Firmware Tde Macno

User’s manual
Asynchronous - Firmware version 12.2
Cod. MW00001E00 V_4.3
 Firmware Tde Macno
User’s manual
Asynchronous - Firmware
version 12.2
Cod. MW00001E00 V_4.3
SUMMARY

1 INTRODUCTION .................................................................................... 4
1.1 PARAMETERS (P) ..................................................................................................... 4
1.2 CONNECTIONS (C) ................................................................................................... 5
1.3 INPUT LOGIC FUNCTIONS (I) .................................................................................. 5
1.4 INTERNAL VALUES (D) ............................................................................................ 5
1.5 OUTPUT LOGIC FUNCTIONS (O) ............................................................................ 5

2 ASYNCHRONOUS PARAMETERS........................................................ 6
2.1 DRIVE AND MOTOR COUPLING ............................................................................. 6

2.1.1 Drive Plate ........................................................................................................................... 6

2.1.2 Motor Plate .......................................................................................................................... 9
2.1.3 Motor Sensor ..................................................................................................................... 10
2.1.4 Autotunig Control and Motor Measured Model .................................................................. 12
2.1.5 Identifying Models of Induction Motor ................................................................................ 19
2.1.6 Speed Test ........................................................................................................................ 23
2.1.7 Quick Start-Up ................................................................................................................... 25

2.2 Motor Control............................................................................................................ 26

2.2.1 Acceleration Ramps and Speed Limit ............................................................................... 27

2.2.2 Speed Limit ....................................................................................................................... 29
2.2.3 Speed Control ................................................................................................................... 29
2.2.4 Torque and Current Limits ................................................................................................. 34
2.2.5 Current Control .................................................................................................................. 36
2.2.6 Drive Torque Control ......................................................................................................... 37
2.2.7 Voltage/Flux Control .......................................................................................................... 38

2.3 PROTECTION .......................................................................................................... 41

2.3.1 Voltage Limits .................................................................................................................... 41

2.3.2 Thermal Protection ............................................................................................................ 48
2.3.3 Braking Resistence Thermal Protection (OPDE) ............................................................... 51
2.3.4 Braking Resistance Thermal Protection (Miniopde) .......................................................... 52

2.4 V/F control ................................................................................................................ 53

2.4.1 Automatic Setting of Working Voltage/Frequency ............................................................. 54

2.4.2 Manual Setting of Working Voltage/Frequency Characteristic .......................................... 55
2.4.3 Load Effect Compensation ................................................................................................ 56
2.4.4 Particular Control Functions .............................................................................................. 57

2.5 SENSORLESS ......................................................................................................... 58

3 Standard application ............................................................................. 59

3.1 INPUTS .................................................................................................................... 59

3.1.1 Analog Reference.............................................................................................................. 59

3.1.2 Current Analog Reference 4÷20ma ................................................................................... 61
3.1.3 Dead Zone......................................................................................................................... 65
3.1.4 Digital Speed Reference ................................................................................................... 65
3.1.5 Frequency Speed Reference............................................................................................. 67
3.1.6 Digital Inputs Configurations.............................................................................................. 72

MW00001E00 V_4.3 1
 3.1.7 Second Sensor.................................................................................................................. 73

3.2 OUTPUT .................................................................................................................. 74

3.2.1 Digital Output Configurations ............................................................................................ 74

3.2.2 Analog Output Configurations ........................................................................................... 75
3.2.3 Frequency Output ............................................................................................................. 78

3.3 MOTION CONTROL................................................................................................ 82

3.3.1 Incremental Position Loop ................................................................................................. 82

3.3.2 Pid Controller .................................................................................................................... 84
3.3.3 Stop In Position ................................................................................................................. 86
3.3.4 Motor Holding Brake ......................................................................................................... 91

4 CATALOG APPLICATIONS.................................................................. 92
4.1 INPUTS.................................................................................................................... 93

4.1.1 Analog Reference ............................................................................................................. 93

4.1.2 Digital Speed Reference ................................................................................................... 93
4.1.3 Frequency Speed Reference ............................................................................................ 94
4.1.4 Digital Inputs Configurations ............................................................................................. 94
4.1.5 Second Sensor.................................................................................................................. 95

4.2 OUTPUT .................................................................................................................. 96

4.2.1 Digital Outputs Configurations........................................................................................... 96

4.2.2 Analog Outputs Configurations ......................................................................................... 97
4.2.3 Frequency Output ............................................................................................................. 98

4.3 Motion control .......................................................................................................... 98

5 GENERIC PARAMETERS .................................................................. 100

5.1 KEYS ..................................................................................................................... 100
5.2 DATA STORING .................................................................................................... 100

5.2.1 Storage And Recall Of The Working Parameters ............................................................ 100

5.3 DIGITAL COMMANDS AND CONTROL ............................................................... 102

5.3.1 Drive Ready .................................................................................................................... 102

5.3.2 Drive Switch On / Run ..................................................................................................... 103
5.3.3 Drive Switch Off / Stop .................................................................................................... 103
5.3.4 Safety Stop...................................................................................................................... 103

5.4 PWM SYNCHRONIZATION (STANDARD APPLICATION).................................. 104

6 ALARMS ............................................................................................. 105

6.1 MAINTENANCE AND CONTROLS ....................................................................... 105

6.1.1 Malfunctions Without An Alarm: Troubleshooting............................................................ 105

6.1.2 Malfunctions With An Alarm: Troubleshooting................................................................. 106
6.1.3 MiniOPDE’s Specific Alarms ........................................................................................... 110
6.1.4 Alarm History................................................................................................................... 111

7 DISPLAY............................................................................................. 112
7.1 PHYSICAL DISPOSITION..................................................................................... 112
7.2 LAYOUT OF THE INTERNAL VARIABLES .......................................................... 112

2 MW00001E00 V_4.3
 7.2.1 Parameters (Par) ............................................................................................................. 113
7.2.2 Application Parameters (App).......................................................................................... 113
7.2.3 Connections (Con) .......................................................................................................... 114
7.2.4 Internal Values (Int) ......................................................................................................... 114
7.2.5 Allarms (All) ..................................................................................................................... 115
7.2.6 Logic Functions of Input (Inp) .......................................................................................... 115
7.2.7 Logic Functions of Output (Out) ...................................................................................... 116
7.2.8 Utilities Commands (UTL) ............................................................................................... 116
7.2.9 Fieldbus Parameters (FLB) ............................................................................................. 117
7.2.10 Usb port commands (USB) ............................................................................................. 117

7.3 IDLE STATE ........................................................................................................... 118

7.4 MAIN MENU ........................................................................................................... 118

7.4.1 Sub-Menu of Parameters, Application Parameters and Connections Management ........ 119
7.4.2 Visualization of the Internal Values (INT) ........................................................................ 120
7.4.3 Alarms (ALL) ................................................................................................................... 121
7.4.4 Visualization of the Input and Output (Inp and Out)......................................................... 121
7.4.5 Sub-menu of USB port Management .............................................................................. 122

7.5 PROGRAMMING KEY ........................................................................................... 123

8 LIST OF PARAMETERS..................................................................... 125

MW00001E00 V_4.3 3
1 INTRODUCTION
To help the customer during the configuration of the drive, the manual is organized to follow faithfully
the structure of the configurator (OPDExplorer) that allows, according to a logical sequence, to set all
the sizes needed for the proper functioning of the drive.

In particular, each chapter refers to a specific folder of OPDExplorer which includes all the relative
parameters.

Also, at the beginning of each chapter of the manual, is showed the location of the folder in the
OPDExplorer tree, which the chapter refer, and the complete table of sizes of the folder in question.
The control values are divided as follows:

• Parameters
• Connections
• Input logic functions
• Internal values
• Output logic functions

In the tables of the control value, the last column on the right “Scale” shows the internal representation
base of the parameters. This value is important if the parameters have to be red or written with a serial
line or fieldbus and represent the factor which to divide the value stored to obtain the real value set, as
following indicated:

Examples:
MAIN_SUPPLY  P87 – Main supply voltage
Value = 400
Scale = 10
Int. rep. = 4000

1.1 PARAMETERS (P)

The parameters are drive configuration values that have displayed as a number within a set range. The
parameters have mostly displayed as percentages, which is especially useful if the motor or drive size
has to be changed in that only the reference values (P61÷P65) have to be modified and the rest
changes automatically. The parameters are split up into free, reserved and TDE MACNO reserved
parameters.
The following rules apply:
Free parameters (black text in OPDExplorer): may be changed without having to open any key, even
when running;

Reserved parameters (blu text in OPDExplorer): may be changed only at a standstill after having
opened the reserved parameter key in P60 or the TDE MACNO reserved parameters key in P99;

TDE MACNO reserved parameters (violet text in OPDExplorer): may be changed only at a standstill
after having opened the TDE MACNO reserved parameters key in P99. While the key for these
parameters is closed, they won’t be shown on the display.

Take careful note of the reference values for each parameter so that they are set correctly.

4 MW00001E00 V_4.3
1.2 CONNECTIONS (C)

The connections are drive configuration values that are displayed as a whole number in the same way
as a digital selector.
They are split up into free, reserved and TDE MACNO reserved connections, and are changed in the
same way as the parameters.
The internal representation base is always as whole number.

1.3 INPUT LOGIC FUNCTIONS (I)

The input logic functions are 32 commands that come from configured terminal board logic inputs, from
the serial line, and from the fieldbus. The meaning of this logical functions depend on the application,
so please refer to specific documentation.

1.4 INTERNAL VALUES (D)

Internal values are 128 variables within the drive that can be shown on the display or via serial on the
supervisor. They are also available from the fieldbus.
The first 64 values are referred to motor control part and are always present. The second 64 values are
application specific.
Pay close attention to the internal representation base of these values as it is important if readings are
made via serial line or fieldbus.

1.5 OUTPUT LOGIC FUNCTIONS (O)

The logic functions are 64, the first 32 display drive status and second 32 are application specific. All
output functions can be assigned to one of the 4 logic outputs.

MW00001E00 V_4.3 5
FIRMWARE VERSION 12.2

2 ASYNCHRONOUS PARAMETERS
The “Asyncrhonous Parameters” are used to control the current or speed of a feedback vector
induction motor. The speed and current reference values are generated by the application. See the
application parameters for further information. As an absolute position value is not required for the
sensors (managed with an optional internal electronic board) incremental TTL Encoders and
incremental Sin/Cos Encoders may be used. Absolute sensors such as Resolver can also be used, as
can digital sensors such as Endat or Hiperface if required.
The “Asyncrhonous Parameters” also manages the auto-tuning test, which is crucial if the control is to
adapt perfectly to the motor and to ensure excellent dynamic performance all-round.

2.1 DRIVE AND MOTOR COUPLING

This section is usefull during motor start-up to obtain the best coupling between drive and motor. It’s
very important to follow the correct sequence explained in the next paragraphs

2.1.1 Drive Plate

Name Description Min Max Default UM Scale

MAIN_SUPPLY_SEL C53 - Supply voltage 0 2 0 1

MAIN_SUPPLY P87 - Main Supply voltage 180.0 780.0 400 V rms 10
DRV_I_NOM P53 - Rated drive current 0.0 3000.0 0 A 10
P113 - Maximum drive
DRV_I_PEAK 0.0 3000.0 0 A 10
current
I_OVR_LOAD_SEL C56 - Current overload 0 3 3 1
PRC_DRV_I_MAX P103 - Drive limit current 0.0 800.0 200 % DRV_I_NOM 40.96
DRV_F_PWM P101 - PWM frequency 1000 16000 5000 Hz 1
P156 - PWM frequency for
DRV_F_PWM_CARATT 1000 16000 5000 Hz 1
drive definition
P167 - Characterization
DRV_E_CARATT 200.0 780.0 400 V rms 10
voltage
LEM_SEL C22 - LEM selection 0 1 1 1
DRV_TH_MODEL C94 - Drive thermal model 0 2 0 1
P195 - Drive derating with
DRV_K_ALTITUDE 0.0 200.0 100.0 % 163.84
altitude
P104 - Radiator time
T_RAD 10.0 360.0 80 s 10
constant
P116 - Junction time
T_JUNC 0.1 10.0 3.5 s 10
constant
P155 - Ambient
OVR_LOAD_T_ENV temperature reference 0.0 150.0 40 °C 10
value during overload
C68 - Enable PWM
EN_PWM _VAR 0 1 0 1
frequency reduction
P196 - Max frequency for
PWM_RID_F_MAX 0.0 1000.0 10.0 Hz 10
PWM reduction
P197 - Minimum PWM
PWM_MIN 1000 16000 5000.0 Hz 1
frequency
Control Routines
ISR_PWM 5000 Hz 1
Frequency
IGBT_PWM IGBT Frequency 5000 Hz 1
P157 - Dead time software
DEAD_TIME_SW 0.0 20.0 4 µs 10
duration
P198 - Dead time hardware
DEAD_TIME_HW 0.0 20.0 0.0 µs 10
duration
P199 - Minimum command
MIN_PULSE 0.0 20.0 1.0 µs 10
pulse duration
DC_BUS_FULL_SCAL C24 - DC voltage drive full
0 2 0 V 1
E scale
RECT_BRIDGE_SEL C45 - Rectification bridge 0 1 0 1
C58 - Enable new STO
EN_NEW_STO 0 1 0 1
management
This parameters are related to the drive characteristic. The user has to set only the main supply
voltage and select the current overload.

6 MW00001E00 V_4.3
2.1.1.1 Drive Current Overload Selection

Four types of drive overload can be set on C56

C56 Overload type for rated drive current (P53)

0 120% for 30 seconds

1 150% for 30 seconds

2 200% for 30 seconds

3 200% for 3 seconds and 155% for 30 seconds

NB: the choice also changes the rated drive current as shown by the tables in the installation manual
and the correct value is always displayed in ampere rms in P53.
The delivered current is also used to calculate the operating temperature reached by the power
component junctions with the drive presumed to be working with standard ventilation at the maximum
ambient temperature permitted.
If this temperature reaches the maximum value permitted for the junctions, the delivered power limit is
restricted to a value that is just over the rated drive current, i.e. the system’s effective thermal current
(see following table).

Now the drive will only overload if the temperature drops below the rated value, which will only occur
after a period of operation at currents below the rated current.
The junction temperature calculation also considers the temperature increase that occurs while
operating at low frequencies (below 2.5 Hz), due to the fact that the current is sinusoidal and thus has
peak values that are higher than the average value. With electrical operating frequencies lower than
2.5Hz, the drive goes into maximum overload for 20-30ms, after which, the maximum current limit is
reduced by √2 as shown by the following chart:

C56 Max. drive current Drive thermal current Limit below 2.5 Hz

0 120% I NOM AZ for 30 seconds 103% I NOM AZ 84% I NOM AZ

1 150% I NOM AZ for 30 seconds 108% I NOM AZ 105% I NOM AZ

2 200% I NOM AZ for 30 seconds 120% I NOM AZ 140% I NOM AZ

200% I NOM AZ for 3 seconds
3‫٭‬ 110% I NOM AZ 140% I NOM AZ
155% I NOM AZ for 30 seconds

The overload time indicated in the table above is referred to a drive running steady at rated motor
current for a time set at 300s.

MW00001E00 V_4.3 7
N.B. = The overload time is bound to the drive output current before the overload request and how long
this current is delivered for. Reducing this time (so increasing the frequency of overload request) the
available overload time will decrease.
If the average delivered current is lower than the rated motor current before the overload request, then
the overload time will increase. So the overload will be available for a longer or identical time to the
ones shown.
Note that, if the overload current is equal to the drive thermal current, it may be delivered for an
unlimited time.

N.B. 3‫ = ٭‬the 200% overload is available until junction temperatures are estimated to be 95% of the
rated value; at the rated value the maximum limit becomes 180%. For repeated work cycles, TDE
MACNO is available to estimate the drive’s actual overload capacity.

2.1.1.2 New Current Overload Function

With connection C94 “DRV_TH_MODEL”=2 is possible to enable a new current overload management.
Please contact TDE MACNO spa for further informations.

2.1.1.3 Double Update Function

With connection C68 “EN_PWM_VAR”= 2 (Double Update) the motor control routines have the refresh
frequency set with P101 “DRV_F_PWM”, but the real PWM frequency (for IGBT control) is half of that
value, for reduce power loses and consequently Drive derating.
When the Double Update function is enabled, the second sensor is no louger managed.
In addiction, the minimum ratio between the control frequency and the output frequency will always be
9, therefore there will be an automatic control frequency change based on output frequency.

8 MW00001E00 V_4.3
2.1.2 Motor Plate

Name Description Min Max Default UM Scale

P61 - Rated motor
PRC_MOT_I_NOM 10.0 100.0 100 % DRV_I_NOM 327.67
current ( I NOM MOT)
P62 - Rated motor
MOT_V_NOM 100.0 1000.0 380 Volt 10
voltage
P63 - Rated motor
MOT_F_NOM 10.0 800.0 50.0 Hz 10
frequency
P64 - Max. operating
PRC_MOT_V_MAX 1.0 200.0 100 % MOT_V_NOM 40.96
voltage
P65 - Max. operating
MOT_SPD_MAX 50 60000 2000 RPM 1
speed (n MAX)
Range
C78 - Motor speed max
MOT_SPD_MAX_MUL 0 X1 0 1
multiplication factor
1 X10
P66 - Nominal power
MOT_COS_PHI 0.500 1.000 0.894 1000
factor
P67 - Number of motor
MOT_POLE_NUM 1 12 4 1
poles
P70 - Motor thermal
PRC_MOT_I_THERM 10.0 110.0 100 % PRC_MOT_I_NOM 10
current
P71 - Motor thermal time
MOT_TF_THERM 30 2400 180 s 1
constant
MOT_N_NOM Motor nominal speed 0 rpm 1

MOT_F_MAX Motor max frequency 0 Hz 10

Setting the parameters that establish the exact type of motor used is important if the drive is to run
correctly. These parameters are:

Name Description

PRC_MOT_I_NOM P61 - Rated motor current ( I NOM MOT)

MOT_V_NOM P62 - Rated motor voltage

MOT_F_NOM P63 - Rated motor frequency

MOT_POLE_NUM P67 - Number of motor poles

These parameters are fundamental in that they are the basis of all the motor operating characteristics:
frequency, speed, voltage, current, torque and thermal protection.
P62 and P63 can be read directly on the motor rating plate and P61 can be calculated with the
following formula:
P61 = (Inom_motor *100.0))/(Inom_drive)

Example: Drive: OPEN 22

Inom_drive = 22A overload 200%
Motor: MEC series, Vn = 380V, f = 50Hz, Inom_motore = 20A,
P61 = (20*100)/22 = 90.9%
P62 = 380.0
P63 = 50.0

There are also parameters that establish the maximum values for voltage, thermal current and
operating speed:

Name Description

PRC_MOT_V_MAX P64 - Max. operating voltage

MOT_SPD_MAX P65 - Max. operating speed (n MAX)

PRC_MOT_I_THERM P70 - Motor thermal current

MOT_TF_THERM P71 - Motor thermal time constant

These important parameters must be specified alongside the exact characteristics of the feedback
sensor used. Once the sensor has been established, the “Sensor and motor pole tests” can be
carried out (enabled with C41) which will confirm that the parameters have been set correctly.

MW00001E00 V_4.3 9
2.1.3 Motor Sensor

Defa
Name Description Min Max UM Scale
ult
Range
0 Sensorless
1 Encoder
4 Resolver
5 Resolver DDC
8 Sin/Cos incr
SENSOR_SEL C00 - Speed sensor 1 1
10 Endat 1317
11 Endat 1329
14 Endat 125
15 Endat 129
20 Biss AD361219
21 Biss RA18
P68 - Number of absolute sensor
RES_POLE 1 12 2 1
poles
P69 - Number of encoder
ENC_PPR 0 60000 1024 pulses/rev 1
pulses/revolution
C74 - Enable incremental encoder
EN_TIME_DEC_ENC 0 1 0 1
time decode
P89 - Tracking loop bandwidth
RES_TRACK_LOOP_BW 100 10000 1800 rad/s 1
direct decoding of resolver
RES_TRACK_LOOP_DAMP P90 - D Traking loop bandwidth 0.00 5.00 0.71 100
Range
-3 f PWM ÷8
-2 f PWM ÷4
-1 f PWM ÷2
RES_CARR_FRQ_RATIO C67 - Resolver carrier frequency 0 1
0 f PWM
1 f PWM x2
2 f PWM x4
3 f PWM x8
EN_SENSOR_TUNE U04 - Enable sensor autotuning 0 2 0 1

EN_INV_POS_DIR C76 - Invert positive cyclic versus 0 1 0 1

Sensor
MOT_POS Actual position 0 1
pulses
D36 - Absolute mechanical
MOT_TURN_POS 0 +/-16384 1
position (on current revolution)
MOT_N_TURN D37 - Number of revolutions 0 1
P164 - Resolver or Incremental
KP_SINCOS1_CHN Sin/Cos sine and cosine signal 0.0 200.0 100 % 163.84
amplitude compensation
P165 - Resolver or Incremental
OFFSET_SIN1 -16383 16383 0 1
Sin/Cos sine offset
P166 - Resolver or Incremental
OFFSET_COS1 -16383 16383 0 1
Sin/Cos cosine offset
PRC_RES_AMPL D23 - Amplitude resolver signals 0 800 0 %ALL_THR 40.96
D38 - Compensation Sin/Cos
OFFSET_SINCOS_ENC 0 pulses 1
analog/digital term
SENSOR_FRQ_IN D39 - Input frequency 0 kHz 16

HW_SENSOR1 D63 - Sensor1 presence 0 1

SENS1_ZERO_TOP D55 - Sensor1 Zero Top 0 pulses 1

RES_DDC_BW C66 - Resolver DDC bandwidth 0 1 0 Hz 1

EN_SLOT_SWAP C19 - Enable sensor slot swap 0 1 0 1

MOTOR_SENSOR_RES Motor sensor resolution 0 1

10 MW00001E00 V_4.3
 For correct motor sensor setup is necessary to set the motor sensor present:

Name Description

SENSOR_SEL C00 - Speed sensor

and, for the specific sensor present, the following parameters.

For the TTL encoder and the incremental sin-cos encoder:

Name Description

ENC_PPR P69 - Number of encoder pulses/revolution

And for the resolver:

Name Description

RES_POLE P68 - Number of absolute sensor poles

RES_CARR_FRQ_RATIO C67 - Resolver carrier frequency

After that is necessary proceed with the auto tuning procedure.

NOTE: usually SLOT1 is used to connect motor sensor, and SLOT2 for other sensors. With connection
C19 is possible to swap the slot meaning, and use Slot2 to read motor sensor.

SLOT 1 SLOT 2 SLOT 3

− Resolver (4S0013) − Resolver (4S0013) BUS 1 BUS 2

− TTL/Hall sensor encoder (4S0017) − TTL/Hall sensor encoder (4S0017) − CANbus − CANbus (4B0001)
− SinCos encoder (4S0011) − SinCos encoder (4S0011) − CANbus − Profibus (4B0002)
− Endat/Biss encoder (4S0012) − Endat/Biss encoder (4S0012) − − Ethercat (4B0004)
− High resolution resolver (4S0014) − High resolution resolver (4S0014) − CANbus (anybus) − CANbus (anybus)
− High resolution frequency input (4S0015) − High resolution analog input (4S0015) (4B0000) (4B0000)
− CANbus − SPI (4B0005)

MW00001E00 V_4.3 11
2.1.4 Autotuning Control and Motor Measured Model

Name Description Min Max Default UM Scale

Range
0 No
C41 - Enable sensor and
EN_TEST_CONN 1 Yes 0 1
motor phase tests
Yes, without
2
sensor tuning
P114 - Current in
PRC_I_TEST_CONN connection tests for UVW, 0.0 100.0 100 % DRV_I_NOM 327.67
Poles and reading Rs
Range
0 No
EN_AUTOTUNING C42 - Enable auto-tunings 1 Test 1 and 2 0 1
2 Test 3 and 4
3 All
C75 - Disable Autotuning
DIS_DEF_START_AUTO 0 1 0 1
starting from default values
P121 - Test 3 and 4
TEST3-4_ACC_TIME 0.01 199.99 4.0 s 100
acceleration time
P129 - Test current to
PRC_I_TEST_DELTA_VLS 0.0 100.0 30.0 % 327.67
establish VLS
Connection test pulses
TEST_CONN_PULSES -19999 19999 0 1
counted
Connection test motor and
TEST_CONN_RES_RATIO 0 100
sensor pole ratio
Range
U01 - Enable test of start-up 0 Not enabled
EN_TEST_SPD 0 1
time 1 Start up
2 Step
P130 - Torque during start-
TEST_SPD_T_MAX 0.0 100.0 100 % MOT_T_NOM 40.96
up test
P132 - Speed during start-
TEST_SPD_MAX -100.00 100.00 100 % MOT_SPD_MAX 163.84
up test
P134 - Maximum
TEST_SPD_SPACE_MAX revolutions during start-up 0.00 3000.0 100 revolutions 10
test
PRC_MOT_FRICTION P136 - Friction torque 0.0 100.0 0 % MOT_T_MOM 40.96

START_TIME P169 - Start up time 0 19999 100 ms 1

U10 - Enable Current Vector
EN_I_VECTOR 0 1 0 1
for Power Part Test
U11 - Current Vector
I_VECTOR_FREQ frequency for Power Part 0 200 50 Hz 1
Test
PRC_DRV_I_PEAK P40 - Current limit 0.0 250.0 200 % DRV_I_NOM 40.96

12 MW00001E00 V_4.3
2.1.4.1 Auto-Tuning Procedures

The first step for the auto-tuning procedure is the sensor test.
After to set the correct parameters in the motor sensor section is necessary to complete the auto-
tuning procedure for the sensor present and selected.
With C41=1 it’s possible to enable the sensor test with automatic sensor signals offset and gain
compensation. If the user prefers to compensate sensor offset and gain manually, setting C41=2 it’s
possible to execute sensor test without signals compensation.

2.1.4.1.1 Sensor Tests

This is the first test to be carried out. It is in three parts:

o Check that the direction of rotation of the motor phases and the sensor correspond;
o Automatic offset and gain sensor signals compensation
o Check that the number of motor poles is written correctly in parameter P67 and the
speed sensor used is set correctly.

Correct operation requires a no-load motor so decouple it from the load.

After setting the drive to STOP and opening the reserved parameter key (P60=95), set C41=1 to
enable the test. The following setting will appear on the display:

The drive is now ready to start the test. To start reading, enable RUN with its digital input or working
with connection C21 (commands in series). Once the test has started, this setting will appear on the
display:

and the motor will rotate in the positive direction first to ensure the direction matches and will then
rotate again to ensure the motor phases and the sensor are set correctly.

During the test, the motor will make at last two revolution at low speed.
Do not worry if these revolutions are a little noisy.

If the drive sets off an alarm during the test, an error has occurred. Check to see which alarm has been
triggered and deal with the problem accordingly:
o If A14 code=1 is enabled, the test current is too low, check if the motor phases are
correctly connected to the drive
o If A14 code=0 is enabled, connections U, V, W do not match the internal phases of the
drive. Invert two phases and repeat the test.
o If A15 code=3 is enabled, the values set do not comply with the motor pole and sensor
settings.
At the end of the test, check parameters TEST_CONN_PULSES or TEST_CONN_RES_RATIO as it
may give some indication as to the problem; these parameters are available only by supervisor
OPDExplorer in the “Autotuning control” section.
The test is successful if this setting appears on the display:

and the drive does not trigger an alarm.

Now disable RUN by setting its digital input to 0 or clearing C21.
The subsequent tests can now be carried out.

MW00001E00 V_4.3 13
2.1.4.2 TTL Encoder

2.1.4.2.1 Sensor Parameters

It’s necessary to have set correctly the parameter P69 (Encoder pulses per revolution) in order to
define the Encoder

By default (C74=0) the speed is measuring counting the number of pulses in the PWM period.
This produces a poor resolution especially at low speed and the consequent need of signal filtering
(see the related core document, P33 parameter of speed regulator).
Setting C74=1 the speed calculation is done measuring the time between one Encoder pulse to the
other. This technique has a maximum resolution of 12.5 ns, so the measure can be very accurate.
The Encoder time decode needs Incremental Encoder pulses with duty-cycle of 50%, a correct pulses
time distribution and the cables would be shielded very well

2.1.4.2.2 Speed Sensor Test

It is in two parts:
o Check that the direction of rotation of the motor phases and the Encoder correspond;
o Check that the number of motor poles is written correctly in parameter P67 and the
Encoder used is correctly define as pulses per revolution with parameter P69

Correct operation requires a no-load motor so decouple it from the load.

After setting the drive to STOP and opening the reserved parameter key (P60=95), set C41=1 to
enable the test. To start the test enable RUN command with its digital input.
Once the test has started the motor will rotate in the positive direction at low speed and all Encoder
edges are counted.

During the test, the motor will make a complete revolution at low speed.
Do not worry if this revolution is a little noisy

In the first step is checked if the cyclic sense of motor phases and Encoder channels is the same:
after 1 second parameter TEST_CONN_PULSES is updated with the test result and the drive
consequently goes in alarm A14 or t starts the second test:

o TEST_CONN_PULSES=0 : meaning that is missing at least one Encoder channel,

therefore A14 code 0 is triggered
o TEST_CONN_PULSES<0 : meaning that Encoder channels are exchanged,
therefore A14 code 0 is triggered
o TEST_CONN_PULSES>0 : everything is ok

In the second part is checked the Encoder pulses reading, well known from P69 parameter the number
of edges in a mechanical turn.

o At the end of the test, TEST_CONN_PULSES is updated again with the total edges number:
TEST_CONN_PULSES - P69|/ TEST_CONN_PULSES < 12,5% : test is successful,
otherwise the alarm A15.3 is triggered. In the first check if it is correct the Encoder number of
pulses per revolution and the number of motor poles;
o TEST_CONN_PULSES < P69: the real pulses counted are less than expected. Encoder
could have some problems or the motor load is too high. Try to increase the test current with
parameter P114 that is the percentage of rated drive current applied in the test;
o TEST_CONN_PULSES > P69: the real pulses counted are more than expected. Could be
some noise in the Encoder signals.

Note: for encoder with more than 8192 ppr the data showed in TEST_CONN_PULSES loses of meaning

The test is successful if the drive switch off and does not trigger an alarm. Now disable RUN command
by setting its digital input to 0. The subsequent tests can now be carried out.

14 MW00001E00 V_4.3
2.1.4.3 Resolver/Resolver DDC

2.1.4.3.1 Sensor Parameters

It’s necessary have to set correctly the parameter P68

Note: starting from revision 12.00 it’s possible to work with any motor/resolver poles
combination.
In the internal value D23 is showed the actual resolver signals amplitude percent of minimum
admitted value. Try to change C67 (resolver carrier frequency) in order to maximize D23.

2.1.4.3.2 Speed Sensor Test

It is in three parts:
o Check that the direction of rotation of the motor phases and the Resolver correspond;
o Autotuning resolver signals
o Check that the number of motor poles is written correctly in parameter P67 and the
Resolver used is correctly define as poles number with parameter P68

Correct operation requires a no-load motor so decouple it from the load.

After setting the drive to STOP and opening the reserved parameter key (P60=95), set C41=1 to
enable the test. To start the test enable RUN command.
Once the test has started the motor will rotate in the positive direction at low speed and some measure
are done on Resolver signals.

During the test, the motor will make two revolutions at low speed.
Do not worry if this revolutions are a little noisy.

In the first step is checked if the cyclic sense of motor phases and Resolver channels is the same: after
1 second parameter TEST_CONN_PULSES is updated with the pulses number counted (there are
65536 pulses every turn/Resolver polar couples) and the drive consequently goes in alarm A14 or it
starts the second test:

o TEST_CONN_PULSES <0 : meaning that Resolver channels are exchanged,

therefore A14.0 is triggered
o TEST_CONN_PULSES >0 : everything is ok

In the second part is checked the Resolver channels reading.

At the end of the test, TEST_CONN_RES_RATIO is updated again with the measured ratio between
motor and resolver polar couple number.
If the ratio isn’t correct the alarm A15.3 is triggered. In the first check if it is correct the Resolver poles
number and the number of motor poles, with help of TEST_CONN_RES_RATIO.
The test is successful if the drive switch off and does not trigger an alarm. Now disable RUN command
by setting its digital input to 0. The subsequent tests can now be carried out.

Sensor presence is checked only with STO off and power soft start completed.

MW00001E00 V_4.3 15
2.1.4.4 Incremental SIN COS Encoder

2.1.4.4.1 Sensor Parameters

It’s necessary to have set correctly the parameter P69

2.1.4.4.2 Speed Sensor Test

It is in three parts:
o Check that the direction of rotation of the motor phases and the Encoder correspond;
o Autotuning incremental sin/cos signals
o Check that the number of motor poles is written correctly in parameter P67 and the
Encoder used is correctly define as pulses per revolution with parameter P69

Correct operation requires a no-load motor so decouple it from the load.

After setting the drive to STOP and opening the reserved parameter key (P60=95), set C41=1 to
enable the test. To start the test enable RUN command.
Once the test has started the motor will rotate in the positive direction at low speed and all Encoder
edges are counted.

During the test, the motor will make a complete revolution at low speed.
Do not worry if this revolution are a little noisy

In the first step is checked if the cyclic sense of motor phases and Encoder channels is the same:
after 1 second parameter TEST_CONN_PULSES is updated with the test result and the drive
consequently goes in alarm A14 or it starts the second test:
o TEST_CONN_PULSES=0 : meaning that is missing at least one Encoder channel,
therefore A14 code 0 is triggered
o TEST_CONN_PULSES <0 : meaning that Encoder channels are exchanged,
therefore A14 code 0 is triggered
o TEST_CONN_PULSES >0 : everything is ok

In the second part is checked the Encoder pulses reading, well known from P69 parameter the number
of edges in a mechanical turn.
At the end of the test, TEST_CONN_PULSES is updated again with the total edges number:
o TEST_CONN_PULSES - (P69)|/(P69) < 12,5% : test is successful
otherwise the alarm A15.3 is triggered. In the first check if it is correct the Encoder
number of pulses per revolution and the number of motor poles.
o TEST_CONN_PULSES < (P69): the real pulses counted are less than expected.
Encoder could have some problems or the motor load is too high. Try to increase the
test current with parameter P114 that is the percentage of rated motor current
applied in the test (default value 50%).
o TEST_CONN_PULSES > (P69) : the real pulses counted are more than expected.
Could be some noise in the Encoder signals.

The test is successful if the drive switch off and does not trigger an alarm. Now disable RUN command.
The subsequent tests can now be carried out.

2.1.4.4.3 Sin/Cos Absolute Position

Starting from 12.10 revision, the accuracy of absolute position is been improved.
Now a different behavior could be achieved using the first or the second OPDE SLOT:
o In the first SLOT the Sincos Zero Top is managed storing only the digital counter every turn.
This is the classic solution, in this way the accuracy is ± 1 pulse.
o In the second SLOT the SinCos Zero Top is stored with 32 bits, only in correspondence of
the first edge. In this case using a time stamp function is possible to increase the accuracy at
less than 1/8 of pulse. Wanting to use this function with the main sensor (motor sensor) just
swap the slots with C19.

Sensor presence is checked only with S.T.O. off and power soft start completed.

16 MW00001E00 V_4.3
2.1.4.5 ENDAT 22 / BISS

BiSS sensor:
o AD36 1219 with 19 bit Single turn, 12 bit Multi turn
o RA18 with 18 bit Single turn

ENDAT 22 sensors with 17 bit Single turn or Multiturn; 25 bit or 29 bit single turn
o ECI 1317 with 17 bit on turn
o EQI 1329 with 17 bit on turn and 12 bit multi-turn
o RCN 8580 with 29 bit on turn
o ECN 125 with 25 bits on turn

2.1.4.5.1 Speed Sensor Test

This is the first test to be carried out. It is in two parts:

o Check that the direction of rotation of the motor phases and the Endat/BiSS correspond;
o Check that the number of motor poles is written correctly in parameter P67 and the
Endat/BiSS used works correctly.

Correct operation requires a no-load motor so decouple it from the load.

After setting the drive to STOP and opening the reserved parameter key (P60=95), set C41=1 to
enable the test. To start the test enable RUN command with its digital input.
Once the test has started the motor will rotate in the positive direction at low speed and all Encoder
edges are counted.

During the test, the motor will make a complete revolution at low speed.
Do not worry if this revolution is a little noisy.

In the first step is checked if the cyclic sense of motor phases and Endat/BiSS sensor is the same:
after 1 second parameter TEST_CONN_PULSES is updated with the test result and the drive
consequently goes in alarm A14 or t starts the second test:

o TEST_CONN_PULSES <0 : meaning that motor phases have opposite cyclic sense of
Endat/BiSS sensor.
o TEST_CONN_PULSES >0 : everything is ok

In the second part is checked the sensor reading, well known that current test frequency is 0,5Hz the
time needed for read again the same position is equal to:

time test = 2 ⋅ Motor polar couple number [seconds]

At the end of the test, TEST_CONN_PULSES is updated again with the time test measured in ms:

o TEST_CONN_PULSES - time test| < 500ms : test is successful

otherwise the alarm A15.3 is triggered. In the first check if it is correct the number of motor poles, with
help of TEST_CONN_PULSES.

The test is successful if the drive switch off and does not trigger an alarm. Now disable RUN command
by setting its digital input to 0. The subsequent tests can now be carried out.

MW00001E00 V_4.3 17
2.1.4.5.2 Manual Fine Sensor Setup

With C41=1 in the first part of autotuning is done an automatic sensor signals offset and gain
compensation. However every time it’s possible to execute a manual sensor signal compensation.
In the following it’s explained how to do the manual sensor setup.

2.1.4.5.3 Fine Setup for Resolver

The fine tuning resolver setup allows to set, with a semiautomatic procedure, any offset and a
multiplicative factor to adjust the signals acquired by the resolver channels in order to increase system
performance.
The procedure begins by setting the utility command U04 (EN_SENSOR_TUNE) = 1 and giving a
reference speed that the motor can run at 150 rpm. The motor have to run for about 30 seconds after
stop the test is completed. Automatically updates the values of P165 and P166 (offset) and P164
(multiplication factor to adjust the amplitude)

2.1.4.5.4 Fine Setup for Incremental SIN/COS Encoder

The fine tuning incremental sin/cos encoder setup allows to set, with a semiautomatic procedure, any
offset and a multiplicative factor to adjust the signals acquired by the incremental sin/cos encoder
channels in order to increase system performance. The procedure begins by setting the utility
command U04 (EN_SENSOR_TUNE) = 2 and giving a reference speed that the motor can do one or
two turns . After stop the test is completed. Automatically updates the values of P165 and P166 (offset)
and P164 (multiplication factor to adjust the amplitude)

18 MW00001E00 V_4.3
2.1.5 Identifying Models of Induction Motor

Name Description Min Max Default UM Scale

PRC_MOT_T_MAX P41 - Maximum torque at full load 0.0 800.0 400.0 % MOT_T_NOM 40.95

MOT_COS_PHI P66 - Nominal power factor 0.500 1.000 0.894 1000

PRC_MOT_I_T_NOM P72 - Nominal torque current 5.0 100.0 95.2 % PRC_MOT_I_NOM 327.67

PRC_MOT_I_FLX_NOM P73 - Nominal flux current 5.0 100.0 30.2 % PRC_MOT_I_NOM 327.67

T_ROTOR P74 - Rotor time constant Tr 10 10000 200 ms 1

T_STATOR P75 - Stator time constant Ts 0.0 50.0 9.1 ms 10

P76 - Voltage drop due to stator
PRC_DELTA_VRS 1.0 25.0 2.0 % MOT_V_NOM 327.67
resistor
P77 - Voltage drop due to leakage
PRC_DELTA_VLS 5.0 100.0 20.0 % MOT_V_NOM 327.67
inductance
MOT_T_NOM Nominal motor torque 0.0 Nm 1

MOT_P_NOM Nominal motor power 0.0 Kw 10

PRC_DEAD_TIME_CMP P102 - Dead time compensation 0.0 100.0 22.0 ‰ PRC_MOT_V_MAX 32.76
P151 - Xb = cubic coupling zone
PRC_DEAD_TIME_CMP_XB 0.0 50.0 5.0 % DRV_I_NOM 163.84
amplitude
P128 - Voltage motor at nominal speed
MOT_V0 0.0 100.0 100.0 % MOT_V_NOM 327.67
with no load
K_FLX45 P131 - Magnetic characteristic point 1 0.0 120.0 90.2 % 40.96

K_FLX55 P133 - Magnetic characteristic point 2 0.0 120.0 90.5 % 40.96

K_FLX65 P135 - Magnetic characteristic point 3 0.0 120.0 91.1 % 40.96

K_FLX75 P137 - Magnetic characteristic point 4 0.0 120.0 91.8 % 40.96

K_FLX82 P139 - Magnetic characteristic point 5 0.0 120.0 92.7 % 40.96

K_FLX88 P141 - Magnetic characteristic point 6 0.0 120.0 94.2 % 40.96

K_FLX93 P143 - Magnetic characteristic point 7 0.0 120.0 95.8 % 40.96

K_FLX97 P145 - Magnetic characteristic point 8 0.0 120.0 98.1 % 40.96

K_FLX100 P147 - Magnetic characteristic point 9 0.0 120.0 100.0 % 40.96

K_FLX102 P149 - Magnetic characteristic point 10 0.0 120.0 102.0 % 40.96

Voltage drop due to leakage
PRC_DELTA_VLS_TR 0.0 100.0 % MOT_V_NOM 163.84
inductance measured on Tr test

2.1.5.1 Motor Auto-Tuning Parameters

These parameters are extremely important for modelling the motor correctly so that it can be used to its
full potential. The best procedure for obtaining the correct values is the “Auto-tuning test”, which is
enabled with connection C42: this test must be carried out with the motor decoupled from the load.
Failure to do so may invalidate the results.If the tests cannot be carried out for any reason, these
values will have to estimated by reading the motor plate and following these points:
• The magnetizing current value is sometimes shown on the motor plate under I0. In this case,
P73 = I0 / Inom motore. If this value is not available, it will have to be estimated: set P73 to a
value that supplies a no-load motor running at rated speed with a three-phase alternate
voltage which is effective but slightly lower than the rated motor voltage. Then change P73
until d18 displays a value of about 96 - 97% .
• Once P73 is established, rated torque current P72 can be established as: 100 2 − P732
• The rotor time constant (in seconds) can be calculated with the following formula:
1 1 P72
Tr = ⋅ ⋅ with fs rated slip frequency. P74 = Tr in milliseconds
6,28 fs P73

MW00001E00 V_4.3 19
Establish fs by reading the rated slip value, usually in rpm, on the motor plate, then compare it with the
rated speed and multiply everything by the rated motor frequency.
Check P74 by forcing the motor to request a torque current:
- changing the speed reference value brusquely
- applying different loads to the motor
and observing the behaviour of the stator voltage module. If this value is correct, the voltage should
only vary slightly in the transient phase.
These other parameters are not as important and the default values may be left if more reliable data
are unavailable.
This test reads the basic electrical parameters that characterise the induction motor being used so that
it can be modelled according to the rotor magnetic flux. After these values have been established, the
PI regulators in the current and flux loops are self-set.

There are 4 test functions. Each requires a no-load motor, i.e. decoupled from the load, if they
are to function correctly.

Connection C42 is used to enable these tests. See the table below:

C42 Enabled function

0 No test enabled
Only Tests 1 and 2 enabled. Motor does not
1
need to be rotating.
Only Tests 3 and 4 enabled. Motor needs to be
2
rotating.
All tests enabled. Tests carried out in quick
3
succession.

The display will show the following setting:

The drive is now ready to start the test. Start reading by enabling L.I.2 with its digital input and setting
C21=1 (command in series).
Once the tests have started, this setting will appear alongside:

The test finishes successfully if this setting appears the following indication and the drive does not
trigger an alarm.

Now disable L.I.2 by setting its digital input to 0 or clearing C21=0.

The tests may be halted at any moment by disabling L.I.2 the drive will trigger an alarm (A7) but any
results will be saved.

NB: Once C42≠0 has been set again, if C75=0 the default values of the parameters being tested will be
automatically reloaded (also speed regulator gains), on the contrary if C75=1 remain active actual data.
In order to refine data measured it’s better to execute Autotuning test the first time with C75=0 and then
the second time with C75=1.

2.1.5.1.1 Test 1: Reading Stator Drop and Dead Time Compensation

This test establishes the voltage drop caused by the stator resistor and the IGBT. It also estimates the
signal amplitude required to compensate for the effects of the dead times so that the internal
representation base of the stator voltage and the one actually generated match.
During this reading, the motor remains still in its original position and a range of flux currents are
emitted. By reading the voltages and the correlated voltages the required values can be collected.

20 MW00001E00 V_4.3
This test modifies the following parameters:

Name Description
PRC_DELTA_VRS P76 - Voltage drop due to stator resistor

PRC_DEAD_TIME_CMP P102 - Dead time compensation

2.1.5.1.2 Test 2: Learning the Total Leakage Induction Drop Reported to the Stator

This test establishes the voltage drop due to the total leakage inductance reported to the stator in order
to calculate the proportional gain of the current loop PI.
During this test, the motor stays practically still in its original position. Flux currents in a range of values
and frequencies are emitted so that by reading the voltages and correlated voltages the required
values can be collected. The motor has a tendency to rotate, but this phenomenon is managed in such
a way that readings are only taken when the speed is equal to zero, otherwise the results may be
unreliable.
Nevertheless it is important that the motor does not rotate at a speed exceeding more than several
tens of revolutions per minute. If it does, stop the test by disabling RUN and lower parameter P129 as
this is the test current used to establish ∆VLS .
This test modifies the following parameters:

Name Description

PRC_DELTA_VLS P77 - Voltage drop due to leakage inductance

I_REG_KP P83 - Kpc current regulator proportional gain

During this test the motor may start rotating, but at low speed

2.1.5.1.3 Reading the Magnetizing Current and the Magnetizing Characteristic

This test has the dual task of establishing the motor magnetizing current and reading its magnetic
characteristic.
During this test, the motor is rotated at high speed (about 80% of the rated speed) and readings are
taken at a range of voltages. After establishing the magnetizing value, 10 points of the magnetic
characteristic are taken, after which linear interpolation is carried out in order to obtain a curve similar
to the one below.

During this test the motor will rotate at a speed equal to about 80% of the rated value.
102
Kφ
100

98

96

94

92

90

88

86

84

82

80
45,0 55,0 65,0 75,0 82,0 88,0 93,0 97,0 100,0 102,0 φ / φNOM

MW00001E00 V_4.3 21
The term Kφ is equal to:
Id Iφ
Φ ΦNOM

i.e. it is the coefficient that when multiplied by the normalized flux in relation to the rated flux gives the
normalized flux current in relation to the magnetizing current.
The characteristic is assumed to be constant for normalized fluxes under 45%.
At the end of these readings, the results will be shown in the parameters below, which may still be
changed by the user.

1 2 3 4 5 6 7 8 9 10
φ/
45.0% 55.0% 65.0% 75.0% 82.0% 88.0% 93.0% 97.0% 100.0% 102.0%
φNOM
P131 P133 P135 P137 P139 P141 P143 P145 P147 P149
Kφ ..... ...... ...... ...... ...... ....... ....... ....... ...... ......

The magnetizing current may also be viewed in the parameter below:

Name Description

PRC_MOT_I_FLX_NOM P73 - Nominal flux current

2.1.5.1.4 Test 4: Reading the Rotor Time Costant and Estimating the Stator Time Costant

This test establishes the rotor time constant from the motor and helps to estimate the stator time
constant by using data from other auto-tuning values.
During the test, the motor is rotated at the same speed as the previous test and then it goes in free
revolution

During the test, the motor rotates at a speed equal to about 80% of the rated speed and is
temporarily left to idle.

The following parameters are modified at the end of the test:

Name Description

PRC_MOT_T_MAX P41 - Maximum torque at full load

MOT_COS_PHI P66 - Nominal power factor

T_ROTOR P74 - Rotor time constant Tr

T_STATOR P75 - Stator time constant Ts

MOT_T_NOM Nominal motor torque

V_REG_KP P80 - Kpi voltage regulator proportional gain

V_REG_TF P82 - Tfi voltage regulator (filter) time constant

I_REG_TI P84 - Tic current regulator lead time constant

I_REG_TF P85 - Tfc current regulator (filter) time constant

Voltage drop due to leakage inductance
PRC_DELTA_VLS_TR
measured on Tr test

“PRC_DELTAVLS_TR” is the leackage inductance measured during test 4. This value is shown only as
an indication.
By the end of this test, the current and flow regulators will have been completely self-set and made
compatible with the motor connected to the drive.
These readings also help estimate the Maximum motor torque (P41) which is important if the motor flux
has to be considerably weakened.

22 MW00001E00 V_4.3
If C75=0 the speed regulator gains are set with the default values so that the user can set the most
suitable gains for the applications. The speed loop bandwidth depends heavily on the overall load
inertia, thus high frequency values can only be obtained if the motor-load coupling has no elasticity or
mechanical play and if the speed sensor resolution is good enough not to introduce too much noise.

Name Description

END_SPD_REG_KP P31 - KpV final speed regulator proportional gain

END_SPD_REG_TI P32 - TiV final speed regulator lead time constant

END_SPD_REG_TF P33 - TfV final speed regulator (filter) time constant

2.1.6 Speed Test

Speed test are useful for measure total system inertia and to set correctly speed regulator gains.
For safety reasons it’s possible to limit maximum speed test with parameter P130, maximum motor
torque with parameter P132 and maximum space admitted for test with P134 revolutions.
The drive doesn’t go over these limits during test execution.

2.1.6.1 Start-Up Time

Start-up time is defined like the time needed to reach maximum speed (P65) with nominal motor
torque.

This autotest is useful to measure total system inertia and frictions, for speed regulator autosetting or
feed-forward compensation.
For enable this test set the utility command U01 (EN_TEST_SPD) = 1 Start Up. In the display appears
“Auto”.
Give the L.I.2 command and automatically the motor starts to move and than return to zero speed.
At this point switch off the L.I.2 command. Parameter P169 is set with the start-up time in milliseconds,
parameter P136 is set with friction measured in percent of motor nominal torque.
Automatically U01(EN_TEST_SPD) is cleared to 0 and the test is finished.

If the space admitted is enough the speed profile is trapezoidal:

SPD_RIF=TEST_SPD_ MAX (P132)

T_RIF=TEST_SPD_T_MAX (P130)

time

T_RIF= - TEST_SPD_T_MAX (P130)

MW00001E00 V_4.3 23
Otherwise:

T_RIF=TEST_SPD_T_MAX (P130)

time

T_RIF= - TEST_SPD_T_MAX (P130)

2.1.6.2 Step Response

Step response is a common mode to test speed loop stability and dynamic performance.
For enable this test set U01(EN_TEST_SPD) = 2 Step. In the display appears “Auto”.
At this point all speed reference are ignored, instead a fixed speed reference is calculated equals to
maximum test torque (P130) divided by speed regulator proportional gain. In this way giving this step
speed reference, the torque requested doesn’t go over maximum torque admitted.
Linear ramps are automatically disabled. Giving the run command, motor starts and try to follow the
reference with its dynamic performance.
Evaluating the speed response it’s possible to understand the system stability and speed loop
bandwidth.
With Real Time Graph is possible to see the motor speed response. Set:

Post Trigger Points = 90% Trigger Type = standard +03 Speed Reference
Trigger level = 1% Trigger slope = ascending
Sample Time = 1
Channels = 2
Channel A = Standard - o03 Reference speed value after ramps
Channel B = Standard - o49 Rotation speed not filtered

Set speed regulator gain and look the step response. Try and repeat until the speed response has
good stability and bandwidth.
Motor runs at constant speed until the run command is on.
Switch off the run command to stop the motor and start a new test.
Step response test is finished only when U01(EN_TEST_SPD) is manually clear to 0.

2.1.6.2.1 Speed Regulator Gain Setting Suggestions

1. First of all disable integral part setting lead time constant P32 with a big value (> 500ms).
2. Try to find the best proportional gain P31 and filter time constant P33 to obtain a step
response with max overshoot of 20%. It’s important to evaluate also the acoustic and
electrical motor noise.
3. Reduce lead time constant P32 up to minimum value without increase the overshoot.

24 MW00001E00 V_4.3
The first step for the auto-tuning procedure is the sensor test.
After to set the correct parameters in the Motor sensor section is necessary to complete the auto-
tuning procedure for the sensor present and selected.

2.1.7 Quick Start-Up

Name Description Min Max Default UM Scale

U05 - Enable quick start
EN_START_UP_APPL 0 1 0 1
application
U06 - Quick start application
START_UP_SPD_SEL 0 4 0 1
speed reference selection
P00 - Quick start application
PRC_START_UP_SPD_REF -100.0 -100.0 0 % MOT_SPD_MAX 163.84
digital speed reference
U08 - Quick start application
START_UP_EN_REF 0 1 0 1
enable reference
D33 - Speed reference
PRC_APP_SPD_REF -100 100 0 % MOT_SPD_MAX 163.84
(application generated)
U07 - Quick start application
START_UP_RUN_SEL run command input 0 8 0 1
selection
U09 - Quick start application
START_UPEN_LIN_RAMP 0 1 0 1
linear ramps enable
SW_RUN_CMD C21 - Run software enable 0 1 1 1

Quick start-up is used to help the user during commissioning. Enable this function setting the utility
command U05=1. At that point the application present into the drive is disabled, output logical function
o22 (LogicaLab application active) goes at low level and Quick start-up take the control.
With the utility command U06 is possible to select the speed reference (from analog inputs or digital
parameter P00). The utility command U08 is used to enable the speed reference. The run command is
given in digital way (C21) and using a physical digital input. So, with the utility command U07 it’s
possible to select the physical digital input necessary to give the run command and C21 is the software
run command.
With U09 is possible to enable linear ramps.
Note: at the end of commissioning remember to disable Quick start-up.

MW00001E00 V_4.3 25
2.2 MOTOR CONTROL

The regulation system consists of a speed regulation loop and a flux or voltage regulation loop
according to drive operation. These loops manage the reference values from the application and
generate reference values for the internal torque and flux current loops.
All the loops are controlled by integral proportional regulators with an error signal filter and work with
normalized signals so that the regulation constants are as independent as possible from the size of the
motor in relation to the drive and from the system mechanics. An additional space loop that overlaps
the speed loop can also be enabled.

Regulation controls speed by default; here the application manages the speed reference values, and
the torque request is used as a reference value added to the speed regulator output (feed-forward).
Note that it is a torque control and not a current control, consequently during flux weakening the control
automatically generates the request for the active current needed to obtain the required torque.

26 MW00001E00 V_4.3
2.2.1 Acceleration Ramps and Speed Limit

Name Description Min Max Default UM Scale

PRC_CW_SPD_REF_ P18 - Max. CW speed reference value
-105.02 105.02 105.02 % MOT_SPD_MAX 163.84
MAX limit
PRC_CCW_SPD_REF P19 - Max. CCW speed reference
-105.02 105.02 105.02 % MOT_SPD_MAX 163.84
_MAX value limit
CW_ACC_TIME P21 - CW acceleration time 0.01 199.99 10 s 100

CW_DEC_TIME P22 - CW deceleration time 0.01 199.99 10 s 100

CCW_ACC_TIME P23 - CCW acceleration time 0.01 199.99 10 s 100

CCW_DEC_TIME P24 - CCW deceleration time 0.01 199.99 10 s 100

TF_RND_RAMP P25 - Rounded filter time constant 0.001 10.0 0.1 s 1000
P30 - Emergency brake deceleration
DEC_TIME_EMCY 0.01 199.99 10 s 100
time
EN_LIN_RAMP E36 - Enable linear ramp 0 1 1 1

EN_RND_RAMP C27 - Rounded ramp 0 1 0 1

EN_INV_SPD_REF E37 - Invert reference signal software 0 1 0 1

Range
0 Not enable
EN_DB C81 - Enable dead zone 0 1
1 Zone 1
2 Zone 2
DB1_START P179 - Dead zone 1 initial speed 0 30000 0 rpm 1

DB1_END P180 - Dead zone 1 final speed 0 30000 0 rpm 1

DB2_START P181 - Dead zone 2 initial speed 0 30000 0 rpm 1

DB2_END P182 - Dead zone 2 final speed 0 30000 0 rpm 1

PRC_TOT_APP_SPD_ D02 - Speed reference value before
-100 100 0 % MOT_SPD_MAX 163.84
REF ramp
D03 - Speed reference value after
PRC_END_SPD_REF -100 100 0 % MOT_SPD_MAX 163.84
ramp
PRC_SPD_REF_MAX D57 - Max positive speed ref 0 %MOT_SPD_MAX 163.84

PRC_SPD_REF_MIN D58 - Max negative spd_ref 0 %MOT_SPD_MAX 163.84

In the standard application, by default (E36=1), the speed reference value passes across a ramp circuit
that graduates its variations before it is used. Parameters P21, P22, P23 and P24 can be used to
establish independent acceleration and deceleration slopes in both directions of movement,
establishing the time required to pass from 0 to 100% in seconds. In particular (see diagram):

P21 sets the time the reference value requires to accelerate from 0 to +100%
P22 sets the time the reference value requires to decelerate from 100% to 0%
P23 sets the time the reference value requires to accelerate from 0% to -100%
P24 sets the time the reference value requires to decelerate from -100% to 0%

Setting sensitivity is 10 msec and the time must be between 0.01 and 199.99 seconds.
The default values are the same for all the parameters and are equal to 10 sec.
In the standard application, ramps can be enabled via a configurable logic input (I22) which works
parallel to connection E36: I22=H is the same as setting E36=1. This input ensures maximum flexibility
in ramp use in that the ramps are enabled only when required.
In the other application please refer to the specific documentation in order to enable the ramps.

The ramp may also be rounded in the starting and finishing phases by setting C27=1 via the rounding
time set in seconds in P25 with resolution 0.1 sec and a range from 1 to 199.9 sec. (default 10 sec).

MW00001E00 V_4.3 27
 100%

P23 P24

P21 P22

-100% 2xP25

Rounding can be enabled on its own with C27=1, which will filter the overall speed reference value
only.
Some special applications may enable the linear ramps differently. See the respective instruction file
for further information.

2.2.1.1 Frequency Jumps to Avoid Resonances

Using the parameters P179, P180, P181 and P182 it is possible to exclude, as working frequencies, all
those frequencies falling within the two bands defined between P179 – P180 and P181 – P182, where
P179, P77, P78 and P182 are expressed as % of the maximum working frequency (see diagram)

Wherever exclusion bands are pre-set the drive behaves in the following way:
If the set frequency reference falls within the exclusion band it is maintained at the lower value of the
band, if the set value is less than the mid band value, while if the value is greater than the mid band
value it assumes the upper value.
In a transitional phase however the system passes through all of the band’s frequencies (ramp). The
use or otherwise of the exclusion bands requires the setting of the corresponding connection C81:
C81=0 no band
C81=1 Band 1 (P179-P180)
C81=2 Band 1 (P179-P180) and Band 2 (P181-P182)

For example if the working fmax = 50Hz and the plant presents two resonance frequencies which are
quite clear at 45Hz and 35Hz the frequencies between 43 - 47 Hz and 33 - 37 Hz could be excluded
setting

P179 = (33/50)* 100.0 = 66.0% First band

P180 = (37/50)* 100.0 = 74.0%

P181 = (43/50)* 100.0 = 86.0% Second band

P182 = (47/50)* 100.0 = 94.0%

C81=2 Enables both exclusion bands

28 MW00001E00 V_4.3
2.2.2 Speed Limit

Speed limits are usually set by parameters P18 and P19 but it’s possible also enable analog limits. In
the standard application AI1, AI2, AI3 or AI16 can be configured like positive, negative or symmetrical
speed limit. In this case will be active the lower speed limit between digital and analog values.

2.2.3 Speed Control

Name Description Min Max Default UM Scale

P31 - KpV final speed regulator
END_SPD_REG_KP 0.1 400.0 4 10
proportional gain
P32 - TiV final speed regulator
END_SPD_REG_TI 0.1 3000.0 80 ms 10
lead time constant
P33 - TfV final speed regulator
END_SPD_REG_TF 0.0 25.0 0.8 ms 10
(filter) time constant
C69 - Enable 2nd order filter on
EN_TF2_SPD_REG 0 1 0 1
speed regulator
P34 - TfV initial speed regulator
START_SPD_REG_TF 0.0 25.0 0.8 ms 10
(filter) time constant
P44 - End speed for speed PI gain
PRC_SPD_THR_GAIN_CHG 0.0 100.0 0 % MOT_SPD_MAX 163.84
change
P45 - KpV initial speed PI
START_SPD_REG_KP 0.1 400.0 4 10
proportional gain
P46 - TiV initial speed PI lead time
START_SPD_REG_TI 0.1 3000.0 80 ms 10
constant
C77 - Enable PI speed gains
EN_SPD_REG_MEM_CORR 0 1 0 1
compenstation
EN_SPD_REG_D C72 - Enable feedforward 0 1 0 1
P168 - Second order feedforward
SPD_REG_KD_TF2 0.0 1000.0 0.0 ms 10
filter
NOTCH_FREQ P54 - Notch nominal frequency 0.0 2000.0 0 Hz 10

NOTCH_BW P55 - Notch bandwidth 0.0 3000.0 0 Hz 10

NOTCH_DEEP C92 - Notch filter deep 0 1 0.1 100

NOTCH_RID C93 - Notch filter reduction 0 1 1.0 100

PRC_MOT_SPD_MAX P51 - Maximum speed for alarm 0.0 125.0 120.0 % MOT_SPD_MAX 163.84

PRC_LSE_CTR_MAX_ERR P56 - Max speed error 0.1 200.0 200.0 % MOT_SPD_MAX 40.96
D03 - Speed reference value after
PRC_END_SPD_REF -100 100 0 % MOT_SPD_MAX 163.84
ramp
PRC_MOT_SPD D04 - Speed reading -100 100 0 % MOT_SPD_MAX 163.84

PRC_T_REF D05 - Torque request -100 100 0 % MOT_T_NOM 40.96

MOT_SPD D21 - Motor rotation speed 0 rpm 1

E27 - Second bank Max. operating
SB_MOT_SPD_MAX 50 30000 3000 rpm 1
speed
E28 - Second bank KpV speed
SB_SPD_REG_KP 0.1 400.0 6 10
regulator proportional gain
E29 - Second bank TiV speed
SB_SPD_REG_TI 0.1 3000.0 30 ms 10
regulator lead time costant
E30 - Second bank TfV speed
SB_SPD_REG_TF 0.0 25.0 0.4 ms 10
regulator (filter) time costant
E31 - Second bank CW
SB_CW_ACC_TIME 0.01 199.99 10 s 100
acceleration time
E32 - Second bank CW
SB_CW_DEC_TIME 0.01 199.99 10 s 100
deceleration time
E33 - Second bank CCW
SB_CCW_ACC_TIME 0.01 199.99 10 s 100
acceleration time
E34 - Second bank CCW
SB_CW_DEC_TIME 0.01 199.99 10 s 100
deceleration time
SB_ON E35 - Second bank active 0 1 0 1

SPD_REG_SETTING U02 - Speed regulator autosetting 0 4 0 1

SPD_LOOP_BW P20 - Speed loop bandwidth 0.1 200.0 5.0 Hz 10.0

SPD_LOOP_BWL_MAX Max speed loop bandwidth 0.1 200.0 Hz

MW00001E00 V_4.3 29
2.2.3.1 Managing Speed Reference Values

The application generates two speed reference values:

o One, sysSpeedReference, is a percentage of the maximum speed (set in parameter P65)
displayed in internal value d33 and on monitor o41.
o The other, sysSpeedRefPulses is pulses for a period of PWM. This particular reference is
used so as not to be lose any pulses if the frequency input is used. Default internal
normalization is done with 65536 pulses per mechanical revolution, but it’s possible to enable
high revolution (32 bits per turn) by application. Standard application 0.24 works with 32 bits.

After these two reference values have been processed they are added together in order to obtain the
total speed reference value.

2.2.3.2 Inverting and Limiting Speed Reference Values

In the standard application, logic function I12 “Speed reference value inversion”, which is assigned to
an input (the default is L.I.6 pin2-M3), or connection E37 are used to invert the reference value
according to the following logic (OR-exclusive):

I12 = 0 E37 = 0 Reference value not inverted (default values)

I12 = 1 E37 = 0 Reference value inverted
I12 = 0 E37 = 1 Reference value inverted
I12 = 1 E37 = 1 Reference value not inverted

The reference value is inverted before the ramp thus, if the ramp is not disabled, the direction of
rotation changes gradually (default E37=0 and I12=0).
There is another chance, to invert positive speed rotation setting C76=1.
Enabling this function, with the same speed reference and speed measured, the motor rotates in
reverse direction. After this setting is necessary restart motor sensor autotuning test with C41=1,
because the drive has to learn the new positive rotation direction.
Parameters P18 and P19 are used to limit the total reference value within a range set between these
two values; P18 is the maximum limit (positive speed) and P19 is the minimum limit (negative speed).
These two parameters may be set at a range from ±105%, thus special settings may be used to limit
operation within the 2 quadrants or within just one quadrant.

The following settings are provided by way of example:

P18 = 100.0% P19 = 100.0% -100.0% < speed reference value < 100%
P18 = 30.0% P19 = 20.0% -20.0% < speed reference value < 30%
P18 = 80.0% P19 = -20.0% 20.0% < speed reference value < 80.0%
P18 = -30.0% P19 = 60.0% -60.0% < speed reference value < -30.0%
P18 = 0% P19= 100.0% speed reference value only negative
P18 = 100.0% P19= 0% speed reference value only positive

2.2.3.3 Speed Control Alarms

Starting from 12.00 software revision is available a new alarm A.9.6 if the drive loses the speed control.
This alarm is activated if:
o speed reference and actual speed goes in opposite direction
o the error between speed reference and actual speed is greater than parameter P56
“PRC_LSE_CTR_MAX_ERR”. P56 default value is 200%of max speed so the alarm is
disabled. When sensorless control is enabled, automatically P56 goes to 10%.
This control is disabled during “ Start-up time autotuning” ).
Moreover there is another alarm A.9.2 that is activated if the speed is greater than P51
“PRC_MOT_SPD_MAX”.

30 MW00001E00 V_4.3
2.2.3.4 2nd Order Speed Regulator Filter

The speed regulator filter can be changed by using a 2nd order one.
To enable this function set C69=1. Parameter P33 will always set the filter time constant in
milliseconds, and thus its natural pulsation, given that internal damping is always set to 0.8 so that the
filter is quick to respond but does not overshoot.
Note that enabling a 2nd order filter means reducing the margin of system stability, hence the filter time
constant value must be thought through carefully before setting so as not to create instability:

x2 x2
I° II°

w
-40dB/dec Useful area for
-20dB/dec 2nd order filter

nd
By taking as reference the 1st order filter time constant tolerated by the system, the 2 order filter has
to be set to double frequency (half time) so that it has the same phase margin.
The effects of the 2nd order filter will be better than the 1st order filter only when the frequency is
double that of the 2nd order filter.
Example: if a 1st order filter with a time constant P33=0.8 ms passes to a 2nd order filter, P33=0.4 ms
has to be set to have the same stability margin.

2.2.3.5 Variable Speed Regulator Gains

Speed regulator gains can be varied according to actual speed: P45 is the proportional gain at zero
speed, P46 is the initial lead time constant and P34 is the initial filter time constant. Setting P44 (a
percentage of the maximum speed) with the end variation gain speed establishes a linear gain
variation that ranges from the initial values (P45,P46 and P34) to the final values in P31,P32,P33.
Setting P44=0.0 disables this function so that the gains set in P31, P32 and P33 are used.

P45 P32 Ta lead time constant

P33 Tf filter time constant

P46 P31 Kp proportional gain

P34

P44 speed in % of max speed

MW00001E00 V_4.3 31
2.2.3.6 Torque Feed-Forward on Speed Reference

It’s possible to enable the Torque feed-forward on speed reference using C72 connection:
It’ possible to estimate the torque reference needing for the speed variation requested with the speed
reference derivative using a II° order filter (time constant in P168 in ms) and taking account of total
inertia (setting parameter P169 Startup time).

Speed reference C72 t_rif

+
1 - [ % Nominal motor torque]
Z-1
P169
τ = P168

The Startup time is the time necessary for motor and load to reach the maximum speed (set in P65)
with the nominal motor torque. This data has to be set in milliseconds in parameter P169.
It’s useful to set some milliseconds of filter (P168) on order to avoid too much noise on torque
reference for the time derivative.
When it’s enabled this function the torque reference produced is added to the speed regulator output.
The torque feed-forward can be very useful in the servo-drive application when the target is to follow
very promptly the speed reference, because it increases the bandwidth without using high gains on
speed regulator.
Note1: torque feed-forward isn’t appropriate in load variable inertia applications.

2.2.3.7 Notch Filter

Starting from 12.00 revision it’s possible to enable a notch filter that works between speed regulator
and current loop. The Notch Filter is implemented in the control system to reduce the effect of the
mechanical resonances of the plant, that usually limits the speed bandwidth.
To configure the filter are available four parameters: P54, P55, C92, C93.
The NOTCH_FREQ (P54) is the center filter frequency, the NOTCH_BW (P55) is the filter bandwidth,
the NOTCH_DEEP (C92) is the filter amplitude and the NOTCH_RID (C93) is the different filter gain
over filter bandwidth.

In order to enable the Notch filter is enough to set the NOTCH_FREQ (P54) different from zero.
To easy use of this filter is possible to set NOTCH_FREQ=NOTCH_BW=frequency to remove and
leave the other two parameters to its default value, NOTCH_DEEP=0.10 and NOTCH_RID=1.00 (no
reduction).

32 MW00001E00 V_4.3
2.2.3.8 Speed Regulator Second Bank

In the standard application, this function is used to change on-line the speed regulator parameters
(P31÷P33), the maximum speed (P65) and the linear ramps acceleration times (P21÷P24), to achieve
a good reference resolution, working at low speed.

For enable the second parameters bank (E27÷E34) it’s necessary to set the parameter E35=1,
otherwise to bring at high level the logical function I26 using one of the 8 logical inputs.
When the function is activated the standard data (P31÷P33, P65 and P21÷P24) are automatically
exchanged with the second bank (E27÷E34) and the connection E35 is set to 1.
The exchange will be executed only if the working speed is lower than the new maximum speed, this is
useful to avoid the over speed alarm A.9.2.H.

I26 L  H
Speed regulator

Maximum speed P65 E27

Proportional gain Kp P31 E28

Lead time constant Ta P32 E29
Filter time constant Tf P33 E30
CW acceleration time CW P21 E31
CW deceleration time CW P22 E32
CW acceleration time CCW P23 E33
CW deceleration time CCW P24 E34

I26 H  L

If the speed is greater than new maximum speed, the activation command is ignored.
If the speed ramps are active your value will be automatically calculated to avoid sharp transitory.

The parameter E35 keep memory of second parameters bank activation.

When the drive is switched on, the parameter E35 and the logical input I26 are tested: if there is
coherence no action is taken, otherwise the parameter E35 is automatically changed to line up with
logical input I26 and the data are exchanged.

When the function is disabled, bringing I26 to low level or clearing E35=0, data are automatically
exchanged, with initial value restore.

2.2.3.9 Speed Regulator Autosetting

In order to use this function is necessary to measure the start-up time (P169), one way is execute
“Start-up time” test (see par 2.1.6.1), for. At that point is possible to enable speed regulator auto-setting
with parameter “SPD_REG_SETTING”.

Description Limitation
0 – No
1 – Stable speed loop bandwidth 2.5 Hz P31 < 50
2 – Medium speed loop bandwidth 15 Hz P31 < 50
3 – Dynamic speed loop bandwidth 20 Hz P31 < 50
4 – Max speed loop corresponding to speed loop bandwidth < current loop bandwidth/4
P31=50
5 – Manual with this selection it’s possible to P31 < 100 and speed loop bandwidth < current
set manually, with parameter P20 loop bandwidth/4
[Hz], the speed loop bandwidth
If “SPD_REG_SETTING” is ≠ 0, automatically are changed speed regulator gains P31, P32, P33 and
than SPD_REG_SETTING” is cleared to 0.
With every selection the second order filter is enabled and variable gains disabled.

MW00001E00 V_4.3 33
The “SPD_LOOP_BW_MAX” internal value show the max speed bandwidth admitted with the actual
current bandwidth and sensor used.

2.2.4 Torque and Current Limits

Name Description Min Max Default UM Scale

PRC_DRV_I_PEAK P40 - Current limit 0.0 250.0 200 % DRV_I_NOM 40.96

P42 - Maximum torque in the
PRC_DRV_CW_T_MAX 0.0 400.0 400.0 % MON_T_NOM 40.96
positive direction of rotation
P43 - Maximum torque in the
PRC_DRV_CCW_T_MAX -400.0 -0.0 -400.0 % MOM_T_NOM 40.96
negative direction of rotation
PRC_DRV_T_MAX D30 - Maximum torque -100 100 0 % MOT_T_NOM 40.96
D31 - Maximum torque by
PRC_DRV_I_T_MAX -100 100 0 % MOT_T_NOM 40.96
current limit
PRC_DRV_I_MAX D29 - Current limit -100 100 0 % DRV_I_NOM 40.96

2.2.4.1 Choosing the Active Torque Limit

The positive and negative torque limits are chosen to restrict the following values:
o P42 / P43 = maximum torque, in both directions according to rated torque;
o Maximum torque linked to maximum motor torque according to the rated torque
(parameter P41);
o Maximum torque set by the current limit;
o Maximum torque limit reference value generated by the application: sysMaxTorque
(symmetrical), sysMaxPositiveTorque and sysMaxNegativeTorque (asymmetrical)
o Maximum torque limited by the regulator output in order to back up the bus voltage should
the mains fail;

o Maximum torque controlled in the startup phase with the motor magnetized;
o Maximum torque limited in the controlled braking phase (as long as this function is enabled
by setting C47=1).

sysMaxPositiveTorque

sysMaxTorque

P42
Maximum torque CW
P41
D30
Maximum
motor
torque (Φ Φnom)
2

Maximum torque
set by current limit
-
Vbus (Φ Φnom)
P43
P98 +
-
C34=1 regulator
Vbus_rif - C34=1 Mns off
- Maximum torque CCW
1P23
C47
V controller C47
brake

sysMaxNegativeTorque

34 MW00001E00 V_4.3
2.2.4.2 Maximum Motor Torque Limit

The induction motor has a maximum torque that depends on its construction characteristics.
The graph below illustrates the progress of a torque curve according to speed with the motor powered
by a constant frequency (Ns). The same graph can also be referred to when an inverter is used,
reading it as torque delivered according to slip, i.e. the difference between the rotation speed of the
electrical values and the rotor (Ns – N in the graph).

Id = starting current

In = rated current
Io = no-load current

Md = starting torque
Ma = acceleration torque
Mm = max. torque
Mn = rated torque

Nn = rated speed
Ns = synchronism speed

3-phase induction motor torque (M) and current (I)

curve according to number of revolutions (N).

The graph illustrates how the delivered torque increases according to slip up to a certain point
represented by the maximum motor torque. If the maximum torque is exceeded, control is lost in that
the torque decreases even when the current is increased.
It is proved that the maximum motor torque decreases during flux weakening in proportion to the
square of the φ/φnom ratio. Thus the motor has three working areas:

 Constant torque: the maximum torque is available up to the rated speed (as long as the
current to deliver it is available);
 Constant power: over the rated speed, flux is reduced proportionally to speed, the available
torque also drops in proportion to speed, the power delivered is constant;
 Maximum torque: after reaching the maximum torque, which decreases with the square of
the speed, the available torque will start to drop with the square of the speed and the power
delivered will decrease in proportion to the speed.

Max. torque

Available torque

Power MAXIMUM TORQUE

delivered
ZONE
CONSTANT
TORQUE
ZONE
CONSTANT
POWER
ZONE

0 Nominal speed Speed

To ensure regulation stability, P41 must be set with the Maximum torque divided by Rated motor
torque. This limit will decrease during flux weakening with the square of the speed.

MW00001E00 V_4.3 35
 2.2.4.3 Maximum Current Limit

The drive is fitted with a maximum current limiting circuit that cuts in if exceeded, restricting the
maximum current delivered to the lowest value from among parameter P40, the value calculated by the
drive thermal image circuit, and the motor thermal protection circuit.
P40 is used to programme the maximum current limit delivered by the drive from 0% to the maximum
authorised value, which depends on the type of overload chosen with connection C56.
P40

Drive thermal ILIMITE IQ MAX Maximum torque set

image by current limit
2 2
ILIM - IFLUSSO
Motor thermal IFLUSSO
protection

Possibile limit on
flux current

If the current limit exceeds the flux current, then only the torque current will be limited and thus the
maximum torque delivered is limited. Otherwise, the delivered torque is set to zero and the flux current
is also limited.

2.2.5 Current Control

Name Description Min Max Default UM Scale

EN_I_CNTRL E38 - Enable only current control 0 1 0 1

E49 - Enable feed-forward torque
EN_I_FF 0 1 0 1
reference in speed control
C39 - Enable speed limitation in current
EN_I_CNTRL_SPD_LIM 0 1 0 1
control
P83 - Kpc current regulator proportional
I_REG_KP 0.1 100.0 2.6 10
gain
P84 - Tic current regulator lead time
I_REG_TI 0.0 1000.0 9.1 ms 10
constant
P85 - Tfc current regulator (filter) time
I_REG_TF 0.0 25.0 0 ms 10
constant
P126 - KpI Corrective coeff. estimated Kp
PRC_I_REG_KP_COEFF 0.0 200.0 100 % 40.96
for current loops
I_LOOP_BAND Current loop bandwidth 0 Hz 1
P158 - Corrective coefficient for
PRC_I_DECOUP 0.0 200.0 50.0 % 40.96
decoupling terms
C59 - Disable dynamic decoupling +
DIS_I_DECOUP 0 1 0 1
feedfoward
P160 - PWM delay compensation on the
I_DELAY_COMP -800.0 800.0 40 % TPWM 40.96
currents
PRC_IQ_REF D07 - Request torque current Iq rif -100 100 0 % DRV_I_NOM 40.96

PRC_ID_REF D08 - Request magnetizing current Id rif -100 100 0 % DRV_I_NOM 40.96

PRC_IQ D15 - Current torque component -100 100 0 % DRV_I_NOM 40.96

PRC_ID D16 - Current magnetizing component -100 100 0 % DRV_I_NOM 40.96

PRC_VQ_REF D20 - Vq rif -100 100 0 % MOT_V_NOM 40.96

PRC_VD_REF D22 - Vd rif -100 100 0 % MOT_V_NOM 40.96

MOT_I D11 - Current module 0 A rms 16

EL_FRQ D13 - Rotor flux frequency 0 Hz 16

ACTV_POW D01 - Active power delivered 0 kW 16

PRC_MOT_T D35 - Actual torque produced -400 400 0 % MOT_T_NOM 40.96

36 MW00001E00 V_4.3
Current regulators generate the voltage reference values required to ensure torque and flux currents
that are equal to their reference values.
The current signals processed by these regulators are expressed according to the maximum drive
current, which means that they are affected by the ratio between the rated motor current and the rated
drive current (P61). To ensure good control, this ratio should not drop below 35 - 40% i.e. Do not use a
drive that is more than two and a half times larger than the motor, nor a motor that is more than one
and a half times larger than the drive.
The flux current is displayed as a percentage of the rated motor current in d16, while the torque current
is displayed as a percentage of the rated motor current in d15. The constants of these regulators are
established in engineering units by parameters P83, proportional gain Kp; P84, time in ms of the lead
time constant Ta equal to the integral regulator time constant multiplied by the gain (Ta = Ti*Kp); and
P85, filter constant in ms.

Parameters P83 and P84 cannot be changed directly because they are considered to be
perfectly calculated by the auto-tuning. P83 can only be changed by accessing TDE MACNO
reserved parameter P126 “Multiplication coefficient Kp and current loop”

There is dynamic decoupling between the direct axis and the orthogonal axis with a low default gain.
Should there be any doubts as to whether the dynamic decoupling is working properly, then it can be
disabled by setting C59=1.

2.2.6 Drive Torque Control

In the standard application is possible to enable only torque control with parameter P238 or digital input
function I01 (“Torque control”). In that case speed regulator is disabled and torque reference is taken
from analog or digital signals (see standard application).

Working in torque control are possible two different approach:

o Torque control with speed limit: setting C39=1 (EN_ICNTRLSPD-LIN) enable the speed
limitation with the speed regulator when limits are reached.
o Torque control with soft switch to speed control: clearing C39=0 (EN_ICNTRLSPD_LIM)
disable the speed limitation but enable the soft switch with speed control. If on-line torque
control is disabled, speed regulator starts its torque demand from last torque request.
In order to enable torque feed-forward set E49=1.

MW00001E00 V_4.3 37
2.2.7 Voltage/Flux Control

Name Description Min Max Default UM Scale

P28 - Motor demagnetization
MOT_WAIT_DEMAGN 0 3000 0 ms 1
waiting time
P29 - Motor magnetization
MOT_WAIT_MAGN 50 3000 300 ms 1
waiting time
C38 - Motor Magnetization
MAGN_SEL 0 2 0 1
selection
PRC_FLX_REF P35 - Flux Reference 0.0 120.0 100 % MOT_FLX_NOM 40.96
P36 - Kv Max operating voltage
V_REF_COEFF 0.0 100.0 100 327.67
multiply factor
PRC_FLX_MIN P52 - Minimum Flux admitted 0.0 100.0 2 % MOT_FLX_NOM 40.96
P80 - Kpi voltage regulator
V_REG_KP 0.1 100.0 10.0 10
proportional gain
P81 - V/f Ti voltage regulator
VF_V_REG_TA 0.0 1000.0 20.0 ms 10
lead time constant
P82 - Tfi voltage regulator (filter)
V_REG_TF 0.0 1000.0 12.0 ms 10
time constant
MOD_INDEX_MAX P122 - Max. modulation index 0.500 0.995 0.98 1000
P125 - Voltage reference
PRC_V_REF_DCBUS 0.0 100.0 96.00513 % 327.67
function of DC bus
P127 - KpV Corrective coeff.
PRC_V_REG_KP_COEFF 0.0 798.0 100 % 40.96
estimated Kp for voltage loops
P161 - PWM delay
V_DELAY_COMP -800.0 800.2 125.0 % TPWM 40.96
compensation on the voltages
EN_ENERGY_SAVE C86 - Enable energy saving 0 1 0 1
P188 - Energy saving regulator
TI_ENERGY_SAVE 100 2000 100 ms 1
filter time constant
P189 - Energy saving admissible
PRC_FLX_MIN_ENERGY 0.0 100.0 20.0 % MOT_FLX_NOM 40.96
minimum flux
D09 - Voltage reference value at
V_REF -100 100 0 % MOT_V_NOM 40.96
max. rev.
D17 - Stator voltage reference
MOT_V 0 V rms 16
value module
D18 - Stator voltage reference
PRC_MOT_V -100 100 0 % MOT_V_NOM 40.96
value module
MOD_INDEX D19 - Modulation index -100 100 0 40.96

MOT_FLX D27 - Motor Flux 0 % MOT_FLX_NOM 40.96

The flux regulator generates the request for the flux current required to maintain the magnetic rotor flux
equal to the reference value set in parameter P35 when the working area is with Constant torque.

Constant torque working area

+ Voltage
P35 regulator
Flux reference - Flux current
value P80; P81 and P82 reference value

D27 Estimated flux

When operating with Constant Power the regulator generates a request for the flux current required to
ensure the stator voltage module is the same as the voltage reference value and thus to weaken the
flux gradually as the speed increases.

38 MW00001E00 V_4.3
 The active voltage reference value (displayed in d09) is always the smallest of the three values, which
are all normalized in relation to the rated motor voltage (P62):

Parameter P64 “Maximum operating voltage” multiplied by coefficient P36;

A term linked to the direct bus voltage with a margin set with P125 (default 96%), because the
maximum stator voltage that can be delivered may not exceed the direct voltage divided by √2;

A term linked to the estimated stator voltage to be applied during flux weakening based on the required
current so that there is a margin with regard to the maximum voltage available and thus to be better
equipped to deal with variations in the required torque

P36
0-100% Constant power working area
(flux weakening)
P64
D09

Voltage
Vbus × P125 +
regulator
2 × Vnom Voltage - Flux current
reference value P80; P81 and P82 reference value
Estimated flux
weakening voltage D18 Delivered
voltage module

The flux current is normalized in relation to the magnetizing current (P73), the rotor flux is normalized in
relation to the rated flux and is displayed as a percentage in d27. The stator voltage module is
normalized in relation to the rated motor voltage (P62) and is displayed as a percentage in d18 and as
a value in Volt rms in d17
The constants of this regulator are established in engineering units by parameters P80, proportional
gain Kp; P81, time in ms of the lead time constant Ta equal to the integral regulator time constant
multiplied by the gain (Ta = Ti*Kp); and P82, filter constant in ms.

Parameters P80 and P81 cannot be changed directly because they are considered to be
perfectly calculated by the auto-tuning.

They can only be changed by accessing TDE MACNO reserved parameter P127 “Multiplication
coefficient Kp and Ta flux loop”
The voltage/flux regulator limit is normally set at ± rated motor current so that the total flux may be
changed quickly during the transient state.
If the estimated flux drops below 5% of the rated flux, the lower voltage regulator limit is brought to a
value that will generate a flux of at least 4%. This is done so as not to lose control in a zone where the
flux has been weakened widely.

2.2.7.1 Energy Saving

This function, if enabled with “EN_ENERGY_SAVE” C86=1, allows an energy saving with an
automatic current reduction matched to the load, reducing the conduction loss (proportional to the
current square value). The basic idea is to find the best subdivision between active and reactive
current, because the first is proportional to the torque current, the second to the magnetic field
produced.
With reduced working load it’s better to reduce the magnetic field under its nominal value and
increase the torque current.
The energy saving is significant especially for motors with low cos φ and for load lower than 40-
50% of nominal value, for load much great of this the saving is negligible.
When the Energy Saving is enabled the dynamic performances decreases also if it’s always
guarantee a good stability in every working area.

MW00001E00 V_4.3 39
2.2.7.2 Start-Up With a Motor Magnetized

C38 provides 2 different ways for starting up the motor:

C38=0 Standard When RUN is enabled, the machine is magnetized with the maximum
delivered torque at zero for a time equal to P29. The flux is then checked to
see whether it exceeds the minimum (P52). If it does, the torque is “freed”, if it
operation does not the drive triggers alarm A2 “Machine not magnetized”.

The machine is always magnetized. If the flux drops below the minimum value
(P52) the drive triggers alarm A2.
C38=2 Machine always magnetized
If the drive is ready, the motor will start up as soon as the Run command is
enabled.

When the machine has magnetized, it means that the motor is powered and that a current equal
to the magnetizing current is being delivered. Thus special care must be taken especially when
C38 ≠ 0 in that a voltage ≠ 0 may be created on terminals U, V, W without enabling the RUN
command.

2.2.7.3 Wait for Motor Demagnetizing

When the drive is switched off it is dangerous to switch on immediately, due to the unknown magnetic
flux position that could produce a motor over–current. The only chance it’s to wait the time needed for
the magnetic flux to reduce itself with its time constant that depend on the motor type and can vary
from few milliseconds to hundreds of milliseconds.
For this reason has been introduced the parameter P28 that set the wait time after power switch off
after that, it’s possible to switch on the power another time: also if the user gives the RUN command
during this wait time, the drive waits to complete it before enabling another time the power. Parameter
P28 is defined in time units of 100us so the default value 10000 correspond to 1 second.

40 MW00001E00 V_4.3
2.3 PROTECTION

2.3.1 Voltage Limits

Name Description Min Max Default UM Scale

AC_MAIN_SUPPLY P87 - Main Supply voltage 180.0 780.0 400 V rms 10

P97 - Minimum voltage level for
DCBUS_MIN_MAIN_LOST 100.0 1200.0 425 V 10
forced mains off
P98 - Voltage reference value in
DCBUS_REF_MAIN_LOST 220.0 1200.0 600 V 10
Support 1
P86 - Kp3 Bus control
DCBUS_REG_KP 0.05 10.00 3.5 100
proportional gain
P105 - Corrective factor for Bus
KP_DCBUS 80.0 200.0 100 % 10
voltage
P106 - Minimum voltage of DC
DCBUS_MIN 160.0 1200.0 400 V 10
Bus
P107 - Maximum voltage of DC
DCBUS_MAX 350.0 1200.0 760 V 10
Bus
P108 - Bus voltage threshold for
DCBUS_BRAKE_ON 350.0 1200.0 730 V 10
brake ON
P109 - Bus voltage threshold for
DCBUS_BRAKE_OFF 350.0 1200.0 720 V 10
brake OFF
P123 - Smart brake voltage cut-
DCBUS_REF 300.0 1200.0 750 V 10
in level
PW_SOFT_START_TIME P154 - Soft start enabling time 150 19999 500 ms 1
Range
Trying to
0
work
MAIN_LOST_SEL C34 - Managing mains failure 1 Recovery 0 1
2 Free
Emergency
3
brake
C35 - Automatic alarm reset
ALL_RST_ON_MAIN 0 1 0 1
when mains back on
EN_DCBUS_MAX_CTRL C47 - Enable smart brake 0 1 0 1

EN_PW_SOFT_START C37 - Enable soft start 0 1 1 1

DC_BUS D24 - Bus voltage 0 V 16

DC_BUS_RIPPLE DC Bus Ripple at 100Hz 0 V 16

SOFT_STARTE_STATE D34 - Power soft start state 8 1

P94 - Safe Torque Off Waiting
STO_WAIT 0 2000 500 ms 1
time
C89 - Disable minimum power
DIS_MIN_VBUS 0 1 0 1
circuit voltage with drive stopped
P79 - DC Bus threshold for logic
DCBUS_THR 220.0 1200.0 800 V 10
output o25
C91 - Enable DC braking also in
EN_BRAKE_IN_STOP 0 1 0 1
stop
C31 - Disable DC Bus Ripple
DIS_DCBUS_RIPPLE_ALL 0 1 0 1
Alarm

If the Dc Bus exceeds its maximum value (P109) alarm A11 appears. If the DCBus is lower than its
minimum value (P106) alarm A10 appears. In certain applications the DC Bus is charged only if all
drivers are without alarms. In this case set C89=1, with the motor stopped, drive will be ready also
without DCBus.

MW00001E00 V_4.3 41
2.3.1.1 Power Soft Start (Pre-Charge Circuit)

The input stage of the OPDE drive is a rectifier bridge. This bridge may be a diode or semi-controlled
(diode+SCR). The size from 03A to 60A have the diode bridge and the power soft start function acts
bypassing ( after some time set on the parameter P154) a soft start resistor in series with the output of
the power bridge. In sizes from 70A to 460A the rectifier bridge is a semi-controlled type, and the
power soft start function unblocks this input power bridge, permitting gradual charge of the DC Bus
voltage capacitors.
NOTE: The connection C45 (TDE MACNO reserved parameter, whose setting is by the same) set
the type of the rectifier bridge present in the drive:

0= diode bridge rectifier (3A÷60A);

1= semi-controlled bridge rectifier (70A÷460A).

After checked the correct setting of C45 connection, is very important to set C53 (reserved
parameter, protected by key P60) for the choise of power supply type:

0= AC three-phase alternated voltage;

1= DC continuous voltage with internal power soft start ;
2= DC continuous voltage with external power soft start.

With C53=0 choice AC alternated voltage, the power soft start function works, the same becomes
active if the connection C37=1 and the presence of mains power supply is detected, with the following
logic:
MAINS SUPPLY PRESENCE: if the presence of alternated mains supply voltage becomes noticed once
(at power soft start function) with the logic power input MAINS_OFF=H,
from that moment the control refers only to the MAINS_OFF to check the
mains presence, otherwise is checked the DC Bus voltage with minimum
threshould setup in P97.
MAINS BREAK OUT: is detected either monitoring the MAINS_OFF signal, if this went to the high logic
level at least one time during the power soft start, either monitoring directly the DC
Bus voltage with minimum threshould setup in P97.

With C53=1 choice DC continuous voltage with internal power soft start, the power soft start
function works, the same becomes active if the connection C37=1 and the presence of mains power
supply is detected, with the following logic:
MAINS SUPPLY PRESENCE
AND MAINS BREAK OUT: logic input MAINS_OFF is ignored and it is possible to begin the power soft
start, if the measured voltage on the DC Bus exceeds the indicated value in
P97.
With this setting, automatically, P154 “PW_SOFT_START_TIME” goes at 10.000msec (10sec).
NOTE: In the size from 70A to 460A is not possible to set C53=1 (automatically switch to C53=2).

With C53=2 choice DC continuous voltage with external power soft start, the OPDE drive is not
concerned with power soft start of DC Bus circuit (in this case the power soft start must be external).
As soon as the regulation card is powered (24V on connector X3), the drive closed the power soft start
without any state control of the DC Bus.
Keep attention that this setting could damage internal drive capacitors.

The power fault alarm (power fault A03), that intervenes in case of OPDE drive over current, disables
the insertion of power, just as happens with the Safe Torque Off (S.T.O.).
The power soft start follows the following criteria:

C53 MAINS SUPPLY PRESENCE SOFT START ENABLE (o10)

MAINS OFF DC BUS

0-AC managed managed on P97 threshold on mains supply presence

1-DC internal PSS* not managed on P97 threshold on mains supply presence

2-DC internal PSS* not managed on P97 threshold instant power on of the regolation
(*) Power Soft Start

42 MW00001E00 V_4.3
From default C37=1 thus connecting the drive to the mains supply, the power is enable immediately
with the soft charging of the capacitors.
The soft start charge of the intermediate circuit capacitors lasts a preset time set in P154, after this
time the voltage level is checked to verify the voltage level reached: if this is below the minimum (P97),
the soft start alarm starts.

The drive is not enabled to switch on if soft start function has not ended successfully, if this
happens the alarm A12.1 is activated.

To help the assistance, starting from 12.00 (asynchronous), software revisions is been introduced the
internal value D34 that show the power soft start state:
0 – A3 =disabled a cause of alarm A3;
1 – STO ON= disabled a cause of safe torque off function;
2 – WAIT MAINS OFF= disabled, waiting MAINS_OFF signal;
3 – WAIT VBUS= disabled, waiting DC bus greater than P97;
4 – C37=0 =disabled, because C37=0;
5 – DIODES SOFT START= during DC bus capacitor charge with diode bridge;
6 – SCR SOFT START= during DC bus capacitor charge with semicontrolled power bridge;
7 – ALARM A13= disabled, after power soft start time (P154) Vbus didn’t reach minimum value(P97);
8 – OK= enabled

2.3.1.2 Voltage Break Control for Mains Feeding

The mains break control is configurable through the following connections:

Name Description

MAIN_LOST_SEL C34 - Managing mains failure

ALL_RST_ON_MAIN C35 - Automatic alarm reset when mains back on

2.3.1.2.1 Continuing to Work (C34=0; Default)

This operating procedure is adapted to those applications in which it is fundamental to have unchanged
working conditions in each situation. Setting C34=0 the drive, even if the mains supply voltage is no
longer available, continues to work as though nothing has been modified over the control, pulling the
energy from the present capacitor to the inner drive. This way making the intermediate voltage of the
DC Bus will begin to go down depending on the applied load; when it reaches the minimum tolerated
value (in parameter P106) the drive goes into alarm A10 of minimum voltage and leaves to go to the
motor in free evolution.
Therefore, this function will allow exceeding short-term mains break out (tenths/hundredths of
milliseconds on the basis of the applied load) without changing the motor operation in any way.

DC bus voltage
540V

speed

400V Minimum voltage

allowed (P106)
C34=0
Continue to work

Break mains Return time

mains

If the alarm condition starts, there is the possibility to enable, setting C35=1 the alarms to an automatic
reset at the mains restore.

MW00001E00 V_4.3 43
2.3.1.2.2 Recovery of Kinetic Energy (C34=1)

This operating procedure is adapted to those applications in which it is temporarily possible to reduce
the speed of rotation to confront the mains break. This function particularly adapts in the case of fewer
applied motors and with high energy.
The qualification of such a function is obtained setting C34=1.
During the mains break out, the voltage control of the DC Bus is achieved using a proportional
regulator, with fixed proportional gain set in P86 (default=3.5), that controls the DC Bus voltage d24,
compare it with the threshold in P98 (default=600V) and functions on the torque limits d30 of the motor
that, in time, will slow down to work in recovery. Such regulation, when qualified (C34=1), at mains
break out (o.L.12=H) or if the DC Bus voltage goes below the threshold set in P97 (425V), replaces the
normal regulaion (o.L.13=H) and is excluded when mains supply is on.

DC bus voltage
540V

speed

400V Minimum voltage

allowed (P106)

C34=1
Recovery of Kinetic Energy

Break Return time

mains mains

If the alarm condition starts, there is the possibility to enable, setting C35=1 the alarms to an automatic
reset at the mains restore

2.3.1.2.3 Overcoming Mains Breaks of a Few Seconds with Flyng Restart (C34=2)

This operating procedure is adapted to those applications in which it is fundamental to not go into
alarm in the case of mains break out and is temporarily prepared to disable the power in order for the
motor to resume when the mains returns.
The qualification of such a function is obtained setting C34=2.
When there is a mains break or if the voltage of the Bus goes below the threshold set in P97r (425 V),
the drive is immediately switched off, the motor rotates in free evolution and the Bus capacitors slowly
discharges. If the mains returns in a few seconds, a fast recovery of the motor is carried out in a way in
which the working regulation of the machine is resumed.

44 MW00001E00 V_4.3
 DC bus voltage
540V

speed

400V Minimum voltage

allowed (P106) C34=2
Free motor

Time of soft start

Break Return time

mains mains

At the return of the mains, it will need to wait for the time of soft start for the gradual recharging of
capacitors for the motor to be able to resume.

2.3.1.2.4 Emergency Brake (C34=3)

This particular control is adapted to those applications in which the machine may be stopped with an
emergency brake in case of mains breaks.
Under this circumstance, the linear ramps becomes qualified and the ramp time is imposed with the
parameter P30. When the minimum speed is reached, alarm A10 of minimum voltage starts and the
motor is left rotating in free evolution. If in the meantime the mains returns, the emergency brake will be
not interrupted.
DC bus voltage
540V

C34=3
Emergency brake

speed

Minimum speed (P52)

Break mains Return time

mains

2.3.1.2.5 Alarm (C34=4)

With this setting, immediately after a main supply loss, appears alarm A10.1.

MW00001E00 V_4.3 45
2.3.1.3 Braking Management

The drive is in a position to work on four quadrants, therefore is also in a position to manage the motor
recovery Energy. There are three different, possible controls:

2.3.1.3.1 Recovery Mains Energy

To be able to restore the kinetic Energy into the mains, it is necessary to use another OPEN drive,
specifically the AC/DC Active Front End (AFE). A Power Factor Controller deals with the position to
have a power factor close to unity. Specific documentation is sent back from specific details. This
solution is adapted to those applications in which the additional cost justifies another drive with a lot of
energy that is recovered in the mains or for particular thermal dissipation problems in the use of a
braking resistor.
U + + U
AC/DC Drive
V V Motor
AFE
W - - W
OPEN drive
Inductor OPENdrive
Mains

The use of an AC/DC AFE permits a controlled voltage level of the intermediate power (DC Bus) and
raises to best control the motors winded to a voltage close to the line voltage. The drive’s dynamic
behavior results in a way that optimizes the work as motor or generator.
There is a possibility to connect more than one drive to the DC Bus, with the advantage of energy
exchange between drives in case of contemporary movements and only one energy exchange with the
mains.
DC bus
lt

Recovery of mains
energy

speed

time

2.3.1.3.2 Braking with Dc Bus Control (C47=1)

A further possibility of recovery control of kinetic energy exists: if the outer braking resistance is not
present (or is not working properly), it is possible to enable (setting C47=1) the braking with DC Bus
control. This function, when the Bus voltage reaches the threshold set in P123, limits the maximum
admitted regenerated torque, slowing down the motor. In practice, the motor will slow down in minimum
time so the over voltage alarm does not start, exploiting the total losses of the motor and drive.
This function is not active by default (C47=0) in a way to leave the intervention of the braking circuit.

P123
DC bus
lt

Controlled braking of
the DC Bus

speed

46 MW00001E00 V_4.3
2.3.1.3.3 Kinetic Energy Dissipation on Breaking Resistance

The standard solution for the OPDE drive is the dissipation of kinetic Energy on braking resistor. All the
OPEN drives could be equipped with an internal braking circuit, while the braking resistor must be
connected externally, with the appropriate precautions.
With this solution, the Bus’ maximum level of voltage becomes limited through a power device that
connects in parallel the resistor with the DC Bus capacitors, if the voltage exceeds the threshold value
in P108, the drive keeps it inserted until the voltage goes below the value of P109; in such a way, the
energy that the motor transfers onto the DC Bus during the braking, is dissipated from the resistor.
This solution guarantees good dynamic behavior also in braking mode.
In the follow figure it’s shown the Bus voltage and the speed during a dissipation on breaking
resistance.

P108
P109 DC bus voltage

Energy dissipation on
breaking resistor

speed

A maximum voltage limit allowed exists for the DC Bus voltage. This is checked by the software
(threshold P107), and by the hardware circuitry: in case the voltage exceeds this level, the drive will
immediately go into an over voltage alarm A11 to protect the internal capacitors.
In case of A11 alarm condition starts, verify the correct dimensioning of the braking resistor power.

Refer to the installation manual for the correct dimensioning of the outer braking resistor.

The braking resistor may reach high temperatures, therefore appropriately place the machine to
favor the heat dissipation and prevent accidental contact from the operators.

With connection C91 it’s possible to choose if the drive has to brake also in stop.
The default value is C91=0, to brake only in run state.

2.3.1.4 DC Bus Ripple Alarm

This function prevents the drive from rectifier bridge problems, unbalanced mains and main supply
phase loss.
Using a 100Hz pass band filter, the DC Bus ripple is measured and shown in “DC_BUS_RIPPLE”.
With a DC Bus ripple over 100V the drive goes in alarm A13.2 in 100ms.
With a DC Bus ripple from 60V to 100V the drive goes in alarm A13.2 in 5 seconds.
Connection C31 can be used to disable the DC Bus Ripple Alarm.

MW00001E00 V_4.3 47
2.3.2 Thermal Protection

Name Description Min Max Default UM Scale

Range
0 No
C46 - Enable motor thermal 1 PTC
MOT_THERM_PRB_SEL 1 1
probe management (PTC/NTC) 2 NTC
3 I23
4 KTY84-130
P91 - Maximum motor
MOT_TEMP_MAX 0.0 150.0 130 °C 10
temperature (if read with KTY84)
C57 - Enable radiator heat probe
DRV_THERM_PRB_SEL 0 1 1 1
management (PTC/NTC)
P95 - Motor NTC or PTC
MOT_PRB_RES_THR 0 50000 1500 Ohm 1
resistance value for alarm
Range
C70 - Motor NTC o PTC
MOT_PRB_RES_THR_MUL 0 X1 0 1
resistance multiplication factor
1 X10
P96 - Motor thermal logic output
PRC_MOT_DO_TEMP_THR 0.0 200.0 100 % 40.96
14 cut-in threshold
P115 - Multiplication factor for
KP_MOT_THERM_PRB motor PTC/NTC/KTY84 analog 0.00 200.00 100 163.84
reference value
P117 - Multiplication factor for
KP_DRV_THERM_PRB radiator PTC/NTC analog 0.00 200.00 100 163.84
reference value
P118 - Max. temperature
DRV_TEMP_MAX 0.0 150.0 90 °C 10
permitted by radiator PTC/NTC
P119 - Max. temperature
DRV_START_TEMP_MAX permitted by radiator PTC/NTC 0.0 150.0 75 °C 10
for start-up
P120 - Radiator temperature
DRV_DO_TEMP_THR 0.0 150.0 80 °C 10
threshold for logic output o.15
C32 - Motor thermal switch '
EN_MOT_THERMAL_ALL 0 1 1 1
Block drive ?
Range
0 No reduction
C33 - Auto-ventilated thermal
MOT_THERM_CURV_SEL 1 -limitative 0 1
motors
2 Self-ventilated
3 +limitative
P138 - Multiplication factor for
KP_REG_THERM_PRB 0.00 200.00 100 163.84
regulation card thermal probe
D25 - Radiator temperature
DRV_TEMP 0 °C 16
reading
MOT_TEMP D26 - Motor temperature 0 °C 16
Radiator temperature used by
DRV_TEMP_TH_MODEL 0 °C 100
thermal model
DRV_I_CONN_TH_MODEL Drive inner connection limit 0 % DRV_I_CONN_MAX 100
D40 - Regulation card
REG_CARD_TEMP 0 °C 16
temperature
MOT_PRB_RES D41 - Thermal probe resistance 0 KOhm 16
PRC_DRV_I_THERM D28 - Motor thermal current -100 100 0 % soglia All 40.96
IGBT_J_TEMP D45 - IGBT junction temperature 0 °C 16
D46 - IGBT junction temperature
IGBT_J_TEMP_MARGIN 0 °C 16
margin with its limit
BRAKE_R P140 - Braking resistance 1 1000 82 Ohm 1
P142 - Braking resistance
BRAKE_R_MAX_EN 0.0 500.0 4.5 KJoule 10
Maximum adiabatic Energy
P144 - Time measure of Braking
BRAKE_R_MAX_EN_TIME 0 30000 2000 ms 1
resistance adiabatic Energy
P146 - Maximum Power
BRAKE_R_MAX_POWER 0.0 600.0 1.5 KWatt 100
dissipated on Braking resistance
P148 - Power dissipated on
BRAKE_R_TF Braking resistance filter time 1 2000 720 s 1
costant
Range
C71 - Enable Braking resistance 0 No
EN_BRAKE_R_PROT 0 1
protection 1 Classic
2 New
E93 - Switch-on temperature of
TEMP_ON_CONV_FANS 30 80 60 °C 1
converter fans
Adiabatic Energy dissipated on
BRAKE_R_AD_ENERGY Joule 1
brake resistance
Average Power dissipated on
BRAKE_R_POWER Watt 1
brake resistance

48 MW00001E00 V_4.3
2.3.2.1 Motor Thermal Protection

Parameters P70 (thermal current as a % of the rated motor current P61), P71 (motor thermal constant
τ in seconds) and the current delivered by the drive are used to calculate the presumed operating
temperature of the motor considering an ambient temperature equal to the permitted maximum.
The losses are evaluated with the square of the absorbed current and filtered with the motor thermal
constant (I τ algorithm). When this value exceeds the maximum thermal current set in P70 (value
2

proportional to the square of this current) the thermal protection cuts in, enabling logic output o.L.1 and
alarm A06. The resulting action may be programmed via connection C32 and by enabling alarm A06:
• If A06 is disabled, no action will be taken.
• If A06 is enabled, action will depend on C32:
1. C32 = 0 (default value) the thermal alarm will cut in and reduce the current limit to match
the motor thermal current.
2. C32 = 1 the thermal alarm cuts in and stops the drive immediately.

NOTE: The motor thermal constant τ isn’t the time that the motor needs to reach his optimal thermal
condition when it’s loaded, but it’s the time that the motor needs to reach the 63.2% of ΔTtot.

The picture above represent an hypothetical motor heating curve when loaded; it shows that τ is the
time in which the motor reaches the temperature T=0.632ΔT+Tamb, and ΔT=Tmax-Tamb. In fact
Tmax is reached about in 5τ (99.3% of ΔT).

Example: Considering the heating curve below, Tmax is reached about in 13000s with ΔT=130-
25=105°C. So the temperature corresponding to τ is equal to:

T=0.632*105+25=91.4°C.

Looking at the picture is possible to see that at 91.4°C corresponds a τ=1500s. This is the correct
value to set in P71.

MW00001E00 V_4.3 49
Internal value d28 and analog output 28 display a second-by-second reading of the motor thermal
current as a percentage of the rated motor current. When 100% is reached, the motor thermal switch
cuts in.
P96 can be set with an alarm threshold which, when breached, commutes logic output o.L.14 to a high
level indicating the approximation to the motor thermal limit.
The maximum motor thermal current depends on the operating frequency, provided that the motor
does not have assisted ventilation regardless of its revolutions.
Four permitted thermal current curves are used to reduce the current in accordance with motor
operating frequency (see diagram); the required curve is chosen with Connection C33 as per the table
below.
Itermic / Inominal
[%]
Curve 2
Curve 0
100

Curve 1

Curve 3
50

70 100 120 flav/fnm [%]

C33 Characteristics
0 [default] No reduction according to frequency; to be chosen for assisted ventilation motors
Choose for self-ventilated high speed motors (2 poles) where ventilation is more
1 efficient. There is no current reduction for frequencies over 70% of the rated
frequency
2 Typical curve for self-ventilated motors

3 Curve for motors that heat up excessively with curve 2

50 MW00001E00 V_4.3
The drive can manage the motor thermal probe. For the correct wiring of the probe, make reference to
the installation manual.
The connection C46 selects the type of probe used:

C46 Description Visualization

0 No motor thermal protection enabled

PTC management: The thermal resistance is measured and
1 compared to the maximum setup in the parameter P95, If the Thermal probe resistance in Ω (D41)
temperature exceeds the threshold, the A5 alarm starts.
NTC management: The thermal resistance is measured and
2 compared to the minimum setup in the parameter P95, If the Thermal probe resistance in Ω (D41)
value is below, the A5 alarm starts.
Termo-switch management: it’s possible to configure a
3 logic input to I23 function, in this case if this input goes -----
to a low level the A5 alarm starts
KTY84: it’s available the motor temperature (D26). If the
motor temperature exceeds parameter P91
“MOTOR_TEMP_MAX”, drive goes in A.5.0. The logical
4 Motor temperature (D26)
output function o14 goes at active level if the motor
temperature is greater than threshold set with parameter P96
percent of P91.

2.3.3 Braking Resistence Thermal Protection (OPDE)

The Braking Resistance Thermal protection protects the resistance both from Energy peaks and from
average Power that have to be dissipated.
It’s possible to enable this protection setting C71, by default this function is disabled.

2.3.3.1 Braking Resistance Instantaneous Power (C71=1)

The quickly Energy exchange is an adiabatic process since heat diffusion on case resistance is very
slow, in the meantime the resistance is dimensioning for a maximum energy overload. This protection
is based on the follow parameters:

PAR DESCRIPTION RANGE DEFAULT UNIT Internal

rappr.

P140 Braking resistance value 1 ÷ 1000 82 Ohm 1

P142 Braking resistance Maximum Adiabatic Energy 0.0 ÷ 500.0 4.5 KJoule 10
P144 Time to test the Maximum Adiabatic Energy 1 ÷ 30000 2000 ms 1

After the first Braking resistance activation, the dissipated Energy is accumulated, knowing the DC bus
voltage, the Braking resistance value and the activation time.
This accumulation is done for a time set in milliseconds in P144 parameter: if in this period the Energy
becomes greater than maximum threshold (set in KJoule into P142 parameter) the control disables the
Braking resistance. At that point, if it is enables the braking with DC Bus control (C34=1, see par
2.3.1.2.2) it starts to work, otherwise the alarm A5.2 (Instantaneous Power Braking Resistance)
becomes active.
At the end of every accumulation period it is possible to show the total dissipated Energy on the period
in KJoule in the internal value “BRAKE_R_AD_ENERGY”, than can start a new period, the Braking
resistance is enabled again and the speed reference is aligned with the real speed.

NB: this function has two possible uses:

 It takes the converter in alarm if the Instantaneous Power is too high (C34=0)
 It is possible to choose how many Energy could be dissipated on Braking resistance and in
the remaining time braking with the DC Bus control (C34=1). With P144=1000ms it is possible
to set in P142 the Power in KWatt that could be dissipated on the resistance.

MW00001E00 V_4.3 51
 In the follow figure is shown an experimental measurement of this function:

Vbus

P144 Speed
regulated
Speed
reference

2.3.3.2 New Braking Resistance Instantaneous Power Protection (C71=2)

Starting from 12.10 revision is available also a new braking resistance instantaneous power protection,
setting C71=2.
In this case P144 becames the fast time constant of resistance filament.
With this protection the resistance is more protected especially for repeated braking.
The alarm A5.2 occurs when is reached (80%) of max Adiabatic Energy.

2.3.3.3 Braking Resistance Average Power

The Energy dissipated every PWM period is used to estimate the average Power dissipated on Braking
Resistance. The parameters used are:

PAR DESCRIPTION RANGE DEFAULT UNIT Internal

rappr.
P140 Braking resistance value 1 ÷ 1000 82 Ohm 1
P146 Braking Resistance Maximum Average Power 1 ÷ 30000 150 Watt 1
P148 Average Power Filter time constant 1 ÷ 2000 720 s 1

Every second the total dissipated Energy is equal to the Average dissipated Power.
This value is filtered with a first order filter with a time constant set in seconds in P148 (the time
constant depends on Braking Resistance thermal characteristics). In P146 parameter is possible to set
the maximum average power. In the internal value “BRAKE_R_POWER” it’s possible to see the
Average Dissipated Power in Watt, if this value becomes greater than the threshold P146 the alarm
A5.3 (Average Power Braking Resistance) becomes active.

2.3.4 Braking Resistance Thermal Protection (MiniOPDE)

In the MiniOPDE this protection, by default, is already enabled with the same connection, C71=2.
The parameters use to define the braking resistance characteristics are the same of OPDE.

In the OPDExplorer “Default” section shows only the OPDE values, to see the real values of
MiniOPDE select those concerned and do a reading (R).
The parameters shown are relative to the internal resistance of MiniOPDE.

52 MW00001E00 V_4.3
The parameters used are reported in the following table:
PAR DESCRIPTION RANGE DEFAULT DEFAULT UNIT Internal
(230V) (400V) rappr.
P140 Braking resistance 1 ÷ 1000 41 110 Ohm 1
P142 Braking resistance Maximum Adiabatic 0.0 ÷ 500.0 0.5 0.5 KJoule 10
Energy
P144 Time measure of Braking resistance 1 ÷ 30000 1000 1000 ms 1
adiabatic Energy
P146 Maximum Power dissipated on Braking 0.0 ÷ 6000.0 0.03 0.03 KWatt 100
resistance
P148 Power dissipated on Braking resistance 1 ÷ 2000 20 20 s 1
filter time constant

2.4 V/F CONTROL

Name Description Min Max Default UM Scale

EN_VF_CNTL C80 - Enable V/f control 0 1 0 1

C88 - Calculate V/f
VF_EN_CHR_AUTOSET 0 1 0 1
characteristic nominal knee
P170 - Slip motor %
PRC_VF_SLIP_CMP 0.0 400.0 0.0 327.67
compensation PRC_MOT_F_MAX
P171 - Slip compensation
VF_TF_SLIP_CMP 0.0 150.0 35.0 ms 10
factor filter
P172 - Stator voltage drop %
PRC_VF_BOOST 0.0 400.0 70.0 40.96
compensation PRC_DELTA_VRS
VF_EN_DCJ C83 - Enable dc brake 0 1 0 1
P173 - Current limit during
PRC_VF_DCJ_I_MAX 0.0 100.0 100.0 % DRV_I_NOM 40.96
continuous braking
P174 - Continuous breaking %
PRC_VF_DCJ_F_MAX 0.0 100.0 0.0 40.96
maximum frequency limit PRC_MOT_F_MAX
P175 - V/f characteristic %
PRC_VF_CHR_V1 0.0 100.0 0.0 40.96
point 1 voltage PRC_MOT_V_MAX
P176 - V/f characteristic %
PRC_VF_CHR_F1 0.0 100.0 0.0 40.96
point 1 frequency PRC_MOT_F_MAX
P177 - V/f characteristic %
PRC_VF_CHR_V2 0.0 100.0 0.0 40.96
point 2 voltage PRC_MOT_V_MAX
P178 - V/f characteristic %
PRC_VF_CHR_F2 0.0 100.0 0.0 40.96
poitn 2 frequency PRC_MOT_F_MAX
P183 - Voltage regulator
PRC_VF_V_REG_D derivative coefficient 0.0 100.0 100.0 % 327.67
multiplying term
Range
0 No
C84 - Enable search during 1 Freq +
VF_EN_SEARCH 0 1
motor rotation 2 Freq -
3 Rif 0 +
4 Rif 0 -
P184 - Initial search
%
PRC_VF_FSTART_SEARCH frequency with rotating 0.0 100.0 100.0 40.96
PRC_MOT_F_MAX
motor
P185 - Minimum search
%
PRC_VF_FMIN_SEARCH frequency with rotating 0.0 100.0 2.9 40.96
PRC_MOT_F_MAX
motor
P191 - Torque limit during
PRC_VF_T_MAX_SEARCH 0.0 100.0 5.0 % DRV_T_NOM 40.96
fly restart
VF_EN_STALL_ALL C82 - Enable stall alarm 0 1 1 1
P186 - Working time during
VF_STALL_TIME 1 100 30 s 1
limit
P187 - Vs amplitude %
PRC_VF_V_MAX_STATIC 0.0 100.0 97.5 327.67
maximum static value PRC_MOT_V_MAX
VF_EN_ENGY C86 - Enable energy saving 0 1 0 1
P188 - Energy saving
VF_TI_ENGY 100 2000 100 ms 1
regulator lead time constant
P189 - Energy saving
PRC_VF_FLX_MIN_ENGY 0.0 100.0 20.0 % MOT_FLX_NOM 40.96
admissible minimum flux
Range
C85 - Enable open loop 0 No
VF_EN_OPEN_LOOP 0 1
working state 1 Imax in V/f
2 Imax in V
C87 - Enable flux angle
VF_EN_BYPASS 0 1 0 1
bypass - frequency input
VF_TF_I_MAX_AL P190 - Current alarm filter 0.0 150.0 10.0 ms 10

MW00001E00 V_4.3 53
2.4.1 Automatic Setting of Working Voltage/Frequency

“V/f control” manages the an asynchronous motor without feedback.

This type of control has a good dynamic performance also in flux weakening area (4-5 times base
frequency) and it’s able to start the motor also with high load (2 times the nominal motor torque), but
it’s no useful in that application where it’s necessary to produce torque in steady state at frequency
below 1Hz (in this case we recommend to use a motor with feedback and a Vector control).

To enable the voltage-frequency control set C80=characteristic

The most easier way to set the voltage-frequency characteristic is to use the automatic procedure.
First of all set the maximum motor voltage (P64) and the maximum working speed (P65) and then set
C88=1 .
Name Description

PRC_MOT_V_MAX P64 - Max. operating voltage

MOT_SPD_MAX P65 - Max. operating speed (n MAX)

VF_EN_CHR_AUTOSET C88 - Calculate V/f characteristic nominal knee

Automatically the drive set the voltage-frequency characteristic in two possible way:

1. Linear way : In this case, none characteristic points are set (P174-P175-P176-P177=0) and
the maximum operating voltage P64 is set:

2. Characteristic FLUX WEAKENING AREA: When the maximum motor frequency is greater
than nominal frequency automatically is set one characteristic point into nominal knee:

P175= 100%

54 MW00001E00 V_4.3
2.4.2 Manual Setting of Working Voltage/Frequency Characteristic

Using the parameters P175, P176, P177 and P178 it is possible to define a three-section working
curve by points (so as to be better able to adjust to the desired characteristics).
Points P176 and P178 define the frequency percentage with reference to the maximum working
frequency while points P175 and P177 define the percentage voltage with reference to the maximum
working voltage (P64).
The following curve should clarify the explanation.

"TYPICAL CURVE WITH QUADRATIC TORQUE LOAD"

If a number of points which is less than two is sufficient to define the curve just program at 0 the
frequencies of the points which are not used (P176 and/or P178), so that they will not be considered in
the interpolation.
There are some limitations on setting the characteristic:
- Frequencies (P176 and P178) must be in rising order and the distance between two
adjacent points must be greater than 5%
- Corresponding voltages (P175 and P177) must be in rising order.

If this limitations are not respected the system doesn’t take in account the point whose component was
set wrongly and it is cleared to 0. Every time one of this parameters (from P175 to P178) is changed, it
is better to verify if the system has accepted the new value.
A linear type Voltage-Frequency characteristic is provided for the default for which
P175=P176=P177=P178=0.

STANDARD CURVE FOR A MOTOR WORKING IN CONSTANT TORQUE IN ALL ITS

CHARACTERISTICS

MW00001E00 V_4.3 55
As an example we calculate the settings of the parameters in the case of a motor with a rated voltage
of 380 Volts and a frequency of 50 Hz, which we want to work at full flux up to 50 Hz and a constant
voltage from 50 Hz to 75 Hz.
Having traced the desired voltage-frequency we see that to program it is sufficient to use only one
section point (see diagram).
From the maximum speed frequency desired (P65) and from the maximum working voltage (P64) we
can calculate the P177 and P178 values with reference to the maximum values, while P175 and P176
will remain at 0.

CURVE FOR MOTOR WORKING ALSO IN FLUX WEAKENING AREA

2.4.3 Load Effect Compensation

2.4.3.1 Voltage Stator Drop Compensation (Start Up Under Load)

Using P36 parameter it is possible to increase the voltage value at low frequencies so as to
compensate for the drop due to the stator resistance and so as to be able to have current and the
refore torque even in the start up phase; this is necessary if the motors starts up under load. The value
which can be set refers to the drop voltage on the Stator Resistor (P66) and can be adjusted from 0 up
to a maximum of 400.0%. Particular care must be taken in setting the P172 value as it determines the
current values fed at low speed: a value too low for P30 results in limiting the torque of the motor, while
a value too high results in feeding high currents at low speed, whatever the load condition is.
In the start up under load it is useful to introduce a waiting time on the common ‘converter running so
that the motor can magnetize itself, so that it has from the outset the torque expected available. The
P29 parameter makes it possible to quantify this wait time in milliseconds, in which the system is in an
on-line state, but the frequency reference is forcibly held at 0. The most suitable value for P29 should
be chosen according to the rating of the motor and the load conditions, but in any case should be from
a minimum of 400ms for motors of 7.5 KW up to 1s for motors of 55KW.

2.4.3.2 Slip Compensation

By using parameter P170 it is possible to partly compensate for the motor’s fall in speed when it takes
up the load; the adjustment is in fact that regulation of motor controls stator frequency and does not
control the real speed.
This compensation is obtained by increasing the motor’s working frequency by a quantity which is
proportional to the percentage working torque multiplied by the percentage value set in P170, in
relation to the motor’s rated frequency.
The value to be set depends both on the motor’s rating and poles, in any case it can in general terms
vary from 4% for a 7.5 KW motor to 1,8 - 2.0% for 45 KW motors. In default the compensation is
excluded P170 = 0.

56 MW00001E00 V_4.3
2.4.4 Particular Control Functions

2.4.4.1 Motor Flying Restart

Since the driver has a maximum current limit it can always be started running with no problems even if
the motor is already moving, for example, by inertia or dragged by part of the load. In that event, on
starting up, given that normally the frequency reference starts from values close to zero to gradually
rise with the ramp times to the working value, the motor is first subjected to a sudden deceleration,
within the limit, to then hook onto the reference and follow it with the ramp; this may be undesirable
from a mechanical standpoint, and the process could also trigger the overvoltage alarm for converters
which do not have a braking device. To avoid this it is possible to suitably program connection C84 ,
“Enable motor flying restart“, which makes it possible to identify the speed of rotation of the motor,
stressing it as little as possible, and to position the output reference from the ramp at a value
corresponding to that rotation so as to start from that reference to then go on to working values. This
motor search function is primarily in one direction and thus needs to know in advance the direction of
rotation of the motor, positive frequency or negative frequency, which must be programmed in C84 ; if
the selection is wrong the motor is first braked to about zero speed to then follow the reference to go to
working speed (as if the search function had not been used). If there is a passive load and the inertia
keeps the motor in rotation, it’s possible to select a search dependently upon the sign of enabled
frequency reference (C84=3-4).
There are two different values for C84 to enable this kind of search, the only difference is for manage
the case in which the frequency reference was zero: in this particular situation with C84=3 the system
searches for positive frequency, while with C84=4 the search will be made for negative frequency.
The C50 connection has five programming values which are selected as indicated below:
o C84=0 flying restart doesn’t enabled
o C84=1 flying restart managed with positive frequency quadrant search
o C84=2 flying restart managed with negative frequency quadrant search
o C84=3 flying restart managed dependently upon the sign of enabled frequency
reference (like C84=1 for 0)
o C84=4 flying restart managed dependently upon the sign of enabled frequency
reference (like C84=2 for 0)
The start frequency in motor flying restart can be set in parameter P184 (default 100%) in percentage
of maximum frequency. This parameter can help the search algorithm limiting the range of frequency.
With parameter P185 it’s possible to set the minimum target frequency in order to inject an active
current also if the motor is stopped.
If the maximum frequency is greater than 250% of nominal motor frequency could be some problems in
the motor flying restart because it’s difficult to inject the active current with a slip so high. In that case
the only possibility is to reduce the start search frequency (with P184) on condition that really the motor
cannot run more quickly.

If it’s enabled the motor flying restart, the power is switch-on with the motor standstill and there
is low load, it’s possible to have a transient initial state in which the motor starts running in the
searching sense.

If the flying restart doesn’t work correctly it’s possible to increase the reserved parameter P191 (default
value 5%) for increase the admitted search window.
In default the flying restart isn’t managed (C84=0).

2.4.4.2 Dc Injection

The DC Injection, if enabled with “VF_EN_DCJ” C83=1, keeps the motor “stopped in torque” by
injecting a continuous current if the frequency reference is under the intervention threshold express in
“PRC_VF_DCJ_F_MAX” P174. With this function is possible to obtain only a low torque (< 10% of
nominal value) at zero speed for the asynchronous motor characteristics, if the active load torque is
greater than this value the motor runs at slip frequency correspondent to the load applied.
When the DC Injection is active the amplitude of the current depends on parameter
“PRC_VF_DCJ_I_MAX” P173 which is the current limit in this situation.
Remember that if is active the “VF_EN_STALL_ALL” (C82=1) after the time express in
“VF_STALL_TIME” P186, the converter will be in alarm (A.0.1).

MW00001E00 V_4.3 57
2.4.4.3 Energy Saving

This function, if enabled with “EN_ENERGY_SAVE” C86=1, allows an energy saving with an
automatic current reduction matched to the load, reducing the conduction loss (proportional to the
current square value). The basic idea is to find the best subdivision between active and reactive
current, because the first is proportional to the torque current, the second to the magnetic field
produced. With reduced working load it’s better to reduce the magnetic field under its nominal value
and increase the torque current.
The energy saving is significant especially for motors with low cos φ and for load lower than 40-
50% of nominal value, for load much great of this the saving is negligible.
When the Energy Saving is enabled the dynamic performances decreases also if it’s always
guarantee a good stability in every working area.

2.5 SENSORLESS

Name Description Min Max Default UM Scale

Range
0 No
C65 - Enable sensorless on
EN_ON_LINE_CMP 1 VRs_start 1 1
line parameters compensation
2 VRs_online
3 VRs_always
Sensorless on line Stator
SLESS_KRs 100 % 40.96
Resistance compensation term
Sensorless on line Leakage
SLESS_KLs 100 % 40.96
Inductance compensation term
Sensorless voltage and current
SLESS_FLUX_ERR 0.0 % MOT_FLX_NOM 4096
flux error
P192 - Minimum active current
PRC_IQ_COMP_THR for sensorless flux 0.0 400.0 50.0 % DRV_T_NOM 40.96
compensation
P193 - Maximum flux for
PRC_FLUX_COMP_THR 0.0 400.0 90.0 % MOT_FLUX_NOM 40.96
sensorless flux compesation
P194 – Minimum voltage for
PRC_VS_COMP_THR 0.0 400.0 50.0 % MOT_V_NOM 40.96
sensorless flux compesation
Sless observer proportional
SLESS_Kp 0 100
gain
SLESS_Ta Sless observer laed time 0 ms 10
SLESS_Tf Sless observer time filter 0 ms 10
Sensorless control is enabled choosing C00=0-sensorless.
When sensorless control is enabled automatically some parameters are changed:
P126=40%, P127=40%, P157=3µs, P56=10%.

Commissioning suggested:
o Execute only the first part of autotuning measure (C42=1);
o Measure the start-up time (EN_TEST_SPD= 1- Start-up);
o Set speed regulator with lower bandwidth (0.5÷1Hz);
o Disable autotuning starting from default values C75=1;
o Execute the second part of autotuning measure (C42=2);
o Increase speed regulator bandwidth up to max “SPD_LOOP_BW_MAX”.

With sensorless control there is a lower limit on works electric frequency of 0.5 Hz.
At present isn’t possible starts with motor in rotation.

It’s preferable to enable a on-line compensation on stator resistance and leakage inductance.
Leakage compensation works only if the active current request is greater than P192 if working
frequency referred to nominal frequency is greater than P76, if the flux is lower than P193 and the
stator voltage is greater than P194.
With the default setting the leakage compensation works only in the flux weakening area, to avoid
wrong compensation due to saturation problem.
Resistance compensation can be enabled with connection C65:

C65 Description
0 - No never
1 - VRs_start During motor magnetization, stator resistance is measured. NB: this function works well only if the
motor is stopped at start.
2 - Vrs_online Resistance compensation works only if the torque request is greater than 30% and if working
frequency referred to nominal frequency is lower than P76.
3 – VRs_always 1 + 2 , compensation during magnetization and on-line

58 MW00001E00 V_4.3
 3 STANDARD APPLICATION

3.1 INPUTS

3.1.1 Analog Reference

Name Description Min Max Default UM Scale

EN_AI1_4_20mA C95 - Enable AI1 4-20mA 0 1 0 1

P01 - Corrective factor for
KP_AI1 -400.0 400.0 100 % 10
analog reference 1 (AUX1)
P02 - Corrective offset for
OFFSET_AI1 -100.0 100.0 0 % 163.84
analog reference 1 (AUX1)
AI1 D42 - Analog Input AI1 -100 100 0 % 163.84
E00 - Enable analog
EN_AI1 0 1 0 1
reference value A.I.1
D64 - Reference from
REF_AI1 -100 100 0 % 163.84
Analog Input AI1
Range
0 Speed ref.
1 Torque ref.
2 Symmetrical Torque limit ref
E03 - Meaning of analog
AI1_SEL 3 Positive Torque limit ref 0 1
input A.I.1
4 Negative torque limit ref
5 Symmetrical Speed limit ref
6 Positive Speed limit ref
7 Negative Speed limit ref
EN_AI2_4_20mA C96 - Enable AI2 4-20mA 0 1 0 1
P03 - Corrective factor for
KP_AI2 -400.0 400.0 100 % 10
analog reference 2 (AUX2)
P04 - Corrective offset for
OFFSET_AI2 -100.0 100.0 0 % 163.84
analog reference 2 (AUX2)
AI2 D43 - Analog Input AI2 -100 100 0 % 163.84
E01 - Enable analog
EN_AI2 0 1 0 1
reference value A.I.2
D65 - Reference from
REF_AI2 -100 100 0 % 163.84
Analog Input AI2
Range
0 Speed ref.
1 Torque ref.
2 Symmetrical Torque limit ref
E04 - Meaning of analog
AI2_SEL 3 Positive Torque limit ref 1 1
input A.I.2
4 Negative torque limit ref
5 Symmetrical Speed limit ref
6 Positive Speed limit ref
7 Negative Speed limit ref
EN_AI3_4_20mA C97 - Enable AI3 4-20mA 0 1 0 1
P05 - Corrective factor for
KP_AI3 -400.0 400.0 100 % 10
analog reference 3 (AUX3)
P06 - Corrective offset for
OFFSET_AI3 -100.0 100.0 0 % 163.84
analog reference 3 (AUX3)
AI3 D44 - Analog Input AI3 -100 100 0 % 163.84
E02 - Enable analog
EN_AI3 0 1 0 1
reference value A.I.3
D66 - Reference from
REF_AI3 -100 100 0 % 163.84
Analog Input AI3

MW00001E00 V_4.3 59
Name Description Min Max Default UM Scale
Range 2 1
0 Speed ref.
1 Torque ref.
2 Symmetrical Torque limit ref
E05 - Meaning of analog
AI3_SEL 3 Positive Torque limit ref
input A.I.3
4 Negative torque limit ref
5 Symmetrical Speed limit ref
6 Positive Speed limit ref
7 Negative Speed limit ref
P13 - Corrective factor for 16
KP_AI16 -400.0 400.0 100.0 % 10
bit analog reference (AUX16)
P14 - Corrective offset for 16
OFFSET_AI16 -100.0 100.0 0 % 163.84
bit analog reference (AUX16)
AI16 16 bit analog input (optional) -100.00 100.00 0.00 % 163.84
E07 - Enable analog
EN_AI16 0 1 0 1
reference value AI16
D79 - Reference from
REF_AI16 % 163.84
Analog Input AI16
Range 0 1
0 Speed ref.
1 Torque ref.
2 Symmetrical Torque limit ref
E08 - Meaning of analog
AI16_SEL 3 Positive Torque limit ref
input AI16
4 Negative torque limit ref
5 Symmetrical Speed limit ref
6 Positive Speed limit ref
7 Negative Speed limit ref
E06 - Filter time constant for
TF_TRQ_REF_AN analog torque reference 0.0 20.0 0 ms 10
value
D68 - Analog Torque
PRC_T_REF_AN -400 400 0 % MOT_T_NOM 40.96
reference from Application
D10 - Torque reference
PRC_APP_T_REF -100 100 0 % MOT_T_NOM 40.96
value (application generated)
PRC_T_MAX_AN_ D70 - Analog Positive
-400 400 0 % MOT_T_NOM 40.96
POS Torque Max from Application
PRC_T_MAX_AN_ D80 - Analog Negative
-400 400 0 % MOT_T_NOM 40.96
NEG Torque Max from Application
PRC_SPD_MAX_ D82 - Analog Positive Speed %
-200 200 0 40.96
AN_POS Max from Application MOT_SPD_NOM
PRC_SPD_MAX_ D83 - Analog Negative %
-200 200 0 40.96
AN_NEG Speed Max from Application MOT_SPD_NOM
E41 - Multiplication factor
MUL_AI_IN_SEL 0 4 0 1
selection
E42 - Multiplication factor
MUL_AI_OUT_SEL 0 2 0 1
target
E43 - Max analog input value
MUL_AI_MAX -180.00 180.00 100.0 % A.I. 163.84
for multiplication factor
E44 - Min analog input value
MUL_AI_MIN -180.00 180.00 0.0 % A.I. 163.84
for multiplication factor
E45 - Multiplication factor
MUL_KCF_MAX with max analog input -100.0 100.0 1.0 100
(MUL_AI_MAX)
E46 - Multiplication factor
MUL_KCF_MIN with min analog input -100.0 100.0 -1.0 100
(MUL_AI_MAX)
PRC_SPD_TOT_ D72 - Speed reference from %
-100 100 0 163.84
AN AI1 + AI2 + AI3 + AI16 MOT_SPD_MAX
E48 - Storing input
STR_MUL_AI 0 2 0 1
multilpicative factor
MUL_KP D73 - Multiplication factor -100.0 100.0 0 16
PRC_SPD_REF_ %
D74 - Speed reference -100 100 0 163.84
AN MOT_SPD_MAX
PRC_APP_SPD_ D33 - Speed reference %
-100 100 0 163.84
REF (application generated) MOT_SPD_MAX
PRC_SPD_TOT_ E09 - Analog speed/PID %
0.00 100.00 0 163.84
AN_DZ error - Dead zone amplitude MOT_SPD_MAX

60 MW00001E00 V_4.3
3.1.2 Current Analog Reference 4÷20ma

If the user wants to give references in current (4÷20 mA signals), it’s necessary to set correctly the dip-
switch sw1 in the display card (see installation manual 5.2.17). After that, for every analog input it’s
possible to enable, with connections C95÷C97, the correct software manage of these inputs. When the
4÷20 mA function is enabled, automatically is set KP_Ax=125% and OFFSET_Aix=-25%, in this way
with 4 mA the reference is 0 and with 20 mA the reference is 100%. Furthermore there is a software
lower limitation to 0%, so with current reference lower than 4 mA, the real reference is 0.
It’s possible to enable separately all references using connections or logic input functions.
For speed and torque references the active reference is the sum of all enabled references, for torque
and speed limit prevails the more constrain active reference, between the sum of analog and the
Fieldbus references.

There can be up to 4 differential analog inputs (A.I.1 ÷ A.I.16) ± 10V which, after being digitally
converted with a resolution of 14 bits, can be:

o conditioned by digital offset and a multiplicative coefficient

o enabled independently through configurable logic inputs or connections
o configured as meaning through the corresponding connection (E03 ÷ E05)
o added together for the references with the same configuration

MW00001E00 V_4.3 61
62 MW00001E00 V_4.3
 Analog Speed Reference
Analog Reference AI1
%A.I.1 Speed Ref.

Analog Reference AI2 Dead Zone

%A.I.2 Speed Ref.
+
IN
+ Reference M ultiply Factor
Analog Reference AI3 OUT
%A.I.3 Speed Ref. % SUM Analog Speed Ref.
PRC_SPD_TOT_AN (D72)
Analog Reference AI16 Total Analog Speed
%A.I.16 Speed Ref.
Reference
PRC_ SPD_ TOT_ AN_ DZ (E09)
Torque Reference
Analog Reference AI1
%A.I.1 Torque Ref.
Filter 1° order
Analog Reference AI2 + Command Reference
%A.I.2 Torque Ref.
IN OUT % SUM Torque_Reference
+ TimeF PRC_T_REF_AN (D68)
Analog Reference AI3
%A.I.3 Torque Ref. Total Analog Torque
Reference
Analog Reference AI16
%A.I.16 Torque Ref.
TF_TRQ_REF_AN
(E06)
Torque Limit Ref.
Analog Reference AI1
%A.I.1 Pos. Torque Limit Ref.

Analog Reference AI2 + Command Reference

%A.I.2 Pos. Torque Limit Ref.
% SUM Pos. Torque Limit Ref.
+ PRC_T_MAX_AN_POS(D70)
Analog Reference AI3
%A.I.3 Pos.Torque Limit Ref. Positive Torque Limit
Analog Reference AI16
%A.I.16 Pos. Torque Limit Ref.

Analog Reference AI1

%A.I.1 Sym. Torque Limit Ref.

Analog Reference AI2 +

%A.I.2 Sym. Torque Limit Ref.

+
Analog Reference AI3
%A.I.3 Sym. Torque Limit Ref.

Analog Reference AI16

%A.I.16 Sym. Torque Limit Ref.

Analog Reference AI1

%A.I.1 Neg. Torque Limit Ref.

Analog Reference AI2 +

%A.I.2 Neg. Torque Limit Ref.
Multiply
Command Reference
+ IN
Analog Reference AI3
%A.I.3 Neg. Torque Limit Ref. Mul X OUT % SUM Neg. Torque Limit Ref.
-1 PRC_T_MAX_AN_NEG(D80)
Analog Reference AI16 Negative Torque Limit
%A.I.16 Neg. Torque Limit Ref.

Speed Limit Ref.

Analog Reference AI1
%A.I. 1 Pos. Speed Limit Ref.

Analog Reference AI2 + Command Reference

%A.I.2 Pos . Speed Limit Ref.
% SUM Pos. Speed Limit Ref.
+ PRC_SPD_TOT_AN_ POS (D82)
Analog Reference AI3
%A.I.3 Pos.Speed Limit Ref.

Analog Reference AI16

%A.I.16 Pos. Speed Limit Ref.

Analog Reference AI1

%A.I.1 Sym. Speed Limit Ref.

Analog Reference AI2 +

%A.I.2 Sym. Speed Limit Ref.

+
Analog Reference AI3
%A. I.3 Sym. Speed Limit Ref.

Analog Reference AI16

%A. I.16 Sym. Speed Limit Ref.

Analog Reference AI1

%A.I. 1 Neg. Speed Limit Ref.

Analog Reference AI2 + Command Reference

%A.I.2 Neg. Speed Limit Ref.
% SUM Neg. Speed Limit Ref.
+ PRC_SPD_TOT_AN_NEG (D83)
Analog Reference AI3
%A.I.3 Neg. Speed Limit Ref.

Analog Reference AI16

%A.I.16 Neg. Speed Limit Ref.

MW00001E00 V_4.3 63
For example in the case of A.I.1, the result of the conditioning is given by the following equation:
REF1= ((A.I.1/10)*P1) + P2
By selecting a suitable correction factor and offset the most varied linear relationships can be obtained
between the input signal and the reference generated, as exemplified below.

REF REF REF1

100% 100% +100%

-10V -5V

+10V Vin +5V Vin 0 +10V Vin

P1=100.0 P1=200.0
P2=0 P1=200.0
P2=0
-100% P2=-100.0
-100%
Default setting

REF1 REF1
100% 100%
P1=80.0 P1=-80.0
P2=20.0 P2=100.0
20% 20%

0 +10V Vin +10V Vin

Note: for the offset parameters (P02, P04 and P06) an integer representation has been used on the
basis of 16383, in order to obtain maximum possible resolution for their settings.

For example if P02=100 offset = 100/16383 = 0.61%

As said above, the enabling of each analog input is independent and can be set permanently by using
the corresponding connection or can be controlled by a logic input after it has been suitably configured.
For example to enable input A.I.1 the connection E00 or the input logic function I03 can be used, with
the default allocated to logic input 3.
The parameters E03÷E05 and E08 are used to separately configure the analog inputs available:

E03 ÷ E05 and E08 Description

0 Speed ref.

1 Torque ref.

2 Symmetrical Torque limit ref.

3 Positive Torque limit ref.

4 Negative Torque limit ref.

5 Symmetrical Speed limit ref.

5 Manual set point PID

6 Positive Speed limit ref.

7 Negative Speed limit ref.

Several inputs can be configured to the same meaning so that the corresponding references, if
enabled, will be added together.

Note: using the appropriate multiplicative coefficient for each reference it is therefore possible to
execute the subtraction of two signals.
In the case of the torque limit, if there is no analog input configured to the given meaning and enabled,
the reference is automatically put at the maximum that can be represented, i.e. 400%. In internal
quantities d32 it is possible to view the torque limit imposed by the application.

In the case of the torque reference there is a first order filter with time constant that can be set in
milliseconds in parameter E06. In the internal quantity d10 the torque reference can be viewed as set
by the application.

64 MW00001E00 V_4.3
 3.1.3 Dead Zone

This function allows to set a zone (“dead zone”) where the analog reference is automatically set to 0.
To enable the dead zone, set the parameter E09 “PRC_SPD_TOT_AN_DZ” to a value different to
zero.
When the analog reference is less than E09 his value is automatically set to 0, when reference is
greater than E09 the value is scaled with input range from E09=0% to 100%.
The following scheme shows the situation. The dead zone is symmetric.

OUT

100%

- PRC_SPD_TOT_AN_DZ

-100%
IN
100%
+ PRC_SPD_TOT_AN_DZ

-100%

3.1.4 Digital Speed Reference

Name Description Min Max Default UM Scale

E11 - Digital speed reference
PRC_SPD_JOG -100.00 100.00 0 % MOT_SPD_MAX 163.84
value (JOG1)
E12 - Enable jog speed
EN_SPD_JOG 0 1 0 1
reference
PRC_SPD_REF_JOG D76 - Jog Speed reference -100 100 0 % MOT_SPD_MAX 163.84
E13 - Motor potentiometer
PRC_START_DG_POT -100.0 100.0 2.002075 % MOT_SPD_MAX 163.84
starting speed
E14 - Load final digital
EN_MEM_DG_POT 0 1 0 1
potentiometer reference value
E15 - CW motor potentiometer
PRC_MAX_REF_DG_POT -105.02 105.02 105.02 % MOT_SPD_MAX 163.84
speed reference value
E16 - CCW motor
PRC_MIN_REF_DG_POT potentiometer speed reference -105.02 105.02 -105.02 % MOT_SPD_MAX 163.84
value
E17 - Digital potentiometer
DG_POT_RAMPS 0.3 1999.9 50 s 10
acceleration time
E18 - Enable motor
EN_DG_POT 0 1 0 1
potentiometer reference value
D67 - Digital Potentiometer
PRC_SPD_REF_DG_POT -100 100 0 % MOT_SPD_MAX 163.84
Speed reference
D33 - Speed reference
PRC_APP_SPD_REF -100 100 0 % MOT_SPD_MAX 163.84
(application generated)

MW00001E00 V_4.3 65
 Digital Speed References

OR
Dig. Potentiometer Command Reference
ID_EN_DG_POT (I06)
EN_DG_POT(E18) % Digital Potentiometer Speed
Enable OUT Reference
ID_UP_POTD(I09) Increases
PRC_SPD_REF_DG_POT(D67)
ID_DN_POTD (I10) Decrements
PRC_START_DG_POT(E13) StartValue
DG_POT_RAMPS(E17) TRamp
PRC_MIN_REF_DG_POT(E16) XMin
PRC_MAX_REF_DG_POT(E15) XMax

Selector
0 Command Reference
0.0
% Jog Speed Reference
PRC_SPD_JOG (E11) 1 PRC_SPD_REF_JOG (D76)
OR
Sel
ID_EN_SPD_JOG (I05)
EN_SPD_JOG (E12)

3.1.4.1 Digital Speed Reference (Jog)

The value programmed in parameter E11 can be used as digital speed reference either by activating
the logic function “Enable Jog” I.05 assigned to an input (default input L.I.5) or with the connection
E12=1. The resolution is 1/10000 of the maximum working speed.

3.1.4.2 Digital Potentiometer Speed Reference

A function that makes it possible to obtain a terminal board adjustable speed reference through the use
of two logic inputs to which are assigned the input functions digital potentiometer up I09”
(ID_UP_POTD) and “Digital potentiometer down I10” (ID_DN_POTD) .
The reference is obtained by increasing or decreasing an internal counter with the ID_UP_POTD and
ID_DN_POTD functions respectively.
The speed of increase or decrease set by parameter E17 (acceleration time of the digital
potentiometer) which sets how many seconds the reference takes to go from 0 to 100%, keeping the
ID_UP_POTD active (this times is the same as to go from 100.0% to 0.0% by holding ID_DN_POTD
active). If ID_UP_POTD are ID_DN_POTD are activated at the same time the reference remains still.
The movement of the reference is only enabled when the converter is in RUN.
The functioning is summarised in the following table:

ID_DN_POT
Converter running on-line ID_UP_POTD DP.LV C20 REF
D
H H L x x increases
H L H x x decreases
H L L x x stopped
H H H x x stopped
L x x x x stopped
L -> H x x L L P8
L -> H x x H L REF4 L.v.
L -> H x x L H REF4 L.v.
L -> H x x H H REF4 L.v.

H = active x = does not matter L = not active L -> H = From Off-line to On-line

The digital potentiometer reference requires, to be enabled, activation of function I06 after allocating an
input or activating connection E18 (E18=1).
In the parameters E15 and E16 the maximum and the minimum admitted reference values can be
marked for the digital potentiometer reference.

66 MW00001E00 V_4.3
3.1.5 Frequency Speed Reference

Name Description Min Max Default UM Scale

Range
0 Analogic
FRQ_IN_SEL C09 - Frequency input setting 1 Digital Encoder 1 1
2 Digital f/s
3 Digital f/s 1 edge
Range
0 Not enabled
1 64 ppr
2 128 ppr
3 256 ppr
E20 - Encoder pulses per
FRQ_IN_PPR_SEL 4 512 ppr 5 1
revolution
5 1024 ppr
6 2048 ppr
7 4096 ppr
8 8192 ppr
9 16384 ppr
E21 - NUM - Frequency input
FRQ_IN_NUM -16383 16383 100 1
slip ratio
E22 - DEN - Frequency input
FRQ_IN_DEN 0 16383 100 1
slip ratio
REF_FRQ_IN D12 - Frequency in input 0 KHz 16
Range
0 Frequency only
E24 - Frequency speed
FRQ_REF_SEL 1 Time decod only 0 1
reference selection
Frequency and time
2
decod
E23 - Enable frequency speed
EN_FRQ_REF 0 1 0 1
reference value
E25 - Filter time constant of
TF_TIME_DEC_FRQ frequency input decoded in 0.0 20.0 1.6 ms 10
time
E26 - Corrective factor for
KP_TIME_DEC_FRQ frequency input decoded in 0.0 200.0 100 163.84
time
D77 - Time Decode %
PRC_SPD_REF_TIME_DEC Frequency input Speed -100 100 0 MOT_SPD_M 163.84
reference AX
D14 - Frequency speed %
PRC_APP_FRQ_SPD_REF reference value (application -100 100 0 MOT_SPD_M 163.84
generated) AX
P88 - High precision analog
MAXV_VF speed reference value: 2500 10000 10000 mVolt 1
Voltage matches max. speed
P10 - Offset for high precision
OFFSET_VF -19999 19999 0 1/100 mV 1
analog reference value
P159 - High precision analog
speed reference value:VCO
KP_NEG_VF -16383 16383 4096 1
setting for negative voltage
reference values
P150 - High precision analog
speed reference value:VCO
KP_POS_VF -16383 16383 4096 1
setting for positive voltage
reference values

MW00001E00 V_4.3 67
3.1.5.1 Speed Frequency Reference Management

This speed reference in pulses can be provided in 4 different ways (alternatives to each other), that can
be selected by means of connection C09.

C09 Description Mode of working

0 Analogic Analog reference ±10V (optional)

1 Digital encoder 4 track frequency reference (default)

2 Digital f/s Frequency reference (freq. and up/down) counting all edges

3 Digital f/s 1 edge Frequency reference (freq. and up/down) counting one edge

To be used Speed reference in pulses must be enabled either by activating the function “Enable
reference in frequency I19“ assigned an input or by means of connection E23=1 .
The incremental position reference is always enabled and it’s possible to add an offset depending on
analog and digital speed reference enable.

68 MW00001E00 V_4.3
3.1.5.2 Digital Frequency Reference

About the digital frequency reference, there are two working modes can be selected with C09:
• Setting C09 = 1 a reference can be provided with an encoder signal with 4 tracks of a
maximum range varying between 5V and 24V and a maximum frequency of 300KHz.

• Setting C09 = 2 a speed reference can be provided with an frequency signal with a maximum
range varying between 5V and 24V and a maximum frequency of 300KHz.
(setting C09 =3 will be manage the same input, but internally will be count only rising edge,
this option is useful only if it is used the time decode).
The number N of impulses/revolution for the reference is set by connection E20:

N 0 1 2 3 4 5 6 7 8 9

N° of impulses/revolution Disable 64 128 256 512 1024 2048 4096 8192 16384

There are the parameters E21 and E22 that permit specification of the ratio between the reference
speed and input frequency as a Numerator/Denominator ratio.
In general terms, therefore, if you want the speed of rotation of the rotor to be X rpm, the relationship to
use to determine the input frequency is the following:

E E
and vice versa
E E
Let us now look at a few examples of cascade activation (MASTER SLAVE) with frequency input
according to a standard encoder.
By a MASTER drive the simulated encoder signals A, /A, B, /B are picked up to be taken to the
frequency input of the SLAVE. By means of parameters E21 and E22 the slipping between the two is
programmed.

Master Slave

N° of pulses/revolution = 512 N° of pulses/revolution = 512

P65 = 2500 rpm P65 = 2500 rpm

E21 = E22 = 100

The slave goes at the same speed as the master

Master Slave

N° of pulses/revolution = 512 N° of pulses/revolution = 512

P65 = 2500 rpm P65 = 2500 rpm

E21 = 50 E22 = 100

The slave goes at the half speed as the master

Master Slave

N° of pulses/revolution = 512 N° of pulses/revolution = 512

P65 = 2500 rpm P65 = 2500 rpm

E21 = 100 E22 = 50

The slave goes at the double speed as the master

To obtain good performance at low speed it is necessary to select an encoder resolution for the master
that sufficiently high.
More precisely, the signal coming from the encoder can be adapted according to the report E21/E22
and, if necessary, one of the analog input. In fact, setting parameters E41 and E42, is possible bound
an analog input at the numerator of the scroll ratio. In this way the scroll ratio can be changed by an
analog input.
The setting is:
• E41= analog input to use
• E42=2

MW00001E00 V_4.3 69
3.1.5.3 Frequency Speed Reference Management

The speed reference in pulses is very accurate (no pulses is lost) but for its nature it has an irregular
shape because are counted the edges every sampling period (TPWM) and this produce a speed
reference with many noise. Also if the frequency input is constant, between a PWM period and another
could be counted a variable number of pulses, ± one pulse. This produce a low resolution reference,
expecially when the frequency input decreases.
For not use a big filter with frequency reference it’s possible to use its time decode that has a good
resolution. It is measured the time between various edges of frequency input with resolution of 25ns,
reaching a percentage resolution not less than 1/8000 (13 bit) working to 5KHz of PWM (increasing
PWM resolution decreases linearly).

There are 3 different ways to manage frequency speed reference, selectable with parameter
E24 (FRQ_REF_SEL):

E24 Description
0 Pulses reference
1 Decoded in time reference
2 Pulses and decoded in time reference

Enabling the frequency speed reference can be done by the parameter E23 = 1 (EN_FRQ_REF) or
bringing at active logic state input function I19.

3.1.5.3.1 Pulses Reference (E24=0)

0 sysSpeedPercRef

Selector
FRQ_IN_NUM(E21) Multiply
A
0.0 0 Division
/A
B
Input
Encoder
216 IN
Mul X OUT Selector
/B
2
BASE
FRQ IN DEN (E22)
IN
Div / OUT 0.0
0
FRQ_IN_SEL (C09) Sel FRQ_IN_PPR_SEL sysSpeedRefPuls
(E20) 1
ID_EN_FRQ_REF (I19) OR
Sel
EN_FRQ_REF (E23)

In this mode, the speed reference is given only in pulses ensuring maximum correspondence master-
slave, but with a strong granular signal especially for low frequency input.
Linear ramps are not enabled.

3.1.5.3.2 Decoded In Time Reference (E24=1)

Selecto
A FRQ_IN_NUM(E21) Multipl
/A 0.0 0 Divisio
B
/B
Input 216
IN
Mul XOUT Selecto
Encode
2 BASE
FRQ_IN_PPR_SEL
FRQ_IN_DEN
IN
Div / OUT 0.0
0
FRQ_IN_SEL (C09) Sel
(E20) 1
ID_EN_FRQ_REF (I19)
OR EN_FRQ_REF (E23) Sel

Time_Dec
Filter 1° order
IN OUT
IN OUT Multipl
TimeF IN OUT
TF_TIME_DEC_FRQ (E25) X
Mul sysSpeedPercRe
KP_TIME_DEC_FRQ(E26) f

0 sysSpeedRefP

In this working mode the frequency speed reference is decoded in time with maximum linearity also for
very low input frequencies.
In this mode is possible to create a dynamic electrical axis, possibly with linear ramps enabled, but that
is not rigid in the sense that there is no guarantee master-slave phase maintenance.

70 MW00001E00 V_4.3
 3.1.5.3.3 Pulses and Decoded in Time Reference (E24=2)

Selector
FRQ_IN_NUM(E21) Multiply
A 0.0 0 IN OUT Division
/A
B
Input
Encoder
2
16
Mul X IN OUT
Selector
/B 2
BASE
FRQ IN DEN (E22) Div / 0.0
0
FRQ_IN_SEL (C09) FRQ_IN_PPR_SEL
(E20) ID_EN_FRQ_REF (I19) OR 1
EN_FRQ_REF (E23)

Time_Dec
Filter 1° order
IN OUT
IN OUT Multiply
TF_TIME_DEC_FRQ (E25) TimeF IN
Mul X OUT sysSpeedPercRef
KP TIME DEC FRQ(E26)
Ramps
enabled
sysSpeedRefPul
Ramps
disabled

This is the most complete and powerful mode, which makes use of both references:

 the frequency speed reference decoded in time ("sysSpeedPercReference”) has very good
resolution also for low frequency input, thus allows high speed regulator gains

 the pulses speed reference (“sysSpeedRefPulses "), going to impose a reference to the
integral part of the speed regulator, will not miss pulses, ensuring maximum precision in the
master-slave electrical axes

If the linear ramps are enabled will act only after the first starting, then going to exclude themselves.

3.1.5.3.4 High Resolution Analog Reference (Optional)

Putting C09 = 0 (with the optional hardware) an analog signal can be provided ±of 10V that will be
converted into frequency while impulse counting will be taken from the high precision speed reference.
Parameter P10 permits compensation of any offset present in the analog input and is expressed in
units of 10µV;

Parameter P88 permits setting of the voltage to which maximum speed will correspond (default value
of 10000mV or 10V).

REF2
100%

-P88

P88 Vin

-100%

MW00001E00 V_4.3 71
3.1.6 Digital Inputs Configurations

The control requires up to 8 optically insulated digital inputs (L.I.1 … L.I.8.) whose logic functions can
be configured by means of connection C1 ÷ C8.

Name Description Min Max Default UM Scale

LI1_SEL C01 - Meaning of logic 1 -1 31 8 1

LI2_SEL C02 - Meaning of logic 2 -1 31 2 1

LI3_SEL C03 - Meaning of logic 3 -1 31 3 1

LI4_SEL C04 - Meaning of logic 4 -1 31 0 1

LI5_SEL C05 - Meaning of logic 5 -1 31 4 1

LI6_SEL C06 - Meaning of logic 6 -1 31 12 1

LI7_SEL C07 - Meaning of logic 7 -1 31 5 1

LI8_SEL C08 - Meaning of logic 8 -1 31 22 1

TF_LI6-7-8 P15 - I06,07,08 logical inputs digital filter 0.0 20.0 2.2 ms 10

EN_NOT_LI C79 - Enable negative logic for digital inputs 0 255 0 1

The following table shows the logic functions managed by standard application:

DEFAULT DEFAULT
NAME INPUT LOGIC FUNCTIONS
INPUT STATUS
I 00 ID_RUN Run command L.I.4 L
I 01 ID_CTRL_TRQ Torque control L
I 02 ID_EN_EXT External enable L.I.2 H
I 03 ID_EN_SPD_REF_AN Enable analog reference A.I.1. L.I.3 L
I 04 ID_EN_TRQ_REF_AN Enable analog reference A.I.2. L.I.5 L
I 05 ID_EN_JOG Enable speed jog L.I.7 L
I 06 ID_EN_SPD_REF_POTD Enable digital potentiometer speed reference L
I 07 ID_EN_LIM_TRQ_AN Enable analog reference A.I.3. L
I 08 ID_RESET_ALR Reset alarms L.I.1 L
I 09 ID_UP_POTD Digital potentiometer UP L
I 10 ID_DN_POTD Digital potentiometer DOWN L
I 11 ID_LAST_V_POTD Load last digital potentiometer value L
I 12 ID_INV_SPD_REF Invert speed reference value L.I.6 L
I 14 ID_EN_FLDB_REF Enable FIELD-BUS reference values L
I 15 ID_EN_PID_REF Enable PID ref
I 16 ID_EN_PAR_DB2 Enable second parameter bank L
I 17 ID_EN_LP_SPZ_AXE Enable space loop for electrical axis L
I 18 ID_FRZ_COM_I Freeze integral part of PID
I 19 ID_EN_SPD_REF_FRQ Enable frequency speed reference value L
I 20 ID_EN_AI16 Enable analog reference value AI16 L
I 21 ID_EN_OVR_LMN_I Enable override integral part of PID
I 22 ID_EN_RAMP Enable liner ramps L.I.8 L
I 23 ID_TC_SWT_MOT Motor termo-switch L
I 24 ID_BLK_MEM_I_SPD Freeze PI speed regulator integral memory L
I 25 ID_EN_OFS_LP_SPZ Enable offset on overlap position loop reference L
I 26 ID_EN_SB Enable speed regulator second bank L
I 27 ID_POS_SEL0 Stop in position target selection (bit0) L
I 28 ID_POS_SEL1 Stop in position target selection (bit1)
I 29 ID_EN_POS Enable Stop in position function
I 30 ID_EN_POS_NOV Enable Stop in position movement
I 31 ID_PWM_SYNCH PWM synchronization input

72 MW00001E00 V_4.3
NB: pay particular attention to the fact that it is absolutely not possible to assign the same logic
function to two different logic inputs: after changing the connection value that sets a
determined input, check that the value has been accepted, if not check that another has not
already been allocated to that input. In order to disable a logic input it’s necessary to assign to
it the logic function -1: this is the only value that can be assigned to more than one inputs.
For example, to assign a specific logic function to logic input 1 you must first write the desired logic
number for connection I01:
I01 = 14  logic input 1 can be used to enable Fieldbus references
The logic functions that have been configured become active (H) when the input level is at high status
(20V < V < 28V), and there is a 2.2ms hardware filter. With the connection C79 it’s possible to enable
the active logic low state for a particular digital input, it’s necessary to sum 2 to the power of ordinal
input number.

For example to set digital inputs I0 and I3 to active low state, set: C79 = 2 0 + 2 3 = 9
The functions that have not been assigned assume default value; for example, if the function
“external enable“ is not assigned it becomes, as default, “active ( H )” so the converter is as if there
were no assent from the field.

3.1.6.1 Input Logic Functions Set in Other Ways

Actually the input logic functions can also be set by serial connection and by fieldbus, with the following
logic:

I00 Run: stands alone, it has to be confirmed by terminal board inputs, by the serial and by the
fieldbus, though in the case of the latter the default is active and so, if unaltered, controls only the
terminal board input.
I01÷ I31: is the parallel of the corresponding functions that can be set at the terminal board, the serial
or the fieldbus.

3.1.7 Second Sensor

Name Description Min Max Default UM Scale

Range
0
1 Encoder
2
3
4 Resolver
5 Resolver RDC
6
SENSOR2_SEL C17 - Sensor2 selection 0 1
7
8 Sin/Cos incr
9
10 Endat 1317
11 Endat 1329
12
13
14 Endat 125
P16 - Number of absolute sensor2
RES2_POLE 1 160 2 1
poles
P17 - Number of encoder2
ENC2_PPR 0 60000 1024 pulses/rev 1
pulses/revolution
C18 - Enable incremental encoder2
EN_TIME_DEC_ENC2 0 1 0 1
time decode
C20 - Invert sensor2 positive cyclic
EN_INV_POS2_DIR 0 1 0 1
versus
EN_SENSOR2_TUNE U00 - Enable sensor2 autotunig 0 1 0 1
P48 - Tracking loop bandwidth direct
RES2_TRACK_LOOP_BW 100 10000 1800 rad/s 1
decoding of resolver2
RES2_TRACK_LOOP_DA P49 - Damp factor Traking loop
0.00 5.00 0.71 100
MP resolver2
P07 - Second sensor amplitude
KP_SENS2 0.0 200.0 100 % 163.84
compensation
OFFSET_SIN_SENS2 P08 - Second sensor sine offset -16383 16383 0 1
OFFSET_COS_SENS2 P09 - Second sensor cosine offset -16383 16383 0 1
HW_SENSOR2 D62 - Sensor2 presence 0 1
SENS2_SPD D51 - Second sensor rotation speed 0 rpm 1

MW00001E00 V_4.3 73
Name Description Min Max Default UM Scale
D52 - Second sensor Absolute
SENS2_TURN_POS mechanical position (on current 0 16384 1
revolution)
D53 - Second sensor Number of
SENS2_N_TURN 0 16384 1
revolutions
D54 - Second sensor Frequency
SENS2_FRQ_IN 0 KHz 16
input
SENS2_ZERO_TOP D56 - Sensor2 Zero Top 0 pulses 1
C25 - Second resolver DDC
RES2_DDC_BW 0 1 0 Hz 1
bandwidth
Range
EN_SLOT_SWAP C19 - Enable sensor slot swap 0 No 0 1
1 Yes
SENS2_RES Second sensor resolution 0 bit 1
sensor
SENS2_POS Second sensor actual position 0 1
pulses

3.2 OUTPUT

3.2.1 Digital Output Configurations

The control can have up to 4 optically insulated digital outputs (L.O.1 … L.O.4) whose logic functions
can be configured as active high (H) by means of connection C10 ÷ C13.

Name Description Min Max Default UM Scale

LO1_SEL C10 - Meaning of logic output 1 -64 63 3 1

LO2_SEL C11 - Meaning of logic output 2 -64 63 0 1

LO3_SEL C12 - Meaning of logic output 3 -64 63 6 1

LO4_SEL C13 - Meaning of logic output 4 -64 63 19 1

Range
0 I/I NOM MOT
I_RELAY_SEL C55 - Current relay output 0 1
1 T/T NOM POT
2 P/P NOM POT
P26 - Current/power relay cut-in
I_RELAY_THR 0.2 150.0 100 % 40.96
threshold
P27 - Filter time constant for
TF_I_RELAY 0.1 10.0 1 s 10
current/power relay
P47 - Speed threshold for logic
DO_SPD_REACH_THR 0.0 100.0 0 %MOT_SPD_MAX 163.84
output o.16
DO_SPD_MIN_THR P50 - Minimum speed for relay 0.0 100.0 2.0 %MOT_SPD_MAX 163.84
P59 - Minimum anda maximum
HYST_DO_SPD speed reached output 0.0 100.0 1.0 %MOT_SPD_MAX 163.84
hysteresis

The following table shows the logic functions managed by standard application:

NAME OUTPUT LOGIC FUNCTIONS DEFAULT OUTPUT

O 00 OD_DRV_READY Drive ready L.O.2

O 01 OD_ALR_KT_MOT Motor thermal alarm

O 02 OD_SPD_OVR_MIN Speed greater than minimum L.O.4

O 03 OD_DRV_RUN Drive running L.O.1

O 04 OD_RUN_CW CW / CCW

O 05 OD_K_I_TRQ Current/torque relay

O 06 OD_END_RAMP End of ramp L.O.3

O 07 OD_LIM_I Drive at current limit

O 08 OD_LIM_TRQ Drive at torque limit

O 09 OD_ERR_INS Tracking incremental error > threshold (P37 and P39)

74 MW00001E00 V_4.3
 O 10 OD_PREC_OK Power soft-start active

O 11 OD_BRK Braking active

O 12 OD_POW_OFF No mains power

O 13 OD_BUS_RIG Bus regeneration enable (Support 1 )

O 14 OD_IT_OVR Motor overheating (exceeds threshold P96)

O 15 OD_KT_DRV Radiator overheating (higher than P120 threshold)

O 16 OD_SPD_OK Speed reached (absolute value higher than P47)

O 17 OD_STO_ON Safe Torque Off active

O 19 OD_POS_INI_POL Regulation card supplied and DSP not in reset state

O 20 OD_SNS1_ABS SENS1 Absolute position available

O 21 OD_DRV_OK Drive ready and Power Soft start active

O 22 OD_LL_ACTV LogicLab application active

O 23 OD_STO_OK STO: not dangerous failure

O 24 OD_TRQ_CTRL Torque control

O 25 OD_VBUS_OK DC bus voltage exceeds threshold (P79)

O 26 OD_BRK_FLT Braking circuit fault (MiniOPDE only)

O 31 OD_PWM_SYNCH PWM synchronization output

O 32 OD_HLD_BRK Motor holding brake

O 33 OD_STOP_POS_ON Stop in position target reached

O 34 OD_SPD_REF_RCH Speed reference reached

O 39 OD_EN_FANS Enable converter fans

If you wish to have the logic outputs active at the low level (L) you need just configure the connection
corresponding to the chosen logic function but with the value denied: for example, if you want to
associate the function “ end of ramp ” to logic output 1 active low, you have to program connection 10
with the number -6 ( C10=-6 ).

Note: if you want to configure Output logic 0 to active low you have to set the desired connection to
value -32 .

3.2.2 Analog Output Configurations

Name Description Min Max Default UM Scale

AO1_SEL C15 - Meaning of programmable analog output 1 -99 100 11 1

AO2_SEL C16 - Meaning of programmable analog output 2 -99 100 4 1

PRC_AO1_10V P57 - % value of 10V for analog output A 100.0 400.0 200 % 10

PRC_AO2_10V P58 - % value of 10V for analog output B 100.0 400.0 200 % 10

OFFSET_AO1 P110 - Offset A/D 1 -100.0 100.0 0 % 327.67

OFFSET_AO2 P111 - Offset A/D 2 -100.0 100.0 0 % 327.67

There can be a maximum of two analog outputs, VOUTA and VOUTB ± 10 V, 2mA.
To each of the two outputs can be associated an internally regulated variables selected from the list
here below; the allocation is made by programming the connection corresponding to the output
concerned, C15 for VOUTA and C16 for VOUTB, with the number given in the table below
corresponding to the relative quantities. By means of the parameters P57 (for VOUTA) and P58 (for
VOUTB) it is also possible to set the percentage of the variables selected to correspond to the
maximum output voltage (default values are P57=P58=200% so 10V in output correspond to 200% of
variable selected). The default for VOUTA is a signal proportional to the current supplied by converter
(C15=11), in VOUTB the signal is proportional to the working speed (C16=4).

MW00001E00 V_4.3 75
It is also possible to have the absolute internal variable value desired: to do this it is simply necessary
to program the connection corresponding to the denied desired number: for example taking C15=-21
there will be an analog output signal proportional to the absolute value of the working frequency.
It is also possible to have a analog output fixed to +10V: to do this it is simply necessary to program the
connection corresponding to 100.

POSSIBLE CONNECTIONS
1
VOUTA

C15 100Ω
11

100

0
4 VOUTB

C16 100Ω

100
THE DARKER LINE INDICATES THE
DEFAULT PROGRAMMING

DEFAULT
OUTPUT ANALOG FUNCTIONS
OUTPUT
O 00 Actual mechanical position read by sensor[100%=180]
O 01 Actual electrical position read by sensor(delta m) [100%=180]
O 02 Reference speed value before ramps [% n mAX]
O 03 Reference speed value after ramps [% n MAX]
O 04 Rotation speed filtered [% n MAX] A.0.2
O 05 Torque request [% C NOM MOT]
O 06 Internal value: status (MONITOR only)
O 07 Request to current loop for torque current [% I NOM AZ]
O 08 Request to current loop for flux current [% I NOM AZ]
O 09 Max voltage available [% VNOM MOT]
O 10 Internal value: alarms (MONITOR only)
O 11 Current module [% I NOM AZ] A.0.1
O 12 Motor sensor Zero Top [100%=180]
O 13 U phase current reading [% I MAX AZ]
O 14 Internal value: inputs (MONITOR only)
O 15 Torque component of current reading [% I NOM AZ]
O 16 Magnetizing component of current reading [% I NOM AZ]
O 17 U phase voltage duty-cycle
O 18 Stator voltage reference value module [% VNOM MOT]
O 19 Modulation index [0<->1]
O 20 Request Q axis voltage (Vq_rif) [% VNOM]
O 21 Delivered power [% PNOM]
O 22 Request D axis voltage (Vd_rif) [% VNOM]
O 23 Torque produced [% C NOM MOT]
O 24 DC bus voltage [100%=900V]
O 25 Radiator temperature
O 26 Motor temperature
O 27 Rotor flux [% NOM]
O 28 Motor thermal current [% alarm threshold A6]
O 29 Current limit [% I MAX AZ]
O 30 CW maximum torque [% C NOM MOT]
O 31 CCW maximum torque [% C NOM MOT]

76 MW00001E00 V_4.3
O 32 Internal value: outputs (MONITOR only)
O 33 Internal value: inputs_hw (MONITOR only)
O 34 V phase current reading [% I MAX AZ]
O 35 W phase current reading [% I MAX AZ]
O 36 Actual electrical position (alfa_fi ) [100%=180 ]
O 37 Analog input A.I.1
O 38 Analog input A.I.2
O 39 Analog input A.I.3
O 40 Positive speed reference limit [% n MAX]
O 41 Application speed reference value ("sysSpeedPercReference") [% n MAX]
O 42 Application torque reference value ("sysTorqueReference") [% C NOM MOT]
O 43 Application positive torque limit ("sysMaxTorque") [% C NOM MOT]
Frequency speed reference value from application ("sysSpeedRefPulses") [Pulses
O 44
per TPWM]
Overlapped space loop reference value from application
O 45
("sysPosRefPulses")[Pulses per TPWM]
O 46 Amplitude to the square of sine and cosine feedback signals [1=100%]
O 47 Sen_theta (Direct resolver and Sin/Cos Encoder) [Max amplitude = 200%]
O 48 Cos_ theta (Direct resolver and Sin/Cos Encoder) [Max amplitude = 200%]
O 49 Rotation speed not filtered [% n MAX]
O 50 Delta pulses read in PWM period in frequency input [Pulses per PWM]
O 51 Overlapped space loop memory lsw [Electrical pulses (x P67)
O 52 Overlapped space loop memory msw [Electrical turns (x P67)]
O 53 Incremental SIN theta Sin/Cos Encoder
O 54 Incremental COS theta Sin/Cos Encoder
O 55 End initial reset
O 56 PTM motor thermal probe
O 57 PTR radiator thermal probe
O 58 Pulses read by sensor
O 59 SENS2 Rotation speed not filtered
O 60 SENS2 Actual position
O 61 SENS2 Sin_theta
O 62 SENS2 Cos_theta
O 63 SYNC delay measured
O 64 Application negative torque limit (“sysMaxNegativeTorque”) [%C NOM MOT]
O 65 Energy dissipated on breaking resistance [joule]
O 66 IGBT junction temperature [ %100°]
O 67 Negative speed reference limit [%nMAX]
O 68 Stop in position target [100%=180]
O 69 Stop in position actual position [100%=180]
O 70 Stop in position error [100%=180]
O 71 Stop in position o33 timer [ms]
O 85 Setpoint PID
O 86 Process value PID
O 87 Component P of PID
O 88 Component I of PID
O 89 Component D of PID
O 90 Error SP-PV of PID
O 91 Output PID

MW00001E00 V_4.3 77
3.2.3 Frequency Output

Name Description Min Max Default UM Scale

ENC_OUT_ZERO_TOP C49 - TOP zero phase for simulated encoder 0 3 0 1

ENC_OUT_DIR C50 - Invert channel B simulated encoder 0 1 0 1

ENC_OUT_PPR_SEL C51 - Choose pulses rev. simulated encoder 0 12 5 1

ENC_OUT_SEL C52 - Simulated encoder selection 0 5 0 1

OPD_ENC_OUT_SEL C54 - Internal simulated encoder selection 0 2 0 1

P124 - Simulated encoder Kv gain
PRC_ENC_OUT_LOOP 0.0 100.0 100 % 327.67
multiplication coeff.

With C52 is possible select the signal for the frequency output as indicated in the follow table:

C52 Value Description

The frequency output is the simulated encoder based on motor
0 OPD_ENC_OUT sensor, that can be configured conforming the follow
paragraph
The frequency output is the squared signal from the motor
1 SENS1
speed (sensor 1)
The frequency output is the squared signal from the speed
2 SENS2
sensor 2
The frequency output is the squared signal from the frequency
3 FRQ_IN
input
The frequency output is the simulated encoder based on motor
4 OPD_ZERO_OP sensor, configurable (like C52=0) but only the ZeroTop is the
real one (from motor sensor)
The frequency output is the simulated encoder based on
5 OPD_ENC_OUT2
second sensor configured confirming the follow paragraph

With the default setting (C52=0) is possible to configure the frequency output signals, but there will be
a little jitter on the signals for the inner PLL regulation. With C52=1 the output is produced directly from
sensor 1 signals. This option, usable only with Encoder or SinCos Encode, ensures a good signal
stability (without jitter) but does not allow to choose the number of pulses per revolution in output, since
these are those of the sensor.
With C52=1, in the particular case of Resolver decoded with RDC19224, the choice of the number of
pulses for revolution depends on the maximum speed and the number of sensor polar couples (P68/2)
in this way:

Maximum speed (rpm) x P68/2 Pul/rev motor/(P68/2)

1500 16384

6000 4096

24000 1024

With C52=2 the output is produced directly from sensor 2 signals, and with C52=3 the output is equal
to frequency input.
With C52=5 is possible to configure the frequency output signals related to second sensor, choosing
the number of pulse per revolution with C51.

78 MW00001E00 V_4.3
3.2.3.1 Simulated Encoder Signals

The frequency of the output signals depends on the motor revolutions, the number of sensor poles and
the selection made (see connection C51 in the core file) and their behaviour in time depends on
rotation sense (CW or CCW) and on C50 as shown in the figures below

d21>0 C50=0 d21>0 C50=1

d21<0 C50=0 d21<0 C50=1

The simulated encoder outputs are all driven by a “LINE DRIVER”. Their level in the standard drive
version is referred to +5V and then it is connected to the internal supply (TTL +5V).
In option (to be requested in the ordering) there is the possibility to refer the signal level to an external
supply whose value must be between +5V and +24V, connection on terminal 5 and 6.
In the connected device it is better to use a differential input to avoid loops with the 0V wire, to limit
noise effects it is better to load this input (10mA max).

It is necessary to use a twisted shielded cable to make a proper connection.

WARNING: the external power supply GND is connected with the 0V of the drive (it is not
optoisolated).

WARNING (MiniOPDE SETTING CONTROL BOARD): see the relevant installation manual.

WARNING: the simulated encoder signals (A,/A,B,/B,C,/C) can exit the connector M4 card
regolationto different voltage. In the standard setting of dip switch SW1, as supplied by the TDE
[figure (1)], there is the possibilty of supplying a max voltage of 24Vdc to pin M4-5 and M4-6.
The signals will come to the same voltage provided at the entrance. With the standard setting, if
you don’t provide the voltage on pin M4-5 and M4-6, signals come out at 4,4V.
If you want to use the signals to 5V, set the dip switch SW1 as shown in figure(2), without
providing any voltage at the terminals M4-5 and M4-6 it may damage the drive.

MW00001E00 V_4.3 79
80 MW00001E00 V_4.3
3.2.3.2 Configuration of the Encoder Simulation Output

Both of bidirectional simulation encoder channels could have a number of pulses per motor revolution
selectable by C51, according to the following table that also depends on the number of sensor polar
couples:

C51 Pul/rev motor/(P68/2)

0 0

1 64

2 128

3 256

4 512

5 1024

6 2048

7 4096

8 8192

9 16384

10 32768

11 65536

12 131072

WARNING: The choice of the number of pulses for revolution depends on the maximum speed
and the number of sensor polar couples (P68/2). In the following table are reported this
limitation. If it is selected a number of pulses too high compared with the maximum speed it is
triggered the alarm A15 code = 1.

Maximum speed (rpm) x P68/2 Pul/rev motor/(P68/2)

230 131072

460 65536

920 32768

1840 16384

3680 8192

7360 4096

14720 2048

29440 1024

32767 512

The default value is C51=5 correspond to 1024 pul/rev.

As can be seen, the number of pulses also depends on the number of sensor poles which are set in
parameter P68, and, in particular, the above-mentioned values are valid if the sensor is two-pole.
The pulse output is controlled by a line driver (ET 7272); the limitation of the number of pulses regards
the maximum speed is done for limit the maximum frequency for channel to 500 KHz.

MW00001E00 V_4.3 81
3.2.3.3 Simulated Encoder Meaning

The C54 connection allows to select two different modes of working for simulated encoder:

 Absolute Simulated Encoder C54=0 (default): in this mode also the third channel (zero
pulse) is managed.
 Incremental Simulated Encoder C54=1: in this mode the simulated encoder channels follow
the motor rotation in incremental way and the third channel (zero pulse) loses of meaning
 Reference Simulated Encoder C54=2: in this mode the simulated encoder channels follow
the speed reference, and the third channel (zero pulse) loses of physical meaning. If the drive
doesn’t work in torque limit the reference speed follows perfectly the real speed.

This choice is significant only for sensors with a zero pulse (Encoder, Encoder and Hall sensors,
Sin/Cos Encoder), in the other case (Resolver, Endat) the Simulated Encoder is always absolute.
The third channel generates always one zero pulse per revolution.
In the case of multipolar resolver, the zero pulse position depends randomly from the starting position.

The position of the zero pulse depends on the fit of the sensor on the drive shaft; with reference to the
original position, decoding the zero of the sensor position, this position may be changed with jumps of
90° electrical (with reference to the sensor) by means of connection C49 according to the following
table:

C49 Displacement

0 +0°

1 +90°

2 +180°

3 +270°

The default value is 0.

These electrical degrees correspond to the mechanical degrees if the resolver has two poles.
Connection C50 inverts the encoder B channel, thus inverting its phase with respect to channel A, with
the same motor rotation direction.
By default C50=0.
By P124 (default = 100%) is possible to reduce the loop gain. This can increase the stability of the
system, but reduce the speed response.

3.3 MOTION CONTROL

3.3.1 Incremental Position Loop

Name Description Min Max Default UM Scale

P37 - Maximum tracking error (less significative
FLW_ERR_MAX_LSW -32767 32767 32767 ppr 1
part)
POS_REG_KP P38 - Kv position loop proportional gain 0.0 100.0 4 10
P39 - Maximum tracking error (less significative
FLW_ERR_MAX_MSW 0 32767 0 rpm 1
part)
EN_POS_REG E39 - Enable overlapped space loop 0 1 0 1
E40 - Enable overlapped space loop memory clear
EN_POS_REG_MEM_CLR 0 1 0 1
in stop
C90 - Enable Incremental Position Loop on second
EN_POS_REG_SENS2 0 1 0 1
sensor
P152 - NUM Second sensor incremental position
POS_REG_SENS2_NUM -16384 16384 100 1
loop
P153 - DEN Second sensor incremental position
POS_REG_SENS2_DEN 0 16384 100 1
loop
Continuous position control during rotation is used to synchronise both speed and space with the
speed reference value used.
To enable this function, set input function I17 “Enable overlapped space loop” to high logic level or
set C239=1. From then on, an internal counter will be save any position errors regarding the space
crossed by the reference value. If the drive RUN command is disabled, the error will be accumulated
until it can be corrected once RUN has been enabled again.

82 MW00001E00 V_4.3
Using parameters P37 (65536=1 mechanical turn) and P39 (number of mechanical turns) it’s possible
to set a maximum tracking error threshold, if the absolute error value becomes greater than this value,
the logic output o.9 “Tracking error” goes at high level.
The overlapped space loop reference value is generated by the application and regards the
“sysPosRefPulses” value, which is also expressed in pulses for a period of PWM.
Note that once this function has been enabled, the overlapped space loop reference value will become
the real position reference value, while the other speed reference values will represent feed-forward.
With digital logic function I25 (“ID_EN_OFS_LP_SPZ”) is possible to add an offset on position
reference, based on analog and digital speed reference.
The space loop regulator is a pure proportional gain and its gain can be set on P38: set a value that
ensures a quick response, but one that does not make the motor vibrate at a standstill.
The continuous position control is most commonly applied to the electric axis: by taking the speed
reference value from the MASTER’s Simulated Encoder and taking it to the SLAVE’s frequency input,
the motion of the two motors can be synchronised. Once the overlapped space loop is enabled, the two
motors will always maintain the same relative position whatever their load. If the SLAVE reaches its
torque limit, the counter will save the position error and then correct it as long as the internal counter
limit has not been reached, in which case the synchronisation will be lost.
If “EN_POS_REG_MEM_CLR” (E40) is set to 1 when the drive is in stop the error memory is cleared.
With connection C90 “EN_POS_REG_SENS2” it’s possible to enable the use of second sensor to
close the incremental position loop. Parameters P152 and P153 are used to set the reduction ration
between second sensor and motor sensor.

3.3.1.1 Frequency Space Reference (Electrical Axes)

Managing a frequency space reference means always guarantee the same phase angle between
master and slave. To do this work is necessary to enable the overlapped position loop with parameter
E39 or bringing at active state input function I17.
It should then provide a speed feed-forward reference, the best solution is to use the frequency speed
reference decoded in time (E24=1 and E19=0), alternatively, wanting to work in pulses, clear E24=0.
Note: Wanting to manage in space the frequency reference, it’s not possible to enable pulses and
decoding in time reference (E24 = 2).
The recommended block diagram is:

Selector sysPosRefPuls
A FRQ_IN_NUM(E21) Multiply
/A 0.0 0 IN OUT Division
B
/B
Input
Encoder
216
Mul X IN OUT
Selector
2
BASE
FRQ IN DEN (E22) Div
FRQ_IN_PPR_SEL
/ 0.0
0
FRQ IN SEL (C09) Sel
(E20) 1
ID_EN_FRQ_REF (I19) Sel
OR EN_FRQ_REF (E23)

Time_Decode
Filter 1° order
IN OUT
IN OUT Multiply
TimeF IN OUT
TF_TIME_DEC_FRQ (E25)
KP_TIME_DEC_FRQ(E26)
X
Mul
sysSpeedPercR
f

The frequency speed reference decoded in time ("sysSpeedPercReference”) has to be enabled with
E23=1 o I19=H, it has very good resolution also for low frequency input, thus allows high speed
regulator gains.
The pulses space reference (“sysPosRefPulses”) has to be enabled with C65=1 o I17=H from then on
will not miss pulses, ensuring maximum precision in the master-slave electrical axes.
Since the overlapped position loop is enabled, it is useless enable also the linear ramps on frequency
speed reference decoded in time.

MW00001E00 V_4.3 83
3.3.2 Pid Controller

Name Description Min Max Default UM Scale

EN_PID E71 - Enabling PID control 0 2 0 1

DGT_SP_PID E72 - Digital setpoint PID -200.0 200.0 0.0 % 163.84

Range
0 DGT_SP_PID
1 AI1
2 AI2
SEL_SP_PID E73 - PID setpoint selection 3 AI3 0 1
4 AI16
PRC_SPD_REF-
5
TIME_DEC
6 PRC_SPD_SENS2
Range
0 DGT_SP_PID
1 AI1
2 AI2
E74 - PID process value
SEL_PV_PID 3 AI3 1 1
selection
4 AI16
PRC_SPD_REF-
5
TIME_DEC
6 PRC_SPD_SENS2
KP_PID E75 - KP proportional gain -200.0 200.0 1.00 163.84
E76 - Filter time constant
TF_PID_KP 0.0 20.0 0.4 ms 10
component P PID
TI_PID E77 - TI integral time 0 19999 0 ms 1

TD_PID E78 - TD derivate time 0 19999 0 ms 1

E79 - Limit Min value of
LMN_MIN_OUT_PID -200.0 200.0 -100.0 % 163.84
output PID
E80 - Limit Max value of
LMN_MAX_OUT_PID -200.0 200.0 100.0 % 163.84
output PID
E81 - Enabling PID
EN_REF_PID 0 1 0 1
reference
Range
0 External ref
1 Speed ref
2 Torque ref
Symmetrical torque limit
SEL_OUT_PID E82 - PID output selection 3 0 1
ref
4 Positive torque limit ref
5 Negative torque limit ref
6 Add to speed ref
7 Add to torque ref
ACT_SP_PID D85 - Actual setpoint PID % 163.84

ACT_PV_PID D86 - Actual feed-back PID % 163.84

D90 - Actual error SP-PV of
ACT_ERR_PID % 163.84
PID
D87 - Actual component P
ACT_COM_P_PID % 163.84
of PID
D88 - Actual component I of
ACT_COM_I_PID % 163.84
PID
D89 - Actual component D
ACT_COM_D_PID % 163.84
of PID
ACT_DUT_PID D91 - Actual output PID % 163.84
E83 - Override integral part
OVR_LMN_I -200.0 200.0 0.0 % 163.84
of PID
%
E09 - Analog speed/PID
PRC_SPD_TOT_AN_DZ 0.00 100.00 0 MOT_SPD_ 163.84
error-Dead zone amplitude
MAX

84 MW00001E00 V_4.3
 PID Control

Selector
DGT_SP_PID
AI1 0
AI2
AI3
AI16 6
PRC_SPD_REF_TIME_DEC
PRC_SPD_SENS2
Selector
SEL_SP_PID (E73) PID
SP
PV LMN_P ACT_COM_P_PID (D87)
LMN_I ACT_COM_I_PID (D88)
PRC_SPD_TOT_AN_DZ(E09) DEAD_BND LMN_D ACT_COM_D_PID (D89)
Selector TF_PID_KP(E76) KP_Filter Error ACT_ERR_PID (D90)
XOut External Ref
DGT_SP_PID
ACT_OUT_PID (D91)
AI1 0 KP_PID(E75) KP
AI2 TI_PID(E77) TI Speed Ref
AI3 TD_PID(E78) TD Multiplex
AI16 6 ID_FRZ_COM_I (I24) FREEZE_I
PRC_SPD_REF_TIME_DEC ID_EN_OVR_LMN_I (I21) EN_OVRD_I 0 Torque Ref
PRC_SPD_SENS2 OVR_LMN_I (E83) OVRD_I
Selector
SEL_PV_PID (E74) LMN_MIN_OUT_PID(E79) XMin 7 Sym. Torque Limit
XMax
LMN_MAX_OUT_PID(E80)
SEL_OUT_PID (E82) Selector Positive Torque Limit

Negative Torque Limit

Add to speed Ref

Add to torque Ref

Below is shown the functional diagram of PID block.

E71 – EN_PID = 2
LMN_P
-1
Integral Time

LMN_I
ERROR Filter 1° order I18 - Freeze Integral
Dead band (Error time filter) part of PID LMN_I_MAX
DMax Proportional Gain
+
(Setpoint)
SP
- E09 – E77-TI_PID
+
E73-SEL_SP_PID DMin E75 – E76-TF_PID_KP LMN I MIN
PRC_SPD_TOT_AN_DZ
E72-DGT_SP_PID KP_PID I21 - Enable
Override Integral
part of PID E83 – OVR_LMN_I
(Feed-back) PV Derivate Time (Override Integral part)
E74-SEL_PV_PID
LMN_D

E78-TD_PID
E80-
I15 - Enable PID LMN_MAX_OUT_
ref PID

E82-
SEL_OUT_PID XOut
E81-
EN_REF_PID
E79-
LMN_MIN_
OUT_PID

For a better understanding of the PID function it is useful to identify three parts of the controller
structure:
- PID input signals. In this section are selected the analog references, Frequency reference and
second sensor. The output of this part can be used as input to the PID regulator block.
- PID Regulator Block. This is the PID regulator or controller with its parameter and setting as
gains and scaling factors.
- PID output signals. This section is used managing the PID regulator output signal to be used
as reference input in the drive.

From the new software release is possible to enable some new functions:
• When the parameter E71-EN_PID is se to 2-Enable with Invert Output the error processed
by the PID controller is defined as: Error = PV – SP, In this way the output is reversed
compared to the standard behavior,
• Dead zone (defined in the paragraph 3.1.3 pag. 65) allows to put to zero the Error if its value
is lower (absolute value) then the dead band limit E09-PRC_SPD_TOT_AN_DZ,
• The Logical Input I18 allows to “freeze” the integral part of PID,
• The Logical Input I21 allows to overwrite the integral part of PID with the value set in E83-
OVR_LMN_I.

MW00001E00 V_4.3 85
 PID Input signals there considers three different possible setting of OPD Explorer: Set Point PID
Regulator, Feed back PID Regulator and Manual set point PID Controller.
In all the three different setting the signals coming from the analog inputs AI1,AI2, and AI3, from the
frequency input as speed reference and from the second sensor are eventually either added or
compared together.
With the exception of the feedback setting the reference can be a digital set point with the appropriate
configurations.
With the following premises:
o Input “SP” is the regulation reference with PID enabled (“auto”=TRUE) displayed thru internal
value “ACT_SP_PID” (D85)
o Input “PV” is the feedback signal of the regulator with PID enabled (“auto”=TRUE) displayed
thru internal value “ACT_PV_PID” (D86)
o Input “KP_Filter” defines the time for the first order filter that acts only on the proportional part
o The PID parameters are:
• “KP” proportional gain
• “TI” integral time defined in ms (if set = 0 integral gain is disabled)
• “TD” derivative time defined in ms (if set = 0 integral gain is disabled)
• Thru inputs “XMAX” (parameter “LMN_MAX_OUT_PID” E80) and “XMIN” (parameter
“LMN_MIN_OUT_PID” E79) it is possible to limit the regulation value as “XOUT”. When
output “XOUT” reaches its regulation limit the integral part will be freezed and blocked.

PID has following value :

“Error” (error value displayed in D90) = SP - PV;
“LMN_P” (proportional part displayed in D87) = filtered (KP * Error);
“LMN_I” ((integral part displayed in D88) = LMN_I + (KP * Error / (T_DRW_PWM * TI);
“LMN_D”( derivative part displayed in D89)=TD*KP*(Error - Error_Last)*T_DRW_PWM;
“XOUT” (PID regulator output displayed in D91) = LMN_P + LMN_I + LMN_D

Whereas T_DRW_PWM = 1000 / P101 with P101 = PWM frequency and Error_Last is the error value
of the previous control cycle.

N.B. In the folder “PID Controller” with the parameter "EN_PID" ( E71 - Enabling Genera PID
Control) is possible to disable the PID control function. If this parameter is disabled the PID
control is not active.

3.3.3 Stop In Position

If the drive is working in speed control, this particular function gives the chance to stop in a specific and
absolute position of the rotation revolution (stop target position). Once the stop position has been
reached, it is possible to command a relative movement of ±180°. Moreover there is the chance of
choosing the indexing speed and if to stop without inverting the rotation direction or not. The sensor
needs to have an absolute indication of the mechanical position, so if it is an Incremental Encoder, zero
TOP is necessary (obviously it is essential to run at least a one complete revolution before entering the
stop-order). If Resolver feedback is used, this must be a single pole pair one.
The stop in position can optionally be referred to a mechanical turn after a reduction gear using the
zero TOP on the load. The typical stop in position application is the indexing for the tool changing
system.

Name Description Min Max Def UM Scale

Range
0 No
EN_STOP_POS E55 - Enabling Stop in position 0 1
1 Same direction
2 Minimum track
Range
STOP_POS_CMD E56 - Stop in position comand selection 0 Input I29 0 1
1 Speed ref
E57 - Enabling Stop in position after
EN_STOP_POS_GBOX 0 1 0 1
gearbox
Range
Sensor connector
0
(first sensor)
Eighth digital input
1
ZERO_TOP_SEL E58 - Stop in position comand selection (first sensor) 0 1
Sensor connector
2
(second sensor)
Eighth digital input
3
(second sensor)

86 MW00001E00 V_4.3
 %
PRC_SPD_INDEX E59 - Indexing speed reference value 0.00 100.00 2.0 163.84
MOT_SPD_MAX
POS_REG_KP P38 - Kv position loop proportional gain 0.0 100.0 4 10

STOP_POS0 E60 - Target 0 Stop in position 0.00 100.00 0 % 360 degree 163.84

STOP_POS1 E61 - Target 1 Stop in position 0.00 100.00 0 % 360 degree 163.84

STOP_POS2 E62 - Target 2 Stop in position 0.00 100.00 0 % 360 degree 163.84

STOP_POS3 E63 - Target 3 Stop in position 0.00 100.00 0 % 360 degree 163.84

ANG_MOV E64 - Angular movement Stop in position -50.00 50.00 0 % 360 degree 163.84

POS_WINDOW E65 - Position Reached window 0.00 50.00 0.15 % 360 degree 163.84

TIME_WINDOW E66 - Time on Position Reached window 0 19999 10 ms 1

%
PRC_SPD_MIN_AUTO E67 - Minimum speed for automatic stop 0.00 100.00 1.0 163.84
MOT_SPD_MAX
%
SPD_MIN_HYST E68 - Minimum speed hysteresis 0.00 100.00 0.0 163.84
MOT_SPD_MAX
GBOX_NUM E69 - Gearbox NUM 0 16384 100 1

GBOX_DEN E70 - Gearbox DEN 0 16384 100 1

E54 - Disable stop in position when
DIS_STOP_POS 0 1 0 1
incremental position loop is enable
E92 - Enable autoset current position as
EN_STOP_POS_AUTOSET 0 1 0 1
stop in position target

3.3.3.1 Stop in Position Logic Input Functions

NAME INPUT LOGIC FUNCTIONS

I 27 ID_POS_SEL0 Stop in position target selection (bit0)

I 28 ID_POS_SEL1 Stop in position target selection (bit1)

I 29 ID_EN_POS Enable Stop in position function

I 30 ID_EN_POS_NOV Enable Stop in position movement

3.3.3.2 Stop in Position Logic Output Functions

NAME OUTPUT LOGIC FUNCTIONS

O 33 OD_STOP_POS_ON Stop in position target reached

3.3.3.3 Stop in Position Analog Output and Monitor

OUTPUT ANALOG FUNCTIONS

O 68 Stop in position target [100%=180]
O 69 Stop in position actual position [100%=180]
O 70 Stop in position error [100%=180]
O 71 Stop in position o33 timer [ms]

3.3.3.4 Stop in Position Alarm

ALARM DESCRIPTION CORRECTIVE ACTION

In equiverse indexing the indexing speed has Reduce indexing speed E59 or change indexing
Excessive
A4.0 a maximum value admitted, depending on mode selecting minimum track
indexing speed
max speed (P65) and position loop gain (P38)
Zero TOP 4 motor revolutions completed without reading
A4.1 Check sensor and cable.
missing Zero Top

MW00001E00 V_4.3 87
3.3.3.5 Working Mode

With the drive working in speed control, there is the chance of enabling the function “Stop in position” in
two different ways, based on E55:
• E55=1 → positioning is executed without changing the motor rotation verse (even if the error
between the actual position and the target is of few degrees);
• E55=2 → positioning is executed with the minimum track possible to reach the target position
(if the actual error between the actual position and the target is of few degrees the motor is
able to reverse its rotation direction).

Selection of what input makes “Stop in position” function active is programmable in E56:
• E56 = 0 → the input function I29 “Stop in position command “ must be set to high logic
level;
• E56 = 1 → “Stop in position command” is taken when the speed reference goes below of
the threshold value preset on E67 (on E68 the hysteresis on the stop activation can be set).
Note: the speed reference that is tested is the one in percent of the max speed
(“sysSpeedPercReference”) in case the frequency input is used, the timing signal decoding must be
enabled with E24. Once this function has been activated the drive follows a ramp speed reference
(automatically activated) to reach the indexing speed. The indexing speed is programmable in E59 in
percent of the max speed of the drive P65.
The selectable stop positions are 4, the default value is set on E60, the other on E61, E62 and E63, in
percent of the revolution, related to the absolute position.

It’s possible to select the stop position using the logical function inputs I27 and I28, how it’s shown in
the following table:

Code Position selected Description

I27 & I28

0 0 E60 Stop target position 0
0 1 E61 Stop target position 1
1 0 E62 Stop target position 2
1 1 E63 Stop target position 3

Setting E92=1 “EN_STOP_POS_AUTOSET” the actual motor shaft position is saved as the selected
target.

88 MW00001E00 V_4.3
3.3.3.6 Stop in Position and Position Loop

With E54 “DIS_STOP_POS” Stop in Position function can be disabled when the incremental position
loop is enabled.

If E55=1 the indexing speed E59 has a maximum admitted value:

speed

Indexing speed has

been reached; motor
keeps running

stop in position until it is near the rate;

command then position control is
activated

Indexing speed
P259

time

In this modality, to activate position control, it is necessary that the max. position error (180°) multiplied
by the position loop gain (P38) being greater than the indexing speed (E59), thus:

E59 30
≤ P38 ⋅
100 P65

E.g: P38 = 4.0 E59 ≤ 8 % maximum speed

P65 = 1500

If this condition isn’t true, appears alarm A4.0

If E55=2 the rotation speed verse can change:

speed

When indexing speed

is reached, space
control is immediately
activated

Stop in position
order Speed sign depends
on position error sign

Indexing speed
E59

time

Anyway the speed reference generated by the position control can never exceed the indexing speed
(in absolute value) set on E59.

MW00001E00 V_4.3 89
Once the drive is stopped in position, for a time programmable in E66, the logic output function O33,
becomes active.
It is possible to set the uncertain area of the logic output on parameter E65, in percent on the
revolution, as max distance (+ or -) from the correct position.
At this point it is possible to command another movement by activating the input function I30 “execute
the angular movement”.
The amplitude of the movement can be set in E64 in percent of the revolution.
In any case the motor will move on the minimum path to reach the reference position and the speed
will never go over the indexing one (E59).
Zero TOP
E60

E64

Main parameters summary:

E55 Enable stop in position

E56 Selection of stop in position input
E59 Indexing speed reference
E60 Stop in position_target 0

3.3.3.7 Stop in Position Downstream Reduction Gear

This function is enabled setting E57=1 and it’s very important to set correctly the reduction ratio
into parameters E69 and E70 corresponding to numerator and denominator (with E70 ≥ E69 ).
When this particular control is enabled, the stop position and angular movement (E60 e E64) are
referred to the absolute position downstream reduction gear.
There are two different working mode for the zero TOP management downstream reduction gear,
selectable with E58 connection:

• with E58=0 and only with Incremental Encoder (with or without Hall sensors) the zero TOP
have to be connected to PC1 and /PC1 channels motor sensor connector.

• with E58=1 the zero TOP have to be connected to the eighth logic input on M3 connector. It’s
necessary to de-configure the logic function related to eighth logic input C08=-1.

The zero position will be stored on rising edge (0 → 1), if is negative the zero position will be stored on
falling edge (1 → 0). The situation is explained in the following scheme:

In both cases, the zero pulse width have to be at least 26us.

90 MW00001E00 V_4.3
 External TOP 0 on L.I.8
E58 = Eighth digital
Rising TOP 0
d
If actual speed filtered > 0

Filter 1° order Absolute position

sysActualSpeed
IN OUT
TimeF
2 ms

Falling TOP 0
d

If actual speed filtered < 0

Absolute position

E69 - GBOX_NUM
sysSensorReadIncr Mechanical position
E70 - GBOX_DEN

3.3.4 Motor Holding Brake

Name Description Min Max Def UM Scale

EN_HLD_BRAKE E89 - Enable Motor Holding Brake 0 1 0 1

E90 - Motor holding brake disable
HLD_BRAKE_DIS_DLY 0 19999 0 ms 1
delay at start
E91 - Motor holding brake enable
HLD_BRAKE_EN_DLY 0 19999 0 ms 1
delay at stop

3.3.4.1 Motor Holding Brake Output Functions

NAME OUTPUT LOGIC FUNCTIONS

O 32 OD_MOTOR_HOLDING_BRAKE Motor holding brake

With parameter E89=1 it’s possible enable the command to open and close an external mechanical
brake. The parameter E90 defines the delay time at start, while the parameter E91 the delay time at
stop:

MW00001E00 V_4.3 91
The figure shows the situation when the brake is disabled (on the left) and when is enabled (on the
right). At time t0 Run Command is given an internal timer is activated, at the same the digital output
O32 goes to the high level.
From t0 to t0 + E90 every Speed Reference is annulled, the drive is in the RUN state (motor in torque)
and the Holding Brake can be disabled.
When the internal timer reaches the overflow value (E90) the speed reference is enabled.

At time t0 Run Command is disabled and O32 goes to low level too. A second timer is activate and
speed reference is disabled. From t1 to t1 + E91 the drive stops with his deceleration ramp but remain
in run state. The holding brake can be enabled. When the second timer reaches the overflow value
(E91) the Drive Running State is disabled.

4 CATALOG APPLICATIONS
The functions seen in previous chapter refer to the standard application, in the application “catalog”
(downloadable from Brushless or Asynchrous “application” project) these functions can not be present,
so please refer to the application manual itself for more details.
Some functions, however depend on the core and are otherwise present both in the standard
application and the catalog application.
Following be repeated all the functions seen previously, noting which ones are always present.

Parameters:
P00-P199 are common to all applications (standard and catalog),
E00-E99 instead depend on the type of application.

Connections:
C00-C99 are common to all applications (standard and catalog),

Internal values:
d00-d63 are common to all applications (standard and catalog),
d64-d99 instead depend on the type of application.

92 MW00001E00 V_4.3
4.1 INPUTS

4.1.1 Analog Reference

The scaling of the analog reference can always be done (P01 and P02 for AI1, the same is true for the
characteristic parameters of AI2, AI3 and AI16), as well as the input value can always be viewed (d42
by AI1, d43 by AI2, d44 by AI3). Also the enable current analog reference is always present.
The choise (optional) of the meaning of each input, as well as the enable reference, instead, dependes
on the type of application.
The parameters in the following table are also present in the catalog application.

Name Description Min Max Default UM Scale

EN_AI1_4_20mA C95 - Enable AI1 4-20mA 0 1 0 1

P01 - Corrective factor for
KP_AI1 -400.0 400.0 100 % 10
analog reference 1 (AUX1)
P02 - Corrective offset for
OFFSET_AI1 -100.0 100.0 0 % 163.84
analog reference 1 (AUX1)
AI1 D42 - Analog Input AI1 -100 100 0 % 163.84

EN_AI2_4_20mA C96 - Enable AI2 4-20mA 0 1 0 1

P03 - Corrective factor for
KP_AI2 -400.0 400.0 100 % 10
analog reference 2 (AUX2)
P04 - Corrective offset for
OFFSET_AI2 -100.0 100.0 0 % 163.84
analog reference 2 (AUX2)
AI2 D43 - Analog Input AI2 -100 100 0 % 163.84

EN_AI3_4_20mA C97 - Enable AI3 4-20mA 0 1 0 1

P05 - Corrective factor for
KP_AI3 -400.0 400.0 100 % 10
analog reference 3 (AUX3)
P06 - Corrective offset for
OFFSET_AI3 -100.0 100.0 0 % 163.84
analog reference 3 (AUX3)
AI3 D44 - Analog Input AI3 -100 100 0 % 163.84
D10 - Torque reference value
PRC_APP_T_REF -100 100 0 % MOT_T_NOM 40.96
(application generated)
AI16 16 bit analog input (optional) -100.00 100.00 0.00 % 163.84
D33 - Speed reference
PRC_APP_SPD_REF -100 100 0 % MOT_SPD_MAX 163.84
(application generated)
P13 - Corrective factor for 16
KP_AI16 -400.0 400.0 100.0 % 10
bit analog reference (AUX16)
P14 - Corrective offset for 16
OFFSET_AI16 -100.0 100.0 0 % 163.84
bit analog reference (AUX16)

4.1.2 Digital Speed Reference

Digital potentiometer speed references and digital speed reference normally are never present in the
catalog applications, some applications may be inside some similar enabling digital speed reference
function.

Name Description Min Max Default UM Scale

D33 - Speed reference
PRC_APP_SPD_REF -100 100 0 % MOT_SPD_MAX 163.84
(application generated)

MW00001E00 V_4.3 93
4.1.3 Frequency Speed Reference

The choice of the type of speed in pulses is always present:

C09 Description Mode of working

0 Analogic Analog reference ±10V (optional)

1 Digital encoder 4 track frequency reference (default)

2 Digital f/s Frequency reference (freq. and up/down) counting all edges

3 Digital f/s 1 edge Frequency reference (freq. and up/down) counting one edge

Also some parameters and internal value are always present:

Name Description Min Max Default UM Scale

Range 1 1
0 Analogic
FRQ_IN_SEL C09 - Frequency input setting 1 Digital Encoder
2 Digital f/s
3 Digital f/s 1 edge
REF_FRQ_IN D12 - Frequency in input 0 KHz 16
D14 - Frequency speed reference %
PRC_APP_FRQ_SPD_REF -100 100 0 163.84
value (application generated) MOT_SPD_MAX
P88 - High precision analog speed
MAXV_VF reference value: Voltage matches 2500 10000 10000 mVolt 1
max. speed
P10 - Offset for high precision
OFFSET_VF -19999 19999 0 1/100 mV 1
analog reference value
P159 - High precision analog
speed reference value:VCO setting
KP_NEG_VF -16383 16383 4096 1
for negative voltage reference
values
P150 - High precision analog
speed reference value:VCO setting
KP_POS_VF -16383 16383 4096 1
for positive voltage reference
values

The eventual enable frequency input, of its meaning and possible numerator/denominator scaling,
however, depends on the type of the application.

4.1.4 Digital Inputs Configurations

Name Description Min Max Default UM Scale

TF_LI6-7-8 P15 - I06,07,08 logical inputs digital filter 0.0 20.0 2.2 ms 10

EN_NOT_LI C79 - Enable negative logic for digital inputs 0 255 0 1

LI1_SEL C01 - Meaning of logic input 1 -1 31 1
LI2_SEL C02 - Meaning of logic input 2 -1 31 1
LI3_SEL C03 - Meaning of logic input 3 -1 31 1
LI4_SEL C04 - Meaning of logic input 4 -1 31 1
LI5_SEL C05 - Meaning of logic input 5 -1 31 1
LI6_SEL C06 - Meaning of logic input 6 -1 31 1
LI7_SEL C07 - Meaning of logic input 7 -1 31 1
LI8_SEL C08 - Meaning of logic input 8 -1 31 1

The logic inputs always present are:

I00-Run command,
I02-External enable,
I08-Reset alarms

Others depend on the application. They can be configured (and optionally deniable with C79) the same
way as the present inputs for standard application.

94 MW00001E00 V_4.3
4.1.5 Second Sensor

The management parameters of the second sensor are always present, while the enable depends on
the application.

Name Description Min Max Default UM Scale

Range
0
1 Encoder
2
3
4 Resolver
Resolver
5
RDC
SENSOR2_SEL C17 - Sensor2 selection 6 0 1
7
8 Sin/Cos incr
9
10 Endat 1317
11 Endat 1329
12
13
14 Endat 125
P16 - Number of absolute sensor2
RES2_POLE 1 160 2 1
poles
P17 - Number of encoder2
ENC2_PPR 0 60000 1024 pulses/rev 1
pulses/revolution
C18 - Enable incremental encoder2
EN_TIME_DEC_ENC2 0 1 0 1
time decode
C20 - Invert sensor2 positive cyclic
EN_INV_POS2_DIR 0 1 0 1
versus
EN_SENSOR2_TUNE U00 - Enable sensor2 autotunig 0 1 0 1
P48 - Tracking loop bandwidth direct
RES2_TRACK_LOOP_BW 100 10000 1800 rad/s 1
decoding of resolver2
RES2_TRACK_LOOP_DA P49 - Damp factor Traking loop
0.00 5.00 0.71 100
MP resolver2
P07 - Second sensor amplitude
KP_SENS2 0.0 200.0 100 % 163.84
compensation
OFFSET_SIN_SENS2 P08 - Second sensor sine offset -16383 16383 0 1
OFFSET_COS_SENS2 P09 - Second sensor cosine offset -16383 16383 0 1
HW_SENSOR2 D62 - Sensor2 presence 0 1
SENS2_SPD D51 - Second sensor rotation speed 0 rpm 1
D52 - Second sensor Absolute
SENS2_TURN_POS mechanical position (on current 0 16384 1
revolution)
D53 - Second sensor Number of
SENS2_N_TURN 0 16384 1
revolutions
D54 - Second sensor Frequency
SENS2_FRQ_IN 0 KHz 16
input
SENS2_ZERO_TOP D56 - Sensor2 Zero Top 0 pulses 1
C25 - Second resolver DDC
RES2_DDC_BW 0 1 0 Hz 1
bandwidth
Range
EN_SLOT_SWAP C19 - Enable sensor slot swap 0 No 0 1
1 Yes
SENS2_RES Second sensor resolution 0 bit 1
sensor
SENS2_POS Second sensor actual position 0 1
pulses

MW00001E00 V_4.3 95
4.2 OUTPUT

4.2.1 Digital Outputs Configurations

Name Description Min Max Default UM Scale

Range
0 I/I NOM MOT
I_RELAY_SEL C55 - Current relay output 0 1
1 T/T NOM POT
2 P/P NOM POT
P26 - Current/power relay cut-in
I_RELAY_THR 0.2 150.0 100 % 40.96
threshold
P27 - Filter time constant for
TF_I_RELAY 0.1 10.0 1 s 10
current/power relay
P47 - Speed threshold for logic
DO_SPD_REACH_THR 0.0 100.0 0 %MOT_SPD_MAX 163.84
output o.16
DO_SPD_MIN_THR P50 - Minimum speed for relay 0.0 100.0 2.0 %MOT_SPD_MAX 163.84
P59 - Minimum anda maximum
HYST_DO_SPD 0.0 100.0 1.0 %MOT_SPD_MAX 163.84
speed reached output hysteresis
LO1_SEL C10 - Meaning of logic output 1 -64 63 1

LO2_SEL C11 - Meaning of logic output 2 -64 63 1

LO3_SEL C12 - Meaning of logic output 3 -64 63 1

LO4_SEL C13 - Meaning of logic output 4 -64 63 1

The commons logical outputs are those in the range o00 – o26. The other depends by application.

DEFAULT
NAME OUTPUT LOGIC FUNCTIONS
OUTPUT
O 00 OD_DRV_READY Drive ready L.O.2
O 01 OD_ALR_KT_MOT Moto thermal alarm
O 02 OD_SPD_OVR_MIN Speed greater than minimum L.O.4
O 03 OD_DRV_RUN Drive running L.O.1
O 04 OD_RUN_CW CW / CCW
O 05 OD_K_I_TRQ Current/torque relay
O 06 OD_END_RAMP End of ramp L.O.3
O 07 OD_LIM_I Drive at current limit
O 08 OD_LIM_TRQ Drive at torque limit
O 09 OD_ERR_INS Tracking incremental error > threshold (P37 ane P39)
O 10 OD_PREC_OK Power soft-start active
O 11 OD_BRK Braking active
O 12 OD_POW_OFF No mains power
O 13 OD_BUS_RIG Bus regeneration enable (Support 1 )
O 14 OD_IT_OVR Motor overheating (exceeds threshold P96)
O 15 OD_KT_DRV Radiator overheating (higher than P120 threshold)
O 16 OD_SPD_OK Speed reached (absolute value higher than P47)
O 17 OD_STO_ON Safe torque off active
O 19 OD_POS_INI_POL Regulation card supplied and DSP not in reset state
O 20 OD_SNS1_ABS SENS1 Absolute position available
O 21 OD_DRV_OK Drive ready and Power Soft start active
O 22 OD_LL_ACTV LogicLab application active
O 23 OD_STO_OK STO: not dangerous failure
O 24 OD_TRQ_CTRL Torque control
O 25 OD_VBUS_OK DC bus voltage exceeds threshold (P79)
O 26 OD_BRK_FLT Braking circuit fault (MiniOPDE only)

96 MW00001E00 V_4.3
4.2.2 Analog Outputs Configurations

The configuration parameters are the same:

Name Description Min Max Default UM Scale

AO1_SEL C15 - Meaning of programmable analog output 1 -99 100 1

AO2_SEL C16 - Meaning of programmable analog output 2 -99 100 1

PRC_AO1_10V P57 - % value of 10V for analog output A 100.0 400.0 200 % 10

PRC_AO2_10V P58 - % value of 10V for analog output B 100.0 400.0 200 % 10

OFFSET_AO1 P110 - Offset A/D 1 -100.0 100.0 0 % 327.67

OFFSET_AO2 P111 - Offset A/D 2 -100.0 100.0 0 % 327.67

While the analog outputs selectable are common only in the range o00 – o66, the other depends by
application:

DEFAULT
OUTPUT ANALOG FUNCTIONS
OUTPUT
O 00 Actual mechanical position read by sensor[100%=180]
O 01 Actual electrical position read by sensor(delta m) [100%=180]
O 02 Reference speed value before ramps [% n mAX]
O 03 Reference speed value after ramps [% n MAX]
O 04 Rotation speed filtered [% n MAX] A.0.2
O 05 Torque request [% C NOM MOT]
O 06 Internal value: status (MONITOR only)
O 07 Request to current loop for torque current [% I NOM AZ]
O 08 Request to current loop for flux current [% I NOM AZ]
O 09 Max voltage available [% VNOM MOT]
O 10 Internal value: alarms (MONITOR only)
O 11 Current module [% I NOM AZ] A.0.1
O 12 Motor sensor Zero Top [100%=180]
O 13 U phase current reading [% I MAX AZ]
O 14 Internal value: inputs (MONITOR only)
O 15 Torque component of current reading [% I NOM AZ]
O 16 Magnetizing component of current reading [% I NOM AZ]
O 17 U phase voltage duty-cycle
O 18 Stator voltage reference value module [% VNOM MOT]
O 19 Modulation index [0<->1]
O 20 Request Q axis voltage (Vq_rif) [% VNOM]
O 21 Delivered power [% PNOM]
O 22 Request D axis voltage (Vd_rif) [% VNOM]
O 23 Torque produced [% C NOM MOT]
O 24 DC bus voltage [100%=900V]
O 25 Radiator temperature
O 26 Motor temperature
O 27 Rotor flux [% NOM]
O 28 Motor thermal current [% alarm threshold A6]
O 29 Current limit [% I MAX AZ]
O 30 CW maximum torque [% C NOM MOT]
O 31 CCW maximum torque [% C NOM MOT]
O 32 Internal value: outputs (MONITOR only)

MW00001E00 V_4.3 97
 O 33 Internal value: inputs_hw (MONITOR only)
O 34 V phase current reading [% I MAX AZ]
O 35 W phase current reading [% I MAX AZ]
O 36 Actual electrical position (alfa_fi ) [100%=180 ]
O 37 Analog input A.I.1
O 38 Analog input A.I.2
O 39 Analog input A.I.3
O 40 Positive speed reference limit [% n MAX]
O 41 Application speed reference value ("sysSpeedPercReference") [% n MAX]
O 42 Application torque reference value ("sysTorqueReference") [% C NOM MOT]
O 43 Application positive torque limit ("sysMaxTorque") [% C NOM MOT]
Frequency speed reference value from application ("sysSpeedRefPulses") [Pulses
O 44
per TPWM]
Overlapped space loop reference value from application
O 45
("sysPosRefPulses")[Pulses per TPWM]
O 46 Amplitude to the square of sine and cosine feedback signals [1=100%]
O 47 Sen_theta (Direct resolver and Sin/Cos Encoder) [Max amplitude = 200%]
O 48 Cos_ theta (Direct resolver and Sin/Cos Encoder) [Max amplitude = 200%]
O 49 Rotation speed not filtered [% n MAX]
O 50 Delta pulses read in PWM period in frequency input [Pulses per PWM]
O 51 Overlapped space loop memory lsw [Electrical pulses (x P67)
O 52 Overlapped space loop memory msw [Electrical turns (x P67)]
O 53 Incremental SIN theta Sin/Cos Encoder
O 54 Incremental COS theta Sin/Cos Encoder
O 55 Ended initial reset
O 56 PTM motor thermal probe
O 57 PTR radiator thermal probe
O 58 Pulses read by sensor
O 59 SENS2 Rotation speed not filtered
O 60 SENS2 Actual position
O 61 SENS2 Sin_theta
O 62 SENS2 Cos_theta
O 63 SYNC delay measured
O 64 Application negative torque limit (“sysMaxNegative Torque”) [%C NOM MOT]
O 65 Energy dissipated on breaking resistence [joule]
O 66 IGBT junction temperature [ %100°]

4.2.3 Frequency Output

The output frequency is managed directly from the core, so the catalog application have the same
function of the standard application. You can refer to paragraph 3.2.3 pag. for the catalog application.

4.3 MOTION CONTROL

Incremental position loop, PID controller, stop in position and motor holding brake are features of the
standard application, so they are not present in the catalog application.

98 MW00001E00 V_4.3
MW00001E00 V_4.3 99
5 GENERIC PARAMETERS

5.1 KEYS

Name Description Min Max Default UM Scale

P60 - Access key to reserved
RES_PAR_KEY 0 65535 0 1
parameters
P99 - Access key to TDE
TDE_PAR_KEY 0 19999 0 1
parameters
P100 - Value of access key to
RES_PAR_KEY_VAL 0 19999 0 1
reserved parameters

P60 and P99 are two parameter that if correctly set allow some reserved parameter (only at a
standstill). In particular:
• if the value of P60 is the same of the key is possible to modify the reserved parameters.
• if the value of P99 is the same of the key is possible to modify the TDE parameters.

5.2 DATA STORING

Name Description Min Max Default UM Scale

DEF_PAR_RD C61 - Read default parameters 0 1 0 1

Range
0 No
EEPROM_PAR_RD C62 - Read parameters from EEPROM 1 Yes 0 1
Restore
2
factory par
EEPROM_PAR_WR C63 - Save parameters in EEPROM 0 1 0 1

PAR_ACT_BANK C60 - Parameter bank active 0 1 0 1

ALL_COUNT_RESET C44 - Reset alarm counters 0 2 0 1

Factory corrective offset for analog
OFFSET_AI1_TDE -100.0 100.0 0 % 163.84
reference 1 (AI1)
Factory corrective offset for analog
OFFSET_AI2_TDE -100.0 100.0 0 % 163.84
reference 2 (AI2)
Factory corrective offset for analog
OFFSET_AI3_TDE -100.0 100.0 0 % 163.84
reference 3 (AI3)
KP_DCBUS_TDE Factory corrective factor for Bus voltage 0.0 200.0 100 % 10
Factory multiplication factor for motor
KP_MOT_THERM_PRB_
PTC/NTC/KTY84 analog reference 0.00 200.00 100 163.84
TDE
value
KP_DRV_THERM_PRB_ Factory multiplication factor for radiator
0.00 200.00 100 163.84
TDE PTC/NTC analog reference value

5.2.1 Storage And Recall Of The Working Parameters

The drive has three types of memory:

• The not permanent work memory (RAM), where the parameters become used for operation
and modified parameters become stored; such parameters become lost due to the lack of
feeding regulation.
• The permanent work memory (EEPROM), where the actual working parameters become
stored to be used in sequence (C63=1, Save Parameters on EEPROM).
• The permanent system memory where the default parameters are contained.
When switched on, the drive transfers the permanent memory parameters on to the working memory in
order to work. If the modifications carry out on the parameters, they become stored in the work memory
and therefore become lost in the break of feeding rather than being saved in the permanent memory.
If after the work memory modifications wants to return to the previous security, it is acceptable to load
on such a memory, a permanent memory parameter (Load EEPROM Parameter C62=1).
If for some reason the parameters in EEPROM change, it is necessary to resume the default
parameters (C61=1 Load Default Parameters), to make the appropriate corrections and then save
them in the permanent working parameter (C63=1).

100 MW00001E00 V_4.3

It is possible to save the data in the permanent memory also at drive switched on/RUN, while the
loading may only be affected aside with drive switched off/STOP, after having opened the key to
reserved parameters.
Starting from 12.10 revision, during permanent memory writing (C63=1) the data are immediately read
after its writing. If any inconsistency is detect, alarm A1.2 appears.
In this case resets the alarm and try again to store the data.
Restore the default parameters

System permanent Non permanent

C61=1
memory with default memory (RAM)
parameters (FLASH)

Save parameters in FLASH

C63=1 C62=1 Reading
parameters and
Permanent memory connections at start
(EEPROM) up

Loading the EEPROM

parameters

Because the default parameters are standard to be different than those that are personalized, it
is correct that after the installation of each drive, there is an accurate copy of permanent
memory parameters to be in the position to reproduce them on an eventual drive exchange.

5.2.1.1 Active Bank Parameters

This function allows to switch over the internal sets of parameters and connections between two
distinct memory banks (drive must be switched off, no RUN).
To activate this function, it is necessary to use the logic input I16, configuring it on a logic input on both
banks. The connection C60 indicates the actual data bank in the permanent memory: C60=0 bank 0;
C60=1 bank 1. The commutation of the functions logic stage I16 brings an automatic variation of data
of C60 and a successive automatic reading of data from the permanent memory

C60 Permanent memory

Indicates EEPROM
the active
bank
RAM working
memory Data bank 0

Data bank 1
On the front of commutation of
I16 changes C60 and a reading
from EEPROM is required

For initial configuration of the input function I16, follow these steps:
1. Prepare in RAM, the data in bank 0, configuring input function I16 and holding it to a low logic
level (make sure C60=0).
2. Save to the permanent memory with C63=1.
3. Always keep I16=L, prepare in RAM the data from bank 1, configuring the same input to the
function I16.
4. Set C60=1 and save the data in the permanent memory with C63=1.
5. At this point, changing the state of logic input corresponding to function I16, the bank’s
commutation will have automatic reading

MW00001E00 V_4.3 101

5.2.1.2 Restore Factory Parameters

Starting from 12.10 revision when the drive goes out from TDE MACNO its data are stored into a
permanent memory like factory parameters and firmware revision also.
Subsequently it is possible to restore this data setting C62=2.
When this function is enabled the behavior depends on the actual firmware revision:

o If the current firmware revision is exactly the same of when the drive left TDE MACNO
(“FACTORY_FW_REV” available on Brushelss Parameters folder of OPDExplorer) all core
parameters and connections are reloaded, independently of keys status.

o If the current firmware revision is different the default core parameters and connections are
loaded except some particular parameters (P94, P100÷P120, P154÷P157, P167, P198,
P199, C22, C24, C45 and C98).

In every case all application parameters came back to their default values.
Profibus, Anybus, SinCos sensor table, Monitor configuration data came back to their default values.
If the factory data are invalid, alarm A1.1 appears and all default parameters are loaded.

5.3 DIGITAL COMMANDS AND CONTROL

Name Description Min Max Default UM Scale

SW_RUN_CMD C21 - Run software enable 0 1 1 1

EN_STOP_MIN_SPD C28 - Stop with minimum speed 0 1 0 1
DRV_SW_EN C29 - Drive software enable 0 1 1 1
ALL_RESET C30 - Reset alarms 0 1 0 1
C73 - Enable Safety STOP only like
EN_STO_ONLY_SIG 0 1 0 1
signaling
EN_BOOT C98 - Enable boot mode 0 1 0 1
SPD_ISR Speed routine duration 0 us 64
I_ISR Current routine duration 0 us 64
APP_ISR Application fast task duration 0 us 64
APP_AVBLE_ISR Application fast task available time 0 us 64
DRV_F_PWM_MAX Max PWM frequency available 0 Hz 1
APP_CYCLIC_ISR Application cyclic task duration 0 us 64
DISPLAY_SEL C14 - Display selection 0 127 0 1
P112 - Display time to come back to
DISPLAY_WAIT 3 20 10 s 1
idle state
WORK_HOURS D49 - Work hours 0 hours 1
SERIAL_NUMBER D59 - Drive serial number 0 1
PWM_COUNTER ISR counter 0.0 1
ALL_ENAB P163 - Alarm enable 0 65535 65535 Hex 1
SW_RESET_CNT Software reset occours 0 1

The “DRV_F_PWM_MAX” is the maximum PWM frequency allowed with the functions enabled.

5.3.1 Drive Ready

The Drive Ready condition (o.L.0=H) is given by alarms are not active and at the same time both the
software and hardware enables:
• The software enable, given by state of the connection C29, (C29=1 of default).
• The external enable (the function of the input is assigned to the default input L.I.2).
If an enable is missing or an alarm is active, the ready drive signal goes into an non-active state
o.L.0=L and this state remains until the causes that brought about the alarm conditions are removed
and the alarms are reset. An alarm reset can be achieved by activating the function “Alarm reset” that,
by default, is assigned to input L.1 (or setting C30=1).
Keep in mind that the “Alarm reset” is achieved by the active front of the signal, not on the active level.

102 MW00001E00 V_4.3

5.3.2 Drive Switch On / Run

When the drive is “Ready to switch on / RUN” o.L.0=H, motor may start running “Drive switch on/run”
o.L.3=H, by activating both the hardware and software switch on enables:
• Function “Logic switch on/RUN input” (default input 4 assigned) RUN=H.
• Software switch on/RUN C21 (C21=1) is active by default.
Switch on/RUN disable and enable (from STOP offline, to RUN online) is given by the logic of the
following table:

Drive ready o.L.0 Switch on / RUN C21 ON-LINE

L X X L
H L X L
H X 0 L
H H 1 H
It is mentioned that the input function “Switch on/RUN input” can be given also via serial line or field-
bus. See for details the Standard Application Manual.

5.3.3 Drive Switch Off / Stop

By default, the drive switch off instantaneously as soon as one of the switch on functions is disabled
(immediate shutdown); that may also cause an almost immediate rotation shutdown, if the motor is
loaded and the inertia is low, while coasting if the motor is without load and mechanical inertia is high.
Using the connection C28, it is possible to choose to switch off the drive only with motor at minimum
speed. With C28=1, 0=immediate switch off by default, when SWITCH ON/RUN function is disable, the
speed reference is brought to zero, thus the motor starts to slowdown following the ramp (the drive is
still switched on). The system is switched off /STOP (offline) only once the motor absolute speed goes
below the threshold set in P50 (2.0% default), that is when the motor is almost motionless (shutdown
for minimum speed).
Calibrating P50 may coincide the drive block with the motionless motor. The state of speed above the
minimum is signaled from the logical output function o.L.2, moreover the output function o.L.16 is
available, that signals the drive speed (absolute value) is above the threshold speed level P47.
In every way, whichever is the chosen type of shutdown, there is an immediate drive block in presence
of any alarm condition, oL.0 = L.

5.3.4 Safety Stop

The OPEN drive converters have the possibility to give the separated IGBT supply. This supply voltage
can be see like safety STOP input and there are two different managements for this input, selectable
with C73 connection:

For OPEN DRIVE versions with Safe Torque Off safety function (STO) according to EN 61800-5-2
and EN 13849-1 see STO installation manual.

5.3.4.1 Machine Safety (C73=0)

Setting C73=0 (default) the Safety STOP is compatible with EN945-1 specification against accidental
starts. When this input is at low logical level the IGBT power bridge isn’t supplied and the motor
couldn’t run more than 180°/motor poles couple for brushless motor (for asynchronous motors the
movement is zero), also if there is a brake in the power bridge.
The converter signals this state with the alarm A13.1, the output o17 “Power electronic not
supplied” goes at high level, the output o0 “Drive ready” goes at low level and the Power Soft start
command is taken off.
To recover the normal converter state, follow this steps:
• Give +24V to the IGBT driver supply input (Safety STOP). At this point the converter goes at
low level the output o17 “Power electronic not supplied”.
• Reset the converter alarms for eliminate the alarm A13.The normal converter state is
recovered.
• After P94 (STO_WAIT) ms the converter is able to start the Soft start sequence.

MW00001E00 V_4.3 103

5.3.4.2 Power Part Enable Input (C73=1)

Setting C73=1 the Safety STOP is like a Power part enable input. Like in the preceding case,
when this input is at low logical level the IGBT power bridge isn’t supplied and the motor couldn’t run
more than 180°/motor poles couple for brushless motor (for asynchronous motors the movement is
zero), also if there is a brake in the power bridge.
The converter signals this state with the output o17 “Power electronic not supplied” that goes at
high level, the Power Soft start command is taken off, but unlike before no alarms goes at active state.
To recover the normal converter state, follow this steps:
• Give +24V to the IGBT driver supply input (Safety STOP). At this point the converter goes at
low level the output o17 “Power electronic not supplied”.
• After P94 (STO_WAIT) ms the converter is able to start the Soft start sequence.

In this case it isn’t necessary to reset the alarms after take back at high level the Safety STOP input, it
will be sufficient to wait P94 (STO_WAIT) ms + soft start time, after that the converter could be goes on
run.

5.4 PWM SYNCHRONIZATION (STANDARD APPLICATION)

Name Description Min Max Default UM Scale

EN_PWM_SYNC E87 - Enable PWM synchronization 0 2 0 1

PWM_SYNC_PHASE E88 - PWM synchronization phase -175.0 175.0 0 degr. 10
P11 - CanOpen SYNC loop regulator
SYNC_REG_KP 0 200 5 1
Proportional gain
P12 - CanOpen SYNC loop regulator
SYNC_REG_TA 0 20000 400 1
lead time constant
PWM_SYNC_OFFSET PWM offset for SYNC delay control 0 pulses 1
PWM_SYNC_DELAY D81 - PWM SYNC delay -400 400 0 us 16

With this function it’s possible to synchronize two or more OPDE at PWM level.
Parameter E87 is used to select the drive function:

1 Master= Every PWM period the third digital output (O3) is configured like PWM syncrhronization
output.
2 Slave= Eigth physical input (I08) is used to synchronize the drive.

In the slave there is a tracking loop with gain Kp (P11) e Ta (P12). It’s possible to set also the phase
between master and slave with parameter E88.

Note1: Master and slave have to be set with the same PWM frequency (P101).

Note2: If the PWM frequency is great than 5kHz is necessary to use a pull-down 1kΩ resistance 1W.

104 MW00001E00 V_4.3

6 ALARMS

6.1 MAINTENANCE AND CONTROLS

The drive has a range of functions that cut in if there is a fault in order to prevent damage to both the
drive and the motor. If a protection switch cuts in, the drive output is blocked and the motor coasts.
If one or more of the protection switches (alarms) cut in, they are signalled on the displays, which start
to flash and to show a cycle of all the alarms triggered (the 7-segment display shows the alarms that
have been set off in hexadecimal).
Should the drive malfunction or an alarm be triggered, check the possible causes and act accordingly.

If the causes cannot be traced or if parts are found to be faulty, contact TDE MACNO and provide a
detailed description of the problem and its circumstances.
The alarm indication are divide in 16 categories (A0÷A15) and for each alarm can be present code to
identify better the alarm (AXX.YY)

6.1.1 Malfunctions Without An Alarm: Troubleshooting

MALFUNCTION POSSIBLE CAUSES CORRECTIVE ACTION

RUN command not given Check operating status of input I00

Ensure wiring is correct and check mains and

Motor does not run Terminals L1, L21 and L3 are not motor connection
wired properly or the power
voltage is disabled Check any contactors upstream and
downstream of drive are closed

Terminals U,V and W are not

wired properly

Motor does not turn An alarm has been triggered See following paragraph

Parameters programmed Check parameter values via the programming

incorrectly unit and correct any errors

Motor direction inverted Wrong Positive direction Invert positive speed rotation setting C76=1.

Speed reference value inverted Invert reference value

Check wiring and apply reference signal if not

No reference signal
Motor revolutions cannot present
be regulated
Excessive load Reduce motor load
Check parameters and change if necessary
Irregular motor Acceleration – deceleration
time/times is/are too low

acceleration and braking

Load too high Reduce load

Rated motor speed, minimum or

Number of motor
maximum speed, offset, or Check parameters and compare setting with
revolutions too high or
reference gain value are set motor rating plate
too low
incorrectly

Excessive load Reduce load

Reduce load points.

Motor does not turn Motor load changes a lot or
smoothly displays excessive load points Increase motor size or use a larger frequency
drive

MW00001E00 V_4.3 105

 6.1.2 Malfunctions With An Alarm: Troubleshooting

ALARM
DESCRIPTION CORRECTIVE ACTION
HEX DEC

Check if in a transient state the active current reference is

Over - current It has been measured a current
A.0.0.H A0.0 increased to high values in a short time. Eventually increase the
alarm greater than its limit
current limit regulator gain.

If the motor has to work in limit for a long time, disable this
alarm set C82=0 or lengthen the limit time admitted increasing
Drive work in torque or current P186.
Motor
A.0.1.H A0.1 limit for a time equal to P186 The motor is in stall because it has not been given sufficient
in stall
seconds voltage boost at low frequencies: increase the parameter P172.
The start-up load is too high: reduce it or increase the rating of
motor and drive.

Loaded default EEPROM data related to a It’s possible to reset this alarm but keep attention: now all
A.1.0.H A1.0
parameters different core parameters have its default value.

A Check Sum error occurred

Try rereading the values with the EEPROM. The reading may
EEPROM while the EEPROM was reading
A.1.1.H A1.1 have been disturbed in some way. If the problem continues
Read failure the values. Default values loaded
contact TDE as there must a memory malfunction.
automatically.

When data is being written in the

Try rewriting the values in the EEPROM.
EEPROM the required values are
EEPROM The information may have been disturbed in some way.
A.1.2.H A1.2 always shown afterwards: an
Write failure If the problem continues contact TDE as there must be a
alarm triggers if differences are
memory malfunction.
detected.

EEPROM
A.1.3.H A1.3 Read and write Alarms A1.1 and A1.2 appears There are some problems with EEPROM.
failure

Check that the motor is properly connected to the drive.

Try to increase parameter P29 (machine magnetizing waiting

Motor not Magnetic flux (d27) is below the time) and reduce P52 if necessary as this specifies the
A.2.0.H A2.0
fluxed minimum flux set in P52. minimum flux alarm threshold.

Check d27 to ensure that the flux increases when RUN is

enabled.

Check the connection wires on the motor side, in particular on

The drive output current has the terminals, in order to prevent leakages or short circuits.
reached a level that has set off an Check the motor insulation by testing the dielectric strength,
alarm; this may be caused by an and replace if necessary.
overcurrent due to leakage in the
A.3.0.H A3.0 Power fault
wires or the motor or to a short Check the drive power circuit is intact by opening the
circuit in the phases at the drive connections and enabling RUN; if the safety switch cuts in,
output. There may also be a replace the power. If the safety switch cuts in only during
regulation fault. operation, there may be a regulation problem (replace along
with current transducers) or vibrations causing transient D.C.
In equiverse indexing the indexing
speed has a maximum value
Stop in position: Reduce indexing speed E59 or change indexing mode,
admitted, depending on max
A.4.0.H A4.0 Excessive selecting minimum track
speed (P65) and position loop
indexing speed
gain (P38) - only standard
application

Stop in position: 4 motor revolutions completed

A.4.1.H A4.1 Zero TOP without reading Zero Top - Check sensor and cable.
missing only standard application

A problem occurred at fieldbus

Fieldbus
A.4.2.H A4.2 level - Refer to the documentation specific to the fieldbus present
problem
only standard application

Incompatible The application firmware isn’t

Check the actual core and application firmware present in the
A.4.3.H A4.3 application with compatible with the core -
drive and download the right combination.
this core only standard application

106 MW00001E00 V_4.3

ALARM
DESCRIPTION CORRECTIVE ACTION
HEX DEC

Connection C46 runs a range of Check the temperature reading in d26 and then check the
motor heat probes. If C46=1 or 2, motor. With a KTY84, if -273.15 appears the electrical
a PTC/NTC is being used and its connection towards the motor heat probe has been interrupted.
Ohm value (d41) has breached If the reading is correct and the motor is overheating, check that
the safety threshold (P95). If C46 the motor cooling circuit is intact. Check the fan, its power unit,
Motor
= 3 a digital input has been the vents, and the air inlet filters on the cabinet. Replace or
A.5.0.H A5.0 temperature too
configured to I23 logical input clean as necessary. Ensure that the ambient temperature
high
function and this input is in not around the motor is within the limits permitted by its technical
active state. If C46=4, a KTY84 is characteristics.
being used: the temperature
reading (d26) must be higher than
the maximum temperature (P91).

Check the temperature reading on d25 and then check the

radiator. If -273.15 is displayed, the electrical connection
towards the radiator heat probe has been interrupted. If the
reading is correct and the motor is overheating, check that the
Radiator drive cooling circuit is intact. Check the fan, its power unit, the
The radiator temperature (d25) is vents, and the air inlet filters on the cabinet. Replace or clean
A.5.1.H A5.1 temperature too
higher than the maximum (P118). as necessary. Ensure that the ambient temperature around the
high
drive is within the limits permitted by its technical
characteristics.

Check parameter P118 is set correctly.

The Adiabatic Energy

Brake
dissipated on Braking Check the correct setting of parameters P140, P142 and
resistance
resistance during the time P144 compared to the Resistance plate. Check the correct
A.5.2.H A5.2 adiabatic
selected in P144 has dimensioning of Braking Resistance Maximum Power
energy
overcame the threshold set related to maximum speed, load inertia and braking time.
protection
in KJoule in P142
Brake The Average Power Check the correct setting of parameters P140, P146 and
resistance dissipated on Braking has P148 compared to the Resistance plate. Check the correct
A.5.3.H A5.3
dissipated overcome the threshold set dimensioning of Braking Resistance Average Power
power in Watt in P146 related to maximum speed, load inertia and braking time
Motor thermal
Thermal probe not detected the Verify the presence of the connection of the probe and that it is
A.5.4.H A5.4 probe not
presence. correct.
connected

Run with
A.5.5.H A5.5 T.radiator too RUN with Trad>P119 Check the radiator temperature (d25)
high

Check the motor load. Reducing it may prevent the safety

switch cutting in.
The motor electronic overload
Motor I2t safety switch has cut in due to
A.6.0.H A6.0 Check the thermal current setting, and correct if necessary
thermal alarm excessive current absorption for
an extensive period. (P70). Check that the heat constant value is long enough (P71).
Check that the safety heat curve suits the motor type and
change the curve if necessary (C33).

The RUN command was disabled

Auto-tuning test
A.7.0.H A7.0 during a test. Run command Reset the alarms and repeat the test by re-enabling it.
unfinished
switched off too early.

During autotuning speed control,

Speed doesn’t at the end of acceleration ramp
A.7.1.H A.7.1 reached during the real speed differs by more Try to reapeat autotuning test.
autotuning than 20% from the theoretical
value.

The external safety switch has cut in disabling drive enable.

Restore and reset.
A digital input has been
Missing enable
configured to I02 logical input
A.8.0.H A8.0 logic input from The connection has been broken. Check and eliminate the fault.
function and this input is in not
the field
active state
Input function has been assigned, but enable has not been
given. Authorise or do not assign the function.

MW00001E00 V_4.3 107

ALARM
DESCRIPTION CORRECTIVE ACTION
HEX DEC

Watchdog A LogicLab watchdog alarm on Check if the LogicLab slow task duration is greater than 500 ms
A.8.1.H A8.1
alarm LogicLab slow cycle appears and try to reduce this execution time

Fast task Try to reduce the LogicLab fast task execution time under
The logicLab fast task is too long
A.8.2.H A8.2 LogicLab too admitted limit.
in time
long Please refer to the specific documentation.

Application out There is no valid application

A.8.3.H A8.3 Reload the application using OPDExplorer
of service running in the drive

Hardware
board and Feedback option card and drive Check internal values d62 and d63 for the firmware and option
A.9.0.H A9.0
firmware are firmware incompatible card codes. There must be some irregularity.
incompatible

Sensor
A.9.1.H A9.1 Sensor not connected Check the connection towards the sensor.
presence

Overspeed
In a transient state, the speed reading has exceeded the
(more than 10 Overspeed: speed reading higher
A.9.2.H A9.2 permitted limit. Adjust the speed regulator gains or raise the
consecutive than threshold set in P51.
limit in P51.
Tpwm)

Loose speed Too big error between speed In a transient state the speed read was different more than P56
A.9.6.H A.9.6
control reference and actual speed from reference and also with different sign.

Undervoltage may occur when the mains transformer is not

powerful enough to sustain the loads or when powerful motors
DC Bus under are started up on the same line.
Intermediate drive circuit voltage
minimum
A.A.0.H A10.0 (DC Bus see d24) has dropped
threshold
below the minimum value (P106). Try to stabilise the line by taking appropriate measures. If
admitted
necessary, enable the BUS support function for mains failure
(C34=1). This however can only help motors with light loads.

Emergency With connection C34= 3 was

bracking on been select the emergency brake
A.A.1.H A10.1 Try to understand why main supply is lost.
main supply when main supply is lost. This has
lost occurred

Intermediate drive circuit voltage The safety switch cuts in mainly due to excessively short
(DC Bus see d24) has exceeded braking times. The best solution is to lengthen the braking
A.b.1.H A11.1 HW detection times.
the maximum analog thresold
value.
An overvoltage in the mains may also trigger the safety switch.
Intermediate drive circuit voltage
A.b.2.H A11.2 SW detection (DC Bus see d24) has exceeded
the maximum value (P107). If the drive is fitted with a braking circuit, check that the
resistance value is not too high to absorb the peak power.

HW + SW
A.b.3.H A11.3 A11.0 and A11.1 appears If the resistor is not too hot, check the resistor and connection
detection
continuity and ensure that the circuit functions correctly.

A.C.0.H A12.0 Software alarm C29 different from 1 Check and enable connection C29 “Drive software enable”

Check why the Power Soft start isn’t enabled

Run whitout
A.C.1.H A12.1 RUN without Power Soft start
power soft start With DC input (continuous voltage input DC BUS) check that
the connection C53 “MAIN_SUPPLY_SEL” is correct.

108 MW00001E00 V_4.3

ALARM
DESCRIPTION CORRECTIVE ACTION
HEX DEC

Check the voltage of the three input phases.

The bridge that enables the line
by gradually loading the DC bus
Try switching off and then back on, measuring the DC Bus level
Rectifier bridge condensers has not managed to
A.d.0.H A13.0 (with the monitor or tester).
problem load the intermediate drive circuit
sufficiently within the time set
(P154). If the problem repeats, contact TDE MACNO as there must be a
soft start circuit malfunction.
Safe Torque Off:
Bring +24V to connector S1.
+24V are missing in connector
If the user want to use the Safe Torque Off function without
Safe Torque Off S1. For this reason it’s enabled
alarms, it’s necessary to set C73=1.
A.d.1.H A13.1 / Power board certified STOP function
fault
If there is no present the Safe Torque Off function in the drive,
Power board fault: problem to the
this alarm indicates a power board problem.
power board

Excessive
It was detect a big variation on Verify if all three main phases are present on connector R,S,T
A.d.2.H A.13.2 Ripple on DC
DC bus and their rms value.
Bus

Only one STO channel is working.

New STO: only
The drive is waiting the second
one STO
A.d.3.H A13.3 one, in the meantime isn’t Check if the correct voltage is applied to safety connector
channel
possible to enable the power
activated
stage.

New STO: Fault

At least one safety channel
A.d.4.H A13.4 on at least one Contact TDE MACNO assistance.
doesn’t work well
safety channel

The new STO management was

New STO: Contact TDE MACNO assistance for understand if the new STO
A.d.5.H A13.5 been enable with C58=1 but the
monitor failure function can be enabled in this drive.
monitor channel doesn’t work well

During autotuning was been

Motor phase detected that motor phase are not
A.E.0.H A14.0 Swap over two phases and repeat the connection tests.
inverted connected in the same order of
feedback

During autotuning was been

Motor not
A.E.1.H A14.1 detected that drive and motor Check motor phases
connected
aren’t connected properly

Wrong number
Motor/sensor parameters being Number of motor poles (P67) set incorrectly or more sensor
A.F.0.H A15.0 of Motor/Sensor
written poles (P68) than motor poles have been set.
poles

Number of revolutions per pulse selected (C51) is not

Simulated
A.F.1.H A15.1 Simulated Encoder pulses compatible with the maximum speed (P65). See “Feedback
encoder pulses
Option” enclosure.
Excessive During autotuning was been
Check the coherence between the motor and its related
magnetizing measured a magnetizing current
A.F.2.H A15.2 defining parameters (P61,P62 and P63), especially motor
current greater than 80% of motor
phase connection (star or triangle)
measured nominal current.
Wrong Sensor
An error occurred during the See specific test description in the “Feedback Option”
A.F.3.H A15.3 pulses number
“Sensor and motor poles” test. enclosure.
read in Autotest
If th is alarm appeared during autotuning C41, repeat the test.
It’s detected error in setting
Sensor tune
A.F.4.H A15.4 related to the sensor
failed Otherwise check parameters P164,P165,P166 and
compensation offset and gain.
P170,P171,P172.

MW00001E00 V_4.3 109

6.1.3 MiniOPDE’s Specific Alarms

The new MiniOPDE consists of 2 fast-communicating microprocessors. One microprocessor is located

in the Regulation board (as in standard OPDE); the second one is located in the Power board.
Thanks to this new configuration, the MiniOPDE features some types of alarms that are not included in
the OPDE series. These alarms have been renamed, so as to guarantee maximum compatibility with
those who already use the OPDE series.

MiniOPDE’s specific alarms are listed in table:

Alarms
Description Corrective action
Hex Dec
Undervoltage may occur when the mains transformer is not
powerful enough to sustain the loads or when powerful
motors are started up on the same line.
Minimum voltage of Power
A.10.0 A.A.0
circuit
Try to stabilise the line by taking appropriate measures. If
necessary, enable the BUS support function for mains failure
(C34=1). This however can only help motors with light loads.
Check the drive power circuit is intact by opening the
connections and enabling RUN; if the safety switch cuts in,
Overcurrent alarm detected by
A.10.5 A.A.5 replace the power. If the safety switch cuts in only during
Power board
operation, there may be a regulation problem (replace along
with current transducers) or vibrations causing transient D.C.
Communication alarm:
A.10.6 A.A.6 communication fault with With this alarm, contact TDE MACNO assistance.
Power board
Alarm due to Power board
A.10.7 A.A.7 With this alarm, contact TDE MACNO assistance.
fault (Micro’s watchdog)
Alarm due to wrong power
Check for overloads, even very short, the 24Vdc control
A.10.8 A.A.8 supply in the Power board
terminal.
(15V wrong)
Check the connection wires on the motor side, in particular
Overcurrent alarm for leakage on the terminals, in order to prevent leakages or short
A.10.9 A.A.9
currents to ground circuits. Check the motor insulation by testing the dielectric
strength, and replace if necessary.
A.10.10 A.A.A (Reserved)
Check for short circuits in the connections of the braking
resistors or resistor values lower than the minimum required.
A.10.11 A.A.B Brake fault alarm
Disconnect the connections of the braking resistor, if the
problem persists, contact TDE MACNO.
A.10.15 A.A.F Power board generic alarm With this alarm, contact TDE MACNO assistance.

These alarms take the form of sub-alarms of alarm A.10, to indicate that they all depend on the Power
board.

110 MW00001E00 V_4.3

6.1.4 Alarm History

The alarms switched on during the normal drive running are saved into the not volatile memory. This
alarm history contains all the alarm events happens during drive’s life and it’s very useful when drive
needs a check up after a fault or a malfunction.
These info are available only by supervisor OPDExplorer (click in “Alarms” section). In a typical case it
shows:

In the “Real time alarm state” are indicated the actual active alarms and, if they’re present, the “Drive
status” moves to “Alarm” and lights on in yellow. Every alarm has a description that help to know the
cause of it.
Clicking in “Disable” the corresponding alarm is hide and it never switch on again; pay attention that
disable an alarm doesn’t mean that its cause is fixed.

Every time the drive goes in alarm status the event is reported and saved in the alarms history with its
description and the hour of working in which the alarm signal is switch on. There is the possibility to
load a trace in the "Real-time graph" in order to plot the main tracks behaviour in the moment of alarm
activation. To load these traces move to "Real-time graph", press the "Read Config" icon, back in
"Alarms" and click in "Load trace"; now in "Real-time graph" click "download".

In the counters window are saved:

• Number of working hours;
• Number of times A.03 alarm is switched on;
• The average temperature of cooling radiator when drive running.

MW00001E00 V_4.3 111

7 DISPLAY

7.1 PHYSICAL DISPOSITION

The keypad has three buttons, “●” (S selection), “▼” (- decrease), “▲“ (+ increase) and a four numbers and half
display, with the decimal points and the sign “-“.

OPDE MINIOPDE

FIG. 1 (Physical disposition)

7.2 LAYOUT OF THE INTERNAL VARIABLES

The converter is a full digital, then other hardware settings are not necessary, if not made in factory,
and the setups, settings and visualizations, all digital, they go effect through the keypad and the
display, or by serial line or by fieldbus. For easy access of formulations and mnemonics all the
accessible greatnesses have been grouped in the following menu:

• Parameters (PAR)
• Application Parameters (APP)
• Connections (CON)
• Internal values (INT)
• Allarms (ALL)
• Digital Input (INP)
• Digital Output (OUT)
• Utilities Commands (UTL)
• Fieldbus commands (FLB)
• USB port commands (USB)

In each group the variables are arranged in progressive order and only those that are actually used are
displayed.

112 MW00001E00 V_4.3

7.2.1 Parameters (Par)

They are definite parameters of variables of setting whose numerical value has an absolute meaning
(for example: P63 = nominal frequency motor = 50 Hz) or they are of proportional value to the limit
range (for example: P61 = motor nominal current = 100 % of the drive nominal current). They are
distinguished in free parameters, some modifiable always (Online), other only to converter not in run
(offline), reserved, modifiable only offline and after access code to the reserved parameters (P60), or
reserved for the TDE MACNO, visible after having written the access code TDE MACNO parameters
(P99) and modifiable only offline. The characteristics of each parameter are recognizable from the
code of identification as below:

FIG. 2 (Parameters PAR)

For example: P60 r = parameter 60: reserved

1P00 t = parameter 100 TDE MACNO reserved

7.2.2 Application Parameters (App)

For their definition refer to the description of the parameters. They are distinguished in free parameters,
some modifiable always (Online), other only to converter not in run (offline), reserved, modifiable only
offline and after access code to the reserved parameters (P60). The characteristics of each parameter
are recognizable from the code of identification as below:

FIG. 3 (Application Parameters PAR)

For example: E03 r = application parameter 03: reserved

MW00001E00 V_4.3 113

7.2.3 Connections (Con)

They are certain connections that variables approach that are of numerical value comes connected to a
function or a clear command {for example: rounded ramp insertion C27= 1; or no rounded ramp, C27=
0; or save parameters on EEPROM memory, C63= 1}. They are in free connections, some of the like
modifiable always (Online), other with converter in stop (offline) and reserved, modifiable only offline
and after access code to the reserved parameters (P60), or reserved for the TDE MACNO, visible after
having written the access code TDE MACNO parameters (P99) and modifiable only offline.

The characteristics of each connection are individually recognizable of identification code as under
report.

FIG. 4 (Connections CON)

7.2.4 Internal Values (Int)

Overall functions of protection of the converter, of the motor or in the application whose status to active
alarm or non active alarm it may be visualized in the display. The actived protection, stops the
converter and does flash the display, excepted if it is disabled. With a single visualization is possible
have all the indications with the following:

FIG. 5 (Internal Values INT)

114 MW00001E00 V_4.3

7.2.5 Allarms (All)

Overall functions of protection of the converter, of the motor or in the application whose status to active
alarm or non active alarm it may be visualized in the display. The actived protection, stops the
converter and does flash the display, excepted if it is disabled. With a single visualization is possible
have all the indications with the following:

For ex. A03.L = power fault doesn’t activate

The alarms are all memorized and so they remain till that is not missing the cause of the alarm and
have been resetted (input of resetting alarms activate) or (C30 = 1).

FIG. 6 (Allarms ALL)

7.2.6 Logic Functions of Input (Inp)

The visualization between I00 and I31 is the status of the logical functions of sequence or protection
that is assigned in the all digital input of the regulation. From I29 to I31 is the visualization of the status
of the input from the power. Code of identification (input) logical input.

FIG. 7 (Logics functions of input INP)

MW00001E00 V_4.3 115

7.2.7 Logic Functions of Output (Out)

Visualization of the status, of the logical functions (for example: drive ready, converter in run)
scheduled in the control, that may or may not be assigned of predicted digital output. Code of
identification:

FIG. 8 (Logics functions of output OUT)

7.2.8 Utilities Commands (UTL)

They are certain connections that variables approach that are of numerical value comes connected to a
function or a clear command. They are only in free connections. The characteristics of each connection
are individually recognizable of identification code as under report:

FIG. 9 (Utilities Commands UTL)

116 MW00001E00 V_4.3

7.2.9 Fieldbus Parameters (FLB)

FLB menu refers to parameters related to Fieldbuses management that was previously accessible only
by OPDExplorer as they weren't associated to any “standard” parameter, connection or extra
parameter and so not accessible by keypad. Now they are grouped in this new menu, as lists in
following tables, and so they can be viewed and changed (if not read-only) by keypad.

Notice that all parameters in FLB menu are not protected by any key nor by run status so they can be
changed at any time. Code of identification:

FIG. 10 (Fieldbus Parametrs FLB)

7.2.10 Usb port commands (USB)

Now is available a new version of the display/keypad board interface to the drive, in which the
programming key has been replaced with an USB port. About this, a new menu USB is been added
and it contains all the command that allows data exchange with a pen-drive. With this new functionality
is possible to save more than one parameter recipes, firmware and application files in the same pen-
drive. For more information look at the specific manual situated in our web site www.tdemacno.it in
Product/Download/Manuals/Automation/OPDE family. Code of identification:

FIG. 11 (USB Commands)

MW00001E00 V_4.3 117

7.3 IDLE STATE

It’s the status that the display assumes right after the lighting or when none is programming (P112
seconds, 10 of default, after the last movement, except that is not is visualizing an internal variables, or
an input, or a digital output). When the keypad is on idle state, if the converter isn’t running, the status
“STOP” is visualized; if the converter is running the internal values selected with C00 connection or the
status “run” is visualized. If the converter finds the status alarm, for intervention of one or more
protections, the written on the keypad start to flash and they come visualized all the active alarms (one
by one).

7.4 MAIN MENU

Leaving from the status of rest pressing the “S” key the principal menu is gone into of circular type that
contains the indication of the type of visualizable variables:

• PAR = Parameters
• APP = Application Parameters
• CON = Internal Connections
• INT = Internal values
• ALL= Alarm
• INP = Digital Input
• OUT = Digital Output
• UTL = Utilities commands
• FLB = Fieldbus Parameters
• USB = USB commands

To change from a list to another enough is necessary to use the “+” or “-” keys and the passage will
happen in the order of figure. Once select the list you pass on the relative sub-menu pressing “S”; the
reentry to the main menu from the following visualizations will be able future through the pressure of
the key “S” simple or double in brief succession (less in a second), like showed after. The return to the
status of rest comes instead automatically after 10 (P112) seconds of inactivity is from some sub-menu
that goes by the main menu.

FIG. 12 (Main Menu)

118 MW00001E00 V_4.3

7.4.1 Sub-Menu of Parameters, Application Parameters and
Connections Management

From “PAR”, “APP” or “CON” you enter into the sub-menu list pressing “S”; once entered into the list is
able look through the parameters or the existing connections by pressing the keys “+” or “–” to move in
increase or in decrement; even in this case the list is circular. At the number corresponding to the
various parameters or connections appear the letter “r” if they are reserved, “t” if reserved in the TDE
MACNO and the letter “n” if it modification requires that the converter in not in run (offline); all the
reserved parameters are of type “n” modifiable only by stop (offline). If You pressed the key “S” comes
visualized the value of the parameter or of the connection that may be read; at this point repress “S”
once You return to the sub-menu list, press twice “S” in fast succession (less 1 seconds), return to the
main menu. The system returns automatically to the status of rest and after 10 seconds of have past
inactivity. To modify the value of the parameter or of connection once entered into visualization it
necessary press both keys “+” and “–”; in that moment it starts to flash the decimal point of the first
figure to the left warning that from that moment the movement of the keys and “+” modifies the value;
the change of value may only by stop if the parameter is of kind “n” and only after having set up the
code of access P60, if the parameter is of the kind “r”, only after having set up the code of P99 (access
for the reserved parameters TDE MACNO), kind “t”. The parameters and the reserved connections
TDE MACNO doesn’t appear in the list if doesn’t call the code of P99. Once the value is corrected you
press the key “S” return to the sub-menu list making operational the parameter or the corrected
connection; if after correct the value want go out without change the values wait 10 seconds; if the
value is no touched for the exit press again the “S” key (it is operative the same original value). About
parameters and connections, the return to the status of rest display is in automatically way after 10
seconds from any kind of visualization.

FIG. 13 (Submenu management parameters PAR)

FIG. 14 (Submenu management application parameters APP)

MW00001E00 V_4.3 119

 FIG. 15 (Submenu management connections CON)

7.4.2 Visualization of the Internal Values (INT)

From “INT” you enter into the sub-menu list of internal values pressing “S”. In the list you are moving
with the keys “+” or “–” till that appearing address of dimensions wanted visualize “dxx”; pressing “S”
disappears the address and appear the value of the dimension. From this status you go back to sub-
menu list, repressing “S”, and go again to the main menu repressing “S” twice in fast succession; from
the menu and from the sub-menu. You return automatically to the status of rest after a time of 10
seconds.

FIG. 16 (Visualization of the internal dimensions INT)

120 MW00001E00 V_4.3

7.4.3 Alarms (ALL)

From “ALL” you enter into of sub-menu list of the alarms pressing “S”. From the corresponding sub-
menu with the keys “+” and “–” move all addresses desired for the alarms; with this, in the box to the
right, appears the status of the alarm “H” if active, “L” if don’t. If the alarm has been disabled; in this
case too with the active status doesn’t appear any stop of the regulation, the address of the alarm is
preceded by the sign “–”.
To exclude the event of an alarm You must enter into the menu to modify both the keys “+” and
“–” and when the flashing point appears of the first number You can enable or disable the alarm
with the keys “+” or “–”; if the alarm is disabled appears the sign the “–” to the left of the
writing “A.XX.Y”.
From the status of modification returns to the list of sub-menu and You return operative the select
made pressing “S”, from the menu and from the submenu You turn automatically to the status of rest
after a time closed to 10 seconds.

FIG. 17 (Alarms ALL)

7.4.4 Visualization of the Input and Output (Inp and Out)

From the “INP” or from the “OUT” you enter into corresponding list of sub-menu pressing “S”. From the
corresponding list of sub-menu with the keys “+” and “–” move to the address desired for the digital
input (i) and the output (o); together to this, in the box, appear the status: “H” if activate, “L” if not
active. From this status you returns to the main menu pressing “S”.

FIG. 18 (Digital input INP)

MW00001E00 V_4.3 121

 FIG. 19 (Digital output OUT)

7.4.5 Sub-menu of USB port Management

From “USB” you enter into corresponding list of sub-menu pressing “S”. At the access will be available
only “S.00=0” command, because USB port is normally disable and can’t interact with a pen-drive. In
order to enable USB port set S.00=1; now a pen-drive will be recognized and in the USB sub-menu all
the command will be available (S.01÷S.07). S.00 will come back to 0 (USB port disable) if a pen-drive
hasn’t been connected within 30 seconds.

Once entered into the list is able look through the commands by pressing the keys “+” or “–” to move in
increase or in decrement; even in this case the list is circular. If You press “S” key the value of the
command is visualized; at this point repress “S” once You return to the sub-menu list, press twice “S” in
fast succession (less 1 seconds), return to the main menu. The system returns automatically to the
status of rest and after 10 seconds of have past inactivity. To modify the value of the parameter or of
connection once entered into visualization it necessary press both keys “+” and “–”; in that moment it
starts to flash the decimal point of the first figure to the left warning that from that moment the
movement of the keys “+” and “-” modifies the value.

For more information look at the specific manual situated in our web site www.tdemacno.it in
Product/Download/Manuals/Automation/OPDE family.

FIG. 20 (USB commands)

122 MW00001E00 V_4.3

7.5 PROGRAMMING KEY

The programming key I2C device allows to back up all the parameters of a drive (both Core and
Application parameters), in order to upload into others drives or the same if data have been
compromises. The data are stored in a EPROM type memory, so battery backup is not necessary. In
this device is possible to save only one parameters recipe at a time, so a second saving data leads
an overwriting of previous parameters; the switch put on the key upper front side allows to protect the
stored data against possible writing procedures.

FIG.21 (key)

Use method

Parameters transmission from drive to key:

• Insert the key into the suitable slot with the correct way (otherwise it's not read);
• Select the "SAvE" function with the buttons ▼ and ▲ located on the keyboard of the drive
and push “●” as confirm.

FIG. 22

If the security switch is in "" position the command is stopped and the warning "Prot" is displayed
for 4s.
Otherwise all the parameters is transferred and the "runn" notice is displayed, then the message
"donE" will be shown for 2s as memorization confirm.

MW00001E00 V_4.3 123

Parameters transmission from key to drive:
• Insert the key into the suitable slot with the correct way (otherwise it's not read);
• Open the reserved parameter key with P60=95;
• Select the "LoAd" function with the buttons▼ and ▲ located on the keyboard of the drive and
push “●” as confirm;
• Set C63=1 to save the new parametrization permanently, switch off and switch on the
regulation supply to make it operative.

FIG.23

During the data transfer the message "runn" is displayed, then the "donE" notice will be shown for 2s
as memorization confirm.
If the programming key contains not compatible parameters with Core and Application firmware of the
drive the warning "n.CPt" will be displayed for 4s; instead, if they are invalid the warning "Err" will be
shown for 4s. Both this cases have as effect the load of the factory preset parameters.

124 MW00001E00 V_4.3

8 LIST OF PARAMETERS
Name Description Min Max Default UM Scale
P00 - Quick start application digital speed
PRC_START_UP_SPD_REF -100.0 100.0 0 % MOT_SPD_MAX 163.84
reference
P01 - Corrective factor for analog reference 1
KP_AI1 -400.0 400.0 100 % 10
(AUX1)
P02 - Corrective offset for analog reference 1
OFFSET_AI1 -100.0 100.0 0 % 163.84
(AUX1)
P03 - Corrective factor for analog reference 2
KP_AI2 -400.0 400.0 100 % 10
(AUX2)
P04 - Corrective offset for analog reference 2
OFFSET_AI2 -100.0 100.0 0 % 163.84
(AUX2)
P05 - Corrective factor for analog reference 3
KP_AI3 -400.0 400.0 100 % 10
(AUX3)
P06 - Corrective offset for analog reference 3
OFFSET_AI3 -100.0 100.0 0 % 163.84
(AUX3)
P07 - Second sensor amplitude
KP_SENS2 0.0 200.0 100 % 163.84
compensation
OFFSET_SIN_SENS2 P08 - Second sensor sine offset -16383 16383 0 1
OFFSET_COS_SENS2 P09 - Second sensor cosine offset -16383 16383 0 1
P10 - Offset for high precision analog
OFFSET_VF -19999 19999 0 1/100 mV 1
reference value
P11 - CanOpen SYNC loop regulator
SYNC_REG_KP 0 200 5 1
Proportional gain
P12 - CanOpen SYNC loop regulator lead
SYNC_REG_TA 0 20000 400 1
time constant
P13 - Corrective factor for 16 bit analog
KP_AI16 -400.0 400.0 100 % 10
reference (AUX16)
P14 - Corrective offset for 16 bit analog
OFFSET_AI16 -100.0 100.0 0 % 163.84
reference (AUX16)
TF_LI6-7-8 P15 - I06,07,08 logical inputs digital filter 0.0 20.0 2.2 ms 10
RES2_POLE P16 - Number of absolute sensor2 poles 1 160 2 1
ENC2_PPR P17 - Number of encoder2 pulses/revolution 0 60000 1024 pulses/rev 1
PRC_CW_SPD_REF_MAX P18 - Max. CW speed reference value limit -105.02 105.02 105.02 % MOT_SPD_MAX 163.84
PRC_CCW_SPD_REF_MAX P19 - Max. CCW speed reference value limit -105.02 105.02 105.02 % MOT_SPD_MAX 163.84
SPD_LOOP_BW P20 - Speed loop bandwidth 0.1 200.0 5.0 Hz 10.0
CW_ACC_TIME P21 - CW acceleration time 0.01 199.99 10 s 100
CW_DEC_TIME P22 - CW deceleration time 0.01 199.99 10 s 100
CCW_ACC_TIME P23 - CCW acceleration time 0.01 199.99 10 s 100
CCW_DEC_TIME P24 - CCW deceleration time 0.01 199.99 10 s 100
TF_RND_RAMP P25 - Rounded filter time constant 0.001 10.0 0.1 s 1000
I_RELAY_THR P26 - Current/power relay cut-in threshold 0.2 150.0 100 % 40.96
P27 - Filter time constant for current/power
TF_I_RELAY 0.1 10.0 1 s 10
relay
MOT_WAIT_DEMAGN P28 - Motor demagnetization waiting time 0 3000 0 ms 1
MOT_WAIT_MAGN P29 - Motor magnetization waiting time 50 3000 300 ms 1
DEC_TIME_EMCY P30 - Emergency brake deceleration time 0.01 199.99 10 s 100
P31 - KpV final speed regulator proportional
END_SPD_REG_KP 0.1 400.0 4 10
gain
P32 - TiV final speed regulator lead time
END_SPD_REG_TI 0.1 3000.0 80 ms 10
constant
P33 - TfV final speed regulator (filter) time
END_SPD_REG_TF 0.0 25.0 0.8 ms 10
constant
P34 - TfV initial speed regulator (filter) time
START_SPD_REG_TF 0.0 25.0 0.8 ms 10
constant
PRC_FLX_REF P35 - Flux Reference 0.0 120.0 100 % MOT_FLX_NOM 40.96
P36 - Kv Max operating voltage multiply
V_REF_COEFF 0.0 100.0 100 327.67
factor
P37 - Maximum tracking error (less
FLW_ERR_MAX_LSW -32767 32767 32767 ppr 1
significative part)
POS_REG_KP P38 - Kv position loop proportional gain 0.0 100.0 4 10
P39 - Maximum tracking error (less
FLW_ERR_MAX_MSW 0 32767 0 rpm 1
significative part)
PRC_DRV_I_PEAK P40 - Current limit 0.0 250.0 200 % DRV_I_NOM 40.96
PRC_MOT_T_MAX P41 - Maximum torque at full load 0.0 800.0 400.0 % MOT_T_NOM 40.95
P42 - Maximum torque in the positive
PRC_DRV_CW_T_MAX 0.0 400.0 400.0 % MOT_T_NOM 40.96
direction of rotation
P43 - Maximum torque in the negative
PRC_DRV_CCW_T_MAX -400.0 -0.0 -400.0 % MOT_T_NOM 40.96
direction of rotation

MW00001E00 V_4.3 125

Name Description Min Max Default UM Scale
PRC_SPD_THR_GAIN_CHG P44 - End speed for speed PI gain change 0.0 100.0 0 % MOT_SPD_MAX 163.84
START_SPD_REG_KP P45 - KpV initial speed PI proportional gain 0.1 400.0 4 10
START_SPD_REG_TI P46 - TiV initial speed PI lead time constant 0.1 3000.0 80 ms 10
DO_SPD_REACH_THR P47 - Speed threshold for logic output o.16 0.0 100.0 0 % MOT_SPD_MAX 163.84
P48 - Tracking loop bandwidth direct
RES2_TRACK_LOOP_BW 100 10000 1800 rad/s 1
decoding of resolver2
RES2_TRACK_LOOP_DAMP P49 - Damp factor Traking loop resolver2 0.00 5.00 0.71 100
DO_SPD_MIN_THR P50 - Minimum speed for relay 0.0 100.0 2.0 % MOT_SPD_MAX 163.84
PRC_MOT_SPD_MAX P51 - Maximum speed for alarm 0.0 125.0 120.0 % MOT_SPD_MAX 163.83
PRC_FLX_MIN P52 - Minimum Flux admitted 0.0 100.0 2 % MOT_FLX_NOM 40.96
DRV_I_NOM P53 - Rated drive current 0.0 3000.0 0 A 10
NOTCH_FREQ P54 - Notch nominal frequency 0.0 2000.0 0 Hz 10
NOTCH_BW P55 - Notch bandwidth 0.0 3000.0 0 Hz 10
PRC_LSE_CTR_MAX_ERR P56 - Max speed error admitted in control 0.1 400.0 400.0 % MOT_SPD_MAX 40.96
PRC_AO1_10V P57 - % value of 10V for analog output A 100.0 400.0 200 % 10
PRC_AO2_10V P58 - % value of 10V for analog output B 100.0 400.0 200 % 10
P59 - Minimum and maximum speed reached
HYST_DO_SPD 0.0 100.0 1.0 % MOT_SPD_MAX 163.84
output hysteresis
RES_PAR_KEY P60 - Access Key to reserved parameters 0 65535 0 1
PRC_MOT_I_NOM P61 - Rated motor current 10.0 100.0 100 % DRV_I_NOM 327.67
MOT_V_NOM P62 - Rated motor voltage 100.0 1000.0 380 Volt 10
MOT_F_NOM P63 - Rated motor frequency 10.0 1000.0 50.0 Hz 10
PRC_MOT_V_MAX P64 - Max. operating voltage 1.0 200.0 100 % MOT_V_NOM 40.96
MOT_SPD_MAX P65 - Max. operating speed 50 60000 2000 rpm 1
MOT_COS_PHI P66 - Nominal power factor 0.500 1.000 0.894 1000
MOT_POLE_NUM P67 - Number of motor poles 1 12 4 1
RES_POLE P68 - Number of absolute sensor poles 1 12 2 1
ENC_PPR P69 - Number of encoder pulses/revolution 0 60000 1024 pulses/rev 1
%
PRC_MOT_I_THERM P70 - Motor thermal current 10.0 110.0 100 10
PRC_MOT_I_NOM
MOT_TF_THERM P71 - Motor thermal time constant 1 2400 180 s 1
%
PRC_MOT_I_T_NOM P72 - Nominal torque current 5.0 100.0 95.2 327.67
PRC_MOT_I_NOM
%
PRC_MOT_I_FLX_NOM P73 - Nominal flux current 5.0 100.0 30.2 327.67
PRC_MOT_I_NOM
T_ROTOR P74 - Rotor time constant Tr 10 10000 200 ms 1
T_STATOR P75 - Stator time constant Ts 0.0 50.0 9.1 ms 10
PRC_DELTA_VRS P76 - Voltage drop due to stator resistor 1.0 25.0 2.0 % MOT_V_NOM 327.67
P77 - Voltage drop due to leakage
PRC_DELTA_VLS 5.0 100.0 20.0 % MOT_V_NOM 327.67
inductance
DCBUS_THR P79 - DC Bus threshold for logic output o25 220.0 1200.0 800 V 10
V_REG_KP P80 - Kpi voltage regulator proportional gain 0.1 100.0 10.0 10
P82 - Tfi voltage regulator (filter) time
V_REG_TF 0.0 1000.0 12.0 ms 10
constant
I_REG_KP P83 - Kpc current regulator proportional gain 0.1 100.0 2.6 10
I_REG_TI P84 - Tic current regulator lead time constant 0.0 1000.0 9.1 ms 10
P85 - Tfc current regulator (filter) time
I_REG_TF 0.0 25.0 0 ms 10
constant
DCBUS_REG_KP P86 - Kp3 Bus control proportional gain 0.05 10.00 3.5 100
AC_MAIN_SUPPLY P87 - Main Supply voltage 180.0 780.0 400 V rms 10
P88 - High precision analog speed reference
MAXV_VF 2500 10000 10000 mVolt 1
value: Voltage matches max. speed
P89 - Tracking loop bandwidth direct
RES_TRACK_LOOP_BW 100 10000 1800 rad/s 1
decoding of resolver
RES_TRACK_LOOP_DAMP P90 - D Traking loop bandwidth 0.00 5.00 0.71 100
P91 - Maximum motor temperature (if read
MOT_TEMP_MAX 0.0 150.0 130 °C 10
with KTY84)
MODBUS_ADDR P92 - Serial identification number 0 255 1 1
MODBUS_BAUD P93 - Serial baud rate 192 Kbit/s 1
STO_WAIT P94 - Safe Torque Off waiting time 0 2000 500 ms 1
P95 - Motor NTC or PTC resistance value for
MOT_PRB_RES_THR 0 50000 1500 Ohm 1
alarm
P96 - Motor thermal logic output 14 cut-in
PRC_MOT_DO_TEMP_THR 0.0 200.0 100 % 40.96
threshold
P97 - Minimum voltage level for forced mains
DCBUS_MIN_MAIN_LOST 0.0 1200.0 425 V 10
off
DCBUS_REF_MAIN_LOST P98 - Voltage reference value in Support 1 0.0 1200.0 600 V 10
TDE_PAR_KEY P99 - Access key to TDE parameters 0 19999 0 1

126 MW00001E00 V_4.3

Name Description Min Max Default UM Scale
P100 - Value of access key to reserved
RES_PAR_KEY_VAL 0 19999 95 1
parameters
DRV_F_PWM P101 - PWM frequency 1000 16000 5000 Hz 1
‰
PRC_DEAD_TIME_CMP P102 - Dead time compensation 0.0 100.0 22.0 32.76
PRC_MOT_V_MAX
PRC_DRV_I_MAX P103 - Drive limit current 0.0 800.0 200 % DRV_I_NOM 40.96
T_RAD P104 - Radiator time constant 10.0 360.0 80 s 10
KP_DCBUS P105 - Corrective factor for Bus voltage 80.0 200.0 100 % 10
DCBUS_MIN P106 - Minimum voltage of DC Bus 0.0 1200.0 400 V 10
DCBUS_MAX P107 - Maximum voltage of DC Bus 0.0 1200.0 760 V 10
DCBUS_BRAKE_ON P108 - Bus voltage threshold for brake ON 0.0 1200.0 730 V 10
DCBUS_BRAKE_OFF P109 - Bus voltage threshold for brake OFF 0.0 1200.0 720 V 10
OFFSET_AO1 P110 - Offset A/D 1 -100.0 100.0 0 327.67
OFFSET_AO2 P111 - Offset A/D 2 -100.0 100.0 0 % 327.67
P112 - Display time to come back to idle
DISPLAY_WAIT 3 600 10 s 1
state
DRV_I_PEAK P113 - Maximum drive current 0.0 3000.0 0 A 10
P114 - Current in connection tests for UVW,
PRC_I_TEST_CONN 0.0 100.0 100 % DRV_I_NOM 327.67
Poles and reading Rs
P115 - Multiplication factor for motor
KP_MOT_THERM_PRB 0.00 200.00 100 163.84
PTC/NTC/KTY84 analog reference value
T_JUNC P116 - Junction time constant 0.1 10.0 3.5 s 10
P117 - Multiplication factor for radiator
KP_DRV_THERM_PRB 0.00 200.00 100 163.84
PTC/NTC analog reference value
P118 - Max. temperature permitted by
DRV_TEMP_MAX 0.0 150.0 90 °C 10
radiator PTC/NTC
P119 - Max. temperature permitted by
DRV_START_TEMP_MAX 0.0 150.0 75 °C 10
radiator PTC/NTC for start-up
P120 - Radiator temperature threshold for
DRV_DO_TEMP_THR 0.0 150.0 80 °C 10
logic output o.15
TEST3-4_ACC_TIME P121 - Test 3 and 4 acceleration time 0.01 199.99 4.0 s 100
MOD_INDEX_MAX P122 - Max. modulation index 0.500 0.995 0.98 1000
DCBUS_REF P123 - Smart brake voltage cut-in level 0.0 1200.0 750 V 10
P124 - Simulated encoder Kv gain
PRC_ENC_OUT_LOOP 0.0 100.0 100 % 327.67
multiplication coeff.
PRC_V_REF_DCBUS P125 - Voltage reference function of DC bus 0.0 100.0 96.00513 % 327.67
P126 - KpI Corrective coeff. estimated Kp for
PRC_I_REG_KP_COEFF 0.0 200.0 100 % 40.96
current loops
P127 - KpV Corrective coeff. estimated Kp for
PRC_V_REG_KP_COEFF 0.0 798.0 100 % 40.95
voltage loops
P128 - Voltage motor at nominal speed with
MOT_V0 0.0 100.0 100.0 % MOT_V_NOM 327.67
no load
PRC_I_TEST_DELTA_VLS P129 - Test current to establish VLS 0.0 100.0 15.0 % 327.67
TEST_SPD_T_MAX P130 - Torque during start-up test 0.0 100.0 100 % MOT_T_NOM 40.96
K_FLX45 P131 - Magnetic characteristic point 1 0.0 120.0 90.2 % 40.96
TEST_SPD_MAX P132 - Speed during start-up test -100.00 100.00 100 % MOT_SPD_MAX 163.84
K_FLX55 P133 - Magnetic characteristic point 2 0.0 120.0 90.5 % 40.96
P134 - Maximum revolutions during start-up
TEST_SPD_SPACE_MAX 0.00 3000.0 100 revolutions 10
test
K_FLX65 P135 - Magnetic characteristic point 3 0.0 120.0 91.1 % 40.96
PRC_MOT_FRICTION P136 - Friction torque 0.0 100.0 0 % MOT_T_MOM 40.96
K_FLX75 P137 - Magnetic characteristic point 4 0.0 120.0 91.8 % 40.96
P138 - Multiplication factor for regulation card
KP_REG_THERM_PRB 0.00 200.00 100 163.84
thermal probe
K_FLX82 P139 - Magnetic characteristic point 5 0.0 120.0 92.7 % 40.96
BRAKE_R P140 - Braking resistance 1 1000 82 Ohm 1
K_FLX88 P141 - Magnetic characteristic point 6 0.0 120.0 94.2 % 40.96
P142 - Braking resistance Maximum
BRAKE_R_MAX_EN 0.0 500.0 4.5 KJoule 10
adiabatic Energy
K_FLX93 P143 - Magnetic characteristic point 7 0.0 120.0 95.8 % 40.96
P144 - Time measure of Braking resistance
BRAKE_R_MAX_EN_TIME 0 30000 2000 ms 1
adiabatic Energy
K_FLX97 P145 - Magnetic characteristic point 8 0.0 120.0 98.1 % 40.96
P146 - Maximum Power dissipated on
BRAKE_R_MAX_POWER 0.0 600.0 1.5 KWatt 100
Braking resistance
K_FLX100 P147 - Magnetic characteristic point 9 0.0 120.0 100.0 % 40.96
P148 - Power dissipated on Braking
BRAKE_R_TF 1 2000 720 s 1
resistance filter time constant
K_FLX102 P149 - Magnetic characteristic point 10 0.0 120.0 102.0 % 40.96

MW00001E00 V_4.3 127

Name Description Min Max Default UM Scale
P150 - High precision analog speed
KP_POS_VF reference value:VCO setting for positive -16383 16383 4096 1
voltage reference values
PRC_DEAD_TIME_CMP_XB P151 - Xb = cubic coupling zone amplitude 0.0 50.0 5.0 % DRV_I_NOM 163.84
P152 - NUM - Second sensor incremental
POS_REG_SENS2_NUM -16384 16384 100 1
position loop
P153 - DEN - Second sensor incremental
POS_REG_SENS2_DEN 0 16384 100 1
position loop
PW_SOFT_START_TIME P154 - Soft start enabling time 150 19999 500 ms 1
P155 - Ambient temperature reference value
OVR_LOAD_T_ENV 0.0 150.0 40 °C 10
during overload
DRV_F_PWM_CARATT P156 - PWM frequency for drive definition 1000 16000 5000 Hz 1
DEAD_TIME_SW P157 - Dead time software duration 0.0 20.0 4 µs 10
P158 - Corrective coefficient for decoupling
PRC_I_DECOUP 0.0 200.0 50.0 % 40.96
terms
P159 - High precision analog speed
KP_NEG_VF reference value:VCO setting for negative -16383 16383 4096 1
voltage reference values
P160 - PWM delay compensation on the
I_DELAY_COMP -800.0 800.0 52 % TPWM 40.96
currents
P161 - PWM delay compensation on the
V_DELAY_COMP -800.0 800.2 142.0 % TPWM 40.96
voltages
ID_CANOPEN P162 - CAN BUS node ID 1 127 1 1
ALL_ENAB P163 - Alarm enable 0 65535 65535 Hex 1
P164 - Resolver or Incremental Sin/Cos sine
KP_SINCOS1_CHN 0.0 200.0 100 % 163.84
and cosine signal amplitude compensation
P165 - Resolver or Incremental Sin/Cos sine
OFFSET_SIN1 -16383 16383 0 1
offset
P166 - Resolver or Incremental Sin/Cos
OFFSET_COS1 -16383 16383 0 1
cosine offset
DRV_E_CARATT P167 - Characterization voltage 200.0 780.0 400 V rms 10
SPD_REG_KD_TF2 P168 - Second order feedforword filter 0.0 1000.0 0.0 ms 10
START_TIME P169 - Start up time 0 19999 100 ms 1
%
PRC_VF_SLIP_CMP P170 - Slip motor compensation 0.0 400.0 0.0 327.67
PRC_MOT_F_MAX
VF_TF_SLIP_CMP P171 - Slip compensation factor filter 0.0 150.0 35.0 ms 10
%
PRC_VF_BOOST P172 - Stator voltage drop compensation 0.0 400.0 70.0 40.96
PRC_DELTA_VRS
P173 - Current limit during continuous
PRC_VF_DCJ_I_MAX 0.0 100.0 100.0 % DRV_I_NOM 40.96
braking
P174 - Continuous breaking maximum %
PRC_VF_DCJ_F_MAX 0.0 100.0 0.0 40.96
frequency limit PRC_MOT_F_MAX
%
PRC_VF_CHR_V1 P175 - V/f characteristic point 1 voltage 0.0 100.0 0.0 40.96
PRC_MOT_V_MAX
%
PRC_VF_CHR_F1 P176 - V/f characteristic point 1 frequency 0.0 100.0 0.0 40.96
PRC_MOT_F_MAX
%
PRC_VF_CHR_V2 P177 - V/f characteristic point 2 voltage 0.0 100.0 0.0 40.96
PRC_MOT_V_MAX
%
PRC_VF_CHR_F2 P178 - V/f characteristic poitn 2 frequency 0.0 100.0 0.0 40.96
PRC_MOT_F_MAX
DB1_START P179 - Dead zone 1 initial speed 0 30000 0 rpm 1
DB1_END P180 - Dead zone 1 final speed 0 30000 0 rpm 1
DB2_START P181 - Dead zone 2 initial speed 0 30000 0 rpm 1
DB2_END P182 - Dead zone 2 final speed 0 30000 0 rpm 1
P183 - Voltage regulator derivative coefficient
PRC_VF_V_REG_D 0.0 100.0 100.0 % 327.67
multiplying term
P184 - Initial search frequency with rotating %
PRC_VF_FSTART_SEARCH 0.0 100.0 100.0 40.96
motor PRC_MOT_F_MAX
P185 - Minimum search frequency with %
PRC_VF_FMIN_SEARCH 0.0 100.0 2.9 40.96
rotating motor PRC_MOT_F_MAX
VF_STALL_TIME P186 - Working time during limit 1 100 30 s 1
%
PRC_VF_V_MAX_STATIC P187 - Vs amplitude maximum static value 0.0 100.0 97.5 327.67
PRC_MOT_V_MAX
P188 - Energy saving regulator filter time
TI_ENERGY_SAVE 100 2000 100 ms 1
constant
P189 - Energy saving admissible minimum
PRC_FLX_MIN_ENERGY 0.0 100.0 20.0 % MOT_FLX_NOM 40.96
flux
VF_TF_I_MAX_AL P190 - Current alarm filter 0.0 150.0 10.0 ms 10
PRC_VF_T_MAX_SEARCH P191 - Torque limit during fly restart 0.0 100.0 5.0 % DRV_T_NOM 40.96
P192 - Minimum Active Current for
PRC_IQ_COMP_THR 0.0 400.0 50.0 % DRV_T_NOM 40.96
sensorless flux compensation

128 MW00001E00 V_4.3

Name Description Min Max Default UM Scale
P193 - Maximum Flux for sensorless flux
PRC_FLUX_COMP_THR 0.0 400.0 90.0 % MOT_FLX_NOM 40.96
compensation
P194 - Minimum Voltage for sensorless flux
PRC_VS_COMP_THR 0.0 400.0 50.0 % MOT_V_NOM 40.96
compensation
DRV_K_ALTITUDE P195 - Drive Derating with altitude 0.0 200.0 100.0 % 163.84
PWM_RID_F_MAX P196 - Max frequency for PWM reduction 0.0 1000.0 10.0 Hz 10
PWM_MIN P197 - Minimum PWM frequency 1000 16000 5000 Hz 1
DEAD_TIME_HW P198 - Dead time hardware duration 0.0 20.0 0.0 µs 10
MIN_PULSE P199 - Minumum command pulse duration 0.0 20.0 1.0 µs 10
SENSOR_SEL C00 - Speed sensor 0 21 1 1
LI1_SEL C01 - Meaning of logic input 1 -1 31 8 1
LI2_SEL C02 - Meaning of logic input 2 -1 31 2 1
LI3_SEL C03 - Meaning of logic input 3 -1 31 3 1
LI4_SEL C04 - Meaning of logic input 4 -1 31 0 1
LI5_SEL C05 - Meaning of logic input 5 -1 31 4 1
LI6_SEL C06 - Meaning of logic input 6 -1 31 12 1
LI7_SEL C07 - Meaning of logic input 7 -1 31 5 1
LI8_SEL C08 - Meaning of logic input 8 -1 31 22 1
FRQ_IN_SEL C09 - Frequency input setting 0 3 1 1
LO1_SEL C10 - Meaning of logic output 1 -64 63 3 1
LO2_SEL C11 - Meaning of logic output 2 -64 63 0 1
LO3_SEL C12 - Meaning of logic output 3 -64 63 6 1
LO4_SEL C13 - Meaning of logic output 4 -64 63 19 1
DISPLAY_SEL C14 - Display selection 0 127 0 1
C15 - Meaning of programmable analog
AO1_SEL -99 100 11 1
output 1
C16 - Meaning of programmable analog
AO2_SEL -99 100 4 1
output 2
SENSOR2_SEL C17 - Sensor2 selection 0 14 0 1
C18 - Enable incremental encoder2 time
EN_TIME_DEC_ENC2 0 1 0 1
decode
EN_SLOT_SWAP C19 - Enable sensor slot swap 0 1 0 1
EN_INV_POS2_DIR C20 - Invert sensor2 positive cyclic versus 0 1 0 1
SW_RUN_CMD C21 - Run software enable 0 1 1 1
LEM_SEL C22 - LEM selection 0 1 1 1
EN_SYNC_REG C23 - Enable CANOpen SYNC traking loop 0 1 0 1
DC_BUS_FULL_SCALE C24 - DC Voltage drive full scale 0 2 0 V 1
RES2_DDC_BW C25 - Second Resolver DDC bandwidth 0 1 0 Hz 1
EN_RND_RAMP C27 - Rounded ramp 0 1 0 1
EN_STOP_MIN_SPD C28 - Stop with minimum speed 0 1 0 1
DRV_SW_EN C29 - Drive software enable 0 1 1 1
ALL_RESET C30 - Reset alarms 0 1 0 1
DIS_DCBUS_RIPPLE_ALL C31 - Disable DC Bus Ripple Alarm 0 1 0 1
EN_MOT_THERMAL_ALL C32 - Motor thermal switch ' Block drive ? 0 1 1 1
MOT_THERM_CURV_SEL C33 - Auto-ventilated thermal motors 0 3 0 1
MAIN_LOST_SEL C34 - Managing mains failure 0 4 0 1
C35 - Automatic alarm reset when mains
ALL_RST_ON_MAIN 0 1 0 1
back on
EN_PW_SOFT_START C37 - Enable soft start 0 1 1 1
MAGN_SEL C38 - Motor Magnetization selection 0 2 0 1
C39 - Enable speed limitation in current
EN_I_CNTRL_SPD_LIM 0 1 0 1
control
EN_TEST_CONN C41 - Enable sensor and motor phase tests 0 2 0 1
EN_AUTOTUNING C42 - Enable auto-tunings 0 3 0 1
ALL_COUNT_RESET C44 - Reset alarm counters 0 2 0 1
RECT_BRIDGE_SEL C45 - Rectification bridge 0 1 0 1
C46 - Enable motor thermal probe
MOT_THERM_PRB_SEL 0 4 1 1
management
EN_DCBUS_MAX_CTRL C47 - Enable smart brake 0 1 0 1
CANOPEN_BAUD_SEL C48 - CAN Baud rate 0 7 0 1
ENC_OUT_ZERO_TOP C49 - TOP zero phase for simulated encoder 0 3 0 1
ENC_OUT_DIR C50 - Invert channel B simulated encoder 0 1 0 1
ENC_OUT_PPR_SEL C51 - Choose pulses ev. simulated encoder 0 12 5 1
ENC_OUT_SEL C52 - Simulated encoder selection 0 5 0 1
MAIN_SUPPLY_SEL C53 - Supply voltage 0 2 0 1
OPD_ENC_OUT_SEL C54 - Internal Simulated Encoder selection 0 2 0 1

MW00001E00 V_4.3 129

Name Description Min Max Default UM Scale
I_RELAY_SEL C55 - Current relay output 0 2 0 1
I_OVR_LOAD_SEL C56 - Current overload 0 3 3 1
C57 - Enable radiator heat probe
DRV_THERM_PRB_SEL 0 1 1 1
management (PTC/NTC)
C59 - Disable dynamic decoupling +
DIS_I_DECOUP 0 1 0 1
feedfoward
PAR_ACT_BANK C60 - Parameter bank active 0 1 0 1
DEF_PAR_RD C61 - Read default parameters 0 1 0 1
EEPROM_PAR_RD C62 - Read parameters from EEPROM 0 2 0 1
EEPROM_PAR_WR C63 - Save parameters in EEPROM 0 1 0 1
EN_FLDBUS C64 - Enable fieldbus manage 0 4 0 1
C65 - Enable sensorless on line parameters
EN_ON_LINE_CMP 0 3 1 1
compensation
RES_DDC_BW C66 - Resolver DDC bandwidth 0 1 0 Hz 1
RES_CARR_FRQ_RATIO C67 - Resolver carrier frequency -3 3 0 1
EN_PWM_VAR C68 - Enable PWM frequency variation 0 2 0 1
C69 - Enable 2nd order filter on speed
EN_TF2_SPD_REG 0 1 0 1
regulator
C70 - Motor NTC or PTC resistance
MOT_PRB_RES_THR_MUL 0 1 0 1
multiplication factor
EN_BRAKE_R_PROT C71 - Enable Braking resistance protection 0 2 0 1
EN_SPD_FFW C72 - Enable speed feedforward 0 2 0 1
EN_STO_ONLY_SIG C73 - Enable Safety STOP only like signaling 0 1 0 1
C74 - Enable incremental encoder time
EN_TIME_DEC_ENC 0 1 0 1
decode
C75 - Disable Autotuning starting from default
DIS_DEF_START_AUTO 0 1 0 1
values
EN_INV_POS_DIR C76 - Invert positive cyclic versus 0 1 0 1
EN_SPD_REG_MEM_CORR C77 - Enable PI speed gains compenstation 0 1 0 1
MOT_SPD_MAX_MUL C78 - Motor speed max multiplication factor 0 1 0 1
EN_NOT_LI C79 - Enable negative logic for digital inputs 0 255 0 1
EN_VF_CNTL C80 - Enable V/f control 0 1 0 1
EN_DB C81 - Enable dead zones 0 2 0 1
VF_EN_STALL_ALL C82 - Enable stall alarm 0 1 1 1
VF_EN_DCJ C83 - Enable dc brake 0 1 0 1
VF_EN_SEARCH C84 - Enable search during motor rotation 0 4 0 1
VF_EN_OPEN_LOOP C85 - Enable open loop working state 0 2 0 1
EN_ENERGY_SAVE C86 - Enable energy saving 0 1 0 1
C87 - Enable flux angle bypass - frequency
VF_EN_BYPASS 0 1 0 1
input
C88 - Calculate V/f characteristic nominal
VF_EN_CHR_AUTOSET 0 1 0 1
knee
C89 - Disable minimum power circuit voltage
DIS_MIN_VBUS 0 1 0 1
with drive stopped
C90 - Enable incremental position loop on
EN_POS_REG_SENS2 0 1 0 1
second sensor
EN_BRAKE_IN_STOP C91 - Enable DC braking also in stop 0 1 0 1
NOTCH_DEEP C92 - Notch filter deep 0 1 0.1 100
NOTCH_RID C93 - Notch filter reduction 0 1 1.0 100
DRV_TH_MODEL C94 - Drive Thermal Model 0 2 0 1
EN_AI1_4_20mA C95 - Enable AI1 4-20mA 0 1 0 1
EN_AI2_4_20mA C96 - Enable AI2 4-20mA 0 1 0 1
EN_AI3_4_20mA C97 - Enable AI3 4-20mA 0 1 0 1
EN_BOOT C98 - Enable boot mode 0 1 0 1
EN_AI1 E00 - Enable analog reference value A.I.1 0 1 0 1
EN_AI2 E01 - Enable analog reference value A.I.2 0 1 0 1
EN_AI3 E02 - Enable analog reference value A.I.3 0 1 0 1
AI1_SEL E03 - Meaning of analog input A.I.1 0 7 0 1
AI2_SEL E04 - Meaning of analog input A.I.2 0 7 1 1
AI3_SEL E05 - Meaning of analog input A.I.3 0 7 2 1
E06 - Filter time constant for analog torque
TF_TRQ_REF_AN 0.0 20.0 0 ms 10
reference value
EN_AI16 E07 - Enable analog reference value A.I.16 0 1 0 1
AI16_SEL E08 - Meaning of analog input A.I.16 0 7 0 1
E09 - Analog Speed/PID Error -Dead zone
PRC_SPD_TOT_AN_DZ 0.00 100.00 0 % MOT_SPD_MAX 163.84
amplitude
PRC_SPD_JOG E11 - Digital speed reference value (JOG1) -100.00 100.00 0 % MOT_SPD_MAX 163.84
EN_SPD_JOG E12 - Enable jog speed reference 0 1 0 1
PRC_START_DG_POT E13 - Motor potentiometer starting speed -100.0 100.0 2.002075 % MOT_SPD_MAX 163.84

130 MW00001E00 V_4.3

Name Description Min Max Default UM Scale
E14 - Load final digital potentiometer
EN_MEM_DG_POT 0 1 0 1
reference value
E15 - CW motor potentiometer speed
PRC_MAX_REF_DG_POT -105.02 105.02 105.02 % MOT_SPD_MAX 163.84
reference value
E16 - CCW motor potentiometer speed
PRC_MIN_REF_DG_POT -105.02 105.02 -105.02 % MOT_SPD_MAX 163.84
reference value
DG_POT_RAMPS E17 - Digital potentiometer acceleration time 0.3 1999.9 50 s 10
E18 - Enable motor potentiometer reference
EN_DG_POT 0 1 0 1
value(A.I.4)
FRQ_IN_PPR_SEL E20 - Encoder pulses per revolution 0 9 5 1
FRQ_IN_NUM E21 - NUM - Frequency input slip ratio -16383 16383 100 1
FRQ_IN_DEN E22 - DEN - Frequency input slip ratio 0 16383 100 1
E23 - Enable frequency speed reference
EN_FRQ_REF 0 1 0 1
value
FRQ_REF_SEL E24 - Frequency speed reference selection 0 2 0 1
E25 - Filter time constant of frequency input
TF_TIME_DEC_FRQ 0.0 20.0 1.6 ms 10
decoded in time
E26 - Corrective factor for frequency input
KP_TIME_DEC_FRQ 0.0 200.0 100 163.84
decoded in time
SB_MOT_SPD_MAX E27 - Second bank Max. operating speed 50 30000 3000 rpm 1
E28 - Second bank KpV speed regulator
SB_SPD_REG_KP 0.1 400.0 6 10
proportional gain
E29 - Second bank TiV speed regulator lead
SB_SPD_REG_TI 0.1 3000.0 30 ms 10
time constant
E30 - Second bank TfV speed regulator
SB_SPD_REG_TF 0.0 25.0 0.4 ms 10
(filter) time constant
SB_CW_ACC_TIME E31 - Second bank CW acceleration time 0.01 199.99 10 s 100
SB_CW_DEC_TIME E32 - Second bank CW deceleration time 0.01 199.99 10 s 100
SB_CCW_ACC_TIME E33 - Second bank CCW acceleration time 0.01 199.99 10 s 100
SB_CCW_DEC_TIME E34 - Second bank CCW deceleration time 0.01 199.99 10 s 100
SB_ON E35 - Second bank active 0 1 0 1
EN_LIN_RAMP E36 - Enable linear ramp 0 1 1 1
EN_INV_SPD_REF E37 - Invert reference signal software 0 1 0 1
EN_I_CNTRL E38 - Enable only current control 0 1 0 1
EN_POS_REG E39 - Enable overlapped space loop 0 1 0 1
E40 - Enable overlapped space loop memory
EN_POS_REG_MEM_CLR 0 1 0 1
clear in stop
MUL_AI_IN_SEL E41 - Multiplication factor selection 0 4 0 1
MUL_AI_OUT_SEL E42 - Multiplication factor target 0 2 0 1
E43 - Max analog input value for
MUL_AI_MAX -180.00 180.00 100.0 % A.I. 163.84
multiplication factor
E44 - Min analog input value for multiplication
MUL_AI_MIN -180.00 180.00 0.0 % A.I. 163.84
factor
E45 - Multiplication factor with max analog
MUL_KCF_MAX -100.0 100.0 1.0 100
input (MUL_AI_MAX)
E46 - Multiplication factor with min analog
MUL_KCF_MIN -100.0 100.0 -1.0 100
input (MUL_AI_MAX)
EN_FLDBUS_REF E47 - Enable FIELD-BUS reference values 0 1 0 1
STR_MUL_AI E48 - Storing input multilpicative factor 0 2 0 1
E49 - Enable feedforward torque reference in
EN_I_FF 0 1 0 1
speed control
E54 - Disable Stop in position when
DIS_STOP_POS 0 1 0 1
incremental position loop is enabled
EN_STOP_POS E55 - Enabling Stop in position 0 2 0 1
STOP_POS_CMD E56 - Stop in position comand selection 0 1 0 1
EN_STOP_POS_GBOX E57 - Enabling Stop in position after gearbox 0 1 0 1
ZERO_TOP_SEL E58 - Stop in position comand selection 0 3 0 1
PRC_SPD_INDEX E59 - Indexing speed reference value 0.00 100.00 2.0 % MOT_SPD_MAX 163.84
STOP_POS0 E60 - Target 0 Stop in position 0.00 100.00 0 % 360 degree 163.84
STOP_POS1 E61 - Target 1 Stop in position 0.00 100.00 0 % 360 degree 163.84
STOP_POS2 E62 - Target 2 Stop in position 0.00 100.00 0 % 360 degree 163.84
STOP_POS3 E63 - Target 3 Stop in position 0.00 100.00 0 % 360 degree 163.84
ANG_MOV E64 - Angular movement Stop in position -50.00 50.00 0 % 360 degree 163.84
POS_WINDOW E65 - Position Reached window 0.00 50.00 0.15 % 360 degree 163.84
TIME_WINDOW E66 - Time on Position Reached window 0 19999 10 ms 1
PRC_SPD_MIN_AUTO E67 - Minimum speed for automatic stop 0.00 100.00 1.0 % MOT_SPD_MAX 163.84
SPD_MIN_HYST E68 - Minimum speed hysteresis 0.00 100.00 0.0 % MOT_SPD_MAX 163.84
GBOX_NUM E69 - Gearbox NUM 0 16384 100 1
GBOX_DEN E70 - Gearbox DEN 0 16384 100 1

MW00001E00 V_4.3 131

Name Description Min Max Default UM Scale
EN_PID E71 - Enabling PID Control 0 2 0 1
DGT_SP_PID E72 - Digital Setpoint PID -200.0 200.0 0.0 % 163.84
SEL_SP_PID E73 - PID Setpoint selection 0 6 0 1
SEL_PV_PID E74 - PID Process value selection 0 6 1 1
KP_PID E75 - KP proportional gain -200.0 200.0 1.00 163.84
TF_PID_KP E76 - Filter time constant component P PID 0.0 20.0 0.4 ms 10
TI_PID E77 - TI Integral time 0 19999 0 ms 1
TD_PID E78 - TD Derivative time 0 19999 0 ms 1
LMN_MIN_OUT_PID E79 - Limit Min value of output PID -200.0 200.0 -100.0 % 163.84
LMN_MAX_OUT_PID E80 - Limit Max value of output PID -200.0 200.0 100.0 % 163.84
EN_REF_PID E81 - Enabling PID Reference 0 1 0 1
SEL_OUT_PID E82 - PID Output selection 0 7 0 1
OVR_LMN_I E83 - Override Integral Part of PID -200.0 200.0 0.0 % 163.84
EN_PWM_SYNC E87 - Enable PWM synchronization 0 2 0 1
PWM_SYNC_PHASE E88 - PWM synchronization phase -175.0 175.0 0 degrees 10
EN_HLD_BRAKE E89 - Enable Motor Holding brake 0 1 0 1
E90 - Motor holding brake disable delay at
HLD_BRAKE_DIS_DLY 0 19999 0 ms 1
start
E91 - Motor holding brake enable delay at
HLD_BRAKE_EN_DLY 0 19999 0 ms 1
stop
E92 - Enable autoset current position as stop
EN_STOP_POS_AUTOSET 0 1 0 1
in position target
E93 - Switch-on temperature of converter
TEMP_ON_CONV_FANS 30 80 60 °C 1
fans
DRV_TEMP_TH_MODEL Radiator temperature used by Thermal Model 0 °C 100
%
DRV_I_CONN_TH_MODEL Drive inner connection limit 0 100
DRV_I_CONN_MAX
PRC_FLD_SPD_REF Fieldbus speed reference -100.00 100.00 0 % MOT_SPD_MAX 163.84
PRC_FLD_T_MAX Fieldbus maximum torque reference -400.00 400.00 0 % MOT_T_NOM 40.96
PRC_FLD_T_REF Fieldbus torque reference -400.00 400.00 0 % MOT_T_NOM 40.96
Factory corrective offset for analog reference
OFFSET_AI1_TDE -100.0 100.0 0 % 163.84
1 (AI1)
Factory corrective offset for analog reference
OFFSET_AI2_TDE -100.0 100.0 0 % 163.84
2 (AI2)
Factory corrective offset for analog reference
OFFSET_AI3_TDE -100.0 100.0 0 % 163.84
3 (AI3)
KP_DCBUS_TDE Factory corrective factor for Bus voltage 0.0 200.0 100 % 10
Factory multiplication factor for motor
KP_MOT_THERM_PRB_TDE 0.00 200.00 100 163.84
PTC/NTC/KTY84 analog reference value
Factory multiplication factor for radiator
KP_DRV_THERM_PRB_TDE 0.00 200.00 100 163.84
PTC/NTC analog reference value
FW_REV D00 - Software version 0 256
ACTV_POW D01 - Active power delivered 0 kW 16
PRC_TOT_APP_SPD_REF D02 - Speed reference value before ramp -100 100 0 % MOT_SPD_MAX 163.84
PRC_END_SPD_REF D03 - Speed reference value after ramp -100 100 0 % MOT_SPD_MAX 163.84
PRC_MOT_SPD D04 - Speed reading -100 100 0 % MOT_SPD_MAX 163.84
PRC_T_REF D05 - Torque request -100 100 0 % MOT_T_NOM 40.96
PRC_IQ_REF D07 - Request torque current Iq rif -100 100 0 % DRV_I_NOM 40.96
PRC_ID_REF D08 - Request magnetizing current Id rif -100 100 0 % DRV_I_NOM 40.96
V_REF D09 - Voltage reference value at max. rev. -100 100 0 % MOT_V_NOM 40.96
D10 - Torque reference value (application
PRC_APP_T_REF -100 100 0 % MOT_T_NOM 40.96
generated)
MOT_I D11 - Current module 0 A rms 16
REF_FRQ_IN D12 - Frequency in input 0 KHz 16
EL_FRQ D13 - Rotor flux frequency 0 Hz 16
D14 - Frequency speed reference value
PRC_APP_FRQ_SPD_REF -100 100 0 % MOT_SPD_MAX 163.84
(application generated)
PRC_IQ D15 - Current torque component -100 100 0 % DRV_I_NOM 40.96
PRC_ID D16 - Current magnetizing component -100 100 0 % DRV_I_NOM 40.96
MOT_V D17 - Stator voltage reference value module 0 V rms 16
PRC_MOT_V D18 - Stator voltage reference value module -100 100 0 % MOT_V_NOM 40.96
MOD_INDEX D19 - Modulation index -100 100 0 40.96
PRC_VQ_REF D20 - Vq rif -100 100 0 % MOT_V_NOM 40.96
MOT_SPD D21 - Motor rotation speed 0 rpm 1
PRC_VD_REF D22 - Vd rif -100 100 0 % MOT_V_NOM 40.96
PRC_RES_AMPL D23 - Amplitude Resolver Signals 0 800 0 % ALL_THR 40.96
DC_BUS D24 - Bus voltage 0 V 16
DRV_TEMP D25 - Radiator temperature reading 0 °C 16

132 MW00001E00 V_4.3

Name Description Min Max Default UM Scale
MOT_TEMP D26 - Motor temperature 0 °C 16
MOT_FLX D27 - Motor Flux 0 % MOT_FLX_NOM 40.96
PRC_DRV_I_THERM D28 - Motor thermal current -100 100 0 % soglia All 40.96
PRC_DRV_I_MAX D29 - Current limit -100 100 0 % DRV_I_NOM 40.96
PRC_DRV_T_MAX D30 - Maximum torque -100 100 0 % MOT_T_NOM 40.96
PRC_DRV_I_T_MAX D31 - Maximum torque by current limit -100 100 0 % MOT_T_NOM 40.96
PRC_APP_T_MAX D32 - Maximum torque limit by application -100 100 0 % MOT_T_NOM 40.96
D33 - Speed reference (application
PRC_APP_SPD_REF -100 100 0 % MOT_SPD_MAX 163.84
generated)
SOFT_START_STATE D34 - Power Soft Start state 8 1
PRC_MOT_T D35 - Actual torque produced -400 400 0 % MOT_T_NOM 40.96
D36 - Absolute mechanical position (on
MOT_TURN_POS 0 ±16384 1
current revolution)
MOT_N_TURN D37 - Number of revolutions 0 1
D38 - Compensation Sin/Cos analog/digital
OFFSET_SINCOS_ENC 0 pulses 1
term
SENSOR_FRQ_IN D39 - Input frequency 0 kHz 16
REG_CARD_TEMP D40 - Regulation card temperature 0 °C 16
MOT_PRB_RES D41 - Thermal probe resistance 0 KOhm 16
AI1 D42 - Analog Input AI1 -100 100 0 % 40.96
AI2 D43 - Analog Input AI2 -100 100 0 % 40.96
AI3 D44 - Analog Input AI3 -100 100 0 % 40.96
IGBT_J_TEMP D45 - IGBT junction temperature 0 °C 16
D46 - IGBT junction temperature margin with
IGBT_J_TEMP_MARGIN 0 °C 16
its limit
CPLD_FW_REV D47 - CPLD software version 0 1
PRC_APP_T_MIN D48 - Minimum torque limit by application -100 100 0 % MOT_T_NOM 40.96
WORK_HOURS D49 - Work Hours 0 hours 1
SENS2_SPD D51 - Second sensor rotation speed 0 rpm 1
D52 - Second sensor Absolute mechanical
SENS2_TURN_POS 0 16384 1
position (on current revolution)
SENS2_N_TURN D53 - Second sensor Number of revolutions 0 16384 1
SENS2_FRQ_IN D54 - Second sensor Frequency input 0 KHz 16
SENS1_ZERO_TOP D55 - Sensor1 Zero Top 0 pulses 1
SENS2_ZERO_TOP D56 - Sensor2 Zero Top 0 pulses 1
PRC_SPD_REF_MAX D57 - Max positive speed ref 0 % MOT_SPD_MAX 163.84
PRC_SPD_REF_MIN D58 - Max negative spd_ref 0 % MOT_SPD_MAX 163.84
SERIAL_NUMBER D59 - Drive Serial Number 0 1
FLD_CARD D60 - Fieldbus Card 0 1
APPL_REV D61 - Application Revision 0 163.84
HW_SENSOR2 D62 - Sensor2 presence 0 1
HW_SENSOR1 D63 - Sensor1 presence 0 1
REF_AI1 D64 - Reference from Analog Input AI1 -100 100 0 % 40.96
REF_AI2 D65 - Reference from Analog Input AI2 -100 100 0 % 40.96
REF_AI3 D66 - Reference from Analog Input AI3 -100 100 0 % 40.96
PRC_SPD_REF_DG_POT D67 - Digital Potentiometer Speed reference -100 100 0 % MOT_SPD_MAX 163.84
D68 - Analog Torque reference from
PRC_T_REF_AN -400 400 0 % MOT_T_NOM 40.96
Application
PRC_T_REF_FLDBUS D69 - Fieldbus Torque reference -400 400 0 % MOT_T_NOM 40.96
D70 - Analog Positive Torque Max from
PRC_T_MAX_AN_POS -400 400 0 % MOT_T_NOM 40.96
Application
PRC_T_MAX_FLDBUS D71 - Fieldbus Torque Max reference -400 400 0 % MOT_T_NOM 40.96
D72 - Speed reference from AI1 + AI2 + AI3
PRC_SPD_TOT_AN -100 100 0 % MOT_SPD_MAX 163.84
+ AI16
MUL_KP D73 - Multiplication factor -100.0 100.0 0 16
PRC_SPD_REF_AN D74 - Speed reference -100 100 0 % MOT_SPD_MAX 163.84
PRC_SPD_REF_FLDBUS D75 - Fieldbus Speed reference -100 100 0 % MOT_SPD_MAX 163.84
PRC_SPD_REF_JOG D76 - Jog Speed reference -100 100 0 % MOT_SPD_MAX 163.84
D77 - Time Decode Frequency input Speed
PRC_SPD_REF_TIME_DEC -100 100 0 % MOT_SPD_MAX 163.84
reference
SPD_REF_PULS_FLDBUS D78 - Fieldbus Speed Reference in Pulses 0 Pulses per Tpwm 1
REF_AI16 D79 - Reference from analog Input AI16 % 40.96
D80 - Analog Negative Torque Max from
PRC_T_MAX_AN_NEG -400 400 0 % MOT_T_NOM 40.96
Application
PWM_SYNC_DELAY D81 - PWM SYNC delay -400 400 0 us 16
D82 - Analog Positive Speed Max from
PRC_SPD_MAX_AN_POS -200 200 0 % MOT_SPD_NOM 40.96
Application

MW00001E00 V_4.3 133

Name Description Min Max Default UM Scale
D83 - Analog Negative Speed Max from
PRC_SPD_MAX_AN_NEG -200 200 0 % MOT_SPD_NOM 40.96
Application
ACT_SP_PID D85 - Actual Setpoint PID % 163.84
ACT_PV_PID D86 - Actual Feed-back PID % 163.84
ACT_COM_P_PID D87 - Actual Componente P of PID % 163.84
ACT_COM_I_PID D88 - Actual Componente I of PID % 163.84
ACT_COM_D_PID D89 - Actual Componente D of PID % 163.84
ACT_ERR_PID D90 - Actual Errore SP-PV of PID % 163.84
ACT_OUT_PID D91 - Actual Output PID % 163.84
EN_SENSOR2_TUNE U00 - Enable sensor2 auto-tuning 0 1 0 1
EN_TEST_SPD U01 - Enable test of start-up time 0 2 0 1
SPD_REG_SETTING U02 - Speed regulator autosetting 0 4 0 1
MAPPING_CONFIG U03 - Select the mapping configuration 0 32767 0 Hex 1
EN_SENSOR_TUNE U04 - Enable sensor auto-tuning 0 2 0 1
EN_START_UP_APPL U05 - Enable Quick Start Application 0 1 0 1
U06 - Quick Start Application Speed
START_UP_SPD_SEL 0 4 0 1
Reference Selection
U07 - Quick Start Application Run command
START_UP_RUN_SEL 0 8 4 1
Input Selection
U08 - Quick Start Application Enable
START_UP_EN_REF 0 1 1 1
Reference
U09 - Quick Start Application Linear Ramps
START_UP_EN_LIN_RAMP 0 1 1 1
Enable
U10 - Enable Current Vector for Power Part
EN_I_VECTOR 0 1 0 1
Test
U11 - Current Vector frequency for Power
I_VECTOR_FREQ 0 200 50 Hz 1
Part Test
NODE_SLAVE_ADDR F00 - Slave address 0 255 0
NODE_BAUD_RATE F01 - Node baudrate 0000 FFFF 0000 HEX
DATA_CONSISTANCE F02 - Data consistence 0 1 0
EN_ACYCLIC_DATA F03 - Enable acyclic data 0 1 1
F04 - Most significant bytes in multi-byte data
EN_BIG_ENDIAN 0 1 1
types
PDP_SETUP_DATA F05 - Old profibus DP setup data 0000 F 0000 HEX
FLDB_ERROR_CODE F06 - Fieldbus error code 0000 F HEX
FLDB_STATE F07 - Fieldbus state 0000 F HEX
IP_ADDR_00 F08 - Anybus IP Address 00 0 255 192
IP_ADDR_01 F09 - Anybus IP Address 01 0 255 168
IP_ADDR_02 F10 - Anybus IP Address 02 0 255 0
IP_ADDR_03 F11 - Anybus IP Address 03 0 255 0
SUBNET_MASK_00 F12 - Anybus Subnet Mask 00 0 255 255
SUBNET_MASK_01 F13 - Anybus Subnet Mask 01 0 255 255
SUBNET_MASK_02 F14 - Anybus Subnet Mask 02 0 255 255
SUBNET_MASK_03 F15 - Anybus Subnet Mask 03 0 255 0
GATEWAY_00 F16 - Anybus Gateway 00 0 255 0
GATEWAY_01 F17 - Anybus Gateway 01 0 255 0
GATEWAY_02 F18 - Anybus Gateway 02 0 255 0
GATEWAY_03 F19 - Anybus Gateway 03 0 255 0
DHCP F20 - Anybus DHCP 0 1 1
ANYBUS_EN F21 - Anybus module enabled 0000 FFFF HEX
ANYBUS_STATE F22 - Anybus module state 0000 FFFF HEX
MAP_ERROR_CODE F23 - Mapping Error Code 0000 FFFF 0000 HEX
MAP_ERROR_OBJ F24 - Mapping Error Object 0000 FFFF 0000 HEX
RX0_INDEX F25 - Receive Object0 Index 0000 FFFF 0000 HEX
RX0_SUB_INDEX F26 - Receive Object0 Sub-Index 0000 FFFF 0000 HEX
RX1_INDEX F27 - Receive Object1 Index 0000 FFFF 0000 HEX
RX1_SUB_INDEX F28 - Receive Object1 Sub-Index 0000 FFFF 0000 HEX
RX2_INDEX F29 - Receive Object2 Index 0000 FFFF 0000 HEX
RX2_SUB_INDEX F30 - Receive Object2 Sub-Index 0000 FFFF 0000 HEX
RX3_INDEX F31 - Receive Object3 Index 0000 FFFF 0000 HEX
RX3_SUB_INDEX F32 - Receive Object3 Sub-Index 0000 FFFF 0000 HEX
RX4_INDEX F33 - Receive Object4 Index 0000 FFFF 0000 HEX
RX4_SUB_INDEX F34 - Receive Object4 Sub-Index 0000 FFFF 0000 HEX
RX5_INDEX F35 - Receive Object5 Index 0000 FFFF 0000 HEX
RX5_SUB_INDEX F36 - Receive Object5 Sub-Index 0000 FFFF 0000 HEX
RX6_INDEX F37 - Receive Object6 Index 0000 FFFF 0000 HEX
RX6_SUB_INDEX F38 - Receive Object6 Sub-Index 0000 FFFF 0000 HEX
RX7_INDEX F39 - Receive Object7 Index 0000 FFFF 0000 HEX

134 MW00001E00 V_4.3

Name Description Min Max Default UM Scale
RX7_SUB_INDEX F40 - Receive Object7 Sub-Index 0000 FFFF 0000 HEX
RX8_INDEX F41 - Receive Object8 Index 0000 FFFF 0000 HEX
RX8_SUB_INDEX F42 - Receive Object8 Sub-Index 0000 FFFF 0000 HEX
RX9_INDEX F43 - Receive Object9 Index 0000 FFFF 0000 HEX
RX9_SUB_INDEX F44 - Receive Object9 Sub-Index 0000 FFFF 0000 HEX
TX0_INDEX F45 - Transmit Object0 Index 0000 FFFF 0000 HEX
TX0_SUB_INDEX F46 - Transmit Object0 Sub-Index 0000 FFFF 0000 HEX
TX1_INDEX F47 - Transmit Object1 Index 0000 FFFF 0000 HEX
TX1_SUB_INDEX F48 - Transmit Object1 Sub-Index 0000 FFFF 0000 HEX
TX2_INDEX F49 - Transmit Object2 Index 0000 FFFF 0000 HEX
TX2_SUB_INDEX F50 - Transmit Object2 Sub-Index 0000 FFFF 0000 HEX
TX3_INDEX F51 - Transmit Object3 Index 0000 FFFF 0000 HEX
TX3_SUB_INDEX F52 - Transmit Object3 Sub-Index 0000 FFFF 0000 HEX
TX4_INDEX F53 - Transmit Object4 Index 0000 FFFF 0000 HEX
TX4_SUB_INDEX F54 - Transmit Object4 Sub-Index 0000 FFFF 0000 HEX
TX5_INDEX F55 - Transmit Object5 Index 0000 FFFF 0000 HEX
TX5_SUB_INDEX F56 - Transmit Object5 Sub-Index 0000 FFFF 0000 HEX
TX6_INDEX F57 - Transmit Object6 Index 0000 FFFF 0000 HEX
TX6_SUB_INDEX F58 - Transmit Object6 Sub-Index 0000 FFFF 0000 HEX
TX7_INDEX F59 - Transmit Object7 Index 0000 FFFF 0000 HEX
TX7_SUB_INDEX F60 - Transmit Object7 Sub-Index 0000 FFFF 0000 HEX
TX8_INDEX F61 - Transmit Object8 Index 0000 FFFF 0000 HEX
TX8_SUB_INDEX F62 - Transmit Object8 Sub-Index 0000 FFFF 0000 HEX
TX9_INDEX F63 - Transmit Object9 Index 0000 FFFF 0000 HEX
TX9_SUB_INDEX F64 - Transmit Object9 Sub-Index 0000 FFFF 0000 HEX

MW00001E00 V_4.3 135

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