6 Mden

MD65 AC Drive
User Manual
Version 2.0
Instruction Manual D2-3519-2

The information in this manual is subject to change without notice.
Throughout this manual, the following notes are used to alert you to safety
considerations:
ATTENTION: Identifies information about practices or

circumstances that can lead to personal injury or death,
! property damage, or economic loss.
Important: Identifies information that is critical for successful application and

understanding of the product.
The thick black bar shown on the outside margin of this page is used throughout this
manual to signify new or revised text or figures.
ATTENTION: Only qualified personnel familiar with the

construction and operation of this equipment and the hazards
involved should install, adjust, operate, or service this equipment.
! Read and understand this document in its entirety before

proceeding. Failure to observe this precaution could result in
severe bodily injury or loss of life.
ATTENTION: The drive contains high voltage capacitors that take
time to discharge after removal of mains supply. Before working
on the drive, ensure isolation of mains supply from line inputs [R,
S, T (L1, L2, L3)]. Wait three (3) minutes for capacitors to
discharge to safe voltage levels. Darkened display LEDs is not an
indication that capacitors have discharged to safe voltage levels.
Failure to observe this precaution could result in severe bodily
injury or loss of life.
ATTENTION: The drive can operate at and maintain zero speed.
The user is responsible for assuring safe conditions for operating
personnel by providing suitable guards, audible or visual alarms,
or other devices to indicate that the drive is operating, or may
operate, at or near zero speed. Failure to observe this precaution
could result in severe bodily injury or loss of life.
ATTENTION: The drive contains ESD- (Electrostatic Discharge)
sensitive parts and assemblies. Static control precautions are
required when installing, testing, servicing, or repairing the drive.
Erratic machine operation and damage to, or destruction of,
equipment can result if this precaution is not followed. Failure to
observe this precaution can result in bodily injury.
ATTENTION: The user must provide an external, hardwired
emergency stop circuit outside of the drive circuitry. This circuitry
must disable the system in case of improper operation.
Uncontrolled machine operation may result if this precaution is
not followed. Failure to observe this precaution could result in
bodily injury.
ATTENTION: The user is responsible for conforming with all
applicable local and national codes. Failure to observe this
precaution could result in damage to, or destruction of, the
equipment.
ATTENTION: An incorrectly applied or installed drive can result
in component damage or reduction in product life. Wiring or
application errors, such as undersizing the motor, incorrect or
inadequate AC supply, or excessive ambient temperatures may
result in malfunction of the system.
MD65, VSnot
Trademarks Utilities,
belongingand
to Reliance are trademarks
Rockwell Automation of Rockwell
are property Automation.
of their respective
companies.
©2004 Rockwell Automation. All rights reserved.
CONTENTS
Chapter 1 Introduction
1.1 Getting Assistance from Reliance Electric..................... 1-1
Chapter 2 About the MD65 Drive

2.1 Identifying the Drive by Model Number.......................... 2-1
2.2 MD65 Drive Ratings, Model Numbers, and
Frame Sizes .................................................................. 2-2
2.3 Kits and Accessories ..................................................... 2-3
2.4 Storage Guidelines ........................................................ 2-4
Chapter 3 Mounting the Drive

3.1 General Requirements for the Installation Site .............. 3-1
3.1.1 Operating Conditions........................................... 3-2
3.1.2 Minimum Mounting Clearances ........................... 3-2
3.1.3 Mounting Dimensions for the MD65 Drive........... 3-3
3.2 Mounting the Drive......................................................... 3-6
3.2.1 Protecting the Drive from Debris ......................... 3-6
Chapter 4 Grounding the Drive

4.1 RFI Filter Grounding ...................................................... 4-2
Chapter 5 Installing Power Wiring

5.1 Opening the Cover......................................................... 5-1
5.2 Verifying Drive AC Input Ratings Match
Available Power ............................................................ 5-2
5.2.1 Ungrounded Distribution Systems ....................... 5-2
5.2.2 Input Power Conditioning .................................... 5-4
5.3 Power Wiring Specifications .......................................... 5-4
5.4 Power Terminal Block Connections............................... 5-5
5.5 Fuses and Circuit Breakers ........................................... 5-6
5.6 Motor Cable Types Acceptable for 200-600 Volt
Installations ................................................................... 5-8
5.7 Reflected Wave Protection .......................................... 5-10
5.8 Output Disconnect ....................................................... 5-10
Chapter 6 Installing Control Wiring

6.1 Stop Circuit Requirements............................................. 6-1
6.2 Motor Start/Stop Precautions......................................... 6-2
6.3 I/O Wiring Recommendations........................................ 6-3
6.3.1 Maximum Control Wire Length
Recommendations ............................................. 6-3
6.4 Wiring the Control Terminal Block ................................. 6-4
6.4.1 I/O Wiring Examples............................................ 6-6
Contents I
6.4.2 Typical Multiple Drive Connection Examples....... 6-9
6.5 Start and Speed Reference Control............................. 6-10
6.6 Accel/Decel Selection .................................................. 6-11
Chapter 7 Completing the Installation

7.1 Checking the Installation Before Applying
Power to the Drive ......................................................... 7-1
7.2 Powering Up After Installation is Complete.................... 7-2
Chapter 8 Using the Integral Keypad to Program and Control the Drive
8.1 Keypad Components ..................................................... 8-1
8.1.1 Display Description .............................................. 8-2
8.1.2 LED Descriptions ................................................. 8-2
8.1.3 Key Descriptions.................................................. 8-3
8.2 About Parameters .......................................................... 8-4
8.3 How Parameters are Organized .................................... 8-4
8.4 Viewing and Adjusting Basic (P) and Advanced (A)
Parameters .................................................................... 8-5
8.5 Viewing the Display (d) Parameters............................... 8-6
Chapter 9 Parameter Descriptions

9.1 Basic Program Group Parameters................................. 9-2
9.2 Advanced Group Parameters ........................................ 9-8
9.3 Display Group Parameters........................................... 9-46
Chapter 10 Troubleshooting the Drive

10.1 Fault Codes.................................................................. 10-1
10.1.1 Manually Clearing Faults ................................... 10-2
10.1.2 Automatically Clearing Faults
(Auto Restart Feature) ........................................... 10-2
10.2 Troubleshooting Tables ................................................ 10-7
10.2.1 Problem: Drive Does Not Start From
Terminal Block Start or Run Inputs ................... 10-7
10.2.2 Problem: Drive Does Not Start From
Integral Keypad ................................................ 10-8
10.2.3 Problem: Drive Does Not Respond to
Changes in Speed Command .......................... 10-8
10.2.4 Problem: Motor Does Not Start.......................... 10-9
10.2.5 Problem: Motor and/or Drive Will Not
Accelerate to Commanded Speed ................. 10-10
10.2.6 Problem: Motor Operation is Unstable............. 10-10
10.2.7 Problem: Drive Will Not Reverse Motor
Direction ......................................................... 10-11
10.2.8 Problem: Drive Does Not Power Up ................ 10-11
Appendix A Technical Specifications...................................................... A-1
II MD60 AC Drive User Manual

Appendix B Record of User Settings .......................................................B-1
Appendix C Parameters Cross-Referenced by Name .............................C-1
Appendix D CE Conformance Requirements .........................................D-1
Appendix E Accessories..........................................................................E-1
Appendix F RS485 (MDI) Protocol .......................................................... F-1
Appendix G RJ45 Splitter Cable ............................................................ G-1
Appendix H StepLogicTM, Basic Logic and Time/Counter Functions ......H-1
Appendix I PID Setup.............................................................................. I-1
Index Index-1
Contents III
IV MD60 AC Drive User Manual
List of Figures
Figure 2.1 – Identifying the Drive by Model Number................................... 2-1
Figure 3.1 – Minimum Mounting Clearances .............................................. 3-2

Figure 3.2 – Drive Dimensions and Weights............................................... 3-3
Figure 3.3 – Drive Dimensions - NEMA 1/IP30 Kit Without
Communication Option ......................................................... 3-4
Figure 3.4 – Drive Dimensions - NEMA 1/IP30 Kit With
Communication Option ......................................................... 3-5
Figure 4.1 – Typical Grounding................................................................... 4-1
Figure 5.1 – Opening the Cover.................................................................. 5-1

Figure 5.2 – Removing the Finger Guard ................................................... 5-2
Figure 5.3 – Removing the Jumper............................................................. 5-3
Figure 5.4 – Phase-to-Ground MOV Removal............................................ 5-3
Figure 5.5 – Power Terminal Block Connections........................................ 5-5
Figure 6.1 – Control Terminal Block ........................................................... 6-4

Figure 6.2 – Override Priority for the Speed Reference Command .......... 6-10
Figure 6.3 – Accel/Decel Selection ........................................................... 6-11
Figure 8.1 – Integral Keypad ...................................................................... 8-1
Figure 9.1 – Accel Time 1 (P039) ............................................................... 9-6

Figure 9.2 – Decel Time 1 (P040)............................................................... 9-7
Figure 9.3 – Accel Time 2 (A067) ............................................................. 9-18
Figure 9.4 – Decel Time 2 (A068)............................................................. 9-19
Figure 9.5 – DC Brake Level (A081)......................................................... 9-21
Figure 9.6 – S Curve % (A083) Example.................................................. 9-22
Figure 9.7 – Boost Select (A084).............................................................. 9-23
Figure 9.8 – Start Boost (A085) ................................................................ 9-24
Figure 9.9 – Motor OL Select (A090) ........................................................ 9-25
Figure 9.10 – Derating Guidelines Based on PWM Frequency
(A091) Selection .............................................................. 9-26
Figure 9.11 – Anlg In 0-10V Lo (A110) ..................................................... 9-32
Figure 9.12 – Skip Freq Band (A120) ....................................................... 9-35
Figure 9.13 – Digit Settings....................................................................... 9-43
Figure 9.14 – EM BRK Off Delay .............................................................. 9-44
Figure 9.15 – Drive Status (d006) Bit Definitions...................................... 9-47
Figure 9.16 – Control Source (d012) Bit Definitions ................................. 9-48
Figure 9.17 – Contrl In Status (d013) Bit Definitions................................. 9-49
Figure 9.18 – Dig In Status (d014) Bit Definitions..................................... 9-49
Figure 9.19 – Comm Status (d015) Bit Definitions.................................... 9-50
Contents V
VI MD65 AC Drive User Manual
List of Tables
Table 2.1 – Drive Ratings, Model Numbers, and Frame Sizes...................2-2

Table 2.2 – Standard Kits and Accessories ................................................2-3
Table 3.1 – Ambient Operating Temperatures and Mounting

Clearances.............................................................................3-2
Table 3.2 – Mounting Specifications ...........................................................3-6
Table 5.1 – Corrective Actions for Input Power Conditions ........................5-4

Table 5.2 – Power Wiring Specifications ....................................................5-4
Table 5.3 – Power Terminal Block Specifications.......................................5-5
Table 5.4 – Drive, Fuse, and Circuit Breaker Ratings.................................5-7
Table 5.5 – Shielded Motor Cable Types Acceptable for 200-600
Volt Installations.....................................................................5-9
Table 5.6 – Maximum Cable Length Recommendation............................5-10
Table 6.1 – Recommended Control and Signal Wire..................................6-3

Table 6.2 – I/O Terminal Block Specifications ............................................6-3
Table 6.3 – Control Terminal Definitions and Related Parameters.............6-5
Table 6.4 – Typical Multiple Drive Connection Examples...........................6-9
Table 8.1 – LED Descriptions .....................................................................8-2

Table 8.2 – Key Descriptions ......................................................................8-3
Table 8.3 – Viewing and Adjusting Basic (P) and Advanced (A)
Parameters ............................................................................8-5
Table 8.4 – Viewing the Display (d) Parameters.........................................8-6
Table 9.1 – Trip Points for Digital Output Relay........................................9-13

Table 9.2 – On/Off Points for the Opto Outputs........................................9-16
Table 9.3 – A064 Options .........................................................................9-17
Table 9.4 – Analog Output Signal Mode Selections .................................9-17
Table 9.5 – Selecting the Reference Source Using Presets.....................9-20
Table 9.6 – Related Parameters for Stp Logic Parameters
(A140-A147) ........................................................................9-41
Table 10.1 – Fault Descriptions and Corrective Actions ...........................10-3

Table 10.2 – Problem: Drive Does Not Start From Terminal Block
Start or Run Inputs.............................................................10-7
Table 10.3 – Problem: Drive Does Not Start From Integral Keypad .........10-8
Table 10.4 – Problem: Drive Does Not Respond to Changes in
Speed Command ...............................................................10-8
Table 10.5 – Problem: Motor and/or Drive Will Not Accelerate to
Commanded Speed .........................................................10-10
Table 10.6 – Problem: Motor Operation is Unstable...............................10-10
Table 10.7 – Problem: Drive Will Not Reverse Motor Direction ..............10-11
Contents VII
VIII MD65 AC Drive User Manual
CHAPTER 1
Introduction
This manual is intended for qualified electrical personnel familiar

with installing, programming, and maintaining AC drives.
This manual contains information on:

• Installing and wiring the MD65 drive
• Programming the drive
• Troubleshooting the drive
The latest version of this manual is available from

http://www.theautomationbookstore.com or
http://www.reliance.com/docs_onl/online_stdrv.htm.
1.1 Getting Assistance from Reliance

Electric
If you have any questions or problems with the products described
in this instruction manual, contact your local Reliance Electric sales
office.
For technical assistance, call 1-864-284-5053. Before calling,

please review the troubleshooting section of this manual and check
the Reliance Electric Standard Drives website for additional
information. When you call this number, you will be asked for the
drive model number or catalog number and this instruction manual
number.
Introduction 1-1
1-2 MD65 AC Drive User Manual
CHAPTER 2
About the MD65 Drive
This chapter provides general information about the MD65 AC drive,

including how to identify the drive.
2.1 Identifying the Drive by Model

Number
Each drive can be identified by its model number, as shown in
figure 2.1. The model number is on the shipping label and the drive
nameplate. The model number includes the drive and any options.
Drive model numbers are provided in table 2.1.
6MD V N - 2P3 1 0 2
6MD = P roduct Fam ily 1 = M D60 Drive
2 = M D65 Drive
A = 1-Phase, 240 VA C
V = 1-Phase, 120 VA C 0 = No Filter
B = 3-Phase, 240 VA C 1 = Internal Filter
D = 3-Phase, 460 VAC
E = 3-Phase, 600 VA C
N = IP20 (O pen) Reserved
@ 115V / 230 VAC
2P3 = 2.3 A , 0.5 H P
5P0 = 5.0 A , 1 H P
6P0 = 6.0 A , 1.5 H P
8P0 = 8 A , 2 H P
012 = 12 A, 3 H P
017 = 17.5 A, 5 H P
024 = 24 A, 7.5 H P
033 = 33 A, 10 H P
@ 460 VAC @ 600 V AC

1P7 = 1.7 A, 1 HP
1P4 = 1.4 A , 0.5 H P
2P3 = 2.3 A , 1 H P 3P0 = 3.0 A, 2 HP
4P0 = 4 A , 2 H P 4P2 = 4.2 A, 3 HP
6P6 = 6.6 A, 5 HP
6P0 = 6 A , 3 H P
010 = 10.5 A, 5 HP 9P9 = 9.9 A, 7.5 HP
012 = 12 A, 7.5 H P 012 = 12.0 A , 10 HP
019 = 19.0 A , 15 HP
017 = 17 A, 10 H P
024 = 24 A, 15HP
Figure 2.1 – Identifying the Drive by Model Number
About the MD65 Drive 2-1

2.2 MD65 Drive Ratings, Model Numbers,
and Frame Sizes
Similar MD65 drive sizes are grouped into frame sizes to simplify
re-ordering and dimensioning. Refer to figures 3.2 through 3.4 for
the dimensions of each frame size.
Table 2.1 provides MD65 drive ratings, model numbers, and frame
sizes.
Table 2.1 – Drive Ratings, Model Numbers, and Frame Sizes
Drive Ratings
Output Model Number Frame
Input Voltage kW HP Current Size
120V 50/60 Hz 0.4 0.5 2.3A 6MDVN-2P3102 B
1-Phase 0.75 1.0 5.0A 6MDVN-5P0102 B
No Filter
1.1 1.5 6.0A 6MDVN-6P0102 B
240V 50/60 Hz 0.4 0.5 2.3A 6MDAN-2P3112 B
1-Phase 0.75 1.0 5.0A 6MDAN-5P0112 B
With Integral
“S Type” EMC Filter 1.5 2.0 8.0A 6MDAN-8P0112 B
2.2 3.0 12.0A 6MDAN-012112 C
240V 50/60 Hz 0.4 0.5 2.3 A 6MDAN-2P3102 B
1-Phase 0.75 1.0 5.0 A 6MDAN-5P0102 B
No Filter
1.5 2.0 8.0 A 6MDAN-8P0102 B
2.2 3.0 12.0 A 6MDAN-012102 C
240V 50/60 Hz 0.4 0.5 2.3 A 6MDBN-2P3102 B
3-Phase 0.75 1.0 5.0 A 6MDBN-5P0102 B
No Filter
1.5 2.0 8.0 A 6MDBN-8P0102 B
2.2 3.0 12.0 A 6MDBN-012102 B
3.7 5.0 17.5 A 6MDBN-017102 B
5.5 7.5 24.0 A 6MDBN-024102 C
7.5 10.0 33.0 A 6MDBN-033102 C
480V 50/60 Hz 0.4 0.5 1.4 A 6MDDN-1P4102 B
3-Phase 0.75 1.0 2.3 A 6MDDN-2P3102 B
No Filter
1.5 2.0 4.0 A 6MDDN-4P0102 B
2.2 3.0 6.0 A 6MDDN-6P0102 B
4.0 5.0 10.5 A 6MDDN-010102 B
5.5 7.5 12.0 A 6MDDN-012102 C
7.5 10.0 17.0 A 6MDDN-017102 C
11 15.0 24.0 A 6MDDN-024102 C

Table 2.1 – Drive Ratings, Model Numbers, and Frame Sizes (Continued)
Drive Ratings
Output Model Number Frame
Input Voltage kW HP Current Size
600V 50/60 Hz 0.75 1.0 1.7 A 6MDEN-1P7102 B
3-Phase 1.5 2.0 3.0 A 6MDEN-3P0102 B
No Filter
2.2 3.0 4.2 A 6MDEN-4P2102 B
4.0 5.0 6.6 A 6MDEN-6P6102 B
5.5 7.5 9.9 A 6MDEN-9P9102 C
7.5 10.0 12.2 A 6MDEN-012102 C
11 15.0 19.0 A 6MDEN-019102 C
2.3 Kits and Accessories

Table 2.2 lists kits and accessories for the MD65 drive. Contact
Reliance Electric for more information about these kits.
Table 2.2 – Standard Kits and Accessories
Kit Description Model Number

DeviceNet Communication Module (requires a MDCOMM-DNET
Communication Module Cover, purchased
separately)
Communication Module Cover, B-Frame Drive 6MD-COMMCVR-B
Communication Module Cover, C-Frame Drive 6MD-COMMCVR-C
Serial Converter Module (RS485 to RS232; MDCOMM-232
includes Serial Converter and cable)
VS Utilities Software CD RECOMM-VSUTIL
NEMA 1/IP30 Kit, B-Frame drive (includes 6MD-NM1B
conduit box with mounting screws and plastic
top panel)
NEMA 1/IP30 Kit, C-Frame drive (includes 6MD-NM1C
conduit box with mounting screws and plastic
top panel)
NEMA 1/IP30 Kit for Communication Option, 6MD-NM1COMMB
B-Frame Drive (includes communication
option conduit box with mounting screws and
plastic top panel)
NEMA 1/IP30 Kit for Communication Option, 6MD-NM1COMMC
C-Frame Drive (includes communication
option conduit box with mounting screws and
plastic top panel)
Remote Panel-Mount OIM (digital speed MD4LCD-PNL
control, CopyCat capable, IP66 (NEMA 4X/12
indoor use only), includes 2.9 meter cable).
About the MD65 Drive 2-3

Table 2.2 – Standard Kits and Accessories (Continued)
Kit Description Model Number

Remote Handheld OIM (digital speed control, MD1CC
full numeric keypad, CopyCat capable, IP30
(NEMA Type 1); includes 1.0 meter cable;
panel-mount with optional Bezel Kit.
Bezel Kit (panel mount for Remote Handheld MDBZL-N1
OIM)
OIM Cable (1.0 meter OIM-to-RJ45 cable) MDCBL-CC1
RJ45 Cable (2.0 meter RJ45-to-RJ45 cable, MDCBL-RJ45
male-to-male connectors)
Serial Cable (2.0 meter serial cable with a RECBL-SFC
locking low profile connector to connect to the
serial converter and a 9-pin sub-miniature D
female connector to connect to a computer)
Dynamic Brake Resistors AK-R2-xxx
RJ45 Splitter Cable (RJ45 one-to-two port AK-U0-RJ45-SCI
splitter cable)
Terminating Resistors (RJ45 120 Ohm AK-U0-RJ45-TRI
resistors; 2 pieces)
Terminal Block (RJ45 two-position terminal AK-U0-TB2P
block; 5 pieces)
2.4 Storage Guidelines

If you need to store the drive, follow these recommendations to
prolong drive life and performance:
• Store the drive within an ambient temperature range of -40° to
+85° C.
• Store the drive within a relative humidity range of 0% to 95%,
non-condensing.
• Do not expose the drive to a corrosive atmosphere.

CHAPTER 3
Mounting the Drive
This chapter provides information that must be considered when

planning an MD65 drive installation and provides drive mounting
information and installation site requirements.
ATTENTION: Only qualified electrical personnel familiar with

the construction and operation of this equipment and the
! hazards involved should install, adjust, operate, or service this
equipment. Read and understand this manual and other
applicable manuals in their entirety before proceeding. Failure
to observe this precaution could result in severe bodily injury
or loss of life.
ATTENTION: Use of power correction capacitors on the
output of the drive can result in erratic operation of the motor,
nuisance tripping, and/or permanent damage to the drive.
Remove power correction capacitors before proceeding.
Failure to observe this precaution could result in damage to,
or destruction of, the equipment.
ATTENTION: The user is responsible for conforming with all
applicable local, national, and international codes. Failure to
observe this precaution could result in damage to, or
destruction of, the equipment.
3.1 General Requirements for the

Installation Site
It is important to properly plan before installing an MD65 drive to
ensure that the drive’s environment and operating conditions are
satisfactory.
The area behind the drive must be kept clear of all control and
power wiring. Power connections may create electromagnetic fields
that may interfere with control wiring or components when run in
close proximity to the drive.
Read the recommendations in the following sections before

continuing with the drive installation.
Mounting the Drive 3-1

3.1.1 Operating Conditions
Before deciding on an installation site, consider the following
guidelines:
• Protect the cooling fan by avoiding dust or metallic particles.
• Do not expose the drive to a corrosive atmosphere.

• Protect the drive from moisture and direct sunlight.
• Verify that the drive location will meet the environmental

conditions specified in table 3.1.
Table 3.1 – Ambient Operating Temperatures and Mounting Clearances
Ambient
Temperature
Enclosure Minimum Mounting
Minimum Maximum Rating Clearances
-10°C 40°C IP20/Open Type Use Mounting Option A
(14°F) (104°F) (figure 3.1)
IP30/NEMA 1/UL Use Mounting Option B
Type 11 (figure 3.1)
50°C IP20/Open Type Use Mounting Option B
(122°F) (figure 3.1)
1
Rating requires installation of the MD65 NEMA 1/IP30 Kit.
3.1.2 Minimum Mounting Clearances

Refer to figure 3.1 for the minimum mounting clearances. Refer to
section 3.1.3 for drive mounting dimensions.
25 mm
(1.0 in)
120 mm 120 mm
(4.7 in) (4.7 in)
Mounting Option A
No clearance required
between drives
Mounting Option B
120 mm 120 mm
(4.7 in) (4.7 in)
See figure 3.2 for drive dimensions.
Figure 3.1 – Minimum Mounting Clearances

3.1.3 Mounting Dimensions for the MD65 Drive
Overall dimensions and weights are illustrated in figures 3.2, 3.3,
and 3.4 as an aid to calculating the total area required by the MD65
drive. Dimensions are in millimeters and (inches). Weights are in
kilograms and (pounds). See table 2.1 for drive ratings by frame.
A C
D
E
B
5.5 (0.22)
Front Side
Shipping
Frame A B C D E F Weight
B 100 (3.94) 180 (7.09) 136 (5.35) 87 (3.43) 168 (6.61) 87.4 (3.44) 2.2 (4.9)
1
C 130 (5.1) 260 (10.2) 180 (7.1) 116 (4.57) 246 (9.7) 4.3 (9.5)
Figure 3.2 – Drive Dimensions and Weights
1 C Frame does not have DIN rail mounting.

79.1 (3.11)
64.1 (2.52)
40.6 (1.60)
25.6 (1.01) ∅ 22.2
(0.87)
213
(8.39)
109.9
(4.33)
74.3
(2.93)
33.0
(1.30)
Side View Bottom View

Frame B
107.0 (4.21) ∅ 28.5

66.0 (2.60) (1.12)
24.0 (0.94)
∅ 22.2
(0.87)
320
(12.56)
152.2
(5.99)
111.2
(4.38)
60.0
(2.36)
Side View Bottom View

Frame C
All dimensions are in mm (in).
Figure 3.3 – Drive Dimensions - NEMA 1/IP30 Kit Without Communication Option

25.0
(0.98)
77.5 (3.05)
50.0 (1.97)
22.5 (0.89)
∅ 22.2
(0.87)
244
(9.61)
134.3
(5.29)
105.3
(4.15)
76.3
64.0 (3.00)
(2.52)
Side View Bottom VIew

Frame B
25.0
(0.98) 108.7 (4.28)
92.2 (3.63)
69.2 (2.72) ∅ 28.5
45.7 (1.80) (1.12)
22.2 (0.87) ∅ 22.2
(0.87)
320
(12.56)
179.8
(7.08)
144.8
(5.70)
109.8
(4.32)
60.0
(2.36)
Side View Bottom VIew

Frame C
Dimensions shown in mm (in).
Figure 3.4 – Drive Dimensions - NEMA 1/IP30 Kit With Communication Option

3.2 Mounting the Drive
Mount the drive upright on a flat, vertical, and level surface.
Table 3.2 – Mounting Specifications
Frame Screw Size Screw Torque -OR- DIN Rail

B M4 (#8-32) 1.56-1.96 N-m (14-17 in-lb) 35 mm
C M5 (#10-24) 2.45-2.94 N-m (22-26 in-lb) –
3.2.1 Protecting the Drive from Debris

A plastic top panel is included with the drive. Install the panel to
prevent debris from falling through the vent of the drive housing
during installation. Remove the panel for IP20/Open Type
applications.

CHAPTER 4
Grounding the Drive
ATTENTION: The following information is merely a

guide for proper installation. Rockwell Automation
! cannot assume responsibility for the compliance or
the noncompliance to any code, national, local or
otherwise for the proper installation of this drive or
associated equipment. A hazard of personal injury
and/or equipment damage exists if codes are
ignored during installation.
The drive Safety Ground - (PE) must be connected to system

ground. Ground impedance must conform to the requirements of
national and local industrial safety regulations and/or electrical
codes. The integrity of all ground connections should be periodically
checked.
R/L1 U/T1
S/L2 V/T2
T/L3 W/T3
SHLD
Figure 4.1 – Typical Grounding
Ground Fault Monitoring
If a system ground fault monitor is to be used, only Type B

(adjustable) devices should be used to avoid nuisance tripping.
Grounding the Drive 4-1

Safety Ground - (PE)
This is the safety ground for the drive that is required by code. One
of these points must be connected to adjacent building steel (girder,
joist), a floor ground rod, or bus bar. Grounding points must comply
with national and local industrial safety regulations and/or electrical
codes.
Motor Ground
The motor ground must be connected to one of the ground

terminals on the drive.
Shield Termination - SHLD
Either of the safety ground terminals located on the power terminal

block provides a grounding point for the motor cable shield. The
motor cable shield connected to one of these terminals (drive end)
should also be connected to the motor frame (motor end). Use a
shield terminating or EMI clamp to connect the shield to the safety
ground terminal. The NEMA 1/IP30 Kit may be used with a cable
clamp for a grounding point for the cable shield.
When shielded cable is used for control and signal wiring, the
shield should be grounded at the source end only, not at the drive
end.
4.1 RFI Filter Grounding

Using single-phase drives with integral filter, or an external filter with
any drive rating, may result in relatively high ground leakage
currents. Therefore, the filter must only be used in installations
with grounded AC supply systems and be permanently
installed and solidly grounded (bonded) to the building power
distribution ground.
Ensure that the incoming supply neutral is solidly connected

(bonded) to the same building power distribution ground. Grounding
must not rely on flexible cables and should not include any form of
plug or socket that would permit inadvertent disconnection. Some
local codes may require redundant ground connections. The
integrity of all connections should be periodically checked.

CHAPTER 5
Installing Power Wiring
ATTENTION: The user is responsible for conforming

with all applicable local and national codes. Failure
! to observe this precaution could result in damage to,
ATTENTION: To avoid a possible shock hazard
caused by induced voltages, unused wires in the
conduit must be grounded at both ends. For the same
reason, if a drive sharing a conduit is being serviced
or installed, all drives using this conduit should be
disabled. This will help minimize the possible shock
hazard from “cross-coupled” power leads.
This chapter provides instructions on wiring output wiring to the

motor and installing AC input power wiring.
5.1 Opening the Cover

To access the power terminal block:
Step 1. Open the cover.
a. Press and hold in the tabs on each side of the cover.
b. Pull the cover out and up to release (refer to figure 5.1).
Figure 5.1 – Opening the Cover
Installing Power Wiring 5-1

Step 2. Remove the finger guard (refer to figure 5.2).
a. Press in and hold the locking tab.
b. Slide finger guard down and out.
Replace the finger guard and cover when wiring is complete.
Figure 5.2 – Removing the Finger Guard
5.2 Verifying Drive AC Input Ratings

Match Available Power
It is important to verity that plant power meets the input power
requirements of the drive’s circuitry. Refer to table 5.4 for input
power rating specifications. Be sure input power to the drive
corresponds to the drive nameplate voltage and frequency.
5.2.1 Ungrounded Distribution Systems
ATTENTION: MD65 drives contain protective MOVs

that are referenced to ground. These devices should
! be disconnected if the drive is installed on an
ungrounded distribution system.
To prevent drive damage, the MOVs connected to ground should be

disconnected if the drive is installed on an ungrounded distribution
system where the line-to-ground voltages on any phase could
exceed 125% of the nominal line-to-line voltage.

Disconnecting MOVs
To disconnect MOVs, you must remove the external jumper located

on the lower left side of the front of the drive.
To remove the jumper, use the following procedure and refer to

figures 5.3 and 5.4.
Step 1. Open the cover.
Step 2. Locate the screw below and to the left of the power
terminal block.
Step 3. Turn the screw counterclockwise to loosen. Do not
remove screw.
Step 4. Pull the jumper completely out of the drive chassis.
Step 5. Tighten the screw to keep it in place.
Important: Tighten screw after

jumper removal.
Jumper
Figure 5.3 – Removing the Jumper
R/L1
Three-Phase
AC Input S/L2
T/L3
Jumper 1 2 3 4
Figure 5.4 – Phase-to-Ground MOV Removal

5.2.2 Input Power Conditioning
The drive is suitable for direct connection to input power within the
rated voltage of the drive (see table 5.4). Table 5.1 lists certain input
power conditions that may cause component damage or reduction
in product life. If any of the conditions exist, install one of the
devices listed in the “Corrective Action” column in table 5.1 on the
line side of the drive.
Important: Only one device per branch circuit is required. It
should be mounted closest to the branch and sized to
handle the total current of the branch circuit.
Table 5.1 – Corrective Actions for Input Power Conditions
Input Power Condition Corrective Action

Low line impedance (less than 1% line Install one of the following:
reactance) • Line reactor1
Greater than 120 kVA supply transformer • Isolation transformer
Line has power factor correction capacitors
Line has frequent power interruptions
Line has intermittent noise spikes in excess of
6000V (lightning)
Phase-to-ground voltage exceeds 125% of • Remove MOV jumper to
normal line-to-line voltage ground and install
Ungrounded distribution system isolation transformer
with grounded
secondary, if necessary.
1
Contact Reliance Electric for application and ordering information.
5.3 Power Wiring Specifications

Table 5.2 – Power Wiring Specifications
Power Wiring Rating Recommended Copper Wire

Unshielded 600 V, 75° C (167° F) THHN/ 15 mils insulated, dry location
THWN
Shielded 600 V, 90°C (194°F) Belden 29501-29507 or
RHH/RHW-2 equivalent
Shielded Tray rated 600 V, 90° C (194° F) Shawflex 2ACD/3ACD or
RHH/RHW-2 equivalent

5.4 Power Terminal Block Connections
Table 5.3 – Power Terminal Block Specifications
Frame Maximum Wire Size 1 Minimum Wire Size 1 Torque

B 2
5.3 mm (10 AWG) 1.3 mm2 (16 AWG) 1.7-2.2 Nm
(16-19 in-lb)
C 8.4 mm2 (8 AWG) 1.3 mm2 (16 AWG) 2.9-3.7 Nm
(26-33 in-lb)
1
Maximum/minimum sizes that the terminal block will accept. These are not
recommendations.
B Frame C Frame
R/L1 S/L2 T/L3 U/T1 V/T2 W/T3 R/L1 S/L2 T/L3 U/T1 V/T2 W/T3 P2 P1
DC- DC+ BR+ BR- DC- DC+ BR+ BR-
Terminal Description
R/L1, S/L2 1-Phase Input
R/L1, S/L2, T/L3 3-Phase Input
U/T1 To Motor U/T1 Switch any two motor
V/T2 To Motor V/T2 = leads to change
W/T3 To Motor W/T3 forward direction.
DC Bus Inductor Connection (C Frame drives only.)
The C Frame drive is shipped with a jumper between
P2, P1 Terminals P2 and P1. Remove this jumper only when a DC
Bus Inductor will be connected. Drive will not power up without a jumper
or inductor connected.
DC+, DC- DC Bus Connection
BR+, BR- Dynamic Brake Resistor Connection
Safety Ground - PE
Figure 5.5 – Power Terminal Block Connections
Important: Terminal screws may become loose during shipment.

Ensure that all terminal screws are tightened to the
recommended torque before applying power to the
drive.

5.5 Fuses and Circuit Breakers
The MD65 drive does not provide branch short circuit protection.
This product should be installed with either input fuses or an input
circuit breaker. National and local industrial safety regulations and/
or electrical codes may determine additional requirements for these
installations.
ATTENTION: To guard against personal injury and/

or equipment damage caused by improper fusing or
! circuit breaker selection, use only the recommended
line fuses/circuit breakers specified in table 5.4.
Fuses
The MD65 drive has been UL tested and approved for use with
input fuses. The ratings in table 5.4 are the recommended values for
use with each drive rating. The devices listed in this table are
provided to serve as a guide. Other devices that meet the
requirements of UL508C and UL489 with similar trip characteristics
may be used in order to meet local or national electrical codes.
If fuses are chosen as the desired protection method, refer to

the recommended types listed below. If available amp ratings do not
match the tables provided, the closest fuse rating that exceeds the
drive rating should be chosen.
• IEC – BS88 (British Standard) Parts 1 & 2 1.
• UL – UL Class CC, T or J must be used. 2
Circuit Breakers
The circuit breaker ratings in table 5.4 are for the recommended
rated devices that supply drive protection.
1
Typical designations include, but may not be limited to the following:
Parts 1 & 2: AC, AD, BC, BD, CD, DD, ED, EFS, EF, FF, FG, GF, GG, GH.
2
Typical designations include:
Type CC - KTK-R, FNQ-R
Type J - JKS, LPJ
Type T - JJS, JJN

Table 5.4 – Drive, Fuse, and Circuit Breaker Ratings
Drive Ratings
Branch Circuit Power
Output Ratings Input Ratings Protection Dissipation
Model
Number Circuit
Voltage Breaker IP20 Open
kW (HP) Amps Range kVA Amps Fuses2 3
Watts
100 - 120V AC 1-Phase Input, 0 - 230V 3-Phase Output
6MDVN-2P3102 0.4 (0.5) 2.3 90-132 1.15 9.0 15 15 30
6MDVN-5P0102 0.75 (1.0) 5.0 90-132 2.45 20.3 35 30 56
6MDVN-6P0102 1.1 (1.5) 6.0 90-132 3.0 24.0 40 35 70
200 - 240V AC – 1-Phase1 Input, 0 - 230V 3-Phase Output
6MDAN-2P3102 0.4 (0.5) 2.3 180-265 1.15 6.0 10 15 30
6MDAN-5P0102 0.75 (1.0) 5.0 180-265 2.45 12.0 20 20 55
6MDAN-8P0102 1.5 (2.0) 8.0 180-265 4.0 18.0 30 30 80
6MDAN-012102 2.2 (3.0) 12.0 180-265 5.5 25.0 40 35 110
200 - 240V AC – 3-Phase Input, 0 - 230V 3-Phase Output
6MDBN-2P3102 0.4 (0.5) 2.3 180-265 1.15 2.5 6 10 30
6MDBN-5P0102 0.75 (1.0) 5.0 180-265 2.45 5.7 10 15 55
6MDBN-8P0102 1.5 (2.0) 8.0 180-265 4.0 9.5 15 15 80
6MDBN-012102 2.2 (3.0) 12.0 180-265 5.5 15.5 25 25 115
6MDBN-017102 3.7 (5.0) 17.5 180-265 8.6 21.0 35 30 165
6MDBN-024102 5.5 (7.5) 24.0 180-265 11.8 26.1 40 40 226
6MDBN-033102 7.5 (10.0) 33.0 180-265 16.3 34.6 60 60 290
380 - 480V AC – 3-Phase Input, 0 - 460V 3-Phase Output
6MDDN-1P4102 0.4 (0.5) 1.4 340-528 1.4 1.8 3 10 30
6MDDN-2P3102 0.75 (1.0) 2.3 340-528 2.3 3.2 6 10 40
6MDDN-4P0102 1.5 (2.0) 4.0 340-528 4.0 5.7 10 15 60
6MDDN-6P0102 2.2 (3.0) 6.0 340-528 5.9 7.5 15 15 90
6MDDN-010102 4.0 (5.0) 10.5 340-528 10.3 13.0 20 25 150
6MDDN-012102 5.5 (7.5) 12.0 340-528 11.8 14.2 25 30 160
6MDDN-017102 7.5 (10.0) 17.0 340-528 16.8 18.4 30 30 200
6MDDN-024102 11 (15.0) 24.0 340-528 23.4 26.0 50 40 285
460 - 600V AC – 3-Phase
6MDEN-1P7102 0.75 (1.0) 1.7 414-660 2.1 2.3 6 10 40
6MDEN-3P0102 1.5 (2.0) 3.0 414-660 3.65 3.8 6 10 60
6MDEN-4P2102 2.2 (3.0) 4.2 414-660 5.2 5.3 10 10 90
6MDEN-6P6102 4.0 (5.0) 6.6 414-660 8.1 8.3 15 15 150
6MDEN-9P9102 5.5 (7.5) 9.9 414-660 12.1 11.2 20 25 160
6MDEN-012102 7.5 (10.0) 12.2 414-660 14.9 13.7 25 25 200
6MDEN-019102 11 (15.0) 19.0 414-660 23.1 24.1 40 40 285
1
200-240V AC - 1-Phase drives are also available with an integral EMC
filter.

2
Fuse ratings are the recommended values for use with each drive rating.
Recommended fuse type: UL Class J, CC, T or Type BS88; 600 V (550 V)
or equivalent.
3
Circuit breaker ratings are the recommended values for use with each
drive rating.
Note: For carrier frequencies above 4 kHz, see figure 9.10.
5.6 Motor Cable Types Acceptable for

200-600 Volt Installations
General
A variety of cable types are acceptable for drive installations. For
many installations, unshielded cable is adequate provided it can be
separated from sensitive circuits. As an approximate guide, allow a
spacing of 0.3 meters (1 foot) for every 10 meters (32.8 feet) of
length. In all cases, long parallel runs must be avoided. Do not use
cable with an insulation thickness less than 15 mils
(0.4 mm/0.015 in).
• UL installations in 50°C ambient must use 600 V, 75°C or 90°C
wire.
• For UL installations in 40°C ambient, 600 V, 75°C or 90°C wire is
recommended.
Unshielded
THHN, THWN or similar wire is acceptable for drive installation in
dry environments provided adequate free air space and/or conduit
fill rates limits are provided. Do not use THHN or similarly coated
wire in wet areas. Any wire chosen must have a minimum
insulation thickness of 15 mil and should not have large variations in
insulation concentricity.
Shielded/Armored Cable
Shielded cable contains all of the general benefits of multi-
conductor cable with the added benefit of a copper braided shield
that can contain much of the noise generated by a typical AC drive.
Strong consideration for shielded cable should be given in
installations with sensitive equipment such as weigh scales,
capacitive proximity switches, and other devices that may be
affected by electrical noise in the distribution system. Applications
with large numbers of drives in a similar location, imposed EMC
regulations, or a high degree of communications/networking are
also good candidates for shielded cable.

Shielded cable may also help reduce shaft voltage and induced
bearing currents for some applications. In addition, the increased
impedance of shielded cable may help extend the distance that the
motor can be located from the drive without the addition of motor
protective devices such as terminator networks.
Consideration should be given to all of the general specifications

dictated by the environment of the installation, including
temperature, flexibility, moisture characteristics and chemical
resistance. In addition, a braided shield should be included and be
specified by the cable manufacturer as having coverage of at least
75%. An additional foil shield can greatly improve noise
containment.
A good example of recommended cable is Belden 295xx (xx

determines gauge). This cable has four XLPE insulated conductors
with a 100% coverage foil and an 85% coverage copper braided
shield (with drain wire) surrounded by a PVC jacket.
Other types of shielded cable are available, but the selection of

these types may limit the allowable cable length. Particularly, some
of the newer cables twist four conductors of THHN wire and wrap
them tightly with a foil shield. This construction can greatly increase
the cable charging current required and reduce the overall drive
performance. Unless specified in the individual distance tables as
tested with the drive, these cables are not recommended and their
performance against the lead length limits supplied is not known.
Refer to table 5.5 for acceptable shielded motor cable types.

.
Table 5.5 – Shielded Motor Cable Types Acceptable for 200-600 Volt Installations
Location Rating/Type Description

Standard 600V, 90°C (194°F) • Four tinned copper conductors with
(Option 1) XHHW2/RHW-2 XLPE insulation
Anixter B209500-
B209507
• Copper braid/aluminum foil combination
shield land tinned copper drain wire.
Belden 29501-
29507 or equivalent • PVC jacket
Standard Tray rated 600V, • Three tinned copper conductors with
(Option 2) 90°C (194°F) RHH/ XLPE insulation
RHW-2
• 5 mil single helical copper tape (25%
Anixter OLF-7xxxxx
overlap min.) with three bare copper
or equivalent grounds in contact with shield
• PVC jacket

Table 5.5 – Shielded Motor Cable Types Acceptable for 200-600 Volt Installations
Location Rating/Type Description

Class I & Tray rated 600V, • Three bare copper conductors with
II; 90°C (194°F) RHH/ XLPE insulation with impervious
Division I RHW-2 corrugated continuously welded
& II Anixter 7V-7xxxx-3G aluminum armor
or equivalent • Black sunlight-resistant PVC jacket
overall
• Three copper grounds on #10 AWG and
smaller
5.7 Reflected Wave Protection

The drive should be installed as close to the motor as possible.
Installations with long motor cables may require the addition of
external devices, such as reactors, to limit voltage reflections at the
motor (reflected wave phenomena). Contact Reliance Electric for
recommendations.
The reflected wave data applies to all frequencies 2 to16 kHz. For
240 V ratings, reflected wave effects do not need to be considered.
Table 5.6 – Maximum Cable Length Recommendation
Reflected Wave
380-480V Ratings Motor Insulation Rating Motor Cable Only1
1000 Vp-p 15 meters (49 feet)
1
Longer cable lengths can be achieved by installing devices on the
output of the drive. Consult factory for recommendations.
5.8 Output Disconnect

The drive is intended to be commanded by control input signals that
will start and stop the motor. A device that routinely disconnects
then reapplies output power to the motor for the purpose of starting
and stopping the motor should not be used. If it is necessary to
disconnect power to the motor with the drive outputting power, an
auxiliary contact should be used to simultaneously disable drive
control run commands.

CHAPTER 6
Installing Control Wiring
This chapter describes how to wire the signal and I/O terminal strip
for stop, speed feedback, and remote control signals.
To access the control terminal block, remove the drive cover (refer
to chapter 5).
Terminal block connections are detailed in figure 6.1.
6.1 Stop Circuit Requirements

ATTENTION: You must provide an external,
hardwired emergency stop circuit outside of the
! drive circuitry. This circuit must disable the system
in case of improper operation. Uncontrolled
machine operation can result if this procedure is not
followed. Failure to observe this precaution could
result in bodily injury.
Depending upon the requirements of the application, the MD65

drive can be configured to provide either a coast-to-rest or a ramp-
to-rest operational stop without physical separation of the power
source from the motor. A coast-to-rest stop turns off the transistor
power device drivers. A ramp-to-rest stop fires the transistor power
device drivers until the motor comes to a stop, and then turns off the
power devices.
In addition to the operational stop, you must provide a hardwired

emergency stop external to the drive. The emergency stop circuit
must contain only hardwired electromechanical components.
Operation of the emergency stop must not depend on electronic
logic (hardware or software) or on the communication of commands
over an electronic network or link.
Note that the hardwired emergency stop you install can be used at
any time to stop the drive.
Installing Control Wiring 6-1

6.2 Motor Start/Stop Precautions
ATTENTION: A contactor or other device that
routinely disconnects and reapplies the AC line to the
! drive to start and stop the motor can cause drive
hardware damage. The drive is designed to use
control input signals that will start and stop the motor.
If used, the input device must not exceed one
operation per minute or drive damage can occur.
Failure to observe this precaution can result in
damage to, or destruction of, equipment.
ATTENTION: The drive start/stop control circuitry
includes solid-state components. If hazards due to
accidental contact with moving machinery or
unintentional flow of liquid, gas or solids exist, an
additional hardwired stop circuit may be required to
remove the AC line to the drive. When the AC line is
removed, there will be a loss of any inherent
regenerative braking effect that might be present -
the motor will coast to a stop. An auxiliary braking
method may be required.
Important points to remember about I/O wiring:

• Always use copper wire.
• Wire with an insulation rating of 600V or greater is recommended.
• Control and signal wires should be separated from power wires

by at least 0.3 meters (1 foot).
Important: I/O terminals labeled “Common” are not referenced to

the safety ground (PE) terminal and are designed to
greatly reduce common mode interference.
ATTENTION: Driving the 4-20 mA analog input from

a voltage source could cause component damage.
! Verify proper configuration prior to applying input
signals.

6.3 I/O Wiring Recommendations
Table 6.1 – Recommended Control and Signal Wire1
Minimum
Insulation
Wire Type(s) Description Rating
Belden 8760/ 2
0.8 mm (18AWG), twisted pair, 100% 300 V
9460 (or equiv.) shield with drain. 75° C
(167° F)
Belden 8770 0.8 mm2 (18AWG), 3 conductor,
(or equiv.) shielded for remote pot only.
1 If the wires are short and contained within a cabinet that has no sensitive circuits,
the use of shielded wire may not be necessary, but is always recommended.
Table 6.2 – I/O Terminal Block Specifications
Maximum Wire Size1 Minimum Wire Size1 Torque

1.3 mm2 (16 AWG) 2
0.13 mm (26 AWG) 0.5 to 0.8 Nm
(4.4 in-lb to 7 in-lb)
1
Maximum / minimum that the terminal block will accept. These are not
recommendations.
6.3.1 Maximum Control Wire Length

Recommendations
Do not exceed control wiring length of 30 meters (100 feet). Control
signal cable length is highly dependent on electrical environment
and installation practices. To improve noise immunity, the I/O
terminal block Common must be connected to ground terminal/
protective earth. If using the RS485 port, Terminal 19 should also
be connected to ground terminal/protective earth.

6.4 Wiring the Control Terminal Block
(4)
Enable
Jumper Typical Typical
(1)(4) SRC Wiring SNK Wiring
Stop
01
(2)
Start/Run FWD
02
Direction/Run REV
03
SNK SRC Digital Common
04
Digital Input 1
05
Digital Input 2
06
Digital Input 3
07
Digital Input 4
08
Opto Common
09
+24V +24V DC
11
+10V +10V DC
12
0-10V (or ±10V) Input
13
Analog Common
14
Pot must be
4-20mA Input 1-10k ohm
Relay N.O. 15
R1 0-10V 2 Watt Min.
Relay Common Analog Output
R2 0/4-20mA 16 (3)
Common
Relay N.C. Opto Output 1
R3 17 24V
Opto Output 2
30V DC 18
50mA RS485 Shield
Non-inductive 19
0-10V Analog Output Select (4)

Enable
ENBL Jumper
01 02 03 04 05 06 07 08 09
0-20mA
R1 R2 R3
SNK
RS485
11 12 13 14 15 16 17 18 19
SRC
(1) 1
30V DC 125V AC 240V AC

Resistive 3.0 A 3.0 A 3.0 A
Inductive 0.5 A 0.5 A 0.5 A
1Important: I/O Terminal 01 is always a coast-to- P036 (Start Source) Stop I/O Terminal 01 Stop
stop input except when Start Source (P036) is set Keypad Per P037 Coast
to “3-Wire Control.” In three-wire control, I/O 3-Wire Per P037 Per P0374
Terminal 01 is controlled by Stop Mode (P037). All 2-Wire Per P037 Coast
other stop sources are controlled by Stop Mode
(P037). RS485 Port Per P037 Coast
Important: The drive is shipped with a jumper installed between
I/O Terminals 01 and 11. Remove this jumper when using I/O Terminal 01 as a stop or enable input.
2
Two-wire control shown. For three-wire control, use a momentary input on I/O Terminal 02 to
command a start. Use a maintained input for I/O Terminal 03 to change direction.
3When using an opto output with an inductive load such as a relay, install recovery diode parallel to the
relay as shown to prevent damage to the output.
4When the ENBL enable jumper is removed, I/O Terminal 01 will always act as a hardware enable, causing
a coast to stop without software interpretation.
Figure 6.1 – Control Terminal Block

Table 6.3 – Control Terminal Definitions and Related Parameters
No. Signal Default Description Parameter
R1 Relay N.O. Fault Normally open contact for output relay. A055
R2 Relay Common – Common for output relay.
R3 Relay N.C. Fault Normally closed contact for output relay. A055
Analog Output Select DIP Sets analog output to either voltage or current. Setting must match Analog
0-10 V
Switch Out Sel (A065).
Sink/Source DIP Switch Source (SRC) Inputs can be wired as Sink (SNK) or Source (SRC) via DIP Switch setting.
The factory-installed jumper or a normally closed input

01 Stop1, 4 Coast P0361, 4
must be present for the drive to start.
02 Start/Run FWD Not Active Command comes from the integral keypad by default. To P036, P037
03 Dir/Run REV Not Active disable reverse operation, see Reverse Disable (A095). P036, P037, A095
For digital inputs. Electronically isolated with digital
04 Digital Common –
inputs from analog I/O and opto outputs.
05 Digital Input 1 Preset Freq Program with Digital In1 Sel (A051). A051
06 Digital Input 2 Preset Freq Program with Digital In2 Sel (A052). A052
07 Digital Input 3 Local Program with Digital In3 Sel (A053). A053
08 Digital Input 4 Jog Forward Program with Digital In4 Sel (A054). A054
For opto-coupled outputs. Electronically isolated with
09 Opto Common -
opto outputs from analog I/O and digital inputs.
Referenced to Digital Common.Drive supplied power for
11 +24V DC –
digital inputs. Maximum output current is 100 mA.
Referenced to Analog Common. Drive supplied power
12 +10V DC – for digital 0-10 V external potentiometer. Maximum P038
output current is 15 mA.
For external 0-10 V (unipolar) or +/-10 V (bipolar) input
5 P038, A051-A054,
13 +/-10V In Not Active supply (input impedance = 100 k Ohm) or potentiometer
A123, A132
wiper.
For 0-10 V In or 4-20 mA In. Electronically isolated with
14 Analog Common – analog inputs and outputs from digital I/O and opto
outputs.
5 For external 4-20 mA input supply P038, A051-A054,
15 4-20mA In Not Active
(input impedance = 250 Ohm). A132
The default analog output is 0-10 V. To convert to a
current value, change the Analog Output Select DIP
Switch to 0-20 mA. Program with Analog Out Sel (A065).
16 Analog Output OutFreq 1-10 Max analog value can be scaled with Analog Out High A065, A066
(A066).
Maximum Load: 4-20 mA = 525 ohm (10.5 V)
0-10 V = 1k ohm (10 mA)
17 Opto Output 1 MotorRunning Program with A058 (Opto Out1 Sel) A058, A059, A064
18 Opto Output 2 At Frequency Program with A061 (Opto Out2 Sel) A061, A062, A064
Terminal should be connected to safety ground- PE
19 RS485 Shield -
when using the RS485 communications port.
1
Important: I/O Terminal 01 is always a coast-to- P036 (Start Source) Stop I/O Terminal 01 Stop
stop input except when Start Source (P036) is set Keypad Per P037 Coast
to “3-Wire Control.” In three-wire control, I/O 3-Wire Per P037 Per P0374
Terminal 01 is controlled by Stop Mode (P037). All 2-Wire Per P037 Coast
other stop sources are controlled by Stop Mode
(P037). RS485 Port Per P037 Coast
Important: The drive is shipped with a jumper installed between I/O Terminals 01 and 11. Remove this
jumper when using I/O Terminal 01 as a stop or enable input.
2
Two-wire control shown. For three-wire control, use a momentary input on I/O Terminal 02 to
command a start. Use a maintained input for I/O Terminal 03 to change direction.
3When using an opto output with an inductive load such as a relay, install recovery diode parallel to the
relay as shown to prevent damage to the output.
4When the ENBL enable jumper is removed, I/O Terminal 01 will always act as a hardware enable, causing
a coast to stop without software interpretation.
5
0-10 V In and 4-20 mA In are distinct input channels and may be connected simultaneously. Inputs may
be used independently for speed control or jointly when operating in PID mode.

6.4.1 I/O Wiring Examples
Input/Output Connection Example

Potentiometer P038 (Speed Reference) = 2 “0-10V Input”
1-10k Ohm Pot.
Recommended
12
(2 Watt minimum) 13
14
Analog Input Bipolar Unipolar (Voltage) Unipolar (Current)

0 to +10V, 100k ohm P038 (Speed P038 (Speed P038 (Speed
impedance Reference) = 2 “0-10V Reference) = 2 “0-10V Reference) = 3 “4-20mA
4-20 mA, 250 ohm Input” and A123 (10V Input” Input”
impedance Bipolar Enbl) = 1 “Bi-
Polar In”
-/+ 10V 13 + 13
Common 14 Common 14 Common 14
+ 15
2-Wire SRC Control - Internal Supply (SRC) External Supply (SRC)

Non-Reversing
11 01
P036 (Start Source) = 01
02
2, 3 or 4 02
Stop-Run
Input must be active for Stop-Run
04
the drive to run. When
input is opened, the
drive will stop as +24V Common
specified by P037
(Stop Mode).
If desired, a user-
supplied 24 VDC
power source can be
Each digital input draws 6 mA.
used. Refer to the
“External Supply
(SRC)” example.

2-Wire SNK Control - Internal Supply (SNK)
Non-Reversing
01
02
Stop-Run
04

Run FWD/Run REV
11 01
P036 (Start Source) = 01
02
2, 3 or 4 02
03 Stop-Run
Stop-Run 03
Input must be active for Forward
Forward
04
the drive to run. When
Stop-Run
input is opened, the Reverse
Stop-Run
drive will stop as Reverse
specified by P037 +24V Common
(Stop Mode).
If both Run Forward
and Run Reverse
inputs are closed at the Each digital input draws 6 mA.
same time, an
undetermined state
could occur.
Run FWD/Run REV
01
02
Stop-Run
Forward 03
04
Stop-Run
Reverse

Non-Reversing
P036 (Start Source) = Stop 11 01 Stop 01
1 02 02
A momentary input will Start
Start
start the drive. A stop 04
input to I/O Terminal 01
will stop the drive as +24V Common
specified by P037
(Stop Mode).

Non-Reversing
Stop 01
02
03
Start
04

Reversing
P036 (Start Source) = Stop 11 01 Stop 01
1 02 02
A momentary input will 03
Start
03
Start
start the drive. A stop 04
input to I/O Terminal 01 Direction Direction
will stop the drive as
specified by P037 +24V Common
(Stop Mode). I/O
Terminal 03
determines direction.

Reversing
Stop 01
02
03
Start
04
Direction
Opto-Output (1 & 2) Opto-Output 1

A058 (Opto Out1 Sel)
determines Opto-
Output 1 (I/O Terminal
17) operation.
A061 (Opto Out2 Sel)
determines Opto-
Output 2 (I/O Terminal 17
18) operation.
CR
When using Opto- 09
Output with an +24V Common
inductive load such as
a relay, install a Each Opto-Output is rated
recovery diode parallel 30 VDC 50 mA (Non-inductive).
to the relay as shown,
to prevent damage to
the output.

Analog Output A065 (Analog Out Sel) = 0 through 14
A065 (Analog Out Sel) The Analog Output Select DIP Switch must be set to match the analog output
determines analog signal mode set in A065 (Analog Out Sel).
output type and drive
conditions.
0-10V,
1k ohm minimum 14
Common
0-20mA/4-20mA, 16
+
525 ohm maximum
6.4.2 Typical Multiple Drive Connection Examples

Table 6.4 – Typical Multiple Drive Connection Examples
Input Connection Example

Multiple Digital 02 04 02 04 02 04
Input
Connections
Customer Inputs Optional Ground Connection
When connecting a single input such as Run, Stop, Reverse or Preset

Speeds to multiple drives, it is important to connect I/O Terminal 04
common together for all drives. If they are to be tied into another common
(such as earth ground or separate apparatus ground) only one point of
the daisy chain of I/O Terminal 04 should be connected.
ATTENTION: I/O Common terminals should not be

tied together when using SNK (Internal Supply)
! mode. In SNK mode, if power is removed from one
drive, inadvertent operation of other drives that
share the same I/O Common connection may occur.
Multiple Analog
Connections
12 13 14 13 14 13 14
Remote Potentiometer Optional Ground Connection
When connecting a single potentiometer to multiple drives it is important

to connect I/O Terminal 14 common together for all drives. I/O Terminal
14 common and I/O Terminal 13 (potentiometer wiper) should be daisy-
chained to each drive. All drives must be powered up for the analog signal
to be read correctly.

6.5 Start and Speed Reference Control
The drive speed command can be obtained from a number of
different sources. The source is normally determined by P038
(Speed Reference). However, when A051 or A052 (Digital Inx
Select) is set to option 2, 4, 5, or 6, and the digital input is active,
A051 or A052 will override the speed reference commanded by
P038 (Speed Reference). See figure 6.2 for the override priority.
Drive will Start and Run

Jog Input at Jog Speed.
Enabled and Active: Drive Stopped
Yes Yes Direction comes from
A051, A052, A053 (Not Running)
or A054 = 2, 11, 12 I/O Terminal 03 Dir/Run REV
or
Jog Forward/Jog Reverse command
No
No
Local/Remote Input Start, Speed, and Direction commands

Yes
Enabled and Active: come from Integral Keypad.
(Digital Inx Sel) = 5
No
Comm Select Input Start, Speed and Direction commands

Yes
Enabled and Active: come from RS485 (DSI) port.
(Digital Inx Sel) = 6
No
Speed commands come from 0-10V.
0-10V Override
Enabled and Active: Yes Start and Direction
(Digital Inx Sel) = 13 follows P036 (Start Source)
or
Bi-Polar input when enabled.
No
4-20mA Override Speed commands come from 4-20mA.

Enabled and Active: Yes
(Digital Inx Sel) = 14 Start and Direction
follows P036 (Start Source).
No
Run as specified by
A132 (PID Ref Select).
PID Enabled: Yes
A132 (PID Ref Select)
Start and Direction commands come
0
from P036 (Start Source).
No
Run as specified by
A071-A077 (Preset Freq 1-7).
A051/A052/A053 Yes
Preset Inputs Active Start and Direction commands come
No
Run as specified by
P038 (Speed Reference).
Start and Direction commands come
Figure 6.2 – Override Priority for the Speed Reference Command

6.6 Accel/Decel Selection
The selection of Accel/Decel rates can be made through digital
inputs, RS485 communications and/or parameters. See figure 6.3.
Jog Input Drive will Start and Run

Enabled and Active: Drive Stopped at Jog Speed.
Yes Yes
A051, A052, A053 (Not Running)
or A054 = 2, 11,12 Drive will use A079 (Jog Accel/Decel)
No
No
Either
P039 (Accel Time 1)/P040 (Decel Time 1)
RS485 Port Yes or
Controls Speed A067 (Accel Time 2)/A068 (Decel Time 2)
can be selected when
RS485 port is active.
No
Input is programmed A067 (Accel Time 2)/A068 (Decel Time 2)

Yes
as "Accel 2 & Decel 2" is active when input is active.
A051, A052, A053
or A054 = 1
No
P039 (Accel Time 1)/P040 (Decel Time 1);

A067 (Accel Time 2)/A068 (Decel Time 2)
Speed is controlled Yes determined by the active
by (Preset Freq x)
Preset Frequency.
See A070-A077 (Preset Freq 0-7)
No
Either
or
Speed is controlled Yes A067 (Accel Time 2)/A068 (Decel Time 2)
by Stp Logic
can be selected by the Digit 3 setting
of the Step Logic parameters.
See A140-A147 (Stp Logic 0-7)
No

are used.
Figure 6.3 – Accel/Decel Selection

CHAPTER 7
Completing the Installation
This chapter provides instructions on how to perform a final check of

the installation before and after power is applied to the drive.
ATTENTION: Only qualified electrical personnel

familiar with the construction and operation of this
! equipment and the hazards involved should start and
adjust it. Read and understand this manual in its
entirety before proceeding. Failure to observe this
precaution could result in severe bodily injury or loss
of life.
7.1 Checking the Installation Before

Applying Power to the Drive
ATTENTION: The drive contains high voltage
capacitors that take time to discharge after removal of
! mains supply. Before working on the drive, ensure
isolation of mains supply from line inputs [R, S, T (L1,
L2, L3)]. Wait three (3) minutes for capacitors to
discharge to safe voltage levels. Darkened display
LEDs is not an indication that capacitors have
discharged to safe voltage levels. Failure to observe
this precaution could result in severe bodily injury or
loss of life.
ATTENTION: You must provide an external, hardwired
emergency stop circuit outside of the drive circuitry.
This circuit must disable the system in case of
improper operation. Uncontrolled machine operation
can result if this procedure is not followed. Failure to
observe this precaution could result in bodily injury.
To verify the condition of the installation:

• Confirm that all inputs are connected to the correct terminals and
are secure.
• Verify that AC line power at the disconnect device is within the
rated value of the drive.
• Verify that any external digital control power is 24 volts DC.
Completing the Installation 7-1

• Verify that the Sink (SNK)/Source (SRC) Setup DIP Switch is set
to match your control wiring scheme. See figure 6.1 for the
location of this switch.
Important: The default control scheme is Source (SRC). The

Stop terminal is jumpered (I/O Terminals 01 and 11) to
allow starting from the keypad. If the control scheme is
changed to Sink (SNK), the jumper must be removed
from I/O Terminals 01 and 11 and installed between I/
O Terminals 01 and 04.
• Verify that the Stop input is present or the drive will not start.
Important: If I/O Terminal 01 is used as a stop input, the jumper

between I/O Terminals 01 and 11 must be removed.
7.2 Powering Up After Installation is

Complete
To verify that the drive is installed correctly and is receiving the
proper line voltage, apply AC power and control voltages to the
drive.
Factory default parameter values allow the drive to be controlled

from the integral keypad. No programming is required to start, stop,
change direction, and control speed directly from the integral
keypad.
Become familiar with the integral keypad features before setting any
parameters. Refer to chapter 8 for information about the integral
keypad and programming the drive. To simplify drive setup, the most
commonly programmed parameters are organized in the Basic
parameter group.
If a fault code appears on power up, refer to chapter 10,

Troubleshooting the Drive, for an explanation of the fault code.

CHAPTER 8
Using the Integral Keypad
to Program and Control
the Drive
Factory-default parameter values allow the drive to be controlled
from the integral keypad. No programming is required to start, stop,
change direction, or control speed directly from the integral keypad.
This chapter provides an overview of the integrated keypad and how

to use it to program and control the MD65 drive.
Parameter descriptions are provided in chapter 9.
8.1 Keypad Components
➊ RUN VOLTS
➋ FWD AMPS ➌
REV HERTZ
PROGRAM FAULT
➍ ➎
PROG
➏ ➐
MIN. MAX.
Refer to tables 8.1 and 8.2 for the LED and key descriptions noted
by ➊ through ➐.
Figure 8.1 – Integral Keypad
Using the Integral Keypad to Program and Control the Drive 8-1
8.1.1 Display Description
The alpha-numeric display indicates the following:
• Parameter number
• Parameter value
• Fault code
8.1.2 LED Descriptions

Refer to figure 8.1 for the location of the LEDs described in table
8.1.
Table 8.1 – LED Descriptions
No. LED LED State Description

➊ RUN Steady Red Indicates the drive is running.
➋ FWD Flashing Drive has been commanded to

REV Red change direction. Indicates actual
motor direction while decelerating
to zero.
Steady Red Indicates the commanded motor
direction.
➌ VOLTS Steady Red Indicates the units of the
AMPS parameter value being displayed.
HERTZ
➍ PROGRAM Steady Red Indicates the drive is in program
mode and the parameter value
can be changed.
➎ FAULT Flashing Indicates the drive is faulted.
Red
➏ Pot Status Steady Indicates the potentiometer on
Green integral keypad is active.
➐ Start Key Status Steady Indicates the Start key on integral
Green keypad is active. The Reverse key
is also active unless disabled by
A095 (Reverse Disable).

8.1.3 Key Descriptions
Refer to figure 8.1 for the location of the keys described in table 8.2.
Table 8.2 – Key Descriptions
Key Name Description

Program • Enter/exit program mode.
PROG
• Scroll through parameter
groups.
• Back up one step in
programming menu.
• Cancel a change to a parameter
value.
Up Arrow • Scroll through P and A
Down Arrow parameters.
• Increase/decrease the value of
a flashing digit.
• In Display Mode, increases/
decreases internal frequency
parameter if that parameter is
currently controlling the drive
commanded speed.
Enter • Display value of P or A
parameter.
• Save a change to a parameter
value.
• Scroll through display (d)
parameters.
Potentiometer Control drive speed. Default is
active. Controlled by parameter
P038.
Start Start the drive. Default is active.
Controlled by parameter P036.
Reverse Reverse direction of the motor.
Default is active. Controlled by
parameters P036 and A095.
Stop • Stop the drive (if drive is
running).
• Clear fault (if drive is stopped) if
Stop is set up as Stop-Clear
Fault (P037 = 0, 1, 2, or 3).
Controlled by parameter P037.
8.2 About Parameters
To program the drive for a specific application, you adjust the
appropriate parameters. The parameters are used to define
characteristics of the drive.
There are three types of parameters:
• Numbered List Parameters
Numbered list parameters allow a selection from two or more
options. Each item is represented by a number.
Example: Start Source (P036)
• Bit Parameters
Bit parameters have individual bits associated with features or
conditions. If the bit is 0, the feature is off or the condition is false.
If the bit is 1, the feature is on or the condition is true.
Example: Drive Status (d006)
• Numeric Parameters
These parameters have a single numerical value (for example,
0.1 volts).
Example: Motor NP Volts (P031)
Parameters are also either configurable or tunable, or read-only.
Configurable parameters can be adjusted or changed only while

the drive is stopped.
Tunable parameters can be adjusted or changed while the drive is

running or stopped.
Read-only parameters cannot be adjusted.
8.3 How Parameters are Organized

Parameters are organized into three Parameter Groups:
• The Basic Parameter Group (Pnnn) contains the most commonly
used parameters to simplify the start-up process.
• The Advanced Parameter Group (Annn) contains parameters
used for more advanced applications.
• The Display Parameter Group (dnnn) contains parameters that
indicate actual drive conditions.

8.4 Viewing and Adjusting Basic (P) and
Advanced (A) Parameters
Use the following procedure to view and adjust the Basic and
Advanced parameters.
Table 8.3 – Viewing and Adjusting Basic (P) and Advanced (A) Parameters
Procedure Sample Display

VOLTS
PROG
Step 1. Press until the desired AMPS
HERTZ
parameter group is displayed. PROGRAM FAULT
The PROGRAM LED will turn

on to indicate the drive is in
program mode.
VOLTS
Step 2. Press to scroll AMPS
HERTZ
through the parameters in the PROGRAM FAULT
selected parameter group.
VOLTS
Step 3. Press to view the value AMPS
HERTZ
of the displayed parameter. PROGRAM FAULT
VOLTS
Step 4. Press or . AMPS
HERTZ
The adjustable value will flash PROGRAM FAULT
on the display.
Step 5. Use to adjust the VOLTS

AMPS
HERTZ
value.
PROGRAM FAULT
Step 6. Press to accept the VOLTS

AMPS
HERTZ
value. The value stops
PROGRAM FAULT
flashing.
PROG VOLTS
Step 7. Press to return to the AMPS
HERTZ
parameter number. PROGRAM FAULT
To adjust additional parameters, repeat steps 2 through 7.

PROG
To exit a parameter without saving the value, press instead of
8.5 Viewing the Display (d) Parameters
Use the procedure in table 8.4 to view Display parameters.
Table 8.4 – Viewing the Display (d) Parameters
Procedure Sample Display
VOLTS
PROG
Step 1. Press to scroll through AMPS
HERTZ
the parameter menus until the PROGRAM FAULT
Display Group parameters are

displayed. The PROGRAM
LED will be off to indicate the
drive is in display mode.
Step 2. Press to scroll through VOLTS

AMPS
the Display Group parameters HERTZ
until the desired Display PROGRAM FAULT
parameter is displayed.
Step 3. The parameter value will be
VOLTS
displayed 3 seconds after AMPS
HERTZ
PROGRAM FAULT
is released.
To view additional Display parameters, press to return to the

Display Group parameter list and scroll through the parameter list
as described in step 2.
Note that the last user-selected Display parameter is saved when

power is removed and is displayed by default when power is
re-applied.

CHAPTER 9
Parameter Descriptions
The following information is provided for each parameter along with

its description:
Parameter Number: Unique number assigned to each

parameter.
Parameter Name: Unique name assigned to each

parameter.
Range: Predefined parameter limits or

selections.
Default: Factory default setting.
See also: Associated parameters that may provide

additional or related information.
What the Symbols Mean
Symbol Meaning
Drive must be stopped before changing
parameter value.
32-bit parameter. Parameters marked
32 32-bit will have two parameter numbers
when using RS485 communications and
programming software.
The parameters are presented in numerical order in the sections

that follow. Refer to Appendix C for a list of parameters
cross-referenced by parameter name.
Parameter Descriptions 9-1

9.1 Basic Program Group Parameters
The Basic Program Group contains the most commonly used
parameters to simplify the start-up process.
P031 Motor NP Volts

Range: 20 VAC to Drive Rated Volts
Default: Based on Drive Rating
See also: d004, A084-A087
Set to the motor nameplate rated volts.
P032 Motor NP Hertz

Range: 15 to 400 Hz
Default: 60 Hz
See also: A084-A087, A090
Set to the motor nameplate rated frequency.
P033 Motor OL Current

Range: 0.0 to (Drive Rated Amps x 2)
See also: A055, A058, A061, A089, A090, A098, A114, A118
Set to the maximum allowable motor current. The drive will fault on
an F7 Motor Overload if the value of this parameter is exceeded by
150% for 60 seconds or 200% for 3 sec.
P034 Minimum Freq

Range: 0.0 to 400.0 Hz
Default: 0.0 Hz
See also: d001, d002, d013, P035, A085-A087, A110, A112
Sets the lowest frequency the drive will output continuously.
P035 Maximum Freq

Range: 0 to 400 Hz
Default: 60 Hz
See also: d001, d002, d013, P034, A065, A078, A085-A087,
A111, A113
Sets the highest frequency the drive will output.

P036 Start Source
Range: 0 = Keypad
1 = 3-Wire
2 = 2-Wire
3 = 2-W Lvl Sens
4 = 2-W Hi Speed
5 = Comm Port
6 = Momt FWD/REV
Default: 0 = Keypad
See also: d012, P037
Sets the control scheme used to start the drive.
Refer to section 6.5, Start and Speed Reference Control, for details
about how other drive settings can override the setting of this
parameter.
Important: For all settings except option 3, the drive must receive
a leading edge from the start input for the drive to start
after a stop input, loss of power, or fault condition.
0 = Keypad (Default): Integral keypad controls drive operation. I/O

Terminal 01 (Stop) on terminal block = coast to stop. When 0 is
selected, the Reverse key is also active unless disabled by Reverse
Disable (A095).
1 = 3-Wire: I/O Terminal 01 (Stop) = stop according to the value set

in Stop Mode (P037). Refer to section 6.4.1 for wiring examples.
2 = 2-Wire: I/O Terminal 01 (Stop) = coast to stop. Refer to section

6.4.1 for wiring examples.
3 = 2-W Lvl Sens: Two-wire level-sensitive. Drive will restart after a

Stop command when Stop is removed and Start is held active.
ATTENTION: When Start Source (P036) is set to

3 = 2-W Lvl Sens, and the Run input is maintained,
! the Run inputs do not need to be toggled after a Stop
input for the drive to run again. A Stop function is
provided only when the Stop input is active (open).
Failure to observe this precaution could result in
severe bodily injury.
4 = 2-W Hi Speed: Two-wire high-speed. Outputs are kept in a

ready-to-run state. The drive will respond to a Start command within
10 ms. I/O Terminal 01 (Stop) = coast to stop.
Important: There is greater potential voltage on the power output
terminals (U/TI, V/T2, W/T3) when using this option.
5 = Comm Port: Remote communications. I/O Terminal 01 (Stop) =

coast to stop.

6 = Momt FWD/REV: Drive will start after a momentary input from
either the Run FWD Input (I/O Terminal 02) or the Run REV Input
(I/O Terminal 03). I/O Terminal 1 “Stop” = stop according to the
value set in Stop Mode (P037).
P037 Stop Mode

Range: 0 = Ramp, CF
1 = Coast, CF
2 = DC Brake, CF
3 = DCBrkAuto, CF
4 = Ramp
5 = Coast
6 = DC Brake
7 = DC BrakeAuto
8 = Ramp+EM B, CF
9 = Ramp+EM Brk
Default: 1 = Coast, CF
See also: P036, A080, A081, A082, A105
Active stop mode for all stop sources [for example, keypad, run
forward (I/O Terminal 02), run reverse (I/O Terminal 03), RS485
port] except as noted below.
Important: I/O Terminal 01 is always a coast-to-stop input except

when Start Source (P036) is set for three-wire control.
When three-wire control is selected, I/O Terminal 01 is
controlled by Stop Mode (P037).
Hardware Enable Circuitry

By default, I/O Terminal 01 is a coast-to-stop input. The status of the
input is interpreted by drive software. If the application requires the
drive to be disabled without software interpretation, a “dedicated”
hardware enable configuration can be used. This is accomplished
by removing the ENBL enable jumper on the control board. In this
case, the drive will always coast to a stop regardless of the setting
of Start Source (P036) and Stop Mode (P037).
0 = Ramp, CF1 (Default): Ramp to stop. Stop command clears

active fault.
1 = Coast, CF1: Coast to stop. Stop command clears active fault.
2 = DC Brake, CF1: DC injection braking stop. Stop command

clears active fault.
3 = DC BrkAuto, CF1: DC injection braking stop with auto shutoff.

Standard DC injection braking for the amount of time set in DC
Brake Time (A080), or the drive shuts off when the drive detects that
the motor is stopped. Stop command clears active fault.
1 Stop Input also clears active fault.

4 = Ramp: Ramp to stop.
5 = Coast: Coast to stop.
6 = DC Brake: DC injection braking stop.
7 = DC BrakeAuto: DC injection braking stop with auto shutoff.

Standard DC injection braking for the amount of time set in DC
Brake Time (A080), or the drive shuts off if current limit is exceeded.
8 = Ramp+EM B,CF: Ramp to Stop with EM Brake Control. “Stop”

command clears active fault.
9 = Ramp+EM Brk: Ramp to Stop with EM Brake Control.
P038 Speed Reference

Range: 0 = Drive Pot
1 = InternalFreq
2 = 0-10V Input
3 = 4-20mA Input
4 = Preset Freq
5 = Comm Port
6 = Stp Logic
7 = Anlg Ln Mult
Default: 0 = Drive Pot
See also: d001, d002, d012, P039, P040, A051-A054, A069,
A070-A077, A110-A113, A123, A132, A140-A147,
A150-A157
Sets the source of the speed reference to the drive.
The drive speed command can be obtained from a number of

different sources. The source is normally determined by Speed
Reference (P038). However, when Digital Inx Sel (A051-A054) is
set to option 2, 4, 5, 6, 11, 12, 13, 14, or 15, and the digital input is
active, or if PID Ref Sel (A132) is not set to option 0, the speed
reference commanded by Speed Reference (P038) will be
overridden. Refer to the flowchart in figure 6.2 for more information
on speed reference control priority.
0 = Drive Pot (Default): Internal frequency command from the

potentiometer on the integral keypad.
1 = InternalFreq: Internal frequency command from Internal Freq

(A069).
2 = 0-10V Input: External frequency command from the 0 to 10 V or

+/-10 V analog input or remote potentiometer.
3 = 4-20mA Input: External frequency command from the 4 to

20 mA analog input.

4 = Preset Freq: External frequency command as defined by
Preset Freq x (A070-A077) when Digital Inx Sel (A051-A054) are
programmed as “Preset Frequencies,” and the digital inputs are
active.
5 = Comm Port: External frequency command from the

communications port.
6 = Stp Logic: External frequency command as defined by Preset

Freq x (A070-A077) and Stp Logic x (A140-A147).
7 = Anlg ln Mult: External frequency command as defined by the

product of the analog inputs (shown in Analog ln 0-1-V (d020) and
Analog ln 4-20mA (d021). [Analog ln 0-10V] x [Analog ln 4-20mA] =
Speed Command Example: 100% x 50% = 50%
P039 Accel Time 1

Range: 0.0 to 600.0 sec
Default: 5.0 sec
See also: P038, P040, A051-A054, A067, A070-A077,
A140-A147
Sets the rate of acceleration for all speed increases. See figure 9.1.
Maximum Frequency / Accel Time = Accel Rate
P035 [Maximum Freq]

De
n
ratio
cel
era
Speed
ele
tio
Acc
0
P039 or A067 Time P040 or A068
[Accel Time x] [Decel Time x]
0
Figure 9.1 – Accel Time 1 (P039)
P040 Decel Time 1

Default: 5.0 sec
See also: P038, P039, A051-A054, A068, A070-A077,
A140-A147
Sets the rate of deceleration for all speed decreases. See figure 9.2.

Maximum Frequency / Decel Time = Decel Rate
P035 [Maximum Freq]
De
n
ratio
cel
era
Speed
ele
tion
Acc
0
0
Figure 9.2 – Decel Time 1 (P040)
P041 Reset To Defalts

Range: 0 = Ready/Idle
1 = Factory Rset
Default: 0 = Ready/Idle
See also: N/A
Setting this parameter to 1 resets all parameter values to factory

defaults. After the reset function is complete, this parameter sets
itself back to 0. This selection causes an F48 Params Defaulted
fault.
P042 Voltage Class
Range: 2 = “Low Voltage” 480V
3 = “High Voltage” 600V
Default: 3 = “High Voltage” 600 V
See also: N/A
Sets the voltage class of 600V drives.

9.2 Advanced Group Parameters
A051 Digital In1 Sel (I/O Terminal 05)
Range: 0 = Not Used
1 = Acc & Dec 2
2 = Jog
3 = Aux Fault
4 = Preset Freq
5 = Local
6 = Comm Port
7 = Clear Fault
8 = RampStop,CF
9 = CoastStop,CF
10 = DCInjStop,CF
11 = Jog Forward
12 = Jog Reverse
13 = 10V In Ctrl
14 = 20mA In Ctrl
15 = PID Disable
16 = MOP Up
17 = MOP Down
18 = Timer Start
19 = Counter In
20 = Reset Timer
21 = Reset Countr
22 = Rset Tim&Cnt
23 = Logic In1
24 = Logic In2
25 = Current Lmt2
26 = Anlg Invert
Default: A051, A052, A053: 4 = Preset Freq
A054: 5 = Local
See also: d012, d014, P038-P040, A067, A068, A070-A079,
A188, A140-A147
Selects the function for the digital inputs. Refer to the flowchart in
section 6.6 for more information on speed reference control priority.
0 = Not Used: Terminal has no function but can be read over

network communications using Dig In Status (d014).
1 = Acc & Dec 2: When this option is selected, Accel Time 2 (A067)
and Decel Time 2 (A068) are used for all ramp rates except Jog.
This can only be tied to one input. Refer to the flowchart in figure 6.3
for more information about accel/decel selection.

2 = Jog: When the input is present, the drive accelerates according
to the value set in Jog Accel/Decel (A079) and ramps to the value
set in Jog Frequency (A078). When the input is removed, the drive
ramps to a stop according to the value set in Jog Accel/Decel
(A079). A valid Start command will override this input.
3 = Aux Fault: When enabled, an F2 Auxiliary Input fault will occur

when the input is removed.
4 = Preset Freq (Default for A051, A052, and A053): Refer to
Preset Freq x (A070 to A077).
Important: Digital inputs have priority for frequency control when
programmed as Preset Speed and are active. Refer to
the flowchart in figure 6.2 for more information on
speed reference control priority.
5 = Local (Default for A054): When active, sets the integral keypad
as the start source and the potentiometer on the integral keypad as
the speed source.
6 = Comm Port: When active, sets communications device as

default start/speed command source. This can only be tied to one
input.
7 = Clear Fault: When active, clears an active fault.
8 = RampStop,CF: Causes drive to immediately ramp to a stop

regardless of how Stop Mode (P037) is set. Stop input clears active
fault.
9 = CoastStop,CF: Causes drive to immediately coast to a stop

regardless of how Stop Mode (P037) is set. Stop input clears active
fault.
10 = DCInjStop,CF: Causes drive to immediately begin a DC

injection stop regardless of how Stop Mode (P037) is set. Stop input
clears active fault.
11 = Jog Forward : Drive accelerates to Jog Frequency (A078)

according to Jog Accel/Decel (A079) and ramps to stop when input
becomes inactive. A valid start will override this command.
12 = Jog Reverse: Drive accelerates to Jog Frequency (A078)

according to Jog Accel/Decel (A079) and ramps to stop when the
input becomes inactive. A valid start will override this command.
13 = 10V In Ctrl: Selects 0-10 V or +/10 V control as the frequency

reference. Start source is not changed.
14 = 20mA In Ctrl: Selects 4-20 mA control as the frequency

reference. Start source is not changed.

15 = PID Disable: Disables PID function. Drive uses the next valid
non-PID speed reference.
16 = MOP Up: Increases the value of Internal Freq (A069) at a rate

of 2 Hz per second. Default for A069 is 60 Hz.
17 = MOP Down: Decreases the value of Internal Freq (A069) at a

rate of 2 Hz per second. Default for A069 is 60 Hz.
18 = Timer Start: Clears and starts the timer function. May be used
to control the relay or opto outputs.
19 = Counter In: Starts the counter function. May be used to

control the relay or opto outputs.
20 = Reset Timer: Clears the active timer.
21 = Reset Countr: Clears the active counter.
22 = Rset Tm&Cnt: Clears the active time and counter.
23 = Logic In1: Logic function input number 1. May be used to

control the relay or opto outputs (see parameters A055, A058,
A061, options 11-14). May be used with StepLogicTM parameters
A140-A147.
24 = Logic In2: Logic function input number 2. May be used to

control the relay or opto outputs (see parameters A055, A058,
A061, options 11-14). May be used with StepLogicTM parameters
A140-A147.
25 = Current Lmt2: When active, Current Limit 2 (A118)

determines the drive current limit level.
26 = Anlg Invert: Inverts the scaling of the analog input levels set in
Anlg In 0-10V Lo (A110), Anlg In 0-10V Hi (A111), Anlg In 4-20mA
Lo (A112), and Anlg In 4-20mA Hi (A113).

A055 Relay Out Sel
Range: 0 = Ready/Fault
1 = At Frequency
2 = MotorRunning
3 = Reverse
4 = Motor Overld
5 = Ramp Reg
6 = Above Freq
7 = Above Cur
8 = Above DCVolt
9 = Retries Exst
10 = Above Anlg V
11 - Logic In 1
12 = Logic In 2
13 = Logic 1 & 2
14 = Logic 1 or 2
15 = StpLogic Out
16 = Timer Out
17 = Counter Out
18 = Above PF Ang
19 = Anlg In Loss
20 = ParamControl
21 = NonRec Fault
22 = EM Brk Cntrl
Default: 0 = Ready/Fault
See also: P033, A056, A092, A140-A147, A150-A157
Sets the condition that changes the state of the output relay
contacts.
0 = Ready/Fault (Default): Relay changes state when power is

applied. This indicates that the drive is ready for operation. Relay
returns drive to shelf state when power is removed or a fault occurs.
1 = At Frequency: Drive reaches commanded frequency.
2 = MotorRunning: Motor is receiving power from the drive.
3 = Reverse: Drive is commanded to run in reverse direction.
4 = Motor Overload: Motor overload condition exists.
5 = Ramp Reg: Ramp regulator is modifying the programmed

accel/decel times to avoid an overcurrent or overvoltage fault.
6 = Above Freq: Drive exceeds the frequency (Hz) value set in

Relay Output Level (A056). Use A056 to set the threshold.
7 = Above Cur: Drive exceeds the current (% Amps) value set in

Important: The value for Relay Output Level must be entered in
percent of drive rated output current.

8 = Above DCVolt: Drive exceeds the DC bus voltage value set in
9 = Retries Exst: Number of retries set in Auto Rstrt Tries (A092) is

exhausted.
10 = Above Anlg V: The analog input voltage (I/O Terminal 13)

exceeds the value set in Relay Out Level (A056). Do not use if 10V
Bipolar Enbl (A123) is set to 1 = Bi-Polar In.
11 = Logic In 1: An input is programmed as Logic In 1 and is active.
13 = Logic 1 & 2: Both logic inputs are programmed and active.
14 = Logic 1 or 2: One or both logic inputs are programmed and

one or both is active.
15 = StpLogic Out: Drive enters StepLogicTM step with digit 3 of

the Command Word (A140-A147) set to enable the StepLogicTM
output.
16 = Timer Out: The timer has reach the value set in Relay Out
Level (A056). Use A056 to set the threshold.
17 = Counter Out: The counter has reached the value set in Relay
Out Level (A056). Use A056 to set the threshold.
18 = Above PF Ang: The Power Factor angle has exceeded the

value set in Relay Out Level (A056). Use A056 to set the threshold.
19 = Anlg In Loss: Analog input loss has occurred. Program

Analog In Loss (A122) for the desired action when input loss occurs.
20 = ParamControl: Enables the output to be controlled over

network communications by writing to Relay Out Level (A056).
0 = Off, 1 = On.
21 = NonRec Fault: Value set in Auto Rstrt Tries (A092) is

exceeded, Auto Rstrt Tries (A092) is not enabled, or a
non-resettable fault has occurred.
22 = EM Brk Cntrl: EM brake is energized. Program EM Brk Off

Delay (A160) and EM Brk On Delay (A161) for desired action.

A056 Relay Out Level
32 Range: 0.0 to 9999 (see table 9.1)
Default: 0.0
See also: A055, A058, A061
Sets the trip point for the output relay if the value of Relay Out Sel
(A055) is 6, 7, 8, 10, 16, 17, 18, or 20. See table 9.1.
Table 9.1 – Trip Points for Digital Output Relay
A055 Setting A056 Range

6 (Above Freq) 0 to 400 Hz
7 (Above Cur) 0 to 180%
8 (Above DCVolt) 0 to 815 V
10 (Above Anlg V) 0 to 100%
16 (Timer Out) 0.1 to 9999 seconds
17 (Counter Out) 1 to 9999 counts
18 (Power Factor Angle) 1 to 180 degrees
20 (ParamControl) 0, 1

A058 Opto Out1 Sel
A061 Opto Out2 Sel
Range: 0 = Ready/Fault
1 = At Frequency
2 = MotorRunning
3 = Reverse
4 = Motor Overld
5 = Ramp Reg
6 = Above Freq
7 = Above Cur
8 = Above DCVolt
9 = Retries Exst
10 = Above Anlg V
11 = Logic In 1
12 = Logic In 2
13 = Logic 1 & 2
14 = Logic 1 or 2
15 = StpLogic Out
16 = Timer Out
17 = Counter Out
18 = Above PF Ang
19 = Anlg In Loss
20 = ParamControl
21 = NonRec Fault
22 = EM Brk Cntrl
Default: A058: 0 = Ready/Fault
A061: 2 = MotorRunning
See also: A056, A092, A140-A147, A150-A157, P033
Determines the operation of the programmable opto outputs.
0 = Ready/Fault (A058 Default): Opto outputs are active when

power is applied. This indicates that the drive is ready for operation.
Opto outputs are inactive when power is removed or a fault occurs.
1 = At Frequency: Drive reaches commanded frequency.
2 = MotorRunning (A061 Default): Motor is receiving power from

the drive.
3 = Reverse: Drive is commanded to run in reverse direction.
4 = Motor Overld: Motor overload condition exists.
5 = Ramp Reg: Ramp regulator is modifying the programmed

accel/decel times to avoid an overcurrent or overvoltage fault from
occurring.
6 = Above Freq: Drive exceeds the frequency (Hz) value set in

Opto Outx Level (A059 or A062). Use A059 or A062 to set the
threshold.

Important: The value for A059 or A062 must be entered in
percent of drive rated output current.
7 = Above Cur: Drive exceeds the current (% Amps) value set in

threshold.
Important: Value for Opto Outx Level (A059 or A062) must be

entered in percent of drive rated output current.
8 = Above DCVolt: Drive exceeds the DC bus voltage value set in

threshold.
9 = Retries Exst: The value set in Auto Rstrt Tries (A092) is

exceeded.
10 = Above Anlg V: The analog input voltage (I/O Terminal 13)

exceeds the value set in Relay Out Level (A056). Do not use if 10 V
Bipolar Enbl (A123) is set to 1 = Bi-Polar In.
13 = Logic 1 & 2: Both logic inputs are programmed and active.
14 = Logic 1 or 2: One or both logic inputs are programmed and

one or both is active.
15 = StpLogic Out: Drive enters StepLogicTM step with digit 3 of

the Command Word (A140-A147) set to enable the StepLogicTM
output.
16 = Timer Out: The timer has reached the value set in Opto Outx
Level (A059 or A062). Use A059 or A062 to set the threshold.
17 = Counter Out: The counter has the reached the value set in
threshold.
18 = Above PF Ang: The Power Factor angle has exceeded the

value set in Opto Outx Level (A059 or A062). Use A059 or A062 to
set the threshold.
19 = Anlg In Loss: An analog input loss has occurred. Program

Analog In Loss (A122) for action desired when input loss occurs.
20 = ParamControl: Enables the output to be controlled over

network communications by writing to Opto Outx Level (A059 to
A062). (0=Off, 1=On)

21 = NonRec Fault: Value set in Auto Rstrt Tries (A092) is
exceeded, Auto Rstrt Tries (A092) is not enabled, or a
non-resettable fault has occurred.
22 = EM Brk Cntrl: EM brake is energized. Program EM Brk Off

Delay (A160) and EM Brk On Delay (A161) for desired action.
A059 Opto Out1 Level

A062 Opto Out2 Level
32 Range: 0.0 to 9999
Default: 0.0
See also: A058, A061
Determines the on/off point for the opto outputs when Opto Outx Sel
(A058 or A061) is set to option 6, 7, 8, 10, 16, 17, 18, or 20. Refer to
table 9.2.
Table 9.2 – On/Off Points for the Opto Outputs
A058 & A061 Setting A059 & A062 Range

6 (Above Freq) 0 to 400 Hz
7 (Above Cur) 0 to 180%
8 (Above DCVolt) 0 to 815 V
10 (Above Anlg V) 0 to 100%
16 (Timer Out) 0.1 to 9999 seconds
17 (Counter Out) 1 to 9999 counts
18 (Above PF Ang) 1 to 180 degrees
20 (ParamControl) 0, 1
A064 Opto Out Logic

Range: 0 to 3 (see table 9.3)
Default: 0
See also: N/A
Determines the logic (Normally Open/NO or Normally Closed/NC)

of the opto outputs. Refer to table 9.3.

Table 9.3 – A064 Options
A064 Option Opto Out1 Logic Opto Out2 Logic

0 NO (Normally Open) NO (Normally Open)
1 NC (Normally Closed) NO (Normally Open)
2 NO (Normally Open) NC (Normally Closed)
3 NC (Normally Closed) NC (Normally Closed)
A065 Analog Out Sel

Range: 0 to 20
Default: 0
See also: A066, P035
Sets the analog output signal mode (0-10 V, 0-20 mA, or 4-20 mA).
The output is used to provide a signal that is proportional to several
drive conditions.
Table 9.4 – Analog Output Signal Mode Selections
DIP
Output Minimum Maximum Output Value Switch
Option Range Output Value A066 (Analog Out High) Position
0 = OutFreq 0-10 0-10 V 0 V = 0 Hz P035 (Maximum Freq) 0-10 V
1 = OutCurr 0-10 0-10 V 0 V = 0 Amps 200% Drive Rated Output Current 0-10 V
2 = OutVolt 0-10 0-10 V 0 V = 0 Volts 120% Drive Rated Output Volts 0-10 V
3 = OutPowr 0-10 0-10 V 0 V = 0 kW 200% Drive Rated Power 0-10 V
4 = TstData 0-10 0-10 V 0 V = 0000 65535 (Hex FFFF) 0-10 V
5 = OutFreq 0-20 0-20 mA 0 mA = 0 Hz P035 (Maximum Freq) 0-20 mA
6 = OutCurr 0-20 0-20 mA 0 mA = 0 Amps 200% Drive Rated Output Current 0-20 mA
7 = OutVolt 0-20 0-20 mA 0 mA = 0 Volts 120% Drive Rated Output Volts 0-20 mA
8 = OutPowr 0-20 0-20 mA 0 mA = 0 kW 200% Drive Rated Power 0-20 mA
9 = TstData 0-20 0-20 mA 0 mA = 0000 65535 (Hex FFFF) 0-20 mA
10 = OutFreq 4-20 4-20 mA 4 mA = 0 Hz P035 (Maximum Freq) 0-20 mA
11 = OutCurr 4-20 4-20 mA 4 mA = 0 Amps 200% Drive Rated Output Current 0-20 mA
12 = OutVolt 4-20 4-20 mA 4 mA = 0 Volts 120% Drive Rated Output Volts 0-20 mA
13 = OutPowr 4-20 4-20 mA 4 mA = 0 kW 200% Drive Rated Power 0-20 mA
14 = TstData 4-20 4-20 mA 4 mA = 0000 65535 (Hex FFFF) 0-20 mA
15 = OutTorq 0-10 0-10 V 0V = 0 Amps 200% Drive Related FLA 0-10 V
16 = OutTorq 0-20 0-20 mA 0 mA = 0 Amps 200% Drive Related FLA 0-20 mA
17 = OutTorq 4-20 4-20 mA 4 mA = 0 Amp 200% Drive Related FLA 0-20 mA
18 = Setpnt 0-10 0-10 V 0V = 0% 100.0% Setpoint Setting 0-10 V
19 = Setpnt 0-20 0-20 mA 0 mA = 0% 100.0% Setpoint Setting 0-20 mA
20 = Setpnt 4-20 4-20 mA 4 mA = 0% 100.0% Setpoint Setting 0-20 mA

A066 Analog Out High
Range: 0 to 800%
Default: 100%
See also: A065
Scales the Maximum Output Value for the Analog Out Sel (A065)
source setting.
For example:
A066 Setting A065 Setting A065 Max. Output Value

50% 1 = OutCurr 0-10 5 V for 200% Drive Rated Output Current
90% 8 = OutPowr 0-20 18 mA for 200% Drive Rated Power
A067 Accel Time 2

Default: 10.0 sec
See also: P039, A051-A054, A070-A077, A140-A147
Sets the rate of acceleration for speed increases except jog. Refer
to the flowchart in figure 6.3 for details. Refer to figure 9.3.
Maximum Frequency / Accel Time = Accel Rate
P035 [Maximum Freq]

De
n
ratio
cel
era
Speed
ele
tion
Acc
0
0
Figure 9.3 – Accel Time 2 (A067)
A068 Decel Time 2

Default: 10.0 sec
See also: P040, A051-A054, A070-A077, A140-A147
Sets the rate of deceleration for speed decreases except jog. Refer
to the flowchart in figure 6.3 for details. See figure 9.4.

Maximum Frequency / Decel Time = Decel Rate
P035 [Maximum Freq]
De
n
ratio
cel
era
Speed
ele
tion
Acc
0
0
Figure 9.4 – Decel Time 2 (A068)
A069 Internal Freq

Default: 0.0 Hz
See also: P038
Provides the frequency command to the drive when Speed

Reference (P038) is set to 1=Internal Frequency. When enabled,
this parameter will change the frequency command in “real time”
using the integral keypad keys when in program mode.
Important: Once the desired command frequency is reached, the
key must be pressed to store this value to
EEPROM memory. If the PROG
key is used before the
key, the frequency will return to the original value

following the normal accel/decel curve.
If Digital Inx Sel (A-051-A054) is set to 16 = MOP Up or 17 = MOP

Down, this parameter acts as the MOP frequency reference.

A0701 Preset Freq 01
A0711 Preset Freq 1
A0721 Preset Freq 2
A0731 Preset Freq 3
A0741 Preset Freq 4
A0751 Preset Freq 5
A0761 Preset Freq 6
A0771 Preset Freq 7
Default: 0.0 Hz
See also: P038, P039, P040, A051-A053, A067, A068,
A140-A147, A150-A157
1
To activate Preset Freq 0, set P038 (Speed Reference) to 4 = Preset Freq
Provides a fixed frequency command value when Digital Inx Sel

(A051-A053) is set to 4 = Preset Frequencies. An active preset input
will override the speed command as shown in the flowchart in figure
6.2. See table 9.5.
Table 9.5 – Selecting the Reference Source Using Presets
Input State Input State Input State

of Digital In 1 of Digital In 2 of Digital In 3
(I/O Terminal 05 (I/O Terminal 06 (I/O Terminal 07
when A051 = 4) when A052 = 4) when A053 = 4) Frequency Source Accel / Decel Parameter Used1
0 0 0 A070 (Preset Freq 0) Accel Time 1 / Decel Time 1
1
When a digital input is set to “Accel 2 & Decel 2,” and the input is active, that input overrides the settings in this
table.
A078 Jog Frequency

Range: 0.0 to Maximum Frequency (P035)
Default: 10.0 Hz
See also: P035, A051-A054, A079
Sets the output frequency when a jog command is issued. See

parameters A051-A054 for information on how to jog the drive.

A079 Jog Accel/Decel
Default: 10.0 sec
See also: A051-A054, A078
Sets the acceleration and deceleration time when a jog command is

issued. Refer to parameters A051-A054 for information on how to
jog the drive.
.
A080 DC Brake Time

Range: 0.0 to 99.9 sec (A setting of 99.9 = Continuous)
Default: 0.0 sec
See also: P037, A081
Sets the length of time that DC brake current is “injected” into the
motor. Refer to DC Brake Level (A081).
A081 DC Brake Level

Range: 0.0 to (Drive Rated Amps x 1.8)
Default: Drive Rated Amps x 0.05
Defines the maximum DC brake current, in amps, applied to the

motor when Stop Mode (P037) is set to either DC Brake or Ramp.
See figure 9.5.
ATTENTION: If a hazard of injury due to movement

of equipment or material exists, an auxiliary
! mechanical braking device must be used.
ATTENTION: This feature should not be used with
synchronous or permanent magnet motors. Motors
may be demagnetized during braking.
Ramp-to-Stop Mode DC Injection Braking Mode

Voltage
Volts/Speed
Volts/Speed
Vo
lta Speed [DC Brake Time]
ge
Spe [DC Brake Time]
ed
[DC Brake Level] [DC Brake Level]
Time Time
Stop Command Stop Command
Figure 9.5 – DC Brake Level (A081)

A082 DB Resistor Sel
Range: 0 = Disabled
1 = Normal RA Resistor (5% Duty Cycle)
2 = No Protection (100% Duty Cycle)
3 to 99 = Duty Cycle Limited (3% to 99% Duty
Cycle)
Default: 0 = Disabled
See also: P037
Enables/disables external dynamic braking.
A083 S Curve %
Range: 0 to 100%
Default: 0% (Disabled)
See also: N/A
Sets the percentage of acceleration or deceleration time that is

applied to the ramp as an S Curve. Time is added, 1/2 at the
beginning and 1/2 at the end of the ramp.
For example: If Accel Time = 10 seconds, and the S Curve %

setting is 50%, the S Curve time will be 10 x 0.5 = 5 seconds. The
total time will be 10 + 5 = 15 seconds.
See figure 9.6 for an example.
Accel Time = 10 sec

S Curve% = 50%
S Curve Time = 10 x 0.5 = 5 sec
Total Time = 10 + 5 = 15 sec
50% S Curve
Target
Target/2
1/2 S Curve Time Accel Time 1/2 S Curve Time

2.5 Seconds 10 Seconds 2.5 Seconds
Total Time to Accelerate = Accel Time + S Curve Time
Figure 9.6 – S Curve % (A083) Example

A084 Boost Select
Range: 0 = Custom V/Hz
Variable Torque (typical fan/pump curves):
1 = 30.0, VT
2 = 35.0, VT
3 = 40.0, VT
4 = 45.0, VT
Constant Torque:
5 = 0.0 no IR Compensation
6 = 0.0
7 = 2.5, CT
8 = 5.0, CT
9 = 7.5, CT
10 = 10.0, CT
11 = 12.5, CT
12 = 15.0, CT
13 = 17.5, CT
14 = 20.0, CT
Default: 8 = 5.0, CT
7 = 2.5, CT (for 4.0, 5.5, 7.5 kW (5.0, 7.5, and 10.0 HP)
drives only)
See also: d004, P031, P032, A085-A087, A125
Sets the boost voltage (% of Motor NP Volts (P031)) and redefines

the Volts per Hz curve. Active when Torque Perf Mode (A125) is set
to 0 = V/Hz. Note that the drive may add additional voltage unless
option 5 is selected. See figure 9.7.
100
% P031 [Motor NP Volts]
1/2 [Motor NP Volts]

50
4
3
2
1
[Motor NP Hertz]
1/2
Settings
5-14
0 50 100
% P032 [Motor NP Hertz]
Figure 9.7 – Boost Select (A084)

A085 Start Boost
Range: 0.0 to 25.0%
Default: 5.0%
See also: P031, P032, P034, P035, A084, A086, A087, A088,
A125
Sets the boost voltage (% of Motor NP Volts (P031)) and redefines

the Volts per Hz curve when Boost Select (A084) is set to 0 = Cust
V/Hz, and Torque Perf Mode (A125) is set to 0 = V/Hz.
A088 [Maximum Voltage]
P031 [Motor NP Volts]

Voltage
A086 [Break Voltage]
A085 [Start Boost]
A087 [Break Frequency] P032 [Motor NP Hertz]

A034 [Minimum Freq] Frequency P035 [Maximum Freq]
Figure 9.8 – Start Boost (A085)
A086 Break Voltage

Range: 0.0 to 100.0%
Default: 25.0%
A125
Sets the frequency where break voltage is applied when Boost

Select (A084) is set to 0 = Custom V/Hz, and Torque Perf Mode
(A125) is set to 0 = V/Hz.

A087 Break Frequency
Default: 15.0 Hz
A125
Sets the frequency where the break frequency is applied when
Boost Select (A084) is set to 0 = Custom V/Hz, and Torque Perf
Mode (A125) is set to 0 = V/Hz.
A088 Maximum Voltage

Range: 20 to Drive Rated Volts
Default: Drive Rated Volts
See also: d004, A085, A086, A087
Sets the highest voltage the drive will output.
A089 Current Limit 1

Range: 0.1 to (Drive Rated Amps x 1.8)
Maximum output current allowed before current limiting occurs.
A090 Motor OL Select

Range: 0 = No Derate
1 = Min Derate
2 = Max Derate
Default: 0 = No Derate
See also: P032
The drive provides Class 10 motor overload protection. Settings 0-2
select the derating factor for the I2t overload function. See figure
9.9.
No Derate Min Derate Max Derate

% of P033 [Motor OL Curent]
100 100 100

80 80 80
60 60 60
40 40 40
20 20 20
0 0 0
0 25 50 75 100 125 150 175 200 0 25 50 75 100 125 150 175 200 0 25 50 75 100 125 150 175 200
Figure 9.9 – Motor OL Select (A090)

.
A091 PWM Frequency

Range: 2.0 to 16.0 kHz
Default: 4.0 kHz
See also: A124
Sets the carrier frequency for the PWM output waveform. Figure
9.10 provides derating guidelines based on the PWM frequency
setting.
Important: Ignoring derating guidelines can cause reduced drive

performance.
100
96
92
88
84
80
76
72
68
64
60
56
52
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
Figure 9.10 – Derating Guidelines Based on PWM Frequency (A091)

Selection
A092 Auto Rstrt Tries

Range: 0 to 9
Default: 0
See also: A055, A058, A061, A093
Sets the maximum number of times the drive attempts to reset a

fault and restart. Refer to section 10.1.2 for more information on the
Auto Restart/Run feature.
ATTENTION: Equipment damage and/or personal

injury may result if this parameter is used in an
! inappropriate application. Do not use this function
without considering applicable local, national, and
international codes, standards, regulations, or
industry guidelines.

A093 Auto Rstrt Delay
Default: 1.0 sec
See also: A092
Sets the time between restart attempts when Auto Rstrt Tries
(A092) is set to a value other than zero. Refer to section 10.1.2 for
more information on the Auto Restart/Run feature.
A094 Start At PowerUp

Range: 0 = Disabled
1 = Enabled
See also: N/A
Enables/disables a feature that allows a Start or Run command to

automatically cause the drive to resume running at commanded
speed after drive input power is restored. Requires a digital input
configured for Run or Start and a valid start contact.
This parameter will not function if Start Source (P036) is set to

4 = 2-W High Speed.
ATTENTION: Equipment damage and/or personal

injury may result if this parameter is used in an
! inappropriate application. Do not use this function
without considering applicable local, national, and
international codes, standards, regulations, or
industry guidelines.
A095 Reverse Disable

Range: 0 = Rev Enabled
1 = Rev Disabled
Default: 0 = Rev Enabled
See also: d006
Enables/disables the function that allows the direction of motor

rotation to be changed. The reverse command may come from a
digital command, the keypad, or a serial command. All reverse
inputs including two-wire Run Reverse will be ignored with reverse
disabled.

A096 Flying Start En
Range: 0 = Disabled
1 = Enabled
See also: N/A
Enables/disables feature that allows the drive to reconnect to a

spinning motor at actual RPM.
ATTENTION: When starting with this feature

enabled, the motor may temporarily run up to the
! maximum speed setting before settling at the speed
setpoint. Stay clear of rotating machinery. Failure to
observe this precaution could result in bodily injury.
A097 Compensation
Range: 0 = Disabled
1 = Electrical
2 = Mechanical
3 = Both
Default: 1 = Electrical
See also: N/A
Enables/disables correction options that may improve problems with

motor instability.
1 = Electrical: Some drive/motor combinations have inherent

instabilities that are exhibited as non-sinusoidal motor currents. This
setting attempts to correct this condition.
2 = Mechanical: Some motor/load combinations have mechanical

resonances that can be excited by the drive current regulator. This
setting slows down the current regulator response and attempts to
correct this condition.
A098 SW Current Trip

Default: 0.0 (Disabled)
See also: P033
Enables/disables a software instantaneous (within 100 ms) current

trip.

A099 Process Factor (Display Scaling)
Range: 0.1 to 999.9
Default: 30.0
See also: d010
Scales the value displayed by Process Display (d010).
Output Frequency x Process Factor = Process Display
A100 Fault Clear

1 = Reset Fault
2 = Clear Buffer (d007 - d009)
See also: d007 - d009
Resets a fault and clears the fault buffer (parameters d007 through
d009). Used primarily to clear a fault over network communications.
1 = Reset Fault: Clears the active fault and resets the drive.
2 = Clear Buffer: Clears fault codes from parameters d007 through

d009.
A101 Program Lock

Range: 0 = Unlocked
1 = Locked
Default: 0 = Unlocked
See also: N/A
When set to 1 = Locked, protects parameters against change by

unauthorized personnel.
A102 Testpoint Sel

Range: 0 to FFFF
Default: 400
See also: d019
Used by Rockwell Automation field service personnel.

A103 Comm Data Rate
Range: 0 = 1200
1 = 2400
2 = 4800
3 = 9600
4 = 19.2 K
5 = 38.4 K
Default: 4 = 19.2 K
See also: d015
Sets the serial port rate for the RS485 port.

Important: Power to the drive must be cycled before any changes
will affect drive operation.
A104 Comm Node Addr

Range: 1 to 247
Default: 1
See also: d015
Sets the drive node address for the RS485 port if using a network
connection.
A105 Comm Loss Action

Range: 0 = Fault
1 = Coast Stop
2 = Stop
3 = Continu Last
Default: 0 = Fault
See also: d015, P037, A106
Selects the drive’s response to a loss of the communication

connection or excessive communication errors.
0 = Fault (Default): Drive will fault on an F81 Comm Loss and coast
to stop.
1 = Coast Stop: Stops the drive via coast to stop.
2 = Stop: Stops the drive via the setting in Stop Mode (P037).
3 = Continu Last: Drive continues operating at communication

commanded speed saved in RAM.

A106 Comm Loss Time
Default: 5.0 sec
See also: d015, A105
Sets the time that the drive will remain in communication loss before
implementing the option selected in Comm Loss Action (A105).
A107 Comm Format

Range: 0 = RTU 8-N-1 3 = RTU 8-N-2
1 = RTU 8-E-1 4 = RTU 8-E-2
2 = RTU 8-O-1 5 = RTU 8-O-2
Default: 0 = RTU 8-N-1
See also: N/A
Selects the protocol (RTU only), data bits (8 data bits only), parity
(None, Even, Odd), and stop bits (1 stop bit only) used by the drive’s
RS485 port.
A108 Language
Range: 1 = English
2 = Francais
3 = Espanol
4 = Italiano
5 = Deutsch
6 = Reserved
7 = Portugues
8 = Reserved
9 = Reserved
10 = Nederlands
Default: 1 = English
See also: N/A
Selects the language displayed by the remote communications

option.

A109 Anlg Out Setpoint
Range: 0.0 to 100%
Default: 0.0%
See also: A065
Sets the percentage of output desired by the user. If this is enabled

via Analog Out Sel (A065), this determines the analog value that is
output from the analog output (V or mA).
A110 Anlg In 0-10V Lo

Range: 0.0 to 100.0%
Default: 0.0%
See also: d020, P034, P038, A122
Sets the analog input level that corresponds to Minimum Freq

(P034) if a 0-10V input is used by Speed Reference (P038).
Setting this value larger than Anlg In 0-10V Hi (A111) inverts the
analog signal.
P035 [Maximum Freq]
ce
en
efer
dR
ee
Sp
P034 [Minimum Freq]

0
0
A110 [Anlg In 0-10V Lo] A111 [Anlg In 0-10V Hi]
Figure 9.11 – Anlg In 0-10V Lo (A110)
A111 Anlg In 0-10V Hi

Range: 0.0 to 100.0%
Default: 100.0%
See also: d020, P035, P038, A122, A123
Sets the analog input level that corresponds to Maximum Freq

(P035) if a 0-10 V input is used by Speed Reference (P038).
Setting this value smaller than Anlg In 0-10V Lo (A110) inverts the
analog signal.

A112 Anlg In4-20mA Lo
Range: 0.0 to 100.0%
Default: 0.0%
See also: d021, P034, P038
Sets the analog input level that corresponds to Minimum Freq

(P034) if a 40-20 mA input is used by Speed Reference (P038).
Setting this value larger than Anlg In4-20mA Hi (A113) inverts the
analog signal.
A113 Anlg In4-20mA Hi

Range: 0.0 to 100.0%
Default: 100.0%
See also: d021, P035, P038
Sets the analog input level that corresponds to Maximum Freq

(P035) if a 4-20 mA input is used by Speed Reference (P038).
Setting this parameter to a value less than Anlg In4-20mA Lo

(A112) inverts the analog signal.
A114 Slip Hertz @ FLA

Default: 2.0 Hz
See also: P033
Enables compensation for the inherent slip in an induction motor.

This frequency is added to the commanded output frequency based
on motor current. If motor shaft speed decreases significantly under
heavy loads, then increase the value of this parameter. Setting this
parameter to 0.0 disables this function.
A115 Process Time Lo

Range: 0.00 to 99.99
Default: 0.00
Scales the time value when the drive is running at Minimum Freq
(P034). When set to a value other than zero, Process Display
(d010) indicates the duration of the process.

A116 Process Time Hi
Range: 0.00 to 99.99
Default: 0.00
Scales the time value when the drive is running at Maximum Freq
(P035). When set to a value other than zero, Process Display
(d010) indicates the duration of the process.
A117 Bus Reg Mode
Range: 0 = Disabled
1 = Enabled
Default: 1 = Enabled
See also: N/A
Disables the bus regulator.
A118 Current Limit 2

Range: 0.1 to Drive Rated Amps x 1.8
See also: P033, A051-A054, A089
Maximum output current allowed before current limiting occurs. This

parameter is only active if Digital Inx Sel (A051-A054) is set to 25 =
Current Lmt2 and is active.
A119 Skip Frequency

Range: 0 to 400 Hz
Default: 0 Hz
See also: A120
Sets the center of a frequency band at which the drive will not
operate continuously (also called an avoidance frequency). A
setting of 0 disables this parameter.
A120 Skip Freq Band

Default: 0.0 Hz
See also: A119
Determines the bandwidth around Skip Frequency (A119); half the

band above and half the band below the skip frequency. Refer to
figure 9.12.

A setting of 0 disables this parameter.
Frequency Command
Frequency
Drive Output
Frequency
2x Skip
Skip Frequency Frequency Band
Time
Figure 9.12 – Skip Freq Band (A120)
A121 Stall Fault Time

Range: 0 = 60 sec
1 = 120 sec
2 = 240 sec
3 = 360 sec
4 = 480 sec
5 = Flt Disabled
Default: 0 = 60 sec
See also: A089-A118
Sets the time that the drive will remain in stall mode before a fault is
issued.
A122 Analog In Loss

Range: 0 = Disabled
1 = Fault (F29)
2 = Stop
3 = Zero Ref
4 = Min Freq Ref
5 = Max Freq Ref
6 = Int Freq Ref
See also: A110, A111, A132

Selects the drive action when an input signal loss is detected.
Signal loss is defined as an analog signal less than 1 V or 2 mA.
The signal loss event ends and normal operation resumes when the
input signal level is greater than or equal to 1.5 V or 3 mA. If using a
0-10 V analog input, set Anlg In 0-10V Lo (A110) to a minimum of
20% (i.e., 2 V).
1 = Fault (F29): F29 Analog Input Loss.
2 = Stop: Uses Stop Mode (P037).
3 = Zero Ref: Drive runs at zero speed reference.
4 = Min Freq Ref: Drive runs at minimum frequency.
5 = Max Freq Ref: Drive runs at maximum frequency.
6 = Int Freq Ref: Drive runs at internal frequency.
A123 10V Bipolar Enbl

Range: 0 = Uni-Polar In (0 to 10 V only)
1 = Bi-Polar In (+/-10 V)
Default: 0 = Uni-Polar In
Enables/disables bipolar control. In bipolar mode, direction is

commanded by the sign of the reference.
A124 Var PWM Disable

Range: 0 = Enabled
1 = Disabled
Default: 0 = Enabled
See also: A091
Enables/disables a feature that varies the carrier frequency for the

PWM output waveform defined by PWM Frequency (A091).
Disabling this feature when low frequency conditions exist may

result in IGBT stress and nuisance tripping.

A125 Torque Perf Mode
Range: 0 = V/Hz
1 = Sensrls Vect
Default: 1 = Sensrls Vect
See also: A084, A085, A086, A087, A127
Enables/disables sensorless vector control operation.
A126 Motor NP FLA

Default: Drive Rated Amps
See also: A127
Set to motor nameplate rated full load amps.
A127 Autotune
1 = Static Tune
2 = Rotate Tune
See also: A125, A126, A128, A129
Provides an automatic method for setting IR Voltage Drop (A128)

and Flux Current Ref (A129), which affect sensorless vector
performance. Motor NP FLA (A126) must be set to the motor
nameplate full load amps before running the Autotune procedure.
If the Autotune procedure fails, an F80 SVC Autotune fault is

displayed.
0 = Ready/Idle: The parameter returns to this setting following a

Static Tune or Rotate Tune.
1 = Static Tune: A temporary command that initiates a

non-rotational motor stator resistance test for the best possible
automatic setting of IR Voltage Drop (A128). A start command is
required following the initiation of this setting. The parameter returns
to 0 = Ready/Idle following the test, at which time another start
transition is required to operate the drive in normal mode. Used
when the motor cannot be uncoupled from the load.

2 = Rotate Tune: A temporary command that initiates a Static Tune
followed by a rotational test for the best possible automatic setting of
Flux Current Ref (A129). A start command is required following the
initiation of this setting. The parameter returns to 0 = Ready/Idle
following the test, at which time another start transition is required to
operate the drive in normal mode.
Important: Used when the motor is uncoupled from the load. The
results may not be valid if a load is coupled to the
motor during this procedure.
ATTENTION: Rotation of the motor in an undesired

direction can occur during this procedure. To guard
! against possible injury and/or equipment damage, it
is recommended that the motor be disconnected
from the load before proceeding.
A128 IR Voltage Drop

Range: 0.0 to 230.0 VAC
See also: A127
The value of volts dropped across the resistance of the motor stator.
A129 Flux Current Ref

Range: 0.00 to Motor NP Volts (P031)
See also: A127
The value of amps for full motor flux.
A130 PID Trim Hi

Range: 0.0 to 400.0
Default: 0.0
See also: N/A
Sets the maximum positive value that is added to a PID reference

when PID trim is used.

A131 PID Trim Lo
Range: 0.0 to 400.0
Default: 0.0
See also: N/A
Sets the minimum positive value that is added to a PID reference

when PID trim is used.
A132 PID Ref Select

Range: 0 = PID Disabled
1 = PID Setpoint
2 = 0-10V Input
3 = 4-20mA Input
4 = Comm Port
5 = Setpnt, Trim
6 = 0-10V, Trim
7 = 4-20mA, Trim
8 = Comm, Trim
Default: 0 = PID Disabled
Enables/Disables PID mode and selects the source of the PID

reference.
A133 PID Feedback Sel

Range: 0 = 0-10V Input
1 = 4-20mA Input
2 = Comm Port
Default: 0 = 0-10V Input
See also: N/A
Selects the source of the PID feedback. When A133 = 0, the PID
will not function with a bipolar input. Negative voltages are treated
as 0 volts.
A134 PID Prop Gain

Range: 0.00 to 99.99
Default: 0.00
See also: N/A
Sets the value for the PID proportional component when the PID
mode is enabled by PID Ref Select (A132).

A135 PID Integ Time
Default: 0.0 sec
See also: N/A
Sets the value of the PID integral component when the PID mode is
enabled by PID Ref Select (A132).
A136 PID Diff Rate

Range: 0.00 to 99.99 (1/sec)
Default: 0.00 (1/sec)
See also: N/A
Sets the value for the PID differential component when the PID
mode is enabled by PID Ref Select (A132).
A137 PID Setpoint

Range: 0.0 to 100.0%
Default: 0.0%
See also: N/A
Provides an internal fixed value for the process setpoint when the
PID mode is enabled by PID Ref Select (A132).
A138 PID Deadband

Range: 0.0 to 10.0%
Default: 0.0%
See also: N/A
Sets the lower limit of the PID output.
A139 PID Preload

Default: 0.0 Hz
See also: N/A
Sets the value used to preload the integral component on start or

enable.

A140 Stp Logic 0
A141 Stp Logic 1
A142 Stp Logic 2
A143 Stp Logic 3
A144 Stp Logic 4
A145 Stp Logic 5
A146 Stp Logic 6
A147 Stp Logic 7
Range: 0001 to bAFF
Default: 00F1
See also: P038, P039, Po40, A051-A054, A055, A058, A061,
A067, A068, A070-A077, A150-A157
Parameters A140-A147 can be used to create a custom profile of

frequency commands. Each “step” can be based on time, status of
a logic input, or a combination of time and the status of a logic input.
These parameters are only active if Speed Reference (P038) is set
to 6 = Stp Logic.
Digits 0-3 for each parameter (Stp Logic x) must be programmed

according to the desired profile. A logic input is established by
setting a digital input, Digital Inx Sel (A051-A054), to 23 = Logic In1
and or 24 = Logic In2.
A time interval between steps can be programmed using Stp Logic

Time x (A150-A157). See table 9.6 for related parameters.
The speed for any step is programmed using Preset Freq x

(A070-A077).
Table 9.6 – Related Parameters for Stp Logic Parameters (A140-A147)

M
Related StepLogicT Time Param-
Related Preset Frequency Parameter eter
TM
StepLogic Parameter (Can be activated independent of (Active when A140-A147 Digit 0 or 1
(Active when P038 = 6 “Stp Logic”) StepLogicTM Parameters) are set to 1, b, C, d or E)
A140 (Stp Logic 0) A070 (Preset Freq 0) A150 (Stp Logic Time 0)

How StepLogicTM Works
The StepLogicTM sequence begins with a valid start command. A

normal sequence always begins with Stp Logic 0 (A140).
Digit 0: Logic For Next Step
This digit defines the logic for the next step. When the condition is
met, the program advances to the next step. Step 0 follows Step 7.
Example: Digit 0 is set 3. When “Logic In2” becomes active, the
program advances to the next step.
Digit 1: Logic to Jump to a Different Step
For all settings other than F, when the condition is met, the program
overrides Digit 0 and jumps to the step defined by digit 2.
Digit 2: Different Step to Jump
When the condition for digit 1 is met, the digit 2 setting determines
the next step or to end the program.
Digit 3: Step Settings
This digit defines what accel/decel profile the speed command will
follow and the direction of the command for the current step. In
addition, if a relay or opto output (parameters A055, A058, and
A061) is set to 15 = StpLogic Out, this parameter can control the
status of that output.
Any StepLogicTM parameter can be programmed to control a relay

or opto output, but you cannot control different outputs based on the
condition of different StepLogicTM commands.
StepLogicTM Settings
The logic for each function is determined by the four digits for each
StepLogicTM parameter. Figure 9.13 shows the available settings for
each digit.

Logic For Next Step Digit 0
Logic to Jump to a Different Step Digit 1
Different Step to Jump Digit 2
Step Settings Digit 3
Digit 3 Settings
Required Accel/Decel StepLogicTM Commanded
Setting Param. Used Output State Direction
0 Accel/Decel 1 Off FWD
1 Accel/Decel 1 Off REV
2 Accel/Decel 1 Off No Output
3 Accel/Decel 1 On FWD
4 Accel/Decel 1 On REV
5 Accel/Decel 1 On No Output
6 Accel/Decel 2 Off FWD
7 Accel/Decel 2 Off REV
8 Accel/Decel 2 Off No Output
9 Accel/Decel 2 On FWD
A Accel/Decel 2 On REV
b Accel/Decel 2 On No Output
Digit 2 Settings Digit 1 and Digit 0 Settings

0 = Jump to Step 0 0 = Skip Step (Jump Immediately)
1 = Jump to Step 1 1 = Step Based on (Stp Logic Time x)
2 = Jump to Step 2 2 = Step if “Logic In1” is Active
3 = Jump to Step 3 3 = Step if “Logic In2” is Active
4 = Jump to Step 4 4 = Step if “Logic In1” is Not Active
5 = Jump to Step 5 5 = Step if “Logic In2” is Not Active
6 = Jump to Step 6 6 = Step if either “Logic In1” or “Logic In2” is Active
7 = Jump to Step 7 7 = Step if both “Logic In1” and “Logic In2” is Active
8 = End Program (Normal Stop) 8 = Step if neither “Logic In1” or “Logic In2” is Active
9 = End Program (Coast to Stop) 9 = Step if “Logic In1” is Active and “Logic In2” is Not Active
A = End Program and Fault (F2) A = Step if “Logic In2” is Active and “Logic In1” is Not Active
b = Step after (Stp Logic Time x) and “Logic In1” is Active
C = Step after (Stp Logic Time x) and “Logic In2” is Active
d = Step after (Stp Logic Time x) and “Logic In1” is Not Active
E = Step after (Stp Logic Time x) and “Logic In2” is Not Active
F = Do Not Step/Ignore Digit 2 Settings
Figure 9.13 – Digit Settings
A150 Stp Logic Time 0

Default: 30.0 sec
See also: P038, A055, A058, A061, A070-A077, A140-A147
Sets the time to remain in each step if the corresponding StpLogic

command word is set to “Step after Time.”

A160 EM Brk Off Delay
Default: 2.0 sec
See also: P037
Sets the time the drive remains at minimum frequency before the
relay or an opto is energized and the drive ramps to the
commanded frequency.
The relay or opto is typically connected to a user-supplied

electromechanical brake coil relay. Set Stop Mode (P037) to 8
“Ramp+EM B,CF” or 9 “Ramp+EM Brk” to enable the
electromechanical brake option.
Set Relay Out Sel (A055) and Opto Outx Sel (A058 or A061) to 22
“EM Brk Cntrl” to control brake operation.
Frequency
A160 [EM Brk Off Delay] Ra A161 [EM Brk On Delay]

l
mp
ce
Ac
De
ce
mp
l
Ra
Minimum Freq
Time
Start EM Brk Stop EM Brk Drive Stops
Commanded Energized (Off) Commanded De-Energized (On)
Figure 9.14 – EM BRK Off Delay
A161 EM Brk On Delay

Default: 2.0 sec
See also: P037
Sets the time the drive remains at minimum frequency before the
relay or an opto output is de-energized and the drive stops.

The relay or opto output is typically connected to a user-supplied
electromechanical brake coil relay. Set Stop Mode (P037) to 8
“Ramp+EM B,CF” or 9 “Ramp+EM Brk” to enable the
electromechanical brake option.
Set Relay Out Sel (A055) and Opto Outx Sel (A058 or A061) to 22
“EM Brk Cntrl” to control brake operation.
A162 MOP Reset Sel

Range: 0 = Zero MOP Ref
1 = Save MOP Ref
Default: 1 = Save MOP Ref
See also: A069
Sets the drive to save the current MOP reference command.
0 = Zero MOP Ref: This option clamps Internal Freq (A069) at 0.0
Hz when the drive is not running.
1 = Save MOP Ref: Reference is saved in Internal Freq (A069).

9.3 Display Group Parameters
d001 Output Freq
Range: 0.0 to Maximum Freq (P035)
Default: Read Only
See also: d002, d010, P034, P035, P038
Displays the output frequency present at terminals T1, T2, and T3

(U, V, and W).
d002 Commanded Freq

Range: 0.0 to Maximum Freq (P035)
Default: Read Only
See also: d001, d013, P034, P035, P038
Displays the value of the active frequency command. The

commanded frequency is displayed even if the drive is not running.
Important: The frequency command can come from a number of

sources. Refer to section 6.6, Start and Speed
Reference Control, for more information.
d003 Output Current

Default: Read Only
See also: N/A
Displays the output current present at terminals T1, T2, and T3 (U,
V, and W).
d004 Output Voltage

Range: 0 to Drive Rated Volts
Default: Read Only
See also: P031, A084, A088
Displays the output voltage present at terminals T1, T2, and T3 (U,
V, and W).

d005 DC Bus Voltage
Range: Based on Drive Rating
Default: Read Only
See also: N/A
Displays the present DC bus voltage level.
d006 Drive Status

Range: 0 = Condition False
1 = Condition True
See figure 9.15
Default: Read Only
See also: A095
Displays the present operating status of the drive.
Running Bit 0
Forward Bit 1
Accelerating Bit 2
Decelerating Bit 3
Figure 9.15 – Drive Status (d006) Bit Definitions
d007 Fault 1 Code

d008 Fault 2 Code
d009 Fault 3 Code
Range: F2 to F122
Default: Read Only
See also: N/A
Displays a code that represents a drive fault. The codes will appear
in these parameters in the order they occur (that is, Fault 1 Code in
d007 will contain the more recent fault). Repetitive faults will be
recorded only once. Refer to chapter 10 for the fault code
descriptions.

d010 Process Display
32 Range: 0.00 to 9999
Default: Read Only
See also: d001, A099
Displays the output frequency scaled by Process Factor (A099).

Output Frequency x Process Factor = Process Display
d012 Control Source

Range: 0 to 9
See figure 9.16.
Default: Read Only
See also: P036, P038, A051-A054
Displays the active source of the Start Command and Speed
Command, which are normally defined by the settings of Start
Source (P036) and Speed Reference (P038) but may be overridden
by digital inputs. Refer to the flowcharts in sections 6.6 and 6.7 for
details.
Start Command Digit 0

0 = Keypad
1 = 3-Wire
2 = 2-Wire
3 = 2-Wire Level Sensitive
4 = 2-Wire High Speed
5 = RS485 Port
9 = Jog
Speed Command Digit 1
0 = Drive Potentiometer
1 = Internal Freq (A069)
2 = 0-10 V Input/Remote Potentiometer
3 = 4-20 mA Input
4 = Preset Freq x (A070-A077)
Digital Inx Sel (A051-A050) must be set to 4
5 = RS485 Port
6 = StepLogicTM Control (A140-A147)
9 = Jog Freq
Reserved Digit 2
Reserved Digit 3
Figure 9.16 – Control Source (d012) Bit Definitions

d013 Contrl In Status
Range: 0 = Input Present
1 = Input Not Present
See figure 9.17
Default: Read Only
See also: d002, P034, P035
Displays the status of the control terminal block control inputs.

Important: Actual control commands may come from a source
other than the control terminal block.
1 = Input Present, 0 = Input Not Present

Start / Run FWD Input (I/O Terminal 02) Bit 0
Direction / Run REV Input (I/O Terminal 03) Bit 1
Stop Input1 (I/O Terminal 01) Bit 2
Dynamic Brake Transistor On Bit 3
1
The stop input must be present in order to start the drive.
When this bit is a 1, the drive can be started.
When this bit is a 0, the drive will stop.
Figure 9.17 – Contrl In Status (d013) Bit Definitions
d014 Dig In Status

Range: 0 = Input Not Present
1 = Input Present
See figure 9.18.
Default: Read Only
See also: A051-A054
Displays the status of the control terminal block digital inputs.
Digital In1 Sel (I/O Terminal 05) Bit 0

Figure 9.18 – Dig In Status (d014) Bit Definitions

d015 Comm Status
Range: 0 = Condition False
1 = Condition True
See figure 9.19.
Default: Read Only
See also: A103 through A107
Displays the status of the communications ports.
Receiving Data Bit 0

Transmitting Data Bit 1
RS485 Option Connected Bit 2
Communication Error Occurred Bit 3
Figure 9.19 – Comm Status (d015) Bit Definitions
d016 Control SW Ver

Range: 1.00 to 99.99
Default: Read Only
See also: N/A
Displays the Main Control Board software version.
d017 Drive Type

Range: 1001 to 9999
Default: Read Only
See also: N/A
Used by Rockwell Automation field service personnel.
d018 Elapsed Run Time

Range: 0 to 9999 Hours
Default: Read Only
See also: N/A
Displays the accumulated time drive is outputting power. The time is

displayed in 10-hour increments (that is, 1 = 10 hours).

d019 Testpoint Data
Range: 0 to FFFF
Default: Read Only
See also: A102
Displays the present value of the function selected in Testpoint

Select (A102).
d020 Analog In 0-10V

Range: 0.0 to 100.0%
Default: Read Only
Displays the present value of the voltage at I/O Terminal 13

(100.0% = 10 V).
d021 Analog In 4-20mA

Range: 0.0 to 100.0%
Default: Read Only
Displays the present value of the current at I/O Terminal 15

(0.0% = 4 mA, 100.0% = 20 mA).
d022 Output Power

Range: 0.00 to (Drive Rated Power x 2)
Default: Read Only
See also: N/A
Displays the output power present at T1, T2, and T3, (U, V, and W).
d023 Output Powr Fctr

Range: 0.0 to 180.0 deg
Default: Read Only
See also: N/A
Displays the angle in electrical degrees between motor voltage and

motor current.

d024 Drive Temp
Range: 0 to 120 degree C
Default: Read Only
See also: N/A
Displays the present operating temperature of the drive power

section.
d025 Counter Status

Range: 0 to 9999
Default: Read Only
See also: N/A
Displays the current value of the counter when the counter is

enabled.
d026 Timer Status

32 Range: 0.0 to 9999 seconds
Default: Read Only
See also: N/A
Displays the current value of the timer when the timer is enabled.
d028 Stp Logic Status

Range: 0 to 7
Default: Read Only
See also: N/A
When Speed Reference (P038) is set to 6 = Stp Logic, this

parameter displays the current step of the StepLogicTM profile as
defined by parameters Stp Logic x (A140-A147).
d029 Output Torque Current

Default: Read Only
See also: N/A
Displays the current value of the motor torque current as measured

by the drive.

CHAPTER 10
Troubleshooting the Drive
ATTENTION: The drive contains high voltage capacitors that

take time to discharge after removal of mains supply. Before
! working on the drive, ensure isolation of mains supply from
line inputs [R, S, T (L1, L2, L3)]. Wait three (3) minutes for
capacitors to discharge to safe voltage levels. Darkened
display LEDs is not an indication that capacitors have
discharged to safe voltage levels. Failure to observe this
precaution could result in severe bodily injury or loss of life.
ATTENTION: Only qualified electrical personnel familiar with
the construction and operation of this equipment and the
hazards involved should install, adjust, operate, or service this
equipment. Read and understand this manual and other
applicable manuals in their entirety before proceeding. Failure
to observe this precaution could result in severe bodily injury
or loss of life.
The MD65 constantly monitors its status and provides the following
ways to determine the status of the drive and to troubleshoot
problems that may occur:
• LEDs on the drive (refer to figure 8.1 and table 8.1 for a
description of the LEDs)
• Fault codes
10.1 Fault Codes

Faults codes indicate conditions within the drive that require
immediate attention. The drive responds to a fault by initiating a
coast-to-stop sequence and turning off output power to the motor.
The integral keypad provides visual notification of a fault condition

by displaying the following:
• Flashing fault number (code) on the display. (See table 10.1 for
the fault code descriptions.)
• Flashing FAULT LED
In addition, parameters d007-d009 act as a fault log. See the

parameter descriptions in chapter 9 for more information.
Troubleshooting the Drive 10-1

10.1.1 Manually Clearing Faults
Step 1. Note the number of the fault code flashing on the display.
Step 2. Address the condition that caused the fault. Refer to table
10.1 for a description of the fault and corrective actions.
The cause must be corrected before the fault can be
cleared.
Step 3. After corrective action has been taken, clear the fault and
reset the drive using one of the following methods:
• Press if P037 (Stop Mode) is set to a value

between 0 and 3.
• Cycle drive power.
• Set A100 (Fault Clear) to 1.
• Cycle digital input if A051-A054 (Digital Inx Sel) is set
to 7 = Clear Fault.
10.1.2 Automatically Clearing Faults (Auto Restart

Feature)
The Auto Restart feature provides the ability for the drive to
automatically perform a fault reset followed by a start attempt
without user or application intervention. This allows remote or
“unattended” operation. This feature can only be used for auto-
resettable faults (see table 10.1).
When this type of fault occurs, and Auto Rstrt Tries (A092) is set to
a value greater than 0, a user-configurable timer, Auto Rstrt Delay
(A093), begins. When the timer reaches zero, the drive attempts to
automatically reset the fault. If the condition that caused the fault is
no longer present, the fault will be reset and the drive will be
restarted.
To automatically clear an auto-resettable fault and restart the

drive:
Step 1. Set A092 (Auto Rstrt Tries) to a value other than 0.
Step 2. Set A093 (Auto Rstrt Delay) to a value other than 0.
To automatically clear an OverVoltage, UnderVoltage, or

Heatsink OverTemp fault without restarting the drive:
Step 1. Set A092 (Auto Rstrt Tries) to a value other than 0.
Step 2. Set A093 (Auto Rstrt Delay) to 0.
Use caution when enabling this feature since the drive will attempt
to issue its own start command based on user-selected
programming.

Table 10.1 – Fault Descriptions and Corrective Actions
Auto-Reset1?
No. Fault Description Action
F2 Auxiliary Y Auxiliary input interlock • Check remote wiring.
Input is open.
• Verify communications
programming for
intentional fault.
F3 Power Loss N DC bus voltage • Monitor the incoming
remained below 85% AC line for low voltage
of nominal. or line power
interruption.
• Check input fuses.
F4 UnderVoltage Y DC bus voltage fell Monitor the incoming AC
below the minimum line for low voltage or line
value. power interruption.
F5 OverVoltage Y DC bus voltage Monitor the AC line for
exceeded maximum high line voltage or
value. transient conditions. Bus
overvoltage can also be
caused by motor
regeneration. Extend the
decel time or install
dynamic brake option.
F6 Motor Stalled Y Drive is unable to Increase Accel Time x
accelerate motor. (P039, A067) or reduce
load so drive output
current does not exceed
the current set by
parameter A089 (Current
Limit 1).
F7 Motor Y Internal electronic • An excessive motor load
Overload overload trip. exists. Reduce load so
drive output current
does not exceed the
current set by parameter
P033 (Motor OL
Current).
• Verify Boost Select
(A084) setting.

Table 10.1 – Fault Descriptions and Corrective Actions (Continued)
Auto-Reset1?
F8 Heatsink Y Heatsink temperature • Check for blocked or
OverTemp exceeds a predefined dirty heat sink fins.
value. Verify that ambient
temperature has not
exceeded 40°C (104°F)
for IP 30/NEMA 1/UL
Type 1 installations or 50°C
(122°F) for Open type
installations.
• Check fan.
F12 HW N The drive output Check programming.
OverCurrent current has exceeded Check for excess load,
the hardware current improper Boost Select
limit. (A084) setting, DC brake
volts set too high, or other
causes of excess current.
F13 Ground Fault N A current path to earth Check the motor and
ground has been external wiring to the drive
detected at one or output terminals for a
more of the drive grounded condition.
output terminals.
F29 Analog Input Y An analog input is • Check parameters.
Loss configured to fault on
signal loss. A signal • Check for broken/loose
loss has occurred. connections at inputs.
Configure with Analog
In Loss (A122).
F33 Auto Rstrt N Drive unsuccessfully Correct the cause of the
Tries attempted to reset a fault and manually clear.
fault and resume
running for the
programmed number
of Auto Rstrt Tries
(A092).
F38 Phase U to N A phase to ground fault • Check the wiring
Gnd has been detected between the drive and
F39 Phase V to between the drive and motor.
Gnd motor in this phase. • Check motor for
F40 Phase W to grounded phase.
Gnd • Replace drive if fault
cannot be cleared.

Auto-Reset1?
F41 Phase UV N Excessive current has • Check the motor and
Short been detected drive output terminal
F42 Phase UW between these two wiring for a shorted
Short output terminals. condition.
F43 Phase VW • Replace drive if fault
Short cannot be cleared.
F48 Params N The drive was • Clear the fault or cycle
Defaulted commanded to write power to the drive.
default values to • Program the drive
EEPROM. parameters as needed.
F63 SW Y Programmed SW Check load requirements
OverCurrent Current Trip (A098) and SW Current Trip
has been exceeded. (A098) setting.
F64 Drive N Drive rating of 150% Reduce load or extend
Overload for 1 minute or 200% Accel Time.
for 3 seconds has been
exceeded.
F70 Power Unit N Failure has been • Cycle power.
detected in the drive
power section. •
Replace drive if fault
cannot be cleared.
F80 SVC N The Autotune function Restart procedure.
Autotune was either cancelled
by the user or failed.
F81 Comm Loss N RS485 port stopped • If module was not
communicating. intentionally
disconnected, check
wiring to the port.
Replace wiring, port
expander, module, or
complete drive as
required.
• Check connection.
• A module was
intentionally
disconnected.
• Turn off using Comm
Loss Action (A105).

Auto-Reset1?
F100 Parameter N The checksum read Set Reset to Defalts
Checksum from the board does (P041) to 1 = Reset
not match the Defaults.
checksum calculated.
F122 I/O Board Fail N Failure has been • Cycle power.
detected in the drive
control and I/O section. • Replace drive if fault
cannot be cleared.
1 Refer to section 10.1.2 for information about the Auto Restart Feature.

10.2 Troubleshooting Tables
Use the following tables to troubleshoot the drive. If you cannot
resolve the problem using these tables, contact Reliance Electric.
10.2.1 Problem: Drive Does Not Start From Terminal

Block Start or Run Inputs
Table 10.2 – Problem: Drive Does Not Start From Terminal Block Start or Run Inputs
Possible Cause(s) Indication Corrective Action

Drive is faulted Flashing red Clear fault by using one of
FAULT LED the following methods:
• Press Stop
• Cycle power
• Set Fault Clear (A100) to
1 = Clear Faults
• Cycle digital input if
Digital Inx Sel (A051-
A054) is set to 7 = Clear
Fault
Incorrect programming. None Check parameter settings.
• Start Source (P036) is set
to 0 = Keypad or
5 = RS485 Port.
• Digital Inx Sel (A051-A054
is set to 5 = Local and the
input is active.
Incorrect input wiring. See None Wire inputs correctly and/or
section 6.4.1 for wiring install jumper.
examples.
• 2-wire control requires
Run Forward, Run
Reverse or Jog input.
• 3-wire control requires
Start and Stop inputs
• Stop input is always
required.
Incorrect Sink/Source DIP None Set switch to match wiring
switch setting. scheme.

10.2.2 Problem: Drive Does Not Start From Integral
Keypad
Table 10.3 – Problem: Drive Does Not Start From Integral Keypad
Cause(s) Indication Corrective Action

Integral keypad is not Start Key • Set Start Source (P036)
enabled. Status LED is to 0 = Keypad.
not on. • Set Digital Inx Sel (A051
to A054) to 5 = Local and
activate the input.
I/O Terminal 01 “Stop” input None Wire inputs correctly and/or
is not present. install jumper.
10.2.3 Problem: Drive Does Not Respond to Changes

in Speed Command
Table 10.4 – Problem: Drive Does Not Respond to Changes in Speed Command

No value is coming from The RUN • Check Control Source (d012)
the source of the LED is on and for correct source.
command. output is 0 • If the source is an analog
Hz. input, check wiring and use a
meter to check for presence of
signal.
• Check Commanded
Frequency (d002) to verify
correct command.
Incorrect reference source None • Check Control Source (d012)
is being selected via for correct source.
remote device or digital • Check Digital Input Status
inputs. (d014) to see if inputs are
selecting an alternate source.
Verify settings for Digital Inx
Sel (A051-A054).
• Check Speed Reference
(P038) for the source of the
speed reference. Reprogram
as necessary.
• Review the Speed Reference
Control chart in figure 6.2.

10.2.4 Problem: Motor Does Not Start

No output voltage to the None Check the power circuit.
motor. • Check the supply voltage.
• Check all the fuses and
disconnects.
Check the motor.
• Verify that the motor is
connected properly.
Check the control input
signals
• Verify that a Start signal is
present. If 2-Wire control
is used, verify that either
the Run Forward or Run
Reverse signal is active,
but not both.
• Verify that I/O Terminal 01
is active.
• Verify that Start Source
(P036) matches your
configuration.
• Verify that Reverse
Disable (A095) is not
prohibiting movement.
Drive is faulted. Flashing red Clear fault.
STATUS LED.
• Press Stop
• Cycle power
• Set Fault Clear (A100) to
1 = Clear Faults.
• Cycle digital input if Digital
Inx Sel (A051-A054) is set
to 7 = Clear Fault.

10.2.5 Problem: Motor and/or Drive Will Not
Accelerate to Commanded Speed
Table 10.5 – Problem: Motor and/or Drive Will Not Accelerate to Commanded Speed

Acceleration time is None Reprogram P039 (Accel Time
excessive. 1) or A067 (Accel Time 2).
Excess load or short None • Compare Output Current
acceleration times force the (d003) with Current Limit
drive into current limit, (A089).
slowing or stopping
acceleration. • Remove excess load or
reprogram Accel Time 1
(P039) or Accel Time 2
(A067).
• Check for improper Boost
Select (A084) setting.
Speed command source or None • Verify Commanded Freq
value is not as expected. (d002).
• Check Control Source
(d012) for the proper Speed
Command.
Programming is preventing None Check Maximum Freq (P035)
the drive output from to ensure that speed is not
exceeding limiting values. limited by programming.
Torque performance does None • Set motor nameplate full
not match motor load amps in Motor NP FLA
characteristics. (A126).
• Perform Autotune
procedure (A127 = Static
Tune or Rotate Tune).
• Set Torque Perf Mode
(A125) to 0 = V/Hz.
10.2.6 Problem: Motor Operation is Unstable

Table 10.6 – Problem: Motor Operation is Unstable

Motor data was incorrectly None 1. Correctly enter motor
entered. nameplate data into P031,
P032, and P033.
2. Enable Compensation
(A097).
3. Use Boost Select (A084) to
reduce boost level.

10.2.7 Problem: Drive Will Not Reverse Motor
Direction.
Table 10.7 – Problem: Drive Will Not Reverse Motor Direction

Digital input is not selected None Check Digital Inx Sel. Choose
for reversing control. correct input and program for
reversing mode.
Digital input is incorrectly None Check input wiring.
wired.
Motor wiring is improperly None Switch two motor leads.
phased for reverse.
Reverse is disabled. None Check Reverse Disable
(A095).
10.2.8 Problem: Drive Does Not Power Up

No input power to the drive. None Check the power circuit.
• Check the supply voltage.
• Check all fuses and
disconnects.
Jumper between I/O None Install jumper or connect DC
Terminals P2 and P1 not Bus Inductor.
installed and/or DC Bus
Inductor not connected.

APPENDIX A
Technical Specifications
Environment
Altitude: 1000 m (3300 ft) maximum without derating
Ambient Operating Open Type, IP 20: -10° C (14° F) to 50° C (122° F)
Temperature: NEMA 1, IP30, UL Type 1: -10° C (14° F) to 40° C
(104° F)
Storage -40° C (-40° F) to 85° C (185° F)
Temperature (all
const.):
Cooling Method: 0.5 HP drives: Convection
1 HP and above: Fan
Relative Humidity: 0% to 95%, non-condensing
Atmosphere: Important: The drive must not be installed in an area
where the ambient atmosphere contains volatile or
corrosive gas, vapors, or dust. If the drive is not going
to be installed for a period of time, it must be stored in
an area where it will not be exposed to a corrosive
atmosphere.
Shock (Operating): 15 G peak for 11 ms duration (+/-1.0 ms)
Vibration 1 G peak, 5 to 2000 Hz
(Operating):
Control
Carrier Frequency: 2-16 kHz. Drive rating based on 4 kHz.
Frequency Accuracy • Digital Input: Within +/-0.05% of set output
frequency.
• Analog Input: Within 0.5% of maximum output
frequency. 10-bit resolution.
• Analog Output: +/-2% of full scale. 10-bit resolution.
Speed Regulation - +/-1% of base speed across a 60:1 speed range.
Open Loop with Slip
Compensation:
Stop Modes: Multiple programmable stop modes including: Ramp,
Coast, DC-Brake, Ramp-to-Hold, S Curve, and
Dynamic Braking (1 HP and above)..
Technical Specifications A-1

Accel/Decel: Two independently programmable accel and decel
times. Each time may be programmed from 0-600
seconds in 0.1 second increments.
Intermittent • 150% Overload capability for up to 1 minute.
Overload:
• 200% Overload capacity for up to 3 seconds
Electronic Motor Class 10 protection with speed-sensitive response.
Overload Protection:
Input/Output Rating
Output Frequency: 0-400 Hz (Programmable)
Efficiency: 97.5% (Typical)
Digital Control Inputs (Inputs Current = 6 mA)

SRC (Source) 18-24 V = ON
Mode: 0-6 V = OFF
SNK (Sink) Mode: 0-6 V = ON
18-24 V = OFF
Analog Control Inputs

4-20 mA Analog: 250 ohm input impedance
0-10 V DC Analog: 100k ohm input impedance
External Pot: 1-10 k ohm, 2 Watt minimum
Control Output
Programmable Output (form C relay)
Resistive Rating: 3.0 A at 30 V DC, 3.0 A at 125 V AC, 3.0 A at
240 V AC
Inductive Rating: 0.5 A at 30 V DC, 0.5 A at 125 V AC, 0.5 A
Opto Outputs
Resistive Rating: 30 V DC, 50 mA
Inductive Rating: Recover diode. Refer to figure 6.1 for details.
Analog Outputs (10-bit)
Rating: 0-10 V, 1k ohm min.
4-20 mA, 525 ohm max
Fuses and Circuit Breakers

Recommended UL Class J, CC, T or Type BS88; 600 V (550 V) or
Fuse Type: equivalent.
Recommended HMCP circuit breakers or equivalent.

Circuit Breakers:
A-2 MD65 AC Drive User Manual

Protective Features
Motor Protection: Programmable I2t overload protection provides Class
10 protection. See parameter P033.
Overcurrent: 200% hardware limit, 300% instantaneous fault
Over Voltage: • 100-120 V AC Input – Trip occurs at 405 V DC bus
voltage (equivalent to 150 V AC incoming line
• 200-240 V AC Input – Trip occurs at 405 V DC bus
voltage (equivalent to 290 V AC incoming line)
• 460-600 V AC Input – Trip occurs at 1005 V DC
bus voltage (equivalent to 711 V AC incoming line)
Under Voltage: • 100-120 V AC Input – Trip occurs at 210 V DC bus
voltage (equivalent to 150 V AC incoming line
• 460-600 V AC Input –
• If P042=3 “High Voltage” trip occurs at
487 V DC bus voltage (equivalent to
344 V AC incoming line)
• If P042=2 “Low Voltage” trip occurs at
390 V DC bus voltage (equivalent to
275 V AC iincoming line)
Control Ride- Minimum ride-through is 0.5 sec - typical value 2 sec
Through:
Faultless Power 100 milliseconds
Ride-Through:
Dynamic Braking
Internal brake IGBT included with all ratings 0.75 kW (1 HP) and larger.
Approvals
ED 966X ED 966X
LIST LIST
UL® UL508C C UL®

CSA 22.2
I ND I ND
CO N T E Q CO N T E Q
EMC Directive 89/336

LV: EN 50178, EN 60204
EMC: EN 61800-3, EN 50081-1, EN 50082-2
Technical Specifications A-3

A-4 MD65 AC Drive User Manual
APPENDIX B
Record of
User Settings
B.1 Basic Parameter Group

Default Page
No. Parameter Name Value No. User Setting
P031 Motor NP Volts Varies 9-2
P032 Motor NP Hertz 60 Hz 9-2
P033 Motor OL Current Varies 9-2
P034 Minimum Freq 0.0 Hz 9-2
P035 Maximum Freq 60 Hz 9-2
P036 Start Source 0 = Keypad 9-3
P037 Stop Mode 1 = Coast, CF 9-4
P038 Speed Reference 0 = Drive Pot 9-5
P039 Accel Time 1 5.0 sec 9-6
P040 Decel Time 1 5.0 sec 9-6
P041 Reset to Defalts 0 = Read/Idle 9-7
P042 Voltage Class 3 = “High 9-7
Voltage” 600 V
Record of User Settings B-1

B.2 Advanced Parameter Group
Default Page
A051 Digital In1 Sel 4 = Preset Freq 9-8
A054 Digital In4 Sel 5 = Local 9-8
A055 Relay Out Sel 0 = Ready/Fault 9-11
A056 Relay Out Level 0.0 9-13
A058 Opto Out1 Sel 0 = Ready/Fault 9-14
A059 Opto Out1 Level 0.0 9-16
A061 Opto Out2 Sel 2 = Motor 9-14
Running
A062 Opto Out2 Level 0.0 9-16
A064 Opto Out Logic 0 9-16
A065 Analog Out Sel 0 9-17
A066 Analog Out High 100% 9-18
A067 Accel Time 2 10.0 sec 9-18
A068 Decel Time 2 10.0 sec 9-18
A069 Internal Freq 0.0 Hz 9-19
A070 Preset Freq 0 0.0 Hz 9-20
A078 Jog Frequency 10.0 Hz 9-20
A079 Jog Accel/Decel 10.0 sec 9-21
A080 DC Brake Time 0.0 sec 9-21
A081 DC Brake Level Drive Rated 9-21
Amps x 0.5
A082 DB Resistor Sel 0 = Disabled 9-22
A083 S Curve% 0% (Disabled) 9-22
B-2 MD65 AC Drive User Manual

Default Page
A084 Boost Select 8 = 5.0, CT 9-23
7 = 2.5, CT (for
5.0, 7.5, and
10.0 HP drives
only)
A085 Start Boost 5.0% 9-24
A086 Break Voltage 25.0% 9-24
A087 Break Frequency 15.0 Hz 9-25
A088 Maximum Voltage Drive Rated 9-25
Volts
A089 Current Limit 1 Drive Rated 9-25
Amps x 1.8
A090 Motor OL Select 0 = No Derate 9-25
A091 PWM Frequency 4.0 kHz 9-26
A092 Auto Rstrt Tries 0 9-26
A093 Auto Rstrt Delay 1.0 sec 9-27
A094 Start At PowerUp 0 = Disabled 9-27
A095 Reverse Disable 0 = Rev Enabled 9-27
A096 Flying Start En 0 = Disabled 9-28
A097 Compensation 1 = Electrical 9-28
A098 SW Current Trip 0.0 (Disabled) 9-28
A099 Process Factor 30.0 9-29
A100 Fault Clear 0 = Ready/Idle 9-29
A101 Program Lock 0 = Unlocked 9-29
A102 Testpoint Sel 400 9-29
A103 Comm Data Rate 4 = 19.2 K 9-30
A104 Comm Node Addr 1 9-30
A105 Comm Loss Action 0 = Fault 9-30
A106 Comm Loss Time 5.0 sec 9-31
A107 Comm Format 0 = RTU 8-N-1 9-31
A108 Language 1 = English 9-31
A109 Anlg Out Setpoint 0.0% 9-32
A110 Anlg In 1-10V Lo 0.0% 9-32
A111 Anlg In 0-10V Hi 100.0% 9-32
A112 Anlg In4-20mA Lo 0.0% 9-32
A113 Anlg In4-20mA Hi 100.0% 9-33
A114 Slip Hertz @ FLA 2.0 Hz 9-33

Default Page
A115 Process Time Lo 0.00 9-33
A116 Process Time Hi 0.00 9-34
A117 Bus Reg Mode 1 = Enabled 9-34
A118 Current Limit 2 Drive Rated 9-33
Amps x 1.8
A119 Skip Frequency 0 Hz 9-34
A120 Skip Freq Band 0.0 Hz 9-34
A121 Stall Fault Time 0 = 60 sec 9-35
A122 Analog In Loss 0 = Disabled 9-35
A123 10V Bipolar Enbl 0 = Uni-Polar In 9-36
A124 Var PWM Disable 0 = Enabled 9-36
A125 Torque Perf Mode 1 = Sensrls Vect 9-37
A126 Motor NP FLA Drive Rated 9-37
Amps
A127 Autotune 0 = Ready/Idle 9-37
A128 IR Voltage Drop Based on Drive 9-38
Rating
A129 Flux Current Ref Based on Drive 9-38
Rating
A130 PID Trim Hi 0.0 9-38
A131 PID Trim Lo 0.0 9-39
A132 PID Ref Select 0 = PID Disabled 9-39
A133 PID Feedback Sel 0 = 0-10V Input 9-39
A134 PID Prop Gain 0.00 9-39
A135 PID Integ Time 0.0 sec 9-40
A136 PID Diff Rate 0.0 (1/sec) 9-40
A137 PID Setpoint 0.0% 9-40
A138 PID Deadband 0.0% 9-40
A139 PID Preload 0.0 Hz 9-40
A140 Stp Logic 0 00F1 9-41
A141 Stp Logic 1 00F1 9-41
A142 Stp Logic 2 00F1 9-41
A143 Stp Logic 3 00F1 9-41
A144 Stp Logic 4 00F1 9-41
A145 Stp Logic 5 00F1 9-41
A146 Stp Logic 6 00F1 9-41
A147 Stp Logic 7 00F1 9-41

Default Page
A150 Stp Logic Time 0 30.0 sec 9-43
A160 Em Brk Off Delay 2.0 sec 9-44
A161 Em Brk On Delay 2.0 sec 9-44
A162 MOP Reset Sel 1 = Save Mop 9-45
Ref

APPENDIX C
Parameters
Cross-Referenced
by Name
Parameter Default Page
Parameter Name No. Group Value No.
10V Bipolar Enbl A123 Advanced 0 = Uni-Polar In 9-36
Accel Time 1 P039 Basic 5.0 sec 9-6
Accel Time 2 A067 Advanced 10.0 sec 9-18
Analog In 0-10V d020 Display Read Only 9-51
Analog In 4-20mA d021 Display Read Only 9-51
Analog In Loss A122 Advanced 0 = Disabled 9-35
Analog Out High A066 Advanced 100% 9-17
Analog Out Sel A065 Advanced 0 9-17
Anlg In 0-10V Hi A111 Advanced 100.0% 9-32
Anlg In 1-10V Lo A110 Advanced 0.0% 9-32
Anlg In4-20mA Hi A113 Advanced 100.0% 9-33
Anlg In4-20mA Lo A112 Advanced 0.0% 9-33
Anlg Out Setpoint A109 Advanced 0.0% 9-32
Auto Rstrt Delay A093 Advanced 1.0 sec 9-27
Auto Rstrt Tries A092 Advanced 0 9-26
Autotune A127 Advanced 0 = Ready/Idle 9-37
Boost Select A084 Advanced 8 = 5.0, CT 9-23
7 = 2.5, CT (for
5.0, 7.5, and
10.0 HP drives
only)
Break Frequency A087 Advanced 15.0 Hz 9-25
Break Voltage A086 Advanced 25.0% 9-24
Bus Reg Mode A117 Advanced 1 = Enabled 9-34
Comm Data Rate A103 Advanced 4 = 19.2 K 9-30
Comm Format A107 Advanced 0 = RTU 8-N-1 9-31
Parameters Cross-Referenced by Name C-1

Comm Loss Action A105 Advanced 0 = Fault 9-30
Comm Loss Time A106 Advanced 5.0 sec 9-31
Comm Node Addr A104 Advanced 1 9-30
Comm Status d015 Display Read Only 9-50
Commanded Freq d002 Display Read Only 9-46
Compensation A097 Advanced 1 = Electrical 9-28
Contrl In Status d013 Display Read Only 9-49
Control Source d012 Display Read Only 9-48
Control SW Ver d016 Display Read Only 9-50
Counter Status d025 Display Read Only 9-52
Current Limit 1 A089 Advanced Drive Rated 9-25
Amps x 1.8
Current Limit 2 A118 Advanced Drive Rated 9-34
Amps x 1.8
DB Resistor Sel A082 Advanced 0 = Disabled 9-22
DC Brake Level A081 Advanced Drive Rated 9-21
Amps x 0.5
DC Brake Time A080 Advanced 0.0 sec 9-21
DC Bus Voltage d005 Display Read Only 9-47
Decel Time 1 P040 Basic 5.0 sec 9-6
Decel Time 2 A068 Advanced 10.0 sec 9-18
Dig In Status d014 Display Read Only 9-49
Digital In1 Sel A051 Advanced 4 = Preset Freq 9-8
Digital in4 Sel A054 Advanced 5 = Local 9-8
Drive Status d006 Display Read Only 9-47
Drive Temp d024 Display Read Only 9-52
Drive Type d017 Display Read Only 9-50
Elapsed Run Time d018 Display Read Only 9-50
EM Brk Off Delay A160 Advanced 2.0 sec 9-44
EM Brk On Delay A161 Advanced 2.0 sec 9-44
Fault 1 Code d007 Display Read Only 9-47
Fault Clear A100 Advanced 0 = Ready/Idle 9-29
C-2 MD65 AC Drive User Manual

Flux Current Ref A129 Advanced Based on Drive 9-38
Rating
Flying Start En A096 Advanced 0 = Disabled 9-28
Internal Freq A069 Advanced 0.0 Hz 9-19
IR Voltage Drop A128 Advanced Based on Drive 9-38
Rating
Jog Accel/Decel A079 Advanced 10.0 sec 9-21
Jog Frequency A078 Advanced 10.0 Hz 9-20
Language A108 Advanced 1 = English 9-31
Maximum Freq P035 Basic 60 Hz 9-2
Maximum Voltage A088 Advanced Drive Rated 9-25
Volts
Minimum Freq P034 Basic 0.0 Hz 9-2
MOP Reset Sel A162 Advanced 1 = Save MOP 9-45
Ref
Motor NP FLA A126 Advanced Drive Rated 9-37
Amps
Motor NP Hertz P032 Basic 60 Hz 9-2
Motor NP Volts P031 Basic Varies 9-2
Motor OL Current P033 Basic Varies 9-2
Motor OL Select A090 Advanced 0 = No Derate 9-25
Opto Out Logic A064 Advanced 0 9-16
Opto Out1 Level A059 Advanced 0.0 9-16
Opto Out1 Sel A058 Advanced 0 = Ready/Fault 9-14
Opto Out2 Level A062 Advanced 0.0 9-16
Opto Out2 Sel A061 Advanced 2 = Motor 9-14
Running
Output Current d003 Display Read Only 9-46
Output Freq d001 Display Read Only 9-46
Output Power d022 Display Read Only 9-51
Output Power Fctr d023 Display Read Only 9-51
Output Torque Current d029 Display Read Only 9-52
Output Voltage d004 Display Read Only 9-46
PID Deadband A138 Advanced 0.0% 9-40
PID Diff Rate A136 Advanced 0.0 (1/sec) 9-40
PID Feedback Sel A133 Advanced 0 = 1-10V Input 9-39
PID Integ Time A135 Advanced 0.0 sec 9-40

PID Preload A139 Advanced 0.0 Hz 9-40
PID Prop Gain A134 Advanced 0.00 9-39
PID Ref Select A132 Advanced 0 = PID 9-39
Disabled
PID Setpoint A137 Advanced 0.0% 9-40
PID Trim Hi A130 Advanced 0.0 9-38
PID Trim Lo A131 Advanced 0.0 9-39
Preset Freq 0 A070 Advanced 0.0 Hz 9-20
Process Display d010 Display Read Only 9-48
Process Factor A099 Advanced 30.0 9-29
Process Time Hi A116 Advanced 0.00 9-34
Process Time Lo A115 Advanced 0.00 9-33
Program Lock A101 Advanced 0 = Unlocked 9-29
PWM Frequency A091 Advanced 4.0 kHz 9-26
Relay Out Level A056 Advanced 0.0 9-13
Relay Out Sel A055 Advanced 0 = Ready/Fault 9-11
Reset to Defalts P041 Basic 0 = Ready/Idle 9-7
Reverse Disable A095 Advanced 0 = Rev 9-27
Enabled
S Curve% A083 Advanced 0% (Disabled) 9-22
Skip Freq Band A120 Advanced 0.0 Hz 9-34
Skip Frequency A119 Advanced 0 Hz 9-34
Slip Hertz @ FLA A114 Advanced 2.0 Hz 9-33
Speed Reference P038 Basic 0 = Drive Pot 9-5
Stall Fault Time A121 Advanced 0 = 60 sec 9-35
Start At PowerUp A094 Advanced 0 = Disabled 9-27
Start Boost A085 Advanced 5.0% 9-24
Start Source P036 Basic 0 = Keypad 9-3
Stop Mode P037 Basic 1 = Coast, CF 9-4

Stp Logic 0 A140 Advanced 00F1 9-41
Stp Logic Status d028 Display Read Only 9-52
Stp Logic Time 0 A150 Advanced 30.0 sec 9-43
SW Current Trip A098 Advanced 0.0 (Disabled) 9-28
Testpoint Data d019 Display Read Only 9-51
Testpoint Sel A102 Advanced 400 9-29
Timer Status d026 Display Read Only 9-52
Torque Perf Mode A125 Advanced 1 = Sensrls 9-37
Vect
Var PWM Disable A124 Advanced 0 = Enabled 9-36
Voltage Class P042 Basic 3 = High 9-7
Voltage 600V

APPENDIX D
CE Conformance
Requirements
Conformity with the Low Voltage (LV) Directive and Electromagnetic
Compatibility (EMC) Directive has been demonstrated using
harmonized European Norm (EN) standards published in the
Official Journal of the European Communities. The MD65 AC drive
complies with the EN standards listed below when installed
according to the User Manual.
CE Declarations of Conformity are available online at:

http://www.reliance.com/certification/.
Low Voltage Directive (73/23/EEC)
• EN50178 Electronic equipment for use in power installations.
EMC Directive (89/336/EEC)

• EN61800-3 (Second Environment) Adjustable speed electrical
power drive systems Part 3: EMC product standard including
specific test methods.
General Notes
• If the plastic top panel is removed or the optional conduit box is
not installed, the drive must be installed in an enclosure with side
openings less than 12.5 mm (0.5 in) and top openings less than
1.0 mm (0.04 in) to maintain compliance with the LV Directive.
• The motor cable should be kept as short as possible in order to
avoid electromagnetic emission as well as capacitive currents.
• The use of line filters in ungrounded systems is not
recommended.
• Conformity of the drive with CE EMC requirements does not
guarantee an entire machine installation complies with the CE
EMC requirements. Many factors can influence total
machine/installation compliance.
CE Conformance Requirements D-1

Essential Requirements for CE Compliance
The following conditions must be satisfied for MD65 drives to meet

the requirements of EN61800-3.
• Grounding as described in figure D.1. Refer to chapter 4 for
additional grounding recommendations.
• Output power, control (I/O) and signal wiring must be braided,
shielded cable with a coverage of 75% or better, metal conduit
or equivalent attenuation.
• Allowable cable length in table D.1 is not exceeded.
Table D.1 – Allowable Cable Length
EN61800-3
First Environment EN61800-3
Restricted Distribution First Environment
or Second Unrestricted
Filter Type Environment2 Distribution3
Integral 10 meters (33 feet) 1 meter (3 feet)
External - Short1 10 meters (33 feet) 1 meter (3 feet)
External - Long1 100 meters (328 feet) 5 meters (16 feet)
1
Contact Reliance Electric for details on optional external filters.
2
Equivalent to EN55011 Class A.
3
Equivalent to EN55011 Class B.
Shielded Enclosure(1)
IP 30/NEMA 1/UL Type 1

NEMAKit1/IP30 Kit
Option
(2)
EMI Fittings and Metal Conduit
EMI Filter
L1 L1' R/L1 U/T1
S/L2 V/T2
L2 L2'
T/L3 W/T3
L3 L3'
Enclosure Ground Connection Shielded Motor Cable
Building Structure Steel
(1) First Environment Unrestricted Distribution installations require a

shielded enclosure. Keep wire length as short as possible between
the enclosure entry point and the EMI filter.
(2) Integral EMI filters are available on 240 V, 1-phase drives.
Figure D.1 – Connections and Grounding
D-2 MD60 AC Drive User Manual

EN61000-3-2
• 0.75 kW (1 HP) 240 V 1-phase and 3-phase drives and
0.37 kW (0.5 HP) 240 V 1-phase drives are suitable for
installation on a private low-voltage power network.
Installations on a public low-voltage power network may require
additional harmonic mitigation.
• Other drive ratings meet the current harmonic requirements of
EN61000-3-2 without additional external mitigation.
CE Conformance Requirements D-3

D-4 MD60 AC Drive User Manual
APPENDIX E
Accessories
Appendix E contains information on accessories available with the

MD65 AC Drive. This appendix has information on:
• Dynamic Brake Modules
• EMC Line Filters
• Operator Interface Modules (OIMs)
Accessories E-1
E.1 Dynamic Brake Modules
Table E.1 – Dynamic Brake Modules
Drive Ratings
Min.
Input Voltage kW HP Resistance Model Number1
120V 50/60 Hz 0.4 0.5 48 AK-R2-091P500
1-Phase 0.75 1.0 48 AK-R2-091P500
1.1 1.5 48 AK-R2-091P500
240V 50/60 Hz 0.4 0.5 48 AK-R2-091P500
1-Phase 0.75 1.0 48 AK-R2-091P500
1.5 2.0 48 AK-R2-091P500
2.2 3.0 32 AK-R2-047P500
240V 50/60 Hz 0.4 0.5 48 AK-R2-091P500
3-Phase 0.75 1.0 48 AK-R2-091P500
1.5 2.0 48 AK-R2-091P500
2.2 3.0 32 AK-R2-047P500
3.7 5.0 19 AK-R2-047P500
5.5 7.5 13 AK-R2-030P1K2
7.5 10.0 10 AK-R2-030P1K2
480V 50/60 Hz 0.4 0.5 97 AK-R2-360P500
3-Phase 0.75 1.0 97 AK-R2-360P500
1.5 2.0 97 AK-R2-360P500
2.2 3.0 97 AK-R2-120P1K2
4.0 5.0 77 AK-R2-120P1K2
5.5 7.5 55 AK-R2-120P1K2
7.5 10.0 39 AK-R2-120P1K2
11.0 15.0 24 AK-R2-120P1K22
600V 50/60 Hz 0.75 1.0 120 AK-R2-360P500
3-Phase 1.5 2.0 120 AK-R2-360P500
2.2 3.0 82 AK-R2-120P1K2
4.0 5.0 82 AK-R2-120P1K2
5.5 7.5 51 AK-R2-120P1K2
7.5 10.0 51 AK-R2-120P1K2
11.0 15.0 51 AK-R2-120P1K2 2
1 The resistors listed in this table are rated for 5% duty cycle.
2 Requires two resistors wired in parallel.
E-2 MD65 AC Drive User Manual

Frame A Frame B
30.0 61.0
17.0 (1.18) 60.0 31.0 (2.40) 59.0
(0.67) (2.36) (1.22) (2.32)
US
C
US
C
316.0 335.0 386.0 405.0
(12.44) (13.19) (15.20) (15.94)
AUTOMATION
ROCKWELL
SURFACES MAY BE
AUTOMATION
ROCKWELL
13.0
(0.51)
Frame Model Number

A AK-R2-091P500, AK-R2-047P500, AK-R2-360P500
B AK-R2-030P1K2, AK-R2-120P1K2
Figure E.1 – Dynamic Brake Modules: Dimensions
Accessories E-3
E.2 EMC Line Filters
Table E.2 – EMC Line Filters
Drive Ratings S Type Filter L Type Filter

Input Voltage kW HP Model Number 1 Model Number 4
120V 50/60 Hz 0.4 0.5 – 6MDF-018BL
1-Phase 0.75 1.0 – 6MDF-018BL
1.1 1.5 – 6MDF-018BL
2
240V 50/60 Hz 0.4 0.5 6MDF-018BL
1-Phase 0.75 1.0 2
6MDF-018BL
2
1.5 2.0 6MDF-018BL
2
2.2 3.0 6MDF-025CL
240V 50/60 Hz 0.4 0.5 6MDF-021BS3 6MDF-021BL
3-Phase 0.75 1.0 6MDF-021BS3 6MDF-021BL
1.5 2.0 6MDF-021BS3 6MDF-021BL
2.2 3.0 6MDF-021BS3 6MDF-021BL
3.7 5.0 6MDF-021BS3 6MDF-021BL
5.5 7.5 6MDF-034CS 6MDF-034CL
7.5 10.0 6MDF-034CS 6MDF-034CL
480V 50/60 Hz 0.4 0.5 6MDF-012BS 6MDF-012BL
3-Phase 0.75 1.0 6MDF-012BS 6MDF-012BL
1.5 2.0 6MDF-012BS 6MDF-012BL
2.2 3.0 6MDF-012BS 6MDF-012BL
4.0 5.0 6MDF-012BS 6MDF-012BL
5.5 7.5 6MDF-018CS 6MDF-018CL
7.5 10.0 6MDF-018CS 6MDF-018CL
11.0 15.0 6MDF-026CS 6MDF-026CL
600V 50/60 Hz 0.75 1.0 – 6MDF-008BL
3-Phase 1.5 2.0 – 6MDF-008BL
2.2 3.0 – 6MDF-008BL
4.0 5.0 – 6MDF-008BL
5.5 7.5 – 6MDF-015BL
7.5 10.0 – 6MDF-015BL
11.0 15.0 – 6MDF-022BL
1 This filter is suitable for use with a cable length of at least 10 meters
(33 feet) for Class A and 1 meter for Class B environments.
2 These ratings can be ordered with internal “S Type” filters.
3
Filter must be Series B or later.
4
This filter is suitable for use with a cable length of at least 100 meters
for Class A and 5 meters for Class B environments.

50 100
(1.97) 78 (3.94)
29.8
(1.17) (3.07)
217 229
(8.54) (9.02)
216
(8.50)
17.8 5.5 (0.22)

(0.70) 24.0
(0.94)
Dimensions are in mm and (in).
Model Numbers: 6MDF-012BS, -BL; 6MDF-021BS, -BL;

6MDF-018BS, -BL
Figure E.2 – Frame B EMC Line Filters: Dimensions
Accessories E-5
60 130
(2.36) 90 (5.12)
32
(1.26) (3.54)
297 309
(11.69) (12.17)
297
(11.69)
17 5.5 (0.22)
(0.67) 30
(1.18)

Model Numbers: 6MDF-018CS, -CL; 6MDF-034CS, -CL;
6MDF-025CL
Figure E.3 – Frame C EMC Line Filters: Dimensions

E.3 Operator Interface Modules (OIMs)
Table E.3 – Operator Interface Modules/Accessories
Description Model Number

Remote Panel-Mount OIM (digital speed control, MD4LCD-PNL
CopyCat capable, IP66 (NEMA 4x12) indoor use only,
includes 2.9 meter cable)
Remote Handheld OIM (digital speed control, full MD1CC
numeric keypad, CopyCat capable, IP30 (NEMA Type
1); includes 1.0 meter cable; panel-mount with optional
Bezel Kit)
Bezel Kit (panel mount for Remote Handheld OIM) MDBZL-N1
Accessories E-7
17.6 104
(0.69) (4.09)
220
(8.66)
2.9m
78
(3.07)
66
(2.60)
194
(7.64)
125
(4.92)
60.5
(2.38)
38
19.1 (1.50)
(0.75)
4.8
(0.19)
Figure E.4 – Remote OIM (M/N MD4LCD-PNL)

11.1
93 (0.44)
25.2 (3.66)
(0.99)
180
(7.09)
2m
67
(2.64)
60
(2.36)
154
(6.06)
4.8
(0.19)
77
(3.03)
19.1
(0.75)
23.5
(0.93)
Dimensions in mm and (in).
Figure E.5 – NEMA Type 1 Bezel (M/N MDBZL-N1): Dimensions
Accessories E-9
Accessories E-10
APPENDIX F
RS485 (MDI)
Protocol
MD65 drives support the RS485 (MDI) protocol to allow efficient
operation with Rockwell Automation peripherals. In addition, some
Modbus functions are supported to allow simple networking. MD65
drives can be multi-dropped on an RS485 network using Modbus
protocol in RTU mode.
Controller
Figure F.1 – Sample Network
For information regarding DeviceNet or other communication

protocols, refer to the appropriate user manual.
Network Wiring
Network wiring consists of a shielded 2-conductor cable that is

daisy-chained from node to node. See figure F.2.
MD65 Drive MD65 Drive MD65 Drive

Master Node 1 Node 2 Node "n" FRONT
TxRxD+ TxRxD+ 120 ohm resistor
TxRxD+ 4 4 4
120 ohm resistor
TxRxD- TxRxD-
TxRxD- 5 5 5 PIN 1
Shield Shield Shield PIN 8
X X X
NOTE: The shield is connected at ONLY ONE end of each cable segment.
Figure F.2 – Network Wiring Diagram
Only pins 4 and 5 on the RJ45 plug should be wired. The other pins
on the MD65 RJ45 socket contain power, etc., for other Rockwell
Automation peripheral devices and must not be connected.
RS485 (MDI) Protocol F-1

Wiring terminations on the master controller will vary depending on
the master controller used and “TxRxD+” and “TxRxD-” are shown
for illustration purposes only. Refer to the master controller’s user
manual for network terminations. Note that there is no standard for
the “+” and “-” wires, and consequently Modbus device
manufacturers interpret them differently. If you have problems with
initially establishing communications, try swapping the two network
wires at the master controller.
Standard RS485 wiring practices apply. Termination resistors need

to be applied at each end of the network cable. RS485 repeaters
may need to be used for long cable runs, or if greater than 32 nodes
are needed on the network.
Control Terminal 19 on the MD65 must also be connected to PE

ground (there are two PE terminals on the drive).
Parameter Configuration
The following MD65 parameters are used to configure the drive to

operate on a network.
Table F.1 – MD65 Network Parameters

Parameter Details
P036 (Start Source) Set to 5 “RS485 (MDI) Port” if Start is controlled
from the network.
P038 (Speed Reference) Set to 5 “RS485 (MDI) Port” if the Speed Reference
is controlled from the network.
A103 (Comm Data Rate) Sets the data rate for the RS485 (MDI) Port. All
nodes on the network must be set to the same data
rate.
A104 (Comm Node Addr) Sets the node address for the drive on the network.
Each device on the network requires a unique node
address.
A105 (Comm Loss Action) Selects the drive’s response to communication
problems.
A106 (Comm Loss Time) Sets the time that the drive will remain in
communication loss before the drive implements
A105 (Comm Loss Action).
A107 (Comm Format) Sets the transmission mode, data bits, parity and
stop bits for the RS485 (MDI) Port. All nodes on the
network must be set to the same setting.
F-2 MD65 AC Drive User Manual

Supported Modbus Function Codes
The peripheral interface (MDI) used on MD65 drives supports some

of the Modbus function codes.
Table F.2 – Supported Modbus Function Codes

Modbus Function Code Command
03 Read Holding Registers
06 Preset (Write) Single Register
Important: Modbus devices can be 0-based (registers are

numbered starting at 0) or 1-based (registers are
numbered starting at 1). Depending on the Modbus
Master used, the register addresses listed on the
following pages may need to be offset by +1. For
example, Logic Command may be register address
8192 for some master devices (e.g., ProSoft 3150-
MCM SLC Modbus scanner) and 8193 for others
(e.g., PanelViews).

Writing (06) Logic Command Data
The MD65 drive can be controlled via the network by sending

Function Code 06 writes to register address 8192 (Logic
Command). P036 (Start Source) must be set to 5 “RS485 (MDI)
Port” in order to accept the commands.
Table F.3 – Logic Commands

Logic Command
Address
(Decimal) Bit(s) Description
0 1 = Stop, 0 = Not Stop
1 1 = Start, 0 = Not Start
2 1 = Jog, 0 = No Jog
3 1 = Clear Faults, 0 = Not Clear Faults
00 = No Command
01 = Forward Command
5,4
10 = Reverse Command
11 = Change Direction (Toggle)
6 Not Used
7 Not Used
00 = No Command
01 = Accel Rate 1 Enable
9,8
10 = Accel Rate 2 Enable
8192
11 = Hold Accel Rate Selected
00 = No Command
01 = Decel Rate 1 Enable
11,10
10 = Decel Rate 2 Enable
11 = Hold Decel Rate Selected
000 = No Command
001 = Freq. Source = P036 (Start Source)
010 = Freq. Source = A069 (Internal Freq)
011 = Freq. Source = Comms (Addr 8193)
14,13,12
100 = A070 (Preset Freq 0)
15 Not Used

Writing (06) Reference
The Speed Reference to a MD65 drive can be controlled via the

network by sending Function Code 06 writes to register address
8193 (Reference). P038 (Speed Reference) must be set to 5
“RS485 (MDI) Port” in order to accept the Speed Reference.
Table F.4 – Reference

Reference
Address
(Decimal) Description
A decimal value entered as xxx.x where the decimal point is
8193 fixed. For example, a decimal “100” equals 10.0 Hz and “543”
equals 54.3 Hz.
Reading (03) Logic Status Data
The MD65 Logic Status data can be read via the network by
sending Function Code 03 reads to register address 8448 (Logic
Status).
Table F.5 – Logic Status Data

Logic Status
Address
(Decimal) Bit(s) Description
0 1 = Ready, 0 = Not Ready
1 1 = Active (Running), 0 = Not Active
2 1 = Cmd Forward, 0 = Cmd Reverse
3 1 = Rotating Forward, 0 = Rotating Reverse
4 1 = Accelerating, 0 = Not Accelerating
5 1 = Decelerating, 0 = Not Decelerating
6 1 = Alarm, 0 = No Alarm
7 1 = Faulted, 0 = Not Faulted
8448
8 1 = At Reference, 0 = Not At Reference
9 1 = Reference Controlled by Comm
10 1 = Operation Cmd Controlled by Comm
11 1 = Parameters have been locked
12 Digital Input 1 Status
13 Digital Input 2 Status
14 Not Used
15 Not Used

Reading (03) Feedback
The Feedback (Output Frequency) from the MD65 drive can be

read via the network by sending Function Code 03 reads to register
address 8451 (Feedback).
Table F.6 – Feedback
Feedback1
Address
(Decimal) Description
A xxx.x decimal value where the decimal point is fixed. For
8451 example, a decimal “123” equals 12.3 Hz and “300” equals
30.0 Hz.
1
Returns the same data as Reading (03) Parameter d001 (Output Freq).

Reading (03) Drive Error Codes
The MD65 Error Code data can be read via the network by sending
Function Code 03 reads to register address 8449 (Drive Error
Codes).
Table F.7 – Error Codes
Logic Status
Address Value
(Decimal) (Decimal) Description
0 No Fault
2 Auxiliary Input
3 Power Loss
4 Undervoltage
5 Overvoltage
6 Motor Stalled
7 Motor Overload
8 Heatsink Overtemperature
12 HW Overcurrent (300%)
13 Ground Fault
29 Analog Input Loss
33 Auto Restart Tries
8449 38 Phase U to Ground Short
39 Phase V to Ground Short
40 Phase W to Ground Short
41 Phase UV Short
42 Phase UW Short
43 Phase VW Short
63 Software Overcurrent
64 Drive Overload
70 Power Unit Fail
80 AutoTune Fail
81 Communication Loss
100 Parameter Checksum Error
122 I/O Board Fail

Reading (03) and Writing (06) Drive Parameters
To access drive parameters, the Modbus register address equals

the parameter number. For example, a decimal “1” is used to
address parameter d001 (Output Freq) and decimal “39” is used to
address parameter P039 (Accel Time 1).

APPENDIX G
RJ45 Splitter Cable
The MD65 drive provides a RJ45 port to allow the connection of a

single peripheral device. The RJ45 Splitter Cable can be used to
connect a second MDI peripheral device to the drive.
Connectivity Guidelines
ATTENTION: The peripherals may not perform as intended if

these Connectivity Guidelines are not followed. Precautions
! should be taken to follow these Connectivity Guidelines.
Failure to observe these precaution may result in damage to,
• Two peripherals maximum can be attached to a drive.

• If a single peripheral is used, it must be connected to the
Master port (M) on the splitter and configured for “Auto”
(default) or “Master.” Parameter 9 (Device Type) on the OIM
keypads and parameter 1 (Module Cfg) on the Serial Converter
are used to select the type (Auto / Master / Slave).
• Do not use the RJ45 Splitter Cable with a drive that has an
internal network communication module installed. Since
only one additional peripheral can be added, the second
peripheral can be connected directly to the RJ45 port on the
drive. The internal Comm is always the Master, therefore the
external peripheral must be configured as “Auto” (for temporary
connections) or “Slave” (for permanent connections).
• If two peripherals will be powered up at the same time, one
must be configured as the “Master” and connected to the
Master port (M) and the other must be connected as the
“Slave” and connected to the Slave port (S).
RJ45 Splitter Cable G-1

Cable Accessories
S
Slave Port
Master Port
M
PIN 1 PIN 8
Figure G.1 – RJ45 Splitter Cable (M/N AK-U0-RJ45-SCI)
TB2
(PIN 5) PIN 8
TB1
(PIN 4) PIN 1
Figure G.2 – RJ45 Two-Position Terminal Block Module

M/N AK-U0-RJ45-TB2P
PIN 8
PIN 1
Figure G.3 – RJ45 Module With Integrated Termination Resistor

(M/N AK-U0-RJ45-TR1)
G-2 MD65 AC Drive User Manual

Connecting One Temporary Peripheral
MD65 Drive
MD65
Serial Converter Handheld OIM
or
M
Parameter 1 (Module Cfg) set to "Auto"

(default) or "Master" and connected to
Master port (M) on RJ45 Splitter Cable
Parameter 9 (Device Type) set to "Auto"

(default) or "Master" and connected to
Master port (M) on RJ45 Splitter Cable
Figure G.4 – Connecting One Temporary Peripheral
Connecting One Temporary Peripheral and

One Permanent Peripheral
NEMA 1 Bezel
NEMA 4 with Handheld OIM
Panel Mount OIM
MD65 Drive
or
Parameter 9 (Device Type)

S
set to "Master" and
connected to Master port
Parameter 1 (Module Cfg) (M) on RJ45 Splitter Cable
set to "Auto" (default) or
"Slave" and connected to
Slave port (S) on Serial Converter
RJ45 Splitter Cable
Figure G.5 – Connecting One Temporary Peripheral and One Permanent

Peripheral
RJ45 Splitter Cable G-3

Connecting Two Permanent Peripherals
NEMA 1 Bezel
NEMA 4 with Handheld OIM
Panel Mount OIM
MD65 Drive
or
M Parameter 9 (Device Type) set to

"Master" and connected to Master
port (M) on RJ45 Splitter Cable
S
Parameter 9 (Device Type)

set to "Slave" and or
connected to Slave port (S)
on RJ45 Splitter Cable
Figure G.6 – Connecting Two Permanent Peripherals
Connecting an RS485 Network
MD65 Drives
Esc Sel
AK-U0-RJ45-TB2P
Two-position
Terminal Block
AK-U0-RJ45-TR1 or or
Terminating Resistor
(end of network)
Customer-supplied RJ45 male-to-RJ45 male
cables with wires connected at pins 4 and 5 only.
Both the Master (M) and Slave (S) ports on the RJ45 Splitter
Cable operate as standard RS-485 ports in this configuration.
Figure G.7 – Connecting an RS485 Network
G-4 MD65 AC Drive User Manual

APPENDIX H
StepLogicTM, Basic Logic
and Timer/Counter
Functions
Four MD65 drive logic functions provide the capability to program
simple logic functions without a separate controller.
• StepLogicTM Function
Steps through up to eight preset speeds based on programmed

logic. Programmed logic can include conditions that need to be
met from digital inputs programmed as “Logic In1” and “Logic
In2” before stepping from one preset speed to the next. A timer
is available for each of the eight steps and is used to program a
time delay before stepping from one preset speed to the next.
The status of a digital output can also be controlled based on
the step being executed.
• Basic Logic Function
Up to two digital inputs can be programmed as “Logic In1”

and/or “Logic In2”. A digital output can be programmed to
change state based on the condition of one or both inputs
based on basic logic functions such as AND, OR, NOR. The
basic logic functions can be used with or without StepLogicTM.
• Timer Function
A digital input can be programmed for “Timer Start”. A digital

output can be programmed as a “Timer Out” with an output
level programmed to the desired time. When the timer reaches
the time programmed into the output level the output will
change state. The timer can be reset via a digital input
programmed as “Reset Timer”.
• Counter Function
A digital input can be programmed for “Counter In”. A digital

output can be programmed as “Counter Out” with an output
StepLogicTM, Basic Logic and Timer/Counter Functions H-1

level programmed to the desired number of counts. When the
counter reaches the count programmed into the output level the
output will change state. The counter can be reset via a digital
input programmed as “Reset Counter”.
StepLogicTM Using Timed Steps
To activate this function, set Speed Reference (P038) to 6 “Stp

Logic”. Three parameters are used to configure the logic, speed
reference and time for each step.
• Logic is defined using Stp Logic x parameters (A140-A147).
• Preset Speeds are set with Preset Freq x parameters
(A070-A077).
• Time of operation for each step is set with Stp Logic Time x
parameters (A150-A157).
The direction of motor rotation can be forward or reverse.
Step 0 Step 1 Step 2 Step 3 Step 4 Step 5 Step 6 Step 7
Forward
0
Reverse
Time
Figure H.1 – Using Timed Steps
StepLogicTM Sequence
• Sequence begins with a valid start command.
• A normal sequence begins with Step 0 and transition to the
next step when the corresponding StepLogicTM time has
expired.
• Step 7 is followed by Step 0
• Sequence repeats until a stop is issued or a fault condition
occurs.
H-2 MD65 AC Drive User Manual

StepLogicTM Using Basic Logic Functions
Digital input and digital output parameters can be configured to use

logic to transition to the next step. Logic In1 and Logic In2 are
defined by programming Digital Inx Sel parameters (A051-A054) to
option 23 “Logic In1” or option 24 “Logic In2”.
Example
• Run at Step 0.
• Transition to Step 1 when Logic In1 is true.
Logic senses the edge of Logic In1 when it transitions from off
to on. Logic In1 is not required to remain “on”.
• Transition to Step 2 when both Logic In1 and Logic In2 are true.
The drive senses the level of both Logic In1 and Logic In2 and
transitions to Step 2 when both are on.
• Transition to Step 3 when Logic In2 returns to a false or off
state. Inputs are not required to remain in the “on” condition
except under the logic conditions used for the transition from
Step 2 to Step 3.
Start Step 0 Step 1 Step 2 Step 3
Frequency
Logic In1
Logic In2
Time

The step time value and the basic logic may be used together to
satisfy machine conditions. For instance, the step may need to run
for a minimum time period and then use the basic logic to trigger a
transition to the next step.
Start Step 0 Step 1
Frequency
Logic In1
Logic In2
Time
Timer Function
Digital inputs and outputs control the timer function and are
configured with Digital Inx Sel parameters (A051-A054) set to 18
“Timer Start” and 20 “Reset Timer”.
Digital outputs (relay and type) define a preset level and indicate
when the level is reached. Level parameters Relay Out Level
(A056), Opto Out1 Level (A059) and Opto Out2 Level (A062) are
used to set the desired time in seconds.
Parameters Relay Out Sel (A055), Opto Out1 Sel (A058) and Opto
Out2 Sel (A061) are set to option 16 “Timer Out” and causes the
output to change state when the preset level is reached.
Example
• Drive starts up and accelerates to 30 Hz.
• After 30Hz has been maintained for 20 seconds, a 4-20mA
analog input becomes the reference signal for speed control.
• The timer function is used to select a preset speed with a 20
second run time that overrides the speed reference while the
digital input is active.
• Parameters are set to the following options:
• Speed Reference (P038) = 3 “4-20mA Input”

• Digital In1 Sel (A051) = 4 “Preset Freq”
– Digital In2 Sel (A052) = 18 “Timer Start”
– Relay Out Sel (A055) = 16 “Timer Out”
– Relay Out Level (A056) = 20.0 Sec
– Preset Freq 1 (A071) = 30.0 Hz
• The control terminal block is wired such that a start command
will also trigger the timer start.
• The relay output is wired to I/O Terminal 05 (Digital Input 1) so
that it forces the input on when the timer starts.
• After the timer is complete, the output is turned off releasing the
preset speed command. The drive defaults to following the
analog input reference as programmed.
Output
Frequency
Start
Relay Out
Photo Eye
Digital In1
Counter In
Digital In2
Reset Counter
Limit Switch
Note that a “Reset Timer” input is not required for this example
since the “Timer Start” input both clears and starts the timer.

Counter Function
Digital inputs and outputs control the counter function and are
configured with Digital Inx Sel parameters (A051-A054) set to 19
“Counter In” and 21 “Reset Counter”.
Digital outputs (relay and opto type) define a preset level and
indicate when the level is reached. Level parameters Relay Out
Level (A056), Opto Out1 Level (A059) and Opto Out2 Level (A062)
are used to set the desired count value.
Parameters Relay Out Sel (A055), Opto Out1 Sel (A058) and Opto
Out2 Sel (A06)1 are set to 17 “Counter Out” which causes the
output to change state when the level is reached.
Example
• A photo eye is used to count packages on a conveyor line.
• An accumulator holds the packages until 5 are collected.
• A diverter arm redirects the group of 5 packages to a bundling
area.
• The diverter arm returns to its original position and triggers a
limit switch that resets the counter.
• Parameters are set to the following options:
– Digital In1 Sel (A051) set to 19 to select “Counter In”
– Digital In2 Sel (A052) set to 21 to select “Reset Counter”
– Relay Out Sel (A055) set to 17 to select “Counter Out”
– Relay Out Level (A056) set to 5.0 (counts)

StepLogicTM Parameters
Table H.1 – Digit 3 – Defines the action during the step currently executing.
Digit 3 Digit 2 Digit 1 Digit 0

0 0 F 1
Table H.2 – Digit 3 – Defines the action during the step currently executing.
Accel/Decel StepLogicTM
Setting Parameters Used Output State Commanded Direction
0 1 Off FWD
1 1 Off REV
2 1 Off No Output
3 1 On FWD
4 1 On REV
5 1 On No Output
6 2 Off FWD
7 2 Off REV
8 2 Off No Output
9 2 On FWD
A 2 On REV
b 2 On No Output
Table H.3 – Digit 2 – Defines what step to jump to or how to end program when the
logic conditions specified in Digit 1 are met.
Setting Logic
0 Jump to Step 0
1 Jump to Step 1
2 Jump to Step 2
3 Jump to Step 3
4 Jump to Step 4
5 Jump to Step 5
6 Jump to Step 6
7 Jump to Step 7
8 End Program (Normal Stop)
9 End Program (Coast to Stop)
A End Program and Fault (F2)

Table H.4 – Digit 1 – Defines what logic must be met to jump to a step other than the
very next step.
Setting Description Logic

0 Skip Step (jump immediately) SKIP
1 Step based on the time programmed in the respective [Stp Logic Time x] parameter. TIMED
2 Step if “Logic In1” is active (logically true) TRUE
4 Step if “Logic In1” is not active (logically false) FALSE
6 Step if either “Logic In1” or “Logic In2” is active (logically true) OR
7 Step if both “Logic In1” and “Logic In2” is active (logically true) AND
8 Step if neither “Logic In1” or “Logic In2” is active (logically true) NOR
9 Step if “Logic In1” is active (logically true) and “Logic In2” is not active (logically false) XOR
A Step if “Logic In2” is active (logically true) and “Logic In1” is not active (logically false) XOR
b Step after [Stp Logic Time x] and “Logic In1” is active (logically true) TIMED AND
C Step after [Stp Logic Time x] and “Logic In2” is active (logically true) TIMED AND
d Step after [Stp Logic Time x] and “Logic In1” is not active (logically false) TIMED OR
E Step after [Stp Logic Time x] and “Logic In2” is not active (logically false) TIMED OR
F Do not step OR no “jump to”, so use Digit 0 logic IGNORE
Table H.5 – Digit 0 – Defines what logic must be met to jump to the very next step.
Setting Description Logic

0 Skip Step (jump immediately) SKIP
1 Step based on the time programmed in the respective [Stp Logic Time x] parameter. TIMED
6 Step if either “Logic In1” or “Logic In2” is active (logically true) OR
7 Step if both “Logic In1” and “Logic In2” is active (logically true) AND
8 Step if neither “Logic In1” or “Logic In2” is active (logically true) NOR
9 Step if “Logic In1” is active (logically true) and “Logic In2” is not active (logically false) XOR
A Step if “Logic In2” is active (logically true) and “Logic In1” is not active (logically false) XOR
b Step after [Stp Logic Time x] and “Logic In1” is active (logically true) TIMED AND
C Step after [Stp Logic Time x] and “Logic In2” is active (logically true) TIMED AND
d Step after [Stp Logic Time x] and “Logic In1” is not active (logically false) TIMED OR
E Step after [Stp Logic Time x] and “Logic In2” is not active (logically false) TIMED OR
F Use logic programmed in Digit 1 IGNORE

APPENDIX I
PID Set Up
PID Loop
The MD65 has a built-in PID (proportional, integral, differential)

control loop. The PID loop is used to maintain a process feedback
(such as pressure, flow or tension) at a desired set point. The PID
loop works by subtracting the PID feedback from a reference and
generating an error value. The PID loop reacts to the error, based
on the PID Gains, and outputs a frequency to try to reduce the error
value to 0. To enable the PID loop, PID Ref Sel (A132) must be set
to an option other than 0 “PID Disabled”.
Exclusive Control
In Exclusive Control, the Speed Reference becomes 0, and the PID

Output becomes the entire Freq Command. Exclusive Control is
used when PID Ref Sel (A132) is set to option 1, 2, 3 or 4. This
configuration does not require a master reference, only a desired
set point, such as a flow rate for a pump.
PID Loop
PID Ref PID Prop Gain
+ PID + PID
– Error + Output Accel/Decel Freq
PID Fdbk PID Integ Time Ramp Command
+
PID Diff Rate
PID Enabled
Example
• In a pumping application, the PID Reference equals the
Desired System Pressure set point.
• The Pressure Transducer signal provides PID Feedback to the
drive. Fluctuations in actual system pressure, due to changes
in flow, result in a PID Error value.
• The drive output frequency increases or decreases to vary
motor shaft speed to correct for the PID Error value.
• The Desired System Pressure set point is maintained as values
in the system are opened and closed causing changes in flow.
PID Set Up I-1

• When the PID Control Loop is disabled, the Commanded
Speed is the Ramped Speed Reference.
PID Feedback =
Pressure Transducer Signal
Pump
PID Reference =
Desired System Pressure
Trim Control
In Trim Control, the PID Output is added to the Speed Reference. In

Trim mode, the output of the PID loop bypasses the accel/decel
ramp as shown. Trim Control is used when PID Ref Sel (A132) is
set to option 5, 6, 7 or 8.
Speed Ref
PID Loop Accel/Decel
PID Ref Ramp
PID Prop Gain
+ PID + PID +
– Error + Output + Output
PID Fdbk PID Integ Time Freq
+
PID Diff Rate
PID Enabled
Example
• In a winder application, the PID Reference equals the
Equilibrium set point.
• The Dancer Pot signal provides PID Feedback to the drive.
Fluctuations in tension result in a PID Error value.
• The Master Speed Reference sets the wind/unwind speed.
I-2 MD65 AC Drive User Manual

• As tension increases or decreases during winding, the Speed
Reference is trimmed to compensate. Tension is maintained
near the Equilibrium set point.
0 Volts
PID Reference = PID Feedback =

Equilibrium Set Point Dancer Pot Signal
10 Volts
Speed Reference
PID Reference and Feedback
PID Ref Sel (A132) is used to enable the PID mode (A132 does not
equal 0; “PID Disabled”) and to select the source of the PID
Reference. If PID Ref Sel (A132) is not set to 0 “PID Disabled”, PID
can still be disabled by select programmable digital input options
(parameters A051-A054) such as “Jog”, “Local” or “PID Disable”.
Table I.1 – PID Ref Sel (A132) Options
Option Description
0 “PID Disabled” Disables the PID loop (default setting)
1 “PID Setpoint“ Selects Exclusive Control. A137 [PID Setpoint] will be used to set the value of
the PID Reference
2 “0-10V Input” Selects Exclusive Control. Selects the 0-10V Input. Note that the PID will not
function with a bipolar analog input. It will ignore any negative voltages and treat
them like a zero.
3 “4-20mA Input” Selects Exclusive Control. Selects the 4-20mA Input.
4 “Comm Port” Selects Exclusive Control. The reference word from a communication network
such as Modbus RTU or DeviceNet becomes the PID Reference. The value
sent over the network is scaled so that P035 [Maximum Freq] x 10 = 100%
reference. For example, with [Maximum Freq] = 60 Hz, a value of 600 sent over
the network would represent 100% reference.
5 “Setpnt, Trim” Selects Trim Control. A137 [PID Setpoint] will be used to set the value of the
PID Reference.
6 “0-10V, Trim” Selects Trim Control. Selects the 0-10V Input. Note that the PID will not function
with a bipolar analog input. It will ignore any negative voltages and treat them
like a zero.
7 “4-20mA, Trim” Selects Trim Control. Selects the 4-20mA Input.
8 “Comm, Trim” Selects Trim Control. The reference word from a communication network such
as Modbus RTU or DeviceNet becomes the PID Reference. The value sent over
the network is scaled so that P035 [Maximum Freq] x 10 = 100% reference. For
example, with [Maximum Freq] = 60 Hz, a value of 600 sent over the network
would represent 100% reference.
PID Set Up I-3

PID Feedback Sel (A133) is used to select the source of the PID
feedback.
Table I.2 – PID Feedback Sel (A133) Options
Option Description
0 “0-10V Input” Selects the 0-10V Input (default setting). Note that the PID will
not function with a bipolar analog input. It will ignore any
negative voltages and treat them like a zero.
1 “4-20mA Input“ Selects the 4-20mA Input.
2 “Comm Port” The reference word from a communication network such as
Modbus RTU or DeviceNet becomes the PID Feedback. The
value sent over the network is scaled so that P035 [Maximum
Freq] x 10 = 100% Feedback. For example, with [Maximum
Freq] = 60 Hz, a value of 600 sent over the network would
represent 100% Feedback.
Analog PID Reference Signals
Parameters Anlg ln 0-10V Lo (A110) and Anlg ln 0-10V Hi (A111)

are used to scale or invert an analog PID Reference.
Important: Firmware version FRN 1.xx does not support

PID Feedback scaling from an analog input.
Examples
Scale Function
For a 0-5 volt signal, the following parameter settings are used so
that a 0 volt signal = 0% PID Reference and a 5 volt signal = 100%
PID Reference.
• Angl ln 0-10V Lo (A110) = 0.0%
• Angl ln 0-10V Hi (A111) = 50.0%
• PID Ref Sel (A132) = 0 “0-10V Input”
12
10
8
Input Volts
6
4
0 10 20 30 40 50 60 70 80 90 100
PID Reference (%)

Invert Function
For a 4-20mA signal, the following parameter settings are used so

that a 20mA signal = 0% PID Reference and a 4mA signal = 100%
PID Reference.
• Angl ln 4-20mA Lo (A112) = 100.0%
• Anlg In 4-20mA Hi (A113) = 0.0%
• PID Ref Sel (A132) = 3 “4-20mA Input”
24
20
4-20mA Input
16
12
8
4
0 10 20 30 40 50 60 70 80 90 100
PID Reference (%)
PID Deadband
Parameter A138 [PID Deadband] is used to set a range, in percent,

of the PID Reference that the drive will ignore.
Example
• [PID Deadband] is set to 5.0
• The PID Reference is 25.0%
• The PID Regulator will not act on a PID Error that falls between
20.0 and 30.0%
PID Set Up I-5

PID Preload
The value set in PID Preload (A139), in Hertz, will be pre-loaded

into the integral component of the PID at any start or enable. This
will cause the drive’s frequency command to initially jump to that
preload frequency, and the PID loop starts regulating from there.
PID Enabled
PID Pre-load Value

PID Output
Freq Cmd
PID Pre-load Value > 0
PID Limits
PID Trim Hi (A130) and PID Trim Lo (A131) are used to limit the PID
output and are only used in trim mode. PID Trim Hi (A130) sets the
maximum frequency for the PID output in trim mode. PID Trim Lo
(A131) sets the reverse frequency limit for the PID output in trim
mode. Note that when the PID reaches the Hi or Lo limit, the PID
regulator stops integrating so that windup does not occur.

PID Gains
The proportional, integral, and differential gains make up the PID

regulator.
• PID Prop Gain (A134)
The proportional gain (unitless) affects how the regulator reacts
to the magnitude of the error. The proportional component of
the PID regulator outputs a speed command proportional to the
PID error. For example, a proportional gain of 1 would output
100% of max frequency when the PID error is 100% of the
analog input range. A larger value for PID Prop Gain (A134)
makes the proportional component more responsive, and a
smaller value makes it less responsive. Setting PID Prop Gain
(A134) to 0.00 disables the proportional component of the PID
loop.
• PID Integ Time (A135)
The integral gain (units of seconds) affects how the regulator
reacts to error over time and is used to get rid of steady state
error. For example, with an integral gain of 2 seconds, the
output of the integral gain component would integrate up to
100% of max frequency when the PID error is 100% for 2
seconds. A larger value for PID Integ Time (A135) makes the
integral component less responsive, and a smaller value
makes it more responsive. Setting PID Integ Time (A135) to 0
disables the integral component of the PID loop.
• PID Diff Rate (A136)
The Differential gain (units of 1/seconds) affects the rate of
change of the PID output. The differential gain is multiplied by
the difference between the previous error and current error.
Thus, with a large error the D has a large effect and with a
small error the D has less of an effect. This parameter is scaled
so that when it is set to 1.00, the process response is 0.1% of
Maximum Freq (P035) when the process error is changing at
1% / second. A larger value for PID Diff Rate (A136) makes the
differential term have more of an effect and a small value
makes it have less of an effect. In many applications, the D
gain is not needed. Setting PID Diff Rate (A136) to 0.00
(factory default) disables the differential component of the PID
loop.
PID Set Up I-7

Guidelines for Adjusting the PID Gains
1. Adjust the proportional gain. During this step it may be

desirable to disable the integral gain and differential gain
by setting them to 0. After a step change in the PID
Feedback:
– If the response is too slow increase PID Prop Gain (A134).
– If the response is too quick and/or unstable (see Figure F.1),
decrease PID Prop Gain (A134).
– Typically, PID Prop Gain (A134) is set to some value below
the point where the PID begins to go unstable.
2. Adjust the integral gain (leave the proportional gain set

as in Step 1). After a step change in the PID Feedback:
– If the response is too slow (see Figure F.2), or the PID
Feedback does not become equal to the PID Reference,
decrease PID Integ Time (A135).
– If there is a lot of oscillation in the PID Feedback before
settling out (see Figure F.3), increase PID Integ Time (A135).
3. At this point, the differential gain may not be needed.

However, if after determining the values for PID Prop
Gain (A134) and PID Integ Time (A135):
– Response is still slow after a step change, increase PID Diff
Rate (A136).
– Response is still unstable, decrease PID Diff Rate (A136).
The following figures show some typical responses of the PID loop
at different points during adjustment of the PID Gains.
PID Reference
PID Feedback
Time
Figure I.1 – Unstable

PID Reference
PID Feedback
Time
Figure I.2 – Slow Response - Over Damped
PID Reference
PID Feedback
Time
Figure I.3 – Oscillation - Under Damped
PID Reference
PID Feedback
Time
Figure I.4 – Good Response - Critically Damped
PID Set Up I-9

PID Set Up I-10
INDEX
Numerics Comm Data Rate (A103), 9-30
Comm Format (A107), 9-31
10V Bipolar Enbl (A123), 9-36 Comm Loss Action (A105), 9-30
Comm Loss fault, 10-5
Comm Loss Time (A106), 9-31
A Comm Node Addr (A104), 9-30
A parameters, 9-8 to 9-34 Comm Status (d015), 9-50
Accel Time 1 (P039), 9-6 Commanded Freq (d002), 9-46
Accel Time 2 (A067), 9-18 Compensation (A097), 9-28
accel/decel selection, 6-11 Contrl In Status (d013), 9-49
accessories, 2-3, E-1 to E-9 control and signal wiring
Advanced parameters, 9-8 to 9-34 recommendations, 6-3
Analog In 0-10V (d020), 9-51 Control Source (d012), 9-48
Analog In Loss (A122), 9-35 Control SW Ver (d016), 9-50
Analog Input 4-20mA (d021), 9-51 control terminal block
Analog Input Loss fault, 10-4 wiring, 6-4
Analog Out High (A066), 9-18 control wiring, installing, 6-1 to 6-11
Analog Out Sel (A065), 9-17 control, 2- and 3-wire, 6-9
Angl Out Setpoint (A109), 9-32 Counter Functions, H-1
Anlg In 0-10V Hi (A111), 9-32 Counter Status (d025), 9-52
Anlg In 0-10V Lo (A110), 9-32 cover, opening, 5-1
Anlg In4-20mA Hi (A113), 9-33, 9-34 Current Limit 1 (A089), 9-25
Anlg In4-20mA Lo (A112), 9-33 Current Limit 2 (A118), 9-34
Auto Restart feature, 10-2
Auto Restart Tries fault, 10-4 D
Auto Rstrt Delay (A093), 9-27
Auto Rstrt Tries (A092), 9-26 d parameters, 9-46 to 9-51
Autotune (A127), 9-37 DB Resistor Sel (A082), 9-22
Auxiliary Input fault, 10-3 DC Brake Level (A081), 9-21
DC Brake Time (A080), 9-21
DC Bus Voltage (d005), 9-47
B Decel Time 1 (P040), 9-6
Basic Logic, H-1 Decel Time 2 (A068), 9-18
Basic parameters, 9-2 to 9-7 DeviceNet Communication Module, 2-3
Bezel Kit, 2-4, E-7, E-9 Digital In1 Sel (A051), 9-8
Boost Select (A084), 9-23 Digital In2 Sel (A052), 9-8
Break Frequency (A087), 9-25 Digital In3 Sel (A053), 9-8
Break Voltage (A086), 9-24 Digital In4 Sel (A054), 9-8
dimensions, drive, 3-3
display description, 8-2
C Display parameters, 9-46 to 9-51
cables, 2-3 drive
catalog numbers, 2-2
CE conformance requirements, D-1 to
frame size, 2-2
D-3
circuit breakers, 5-6 to 5-8, A-2 grounding, 4-1 to 4-2
Index Index-1
model numbers, 2-2 Phase VW Short, 10-5
mounting, 3-1 to 3-6 Phase W to Gnd, 10-4
operating conditions, 3-2 Power Loss, 10-3
powering up after installing, 7-2 Power Unit, 10-5
ratings, 2-2 SVC Autotune, 10-5
storage guidelines, 2-4 SW OverCurrent, 10-5
troubleshooting, 10-1 to 10-11 UnderVoltage, 10-3
Drive Overload fault, 10-5 filter, RFI, 4-2
Drive Status (d006), 9-47 Flux Current Ref (A129), 9-38
Drive Temp (d024), 9-52 Flying Start En (A096), 9-28
Drive Type (d017), 9-50 frames and ratings, 2-2
Dynamic Brake Modules, E-2 fuses, 5-6 to 5-8, A-2
E G
Elapsed Run Time (d018), 9-50 Ground Fault, 10-4
EMC Line Filters, E-4 ground fault monitoring, 4-1
grounding the drive, 4-1 to 4-2
F
H
fault
buffers, see, Fault n Code Heatsink OverTemp fault, 10-4
(d007-d009) HW OverCurrent fault, 10-4
clearing automatically, 10-2
clearing manually, 10-2
codes, about, 10-1
I
descriptions and corrective I/O Board Fail fault, 10-6
actions, 10-3 I/O wiring, 6-4
log, see, Fault n Code (d007-d009) I/O wiring examples, 6-6, 6-9
Fault 1 Code (d007), 9-47 input potentiometer, 6-6
Fault 2 Code (d008), 9-47 input power conditioning, 5-4
Fault 3 Code (d009), 9-47 installation, 7-1
Fault Clear (A100), 9-29 Internal Freq (A069), 9-19
faults IR Voltage Drop (A128), 9-38
Analog Input Loss, 10-4
Auto Restart Tries, 10-4
Auxiliary Input, 10-3 J
Comm Loss, 10-5 Jog Accel/Decel (A079), 9-21
Drive Overload, 10-5
Jog Frequency (A078), 9-20
Ground Fault, 10-4
jumper, removing, 5-3
Heatsink OverTemp, 10-4
HW OverCurrent, 10-4
I/O Board Fail, 10-6 K
Motor Overload, 10-3
key descriptions, 8-3
Motor Stalled, 10-3
keypad components, 8-1
OverVoltage, 10-3
kits, 2-3
Parameter Checksum, 10-6
Params Defaulted, 10-5
Phase Short, 10-5 L
Phase to Ground Short, 10-4
Phase UW Short, 10-5 Language (A108), 9-31
Phase V to Gnd, 10-4 LED descriptions, 8-2
Index-2 MD65 AC Drive User Manual

M about, 8-4
Advanced, 9-8 to 9-34
Maximum Freq (P035), 9-2 Basic, 9-2 to 9-7
Maximum Voltage (A088), 9-25 cross-referenced by name, C-1 to
Minimum Freq (P034), 9-2 C-5
model numbers, 2-1 d, 9-46 to 9-51
motor cable length, 5-10 descriptions, 9-1 to 9-51
motor cable types, 200-600 V Display, 9-46 to 9-51
installations, 5-8 P, 9-2 to 9-7
Motor NP FLA (A126), 9-37 record of user settings, B-1 to B-5
Motor NP Hertz (P032), 9-2 viewing and adjusting Basic (P) and
Motor NP Volts (P031), 9-2 Advanced (A), 8-5
Motor OL Current (P033), 9-2 viewing Display (d), 8-6
Motor OL Select (A090), 9-25 Params Defaulted fault, 10-5
Motor Overload fault, 10-3 PE ground, 4-2
Motor Stalled fault, 10-3 Phase Short fault, 10-5
motor start/stop precautions, 6-2 Phase to Ground fault, 10-4
mounting specifications, 3-6 Phase UW Short fault, 10-5
mounting the drive, 3-1 to 3-6 Phase V to Gnd fault, 10-4
MOVs, 5-3 Phase VW Short fault, 10-5
multiple drive connection examples, 6-9 Phase W to Gnd fault, 10-4
PID Deadband (A138), 9-40
PID Diff Rate (A136), 9-40
N PID Feedback Sel (A133), 9-39
NEMA 1/IP30 Kit,, 2-3 PID Integ Time (A135), 9-40
PID Preload (A139), 9-40
PID Prop Gain (A134), 9-39
O PID Ref Select (A132), 9-39
PID Set Up, I-1
OIMs, E-7
PID Setpoint (A137), 9-40, 9-44, 9-45,
operating conditions, 3-2
9-46
Operator Interface Modules (OIMs), E-7
PID Trim Hi (A130), 9-38
Opto Out Logic (A064), 9-16
Opto Out1 Level (A059), 9-16 PID Trim Lo (A131), 9-39
potentiometer, wiring, 6-6
Opto Out1 Sel (A058), 9-14
Power Loss fault, 10-3
Opto Out2 Level (A062), 9-16
Opto Out2 Sel (A061), 9-14 power terminal block
connections, 5-5
Output Current (d003), 9-46
specifications, 5-5
output disconnect, 5-10
Output Freq (d001), 9-46 Power Unit fault, 10-5
power wiring specifications, 5-9
Output Power (d022), 9-51
power wiring, installing, 5-1 to 5-10
Output Power Fctr (d023), 9-51
Output Torque Current (d029), 9-52 power-off checks, 7-1
Preset Freq 0 (A070), 9-20
Output Voltage (d004), 9-46
OverVoltage fault, 10-3
P Preset Freq 4 (A074), 9-20
P parameters, 9-2 to 9-7
Parameter Checksum fault, 10-6
Parameter Groups, 8-4 Process Display (d010), 9-48
parameters
Display Scaling, 9-29
A, 9-8 to 9-34
Process Factor (A099), 9-29
Index Index-3
Program Lock (A101), 9-29 Stp Logic 4 (A144), 9-41
protective features, A-3 Stp Logic 5 (A145), 9-41
PWM Frequency (A091), 9-26 Stp Logic 6 (A146), 9-41
Stp Logic 7 (A147), 9-41
Stp Logic Status (d028), 9-52
R SVC Autotune fault, 10-5
Reflected Wave Protection, 5-10 SW Current Trip (A098), 9-28
reflected wave protection, 5-10 SW OverCurrent fault, 10-5
Relay Out Sel (A055), 9-11
Relay Output Level (A056), 9-13 T
Reliance Electric, contacting, 1-1
Remote Handheld OIM, 2-4 technical assistance, 1-1
Remote Panel-Mount OIM, 2-3 terminal block
Reset to Defalts (P041), 9-7 control, 6-4
Reverse Disable (A095), 9-27 power, 5-5
RFI filter grounding, 4-2 Testpoint Data (d019), 9-51
RJ45 Splitter Cable, G-1 to G-4, G-1 to Testpoint Select (A102), 9-29
?? three-wire control, 6-9
RS485 (MDI) protocol, F-1 to F-8 Time Functions, H-1
Timer Status (d026), 9-52
Torque Perf Mode (A125), 9-37
S troubleshooting tables, 10-7 to 10-11
S Curve % (A083), 9-22 troubleshooting the drive, 10-1 to 10-11
safety ground, 4-2 two-wire control, 6-9
Serial Converter Module, 2-3
shield termination, 4-2 U
shielded motor cable, 5-9
Skip Freq Band (A120), 9-34 UnderVoltage fault, 10-3
Skip Frequency (A119), 9-34 ungrounded distribution systems, 5-2
Slip Hertz @ FLA (A114), 9-33 unshielded power cables, 5-8
specifications, technical, A-1
Speed Reference (P038), 9-5
speed reference control, 6-10
V
Stall Fault Time (A121), 9-35 Var PWM Disable (A124), 9-36
Start At PowerUp (A094), 9-27 VS Utilities Software, 2-3
Start Boost (A085), 9-24
Start Source (P036), 9-3
starting up the drive, 7-1 W
StepLogicTM, H-1
weight, drive, 3-3
stop circuit requirements, 6-1
wiring
Stop Mode (P037), 9-4
I/O examples, 6-9
storage guidelines, 2-4
potentiometer, 6-6
Stp Logic 0 (A140), 9-41
wiring specifications
Stp Logic 1 (A141), 9-41
control and signal, 6-3
Stp Logic 2 (A142), 9-41
power, 5-9
Stp Logic 3 (A143), 9-41
Index-4 MD65 AC Drive User Manual

U.S. Drives Technical Support
Tel: (1) 262.512.8176, Fax: (1) 262.512.2222, Email: [email protected], Online: www.ab.com/support/abdrives
Publication D2-3519-2– April 2004 Copyright © 2004 Rockwell Automation, Inc. All Rights Reserved. Printed in USA.

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MD65 AC Drive

Instruction Manual D2-3519-2

ATTENTION: Identifies information about practices or

Important: Identifies information that is critical for successful application and

ATTENTION: Only qualified personnel familiar with the

! Read and understand this document in its entirety before

Chapter 2 About the MD65 Drive

Chapter 3 Mounting the Drive

Chapter 4 Grounding the Drive

Chapter 5 Installing Power Wiring

Chapter 6 Installing Control Wiring

Chapter 7 Completing the Installation

Chapter 9 Parameter Descriptions

Chapter 10 Troubleshooting the Drive

Appendix A Technical Specifications...................................................... A-1

II MD60 AC Drive User Manual

Appendix C Parameters Cross-Referenced by Name .............................C-1

Appendix D CE Conformance Requirements .........................................D-1

Appendix F RS485 (MDI) Protocol .......................................................... F-1

Appendix G RJ45 Splitter Cable ............................................................ G-1

Appendix H StepLogicTM, Basic Logic and Time/Counter Functions ......H-1

Appendix I PID Setup.............................................................................. I-1

Figure 2.1 – Identifying the Drive by Model Number................................... 2-1

Figure 3.1 – Minimum Mounting Clearances .............................................. 3-2

Figure 4.1 – Typical Grounding................................................................... 4-1

Figure 5.1 – Opening the Cover.................................................................. 5-1

Figure 6.1 – Control Terminal Block ........................................................... 6-4

Figure 8.1 – Integral Keypad ...................................................................... 8-1

Figure 9.1 – Accel Time 1 (P039) ............................................................... 9-6

Table 2.1 – Drive Ratings, Model Numbers, and Frame Sizes...................2-2

Table 3.1 – Ambient Operating Temperatures and Mounting

Table 5.1 – Corrective Actions for Input Power Conditions ........................5-4

Table 6.1 – Recommended Control and Signal Wire..................................6-3

Table 8.1 – LED Descriptions .....................................................................8-2

Table 9.1 – Trip Points for Digital Output Relay........................................9-13

Table 10.1 – Fault Descriptions and Corrective Actions ...........................10-3

This manual is intended for qualified electrical personnel familiar

This manual contains information on:

• Programming the drive

• Troubleshooting the drive

The latest version of this manual is available from

1.1 Getting Assistance from Reliance

For technical assistance, call 1-864-284-5053. Before calling,

This chapter provides general information about the MD65 AC drive,

2.1 Identifying the Drive by Model

@ 460 VAC @ 600 V AC

Figure 2.1 – Identifying the Drive by Model Number

About the MD65 Drive 2-1

Table 2.1 – Drive Ratings, Model Numbers, and Frame Sizes

2-2 MD65 AC Drive User Manual

2.3 Kits and Accessories

Table 2.2 – Standard Kits and Accessories

Kit Description Model Number

About the MD65 Drive 2-3

Kit Description Model Number

2.4 Storage Guidelines

2-4 MD65 AC Drive User Manual

This chapter provides information that must be considered when

ATTENTION: Only qualified electrical personnel familiar with