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Quick Start Guide

Unidrive M400
Frame sizes 1 to 4
Manufacturing Automation drive
Fast set-up and diagnosis with
real-text display, plus integrated
CODESYS based PLC

Part Number: 0478-0040-08


Issue: 8
Original Instructions
For the purposes of compliance with the EU Machinery Directive 2006/42/EC, the English version of this manual is
the Original Instructions. Manuals in other languages are Translations of the Original Instructions.

Documentation
Manuals are available to download from the following locations: http://www.drive-setup.com/ctdownloads

The information contained in this manual is believed to be correct at the time of printing and does not form part of
any contract. The manufacturer reserves the right to change the specification of the product and its performance,
and the contents of the manual, without notice.

Warranty and Liability


In no event and under no circumstances shall the manufacturer be liable for damages and failures due to misuse,
abuse, improper installation, or abnormal conditions of temperature, dust, or corrosion, or failures due to operation
outside the published ratings. The manufacturer is not liable for consequential and incidental damages. Contact the
supplier of the drive for full details of the warranty terms.

Environmental policy
Control Techniques Ltd operates an Environmental Management System (EMS) that conforms to the International
Standard ISO 14001.

Further information on our Environmental Policy can be found at: http://www.drive-setup.com/environment

Restriction of Hazardous Substances (RoHS)


The products covered by this manual comply with European and International regulations on the Restriction of Haz-
ardous Substances including EU directive 2011/65/EU and the Chinese Administrative Measures for Restriction of
Hazardous Substances in Electrical and Electronic Products.

Disposal and Recycling (WEEE)

When electronic products reach the end of their useful life, they must not be disposed of along
with domestic waste but should be recycled by a specialist recycler of electronic equipment.
Control Techniques products are designed to be easily dismantled into their major component
parts for efficient recycling. The majority of materials used in the product are suitable for
recycling.

Product packaging is of good quality and can be re-used. Large products are packed in wooden
crates. Smaller products are packaged in strong cardboard cartons which have a high recycled
fibre content. Cartons can be re-used and recycled. Polythene, used in protective film and bags
for wrapping the product, can be recycled. When preparing to recycle or dispose of any product
or packaging, please observe local legislation and best practice.
REACH legislation
EC Regulation 1907/2006 on the Registration, Evaluation, Authorisation and restriction of Chemicals (REACH)
requires the supplier of an article to inform the recipient if it contains more than a specified proportion of any
substance which is considered by the European Chemicals Agency (ECHA) to be a Substance of Very High
Concern (SVHC) and is therefore listed by them as a candidate for compulsory authorisation.

Further information on our compliance with REACH can be found at: http://www.drive-setup.com/reach

Registered Office
Nidec Control Techniques Ltd
The Gro
Newtown
Powys
SY16 3BE
UK
Registered in England and Wales. Company Reg. No. 01236886.
Copyright
The contents of this publication 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.

Copyright © March 2018 Nidec Control Techniques Ltd


Contents
1 Product information ....................................................................................9
1.1 Ratings .....................................................................................................................9
2 Options .......................................................................................................10
3 Mechanical installation .............................................................................11
4 Electrical installation .................................................................................14
4.1 AC supply requirements .........................................................................................14
4.2 External braking resistor ........................................................................................14
4.3 Ground leakage ......................................................................................................16
4.4 Control terminal configurations and wiring .............................................................17
4.5 EMC .......................................................................................................................23
4.6 Safe Torque Off (STO) ...........................................................................................24
5 Optional LCD keypad and display ............................................................25
5.1 Saving parameters .................................................................................................26
5.2 Restoring parameter defaults .................................................................................26
6 Basic parameters (Menu 0) .......................................................................27
6.1 Menu 0: Basic parameters .....................................................................................27
6.2 Unidrive M400 parameter descriptions ..................................................................34
7 Running the motor .....................................................................................58
8 Diagnostics ................................................................................................60
8.1 Alarm indications ....................................................................................................64
9 NV Media Card Operation .........................................................................65
10 Machine Control Studio ............................................................................66
11 UL listing information ................................................................................67
11.1 UL file reference .....................................................................................................67
11.2 Option modules, kits and accessories ....................................................................67
11.3 Enclosure ratings ...................................................................................................67
11.4 Mounting ................................................................................................................67
11.5 Environment ...........................................................................................................67
11.6 Electrical Installation ..............................................................................................67
11.7 Motor overload protection and thermal memory retention .....................................68
11.8 External Class 2 supply ..........................................................................................68

Unidrive M400 Quick Start Guide


Issue Number: 8
EU Declaration of Conformity
Nidec Control Techniques Ltd
The Gro
Newtown
Powys
UK
SY16 3BE
This declaration is issued under the sole responsibility of the manufacturer. The object of the
declaration is in conformity with the relevant Union harmonization legislation. The declaration applies
to the variable speed drive products shown below:

Model number Interpretation Nomenclature aaaa - bbc ddddde


M100, M101, M200, M201, M300, M400, M600, M700,
aaaa Basic series M701, M702, M708, M709, M751, M753, M754, F300, H300,
E200, E300, HS30, HS70, HS71, HS72, M000, RECT
bb Frame size 01, 02, 03, 04, 05, 06, 07, 08, 09, 10, 11
c Voltage rating 1 = 100 V, 2 = 200 V, 4 = 400 V, 5 = 575 V, 6 = 690 V
ddddd Current rating Example 01000 = 100 A
A = 6P Rectifier + Inverter (internal choke), D = Inverter, E =
e Drive format 6P Rectifier + Inverter (external choke),
T = 12P Rectifier + Inverter (external choke)
The model number may be followed by additional characters that do not affect the ratings.
The variable speed drive products listed above have been designed and manufactured in
accordance with the following European harmonized standards:

Adjustable speed electrical power drive systems - Part 5-1:


EN 61800-5-1:2007
Safety requirements - Electrical, thermal and energy
Adjustable speed electrical power drive systems - Part 3: EMC
EN 61800-3: 2004+A1:2012
requirements and specific test methods
Electromagnetic compatibility (EMC) - Part 6-2: Generic
EN 61000-6-2:2005
standards - Immunity for industrial environments
Electromagnetic compatibility (EMC) - Part 6-4: Generic
EN 61000-6-4: 2007+ A1:2011
standards - Emission standard for industrial environments
Electromagnetic compatibility (EMC) - Part 3-2: Limits for
EN 61000-3-2:2014 harmonic current emissions (equipment input current ≤16 A per
phase)
Electromagnetic compatibility (EMC) - Part 3-3: Limitation of
voltage changes, voltage fluctuations and flicker in public, low
EN 61000-3-3:2013
voltage supply systems, for equipment with rated current ≤16 A
per phase and not subject to conditional connection
EN 61000-3-2:2014 Applicable where input current < 16 A. No limits apply for professional
equipment where input power 1 kW.
These products comply with the Restriction of Hazardous Substances Directive (2011/65/EU), the
Low Voltage Directive (2014/35/EU) and the Electromagnetic Compatibility Directive (2014/30/EU).

Unidrive M400 Quick Start Guide 5


Issue Number: 8
G Williams
Vice President, Technology
Date: 6th September 2017

These electronic drive products are intended to be used with appropriate motors, controllers,
electrical protection components and other equipment to form complete end products or
systems. Compliance with safety and EMC regulations depends upon installing and
configuring drives correctly, including using the specified input filters.
The drives must be installed only by professional installers who are familiar with
requirements for safety and EMC. Refer to the Product Documentation. An EMC data sheet is
available giving detailed information. 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.

6 Unidrive M400 Quick Start Guide


Issue Number: 8
EU Declaration of Conformity
(including 2006 Machinery Directive)
Nidec Control Techniques Ltd
The Gro
Newtown
Powys
UK
SY16 3BE
This declaration is issued under the sole responsibility of the manufacturer. The object of the
declaration is in conformity with the relevant Union harmonization legislation. The declaration applies
to the variable speed drive products shown below:

Model No. Interpretation Nomenclature aaaa - bbc ddddde


aaaa Basic series M300, M400, HS30
bb Frame size 01, 02, 03, 04, 05, 06, 07, 08, 09
c Voltage rating 1 = 100 V, 2 = 200 V, 4 = 400 V, 5 = 575 V, 6 = 690 V
ddddd Current rating Example 01000 = 100 A
A = 6P Rectifier + Inverter (internal choke), D = Inverter, E =
e Drive format 6P Rectifier + Inverter (external choke),
T = 12P Rectifier + Inverter (external choke)
The model number may be followed by additional characters that do not affect the ratings.
This declaration relates to these products when used as a safety component of a machine.
Only the Safe Torque Off function may be used for a safety function of a machine. None of the
other functions of the drive may be used to carry out a safety function.
These products fulfil all the relevant provisions of the Machinery Directive 2006/42/EC and the
Electromagnetic Compatibility Directive (2014/30/EU).
EC type examination has been carried out by the following notified body:

TUV Rheinland Industrie Service GmbH


Am Grauen Stein
D-51105 Köln
Germany
EC type-examination certificate numbers:
01/205/5387.01/15 dated 2015-01-29
01/205/5383.02/15 dated 2015-04-21
Notified body identification number: 0035

Unidrive M400 Quick Start Guide 7


Issue Number: 8
The harmonized standards used are shown below:
Adjustable speed electrical power drive systems - Part 5-1: Safety
EN 61800-5-1:2007
requirements - Electrical, thermal and energy
Adjustable speed electrical power drive systems - Part 5-2: Safety
EN 61800-5-2:2007
requirements - Functional
EN ISO 13849-1:2008 + Safety of Machinery, Safety-related parts of control systems,
AC:2009 General principles for design
Safety of machinery, Safety-related parts of control systems.
EN ISO 13849-2:2008
Validation
Adjustable speed electrical power drive systems - Part 3: EMC
EN 61800-3: 2004+A1:2012
requirements and specific test methods
EN 62061:2005 + AC:2010 + Safety of machinery, Functional safety of safety related electrical,
A1:2013 electronic and programmable electronic control systems
EN60204-1:2006 + A1:2009 Safety of machinery — Electrical equipment of machines —Part 1:
+ AC:2010 General requirements
Functional safety of electrical/ electronic/programmable electronic
EN 61508 Parts 1 - 7:2010
safety-related systems
Person authorised to complete the technical file:
P Knight
Conformity Engineer
Newtown, Powys, UK

G. Williams
Vice President, Technology
Date: 6th September 2017
Place: Newtown, Powys, UK

IMPORTANT NOTICE
These electronic drive products are intended to be used with appropriate motors, controllers,
electrical protection components and other equipment to form complete end products or
systems. It is the responsibility of the installer to ensure that the design of the complete
machine, including its safety-related control system, is carried out in accordance with the
requirements of the Machinery Directive and any other relevant legislation. The use of a
safety-related drive in itself does not ensure the safety of the machine. Compliance with
safety and EMC regulations depends upon installing and configuring drives correctly,
including using the specified input filters. The drive must be installed only by professional
installers who are familiar with requirements for safety and EMC. The assembler is
responsible for ensuring that the end product or system complies with all relevant laws in the
country where it is to be used. For more information regarding Safe Torque Off, refer to the
Product Documentation.

8 Unidrive M400 Quick Start Guide


Issue Number: 8
1 Product information
1.1 Ratings
Max input Nominal cable size
Output current
Max. fuse rating European USA
Input cont Max.
Model phases input cont Nominal Motor
current 1 Ph 3 Ph Input Output Input Output
output power power
current
ph A A A mm2 mm2 AWG AWG A kW hp
01100017 1 8.7 10 1 1 16 16 1.7 0.25 0.33
01100024 1 11.1 16 1 1 14 16 2.4 0.37 0.5
01200017 1 4.5 6 1 1 16 16 1.7 0.25 0.33
01200024 1 5.3 6 1 1 16 16 2.4 0.37 0.5
01200033 1 8.3 10 1 1 16 16 3.3 0.55 0.75
01200042 1 10.4 16 1 1 16 16 4.2 0.75 1
02100042 1 18.8 20 2.5 1 12 16 4.2 0.75 1
02100056 1 24 25 4 1 10 16 5.6 1.1 1.5
02200024 1/3 5.3/4.1 6 6 1 1 16 16 2.4 0.37 0.5
02200033 1/3 8.3/6.7 10 10 1 1 16 16 3.3 0.55 0.75
02200042 1/3 10.4/7.5 16 10 1 1 16 16 4.2 0.75 1
02200056 1/3 14.9/11.3 20 15 2.5/1.5 1 12/14 16 5.6 1.1 1.5
02200075 1/3 18.1/13.5 20 15 2.5 1 12 16 7.5 1.5 2
02400013 3 2.4 6 1 1 16 16 1.3 0.37 0.5
02400018 3 2.9 6 1 1 16 16 1.8 0.55 0.75
02400023 3 3.5 6 1 1 16 16 2.3 0.75 1
02400032 3 5.1 6 1 1 16 16 3.2 1.1 1.5
02400041 3 6.2 10 1 1 16 16 4.1 1.5 2
03200100 1/3 23.9/17.7 25 20 4 1.5 10/12 14 10 2.2 3
03400056 3 8.7 10 1 1 14 16 5.6 2.2 3
03400073 3 12.2 16 1.5 1 12 16 7.3 3 3
03400094 3 14.8 16 2.5 1.5 12 14 9.4 4 5
04200133 1/3 23.7/16.9 25 20 4/2.5 2.5 10 12 13.3 3 3
04200176 3 21.3 25 4 2.5 10 12 17.6 4 5
04400135 3 16.3 20 2.5 2.5 10 12 13.5 5.5 7.5
04400170 3 20.7 25 4 2.5 10 12 17 7.5 10

NOTE The nominal cable sizes shown in the table above, are provided as a guide only. Ensure
that the cables used conform to the local wiring regulations.

Unidrive M400 Quick Start Guide 9


Issue Number: 8
Figure 1-1 Model number structure

Derivative Electrical Specifications


M400 - 03 4 00073 A

Product line:
Drive Format :
A – AC in AC out
Frame size:

Current Rating :
Voltage rating:
Heavy Duty current rating x10
1 - 100 V (100 - 120 ± 10 %)
2 - 200 V (200 - 240 ± 10 %)
4 - 400 V (380 - 480 ± 10 %)

2 Options
Table 2-1 System Integration (SI) option module identification
Type Option module Color Name Further details

Purple SI-PROFIBUS

Medium
SI-DeviceNet
Grey

Light Grey SI-CANopen

Fieldbus

Beige SI-Ethernet See relevant option


module User Guide

Brown Red SI-EtherCAT

Yellow
SI-PROFINET V2
Green

Automation
Orange SI-I/O
(I/O expansion)

10 Unidrive M400 Quick Start Guide


Issue Number: 8
Table 2-2 Adaptor Interface (AI) option module identification
Type Option module Name Further Details
AI-485 Adaptor
Communications
AI-485 24V Adaptor
See Control User Guide
AI-Backup Adaptor
Backup
AI-Smart Adaptor

3 Mechanical installation
The drives can be panel mounted with 0 mm space between the drives. For further information on
mechanical installation refer to the Power Installation Guide.

A B A M2

Cover H M1
release

W
B
M2

To remove the terminal cover, use a flat bladed screwdriver to rotate the terminal cover locating clip
by approximately 30° in a counter clockwise direction, and then slide the cover down.

Drive H W D M1 M2  A B*
Size mm in mm in mm in mm in mm in mm in mm in mm in
1 160 6.30 75 2.95 130 5.12 143 5.70 53 2.08 5 0.2
2 205 8.07 75 2.95 150 5.91 194 7.63 55 2.17 5 0.2
0 0.00 100 3.93
3 226 8.90 90 3.54 160 6.30 215 8.46 70.7 2.80 5 0.2
4 277 10.91 115 4.53 175 6.89 265 10.43 86 3.40 6 0.23

NOTE A minimum clearance of 100 mm (3.94 in) above and below Frame 01 to 04 products is
required for applications where the product is subjected to rated load and rated ambient
temperature.

Unidrive M400 Quick Start Guide 11


Issue Number: 8
NOTE * A minimum clearance of 50 mm (1.97 in) above and below Frame 01 to 04 products is
permissible in applications where either the ambient operating temperature is 35 °C
(95 °F) or less or the average output current is derated by 20 %.

NOTE Derating for reduced clearances is to be applied in addition to the derating for increased
switching frequency if operating above 3 kHz. Refer to the Power Installation Guide for the
current derating due to an increase in switching frequency.

NOTE If Din rail mounting is used in an installation, then mounting screws should be used to
secure the drive to the back plate.

Table 3-1 Tools required


Tool Location Size 1 Size 2 Size 3 Size 4
Small terminal screwdriver Control, relay and STO terminals    
3 mm Flat-bladed screwdriver Power terminals 
5 mm Flat-bladed screwdriver Terminal cover    
4 mm Flat-bladed screwdriver AC power terminals 
Philips screwdriver Power terminals   
Torx 10 driver EMC & MOV screws    
Torx 15 driver Fan screw 
Torx 20 driver Fan screw   
Table 3-2 Recommended torque settings
Terminal block
Model size Torque settings
description
Control terminals 0.2 N m (0.15 Ib ft)
All Relay terminals 0.5 N m (0.37 Ib ft)
Ground terminals 1.5 N m (1.10 Ib ft)
1 0.5 N m (0.37 Ib ft)
Power terminals
2, 3, 4 1.4 N m (1.03 Ib ft)

Table 3-3 Tightening torque for mounting feet


Drive size Tightening torque
1 to 3 1.3 N m (1 lb ft) to 1.6 N m (1.2 lb ft)
4 2.5 N m (1.8 lb ft) to 2.8 N m (2.1 lb ft)

12 Unidrive M400 Quick Start Guide


Issue Number: 8
Figure 3-1 Feature diagram (size 2 shown)

Key
1. Rating label (On side of drive)
2. Identification label
3. Option module connection
4. Relay connections
1
5. Control connections
4 6. Braking terminal

5 7. Internal EMC filter screw*


13
8. DC bus +
7 3
9. DC bus -
10. Motor connections
11 11. AC supply connections
6 12. Ground connections
13. Safe Torque Off connections
10 8
9

12

* Before removing the screw, refer to section 4.5 EMC on page 23.

Unidrive M400 Quick Start Guide 13


Issue Number: 8
4 Electrical installation
An overlay of the electrical connections / terminals is included on the back page of this manual.

4.1 AC supply requirements


Voltage:
100 V drive: 100 V to 120 V ±10 %
200 V drive: 200 V to 240 V ±10 %
400 V drive: 380 V to 480 V ±10 %
Number of phases: 3
Maximum supply imbalance: 2 % negative phase sequence (equivalent to 3 % voltage imbalance
between phases).
Frequency range: 45 to 66 Hz
For UL compliance only, the maximum supply symmetrical fault current must be limited to 100 kA.

NOTE On the size 2 110 V drives or when connecting single phase to a dual rated 200 V unit, the
supply should be connected to L1 and L3. Also the DC bus (-) terminal on 110 V drives
has no internal connection. The 110 V drives use a voltage doubler circuit on the input,
therefore the default for Motor Rated Voltage (00.008) is 230 V.

4.2 External braking resistor


Overload protection
When an external braking resistor is used, it is essential that an overload protection device
is incorporated in the braking resistor circuit; as shown in the electrical diagram on the
WARNING back cover.

4.2.1 Minimum resistance values and peak power rating for the braking resistor
at 40 °C (104 °F)
Table 4-1 Braking resistor resistance and power rating (100 V)
Minimum Instantaneous Continuous
Model resistance* power rating power rating
Ω kW kW
01100017 0.25
130 1.1
01100024 0.37
02100042 0.75
68 2.2
02100056 1.1
* Resistor tolerance: ±10 %

14 Unidrive M400 Quick Start Guide


Issue Number: 8
Table 4-2 Braking resistor resistance and power rating (200 V)
Minimum Instantaneous Continuous
Model resistance* power rating power rating
Ω kW kW
01200017 0.25
01200024 0.37
130 1.1
01200033 0.55
01200042 0.75
02200024 0.37
02200033 0.55
02200042 0.75
68 2.2
02200056 1.1
02200075 1.5
03200100 45 3.3 2.2
04200133 3.0
22 6.0
04200176 4.0

Table 4-3 Braking resistor resistance and power rating (400 V)


Minimum Instantaneous Continuous
Model resistance* power rating power rating
Ω kW kW
02400013 0.37
02400018 0.55
02400023 270 2.2 0.75
02400032 1.1
02400041 1.5
03400056 2.2
03400073 100 6.0 3
03400094 4
04400135 5.5
50 11.2
04400170 7.5
* Resistor tolerance: ±10 %

Unidrive M400 Quick Start Guide 15


Issue Number: 8
4.3 Ground leakage
The ground leakage current depends upon whether the internal EMC filter is installed or not. The
drive is supplied with the filter installed. Instructions for removing the internal filter are given in
section 4.5.2 Removing the internal EMC filter on page 23.
With internal filter installed:
Size 1:
8.1 mA* AC at 110 V, 50 Hz
9.5 mA* AC at 230 V, 50 Hz
Size 2:
13 mA* AC at 110 V, 50 Hz (1 phase)
6.3 mA* AC at 230 V, 50 Hz (3 phase)
17.5 mA* AC at 230 V, 50 Hz (1 phase)
9.2 mA* AC at 415 V, 50 Hz (3 phase)
Size 3:
17.1 mA* AC at 230 V 50 Hz (1 phase)
5.9 mA* AC at 230 V 50 Hz (3 phase)
5.7 mA* AC at 415 V 50 Hz (3 phase)
Size 4:
21.3 mA* AC at 230 V 50 Hz (1 phase)
9.7 mA* AC at 230 V 50 Hz (3 phase)
13.3 mA* AC at 415 V 50 Hz (3 phase)

*Proportional to the supply voltage and frequency.


With internal filter removed:
Size 1: <1 mA
Size 2: 110 V: < 1.2 mA
230 V: < 1 mA
415 V: < 2.3 mA
Size 3: 230 V: < 1.6 mA
415 V: < 1 mA
Size 4: < 1 mA

NOTE The above leakage currents are just the leakage currents of the drive and do not take into
account any leakage currents of the motor or motor cable.

When the internal filter is installed the leakage current is high. In this case a permanent
fixed ground connection must be provided, or other suitable measures taken to prevent a
WARNING
safety hazard occurring if the connection is lost.

When the leakage current exceeds 3.5 mA, a permanent fixed ground connection must be
provided using two independent conductors each with a cross-section equal to or
exceeding that of the supply conductors. The drive is provided with two ground
WARNING connections to facilitate this. Both ground connections are necessary to meet EN 61800-
5-1: 2007.

16 Unidrive M400 Quick Start Guide


Issue Number: 8
4.3.1 Use of residual current device (RCD)
There are three common types of ELCB / RCD:
1. AC - detects AC fault currents
2. A - detects AC and pulsating DC fault currents (provided the DC current reaches zero at least
once every half cycle)
3. B - detects AC, pulsating DC and smooth DC fault currents
• Type AC should never be used with drives.
• Type A can only be used with single phase drives
• Type B must be used with three phase drives

Only type B ELCB / RCD are suitable for use with 3 phase inverter drives.

WARNING

If an external EMC filter is used with an ELCB / RCD, a delay of at least 50 ms should be
incorporated to ensure spurious trips are not seen. The leakage current is likely to exceed the trip
level if all of the phases are not energized simultaneously.

4.4 Control terminal configurations and wiring


00.005 Drive Configuration
RW Txt PT US
AV (0), AI (1), AV Preset (2),
OL
AI Preset (3), Preset (4),
 Keypad (5), Keypad Ref (6),  AV (0)
Electronic Pot (7),
RFC-A
Torque Control (8), Pid Control (9)

The setting of Pr 00.005 automatically sets the drive configuration

Value Text Description


Analog input 1 (voltage) or Analog input 2 (voltage) selected by
0 AV
terminal (Local/Remote)
Analog input 1 (current) or Analog input 2 (voltage) selected by
1 AI
terminal (Local/Remote)
2 AV Preset Analog input 1 (voltage) or 3 presets selected by terminal
3 AI Preset Analog input 1 (current) or 3 presets selected by terminal
4 Preset Four presets selected by terminal
5 Keypad Keypad reference
6 Keypad Ref Keypad reference with terminal control
7 Electronic Pot Electronic Potentiometer
Torque mode, Analog input 1 (current frequency reference) or
8 Torque Control
Analog input 2 (voltage torque reference) selected by terminal
PID mode, Analog input 1 (current feedback source) and Analog
9 Pid Control
input 2 (voltage reference source)
Action will only occur if the drive is inactive and no User Actions are running. Otherwise, the
parameter will return to its pre altered value on exit from edit mode. All parameters are saved if this
parameter changes.

Unidrive M400 Quick Start Guide 17


Issue Number: 8
Figure 4-1 Pr 00.005 = AV
1 0V

10k Voltage speed reference


2
input (AI 1+)

3 AI 1-

4 + 10 V output

10k Voltage speed


5
reference input (AI 2)

6 0V

Analog output 1
7
(motor frequency)
Analog output 2
8
(motor active current)

9 + 24 V output

10 Digital output
(zero frequency)

11 Unassigned

12 Run forward

13 Run reverse

Analog input 1/
14
input 2 select

15 Jog Forward

16 Unassigned

17 + 24 V output

Figure 4-2 Pr 00.005 = AI

1 0V

Current speed Current speed reference


reference input 2
input (AI 1+)

3 AI 1-

4 + 10 V output

10k Voltage speed


5
reference input (AI 2)

6 0V

Analog output 1
7
(motor frequency)
Analog output 2
8
(motor active current)

9 + 24 V output

10 Digital output
(zero frequency)

11 Unassigned

12 Run forward

13 Run reverse

Analog input 1/
14
input 2 select

15 Jog Forward

16 Unassigned

17 + 24 V output

18 Unidrive M400 Quick Start Guide


Issue Number: 8
Figure 4-3 Pr 00.005 = AV Preset

1 0V

10k Voltage speed reference


2
input (AI 1+)

3 AI 1-

4 + 10 V output

5 Reference select

6 0V

Analog output 1
7
(motor frequency)
Analog output 2
8
(motor active current)

9 + 24 V output

10 Digital output
(zero frequency)

11 Unassigned

12 Run forward

13 Run reverse

14 Reference select

15 Jog Forward Terminal 5 Terminal 14 Reference selected


0 0 Analog reference 1*
16 Unassigned 0 1 Preset speed 2*
1 0 Preset speed 3*
17 + 24 V output 1 1 Preset speed 4*

Figure 4-4 Pr 00.005 = AI Preset


1 0V

Current speed Current speed reference


reference input 2
input (AI 1+)

3 AI 1-

4 + 10 V output

5 Reference select

6 0V

Analog output 1
7
(motor frequency)
Analog output 2
8
(motor active current)

9 + 24 V output

10 Digital output
(zero frequency)

11 Unassigned

12 Run forward

13 Run reverse

14 Reference select

15 Jog Forward Terminal 5 Terminal 14 Reference selected


0 0 Analog reference 1*
16 Unassigned 0 1 Preset speed 2*
1 0 Preset speed 3*
17 + 24 V output 1 1 Preset speed 4*

* Refer to the Control User Guide.

Unidrive M400 Quick Start Guide 19


Issue Number: 8
Figure 4-5 Pr 00.005 = Preset

1 0V

Voltage speed reference


2
input (AI 1+)

3 AI 1-

4 + 10 V output

Reference select
5

6 0V

Analog output 1
7
(motor frequency)
Analog output 2
8
(motor active current)

9 + 24 V output

10 Digital output
(zero frequency)

11 Unassigned

12 Run forward

13 Run reverse

14 Reference select

15 Jog Forward Terminal 5 Terminal 14 Reference selected


0 0 Preset speed 1*
16 Unassigned 0 1 Preset speed 2*
1 0 Preset speed 3*
17 + 24 V output 1 1 Preset speed 4*

* Refer to the Control User Guide.


Figure 4-6 Pr 00.005 = Keypad
1 0V When Pr 00.005 is set to Keypad, to run in
2
Voltage speed reference reverse:
input (AI 1+)

3 AI 1- • Set Pr 00.017 to On
The Keypad reference can now be set to a
4 + 10 V output
negative frequency to run the motor in the
5
Voltage speed reference
input (AI 2) reverse direction.
6 0V

Analog output 1
7
(motor frequency)
Analog output 2
8
(motor active current)

9 + 24 V output

10 Digital output
(zero frequency)

11 Unassigned

12 Run forward

13 Run reverse

14 Analog input 1/
input 2 select

15 Jog Forward

16 Unassigned

17 + 24 V output

20 Unidrive M400 Quick Start Guide


Issue Number: 8
Figure 4-7 Pr 00.005 = Keypad Ref

1 0V

Voltage speed reference


2
input (AI 1+)

3 AI 1-

4 + 10 V output

Voltage speed reference


5
input (AI 2)

6 0V

Analog output 1
7
(motor frequency)
Analog output 2
8
(motor active current)

9 + 24 V output

10 Digital output
(zero frequency)

11 Unassigned

12 Run forward

13 Run reverse

14 Analog input 1/
input 2 select

15 Jog Forward

16 Unassigned

17 + 24 V output

Figure 4-8 Pr 00.005 = Electronic Pot


1 0V When Pr 00.005 is set to Electronic Pot, the
2
Voltage speed reference following parameters may need to be
input (AI 1+)
adjusted:
3 AI 1-
• Motorized pot up/down rate (s/100 %)*
4 + 10 V output
• Motorized pot bipolar select (0 =
5 DOWN unipolar, 1 = bipolar)*
6 0V
• Motorized pot mode: 0 = zero at power-
up, 1 = last value at power-up, 2 = zero
Analog output 1
7
(motor frequency) at power-up and only change when
8
Analog output 2
(motor active current)
drive is running, 3 = last value at power-
up and only change when drive is
+ 24 V output
9
running, 4 = zero at power-up and drive
10 Digital output
(zero frequency)
disabled, only change when drive is
11 Unassigned
running.

12 Run forward

13 Run reverse

14 UP

15 Jog Forward

16 Unassigned

17 + 24 V output

* Refer to the Control User Guide.

Unidrive M400 Quick Start Guide 21


Issue Number: 8
Figure 4-9 Pr 00.005 = Torque Control
1 0V

Current speed
2
Current speed reference When torque mode is selected and
reference input input (AI 1+)
the drive is connected to an
3 AI 1-
unloaded motor, the motor speed
4 + 10 V output
WARNING may increase rapidly to the
Torque reference maximum speed (Pr 00.002 +10 %)
10k 5
input (AI 2)

6 0V

Analog output 1
7
(motor frequency)
Analog output 2
8
(motor active current)

9 + 24 V output

10 Digital output
(zero frequency)

11 Unassigned

12 Run forward

13 Run reverse

14 Torque mode select

15 Jog Forward

16 Unassigned

17 + 24 V output

Figure 4-10 Pr 00.005 = PID Control


1 0V When Pr 00.005 is set to Pid, the following
4-20 mA PID PID feedback
parameters may need to be adjusted:
2
feedback input input (AI 1+) • PID proportional gain*
3 AI 1- • PID integral gain*
• PID feedback invert*
4 + 10 V output
• PID output upper limit (%)*
0-10 V PID
reference input
5
PID reference
input (AI 2) • PID output lower limit (%)*
6 0V

Analog output 1
7
(motor frequency)
Analog output 2
8
(motor active current)

9 + 24 V output

10 Digital output
(zero frequency)

11 Unassigned

12 Run forward

13 Run reverse

14 PID enable

15 Jog Forward

16 Unassigned

17 + 24 V output

* Refer to the Control User Guide.

22 Unidrive M400 Quick Start Guide


Issue Number: 8
4.5 EMC
4.5.1 Internal EMC filter
It is recommended that the internal EMC filter be kept in place unless there is a specific reason for
removing it. If the drive is used as a motoring drive as part of a regen system, then the internal EMC
filter must be removed.
The internal EMC filter reduces radio-frequency emission into the line power supply.
For longer motor cables, the filter continues to provide a useful reduction in emission levels and
when used with any length of shielded motor cable up to the limit for the drive, it is unlikely that
nearby industrial equipment will be disturbed. It is recommended that the filter be used in all
applications unless the instructions given above require it to be removed, or where the ground
leakage current is unacceptable.
4.5.2 Removing the internal EMC filter

The supply must be disconnected before removing the internal EMC filter.
WARNING

Figure 4-11 Removal of the internal EMC filter (size 2 shown)

To electrically disconnect the internal EMC filter, remove the screw as shown above (1).
4.5.3 Further EMC precautions
Further EMC precautions are required if more stringent EMC emission requirements apply:
• Operation in the first environment of EN 61800-3: 2004+A1:2012
• Conformity to the generic emission standards
• Equipment which is sensitive to electrical interference operating nearby
In this case it is necessary to use:
• The optional external EMC filter
• A shielded motor cable, with shield clamped to the grounded metal panel

Unidrive M400 Quick Start Guide 23


Issue Number: 8
• A shielded control cable, with shield clamped to the grounded metal panel
Full instructions are given in the Power Installation Guide.
A full range of external EMC filters are also available for use with Unidrive M400, shown in the Power
Installation Guide.

4.6 Safe Torque Off (STO)


The Safe Torque Off function provides a means for preventing the drive from generating torque in the
motor with a very high level of integrity. It is suitable for incorporation into a safety system for a
machine. It is also suitable for use as a conventional drive enable input.
The safety function is active when either one or both STO inputs are in the logic-low state as
specified in the control terminal specification. The function is defined according to EN 61800-5-2 and
IEC 61800-5-2 as follows. (In these standards a drive offering safety-related functions is referred to
as a PDS(SR)):
'Power, that can cause rotation (or motion in the case of a linear motor), is not applied to the motor.
The PDS(SR) will not provide energy to the motor which can generate torque (or force in the case of
a linear motor)'.
This safety function corresponds to an uncontrolled stop in accordance with stop category 0 of IEC
60204-1. The Safe Torque Off function makes use of the special property of an inverter drive with an
induction motor, which is that torque cannot be generated without the continuous correct active
behavior of the inverter circuit. All credible faults in the inverter power circuit cause a loss of torque
generation.
The safe torque off function is fail-safe, so when the Safe Torque Off input is disconnected the drive
will not operate the motor, even if a combination of components within the drive has failed. Most
component failures are revealed by the drive failing to operate. Safe Torque Off is also independent
of the drive firmware.

The design of safety-related control systems must only be done by personnel with the
required training and experience. The Safe Torque Off function will only ensure the safety
of a machine if it is correctly incorporated into a complete safety system. The system must
WARNING be subject to a risk assessment to confirm that the residual risk of an unsafe event is at
an acceptable level for the application

Safe Torque Off does not provide electrical isolation. The supply to the drive must be
disconnected by an approved isolation device before gaining access to power
WARNING
connections.

It is essential to observe the maximum permitted voltage of 5 V for a safe low (disabled)
state of Safe Torque Off. The connections to the drive must be arranged so that voltage
drops in the 0 V wiring cannot exceed this value under any loading condition. It is strongly
WARNING recommended that the Safe Torque Off circuits be provided with a dedicated 0 V
conductors which should be connected to terminals 32 and 33 at the drive.
For more information regarding the Safe Torque Off input, please see the Control User Guide.

24 Unidrive M400 Quick Start Guide


Issue Number: 8
5 Optional LCD keypad and display
The keypad and display provide information to the user regarding the operating status of the drive,
alarms and trip codes, and provide the means for changing parameters, stopping and starting the
drive, and the ability to perform a drive reset.
Figure 5-1 Unidrive M400 keypad detail

5 1

3 4

(1) The Enter button is used to enter parameter view or edit mode, or to accept a parameter edit.
(2) The Navigation buttons can be used to select individual parameters or to edit parameter values.
In keypad mode, the ‘Up’ and ‘Down’ keys are also used to increase or decrease the motor
speed.
(3) The Start button (green) is used to start the drive in keypad mode.
(4) The Stop / Reset button (red) is used to stop and reset the drive in keypad mode. It can also be
used to reset the drive in terminal mode.
(5) The Escape button is used to exit from the parameter edit / view mode or disregard a parameter
edit.
NOTE The keypad is not supplied with the drive.

NOTE It is possible to display alternative parameters on the multi line LCD display such as
current magnitude. Refer to the Control User Guide for further information.

Unidrive M400 Quick Start Guide 25


Issue Number: 8
Table 5-1 Status indications
Upper row Drive output
Description
string stage
The drive is inhibited and cannot be run. The Safe Torque Off
Inhibit Disabled
signals are not applied to the Safe Torque Off terminals is set to 0.
The drive is ready to run. The drive enable is active, but the drive
Ready Disabled
inverter is not active because the final drive run is not active.
Stop The drive is stopped / holding zero frequency. Enabled
Run The drive is active and running. Enabled
Supply Loss Supply loss condition has been detected Enabled
The motor is being decelerated to zero
Deceleration Enabled
frequency because the final drive run has been deactivated.
dc Injection The drive is applying DC injection braking. Enabled
The drive has tripped and no longer controlling the motor. The trip
Trip Disabled
code appears in the lower display.
Under The drive is in the under voltage state either in low voltage or high
Disabled
Voltage voltage mode.
Heat The motor pre-heat function is active Enabled

5.1 Saving parameters


When changing a parameter in Menu 0, the new value is saved when pressing the Enter button
to return to parameter view mode from parameter edit mode.
If parameters have been changed in the advanced menus, then the change will not be saved
automatically. A save function must be carried out.
Procedure
1. Select ‘Save parameters' in Pr mm.000 (alternatively enter a value of 1001 in Pr mm.000)
2. Either:
• Press the red reset button
• Carry out a drive reset through serial communications by setting Pr 10.038 to 100

5.2 Restoring parameter defaults


Restoring parameter defaults by this method saves the default values in the drives memory. User
security status (00.010) and User security code (00.025) are not affected by this procedure).
Procedure
1. Ensure the drive is not enabled, i.e. drive is in Inhibit or Under Voltage State.
2. Select 'Reset 50 Hz Defs’ or 'Reset 60 Hz Defs' in Pr mm.000. (alternatively, enter 1233 (50 Hz
settings) or 1244 (60 Hz settings) in Pr mm.000).
3. Either:
• Press the red reset button
• Carry out a drive reset through serial communications by setting Pr 10.038 to 100

26 Unidrive M400 Quick Start Guide


Issue Number: 8
6 Basic parameters (Menu 0)
Menu 0 is used to bring together various commonly used parameters for basic easy set up of the
drive.

6.1 Menu 0: Basic parameters


Range () Default ()
Parameter Type
OL RFC-A OL RFC-A
00.001 Minimum Speed 0.00 to Pr 00.002 Hz 0.00 Hz RW Num US
50Hz default: 50.00 Hz
00.002 Maximum Speed 0.00 to 550.00 Hz RW Num US
60Hz default: 60.00 Hz
00.003 Acceleration Rate 1 0.0 to 32000.0 s/100 Hz 5.0 s/100 Hz RW Num US
00.004 Deceleration Rate 1 0.0 to 32000.0 s/100 Hz 10.0 s/100 Hz RW Num US
AV (0), AI (1), AV Preset (2),
AI Preset (3), Preset (4),
Keypad (5), Keypad Ref (6),
00.005 Drive Configuration AV (0) RW Txt PT US
Electronic Pot (7),
Torque Control (8),
Pid Control (9)
Maximum Heavy Duty
00.006 Motor Rated Current 0.00 to Drive Rating A RW Num RA US
Rating A
50Hz 50Hz
default: default:
1500.0 rpm 1450.0 rpm
00.007 Motor Rated Speed* 0.0 to 33000.0 rpm RW Num US
60Hz 60Hz
default: default:
1800.0 rpm 1750.0 rpm

110V drive: 230 V


200V drive: 230 V
00.008 Motor Rated Voltage 0 to 240 V or 0 to 480 V RW Num RA US
400V drive 50 Hz: 400 V
400V drive 60 Hz: 460 V

Motor Rated Power


00.009 0.00 to 1.00 0.85 RW Num RA US
Factor**

Level 1 (0), Level 2 (1),


00.010 User Security Status All Menus (2), Status Only (3), Level 1 (0) RW Num ND PT
No Access (4)

Start/Stop Logic
00.011 0 to 6 5 RW Num US
Select
Negative Logic (0) or
00.012 Input Logic Polarity Positive Logic (1) RW Txt US
Positive Logic (1)
00.015 Jog Reference 0.00 to 300.00 Hz 1.50 Hz RW Num US
4-20 mA Stop (-6),
20-4 mA Stop (-5), 4-20 mA Low (-4),
20-4 mA Low (-3), 4-20 mA Hold (-2),
00.016 Analog Input 1 Mode 20-4 mA Hold (-1), 0-20 mA (0), Voltage (6) RW Txt US
20-0 mA (1), 4-20 mA Trp (2),
20-4 mA Trp (3), 4-20 mA (4),
20-4 mA (5), Voltage (6)
Bipolar Reference
00.017 Off (0) or On (1) Off (0) RW Bit US
Enable
00.018 Preset Reference 1 0.00 to Pr 00.002 Hz 0.00 Hz RW Num US
00.019 Preset Reference 2 0.00 to Pr 00.002 Hz 0.00 Hz RW Num US
00.020 Preset Reference 3 0.00 to Pr 00.002 Hz 0.00 Hz RW Num US
00.021 Preset Reference 4 0.00 to Pr 00.002 Hz 0.00 Hz RW Num US
Status Mode
00.022 0.000 to 30.999 4.020 RW Num PT US
Parameter 2
Status Mode
00.023 0.000 to 30.999 2.001 RW Num PT US
Parameter 1

Unidrive M400 Quick Start Guide 27


Issue Number: 8
Range () Default ()
Parameter Type
OL RFC-A OL RFC-A
Customer Defined
00.024 0.000 to 10.000 1.000 RW Num US
Scaling
00.025 User Security Code 0 to 9999 0 RW Num ND PT US
Power-up Keypad
00.027 Control Mode Reset (0), Last (1), Preset (2) Reset (0) RW Txt US
Reference
Fast (0), Standard (1),
00.028 Ramp Mode Select Standard (1) RW Txt US
Std boost (2), Fast boost (3)
00.029 Ramp Enable Off (0) or On (1) On (1) RW Bit US
None (0), Read (1), Program (2),
00.030 Parameter Cloning None (0) RW Txt NC US
Auto (3), Boot (4)
Coast (0),
Coast (0),
Ramp (1),
Ramp (1),
Ramp dc I (2),
Ramp dc I (2),
00.031 Stop Mode dc I (3), Ramp (1) RW Txt US
dc I (3),
Timed dc I (4),
Timed dc I (4),
Disable (5),
Disable (5)
No Ramp (6)
Dynamic V to F
00.032 Select / Flux 0 to 1 0 RW Num US
Optimization Select
Catch A Spinning Disable (0), Enable (1),
00.033 Disable (0) RW Txt US
Motor Fwd Only (2), Rev Only (3)
Input (0), Therm Short Cct (1),
00.034 Digital Input 5 Select Input (0) RW Txt US
Thermistor (2), Therm No Trip (3)
Digital Output 1
00.035 0 to 21 0 RW Num US
Control
Analog Output 1
00.036 0 to 14 0 RW Txt US
Control
0.667 (0), 1 (1), 2 (2), 3 (3),
Maximum Switching 2 (2), 3 (3), 4 (4), 4 (4), 6 (5),
00.037 3 (3) kHz RW Txt US
Frequency 6 (5), 8 (6), 12 (7), 8 (6), 12 (7),
16 (8) kHz 16 (8) kHz
00.038 Autotune 0 to 2 0 to 3 0 RW Num NC US
Motor Rated 50Hz: 50.00 Hz
00.039 0.00 to 550.00 Hz RW Num US
Frequency 60Hz: 60.00 Hz
Number of Motor
00.040 Auto (0) to 32 (16) Auto (0) RW Num US
Poles***
Ur S (0), Ur (1),
Fixed (2),
Ur Auto (3),
00.041 Control Mode Ur I (4) RW Txt US
Ur I (4),
Square (5),
Fixed Tapered (6)
Low Frequency
00.042 0.0 to 25.0 % 3.0 % RW Num US
Voltage Boost
600 (1), 1200 (2),
2400 (3), 4800 (4), 9600 (5),
00.043 Serial Baud Rate 19200 (6) RW Txt US
19200 (6), 38400 (7), 57600 (8),
76800 (9), 115200 (10)
00.044 Serial Address 1 to 247 1 RW Num US
Reset Serial
00.045 Off (0) or On (1) Off (0) RW ND NC US
Communications
Brake Controller
00.046 Upper Current 0 to 200 % 50 % RW Num US
Threshold
Brake Controller
00.047 Lower Current 0 to 200 % 10 % RW Num US
Threshold

28 Unidrive M400 Quick Start Guide


Issue Number: 8
Range () Default ()
Parameter Type
OL RFC-A OL RFC-A
Brake Controller
00.048 Brake Release 0.00 to 20.00 Hz 1.00 Hz RW Num US
Frequency
Brake Controller
00.049 Brake Apply 0.00 to 20.00 Hz 2.00 Hz RW Num US
Frequency
Brake Controller
00.050 0.0 to 25.0 s 1.0 s RW Num US
Brake Delay
Brake Controller
00.051 Post-brake Release 0.0 to 25.0 s 1.0 s RW Num US
Delay
Brake Controller
00.053 Ref (0), Forward (1), Reverse (2) Ref (0) RW Txt US
Initial Direction
Brake Controller
00.054 Brake Apply Through 0.00 to 25.00 Hz 1.00 Hz RW Num US
Zero Threshold
Brake Controller Disable (0), Relay (1),
00.055 Disable (0) RW Txt US
Enable Digital IO (2), User (3)
00.056 Trip 0 0 to 255 RO Txt ND NC PT PS
00.057 Trip 1 0 to 255 RO Txt ND NC PT PS
00.058 Trip 2 0 to 255 RO Txt ND NC PT PS
00.059 OUP Enable Stop (0) or Run (1) Run (1) RW Txt US
00.060 OUP Status -2147483648 to 2147483647 RO Num ND NC PT
Frequency Controller
0.000 to
00.065 Proportional Gain 0.100 s/rad RW Num US
200.000 s/rad
Kp1
Frequency Controller 0.00 to
00.066 0.10 s2/rad RW Num US
Integral Gain Ki1 655.35 s2/rad
4 (0), 5 (1),
Sensorless Mode
00.067 6 (2), 8 (3), 4 (0) ms RW Txt US
Filter
12 (4), 20 (5) ms
00.069 Spin Start Boost 0.0 to 10.0 1.0 RW Num US
00.070 PID1 Output ±100.00 % RO Num ND NC PT
PID1 Proportional
00.071 0.000 to 4.000 1.000 RW Num US
Gain
00.072 PID1 Integral Gain 0.000 to 4.000 0.500 RW Num US
PID1 Feedback
00.073 Off (0) or On (1) Off (0) RW Bit US
Invert
PID1 Output Upper
00.074 0.00 to 100.00 % 100.00 % RW Num US
Limit
PID1 Output Lower
00.075 ±100.00 % -100.00 % RW Num US
Limit
Action on Trip
00.076 0 to 31 0 RW Num ND NC PT US
Detection
Maximum Heavy
00.077 0.00 to Drive HD Current Rating A RO Num ND NC PT
Duty Current Rating
00.078 Software Version 0 to 99.99.99.99 RO Num ND NC PT
Open loop
00.079 User Drive Mode Open loop (1), RFC A (2) RFC-A (2) RW Txt ND NC PT US
(1)
-Pr 00.002 to Pr 00.002 or Pr 00.001
00.081 Reference Selected RO Num ND NC PT
to Pr 00.002 Hz
-Pr 00.002 to Pr 00.002 or Pr 00.001
00.082 Pre-ramp Reference RO Num ND NC PT
to Pr 00.002 Hz
Final Demand -Pr 00.002 to Pr 00.002 or Pr 00.001
00.083 RO Num ND NC PT FI
Reference to Pr 00.002 Hz
00.084 D.C. Bus Voltage 0 to 415 V or 0 to 830 V RO Num ND NC PT FI
00.085 Output Frequency ±550.00 Hz RO Num ND NC PT FI

Unidrive M400 Quick Start Guide 29


Issue Number: 8
Range () Default ()
Parameter Type
OL RFC-A OL RFC-A
00.086 Output Voltage 0 to 325 V or 0 to 650 V RO Num ND NC PT FI
00.087 Motor Rpm ±33000.0 rpm RO Num ND NC PT FI
00.088 Current Magnitude 0 to Drive Maximum Current A RO Num ND NC PT FI
Torque Producing
00.089 ±Drive Maximum Current A RO Num ND NC PT FI
Current
Digital I/O Read
00.090 000000000000 to 111111111111 RO Bin ND NC PT
Word
00.091 Reference On Off (0) or On (1) RO Bit ND NC PT
00.092 Reverse Select Off (0) or On (1) RO Bit ND NC PT
00.093 Jog Select Off (0) or On (1) RO Bit ND NC PT
00.094 Analog Input 1 ±100.00 % RO Num ND NC PT FI
00.095 Analog Input 2 ±100.00 % RO Num ND NC PT FI

* Setting Pr 00.007 to 0.0 will disable slip compensation.


** Following a rotating autotune, Pr 00.009 is continuously written to by the drive, calculated from the value of Stator
Inductance (Pr 05.025). To manually enter a value into Pr 00.009, Pr 05.025 will need to be set to 0. Refer to the
description of Pr 05.010 in the Parameter Reference Guide for further details.
*** If this parameter is read via serial communications, it will show pole pairs.

Read / Read Number Bit Binary


RW RO Num Bit Txt Text string Bin FI Filtered
Write only parameter parameter parameter
No
Not Protected Rating Power-down
ND default NC PT RA US User save PS DE Destination
copied parameter dependent save
value

30 Unidrive M400 Quick Start Guide


Issue Number: 8
Unidrive M400 Quick Start Guide 31
Issue Number: 8
Figure 6-1 Menu 0 logic diagram

Analog Input 1/ Jog


14 15
Input 2 select Forward
Select
Analog Input 1
Analog reference
2 00.016 00.094
Analog Input 1 Analog
Input
1 Mode
Jog
00.093
Select

Analog Input 2
Analog Input 2
5 00.095

01.015 01.050 Pr 01.050


set >1 Bipolar
Reference
Drive Enable
Configuration 00.017
Preset frequency reference 00.005

00.018 Preset Reference 1

00.019 Preset Reference 2 AV 0


AI
00.020 Preset Reference 3 1
AV.Pr 2
00.021 Preset Reference 4 AI.Pr
3
Pr
4
Pad
5
Pad.Ref
6
Keypad reference E. Pot 7
tor 8
Pid 9
00.081 Jog
Reference 00.015
Reference
Selected

Key

X X Input Read-write (RW)


terminals 00.XXX parameter

X X Output 00.XXX Read-only (RO)


terminals parameter

The parameters are all shown in their default settings

32 Unidrive M400 Quick Start Guide


Issue Number: 8
RUN RUN OL, RFC-A> AT ZERO
TORQUE
FORWARD REVERSE FREQUENCY FREQUENCY
12 13 7 8 10

Analog outputs Digital output

00.091 Reference On

00.092 Reverse Select

Final Demand
Pre-ramp Reference
Reference
00.083
00.082

Maximum
Speed
00.002 Ramp
Enable
00.029
Minimum
Speed
Motor Parameters
00.006 Rated Current
00.001
00.007 Rated Speed
RFC-A mode only 00.008 Rated Voltage
00.009 Power Factor

00.033 Catch A Spinning Motor


Ramps 00.039 Rated Frequency

00.040 Motor Poles


RFC-A Frequency-loop
PIDgains
Frequency
00.065
Controller
Proportional RFC-A>
00.003 OL>Motor-voltage control
Gain Kp1
Acceleration Frequency
00.041
Rate 1 Control mode
00.066 Controller L1 L2 L3 Drive
Integral 00.087
00.004 00.042
Gain Ki1
Deceleration Low Frequency
Rate 1 Estimated Voltage Boost
Motor
Speed
00.028 00.032
Dynamic V/f _ +
Ramp Mode
Select Select

Motor Rpm Output


Frequency
00.087 Power stage
00.085 _ +

00.037 Output Voltage

Maximum Switching 00.086


Frequency

Motor Rpm

00.087

Current
Torque Magnitude
Producing 00.089 00.088
Current _
U V W + BR

Magnetising
Current
Resistor
optional

Unidrive M400 Quick Start Guide 33


Issue Number: 8
6.2 Unidrive M400 parameter descriptions
Key:

Read / Read Number Bit Binary


RW RO Num Bit Txt Text string Bin FI Filtered
Write only parameter parameter parameter
No
Not Protected Rating Power-down
ND default NC PT RA US User save PS DE Destination
copied parameter dependent save
value

00.001 Minimum Speed


RW Num US
OL
 0.00 to Pr 00.002 Hz  0.00 Hz
RFC-A

Set Pr 00.001 at the required minimum output frequency of the drive for both directions of rotation.
The drive speed reference is scaled between Pr 00.001 and Pr 00.002. Pr 00.001 is a nominal value;
slip compensation may cause the actual frequency to be higher. When the drive is jogging, Pr 00.001
has no effect.

00.002 Maximum Speed


RW Num US
OL 50.0 Hz default: 50.00 Hz
 0.00 to 550.00 Hz 
RFC-A 60.0 Hz default: 60.00 Hz

Set Pr 00.002 at the required maximum output frequency for both directions of rotation. The drive
speed reference is scaled between Pr 00.001 and Pr 00.002. Pr 00.002 is a nominal value; slip
compensation may cause the actual frequency to be higher. The drive has additional over-speed
protection.

00.003 Acceleration Rate 1


RW Num US
OL
 0.0 to 32000.0 s/100 Hz  5.0 s/100 Hz
RFC-A

Set Pr 00.003 at the required rate of acceleration. Note that larger values produce lower
acceleration. The rate applies in both directions of rotation.

34 Unidrive M400 Quick Start Guide


Issue Number: 8
00.004 Deceleration Rate 1
RW Num US
OL
 0.0 to 32000.0 s/100 Hz  10.0 s/100 Hz
RFC-A

Set Pr 00.004 at the required rate of deceleration. Note that larger values produce lower
deceleration. The rate applies in both directions of rotation.

00.005 Drive Configuration


RW Txt PT US
AV (0), AI (1), AV Preset (2),
AI Preset (3), Preset (4),
OL  Keypad (5), Keypad Ref (6),  AV (0)
Electronic Pot (7),
Torque Control (8), Pid Control (9)

Use Pr 00.005 to select the required frequency/speed reference as follows:


Value Text Description
Analog Input 1 (voltage) or Analog Input 2 (voltage) selected by terminal
0 AV
(Local/Remote)
Analog Input 1 (current) or Analog Input 2 (voltage) selected by terminal
1 AI
(Local/Remote)
2 AV Preset Analog Input 1 (voltage) or 3 presets selected by terminal
3 AI Preset Analog Input 1 (current) or 3 presets selected by terminal
4 Preset Four presets selected by terminal
5 Keypad Keypad reference
6 Keypad Ref Keypad reference with terminal control
7 Electronic Pot Electronic Potentiometer
Torque mode, Analog Input 1 (current frequency reference) or Analog
8 Torque Control
Input 2 (voltage torque reference) selected by terminal
PID mode, Analog Input 1 (current feedback source) and Analog Input 2
9 Pid Control
(voltage reference source)

NOTE A change to Pr 00.005 is set by pressing the ENTER button on exit from parameter edit
mode. The drive must be disabled, stopped or tripped for a change to take place. If
Pr 00.005 is changed while the drive is running, when the ENTER button is pressed on
exit from parameter edit mode, Pr 00.005 will change back to its previous value.

NOTE When the setting of Pr 00.005 is changed, the appropriate drive configuration parameters
are set back to their default values.

Unidrive M400 Quick Start Guide 35


Issue Number: 8
00.006 Motor Rated Current
RW Num RA US
OL Maximum Heavy
 0.00 to Drive Rating A 
RFC-A Duty Rating A

The rated current parameter must be set to the maximum continuous current of the motor (taken
from the name plate). The motor rated current is used in the following:
• Current limits
• Motor thermal overload protection
• Vector mode voltage control
• Slip compensation
• Dynamic V/F control

00.007 Motor Rated Speed


RW Num US
50 Hz default: 1500.0 rpm
OL
60 Hz default: 1800.0 rpm
 0.0 to 33000.0 rpm 
50 Hz default: 1450.0 rpm
RFC-A
60 Hz default: 1750.0rpm

Set to the rated speed of the motor (taken from the motor name plate). The motor rated speed is
used to calculate the correct slip speed for the motor.

00.008 Motor Rated Voltage


RW Num RA US
OL 110 V drive: 230 V
200 V drive: 230 V
 0 to 240 V or 0 to 480 V 
RFC-A 400 V drive 50 Hz: 400 V
400 V drive 60 Hz: 460 V

The Rated Voltage (00.008) and the Rated Frequency (00.039) are used to define the voltage to
frequency characteristic applied to the motor. The Rated Frequency (00.039) is also used in
conjunction with the Motor Rated Speed (00.007) to calculate the rated slip for slip compensation.

00.009 Motor Rated Power Factor


RW Num RA US
OL
 0.00 to 1.00  0.85
RFC-A

Enter the motor rated power factor cos  (taken from the motor name plate).
The drive can measure the motor rated power factor by performing a rotating autotune (see Autotune
(Pr 00.038).

36 Unidrive M400 Quick Start Guide


Issue Number: 8
00.010 User Security Status
RW Num ND NC PT US
OL Level 1 (0), Level 2 (1),
 All Menus (2), Status Only (3),  Level 1 (0)
RFC-A No Access (4)

This parameter controls access via the drive keypad as follows:


Value Text Function
0 Level 1 Access to first 10 parameters in Menu 0 only.
1 Level 2 Access to all parameters in Menu 0.
2 All Menus Access to all menus.
The keypad remains in status mode and no parameters can be
3 Status Only
viewed or edited.
The keypad remains in status mode and no parameters can be viewed or
4 No Access edited. Drive parameters cannot be accessed via a comms/fieldbus interface
in the drive or any option module.

00.011 Start/Stop Logic Select


RW Num US
OL
 0 to 6  5
RFC-A

This parameter changes the functions of the input terminals which are normally associated with the
enabling, starting and stopping the drive.

Pr 00.011 Terminal 11 Terminal 12 Terminal 13 Latching


0 User programmable Run Forward Run Reverse No
1 /Stop Run Forward Run Reverse Yes
2 User programmable Run Forward/Reverse No
3 /Stop Run Forward/Reverse Yes
4 /Stop Run Jog Forward Yes
5 User programmable Run Forward Run Reverse No
6 User programmable User programmable User programmable User programmable
Action will only occur if the drive is inactive. If the drive is active, the parameter will return to its pre-
altered value on exit from edit mode.

00.012 Input Logic Polarity


RW Txt US
OL Negative Logic (0) or
  Positive Logic (1)
RFC-A Positive Logic (1)

Can be set to zero to change the logic for DI/O1-7 to negative logic, so that the state parameter is 0 if
the digital I/O is high or 1 if the digital I/O is low.

Unidrive M400 Quick Start Guide 37


Issue Number: 8
00.015 Jog Reference
RW Num US
OL
 0.00 to 300.00 Hz  1.50 Hz
RFC-A

Defines the reference when jog is enabled.

00.016 Analog Input 1 Mode


RW Txt US
4-20 mA Stop (-6),
OL 20-4 mA Stop (-5),
4-20 mA Low (-4), 20-4 mA Low (-3),
4-20 mA Hold (-2),
  Voltage (6)
20-4 mA Hold (-1), 0-20 mA (0),
RFC-A 20-0 mA (1), 4-20 mA Trp (2),
20-4 mA Trp (3), 4-20 mA (4),
20-4 mA (5), Voltage (6)

Defines the mode of analog input 1.


The table below gives all the possible analog input modes.

Value Text Function


-6 4-20 mA Stop Stop on loss
-5 20-4 mA Stop Stop on loss
-4 4-20 mA Low 4-20 mA switching to equivalent of 4 mA input current on loss
-3 20-4 mA Low 20-4 mA switching to equivalent of 20 mA input current on loss
-2 4-20 mA Hold 4-20 mA hold at level before loss on loss
-1 20-4 mA Hold 20-4 mA hold at level before loss on loss
0 0-20 mA 0-20 mA
1 20-0 mA 20-0 mA
2 4-20 mA Trp 4-20 mA trip on loss
3 20-4 mA Trp 20-4 mA trip on loss
4 4-20 mA 4-20 mA no action on loss
5 20-4 mA 20-4 mA no action on loss
6 Voltage Voltage

NOTE In 4-20 mA and 20-4 mA modes loss of input is detected if the current falls below 3 mA.

NOTE If both analog inputs (A1 and A2) are to be set-up as voltage inputs, and if the
potentiometers are supplied from the drive's +10 V rail (terminal T4), they must have a
resistance >4 k each.

38 Unidrive M400 Quick Start Guide


Issue Number: 8
00.017 Bipolar Reference Enable
RW Bit US
OL
 Off (0) or On (1)  Off (0)
RFC-A

Pr 00.017 determines whether the reference is uni-polar or bi-polar.


See Minimum Speed (00.001). Allows negative speed reference in keypad mode.

00.018 to 00.021 Preset Reference 1 to 4


RW Num US
OL
 0.0 to Pr 00.002 Hz  0.00 Hz
RFC-A

If the preset reference has been selected (see Pr 00.005), the speed at which the motor runs is
determined by these parameters.
See Drive Configuration (00.005).

00.022 Status Mode Parameter 2


RW Num PT US
OL
 0.000 to 30.999  4.020
RFC-A
This parameter and Status Mode Parameter 1 (00.023) define which parameters are displayed in
Status mode. The values can be alternated by pressing the Escape key, if the drive is running.

00.023 Status Mode Parameter 1


RW Num PT US
OL
 0.000 to 30.999  2.001
RFC-A
See Status Mode Parameter 2 (00.022).

00.024 Customer Defined Scaling


RW Num US
OL
 0.000 to 10.000  1.000
RFC-A
This parameter defines the scaling applied to Status Mode Parameter 1 (00.023). The scaling is only
applied in the Status mode.

Unidrive M400 Quick Start Guide 39


Issue Number: 8
00.025 User Security Code
RW Num ND NC PT US
OL
 0-9999  0
RFC-A

If any number other than 0 is programmed into this parameter, user security can be applied so that
no parameters except Pr 00.010 can be adjusted with the keypad. When this parameter is read via a
keypad it appears as zero. Refer to the Control User Guide for further information.

00.027 Power-up Keypad Control Mode Reference


RW Txt ND NC PT US
OL
 Reset (0), Last (1), Preset (2)  Reset (0)
RFC-A

Defines which value of keypad control mode reference is displayed at power-up.

Value Text Description


0 Reset Keypad reference is zero
1 Last Keypad reference is the last used value
2 Preset Keypad reference is copied from Preset Reference 1 (00.018)

00.028 Ramp Mode Select


RW Txt US
OL Fast (0), Standard (1),
  Standard (1)
RFC-A Std boost (2), Fast boost (3)

Defines the mode used by the ramp system.


0: Fast ramp
1: Standard ramp
2: Standard ramp with motor voltage boost
3: Fast ramp with motor voltage boost
Fast ramp is linear deceleration at programmed rate, normally used when a braking resistor is
installed.
Standard ramp is controlled deceleration to prevent DC bus over-voltage trips, normally used when
there is no braking resistor installed.
If a high motor voltage mode is selected, deceleration rates can be faster for a given inertia but motor
temperatures will be higher.

40 Unidrive M400 Quick Start Guide


Issue Number: 8
00.029 Ramp Enable
RW Bit US
OL
 
RFC-A Off (0) or On (1) On (1)

Setting Pr 00.029 to 0 allows the user to disable the ramps. This is generally used when the drive is
required to closely follow a speed reference which already contains acceleration and deceleration
ramps.

00.030 Parameter Cloning


RW Txt NC US*
OL None (0), Read (1), Program (2),
  None (0)
RFC-A Auto (3), Boot (4)

* Only a value of 3 or 4 in this parameter is saved.


If Pr 00.030 is equal to 1 or 2, this value is not transferred to the EEPROM or the drive. If Pr 00.030 is
set to a 3 or 4 the value is transferred.
Parameter string Parameter value Comment
None 0 Inactive
Read 1 Read parameter set from the NV Media Card
Program 2 Programming a parameter set to the NV Media Card
Auto 3 Auto save
Boot 4 Boot mode
For further information, please refer to Chapter 8 Diagnostics on page 60.

00.031 Stop Mode


RW Txt US
Coast (0), Ramp (1),
OL Ramp dc I (2), dc I (3),
Timed dc I (4), Disable (5)
 Coast (0), Ramp (1),  Ramp (1)
Ramp dc I (2), dc I (3),
RFC-A
Timed dc I (4), Disable (5),
No Ramp (6)

Defines how the motor is controlled when the run signal is removed from the drive.

Unidrive M400 Quick Start Guide 41


Issue Number: 8
Value Text Description
0 Coast Coast stop
1 Ramp Ramp stop
2 Ramp dc I Ramp stop + 1 second dc injection
3 dc I Injection braking stop with detection of zero speed
4 Timed dc I Timed injection braking stop
5 Disable Disable
6 No Ramp No ramp (RFC-A mode only)
See the Control User Guide for further information.

00.032 Dynamic V To F Select / Flux Optimisation Select


RW Num US
OL
 0 to 1  0
RFC-A

Open loop:
Set to 1 to enable Dynamic V to F mode.
0: Fixed linear voltage to frequency ratio (constant torque - standard load)
1: Voltage to frequency ratio dependant on load current. This gives a higher motor efficiency.

RFC-A:
If this parameter is set to 1, the flux is reduced so that the magnetizing current is equal to the torque
producing current, to optimize copper losses and reduce iron losses in the motor under low load
conditions.

00.033 Catch a Spinning Motor


RW Txt US
OL Disable (0), Enable (1),
  Disable (0)
RFC-A Fwd Only (2), Rev Only (3)

If the drive is to be configured in fixed boost mode (Pr 00.041 = Fd or SrE) with catch a spinning
motor software enabled, an autotune (see Pr 00.038 on page 46) must be carried out to measure the
motor's stator resistance beforehand. If a stator resistance is not measured, the drive may trip on OV
or OI.AC while trying to catch a spinning motor.

Pr 00.033 Text Function


0 Disable Disabled
1 Enable Detect all frequencies
2 Fwd Only Detect positive frequencies only
3 Rev Only Detect negative frequencies only

42 Unidrive M400 Quick Start Guide


Issue Number: 8
00.034 Digital Input 5 Select
RW Txt US
OL Input (0), Therm Short Cct (1),
  Input (0)
RFC-A Thermistor (2), Therm No Trip (3)

This parameter selects the function of Digital Input 5 (terminal 14).

Value Text Function


0 Input Digital input
Temperature measurement input with short circuit detection
1 Therm Short Cct
(Resistance <50 )
Temperature measurement input without short circuit detection but
2 Thermistor
with th trip
3 Therm No Trip Temperature measurement input with no trips

Figure 6-2 Thermistor input

Pr 00.034 DI/O 05 Select

0
Digital input5
Digital Input 5
1, 2 or 3
14

Thermistor
Input
Thermistor input
1 0V

Unidrive M400 Quick Start Guide 43


Issue Number: 8
00.035 DO1 Control
RW Num US
OL
 0-21  0
RFC-A

Defines the behaviour of digital output 1 (terminal 10).


Value Description
0 User defined by Digital IO1 Source/Destination A
1 Drive running signal
2 Frequency arrived signal
3 Frequency level detection signal
4 Frequency level detection signal
5 Overload detection signal
6 Power off state
7 External fault stop
8 Frequency upper limit
9 Frequency lower limit
10 Drive running at zero frequency
14 Drive Ready
15 Drive OK
18 Brake release
19 Torque limiting (Valid while the torque is limited by torque limiting value 1/2)
20 Forward or reverse
21 Motor 1 or 2

44 Unidrive M400 Quick Start Guide


Issue Number: 8
00.036 Analog Output 1 Control
RW Txt US
OL
 0 to 14  0
RFC-A

Defines the functionality of Analog Output 1 (terminal 7).

Value Description
0 User defined by Analog Output 1 Source A
1 Frequency output
2 Frequency reference
3 Motor speed
4 Current Magnitude
6 Torque output
7 Torque current output
8 Voltage output
9 DC bus voltage (0~800 V)
10 Analog Input 1
11 Analog Input 2
12 Power output (0~2 x Pe)
13 Torque limitation
14 Torque reference (0~300 %)

00.037 Maximum Switching Frequency


RW Txt US
0.667 (0), 1 (1), 2 (2), 3 (3), 4 (4),
OL
6 (5), 8 (6), 12 (7), 16 (8) kHz
  3 (3) kHz
2 (2), 3 (3), 4 (4), 6 (5), 8 (6), 12 (7),
RFC-A
16 (8) kHz

Defines the maximum switching frequency that can be used by the drive.
Pr 00.037 Text Description
0 0.667 667 Hz switching frequency
1 1 1 kHz switching frequency
2 2 2 kHz switching frequency
3 3 3 kHz switching frequency
4 4 4 kHz switching frequency
5 6 6 kHz switching frequency
6 8 8 kHz switching frequency
7 12 12 kHz switching frequency
8 16 16 kHz switching frequency
See the Power Installation Guide for drive derating data.

Unidrive M400 Quick Start Guide 45


Issue Number: 8
00.038 Autotune
RW Num NC US
OL 0 to 2
  0
RFC-A 0 to 3

Defines the auto-tune test to be performed.


There are two autotune tests available in open loop mode, a stationary and a rotating test. A rotating
autotune should be used whenever possible so the measured value of power factor of the motor is
used by the drive.
Open Loop and RFC-A:
1. A stationary autotune can be used when the motor is loaded and it is not possible to remove the
load from the motor shaft. To perform a Stationary autotune, set Pr 00.038 to 1,
2. A rotating autotune should only be used if the motor is unloaded. A rotating autotune first
performs a stationary autotune, as above, then a rotating test is performed in which the motor is
accelerated with currently selected ramps up to a frequency of Rated Frequency (00.039) x 2/3,
and the frequency is maintained at that level for 4 seconds. To perform a Rotating autotune, set
Pr 00.038 to 2.

RFC-A only:
3. This test measures the total inertia of the load and the motor. A series of progressively larger
torque levels are applied to the motor to accelerate the motor up to 3/4 x Motor Rated Speed
(Pr 00.007) to determine the inertia from the acceleration/deceleration time.
Following the completion of an autotune test the drive will go into the inhibit state. The drive must be
placed into a controlled disable condition before the drive can be made to run at the required
reference. The drive can be put in to a controlled disable condition by removing the Safe Torque Off
signal from terminals 31 and 34, setting the Drive Enable to Off (0) or disabling the drive via the
Control Word and Control Word Enable

A rotating autotune will cause the motor to accelerate up to 2/3 base speed in the
direction selected regardless of the reference provided. Once complete the motor will
coast to a stop. The enable signal must be removed before the drive can be made to run
WARNING at the required reference.The drive can be stopped at any time by removing the run
signal or removing the drive enable.

00.039 Motor Rated Frequency


RW Num US
OL 50 Hz: 50.00 Hz
 0.00 to 550.00 Hz 
RFC-A 60 Hz: 60.00 Hz

Enter the value from the rating plate of the motor. Defines the voltage to frequency ratio applied to
the motor.

46 Unidrive M400 Quick Start Guide


Issue Number: 8
00.040 Number Of Motor Poles
RW Num US
OL
 Auto (0) to 32 (16)  Auto (0)
RFC-A

Set to the number of poles of the motor. The auto mode calculates the number of motor poles from
the settings of Pr 00.007 and Pr 00.039.

00.041 Control Mode


RW Txt US
Ur S (0), Ur (1), Fixed (2),
OL Ur Auto (3), Ur I (4), Square (5), Ur I (4)
 Fixed Tapered (6) 
RFC-A

Defines the drive output mode, which can either be a voltage mode or a current mode.
Value Text Description
0 Ur S Stator resistance and voltage offset measured at each start
1 Ur No measurements
2 Fixed Fixed boost mode.
3 Ur Auto Stator resistance and voltage offset measured at first drive enable
4 Ur I Stator resistance and voltage offset measured at each power-up
5 Square Square law characteristic
6 Fixed Tapered Fixed boost with taper

NOTE The drive default setting is Ur I mode which means that the drive will carry out an autotune
every time the drive is powered-up and enabled. If the load is not going to be stationary
when the drive is powered-up and enabled, then one of the other modes should be
selected. Not selecting another mode could result in poor motor performance or OI.AC,
It.AC or 0V trips.

00.042 Low Frequency Voltage Boost


RW Num US
OL
 0.0 to 25.0 %  3.0 %
RFC-A

Determines the boost level when Pr 00.041 is set to Fixed, Square or Fixed Tapered modes.

Unidrive M400 Quick Start Guide 47


Issue Number: 8
00.043 Serial Baud Rate
RW Txt US
OL 600 (1), 1200 (2),
2400 (3), 4800 (4), 9600 (5),
 19200 (6), 38400 (7),  19200 (6)
RFC-A 57600 (8), 76800 (9),
115200 (10)

Defines the serial baud rate of the drive


Changing the parameters does not immediately change the serial communications settings. See
Reset Serial Communications (00.045) for more details.

00.044 Serial Address


RW Num US
OL
 1 to 247  1
RFC-A

Used to define the unique address for the drive for the serial interface. The drive is always a slave
address 0 is used to globally address all slaves, and so this address should not be set in this
parameter.
Changing the parameters does not immediately change the serial communications settings. See
Reset Serial Communications (00.045) for more details.

00.045 Reset Serial Communications


RW Bit ND NC US
OL
 Off (0) or On (1)  Off (0)
RFC-A

Set to On (1) to update communications set-up.

NOTE The display will briefly display On and return to Off on reset.

00.046 Brake Controller Upper Current Threshold


RW Num US
OL
 0 to 200 %  50 %
RFC-A

Defines the upper current threshold for the brake. See Brake Controller Brake Release in Parameter
Reference Guide.

48 Unidrive M400 Quick Start Guide


Issue Number: 8
00.047 Brake Controller Lower Current Threshold
RW Num US
OL
 0 to 200 %  10 %
RFC-A

Defines the lower current limit for the brake. See Brake Controller Brake Release in Parameter
Reference Guide.

00.048 Brake Controller Brake Release Frequency


RW Num US
OL
 0.00 to 20.00 Hz  1.00 Hz
RFC-A

Defines the Brake Release Frequency. See Brake Controller Brake Release in Parameter Reference
Guide.

00.049 Brake Controller Brake Apply Frequency


RW Num US
OL
 0.00 to 20.00 Hz  2.00 Hz
RFC-A

Defines the Brake Apply Frequency. See Brake Controller Brake Release in Parameter Reference
Guide.

00.050 Brake Controller Brake Delay


RW Num US
OL
 0.0 to 25.0 s  1.0 s
RFC-A

Defines the pre-brake release delay. See Brake Controller Brake Release in Parameter Reference
Guide.

00.051 Brake Controller Post-brake Release Delay


RW Num US
OL
 0.0 to 25.0 s  1.0 s
RFC-A

Defines the post-brake release delay.

Unidrive M400 Quick Start Guide 49


Issue Number: 8
00.053 Brake Controller Initial Direction
RW Txt US
OL
 Ref (0), Forward (1), Reverse (2)  Ref (0)
RFC-A

Defines the initial direction of the brake.


Value Text
0 Ref
1 Forward
2 Reverse
See Brake Controller Brake Release in Parameter Reference Guide.

00.054 Brake Controller Brake Apply Through Zero Threshold


RW Num US
OL
 0.00 to 25.00 Hz  1.00 Hz
RFC-A

Defines if the brake is applied through zero threshold. See Brake Controller Brake Release in
Parameter Reference Guide.

00.055 Brake Controller Enable


RW Txt US
OL Disable (0), Relay (1),
  Disable (0)
RFC-A Digital IO (2), User (3)

Value Text
0 Disable
1 Relay
2 Digital IO
3 User
If Brake Controller Enable (00.055) = Disable, the brake controller is disabled.
If Brake Controller Enable (00.055) = Relay, the brake controller is enabled with I/O set up to control
the brake via the relay output. Drive ok is re-routed to digital I/O.
If Brake Controller Enable (00.055) = Digital I/O, the brake controller is enabled with I/O set up to
control the brake via digital I/O. Drive ok is routed to the relay output.
If Brake Controller Enable (00.055) = User, the brake controller is enabled, but no parameters are set
up to select the brake output.

50 Unidrive M400 Quick Start Guide


Issue Number: 8
00.056 to 00.058 Trip 0 to 2
RO Txt ND NC PT PS
OL
 0 to 255 
RFC-A
These parameters show the last 3 trips.

00.059 OUP Enable


RW Txt US
OL
 Stop (0) or Run (1)  Run (1)
RFC-A

Enables the onboard user program.


Onboard user programming provides a background task that loops continuously and a timed task
that is executed each time at a defined rate. For further information refer to the Control User Guide.

00.060 OUP Status


RO Num ND NC PT
OL
 -2147483648 to 2147483647 
RFC-A
This parameter indicates the status of the user program in the drive. For further information, refer to
the Control User Guide.

00.065 Frequency Controller Proportional Gain Kp1


RW Num US
OL
 
RFC-A 0.000 to 200.000 s/rad 0.100 s/rad

Defines the proportional gain for frequency controller 1.


RFC modes only.
The controller includes a feed forward proportional gain (Kp), a feed forward integral gain (Ki), and a
differential feedback gain (Kd).
Proportional gain (Kp)
If Kp is non-zero and Ki is zero the controller will only have a proportional term, and there must be a
frequency error to produce a torque reference. Therefore as the motor load increases there will be a
difference between the reference and actual frequencies.
Integral gain (Ki)
The integral gain is provided to prevent frequency regulation. The error is accumulated over a period
of time and used to produce the necessary torque reference without any frequency error. Increasing
the integral gain reduces the time taken for the frequency to reach the correct level and increases the
stiffness of the system, i.e. it reduces the positional displacement produced by applying a load torque
to the motor.

Unidrive M400 Quick Start Guide 51


Issue Number: 8
00.066 Frequency Controller Integral Gain Ki1
RW Num US
OL
 
RFC-A 0.00 to 655.35 s2/rad 0.10 s2/rad

Defines the integral gain for frequency controller 1. See Frequency Controller Proportional Gain Kp1
(00.065).

00.067 Sensorless Mode Filter


RW Txt US
OL
 4 (0), 5 (1), 6 (2), 8 (3), 12 (4), 
RFC-A 4 (0) ms
20 (5) ms

Defines the time constant for the filter applied to the output of the frequency estimator system.

00.069 Spin Start Boost


RW Num US
OL
 0.0 to 10.0  1.0
RFC-A

Spin Start Boost (00.069) is used by the algorithm that detects the frequency of a spinning motor
when the drive is enabled and Catch A Spinning Motor (00.033)  1. For smaller motors the default
value of 1.0 is suitable, but for larger motors Spin Start Boost (00.069) may need to be increased.
If Spin Start Boost (00.069) is too small the drive will detect zero speed whatever the frequency of the
motor, and if Spin Start Boost (00.069) is too large the motor may accelerate away from standstill
when the drive is enabled.

00.070 PID1 Output


RO Num ND NC PT
OL
 ±100.00 % 
RFC-A
This parameter is the output of the PID controller. For further information, refer to the Parameter
Reference Guide.
00.071 PID1 Proportional Gain
RW Num US
OL
 0.000 to 4.000  1.000
RFC-A

Proportional gain applied to the PID error. For further information, refer to the Parameter Reference
Guide.

52 Unidrive M400 Quick Start Guide


Issue Number: 8
00.072 PID1 Integral Gain
RW Num US
OL
 0.000 to 4.000  0.500
RFC-A
Integral gain applied to the PID error. For further information, refer to the Parameter Reference
Guide.

00.073 PID1 Feedback Invert


RW Bit US
OL
 Off (0) or On (1)  Off (0)
RFC-A
This parameter allows the PID feedback source to be inverted. For further information, refer to the
Parameter Reference Guide.

00.074 PID1 Output Upper Limit


RW Num US
OL
 0.00 to 100.00 %  100.00 %
RFC-A

This parameter with PID1 Output Lower Limit (Pr 00.075) allows the output to be limited to a range.
For further information, refer to the Parameter Reference Guide.

00.075 PID1 Output Lower Limit


RW Num US
OL
 ±100.00 %  -100.00 %
RFC-A

See PID1 Output Upper Limit (Pr 00.074).

00.076 Action On Trip Detection


RW Num ND NC PT US
OL
 0 - 31  0
RFC-A

Bit 0: Stop on defined non-important trips


Bit 1: Disable braking resistor overload detection
Bit 2: Disable phase loss stop
Bit 3: Disable braking resistor temperature monitoring
Bit 4: Disable parameter freeze on trip. Refer to Parameter Reference Guide.

Unidrive M400 Quick Start Guide 53


Issue Number: 8
00.077 Maximum Heavy Duty Rating
RO Num ND NC PT
OL
 0.00 to Drive HD Current Rating A 
RFC-A

Displays the maximum heavy duty current rating of the drive.

00.078 Software Version


RO Num ND NC PT
OL
 0 to 99.99.99.99 
RFC-A

Displays the software version in the drive.

00.079 User Drive Mode


RW Txt ND NC PT US
OL Open loop (1)
 Open loop (1), RFC A (2) 
RFC-A RFC-A (2)

Defines the mode of the drive.

00.081 Reference Selected


RO Num ND NC PT
OL -Pr 00.002 to Pr 00.002 or Pr 00.001
 
RFC-A to Pr 00.002 Hz

This is the basic reference selected from the available sources.

00.082 Pre-ramp Reference


RO Num ND NC PT
OL -Pr 00.002 to Pr 00.002 or Pr 00.001
 
RFC-A to Pr 00.002 Hz

The Pre-ramp Reference is the final output from the reference system that is fed into the ramp
system.

54 Unidrive M400 Quick Start Guide


Issue Number: 8
00.083 Final Demand Reference
RO Num ND NC PT FI
OL -Pr 00.002 to Pr 00.002 or Pr 00.001
 
RFC-A to Pr 00.002 Hz

Open loop mode:


Final Demand Reference shows the fundamental drive output frequency from the Post Ramp
Reference and the Hard Frequency Reference.

RFC mode:
Final Demand Reference shows the reference at the input to the frequency controller, which is the
sum of the Post Ramp Reference, if the ramp output is not disabled and the hard frequency
reference (if enabled). If the drive is disabled Final Demand Reference shows 0.00.

00.084 D.C. Bus Voltage


RO Num ND NC PT FI
OL
 0 to 415 V or 0 to 830 V 
RFC-A
Voltage across the internal DC bus of the drive.

00.085 Output Frequency


RO Num ND NC PT FI
OL
 ± 550.00 Hz 
RFC-A
Open loop mode:
The Output Frequency is the sum of the Post Ramp Reference and the motor slip compensation
frequency.
RFC-A mode:
The output frequency is not controlled directly, but the Output Frequency is a measurement of the
frequency applied to the motor.

00.086 Output Voltage


RO Num ND NC PT FI
OL
 0 to 325 V or 0 to 650 V 
RFC-A
The Output Voltage is the rms line to line voltage at the AC terminals of the drive.

Unidrive M400 Quick Start Guide 55


Issue Number: 8
00.087 Motor Rpm
RO Num ND NC PT FI
OL
 ±33000.0 rpm 
RFC-A
Motor Rpm = 60 x Frequency / Pole pairs
where
Pole pairs = the numeric value of Number Of Motor Poles (Pr 00.040) (i.e. 3 for a 6 pole motor)
The frequency used to derive the Motor Rpm is the Final Demand Reference (Pr 00.083).

00.088 Current Magnitude


RO Num ND NC PT FI
OL
 0 to Drive Maximum Current A 
RFC-A
Current Magnitude is the instantaneous drive output current scaled so that it represents the r.m.s.
phase current in Amps under steady state conditions.

00.089 Torque Producing Current


RO Num ND NC PT FI
OL
 ± Drive Maximum Current A 
RFC-A
Torque Producing Current is the instantaneous level of torque producing current scaled so that it
represents the r.m.s. level of torque producing current under steady state conditions.

00.090 Digital I/O Read Word


RO Bin ND NC PT
OL
 000000000000 to 111111111111 
RFC-A
Digital I/O Read Word reflects the state of digital inputs/outputs 1 to 5 and the relay.

00.091 Reference On
RO Bit ND NC PT
OL
 Off (0) or On (1) 
RFC-A

Reference On, which is controlled by the drive sequencer, indicates that the reference from the
reference system is active.

56 Unidrive M400 Quick Start Guide


Issue Number: 8
00.092 Reverse Select
RO Bit ND NC PT
OL
 Off (0) or On (1) 
RFC-A
Reverse Select, which is controlled by the drive sequencer, is used to invert Reference Selected
(Pr 00.081) or the Jog Reference (Pr 00.015).

00.093 Jog Select


RO Bit ND NC PT
OL
 Off (0) or On (1) 
RFC-A
Jog Select, which is controlled by the drive sequencer, is used to select the Jog Reference
(Pr 00.015).

00.094 Analog Input 1


RO Num ND NC PT FI
OL
 ±100.00 % 
RFC-A
This parameter displays the level of the analog signal present at analog input 1 (terminal 2).

00.095 Analog Input 2


RO Num ND NC PT FI
OL
 ±100.00 % 
RFC-A
This parameter displays the level of the analog signal present at analog input 2 (terminal 5).

Unidrive M400 Quick Start Guide 57


Issue Number: 8
7 Running the motor
This section takes a new user through all the essential steps to running a motor for the first time.
Table 7-1 Open Loop and RFC-A
Action Detail
Ensure:
• The drive enable signal is not given, terminal 31 and 34
is open
Before power up • The run signal is not given, terminal 12/13 is open
• The motor is connected to the drive
• The motor connection is correct for the drive  or Y
• The correct supply voltage is connected to the drive
The default setting is Open Loop vector mode. For RFC-A
mode set Pr 00.079 to RFC-A, then press the
Power up the drive stop/reset button to save the parameters.
Ensure: The drive displays: Inhibit (enable terminals are
open)
Enter:
Enter minimum and
• Minimum speed Pr 00.001 (Hz)
0.02

maximum speeds
• Maximum speed Pr 00.002 (Hz) t

Enter:
Enter accel and
100Hz

• Acceleration rate Pr 00.003 (s/100 Hz)


decel rates
• Deceleration rate Pr 00.004 (s/100 Hz) 0.03 0.04
t

 Motor rated current in Pr 00.006 (Amps) MOT. 3 LS 80 L T


N 734570 BJ 002 Kg 9
IP 55 I cl.F 40 C S1

Enter motor  Motor rated speed in Pr 00.007 (rpm / min ) -1 V Hz min-1 kW cos A

nameplate details
 Motor rated voltage in Pr 00.008 (Volts) 230 50 2800 0,75 0,83 0,3

3 2 4 1
 Motor rated power factor in (cos ) Pr 00.009

Ready to autotune
The drive is able to perform either a stationary or a rotating
autotune. The motor must be at a standstill before an
autotune is enabled.
To perform an autotune:
• Set Pr 00.038 = 1 for a stationary autotune or set
Pr 00.038 = 2 for a rotating autotune cos 

• Close the drive enable signal (apply +24 V to terminal


Autotune 31 & 34). The drive will display ’Ready’.
• Give a Run command (apply +24 V to terminal 12 - RS
Run forward or terminal 13 - Run reverse). The lower LS

display will flash ’Auto Tune’ while the drive is


performing the autotune.
• Wait for the drive to display ‘Inhibit’ and for the motor to
come to a standstill.
• Remove the drive enable and run signal from the drive.
When the autotune has been completed, Pr 00.038 will be set
Autotune complete
to 0.
Tuning of frequency
Depending on the application, the frequency controller gains
controller gains
(Pr 00.065 and Pr 00.066) may need to be adjusted.
(RFC-A mode only)
Save parameters
Select ‘Save Parameters’ in Pr mm.000 (alternatively enter
Save parameters a value of 1001) and press the Stop / Reset button
to save parameters.

58 Unidrive M400 Quick Start Guide


Issue Number: 8
Ready to run
The drive is now ready to run the motor. Close the Run
Run
Forward or Run Reverse terminals.
Increasing and Changing the selected Analog frequency reference will
decreasing speed increase and decrease the speed of the motor.
To stop the motor by following the selected deceleration
rate, open either the run forward or run reverse terminal. If
Stopping the enable terminal is opened while the motor is running,
the drive output is immediately disabled and the motor will
coast to a stop.

Unidrive M400 Quick Start Guide 59


Issue Number: 8
8 Diagnostics
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.
WARNING
If a drive is faulty, it must be returned to the supplier of the drive for repair.

Table 8-1 Trip indications


Trip code Condition Description
Current loss was detected in current mode on Analog
An Input 1 Loss Analog input 1 current loss
input 1 (Terminal 2).
An Input 1 OI Analog input 1 over-current Current input on analog input 1 exceeds 24 mA.
Current loss was detected in current mode on Analog
An Input 2 Loss Analog input 2 current loss
input 2 (Terminal 5).
An Input 2 OI Analog input 2 over-current Current input on analog input 2 exceeds 24 mA.
Measured inertia has exceeded The drive has tripped during a rotating autotune or
Autotune
the parameter range mechanical load measurement test.
The drive was prevented from completing an autotune
Autotune test stopped before
Autotune Stopped test, because either the drive enable or the drive run
completion
signals were removed.
Braking resistor overload timed
Brake R Too Hot Braking resistor overload has timed out.
out (I2t)
Card Access NV Media Card Write fail Unable to access the NV Media Card.
The necessary boot file has not been created on the NV
The Menu 0 parameter media card fitted to the drive to take the new parameter
Card Boot modification cannot be saved to value. This occurs when Parameter Cloning (00.030) is
the NV Media Card changed to auto or boot mode, but the drive is not
subsequently reset.
The Card Busy trip indicates that an attempt has been
NV Media Card cannot be
made to access a file on NV Media Card, but the NV
Card Busy accessed as it is being accessed
Media Card is already being accessed by an option
by an option module
module. No data is transferred.
NV Media Card file/data is Trip is initiated if the parameters on the NV Media Card
Card Compare
different to the one in the drive are different to the drive.
NV Media Card data location Attempt has been made to store data on a NV Media
Card Data Exists
already contains data Card in a data block which already contains data.
NV Media Card parameter set
The drive mode in the data block on the NV Media Card
Card Drive Mode not compatible with current drive
is different from the current drive mode.
mode
Attempt has been made to access the NV Media Card
NV Media Card data structure but an error has been detected in the data structure on
Card Error
error the card. Resetting the trip will cause the drive to erase
and create the correct folder structure.
Card Full NV Media Card full There is not enough space left on the card.
Attempt has been made to access non-existent file or
Card No Data NV Media Card data not found
block on the NV Media Card.
NV Media Card trip; option The Card Option trip indicates that parameter data or
modules installed are different default difference data is being transferred from the NV
Card Option
between source drive and Media Card to the drive, but the option module category
destination drive is different between the source and destination drives.
NV Media Card data blocks are
If Drive Derivative is different between the source and
Card Product not compatible with the drive
target drives. Refer to the Control User Guide.
derivative

60 Unidrive M400 Quick Start Guide


Issue Number: 8
Trip code Condition Description
NV Media Card Trip; The voltage
and / or current rating of the The current and / or voltage ratings are different
Card Rating
source and destination drives between source and destination drives.
are different
NV Media Card has the Read Attempt has been made to modify a read-only NV Media
Card Read Only
Only bit set Card or a read-only data block.
The Card Slot trip is initiated, if the transfer of an option
NV Media Card trip; Option
Card Slot module file to or from a module failed because the
module file transfer has failed
option module does not respond correctly.
Initiated by setting bit 12 on the control word when the
Trip initiated from the Control
Control Word control word is enabled. Refer to the Parameter
Word
Reference Guide
Current Offset Current feedback offset error Current offset is too large to be trimmed.
A user action or a file system write is active that is
Drive parameters are being
Data Changing changing the drive parameters and the drive has been
changed
commanded to enable.
Derivative ID Derivative file error Contact the supplier of the drive.
Derivative Image Derivative product image error Contact the supplier of the drive
Two or more parameters are The Destination trip indicates that destination output
Destination writing to the same destination parameters of two or more logic functions (Menus 7 and
parameter 8) within the drive are writing to the same parameter.
Drive Config Drive configuration Contact the supplier of the drive.
The cause of the trip can be identified from the sub trip
number displayed after the trip string.
Default parameters have been
EEPROM Fail Sub-trip Reason
loaded
1 External Trip = 1
Refer to Control User Guide.
The cause of the trip can be identified from the sub trip
number displayed after the trip string.

External Trip External trip is initiated Sub-trip Reason


1 External Trip = 1
Refer to Control User Guide.
Fan Fail Fan fail Indicates the fan or fan circuitry has failed
File Changed File changed A file has been changed, power cycle to clear the trip
The user firmware is incompatible with the power
FW Incompatible Firmware Incompatibility
firmware.
Internal drive hardware fault (see the Control User
HFxx trip Hardware faults
Guide).
Over-temperature detected on input rectifier or braking
Hot Rect/Brake Hot rectifier/brake
IGBT.
I cal. range Current calibration range Current calibration range error.
The total current drawn from the AI-Adaptor 24 V user
I/O Overload Digital output overload
supply or from the digital output has exceeded the limit.
The Keypad Mode trip indicates that the drive is in
Keypad has been removed keypad mode [Reference Selector = 4 or 6] and the
Keypad Mode when the drive is receiving the keypad has been removed or disconnected from the
reference from the keypad drive.
Refer to Control User Guide.

Unidrive M400 Quick Start Guide 61


Issue Number: 8
Trip code Condition Description
trip indicates a motor thermal overload based on the
output current and motor thermal time constant. The
drive will trip on Motor Too Hot when the accumulator
Output current overload timed gets to 100 %.
Motor Too Hot This can occur when:
out (I2t) • There is excessive mechanical load
• Ensure the load is not jammed / sticking
• Check the load on the motor has not changed
• Ensure the motor rated current is not zero
No communication between the power and control
No power board No power board
boards.
OHt Brake Braking IGBT over-temperature Braking IGBT over-temperature
OHt Control Control stage over-temperature Control stage over-temperature
DC bus component over temperature based on a
OHt dc bus DC bus over temperature
software thermal model.
Inverter over temperature based IGBT junction over-temperature has been detected
OHt Inverter
on thermal model based on a software thermal model.
This trip indicates that a power stage over-temperature
OHt Power Power stage over temperature
has been detected.
The OHt Rectifier trip indicates that a rectifier over-
OHt Rectifier Rectifier over temperature
temperature has been detected.
The instantaneous drive output current has
exceeded.The set limit.
Possible solutions:
• Increase acceleration/deceleration rate
• If seen during autotune reduce the voltage boost
Instantaneous output over • Check for short circuit on the output cabling
OI ac
current detected • Check integrity of the motor insulation using an
insulation tester
• Is the motor cable length within limits for the frame
size
• Reduce the values in the current loop gain
parameters
Over current has been detected in braking IGBT or
braking IGBT protection has been activated.
Braking IGBT over current Possible cause:
OI Brake detected: short circuit protection • Check brake resistor wiring
for the braking IGBT activated • Check braking resistor value is greater than or
equal to the minimum resistance value
• Check braking resistor insulation
Option module did not acknowledge notifying the drive
Option module does not
that communications with the drive has been stopped
Option Disable acknowledge during drive mode
during the drive mode changeover within the allocated
changeover
time.
Out Phase Loss Output phase loss detected Phase loss has been detected at the drive output.
Output phase s/c Output phase short-circuit Over-current detected on drive output when enabled.
Motor frequency has exceeded Excessive motor speed (typically caused by mechanical
Over Speed
the over frequency threshold load driving the motor).

62 Unidrive M400 Quick Start Guide


Issue Number: 8
Trip code Condition Description
The Over Volts trip indicates that the DC bus voltage has
exceeded the maximum limit.
Possible solutions:
• Increase Deceleration Rate 1 (Pr 00.004)
DC bus voltage has exceeded
• Decrease the braking resistor value (staying above
Over Volts the peak level or maximum
the minimum value).
continuous level for 15 seconds
• Check nominal AC supply level.
• Check for supply disturbances which could cause
the DC bus to rise.
• Check motor insulation using a insulation tester.
The drive has detected an input phase loss or large
Phase Loss Supply phase loss
supply imbalance.
Power Board HF Power board HF Power processor hardware fault.
Communication has been lost /
Power Comms errors detected between power No communications between power and control.
control
Power system configuration data Error in the configuration data stored in the power
Power Data
error system.
Error has been detected in the power down save
Power Down Save Power down save error
parameters saved in non-volatile memory.
One or more internal power supply rails are outside
PSU Internal power supply fault
limits or overloaded.
The measured stator resistance during an autotune test
Measured resistance has
Resistance has exceeded the maximum possible value of Stator
exceeded the parameter range
Resistance. Refer to the Control User Guide.
Option module in option slot 1 on the drive is a different
Option module in option slot 1
Slot 1 Different type to that installed when parameters were last saved
has changed
on the drive.
Option module in option slot 1 Option module in option slot 1 on the drive has detected
Slot 1 Error
has detected a fault an error.
Option module in option slot 1 on the drive has indicated
Slot 1 HF Option module 1 hardware fault
a hardware fault.
Option module in option slot 1 Option module in option slot 1 on the drive has been
Slot 1 Not Fitted
has been removed removed since the last power up.
Option module installed in Slot 1 has started the option
Option module watchdog
Slot 1 Watchdog watchdog function and then failed to service the
function service error
watchdog correctly.
Soft start relay failed to close, Soft start relay in the drive failed to close or the soft start
Soft Start
soft start monitor failed monitoring circuit has failed.
No Safe Torque Off board
STO Error STO board not installed.
installed
Hardware trip (HF01 –HF19) has occurred and the drive
Hardware trip has occurred
Stored HF has been power cycled. Enter 1299 to xx.000 to clear
during last power down
trip
The Sub-array RAM trip indicates that an option module
Sub-array RAM RAM allocation error derivative image has requested more parameter RAM
than is allowed.
Temp Feedback Internal thermistor has failed Internal thermistor has failed.
The Th Brake Res trip is initiated if the hardware based
Th Brake Res Brake resistor over temperature braking resistor thermal monitoring is connected and the
resistor overheats.
The Th Short Circuit trip indicates that the motor
thermistor connected to terminal 14 (digital input 5) on
Th Short Circuit Motor thermistor short circuit
the control connections, is short circuit or low impedance
(<50 Ω).

Unidrive M400 Quick Start Guide 63


Issue Number: 8
Trip code Condition Description
The Thermistor trip indicates that the motor thermistor
Motor thermistor over-
Thermistor connected to terminal 14 (digital input 5) on the control
temperature
connections has indicated a motor over temperature.
The User OI ac trip is initiated if the output current of the
User OI ac User OI ac drive exceeds the trip level set by User Over Current
Trip Level. Refer to the Control User Guide.
Trip generated by an onboard This trip can be initiated from within an onboard user
User Prog Trip
user program program
An error has been detected in the onboard user program
User Program On board user program error
image.
The User Save trip indicates that an error has been
User Save User Save error / not completed detected in the user save parameters saved in non-
volatile memory.
Control word watchdog has The Watchdog trip indicates that the control word has
Watchdog
timed out been enabled and has timed out

8.1 Alarm indications


In any mode, an alarm is an indication given on the display by alternating the alarm string with the
drive status string display. If an action is not taken to eliminate any alarm except "tuning”, “LS" or
“24.LoSt” the drive may eventually trip. Alarms are not displayed when a parameter is being edited.
Table 8-2 Alarm indications
Alarm string Description
Brake Resistor overload. Braking Resistor Thermal Accumulator in the drive has
Brake
reached 75.0 % of the value at which the drive will trip.Refer to the Power
Resistor
Installation Guide.
Motor Protection Accumulator in the drive has reached 75.0 % of the value at
Motor
which the drive will trip and the load on the drive is >100 %, reduce motor current
Overload
(load). Refer to the Parameter Reference Guide
Drive Drive over temperature. Percentage Of Drive Thermal Trip Level in the drive is
Overload greater than 90 %. Refer to the Parameter Reference Guide
Autotune The autotune procedure has been initialized and an autotune in progress.
Limit switch active. Indicates that a limit switch is active and that is causing the
Limit Switch
motor to be stopped.
Low AC Low voltage mode. See Low AC Alarm in Control User Guide.
Current Limit Current limit active. See Current Limit Active in Control User Guide.
24V Backup
24V backup not present. See 24V Alarm Loss Enable in the Control User Guide.
Lost

64 Unidrive M400 Quick Start Guide


Issue Number: 8
9 NV Media Card Operation
Figure 9-1 Installing the AI-Backup adaptor (SD Card)
2

1. Identify the two plastic fingers on the underside of the AI-Backup adaptor (1) - then insert the two
fingers into the corresponding slots in the spring-loaded sliding cover on the top of the drive.
2. Hold the adaptor firmly and push the spring loaded protective cover towards the back of the drive to
expose the connector block (2) below.
Press the adaptor downwards (3) until the adaptor connector locates into the drive connection below.
Figure 9-2 Basic NV Media Card operation

1 1 Programs all drive


parameters to the
Drive reads all NV Media Card
parameters from 2 2
the NV Media Card NOTE
Overwrites any
data already in
data block 1

Pr 00.030 = Read + Pr 00.030 = Program +


Drive boots from the
Drive automatically NV Media Card on
writes to the power up and
Media Card automatically writes
when a parameter to the Media Card
save is performed when a parameter
save is performed

Pr 00.030 = Auto + Pr 00.030 = Boot +


The whole card may be protected from writing or erasing by setting the read-only flag, refer to the Control
User Guide for further information. The card should not be removed during data transfer, as the drive will
produce a trip. If this occurs then either the transfer should be reattempted or in the case of a card to drive
transfer, default parameters should be loaded.
NOTE
The drive supports SD cards formatted with the FAT32 file system only.

Unidrive M400 Quick Start Guide 65


Issue Number: 8
10 Machine Control Studio
Machine Control Studio programming software powered by CODESYS
Machine Control Studio software provides a flexible and intuitive environment for programming
Unidrive M's new automation and motion control features. This new software offers programming for
the Unidrive M400's onboard PLC.
Machine Control Studio is powered by CODESYS, the leading open software for programmable
machine control. The programming environment is fully EN/IEC 61131-3 compliant, meaning that it is
familiar and therefore fast and easy to use for control engineers around the world.
The following EN/IEC 61131-3 programming languages are supported:
• Structured Text (ST)
• Function Block Diagram (FBD)
• Structured Function Chart (SFC)
• Ladder Diagram (LD)
• Instruction List (IL)
Also supported:
• Continuous Function Chart (CFC)
Onboard intelligence
• Programmable Logic Control (PLC) - memory: 12 kB
• 1 x Real-time task (16 ms), 1 x Background task
Intuitive IntelliSense functionality helps to write consistent and robust programming, speeding up
software development. Programmers have access to a vibrant open-source community for function
blocks. Machine Control Studio supports customers' own function block libraries, with on-line
monitoring of program variables with user defined watch windows and help for on-line change of
program, in line with current PLC practices.

Download Machine Control Studio from: www.drive-setup.com.

66 Unidrive M400 Quick Start Guide


Issue Number: 8
11 UL listing information
11.1 UL file reference
All models are UL Listed to both Canadian and US requirements. The UL file reference is: NMMS/
7.E171230.

11.2 Option modules, kits and accessories


Option Modules, Control Pods, Installation Kits and other accessories for use with these drives are
UL Listed.

11.3 Enclosure ratings


All models are Open Type as supplied.
The drive enclosure is not classified as a fire enclosure. A separate fire enclosure must be provided.
A UL/ NEMA Type 12 enclosure is suitable.
When fitted with a conduit box the drives meet the requirements for UL Type 1. Type 1 enclosures
are intended for indoor use, primarily to provide a degree of protection against limited amounts of
falling dirt.
Remote Keypads are UL Type 12 when installed with the sealing washer and fixing kit provided.
When installed in a Type 1 or Type 12 enclosure, the drives may be operated in a compartment
handling conditioned air.
11.4 Mounting
Drives may be surface mounted using the appropriate brackets. Drives may be mounted singly or
side by side with suitable space between them (bookcase mounting).

11.5 Environment
Drives must be installed in a Pollution Degree 2 environment or better (dry, non-conductive pollution
only).
The drives have been evaluated for use at ambient temperatures up to 40 °C. The drives have
additionally been evaluated for 50 C and 55 C ambient air temperatures with a derated output.

11.6 Electrical Installation


OVERVOLTAGE CATEGORY
OVC III
SUPPLY
The drives are suitable for use on a circuit capable of delivering not more than 100,000 RMS
symmetrical amperes, 600 Volts AC Maximum.
TERMINAL TORQUE
Terminals must be tightened to the rated torque as specified in the Installation Instructions.
WIRING TERMINALS
Drives must be installed using cables rated for 75 °C operation, copper wire only.
Where possible, UL Listed closed-loop connectors sized according to the field wiring shall be used
for all field power wiring connections.
GROUND CONNECTION INSTRUCTIONS
UL Listed closed-loop connectors sized according to the field wiring shall be used for grounding
connections.

Unidrive M400 Quick Start Guide 67


Issue Number: 8
BRANCH CIRCUIT PROTECTION
The fuses and circuit breakers required for branch circuit protection are specified in the Installation
Instructions.
OPENING OF BRANCH CIRCUIT
Opening of the branch-circuit protective device may be an indication that a fault has been
interrupted. To reduce the risk of fire or electric shock, the equipment should be examined and
replaced if damaged. If burnout of the current element of an overload relay occurs, the complete
overload relay must be replaced.
Integral solid state short circuit protection does not provide branch circuit protection. Branch circuit
protection must be provided in accordance with the National Electrical Code (NEC), The Canadian
Electrical Code, and any additional local codes.
DYNAMIC BRAKING
M100, M101, M200, M201, M300 or M400, frame sizes 1 to 4 have been evaluated for dynamic
braking applications. Other drive models have not been evaluated for dynamic braking.

11.7 Motor overload protection and thermal memory


retention
All drives incorporate internal overload protection for the motor load that does not require the use of
an external or remote overload protection device.

The protection level is adjustable and the method of adjustment is provided in the Control User
Guide. Maximum current overload is dependent on the values entered into the current limit
parameters (motoring current limit, regenerative current limit and symmetrical current limit entered as
percentage) and the motor rated current parameter (entered in amperes).
The duration of the overload is dependent on motor thermal time constant. The maximum
programmable time constant depends on the drive model. The method of adjustment of the overload
protection is provided.
The drives are provided with user terminals that can be connected to a motor thermistor to protect
the motor from high temperature, in the event of a motor cooling fan failure.

11.8 External Class 2 supply


The external power supply used to power the 24 V control circuit shall be marked: “UL Class 2”. The
power supply voltage shall not exceed 24 Vdc.

68 Unidrive M400 Quick Start Guide


Issue Number: 8
Quick start setup using
default parameter set

Digital I/O Analog I/O


0V 0V
6 1
24 V user Analog input 1+ Frequency
9 2
reference 1
Digital I/O1 Analog input 1-
Zero frequency 10 3
Digital I/O 2 10 V user
Unassigned * 11 4
Digital input 3 Analog input 2 Frequency
Run forward 12 5
reference 2
Digital input 4
Run reverse 13 Analog output 1
7 Frequency output
Analog input 1/ Digital input 5
14 Analog output 2 Torque producing
Analog input 2 select 8
Digital input 6 current output
Jog forward 15
Digital input 7
16 Relay**
24 V user 41
17
Drive ok
42

Safe Torque
Off
User enable 1 STO1 DC bus/Brake
34
/ STO input 1
0 V ST01 BR
33
0 V STO2
32 +
User enable 2 STO2
/ STO input 2 31 _

AC supply Motor

L1 U
1 ph/3 ph
AC power L2 V
supply
L3 W

Optional

Main contactor
power supply

Stop

Start / Thermal
Reset protection
device

Braking resistor

NOTE The 0 V terminals on the Safe Torque Off are isolated from each other and the
0 V common. On the size 2 110 V drives or when connecting single phase to a dual rated 200 V
unit, the supply should be connected to L1 and L3.

* Unidrive M400 uses Safe Torque Off (drive enable) inputs and terminal 11 is unassigned.
** 250 Vac maximum (UL class 1).

0478-0040-08

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