
source
Selects the source for torque reference additive 1.

Zero
For the selections, see parameter 26.11 Torque ref1 source.
26.17
Torque ref filter time
Defines a low-pass filter time constant for the torque

reference.
0.000 s
0.000 30.000 s
Filter time constant for torque reference.
1000 = 1 s
26.14
26.15
Parameters 283
No.
Name/Value
Description
26.18
Torque ramp up
time
Defines the torque reference ramp-up time, ie. the time for
0.000 s
the reference to increase from zero to nominal motor torque.
0.000 60.000 s
Torque reference ramp-up time.
100 = 1 s
Torque ramp down

time
Defines the torque reference ramp-down time, ie. the time

for the reference to decrease from nominal motor torque to
zero.
0.000 s
0.000 60.000 s
Torque reference ramp-down time.
100 = 1 s
26.25
Torque additive 2
source
Zero
Selects the source of torque reference additive 2.
The value received from the selected source is added to the
torque reference after operating mode selection. Because of
this, the additive can be used in speed and torque modes.
WARNING! If the additive exceeds the limits set by
parameters 25.11 Speed control min torque and
25.12 Speed control max torque, a ramp stop may
be impossible. Make sure the additive is reduced or
removed when a ramp stop is required eg. by using
parameter 26.26 Force torque ref add 2 zero.
For the selections, see parameter 26.11 Torque ref1 source.
26.26
Force torque ref add

2 zero
Selects a source that forces torque reference additive 2 (see

parameter 26.25 Torque additive 2 source) to zero.
1 = Force torque reference additive 2 to zero.
Not selected
Not selected
0.
Selected
1.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
Other [bit]

page 154).
Torque step
When enabled by parameter 26.42 Torque step enable,

adds an additional step to the torque reference.
Note: For safety reasons, the torque step is not applied
when an emergency stop is active.
WARNING! If the torque step exceeds the limits set
by parameters 25.11 Speed control min torque and
25.12 Speed control max torque, a ramp stop may be
impossible. Make sure the torque step is reduced or
removed when a ramp stop is required eg. by using
parameter 26.42 Torque step enable.
0.0%
-300.0 300.0%
Torque step.
See par.
46.03
26.19
26.41
Def/FbEq16
284 Parameters
No.
Name/Value
Description
Def/FbEq16
26.42
Torque step enable
Enables/disables a torque step (defined by parameter 26.41

Torque step).
Disable
Disable
Torque step disabled.
Enable
Torque step enabled.
Oscillation damping
Parameters 26.5126.58 configure the oscillation damping

function. See section Oscillation damping (page 90), and the
block diagram on page 652.
This parameter enables (or selects a source that enables)
the oscillation damping algorithm.
1 = Oscillation damping algorithm enabled
Not selected
Not selected
0.
Selected
1.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
Other [bit]

page 154).
Oscillation damping
out enable
Determines (or selects a source that determines) whether

the output of the oscillation damping function is added to the
torque reference or not.
Note: Before enabling the oscillation damping output, adjust
parameters 26.5326.57. Then monitor the input signal
(selected by 26.53) and the output (26.58) to make sure that
the correction is safe to apply.
1 = Apply oscillation damping output to torque reference
Not selected
Not selected
0.
Selected
1.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
Other [bit]

page 154).
26.51
26.52
Parameters 285
No.
Name/Value
Description
Def/FbEq16
26.53
Oscillation
compensation input
Selects the input signal for the oscillation damping function.

Note: Before changing this parameter run-time, disable the
oscillation damping output using parameter 26.52. Monitor
the behavior of 26.58 before re-enabling the output.
Speed error
Speed error
24.01 Used speed reference - unfiltered motor speed.

Note: This setting is not supported in scalar motor control
mode.
DC voltage
01.11 DC voltage. (The value is internally filtered.)
Oscillation damping
frequency
Defines the center frequency of the oscillation damping filter. 31.0 Hz

Set the value according to the number of oscillation peaks in
the monitored signal (selected by 26.53) per second.
0.1 60.0 Hz
Center frequency for oscillation damping.
10 = 1 Hz
Oscillation damping
phase
Defines a phase shift for the output of the filter.

180 deg
0360 deg
Phase shift for oscillation damping function output.
10 = 1 deg
Oscillation damping
gain
Defines a gain for the output of the oscillation damping

function, ie. how much the output of the filter is amplified
before it is added to the torque reference.
Oscillation gain is scaled according to the speed controller
gain so that changing the gain will not disturb oscillation
damping.
1.0%
0.0 100.0%
Gain setting for oscillation damping output.
10 = 1%
Oscillation damping
output
Displays the output of the oscillation damping function. This

value is added to the torque reference (as allowed by
parameter 26.52 Oscillation damping out enable).
-1600.000
1600.000%
Output of the oscillation damping function.
10 = 1%
Torque reference
act 1
Displays the value of torque reference source 1 (selected by

parameter 26.11 Torque ref1 source). See the control chain
-1600.0 1600.0%
Value of torque reference source 1.
See par.
46.03
Torque reference
act 2
Displays the value of torque reference source 2 (selected by

parameter 26.12 Torque ref2 source). See the control chain
-1600.0 1600.0%
Value of torque reference source 2.
See par.
46.03
26.55
26.56
26.57
26.58
26.70
26.71
286 Parameters
No.
Name/Value
Description
Def/FbEq16
26.72
Torque reference
act 3
Displays the torque reference after the function applied by

parameter 26.13 Torque ref1 function (if any), and after
selection (26.14 Torque ref1/2 selection). See the control
chain diagram on page 650.
26.73
26.74
26.75
26.76
26.77
26.78
26.81
26.82
-1600.0 1600.0% Torque reference after selection.
See par.
46.03
Torque reference
act 4
Displays the torque reference after application of reference

additive 1. See the control chain diagram on page 650.
-1600.0 1600.0% Torque reference after application of reference additive 1.
See par.
46.03
Torque ref ramp out
Displays the torque reference after limiting and ramping.

-1600.0 1600.0% Torque reference after limiting and ramping.
See par.
46.03
Torque reference
act 5
Displays the torque reference after control mode selection.

-1600.0 1600.0% Torque reference after control mode selection.
See par.
46.03
Torque reference
act 6
Displays the torque reference after application of reference

additive 2. See the control chain diagram on page 652.
-1600.0 1600.0% Torque reference after application of reference additive 2.
See par.
46.03
Torque ref add A

actual
Displays the value of the source of torque reference additive

2. See the control chain diagram on page 652.
-1600.0 1600.0% Torque reference additive 2.
See par.
46.03
Torque ref add B

actual
Displays the value of torque reference additive 2 before it is

added to torque reference. See the control chain diagram on
page 652.
-1600.0 1600.0% Torque reference additive 2.
See par.
46.03
Rush control gain
Rush controller gain term. See section Rush control

(page 92).
10.0
0.0 10000.0
Rush controller gain (0.0 = disabled).
1=1
Rush control
integration time
Rush controller integration time term.
2.0 s
0.0 10.0 s
Rush controller integration time (0.0 = disabled).
1=1s
Parameters 287
No.
Name/Value
Description
Def/FbEq16
28
28 Frequency reference Settings for the frequency reference chain.

chain
28.01
28.02
28.11
Frequency ref ramp

input
Displays the used frequency reference before ramping. See

the control chain diagram on page 657.
-500.00
500.00 Hz
Frequency reference before ramping.
See par.
46.02
Frequency ref ramp

output
Displays the final frequency reference (after selection,

limitation and ramping). See the control chain diagram on
page 657.
-500.00
500.00 Hz
Final frequency reference.
See par.
46.02
Frequency ref1
source
Selects frequency reference source 1.

28.12 Frequency ref2 source. A digital source selected by
28.14 Frequency ref1/2 selection can be used to switch
between the two sources, or a mathematical function (28.13
Frequency ref1 function) applied to the two signals to create
the reference.
Zero
28.11
0
AI
FB

28.13
Ref1
28.90
ADD
Other
SUB
28.14
0
MUL
MIN
28.12
0
AI
FB

28.92
1
MAX
28.91
Other
Zero
None.
AI1 scaled
AI2 scaled
FB A ref1
FB A ref2
EFB ref1
EFB ref2
DDCS ctrl ref1
10
DDCS ctrl ref2
11
M/F reference 1
12
M/F reference 2
13
potentiometer).
15
288 Parameters
No.
Name/Value
Description
Def/FbEq16
PID

controller).
16
Control panel (ref

saved)

18
Control panel (ref

copied)

19
Other

154).
28.12
Frequency ref2
source
Selects frequency reference source 2.

selection, see parameter 28.11 Frequency ref1 source.
Zero
28.13
Frequency ref1
function

sources selected by parameters 28.11 Frequency ref1
source and 28.12 Frequency ref2 source. See diagram at
28.11 Frequency ref1 source.
Ref1
Ref1
Signal selected by 28.11 Frequency ref1 source is used as

frequency reference 1 as such (no function applied).
Add (ref1 + ref2)
The sum of the reference sources is used as frequency

reference 1.
Sub (ref1 - ref2)
The subtraction ([28.11 Frequency ref1 source] - [28.12

Frequency ref2 source]) of the reference sources is used as
frequency reference 1.
Mul (ref1 ref2)
The multiplication of the reference sources is used as

frequency reference 1.
Min (ref1, ref2)
The smaller of the reference sources is used as frequency

reference 1.
Max (ref1, ref2)
The greater of the reference sources is used as frequency

reference 1.
Frequency ref1/2
selection
Configures the selection between frequency references 1

and 2. See diagram at 28.11 Frequency ref1 source.
0 = Frequency reference 1
1 = Frequency reference 2
Follow
Ext1/Ext2
selection
Frequency
reference 1
0.
Frequency
reference 2
1.
Follow Ext1/Ext2
selection
Frequency reference 1 is used when external control

location EXT1 is active. Frequency reference 2 is used when
external control location EXT2 is active.
DI1
DI2
DI3
DI4
DI5
DI6
Other [bit]

page 154).
28.14
Parameters 289
No.
Name/Value
Description
Def/FbEq16
28.21
Constant frequency
function
Determines how constant frequencies are selected, and

whether the rotation direction signal is considered or not
when applying a constant frequency.
0000b
Bit
0
Name
Information
Constant freq 1 = Packed: 7 constant frequencies are selectable using the three
mode
sources defined by parameters 28.22, 28.23 and 28.24.
0 = Separate: Constant frequencies 1, 2 and 3 are separately activated
by the sources defined by parameters 28.22, 28.23 and 28.24
respectively. In case of conflict, the constant frequency with the smaller
number takes priority.
Direction
1 = Start dir: To determine running direction for a constant frequency, the
enable
sign of the constant frequency setting (parameters 28.2628.32) is
multiplied by the direction signal (forward: +1, reverse: -1). This
effectively allows the drive to have 14 (7 forward, 7 reverse) constant
frequencies if all values in 28.2628.32 are positive.
WARNING: If the direction signal is reverse and the active
constant frequency is negative, the drive will run in the forward
direction.
0 = According to Par: The running direction for the constant frequency is
determined by the sign of the constant speed setting (parameters
28.2628.32).
28.22
0000b0011b
Constant frequency configuration word.
1=1
Constant frequency
sel1
When bit 0 of parameter 28.21 Constant frequency function

is 0 (Separate), selects a source that activates constant
frequency 1.
is 1 (Packed), this parameter and parameters 28.23
Constant frequency sel2 and 28.24 Constant frequency sel3
select three sources whose states activate constant
frequencies as follows:
Not selected
Source defined Source defined Source defined

by par. 28.22
by par. 28.23
by par. 28.24
0
0
0
1
0
0
0
1
0
1
1
0
0
0
1
1
0
1
0
1
1
1
1
1
Constant frequency
active
None
Constant frequency 1
Not selected
0.
Selected
1.
DI1
DI2
DI3
DI4
DI5
290 Parameters
No.
Name/Value
Description
Def/FbEq16
DI6
DIO1
10
DIO2
11
Other [bit]

page 154).
28.23
Constant frequency
sel2

frequency 2.
select three sources that are used to activate constant
frequencies. See table at parameter 28.22 Constant
frequency sel1.
For the selections, see parameter 28.22 Constant frequency
sel1.
Not selected
28.24
Constant frequency
sel3

frequency 3.
select three sources that are used to activate constant
frequencies. See table at parameter 28.22 Constant
frequency sel1.
For the selections, see parameter 28.22 Constant frequency
sel1.
Not selected
28.26
Constant frequency
1
Defines constant frequency 1 (the frequency the motor will

turn when constant frequency 1 is selected).
0.00 Hz
-500.00
500.00 Hz
Constant frequency 1.
See par.
46.02
Constant frequency
2
Defines constant frequency 2.
0.00 Hz
-500.00
500.00 Hz
See par.
46.02
Constant frequency
3
0.00 Hz
-500.00
500.00 Hz
See par.
46.02
Constant frequency
4
0.00 Hz
-500.00
500.00 Hz
See par.
46.02
Constant frequency
5
0.00 Hz
-500.00
500.00 Hz
See par.
46.02
Constant frequency
6
0.00 Hz
-500.00
500.00 Hz
See par.
46.02
28.27
28.28
28.29
28.30
28.31
Parameters 291
No.
Name/Value
Description
Def/FbEq16
28.32
Constant frequency
7
0.00 Hz
-500.00
500.00 Hz
See par.
46.02
Frequency ref safe
Defines a safe frequency reference value that is used with

supervision functions such as
12.03 AI supervision function
49.05 Communication loss action
50.02 FBA A comm loss func
50.32 FBA B comm loss func
58.14 Communication loss action.
0.00 Hz
-500.00
500.00 Hz
Safe frequency reference.
See par.
46.02
Critical frequency
function
Enables/disables the critical frequencies function. Also

determines whether the specified ranges are effective in
both rotating directions or not.
See also section Critical speeds/frequencies (page 86).
0000b
Bit
0
Name
Enable
Sign mode
Information
1 = Enable: Critical frequencies enabled.
0 = Disable: Critical frequencies disabled.
1 = According to par: The signs of parameters 28.5228.57 are taken
into account.
0 = Absolute: Parameters 28.5228.57 are handled as absolute values.
Each range is effective in both directions of rotation.
28.41
28.51
28.52
28.53
28.54
28.55
0000b0011b
Critical frequencies configuration word.
1=1
Critical frequency 1
low
Defines the low limit for critical frequency 1.

28.53 Critical frequency 1 high.
0.00 Hz
-500.00
500.00 Hz
Low limit for critical frequency 1.
See par.
46.02
high
Defines the high limit for critical frequency 1.

of 28.52 Critical frequency 1 low.
0.00 Hz
-500.00
500.00 Hz
High limit for critical frequency 1.
See par.
46.02
low

0.00 Hz
-500.00
500.00 Hz
See par.
46.02
high

0.00 Hz
-500.00
500.00 Hz
See par.
46.02
292 Parameters
No.
Name/Value
Description
Def/FbEq16
28.56
low

0.00 Hz
-500.00
500.00 Hz
See par.
46.02
high

0.00 Hz
-500.00
500.00 Hz
See par.
46.02
Freq ramp set

selection
Selects a source that switches between the two sets of

acceleration/deceleration times defined by parameters
28.7228.75.
0 = Acceleration time 1 and deceleration time 1 are in force
1 = Acceleration time 2 and deceleration time 2 are in force
Acc/Dec time
1
Acc/Dec time 1
0.
Acc/Dec time 2
1.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
Other [bit]

page 154).
Freq acceleration
time 1
Defines acceleration time 1 as the time required for the

frequency to change from zero to the frequency defined by
parameter 46.02 Frequency scaling not to parameter 30.14.
Maximum frequency)
If the reference increases faster than the set acceleration
rate, the motor will follow the acceleration rate.
If the reference increases slower than the set acceleration
rate, the motor frequency will follow the reference.
If the acceleration time is set too short, the drive will
automatically prolong the acceleration in order not to exceed
the drive torque limits.
20.000 s
0.000
1800.000 s
10 = 1 s
28.57
28.71
28.72
Parameters 293
No.
Name/Value
Description
Def/FbEq16
28.73
Freq deceleration
time 1
Defines deceleration time 1 as the time required for the

frequency to change from the frequency defined by
parameter 46.02 Frequency scaling (not from parameter
30.14 Maximum frequency) to zero.
If there is any doubt about the deceleration time being too
short, ensure that DC overvoltage control (30.30
Overvoltage control) is on.
Note: If a short deceleration time is needed for a high inertia
application, the drive should be equipped with braking
equipment such as a brake chopper and brake resistor.
20.000 s
0.000
1800.000 s
10 = 1 s
Freq acceleration
time 2
Defines acceleration time 2. See parameter 28.72 Freq

acceleration time 1.
60.000 s
0.000
1800.000 s
10 = 1 s
Freq deceleration
time 2
Defines deceleration time 2. See parameter 28.73 Freq

deceleration time 1.
60.000 s
28.74
28.75
0.000 1800.000 s Deceleration time 2.

28.76
28.77
10 = 1 s
Freq ramp in zero

source
Selects a source that forces the frequency reference to zero. Inactive

0 = Force frequency reference to zero
Active
0.
Inactive
1.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
Other [bit]

page 154).
Freq ramp hold
Selects a source that forces the output of the frequency

ramp generator to actual frequency value.
0 = Force ramp output to actual frequency
Inactive
Active
0.
Inactive
1.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
10
294 Parameters
No.
28.78
28.79
28.90
28.91
28.92
Name/Value
Description
Def/FbEq16
DIO2
11
Other [bit]

page 154).
Freq ramp output

balancing
Defines a reference for frequency ramp balancing. The

output of the ramp generator is forced to this value when
balancing is enabled by parameter 28.79 Freq ramp out
balancing enable.
0.00 Hz
-500.00
500.00 Hz
Frequency ramp balancing reference.
See par.
46.02
Freq ramp out

balancing enable
Selects the source for enabling/disabling speed ramp

balancing. See parameter 28.78 Freq ramp output
balancing.
0 = Disabled
1 = Enabled
Not selected
Not selected
0.
Selected
1.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
Other [bit]

page 154).
Frequency ref act 1
Displays the value of frequency reference source 1

(selected by parameter 28.11 Frequency ref1 source). See
-500.00
500.00 Hz
Value of frequency reference source 1.
See par.
46.02
Frequency ref act 2
Displays the value of frequency reference source 2

(selected by parameter 28.12 Frequency ref2 source). See
-500.00
500.00 Hz
Value of frequency reference source 2.
See par.
46.02
Frequency ref act 3
Displays the frequency reference after the function applied

by parameter 28.13 Frequency ref1 function (if any), and
after selection (28.14 Frequency ref1/2 selection). See the
-500.00
500.00 Hz
Frequency reference after selection.
See par.
46.02
Parameters 295
No.
Name/Value
Description
Def/FbEq16
28.96
Frequency ref act 7
Displays the frequency reference after application of

constant frequencies, control panel reference, etc. See the
-500.00
500.00 Hz
Frequency reference 7.
See par.
46.02
Frequency ref
unlimited
Displays the frequency reference after application of critical

frequencies, but before ramping and limiting. See the control
-500.00
500.00 Hz
Frequency reference before ramping and limiting.
See par.
46.02
28.97
30
30 Limits
Drive operation limits.
30.01
Displays limit word 1.

Limit word 1
Bit
0
Name
Torq lim
Description
1 = Drive torque is being limited by the motor control (undervoltage
control, current control, load angle control or pull-out control), or by
the torque limits defined by parameters.
1
Spd ctl tlim min 1 = Speed controller output is being limited by 25.11 Speed control
min torque
2
Spd ctl tlim max 1 = Speed controller output is being limited by 25.12 Speed control
max torque
3
Torq ref max
1 = Torque reference ramp input is being limited by 26.09 Maximum
torque ref, source of 30.25 Maximum torque sel, 30.26 Power
motoring limit or 30.27 Power generating limit. See diagram on
page 654.
4
Torq ref min
1 = Torque reference ramp input is being limited by 26.08 Minimum
torque ref, source of 30.18 Minimum torque sel, 30.26 Power
motoring limit or 30.27 Power generating limit. See diagram on
page 654.
5
Tlim max speed 1 = Torque reference is being limited by the rush control because of
maximum speed limit (30.12 Maximum speed)
6
Tlim min speed 1 = Torque reference is being limited by the rush control because of
minimum speed limit (30.11 Minimum speed)
7
Max speed ref lim 1 = Speed reference is being limited by 30.12 Maximum speed
8
Min speed ref lim 1 = Speed reference is being limited by 30.11 Minimum speed
9
Max freq ref lim 1 = Frequency reference is being limited by 30.14 Maximum
frequency
10
Min freq ref lim
1 = Frequency reference is being limited by 30.13 Minimum
frequency
11
Reserved
12
Sw freq ref lim
1 = Requested output frequency cannot be reached due to switching
frequency limitation (because of output filtering or ATEX related
protections)
1315 Reserved
0000hFFFFh
Limit word 1.
1=1
296 Parameters
No.
Name/Value
Description
Def/FbEq16
30.02
Torque limit status
Displays the torque controller limitation status word.

Bit
0
1
2
Description
*1 = Intermediate DC circuit undervoltage
*1 = Intermediate DC circuit overvoltage
*1 = Torque is being limited by 30.26 Power motoring limit, 30.27
Power generating limit or the source of 30.18 Minimum torque sel.
See diagram on page 654.
3
Maximum torque *1 = Torque is being limited by 30.26 Power motoring limit, 30.27
Power generating limit or the source of 30.25 Maximum torque sel.
See diagram on page 654.
4
Internal current 1 = An inverter current limit (identified by bits 811) is active
5
Load angle
(With permanent magnet motors and synchronous reluctance
motors only)
1 = Load angle limit is active, ie. the motor cannot produce any more
torque
6
Motor pullout
(With asynchronous motors only)
Motor pull-out limit is active, ie. the motor cannot produce any more
torque
7
Reserved
8
Thermal
1 = Input current is being limited by the main circuit thermal limit
9
Max current
*1 = Maximum output current (IMAX) is being limited
10
User current
*1 = Output current is being limited by 30.17 Maximum current
11
Thermal IGBT
*1 = Output current is being limited by a calculated thermal current
value
12
IGBT
*1 = Output current is being limited because of estimated IGBT
overtemperature temperature
13
IGBT overload
*1 = Output current is being limited because of IGBT junction to case
temperature
1415 Reserved
*Only one out of bits 03, and one out of bits 911 can be on simultaneously. The bit typically
indicates the limit that is exceeded first.
30.11
Name
Undervoltage
Overvoltage
Minimum torque
0000hFFFFh
Torque limitation status word.
1=1
Minimum speed
Defines the minimum allowed speed.

WARNING! This value must not be higher than 30.12
Maximum speed.
WARNING! In frequency control mode, this limit is
not effective. Make sure the frequency limits (30.13
and 30.14) are set appropriately if frequency control
is used.
WARNING! In a master/follower configuration, do not
set maximum and minimum speed limits with the
same sign on a follower drive. See section
Master/follower functionality (page 74).
-1500.00
rpm; 1800.00 rpm
(95.20 b0)
-30000.00
30000.00 rpm
Minimum allowed speed.
See par.
46.01
Parameters 297
No.
Name/Value
Description
Def/FbEq16
30.12
Maximum speed
Defines the maximum allowed speed.

WARNING! This value must not be lower than 30.11
Minimum speed.
WARNING! In frequency control mode, this limit is
not effective. Make sure the frequency limits (30.13
and 30.14) are set appropriately if frequency control
is used.
WARNING! In a master/follower configuration, do not
set maximum and minimum speed limits with the
same sign on a follower drive. See section
1500.00 rpm;
-1800.00 rpm
(95.20 b0)
-30000.00
30000.00 rpm
Maximum speed.
See par.
46.01
Minimum frequency
Defines the minimum allowed frequency.

WARNING! This value must not be higher than 30.14
Maximum frequency.
WARNING! This limit is effective in frequency control
mode only.
-50.00 Hz;
-60.00 Hz
(95.20 b0)
-500.00
500.00 Hz
Minimum frequency.
See par.
46.02
30.13
30.14
30.15
30.16
30.17
Maximum frequency Defines the maximum allowed frequency.

WARNING! This value must not be lower than 30.13
Minimum frequency.
WARNING! This limit is effective in frequency control
mode only.
-50.00 Hz;
-60.00 Hz
(95.20 b0)
-500.00
500.00 Hz
Maximum frequency.
See par.
46.02
Maximum start
current enable
A temporary motor current limit specifically for starting can

be defined by this parameter and 30.16 Maximum start
current.
When this parameter is set to Enable, the drive observes the
start current limit defined by 30.16 Maximum start current.
The limit is in force for 2 seconds after initial magnetization
(of an asynchronous induction motor) or autophasing (of a
permanent magnet motor), but not more often than once in
every 7 seconds. Otherwise, the limit defined by 30.17
Maximum current is in force.
Note: The availability of a start current higher than the
general limit depends on drive hardware.
Disable
Disable
Start current limit disabled.
Enable
Start current limit enabled.
Maximum start
current
Defines a maximum start current when enabled by

parameter 30.15 Maximum start current enable.
0.00 30000.00 A
Maximum start current.
1=1A
Maximum current
Defines the maximum allowed motor current.
0.00 A
0.00 30000.00 A
Maximum motor current.
1=1A
298 Parameters
No.
Name/Value
Description
Def/FbEq16
30.18
Minimum torque sel
Minimum
Selects a source that switches between two different
torque 1
predefined minimum torque limits.
0 = Minimum torque limit defined by 30.19 is active
1 = Minimum torque limit selected by 30.21 is active
The user can define two sets of torque limits, and switch
between the sets using a binary source such as a digital
input. The minimum limit selection (30.18) is independent of
the maximum limit selection (30.25).
The first set of limits is defined by parameters 30.19 and
30.20. The second set has selector parameters for both the
minimum (30.21) and maximum (30.22) limits that allows the
use of a selectable analog source (such as an analog input).
30.21
0
AI1
AI2
PID
30.23
Other
30.18
1
0
User-defined
minimum torque
limit
30.19
30.22
0
AI1
AI2
PID
30.24
Other
30.25
1
0
User-defined
maximum torque
limit
30.20
Note: In addition to the user-defined limits, torque may be

limited for other reasons (such as power limitation). Refer to
the block diagram on page 653.
Minimum torque 1
0 (minimum torque limit defined by 30.19 is active).
Minimum torque 2
source
1 (minimum torque limit selected by 30.21 is active).
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
Other [bit]

page 154).
Parameters 299
No.
Name/Value
Description
Def/FbEq16
30.19
Minimum torque 1
Defines a minimum torque limit for the drive (in percent of

nominal motor torque). See diagram at parameter 30.18
Minimum torque sel.
The limit is effective when
the source selected by 30.18 Minimum torque sel is 0, or
30.18 is set to Minimum torque 1.
-300.0%
-1600.0 0.0%
Minimum torque limit 1.
See par.
46.03
Maximum torque 1
Defines a maximum torque limit for the drive (in percent of

300.0%
nominal motor torque). See diagram at parameter 30.18
Minimum torque sel.
The limit is effective when
the source selected by 30.25 Maximum torque sel is 0, or
30.25 is set to Maximum torque 1.
0.0 1600.0%
Maximum torque 1.
See par.
46.03
Minimum torque 2
source
Defines the source of the minimum torque limit for the drive
(in percent of nominal motor torque) when
the source selected by parameter 30.18 Minimum torque
sel is 1, or
30.18 is set to Minimum torque 2 source.
See diagram at 30.18 Minimum torque sel.
Note: Any positive values received from the selected source
are inverted.
Minimum
torque 2
Zero
None.
AI1 scaled
AI2 scaled
PID

controller).
Minimum torque 2
30.23 Minimum torque 2.
Other

154).
Maximum torque 2
source
Defines the source of the maximum torque limit for the drive
(in percent of nominal motor torque) when
the source selected by parameter 30.25 Maximum torque
sel is 1, or
30.25 is set to Maximum torque 2 source.
Note: Any negative values received from the selected
source are inverted.
Maximum
torque 2
Zero
None.
AI1 scaled
AI2 scaled
PID

controller).
Maximum torque 2
30.24 Maximum torque 2.
Other

page 154).
30.20
30.21
30.22
300 Parameters
No.
Name/Value
Description
Def/FbEq16
30.23
Minimum torque 2
Defines the minimum torque limit for the drive (in percent of
nominal motor torque) when
the source selected by parameter 30.18 Minimum torque
sel is 1, and
30.21 is set to Minimum torque 2.
-300.0%
-1600.0 0.0%
Minimum torque limit 2.
See par.
46.03
Maximum torque 2
Defines the maximum torque limit for the drive (in percent of
nominal motor torque) when
the source selected by parameter 30.25 Maximum torque
sel is 1, and
30.22 is set to Maximum torque 2.
300.0%
0.0 1600.0%
Maximum torque limit 2.
See par.
46.03
30.24
30.25
30.26
30.27
Maximum torque sel Selects a source that switches between two different
maximum torque limits.
0 = Maximum torque limit 1 defined by 30.20 is active
1 = Maximum torque limit selected by 30.22 is active
See also parameter 30.18 Minimum torque sel.
Maximum
torque 1
Maximum torque 1
0.
Maximum torque 2
source
1.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
Other [bit]

page 154).
Power motoring limit Defines the maximum shaft power in motoring mode, ie.
when power is being transferred from the motor to the
machinery. The value is given in percent of nominal motor
power.
300.00%
0.00 600.00%
Maximum shaft power in motoring mode.
1 = 1%
Power generating
limit
-300.00%
Defines the maximum shaft power in generating mode, ie.
when power is being transferred from the machinery to the
motor. The value is given in percent of nominal motor power.
-600.00 0.00%
Maximum shaft power in generating mode.
1 = 1%
Parameters 301
No.
Name/Value
Description
Def/FbEq16
30.30
Overvoltage control
Enables the overvoltage control of the intermediate DC link.

Fast braking of a high inertia load causes the voltage to rise
to the overvoltage control limit. To prevent the DC voltage
from exceeding the limit, the overvoltage controller
automatically decreases the braking torque.
Note: If the drive is equipped with a brake chopper and
resistor, or a regenerative supply unit, the controller must be
disabled.
Enable
Disable
Overvoltage control disabled.
Enable
Overvoltage control enabled.
Undervoltage
control
Enables the undervoltage control of the intermediate DC

link. If the DC voltage drops due to input power cut off, the
undervoltage controller will automatically decrease the
motor torque in order to keep the voltage above the lower
limit. By decreasing the motor torque, the inertia of the load
will cause regeneration back to the drive, keeping the DC
link charged and preventing an undervoltage trip until the
motor coasts to a stop. This will act as a power-loss ridethrough functionality in systems with high inertia, such as a
centrifuge or a fan.
Enable
Disable
Undervoltage control disabled.
Enable
Undervoltage control enabled.
30.31
31
31 Fault functions
Settings that define the behavior of the drive upon fault

situations.
31.01
External event 1
source
Defines the source of external event 1. See also parameter

31.02 External event 1 type.
0 = Trigger event
Inactive
(true); DI6
(95.20 b8)
Active (false)
0.
Inactive (true)
1.
DIIL
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
11
DIO2
12
Other [bit]

page 154).
External event 1
type
Selects the type of external event 1.
Fault
(95.20 b8)
Fault
The external event generates a fault.
Warning
The external event generates a warning.
Warning/Fault
If the drive is modulating, the external event generates a

fault. Otherwise, the event generates a warning.
31.02
302 Parameters
No.
Name/Value
Description
Def/FbEq16
31.03
External event 2
source

For the selections, see parameter 31.01 External event 1
source.
Inactive
(true); DIIL
(95.20 b5)
31.04
External event 2
type
Fault
Warning
Warning/Fault

31.05
External event 3
source

source.
Inactive
(true)
31.06
External event 3
type
Fault
Warning
Warning/Fault

31.07
External event 4
source

source.
Inactive
(true)
31.08
External event 4
type
Fault
Warning
Warning/Fault

31.09
External event 5
source

source.
Inactive
(true)
31.10
External event 5
type
Fault
Warning
Warning/Fault

31.11
Fault reset selection Selects the source of an external fault reset signal. The
signal resets the drive after a fault trip if the cause of the
fault no longer exists.
0 -> 1 = Reset
Note: A fault reset from the fieldbus interface is always
observed regardless of this parameter.
DI3
Not selected
0.
Selected
1.
DI1
Parameters 303
No.
31.12
Name/Value
Description
Def/FbEq16
DI2
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
FBA A MCW bit 7
30
EFB MCW bit 7

interface.
32
Other [bit]

page 154).
Autoreset selection
Selects faults that are automatically reset. The parameter is

a 16-bit word with each bit corresponding to a fault type.
Whenever a bit is set to 1, the corresponding fault is
automatically reset.
The number and interval of reset attempts are defined by
parameters 31.1431.16.
WARNING! Before you activate the function, make
sure that no dangerous situations can occur. The
function resets the drive automatically and
continues operation after a fault.
Notes:
The autoreset function is only available in external
control; see section Local control vs. external control
(page 40).
Faults related to the Safe torque off (STO) function
cannot be automatically reset.
faults:
0000h
Bit
0
1
2
3
4
57
8
9
10
11
12
13
14
15
Fault
Overcurrent
Overvoltage
Undervoltage
AI supervision fault
Supply unit
Reserved
Application fault 1 (defined in the application program)
Application fault 2 (defined in the application program)
Selectable fault (see parameter 31.13 User selectable fault)
External fault 1 (from source selected by parameter 31.01 External event 1 source)
0000hFFFFh
Automatic reset configuration word.
1=1
304 Parameters
No.
Name/Value
31.13
User selectable fault Defines the fault that can be automatically reset using
parameter 31.12 Autoreset selection, bit 10.
The faults are listed in chapter Fault tracing (page 587).
0000h
0000hFFFFh
Fault code.
10 = 1
Number of trials
Defines the maximum number of automatic resets that the

drive is allowed to attempt within the time specified by 31.15
Total trials time.
If the fault persists, subsequent reset attempts will be made
at intervals defined by 31.16 Delay time.
The faults to be automatically reset are defined by 31.12
Autoreset selection.
05
Number of automatic resets.
Total trials time
Defines a time window for automatic fault resets. The

maximum number of attempts made during any period of
this length is defined by 31.14 Number of trials.
Note: If the fault condition remains and cannot be reset,
each reset attempt will generate an event and start a new
time window. In practice, if the specified number of resets
(31.14) at specified intervals (31.16) take longer than the
value of 31.15, the drive will continue to attempt resetting
the fault until the cause is eventually removed.
30.0 s
1.0 600.0 s
Time for automatic resets.
10 = 1 s
Delay time
Defines the time that the drive will wait after a fault (or a
previous reset attempt) before attempting an automatic
reset. See parameter 31.12 Autoreset selection.
0.0 s
0.0 120.0 s
Autoreset delay.
10 = 1 s
Motor phase loss
Selects how the drive reacts when a motor phase loss is

detected.
Fault
No action
No action taken.
Fault
The drive trips on fault 3381 Output phase loss.
Earth fault
Selects how the drive reacts when an earth fault or current

unbalance is detected in the motor or the motor cable.
Fault
No action
No action taken.
Warning
The drive generates an A2B3 Earth leakage warning.
Fault
The drive trips on fault 2330 Earth leakage.
Supply phase loss
Selects how the drive reacts when a supply phase loss is

detected.
Fault
No action
No action taken.
Fault
The drive trips on fault 3130 Input phase loss.
31.14
31.15
31.16
31.19
31.20
31.21
Description
Def/FbEq16
Parameters 305
No.
Name/Value
Description
Def/FbEq16
31.22
STO indication
run/stop
Selects which indications are given when one or both Safe

torque off (STO) signals are switched off or lost. The
indications also depend on whether the drive is running or
stopped when this occurs.
The tables at each selection below show the indications
generated with that particular setting.
Notes:
This parameter does not affect the operation of the STO
function itself. The STO function will operate regardless of
the setting of this parameter: a running drive will stop
upon removal of one or both STO signals, and will not
start until both STO signals are restored and all faults
reset.
The loss of only one STO signal always generates a fault
as it is interpreted as a malfunction.
For more information on the STO, see the Hardware manual
of the drive.
Fault/Fault
Fault/Fault
0
Inputs
IN1 IN2
0
0
0
Indication (running or stopped)

Fault 5091 Safe torque off
Faults 5091 Safe torque off and FA81 Safe
torque off 1 loss
Faults 5091 Safe torque off and FA82 Safe
torque off 2 loss
(Normal operation)
Fault/Warning
1
Inputs
IN1 IN2
0
Indication
Running
Stopped
Fault 5091 Safe torque Warning A5A0 Safe
off
torque off
Warning A5A0 Safe
Faults 5091 Safe
torque off and fault
torque off and FA81
FA81 Safe torque off
Safe torque off 1 loss
1 loss
Warning A5A0 Safe
Faults 5091 Safe
torque off and FA82
FA82 Safe torque off
2 loss
(Normal operation)
306 Parameters
No.
Name/Value
Description
Def/FbEq16
Fault/Event
2
Inputs
IN1 IN2
0
Indication
Running
Stopped
Fault 5091 Safe
Event B5A0 Safe
torque off
torque off
Event B5A0 Safe
Faults 5091 Safe
torque off and FA81
Safe torque off 1 FA81 Safe torque off 1
loss
loss
Event B5A0 Safe
Faults 5091 Safe
torque off and FA82
Safe torque off 2 FA82 Safe torque off 2
loss
loss
(Normal operation)
Warning/Warning
3
Inputs
IN1 IN2
0
0
0

Warning A5A0 Safe torque off
Warning A5A0 Safe torque off and fault
FA81 Safe torque off 1 loss
Warning A5A0 Safe torque off and fault
FA82 Safe torque off 2 loss
(Normal operation)
Event/Event
4
Inputs
IN1 IN2
0
0
No indication/No
indication
31.23

Event B5A0 Safe torque off
Event B5A0 Safe torque off and fault FA81
Event B5A0 Safe torque off and fault FA82
(Normal operation)
5
Inputs
IN1 IN2
0
0
0
1
1
0
1
1

None
Fault FA81 Safe torque off 1 loss
Fault FA82 Safe torque off 2 loss
(Normal operation)
Wiring or earth fault
Selects how the drive reacts to incorrect input power and

motor cable connection (i.e. input power cable is connected
to drive motor connection).
Note: You must disable the protection when the
drive/inverter hardware is supplied from a common DC bus.
Fault
No action
No action taken (protection disabled).
Fault
The drive trips on fault 3181 Wiring or earth fault.
Parameters 307
No.
Name/Value
Description
Def/FbEq16
31.24
Stall function
Selects how the drive reacts to a motor stall condition.

A stall condition is defined as follows:
The drive exceeds at stall current limit (31.25 Stall current
limit), and
the output frequency is below the level set by parameter
31.27 Stall frequency limit or the motor speed is below the
level set by parameter 31.26 Stall speed limit, and
the conditions above have been true longer than the time
set by parameter 31.28 Stall time.
Fault
No action
None (stall supervision disabled).
Warning
The drive generates an A780 Motor stall warning.
Fault
The drive trips on fault 7121 Motor stall.
Stall current limit
Stall current limit in percent of the nominal current of the

motor. See parameter 31.24 Stall function.
200.0%
0.0 1600.0%
Stall current limit.
Stall speed limit
Stall speed limit in rpm. See parameter 31.24 Stall function.
150.00 rpm;
180.00 rpm
(95.20 b0)
0.00
10000.00 rpm
Stall speed limit.
See par.
46.01
Stall frequency limit
Stall frequency limit. See parameter 31.24 Stall function.

Note: Setting the limit below 10 Hz is not recommended.
15.00 Hz;
18.00 Hz
(95.20 b0)
0.00 500.00 Hz
Stall frequency limit.
See par.
46.02
Stall time
Stall time. See parameter 31.24 Stall function.
20 s
0 3600 s
Stall time.
31.25
31.26
31.27
31.28
308 Parameters
No.
Name/Value
Description
Def/FbEq16
31.30
Overspeed trip
margin
Defines, together with 30.11 Minimum speed and 30.12

Maximum speed, the maximum allowed speed of the motor
(overspeed protection). If actual speed (90.01 Motor speed
for control) exceeds the speed limit defined by parameter
30.11 or 30.12 by more than the value of this parameter, the
drive trips on the 7310 Overspeed fault.
WARNING! This function only supervises the speed
in DTC motor control mode. The function is not
effective in scalar motor control mode.
Example: If the maximum speed is 1420 rpm and speed trip
margin is 300 rpm, the drive trips at 1720 rpm.
500.00 rpm
Speed (90.01)
31.30
30.12
Time
30.11
31.30
31.32
0.00
10000.00 rpm
Overspeed trip margin.
See par.
46.01
Emergency ramp
supervision
Parameters 31.32 Emergency ramp supervision and 31.33

Emergency ramp supervision delay, together with 01.29
Speed change rate, provide a supervision function for
emergency stop modes Off1 and Off3.
The supervision is based on either
observing the time within which the motor stops, or
comparing the actual and expected deceleration rates.
If this parameter is set to 0%, the maximum stop time is
directly set in parameter 31.33. Otherwise, 31.32 defines the
maximum allowed deviation from the expected deceleration
rate, which is calculated from parameters 23.1123.19
(Off1) or 23.23 Emergency stop time (Off3). If the actual
deceleration rate (01.29) deviates too much from the
expected rate, the drive trips on 73B0 Emergency ramp
failed, sets bit 8 of 06.17 Drive status word 2, and coasts to a
stop.
If 31.32 is set to 0% and 31.33 is set to 0 s, the emergency
stop ramp supervision is disabled.
See also parameter 21.04 Emergency stop mode.
0%
0300%
Maximum deviation from expected deceleration rate.
1 = 1%
Parameters 309
No.
Name/Value
Description
Def/FbEq16
31.33
Emergency ramp
supervision delay
If parameter 31.32 Emergency ramp supervision is set to

0%, this parameter defines the maximum time an
emergency stop (mode Off1 or Off3) is allowed to take. If the
motor has not stopped when the time elapses, the drive trips
on 73B0 Emergency ramp failed, sets bit 8 of 06.17 Drive
status word 2, and coasts to a stop.
If 31.32 is set to a value other than 0%, this parameter
defines a delay between the receipt of the emergency stop
command and the activation of the supervision. It is
recommended to specify a short delay to allow the speed
change rate to stabilize.
0s
032767 s
Maximum ramp-down time, or supervision activation delay.
1=1s
Main fan fault

function
Selects how the drive reacts when a main cooling fan fault is
detected.
Fault
Fault
The drive trips on fault 5080 Fan.
Warning
The drive generates an A581 Fan warning.
No action
No action taken.
31.35
31.36
31.37
Off
Aux fan fault bypass (Only visible with a ZCU control unit)
Temporarily suppresses auxiliary fan faults.
Certain drive types (especially those protected to IP55) have
an auxiliary fan built into the front cover as standard. If the
fan is sticking or disconnected, the control program first
generates a warning (A582 Auxiliary fan missing), then a
fault (5081 Auxiliary fan broken).
If it s required to operate the drive without the front cover (for
example, during commissioning), activate this parameter to
temporarily suppress the fault.
Note:
Activate the parameter within 2 minutes of rebooting the
control unit, either by cycling the power or with parameter
96.08.
The parameter only suppresses the fault, not the warning.
The parameter is in effect until the auxiliary fan is
reconnected and detected, or until the next control unit
reboot.
Off
Normal operation.
Temporarily
bypassed
The auxiliary fan fault indication is temporarily suppressed.

The setting will revert automatically to Off.
Ramp stop
supervision
Parameters 31.37 Ramp stop supervision and 31.38 Ramp

stop supervision delay, together with 01.29 Speed change
rate, provide a supervision function for normal (ie. nonemergency) ramp stopping.
The supervision is based on either
observing the time within which the motor stops, or
comparing the actual and expected deceleration rates.
If this parameter is set to 0%, the maximum stop time is
directly set in parameter 31.38. Otherwise, 31.37 defines the
maximum allowed deviation from the expected deceleration
rate, which is calculated from parameters 23.1123.19. If
the actual deceleration rate (01.29) deviates too much from
the expected rate, the drive trips on 73B1 Stop failed, sets
bit 14 of 06.17 Drive status word 2, and coasts to a stop.
If 31.32 is set to 0% and 31.33 is set to 0 s, the ramp stop
supervision is disabled.
0%
0300%
Maximum deviation from expected deceleration rate.
1 = 1%
310 Parameters
No.
Name/Value
Description
Def/FbEq16
31.38
Ramp stop
supervision delay
If parameter 31.37 Ramp stop supervision is set to 0%, this

parameter defines the maximum time a ramp stop is allowed
to take. If the motor has not stopped when the time elapses,
the drive trips on 73B1 Stop failed, sets bit 14 of 06.17 Drive
status word 2, and coasts to a stop.
If 31.37 is set to a value other than 0%, this parameter
defines a delay between the receipt of the stop command
and the activation of the supervision. It is recommended to
specify a short delay to allow the speed change rate to
stabilize.
0s
032767 s
Maximum ramp-down time, or supervision activation delay.
1=1s
Disable warnings
Selects warnings to be suppressed. The parameter is a 16bit word with each bit corresponding to a warning. Whenever
a bit is set to 1, the corresponding warning is suppressed.
warnings:
0000b
0000b0001b
Warning suppression word.
1=1
Overcurrent fault
limit
Sets a custom motor current fault limit.

The drive automatically sets an internal motor current limit
according to the drive hardware. The internal limit is
appropriate to the drive hardware. The internal limit is
appropriate in most cases, but this parameter can be used to
set a lower current limit, for example, to protect a permanent
magnet motor from demagnetization.
With this parameter at 0.0 A, only the internal limit is in force.
0.0...30000.0 A
Custom motor current fault limit.
31.40
Bit
0
1
2
3
415
31.42
Fault
Overvoltage
Reserved
Encoder 1
Encoder 2
Reserved
32
32 Supervision
Configuration of signal supervision functions 13.

Three values can be chosen to be monitored; a warning or
fault is generated whenever predefined limits are exceeded.
See also section Signal supervision (page 129).
32.01
Signal supervision status word.

Indicates whether the values monitored by the signal
supervision functions are within or outside their respective
limits.
Note: This word is independent of the drive actions defined
by parameters 32.06, 32.16 and 32.26.
Supervision status
Bit
0
1
2
315
Name
Supervision 1 active
Reserved
See par.
46.05
0000b
Description
1 = Signal selected by 32.07 is outside its limits.
Parameters 311
No.
32.05
32.06
32.07
Name/Value
Description
Def/FbEq16
00000111b
Signal supervision status word.
1=1
Supervision 1
function
Selects the mode of signal supervision function 1.

Determines how the monitored signal (see parameter 32.07)
is compared to its lower and upper limits (32.09 and 32.10
respectively). The action to be taken when the condition is
fulfilled is selected by 32.06.
Disabled
Disabled
Signal supervision 1 not in use.
Low
Action is taken whenever the signal falls below its lower limit. 1
High
Action is taken whenever the signal rises above its upper

limit.
Abs low
Action is taken whenever the absolute value of the signal

falls below its (absolute) lower limit.
Abs high

rises above its (absolute) upper limit.
Both
Action is taken whenever the signal falls below its low limit or
rises above its high limit.
Abs both

falls below its (absolute) low limit or rises above its
(absolute) high limit.
Supervision 1 action Selects the action the drive takes when the value monitored
by signal supervision 1 exceeds its limits.
Note: This parameter does not affect the status indicated by
32.01 Supervision status.
No action
No action
No action taken.
Warning
A warning (A8B0 Signal supervision) is generated.
Fault
The drive trips on 80B0 Signal supervision.
Supervision 1 signal Selects the signal to be monitored by signal supervision

function 1.
Zero
Zero
None.
Speed
Frequency
Current
Torque
DC voltage
Output power
AI1
12.11 AI1 actual value (page 199).
AI2
12.21 AI2 actual value (page 201).
10
Speed ref ramp in
18
Speed ref ramp out
19
Speed ref used
20
Torque ref used
21
Freq ref used
22
Process PID output
24
Process PID
feedback
25
312 Parameters
No.
32.08
32.09
32.10
32.15
32.16
Name/Value
Description
Def/FbEq16
Other

page 154).
Supervision 1 filter
time
Defines a filter time constant for the signal monitored by

signal supervision 1.
0.000 s
0.000 30.000 s
Signal filter time.
1000 = 1 s
Supervision 1 low
Defines the lower limit for signal supervision 1.
0.00
-21474830.00
21474830.00
Low limit.
Supervision 1 high
Defines the upper limit for signal supervision 1.
0.00
-21474830.00
21474830.00
Upper limit.
Supervision 2
function

Disabled
Disabled
Low
High

limit.
Abs low

Abs high

Both
Abs both

No action
No action
No action taken.
Warning
A warning (A8B1 Signal supervision 2) is generated.
Fault
The drive trips on 80B1 Signal supervision 2.
32.17

function 2.
For the available selections, see parameter 32.07
Supervision 1 signal.
Zero
32.18
time

0.000 s
0.000 30.000 s
Signal filter time.
1000 = 1 s
Supervision 2 low
0.00
-21474830.00
21474830.00
Low limit.
Supervision 2 high
0.00
-21474830.00
21474830.00
Upper limit.
32.19
32.20
Parameters 313
No.
Name/Value
Description
Def/FbEq16
32.25
Supervision 3
function

Disabled
Disabled
Low
High

limit.
Abs low

Abs high

Both
Abs both

32.26
No action
No action
No action taken.
Warning
A warning (A8B2 Signal supervision 3) is generated.
Fault
The drive trips on 80B2 Signal supervision 3.
32.27

function 3.
For the available selections, see parameter 32.07
Supervision 1 signal.
Zero
32.28
time

0.000 s
0.000 30.000 s
Signal filter time.
1000 = 1 s
Supervision 3 low
0.00
-21474830.00
21474830.00
Low limit.
Supervision 3 high
0.00
-21474830.00
21474830.00
Upper limit.
32.29
32.30
314 Parameters
No.
Name/Value
33
Description
33 Generic timer &

counter
Configuration of maintenance timers/counters.

See also section Maintenance timers and counters (page
129).
33.01
Displays the maintenance timer/counter status word,

indicating which maintenance timers/counters have
exceeded their limits.
Counter status
Bit
0
1
2
3
4
5
615
33.10
33.11
33.12
Description
1 = On-time timer 1 has reached its preset limit.
1 = On-time timer 2 has reached its preset limit.
1 = Signal edge counter 1 has reached its preset limit.
1 = Signal edge counter 2 has reached its preset limit.
1 = Value counter 1 has reached its preset limit.
1 = Value counter 2 has reached its preset limit.
0000 000b
0011 1111b
Maintenance time/counter status word.
1=1
On-time 1 actual
Displays the actual present value of on-time timer 1.

The timer runs whenever the signal selected by parameter
33.13 On-time 1 source is on.
When the timer exceeds the limit set by 33.11 On-time 1
warn limit, bit 0 of 33.01 Counter status is set to 1. The
warning specified by 33.14 On-time 1 warn message is also
given if enabled by 33.12 On-time 1 function.
The timer can be reset from the Drive composer PC tool, or
from the control panel by keeping Reset depressed for over
3 seconds.
04294967295 s
Actual present value of on-time timer 1.
On-time 1 warn limit Sets the warning limit for on-time timer 1.
0s
04294967295 s
Warning limit for on-time timer 1.
On-time 1 function
Configures on-time timer 1.
0000b
Bit
0
215
33.13
Name
On-time1
On-time2
Edge 1
Edge 2
Value 1
Value 2
Reserved
Def/FbEq16
Function
Counter mode
0 = Loop: When the limit is reached, the counter is reset. The counter status (bit 0 of
33.01) switches to 1 for one second. The warning (if enabled) stays active for at least
10 seconds.
1 = Saturate: When the limit is reached, the counter status (bit 0 of 33.01) switches to
1, and remains so until 33.10 is reset. The warning (if enabled) also stays active until
33.10 is reset.
Warning enable
0 = Disable: No warning is given when the limit is reached
1 = Enable: A warning (see 33.14) is given when the limit is reached
Reserved
0000b0011b
On-time timer 1 configuration word.
1=1
On-time 1 source
Selects the signal to be monitored by on-time timer 1.
False
False
Constant 0 (timer disabled).
Parameters 315
No.
33.14
33.20
33.21
33.22
Name/Value
Description
Def/FbEq16
True
Constant 1.
RO1
Bit 0 of 10.21 RO status (page 190).
Other [bit]

154).
On-time 1 warn
message
Selects the optional warning message for on-time timer 1.
On-time 1
exceeded
On-time 1 exceeded A886 On-time 1. The message text can be edited on the
control panel by choosing Menu Settings Edit texts.
Clean device
A88C Device clean.
Maintain additional
cooling fan
A890 Additional cooling.
Maintain cabinet fan A88E Cabinet fan.
Maintain DC
capacitors
A88D DC capacitor.
Maintain motor
bearing
A880 Motor bearing.
10
On-time 2 actual
Displays the actual present value of on-time timer 2.

The timer runs whenever the signal selected by parameter
33.23 On-time 2 source is on.
When the timer exceeds the limit set by 33.21 On-time 2
warn limit, bit 1 of 33.01 Counter status is set to 1. The
warning specified by 33.24 On-time 2 warn message is also
given if enabled by 33.22 On-time 2 function.
The timer can be reset from the Drive composer PC tool, or
from the control panel by keeping Reset depressed for over
3 seconds.
04294967295 s
Actual present value of on-time timer 2.
On-time 2 warn limit
Sets the warning limit for on-time timer 2.
0s
04294967295 s
Warning limit for on-time timer 2.
On-time 2 function
Configures on-time timer 2.
0000b
Bit
0
215
33.23
Function
Counter mode
10 seconds.
33.20 is reset.
Warning enable
Reserved
0000b0011b
On-time timer 2 configuration word.
1=1
On-time 2 source
Selects the signal to be monitored by on-time timer 2.
False
False
Constant 0 (timer disabled).
True
Constant 1.
RO1
316 Parameters
No.
33.24
33.30
33.31
Name/Value
Description
Def/FbEq16
Other [bit]

154).
On-time 2 warn
message
Selects the optional warning message for on-time timer 2.
On-time 2
exceeded
On-time 2 exceeded A887 On-time 2. The message text can be edited on the
control panel by choosing Menu Settings Edit texts.
Clean device
A88C Device clean.
Maintain additional
cool fan
A890 Additional cooling.
Maintain cabinet fan A88E Cabinet fan.
Maintain DC
capacitors
A88D DC capacitor.
Maintain motor
bearing
A880 Motor bearing.
10
Edge counter 1
actual
Actual present value of signal edge counter 1.

The counter is incremented every time the signal selected
by parameter 33.33 Edge counter 1 source switches on or
off (or either, depending on the setting of 33.32 Edge
counter 1 function). A divisor may be applied to the count
(see 33.34 Edge counter 1 divider).
When the counter exceeds the limit set by 33.31 Edge
counter 1 warn limit, bit 2 of 33.01 Counter status is set to 1.
The warning specified by 33.35 Edge counter 1 warn
message is also given if enabled by 33.32 Edge counter 1
function.
The counter can be reset from the Drive composer PC tool,
or from the control panel by keeping Reset depressed for
over 3 seconds.
04294967295
Edge counter 1
warn limit
Sets the warning limit for signal edge counter 1.
04294967295
Warning limit for signal edge counter 1.
Parameters 317
No.
Name/Value
Description
Def/FbEq16
33.32
Edge counter 1
function
Configures signal edge counter 1.
0000b
Bit
0
415
33.33
33.34
33.35
Function
Counter mode
33.01) switches to 1 and remains so until the counter is again incremented. The
warning (if enabled) stays active for at least 10 seconds.
33.30 is reset.
Warning enable
Count rising edges
0 = Disable: Rising edges are not counted
1 = Enable: Rising edges are counted
Count falling edges
0 = Disable: Falling edges are not counted
1 = Enable: Falling edges are counted
Reserved
0000b1111b
Edge counter 1 configuration word.
1=1
Edge counter 1
source
Selects the signal to be monitored by signal edge counter 1. False
False
Constant 0.
True
Constant 1.
RO1
Other [bit]

154).
Edge counter 1
divider
Defines a divisor for signal edge counter 1. Determines how

many signal edges increment the counter by 1.
14294967295
Divisor for signal edge counter 1.
Edge counter 1
warn message
Selects the optional warning message for signal edge

counter 1.
Edge counter
1 exceeded
Edge counter 1
exceeded
A888 Edge counter 1. The message text can be edited on

2
the control panel by choosing Menu Settings Edit texts.
Counted main
contactor
A884 Main contactor.
11
Counted output
relay
A881 Output relay.
12
Counted motor
starts
A882 Motor starts.
13
Counted power ups
A883 Power ups.
14
Counted DC
charges
A885 DC charge.
15
318 Parameters
No.
Name/Value
Description
Def/FbEq16
33.40
Edge counter 2
actual
Displays the actual present value of signal edge counter 2.

The counter is incremented every time the signal selected
by parameter 33.43 Edge counter 2 source switches on or
off (or either, depending on the setting of 33.42 Edge
counter 2 function). A divisor may be applied to the count
(see 33.44 Edge counter 2 divider).
When the counter exceeds the limit set by 33.41 Edge
The warning specified by 33.45 Edge counter 2 warn
message is also given if enabled by 33.42 Edge counter 2
function.
over 3 seconds.
04294967295
Edge counter 2
warn limit
Sets the warning limit for signal edge counter 2.
04294967295
Warning limit for signal edge counter 2.
Edge counter 2
function
Configures signal edge counter 2.
0000b
33.41
33.42
Bit
0
415
33.43
33.44
Function
Counter mode
33.01) remains 1 until the counter is again incremented. The warning (if enabled) stays
active for at least 10 seconds.
1 = Saturate: After the limit is reached, the counter status (bit 3 of 33.01) remains 1 until
33.40 is reset. The warning (if enabled) also stays active until 33.40 is reset.
Warning enable
Count rising edges
0 = Disable: Rising edges are not counted
1 = Enable: Rising edges are counted
Count falling edges
0 = Disable: Falling edges are not counted
1 = Enable: Falling edges are counted
Reserved
0000b1111b
Edge counter 2 configuration word.
1=1
Edge counter 2
source
Selects the signal to be monitored by signal edge counter 2. False
False
0.
True
1.
RO1
Other [bit]

page 154).
Edge counter 2
divider
Defines a divisor for signal edge counter 2. Determines how

many signal edges increment the counter by 1.
14294967295
Divisor for signal edge counter 2.
Parameters 319
No.
Name/Value
Description
Def/FbEq16
33.45
Edge counter 2
warn message
Selects the optional warning message for signal edge

counter 2.
Edge counter
2 exceeded
Edge counter 2
exceeded
A889 Edge counter 2. The message text can be edited on

Counted main
contactor
A884 Main contactor.
11
Counted output
relay
A881 Output relay.
12
Counted motor
starts
A882 Motor starts.
13
Counted power ups
A883 Power ups.
14
Counted DC
charges
A885 DC charge.
15
Value counter 1
actual
Displays the actual present value of value counter 1.

The value of the source selected by parameter 33.53 Value
counter 1 source is read at one-second intervals and added
to the counter. A divisor can be applied to the count (see
33.54 Value counter 1 divider).
When the counter exceeds the limit set by 33.51 Value
The warning specified by 33.55 Value counter 1 warn
message is also given if enabled by 33.52 Value counter 1
function.
over 3 seconds.
-2147483008
2147483008
Actual present value of value counter 1.
Value counter 1
warn limit
Sets the limit for value counter 1.

With a positive limit, bit 4 of 33.01 Counter status is set to 1
(and a warning optionally generated) when the counter is
equal or greater than the limit.
With a negative limit, bit 4 of 33.01 Counter status is set to 1
equal or smaller than the limit.
0 = Counter disabled.
-2147483008
2147483008
Limit for value counter 1.
33.50
33.51
320 Parameters
No.
Name/Value
Description
Def/FbEq16
33.52
Value counter 1
function
Configures value counter 1.
0000b
Bit
0
215
33.53
33.54
33.55
33.60
Function
Counter mode
10 seconds.
33.50 is reset.
Warning enable
Reserved
0000b0011b
Value counter 1 configuration word.
1=1
Value counter 1
source
Selects the signal to be monitored by value counter 1.
Not selected
Not selected
None (counter disabled).
Motor speed
01.01 Motor speed used (see page 158).
Other

154).
Value counter 1
divider
Defines a divisor for value counter 1. The value of the

monitored signal is divided by this value before integration.
1.000
0.001
2147483.000
Divisor for value counter 1.
Value counter 1
warn message
Selects the optional warning message for value counter 1.
Value
counter 1
exceeded
Value counter 1
exceeded
A88A Value counter 1. The message text can be edited on

Maintain motor
bearing
A880 Motor bearing.
10
Value counter 2
actual
Displays the actual present value of value counter 2.

The value of the source selected by parameter 33.63 Value
counter 2 source is read at one-second intervals and added
to the counter. A divisor can be applied to the count (see
33.64 Value counter 2 divider).
When the counter exceeds the limit set by 33.61 Value
The warning specified by 33.65 Value counter 2 warn
message is also given if enabled by 33.62 Value counter 2
function.
over 3 seconds.
-2147483008
2147483008
Actual present value of value counter 2.
Parameters 321
No.
Name/Value
Description
Def/FbEq16
33.61
Value counter 2
warn limit
Sets the limit for value counter 2.

With a positive limit, bit 5 of 33.01 Counter status is set to 1
equal or greater than the limit.
With a negative limit, bit 5 of 33.01 Counter status is set to 1
equal or smaller than the limit.
0 = Counter disabled.
-2147483008
2147483008
Limit for value counter 2.
Value counter 2
function
Configures value counter 2.
0000b
33.62
Bit
0
215
33.63
33.64
33.65
Function
Counter mode
10 seconds.
33.60 is reset.
Warning enable
Reserved
0000b0011b
Value counter 2 configuration word.
1=1
Value counter 2
source
Selects the signal to be monitored by value counter 2.
Not selected
Not selected
None (counter disabled).
Motor speed
01.01 Motor speed used (see page 158).
Other

page 154).
Value counter 2
divider
Defines a divisor for value counter 2. The value of the

monitored signal is divided by this value before integration.
1.000
0.001
2147483.000
Divisor for value counter 2.
Value counter 2
warn message
Selects the optional warning message for value counter 2.
Value
counter 2
exceeded
Value counter 2
exceeded
A88B Value counter 2. The message text can be edited on

Maintain motor
bearing
A880 Motor bearing.
10
322 Parameters
No.
Name/Value
35
Description
Def/FbEq16
35 Motor thermal
protection
Motor thermal protection settings such as temperature

measurement configuration, load curve definition and motor
fan control configuration.
See also section Motor thermal protection (page 122).
35.01
Displays the motor temperature as estimated by the internal

motor thermal protection model (see parameters
35.5035.55). The unit is selected by parameter 96.16 Unit
selection
35.02
35.03
35.04
Motor estimated
temperature
-60 1000 C or F Estimated motor temperature.
1 = 1
Measured
temperature 1
Displays the temperature received through the source

defined by parameter 35.11 Temperature 1 source. The unit
is selected by parameter 96.16 Unit selection.
Note: With a PTC sensor, the unit is ohms.
-60 1000 C,
-761832 F,
0 ohm or
[35.12] ohm
Measured temperature 1.
1 = 1 unit
Measured
temperature 2
Displays the temperature received through the source

defined by parameter 35.21 Temperature 2 source. The unit
is selected by parameter 96.16 Unit selection.
-60 1000 C,
-761832 F,
0 ohm or
[35.22] ohm
1 = 1 unit
FPTC status word
Displays the status of optional FPTC-xx thermistor

protection modules. The word can be used as the source of
eg. external events.
Note: The module found bits are updated regardless of
whether the corresponding module is activated. However,
the fault active and warning active bits are not updated if
the module is not activated. Modules are activated by
parameter 35.30 FPTC configuration word.
Bit
0
1
2
3
4
5
6
7
8
915
Name
Module found in slot 1
Fault active in slot 1
Warning active in slot 1
Reserved
0000hFFFFh
Description
1 = Yes: An FPTC-xx module has been detected in slot 1.
1 = Yes: The module in slot 1 has an active fault.
1 = Yes: The module in slot 1 has an active warning.
FPTC-xx status word.
1=1
Parameters 323
No.
Name/Value
Description
Def/FbEq16
35.11
Temperature 1
source
Selects the source from which measured temperature 1 is

read.
Usually this source is from a sensor connected to the motor
controlled by the drive, but it could be used to measure and
monitor a temperature from other parts of the process as
long as a suitable sensor is used as per the selection list.
Disabled
Disabled
None. Temperature monitoring function 1 is disabled.
Estimated
temperature
Estimated motor temperature (see parameter 35.01 Motor

estimated temperature).
The temperature is estimated from an internal drive
calculation. It is important to set up the ambient temperature
of the motor in 35.50 Motor ambient temperature.
KTY84 analog I/O
KTY84 sensor connected to the analog input selected by

parameter 35.14 Temperature 1 AI source and an analog
output. The analog input can be from the standard I/O or
from an extension module.
The following settings are required:
Set the hardware jumper or switch related to the analog
input to U (voltage). Any change must be validated by a
control unit reboot.
Set the unit selection parameter of the input to volt.
Set the source selection parameter of the analog output
to Force KTY84 excitation.
Select the analog input in parameter 35.14. In case the
input is located on an I/O extension module, use the
selection Other to point at the actual input value
parameter (for example, 14.26 AI1 actual value).
The analog output feeds a constant current through the
sensor. As the resistance of the sensor increases along with
its temperature, the voltage over the sensor increases. The
voltage is read by the analog input and converted into
degrees.
KTY84 encoder
module 1
KTY84 sensor connected to encoder interface 1.

See also parameters 91.21 Module 1 temp sensor type and
91.22 Module 1 temp filter time.
KTY84 encoder
module 2

1 x Pt100 analog I/O Pt100 sensor connected to a standard analog input selected
by parameter 35.14 Temperature 1 AI source and an analog
output. The input and output can be on the drive control unit
or on an extension module.
The required settings are the same as with selection KTY84
analog I/O, except that the source selection parameter of the
analog output must be set to Force PT100 excitation.
2 x Pt100 analog I/O As selection 1 x Pt100 analog I/O, but with two sensors
connected in series. Using multiple sensors improves
measurement accuracy significantly.
3 x Pt100 analog I/O As selection 1 x Pt100 analog I/O, but with three sensors
324 Parameters
No.
35.12
35.13
Name/Value
Description
Def/FbEq16
PTC DI6
PTC sensor connected to digital input DI6 (see the

connection diagram on page 122).
Note: Either 0 ohm (normal temperature) or 4000 ohm
(excessive temperature) will be shown by 35.02 Measured
temperature 1.
PTC encoder
module 1
PTC sensor connected to encoder interface 1.

PTC encoder
module 2

10
Direct temperature
The temperature is taken from the source selected by

parameter 35.14 Temperature 1 AI source. The value of the
source is assumed to be in the unit of temperature specified
by 96.16 Unit selection.
11
1 Pt1000 analog
I/O
Pt1000 sensor connected to a standard analog input

selected by parameter 35.14 Temperature 1 AI source and
an analog output. The input and output can be on the drive
control unit or on an extension module.
13
2 Pt1000 analog
I/O
As selection 1 Pt1000 analog I/O, but with two sensors

14
3 Pt1000 analog
I/O
As selection 1 Pt1000 analog I/O, but with three sensors

15
PTC analog I/O
PTC sensor connected to a standard analog input selected

analog output must be set to Force PTC excitation.
temperature 1.
20
Temperature 1 fault
limit
Defines the fault limit for temperature monitoring function 1.

When measured temperature 1 exceeds the limit, the drive
trips on fault 4981 External temperature 1.
The unit is selected by parameter 96.16 Unit selection.
130 C or
266 F
-60 1000 C or
ohm, or
-761832 F
Fault limit for temperature monitoring function 1.
1 = 1 unit
Temperature 1
warning limit
Defines the warning limit for temperature monitoring

function 1. When measured temperature 1 exceeds this
limit, a warning (A491 External temperature 1) is generated.
110 C or
230 F
-60 5000 C or
ohm, or
-76 9032 F
Warning limit for temperature monitoring function 1.
1 = 1 unit
Parameters 325
No.
Name/Value
Description
Def/FbEq16
35.14
Temperature 1 AI
source
Specifies the analog input when the setting of 35.11

Temperature 1 source requires measurement through an
analog input.
Note: If the input is located on an I/O extension module, use
the selection Other to point to the AI actual value in group
14, 15 or 16, eg. 14.26 AI1 actual value.
Not selected
Not selected
None.
AI1 actual value
Analog input AI1 on the control unit.
AI2 actual value
Other

154).
Temperature 2
source
Selects the source from which measured temperature 2 is

read.
For wiring examples, see the hardware manual of the drive.
Usually this source is from a sensor connected to the motor
controlled by the drive, but it could be used to measure and
monitor a temperature from other parts of the process as
long as a suitable sensor is used as per the selection list.
Disabled
Disabled
None. Temperature monitoring function 2 is disabled.
Estimated
temperature
Estimated motor temperature (see parameter 35.01 Motor

estimated temperature).
The temperature is estimated from an internal drive
calculation. It is important to set up the ambient temperature
of the motor in 35.50 Motor ambient temperature.
KTY84 analog I/O
KTY84 sensor connected to the analog input selected by

parameter 35.24 Temperature 2 AI source and an analog
The following settings are required:
Set the hardware jumper or switch related to the analog
input to U (voltage). Any change must be validated by a
control unit reboot.
Set the unit selection parameter of the input to volt.
Set the source selection parameter of the analog output
to Force KTY84 excitation.
Select the analog input in parameter 35.24. In case the
input is located on an I/O extension module, use the
selection Other to point at the actual input value
parameter (for example, 14.26 AI1 actual value).
The analog output feeds a constant current through the
sensor. As the resistance of the sensor increases along with
its temperature, the voltage over the sensor increases. The
voltage is read by the analog input and converted into
degrees.
KTY84 encoder
module 1

KTY84 encoder
module 2

35.21
326 Parameters
No.
Name/Value
Description
Def/FbEq16
1 x Pt100 analog I/O Pt100 sensor connected to a standard analog input selected
2 x Pt100 analog I/O As selection 1 x Pt100 analog I/O, but with two sensors
3 x Pt100 analog I/O As selection 1 x Pt100 analog I/O, but with three sensors
PTC DI6
PTC sensor connected to digital input DI6 (see the

connection diagram on page 122).
temperature 2.
PTC encoder
module 1

PTC encoder
module 2

10
Direct temperature
The temperature is taken from the source selected by

parameter 35.24 Temperature 2 AI source. The value of the
source is assumed to be in the unit of temperature specified
by 96.16 Unit selection.
11
1 Pt1000 analog
I/O
Pt1000 sensor connected to a standard analog input

selected by parameter 35.24 Temperature 2 AI source and
an analog output. The input and output can be on the drive
control unit or on an extension module.
13
2 Pt1000 analog
I/O
As selection 1 Pt1000 analog I/O, but with two sensors

14
3 Pt1000 analog
I/O
As selection 1 Pt1000 analog I/O, but with three sensors

15
PTC analog I/O
PTC sensor connected to a standard analog input selected

analog output must be set to Force PTC excitation.
temperature 2.
20
Parameters 327
No.
Name/Value
Description
Def/FbEq16
35.22
Temperature 2 fault
limit
Defines the fault limit for temperature monitoring function 2.

When measured temperature 2 exceeds the limit, the drive
trips on fault 4982 External temperature 2.
130 C or
266 F
-60 1000 C or
-761832 F
Fault limit for temperature monitoring function 2.
1 = 1 unit
Temperature 2
warning limit
Defines the warning limit for temperature monitoring

function 2. When measured temperature 2 exceeds the limit,
a warning (A492 External temperature 2) is generated.
110 C or
230 F
-60 5000 C or
-769032 F
Warning limit for temperature monitoring function 2.
1 = 1 unit
Temperature 2 AI
source
Selects the input for parameter 35.21 Temperature 2 source,

selections KTY84 analog I/O, 1 x Pt100 analog I/O, 2 x
Pt100 analog I/O, 3 x Pt100 analog I/O and Direct
temperature.
Not selected
Not selected
None.
AI1 actual value
AI2 actual value
Other

154).
FPTC configuration
word
Activates FPTC-xx thermistor protection modules installed

on the control unit of the drive. Using this word, it is also
possible to suppress the warnings (but not faults) from each
module.
0000 0000b
35.23
35.24
35.30
Bit
0
1
2
3
4
5
615
Name
Module in slot 1
Disable slot 1 warning
Module in slot 2
Module in slot 3
Reserved
0000 0000b 0011

1111b
Description
1 = Yes: Module installed in slot 1.
1 = Yes: Warnings from the module in slot 1 suppressed.
FPTC-xx module configuration word.
1=1
328 Parameters
No.
Name/Value
Description
Def/FbEq16
35.50
Motor ambient
temperature
Defines the ambient temperature of the motor for the motor

thermal protection model. The unit is selected by parameter
96.16 Unit selection.
The motor thermal protection model estimates the motor
temperature on the basis of parameters 35.5035.55. The
motor temperature increases if it operates in the region
above the load curve, and decreases if it operates in the
region below the load curve.
WARNING! The model cannot protect the motor if
the motor does not cool properly because of dust,
dirt, etc.
20 C or
68 F
-60 100 C or
-75 212 F
Ambient temperature.
1 = 1
Motor load curve
Defines the motor load curve together with parameters

35.52 Zero speed load and 35.53 Break point. The load
curve is used by the motor thermal protection model to
estimate the motor temperature.
When the parameter is set to 100%, the maximum load is
taken as the value of parameter 99.06 Motor nominal current
(higher loads heat up the motor). The load curve level
should be adjusted if the ambient temperature differs from
the nominal value set in 35.50 Motor ambient temperature.
100%
35.51
I/IN
(%)
I = Motor current
IN = Nominal motor current
150
35.51
100
50
35.52
35.53
35.52
Drive output
frequency
50 150%
Maximum load for the motor load curve.
1 = 1%
Zero speed load

35.51 Motor load curve and 35.53 Break point. Defines the
maximum motor load at zero speed of the load curve. A
higher value can be used if the motor has an external motor
fan to boost the cooling. See the motor manufacturer's
recommendations.
See parameter 35.51 Motor load curve.
100%
50 150%
Zero speed load for the motor load curve.
1 = 1%
Parameters 329
No.
Name/Value
Description
Def/FbEq16
35.53
Break point

35.51 Motor load curve and 35.52 Zero speed load. Defines
the break point frequency of the load curve i.e. the point at
which the motor load curve begins to decrease from the
value of parameter 35.51 Motor load curve towards the
value of parameter 35.52 Zero speed load.
See parameter 35.51 Motor load curve.
45.00 Hz
1.00 500.00 Hz
Break point for the motor load curve.
See par.
46.02
Motor nominal
temperature rise
Defines the temperature rise of the motor above ambient

when the motor is loaded with nominal current. See the
motor manufacturer's recommendations.
80 C or
176 F
35.54
Temperature
Motor nominal
temperature rise
Ambient temperature
Time
0300 C or
32572 F
Temperature rise.
1 = 1
330 Parameters
No.
Name/Value
Description
Def/FbEq16
35.55
Motor thermal time

constant
Defines the thermal time constant for use with the motor
thermal protection model, defined as the time to reach 63%
of the nominal motor temperature. See the motor
manufacturer's recommendations.
256 s
Motor current
100%
Time
Temperature rise
100%
63%
Motor thermal time
35.60
35.61
Time
100 10000 s
Motor thermal time constant.
1=1s
Cable temperature
Shows the calculated temperature of the motor cable. See

section Thermal protection of motor cable (page 125).
102% = overtemperature warning (A480 Motor cable
overload)
106% = overtemperature fault (4000 Motor cable overload)
0.0%
0.0 200.0%
Calculated temperature of motor cable.
1 = 1%
Cable nominal
current
Specifies the continuous current of the motor cable for the

thermal protection function in the control program.
WARNING! The value entered in this parameter
must be limited according to all factors affecting the
loadability of the cable, such as ambient
temperature, cabling arrangement, and shrouding. Refer to
the technical data from the cable manufacturer.
10000.00 A
0.00 10000.00 A
Continuous current-carrying capacity of motor cable.
1=1A
Parameters 331
No.
Name/Value
Description
Def/FbEq16
35.62
Cable thermal rise

time
Specifies the thermal time of the motor cable for the thermal
protection function in the control program. This value is
defined as the time to reach 63% of the nominal cable
temperature when the cable is loaded with nominal current
(parameter 35.61 Cable nominal current).
0 s = Thermal protection of motor cable disabled
Refer to the technical data from the cable manufacturer.
1s
Cable current
100%
Time
Temperature rise
100%
63%
Cable thermal time
Time
0s
Thermal protection of motor cable disabled.
1=1s
150000 s
Motor cable thermal time constant.
1=1s
Parameters 35.10035.106 configure a monitored

start/stop control logic for external equipment such as a
contactor-controlled motor cooling fan.
This parameter selects the signal that starts and stops the
fan.
0 = Stop
1 = Start
The output controlling the fan contactor is to be connected to
parameter 35.105, bit 1. On and off delays can be set for the
fan by 35.101 and 35.102 respectively. A feedback signal
from the fan can be connected to an input selected by
35.103; the loss of the feedback will optionally trigger a
warning or fault (see 35.104 and 35.106).
Off, 06.16 b6
(95.20 b6)
Off
0 (function disabled).
On
1.
Running
Other [bit]

page 154).
Defines a start delay for the motor fan.

The delay timer starts when the control source selected by
parameter 35.100 switches on. After the delay, bit 1 of
35.105 switches on.
0s
Motor fan start delay.
1=1s
35.100 DOL starter control

source
35.101 DOL starter on

delay
042949673 s
332 Parameters
No.
Name/Value
Description
Def/FbEq16
35.102
DOL starter off

delay
Defines a stop delay for the motor fan.

The delay timer starts when the control source selected by
parameter 35.100 switches off. After the delay, bit 1 of
35.105 switches off.
20 min
0715828 min
Motor fan stop delay.
1 = 1 min
DOL starter
feedback source
Selects the input for motor fan feedback signal.

0 = Stopped
1 = Running
After the fan is started (bit 1 of 35.105 switches on),
feedback is expected within the time set by 35.104.
Not selected;
DI5
(95.20 b6)
Not selected
0.
Selected
1.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
Other [bit]

page 154).
DOL starter
feedback delay
Defines a feedback delay for the motor fan.

The delay timer starts when bit 1 of 35.105 switches on. If no
feedback is received from the fan until the delay elapses, the
action selected by 35.106 is taken.
Note: This delay is only applied at start. If the feedback
signal is lost during run, the action selected by 35.106 is
taken immediately.
0 s; 5 s
(95.20 b6)
042949673 s
Motor fan start delay.
1=1s
35.103
35.104
Parameters 333
No.
Name/Value
35.105 DOL starter status

word
Description
Def/FbEq16
Status of the motor fan control logic.

Bit 1 is the control output for the fan, to be selected as the
source of, for example, a digital or relay output.
The other bits indicate the statuses of the selected control
and feedback sources, and the fault status.
Bit
0
Name
Start command
Delayed start
command
DOL feedback
DOL fault (-1)
415
Reserved
0000b1111b
Description
Status of fan control source selected by 35.100.
0 = Stop requested
1 = Start requested
Fan control bit (delays observed). Select this bit as the source of the
output controlling the fan.
0 = Stopped
1 = Started
Status of fan feedback (source selected by 35.103).
0 = Stopped
1 = Running
Fault status.
0 = Fault (fan feedback missing). The action taken is selected by
35.106.
1 = No fault
Status of motor fan control logic.
1=1
Selects the action taken when missing fan feedback is

detected by the motor fan control logic.
Fault
No action
No action taken.
Warning
The drive generates a warning (A781 Motor fan).
Fault
Drive trips on 71B1 Motor fan.
35.106 DOL starter event

type
36
36 Load analyzer
Peak value and amplitude logger settings.

See also section Load analyzer (page 130).
36.01
PVL signal source
Selects the signal to be monitored by the peak value logger.

The signal is filtered using the filtering time specified by
parameter 36.02 PVL filter time.
The peak value is stored, along with other pre-selected
signals at the time, into parameters 36.1036.15.
The peak value logger can be reset using parameter 36.09
Reset loggers. The date and time of the last reset are stored
into parameters 36.16 and 36.17 respectively.
Power inu
out
Zero
None (peak value logger disabled).
Motor speed used
Output frequency
Motor current
Motor torque
DC voltage
Power inu out
Speed ref ramp in
10
334 Parameters
No.
Name/Value
Description
Def/FbEq16
Speed ref ramped
11
Speed ref used
12
Torq ref used
13
Freq ref used
14
Process PID out
16
Process PID fbk
17
Process PID act
18
Process PID dev
19
Other

page 154).
PVL filter time
Defines a filtering time for the peak value logger. See

parameter 36.01 PVL signal source.
2.00 s
0.00 120.00 s
Peak value logger filtering time.
100 = 1 s
36.06
AL2 signal source
Selects the signal to be monitored by amplitude logger 2.

The signal is sampled at 200 ms intervals.
The results are displayed by parameters 36.4036.49.
Each parameter represents an amplitude range, and shows
what portion of the samples fall within that range.
The signal value corresponding to 100% is defined by
parameter 36.07 AL2 signal scaling.
Amplitude logger 2 can be reset using parameter 36.09
Reset loggers. The date and time of the last reset are stored
into parameters 36.50 and 36.51 respectively.
For the selections, see parameter 36.01 PVL signal source.
Motor torque
36.07
AL2 signal scaling
Defines the signal value that corresponds to 100%

amplitude.
100.00
0.00 32767.00
Signal value corresponding to 100%.
1=1
Reset loggers
Resets the peak value logger and/or amplitude logger 2.

(Amplitude logger 1 cannot be reset.)
Done
Done
Reset completed or not requested (normal operation).
All
Reset both the peak value logger and amplitude logger 2.
PVL
Reset the peak value logger.
AL2
Reset amplitude logger 2.
PVL peak value
Displays the peak value recorded by the peak value logger.
0.00
-32768.00
32767.00
Peak value.
1=1
PVL peak date
Displays the date on which the peak value was recorded.
Peak occurrence date.
PVL peak time
Displays the time at which the peak value was recorded.
Peak occurrence time.
PVL current at peak
Displays the motor current at the moment the peak value

was recorded.
0.00 A
-32768.00
32767.00 A
Motor current at peak.
1=1A
PVL DC voltage at
peak
Displays the voltage in the intermediate DC circuit of the

drive at the moment the peak value was recorded.
0.00 V
0.00 2000.00 V
DC voltage at peak.
10 = 1 V
36.02
36.09
36.10
36.11
36.12
36.13
36.14
Parameters 335
No.
Name/Value
Description
Def/FbEq16
36.15
PVL speed at peak
Displays the motor speed at the moment the peak value was
recorded.
0.00 rpm
-32768.00
32767.00 rpm
Motor speed at peak.
See par.
46.01
PVL reset date
Displays the date on which the peak value logger was last
reset.
Last reset date of the peak value logger.
PVL reset time
Displays the time at which the peak value logger was last
reset.
Last reset time of the peak value logger.
AL1 0 to 10%
Displays the percentage of samples recorded by amplitude

logger 1 that fall between 0 and 10%.
0.00%
0.00 100.00%
Amplitude logger 1 samples between 0 and 10%.
1 = 1%
AL1 10 to 20%

0.00%
0.00 100.00%
1 = 1%
AL1 20 to 30%

0.00%
0.00 100.00%
1 = 1%
AL1 30 to 40%

0.00%
0.00 100.00%
1 = 1%
AL1 40 to 50%

0.00%
0.00 100.00%
1 = 1%
AL1 50 to 60%

0.00%
0.00 100.00%
1 = 1%
AL1 60 to 70%

0.00%
0.00 100.00%
1 = 1%
AL1 70 to 80%

0.00%
0.00 100.00%
1 = 1%
AL1 80 to 90%

0.00%
0.00 100.00%
1 = 1%
AL1 over 90%

logger 1 that exceed 90%.
0.00%
0.00 100.00%
Amplitude logger 1 samples over 90%.
1 = 1%
AL2 0 to 10%

0.00%
0.00 100.00%
1 = 1%
AL2 10 to 20%

0.00%
0.00 100.00%
1 = 1%
36.16
36.17
36.20
36.21
36.22
36.23
36.24
36.25
36.26
36.27
36.28
36.29
36.40
36.41
336 Parameters
No.
Name/Value
Description
Def/FbEq16
36.42
AL2 20 to 30%

0.00%
0.00 100.00%
1 = 1%
AL2 30 to 40%

0.00%
0.00 100.00%
1 = 1%
AL2 40 to 50%

0.00%
0.00 100.00%
1 = 1%
AL2 50 to 60%

0.00%
0.00 100.00%
1 = 1%
AL2 60 to 70%

0.00%
0.00 100.00%
1 = 1%
AL2 70 to 80%

0.00%
0.00 100.00%
1 = 1%
AL2 80 to 90%

0.00%
0.00 100.00%
1 = 1%
AL2 over 90%

logger 2 that exceed 90%.
0.00%
0.00 100.00%
Amplitude logger 2 samples over 90%.
1 = 1%
AL2 reset date
Displays the date on which amplitude logger 2 was last

reset.
Last reset date of amplitude logger 2.
AL2 reset time
Displays the time at which amplitude logger 2 was last reset. -
Last reset time of amplitude logger 2.
36.43
36.44
36.45
36.46
36.47
36.48
36.49
36.50
36.51
37
37 User load curve
Settings for user load curve.

See also section User load curve (page 125).
37.01
Displays the status of the monitored signal. (The status word

is independent of the actions and delays selected by
parameters 37.03, 37.04, 37.41 and 37.42.)
ULC output status

word
Bit
0
1
2
315
Name
Under load limit
Reserved
Over load limit
Reserved
000b 101b
Information
1 = Monitored signal is below the underload curve
1 = Monitored signal is above the overload curve
Status of the monitored signal.
1=1
Parameters 337
No.
Name/Value
Description
Def/FbEq16
37.02
ULC supervision
signal
Selects the signal to be monitored. The function compares

the absolute value of the signal against the load curve.
Not selected
Not selected
No signal selected (monitoring disabled).
Motor current %
01.07 Motor current (see page 158).
Motor torque %
01.10 Motor torque (see page 158).
Output power % of
motor nominal
01.15 Output power % of motor nom (see page 159).
Other

154).
ULC overload
actions
Selects how the drive reacts if the absolute value of the

monitored signal stays above the overload curve for longer
than the value of 37.41 ULC overload timer.
Disabled
Disabled
No action taken.
Warning
The drive generates a warning (A8BE ULC overload

warning).
Fault
Drive trips on 8002 ULC overload fault.
Warning/Fault
The drive generates a warning (A8BE ULC overload

warning) if the signal stays continuously above the overload
curve for half of the time defined by 37.41 ULC overload
timer.
The drive trips on 8002 ULC overload fault if the signal stays
continuously above the overload curve for the time defined
by 37.41 ULC overload timer.
ULC underload
actions
Selects how the drive reacts if the absolute value of the

monitored signal stays below the underload curve for longer
than the value of 37.42 ULC underload timer.
Disabled
Disabled
No action taken.
Warning
The drive generates a warning (A8BF ULC underload

warning).
Fault
Drive trips on 8001 ULC underload fault.
Warning/Fault
The drive generates a warning (A8BF ULC underload

warning) if the signal stays continuously below the
underload curve for half of the time defined by 37.42 ULC
underload timer.
The drive trips on 8001 ULC underload fault if the signal
stays continuously below the underload curve for the time
defined by 37.42 ULC underload timer.
ULC speed table

point 1
Defines the 1st speed point on the X-axis of the user load
curve.
The speed points are used in DTC motor control mode, and
in scalar motor control mode when speed control is being
used.
The five points must be in order from lowest to highest. The
points are defined as positive values, but the range is
symmetrically effective also in the negative direction. The
monitoring is not active outside these two areas.
150.0 rpm
0.0 30000.0 rpm
Speed.
1 = 1 rpm
ULC speed table

point 2
Defines the 2nd speed point on the X-axis of the user load
curve.
750.0 rpm
0.0 30000.0 rpm
Speed.
1 = 1 rpm
37.03
37.04
37.11
37.12
338 Parameters
No.
Name/Value
Description
Def/FbEq16
37.13
ULC speed table

point 3
Defines the 3rd speed point on the X-axis of the user load
curve.
1290.0 rpm
0.0 30000.0 rpm
Speed.
1 = 1 rpm
ULC speed table

point 4
Defines the 4th speed point on the X-axis of the user load
curve.
1500.0 rpm
0.0 30000.0 rpm
Speed.
1 = 1 rpm
ULC speed table

point 5
Defines the 5th speed point on the X-axis of the user load
curve.
1800.0 rpm
0.0 30000.0 rpm
Speed.
1 = 1 rpm
ULC frequency
table point 1
Defines the 1st frequency point on the X-axis of the user

load curve.
The frequency points are used in scalar motor control mode
when frequency control is being used.
The five points must be in order from lowest to highest. The
points are defined as positive values, but the range is
symmetrically effective also in the negative direction. The
monitoring is not active outside these two areas.
5.0 Hz
0.0 500.0 Hz
Frequency.
1 = 1 Hz
ULC frequency
table point 2
Defines the 2nd frequency point on the X-axis of the user

load curve.
25.0 Hz
0.0 500.0 Hz
Frequency.
1 = 1 Hz
ULC frequency
table point 3
Defines the 3rd frequency point on the X-axis of the user

load curve.
43.0 Hz
0.0 500.0 Hz
Frequency.
1 = 1 Hz
ULC frequency
table point 4
Defines the 4th frequency point on the X-axis of the user

load curve.
50.0 Hz
0.0 500.0 Hz
Frequency.
1 = 1 Hz
ULC frequency
table point 5
Defines the 5th frequency point on the X-axis of the user

load curve.
60.0 Hz
0.0 500.0 Hz
Frequency.
1 = 1 Hz
ULC underload
point 1
Defines the 1st point of the underload curve.

Each point of the underload curve must have a lower value
than the corresponding overload point.
10.0%
0.0 1600.0%
Underload point.
1 = 1%
ULC underload
point 2
Defines the 2nd point of the underload curve.
15.0%
0.0 1600.0%
Underload point.
1 = 1%
ULC underload
point 3
Defines the 3rd point of the underload curve.
25.0%
0.0 1600.0%
Underload point.
1 = 1%
ULC underload
point 4
Defines the 4th point of the underload curve.
30.0%
0.0 1600.0%
Underload point.
1 = 1%
ULC underload
point 5
Defines the 5th point of the underload curve.
30.0%
0.0 1600.0%
Underload point.
1 = 1%
37.14
37.15
37.16
37.17
37.18
37.19
37.20
37.21
37.22
37.23
37.24
37.25
Parameters 339
No.
Name/Value
Description
Def/FbEq16
37.31
ULC overload point

1
Defines the 1st point of the overload curve.

Each point of the overload curve must have a higher value
than the corresponding underload point.
300.0%
0.0 1600.0%
Overload point.
1 = 1%
ULC overload point

2
Defines the 2nd point of the overload curve.
300.0%
0.0 1600.0%
Overload point.
1 = 1%
ULC overload point

3
Defines the 3rd point of the overload curve.
300.0%
0.0 1600.0%
Overload point.
1 = 1%
ULC overload point

4
Defines the 4th point of the overload curve.
300.0%
0.0 1600.0%
Overload point.
1 = 1%
ULC overload point

5
Defines the 5th point of the overload curve.
300.0%
0.0 1600.0%
Overload point.
1 = 1%
ULC overload timer
Defines the time for which the monitored signal must

continuously stay above the overload curve before the drive
takes the action selected by 37.03 ULC overload actions.
20.0 s
0.0 10000.0 s
Overload timer.
1=1s
ULC underload
timer
Defines the time for which the monitored signal must

continuously stay below the underload curve before the
drive takes the action selected by 37.04 ULC underload
actions.
20.0 s
0.0 10000.0 s
Underload timer.
1=1s
37.32
37.33
37.34
37.35
37.41
37.42
Parameter values for process PID control.

The drive contains a single active PID controller for process
use, however two separate complete set-ups can be
programmed and stored.
The first set is made up of parameters 40.0740.56*, the
second set is defined by the parameters in group 41 Process
PID set 2. The binary source that defines which set is used
is selected by parameter 40.57 PID set1/set2 selection.
See also the control chain diagrams on pages 658 and 659.
*The remaining parameters in this group are common for
both sets.
40.01
Process PID output

actual
Displays the output of the process PID controller. See the

This parameter is read-only. The unit is selected by
parameter 40.12 Set 1 unit selection.
-32768.00
32767.00
Process PID controller output.
1 = 1 unit
Process PID
feedback actual
Displays the value of process feedback after source

selection, mathematical function (parameter 40.10 Set 1
feedback function), and filtering. See the control chain
-32768.00
32767.00
Process feedback.
1 = 1 unit
40.02
340 Parameters
No.
Name/Value
Description
Def/FbEq16
40.03
Process PID
setpoint actual
Displays the value of process PID setpoint after source

selection, mathematical function (40.18 Set 1 setpoint
function), limitation and ramping. See the control chain
-32768.00
32767.00
Setpoint for process PID controller.
1 = 1 unit
Process PID
deviation actual
Displays the process PID deviation. By default, this value

equals setpoint - feedback, but deviation can be inverted by
parameter 40.31 Set 1 deviation inversion. See the control
-32768.00
32767.00
PID deviation.
1 = 1 unit
Process PID trim

output act
Displays the trimmed reference output. See the control

-32768.00
32767.00
Trimmed reference.
1 = 1 unit
Process PID status

word
Displays status information on process PID control.

40.04
40.05
40.06
Bit
0
1
2
3
4
5
6
7
8
9
10
11
12
Name
PID active
Setpoint frozen
Output frozen
PID sleep mode
Sleep boost
Trim mode
Tracking mode
Output limit high
Output limit low
Deadband active
PID set
Reserved
Internal setpoint
active
1315 Reserved
40.07
Value
1 = Process PID control active.
1 = Process PID setpoint frozen.
1 = Process PID controller output frozen.
1 = Sleep mode active.
1 = Sleep boost active.
1 = Trim function active.
1 = Tracking function active.
1 = PID output is being limited by par. 40.37.
1 = PID output is being limited by par. 40.36.
1 = Deadband active (see par. 40.39)
0 = Parameter set 1 in use. 1 = Parameter set 2 in use.
1 = Internal setpoint active (see par. 40.1640.16)
0000hFFFFh
Process PID control status word.
1=1
Set 1 PID operation

mode
Activates/deactivates process PID control. See also

parameter 40.60 Set 1 PID activation source.
Note: Process PID control is only available in external
control; see section Local control vs. external control
(page 40).
Off
Off
Process PID control inactive.
On
Process PID control active.
Parameters 341
No.
Name/Value
Description
Def/FbEq16
On when drive
running
Process PID control is active when the drive is running.
Set 1 feedback 1
source
Selects the first source of process feedback. See the control

AI1 scaled
Not selected
None.
AI1 scaled
AI2 scaled
Freq in scaled
11.39 Freq in 1 scaled (see page 195).
Motor current
01.07 Motor current (see page 158).
Power inu out
01.14 Output power (see page 159).
Motor torque
01.10 Motor torque (see page 158).
Feedback data
storage
40.91 Feedback data storage (see page 352).
10
Other

page 154).
40.09
Set 1 feedback 2
source
Selects the second source of process feedback.

For the selections, see parameter 40.08 Set 1 feedback 1
source.
Not selected
40.10
Set 1 feedback
function
Defines how process feedback is calculated from the two

feedback sources selected by parameters 40.08 Set 1
feedback 1 source and 40.09 Set 1 feedback 2 source.
In1
In1
Source 1.
In1+In2
Sum of sources 1 and 2.
In1-In2
Source 2 subtracted from source 1.
In1*In2
Source 1 multiplied by source 2.
In1/In2
Source 1 divided by source 2.
MIN(In1,In2)
Smaller of the two sources.
MAX(In1,In2)
Greater of the two sources.
AVE(In1,In2)
Average of the two sources.
sqrt(In1)
Square root of source 1.
sqrt(In1-In2)
Square root of (source 1 - source 2).
sqrt(In1+In2)
Square root of (source 1 + source 2).
10
sqrt(In1)+sqrt(In2)
Square root of source 1 + square root of source 2.
11
Set 1 feedback filter

time
Defines the filter time constant for process feedback.
0.000 s
0.000 30.000 s
Feedback filter time.
1=1s
Set 1 unit selection
Defines the unit for parameters 40.0140.05, 40.2140.24

and 40.47.
rpm
rpm.
%.
Hz
Hz.
PID user unit 1
User-definable unit 1. The name of the unit can be edited on

the control panel by choosing Menu - Settings - Edit texts.
250
40.08
40.11
40.12
342 Parameters
No.
Name/Value
Description
Def/FbEq16
40.14
Set 1 setpoint
scaling
Defines, together with parameter 40.15 Set 1 output scaling,

a general scaling factor for the process PID control chain.
The scaling can be utilized when, for example, the process
setpoint is input in Hz, and the output of the PID controller is
used as an rpm value in speed control. In this case, this
parameter might be set to 50, and parameter 40.15 to the
nominal motor speed at 50 Hz.
In effect, the output of the PID controller = [40.15] when
deviation (setpoint - feedback) = [40.14] and [40.32] = 1.
Note: The scaling is based on the ratio between 40.14 and
40.15. For example, the values 50 and 1500 would produce
the same scaling as 1 and 30.
100.00
-32768.00
32767.00
Process setpoint base.
1=1
Set 1 output scaling
See parameter 40.14 Set 1 setpoint scaling.
1500.00;
1800.00
(95.20 b0)
-32768.00
32767.00
Process PID controller output base.
1=1
Set 1 setpoint 1
source
Selects the first source of process PID setpoint. This

setpoint is available in parameter 40.25 Set 1 setpoint
selection as setpoint 1. See the control chain diagram on
page 658.
Internal
setpoint
Not selected
None.
Control panel
03.01 Panel reference (see page 161). See section Using

the control panel as an external control source (page 41).
Internal setpoint
Internal setpoint. See parameter 40.19 Set 1 internal

setpoint sel1.
AI1 scaled
AI2 scaled
40.15
40.16
potentiometer).
Freq in scaled
11.39 Freq in 1 scaled (see page 195).
10
Setpoint data
storage
40.92 Setpoint data storage (see page 352).
24
Other

page 154).
40.17
Set 1 setpoint 2
source
Selects the second source of process setpoint. This setpoint

is available in parameter 40.25 Set 1 setpoint selection as
setpoint 2.
For the selections, see parameter 40.16 Set 1 setpoint 1
source.
Not selected
40.18
Set 1 setpoint
function
Selects a mathematical function between the setpoint

sources selected by parameters 40.16 Set 1 setpoint 1
source and 40.17 Set 1 setpoint 2 source.
In1 or In2
In1 or In2
No mathematical function applied. The source selected by

parameter 40.25 Set 1 setpoint selection is used.
In1+In2
Sum of sources 1 and 2.
In1-In2
Source 2 subtracted from source 1.
In1*In2
Source 1 multiplied by source 2.
In1/In2
Source 1 divided by source 2.
Parameters 343
No.
40.19
Name/Value
Description
Def/FbEq16
MIN(In1,In2)
Smaller of the two sources.
MAX(In1,In2)
Greater of the two sources.
AVE(In1,In2)
Average of the two sources.
sqrt(In1)
Square root of source 1.
sqrt(In1-In2)
Square root of (source 1 - source 2).
sqrt(In1+In2)
Square root of (source 1 + source 2).
10
sqrt(In1)+sqrt(In2)
Square root of source 1 + square root of source 2.
11
Set 1 internal
setpoint sel1
Selects, together with 40.20 Set 1 internal setpoint sel2, the

internal setpoint out of the presets defined by parameters
40.2140.24.
Not selected
Source defined Source defined

by par. 40.19
by par. 40.20
40.20
Setpoint preset
active
1 (par. 40.21)
2 (par. 40.22)
3 (par. 40.23)
4 (par. 40.24)
Not selected
0.
Selected
1.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
Other [bit]

page 154).
Set 1 internal
setpoint sel2
Selects, together with 40.19 Set 1 internal setpoint sel1, the

internal setpoint out of the presets defined by parameters
40.2140.24. See table at 40.19 Set 1 internal setpoint
sel1.
Not selected
Not selected
0.
Selected
1.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
344 Parameters
No.
40.21
40.22
40.23
40.24
40.25
40.26
40.27
Name/Value
Description
Def/FbEq16
Other [bit]

page 154).
Set 1 internal
setpoint 1
Defines process setpoint preset 1. See parameter 40.19 Set 0.00

1 internal setpoint sel1.
The unit is selected by parameter 40.12 Set 1 unit selection.
-32768.00
32767.00
Process setpoint preset 1.
Set 1 internal
setpoint 2

-32768.00
32767.00
Set 1 internal
setpoint 3

-32768.00
32767.00
Set 1 internal
setpoint 4

-32768.00
32767.00
1 = 1 unit
Set 1 setpoint
selection
Configures the selection between setpoint sources 1 (40.16)

and 2 (40.17).
This parameter is only effective when parameter 40.18 Set 1
setpoint function is set to In1 or In2.
0 = Setpoint source 1
1 = Setpoint source 2
Setpoint
source 1
Setpoint source 1
0.
Setpoint source 2
1.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
Other [bit]

page 154).
Set 1 setpoint min
Defines a minimum limit for the process PID controller

setpoint.
0.00
-32768.00
32767.00
Minimum limit for process PID controller setpoint.
1=1
Set 1 setpoint max
Defines a maximum limit for the process PID controller

setpoint.
32767.00
-32768.00
32767.00
Maximum limit for process PID controller setpoint.
1=1
1 = 1 unit
1 = 1 unit
1 = 1 unit
Parameters 345
No.
Name/Value
Description
Def/FbEq16
40.28
Set 1 setpoint
increase time
Defines the minimum time it takes for the setpoint to

increase from 0% to 100%.
0.0 s
0.0 1800.0 s
Setpoint increase time.
1=1
Set 1 setpoint
decrease time
Defines the minimum time it takes for the setpoint to

decrease from 100% to 0%.
0.0 s
0.0 1800.0 s
Setpoint decrease time.
1=1
Set 1 setpoint
freeze enable
Freezes, or defines a source that can be used to freeze, the

setpoint of the process PID controller. This feature is useful
when the reference is based on a process feedback
connected to an analog input, and the sensor must be
serviced without stopping the process.
1 = Process PID controller setpoint frozen
See also parameter 40.38 Set 1 output freeze enable.
Not selected
Not selected
Process PID controller setpoint not frozen.
Selected
Process PID controller setpoint frozen.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
Other [bit]

page 154).
Set 1 deviation
inversion
Not inverted
Inverts the input of the process PID controller.
0 = Deviation not inverted (Deviation = Setpoint - Feedback) (Ref - Fbk)
1 = Deviation inverted (Deviation = Feedback - Setpoint)
See also section Sleep function for process PID control
(page 109).
Not inverted
(Ref - Fbk)
0.
Inverted (Fbk - Ref)
1.
Other [bit]

page 154).
Set 1 gain
Defines the gain for the process PID controller. See

parameter 40.33 Set 1 integration time.
1.00
0.10 100.00
Gain for PID controller.
100 = 1
40.29
40.30
40.31
40.32
346 Parameters
No.
Name/Value
Description
Def/FbEq16
40.33
Set 1 integration
time
Defines the integration time for the process PID controller.

This time needs to be set to the same order of magnitude as
the reaction time of the process being controlled, otherwise
instability will result.
60.0 s
Error/Controller output
O
GI
GI
Time
Ti
I = controller input (error)
O = controller output
G = gain
Ti = integration time
Note: Setting this value to 0 disables the I part, turning the

PID controller into a PD controller.
40.34
40.35
0.0 32767.0 s
Integration time.
1=1s
Set 1 derivation
time
Defines the derivation time of the process PID controller.

The derivative component at the controller output is
calculated on basis of two consecutive error values (EK1 and EK) according to the following formula:
PID DERIV TIME (EK - EK-1)/TS, in which
TS = 2 ms sample time
E = Error = Process reference - process feedback.
0.000 s
0.000 10.000 s
Derivation time.
1000 = 1 s
Set 1 derivation
filter time
Defines the time constant of the 1-pole filter used to smooth

the derivative component of the process PID controller.
0.0 s
Unfiltered signal
100
63
Filtered signal
O = I (1 - e-t/T)
O = filter output
t = time
0.0 10.0 s
10 = 1 s
Parameters 347
No.
Name/Value
Description
Def/FbEq16
40.36
Set 1 output min
Defines the minimum limit for the process PID controller

output. Using the minimum and maximum limits, it is
possible to restrict the operation range.
0.0
-32768.0
32767.0
Minimum limit for process PID controller output.
1=1
Set 1 output max
Defines the maximum limit for the process PID controller

output. See parameter 40.36 Set 1 output min.
1500.0;
1800.0
(95.20 b0)
-32768.0
32767.0
Maximum limit for process PID controller output.
1=1
Set 1 output freeze

enable
Freezes (or defines a source that can be used to freeze) the

output of the process PID controller, keeping the output at
the value it was before freeze was enabled. This feature can
be used when, for example, a sensor providing process
feedback must to be serviced without stopping the process.
1 = Process PID controller output frozen
See also parameter 40.30 Set 1 setpoint freeze enable.
Not selected
Not selected
Process PID controller output not frozen.
Selected
Process PID controller output frozen.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
Other [bit]

page 154).
40.37
40.38
348 Parameters
No.
Name/Value
Description
Def/FbEq16
40.39
Set 1 deadband
range
Defines a deadband around the setpoint. Whenever process

feedback enters the deadband, a delay timer starts. If the
feedback remains within the deadband longer than the delay
(40.40 Set 1 deadband delay), the PID controller output is
frozen. Normal operation resumes after the feedback value
leaves the deadband.
0.0
40.39 Set 1
deadband range
Setpoint
Feedback
PID controller
output
PID controller
output frozen
40.40 Set 1 deadband delay
Time
40.40
40.41
40.42
0.0 32767.0
Deadband range.
1=1
Set 1 deadband
delay
Delay for the deadband. See parameter 40.39 Set 1

deadband range.
0.0 s
0.0 3600.0 s
Delay for deadband area.
1=1s
Set 1 sleep mode
Selects the mode of the sleep function.

See also section Sleep function for process PID control
(page 109).
Not selected
Not selected
Sleep function disabled.
Internal
The output of the PID controller is compared to the value of

40.43 Set 1 sleep level.
If the PID controller output remains below the sleep level
longer than the sleep delay (40.44 Set 1 sleep delay), the
drive enters sleep mode.
Parameters 40.4440.48 are in force.
External
The sleep function is activated by the source selected by

parameter 40.42 Set 1 sleep enable.
Parameters 40.4440.46 and 40.48 are in force.
Set 1 sleep enable
Defines a source that is used to activate the PID sleep

function when parameter 40.41 Set 1 sleep mode is set to
External.
0 = Sleep function disabled
1 = Sleep function activated
Not selected
Not selected
0.
Selected
1.
DI1
DI2
DI3
Parameters 349
No.
40.43
40.44
40.45
40.46
40.47
40.48
40.49
Name/Value
Description
Def/FbEq16
DI4
DI5
DI6
DIO1
10
DIO2
11
Other [bit]

154).
Set 1 sleep level
Defines the start limit for the sleep function when parameter
40.41 Set 1 sleep mode is set to Internal.
0.0
0.0 32767.0
Sleep start level.
1=1
Set 1 sleep delay
Defines a delay before the sleep function actually becomes

enabled, to prevent nuisance sleeping.
The delay timer starts when the sleep condition selected by
parameter 40.41 Set 1 sleep mode becomes true, and
resets if the condition becomes false.
60.0 s
0.0 3600.0 s
Sleep start delay.
1=1s
Set 1 sleep boost

time
Defines a boost time for the sleep boost step. See

parameter 40.46 Set 1 sleep boost step.
0.0 s
0.0 3600.0 s
Sleep boost time.
1=1s
Set 1 sleep boost

step
When the drive is entering sleep mode, the process setpoint

is increased by this value for the time defined by parameter
40.45 Set 1 sleep boost time.
If active, sleep boost is aborted when the drive wakes up.
0.0
0.0 32767.0
Sleep boost step.
1=1
Set 1 wake-up
deviation
When 40.41 Set 1 sleep mode is set to Internal, this

parameter defines the wake-up level as deviation between
process setpoint and feedback. The unit is selected by
When the deviation exceeds the value of this parameter, and
remains there for the duration of the wake-up delay (40.48
Set 1 wake-up delay), the drive wakes up.
See also parameter 40.31 Set 1 deviation inversion.
0.00 rpm, %
or Hz
-32768.00
32767.00 rpm, % or
Hz
Wake-up level (as deviation between process setpoint and

feedback).
1 = 1 unit
0.50 s
Set 1 wake-up delay Defines a wake-up delay for the sleep function to prevent
nuisance wake-ups. See parameter 40.47 Set 1 wake-up
deviation.
The delay timer starts when the deviation exceeds the wakeup level (40.47 Set 1 wake-up deviation), and resets if the
deviation falls below the wake-up level.
0.00 60.00 s
Wake-up delay.
1=1s
Set 1 tracking mode
Activates (or selects a source that activates) tracking mode.

In tracking mode, the value selected by parameter 40.50 Set
1 tracking ref selection is substituted for the PID controller
output. See also section Tracking (page 110).
1 = Tracking mode enabled
Not selected
Not selected
0.
Selected
1.
DI1
350 Parameters
No.
40.50
40.51
40.52
40.53
Name/Value
Description
Def/FbEq16
DI2
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
Other [bit]

154).
Set 1 tracking ref

selection
Selects the value source for tracking mode. See parameter

40.49 Set 1 tracking mode.
Not selected
Not selected
None.
AI1 scaled
AI2 scaled
FB A ref1
FB A ref2
Other

154).
Set 1 trim mode
Activates the trim function and selects between direct and

proportional trimming (or a combination of both). With
trimming, it is possible to apply a corrective factor to the
drive reference (setpoint). The output after trimming is
available as parameter 40.05 Process PID trim output act.
Off
Off
The trim function is inactive.
Direct
The trim function is active. The trimming factor is relative to

the maximum speed, torque or frequency; the selection
between these is made by parameter 40.52 Set 1 trim
selection.
Proportional
The trim function is active. The trimming factor is relative to

the reference selected by parameter 40.53 Set 1 trimmed ref
pointer.
Combined
The trim function is active. The trimming factor is a

combination of both Direct and Proportional modes; the
proportions of each are defined by parameter 40.54 Set 1
trim mix.
Set 1 trim selection
Selects whether trimming is used for correcting the speed,

torque or frequency reference.
Torque
Torque
Torque reference trimming.
Speed
Speed reference trimming.
Frequency
Frequency reference trimming.
Set 1 trimmed ref

pointer
Selects the signal source for the trim reference.
Not selected
Not selected
None.
AI1 scaled
AI2 scaled
FB A ref1
Parameters 351
No.
40.54
40.55
40.56
40.57
40.60
Name/Value
Description
Def/FbEq16
FB A ref2
Other

page 154).
Set 1 trim mix
When parameter 40.51 Set 1 trim mode is set to Combined,

defines the effect of direct and proportional trim sources in
the final trimming factor.
0.000 = 100% proportional
0.500 = 50% proportional, 50% direct
1.000 = 100% direct
0.000
0.000 1.000
Trim mix.
1=1
Set 1 trim adjust
Defines a multiplier for the trimming factor. This value is

multiplied by the result of parameter 40.51 Set 1 trim mode.
Consequently, the result of the multiplication is used to
multiply the result of parameter 40.56 Set 1 trim source.
1.000
-100.000
100.000
Multiplier for trimming factor.
1=1
Set 1 trim source
Selects the reference to be trimmed.
PID ref
PID ref
PID setpoint.
PID output
PID controller output.
PID set1/set2
selection
Selects the source that determines whether process PID

parameter set 1 (parameters 40.0740.56) or set 2 (group
41 Process PID set 2) is used.
0 = Process PID parameter set 1 in use
1 = Process PID parameter set 2 in use
Not selected
Not selected
0.
Selected
1.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
Other [bit]

page 154).
Set 1 PID activation

source
Selects a source that enables/disables process PID control.

See also parameter 40.07 Set 1 PID operation mode.
0 = Process PID control disabled.
1 = Process PID control enabled.
On
Off
0.
On
1.
Follow Ext1/Ext2
selection
Process PID control is disabled when external control

location EXT1 is active, and enabled when external control
location EXT2 is active.
DI1
DI2
352 Parameters
No.
40.91
40.92
Name/Value
Description
Def/FbEq16
DI3
DI4
DI5
DI6
DIO1
11
DIO2
12
Other [bit]

page 154).
Feedback data
storage
Storage parameter for receiving a process feedback value

eg. through the embedded fieldbus interface.
The value can be sent to the drive as Modbus I/O data. Set
the target selection parameter of that particular data
(58.10158.124) to Feedback data storage. In 40.08 Set 1
feedback 1 source (or 40.09 Set 1 feedback 2 source),
select Feedback data storage.
-327.68 327.67
Storage parameter for process feedback.
100 = 1
Setpoint data
storage
Storage parameter for receiving a process setpoint value eg.

through the embedded fieldbus interface.
The value can be sent to the drive as Modbus I/O data. Set
the target selection parameter of that particular data
(58.10158.124) to Setpoint data storage. In 40.16 Set 1
setpoint 1 source (or 40.17 Set 1 setpoint 2 source), select
Setpoint data storage.
-327.68 327.67
Storage parameter for process setpoint.
100 = 1
41
A second set of parameter values for process PID control.

The selection between this set and first set (parameter
group 40 Process PID set 1) is made by parameter 40.57
PID set1/set2 selection.
See also parameters 40.0140.06, 40.91, 40.92and the
control chain diagrams on pages 658 and 659.
41.07
Set 2 PID operation

mode
See parameter 40.07 Set 1 PID operation mode.
Off
41.08
Set 2 feedback 1
source
See parameter 40.08 Set 1 feedback 1 source.
AI1 scaled
41.09
Set 2 feedback 2
source
See parameter 40.09 Set 1 feedback 2 source.
Not selected
41.10
Set 2 feedback
function
See parameter 40.10 Set 1 feedback function.
In1
41.11
Set 1 feedback filter

time
See parameter 40.11 Set 1 feedback filter time.
0.000 s
41.12
Defines the unit for parameter 41.21...41.24 and 41.27.
rpm
rpm.
%.
Hz
Hz.
PID user unit 2
User-definable unit 2. The name of the unit can be edited on 249

Set 1 setpoint
scaling
See parameter 40.14 Set 1 setpoint scaling.
41.14
100.00
Parameters 353
No.
Name/Value
Description
Def/FbEq16
41.15
See parameter 40.15 Set 1 output scaling.
1500.00;
1800.00
(95.20 b0)
41.16
Set 1 setpoint 1
source
See parameter 40.16 Set 1 setpoint 1 source.
Internal
setpoint
41.17
Set 1 setpoint 2
source
See parameter 40.17 Set 1 setpoint 2 source.
Not selected
41.18
Set 1 setpoint
function
See parameter 40.18 Set 1 setpoint function.
In1 or In2
41.19
Set 1 internal
setpoint sel1
See parameter 40.19 Set 1 internal setpoint sel1.
Not selected
41.20
Set 1 internal
setpoint sel2
See parameter 40.20 Set 1 internal setpoint sel2.
Not selected
41.21
Set 1 internal
setpoint 1
See parameter 40.21 Set 1 internal setpoint 1.
0.00
41.22
Set 1 internal
setpoint 2
0.00
41.23
Set 1 internal
setpoint 3
0.00
41.24
Set 1 internal
setpoint 4
0.00
41.25
Set 1 setpoint
selection
See parameter 40.25 Set 1 setpoint selection.
Setpoint
source 1
41.26
Set 1 setpoint min
See parameter 40.26 Set 1 setpoint min.
0.00
41.27
Set 1 setpoint max
See parameter 40.27 Set 1 setpoint max.
32767.00
41.28
Set 1 setpoint
increase time
See parameter 40.28 Set 1 setpoint increase time.
0.0 s
41.29
Set 1 setpoint
decrease time
See parameter 40.29 Set 1 setpoint decrease time.
0.0 s
41.30
Set 1 setpoint
freeze enable
See parameter 40.30 Set 1 setpoint freeze enable.
Not selected
41.31
Set 1 deviation
inversion
See parameter 40.31 Set 1 deviation inversion.
Not inverted
(Ref - Fbk)
41.32
Set 1 gain
See parameter 40.32 Set 1 gain.
1.00
41.33
Set 1 integration
time
See parameter 40.33 Set 1 integration time.
60.0 s
41.34
Set 1 derivation
time
See parameter 40.34 Set 1 derivation time.
0.0 s
41.35
Set 1 derivation
filter time
See parameter 40.35 Set 1 derivation filter time.
0.0 s
41.36
Set 1 output min
See parameter 40.36 Set 1 output min.
0.0
41.37
Set 1 output max
See parameter 40.37 Set 1 output max.
1500.0;
1800.0
(95.20 b0)
41.38
Set 1 output freeze

enable
See parameter 40.38 Set 1 output freeze enable.
Not selected
41.39
Set 1 deadband
range
See parameter 40.39 Set 1 deadband range.
0.0
354 Parameters
No.
Name/Value
Description
Def/FbEq16
41.40
Set 1 deadband
delay
See parameter 40.40 Set 1 deadband delay.
0.0 s
41.41
Set 1 sleep mode
See parameter 40.41 Set 1 sleep mode.
Not selected
41.42
Set 1 sleep enable
See parameter 40.42 Set 1 sleep enable.
Not selected
41.43
Set 1 sleep level
See parameter 40.43 Set 1 sleep level.
0.0
41.44
Set 1 sleep delay
See parameter 40.44 Set 1 sleep delay.
60.0 s
41.45
Set 1 sleep boost

time
See parameter 40.45 Set 1 sleep boost time.
0.0 s
41.46
Set 1 sleep boost

step
See parameter 40.46 Set 1 sleep boost step.
0.0
41.47
Set 1 wake-up
deviation
See parameter 40.47 Set 1 wake-up deviation.
0.00 rpm, %
or Hz
41.48
Set 1 wake-up delay See parameter 40.48 Set 1 wake-up delay.
0.50 s
41.49
Set 1 tracking mode See parameter 40.49 Set 1 tracking mode.
Not selected
41.50
Set 1 tracking ref

selection
See parameter 40.50 Set 1 tracking ref selection.
Not selected
41.51
Set 1 trim mode
See parameter 40.51 Set 1 trim mode.
Off
41.52
See parameter 40.52 Set 1 trim selection.
Torque
41.53
Set 1 trimmed ref

pointer
See parameter 40.53 Set 1 trimmed ref pointer.
Not selected
41.54
Set 1 trim mix
See parameter 40.54 Set 1 trim mix.
0.000
41.55
Set 1 trim adjust
See parameter 40.55 Set 1 trim adjust.
1.000
41.56
Set 1 trim source
See parameter 40.56 Set 1 trim source.
PID ref
41.60
PID set1/set2
selection
See parameter 40.60 Set 1 PID activation source.
On
43
43 Brake chopper
Settings for the internal brake chopper.
43.01
Braking resistor
temperature
Displays the estimated temperature of the brake resistor, or

how close the brake resistor is to being too hot.
The value is given in percent where 100% is the
temperature the resistor would reach if the maximum
continuous braking power (43.09 Brake resistor Pmax cont)
is applied to the resistor for 100% rated time. The thermal
time constant (43.08 Brake resistor thermal tc) defines the
rated time to achieve 63% temperature. 100% would be
reached when 100% time has elapsed.
0.0 120.0%
Estimated brake resistor temperature.
1 = 1%
Brake chopper
function
Enables brake chopper control.

Note: Before enabling brake chopper control, ensure that
a brake resistor is connected
the supply voltage range (parameter 95.01 Supply
voltage) has been selected correctly.
Disabled
Disabled
Brake chopper control disabled.
Enabled with
thermal model
Brake chopper control enabled with resistor overload

protection.
Note: Before using this setting, ensure that overvoltage
control is switched off (parameter 30.30 Overvoltage
control).
43.06
Parameters 355
No.
43.07
43.08
43.09
43.10
43.11
Name/Value
Description
Def/FbEq16
Enabled without
thermal model
Brake chopper control enabled without resistor overload

protection. This setting can be used, for example, if the
resistor is equipped with a thermal circuit breaker that is
wired to stop the drive if the resistor overheats.
Note: Before using this setting, ensure that overvoltage
control is switched off (parameter 30.30 Overvoltage
control).
Overvoltage peak
protection
Brake chopper control is enabled in an overvoltage

condition. This setting applies in the following situations,
where:
the braking chopper is not needed for runtime operation,
that is to dissipate the inertial energy of the motor
the motor is able to store a considerable amount of
magnetic energy in its windings
the motor might, deliberately or inadvertently, be stopped
by coasting.
In such a situation, the motor potentially discharges enough
magnetic energy towards the drive to cause damage. To
protect the drive, the brake chopper can be used with a
small resistor dimensioned merely to handle the magnetic
energy (not the inertial energy) of the motor.
With this setting, the brake chopper is activated only
whenever the DC voltage exceeds the overvoltage limit.
During normal use, the brake chopper is not operating.
Brake chopper run

enable
Selects the source for quick brake chopper on/off control.

0 = Brake chopper IGBT pulses are cut off
1 = Normal brake chopper IGBT modulation.
This parameter can be used to program the chopper control
to function only when the supply is missing from a drive with
a regenerative supply unit.
On
Off
0.
On
1.
Other [bit]

154).
Brake resistor
thermal tc
Defines the thermal time constant of the brake resistor for

overload protection.
0s
0 10000 s
Brake resistor thermal time constant.
1=1s
Brake resistor Pmax

cont
Defines the maximum continuous braking power of the

resistor (in kW) which will raise the resistor temperature to
the maximum allowed value. The value is used in the
overload protection.
0.00 kW
0.00
10000.00 kW
Maximum continuous braking power.
1 = 1 kW
Brake resistance
Defines the resistance value of the brake resistor. The value

is used for brake chopper protection.
0.0 ohm
0.01000.0 ohm
Brake resistor resistance value.
1 = 1 ohm
Brake resistor fault

limit
Selects the fault limit for the brake resistor temperature

protection function. When the limit is exceeded, the drive
trips on fault 7183 BR excess temperature.
The value is given in percent of the temperature the resistor
reaches when loaded with the power defined by parameter
43.09 Brake resistor Pmax cont.
105%
0 150%
Brake resistor temperature fault limit.
1 = 1%
356 Parameters
No.
Name/Value
Description
Def/FbEq16
43.12
Brake resistor
warning limit
Selects the warning limit for the brake resistor temperature

protection function. When the limit is exceeded, the drive
generates a A793 BR excess temperature warning.
The value is given in percent of the temperature the resistor
reaches when loaded with the power defined by parameter
43.09 Brake resistor Pmax cont.
95%
0 150%
Brake resistor temperature warning limit.
1 = 1%
44
44 Mechanical brake
control
Configuration of mechanical brake control.

See also section Mechanical brake control (page 112).
44.01
Displays the mechanical brake control status word.

Brake control status
Bit
0
Name
Open command
Opening torque
request
Hold stopped
request
Ramp to stopped
Enabled
Closed
Opening
Open
Closing
Reserved
2
3
4
5
6
7
8
915
44.02
44.03
44.06
Information
Close/open command to brake actuator (0 = close, 1 = open).
Connect this bit to desired output.
1 = Opening torque requested from drive logic
1 = Hold requested from drive logic
1 = Ramping down to zero speed requested from drive logic
1 = Brake control is enabled
1 = Brake control logic in BRAKE CLOSED state
1 = Brake control logic in BRAKE OPENING state
1 = Brake control logic in BRAKE OPEN state
1 = Brake control logic in BRAKE CLOSING state
0000hFFFFh
Mechanical brake control status word.
1=1
Brake torque
memory
Displays the torque (in percent) at the instant of the previous

brake close command.
This value can be used as a reference for the brake open
torque. See parameters 44.09 Brake open torque source
and 44.10 Brake open torque.
-1600.0 1600.0% Torque at brake closure.
See par.
46.03
Brake open torque

reference
Displays the currently active brake open torque. See

parameters 44.09 Brake open torque source and 44.10
Brake open torque.
-1600.0 1600.0% Currently active brake open torque.
See par.
46.03
Brake control
enable
Activates/deactivates (or selects a source that

activates/deactivates) the mechanical brake control logic.
0 = Brake control inactive
1 = Brake control active
Not selected
Not selected
0.
Selected
1.
DI1
DI2
Parameters 357
No.
44.07
44.08
44.09
Name/Value
Description
Def/FbEq16
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
Other [bit]

154).
Brake acknowledge
selection
Activates/deactivates (and selects the source for) brake

open/close status (acknowledgement) supervision.
When a brake control error (unexpected state of the
acknowledgement signal) is detected, the drive reacts as
defined by parameter 44.17 Brake fault function.
0 = Brake closed
1 = Brake open
No
acknowledge
Off
0.
On
1.
No acknowledge
Brake open/closed supervision disabled.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
11
DIO2
12
Other [bit]

page 154).
Brake open delay
Defines the brake open delay, ie. the delay between the
internal open brake command and the release of motor
speed control. The delay timer starts when the drive has
magnetized the motor and increased the motor torque to the
level required for brake release (parameter 44.03 Brake
open torque reference). Simultaneously with the timer start,
the brake control logic energizes the brake control output
and the brake starts to open.
Set this parameter to the value of mechanical opening delay
specified by the brake manufacturer.
0.00 s
0.00 5.00 s
Brake open delay.
100 = 1 s
Brake open torque

source
Defines a source that is used as a brake opening torque

reference if
its absolute value is greater than the setting of parameter
44.10 Brake open torque, and
its sign is the same as the setting of 44.10 Brake open
torque.
See parameter 44.10 Brake open torque.
Brake open
torque
Zero
Zero.
AI1 scaled
358 Parameters
No.
44.10
44.11
Name/Value
Description
Def/FbEq16
AI2 scaled
FBA ref1
FBA ref2
Brake torque
memory
Parameter 44.02 Brake torque memory.
Brake open torque
Parameter 44.10 Brake open torque.
Other

154).
Brake open torque
Defines the sign (ie. direction of rotation) and minimum

absolute value of the brake open torque (motor torque
requested at brake release in percent of motor nominal
torque).
The value of the source selected by parameter 44.09 Brake
open torque source is used as the brake open torque only if
it has the same sign as this parameter and has a greater
absolute value.
Note: This parameter is not effective in scalar motor control
mode.
0.0%
-1600.0 1600.0% Minimum torque at brake release.
See par.
46.03
Keep brake closed
Selects a source that prevents the brake from opening.

0 = Normal brake operation
1 = Keep brake closed
running.
Not selected
Not selected
0.
Selected
1.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
Other [bit]

page 154).
Parameters 359
No.
Name/Value
Description
Def/FbEq16
44.12
Brake close request
Selects the source of an external brake close request signal.

When on, the signal overrides the internal logic and closes
the brake.
0 = Normal operation/No external close signal connected
1 = Close brake
Notes:
In an open-loop (encoderless) application, if the brake is
kept closed by a brake close request against a
modulating drive for longer than 5 seconds, the brake is
forced to close and the drive trips on a fault, 71A5
Mechanical brake opening not allowed.
running.
Not selected
Not selected
0.
Selected
1.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
Other [bit]

154).
Brake close delay
Defines a delay between a close command (that is, when

the brake control output is de-energized) and when the drive
stops modulating. This is to keep the motor live and under
control until the brake actually closes.
Set this parameter equal to the value specified by the brake
manufacturer as the mechanical make-up time of the brake.
0.00 s
0.00 60.00 s
Brake close delay.
100 = 1 s
Brake close level
Defines the brake close speed as an absolute value.

After motor speed remains below this level for the duration
of the brake close level delay (44.15 Brake close level
delay), a close command is given.
Note: Check the compatibility of this setting with 21.03 Stop
mode (and the applicable deceleration time).
10.00 rpm
0.00 1000.00
rpm
Brake close speed.
See par.
46.01
Brake close level

delay
Defines a brake close level delay. See parameter 44.14

Brake close level.
0.00 s
0.00 10.00 s
Brake close level delay.
100 = 1 s
Brake reopen delay
Defines a minimum time between brake closure and a

subsequent open command.
0.00 s
0.00 10.00 s
Brake reopen delay.
100 = 1 s
44.13
44.14
44.15
44.16
360 Parameters
No.
Name/Value
Description
Def/FbEq16
44.17
Brake fault function
Determines how the drive reacts upon a mechanical brake

control error.
Note: If parameter 44.07 Brake acknowledge selection is set
to No acknowledge, acknowledgement status supervision is
disabled altogether and will generate no warnings or faults.
However, the brake open conditions are always supervised.
Fault
Fault
The drive trips on a 71A2 Mechanical brake closing failed /

71A3 Mechanical brake opening failed fault if the status of
the acknowledgement does not match the status presumed
by the brake control logic.
The drive trips on a 71A5 Mechanical brake opening not
allowed fault if the brake open conditions cannot be fulfilled
(for example, the required motor starting torque is not
achieved).
Warning
The drive generates a A7A1 Mechanical brake closing failed

/ A7A2 Mechanical brake opening failed warning if the status
of the acknowledgement does not match the status
presumed by the brake control logic.
The drive generates a A7A5 Mechanical brake opening not
allowed warning if the brake open conditions cannot be
fulfilled (for example, the required motor starting torque is
not achieved).
Open fault
Upon closing the brake, the drive generates a A7A1

Mechanical brake closing failed warning if the status of the
acknowledgement does not match the status presumed by
the brake control logic.
Upon opening the brake, the drive trips on a 71A3
Mechanical brake opening failed fault if the status of the
acknowledgement does not match the status presumed by
the brake control logic.
The drive trips on a 71A5 Mechanical brake opening not
allowed fault if the brake open conditions cannot be fulfilled
(for example, the required motor starting torque is not
achieved).
Brake fault delay
Defines a close fault delay, ie. time between brake closure

and brake close fault trip.
0.00 s
0.00 60.00 s
Brake close fault delay.
100 = 1 s
44.18
45
Settings for the energy saving calculators.

See also section Energy saving calculators (page 130).
45.01
Saved GW hours
Displays the energy saved in GWh compared to direct-online motor connection. This parameter is incremented when
45.02 Saved MW hours rolls over.
This parameter is read-only (see parameter 45.21 Energy
calculations reset).
065535 GWh
Energy savings in GWh.
1 = 1 GWh
Saved MW hours
Displays the energy saved in MWh compared to direct-online motor connection. This parameter is incremented when
45.03 Saved kW hours rolls over.
When this parameter rolls over, parameter 45.01 Saved GW
hours is incremented.
0999 MWh
Energy savings in MWh.
1 = 1 MWh
45.02
Parameters 361
No.
Name/Value
Description
Def/FbEq16
45.03
Saved kW hours
Displays the energy saved in kWh compared to direct-online motor connection.

If the internal brake chopper of the drive is enabled, all
energy fed by the motor to the drive is assumed to be
converted into heat, but the calculation still records savings
made by controlling the speed. If the chopper is disabled,
then regenerated energy from the motor is also recorded
here.
When this parameter rolls over, parameter 45.02 Saved MW
hours is incremented.
0.0 999.9 kWh
Energy savings in kWh.
10 = 1 kWh
Saved money
x1000
Displays the monetary savings in thousands compared to

direct-on-line motor connection. This parameter is
incremented when 45.06 Saved money rolls over.
The currency is defined by parameter 45.17 Tariff currency
unit.
04294967295
thousands
Monetary savings in thousands of units.
Saved money
Displays the monetary savings compared to direct-on-line

motor connection. This value is a calculated by multiplying
the saved energy in kWh by the currently active energy tariff
(45.14 Tariff selection).
When this parameter rolls over, parameter 45.05 Saved
money x1000 is incremented.
unit.
45.05
45.06
45.08
45.09
0.00 999.99 units Monetary savings.
1 = 1 unit
CO2 reduction in
kilotons
Displays the reduction in CO2 emissions in metric kilotons

compared to direct-on-line motor connection. This value is
incremented when parameter 45.09 CO2 reduction in tons
rolls over.
065535 metric
kilotons
Reduction in CO2 emissions in metric kilotons.
1 = 1 metric
kiloton
CO2 reduction in
tons
Displays the reduction in CO2 emissions in metric tons

compared to direct-on-line motor connection. This value is
calculated by multiplying the saved energy in MWh by the
value of parameter 45.18 CO2 conversion factor (by default,
0.5 metric tons/MWh).
When this parameter rolls over, parameter 45.08 CO2
reduction in kilotons is incremented.
0.0 999.9 metric

tons
Reduction in CO2 emissions in metric tons.
1 = 1 metric
ton
362 Parameters
No.
Name/Value
Description
Def/FbEq16
45.11
Energy optimizer
Enables/disables the energy optimization function. The

function optimizes the motor flux so that total energy
consumption and motor noise level are reduced when the
drive operates below the nominal load. The total efficiency
(motor and drive) can be improved by 120% depending on
load torque and speed.
Note: With a permanent magnet motor or a synchronous
reluctance motor, energy optimization is always enabled
regardless of this parameter.
Disable
Disable
Energy optimization disabled.
Enable
Energy optimization enabled.
Energy tariff 1
Defines energy tariff 1 (price of energy per kWh). Depending

on the setting of parameter 45.14 Tariff selection, either this
value or 45.13 Energy tariff 2 is used for reference when
monetary savings are calculated.
unit.
Note: Tariffs are read only at the instant of selection, and are
not applied retroactively.
1.000 units
0.000
4294967.295 units
Energy tariff 1.
Energy tariff 2
Defines energy tariff 2 (price of energy per kWh).

See parameter 45.12 Energy tariff 1.
2.000 units
0.000
4294967.295 units
Energy tariff 2.
Tariff selection
Selects (or defines a source that selects) which pre-defined

energy tariff is used.
0 = 45.12 Energy tariff 1
1 = 45.13 Energy tariff 2
Energy tariff
1
Energy tariff 1
0.
Energy tariff 2
1.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
Other [bit]

page 154).
Tariff currency unit
Specifies the currency used for the savings calculations.
EUR
Local currency
Local currency. The name of the currency can be edited by

choosing Menu - Settings - Edit texts on the control panel.
100
EUR
Euro.
101
USD
US dollar.
102
45.12
45.13
45.14
45.17
Parameters 363
No.
Name/Value
Description
Def/FbEq16
45.18
CO2 conversion
factor
Defines a factor for conversion of saved energy into CO2

emissions (kg/kWh or tn/MWh).
0.500
tn/MWh
0.000 65.535
tn/MWh
Factor for conversion of saved energy into CO2 emissions.
1 = 1 tn/MWh
Comparison power
Actual power that the motor absorbs when connected direct- 0.0 kW
on-line and operating the application. The value is used for
reference when energy savings are calculated.
Note: The accuracy of the energy savings calculation is
directly dependent on the accuracy of this value. If nothing is
entered here, then the nominal motor power is used by the
calculation, but that may inflate the energy savings reported
as many motors do not absorb nameplate power.
0.0 100000.0 kW
Motor power.
See par.
46.04.
Energy calculations
reset
Resets the savings counter parameters 45.0145.09.
Done
Done
Reset not requested (normal operation), or reset complete.
Reset
Reset the savings counter parameters. The value reverts

automatically to Done.
45.19
45.21
46
46 Monitoring/scaling
settings
Speed supervision settings; actual signal filtering; general

scaling settings.
46.01
Speed scaling
Defines the maximum speed value used to define the

acceleration ramp rate and the initial speed value used to
define the deceleration ramp rate (see parameter group 23
Speed reference ramp). The speed acceleration and
deceleration ramp times are therefore related to this value
(not to parameter 30.12 Maximum speed).
Also defines the 16-bit scaling of speed-related parameters.
The value of this parameter corresponds to 20000 in
fieldbus, master/follower etc. communication.
1500.00 rpm;
1800.00 rpm
(95.20 b0)
0.10 30000.00
rpm
Acceleration/deceleration terminal/initial speed.
1 = 1 rpm
Frequency scaling
Defines the maximum frequency value used to define the

acceleration ramp rate and the initial frequency value used
to define deceleration ramp rate (see parameter group 28
Frequency reference chain). The frequency acceleration
and deceleration ramp times are therefore related to this
value (not to parameter 30.14 Maximum frequency).
Also defines the 16-bit scaling of frequency-related
parameters. The value of this parameter corresponds to
20000 in fieldbus, master/follower etc. communication.
50.00 Hz;
60.00 Hz
(95.20 b0)
0.10 1000.00 Hz
Acceleration/deceleration terminal/initial frequency.
10 = 1 Hz
Torque scaling
Defines the 16-bit scaling of torque parameters. The value of

this parameter (in percent of nominal motor torque)
corresponds to 10000 in fieldbus, master/follower etc.
communication.
100.0%
0.1 1000.0%
Torque corresponding to 10000 on fieldbus.
10 = 1%
Power scaling
Defines the output power value that corresponds to 10000 in

fieldbus, master/follower etc. communication. The unit is
selected by parameter 96.16 Unit selection.
1000.00 kW
or hp
46.02
46.03
46.04
364 Parameters
No.
46.05
46.06
46.07
46.11
46.12
46.13
46.14
Name/Value
Description
Def/FbEq16
0.10 30000.00
kW or
0.10 40214.48
hp
Power corresponding to 10000 on fieldbus.
1 = 1 unit
Current scaling
Defines the 16-bit scaling of current parameters. The value

of this parameter corresponds to 10000 in fieldbus,
master/follower etc. communication.
10000 A
030000 A
Current corresponding to 10000 on fieldbus.
Speed ref zero

scaling
Defines a speed corresponding to a zero reference received

from fieldbus (either the embedded fieldbus interface, or
interface FBA A or FBA B). For example, with a setting of
500, the fieldbus reference range of 020000 would
correspond to a speed of 500[46.01] rpm.
Note: This parameter is effective only with the ABB Drives
communication profile.
0.00 rpm
0.00
30000.00 rpm
Speed corresponding to minimum fieldbus reference.
1 = 1 rpm
Frequency ref zero

scaling
Defines a frequency corresponding to a zero reference

received from fieldbus (either the embedded fieldbus
interface, or interface FBA A or FBA B). For example, with a
setting of 30, the fieldbus reference range of 020000
would correspond to a speed of 30[46.02] Hz.
Note: This parameter is effective only with the ABB Drives
communication profile.
0.00 Hz
0.00 1000.00 Hz
Frequency corresponding to minimum fieldbus reference.
10 = 1 Hz
Filter time motor

speed
Defines a filter time for signals 01.01 Motor speed used,

01.02 Motor speed estimated, 01.04 Encoder 1 speed
filtered and 01.05 Encoder 2 speed filtered.
500 ms
220000 ms
Motor speed signal filter time.
1 = 1 ms
Filter time output

frequency
Defines a filter time for signal 01.06 Output frequency.
500 ms
220000 ms
Output frequency signal filter time.
1 = 1 ms
Filter time motor

torque
Defines a filter time for signal 01.10 Motor torque.
100 ms
220000 ms
Motor torque signal filter time.
1 = 1 ms
Filter time power out Defines a filter time for signal 01.14 Output power..
100 ms
220000 ms
1 = 1 ms
Output power signal filter time.
Parameters 365
No.
Name/Value
Description
Def/FbEq16
46.21
At speed hysteresis
Defines the at setpoint limits for speed control of the drive.

When the absolute difference between reference (22.87
Speed reference act 7) and actual speed (90.01 Motor
speed for control) is smaller than 46.21 At speed hysteresis,
the drive is considered to be at setpoint. This is indicated
by bit 8 of 06.11 Main status word.
100.00 rpm
90.01 (rpm)
22.87 + 46.21 (rpm)
Drive at setpoint
(06.11 bit 8 = 1)
22.87 (rpm)
22.87 - 46.21 (rpm)
0 rpm
46.22
0.00 30000.00
rpm
Limit for at setpoint indication in speed control.
See par.
46.01
At frequency
hysteresis
Defines the at setpoint limits for frequency control of the

drive. When the absolute difference between reference
(28.96 Frequency ref ramp input) and actual frequency
(01.06 Output frequency) is smaller than 46.22 At frequency
hysteresis, the drive is considered to be at setpoint. This is
indicated by bit 8 of 06.11 Main status word.
10.00 Hz
01.06 (Hz)
28.96 + 46.22 (Hz)
Drive at setpoint
(06.11 bit 8 = 1)
28.96 (Hz)
28.96 - 46.22 (Hz)
0 Hz
0.00 1000.00 Hz
Limit for at setpoint indication in frequency control.
See par.
46.02
366 Parameters
No.
Name/Value
Description
Def/FbEq16
46.23
At torque hysteresis
Defines the at setpoint limits for torque control of the drive.

When the absolute difference between reference (26.73
Torque reference act 4) and actual torque (01.10 Motor
torque) is smaller than 46.23 At torque hysteresis, the drive
is considered to be at setpoint. This is indicated by bit 8 of
06.11 Main status word.
10.0%
01.10 (%)
26.73 + 46.23 (%)
Drive at setpoint
(06.11 bit 8 = 1)
26.73 (%)
26.73 - 46.23 (%)
0%
46.31
46.32
46.33
46.42
0.0 300.0%
Limit for at setpoint indication in torque control.
See par.
46.03
Above speed limit
Defines the trigger level for above limit indication in speed

control. When actual speed exceeds the limit, bit 10 of 06.17
Drive status word 2 is set.
1500.00 rpm
0.00
30000.00 rpm
Above limit indication trigger level for speed control.
See par.
46.01
Above frequency
limit
Defines the trigger level for above limit indication in

frequency control. When actual frequency exceeds the limit,
bit 10 of 06.17 Drive status word 2 is set.
50.00 Hz
0.00 1000.00 Hz
Above limit indication trigger level for frequency control.
See par.
46.02
Above torque limit
Defines the trigger level for above limit indication in torque

control. When actual torque exceeds the limit, bit 10 of 06.17
Drive status word 2 is set.
300.0%
0.0 1600.0%
Above limit indication trigger level for torque control.
See par.
46.03
Torque decimals
Defines the number of decimal places of torque-related

parameters.
02
Number of decimal places of torque parameters.
1=1
Parameters 367
No.
Name/Value
47
Description
Def/FbEq16
47 Data storage
Data storage parameters that can be written to and read

from using other parameters source and target settings.
Note that there are different storage parameters for different
data types. Integer-type storage parameters cannot be used
as the source of other parameters.
See also section Data storage parameters (page 133).
47.01
Data storage 1
real32
Data storage parameter 1.

Parameters 47.0147.08 are real 32-bit numbers that can
be used as source values of other parameters.
Storage parameters 47.0147.08 can be used as the target
of received 16-bit data (parameter group 62 D2D and DDCS
receive data) or the source of transmitted 16-bit data
(parameter group 61 D2D and DDCS transmit data). The
scaling and range are defined by parameters 47.3147.38.
0.000
See par. 47.31
32-bit real (floating point) number.
See par.
47.31
Data storage 2
real32

See also parameter 47.01 Data storage 1 real32.
0.000
See par. 47.32
See par.
47.32
Data storage 3
real32

0.000
See par. 47.33
See par.
47.33
Data storage 4
real32

0.000
See par. 47.34
See par.
47.34
Data storage 5
real32

0.000
See par. 47.35
See par.
47.35
Data storage 6
real32

0.000
See par. 47.36
See par.
47.36
Data storage 7
real32

0.000
See par. 47.37
See par.
47.37
Data storage 8
real32

0.000
See par. 47.38
See par.
47.38
47.02
47.03
47.04
47.05
47.06
47.07
47.08
47.11
47.12
Data storage 1 int32 Data storage parameter 9.
-2147483648
2147483647
32-bit integer.
368 Parameters
No.
47.13
47.14
47.15
47.16
47.17
47.18
47.21
47.22
47.23
47.24
47.25
47.26
47.27
47.28
47.31
Name/Value
Description
Def/FbEq16
-2147483648
2147483647
32-bit integer.
-2147483648
2147483647
32-bit integer.
-2147483648
2147483647
32-bit integer.
-2147483648
2147483647
32-bit integer.
-2147483648
2147483647
32-bit integer.
-2147483648
2147483647
32-bit integer.
-2147483648
2147483647
32-bit integer.
-32768 32767
1=1
16-bit integer.
-32768 32767
1=1
16-bit integer.
-32768 32767
1=1
16-bit integer.
-32768 32767
1=1
16-bit integer.
-32768 32767
1=1
16-bit integer.
-32768 32767
1=1
16-bit integer.
-32768 32767
1=1
16-bit integer.
-32768 32767
16-bit integer.
1=1
Data storage 1
real32 type
Defines the scaling of parameter 47.01 Data storage 1

real32 to and from 16-bit integer format. This scaling is used
when the data storage parameter is the target of received
16-bit data (defined in parameter group 62 D2D and DDCS
receive data), or when the data storage parameter is the
source of transmitted 16-bit data (defined in parameter
group 61 D2D and DDCS transmit data).
The setting also defines the visible range of the storage
parameter.
Unscaled
Unscaled
Data storage only. Range: -2147483.264 2147473.264.
Parameters 369
No.
Name/Value
Description
Def/FbEq16
Transparent
Scaling: 1 = 1. Range: -32768 32767.
General
Scaling: 1 = 100. Range: -327.68 327.67.
Torque
The scaling is defined by parameter 46.03 Torque scaling.

Range: -1600.0 1600.0.
Speed
The scaling is defined by parameter 46.01 Speed scaling.

Range: -30000.00 30000.00.
Frequency
The scaling is defined by parameter 46.02 Frequency

scaling. Range: -500.00 500.00.
47.32
Data storage 2
real32 type
Defines the 16-bit scaling of parameter 47.02 Data storage 2

real32.
See parameter 47.31 Data storage 1 real32 type.
Unscaled
47.33
Data storage 3
real32 type

real32.
Unscaled
47.34
Data storage 4
real32 type

real32.
Unscaled
47.35
Data storage 5
real32 type

real32.
Unscaled
47.36
Data storage 6
real32 type

real32.
Unscaled
47.37
Data storage 7
real32 type

real32.
Unscaled
47.38
Data storage 8
real32 type

real32.
Unscaled
49
49 Panel port
communication
Communication settings for the control panel port on the

drive.
49.01
Node ID number
Defines the node ID of the drive. All devices connected to

the network must have a unique node ID.
Note: For networked drives, it is advisable to reserve ID 1
for spare/replacement drives.
132
Node ID.
1=1
Baud rate
Defines the transfer rate of the link.
230.4 kbps
38.4 kbps
38.4 kbit/s.
57.6 kbps
57.6 kbit/s.
86.4 kbps
86.4 kbit/s.
115.2 kbps
115.2 kbit/s.
230.4 kbps
230.4 kbit/s.
Communication loss
time
Sets a timeout for control panel (or PC tool) communication.

If a communication break lasts longer than the timeout, the
action specified by parameter 49.05 Communication loss
action is taken.
10.0 s
0.3 3000.0 s
Panel/PC tool communication timeout.
10 = 1 s
49.03
49.04
370 Parameters
No.
Name/Value
49.05
Communication loss Selects how the drive reacts to a control panel (or PC tool)
action
communication break when the panel is the active control or
reference source. See also parameter 49.08 Secondary
comm. loss action.
Fault
No action
No action taken.
Fault
Drive trips on 7081 Control panel loss.
Last speed
Drive generates an A7EE Control panel loss warning and

freezes the speed to the level the drive was operating at.
The speed is determined on the basis of actual speed using
850 ms low-pass filtering.
Speed ref safe
Drive generates an A7EE Control panel loss warning and

sets the speed to the speed defined by parameter 22.41
Speed ref safe (or 28.41 Frequency ref safe when frequency
reference is used).
Warning
Drive generates an A7EE Control panel loss warning. This

occurs even though no control is expected from the panel (or
PC tool).
Refresh settings
Applies the settings of parameters 49.0149.05.

Note: Refreshing may cause a communication break, so
reconnecting the drive may be required.
Done
Done
Refresh done or not requested.
Refresh
Refresh parameters 49.0149.05. The value reverts

Panel comm
supervision force
Activates control panel communication monitoring

separately for each control location (see section Local
control vs. external control on page 40).
The parameter is primarily intended for monitoring the
communication with the panel when it is connected to the
application program and not selected as a control source by
drive parameters.
0000b
49.06
49.07
49.08
Bit
0
1
2
Name
Ext 1
Ext 2
Local
315
Reserved
Description
Def/FbEq16
Value
1 = Communication monitoring active when Ext 1 is being used.
1 = Communication monitoring active when local control is being
used.
0000b0111b
Panel communication monitoring selection.
1=1
Secondary comm.
loss action
Selects how the drive reacts to a control panel (or PC tool)

communication break when the panel is parametrized as an
alternative control or reference source but is not currently
the active source.
No action
No action
No action taken.
Parameters 371
No.
49.14
49.15
49.16
49.17
49.18
Name/Value
Description
Def/FbEq16
Warning
Drive generates an A7EE Control panel loss warning.

Panel speed
reference unit
Defines the unit for speed reference when given from the
control panel.
rpm
rpm
rpm.
Percent of absolute value of 30.12 Maximum speed or 30.11

Minimum speed, whichever is greater.
Minimum ext speed

ref panel
Defines a minimum limit for control panel speed reference in

external control.
In local control, the limits in parameter group 30 Limits are in
force. See section Local control vs. external control (page
40).
-30000.00
rpm
-30000.00
30000.00 rpm
Minimum speed reference.
See par.
46.01
Maximum ext speed

ref panel
Defines a maximum limit for control panel speed reference

in external control.
40).
30000.00
rpm
-30000.00
30000.00 rpm
Maximum speed reference.
See par.
46.01
Minimum ext
frequency ref panel
Defines a minimum limit for control panel frequency

reference in external control.
40).
-500.00 Hz
-500.00
500.00 Hz
Minimum frequency reference.
See par.
46.02
Maximum ext
frequency ref panel
Defines a maximum limit for control panel frequency

reference in external control.
40).
500.00 Hz
-500.00
500.00 Hz
Maximum frequency reference.
See par.
46.02
50
50 Fieldbus adapter
(FBA)
Fieldbus communication configuration.

(page 631).
50.01
FBA A enable
Enables/disables communication between the drive and

fieldbus adapter A, and specifies the slot the adapter is
installed into.
Disable
Disable
Communication between drive and fieldbus adapter A

disabled.
Option slot 1

enabled. The adapter is in slot 1.
Option slot 2

Option slot 3

372 Parameters
No.
Name/Value
Description
Def/FbEq16
50.02
FBA A comm loss

func
Selects how the drive reacts upon a fieldbus communication

break. The time delay is defined by parameter 50.03 FBA A
comm loss t out.
No action
No action
No action taken.
Fault
Communication break detection active. Upon a

communication break, the drive trips on a 7510 FBA A
communication fault and coasts to a stop.
Last speed

communication break, the drive generates a warning (A7C1
FBA A communication) and freezes the speed to the level
the drive was operating at. The speed is determined on the
Speed ref safe

FBA A communication) and sets the speed to the value
defined by parameter 22.41 Speed ref safe (when speed
reference is being used) or 28.41 Frequency ref safe (when
frequency reference is being used).
Fault always
Drive trips on 7510 FBA A communication. This occurs even

though no control is expected from the fieldbus.
Warning
Drive generates an A7C1 FBA A communication warning.

This occurs even though no control is expected from the
fieldbus.
FBA A comm loss t

out
Defines the time delay before the action defined by

parameter 50.02 FBA A comm loss func is taken. Time count
starts when the communication link fails to update the
message.
As a rule of thumb, this parameter should be set to at least 3
times the transmit interval of the master.
0.3 s
0.3 6553.5 s
Time delay.
1=1s
FBA A ref1 type
Selects the type and scaling of reference 1 received from

fieldbus adapter A.
Note: Fieldbus-specific communication profiles may use
different scalings. For more information, see the manual of
the fieldbus adapter.
Auto
Auto
Type and scaling are chosen automatically according to

which reference chain (see settings Torque, Speed,
Frequency) the incoming reference is connected to. if the
reference is not connected to any chain, no scaling is
applied (as with setting Transparent).
Transparent
No scaling is applied.
General
Generic reference with a scaling of 100 = 1 (ie. integer and

two decimals).
Torque
Speed
50.03
50.04
Parameters 373
No.
Name/Value
Description
Def/FbEq16
Frequency

scaling.
50.05
FBA A ref2 type

fieldbus adapter A.
See parameter 50.04 FBA A ref1 type.
Auto
50.07
FBA A actual 1 type
Selects the type/source and scaling of actual value 1

transmitted to the fieldbus network through fieldbus
adapter A.
Note: Fieldbus-specific communication profiles may use
different scalings. For more information, see the manual of
the fieldbus adapter.
Auto
Auto
Type/source and scaling follow the type of reference 1

selected by parameter 50.04 FBA A ref1 type. See the
individual settings below for the sources and scalings.
Transparent
The value selected by parameter 50.10 FBA A act1

transparent source is sent as actual value 1. No scaling is
applied (the 16-bit scaling is 1 = 1 unit).
General
The value selected by parameter 50.10 FBA A act1

transparent source is sent as actual value 1 with a 16-bit
scaling of 100 = 1 unit (ie. integer and two decimals).
Torque
01.10 Motor torque is sent as actual value 1. The scaling is

defined by parameter 46.03 Torque scaling.
Speed
01.01 Motor speed used is sent as actual value 1. The

scaling is defined by parameter 46.01 Speed scaling.
Frequency
01.06 Output frequency is sent as actual value 1. The

scaling is defined by parameter 46.02 Frequency scaling.
Position
Motor position is sent as actual value 1. See parameter

90.06 Motor position scaled.
50.08
FBA A actual 2 type

adapter A.
See parameter 50.07 FBA A actual 1 type.
Auto
50.09
FBA A SW
transparent source
Selects the source of the fieldbus status word when the

fieldbus adapter is set to a transparent communication
profile, for example, by its configuration parameters in group
51 FBA A settings.
Not selected
Not selected
No source selected.
Other

154).
FBA A act1
transparent source
When parameter 50.07 FBA A actual 1 type is set to

Transparent or General, this parameter selects the source of
actual value 1 transmitted to the fieldbus network through
fieldbus adapter A.
Not selected
Not selected
No source selected.
Other

154).
FBA A act2
transparent source
When parameter 50.08 FBA A actual 2 type is set to

fieldbus adapter A.
Not selected
Not selected
No source selected.
50.10
50.11
374 Parameters
No.
50.12
50.13
50.14
50.15
50.16
50.17
50.18
Name/Value
Description
Def/FbEq16
Other

154).
FBA A debug mode
Enables the display of raw (unmodified) data received from

and sent to fieldbus adapter A in parameters 50.1350.18.
This functionality should only be used for debugging.
Disable
Disable
Display of raw data from fieldbus adapter A disabled.
Fast
Display of raw data from fieldbus adapter A enabled.
FBA A control word
Displays the raw (unmodified) control word sent by the

master (PLC) to fieldbus adapter A if debugging is enabled
by parameter 50.12 FBA A debug mode.
00000000h
FFFFFFFFh
Control word sent by master to fieldbus adapter A.
FBA A reference 1
Displays raw (unmodified) reference REF1 sent by the

-2147483648
2147483647
Raw REF1 sent by master to fieldbus adapter A.
FBA A reference 2

-2147483648
2147483647
Raw REF2 sent by master to fieldbus adapter A.
FBA A status word
Displays the raw (unmodified) status word sent by fieldbus

adapter A to the master (PLC) if debugging is enabled by
parameter 50.12 FBA A debug mode.
00000000h
FFFFFFFFh
Status word sent by fieldbus adapter A to master.
FBA A actual value

1
Displays raw (unmodified) actual value ACT1 sent by

fieldbus adapter A to the master (PLC) if debugging is
enabled by parameter 50.12 FBA A debug mode.
-2147483648
2147483647
Raw ACT1 sent by fieldbus adapter A to master.
FBA A actual value

2

fieldbus adapter A to the master (PLC) if debugging is
enabled by parameter 50.12 FBA A debug mode.
-2147483648
2147483647
Raw ACT2 sent by fieldbus adapter A to master.
Parameters 375
No.
Name/Value
Description
Def/FbEq16
50.21
FBA A timelevel sel
Selects the communication time levels.

In general, lower time levels of read/write services reduce
CPU load. The table below shows the time levels of the
read/write services for cyclic high and cyclic low data with
each parameter setting.
Normal
Selection
Monitoring
Normal
Fast
Very fast
Cyclic high *
10 ms
2 ms
500 s
250 s
Cyclic low **
10 ms
10 ms
2 ms
2 ms
* Cyclic high data consists of fieldbus Status word, Act1 and

Act2.
** Cyclic low data consists of the parameter data mapped to
parameter groups 52 FBA A data in and 53 FBA A data out,
and acyclic data.
Control word, Ref1 and Ref2 are handled as interrupts
generated on receipt of cyclic high messages.
50.26
50.31
Normal
Normal speed.
Fast
Fast speed.
Very fast
Very fast speed.
Monitoring
Low speed. Optimized for PC tool communication and

monitoring usage.
FBA A comm
supervision force
Activates fieldbus communication monitoring separately for

each control location (see section Local control vs. external
control on page 40).
communication with FBA A when it is connected to the
drive parameters.
0000b
Bit
0
1
2
Name
Ext 1
Ext 2
Local
315
Reserved
Value
used.
0000b0111b
FBA A communication monitoring selection.
1=1
FBA B enable
Enables/disables communication between the drive and

fieldbus adapter B, and specifies the slot the adapter is
installed into.
Disable
Disable
Communication between drive and fieldbus adapter B

disabled.
Option slot 1

Option slot 2

Option slot 3

376 Parameters
No.
Name/Value
Description
Def/FbEq16
50.32
FBA B comm loss

func
Selects how the drive reacts upon a fieldbus communication

break. The time delay is defined by parameter 50.33 FBA B
comm loss timeout.
No action
No action
No action taken.
Fault

communication break, the drive trips on a 7520 FBA B
communication fault and coasts to a stop.
Last speed

FBA B communication) and freezes the speed to the level
the drive was operating at. The speed is determined on the
Speed ref safe

FBA B communication) and sets the speed to the value
defined by parameter 22.41 Speed ref safe (or 28.41
Frequency ref safe when frequency reference is being
used).
Fault always
Drive trips on 7520 FBA B communication. This occurs even

though no control is expected from the fieldbus.
Warning
Drive generates an A7C2 FBA B communication warning.

This occurs even though no control is expected from the
fieldbus.
FBA B comm loss

timeout
Defines the time delay before the action defined by

parameter 50.32 FBA B comm loss func is taken. Time count
starts when the communication link fails to update the
message.
0.3 s
0.3 6553.5 s
Time delay.
1=1s
50.34
FBA B ref1 type

fieldbus adapter B.
Auto
50.35
FBA B ref2 type

fieldbus adapter B.
Auto
50.37
FBA B actual 1 type

adapter B.
Auto
50.38
FBA B actual 2 type

adapter B.
Auto
50.33
Parameters 377
No.
Name/Value
Description
Def/FbEq16
50.39
FBA B SW
transparent source
Selects the source of the fieldbus status word when the

fieldbus adapter is set to a transparent communication
profile eg. by its configuration parameters (group 54 FBA B
settings).
Not selected
Not selected
No source selected.
Other

page 154).
FBA B act1
transparent source
When parameter 50.37 FBA B actual 1 type is set to

fieldbus adapter B.
Not selected
Not selected
No source selected.
Other

page 154).
FBA B act2
transparent source
When parameter 50.38 FBA B actual 2 type is set to

fieldbus adapter B.
Not selected
Not selected
No source selected.
Other

page 154).
FBA B debug mode
Enables the display of raw (unmodified) data received from

and sent to fieldbus adapter B in parameters 50.4350.48.
This functionality should only be used for debugging.
Disable
Disable
Display of raw data from fieldbus adapter B disabled.
Fast
Display of raw data from fieldbus adapter B enabled.
FBA B control word

master (PLC) to fieldbus adapter B if debugging is enabled
by parameter 50.42 FBA B debug mode.
00000000h
FFFFFFFFh
Control word sent by master to fieldbus adapter B.
FBA B reference 1

-2147483648
2147483647
Raw REF1 sent by master to fieldbus adapter B.
FBA B reference 2

-2147483648
2147483647
Raw REF2 sent by master to fieldbus adapter B.
FBA B status word
Displays the raw (unmodified) status word sent by fieldbus

adapter B to the master (PLC) if debugging is enabled by
parameter 50.42 FBA B debug mode.
00000000h
FFFFFFFFh
Status word sent by fieldbus adapter B to master.
50.40
50.41
50.42
50.43
50.44
50.45
50.46
378 Parameters
No.
Name/Value
Description
Def/FbEq16
50.47
FBA B actual value

1

fieldbus adapter B to the master (PLC) if debugging is
enabled by parameter 50.42 FBA B debug mode.
-2147483648
2147483647
Raw ACT1 sent by fieldbus adapter B to master.
FBA B actual value

2

fieldbus adapter B to the master (PLC) if debugging is
enabled by parameter 50.42 FBA B debug mode.
-2147483648
2147483647
Raw ACT2 sent by fieldbus adapter B to master.
FBA B timelevel sel
Selects the communication time levels.

In general, lower time levels of read/write services reduce
CPU load. The table below shows the time levels of the
read/write services for cyclic high and cyclic low data with
each parameter setting.
Normal
50.48
50.51
Selection
Monitoring
Normal
Fast
Very fast
Cyclic high *
10 ms
2 ms
500 s
250 s
Cyclic low **
10 ms
10 ms
2 ms
2 ms
* Cyclic high data consists of fieldbus Status words, Act1

and Act2.
** Cyclic low data consists of the parameter data mapped to
parameter groups 55 FBA B data in and 56 FBA B data out,
and acyclic data.
Control word, Ref1 and Ref2 are handled as interrupts
generated on receipt of cyclic high messages.
Normal
Normal speed.
Fast
Fast speed.
Very fast
Very fast speed.
Monitoring
Low speed. Optimized for PC tool communication and

monitoring usage.
Parameters 379
No.
Name/Value
Description
Def/FbEq16
50.56
FBA B comm
supervision force

communication with FBA B when it is connected to the
drive parameters.
0000b
Bit
0
1
2
Name
Ext 1
Ext 2
Local
315
Reserved
0000b0111b
51
Value
used.
FBA B communication monitoring selection.
1=1
51 FBA A settings
Fieldbus adapter A configuration.
51.01
FBA A type
Displays the type of the connected fieldbus adapter module. 0 = Module is not found or is not properly connected, or is
disabled by parameter 50.01 FBA A enable; 1 = FPBA;
32 = FCAN; 37 = FDNA; 101 = FCNA, 128 = FENA-11/21;
135 = FENA-11; 135 = FECA; 136 = FEPL; 485 = FSCA.
51.02
FBA A Par2
Parameters 51.0251.26 are adapter module-specific. For

more information, see the documentation of the fieldbus
adapter module. Note that not all of these parameters are
necessarily in use.
065535
Fieldbus adapter configuration parameter.
1=1
51.26
FBA A Par26
See parameter 51.02 FBA A Par2.
065535
1=1
FBA A par refresh
Validates any changed fieldbus adapter module

configuration settings. After refreshing, the value reverts
running.
Done
Done
Refreshing done.
Refresh
Refreshing.
FBA A par table ver
Displays the parameter table revision of the fieldbus adapter

module mapping file (stored in the memory of the drive).
In format axyz, where ax = major table revision number; yz =
minor table revision number.
Parameter table revision of adapter module.
FBA A drive type

code
Displays the drive type code in the fieldbus adapter module

mapping file (stored in the memory of the drive).
065535
Drive type code stored in the mapping file.
1=1
51.27
51.28
51.29
380 Parameters
No.
Name/Value
Description
Def/FbEq16
51.30
FBA A mapping file

ver
Displays the fieldbus adapter module mapping file revision

stored in the memory of the drive in decimal format.
065535
Mapping file revision.
1=1
D2FBA A comm
status
Displays the status of the fieldbus adapter module

communication.
Idle
Adapter is not configured.
Exec.init
Adapter is initializing.
Time out
A timeout has occurred in the communication between the

adapter and the drive.
Conf.err
Adapter configuration error: mapping file not found in the file

system of the drive, or mapping file upload has failed more
than three times.
Off-line
Fieldbus communication is off-line.
On-line
Fieldbus communication is on-line, or fieldbus adapter has

been configured not to detect a communication break. For
adapter.
Reset
Adapter is performing a hardware reset.
FBA A comm SW
ver
Displays the patch and build versions of the adapter module

firmware in the format xxyy, where xx = patch version
number and yy = build version number.
Example: C802 = 200.02 (patch version 200, build
version 2).
51.31
51.32
Patch and build versions of adapter module firmware.

51.33
FBA A appl SW ver
Displays the major and minor versions of the adapter

module firmware in format xyy, where x = major revision
number and yy = minor revision number.
Example: 300 = 3.00 (major version 3, minor version 00).
Major and minor versions of adapter module firmware.
Parameters 381
No.
Name/Value
52
Description
Def/FbEq16
52 FBA A data in
Selection of data to be transferred from drive to fieldbus

controller through fieldbus adapter A.
Note: 32-bit values require two consecutive parameters.
Whenever a 32-bit value is selected in a data parameter, the
next parameter is automatically reserved.
52.01
FBA A data in1
Parameters 52.0152.12 select data to be transferred from

the drive to the fieldbus controller through fieldbus
adapter A.
None
None
None.
CW 16bit
Control Word (16 bits)
Ref1 16bit
Reference REF1 (16 bits)
Ref2 16bit
SW 16bit
Status Word (16 bits)
Act1 16bit
Actual value ACT1 (16 bits)
Act2 16bit
CW 32bit
11
Ref1 32bit
12
Ref2 32bit
13
SW 32bit
14
Act1 32bit
15
Act2 32bit
16
SW2 16bit
Status Word 2 (16 bits)
24
Other

page 154).
52.12
FBA A data in12
See parameter 52.01 FBA A data in1.
None
382 Parameters
No.
Name/Value
53
Description
Def/FbEq16
53 FBA A data out
Selection of data to be transferred from fieldbus controller to

drive through fieldbus adapter A.
Note: 32-bit values require two consecutive parameters.
Whenever a 32-bit value is selected in a data parameter, the
next parameter is automatically reserved.
53.01
FBA A data out1

the fieldbus controller to the drive through fieldbus
adapter A.
None
None
None.
CW 16bit
Ref1 16bit
Ref2 16bit
CW 32bit
11
Ref1 32bit
12
Ref2 32bit
13
CW2 16bit
Control Word 2 (16 bits)
21
Other

154).
53.12
FBA A data out12
See parameter 53.01 FBA A data out1.
None
54
54 FBA B settings
Fieldbus adapter B configuration.
54.01
FBA B type
Displays the type of the connected fieldbus adapter module. 0 = Module is not found or is not properly connected, or is
disabled by parameter 50.31 FBA B enable; 1 = FPBA;
32 = FCAN; 37 = FDNA; 101 = FCNA, 128 = FENA-11/21;
135 = FECA; 136 = FEPL; 485 = FSCA.
54.02
FBA B Par2
Parameters 54.0254.26 are adapter module-specific. For

adapter module. Note that not all of these parameters are
necessarily in use.
065535
1=1
54.26
FBA B Par26
See parameter 54.02 FBA B Par2.
065535
1=1
FBA B par refresh
Validates any changed fieldbus adapter module

configuration settings. After refreshing, the value reverts
running.
Done
Done
Refreshing done.
Refresh
Refreshing.
54.27
Parameters 383
No.
Name/Value
Description
Def/FbEq16
54.28
FBA B par table ver
Displays the parameter table revision of the fieldbus adapter

module mapping file (stored in the memory of the drive).
In format axyz, where ax = major table revision number; yz =
minor table revision number.
Parameter table revision of adapter module.
FBA B drive type

code
Displays the drive type code in the fieldbus adapter module

mapping file (stored in the memory of the drive).
065535
Drive type code stored in the mapping file.
1=1
FBA B mapping file

ver
Displays the fieldbus adapter module mapping file revision

stored in the memory of the drive in decimal format.
065535
Mapping file revision.
1=1
D2FBA B comm
status
Displays the status of the fieldbus adapter module

communication.
Not configured
Adapter is not configured.
Initializing
Adapter is initializing.
Time out
A timeout has occurred in the communication between the

adapter and the drive.
Configuration error
Adapter configuration error: mapping file not found in the file

system of the drive, or mapping file upload has failed more
than three times.
Off-line
Fieldbus communication is off-line.
On-line
Fieldbus communication is on-line, or fieldbus adapter has

been configured not to detect a communication break. For
adapter.
Reset
Adapter is performing a hardware reset.
FBA B comm SW
ver
Displays the patch and build versions of the adapter module

firmware in the format xxyy, where xx = patch version
number and yy = build version number.
Example: C802 = 200.02 (patch version 200, build
version 2).
54.29
54.30
54.31
54.32
Patch and build versions of adapter module firmware.

54.33
FBA B appl SW ver
Displays the major and minor versions of the adapter

module firmware in format xyy, where x = major revision
number and yy = minor revision number.
Example: 300 = 3.00 (major version 3, minor version 00).
Major and minor versions of adapter module firmware.
55
55 FBA B data in
Selection of data to be transferred from drive to fieldbus

controller through fieldbus adapter B.
55.01
FBA B data in1

the drive to the fieldbus controller through fieldbus
adapter B.
None
None
None.
CW 16bit
Ref1 16bit
384 Parameters
No.
Name/Value
Description
Def/FbEq16
Ref2 16bit
SW 16bit
Act1 16bit
Act2 16bit
CW 32bit
11
Ref1 32bit
12
Ref2 32bit
13
SW 32bit
14
Act1 32bit
15
Act2 32bit
16
SW2 16bit
24
Other

page 154).
55.12
FBA B data in12
See parameter 55.01 FBA B data in1.
None
56
56 FBA B data out
Selection of data to be transferred from fieldbus controller to

drive through fieldbus adapter B.
56.01
FBA B data out1

the fieldbus controller to the drive through fieldbus
adapter B.
None
None
None.
CW 16bit
Ref1 16bit
Ref2 16bit
CW 32bit
11
Ref1 32bit
12
Ref2 32bit
13
CW2 16bit
21
Other

page 154).
56.12
FBA B data out12
See parameter 56.01 FBA B data out1.
None
58
Configuration of the embedded fieldbus (EFB) interface.

(page 631).
58.01
Protocol enable
Enables/disables the embedded fieldbus interface and

selects the protocol to use.
Note: When the embedded fieldbus interface is enabled, the
drive-to-drive link functionality is automatically disabled.
None
None
None (communication disabled).
Modbus RTU
Embedded fieldbus interface is enabled and uses the

Modbus RTU protocol.
Parameters 385
No.
Name/Value
Description
Def/FbEq16
58.02
Protocol ID
Displays the protocol ID and revision.

Protocol ID and revision.
1=1
Node address
Defines the node address of the drive on the fieldbus link.

Values 1247 are allowable. Two devices with the same
address are not allowed on-line.
Changes to this parameter take effect after the control unit is
rebooted or the new settings validated by parameter 58.06
Communication control.
0255
Node address (values 1247 are allowable).
1=1
Baud rate
Selects the transfer rate of the fieldbus link.

19.2 kbps
9.6 kbps
9.6 kbit/s.
19.2 kbps
19.2 kbit/s.
38.4 kbps
38.4 kbit/s.
57.6 kbps
57.6 kbit/s.
76.8 kbps
76.8 kbit/s.
115.2 kbps
115.2 kbit/s.
Parity
Selects the type of parity bit and the number of stop bits.
8 EVEN 1
8 NONE 1
Eight data bits, no parity bit, one stop bit.
8 NONE 2
Eight data bits, no parity bit, two stop bits.
8 EVEN 1
Eight data bits, even parity bit, one stop bit.
8 ODD 1
Eight data bits, odd parity bit, one stop bit.
Communication
control
Validates any changes in the EFB settings, or activates

silent mode.
Enabled
Enabled
Normal operation.
Refresh settings
Validates any changed EFB configuration settings. Reverts

automatically to Enabled.
Silent mode
Activates silent mode (no messages are transmitted).

Silent mode can be terminated by activating the Refresh
settings selection of this parameter.
58.03
58.04
58.05
58.06
386 Parameters
No.
Name/Value
Description
Def/FbEq16
58.07
Communication
diagnostics
Displays the status of the EFB communication.

58.08
58.09
58.10
58.11
Bit
0
1
2
Name
Init failed
Addr config err
Silent mode
3
4
5
6
7
8
Autobauding
Wiring error
Parity error
Baud rate error
No bus activity
No packets
9
10
Noise or addressing
error
Comm loss
11
CW/Ref loss
12
13
14
15
Not active
Protocol 1
Protocol 2
Internal error
Description
1 = EFB initialization failed
1 = Node address not allowed by protocol
1 = Drive not allowed to transmit
0 = Drive allowed to transmit
Reserved
1 = Errors detected (A/B wires possibly swapped)
1 = Error detected: check parameters 58.04 and 58.05
1 = Error detected: check parameters 58.05 and 58.04
1 = 0 bytes received during last 5 seconds
1 = 0 packets (addressed to any device) detected during last 5
seconds
1 = Errors detected (interference, or another device with the
same address on line)
1 = 0 packets addressed to the drive received within timeout
(58.16)
1 = No control word or references received within timeout
(58.16)
Reserved
Reserved
Reserved
Reserved
0000hFFFFh
EFB communication status.
1=1
Received packets
Displays a count of valid packets addressed to the drive.

During normal operation, this number increases constantly.
04294967295
Number of received packets addressed to the drive.
1=1
Transmitted packets Displays a count of valid packets transmitted by the drive.

During normal operation, this number increases constantly.
04294967295
Number of transmitted packets.
1=1
All packets
Displays a count of valid packets addressed to any device

on the bus. During normal operation, this number increases
constantly.
04294967295
Number of all received packets.
1=1
UART errors
Displays a count of character errors received by the drive.

An increasing count indicates a configuration problem on the
bus.
04294967295
Number of UART errors.
1=1
Parameters 387
No.
Name/Value
Description
58.12
CRC errors
Displays a count of packets with a CRC error received by the drive. An increasing count indicates interference on the bus.
04294967295
Number of CRC errors.
1=1
Communication loss
action
Selects how the drive reacts to an EFB communication

break.
See also parameters 58.15 Communication loss mode and
58.16 Communication loss time.
Fault
No
No action taken (monitoring disabled).
Fault
Drive trips on 6681 EFB comm loss. This only occurs if

control is expected from the EFB (EFB selected as source of
start/stop in the currently active location).
Last speed
Drive generates an A7CE EFB comm loss warning and

freezes the speed to the level the drive was operating at.
This only occurs if control is expected from the EFB.
Speed ref safe
Drive generates an A7CE EFB comm loss warning and sets

reference is being used). This only occurs if control is
expected from the EFB.
Fault always
Drive trips on 6681 EFB comm loss. This occurs even

though no control is expected from the EFB.
Warning
Drive generates an A7CE EFB comm loss warning. This

occurs even though no control is expected from the EFB.
Communication loss
mode
Defines which message types reset the timeout counter for

detecting an EFB communication loss.
See also parameters 58.14 Communication loss action and
58.16 Communication loss time.
Cw / Ref1 /
Ref2
Any message
Any message addressed to the drive resets the timeout.
Cw / Ref1 / Ref2
A write of the control word or a reference from the fieldbus

resets the timeout.
58.14
58.15
Def/FbEq16
388 Parameters
No.
Name/Value
58.16
Communication loss Sets a timeout for EFB communication. If a communication

time
break lasts longer than the timeout, the action specified by
parameter 58.14 Communication loss action is taken.
See also parameter 58.15 Communication loss mode.
3.0 s
0.0 6000.0 s
EFB communication timeout.
1=1
Transmit delay
Defines a minimum response delay in addition to any fixed

delay imposed by the protocol.
0 ms
065535 ms
Minimum response delay.
1=1
EFB control word

Modbus controller to the drive. For debugging purposes.
0000hFFFFh
Control word sent by Modbus controller to the drive.
1=1
EFB status word
Displays the raw (unmodified) status word sent by the drive

to the Modbus controller. For debugging purposes.
0000hFFFFh
Status word sent by the drive to the Modbus controller.
1=1
Control profile
Defines the control profile used by the protocol.
ABB Drives
ABB Drives
ABB Drives profile (with a 16-bit control word) with registers

in the classic format for backward compatibility.
Transparent
Transparent profile (16-bit or 32-bit control word) with

registers in the classic format.
EFB ref1 type
Selects the type and scaling of reference 1 received through Auto

the embedded fieldbus interface.
The scaled reference is displayed by 03.09 EFB reference 1.
Auto

Frequency) the incoming reference is connected to. If the
Transparent
General
Generic reference with a scaling of 100 = 1 (ie. integer and

two decimals).
Torque
Speed
Frequency

scaling.
EFB ref2 type
Selects the type and scaling of reference 2 received through Torque

the embedded fieldbus interface.
The scaled reference is displayed by 03.10 EFB reference 2.
For the selections, see parameter 58.26 EFB ref1 type.
58.17
58.18
58.19
58.25
58.26
58.27
Description
Def/FbEq16
Parameters 389
No.
Name/Value
Description
Def/FbEq16
58.28
EFB act1 type

transmitted to the fieldbus network through the embedded
fieldbus interface.
Auto
Auto

selected by parameter 58.26 EFB ref1 type. See the
Transparent
The value selected by parameter 58.31 EFB act1

General

Torque

Speed

Frequency

Position

EFB act2 type

transmitted to the fieldbus network through the embedded
fieldbus interface.
Torque
Auto

selected by parameter 58.27 EFB ref2 type. See the
Transparent

General

Torque

Speed

Frequency

Position

EFB status word

transparent source
Selects the source of the status word when 58.25 Control

profile is set to Transparent.
Not selected
Not selected
None.
Other

page 154).
EFB act1
transparent source
Selects the source of actual value 1 when 58.28 EFB act1

type is set to Transparent or General.
Not selected
Not selected
None.
Other

page 154).
58.29
58.30
58.31
390 Parameters
No.
Name/Value
Description
Def/FbEq16
58.32
EFB act2
transparent source
Selects the source of actual value 1 when 58.29 EFB act2

type is set to Transparent or General.
Not selected
Not selected
None.
Other

page 154).
Addressing mode
Defines the mapping between parameters and holding

registers in the 400101465535 Modbus register range.
Mode 0
Mode 0
16-bit values (groups 199, indexes 199):

Register address = 400000 + 100 parameter group +
parameter index. For example, parameter 22.80 would be
mapped to register 400000 + 2200 + 80 = 402280.
2 parameter index. For example, parameter 22.80 would
be mapped to register 420000 + 4400 + 160 = 424560.
Mode 1

parameter index. For example, parameter 22.80 would be
mapped to register 400000 + 5632 + 80 = 405712.
Mode 2

2 parameter index. For example, parameter 22.80 would
be mapped to register 400000 + 11264 + 160 = 411424.
Word order
Selects in which order 16-bit registers of 32-bit parameters

are transferred.
For each register, the first byte contains the high order byte
and the second byte contains the low order byte.
LO-HI
HI-LO
The first register contains the high order word, the second
contains the low order word.
LO-HI
The first register contains the low order word, the second
contains the high order word.
EFB comm
supervision force

communication with EFB when it is connected to the
drive parameters.
0000b
58.33
58.34
58.36
Bit
0
1
2
Name
Ext 1
Ext 2
Local
315
Reserved
0000b0111b
Value
used.
EFB communication monitoring selection.
1=1
Parameters 391
No.
Name/Value
Description
Def/FbEq16
Defines the address in the drive which the Modbus master

accesses when it reads from or writes to register address
400001.
The master defines the type of the data (input or output).
The value is transmitted in a Modbus frame consisting of two
16-bit words. If the value is 16-bit, it is transmitted in the
LSW (least significant word). If the value is 32-bit, the
subsequent parameter is also reserved for it and must be set
to None.
CW 16bit
None
None.
CW 16bit
Control Word (16 bits).
Ref1 16bit
Reference REF1 (16 bits).
Ref2 16bit
SW 16bit
Status Word (16 bits).
Act1 16bit
Actual value ACT1 (16 bits).
Act2 16bit
CW 32bit
Control Word (32 bits).
11
Ref1 32bit
12
Ref2 32bit
13
SW 32bit
Status Word (32 bits).
14
Act1 32bit
15
Act2 32bit
16
CW2 16bit
Control Word 2 (16 bits).

When a 32-bit control word is used, this setting means the
most-significant 16 bits.
21
SW2 16bit
Status Word 2 (16 bits).

When a 32-bit control word is used, this setting means the
most-significant 16 bits.
24
RO/DIO control
word
Parameter 10.99 RO/DIO control word.
31
AO1 data storage
Parameter 13.91 AO1 data storage.
32
AO2 data storage
Parameter 13.92 AO2 data storage.
33
Feedback data
storage
Parameter 40.91 Feedback data storage.
40
Setpoint data
storage
Parameter 40.92 Setpoint data storage.
41
Other

page 154).
58.102 Data I/O 2

400002.
For the selections, see parameter 58.101 Data I/O 1.
Ref1 16bit
58.103 Data I/O 3

400003.
Ref2 16bit
58.101 Data I/O 1
392 Parameters
No.
Name/Value
Description
Def/FbEq16
58.104
Data I/O 4

400004.
SW 16bit
58.105
Data I/O 5

400005.
Act1 16bit
58.106
Data I/O 6

400006.
Act2 16bit
58.107
Data I/O 7
Parameter selector for Modbus register address 400007.

None
58.124
Data I/O 24
Parameter selector for Modbus register address 400024.

None
60
60 DDCS
communication
DDCS communication configuration.

The DDCS protocol is used in the communication between
drives in a master/follower configuration (see page 74),
the drive and an external controller such as the AC 800M
(see page 81), or
the drive (or more precisely, an inverter unit) and the
supply unit of the drive system (see page 83).
All of the above utilize a fiber optic link which also requires
an FDCO module (with ZCU control units) or an RDCO
module (with BCU control units). Master/follower and
external controller communication can also be implemented
through twisted-pair cable connected to the XD2D connector
of the drive.
60.01
M/F communication
port
Selects the connection used by the master/follower

functionality.
Not in use
Not in use
Slot 1A
Channel A on FDCO module in slot 1 (with ZCU control unit

only).
Slot 2A

only).
Slot 3A

only).
Slot 1B
Channel B on FDCO module in slot 1 (with ZCU control unit

only).
Slot 2B

only).
Slot 3B

only).
XD2D
Connector XD2D.
RDCO CH 2
Channel 2 on RDCO module (with BCU control unit only).
12
Parameters 393
No.
Name/Value
Description
Def/FbEq16
60.02
M/F node address
Selects the node address of the drive for master/follower

communication. No two nodes on-line may have the same
address.
Note: The allowable addresses for the master are 0 and 1.
The allowable addresses for followers are 260.
1254
Node address.
M/F mode
Defines the role of the drive on the master/follower link.
Not in use
Not in use
Master/follower functionality not active.
DDCS master
The drive is the master on the master/follower (DDCS) link.
DDCS follower
The drive is a follower on the master/follower (DDCS) link.
D2D master
The drive is the master on the drive-to-drive (D2D) link.

Note: Use the setting DDCS master if using the
master/follower functionality (see page 74) through the
XD2D connector.
D2D follower
The drive is a follower on the drive-to-drive (D2D) link.

Note: Use the setting DDCS follower if using the
XD2D connector.
DDCS forcing
The role of the drive on the master/follower (DDCS) link is

defined by parameters 60.15 Force master and 60.16 Force
follower.
D2D forcing
The role of the drive on the drive-to-drive (D2D) link is

defined by parameters 60.15 Force master and 60.16 Force
follower.
Note: Use the setting DDCS forcing if using the
XD2D connector.
M/F HW connection
Selects the topology of the master/follower link.

Note: Use the setting Star if using the master/follower
functionality (see page 74) through the XD2D connector (as
opposed to a fiber optic link).
Ring
Ring
The devices are connected in a ring topology. Forwarding of

messages is enabled.
Star
The devices are connected in a star topology (for example,

through a branching unit). Forwarding of messages is
disabled.
M/F link control
Defines the light intensity of the transmission LED of RDCO

module channel CH2. (This parameter is effective only when
parameter 60.01 M/F communication port is set to RDCO
CH 2. FDCO modules have a hardware transmitter current
selector.)
In general, use higher values with longer fiber optic cables.
The maximum setting is applicable to the maximum length of
the fiber optic link. See Specifications of the fiber optic
master/follower link (page 80).
10
115
Light intensity.
60.03
60.05
60.07
394 Parameters
No.
Name/Value
Description
Def/FbEq16
60.08
M/F comm loss

timeout
Sets a timeout for master/follower communication. If a

communication break lasts longer than the timeout, the
action specified by parameter 60.09 M/F comm loss function
is taken.
See also parameter 60.18 M/F comm loss function.
100 ms
065535 ms
Master/follower communication timeout.
M/F comm loss

function
Selects how the drive reacts to a master/follower

Fault
No action
No action taken.
Warning
The drive generates a warning (A7CB MF comm loss).
Fault
Drive trips on 7582 MF comm loss.
Fault always
Drive trips on 7582 MF comm loss. This occurs even though

no control is expected from the master/follower link.
M/F ref1 type
Selects the type and scaling of reference 1 received from the

master/follower link. The resulting value is shown by 03.13
M/F or D2D ref1.
Auto
Auto

Transparent
General
Generic reference without a specific unit.
Torque
Speed
Frequency

scaling.
60.11
M/F ref2 type

master/follower link. The resulting value is shown by 03.14
M/F or D2D ref2.
For the selections, see parameter 60.10 M/F ref1 type.
Torque
60.12
M/F act1 type
Selects the type/source and scaling of actual value ACT1

transmitted to the master/follower link.
Auto
Auto

selected by parameter 60.10 M/F ref1 type. See the
individual settings below for the source and scalings.
Transparent
Reserved.
General
Reserved.
Torque

Speed

Frequency

60.09
60.10
Parameters 395
No.
Name/Value
Description
Def/FbEq16
60.13
M/F act2 type

transmitted to the master/follower link.
Auto
Auto

selected by parameter 60.11 M/F ref2 type. See the
Transparent
Reserved.
General
Reserved.
Torque

Speed

Frequency

M/F follower
selection
(Effective in the master only.) Defines the followers from

which data is read. See also parameters 62.2862.33.
None
None
None.
Follower node 2
Data is read from the follower with node address 2.
Follower node 3
Follower node 4
Follower nodes 2+3
Data is read from the followers with node addresses 2 and 3. 6
Follower nodes 2+4
Follower nodes 3+4
Follower nodes
2+3+4
Data is read from the followers with node addresses 2, 3 and

4.
14
Force master
When parameter 60.03 M/F mode is set to DDCS forcing or

D2D forcing, this parameter selects a source that forces the
drive to be the master on the master/follower link.
1 = Drive is master on the master/follower link
FALSE
FALSE
0.
TRUE
1.
Other [bit]

154).
Force follower
When parameter 60.03 M/F mode is set to DDCS forcing or

D2D forcing, this parameter selects a source that forces the
drive to be a follower on the master/follower link.
1 = Drive is follower on the master/follower link
FALSE
FALSE
0.
TRUE
1.
Other [bit]

154).
Follower fault action
(Effective in the master only.) Selects how the drive reacts to

a fault in a follower.
Note: Each follower must be configured to transmit its status
word as one of the three data words in parameters
61.0161.03. In the master, the corresponding target
parameter (62.0462.12) must be set to Follower SW.
Fault
No action
No action taken. Unaffected drives on the master/follower

link will continue running.
60.14
60.15
60.16
60.17
396 Parameters
No.
60.18
60.19
Name/Value
Description
Def/FbEq16
Warning
The drive generates a warning (AFE7 Follower).
Fault
Drive trips on FF7E Follower. All followers will be stopped.
Follower enable
Interlocks the starting of the master to the status of the

followers.
Note: Each follower must be configured to transmit its status
word as one of the three data words in parameters
61.0161.03. In the master, the corresponding target
parameter (62.0462.12) must be set to Follower SW.
Always
MSW bit 0
The master can only be started if all followers are ready to

switch on (bit 0 of 06.11 Main status word in each follower is
on).
MSW bit 1

operate (bit 1 of 06.11 Main status word in each follower is
on).
MSW bits 0 + 1

switch on and ready to operate (bits 0 and 1 of 06.11 Main
status word in each follower are on).
Always
The starting of the master is not interlocked to the status of

the followers.
MSW bit 12
The master can only be started if user-definable bit 12 of

06.11 Main status word in each follower is on. See
parameter 06.31 MSW bit 12 sel.
MSW bits 0 + 12
The master can only be started if both bit 0 and bit 12 of

06.11 Main status word in each follower is on.
MSW bits 1 + 12
The master can only be started if both bit 1 and bit 12 of

06.11 Main status word in each follower is on.
M/F comm
supervision sel 1
(This parameter is only effective when the drive is the

master on a drive-to-drive master/follower link. See
parameters 60.01 M/F communication port and 60.03 M/F
mode.)
In the master, parameters 60.19 M/F comm supervision sel
1 and 60.20 M/F comm supervision sel 2 specify the
followers that are monitored for loss of communication.
This parameter selects which followers (out of followers
116) are monitored. Each of the selected followers is
polled by the master. If no reply is received, the action
specified in 60.09 M/F comm loss function is taken.
The status of communication is shown by 62.37 M/F
communication status 1 and 62.38 M/F communication
status 2.
Bit
0
1
15
Name
Follower 1
Follower 2
Follower 16
0000hFFFFh
Description
1 = Follower 1 is polled by the master.

Selection of followers for communication supervision (1).
1=1
Parameters 397
No.
Name/Value
Description
Def/FbEq16
60.20
M/F comm
supervision sel 2
Selects which followers (out of followers 1732) are

monitored for loss of communication. See parameter 60.19
M/F comm supervision sel 1.
Bit
0
1
15
60.23
Description
0000hFFFFh
Selection of followers for communication supervision (2).
1=1
M/F status
supervision sel 1
(This parameter is only effective when the drive is the

master on a drive-to-drive master/follower link. See
parameters 60.01 M/F communication port and 60.03 M/F
mode.)
In the master, parameters 60.23 M/F status supervision sel 1
and 60.24 M/F status supervision sel 2 specify the followers
whose status word is monitored by the master.
This parameter selects the followers (out of followers 116)
whose status words are monitored by the master.
If a follower reports a fault (bit 3 of the status word is on), the
action specified in 60.17 Follower fault action is taken. Bits 0
and 1 of the status word (ready states) are handled as
defined by 60.18 Follower enable.
Using 60.27 M/F status supv mode sel 1 and 60.28 M/F
status supv mode sel 2, it is possible to define whether any
given follower is only monitored when it is stopped.
The status of communication is shown by 62.37 M/F
communication status 1 and 62.38 M/F communication
status 2.
Bit
0
1
15
60.24
Name
Follower 17
Follower 18
Follower 32
Name
Follower 1
Follower 2
Follower 16
Description
1 = Status of follower 1 is monitored.
0000hFFFFh
M/F follower status supervision selection (followers 116).
1=1
M/F status
supervision sel 2
Selects the followers (out of followers 1732) whose status

words are monitored by the master.
See parameter 60.23 M/F status supervision sel 1.
Bit
0
1
15
Name
Follower 17
Follower 18
Follower 32
0000hFFFFh
Description

M/F follower status supervision selection (followers 1732). 1 = 1
398 Parameters
No.
Name/Value
Description
Def/FbEq16
60.27
M/F status supv

mode sel 1
In the master, parameters 60.27 M/F status supv mode sel 1

and 60.28 M/F status supv mode sel 2 specify the mode of
follower status word monitoring. Each follower can
individually be set to be monitored continuously, or only
when it is in stopped state.
This parameter selects the mode of status word monitoring
of followers 116.
60.28
60.31
Bit
0
Name
Follower 1
Follower 2
15
Follower 16
Description
0 = Status of follower 1 is monitored continuously.
1 = Status of follower 1 is monitored only when it is in stopped state.

0000hFFFFh
M/F status supervision mode selection 1.
1=1
M/F status supv

mode sel 2
Selects the mode of status word monitoring of followers

1732.
Bit
0
Name
Follower 17
Follower 18
15
Follower 32
Description

0000hFFFFh
M/F status supervision mode selection 2.
1=1
M/F wake up delay
Defines a wake-up delay during which no master/follower

communication faults or warnings are generated. This is to
allow all drives on the master/follower link to power up.
The master cannot be started until the delay elapses or all
monitored followers are found to be ready.
60.0 s
0.0 180.0 s
Master/follower wake-up delay.
10 = 1 s
Parameters 399
No.
Name/Value
Description
Def/FbEq16
60.32
M/F comm
supervision force
Activates master/follower communication monitoring

communication with master or follower when it is connected
to the application program and not selected as a control
source by drive parameters.
0000b
60.41
60.50
60.51
Bit
0
1
2
Name
Ext 1
Ext 2
Local
315
Reserved
Value
used.
0000b0111b
Master/follower communication monitoring selection.
1=1
Extension adapter
com port
Selects the channel used for connecting an optional FEA-xx

extension adapter.
No connect
No connect
Slot 1A
Channel A on FDCO module in slot 1.
Slot 2A
Slot 3A
Slot 1B
Channel B on FDCO module in slot 1.
Slot 2B
Slot 3B
RDCO CH 3
Channel CH 3 on RDCO module (with BCU control unit

only).
13
DDCS controller
drive type
In ModuleBus communication, defines whether the drive is

of the engineered or standard type.
ABB
engineered
drive
ABB engineered
drive
The drive is an engineered drive (data sets 1025 are

used).
ABB standard drive
The drive is a standard drive (data sets 14 are used).
DDCS controller
comm port
Selects the DDCS channel used for connecting an external

controller (such as an AC 800M).
Not in use
Not in use
Slot 1A
Slot 2A
Slot 3A
Slot 1B
Slot 2B
Slot 3B
XD2D
Connector XD2D.
RDCO CH 0
10
400 Parameters
No.
Name/Value
Description
Def/FbEq16
60.52
DDCS controller
node address
Selects the node address of the drive for communication

with the external controller. No two nodes on-line may have
the same address.
With an AC 800M (CI858) DriveBus connection, drives must
be addressed 124.
With an AC 80 DriveBus connection, drives must be
addressed 112.
With optical ModuleBus, the drive address is set according
to the position value as follows:
1. Multiply the hundreds of the position value by 16.
2. Add the tens and ones of the position value to the result.
For example, if the position value is 101, this parameter
must be set to 116 + 1 = 17.
1254
Node address.
DDCS controller
HW connection
Selects the topology of the fiber optic link with an external

controller.
Star
Ring
The devices are connected in a ring topology. Forwarding of

messages is enabled.
Star
The devices are connected in a star topology (for example,

through a branching unit). Forwarding of messages is
disabled.
DDCS controller link

control

parameter 60.51 DDCS controller comm port is set to RDCO
CH 0. FDCO modules have a hardware transmitter current
selector.)
10
115
Light intensity.
DDCS controller
comm loss time
Sets a timeout for communication with the external

controller. If a communication break lasts longer than the
timeout, the action specified by parameter 60.59 DDCS
controller comm loss function is taken.
times the transmit interval of the controller.
Notes:
There is a 60-second boot-up delay immediately after
power-up. During the delay, the communication break
monitoring is disabled (but communication itself can be
active).
With an AC800M controller, the controller detects a
communication break immediately but re-establishing the
communication is done at 9-second idle intervals. Also
note that the sending interval of a data set is not the same
as the execution interval of the application task. On
ModuleBus, the sending interval is defined by controller
parameter Scan Cycle Time (by default, 100 ms).
100 ms
060000 ms
Timeout for communication with external controller.
DDCS controller
comm loss function
Selects how the drive reacts to a communication break

between the drive and the external controller.
Fault
No action
No action taken (monitoring disabled).
60.55
60.57
60.58
60.59
Parameters 401
No.
Name/Value
Description
Def/FbEq16
Fault
Drive trips on 7581 DDCS controller comm loss. This only

occurs if control is expected from the external controller.
Last speed
Drive generates an A7CA DDCS controller comm loss

warning and freezes the speed to the level the drive was
operating at. This only occurs if control is expected from the
external controller.
Speed ref safe

warning and sets the speed to the speed defined by
parameter 22.41 Speed ref safe (or 28.41 Frequency ref
safe when frequency reference is being used). This only
occurs if control is expected from the external controller.
Fault always
Drive trips on 7581 DDCS controller comm loss. This occurs

even though no control is expected from the external
controller.
Warning

warning. This occurs only if control is expected from the
DDCS controller
ref1 type

external controller. The resulting value is shown by 03.11
DDCS controller ref 1.
Auto
Auto

Transparent
General
Generic reference without a specific unit.
Torque
Speed
Frequency

scaling.
60.61
DDCS controller
ref2 type

external controller. The resulting value is shown by 03.12
DDCS controller ref 2.
For the selections, see parameter 60.60 DDCS controller
ref1 type.
Auto
60.62
DDCS controller
act1 type

transmitted to the external controller.
Auto
Auto

selected by parameter 60.60 DDCS controller ref1 type. See
the individual settings below for the sources and scalings.
Transparent
Reserved.
General
Reserved.
60.60
402 Parameters
No.
60.63
60.64
60.65
60.71
Name/Value
Description
Def/FbEq16
Torque

Speed

Frequency

DDCS controller
act2 type

transmitted to the external controller.
Auto
Auto

selected by parameter 60.61 DDCS controller ref2 type. See
the individual settings below for the sources and scalings.
Transparent
Reserved.
General
Reserved.
Torque

Speed

Frequency

Mailbox dataset
selection
Selects the pair of data sets used by the mailbox service in

the drive/controller communication.
See section External controller interface (page 81).
Dataset
32/33
Dataset 32/33
Data sets 32 and 33.
Dataset 24/25
Data sets 24 and 25.
DDCS controller
comm supervision
force
Activates DDCS controller communication monitoring

communication with the controller when it is connected to
the application program and not selected as a control source
by drive parameters.
0000b
Bit
0
1
2
Name
Ext 1
Ext 2
Local
315
Reserved
Value
used.
0000b0111b
DDCS controller communication monitoring selection.
1=1
INU-LSU
communication port

Selects the DDCS channel used for connecting to another
converter (such as a supply unit).
See also section Control of a supply unit (LSU) (page 83).
Not in use;
RDCO CH 1
(95.20 b11,
95.20 b15)
Not in use
RDCO CH 1
11
Parameters 403
No.
Name/Value
60.77
INU-LSU link control (Only visible with a BCU control unit)

parameter 60.71 INU-LSU communication port is set to
RDCO CH 1. FDCO modules have a hardware transmitter
current selector.)
60.78
60.79
Def/FbEq16
10
115
Light intensity.
INU-LSU comm loss

timeout

Sets a timeout for communication with another converter
(such as the supply unit). If a communication break lasts
longer than the timeout, the action specified by parameter
60.79 INU-LSU comm loss function is taken.
065535 ms
Timeout for communication between converters.
INU-LSU comm loss

function

Selects how the inverter unit reacts to a communication
break between the inverter unit and the other converter.
Fault
No action
No action taken.
Warning
The drive generates a warning (AF80 FA2FA DDCS comm

loss).
Fault
Drive trips on 7580 INU-LSU comm loss.
61
61 D2D and DDCS

transmit data
61.01
Description
100 ms
Defines the data sent to the DDCS link.

See also parameter group 60 DDCS communication.
M/F data 1 selection Preselects the data to be sent as word 1 onto the
master/follower link.
See also parameter 61.25 M/F data 1 value, and section
Follower CW
None
None.
CW 16bit
SW 16bit
Act1 16bit

Note: Using this setting to send a reference to the follower is
not recommended as the source signal is filtered. Use the
reference selections instead.
Act2 16bit

Note: Using this setting to send a reference to the follower is
not recommended as the source signal is filtered. Use the
reference selections instead.
Follower CW
A word consisting of bits 011 of 06.01 Main control word

and the bits selected by parameters 06.4506.48.
Note: Bit 3 of the follower control word is kept on as long as
the master is modulating, and when it switches to 0, the
follower coasts to a stop.
27
Used speed
reference
6145
Torque reference
act 5
26.75 Torque reference act 5 (page 286).
6731
404 Parameters
No.
Name/Value
Description
Def/FbEq16
Torque reference
used
6658
ACS800 System ctrl

SW
A follower status word compatible with an ACS800 (System

Control Program) master. With this setting, status word bit 0
is cleared whenever the run enable signal is missing.
28
Other

154).
61.02
See also parameter 61.26 M/F data 2 value.
For the selections, see parameter 61.01 M/F data 1
selection.
Used speed
reference
61.03
See also parameter 61.27 M/F data 3 value.
selection.
Torque
reference act
5
61.25
M/F data 1 value
Displays the data to be sent onto the master/follower link as

word 1 as an integer.
If no data has been preselected by 61.01 M/F data 1
selection, the value to be sent can be written directly into this
parameter.
065535
Data to be sent as word 1 in master/follower communication.
M/F data 2 value

parameter.
065535
M/F data 3 value

parameter.
065535
Data set 2 data 1

selection
Parameters 61.4561.50 preselect data to be sent in data

sets 2 and 4 to the external controller. These data sets are
used in ModuleBus communication with a standard drive
(60.50 DDCS controller drive type = ABB standard drive).
Parameters 61.9561.100 display the data to be sent to the
external controller. If no data has been preselected, the
value to be sent can be written directly into these
parameters.
For example, this parameter preselects the data for word 1
of data set 2. Parameter 61.95 Data set 2 data 1 value
displays the selected data in integer format. If no data is
preselected, the value to be sent can be written directly into
parameter 61.95.
None
None
None.
CW 16bit
SW 16bit
Act1 16bit
61.26
61.27
61.45
Parameters 405
No.
Name/Value
Description
Def/FbEq16
Act2 16bit
Other

154).
61.46
Data set 2 data 2

selection
Preselects the data to be sent as word 2 of data set 2 to the

See also parameter 61.96 Data set 2 data 2 value.
For the selections, see parameter 61.45 Data set 2 data 1
selection.
None
61.47
Data set 2 data 3

selection
See parameter 61.45 Data set 2 data 1 selection.
None
61.50
Data set 4 data 3

selection
None
61.51
Data set 11 data 1

selection
Parameters 61.5161.74 preselect data to be sent in data

sets 11, 13, 15, 17, 19, 21, 23 and 25 to the external
controller.
Parameters 61.10161.124 display the data to be sent to
the external controller. If no data has been preselected, the
parameters.
of data set 11. Parameter 61.101 Data set 11 data 1 value
displays the selected data in integer format. If no data is
preselected, the value to be sent can be written directly into
parameter 61.101.
None
None
None.
CW 16bit
SW 16bit
Act1 16bit
Act2 16bit
Other

154).
61.52
Data set 11 data 2

selection

selection.
None
61.53
Data set 11 data 3

selection

selection.
None
61.54
Data set 13 data 1

selection
None
61.74
Data set 25 data 3

selection
None
406 Parameters
No.
Name/Value
Description
Def/FbEq16
61.95
Data set 2 data 1

value
Displays (in integer format) the data to be sent to the

external controller as word 1 of data set 2.
If no data has been preselected by 61.45 Data set 2 data 1
parameter.
065535
Data to be sent as word 1 of data set 2.
Data set 2 data 2

value

parameter.
065535
Data set 2 data 3

value

parameter.
065535
61.100
Data set 4 data 3

value

If no data has been selected by 61.50 Data set 4 data 3
parameter.
065535
Data set 11 data 1

value

parameter.
065535
Data set 11 data 2

value

parameter.
065535
Data set 11 data 3

value

parameter.
065535
Data set 13 data 1

value

parameter.
065535
61.96
61.97
61.101
61.102
61.103
61.104
Parameters 407
No.
Name/Value
61.124 Data set 25 data 3

value
065535
Description
Def/FbEq16

parameter.

(Parameters 61.15161.203 only visible with a BCU control
unit)
Parameters 61.15161.153 preselect data to be sent in
data sets 10, 12, 14, 16, 18, 20, 22, 24 and 32 to another
converter. (Data set 32 is typically used by the mailbox
function.)
Parameters 61.20161.203 display the data to be sent to
the other converter. If no data has been preselected, the
parameters.
of data set 10. Parameter 61.201 INU-LSU Data set 10 data
1 value displays the selected data in integer format. If no
data is preselected, the value to be sent can be written
directly into parameter 61.201.
None
None
None.
CW 16bit
Ref1 16bit
Ref2 16bit
CW 32bit
11
Ref1 32bit
12
Ref2 32bit
13
CW2 16bit
21
LSU CW
Control word for the supply unit. (This selection is only

available for data set 10.)
22
Other

154).
61.152 INU-LSU Data set

10 data 2 sel

other converter.
See also parameter 61.202 INU-LSU Data set 10 data 2
value.
For the selections, see parameter 61.151 INU-LSU Data set
10 data 1 sel.
None

10 data 3 sel

other converter.
See also parameter 61.203 INU-LSU Data set 10 data 3
value.
For the selections, see parameter 61.151 INU-LSU Data set
10 data 1 sel.
None

10 data 1 value
Displays (in integer format) the data to be sent to the other

converter as word 1 of data set 10.
If no data has been preselected by 61.151 INU-LSU Data
set 10 data 1 sel, the value to be sent can be written directly
into this parameter.

10 data 1 sel
065535
408 Parameters
No.
Name/Value
Description
Def/FbEq16
61.202
INU-LSU Data set

10 data 2 value

If no data has been preselected by 61.152 INU-LSU Data
set 10 data 2 sel, the value to be sent can be written directly
into this parameter.
065535
INU-LSU Data set

10 data 3 value

If no data has been selected by 61.153 INU-LSU Data set 10
data 3 sel, the value to be sent can be written directly into
this parameter.
065535
61.203
61
62 D2D and DDCS

receive data
62.01
Mapping of data received through the DDCS link.

See also parameter group 60 DDCS communication.
M/F data 1 selection (Follower only) Defines a target for the data received as
word 1 from the master through the master/follower link.
See also parameter 62.25 MF data 1 value.
None
None
None.
CW 16bit
Ref1 16bit
Ref2 16bit
Other

154).
62.02
selection.
None
62.03
selection.
None
62.04
Follower node 2
data 1 sel
Defines a target for the data received as word 1 from the first
follower (ie. the follower with node address 2) through the
See also parameter 62.28 Follower node 2 data 1 value.
None
None
None.
Follower SW
Status word of the follower. See also parameter 60.18

Follower enable.
26
Other

154).
Follower node 2
data 2 sel
For the selections, see parameter 62.04 Follower node 2
data 1 sel.
None
62.05
Parameters 409
No.
Name/Value
Description
Def/FbEq16
62.06
Follower node 2
data 3 sel
data 1 sel.
None
62.07
Follower node 3
data 1 sel
Defines a target for the data received as word 1 from the

second follower (ie. the follower with node address 3)
data 1 sel.
None
62.08
Follower node 3
data 2 sel

data 1 sel.
None
62.09
Follower node 3
data 3 sel

data 1 sel.
None
62.10
Follower node 4
data 1 sel

third follower (ie. the follower with node address 4) through
the master/follower link.
data 1 sel.
None
62.11
Follower node 4
data 2 sel

data 1 sel.
None
62.12
Follower node 4
data 3 sel

data 1 sel.
None
62.25
MF data 1 value
(Follower only) Displays, in integer format, the data received

from the master as word 1.
Parameter 62.01 M/F data 1 selection can be used to select
a target for the received data. This parameter can also be
used as a signal source by other parameters.
065535
Data received as word 1 in master/follower communication.
MF data 2 value

065535
62.26
410 Parameters
No.
Name/Value
Description
Def/FbEq16
62.27
MF data 3 value

065535
Follower node 2
data 1 value
Displays, in integer format, the data received from the first

follower (ie. follower with node address 2) as word 1.
Parameter 62.04 Follower node 2 data 1 sel can be used to
select a target for the received data. This parameter can
also be used as a signal source by other parameters.
065535
Data received as word 1 from follower with node address 2.
Follower node 2
data 2 value

065535
Follower node 2
data 3 value

065535
Follower node 3
data 1 value
0
Displays, in integer format, the data received from the
second follower (ie. follower with node address 3) as word 1.
065535
Follower node 3
data 2 value
0
065535
Follower node 3
data 3 value
0
065535
Follower node 4
data 1 value
Displays, in integer format, the data received from the third

065535
62.28
62.29
62.30
62.31
62.32
62.33
62.34
Parameters 411
No.
Name/Value
Description
Def/FbEq16
62.35
Follower node 4
data 2 value

065535
Follower node 4
data 3 value

065535
M/F communication
status 1
In the master, displays the status of the communication with

followers specified by parameter 60.19 M/F comm
supervision sel 1.
In a follower, bit 0 indicates the status of the communication
with the master.
62.36
62.37
62.38
Bit
0
Name
Follower 1
15
Follower 2
Follower 16
Description
1 (in the master) = Communication with follower 1 OK.
1 (in a follower) = Communication with master OK.
1 = Communication with follower 2 OK.
0000hFFFFh
M/F communication status (followers 116).
1=1
M/F communication
status 2
In the master, displays the status of the communication with

followers specified by parameter 60.20 M/F comm
supervision sel 2.
Bit
0
1
15
Name
Follower 17
Follower 18
Follower 32
0000hFFFFh
Description
M/F communication status (followers 1732).
1=1
412 Parameters
No.
Name/Value
Description
Def/FbEq16
62.41
M/F follower ready

status 1
In the master, displays the ready status of the

communication with followers specified by parameter 60.23
M/F status supervision sel 1.
Bit
0
1
15
62.42
62.46
Description
1 = Follower 1 ready.
0000hFFFFh
Follower 116 ready status.
1=1
M/F follower ready

status 2
In the master, displays the ready status of the

communication with followers specified by parameter 60.24
M/F status supervision sel 2.
Bit
0
1
15
62.45
Name
Follower 1
Follower 2
Follower 16
Name
Follower 17
Follower 18
Follower 32
Description
0000hFFFFh
Follower 1732 ready status.
1=1
Data set 1 data 1

selection
Parameters 62.4562.50 define a target for the data

received in data sets 1 and 3 from the external controller.
These data sets are used in ModuleBus communication with
a standard drive (60.50 DDCS controller drive type = ABB
standard drive).
Parameters 62.9562.100 display the data received from
the external controller in integer format, and can be used as
sources by other parameters.
For example, this parameter selects a target for word 1 of
data set 1. Parameter 62.95 Data set 1 data 1 value displays
the received data in integer format, and can also be used as
a source by other parameters.
None
None
None.
CW 16bit
Ref1 16bit
Ref2 16bit
Other

154).
Data set 1 data 2

selection
Defines a target for the data received as word 2 of data set

1.
selection.
None
Parameters 413
No.
Name/Value
Description
Def/FbEq16
62.47
Data set 1 data 3

selection
None
62.50
Data set 3 data 3

selection
None
62.51
Data set 10 data 1

selection

received in data sets 10, 12, 14, 16, 18, 20, 22 and 24 from
the external controller.
the external controller in integer format, and can be used as
data set 10. Parameter 62.101 Data set 10 data 1 value
displays the received data in integer format, and can also be
used as a source by other parameters.
None
None
None.
CW 16bit
Ref1 16bit
Ref2 16bit
Other

154).
62.52
Data set 10 data 2

selection

10.
selection.
None
62.53
Data set 10 data 3

selection

10.
selection.
None
62.54
Data set 12 data 1

selection
None
62.74
Data set 24 data 3

selection
None
62.95
Data set 1 data 1

value
Displays (in integer format) the data received from the

A target for this data can be selected by parameter 62.45
Data set 1 data 1 selection. The value can also be used as a
source by another parameter.
065535
Data received as word 1 of data set 1.
Data set 1 data 2

value

065535
62.96
414 Parameters
No.
Name/Value
Description
Def/FbEq16
62.97
Data set 1 data 3

value

065535
62.100
Data set 3 data 3

value

065535
Data set 10 data 1

value

Data set 10 data 1 selection. The value can also be used as
a source by another parameter.
065535
Data set 10 data 2

value

065535
Data set 10 data 3

value

065535
Data set 12 data 1

value

065535
62.124
Data set 24 data 3

value

065535
62.101
62.102
62.103
62.104
Parameters 415
No.
Name/Value
Description
Def/FbEq16
(Parameters 62.15162.203 only visible with a BCU control

unit)
received in data sets 11, 13, 15, 17, 19, 21, 23, 25 and 33
from another converter. (Data set 33 is typically used by the
mailbox function.)
the other converter in integer format, and can be used as
data set 11. Parameter 62.201 INU-LSU data set 11 data 1
value displays the received data in integer format, and can
also be used as a source by other parameters.
None
None
None.
CW 16bit
Ref1 16bit
Ref2 16bit
LSU SW 16bit
Status word of the supply unit. (This selection is only

SW 16bit
Status word of the supply unit. (This selection is not

Act1 16bit
Act2 16bit
CW 32bit
11
Ref1 32bit
12
Ref2 32bit
13
SW 32bit
14
Act1 32bit
15
Act2 32bit
16
CW2 16bit
Control Word 2 (16 bits). (This selection is only available for

data set 11.)
21
SW2 16bit
24
ISU CW
Control word for the supply unit. (This selection is only

25
Other

154).
62.152 INU-LSU data set

11 data 2 sel

11.
See also parameter 62.202 INU-LSU data set 11 data 2
value.
For the selections, see parameter 62.151 INU-LSU data set
11 data 1 sel.
None

11 data 3 sel

11.
See also parameter 62.203 INU-LSU data set 11 data 3
value.
For the selections, see parameter 62.151 INU-LSU data set
11 data 1 sel.
None

11 data 1 sel
416 Parameters
No.
Name/Value
Description
Def/FbEq16
62.201
INU-LSU data set

11 data 1 value
Displays (in integer format) the data received from the other
INU-LSU data set 11 data 1 sel. The value can also be used
as a source by another parameter.
065535
INU-LSU data set

11 data 2 value
065535
INU-LSU data set

11 data 3 value
065535
62.202
62.203
74
Winder control and setup.
74.05
Winding mode
Selects whether the driven machine acts as a winder or

unwinder.
Winder
Material is wound to the core.
Unwinder
Material is unwound from the roll.
Other

154).
Motor direction
Selects the direction of the motor rotation.
Positive
Motor rotates clockwise. The speed reference goes positive.
Negative
Motor rotates counterclockwise. The speed reference goes

negative.
Other

154).
Gear ratio 1
Defines the gear coefficient value 1 between the motor and

driven load.
Example: You can set the value as 2 if the motor rotates two
rounds for one round of spindle rotation (2:1).
0.01032767.000
Gear coefficient value.
Gear ratio 2
Defines the gear coefficient value 2 between the motor and

driven load.
Example: You can set the value as 2 if the motor rotates two
rounds for one round of spindle rotation (2:1).
0.01032767.000
Gear coefficient value.
Gear 1/2 selection
Selects the gear coefficient 1 or 2 used by the control

program.
Gear ratio 1
Uses value set in parameter 74.11 Gear ratio 1.
Gear ratio 2
Uses value set in parameter 74.12 Gear ratio 2.
Other

154).
74.06
74.11
74.12
74.13
Winder
Positive
1.000
1000 = 1
1.000
1000 = 1
Gear ratio 1
Parameters 417
No.
Name/Value
Description
74.21
Material Thickness
Defines the material thickness in millimeters. For a wirewinding application, enter a value equivalent to the wire
diameter divided by the number of turns needed to complete
one full width of the spool.
0.010
32767.000 mm
Material thickness.
Material Width
Defines the roll lay-down width.
500.0 mm
0.032767.0 mm
Roll lay-down width.
10 = 1 mm
Material Density
Defines the density of the web material. The table below

gives examples of densities for some materials. In a wire
winding application, density values smaller than the actual
density of the material can be used since the material is not
necessarily wound evenly to the spool and the inertia will
therefore be smaller.
74.22
74.23
74.29
Def/FbEq16
0.150 mm
1000 = 1 mm
Material
Density (kg/m3)
Steel
7800
Aluminium
2700
Copper
8960
Paper
7001200
Rubber (soft)
9001100
Nylon
1100
Wool
1300
100.0 kg/m3
10 = 1 kg/m3
0.0
32767.0 kg/m3
Density of the web material.
Length source
Selects the source for material length.
NULL
Zero.
Estimated from
Diameter
Material length is estimated from parameter 09.11 Actual

diameter. Estimated length can be checked from parameter
09.21 Estimated length.
Calculated by
Virtual Roll
Material length is measured from an encoder feedback

coming to the drive.
Note: When using this selection, set the virtual roll counter
settings in parameter group 82 Virtual Roll.
Other

154).
Estimated
from
Diameter
418 Parameters
No.
Name/Value
Description
Def/FbEq16
74.49
Winder control word Winder control word.
0b0000
Bit
Name
Description
Unwind mode
1 = Command to unwind
0 = Command to wind
Winding dir negative
1 = Winding direction negative

0 = Winding direction positive
Force open loop Tctrl
1 = Force open loop control

Reserved
Reset diameter
1 = Reset diameter
Preset diameter
1 = Preset diameter
Hold diameter count-up
1 = Diameter count-up in hold

Hold diameter count-down 1 = Diameter count-down in hold

Torque memory sample
1 = Enable torque memory sampling

Enable torque memory
1 = Use memorized torque as torque reference

10
Disable tension control
1 = Disable regulator control (forces pure speed control)

11
Stall mode enable
1 = Stall mode enabled

0 = Stall mode disabled
12
Disable inertia
compensation
1 = Disable inertia compensation

13
Disable friction
compensation
1 = Disable friction compensation

1415 Reserved
0b0000 0b111111
Winder control word.
1=1
Parameters 419
No.
Name/Value
Description
Def/FbEq16
74.51
Winder control
status
Status word showing active control settings of the

application. The resulting application control word is formed
of individual function. Enables/disables the parameter
settings and status of bits in parameter 74.49 Winder control
word.
For control word logic, see diagram Winder control word
logic on page 662.
Bit
Name
Val.
Winding mode unwinder
1 = Command to unwind
0 = Command to wind
Winding direction is negative
1 = Winding direction negative

0 = Winding direction positive
Open loop Tctrl forced
1 = Force open loop control

Reserved
Diameter Reset command
1 = Reset diameter
Diameter Preset command
1 = Preset diameter
Count up enabled
1 = Count up enabled
0 = Count up disabled
Count down enabled
1 = Count down enabled

0 = Count down disabled
Torq memory sample

Torq memory enabled

10
Tension control enabled
1 = Enable regulator control

0 = Normal operation (pure speed control)
11
Stall function enabled
1 = Stall mode enabled

0 = Stall mode disabled
12
Inertia compensation enabled
1 = Enable inertia compensation

13
Friction compensation enabled 1 = Enable friction compensation

0x0000
Description
1415 Reserved
74.61
74.91
0x0000 0xffff
Winder control status.
1=1
Used length
Displays the material length used in software internal

calculations.
0.0 m
0.0 100000.0 m
Material length used.
Unit system
Selects the used unit system.
Metric
Metric
Uses the Metric unit system.
Imperial
Uses the Imperial unit system.
10 = 1 m
420 Parameters
No.
Name/Value
74
Description
Def/FbEq16
75 Winder speed
settings
Ramping time adjustments and winder-related speed

reference adaptation setup.
See section Line speed on page 48.
75.01
Max line speed
Defines the maximum linear speed the production line is

intended to run at.
700.0 m/min
0.0
32767.0 m/min
Maximum speed of the machinery.
10 = 1 m/min
Line speed
reference src
Selects the source for the line speed reference. The target
line speed reference is defined as:
75.51 Line reference In = (75.02 Line speed reference src/
75.03 Line reference scaling) * 75.01 Max line speed
AI1_SCALE
D
NULL
Zero.
AI1_SCALED
AI2_SCALED
FBA Reference 1
FBA Reference 2
M/F or D2D
Reference 1
M/F or D2D
Reference 2
Motor
Potentiometer Ref
Motor potentiometer reference. See parameter 22.80 Motor

potentiometer ref act on page 259.
Other

154).
Line reference
scaling
Defines the custom scaling factor for line speed reference.

For example, if line speed reference from the fieldbus is
scaled from 0 to 20000 (INT), then set this value to 200.00
(REAL).
Note: Reference scaling can be set to 0, then input from
parameter 75.02 is interpreted directly as m/min (or ft/min)
200.00
0.0032767.00
Scaling factor.
100 = 1
75.02
75.03
Parameters 421
No.
Name/Value
Description
Def/FbEq16
75.05
Line ref source

cycle time
Defines the remote control system cycle time, meaning how

often the line speed reference is updated. This helps
absorbing the speed reference steps (see diagram below)
that occurs due to acyclic communication delays.
This value should be the longest period of time taken for the
control system to transmit speed reference data to the drive.
Note: This value is required to be accurate for Inertia
compensation and to avoid torque reference spikes.
6 ms
Speed reference
Speed
reference
75.05
Line ref source
cycle time
t
A
75.51 Line reference In
Time
75.11
75.12
75.13
75.21
032767 ms
Cycle time.
1 = 1 ms
Acceleration ramp
time
Defines the time for the line speed reference to increase

from zero to the value defined with parameter 75.01 Max line
speed.
60.00 s
0.0032767.00 s
Ramp time for acceleration.
Deceleration ramp
time
Defines the time for the line speed reference to decrease

from the value defined with parameter 75.01 Max line speed
to zero. This feature is active while drive start command is
TRUE.
0.0032767.00 s
Ramp time for deceleration.
Stop ramp time
Defines the time within which line speed reference

decelerates to zero from the value defined with parameter
75.01 Max line speed in case of stop command. This feature
is active while drive start command is FALSE.
Note: This setting is valid only when parameter 21.03 Stop
mode = Ramp.
0.0032767.00 s
Stop ramp time.
Thread forward
command
Defines the source for the command to generate line speed

reference in positive direction. Speed reference used in that
instance is set in parameter 75.23 Threading forward line
ref.
See also Threading on page 48.
Not selected
Line speed reference is not activated.
Selected
Line speed reference is activated.
DI1
DI2
DI3
DI4
100 = 1 s
60.00 s
100 = 1 s
60.00 s
100 = 1 s
Not selected
422 Parameters
No.
Name/Value
Description
DI5
DI6
DIO1
DIO2
Other

154).
75.22
Thread reverse
command
Defines the source for the command to generate line speed

reference in negative direction. Speed reference used in that
instance is set in parameter 75.24 Threading reverse line
ref.
See also Threading on page 48.
75.23
Threading forward
line ref
Defines the line speed reference for threading in forward

direction.
0.0...32767.0 m/min
Line speed reference
Threading reverse
line ref
Defines the line speed reference for threading in reverse

direction.
-32767.0...
0.0 m/min
Line speed reference
Threading
acceleration time
Defines the line speed acceleration time used when

threading is active.
0.00...32767.00 s
Acceleration time.
Threading
deceleration time
Defines the line speed deceleration time used when

threading is active.
0.00...32767.00 s
Deceleration time.
75.24
75.25
75.26
75.31
75.32
75.35
75.36
Def/FbEq16
Not selected
5.0 m/min
10 = 1 m/min
-5.0 m/min
10 = 1 m/min
60.00 s
100 = 1 s
10.00 s
100 = 1 s
Overspeed ref offset Defines the motor speed reference additive defined in
percent of signal 75.61 Max motor speed at core.
2.00%
0.00100.00%
Additional over-speed reference.
100 = 1%
Dynamic offset trim
Defines the dynamic motor speed additive term in percent of

actual overspeed reference offset and is also proportional to
the line speed reference.
-100.00
1000.00%
Multiplier of the ramped speed reference.
100 = 1%
Speed matching
enable
Enables speed matching when dancer or tension control is

active or selects the source for the activation signal.
OFF
TEN/DAN
Not selected
Speed matching is disabled
Selected
Speed matching is enabled
OFF TEN/DAN
Disabled when tension control is On.
Other

154).
Speed match trim

Src
Selects the signal source for the reference value for the
speed match trim amount. Incoming value must be scaled
between -100 and +100 [%]. Resulting trim amount depends
on parameter 75.37 Speed match range.
NULL
Zero.
AI1_SCALED
AI2_SCALED
50.00%
NULL
Parameters 423
No.
75.37
75.41
75.42
75.43
75.51
Name/Value
Description
Def/FbEq16
FBA Reference 1
FBA Reference 2
M/F or D2D
Reference 1
M/F or D2D
Reference 2
Motor
Potentiometer Ref

Other

154).
Speed match range
Defines the maximum trim allowed.

Example: If 10% is entered, a minimum input (0 V DC / 0
mA) yields a -10% trim value. A maximum input (10 V DC /
20 mA) yields a +10% trim value.
-500.00500.00%
Maximum trim allowed.
Line speed
feedback src
Selects the source for line speed feedback.
Same as line speed

reference
Same as 75.52 Line reference ramped.
Encoder1 speed
scaled
Encoder1 speed scaled.
Encoder2 speed
scaled
Encoder2 speed scaled.
Load encoder
speed
Load encoder speed.
Virtual Roll line

speed
Virtual roll line speed reading (82.54 Detected line speed).
M/F or D2D
Reference 1
M/F or D2D
Reference 2
Line feedback filter

time
Defines the time for the actual line speed filtering.
0...32767 ms
Line speed filtering time.
1 = 1 ms
Line feedback feed

constant
Defines the circumference of the wheel where line speed

encoder is placed.
1.00000
unit/rev
0.00000...
32767.00000
unit/rev
Circumference of wheel
Line reference In
Displays the target line speed reference value coming from

the line reference source (parameter 75.02 Line speed
reference src) and scaled according to the scaling
parameter setting (parameters 75.03 Line reference
scaling).
-2147483648.0...
2147483648.0
m/min
Target line speed reference.
10.00%
100 = 1%
Same as line
speed
reference
0 ms
100000 = 1
unit/rev
0.0 m/min
10 = 1 m/min
424 Parameters
No.
Name/Value
Description
75.52
Line reference
ramped
Displays the line speed reference used in application

reference chain at the moment considering the target line
speed reference and ramp times (set with parameters 75.11
Acceleration ramp time75.13 Stop ramp time).
-32767.0...
32767.0 m/min
Line speed reference.
Line act speed

scaled
Displays actual line speed scaled according to parameter

75.03 Line reference scaling.
-32767.00...
32767.00
Scaled line speed value.
Line speed actual
Displays the actual line speed.

-32767.0...
32767.0 m/min
Actual line speed.
Roll speed actual
Displays the actual roll speed.

-32767.0...
32767.0 rpm
Actual roll speed.
Max motor speed at

core
Displays the maximum line speed reference (given in

parameter 75.01 Max line speed) converted to motor
rotational speed which is the highest at diameter of an empty
core (set in parameter 76.08 Core diameter).
0.0 rpm
-32767.0...
32767.0 rpm
Maximum line speed reference converted to motor rotational

speed.
10 = 1 rpm
Motor speed from

line ref
Displays the ramped line speed reference (parameter 75.52

Line reference ramped) converted to motor rotational speed
assuming the diameter of the core.
0.0 rpm
-32767.0...
32767.0 rpm
Ramped line speed reference converted to motor rotational

speed.
10 = 1 rpm
Motor ref diameter

scaled
Displays the ramped line speed reference converted to

motor rotational speed considering the actual diameter
(parameter 09.11 Actual diameter) of the roll.
--32767.0...
32767.0 rpm
Ramped line speed reference converted to motor rotational

speed.
10 = 1 rpm
Speed ref additive
Displays the additional speed reference for the motor. The

value is calculated based on overspeed reference
parameter settings (parameters 75.32 Dynamic offset trim
and 75.31 Overspeed ref offset). This signal is connected to
firmware parameter 24.11 Speed correction.
0.0 rpm
-32767.0...
32767.0 rpm
Additional speed reference for the motor.
75.58
75.59
75.60
75.61
75.62
75.63
75.66
Def/FbEq16
0.0 m/min
10 = 1 m/min
0.00
100 = 1
0.0 m/min
10 = 1 m/min
0.0 rpm
10 =1 rpm
0.0 rpm
10 = 1 rpm
Parameters 425
No.
Name/Value
Description
75.67
Speed match trim
Displays the motor speed additive term, ie, the product of

speed matching parameter settings (parameters 75.36
75.37).
-32767.0...
32767.0 rpm
Motor speed additive term.
Speed reference
status
Displays status of the winder speed settings group functions.
75.89
Def/FbEq16
0.0 rpm
10 = 1 rpm
0b0000
Bit
Name
Description
Counter direction
1 = Line speed reference is negative.

0 = Line speed reference is positive or stopped.
Accelerating
1 = Accelerating now.
0 = Not accelerating.
Decelerating
1 = Decelerating now.
0 = Not decelerating.
Ref on target
1 = Line reference ramped is on target.

0 = Line reference ramped has not reached the target.
Stopping
1 = Drive is performing a ramped stop.

0 = Drive is not performing a ramped stop.
Speed ref balancing
1 = Ramp output is preset to actual speed.

0 = Normal ramping operation.
Reserved
Stop-ramp active
1 = Stop-ramp is activated.
0 = Stop-ramp is not activated.
Speed additive ON
1 = Tension control mode required speed additive.

0 = Speed additive is not used.
Speed matching ON
1 = Speed matching is enabled.

0 = Speed matching is disabled.
10
Reserved
11
Threading forward
1 = Threading forward now.

0 = Not threading forward.
12
Threading reverse
1 = Threading reverse now.

0 = Not threading reverse.
13...14 Reserved
15
Unwinding
0b0000...0b1111
1 = Speed reference sign is for Unwinding.

0 = Speed reference sign is for Winding.
Status word.
1=1
426 Parameters
No.
Name/Value
Description
Def/FbEq16
76
76 Diameter calculation Diameter calculation control and setup.

In winder/unwinder applications, set the parameters of this
group to define the conditions and slope of the diameter
calculation.
In an infeeder application, set the roll diameter to parameter
76.08 Core diameter and disable diameter calculation by
setting parameters 76.05 Count up enable and 76.06 Count
down enable to Not selected. The rest of the parameters in
this group can be left at their default values.
See section Diameter calculation on page 49.
76.01
76.02
76.03
Diameter
calculation mode
Selects the mode for calculating the actual diameter of the

roll.
Estimated
Estimated
Diameter is calculated internally as the ratio of the actual

speed and the line speed reference. The rate of change of
the actual diameter is limited according to the web thickness
(parameter 74.21 Material Thickness) and slope estimation
gain (76.35 Estimation slope gain)
External feedback
External feedback sensor value is used as the source of the

actual diameter.
External feedback
at stop
External feedback sensor value is used as the source of

actual diameter when the drive is stopped. Otherwise the
actual diameter is equal to the Estimated diameter. The rate
of change of the actual diameter is limited according to the
web thickness.
Virtual roll
Diameter is based on wrap count by Virtual roll function (see

settings in group 82 Virtual Roll)
Diameter feedback
Src
Selects the source for actual diameter feedback.

Note: Scale the feedback signal source so that it matches
accurately with the measuring range of the used diameter
sensor. The control program interprets the incoming signal
as defined in parameter 74.91 Unit system (in millimeters or
inches).
NULL
NULL
No source selected.
AI1 SCALED
AI1 scaled is the diameter feedback source.
AI2 SCALED
AI2 scaled is the diameter feedback source.
Virtual Roll
Diameter
Parameter 82.61 Virtual roll diameter is the diameter

feedback source.
FBA Reference 1
FBA Reference 2
M/F or D2D
Reference 1
M/F or D2D
Reference 2
Other

page 154).
Actual diameter
filter time
Defines the time for diameter filtering (1st order low pass
filter). Setting this parameter helps to get rid of possible
oscillations in estimated diameter (parameter 76.51
Estimated diameter filtered) when the actual speed is
unstable.
0 32767 ms
Filter time.
12 ms
1 = 1 ms
Parameters 427
No.
Name/Value
Description
76.05
Count up enable
Activates/deactivates the diameter up-count. In feeder

applications, disable the count by setting the parameter to
Not selected.
Not selected
Diameter up-count not activated.
Selected
Diameter up-count activated.
Roll is not Full Yet
Inverted status of bit 0 (Roll end) of 09.01 Winder status

word. Estimated diameter stops counting up when 09.11
Actual diameter gets to the extremes: either greater than full
roll diameter (set with parameter 76.09 Full roll diameter) or
less than empty core (set with parameter 76.08 Core
diameter).
Other

154).
Count down enable
Activates/deactivates the diameter down-count. In feeder

applications, disable the count by setting the parameter to
Not selected.
Not selected
Diameter down-count not activated.
Selected
Diameter down-count activated.
Roll is not Full Yet
Inverted status of bit 0 (Roll end) of 09.01 Winder status

word. Estimated diameter stops counting down when 09.11
Actual diameter gets to the extremes: either greater than full
roll diameter (set with parameter 76.09 Full roll diameter) or
less than empty core (set with parameter 76.08 Core
diameter).
Other

page 154).
76.06
76.07
76.08
76.09
76.11
Hold diameter count Selects the digital signal source to hold actual diameter
counter.
See also section Diameter hold on page 49.
Def/FbEq16
Selected
Selected
Not selected
Not selected
Hold diameter counter is not activated.
Selected
Hold diameter counter is activated.
Other

page 154).
Core diameter
Defines the core diameter (minimum actual diameter value).
150.0 mm
0.032767.0 mm
Core diameter.
10 = 1 mm
Full roll diameter
Defines the full roll diameter (maximum actual diameter

value).
500.0 mm
0.032767.0 mm
Full roll diameter.
10 = 1 mm
Reset estimated
diameter
Selects the source to reset the Estimated diameter.

If parameter 74.05 Winding mode is set to:
Winder, the diameter value is reset to the core diameter
Unwinder, the diameter value is reset to the full roll
diameter.
Note: If parameter 76.01 Diameter calculation mode is not
set to Estimated, and if you use this diameter reset signal,
the control program forces the actual diameter signal to
76.61 Measured diameter, ignoring any applied filter and/or
diameter hold settings.
Not selected
No diameter reset.
Not selected
428 Parameters
No.
76.25
76.26
76.29
76.31
76.32
Name/Value
Description
Def/FbEq16
Selected
Reset diameter is activated.
DI5
Source for diameter reset is DI5.
DI6
Source for diameter reset is DI6.
Torque Memory
Active
Torque memory is active.
Other

page 154).
Preset estimated
diameter
Presets the diameter, or selects the source for preset signal.

See also parameter 76.26 Estimation preset value.
Not selected
Diameter preset Off.
Selected
Diameter preset On.
DI5
Source for diameter preset is DI5.
DI6
Torque Memory
Active
Torque memory active.
Other

page 154).
Estimation preset
value
Defines the value to which the diameter is preset.
100.0 mm
0.032767.0 mm
Diameter preset value.
10 = 1 mm
Reset/Preset while
running
Defines the source for a flag allowing the calculated

diameter value to be reset while the machine is running.
Not selected
Diameter reset/preset while machine running is Off.
Selected
Diameter reset/preset while machine running is On.
DI5
DI6
Torque Memory
Active
Torque memory active.
Other

page 154).
Min speed for

diameter calc
Defines the speed below which the diameter calculation is

frozen. Given in percent of 75.01 Max line speed.
0.00100.00%
Minimum speed for diameter to be calculated.
Min tension for

diameter calc
Defines the tension or dancer position below which the

diameter calculation is frozen. Given as percentage of
parameter
77.05 Max tension, if 77.02 Tension control mode is set to
Tension torque trim or Tension speed trim, or
77.32 Dancer position max, if 77.02 Tension control mode
is set to Dancer speed trim.
0.00100.00%
Minimum tension for diameter to be calculated.
Not selected
Not selected
2.00%
100 = 1%
2.00%
100 = 1%
Parameters 429
No.
Name/Value
Description
76.35
Estimation slope
gain
Defines the multiplier to boost the diameter estimation

responsiveness to a change. Normally the estimated
diameter change step depends on actual motor speed. If it
does not give enough agility for necessary corrections, set
the value of this parameter greater than 1.0. If estimated
diameter is changing too rapidly, set the value of this
parameter less than 1.0 (in this case check the settings of
parameter group 74 Application setup).
0.000100.000
Multiplier.
Estimation boost
time
Defines the delay after which the multiplication defined by

parameter 76.37 Estimation boost multiplier is no longer
effective. The delay counter is started by the rising edge of
the diameter change.
0.0032767.00 s
Time delay.
Estimation boost
multiplier
Defines the multiplier for widening the range of the allowed

change rate of the actual diameter at start. Setting this
parameter to 2 doubles the allowed rate of the actual
diameter change. Widening can be used at start with partial
rolls to correct the possible error between the actual and
estimated diameter of the roll.
0.000100.000
Multiplier.
Raw estimate filter

time
Defines filter time for the motor speed component in the

estimation routine.
065536 ms
Filter time.
1 = 1 ms
Raw diameter
estimation
Displays diameter estimation based solely on the load/line

speed ratio without any ramping or filtering.
0.0 mm
0.0... 32767.0 mm
Raw diameter estimation
Estimated diameter
filtered
Displays the actual diameter calculated based on line-tomotor speed ratio.

0.032767.0 mm
Calculated diameter.
Measured diameter
Displays the scaled actual diameter value coming from

diameter feedback source (parameter 76.02 Diameter
feedback Src).
0.032767.0 mm
Scaled actual diameter.
76.36
76.37
76.49
76.50
76.51
76.61
Def/FbEq16
2.000
1000 = 1
3.00 s
100 = 1 s
1.000
1000 = 1
12 ms
10 = 1 mm
0.0 mm
10 = 1 mm
0.0 mm
10 = 1 mm
430 Parameters
No.
Name/Value
Description
76.88
Diameter hold
status
Diameter hold status word
Def/FbEq16
0b0000
Bit
Name
Description
Drives not running
1 = Drive is not running
Slope gain set to 0
1 = Parameter 76.35 Estimation slope gain

0 = Slope estimation gain
Count up/down disabled
1 = Both diameter count up and diameter count down disabled.
Speed below min threshold 1 = Actual speed is less than minimum speed for diameter
calculation
Tension below min

threshold
1 = Tension or dancer position (according to tension mode) is

less than minimum allowed value
Tension control disabled
1 = Tension control disabled
Torque memory active
1 = Torque memory activated
Inching active
1 = Inching mode activated
Preset diameter command 1 = Diameter preset activated
Reset diameter command
1 = Diameter reset activated
10
Web loss active
1 = Web loss detected
11
Threading active
1 = Threading activated
12...14 Reserved
15
Hold count forced (p76.7)
0b0000 0b111111
77
1 = Diameter hold count is forced by parameter 76.07 Hold

diameter count.
Diameter hold status word
1=1
77 Tension/Dancer
control
Tension control and setup.

See section Taper function on page 58, and the diagrams on
pages 5258.
77.01
Enable tension
control
Activates/deactivates the tension controller, or selects the

source for the activation signal.
Not selected
Tension controller not activated.
Selected
Tension controller activated.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
DIO2
Other

page 154).
Selected
Parameters 431
No.
Name/Value
Description
77.02
Tension control
mode
Selects the used tension control mode.
Open loop
Open loop tension control without any feedback device.
Tension torque trim
Tension control with torque reference trim based on load cell

feedback.
The control program controls the web tension by calculating
the torque reference of the motor, which is the product of
user-given tension reference and actual roll radius. In
addition, the tension control PID modifies the final motor
torque reference based on the tension feedback from the
load cell.
Tension speed trim
Tension control with speed reference trim based on load cell

feedback.
The control program controls the web tension by calculating
the torque reference of the motor, which is the product of
user-given tension reference and actual roll radius. In
addition, the tension control PID modifies the final motor
speed reference based on the tension feedback from the
load cell.
Dancer speed trim
Dancer control with speed reference trim based on Dancer

position feedback.
The dancer absorbs the changes of the web tension, which
causes the dancer position to change.
Line speed master
Line surface speed control mode with motor speed

reference trim based on the line speed feedback from an
encoder.
Tension reference
Src
Selects the source of the tension reference.

Tension reference scaling is then done with parameter 77.06
Tension reference scaling. Target tension reference is then
defined as:
77.51 Tension reference In = (77.03 Tension reference Src /
77.06 Tension reference scaling) x 77.05 Max tension.
NULL
Zero.
AI1_SCALED
AI2_SCALED
FBA Reference 1
FBA Reference 2
M/F or D2D
Reference 1
M/F or D2D
Reference 2
Motor
Potentiometer Ref

Other

154).
Load cell feedback

Src
Selects source for the tension feedback signal. The input is

interpreted directly in force units without any scaling. Value
read by the drive could be seen in signal 77.70 Load cell
measurement.
NULL
Zero.
77.03
77.04
Def/FbEq16
Open loop
AI2_SCALE
D
NULL
432 Parameters
No.
77.05
77.06
77.09
Name/Value
Description
Def/FbEq16
AI1_SCALED
AI2_SCALED
FBA Reference 1
FBA Reference 2
M/F or D2D
Reference 1
M/F or D2D
Reference 2
Virtual Roll
Estimation
Estimated virtual roll.
Other

154).
Max tension
Defines the maximum tension to be exerted on the material.

Note: If load cell feedback is available, you must set the
maximum tension to be equal to the device measuring
range.
0.065535.0 N
Maximum tension.
Tension reference
scaling
Defines tension reference scaling factor.

Note: reference scaling could be set to 0, then input from
parameter 77.03 is interpreted directly in Tension units
032767
Maximum tension.
100 = 1
Tension ref change

rate
Defines the ramping step for the tension reference. Rate of

change per second is set in percent of 77.05 Max tension.
Ramped and tapered value of tension reference could be
seen in signal 77.52 Tension reference Used.
25.0%/s
0.032767.0%/s
Maximum tension.
10.0 N
10 = 1 N
100
10 = 1%/s
Parameters 433
No.
Name/Value
Description
77.11
Taper mode
Selects the used taper mode. The taper function allows

altering the web tension as roll diameter changes. Taper
mode can be used to control the roll hardness and prevent
defects as roll starring and core deformation.
The picture below shows different tension reference profile
shapes associated with a certain taper mode selection.
Tension reference
100%
Def/FbEq16
No tapering
77.11 Taper mode = No tapering

Lin
e
ar
77.15 Max
taper
Arc
Slide
0%
77.13 Taper starting point
100%, full roll

Roll diameter
77.12
No tapering
Taper function is disabled. Tension reference stays the same

all along the production cycle.
Linear
Tension reference changes linearly in direct proportion to the

diameter change in the defined tapering range (from
parameter 77.13 Taper starting point up to 76.09 Full roll
diameter).
Arc
Tension reference changes slowly at start and gets more

rapid as actual diameter grows. For the visual representation
of the arc shape profile, see the picture above.
Slide
Tension reference changes rapidly at start and gets slower

as actual diameter grows. For the visual representation of
the slide shape profile, see the picture above.
Tapering reference
signal
Defines the source for the axis signal that tension tapering
function refers to.
The active tapering range on this axis is then defined with
parameters 77.13 Taper starting point and 77.14 Taper end
point.
9.12 Actual
diameter %
NULL
Zero
9.12 Actual
diameter %
Actual diameter displayed in parameter 09.12 Actual

diameter %.
9.11 Actual
diameter
Actual diameter displayed in parameter 09.11 Actual

diameter.
Other

page 154).
434 Parameters
No.
Name/Value
Description
77.13
Taper starting point
Defines the taper function starting point at the reference axis

defined with parameter 77.12 Tapering reference signal.
When parameter 09.12 Actual diameter % reaches the value
defined with this parameter, tapering starts according to
parameter 77.11 Taper mode.
-32767.00...
32767.00
Diameter.
100 = 1
Taper end point
Defines the taper function end point at the reference axis

defined with parameter 77.12 Tapering reference signal.
When parameter 09.12 Actual diameter % reaches the value
defined with this parameter, tapering ends according to
parameter 77.11 Taper mode.
100.00
-32767.00...
32767.00
Diameter.
100 = 1
Max taper tension

trim %
Defines the magnitude of tension reference change in

percent of the target tension reference (parameter 77.51
Tension reference In). Resulting tension reference changes
according to the chosen taper profile (parameter 77.11 Taper
mode).
Note: When this parameter is positive, the tension reference
gets lower as the diameter increases. To make the tension
reference increase when the roll diameter builds up, set this
parameter to negative value.
0.00%
-100.00100.00%
Maximum allowed taper.
77.14
77.15
77.21
77.22
Def/FbEq16
Stall function enable Enables Stall function or selects the source for the activation
signal.
0.00
100 = 1%
Not selected
Not selected
Stall function is disabled.
Selected
Stall function is enabled.
Other

page 154).
Stall speed
threshold %
Defines the line speed reference in percent of 75.01 Max

line speed. When the stall function is enabled and the line
speed reference is below the value set with this parameter,
tension controller takes the tension reference and PI settings
defined in group 82 as an input. As the line speed reference
approaches the value defined with this parameter, the
tension reference linearly changes towards the reference
value given in parameter 77.03 Tension reference Src as
shown in the diagram below:
77.23 Stall tension set point %

0
75.51 Line reference In

77.22 Stall speed threshold %
5.00%
Parameters 435
No.
77.23
77.31
77.32
77.33
77.34
77.35
77.36
Name/Value
Description
Def/FbEq16
0.00100.00%
Stall speed level.
Stall tension set

point %
Defines the stall tension set point.
0.0032767.00%
Stall tension set point.
Dancer feedback
Src
Defines the source for Dancer actual position feedback. The

incoming signal is interpreted directly as is without any
internal scaling.
NULL
Zero.
AI1_SCALED
AI2_SCALED
FBA Reference 1
FBA Reference 2
M/F or D2D
Reference 1
M/F or D2D
Reference 2
EFB Reference 1
EFB Reference 2
Motor
Potentiometer Ref

Other

154).
Dancer position
max
Defines the maximum position value in dancer travel range.

The parameter is used only if parameter 77.02 Tension
control mode is set to Dancer speed trim.
Note: When defining dancer travel range, assume the axis
minimum point is 0.
100.00
0.0032767.00
Maximum dancer travel.
100 = 1
Dancer position min
Defines the minimum position value in dancer travel range.

The parameter is used only if parameter 77.02 Tension
control mode is set to Dancer speed trim.
Note: When defining dancer travel range, assume the axis
minimum point is 0.
100.00
0.0032767.00
Minimum dancer travel.
100 = 1
Dancer position setpoint 1
Defines dancer position reference set point 1.
-32767.00
32767.00
Set point 1.
Dancer position setpoint 2
Defines dancer position reference set point 2.
-32767.00
32767.00
Set point 2.
Dancer set-point 1/2

selection
Selects dancer reference set point 1 or 2 to be used by the

control loop.
Not selected
Dancer set point is disabled.
Selected
Dancer set point is enabled.
100 = 1%
25.00%
100 = 1%
NULL
50.00
100 = 1
50.00
100 = 1
Not selected
436 Parameters
No.
77.39
77.51
77.52
77.53
77.56
77.60
77.61
77.62
77.70
77.71
77.72
Name/Value
Description
Def/FbEq16
Other

154).
Dancer ref change

rate
Defines the ramping step for the dancer reference. Rate of

change per second is set in percent of 77.32 Dancer
position max.
The ramped value of dancer reference can be seen in signal
77.82 Dancer set point used.
0.0... 32767.0 %/s
Ramping step
Tension reference
In
Defines the target tension reference coming from the

reference source (parameter 77.03 Tension reference Src)
displayed in force/width measure.
0.0 32767.0 N/m
Target tension reference.
Tension reference
Used
Defines the resulting tension reference after selected

ramping and tapering displayed in force/width measure.
0.0 32767.0 N/m
Resulting tension reference.
Force reference
Used
Defines the resulting tension reference after selected

ramping and tapering displayed in force measure.
0.0 32767.0 N/m
Resulting tension reference.
Tension torque ref

%
Displays the torque reference, which is the product of active

tension reference and actual diameter. Used in tension
torque trim and open loop tension control modes.
-1600.00
1600.00%
Torque reference.
Tension set-point
tapered
Displays the tension reference set-point modified by taper

function.
0.0 32767.0 N
Tension set-point
Tapering progress
Displays actual progress of tension reference tapering.

0.00... 100.00 %
Tension reference.
Taper trim share
Displays actual trimming of tension reference tapering.

0.00... 100.00%
Tension reference.
Load cell
measurement
Displays the value coming from parameter 77.04 Load cell

feedback Src.
0.0... 32767.0 N
Load cell feedback.
10 = 1 N
Measured tension
Displays tension acquired from the load cell in force/width

measure.
0.0 N/m
0.0 32767.0 N/m
Measured tension.
Estimated tension
Displays actual tension estimated by the Virtual roll function.
0.0 32767.0 N/m
Estimated tension.
20.0 %/s
10 = 1 %/s
0.0 N/m
10 = 1 N/m
0.0 N/m
10 = 1 N/m
0.0 N/m
10 = 1 N/m
0.00%
100 = 1%
0.0 N
10 = 1 N
0.00%
100 = 1%
0.00%
100 = 1%
0.0 N
10 = 1 N/m
0.0 N/m
10 = 1 N/m
Parameters 437
No.
Name/Value
Description
77.80
Dancer position
measured
Displays the position of the dancer arm.

0.0032767.00
Dancer arm position.
Dancer set-point In
Displays target position reference for dancer.

0.0032767.00
Target dancer position set point.
Dancer set point

used
Displays dancer position reference currently in use with

regard to actual control mode and ramp settings.
0.0032767.00
Current dancer position set point.
Tension measure
selection
Selects the unit for tension measurement.
Force
Tension measurement in Newton or lbf (if 74.91 Unit system

= Imperial).
Force/width
Tension measurement in Newton/meter or lbf/inch (if

74.91 Unit system = Imperial).
Other

154).
77.81
77.82
77.91
78
Def/FbEq16
0.00
100 = 1
0.00
100 = 1
0.00
100 = 1
Force
78 Winder PID
controller
PID controller settings.

See section Process PID control on page 108.
78.01
Force open loop
Enables tension control mode (parameter 77.02 Tension

control mode) to Open loop.
Not selected
Tension control in open loop mode is disabled.
Selected
Tension control in open loop mode is enabled.
Other

154).
78.02
78.09
78.11
78.12
Force P-control only Enables PID control mode.
Not selected
Not selected
Not selected
PID control mode is disabled.
Selected
PID control mode is enabled.
Other

154).
PID output range
Defines absolute boundaries for the PID controller output

before trimming.
100.00%
0.0032767.00%
PID controller output.
100 = 1%
P-gain 1
Defines proportional gain setting for the PID controller. If

parameter 78.14 PID adaptation is enabled, then the value
in this parameter is interpreted as P-gain, effective when
actual diameter is equal to parameter 76.08 Core diameter.
0.0032767.00
Proportional gain.
100 = 1
I-time 1
Defines integration time setting for the PID controller. If

parameter 78.14 PID adaptation is enabled, then the value
in this parameter is interpreted as I-time, effective when
actual diameter is equal to parameter 76.08 Core diameter.
10.000 s
0.000
32767.000 s
Integration time.
1.00
1000 = 1 s
438 Parameters
No.
Name/Value
Description
78.13
D-time 1
Defines deviation time setting for the PID controller. If

parameter 78.14 PID adaptation is enabled, then the
value in this parameter is interpreted as D-time, effective
when actual diameter is equal to parameter 76.08 Core
diameter.
0.0...32767.0 ms
Deviation time.
PID adaptation
Selects the source for activating PID adaptation function.
Not selected
PID adaptation is disabled.
Selected
PID adaptation is enabled.
Other

154).
Adaptation mode
Selects the PID input settings adaptation style.
P,I,D set 1/2

selection
In this mode, parameter 78.14 PID adaptation switches

between set 1 and set 2 P, I, D inputs.
set 1 settings are defined with parameters 78.11...78.13
set 2 settings are defined with parameters 78.16...78.18.
Linear - diameter %
In this mode, the PID adaptation function makes P-gain and

I-time used by the PID controller to be proportional with
actual diameter (parameter 09.12 Actual diameter %).
The diagram below depicts the principle of PI adaptation
function. The used PID controller settings are displayed in
parameters 78.56 Used P-gain and 78.58 Used D-time.
78.14
78.15
78.16 P-gain 2
78.17 I-time 2
78.18 D-time 2
78.11 P-gain 1
78.12 I-time 1
78.13 D-time 1
Def/FbEq16
0.0 ms
10 = 1 ms
Not selected
Linear diameter %
PID ADAPTATION
09.12 Actual diameter %
76.08 Core diameter

78.16
78.17
1.00
P-gain 2
Defines the maximum P-gain value used by PID controller

as actual diameter progresses towards full roll diameter
(par. 76.09).
Note: This parameter is active only when parameter 78.14
0.0032767.00
P-gain value.
100 = 1
I-time 2
Defines the maximum integration time used by PID

controller as actual diameter progresses towards the full roll
diameter (par. 76.09).
10.000 s
0.000
32767.000 s
Integration time.
1000 = 1 s
Parameters 439
No.
Name/Value
Description
78.18
D-time 2
Defines the maximum derivation time used by PID controller

as actual diameter progresses towards the full roll diameter
(par. 76.09).
PID adaptation is enabled
0.0...32767.0 ms
Derivation time.
Stall P-gain
Defines the tension controller gain in stall mode.
0.0032767.00
Tension controller gain.
100 = 1
Stall I-time
Defines the tension controller integration time in stall mode.
10.000 s
0.000
32767.000 s
Integration time.
78.21
78.22
78.25
78.26
78.27
Invert PID error sign Enables invert signal 78.60 Controller error % sign.
Note: Activating this function results in inverting the
controller output sign as well.
Def/FbEq16
0.0 ms
10 = 1 ms
0.25
1000 = 1 s
Not selected
Not selected
Invert PID error sign is disabled.
Selected
Invert PID error sign is enabled.
Other

154).
Negative error
response
Defines the controller response magnitude in instance when

78.60 Controller error % is negative.
100.00 %
0.00...100.00 %
Controller negative error response
100 = 1 %
Positive error
response
Defines the controller response magnitude in instance when

78.60 Controller error % is positive.
Response balancing can be used if the feedback signal is
more sensitive in one direction, e.g. dancer weight naturally
helps it go lower so negative error response could be more
delicate.
100.00 %
0.00...100.00 %
Controller positive error response
100 = 1 %
440 Parameters
No.
Name/Value
Description
78.31
Trim mode control
Defines specific trimming settings used by the PID controller.

The resulting trim value displayed in parameter 78.75 Trim
factor used is the product of all currently enabled trims. The
product of this value and value in parameter 78.69 PID
output limited forms the final control signal produced by the
PID controller (parameter 78.79 PID output trimmed) which
is then used to trim either torque (par. 09.36) or speed (par.
09.37) depending on the active tension control mode
(parameter 09.03 Actual tension ctrl mode).
Def/FbEq16
0b0110
Bit
Name
Description
Automatic
1 = Diameter-trim set automatically based on parameter

77.02 Tension control mode.
0 = Diameter-trim is defined manually with bit 2 and 3.
Trim multiplier 78.32
1 = Take Trim multiplier in use (can be used in combination

with other trims)
0 = Trim constant multiplier is not in use
Diameter ratio boost
1 = Trim grows with actual diameter growing

0 = Diameter ratio not in use
Diameter ratio fade
1 = Trim fades with actual diameter growing

0 = Diameter ratio not in use
Line speed % proportional
1 = Trim is proportional to line speed reference

0 = Line speed ratio not in use
Line speed % inverse
1 = Trim is inversely proportional to line speed reference

0 = Inversed line speed ratio is not in use
Motor speed % proportional 1 = Trim is proportional to motor speed actual

0 = Motor speed ratio is not in use
Motor speed % inverse
89
Reserved
10
Proportional to 78.16 User

trim source
11
Reserved
1 = Trim is inversely proportional to motor speed actual

0 = Inversed motor speed ratio is not in use
1 = Trim is defined by parameter 78.33
0 = User trim source is not in use
1215 Not used
78.32
78.33
0b0000 0b111111
Trim mode control word.
1=1
Trim multiplier
Defines a constant multiplier used to trim PI output.

Note: This parameter is active only if parameter 78.31 Trim
mode control, mask bit1 = True.
-32767.0000...
32767.0000
Trim multiplier.
User trim source
Defines the source for a custom trim input.

Note: This parameter is active only if parameter 78.31 Trim
mode control, mask bit6 = True.
NULL
Zero.
AI1_SCALED
AI2_SCALED
1.0000
10000 = 1
NULL
Parameters 441
No.
78.34
78.38
78.39
78.49
78.51
78.52
78.56
78.57
Name/Value
Description
Def/FbEq16
FBA Reference 1
FBA Reference 2
M/F or D2D
Reference 1
M/F or D2D
Reference 2
EFB Reference 1
EFB Reference 2
Motor
Potentiometer Ref

Other

154).
Speed trim min
Defines the minimum value for trim multiplier term generated

by the speed-trim modes.
The speed trim factor changes between this value and 1. At
least one speed-trim mode should be enabled in parameter
78.31 Trim mode control, bits 4...7.
0.00...1.00
Minimum speed trim factor.
100 = 1
Minimum trim factor
Defines the minimum value for parameter 78.75 Trim factor

used.
-100.00
-32767.00...
32767.00
Trim value
100 = 1
0.00
Maximum trim factor Defines the maximum value for parameter 78.75 Trim factor
used.
100.00
-32767.00...
32767.00
Trim value
100 = 1
PID feedback filter

time
Defines filter time for the feedback signal used in the control
loop.
0...32767 ms
Filter time
PID feedback used

%
Displays the current value of actual feedback signal used in

process control.
-32767.00
32767.00 %
Feedback signal.
PID reference used

%
Displays the currently used set point reference.

-32767.00
32767.00 %
Set point reference signal.
Used P-gain
Displays proportional gain setting currently used for process

control.
0.00...32767.00
Gain value
100 = 1
Used I-time
Displays integration time setting currently for process

control.
0.000 s
0.000...32767.000 s
Integration time.
0 ms
1 = 1 ms
0.00%
100 = 1%
0.00%
100 = 1%
0.00
1000 = 1 s
442 Parameters
No.
Name/Value
Description
78.58
Used D-time
Displays derivation time setting currently used for process

control.
0.0...32767.0 ms
Derivation time.
Controller error %
Displays the difference between actual control error and

difference between set point (parameter 78.52 PID
reference used % and 78.51 PID feedback used %).
-32767.00
32767.00%
PID controller error in percentage.
P term actual
Displays controller error response produced by proportional

term.
-32767.000
32767.000
Proportional term
I-term actual
Displays controller error response produced by integration

term.
-32767.000
32767.000
Integration term
D-term actual
Displays controller error response produced by derivation

term.
-32767.000
32767.000
Derivation term
PID output limited
Displays the controller sum effect of P-term and I-term in

bounds set by parameter 78.09 PID output range.
--32767.000
32767.000
Sum of proportional term and integration term.
Trim factor used
Displays the cumulative trim factor generated by all trims

configured in parameter 78.31 Trim mode control. The value
is limited according to bounds set in parameters 78.38
Minimum trim factor and 78.39 Maximum trim factor.
-32767.000
32767.000
Cumulative trim factor
PID output trimmed
Displays the final output of PID controller which is product of

parameters 78.69 PID output limited and 78.75 Trim factor
used.
-32767.000
32767.000
PID controller output
78.60
78.61
78.62
78.63
78.69
78.75
78.79
Def/FbEq16
0.0 ms
10 = 1 ms
0.00%
100 = 1%
0.000
1000 = 1
0.000
1000 = 1
0.000
1000 = 1
0.000
1000 = 1
0.000
1000 = 1
0.000
1000 = 1
Parameters 443
No.
Name/Value
79
Description
Def/FbEq16
compensation
Friction compensation control and setup.

See section Friction compensation on page 58.
For proper adjustment of the friction compensation, use the
following procedure:
3. Place an empty core into the driven section.
4. Set parameter 79.11 Friction compensation enable =
Selected.
5. Switch drive to local control mode (example, from a
control panel).
6. Set motor speed reference to 1% total speed range (RPM
ref = 0.01 75.61 Max motor speed at core).
7. Start the drive and make sure load is rotating. Observe
parameter 01.10 Motor torque % signal is also displayed
on the front page of the control panel.
8. Note the average value of parameter 01.10 Motor torque
and save it to parameter 79.12 Static friction torque.
9. Increase the speed to 5% of 75.61 Max motor speed at
core.
10.Save the average of parameter 01.10 Motor torque %
value to parameter 79.13 Friction torque at 5% speed.
11.Increase the speed to 10% of 75.61 Max motor speed at
core.
core.
core.
core.
core.
21.Increase the speed to 100% of parameter 75.61 Max
motor speed at core.
79.11
Friction
compensation
enable
Enables Friction compensation function or selects the

source for the activation signal.
Not selected
Disables Friction compensation function.
Selected
Enables Friction compensation function.
Other

154).
Static friction torque
Defines the friction torque at 1% of the maximum speed

75.01 Max line speed.
0.00%
0.00...100.00%
Friction torque at 1% of the maximum speed.
79.12
Selected
100 = 1%
444 Parameters
No.
Name/Value
Description
79.13
Friction torque at
5% speed

0.00...100.00%
Friction torque at
10% speed

0.00...100.00%
Friction torque at
20% speed

0.00...100.00%
Friction torque at
40% speed

0.00...100.00%
Friction torque at
60% speed

0.00...100.00%
Friction torque at
80% speed

0.00...100.00%
Friction torque at
100% speed

0.00...100.00%
Friction torque
additive
Defines the additive torque reference to the final friction

compensation output value.
-1000.00
1000.00%
Additive friction torque.
Inertia
compensation
enable
Enables inertia compensation, or selects the source for the

activation signal.
Not selected
Disables inertia compensation function.
Selected
Enables inertia compensation function.
Other

154).
Inertia calculation
method
Selects the method for estimating the load inertia.
Based on Estimated
Weight
Roll weight is calculated based on supposed amount of

material present on a roll. Parameters of group 74
Application setup are used.
Scaled to 80.4 Full

roll weight and
Actual Diameter
Resulting roll weight is known, and the inertia is estimated

based on known proportion to the actual roll diameter.
Parameter 79.34 Full roll weight must be set.
79.14
79.15
79.16
79.17
79.18
79.19
79.21
79.31
79.32
Def/FbEq16
0.00%
100 = 1%
0.00%
100 = 1%
0.00%
100 = 1%
0.00%
100 = 1%
0.00%
100 = 1%
0.00%
100 = 1%
0.00%
100 = 1%
0.00%
100 = 1%
Not selected
Based on
Estimated
Weight
Parameters 445
No.
Name/Value
Description
Def/FbEq16
79.33
Fixed inertia
Defines the fixed inertia including the inertia of the motor,

shaft and gearing. Inertia of the shaft and gearbox must be
reflected on the motor side.
0.0000 kgm2
Fixed inertia
Motor inertia
Gear inertia + Shaft inertia

Gear ratio
For correct values, see Appendix A: Motor rotor inertia, IEC

on page 671.
79.34
79.41
79.42
79.43
79.49
79.51
79.55
79.56
79.61
0.0000
32767.000 kgm2
Fixed inertia.
1000 =
1 kgm2
Full roll weight
Defines the weight of the complete roll.

Note: This parameter is used only when parameter 79.32
Inertia calculation method is set to Scaled to 80.4 Full roll
weight and Actual Diameter.
0.0 kg
0.065535.0 kg
Weight of the full roll.
Acceleration comp
gain
Defines torque reference multiplier applied to parameter

79.65 Inertial torque demand % input while line speed is
accelerating.
0.00 10.00
Torque reference multiplier.
Deceleration comp
gain

79.65 Inertial torque demand % input while line speed is
decelerating.
0.00 10.00
Steady-speed comp
gain

79.65 Inertial torque demand % input while line speed
reference does not change. But compensation torque is
generated to support motor speed transition as roll diameter
changes.
0.00 10.00
IC filter time
Defines the filter time for inertia compensation torque

reference. Filtering helps to reduce undesired torque spikes
that can occur at sudden speed reference changes.
032767 ms
Filter time.
Actual motor speed

%
Displays actual motor speed in % of 75.61 Max motor speed

at core.
0.00...100.00 %
Speed in %.
Friction torque used

%
Displays friction torque added to the final torque reference.

-100.00...100.00 %
Final torque reference in %.
Friction impact on
Tension
Displays a supposed loss in surface tension due to friction at

actual motor speed and by taking into consideration actual
diameter.
-32767.0...
32767.0 N
Tension value.
Used weight
Displays the used weight.

0.065535.0 kg
Used weight.
10 = 1 kg
1.00
100 = 1
1.00
100 = 1
0.25
100 = 1
10 ms
1 = 1 ms
0.00 %
100 = 1 %
0.00 %
100 = 1 %
0.0 N
10 = 1 N
0.0 kg
10 = 1 kg
446 Parameters
No.
Name/Value
Description
Def/FbEq16
79.62
Actual load inertia
Displays the actual inertia.

0.0000 kgm2
0.0000...
32767.0000 kgm2
Actual inertia.
Load angular
acceleration
Displays angular acceleration of the driven load.

-32767.00...
32767.00 rpm/s
Angular acceleration.
100 = 1
rpm/s
Inertial torque
demand %
Displays motor torque reference demand needed to support

current motor speed reference change. The magnitude of
torque demand depends on current acceleration/
deceleration rate and the estimated load inertia.
0.00 %
-1600.00...
1600.00 %
Motor torque reference.
Used IC gain
Displays the compensation gain currently use, depending on

whether the line speed reference is accelerating,
decelerating or staying unchanged.
-10.00 10.00
Compensation gain.
100 = 1
Inertial torque ref

used %
Displays motor torque reference used to support motor

speed transition with respect to the compensation gain
factor set in parameters 79.41...79.43.
0.00 %
-1000.00
1000.00 %
Motor torque reference.
79.63
79.65
79.66
79.67
10000 =
1 kgm2
0.00 rpm/s
100 = 1 %
0.00
100 = 1 %
Parameters 447
No.
Name/Value
Description
83
Def/FbEq16
Torque memory control and setup.

See section Torque memory on page 59.
Start of index
Finishing roll isolated
Knife cut
Sample torque for torque memory

80.01 Take torque sample
Torque memory enabled
80.12 Boost ONdelay
80.02 Torque memory enable
Torque boost
activated
t
80.01
80.02
Take torque sample
Selects the source for the trigger command to capture a

torque sample.
Not selected
Not selected
Torque memory sampling not activated.
Selected
Torque memory sampling activated.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
DIO2
Other

page 154).
Torque memory
enable
Activates/deactivates the torque memory usage (torque

memory used as the torque reference), or selects the source
for the activation signal.
Not selected
Torque memory usage not activated.
Selected
Torque memory usage activated.
DI1
DI2
DI3
DI4
Not selected
448 Parameters
No.
80.09
80.11
80.12
80.15
80.41
80.42
80.43
Name/Value
Description
Def/FbEq16
DI5
DI6
DIO1
DIO2
Other

page 154).
TM ref change rate
Defines the torque reference change rate used by Torque

memory function.
0.032767.0 %/s
Torque reference change rate.
TM reference boost
%
Defines the boost in percent of memorized torque.
-1000.00
1000.00%
Torque boost.
Boost ON-delay
Defines the delay time before the torque boost (80.11 TM

reference boost %) takes effect. Delay counter starts from
the moment when the enable signal (80.02 Torque memory
enable) got on.
0.0032767.00 s
Delay time.
Torque boost force

cmd
Defines the source for torque boost command signal.

The torque boost command is triggered before the On-delay
timer is elapsed.
Note: This parameter is effective only when Torque memory
function is enabled.
Not selected
Torque boost command is not selected.
Selected
Torque boost command is selected.
Other

page 154).
Overspeed
tolerance %
Defines speed in percent of signal 75.63 Motor ref diameter

scaled.
0.0032767.00 %
Overspeed tolerance in percent.
100 = 1 %
Overspeed
tolerance (rpm)
Defines the maximum allowed motor speed deviation from

the reference speed.
Prevents uncontrolled acceleration (e.g.when material is
cut).If actual speed exceeds overspeed tolerance threshold
then rush control function prevents the motor from overspeeding. Also, the drive interprets this as a web-loss
condition.
Note: This parameter is active only when Torque memory
function is On.
50.0 rpm
0.032767.0 rpm
Maximum allowed motor speed deviation.
10 = 1 rpm
Overspeed
tolerance selection
Selects the overspeed tolerance used for process safety.
p80.41 speed in %
25.0 %/s
10 = 1 %/s
0.00%
100 = 1%
5.00 s
100 = 1 s
Not selected
10.00 %
p80.41 - speed in % Overspeed tolerance in percent (parameter 80.41

Overspeed tolerance %) is selected.
p80.42 - speed in
rpm
Overspeed tolerance in rpm (parameter 80.42 Overspeed

tolerance (rpm)) selected.
Other

page 154).
Parameters 449
No.
Name/Value
Description
80.44
Overspeed recovery
ramp time
Defines the ramp time used by the drive to recover from

overspeed condition back to the target speed reference after
Torque memory function is switched Off.
0.0032767.00 s
Ramp time.
Torque memory
signal src
Selects the source for torque signal used by the Torque

Memory function.
NULL
None.
25.1 SPD_ctrl T-ref

to TC
Output of the speed controller signal 25.01 Torque reference

speed control.
26.2 Torque ref

used
Cumulative motor torque reference signal 26.02 Torque

reference used.
Other

page 154).
TM torque filter time
Defines the filter time for the actual torque signal to be

filtered before torque memory function takes it into use.
032767 ms
Filter time.
TM torque filtered
Displays the actual torque value with effect of filtering

caused by setting in parameter 80.49 TM torque filter time.
-1600.00
1600.00%
Filtered torque percentage.
Memorised torque
sample %
Displays the memorized torque. Torque boost is included.

-1600.00
1600.00%
Memorized torque.
TM torque reference
used %
Displays torque reference currently produced by the Torque

memory function.
Note: This value is used only when Torque memory function
(par. 80.59 TM function state) indicates as active.
-1600.00
1600.00%
Torque reference.
TM function state
Displays the current state of the Torque memory function.

Inactive
Torque memory function is not activated.
Disabled
Torque memory function is disabled.
Missing torque
sample
Torque sample is missing.
Torque sample
taken
Torque sample is taken.
TM active - boost
delayed
Torque boost is delayed when Torque memory function is

activated.
TM active - boosted
Torque boosted when Torque memory function is activated.
Torque mode
overspeed limit
Displays the motor speed limit applied when Torque memory

function is active.
0.0 rpm
-32767.0
32767.0 rpm
Motor speed limit in Torque mode.
80.48
80.49
80.51
80.52
80.53
80.59
80.61
Def/FbEq16
60.00 s
100 = 1 s
25.1
SPD_ctrl Tref to TC
12 ms
1 = 1 ms
0.00%
100 = 1%
0.00%
100 = 1%
0.00%
100 = 1%
Inactive
10 = 1 rpm
450 Parameters
No.
Name/Value
83
Description
Def/FbEq16
81 Winder safety
Settings for web loss.

See section Web loss on page 61.
81.01
Web-loss function
Enables/disables the web loss detection, and selects how

the drive reacts when a web loss is detected.
Disabled
Web loss detection disabled.
Alarm
Web loss detection enabled. Alarm Web Loss is generated

when a web loss is detected.
Fault
Web loss detection enabled. Fault Web Loss is generated

when a web loss is detected.
Web-loss sensor
Src
Selects the digital sensor input (if available) informing

application about the web loss.
Not selected
Web loss sensor not activated.
Selected
Web loss sensor activated.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
DIO2
Other

154).
Speed error low %
Defines the threshold for the speed error signal supervision

function. When speed error gets too small, i.e. surpasses
offset defined by parameters 75.31 and 75.32, it could be an
indicator of loose tension (or poor diameter estimation).
Note: The function is active only when Tension control mode
is in open-loop or torque memory mode.
0.00100.00 %
Speed error signal level.
Open-loop
supervision
Defines the source for a digital signal to enable/disable the

Open-loop supervision function.
Not selected
Open-loop supervision function disabled.
Selected
Open-loop supervision function enabled.
Other

154).
81.02
81.04
81.05
81.09
Open-loop trip delay Defines the time delay before open-loop supervision
function triggers a reaction set in parameter 81.01 Web-loss
function. Delay counter activates when the value of
parameter 81.53 Observed value goes below the value of
parameter 81.04 Speed error low %. If the observed value
goes back above the tripping level, the counter is reset.
0.0032767.00 s
Delay time.
Alarm
Not selected
5.00 %
100 = 1 %
Selected
0.50 s
100 = 1 s
Parameters 451
No.
Name/Value
Description
81.11
PID feedback
supervision
Defines control word to set up closed-loop supervision

function mode of operation.
Def/FbEq16
-
Bit
Name
Description
Disable all
1 = Prevents any reaction on PID feedback signals status
Below low level
1 = Triggers web-loss function reaction as PID feedback signal goes

above threshold set in parameter 81.12 Level low.
Above high level

above threshold set in parameter 81.13 Level high.
Between low and high 1 = Triggers web-loss function reaction as PID feedback signal goes
above thresholds set in parameters 81.12 Level low and 81.13 Level
high.
High or low

below threshold set in parameter 81.12 Level low or above threshold
set in parameter 81.13 Level high.
5...15 Not used
81.12
81.13
81.14
81.15
81.19
0b0000 0b1111
Control word.
1=1
Level low
Defines low level threshold for the closed-loop supervision

function.
Note: Set up in parameter 81.11 PID feedback supervision.
-32767.00
32767.00 %
Percent of low level threshold.
Level high
Defines high level threshold for the closed-loop supervision

function.
Note: Set up in parameter 81.11 PID feedback supervision.
-32767.00
32767.00 %
Percent of low level threshold.
PID error threshold

%
Defines the tripping threshold for the PID error signal 78.60
Controller error %. Set this value to what you consider a
normal control deviation.
If the control error goes above this value, in combination
with the trigger set in parameter 81.11 PID feedback
supervision, the drive may trip to a Web-loss condition.
-32767.00
32767.00 %
PID error tripping threshold.
Closed-loop
supervision
Defines the source for a digital signal to enable/disable the

Closed-loop supervision function.
Not selected
Closed-loop supervision function disabled.
Selected
Closed-loop supervision function enabled.
Other

154).
Closed-loop trip
delay
Defines the time delay before the closed-loop supervision

function triggers a reaction set in parameter 81.01 Web-loss
function.
The delay counter activates when 78.60 Controller error %
signal goes above the value set in parameter 81.14 PID
error threshold % and at least one of the triggers set in
parameter 81.11 PID feedback supervision is active.
0.0032767.00 s
Closed loop trip delay time.
5.00 %
100 = 1 %
95.00 %
100 = 1 %
5.00 %
100 = 1 %
Selected
0.50 s
100 = 1 s
452 Parameters
No.
Name/Value
Description
81.41
Motor speed limit

set
Selects the motor speed limit settings.

The used speed limits are displayed in drive parameters
30.11 Minimum speed and 30.12 Maximum speed.
Automatic
Program adjusts motor speed limits automatically based on

the used core diameter, maximum line speed and gear ratio
settings.
Manual p.81.42;
p81.43
Speed limits are taken from parameters 81.42 Motor speed

minimum and 81.42 Motor speed minimum.
Other

154).
Motor speed
minimum
Defines the user defined minimum motor speed.

Note: Parameter 81.41 Motor speed limit set must be set to
Manual p.81.42; p81.43, otherwise motor speed limits are
set automatically.
-1500.0 rpm
-32767.0 ... 0.0 rpm
Minimum motor speed.
10 = 1 rpm
Motor speed
maximum
Defines the user defined maximum motor speed.

Note: Parameter 81.41 Motor speed limit set must be set to
Manual p.81.42; p81.43, otherwise motor speed limits are
set automatically.
1500.0 rpm
0.0 ... 32767.0 rpm
Maximum motor speed.
10 = 1 rpm
WL detection status
Displays the detection state of the web loss function.

Not active
now
Not active now
No supervision is active in the current control state.
Observer is up at
safe zone
Observer is up at safe zone.
81.42
81.43
81.51
81.52
Automatic
Tripping timer active Trip delay counter is active.
Web loss detected
Web loss is detected.
WL supervision
signal
Displays the supervision mode for web loss. Web loss is

supervised automatically based on parameter 77.02 Tension
control mode.
N/A in active Ctrlmode
Not applicable in active control mode
Speed error
watchdog
Speed error watchdog
PID feedback signal PID feedback signal

81.53
Def/FbEq16
Observed value
Displays the presently monitored value which depends on

the setting of parameter 77.02 Tension control mode.
-100.00100.00%
Web loss monitored value.
N/A in active
Ctrl-mode
2
0.00%
100 = 1%
Parameters 453
No.
Name/Value
Description
81.59
Observer status
word
Displays the actual status of the web-loss observer function.

Def/FbEq16
0b0000
Bit
Name
Description
PID supervision
is on
1 = PID supervision is activated.

0 = PID supervision is disabled.
Below low level
1 = PID feedback signal is below the threshold level set in parameter 81.12
Level low.
0 = PID feedback signal is above the threshold level set in parameter 81.12
Level low.
Above high level
1 = PID feedback signal is above the threshold level set in parameter 81.13
Level high.
0 = PID feedback signal is below the threshold level set in parameter 81.13
Level high.
Between low and 1 = PID feedback signal is between the thresholds set in parameters 81.12
high
Level low and 81.13 Level high.
0 = PID feedback signal is beyond the thresholds set in parameters 81.12 Level
low and 81.13 Level high.
High or Low
1 = PID feedback signal is either below the threshold set in parameter 81.12
Level low or above the threshold set in parameter 81.13 Level high.
0 = PID feedback signal is between the values set with parameters 81.12 Level
low and 81.13 Level high
PID error flag

high
1 = PID error signal is above the threshold set in parameter 81.14 PID error
threshold %.
0 = PID error signal is below the threshold set in parameter 81.14 PID error
threshold %.
Closed-loop timer 1 = Closed-loop timer is On.

is on
0 = Closed-loop timer is Off.
Closed-loop
trigger
1 = Observed signal satisfies either of the triggering conditions set in 81.11 PID
feedback supervision and the trip delay time has elapsed.
0 = All trigger conditions are not satisfied.
8...9 Reserved
10
Watchdog is on
1 = Open-loop supervision is active now.

0 = Open-loop supervision is not active.
11
Speed-error too
low
1 = Observed speed error signal is below 81.04 Speed error low % signal.
0 = Observed speed error signal is above the threshold.
12
Open-loop trigger 1 = Observed signal satisfies the triggering condition and trip delay time has
elapsed.
0 = All trigger conditions are not satisfied.
13
Reserved
14
Digital sensor
status
1 = Web-loss sensor is activated.

0 = Web-loss sensor is not activated.
15
Web-loss
detected
1 = Web-loss function is enabled.

0 = Web-loss function is disabled.
0b0000 0b111111
Web-loss observer status word.
1=1
454 Parameters
No.
Name/Value
83
Description
Def/FbEq16
82 Virtual Roll
Settings for the virtual roll function.

See section Virtual roll on page 61.
82.11
Counter source
selection
Selects the source for the length counter shaft position

feedback.
Virtual Line Encoder

Pos
Virtual line encoder position.
Encoder1 Pos
Encoder 1 position.
Encoder2 Pos
Encoder 2 position.
Load position
scaled
Load position scaled.
Encoder placement
Selects the encoder placement.
On the Line
Encoder is located on the line pulley.
On Motor shaft
Encoder is located on the motor shaft.
On Roll shaft
Encoder is located on the roller shaft.
Counter input type
Selects the type of position signal used for the wrap counter.
Single-turn
Incoming encoder position data is scaled within one

revolution (0...1). The Virtual roll function shall count the
number of wraps.
Multi-turn absolute
Incoming encoder data represents the exact position

including number of turns, that is there is no need for internal
wrap count.
VR line feed
constant
Defines the circumference of the wheel feeding material

onto the virtual roll.
Note: This parameter is used only if parameter 82.12
Encoder placement is set to On the Line.
0.00000
32767.00000
unit/rev
Circumference.
100000 = 1
unit/rev
Hold roll counter
Stops the length (and therefore diameter) counter at any

time.
Virtual roll is
full
Not selected
Virtual roll counter keeps counting.
Selected
Virtual roll counter is on hold.
Virtual roll is full
Virtual roll is full.
Other

154).
Reset VR diameter
Selects the source for reset the length counter and virtual
roll diameter to zero.
Not selected
Reset of the virtual roll is not activated.
Selected
Reset of the virtual roll is activated.
User Reset cmd

(76.11)
User reset command is the source for the reset of the virtual
roll.
User Preset cmd

(76.25)
User preset command is the source for the preset of the

virtual roll.
DI5
Source for reset is DI5.
82.12
82.13
82.15
82.19
82.21
Virtual Line
Encoder Pos
On Motor
shaft
Single-turn
1.00000
unit/rev
User Reset
cmd (76.11)
Parameters 455
No.
82.22
82.23
Name/Value
Description
DI6
Source for reset is DI6.
Other

154).
Preset VR diameter
Selects the source for preset the virtual roll diameter to a

value defined with parameter 82.23 VR diameter preset
source.
User Preset
cmd (76.25)
Not selected
Reset of the virtual roll is not activated.
Selected
Reset of the virtual roll is activated.
User Reset cmd

(76.11)
User reset command is the source for the reset of the virtual
roll.
User Preset cmd

(76.25)

virtual roll.
DI5
Source for preset is DI5.
DI6
Source for preset is DI6.
Other

154).
VR diameter preset
source
Selects the source for diameter preset. Length for the

counter preset is calculated automatically.
NULL
82.36
82.51
82.54
82.56
82.60
Def/FbEq16
User preset
value (76.26)
0
User preset value

(76.26)

virtual roll.
Other

154).
Estimated tension
filter time
Defines the filter time for the tension estimate made by

Virtual roll function.
60 ms
0...32769 ms
Filter time.
Max speed Sim can

take
Displays the maximum speed possible for the simulator.

0.0
32767.0 m/min
Maximum speed.
Detected line speed
Displays the line speed calculated based on used feedback

and the virtual roll settings.
0.0
32767.0 m/min
Line speed.
VR rotating speed
Displays the rotating speed calculated based on used

feedback and the virtual roll settings.
0.0 32767.0 rpm
Rotating speed.
Length on roll
Displays the amount of material delivered onto the virtual

roll.
0.0100000.0 m
Amount of material.
1 = 1 ms
10 = 1 m/min
-
10 = 1 m/min
-
10 = 1 rpm
-
10 = 1 m
456 Parameters
No.
Name/Value
Description
82.61
Virtual roll diameter
Displays the calculated diameter based on used feedback

and the virtual roll settings.
0.032767.0 mm
Diameter of the virtual roll.
VR Diameter ratio
Displays the diameter ratio of the virtual roll.

0.000010.0000
Diameter ratio.
Actual wrap count
Displays the actual wrap count.

0.0065536.00
Wrap count.
VR Estimated
tension
Displays the estimated tension of the virtual roll.

-32767.0...
32767.0 N/m
Estimated tension.
VR Estimated force
Displays the estimated force of the virtual roll.

-32767.0...
32767.0 N/m
Estimated tension.
82.62
82.64
82.71
82.72
Def/FbEq16
-
10 = 1 mm
10000 = 1
100 = 1
10 = 1 N/m
10 = 1 N/m
Parameters 457
No.
Name/Value
Description
82.89
VR Function status
Simulator status of the virtual roll.

Bit
Name
Simulation Mode
1 = Simulation mode is activated.

0 = Simulation mode is disabled.
Counter on Hold
1 = Wrap counter is on hold.

0 = Wrap counter is activated.
Winding-on
1 = Counter is increasing the virtual roll diameter.

0 = Counter is not increasing the virtual roll diameter.
Unwinding
1 = Counter is decreasing the virtual roll diameter.

0 = Counter is not decreasing the virtual roll diameter.
Diameter count
active
1 = Diameter counter is active.

0 = Diameter counter is not active.
Reserved
VR Reset active
1 = Virtual roll reset is active.

0 = Virtual roll reset is not active.
VR Preset active
1 = Virtual roll preset is active.

0 = Virtual roll preset is not active.
VR is at Core
1 = Virtual roll is at core.

0 = Virtual roll is not at core.
VR got over Full Roll 1 = Virtual roll has full roll.

0 = Virtual roll is not at full roll.
Def/FbEq16
0b0000
Description
1013 Reserved
14
Length counter
overflow
1 = Length counter has reached overflow limit.

0 = Length counter is within overflow limit.
15
Speed above Sim

Limit
1 = Speed is above the virtual roll simulator limit.

0 = Speed is within the virtual roll simulator limit.
0b0000 0b111111
90
Simulator status.
1=1
Motor and load feedback configuration.

See also section Encoder support (page 92) and Position
counter (page 94),and the diagram on page 647.
90.01
Motor speed for

control
Displays the estimated or measured motor speed that is

used for motor control, ie. final motor speed feedback
selected by parameter 90.41 Motor feedback selection and
filtered by 90.42 Motor speed filter time.
In case measured feedback is selected, it is also scaled by
the motor gear function (90.43 Motor gear numerator and
90.44 Motor gear denominator).
-32768.00
32767.00 rpm
Motor speed used for control.
See par.
46.01
458 Parameters
No.
Name/Value
Description
Def/FbEq16
90.02
Motor position
Displays the motor position (within one revolution) received

from the source selected by parameter 90.41 Motor
feedback selection.
the motor gear function (90.43 Motor gear numerator and
90.44 Motor gear denominator).
0.00000000
1.00000000 rev
Motor position.
32767 =
1 rev
Load speed
Displays the estimated or measured load speed that is used

for motor control, ie. final load speed feedback selected by
parameter 90.51 Load feedback selection and filtered by
parameter 90.52 Load speed filter time.
the load gear function (90.53 Load gear numerator and
90.54 Load gear denominator).
In case motor feedback or estimated feedback is used, it is
inversely scaled by 90.61 Gear numerator and 90.62 Gear
denominator (that is 90.62 divided by 90.61).
-32768.00
32767.00 rpm
Load speed.
See par.
46.01
Load position
Displays the load position received from the source selected

by parameter 90.51 Load feedback selection. The value is
multiplied as specified by parameter 90.57 Load position
resolution.
the load gear function (90.53 Load gear numerator and
90.54 Load gear denominator).
In case motor feedback or estimated feedback is used, it is
inversely scaled by 90.61 Gear numerator and 90.62 Gear
denominator (ie. 90.62 divided by 90.61).
An offset can be defined by 90.56 Load position offset.
-2147483648
2147483647
Load position.
Load position
scaled
Displays the scaled load position in decimal format. The

position is relative to the initial position set by parameters
90.65 and 90.66.
The number of decimal places is defined by parameter
90.38 Pos counter decimals.
Note: This is a floating point parameter, and the accuracy is
compromised near the ends of the range. Consider using
parameter 90.07 Load position scaled int instead of this
parameter.
-2147483.264
2147483.264
Scaled load position in decimal format.
90.03
90.04
90.05
Parameters 459
No.
Name/Value
Description
Def/FbEq16
90.06
Motor position
scaled
Displays the calculated motor position.

The axis mode (linear or rollover) and resolution are defined
by parameters 90.48 Motor position axis mode and 90.49
Motor position resolution respectively.
Note: The position value can be sent on a fast time level to
the fieldbus controller by selecting Position in either 50.07
FBA A actual 1 type, 50.08 FBA A actual 2 type, 50.37 FBA
B actual 1 type or 50.38 FBA B actual 2 type.
-2147483.648
2147483.647
Motor position.
Load position
scaled int
Displays the output of the position counter function as an

integer, enabling backwards compatibility with ACS 600 and
ACS800 drives. The position is relative to the initial position
set by parameters 90.58 and 90.59. See section Position
counter (page 94), and the block diagram on page 648.
-2147483648
2147483647
Scaled load position in integer format.
Encoder 1 speed
Displays encoder 1 speed in rpm.

-32768.00
32767.00 rpm
Encoder 1 speed.
See par.
46.01
Encoder 1 position
Displays the actual position of encoder 1 within one

revolution.
0.00000000
1.00000000 rev
Encoder 1 position within one revolution.
32767 =
1 rev
Encoder 1 multiturn
revolutions
Displays the revolutions of (multiturn) encoder 1 within its

value range (see parameter 92.14 Revolution data width).
016777215
Encoder 1 revolutions.
Encoder 1
revolution extension
Displays the revolution count extension for encoder 1.

With a single-turn encoder, the counter is incremented when
encoder position (parameter 90.11) wraps around in the
positive direction, and decremented in the negative
direction.
With a multiturn encoder, the counter is incremented when
the revolutions count (parameter 90.12) exceeds the value
range in the positive direction, and decremented in the
negative direction.
-2147483648
2147483647
Encoder 1 revolution count extension.
Encoder 1 position
raw
Displays the raw measurement data of encoder 1 position

(within one revolution) as a 24-bit unsigned integer received
from the encoder interface.
016777215
Raw encoder 1 position within one revolution.
90.07
90.10
90.11
90.12
90.13
90.14
460 Parameters
No.
Name/Value
Description
Def/FbEq16
90.15
Encoder 1
revolutions raw

value range (see parameter 92.14 Revolution data width) as
a raw measurement.
016777215
Raw encoder 1 revolution count.
Encoder 2 speed
Displays encoder 2 speed in rpm.

-32768.00
32767.00 rpm
Encoder 2 speed.
See par.
46.01
Encoder 2 position
Displays the actual position of encoder 2 within one

revolution.
0.00000000
1.00000000 rev
Encoder 2 position within one revolution.
Encoder 2 multiturn
revolutions

value range (see parameter 93.14 Revolution data width).
016777215
Encoder 2 revolutions.
90.20
90.21
90.22
90.23
90.24
90.25
90.26
Encoder 2
Displays the revolution count extension for encoder 2.
revolution extension With a single-turn encoder, the counter is incremented when
encoder position (parameter 90.21) wraps around in the
positive direction, and decremented in the negative
direction.
With a multiturn encoder, the counter is incremented when
the revolutions count (parameter 90.22) exceeds the value
range in the positive direction, and decremented in the
negative direction.
-2147483648
2147483647
Encoder 2 revolution count extension.
Encoder 2 position
raw
Displays the raw measurement data of encoder 2 position

(within one revolution) as a 24-bit unsigned integer received
from the encoder interface.
016777215
Raw encoder 2 position within one revolution.
Encoder 2
revolutions raw

value range (see parameter 93.14 Revolution data width) as
a raw measurement.
016777215
Raw encoder 2 revolution count.
Motor revolution
extension
Displays the motor revolution count extension.

The counter is incremented when the position selected by
90.41 Motor feedback selection wraps around in the positive
direction, and decremented in the negative direction.
-2147483648
2147483647
Motor revolution count extension.
Parameters 461
No.
Name/Value
Description
Def/FbEq16
90.27
Load revolution
extension
Displays the load revolution count extension.

The counter is incremented when the position selected by
90.51 Load feedback selection wraps around in the positive
direction, and decremented in the negative direction.
-2147483648
2147483647
Load revolution count extension.
Pos counter status
Status information related to the position counter function.

See section Position counter (page 94).
90.35
Bit
0
1
2
3
4
5
6
715
90.38
90.41
Name
Encoder 1
feedback
Encoder 2
feedback
Internal position
feedback
Motor feedback
Pos counter init
ready
Value
1 = Encoder 1 selected as load feedback source
1 = Encoder 2 selected as load feedback source
1 = Internal load position estimate selected as load feedback source
1 = Motor feedback selected as load feedback source

0 = Position counter not initialized, or encoder feedback was lost.
Fresh counter initialization recommended.
1 = Position counter successfully initialized
Position counter re- 1 = Position counter initialization is being prevented by par. 90.68
init disabled
Position data
1 = Encoder feedback intermittent or lost. (If the drive is running,
inaccurate
estimated position is used whenever encoder feedback is
unavailable. If the drive is in stopped state, position counting will
continue based on encoder data after the connection is restored.)
Reserved
0000 0000b
0111 1111b
Position counter status word.
1=1
Pos counter
decimals
Scales values of parameters 90.05 Load position scaled and

90.65 Pos counter init value when written from or read to
from an external source (eg. fieldbus). The setting
corresponds to the number of decimal places.
For example, with the value set as 3, an integer value of
66770 written into 90.65 Pos counter init value is divided by
1000, so the final value applied is 66.770. Likewise, the
value of 90.05 Load position scaled is multiplied by 1000
when read.
09
Number of position counter decimal places.
1=1
Motor feedback
selection
Selects the motor speed feedback value used in control.

Note: With a permanent magnet motor, make sure an
autophasing routine (see page 102) is performed using the
selected encoder. If necessary, set parameter 99.13 ID run
requested to Autophasing to request a fresh autophasing
routine.
Estimate
Estimate
A calculated speed estimate generated from the DTC core is

used.
Encoder 1
Actual speed measured by encoder 1. The encoder is set up

by the parameters in group 92 Encoder 1 configuration.
462 Parameters
No.
90.42
90.43
Name/Value
Description
Def/FbEq16
Encoder 2
Actual speed measured by encoder 2. The encoder is set up

by the parameters in group 93 Encoder 2 configuration.
Motor speed filter

time
Defines a filter time for motor speed feedback used for

control (90.01 Motor speed for control).
3 ms
0 10000 ms
Motor speed filter time.
1 = 1 ms
Motor gear
numerator
Parameters 90.43 and 90.44 define a gear function between

the motor speed feedback and motor control. The gear is
used to correct a difference between the motor and encoder
speeds for example if the encoder is not mounted directly on
the motor shaft.
90.43 Motor gear numerator

90.44 Motor gear denominator
90.44
90.45
90.46
90.48
90.49
Motor speed
Encoder speed
-2147483648
2147483647
Motor gear numerator.
Motor gear
denominator
See parameter 90.43 Motor gear numerator.
-2147483648
2147483647
Motor gear denominator.
Motor feedback fault Selects how the drive reacts to loss of measured motor
feedback.
Fault
Fault
Drive trips on a 7301 Motor speed feedback or 7381

Encoder fault.
Warning
Drive generates a A798 Encoder option comm loss, A7B0

Motor speed feedback or A7E1 Encoder warning and
continues operation using estimated feedbacks.
Note: Before using this setting, test the stability of the speed
control loop with estimated feedback by running the drive on
estimated feedback (see 90.41 Motor feedback selection).
Force open loop
Forces the DTC motor model to use estimated motor speed

as feedback. This parameter can be activated when the
encoder data is obviously unreliable because of slippage, for
example.
Note: This parameter only affects the selection of feedback
for the motor model, not for the speed controller.
No
No
The motor model uses the feedback selected by 90.41

Motor feedback selection.
Yes
The motor model uses the calculated speed estimate

(regardless of the setting of 90.41 Motor feedback selection)
which in this case only selects the source of feedback for
speed controller.
Motor position axis

mode
Selects the axis type for motor position measurement.
Rollover
Linear
Linear.
Rollover
The value is between 0 and 1 revolutions, and rolls over at

360 degrees.
Motor position
resolution
Defines how many bits are used for motor position count
within one revolution. For example, with the setting of 24,
the position value is multiplied by 16777216 for display in
parameter 90.06 Motor position scaled (or for fieldbus).
24
031
Motor position resolution.
Parameters 463
No.
Name/Value
Description
Def/FbEq16
90.51
Load feedback
selection
Selects the source of load speed and position feedbacks

used in control.
None
None
No load feedback selected.
Encoder 1
Load feedbacks are updated based on the speed and

position values read from encoder 1.
The values are scaled by the load gear function (90.53 Load
gear numerator and 90.54 Load gear denominator).
The encoder is set up by the parameters in group 92
Encoder 1 configuration.
Encoder 2
Load feedbacks are updated based on the speed and

position values read from encoder 2.
The values are scaled by the load gear function (90.53 Load
gear numerator and 90.54 Load gear denominator).
The encoder is set up by the parameters in group 93
Encoder 2 configuration.
Estimate
Calculated speed and position estimates are used. The

values are scaled from the motor side to the load side using
the inverted ratio between 90.61 Gear numerator and 90.62
Gear denominator (that is 90.62 divided by 90.61).
Motor feedback
The source selected by parameter 90.41 Motor feedback

selection for motor feedback is also used for load feedback.
Any difference between the motor and load speeds (and
positions) can be compensated using the inverted ratio
between 90.61 Gear numerator and 90.62 Gear
denominator (that is 90.62 divided by 90.61).
Load speed filter

time
Defines a filter time for load speed feedback (90.03 Load

speed).
4 ms
0 10000 ms
Load speed filter time.
Load gear
numerator

the load (driven equipment) speed and the encoder
feedback selected by parameter 90.51 Load feedback
selection. The gear can be used to correct a difference
between the load and encoder speeds for example if the
encoder is not mounted directly on the rotated machinery.
90.52
90.53
90.53 Load gear numerator

90.54 Load gear denominator
90.54
90.55
Load speed
Encoder speed
-2147483648
2147483647
Load gear numerator.
Load gear
denominator
See parameter 90.53 Load gear numerator.
-2147483648
2147483647
Load gear denominator.
Load feedback fault
Selects how the drive reacts to loss of load feedback.
Fault
Fault
Drive trips on a 73A1 Load feedback fault.
Warning
Drive generates an A798 Encoder option comm loss or

A7B1 Load speed feedback warning and continues
operation using estimated feedbacks.
464 Parameters
No.
Name/Value
Description
Def/FbEq16
90.56
Load position offset
Defines a load-side position offset. The resolution is

determined by parameter 90.57 Load position resolution.
0 rev
-2147483648
2147483647
Load-side position offset.
Load position
resolution
Defines how many bits are used for load position count
within one revolution. For example, with the setting of 16,
the position value is multiplied by 65536 for display in
parameter 90.04 Load position.
16
031
Load position resolution.
Pos counter init

value int
Defines an initial position (or distance) for the position

counter (as an integer value) when parameter 90.59 Pos
counter init value int source is set to Pos counter init value
int.
See also section Position counter (page 94).
-2147483648
2147483647
Initial integer value for position counter.
Pos counter init

value int source
Selects the source of the initial position integer value. When

the source selected by 90.67 Pos counter init cmd source
activates, the value selected in this parameter is assumed to
be the position of the load.
Pos counter
init value int
Zero
0.
Pos counter init

value int
Parameter 90.58 Pos counter init value int.
Other

page 154).
Pos counter error

and boot action
Selects how the position counter reacts to loss of load

feedback.
Request reinitialization
Request reinitialization
Bit 4 of 90.35 Pos counter status is cleared. Reinitialization

of position counter is recommended.
Continue from
previous value
Position counting resumes from the previous value over a

loss of load feedback or control unit reboot. Bit 4 of 90.35
Pos counter status is not cleared, but bit 6 is set to indicate
that an error has occurred.
WARNING! If load feedback is lost when the drive is
in stopped state or not powered, the counter is not
updated even if the load moves.
Gear numerator

the motor and load speeds.
90.57
90.58
90.59
90.60
90.61
90.61 Gear numerator

90.62 Gear denominator
90.62
Motor speed
Load speed
-2147483648
2147483647
Gear numerator (motor-side).
Gear denominator
See parameter 90.61 Gear numerator.
-2147483648
2147483647
Gear denominator (load-side).
Parameters 465
No.
Name/Value
Description
Def/FbEq16
90.63
Feed constant
numerator
Parameters 90.63 and 90.64 define the feed constant for the
position calculation:
90.63 Feed constant numerator

90.64 Feed constant denominator
The feed constant converts rotational motion into translatory
motion. The feed constant is the distance the load moves
during one turn of the motor shaft.
The translatory load position is shown by parameter 90.05
Load position scaled.
90.64
90.65
90.66
90.67
-2147483648
2147483647
Feed constant numerator.
Feed constant
denominator
See parameter 90.63 Feed constant numerator.
-2147483648
2147483647
Feed constant denominator.
Pos counter init

value
Defines an initial position (or distance) for the position

counter (as a decimal number) when parameter 90.66 Pos
counter init value source is set to Pos counter init value.
See also section Position counter (page 94).
The number of decimal places is defined by parameter
90.38 Pos counter decimals.
0.000
-2147483.648
2147483.647
Initial value for position counter.
Pos counter init

value source
Selects the source of the initial position value. When the

source selected by 90.67 Pos counter init cmd source
activates, the value selected in this parameter is assumed to
be the position of the load (in decimal format).
Pos counter
init value
Zero
0.
Pos counter init

value
Parameter 90.65 Pos counter init value.
Other

page 154).
Pos counter init cmd

source
Selects a digital source (for example, a limit switch

connected to a digital input) that initializes the position
counter. When the digital source activates, the value
selected by 90.66 Pos counter init value source is assumed
to be the position of the load.
Note: You can prevent the position counter initialization with
parameter 90.68 Disable pos counter initialization.
Not selected
Not selected
0.
Selected
1.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
10
466 Parameters
No.
90.68
90.69
Name/Value
Description
Def/FbEq16
DIO2
11
Other [bit]

page 154).
Disable pos counter

initialization
Selects a source that prevents the initialization of the

position counter.
Not selected
Not selected
0.
Selected
1.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
Other [bit]

page 154).
Reset pos counter

init ready
Selects a source that enables a new initialization of the

position counter, that is resets bit 4 of 90.35 Pos counter
status.
Not selected
Not selected
0.
Selected
1.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
Other [bit]

page 154).
Parameters 467
No.
Name/Value
91
Description
91 Encoder module
settings
Configuration of encoder interface modules.
91.01
Displays the status of the digital inputs of FEN-xx encoder

interface modules.
FEN DI status
Bit
0
1
23
4
5
615
Name
DI1 /module 1
DI2 /module 1
Reserved
DI1 /module 2
DI2 /module 2
Reserved
Def/FbEq16
Information
DI1 of interface module 1 (see parameters 91.11 and 91.12)
0000 0000b
0011 0011b
Status word of digital inputs on FEN-xx modules.
1=1
Module 1 status
Displays the type of the interface module found in the

location specified by parameter 91.12 Module 1 location.
No option
No module detected in the specified slot.
No communication
A module has been detected but cannot be communicated

with.
Unknown
The module type is unknown.
FEN-01
An FEN-01 module has been detected and is active.
16
FEN-11
17
FEN-21
18
FEN-31
21
FSE-31
An FSE-31 module has been detected and is active.
25
91.03
Module 2 status
Displays the type of the interface module found in the

location specified by parameter 91.14 Module 2 location.
For the indications, see parameter 91.02 Module 1 status.
91.04
Module 1
temperature
Displays the temperature measured through the sensor

input of interface module 1. The unit is selected by
parameter 96.16 Unit selection.
01000 C, F or
ohm
Temperature measured through interface module 1.
Module 2
temperature
Displays the temperature measured through the sensor

input of interface module 2. The unit is selected by
parameter 96.16 Unit selection.
01000 C, F or
ohm
Temperature measured through interface module 2.
91.02
91.06
468 Parameters
No.
Name/Value
Description
Def/FbEq16
91.10
Encoder parameter
refresh
Validates any changed encoder interface module

parameters. This is needed for any parameter changes in
groups 9093 to take effect.
After refreshing, the value reverts automatically to Done.
Notes:
Permanent magnet motors only: The drive will perform a
fresh autophasing routine (see page 61) at next start if the
motor feedback encoder settings have been changed.
The parameter cannot be changed while the drive is
running.
Done
Done
Refreshing done.
Refresh
Refreshing.
Module 1 type
Defines the type of the module used as interface module 1.
None
None
FEN-01
FEN-01.
FEN-11
FEN-11.
FEN-21
FEN-21.
FEN-31
FEN-31.
FSE-31
Reserved.
Module 1 location
Specifies the slots 13 on the control unit of the drive into

which the interface module is installed. Alternatively,
specifies the node ID of the slot on an FEA-03 extension
adapter.
Slot 2
Slot 1
Slot 1.
Slot 2
Slot 2.
Slot 3
Slot 3.
4254
1=1
Module 2 type
Defines the type of the module used as interface module 2.
None
None
FEN-01
FEN-01.
FEN-11
FEN-11.
FEN-21
FEN-21.
FEN-31
FEN-31.
FSE-31
Reserved.
Module 2 location
Specifies the slot (13) on the control unit of the drive into
which the interface module is installed. Alternatively,
specifies the node ID of the slot on an FEA-03 extension
adapter.
Slot 3
Slot 1
Slot 1.
Slot 2
Slot 2.
Slot 3
Slot 3.
4254
1=1
Module 1 temp
sensor type
Specifies the type of temperature sensor connected to

interface module 1.
None
None
None.
PTC
PTC. (The unit is ohms.)
91.11
91.12
91.13
91.14
91.21
Parameters 469
No.
91.22
91.24
91.25
91.31
91.32
91.33
91.41
91.42
Name/Value
Description
Def/FbEq16
KTY-84
KTY84. (The unit is selected by parameter 96.16 Unit

selection.)
Module 1 temp filter

time
Defines a filtering time for the temperature measurement

through interface module 1.
1500 ms
010000 ms
Filtering time for temperature measurement.
Module 2 temp
sensor type
Specifies the type of temperature sensor connected to

interface module 2.
None
None
None.
PTC
PTC. (The unit is ohms.)
KTY-84
KTY84. (The unit is selected by parameter 96.16 Unit

selection.)
Module 2 temp filter

time
Defines a filtering time for the temperature measurement

through interface 2.
1500 ms
010000 ms
Filtering time for temperature measurement.
Module 1 TTL
output source
Selects the encoder input on interface module 1 whose

signal is echoed by or emulated to the TTL output.
See also section Encoder support (page 92).
Not selected
Not selected
TTL output not in use.
Module input 1
Input 1 is echoed by or emulated to the TTL output.
Module input 2
Module 1 emulation
pulses/rev
Defines the number of TTL pulses per revolution for encoder

emulation output of interface module 1.
065535
Number of TTL pulses for emulation.
1=1
Module 1 emulated
Z-pulse offset
With interface module 1, defines when zero pulses are

emulated in relation to zero position received from the
encoder.
For example, with a value of 0.50000, a zero pulse is
emulated whenever the encoder position passes 0.5
revolutions. With a value of 0.00000, a zero pulse is
emulated whenever the encoder position passes zero
position.
0.00000
0.00000
1.00000 rev
Position of emulated zero pulses.
32767 =
1 rev
Module 2 TTL
output source
Selects the encoder input on interface module 2 whose

signal is echoed by or emulated to the TTL output.
See also section Encoder support (page 49).
Not selected
Not selected
TTL output not in use.
Module input 1
Module input 2
Module 2 emulation
pulses/rev
Defines the number of TTL pulses per revolution for encoder

emulation output of interface module 2.
065535
Number of TTL pulses for emulation.
1=1
470 Parameters
No.
Name/Value
Description
Def/FbEq16
91.43
Module 2 emulated
Z-pulse offset
With interface module 2, defines when zero pulses are

emulated in relation to zero position received from the
encoder.
For example, with a value of 0.50000, a zero pulse is
emulated whenever the encoder position passes 0.5
revolutions. With a value of 0.00000, a zero pulse is
emulated whenever the encoder position passes zero
position.
0.00000
1.00000 rev
Position of emulated zero pulses.
32767 =
1 rev
92
92 Encoder 1
configuration

Notes:
The contents of the parameter group vary according to
the selected encoder type.
It is recommended that encoder connection 1 (this group)
is used whenever possible since the data received
through that interface is fresher than the data received
through connection 2 (group 93 Encoder 2 configuration).
92.01
Encoder 1 type
Selects the type of encoder/resolver 1.
None
configured
None configured
None.
TTL
TTL. Module type (input): FEN-01 (X31), FEN-11 (X41) or

FEN-21 (X51).
TTL+
TTL+ (with commutation signals). Module type (input): FEN01 (X32).
Absolute encoder
Absolute encoder. Module type (input): FEN-11 (X42).
Resolver
Resolver. Module type (input): FEN-21 (X52).
HTL
HTL. Module type (input): FEN-31 (X82).
HTL 1
HTL. Module type (input): FSE-31 (X31).
HTL 2
HTL. Module type (input): FSE-31 (X32). Not supported at

Encoder 1 source
Selects the interface module that the encoder is connected

to. (The physical locations and types of encoder interface
modules are defined in parameter group 91 Encoder module
settings.)
Module 1
Module 1
Interface module 1.
Module 2
Interface module 2.
Pulses/revolution
(Visible when a TTL, TTL+ or HTL encoder is selected)

Defines the pulse number per revolution.
2048
065535
Number of pulses.
Sine/cosine number
(Visible when an absolute encoder is selected)

Defines the number of sine/cosine wave cycles within one
revolution.
Note: This parameter need not be set when an EnDat or SSI
encoder is used in continuous mode. See parameter 92.30
Serial link mode.
065535
Number of sine/cosine wave cycles within one revolution.
Excitation signal
frequency
(Visible when a resolver is selected)

Defines the frequency of the excitation signal.
1 kHz
120 kHz
Excitation signal frequency.
1 = 1 kHz
92.02
92.10
92.10
92.10
Parameters 471
No.
Name/Value
Description
Def/FbEq16
92.11
Pulse encoder type

Selects the type of encoder.
Quadrature
Quadrature
Quadrature encoder (with two channels, A and B)
Single track
Single-track encoder (with one channel, A).

Note: With this setting, the measured speed value is always
positive regardless of direction of rotation.
Absolute position
source

Selects the source of the absolute position information.
None
None
Not selected.
Commut signals
Commutation signals.
EnDat
Serial interface: EnDat encoder.
Hiperface
Serial interface: HIPERFACE encoder.
SSI
Serial interface: SSI encoder.
Tamagawa
Serial interface: Tamagawa 17/33-bit encoder.
Excitation signal
amplitude

Defines the amplitude of the excitation signal.Resolver
4.0 V
4.0 12.0 V
Excitation signal amplitude.
10 = 1 V
Speed calculation
mode

Selects the speed calculation mode.
*With a single-track encoder (parameter 92.11 Pulse
encoder type is set to Single track), the speed is always
positive.
Auto rising
A&B all
Channels A and B: Rising and falling edges are used for

speed calculation.
*Channel B: Defines the direction of rotation.
Note: With a single-track encoder (parameter 92.11 Pulse
encoder type), this setting acts like setting A all.
A all
Channel A: Rising and falling edges are used for speed

calculation.
A rising
Channel A: Rising edges are used for speed calculation.

A falling
Channel A: Falling edges are used for speed calculation.

Auto rising
One of the above modes is selected automatically

depending on the pulse frequency as follows:
92.11
92.11
92.12
Pulse frequency of the

channel(s)
< 2442 Hz
24424884 Hz
> 4884 Hz
Used mode
A&B all
A all
A rising
472 Parameters
No.
Name/Value
Description
Def/FbEq16
Auto falling
One of the above modes is selected automatically

depending on the pulse frequency as follows:
Pulse frequency of the

channel(s)
< 2442 Hz
24424884 Hz
> 4884 Hz
92.12
92.12
92.13
92.13
92.14
Used mode
A&B all
A all
A falling
Zero pulse enable

Enables the encoder zero pulse for the absolute encoder
input (X42) of the FEN-11 interface module.
Note: No zero pulse exists with serial interfaces, ie. when
parameter 92.11 Absolute position source is set to EnDat,
Hiperface, SSI or Tamagawa.
Disable
Disable
Zero pulse disabled.
Enable
Zero pulse enabled.
Resolver polepairs

Defines the number of pole pairs of the resolver.
132
Number of resolver pole pairs.
1=1
Position estimation
enable

Selects whether position estimation is used with encoder 1
to increase position data resolution or not.
Enable
Disable
Measured position used. (The resolution is 4 pulses per

revolution for quadrature encoders, 2 pulses per revolution
for single-track encoders.)
Enable
Estimated position used. (Uses position interpolation;

extrapolated at the time of data request.)
Position data width

Defines the number of bits used to indicate position within
one revolution. For example, a setting of 15 bits corresponds
to 32768 positions per revolution.
The value is used when parameter 92.11 Absolute position
source is set to EnDat, Hiperface or SSI. When parameter
92.11 Absolute position source is set to Tamagawa, this
parameter is internally set to 17.
032
Number of bits used in position indication within one

revolution.
1=1
Speed estimation
enable

Selects whether calculated or estimated speed is used.
Estimation increases the speed ripple in steady state
operation, but improves the dynamics.
Disable
Disable
Last calculated speed used. (The calculation interval is 62.5

microseconds to 4 milliseconds.)
Enable
Estimated speed (estimated at the time of data request) is

used.
Parameters 473
No.
Name/Value
Description
Def/FbEq16
92.14
Revolution data
width

Defines the number of bits used in revolution counting with a
multiturn encoder. For example, a setting of 12 bits would
support counting up to 4096 revolutions.
The value is used when parameter 92.11 Absolute position
source is set to EnDat, Hiperface or SSI. When parameter
92.11 Absolute position source is set to Tamagawa, setting
this parameter to a non-zero value activates multiturn data
requesting.
032
Number of bits used in revolution count.
1=1
Transient filter

Activates transient filtering for the encoder (changes in
direction of rotation are ignored above the selected pulse
frequency).
4880 Hz
4880 Hz
Change in direction of rotation allowed below 4880 Hz.
2440 Hz
1220 Hz
Disabled
Change in direction of rotation allowed at any pulse

frequency.
Encoder 1 supply
voltage
(Visible when parameter 92.01 Encoder 1 type = HTL 1 or

HTL 2)
Selects the power supply voltage for encoder 1.
0V
0V
Disabled.
5V
5 V.
24V
24 V.
Accepted pulse freq

of encoder 1

HTL 2)
Defines the maximum pulse frequency of encoder 1.
0 kHz
0300 kHz
Pulse frequency.
1 = 1 kHz
Encoder cable fault

mode

Selects which encoder cable channels and wires are
monitored for wiring faults.
A, B
A, B
A and B.
A, B, Z
A, B and Z.
A+, A-, B+, B-
A+, A-, B+ and B-.
A+, A-, B+, B-, Z+,

Z-
A+, A-, B+, B-, Z+ and Z-.
92.15
92.16
92.17
92.21
474 Parameters
No.
Name/Value
Description
Def/FbEq16
92.23
Maximum pulse
waiting time
(Visible when parameter 92.01 Encoder 1 type = TTL or

HTL)
Determines a pulse waiting time used in speed calculation
for the encoder interface. If no pulse edges are detected
within this time, the measured speed is zeroed by the
interface.
Increasing the setting can improve measuring performance
especially at low, near zero speeds.
Notes:
The parameter is only supported by FEN-xx modules with
FPGA version VIEx 2000 or later. On older modules, the
pulse waiting time is fixed to 4 ms.
The parameter only affects speed measurement. Position
is updated whenever a new pulse edge is detected. When
the measured speed from the interface is zero, the drive
updates its speed data based on position changes.
4 ms
1200 ms
Maximum pulse waiting time.
1 = 1 ms
Pulse edge filtering
(Visible when parameter 92.01 Encoder 1 type = HTL)

Enables pulse edge filtering. Pulse edge filtering can
improve the reliability of measurements especially from
encoders with a single-ended connection.
Notes:
Pulse edge filtering is only supported by FEN-31 modules
with FPGA version VIE3 2200 or later.
Pulse edge filtering decreases the maximum pulse
frequency. With 2 s filtering time, the maximum pulse
frequency is 200 kHz.
No filtering
No filtering
Filtering disabled.
1 s
Filtering time: 1 microsecond.
2 s
Filtering time: 2 microseconds.
Pulse
overfrequency
function

Selects how the drive reacts when the encoder interface
detects a pulse overfrequency condition.
Note: This parameter is effective only with FEN-xx module
FPGA version VIEx 2200 or later.
Fault
Warning
The drive generates a warning, 7381 Encoder. The FEN-xx

module will continue to update speed and position data.
Fault
The drive trips on fault A7E1 Encoder.
Serial link mode

Selects the serial link mode with an EnDat or SSI encoder.
Initial
position
Initial position
Single position transfer mode (initial position).
Continuous
Continuous position data transfer mode.
Continuous speed
and position
Continuous speed and position data transfer mode. This

setting is intended for EnDat 2.2 encoders without sin/cos
signals.
Note: This setting requires an FEN-11 interface revision H
or later.
92.24
92.25
92.30
Parameters 475
No.
Name/Value
Description
Def/FbEq16
92.31
EnDat max
calculation time

Selects the maximum encoder calculation time for an EnDat
encoder.
Note: This parameter needs to be set only when an EnDat
encoder is used in continuous mode, ie. without incremental
sin/cos signals (supported only as encoder 1). See also
parameter 92.30 Serial link mode.
50 ms
10 us
10 microseconds.
100 us
100 microseconds.
1 ms
1 millisecond.
50 ms
50 milliseconds.
SSI cycle time

Selects the transmission cycle for an SSI encoder.
Note: This parameter needs to be set only when an SSI
encoder is used in continuous mode, ie. without incremental
sin/cos signals (supported only as encoder 1). See also
parameter 92.30 Serial link mode.
100 us
50 us
50 microseconds.
100 us
100 microseconds.
200 us
200 microseconds.
500 us
500 microseconds.
1 ms
1 millisecond.
2 ms
2 milliseconds.
SSI clock cycles

Defines the length of an SSI message. The length is defined
as the number of clock cycles. The number of cycles can be
calculated by adding 1 to the number of bits in an SSI
message frame.
2127
SSI message length.
SSI position msb

With an SSI encoder, defines the location of the MSB (most
significant bit) of the position data within an SSI message.
1126
Position data MSB location (bit number).
SSI revolution msb

With an SSI encoder, defines the location of the MSB (most
significant bit) of the revolution count within an SSI
message.
1126
Revolution count MSB location (bit number).
SSI data format

Selects the data format for an SSI encoder.
Binary
Binary
Binary code.
Gray
Gray code.
SSI baud rate

Selects the baud rate for an SSI encoder.
100 kBit/s
10 kBit/s
10 kbit/s.
50 kBit/s
50 kbit/s.
100 kBit/s
100 kbit/s.
200 kBit/s
200 kbit/s.
92.32
92.33
92.34
92.35
92.36
92.37
476 Parameters
No.
92.40
92.45
92.46
92.47
Name/Value
Description
Def/FbEq16
500 kBit/s
500 kbit/s.
1000 kBit/s
1000 kbit/s.
SSI zero phase

Defines the phase angle within one sine/cosine signal period
that corresponds to the value of zero on the SSI serial link
data. The parameter is used to adjust the synchronization of
the SSI position data and the position based on sine/cosine
incremental signals. Incorrect synchronization may cause an
error of 1 incremental period.
Note: This parameter needs to be set only when an SSI
encoder is used in initial position mode (see parameter
92.30 Serial link mode).
315-45 deg
315-45 deg
315-45 degrees.
135-225 deg
135-225 degrees.
225-315 deg
225-315 degrees.
Hiperface parity

Defines the use of parity and stop bits with a HIPERFACE
encoder.
Typically this parameter need not be set.
Odd
Odd
Odd parity indication bit, one stop bit.
Even
Even parity indication bit, one stop bit.
Hiperface baud rate

Defines the transfer rate of the link with a HIPERFACE
encoder.
4800 bits/s
4800 bits/s
4800 bit/s.
9600 bits/s
9600 bit/s.
19200 bits/s
19200 bit/s.
38400 bits/s
38400 bit/s.
Hiperface node
address

Defines the node address for a HIPERFACE encoder.
64
0255
HIPERFACE encoder node address.
92
93 Encoder 2
configuration

Notes:
The contents of the parameter group vary according to
the selected encoder type.
It is recommended that encoder connection 1 (group 92
Encoder 1 configuration) is used whenever possible since
the data received through that interface is fresher than
the data received through connection 2 (this group).
93.01
Encoder 2 type
Selects the type of encoder/resolver 2.
None
configured
None configured
None.
TTL
TTL. Module type (input): FEN-01 (X31), FEN-11 (X41) or

FEN-21 (X51).
TTL+
TTL+ (with commutation signals). Module type (input): FEN01 (X32).
Absolute encoder
Absolute encoder. Module type (input): FEN-11 (X42).
Parameters 477
No.
Name/Value
Description
Def/FbEq16
Resolver
Resolver. Module type (input): FEN-21 (X52).
HTL
HTL. Module type (input): FEN-31 (X82).
HTL 1
HTL. Module type (input): FSE-31 (X31).
HTL 2
HTL. Module type (input): FSE-31 (X32). Not supported at

Encoder 2 source
Selects the interface module that the encoder is connected

to. (The physical locations and types of encoder interface
modules are defined in parameter group 91 Encoder module
settings.)
Module 1
Module 1
Interface module 1.
Module 2
Interface module 2.
93.10
Pulses/rev

See parameter 92.10 Pulses/revolution.
2048
93.10
Sine/cosine number

See parameter 92.10 Sine/cosine number.
93.10
Excitation signal
frequency

See parameter 92.10 Excitation signal frequency.
1 kHz
93.11
Pulse encoder type

See parameter 92.11 Pulse encoder type.
Quadrature
93.11
Absolute position
source

See parameter 92.11 Absolute position source.
None
93.11
Excitation signal
amplitude

See parameter 92.11 Excitation signal amplitude.
4.0 V
93.12
Speed calculation
mode

See parameter 92.12 Speed calculation mode.
Auto rising
93.12
Zero pulse enable

See parameter 92.12 Zero pulse enable.
Disable
93.12
Resolver polepairs

See parameter 92.12 Resolver polepairs.
93.13
Position estimation
enable

See parameter 92.13 Position estimation enable.
Enable
93.13
Position data width

See parameter 92.13 Position data width.
93.14
Speed estimation
enable

See parameter 92.14 Speed estimation enable.
Disable
93.14
Revolution data
width

See parameter 92.14 Revolution data width.
93.15
Transient filter

See parameter 92.15 Transient filter.
4880 Hz
93.16
Encoder 2 supply
voltage

HTL 2)
See parameter 92.16 Encoder 1 supply voltage.
0V
93.17
Accepted pulse freq

of encoder 2

HTL 2)
See parameter 92.17 Accepted pulse freq of encoder 1.
0 kHz
93.21
Encoder cable fault

mode

See parameter 92.21 Encoder cable fault mode.
A, B
93.02
478 Parameters
No.
Name/Value
Description
Def/FbEq16
93.23
Maximum pulse
waiting time
(Visible when parameter 93.01 Encoder 2 type = TTL or

HTL)
See parameter 92.23 Maximum pulse waiting time.
4 ms
93.24

See parameter 92.24 Pulse edge filtering.
No filtering
93.25
Pulse
overfrequency
function

See parameter 92.25 Pulse overfrequency function.
Fault
93.30
Serial link mode

See parameter 92.30 Serial link mode.
Initial
position
93.31
EnDat calc time

See parameter 92.31 EnDat max calculation time.
50 ms
93.32
SSI cycle time

See parameter 92.32 SSI cycle time.
100 us
93.33
SSI clock cycles

See parameter 92.33 SSI clock cycles.
93.34
SSI position msb

See parameter 92.34 SSI position msb.
93.35
SSI revolution msb

See parameter 92.35 SSI revolution msb.
93.36
SSI data format

See parameter 92.36 SSI data format.
Binary
93.37
SSI baud rate

See parameter 92.37 SSI baud rate.
100 kBit/s
93.40
SSI zero phase

See parameter 92.40 SSI zero phase.
315-45 deg
93.45
Hiperface parity

See parameter 92.45 Hiperface parity.
Odd
93.46
Hiperface baud rate

See parameter 92.46 Hiperface baud rate.
4800 bits/s
93.47
Hiperface node
address

See parameter 92.47 Hiperface node address.
64
94
94 LSU control
Control of the supply unit of the drive, such as DC voltage

and reactive power reference.
Note that the references defined here must also be selected
as the reference source in the supply control program to be
effective.
This group is only visible with a BCU control unit.
94.01
LSU control
Enables/disables the internal INU-LSU state machine.

When the state machine is enabled, the inverter unit (INU)
controls the supply unit (LSU) and prevents the inverter unit
from starting until the supply unit is ready.
When the state machine is disabled, the status of the supply
unit (LSU) is ignored by the inverter unit.
Off; On
(95.20 b11,
95.20 b15)
Off
INU-LSU state machine disabled.
On
INU-LSU state machine enabled.
Parameters 479
No.
Name/Value
Description
Def/FbEq16
94.10
LSU max charging

time
Defines the maximum time the supply unit (LSU) is allowed

for charging before a fault (7584 LSU charge failed) is
generated.
15 s
065535 s
Maximum charging time.
1=1s
LSU stop delay
Defines a stop delay for the supply unit. This parameter can
be used to delay the opening of the main breaker/contactor
when a restart is expected.
1.0 s
0.0 3600.0 s
Supply unit stop delay.
10 = 1 s
DC voltage
reference
Displays the DC voltage reference sent to the supply unit.

0.0 2000.0 V
DC voltage reference sent to supply unit.
10 = 1 V
DC voltage ref
source
Selects the source of the DC voltage reference to be sent to

the supply unit.
User ref
Zero
None.
User ref
94.22 User DC voltage reference.
Other

154).
User DC voltage
reference
Defines the DC voltage reference for the supply unit when

94.21 DC voltage ref source is set to User ref.
0.0 V
0.0 2000.0 V
User DC reference.
10 = 1 V
Reactive power
reference
Displays the reactive power reference sent to the supply

unit.
-3276.8
3276.7 kvar
Reactive power reference sent to the supply unit.
10 = 1 kvar
Reactive power ref

source
Selects the source of the reactive power reference to be

sent to the supply unit.
User ref
Zero
None.
User ref
94.32 User reactive power reference.
Other

154).
User reactive power

reference
Defines the reactive power reference for the supply unit

when 94.31 Reactive power ref source is set to User ref.
0.0 kvar
-3276.8
3276.7 kvar
User reactive power reference.
10 = 1 kvar
94.11
94.20
94.21
94.22
94.30
94.31
94.32
95
95 HW configuration
Various hardware-related settings.
95.01
Supply voltage
Selects the supply voltage range. This parameter is used by

the drive to determine the nominal voltage of the supply
network. The parameter also affects the current ratings and
the DC voltage control functions (trip and brake chopper
activation limits) of the drive.
WARNING! An incorrect setting may cause the
motor to rush uncontrollably, or the brake chopper or
resistor to overload.
Note: The selections shown depend on the hardware of the
drive. If only one voltage range is valid for the drive in
question, it is selected by default.
Not given
No voltage range selected. The drive will not start

modulating before a range is selected.
480 Parameters
No.
95.02
95.04
Name/Value
Description
Def/FbEq16
208240 V
208240 V
380415 V
380415 V
440480 V
440480 V
500 V
500 V
525600 V
525600 V
660690 V
660690 V
Adaptive voltage
limits
Enables adaptive voltage limits.

Adaptive voltage limits can be used if, for example, an IGBT
supply unit is used to raise the DC voltage level. The limits
are calculated based on the measured DC voltage at the
end of the pre-charging sequence.
This function is also useful if the AC supply voltage to the
drive is high, as the warning levels are raised accordingly.
Disable
Disable
Adaptive voltage limits disabled.
Enable
Adaptive voltage limits enabled.
Control board
supply
Specifies how the control unit of the drive is powered.
Internal 24V;
External 24V
(95.20 b4)
Internal 24V
The drive control unit is powered from the drive power unit it
is connected to.
External 24V
The drive control unit is powered from an external power

supply.
Redundant external
24V
(Type BCU control units only) The drive control unit is

powered from two redundant external power supplies. The
loss of one of the supplies generates a warning (AFEC
External power signal missing).
Parameters 481
No.
Name/Value
Description
Def/FbEq16
95.08
DC switch
monitoring
Enables/disables DC switch monitoring via the DIIL input.

This setting is intended for use with inverter modules with an
internal charging circuit that are connected to the DC bus
through a DC switch.
An auxiliary contact of the DC switch must be wired to the
DIIL input so that the input switches off when the DC switch
is opened.
Disable;
Enable
(95.20 b5)
DC bus
Charging
logic
+24 V
Inverter module
DIIL
DC switch
Charging
contactor
M
If the DC switch is opened with the inverter running, the
inverter is given a coast-to-stop command, and its charging
circuit activated.
Starting the inverter is prevented until the DC switch is
closed and the DC circuit in the inverter unit recharged.
Notes:
By default, DIIL is the input for the Run enable signal.
Adjust 20.12 Run enable 1 source if necessary.
An internal charging circuit is standard on some inverter
module types but optional on others; check with your local
ABB representative.
95.09
Disable
DC switch monitoring through the DIIL input disabled.
Enable
DC switch monitoring through the DIIL input enabled.
Fuse switch control

Activates communication to a xSFC charging controller. This
setting is intended for use with inverter modules that are
connected to a DC bus through a DC switch/charging circuit
controlled by a charging controller. On units without a DC
switch, this parameter should be set to Disable
The charging controller monitors the charging of the inverter
unit, and sends an enable command when the charging has
finished. When the DC switch is opened, the charging
controller stops the inverter.
For more information, see xSFC documentation.
Enable
Disable
Communication with xSFC disabled.
Enable
Communication with xSFC enabled.
482 Parameters
No.
Name/Value
Description
Def/FbEq16
95.13
Reduced run mode

Specifies the number of inverter modules available.
This parameter must be set if reduced run is required. A
value other than 0 activates the reduced run function.
If the control program cannot detect the number of modules
specified by this parameter, a fault (5695 Reduced run) is
generated.
See section Reduced run function (page 133).
0 = Reduced run disabled
112 = Number of modules available
065535
Number of inverter modules available
95.14
Connected modules (Only visible with a BCU control unit)

Shows which of the parallel-connected inverter modules
have been detected by the control program.
Bit
0
1
11
1215
Name
Module 1
Module 2
Module 12
Reserved
0000hFFFFh
95.15
Description
1 = Module 1 has been detected.
Inverter modules connected.
Special HW settings Contains hardware-related settings that can be enabled and

disabled by toggling the specific bits.
Note: The installation of the hardware specified by this
parameter may require derating of drive output, or impose
other limitations. Refer to the hardware manual of the drive.
Bit
0
Name
EX motor
ABB Sine filter
High speed mode
3 15 Reserved
0000b0111b
1=1
-
Description
1 = The driven motor is an Ex motor provided by ABB for
potentially explosive atmospheres. This sets the required
minimum switching frequency for ABB Ex motors. Note: For nonABB Ex motors, contact your local ABB representative.
1 = An ABB sine filter is connected to the output of the
drive/inverter.
1 = Minimum switching frequency limit adaptation to output
frequency active. This setting improves control performance at
high output frequencies (typically above 120 Hz).
Hardware options configuration word.
1=1
Parameters 483
No.
Name/Value
Description
Def/FbEq16
95.20
HW options word 1
Specifies hardware-related options that require differentiated

parameter defaults. Activating a bit in this parameter makes
the necessary changes in other parameters for example,
activating an emergency stop option reserves a digital input.
In many cases, the differentiated parameters will also be
write-protected.
This parameter, as well as the changes in other parameters
implemented by it, are not affected by a parameter restore.
WARNING! After switching any bits in this work,
recheck the values of the affected parameters.
Bit
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Name
Supply frequency
60 Hz
Information
0 = 50 Hz; 1 = 60 Hz. Affects parameters 11.45, 11.59, 12.20, 13.18,
30.11, 30.12, 30.13, 30.14, 31.26, 31.27, 40.15, 40.37, 41.15, 41.37,
46.01, 46.02.
Emergency stop
1 = Emergency stop, Category 0, without FSO module. Affects
Cat 0
21.04, 21.05, 23.11.
Emergency stop
1 = Emergency stop, Category 1, without FSO module. Affects
Cat 1
10.24, 21.04, 21.05, 23.11.
RO2 for -07
1 = Control of cabinet cooling fan (used only with specific
cabinet cooling fan ACS880-07 hardware). Affects 10.27, 10.28, 10.29.
Externally powered 1 = Control unit powered externally. Affects 95.04.
control unit
DC supply switch
DOL motor switch
xSFC-01 fuse
switch controller
Service switch
Output contactor
Brake resistor, sine
filter, IP54 fan
INU-DSU
communication
Reserved
du/dt filter
activation
1 = DC switch monitoring active. Affects 20.12, 31.03, 95.08.

1 = Motor fan control active. Affects 10.24, 35.100, 35.103, 35.104.
1 = xSFC charging controller used. Affects 95.09.
1 = Service switch connected. Affects 31.01, 31.02.
1 = Output contactor present. Affects 10.24, 20.12.
1 = Status (eg. thermal) switches connected to DIIL input. Affects
20.11, 20.12.
1 = Diode supply unit control by inverter unit active. Affects 60.71,
61.151, 62.151, 94.01.
1 = Active: A du/dt filter is connected to the drive/inverter output.

Note: This bit is to be left at 0 if the drive/inverter module is
equipped with internal du/dt filtering (for example, frame R8i inverter
modules with option +E205).
DOL fan activation 1 = The inverter unit consists of frame R8i modules with direct-online cooling fans (option +C188). Disables fan feedback monitoring
and changes fan control to ON/OFF type.
INU-ISU
1 = IGBT supply unit control by inverter unit active. Affects 60.71,
communication
61.151, 61.152, 61.153, 62.151, 94.01.
0000hFFFFh
Hardware options configuration word.
1=1
484 Parameters
No.
Name/Value
Description
Def/FbEq16
95.21
HW options word 2
Specifies more hardware-related options that require

differentiated parameter defaults. See parameter 95.20 HW
options word 1.
WARNING! After switching any bits in this word,
recheck the values of the affected parameters.
95.30
95.31
Bit
0
Name
Dual use
SynRM
215
Reserved
Information
1 = Dual use active. For drives with option +N8200. (Allows higher
output frequencies and frequency reference limits.)
1 = Synchronous reluctance motor used. Affects parameters 25.02,
25.03, 25.15, 99.03.
0000b0011b
Hardware options configuration word 2.
1=1
Parallel type filter

Filters the list of drive/inverter types listed by parameter
95.31 Parallel connection rating id.
All types
All types
All types listed.
-3 (380-415V)
-3 (380415 V) types listed.
-5 (380-500V)
-7 (525-690V)
Parallel connection
rating id

Defines the drive/inverter type if it consists of parallelconnected modules.
If the drive/inverter consists of a single module, leave the
value at Not selected.
Not selected
Not selected
The drive/inverter does not consist of parallel-connected

modules, or type not selected.
[Drive/inverter type]
Drive/inverter type consisting of parallel-connected modules. -
96
96 System
Language selection; access levels; macro selection;

parameter save and restore; control unit reboot; user
parameter sets; unit selection; data logger triggering;
parameter checksum calculation; user lock.
96.01
Language
Selects the language of the parameter interface and other

displayed information when viewed on the control panel.
Notes:
Not all languages listed below are necessarily supported.
This parameter does not affect the languages visible in
the Drive composer PC tool. (Those are specified under
View Settings.)
Not selected
None.
English
English.
1033
Deutsch
German.
1031
Italiano
Italian.
1040
Espaol
Spanish.
3082
Portugues
Portuguese.
2070
Nederlands
Dutch.
1043
Franais
French.
1036
Parameters 485
No.
96.02
96.03
Name/Value
Description
Def/FbEq16
Dansk
Danish.
1030
Suomi
Finnish.
1035
Svenska
Swedish.
1053
Russki
Russian.
1049
Polski
Polish.
1045
Czech
Czech.
1029
Trke
Turkish.
1055
Chinese (Simplified,
PRC)
Simplified Chinese.
2052
Pass code
Pass codes can be entered into this parameter to activate

further access levels (see parameter 96.03 Access levels
active) or to configure the user lock.
Entering 358 toggles the parameter lock, which prevents
the changing of all other parameters through the control
panel or the Drive composer PC tool.
Entering the user pass code (by default, 10000000)
enables parameters 96.10096.102, which can be used to
define a new user pass code and to select the actions that
are to be prevented.
Entering an invalid pass code will close the user lock if open,
ie. hide parameters 96.10096.102. After entering the
code, check that the parameters are in fact hidden.
Note: We recommend that you change the default user pass
code.
See also section User lock (page 133).
099999999
Pass code.
Access levels active Shows which access levels have been activated by pass
codes entered into parameter 96.02 Pass code.
Bit
0
1
2
310
11
12
13
14
15
96.04
0001h
Name
End user
Service
Advanced programmer
Reserved
OEM access level 1
OEM access level 2
OEM access level 3
Parameter lock
R&D access level
0000hFFFFh
Active access levels.
Macro select
Selects the application macro. See chapter Application

macros (page 137) for more information.
After a selection is made, the parameter reverts
Done
Done
Macro selection complete; normal operation.
Factory
Factory macro (see page 138).
Hand/Auto
Hand/Auto macro (see page 140).
486 Parameters
No.
96.05
96.06
Name/Value
Description
Def/FbEq16
PID-CTRL
PID control macro (see page 142).
T-CTRL
Torque control macro (see page 146).
Sequence control
Sequential control macro (see page 148).
FIELDBUS
Reserved.
Macro active
Shows which application macro is currently selected. See

Factory
chapter Application macros (page 137) for more information.
To change the macro, use parameter 96.04 Macro select.
Factory
Factory macro (see page 138).
Hand/Auto
Hand/Auto macro (see page 140).
PID-CTRL
PID control macro (see page 142).
T-CTRL
Torque control macro (see page 146).
Sequence control
Sequential control macro (see page 148).
FIELDBUS
Fieldbus control macro (see page 151).
Parameter restore
Restores the original settings of the control program, ie.

parameter default values.
running.
Done
Done
Restoring is completed.
Restore defaults
All editable parameter values are restored to default values,

except
motor data and ID run results
parameter 31.42 Overcurrent fault limit
control panel/PC communication settings
I/O extension module settings
fieldbus adapter settings
encoder configuration data
application macro selection and the parameter defaults
implemented by it
parameter 95.01 Supply voltage
parameter 95.09 Fuse switch control
differentiated defaults implemented by parameters 95.20
HW options word 1 and 95.21 HW options word 2
user lock configuration parameters 96.10096.102
Clear all
All editable parameter values are restored to default values,

except
control panel/PC communication settings
fieldbus adapter settings
application macro selection and the parameter defaults
implemented by it
parameter 95.01 Supply voltage
parameter 95.09 Fuse switch control
differentiated defaults implemented by parameters 95.20
HW options word 1 and 95.21 HW options word 2
user lock configuration parameters 96.10096.102.
PC tool communication is interrupted during the restoring.
62
Parameters 487
No.
Name/Value
Description
Def/FbEq16
96.07
Parameter save
manually
Saves the valid parameter values to permanent memory.

This parameter should be used to store values sent from a
fieldbus, or when using an external power supply to the
control board as the supply might have a very short hold-up
time when powered off.
Note: A new parameter value is saved automatically when
changed from the PC tool or control panel but not when
altered through a fieldbus adapter connection.
Done
Done
Save completed.
Save
Save in progress.
Control board boot
Changing the value of this parameter to 1 reboots the control

unit (without requiring a power off/on cycle of the complete
drive module).
The value reverts to 0 automatically.
01
1 = Reboot the control unit.
1=1
FSO reboot
Changing the value of (or the source selected by) this

parameter from 0 to 1 reboots the optional FSO-xx safety
functions module.
Note: The value does not revert to 0 automatically.
False
False
0.
True
1.
Other [bit]

154).
User set status
Shows the status of the user parameter sets.

See also section User parameter sets (page 132).
n/a
No user parameter sets have been saved.
Loading
A user set is being loaded.
Saving
A user set is being saved.
Faulted
Invalid or empty parameter set.
User set 1
User set 1 has been loaded.
User set 2
User set 3
User set 4
User set save/load
Enables the saving and restoring of up to four custom sets of

parameter settings. See section User parameter sets (page
132).
The set that was in use before powering down the drive is in
use after the next power-up.
Notes:
Hardware configuration settings such as I/O extension
module, fieldbus and encoder configuration parameters
(groups 1416, 47, 5156, 58 and 9293), and forced
input/output values (such as 10.03 and 10.04) are not
included in user parameter sets.
Parameter changes made after loading a set are not
automatically stored they must be saved using this
parameter.
No action
No action
Load or save operation complete; normal operation.
96.08
96.09
96.10
96.11
488 Parameters
No.
96.12
96.13
Name/Value
Description
Def/FbEq16
User set I/O mode
Load user parameter set using parameters 96.12 User set

I/O mode in1 and 96.13 User set I/O mode in2.
Load set 1
Load user parameter set 1.
Load set 2
Load set 3
Load set 4
Save to set 1
Save user parameter set 1.
18
Save to set 2
19
Save to set 3
20
Save to set 4
21
User set I/O mode

in1
When parameter 96.11 User set save/load is set to User set

I/O mode, selects the user parameter set together with
parameter 96.13 User set I/O mode in2 as follows:
Not selected
Status of source
defined by par.
96.12
Status of source
defined by par.
96.13
User parameter
set selected
Set 1
Set 2
Set 3
Set 4
Not selected
0.
Selected
1.
DI1
DI2
DI3
DI4
DI5
DI6
DIO1
10
DIO2
11
Other [bit]

154).
User set I/O mode

in2
See parameter 96.12 User set I/O mode in1.
Not selected
Parameters 489
No.
Name/Value
Description
Def/FbEq16
96.16
Unit selection
Selects the unit of parameters indicating power, temperature

and torque.
00000b
96.20
96.23
96.24
96.25
Bit
0
Name
Power unit
1
2
Reserved
Temperature
unit
3
4
Reserved
Torque unit
515
Reserved
Information
0 = kW
1 = hp
0 = C (C)
1 = F (F)
0 = Nm (Nm)
1 = lbft (lbft)
0000 0000b
0001 0101b
Unit selection word.
1=1
Time sync primary

source
Defines the 1st priority external source for synchronization

of the drives time and date.
DDCS
Controller
Internal
No external source selected.
DDCS Controller
External controller.
Fieldbus A or B
Fieldbus interface A or B.
Fieldbus A
Fieldbus interface A.
Fieldbus B
Fieldbus interface B.
D2D or M/F
The master station on a master/follower or drive-to-drive

link.
Embedded FB
Reserved.
Embedded Ethernet
Ethernet port on type BCU control unit.
Panel link
Control panel, or Drive composer PC tool connected to the

control panel.
Ethernet tool link
Drive composer PC tool through an FENA module.
M/F and D2D clock

synchronization
In the master drive, activates clock synchronization for

master/follower and drive-to-drive communication.
Inactive
Inactive
Clock synchronization not active.
Active
Clock synchronization active.
Full days since 1st

Jan 1980
Number of full days passed since beginning of the year

1980.
This parameter, together with 96.25 Time in minutes within
24 h and 96.26 Time in ms within one minute makes it
possible to set the date and time in the drive via the
parameter interface from a fieldbus or application program.
This may be necessary if the fieldbus protocol does not
support time synchronization.
159999
Days since beginning of 1980.
1=1
Time in minutes
within 24 h
Number of full minutes passed since midnight. For example,

the value 860 corresponds to 2:20 pm.
See parameter 96.24 Full days since 1st Jan 1980.
0 min
11439
Minutes since midnight.
1=1
490 Parameters
No.
Name/Value
Description
Def/FbEq16
96.26
Time in ms within
one minute
Number of milliseconds passed since last minute.

See parameter 96.24 Full days since 1st Jan 1980.
0 ms
059999
Number of milliseconds since last minute.
1=1
Time sync source

status
Time source status word.

96.29
Bit
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
96.31
96.53
Name
Time tick
received
Aux Time
tick received
Tick interval
is too long
DDCS
controller
Master/Follo
wer
Reserved
D2D
FbusA
FbusB
EFB
Description
1 = 1st priority tick received: Tick has been received from 1st priority
source.
1 = 2nd priority tick received: Tick has been received from 2nd priority
source.
1 = Yes: Tick interval too long (accuracy compromised).
1 = Tick received: Tick has been received from an external controller.
1 = Tick received: Tick has been received through the master/follower link.
1 = Tick received: Tick has been received through the drive-to-drive link.
1 = Tick received: Tick has been received through fieldbus interface A.
1 = Tick received: Tick has been received through fieldbus interface B.
1 = Tick received: Tick has been received through the embedded fieldbus
interface.
Ethernet
1 = Tick received: Tick has been received through the Ethernet port on type
BCU control unit.
Panel link
1 = Tick received: Tick has been received from the control panel, or Drive
composer PC tool connected to the control panel.
Ethernet tool 1 = Tick received: Tick has been received from Drive composer PC tool
link
through an FENA module.
Parameter 1 = Tick received: Tick has been set by parameters 96.2496.26.
setting
RTC
1 = RTC time in use: Time and date have been read from the real-time
clock.
Drive On1 = Drive on-time in use: Time and date are displaying drive on-time.
Time
0000hFFFFh
Time source status word 1.
1=1
Drive ID number
Specifies an ID number for the drive. The ID can be read by

an external controller through DDCS, for example, for
comparison with an ID contained by the controllers
application.
032767
ID number.
1=1
Actual checksum
Displays the actual parameter configuration checksum. The

checksum is generated and updated whenever an action is
selected in 96.54 Checksum action.
The parameters included in the calculation have been preselected, but the selection can be edited using the Drive
customizer PC tool.
See also section Parameter checksum calculation (page
132).
0h
00000000h
FFFFFFFFh
Actual checksum.
Parameters 491
No.
Name/Value
Description
Def/FbEq16
96.54
Checksum action
Selects how the drive reacts if the parameter checksum

(96.53 Actual checksum) does not match any of the active
approved checksums (96.5696.59). The active
checksums are selected by 96.55 Checksum control word.
No action
No action
No action taken. (The checksum feature is not in use.)
Pure event
The drive generates an event log entry (B686 Checksum

mismatch).
Warning
The drive generates a warning (A686 Checksum mismatch). 2
Warning and
prevent start
The drive generates a warning (A686 Checksum mismatch).

Starting the drive is prevented.
Fault
The drive trips on 6200 Checksum mismatch.
Checksum control
word
Bits 03 select to which approved checksums (out of

96.5696.59) the actual checksum (96.53) is compared.
Bits 47 select an approved (reference) checksum
parameter (96.5696.59) into which the actual checksum
from parameter 96.53 is copied.
00000000b
96.55
Bit
0
1
2
3
4
5
6
7
815
96.56
96.57
96.58
96.59
Name
Approved checksum 1
Approved checksum 1
Approved checksum 1
Approved checksum 1
Set approved checksum 1
Reserved
Description
1 = Enabled: Checksum 1 (96.56) is observed.
1 = Set: Copy value of 96.53 into 96.56.
00000000b
11111111b
Checksum control word.
1=1
Approved
checksum 1
Approved (reference) checksum 1.
0h
00000000h
FFFFFFFFh
Approved checksum 1.
Approved
checksum 2
0h
00000000h
FFFFFFFFh
Approved
checksum 3
0h
00000000h
FFFFFFFFh
Approved
checksum 4
0h
00000000h
FFFFFFFFh
492 Parameters
No.
Name/Value
Description
Def/FbEq16
96.61
User data logger

status word
Provides status information on the user data logger (see

page 567).
0000b
96.63
96.64
96.65
96.70
96.100
Bit
0
Name
Running
Triggered
2
3
Data
available
Configured
415
Reserved
Description
1 = The user data logger is running. The bit is cleared after the post-trigger
time has passed.
1 = The user data logger has been triggered. The bit is cleared when the
logger is restarted.
1 = The user data logger contains data that can be read. Note that the bit is
not cleared because the data is saved to the memory unit.
1 = The user data logger has been configured. Note that the bit is not
cleared because the configuration data is saved to the memory unit.
0000b1111b
User data logger status word.
1=1
User data logger

trigger
Triggers, or selects a source that triggers, the user data

logger.
Off
Off
0.
On
1.
Other [bit]

154).
User data logger

start
Starts, or selects a source that starts, the user data logger.
Off
Off
0.
On
1.
Other [bit]

154).
Factory data logger

time level
Selects the sampling interval for the factory data logger (see
page 566).
500us
500us
500 microseconds.
500
2ms
2 milliseconds.
2000
10ms
10 milliseconds.
10000
Disable adaptive
program
Enables/disables the adaptive program (if present).

See also section Adaptive programming (page 67).
No
No
Adaptive program enabled.
Yes
Adaptive program disabled.
Change user pass

code
(Visible when user lock is open)

To change the current user pass code, enter a new code into
this parameter as well as 96.101 Confirm user pass code. A
warning will be active until the new pass code is confirmed.
To cancel changing the pass code, close the user lock
without confirming. To close the lock, enter an invalid pass
code in parameter 96.02 Pass code, activate parameter
96.08 Control board boot, or cycle the power.
See also section User lock (page 91).
10000000
10000000
99999999
New user pass code.
Parameters 493
No.
Name/Value
96.101 Confirm user pass

code
10000000
99999999
96.102 User lock
functionality
Bit
0
1
2
315
Description
Def/FbEq16

Confirms the new user pass code entered in 96.100 Change
user pass code.
Confirmation of new user pass code.

Selects the actions or functionalities to be prevented by the
user lock. Note that the changes made take effect only when
the user lock is closed. See parameter 96.02 Pass code.
000b
Name
Disable ABB access
levels
Freeze parameter
lock state
Disable file
download
Information
1 = ABB access levels (service, advanced programmer, etc.; see
96.03) disabled
1 = Changing the parameter lock state prevented, ie. pass code
358 has no effect
1 = Loading of files to drive prevented. This applies to
firmware upgrades
safety functions module (FSO-xx) configuration
parameter restore
loading of adaptive or application programs
changing home view of control panel
editing drive texts
editing the favorite parameters list on control panel
configuration settings made through control panel such as
time/date formats and enabling/disabling clock display.
Reserved
000b111b
96
Selection of actions to be prevented by user lock.
97 Motor control
Motor model settings.
97.03
Slip gain
Defines the slip gain which is used to improve the estimated

motor slip. 100% means full slip gain; 0% means no slip
gain. The default value is 100%. Other values can be used if
a static speed error is detected despite having the setting at
full slip gain.
Example (with nominal load and nominal slip of 40 rpm): A
1000 rpm constant speed reference is given to the drive.
Despite having full slip gain (= 100%), a manual tachometer
measurement from the motor axis gives a speed value of
998 rpm. The static speed error is 1000 rpm - 998 rpm = 2
rpm. To compensate the error, the slip gain should be
increased to 105% (2 rpm / 40 rpm = 5%).
100%
0 200%
Slip gain.
1 = 1%
494 Parameters
No.
Name/Value
Description
Def/FbEq16
97.04
Voltage reserve
Defines the minimum allowed voltage reserve. When the

voltage reserve has decreased to the set value, the drive
enters the field weakening area.
Note: This is an expert level parameter and should not be
adjusted without appropriate skill.
If the intermediate circuit DC voltage Udc = 550 V and the
voltage reserve is 5%, the RMS value of the maximum
output voltage in steady-state operation is
0.95 550 V / sqrt(2) = 369 V
The dynamic performance of the motor control in the field
weakening area can be improved by increasing the voltage
reserve value, but the drive enters the field weakening area
earlier.
-2%
-4 50%
Voltage reserve.
1 = 1%
Flux braking
Defines the level of flux braking power. (Other stopping and

braking modes can be configured in parameter group 21
Start/stop mode).
See section Flux braking (page 104).
Disabled
Disabled
Flux braking is disabled.
Moderate
Flux level is limited during the braking. Deceleration time is

longer compared to full braking.
Full
Maximum braking power. Almost all available current is used

to convert the mechanical braking energy to thermal energy
in the motor.
Flux reference
select
Defines the source of flux reference.

User flux
reference
Zero
None.
User flux reference
Parameter 97.07 User flux reference.
Other

154).
User flux reference
Defines the flux reference when parameter 97.06 Flux

reference select is set to User flux reference.
100.00%
0.00200.00%
User-defined flux reference.
100 = 1%
97.05
97.06
97.07
97.09
Switching freq mode An optimization setting for balancing between control

performance and motor noise level.
Normal
Normal
Control performance optimized for long motor cables.
Low noise
Minimizes motor noise.

Note: This setting requires derating. Refer to the rating data
in the Hardware manual.
Cyclic
Control performance optimized for cyclic load applications.

Note: This setting is not suitable for long motor cables.
Custom
This setting is to be used by ABB-authorized service

personnel only.
Note: This setting may require derating. Refer to the rating
data in the Hardware manual.
Parameters 495
No.
Name/Value
Description
Def/FbEq16
97.10
Signal injection
Enables the anti-cogging function: a high-frequency

alternating signal is injected to the motor in the low speed
region to improve the stability of torque control. This
removes the cogging that can sometimes be seen as the
rotor passes the motor magnetic poles. Anti-cogging can be
enabled with different amplitude levels.
Notes:
This is an expert level parameter and should not be
Use as low a level as possible that gives satisfactory
performance.
Signal injection cannot be applied to asynchronous
motors.
Disabled
Disabled
Anti-cogging disabled.
Enabled (5 %)
Anti-cogging enabled with amplitude level of 5%.
Enabled (10 %)
Enabled (15 %)
Enabled (20 %)
TR tuning
Rotor time constant tuning.

This parameter can be used to improve torque accuracy in
closed-loop control of an induction motor. Normally, the
motor identification run provides sufficient torque accuracy,
but manual fine-tuning can be applied in exceptionally
demanding applications to achieve optimal
performance.Note: This is an expert level parameter and
should not be adjusted without appropriate skill.
100%
25400%
Rotor time constant tuning.
1 = 1%
IR comp step-up
frequency
IR compensation (ie. output voltage boost) can be used in

step-up applications to compensate for resistive losses in
the step-up transformer, cabling and motor. As voltage
cannot be fed through a step-up transformer at 0 Hz, a
specific type of IR compensation should be used.
This parameter adds a frequency breakpoint for parameter
97.13 IR compensation as shown below.
0.0 Hz
97.11
97.12
U / UN
(%)
Relative output voltage with IR
compensation
100%
97.13
97.12
Field weakening
point
f (Hz)
0.0 Hz = Breakpoint disabled.

0.0 50.0 Hz
IR compensation breakpoint for step-up applications.
1 = 1 Hz
496 Parameters
No.
Name/Value
Description
Def/FbEq16
97.13
IR compensation
Defines the relative output voltage boost at zero speed (IR

compensation). The function is useful in applications with a
high break-away torque where direct torque control (DTC
mode) cannot be applied.
0.00%
U / UN
(%)
Relative output voltage with IR
compensation
100%
Relative output voltage. No

IR compensation.
97.13
Field weakening point
f (Hz)
50% of nominal frequency

See also section IR compensation for scalar motor control
on page 101.
97.15
97.32
97.33
0.00 50.00%
Voltage boost at zero speed in percent of nominal motor

voltage.
1 = 1%
Motor model
temperature
adaptation
Selects whether the temperature-dependent parameters

(such as stator or rotor resistance) of the motor model adapt
to actual (measured or estimated) temperature or not.
See parameter group 35 Motor thermal protection for
selection of temperature measurement sources.
Disabled
Disabled
Temperature adaptation of motor model disabled.
Estimated
temperature
Estimated temperature (35.01 Motor estimated temperature)

used for adaptation of motor model.
Measured
temperature 1
Measured temperature 1 (35.02 Measured temperature 1)

Measured
temperature 2
Measured temperature 1 (35.03 Measured temperature 2)

Motor torque
unfiltered
Unfiltered motor torque in percent of the nominal motor

torque.
-1600.0 1600.0% Unfiltered motor torque.
See par.
46.03
Speed estimate
filter time
Defines a filtering time for estimated speed. See the diagram

on page 647.
5.00 ms
0.00 100.00 ms
Filtering time for estimated speed.
1 = 1 ms
Parameters 497
No.
Name/Value
98
Description
Def/FbEq16
98 User motor
parameters
Motor values supplied by the user that are used in the motor
model.
These parameters are useful for non-standard motors, or to
just get more accurate motor control of the motor on site. A
better motor model always improves the shaft performance.
98.01
User motor model

mode
Activates the motor model parameters 98.0298.14 and the

rotor angle offset parameter 98.15.
Notes:
Parameter value is automatically set to zero when ID run
is selected by parameter 99.13 ID run requested. The
values of parameters 98.0298.15 are then updated
according to the motor characteristics identified during
the ID run.
Measurements made directly from the motor terminals
during the ID run are likely to produce slightly different
values than those on a datasheet from a motor
manufacturer.
running.
No
No
Parameters 98.0298.15 inactive.
Motor parameters
The values of parameters 98.0298.14 are used as the

motor model.
Position offset
The value of parameter 98.15 is used as the rotor angle

offset. Parameters 98.0298.14 are inactive.
Motor parameters &

position offset
The values of parameters 98.0298.14 are used as the

motor model, and the value of parameter 98.15 is used as
the rotor angle offset.
Rs user
Defines the stator resistance RS of the motor model.

With a star-connected motor, RS is the resistance of one
winding. With a delta-connected motor, RS is one-third of the
resistance of one winding.
0.00000 p.u.
0.00000 0.50000
p.u.
Stator resistance in per unit.
Rr user
Defines the rotor resistance RR of the motor model.

0.00000 p.u.
Note: This parameter is valid only for asynchronous motors.
0.00000 0.50000
p.u.
Rotor resistance in per unit.
Lm user
0.00000 p.u.
Defines the main inductance LM of the motor model.
0.00000
10.00000 p.u.
Main inductance in per unit.
98.02
98.03
98.04
98.05
98.06
SigmaL user
0.00000 p.u.
Defines the leakage inductance LS.
0.00000 1.00000
p.u.
Leakage inductance in per unit.
Ld user
Defines the direct axis (synchronous) inductance.

Note: This parameter is valid only for permanent magnet
motors.
0.00000 p.u.
0.00000
10.00000 p.u
Direct axis inductance in per unit.
498 Parameters
No.
Name/Value
Description
Def/FbEq16
98.07
Lq user
Defines the quadrature axis (synchronous) inductance.

motors.
0.00000 p.u.
0.00000
10.00000 p.u
Quadrature axis inductance in per unit.
PM flux user
Defines the permanent magnet flux.

motors.
0.00000 p.u.
0.00000 2.00000
p.u
Permanent magnet flux in per unit.
Rs user SI
Defines the stator resistance RS of the motor model.
0.00000 ohm
0.00000
100.00000 ohm
Stator resistance.
Rr user SI
0.00000 ohm
Defines the rotor resistance RR of the motor model.
0.00000
100.00000 ohm
Rotor resistance.
Lm user SI
0.00 mH
Defines the main inductance LM of the motor model.
0.00 100000.00
mH
Main inductance.
98.08
98.09
98.10
98.11
98.12
98.13
98.14
98.15
SigmaL user SI
1 = 10000
mH
Defines the leakage inductance LS.

0.00 mH
0.00 100000.00
mH
Leakage inductance.
1 = 10000
mH
Ld user SI
Defines the direct axis (synchronous) inductance.

motors.
0.00 mH
0.00 100000.00
mH
Direct axis inductance.
1 = 10000
mH
Lq user SI
Defines the quadrature axis (synchronous) inductance.

motors.
0.00 mH
0.00 100000.00
mH
Quadrature axis inductance.
1 = 10000
mH
Position offset user
0 deg
Defines an angle offset between the zero position of the
synchronous motor and the zero position of the position
sensor.
This value is initially set by the autophasing routine when
parameter 21.13 Autophasing mode is set to Turning with Zpulse, and can be fine-tuned later on.
Notes:
The value is in electrical degrees. The electrical angle
equals the mechanical angle multiplied by the number of
motor pole pairs.
This parameter is valid only for permanent magnet
motors.
0360 deg
Angle offset.
1 = 1 deg
Parameters 499
No.
Name/Value
99
Description
Def/FbEq16
99 Motor data
Motor configuration settings.
99.03
Motor type
Selects the motor type.

running.
Asynchronous motor,
SynRM
(95.21 b1)
Asynchronous
motor
Standard squirrel cage AC induction motor (asynchronous

induction motor).
Permanent magnet
motor
Permanent magnet motor. Three-phase AC synchronous

motor with permanent magnet rotor and sinusoidal
BackEMF voltage.
SynRM
Synchronous reluctance motor. Three-phase AC

synchronous motor with salient pole rotor without permanent
magnets.
Motor control mode
Selects the motor control mode.
DTC
DTC
Direct torque control. This mode is suitable for most

applications.
Note: Instead of direct torque control, scalar control is also
available, and should be used in the following situations:
with multimotor applications 1) if the load is not equally
shared between the motors, 2) if the motors are of
different sizes, or 3) if the motors are going to be changed
after the motor identification (ID run)
if the nominal current of the motor is less than 1/6 of the
nominal output current of the drive
if the drive is used with no motor connected (for example,
for test purposes).
Scalar
Scalar control. The outstanding motor control accuracy of

DTC cannot be achieved in scalar control.
Refer to the DTC selection above for a list of applications
where scalar control should definitely be used.
Notes:
Correct motor operation requires that the magnetizing
current of the motor does not exceed 90% of the nominal
current of the inverter.
Some standard features are disabled in scalar control
mode.
See also section Scalar motor control (page Scalar motor
control), and section Operating modes of the drive
(page 42).
Motor nominal
current
Defines the nominal motor current. Must be equal to the

value on the motor rating plate. If multiple motors are
connected to the drive, enter the total current of the motors.
Notes:
Correct motor operation requires that the magnetizing
current of the motor does not exceed 90% of the nominal
current of the drive.
running.
0.0 A
0.0 32767.0 A
Nominal current of the motor. The allowable range is 1/62

IN (nominal current) of the drive (02 IN with scalar
control mode).
1=1A
99.04
99.06
500 Parameters
No.
Name/Value
Description
Def/FbEq16
99.07
Motor nominal
voltage
Defines the nominal motor voltage supplied to the motor.

This setting must match the value on the rating plate of the
motor.
Notes:
With permanent magnet motors, the nominal voltage is
the BackEMF voltage at nominal speed of the motor. If
the voltage is given as voltage per rpm, e.g. 60 V per
1000 rpm, the voltage for a nominal speed of 3000 rpm is
3 60 V = 180 V. Note that the nominal voltage is not
equal to the equivalent DC motor voltage (EDCM)
specified by some motor manufacturers. The nominal
voltage can be calculated by dividing the EDCM voltage
by 1.7 (or square root of 3).
The stress on the motor insulation is always dependent
on the drive supply voltage. This also applies to the case
where the motor voltage rating is lower than that of the
drive and the supply.
running.
0.0 V
0.0 32767.0 V
Nominal voltage of the motor. The allowable range is 1/62

UN (nominal voltage) of the drive. UN equals the upper
bound of the supply voltage range selected by parameter
95.01 Supply voltage.
10 = 1 V
Motor nominal
frequency
Defines the nominal motor frequency. This setting must

match the value on the rating plate of the motor.
running.
50.00 Hz
0.00 500.00 Hz
Nominal frequency of the motor.
10 = 1 Hz
Motor nominal
speed
Defines the nominal motor speed. The setting must match

the value on the rating plate of the motor.
running.
0 rpm
0 30000 rpm
Nominal speed of the motor.
1 = 1 rpm
Motor nominal
power
Defines the nominal motor power. The setting must match

the value on the rating plate of the motor. If nominal power is
not shown on the rating plate, nominal torque can be
entered instead in parameter 99.12.
If multiple motors are connected to the drive, enter the total
power of the motors.
running.
0.00 kW or
hp
0.0010000.00 kW
or
0.0013404.83 hp
Nominal power of the motor.
1 = 1 unit
Motor nominal cos
Defines the cosphi of the motor for a more accurate motor

model. The value is not obligatory, but is useful with an
asynchronous motor, especially when performing a standstill
identification run. The setting should match the value on the
rating plate of the motor.
With a permanent magnet or synchronous reluctance motor,
this value is not needed.
running.
0.00
0.00 1.00
Cosphi of the motor.
100 = 1
99.08
99.09
99.10
99.11
Parameters 501
No.
Name/Value
Description
Def/FbEq16
99.12
Motor nominal
torque
Defines the nominal motor shaft torque. This value can be

given instead of nominal power (99.10) if shown on the
rating plate of the motor.
Notes:
This setting is an alternative to the nominal power value
(99.10). If both are entered, 99.12 takes priority.
running.
0.000
Nm or lbft
0.000
Nm or lbft
Nominal motor torque.
1 = 1 unit
ID run requested
Selects the type of the motor identification routine (ID run)

performed at the next start of the drive. During the ID run,
the drive will identify the characteristics of the motor for
optimum motor control.
If no ID run has been performed yet (or if default parameter
values have been restored using parameter 96.06
Parameter restore), this parameter is automatically set to
Standstill, signifying that an ID run must be performed.
After the ID run, the drive stops and this parameter is
automatically set to None.
Notes:
For the Advanced ID run, the machinery must always be
de-coupled from the motor.
With a permanent magnet or synchronous reluctance
motor, a Normal, Reduced or Standstill ID run requires
that the motor shaft is NOT locked and the load torque is
less than 10%.
With scalar control mode (99.04 Motor control mode =
Scalar), only the Current measurement calibration ID run
mode is possible.
Once the ID run is activated, it can be canceled by
stopping the drive.
The ID run must be performed every time any of the
motor parameters (99.04, 99.0699.12) have been
changed.
Ensure that the Safe torque off and emergency stop
circuits (if any) are closed during the ID run.
Mechanical brake (if present) is not opened by the logic
for the ID run.
running.
None
None
No motor ID run is requested. This mode can be selected

only if the ID run (Normal, Reduced, Standstill, Advanced,
Advanced Standstill) has already been performed once.
99.13
502 Parameters
No.
Name/Value
Description
Def/FbEq16
Normal
Normal ID run. Guarantees good control accuracy for all

cases. The ID run takes about 90 seconds. This mode
should be selected whenever it is possible.
Notes:
If the load torque will be higher than 20% of motor
nominal torque, or if the machinery is not able to
withstand the nominal torque transient during the ID run,
then the driven machinery must be de-coupled from the
motor during a Normal ID run.
Check the direction of rotation of the motor before starting
the ID run. During the run, the motor will rotate in the
forward direction.
WARNING! The motor will run at up to approximately
50100% of the nominal speed during the ID run.
ENSURE THAT IT IS SAFE TO RUN THE MOTOR
BEFORE PERFORMING THE ID RUN!
Reduced
Reduced ID run. This mode should be selected instead of

the Normal or Advanced ID Run if
mechanical losses are higher than 20% (i.e. the motor
cannot be de-coupled from the driven equipment), or if
flux reduction is not allowed while the motor is running
(i.e. in case of a motor with an integrated brake supplied
from the motor terminals).
With Reduced ID run, the control in the field weakening area
or at high torques is not necessarily as accurate as with the
Normal ID run. Reduced ID run is completed faster than the
Normal ID Run (< 90 seconds).
Note: Check the direction of rotation of the motor before
starting the ID run. During the run, the motor will rotate in the
forward direction.
Standstill
Standstill ID run. The motor is injected with DC current. With 3

an AC induction (asynchronous) motor, the motor shaft is
not rotated. With a permanent magnet motor or synchronous
reluctance motor, the shaft can rotate up to half a revolution.
Note: A standstill ID run should be selected only if the
Normal, Reduced or Advanced ID run is not possible due to
the restrictions caused by the connected mechanics
(eg. with lift or crane applications).
See also selection Advanced Standstill.
Parameters 503
No.
99.14
Name/Value
Description
Def/FbEq16
Autophasing
The autophasing routine determines the start angle of a

permanent magnet or synchronous reluctance motor (see
page 102). Autophasing does not update the other motor
model values.
Autophasing is automatically performed as part of the
Normal, Reduced, Standstill, Advanced or Advanced
Standstill ID runs. Using this setting, it is possible to perform
autophasing alone. This is useful after changes in the
feedback configuration, such as the replacement or addition
of an absolute encoder, resolver, or pulse encoder with
commutation signals.
Notes:
This setting can only be used after a Normal, Reduced,
Standstill, Advanced or Advanced Standstill ID run has
already been performed.
Depending on the selected autophasing mode, the shaft
can rotate during autophasing. See parameter 21.13
Autophasing mode.
Current
measurement
calibration
Requests current measurement calibration, that is

identification of current measurement offset and gain errors.
Advanced
Advanced ID run. Guarantees the best possible control

accuracy. The ID run can take a couple of minutes. This
mode should be selected when top performance is needed
across the whole operating area.
Note: The driven machinery must be de-coupled from the
motor because of high torque and speed transients that are
applied.
Several accelerations and decelerations are done.
Advanced Standstill
Advanced Standstill ID run.

This selection is recommended with AC induction motors up
to 75 kW instead of the Standstill ID run if
the exact nominal ratings of the motor are not known, or
the control performance of the motor is not satisfactory
after a Standstill ID run.
Note: The time it takes for the Advanced Standstill ID run to
complete varies according to motor size. With a small motor,
the ID run typically completes within 5 minutes; with a large
motor, the ID run may take up to an hour.
Last ID run
performed
Shows the type of ID run that was performed last. For more
information about the different modes, see the selections of
parameter 99.13 ID run requested.
None
None
No ID run has been performed.
Normal
Normal ID run.
Reduced
Reduced ID run.
Standstill
Standstill ID run.
Autophasing
Autophasing.
Current
measurement
calibration
Current measurement calibration.
504 Parameters
No.
99.15
99.16
200
Name/Value
Description
Def/FbEq16
Advanced
Advanced ID run.
Advanced Standstill
Advanced Standstill ID run.
Motor polepairs
calculated
Calculated number of pole pairs in the motor.
01000
Number of pole pairs.
1=1
Motor phase order
Switches the rotation direction of motor. This parameter can

be used if the motor turns in the wrong direction (for
example, because of the wrong phase order in the motor
cable), and correcting the cabling is considered impractical.
Notes:
Changing this parameter does not affect speed reference
polarities, so positive speed reference will rotate the
motor forward. The phase order selection just ensures
that forward is in fact the correct direction.
After changing this parameter, the sign of encoder
feedback (if any) must be checked. This can be done by
setting parameter 90.41 Motor feedback selection to
Estimate, and comparing the sign of 90.01 Motor speed
for control to 90.10 Encoder 1 speed (or 90.20 Encoder 2
speed). If the sign of the measurement is incorrect, the
encoder wiring must be corrected or the sign of 90.43
Motor gear numerator reversed.
UVW
UVW
Normal.
UWV
Reversed rotation direction.
200 Safety
FSO-xx settings.
This group contains parameters related to the optional FSO-xx safety functions module. For details on the
parameters in this group, refer to the documentation of the FSO-xx module.
Additional parameter data 507
9
Additional parameter data
This chapter lists the parameters with some additional data such as their ranges and
32-bit fieldbus scaling. For parameter descriptions, see chapter Parameters
(page 153).

Term
Definition
Actual signal
Signal measured or calculated by the drive. Usually can only be monitored

but not adjusted; some counter-type signals can however be reset.
Analog src
Analog source: the parameter can be set to the value of another parameter
by choosing Other, and selecting the source parameter from a list.
Note: The source parameter must be a 32-bit real (floating point) number.
To use a 16-bit integer (for example, received in DDCS data sets) as the
source, data storage parameters 47.0147.08 (see page 368) can be
used.
In addition to the Other selection, the parameter may offer other preselected settings.
Binary src
Binary source: the value of the parameter can be taken from a specific bit
in another parameter value (Other). Sometimes the value can be fixed to
0 (false) or 1 (true). In addition, the parameter may offer other pre-selected
settings.
Data
Data parameter.
508 Additional parameter data
Term
Definition
FbEq32
32-bit fieldbus equivalent: The scaling between the value shown on the
panel and the integer used in communication when a 32-bit value is
selected for transmission to an external system.
The corresponding 16-bit scalings are listed in chapter Parameters
(page 153).
List
Selection list.
No.
Parameter number.
PB
Packed Boolean (bit list).
Real
Real number.
Type
Parameter type. See Analog src, Binary src, List, PB, Real.
Fieldbus addresses
Refer to the Users manual of the fieldbus adapter.
Parameter groups 19
No.
Name
Type
Range
Unit
FbEq32
01.01
Motor speed used
Real
-30000.00 30000.00
rpm
100 = 1 rpm
01.02
Motor speed estimated
Real
-30000.00 30000.00
rpm
100 = 1 rpm
01.03
Motor speed %
Real
-1000.00 1000.00
100 = 1%
01.04
Encoder 1 speed filtered
Real
-30000.00 30000.00
rpm
100 = 1 rpm
01.05
Encoder 2 speed filtered
Real
-30000.00 30000.00
rpm
100 = 1 rpm
01.06
Output frequency
Real
-500.00 500.00
Hz
100 = 1 Hz
01.07
Motor current
Real
0.00 30000.00
100 = 1 A
01.10
Motor torque
Real
-1600.0 1600.0
10 = 1%
01.11
DC voltage
Real
0.00 2000.00
100 = 1 V
01.13
Output voltage
Real
02000
1=1V
01.14
Output power
Real
-32768.00 32767.00
kW or hp
100 = 1 unit
01.15
Output power % of motor nom
Real
-300.00 300.00
10 = 1%
01.17
Motor shaft power
Real
-32768.00 32767.00
kW or hp
100 = 1 unit
01.18
Inverter GWh motoring
Real
032767
GWh
1 = 1 GWh
01.19
Inverter MWh motoring
Real
0999
MWh
1 = 1 MWh
01.20
Inverter kWh motoring
Real
0999
kWh
1 = 1 kWh
01.21
U-phase current
Real
-30000.00 30000.00
100 = 1 A
01.22
V-phase current
Real
-30000.00 30000.00
100 = 1 A
01.23
W-phase current
Real
-30000.00 30000.00
100 = 1 A
01.24
Flux actual %
Real
0200
1 = 1%
01.29
Speed change rate
Real
-15000 15000
rpm/s
1 = 1 rpm/s
01.30
Nominal torque scale
Real
0.000
Nm or
lbft
1000 = 1 unit
01.31
Ambient temperature
Real
-32768 32767
C or F
10 = 1
01.32
Inverter GWh regenerating
Real
032767
GWh
1 = 1 GWh
01.33
Inverter MWh regenerating
Real
0999
MWh
1 = 1 MWh
01.34
Inverter kWh regenerating
Real
0999
kWh
1 = 1 kWh
01.35
Mot - regen energy GWh
Real
-32768 32767
GWh
1 = 1 GWh
01.36
Mot - regen energy MWh
Real
-999999
MWh
1 = 1 MWh
01.37
Mot - regen energy kWh
Real
-999999
kWh
1 = 1 kWh
01.61
Abs motor speed used
Real
0.00 30000.00
rpm
100 = 1 rpm
01.62
Abs motor speed %
Real
0.00 1000.00
100 = 1 rpm
01.63
Abs output frequency
Real
0.00 500.00
Hz
100 = 1 Hz
01.64
Abs motor torque
Real
0.0 1600.0
10 = 1%
01.65
Abs output power
Real
0.00 32767.00
kW or hp
100 = 1 unit
01.66
Abs output power % motor

nom
Real
0.00 300.00
10 = 1%
01.68
Abs motor shaft power
Real
0.00 32767.00
kW or hp
100 = 1 unit
01 Actual values
No.
Name
Type
Range
Unit
FbEq32
03 Input references
03.01
Panel reference
Real
-100000.00 100000.00
100 = 1
03.02
Panel reference 2
Real
-30000.00 30000.00
100 = 1
03.05
FB A reference 1
Real
-100000.00 100000.00
100 = 1
03.06
FB A reference 2
Real
-100000.00 100000.00
100 = 1
03.07
FB B reference 1
Real
-100000.00 100000.00
100 = 1
03.08
FB B reference 2
Real
-100000.00 100000.00
100 = 1
03.09
EFB reference 1
Real
-30000.00 30000.00
100 = 1
03.10
EFB reference 2
Real
-30000.00 30000.00
100 = 1
03.11
DDCS controller ref 1
Real
-30000.00 30000.00
100 = 1
03.12
DDCS controller ref 2
Real
-30000.00 30000.00
100 = 1
03.13
M/F or D2D ref1
Real
-30000.00 30000.00
100 = 1
03.14
M/F or D2D ref2
Real
-30000.00 30000.00
100 = 1

04.01
Tripping fault
Data
0000hFFFFh
1=1
04.02
Active fault 2
Data
0000hFFFFh
1=1
04.03
Active fault 3
Data
0000hFFFFh
1=1
04.04
Active fault 4
Data
0000hFFFFh
1=1
04.05
Active fault 5
Data
0000hFFFFh
1=1
04.06
Active warning 1
Data
0000hFFFFh
1=1
04.07
Active warning 2
Data
0000hFFFFh
1=1
04.08
Active warning 3
Data
0000hFFFFh
1=1
04.09
Active warning 4
Data
0000hFFFFh
1=1
04.10
Active warning 5
Data
0000hFFFFh
1=1
04.11
Latest fault
Data
0000hFFFFh
1=1
04.12
2nd latest fault
Data
0000hFFFFh
1=1
04.13
3rd latest fault
Data
0000hFFFFh
1=1
04.14
4th latest fault
Data
0000hFFFFh
1=1
04.15
5th latest fault
Data
0000hFFFFh
1=1
04.16
Latest warning
Data
0000hFFFFh
1=1
04.17
2nd latest warning
Data
0000hFFFFh
1=1
04.18
3rd latest warning
Data
0000hFFFFh
1=1
04.19
4th latest warning
Data
0000hFFFFh
1=1
04.20
5th latest warning
Data
0000hFFFFh
1=1
04.21
Fault word 1
PB
0000hFFFFh
1=1
04.22
Fault word 2
PB
0000hFFFFh
1=1
04.31
Warning word 1
PB
0000hFFFFh
1=1
04.32
Warning word 2
PB
0000hFFFFh
1=1
04.40
Event word 1
PB
0000hFFFFh
1=1
04.41
Event word 1 bit 0 code
Data
0000hFFFFh
1=1
No.
Name
Type
Range
Unit
FbEq32
04.42
Event word 1 bit 0 aux code
Data
0000 0000h
FFFF FFFFh
1=1
04.43
Data
0000hFFFFh
1=1
04.44
Data
0000 0000h
FFFF FFFFh
1=1
04.71
Data
0000hFFFFh
1=1
04.72
Data
0000 0000h
FFFF FFFFh
1=1
List
01
1=1
04.120 Fault/Warning word

compatibility
05 Diagnostics
05.01
On-time counter
Real
065535
1=1d
05.02
Run-time counter
Real
065535
1=1d
05.04
Fan on-time counter
Real
065535
1=1d
05.11
Inverter temperature
Real
-40.0 160.0
10 = 1%
05.22
Diagnostic word 3
PB
0000hFFFFh
1=1
05.41
Main fan service counter
Real
0150
1 = 1%
05.42
Aux. fan service counter
Real
0150
1 = 1%

06.01
Main control word
PB
0000hFFFFh
1=1
06.02
Application control word
PB
0000hFFFFh
1=1
06.03
FBA A transparent control

word
PB
00000000hFFFFFFFFh
1=1
06.04
FBA B transparent control

word
PB
00000000hFFFFFFFFh
1=1
06.05
EFB transparent control word
PB
00000000hFFFFFFFFh
06.11
Main status word
PB
0000hFFFFh
1=1
06.16
Drive status word 1
PB
0000hFFFFh
1=1
06.17
Drive status word 2
PB
0000hFFFFh
1=1
06.18
Start inhibit status word
PB
0000hFFFFh
1=1
06.19
Speed control status word
PB
0000hFFFFh
1=1
06.20
Constant speed status word
PB
0000hFFFFh
1=1
06.21
Drive status word 3
PB
0000hFFFFh
1=1
06.25
Drive inhibit status word 2
PB
0000hFFFFh
1=1
06.29
MSW bit 10 sel
Binary
src
1=1
06.30
MSW bit 11 sel
Binary
src
1=1
06.31
MSW bit 12 sel
Binary
src
1=1
06.32
MSW bit 13 sel
Binary
src
1=1
06.33
MSW bit 14 sel
Binary
src
1=1
No.
Name
Type
Range
Unit
FbEq32
(Parameters 06.3606.43 only visible with a BCU control unit)

06.36
LSU Status Word
PB
0000hFFFFh
1=1
06.39
Internal state machine LSU

CW
PB
0000hFFFFh
1=1
06.40
LSU CW user bit 0 selection
Binary
src
1=1
06.41
Binary
src
1=1
06.42
Binary
src
1=1
06.43
Binary
src
1=1
06.45
Follower CW user bit 0

selection
Binary
src
1=1
06.46

selection
Binary
src
1=1
06.47

selection
Binary
src
1=1
06.48

selection
Binary
src
1=1
06.50
User status word 1
PB
0000hFFFFh
1=1
06.60
User status word 1 bit 0 sel
Binary
src
1=1
06.61
Binary
src
1=1
06.62
Binary
src
1=1
06.63
Binary
src
1=1
06.64
Binary
src
1=1
06.65
Binary
src
1=1
06.66
Binary
src
1=1
06.67
Binary
src
1=1
06.68
Binary
src
1=1
06.69
Binary
src
1=1
06.70
Binary
src
1=1
06.71
Binary
src
1=1
06.72
Binary
src
1=1
06.73
Binary
src
1=1
No.
Name
Type
Range
Unit
FbEq32
06.74
Binary
src
1=1
06.75
Binary
src
1=1
06.100 User control word 1
PB
0000hFFFFh
1=1
06.101 User control word 2
PB
0000hFFFFh
1=1
07 System info
07.03
Drive rating id
List
1=1
07.04
Firmware name
List
1=1
07.05
Firmware version
Data
1=1
07.06
Loading package name
List
1=1
07.07
Loading package version
Data
1=1
07.08
Bootloader version
Data
1=1
07.11
Cpu usage
Real
0100
1 = 1%
07.13
PU logic version number
Data
1=1
07.21
Application environment
status 1
PB
0000hFFFFh
1=1
07.22
Application environment
status 2
PB
0000hFFFFh
1=1
07.23
Application name
Data
1=1
07.24
Application version
Data
1=1
07.25
Customization package name
Data
1=1
07.26
Customization package
version
Data
1=1
07.30
Adaptive program status
PB
0000hFFFFh
1=1
09 Winder actual signals

09.01
Winder status word
PB
0000hFFFFh
1=1
09.02
Drive control state
List
0...9
1=1
09.03
Actual tension ctrl mode
List
04
1=1
09.11
Actual diameter
Real
0.032767.0
mm
10 = 1 mm
09.12
Actual diameter %
Real
0.00100.00
100 = 1%
09.13
Diameter ratio
Real
0.00001.0000
10000 = 1
09.14
Diameter ratio inversed
Real
1.00100.00
100 = 1
09.21
Estimated length
Real
0.0100000.0
10 = 1 m
09.25
Roll estimated weight
Real
0.0 32767.0
kg
10 = 1 kg
09.31
Actual tension
Real
0.032767.0
N/m
10 = 1 N/m
09.36
Torque trim
Real
-100.00 100.00
100 = 1%
09.37
Speed trim
Real
-1000.0 1000.0
rpm
10 = 1 rpm
09.41
Load model torque ref
Real
-32767.000... 32767.000
Nm
1000 = 1 Nm
09.42
Tension torque demand
Real
-32767.000... 32767.000
Nm
1000 = 1 Nm
09.43
Friction compensation torque
Real
-32767.000... 32767.000
Nm
1000 = 1 Nm
09.44
Inertia compensation torque
Real
-32767.000... 32767.000
Nm
1000 = 1 Nm
Parameter groups 1099

No.
Name
Type
Range
Unit
FbEq32
10 Standard DI, RO
10.01
DI status
PB
0000hFFFFh
1=1
10.02
DI delayed status
PB
0000hFFFFh
1=1
10.03
DI force selection
PB
0000hFFFFh
1=1
10.04
DI force data
PB
0000hFFFFh
1=1
10.05
DI1 ON delay
Real
0.0 3000.0
10 = 1 s
10.06
DI1 OFF delay
Real
0.0 3000.0
10 = 1 s
10.07
DI2 ON delay
Real
0.0 3000.0
10 = 1 s
10.08
DI2 OFF delay
Real
0.0 3000.0
10 = 1 s
10.09
DI3 ON delay
Real
0.0 3000.0
10 = 1 s
10.10
DI3 OFF delay
Real
0.0 3000.0
10 = 1 s
10.11
DI4 ON delay
Real
0.0 3000.0
10 = 1 s
10.12
DI4 OFF delay
Real
0.0 3000.0
10 = 1 s
10.13
DI5 ON delay
Real
0.0 3000.0
10 = 1 s
10.14
DI5 OFF delay
Real
0.0 3000.0
10 = 1 s
10.15
DI6 ON delay
Real
0.0 3000.0
10 = 1 s
10.16
DI6 OFF delay
Real
0.0 3000.0
10 = 1 s
10.21
RO status
PB
0000hFFFFh
1=1
10.24
RO1 source
Binary
src
1=1
10.25
RO1 ON delay
Real
0.0 3000.0
10 = 1 s
10.26
RO1 OFF delay
Real
0.0 3000.0
10 = 1 s
10.27
RO2 source
Binary
src
1=1
10.28
RO2 ON delay
Real
0.0 3000.0
10 = 1 s
10.29
RO2 OFF delay
Real
0.0 3000.0
10 = 1 s
10.30
RO3 source
Binary
src
1=1
10.31
RO3 ON delay
Real
0.0 3000.0
10 = 1 s
10.32
RO3 OFF delay
Real
0.0 3000.0
10 = 1 s
10.51
DI filter time
Real
0.3 100.0
ms
10 = 1 ms
10.99
RO/DIO control word
PB
0000hFFFFh
1=1

11.01
DIO status
PB
0000hFFFFh
1=1
11.02
DIO delayed status
PB
0000hFFFFh
1=1
11.05
DIO1 function
List
02
1=1
11.06
DIO1 output source
Binary
src
11.07
DIO1 ON delay
Real
0.0 3000.0
10 = 1 s
11.08
DIO1 OFF delay
Real
0.0 3000.0
10 = 1 s
11.09
DIO2 function
List
02
1=1
1=1
No.
Name
Type
Range
Binary
src
Unit
FbEq32
11.10
DIO2 output source
1=1
11.11
DIO2 ON delay
Real
0.0 3000.0
10 = 1 s
11.12
DIO2 OFF delay
Real
0.0 3000.0
10 = 1 s
11.38
Freq in 1 actual value
Real
016000
Hz
1 = 1 Hz
11.39
Freq in 1 scaled
Real
-32768.000 32767.000
1000 = 1
11.42
Freq in 1 min
Real
016000
Hz
1 = 1 Hz
11.43
Freq in 1 max
Real
016000
Hz
1 = 1 Hz
11.44
Freq in 1 at scaled min
Real
-32768.000 32767.000
1000 = 1
11.45
Freq in 1 at scaled max
Real
-32768.000 32767.000
1000 = 1
11.54
Freq out 1 actual value
Real
016000
Hz
1 = 1 Hz
11.55
Freq out 1 source
Analog
src
1=1
11.58
Freq out 1 src min
Real
-32768.000 32767.000
1000 = 1
11.59
Freq out 1 src max
Real
-32768.000 32767.000
1000 = 1
11.60
Freq out 1 at src min
Real
016000
Hz
1 = 1 Hz
11.61
Freq out 1 at src max
Real
016000
Hz
1 = 1 Hz
11.81
DIO filter time
Real
0.3 100.0
ms
10 = 1 ms
enum
04
12 Standard AI
12.01
AI tune
12.03
AI supervision function
List
04
1=1
12.04
AI supervision selection
PB
0000hFFFFh
1=1
12.11
AI1 actual value
Real
-22.000 22.000
mA or V
1000 = 1 unit
12.12
AI1 scaled value
Real
-32768.000 32767.000
1000 = 1
12.15
AI1 unit selection
List
1=1
12.16
AI1 filter time
Real
0.000 30.000
1000 = 1 s
12.17
AI1 min
Real
-22.000 22.000
mA or V
1000 = 1 mA
or V
12.18
AI1 max
Real
-22.000 22.000
mA or V
1000 = 1 mA
or V
12.19
AI1 scaled at AI1 min
Real
-32768.000 32767.000
1000 = 1
12.20
Real
-32768.000 32767.000
1000 = 1
12.21
AI2 actual value
Real
-22.000 22.000
mA or V
1000 = 1 mA
or V
12.22
AI2 scaled value
Real
-32768.000 32767.000
1000 = 1
12.25
AI2 unit selection
List
1=1
12.26
AI2 filter time
Real
0.000 30.000
1000 = 1 s
12.27
AI2 min
Real
-22.000 22.000
mA or V
1000 = 1 mA
or V
12.28
AI2 max
Real
-22.000 22.000
mA or V
1000 = 1 mA
or V
12.29
Real
-32768.000 32767.000
1000 = 1
12.30
Real
-32768.000 32767.000
1000 = 1
No.
Name
Type
Range
Unit
FbEq32
Real
0.000 22.000
mA
1000 = 1 mA
Analog
src
1=1
13 Standard AO
13.11
AO1 actual value
13.12
AO1 source
13.16
AO1 filter time
Real
0.000 30.000
1000 = 1 s
13.17
AO1 source min
Real
-32768.0 32767.0
10 = 1
13.18
AO1 source max
Real
-32768.0 32767.0
10 = 1
13.19
AO1 out at AO1 src min
Real
0.000 22.000
mA
1000 = 1 mA
13.20
AO1 out at AO1 src max
Real
0.000 22.000
mA
1000 = 1 mA
13.21
AO2 actual value
Real
0.000 22.000
mA
1000 = 1 mA
13.22
AO2 source
Analog
src
1=1
13.26
AO2 filter time
Real
0.000 30.000
1000 = 1 s
13.27
AO2 source min
Real
-32768.0 32767.0
10 = 1
13.28
AO2 source max
Real
-32768.0 32767.0
10 = 1
13.29
Real
0.000 22.000
mA
1000 = 1 mA
13.30
Real
0.000 22.000
mA
1000 = 1 mA
13.91
AO1 data storage
Real
-327.68 327.67
100 = 1
13.92
AO2 data storage
Real
-327.68 327.67
100 = 1

14.01
Module 1 type
List
0...4
1=1
14.02
Module 1 location
Real
1254
1=1
14.03
Module 1 status
List
04
1=1
DIx (14.01 Module 1 type = FDIO-01)

14.05
DI status
PB
00000000hFFFFFFFFh
1=1
14.06
DI delayed status
PB
00000000hFFFFFFFFh
1=1
14.08
DI filter time
Real
0.8 100.0
ms
10 = 1 ms
14.12
DI1 ON delay
Real
0.00 3000.00
100 = 1 s
14.13
DI1 OFF delay
Real
0.00 3000.00
100 = 1 s
14.17
DI2 ON delay
Real
0.00 3000.00
100 = 1 s
14.18
DI2 OFF delay
Real
0.00 3000.00
100 = 1 s
14.22
DI3 ON delay
Real
0.00 3000.00
100 = 1 s
14.23
DI3 OFF delay
Real
0.00 3000.00
100 = 1 s
Common parameters for DIOx (14.01 Module 1 type = FIO-01 or FIO-11)

14.05
DIO status
PB
00000000hFFFFFFFFh
1=1
14.06
DIO delayed status
PB
00000000hFFFFFFFFh
1=1
DIO1/DIO2 (14.01 Module 1 type = FIO-01 or FIO-11)

14.08
DIO filter time
Real
0.8 100.0
ms
10 = 1 ms
14.09
DIO1 function
List
01
1=1
14.11
DIO1 output source
Binary
src
1=1
14.12
DIO1 ON delay
Real
0.00 3000.00
100 = 1 s
No.
Name
Type
Range
Unit
FbEq32
14.13
DIO1 OFF delay
Real
0.00 3000.00
100 = 1 s
14.14
DIO2 function
List
01
1=1
14.16
DIO2 output source
Binary
src
1=1
14.17
DIO2 ON delay
Real
0.00 3000.00
100 = 1 s
14.18
DIO2 OFF delay
Real
0.00 3000.00
100 = 1 s
DIO3/DIO4 (14.01 Module 1 type = FIO-01)

14.19
DIO3 function
List
01
1=1
14.21
DIO3 output source
Binary
src
1=1
14.22
DIO3 ON delay
Real
0.00 3000.00
100 = 1 s
14.23
DIO3 OFF delay
Real
0.00 3000.00
100 = 1 s
14.24
DIO4 function
List
01
1=1
14.26
DIO4 output source
Binary
src
1=1
14.27
DIO4 ON delay
Real
0.00 3000.00
100 = 1 s
14.28
DIO4 OFF delay
Real
0.00 3000.00
100 = 1 s
RO1/RO2 (14.01 Module 1 type = FIO-01 or FDIO-01)

14.31
RO status
PB
0000hFFFFh
1=1
14.34
RO1 source
Binary
src
1=1
14.35
RO1 ON delay
Real
0.00 3000.00
100 = 1 s
14.36
RO1 OFF delay
Real
0.00 3000.00
100 = 1 s
14.37
RO2 source
Binary
src
1=1
14.38
RO2 ON delay
Real
0.00 3000.00
100 = 1 s
14.39
RO2 OFF delay
Real
0.00 3000.00
100 = 1 s
Common parameters for AIx (14.01 Module 1 type = FIO-11 or FAIO-01)

14.19
List
04
1=1
14.20
PB
0000hFFFFh
1=1
14.21
AI tune
List
06 (FIO-11)
04 (FAIO-01
1=1
14.22
AI force selection
PB
0000hFFFFh
1=1
AI1/AI2 (14.01 Module 1 type = FIO-11 or FAIO-01)

14.26
AI1 actual value
Real
-22.000 22.000
mA or V
1000 = 1 unit
14.27
AI1 scaled value
Real
-32768.000 32767.000
1000 = 1
14.28
AI1 force data
Real
-22.000 22.000
mA or V
1000 = 1 unit
14.29
AI1 HW switch position
List
1=1
14.30
AI1 unit selection
List
1=1
14.31
AI1 filter gain
List
07
1=1
14.32
AI1 filter time
Real
0.000 30.000
1000 = 1 s
14.33
AI1 min
Real
-22.000 22.000
mA or V
1000 = 1 mA
or V
No.
Name
Type
Range
Unit
FbEq32
14.34
AI1 max
Real
-22.000 22.000
mA or V
1000 = 1 mA
or V
14.35
Real
-32768.000 32767.000
1000 = 1
14.36
Real
-32768.000 32767.000
1000 = 1
14.41
AI2 actual value
Real
-22.000 22.000
mA or V
1000 = 1 unit
14.42
AI2 scaled value
Real
-32768.000 32767.000
1000 = 1
14.43
AI2 force data
Real
-22.000 22.000
mA or V
1000 = 1 unit
14.44
List
1=1
14.45
AI2 unit selection
List
1=1
14.46
AI2 filter gain
List
07
1=1
14.47
AI2 filter time
Real
0.000 30.000
1000 = 1 s
14.48
AI2 min
Real
-22.000 22.000
mA or V
1000 = 1 mA
or V
14.49
AI2 max
Real
-22.000 22.000
mA or V
1000 = 1 mA
or V
14.50
Real
-32768.000 32767.000
1000 = 1
14.51
Real
-32768.000 32767.000
1000 = 1
AI3 (14.01 Module 1 type = FIO-11)

14.56
AI3 actual value
Real
-22.000 22.000
mA or V
1000 = 1 unit
14.57
AI3 scaled value
Real
-32768.000 32767.000
1000 = 1
14.58
AI3 force data
Real
-22.000 22.000
mA or V
1000 = 1 unit
14.59
List
1=1
14.60
AI3 unit selection
List
1=1
14.61
AI3 filter gain
List
07
1=1
14.62
AI3 filter time
Real
0.000 30.000
1000 = 1 s
14.63
AI3 min
Real
-22.000 22.000
mA or V
1000 = 1 mA
or V
14.64
AI3 max
Real
-22.000 22.000
mA or V
1000 = 1 mA
or V
14.65
Real
-32768.000 32767.000
1000 = 1
14.66
Real
-32768.000 32767.000
1000 = 1
Common parameters for AOx (14.01 Module 1 type = FIO-11 or FAIO-01)

14.71
AO force selection
PB
00000000hFFFFFFFFh
1=1
AO1 (14.01 Module 1 type = FIO-11 or FAIO-01)

14.76
AO1 actual value
Real
0.000 22.000
mA
1000 = 1 mA
14.77
AO1 source
Analog
src
1=1
14.78
AO1 force data
Real
0.000 22.000
mA
1000 = 1 mA
14.79
AO1 filter time
Real
0.000 30.000
1000 = 1 s
14.80
AO1 source min
Real
-32768.0 32767.0
10 = 1
14.81
AO1 source max
Real
-32768.0 32767.0
10 = 1
14.82
Real
0.000 22.000
mA
1000 = 1 mA
14.83
Real
0.000 22.000
mA
1000 = 1 mA
No.
Name
Type
Range
Unit
FbEq32
AO2 (14.01 Module 1 type = FAIO-01)

14.86
AO2 actual value
Real
0.000 22.000
mA
1000 = 1 mA
14.87
AO2 source
Analog
src
1=1
14.88
AO2 force data
Real
0.000 22.000
mA
1000 = 1 mA
14.89
AO2 filter time
Real
0.000 30.000
1000 = 1 s
14.90
AO2 source min
Real
-32768.0 32767.0
10 = 1
14.91
AO2 source max
Real
-32768.0 32767.0
10 = 1
14.92
Real
0.000 22.000
mA
1000 = 1 mA
14.93
Real
0.000 22.000
mA
1000 = 1 mA

15.01
Module 2 type
List
04
1=1
15.02
Module 2 location
Real
1254
1=1
15.03
Module 2 status
List
02
1=1

15.05
DI status
PB
00000000hFFFFFFFFh
1=1
15.06
DI delayed status
PB
00000000hFFFFFFFFh
1=1
15.08
DI filter time
Real
0.8 100.0
ms
10 = 1 ms
15.12
DI1 ON delay
Real
0.00 3000.00
100 = 1 s
15.13
DI1 OFF delay
Real
0.00 3000.00
100 = 1 s
15.17
DI2 ON delay
Real
0.00 3000.00
100 = 1 s
15.18
DI2 OFF delay
Real
0.00 3000.00
100 = 1 s
15.22
DI3 ON delay
Real
0.00 3000.00
100 = 1 s
15.23
DI3 OFF delay
Real
0.00 3000.00
100 = 1 s

15.05
DIO status
PB
00000000hFFFFFFFFh
1=1
15.06
DIO delayed status
PB
00000000hFFFFFFFFh
1=1

15.08
DIO filter time
Real
0.8 100.0
ms
10 = 1 ms
15.09
DIO1 function
List
01
1=1
15.11
DIO1 output source
Binary
src
1=1
15.12
DIO1 ON delay
Real
0.0 0 3000.00
100 = 1 s
15.13
DIO1 OFF delay
Real
0.00 3000.00
100 = 1 s
15.14
DIO2 function
List
01
1=1
15.16
DIO2 output source
Binary
src
1=1
15.17
DIO2 ON delay
Real
0.00 3000.00
100 = 1 s
15.18
DIO2 OFF delay
Real
0.00 3000.00
100 = 1 s
1=1

15.19
DIO3 function
List
01
No.
Name
Type
Range
Unit
FbEq32
Binary
src
1=1
15.21
DIO3 output source
15.22
DIO3 ON delay
Real
0.00 3000.00
100 = 1 s
15.23
DIO3 OFF delay
Real
0.00 3000.00
100 = 1 s
15.24
DIO4 function
List
01
1=1
15.26
DIO4 output source
Binary
src
1=1
15.27
DIO4 ON delay
Real
0.00 3000.00
100 = 1 s
15.28
DIO4 OFF delay
Real
0.00 3000.00
100 = 1 s

15.31
RO status
PB
0000hFFFFh
1=1
15.34
RO1 source
Binary
src
1=1
15.35
RO1 ON delay
Real
0.00 3000.00
100 = 1 s
15.36
RO1 OFF delay
Real
0.00 3000.00
100 = 1 s
15.37
RO2 source
Binary
src
1=1
15.38
RO2 ON delay
Real
0.00 3000.00
100 = 1 s
15.39
RO2 OFF delay
Real
0.00 3000.00
100 = 1 s

15.19
List
04
1=1
15.20
PB
0000hFFFFh
1=1
15.21
AI tune
List
06 (FIO-11)
04 (FAIO-01)
1=1
15.22
AI force selection
PB
00000000hFFFFFFFFh
1=1

15.26
AI1 actual value
Real
-22.000 22.000
mA or V
1000 = 1 unit
15.27
AI1 scaled value
Real
-32768.000 32767.000
1000 = 1
15.28
AI1 force data
Real
-22.000 22.000
mA or V
1000 = 1 unit
15.29
List
1=1
15.30
AI1 unit selection
List
1=1
15.31
AI1 filter gain
List
07
1=1
15.32
AI1 filter time
Real
0.000 30.000
1000 = 1 s
15.33
AI1 min
Real
-22.000 22.000
mA or V
1000 = 1 mA
or V
15.34
AI1 max
Real
-22.000 22.000
mA or V
1000 = 1 mA
or V
15.35
Real
-32768.000 32767.000
1000 = 1
15.36
Real
-32768.000 32767.000
1000 = 1
15.41
AI2 actual value
Real
-22.000 22.000
mA or V
1000 = 1 unit
15.42
AI2 scaled value
Real
-32768.000 32767.000
1000 = 1
15.43
AI2 force data
Real
-22.000 22.000
mA or V
1000 = 1 unit
15.44
List
1=1
No.
Name
Type
Range
Unit
FbEq32
15.45
AI2 unit selection
List
1=1
15.46
AI2 filter gain
List
07
1=1
15.47
AI2 filter time
Real
0.000 30.000
1000 = 1 s
15.48
AI2 min
Real
-22.000 22.000
mA or V
1000 = 1 mA
or V
15.49
AI2 max
Real
-22.000 22.000
mA or V
1000 = 1 mA
or V
15.50
Real
-32768.000 32767.000
1000 = 1
15.51
Real
-32768.000 32767.000
1000 = 1

15.56
AI3 actual value
Real
-22.000 22.000
mA or V
1000 = 1 unit
15.57
AI3 scaled value
Real
-32768.000 32767.000
1000 = 1
15.58
AI3 force data
Real
-22.000 22.000
mA or V
1000 = 1 unit
15.59
List
1=1
15.60
AI3 unit selection
List
1=1
15.61
AI3 filter gain
List
07
1=1
15.62
AI3 filter time
Real
0.000 30.000
1000 = 1 s
15.63
AI3 min
Real
-22.000 22.000
mA or V
1000 = 1 mA
or V
15.64
AI3 max
Real
-22.000 22.000
mA or V
1000 = 1 mA
or V
15.65
Real
-32768.000 32767.000
1000 = 1
15.66
Real
-32768.000 32767.000
1000 = 1

15.71
AO force selection
PB
00000000hFFFFFFFFh
1=1

15.76
AO1 actual value
Real
0.000 22.000
mA
1000 = 1 mA
15.77
AO1 source
Analog
src
1=1
15.78
AO1 force data
Real
0.000 22.000
mA
1000 = 1 mA
15.79
AO1 filter time
Real
0.000 30.000
1000 = 1 s
15.80
AO1 source min
Real
-32768.0 32767.0
10 = 1
15.81
AO1 source max
Real
-32768.0 32767.0
10 = 1
15.82
Real
0.000 22.000
mA
1000 = 1 mA
15.83
Real
0.000 22.000
mA
1000 = 1 mA

15.86
AO2 actual value
Real
0.000 22.000
mA
1000 = 1 mA
15.87
AO2 source
Analog
src
1=1
15.88
AO2 force data
Real
0.000 22.000
mA
1000 = 1 mA
15.89
AO2 filter time
Real
0.000 30.000
1000 = 1 s
15.90
AO2 source min
Real
-32768.0 32767.0
10 = 1
15.91
AO2 source max
Real
-32768.0 32767.0
10 = 1
No.
Name
Type
Range
Unit
FbEq32
15.92
Real
0.000 22.000
mA
1000 = 1 mA
15.93
Real
0.000 22.000
mA
1000 = 1 mA

16.01
Module 3 type
List
0...4
1=1
16.02
Module 3 location
Real
1254
1=1
16.03
Module 3 status
List
02
1=1

16.05
DI status
PB
00000000hFFFFFFFFh
1=1
16.06
DI delayed status
PB
00000000hFFFFFFFFh
1=1
16.08
DI filter time
Real
0.8 100.0
ms
10 = 1 ms
16.12
DI1 ON delay
Real
0.00 3000.00
100 = 1 s
16.13
DI1 OFF delay
Real
0.00 3000.00
100 = 1 s
16.17
DI2 ON delay
Real
0.00 3000.00
100 = 1 s
16.18
DI2 OFF delay
Real
0.00 3000.00
100 = 1 s
16.22
DI3 ON delay
Real
0.00 3000.00
100 = 1 s
16.23
DI3 OFF delay
Real
0.00 3000.00
100 = 1 s

16.05
DIO status
PB
00000000hFFFFFFFFh
1=1
16.06
DIO delayed status
PB
00000000hFFFFFFFFh
1=1

16.08
DIO filter time
Real
0.8 100.0
ms
10 = 1 ms
16.09
DIO1 function
List
01
1=1
16.11
DIO1 output source
Binary
src
1=1
16.12
DIO1 ON delay
Real
0.00 3000.00
100 = 1 s
16.13
DIO1 OFF delay
Real
0.00 3000.00
100 = 1 s
16.14
DIO2 function
List
01
1=1
16.16
DIO2 output source
Binary
src
1=1
16.17
DIO2 ON delay
Real
0.00 3000.00
100 = 1 s
16.18
DIO2 OFF delay
Real
0.00 3000.00
100 = 1 s

16.19
DIO3 function
List
01
1=1
16.21
DIO3 output source
Binary
src
1=1
16.22
DIO3 ON delay
Real
0.00 3000.00
100 = 1 s
16.23
DIO3 OFF delay
Real
0.00 3000.00
100 = 1 s
16.24
DIO4 function
List
01
1=1
16.26
DIO4 output source
Binary
src
1=1
16.27
DIO4 ON delay
Real
0.00 3000.00
100 = 1 s
16.28
DIO4 OFF delay
Real
0.00 3000.00
100 = 1 s
No.
Name
Type
Range
Unit
FbEq32

16.31
RO status
PB
0000hFFFFh
1=1
16.34
RO1 source
Binary
src
1=1
16.35
RO1 ON delay
Real
0.00 3000.00
100 = 1 s
16.36
RO1 OFF delay
Real
0.00 3000.00
100 = 1 s
16.37
RO2 source
Binary
src
1=1
16.38
RO2 ON delay
Real
0.00 3000.00
100 = 1 s
16.39
RO2 OFF delay
Real
0.00 3000.00
100 = 1 s

16.19
List
04
1=1
16.20
PB
0000hFFFFh
1=1
16.21
AI tune
List
06
1=1
16.22
AI force selection
PB
00000000hFFFFFFFFh
1=1

16.26
AI1 actual value
Real
-22.000 22.000
mA or V
1000 = 1 unit
16.27
AI1 scaled value
Real
-32768.000 32767.000
1000 = 1
16.28
AI1 force data
Real
-22.000 22.000
mA or V
1000 = 1 unit
16.29
List
1=1
16.30
AI1 unit selection
List
1=1
16.31
AI1 filter gain
List
07
1=1
16.32
AI1 filter time
Real
0.000 30.000
1000 = 1 s
16.33
AI1 min
Real
-22.000 22.000
mA or V
1000 = 1 mA
or V
16.34
AI1 max
Real
-22.000 22.000
mA or V
1000 = 1 mA
or V
16.35
Real
-32768.000 32767.000
1000 = 1
16.36
Real
-32768.000 32767.000
1000 = 1
16.41
AI2 actual value
Real
-22.000 22.000
mA or V
1000 = 1 unit
16.42
AI2 scaled value
Real
-32768.000 32767.000
1000 = 1
16.43
AI2 force data
Real
-22.000 22.000
mA or V
1000 = 1 unit
16.44
List
1=1
16.45
AI2 unit selection
List
1=1
16.46
AI2 filter gain
List
07
1=1
16.47
AI2 filter time
Real
0.000 30.000
1000 = 1 s
16.48
AI2 min
Real
-22.000 22.000
mA or V
1000 = 1 mA
or V
16.49
AI2 max
Real
-22.000 22.000
mA or V
1000 = 1 mA
or V
16.50
Real
-32768.000 32767.000
1000 = 1
16.51
Real
-32768.000 32767.000
1000 = 1
No.
Name
Type
Range
Unit
FbEq32

16.56
AI3 actual value
Real
-22.000 22.000
mA or V
1000 = 1 unit
16.57
AI3 scaled value
Real
-32768.000 32767.000
1000 = 1
16.58
AI3 force data
Real
-22.000 22.000
mA or V
1000 = 1 unit
16.59
List
1=1
16.60
AI3 unit selection
List
1=1
16.61
AI3 filter gain
List
07
1=1
16.62
AI3 filter time
Real
0.000 30.000
1000 = 1 s
16.63
AI3 min
Real
-22.000 22.000
mA or V
1000 = 1 mA
or V
16.64
AI3 max
Real
-22.000 22.000
mA or V
1000 = 1 mA
or V
16.65
Real
-32768.000 32767.000
1000 = 1
16.66
Real
-32768.000 32767.000
1000 = 1

16.71
AO force selection
PB
00000000hFFFFFFFFh
1=1

16.76
AO1 actual value
Real
0.000 22.000
mA
1000 = 1 mA
16.77
AO1 source
Analog
src
1=1
16.78
AO1 force data
Real
0.000 22.000
mA
1000 = 1 mA
16.79
AO1 filter time
Real
0.000 30.000
1000 = 1 s
16.80
AO1 source min
Real
-32768.0 32767.0
10 = 1
16.81
AO1 source max
Real
-32768.0 32767.0
10 = 1
16.82
Real
0.000 22.000
mA
1000 = 1 mA
16.83
Real
0.000 22.000
mA
1000 = 1 mA

16.86
AO2 actual value
Real
0.000 22.000
mA
1000 = 1 mA
16.87
AO2 source
Analog
src
1=1
16.88
AO2 force data
Real
0.000 22.000
mA
1000 = 1 mA
16.89
AO2 filter time
Real
0.000 30.000
1000 = 1 s
16.90
AO2 source min
Real
-32768.0 32767.0
10 = 1
16.91
AO2 source max
Real
-32768.0 32767.0
10 = 1
16.92
Real
0.000 22.000
mA
1000 = 1 mA
16.93
Real
0.000 22.000
mA
1000 = 1 mA
List
1=1
19 Operation mode
19.01
Actual operation mode
19.11
Ext1/Ext2 selection
Binary
src
1=1
19.12
Ext1 control mode
List
16
1=1
19.14
Ext2 control mode
List
16
1=1
19.16
Local control mode
List
01
1=1
No.
Name
Type
Range
Unit
FbEq32
19.17
Local control disable
List
01
1=1
19.20
Scalar control reference unit
List
01
1=1
20.01
Ext1 commands
List
1=1
20.02
List
01
1=1
20.03
Ext1 in1 source
Binary
src
1=1
20.04
Ext1 in2 source
Binary
src
1=1
20.05
Ext1 in3 source
Binary
src
1=1
20.06
Ext2 commands
List
1=1
20.07
List
01
1=1
20.08
Ext2 in1 source
Binary
src
1=1
20.09
Ext2 in2 source
Binary
src
1=1
20.10
Ext2 in3 source
Binary
src
1=1
20.11
Run enable stop mode
List
02
1=1
20.12
Run enable 1 source
Binary
src
1=1
20.19
Enable start command
Binary
src
1=1
20.23
Positive speed enable
Binary
src
1=1
20.24
Negative speed enable
Binary
src
1=1
20.25
Jogging enable
Binary
src
1=1
20.26
Jogging 1 start source
Binary
src
1=1
20.27
Jogging 2 start source
Binary
src
1=1
20.30
Enable signals warning

function
PB
00b11b
1=1
21 Start/stop mode
21.01
Start mode
List
03
1=1
21.02
Magnetization time
Real
010000
ms
1 = 1 ms
21.03
Stop mode
List
01
1=1
21.04
Emergency stop mode
List
02
1=1
21.05
Emergency stop source
Binary
src
1=1
21.06
Zero speed limit
Real
0.00 30000.00
rpm
100 = 1 rpm
21.07
Zero speed delay
Real
030000
ms
1 = 1 ms
21.08
DC current control
PB
00b11b
1=1
No.
Name
Type
Range
Unit
FbEq32
21.09
DC hold speed
Real
0.00 1000.00
rpm
100 = 1 rpm
21.10
DC current reference
Real
0.0 100.0
10 = 1%
21.11
Post magnetization time
Real
03000
1=1s
21.12
Continuous magnetization
command
Binary
src
1=1
21.13
Autophasing mode
List
03
1=1
21.14
Pre-heating input source
Binary
src
1=1
21.16
Pre-heating current
Real
0.0 30.0
10 = 1%
21.18
Auto restart time
Real
0.0, 0.1 5.0
10 = 1 s
21.19
Scalar start mode
List
02
1=1
21.20
Follower force ramp stop
Binary
src
1=1

22.01
Speed ref unlimited
Real
-30000.00 30000.00
rpm
100 = 1 rpm
22.11
Speed ref1 source
Analog
src
1=1
22.12
Speed ref2 source
Analog
src
1=1
22.13
Speed ref1 function
List
05
1=1
22.14
Speed ref1/2 selection
Binary
src
1=1
22.15
Speed additive 1 source
Analog
src
1=1
22.16
Speed share
Real
-8.000 8.000
1000 = 1
22.17
Speed additive 2 source
Analog
src
1=1
22.21
Constant speed function
PB
00b11b
1=1
22.22
Constant speed sel1
Binary
src
1=1
22.23
Constant speed sel2
Binary
src
1=1
22.24
Constant speed sel3
Binary
src
1=1
22.26
Constant speed 1
Real
-30000.00 30000.00
rpm
100 = 1 rpm
22.27
Constant speed 2
Real
-30000.00 30000.00
rpm
100 = 1 rpm
22.28
Constant speed 3
Real
-30000.00 30000.00
rpm
100 = 1 rpm
22.29
Constant speed 4
Real
-30000.00 30000.00
rpm
100 = 1 rpm
22.30
Constant speed 5
Real
-30000.00 30000.00
rpm
100 = 1 rpm
22.31
Constant speed 6
Real
-30000.00 30000.00
rpm
100 = 1 rpm
22.32
Constant speed 7
Real
-30000.00 30000.00
rpm
100 = 1 rpm
22.41
Speed ref safe
Real
-30000.00 30000.00
rpm
100 = 1 rpm
22.42
Jogging 1 ref
Real
-30000.00 30000.00
rpm
100 = 1 rpm
22.43
Jogging 2 ref
Real
-30000.00 30000.00
rpm
100 = 1 rpm
22.51
Critical speed function
PB
00b11b
1=1
No.
Name
Type
Range
Unit
FbEq32
22.52
Real
-30000.00 30000.00
rpm
100 = 1 rpm
22.53
Critical speed 1 high
Real
-30000.00 30000.00
rpm
100 = 1 rpm
22.54
Real
-30000.00 30000.00
rpm
100 = 1 rpm
22.55
Real
-30000.00 30000.00
rpm
100 = 1 rpm
22.56
Real
-30000.00 30000.00
rpm
100 = 1 rpm
22.57
Real
-30000.00 30000.00
rpm
100 = 1 rpm
22.71
Motor potentiometer function
List
02
1=1
22.72
Motor potentiometer initial

value
Real
-32768.00 32767.00
100 = 1
22.73
Motor potentiometer up source
Binary
src
1=1
22.74
Motor potentiometer down

source
Binary
src
1=1
22.75
Motor potentiometer ramp time
Real
0.0 3600.0
10 = 1 s
22.76
Motor potentiometer min value
Real
-32768.00 32767.00
100 = 1
22.77
Motor potentiometer max

value
Real
-32768.00 32767.00
100 = 1
22.80
Motor potentiometer ref act
Real
-32768.00 32767.00
100 = 1
22.81
Speed reference act 1
Real
-30000.00 30000.00
rpm
100 = 1 rpm
22.82
Real
-30000.00 30000.00
rpm
100 = 1 rpm
22.83
Real
-30000.00 30000.00
rpm
100 = 1 rpm
22.84
Real
-30000.00 30000.00
rpm
100 = 1 rpm
22.85
Real
-30000.00 30000.00
rpm
100 = 1 rpm
22.86
Real
-30000.00 30000.00
rpm
100 = 1 rpm
22.87
Real
-30000.00 30000.00
rpm
100 = 1 rpm
23 Speed reference ramp

23.01
Speed ref ramp input
Real
-30000.00 30000.00
rpm
100 = 1 rpm
23.02
Speed ref ramp output
Real
-30000.00 30000.00
rpm
100 = 1 rpm
23.11
Ramp set selection
Binary
src
1=1
23.12
Acceleration time 1
Real
0.000 1800.000
1000 = 1 s
23.13
Deceleration time 1
Real
0.000 1800.000
1000 = 1 s
23.14
Acceleration time 2
Real
0.000 1800.000
1000 = 1 s
23.15
Deceleration time 2
Real
0.000 1800.000
1000 = 1 s
23.16
Shape time acc 1
Real
0.000 1800.000
1000 = 1 s
23.17
Shape time acc 2
Real
0.000 1800.000
1000 = 1 s
23.18
Shape time dec 1
Real
0.000 1800.000
1000 = 1 s
23.19
Shape time dec 2
Real
0.000 1800.000
1000 = 1 s
23.20
Acc time jogging
Real
0.000 1800.000
1000 = 1 s
23.21
Dec time jogging
Real
0.000 1800.000
1000 = 1 s
23.23
Emergency stop time
Real
0.000 1800.000
1000 = 1 s
23.24
Speed ramp in zero source
Binary
src
1=1
No.
Name
Type
Range
Unit
FbEq32
Binary
src
1=1
23.26
Ramp out balancing enable
23.27
Ramp out balancing ref
Real
-30000.00 30000.00
rpm
100 = 1 rpm
23.28
Variable slope enable
List
01
1=1
23.29
Variable slope rate
Real
230000
ms
1 = 1 ms
23.39
Follower speed correction out
Real
-30000.00 30000.00
rpm
100 = 1 rpm
23.40
Follower speed correction

enable
Binary
src
1=1
23.41
Follower speed correction gain
Real
0.00 100.00
100 = 1%
23.42
Follower speed corr torq

source
Analog
src
1=1
24 Speed reference conditioning

24.01
Used speed reference
Real
-30000.00 30000.00
rpm
100 = 1 rpm
24.02
Used speed feedback
Real
-30000.00 30000.00
rpm
100 = 1 rpm
24.03
Speed error filtered
Real
-30000.0 30000.0
rpm
100 = 1 rpm
24.04
Speed error inverted
Real
-30000.0 30000.0
rpm
100 = 1 rpm
24.11
Speed correction
Real
-10000.00 10000.00
rpm
100 = 1 rpm
24.12
Speed error filter time
Real
010000
ms
1 = 1 ms
24.41
Speed error window control

enable
Binary
src
1=1
24.42
Speed window control mode
List
01
1=1
24.43
Speed error window high
Real
0.00 3000.00
rpm
100 = 1 rpm
24.44
Speed error window low
Real
0.00 3000.00
rpm
100 = 1 rpm
24.46
Speed error step
Real
-3000.00 3000.00
rpm
100 = 1 rpm
25 Speed control
25.01
Torque reference speed

control
Real
-1600.0 1600.0
10 = 1%
25.02
Speed proportional gain
Real
0.00 250.00
100 = 1
25.03
Speed integration time
Real
0.00 1000.00
100 = 1 s
25.04
Speed derivation time
Real
0.000 10000.000
1000 = 1 s
25.05
Derivation filter time
Real
010000
ms
1 = 1 ms
25.06
Acc comp derivation time
Real
0.00 1000.00
100 = 1 s
25.07
Acc comp filter time
Real
0.0 1000.0
ms
10 = 1 ms
25.08
Drooping rate
Real
0.00 100.00
100 = 1%
25.09
Speed ctrl balancing enable
Binary
src
1=1
25.10
Speed ctrl balancing ref
Real
-300.0 300.0
10 = 1%
25.11
Speed control min torque
Real
-1600.0 0.0
10 = 1%
25.12
Speed control max torque
Real
0.0 1600.0
10 = 1%
25.13
Min torq sp ctrl em stop
Real
-1600 0
10 = 1%
25.14
Max torq sp ctrl em stop
Real
01600
10 = 1%
25.15
Proportional gain em stop
Real
1.00 250.00
100 = 1
25.18
Speed adapt min limit
Real
030000
rpm
1 = 1 rpm
No.
Name
Type
Range
Unit
FbEq32
25.19
Speed adapt max limit
Real
030000
rpm
1 = 1 rpm
25.21
Kp adapt coef at min speed
Real
0.000 10.000
1000 = 1
25.22
Ti adapt coef at min speed
Real
0.000 10.000
1000 = 1
25.25
Torque adapt max limit
Real
0.0 1600.0
10 = 1%
25.26
Torque adapt filt time
Real
0.000 100.000
1000 = 1 s
25.27
Kp adapt coef at min torque
Real
0.000 10.000
1000 = 1
25.30
Flux adaption enable
List
01
1=1
25.33
Binary
src
1=1
25.34

mode
List
02
1=1
25.37
Mechanical time constant
Real
0.00 1000.00
100 = 1 s
25.38
Autotune torque step
Real
0.00 100.00
100 = 1%
25.39
Autotune speed step
Real
0.00 100.00
100 = 1%
25.40
Autotune repeat times
Real
110
1=1
25.53
Torque prop reference
Real
-30000.0 30000.0
10 = 1%
25.54
Torque integral reference
Real
-30000.0 30000.0
10 = 1%
25.55
Torque deriv reference
Real
-30000.0 30000.0
10 = 1%
25.56
Torque acc compensation
Real
-30000.0 30000.0
10 = 1%
25.57
Torque reference unbalanced
Real
-30000.0 30000.0
10 = 1%
26 Torque reference chain

26.01
Torque reference to TC
Real
-1600.0 1600.0
10 = 1%
26.02
Torque reference used
Real
-1600.0 1600.0
10 = 1%
26.08
Minimum torque ref
Real
-1000.0 0.0
10 = 1%
26.09
Maximum torque ref
Real
0.0 1000.0
10 = 1%
26.11
Torque ref1 source
Analog
src
1=1
26.12
Torque ref2 source
Analog
src
1=1
26.13
Torque ref1 function
List
05
1=1
26.14
Torque ref1/2 selection
Binary
src
1=1
26.15
Load share
Real
-8.000 8.000
1000 = 1
26.16
Torque additive 1 source
Analog
src
1=1
26.17
Torque ref filter time
Real
0.000 30.000
1000 = 1 s
26.18
Torque ramp up time
Real
0.000 60.000
1000 = 1 s
26.19
Torque ramp down time
Real
0.000 60.000
1000 = 1 s
26.25
Torque additive 2 source
Analog
src
1=1
26.26
Force torque ref add 2 zero
Binary
src
1=1
26.41
Torque step
Real
-300.0 300.0
10 = 1%
26.42
Torque step enable
List
01
1=1
No.
Name
Type
Range
Unit
FbEq32
26.51
Oscillation damping
Binary
src
1=1
26.52
Oscillation damping out enable
Binary
src
1=1
26.53
Oscillation compensation input
List
01
1=1
26.55
Oscillation damping frequency
Real
0.0 60.0
Hz
10 = 1 Hz
26.56
Oscillation damping phase
Real
0360
deg
1 = 1 deg
26.57
Oscillation damping gain
Real
0.0 100.0
10 = 1%
26.58
Oscillation damping output
Real
-1600.000 1600.000
1000 = 1%
26.70
Torque reference act 1
Real
-1600.0 1600.0
10 = 1%
26.71
Real
-1600.0 1600.0
10 = 1%
26.72
Real
-1600.0 1600.0
10 = 1%
26.73
Real
-1600.0 1600.0
10 = 1%
26.74
Torque ref ramp out
Real
-1600.0 1600.0
10 = 1%
26.75
Real
-1600.0 1600.0
10 = 1%
26.76
Real
-1600.0 1600.0
10 = 1%
26.77
Torque ref add A actual
Real
-1600.0 1600.0
10 = 1%
26.78
Torque ref add B actual
Real
-1600.0 1600.0
10 = 1%
26.81
Rush control gain
Real
0.0 10000.0
10 = 1
26.82
Rush control integration time
Real
0.0 10.0
10 = 1 s
28 Frequency reference chain

28.01
Frequency ref ramp input
Real
-500.00 500.00
Hz
100 = 1 Hz
28.02
Frequency ref ramp output
Real
-500.00 500.00
Hz
100 = 1 Hz
28.11
Frequency ref1 source
Analog
src
1=1
28.12
Frequency ref2 source
Analog
src
1=1
28.13
Frequency ref1 function
List
05
1=1
28.14
Frequency ref1/2 selection
Binary
src
1=1
28.21
Constant frequency function
PB
00b11b
1=1
28.22
Constant frequency sel1
Binary
src
1=1
28.23
Binary
src
1=1
28.24
Binary
src
1=1
28.26
Real
-500.00 500.00
Hz
100 = 1 Hz
28.27
Real
-500.00 500.00
Hz
100 = 1 Hz
28.28
Real
-500.00 500.00
Hz
100 = 1 Hz
28.29
Real
-500.00 500.00
Hz
100 = 1 Hz
28.30
Real
-500.00 500.00
Hz
100 = 1 Hz
28.31
Real
-500.00 500.00
Hz
100 = 1 Hz
28.32
Real
-500.00 500.00
Hz
100 = 1 Hz
No.
Name
Type
Range
Unit
FbEq32
28.41
Frequency ref safe
Real
-500.00 500.00
Hz
100 = 1 Hz
28.51
Critical frequency function
PB
00b11b
1=1
28.52
Critical frequency 1 low
Real
-500.00 500.00
Hz
100 = 1 Hz
28.53
Critical frequency 1 high
Real
-500.00 500.00
Hz
100 = 1 Hz
28.54
Real
-500.00 500.00
Hz
100 = 1 Hz
28.55
Real
-500.00 500.00
Hz
100 = 1 Hz
28.56
Real
-500.00 500.00
Hz
100 = 1 Hz
28.57
Real
-500.00 500.00
Hz
100 = 1 Hz
28.71
Freq ramp set selection
Binary
src
1=1
28.72
Freq acceleration time 1
Real
0.000 1800.000
1000 = 1 s
28.73
Freq deceleration time 1
Real
0.000 1800.000
1000 = 1 s
28.74
Freq acceleration time 2
Real
0.000 1800.000
1000 = 1 s
28.75
Freq deceleration time 2
Real
0.000 1800.000
1000 = 1 s
28.76
Freq ramp in zero source
Binary
src
1=1
28.77
Freq ramp hold
Binary
src
1=1
28.78
Freq ramp output balancing
Real
-500.00 500.00
Hz
100 = 1 Hz
28.79
Freq ramp out balancing

enable
Binary
src
1=1
28.90
Frequency ref act 1
Real
-500.00 500.00
Hz
100 = 1 Hz
28.91
Frequency ref act 2
Real
-500.00 500.00
Hz
100 = 1 Hz
28.92
Frequency ref act 3
Real
-500.00 500.00
Hz
100 = 1 Hz
28.96
Frequency ref act 7
Real
-500.00 500.00
Hz
100 = 1 Hz
28.97
Frequency ref unlimited
Real
-500.00 500.00
Hz
100 = 1 Hz
30 Limits
30.01
Limit word 1
PB
0000hFFFFh
1=1
30.02
Torque limit status
PB
0000hFFFFh
1=1
30.11
Minimum speed
Real
-30000.00 30000.00
rpm
100 = 1 rpm
30.12
Maximum speed
Real
-30000.00 30000.00
rpm
100 = 1 rpm
30.13
Minimum frequency
Real
-500.00 500.00
Hz
100 = 1 Hz
30.14
Maximum frequency
Real
-500.00 500.00
Hz
100 = 1 Hz
30.15
Maximum start current enable
List
01
1=1
30.16
Maximum start current
Real
0.00 30000.00
100 = 1 A
30.17
Maximum current
Real
0.00 30000.00
100 = 1 A
30.18
Minimum torque sel
Binary
src
1=1
30.19
Minimum torque 1
Real
-1600.0 0.0
10 = 1%
30.20
Maximum torque 1
Real
0.0 1600.0
10 = 1%
30.21
Minimum torque 2 source
Analog
src
1=1
No.
Name
Type
Range
Unit
FbEq32
Analog
src
1=1
30.22
Maximum torque 2 source
30.23
Minimum torque 2
Real
-1600.0 0.0
10 = 1%
30.24
Maximum torque 2
Real
0.0 1600.0
10 = 1%
30.25
Maximum torque sel
Binary
src
1=1
30.26
Power motoring limit
Real
0.00 600.00
100 = 1%
30.27
Power generating limit
Real
-600.00 0.00
100 = 1%
30.30
Overvoltage control
List
01
1=1
30.31
Undervoltage control
List
01
1=1
Binary
src
1=1
List
03
1=1
Binary
src
1=1
List
03
1=1
Binary
src
1=1
List
03
1=1
Binary
src
1=1
List
03
1=1
Binary
src
1=1
31 Fault functions
31.01
External event 1 source
31.02
External event 1 type
31.03
31.04
31.05
31.06
31.07
31.08
31.09
31.10
List
03
1=1
31.11
Binary
src
1=1
31.12
Autoreset selection
PB
0000hFFFFh
1=1
31.13
User selectable fault
Real
0000hFFFFh
1=1
31.14
Number of trials
Real
05
1=1
31.15
Total trials time
Real
1.0 600.0
10 = 1 s
31.16
Delay time
Real
0.0 120.0
10 = 1 s
31.19
Motor phase loss
List
01
1=1
31.20
Earth fault
List
02
1=1
31.21
Supply phase loss
List
01
1=1
31.22
STO indication run/stop
List
05
1=1
31.23
List
01
1=1
31.24
Stall function
List
02
1=1
31.25
Stall current limit
Real
0.0 1600.0
10 = 1%
31.26
Stall speed limit
Real
0.00 10000.00
rpm
100 = 1 rpm
31.27
Stall frequency limit
Real
0.00 500.00
Hz
100 = 1 Hz
31.28
Stall time
Real
03600
1=1s
31.30
Overspeed trip margin
Real
0.00 10000.00
rpm
100 = 1 rpm
No.
Name
Type
Range
Unit
FbEq32
31.32
Emergency ramp supervision
Real
0300
1 = 1%
31.33
Emergency ramp supervision

delay
Real
032767
1=1s
31.35
Main fan fault function
List
02
1=1
31.36
Aux fan fault bypass
List
01
1=1
31.37
Ramp stop supervision
Real
0300
1 = 1%
31.38
Ramp stop supervision delay
Real
032767
1=1s
31.40
Disable warnings
PB
0000hFFFFh
1=1
31.42
Overcurrent fault limit
Real
0.030000.0
100 = 1 A
32 Supervision
32.01
Supervision status
PB
000b111b
1=1
32.05
Supervision 1 function
List
06
1=1
32.06
Supervision 1 action
List
02
1=1
32.07
Supervision 1 signal
Analog
src
1=1
32.08
Supervision 1 filter time
Real
0.000 30.000
1000 = 1 s
32.09
Supervision 1 low
Real
-21474830.00
21474830.00
100 = 1
32.10
Supervision 1 high
Real
-21474830.00
21474830.00
100 = 1
32.15
List
06
1=1
32.16
List
02
1=1
32.17
Analog
src
1=1
32.18
Real
0.000 30.000
1000 = 1 s
32.19
Supervision 2 low
Real
-21474830.00
21474830.00
100 = 1
32.20
Supervision 2 high
Real
-21474830.00
21474830.00
100 = 1
32.25
List
06
1=1
32.26
List
02
1=1
32.27
Analog
src
1=1
32.28
Real
0.000 30.000
1000 = 1 s
32.29
Supervision 3 low
Real
-21474830.00
21474830.00
100 = 1
32.30
Supervision 3 high
Real
-21474830.00
21474830.00
100 = 1
PB
000000b111111b
1=1
33 Generic timer & counter

33.01
Counter status
33.10
On-time 1 actual
Real
04294967295
1=1s
33.11
Real
04294967295
1=1s
33.12
On-time 1 function
PB
00b11b
1=1
No.
Name
Type
Range
Unit
FbEq32
Binary
src
1=1
33.13
On-time 1 source
33.14
On-time 1 warn message
List
1=1
33.20
On-time 2 actual
Real
04294967295
1=1s
33.21
Real
04294967295
1=1s
33.22
On-time 2 function
PB
00b11b
1=1
33.23
On-time 2 source
Binary
src
1=1
33.24
On-time 2 warn message
List
1=1
33.30
Edge counter 1 actual
Real
04294967295
1=1
33.31
Edge counter 1 warn limit
Real
04294967295
1=1
33.32
Edge counter 1 function
PB
0000b1111b
1=1
33.33
Edge counter 1 source
Binary
src
1=1
33.34
Edge counter 1 divider
Real
14294967295
1=1
33.35
Edge counter 1 warn message
List
1=1
33.40
Edge counter 2 actual
Real
04294967295
1=1
33.41
Edge counter 2 warn limit
Real
04294967295
1=1
33.42
Edge counter 2 function
PB
0000b1111b
1=1
33.43
Edge counter 2 source
Binary
src
1=1
33.44
Edge counter 2 divider
Real
14294967295
1=1
33.45
Edge counter 2 warn message
List
1=1
33.50
Value counter 1 actual
Real
-2147483008
2147483008
1=1
33.51
Value counter 1 warn limit
Real
-2147483008
2147483008
1=1
33.52
Value counter 1 function
PB
00b11b
1=1
33.53
Value counter 1 source
Analog
src
1=1
33.54
Value counter 1 divider
Real
0.001 2147483.000
1000 = 1
33.55
Value counter 1 warn message
List
1=1
33.60
Value counter 2 actual
Real
-2147483008
2147483008
1=1
33.61
Value counter 2 warn limit
Real
-2147483008
2147483008
1=1
33.62
Value counter 2 function
PB
00b11b
1=1
33.63
Value counter 2 source
Analog
src
1=1
33.64
Value counter 2 divider
Real
0.001 2147483.000
1000 = 1
33.65
Value counter 2 warn message
List
1=1
Real
-60 1000
C or F
1 = 1
35 Motor thermal protection

35.01
Motor estimated temperature
No.
Name
Type
Range
Unit
FbEq32
35.02
Measured temperature 1
Real
-60 5000 C,
-76 9032 F, 0 ohm or
[35.12] ohm
C, F or
ohm
1 = 1 unit
35.03
Measured temperature 2
Real
-60 5000 C,
-76 9032 F, 0 ohm or
[35.22] ohm
C, F or
ohm
1 = 1 unit
35.04
FPTC status word
PB
0000hFFFFh
1=1
35.11
Temperature 1 source
List
011
1=1
35.12
Temperature 1 fault limit
Real
-60 5000 C or ohm, or

-76 9032 F
C, F or
ohm
1 = 1 unit
35.13
Temperature 1 warning limit
Real
-60 5000 C or ohm, or

-76 9032 F
C, F or
ohm
1 = 1 unit
35.14
Temperature 1 AI source
Analog
src
1=1
35.21
Temperature 2 source
List
011
1=1
35.22
Temperature 2 fault limit
Real
-60 5000 C or ohm,

or -76 9032 F
C, F or
ohm
1 = 1 unit
35.23
Temperature 2 warning limit
Real
-60 5000 C or ohm,

or -76 9032 F
C, F or
ohm
1 = 1 unit
35.24
Temperature 2 AI source
Analog
src
1=1
35.30
FPTC configuration word
PB
0000hFFFFh
1=1
35.50
Motor ambient temperature
Real
-60 100 C or
-76 212 F
C or F
1 = 1
35.51
Motor load curve
Real
50150
1 = 1%
35.52
Zero speed load
Real
50150
1 = 1%
35.53
Break point
Real
1.00 500.00
Hz
100 = 1 Hz
35.54
Motor nominal temperature

rise
Real
0300 C or 32572 F
C or F
1 = 1
35.55
Motor thermal time constant
Real
10010000
1=1s
35.60
Cable temperature
Real
0.0 200.0
10 = 1%
35.61
Cable nominal current
Real
0.00 10000.0
100 = 1 A
35.62
Cable thermal rise time
Real
050000
1=1s
Binary
src
1=1
35.101 DOL starter on delay
Real
042949673
1=1s
35.102 DOL starter off delay
Real
0715828
min
1 = 1 min
35.103 DOL starter feedback source
Binary
src
1=1
35.104 DOL starter feedback delay
Real
042949673
1=1s
35.105 DOL starter status word
PB
0000b1111b
1=1
35.106 DOL starter event type
List
02
1=1
Analog
src
1=1
Real
0.00 120.00
100 = 1 s
35.100 DOL starter control source
36 Load analyzer
36.01
PVL signal source
36.02
PVL filter time
No.
Name
Type
Range
Unit
FbEq32
36.06
AL2 signal source
Analog
src
1=1
36.07
AL2 signal scaling
Real
0.00 32767.00
100 = 1
36.09
Reset loggers
List
03
1=1
36.10
PVL peak value
Real
-32768.00 32767.00
100 = 1
36.11
PVL peak date
Data
1=1
36.12
PVL peak time
Data
1=1
36.13
PVL current at peak
Real
-32768.00 32767.00
100 = 1 A
36.14
PVL DC voltage at peak
Real
0.00 2000.00
100 = 1 V
36.15
PVL speed at peak
Real
-32768.00 32767.00
rpm
100 = 1 rpm
36.16
PVL reset date
Data
1=1
36.17
PVL reset time
Data
1=1
36.20
AL1 0 to 10%
Real
0.00 100.00
100 = 1%
36.21
AL1 10 to 20%
Real
0.00 100.00
100 = 1%
36.22
AL1 20 to 30%
Real
0.00 100.00
100 = 1%
36.23
AL1 30 to 40%
Real
0.00 100.00
100 = 1%
36.24
AL1 40 to 50%
Real
0.00 100.00
100 = 1%
36.25
AL1 50 to 60%
Real
0.00 100.00
100 = 1%
36.26
AL1 60 to 70%
Real
0.00 100.00
100 = 1%
36.27
AL1 70 to 80%
Real
0.00 100.00
100 = 1%
36.28
AL1 80 to 90%
Real
0.00 100.00
100 = 1%
36.29
AL1 over 90%
Real
0.00 100.00
100 = 1%
36.40
AL2 0 to 10%
Real
0.00 100.00
100 = 1%
36.41
AL2 10 to 20%
Real
0.00 100.00
100 = 1%
36.42
AL2 20 to 30%
Real
0.00 100.00
100 = 1%
36.43
AL2 30 to 40%
Real
0.00 100.00
100 = 1%
36.44
AL2 40 to 50%
Real
0.00 100.00
100 = 1%
36.45
AL2 50 to 60%
Real
0.00 100.00
100 = 1%
36.46
AL2 60 to 70%
Real
0.00 100.00
100 = 1%
36.47
AL2 70 to 80%
Real
0.00 100.00
100 = 1%
36.48
AL2 80 to 90%
Real
0.00 100.00
100 = 1%
36.49
AL2 over 90%
Real
0.00 100.00
100 = 1%
36.50
AL2 reset date
Data
1=1
36.51
AL2 reset time
Data
1=1
37 User load curve

37.01
ULC output status word
PB
0000hFFFFh
1=1
37.02
ULC supervision signal
List
1=1
37.03
ULC overload actions
List
03
1=1
37.04
ULC underload actions
List
03
1=1
37.11
ULC speed table point 1
Real
0.0 30000.0
rpm
10 = 1 rpm
37.12
Real
0.0 30000.0
rpm
10 = 1 rpm
No.
Name
Type
Range
Unit
FbEq32
37.13
Real
0.0 30000.0
rpm
10 = 1 rpm
37.14
Real
0.0 30000.0
rpm
10 = 1 rpm
37.15
Real
0.0 30000.0
rpm
10 = 1 rpm
37.16
ULC frequency table point 1
Real
0.0 500.0
Hz
10 = 1 Hz
37.17
Real
0.0 500.0
Hz
10 = 1 Hz
37.18
Real
0.0 500.0
Hz
10 = 1 Hz
37.19
Real
0.0 500.0
Hz
10 = 1 Hz
37.20
Real
0.0 500.0
Hz
10 = 1 Hz
37.21
ULC underload point 1
Real
0.0 1600.0
10 = 1%
37.22
Real
0.0 1600.0
10 = 1%
37.23
Real
0.0 1600.0
10 = 1%
37.24
Real
0.0 1600.0
10 = 1%
37.25
Real
0.0 1600.0
10 = 1%
37.31
ULC overload point 1
Real
0.0 1600.0
10 = 1%
37.32
Real
0.0 1600.0
10 = 1%
37.33
Real
0.0 1600.0
10 = 1%
37.34
Real
0.0 1600.0
10 = 1%
37.35
Real
0.0 1600.0
10 = 1%
37.41
ULC overload timer
Real
0.0 10000.0
10 = 1 s
37.42
ULC underload timer
Real
0.0 10000.0
10 = 1 s

40.01
Process PID output actual
Real
-32768.00 32767.00
rpm, % or 100 = 1 rpm, %

Hz
or Hz
40.02
Process PID feedback actual
Real
-32768.00 32767.00
rpm, % or 100 = 1 rpm, %

Hz
or Hz
40.03
Process PID setpoint actual
Real
-32768.00 32767.00
rpm, % or 100 = 1 rpm, %

Hz
or Hz
40.04
Process PID deviation actual
Real
-32768.00 32767.00
rpm, % or 100 = 1 rpm, %

Hz
or Hz
40.05
Process PID trim output act
Real
-32768.00 32767.00
rpm, % or 100 = 1 rpm, %

Hz
or Hz
40.06
Process PID status word
PB
0000hFFFFh
1=1
40.07
List
02
1=1
40.08
Analog
src
1=1
40.09
Analog
src
1=1
40.10
Set 1 feedback function
List
011
1=1
40.11
Real
0.000 30.000
1000 = 1 s
40.12
List
02
1=1
40.14
Set 1 setpoint scaling
Real
-32768.00 32767.00
100 = 1
40.15
Real
-32768.00 32767.00
100 = 1
40.16
Set 1 setpoint 1 source
Analog
src
1=1
No.
Name
Type
Range
Unit
FbEq32
40.17
Analog
src
1=1
40.18
Set 1 setpoint function
List
011
1=1
40.19
Set 1 internal setpoint sel1
Binary
src
1=1
40.20
Binary
src
1=1
40.21
Set 1 internal setpoint 1
Real
-32768.00 32767.00
rpm, % or 100 = 1 rpm, %

Hz
or Hz
40.22
Real
-32768.00 32767.00
rpm, % or 100 = 1 rpm, %

Hz
or Hz
40.23
Real
-32768.00 32767.00
rpm, % or 100 = 1 rpm, %

Hz
or Hz
40.24
Real
-32768.00 32767.00
rpm, % or 100 = 1 rpm, %

Hz
or Hz
40.25
Set 1 setpoint selection
Binary
src
1=1
40.26
Set 1 setpoint min
Real
-32768.00 32767.00
100 = 1
40.27
Set 1 setpoint max
Real
-32768.00 32767.00
100 = 1
40.28
Set 1 setpoint increase time
Real
0.0 1800.0
10 = 1 s
40.29
Set 1 setpoint decrease time
Real
0.0 1800.0
10 = 1 s
40.30
Set 1 setpoint freeze enable
Binary
src
1=1
40.31
Set 1 deviation inversion
Binary
src
1=1
40.32
Set 1 gain
Real
0.10 100.00
100 = 1
40.33
Set 1 integration time
Real
0.0 32767.0
10 = 1 s
40.34
Set 1 derivation time
Real
0.000 10.000
1000 = 1 s
40.35
Real
0.0 10.0
10 = 1 s
40.36
Set 1 output min
Real
-32768.0 32767.0
10 = 1
40.37
Set 1 output max
Real
-32768.0 32767.0
10 = 1
40.38
Set 1 output freeze enable
Binary
src
1=1
40.39
Set 1 deadband range
Real
0.0 32767.0
10 = 1
40.40
Set 1 deadband delay
Real
0.0 3600.0
10 = 1 s
40.41
Set 1 sleep mode
List
02
1=1
40.42
Set 1 sleep enable
Binary
src
1=1
40.43
Set 1 sleep level
Real
0.0 32767.0
10 = 1
40.44
Set 1 sleep delay
Real
0.0 3600.0
10 = 1 s
40.45
Set 1 sleep boost time
Real
0.0 3600.0
10 = 1 s
40.46
Set 1 sleep boost step
Real
0.0 32767.0
10 = 1
40.47
Set 1 wake-up deviation
Real
-32768.00 32767.00
40.48
Set 1 wake-up delay
Real
0.00 60.00
rpm, % or 100 = 1 rpm, %

Hz
or Hz
s
100 = 1 s
No.
Name
Type
Range
Unit
FbEq32
40.49
Set 1 tracking mode
Binary
src
1=1
40.50
Set 1 tracking ref selection
Analog
src
1=1
40.51
Set 1 trim mode
List
03
1=1
40.52
List
13
1=1
40.53
Set 1 trimmed ref pointer
Analog
src
1=1
40.54
Set 1 trim mix
Real
0.000 1.000
1000 = 1
40.55
Set 1 trim adjust
Real
-100.000 100.000
1000 = 1
40.56
Set 1 trim source
List
12
1=1
40.57
PID set1/set2 selection
Binary
src
1=1
40.60
Binary
src
1=1
40.91
Feedback data storage
Real
-327.68 327.67
100 = 1
40.92
Setpoint data storage
Real
-327.68 327.67
100 = 1
List
02
1=1

41.07
41.08
Analog
src
1=1
41.09
Analog
src
1=1
41.10
Set 2 feedback function
List
011
1=1
41.11
Real
0.000 30.000
1000 = 1 s
41.12
List
02
1=1
41.14
Set 2 setpoint scaling
Real
-32768 32767
100 = 1
41.15
Real
-32768 32767
100 = 1
41.16
Analog
src
1=1
41.17
Analog
src
1=1
41.18
Set 2 setpoint function
List
011
1=1
41.19
Binary
src
1=1
41.20
Binary
src
1=1
41.21
Real
-32768.0 32767.0
rpm, % or 100 = 1 rpm, %

Hz
or Hz
41.22
Real
-32768.0 32767.0
rpm, % or 100 = 1 rpm, %

Hz
or Hz
41.23
Real
-32768.0 32767.0
rpm, % or 100 = 1 rpm, %

Hz
or Hz
41.24
Real
-32768.0 32767.0
rpm, % or 100 = 1 rpm, %

Hz
or Hz
No.
Name
Type
Range
Unit
FbEq32
Binary
src
1=1
41.25
Set 2 setpoint selection
41.26
Set 2 setpoint min
Real
-32768.0 32767.0
100 = 1
41.27
Set 2 setpoint max
Real
-32768.0 32767.0
100 = 1
41.28
Set 2 setpoint increase time
Real
0.0 1800.0
10 = 1 s
41.29
Set 2 setpoint decrease time
Real
0.0 1800.0
10 = 1 s
41.30
Set 2 setpoint freeze enable
Binary
src
1=1
41.31
Set 2 deviation inversion
Binary
src
1=1
41.32
Set 2 gain
Real
0.1 100.0
100 = 1
41.33
Set 2 integration time
Real
0.0 3600.0
10 = 1 s
41.34
Set 2 derivation time
Real
0.0 10.0
1000 = 1 s
41.35
Real
0.0 10.0
10 = 1 s
41.36
Set 2 output min
Real
-32768.0 32767.0
10 = 1
41.37
Set 2 output max
Real
-32768.0 32767.0
10 = 1
41.38
Set 2 output freeze enable
Binary
src
1=1
41.39
Set 2 deadband range
Real
0.0 32767.0
10 = 1
41.40
Set 2 deadband delay
Real
0.0 3600.0
10 = 1 s
41.41
Set 2 sleep mode
List
02
1=1
41.42
Set 2 sleep enable
Binary
src
1=1
41.43
Set 2 sleep level
Real
0.0 32767.0
10 = 1
41.44
Set 2 sleep delay
Real
0.0 3600.0
10 = 1 s
41.45
Set 2 sleep boost time
Real
0.0 3600.0
10 = 1 s
41.46
Set 2 sleep boost step
Real
0.0 32767.0
10 = 1
41.47
Set 2 wake-up deviation
Real
-32768.00 32767.00
41.48
Set 2 wake-up delay
Real
0.00 60.00
100 = 1 s
41.49
Set 2 tracking mode
Binary
src
1=1
41.50
Set 2 tracking ref selection
Analog
src
1=1
41.51
Set 2 trim mode
List
03
1=1
41.52
List
13
1=1
41.53
Set 2 trimmed ref pointer
Analog
src
1=1
41.54
Set 2 trim mix
Real
0.000 1.000
1000 = 1
41.55
Set 2 trim adjust
Real
-100.000 100.000
1000 = 1
41.56
Set 2 trim source
List
12
1=1
41.60
Binary
src
1=1
rpm, % or 100 = 1 rpm, %

Hz
or Hz
No.
Name
Type
Range
Unit
FbEq32
43 Brake chopper
43.01
Braking resistor temperature
Real
0.0 120.0
10 = 1%
43.06
Brake chopper function
List
03
1=1
43.07
Brake chopper run enable
Binary
src
1=1
43.08
Brake resistor thermal tc
Real
010000
1=1s
43.09
Brake resistor Pmax cont
Real
0.00 10000.00
kW
100 = 1 kW
43.10
Brake resistance
Real
0.0 1000.0
ohm
10 = 1 ohm
43.11
Brake resistor fault limit
Real
0150
1 = 1%
43.12
Brake resistor warning limit
Real
0150
1 = 1%
PB
00000000b11111111b
1=1
44 Mechanical brake control

44.01
Brake control status
44.02
Brake torque memory
Real
-1600.0 1600.0
10 = 1%
44.03
Brake open torque reference
Real
-1600.0 1600.0
10 = 1%
44.06
Brake control enable
Binary
src
1=1
44.07
Brake acknowledge selection
Binary
src
1=1
44.08
Brake open delay
Real
0.00 5.00
100 = 1 s
44.09
Brake open torque source
Analog
src
1=1
44.10
Brake open torque
Real
-10001000
10 = 1%
44.11
Keep brake closed
Binary
src
1=1
44.12
Brake close request
Binary
src
1=1
44.13
Brake close delay
Real
0.00 60.00
100 = 1 s
44.14
Brake close level
Real
0.0 1000.0
rpm
100 = 1 rpm
44.15
Brake close level delay
Real
0.00 10.00
100 = 1 s
44.16
Brake reopen delay
Real
0.00 10.00
100 = 1 s
44.17
List
02
1=1
44.18
Brake fault delay
Real
0.00 60.00
100 = 1 s
45.01
Saved GW hours
Real
065535
GWh
1 = 1 GWh
45.02
Saved MW hours
Real
0999
MWh
1 = 1 MWh
45.03
Saved kW hours
Real
0.0 999.0
kWh
10 = 1 kWh
45.05
Saved money x1000
Real
04294967295
thousand 1 = 1 thousand
45.06
Saved money
Real
0.00 999.99
(selectable)
100 = 1 unit
45.08
CO2 reduction in kilotons
Real
065535
metric
kiloton
1 = 1 metric
kiloton
45.09
CO2 reduction in tons
Real
0.0 999.9
metric
ton
10 = 1 metric
ton
45.11
Energy optimizer
List
01
1=1
No.
Name
Type
Range
Unit
FbEq32
45.12
Energy tariff 1
Real
0.000 4294967.295
(selectable)
1000 = 1 unit
45.13
Energy tariff 2
Real
0.000 4294967.295
(selectable)
1000 = 1 unit
45.14
Tariff selection
Binary
src
1=1
45.17
Tariff currency unit
List
100102
1=1
45.18
CO2 conversion factor
Real
0.000 65.535
metric
ton/ MWh
1000 = 1
metric
ton/MWh
45.19
Comparison power
Real
0.0 100000.0
kW
10 = 1 kW
45.21
Energy calculations reset
List
01
1=1
46 Monitoring/scaling settings
46.01
Speed scaling
Real
0.10 30000.00
rpm
100 = 1 rpm
46.02
Frequency scaling
Real
0.10 1000.00
Hz
100 = 1 Hz
46.03
Torque scaling
Real
0.1 1000.0
10 = 1%
46.04
Power scaling
Real
0.10 30000.00 kW or
0.10 40214.48 hp
kW or hp
100 = 1 unit
46.05
Current scaling
Real
030000
1=1A
46.06
Speed ref zero scaling
Real
0.00 30000.00
rpm
100 = 1 rpm
46.07
Frequency ref zero scaling
Real
0.00 1000.00
Hz
100 = 1 Hz
46.11
Filter time motor speed
Real
020000
ms
1 = 1 ms
46.12
Filter time output frequency
Real
020000
ms
1 = 1 ms
46.13
Filter time motor torque
Real
020000
ms
1 = 1 ms
46.14
Filter time power out
Real
020000
ms
1 = 1 ms
46.21
At speed hysteresis
Real
0.00 30000.00
rpm
100 = 1 rpm
46.22
At frequency hysteresis
Real
0.00 1000.00
Hz
100 = 1 Hz
46.23
At torque hysteresis
Real
0.0 300.0
1 = 1%
46.31
Above speed limit
Real
0.00 30000.00
rpm
100 = 1 rpm
46.32
Above frequency limit
Real
0.00 1000.00
Hz
100 = 1 Hz
46.33
Above torque limit
Real
0.0 1600.0
10 = 1%
46.42
Torque decimals
List
02
1=1
47 Data storage
47.01
Real
Defined by 47.31
1000 = 1
47.02
Real
Defined by 47.32
1000 = 1
47.03
Real
Defined by 47.33
1000 = 1
47.04
Real
Defined by 47.34
1000 = 1
47.05
Real
Defined by 47.35
1000 = 1
47.06
Real
Defined by 47.36
1000 = 1
47.07
Real
Defined by 47.37
1000 = 1
47.08
Real
Defined by 47.38
1000 = 1
47.11
Data storage 1 int32
Real
-2147483648
2147483647
1=1
No.
Name
Type
Range
Unit
FbEq32
47.12
Real
-2147483648
2147483647
1=1
47.13
Real
-2147483648
2147483647
1=1
47.14
Real
-2147483648
2147483647
1=1
47.15
Real
-2147483648
2147483647
1=1
47.16
Real
-2147483648
2147483647
1=1
47.17
Real
-2147483648
2147483647
1=1
47.18
Real
-2147483648
2147483647
1=1
47.21
Real
-32768 32767
1=1
47.22
Real
-32768 32767
1=1
47.23
Real
-32768 32767
1=1
47.24
Real
-32768 32767
1=1
47.25
Real
-32768 32767
1=1
47.26
Real
-32768 32767
1=1
47.27
Real
-32768 32767
1=1
47.28
Real
-32768 32767
1=1
47.31
Data storage 1 real32 type
List
05
1=1
47.32
List
05
1=1
47.33
List
05
1=1
47.34
List
05
1=1
47.35
List
05
1=1
47.36
List
05
1=1
47.37
List
05
1=1
47.38
List
05
1=1
49 Panel port communication

49.01
Node ID number
Real
132
1=1
49.03
Baud rate
List
15
1=1
49.04
Communication loss time
Real
0.3 3000.0
10 = 1 s
49.05
Communication loss action
List
05
1=1
49.06
Refresh settings
List
01
1=1
49.07
Panel comm supervision force
PB
0000hFFFFh
1=1
49.08
Secondary comm. loss action
List
05
1=1
49.14
Panel speed reference unit
List
01
1=1
49.15
Minimum ext speed ref panel
Real
-30000.00 30000.00
rpm
100 = 1 rpm
49.16
Maximum ext speed ref panel
Real
-30000.00 30000.00
rpm
100 = 1 rpm
49.17
Minimum ext frequency ref

panel
Real
-500.00 500.00
Hz
100 = 1 Hz
No.
49.18
Name
Maximum ext frequency ref
panel
Type
Range
Unit
FbEq32
Real
-500.00 500.00
Hz
100 = 1 Hz
50 Fieldbus adapter (FBA)

50.01
FBA A enable
List
03
1=1
50.02
FBA A comm loss func
List
05
1=1
50.03
FBA A comm loss t out
Real
0.3 6553.5
10 = 1 s
50.04
FBA A ref1 type
List
05
1=1
50.05
FBA A ref2 type
List
05
1=1
50.07
FBA A actual 1 type
List
06
1=1
50.08
FBA A actual 2 type
List
06
1=1
50.09
FBA A SW transparent source
Analog
src
1=1
50.10
FBA A act1 transparent source
Analog
src
1=1
50.11
FBA A act2 transparent source
Analog
src
1=1
50.12
FBA A debug mode
List
01
1=1
50.13
FBA A control word
Data
00000000h FFFFFFFFh
1=1
50.14
FBA A reference 1
Real
-2147483648
2147483647
1=1
50.15
FBA A reference 2
Real
-2147483648
2147483647
1=1
50.16
FBA A status word
Data
00000000h FFFFFFFFh
1=1
50.17
FBA A actual value 1
Real
-2147483648
2147483647
1=1
50.18
FBA A actual value 2
Real
-2147483648
2147483647
1=1
50.21
FBA A timelevel sel
List
03
1=1
50.26
FBA A comm supervision force
PB
0000hFFFFh
1=1
50.31
FBA B enable
List
01
1=1
50.32
FBA B comm loss func
Real
05
1=1
50.33
FBA B comm loss timeout
List
0.3 6553.5
10 = 1 s
50.34
FBA B ref1 type
List
05
1=1
50.35
FBA B ref2 type
List
05
1=1
50.37
FBA B actual 1 type
List
06
1=1
50.38
FBA B actual 2 type
List
06
1=1
50.39
FBA B SW transparent source
Analog
src
1=1
50.40
FBA B act1 transparent source
Analog
src
1=1
50.41
FBA B act2 transparent source
List
1=1
50.42
FBA B debug mode
Data
01
1=1
50.43
FBA B control word
Real
00000000h FFFFFFFFh
1=1
50.44
FBA B reference 1
Real
-2147483648
2147483647
1=1
No.
Name
Type
Range
Unit
FbEq32
50.45
FBA B reference 2
Data
-2147483648
2147483647
1=1
50.46
FBA B status word
Real
00000000h FFFFFFFFh
1=1
50.47
FBA B actual value 1
Real
-2147483648
2147483647
1=1
50.48
FBA B actual value 2
-2147483648
2147483647
1=1
50.51
FBA B timelevel sel
List
03
1=1
50.56
FBA B comm supervision force
PB
0000hFFFFh
1=1
51 FBA A settings
51.01
FBA A type
List
1=1
51.02
FBA A Par2
Real
065535
1=1
51.26
FBA A Par26
Real
065535
1=1
51.27
FBA A par refresh
List
01
1=1
51.28
FBA A par table ver
Data
1=1
51.29
FBA A drive type code
Real
065535
1=1
51.30
FBA A mapping file ver
Real
065535
1=1
51.31
D2FBA A comm status
List
06
1=1
51.32
FBA A comm SW ver
Data
1=1
51.33
FBA A appl SW ver
Data
1=1
FBA A data in1
List
1=1
FBA A data in12
List
1=1
FBA A data out1
List
1=1
FBA A data out12
List
UINT16
065535
UINT16
065535
List
01
52 FBA A data in
52.01
52.12
53 FBA A data out

53.01
53.12
54 FBA B settings
54.01
FBA B type
54.02
FBA B Par2
54.26
FBA B Par26
54.27
FBA B par refresh
54.28
FBA B par table ver
UINT16
065535
54.29
FBA B drive type code
UINT16
065535
54.30
FBA B mapping file ver
UINT16
065535
54.31
D2FBA B comm status
List
06
54.32
FBA B comm SW ver
UINT16
065535
54.33
FBA B appl SW ver
UINT16
065535
1=1
No.
Name
Type
Range
Unit
FbEq32
FBA B data in1
List
1=1
FBA B data in12
List
1=1
FBA B data out1
List
1=1
FBA B data out12
List
1=1
55 FBA B data in
55.01
55.12
56 FBA B data out

56.01
56.12
58.01
Protocol enable
List
01
1=1
58.02
Protocol ID
Real
0000hFFFFh
1=1
58.03
Node address
Real
0255
1=1
58.04
Baud rate
List
27
1=1
58.05
Parity
List
03
1=1
58.06
Communication control
List
02
1=1
58.07
Communication diagnostics
PB
0000hFFFFh
1=1
58.08
Received packets
Real
04294967295
1=1
58.09
Transmitted packets
Real
04294967295
1=1
58.10
All packets
Real
04294967295
1=1
58.11
UART errors
Real
04294967295
1=1
58.12
CRC errors
Real
04294967295
1=1
58.14
Communication loss action
List
05
1=1
58.15
Communication loss mode
List
12
1=1
58.16
Communication loss time
Real
0.0 6000.0
10 = 1 s
58.17
Transmit delay
Real
065535
ms
1 = 1 ms
58.18
EFB control word
PB
0000hFFFFh
1=1
58.19
EFB status word
PB
0000hFFFFh
1=1
58.25
Control profile
List
0, 2
1=1
58.26
EFB ref1 type
List
05
1=1
58.27
EFB ref2 type
List
05
1=1
58.28
EFB act1 type
List
06
1=1
58.29
EFB act2 type
List
06
1=1
58.30
EFB status word transparent

source
Analog
src
1=1
58.31
EFB act1 transparent source
Analog
src
1=1
58.32
EFB act2 transparent source
Analog
src
1=1
58.33
Addressing mode
List
02
1=1
58.34
Word order
List
01
1=1
58.36
EFB comm supervision force
PB
0000hFFFFh
1=1
No.
Type
Range
Unit
FbEq32
58.101 Data I/O 1
Analog
src
1=1
58.102 Data I/O 2
Analog
src
1=1
58.103 Data I/O 3
Analog
src
1=1
58.104 Data I/O 4
Analog
src
1=1
58.105 Data I/O 5
Analog
src
1=1
58.106 Data I/O 6
Analog
src
1=1
58.107 Data I/O 7
Analog
src
1=1
58.124 Data I/O 24
Analog
src
1=1
Name
60 DDCS communication
60.01
M/F communication port
List
60.02
M/F node address
Real
1254
60.03
M/F mode
List
06
60.05
M/F HW connection
List
01
60.07
M/F link control
Real
115
60.08
M/F comm loss timeout
Real
065535
ms
60.09
M/F comm loss function
List
03
60.10
M/F ref1 type
List
05
60.11
M/F ref2 type
List
05
60.12
M/F act1 type
List
05
60.13
M/F act2 type
List
05
60.14
M/F follower selection
Real
016
60.15
Force master
Binary
src
1=1
60.16
Force follower
Binary
src
1=1
60.17
Follower fault action
List
02
60.18
Follower enable
List
06
60.19
M/F comm supervision sel 1
PB
0000h FFFFh
1=1
60.20
M/F comm supervision sel 2
PB
0000h FFFFh
1=1
60.23
M/F status supervision sel 1
PB
0000h FFFFh
1=1
60.24
M/F status supervision sel 2
PB
0000h FFFFh
1=1
60.27
M/F status supv mode sel 1
PB
0000h FFFFh
1=1
60.28
M/F status supv mode sel 2
PB
0000h FFFFh
1=1
60.31
M/F wake up delay
Real
0.0...180.0
10 = 1 s
60.32
M/F comm supervision force
PB
0000hFFFFh
1=1
No.
Name
Type
Range
Unit
FbEq32
60.41
Extension adapter com port
List
60.50
DDCS controller drive type
List
01
60.51
DDCS controller comm port
List
60.52
DDCS controller node address
Real
1254
60.55
DDCS controller HW
connection
List
01
60.57
DDCS controller link control
Real
115
60.58
DDCS controller comm loss

time
Real
060000
ms
60.59
DDCS controller comm loss

function
List
05
60.60
DDCS controller ref1 type
List
05
60.61
DDCS controller ref2 type
List
05
60.62
DDCS controller act1 type
List
05
60.63
DDCS controller act2 type
List
05
60.64
Mailbox dataset selection
List
01
60.65
DDCS controller comm

supervision force
PB
0000hFFFFh
1=1

60.71
INU-LSU communication port
List
1=1
60.77
INU-LSU link control
Real
115
60.78
INU-LSU comm loss timeout
Real
065535
ms
60.79
INU-LSU comm loss function
Binary
src
1=1
61 D2D and DDCS transmit data

61.01
M/F data 1 selection
List
61.02
List
61.03
List
61.25
M/F data 1 value
Real
065535
61.26
M/F data 2 value
Real
065535
61.27
M/F data 3 value
Real
065535
61.45
Data set 2 data 1 selection
List
61.46
List
61.47
List
61.48
List
61.49
List
61.50
List
61.51
List
61.52
List
61.53
List
61.54
List
61.55
List
61.56
List
No.
Name
Type
Range
Unit
FbEq32
61.57
List
61.58
List
61.59
List
61.60
List
61.61
List
61.62
List
61.63
List
61.64
List
61.65
List
61.66
List
61.67
List
61.68
List
61.69
List
61.70
List
61.71
List
61.72
List
61.73
List
61.74
List
61.95
Data set 2 data 1 value
Real
065535
61.96
Real
065535
61.97
Real
065535
61.98
Real
065535
61.99
Real
065535
61.100 Data set 4 data 3 value
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
No.
Name
Type
Range
Unit
FbEq32
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535

61.151 INU-LSU Data set 10 data 1
sel
List

sel
List

sel
List

value
Real
065535

value
Real
065535

value
Real
065535
62 D2D and DDCS receive data

62.01
List
62.02
List
62.03
List
62.04
Follower node 2 data 1 sel
List
62.05
List
62.06
List
62.07
List
62.08
List
62.09
List
62.10
List
62.11
List
62.12
List
62.25
MF data 1 value
Real
065535
62.26
MF data 2 value
Real
065535
62.27
MF data 3 value
Real
065535
62.28
Follower node 2 data 1 value
Real
065535
62.29
Real
065535
62.30
Real
065535
62.31
Real
065535
62.32
Real
065535
62.33
Real
065535
62.34
Real
065535
No.
Name
Type
Range
Unit
FbEq32
62.35
Real
065535
62.36
Real
065535
62.37
M/F communication status 1
PB
0000h FFFFh
1=1
62.38
M/F communication status 2
PB
0000h FFFFh
1=1
62.41
M/F follower ready status 1
PB
0000h FFFFh
1=1
62.42
M/F follower ready status 2
PB
0000h FFFFh
1=1
62.45
List
62.46
List
62.47
List
62.48
List
62.49
List
62.50
List
62.51
List
62.52
List
62.53
List
62.54
List
62.55
List
62.56
List
62.57
List
62.58
List
62.59
List
62.60
List
62.61
List
62.62
List
62.63
List
62.64
List
62.65
List
62.66
List
62.67
List
62.68
List
62.69
List
62.70
List
62.71
List
62.72
List
62.73
List
62.74
List
62.95
Real
065535
62.96
Real
065535
62.97
Real
065535
62.98
Real
065535
62.99
Real
065535
No.
Name
Type
Range
Unit
FbEq32
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535
Real
065535

62.151 INU-LSU data set 11 data 1 sel
Real
List
Real
List
Real
List
62.201 INU-LSU data set 11 data 1

value
Real
065535

value
Real
065535

value
Real
065535
74.05
Winding mode
List
01
1=1
74.06
Motor direction
List
01
1=1
74.11
Gear ratio 1
Real
0.01032767.000
1000 = 1
74.12
Gear ratio 2
Real
0.01032767.000
1000 = 1
74.13
Gear 1/2 selection
List
01
1=1
74.21
Material Thickness
Real
0.01032767.000
mm
1000 = 1 mm
No.
74.22
Name
Material Width
Type
Range
Unit
FbEq32
Real
0.0 32767.0
mm
10 = 1 mm
10 = 1 kg/m3
74.23
Material Density
Real
0.032767.0
kg/m3
74.29
Length source
List
02
1=1
74.49
Winder control word
PB
0b00000b111111
1=1
74.51
Winder control status
PB
0x00000xffff
1=1
74.61
Used length
Real
0.0100000.0
10 = 1 m
74.91
Unit system
List
01
1=1
75 Winder speed settings

75.01
Max line speed
Real
0.0 32767.0
m/min
10 = 1 m/min
75.02
Line speed reference src
List
07
1=1
75.03
Line reference scaling
Real
0.0032767.00
100 = 1
75.05
Line ref source cycle time
Real
032767
1=1
75.11
Acceleration ramp time
Real
0.0032767.00
100 = 1 s
75.12
Deceleration ramp time
Real
0.0032767.00
100 = 1 s
75.13
Stop ramp time
Real
0.0032767.00
100 = 1 s
75.21
Thread forward command
List
09
1=1
75.22
Thread reverse command
List
09
1=1
75.23
Threading forward line ref
Real
0.032767.0 m/min
10 = 1 m/min
75.24
Threading reverse line ref
Real
-32767.0...0.0 m/min
10 = 1 m/min
75.25
Threading acceleration time
Real
0.0032767.00 s
100 = 1 s
75.26
Threading deceleration time
Real
0.0032767.00 s
100 = 1 s
75.31
Overspeed ref offset
Real
0.00100.00
100 = 1%
75.32
Dynamic offset trim
Real
-100.001000.00
100 = 1%
75.35
Speed matching enable
List
02
1=1
75.36
Speed match trim Src
List
07
1=1
75.37
Speed match range
Real
-500.00500.00
100 = 1%
75.41
Line speed feedback src
List
06
1=1
75.42
Line feedback filter time
Real
0... 32767
ms
1 = 1 ms
75.43
Line feedback feed constant
Real
0.00000... 32767.00000
unit/rev
100000 = 1
unit/rev
75.51
Line reference In
Real
-32767.032767.0
m/min
10 = 1 m/min
75.52
Line reference ramped
Real
-32767.032767.0
m/min
10 = 1 m/min
75.58
Line act speed scaled
Real
-32767.0032767.00
100 = 1
75.59
Line speed actual
Real
-32767.032767.0
m/min
10 = m/min
75.60
Roll speed actual
Real
-32767.032767.0
rpm
10 = 1 rpm
75.61
Max motor speed at core
Real
-32767.032767.0
rpm
10 = 1 rpm
75.62
Motor speed from line ref
Real
-32767.032767.0
rpm
10 = 1 rpm
75.63
Motor ref diameter scaled
Real
-32767.032767.0
rpm
10 = 1 rpm
75.66
Speed ref additive
Real
-32767.032767.0
rpm
10 = 1 rpm
75.67
Speed match trim
Real
-32767.032767.0
rpm
10 = 1 rpm
75.89
Speed reference status
PB
0b00000b111111
1=1
No.
Name
Type
Range
Unit
FbEq32
76.01
Diameter calculation mode
List
03
1=1
76.02
Diameter feedback Src
List
07
1=1
76.03
Actual diameter filter time
Real
032767
ms
1 = 1 ms
76.05
Count up enable
List
02
1=1
76.06
Count down enable
List
02
1=1
76.07
Hold diameter count
List
01
1=1
76.08
Core diameter
Real
0.032767.0
mm
10 = 1 mm
76.09
Full roll diameter
Real
0.032767.0
mm
10 = 1 mm
76.11
Reset estimated diameter
List
04
1=1
76.25
Preset estimated diameter
List
04
1=1
76.26
Estimation preset value
Real
0.032767.0
mm
10 = 1 mm
76.29
Reset/Preset while running
List
04
1=1
76.31
Min speed for diameter calc
Real
0.00100.00
100 = 1%
76.32
Min tension for diameter calc
Real
0.00100.00
100 = 1%
76.35
Estimation slope gain
Real
0.000 100.000
1000 = 1
76.36
Estimation boost time
Real
0.0032767.00
100 = 1 s
76.37
Estimation boost multiplier
Real
0.000100.000
1000 = 1
76.49
Raw estimate filter time
Real
0... 65536
ms
1 = 1 ms
76.50
Raw diameter estimation
Real
0.0... 32767.0
mm
10 = 1 mm
76.51
Estimated diameter filtered
Real
0.032767.0
mm
10 = 1 mm
76.61
Measured diameter
Real
0.032767.0
mm
10 = 1 mm
76.88
Diameter hold status
PB
0b00000b111111
1=1
77 Tension/Dancer control
77.01
Enable tension control
List
09
1=1
77.02
Tension control mode
List
04
1=1
77.03
Tension reference Src
List
07
1=1
77.04
Load cell feedback Src
List
07
1=1
77.05
Max tension
Real
0.065535.0
N/m
10 = 1 N/m
77.06
Tension reference scaling
Real
0... 32767
1=1
77.09
Tension ref change rate
Real
0.0... 32767.0
%/s
10 = 1 %/s
77.11
Taper mode
List
03
1=1
77.12
Tapering reference signal
List
02
1=1
77.13
Taper starting point
Real
-32767.00...32767.00
100 = 1
77.14
Taper end point
Real
-32767.00...32767.00
100 = 1
77.15
Max taper tension trim %
Real
-100.00100.00
100 = 1%
77.21
Stall function enable
List
01
1=1
77.22
Stall speed threshold %
Real
0.00100.00
100 = 1%
77.23
Stall tension set point %
Real
0.0032767.00
100 = 1%
77.31
Dancer feedback Src
List
09
1=1
77.32
Dancer position max
Real
0.0032767.00
100 = 1
No.
Name
Type
Range
Unit
FbEq32
77.33
Dancer position min
Real
0.0032767.00
100 = 1
77.34
Dancer position set-point 1
Real
-32767.00... 32767.00
100 = 1
77.35
Dancer position set-point 2
Real
-32767.00... 32767.00
100 = 1
77.36
Dancer set-point 1/2 selection
List
01
1=1
77.39
Dancer ref change rate
Real
0.0... 32767.0
%/s
10 = 1 %/s
77.51
Tension reference In
Real
0.0... 32767.0
N/m
10 = 1 N/m
77.52
Tension reference Used
Real
0.0... 32767.0
N/m
10 = 1 N/m
77.53
Force reference Used
Real
0.0... 32767.0
10 = 1 N
77.56
Tension torque ref %
Real
-1600.00 1600.00
100 = 1 %
77.60
Tension set-point tapered
Real
0.0... 32767.0
10 = 1 N
77.61
Tapering progress
Real
0.00... 100.00
100 = 1 %
77.62
Taper trim share
Real
0.00... 100.00
100 = 1 %
77.70
Load cell measurement
Real
0.0... 32767.0
10 = 1 N
77.71
Measured tension
Real
0.0... 32767.0
N/m
10 = 1 N/m
77.72
Estimated tension
Real
0.0... 32767.0
N/m
10 = 1 N/m
77.80
Dancer position measured
Real
0.0032767.00
10 = 1
77.81
Dancer set-point In
Real
0.0032767.00
10 = 1
77.82
Dancer set point used
Real
0.0032767.00
10 = 1
77.91
Tension measure selection
List
01
1=1
78 Winder PID controller

78.01
Force open loop
List
01
1=1
78.02
Force P-control only
List
01
1=1
78.09
PID output range
Real
0.0032767.00
100 = 1%
78.11
P-gain 1
Real
0.0032767.00
100 = 1
78.12
I-time 1
Real
0.00032767.000
1000 = 1 s
78.13
D-time 1
Real
0.032767.0
ms
10 = 1 ms
78.14
PID adaptation
List
01
1=1
78.15
Adaptation mode
List
01
1=1
78.16
P-gain 2
Real
0.0032767.00
100 = 1
78.17
I-time 2
Real
0.00032767.000
1000 = 1 s
78.18
D-time 2
Real
0.032767.0
ms
10 = 1 ms
78.21
Stall P-gain
Real
0.0032767.00
100 = 1
78.22
Stall I-time
Real
0.00032767.000
1000 = 1 s
78.25
Invert PID error sign
List
01
1=1
78.26
Negative error response
Real
0.00... 100.00
100 = 1 %
78.27
Positive error response
Real
0.00... 100.00
100 = 1 %
78.31
Trim mode control
PB
0b00000b111111
1=1
78.32
Trim multiplier
Real
-32767.000032767.0000
10000 = 1
78.33
User trim source
List
07
1=1
78.34
Speed trim min
Real
0.001.00
100 = 1
78.38
Minimum trim factor
Real
-32767.0032767.00
100 = 1
No.
Name
Type
Range
Unit
FbEq32
78.39
Maximum trim factor
Real
-32767.0032767.00
100 = 1
78.49
PID feedback filter time
Real
0... 32767
ms
1 = 1 ms
78.51
PID feedback used %
Real
-32767.00 32767.00
100 = 1%
78.52
PID reference used %
Real
-32767.00 32767.00
100 = 1%
78.56
Used P-gain
Real
0.0032767.00
100 = 1
78.57
Used I-time
Real
0.00032767.000
1000 = 1 s
78.58
Used D-time
Real
0.0... 32767.0 ms
ms
10 = 1 ms
78.60
Controller error %
Real
-32767.0032767.00
100 = 1%
78.61
P term actual
Real
-32767.00032767.000
1000 = 1
78.62
I-term actual
Real
-32767.00032767.000
1000 = 1
78.63
D-term actual
Real
-32767.00032767.000
1000 = 1
78.69
PID output limited
Real
-32767.00032767.000
1000 = 1
78.75
Trim factor used
Real
-32767.00032767.000
1000 = 1
78.79
PID output trimmed
Real
-32767.00032767.000
1000 = 1
79 Mechanical losses compensation

79.11
Friction compensation enable
List
01
1=1
79.12
Static friction torque
Real
0.00100.00
100 = 1%
79.13
Friction torque at 5% speed
Real
0.00100.00
100 = 1%
79.14
Real
0.00100.00
100 = 1%
79.15
Real
0.00100.00
100 = 1%
79.16
Real
0.00100.00
100 = 1%
79.17
Real
0.00100.00
100 = 1%
79.18
Real
0.00100.00
100 = 1%
79.19
Real
0.00100.00
100 = 1%
79.21
Friction torque additive
Real
-100.00100.00
100 = 1%
79.31
Inertia compensation enable
List
01
1=1
79.32
Inertia calculation method
List
01
1=1
1000 = 1 kgm2
79.33
Fixed inertia
Real
0.0000 32767.000
kgm2
79.34
Full roll weight
Real
0.0 65535.0
kg
10 = 1 kg
0.0010.00
100 = 1
0.0010.00
100 = 1
100 = 1
79.41
79.42
Acceleration comp gain

Deceleration comp gain
Real
Real
79.43
Steady-speed comp gain
Real
0.0010.00
79.49
IC filter time
Real
032767
ms
1 = 1 ms
79.51
Actual motor speed %
Real
-2147483648.00...
2147483648.00
100 = 1 %
79.55
Friction torque used %
Real
-100.00100.00
100 = 1 %
79.56
Friction impact on Tension
Real
-32767.0... 32767.0
10 = 1 N
79.61
Used weight
Real
0.065535.0
kg
10 = 1 kg
10000 =
1 kgm2
79.62
Actual load inertia
Real
0.000032767.0000
kgm2
79.63
Load angular acceleration
Real
-32767.00... 32767.00
rpm/s
100 = 1 rpm/s
79.65
Inertial torque demand %
Real
-1600.001600.00
10 = 1 %
No.
Name
Type
Range
Unit
FbEq32
79.66
Used IC gain
Real
-10.0010.00
100 = 1
79.67
Inertial torque ref used %
Real
-1000.001000.00
100 = 1 %
80.01
Take torque sample
List
09
1=1
80.02
Torque memory enable
List
09
1=1
80.09
TM ref change rate
Real
0.0...32767.0
%/s
10 = 1 %/s
80.11
TM reference boost %
Real
-1000.001000.00
100 = 1 %
80.12
Boost ON-delay
Real
0.0032767.00
100 = 1 s
80.15
Torque boost force cmd
List
0...2
1=1
80.41
Overspeed tolerance %
Real
0.00...32767.00
100 = 1 %
80.42
Overspeed tolerance (rpm)
Real
0.0...32767.0
rpm
10 = 1 rpm
80.43
Overspeed tolerance selection
List
0...2
1=1
80.44
Overspeed recovery ramp

time
Real
0.00...32767.00
100 = 1 s
80.48
Torque memory signal src
List
0...2
1=1
80.49
TM torque filter time
Real
032767
ms
1 = 1 ms
80.51
TM torque filtered
Real
-1600.00 1600.00
100 = 1%
80.52
Memorised torque sample %
Real
-1600.00 1600.00
100 = 1%
80.53
TM torque reference used %
Real
-1600.00 1600.00
100 = 1%
80.59
TM function state
List
05
1=1
80.61
Torque mode overspeed limit
Real
-32767.0 32767.0
rpm
10 = 1 rpm
81 Winder safety
81.01
Web-loss function
List
02
1=1
81.02
Web-loss sensor Src
List
09
1=1
81.04
Speed error low %
Real
0.00100.00
100 = 1%
81.05
Open-loop supervision
List
01
1=1
81.09
Open-loop trip delay
Real
0.0032767.00
100 = 1 s
81.11
PID feedback supervision
PB
0b00000b111111
1=1
81.12
Level low
Real
-32767.00... 32767.00
100 = 1 %
81.13
Level high
Real
-32767.00... 32767.00
100 = 1 %
81.14
PID error threshold %
Real
-32767.00... 32767.00
100 = 1 %
81.15
Closed-loop supervision
List
01
1=1
81.19
Closed-loop trip delay
Real
0.0032767.00
100 = 1 s
81.41
Motor speed limit set
List
01
1=1
81.42
Motor speed minimum
Real
-32767.0 ... 0.0
rpm
10 = 1 rpm
81.43
Motor speed maximum
Real
0.0 ... 32767.0
rpm
10 = 1 rpm
81.51
WL detection status
List
02
1=1
81.52
WL supervision signal
List
03
1=1
81.53
Observed value
Real
-100.00100.00
100 = 1%
81.59
Observer status word
PB
0b00000b111111
1=1
No.
Name
Type
Range
Unit
FbEq32
82 Virtual Roll
82.11
Counter source selection
List
03
1=1
82.12
Encoder placement
List
02
1=1
82.13
Counter input type
List
01
1=1
82.15
VR line feed constant
Real
0.0000032767.00000
unit/rev
100000 =
1 unit/rev
82.19
Hold roll counter
List
02
1=1
82.21
Reset VR diameter
List
05
1=1
82.22
Preset VR diameter
List
05
1=1
82.23
VR diameter preset source
List
01
1=1
82.36
Estimated tension filter time
Real
0... 32767
ms
1 = 1 ms
82.51
Max speed Sim can take
Real
0.032767.0
m/min
10 = 1 m/min
82.54
Detected line speed
Real
0.032767.0
m/min
10 = 1 m/min
82.56
VR rotating speed
Real
0.032767.0
rpm
10 = 1 rpm
82.60
Length on roll
Real
0.0100000.0
10 = 1 m
82.61
Virtual roll diameter
Real
0.032767.0
mm
10 = 1 mm
82.62
VR Diameter ratio
Real
0.000010.0000
10000 = 1
82.64
Actual wrap count
Real
0.0065536.00
100 = 1
82.71
VR Estimated tension
Real
-32767.0...32767.0
N/m
10 = 1 N/m
82.72
VR Estimated force
Real
-32767.0...32767.0
10 = 1 N
82.89
VR Function status
PB
0b00000b111111
1=1
90.01
Motor speed for control
Real
-32768.00 32767.00
rpm
100 = 1 rpm
90.02
Motor position
Real
0.00000000 1.00000000
rev
100000000 =
1 rev
90.03
Load speed
Real
-32768.00 32767.00
rpm
100 = 1 rpm
90.04
Load position
Real
-2147483648
2147483647
1=1
90.05
Load position scaled
Real
-2147483.264
2147483.264
100000 = 1
90.06
Motor position scaled
Real
-2147483.648
2147483.647
1000 = 1
90.07
Load position scaled int
Real
-2147483648
2147483647
1=1
90.10
Encoder 1 speed
Real
-32768.00 32767.00
rpm
100 = 1 rpm
90.11
Encoder 1 position
Real
0.00000000 1.00000000
rev
100000000 =
1 rev
90.12
Encoder 1 multiturn
revolutions
Real
016777215
1=1
90.13
Encoder 1 revolution
extension
Real
-2147483648
2147483647
1=1
90.14
Encoder 1 position raw
Real
016777215
1=1
90.15
Encoder 1 revolutions raw
Real
016777215
1=1
No.
Name
Type
Range
Unit
FbEq32
90.20
Encoder 2 speed
Real
-32768.00 32767.00
rpm
100 = 1 rpm
90.21
Encoder 2 position
Real
0.00000000 1.00000000
rev
100000000 =
1 rev
90.22
Encoder 2 multiturn
revolutions
Real
016777215
1=1
90.23
Encoder 2 revolution
extension
Real
-2147483648
2147483647
1=1
90.24
Encoder 2 position raw
Real
016777215
1=1
90.25
Encoder 2 revolutions raw
Real
016777215
1=1
90.26
Motor revolution extension
Real
-2147483648
2147483647
1=1
90.27
Load revolution extension
Real
-2147483648
2147483647
1=1
90.35
Pos counter status
PB
000000b111111b
1=1
90.38
Pos counter decimals
List
09
1=1
90.41
Motor feedback selection
List
02
1=1
90.42
Motor speed filter time
Real
010000
ms
1 = 1 ms
90.43
Motor gear numerator
Real
-3276832767
1=1
90.44
Motor gear denominator
Real
-3276832767
1=1
90.45
Motor feedback fault
List
01
1=1
90.46
Force open loop
List
01
1=1
90.48
Motor position axis mode
List
01
1=1
90.49
Motor position resolution
Real
031
1=1
90.51
Load feedback selection
List
04
1=1
90.52
Load speed filter time
Real
010000
ms
1 = 1 ms
90.53
Load gear numerator
Real
-2147483648
2147483647
1=1
90.54
Load gear denominator
Real
-2147483648
2147483647
1=1
90.55
Load feedback fault
List
01
1=1
90.56
Load position offset
Real
-2147483648
2147483647
rev
1 = 1 rev
90.57
Load position resolution
Real
031
1=1
90.58
Pos counter init value int
Real
-2147483648
2147483647
1=1
90.59
Pos counter init value int

source
Binary
src
1=1
90.60
Pos counter error and boot

action
List
01
1=1
90.61
Gear numerator
Real
-2147483648
2147483647
1=1
90.62
Gear denominator
Real
-2147483648
2147483647
1=1
90.63
Feed constant numerator
Real
-2147483648
2147483647
1=1
No.
Name
Type
Range
Unit
FbEq32
Real
-2147483648
2147483647
1=1
90.64
Feed constant denominator
90.65
Pos counter init value
Binary
src
-2147483.264
2147483.264
1=1
90.66
Pos counter init value source
Binary
src
1=1
90.67
Pos counter init cmd source
Binary
src
1=1
90.68
Disable pos counter

initialization
Binary
src
1=1
90.69
Reset pos counter init ready
Binary
src
1=1
91 Encoder module settings

91.01
FEN DI status
PB
000000b111111b
1=1
91.02
Module 1 status
List
1=1
91.03
Module 2 status
List
1=1
91.04
Module 1 temperature
Real
01000
C, F or
ohm
1 = 1 unit
91.06
Module 2 temperature
Real
01000
C, F or
ohm
1 = 1 unit
91.10
Encoder parameter refresh
List
01
1=1
91.11
Module 1 type
List
04
1=1
91.12
Module 1 location
Real
1254
1=1
91.13
Module 2 type
List
04
1=1
91.14
Module 2 location
Real
1254
1=1
91.21
Module 1 temp sensor type
List
02
1=1
91.22
Module 1 temp filter time
Real
010000
ms
1 = 1 ms
91.24
Module 2 temp sensor type
List
02
1=1
91.25
Module 2 temp filter time
Real
010000
ms
1 = 1 ms
91.31
Module 1 TTL output source
List
02
1=1
91.32
Module 1 emulation pulses/rev
Real
065535
1=1
91.33
Module 1 emulated Z-pulse

offset
Real
0.00000 1.00000
rev
100000 = 1 rev
91.41
Module 2 TTL output source
List
02
1=1
91.42
Module 2 emulation pulses/rev
Real
065535
1=1
91.43
Module 2 emulated Z-pulse

offset
Real
0.00000 1.00000
rev
100000 = 1 rev
92.01
Encoder 1 type
List
0...9
1=1
92.02
Encoder 1 source
List
12
1=1
Other parameters in this group when a TTL, TTL+ and HTL encoder is selected
(92.16, 92.17, 92.2392.25 visible depending on encoder type selection)
92.10
Pulses/revolution
Real
065535
1=1
92.11
Pulse encoder type
List
01
1=1
92.12
Speed calculation mode
List
05
1=1
No.
Name
Type
Range
Unit
FbEq32
92.13
Position estimation enable
List
01
1=1
92.14
Speed estimation enable
List
01
1=1
92.15
Transient filter
List
03
1=1
92.16
Encoder 1 supply voltage
List
02
1=1
92.17
Accepted pulse freq of

encoder 1
Real
0300
kHz
1 = 1 kHz
92.21
Encoder cable fault mode
List
03
1=1
92.23
Maximum pulse waiting time
Real
1200
ms
1 = 1 ms
92.24
List
02
1=1
92.25
Pulse overfrequency function
List
01
1=1
Other parameters in this group when an absolute encoder is selected

92.10
Sine/cosine number
Real
065535
1=1
92.11
Absolute position source
List
05
1=1
92.12
Zero pulse enable
List
01
1=1
92.13
Position data width
Real
032
1=1
92.14
Revolution data width
Real
032
1=1
92.30
Serial link mode
List
02
1=1
92.31
EnDat max calculation time
List
03
1=1
92.32
SSI cycle time
List
05
1=1
92.33
SSI clock cycles
Real
2127
1=1
92.34
SSI position msb
Real
1126
1=1
92.35
SSI revolution msb
Real
1126
1=1
92.36
SSI data format
List
01
1=1
92.37
SSI baud rate
List
05
1=1
92.40
SSI zero phase
List
03
1=1
92.45
Hiperface parity
List
01
1=1
92.46
Hiperface baud rate
List
03
1=1
92.47
Hiperface node address
Real
0255
1=1
Other parameters in this group when a resolver is selected

92.10
Excitation signal frequency
Real
120
kHz
1 = 1 kHz
92.11
Excitation signal amplitude
Real
4.0 12.0
10 = 1 V
92.12
Resolver polepairs
List
132
1=1
93.01
Encoder 2 type
List
0...9
1=1
93.02
Encoder 2 source
List
12
1=1
Other parameters in this group when a TTL, TTL+ and HTL encoder is selected
(93.16, 93.17, 93.2393.25 visible depending on encoder type selection)
93.10
Pulses/rev
Real
065535
1=1
93.11
Pulse encoder type
List
01
1=1
93.12
Speed calculation mode
List
05
1=1
93.13
Position estimation enable
List
01
1=1
93.14
Speed estimation enable
List
01
1=1
No.
Name
Type
Range
Unit
FbEq32
93.15
Transient filter
List
03
1=1
93.16
Encoder 2 supply voltage
List
02
1=1
93.17
Accepted pulse freq of

encoder 2
Real
0300
kHz
1 = 1 kHz
93.21
Encoder cable fault mode
List
03
1=1
93.23
Maximum pulse waiting time
Real
1200
ms
1 = 1 ms
93.24
List
02
1=1
93.25
Pulse overfrequency function
List
01
1=1
Other parameters in this group when an absolute encoder is selected

93.10
Sine/cosine number
Real
065535
1=1
93.11
Absolute position source
List
05
1=1
93.12
Zero pulse enable
List
01
1=1
93.13
Position data width
Real
032
1=1
93.14
Revolution data width
Real
032
1=1
93.30
Serial link mode
List
02
1=1
93.31
EnDat calc time
List
03
1=1
93.32
SSI cycle time
List
05
1=1
93.33
SSI clock cycles
Real
2127
1=1
93.34
SSI position msb
Real
1126
1=1
93.35
SSI revolution msb
Real
1126
1=1
93.36
SSI data format
List
01
1=1
93.37
SSI baud rate
List
05
1=1
93.40
SSI zero phase
List
03
1=1
93.45
Hiperface parity
List
01
1=1
93.46
Hiperface baud rate
List
03
1=1
93.47
Hiperface node address
Real
0255
1=1
Other parameters in this group when a resolver is selected

93.10
Excitation signal frequency
Real
120
kHz
1 = 1 kHz
93.11
Excitation signal amplitude
Real
4.0 12.0
10 = 1 V
93.12
Resolver polepairs
List
132
1=1
94 LSU control
(This group only visible with a BCU control unit)
94.01
LSU control
List
01
1=1
94.10
LSU max charging time
Real
065535
1=1s
94.11
LSU stop delay
Real
0.0 3600.0
10 = 1 s
94.20
DC voltage reference
Real
0.0 2000.0
10 = 1 V
94.21
DC voltage ref source
List
1=1
94.22
User DC voltage reference
Real
0.0 2000.0
10 = 1 V
94.30
Reactive power reference
Real
-3276.8 3276.7
kvar
10 = 1 kvar
94.31
Reactive power ref source
List
1=1
94.32
User reactive power reference
Real
-3276.8 3276.7
kvar
10 = 1 kvar
No.
Name
Type
Range
Unit
FbEq32
95 HW configuration
95.01
Supply voltage
List
06
1=1
95.02
Adaptive voltage limits
List
01
1=1
95.04
Control board supply
List
02
1=1
95.08
DC switch monitoring
List
01
1=1

95.09
Fuse switch control
List
01
1=1
95.13
Reduced run mode
List
065535
1=1
95.14
Connected modules
PB
0000hFFFFh
1=1
95.15
Special HW settings
PB
0000hFFFFh
1=1
95.20
HW options word 1
PB
0000hFFFFh
1=1
95.21
HW options word 2
PB
0000hFFFFh
1=1
95.30
Parallel type filter
List
04
1=1
95.31
Parallel connection rating id
List
1=1
96 System
96.01
Language
List
1=1
96.02
Pass code
Data
099999999
1=1
96.03
Access levels active
PB
0000hFFFFh
1=1
96.04
Macro select
List
06
1=1
96.05
Macro active
List
16
1=1
96.06
Parameter restore
List
1=1
96.07
Parameter save manually
List
01
1=1
96.08
Control board boot
Real
01
1=1
96.09
FSO reboot
Binary
src
96.10
User set status
List
96.11
User set save/load
List
96.12
User set I/O mode in1
Binary
src
96.13
User set I/O mode in2
Binary
src
96.16
Unit selection
PB
0000hFFFFh
1=1
96.20
Time sync primary source
List
09
1=1
96.23
M/F and D2D clock

synchronization
List
01
1=1
96.24
Full days since 1st Jan 1980
Real
159999
1=1
96.25
Time in minutes within 24 h
Real
01439
1=1
96.26
Time in ms within one minute
Real
059999
1=1
96.29
Time sync source status
PB
0000hFFFFh
1=1
96.31
Drive ID number
Real
032767
1=1
96.53
Actual checksum
Real
00000000hFFFFFFFFh
1=1
96.54
Checksum action
List
04
1=1
No.
Name
Type
Range
Unit
FbEq32
96.55
Checksum control word
PB
0000hFFFFh
1=1
96.56
Approved checksum 1
Real
00000000hFFFFFFFFh
1=1
96.57
Approved checksum 2
Real
00000000hFFFFFFFFh
1=1
96.58
Approved checksum 3
Real
00000000hFFFFFFFFh
1=1
96.59
Approved checksum 4
Real
00000000hFFFFFFFFh
1=1
96.61
User data logger status word
PB
0000hFFFFh
1=1
96.63
User data logger trigger
Binary
src
96.64
User data logger start
Binary
src
96.65
Factory data logger time level
List
1=1
96.70
Disable adaptive program
List
01
1=1
(Parameters 96.10096.102 only visible when enabled by parameter 96.02)

96.100 Change user pass code
Data
1000000099999999
1=1
96.101 Confirm user pass code
Data
1000000099999999
1=1
PB
0000hFFFFh
1=1
96.102 User lock functionality

97 Motor control
97.03
Slip gain
Real
0200
1 = 1%
97.04
Voltage reserve
Real
-450
1 = 1%
97.05
Flux braking
List
02
1=1
97.06
Flux reference select
Binary
src
1=1
97.07
User flux reference
Real
0.00200.00
100 = 1%
97.09
Switching freq mode
List
03
1=1
97.10
Signal injection
List
04
1=1
97.11
TR tuning
Real
25400
1 = 1%
97.12
IR comp step-up frequency
Real
0.0 50.0
Hz
10 = 1 Hz
97.13
IR compensation
Real
0.00 50.00
100 = 1%
97.15
Motor model temperature

adaptation
List
03
1=1
97.32
Motor torque unfiltered
Real
-1600.0 1600.0
10 = 1%
97.33
Speed estimate filter time
Real
0.00 100.00
ms
100 = 1 ms
98 User motor parameters

98.01
User motor model mode
List
03
1=1
98.02
Rs user
Real
0.0000 0.50000
p.u.
100000 = 1
p.u.
98.03
Rr user
Real
0.0000 0.50000
p.u.
100000 = 1
p.u.
98.04
Lm user
Real
0.00000 10.00000
p.u.
100000 = 1
p.u.
98.05
SigmaL user
Real
0.00000 1.00000
p.u.
100000 = 1
p.u.
98.06
Ld user
Real
0.00000 10.00000
p.u.
100000 = 1
p.u.
No.
Name
Type
Range
Unit
FbEq32
98.07
Lq user
Real
0.00000 10.00000
p.u.
100000 = 1
p.u.
98.08
PM flux user
Real
0.00000 2.00000
p.u.
100000 = 1
p.u.
98.09
Rs user SI
Real
0.00000 100.00000
ohm
100000 = 1
p.u.
98.10
Rr user SI
Real
0.00000 100.00000
ohm
100000 = 1
p.u.
98.11
Lm user SI
Real
0.00 100000.00
mH
100 = 1 mH
98.12
SigmaL user SI
Real
0.00 100000.00
mH
100 = 1 mH
98.13
Ld user SI
Real
0.00 100000.00
mH
100 = 1 mH
98.14
Lq user SI
Real
0.00 100000.00
mH
100 = 1 mH
98.15
Position offset user
Real
0360
degrees
electrical
1 = deg
99 Motor data
99.03
Motor type
List
01 or 0...2
1=1
99.04
Motor control mode
List
01
1=1
99.06
Motor nominal current
Real
0.0 32767.0
10 = 1 A
99.07
Motor nominal voltage
Real
0.0 32767.0
10 = 1 V
99.08
Motor nominal frequency
Real
0.00 500.00
Hz
10 = 1 Hz
99.09
Motor nominal speed
Real
0 30000
rpm
1 = 1 rpm
99.10
Motor nominal power
Real
0.00 10000.00 kW or
0.00 13404.83 hp
kW or hp
100 = 1 unit
99.11
Motor nominal cos
Real
0.00 1.00
100 = 1
99.12
Motor nominal torque
Real
0.000
Nm or
lbft
1000 = 1 unit
99.13
ID run requested
List
07
1=1
99.14
Last ID run performed
List
07
1=1
99.15
Motor polepairs calculated
Real
01000
1=1
99.16
Motor phase order
List
01
1=1
200 Safety
This group contains parameters related to the optional FSO-xx safety functions module. For details on the
parameters in this group, refer to the documentation of the FSO-xx module.
Fault tracing 567
10
Fault tracing
The chapter lists the warning and fault messages including possible causes and
corrective actions. The causes of most warnings and faults can be identified and
corrected using the information in this chapter. If not, an ABB service representative
should be contacted.
Warnings and faults are listed below in separate tables. Each table is sorted by
warning/fault code.
Safety
WARNING! Only qualified electricians are allowed to service the drive. Read
the Safety instructions on the first pages of the Hardware manual before
working on the drive.
Indications
Warnings and faults
Warnings and faults indicate an abnormal drive status. The codes and names of
active warnings/faults are displayed on the control panel of the drive as well as the
Drive composer PC tool. Only the codes of warnings/faults are available over
fieldbus.
Warnings do not need to be reset; they stop showing when the cause of the warning
ceases. Warnings do not latch and the drive will continue to operate the motor.
Faults do latch inside the drive and cause the drive to trip, and the motor stops. After
the cause of a fault has been removed, the fault can be reset from a selectable
568 Fault tracing

source (see parameter 31.11 Fault reset selection) such as the control panel, Drive
composer PC tool, the digital inputs of the drive, or fieldbus. After the fault is reset,
the drive can be restarted. Note that some faults require a reboot of the control unit
either by switching the power off and on, or using parameter 96.08 Control board boot
this is mentioned in the fault listing wherever appropriate.
Warning and fault indications can be directed to a relay output or a digital input/output
by selecting Warning, Fault or Fault (-1) in the source selection parameter. See
sections
Programmable digital inputs and outputs (page 71)
Programmable relay outputs (page 72), and
Programmable I/O extensions (page 72).
Pure events
In addition to warnings and faults, there are pure events that are only recorded in the
event logs of the drive. The codes of these events are included in the Firmware
warning messages table.
Editable messages
For some warnings and faults, the message text can be edited and instructions and
contact information added. To edit these messages, choose Menu - Settings - Edit
texts on the control panel.
Warning/fault history and analysis

Event logs
The drive has two event logs that can be accessed from the main Menu on the control
panel. The logs can also be accessed (and reset) using the Drive composer PC tool.
One of the logs contains faults and fault resets. The other log lists warnings and pure
events, as well as clearing entries. Both logs contain 32 most recent events. All
indications are stored in the event logs with a time stamp and other information.
Auxiliary codes
Some events generate an auxiliary code that often helps in pinpointing the problem.
The auxiliary code is displayed on the control panel together with the message. It is
also stored in the event log details. In the Drive composer PC tool, the auxiliary code
(if any) is shown in the event listing.
Factory data logger
The drive has a data logger that samples preselected drive values at 500microsecond (default; see parameter 96.65 Factory data logger time level) intervals.
Approximately 7000 samples recorded immediately before and after a fault are saved
Fault tracing 569

to the memory unit of the drive. The fault data of the last five faults is accessible in the
event log when viewed in the Drive composer PC tool. (The fault data is not
accessible through the control panel.)
The values that are recorded in the factory data log are 01.07 Motor current, 01.10
Motor torque, 01.11 DC voltage, 01.24 Flux actual %, 06.01 Main control word, 06.11
Main status word, 24.01 Used speed reference, 30.01 Limit word 1, 30.02 Torque
limit status and 90.01 Motor speed for control. The selection of parameters cannot be
changed by the user.
Other data loggers

User data logger
A custom data logger can be configured using the Drive composer pro PC tool. This
functionality enables the free selection of up to eight drive parameters to be sampled
at selectable intervals. The triggering conditions and the length of the monitoring
period can also be defined by the user within the limit of approximately 8000 samples.
In addition to the PC tool, the status of the logger is shown by drive parameter 96.61
User data logger status word. The triggering sources can be selected by parameters
96.63 User data logger trigger and 96.64 User data logger start). The configuration,
status and collected data is saved to the memory unit for later analysis.
PSL2 data logger
The BCU control unit used with certain drive types (especially those with parallelconnected inverter modules) contains a data logger that collects data from the
inverter modules to help fault tracing and analysis. The data is saved onto the SD
memory card attached to the BCU, and can be analyzed by ABB service personnel.
Parameters containing warning/fault information

The drive is able to store a list of the active faults actually causing the drive to trip at
the present time. The faults are displayed in parameter group 04 Warnings and faults
(page 162). The parameter group also displays a list of faults and warnings that have
previously occurred.
Event word (parameters 04.4004.72)
Parameter 04.40 Event word 1 can be configured by the user to indicate the status of
16 selectable events (ie. faults, warnings or pure events). It is possible to specify an
auxiliary code for each event to filter out other auxiliary codes.
570 Fault tracing
QR code generation for mobile service application

A QR code (or a series of QR codes) can be generated by the drive for display on the
control panel. The QR code contains drive identification data, information on the
latest events, and values of status and counter parameters. The code can be read
with a mobile device containing the ABB service application, which then sends the
data to ABB for analysis. For more information on the application, contact your local
ABB service representative.
The QR code can be generated by choosing Menu - Assistants - QR code on the
control panel.
Fault tracing 571
Firmware warning messages

Note: The list also contains events that only appear in the Event log.
Code
(hex)
Warning
Cause
What to do
A2A1
Current calibration
Current offset and gain

measurement calibration will
occur at next start.
Informative warning. (See parameter

99.13 ID run requested.)
A2B1
Overcurrent
Output current has exceeded

internal fault limit.
Check motor load.

Check acceleration times in parameter
group 23 Speed reference ramp (speed
control), 26 Torque reference chain
(torque control) or 28 Frequency
reference chain (frequency control). Also
check parameters 46.01 Speed scaling,
46.02 Frequency scaling and 46.03
Torque scaling.
Check motor and motor cable (including
phasing and delta/star connection).
Check there are no contactors opening
and closing in motor cable.
Check that the start-up data in parameter
group 99 corresponds to the motor rating
plate.
Check that there are no power factor
correction capacitors or surge absorbers
in motor cable.
Check encoder cable (including
phasing).
A2B3
Earth leakage
Drive has detected load

unbalance typically due to
earth fault in motor or motor
cable.
Check there are no power factor

in motor cable.
Check for an earth fault in motor or motor
cables by measuring the insulation
resistances of motor and motor cable.
Try running the motor in scalar control
mode if allowed. (See parameter 99.04
Motor control mode.)
If no earth fault can be detected, contact
your local ABB representative.
A2B4
Short circuit
Short-circuit in motor cable(s)

or motor.
Check motor and motor cable for cabling

errors.
in motor cable.
A2BA
IGBT overload
Excessive IGBT junction to

case temperature. This
warning protects the IGBT(s)
and can be activated by a short
circuit in the motor cable.
Check motor cable.

Check ambient conditions.
Check air flow and fan operation.
Check heat sink fins for dust pick-up.
Check motor power against drive power.
572 Fault tracing
Code
(hex)
Warning
Cause
What to do
A3A1
DC link overvoltage
Intermediate circuit DC voltage

too high (when the drive is
stopped).
A3A2
DC link undervoltage

too low (when the drive is
stopped).
A3AA
DC not charged
The voltage of the intermediate

DC circuit has not yet risen to
operating level.
Check the supply voltage setting

(parameter 95.01 Supply voltage). Note
that the wrong setting of the parameter
may cause the motor to rush
uncontrollably, or may overload the brake
chopper or resistor.
Check the supply voltage.
With A3A1 or A3A2 on parallelconnected inverter modules, the auxiliary
code indicates the affected module. The
format of the code is 0000X XX00, where
XXX specifies the channel on the BCU
control unit.
If the problem persists, contact your local
ABB representative.
A480
Motor cable overload
Calculated motor cable

temperature has exceeded
warning limit.
Check the settings of parameters 35.61

and 35.62.
Check the dimensioning of the motor
cable in regard to required load.
A490
Incorrect temperature
sensor setup
Sensor type mismatch
Check the settings of temperature source

parameters 35.11 and 35.21 against
91.21 and 91.24.
Faulty wiring between an

encoder interface module and
the temperature sensor.
Check the wiring of the sensor.

The auxiliary code identifies the interface
module. (0 = Module 1, 1 = Module 2).
Measured temperature 1 has

exceeded warning limit.
Check the value of parameter 35.02

Check the cooling of the motor (or other
equipment whose temperature is being
measured).
Check the value of 35.13 Temperature 1
warning limit.

exceeded warning limit.

measured).
Check the value of 35.23 Temperature 2
warning limit.
The thermistor protection

module installed in slot 1
indicates overtemperature.
Check the cooling of the motor.

Check the motor load and drive ratings.
Check the wiring of the temperature
sensor. Repair wiring if faulty.
Measure the resistance of the sensor.
Replace sensor if faulty.
A491
External temperature
1
(Editable message text)
A492
2
A497
Motor temperature 1
A498
Motor temperature 2
A499
A4A0
Motor temperature 3


Control board
temperature
Control unit temperature is

excessive.
(none) Temperature above warning
limit
Check the auxiliary code. See actions for

each code below.
Check heatsink fins for dust pick-up.
Fault tracing 573
Code
(hex)
Warning
Cause
1 Thermistor broken
What to do
Contact an ABB service representative
for control unit replacement.
A4A1
IGBT overtemperature
Estimated drive IGBT

temperature is excessive.

A4A9
Cooling
Drive module temperature is

excessive.
Check ambient temperature. If it exceeds

40 C (104 F), ensure that load current
does not exceed derated load capacity of
drive. See appropriate Hardware manual.
Check drive module cooling air flow and
fan operation.
Check inside of cabinet and heatsink of
drive module for dust pick-up. Clean
whenever necessary.
A4B0
Excess temperature
Power unit module


Check the auxiliary code (format XXXY
YYZZ). Y YY specifies through which
BCU control unit channel the fault was
received. ZZ specifies the location (1:
U-phase, 2: V-phase, 3: W-phase, 4: INT
board, 5: Brake chopper, 6: Air inlet, 7:
Power supply board, 8: du/dt filter (R8i)
or temperature switch (XT), 0FA:
Ambient temperature).
A4B1
Excess temperature
difference
High temperature difference

between the IGBTs of different
phases.
Check the motor cabling.

Check cooling of drive module(s).
YYZZ). XXX indicates the source of
difference (0: Single module, difference
between phase IGBTs, 1: parallelconnected modules, minimum-maximum
difference between all IGBTs of all
modules). With parallel-connected
modules, Y YY specifies through which
received. ZZ specifies the phase (0:
single module, 1: U-phase [parallel
connection], 2: W-phase [parallel
connection], 3: W-phase [parallel
connection]).
A4B2
PCB space cooling
Temperature difference
between ambient and drive
module PCB space is
excessive.
Check the cooling fan inside the PCB

space.
With parallel-connected modules, check
the auxiliary code (format XXXY YYZZ).
Y YY specifies through which BCU
control unit channel the fault was
received.
A4F6
IGBT temperature
Drive IGBT temperature is

excessive.

Check heat sink fins for dust pick-up.
574 Fault tracing
Code
(hex)
Warning
Cause
A580
PU communication
Check the connections between the drive

Communication errors
control unit and the power unit.
detected between the drive
control unit and the power unit. Check the auxiliary code (format XXXY
YYZZ). With parallel-connected modules,
Y YY specifies the affected BCU control
unit channel (0: broadcast). ZZ
specifies the error source
(8: Transmission errors in PSL link [see
XXX], 9: Transmitter FIFO warning limit
hit). XXX specifies the transmission
error direction and detailed warning code
(0: Rx/communication error, 1: Tx/ReedSolomon symbol error, 2: Tx/no
synchronization error, 3: Tx/ReedSolomon decoder failures,
4: Tx/Manchester coding errors).
A581
Fan
Cooling fan stuck or

disconnected.
Check the setting of parameter 95.20

HW options word 1, bit 14.
Check the auxiliary code to identify the
fan. Code 0 denotes main fan 1. Other
codes (format XYZ): X specifies state
code (1: ID run, 2: normal). Y specifies
the index of the inverter unit connected to
BCU (0n, always 0 for ZCU control
units). Z specifies the index of the fan
(1: Main fan 1, 2: Main fan 2, 3: Main fan
3).
Check fan operation and connection.
Replace fan if faulty.
A582
Auxiliary fan missing
An auxiliary cooling fan

(connected to the fan
connectors on the control unit)
is stuck or disconnected.
The auxiliary code identifies the fan (1:

Auxiliary fan 1, 2: Auxiliary fan 2).
Check auxiliary fan(s) and connection(s).
Replace faulty fan.
Make sure the front cover of the drive
module is in place and tightened. If the
commissioning of the drive requires that
the cover is off, this warning will be
generated even if the corresponding fault
is defeated. See fault 5081 Auxiliary fan
broken (page 593).
A5A0
Safe torque off
Safe torque off function is

active, i.e. safety circuit
signal(s) connected to
connector XSTO is lost.
Check safety circuit connections. For

more information, see appropriate drive
hardware manual and description of
parameter 31.22 STO indication run/stop
(page 305).
Programmable warning:
31.22 STO indication
run/stop
What to do
A5EA
Measurement circuit
temperature
Problem with internal

temperature measurement of
the drive.

YYZZ). Y YY specifies through which
received (0 00 with a ZCU control unit).
ZZ specifies the location (1: U-phase
IGBT, 2: V-phase IGBT, 3: W-phase
IGBT, 4: Power unit INT board, 5: Brake
chopper, 6: Air inlet, 7: Power supply
board, 8: du/dt filter, FAh: Air in temp).
A5EB
PU board powerfail
Power unit power supply

failure.
Contact your local ABB representative.
Fault tracing 575
Code
(hex)
Warning
Cause
A5EC
PU communication
internal
Check the connections between the drive

A5ED
Measurement circuit
ADC
Problem with measurement

circuit of power unit (analog to
digital converter)
A5EE
Measurement circuit
DFF
Problem with current or voltage

measurement of power unit
A5EF
PU state feedback
State feedback from output

phases does not match control
signals.
A5F0
Charging feedback
Charging in progress
Informative warning. Wait until charging

finishes before starting the inverter unit.
A5F3
Switching frequency
below requested
Adequate motor control at

requested output frequency
cannot be reached because of
limited switching frequency
(eg. by parameter 95.15).
Informative warning.
A682
Flash erase speed

exceeded
The flash memory (in the

memory unit) has been erased
too frequently, compromising
the lifetime of the memory.
Avoid forcing unnecessary parameter

saves by parameter 96.07 or cyclic
parameter writes (such as user logger
triggering through parameters).
Check the auxiliary code (format XYYY
YZZZ). X specifies the source of
warning (1: generic flash erase
supervision). ZZZ specifies the flash
subsector number that generated the
warning.
A683
Data saving to power

unit
An error in saving data to the

power unit.

each code below.
0 An error is preventing saving

from initializing.
1
Cycle the power to the drive. If the

control unit is externally powered, also
reboot the control unit (using parameter
96.08 Control board boot) or by cycling
its power. If the problem persists, contact
2 Write error.
A684
SD card
Error related to SD card used

to store data (BCU control unit
only).
1 No SD card
2 SD card write-protected
What to do

each code below.
Insert a compatible, writable SD card into
the SD CARD slot of the BCU control
unit.
3 SD card unreadable
A686
Checksum mismatch
96.54 Checksum action
The calculated parameter

checksum does not match any
enabled reference checksum.
Check that all necessary approved

(reference) checksums (96.5696.59)
are enabled in 96.55 Checksum control
word.
Check the parameter configuration.
Using 96.55 Checksum control word,
enable a checksum parameter and copy
the actual checksum into that parameter.
576 Fault tracing
Code
(hex)
Warning
Cause
What to do
A687
Checksum
configuration
An action has been defined for

a parameter checksum
mismatch but the feature has
not been configured.
Contact your local ABB representative for

configuring the feature, or disable the
feature in 96.54 Checksum action.
A688
Parameter map
configuration
Too much data in parameter

mapping table created in Drive
customizer.
See the Drive customizer PC tool users

manual (3AUA0000104167 [English]).
A689
Mapped parameter
value cut
Parameter value saturated eg.

by the scaling specified in
parameter mapping table
(created in Drive customizer).
Check parameter scaling and format in

parameter mapping table. See the Drive
customizer PC tool users manual
(3AUA0000104167 [English]).
A6A4
Motor nominal value
The motor parameters are set

incorrectly.

each code below.
The drive is not dimensioned

correctly.
1 Slip frequency is too small
2 Synchronous and nominal
speeds differ too much
3 Nominal speed is higher than
synchronous speed with 1 pole
pair
Check the settings of the motor

configuration parameters in groups 98
and 99.
Check that the drive is sized correctly for
the motor.
4 Nominal current is outside

limits
5 Nominal voltage is outside
limits
6 Nominal power is higher than
apparent power
7 Nominal power is not
consistent with nominal speed
and torque
A6A5
No motor data
Parameters in group 99 have

not been set.
Check that all the required parameters in

group 99 have been set.
Note: It is normal for this warning to
appear during the start-up and continue
until the motor data is entered.
A6A6
Supply voltage
unselected
The supply voltage has not

been defined.
Set supply voltage in parameter 95.01

Supply voltage.
A6B0
User lock is open
The user lock is open, ie. user

lock configuration parameters
96.10096.102 are visible.
Close the user lock by entering an invalid

pass code in parameter 96.02 Pass
code. See section User lock (page 133).
A6B1
User pass code not

confirmed
A new user pass code has

been entered in parameter
96.100 but not confirmed in
96.101.
Confirm the new pass code by entering

the same code in 96.101. To cancel,
close the user lock without confirming the
new code. See section User lock
(page 91).
A6D1
FBA A parameter
conflict
The drive does not have a

functionality requested by a
PLC, or requested functionality
has not been activated.
Check PLC programming.

Check settings of parameter groups 50
Fieldbus adapter (FBA) and 51 FBA A
settings.
Fault tracing 577
Code
(hex)
Warning
Cause
What to do
A6D2
FBA B parameter
conflict

functionality requested by a

Fieldbus adapter (FBA) and 54 FBA B
settings.
A6DA
Reference source
parametrization
A reference source is
simultaneously connected to
multiple parameters with
different units.
Check the reference source selection

parameters.
Check the auxiliary code (format
XXYY 00ZZ). XX and YY specify the
two sets of parameters where the source
was connected to (01 = speed reference
chain [22.11, 22.12, 22.15, 22.17], 02 =
frequency reference chain [28.11, 28.12],
03 = torque reference chain [26.11,
26.12, 26.16], 04 = other torque-related
parameters [26.25, 30.21, 30.22, 44.09],
05 = process PID control parameters
[40.16, 40.17, 40.50, 41.16, 41.17,
41.50]). ZZ indicates the conflicting
reference source (010E = index in
parameter group 3, 33 = process PID
control, 3D = motor potentiometer, 65 =
AI1, 66 = AI2, 6F = frequency input).
A6E5
AI parametrization
The current/voltage hardware

setting of an analog input does
not correspond to parameter
settings.
Check the auxiliary code. The code

identifies the analog input whose settings
are in conflict.
Adjust either the hardware setting (on the
drive control unit) or parameter
12.15/12.25.
Note: Control board reboot (either by
cycling the power or through parameter
96.08 Control board boot) is required to
validate any changes in the hardware
settings.
A6E6
ULC configuration
User load curve configuration

error.
Check the auxiliary code (format XXXX

ZZZZ). ZZZZ indicates the problem
(see actions for each code below).
0000 Speed points inconsistent.
Check that each speed point (parameters

37.1137.15) has a higher value than
the previous point.
0001 Frequency points inconsistent.
Check that each frequency point

(37.1637.20) has a higher value than
the previous point.
0002 Underload point above

overload point.
Check that each overload point

(37.3137.35) has a higher value than
the corresponding underload point
(37.2137.25).
0003 Overload point below

underload point.
A780
Motor stall
31.24 Stall function
A781
Motor fan
type
Motor is operating in stall

region because of e.g.
excessive load or insufficient
motor power.
Check motor load and drive ratings.

Check fault function parameters.
No feedback received from

external fan.
Check external fan (or other equipment

controlled) by the logic.
Check settings of parameters
35.10035.106.
578 Fault tracing
Code
(hex)
Warning
Cause
What to do
A782
FEN temperature
Error in temperature
measurement when
temperature sensor (KTY or
PTC) connected to encoder
interface FEN-xx is used.
Check that parameter 35.11 Temperature

1 source / 35.21 Temperature 2 source
setting corresponds to actual encoder
interface installation.
Error in temperature
measurement when KTY
sensor connected to encoder
interface FEN-01 is used.
FEN-01 does not support temperature

measurement with KTY sensor. Use PTC
sensor or other encoder interface
module.
A791
Brake resistor
Brake resistor broken or not

connected.
Check that a brake resistor has been

connected.
Check the condition of the brake resistor.
A793
BR excess
temperature
Brake resistor temperature has

exceeded warning limit defined
by parameter 43.12 Brake
resistor warning limit.
Stop drive. Let resistor cool down.

Check resistor overload protection
function settings (parameter group 43
Brake chopper).
Check warning limit setting, parameter
43.12 Brake resistor warning limit.
Check that the resistor has been
dimensioned correctly.
Check that braking cycle meets allowed
limits.
A794
BR data
Brake resistor data has not

been given.
One or more of the resistor data settings

(parameters 43.0843.10) is incorrect.
The parameter is specified by the
auxiliary code.
A797
0000 0001 Resistance value too low.
Check value of 43.10.
0000 0002 Thermal time constant not

given.
0000 0003 Maximum continuous power

not given.
Speed feedback
configuration
Speed feedback configuration

has changed.
Check the auxiliary code (format XXYY

ZZZZ). XX specifies the number of the
encoder interface module (01:
91.11/91.12, 02: 91.13/91.14), YY
specifies the encoder (01: 92 Encoder 1
configuration, 02: 93 Encoder 2
configuration). ZZZZ indicates the
problem (see actions for each code
below).
0001 Adapter not found in specified

slot.
Check module location (91.12 or 91.14).
0002 Detected type of interface

module does not match
parameter setting.
Check the module type (91.11 or 91.13)

against status (91.02 or 91.03).
0003 Logic version too old.
0004 Software version too old.
0006 Encoder type incompatible with

interface module type.
Check module type (91.11 or 91.13)

against encoder type (92.01 or 93.01).
0007 Adapter not configured.
Check module location (91.12 or 91.14).
Fault tracing 579
Code
(hex)
A798
A79B
Warning
Cause
0008 Speed feedback configuration
has changed.
Use parameter 91.10 Encoder parameter

refresh) to validate any changes in the
settings.
0009 No encoders configured to

encoder module
Configure the encoder in group 92

Encoder 1 configuration or 93 Encoder 2
configuration.
000A Non-existing emulation input.
Check input selection (91.31 or 91.41).
000B Echo not supported by

selected input (for example,
resolver or absolute encoder).
Check input selection (91.31 or 91.41),

interface module type, and encoder type.
000C Emulation in continuous mode

not supported.
Check input selection (91.31 or 91.41)

and serial link mode (92.30 or 93.30)
settings.
Encoder option comm

loss
BC short circuit
What to do
Encoder feedback not used as

actual feedback, or measured
motor feedback lost (and
parameter 90.45/90.55 is set to
Warning).
Check that the encoder is selected as

feedback source in parameter 90.41 or
90.51.
Check that the encoder interface module
is properly seated in its slot.
Check that the encoder interface module
or slot connectors are not damaged. To
pinpoint the problem, try installing the
module into a different slot.
YYYY). YYYY indicates the problem
0001 Failed answer to encoder

configuration message.
0002 Failed answer to adapter

watchdog disable message.

watchdog enable message.

configuration message.
0005 Too many failed answers inline

to speed and position
messages.
0006 DDCS driver failed.
Short circuit in brake chopper

IGBT
Replace brake chopper if external. Drives

with internal choppers will need to be
returned to ABB.
Ensure brake resistor is connected and
not damaged.
580 Fault tracing
Code
(hex)
Warning
Cause
What to do
A79C
BC IGBT excess
temperature
Brake chopper IGBT

internal warning limit.
Let chopper cool down.

Check for excessive ambient
temperature.
Check for cooling fan failure.
Check for obstructions in the air flow.
Check the dimensioning and cooling of
the cabinet.
function settings (parameters
43.0643.10).
Check minimum allowed resistor value
for the chopper being used.
limits.
Check that drive supply AC voltage is not
excessive.
A7A1
Mechanical brake
closing failed
Status of mechanical brake

acknowledgement is not as
expected during brake close.
Check mechanical brake connection.

Check mechanical brake settings in
parameter group 44 Mechanical brake
control.
Check that acknowledgment signal
matches actual status of brake.
Status of mechanical brake

expected during brake open.

control.
Check that acknowledgement signal
Open conditions of mechanical

brake cannot be fulfilled (for
example, brake has been
prevented from opening by
parameter 44.11 Keep brake
closed).

control (especially 44.11 Keep brake
closed).
Check that acknowledgment signal (if
used) matches actual status of brake.
The hardware current/voltage

setting of an analog input (on
an I/O extension module) does
not correspond to parameter
settings.

XX00 00YY). XX specifies the number
of the I/O extension module (01:
parameter group 14 I/O extension
module 1, 02: 15 I/O extension module 2,
03: 16 I/O extension module 3). YY
specifies the analog input on the module.
For example, in case of I/O extension
module 1, analog input AI1 (auxiliary
code 0000 0101), the hardware
current/voltage setting on the module is
shown by parameter 14.29. The
corresponding parameter setting is
14.30. Adjust either the hardware setting
on the module or the parameter to solve
the mismatch.
Note: Control board reboot (either by
cycling the power or through parameter
96.08 Control board boot) is required to
validate any changes in the hardware
settings.
44.17 Brake fault function
A7A2
Mechanical brake
opening failed
A7A5
Mechanical brake
opening not allowed
A7AA
Extension AI
parameterization
Fault tracing 581
Code
(hex)
Warning
Cause
What to do
A7AB
Extension I/O
configuration failure
The I/O extension module

types and locations specified
by parameters do not match
the detected configuration.

indicates which I/O extension module is
affected.
Check the type and location settings of
the modules (parameters 14.01, 14.02,
15.01, 15.02, 16.01 and 16.02).
Check that the modules are properly
installed.
A7B0
Motor speed feedback
No motor speed feedback is

received.

91.11/91.12, 02: 91.13/91.14), YY
below).
90.45 Motor feedback fault
A7B1
0001 Motor gear definition invalid or

outside limits.
Check motor gear settings (90.43 and

90.44).
0002 Encoder not configured.
Check encoder settings (92 Encoder 1

configuration or 93 Encoder 2
configuration).
settings.
0003 Encoder stopped working.
Check encoder status.
0004 Encoder drift detected.
Check for slippage between encoder and

motor.
Load speed feedback

90.55 Load feedback fault
A7C1
No load speed feedback is

received.

91.11/91.12, 02: 91.13/91.14), YY
below).
0001 Load gear definition invalid or

outside limits.
Check load gear settings (90.53 and

90.54).
0002 Feed constant definition invalid

or outside limits.
Check feed constant settings (90.63 and

90.64).
FBA A communication
50.02 FBA A comm loss
func
Cyclical communication
between drive and fieldbus
adapter module A or between
PLC and fieldbus adapter
module A is lost.
Check status of fieldbus communication.

See user documentation of fieldbus
interface.
Fieldbus adapter (FBA), 51 FBA A
settings, 52 FBA A data in and 53 FBA A
data out.
Check cable connections.
Check if communication master is able to
communicate.
582 Fault tracing
Code
(hex)
Warning
Cause
What to do
A7C2
FBA B communication
adapter module B or between
module B is lost.

interface.
Check settings of parameter group 50
Fieldbus adapter (FBA).
communicate.
DDCS (fiber optic)

communication between drive
and external controller is lost.
Check status of controller. See user

documentation of controller.
DDCS communication.
Check cable connections. If necessary,
replace cables.
Master/follower
communication is lost.

indicates which node address (defined by
parameter 60.02 in each drive) on the
master/follower link is affected.
DDCS communication.
replace cables.
Communication break in
embedded fieldbus (EFB)
communication.
Check the status of the fieldbus master

(online/offline/error etc.).
Check cable connections to the XD2D
connector on the control unit.
Encoder error.
Check the event log for an auxiliary code

(format XXYY ZZZZ). XX specifies the
number of the encoder interface module
(01: 91.11/91.12, 02: 91.13/91.14), YY
below).
50.32 FBA B comm loss
func
A7CA
DDCS controller
comm loss
60.59 DDCS controller
comm loss function
A7CB
MF comm loss
60.09 M/F comm loss
function
A7CE
EFB comm loss

58.14 Communication loss
action
A7E1
Encoder
90.45 Motor feedback fault
0001 Cable fault
Check the conductor order at both ends

of the encoder cable.
Check the groundings of the encoder
cable.
If the encoder was working previously,
check the encoder, encoder cable and
encoder interface module for damage.
See also parameter 92.21 Encoder cable
fault mode.
0002 No encoder signal
Check the condition of the encoder.
0003 Overspeed
0004 Overfrequency
0005 Resolver ID run failed
0006 Resolver overcurrent fault
0007 Speed scaling error
0008 Absolute encoder

communication error
Fault tracing 583
Code
(hex)
A7EE
Warning
Cause
0009 Absolute encoder initialization
error
000A Absolute SSI encoder

configuration error
000B Encoder reported an internal

error
See the documentation of the encoder.
000C Encoder reported a battery

error
000D Encoder reported overspeed

or decreased resolution due to
overspeed
000E Encoder reported a position

counter error
000F Encoder reported an internal

error
Control panel or PC tool has

stopped communicating.
Check PC tool or control panel

connection.
Check control panel connector.
Check mounting platform if being used.
Disconnect and reconnect the control
panel.
Warning generated by an ontime timer or a value counter.
Check the event log for an auxiliary code.

Check the source of the warning
corresponding to the code:
0: 33.13 On-time 1 source
4: 33.53 Value counter 1 source
5: 33.63 Value counter 2 source.
Warning generated by an edge

counter.

corresponding to the code:
2: 33.33 Edge counter 1 source
3: 33.43 Edge counter 2 source.
Control panel loss

action
A880
Motor bearing
Programmable warnings:
33.14 On-time 1 warn
message
message
33.55 Value counter 1
warn message
warn message
A881
Output relay
A882
Motor starts
A883
Power ups
A884
Main contactor
A885
DC charge
A886
On-time 1
message
A887
On-time 2
message
A888
What to do
Edge counter 1
33.35 Edge counter 1
warn message
33.35 Edge counter 1 warn
message
33.45 Edge counter 2 warn
message
Warning generated by on-time

timer 1.

(parameter 33.13 On-time 1 source).
Warning generated by on-time

timer 2.

(parameter 33.23 On-time 2 source).
Warning generated by edge

counter 1.

(parameter 33.33 Edge counter 1
source).
584 Fault tracing
Code
(hex)
A889
Warning
Cause
What to do
Edge counter 2
Warning generated by edge

counter 2.

(parameter 33.43 Edge counter 2
source).
Warning generated by value

counter 1.

(parameter 33.53 Value counter 1
source).
Warning generated by value

counter 2.

(parameter 33.63 Value counter 2
source).
Warning generated by an ontime timer.
Check the auxiliary code. Check the

source of the warning corresponding to
the code:
10: 05.04 Fan on-time counter.

33.45 Edge counter 2
warn message
A88A
Value counter 1
warn message
A88B
Value counter 2
warn message
A88C
Device clean
A88D
DC capacitor
A88E
Cabinet fan
A88F
Cooling fan
A890
Additional cooling
A8A0
AI supervision
12.03 AI supervision
function
A8B0
Signal supervision
32.06 Supervision 1 action
A8B1
Signal supervision 2
A8B2
A8BE
ULC overload warning

Programmable fault:
37.03 ULC overload
actions
33.14 On-time 1 warn message
33.24 On-time 2 warn message
An analog signal is outside the

limits specified for the analog
input.
Check the auxiliary code (format XYY):

X specifies the location of the input (0:
AI on control unit; 1: I/O extension
module 1, etc). YY specifies the input
and limit: (01: AI1 under minimum,
02: AI1 over maximum, 03: AI2 under
minimum, 04: AI2 over maximum).
Check signal level at the analog input.
Check the wiring connection to the input.
Check the minimum and maximum limits
of the input in parameter group 12
Standard AI.
Warning generated by the

signal supervision 1 function.

(parameter 32.07 Supervision 1 signal).




Selected signal has exceeded

the user overload curve.
Check for any operating conditions

increasing the monitored signal (for
example, the loading of the motor if the
torque or current is being monitored).
Check the definition of the load curve
(parameter group 37 User load curve).
Fault tracing 585
Code
(hex)
A8BF
Warning
Cause
What to do
ULC underload
warning
Selected signal has fallen

below the user underload
curve.
Check for any operating conditions

decreasing the monitored signal (for
example, loss of load if the torque or
current is being monitored).
Check the definition of the load curve
(parameter group 37 User load curve).
Fan service counter
A cooling fan has reached the

end of its estimated lifetime.
See parameters 05.41 and
05.42.

indicates which fan is to be replaced.
0: Main cooling fan
1: Auxiliary cooling fan
2: Auxiliary cooling fan 2
3: Cabinet cooling fan
4: PCB compartment fan
Refer to the hardware manual of the
drive for fan replacement instructions.
External warning 1
Fault in external device 1.
Check the external device.

Check setting of parameter 31.01
External event 1 source.




DDCS (fiber optic)

communication between
converters (for example, the
inverter unit and the supply
unit) is lost.
Check status of other converter

(parameters 06.36 and 06.39).
DDCS communication. Check the
corresponding settings in the control
program of the other converter.
replace cables.
Programmable fault:
37.04 ULC underload
actions
A8C0
A981

31.01 External event 1
source
type
A982
External warning 2
source
type
A983
External warning 3
source
type
A984
External warning 4
source
type
A985
External warning 5
source
type
AF80
FA2FA DDCS comm

loss
60.79 INU-LSU comm loss
function
586 Fault tracing
Code
(hex)
Warning
Cause
What to do
AF85
Line side unit warning
The supply unit has generated

a warning.
If using a control panel or the Drive

composer tool, connect to the supply unit
to read the warning code. Refer to the
firmware manual of the supply unit for
instructions related to the code.
AF8C
Process PID sleep

mode
The drive is entering sleep

mode.
Informative warning. See section Sleep

function for process PID control (page
109), and parameters 40.4140.48.
AF90
Speed controller
autotuning
The speed controller autotune

routine did not complete
successfully.

YYYY). YYYY indicates the problem
0000 The drive was stopped before

the autotune routine finished.
Repeat autotune until successful.
0001 The drive was started but was

not ready to follow the
autotune command.
Make sure the prerequisites of the

autotune run are fulfilled. See section
Before activating the autotune routine
(page 88).
0002 Required torque reference

could not be reached before
the drive reached maximum
speed.
Decrease torque step (parameter 25.38)

or increase speed step (25.39).
0003 Motor could not

accelerate/decelerate to
maximum/minimum speed.
Increase torque step (parameter 25.38)

or decrease speed step (25.39).
0005 Motor could not decelerate

with full autotune torque.
Decrease torque step (parameter 25.38)

or speed step (25.39).
AFAA
Autoreset
A fault is about to be autoreset. Informative warning. See the settings in

parameter group 31 Fault functions.
AFE1
Emergency stop (off2)
Drive has received an

emergency stop (mode
selection off2) command.
Check that it is safe to continue

operation. Reset the source of the
emergency stop signal (such as an
emergency stop push button). Restart
drive.
If the emergency stop was unintentional,
check the source of the stop signal (for
example, 21.05 Emergency stop source,
or control word received from an external
control system).
(Follower drive in a
master/follower configuration)
Drive has received a stop
command from the master.
Informative warning. After stopping on a

ramp stop (Off1 or Off3) command, the
master sends a short, 10-millisecond
coast stop (Off2) command to the
follower(s). The Off2 stop is stored in the
event log of the follower.
Drive has received an

emergency stop (mode
selection off1 or off3)
command.
Check that it is safe to continue

operation. Reset the source of the
emergency stop signal (such as an
emergency stop push button). Restart
the drive.
If the emergency stop was unintentional,
check the source of the stop signal (for
example, 21.05 Emergency stop source,
or control word received from an external
control system).
AFE2
Emergency stop (off1

or off3)
Fault tracing 587
Code
(hex)
Warning
Cause
What to do
AFE7
Follower
A follower drive has tripped.

Add 2 to the code to find out the node
address of the faulted drive.
Correct the fault in the follower drive.
AFEA
Enable start signal

missing
No enable start signal

received.
Check the setting of (and the source

selected by) parameter 20.19 Enable
start command.
No run enable signal is

received.
Check setting of parameter 20.12 Run

enable 1 source. Switch signal on (e.g. in
the fieldbus Control Word) or check
wiring of selected source.
AFEC External power signal

missing
95.04 Control board supply is

set to External 24V but no
voltage is connected to the
XPOW connector of the control
unit.
Check the external 24 V DC power

supply to the control unit, or change the
setting of parameter 95.04.
AFF6
Identification run
Motor ID run will occur at next

start or is in progress.
AFF7
Autophasing
Autophasing will occur at next

start.
B5A0
STO event
Programmable event:
31.22 STO indication
run/stop

connector XSTO is lost.

(page 305).
SW internal
diagnostics
Control unit rebooted

unexpectedly.
Informative event.
Checksum mismatch

See A686 Checksum mismatch (page

575).
AFEB
B5A4
B686
Run enable missing
Programmable event:
96.54 Checksum action
588 Fault tracing
Application warning messages

Code
(hex)
Warning
Cause
What to do
E200
Web Loss
The processed material (web,

wire or cable) may be broken.
If the material is not broken, check the

settings of parameter group 81 Winder
safety.
See appropriate actions for each code
below.
Speed error detected by speed

error watchdog is below the
tripping level set with
parameter 81.04 Speed error
low %.
If the material is not broken, increase the

tripping delay (parameter 81.09 Openloop trip delay) and raise the speed
additive (parameters 75.31 Overspeed
ref offset and 75.32 Dynamic offset trim).
Tension or dancer feedback

signal is below the tripping
level set with parameter 81.04
Speed error low %.

safety.
Especially check the parameter 81.04
Speed error low % for too high value.
Invalid Diameter
Settings
Some diameter settings need

to be corrected.
Verify the settings of parameter group 76

Diameter calculation.
below.
76.09 Full roll diameter is less

than 76.08 Core diameter.
Set valid diameter values for parameters

76.08 Core diameter and 76.09 Full roll
diameter.
Simulation Mode
Simulation mode is active.
Take a note of that. Only passive load

tests are allowed in simulation mode, so
never run a machine with a real material
in tension if this alarm is active.
E210
E299
Fault tracing 589
Firmware fault messages

Code
(hex)
Fault
Cause
What to do
2281
Calibration
Measured offset of output

phase current measurement or
difference between output
phase U2 and W2 current
measurement is too great (the
values are updated during
current calibration).
Try performing the current calibration

again (select Current measurement
calibration at parameter 99.13). If the
fault persists, contact your local ABB
representative.
2310
Overcurrent
Output current has exceeded

Check motor load.

Check acceleration times in parameter
group 23 Speed reference ramp (speed
control), 26 Torque reference chain
(torque control) or 28 Frequency
reference chain (frequency control). Also
check parameters 46.01 Speed scaling,
46.02 Frequency scaling and 46.03
Torque scaling.
Check motor and motor cable (including
phasing and delta/star connection).
Check there are no contactors opening
and closing in motor cable.
Check that the start-up data in parameter
group 99 corresponds to the motor rating
plate.
Check that there are no power factor
in motor cable.
Check encoder cable (including
phasing).
YYZZ). With parallel-connected inverter
received. ZZ indicates the phase that
triggered the fault (0: No detailed
information available, 1: U-phase, 2: Vphase, 4: W-phase, 3/5/6/7: multiple
phases).
Earth leakage

cable.

in motor cable.
the event log for an auxiliary code (format
XXXY YYZZ). Y YY specifies through
which BCU control unit channel the fault
was received.
If no earth fault can be detected, contact
2330
Programmable fault: 31.20

Earth fault
590 Fault tracing
Code
(hex)
Fault
Cause
What to do
2340
Short circuit
Short-circuit in motor cable(s)

or motor
Check motor and motor cable for cabling

errors.
in motor cable.
YYZZ). With parallel-connected inverter
received. ZZ indicates the location of
the short circuit (0: No detailed
information available, 1: Upper branch of
U-phase, 2: Lower branch of U-phase, 4:
Upper branch of V-phase, 8: Lower
branch of V-phase, 10: Upper branch of
W-phase, 20: Lower branch of W-phase,
other: combinations of the above).
After correcting the cause of the fault,
power.
2381
IGBT overload
Excessive IGBT junction to

case temperature. This fault
protects the IGBT(s) and can
be activated by a short circuit
in the motor cable.
Check motor cable.

2391
BU current difference
AC phase current difference

between parallel-connected
inverter modules is excessive.
Check motor cabling.

in motor cable.
YYZZ). XXX specifies the source of the
first error (see YYY). YYY specifies
the module through which BCU control
unit channel the fault was received (1:
Channel 1, 2: Channel 2, 4: Channel 3,
8: Channel 4, , 800: Channel 12,
other: combinations of the above). ZZ
indicates the phase (1: U, 2: V, 3: W).
2392
BU earth leakage
Total earth leakage of inverter

modules is excessive.

in motor cable.
Measure insulation resistances of motor
cables and motor.
3130
Input phase loss

is oscillating due to missing
input power line phase or
blown fuse.
Check input power line fuses.

Check for loose power cable
connections.
Check for input power supply imbalance.
No acknowledgment received
from charge relay.

Supply phase loss
3180
Charge relay lost
Fault tracing 591
Code
(hex)
3181
Fault
Cause
What to do
The drive hardware is supplied

from a common DC bus.
Switch off the protection in parameter

31.23.
Incorrect input power and

motor cable connection (i.e.
input power cable is connected
to the motor connection).
Check the power connections.

cable.

in motor cable.

3210
DC link overvoltage
Excessive intermediate circuit

DC voltage.
Check that overvoltage control is on

(parameter 30.30 Overvoltage control).
Check that the supply voltage matches
the nominal input voltage of the drive.
Check the supply line for static or
transient overvoltage.
Check brake chopper and resistor (if
present).
Check deceleration time.
Use coast-to-stop function (if applicable).
Retrofit drive with brake chopper and
brake resistor.
was received.
3220
DC link undervoltage

is not sufficient because of a
missing supply phase, blown
fuse or fault in the rectifier
bridge.
Check supply cabling, fuses and

switchgear.
was received.
3280
Standby timeout
Automatic restart failed (see

section Automatic restart on
page 118).
Check the condition of the supply

(voltage, cabling, fuses, switchgear).
3291
BU DC link difference
Difference in DC voltages
between parallel-connected
inverter modules.

YYZZ). XXX specifies the source of the
first error (see YYY). YYY specifies
the module through which BCU control
unit channel the fault was received (1:
Channel 1, 2: Channel 2, 4: Channel 3,
8: Channel 4, , 800: Channel 12).
3381
Output phase loss
Motor circuit fault due to

missing motor connection (all
three phases are not
connected).
Connect motor cable.

Motor phase loss
592 Fault tracing
Code
(hex)
Fault
Cause
What to do
3385
Autophasing
Autophasing routine (see

section Autophasing on page
102) has failed.
Try other autophasing modes (see

parameter 21.13 Autophasing mode) if
possible.
If the Turning with Z-pulse mode is
selected, check the zero pulse given by
the encoder.
Check that the motor ID run has been
successfully completed.
Clear parameter 98.15 Position offset
user.
Check that the encoder is not slipping on
the motor shaft.
Check that the motor is not already
turning when the autophasing routine
starts.
Check the setting of parameter 99.03
Motor type.
4000
Motor cable overload
Calculated motor cable

warning limit.

and 35.62.
Check the dimensioning of the motor
cable in regard to required load.
4210
IGBT overtemperature
Estimated drive IGBT


4290
Cooling
Drive module temperature is

excessive.
Check ambient temperature. If it exceeds

40 C (104 F), ensure that load current
does not exceed derated load capacity of
drive. See appropriate Hardware manual.
Check drive module cooling air flow and
fan operation.
Check inside of cabinet and heatsink of
drive module for dust pick-up. Clean
whenever necessary.
42F1
IGBT temperature
Drive IGBT temperature is

excessive.

4310
Excess temperature
Power unit module

See A4B0 Excess temperature (page

573).
4380
Excess temperature
difference
High temperature difference

between the IGBTs of different
phases.
See A4B1 Excess temperature

difference (page 573).
4381
PCB space cooling
Temperature difference
between ambient and drive
module PCB space is
excessive.
See A4B2 PCB space cooling (page

573).
4981
1

exceeded fault limit.

measured).
Temperature 1 fault limit.
Fault tracing 593
Code
(hex)
4982
Fault
Cause
What to do
2

exceeded fault limit.

measured).
Temperature 2 fault limit.
4990
FPTC not found
A thermistor protection module

has been activated by
parameter 35.30 but cannot be
detected.
Power down the control unit and check

that the module is properly inserted in the
correct slot.
The last digit of the auxiliary code
identifies the slot.
4991
Safe motor
temperature 1

Check the cooling of the motor.

Check the motor load and drive ratings.
Check the wiring of the temperature
sensor. Repair wiring if faulty.
Measure the resistance of the sensor.
Replace sensor if faulty.
4992
Safe motor
temperature 2
4993
Safe motor
temperature 3

5080
Fan
Cooling fan stuck or

disconnected.
See A581 Fan (page 574).
5081
Auxiliary fan broken
An auxiliary cooling fan

(connected to the fan
connectors on the control unit)
is stuck or disconnected.
Check the auxiliary code. The auxiliary

code identifies the fan (1: Auxiliary fan 1,
2: Auxiliary fan 2).
Check auxiliary fan(s) and connection(s).
Replace faulty fan.
Make sure the front cover of the drive
module is in place and tightened. If the
commissioning of the drive requires that
the cover is off, activate parameter 31.36
Aux fan fault bypass within 2 minutes
from control unit reboot to temporarily
suppress the fault.
5090
STO hardware failure
Safe torque off hardware

failure.
Contact your local ABB representative,

quoting the auxiliary code. The code
contains location information, especially
with parallel-connected inverter modules.
When converted into a 32-bit binary
number, the bits of the code indicate the
following:
3128: Number of faulty inverter module
(011 decimal). 1111: STO_ACT states
of control unit and inverter modules in
conflict
27: STO_ACT state of inverter modules
26: STO_ACT state of control unit
25: STO1 of control unit
2312: STO1 of inverter modules 121
(Bits of non-existing modules set to 1)
594 Fault tracing
Code
(hex)
Fault
Cause
What to do
5091
Safe torque off

connector XSTO is broken
during start or run.
Check safe torque off circuit connections.

For more information, see appropriate
drive hardware manual and description of
(page 305).

STO indication run/stop
5092
PU logic error
Power unit memory has

cleared.
Cycle the power to the drive. If the

control unit is externally powered, also
its power. If the problem persists, contact
5093
Rating ID mismatch
The hardware of the drive does

not match the information
stored in the memory unit. This
may occur eg. after a firmware
update or memory unit
replacement.
Cycle the power to the drive.

Check the auxiliary code. The auxiliary
code categories are as follows:
1 = PU and CU ratings not the same.
Rating ID has changed.
2 = Parallel connection rating ID has
changed.
3 = PU types not the same in all power
units.
4 = Parallel connection rating ID is active
in a single power unit setup.
5 = It is not possible to implement the
selected rating with the current PUs.
6 = PU rating ID is 0.
7 = Reading PU rating ID or PU type
failed on PU connection.
8 = PU not supported (illegal rating ID).
With parallel connection faults, the format
of the auxiliary code is 0X0Y. Y
indicates the auxiliary code category, X
indicates the first faulty PU channel in
hexadecimal (1C).
5094
Measurement circuit
temperature
Problem with internal

temperature measurement of
the drive.
See A5EA Measurement circuit

temperature (page 574).
Fault tracing 595
Code
(hex)
Fault
Cause
What to do
5681
PU communication
The way the control unit is

powered does not correspond
to parameter setting.
Check setting of 95.04 Control board

supply.
Check the connection between the

control unit and the power unit. Check the auxiliary code (format XXXY
YYZZ). With parallel-connected modules,
Y YY specifies the affected BCU control
unit channel (0: broadcast). ZZ
specifies the error source (1: Transmitter
side [link error], 2: Transmitter side [no
communication], 3: Receiver side [link
error], 4: Receiver side [no
communication], 5: Transmitter FIFO
error [see XXX], 6: Module [xINT board]
not found, 7: BAMU board not found).
XXX specifies the transmitter FIFO
error code (1: Internal error [invalid call
parameter], 2: Internal error
[configuration not supported],
3: Transmission buffer full).
5682
Power unit lost
Connection between the drive

control unit and the power unit
is lost.
Check the connection between the

5690
PU communication
internal
Internal communication error.
5691
Measurement circuit
ADC
Measurement circuit fault.
Contact your local ABB representative

quoting the auxiliary code.
5692
PU board powerfail
Power unit power supply

failure.

ZZZY YYXX). YY Y specifies the
affected inverter module (0C, always 0
for ZCU control units). XX specifies the
affected power supply (1: Power supply
1, 2: Power supply 2).
5693
Measurement circuit
DFF
Measurement circuit fault.

5694
PU communication
configuration
Version check cannot find a

matching power unit FPGA
logic.
5695
Reduced run
Number of inverter modules

detected does not match the
value of parameter 95.13
Reduced run mode.
Check that the value of 95.13 Reduced

run mode corresponds to the number of
inverter modules present. Check that the
modules present are powered from the
DC bus and connected by fiber optic
cables to the BCU control unit.
If all modules of the inverter unit are in
fact available (eg. maintenance work has
been completed), check that parameter
95.13 is set to 0 (reduced run function
disabled).
5696
PU state feedback
State feedback from output

phases does not match control
signals.

596 Fault tracing
Code
(hex)
Fault
Cause
What to do
5697
Charging feedback
Incorrect parameter setting.
Check the setting of 95.09 Fuse switch

control. The parameter should be
enabled only if an xSFC charging
controller is installed.
The charging switch and DC

switch were operated out of
sequence, or a start command
was issued before the unit was
ready.
The normal power-up sequence is:

1. Close charging switch.
2. After charging finishes (charging OK
lamp lights), close DC switch.
3. Open charging switch.
Charging circuit fault.
Check the charging circuit.

With a frame R6i/R7i inverter module, the
auxiliary code FA indicates that the
charging contactor status feedback does
not match the control signal.
With parallel-connected frame R8i
modules, the auxiliary code (format
XX00), XX specifies the affected BCU
control unit channel.
5698
Unknown power unit

fault
Unidentified power unit logic

fault.
Check power unit logic and firmware

compatibility.
6000
Internal SW error
Internal error.

6181
FPGA version
incompatible
Firmware and FPGA file

version in the power unit are
incompatible.
Reboot the control unit (using parameter

power. If the problem persists, contact
6200
Checksum mismatch

See A686 Checksum mismatch (page

575).

Checksum action
6306
FBA A mapping file
Fieldbus adapter A mapping

file read error.
6307
FBA B mapping file
Fieldbus adapter B mapping

file read error.
6481
Task overload
Internal fault.

6487
Stack overflow
Internal fault.

64A1
Internal file load
File read error.

64A2
Internal record load
Internal record load error.
64A3
Application loading
Application file incompatible or

corrupted.

each code below.
8006 Not enough memory for the

application.
Fault tracing 597
Code
(hex)
Fault
Cause
What to do
8007 The application contains the

wrong library version.
800A The application contains an
unknown target (system)
library function.
64A5
Licensing fault
Running the control program is

prevented either because a
restrictive license exists, or
because a required license is
missing.
Record the auxiliary codes of all active

licensing faults and contact your product
vendor for further instructions.
64A6
Adaptive program
Error running the adaptive

program.

XXXX YYYY). XXXX specifies the
number of the function block (0000 =
generic error). YYYY indicates the
below).
000A Program corrupted or block

non-existent
Restore the template program or

download the program to the drive.
000C Required block input missing
Check the inputs of the block.
000E Program corrupted or block

non-existent
Restore the template program or

download the program to the drive.
0011 Program too large.
Remove blocks until the error stops.
0012 Program is empty.
Correct the program and download it to

the drive.
001C A nonexisting parameter or

block is used in the program.
Edit the program to correct the parameter

reference, or to use an existing block.
001D Parameter type invalid for

selected pin.
Edit the program to correct the parameter

reference.
001E Output to parameter failed

because the parameter was
write-protected.
Check the parameter reference in the

program.
Check for other sources affecting the
target parameter.
0023 Program file incompatible with

current firmware version.
0024
Adapt the program to current block

library and firmware version.
Other
Contact your local ABB representative,

64B0
Memory unit detached
The memory unit was

detached when the control unit
was powered.
Switch off the power to the control unit

and reinstall the memory unit.
In case the memory unit was not actually
removed when the fault occurred, check
that the memory unit is properly inserted
into its connector and its mounting screw
is tight. Reboot the control unit (using
parameter 96.08 Control board boot) or
by cycling power. If the problem persists,
contact your local ABB representative.
64B1
Internal SSW fault
Internal fault.

598 Fault tracing
Code
(hex)
Fault
Cause
64B2
User set fault
Loading of user parameter set Ensure that a valid user parameter set
exists. Reload if uncertain.
failed because
requested set does not exist
set is not compatible with
control program
drive was switched off
during loading.
64E1
Kernel overload
Operating system error.

6581
Parameter system
Parameter load or save failed.
Try forcing a save using parameter 96.07

Parameter save manually. Retry.
65A1
FBA A parameter
conflict

functionality requested by

Fieldbus adapter (FBA) and 51 FBA A
settings.
65A2
FBA B parameter
conflict

functionality requested by

Fieldbus adapter (FBA) and 54 FBA B
settings.
65B1
Reference source
parametrization
A reference source is
simultaneously connected to
multiple parameters with
different units.
See A6DA Reference source

parametrization (page 577).
6681
EFB comm loss
Communication break in
embedded fieldbus (EFB)
communication.
Check the status of the fieldbus master

(online/offline/error etc.).
Check cable connections to the XD2D
connector on the control unit.
Programmable fault:
action
What to do
6682
EFB config file
Embedded fieldbus (EFB)

configuration file could not be
read.
6683
EFB invalid
parameterization

parameter settings
inconsistent or not compatible
with selected protocol.
Check the settings in parameter group 58

Embedded fieldbus.
6684
EFB load fault

protocol firmware could not be
loaded.
Version mismatch between

EFB protocol firmware and
drive firmware.
6881
Text data overflow
Internal fault.
Reset the fault. Contact your local ABB

representative if the fault persists.
6882
Text 32-bit table

overflow
Internal fault.

6883
Text 64-bit table

overflow
Internal fault.

6885
Text file overflow
Internal fault.

7080
Option module comm

loss
Communication between drive

and an option module is lost.
See A798 Encoder option comm loss

(page 579).
Fault tracing 599
Code
(hex)
7081
Fault
Cause
What to do
Control panel loss
Control panel or PC tool

selected as active control
location for drive has ceased
communicating.
Check PC tool or control panel

connection.
Check control panel connector.
Disconnect and reconnect the control
panel.
specifies the I/O port used as follows: 0:
Panel, 1: Fieldbus interface A, 2:
Fieldbus interface B, 3: Ethernet, 4:
D2D/EFB port)
The I/O extension module

types specified by parameters
do not match the detected
configuration.

(format XXYY YYYY). XX specifies the
number of the I/O extension module (01:
parameter group 14 I/O extension
module 1, 02: 15 I/O extension module 2,
03: 16 I/O extension module 3).
YY YYYY indicates the problem (see
actions for each code below).

Communication loss
action
7082
Ext I/O comm loss
00 0001 Communication with module

failed.
Check that the module is properly seated

in its slot.
Check that the module and the slot
connector is not damaged.
Try installing the module into another
slot.
00 0002 Module not found.
Check the type and location settings of

the modules (parameters 14.01/14.02,
15.01/15.02 or 16.01/16.02).
Check that the module is properly seated
in its slot.
Check that the module and the slot
connector is not damaged.
Try installing the module into another
slot.
00 0003 Configuration of module failed.

00 0004 Configuration of module failed.
7083
Panel reference
conflict
Use of saved control panel

reference in multiple control
modes attempted.
The control panel reference can only be

saved for one reference type at a time.
Consider the possibility of using a copied
reference instead of saved reference
(see the reference selection parameter).
7084
Panel/PC tool version

conflict
The current version of the

control panel and/or PC tool
does not support a function.
(For example, older panel
versions cannot be used as a
source of external reference.)
Update control panel and/or PC tool.

Contact your local ABB representative if
necessary.
7085
Incompatible option
module
Option module not supported.

(For example, type Fxxx-xx-M
fieldbus adapter modules are
not supported.)

specifies the interface to which the
unsupported module is connected:
1: Fieldbus interface A, 2: Fieldbus
interface B.
Replace the module with a supported
type.
Motor stall
Motor is operating in stall

region because of e.g.
excessive load or insufficient
motor power.
Check motor load and drive ratings.

Check fault function parameters.
7121

Stall function
600 Fault tracing
Code
(hex)
Fault
Cause
What to do
7181
Brake resistor
Brake resistor broken or not

connected.
Check that a brake resistor has been

connected.
Check the condition of the brake resistor.
Check the dimensioning of the brake
resistor.
7183
BR excess
temperature
Brake resistor temperature has

exceeded fault limit defined by
parameter 43.11 Brake resistor
fault limit.
Stop drive. Let resistor cool down.

Brake chopper).
Check fault limit setting, parameter 43.11
Brake resistor fault limit.
limits.
7184
Brake resistor wiring
Brake resistor short circuit or

brake chopper control fault.
Check brake chopper and brake resistor

connection.
Ensure brake resistor is not damaged.
power.
7191
BC short circuit
Short circuit in brake chopper

IGBT.
Ensure brake resistor is connected and

not damaged.
Check the electrical specifications of the
brake resistor against the Hardware
manual.
Replace brake chopper (if replaceable).
power.
7192
BC IGBT excess
temperature
Brake chopper IGBT

Let chopper cool down.

Check for excessive ambient
temperature.
Check for cooling fan failure.
Check for obstructions in the air flow.
Check the dimensioning and cooling of
the cabinet.
Brake chopper).
limits.
Check that drive supply AC voltage is not
excessive.
71A2
Mechanical brake
closing failed
Mechanical brake control fault.

Activated eg. if brake
expected during brake closing.

control.

Fault tracing 601
Code
(hex)
71A3
Fault
Cause
What to do
Mechanical brake
opening failed
Mechanical brake control fault.

Activated eg. if brake
expected during brake
opening.

control.
Open conditions of mechanical

brake cannot be fulfilled (for
example, brake has been
prevented from opening by
parameter 44.11 Keep brake
closed).

control (especially 44.11 Keep brake
closed).
Check that acknowledgement signal (if
used) matches actual status of brake.
In an encoderless application,
the brake is kept closed by a
brake close request (either
from parameter 44.12 Brake
close request or from an
FSO-xx safety functions
module) against a modulating
drive for longer than 5
seconds.
Check the source signal selected by

parameter 44.12 Brake close request.
Check the safety circuits connected to
the FSO-xx safety functions module.
No feedback received from

external fan.
Check external fan (or other equipment

controlled) by the logic.
35.10035.106.
No motor speed feedback

received.
See A7B0 Motor speed feedback (page

581).
Motor is turning faster than

highest allowed speed due to
incorrectly set
minimum/maximum speed,
insufficient braking torque or
changes in load when using
torque reference.
Check minimum/maximum speed

settings, parameters 30.11 Minimum
speed and 30.12 Maximum speed.
Check adequacy of motor braking torque.
Check applicability of torque control.
Check need for brake chopper and
resistor(s).
Incorrect estimated speed.
Check the status of motor current

measurement.
Perform a Normal, Advanced or
Advanced Standstill ID run instead of, for
example, a Reduced or Standstill ID run.
See parameter 99.13 ID run requested
(page 502).

71A5
Mechanical brake
opening not allowed
71B1
Motor fan
Programmable fault:
type
7301
Motor speed feedback

7310
Overspeed
7380
Encoder internal
Internal fault.
7381
Encoder
Encoder feedback fault.
See A7E1 Encoder (page 582).
Speed feedback configuration

incorrect.
See A797 Speed feedback configuration

(page 578).

73A0
Speed feedback
configuration
602 Fault tracing
Code
(hex)
Fault
Cause
What to do
73A1
Load feedback
No load feedback received.

(format XXYY ZZZZ). XX specifies the
number of the encoder interface module
(01: 91.11/91.12, 02: 91.13/91.14), YY
below).
90.55 Load feedback fault
0001 Load gear definition invalid or

outside limits.
Check load gear settings (90.53 and

90.54).
0002 Feed constant definition invalid

or outside limits.
Check feed constant settings (90.63 and

90.64).
0003 Motor/load gear definition

invalid or outside limits.
Check motor/load gear settings (90.61

and 90.62).
0004 Encoder not configured.
Check encoder settings (92 Encoder 1

configuration or 93 Encoder 2
configuration).
settings.
73B0
Emergency ramp
failed
Emergency stop did not finish

within expected time.

Emergency ramp supervision and 31.33
Emergency ramp supervision delay.
Check the predefined ramp times
(23.1123.19 for mode Off1, 23.23 for
mode Off3).
73B1
Stop failed
Ramp stop did not finish within

expected time.

Ramp stop supervision and 31.38 Ramp
stop supervision delay.
Check the predefined ramp times in
parameter group 23 Speed reference
ramp.
7510
FBA A communication
adapter module A or between
module A is lost.

interface.
Fieldbus adapter (FBA), 51 FBA A
settings, 52 FBA A data in and 53 FBA A
data out.
communicate.
adapter module B or between
module B is lost.

interface.
Fieldbus adapter (FBA).
communicate.

FBA A comm loss func
7520
FBA B communication
FBA B comm loss func
Fault tracing 603
Code
(hex)
7580
Fault
Cause
What to do
INU-LSU comm loss
DDCS (fiber optic)

communication between
converters (for example, the
inverter unit and the supply
unit) is lost.
Check status of other converter

(parameters 06.36 and 06.39).
DDCS communication. Check the
corresponding settings in the control
program of the other converter.
replace cables.
DDCS (fiber optic)

communication between drive
and external controller is lost.
Check status of controller. See user

documentation of controller.
DDCS communication.
replace cables.
Master/follower
communication is lost.
See A7CB MF comm loss (page 582).

INU-LSU comm loss
function
7581
DDCS controller
comm loss
DDCS controller comm
loss function
7582
MF comm loss
M/F comm loss function
7583
Line side unit faulted
The supply unit (or other

converter) connected to the
inverter unit has generated a
fault.
Check fault status of supply unit (or other

converter).
Refer to the firmware manual of the
supply unit.
7584
LSU charge failed
The supply unit was not ready

(ie. the main contactor/breaker
could not be closed) within
expected time.
Check setting of parameter 94.10 LSU

max charging time.
Check that the supply unit is enabled,
allowed to start, and can be controlled by
the inverter unit (eg. not in local control
mode).
ULC underload fault
Selected signal has fallen

below the user underload
curve.
See A8BF ULC underload warning (page

585).
Selected signal has exceeded

the user overload curve.
See A8BE ULC overload warning (page

584).
An analog signal is outside the

limits specified for the analog
input.

XYZZ). Y specifies the location of the
input (0: Control unit, 1: I/O extension
module 1, 2: I/O extension module 2, 3:
I/O extension module 3). ZZ specifies
the limit (01: AI1 under minimum, 02: AI1
above maximum, 03: AI2 under
minimum, 04: AI2 above maximum).
Check signal level at the analog input.
Check the wiring connected to the input.
Check the minimum and maximum limits
of the input in parameter group 12
Standard AI.
Fault generated by the signal

supervision 1 function.
Check the source of the fault (parameter

32.07 Supervision 1 signal).


8001
Programmable fault:
37.04 ULC underload
actions
8002
ULC overload fault

Programmable fault:
37.03 ULC overload
actions
80A0
AI supervision
Programmable fault:
12.03 AI supervision
function
80B0
Signal supervision
Programmable fault:
80B1
Programmable fault:
604 Fault tracing
Code
(hex)
Fault
Cause
What to do
80B2








(page 305).
Check the auxiliary code, The code
contains location information, especially
with parallel-connected inverter modules.
When converted into a 32-bit binary
number, the bits of the code indicate the
following:
3128: Number of faulty inverter module
(011 decimal). 1111: STO_ACT states
of control unit and inverter modules in
conflict
27: STO_ACT state of inverter modules
26: STO_ACT state of control unit

Programmable fault:
9081
External fault 1
type
9082
External fault 2
type
9083
External fault 3
type
9084
External fault 4
type
9085
External fault 5
type
FA81

active, ie. STO circuit 1 is
broken.
FA82

active, ie. STO circuit 2 is
broken.
Fault tracing 605
Code
(hex)
Fault
Cause
What to do
FB11
Memory unit missing
No memory unit is attached to

the control unit.
Power down the control unit.

Check that the memory unit is properly
inserted into the control unit.
The memory unit attached to

the control unit is empty.
Power down the control unit. Attach a

memory unit (with the appropriate
firmware) to the control unit.
FB12
Memory unit
incompatible
The memory unit attached to

the control unit is incompatible. Attach a compatible memory unit.
FB13
Memory unit FW
incompatible
The firmware on the attached

memory unit is incompatible
with the drive.

Attach a memory unit with compatible
firmware.
FB14
Memory unit FW load

failed
The firmware on the attached

memory unit could not be
loaded to the drive.

Check that the memory unit is properly
inserted into the control unit.
If the problem persists, replace the
memory unit.
FF61
ID run
Motor ID run was not

completed successfully.
Check the nominal motor values in

parameter group 99 Motor data.
Check that no external control system is
connected to the drive.
Cycle the power to the drive (and its
control unit, if powered separately).
Check that the motor shaft is not locked.
The second number of the code indicates
the problem (see actions for each code
below).
0001 Maximum current limit too low.
Check settings of parameters 99.06

Motor nominal current and 30.17
Maximum current. Make sure that
30.17 > 99.06.
Check that the drive is dimensioned
correctly according to the motor.
0002 Maximum speed limit or

calculated field weakening
point too low.

30.11 Minimum speed
30.12 Maximum speed
99.07 Motor nominal voltage
99.08 Motor nominal frequency
99.09 Motor nominal speed.
Make sure that
30.12 > (0.55 99.09) >
(0.50 synchronous speed)
30.11 < 0, and
supply voltage > (0.66 99.07).
0003 Maximum torque limit too low.
Check settings of parameter 99.12 Motor

nominal torque, and the torque limits in
group 30 Limits.
Make sure that the maximum torque limit
in force is greater than 100%.
0004 Current measurement

calibration did not finish within
reasonable time.
00050008 Internal error.
606 Fault tracing
Code
(hex)
Fault
Cause
What to do
0009 (Asynchronous motors only)

Acceleration did not finish
within reasonable time.
000A (Asynchronous motors only)

Deceleration did not finish
within reasonable time.
000B (Asynchronous motors only)

Speed dropped to zero during
ID run.
000C (Permanent magnet motors

only) First acceleration did not
finish within reasonable time.
000D (Permanent magnet motors

only) Second acceleration did
not finish within reasonable
time.
000E0010 Internal error.
FF7E
Follower
A follower drive has tripped.

Add 2 to the code for finding the node
address of the faulted drive.
Correct the fault in the follower drive.
FF81
FB A force trip
A fault trip command has been

received through fieldbus
adapter A.
Check the fault information provided by

the PLC.
FF82
FB B force trip

received through fieldbus
adapter B.

the PLC.
FF8E
EFB force trip

received through the
embedded fieldbus interface.

the Modbus controller.
Fault tracing 607
Application fault messages

Code
(hex)
Fault
Cause
What to do
E100
Web Loss
The processed material (web,

wire or cable) may be broken.

safety.
below.
Speed error detected by speed

error watchdog is below the
tripping level set with
parameter 81.04 Speed error
low %.
If the material is not broken, increase the

overspeed settings in parameter group
75 Winder speed settings (parameters
75.31 Overspeed ref offset and 75.32
Dynamic offset trim).
Tension or dancer feedback

signal is below the tripping
level set with parameter 81.04
Speed error low %.

safety.
Especially check the parameter 81.04
Speed error low % for too high value.
608 Fault tracing
Fieldbus control through the embedded fieldbus interface (EFB) 609
11
Fieldbus control through the
embedded fieldbus interface
(EFB)
The chapter describes how the drive can be controlled by external devices over a
communication network (fieldbus) using the embedded fieldbus interface.
System overview
The drive can be connected to an external control system through a communication
link using either a fieldbus adapter or the embedded fieldbus interface.
The embedded fieldbus interface supports the Modbus RTU protocol. The drive
control program can handle 10 Modbus registers in a 10-millisecond time level. For
example, if the drive receives a request to read 20 registers, it will start its response
within 22 ms of receiving the request 20 ms for processing the request and 2 ms
overhead for handling the bus. The actual response time depends on other factors as
well, such as the baud rate (a parameter setting in the drive).
The drive can be set to receive all of its control information through the fieldbus
interface, or the control can be distributed between the embedded fieldbus interface
and other available sources, for example, digital and analog inputs.
610 Fieldbus control through the embedded fieldbus interface (EFB)
Fieldbus controller
Fieldbus
Data flow
Control Word (CW)
References
Status Word (SW)
Actual values
Parameter R/W
requests/responses
Process I/O (cyclic)
Service messages (acyclic)
XD2D
XD2D
XD2D
Control unit
Control unit
Control unit
Termination OFF
Termination OFF
ACS880
ACS880
...
Termination ON
ACS880
Connecting the fieldbus to the drive

Connect the fieldbus to terminal XD2D on the control unit of the drive. See the
appropriate Hardware Manual for more information on the connection, chaining and
termination of the link.
Note: If the XD2D connector is reserved by the embedded fieldbus interface
(parameter 58.01 Protocol enable is set to Modbus RTU), the drive-to-drive link
functionality is automatically disabled.
Setting up the embedded fieldbus interface

Set the drive up for the embedded fieldbus communication with the parameters
shown in the table below. The Setting for fieldbus control column gives either the
value to use or the default value. The Function/Information column gives a
description of the parameter.
Parameter
Setting for
fieldbus control
Function/Information
COMMUNICATION INITIALIZATION
58.01
Protocol enable
Modbus RTU
Initializes embedded fieldbus communication.

Drive-to-drive link operation is automatically
disabled.
EMBEDDED MODBUS CONFIGURATION

58.03
Node address
1 (default)
Node address. There must be no two nodes

with the same node address online.
58.04
Baud rate
19.2 kbps (default) Defines the communication speed of the link.

Use the same setting as in the master station.
58.05
Parity
8 EVEN 1 (default) Selects the parity and stop bit setting. Use the
same setting as in the master station.
58.14
Communication
loss action
Fault (default)
Defines the action taken when a

communication loss is detected.
58.15
Communication
loss mode
Cw / Ref1 / Ref2
(default)
Enables/disables communication loss

monitoring and defines the means for
resetting the counter of the communication
loss delay.
58.16
Communication
loss time
3.0 s (default)
Defines the timeout limit for the

communication monitoring.
58.17
Transmit delay
0 ms (default)
Defines a response delay for the drive.
58.25
Control profile
ABB Drives
(default),
Transparent
Selects the control profile used by the drive.

See section Basics of the embedded fieldbus
interface (page 615).
58.26
58.29
EFB ref1 type
EFB act2 type
Auto, Transparent,
General, Torque,
Speed, Frequency
Selects the reference and actual value types.

With the Auto setting, the type is selected
automatically according to the currently active
drive control mode.
58.30
EFB status word Other

transparent
source
Defines the source of status word when 58.25

Control profile = Transparent.
58.31
EFB act1
transparent
source
Other
Defines the source of actual value 1 when

58.28 EFB act1 type = Transparent or
General.
58.32
EFB act2
transparent
source
Other
Defines the source of actual value 2 when

58.29 EFB act2 type = Transparent or
General.
Setting for
fieldbus control
Parameter
58.33
Addressing
mode
eg. Mode 0
(default)
Defines the mapping between parameters

and holding registers in the 400001465536
(10065535) Modbus register range.
58.34
Word order
LO-HI (default)
Defines the order of the data words in the

Modbus message frame.
For example, the

default settings
(I/Os 16 contain
the control word,
the status word,
two references and
two actual values)
Define the address of the drive parameter

which the Modbus master accesses when it
reads from or writes to the register address
corresponding to Modbus In/Out parameters.
Select the parameters that you want to read
or write through the Modbus I/O words.
RO/DIO control
word, AO1 data
storage, AO2 data
storage, Feedback
data storage,
Setpoint data
storage
These settings write the incoming data into

storage parameters 10.99 RO/DIO control
word, 13.91 AO1 data storage, 13.92 AO2
data storage, 40.91 Feedback data storage or
40.92 Setpoint data storage.
Refresh settings
Validates the settings of the configuration

parameters.
58.101 Data I/O 1
58.124 Data I/O 24
58.06
Communication
control
The new settings will take effect when the drive is powered up the next time, or when
they are validated by parameter 58.06 Communication control.
Setting the drive control parameters

After the embedded fieldbus interface has been set up, check and adjust the drive
control parameters listed in the table below. The Setting for fieldbus control column
gives the value or values to use when the embedded fieldbus signal is the desired
source or destination for that particular drive control signal. The
Function/Information column gives a description of the parameter.
Parameter
Setting for
fieldbus control
CONTROL COMMAND SOURCE SELECTION

20.01 Ext1
commands
Embedded fieldbus
Selects fieldbus as the source for the start

and stop commands when EXT1 is selected
as the active control location.
20.06 Ext2
commands
Embedded fieldbus
Selects fieldbus as the source for the start

and stop commands when EXT2 is selected
as the active control location.
SPEED REFERENCE SELECTION

22.11 Speed ref1
source
EFB ref1 or EFB ref2
Selects a reference received through the

embedded fieldbus interface as speed
reference 1.
Parameter
22.12 Speed ref2
source
Setting for
fieldbus control
embedded fieldbus interface as speed
reference 2.
TORQUE REFERENCE SELECTION

26.11 Torque ref1
source

embedded fieldbus interface as torque
reference 1.
26.12 Torque ref2

source

embedded fieldbus interface as torque
reference 2.
FREQUENCY REFERENCE SELECTION

28.11 Frequency ref1
source

embedded fieldbus interface as frequency
reference 1.
28.12 Frequency ref2

source

embedded fieldbus interface as frequency
reference 2.
OTHER SELECTIONS
EFB references can be selected as the source at virtually any signal selector parameter by
selecting Other, then either 03.09 EFB reference 1 or 03.10 EFB reference 2.
CONTROL OF RELAY OUTPUTS, ANALOG OUTPUTS AND DIGITAL INPUT/OUTPUTS
10.24 RO1 source
RO/DIO control word

bit0
Connects bit 0 of storage parameter 10.99

RO/DIO control word to relay output RO1.
10.27 RO2 source
RO/DIO control word

bit1

10.30 RO3 source
RO/DIO control word

bit2

11.05 DIO1 function

11.09 DIO2 function
Output (default)
Sets the digital input/output to output mode.
11.06 DIO1 output

source
RO/DIO control word

bit8

RO/DIO control word to digital input/output
DIO1.
11.10 DIO2 output

source
RO/DIO control word

bit9

RO/DIO control word to digital input/output
DIO2.
13.12 AO1 source
AO1 data storage
Connects storage parameter 13.91 AO1 data

storage to analog output AO1.
13.22 AO2 source
AO2 data storage
Connects storage parameter 13.92 AO2 data

storage to analog output AO2.
Parameter
Setting for
fieldbus control
PROCESS PID FEEDBACK AND SETPOINT

40.08 Set 1 feedback Feedback data
1 source
storage
40.16 Set 1 setpoint 1 Setpoint data storage
source
Connect the bits of the storage parameter

(10.99 RO/DIO control word) to the digital
input/outputs of the drive.
SYSTEM CONTROL INPUTS

96.07 Parameter save Save (reverts to
manually
Done)
Saves parameter value changes (including

those made through fieldbus control) to
permanent memory.
Basics of the embedded fieldbus interface

The cyclic communication between a fieldbus system and the drive consists of 16-bit
data words or 32-bit data words (with the transparent control profiles).
The diagram below illustrates the operation of the embedded fieldbus interface. The
signals transferred in the cyclic communication are explained further below the
diagram.
Fieldbus network
1)
Cyclic communication
EFB profile
SEL
CW
REF1
REF2
SW
ACT1
ACT2
2)
EFB CW 3)
03.09 EFB reference
1
03.10 EFB reference
2
0
2
2)
3)
EFB SW
Actual 1 3)
Actual 2 3)
0
2
EXT1/2
Start commands
20.01
20.06
Reference
selection
58.25
Groups
22/26/28/40 etc.
Data I/O
selection
I/O 1
I/O 2
I/O 3
I/O 24
Par. 01.01255.255
58.101
58.124
Acyclic communication
Reference
selection
Groups
22/26/28/40 etc.
Parameter
table
1. See also other parameters which can be controlled through fieldbus.

2. Data conversion if parameter 58.25 Control profile is set to ABB Drives. See section About the control
profiles (page 618).
3. If parameter 58.25 Control profile is set to Transparent,
the sources of the status word and actual values are selected by parameters 58.3058.32 (otherwise,
actual values 1 and 2 are automatically selected according to reference type), and
the control word is displayed by 06.05 EFB transparent control word.
Control word and Status word

The Control Word (CW) is a 16-bit or 32-bit packed boolean word. It is the principal
means of controlling the drive from a fieldbus system. The CW is sent by the fieldbus
controller to the drive. By drive parameters, the user selects the EFB CW as the
source of drive control commands (such as start/stop, emergency stop, selection
between external control locations 1/2, or fault reset). The drive switches between its
states according to the bit-coded instructions of the CW.
The fieldbus CW is either written to the drive as it is (see parameter 06.05 EFB
transparent control word), or the data is converted. See section About the control
profiles (page 618).
The fieldbus Status Word (SW) is a 16-bit or 32-bit packed boolean word. It contains
status information from the drive to the fieldbus controller. The drive SW is either
written to the fieldbus SW as it is or the data is converted. See section About the
control profiles (page 618).
References
EFB references 1 and 2 are 16-bit or 32-bit signed integers. The contents of each
reference word can be used as the source of virtually any signal, such as the speed,
frequency, torque or process reference. In embedded fieldbus communication,
references 1 and 2 are displayed by 03.09 EFB reference 1 and 03.10 EFB reference
1 respectively. Whether the references are scaled or not depends on the settings of
58.26 EFB ref1 type and 58.27 EFB ref2 type. See section About the control profiles
(page 618).
Actual values
Fieldbus actual signals (ACT1 and ACT2) are 16-bit or 32-bit signed integers. They
convey selected drive parameter values from the drive to the master. Whether the
actual values are scaled or not depends on the settings of 58.28 EFB act1 type and
58.29 EFB act2 type. See section About the control profiles (page 618).
Data input/outputs
Data input/outputs are 16-bit or 32-bit words containing selected drive parameter
values. Parameters 58.101 Data I/O 1 58.124 Data I/O 24 define the addresses
from which the master either reads data (input) or to which it writes data (output).
Control of drive outputs through EFB
The address selection parameters of the data input/outputs have a setting with which
the data can be written into a storage parameter in the drive. These storage
parameters are readily selectable as signal sources of the drive outputs.
The desired values of the relay outputs (RO) and digital input/outputs (DIO) can be
written in a 16-bit word into 10.99 RO/DIO control word, which is then selected as the
source of those outputs. Each of the analog outputs (AO) of the drive have a

dedicated storage parameter (13.91 AO1 data storage and 13.92 AO2 data storage),
which are available in the source selection parameters 13.12 AO1 source and 13.22
AO2 source.
Sending process PID feedback and setpoint values through EFB
The drive also has storage parameters for incoming process PID feedback (40.91
Setpoint data storage) as well as a process PID setpoint (40.92 Set 2 PID operation
mode). The feedback storage parameter is selectable in the source selection
parameters 40.08 Set 1 feedback 1 source and 40.09 Set 1 feedback 2 source.
The corresponding parameters in process PID control set 2 (group 41 Process PID
set 2) have the same selections.
Register addressing
The address field of Modbus requests for accessing holding registers is 16 bits. This
allows the Modbus protocol to support addressing of 65536 holding registers.
Historically, Modbus master devices used 5-digit decimal addresses from 40001 to
49999 to represent holding register addresses. The 5-digit decimal addressing limited
to 9999 the number of holding registers that could be addressed.
Modern Modbus master devices typically provide a means to access the full range of
65536 Modbus holding registers. One of these methods is to use 6-digit decimal
addresses from 400001 to 465536. This manual uses 6-digit decimal addressing to
represent Modbus holding register addresses.
Modbus master devices that are limited to the 5-digit decimal addressing may still
access registers 400001 to 409999 by using 5-digit decimal addresses 40001 to
49999. Registers 410000 to 465536 are inaccessible to these masters.
Note: Register addresses of 32-bit parameters cannot be accessed by using 5-digit
register numbers.
About the control profiles

A control profile defines the rules for data transfer between the drive and the fieldbus
master, for example:
if packed boolean words are converted and how
how drive register addresses are mapped for the fieldbus master.
You can configure the drive to receive and send messages according to the ABB
Drives profile or the Transparent profile. With the ABB Drives profile, the embedded
fieldbus interface of the drive converts the control word and status word to and from
the native data used in the drive. The Transparent profile involves no data
conversion. The figure below illustrates the effect of the profile selection.
Profile selection
Scaling of actual
values and
references
SEL
Data conversion
Fieldbus
Drive
2
58.2658.29
58.25
Control profile selection with parameter 58.25 Control profile:

(0) ABB Drives
(2) Transparent
Note that scaling of references and actual values can be selected independent of the
profile selection by parameters 58.26 58.29.
The ABB Drives profile

Control Word
The table below shows the contents of the fieldbus Control Word for the ABB Drives
control profile. The embedded fieldbus interface converts this word to the form in
which it is used in the drive. The upper case boldface text refers to the states shown
in State transition diagram on page 622.
Bit
0
Name
Value STATE/Description
OFF1_
CONTROL
Proceed to READY TO OPERATE.
Stop along currently active deceleration ramp. Proceed to

OFF1 ACTIVE; proceed to READY TO SWITCH ON
unless other interlocks (OFF2, OFF3) are active.
OFF2_
CONTROL
Continue operation (OFF2 inactive).
Emergency OFF, coast to stop.

Proceed to OFF2 ACTIVE, proceed to SWITCH-ON
INHIBITED.
OFF3_
CONTROL
Emergency stop, stop within time defined by drive

parameter. Proceed to OFF3 ACTIVE; proceed to
SWITCH-ON INHIBITED.
Warning: Ensure that the motor and driven machine can
be stopped using this stop mode.
INHIBIT_
OPERATION
Proceed to OPERATION ENABLED.

Note: Run enable signal must be active; see the drive
documentation. If the drive is set to receive the Run
enable signal from the fieldbus, this bit activates the
signal.
Inhibit operation. Proceed to OPERATION INHIBITED.
Normal operation. Proceed to RAMP FUNCTION

GENERATOR: OUTPUT ENABLED.
Force Ramp Function Generator output to zero. Drive

ramps to stop (current and DC voltage limits in force).
Enable ramp function.

Proceed to RAMP FUNCTION GENERATOR:
ACCELERATOR ENABLED.
Halt ramping (Ramp Function Generator output held).
Normal operation. Proceed to OPERATING.

Note: This bit is effective only if the fieldbus interface is
set as the source for this signal by drive parameters.
Force Ramp Function Generator input to zero.
RAMP_OUT_
ZERO
RAMP_HOLD
RAMP_IN_
ZERO
RESET
0=>1
Fault reset if an active fault exists. Proceed to SWITCHON INHIBITED.

Note: This bit is effective only if the fieldbus interface is
set as the source for this signal by drive parameters.
Continue normal operation.
Bit
8
10
11
Name
JOGGING_1
Value
STATE/Description
Accelerate to jogging 1 reference.

Notes:
Bits 46 must be 0.
See also section Jogging (page 98).
Jogging 1 disabled.
Accelerate to jogging 2 reference.

See notes at bit 8.
Jogging 2 disabled.
REMOTE_
CMD
Fieldbus control enabled.
Control Word <> 0 or Reference <> 0: Retain last Control

Word and Reference.
Control Word = 0 and Reference = 0: Fieldbus control
enabled. Reference and deceleration/acceleration ramp
are locked.
EXT_CTRL_
LOC
Select External Control Location EXT2. Effective if the

control location is parameterized to be selected from the
fieldbus.
Select External Control Location EXT1. Effective if the

control location is parameterized to be selected from the
fieldbus.
JOGGING_2
1215 Reserved
Status Word
The table below shows the fieldbus Status Word for the ABB Drives control profile.
The embedded fieldbus interface converts the drive Status Word into this form for the
fieldbus. The upper case boldface text refers to the states shown in State transition
Bit
0
1
2
3
4
5
6
7
8
9
10
Name
RDY_ON
1
READY TO SWITCH ON.
NOT READY TO SWITCH ON.
READY TO OPERATE.
OFF1 ACTIVE.
OPERATION ENABLED.
OPERATION INHIBITED.
FAULT.
No fault.
OFF2 inactive.
OFF2 ACTIVE.
OFF3 inactive.
OFF3 ACTIVE.
SWC_ON_
INHIB
ALARM
Warning/Alarm.
No warning/alarm.
OPERATING. Actual value equals Reference = is within

tolerance limits, i.e. in speed control, speed error is 10%
max. of nominal motor speed.
Actual value differs from Reference = is outside tolerance

limits.
Drive control location: REMOTE (EXT1 or EXT2).
Drive control location: LOCAL.
Actual frequency or speed equals or exceeds supervision

limit (set by drive parameter). Valid in both directions of
rotation.
Actual frequency or speed within supervision limit.
RDY_RUN
RDY_REF
TRIPPED
OFF_2_STA
OFF_3_STA
AT_
SETPOINT
REMOTE
ABOVE_
LIMIT
11
USER_0
12
EXT_RUN_
ENABLE
1315 Reserved
S
1
External Run enable signal received.
No external Run enable signal received.
State transition diagram

The diagram below shows the state transitions in the drive when the drive is using the
ABB Drives profile, and configured to follow the commands of the control word from
the embedded fieldbus interface. The upper case texts refer to the states which are
used in the tables representing the fieldbus Control and Status words. See sections
Control Word on page 619 and Status Word on page 621.
SWITCH-ON
INHIBITED
MAINS OFF
Power ON
(SW Bit6=1)
(CW Bit0=0)
NOT READY TO
SWITCH ON
A B C D
(SW Bit0=0)
(CW=xxxx x1xx xxxx x110)

(CW Bit3=0)
READY TO
SWITCH ON
OPERATION
INHIBITED
operation
inhibited
(CW=xxxx x1xx xxxx x111)
READY TO
OPERATE
from any state

OFF1 (CW Bit0=0)
n(f)=0 / I=0
B C D
(SW Bit1=1)
(CW=xxxx x1xx xxxx 1111

and SW Bit12=1)
(SW Bit1=0)
CW = Control Word
SW = Status Word
n = Speed
I = Input Current
RFG = Ramp Function
Generator
f = Frequency
(SW Bit0=1)
(SW Bit2=0)
OFF1
ACTIVE
ABB Drives profile
from any state

Fault
FAULT
(SW Bit3=1)
(CW Bit7=1)
from any state

from any state
Emergency Stop
Emergency OFF
OFF2 (CW Bit1=0)
OFF3 (CW Bit2=0)
(CW Bit3=1
and
SW Bit12=1)
OFF3
ACTIVE
OFF2
(SW Bit5=0) ACTIVE
(SW Bit4=0)
n(f)=0 / I=0
(CW Bit4=0)
OPERATION
ENABLED
C D
(SW Bit2=1)
A
(CW Bit5=0)
(CW=xxxx x1xx xxx1 1111)
RFG: OUTPUT
ENABLED
D
B
(CW Bit6=0)
(CW=xxxx x1xx xx11 1111)
RFG: ACCELERATOR
ENABLED
STATE
C
(CW=xxxx x1xx x111 1111)
OPERATION
D
condition
rising edge
(SW Bit8=1)
References
The ABB drives profile supports the use of two references, EFB reference 1 and EFB
reference 2. The references are 16-bit words each containing a sign bit and a 15-bit
integer. A negative reference is formed by calculating the twos complement from the
corresponding positive reference.
The references are scaled as defined by parameters 40.0640.07; which scaling is
in use depends on the setting of 58.26 EFB ref1 type and 58.27 EFB ref2 type (see
page 389).
Fieldbus
Drive
20000
46.01 (with speed reference)

46.02 (with frequency reference)
10000
46.03 (with torque reference)

46.04 (with power reference)
0 (with torque or power reference)

(46.06) (with speed reference)
(46.07) (with frequency reference)
-10000
-(46.03) (with torque reference)

-(46.04) (with power reference)
-20000
-(46.01) (with speed reference)

-(46.02) (with frequency reference)
The scaled references are shown by parameters 03.09 EFB reference 1 and 03.10
EFB reference 2.
Actual values
The ABB Drives profile supports the use of two fieldbus actual values, ACT1 and
ACT2. The actual values are 16-bit words each containing a sign bit and a 15-bit
integer. A negative value is formed by calculating the twos complement from the
corresponding positive value.
The actual values are scaled as defined by parameters 46.01 46.04; which scaling
is in use depends on the setting of parameters 58.28 EFB act1 type and 58.29 EFB
act2 type (see page 390).
Fieldbus
Drive
20000

10000

-10000

-20000

Modbus holding register addresses

The table below shows the default Modbus holding register addresses for drive data.
This profile provides a converted 16-bit access to the data.
Register address
Register data (16-bit words)
400001
Control word. See section Control Word (page 619).

The selection can be changed using parameter 58.101 Data I/O 1.
400002
Reference 1 (REF1).
400003
Reference 2 (REF2).
400004
Status Word (SW). See section Status Word (page 621).

400005
Actual value 1 (ACT1).

400006
Actual value 2 (ACT2).

400007400024
Data in/out 724.

Selected by parameters 58.107 Data I/O 7 58.124 Data I/O 24.
400025400089
Unused
400090400100
Error code access. See section Error code registers (holding registers
400090400100) (page 632).
400101465536
Parameter read/write.
Parameters are mapped to register addresses according to parameter
58.33 Addressing mode.
The Transparent profile

The Transparent profile enables a customizable access to the drive.
The contents of the control word are user-definable. The control word received from
the fieldbus is visible in parameter 06.05 EFB transparent control word, and can be
used to control the drive using pointer parameters and/or application programming.
The status word to be sent to the fieldbus controller is selected by parameter 58.30
EFB status word transparent source. This can be, for example, the user-configurable
status word in 06.50 User status word 1.
The Transparent profile involves no data conversion of the control or status word.
Whether references or actual values are scaled depends on the setting of parameters
58.2658.29. The references received from the fieldbus are visible in parameters
03.09 EFB reference 1 and 03.10 EFB reference 2.
The Modbus holding register addresses for the Transparent profile are as with the
ABB Drives profile (see page 625).
Modbus function codes

The table below shows the Modbus function codes supported by the embedded
fieldbus interface.
Code
Function name
Description
01h
Read Coils
Reads the 0/1 status of coils (0X references).
02h
Read Discrete Inputs
Reads the 0/1 status of discrete inputs (1X

references).
03h
Read Holding Registers
Reads the binary contents of holding registers (4X

references).
05h
Write Single Coil
Forces a single coil (0X reference) to 0 or 1.
06h
Write Single Register
Writes a single holding register (4X reference).
08h
Diagnostics
Provides a series of tests for checking the

communication, or for checking various internal error
conditions.
Supported subcodes:
00h Return Query Data: Echo/loopback test.
01h Restart Comm Option: Restarts and initializes
the EFB, clears communications event counters.
04h Force Listen Only Mode
0Ah Clear Counters and Diagnostic Register
0Bh Return Bus Message Count
0Ch Return Bus Comm. Error Count
0Dh Return Bus Exception Error Count
0Eh Return Slave Message Count
0Fh Return Slave No Response Count
10h Return Slave NAK (negative acknowledge)
Count
11h Return Slave Busy Count
12h Return Bus Character Overrun Count
14h Clear Overrun Counter and Flag
0Bh
Get Comm Event

Counter
Returns a status word and an event count.
0Fh
Write Multiple Coils
Forces a sequence of coils (0X references) to 0 or 1.
10h
Write Multiple Registers
Writes the contents of a contiguous block of holding

registers (4X references).
16h
Mask Write Register
Modifies the contents of a 4X register using a

combination of an AND mask, an OR mask, and the
registers current contents.
17h
Read/Write Multiple
Registers
Writes the contents of a contiguous block of 4X

registers, then reads the contents of another group of
registers (the same or different than those written) in
a server device.
Code
Function name
Description
2Bh / 0Eh
Encapsulated Interface
Transport
Supported subcodes:
0Eh Read Device Identification: Allows reading the
identification and other information.
Supported ID codes (access type):
00h: Request to get the basic device identification
(stream access)
04h: Request to get one specific identification
object (individual access)
Supported Object IDs:
00h: Vendor Name (ABB)
01h: Product Code (for example, AINFX)
02h: Major Minor Revision (combination of contents
of parameters 07.05 Firmware version and
58.02 Protocol ID).
03h: Vendor URL (www.abb.com)
04h: Product name (for example, ACS880)
Exception codes
The table below shows the Modbus exception codes supported by the embedded
fieldbus interface.
Code
Name
Description
01h
ILLEGAL FUNCTION
The function code received in the query is not an

allowable action for the server.
02h
ILLEGAL DATA
ADDRESS
The data address received in the query is not an

allowable address for the server.
03h
ILLEGAL DATA VALUE
The requested Quantity of Registers is larger than the

drive can handle.
Note: This error does not mean that a value written to
a drive parameter is outside the valid range.
04h
SLAVE DEVICE
FAILURE
The value written to a drive parameter is outside the

valid range. See section Error code registers (holding
registers 400090400100) on page 632.
06h
SLAVE DEVICE BUSY
The server is engaged in processing a long-duration

program command.
Coils (0xxxx reference set)

Coils are 1-bit read/write values. Control Word bits are exposed with this data type.
The table below summarizes the Modbus coils (0xxxx reference set).
Reference ABB drives profile
Transparent profile
00001
OFF1_CONTROL
Control Word bit 0
00002
OFF2_CONTROL
Control Word bit 1
00003
OFF3_CONTROL
Control Word bit 2
00004
INHIBIT_OPERATION
Control Word bit 3
00005
RAMP_OUT_ZERO
Control Word bit 4
00006
RAMP_HOLD
Control Word bit 5
00007
RAMP_IN_ZERO
Control Word bit 6
00008
RESET
Control Word bit 7
00009
JOGGING_1
Control Word bit 8
00010
JOGGING_2
Control Word bit 9
00011
REMOTE_CMD
Control Word bit 10
00012
EXT_CTRL_LOC
Control Word bit 11
00013
User-defined (0)
Control Word bit 12
00014
User-defined (1)
Control Word bit 13
00015
User-defined (2)
Control Word bit 14
00016
User-defined (3)
Control Word bit 15
00017
Reserved
Control Word bit 16
00018
Reserved
Control Word bit 17
00019
Reserved
Control Word bit 18
00020
Reserved
Control Word bit 19
00021
Reserved
Control Word bit 20
00022
Reserved
Control Word bit 21
00023
Reserved
Control Word bit 22
00024
Reserved
Control Word bit 23
00025
Reserved
Control Word bit 24
00026
Reserved
Control Word bit 25
00027
Reserved
Control Word bit 26
00028
Reserved
Control Word bit 27
00029
Reserved
Control Word bit 28
00030
Reserved
Control Word bit 29
00031
Reserved
Control Word bit 30
00032
Reserved
Control Word bit 31
00033
Reserved
10.99 RO/DIO control word, bit 0
00034
Reserved
Transparent profile
00035
Reserved
00036
Reserved
00037
Reserved
00038
Reserved
00039
Reserved
00040
Reserved
00041
Reserved
00042
Reserved
Discrete inputs (1xxxx reference set)

Discrete inputs are 1-bit read-only values. Status Word bits are exposed with this data
type. The table below summarizes the Modbus discrete inputs (1xxxx reference set).
Transparent profile
10001
RDY_ON
Status Word bit 0
10002
RDY_RUN
Status Word bit 1
10003
RDY_REF
Status Word bit 2
10004
TRIPPED
Status Word bit 3
10005
OFF_2_STA
Status Word bit 4
10006
OFF_3_STA
Status Word bit 5
10007
SWC_ON_INHIB
Status Word bit 6
10008
ALARM
Status Word bit 7
10009
AT_SETPOINT
Status Word bit 8
10010
REMOTE
Status Word bit 9
10011
ABOVE_LIMIT
Status Word bit 10
10012
User-defined (0)
Status Word bit 11
10013
User-defined (1)
Status Word bit 12
10014
User-defined (2)
Status Word bit 13
10015
User-defined (3)
Status Word bit 14
10016
Reserved
Status Word bit 15
10017
Reserved
Status Word bit 16
10018
Reserved
Status Word bit 17
10019
Reserved
Status Word bit 18
10020
Reserved
Status Word bit 19
10021
Reserved
Status Word bit 20
10022
Reserved
Status Word bit 21
10023
Reserved
Status Word bit 22
10024
Reserved
Status Word bit 23
Transparent profile
10025
Reserved
Status Word bit 24
10026
Reserved
Status Word bit 25
10027
Reserved
Status Word bit 26
10028
Reserved
Status Word bit 27
10029
Reserved
Status Word bit 28
10030
Reserved
Status Word bit 29
10031
Reserved
Status Word bit 30
10032
Reserved
Status Word bit 31
10033
Reserved
10034
Reserved
10035
Reserved
10036
Reserved
10037
Reserved
10038
Reserved
10039
Reserved
10040
Reserved
10041
Reserved
10042
Reserved
10043
Reserved
10044
Reserved
10045
Reserved
10046
Reserved
10047
Reserved
10048
Reserved
Error code registers (holding registers 400090400100)

These registers contain information about the last query. The error register is cleared
when a query has finished successfully.
Reference Name
Description
89
Reset Error Registers
1 = Reset internal error registers (9195).
90
Error Function Code
Function code of the failed query.
91
Error Code
Set when exception code 04h is generated (see table

above).
00h No error
02h Low/High limit exceeded
03h Faulty Index: Unavailable index of an array
parameter
05h Incorrect Data Type: Value does not match the
data type of the parameter
65h General Error: Undefined error when handling
query
92
Failed Register
The last register (discrete input, coil, or holding

register) that failed to be read or written.
93
Last Register Written

Successfully
The last register that was written successfully.
94
Last Register Read

Successfully
The last register that was read successfully.
Fieldbus control through a fieldbus adapter 633
12
Fieldbus control through a
fieldbus adapter
This chapter describes how the drive can be controlled by external devices over a
communication network (fieldbus) through an optional fieldbus adapter module.
The fieldbus control interface of the drive is described first, followed by a
configuration example.
System overview
The drive can be connected to an external control system through an optional
fieldbus adapter mounted onto the control unit of the drive. The drive actually has two
independent interfaces for fieldbus connection, called fieldbus adapter A (FBA A)
and fieldbus adapter B (FBA B). The drive can be configured to receive all of its
control information through the fieldbus interface(s), or the control can be distributed
between the fieldbus interface(s) and other available sources such as digital and
analog inputs, depending on how control locations EXT1 and EXT2 are configured.
Note: The text and examples in this chapter describe the configuration of one
fieldbus adapter (FBA A) by parameters 50.01...50.21 and parameter groups 51...53.
The second adapter (FBA B), if present, is configured in a similar fashion by
parameters 50.31...50.51 and parameter groups 54...56. It is recommended that the
FBA B interface is only used for monitoring.
634 Fieldbus control through a fieldbus adapter

Fieldbus adapters are available for various communication systems and protocols, for
example
CANopen (FCAN-01 adapter)

ControlNet (FCNA-01 adapter)
DeviceNet (FDNA-01 adapter)
EtherCAT (FECA-01 adapter)
EtherNet/IPTM (FENA-11 or FENA-21 adapter)
Modbus/RTU (FSCA-01 adapter)
Modbus/TCP (FENA-11 or FENA-21 adapter)
POWERLINK (FEPL-02 adapter)
PROFIBUS DP (FPBA-01 adapter)
PROFINET IO (FENA-11 or FENA-21 adapter).
Note: Fieldbus adapters with the suffix M (eg. FPBA-01-M) are not supported.
Drive
Fieldbus
controller
Fieldbus
Other
devices
Type Fxxx fieldbus

adapter installed onto
drive control unit (slot
1, 2 or 3)
Data Flow
Control word (CW)
References
Process I/O (cyclic)
Status word (SW)

Actual values
Parameter R/W requests/responses
Process I/O (cyclic) or

Service messages (acyclic)
Basics of the fieldbus control interface

The cyclic communication between a fieldbus system and the drive consists of 16- or
32-bit input and output data words. The drive is able to support a maximum of 12 data
words (16 bits) in each direction.
Data transmitted from the drive to the fieldbus controller is defined by parameters
52.01 FBA A data in1 52.12 FBA A data in12. The data transmitted from the
fieldbus controller to the drive is defined by parameters 53.01 FBA A data out1
53.12 FBA A data out12.
Fieldbus network
1)
Fieldbus adapter
DATA
OUT 2)
FBA Profile
Profile
selection
4)
1
DATA OUT
selection
Fieldbus-specific interface
2
3
4)
3)
12
DATA
IN 2)
Par. 10.0199.99
Profile
selection
5)
DATA IN
selection
20.01
20.06
Speed/Torque
REF1 sel
Group 53
5)
1
3
FBA MAIN CW
FBA REF1
FBA REF2
EXT1/2
Start func
FBA MAIN SW
FBA ACT1
FBA ACT2
22.11 / 26.11
/ 26.12
Speed/Torque
REF2 sel
3)
Par. 01.0199.99
12
Cyclic communication
Group 52
22.12 / 26.11
/ 26.12
Acyclic communication
See the manual of the fieldbus
adapter module.
1) See also other parameters which can be controlled from fieldbus.

2) The maximum number of data words used is protocol-dependent.
3) Profile/instance selection parameters. Fieldbus module specific parameters. For more
information, see the Users Manual of the appropriate fieldbus adapter module.
4) With DeviceNet, the control part is transmitted directly.
5) With DeviceNet, the actual value part is transmitted directly.
Parameter
table
Control word and Status word

The Control word is the principal means for controlling the drive from a fieldbus
system. It is sent by the fieldbus master station to the drive through the adapter
module. The drive switches between its states according to the bit-coded instructions
in the Control word, and returns status information to the master in the Status word.
For the ABB Drives communication profile, the contents of the Control word and the
Status word are detailed on pages 639 and 640 respectively. The drive states are
presented in the state diagram (page 641).
When a transparent communication profile is selected eg. by parameter group 51
FBA A settings, the control word received from the PLC is available in 06.03 FBA A
transparent control word. The individual bits of the word can then be used for drive
control through bit pointer parameters. The source of the status word, for example
06.50 User status word 1, can be selected by 50.09 FBA A SW transparent source.
Debugging the network words
If parameter 50.12 FBA A debug mode is set to Fast, the Control word received from
the fieldbus is shown by parameter 50.13 FBA A control word, and the Status word
transmitted to the fieldbus network by 50.16 FBA A status word. This raw data is
very useful to determine if the fieldbus master is transmitting the correct data before
handing control to the fieldbus network.
References
References are 16-bit words containing a sign bit and a 15-bit integer. A negative
reference (indicating reversed direction of rotation) is formed by calculating the twos
complement from the corresponding positive reference.
ABB drives can receive control information from multiple sources including analog
and digital inputs, the drive control panel and a fieldbus adapter module. In order to
have the drive controlled through the fieldbus, the module must be defined as the
source for control information such as reference. This is done using the source
selection parameters in groups 22 Speed reference selection, 26 Torque reference
chain and 28 Frequency reference chain.
If parameter 50.12 FBA A debug mode is set to Fast, the references received from
the fieldbus are displayed by 50.14 FBA A reference 1 and 50.15 FBA A reference 2.
Scaling of references
Note: The scalings described below are for the ABB Drives communication profile.
Fieldbus-specific communication profiles may use different scalings. For more
information, see the manual of fieldbus adapter.
The references are scaled as defined by parameters 46.0146.07; which scaling is
in use depends on the setting of 50.04 FBA A ref1 type and 50.05 FBA A ref2 type.
Fieldbus
Drive
20000

10000

0 (with torque or power reference)

(46.06) (with speed reference)
(46.07) (with frequency reference)
-10000

-20000


The scaled references are shown by parameters 03.05 FB A reference 1 and 03.06
FB A reference 2.
Actual values
Actual values are 16-bit words containing information on the operation of the drive.
The types of the monitored signals are selected by parameters 50.07 FBA A actual 1
type and 50.08 FBA A actual 2 type.
If parameter 50.12 FBA A debug mode is set to Fast, the actual values sent to the
fieldbus are displayed by 50.17 FBA A actual value 1 and 50.18 FBA A actual value
2.
Scaling of actual values
Note: The scalings described below are for the ABB Drives communication profile.
Fieldbus-specific communication profiles may use different scalings. For more
information, see the manual of fieldbus adapter.
The actual values are scaled as defined by parameters 46.0146.04; which scaling
is in use depends on the setting of parameters 50.07 FBA A actual 1 type and 50.08
FBA A actual 2 type.
Fieldbus
Drive
20000

10000

-10000

-20000

Contents of the fieldbus Control word (ABB Drives profile)

The upper case boldface text refers to the states shown in the state diagram
(page 641).
Bit
Name
Off1 control
1
0
Off2 control
1
0
Off3 control
1
0
Run
Ramp out zero
0
1
0
Ramp hold
Ramp in zero
0
1
Reset
0
0=>1
Inching 1
0
1
Inching 2
0
1
10
Remote cmd
0
1
0
11
Ext ctrl loc
1
0
12 to 15 Reserved.
Proceed to READY TO OPERATE.

Stop along currently active deceleration ramp. Proceed to OFF1
ACTIVE; proceed to READY TO SWITCH ON unless other interlocks
(OFF2, OFF3) are active.
Emergency OFF, coast to a stop.
Proceed to OFF2 ACTIVE, proceed to SWITCH-ON INHIBITED.
Emergency stop, stop within time defined by drive parameter.
Proceed to OFF3 ACTIVE; proceed to SWITCH-ON INHIBITED.
WARNING: Ensure motor and driven machine can be
stopped using this stop mode.
Proceed to OPERATION ENABLED.
Note: Run enable signal must be active. If the drive is set to receive
the Run enable signal from the fieldbus, this bit activates the signal.
Inhibit operation. Proceed to OPERATION INHIBITED.
Normal operation. Proceed to RAMP FUNCTION GENERATOR:
OUTPUT ENABLED.
Force Ramp function generator output to zero. The drive will
immediately decelerate to zero speed (observing the torque limits).
Enable ramp function.
Proceed to RAMP FUNCTION GENERATOR: ACCELERATOR
ENABLED.
Halt ramping (Ramp Function Generator output held).
Normal operation. Proceed to OPERATING.
Note: This bit is effective only if the fieldbus interface is set as the
source for this signal by drive parameters.
Force Ramp function generator input to zero.
Fault reset if an active fault exists. Proceed to SWITCH-ON
INHIBITED.
Note: This bit is effective only if the fieldbus interface is set as the
source of the reset signal by drive parameters.
Continue normal operation.
Accelerate to inching (jogging) setpoint 1.
Notes:
Bits 46 must be 0.
See also section Jogging (page 98).
Inching (jogging) 1 disabled.
Accelerate to inching (jogging) setpoint 2.
See notes at bit 8.
Inching (jogging) 2 disabled.
Fieldbus control enabled.
Control word and reference not getting through to the drive, except
for bits 02.
Select External Control Location EXT2. Effective if control location is
parameterized to be selected from fieldbus.
Select External Control Location EXT1. Effective if control location is
parameterized to be selected from fieldbus.
Contents of the fieldbus Status word (ABB Drives profile)

The upper case boldface text refers to the states shown in the state diagram
(page 641).
Bit
Name
Ready to switch
ON
Ready run
1
0
1
0
Ready ref
1
0
Tripped
1
0
Off 2 inactive
1
0
Off 3 inactive
1
0
Switch-on inhibited 1
0
Warning
1
0
At setpoint
1
Remote
10
11
12
13
14
15
Above limit
User bit 0
User bit 1
User bit 2
User bit 3
Reserved
1
2
3
4
5
6
7
0
1
0
-
READY TO SWITCH ON.

NOT READY TO SWITCH ON.
READY TO OPERATE.
OFF1 ACTIVE.
OPERATION ENABLED.
OPERATION INHIBITED.
FAULT.
No fault.
OFF2 inactive.
OFF2 ACTIVE.
OFF3 inactive.
OFF3 ACTIVE.
Warning active.
No warning active.
OPERATING. Actual value equals reference = is within tolerance
limits (see parameters 46.2146.23).
Actual value differs from reference = is outside tolerance limits.
Drive control location: REMOTE (EXT1 or EXT2).
Drive control location: LOCAL.
See parameter 06.29 MSW bit 10 sel.
The state diagram (ABB Drives profile)

SWITCH-ON
INHIBITED
MAINS OFF
Power ON
from any state

SW b6=1
Fault
CW b0=0
FAULT
NOT READY TO
SWITCH ON
SW b3=1
SW b0=0
CW b7=1
CW=xxxx x1xx xxxx x110
CW b3=0
OPERATION
INHIBITED
READY TO
SWITCH ON
SW b2=0
operation
inhibited
from any state
CW=xxxx x1xx xxxx x111
READY TO
OPERATE
from any state

OFF1 (CW b0=0)
OFF1
ACTIVE
SW b0=1
Emergency stop
OFF2 (CW b1=0)
OFF2
ACTIVE
SW b1=1
SW b4=0
CW=xxxx x1xx xxxx 1111
SW b1=0
from any state

Emergency stop
OFF3 (CW b2=0)
n(f) = 0 / I = 0
B C D
OFF3
ACTIVE
CW b4=0
OPERATION
ENABLED
C D
A
CW b5=0
n(f) = 0 / I = 0
SW b2=1
CW=xxxx x1xx xxx1 1111
RFG: OUTPUT
ENABLED
SW b5=0
STATE
condition
CW b6=0
CW
SW
bx
n
I
RFG
f
= Control word
= Status word
= bit x
= Speed
= Input Current
= Ramp Function
Generator
= Frequency
CW=xxxx x1xx xx11 1111
RFG: ACCELERATOR
ENABLED
C
CW=xxxx x1xx x111 1111
OPERATION
D
SW b8=1
rising edge of
bit
Setting up the drive for fieldbus control

1. Install the fieldbus adapter module mechanically and electrically according to the
instructions given in the Users manual of the module.
2. Power up the drive.
3. Enable the communication between the drive and the fieldbus adapter module
with parameter 50.01 FBA A enable.
4. With 50.02 FBA A comm loss func, select how the drive should react to a fieldbus
Note: This function monitors both the communication between the fieldbus
master and the adapter module and the communication between the adapter
module and the drive.
5. With 50.03 FBA A comm loss t out, define the time between communication break
detection and the selected action.
6. Select application-specific values for the rest of the parameters in group 50
Fieldbus adapter (FBA), starting from 50.04. Examples of appropriate values are
shown in the tables below.
7. Set the fieldbus adapter module configuration parameters in group 51 FBA A
settings. As a minimum, set the required node address and the communication
profile.
8. Define the process data transferred to and from the drive in parameter groups 52
FBA A data in and 53 FBA A data out.
Note: Depending on the communication protocol and profile being used, the
Control word and Status word may already be configured to be sent/received by
the communication system.
9. Save the valid parameter values to permanent memory by setting parameter
96.07 Parameter save manually to Save.
10. Validate the settings made in parameter groups 51, 52 and 53 by setting
parameter 51.27 FBA A par refresh to Refresh.
11. Configure control locations EXT1 and EXT2 to allow control and reference signals
to come from the fieldbus. Examples of appropriate values are shown in the
tables below.
Parameter setting example: FPBA (PROFIBUS DP)

This example shows how to configure a basic speed control application that uses the
PROFIdrive communication profile with PPO Type 2. The start/stop commands and
reference are according to the PROFIdrive profile, speed control mode.
The reference values sent over the fieldbus have to be scaled within the drive so they
have the desired effect. The reference value 16384 (4000h) corresponds to the
range of speed set in parameter 46.01 Speed scaling (both forward and reverse
directions). For example, if 46.01 is set to 480 rpm, then 4000h sent over fieldbus will
request 480 rpm.
Direction
PZD1
PZD2
PZD3
PZD4
PZD5
PZD6
Out
Control word
Speed reference
Acc time 1
Dec time 1
In
Status word
Speed actual value
Motor current
DC voltage
The table below gives the recommended drive parameter settings.

Drive parameter
Setting for ACS880

drives
Description
50.01 FBA A enable
13 = [slot number] Enables communication between the

drive and the fieldbus adapter module.
50.04 FBA A ref1 type
4 = Speed
Selects the fieldbus A reference 1 type

and scaling.
50.07 FBA A actual 1 type
0 = Auto
Selects the actual value type and scaling

according to the currently active Ref1
mode defined in parameter 50.04.
51.01 FBA A type
1 = FPBA1)
Displays the type of the fieldbus adapter

module.
51.02 Node address
32)
Defines the PROFIBUS node address of

the fieldbus adapter module.
51.03 Baud rate
120001)
Displays the current baud rate on the

PROFIBUS network in kbit/s.
51.04 MSG type
1 = PPO11)
Displays the telegram type selected by

the PLC configuration tool.
51.05 Profile
0 = PROFIdrive
Selects the Control word according to the

PROFIdrive profile (speed control mode).
51.07 RPBA mode
0 = Disabled
Disables the RPBA emulation mode.
52.01 FBA data in1
4 = SW 16bit1)
Status word
52.02 FBA data in2
5 = Act1 16bit
Actual value 1
52.03 FBA data in3
01.072)
Motor current
52.05 FBA data in5
01.11
2)
53.01 FBA data out1
1 = CW 16bit1)
Control word
53.02 FBA data out2
2 = Ref1 16bit
Reference 1 (speed)
53.03 FBA data out3
23.122)
Acceleration time 1
DC voltage
Drive parameter
Setting for ACS880 Description

drives
53.05 FBA data out5
23.132)
Deceleration time 1
51.27 FBA A par refresh
1 = Refresh
Validates the configuration parameter

settings.
19.12 Ext1 control mode
2 = Speed
Selects speed control as the control

mode 1 for external control location
EXT1.
20.01 Ext1 commands
12 = Fieldbus A
Selects fieldbus adapter A as the source

of the start and stop commands for
external control location EXT1.
20.02 Ext1 start trigger type 1 = Level
Selects a level-triggered start signal for

external control location EXT1.
Selects fieldbus A reference 1 as the

source for speed reference 1.
4 = FB A ref1
1)
Read-only or automatically detected/set
2)
Example
The start sequence for the parameter example above is given below.
Control word:
477h (1143 decimal) > READY TO SWITCH ON
47Fh (1151 decimal) > OPERATING (Speed mode)
Control chain diagrams 645
13
Control chain diagrams
The chapter presents the reference chains of the drive. The control chain diagrams
can be used to trace how parameters interact and where parameters have an effect
within the drive parameter system. See,
Drive control diagrams on page 646
Winder control diagrams on page 664
For a more general diagram, see section Operating modes of the drive (page 42).
Selection
Selection
22.81 Speed reference act 1
Value
MAX
MIN
MUL
SUB
ADD
Selection
Selection
Value
22.16 Speed share
Value
Value
Selection
Value
22.17 Speed additive 2

source
22.80 Motor potentiometer ref act
Selection
22.14 Speed ref1/2 selection
Value
Value
22.15 Speed additive 1 source
Value
RAMP
Value
22.13 Speed ref1 function
22.76 Motor potentiometer min value
Value
22.72 Motor potentiometer initial value
Selection
22.74 Motor potentiometer down source
Value
Selection
22.73 Motor potentiometer up source
22.75 Motor potentiometer ramp time
Selection
22.71 Motor potentiometer function
22.77 Motor potentiometer max value
Value
646 Control chain diagrams
Drive control diagrams
Speed reference source selection I
Value
Value
Value
Value
22.26 Constant speed 1
Selection
Selection
Selection
20.27 Jogging 2 start source
20.25 Jogging enable
20.26 Jogging 1 start source
AND
AND
AND
INT
SEL
BIN
b1 TO 0
INT OUT
b2 SEL
b0
22.21 Const speed function bit 0 Const speed mode
Selection
Value
22.24 Constant speed sel3
Value
Selection
Value
Value
Selection
Value
Value
Selection
Value
Selection
Selection
Direction (See group 20 Ext1& Ext2 commands)
22.21 Const speed function bit 1 Direction enable
-1
Jogging 1
Jogging 2
Value
Value
06.16 bit 9
Value
Panel comm loss active
AI outside supervised limit
12.04 AI supervision selection

0000b
12.03 AI supervision function =

Speed ref safe
Control from Fieldbus active
Fieldbus comm loss active
50.02 FBA A comm loss func =

Speed ref safe
Panel as local control device
AND
AND
AND
06.16 bit 8
Value
OR
Value
Value
Value
Value
22.56 Critical speed 3 low
Value
22.55 Critical speed 2 high
Value
Value
Selection
22.51 Critical speed function
Safe speed reference command
22.41 Speed ref safe
Panel local
03.01 Panel reference
Network control
Network reference
Value
49.05 Communication loss action =

Speed ref safe
Fieldbus:
ODVA CIP
22.42 Jogging 1 ref
22.43 Jogging 2 ref
CRITICAL
SPEEDS
Value
Value
22.01 Speed ref unlimited
Speed reference source selection II
Value
Value
Value
Value
Value
23.20 Acc time jogging
23.21 Dec time jogging
20.27 Jogging 2 start

source
20.26 Jogging 1 start

source
OR
Value
20.25 Jogging enable
Selection
23.11 Ramp set selection
Value
Value
46.01 Speed scaling
Selection
Value
DEC TIME
ACC TIME
RAMP
Value
22.43 Jogging 2 ref
AND
AND
Value
06.11 bit 5 Emergency stop
Value
Stop command
06.01 bit 4 Ramp out zero
Value
Value
23.18 Shape time dec 1

23.19 Shape time dec 2
Value
Value
23.17 Shape time acc 2
23.16 Shape time acc 1
Value
Value
Value
OR
AND
Selection
SHAPE
23.27 Ramp output balancing ref
23.26 Ramp output balancing enable
Stop command
23.21 Dec time jogging
23.20 Acc time jogging
Value
22.42 Jogging 1 ref
23.01 Speed ref ramp input
Value
06.01 bit 9 Inching 2
Value
06.01 bit 6 Ramp in zero
AND
Value
Value
06.01. bit 5 Ramp hold
06.01 bit 8 Inching 1
Value
23.29 Variable slope rate
23.28 Variable slope enable
AND
Value
23.23 Emergency stop time
OR
Value
Value
Value
Value
Value
30.11 Minimum speed
22.01 Speed ref unlimited
Selection
23.24 Speed ramp in zero source
30.12 Maximum speed
AND
DEC TIME
ACC TIME
RAMP

Value
Speed reference ramping and shaping
Value
Value
Value
Value
X
Y
Selection
Value
Value
Value
Value
Value
90.12 Encoder 1 multiturn revolutions
90.13 Encoder 1 revolution extension
90.21 Encoder 2 position
Value
Value
Encoder 2
Encoder 1
Value
Selection
Position estimate
90.41 Motor feedback selection
46.11 Filter time motor speed
97.33 Speed estimate filter time
Speed estimate
Value
90.20 Encoder 2 speed
Value
90.10 Encoder 1 speed
90.41 Motor feedback selection
Value
X
Y
Value
46.21 At speed hysteresis
46.31 Above speed limit
ABS
Value
Value
ABS
21.07 Zero speed delay
ABS
Value
Value
21.06 Zero speed limit
46.11 Filter time motor speed
90.02 Motor position
22.87 Speed reference 7 act
01.04 Encoder 1 speed filtered
01.05 Encoder 2 speed filtered
01.02 Motor speed estimated
90.42 Motor speed filter time
ab
a>b
Value
a>b
Value
Value
Value
06.11 bit 8 At setpoint
Value
06.11 bit 10 Above limit
Value
06.19 bit 0 Zero speed
90.01 Motor speed for control
Motor feedback configuration
Value
Value
Selection
90.69 Reset pos counter init ready
Value
Selection
90.68 Disable pos counter initialization
6.11 Main status word bit 3 Tripped
Selection
INITIALIZATION REQUEST
90.67 Pos counter init cmd source
Value
Value
90.26 Motor revolution extension
90.61 Gear numerator
Value
90.02 Motor position
Position estimate
Value
Value
90.62 Gear denominator
Value
Value
Value
90.54 Load gear denominator
Value
Selection
90.51 Load feedback selection
Value
OR
AND
Motor feedback
Position estimate
Encoder 2
Encoder 1
90.53 Load gear numerator
Value
Value
OR
INITIALIZED
POSITION
INITIALIZATION
X
Y
90.35 bit 5 Pos counter re-init disabled
90.35 bit 4 Position counter initialized
INITIALIZING COMMAND
Selection
Value
90.64 Feed constant denumerator
90.58 Pos counter initial value int
Motor feedback
Position estimate
Encoder 2
None
Encoder 1
90.59 Pos counter init value int source
X
Y
X
Y
90.63 Feed constant numerator
90.07 Load position scaled int
Load feedback and position counter configuration
Value
Value
Value
24.43 Speed error window high
24.44 Speed error window low
26.15 Load share
Value
Value
Value
30.11 Minimum speed
24.11 Speed correction
Value
Value
23.41 Follower speed correction gain
Value
Value
25.54 Torque integral reference
30.12 Maximum speed
Value
Selection
25.53 Torque prop reference
23.42 Follower speed corr torq source
24.12 Speed error filter time
24.02 Used speed feedback
24.01 Used speed reference
d
dt
Value
Value
Value
Value
-1
Value
Value
Value
Value
Value
24.04 Speed error inverted
24.43 Speed error window high

24.44 Speed error window low
Value
25.56 Torque acc compensation
24.41 Speed error window control enable
TAccCom
06.19 bit 9 Follower speed corr max lim
06.19 bit 8 Follower speed corr min lim
23.39 Follower speed correction out
Value
25.07 Acc comp filter time
Selection
25.06 Acc comp derivation time
LOAD SHARE
FUNCTION OF
SPEED
CONTROLLED
FOLLOWER
23.40 Follower speed correction enable
24.03 Speed error filtered

Value
Speed error calculation
Value
24.03 Speed error filtered
Value
Value
Value
Value
Value
Value
Value
Value
Value
25.22 Ti coef at min speed
25.18 Speed adapt min limit
25.19 Speed adapt max limit
25.21 Kp adapt coef at min speed
25.27 Kp adapt coef at min torque
25.25 Torque adapt max limit
25.26 Torque adapt filt time
26.01 Torq ref to TC
01.24 Flux actual %
Value
Selection
Value
25.02 Speed proportional gain
25.30 Flux adaption enable
Value
OR
Value
25.15 Proportional gain em stop
06.18 bit 13 Em Off3
25.03 Speed integration time
Value
24.46 Speed error step
25.27
25.21
25.22
25.18
25.18
100
25.25
25.19
25.19
25.05 Derivation filter time
25.04 Speed derivation time
Value
25.08 Drooping rate
Value
Value
Value
Value
Value
OR
Value
Value
OR
25.13 Min torq sp ctrl em stop
Stop command
Selection
25.55 Torque deriv reference
25.54 Torque integral reference
25.53 Torque prop reference
AND
25.57 Torque reference unbalanced
25.09 Speed ctrl balancing enable
Value
Value
Value
Value
25.10 Speed ctrl balancing reference
25.14 Max torq sp ctrl em stop
PID
Value
Speed regulator
25.56 Torque acc compensation
Value
25.01 Torque reference speed control
Speed controller
Selection
Value
Value
Selection
26.15 Load share
MAX
MIN
MUL
26.71 Torque reference act 2
Value
SUB
ADD
Ref 1
Selection
26.13 Torque ref1 function
Selection
Selection
26.14 Torque ref1/2 selection
Value
Value
Internal torque lim max
06.16 bit 9
Value
26.19 Torque ramp down time
MAX
Value
Value
Internal torque lim min
MIN
26.17 Torque ref filter time
Value
06.16 bit 8
26.08 Minimum torque ref
Local control
Value
03.01 Panel reference 1
Value
Network ref
Fieldbus:
ODVA CIP
Network control
Value
26.09 Maximum torque ref
Value
26.18 Torque ramp up time
Value
26.74 Torque ref ramp out

Value
Torque reference source selection and modification
Selection
Selection
SPEED
Value
SPEED
06.17 bit 5
SPEED
Value
Value
6.01 bit 0 Off1 control

6.01 bit 2 Off3 control
60.03 M/F mode = M/F follower or D2D follower

Value
Value
6.01 bit 3 Run
21.20 Follower force ramp stop
Value
Value
Safety function active
99.04 Motor control mode
Safe reference active
06.17 bit 6
06.16 bit 8
Last speed active
Panel local
19.16 Local control mode
Fieldbus:
ODVA CIP
19.11 Ext1/Ext2 selection
Selection
Selection
OR
AND
SCALAR
Value
AND
SPEED
Value
19.01 Actual operation mode
To torque selector
Operating mode selection
Value
Value
26.56 Oscillation damping phase
26.57 Oscillation damping gain
Selection
Oscillation
damping
19.01 Actual operation mode
Value
26.74 Torque ref ramp out
ZERO
Value
ADD
MAX
MIN
TORQUE
SPEED
Value
Value
Value
Selection
Value
26.41 Torque step
26.42 Torque step enable
26.78 Torque ref add B actual
26.58 Oscillation damping output
26.52 Oscillation damping out enable
Torque selector
26.77 Torque ref add A actual
Value
Value
25.01 Torque reference speed control
Selection
26.26 Force torque ref add 2 zero
Value
26.55 Oscillation damping frequency
Selection
Selection
Value
26.51 Oscillation damping
26.53 Oscillation compensation input
Value
Value
30.12 Maximum speed

30.11 Minimum speed
Selection
Value
Speed
limitation
Value
26.01 Torque
reference to TC
Reference selection for torque controller
Value
Value
Value
Selection
Selection
Selection
30.22 Maximum torque 2 source
30.25 Maximum torque sel
Value
Power to
torque limits
30.21 Minimum torque 2 source
Selection
Value
30.27 Power generating limit
30.18 Minimum torque sel
Value
Value
30.31 Undervoltage control
30.26 Power motoring limit
Value
Value
30.30 Overvoltage control
26.01 Torque reference to TC
DC voltage
limiter
MIN
MAX
Internal torque lim max
Internal
torque lim
min
Torque limiter
Value
Motor pull-out
limitation
30.17 Maximum current
Load angle
limitation
Current limiter
Bit Name
0 = Undervoltage
1 = Overvoltage
2 = Minimum torque
3 = Maximum torque
4 = Internal current
5 = Load angle
6 = Motor pullout
7=
8 = Thermal
9 = Max current
10 = User current
11 = Thermal IGBT
12 = IGBT overtemperature
13 = IGBT overload
14 =
15 =
30.02 Torque limit status
Value
26.02 Torque reference used
To DTC core
30.02 Torque limit status
Torque limitation
28.02 Frequency ref ramp output
Value
Value
Hz
97.13 IR compensation
rpm
Value
Selection
97.11 TR tuning
Value
Selection
Selection
97.06 Flux reference select
97.10 Signal injection
Value
Selection
97.05 Flux braking
19.20 Scalar control reference unit
97.07 User flux reference
Selection
97.04 Voltage reserve
26.02 Torq ref used
1.11 DC voltage
Scalar
motor
control
mode
DTC motor
control
mode
Torque controller
1.24 Flux actual %
1.10 Motor torque
Torque controller
28.91 Frequency ref act 2
Value
Max
Min
Mul
Sub
Add
Ref 1
Selection
Selection
Selection
28.23 Constant frequency sel2
INT
2
SEL
AI outside supervised limit
12.04 AI supervision selection 0000b
12.03 AI supervision function = Speed ref safe
Control from Fieldbus active
Fieldbus comm loss active
50.02 FBA A comm loss func = Speed ref safe
Panel comm loss active
06.16 bit 8
Value
AND
AND
AND
OR
28.41 Frequency ref safe
Local control
03.01 Panel reference
06.16 bit 9
49.05 Communication loss action = Speed ref safe
Network control
Network reference
Panel as local control device
Fieldbus:
ODVA CIP
AND
-1
Value
28.92 Frequency ref act3
BIN
b1 TO
0
INT
b2 SEL OUT
b0
28.21 Constant frequency function bit 0 Const freq mode
Selection
Value
Value
28.32 Constant frequency 7
Value
Value
Value
Value
Value
Value
Value
Selection
Value
Selection
Selection
Direction (See group 20 Ext1& Ext2 commands)
28.21 Constant frequency function bit 1 Direction enable
Value
Selection
Selection
Selection
28.13 Frequency ref1 function
28.14 Frequency ref1/2 selection
Safe frequency reference command
Value
Value
28.96 Frequency ref act7
Frequency reference selection
Value
Value
Value
Value
Value
Value
Value
28.52 Critical frequency 1 low
28.55 Critical frequency 2 high
Selection
28.51 Critical frequency function
CRITICAL
FREQ
OR
Value
Value
28.73 Freq deceleration time 1

28.75 Freq deceleration time 2
Selection
Value
Value
Value
Value
Value
Selection
OR
28.01 Frequency ref ramp input
28.78 Freq ramp output balancing
28.79 Freq ramp out

balancing enable
28.77 Freq ramp hold
06.01 bit 5 Ramp hold
23.23 Emergency stop time
Selection
Value
28.71 Freq ramp set selection
Value
28.74 Freq acceleration time 2
Value
Value
28.72 Freq acceleration time 1
30.13 Minimum frequency
Value
28.97 Frequency ref unlimited
30.14 Maximum frequency
Value
Selection
28.76 Freq ramp in zero source
Value
DEC TIME
ACC TIME
FREQ
REF
RAMP
Value
28.02 Frequency ref ramp

output
Frequency reference modification
Selection
Selection
40.10 Set 1 feedback function
a+ b
a+b
a-b
AVE
MAX
Mul
MIN
DIV
Add
MUL
SUB
ADD
Feedback 1
Selection
Selection
Value
40.24 Set 1 internal setpoint 4
40.20 Set 1 internal setpoint sel2
Value
Selection
Value
40.19 Set 1 internal setpoint sel1
Value
Selection
Selection
a+ b
a+b
a-b
AVE
MAX
Mul
MIN
DIV
Add
MUL
SUB
ADD
In1 or In2
Selection
Value
Pulse
Value
Value
Value
Z-1
40.02 Process PID feedback actual
RAMP
Selection
40.30 Set 1 setpoint freeze enable
Note! Process PID parameter set 2 is also available. See parameter group 41.
40.11 Set 1 feedback filter time
Value
40.45 Set 1 sleep boost time
Value
Value
Value
40.46 Set 1 sleep boost step
Value
40.06 Process PID status word: bit 4 PID sleep mode
40.29 Set 1 setpoint decrease time
40.28 Set 1 setpoint increase time
40.26 Set 1 setpoint min
40.18 Set 1 setpoint function
40.27 Set 1 setpoint max
Internal setpoint (see 40.16, 40.17)
40.25 Set 1 setpoint selection
Selection
Process PID parameter set 2

Par 41.07...41.56 (not shown)
Process PID parameter set 1

Par 40.07...40.56 (shown)
Selection
40.57 PID set1/set2 selection
Value
40.03 Process PID

setpoint actual
Process PID setpoint and feedback source selection
Value
40.54 Set 1 trim mix
Value
40.02 Process PID feedback actual
Value
40.15 Set 1 output scaling
Selection
Value
40.57 PID set1/set2 selection
Selection
Value
40.48 Set 1 wake-up delay
40.41 Set 1 sleep mode
Value
40.47 Set 1 wake-up deviation
Value
Value
PID output
Sleep
Function
Selection
Value
40.01 Process PID output actual
Selection
Value
40.06 Process PID status word
Value
40.05 Process PID trim output act
40.50 Set 1 tracking ref selection
40.44 Set 1 sleep delay
Selection
Process
PID
status
40.49 Set 1 tracking mode
40.43 Set 1 sleep level
Z-1
40.42 Set 1 sleep enable
Value
PID
Comp
Note! Process PID parameter set 2 is also available. See parameter group 41.
40.36 Set 1 output min
Value
Selection
40.07 Set 1 PID operation mode
Value
Value
40.35 Set 1 derivation filter time
Value
Value
-1
40.33 Set 1 integration time
40.32 Set 1 gain
Value
Scale
Value
Value
Value
40.40 Set 1 deadband delay

40.37 Set 1 output max
Value
Selection
Value
Selection
40.03 Process PID setpoint actual
40.56 Set 1 trim source
Combined
Proportional
Off 0
Direct
Selection
Value
40.39 Set 1 deadband range
40.34 Set 1 derivation time
40.51 Set 1 trim mode
40.55 Set 1 trim adjust
40.38 Set 1 output freeze enable
40.14 Set 1 setpoint scaling
Selection
40.31 Set 1 deviation inversion
Value
40.03 Process PID setpoint actual
Selection
40.04 Process PID deviation actual
40.53 Set 1 trimmed ref pointer
(range 0...1)
Value
Value
Value
Selection

30.12 Maximum speed
30.14 Maximum frequency
40.52 Set 1 trim selection
PROCESS PID FUNCTION
TRIM FUNCTION
Process PID controller
MF link
MF link
MF link
Group 60
Master
setup
config
61.26 M/F data 2 value

Selection
Selection
61.02 M/F data 2 selection

DS41.3
DS41.2
DS41.1
Dataset
transmit
MF link
Signal selection for Masters broadcast message
62.12 Follower node 4 data 3 sel
Selection
Selection
62.36 Follower node 4 data 3 value
DS48.3
Selection
DS48.2
DS48.1
Dataset
receive
Selection
Selection
DS46.3
Follower node 4 receive
Selection
DS46.2
DS46.1
Dataset
receive
Selection
Selection
DS44.3
Selection
Selection
DS44.2
DS44.1
Dataset
receive

MF link
Master/Follower communication I (Master)
DS41.3
Selection
62.03 M/F data 3 selection = Ref 2 16bit
Selection
62.02 M/F data 2 selection = Ref 1 16bit
Selection
62.01 M/F data 1 selection = CW 16 bit
Selection
Selection
Selection

DS4x.3
DS4x.2
DS4x.1
MF link
Signal selection for Masters read request
DS41.2
DS41.1
Dataset
receive
MF link
MF link
60.09 M/F com loss function
60.08 M/F comm loss timeout
Follower receive
Group 60
Follower
setup
config
Drive
Control
logic
46.04 Power scaling
46.03 Torque scaling
46.02 Frequency scaling
46.01 Speed scaling
Selection
60.11 M/F ref2 type
46.04 Power scaling
46.03 Torque scaling
46.02 Frequency scaling
46.01 Speed scaling
Selection
60.10 M/F ref1 type
Ref2 scaling
Ref1 scaling
3.14 M/F or D2D ref2
3.13 M/F or D2D ref1
Master/Follower communication II (Follower)
74.49 Winder main CW

bit 13: Disable friction compensation
79.11 Friction compensation enable

bit 12: Disable inertia compensation
79.31 Inertia compensation enable

bit 11: Stall mode enable
77.21 Stall function enable

bit 10: Disable Tension control

bit 9: Enable torque memory
80.02 Torque memory enable

bit 8: Torque memory sample
AND
AND
P.74.51 Winder main control SW

bit 13: Friction compensation enabled

bit 12: Inertia compensation enabled

bit 11: Stall function enabled
AND
OR

bit 10: Tension control enabled
OR

bit 8: Torq memory sample

bit 9: Torq memory enabled
OR
6: (EXT1_Running)
9.02 Drive
control state
9: (Torque memory)
a
a=b
OR
10: (Not Active)
0: (Open loop)
9.03 Actual
tension ctrl mode
8: (Threading)

bit 15: Threading reverse command
OR
OR
0. Open loop
1. Tension torque trim
2. Tension speed trim
3. Dancer speed trim
4. Line speed master
8. Threading
9. Torque memory
10. Not Active
Selection
75.89 Speed reference status

bit 10: Possible to thread
AND

bit 14: Threading forward command
OR
77.02 Tension ctrl mode Selection

0. Open loop

bit 15: Threading reverse request
75.22 Thread reverse command

bit 14: Threading forward request
75.21 Thread forward command
WINDER CONTROL LOGIC
>
80.01 Take torque sample

bit 7: Count down enabled

bit 6: Count up enabled
AND
AND

bit 5: Diameter Preset command

bit 4: Diameter Reset command

bit 3: reserved

bit 2: Open loop Tctrl forced

bit 1: Motor direction Negative
OR
OR
OR
OR
OR

bit 0: Winding mode Unwinder
>

bit 7: Hold diameter count-down

bit 6: Hold diameter count-up

bit 5: Preset diameter
76.25 Preset estimated diameter

bit 4: Reset diameter
N/A

bit 2: Force open loop Tctrl
78.02 Force open loop

bit 1: Motor dir negative

bit 0: Unwind
74.05 Winding mode
Winder control diagrams
Winder control word logic
Convert
to rpm
76.36 Estimation boost time
a<b
a
a=b
b
AND
76.02 Diameter fdbk src
76.29 Reset/Preset while running
P.74.51.5 Diameter Preset command
76.51.4 Diameter Reset command
9.2 Drive control state = 2 (stopped)
09.01 bit 8 Diameter hold on
OR
OR
P.74.51.7 Count down enabled
76.26 Diameter preset value
TL_coeff = 0,4
P.74.51.6 Count up enabled
AND
AND
AND
76.08 Core diameter
BAL_EN
BALREF
SLOPE -
SLOPE +
IN
RAMP
Selection
0 Estimated
1 External feedback
2 External feedback while stopped
3 Virtual Roll
76.01 Diameter
calculation mode
76.08 Core diameter
76.02 Diameter
Feedback src
82.61 Virtual roll diameter

filter time
>
2: External feedback while stopped
P.74.51.0 Winding mode
76.08 Core diameter
Time since drives started
76.37 Estimation boost multiplier
74.21 Material thikness
09.01 bit 8 Diameter hold on
76.35 Estimation slope gain
Gr74. Used gear ratio
76.49 Raw estimate filter time
24.01 Used speed feedback
75.59 Line speed actual
DIAMETER CALCULATION
Convert
to %
9.13 Diameter ratio
9.12 Actual diameter perc
76.51 Estimated diameter filtered
76.61 Measured diameter
76.50 Raw diameter esimation
Diameter calculation
a>b
STALL FUNCTION
a
a=b
b
Convert to
Tension
AND
1,2
0,3,4
BAL_EN
9.01 bit10 Tension is ON

BAL_REF
SLOPE -
SLOPE +
IN
RAMP
77.13 Taper starting point
77.15 Max taper %
77.09 Tension ref

change rate
09.01 Winder status word

bit5: Winder stall active
77.22 Stall speed threshold
75.53 Line reference %
>
77.02 Tension ctrl mode Selection

0. Open loop

speed control
77.21 Stall function enable
75.53 Line reference %
LINE
Selection
ARC
DISABLED
P.9.1.3 Torque
reference negative
- 800
>
-800
-800
-800
800
800
800
0 Open loop
1 Tension torque trim
2 Tension speed trim
3 Dancer speed trim
4 Line speed control
Selection
800
9.03 Actual tension ctrl mode
1
-1
Convert to
motor Torque
25.11 Speed ctrl

min torque
25.12 Speed ctrl

max torque
77.62 Taper trim share
77.51 Tension reference In
77.14 Taper end-point
77.52 Tension reference used
77.61 Tapering progress
77.12 Taper reference signal
SLIDE
77.11 Taper shape

>
77.23 Stall tension set point
77.6 Tension reference scaling
77.3 Tension reference src
77.5 Max tension
TENSION CONTROL
Tension control
77.36 Dancer set-point 1/2

selection
77.35 Dancer set-point 2
77.34 Dancer set-point 1
DANCER CONTROL
77.33 Dancer position min
77.32 Dancer position max
77.39 Dancer ref

change rate
77.81 Dancer Set point In
77.80 Dancer position measured
9.01 bit6 PID controller ON
SLOPE -
SLOPE +
IN
BAL_REF
BAL_EN
RAMP
77.82 Dancer set-point used
Dancer control
79.12 Static friction torque

FRICTION COMPENSATION
0
74.61 Max speed at core
FRICTION COMPENSATION
P.9.1.3 Torque reference negative
75.89 Speed reference

status bit15: Unwinding
1
-1
1
-1
x
Friction compensation
Roll inertia
Selection
79.33 Fixed inertia
PROPORTIONAL
ESTIMATED
79.63 Load angular

acceleration
0 Proportional full roll to actual diameter

1 Based on estimated weight
79.32 Inertia calculation method
76.08 Core diameter
Calculate
Load
Inertia
- Ramp settings based

acceleration limit
Ramp settings based

acceleration limit
79.41 Acceleration comp gain
79.43 Steady-speed comp gain
a<b
d
dt
76.08 Core diameter
Full roll
estimated
weight
a>b
79.42 Deceleration comp gain
>
79.34 Full roll weight
Gr74.Gear
ratio used
75.63 Motor ref

Diameter scaled
Line speed
acceleration
INERTIA COMPENSATION
Gr74.Gear
ratio used
9.17 Estimated weight
80.21 Used weight
80.62 Actual
load inertia
79.66 Used IC gain
79.49 IC filter time
79.65 Inertial torque demand %
Inertia compensation
75.31 Overspeed ref offset
75.61 Max motor speed at Core
Selection
>
0 Open loop
P.9.1 bit3 Torque

reference negative
OR
-1
2..
0,1
- 75.1 Max
line speed
74.51 bit14: Threading

forward command
74.51 bit15: Threading

reverse command
9.03 Actual tension

ctrl mode
75.32 Dynamic offset trim
75.01 Maximum line speed
75.26 Threading deceleration time
75.12 Deceleration ramp time
75.25 Threading acceleration time
75.52 Line Ref ramped
75.23 Threading
forward line ref
75.24 Threading
reverse line ref
a
a=b
b
75.11 Acceleration ramp time
75.03 Line
reference scaling
75.02 Line speed

reference src
75.1 Max line speed
SPEED REFERENCE MANAGER
-1
1
1
75.63 Motor ref diameter scaled
0.01
75.37 Speed match range
75.36 Speed match trim src
75.52 Line reference

Ramped
9.13 Diameter ratio
75.35 Speed matching enable
RAMP
9.01 bit 2 Motor

direction negative
75.51 Line
Reference In
Convert to
motor speed
Convert to
motor speed
75.67 Speed match trim
22.11 Speed ref1

selection
75.62 Motor speed

from line ref
75.63 Motor ref

Diameter scaled
75.61 Max motor speed at Core
Speed reference scaling
Selection
76.08 Core
diameter
78.11 P-gain 1
78.12 I-time 1
78.13 D-time 1
78.16 P-gain 2
78.17 I-time 2
78.18 D-time 2
76.09 Full roll

diameter
9.12 Actual diameter %
PID ADAPTATION
77.80 Dancer position measured

75.59 Line speed actual
77.70 Load cell measurement
77.70 Load cell measurement
77.82 Dancer set point Used

75.52 Line reference Ramped
0 Open loop
2 Tension speed trim
3 Dancer speed trim
4 Line speed control
>
9.03 Actual
tension ctrl mode
09.01 bit5: Winder

stall active
78.58 Used D-time
78.57 Used I-time
78.22 Stall I-time
78.56 Used P-gain
78.21 Stall P-gain
78.51 PID feedback used %
78.27 Positive error response
78.26 Negative error response
Convert
to %
78.25 Invert PID error sign
78.52 PID reference used %
Tension control mode [0..4]
Convert
to %
APPLICATION PID-CONTROLLER
- 78.09 PID output range
78.33 User trim source
Motor speed ratio
Line speed ref ratio
9.13 Diameter ratio
9.01 bit3: Torque

reference negative
1
-1
78.38 Minimum
trim factor
78.39 Maximum
trim factor
78.69 PID output limited
78.32 Trim multiplier
78.31 Trim mode control
-%
+%
INV
PID
78.60 Controller Error %
78.63 D-term actual
78.62 I-term actual
78.61 P-term actual

77.72 Estimated tension
9.37 Speed
trim
9.31 Actual
tension
0
0
0
9.36 Torque
trim
78.75 Trim factor used
78.79 PID output trimmed
0
0

Application PID controller
Appendix A: Motor rotor inertia, IEC 673
14
Appendix A: Motor rotor
inertia, IEC
The table given below is an example of common inverter duty AC motor rotor inertia.
The data is from the ABB cast iron totally enclosed squirrel cage motors catalog.
The electrical ratings are based on 400 V AC 50 Hz sinusoidal input.
Power
(kW)
Poles
Base rpm
IEC Frame
Nominal
current
(A)
Nominal
torque
(Nm)
Inertia
(kgm2)
0.75
935
90 S6
2.05
7.65
0.0039
1410
80 M4
1.85
0.0021
2830
80 M2
1.6
2.53
0.00097
920
90 L6
2.8
11.5
0.0049
1410
90 S4
2.65
7.45
0.0029
2835
80 M2
2.25
3.7
0.0012
950
100 L6
3.8
15
0.011
1410
90 L4
3.45
10.1
0.0037
2850
90 S2
3.0
5.0
0.0015
950
112 M6
22
0.017
1425
100 L4
4.6
14.7
0.0075
2840
90 L2
4.3
7.4
0.002
955
132 S6
6.5
30
0.038
1415
100 L4
6.1
20.2
0.0098
2870
100 L2
5.8
10
0.0044
955
132 M6
8.8
40
0.049
1435
112 M4
26.6
0.014
2880
112 M2
7.6
13
0.0075
1.1
1.5
2.2
674 Appendix A: Motor rotor inertia, IEC
Power
(kW)
Poles
Base rpm
IEC Frame
Nominal
current
(A)
Nominal
torque
(Nm)
Inertia
(kgm2)
5.5
955
132 M6
11.4
55
0.065
1430
132 S4
10.9
36.7
0.031
2900
132 S2
10.4
18
0.013
970
160 M
15.7
74
0.088
1430
132 M4
14.2
50
0.04
2900
132 S2
13.9
24.5
0.016
970
160 L
23
108
0.106
1455
160 M
21.5
72
0.066
2925
160 MA
19.6
36
0.039
975
180 L
31
147
0.207
1460
160 L
29
98
0.09
2915
160 M
16.5
49
0.047
980
200 ML
35
180
0.37
1470
180 M
35
120
0.161
2915
160 L
32.5
61
0.054
980
200 ML
41.5
214
0.43
1470
180 L
41.5
143
0.191
2945
180 M
39.5
72
0.077
985
225 SM
56
291
0.64
1475
200 ML
56
194
0.29
2950
200 ML
53
97
0.15
985
250 SM
67
359
1.16
1480
225 SM
68
239
0.37
2950
200 ML
64
120
0.18
990
280 SM
82
434
1.85
1475
225 SM
81
291
0.42
2970
225 SM
79
145
0.26
990
280 SM
101
531
2.2
1480
250 SM
98
355
0.72
2975
250 SM
95
177
0.49
992
315 SM
141
722
3.2
1484
280 SM
135
483
1.25
2977
280 SM
131
241
0.8
992
315 SM
163
866
4.1
1483
280 SM
158
580
1.5
2975
280 SM
152
289
0.9
7.5
11
15
18.5
22
30
37
45
55
75
90
Appendix A: Motor rotor inertia, IEC 675
Power
(kW)
Poles
Base rpm
IEC Frame
Nominal
current
(A)
Nominal
torque
(Nm)
Inertia
(kgm2)
110
991
315 SM
202
1060
4.9
1487
315 SM
192
706
2.3
2982
315 SM
194
352
1.2
991
315 ML
240
1272
5.8
1487
315 SM
232
848
2.6
2982
315 SM
228
423
1.4
992
355 S
280
1540
10.4
1486
315 SM
282
1028
2.9
2981
315 SM
269
513
1.7
992
355 SM
355
1925
12.5
1486
315 ML
351
1285
3.5
2978
315 ML
334
641
2.1
992
355 SM
450
2407
12.5
1487
355 S
430
1606
6.5
2980
355 S
410
801
3.8
132
160
200
250
676 Appendix A: Motor rotor inertia, IEC
Further information
Product and service inquiries
Address any inquiries about the product to your local ABB representative, quoting
the type designation and serial number of the unit in question. A listing of ABB sales,
support and service contacts can be found by navigating to
www.abb.com/searchchannels.
Product training
For information on ABB product training, navigate to new.abb.com/service/training.
Providing feedback on ABB Drives manuals

Your comments on our manuals are welcome. Navigate to
new.abb.com/drives/manuals-feedback-form.
Document library on the Internet

You can find manuals and other product documents in PDF format on the Internet at
www.abb.com/drives/documents.
Contact us
www.abb.com/drives
www.abb.com/drivespartners
3AUA0000107532 Rev B (EN) 2016-04-13

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ABB industrial drives

List of related manuals in English

Option manuals and guides

Start-up guide for ACS880

2016 ABB Oy. All Rights Reserved.

1. Introduction to the manual

2. Using the control panel

4. Control locations and operating modes

5. Winder program features

6. Standard program features

9. Additional parameter data

10. Fault tracing

11. Fieldbus control through the embedded fieldbus interface (EFB)

12. Fieldbus control through a fieldbus adapter

13. Control chain diagrams

14. Appendix A: Motor rotor inertia, IEC

Introduction to the manual 13

The firmware version of the control program is visible in parameter 07.05

Read the firmware function-specific warnings and notes before changing

14 Introduction to the manual

Contents of the manual

Introduction to the manual contains information on compatibility, safety and

Winder program features contains descriptions of the features specific to the

Standard program features contains descriptions of the control locations and

Application macros contains a short description of each macro together with a

Parameters describes the parameters used to program the drive.

Additional parameter data contains additional information of parameters.

Fieldbus control through a fieldbus adapter describes the communication to and

Drive-to-drive link describes the communication between drives connected

Introduction to the manual 15

Terms and abbreviations

Type of programmable controller manufactured by ABB.

A product family of ABB drives

Type of control panel used with ACS880 drives

Analog input; interface for analog input signals

Analog output; interface for analog output signals

Type of control unit used in ACS880 drives, primarily those with

DC circuit between rectifier and inverter

Distributed drives communication system; a protocol used in

Digital input; interface for digital input signals

Digital input/output; interface that can be used as a digital input or

Digital output; interface for digital output signals

Frequency converter for controlling AC motors. The drive consists of a

A communication link used by, for example, ABB controllers. ACS880

Direct torque control. See page 85.

Optional analog I/O extension module

Optional CANopen adapter

Optional ControlNet adapter

Optional DDCS communication module

Optional digital I/O extension module

Optional DeviceNet adapter

Optional I/O extension adapter

Optional EtherCAT adapter

Optional TTL encoder interface module

Optional absolute encoder interface module

Optional resolver interface module

Optional HTL encoder interface module

Optional Ethernet/IP, Modbus/TCP and PROFINET IO adapter

16 Introduction to the manual