UnidriveSP ElevatorApp Issue1 Eng

EF www.controltechniques.
com
User Guide
U
Elevator Solution
Universal Variable Speed AC
Drive for induction and servo
motors
Part Number: xxxx-xxxx-xx

Issue: 1
General Information
The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent or incorrect
installation or adjustment of the optional operating parameters of the equipment or from mismatching the variable speed
drive with the motor.
The contents of this guide are believed to be correct at the time of printing. In the interests of a commitment to a policy
of continuous development and improvement, the manufacturer reserves the right to change the specification of the
product or its performance, or the contents of the guide, without notice.
All rights reserved. No parts of this guide may be reproduced or transmitted in any form or by any means, electrical or
mechanical including photocopying, recording or by an information storage or retrieval system, without permission in
writing from the publisher.
Drive software version

The software version of the drive can be checked by looking at Pr 11.29 (or Pr 0.50) and Pr 11.34. The software version
takes the form of zz.yy.xx, where Pr 11.29 displays zz.yy and Pr 11.34 displays xx, i.e. for software version 01.01.00,
Pr 11.29 would display 1.01 and Pr 11.34 would display 0.
If there is any doubt, contact a Control Techniques Drive Centre.
SM-ELV software version
The software version and identity number for the SM-ELV option module can be viewed in Pr 0.28 [1] (Pr 20.01) software
version and Pr 0.29 [1] (Pr 20.02) software identity number.
If there is any doubt, contact a Control Techniques Drive Centre.
Environmental statement
Control Techniques is committed to minimising the environmental impacts of its manufacturing operations and of its
products throughout their life cycle. To this end, we operate an Environmental Management System (EMS) which is
certified to the International Standard ISO 14001. Further information on the EMS, our Environmental Policy and other
relevant information is available on request, or can be found at www.greendrives.com.
The electronic variable-speed drives manufactured by Control Techniques have the potential to save energy and
(through increased machine/process efficiency) reduce raw material consumption and scrap throughout their long
working lifetime. In typical applications, these positive environmental effects far outweigh the negative impacts of product
manufacture and end-of-life disposal.
Nevertheless, when the products eventually reach the end of their useful life, they can very easily be dismantled into their
major component parts for efficient recycling. Many parts snap together and can be separated without the use of tools,
while other parts are secured with conventional screws. Virtually all parts of the product are suitable for recycling.
Product packaging is of good quality and can be re-used. Large products are packed in wooden crates, while smaller
products come in strong cardboard cartons which themselves have a high recycled fibre content. If not re-used, these
containers can be recycled. Polythene, used on the protective film and bags for wrapping product, can be recycled in the
same way. Control Techniques' packaging strategy favours easily-recyclable materials of low environmental impact, and
regular reviews identify opportunities for improvement.
When preparing to recycle or dispose of any product or packaging, please observe local legislation and best practice.
Copyright © May 2006 Control Techniques Drives Limited

Issue Number: 1
Software:
How to use this guide
This user guide provides detailed information on the SM-ELV, elevator solution software used with Unidrive SP and the
SM-Applications / SM-Applications Lite Solutions Module.
The information is in logical order, taking the user through the features of the software to set-up and optimisation.
NOTE
There are specific safety warnings in Chapter 1 Safety Information . It is essential that the warnings are observed and
the information considered when working with or designing a system using the Unidrive SP.
NOTE
This manual should be read in line with the Unidrive SP User Guide.
The following map of the user guide helps in finding the correct sections for the task you wish to complete:
1 Safety information
2 General
3 Installation
4 Lift software functions
5 Lift software compensation
6 I/O configuration
7 Basic operation
8 Parameters
9 Autotuning
10 Optimisation
11 SMARTCARD operation
12 Commissioning software
13 Diagnostics
Contents
1 Safety Information ...............................10 6 I/O configuration ................................. 40
1.1 Warnings, Cautions and Notes ...........................10 6.1 Speed selection .................................................. 41
1.2 Electrical safety - general warning ......................10 6.2 Direction control ................................................. 41
1.3 System design and safety of personnel ..............10 6.3 Advanced door opening ..................................... 42
1.4 Environmental limits ............................................10 6.4 Logic diagrams ................................................... 43
1.5 Compliance with regulations ...............................10 6.4.1 Digital I/O ................................................................43
1.6 Motor ...................................................................10 6.4.2 Analogue I/O ..........................................................45
1.7 Adjusting parameters ..........................................10
7 Basic operation................................... 46
1.8 Warnings .............................................................10
7.1 Understanding the display .................................. 46
2 General .................................................13 7.1.1 SM-Keypad (LED) ..................................................46
7.1.2 SM-Keypad Plus (LCD) ..........................................46
2.1 Elevator system - Unidrive SP and elevator
7.2 Keypad operation ............................................... 46
controller .............................................................13
7.2.1 Control buttons .......................................................46
2.2 SM-ELV operating mode .....................................13
7.3 Menu structure ................................................... 47
2.3 Features ..............................................................14
7.4 Menu 0 ............................................................... 48
2.4 Identification ........................................................15
7.5 Advanced menus ............................................... 48
2.5 Additional options ................................................15 7.5.1 Display messages ..................................................49
3 Installation ............................................17 7.6 Changing the operating mode ............................ 49
7.7 Saving parameters ............................................. 49
3.1 Mechanical Installation ........................................17
7.8 Restoring parameter defaults ............................. 50
3.2 Control connections ............................................18
7.9 Restoring Lift software defaults .......................... 50
3.3 Encoder connections ...........................................19
7.10 Parameter access level and security ................. 50
3.4 Position feedback devices and connection .........20
7.10.1 Access level ...........................................................50
3.5 Configuring the feedback device (Closed Loop
7.10.2 User Security ..........................................................50
Vector and Servo) ...............................................22
7.10.3 Lift software security code protection (Pr 20.15) ....50
4 Lift software functions ........................25 7.11 Displaying parameters with non-default values only
50
4.1 Creep-to-floor positioning ....................................26
7.12 Displaying destination parameters only ............. 50
4.2 Direct-to-floor positioning ....................................27
7.13 Serial communications ....................................... 50
4.3 Selection of positioning mode .............................27
7.14 Setting of motor and elevator parameters .......... 52
4.4 Position accuracy ................................................27
4.5 Floor sensor correction .......................................28 Table 7-5 52
4.6 Rapid stop ...........................................................29
4.7 Start optimiser .....................................................29 8 Parameters .......................................... 53
4.8 Peak curve operation ..........................................30 8.1 Security code protection ..................................... 53
4.9 Short distance landing .........................................30 8.2 Defaults .............................................................. 53
4.10 Nominal elevator rpm calculation and adjustment .. 8.3 Drive mode change ............................................ 53
30 8.4 Lift software status ............................................. 53
4.11 Variable Gains - selection / optimisation .............31 8.5 Parameter sets ................................................... 53
4.12 Position controller for start ..................................34 8.6 Menu zero structure ........................................... 53
4.13 Error detection .....................................................34 8.7 Menu 18 parameters .......................................... 59
4.14 Brake control .......................................................35 8.8 Menu 19 parameters .......................................... 60
4.15 Switching motor contactors on output of drive ....37 8.9 Menu 20 parameters .......................................... 61
4.15.4 Enable circuit .......................................................... 37 8.10 Menu 21 parameters .......................................... 61
5 Lift software compensation ................38 9 Set-up ................................................... 62
5.1 Load measurement for evacuation ......................38 9.1 Open loop vector - Autotune .............................. 62
5.2 Inertia compensation ...........................................39 9.2 Closed loop vector - Autotune ............................ 62
9.3 Servo - Autotune ................................................ 62
9.4 First start with empty car .................................... 62
4 Unidrive SP Elevator User Guide

www.controltechniques.com Issue Number: 1
10 Optimisation ........................................64
10.1 Open loop vector .................................................64
10.2 Closed loop vector and servo .............................65
11 SMARTCARD operation ......................66

11.1 Introduction .........................................................66
11.2 Transferring data .................................................66
11.3 Data block header information ............................67
11.4 SMARTCARD parameters ..................................68
11.5 SMARTCARD trips .............................................69
12 Commissioning software tools ..........71

12.1 CT Soft ................................................................71
12.2 CT Scope ............................................................71
12.3 Lift-SP .................................................................71
13 Diagnostics ..........................................72
13.1 Display ................................................................72
13.2 Elevator specific diagnostics ...............................73
13.3 Unidrive SP trip codes ........................................74
13.4 Alarm indications .................................................87
13.5 Status indications ................................................88
13.6 Displaying the trip history ....................................88
Unidrive SP Elevator User Guide 5

Issue Number: 1 www.controltechniques.com
Declaration of Conformity (Size 1 to 3)
Control Techniques Ltd

The Gro
Newtown
Powys
UK
SY16 3BE
SP1201 SP1202 SP1203 SP1204 These products comply with the Low Voltage Directive 73/23/EEC, the
Electromagnetic Compatibility (EMC) Directive 89/336/EEC and the CE
SP2201 SP2202 SP2203
Marking Directive 93/68/EEC.
SP3201 SP3202
SP1401 SP1402 SP1403 SP1404 SP1405 SP1406

SP2401 SP2402 SP2403 SP2404
SP3401 SP3402 SP3403
SP3501 SP3502 SP3503 SP3504 SP3505 SP3506 SP3507 W. Drury

Executive Vice President, Technology
The AC variable speed drive products listed above have been designed Newtown
and manufactured in accordance with the following European
harmonised standards: Date: 22nd July 2004
EN 50178 Electronic equipment for use in power installations
These electronic drive products are intended to be used with
Adjustable speed electrical power drive systems.
appropriate motors, controllers, electrical protection components
EN 61800-3 EMC product standard including specific test
and other equipment to form complete end products or systems.
methods
Compliance with safety and EMC regulations depends upon
Electromagnetic compatibility (EMC). Generic installing and configuring drives correctly, including using the
EN 61000-6-2 standards. Immunity standard for industrial specified input filters. The drives must be installed only by
environments professional assemblers who are familiar with requirements for
safety and EMC. The assembler is responsible for ensuring that the
Electromagnetic compatibility (EMC). Generic end product or system complies with all the relevant laws in the
EN 61000-6-4 standards. Emission standard for industrial country where it is to be used. Refer to this User Guide. An EMC
environments Data Sheet is also available giving detailed EMC information.
Electromagnetic compatibility. Generic emission

EN 50081-2
standard. Industrial environment
Electromagnetic compatibility. Generic immunity

EN 50082-2
standard. Industrial environment
Electromagnetic compatibility (EMC). Limits. Limits

EN 61000-3-21 for harmonic current emissions (equipment input
current up to and including 16 A per phase)
Electromagnetic compatibility (EMC). Limits.

Limitation of voltage fluctuations and flicker in low-
EN 61000-3-3
voltage supply systems for equipment with rated
current <= 16 A
1
These products are for professional use, and power input exceeds
1kW for all models, so no limits apply.

Declaration of Conformity (Size 4 and 5)

The Gro
Newtown
Powys
UK
SY16 3BE
SP4201 SP4202 SP4203

These products comply with the Low Voltage Directive 73/23/EEC, the
SP4401 SP4402 SP4403
Marking Directive 93/68/EEC.
SP5401 SP5402
SP4601 SP4602 SP4603 SP4604 SP4605 SP4606

SP5601 SP5602
The AC variable speed drive products listed above have been designed
harmonised standards:
Executive Vice President, Technology
Adjustable speed electrical power drive systems - Newtown
EN 61800-5-1
safety requirements - electrical, thermal and energy
Adjustable speed electrical power drive systems. Date: 17th January 2005
EN 61800-3 EMC product standard including specific test
methods
Electromagnetic compatibility (EMC). Generic appropriate motors, controllers, electrical protection components
EN 61000-6-2 standards. Immunity standard for industrial and other equipment to form complete end products or systems.
environments Compliance with safety and EMC regulations depends upon
installing and configuring drives correctly, including using the
Electromagnetic compatibility (EMC). Generic specified input filters. The drives must be installed only by
EN 61000-6-4 standards. Emission standard for industrial professional assemblers who are familiar with requirements for
environments safety and EMC. The assembler is responsible for ensuring that the
end product or system complies with all the relevant laws in the
country where it is to be used. Refer to the User Guide. An EMC
Data Sheet is also available giving detailed EMC information.

Declaration of Conformity (Size 6)

The Gro
Newtown
Powys
UK
SY16 3BE
SP6401 SP6402
SP6601 SP6602 Marking Directive 93/68/EEC.
Adjustable speed electrical power drive systems -

EN 61800-5-1

EN 61800-3 EMC product standard including specific test Executive Vice President, Technology
methods Newtown
Electromagnetic compatibility (EMC). Generic

EN 61000-6-2 standards. Immunity standard for industrial Date: 17th January 2005
environments
appropriate motors, controllers, electrical protection components
specified input filters. The drives must be installed only by
professional assemblers who are familiar with requirements for

Declaration of Conformity (Size 8 and 9)

The Gro
Newtown
Powys
UK
SY16 3BE
SP8411 SP8412 SP8413 SP8414

SP9411 SP9412 SP9413 SP9414 SP9415 Marking Directive 93/68/EEC.
Adjustable speed electrical power drive systems -

EN 61800-5-1*

EN 61800-3 Executive Vice President, Technology
EMC product standard including specific test methods
Newtown
Electromagnetic compatibility (EMC). Generic
EN 61000-6-2 standards. Immunity standard for industrial
environments Date: 11th October 2005
*Clause 5.2.3.8 of EN 61800-5-1:2003 (breakdown of components test)

has been amended to eliminate the 30A ground (earth) fuse, in These electronic drive products are intended to be used with
accordance with the draft edition 2 of IEC 61800-5-1 appropriate motors, controllers, electrical protection components
specified input filters. The drives must be installed only by
professional assemblers who are familiar with requirements for

Safety Lift software Lift software I/O Basic SMARTCARD Commissioning
General Installation Parameters Set-up Optimisation Diagnostics
Information functions compensation configuration operation operation software tools
1 Safety Information 1.4 Environmental limits

Instructions in this User Guide regarding transport, storage, installation
1.1 Warnings, Cautions and Notes and use of the drive must be complied with, including the specified
environmental limits. Drives must not be subjected to excessive physical
force.
A Warning contains information which is essential for
avoiding a safety hazard.
1.5 Compliance with regulations
WARNING
The installer is responsible for complying with all relevant regulations,
such as national wiring regulations, accident prevention regulations and
electromagnetic compatibility (EMC) regulations. Particular attention
A Caution contains information which is necessary for
must be given to the cross-sectional areas of conductors, the selection
avoiding a risk of damage to the product or other equipment.
of fuses or other protection, and protective earth (ground) connections.
CAUTION
Within the European Union, all machinery in which this product is used
must comply with the following directives:
NOTE
A Note contains information which helps to ensure correct operation of 98/37/EC: Safety of machinery.
the product. 89/336/EEC: Electromagnetic Compatibility.
95/16/EC: Lifts Directive.
1.2 Electrical safety - general warning
1.6 Motor
The voltages used in the drive can cause severe electrical shock and/or
burns, and could be lethal. Extreme care is necessary at all times when Ensure the motor is installed in accordance with the manufacturer’s
working with or adjacent to the drive. recommendations. Ensure the motor shaft is not exposed.
Specific warnings are given at the relevant places in this User Guide. Standard squirrel cage induction motors are designed for single speed
operation. If it is intended to use the capability of the drive to run a motor
1.3 System design and safety of at speeds above its designed maximum, it is strongly recommended that
the manufacturer is consulted first.
personnel Low speeds may cause the motor to overheat because the cooling fan
The drive is intended as a component for professional incorporation into becomes less effective. The motor should be fitted with a protection
complete equipment or a system. If installed incorrectly, the drive may thermistor. If necessary, an electric forced vent fan should be used.
present a safety hazard.
The values of the motor parameters set in the drive affect the protection
The drive uses high voltages and currents, carries a high level of stored of the motor. The default values in the drive should not be relied upon.
electrical energy, and is used to control equipment which can cause
It is essential that the correct value is entered in parameter 0.46 motor
injury.
rated current. This affects the thermal protection of the motor.
Close attention is required to the electrical installation and the system
design to avoid hazards either in normal operation or in the event of 1.7 Adjusting parameters
equipment malfunction. System design, installation, commissioning and
Some parameters have a profound effect on the operation of the drive.
maintenance must be carried out by personnel who have the necessary
They must not be altered without careful consideration of the impact on
training and experience. They must read this safety information and this
the controlled system. Measures must be taken to prevent unwanted
User Guide carefully.
changes due to error or tampering.
The STOP and SECURE DISABLE functions of the drive do not isolate
dangerous voltages from the output of the drive or from any external
option unit. The supply must be disconnected by an approved electrical 1.8 Warnings
isolation device before gaining access to the electrical connections.
With the sole exception of the SECURE DISABLE function, none of Competence of the installer
the drive functions must be used to ensure safety of personnel, i.e. The drive must be installed by professional assemblers who
they must not be used for safety-related functions. are familiar with the requirements for safety and EMC. The
Careful consideration must be given to the functions of the drive which assembler is responsible for ensuring that the end product or
WARNING system complies with all the relevant laws in the country
might result in a hazard, either through their intended behaviour or
through incorrect operation due to a fault. In any application where a where it is to be used.
malfunction of the drive or its control system could lead to or allow
damage, loss or injury, a risk analysis must be carried out, and where Follow the instructions
necessary, further measures taken to reduce the risk - for example, an The mechanical and electrical installation instructions
over-speed protection device in case of failure of the speed control, or a must be adhered to. Any questions or doubt should be
fail-safe mechanical brake in case of loss of motor braking. referred to the supplier of the equipment. It is the
WARNING responsibility of the owner or user to ensure that the
The SECURE DISABLE function has been approved1 as meeting the installation of the drive and any external option unit, and the
requirements of EN954-1 category 3 for the prevention of unexpected way in which they are operated and maintained, comply with
starting of the drive. It may be used in a safety-related application. The the requirements of the Health and Safety at Work Act in the
system designer is responsible for ensuring that the complete United Kingdom or applicable legislation and regulations and
system is safe and designed correctly according to the relevant codes of practice in the country in which the equipment is
safety standards. used.
1Independent approval by BGIA has been given.

Fuses Isolation device

The AC supply to the drive must be fitted with suitable The AC supply must be disconnected from the drive using
protection against overload and short-circuits. The Unidrive an approved isolation device before any cover is removed
SP User Guide shows recommended fuse ratings. Failure to from the drive or before any servicing work is performed.
WARNING WARNING
observe this requirement will cause risk of fire.
Users must not attempt to repair a drive if it is faulty, nor
The ground loop impedance must conform to the carry out fault diagnosis other than through the use of the
requirements of local safety regulations. diagnostic features described in this chapter.
The drive must be grounded by a connection capable of If a drive is faulty, it must be returned to an authorized
WARNING
carrying the prospective fault current until the protective WARNING Control Techniques distributor for repair.
device (fuse, etc.) disconnects the AC supply.
The ground connections must be inspected and tested at
appropriate intervals. Do not change parameter values without careful
consideration; incorrect values may cause damage or a
safety hazard.
WARNING
Only type B ELCB / RCD are suitable for use with 3 phase
inverter drives.
If the drive has been used at high load levels for a period of
WARNING
time, the heatsink can reach temperatures in excess of
70°C (158°F). Human contact with the heatsink should be
This is a product of the restricted distribution class according
WARNING
prevented.
to IEC 61800-3
In a domestic environment this product may cause radio
CAUTION
interference in which case the user may be required to take STOP function
adequate measures. The STOP function does not remove dangerous voltages
from the drive, the motor or any external option units.
The second environment typically includes an industrial WARNING
low-voltage power supply network which does not supply
buildings used for domestic purposes. Operating the drive in
this environment without an external EMC filter may cause Pr 0.46 Motor rated current must be set correctly to avoid a
CAUTION interference to nearby electronic equipment whose sensitivity risk of fire in the event of motor overload.
has not been appreciated. The user must take remedial
WARNING
measures if this situation arises. If the consequences of
unexpected disturbances are severe, it is recommended that
If the cable between the drive and the motor is to be
the guidelines in the Unidrive SP User Guide are adhered to.
interrupted by a contactor or circuit breaker, ensure that
the drive is disabled before the contactor or circuit breaker is
opened or closed. Severe arcing may occur if this circuit is
A fuse or other over-current protection should be fitted to the WARNING interrupted with the motor running at high current and low
relay circuit. speed.
WARNING
Permanent magnet motors
Electric shock risk Permanent magnet motors generate electrical power if they
The voltages present in the following locations can cause are rotated, even when the supply to the drive is
severe electric shock and may be lethal: disconnected. If that happens then the drive will become
WARNING energised through its motor terminals.
WARNING
• AC supply cables and connections
• DC and brake cables, and connections If the motor load is capable of rotating the motor when the
• Output cables and connections supply is disconnected, then the motor must be isolated from
• Many internal parts of the drive, and external option units the drive before gaining access to any live parts.
Unless otherwise indicated, control terminals are single
insulated and must not be touched. Secure disable inhibits the operation of the drive, this
includes inhibiting braking. If the drive is required to
provide both braking and secure disable in the same
Stored charge
operation (e.g. for emergency stop) then a safety timer relay
The drive contains capacitors that remain charged to a WARNING or similar device must be used to ensure that the drive is
potentially lethal voltage after the AC supply has been
disabled a suitable time after braking. The braking function
disconnected. If the drive has been energised, the AC
WARNING
in the drive is provided by an electronic circuit which is not
supply must be isolated at least ten minutes before work
fail-safe. If braking is a safety requirement, it must be
may continue.
supplemented by an independent fail-safe braking
Normally, the capacitors are discharged by an internal mechanism.
resistor. Under certain, unusual fault conditions, it is possible
that the capacitors may fail to discharge, or be prevented A rotating autotune will cause the motor to accelerate up to
from being discharged by a voltage applied to the output 2/ base speed in the direction selected regardless of the
3
terminals. If the drive has failed in a manner that causes the reference provided. Once complete the motor will coast to a
display to go blank immediately, it is possible the capacitors stop. The run signal must be removed before the drive can be
will not be discharged. In this case, consult Control WARNING made to run at the required reference.
Techniques or their authorised distributor. The drive can be stopped at any time by removing the run
signal or removing the drive enable.

The short low speed and normal low speed autotune tests Overload protection
will rotate the motor by up to 2 revolutions in the direction When an external braking resistor is used, it is essential that
selected, regardless of the reference provided. The minimal an overload protection device is incorporated in the braking
WARNING
movement test will move the motor through an angle defined resistor circuit; this is described in the Unidrive SP User
by Pr 5.38. WARNING Guide.
Once complete the motor will come to a standstill. The run
signal must be removed before the drive can be made to run at
the required reference.
The drive can be stopped at any time by removing the run signal
or removing the Drive Enable.
Encoder phase angle (servo mode only)

With drive software version V01.08.00 onwards, the encoder
phase angles in Pr 3.25 and Pr 21.20 are cloned to the
SMARTCARD when using any of the SMARTCARD transfer
WARNING
methods.
With drive software version V01.05.00 to V01.07.01, the
encoder phase angles in Pr 3.25 and Pr 21.20 are only cloned
to the SMARTCARD when using either Pr 0.30 set to Prog (2)
or Pr xx.00 set to 3yyy.
This is useful when the SMARTCARD is used to back-up the
parameter set of a drive but caution should be used if the
SMARTCARD is used to transfer parameter sets between drives.
Unless the encoder phase angle of the servo motor connected
to the destination drive is known to be the same as the servo
motor connected to the source drive, an autotune should be
performed or the encoder phase angle should be entered
manually into Pr 3.25 (or Pr 21.20). If the encoder phase angle
is incorrect the drive may lose control of the motor resulting in
an O.SPd or Enc10 trip when the drive is enabled.
With drive software version V01.04.00 and earlier, or when
using software version V01.05.00 to V01.07.01 and Pr xx.00
set to 4yyy is used, then the encoder phase angles in Pr 3.25
and Pr 21.20 are not cloned to the SMARTCARD. Therefore,
Pr 3.25 and Pr 21.20 in the destination would not be changed
during a transfer of this data block from the SMARTCARD.
Power down the drive before fitting / removing the

Solutions Module. Failure to do so may result in damage to
the product.
CAUTION
SECURE DISABLE function

The SECURE DISABLE function does not remove
dangerous voltages from the drive, the motor or any external
WARNING
option units.
The control circuits are isolated from the power circuits in

the drive by basic insulation (single insulation) only. The
installer must ensure that the external control circuits are
insulated from human contact by at least one layer of
WARNING insulation (supplementary insulation) rated for use at the AC
supply voltage.
If the control circuits are to be connected to other circuits

classified as Safety Extra Low Voltage (SELV) (e.g. to a
personal computer), an additional isolating barrier must be
WARNING
included in order to maintain the SELV classification.
To avoid the risk of fire when the drive is surface mounted

with the braking resistor fitted, the back plate should be a
non-flammable material.
WARNING

2 General
The Unidrive SP is a high performance drive making it an excellent choice for elevator applications. Figure 2-1 following shows the Unidrive SP
incorporated into an elevator system using the SM-ELV and where required an SM-I/O Plus can also be added to increase the drive’s I/O capability. In
addition other Solutions Modules can be fitted to further increase the Unidrive SP capability (e.g. SM-Resolver etc.).
Figure 2-1 Elevator system
SERVO MOTOR
SPEED FEEDBACK
INDUCTION MOTOR
ABSOLUTE WITH OR WITHOUT

ENCODER SPEED FEEDBACK
BRAKE
CONTROL
SHAFT
POSITION
CAR
ELEVATOR
CONTROLLER
CALLS
ELEVATOR
SHAFT
CONTROL
INTERFACE
COUNTER
BALANCE
Elevator Controller SM-ELV Elevator Solution Feedback Additional I/O
Digital Interface SM Resolver Digital Inputs / Outputs

SM-ELV Profile+Control
Speed Selection Analogue Inputs / Outputs
Speed monitoring Relays
Brake Control
Car calls
Landing calls
Door control
Safety Related Functions
Open Loop Open Loop

Closed Loop Vector Closed Loop Vector
Closed Loop Servo Closed Loop Servo
2.1 Elevator system - Unidrive SP and 2.2 SM-ELV operating mode

elevator controller The Unidrive SP plus SM-ELV software creates a velocity motion profile,
which includes elevator application specific functions. It can be used for
The Unidrive SP elevator solution (SM-ELV) software incorporates a
travel profile calculator and special operating level designed for both geared and gearless elevators operating in either Open Loop,
Closed Loop Vector or Servo mode. Brushless synchronous motors with
elevators. This software has additional features allowing it to be used for
encoders (Incremental or Absolute) / resolvers and induction motors with
both geared and gearless elevators.
or without encoders (Incremental or Absolute) / resolvers can be
The elevator software is introduced through either the SM-Applications controlled.
or SM-Applications Lite Solutions Module and special software.
The following operating modes can be selected through the SM-ELV
The SM-Applications would be used where additional features are elevator software installed in the SM-Applications or SM-Applications
required, e.g. larger DPL programs, extended user memory, RS485, CT- Lite:
Net or extended I/O.
1. Pr 0.16[3] (Pr 20.13) = 0 Direct-to-floor positioning disabled
The Unidrive SP elevator drive is controlled by a digital interface from (Creep-to-floor active)
the elevator controller as shown in Figure 2-1. The elevator controller 2. Pr 0.16[3] (Pr 20.13) = 1 Direct-to-floor positioning with Stop signal
software interprets the calls and produces the speed and direction via analogue input 1 (T.5)
signals for the Unidrive SP. 3. Pr 0.16[3] (Pr 20.13) = 2 Direct-to-floor positioning with Stop signal
The elevator controller provides all the safety related functions in this via analogue input 2 (T.7)
system configuration, including the optional brake control in place of the 4. Pr 0.16[3] (Pr 20.13) = 3 Direct-to-floor positioning with Stop signal
Unidrive SP. via analogue input 3 (T. 8)
5. Pr 0.16[3] (Pr 20.13) = 4 Direct-to-floor positioning with disable the
speed signals (controlling)

2.3 Features
The following Elevator functions are provided within the SM-ELV (SM-Applications, SM-Applications Lite and Elevator software). The SM-ELV
software provides positioning controls associated with elevators e.g. creep-to-floor and direct-to-floor with complete positioning control, multiple
speed selection and brake control as listed in Table 2-1.
The external lift controller evaluates the elevator signals and elevator calls, and from these generates travel commands to the Unidrive SP. The SM-
ELV generates and modifies the required profile for travel.
NOTE N
A number of settings are necessary in order to use this software. To simplify this a default feature is included which allows standard settings for the
initial run. (Refer to Pr 18.50 Default settings.)
NOTE N
Positioning with creep-to-floor is used in most applications. Therefore creep-to-floor has been selected as the default setting for the elevator software
Pr 0.16[3] (Pr 20.13) = 0.
NOTE N
Direct-to-floor positioning mode is enabled through Pr 0.16[3] (Pr 20.13) as detailed in section 2.2 SM-ELV operating mode on page 13.
NOTE N
The external lift controller handles all the specific functions related to the safety aspects of the elevator.
Table 2-1 Features
Elevator software features Advantages
Text display with elevator terms Commissioning without User Guide is possible
Dedicated Unidrive Menu 0 Simplified operation with reduced parameter sets
2 No calculation required to set-up the elevator drive
Conventional data input units (mm/s, mm/s ,)
10 speed binary selections
6 speed priority selections Flexible interface, with range of speed reference values to optimise elevator
7 speed priority selection with additional SM-I/O Plus option performance
module
2 speed thresholds Applicable for the functions like pre door opening or over speed monitoring
Creep-to-floor positioning Standard operation using creep to floor positioning (default)
Direct-to-floor positioning Opitmised operation for high speed elevators positioning direct to floor with no creep
Speed profile with separately adjustable jerk, acceleration Separate optimisation for the start characteristic, travel, deceleration and positioning
and deceleration (stop)
Variable speed loop gains for start, travel and positioning
Optimisation of the load for the elevator during start, travel and positioning (stop)
(stop)
Acceleration feed forward control and load measurement Movement quality optimisation of the load behaviour, and positioning accuracy
If the speed or profile are changed then the deceleration or stop distance will change.
Deceleration and stopping distance calculation
The elevator controller can compensate for these changes.
Floor sensor correction Reduction of necessary speeds to ensure correct floor level
Rapid stop Allows a separate rapid stop deceleration
To overcome static friction or difficult starting problems a start optimiser function is
Soft start function
available
Position controller High ride comfort for start with gearless elevators
Short distance landing For short floor distance travel
Motor contactor control Output contactor control can be carried in the SM-ELV
Load direction is measured during each travel and is available for rescue operation to
Load direction - Rescue operation
determine the direction to travel with least load saved at each power down
Integrated brake control Simplified elevator brake control interface
Includes both speed error (Trip 70) and position error (Trip 71) detection.
Following error detection Protection against motor and feedback cable break, loss of feedback, incorrect
parameter setting
Protection provided to ensure motor is fully magnetised at start, Trip 76 generated if
Motor fluxed detection
not.
Protection provided to detect motor phase loss with Trip 77 generated where motor
Motor phase loss detection
phase loss is present.

2.4 Identification
The SM-ELV Solutions Module consists of either an SM-Applications or an SM-Applications Lite with the elevator software.
The elevator software version and identity number can be verified in the following parameters:
The software version is displayed in Pr 0.28 [1] (Pr 20.01) Version in the form of xx.xx.
The software identity number is displayed in Pr 0.29 [1] (Pr 20.02) Software identity number in the form of xx.xx.
To verify the lift software is running, monitor Pr 0.29 [1] (Pr 20.02). This should toggle every 1s between 10614 and -10614.
2.5 Additional options

Figure 2-2 Options available with Unidrive SP
SMARTCARD*
Keypad
Feedback Automation Fieldbus
External
footprint / CT Comms
bookcase cable
EMC filter
* A SMARTCARD is provided with the Unidrive SP as standard.
All Unidrive SP Solutions Modules are colour-coded in order to make identification easy. The following table shows the colour-code key and gives
further details on their function.
Table 2-2 Solutions Module identification
Type Solutions Module Colour Name Further Details
Resolver interface
Light Blue SM-Resolver Feedback interface for resolvers.
Simulated quadrature encoder outputs
Feedback
Drive encoder input converter
15-way D-type
N/A Provides screw terminal interface for encoder wiring and spade
converter
terminal for shield

Table 2-2 Solutions Module identification

Type Solutions Module Colour Name Further Details
Extended I/O interface
Increases the I/O capability by adding the following to the
existing I/O in the drive:
Yellow SM-I/O Plus
• Digital inputs x 3 • Analogue output (voltage) x 1
• Digital I/O x 3 • Relay x 2
• Analogue inputs (voltage) x 2
Applications Processor (with CTNet)

Dark Green SM-Applications 2nd processor for running pre-defined and /or customer created
Automation application software with CTNet support
Applications Processor
White SM-Applications Lite 2nd processor for running pre-defined and /or customer created
application software
Additional I/O
1 x Analogue input (± 10V bi-polar or current modes)
Dark Yellow SM-I/O Lite
1 x Analogue output (0-10V or current modes)
3 x Digital input and 1 x Relay
CAN option
Pink SM-CAN
CAN adapter for communications with the Unidrive SP
CANopen option
Fieldbus Light Grey SM-CANopen
CANopen adapter for communications with the Unidrive SP
Ethernet option
10 base-T / 100 base-T; Supports web pages, SMTP mail and
Beige SM-Ethernet
multiple protocols: DHCP IP addressing; Standard RJ45
connection
Table 2-3 Keypad identification
Type Keypad Name Further Details
LED keypad option

SM-Keypad
Keypad with a LED display
Keypad
LCD keypad option
SM-Keypad Plus
Keypad with an alpha-numeric LCD display with Help function

3 Installation
3.1 Mechanical Installation
The Unidrive SP must be powered down before fitting or
removing the SM-ELV. If an SM-Resolver, SM-I/O Plus or any
other Solutions Module are required, they also have to be
installed while the Unidrive SP is powered down. Failure to do
CAUTION so may result in damage to the product
Figure 3-1 Unidrive SP Solution Module slots
Solutions Module
slot 1 (Menu 15)
Solutions Module
slot 2 (Menu 16)
Solutions Module
slot 3 (Menu 17)
Figure 3-2 Fitting and removal of Solutions Module
Fitting Solutions Module Removing Solutions Module Three Solutions Modules fitted
Solutions Module
B
in slot 1
A Solutions Module
in slot 2
Solutions Module
in slot 3
A
To fit the Solutions Module, press down in the direction shown above
until it clicks into place.
To remove the Solutions Module, press inwards at the points shown (A)
and pull in the direction shown (B).
The drive has the facility for all three Solutions Module slots to be used
at the same time, as illustrated.
NOTE N
It is recommended that the Solutions Module slots are used in the
following order: slot 3, slot 2 and slot 1.
Installation of the Unidrive SP drive should follow all

recommendations detailed in the current Unidrive SP User
Guide.
CAUTION

3.2 Control connections

The following diagram shows the control terminals of the Unidrive SP in
both its default conditions and when reconfigured for the elevator control
using the SM-ELV Solutions Module.
Figure 3-3 Control terminals
Polarised signal
connectors
1 11
41 42
21 31
External function No. Unidrive SP default Elevator drive specific
1 0V common
2 +24V external input
3 0V common
10K 4 +10V user output
Medium Speed 5 Non-inverting input Speed select Bit 3
10K 6 Inverting input
10K 0V
Re-levelling speed 7 Analogue input 2 Speed select Bit 4
10K 8 Analogue input 3
0V 9 Analogue output 1
Motor thermistor 10 Analogue output 2
11 0V common
21 0V common
Motor contactor control 22 +24V user output
Advanced 23 0V common
door opening 24 Digital I/O 1 V- Threshold 1
Brake control 25 Digital I/O 2 Brake apply
Inspection speed 26 Digital I/O 3 Speed select Bit 1
Nominal speed 27 Digital input 4 Speed select Bit 2
Direction 28 Digital input 5 1 = up / 0 = down
Creep speed 29 Digital input 6 Speed select Bit 0
30 0V common
Drive enable 31 Drive enable (secure disable function)
41 Relay contact
Drive healthy
42 Relay contact
The control terminal set-up shown above is the default configuration for
the elevator software however this can be re-configured if required. The
control terminal set-up can be re-configured through Menu 7 (Analogue
I/O) and Menu 8 (Digital I/O, Relays). More detailed information on the
associated parameters can be found in Chapter 6 I/O configuration and
the Unidrive SP User Guide.
NOTE N
The elevator set-up for Unidrive SP uses positive logic as default. This
can be set-up to operate in negative logic through Pr 8.29, however in
negative logic the Drive enable, Relay outputs and 24V output remain in
positive logic.

3.3 Encoder connections

Figure 3-4 Location of encoder connector
5 1
10 6
15 11
Drive encoder connector

Female 15-way D-type
Table 3-1 Encoder types

Setting of
Description
Pr 3.38
Ab
Quadrature incremental encoder with or without marker pulse
(0)
Fd Incremental encoder with frequency pulses and direction,
(1)with or without marker pulse
Fr Incremental encoder with forward pulses and reverse
(2)pulses, with or without marker pulse
Quadrature incremental encoder with UVW commutation
Ab.SErVO signals, with or without marker pulse
(3) Encoder with UVW commutation signals only (Pr 3.34 set
to zero)*
Fd.SErVO Incremental encoder with frequency pulses and direction
(4) with commutation signals**, with or without marker pulse
Fr.SErVO Incremental encoder with forward pulses and reverse pulses
(5) with commutation signals**, with or without marker pulse
SC
SinCos encoder without serial communications
(6)
SC.HiPEr Absolute SinCos encoder with HiperFace serial
(7) communications protocol (Stegmann)
EndAt Absolute EndAt serial communications encoder
(8) (Heidenhain)
SC.EndAt Absolute SinCos encoder with EnDat serial
(9) communications protocol (Heidenhain)
SSI
Absolute SSI only encoder
(10)
SC.SSI
Absolute SinCos encoder with SSI
(11)
* This feedback device provides very low resolution feedback and should
not be used for applications requiring a high level of performance
** The U, V & W commutation signals are required with an incremental
type encoder when used with a servo motor. The UVW commutation
signals are used to define the motor position during the first 120° electrical
rotation after the drive is powered-up or the encoder is initialised.

Table 3-2 Drive encoder connector details

Setting of Pr 3.38
Terminal Ab Fd Fr Ab.SErVO Fd.SErVO Fr.SErVO SC SC.HiPEr EndAt SC.EndAt SSI SC.SSI
(0) (1) (2) (3) (4) (5) (6) (7) (8) (9) (10) (11)
1 A F F A F F Cos Cos Cos
2 A\ F\ F\ A\ F\ F\ Cosref Cosref Cosref
3 B D R B D R Sin Sin Sin
4 B\ D\ R\ B\ D\ R\ Sinref Sinref Sinref
5 Z* Encoder input - Data (input/output)
6 Z\* Encoder input - Data\ (input/output)
Simulated encoder Simulated encoder
7 U
Aout, Fout** Aout, Fout**
8 U\
Aout\, Fout\** Aout\, Fout\**
9 V
Bout, Dout** Bout, Dout**
10 V\
Bout\, Dout\** Bout\, Dout\**
11 W Encoder input - Clock (output)
12 W\ Encoder input - Clock\ (output)
13 +V***
14 0V common
15 th****
* Marker pulse is optional Connecting the cable shield to ground at both ends carries
** Simulated encoder output only available in open-loop the risk that an electrical fault might cause excessive power
*** The encoder supply is selectable through parameter configuration to current to flow in the cable shield and overheat the cable.
5Vdc, 8Vdc and 15Vdc There must be an adequately rated safety ground
**** Terminal 15 is a parallel connection to T8 analogue input 3. If this is WARNING connection between the motor / encoder and the drive.
to be used as a thermistor input, ensure that Pr 7.15 is set to ‘th.sc’
(7), ‘th’ (8) or ‘th.diSP’ (9). Recommended cable
NOTE N The recommended cable for feedback signals is a twisted pair, shielded
with an overall shield as shown in Figure 3-5
SSI encoders typically have maximum baud rate of 500kB (refer to
encoder data sheet). When a SSI only encoder is used for speed Figure 3-5 Feedback cable, twisted pair
feedback with a closed loop vector or servo motor, a large speed Cable overall shield
feedback filter (Pr 3.42) is required due to the time taken for the position
information to be transferred from the encoder into the drive. The
addition of this filter means that SSI only encoders are not suitable for
speed feedback in dynamic or high-speed applications. Twisted
pair Cable
3.4 Position feedback devices and cable
connection
The following section covers the recommended screen and grounding Twisted pair shield
connections for position feedback devices. These recommendations
should be followed closely to prevent noise being induced onto the Using this type of cable also allows for the connection of the outer shield
position feedback resulting in instability issues. to ground and the inner shields to 0V alone at both drive and encoder
Shielding considerations are important for PWM drive installations due to end, when required.
the high voltages and currents present in the output circuit with a very
wide frequency spectrum, typically from 0 to 20 MHz. Position feedback
inputs are liable to be disturbed if careful attention is not given to
managing the cable shields.
3.4.1 Cable shield requirements
• Feedback cable shields should be connected at drive terminal to 0V
• Feedback cable shield should be connected at encoder to 0V
• It is recommended that the shielded cable should be run in a
continuous length to the terminal, to avoid the injection of noise at
intermediate pigtails and to maximize the shielding benefit. (Note:
due to emissions from high power cables (e.g. drive output) the
feedback cable should not be run in parallel lengths with these for
>1m at <300mm apart)
• The shield connections ("pigtails") to the drive and encoder should
be kept as shortas possible.

The following diagram shows the recommended arrangements for the Figure 3-7 Fitting of grounding clamp (size 1 and 2)
cable screening and grounding.
Figure 3-6 Feedback cable connections
Connection
at drive
Shield
connection
to 0V
Twisted
Cable pair
shield shield
Ground clamp Cable

on shield
Figure 3-8 Fitting of grounding clamp (size 3)
Cable Twisted
shield pair
shield
Shield
connection
to 0V
Connection
at motor
In addition to the above connections shown in Figure 3-6 if it is found

that there is still noise being passed to the encoder / resolver input it is
possible to make a connection directly from 0V of the feedback device Figure 3-9 Fitting of grounding bracket (sizes 1 to 6)
input at the drive to ground.
The ground connection can be connected directly to the grounding
clamp / bracket as shown in the following.
3.4.2 Grounding hardware
The Unidrive SP is supplied with a grounding bracket, and sizes 1 to 3
with a grounding clamp, to facilitate EMC compliance. They provide a
convenient method for direct grounding of cable shields without the use
of "pig-tails". Cable shields can be bared and clamped to the grounding
bracket using metal clips or clamps1 (not supplied) or cable ties. Note
that the shield must in all cases be continued through the clamp to the
intended terminal on the drive, in accordance with the connection details
for the specific signal.
1
A suitable clamp is the Phoenix DIN rail mounted SK14 cable clamp
(for cables with a maximum outer diameter of 14mm).
See Figure 3-7 and Figure 3-8 for details on fitting the grounding clamp.
See Figure 3-9 for details on fitting the grounding bracket. Loosen the ground connection nuts and slide the grounding bracket in
the direction shown. Once in place, re-tighten the ground connection
nuts.
On Unidrive SP size 1 and 2, the grounding bracket is
secured using the power ground terminal of the drive.
Ensure that the supply ground connection is secure after
fitting / removing the grounding bracket. Failure to do so will
WARNING
result in the drive not being grounded.

A faston tab is located on the grounding bracket for the purpose of If the control wiring is to leave the enclosure, it must be shielded and the
connecting the drive 0V to ground should the user require to do so. shield(s) clamped to the drive using the grounding bracket as shown in
When a Unidrive SP size 4 or 5 is through-panel mounted, the grounding Figure 3-12. Remove the outer insulating cover of the cable to ensure
link bracket must be folded upwards. A screw can be used to secure the the shield(s) make contact with the bracket, but keep the shield(s) intact
bracket or it can be located under the mounting bracket to ensure that a until as close as possible to the terminals
ground connection is made. This is required to provide a grounding point NOTE N
for the grounding bracket as shown in Figure 3-9.
Alternatively, wiring may be passed through a ferrite ring, part no. 3225-
Figure 3-10 Grounding link bracket in its surface mount position 1004.
(as supplied) Figure 3-12 Grounding of signal cable shields using the
grounding bracket
Grounding
link bracket
Figure 3-11 Grounding link bracket folded up into its through-

panel mount position
3.5 Configuring the feedback device
(Closed Loop Vector and Servo)
It is possible to use different encoder types. The following settings must
be performed and are dependent on the operating mode and encoder
type.
3.5.1 Restrictions
Although Pr 3.34 can be set to any value from 0 to 50,000 there are
restrictions on the values actually used by the drive. These restrictions
are dependent on the Unidrive SP software version as follows:
Software version V01.06.01 and later
Table 3-3 Restrictions of drive encoder lines per revolution
Equivalent Lines per revolution used
Position feedback device
by the drive
Ab, Fd, Fr, Ab.SErVO,
The drive uses the value in Pr 3.34.
Fd.SErVO, Fr.SerVO, SC
If Pr 3.34 ≤1, the drive uses the value of 1.
If 1< Pr 3.34 <32,768, the drive uses the
SC.HiPEr, SC.EndAt, value in Pr 3.34 rounded down to nearest
SC.SSI (rotary encoders) value that is a power of 2.
If Pr 3.34 ≥32,768, the drive uses the
value of 32,768.
SC.HiPEr, SC.EndAt,
The drive uses the value in Pr 3.34.
Grounding SC.SSI (linear encoders
link bracket
Mounting
bracket

Software version V01.06.00 and earlier Table 3-5 Closed loop vector feedback set-up
Table 3-4 Restrictions of drive encoder lines per revolution
Feedback Pr Setting Default Note
Equivalent Lines per revolution used Speed feedback selector
Position feedback device Pr 3.26 = drv drv
by the drive (drive)
If Pr 3.34 <2, the drive uses the value of 2. Drive encoder lines per
If 2≤ Pr 3.34 .≤16,384, the drive uses the Pr 3.34 = ... 1024
revolution
value in Pr 3.34.
Ab, Fd, Fr Drive encoder supply voltage:
If Pr 3.34 >16,384, the drive uses the Pr 3.36 = ... 5V
5V(0) / 8V(1) / 15V(2)
value in Pr 3.34 rounded down to nearest Encoder
Drive encoder type: Ab(0)
value divisible by 4. Pr 3.38 = Ab Ab
Incremental encoder
If Pr 3.34 ≤2, the drive uses the value of 2.
If encoder supply voltage is 8V
If 2< Pr 3.34 <16,384, the drive uses the
Ab.SErVO, Fd.SErVO, value in Pr 3.34 rounded down to nearest or 15V then set drive encoder
Pr 3.39 = 0 /1 /2 1
termination selection Pr 3.39 =
Fr.SErVO value that is a power of 2.
0
If Pr 3.34 ≥16,384, the drive uses the
value of 16,384. Speed feedback selector
Pr 3.26 = drv drv
If Pr 3.34 ≤2, the drive uses the value of 2. (drive)
If 2< Pr 3.34 <32,768, the drive uses the Drive encoder lines per
Pr 3.34 = … 1024
SC, SC.HiPEr, SC.EndAt, value in Pr 3.34 rounded down to nearest revolution
SC.SSI value that is a power of 2. SinCos Drive encoder supply voltage:
Pr 3.36 = … 5V
If Pr 3.34 ≥32,768, the drive uses the 5V(0) / 8V(1) / 15V(2)
value of 32,768. Encoder type SC = SinCos
Pr 3.38 = SC Ab encoder with no serial
At power-up Pr 3.48 is initially zero, but is set to one when the drive communication
encoder and any encoders connected to any Solutions Modules have Speed feedback selector via
been initialised. The drive cannot be enabled until this parameter is one.
Pr 3.26 = Slot2 drv Slot 2 = parameter adjustment
Encoder initialisation will occur as follows: in Menu 16
• At drive power-up Disable drive encoder error
• When requested by the user via Pr 3.47 Resolver Pr 3.40 = 0 1
detection
• When trips PS.24V, Enc1 to Enc8, or Enc11 to Enc17 are reset
Pr x.11 = … 0 Resolution
• The encoder number of lines per revolution (Pr 3.34) or the number
of motor poles (Pr 5.11 and Pr 21.11) are changed (software version Resolver excitation: 3:1(0),
Pr x.13 = … 2:1
V01.08.00 and later). 2:1(1 or 2)
Initialisation causes an encoder with communications (SSI, EndAt,

Hiperface) to be re-initialised and auto-configuration to be performed if
selected. After initialisation Ab.SErVO, Fd.SErVO and Fr.SErVO
encoders will use the UVW commutations signals to give position
feedback for the first 120° (electrical) of rotation when the motor is
restarted.
3.5.2 Closed loop vector mode
The following table details parameters required to configure both
encoders and resolver feedback, with the resolver being connected via
an SM-Resolver.
The following settings are for simple Ab,SC encoders and if absolute
encoders are used, refer to the Unidrive SP User Guide for detailed
setup information, or section 3.5.3 Servo mode on page 24 where some
additional examples are given.

3.5.3 Servo mode NOTE N

The following section covers the set-up of both absolute encoders and a If a Resolver is being used with the SM-Resolver and an "EnC2" trip is
resolver (absolute). displayed, ensure Pr 3.40 = 0, which disables the error detection on the
If the required feedback device is not covered in this section, refer to the drives main 15 way D-type encoder input.
Unidrive SP User Guide for further detailed information.
Table 3-6 Servo feedback set-up
Feedback Pr Setting Default Note
Pr 3.25 = … Encoder phase angle
Speed feedback selector
Pr 3.26 = drv drv
(drive)
Drive encoder lines per
Pr 3.34 = … 1024
revolution
Drive encoder supply
Pr 3.36 = … 5V voltage: 5V(0) / 8V(1) /
Encoder 15V(2)
Encoder type
Pr 3.38 = Ab.Servo Ab.Servo
Ab.Servo(3)
If encoder supply voltage
8V and 15V then set
Pr 3.39 = 0 /1 /2 1 drive encoder
termination selection
Pr 3.39 = 0
Pr 3.25 = … Encoder phase angle
Pr 3.26 = drv drv
(drive)
Pr 3.33 = … 16 Drive encoder turn bits
Drive encoder lines per
Pr 3.34 = … 1024
revolution
Drive encoder single turn
Pr 3.35 = … 0
comms resolution
Drive encoder supply
Pr 3.36 = … 5V voltage: 5V(0) / 8V(1) /
15V(2)
Drive encoder comms
Pr 3.37 = … 300 baud rate (Not used for
SinCos type SC.HiPEr)
Encoder type: SC.HiPEr
Pr 3.38 = SC.HiPEr Ab.Servo
Stegmann
Pr 3.38 = SC.EndAt Ab.Servo SC.EndAt Heidenhain
Pr 3.38 = SC.SSI Ab.Servo SC.SSI
Encoder feedback error
detection level. 3
provides wire break
Pr 3.40 = 3 1
detect and phase error
detection for SC.xx
encoders.
Drive encoder auto-
Pr 3.41 = 1/0 0 configuration / SSI binary
format select
Encoder phase angle, if
Pr 3.25 = …
known
Pr 3.26 = Slot2 drv via Slot 2 parameter
adjustment in Menu 16
Resolver
Disable drive encoder
Pr 3.40 = 0 1
error detection
Pr x.11 = 0 Resolution
Resolver excitation:
Pr x.13 = 2 :1 2:1
3:1(0), 2:1(1 oder 2)
NOTE N
x = 15 (Slot 1), 16 (Slot 2) or 17 (Slot 3)

4 Lift software functions

There are two different positioning profiles that can be selected when operating with the SM-ELV elevator software:
1. Creep-to-floor positioning
2. Direct-to-floor positioning
Figure 4-1 Positioning profiles
Run speed
Run jerk Run jerk
Acceleration Deceleration
Run jerk
Stop jerk
Start jerk
Direct-to-floor
Creep-to-floor
Both the Creep-to-floor and Direct-to-floor positioning modes are
covered in detail in the following sections along with additional features
which can further enhance the Unidrive SP SM-ELV elevator control
solution.
Peak curve operation - Short distance landing is available in
instances where the floor distance is smaller than the braking time
distance, ensuring a constant stopping distance.
Variable speed and current loop gains are available which will
allow optimised performance, these being configurable for the start,
travel and positioning (stop).
Inertia compensation is available which will allow the acceleration
torque to be dynamically optimised.
Load measurement will allow load dependant compensation to be
applied using a load measuring transducer.
Floor sensor correction can be applied which will provide the
following additional benefits
1. Accuracy of the direct-to-floor positioning can be increased if the
sensor is detected shortly before reaching the intended stop position.
2. A quasi direct-to-floor positioning mode using creep speed
positioning can be realised if the sensor is detected before creep
speed would be activated.
3. A distance controlled positioning at creep speed can be realised,
if the sensor is detected during positioning.
Optimisation of the different segments of the velocity profile are
available in addition to start optimisation, peak curve operation,
short distance landing and rapid stop as detailed later in this guide.
Brake operation can be set-up to either be controlled from the
Unidrive SP and the SM-ELV software or from the elevator
controller.
Output contactor control is also available through the Unidrive SP
and the SM-ELV software.
Load direction for rescue operation is available which measures
both the load and indicates the direction, this being a feature which
can be used for rescue operation to indicate the rescue direction
with least load. At each power down the results are saved in the SM-
ELV.

4.1 Creep-to-floor positioning

Positioning with creep-to-floor is used in most applications and is
therefore selected as the default setting for the SM-ELV software
Pr 0.16[3] (Pr 20.13) = 0.
The speed is applied according to the selected floor distance, and the
elevator controller controls the start, travel, deceleration, switches to the
creep-to-floor speed and then positions (stops) at the floor.
The elevator controller selects speeds depending on the distance called
for by selecting the appropriate binary or priority speed configured in the
Unidrive SP and SM-ELV software.
Figure 4-2 Velocity profile with creep-to-floor positioning
Operational speeds
Run jerk Run jerk
Pr 0.24 [0] (Pr 19.15 ) Pr 0.16 … Pr 0.21[0] Pr 0.24 [0] (Pr 19.15 )
V:
Pr 18.12 … Pr 18.17
Deceleration
Acceleration
Pr 0.04 (Pr 2.21 )
Pr 0.03 (Pr 2.11 )
Run jerk
Pr 0.24 [0] (Pr 19.15 )
Start jerk
Calculated deceleration
Pr 0.23 [0] (Pr 19.14 ) distance Creep speed
Stop jerk
Pr 0.14 [3] (Pr 19.08 ) Pr 0.15 [0] (Pr 18.11 ) Pr 0.25 [0] (Pr 19.16 )
Speed signals
Creep speed
signal
Level sensor
Pr 0.22 [0] (Pr 19.13 ) Stop deceleration
For several segments of the velocity profile shown above there are
independent parameters available for example for the Acceleration and
Jerk with which the performance can be optimised.
In addition to controlling the velocity profile, the required deceleration
distance Pr 0.14[3] (Pr 19.08), dependent upon the speed and profile
settings, can be calculated and displayed in mm for the activated speed
in Pr 0.14[3] (Pr 19.08).
The deceleration distance depends on the load, as it is not possible to
control the distance.
The measured deceleration distance is displayed after every travel in Pr
0.15[3] (Pr 19.10) in mm.
NOTE N
From SM-ELV software version 1.12 onwards the deceleration distances
for all speeds are displayed in Pr 2.13 to Pr 2.18 and Pr 2.23 to Pr 2.25.
Speed (mm/s) Pr 18.12 Pr 18.13 Pr 18.14 Pr 18.15 Pr 18.16 Pr 18.17 Pr 20.02 Pr 20.23 Pr 20.24
Pr 2.13 Pr 2.14 Pr 2.15 Pr 2.16 Pr 2.17 Pr 2.18 Pr 2.23 Pr 2.24 Pr 2.25
Deceleration distance (cm)
Pr 0.31 [3] Pr 0.32 [3] Pr 0.33 [3] Pr 0.34 [3] Pr 0.35 [3] Pr 0.36 [3] Pr 0.37 [3] Pr 0.51 [3] Pr 0.52 [3]
The real time demand on the elevator control system is low due to the
positioning with creep-to-floor. With a typical cycle time of the elevator
controller (5 ... 20 ms) and the elevator drive (8 ms) the minimal
positioning distance with creep speed is calculated as:
• The max creep speed distance is:
Positioning distance [m] ≥ VNominal [m/s] * 30 ms
• The stop accuracy is:
Accuracy [mm] ≤ Vcreep speed [m/s] * 30 ms
• The time required for creep speed is:
Time creep speed [s]= positioning distance [m] / Vcreep speed [m/s]

4.2 Direct-to-floor positioning

For some applications, especially high-speed elevators and long travel
distance elevators direct-to-floor positioning control is often used with
this overcoming inherent delays normally associated with creep-to-floor
elevators.
With direct-to-floor positioning the speed is applied according to the
selected floor distance. As a function of the distance to the desired final
position, the elevator controller will disable the speed signal, and direct
deceleration to the target position will take place. Creep speed
positioning is not executed nor required. The following graph shows the
characteristics of this motion profile:
Figure 4-3 Velocity profile with direct-to-floor positioning
Operational speeds
Run jerk Run jerk
Pr 0.24 [0] (Pr 19.15 ) Pr 0.16 … Pr 0.21[0]
V: Pr 0.24 [0] (Pr 19.15 )
Pr 18.12 … Pr 18.17
Accelleration Deceleration
Pr 0.03 (Pr 2.11 ) Pr 0.04 (Pr 2.21 )
Run jerk
Start jerk
Calculated deceleration Pr 0.24 [0] (Pr 19.15 )
Pr 0.23 [0] (Pr 19.14 ) distance
Pr 0.14 [3] (Pr 19.08 )
Speed signals
Stop signal**
Level sensor
** Only if direct-to-floor positioning with stop signal
For several of the positioning profile segments different parameters are

available for example Acceleration and their associated Jerks, with
which the performance of the direct-to-floor can be optimised. The 4.4 Position accuracy
relevant parameters are as shown above.
The deceleration distance is calculated from the activated speed. If the
To go directly to the target, the deceleration is dependent on the required speed signal is deactivated (Pr 0.16 [3], (Pr 20.13) = 4), or the stop
stopping distance. The maximum deceleration is limited by Pr 0.04[0] signal is activated (Pr 0.16 [3] (Pr 20.13) = 1...3) the calculated
(Pr 2.21) stop deceleration. If the correction of the deceleration rate is deceleration distance will be controlled independent of the load level.
not sufficient, it is possible that the car will stop too late and hence At higher travel speeds the actual position at which the car will stop is
overshoot the floor level.
highly dependent on the time when deceleration begins. For example, if
The direct to floor positioning mode, uses as a reference the selected the I/O read cycle time of the drives inputs is 1ms, and if the cycle time of
speed and profile settings to calculate and display the deceleration the elevator controller is 1ms the position accuracy is:
distance in Pr 0.14[3] (Pr 19.08) in mm, calculated deceleration distance.
Accuracy [mm] = Vnominal [m/s] * 2 mm.
The deceleration distance is controlled to this value independent of the
load. The actual distance moved is displayed in Pr 0.15[3] (Pr 19.10) in Because of this, the usage of direct-to-floor positioning is limited to about
mm 1m/s. At higher speeds, additional distance control for accurate stopping
should be used. (Additional floor sensor correction can be used to
4.3 Selection of positioning mode control the final distance moved, see section 4.5 Floor sensor
correction on page 28).
The direct-to-floor / creep-to-floor positioning modes are enabled with
parameter Pr 0.16[3] (Pr 20.13). The following settings can be selected: NOTE N
Pr 0.16[3] (Pr 20.13) = 0 Direct-to-floor positioning disabled. Creep-to- From SM-ELV software version 1.12 onwards the deceleration distances
floor active for all speeds are displayed in Pr 2.13 to Pr 2.18 and Pr 2.23 to Pr 2.25.
Pr 0.16[3] (Pr 20.13) = 1 Direct-to-floor positioning with Stop signal via
analogue input 1 (T.5)
analogue input 2 (T.7)
analogue input 3 (T. 8)
Pr 0.16[3] (Pr 20.13) = 4 Direct-to-floor positioning with disable the
speed signals (controlling)

4.5 Floor sensor correction

Independent of the selected profile additional floor sensor correction can
be utilised. Improved accurate distance correction is possible if a floor
sensor can be detected in the range of 50-500mm before the flush or
level with floor target position. To enable the floor sensor correction, set
Pr 0.17[3] (Pr 19.42) = 1.
Given this:
• Rope slip can be compensated (as long as the normal stopping
distance is short without the additional compensation provided by
the direct-to-floor positioning mode).
• A quasi direct-to-floor positioning can be realised if the additional
sensor is detected before positioning at creep speed, (creep-to-floor
positioning mode).
• Floor sensor correction can be utilised if detected during the
positioning travel at creep speed, in the creep-to-floor positioning
mode.
NOTE N
The floor sensor correction or the distance controlled creep speed can
only be used in closed loop or servo mode. In open loop mode, a normal
deceleration with the programmed ramp can only be implemented.
NOTE N
If the floor sensor enable Pr 0.17[3] (Pr 19.42) = 0 all floor sensors can
be checked for correct operation. All measured values, which are
required for the floor sensor, for example the deceleration distance, time
from the floor sensor and the speed at floor sensor are displayed and
can be checked. This means, that all functions of the floor sensor
correction can be proofed, prior to being enabled.
Figure 4-4 Floor sensor correction profiles
Run jerk
Pr 0.24[0] (Pr 19.15 )
Deceleration
(1) (2) (3) Pr 0.04[0] (Pr 2.21 )
Run jerk
Creep speed Pr 0.24[0] (Pr 19.15 )
Pr 0.15[0] (Pr 18.11) Stop jerk
Pr 0.25[0] (Pr 19.16 )
Stop deceleration
Pr 0.22[0] (Pr 19.13 )
Target correction
distance Pr 0.25[0] (Pr 19.16 )
Pr 0.14 [3] (Pr 19.08 ) Stop jerk
Speed signals
Floor sensor signal**
Creep speed
Floor sensor
** Only if floor sensor available
The floor sensor correction uses as a reference, the floor sensor target 1. Pr 0.19[3] (Pr 20.14) = 0 Floor sensor correction disabled
distance defined by the user in Pr 0.20[3] (Pr 18.19) in mm. The floor 2. Pr 0.19[3] (Pr 20.14) = 1 Floor sensor correction = Analogue input 1
sensor target distance is controlled independent of the load. The (T.5)
remaining distance to the floor sensor in mm is displayed Pr 0.21[3] 3. Pr 0.19[3] (Pr 20.14) = 2 Floor sensor correction = Analogue input 2
(Pr 18.09). Additionally, Pr 0.23[3] (Pr 20.05) displays the time from floor (T.7)
sensor active to the stop and Pr 0.22[3] (Pr 19.09) displays the speed at 4. Pr 0.19[3] (Pr 20.14) = 3 Floor sensor correction = Analogue input 3
the floor sensor correction activation.. (T.8)
If the Stop distance is too low, or the floor sensor signal given at too high 5. Pr 0.19[3] (Pr 20.14) = 4 Controlled stopping distance
a speed, it is possible that the car may not stop smoothly and a hard
stop will occur (Figure 4-4 - profile (3))
4.5.1 Floor sensor correction, Analogue input
Pr 0.19[3] (Pr 20.14) is used to set-up the source for the external floor Conditions 1, 2, or 3: (Pr 0.19[3] (Pr 20.14) = 1,2 or 3 (Figure 4-4 -
sensor correction signal: profile (2))
If the floor sensor correction signal is activated, the floor sensor controls
the target distance. Because of direct deceleration from a higher speed,
the real time demand on the control system is high and dependent upon

the parameter settings and I/O speed. For example, if the cycle time of A rapid stop function has been introduced with software version 1.10
the elevator controller is 1ms, and the drives inputs are also 1ms the onwards which is enabled by setting Pr 19.49 = 1. For future software
position accuracy is: versions a drive speed is also planned for the rapid stop function, the
Accuracy [mm] = vabstell [m/s] * 2 mm value of which must be set to 0.
If the rapid stop function is enabled, when selecting a speed with the
It should be noted that the floor sensor correction signal should be
value of 0 mm/s for the subsequent deceleration (Pr 21.05), the brake
activated instantaneously at that position which is Pr 0.20[3] (Pr 18.19)
ramp is reversed to perform the rapid stop.
(floor sensor target distance) away from the floor sensor in mm.
To do this a deceleration parameter (Pr 21.05) has been added for the
The stop signal can be used for all speeds. The creep speed signal can be
deactivated at any time after the floor sensor correction signal is activated. rapid stop deceleration (Closed Loop in m/s2 / Open Loop in cm/s2). This
deceleration is rounded to 200 ms in order to run as smoothly as
NOTE N possible.
If the creep speed signal is still active at standstill the motor will Figure 4-5 Rapid stop
accelerate to creep speed.
4.5.2 Distance controlled with creep speed

Condition 4: (Pr 0.19[3] (Pr 20.14) = 4 (Figure 4-4 - profile (1))
If the creep speed signal is deactivated, a controlled stop distance
Pr 0.20[3] (Pr 18.19) will be active. The relevant profile parameters are
Pr 0.22[0] (Pr 19.13) deceleration, and Pr 0.25[0] (Pr 19.16) jerk.
In this case, because the deceleration is from creep speed, the real time
demand to the elevator controller is low. For example if the cycle time of
the elevator controller is 10ms and the elevator drive 1ms, the accuracy
can be calculated and the stop accuracy would be:
Accuracy [mm] <= vcreep speed [m/s] * 11 mm
Vtarget 1 Vtarget_2 = 0
4.5.3 Deceleration and stopping distance
calculation
If the speed or profile parameters are changed then the deceleration and 4.7 Start optimiser
stopping distances can change. The elevator controller could
To overcome static friction in the elevator arrangement or to overcome
compensate for these changes. To change the parameters in the
starting difficulties a start optimiser function is available.
elevator controller correctly, the drive calculates the deceleration and
stop distances and displays them in the following parameters: This function is activated by setting the start optimisation time in
Pr 0.19[1] (Pr 19.28) > 0. Also a target speed for the start optimiser must
Table 4-1 Floor sensor connection parameters
be set in Pr 0.18[1] (Pr 18.18) > 0, along with the start optimiser jerk in
Parameter Creep-to-floor Direct-to-floor Pr 0.20[1] (Pr 19.17).
Pr 0.17[3] Table 4-2 Softstart parameters
Floor sensor correction enable = 1
(Pr 19.42)
Parameter Function Detail
Pr 0.19[3]
Source for floor sensor correction Pr 0.18 [1] Target speed in mm/s
(Pr 20.14) Setting between 2...5mm/s.
(Pr 18.18) for start optimisation
Speed at floor sensor
Pr 0.22[3] Pr 0.19 [1] Time in ms for start
N/A correction activation Setting between 500 to 800ms.
(Pr 19.09) (Pr 19.28) optimisation
in mm/s
Pr 0.20[3] Setting from 10 up to 20 (must
Floor sensor correction target distance be less than the acceleration
(Pr 18.19) Pr 0.20 [1] Jerk in mm/s for 3
jerk in Pr 0.22) smaller values
Pr 0.29[3] Stopping distance (from Stopping distance in (Pr 19.17) starting optimisation
will provide smoother but slower
(Pr 19.05) V1 to V = 0) in mm mm
acceleration.
Calculated deceleration Calculated
Pr 0.14[3]
distance from Vset to V1 deceleration distance Figure 4-6 Start profile optimisation
(Pr 19.08)
in mm from Vset to 0 in mm
Measured
Pr 0.15[3] Measured deceleration
deceleration distance Pr 0.20 [1] (Pr 19.17 )
(Pr 19.10) distance from Vset to V1
from Vset to 0 in mm Jerk for start
optimiser
Pr 0.21[3]
Remaining distance for floor correction
(Pr 18.09)
Time for start
Pr 0.23[3] optimiser
Time from floor correction active to stop
(Pr 20.05) Pr 0.19 [1] (Pr 19.28 )
The profile parameters and the creep speed setting are used for
Sped for start
calculating distances. At default settings, the creep speed in Pr 0.15[0] optimiser
(Pr 18.11) is used. This assignment can be changed through Pr 20.12 Pr 0.18 [1] (Pr 18.18 )
creep speed parameter.
NOTE N
At completion of the floor sensor correction, Pr 0.21[3] (Pr 18.09) = 0 (±), NOTE N
Pr 18.10 the reference selector should be 1810 (no reference selected). If the target speed set in Pr 0.18[1] (Pr 18.18) is not reached during the
time defined in Pr 0.19[1] (Pr 19.28) there will be a continuous transition
4.6 Rapid stop to the nominal acceleration.

4.8 Peak curve operation

This function guarantees a constant stopping distance, independent of the
moment when the signal to stop occurs. This allows the use of a single
speed for different floor levelling distances.
The peak curve operation is enabled by setting Pr 0.27 [1] (Pr 18.47) = 1
(Default = 0).
Depending on the speed when the speed signal is disabled, 3 different
results can occur:
• If the final speed is achieved there is no influence on the speed profile.
• If there is increasing or constant acceleration, braking occurs with the
normal profile parameters in a calculated time.
• During deceleration and the transition to a stop, the profile
parameters are automatically adjusted.
Figure 4-7 Peak curve operation
Calculated Set-point
deceleration peak curve
distance distance
Pr 0.14 [3] Pr 0.27[3]

(Pr 19.08 ) (Pr 19.06 )
V1 ... V3
Vs
Normal run Peak curve operation
The reference speed before and after speed reduction is used as the The ratio of nominal elevator rpm Pr 0.13[0] (Pr 18.29) to nominal
calculation base for the controlled stopping distance. elevator speed Pr 0.14[0] (Pr 18.30) is as follows. The nominal elevator
The Set-point peak curve distance is calculated from the profile rpm Pr 0.13[0] (Pr 18.29) is defined by the mechanical conditions as
parameters and displayed in Pr 0.27[3] (Pr 19.06). This value is follows:
equivalent to the deceleration distance for the applied speed. Pr 0.13[0] (Pr 18.29) [n Nominal] = Pr 0.14[0] (Pr 18.30) [v Nominal] * iG * Z
The deceleration distance is measured during peak curve operation and * 60 / (Ω * D * GZ)
displayed in Pr 0.28[3] (Pr 19.07). Figure 4-9 Elevator parameters
4.9 Short distance landing iG / Gz

If the floor distance is smaller than the braking time distance from the
selected speed, then the peak curve operation cannot be used. This is
the case if the floor distance is less than 0.7 m for example. For such
small floor distance, the elevator software function provides the short D nNominal
distance landing with real distance control.
VBetrie
The control signals for creep speed positioning and short distance b
landing must be applied simultaneously. The speed profile is internally
calculated in order that the creep speed is reached after the short Where:
distance and is adjusted in Pr 0.26[3] (Pr 18.20) to be as fast as nNominal Nominal elevator rpm Pr 0.13[0] (Pr 18.29) in min-1
possible. If the creep speed command is disabled, the elevator drive
Nominal elevator
stops the car with the set deceleration. v Nominal Pr 0.14[0] (Pr 18.30) in mm/s
speed
Figure 4-8 Short distance landing Pr 0.14[1] (Pr 20.10)
Z Roping (1, 2, 3 or 4)
(1=1:1 / 2=2:1 / 3=3:1 / 4=4:1)
D Sheave Diameter Pr 0.15[1] (Pr 19.29) in mm
ig Gear Ratio Numerator Pr 0.16[1] (Pr 19.30)
Gear Ratio
GZ Pr 0.17[1] (Pr 19.27)
Short distance Denominator
landing
Pr 0.26 [3] (Pr 18.20 ) After adjustment of the above parameters, the nominal elevator speed is
displayed in Pr 0.13[1] (Pr 18.03) in rpm. With software version 01.10
onwards the value of Pr 0.13[1] (Pr 18.03) can be set up automatically
Pr 18.35
by setting Pr 19.31 = 1. The calculations are exact, however manual
Vs adjustment is possible and can be achieved by changing the value of
Pr 0.13[0] (Pr 18.29) as follows:
The deceleration distance is measured during peak curve operation and
displayed in Pr 0.28[3] (Pr 19.07). If the speed of the elevator is too high, the nominal rpm Pr 0.13[0]
(Pr 18.29) should be reduced.
4.10 Nominal elevator rpm calculation and If the speed of the elevator is too low, the nominal rpm Pr 0.13[0]
adjustment (Pr 18.29) should be increased.

4.11 Variable Gains - selection / Table 4-4 Speed / current loop gains (Pr 0.21[2] (Pr 18.48),
Pr 19.48 = OFF)
optimisation
Parameter Detail
The following variable gains can be used for optimisation of the speed
loop (Kp and Ki) gains, current loop (Kp and Ki) gains and current loop Higher values improve the
filter. smooth running and the
Pr 0.07
P- Gain stiffness. Values recommended
There are two settings for the variable gains one having a user (Pr 3.10)
between 0.100 (Incremental
determined transition time and the second having a profile / travel
Encoder) and 0.500 (SinCos)
determined transition time, the two settings are determined by which
version of lift software you are operating with. Higher values will decrease the
effect of the load with smaller
User determined transition time = Software version up to V01.06 Pr 0.08 values reducing the overshoot
variable speed loop gains for Start and Travel can be activated by I - Gain
(Pr 3.11) of the speed loop. Usually
setting Pr 0.21[2] (Pr 18.48) = On as detailed following.
adjust the value between 1.00
Profile / travel determined transition time = Software version V1.07 Speed loop and 5.00
and later. These variable speed loop / current loop gains and current Operates as a feed forward
loop filter are enabled by setting Pr 0.21[2] (Pr 18.48), Pr 19.48 = On term in the speed loop.
as detailed following. Pr 0.09 Increased values will reduce
D - Gain
Table 4-3 Variable gains (Pr 3.12) overshoot in the speed loop.
However this is normally not
Mode SM-ELV software Enable used and set to 0
Pr 0.21[2] Used with high inertia loads and
User determined transition time Up to V1.06 Speed
Pr 18.48 = 1 high gains to smooth the torque
Pr 3.42 feedback
Profile / travel determined transition demand and prevent latch up
V1.07 onwards Pr 19.48 = 1 filter in ms
time effects of the speed loop.
This value should be derived
Following are the standard speed and current loop optimisation
from the stationary auto tune
parameters which are only destinations in the variable gain set-up and
(Pr 4.13) P - Gain and may require adjustment if
written to from the SM-ELV software.
acoustic noise or current
instability is present: ± 50
This value should be derived
from the stationary auto tune
Current loop (Pr 4.14) I - Gain and may require adjustment if
acoustic noise or current
instability is present: ± 100
Acts in the speed loop output,
Torque reducing acoustic noise caused
Pr 0.14[2]
demand by high-speed loop gains.
(Pr 4.12)
filter in ms Typical values are between 0
and 5
NOTE N
The speed loop Kp and Ki gains in Pr 0.07 (Pr 3.10) and Pr 0.08
(Pr 3.11) are for display only when variable gains are used, and
therefore cannot be modified. The values in Pr 0.07 (Pr 3.10) and
Pr 0.08 (Pr 3.11) show the active speed loop gain. When the variable
gains are inactive the values in Pr 0.07 (Pr 3.10) and Pr 0.08 (Pr 3.11)
can be modified as normal.
The following sections cover in more detail the variable speed loop and
current loop gain settings along with a variable current loop filter. These
can be configured for the Start, Travel and Positioning (Stop) or just
start; dependant upon the mode being implemented and SM-ELV
software version, detailed as follows. The variable gains will operate in
either Direct-to-floor or can be selected for Creep-to-floor Pr 0.16 [3]
(Pr 20.13) = 0.
4.11.1 User determined transition time = SM-ELV
software version up to V01.06
When using planetary gearboxes it is advisable to separate the speed
loop gains for Start and Travel. This can be activated by setting
Pr 0.21[2] (Pr 18.48) = On and offers various speed loop gain settings
for travel Pr 0.23[2] (Pr 18.25) / Pr 0.24[2] (Pr 18.26) and Start Pr 0.25[2]
(Pr 18.27) / Pr 0.26[2] (Pr 18.28).
These parameters are switched depending on the transition time, set-up
by the user. Pr 0.22[2] (Pr 19.11) defines the transition time between
start and travel for the P and I speed loop gains. The transition time
should be set-up to avoid switching vibrations / instability. For Start the
speed loop gains can be up to 2 to 3 times the setting required for the
Travel, this equating to a reduction between 1/4 and 1/9 for the Travel.

The following parameters are available for optimising the speed loop
gains.
Table 4-5 Variable gains (1) (Pr 0.21[2] (Pr 18.48) = On
Increasing value improves true running
Pr 0.23[2]
P gain - Travel and rigidity. Set values between 1000
(Pr 18.25)
(encoder) and 5000 (SinCos)
Increasing value reduces deviation.
Pr 0.24[2] Reducing value reduces overshooting.
I gain - Travel
(Pr 18.26) Approx. 10...40% of Pr 0.23[2]
(Pr 18.25)
Increasing value improves rigidity. Set
Pr 0.25[2]
P gain - Start values between 2000 (encoder) and
(Pr 18.27)
10000 (SinCos)
Increasing value reduces angle
Pr 0.26[2]
I gain - Start deviation and jolting at start. Approx. 30
(Pr 18.28)
– 80% of Pr 0.25[2] (Pr18.27)
Changeover time for the speed loop
Pr 0.22[2] Gain transition
gains from start to travel setting,
(Pr 19.11) time in ms
beginning with the start
Current loop output filter. Reduces
Pr 0.14[2] Current filter
control noise by fine adjustment of
(Pr 04.12) Travel
torque demand.
Reduces control noise at the start, only
Pr 0.13[2] Current filter
if Pr 19.34 = 0, otherwise Pr 4.12
(Pr 04.23) Start
applies also for start.
Pr 0.15[2] Current filter Activates fixed current filter for start and
(Pr 19.34) Fixed travel
Pr 0.38[0] Current loop P
Fixed Kp gain
(Pr 4.13) gain
Pr 0.39[0] Current loop I
Fixed Ki gain
(Pr 4.14) gain
Figure 4-10 Start to travel variable gains
#18.27 #19.11
#18.28
#18.25
#18.26
#04.23
(#19.34= 0)
#04.12
(#19.34= 1)
#04.12

4.11.2 Travel determined transition time = SM-ELV

software version V01.07 and later
Pr 0.21[2] (Pr 18.48), Pr 19.48 = On)
With this procedure each travel section can be allocated its own gain setting.
This procedure is used with critical lifts where the above procedure is not
sufficient or if gains are necessary for the positioning (stop) that are different
from those required for constant travel.
The transfer between the gains is controlled linearly with the speed. The
gain set for constant travel is achieved when nominal speed is reached.
The following settings are used:
Table 4-6 Variable gains (2) (Pr 0.21[2] (Pr 18.48), Pr 19.48 = On)
Travel section Start Travel Positioning
Speed Loop P gain Pr 18.27 Pr 18.25 Pr 20.27
Speed Loop I gain Pr 18.28 Pr 18.26 Pr 20.28
Current Loop filter Pr 04.23 Pr 04.12 Pr 21.16
Current Loop P gain Pr 20.25 Pr 04.13 Pr 21.22
Current Loop I gain Pr 20.26 Pr 04.14 Pr 21.23
Figure 4-11 Start, travel, positioning variable gains
#18.27
#20.27
#18.28
#20.28
#20.25 #18.25
#18.26
#20.26 #04.13 #21.22
#04.14 #21.23
#04.23 #21.16
#04.12

4.12 Position controller for start Distance Error (Trip 71)

The position error is the integral of the difference between the ramp
With both gearless lifts and planetary gears a position controller is
particularly suitable for the start, this prevents any movement of the speed Pr 19.03 and the actual speed of the motor Pr 19.02.
motor during brake opening. The position controller is made up of both a The distance error is compared with an allowable threshold set in
Proportional and Derivative term. Pr 0.28[4] (Pr 19.18). If the distance error exceeds the user defined
This feature will attempt to hold the car in position during opening of the threshold, a Trip 71 is generated.
brake and is only active whilst the brake is being opened. Once the The distance error during one travel is displayed in Pr 0.27[4] (Pr 18.06)
motor starts the position controller then becomes inactive. independent of the activation of the error detection. The display is reset
This position controller has the same objective as the separate travel to 0 at each start.
and start variable gains but works independently of these. The two The distance error detection can be disabled by setting Pr 0.28[4]
procedures, Position controller for start and Variable gains can however (Pr 19.18) = 0 (maximum distance error).
be used at the same time. However, under normal circumstances the 4.13.2 Open loop
variable gains should be sufficient to eliminate any jolt during opening of
Speed Error (Trip 70)
the brake.
For open loop mode the error detection is activated once the drive enters
When setting the P gain, Pr 0.19[2] (Pr 19.20) to > 0 the car is always
current limit operation with the trip then becoming active after 2s of
pulled back into position before opening the brake. The maximum
operation in this region.
detectable position deviation is determined by the height of Pr 0.19[2]
(Pr 19.20). Settings from 3 up to 30 are recommended. Figure 4-12 Error detection
The D gain Pr 0.20[2] (Pr 19.12) counteracts a detectably quick change

of position. Settings from 10 up to 100 are recommended. This helps the Pr 19.24 Speed Error Threshold
P position control and performs more minor compensation procedures
Pr 19.24 = 0 Speed Error Disabled
with slight deviations. The set values are limited by the rigidity of the
Pr 19.18 Position Error Threshold
speed loop gains, which are determined essentially by the speed
feedback device being used (SinCos encoders being far superior (higher Pr 19.18 = 0 Position Error Disabled
resolution) to standard incremental encoders or resolvers).

Table 4-7 Position controller parameters
Position Error
Values > 0 cause the position to be held Speed Error
when opening the brake. Greater values
Pr 0.19[2]
Start P gain reduce the jolt when transferring the load.
(Pr 19.20)
Recommended values are between 3 and
30.
Values > 0 cause the position to change
quickly when opening the brake and thus
Pr 0.20[2]
Start D gain reduce the jolt when transferring the load. In addition to the speed and distance errors used to ensure optimum
(Pr 19.12)
Recommended values are between 10 and performance, there are also an additional two specific trips (Trip 76 and
100. Trip 77).These detect both motor phase loss and motor magnetised.
Trip 76: Motor fluxed detection
NOTE N
Trip 77: Motor phase loss detection
The position controller for start only operates if a speed has been
selected (displayed in Pr 0.28[0] > 1810). This feature can also be seen
operating on the display of the drive "run" appears. If STOP is displayed,
this feature is not operating as no speed is being selected.
4.13 Error detection

The following speed and distance error detection features are used to
protect against the following possible failure modes:
• Errors in the motor connection and phase co-ordination
• Errors in the encoder connection and encoder functionality
• Errors in the motor model including feedback phase angle
(brushless synchronous motors)
4.13.1 Closed loop

Speed Error (Trip 70)
The speed error is calculated from the difference between the ramp
speed Pr 19.03 and to the actual speed of the motor in Pr 19.02.
The speed error is compared with the user setting of the allowable
threshold set in Pr 0.26[4] (Pr 19.24). If the threshold is exceeded for
more than 100msec a Trip 70 is generated by the SM-ELV elevator
software.
The speed error during one travel is displayed in Pr 0.25[4] (Pr 18.07)
independent of the activation of the speed error detection. The display is
reset to 0 at each start. The Speed error detection can be disabled by
setting Pr 0.26[4] (Pr 19.24) = 0.

Figure 4-13 Error detection
Speed
Pr 18.07
error
Maximum speed
Pr 19.24
error threshold
Speed reference
1 Second
Speed
Pr 3.01 error trip
Trip 70
Pr 18.30
Pr 18.29 Distance
0 error trip
Ratio Pr 18.30
inverted 100 Trip 71
1
Pr 3.02
Maximum
Pr 19.18 distance error
threshold
Speed feedback
Distance
Pr 18.06
error
4.14 Brake control Table 4-8 Unidrive SP brake control

No Sequence Terminal
4.14.1 Brake control provided by the Unidrive SP
After initiating defaults (setting Pr 18.50 = On defaults carried out then The elevator controller applies both the T.28, 26, 27, 29
1
Pr 18.50 = OFF) the internal Brake controller can be used. direction and speed signals. = 24V
The Brake output signal generated from the SM-ELV software is The elevator controller closes the motor
2 T.31 = 24V
available from control terminal 25 on the Unidrive SP. The parameter contactor and enables the elevator drive.
setup for this function is Pr 8.22 = Pr 18.31. The control and timing The Unidrive SP drive de-bounces the input
sequence for the brake is shown in the following control diagram (Figure 3 signals (100ms) and enables the inverter
4-14 on page 36). output.
The brake apply delay can be adjusted in Pr 0.25[1] (Pr 18.24) and the The Unidrive SP controls the magnetisation of
4 T.25 = 24V
brake release delay in Pr 0.24[1] (Pr 19.25). the motor and opens the brake.
If the Unidrive SP trips at any stage the brake control becomes inactive The Unidrive SP holds zero speed until both
and the brake will be forced to close by the elevator controller. the brake-release delay and load
5
measurement times have elapsed. The
Unidrive SP then starts to run.
The elevator controller removes the direction T.28, 26,27,29
6
and speed signals. = 0V
After the motor has stopped the Unidrive SP
7 T.25 = 0V
activates the brake.
After the brake-apply delay, the Unidrive SP
8
disables the drives output.
The elevator controller waits for brake-apply
9 delay and opens the motor contactor and T.31 = 0V
removes the Unidrive SP enable.
NOTE N
It is recommended to set the brake release delay, Pr 0.24[1] (Pr 19.25)
to a non-zero minimum value (=100).

4.14.2 Brake control provided by the elevator

controller
If the elevator controller is required to control the brake this has to be
configured through Pr 8.22 = Pr 18.43. This setting changes the function
of Terminal 25 output to now be "motor magnetised" indication. Only
once the motor is magnetised can the elevator controller release the
motor’s brake. The control sequence is as follows:
Table 4-9 Elevator controller brake control
No Sequence Terminal
The elevator controller applies drive enable
1 T.31 = 24V
without a speed command.
The Unidrive SP magnetises the motor and
2 sets the digital output active when the motor is T.25 = 24V
fully magnetised.
The elevator controller releases the brake and
3
waits for brake release delay.
After brake release delay the elevator controller T.28, 26, 27, 29
4
applies the direction and speed signals. = 24V
After the motor has stopped the elevator controller T.28, 26, 27, 29
5
deactivates the direction and speed signals. = 0V
After this the Unidrive SP applies the signal
6 T.24 = 24V
hold zero speed
7 The elevator controller applies the brake.
After the brake apply delay the elevator
8 T.25 = 0V
controller disables the Unidrive SP output.
The elevator controller disables the Unidrive
9. T.31 = 0V
SP and opens the motor contactor.
NOTE N
It is recommended to set the brake release delay, Pr 0.24[1] (Pr 19.25) to a
non-zero minimum value (=100).
Figure 4-14 Brake control
Pr 0.24 Pr 0.18 Pr 0.24
V3 Nom. Speed
Load measuring time Pr 20.08
Debounce contactors (100 ms)
Brake apply delay Pr 18.24

Brake release delay Pr 19.25
Interlock Delay > 50 ms

Deflux Motor (200 ms)
Flux Motor ( t > 100ms )
Time for Start Optimiser
Motor contactor delay

measured Pr 20.20
Pr 0.16
Pr 0.03 Pr 0.04
Pr 19.28
V1 Speed 1
Pr 0.23 Pr 0.24 Pr 0.25
Pr 0.22
Pr 0.15
Pr 18.18 Ve Creep Speed
Speed Pr 0.25
Pr 18.23 Magnetising-Threshold
Pr 19.17
Current
Drive active
Direction T. 28
Main contactor
Enable T. 31
Speeds V1 (T.26), V2 (T.27), V3 (T.5), Vn (T.7)
Creep Speed T.29
Brake output T. 25
0,3 m/s T. 24
Kp Position Control: Pr 19.20
Pr 19.11
Kd Position Control Pr 19.12
Kp Speed Control: Pr 18.27 Pr 18.25
Ki Speed Control: Pr 18.28 Pr 18.26
Current Filter Pr 19.34: 0 / Pr 4.12 Pr 4.12
Kp Current Contol Pr 4.13
Ki Current Control Pr 4.14

t.0 t.1 t.2 t.3 t.4 t.5 t.6 t.7 t.0

4.15 Switching motor contactors on release circuit on T. 31 should be opened immediately. This should be
opened by an additional quick relay (finder) or other suitable measure
output of drive (descent delay < 4 ms) in order to prevent the controller output being
If the cable between the drive and the motor is to be turned on when power is flowing. In addition the motor coil should also
interrupted by a contactor or circuit breaker, ensure that the be protected by suitable voltage limiters (varistors).
drive is disabled before the contactor or circuit breaker is 4.15.2 Contactor configuration
opened or closed. Severe arcing may occur if this circuit is
WARNING To ensure the motor contactor(s) are closed before the drive is enabled,
interrupted with the motor running at high current and low auxiliary contacts on the motor contactor(s) should be used. The
speed.
auxiliary contacts should be connected in series with the drives secure
Switching of an output contactor should only occur when the output of disable (T.31) as shown following.
the drive is disabled. A recommended motor contactor to be fitted The following Figure 4-14 and Figure 4-15 show the two options for
between the drive and motor for safety purposes can be a AC3 type. connections of the auxiliary contacts when using either a single or dual
Opening or closing of the contactor with the drive enabled will lead to: output motor conactors.
1. OI.AC trips (which cannot be reset for 10 seconds) Figure 4-15 Dual output motor contactor configuration
2. High levels of radio frequency noise emission
Motor contactor 1 Motor contactor 2
3. Increased contactor wear and tear
Auxiliary contact 1 Auxiliary contact 2
The Drive Enable terminal (T31) when opened provides a SECURE Elevator Unidrive SP
DISABLE (SD)function. This can in many cases replace output control
T.31 SECURE
contactors. Enable DISABLE
The SD function provides a means for preventing the drive from
generating torque in the motor, with a very high level of integrity. It is Figure 4-16 Single output motor contactor configuration
suitable for incorporation into a safety system for a machine. It is also
suitable for use as a conventional drive enable input. Motor contactor 1
Auxiliary contact 1
The SD function makes use of the special property of an inverter drive
Elevator Unidrive SP
with an induction motor, which is that torque cannot be generated control
without the continuous correct active behavior of the inverter circuit. All T.31 SECURE
credible faults in the inverter power circuit cause a loss of torque Enable DISABLE
generation.
The SD function is fail-safe, so when the SD input is disconnected the
drive will not operate the motor, even if a combination of components 4.15.3 Motor contactor control (from V1.09)
within the drive has failed. Most component failures are revealed by the From V1.09 SM-ELV software the motor contactor can be controlled by
drive failing to operate. SD is also independent of the drive firmware. the relay on T.41 to T.42 of the Unidrive SP. This is done in such a way
that it is triggered optionally, i.e. it does not have to be used.
This meets the requirements of EN954-1 category 3 for the prevention of
operation of the motor.1 A pre-requisite for the motor contactor to be controlled correctly is for the
auxiliary closing contact to be looped into the release circuit on the
1 Independent approval by BGIA has been given. converter that is connected to T.31. The subsequent processing control
SD can be used to eliminate electro-mechanical contactors, including is triggered as before by the release signal on terminal T.31.
special safety contactors, which would otherwise be required for safety The motor contactor is controlled in accordance with the following
applications. principle:
1. Closing the motor contactor: If there has been a start command
To maintain category 3 according to EN954-1 the drive must (selection of a speed with a direction signal or selection of a direction
be located inside an enclosure with degree of protection at with two direction signals), and the relay answering signal is not yet
least IP54. active.
WARNING 2. Opening the motor contactor: If the power in the motor has reduced
and the converter is blocked.
Switching the motor contactor(s) when the control unit output is released
may lead to high amounts of excess voltage because of the high level of 4.15.4 Enable circuit
inductivity, especially with gearless lift motors. This may lead to the relay The software enable of the drives output is delayed by approximately
contacts being destroyed, coil damage in the motor, false tripping in the 100ms (de-bouncing contactors) after the drive enable is applied to T.31.
converter or interference to the speed feedback signals. Spurious trips (e.g. OI.AC) which could be caused due to "chatter" of the
motor contactor are prevented by this inherent delay.
4.15.1 Contactor control
The control of the motor contactor should be carried out with no current
The controller output is released at the start of travel, approximately 200
flowing to the motor to prevent the above issues, arcing during opening
ms after the controller release on the Secure Disable T. 31. This
(too soon) or closing (too late) resulting in OI.AC trips.
prevents the overcurrent trips by de-bouncing the relay contacts at the
start. Therefore the parallel controlled release for opening the drive's enable
should occur before the motor contactors open. The technical data from
When ending a normal travel, the controller output is also delayed
the contactor manufacturer should be reviewed for the correct timing for
internally until the brake closing time has expired. The delay between
the contactor control. Normally with the very fast interlock of the drive’s
the internal controller and opening the motor contactor is shown in Pr
output (few microseconds), and the switching time of the main
0.26[1] (Pr 20.20) in ms. Negative values mean the motor contactor is
contactors which could be a few milliseconds, the opening of the motor
opened on release, which must be prevented. With negative delays the
contactor(s) should naturally be at zero current.
brake closing time Pr 0.25[1] (Pr 18.24) is reduced by at least the
amount displayed in Pr 0.26[1] (Pr 20.20). Then even with normal travel With this circuitry the safety chain can directly switch the motor
the motor contactor opens without current if the motor contactor is contactors. (Adherence to this circuit the motor contactor can be
Pr 20.20. controlled at inspection mode by the protective circuit.)
If during an inspection the safety circuit and motor contactor are opened
by the controller (during travel), the safety circuit is open; therefore the

5 Lift software compensation

5.1 Load measurement for evacuation
The load difference between the car and the counterweight is measured and displayed in Pr 20.19 as a % of the nominal torque (Mn) after the brake
release delay Pr 0.24[1] (Pr 19.25) and time for load measure Pr 20.08 has elasped.
The measurement duration is user definable and is set in Pr 20.08 in ms. This measurement duration is set at 200ms as default with this being
sufficient for determining the load direction. The measurement duration if set to be longer will result in more accurate results. This does result in a
longer time required for the measurement and therefore should be considered for when planning / setting up for the application. Measuring times of
500 ms are recommended for an accurate measurement.
This load measurement can be used both for determining the preferred direction for evacuation and also to generate an overload signal.
To start the evacuation the load measured when the brake was last opened is saved so that it is safe if there is a power cut and its direction is
displayed in Pr 19.37 Load Direction. This signal should be sent to the elevator controller using a programmable digital output (Pr 8.xx = 19.37).
The elevator controller creates the direction for torque, which would normally be done by the elevator drive in normal operation. For initial torque
compensation a slow speed should be applied.
The load measurement feature also allows load dependent torque compensation to be applied using Pr 4.08. For this a load measuring transducer
can be used that provides a ±10V signal that is proportional to load.
Figure 5-1 Load measurement
Brak e releas e
measurement
Time for load
delay
Pr 0.20 [1] Jerk for

(Pr 19.17 ) Start Optimiser
Pr 19.25 + Pr 20 .08
Pr 19.25 Pr 20 .08 Pr 0.18 [1] Speed for

Speed (Pr 18.18 ) Start Optimiser
Current
Brake release
Overload display
The overload bit Pr 19.36 is created by comparing the measured load value of Pr 20.19 with the overload threshold that is set in Pr 20.18 as a % of
nominal torque (Mn).

Figure 5-2 Load measurement - inertia compensation
Analogue Torque
input 2 Load offset
time constant
Load scaling
Pr 19.21
Load input Pr 7.02 Pr 4.09
1000 Enable current
demand filter
Pr 19.23 Current
demand filter Pr 19.34 = 0
Load offset Pr 0.10 = 0
Elevator software Pr 19.22 Pr 4.12 STOP
Torque Torque Current
reference demand demand
Current Motor voltage
loop gains
Torque reference Pr 4.08 Pr 4.03 Pr 4.04 0
Pr 4.13 = Kp
Pr 5.02
Pr 4.14 = Ki
1
Reference Inertia
acceleration scaling Active current
Inertia compensation 1 feedback
Pr 19.19
Pr 19.04 Pr 18.08
0 1000
Percentage
Pr 4.20 Pr 4.24 Pr 4.02
torque current
Torque for inertia User scaling
Enable Pr 18.49 compensation
Motor Low speed
Motor thermal protection protection
time constant mode mode
Overriding Pr 4.15 Pr 4.16 Pr 4.25
Speed loop output Pr 3.04
current limit
Speed Pr 4.18
loop output
Overload detection
Drive rated
continuous current
Current limits
Pr 11.32 Pr 4.05
Pr 4.06 Pr 10.08 Pr 10.09 Pr 10.39 Pr 4.19 Pr 10.17
Pr 5.07 Pr 4.07 Motor

At 100% Current Braking Motor
Motor rated load limit energy overload overload
current indicator active overload accumulator alarm
indicator indicator
5.2 Inertia compensation

The inertia compensation feature allows the acceleration torque in
Pr 4.08 to be dynamically optimised. Adjustment of the inertia
compensation can be implemented through Pr 0.27[2] (Pr 19.19) with
this being adjusted with half load present in the elevator car.
The inertia compensation is applied through Pr 4.08 and after the feature
has been enabled with Pr 0.28[2] (Pr 18.49) = 1 (as shown in Figure 5-
2).
The setting of the inertia compensation scaling Pr 0.27[2] (Pr 19.19)
should be adjusted so that the speed controller output Pr 3.04 is nearly
constant after the brake has opened and also during both the starting
and stopping.
The inertia compensation scaling Pr 0.27[2] (Pr 19.19) can be calculated
from the mechanical data as follows:
Pr 0.27[2] (Pr 19.19) = 1000 * (JG * i) / ( MN * R)
JG Inertia of the system in kgm2 apply to the motor shaft

MN Rated motor torque in Nm
R Radius of the sheave in m
i Gear ratio

6 I/O configuration
The functions of all terminals of the Unidrive SP except terminal 31 are configurable with the elevator software. The following configurations and
parameters shown are at their default settings.
Table 6-1 Input / output settings
Terminal I/O
I/O Associated parameters
Function No. Status
“DOWN” 28 Input Pr 18.44 Down direction input
“UP” Input Pr 19.44 Up (available with 2 direction signals, Pr 19.26 = 1)
Short distance Input Pr 18.35 Adjust distance in Pr 18.20
Speed select Bit 0 29 Input Pr 18.36 Adjust speed in Pr 0.15[0] (Pr 18.11)
Speed select Bit 5 Input Pr 18.41 Adjust speed in Pr 0.20[0] (Pr 18.16)
Speed select Bit 6 Input Pr 19.41 Adjust speed in Pr 0.21[0] (Pr 18.17)
Additional speed 2 Input Pr 20.22 Adjust speed in Pr 0.31[0] (Pr 20.22)
Apply time Pr 0.25[1] (Pr 18.24)
Brake 25 Output Pr 18.31
Release time Pr Pr 0.24[1] (Pr 19.25)
Threshold V1 24 Output Pr 18.32 Adjust threshold in Pr 0.26[0] (Pr 18.21)
Threshold V2 Output Pr 18.33 Adjust threshold in Pr 0.27[0] (Pr 18.22)
Motor magnetised Output Pr 18.43 Threshold for induction motors Pr 0.29[2] (Pr 18.23)
Source and destination parameters are used for configuration of I/O control terminals to specific functions. The status of each of the control terminals
can be monitored via parameters in the drive (helpful for diagnostics and troubleshooting), for further information refer to the latest Unidrive SP User
Guide.
Control terminals inputs can also be manipulated using additional parameters e.g. inverted with a dedicated bit parameter, as detailed following.
Terminals 24 to 26 are either digital inputs or outputs with these being configured via drive parameters (Menu 8).
Table 6-2 shows an overview of the I/O configuration parameters.
Table 6-2 Input / output configuration parameters
Source or
Terminal I/O Invert I/O Setup
destination
Description Number Status Default Default Default
Digital I/O 1 24 Pr 8.01 Pr 8.21 Pr 18.32 Pr 8.11 OFF Pr 8.31 On = Output
Digital I/O 2 25 Pr 8.02 Pr 8.22 Pr 18.31 Pr 8.12 OFF Pr 8.32 On = Output
Digital I/O 3 26 Pr 8.03 Pr 8.23 Pr 18.37 Pr 8.13 OFF Pr 8.33 OFF = Input
Digital Input 4 27 Pr 8.04 Pr 8.24 Pr 18.38 Pr 8.14 OFF Only input
Analogue input 1 5 Pr 7.01 Pr 7.10 Pr 18.39 Pr 7.09 OFF Only input
Drive Relay 41, 42 Pr 8.07 Pr 8.27 Pr 10.01 Pr 8.17 OFF Relay output
24V User output 22 Pr 8.08 Pr 8.28 Pr 00.00 Pr 8.18 OFF Only output
Drive enable 31 Pr 8.09 Hardware input, not configurable Only input
NOTE N
The elevator set-up for Unidrive SP uses positive logic as default. This
can be set-up to operate in negative logic through Pr 8.29, however in
negative logic the Drive enable, Relay outputs and 24V output remain in
positive logic.

6.1 Speed selection

The speed selection can be binary (up to 10 speeds) or priority (up to 6 speeds). The priority speeds can also be increased further by introducing an
SM-I/O Plus option module. The default setting for the speed selection is binary selection.
Binary selection allows a wider range of speeds to be selected, with selection of binary or priority speed selection being dependant on the lift
controller, and user requirements.
Table 6-3 Binary Speed Selection
Binary Selection Preset speed Display
Bit 0 Bit 1 Bit 2 Bit 3 Selected
Setup parameter
T. 29 T. 26 T. 27 T. 5 = Pr 18.10
Zero speed 0 0 0 0 - 1810
V1 (Creep Speed) 1 0 0 0 Pr 0.15[0] (Pr 18.11) 1811
V2 (Inspection) 0 1 0 0 Pr 0.16[0] (Pr 18.12) 1812
V3 (Nominal 1) 1 1 0 0 Pr 0.17[0] (Pr 18.13) 1813
V4 (Medium 1) 0 0 1 0 Pr 0.18[0] (Pr 18.14) 1814
V5 (Releveling) 1 0 1 0 Pr 0.19[0] (Pr 18.15) 1815
V6 (Medium 2) 0 1 1 0 Pr 0.20[0] (Pr 18.16) 1816
V7 (Additional 1) 1 1 1 0 Pr 0.21[0] (Pr 18.17) 1817
To switch to priority speed selection (1 of n), set Pr 0.21[1] (Pr 18.42) = On.
Table 6-4 Priority Speed Selection ‘1 of n’
Priority Selection ‘1 of n’ Preset Speed
Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Selected =
Setup parameter
T. 29 T. 26 T. 27 T. 5 T. 7 T. 8 Pr 18.10
Zero Speed 0 0 0 0 0 0 - 1810
V1 (Creep Speed) 1 0 0 0 0 0 Pr 0.15[0] (Pr 18.11) 1811
V2 (Inspection) x 1 0 0 0 0 Pr 0.16[0] (Pr 18.12) 1812
V3 (Nominal 1) x x 1 0 0 0 Pr 0.17[0] (Pr 18.13) 1813
V4 (Medium 1) x x x 1 0 0 Pr 0.18[0] (Pr 18.14) 1814
V5 (Relevelling) x x x x 1 0 Pr 0.19[0] (Pr 18.15) 1815
V6 (Medium 2) x x x x x 1 Pr 0.20[0] (Pr 18.16) 1816
6.2 Direction control

The direction control can be configured for a single direction input allowing both Up and Down or dual direction inputs as detailed.
Table 6-5 Direction inputs
Elevator Terminal Invert
Mode T.28 Function
direction status Pr 18.45
Single direction DOWN T.28 = ON
Pr 8.24 = Pr 18.38
input
UP T.28 = OFF Nominal speed select
Pr 19.26 = 0 OFF
Dual direction input DOWN T.27 = ON Pr 8.24 = Pr 19.44
Pr 19.26 = 1 UP T.28 = ON Up direction
Terminal 27 in the Dual direction input control cannot be used as the
Nominal speed selection. If another input is to be configured for the
Nominal speed selection this must be programmed to operate Pr 18.38
(destination) .
NOTE
This change is only activated after a reset of the SM-ELV software.

(To reset the SM-ELV software, set Pr x.00 = 1070 and then press the
reset buttion on the keypad of the Unidrive SP.)
The applied direction is controlled during the travel. If there is a change
of the demanded direction, the elevator will be stopped and the brake
will be applied. If the demanded direction remains the same, the travel
can be continued at any time. The opposite direction will only be
accepted if the motor contactor has opened T.31 (Secure Disable), with
this disabling the drive.

6.3 Advanced door opening

From the default settings of the SM-ELV elevator software there is an
advanced door opening feature available. This is configured in the
software and output on T.24 (V-Threshold 1).
The advanced door opening is configured to allow the speed at which
the advanced door opening is active, this being adjustable through
Pr 0.26[0] (Pr 18.21). If required the output on T.24 can also be inverted
with Pr 8.11.
The status of the advanced door opening can be viewed in Pr 18.32.
Table 6-6 Advanced door opening parameters
Feature Parameter Default
Advanced door opening Pr 0.26[0]
± 32000 mm/s 800 mm/s
speed (Pr 18.21)
Advanced door opening
Pr 8.11 OFF(0) or On(1) OFF(0)
invert
Advanced door opening
Pr 18.32 OFF(0) or On(1) N/A
status

6.4 Logic diagrams

6.4.1 Digital I/O
Any bit
T24 digital parameter Advanced door
I/O 1 state opening
T24 output ??.?? V-Threshold 1
select
8.01 8.31 18.32
x(-1) ??.??
T24 digital I/O 1 T24 digital

8.21 I/O 1 source/
destination
24 8.29 8.30
8.11 T24 digital
I/O polarity Open collector
I/O 1 invert Any
select output unprotected
bit parameter
??.??
x(-1) ??.??
Any bit
T25 digital parameter
I/O 2 state T25 output Brake control
select ??.??
Brake apply
8.02 8.32 18.31
x(-1) ??.??

8.22 I/O 2 source/
destination
25 8.29 8.30
T25 digital Any
I/O polarity Open collector 8.12 unprotected
I/O 2 invert
select output bit
parameter
??.??
x(-1) ??.??
Any bit
T26 digital parameter
I/O 3 state T26 output
??.??
select
8.03 8.33
x(-1) ??.??

8.23 I/O 3 source/
8.29 destination
26 8.30
T26 digital Any
I/O polarity Open collector 8.13
I/O 3 invert unprotected
select output bit
parameter
??.?? Inspection speed
Speed select Bit 1
18.37
x(-1) ??.??

T27 digital Stop/start T27 digital input 4

T27 digital input 4 invert logic select destination
input 4 state
8.04 8.14 6.04 8.24 Any
unprotected
bit
T27 digital input 4 parameter
Nominal speed
??.??
Speed select Bit 2
27 8.29
18.38
I.O polarity
x(-1)
select ??.??
T28 digital
T28 digital input 5
T28 digital input 5 invert destination Any
input 5 state unprotected
8.05 8.15 8.25 bit
Direction
??.?? 1=up / 0=down
28 8.29
18.44
I.O polarity
x(-1)
select ??.??
T29 digital
T29 digital input 6
T29 digital input 6 invert destination
input 6 state
8.06 8.16 8.26 Any
unprotected
bit
??.?? Creep speed
Speed select Bit 0
29 8.29
18.36
I.O polarity x(-1)
select ??.??
T22 24V output T22 24V output source

T22 24V source invert
output 8.28 Any
state 8.08 8.18 unprotected
bit
parameter
T22 24V output ??.??
0.00
22
x(-1) ??.??
Drive enable
Drive enable mode select
indicator 8.09 8.10
Key
Drive enable
External trip
X X Input Read-write (RW)
x(-1) 10.32 terminals 0.XX
parameter
31
Drive enable
X Output 0.XX Read-only (RO)
X
terminals parameter
Relay source Relay
invert source
8.17 8.27 This logic diagram applies only when all
parameters are at their default settings
Any bit
parameter
Relay Drive
state ??.?? Healthy
10.01
41 8.07
x(-1) ??.??
42
0V

6.4.2 Analogue I/O

Analogue
input 1 Analogue input 1
Analogue input Analogue input destination
1 offset trim 1 offset parameter Any
7.01 unprotected
Analogue input 1 7.07 7.30 7.10
variable Medium
parameter speed
+ + Speed
5 ??.??
+ + select bit 3
V/f 7.08
6 18.39
Analogue
7.26 input 1 x(-1) ??.??
scaling
V/f sample
7.09 Analogue
time
input 1 invert
7.25
Analogue input 2
Calibrate current loop loss Analogue
analogue input 1 input 2 Analogue input 2
full scale Analogue input destination
7.28 2 offset parameter
7.02 Any
7.14 unprotected
7.31
Analogue input 2 variable Re-levelling
parameter speed
+ Speed
??.?? select bit 4
7.11 + 7.12
7 A/D
18.40
Analogue input 2 Analogue
mode selector input 2 x(-1) ??.??
scaling
7.13 Analogue
input 2 invert
Analogue input 3
Analogue
current loop loss Analogue input 3
input 3
Analogue input destination
7.29 3 offset parameter
7.03 Any
7.18 unprotected
7.31
7.32
Analogue input 3 variable
parameter
+ ??.??
7.15 + 7.16
8 A/D
0.00
Analogue input 3 Analogue
mode selector input 3 x(-1) ??.??
Analogue Analogue output 1 scaling
7.17 Analogue
output 1 control source parameter input 3 invert
7.33 7.19
Any variable Analogue output 1
Motor parameter
frequency ??.??
OL> 5.01
7.20 7.21 9
CL> 3.02
??.?? Analogue Analogue
Speed
output 1 output 1
feedback
scaling mode
selector
Analogue output 2
source parameter Key
Any 7.22
variable X Input Read-write (RW)
Analogue output 2 X 0.XX
Motor parameter terminals parameter
active ??.??
current X Read-only (RO)
X Output 0.XX
4.02 7.23 7.24 10 terminals parameter
??.?? Analogue Analogue
output 2 output 2
scaling mode The parameters are all shown at their default settings
selector

7 Basic operation
7.1 Understanding the display
There are two keypads available for the Unidrive SP. The SM-Keypad has an LED display and the SM-Keypad Plus has an LCD display. Both
keypads can be fitted to the drive but the SM-Keypad Plus can also be remotely mounted on an enclosure door.
7.1.1 SM-Keypad (LED) 7.1.2 SM-Keypad Plus (LCD)
The display consists of two horizontal rows of 7 segment LED displays. The display consists of three lines of text.
The upper display shows the drive status or the current menu and The top line shows the drive status or the current menu and parameter
parameter number being viewed. number being viewed on the left, and the parameter value or the specific
The lower display shows the parameter value or the specific trip type. trip type on the right.
The lower two lines show the parameter name or the help text.
Figure 7-1 SM-Keypad Figure 7-2 SM-Keypad Plus
Upper display
Lower display
Mode (black) button Mode (black) button
Help button
Control buttons Control buttons
Fwd / Rev (blue) button Joypad Fwd / Rev (blue) button Joypad
Stop/reset (red) button Stop/reset (red) button
Start (green) button Start (green) button
NOTE The red stop button is also used to reset the drive.
Both the SM-Keypad and the SM-Keypad Plus can indicate when a SMARTCARD access is taking place or when the second motor map is active
(menu 21). These are indicated on the displays as follows.
Table 7-1 Keypad, Keypad Plus indication
SM-Keypad SM-Keypad Plus
The decimal point after the fourth digit in the The symbol ‘CC’ will appear in the lower left
SMARTCARD access taking place
upper display will flash. hand corner of the display
The decimal point after the third digit in the The symbol ‘Mot2’ will appear in the lower left
Second motor map active
upper display will flash. hand corner of the display
7.2 Keypad operation

7.2.1 Control buttons
The keypad consists of:
1. Joypad - used to navigate the parameter structure and change parameter values.
2. Mode button - used to change between the display modes – parameter view, parameter edit, status.
3. Three control buttons - used to control the drive if keypad mode is selected.
4. Help button (SM-Keypad Plus only) - displays text briefly describing the selected parameter.
The Help button toggles between other display modes and parameter help mode. The up and down functions on the joypad scroll the help text to
allow the whole string to be viewed. The right and left functions on the joypad have no function when help text is being viewed.
The display examples in this section show the SM-Keypad 7 segment LED display. The examples are the same for the SM-Keypad Plus except that
the information displayed on the lower row on the SM-Keypad is displayed on the right hand side of the top row on the SM-Keypad Plus.

Figure 7-3 Display modes
Status Mode
(Display not flashing)
Timeout** Timeout** Timeout**

To enter Parameter
Mode, press key or To return to
Status Mode,
press key
Temporary Parameter
Parameter Mode When returning Mode
(Upper display to Parameter (Upper display flashing)
flashing) Mode use the
*
keys to select
Use * keys another parameter
to select parameter for editing to change, if
required
To exit Edit Mode,

press key
To enter Edit Mode,
press key
Edit Mode
(Character to be edited in lower line of display flashing)
Change parameter values using keys.
* can only be used to move between menus if L2 access has been enabled (Pr 0.49). Refer to section 7.10 on page 50.
**Timeout defined by Pr 11.41 (default value = 240s).
Figure 7-4 Mode examples
Parameter
Status Mode
View Mode
Healthy Status Alarm Status Trip Status
Menu 5. Parameter 5 Drive status = tripped

Pr 5.05 value Trip type (UU = undervolts)
Figure 7-5 Parameter navigation
Do not change parameter values without careful

consideration; incorrect values may cause damage or a
safety hazard.
WARNING
NOTE
When changing the values of parameters, make a note of the new * *
values in case they need to be entered again.
NOTE
For new parameter-values to apply after the AC supply to the drive is
interrupted, new values must be saved. Refer to section 7.7 Saving
parameters on page 48.
7.3 Menu structure

The drive parameter structure consists of menus and parameters. * can only be used to move between menus if L2 access has
The drive initially powers up so that only menu 0 can be viewed. The up been enabled (Pr 0.49). Refer to section 7.10 Parameter
and down arrow buttons are used to navigate between parameters and access level and security on page 49.
once level 2 access (L2) has been enabled (see Pr 0.49) the left and
The menus and parameters roll over in both directions.
right buttons are used to navigate between menus. For further
information, refer to section 7.10 Parameter access level and security on i.e. if the last parameter is displayed, a further press will cause the
page 49. display to rollover and show the first parameter.
When changing between menus the drive remembers which parameter
was last viewed in a particular menu and thus displays that parameter.

Figure 7-6 Menu structure 7.5 Advanced menus

The advanced menus consist of groups or parameters appropriate to a
specific function or feature of the drive. Menus 0 to 22 can be viewed on
both keypads. Menus 40 and 41 are specific to the SM-Keypad Plus
Menu 20
Menu 21 Menu 0 Menu 1 M
enu 2 (LCD). Menus 70 to 91 can be viewed with an SM-Keypad Plus (LCD)
only when an SM-Applications or SM-Applications Lite is fitted.
....XX.00....
21.50 1.50
21.49
0.50 Menu Description LED LCD
0.49 1.49
21.48 0.48 1.48
Commonly used basic set up parameters for quick
21.47
21.46
0.47 1.47 0 9 9
0.46 1.46 / easy programming
1 Frequency / speed reference 9 9
2 Ramps 9 9
Moves
between Slave frequency, speed feedback and speed
parameters 3 9 9
control
4 Torque and current control 9 9
5 Motor control 9 9
6 Sequencer and clock 9 9
7 Analogue I/O 9 9
21.05 0.05 1.05 8 Digital I/O 9 9
21.04 0.04 1.04
21.03 Programmable logic, motorised pot and binary
21.02
0.03 1.03
1.02
9 9 9
21.01
0.02 sum
0.01 1.01
10 Status and trips 9 9
11 General drive set-up 9 9
Moves between Menus 12 Threshold detectors and variable selectors 9 9
13 Position control 9 9
7.4 Menu 0 14 User PID controller 9 9
Menu 0 is used to bring together various commonly used parameters for 15,
Solutions Module set-up 9 9
basic easy set up of the drive. 16, 17
Appropriate parameters are cloned from the advanced menus into menu 18 Application menu 1 9 9
0 and thus exist in both locations. 19 Application menu 2 9 9
Figure 7-7 Menu 0 Cloning 20 Application menu 3 9 9
21 Second motor parameters 9 9
Menu 2
22 Additional Menu 0 set-up 9 9
40 Keypad configuration menu X 9
2.21 5 41 User filter menu X 9
Menu 0 70 PLC registers X 9
Menu 1 71 PLC registers X 9
0.04 5
0.05 0
72 PLC registers X 9
0.06 150 73 PLC registers X 9
1.14 0
Menu 4
85 Timer function parameters X 9
86 Digital I/O parameters X 9
4.07 150
88 Status parameters X 9
90 General parameters X 9
91 Fast access parameters X 9

7.5.1 Display messages Table 7-4 Solutions Module and SMARTCARD status indications
The following tables indicate the various possible mnemonics which can on power-up
be displayed by the drive and their meaning.
Lower
Trip types are not listed here but can be found in Chapter Description
display
13 Diagnostics on page 72 if required.
boot
Table 7-2 Alarm indications
A parameter set is being transferred from the SMARTCARD to the
Lower drive during power-up.
Description
display cArd
br.rS Braking resistor overload The drive is writing a parameter set to the SMARTCARD during power-
Braking resistor I2t accumulator (Pr 10.37) in the drive has reached up.
75.0% of the value at which the drive will trip and the braking IGBT is For further information, please refer to section 11.2.3 Auto saving
active. parameter changes (Pr 11.42 = Auto (3)) on page 66.
Heatsink or control board or inverter IGBT over loAding
Hot
temperature alarms are active The drive is writing information to a Solutions Module.
• The drive heatsink temperature has reached a threshold and the
drive will trip ‘Oh2’ if the temperature continues to rise (see the 7.6 Changing the operating mode
‘Oh2’ trip). Changing the operating mode returns all parameters to their default
or value, including the motor parameters. (Pr 0.49 Security status and Pr
• The ambient temperature around the control PCB is approaching 0.34 User security code are not affected by this procedure.)
the over temperature threshold (see the ‘O.CtL’ trip). Procedure
OVLd Motor overload Use the following procedure only if a different operating mode is
The motor I2t accumulator in the drive has reached 75% of the value at required:
which the drive will be tripped and the load on the drive is >100% 1. Ensure the drive is not enabled, i.e. terminal 31 is open or Pr 6.15 is
Off (0)
2. Enter either of the following values in Pr 0.00, as appropriate:
Table 7-3 Status indications 1253 (Europe, 50Hz AC supply frequency)
Upper Drive output 1254 (USA, 60Hz AC supply frequency)
Description
display stage 3. Change the setting of Pr 0.48 as follows:
ACUU AC Supply loss 0.48 setting Operating mode
The drive has detected that the AC supply has been
Enabled
lost and is attempting to maintain the DC bus voltage 1 Open-loop
by decelerating the motor.
*Auto
Autotune in progress 2 Closed-loop Vector
tunE
Enabled
The autotune procedure has been initialised.
*‘Auto’ and ‘tunE’ will flash alternatively on the display. 3 Closed-loop Servo
dEC Decelerating
Enabled Regen (See the Unidrive SP Regen
The drive is decelerating the motor.
4 Installation Guide for more information
inh Inhibit about operating in this mode)
The drive is inhibited and cannot be run. Disabled The figures in the second column apply when serial communications are
The drive enable signal is not applied to terminal 31 or
used.
Pr 6.15 is set to 0.
rdY Ready 4. Either:
Disabled • Press the red reset button
The drive is ready to be run.
• Toggle the reset digital input
run Running • Carry out a drive reset through serial communications by setting
Enabled
The drive is running. Pr 10.38 to 100 (ensure that Pr. xx.00 returns to 0).
StoP Stop or holding zero speed
The drive is holding zero speed.
7.7 Saving parameters
Enabled When changing a parameter in Menu 0, the new value is saved when
Regen> The drive is enabled but the AC voltage is too
low, or the DC bus voltage is still rising or falling. pressing the Mode button to return to parameter view mode from
parameter edit mode.
triP Trip condition
The drive has tripped and is no longer controlling the Disabled If parameters have been changed in the advanced menus or menu 0[1],
motor. The trip code appears on the lower display. menu 0[2], menu 0[3], menu 0[4], then the change will not be saved
automatically. A save function must be carried out.
Procedure
Enter 1000* in Pr. xx.00
Either:
• Press the red reset button
• Toggle the reset digital input
• Carry out a drive reset through serial communications by setting
Pr 10.38 to 100 (ensure that Pr. xx.00 returns to 0).

*If the drive is in the under voltage trip state or is being supplied from a the security code. At this point, the only parameter that can be changed
low voltage DC supply, a value of 1001 must be entered into Pr xx.00 to by the user is the Access Level Pr 0.49.
perform a save function.
Unlocking User Security
7.8 Restoring parameter defaults Select a read write parameter to be edited and press the button, the
Restoring parameter defaults by this method saves the default values in upper display will now show CodE. Use the arrow buttons to set the
the drive’s memory. (Pr 0.49 and Pr 0.34 are not affected by this security code and press the button.
procedure.)
With the correct security code entered, the display will revert to the
Procedure parameter selected in edit mode.
1. Ensure the drive is not enabled, i.e. terminal 31 is open or Pr 6.15 is
Off (0) If an incorrect security code is entered the display will revert to
2. Enter 1233 (EUR 50Hz settings) or 1244 (USA 60Hz settings) in parameter view mode.
Pr xx.00. To lock the User Security again, set Pr 0.49 to Loc and press the
3. Either:
reset button.
• Press the red reset button
• Toggle the reset digital input Disabling User Security.
• Carry out a drive reset through serial communications by setting Unlock the previously set security code as detailed above. Set Pr 0.34 to
Pr 10.38 to 100 (ensure that Pr. xx.00 returns to 0). 0 and press the button. The User Security has now been disabled,
and will not have to be unlocked each time the drive is powered up to
7.9 Restoring Lift software defaults allow read / write access to the parameters.
All paramters used for the Elevator software can be set back to the 7.10.3 Lift software security code protection
default values at any stage by setting Pr 18.50 = Off. (Pr 20.15)
This wil automatically set the following parameters listed to their default Access to Menu 0 parameters (Pr 0.12 = 1 to 4) is only allowed:
values and carry out a save, with all previous parameters adjustments a) If the security code in Pr 20.15 = 0, (default)
being over written.
b) If the setting of Pr xx.00 corresponds to the drive security code.
7.10 Parameter access level and security By setting the security code in Pr 20.15 ≠ 0, it will lock the access to the
lift parameter sets available in Menu 0 (Pr 0.12 = 1 to 4). Only personnel
The parameter access level determines whether the user has access to
who know the security code will be able to access these.
menu 0 only or to all the advanced menus (menus 1 to 21) in addition to
menu 0.
7.11 Displaying parameters with non-
The User Security determines whether the access to the user is read
only or read write.
default values only
Both the User Security and Parameter Access Level can operate By entering 12000 in Pr xx.00, the only parameters that will be visible to
the user will be those containing a non-default value. This function does
independently of each other as shown in the table below:
not require a drive reset to become active. In order to deactivate this
Parameter Menu 0 Advanced function, return to Pr xx.00 and enter a value of 0.
User Security
Access Level status menus status
Please note that this function can be affected by the access level
L1 Open RW Not visible enabled, refer to section 7.10 Parameter access level and security for
L1 Closed RO Not visible further information regarding access level.
L2 Open RW RW
L2 Closed RO RO
7.12 Displaying destination parameters
only
RW = Read / write access RO = Read only access
By entering 12001 in Pr xx.00, the only parameters that will be visible to
The default settings of the drive are Parameter Access Level L1 and
the user will be destination parameters. This function does not require a
user Security Open, i.e. read / write access to Menu 0 with the advanced
drive reset to become active. In order to deactivate this function, return
menus not visible.
to Pr xx.00 and enter a value of 0.
7.10.1 Access level Please note that this function can be affected by the access level
The access level is set in Pr 0.49 and allows or prevents access to the enabled, refer to section 7.10 Parameter access level and security for
advanced menu parameters. further information regarding access level.
String Value Effect 7.13 Serial communications
L1 0 Access to menu 0 only
7.13.1 Introduction
L2 1 Access to all menus (menu 0 to menu 21) The Unidrive SP has a standard 2-wire EIA485 interface (serial
The Access Level can be changed through the keypad even if the User communications interface) which enables all drive set-up, operation and
Security has been set. monitoring to be carried out with a PC or PLC if required. Therefore, it is
possible to control the drive entirely by serial communications without
7.10.2 User Security the need for a SM-keypad or other control cabling. The drive supports
The User Security, when set, prevents write access to any of the
two protocols selected by parameter configuration:
parameters (other than Pr. 0.49 and Pr 11.44 Access Level) in any
menu. • Modbus RTU
• CT ANSI
Setting User Security Modbus RTU has been set as the default protocol, as it is used with the
Enter a value between 1 and 999 in Pr 0.34 and press the button; PC-tools commissioning software as provided on the CD ROM.
the security code has now been set to this value. In order to activate the The serial communications port of the drive is a RJ45 socket, which is
security, the Access level must be set to Loc in Pr 0.49. When the drive isolated from the power stage and the other control terminals.
is reset, the security code will have been activated and the drive returns
to Access Level L1. The value of Pr 0.34 will return to 0 in order to hide

The communications port applies a 2 unit load to the communications

network. 0.37 {11.23} Serial communications address
EIA232 to EIA485 Communications RW Txt US
An external EIA232 hardware interface such as a PC cannot be used Ú 0 to 247 Ö 1
directly with the 2-wire EIA485 interface of the drive. Therefore a
suitable converter is required. Used to define the unique address for the drive for the serial interface.
A suitable EIA232 to EIA485 converter is the Control Techniques The drive is always a slave.
isolated CT Comms cable (CT Part No. 4500-0087) Modbus RTU
When using the above converter or any other suitable converter with the When the Modbus RTU protocol is used addresses between 0 and 247
Unidrive SP, it is recommended that no terminating resistors be are permitted. Address 0 is used to globally address all slaves, and so
connected on the network. It may be necessary to 'link out' the this address should not be set in this parameter
terminating resistor within the converter depending on which type is ANSI
used. The information on how to link out the terminating resistor will When the ANSI protocol is used the first digit is the group and the
normally be contained in the user information supplied with the second digit is the address within a group. The maximum permitted
converter. group number is 9 and the maximum permitted address within a group is
9. Therefore, Pr 0.37 is limited to 99 in this mode. The value 00 is used
7.13.2 Serial communications set-up parameters
to globally address all slaves on the system, and x0 is used to address
The following parameters need to be set according to the system
all slaves of group x, therefore these addresses should not be set in this
requirements.
parameter.
0.35 {11.24} Serial mode

RW Txt US
AnSI (0)
Ú rtU (1)
Ö rtU (1)
This parameter defines the communications protocol used by the 485

comms port on the drive. This parameter can be changed via the drive
keypad, via a Solutions Module or via the comms interface itself. If it is
changed via the comms interface, the response to the command uses
the original protocol. The master should wait at least 20ms before send a
new message using the new protocol. (Note: ANSI uses 7 data bits, 1
stop bit and even parity; Modbus RTU uses 8 data bits, 2 stops bits and
no parity.)
Comms value String Communications mode

0 AnSI ANSI
1 rtU Modbus RTU protocol
Modbus RTU protocol, but with an SM-
2 Lcd
Keypad Plus only
ANSIx3.28 protocol
Full details of the CT ANSI communications protocol are the Unidrive SP
Advanced User Guide.
Modbus RTU protocol
Full details of the CT implementation of Modbus RTU are given in the
Unidrive SP Advanced User Guide.
Modbus RTU protocol, but with an SM-Keypad Plus only
This setting is used for disabling communications access when the SM-
Keypad Plus is used as a hardware key. See the Unidrive SP Advanced
User Guide for more details.
0.36 {11.25} Serial communications baud rate

RW Txt US
300 (0), 600 (1), 1200 (2),
2400 (3), 4800 (4), 9600 (5),
Ú 19200 (6), 38400 (7),
Ö 19200 (6)
57600 (8)*, 115200 (9)*
* only applicable to Modbus RTU mode

This parameter can be changed via the drive keypad, via a Solutions
Module or via the comms interface itself. If it is changed via the comms
interface, the response to the command uses the original baud rate. The
master should wait at least 20ms before send a new message using the
new baud rate.
NOTE
When using the CT Comms cable the available baud rate is limited to
19.2k baud.

7.14 Setting of motor and elevator parameters

Before the initial start, the data for the winch motor and the elevator must be entered. Refer to the motor nameplate and elevator calculations.
Table 7-5 Menu 0 parameters
OL
SV
Parameter Unit VT Setting recommendation
Default Default
Maximum rpm Pr 0.02 min-1 1500 3000
Acceleration Pr 0.03 m/s2 0,500 0,500
Deceleration Pr 0.04 m/s2 0,800 0,800
Current limit Pr 0.06 % 150 175
Speed loop P-Gain Pr 0.07 0.01 0.01 0.1000
Speed loop I- Gain Pr 0.08 1.00 1.00 4.00
Motor active current Pr 0.11 A Read only - torque producing current
Menu 0 selector Pr 0.12 0 0 Ranges between [0], [1], [2], [3], [4]
From Table 4.10 Nominal elevator rpm
Nominal elevator rpm * Pr 0.13 min-1 1500 3000
calculation and adjustment
From Table 4.10 Nominal elevator rpm
Nominal elevator speed Pr 0.14 mm/s 1000 1000
calculation and adjustment
V1 (Creep speed) Pr 0.15 mm/s 50 50
V2 (Inspection) Pr 0.16 mm/s 300 300
V3 (Nominal 1) Pr 0.17 mm/s 500 500
V4 (Medium 1) Pr 0.18 mm/s 0 0
V5 (Releveling) Pr 0.19 mm/s 10 10
V6 (FAST speed) Pr 0.20 mm/s 0 0
V7 (Additional 1) Pr 0.21 mm/s 0 0
Stop- Deceleration Pr 0.22 mm/s2 1000 1000 Creep to floor only
Start- Jerk Pr 0.23 mm/s3 1000 1000
Run- Jerk Pr 0.24 mm/s3 1600 1600
Stop- Jerk Pr 0.25 mm/s3 2000 2000 Creep to floor only
Threshold 1 Pr 0.26 300 300 Pr 18.32 - Setting in Pr 0.26[0] (Pr 18.21)
Threshold 2 Pr 0.27 500 500 Pr 18.33 - Setting in Pr 0.27[0] (Pr 18.22)
Speed selector Pr 0.28 1810 1810
Encoder lines Pr 0.29 PPR 1024 4096 Drive encoder input
Smartcard modes Pr 0.30 nonE nonE
Actual speed Pr 0.34
Serial comms mode Pr 0.35 ANSI, RTU rtU rtU
Serial comms baud rate Pr 0.36 Kb 19200 19200
Serial address Pr 0.37 1 1
Current loop P-Gain Pr 0.38 150 130
Current loop I- Gain Pr 0.39 2000 1200
Switching frequency Pr 0.41 kHz 9 9
Motor poles Pr 0.42 4 Pole 6 Pole
Power factor/
Pr 0.43 0.000 to 1.000 0.0 to 359.9
Encoder phase angle
Motor voltage Pr 0.44 V 400
Nominal rpm / Thermistor Pr 0.45 min-1 1450 7
Motor current Pr 0.46 A In Motor In Motor
Motor frequency Pr 0.47 Hz 50
Operating mode Pr 0.48 OL, VT, SV OL, VT, SV Servo
Security status Pr 0.49 L1(0), L2(1), Loc(2)
Drive software version Pr 0.50
*The adjustment of the gear ratio and the sheave diameter is done with the nominal elevator rpm. It can be calculated as follows:
Pr 0.13[0] (Pr 18.29) [nNominal] = Pr 0.14[0] (Pr 18.30)[VNominalmm/s] * Gearing * Roping * 60 / (π * Dsheive[mm])
For Synchronous motors only the number of motor poles and the motor current is required. Do not enter the motor data that is greyed out.
For the initial test run, only the motor data and the elevator data that is listed in the examples must be adjusted. For winches with induction motors,
with or without encoders, the full motor map must be set.

8 Parameters 8.5 Parameter sets

The following parameter sets Menu 0, 18,19, and 20 are used
8.1 Security code protection specifically for the Lift software set-up, optimisation and diagnostics.
Additional parameter sets are used in the Unidrive SP to set up the
Access to Menu 0 parameters (Pr 0.12 = 1 to 4) is only allowed:
motor map, speed feedback and carrying out the auto tune, for details on
c) If the security code in Pr 20.15 = 0, (default) these refer to the Unidrive SP User Guide.
d) If the setting of Pr xx.00 corresponds to the drive security code. Menu zero can be set-up to display either the Basic parameters as
By setting the security code in Pr 20.15 ≠ 0, it will lock the access to the shown in Table 7-5 on page 52, or the following parameter sets can also
lift parameter sets available in Menu 0 (Pr 0.12 = 1 to 4). Only personnel be displayed in Menu zero parameters (Pr 0.13 through to Pr 0.33),
who know the security code will be able to access these. Installation parameters (Pr 0.12=1), Control parameters (Pr 0.12=2),
Distance parameters (Pr 0.12=3), or Diagnostics Parameters
8.2 Defaults (Pr 0.12=4).
All paramters used for the Elevator software can be set back to the
default values at any stage by setting Pr 18.50 = OFF (0).
8.6 Menu zero structure
Pr 0.00 to Pr 0.12 and Pr 0.38 to Pr 0.50 are fixed having a single
This wil automatically set the following parameters to their default values
and carry out a save, with all previous parameters adjustments being function.
over written. Pr 0.13 to Pr 0.37 can have various functions / parameter sets these
being selected by the user.
8.3 Drive mode change Menu 0, Pr 0.12, is changed to select different parameter sets or groups
From SM-ELV software V1.10 the drive parameter settings can be saved of elevator parameters. After power-up or the saving of parameters, the
during a mode change from, for example; closed loop vector to open standard configuration for Pr 0.13 to Pr 0.37 is loaded automatically. By
loop, during a feedback fault. setting Pr 0.12 to the predefined code 1, 2, 3 or 4, other configurations of
Pr 0.13 to Pr 0.37 are selected as shown in the following. In this
The motor, interface and elevator parameters are stored in the non-
documentation the value of Pr 0.12 is shown in square brackets after the
volatile ram in the SM-ELV module. The configuration can be completely
menu zero parameter to indicate which configuration is selected.
restored after a drive mode change provided the following procedure is
followed: For example:
1. Pr 01.00 = 1255 (EUR) or 1256 (US) (change drive mode with Pr 0.26 of the elevator parameters Pr 0.12 = 1:⇒ Pr 0.26 [1]
standard defaults excluding menus 15 through to 20) To select Pr 0.18 [2]⇒ Set Pr 0.12 = 2 and select Pr 0.18
2. Pr 00.48 = Set drive mode
3. Press the reset button -the drive mode change will then be executed
The following parameters are restored after drive mode change:
Pr 2.11 Pr 2.21 Pr 4.09 Pr 5.06 Pr 5.07 Pr 5.08 Pr 5.09

Pr 5.10 Pr 5.11 Pr 5.18 Pr 8.21 Pr 8.11 Pr 8.31 Pr 8.22
Pr 8.12 Pr 8.32 Pr 8.23 Pr 8.13 Pr 8.33 Pr 8.24 Pr 8.14
Pr 8.25 Pr 8.15 Pr 8.26 Pr 8.16 Pr 8.27 Pr 8.17 Pr 12.06
Pr 12.07 Pr 12.26 Pr 12.27 Pr 7.10 Pr 7.14 Pr 7.15 Pr 11.23
Pr 11.24 Pr 11.25 Pr 21.05 Pr 21.16 Pr 21.22 Pr 21.23 Pr 21.27
Pr 21.28 Pr 21.29 Pr 21.31
NOTE N
If the above sequence of setting Pr 01.00 = 1255 (EUR) or 1256 (US) is
not executed, the factory default settings will be restored to the drive
without saving the application parameter settings.
When the drive mode is changed from open loop to closed loop vector or
servo, the following parameters are restored:
Pr 4.12 = current demand filter 1
Pr 4.13 = current controller Kp gain
Pr 4.14 = current controller Ki gain
Pr xx.10 = encoder lines
Pr xx.15 = encoder type
Pr xx.13 = encoder supply voltage
Pr xx.16 = encoder termination
Pr 3.25 = encoder phase angle (only Servo mode)
Using this function the elevator can be operated without any additional
settings after a mode change back to closed loop vector or servo has
occurred.
8.4 Lift software status

To verify the Lift software is running, Pr 0.29 [0] (Pr 20.02). This should
toggle every 1s between 10614 and -10614.

Figure 8-1 Menu 0 Structure
Fixed
Pr 0.00
Pr 0.00
Pr 0.11
Menu 0 Selection
Pr 0.12 = 0
Pr 0.12 = 1
Unidrive SP - Menu 0 - Structure
Basic Parameters
Installation Pr 0.12 = 2
Switched Parameters Pr 0.12 = 3
Control Parameters
Pr 0.13 Pr 0.13 [0] = nB Distance Pr 0.12 = 4
Pr 0.14 Pr 0.14 [0] = VB Pr 0.13 [1] = VThreshold 1 Parameters
Diagnostics
Pr 0.14 [1] = VThreshold2 Pr 0.13 [2] = L1SIGMA Parameters
Pr 0.14 [2] = I-Filter
Pr 0.32 [0] = V10 Pr 0.13 [4]
Pr 0.37 Pr 0.37 Pr 0.32 [1] = Ident Pr 0.14 [4] Pr 0.13 [3]
Pr 0.32 [2] = Enc.Volt
Pr 0.37 Pr 0.14 [3]
Pr 0.37 Pr 0.32 [4] = Act. rpm
Pr 0.37 Pr 0.32 [3] = D. Short L
Pr 0.37
Menu 0 Selection
Fixed
Pr 0.38
Pr 0.39
Pr 0.50
Figure 8-2 Logic overview - Menu 0
Variable Gains
7.02 7.01 8.04 8.03 8.06 Terminal state
0 0 0 0 0 v=0 Start
Start
0 0 0 0 1 0.15 creep speed Travel
Travel
0 0 0 1 x 0.16 inspection Positioning
0 0 1 x x 0.17 Vnom 1
0 1 x x x 0.18 Vmed 1 Current
Pr 0.21[1] (Pr 18.48)
1 x x x x 0.19 Vrelevel limit
(Pr 19.48)
Pr 0.06
Terminal polarity
positive logic
T.7 T.5 T.27 T.26 T.29
Pr 8.29 = 1
Pr 0.07 P gain speed
+
Pr 3.03 Pr 0.08 I gain speed
Nominal
Pr 0.13
lift rpm _ Pr 0.09 D gain speed
Nominal Current
Pr 0.14
lift speed Pr 4.12
filter
Trip 71
Pr 0.29[4]
Distance error threshold
Pr 0.24 Trip 70
Pr 0.24 Run jerk
Run jerk Pr 0.26[4]
Pr 0.10 Pr 0.11 Active
Deceleration Speed error threshold current
Pr 0.04
Acceleration
Pr 0.03 Run jerk
Pr 0.24 Stop jerk Entry with Pr 0.41 Switching kHz
Start jerk T.24
Pr 0.25 Pr 0.26 open doors
Pr 0.23 Pr 0.42 Motor poles
v - Threshold 1
Pr 0.43 Power factor
Stop deceleration Pr 0.22
Pr 0.44 Motor volts
Run jerk Pr 0.24
Pr 0.45 Motor rpm
Brake release delay Pr 0.46 Motor amps
Pr 0.24 [1]
Encoder
Pr 0.29 Pr 0.47 Motor Hz
lines
Pr 0.25 [1]
Brake apply delay
Motor
Encoder
3 - phase
Trip 76
Motor magnetised
Brake output
detection
Pr 0.19[4] (Pr 18.31)
T.25 function
T.25 Pr 0.23 [1] Trip 77
select Current
Pr 0.18[4] (Pr 18.43) Motor phase loss
feedback
Motor magnetised detection

8.6.1 Installation parameters - Pr 0.12 = 1

Parameter Description Type Range Default Units Notes
Calculated in software (refer to section 4.10 Nominal
0.13 [1] Calculated nominal elevator rpm RO 32000 1/min
elevator rpm calculation and adjustment )
0.14 [1] Roping RW 4 1 1 : 1 (1), 2 : 1 (2), 3 : 1 (3)
0.15 [1] Sheave diameter RW 32767 480 mm
0.16 [1] Gear ratio numerator RW 32767 31
0.17 [1] Gear ratio denominator RW 32767 1
0.18 [1] Speed for start optimiser RW 10000 10 mm/s
0.19 [1] Time for start optimiser RW 10000 300 ms Refer to section 4.7 Start optimiser
0.20 [1] Jerk for start optimiser RW 10000 10 3
mm/s
0.21 [1] Reference selector type RW Bit 1 0 0 = Binary selection, 1 = Priority selection
0.22 [1] Invert direction RW Bit 1 0
0.23 [1] Function T. 25 RW Bit 20.50 18.31 = Pr 18.31: Brake / = Pr 18.43: Motor flux
0.24 [1] Brake release delay RW 32000 1000 ms
0.25 [1] Brake apply delay RW 32000 1000 ms
0.26 [1] Motor contacter delay RO 32000 ms Short (reduce) / Long (increase)
0.27 [1] Enable peak curve RW Bit 1 0 1: Peak curve enable, 0: peak curve disabled
0.28 [1] Software Version RO SM-ELV software version
0.29 [1] Identity number RO 10614 Changes sign every 1 second “healthy”
0.30 [1] Not used
0.31 [1] Encoder slot Pr 3.26, configure for drive or Solutions Module
0.32 [1] Single turn comms bit Pr 3.35, single turn encoder bits
0.33 [1] Encoder voltage Pr 3.36, encoder supply voltage
0.34 [1] Encoder type Pr 3.38, encoder type
0.35 [1] Encoder error detection Pr 3.40, error detection for drive encoder input
Pr 3.41, comms encoder auto-configuration or SSI
0.36 [1] Auto config/ ssi binary/gray
code
0.37 [1] Automatic motor nominal rpm Pr 19.31, SM-ELV calculated rpm
0.38 [1] Rapid stop Pr 19.49, enable for rapid stop
0.39 [1] Rapid stop deceleration Pr 21.05, deceleration rate for rapid stop

8.6.2 Control parameters - Pr 0.12 = 2

Open Loop: Rs / Closed Loop: Ls / Servo: phase
0.13 [2] Autotune result RW 30.000 0.00 mH
angle
Refer to section 4.11 Variable Gains - selection /
0.14 [2] Current demand filter RW 250 0.0 ms
optimisation
0.15 [2] Current demand filter setup R/W OFF (0) or On (1) OFF (0) OFF (0) at start only / On (1) constant
0.16 [2] Not used
0.17 [2] Not used
0.18 [2] Optimise rated speed RW Bit 1 1 Enable, Pr 5.16 in Unidrive SP
0.19 [2] P- gain start locking RW 1000 0 Refer to section 4.11 Variable Gains - selection /
0.20 [2] D- gain start locking RW 30000 0 optimisation
1: Separate speed controller gains for start and run
0.21 [2] Switch speed loop gains RW Bit 1 0 only (Refer to section 4.11 Variable Gains - selection
/ optimisation )
0.22 [2] Gain transition time RW 32000 500 ms
0.23 [2] P- gain run RW 32767 100
0.24 [2] P- gain run RW 32767 100
optimisation
0.25 [2] P- gain start RW 32767 200
0.26 [2] P- gain start RW 32767 200
Inertia compensation
0.27 [2] RW 32767 1000
scaling
0.28 [2] Inertia compensation RW Bit 1 0 Enable (refer to section 5.2)
0.29 [2] Magnetising threshold. RW 990 500 0,1%
Encoder supply voltage / 0 = 5V , 1 = 8V, 2 = 15V
0.30 [2] RW 1 0
resolver exitation Resolver: 0 = 3;1 , 1 or 2 = 2:1
0.31 [2] Speed loop Kp
0.32 [2] Speed loop Ki
0.33 [2] Current loop filter
optimisation
0.34 [2] Current loop Kp
0.35 [2] Current loop Kp
0.36 [2]
0.37 [2]

8.6.3 Distance Parameters - Pr 0.12 = 3

0.13 [3] Creep distance measurement RO 32000 mm
Calculated distance - actual speed to V1 creep
0.14 [3] Calculated deceleration distance RO 32000 mm
speed
0.15 [3] Measured deceleration distance RO 32000 mm Measured distance - actual speed to V1 creep speed
1 – 3: Source = Analogue input 1 – 3 / 4
0.16 [3] Direct-to-floor sensor source RW 4 0
4: Controlling
1 = Floor sensor correction
0.17 [3] Enable Floor sensor correction RW Bit 1 0
0 = No floor sensor correction
0.18 [3] Not used
0.19 [3] Floor sensor correction source RW 4 0 1: T.5, 2: T.7, 3: T.8, 4: Controlled stop distance
0.20 [3] Floor sensor target distance RW 10000 0 mm
0.21 [3] Remaining floor sensor distance RO 32000 0 mm
0.22 [3] Speed at floor sensor activation RO 10000 0 mm/s
Time from floor sensor activation
0.23 [3] RO 32000 0 ms
to stop
0.24 [3] P-gain following error regulation RW 32767 0 Recommended values 2...10
Following error direct-to-floor
0.25 [3] RO 30000 0 mm
regulation
0.26 [3] Short distance landing RW 10000 0 mm
0.27 [3] Set-point peak curve distance RO 32000 0 mm
0.28 [3] Measured peak curve distance RO 32000 0 mm
0.29 [3] Stopping distance RO 32000 0 mm Deceleration distance - creep speed to stop
0.30 [3]
0.31 [3]
0.32 [3]
0.33 [3]
0.34 [3]
0.35 [3]
0.36 [3]
0.37 [3]

8.6.4 Diagnostic parameters - Pr 0.12 = 4

0.13 [4] Zero speed threshold RW 250 5 rpm
0.14 [4] Not used
0.15 [4] Motor voltage RO 800 0 V
0.16 [4] Final speed reference RO ± 32768 0.0 mm/s (Pr 3.01 in Unidrive SP)
0.17 [4] Overload RO 400.0 %In
0.18 [4] Motor magnetised RO OFF (0) or On (1) OFF (0) 1: Motor magnetised
0.19 [4] Brake output RO OFF (0) or On (1) OFF (0) ON: Brake released / OFF: Brake applied
0.20 [4] Last trip RO
0.21 [4] Previous trip RO
0.22 [4] Speed controller output RO 400.0 0.0 %In
0.23 [4] Terminal status RO 11111 T. 24/ 25/ 41/ 28/ 31 (See section 13.2.4 )
0.24 [4] Terminal status RO 11111 T. 29/ 26/ 27/ 5/ 7 (See section 13.2.4 )
0.25 [4] Speed error RO 10000 0 mm/s As Unidrive SP (Pr 3.03)
Maximum speed error
0.26 [4] RW 10000 200 mm/s Setting = 10 x Pr 0.25[4] > 200 (Trip 70)
threshold
0.27 [4] Distance error RO 10000 0 mm
Maximum distance error
0.28 [4] RW 10000 200 mm Setting = 10 x Pr 0.27[4] > 200 (Trip 71)
threshold
0.29 [4] Speed error RO ± 32768 0.0 rpm Speed error (Pr 3.03)
0.30 [4] Speed feedback RO ± 32768 0.0 rpm Drive encoder speed feedback (Pr 3.27)
SMARTCARD data
0.31 [4] RO 0
previously loaded
SMARTCARD data
0.32 [4] RO 0
number
SMARTCARD data type
0.33 [4] RO FrEE
/ mode
SMARTCARD data
0.34 [4] RO 0
checksum
0.35 [4]
0.36 [4]
0.37 [4]

8.7 Menu 18 parameters

18.01 RW ±32768
18.02 Deceleration distance RO
18.03 Calculated nominal elevator rpm RO 1/min
18.04 Terminal status RO 11111 T. 24/ 25/ 41/ 28/ 31 (See section 13.2.4 )
18.05 Terminal status RO 11111 T. 29/ 26/ 27/ 5/ 7 (See section 13.2.4 )
18.06 Distance error RO mm Trip 71
18.07 Speed error RO mm/s Trip 70
18.08 Torque for inertia comp. RO 0,1%Mn
18.09 Remaining floor sensor distance RO mm
18.10 Reference value selector RO mm.nn Reference parameter number
18.11 V1 (Creep speed) R/W 10000 50 mm/s
18.12 V2 (Inspection speed) R/W 10000 400 mm/s
18.13 V3 (Nominal speed) R/W 10000 800 mm/s
18.14 V4 (Medium speed) R/W 10000 100 mm/s
18.15 V5 (Releveling speed) R/W 10000 100 mm/s
18.16 V6 (Fast speed) R/W 10000 100 mm/s
18.17 V7 (Additional speed 1) R/W 10000 100 mm/s
18.18 Speed for start optimizer R/W 10000 10 mm/s
18.19 Floor sensor target distance R/W 10000 0 mm
18.20 Short distance R/W 10000 0 mm
18.21 v- threshold 1 R/W ±32768 300 mm/s Advanced door opening (default)
18.22 v- threshold 2 R/W ±32768 500 mm/s
18.23 Magnetising threshold R/W 990 200 0,1%
18.24 Brake apply delay R/W 10000 1000 ms
18.25 P- Gain run R/W 32768 100
18.26 I- Gain run R/W 32768 100
Refer to section 4.11 Variable Gains -
18.27 P- Gain start R/W 32768 100
selection / optimisation
18.28 I- Gain start R/W 32768 100
18.29 Nominal elevator rpm R/W 4000 1000 1/min Closed loop / Servo (3000)
18.30 Nominal elevator speed R/W 10000 800 mm/s
On: Brake released
18.31 Brake output RO OFF (0) or On (1) OFF (0)
OFF: Brake applied
18.32 1: n < v- threshold 1 RO OFF (0) or On (1) On (1) Advanced door opening (default)
18.33 1: n < v- threshold 2 RO OFF (0) or On (1) On (1)
18.34 Standstill RO OFF (0) or On (1) On (1)
18.35 Start short distance landing R/W OFF (0) or On (1) OFF (0)
18.36 Reference Select Bit 1 R/W OFF (0) or On (1) OFF (0)
18.42 Reference selector type R/W OFF (0) or On (1) OFF (0) OFF: Binary / ON: Priority
18.43 Motor magnetised RO OFF (0) or On (1) OFF (0) On: Motor magnetised
18.44 CCW direction RO OFF (0) or On (1) OFF (0)
18.45 INVERT direction R/W OFF (0) or On (1) OFF (0)
18.46 Load measurement R/W OFF (0) or On (1) OFF (0) ON: Enable
18.47 Peak curve operation R/W OFF (0) or On (1) OFF (0) ON: Enable
18.48 Switch gain R/W OFF (0) or On (1) OFF (0) ON: Enable
18.49 Inertia compensation R/W OFF (0) or On (1) OFF (0) ON: Enable
18.50 Default setting R/W OFF (0) or On (1) On (1) ON: Default setting done


19.01 Speed setpoint RO ±32000 mm/s
19.02 Actual speed RO ±32000 mm/s
19.03 Ramp speed RO ±32000 mm/s
19.04 Reference acceleration RO ±32000 mm/s2
19.05 Stopping distance RO ±32000 mm
19.06 Set-point peak curve distance RO ±32000 mm
19.07 Measured peak curve distance RO ±32000 mm
19.08 Calculated deceleration distance RO ±32000 mm
19.09 Speed at floor sensor active RO ±32000 mm/s
19.10 Measured deceleration distance RO ±32000 mm
19.11 Gain transition time R/W 32768 500 ms Start to travel gains only
19.12 D-Gain start locking R/W 32768 0
19.13 Stop deceleration R/W 2000 1000 mm/s2 Creep to floor only
19.14 Start jerk R/W 10000 500 3
mm/s
19.15 Run jerk R/W 10000 1000 mm/s3
19.16 Stop jerk R/W 10000 800 mm/s3 Creep to floor only
19.17 Jerk for start optimiser R/W 10000 10 mm/s3
19.18 Maximum distance error threshold R/W 10000 200 mm Trip 71
19.19 Feedforward acceleration scaling R/W 32768 1000 0,1%
19.20 P-Gain start locking R/W 1000 0 Position controller for start
19.21 Load measurement scaling R/W ±32768 1000 0,1%
19.22 Offset load measurement R/W ±32768 0 0,3125 mV
Filter time constant. Load
19.23 R/W ±32768 100 ms
measurement
19.24 Maximum speed error threshold R/W 1000 200 mm/s Trip 70
19.25 Brake release delay R/W 10000 1000 ms Pr 0.24 [1]
19.26 Direction inputs R/W 1 0 1 = 2 direction inputs
19.27 Gear ratio denominator R/W 32768 1
19.28 Time for start optimiser R/W 10000 300 ms
19.29 Sheave Diameter R/W 32768 480 mm
19.30 Gear Ratio numerator R/W 32768 31
19.31 Automatic motor nominal rpm R/W OFF (0) or On (1) OFF (0)
19.32 Motor contactor output R/W OFF (0) or On (1) OFF (0)
Refer to section 4.11
19.34 Enable current filter (start) R/W OFF (0) or On (1) OFF (0)
Pr 4.12 = 0 / constant
19.35 Thermistor display RO OFF (0) or On (1) OFF (0)
19.36 Overload Output RO OFF (0) or On (1) OFF (0) 1 = Overload
0 = Up
19.37 Load direction (last measured) RO OFF (0) or On (1) On (1)
1 = Down
19.38 Emergency rescue status R/W OFF (0) or On (1) OFF (0)
19.39 Emergency rescue invert R/W OFF (0) or On (1) OFF (0)
19.42 Floor sensor correction enable R/W OFF (0) or On (1) OFF (0) Refer to section 4.5
19.44 CW direction R/W OFF (0) or On (1) OFF (0)
19.48 Enable multiple gains R/W OFF (0) or On (1) OFF (0) Refer to section 4.11
19.49 Enable fast stop R/W OFF (0) or On (1) OFF (0)
19.50 Global warning RO OFF (0) or On (1) OFF (0) Displays errors during travel


20.01 SM-ELV software version RO
20.02 Software identity number RO ±10614 10614
20.03 Serial comms status word R/W ±32767 0
20.04 Serial comms control word R/W ±32767 0
20.05 Time from floor sensor active RO 0 ms
20.06 Rotor Time Constant RO 0 ms
20.07 Rotor Flux Level RO 0 0,1A
20.08 Time for Load measurement R/W ±10000 200 ms
20.09 Maximum overload RO 3 % Mn
20.10 Roping R/W 4 1 1 = 1:1, 2 = 2:1, 3 = 3:1, 4 = 4:1
20.11 Program status RO 0
20.12 Creep speed parameter number R/W ±32768 0
1: Latching
20.13 Direct-to-Floor Sensor Source R/W 0...4 0
2: Momentary.
1: T.5 / 2: T.7 / 3: T.8 /
20.14 Floor sensor correction source R/W 0...4 0
4: controlled stop distance
0 = No security code active
20.15 Menu 0 Access Code R/W ±32768 0
> 0 Access to Pr 0.00...Pr 0.50
Switch of configuration Pr 0.13 -
20.16 Menu 0 Select R/W 0...4 0
Pr 0.30 (See section 8.5)
20.17 P-Gain following error regulation R/W 32768 0
20.18 Overload Threshold R/W ±32768 120 %
Load in % of nominal torque (Mn)
20.19 Load measurement value RO 0 %
20.20 Motor contactor delay RO 0 ms Short (reduce), Long (increase)
20.21 Creep Distance RO 0 mm Measured every run
20.22 V8 (Additional speed 2) R/W 50 mm/s
20.25 Current loop Kp start R/W 30000 75
20.26 Current loop Ki start R/W 30000 1000
20.27 Speed loop Kp positioning (stop) R/W 30000 100
20.28 Speed loop Ki positioning (stop) R/W 30000 100

21.05 Rapid stop rate R/W 10.000 2.000 2 Enabled with Pr 19.49 = 1
m/s
21.16 Current filter positioning (stop) R/W 25.0 0.0 ms
21.22 Current loop Kp positioning (stop) R/W 30000 75
21.23 Current loop Ki positioning (stop) R/W 30000 1000
4.23 Current filter start R/W 25.0 0.0 ms
NOTE N
Pr 20.25 through to Pr 20.28 and Pr 21.16, Pr 21.22, Pr 21.23 these
parameters are RO until the variable gains are selected through
Pr 0.21[2] (Pr 18.48) and Pr 19.48 = On, only then do they become R/W
allowing the user to adjust.

9 Set-up 9.3 Servo - Autotune

The phase angle of magnetic rotor flux relative to the rotor's feedback
For the initial set-up of an elevator adjustment of the control loops for the device angular orientation must be measured, or if given on the motor's
motor control must be carried out. This is performed by the drive through nameplate information, must be entered into a drive parameter.
automatic self-tuning, Auto-tune.
Manual setting of the phase angle parameter for
During the Auto-tune the elevator must be operated manually, therefore known winches
the inspection command has to be provided. If the value is known and the connection of the motor phases is U - V - W
Reconnect Terminal 31 at the drive, proceed as follows:
If inspection is active and the drive is not enabled or motor does not run, • Setting the phase angle
please refer to Setting of terminal functions. • Set Pr 0.43 = Offset and save parameter
9.1 Open loop vector - Autotune Automatic measurement of the phase angle
Measurement of motor stator parameters If the Offset is not known or the connection of the motor phases is not U
For the Open Loop vector control mode it is necessary to measure the - V - W, the value can be measured automatically by the drive at low
stator resistance and voltage offset which can automatically be carried speed. To get exact values it is necessary to have no load at the motor
out by the drive at the start of the motor through a Static Auto-tune shaft and remove the ropes from the sheave. If there is low friction it may
Pr 0.40 = 1 be sufficient to have a balanced load in the car.
To measure the stator resistance and voltage offset • Activate phasing test
• Pr 0.40 = 2, start inspection speed and maintain
• Pr 0.40 = 1 - start Static Auto-tune. • The motor will turn slowly for about 30 seconds.
• Wait until Pr 0.40 = 0 then stop inspection run.
• Wait until Pr 0.40 = 0 then stop inspection speed
• Save parameters.
• If a trip ENC1 occurs
9.2 Closed loop vector - Autotune • Swap motor cables U with V at the drive
Controller static autotune
This measurement is very convenient, because it is performed at • Check the offset in Pr 0.43
standstill with the brake applied. For optimisation of the elevator the • This must have changed, if not, check motor contactor
drive measures both the stator resistance Pr 5.17 and the transient
inductance Pr 5.24. Autotune - Current Loop - Motor resistance /
• Pr 0.40 = 1 - start inspection speed. inductance parameters
• Wait until Pr 0.40 = 0 then stop inspection speed. • This measurement is very convenient, because this is performed at
standstill with the brake applied. Setting Pr 0.40 will set up both the
Note setting of Pr 5.17 / Pr 5.24 integral Pr 0.39 (Pr 4.14) and proportional Pr 0.38 (Pr 4.13) current
• Save parameters. loop gains and for optimal performance the elevator drive also
measures the stator resistance Pr 5.17 and the transient inductance
Automatic current controller autotune Pr 5.24.
This measurement is very convenient, because it is also performed at • Starting measurement
standstill with the brake applied. Setting Pr 0.40 = 4 sets up both the • Pr 0.40 - start inspection speed and maintain.
integral Pr 0.39 (Pr 4.14) and proportional Pr 0.38 (Pr 4.13) current loop • The motor will turn slowly for about 30 seconds
gains. • Wait until Pr 0.40 = 0 then stop inspection speed
• Pr 0.40 = 4 - start static current controller gain set-up • Note setting of parameters
• Pr 0.38, Pr 0.39 are changed at start -stop Inspection run • Save parameters
Autotune and motor characteristic measurement 9.4 First start with empty car
For complete optimisation the drive can measure in addition to the Activate the first start:
current loop gain setup and stator resistance and stator inductance the • Make sure, that Enable (Terminal 31) is connected and Active
motor characteristics. current is displayed in Pr 0.11
During this test it is necessary to remove the ropes from the sheave due • Start Inspection and check the Active current display and the shaft
to the motor having to run for several seconds. rotation
• If status display doesn't change to "run"
• Pr 0.40 = 2 - start inspection speed
• Check logic polarity, terminals and motor conductors
• Wait until Pr 0.40 = 0 then stop inspection speed
If the motor Active current Pr 0.11 = 0.00
Autotune of rated motor speed • Check logic polarity, terminals and motor conductors
Additional optimisation of the drive and motor can be applied through the If following an error trip (Trip 70 or Trip 71)
rated speed Auto-tune which will setup the correct slip, this should be • Check motor connections and phase angle
done with greater then 5/8 load present and at a speed greater than
rated frequency/8 If the motor shaft does not turn
• Check setpoint selection Pr 0.28[0] (run command applied)
During this test it is necessary to remove the ropes from the sheave due
If Pr 0.28[0] = 1810 instead of 1812:
to the motor having to run for several seconds.
• Check terminal functions and terminal state
Activate automatic speed optimiser
If Trip It.AC occurs
• Pr 0.18[2] = 1 and Save parameters • Check load balance, phase angle and motor connection
Note setting of Pr 5.08 If motor turns shortly / stops with current
• Save parameters • Check pole count Pr 0.42 and encoder lines Pr 0.29
If motor turns opposite direction
• Set: Pr 0.22[1] (Pr 18.45) = 1

For closed loop vector / servo and poor motor running Figure 9-1 Deceleration and stopping distances
• Check encoder, cable connection and screening Operational speeds
Other trips Pr 0.16 … Pr 0.21[0]
• See Chapter 13 Diagnostics Pr 18.12 … Pr 18.17
If no trip
• Continue with adjustment of speed loop gains
Adjustment of the speed loop (closed loop vector and servo Creep speed
Pr 0.15 [0] (Pr 18.11 )
only)
With recommended gain values (→ 3) only a few adjustments will be Stopping distance
Pr 0.29 [2] (Pr 19.05 )
necessary
Deceleration distance
Adjustment of the speed loop P-Gain Pr 0.14 [3] (Pr 19.08 )
• Increase Pr 0.07 in steps of 0.01 until noisy or unstable
If it produces continuous noise
• Increase current filter Pr 0.14[2] from 0 to 1...max. 3 (ms)
If unstable
• Reduce Pr 0.07 to 60% of the instability value
Adjustment of speed loop I- Gain
• Increase Pr 0.08 to 20...50% of 100 * Pr 0.07
Adjustment of slip compensation (open loop only)

Reduction of V2 Inspection to V1
• Set Pr 0.16 = Pr 0.15
Enable slip compensation
• Set Pr 5.27 = 1
Start inspection "UP" and "DOWN"
• Measure speed manually with tachometer
"UP" = "DOWN"
If speed "UP" > "DOWN"
• Reduce Pr 0.45 in steps of 1...10
If speed "UP" < "DOWN"
• Increase Pr 0.45 in steps of 1...10
Motor contactor delay adjustment

To prevent over voltages at the motor windings during motor conductor
opening, the drive output should be disabled after the brake apply time is
completed. The delay between the drive output disable and the opening
of the motor conductors is displayed in Pr 0.26[1] (Pr 20.20) in ms. A
negative value indicates that the motor contactor opened under current
flow, which should be prevented. In this case the brake apply time, Pr
18.24, must be increased, at least, to the value of Pr 0.26[1] (Pr 20.20).
• Start normal floor level runs
• Check the measured conductor delay in Pr 0.26[1] in ms
• Increase Pr 0.25[1] in ms if a negative values is in Pr 0.26[1]
• Positive values of 50...100 ms in Pr 0.26[1] are acceptable.
Adjust deceleration distances:
Check speed selection Pr 18.10 reference value selected
• If not correct, check connections
Check stopping distance V1 Pr 19.05
• Change V1 (creep speed) Pr 0.15(Pr 18.11) or stop jerk level Pr 0.25
(Pr 19.16)
Check deceleration distance Pr 19.08
• Select speed for deceleration distance via inputs
• Read selected speed in Pr 18.10
• Read calculated distance in Pr 19.08
• Change Speed, deceleration Pr 0.04 or Run / jerk Pr 0.24
Start normal floor levelling runs
• Check the creep distance in Pr 20.21 in mm

10 Optimisation
10.1 Open loop vector
Optimise start
Due to limitations with the open loop control, torque generated at zero
speed, the timing of the profile and the brake control are essential and
therefore have to be adjusted precisely. Furthermore the motor model has
to be optimally configured for stator resistance and slip compensation
(autotune should be carried out and all motor related parameters setup as
accurately as possible).
Jerk at start too high
• Reduce start jerk Pr 0.23 ...300 mm/s3 (softer)
and/ or
• Adjust brake release delay Pr 0.24[1] in ms (500)
• Adjust speed for start optimiser Pr 0.20[1] e.g.: 10 mm/s
• Adjust time for start optimiser Pr 0.19[1] in ms (1000)
• Adjust jerk for start optimiser Pr 0.20[1] e.g.: 50mm/s3
Jerk or backward rotation when brake releases
• Increase speed for start optimiser Pr 0.20[1] e.g 50mm/s3
• Correct the value of stator resistance Pr 5.17 in Ω
Optimise constant speed
Vibrations or overshoot present
• Reduce slip compensation by increasing Pr 5.08
• Disable Quasi-square-modulation with Pr 5.20 = 0
Optimise stop
High jerk as the elevator stops
• Reduce stop jerk Pr 0.25 ...500 mm/s3 (softer)
• Reduce zero speed threshold Pr 3.05 = 0,5 ... 2 Hz
Figure 10-1 Open loop vector profile optimisation
Run jerk Run jerk
Pr 0.24 [0] (Pr 19.15 ) Pr 0.24 [0] (Pr 19.15 )
Acceleration Operational speeds
Deceleration
Pr 0.03 (Pr 2.11 ) Pr 0.16 … Pr 0.21[0] Pr 0.04 (Pr 2.21 )
V:
Pr 18.12 … Pr 18.17
Run jerk
Start jerk
Pr 0.24 [0] (Pr 19.15 )
Pr 0.23 [0] (Pr 19.14 )
Stop jerk
Time for start
optimisation Pr 0.25 [0] (Pr 19.16 )
Pr 0.19 [1] (Pr 19.28 )
Speed for start
optimisation Creep speed
Pr 0.18 [1] (Pr 18.18 ) Pr 0.15 [0] (Pr 18.11 )
Brake
Pr 0.20 [1] (Pr 19.17 ) Pr 0.22 [0] (Pr 19.13 )
Start optimisation jerk Stop deceleration

10.2 Closed loop vector and servo Adjustment of brake release delay
• Reduce Pr 0.24[1] to 300ms as long as no lurch at start
During this step the elevator performance is optimised to ensure the
travel speed is correct and comfort level is achieved. The designed Optimise constant speed
speeds and accelerations have to be achieved. In addition to the Vibration of gearless motors
subjective test of the elevator performance. • Increase I- gain of the current controller Pr 0.38 (max. 10000)
It is advisable to use the oscilloscope function included in the PC based • Increase P- gain of the current controller Pr 0.39 (max. 1000)
software to achieve the best performance and to prevent any issues • Stop if regulation noise increases
being overlooked. This oscilloscope will allow all associated drives
If OIAC trip or instability occurs
parameters to be monitored.
• Reduce by 60% (for example) the chosen, P, I, values
Optimise start
If car lurches at start Overshoot and undershoot during acceleration
• Increase brake release delay Pr 0.24[1] to 2500ms • Reduce run jerk level Pr 0.24, e.g.: ...500 mm/s3 (softer)
If motor lurches or rotates uncontrolled • Consider increased deceleration distances
• Activate separate start speed controller Pr 0.21[2] and / or
Brake release (Pr 18.48) = 1 • Activate inertia compensation Pr 0.28[2] = 1
• P-Gain start controller Pr 0.25[1] = 2 x Pr 0.23[1] (harder) Display speed loop output Pr 0.22[4] PC based oscilloscope software
• I-Gain start controller Pr 0.26[1] =2 x Pr 0.24[1] (stiffer) • Adjust Pr 0.27[2], so that Pr 0.22[4], nearly constant
and / or
Optimise positioning stop
Enable P-gain position Control: Pr 0.19[2] (Pr 19.20) = 3 to 30 Lurch at stop from creep speed
Enable D-gain position Control: Pr 0.20[2] (Pr 19.12) = 10 to 100
• Reduce stop jerk Pr 0.25 ...500 mm/s3 (softer)
If jerk is to high at start of profile (ramp) • Reduce zero speed threshold Pr 3.05 = 2...4 rpm
• Reduce start jerk Pr 0.23...300 mm/s3 (softer) Unwanted rotation at brake engage
and / or • Increase brake apply delay Pr 0.25[1]
• Activate start optimiser by setting Pr 18.18 > 0 • Check motor contactor delay to Pr 0.26[1] > 0
• Set Speed for start optimiser Pr 0.18[1] e.g.: 10 mm/s
Following error detection set up
• Set time for start optimiser Pr 0.19[1] e.g.: 800...1000 ms
Check speed error of travel Pr 0.25[4]
• Set jerk for start optimiser Pr 0.20[1] e.g.: 10...20 mm/s3 • Set max speed error Pr 0.26[4]= 10x Pr 0.25[4] (200 mm/s)
Check elevator starts Check position error of travel Pr 0.27[4]
• If OK, reduce brake release delay as follows • Set max position error Pr 0.28[4]= 10x Pr 0.27[4] (200 mm)
Figure 10-2 Control sequence plus optimisation
Pr 0.24 Pr 0.18 Pr 0.24
V3 Nom. Speed
Load measuring time Pr 20.08
Debounce contactors (100 ms)
Brake apply delay Pr 18.24

Brake release delay Pr 19.25
Interlock Delay > 50 ms

Deflux Motor (200 ms)
Flux Motor ( t > 100ms )
Time for Start Optimiser
Motor contactor delay

measured Pr 20.20
Pr 0.16
Pr 0.03 Pr 0.04
Pr 19.28
V1 Speed 1
Pr 0.23 Pr 0.24 Pr 0.25
Pr 0.22
Pr 0.15
Pr 18.18 Ve Creep Speed
Speed Pr 0.25
Pr 18.23 Magnetising-Threshold
Pr 19.17
Current
Drive active
Direction T. 28
Main contactor
Enable T. 31
Speeds V1 (T.26), V2 (T.27), V3 (T.5), Vn (T.7)
Creep Speed T.29
Brake output T. 25
0,3 m/s T. 24
Kp Position Control: Pr 19.20
Pr 19.11
Kd Position Control Pr 19.12
Kp Speed Control: Pr 18.27 Pr 18.25
Ki Speed Control: Pr 18.28 Pr 18.26
Current Filter Pr 19.34: 0 / Pr 4.12 Pr 4.12
Kp Current Contol Pr 4.13
Ki Current Control Pr 4.14

t.0 t.1 t.2 t.3 t.4 t.5 t.6 t.7 t.0

11 SMARTCARD operation The data block locations of the SMARTCARD are arranged to have the
following usage:
11.1 Introduction Table 11-1 SMARTCARD data blocks
This is a standard feature that enables simple configuration of Data Block Type Example Use
parameters in a variety of ways. The SMARTCARD can be used for: 1 to 499 Read / Write Application set ups
• Parameter cloning between drives
500 to 999 Read Only Macros
• Saving whole drive parameter sets
• Saving ‘differences from default‘ parameter sets
‘Differences from default‘ parameter sets will be much smaller than
• Automatically saving all user parameter changes for maintenance purposes
whole parameter sets and thus take up a lot less memory as most
• Loading complete motor map parameters applications only require a few parameters to be changed from the
The drive only communicates with the SMARTCARD when commanded default setting.
to read or write, meaning the card may be "hot swapped". The whole card may be protected from writing or erasing by setting the
read-only flag as detailed section 11.2.7 9888 / 9777 - Setting and
Encoder phase angle (servo mode only)
clearing the SMARTCARD read only flag on page 67.
With drive software version V01.08.00 onwards, the encoder
phase angles in Pr 3.25 and Pr 21.20 are cloned to the Data transfer to or from the SMARTCARD is indicated by one the
SMARTCARD when using any of the SMARTCARD transfer following:
WARNING
methods. • SM-Keypad: The decimal point after the fourth digit in the upper
With drive software version V01.05.00 to V01.07.01, the display will flash.
encoder phase angles in Pr 3.25 and Pr 21.20 are only cloned • SM-Keypad Plus: The symbol 'CC' will appear in the lower left hand
to the SMARTCARD when using either Pr 0.30 set to Prog (2) corner of the display
or Pr xx.00 set to 3yyy. The card should not be removed during data transfer, as the drive will
This is useful when the SMARTCARD is used to back-up the produce a trip. If this occurs then either the transfer should be
parameter set of a drive but caution should be used if the reattempted or in the case of a card to drive transfer, default parameters
SMARTCARD is used to transfer parameter sets between drives. should be loaded.
Unless the encoder phase angle of the servo motor connected
to the destination drive is known to be the same as the servo 11.2 Transferring data
motor connected to the source drive, an autotune should be
Data transfer, erasing and protecting the information is performed by
performed or the encoder phase angle should be entered
entering a code in Pr xx.00 and then resetting the drive as shown in
manually into Pr 3.25 (or Pr 21.20). If the encoder phase angle
Table 11-2.
is incorrect the drive may lose control of the motor resulting in
an O.SPd or Enc10 trip when the drive is enabled. Table 11-2 SMARTCARD codes
With drive software version V01.04.00 and earlier, or when Code Action
using software version V01.05.00 to V01.07.01 and Pr xx.00
Transfer drive parameters as difference from defaults to a
set to 4yyy is used, then the encoder phase angles in Pr 3.25 2001
and Pr 21.20 are not cloned to the SMARTCARD. Therefore, bootable SMARTCARD block in data block number 001
Pr 3.25 and Pr 21.20 in the destination would not be changed 3yyy Transfer drive parameters to a SMARTCARD block number yyy
during a transfer of this data block from the SMARTCARD. Transfer drive data as difference from defaults to SMARTCARD
4yyy
block number yyy
Figure 11-1 Installation of the SMARTCARD
Transfer drive Onboard PLC program to SMARTCARD block
5yyy
number yyy
Installing the SMARTCARD SMARTCARD installed
6yyy Transfer SMARTCARD data block yyy to the drive
7yyy Erase SMARTCARD data block yyy
8yyy Compare drive parameters with block yyy
Clear SMARTCARD warning suppression flag (V01.07.00 and
9555
later)
Set SMARTCARD warning suppression flag (V01.07.00 and
9666
later)
9777 Clear SMARTCARD read-only flag
9888 Set SMARTCARD read-only flag
9999 Erase SMARTCARD
Where yyy indicates the block number 001 to 999. See Table 11-1 for
restrictions on block numbers.
NOTE N
If the read only flag is set then only codes 6yyy or 9777 are effective.
The SMARTCARD has 999 individual data block locations. Each

individual location from 1 to 499 can be used to store data until the
capacity of the SMARTCARD is used. With software V01.07.00 and later
the drive can support SMARTCARDs with a capacity of between 4kB
and 512kB. With software V01.06.02 and earlier the drive can support
SMARTCARDs with a capacity of 4kB.

11.2.1 Writing to the SMARTCARD Pr 5.23, Pr 21.13 Voltage offset

3yyy - Transfer data to the SMARTCARD Pr 5.24, Pr 21.14 Transient inductance
The data block contains the complete parameter data from the drive, i.e. Pr 5.25, Pr 21.24 Stator inductance
all user save (US) parameters except parameters with the NC coding bit Pr 6.06 DC injection braking current
set. Power-down save (PS) parameters are not transferred to the Pr 6.48 Mains loss ride through detection level
SMARTCARD.
With software V01.06.02 and earlier, a save must have been performed 11.2.3 Auto saving parameter changes (Pr 11.42 =
on the drive to transfer the parameters from the drive RAM to the Auto (3))
EEPROM before the transfer to the SMARTCARD is carried out. This setting causes the drive to automatically save any changes made to
4yyy - Write default differences to a SMARTCARD menu 0 parameters on the drive to the SMARTCARD. The latest menu 0
The data block only contains the parameter differences from the last parameter set in the drive is therefore always backed up on the
time default settings were loaded. SMARTCARD. Changing Pr 11.42 to Auto (3) and resetting the drive will
Six bytes are required for each parameter difference. The data density is immediately save the complete parameter set from the drive to the card,
not as high as when using the 3yyy transfer method as described in the i.e. all user save (US) parameters except parameters with the NC coding
previous section, but in most cases the number of differences from bit set. Once the whole parameter set is stored only the individual
default is small and the data blocks are therefore smaller. This method modified menu 0 parameter setting is updated.
can be used for creating drive macros. Power-down save (PS) Advanced parameter changes are only saved to the card when Pr xx.00
parameters are not transferred to the SMARTCARD. is set to a 1000 and the drive reset.
The data block format is different depending on the software version. All SMARTCARD trips apply, except ‘C.Chg’. If the data block already
The data block holds the following parameters: contains information it is automatically overwritten.
Software V01.06.02 and earlier If the card is removed when Pr 11.42 is set to 3 Pr 11.42 is then
All user save (US) parameters, except those with the NC (Not Cloned) automatically set to nonE (0).
coding bit set or those that do not have a default value, can be 11.2.4 8yyy - Comparing the drive full parameter set
transferred to the SMARTCARD. with the SMARTCARD values
Software V01.07.xx Setting 8yyy in Pr xx.00, will compare the SMARTCARD file with the
All user save (US) parameters, except those with the NC (Not Cloned) data in the drive. If the compare is successful Pr xx.00 is simply set to 0.
coding bit set or those that do not have a default value, can be If the compare fails a ‘C.cpr’ trip is initiated.
transferred to the SMARTCARD. In addition to these parameters all 11.2.5 7yyy / 9999 - Erasing data from the
menu 20 parameters (except Pr 20.00), can be transferred to the SMARTCARD
SMARTCARD even though they are not user save parameters and have Data can be erased from the SMART CARD either one block at a time or
the NC coding bit set. blocks 1 to 499 in one go.
Software V01.08.00 onwards • Setting 7yyy in Pr xx.00 will erase SMART CARD data block yyy.
All user save (US) parameters including those that do not have a default • Setting 9999 in Pr xx.00 will erase SMART CARD data blocks 1 to 499
value (i.e. Pr 3.25 or Pr 21.20 Encoder phase angle), but not including
11.2.6 9666 / 9555 - Setting and clearing the
those with the NC (Not Cloned) coding bit set can be transferred to the
SMARTCARD warning suppression flag
SMARTCARD. In addition to these parameters all menu 20 parameters
(V01.07.00 and later)
(except Pr 20.00), can be transferred to the SMARTCARD even though
If the Solutions Modules fitted to the source and destination drive are
they are not user save parameters and have the NC coding bit set.
different or are in different slots the drive will produce a 'C.Optn' trip. If
It is possible to transfer parameters between drive with each of the the data is being transferred to a drive of a different voltage or current
different formats, however, the data block compare function does not rating a 'C.rtg' trip will occur. It is possible to suppress these trips by
work with data produced by different formats. setting the warning suppression flag. If this flag is set the drive will not
trip if the Solutions Module(s) or drive ratings are different between the
11.2.2 Reading from the SMARTCARD source and destination drives. The Solutions Module or rating
6yyy - Read default differences from a SMARTCARD dependent parameters will not be transferred.
When the data is transferred back to a drive, using 6yyy in Pr xx.00, it is
• Setting 9666 in Pr xx.00 will set the warning suppression flag
transferred to the drive RAM and the drive EEPROM. A parameter save • Setting 9555 in Pr xx.00 will clear the warning suppression flag
is not required to retain the data after power-down. Set up data for any
Solutions Modules fitted are stored on the card and are transferred to the 11.2.7 9888 / 9777 - Setting and clearing the
destination drive. If the Solutions Modules are different between the SMARTCARD read only flag
source and destination drive, the menus for the slots where the The SMART CARD may be protected from writing or erasing by setting
Solutions Module categories are different are not updated from the card the read only flag. If an attempt is made to write or erase a data block
and will contain their default values after the cloning action. The drive will when the read only flag is set, a 'C.rdo' trip is initiated. When the read
produce a 'C.Optn' trip if the Solutions Modules fitted to the source and only flag is set only codes 6yyy or 9777 are effective.
destination drive are different or are in different slots. If the data is being • Setting 9888 in Pr xx.00 will set the read only flag
transferred to a drive of a different voltage or current rating a 'C.rtg' trip • Setting 9777 in Pr xx.00 will clear the read only flag.
will occur.
The following rating dependent parameters (RA coding bit set) will not
11.3 Data block header information
be written to the destination drive and will contain their default values Each data block stored on a SMARTCARD has header information
after the cloning action: detailing the following:
Pr 2.08 Standard ramp voltage • A number which identifies the block (Pr 11.37)
Pr 4.05 to Pr 4.07 and Pr 21.27 to Pr 21.29 Current limits • The type of data stored in the block (Pr 11.38)
Pr 4.24, User current maximum scaling • The drive mode if the data is parameter data (Pr 11.38)
Pr 5.07, Pr 21.07 Motor rated current • The version number (Pr 11.39)
Pr 5.09, Pr 21.09 Motor rated voltage • The checksum (Pr 11.40)
Pr 5.10, Pr 21.10 Rated power factor • The read-only flag
Pr 5.17, Pr 21.12 Stator resistance • The warning suppression flag (V01.07.00 and later)
Pr 5.18 Switching frequency

The header information for each data block which has been used can be Gives the type/mode of the data block selected with Pr 11.37:
viewed in Pr 11.38 to Pr 11.40 by increasing or decreasing the data
Pr 11.38 String Type/mode Data stored
block number set in Pr 11.37.
Value when Pr 11.37 = 0, 1,000, 1,001
Software V01.07.00 and later 0 FrEE
or 1,002
If Pr 11.37 is set to 1000 the checksum parameter (Pr 11.40) shows the
1 Reserved
number of bytes left on the card in 16 byte pages.
2 3OpEn.LP Open-loop mode parameters
If Pr 11.37 is set to 1001 the checksum parameter (Pr 11.40) shows the 3 3CL.VECt Closed-loop vector mode parameters
total capacity of the card in 16 byte pages. Therefore, for a 4kB card this Data from
4 3SErVO Servo mode parameters
parameter would show 254. EEPROM
5 3rEgEn Regen mode parameters
If Pr 11.37 is set to 1002 the checksum parameter (Pr 11.40) shows the 6 to 8 3Un Unused
state of the read-only (bit 0) and warning suppression flags (bit 1).
9 Reserved
If there is no data on the card Pr 11.37 can only have values of 0 or 10 4OpEn.LP Open-loop mode parameters
1,000 to 1,002. 11 4CL.VECt Closed-loop vector mode parameters Defaults last
Software V01.06.02 and earlier 12 4SErVO Servo mode parameters loaded and
If Pr 11.37 is set to 1000 the checksum parameter (Pr 11.40) shows the 13 4rEgEn Regen mode parameters differences
number of bytes left on the card. If there is no data on the card Pr 11.37 14 to 16 4Un Unused
can only have values of 0 or 1,000.
17 LAddEr Onboard PLC program
The version number is intended to be used when data blocks are used 18 Option A Solutions Module file
as drive macros. If a version number is to be stored with a data block,
Pr 11.39 should be set to the required version number before the data is
11.39 SMARTCARD data version
transferred. Each time Pr 11.37 is changed by the user the drive puts the
version number of the currently viewed data block in Pr 11.39. RW Uni NC
If the destination drive has a different drive mode to the parameters on Ú 0 to 9,999 Ö 0
the card, the drive mode will be changed by the action of transferring
parameters from the card to the drive. Gives the version number of the data block selected in Pr 11.37.
The actions of erasing a card, erasing a file, changing a menu 0 11.40 SMARTCARD data checksum
parameter, or inserting a new card will effectively set Pr 11.37 to 0 or the
lowest file number in the card. R0 Uni NC PT
11.4 SMARTCARD parameters Ú 0 to 65,335 Ö

Table 11-3 Key to parameter table coding Gives the checksum of the data block selected in Pr 11.37.
RW Read / Write RO Read only Uni Unipolar
Bi Bi-polar Bit Bit parameter Txt Text string
FI Filtered DE Destination NC Not cloned
RA Rating dependent PT Protected US User save
PS Power down save
11.36 {0.29} SMARTCARD parameter data previously loaded

RO Uni NC PT US
Ú 0 to 999 Ö 0
This parameter shows the number of the data block last transferred from
a SMARTCARD to the drive.
11.37 SMARTCARD data number

RW Uni NC
Ú 0 to 1,002 Ö 0
This parameter should have the data block number entered for which the
user would like information displayed in Pr 11.38, Pr 11.39 and Pr 11.40.
11.38 SMARTCARD data type/mode

RO Txt NC PT
Ú 0 to 18 Ö

11.5 SMARTCARD trips

After an attempt to read, write or erase data to or from a SMARTCARD a trip may occur if there has been a problem with the command. The following
trips indicate various problems as detailed in Table 11-4.
Table 11-4 Trip conditions

Trip Diagnosis
C.Acc SMARTCARD trip: SMARTCARD Read / Write fail
Check SMARTCARD is fitted / located correctly
185
Replace SMARTCARD
SMARTCARD trip: The menu 0 parameter modification cannot be saved to the SMARTCARD because the necessary file has
C.boot
not been created on the SMARTCARD
A write to a menu 0 parameter has been initiated via the keypad with Pr 11.42 set to auto(3) or boot(4), but the necessary file on the
SMARTCARD has not bee created
177
Ensure that Pr 11.42 is correctly set and reset the drive to create the necessary file on the SMARTCARD
Re-attempt the parameter write to the menu 0 parameter
C.bUSY SMARTCARD trip: SMARTCARD can not perform the required function as it is being accessed by a Solutions Module
178 Wait for the Solutions Module to finish accessing the SMARTCARD and then re-attempt the required function
C.Chg SMARTCARD trip: Data location already contains data
Erase data in data location
179
Write data to an alternative data location
C.Cpr SMARTCARD trip: The values stored in the drive and the values in the data block on the SMARTCARD are different
188 Press the red reset button
C.dat SMARTCARD trip: Data location specified does not contain any data
183 Ensure data block number is correct
C.Err SMARTCARD trip: SMARTCARD data is corrupted
Ensure the card is located correctly
182 Erase data and retry
Replace SMARTCARD
C.Full SMARTCARD trip: SMARTCARD full
184 Delete a data block or use a different SMARTCARD
C.Optn SMARTCARD trip: Solutions Modules fitted are different between source drive and destination drive
Ensure correct Solutions Modules are fitted
180 Ensure Solutions Modules are in the same Solutions Module slot
Press the red reset button
C.rdo SMARTCARD trip: SMARTCARD has the Read only bit set
Enter 9777 in Pr xx.00 to allow SMARTCARD Read / Write access
181
Ensure card is not writing to data locations 500 to 999
SMARTCARD trip: SMARTCARD attempting to change the destination drive ratings
C.rtg
No drive rating parameters have been transferred
Drive rating parameters are:
Parameter Function
2.08 Standard ramp voltage
4.05/6/7, 21.27/8/9 Current limits
4.24 User current maximum scaling
5.07, 21.07 Motor rated current
5.09, 21.09 Motor rated voltage
186 5.10, 21.10 Rated power factor
5.17, 21.12 Stator resistance
5.18 Switching frequency
5.23, 21.13 Voltage offset
5.24, 21.14 Transient inductance
5.25, 21.24 Stator inductance
6.06 DC injection braking current
6.48 Mains loss ride through detection level
The above parameters will be set to their default values.
C.Typ SMARTCARD trip: SMARTCARD parameter set not compatible with drive

Ensure destination drive type is the same as the source parameter file drive type

Table 11-5 SMARTCARD status indications
Lower display Description Lower display Description

boot A parameter set is being transferred from the cArd The drive is writing a parameter set to the SMARTCARD
SMARTCARD to the drive during power-up. during power-up.
For further information, please refer to section 11.2.3 Auto
saving parameter changes (Pr 11.42 = Auto (3)) .

12 Commissioning software Figure 12-2 CT Scope main screen
tools
For elevator commissioning there are number of PC programs available
that allow set-up, monitoring and optimisation of the Unidrive SP:
• CT Soft
• CT Scope
• Lift-SP
All of these PC programs will allow the drive to be commissioned via a
PC and optimised using the oscilloscope function. Standard parameter
files that may be available from previous applications can be
downloaded, or the final parameter files uploaded for future applications.
Waveforms can be taken during commissioning and also saved.
12.1 CT Soft
CT Soft allows a project for an application to be set-up and from this all
parameters in the drive can be programmed with either a pre-defined
parameter file or configured and saved by the User. The project can be
generated manually or through use of the Setup Wizard available. 12.3 Lift-SP
Figure 12-1 CT Soft main screen Lift-SP is also a PC based software program that includes both features
to allow the Unidrive SP to be set-up (parameter download) and also has
an oscilloscope feature included.
Figure 12-3 Lift-SP
Additional features also available in CT Soft are There are however with this PC based software program additional features
that are specific to the Lift set-up. For example the following screen provides
• Drive properties and summary screen all the required set-up parameters for the creep-to-floor positioning.
• Detailed parameter differences from default
Figure 12-4 Creep-to-floor profile and parameters
• Detailed parameter descriptions
• Block diagrams
• Terminal configurations
• Monitoring features
• Option module support and configuration
• Help files
12.2 CT Scope
CT-Scope is a PC based software oscilloscope that includes all features
normally associated with an oscilloscope. The oscilloscope features
including
• 4 channels
• Adjustable Time-base and Scaling
• Trigger
• Cursors
• Zoom feature
• Save and recall waveforms Other custom screens available for setup include
• Sampling rate down to 1ms • Control connections
• Connection via Unidrive SP RJ-45 or via CT-Net • Lift installation parameters
• Single or multiple drives can be monitored simultaneously on CT-Net • Speed set points
• Creep-to-floor, Direct-to-floor
• Floor sensor control
• Inertia and load compensation
• Error detection
• Current control

13 Diagnostics Figure 13-2 Location of the status LED

Status LED
13.1 Display
The display on the drive gives various information about the status of the
drive. These fall into three categories:
• Trip indications
• Alarm indications
• Status indications
Users must not attempt to repair a drive if it is faulty, nor carry

out fault diagnosis other than through the use of the
diagnostic features described in this chapter. If a drive is
Non flashing: Flashing:
faulty, it must be returned to an authorised Control
WARNING
Normal status Trip status
Techniques distributor for repair.
If the drive trips, the output of the drive is disabled so that the drive stops Trips are listed alphabetically in Table 13-1 based on the trip indication
controlling the motor. The lower display indicates that a trip has occurred shown on the drive display. Refer to Figure 13-1.
and the upper display shows the trip. If this is a multi-module drive and a If a display is not used, the drive LED Status indicator will flash if the
power module has indicated a trip, then the upper display will alternate drive has tripped. Refer to Figure 13-2. The trip indication can be read in
between the trip string and the module number. Pr 10.20 providing a trip number. Trip numbers are listed in numerical
Figure 13-1 Keypad status modes order in Table 13-2 so the trip indication can be cross referenced and
Status Mode then diagnosed using Table 13-1.
Example:
Healthy Status Alarm Status Trip Status 1. Trip code 3 is read from Pr 10.20 via serial communications.
2. Checking Table 13-2 shows Trip 3 is an OI.AC trip.
Drive status
= tripped Figure 13-3
Trip type (UU
= undervolts)
Comms No. Trip Keypad
code display
3 OI.AC
3. Look up OI.AC in Table 13-1

4. Perform checks detailed under Diagnosis.
Trip Diagnosis
OI.AC Instantaneous output over current detected: peak output current greater than 225%
Acceleration / deceleration rate is too short.
If seen during autotune reduce voltage boost Pr 5.15
Check for short circuit on output cabling
Check integrity of motor insulation
Check feedback device wiring
Check feedback device mechanical coupling
3
Check feedback signals are free from noise
Is motor cable length within limits for that frame size?
Reduce the values in speed loop gain parameters – Pr 3.10, Pr 3.11 and Pr 3.12 (closed loop vector and servo
modes only)
Has offset measurement test been completed? (servo mode only)
Reduce the values in current loop gain parameters - Pr 4.13 and Pr 4.14 (closed loop vector and servo modes only)

13.2 Elevator specific diagnostics

This section covers specific diagnostics related to the SM-ELV (SM-
Applications, SM-Applications Lite) which is required for the Unidrive SP
Elevator solution.
13.2.1 Diagnostic parameters - Pr 0.12 = 4
0.13 [4] Zero speed threshold RW 250 5 rpm
0.14 [4] Not used
0.15 [4] Motor voltage RO 800 - V
0.16 [4] Maximum speed error RO 32000 - mm/s
0.17 [4] Maximum overload run RO 400.0 - %In
0.18 [4] Motor magnetised RO Bit 1 - - 1: Motor magnetised
0.19 [4] Brake output RO Bit 1 - - ON: Brake released / OFF: Brake applied
0.20 [4] Last trip RO - - -
0.21 [4] Previous trip RO - - -
0.22 [4] Speed controller output RO 400.0 - %In
0.23 [4] Terminal status RO 11111 - - T. 24/ 25/ 41/ 28/ 31 (see section 13.2.4)
0.24 [4] Terminal status RO 11111 - - T. 29/ 26/ 27/ 5/ 7 (see section 13.2.4)
0.25 [4] Speed error RO 10000 - mm/s
0.26 [4] Maximum speed error RW 10000 200 mm/s Setting = 10 x Pr 0.25[4] > 200
0.27 [4] Distance error RO 10000 - mm
0.28 [4] Maximum distance error RW 10000 200 mm Setting = 10 x Pr 0.27[4] > 200
0.29 [4] Speed error RO ± #0.02 - rpm Drive encoder feedback control at open loop operating
0.30 [4] Speed feedback RO ± #0.02 - rpm Drive encoder feedback control at open loop operating
NOTE N 13.2.2 Speed and position error detection
If Pr 17.18 = 1 (SM-Applications, SM-Applications Lite watchdog enable) The SM-ELV with the elevator software has both speed and position
an SLX.tO trip, (Solutions Module watchdog timeout) is displayed after error detection, Trip 70 and Trip 71 detailed as follows. If either of these
the elevator drive trips. This trip must be reset separately either via the trips occur refer to the following corrective actions.
keypad reset button or by setting Pr xx.00 to 1070. Table 13-1 Error detection
Trip
Description Cause Corrective actions
Code
Check motor and encoder connections
Encoder feedback Check gain settings and phase angle.
Speed error
Trip 70 Motor connections Increase Threshold Pr 0.29 if necessary.
detection
Gain setting Disable following error detection by setting
Pr 0.29 = 0.
Check motor and encoder connections
Encoder feedback Check gain setting and phase angle.
Position error
Trip 71 Motor connections Increase Threshold Pr 19.18 if necessary.
detection
Gain setting Disable following error detection by setting
Pr 19.18 = 0.
Motor fluxed Motor contactor not closed Check timing of any output contactors
Trip 76
detection Incorrect motor map settings Ensure motor map is set up correctly
Motor phase loss due to
Trip 77 Motor phase loss Check all motor connections are secure
intermittent / broken connection

13.2.3 Control diagnostics

If the normal run command is applied and the Unidrive SP elevator
solution does not start or a trip is generated at this stage, then proceed
as follows:
Figure 13-4 Diagnostic control interface
Speed Selected Brake Motor

State "run" > 1810
selected ? speed >0 output =1 magnetised
Dispay (enabled) (Speed selected)
Pr 18.10 Pr 18.1x Pr 8.02 Pr 18.43
= 1810
"inh" (disabled)
(no speed selected)
state Pr 8.03 OR =0 =0
Terminal 30 Pr 8.04 OR =0
(active) (not active)
Pr 8.07 =1 Pr 8.06 =1
(active) (active)
= 0 (not active) = 0 (not active)
Check Logic Check UD70

Ckeck
Polarity present and Check Control Adjust the Check Check state of
Terminal
Pr 8.27 and program Signals at the speed external brake the motor
function
Signal at running. Terminals selected control circuit conductor
programming
Terminal 30 (Pr 18.01)
13.2.4 Control terminal status

For analysing the status of the control terminals these are arranged in
groups and displayed as follows in Pr 0.23[4] and Pr 0.24[4].
Figure 13-5 Control terminal status
Pr 0.23[4] Pr 0.24[4]
X4 X3 X2 X1 X0 X 4 X 3 X2 X1 X0
T. 7: Bit 4 T. 29: Bit 0 T. 31: Enable T. 24: V > 0,3m/s
T. 5: Bit 3 T. 26: Bit 1 T. 25: Not Brake

T. 28: Up / Down
T. 27: Bit 2 T. 41/42: Drive Healthy
13.3 Unidrive SP trip codes

Trip Diagnosis
C.Acc SMARTCARD trip: SMARTCARD Read / Write fail
Check SMARTCARD is fitted / located correctly
185
Replace SMARTCARD
C.bUSY SMARTCARD trip: SMARTCARD can not perform the required function as it is being accessed by a Solutions Module
178 Wait for the Solutions Module to finish accessing the SMARTCARD and then re-attempt the required function
C.Chg SMARTCARD trip: Data location already contains data
Erase data in data location
179
Write data to an alternative data location
C.cPr SMARTCARD trip: The values stored in the drive and the values in the data block on the SMARTCARD are different
C.dAt SMARTCARD trip: Data location specified does not contain any data
183 Ensure data block number is correct

Trip Diagnosis
C.Err SMARTCARD trip: SMARTCARD data is corrupted
Ensure the card is located correctly
182 Erase data and retry
Replace SMARTCARD
C.Full SMARTCARD trip: SMARTCARD full
184 Delete a data block or use different SMARTCARD
CL.bit Trip initiated from the control word (Pr 6.42)
35 Disable the control word by setting Pr 6.43 to 0 or check setting of Pr 6.42
C.OPtn SMARTCARD trip: Solutions Modules fitted are different between source drive and destination drive
Ensure correct Solutions Modules are fitted
180 Ensure Solutions Modules are in the same Solutions Module slot
C.rdo SMARTCARD trip: SMARTCARD has the Read Only bit set
Enter 9777 in Pr xx.00 to allow SMARTCARD Read / Write access
181
Ensure card is not writing to data locations 500 to 999
SMARTCARD trip: SMARTCARD attempting to change the destination drive ratings
C.rtg
No drive rating parameters have been transferred

Drive rating parameters are:
Parameter Function
2.08 Standard ramp voltage
4.05/6/7, 21.27/8/9 Current limits
4.24 User current maximum scaling
5.07, 21.07 Motor rated current
5.09, 21.09 Motor rated voltage
186 5.10, 21.10 Rated power factor
5.17, 21.12 Stator resistance
5.18 Switching frequency
5.23, 21.13 Voltage offset
5.24, 21.14 Transient inductance
5.25, 21.24 Stator inductance
6.06 DC injection braking current
6.48 Mains loss ride through detection level
The above parameters will be set to their default values.
C.TyP SMARTCARD trip: SMARTCARD parameter set not compatible with drive
Press the reset button
187
Ensure destination drive type is the same as the source parameter file drive type
dESt Two or more parameters are writing to the same destination parameter
199 Set Pr xx.00 = 12001 check all visible parameters in the menus for duplication
EEPROM data corrupted - Drive mode becomes open loop and serial comms will timeout with remote keypad on the drive
EEF
RS485 comms port.
31 This trip can only be cleared by loading default parameters and saving parameters
Enc1 Drive encoder trip: Encoder power supply overload
Check encoder power supply wiring and encoder current requirement
189
Maximum current = 200mA @ 15V, or 300mA @ 8V and 5V
Enc2 Drive encoder trip: Wire break (Drive encoder terminals 1 & 2, 3 & 4, 5 & 6)
Check cable continuity
Check wiring of feedback signals is correct
190 Check encoder power is set correctly
Replace feedback device
If wire break detection on the main drive encoder input is not required, set Pr 3.40 = 0 to disable the Enc2 trip

Trip Diagnosis
Enc3 Drive encoder trip: Phase offset incorrect whilst running
Check the encoder signal for noise
Check encoder shielding
191
Check the integrity of the encoder mechanical mounting
Repeat the offset measurement test
Enc4 Drive encoder trip: Feedback device comms failure
Ensure encoder power supply is correct
Ensure baud rate is correct
192
Check encoder wiring
Enc5 Drive encoder trip: Checksum or CRC error
193 Check the encoder cable shielding
With EnDat encoders, check the comms resolution and/or carry out the auto-configuration Pr 3.41
Enc6 Drive encoder trip: Encoder has indicated an error
194
With SSI encoders, check the wiring and encoder supply setting
Enc7 Drive encoder trip: Initialisation failed
Re-set the drive
Check the correct encoder type is entered into Pr 3.38
Check encoder wiring
195
Check encoder power supply is set correctly
Carry out the auto-configuration Pr 3.41
Enc8 Drive encoder trip: Auto configuration on power up has been requested and failed
Change the setting of Pr 3.41 to 0 and manually enter the drive encoder turns (Pr 3.33) and the equivalent number of lines per
196 revolution (Pr 3.34)
Check the comms resolution
Drive encoder trip: Position feedback selected is selected from a Solutions Module slot which does not have a speed /
Enc9
position feedback Solutions Module fitted
197 Check setting of Pr 3.26 (or Pr 21.21 if the second motor parameters have been enabled)
Enc10 Drive encoder trip: Servo mode phasing failure because encoder phase angle (Pr 3.25 or Pr 21.20) is incorrect
Check the encoder wiring.
Perform an autotune to measure the encoder phase angle or manually enter the correct phase angle into Pr 3.25 (or Pr 21.20).
198 Spurious Enc10 trips can be seen in very dynamic applications. This trip can be disabled by setting the overspeed threshold in
Pr 3.08 to a value greater than zero. Caution should be used in setting the over speed threshold level as a value which is too large
may mean that an encoder fault will not be detected.
Drive encoder trip: A failure has occurred during the alignment of the analogue signals of a SINCOS encoder with the
Enc11 digital count derived from the sine and cosine waveforms and the comms position (if applicable). This fault is usually due
to noise on the sine and cosine signals.
Check encoder cable shield.
161
Examine sine and cosine signals for noise.
Enc12 Drive encoder trip: Hiperface encoder - The encoder type could not be identified during auto-configuration
Check encoder type can be auto-configured.
162 Check encoder wiring.
Enter parameters manually.
Drive encoder trip: EnDat encoder - The number of encoder turns read from the encoder during auto-configuration is not a
Enc13
power of 2
163 Select a different type of encoder.
Drive encoder trip: EnDat encoder - The number of comms bits defining the encoder position within a turn read from the
Enc14
encoder during auto-configuration is too large.
Select a different type of encoder.
164
Faulty encoder.
Drive encoder trip: The number of periods per revolution calculated from encoder data during auto-configuration is either
Enc15
less than 2 or greater than 50,000.
Linear motor pole pitch / encoder ppr set up is incorrect or out of parameter range
165 i.e. Pr 5.36 = 0 or Pr 21.31 = 0.
Faulty encoder.

Trip Diagnosis
Enc16 Drive encoder trip: EnDat encoder - The number of comms bits per period for a linear encoder exceeds 255.
166
Faulty encoder.
Drive encoder trip: The periods per revolution obtained during auto-configuration for a rotary SINCOS encoder is not a
Enc17
power of two.
167
Faulty encoder.
ENP.Er Data error from electronic nameplate stored in selected position feedback device
176 Replace feedback device
Et External trip from input on terminal 31
Check terminal 31 signal
Check value of Pr 10.32
6
Enter 12001 in Pr xx.00 and check for parameter controlling Pr 10.32
Ensure Pr 10.32 or Pr 10.38 (= 6) are not being controlled by serial comms
HF01 Data processing error: CPU address error
Hardware fault - return drive to supplier
HF02 Data processing error: DMAC address error
HF03 Data processing error: Illegal instruction
HF04 Data processing error: Illegal slot instruction
HF05 Data processing error: Undefined exception
HF06 Data processing error: Reserved exception
HF07 Data processing error: Watchdog failure
HF08 Data processing error: Level 4 crash
HF09 Data processing error: Heap overflow
HF10 Data processing error: Router error
HF11 Data processing error: Access to EEPROM failed
HF12 Data processing error: Main program stack overflow
HF13 Data processing error: Software incompatible with hardware
Hardware or software fault - return drive to supplier
HF17 Multi-module system thermistor short circuit
217 Hardware fault - return drive to supplier
HF18 Multi-module system interconnect cable error
HF19 Temperature feedback multiplexing failure
HF20 Power stage recognition: serial code error

Trip Diagnosis
HF21 Power stage recognition: unrecognised frame size
HF22 Power stage recognition: multi module frame size mismatch
HF23 Power stage recognition: multi module voltage rating mismatch
HF24 Power stage recognition: unrecognised drive size
HF25 Current feedback offset error
HF26 Soft start relay failed to close, soft start monitor failed or braking IGBT short circuit at power up
HF27 Power stage thermistor 1 fault
HF28 Power stage thermistor 2 fault or internal fan fault (size 3 and larger)
HF29 Control board thermistor fault
HF30 DCCT wire break trip from power module
HF31 Aux fan failure from power module
231 Replace auxiliary fan
HF32 Power stage - a module has not powered up in a multi-module parallel drive
232 Check AC power supply
It.AC Output current overload timed out (I2t) - accumulator value can be seen in Pr 4.19
Ensure the load is not jammed / sticking
Check the load on the motor has not changed
If seen during an autotune in servo mode, ensure that the motor rated current Pr 0.46 (Pr 5.07) or Pr 21.07 is ≤Heavy Duty current
20 rating of the drive
Tune the rated speed parameter (closed loop vector only)
Check feedback device signal for noise
Check the feedback device mechanical coupling
It.br Braking resistor overload timed out (I2t) – accumulator value can be seen in Pr 10.39
Ensure the values entered in Pr 10.30 and Pr 10.31 are correct
Increase the power rating of the braking resistor and change Pr 10.30 and Pr 10.31
19
If an external thermal protection device is being used and the braking resistor software overload is not required, set Pr 10.30 or
Pr 10.31 to 0 to disable the trip
O.CtL Drive control board over temperature
Check cubicle / drive fans are still functioning correctly
Check cubicle ventilation paths
23 Check cubicle door filters
Check ambient temperature
Reduce drive switching frequency
O.ht1 Power device over temperature based on thermal model
Reduce duty cycle
21
Decrease acceleration / deceleration rates
Reduce motor load

Trip Diagnosis
O.ht2 Heatsink over temperature
Check cubicle door filters
Increase ventilation
22
Reduce duty cycle
Reduce motor load
O.ht3 Drive over-temperature based on thermal model
The drive will attempt to stop the motor before tripping. If the motor does not stop in 10s the drive trips immediately.
27
Reduce duty cycle
Reduce motor load
Oht4.P Power module rectifier over temperature or input snubber resistor over temperature (size 4 and above)
Check for supply imbalance
Check for supply disturbance such as notching from a DC drive
102
Reduce duty cycle
Reduce motor load
OI.AC Instantaneous output over current detected: peak output current greater than 225%
Acceleration /deceleration rate is too short.
If seen during autotune reduce voltage boost Pr 5.15
Check for short circuit on output cabling
Check integrity of motor insulation
Check feedback device wiring
3 Check feedback device mechanical coupling
Check feedback signals are free from noise
Is motor cable length within limits for that frame size?
Reduce the values in speed loop gain parameters – Pr 3.10, Pr 3.11 and Pr 3.12 (closed loop vector and servo modes only)
Has offset measurement test been completed? (servo mode only)
Reduce the values in current loop gain parameters - Pr 4.13 and Pr 4.14 (closed loop vector and servo modes only)
OI.br Braking transistor over-current detected: short circuit protection for the braking transistor activated
Check braking resistor wiring
4 Check braking resistor value is greater than or equal to the minimum resistance value
Check braking resistor insulation
O.Ld1 Digital output overload: total current drawn from 24V supply and digital outputs exceeds 200mA
26 Check total load on digital outputs (terminals 24,25,26)and +24V rail (terminal 22)
O.SPd Motor speed has exceeded the over speed threshold
Increase the over speed trip threshold in Pr 3.08 (closed loop modes only)
7 Speed has exceeded 1.2 x Pr 1.06 or Pr 1.07 (open loop mode)
Reduce the speed loop P gain (Pr 3.10) to reduce the speed overshoot (closed loop modes only)

Trip Diagnosis
OV DC bus voltage has exceeded the peak level or the maximum continuous level for 15 seconds
Increase deceleration ramp (Pr 0.04)
Decrease braking resistor value (staying above the minimum value)
Check nominal AC supply level
Check for supply disturbances which could cause the DC bus to rise – voltage overshoot after supply recovery from a notch induced
by DC drives.
Check motor insulation
2
Drive voltage rating Peak voltage Maximum continuous voltage level (15s)
200 415 410
400 830 815
575 990 970
690 1190 1175
If the drive is operating in low voltage DC mode the overvoltage trip level is 1.45 x Pr 6.46.
Ph AC voltage input phase loss or large supply imbalance detected
Ensure all three phases are present and balanced
Check input voltage levels are correct (at full load)
32 NOTE N
Load level must be between 50 and 100% for the drive to trip under phase loss conditions. The drive will attempt to stop the motor
before this trip is initiated.
PS Internal power supply fault
Remove any Solutions Modules and reset
5 Check integrity of interface ribbon cables and connections (size 4,5,6 only)
PS.10V 10V user power supply current greater than 10mA
Check wiring to terminal 4
8
Reduce load on terminal 4
PS.24V 24V internal power supply overload
The total user load of the drive and Solutions Modules has exceeded the internal 24V power supply limit.
The user load consists of the drive’s digital outputs, the SM-I/O Plus digital outputs, the drive’s main encoder supply and the SM-
Universal Encoder Plus encoder supply.
9
• Reduce load and reset
• Provide an external 24V >50W power supply
• Remove any Solutions Modules and reset
PSAVE.Er Power down save parameters in the EEPROM are corrupt
Indicates that the power was removed when power down save parameters were being saved.
The drive will revert back to the power down parameter set that was last saved successfully.
37
Perform a user save (Pr xx.00 to 1000 or 1001 and reset the drive) or power down the drive normally to ensure this trip does or occur
the next time the drive is powered up.
rS Failure to measure resistance during autotune or when starting in open loop vector mode 0 or 3
33 Check motor power connection continuity
SAVE.Er User save parameters in the EEPROM are corrupt
Indicates that the power was removed when user parameters were being saved.
The drive will revert back to the user parameter set that was last saved successfully.
36
Perform a user save (Pr xx.00 to 1000 or 1001 and reset the drive) to ensure this trip does or occur the next time the drive is
powered up.
SCL Drive RS485 serial comms loss to remote keypad
Refit the cable between the drive and keypad
Check cable for damage
30
Replace cable
Replace keypad
SLX.dF Solutions Module slot X trip: Solutions Module type fitted in slot X changed
204,209,214 Save parameters and reset

Trip Diagnosis
SLX.Er Solutions Module slot X trip: Solutions Module in slot X has detected a fault
Feedback module category
Check value in Pr 15/16/17.50. The following table lists the possible error codes for the SM-Universal Encoder Plus, SM-Encoder
Plus and SM-Resolver. See the Diagnostics section in the relevant Solutions Module User Guide for more information.
Error code Module Trip Description Diagnostic
0 All No trip No fault detected
Check encoder power supply wiring and encoder current
SM-Universal
Encoder power supply overload requirement Maximum current = 200mA @ 15V, or 300mA
1 Encoder Plus
@ 8V and 5V
SM-Resolver Excitation output short circuit Check the excitation output wiring.
Check cable continuity
SM-Universal
Check wiring of feedback signals is correct
2 Encoder Plus & Wire break
Check supply voltage or excitation output level
SM-Resolver
SM-Universal Phase offset incorrect whilst Check encoder shielding
3
Encoder Plus running Check the integrity of the encoder mechanical mounting
Repeat the offset measurement test
Ensure encoder power supply is correct
SM-Universal Feedback device communications Ensure baud rate is correct
4
Encoder Plus failure Check encoder wiring
SM-Universal Check the encoder signal for noise
5 Checksum or CRC error
Encoder Plus Check the encoder cable shielding
SM-Universal
6 Encoder has indicated an error Replace encoder
Encoder Plus
Check the correct encoder type is entered into Pr 15/16/17.15
SM-Universal Check encoder wiring
7 Initialisation failed
Encoder Plus Check supply voltage level
Change the setting of Pr 15/16/17.18 and manually enter
202,207,212 SM-Universal Auto configuration on power up
8 the number of turns (Pr 15/16/17.09) and the equivalent
Encoder Plus has been requested and failed
number of lines per revolution (Pr 15/16/17.10)
SM-Universal Check motor temperature
9 Motor thermistor trip
Encoder Plus Check thermistor continuity
SM-Universal Check motor thermistor wiring
10 Motor thermistor short circuit
Encoder Plus Replace motor / motor thermistor
Failure of the sincos analogue
SM-Universal Check encoder cable shield.
position alignment during encoder
Encoder Plus Examine sine and cosine signals for noise.
11 initialisation
Check that the correct number of resolver poles has been
SM-Resolver Poles not compatible with motor
set in Pr 15/16/17.15.
Check encoder type can be auto-configured.
SM-Universal Encoder type could not be
12 Check encoder wiring.
Encoder Plus identified during auto-configuration
Enter parameters manually.
Number of encoder turns read from
SM-Universal
13 the encoder during auto- Select a different type of encoder.
Encoder Plus
configuration is not a power of 2
Number of comms bits defining the
SM-Universal encoder position within a turn read Select a different type of encoder.
14
Encoder Plus from the encoder during auto- Faulty encoder.
configuration is too large.
The number of periods per
Linear motor pole pitch / encoder ppr set up is incorrect or
SM-Universal revolution calculated from encoder
15 out of parameter range i.e. Pr 5.36 = 0 or Pr 21.31 = 0.
Encoder Plus data during auto-configuration is
Faulty encoder.
either <2 or >50,000.
The number of comms bits per
SM-Universal Select a different type of encoder.
16 period for a linear encoder
Encoder Plus Faulty encoder.
exceeds 255.
Check ambient temperature
74 All Solutions Module has overheated
Check cubicle ventilation

Trip Diagnosis
Automation (Applications) module category
Check value in Pr 15/16/17.50. The following table lists the possible error codes for the SM-Applications and SM-Applications Lite.
See the Diagnostics section in the relevant Solutions Module User Guide for more information.
Error Code Trip Description
39 User program stack overflow
40 Unknown error - please contact supplier
41 Parameter does not exist
42 Attempt to write to a read-only parameter
43 Attempt to read from a write-only parameter
44 Parameter value out of range
45 Invalid synchronisation modes
46 Unused
47 Synchronisation lost with CTSync Master
48 RS485 not in user mode
49 Invalid RS485 configuration
50 Maths error - divide by zero or overflow
51 Array index out of range
52 Control word user trip
53 DPL program incompatible with target
54 DPL task overrun
55 Unused
56 Invalid timer unit configuration
57 Function block does not exist
58 Flash PLC Storage corrupt
59 Drive rejected application module as Sync master
202,207,212
60 CTNet hardware failure. Please contact your supplier
61 CTNet invalid configuration
62 CTNet invalid baud-rate
63 CTNet invalid node ID
64 Digital Output overload
65 Invalid function block parameter(s)
66 User heap too large
67 RAM file does not exist or a non-RAM file id has been specified
68 The RAM file specified is not associated to an array
69 Failed to update drive parameter database cache in Flash memory
70 User program downloaded while drive enabled
71 Failed to change drive mode
72 Invalid CTNet buffer operation
73 Fast parameter initialisation failure
74 Over-temperature
75 Hardware unavailable
76 Module type cannot be resolved. Module is not recognised.
77 Inter-option module comms error with module in slot 1
80 Inter-option module comms error with module unknown slot
81 APC internal error
82 Communcations to drive faulty

Trip Diagnosis
Automation (I/O Expansion) module category
Check value in Pr 15/16/17.50. The following table lists the possible error codes for the SM-I/O Plus, SM-I/O Lite, SM-I/O Timer, SM-
PELV and SM-I/O 120V modules. See the Diagnostics section in the relevant Solutions Module User Guide for more information.
Error code Module Reason for fault
202,207,212
0 SM-I/O Lite No errors
1 SM-I/O Lite Digital output overload
2 SM-I/O Lite Analogue input 1 current input too high (>22mA) or too low (<3mA)
74 SM-I/O Lite Module over temperature
Fieldbus module category
Check value in Pr 15/16/17.50. The following table lists the possible error codes for the Fieldbus modules. See the Diagnostics
section in the relevant Solutions Module User Guide for more information.
Error code Module Trip Description
0 All No trip
52 SM-CANOpen User control word trip
61 SM-CANOpen Configuration error
65 SM-CANOpen Network loss
SM-CAN, SM-CANOpen Bus off error
69 SM-CAN No acknowledgement
70 All (except SM-Ethernet) Flash transfer error
SM-Ethernet No valid menu data available for the module from the drive
74 All Solutions Module over temperature
202,207,212
75 SM-Ethernet The drive is not responding
76 SM-Ethernet The Modbus connection has timed out
80 All Inter-option communications error
81 All Communications error to slot 1
84 SM-Ethernet Memory allocation error
85 SM-Ethernet File system error
86 SM-Ethernet Configuration file error
87 SM-Ethernet Language file error
98 All Internal watchdog error
99 All Internal software error
SLX.HF Solutions Module slot X trip: Solutions Module X hardware fault

Ensure Solutions Module is fitted correctly
200,205,210
Return Solutions Module to supplier
SLX.nF Solutions Module slot X trip: Solutions Module has been removed
Ensure Solutions Module is fitted correctly
203,208,213 Re-fit Solutions Module
Save parameters and reset drive
SL.rtd Solutions Module trip: Drive mode has changed and Solutions Module parameter routing is now incorrect
Press reset.
215
If the trip persists, contact the supplier of the drive.
SLX.tO Solutions Module slot X trip: Solutions Module watchdog timeout
Press reset.
201,206,211
If the trip persists, contact the supplier of the drive.
t010 User trip defined in 2nd processor Solutions Module code
10 SM-Applications program must be interrogated to find the cause of this trip

Trip Diagnosis
t040 to t089 User trip defined in 2nd processor Solutions Module code
40 to 89 SM-Applications program must be interrogated to find the cause of this trip
th Motor thermistor trip
Check motor temperature
24 Check thermistor continuity
Set Pr 7.15 = VOLt and reset the drive to disable this function
thS Motor thermistor short circuit
Check motor thermistor wiring
25 Replace motor / motor thermistor
Set Pr 7.15 = VOLt and reset the drive to disable this function
tunE* Autotune stopped before completion
The drive has tripped out during the autotune
18 The red stop key has been pressed during the autotune
The secure disable signal (terminal 31) was active during the autotune procedure
tunE1* The position feedback did not change or required speed could not be reached during the inertia test (see Pr 5.12)
Ensure the motor is free to turn i.e. brake was released
Check feedback device wiring is correct
11
Check feedback parameters are set correctly
Check encoder coupling to motor
tunE2* Position feedback direction incorrect or motor could not be stopped during the inertia test (see Pr 5.12)
Check motor cable wiring is correct
12 Check feedback device wiring is correct
Swap any two motor phases (closed loop vector only)
tunE3* Drive encoder commutation signals connected incorrectly or measured inertia out of range (see Pr 5.12)
Check motor cable wiring is correct
13
Check feedback device U,V and W commutation signal wiring is correct
tunE4* Drive encoder U commutation signal fail during an autotune
Check feedback device U phase commutation wires continuity
14
Replace encoder
tunE5* Drive encoder V commutation signal fail during an autotune
Check feedback device V phase commutation wires continuity
15
Replace encoder
tunE6* Drive encoder W commutation signal fail during an autotune
Check feedback device W phase commutation wires continuity
16
Replace encoder

Trip Diagnosis
tunE7* Motor number of poles set incorrectly
Check lines per revolution for feedback device
17
Check the number of poles in Pr 5.11 is set correctly
UP ACC Onboard PLC program: cannot access Onboard PLC program file on drive
Disable drive - write access is not allowed when the drive is enabled
98
Another source is already accessing Onboard PLC program - retry once other action is complete
UP div0 Onboard PLC program attempted divide by zero
90 Check program
UP OFL Onboard PLC program variables and function block calls using more than the allowed RAM space (stack overflow)
95 Check program
UP ovr Onboard PLC program attempted out of range parameter write
94 Check program
UP PAr Onboard PLC program attempted access to a non-existent parameter
91 Check program
UP ro Onboard PLC program attempted write to a read-only parameter
92 Check program
UP So Onboard PLC program attempted read of a write-only parameter
93 Check program
UP udF Onboard PLC program un-defined trip
97 Check program
UP uSEr Onboard PLC program requested a trip
96 Check program
UV DC bus under voltage threshold reached
Check AC supply voltage level
Drive voltage rating (Vac) Under voltage threshold (Vdc)
1 200 175
400 350
575 & 690 435
*If a tunE through to a tunE 7 trip occurs, then after the drive is reset the
drive cannot be made to run unless it is disabled via the Secure Disable
input (terminal 31), drive enable parameter (Pr 6.15) or the control word
(Pr 6.42 and Pr 6.43).

Table 13-2 Serial communications look-up table
No. Trip No. Trip No. Trip

1 UV 40 to 89 t040 to t089 189 EnC1
2 OV 90 UP div0 190 EnC2
3 OI.AC 91 UP PAr 191 EnC3
4 OI.br 92 UP ro 192 EnC4
5 PS 93 UP So 193 EnC5
6 Et 94 UP ovr 194 EnC6
7 O.SPd 95 UP OFL 195 EnC7
8 PS.10V 96 UP uSEr 196 EnC8
9 PS.24V 97 UP udF 197 EnC9
10 t010 98 UP ACC 198 EnC10
11 tunE1 99 t099 199 DESt
12 tunE2 101 t101 200 SL1.HF
13 tunE3 102 Oht4.P 201 SL1.tO
14 tunE4 111 to 160 t111 to t160 202 SL1.Er
15 tunE5 161 Enc11 203 SL1.nF
16 tunE6 162 Enc12 204 SL1.dF
17 tunE7 163 Enc13 205 SL2.HF
18 tunE 164 Enc14 206 SL2.tO
19 It.br 165 Enc15 207 SL2.Er
20 It.AC 166 Enc16 208 SL2.nF
21 O.ht1 167 Enc17 209 SL2.dF
22 O.ht2 168 to 175 t168 to t175 210 SL3.HF
23 O.CtL 176 EnP.Er 211 SL3.tO
24 th 178 C.bUSY 212 SL3.Er
25 thS 179 C.Chg 213 SL3.nF
26 O.Ld1 180 C.OPtn 214 SL3.dF
27 O.ht3 181 C.RdO 215 SL.rtd
30 SCL 182 C.Err 216 t216
31 EEF 168 to 175 t168 to t175 214 SL3.dF
32 PH 183 C.dAt 217 HF17
33 rS 184 C.FULL 218 HF18
35 CL.bit 185 C.Acc 219 HF19
36 SAVE.Er 186 C.rtg 220 to 232 HF20 to HF32
37 PSAVE.Er 187 C.TyP
38 t038 188 C.cPr

The trips can be grouped into the following categories. It should be noted
that a trip can only occur when the drive is not tripped or is already
tripped but with a trip with a lower priority number.
Table 13-3 Trip categories

Priority Category Trips Comments
These indicate fatal problems and cannot be reset. The drive is inactive after one of
1 Hardware faults HF01 to HF16 these trips and the display shows HFxx. The Drive Healthy relay opens and the serial
comms will not function.
HF17 to HF32, SL1.HF,
2 Non-resetable trips Cannot be reset. Requires the drive to be powered down.
SL2.HF, SL3.HF
3 EEF trip EEF Cannot be reset unless a code to load defaults is first entered in Pr xx.00 or Pr 11.43.
C.boot, C.Busy, C.Chg,
C.OPtn, C.RdO, C.Err, Can be reset after 1.0s
4 SMARTCARD trips
C.dat, C.FULL, C.Acc, SMARTCARD trips have priority 5 during power-up
C.rtg, C.TyP, C.cpr
Can be reset after 1.0s
Encoder power supply
4 PS.24V, EnC1 These trips can only override the following priority 5 trips: EnC2 to EnC8 or Enc11 to
trips
Enc17
Can be reset after 1.0s, but the drive cannot be made to run unless it is disabled via the
5 Autotune tunE, tunE1 to tunE7 Secure Disable input (terminal 31), Drive enable (Pr 6.15) or the Control word (Pr 6.42
and Pr 6.43).
Normal trips with OI.AC, OI.Br, OIAC.P,
5 Can be reset after 10.0s
extended reset OIBr.P, OIdC.P
All other trips not
5 Normal trips Can be reset after 1.0s
included in this table
th, thS, Old1, cL2, cL3,
5 Non-important trips If Pr 10.37 is 1 or 3 the drive will stop before tripping
SCL
5 Phase loss PH The drive attempts to stop before tripping
Drive over-heat based The drive attempts to stop before tripping, but if it does not stop within 10s the drive will
5 O.ht3
on thermal model automatically trip
Under voltage trip cannot be reset by the user, but is automatically reset by the drive
6 Self-resetting trips UV
when the supply voltage is with specification
Although the UV trip operates in a similar way to all other trips, all drive 13.4 Alarm indications
functions can still operate but the drive cannot be enabled. The following
differences apply to the UV trip: In any mode an alarm flashes alternately with the data displayed on the
1. Power-down save user parameters are saved when UV trip is 2nd row when one of the following conditions occur. If action is not taken
activated except when the main high voltage supply is not active to eliminate any alarm except "Autotune" the drive may eventually trip.
(i.e. operating in Low Voltage DC Supply Mode, Pr 6.44 = 1). Table 13-4 Alarm indications
2. The UV trip is self-resetting when the DC bus voltage rises above
Lower
the drive restart voltage level. If another trip is active instead of UV at Description
display
this point, the trip is not reset.
3. The drive can change between using the main high voltage supply br.rS Braking resistor overload
and low voltage DC supply only when the drive is in the under Braking resistor I2t accumulator (Pr 10.37) in the drive has reached
voltage condition (Pr 10.16 = 1). The UV trip can only be seen as 75.0% of the value at which the drive will trip and the braking IGBT is
active if another trip is not active in the under voltage condition. active.
4. When the drive is first powered up a UV trip is initiated if the supply Heatsink or control board or inverter IGBT over
Hot
voltage is below the restart voltage level and another trip is not temperature alarms are active
active. This does not cause save power down save parameters to be • The drive heatsink temperature has reached a threshold and the
saved at this point. drive will trip O.ht2 if the temperature continues to rise (see the
O.ht2 trip).
Or
• The ambient temperature around the control PCB is approaching
the over temperature threshold (see the O.CtL trip).
OVLd Motor overload
The motor I2 t
accumulator in the drive has reached 75% of the value at
which the drive will be tripped and the load on the drive is >100%

13.5 Status indications 13.6 Displaying the trip history

Table 13-5 Status indications The drive retains a log of the last 10 trips that have occurred in Pr 10.20
to Pr 10.29 and the corresponding multi-module drive module number
Upper Drive output (Pr 6.49 = 1) or the trip time (Pr 6.49 = 0) for each trip in Pr 10.41 to
Description
display stage Pr 10.51. The time of the trip is recorded from the powered-up clock (if
ACt Regeneration mode active Pr 6.28 = 0) or from the run time clock (if Pr 6.28 = 1).
The regen unit is enabled and synchronised to the Enabled Pr 10.20 is the most recent trip, or the current trip if the drive is in a trip
supply. condition (with the module number or trip time stored in Pr 10.41 and
ACUU AC Supply loss Pr 10.42). Pr 10.29 is the oldest trip (with the module number or trip time
stored in Pr 10.51). Each time a new trip occurs, all the parameters
The drive has detected that the AC supply has been Enabled
lost and is attempting to maintain the DC bus voltage move down one, such that the current trip (and time) is stored in
Pr 10.20 (and Pr 10.41 to Pr 10.42) and the oldest trip (and time) is lost
by decelerating the motor.
out of the bottom of the log.
*Auto
Autotune in progress If any parameter between Pr 10.20 and Pr 10.29 inclusive is read by
tunE
Enabled serial communications, then the trip number in Table 13.3 Unidrive SP
The autotune procedure has been initialised. trip codes on page 74 is the value transmitted.
*‘Auto’ and ‘tunE’ will flash alternatively on the display.
dc DC applied to the motor
Enabled
The drive is applying DC injection braking.
dEC Decelerating
Enabled
The drive is decelerating the motor.
inh Inhibit
The drive is inhibited and cannot be run. Disabled
The drive enable signal is not applied to terminal 31 or
Pr 6.15 is set to 0.
PLC Onboard PLC program is running
An Onboard PLC program is fitted and running. Not applicable
The lower display will flash ‘PLC’ once every 10s.
POS Positioning
Enabled
The drive is positioning/orientating the motor shaft.
rdY Ready
Disabled
The drive is ready to be run.
run Running
Enabled
The drive is running.
SCAn Scanning
OL> The drive is searching for the motor frequency
when synchronising to a spinning motor. Enabled
Regen> The drive is enabled and is synchronising to
the line.
StoP Stop or holding zero speed
The drive is holding zero speed.
Enabled
Regen> The drive is enabled but the AC voltage is
too low, or the DC bus voltage is still rising or falling.
triP Trip condition
The drive has tripped and is no longer controlling the Disabled
motor. The trip code appears on the lower display.
Table 13-6 Solutions Module and SMARTCARD status indications

at power-up
Lower
Description
display
boot
A parameter set is being transferred from the SMARTCARD to the
drive during power-up.
cArd
The drive is writing a parameter set to the SMARTCARD during power-
up.
For further information, please refer to section 11.2.3 Auto saving
parameter changes (Pr 11.42 = Auto (3)) on page 67.
loAding
The drive is writing information to a Solutions Module.

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EF www.controltechniques.

Part Number: xxxx-xxxx-xx

Drive software version

Copyright © May 2006 Control Techniques Drives Limited

4 Lift software functions

5 Lift software compensation

4 Unidrive SP Elevator User Guide

11 SMARTCARD operation ......................66

12 Commissioning software tools ..........71

Unidrive SP Elevator User Guide 5

Control Techniques Ltd

SP1401 SP1402 SP1403 SP1404 SP1405 SP1406

SP3501 SP3502 SP3503 SP3504 SP3505 SP3506 SP3507 W. Drury

Electromagnetic compatibility. Generic emission

Electromagnetic compatibility. Generic immunity

Electromagnetic compatibility (EMC). Limits. Limits

Electromagnetic compatibility (EMC). Limits.

6 Unidrive SP Elevator User Guide

Control Techniques Ltd

SP4201 SP4202 SP4203

SP4601 SP4602 SP4603 SP4604 SP4605 SP4606

Unidrive SP Elevator User Guide 7

Control Techniques Ltd

Adjustable speed electrical power drive systems -

Adjustable speed electrical power drive systems.

Electromagnetic compatibility (EMC). Generic

8 Unidrive SP Elevator User Guide

Control Techniques Ltd

SP8411 SP8412 SP8413 SP8414

Adjustable speed electrical power drive systems -

Adjustable speed electrical power drive systems.

*Clause 5.2.3.8 of EN 61800-5-1:2003 (breakdown of components test)

Unidrive SP Elevator User Guide 9

1 Safety Information 1.4 Environmental limits

10 Unidrive SP Elevator User Guide

Fuses Isolation device

Unidrive SP Elevator User Guide 11

Encoder phase angle (servo mode only)

Power down the drive before fitting / removing the

SECURE DISABLE function

The control circuits are isolated from the power circuits in

If the control circuits are to be connected to other circuits

To avoid the risk of fire when the drive is surface mounted

12 Unidrive SP Elevator User Guide

ABSOLUTE WITH OR WITHOUT

Elevator Controller SM-ELV Elevator Solution Feedback Additional I/O

Digital Interface SM Resolver Digital Inputs / Outputs

Open Loop Open Loop

2.1 Elevator system - Unidrive SP and 2.2 SM-ELV operating mode

Unidrive SP Elevator User Guide 13

14 Unidrive SP Elevator User Guide

2.5 Additional options

Feedback Automation Fieldbus

* A SMARTCARD is provided with the Unidrive SP as standard.

Unidrive SP Elevator User Guide 15

Table 2-2 Solutions Module identification

Applications Processor (with CTNet)

LED keypad option

16 Unidrive SP Elevator User Guide

Figure 3-2 Fitting and removal of Solutions Module