Abb Acs580 Yazilim El Kitabi Ingilizce

ABB general purpose drives
User’s manual
ACS580-01 drives
List of related manuals
Drive manuals and guides Code (English)
ACS580-01 user’s manual 3AUA0000076333
ACS580-01 quick installation and start-up guide for 3AUA0000076332
frames sizes R0 to R3
ACS580-01 quick installation and start-up guide for 3AXD50000007518
frame size R5
ACS580-01 quick installation and start-up guide for 3AXD50000009286
frame sizes R6 to R9
ACS-AP-x assistant control panels user’s manual 3AUA0000085685
Option manuals and guides

CDPI-01 communication adapter module user's manual 3AXD50000009929
DPMP-01 mounting platform for ACS-AP control panel 3AUA0000100140
DPMP-02 mounting platform for ACS-AP control panel 3AUA0000136205
FCAN-01 CANopen adapter module user's manual 3AFE68615500
FDNA-01 DeviceNet™ adapter module user's manual 3AFE68573360
FECA-01 EtherCAT adapter module user's manual 3AUA0000068940
FENA-01/-11/-21 Ethernet adapter module user's 3AUA0000093568
manual
FEPL-02 Ethernet POWERLINK adapter module user's 3AUA0000123527
manual
FPBA-01 PROFIBUS DP adapter module user's manual 3AFE68573271
FSCA-01 RS-485 adapter module user's manual 3AUA0000109533
Tool and maintenance manuals and guides

Drive composer PC tool user's manual 3AUA0000094606
Converter module capacitor reforming instructions 3BFE64059629
NETA-21 remote monitoring tool user's manual 3AUA00000969391
NETA-21 remote monitoring tool installation and start- 3AUA0000096881
up guide
You can find manuals and other product documents in PDF format on the Internet. See section Document
library on the Internet on the inside of the back cover. For manuals not available in the Document library,
contact your local ABB representative.
The QR code below opens an online listing of the manuals applicable to this product.
ACS580-01 manuals
Table of contents
1. Safety instructions
2. Introduction to the manual
3. Operation principle and hardware description
4. Mechanical installation
5. Planning the electrical installation
6. Electrical installation
7. Installation checklist
8. Start-up, control with I/O and

ID run
9. Control panel
10. Settings, I/O and diagnostics on the control panel
11. Control macros
12. Program features
13. Parameters
14. Additional parameter data
15. Fault tracing
16. Fieldbus control through the embedded fieldbus

interface (EFB)
17. Fieldbus control through a fieldbus adapter
18. Maintenance and hardware diagnostics
19. Technical data
20. Dimension drawings
21. Control chain diagrams
22. Resistor braking
23. The Safe torque off function
24. Optional I/O extension modules

3AUA0000076333 Rev A  2014 ABB Oy. All Rights Reserved.
EN
EFFECTIVE: 2014-03-24
Table of contents 5
Table of contents
List of related manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1. Safety instructions
Contents of this chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Use of warnings and notes in this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
General safety in installation, start-up and maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Electrical safety in installation, start-up and maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Precautions before electrical work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Additional instructions and notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Additional instructions for permanent magnet motor drives . . . . . . . . . . . . . . . . . . . . . . . . . .
Safety 23
Safety in installation, start-up and maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
General safety in operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2. Introduction to the manual

Applicability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Target audience . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Purpose of the manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Contents of this manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Related documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Categorization by frame (size) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Quick installation and commissioning flowchart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3. Operation principle and hardware description

Operation principle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Overview of power and control connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Control panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Type designation key . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
4. Mechanical installation
Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Checking the installation site . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Required tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Moving the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Unpacking and examining delivery, frames R0…R3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Unpacking and examining delivery, frame R5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Frame R5 cable entry box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Unpacking and examining delivery, frames R6…R9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Frame R6 cable entry box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
6 Table of contents

Installing the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Installing the drive vertically, frames R0…R3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Installing the drive vertically, frame R5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Installing the drive vertically, frames R6…R9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Installing the drive vertically side by side . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Installing the drive horizontally . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
5. Planning the electrical installation

Contents of this chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Selecting the supply disconnecting device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
European Union . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Other regions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Checking the compatibility of the motor and drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Selecting the power cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
General rules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Typical power cable sizes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Alternative power cable types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Motor cable shield . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Additional US requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Selecting the control cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Shielding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Signals in separate cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Signals allowed to be run in the same cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Relay cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Control panel cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Drive composer PC tool cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
FPBA-01 PROFIBUS DP adapter module connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Routing the cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
General rules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Separate control cable ducts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Continuous motor cable shield or enclosure for equipment on the motor cable . . . . . . . 67
Implementing thermal overload and short-circuit protection . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Protecting the drive and input power cable in short-circuits . . . . . . . . . . . . . . . . . . . . . . . 68
Protecting the motor and motor cable in short-circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Protecting the drive and the input power and motor cables against thermal overload . . . 68
Protecting the motor against thermal overload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Protecting the drive against ground faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Residual current device compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Implementing the Emergency stop function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Implementing the Safe torque off function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Implementing the Power-loss ride-through function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
Using a safety switch between the drive and the motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Using a contactor between the drive and the motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Implementing a bypass connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Example bypass connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Protecting the contacts of relay outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Limiting relay output maximum voltages at high installation altitudes . . . . . . . . . . . . . . . . . . 73
Table of contents 7
6. Electrical installation
Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Required tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Checking the insulation of the assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Input power cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Motor and motor cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Brake resistor assembly . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Checking the compatibility with IT (ungrounded) and corner-grounded TN systems . . . . . . . 77
Frames R0…R3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Frames R5…R9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Connecting the power cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Connection diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Connection procedure, frames R0…R3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Connection procedure, frame R5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Connection procedure, frames R6…R9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Motor cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
DC connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Connecting the control cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Default I/O connection diagram (ABB standard macro) . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Control cable connection procedure R0…R9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Installing optional modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Mechanical installation of option modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Wiring the modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Reinstalling covers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Reinstalling cover, frames R0…R3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Reinstalling covers, frame R5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Reinstalling side plates and covers, frames R6…R9 . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Connecting a PC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
7. Installation checklist
Warnings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Checklist . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
8. Start-up, control with I/O and ID run

How to start up the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
How to start up the drive using the First start assistant on the assistant control panel . . 120
How to control the drive through the I/O interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
How to perform the ID run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
ID Run procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
9. Control panel
Control panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
Control panel display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
8 Table of contents
Keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
Key shortcuts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
10. Settings, I/O and diagnostics on the control panel

Contents of this chapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
Primary settings menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
Macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
Start, stop, reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
Ramps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
PID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
Fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
Advanced functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
Clock, region, display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
Reset to defaults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
I/O menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Diagnostics menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
11. Control macros

General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
ABB standard macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
Default control connections for the ABB standard macro . . . . . . . . . . . . . . . . . . . . . . . 162
3-wire macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
Default control connections for the 3-wire macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
Alternate macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
Default control connections for the Alternate macro . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
Motor potentiometer macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
Default control connections for the Motor potentiometer macro . . . . . . . . . . . . . . . . . . 168
Hand/Auto macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Default control connections for the Hand/Auto macro . . . . . . . . . . . . . . . . . . . . . . . . . . 170
Hand/PID macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
Default control connections for the Hand/PID macro . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
PID macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
Default control connections for the PID macro . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
Parameter default values for different macros . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
12. Program features

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
Local control vs. external control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
Local control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
External control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
Operating modes of the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
Speed control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
Torque control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
Frequency control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
Special control modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
Table of contents 9
Drive configuration and programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185

Configuring via parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
Control interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
Programmable analog inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
Programmable analog outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
Programmable digital inputs and outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
Programmable frequency input and output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
Programmable relay outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
Programmable I/O extensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
Fieldbus control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
Motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
Motor types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
Motor identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
Power loss ride-through . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
Vector control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
Reference ramping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
Constant speeds/frequencies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
Critical speeds/frequencies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
Rush control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
Jogging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
Speed control performance figures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
Torque control performance figures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
Scalar motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
User load curve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
U/f ratio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
Flux braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
DC magnetization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
Energy optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
Switching frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
Speed compensated stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
Application control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
Control macros . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
Process PID control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
Mechanical brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
Timed functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
DC voltage control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
Overvoltage control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
Undervoltage control (power loss ride-through) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
Voltage control and trip limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
Brake chopper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
Safety and protections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Fixed/Standard protections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Emergency stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
Motor thermal protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
Programmable protection functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
Automatic fault resets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
Signal supervision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
Energy saving calculators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
Load analyzer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220
Miscellaneous . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
10 Table of contents
Backup and restore . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222

User parameter sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
Data storage parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
13. Parameters
Terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226
Summary of parameter groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
Parameter listing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
01 Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
03 Input references . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
04 Warnings and faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
05 Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
06 Control and status words . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
07 System info . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
10 Standard DI, RO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238
11 Standard DIO, FI, FO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241
12 Standard AI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
13 Standard AO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
15 I/O extension module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252
19 Operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
20 Start/stop/direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259
21 Start/stop mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268
22 Speed reference selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274
23 Speed reference ramp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
24 Speed reference conditioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
25 Speed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
26 Torque reference chain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291
28 Frequency reference chain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294
30 Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
31 Fault functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
32 Supervision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315
34 Timed functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
35 Motor thermal protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327
36 Load analyzer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
37 User load curve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338
40 Process PID set 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
41 Process PID set 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351
43 Brake chopper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353
44 Mechanical brake control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354
45 Energy efficiency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355
46 Monitoring/scaling settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359
47 Data storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 361
49 Panel port communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 362
50 Fieldbus adapter (FBA) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 363
51 FBA A settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 367
52 FBA A data in . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 368
53 FBA A data out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369
58 Embedded fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369
71 External PID1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376
Table of contents 11
95 HW configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378
96 System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
97 Motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384
98 User motor parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386
99 Motor data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388
14. Additional parameter data

Terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393
Fieldbus addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394
Parameter groups 1…9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395
Parameter groups 10…99 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398
15. Fault tracing

Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423
Indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423
Warnings and faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423
Pure events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 424
Editable messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 424
Warning/fault history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 424
Event log . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 424
Viewing warning/fault information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 424
Warning messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 426
16. Fieldbus control through the embedded fieldbus interface (EFB)

System overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 441
Connecting the fieldbus to the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442
Setting up the embedded fieldbus interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 443
Setting the drive control parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 444
Basics of the embedded fieldbus interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 446
Control word and Status word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447
Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447
Data input/outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447
Register addressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447
About the control profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449
Control Word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 450
Control Word for the ABB Drives profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 450
Control Word for the DCU Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 451
Status Word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 454
Status Word for the ABB Drives profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 454
Status Word for the DCU Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455
State transition diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457
State transition diagram for the ABB Drives profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 459
References for the ABB Drives profile and DCU Profile . . . . . . . . . . . . . . . . . . . . . . . . . 459
Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 460

Actual values for the ABB Drives profile and DCU Profile . . . . . . . . . . . . . . . . . . . . . . . 460
Modbus holding register addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461
Modbus holding register addresses for the ABB Drives profile and DCU Profile . . . . . . 461
Modbus function codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 462
Exception codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 463
Coils (0xxxx reference set) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 464
Discrete inputs (1xxxx reference set) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 465
Error code registers (holding registers 400090…400100) . . . . . . . . . . . . . . . . . . . . . . . . . . 466
17. Fieldbus control through a fieldbus adapter

System overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 467
Basics of the fieldbus control interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 469
Control word and Status word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 470
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 471
Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 472
Contents of the fieldbus Control word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 473
Contents of the fieldbus Status word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 475
The state diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 476
Setting up the drive for fieldbus control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 477
Parameter setting example: FPBA (PROFIBUS DP) . . . . . . . . . . . . . . . . . . . . . . . . . . . 478
18. Maintenance and hardware diagnostics

Maintenance intervals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 481
Preventive maintenance intervals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 482
Heatsink . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 484
Fans . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 485
Replacing the cooling fan, frames R0…R3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 485
Replacing the cooling fan, frame R5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 486
Replacing the main cooling fan, frames R6…R8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487
Replacing the main cooling fans, frame R9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488
Replacing the auxiliary cooling fan, frames R6…R9 . . . . . . . . . . . . . . . . . . . . . . . . . . . 489
Capacitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490
Reforming the capacitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490
Control panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 491
Cleaning the control panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 491
Replacing the battery in the assistant control panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . 491
LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492
Drive LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492
Assistant panel LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 493
19. Technical data

Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 496
IEC ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 496
NEMA ratings ....................................................... 497
Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497
Sizing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 498
Derating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 498
Fuses (IEC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 501
gG fuses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 501
uR and aR fuses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 502
Dimensions, weights and free space requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 503
Losses, cooling data and noise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 505
Terminal and lead-through data for the power cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 506
Terminal and lead-through data for the control cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 507
Electrical power network specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 508
Voltage (U1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 508
Motor connection data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 508
Brake resistor connection data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510
Control connection data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 511
Auxiliary circuit power consumption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 515
Efficiency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 515
Degree of protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 515
Ambient conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 515
Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 516
Applicable standards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 517
CE marking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518
Compliance with the European Low Voltage Directive . . . . . . . . . . . . . . . . . . . . . . . . . . 518
Compliance with the European EMC Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518
Compliance with the European ROHS Directive 2002/95/EC . . . . . . . . . . . . . . . . . . . . . 518
Compliance with the European WEEE Directive 2002/96/EC . . . . . . . . . . . . . . . . . . . . . 518
Compliance with the European Machinery Directive 2006/42/EC 2nd Edition –
June 2010 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518
Compliance with the EN 61800-3:2004 + A1:2012 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 519
Definitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 519
Category C1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 519
Category C2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520
Category C3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520
Category C4 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520
EAC marking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 521
Disclaimer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 521
20. Dimension drawings

Frame R0, IP21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 524
Frame R1, IP21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 525
Frame R2, IP21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 526
Frame R3, IP21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 527
Frame R5, IP21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 528
Frame R6, IP21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 529
Frame R7, IP21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 530
Frame R8, IP21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 531
Frame R9, IP21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 532
21. Control chain diagrams

Frequency reference selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 534
Frequency reference modification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535
Speed reference source selection I . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 536
Speed reference source selection II . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 537
Speed reference ramping and shaping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 538
Speed error calculation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 539
Speed controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 540
Torque reference source selection and modification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 541
Reference selection for torque controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 542
Torque limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 543
Process PID setpoint and feedback source selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 544
Process PID controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 545
22. Resistor braking

Operation principle and hardware description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 547
Resistor braking, frames R0…R3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 547
Planning the braking system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 547
Mechanical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 551
Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 551
Start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 552
Resistor braking, frames R5…R9 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 553
23. The Safe torque off function

Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 555
Compliance with the European Machinery Directive . . . . . . . . . . . . . . . . . . . . . . . . . . . 556
Connection principle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 557
Connection with internal +24 V DC power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 557
Connection with external +24 V DC power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 557
Wiring examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 558
Activation switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 558
Cable types and lengths . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 559
Grounding of protective shields . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 559
Operation principle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 559
Start-up including acceptance test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 560
Authorized person . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 560
Acceptance test reports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 560
Acceptance test procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 561
Use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 562
Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 563
Fault tracing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 563
Safety data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 564
Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 566
Declaration of conformity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 566
Certificate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 566
24. Optional I/O extension modules

CMOD-01 multifunction extension module (external 24 V AC/DC and digital I/O) . . . . . . . . 567
Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 567
Hardware description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 567
Start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 571
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 572
Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 573
CMOD-02 multifunction extension module (external 24 V AC/DC and isolated
PTC interface) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 576
Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 576
Hardware description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 576
Start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 580
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 581
Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 582
Further information
Product and service inquiries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 585
Product training . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 585
Providing feedback on ABB Drives manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 585
Document library on the Internet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 585
Safety instructions 17
1
Safety instructions
Contents of this chapter
This chapter contains the safety instructions which you must obey when you install
and operate the drive and do maintenance on the drive. If you ignore the safety
instructions, injury, death or damage can occur.
Use of warnings and notes in this manual

Warnings tell you about conditions which can cause injury or death, or damage to the
equipment. They also tell you how to prevent the danger. Notes draw attention to a
particular condition or fact, or give information on a subject.
The manual uses these warning symbols:
Electricity warning tells about hazards from electricity which can cause
injury or death, or damage to the equipment.
General warning tells about conditions, other than those caused by

electricity, which can cause injury or death, or damage to the equipment.
Electrostatic sensitive devices warning tells you about the risk of

electrostatic discharge which can cause damage to the equipment.
18 Safety instructions
General safety in installation, start-up and maintenance

These instructions are for all personnel that install the drive and do maintenance work
on it.
WARNING! Obey these instructions. If you ignore them, injury or death, or

damage to the equipment can occur.
• Handle the drive carefully.

• Use safety shoes with a metal toe cap to avoid foot injury.
• Frames R6…R9: Lift the drive with a lifting device. Use the lifting eyes of the
drive.
• Frames R6…R9: Do not tilt the drive. The drive is heavy and its center of
gravity is high. An overturning drive can cause physical injury.
• Beware of hot surfaces. Some parts, such as heatsinks of power semiconductors,

remain hot for a while after disconnection of the electrical supply.
• Make sure that debris from borings and grindings does not enter the drive during
the installation. Electrically conductive debris inside the drive may cause damage
or malfunction.
• Make sure that there is sufficient cooling. See sections Checking the installation
site on page 44 and Losses, cooling data and noise on page 505 for more
information.
• Before you connect voltage to the drive, make sure that the drive covers are on.
Keep the covers on during the operation.
• Before you adjust the drive operation limits, make sure that the motor and all
driven equipment can operate throughout the set operation limits.
• Before you activate automatic fault reset functions of the drive control program,
make sure that no dangerous situations can occur. These functions reset the
drive automatically and continue operation after a fault.
• The maximum number of drive power-ups is five in ten minutes. Too frequent
power-ups can damage the charging circuit of the DC capacitors.
• If you have connected safety circuits to the drive (for example, emergency stop
and Safe torque off), validate them at the start up. For the validation of the Safe
torque off, see chapter Start-up, control with I/O and ID run on page 119. For the
validation of other safety circuits, see the instructions provided with them.
Note:
• If you select an external source for start command and it is on, the drive will start
immediately after fault reset. See parameters 20.02 Ext1 start trigger type and
20.07 Ext2 start trigger type.
• When the control location is not set to Local, the stop key on the control panel will
not stop the drive.
• Frames R0…R5 are not field repairable. Do not attempt to repair a malfunctioning
drive; contact your local ABB representative for replacement.
Frames R6…R9 can be repaired by authorized persons.
Electrical safety in installation, start-up and maintenance

 Precautions before electrical work
These warnings are for all personnel who do work on the drive, motor cable or motor.

damage to the equipment can occur. If you are not a qualified electrician, do
not do electrical installation or maintenance work. Go through these steps before you
begin any installation or maintenance work.
1. Clearly identify the work location.
2. Disconnect all possible voltage sources.
• Open the main disconnector at the power supply of the drive.
• Make sure that reconnection is not possible. Lock the disconnector to open
position and attach a warning notice to it.
• Disconnect any external power sources from the control circuits before you do
work on the control cables.
• After you disconnect the drive, always wait for 5 minutes to let the
intermediate circuit capacitors discharge before you continue.
3. Protect any other energized parts in the work location against contact.
4. Take special precautions when close to bare conductors.
5. Measure that the installation is de-energized.
• Use a multimeter with an impedance of at least 1 Mohm.
• Make sure that the voltage between the drive input power terminals (L1, L2,
L3) and the grounding terminal (PE) is close to 0 V.
• Make sure that the voltage between the drive DC terminals (UDC+ and UDC-)
and the grounding terminal (PE) is close to 0 V.
6. Install temporary grounding as required by the local regulations.
7. Ask for a permit to work from the person in control of the electrical installation
work.
 Additional instructions and notes

• If you install the drive on an IT system (an ungrounded power system or a high-
resistance-grounded [over 30 ohms] power system), disconnect the internal EMC
filter; otherwise the system will be connected to ground potential through the EMC
filter capacitors. This can cause danger or damage the drive. See page 78.
Note: Disconnecting the internal EMC filter increases the conducted emission
and reduces the drive EMC compatibility considerably. See section EMC
compatibility and motor cable length on page 510.
• If you install the drive on a corner-grounded TN system, disconnect the internal
EMC filter; otherwise the system will be connected to ground potential through the
EMC filter capacitors. This will damage the drive. See page 78.
Note: Disconnecting the internal EMC filter increases the conducted emission
and reduces the drive EMC compatibility considerably. See section EMC
compatibility and motor cable length on page 510.
• Use all ELV (extra low voltage) circuits connected to the drive only within a zone
of equipotential bonding, that is, within a zone where all simultaneously
accessible conductive parts are electrically connected to prevent hazardous
voltages appearing between them. You can accomplish this by a proper factory
grounding, that is, make sure that all simultaneously accessible conductive parts
are grounded to the protective earth (PE) bus of the building.
• Do not do insulation or voltage withstand tests on the drive or drive modules.
Note:
• The motor cable terminals of the drive are at a dangerous voltage when the input
power is on, regardless of whether the motor is running or not.
• The DC and brake resistor terminals (UDC+, UDC-, R+ and R-) are at a
dangerous voltage.
• External wiring can supply dangerous voltages to the terminals of relay outputs
(RO1, RO2 and RO3).
• The Safe torque off function does not remove the voltage from the main and
auxiliary circuits. The function is not effective against deliberate sabotage or
misuse.
WARNING! Use a grounding wrist band when you handle the printed circuit
boards. Do not touch the boards unnecessarily. The boards contain
components sensitive to electrostatic discharge.
 Grounding
These instructions are for all personnel who are responsible for the electrical
installation, including the grounding of the drive.

equipment malfunction can occur, and electromagnetic interference can
increase.
• If you are not a qualified electrician, do not do grounding work.

• Always ground the drive, the motor and adjoining equipment to the protective
earth (PE) bus of the power supply. This is necessary for the personnel safety.
Proper grounding also reduces electromagnetic emission and interference.
• In a multiple-drive installation, connect each drive separately to the protective
earth (PE) bus of the power supply.
• Make sure that the conductivity of the protective earth (PE) conductors is
sufficient. See section Selecting the power cables on page 60. Obey the local
regulations.
• Connect the power cable shields to the protective earth (PE) terminals of the
drive.
• Make a 360° grounding of the power and control cable shields at the cable entries
to suppress electromagnetic disturbances.
Note:
• You can use power cable shields as grounding conductors only when their
conductivity is sufficient.
• Standard IEC/EN 61800-5-1 (section 4.3.5.5.2.) requires that as the normal touch
current of the drive is higher than 3.5 mA AC or 10 mA DC, you must use a fixed
protective earth (PE) connection. In addition,
• install a second protective earth conductor of the same cross-sectional area
as the original protective earthing conductor,
or
• install a protective earth conductor with a cross-section of at least 10 mm2 Cu
or 16 mm2 Al,
or
• install a device which automatically disconnects the supply if the protective
earth conductor breaks.
Additional instructions for permanent magnet motor drives

 Safety in installation, start-up and maintenance
These are additional warnings concerning permanent magnet motor drives. The other
safety instructions in this chapter are also valid.
WARNING! Obey these instructions. If you ignore them, injury or death and
• Do not work on a drive when a rotating permanent magnet motor is connected to

it. A rotating permanent magnet motor energizes the drive including its input
power terminals.
Before installation, start-up and maintenance work on the drive:
• Stop the motor.
• Disconnect the motor from the drive with a safety switch or by other means.
• If you cannot disconnect the motor, make sure that the motor cannot rotate during
work. Make sure that no other system, like hydraulic crawling drives, can rotate
the motor directly or through any mechanical connection like felt, nip, rope, etc.
• Measure that the installation is de-energized.
• Use a multimeter with an impedance of at least 1 Mohm.
• Make sure that the voltage between the drive output terminals (T1/U, T2/V,
T3/W) and the grounding (PE) busbar is close to 0 V.
• Make sure that the voltage between the drive input power terminals (L1, L2,
L3) and the grounding (PE) busbar is close to 0 V.
• Make sure that the voltage between the drive DC terminals (UDC+, UDC-) and
the grounding (PE) terminal is close to 0 V.
• Install temporary grounding to the drive output terminals (T1/U, T2/V, T3/W).
Connect the output terminals together as well as to the PE.
Start-up and operation:
• Make sure that the operator cannot run the motor over the rated speed. Motor
overspeed causes overvoltage that can damage or explode the capacitors in the
intermediate circuit of the drive.
General safety in operation

These instructions are for all personnel that operate the drive.

• Do not control the motor with the disconnector at the drive power supply; instead,
use the control panel start and stop keys or commands through the I/O terminals
of the drive.
• Give a stop command to the drive before you reset a fault. If you have an external
source for the start command and the start is on, the drive will start immediately
after the fault reset.
Note: When the control location is not set to Local, the stop key on the control panel
will not stop the drive.
Introduction to the manual 25
2
Introduction to the manual
The chapter describes applicability, target audience and purpose of this manual. It
describes the contents of this manual and refers to a list of related manuals for more
information. The chapter also contains a flowchart of steps for checking the delivery,
installing and commissioning the drive. The flowchart refers to chapters/sections in
this manual.
Applicability
The manual applies to the ACS580-01 standard control program (version 1.30).
Check system information (select Menu - System info) or parameter 07.05 Firmware
version (see page 238) on the control panel.
Target audience
The reader is expected to know the fundamentals of electricity, wiring, electrical
components and electrical schematic symbols.
The manual is written for readers worldwide. Both SI and imperial units are shown.
Special US instructions for installations in the United States are given.
Purpose of the manual

This manual provides information needed for planning the installation, installing,
commissioning, using and servicing the drive.
26 Introduction to the manual
Contents of this manual

The manual consists of the following chapters:
• Safety instructions (page 17) gives safety instructions you must obey when
installing, commissioning, operating and servicing the drive.
• Introduction to the manual (this chapter, page 25) describes applicability, target
audience, purpose and contents of this manual. It also contains a quick
installation and commissioning flowchart. At the end, it lists terms and
abbreviations.
• Operation principle and hardware description (page 31) describes the operation
principle, layout, power connections and control interfaces, type designation label
and type designation information in short.
• Mechanical installation (page 43) describes how to check the installation site,
unpack, check the delivery and install the drive mechanically.
• Planning the electrical installation (page 59) describes how to plan the electrical
installation of the drive, for example, how to check the compatibility of the motor
and the drive and select cables, protections and cable routing.
• Electrical installation (page 75) describes how to check the insulation of the
assembly and the compatibility with IT (ungrounded) and corner-grounded TN
systems. It then shows how to connect the power and control cables, install
optional modules and connect a PC.
• Installation checklist (page 117) contains a checklist for checking the mechanical
and electrical installation of the drive before start-up.
• Start-up, control with I/O and ID run (page 119) tells how to start up the drive as
well as how to start, stop, change the direction of the motor rotation and adjust the
motor speed through the I/O interface.
• Control panel (page 137) briefly describes the display, keys and key shortcuts of
the assistant control panel.
• Settings, I/O and diagnostics on the control panel (page 143) describes the
simplified settings and diagnostic functions provided on the assistant control
panel.
• Control macros (page 161) contains a short description of each macro together
with a connection diagram. Macros are pre-defined applications which will save
the user time when configuring the drive.
• Program features (page 179) describes program features with lists of related user
settings, actual signals, and fault and warning messages.
• Parameters (page 225) describes the parameters used to program the drive.
• Additional parameter data (page 393) contains further information on the
parameters.
• Fieldbus control through the embedded fieldbus interface (EFB) (page 441)
describes the communication to and from a fieldbus network using the embedded
fieldbus interface of the drive.
• Fieldbus control through a fieldbus adapter (page 467) describes the

communication to and from a fieldbus network using an optional fieldbus adapter
module
• Fault tracing (page 423) lists the warning and fault messages with possible
causes and remedies.
• Maintenance and hardware diagnostics (page 481) contains preventive
maintenance instructions and LED indicator descriptions.
• Technical data (page 495) contains technical specifications of the drive, eg
ratings, sizes and technical requirements as well as provisions for fulfilling the
requirements for CE and other marks.
• Dimension drawings (page 523) shows dimension drawings of the drive.
• Control chain diagrams (page 533) shows the parameter structure within the
drive.
• Resistor braking (page 547) tells how to select the brake resistor.
• The Safe torque off function (page 555) describes STO features, installation and
technical data.
• Optional I/O extension modules (page 567) describes CMOD-01 and CMOD-02
multifunction extension modules, their installation, start-up, diagnostics and
technical data.
• Further information (inside of the back cover, page 585) tells how to make product
and service inquiries, get information on product training, provide feedback on
ABB Drives manuals and find documents on the Internet.
Related documents
See List of related manuals on page 2 (inside of the front cover).
Categorization by frame (size)

The ACS580-01 is manufactured in frames (frame sizes) R0…R3 and R5…R9. Some
instructions and other information which only concern certain frames are marked with
the symbol of the frame (R0…R3, R5…R9). The frame is marked on the type
designation label attached to the drive, see section Type designation label on page
40.
Quick installation and commissioning flowchart
Task See
Identify the frame of your drive: R0…R3, Operation principle and hardware description:
R5…R9. Type designation key on page 41
Plan the installation: select the cables, etc. Planning the electrical installation on page 59
Check the ambient conditions, ratings and Technical data on page 495
required cooling air flow.
Unpack and check the drive. Mechanical installation: Unpacking and

examining delivery, frames R0…R3 on page
46, Unpacking and examining delivery, frame
R5 on page 47, Unpacking and examining
delivery, frames R6…R9 on page 49
If the drive will be connected to an IT Operation principle and hardware description:

(ungrounded) system or corner-grounded TN Type designation key on page 41
system, check that the internal EMC filter is Electrical installation: Checking the
not connected. compatibility with IT (ungrounded) and corner-
grounded TN systems on page 77
Install the drive on a wall. Mechanical installation on page 43
Route the cables. Planning the electrical installation: Routing the

cables on page 66
Check the insulation of the input cable and the Electrical installation: Checking the insulation
motor and the motor cable. of the assembly on page 76
Connect the power cables. Electrical installation: Connecting the power

cables on page 80
Connect the control cables. Electrical installation: Connecting the control

cables on page 97
Check the installation. Installation checklist on page 117
Commission the drive. Start-up, control with I/O and ID run on page
119
Terms and abbreviations

Term/abbreviation Explanation
ACS-AP-x Assistant control panel, advanced operator keypad for communication
with the drive. The ACS580 supports types ACS-AP-I and ACS-AP-S.
Brake chopper Conducts the surplus energy from the intermediate circuit of the drive to
the brake resistor when necessary. The chopper operates when the DC
link voltage exceeds a certain maximum limit. The voltage rise is
typically caused by deceleration (braking) of a high inertia motor.
Brake resistor Dissipates the drive surplus braking energy conducted by the brake
chopper to heat. Essential part of the brake circuit. See Brake chopper.
Control board Circuit board in which the control program runs.
Capacitor bank See DC link capacitors.
CDPI-01 Communication adapter module
CCA-01 Configuration adapter
CEIA-01 Embedded EIA-485 fieldbus adapter module
CHDI-01 Optional 115/230 V digital input extension module
CMOD-01 Optional multifunction extension module (external 24 V AC/DC and
digital I/O extension)
CMOD-02 Optional multifunction extension module (external 24 V AC/DC and
isolated PTC interface)
DC link DC circuit between rectifier and inverter
DC link capacitors Energy storage which stabilizes the intermediate circuit DC voltage
DPMP-01 Mounting platform for ACS-AP control panel (flange mounting)
DPMP-02 Mounting platform for ACS-AP control panel (surface mounting)
Drive Frequency converter for controlling AC motors
EMC Electromagnetic compatibility
EFB Embedded fieldbus
FBA Fieldbus adapter
FCAN-01 Optional CANopen adapter module
FCNA-01 ControlNet adapter module
FDNA-01 Optional DeviceNet adapter module
FECA-01 Optional EtherCAT adapter module
FENA-01/-11/-21 Optional Ethernet adapter module for EtherNet/IP, Modbus TCP and
PROFINET IO protocols
FEPL-02 Ethernet POWERLINK adapter module
FPBA-01 Optional PROFIBUS DP adapter module
Frame (size) Refers to drive physical size, for example R0 and R1. The type
designation label attached to the drive shows the frame of the drive, see
section Type designation key on page 41.
FSCA-01 Optional RSA-485 adapter module
I/O Input/Output
Term/abbreviation Explanation
IGBT Insulated gate bipolar transistor
Intermediate circuit See DC link.
Inverter Converts direct current and voltage to alternating current and voltage.
LRFI Series of optional EMC filters
LSW Least significant word
Macro Pre-defined default values of parameters in drive control program. Each
macro is intended for a specific application. See chapter Control macros
on page 161.
NETA-21 Remote monitoring tool
Network control With fieldbus protocols based on the Common Industrial Protocol
(CIPTM), such as DeviceNet and Ethernet/IP, denotes the control of the
drive using the Net Ctrl and Net Ref objects of the ODVA AC/DC Drive
Profile. For more information, see www.odva.org, and the following
manuals:
• FDNA-01 DeviceNet adapter module user’s manual (3AFE68573360
[English]), and
• FENA-01/-11/-21 Ethernet adapter module user’s manual
(3AUA0000093568 [English]).
Parameter User-adjustable operation instruction to the drive, or signal measured or
calculated by the drive
PLC Programmable logic controller
PROFIBUS, Registered trademarks of PI - PROFIBUS & PROFINET International
PROFIBUS DP,
PROFINET IO
R0, R1, ... Frame (size)
RCD Residual current device
Rectifier Converts alternating current and voltage to direct current and voltage.
RFI Radio-frequency interference
SIL Safety integrity level. See chapter The Safe torque off function on page
555.
STO Safe torque off. See chapter The Safe torque off function on page 555.
Operation principle and hardware description 31
3
Operation principle and
hardware description
This chapter briefly describes the operation principle, layout, type designation label
and type designation information. It also shows a general diagram of power
connections and control interfaces.
32 Operation principle and hardware description
Operation principle
The ACS580-01 is a drive for controlling asynchronous AC induction motors and
permanent magnet synchronous motors.
The figure below shows the simplified main circuit diagram of the drive.
ACS580-01
1 2 3
L1 T1/U
L2 T2/V
L3 T3/W
4 5
R- UDC+ UDC-
R+
1 Rectifier. Converts alternating current and voltage to direct current and voltage.
2 DC link. DC circuit between rectifier and inverter.
3 Inverter. Converts direct current and voltage to alternating current and voltage.
4 Brake chopper (R-, R+). Conducts the surplus energy from the intermediate DC circuit
of the drive to the brake resistor when necessary. The chopper operates when the DC
link voltage exceeds a certain maximum limit. The voltage rise is typically caused by
deceleration (braking) of a high inertia motor. The user obtains and installs the brake
resistor when needed.
Brake chopper is as standard in frames R0…R3.
5 DC connection (UDC+, UDC-), as standard for R5…R9.
 Layout
Frames R0…R3
The layout of a frame R0 drive is presented below. The construction of frames
R1…R3 differs to some extent.
R0
1
4
5
6
17
7
8
8
10
2 17
9
11
PE 12 13
3
14 15
16
1 1
1 Mounting points (4 pieces) 10 EMC filter grounding switch (EMC).

2 Cover R0…R2: On the right side of the drive.
R3: On the front, near the I/O
3 Cover screw connections.
4 Assistant control panel. See chapter See Checking the compatibility with IT
Control panel on page 137. (ungrounded) and corner-grounded TN
5 Control panel connection systems on page 77.
6 Cold configuration connection 11 Input power connection (L1, L2, L3),
motor connection (T1/U, T2/V, T3/W) and
7 Power OK and Fault LEDs. See section brake connection (R-, R+/UDC+).
LEDs on page 492.
12 PE connection (power line)
8 I/O connections. See section External
control connection terminals, frames 13 Grounding connection (motor)
R0…R3 on page 37. 14 Additional grounding connection
9 Varistor grounding switch (VAR) 15 Lead-through plate
16 Fan
17 Cable tie mounts for I/O cables
Frame R5
The layout of a frame R5 drive is presented below.
To be added.
Frames R6…R9
The layout of a frame R6 drive is presented below. The constructions of frames
R7…R9 differ to some extent.
R6…R9
13 14
1 5
7
8
5 20 9
6
9
11
4
2
14 10
12
12
15
3 17
5
PE 16
1
19 18
1 Mounting points (2 at the top, 2 at the 13 Varistor grounding screw (VAR), under
bottom of the main part of the frame, 2 at the control panel platform
the top of the cable entry box) 14 Two EMC filter grounding screws (EMC),
2 Cover one under the control panel platform and
3 Cable entry box one at the left, above the shroud.
See Checking the compatibility with IT
4 Heatsink
(ungrounded) and corner-grounded TN
5 Lifting holes (6 pieces) systems on page 77.
6 Assistant control panel. See chapter 15 Shroud. Under the shroud: Input power
Control panel on page 137. connection (L1, L2, L3), motor connection
7 Control panel connection (T1/U, T2/V, T3/W) and brake connection
(R-, R+/UDC+) as well as DC connection
8 Cold configuration connection (UDC+, UDC-).
9 Power OK and Fault LEDs. See section 16 PE connection (power line)
LEDs on page 492.
17 Grounding connection (motor)
10 I/O connections. See section External
control connection terminals, frame 18 Lead-through plate
R5…R9 on page 38. 19 One main fan (R6…R8), two main fans
11 Cable tie mounts for I/O cables (R9) at the bottom
12 Clamps for I/O cable mechanical support 20 Auxiliary fan
 Overview of power and control connections

The logical diagram below shows the power connections and control interfaces of the
drive.
Panel port
4
..........
.......... Slot 1
1
..........
..........
Slot 3
3
Slot 2 ..........
..........
..........
..........
2
PE PE
L1 L1 T1/U
L2 L2 T2/V M
3~
L3 L3 T3/W
UDC+
R- R+ UDC-
1 Option slot 1 for optional fieldbus adapter modules

2 Option slot 2 for optional I/O extension modules
3 Option slot 3 for optional embedded fieldbus adapter modules
4 Panel port.
External control connection terminals, frames R0…R3

The layout of the external control connection terminals of the R0 frame is shown
below. Layout of the external control connection terminals is identical in frames
R0…R3 but the location of the control unit with the terminals is different in frame R3.
X10 Description
R0…R3
X1 Analog inputs and outputs
X2 Aux. voltage output
S1 X3 Programmable digital inputs
S2
X4 Safe torque off connection
X5 Connection to embedded EIA-485
1 fieldbus adapter module (installed in
X1
option slot 3)
X6 Relay output 1
S3 2
X7 Relay output 2
3 X8 Relay output 3
X2
X10 Internal fan connection (IP55)
X13 Option slot 1 (fieldbus adapter
X3 modules)
X14 Option slot 2 (I/O extension
modules)
X15 Option slot 3 (embedded EIA-485
X4 X13 fieldbus adapter module)
X8 S1, S2 Voltage/Current selection switches
for analog input 1 (S1) and analog
X5 input 2 (S2), see section Switches
X15 X7
on page 100.
S5 S4
X6 S3 Voltage/Current selection switch for
analog output 1, see section
Switches on page 100.
X14 S4, S5 Termination switch (S4), bias
resistor switch (S5), see section
Switches on page 100
1 Panel port (control panel
connection)
2 Cold configuration connection
3 Power OK and Fault LEDs. See
section LEDs on page 492.
External control connection terminals, frame R5…R9

The layout of the external control connection terminals of frames R5…R9 is shown
below.
R5…R9 Description
X1 Analog inputs and outputs
X2 Aux. voltage output
X3 Digital inputs
X4 Safe torque off connection
1
X5 Connection to embedded EIA-
485 fieldbus adapter module
2 (installed in option slot 3)
3 X6 Relay output 1
X7 Relay output 2
X8 Relay output 3
X10 External +24 V AC/DC
connection
X1:1…3 S1
X13 X13 Option slot 1 (fieldbus adapter
X1:4…6 S2 modules)
X14 Option slot 2 (I/O extension
X1:7…9 S3 modules)
X15 Option slot 3 (embedded EIA-
X2 485 fieldbus adapter module)
X3:1…3 X16 Internal fan 1 connection

X17 Internal fan 2 connection
X3:4…6 S1, S2 Voltage/Current selection
switches for analog input 1 (S1)
X4 and analog input 2 (S2), see
X5 X10
X15 section Switches on page 100.
S3 Voltage/Current selection
S4, S5 X8
switch for analog output 1, see
X16X17 section Switches on page 100.
X7
X14 S4, S5 Termination switch (S4), bias
X6 resistor switch (S5), see section
Switches on page 100
1 Panel port (control panel
connection)
2 Cold configuration connection
3 Power OK and Fault LEDs. See
section LEDs on page 492.
 Control panel
To remove the control panel, press the retaining clip at the top (1a) and pull it forward
from the top edge (1b).
1a
1b
To reinstall the control panel, put the bottom of the container in position (1a), press
the retaining clip at the top (1a) and push the control panel in at the top edge (1c).
1b
1c
1a
For the use of the control panel, see chapter Control panel on page 137 and
ACS-AP-X assistant control panels user’s manual (3AUA0000085685 [English]).
Type designation label

The type designation label includes IEC and NEMA ratings, appropriate markings
and the type designation and serial number, which allow identification of each drive.
The type designation label is located on the left side of the drive. An example label is
shown below.
4
5
2 3
4
6
No. Description
1 Type designation, see section Type designation key on page 41.
2 Frame (size)
3 Degree of protection
4 Nominal ratings in the supply voltage range, see section Ratings on page 496.
5 Valid markings
6 S/N: Serial number of format MYYWWXXXX, where
M: Manufacturer
YY: 13, 14, 15, … for 2013, 2014, 2015, …
WW: 01, 02, 03, … for week 1, week 2, week 3, …
XXXXX: Integer starting every week from 0001
Type designation key

The type designation contains information on the specifications and configuration of
the drive. You find the type designation on the type designation label attached to the
drive. The first digits from the left express the basic configuration, for example,
ACS580-01-12A6-5. The optional selections are given after that, separated by plus
signs, for example, +L501. The main selections are described below. Not all
selections are available for all types.
For more information, see ACS580 Ordering information (3AXD10000081909),
available on the Internet, see section Document library on the Internet on the inside of
the back cover.
ACS580-01-12A6-4+L501+K457+...
1 2 3 4
CODE DESCRIPTION
Basic codes
1 ACS580 Product series
01 When no options are selected: Wall mounted, IP21 (UL type 1), assistant
control panel with USB port, choke, EMC C2 filter (internal EMC filter), Safe
torque off, braking chopper in frames R0, R1, R2, R3, coated boards, cable
lead through entry from bottom, cable entry box or conduit plate with cable
entries, Quick guides with default set of languages as well as web links to
basic PC tool and latest manual versions.
2 Size
xxxx Refer to the rating table, page 496
3 Voltage rating
4 380…480 V
4 Option codes (plus codes)
Control panel and panel options

J400 ACS-AP-S Assistant control panel (as standard)
J425 ACS-AP-I Assistant control panel
J424 CDUM-01 Blank control panel cover (no control panel)
K450 CDPI-01 panel bus adapter
I/O (one slot available for I/O options)
L501 CMOD-01 External 24 V AC/DC and digital I/O extension (2×RO and 1×DO)
L523 CMOD-02 External 24 V AC/DC and isolated PTC interface
L512 CHDI-01 115/230 V Digital input extension (6×DI and 2×RO)
CODE DESCRIPTION
Fieldbus adapters
K454 FPBA-01 PROFIBUS DP
K457 FCAN-01 CANopen
K451 FDNA-01 DeviceNet™
K474 FENA-11 Ethernet (EtherNet/IP™, Modbus/TCP, PROFINET)
K469 FECA-01 EtherCAT
K458 FSCA-01 Modbus/RTU
K470 FEPL-02 Ethernet POWERLINK
K462 FCNA-01 ControlNet™
K475 FENA-21 2-port Ethernet (EtherNet/IP™, Modbus/TCP, PROFINET)
Embedded fieldbus
CEIA-01 Embedded Modbus RTU adapter, EIA-485 (as standard)
Construction
B056 IP55 (UL type 12). Factory option, retro-fit not possible.
H358 Cable conduit plate, blank. Up to frame R3.
Full set of printed manuals in selected language. Note: The delivered manual set
may include manuals in English if the translation is not available.
R700 English
R701 German
R702 Italian
R703 Dutch
R704 Danish
R705 Swedish
R706 Finnish
R707 French
R708 Spanish
R709 Portuguese (Portugal)
R711 Russian
R712 Chinese
R714 Turkish
Mechanical installation 43
4
Mechanical installation
The chapter tells how to check the installation site, unpack, check the delivery and
install the drive mechanically.
Safety
WARNING! Frames R6…R9: Lift the drive with a lifting device. Use the lifting
eyes of the drive. Do not tilt the drive. The drive is heavy and its center of
gravity is high. An overturning drive can cause physical injury.
44 Mechanical installation
Checking the installation site

The drive must be installed on the wall. There are three alternative ways to mount it:
• vertically alone. Do not install the drive upside down.
a Frame Vertical mounting -

size Free space
Above (a) Below (b) 1)
mm in mm in
R0 200 7.9 200 7.9
R1 200 7.9 200 7.9
R2 200 7.9 200 7.9
R3 200 7.9 200 7.9
R5 200 7.9 300 11.8
b
R6 200 7.9 300 11.8
R7 200 7.9 300 11.8
R8 200 7.9 300 11.8
R9 200 7.9 300 11.8
3AXD00000586715.xls E
1)
Free space below is measured from the fan, not from
the cable entry box used in frames R5…R9.
• vertically side by side
c =0 Frame Vertical mounting side by side -

size Free space
a a
Above (a) Below (b) 1) Between (c)
mm in mm in mm in
R0 200 7.9 200 7.9 0 0
R1 200 7.9 200 7.9 0 0
R2 200 7.9 200 7.9 0 0
R3 200 7.9 200 7.9 0 0
R5 200 7.9 300 11.8 0 0
R6 200 7.9 300 11.8 0 0
b b R7 200 7.9 300 11.8 0 0
R8 200 7.9 300 11.8 0 0
R9 200 7.9 300 11.8 0 0
3AXD00000586715.xls E
1) Free space below is measured from the fan, not from
the cable entry box used in frames R5…R9.
• horizontally alone.
c Frame Horizontal mounting - Free space

size Above (a) Below (b)1) Side (c)
b a
mm in mm in mm in
R0 TBA TBA TBA TBA TBA TBA
c R1 TBA TBA TBA TBA TBA TBA
a b
3AXD00000586715.xls E
1)
Free space below is measured from the fan, not
from the cable entry box used in frames R5…R9.
Check the installation site according to the requirements below:

• The installation site is sufficiently ventilated or cooled to transfer away the drive
losses. See section Losses, cooling data and noise on page 505.
• The operation conditions of the drive meet the specifications given in section
Ambient conditions on page 515.
• The wall is as close to vertical as possible, of non-flammable material and strong
enough to carry the weight of the drive, see section Dimensions, weights and free
space requirements on page 503.
• The floor/material below the installation is non-flammable.
• There is enough free space above and below the drive to enable cooling air flow,
service and maintenance, See the required free space tables for each of the
different mounting alignments on page 44 (or page 503).
Required tools
To install the drive mechanically, you need the following tools:
• drill with suitable bits
• screwdriver and/or wrench with a set of suitable bits (as appropriate for the
mounting hardware used)
• tape measure, if you will not be using the provided mounting template.
Moving the drive

Frames R5…R9: Move the transport package by pallet truck to the installation site.
Unpacking and examining delivery, frames R0…R3

The figure below shows the drive package with its contents. Examine that all items
are present and there are no signs of damage. Read the data on the type designation
label of the drive to make sure that the drive is of the correct type. See section Type
designation label on page 40.
8 7
8
8
2
4 5
3
1 Drive (frame R1 shown) 6 User’s manual (if ordered with a plus

2 Mounting accessories in plastic bag(s), code)
under the drive cover 7 Control panel selected in the order (in a
3 Mounting template separate package)
4 Multilingual residual voltage warning 8 Possible options in separate packages, if
stickers they have been ordered with a plus code,
such as for example +K457 (FCAN-01
5 Multilingual quick installation and start-up CANopen adapter module)
guide
Unpacking and examining delivery, frame R5

The figure below shows the layout of the transport package. Examine that all items
6
8
16
2
9
3
10
1
11
13
7 14 15
12
1 Drive with factory installed options. 10 Support tape

2 Multilingual quick installation and start- 11 PET straps
up guide, multilingual residual voltage 12 Cable entry box package
warning stickers 13 Option tray
3 User’s manual (if ordered with a plus 14 Control panel selected in the order (in a
code) separate package) in the option tray
4 Cardboard tray 15 Possible options in separate packages, if
5 Cardboard sleeve they have been ordered with a plus
code, such as for example +K457
6 Top cardboard cover (FCAN-01 CANopen adapter module) in
7, 8 Cushions the option tray
9 Cardboard support 16 Mounting template
To unpack:
• Cut the straps (11).
• Remove the top cardboard cover (6) and cushions (7, 8).
• Lift the cardboard sleeve (5).
• Lift the drive.
 Frame R5 cable entry box

This illustration shows the contents of the cable entry box package. The package also
includes an assembly drawing which shows how to install the cable entry box to the
drive module frame.
3aua0000118007
Unpacking and examining delivery, frames R6…R9

The figure below shows the layout of the transport package. Examine that all items
8
9 10 11
4 12
7 1
1 Cable entry box. Power and control cable 9 In the option tray
grounding shelves in a plastic bag, • Multilingual quick installation and start-
assembly drawing.
up guide
• User’s manual (if ordered with a plus
2 Drive with factory installed options.
code)
3 Cardboard box
• Multilingual residual voltage warning
4 Straps stickers
5 VCI bag for protecting against corrosion 10 Control panel selected in the order (in a
6 Pallet separate package) in the option tray
7 Stopper 11 Possible options in separate packages, if
8 Option tray they have been ordered with a plus code,
such as for example +K457 (FCAN-01
CANopen adapter module) in the option
tray
12 Mounting template on top of the option
tray
To unpack:
• Cut the straps (4).
• Remove the cardboard box (3) and option tray (8).
• Remove the VCI bag (5).
• Attach lifting hooks to the lifting eyes of the drive (see the figure on page 43). Lift
the drive with a hoist.

The figure below shows the contents of the cable entry box package. The package
also includes an assembly drawing which shows how to install the cable entry box to
the drive frame.
3aua0000112044

the drive frame.
3aua0000111117

the drive frame.
3aua0000112174

the drive frame.
3aua0000112356
Installing the drive

 Installing the drive vertically, frames R0…R3
The figures show frame R0 as an example.
1. Mark the hole locations using the mounting template included in the package. Do
not leave the mounting template under the drive. The drive dimensions and hole
locations are also shown in the drawings in chapter Dimension drawings on page
523.
2. Drill the mounting holes.
3. Start the screws or bolts into the mounting holes.
a
1 2 R0…R2: M5 3 ×4
R3: M6
×4
b
×4
R0 R1 R2 R3
mm in mm in mm in mm in
a 98 3.86 98 3.86 98 3.86 160 6.30
b 317 12.48 317 12.48 417 16.42 473 18.62
Weight kg lb kg lb kg lb kg lb
4.47 9.86 4.57 10.08 7.54 16.63 14.86 32.77
4. Position the drive onto the screws on the wall.

5. Tighten the screws in the wall securely.
4a 4b 5
×4
 Installing the drive vertically, frame R5

1. Mark the hole locations using the mounting template included in the package. Do
not leave the mounting template under the drive. The drive dimensions and hole
locations are also shown in the drawings in chapter Dimension drawings on page
523.
200 mm (7.9 in)

b
M6
R5
mm in
1 2 3 581/ 22.87/
a
a
611.5 24.07
b 160 6.30
kg lb
23.0 50.72
300 mm (11.8 in)
4. Remove the front cover: Remove the fastening screws, move the cover to the top
side and then up.
4
5. Attach the cable entry box to the drive frame. Push the box up to the drive frame
and tighten the box screws.
6. Position the drive (without the cover) onto the screws on the wall. Lift the drive
with another person or with a lifting device as it is heavy.
200 mm
(7.9 in)
6 7
300 mm
(11.8 in)
 Installing the drive vertically, frames R6…R9

1. Mark the hole locations for the six mounting holes using the mounting template
included in the package. Do not leave the mounting template under the drive.
The drive dimensions and hole locations are also shown in the drawings in
chapter Dimension drawings on page 523.
Note: You can use only two screws instead of four to attach the lower part of the
drive.
1 c R6 R7 R8 R9
mm in mm in mm in mm in
a 571 22.5 623 24.5 701 27.6 718 28.3
b 531 20.9 583 22.9 658 25.9 658 25.9
c 213 8.4 245 9.7 263 10.4 345 13.6
d 300 11.8 300 11.8 300 11.8 300 11.8
×4 e 200 7.9 200 7.9 200 7.9 200 7.9
kg lb kg lb kg lb kg lb
45 99 55 121 70 154 98 216

4. Position the drive onto the screws on the wall. Lift the drive with another person
as it is heavy.
2 3 M8 4
×2 ×2
5
6. Remove the front cover: Remove the fastening screws (a), move the cover to the
top side (b) and then up (c).
7. Attach the cable entry box to the drive frame.
8. Tighten the box screws: two at the top and four at the bottom.
7
8
6c
6a 8
6b
6a M6×6
 Installing the drive vertically side by side

Install the drive following the steps in the appropriate section Installing the drive
vertically, frames R0…R3 (page 54), Installing the drive vertically, frame R5 (page 55)
or Installing the drive vertically, frames R6…R9 (page 57).
 Installing the drive horizontally

Install the drive following the steps in the appropriate section Installing the drive
vertically, frames R0…R3 (page 54), Installing the drive vertically, frame R5 (page 55)
or Installing the drive vertically, frames R6…R9 (page 57). The drive can be mounted
either the left or right side up.
Note: It is not allowed to mount drives immediately on top of it each other.
Planning the electrical installation 59
5
Planning the electrical
installation
This chapter contains instructions for planning the electrical installation of the drive,
for example, for checking the compatibility of the motor and drive, selecting cables,
protections and cable routing.
Note: The installation must always be designed and made according to applicable
local laws and regulations. ABB does not assume any liability whatsoever for any
installation which breaches the local laws and/or other regulations. Furthermore, if the
recommendations given by ABB are not followed, the drive may experience problems
that the warranty does not cover.
Selecting the supply disconnecting device

Install a hand-operated input disconnecting device between the AC power source
and the drive. The disconnecting device must be of a type that can be locked to the
open position for installation and maintenance work.
 European Union
To meet the European Union Directives, according to standard EN 60204-1, Safety of
Machinery, the disconnecting device must be one of the following types:
• switch-disconnector of utilization category AC-23B (EN 60947-3)
• disconnector that has an auxiliary contact that in all cases causes switching
devices to break the load circuit before the opening of the main contacts of the
disconnector (EN 60947-3)
• circuit breaker suitable for isolation in accordance with EN 60947-2.
60 Planning the electrical installation
 Other regions
The disconnecting device must conform to the applicable local safety regulations.
Checking the compatibility of the motor and drive

Use an asynchronous AC induction motor or a permanent magnet motor with the
drive. Several induction motors can be connected to the drive at a time but only one
permanent magnet motor can be connected to the drive at a time.
Check that the motor and the drive are compatible according to the rating table in
section Ratings on page 496. The table lists the typical motor power for each drive
type.
Selecting the power cables

 General rules
Select the input power and motor cables according to local regulations:
• The input power and the motor cables must be able to carry the corresponding
load currents. See section Ratings (page 496) for the rated currents.
• The cable must be rated for at least 70 °C maximum permissible temperature of
conductor in continuous use. For US, see Additional US requirements, page 63.
• The conductivity of the PE conductor must be sufficient, see the table on page 60.
• 600 V AC cable is accepted for up to 500 V AC.
To comply with the EMC requirements of the CE mark, use one of the approved cable
types in section Recommended power cable types on page 62.
Symmetrical shielded cable reduces electromagnetic emission of the whole drive
system as well as the stress on motor insulation, bearing currents and wear.
The protective conductor must always have an adequate conductivity. The table
below shows the minimum cross-sectional area related to the phase conductor size
according to IEC 61439-1 when the phase conductor and the protective conductor
are made of the same metal.
Cross-sectional area of the phase Minimum cross-sectional area of the
conductors corresponding protective conductor
S (mm2) Sp (mm2)
S < 16 S
16 < S < 35 16
35 < S S/2
Note: See the IEC/EN 61800-5-1 requirement on grounding in the Note on page 22.
 Typical power cable sizes

The table below gives copper cable types with concentric copper shield for the drives
with nominal current. The value separated by the plus sign means the diameter of the
PE conductor. Aluminum cables are not allowed.
Drive type IEC 1) US Frame
Cu cable type Cu cable type size
mm2 AWG/kcmil
3-phase UN = 400 V (380…480 V)
ACS580-01-02A6-4 3×1.5 + 1.5 16 R0
ACS580-01-03A3-4 3×1.5 + 1.5 16 R0
ACS580-01-04A0-4 3×1.5 + 1.5 16 R0
ACS580-01-05A6-4 3×1.5 + 1.5 16 R0
ACS580-01-07A2-4 3×1.5 + 1.5 16 R1
ACS580-01-09A4-4 3×2.5 + 2.5 14 R1
ACS580-01-12A6-4 3×2.5 + 2.5 14 R1
ACS580-01-017A-4 3×2.5 + 2.5 14 R2
ACS580-01-025A-4 3×6 + 6 10 R2
ACS580-01-032A-4 3×10 + 10 8 R3
ACS580-01-038A-4 3×10 + 10 8 R3
ACS580-01-045A-4 3×16 +16 6 R3
ACS580-01-061A-4 3×25 + 16 4 R5
ACS580-01-072A-4 3×35 + 16 2 R5
ACS580-01-087A-4 3×35 + 16 2 R5
ACS580-01-105A-4 3×50 + 25 1/0 R6
ACS580-01-145A-4 3×95 + 50 3/0 R6
ACS580-01-169A-4 3×120 + 70 250 MCM R7
ACS580-01-206A-4 3×150 + 70 300 MCM R7
ACS580-01-246A-4 2×(3×70+35) 2×2/0 R8
ACS580-01-293A-4 2×(3×95+50) 2×3/0 R8
ACS580-01-363A-4 2×(3×120+70) 2×250 MCM R9
ACS580-01-430A-4 2×(3×150+70) 2×300 MCM R9
3AXD00000586715.xls E
1) The cable sizing is based on max. 6 cables laid on a cable ladder side by side, ambient
temperature 30 °C, PVC insulation, surface temperature 70 °C (EN 60204-1 and
IEC 60364-5-52/2001). For other conditions, size the cables according to local safety
regulations, appropriate input voltage and the load current of the drive. See also page 506
for the accepted cable sizes of the drive.
See also section Terminal and lead-through data for the power cables on page 506.
 Alternative power cable types

The recommended and the not allowed power cable types to be used with the drive
are presented below.
Recommended power cable types
PE Symmetrical shielded cable with three phase conductors and a

concentric PE conductor as the shield. The shield must meet the
requirements of IEC 61439-1, see page 60. Check with
local/state/country electrical codes for allowance.
Symmetrical shielded cable with three phase conductors and a

concentric PE conductor as the shield. A separate PE conductor is
required if the shield does not meet the requirements of IEC 61439-1,
see page 60.
PE
PE Symmetrical shielded cable with three phase conductors and

symmetrically constructed PE conductor, and a shield. The PE conductor
must meet the requirements of IEC 61439-1, see page 60.
Power cable types for limited use
PE A four-conductor system (three phase conductors and a protective

conductor on a cable tray) is not allowed for motor cabling (it is
allowed for input cabling).
A four-conductor system (three phase conductors and a PE conductor in

a PVC conduit) is allowed for input cabling with phase conductor
PVC cross-section less than 10 mm2 (8 AWG) or motors < 30 kW (40 hp).
Not allowed in the USA.
Corrugated or EMT cable with three phase conductors and a protective

conductor is allowed for motor cabling with phase conductor cross
section less than 10 mm2 (8 AWG) or motors < 30 kW (40 hp).
EMT
Not allowed power cable types
PE Symmetrical shielded cable with individual shields for each phase

conductor is not allowed on any cable size for input or motor cabling.
 Motor cable shield

If the motor cable shield is used as the sole protective earth conductor of the motor,
make sure that the conductivity of the shield is sufficient. See section General rules
above, or IEC 61439-1.
To effectively suppress radiated and conducted radio-frequency emissions, the cable
shield conductivity must be at least 1/10 of the phase conductor conductivity. The
requirements are easily met with a copper or aluminum shield. The minimum
requirement of the motor cable shield of the drive is shown below. It consists of a
concentric layer of copper wires with an open helix of copper tape or copper wire. The
better and tighter the shield, the lower the emission level and bearing currents.
3 4 5
1 Sheath
2 Copper wire shield
3 Helix of copper tape or copper wire
4 Filling
5 Cable conductors
 Additional US requirements
Use type MC continuous corrugated aluminum armor cable with symmetrical grounds
or shielded power cable for the motor cables if metallic conduit is not used. For the
North American market, 600 V AC cable is accepted for up to 500 V AC. 1000 V AC
cable is required above 500 V AC (below 600 V AC). For drives rated over 100
amperes, the power cables must be rated for 75 °C (167 °F).
Conduit
Couple separate parts of a conduit together: bridge the joints with a ground conductor
bonded to the conduit on each side of the joint. Also bond the conduits to the drive
enclosure and motor frame. Use separate conduits for input power, motor, brake
resistor, and control wiring. When conduit is employed, type MC continuous
corrugated aluminum armor cable or shielded cable is not required. A dedicated
ground cable is always required.
Note: Do not run motor wiring from more than one drive in the same conduit.
Armored cable / shielded power cable

Six-conductor (three phases and three ground) type MC continuous corrugated
aluminum armor cable with symmetrical grounds is available from the following
suppliers (trade names in parentheses):
• Anixter Wire & Cable (Philsheath)
• BICC General Corp (Philsheath)
• Rockbestos Co. (Gardex)
• Oaknite (CLX).
Shielded power cables are available from the following suppliers:
• Belden
• LAPPKABEL (ÖLFLEX)
• Pirelli.
Selecting the control cables

 Shielding
All control cables must be shielded.
Use a double-shielded twisted pair cable (figure a below) for analog signals. Employ
one individually shielded pair for each signal. Do not use common return for different
analog signals.
A double-shielded cable is the best alternative for low-voltage digital signals but
single-shielded (b) twisted pair cable is also acceptable.
a b
 Signals in separate cables

Run analog and digital signals in separate, shielded cables.
Do not mix 24 V AC/DC and 115/230 V AC signals in the same cable.
 Signals allowed to be run in the same cable

Relay-controlled signals, providing their voltage does not exceed 48 V, can be run in
the same cables as digital input signals. The relay-controlled signals should be run as
twisted pairs.
 Relay cable
The cable type with braided metallic screen (for example ÖLFLEX by LAPPKABEL,
Germany) has been tested and approved by ABB.
 Control panel cable

In remote use, the cable connecting the control panel to the drive must not exceed
100 m (330 ft). If multiple panels or drives are connected, the total length of the panel
bus must not exceed 100 m (330 ft).
The cable type tested and approved by ABB is used in control panel option kits.
Suitable cables are CAT 5e unshielded or shielded twisted pair cables.
 Drive composer PC tool cable

Connect the Drive composer PC tool to the drive through the USB port of the control
panel. Use a USB type A (PC) - type B (control panel) cable. The maximum length of
the cable is 3 m (9.8 ft).
 FPBA-01 PROFIBUS DP adapter module connectors

Frames R0…R3: The following connector types have been tested to fit in the tight
space for option slot 1.
• Phoenix Contact SUBCON-PLUS-PROFIB/PG/SC2, part number 2708245. Lead
the cable through the control cable hole on the right in the lead-through plate (1).
• Siemens, part number 6GK1 500 0EA02. Lead the cable through the middle
control cable hole in the lead-through plate (2).
1
2
Routing the cables

 General rules
Route the motor cable away from other cable routes. Motor cables of several drives
can be run in parallel installed next to each other. The motor cable, input power cable
and control cables should be installed on separate trays. Avoid long parallel runs of
motor cables with other cables in order to decrease electromagnetic interference
caused by the rapid changes in the drive output voltage.
Where control cables must cross power cables, make sure they are arranged at an
angle as near to 90 degrees as possible. Do not run extra cables through the drive.
The cable trays must have good electrical bonding to each other and to the grounding
electrodes. Aluminum tray systems can be used to improve local equalizing of
potential.
A diagram of the cable routing is shown below.
Drive
Motor cable
min. 300 mm (12 in)
Input power or
brake resistor cable
90°
Control cable Motor cable
min. 200 mm (8 in)

min. 500 mm (20 in)
Input power cable
Control cable
 Separate control cable ducts

Lead 24 V and 230 V (120 V) control cables in separate ducts unless the 24 V cable
is insulated for 230 V (120 V) or insulated with an insulation sleeving for 230 V
(120 V).
230 V
(120 V)
24 V
 Continuous motor cable shield or enclosure for equipment on the

motor cable
To minimize the emission level when safety switches, contactors, connection boxes
or similar equipment are installed on the motor cable between the drive and the
motor:
• European Union: Install the equipment in a metal enclosure with 360 degree
grounding for the shields of both the incoming and outgoing cable, or connect the
shields of the cables otherwise together.
• US: Install the equipment in a metal enclosure in a way that the conduit or motor
cable shielding runs consistently without breaks from the drive to the motor.
Implementing thermal overload and short-circuit protection

 Protecting the drive and input power cable in short-circuits
Protect the drive and input cable with fuses as follows:
~ M
~ 3~
Size the fuses at the distribution board according to instructions given in chapter
Technical data on page 495. The fuses will protect the input cable in short-circuit
situations, restrict drive damage and prevent damage to adjoining equipment in case
of a short-circuit inside the drive.
Note: Circuit breakers must not be used without fuses.
 Protecting the motor and motor cable in short-circuits

The drive protects the motor cable and motor in a short-circuit situation when the
motor cable is sized according to the nominal current of the drive. No additional
protection devices are needed.
 Protecting the drive and the input power and motor cables against
thermal overload
The drive protects itself and the input and motor cables against thermal overload
when the cables are sized according to the nominal current of the drive. No additional
thermal protection devices are needed.
WARNING! If the drive is connected to multiple motors, use a separate circuit

breaker or fuses for protecting each motor cable and motor against overload.
The drive overload protection is tuned for the total motor load. It may not trip due to
an overload in one motor circuit only
 Protecting the motor against thermal overload

According to regulations, the motor must be protected against thermal overload and
the current must be switched off when overload is detected. The drive includes a
motor thermal protection function that protects the motor and switches off the current
when necessary. Depending on a drive parameter value, the function either monitors
a calculated temperature value (based on a motor thermal model) or an actual
temperature indication given by motor temperature sensors. The user can tune the
thermal model further by feeding in additional motor and load data.
The most common temperature sensors are:

• motor sizes IEC180…225: thermal switch, eg, Klixon
• motor sizes IEC200…250 and larger: PTC or Pt100.
For more information, see section Motor thermal protection on page 214.
Protecting the drive against ground faults

The drive is equipped with an internal ground fault protective function to protect the
unit against ground faults in the motor and motor cable. This is not a personnel safety
or a fire protection feature. The ground fault protective function can be reduced with a
parameter 31.20 Earth fault.
 Residual current device compatibility

The drive is suitable to be used with residual current devices of Type B.
Note: The EMC filter of the drive includes capacitors connected between the main
circuit and the frame. These capacitors and long motor cables increase the ground
leakage current and may cause fault current circuit breakers to function.
Implementing the Emergency stop function

For safety reasons, install the emergency stop devices at each operator control
station and at other operating stations where emergency stop may be needed.
Design the emergency stop according to relevant standards.
Note: Pressing the stop key on the control panel of the drive does not generate
an emergency stop of the motor or separate the drive from dangerous potential.
Implementing the Safe torque off function

See chapter The Safe torque off function on page 555.
Implementing the Power-loss ride-through function

Implement the power-loss ride-through function as follows:
• Check that the power-loss ride-through function of the drive is enabled with
parameter 30.31 Undervoltage control.
• Parameter 21.01 Vector start mode must be set to Automatic (in vector mode) or
parameter 21.19 Scalar start mode to Automatic (in scalar mode) to make flying
start (starting into a rotating motor) possible.
• If the installation is equipped with a main contactor, prevent its tripping at the input
power break. For example, use a time delay relay (hold) in the contactor control
circuit.
WARNING! Make sure that the flying restart of the motor will not cause any
danger. If you are in doubt, do not implement the Power-loss ride-through
function.
Using a safety switch between the drive and the motor

It is recommended to install a safety switch between the permanent magnet motor
and the drive output. This is needed to isolate the motor from the drive during
maintenance work on the drive.
Using a contactor between the drive and the motor

Implementing the control of the output contactor depends on how you select the drive
to operate. See also section Implementing a bypass connection on page 70.
When you have selected to use
• Vector control mode and motor ramp stop,
open the contactor as follows:
1. Give a stop command to the drive.
2. Wait until the drive decelerates the motor to zero speed.
3. Open the contactor.
When you have selected to use
• Vector control mode and motor coast stop; or scalar control mode,
open the contactor as follows:
1. Give a stop command to the drive.
2. Open the contactor.
WARNING! When the Vector control mode is in use, never open the output
contactor while the drive controls the motor. The vector control operate
extremely fast, much faster than it takes for the contactor to open its contacts. When
the contactor starts opening while the drive controls the motor, the vector control will
try to maintain the load current by immediately increasing the drive output voltage to
the maximum. This will damage, or even burn the contactor completely.
Implementing a bypass connection

If frequent bypassing is required, employ mechanically or electrically interlocked
contactors between the motor and the drive and between the motor and the power
line. Make sure with interlocking that the contactors cannot be closed simultaneously.
WARNING! Never connect the drive output to the electrical power network.
The connection may damage the drive.
 Example bypass connection

An example bypass connection is shown below.
Q1 Drive main switch S11 Drive main contactor on/off control

Q4 Bypass circuit breaker S40 Motor power supply selection (drive or
direct-on-line)
K1 Drive main contactor S41 Start when motor is connected direct-on-
line
K4 Bypass contactor S42 Stop when motor is connected direct-on-

line
K5 Drive output contactor
Switching the motor power supply from drive to direct-on-line

1. Stop the drive and the motor with the drive control panel (drive in local control
mode) or with the external stop signal (drive in remote control mode).
2. Open the main contactor of the drive with S11.
3. Switch the motor power supply from the drive to direct-on-line with S40.
4. Wait for 10 seconds to allow the motor magnetization to die away.
5. Start the motor with S41.
Switching the motor power supply from direct-on-line to drive

1. Stop the motor with S42.
2. Switch the motor power supply from direct-on-line to the drive with S40.
3. Close the main contactor of the drive with switch S11 (-> turn to position ST for
two seconds and leave at position 1).
4. Start the drive and the motor with the drive control panel (drive in local control
mode) or with the external start signal (drive in remote control mode).
Protecting the contacts of relay outputs

Inductive loads (relays, contactors, motors) cause voltage transients when switched
off.
It is highly recommended that inductive loads are equipped with noise attenuating
circuits (varistors, RC filters [AC] or diodes [DC]) in order to minimize the EMC
emission at switch-off. If not suppressed, the disturbances may connect capacitively
or inductively to other conductors in the control cable and form a risk of malfunction in
other parts of the system.
Install the protective component as close to the inductive load as possible. Do not
install protective components at the relay outputs.
230 V AC
230 V AC
+ 24 V DC
1) Relay outputs; 2) varistor; 3) RC filter; 4) diode
Limiting relay output maximum voltages at high installation

altitudes
See sections Isolation areas, R0…R3: on page 513 and Isolation areas, R5…R9: on
page 514.
Electrical installation 75
6
Electrical installation
The chapter describes how to check the insulation of the assembly and the
compatibility with IT (ungrounded) and corner-grounded TN systems. It then shows
how to connect the power and control cables, install optional modules and connect a
PC.
Warnings
WARNING! Obey the instructions in chapter Safety instructions on page 17. If

you ignore them, injury or death, or damage to the equipment can occur.
Make sure that the drive is disconnected from the input power during
installation. If the drive is already connected to the input power, wait for
5 minutes after disconnecting the input power.
Required tools
To perform the electrical installation, you need the following tools:
• wire stripper
• screwdriver and/or wrench with a set of suitable bits.
76 Electrical installation
Checking the insulation of the assembly

 Drive
Do not make any voltage tolerance or insulation resistance tests on any part of the
drive as testing can damage the drive. Every drive has been tested for insulation
between the main circuit and the chassis at the factory. Also, there are voltage-
limiting circuits inside the drive which cut down the testing voltage automatically.
 Input power cable

Check the insulation of the input cable according to local regulations before
connecting it to the drive.
 Motor and motor cable

Check the insulation of the motor and motor cable as follows:
1. Check that the motor cable is disconnected from the drive output terminals T1/U,
T2/V and T3/W.
2. Measure the insulation resistance between each phase conductor and the
Protective Earth conductor using a measuring voltage of 1000 V DC. The
insulation resistance of an ABB motor must exceed 100 Mohm (reference value at
25 °C or 77 °F). For the insulation resistance of other motors, please consult the
manufacturer’s instructions.
Note: Moisture inside the motor casing will reduce the insulation resistance. If
moisture is suspected, dry the motor and repeat the measurement.
U1
M
V1
3~
ohm W1
PE
 Brake resistor assembly

Check the insulation of the brake resistor assembly (if present) as follows:
1. Check that the resistor cable is connected to the resistor, and disconnected from
the drive output terminals R+ and R-.
2. At the drive end, connect the R+ and R- conductors of the resistor cable together.
Measure the insulation resistance between the combined conductors and the PE
conductor by using a measuring voltage of 1 kV DC. The insulation resistance

must be higher than 1 Mohm.
R+
R-
ohm
PE
Checking the compatibility with IT (ungrounded) and

corner-grounded TN systems
The internal EMC filter is not suitable for use on an IT (ungrounded) system or on a
corner-grounded TN system. Disconnect the EMC filter before connecting the drive to
the supply network. For instructions on how to do this, see page 78.
WARNING! Do not install the drive with the internal EMC filter connected on an
IT system (an ungrounded power system or a high-resistance-grounded [over
30 ohms] power system), otherwise the system will be connected to ground potential
through the EMC filter capacitors of the drive. This can cause danger, or damage the
drive.
Do not install the drive with the internal EMC filter connected on a corner-grounded
TN system, otherwise the drive will be damaged.
Note: When the internal EMC filter is disconnected, the drive EMC compatibility is
considerably reduced. See section EMC compatibility and motor cable length on
page 510.
 Frames R0…R3
If you have an IT (ungrounded) or corner-grounded TN system, do as follows:
1. Switch off the power from the drive.
2. Open the front cover, if not already opened, see page 81.
3. Disconnect the internal EMC filter by sliding the EMC switch in the direction
shown by the arrow.
R0…R2
3
EMC
R3
EMC
3
 Frames R5…R9
If you have an IT (ungrounded) or corner-grounded TN system, do as follows:
1. Switch off the power from the drive.
2. Open the cover, if not already opened. Frame R5: see page 55, frames R6…R9:
see page 58.
3. Disconnect the internal EMC filter by removing the two EMC screws.
R5
R6…R9
3
Connecting the power cables

 Connection diagram
ACS580-01
UDC+
L1 L2 L3 R- R+ T1/U T2/V T3/W
PE
2b
2a
3 3 4
V1
1 W1
U1
3~M
(PE) PE (PE) L1 L2 L3
1 For alternatives, see section Selecting the supply disconnecting device on page 59.
2 Use a separate grounding PE cable (2a) or a cable with a separate PE conductor (2b)
if the conductivity of the shield does not meet the requirements for the PE conductor
(see page 60).
3 360-degree grounding is recommended if shielded cable is used. Ground the other end
of the input cable shield or PE conductor at the distribution board.
4 360-degree grounding is required.
5 External brake resistor
6 Use a separate grounding cable if the shield does not meet the requirements of
IEC 61439-1 (see page 60) and there is no symmetrically constructed grounding
conductor in the cable (see page 63).
Note:
If there is a symmetrically constructed grounding conductor on the motor cable in addition to
the conductive shield, connect the grounding conductor to the grounding terminal at the drive
and motor ends.
Do not use an asymmetrically constructed motor cable for motors above 30 kW (see page 60).
Connecting its fourth conductor at the motor end increases bearing currents and causes extra
wear.
 Connection procedure, frames R0…R3

1. Remove the front cover: Loosen the retaining screw with a screwdriver (1a) and
lift the cover from the bottom outwards (1b).
1b
1b 1a
WARNING! If the drive will be connected on an IT (ungrounded) system or on

a corner-grounded TN system, make sure you have disconnected the EMC
filter. See page 77.
2. Attach the residual voltage warning sticker in the local language.
R0…R1 R2 R3
2 2 2
3. Remove the rubber grommets from the lead-through plate.

4. Frames R0…R2, optional: It is possible to temporarily remove the power cable
grounding shelf at this point to make it easier to connect the power cable
conductors and twisted shields in a tight space. The grounding shelf must be
reinstalled before grounding the stripped parts of the power cables 360 degrees.
3
4
Motor cable
5. Cut an adequate hole into the rubber grommet. Slide the grommet onto the cable.
6. Prepare the ends of the cable as illustrated in the figure. Two different motor cable
types are shown in the figures (6a, 6b). Note: The bare shield will be grounded
360 degrees.
5 6a
PE
6b
PE
7. Slide the cable through the hole of the lead-through plate and attach the grommet
to the hole.
8. Connect the motor cable:

If you temporarily removed the power cable grounding shelf in step 4, connect the
motor and input power cables except the 360 degree grounding, and then reinstall
the grounding shelf. Note: The screws are of different length; find out where each
of them is used in the figure at step 4. After reinstalling the grounding shelf, you
can make the 360 degree grounding for the cables.
• Ground the shield 360 degrees by tightening the clamp of the power cable
grounding shelf onto the stripped part of the cable. (8a)
• Connect the twisted shield of the cable to the grounding terminal. (8b)
• Connect the phase conductors of the cable to the T1/U, T2/V and T3/W
terminals. Tighten the screws to the torque given below the figure. (8c).
R0…R2 R3
8b
8c 8c
8b
8a
8a
Frame size R0…R1 R2 R3

N·m lbf·ft N·m lbf·ft N·m lbf·ft
L1, L2, L3, T1/U, T2/V, T3/W, R+, R- 0.5…0.6 0.4 1.2…1.5 0.9…1.1 2.5…4.5 1.8…3.3
Input power cable

10. Prepare the ends of the cable as illustrated in the figure. Note: The bare shield
will be grounded 360 degrees. Mark the pigtail made from the shield as a PE
conductor with yellow-and-green color.
11. Slide the cable through the hole of the lead-through plate and attach the grommet
to the hole.
10
PE
PE
9
11
12. Connect the input power cable:

• Ground the shield 360 degrees by tightening the clamp of the power cable
grounding shelf onto the stripped part of the cable. (12a)
• Connect the twisted shield of the cable to the grounding terminal. (12b)
• Connect the additional PE conductor (see the note on page 21 in chapter
Safety instructions) of the cable (12c).
• Connect the phase conductors of the cable to the L1, L2 and L3 terminals.
Tighten the screws to the torque given below the figure. (12d).
R0…R2 R3
12b 12c
12d 12b
12d
12c
12a
12a

L1, L2, L3, T1/U, T2/V, T3/W, R+, R- 0.5…0.6 0.4 1.2…1.5 0.9…1.1 2.5…4.5 1.8…3.3
Brake resistor cable (if used)

13. Frames R0…R2: Install the grounding shelf for the brake resistor cable (included
with the mounting screws in a plastic bag in the delivery) onto the grounding shelf
for the power cables.
R0…R2
13
14. Repeat steps 5…7 for the brake resistor cable. Cut off one phase conductor.
PE
14
15. Connect the cable as the motor cable in step 8. Ground the shield 360 degrees
(15a). Connect the twisted shield to the grounding terminal (15b) and the
conductors to the R+ and R- terminals (15c) and tighten to the torque given below
the figure.
R0…R2 R3
15c 15b
15c
15b
15a
15a

L1, L2, L3, T1/U, T2/V, T3/W, R+, R- 0.5…0.6 0.4 1.2…1.5 0.9…1.1 2.5…4.5 1.8…3.3
Finalization
Note: Frames R0…R2: You have to install any optional I/O extension module, if used,
in options slot 2 at this point. See section Installing optional modules on page 110.
16. Install the grounding shelf for the control cables (included with the mounting
screws in a plastic bag in the delivery) onto the grounding shelf for the power
cables.
R0…R2 R3
14 14
17. Put the (so far) unused rubber grommets to the holes in the lead-through plate,
unless you will continue with installing the control cables.
R0…R2 R3
15 15
18. Secure the cables outside the unit mechanically.

19. Ground the motor cable shield at the motor end. For minimum radio frequency
interference, ground the motor cable shield 360 degrees at the lead-through of
the motor terminal box.
17
 Connection procedure, frame R5

Prepare the drive and the cables

1. Attach the residual voltage warning sticker in the local language next to the
control board.
2. Remove the shroud on the power cable terminals by releasing the clips and lifting
the shroud up from the sides with a screwdriver (2a). Knock out holes in the
shroud for the cables to be installed (2b).
2a
2b
3. Cut adequate holes into the rubber grommets. Slide the grommets onto the
cables. Prepare the ends of the cables as illustrated in the figure. Note: The bare
shield will be grounded 360 degrees. Mark the pigtail made from the shield as a
PE conductor with yellow-and-green color. Slide the cables through the holes of
the lead-through plate and attach the grommets to the holes (the motor cable to
the right and the input power cable to the left).
3a
PE
3b
PE
Connect the cables

• Ground the shield 360 degrees under the grounding clamps (4a).
• Connect the twisted shield of the cable to the grounding terminal (4b).
• Connect the phase conductors of the cable to the T1/U, T2/V and T3/W
terminals (4c). Tighten the screws to the torque given in table.
5. Connect the input power cable as in step 4. Ground the shield 360 degrees under
the grounding clamps (5a). Connect the twisted shield to the grounding terminal
(5b) and the phase conductors to the L1, L2 and L3 terminals (5c). Tighten the
screws to the torque given in table.
6. Install the EMC shroud separating the input and output cabling.
7. Reinstall the shroud on the power terminals.
4a
5c 4c
5b 4b
5a
L1, L2, L3, T1/U, T2/V, T3/W PE,

N·m lbf·ft N·m lbf·ft
R5 5.6 4.1 2.9 2.1
8. Put the unused rubber grommets to the holes in the lead-through plate.
14
 Connection procedure, frames R6…R9

1. Attach the residual voltage warning sticker in the local language next to the
control board.
2. Remove the side plates of the cable entry box: Remove the retaining screws and
slide the walls out.
1 2
3. Remove the shroud on the power cable terminals by releasing the clips with a
screwdriver and pulling the shroud out.
4. Knock out holes in the shroud for the cables to be installed.
5. Frames R8…R9: If you install parallel cables, also knock out holes in the lower
shroud for the cables to be installed.
R8…R9
3 4 5
Motor cable
7. Prepare the ends of the input power cable and motor cable as illustrated in the
figure. Two different motor cable types are shown in the figures (7a, 7b). Note:
The bare shield will be grounded 360 degrees. Mark the pigtail made from the
shield as a PE conductor with yellow-and-green color.
6 7a
PE
7b
PE
8. Slide the cables through the holes of the lead-through plate and attach the
grommets to the holes (the motor cable to the right and the input power cable to
the left).
• Ground the shield 360 degrees under the grounding clamps.
• Connect the twisted shield of the cable to the grounding terminal (9a).
• Connect the phase conductors of the cable to terminals T1/U, T2/V and T3/W.
Tighten the screws to the torque given in the figure (9b).
Note 1 for frames R8…R9: If you connect only one conductor to the connector,
we recommend that you put it under the upper pressure plate.
Note 2 for frames R8…R9: The connectors are detachable but we do not
recommend that you detach them. If you do, detach and reinstall the connectors
as follows.
Terminals L1, L2 and L3
• Remove the combi screw that attaches the connector to its terminal post, and
pull the connector off.
• Put the conductor under the connector pressure plate and pretighten the
conductor.
• Put the connector back onto the terminal post. Start the combi screw, and turn
it at least two rotations by hand.
WARNING! Before using tools, make sure that the nut/screw is not cross-
threading. Cross-threading will damage the drive and cause danger.
• Tighten the combi screw to a torque of 30 N·m (22 lbf·ft).

• Tighten the conductor(s) to 40 N·m (30 lbf·ft) for frame R8 or to 70 N·m
(52 lbf·ft) for frame R9.
Terminals T1/U, T2/V and T3/W
• Remove the nut that attaches the connector to its busbar.
• Put the conductor under the connector pressure plate and pretighten the
conductor.
• Put the connector back to its busbar. Start the nut, and turn it at least two
rotations by hand.
WARNING! Before using tools, make sure that the nut/screw is not cross-
threading. Cross-threading will damage the drive and cause danger.
• Tighten the nut to a torque of 30 N·m (22 lbf·ft).

• Tighten the conductor(s) to 40 N·m (30 lbf·ft) for frame R8 or to 70 N·m

(52 lbf·ft) for frame R9.
10. Connect the input power cable as in step 9. Use terminals L1, L2 and L3.
9b 10b
9a 10a
M5×25/35
8 8
Frame size L1, L2, L3, T1/U, T2/V, T3/W PE,

N·m lbf·ft N·m lbf·ft
R6 30 22.1 9.8 7.2
R7 40 29.5 9.8 7.2
R8 40 29.5 9.8 7.2
R9 70 51.6 9.8 7.2
11. Frames R8…R9: If you install parallel cables, install the second grounding shelf
for the parallel power cables (11a). Repeat steps 6...10 (11b).
R8…R9 R8…R9
M5×25
11b 11b
11a 11a
M5×12
12. Install the grounding shelf of the control cables.

13. Reinstall the shroud on the power terminals.

12 13
15
DC connection
The UDC+ and UDC- terminals (as standard in frames R5…R9) are for using external
brake chopper units.
Connecting the control cables

See section Default I/O connection diagram (ABB standard macro) on page 98 for the
default I/O connections of the ABB standard macro. For other macros, see chapter
Control macros on page 161.
Connect the cables as described under Control cable connection procedure R0…R9
on page 105.
 Default I/O connection diagram (ABB standard macro)

S1 AI1 U/I Voltage/Current selection for AI1: U I 1)
S2 AI2 U/I Voltage/Current selection for AI2: U I 2)
XI Reference voltage and analog inputs and outputs
1 SCR Signal cable shield (screen)
1…10 kohm 2 AI1 Output frequency/speed reference: 0…10 V4)
3 AGND Analog input circuit common
4 +10V Reference voltage 10 V DC
5 AI2 Not configured
max. 7 AO1 Output frequency: 0…20 mA
500 ohm 8 AO2 Output current: 0…20 mA
9 AGND Analog output circuit common
9) S3 AO1 I/U Voltage/Current selection for AO1: I U
X2 & X3 Aux. voltage output and programmable digital inputs
10 +24V Aux. voltage output +24 V DC, max. 250 mA3)
11 DGND Aux. voltage output common
7)
12 DCOM Digital input common for all
13 DI1 Stop (0) / Start (1)
14 DI2 Forward (0) / Reverse (1)
15 DI3 Constant frequency/speed selection5)
17 DI5 Ramp set 1 (0) / Ramp set 2 (1)6)
8)
18 DI6 Not configured
X6, X7, X8 Relay outputs
19 RO1C Ready run
20 RO1A 250 V AC / 30 V DC
21 RO1B 2A
22 RO2C Running
23 RO2A 250 V AC / 30 V DC
24 RO2B 2A
25 RO3C Fault (-1)
26 RO3A 250 V AC / 30 V DC
27 RO3B 2A
X5 EIA-485 Modbus RTU
29 B+ Embedded Modbus RTU (EIA-485). See chapter
30 A- Fieldbus control through the embedded fieldbus
31 DGND interface (EFB) on page 441.
S4 TERM Serial data link termination switch
S5 BIAS Serial data link bias resistors switch
X4 Safe torque off
34 OUT1
35 OUT2 Safe torque off. Factory connection. Both circuits
7) 36 SGND must be closed for the drive to start. See chapter
7)
37 IN1 The Safe torque off function on page 555.
38 IN2
X10 24 V AC/DC
See the notes on 40 24 V AC/DC- in R5…R9 only: Ext. 24V AC/DC input to power up the
the next page. 41 24 V AC/DC+ in control unit when the main supply is disconnected.
Terminal sizes:
R0…R3: 0.2…2.5 mm2 (terminals +24V, DGND, DCOM, B+, A-, DGND, Ext. 24V)
0.14…1.5 mm2 (terminals DI, AI, AO, AGND, RO, STO)
R5…R9: 0.14…2.5 mm2 (all terminals)
Tightening torques: 0.5…0.6 N·m (0.4 lbf·ft)
Notes:
1) Current [0(4)…20 mA, R = 100 ohm] or voltage [ 0(2)…10 V, R > 200 kohm] input selected
in in
with jumper S1. Change of setting requires changing the corresponding parameter.
2)
Current [0(4)…20 mA, Rin = 100 ohm] or voltage [ 0(2)…10 V, Rin > 200 kohm] input selected
with jumper S2. Change of setting requires changing the corresponding parameter.
3)
Total load capacity of the Auxiliary voltage output +24V (X2:10) is 6.0 W (250 mA / 24 V)
minus the power taken by the option modules installed on the board.
4)
AI1 is used as a speed reference if vector control is selected.
5)
In scalar control (default): See Menu - Primary settings - Start, stop, reference - Constant
frequencies or parameter group 28 Frequency reference chain.
In vector control: See Menu - Primary setting - Start, stop, reference - Constant speeds or
parameter group 22 Speed reference selection.
DI3 DI4 Operation/Parameter
Scalar control (default) Vector control
0 0 Set frequency through AI1 Set speed through AI1
1 0 28.26 Constant frequency 1 22.26 Constant speed 1
6)
In scalar control (default): See Menu - Primary settings - Ramps or parameter group 28
Frequency reference chain.
In vector control: See Menu - Primary settings - Ramps or parameter group 23 Speed
reference ramp.
DI5 Ramp Parameters
set Scalar control (default) Vector control
0 1 28.72 Freq acceleration time 1 23.12 Acceleration time 1
28.73 Freq deceleration time 1 23.13 Deceleration time 1
7) Connected with jumpers at the factory.
8)
Note: Use shielded twisted-pair cables for digital signals.
9)
Ground the outer shield of the cable 360 degrees under the grounding clamp on the
grounding shelf for the control cables.
Further information on the usage of the connectors and switches is given in the sections below.
See also section Control connection data on page 511.
Switches
Switch Description Position
S1 Determines whether analog input AI1 is U I Voltage (U) (default)
used as a voltage or current input. AI1
(AI1)
U I Current (I)
AI1
S2 Determines whether analog input AI2 is U I Voltage (U)
used as a voltage or current input. AI2
(AI2)
U I Current (I) (default)
AI2
S3 Determines whether analog output AO1 is I U Current (I) (default)
used as a current or voltage output. AO1
(AO1)
I U Voltage (U)
AO1
S4 Drive-to-drive link termination. Must be set ON Bus not terminated
(TERM) to the terminated (ON) position when the (default)
drive (or another device) is the first or last
TERM
unit on the link.
ON Bus terminated
TERM
S5 Switches on the biasing voltages to the ON Bias off (default)
(BIAS) bus. One (and only one) device, preferably
at the end of the bus must have the bias
BIAS
on.
ON Bias on
BIAS
PNP configuration for digital inputs

Internal and external +24 V power supply connections for PNP configuration are
shown in the figure below.
Internal +24 V power supply External +24 V power supply
PNP connection (source) PNP connection (source)

X2 & X3 X2 & X3
10 +24V 10 +24V
11 DGND 0 V DC 11 DGND
12 DCOM 12 DCOM
+24 V DC
13 DI1 13 DI1
14 DI2 14 DI2
15 DI3 15 DI3
16 DI4 16 DI4
17 DI5 17 DI5
18 DI6 18 DI6
NPN configuration for digital inputs

Internal and external +24 V power supply connections for NPN configuration are
shown in the figure below.
Internal +24 V power supply External +24 V power supply
NPN connection (sink) NPN connection (sink)

X2 & X3 X2 & X3
10 +24V 10 +24V
11 DGND 11 DGND
+24 V DC
12 DCOM 12 DCOM
13 DI1 0 V DC
13 DI1
14 DI2 14 DI2
15 DI3 15 DI3
16 DI4 16 DI4
17 DI5 17 DI5
18 DI6 18 DI6
Connection for obtaining 0…10 V from analog output 2 (AO2)

To obtain 0…10 V from analog output AO2, connect a 500 ohm resistor (or two
1 kohm resistors in parallel) between the analog output 2 AO2 and analog common
ground AGND.
Examples are shown in the figure below.
X1
8 AO2 Analog output 2. Default output 0…20 mA.

0…10 V
500 ohm
Analog common ground. Internally connected
9 AGND
to chassis through a 2 Mohm resistor.
X1
8 AO2 Analog output 2. Default output 0…20 mA.

0…10 V
1 kohm 1 kohm
Analog common ground. Internally connected
9 AGND
to chassis through a 2 Mohm resistor.
Connection examples of two-wire and three-wire sensors

Hand/Auto, Hand/PID, and PID macros (see chapter Control macros, pages 170, 172
and 174, respectively) use analog input 2 (AI2). The macro wiring diagrams on these
pages use an externally powered sensor (connections not shown). The figures below
give examples of connections using a two-wire or three-wire sensor/transmitter
supplied by the drive auxiliary voltage output.
Note: Maximum capability of the auxiliary 24 V DC (250 mA) output must not be
exceeded.
Two-wire sensor/transmitter
X1
P
- 4…20 mA
5 AI2 Process actual value measurement or reference,
I + 6 AGND 0(4)…20 mA, Rin = 100 ohm
…
10 +24V Auxiliary voltage output, non-isolated,
11 DGND +24 V DC, max. 250 mA
Note: The sensor is supplied through its current output and the drive feeds the supply
voltage (+24 V DC). Thus the output signal must be 4…20 mA, not 0…20 mA.
Three-wire sensor/transmitter
X1
OUT (0)4…20 mA
P 5 AI2 Process actual value measurement or reference,
- 6 AGND 0(4)…20 mA, Rin = 100 ohm
I
+ …
10 +24V Auxiliary voltage output, non-isolated,
11 DGND +24 V DC, max. 250 mA
DI6 as frequency input

If DI6 is used as a frequency input, see section Programmable frequency input and
output on page 186 for how to set parameters accordingly.
AI1 and AI2 as Pt100, Pt1000, Ni1000, KTY83 and KTY84 sensor inputs (X1)
One, two or three Pt100 sensors; one, two or three Pt1000 sensors; or one Ni1000,
KTY83 or KTY84 sensor for motor temperature measurement can be connected
between an analog input and output as shown below. Do not connect both ends of
the cable shields directly to ground. If a capacitor cannot be used at one end, leave
that end of the shield unconnected.
1…3 × (Pt100 or Pt100) or

1 × (Ni1000 or KTY83 or KTY84)
AIn 1)
AGND
T T T 2)
AOn
AGND
3.3 nF
> 630 V AC
1) Set the input type to voltage with switch S1 for analog input AI1or with S2 for analog input
AI2. Set the appropriate analog input unit to V (volt) in parameter group 12 Standard AI.
2) Select the excitation mode in parameter group 13 Standard AO.
WARNING! As the inputs pictured above are not insulated according to IEC 60664, the
connection of the motor temperature sensor requires double or reinforced insulation
between motor live parts and the sensor. If the assembly does not fulfill the requirement, the I/O
board terminals must be protected against contact and must not be connected to other
equipment or the temperature sensor must be isolated from the I/O terminals.
Safe torque off (X4)

For the drive to start, both connections (+24 V DC to IN1 and +24 V DC to IN2) must
be closed. By default, the terminal block has jumpers to close the circuit. Remove the
jumpers before connecting an external Safe torque off circuitry to the drive. See
chapter The Safe torque off function on page 555.
Note: Only 24 V DC can be used for STO. Only PNP input configuration can be used.
 Control cable connection procedure R0…R9

1. Stop the drive and do the steps in section Precautions before electrical work on
page 20 before you start the work.
2. Remove the front cover(s) if not already removed. See page 81 (R0…R3), page
55 (R5) or page 58 (R6…R9).
Analog signals
The figures for frames R0…R2 (page 107), R3 (page 107), R5 (page 108) and
R6…R7 (page 109) show an example of connecting a cable. Make the connections
according to the macro in use.
3. Cut an adequate hole into the rubber grommet and slide the grommet onto the
cable. Slide the cable through a hole in the lead-through plate and attach the
grommet to the hole.
4. Ground the outer shield of the cable 360 degrees under the grounding clamp.
Keep the cable unstripped as close to the terminals of the control board as
possible.
Frames R5…R9: Secure the cables mechanically at the clamps below the control
unit.
Ground also the pair-cable shields and grounding wire at the SCR terminal.
5. Route the cable as shown in the figures on pages 107 (R0…R2), 107 (R3), 108
(R5) or 109 (R6…R9).
6. Connect the conductors to the appropriate terminals of the control board and
tighten to 0.5…0.6 N·m (0.4 lbf·ft).
Digital signals
The figures for frames R0…R2 (page 107), R3 (page 107), R5 (page 108) and
R6…R7 (page 109) show an example of connecting a cable. Make the connections
according to the macro in use.
7. Cut an adequate hole into the rubber grommet and slide the grommet onto the
cable. Slide the cable through the hole in the lead-through plate and attach the
grommet to the hole.
8. Ground the outer shield of the cable 360 degrees under the grounding clamp.
Keep the cable unstripped as close to the terminals of the control board as
possible.
Frames R5…R9: Secure the cables mechanically at the clamps below the control
unit.
If you use double-shielded cables, ground also the pair-cable shields and
grounding wire at the SCR terminal.
9. Route the cable as shown in the figures on pages 107 (R0…R2), 107 (R3), 108
(R5) or 109 (R6…R9).
10. Connect the conductors to the appropriate terminals of the control board and
tighten to 0.5…0.6 N·m (0.4 lbf·ft).
11. Tie all control cables to the provided cable tie mounts.
Note:
• Leave the other ends of the control cable shields unconnected or ground them
indirectly via a high-frequency capacitor with a few nanofarads, eg, 3.3 nF / 630 V.
The shield can also be grounded directly at both ends if they are in the same
ground line with no significant voltage drop between the end points.
• Keep any signal wire pairs twisted as close to the terminals as possible. Twisting
the wire with its return wire reduces disturbances caused by inductive coupling.
R0…R2 R3
6
11
11 10
5
10
9
11
5
9
11
4 8
3 7
4 8
R3: 0.5…0.6 N·m (0.4 lbf·ft)
3 7
R0…R2: 0.5…0.6 N·m (0.4 lbf·ft)

R5
6
4
0.5…0.6 N·m
(0.4 lbf·ft)
11
11
0.5…0.6 N·m
(0.4 lbf·ft) 5 9
11
4 8
4 8
3 7
R6…R9
0.5...0.6 N·m
(0.4 lbf·ft)
4
6
0.5...0.6 N·m
(0.4 lbf·ft) 11
10 11
5 9
4 8
M4×20
4 8
3 7
Installing optional modules

Note: If you will install the FPBA-01 module, see section FPBA-01 PROFIBUS DP
adapter module connectors on page 65 for suitable connector types.
 Mechanical installation of option modules

See section Overview of power and control connections page 36 for the available
slots for each module. Install the optional modules as follows:

Note: Slot 2 in frames R0…R3 is at UDC potential. You must disconnect power
supplies before installing or removing an I/O extension module.
Stop the drive and do the steps in section Precautions before electrical work on page
20 before you start the work.
1. Remove the front cover(s) if not already removed. See page 81 (R0…R3), page
55 (R5) or page 58 (R6…R9).
The figures for frames R0…R3 (page 111) and R6…R9 (page 112) show an example
of installing optional modules.
Option slot 3 (embedded fieldbus adapter modules)

2. The drive is delivered with the standard embedded fieldbus adapter module
CEIA-01 installed.
If you have ordered another optional module, remove the CEIA-01 module by
carefully bending the retaining clips to the sides while pulling the module outward,
and put the other module carefully into its position.
Note: Frames R0…R3: The module in option slot 3 is under the module in option slot
1. If you have to change the module in option slot 3, remove first the any module in
option slot 1, if present.
Option slot 2 (I/O extension modules)

3. Put the module carefully into its position on the control board.
4. Tighten the mounting screw.
5. Tighten the grounding screw (CHASSIS). Note: The screw grounds the module. It
is necessary for fulfilling the EMC requirements and for proper operation of the
module.
Note: Frames R0…R3: The module in option slot 2 covers the power terminals. Do
not install a module in option slot 2 before you have installed the power cables.
Option slot 1 (fieldbus adapter modules)

6. Put the module carefully into its position on the control board.
7. Tighten the mounting screw (CHASSIS). Note: The screw tightens the
connections and grounds the module. It is necessary for fulfilling the EMC
requirements and for proper operation of the module.
R0…R2 R3
2 2
2 6
7
3 4
6
2
5
4
3
5
R6…R9
2
7
 Wiring the modules

See the appropriate optional module manual for specific installation and wiring
instructions.
Reinstalling covers
 Reinstalling cover, frames R0…R3
1. Reinstall the cover: Put the tabs on the cover top in their counterparts on the
housing (1a) and the press the cover (1b).
2. Tighten the retaining screw at the bottom with a screwdriver.
1a
1b
 Reinstalling covers, frame R5

1. Install the cover of the cable entry box.
2. Tighten the two retaining screws with a screwdriver.
3. Reinstall the module cover. Put the tabs on the cover top in their counterparts on
the housing and then press the cover.
4. Tighten the two retaining screws with a screwdriver.
1
 Reinstalling side plates and covers, frames R6…R9

1. Reinstall the side plates of the cable entry box. Tighten the retaining screws with a
screwdriver.
2. Slide the cover of the cable entry box on the module from below until the cover
snaps into place.
3. Reinstall the module cover. Tighten the two retaining screws with a screwdriver.
1 2
3
Connecting a PC
To be able to connect a PC to the drive, you need an assistant control panel.
Connect a PC to the drive with a USB data cable (USB Type A <-> USB Type Mini-B)
as follows:
1. Lift the USB connector cover from bottom upwards.
2. Put the USB cable Mini-B plug in the control panel USB connector.
3. Put the USB cable A-plug in the USB connector of the PC (3a). The panel
displays text “USB connected” (3b).
Note: Panel keys cannot be used when a USB data cable is connected to the panel.
2
3a
1 2
For information on using the Drive composer PC tool, see Drive composer PC tool
user's manual (3AUA0000094606 [English]).
Installation checklist 117
7
Installation checklist
This chapter contains an installation checklist which you must complete before you
start up the drive.
Warnings

Checklist
Do the steps in section Precautions before electrical work on page 20 before you start
the work. Go through the checklist together with another person.
Check that …
The ambient operating conditions meet the specification in section Ambient conditions
on page 515.
If the drive will be connected to an IT (ungrounded) or corner-grounded TN supply

network: Internal EMC filter has been disconnected. See section Checking the
compatibility with IT (ungrounded) and corner-grounded TN systems on page 77.
If the drive has been stored over one year: The electrolytic DC capacitors in the DC
link of the drive have been reformed. See section Capacitors on page 490.
There is an adequately sized protective earth (ground) conductor between the drive
and the switchboard.
118 Installation checklist
Check that …
There is an adequately sized protective earth (ground) conductor between the motor
and the drive.
All protective earth (ground) conductors have been connected to the appropriate
terminals and the terminals have been tightened (pull conductors to check).
The supply voltage matches the nominal input voltage of the drive. Check the type
designation label.
The input power cable has been connected to appropriate terminals, the phase order
is right, and the terminals have been tightened. (Pull conductors to check.)
Appropriate supply fuses and disconnector have been installed.
The motor cable has been connected to appropriate terminals, the phase order is right,
and the terminals have been tightened. (Pull conductors to check.)
The brake resistor cable (if present) has been connected to appropriate terminals, and
the terminals have been tightened. (Pull conductors to check.)
The motor cable (and brake resistor cable, if present) has been routed away from other
cables.
The control cables (if any) have been connected to the control board.
If a drive bypass connection will be used: The direct-on-line contactor of the motor and
the drive output contactor are either mechanically or electrically interlocked (cannot be
closed simultaneously).
There are no tools, foreign objects or dust from drilling inside the drive.
Drive and motor connection box covers are in place.
The motor and the driven equipment are ready for start-up.
Start-up, control with I/O and ID run 119
8
Start-up, control with I/O and
ID run
The chapter tells how to:
• perform the start-up
• start, stop, change the direction of the motor rotation and adjust the speed of the
motor through the I/O interface
• perform an Identification run (ID run) for the drive.
120 Start-up, control with I/O and ID run
How to start up the drive
 How to start up the drive using the First start assistant on the
assistant control panel
Safety
Do not start-up the drive unless you are a qualified electrician.
Read and obey the instructions in chapter Safety instructions on page 17 during the
start-up procedure. Ignoring the instructions can cause physical injury or death, or damage to
the equipment.
Check the installation. See the checklist in chapter Installation checklist on page 117.
Make sure there is no active start on (DI1 in factory settings, that is, ABB standard
macro). The drive will start up automatically at power-up if the external run
command is on and the drive is in the remote control mode.
Check that the starting of the motor does not cause any danger.
De-couple the driven machine if
• there is a risk of damage in case of an incorrect direction of rotation, or
• a Normal ID run is required during the drive start-up, when the load torque is higher
than 20% or the machinery is not able to withstand the nominal torque transient during
the ID run.
Hints on using the assistant control panel
The two commands at the bottom of the display
(in the figure on the right, Options and Menu),
show the functions of the two softkeys and
located below the display. The commands
assigned to the softkeys vary depending on the
context.
Use keys , , and to move the cursor
and/or change values depending on the active
view.
Key ? shows a context-sensitive help page.
For more information, see ACS-AP-x assistant
control panels user’s manual (3AUA0000085685
[English]).
1 – First start assistant guided settings:
Language, date and time, and motor nominal values
Have the motor name plate data at hand.
Power up the drive.
The First start assistant guides you through the

first start-up.
The start-up begins automatically. Wait until the
control panel enters the view shown on the right.
Select the language you want to use by
highlighting it (if not already highlighted) and
pressing (OK).
Note: After you have selected the language, it
takes a few minutes for the control panel to wake
up.
Highlight Start set-up (if not already highlighted)
and press (Next).
Highlight the localization you want to use (if not

already highlighted) and press (Next).
Change the units shown on the panel if needed.

If it is not already highlighted,
• Go to the edit view by pressing .
• Scroll the view with and .
Go to the next view by pressing (Next).
Set the date, time as well as date and time display

formats.
• Go to the edit view of a highlighted row by
pressing .
• Scroll the view with and .
Go to the next view by pressing (Next).
In an edit view:
• Use and to move the cursor left and
right.
• Use and to change the value.
• Press (Save) to accept the new setting,
or press (Cancel) to go back to the
previous view without making changes.
To give the drive a name that will be shown at the

top, press .
If you do not want to change the default name
(ACS580), continue straight to the set-up of the
motor nominal values by pressing (Next).
Enter the name:

• To select the character mode (lower case /
upper case / numbers / special characters),
press until symbol is highlighted and
then select the mode with and . Now you
can start adding characters. The mode remains
selected until you select another one.
• To add a character, highlight it with and ,
and press .
• To remove a letter, press .
• Press (Save) to accept the new setting,
or press (Cancel) to go back to the
previous view without making changes.
Refer to the motor nameplate for the following nominal value settings of the motor. Whenever
possible, enter the values exactly as shown on the motor nameplate.
Example of a nameplate of an induction (asynchronous) motor:
ABB Motors
3 motor M2AA 200 MLA 4
IEC 200 M/L 55
No
Ins.cl. F IP 55
V Hz kW r/min A cos IA/IN t E/s
690 Y 50 30 1475 32.5 0.83
400 D 50 30 1475 56 0.83
660 Y 50 30 1470 34 0.83
380 D 50 30 1470 59 0.83
415 D 50 30 1475 54 0.83
440 D 60 35 1770 59 0.83
Cat. no 3GAA 202 001 - ADA
6312/C3 6210/C3 180

IEC 34-1
Check that the motor data is correct. Values are

predefined on the basis of the drive size but you
should verify that they correspond to the motor.
Start with the motor nominal current.
If you have to change the value, go to the edit
view of the highlighted row by pressing (when
this symbol is shown at the end of the row).
Set the correct value:

• Use and to move the cursor left and
right.
• Use and to change the value.
Press (Save) to accept the new setting, or
press (Cancel) to go back to the previous
view without making changes.
Continue to check/edit the nominal values.

Motor nominal cos phi and nominal torque are
optional.
Roll down with to see the last nominal value in
the view.
After editing the last one, the panel goes to the
next view.
To go directly to the next view, press (Next).
This step is optional, and requires rotating the

motor. Do not do this if it could cause any risk, or if
the mechanical set-up does not allow it.
To do the direction test, highlight Spin the motor
and press (Next).
First switch to local control by pressing the Loc/Rem

key. Local control is indicated by text “Local” on
the top pane.
Then press the Start key on the panel to
start the drive.
Check the direction of the motor.

If it is forward, highlight (if not already highlighted)
Yes, motor is spinning forward and press
(Next) to continue.
If the direction is not forward, highlight No, fix
direction and press (Next) to continue.
Forward direction Reverse direction
If you want to make a backup of the settings made

so far, select Backup and press (Next).
If you do not want to make a backup, select Not
now and press (Next).
The first start is now complete and the drive is

ready for use.
Press (Done) to enter the Home view.
The Home view monitoring the values of the

selected signals is shown on the panel.
2 – Additional settings in the Primary settings menu

Make any additional adjustments, for example,
macro, ramps, and limits, starting from the Main
menu – press (Menu) to enter the Main
menu.
Highlight Primary settings and press
(Select) (or ).
We recommend that you make at least these
additional settings:
• Choose a macro or set start, stop and reference
values individually
• Ramps
• Limits
With the Primary settings menu, you can also
adjust settings related to the motor, PID, fieldbus,
advanced functions and clock, region and display.
In addition, the menu contains an item to reset the
panel Home view.
To get more information on Primary settings
menu items, press ? to open the help page.
2 – Additional settings: Macro

Highlight Macro: and press (Select) (or
).
To change the macro in use, highlight the new

macro and press (Select), or to go back
without changes, press (Back).
Notes:
• Changing macro resets all settings except
motor data to the default values of the selected
macro.
• Changing macro resets all settings except
motor data to the default values of the selected
macro.
• When you change the macro, you also change
the use of the I/O signals in the drive. Make
sure the actual I/O wiring and the use of I/O in
the control program match each other. You can
check the current I/O use in the I/O menu under
the Main menu (see page 128).
To get information on a highlighted macro,
press ? .The help page shows the use of
signals and I/O connections. For detailed I/O
connection diagrams, see chapter Control
macros on page 161.
Scroll the page with and .
To return to the Control macro submenu, press
(Exit).
• All macros use scalar motor control by default.
If you want to use vector motor control instead,
Select Menu - Primary settings - Motor -
Control mode and follow the instructions.
2 – Additional settings: Start, stop and reference values

If you do not wish to use a macro, define the
settings for start, stop and reference:
Highlight Start, stop, reference and press
(Select) (or ).
Adjust the parameters according to your needs.

Highlight parameter and press (Select).
When you change the settings, you also change
the use of the I/O signals in the drive. Make sure
the actual I/O wiring and the use of I/O in the
control program match each other. You can check
the current I/O use in the I/O menu under the
Main menu (see page 128).
After making the adjustments, go back to the
Primary settings menu by pressing
(Back).
2 – Additional settings: Ramps
(acceleration and deceleration times for the motor)
Highlight Ramps and press (Select) (or
).

Highlight parameter and press (Edit).
(Back).
2 – Additional settings: Limits

Highlight Limits and press (Select) (or ).

Highlight parameter and press (Select).
(Back).
3 – I/O menu
After the additional adjustments, make sure that
the actual I/O wiring matches the I/O use in the
control program.
In the Main menu, highlight I/O and press
(Select) to enter the I/O menu.
Highlight the connection you want to check and

press (Select) (or ).
To view the details of a parameter that cannot be

adjusted via the I/O menu, press (View).
To adjust the value of a parameter, press

(Edit), adjust the value using , , and
keys and press (Save). Note that the actual
wiring must match the new value.
Go back to the Main menu by pressing

(Back) repeatedly.
4 – Diagnostics menu
After making the additional adjustments and
checking the I/O connections, use the
Diagnostics menu to make sure that the setup is
functioning correctly.
In the Main menu, highlight Diagnostics and
press (Select) (or .
Highlight the diagnostics item you want to view

and press (Select).
Return to the Diagnostics menu by pressing
(Back.)
5 – Backup
After you have finished start-up we recommend
that you make a backup.
In the Main menu, highlight Backups and press
(Select) (or .
Press (Select) to start backup.

How to control the drive through the I/O interface

The table below describes how to operate the drive through the digital and analog
inputs when:
• the motor start-up is performed, and
• the default parameter settings of the ABB standard macro are in use.
Preliminary settings
If you need to change the direction of rotation, check
that limits allow reverse direction: Go to Menu -
Primary settings - Limits and make sure that the
minimum limit has a negative value and the maximum
limit has a positive value.
Make sure that the control connections are wired See section Default I/O connection
according to the connection diagram given for the ABB diagram (ABB standard macro) on
standard macro. page 98.
Make sure that the drive is in remote control. Press In remote control, the panel display
key Loc/Rem to switch between remote and local shows text Remote at the top left.
control.
Starting and controlling the speed of the motor
Start by switching digital input DI1 on.
The arrow starts rotating. It is dotted until the setpoint
is reached.
Regulate the drive output frequency (motor speed) by
adjusting voltage of analog input AI1.
Changing the direction of the motor rotation

Reverse direction: Switch digital input DI2 on.
Forward direction: Switch digital input DI2 off.
Stopping the motor

Switch digital input DI1 off. The arrow stops rotating.
How to perform the ID run

The drive automatically estimates motor characteristics using identification
magnetization when the drive is started for the first time and after any motor
parameter (group 99 Motor data) is changed. This is valid when
• parameter 99.13 ID run requested is set to Standstill and
• parameter 99.04 Motor control mode is set to Vector.
In most applications there is no need to perform a separate ID run. The ID run should
be selected if:
• vector control mode is used (parameter 99.04 Motor control mode is set to
Vector), and
• permanent magnet motor (PM) is used (parameter 99.03 Motor type is set to
Permanent magnet motor), or
• operation point is near zero speed, or
• operation at torque range above the motor nominal torque, over a wide speed
range, and without any measured speed feedback is needed.
Note: If motor parameters (group 99 Motor data) are changed after the ID run, it must
be repeated.
Note: If you have already parameterized your application using the scalar motor
control mode (99.04 Motor control mode is set to Scalar) and you need to change
motor control mode to Vector,
• change the control mode to vector with the Control mode assistant and follow the
instructions (go to Main - Primary settings - Motor - Control mode)
or
• set parameter 99.04 Motor control mode to Vector, and
• for I/O controlled drive, check parameters in groups 22 Speed reference
selection, 23 Speed reference ramp, 12 Standard AI, 30 Limits and 46
Monitoring/scaling settings.
• for torque controlled drive, check also parameters in group 26 Torque
reference chain.
 ID Run procedure
Pre-check
WARNING! The motor will run at up to approximately 50…80% of the nominal
speed during the ID run. The motor will rotate in the forward direction. Make
sure that it is safe to run the motor before performing the ID run!
De-couple the motor from the driven equipment
Check that the values of the motor data parameters are equivalent to those on the motor
nameplate.
Check that the STO circuit is closed.
If parameter values (from group 10 Standard DI, RO to group 99 Motor data) are changed
before the ID run, check that the new settings meet the following conditions:
30.11 Minimum speed < 0 rpm
30.12 Maximum speed = motor rated speed (Normal ID run procedure needs the motor to
be run at 100% speed.)
30.17 Maximum current > IHD
30.20 Maximum torque 1 > 50% or 30.24 Maximum torque 2 > 50%, depending on which
torque limit set is in use according to parameter 30.18 Torq lim sel.
Check that signals
run enable (parameter 20.12 Run enable 1 source) is active
start enable (parameter 20.19 Enable start command) is active
enable to rotate (parameter 20.22 Enable to rotate) is active.
Make sure that the panel is in local control (text Local shown at the top left). Press key
Loc/Rem to switch between local and remote control.
ID run
Go to the Main menu by pressing (Menu)
in the Home view.
Highlight Primary settings and press
(Select) (or ).
Highlight Motor and press (Select) (or

).
Highlight Control mode and press

(Select) (or ).
Change motor control mode from scalar to vector:

Highlight Vector control and press
(Select).
The reference unit at the top right changes rom
Hz to rpm.
Warning message Identification run is shown at

the top for a few seconds.
Panel LED starts blinking green to indicate an
active warning.
Check the motor limits shown on the panel.
Press (Next).
Check other functions, for example AI settings

according to the vector control mode.
Press (Next).
Press the start key ( ) to start the ID run.
In general, it is recommended not to press any
control panel keys during the ID run. However,
you can stop the ID run at any time by pressing
the stop key ( ).
After the ID run is completed, text ID run done is
shown. The LED stops blinking.
If the ID run fails, fault FF61 ID run is shown. See
chapter Fault tracing on page 423 for more
information.
Control panel 137
9
Control panel
This chapter briefly describes the display, keys and key shortcuts of the assistant
control panel. For more information, see ACS-AP-x assistant control panels user’s
manual (3AUA0000085685 [English]).
Control panel
2
3
4
6 5
7 8
9 10
1 Control panel display 6 The arrow keys

2 Left softkey 7 Stop (see Start and Stop)
3 Right softkey 8 Start (see Start and Stop)
4 Status LED, see page 493. 9 Local/Remote (see Loc/Rem)
5 Help 10 USB connector
138 Control panel
Control panel display

In most views, the following elements are shown on the display:
2 3 1
1 4 5
7 8 7
1. Control location and related icons: Indicates how the drive is controlled:
• No text: The drive is in local control, but controlled from another device. The
icons in the top pane indicate which actions are allowed:
Text/Icons Starting from this Stopping from this Giving reference
control panel control panel from this panel
Not allowed Not allowed Not allowed
• Local: The drive is in local control, and controlled from this control panel. The
icons in the top pane indicate which actions are allowed:
Local Allowed Allowed Allowed
Control panel 139
• Remote: The drive is in remote control, ie, controlled through I/O or fieldbus.
The icons in the top pane indicate which actions are allowed with the control
panel:
Remote Not allowed Not allowed Not allowed
Remote Allowed Allowed Not allowed
Remote Not allowed Allowed Allowed
Remote Allowed Allowed Allowed
2. Panel bus: Indicates that there are more than one drive connected to this panel.
To switch to another drive, go to Options - Select drive.
3. Status icon: Indicates the status of the drive and the motor. The direction of the
arrow indicates forward (clockwise) or reverse (counter-clockwise) rotation.
Status icon Animation Drive status
- Stopped
- Stopped, start inhibited

Blinking Stopped, start command given but start inhibited. See
Menu - Diagnostics on the control panel
Blinking Faulted
Blinking Running, at reference, but the reference value is 0
Rotating Running, not at reference
Rotating Running, at reference
4. Drive name: If a name has been given, it is displayed in the top pane. By default,
it is “ACS580”. You can change the name on the control panel by selecting Menu
- Primary settings - Clock, region, display (see page 156).
5. Reference value: Speed, frequency, etc. is shown with its unit. For information on
changing the reference value in the Primary settings menu (see page 148).
6. Content area: The actual content of the view is displayed in this area. The
content varies from view to view. The example view on page 138 is the main view
of the control panel which is called the Home view.
7. Softkey selections: Displays the functions of the softkeys ( and ) in a
given context.
8. Clock: The clock displays the current time. You can change the time and time
format on the control panel by selecting Menu - Primary settings - Clock,
region, display (see page 156).
You can adjust the display contrast and backlight functionality on the control panel by
selecting Menu - Primary settings - Clock, region, display (see page 156).
140 Control panel
Keys
The keys of the control panel are described
below.
Left softkey
The left softkey ( ) is usually used for
exiting and canceling. Its function in a given
situation is shown by the softkey selection in
the bottom left corner of the display.
Holding down exits each view in turn until you are back in the Home view. This
function does not work in special screens.
Right softkey
The right softkey ( ) is usually used for selecting, accepting and confirming. The
function of the right softkey in a given situation is shown by the softkey selection in
the bottom right corner of the display.
The arrow keys
The up and down arrow keys ( and ) are used to highlight selections in menus
and selection lists, to scroll up and down on text pages, and to adjust values when,
for example, setting the time, entering a passcode or changing a parameter value.
The left and right arrow keys ( and ) are used to move the cursor left and right in
parameter editing and to move forward and backward in assistants. In menus, and
function the same way as and , respectively.
Help
The help key ( ? ) opens a help page. The help page is context-sensitive, in other
words, the content of the page is relevant to the menu or view in question.
Start and Stop
In local control, the start key ( ) and the stop key ( ) start and stop the drive,
respectively.
Loc/Rem
The location key ( Loc/Rem ) is used for switching the control between the control panel
(Local) and remote connections (Remote). When switching from Remote to Local
while the drive is running, the drive keeps running at the same speed. When
switching from Local to Remote, the status of the remote location is adopted.
Control panel 141
Key shortcuts
The table below lists key shortcuts and combinations. Simultaneous key presses are
indicated by the plus sign ( + ).
Shortcut Available in Effect
+ any view Save a screenshot. Up to fifteen images may be stored
+ in the control panel memory.
To transfer images to PC, connect the assistant control
panel to PC with a USB cable and the panel will mount
itself as an MTP (media transfer protocol) device.
Pictures are stored in the screen shots folder.
For more instructions, see ACS-AP-x assistant control
panels user’s manual (3AUA0000085685 [English]).
+ , any view Adjust backlight brightness.
+
+ , any view Adjust display contrast.
+
or Home view Adjust reference.
+ parameter edit views Revert an editable parameter to its default value.
+ any view Show/hide parameter index and parameter group
numbers.
any view Return to the Home view by pressing down the key until
(keep down) the Home view is shown.
142 Control panel
Settings, I/O and diagnostics on the control panel 143
10
Settings, I/O and diagnostics
on the control panel
This chapter provides detailed information about the Primary settings, I/O and
Diagnostics menus on the control panel.
To get to the Primary settings, I/O or Diagnostic menu from the Home view, first
select Menu to go the Main menu, and in the Main menu, select Primary settings,
I/O or Diagnostics.
144 Settings, I/O and diagnostics on the control panel
Primary settings menu
To go the Primary settings menu from the Home view, select Main - Menu -
Primary settings.
The Primary settings menu enables you to adjust and define additional settings
used in the drive.
After making the guided settings using the first start assistant, we recommend that
you make at least these additional settings:
• Select a Macro or set Start, stop, reference values
• Ramps
• Limits
With the Primary settings menu, you can also adjust settings related to the motor,
PID, fieldbus, advanced functions and clock, region and display. In addition, the menu
contains an item to reset the panel Home view. Note that the Primary settings menu
only enables you to modify some of the settings: more advanced configuration is
done via the parameters: Select Menu - Parameters. For more information on the
different parameters, see chapter Parameters on page 225.
In the Setting menu, the symbol indicates multiple connected signals/parameters.
The symbol indicates that the setting provides an assistant when modifying the
parameters.
To get more information on Primary settings menu items, press the ? key to open
the help page.
The figure below shows how to navigate in the Primary settings menu.
The sections below provide detailed information about the contents of the different
submenus available in the Primary settings menu.
 Macro
Use the Macro submenu to quickly set up drive control and reference source by
selecting from a set of predefined wiring configurations.
Note: For detailed information about the available macros, see Control macros on
page 143.
If you do not wish to use a macro, manually define the settings for Start, stop,
reference. Note that even if you select to use a macro, you can also modify the other
settings to suit your needs.
 Motor
Use the Motor submenu to adjust motor-related settings, such as nominal values,
control mode or thermal protection.
Note that settings that are visible depend on other selections, for example vector or
scalar control mode, used motor type or selected start mode.
The table below provides detailed information about the available setting items in the
Motor menu.
Menu item Description Corresponding
parameter
Control mode Selects whether to use scalar or vector control 99.04 Motor control
mode. mode
For information on scalar control mode, see Scalar

motor control on page 196.
For information on vector control mode, see Vector
control on page 188.
Nominal values Enter the motor's nominal values from the motor's 99.06 Motor nominal
nameplate. current …
99.12 Motor nominal
torque
Thermal protection The settings in this submenu are meant to protect 35 Motor thermal
estimated the motor from overheating by automatically protection
triggering a fault or warning above a certain
temperature.
By default, motor thermal estimate protection is on.
We recommend checking the values for the
protection to function properly.
For more information, see Motor thermal protection
on page 214.
Thermal protection The settings in this submenu are meant to protect 35 Motor thermal
measured the motor with a thermal measurement from protection
overheating by automatically triggering a fault or
warning above a certain temperature.
For more information, see Motor thermal protection
on page 214.
Start mode: Sets how the drive starts the motor (e.g. pre- 21 Start/stop mode
magnetize or not).
Flux braking: Sets how much current to use for braking, ie. how 97.05 Flux braking
the motor is magnetized before starting. For more
information, see Flux braking on page 198.
U/f ratio: The form of voltage to frequency ratio below field 97.20 U/F ratio
weakening point. For more information, see U/f
ratio on page 198.
IR compensation: Sets how much to boost voltage at zero speed. 97.13 IR compensation
Increase this for higher break-away torque. For
more information, see IR compensation for scalar
motor control on page 196.
Pre-heating Turns pre-heating on or off. The drive can prevent 21.14 Pre-heating input
condensation in a stopped motor by feeding it a source
21.16 Pre-heating
fixed current (% of motor nominal current). Use in current
humid or cold conditions to prevent condensation.
Phase order: If the motor turns in the wrong direction, change 99.06 Motor phase order
this setting to fix the direction instead of changing
the phase order on the motor cable.
 Start, stop, reference
Use the Start, stop, reference submenu to set up start/stop commands, reference,
and related features, such as constant speeds or run permissions.
Start, stop, reference menu.
parameter
Reference from Sets where the drive gets its reference when 28.11 Ext1 frequency
remote control (Ext1) is active. ref1 or
22.11 Ext1 speed ref1
12.19 AI1 scaled at AI1
min
Reference-related The voltage or current fed to the input is converted 12.20 AI1 scaled at AI1
settings (e.g. AI into a value the drive can use (e.g. reference). max
scaling, AI2 scaling,
Motor potentiometer
settings) depending
on the selected
reference
Start/stop/dir from: Sets where the drive gets start, stop, and 20.01 Ext1 commands
(optionally) direction commands when remote
control (Ext1) is active.
Secondary control Settings for the secondary remote control location, 19.11 Ext1/Ext2
location Ext2. These settings include reference source, selection
28.15 Ext2 frequency
start, stop, direction and command sources for
ref1 or
Ext2. 22.18 Ext2 speed ref1
By default, Ext2 is set to Off. 12.17 AI1 min
12.18 AI1 max
12.27 AI2 min
12.28 AI2 max
20.06 Ext2 commands
20.08 Ext2 in1 source

parameter
Constant speeds / These settings are for using a constant value as 28.21 Constant
Constant frequencies the reference. By default, this is set to Off. For frequency function or
22.21 Constant speed
more information, see Constant function
speeds/frequencies on page 190. 28.26 Constant
frequency 1
28.27 Constant
frequency 2
28.28 Constant
frequency 3
22.26 Constant speed 1
Jogging These settings allow you to use a digital input to 20.25 Jogging enable
briefly run the motor using predefined speed and 22.42 Jogging 1 ref
acceleration/deceleration ramps. By default, 22.43 Jogging 2 ref
23.20 Acc time jogging
jogging is disabled and it can only be used in the
23.21 Dec time jogging
Vector control mode. For more information, see
Jogging on page 192.
Run permissions Settings to prevent the drive from running or 20.12 Run enable 1
starting when a specific digital input is low. source
20.11 Run enable stop
mode
20.19 Enable start
command
20.22 Enable to rotate
21.05 Emergency stop
source
mode
time
 Ramps
Use the Ramps submenu to set up acceleration and deceleration settings.

Ramps menu.
parameter
Acceleration time: This is the time between standstill and "scaling 23.12 Acceleration time
speed" when using the default ramps (set 1). 1
28.72 Freq acceleration
time 1
Deceleration time: This is the time between standstill and "scaling 23.13 Deceleration time
speed" when using the default ramps (set 1). 1
28.73 Freq deceleration
time 1
Shape time: Sets the shape of the default ramps (set 1). 23.32 Shape time 1
28.82 Shape time 1
Stop mode: Sets how the drive stops the motor. 21.03 Stop mode
Use two ramp sets Enables the use of a second
acceleration/deceleration ramp set. If unselected,
only one ramp set is used.
Note that if this selection is not enabled, the
selection below are not available.
Activate ramp set 2: To switch ramp sets, you can either: 23.11 Ramp set
selection
• use a digital input (low = set 1; high = set 2), or
28.71 Freq ramp set
• automatically switch to set 2 above a certain selection
frequency/speed.
Limit to activate ramp Above this limit, ramp set 2 is used. Below this 32.60 Supervision 6
set 2: limit, ramp set 1 is used. The drive automatically high
32.59 Supervision 6 low
switches ramp sets when crossing this limit.
Acceleration time 2: Sets the time between standstill and "scaling 23.14 Acceleration time
speed" when using ramp set 2. 2
time 2
Deceleration time 2: Sets the time between standstill and "scaling 23.15 Deceleration time
speed" when using ramp set 2. 2
time 2
Shape time 2: Sets the shape of ramps in set 2. 23.33 Shape time 2
28.83 Shape time 2
 Limits
Use the Limits submenu to set the allowed operating range. This function is intended
to protect the motor, connected hardware and mechanics. The drive stays within
these limits, no matter what reference value it gets.
Limits menu.
parameter
Minimum frequency Sets the minimum operating frequency. Affects 30.13 Minimum
scalar control only. frequency
Maximum frequency Sets the maximum operating frequency. Affects 30.14 Maximum
scalar control only. frequency
Minimum speed Sets the minimum operating speed. Affects vector 30.11 Minimum speed
control only.
Maximum speed Sets the maximum operating speed. Affects vector 30.12 Maximum speed
control only.
Minimum torque Sets the minimum operating torque. Affects vector 30.19 Minimum torque 1
control only.
Maximum torque Sets the maximum operating torque. Affects vector 30.20 Minimum torque 1
control only.
Maximum current Sets the maximum output current. 30.17 Maximum current
 PID
The PID submenu contains settings and actual values for the process PID controller.
PID is only used in remote control.
PID menu.
parameter
PID controls: Sets what to use PID output for: 40.07 Process PID
operation mode
• Not selected: PID not used.
• Reference: Uses PID output as reference when
remote control (Ext1) is active.
• Secondary reference: Uses PID output as
reference when the secondary remote control
location (Ext2) is active.
PID output: View the process PID output or set its range. 40.01 Process PID
output actual
40.36 Set 1 output min
40.37 Set 1 output max
Deviation: View or invert process PID deviation. 40.04 Process PID
deviation actual
40.31 Set 1 deviation
inversion
Setpoint: View or configure the process PID setpoint, ie. the 40.03 Process PID
target process value. setpoint actual
40.16 Set 1 setpoint 1
You can also use a constant setpoint value instead source
of (or in addition to) an external setpoint source.
When a constant setpoint is active, it overrides the
normal setpoint.
Feedback: View or configure process PID feedback, ie. the 40.02 Process PID
measured value. feedback actual
40.08 Set 1 feedback 1
source
40.11 Set 1 feedback
filter time
Unit: Sets the text shown as the unit for setpoint,
feedback and deviation.
Tuning The Tuning submenu contains settings for gain, 40.32 Set 1 gain
integration time and derivation time. 40.33 Set 1 integration
time
1. Make sure it is safe to start the motor and run the 40.34 Set 1 derivation
actual process. time
2. Start the motor in remote control. 40.35 Set 1 derivation
filter time
3. Change setpoint by a small amount.
4. Watch how feedback reacts.
5. Adjust gain/integration/derivation.
6. Repeat steps 3-5 until feedback reacts as
desired.

parameter
Sleep function The sleep function can be used to save energy by 40.43 Set 1 sleep level
stopping the motor during low demand. By default, 40.44 Set 1 sleep delay
sleep function is disabled. If enabled, the motor 40.45 Set 1 sleep boost
time
automatically stops when demand is low, and starts
40.46 Set 1 sleep boost
again when deviation grows too large. This saves step
energy when rotating the motor at low speeds 40.47 Set 1 wake-up
would be useless. deviation
See section Sleep and boost functions for process 40.48 Set 1 wake-up
delay
PID control on page 204.
 Fieldbus
Use the settings in the Fieldbus submenu to use the drive with a fieldbus:
• Modbus (RTU or TCP)
• PROFIBUS
• PROFINET
• Ethernet/IP
You can also configure all the fieldbus related settings via the parameters (parameter
groups 50 Fieldbus adapter (FBA), 51 FBA A settings, 52 FBA A data in, 53 FBA A
data out, 53 FBA A data out), but the purpose of the Fieldbus menu is to make the
protocol configurations easier.
Note that only Modbus RTU is embedded and the other fieldbus modules are optional
adapters. For the optional modules, the following adapters are required to enable the
needed protocols:
• ModbusTCP: FENA-11/-21
• PROFIBUS: FBPA-01
• PROFINET FENA-11/-21
• Ethernet/IP: FENA-11/-21
Fieldbus menu. Note that some of the items only became active once you have
enabled fieldbus.
parameter
Enable fieldbus Select this if you want to use the drive with a 51.01 FBA A type
fieldbus. 51.02 FBA A Par2
Communication To set up communication between the drive and 51 FBA A settings
setup the fieldbus master, define these settings and then51.27 FBA A par refresh
select Apply settings to fieldbus module. 51.31 D2FBA A comm
status
50.13 FBA A control
word
50.16 FBA A status
word
Drive control setup Sets how a fieldbus master can control this drive, 20.01 Ext1 commands
and how the drive reacts if the fieldbus 19.11 Ext1/Ext2
selection
communication fails.
22.11 Ext1 speed ref1
28.11 Ext1 frequency
ref1
22.41 Speed ref safe
28.41 Frequency ref
safe
50.03 FBA A comm loss
t out
46.01 Speed scaling
46.02 Frequency scaling
23.12 Acceleration time
1
23.13 Deceleration time
1
time 1
time 1
51.27 FBA A par refresh
Cyclical data out Sets what the drive's fieldbus module expects to 50.13 FBA A control
(master to drive) receive from the fieldbus master (PLC). After word
changing these settings, select Apply settings to 53 FBA A data out
fieldbus module.
Cyclical data in (drive Sets what the drive's fieldbus module sends to the 50.16 FBA A status
to master) fieldbus master (PLC). After changing these word
52 FBA A data in
settings, select Apply settings to fieldbus
module.
Apply settings to Applies modified settings to the fieldbus module. 51.27 FBA A par refresh
fieldbus module
 Advanced functions
The Advanced functions submenu contains settings for advanced functions, such
as triggering or resetting faults via I/O, or switching between several entire sets of
settings.
Advanced functions menu.

parameter
External events Enables you to define custom faults or warnings 31.01 External event 1
you can trigger via digital input. The texts of these source
31.02 External event 1
messages are customizable.
type
source
type
source
type
Reset faults manually You can reset an active fault via I/O: a rising pulse 31.11 Fault reset
in the selected input means reset. selection
A fault can be reset from the fieldbus even if Reset

faults manually is unselected.
Reset faults manually Define from where you want to reset faults 31.11 Fault reset
from: manually. Note that this submenu is active only if selection
you have selected to reset faults manually.
Autoreset faults Reset faults automatically. For more information, 31.12 Autoreset
see Automatic fault resets on page 219. selection
31.16 Delay time
31.15 Total trials time
31.14 Number of trials

parameter
Stall protection The drive can detect a motor stall and 31.24 Stall function
automatically fault or show a warning message. 31.25 Stall current limit
31.26 Stall speed limit
Stall condition is detected when:
31.27 Stall frequency
• current is high (above certain % of motor limit
nominal current), and 31.28 Stall time
• output frequency (scalar control) or motor speed
(vector control) is below a certain limit, and
• the conditions above have been true for a certain
minimum duration.
User sets This submenu enables you to save multiple sets of 96.11 User set
settings for easy switching. For more information save/load
96.10 User set status
about user sets, see User parameter sets on page
96.12 User set I/O mode
223. in1
96.13 User set I/O mode
in2
 Clock, region, display
The Clock, region, display submenu contains settings for language, date and time,
display (such as brightness) and settings for changing how information is displayed
on screen.
Clock, region, display menu.
parameter
Language Change the language used on the control panel 96.01 Language
screen. Note that the language is loaded from the
drive so this takes some time.
Date & time Set the time and date, and their formats.
Drive name: The drive name defined in this setting is shown in
the status bar at the top of the screen while using
the drive. If more than one drives are connected to
the control panel, the drive names make it easy to
identify each drive. It also identifies any backups
you create for this drive.

parameter
Contact info in fault Define a fixed text that is shown during any fault
view (for example, who to contact in case of a fault).
If a fault occurs, this information appears on the
panel screen (in addition to the fault-specific
information).
Display settings Adjust the brightness, contrast and display power
save delay of the panel screen or to invert white
and black.
Show in lists Show or hide the numeric IDs of:
• parameters and groups
• option list items
• bits
• devices in Options > Select drive
 Reset to defaults
The Reset to defaults submenu enables you to reset the Home view to its original
factory state.
I/O menu
To go the I/O menu from the Home view, select Main - Menu - I/O.
Use the I/O menu to make sure that the actual I/O wiring matches the I/O use in the
control program. It answers the questions:
• What is each input being used for?
• What is the meaning of each output?
In the I/O menu, each row provides the following information:
• Terminal name and number
• Electrical status
• Logical meaning of the drive
Each row also provides a submenu that provides further information on the menu
item and lets you make changes to the I/O connections.
The table below provides detailed information about the contents of the different
submenus available in the I/O menu.
Menu item Description
DI1 This submenu lists the functions that use DI1 as input.
DI6 This submenu lists the functions that use DI6 or FI as input. The
connector can be used as either digital input or frequency input.
AI1 This submenu lists the functions that use AI1 as input.
AI2 This submenu lists the functions that use AI2 as input.
RO1 This submenu lists what information goes into relay output 1.
AO1 This submenu lists what information goes into AO1.
AO2 This submenu lists what information goes into AO2.
Diagnostics menu
To go the Diagnostics menu from the Home view, select Main - Menu -
Diagnostics.
The Diagnostics menu provides you with diagnostic information, such as faults and
warnings, and helps you to resolve potential problems. Use the menu to make sure
that the drive setup is functioning correctly.
The table below provides detailed information about the contents of the different
views available in the Diagnostics menu.
Menu item Description
Start, stop, reference This view shows where the drive is currently taking its start and stop
summary commands and reference. The view is updated in real time.
If the drive is not starting or stopping as expected, or runs at undesired
speed, use this view to find out where the control comes from.
Limit status This view describes any limits currently affecting operation.
If the drive is running at undesired speed, use this view to find out if any
limitations are active.
Active faults This view shows the currently active faults and provides instructions on
how to fix and reset them.
Active warnings This view shows the currently active warnings and provides instructions
on how to fix and reset them.
Fault & event log This view lists the faults, warnings and other events that have occurred in
the drive.
Fieldbus This view provides status information and sent and received data from
fieldbus for troubleshooting.
Load profile This view provides status information regarding load distribution (that is,
how much of the drive's running time was spent on each load level) and
peak load levels.
Control macros 161
11
Control macros
This chapter describes the intended use, operation and default control connections of
the application. At the end of chapter there are tables showing those parameter
default values that are not the same for all macros.
General
Control macros are sets of default parameter values suitable for a certain control
configuration. When starting up the drive, the user typically selects the best-suited
control macro as a starting point, then makes any necessary changes to tailor the
settings to their purpose. This usually results in a much lower number of user edits
compared to the traditional way of programming a drive.
Control macros can be selected in the Primary settings menu: Menu - Primary
settings - Macro or with parameter 96.04 Macro select (page 379).
Note: All macros are made for scalar control. If
you want to use vector control, do as follows:
• Select the macro.
• Check nominal values of the motor: Menu -
Primary settings - Motor - Nominal
values.
• Change motor control mode to vector: Menu
- Primary settings - Motor - Control
mode, and follow the instructions (see the
figure on the right).
162 Control macros
ABB standard macro

This is the default macro. It provides a general purpose, 2-wire I/O configuration with
three constant speeds. One signal is used to start or stop the motor and another to
select the direction.
 Default control connections for the ABB standard macro

S1 AI1 U/I Voltage/Current selection for AI1: U I
1…10 kohm 2 AI1 Output frequency/speed reference: 0…10 V1)
10 +24V Auxiliary voltage output +24 V DC, max. 250 mA
11 DGND Auxiliary voltage output common
5)
6)
19 RO1C Ready run
20 RO1A 250 V AC / 30 V DC
21 RO1B 2A
22 RO2C Running
23 RO2A 250 V AC / 30 V DC
24 RO2B 2A
25 RO3C Fault (-1)
26 RO3A 250 V AC / 30 V DC
27 RO3B 2A
X4 Safe torque off
34 OUT1
5)
38 IN2
X10 24 V AC/DC
Control macros 163
Terminal sizes:
R0…R3: 0.2…2.5 mm2 (terminals +24V, DGND, DCOM, B+, A-)
Notes:
1)
2) In scalar control (default): See Menu - Primary settings - Start, stop, reference - Constant
In vector control: See Menu - Primary settings - Start, stop, reference - Constant speeds
or parameter group 22 Speed reference selection.
3)
reference ramp.
DI5 Ramp Parameters
4)
5)
Connected with jumpers at the factory.
6)
Input signals
• Analog frequency/speed reference (AI1)
• Start/stop selection (DI1)
• Direction selection (DI2)
• Constant frequency/speed selection (DI3, DI4)
• Ramp set (1 of 2) selection (DI5)
Output signals
• Analog output AO1: Frequency
• Analog output AO2: Current
• Relay output 1: Ready
• Relay output 2: Running
• Relay output 3: Fault (-1)
164 Control macros
3-wire macro
This macro is used when the drive is controlled using momentary push-buttons. It
provides three constant speeds. To enable the macro, set the value of parameter
96.04 Macro select to 3-wire.
 Default control connections for the 3-wire macro

1…10 kohm 2 AI1 Ext. speed/frequency reference 1: 0…10 V1)
4)
13 DI1 Start (pulse )
14 DI2 Stop (pulse )
16 DI4 Constant speed/frequency selection2)
5) 18 DI6 Not configured
19 RO1C Ready run
20 RO1A 250 V AC / 30 V DC
21 RO1B 2A
22 RO2C Running
23 RO2A 250 V AC / 30 V DC
24 RO2B 2A
25 RO3C Fault (-1)
26 RO3A 250 V AC / 30 V DC
27 RO3B 2A
X4 Safe torque off
34 OUT1
4)
38 IN2
X10 24 V AC/DC
Control macros 165
Terminal sizes:
Notes:
1)
2) In scalar control (default): See Menu - Primary settings - Start, stop, reference - Constant
3)
4)
5)
Input signals
• Analog speed/frequency reference (AI1)
• Start, pulse (DI1)
• Stop, pulse (DI2)
• Constant speed/frequency selection (DI4, DI5)
Output signals
166 Control macros
Alternate macro
This macro provides an I/O configuration where one signal starts the motor in the
forward direction and another signal to start the motor in the reverse direction. To
enable the macro, set the value of parameter 96.04 Macro select to Alternate.
 Default control connections for the Alternate macro

1…10 kohm 2 AI1 Ext. speed/frequency reference 1: 0…10 V
4)
13 DI1 Start forward; If DI1 = DI2: Stop
14 DI2 Start reverse
5)
18 DI6 Run enable; if 0, drive stops
19 RO1C Ready run
20 RO1A 250 V AC / 30 V DC
21 RO1B 2A
22 RO2C Running
23 RO2A 250 V AC / 30 V DC
24 RO2B 2A
25 RO3C Fault (-1)
26 RO3A 250 V AC / 30 V DC
27 RO3B 2A
X4 Safe torque off
34 OUT1
4)
38 IN2
X10 24 V AC/DC
Control macros 167
Terminal sizes:
Notes:
1)
2)
reference ramp.
DI5 Ramp Parameters
3)
4)
5)
Input signals
• Analog speed/frequency reference (AI1)
• Start motor forward (DI1)
• Start motor in reverse (DI2)
• Constant speed/frequency selection (DI3, DI4)
• Ramp set (1 of 2) selection (DI5)
• Run enable (DI6)
Output signals
168 Control macros
Motor potentiometer macro

This macro provides a way to adjust the speed with the help of two-push buttons, or a
cost-effective interface for PLCs that vary the speed of the motor using only digital
signals. To enable the macro, set the value of parameter 96.04 Macro select to Motor
potentiometer.
 Default control connections for the Motor potentiometer macro

S2 Voltage/Curre Voltage/Current selection for AI2: U I
4)
15 DI3 Reference up1)
16 DI4 Reference down1)
17 DI5 Constant frequency/speed 12)
5)
18 DI6 Run enable; If 0, drive stops
19 RO1C Ready run
20 RO1A 250 V AC / 30 V DC
21 RO1B 2A
22 RO2C Running
23 RO2A 250 V AC / 30 V DC
24 RO2B 2A
25 RO3C Fault (-1)
26 RO3A 250 V AC / 30 V DC
27 RO3B 2A
X4 Safe torque off
34 OUT1
4)
38 IN2
X10 24 V AC/DC
Control macros 169
Terminal sizes:
Notes:
1) If DI3 and DI4 are both active or inactive, the frequency/speed reference is unchanged.
The existing frequency/speed reference is stored during stop and power down.
2)
frequencies or parameter 28.26 Constant frequency 1.
or parameter 22.26 Constant speed 1.
3)
4)
5)
Input signals
• Start/Stop selection (DI1)
• Reference up (DI3)
• Reference down (DI4)
• Constant frequency/speed 1 (DI5)
Output signals
170 Control macros
Hand/Auto macro
This macro can be used when switching between two external control devices is
needed. Both have their own control and reference signals. One signal is used to
switch between these two. To enable the macro, set the value of parameter 96.04
Macro select to Hand/Auto.
 Default control connections for the Hand/Auto macro

1…10 kohm 2 AI1 Output speed/freq, reference (Hand): 0…10 V
5 AI2 Output speed/freq, ref. (Auto): 4…20 mA1)
3)
13 DI1 Stop (0) / Start (1) (Hand)
14 DI2 Forward (0) / Reverse (1) (Hand)
15 DI3 Hand control (0) / Auto control (1)
17 DI5 Forward (0) / Reverse (1) (Auto)
4) 18 DI6 Stop (0) / Start (1) (Auto)
19 RO1C Ready run
20 RO1A 250 V AC / 30 V DC
21 RO1B 2A
22 RO2C Running
23 RO2A 250 V AC / 30 V DC
24 RO2B 2A
25 RO3C Fault (-1)
26 RO3A 250 V AC / 30 V DC
27 RO3B 2A
X4 Safe torque off
34 OUT1
3)
38 IN2
See the notes on X10 24 V AC/DC
the next page. 40 24 V AC/DC- in R5…R9 only: Ext. 24V AC/DC input to power up the
41 24 V AC/DC+ in control unit when the main supply is disconnected.
Control macros 171
Terminal sizes:
Notes:
1)
The signal source is powered externally. See the manufacturer’s instructions. To use sensors
supplied by the drive aux. voltage output, see page 103.
2)
3)
4)
Input signals
• Two speed/frequency analog reference (AI1, AI2)
• Control location (Hand or Auto) selection (DI3)
• Start/stop selection, Hand (DI1)
• Direction selection, Hand (DI2)
• Start/stop selection, Auto (DI6)
• Direction selection, Auto (DI5)
Output signals
172 Control macros
Hand/PID macro
This macro controls the drive with the built-in process PID controller. In addition this
macro has a second control location for the direct speed/frequency control mode. To
enable the macro, set the value of parameter 96.04 Macro select to Hand/PID.
 Default control connections for the Hand/PID macro

1…10 kohm 2 AI1 Ext. Hand reference or Ext. PID ref.: 0…10 V1)
5 AI2 Actual PID feedback: 4…20 mA2)
5)
13 DI1 Stop (0) / Start (1) Hand
14 DI2 Hand (0) / PID (1) selection
15 DI3 Constant frequency selection3)
16 DI4 Constant frequency selection3)
6)
18 DI6 Stop (0) / Start (1) PID
19 RO1C Ready run
20 RO1A 250 V AC / 30 V DC
21 RO1B 2A
22 RO2C Running
23 RO2A 250 V AC / 30 V DC
24 RO2B 2A
25 RO3C Fault (-1)
26 RO3A 250 V AC / 30 V DC
27 RO3B 2A
X4 Safe torque off
34 OUT1
5)
38 IN2
X10 24 V AC/DC
Control macros 173
Terminal sizes:
Notes:
1)
Hand: 0…10 V -> frequency reference.
PID: 0…10 V -> 0…100% PID setpoint.
2)
3)
DI3 DI4 Operation (parameter)
Scalar control (default)
0 0 Set frequency through AI1
1 0 28.26 Constant frequency 1
4)
5)
6)
Input signals
• Analog reference (AI1)
• Actual feedback from PID (AI2)
• Control location (Hand or PID) selection (DI2)
• Start/stop selection, Hand (DI1)
• Start/stop selection, PID (DI6)
• Constant frequency selection (DI3, DI4)
Output signals
174 Control macros
PID macro
This macro provides parameter settings for closed-loop control systems such as
pressure control, flow control, etc. To enable the macro, set the value of parameter
96.04 Macro select to PID.
 Default control connections for the PID macro

1…10 kohm 2 AI1 Ext. PID reference: 0…10 V1)
5 AI2 Actual PID feedback: 4…20 mA2)
5)
13 DI1 Stop (0) / Start (1) PID
14 DI2 Constant PID setpoint 1: parameter 40.21
15 DI3 Constant PID setpoint 2: parameter 40.22
16 DI4 Constant frequency 1: parameter 28.26 3)
6)
19 RO1C Ready run
20 RO1A 250 V AC / 30 V DC
21 RO1B 2A
22 RO2C Running
23 RO2A 250 V AC / 30 V DC
24 RO2B 2A
25 RO3C Fault (-1)
26 RO3A 250 V AC / 30 V DC
27 RO3B 2A
X4 Safe torque off
34 OUT1
5)
38 IN2
X10 24 V AC/DC
Control macros 175
Terminal sizes:
Notes:
1)
Hand: 0…10 V -> frequency reference.
PID: 0…10 V -> 0…100% PID setpoint.
2)
3)
If Constant frequency is activated it overrides the reference from the PID controller output.
4)
5)
6) Note: Use shielded twisted-pair cables for digital signals.
Input signals
• Analog reference (AI1)
• Actual feedback from PID (AI2)
• Start/Stop selection, PID (DI1)
• Constant setpoint 1 (DI2)
• Constant setpoint 1 (DI3)
• Constant frequency 1 (DI4)
Output signals
176 Control macros
Parameter default values for different macros

Chapter Parameters on page 225 shows the default values of all parameters for the
ABB standard macro (factory macro). Some parameters have different default values
for other macros. The tables below lists the default values for those parameter for
each macro.
96.04 Macro select 1= 11 = 12 = 13 = 2= 3= 14 =

ABB 3-wire Alternate Motor Hand/Auto Hand/PID PID
standard potenti-
ometer
12.20 AI1 scaled at AI1 50.0 50.0 50.0 50.0 50.0 50.0 50.0
max
19.11 Ext1/Ext2 0 = EXT1 0 = EXT1 0 = EXT1 0 = EXT1 5 = DI3 4 = DI2 0 = EXT1
selection
20.01 Ext1 commands 2 = In1 5 = In1P 3 = In1 2 = In1 2 = In1 1 = In1 1 =In1
Start; In2 Start; In2 Start fwd; Start; In2 Start; In2 Start Start
Dir Stop; In3 In2 Start Dir Dir
Dir rev
20.03 Ext1 in1 source 2 = DI1 2 = DI1 2 = DI1 2 = DI1 2 = DI1 2 = DI1 2 = DI1
20.04 Ext1 in2 source 3 = DI2 3 = DI2 3 = DI2 3 = DI2 3 = DI2 0 = Not 0 = Not
selected selected
20.05 Ext1 in3 source 0 = Not 4 = DI3 0 = Not 0 = Not 0 = Not 0 = Not 0 = Not
selected selected selected selected selected selected
20.06 Ext2 commands 0 = Not 0 = Not 0 = Not 0 = Not 2 = In1 1 = In1 0 = Not
selected selected selected selected Start; In2 Start selected
Dir
20.08 Ext2 in1 source 0 = Not 0 = Not 0 = Not 0 = Not 7 = DI6 7 = DI6 0 = Not
selected selected selected selected selected
20.09 Ext2 in2 source 0 = Not 0 = Not 0 = Not 0 = Not 6 = DI5 0 = Not 0 = Not
selected selected selected selected selected selected
20.12 Run enable 1 1= 1= 7 = DI6 7 = DI6 5 = DI4 6 = DI5 6 = DI5
source Selected Selected
22.11 Ext1 speed ref1 1 = AI1 1 = AI1 1 = AI1 15 = Motor 1 = AI1 1 = AI1 16 = PID
scaled scaled scaled potentiome scaled scaled
ter
22.18 Ext2 speed ref1 0 = Zero 0 = Zero 0 = Zero 0 = Zero 2 = AI2 16 = PID 0 = Zero
scaled
22.22 Constant speed 4 = DI3 5 = DI4 4 = DI3 6 = DI5 0 = Not 4 = DI3 5 = DI4
sel1 selected
22.23 Constant speed 5 = DI4 6 = DI5 5 = DI4 0 = Not 0 = Not 5 = DI4 0 = Not
sel2 selected selected selected
22.71 Motor 0= 0= 0= 1= 0= 0= 0=
potentiometer Disabled Disabled Disabled Enabled Disabled Disabled Disabled
function (init at
power-up)
22.73 Motor 0 = Not 0 = Not 0 = Not 4 = DI3 0 = Not 0 = Not 0 = Not
potentiometer up selected selected selected selected selected selected
source
22.74 Motor 0 = Not 0 = Not 0 = Not 5 = DI4 0 = Not 0 = Not 0 = Not
potentiometer selected selected selected selected selected selected
down source
23.11 Ramp set 0= 0= 0= 0= 0= 0= 0=
selection Acc/Dec Acc/Dec Acc/Dec Acc/Dec Acc/Dec Acc/Dec Acc/Dec
time 1 time 1 time 1 time 1 time 1 time 1 time 1
Control macros 177
96.04 Macro select 1= 11 = 12 = 13 = 2= 3= 14 =

ABB 3-wire Alternate Motor Hand/Auto Hand/PID PID
standard potenti-
ometer
28.11 Ext1 frequency 1 = AI1 1 = AI1 1 = AI1 15 = Motor 1 = AI1 1 = AI1 16 = PID
ref1 scaled scaled scaled potentiome scaled scaled
ter
28.15 Ext1 frequency 0 = Zero 0 = Zero 0 = Zero 0 = Zero 2 = AI2 16 = PID 0 = Zero
ref2 scaled
28.22 Constant 4 = DI3 5 = DI4 4 = DI3 6 = DI5 0 = Not 4 = DI3 5 = DI4
frequency sel1 selected
28.23 Constant 5 = DI4 6 = DI5 5 = DI4 0 = Not 0 = Not 5 = DI4 0 = Not
frequency sel2 selected selected selected
28.71 Freq ramp set 6 = DI5 0= 6 = DI5 0= 0= 0= 0=
selection Acc/Dec Acc/Dec Acc/Dec Acc/Dec Acc/Dec
time 1 time 1 time 1 time 1 time 1
40.07 Process PID 0 = Off 0 = Off 0 = Off 0 = Off 0 = Off 2 = On 2 = On
operation mode when drive when drive
running running
40.08 Set 1 feedback 1 2 = AI2 2 = AI2 2 = AI2 2 = AI2 2 = AI2 2 = AI2 2 = AI2
source scaled scaled scaled scaled scaled scaled scaled
40.16 Set 1 setpoint 1 3 = AI1 3 = AI1 3 = AI1 3 = AI1 3 = AI1 3 = AI1 3 = AI1
source scaled scaled scaled scaled scaled scaled scaled
40.17 Set 1 setpoint 2 0 = Not 0 = Not 0 = Not 0 = Not 0 = Not 0 = Not 2 = Internal
source selected selected selected selected selected selected setpoint
40.19 Set 1 internal 0 = Not 0 = Not 0 = Not 0 = Not 0 = Not 0 = Not 3 = DI2
setpoint sel1 selected selected selected selected selected selected
40.20 Set 1 internal 0 = Not 0 = Not 0 = Not 0 = Not 0 = Not 0 = Not 4 = DI3
setpoint sel2 selected selected selected selected selected selected
178 Control macros
Program features 179
12
Program features
What this chapter contains
This chapter describes some of the more important functions within the control
program, how to use them and how to program them to operate. It also explains the
control locations and operating modes.
180 Program features
Local control vs. external control

The AC580 has two main control locations: external and local. The control location is
selected with the Loc/Rem key on the control panel or in the PC tool.
Drive
External control
I/O 1) PLC
(= Programmable
logic controller)
Local control
Embedded fieldbus
interface
Fieldbus adapter (Fxxx)
Control panel or Drive composer

PC tool (optional)
M
3~
MOTOR
1)
Extra inputs/outputs can be added by installing an optional I/O extension module
(CMOD-01, CMOD-02 or CHDI-01) in drive slot.
 Local control
The control commands are given from the control panel keypad or from a PC
equipped with Drive composer when the drive is in local control. Speed and torque
control modes are available in vector motor control mode; frequency mode is
available when scalar motor control mode is used (see parameter 19.16 Local control
mode).
Local control is mainly used during commissioning and maintenance. The control
panel always overrides the external control signal sources when used in local control.
Changing the control location to local can be prevented by parameter 19.17 Local
control disable.
The user can select by a parameter (49.05 Communication loss action) how the drive
reacts to a control panel or PC tool communication break. (The parameter has no
effect in external control.)
 External control
When the drive is in external control, control commands are given through
• the I/O terminals (digital and analog inputs), or optional I/O extension modules
• the fieldbus interface (via the embedded fieldbus interface or an optional fieldbus
adapter module).
Two external control locations, EXT1 and EXT2, are available. The user can select
the sources of the start and stop commands separately for each location in the
Primary settings menu (Menu - Primary settings - Start, stop, reference) or setting
parameters 20.01…20.10. The operating mode can be selected separately for each
location, which enables quick switching between different operating modes, for
example speed and torque control. Selection between EXT1 and EXT2 is done via
any binary source such as a digital input or fieldbus control word (Menu - Primary
settings - Start, stop, reference - Secondary control location or parameter 19.11
Ext1/Ext2 selection). The source of reference is selectable for each operating mode
separately.
Block diagram: Run enable source for EXT1

The figure below shows the parameters that select the interface for run enable for
external control location EXT1.
Not selected Select

0
Selected
1
DI1 DI1
EXT1
DI6 Run enable
DI6
Embedded fieldbus EFB

20.12
Fieldbus adapter FBA A
Timed function Timed function 1…3
Supervision Supervision 1…6

Other [bit]
A bit in a parameter
Settings
• Menu - Primary settings - Start, stop, reference - Secondary control
location; Menu - Primary settings - Start, stop, reference
• Parameters 19.11 Ext1/Ext2 selection (page 258); 20.01…20.10 (page 259).
Motor potentiometer
The motor potentiometer is, in effect, a counter whose value can be adjusted up and
down using two digital signals selected by parameters 22.73 Motor potentiometer up
source and 22.74 Motor potentiometer down source.
When enabled by 22.71 Motor potentiometer function, the motor potentiometer

assumes the value set by 22.72 Motor potentiometer initial value. Depending on the
mode selected in 22.71, the motor potentiometer value is either retained or reset over
a power cycle.
The change rate is defined in 22.75 Motor potentiometer ramp time as the time it
would take for the value to change from the minimum (22.76 Motor potentiometer min
value) to the maximum (22.77 Motor potentiometer max value) or vice versa. If the up
and down signals are simultaneously on, the motor potentiometer value does not
change.
The output of the function is shown by 22.80 Motor potentiometer ref act, which can
directly be set as the reference source in the main selector parameters, or used as an
input by other source selector parameters.
The following example shows the behavior of the motor potentiometer value.
1
22.73
0
1
22.74
0
22.77
22.80
0
22.76
22.75
Settings
Parameters 22.71…22.80 (page 280).
Operating modes of the drive

The drive can operate in several operating modes with different types of reference.
The mode is selectable for each control location (Local, EXT1 and EXT2) in
parameter group 19 Operation mode.
The following is a general representation of the reference types and control chains.
The page numbers refer to detailed diagrams in chapter Control chain diagrams.
Speed Speed reference Speed reference Speed error

reference source selection ramping and calculation
source selection II shaping (p 539)
I (p 537) (p 538)
(p 536)
Torque Speed controller

reference (p 540)
source selection
and modification
(p 541)
Reference
selection for
Process PID torque controller
setpoint and (p 542)
feedback source
selection
(p 544) Torque
controller
Torque limitation
(p 543)
Process PID
controller Vector motor
(p 545) control mode
Scalar motor
control mode
Frequency
reference
source selection
and modification
(p 534…535)
 Speed control mode

The motor follows a speed reference given to the drive. This mode can be used either
with estimated speed used as feedback.
Speed control mode is available in both local and external control. It is also available
both in vector and scalar motor control modes.
 Torque control mode

Motor torque follows a torque reference given to the drive. Torque control mode is
available in both local and external control.
 Frequency control mode

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

In addition to the above-mentioned control modes, the following special control
modes are available:
• Process PID control. For more information, see section Process PID control (page
203).
• Emergency stop modes OFF1 and OFF3: Drive stops along the defined
deceleration ramp and drive modulation stops.
• Jogging mode: Drive starts and accelerates to the defined speed when the
jogging signal is activated. For more information, see section Rush control (page
191).
• Pre-magnetization: DC magnetization of the motor before start. For more
information, see section Pre-magnetization (page 199).
• DC hold: Locking the rotor at (near) zero speed in the middle of normal operation.
For more information, see section DC hold (page 199).
• Pre-heating (motor heating): Keeping the motor warm when the drive is stopped.
For more information, see section Pre-heating (Motor heating) (page 200).
Drive configuration and programming

The drive control program performs the main control functions, including speed,
torque and frequency control, drive logic (start/stop), I/O, feedback, communication
and protection functions. Control program functions are configured and programmed
with parameters.
Drive control program
Speed control
Torque control
Frequency control
Drive logic
I/O interface M
Fieldbus interface
Protections
 Configuring via parameters

Parameters configure all of the standard drive operations and can be set via
• the control panel, as described in chapter Control panel
• the Drive composer PC tool, as described in Drive composer user’s manual
(3AUA0000094606 [English]), or
• the fieldbus interface, as described in chapters Fieldbus control through the
embedded fieldbus interface (EFB) and Fieldbus control through a fieldbus
adapter.
All parameter settings are stored automatically to the permanent memory of the drive.
However, if an external +24 V DC power supply is used for the drive control unit, it is
highly recommended to force a save by using parameter 96.07 Parameter save
manually before powering down the control unit after any parameter changes have
been made.
If necessary, the default parameter values can be restored by parameter 96.06
Parameter restore.
Control interfaces
 Programmable analog inputs
The control unit has two programmable analog inputs. Each of the inputs can be
independently set as a voltage (0/2…10 V or -10…10 V) or current (0/4…20 mA)
input by a switch on the control unit. Each input can be filtered, inverted and scaled.
Settings
Parameter group 12 Standard AI (page 243).
 Programmable analog outputs

The control unit has two current (0…20 mA) analog outputs. Each output can be
filtered, inverted and scaled.
Settings
Parameter group 13 Standard AO (page 247).
 Programmable digital inputs and outputs

The control unit has six digital inputs.
Digital input/output DI1 can be used as a frequency input.
Six digital inputs can be added by using a CHDI-01 115/230 V digital input extension
module and one digital output by using a CMOD-01 multifunction extension module.
Settings
Parameter groups 10 Standard DI, RO (page 238) and 11 Standard DIO, FI, FO
(page 241).
 Programmable frequency input and output

Digital input (DI6) can be configured as a frequency input. A frequency output can be
implemented with a CMOD-01 multifunction extension module.Settings
Parameter groups 10 Standard DI, RO (page 238) and 11 Standard DIO, FI, FO
(page 241).
 Programmable relay outputs

The control unit has three relay outputs. The signal to be indicated by the outputs can
be selected by parameters.
Two relay outputs can be added by using a CMOD-01 multifunction extension module
or a CHDI-01 115/230 V digital input extension module.
Settings
Parameter group 10 Standard DI, RO (page 238).
 Programmable I/O extensions

Inputs and outputs can be added by using a CMOD-01 multifunction extension
module or a CHDI-01 115/230 V digital input extension module. The module is
mounted on option slot 2 of the control unit.
The table below shows the number of I/O on the control unit as well as optional
CMOD-01 and a CHDI-01 modules.
Digital Digital Digital Analog Analog Relay

Location inputs outputs I/Os inputs outputs outputs
(DI) (DO) (DIO) (AI) (AO) (RO)
Control unit 6 - - 2 2 3
CMOD-01 - 1 - - - 2
CHDI-01 6 - - - - 2
The I/O extension module can be activated and configured using parameter group
15.
Note: The configuration parameter group contains parameters that display the values
of the inputs on the extension module. These parameters are the only way of utilizing
the inputs on an I/O extension module as signal sources. To connect to an input,
choose the setting Other in the source selector parameter, then specify the
appropriate value parameter (and bit, for digital signals) in group 15.
Settings
Parameter group 15 I/O extension module (page 252).
 Fieldbus control
The drive can be connected to several different automation systems through its
fieldbus interfaces. See chapters Fieldbus control through the embedded fieldbus
interface (EFB) (page 441) and Fieldbus control through a fieldbus adapter (page
467).
Settings
Parameter groups 50 Fieldbus adapter (FBA) (page 363), 51 FBA A settings (page
367), 52 FBA A data in (page 368), and 53 FBA A data out (page 369) and 58
Embedded fieldbus (page 369).
Motor control
 Motor types
The drive supports asynchronous AC induction and permanent magnet (PM) motors.
 Motor identification
The performance of vector control is based on an accurate motor model determined
during the motor start-up.
A motor Identification magnetization is automatically performed the first time the start
command is given. During this first start-up, the motor is magnetized at zero speed
for several seconds to allow the motor model to be created. This identification method
is suitable for most applications.
In demanding applications a separate Identification run (ID run) can be performed.
Settings
99.13 ID run requested (page 390)
 Power loss ride-through

See section Undervoltage control (power loss ride-through) on page 210.
 Vector control
The switching of the output semiconductors is controlled to achieve the required
stator flux and motor torque. The switching frequency is changed only if the actual
torque and stator flux values differ from their reference values by more than the
allowed hysteresis. The reference value for the torque controller comes from the
speed controller or directly from an external torque reference source.
Motor control requires measurement of the DC voltage and two motor phase
currents. Stator flux is calculated by integrating the motor voltage in vector space.
Motor torque is calculated as a cross product of the stator flux and the rotor current.
By utilizing the identified motor model, the stator flux estimate is improved. Actual
motor shaft speed is not needed for the motor control.
The main difference between traditional control and vector control is that torque
control operates at the same time level as the power switch control. There is no
separate voltage and frequency controlled PWM modulator; the output stage
switching is wholly based on the electromagnetic state of the motor.
The best motor control accuracy is achieved by activating a separate motor
identification run (ID run).
See also section Speed control performance figures (page 195).
Settings
• Menu - Primary settings - Motor - Control mode
• Parameters 99.04 Motor control mode (page 388) and 99.13 ID run requested
(page 390).
 Reference ramping
Acceleration and deceleration ramping times can be set individually for speed, torque
and frequency reference (Menu - Primary settings - Ramps).
With a speed or frequency reference, the ramps are defined as the time it takes for
the drive to accelerate or decelerate between zero speed or frequency and the value
defined by parameter 46.01 Speed scaling or 46.02 Frequency scaling. The user can
switch between two preset ramp sets using a binary source such as a digital input.
For speed reference, also the shape of the ramp can be controlled.
With a torque reference, the ramps are defined as the time it takes for the reference
to change between zero and nominal motor torque (parameter 01.30 Nominal torque
scale).
Variable slope
Variable slope controls the slope of the speed ramp during a reference change. With
this feature a constantly variable ramp can be used.
Variable slope is only supported in remote control.
Settings
Parameters 23.28 Variable slope enable (page 284) and 23.29 Variable slope rate
(page 284).
Special acceleration/deceleration ramps

The acceleration/deceleration times for the jogging function can be defined
separately; see section Rush control (page 191).
The change rate of the motor potentiometer function (page 195) is adjustable. The
same rate applies in both directions.
A deceleration ramp can be defined for emergency stop (“Off3” mode).
Settings
• Speed reference ramping: Parameters 23.11…23.15 and 46.01
(pages 282 and 359).
• Torque reference ramping: Parameters 01.30, 26.18 and 26.19
• Frequency reference ramping: Parameters 28.71…28.75 and 46.02
• Jogging: Parameters 23.20 and 23.21 (page 283).
• Motor potentiometer: Parameter 22.75 (page 281).
• Emergency stop (“Off3” mode): Parameter 23.23 Emergency stop time
(page 284).
 Constant speeds/frequencies
Constant speeds and frequencies are predefined references that can be quickly
activated, for example, through digital inputs. It is possible to define up to 7 speeds
for speed control and 7 constant frequencies for frequency control.
WARNING: Speeds and frequencies override the normal reference

irrespective of where the reference is coming from.
Settings
• Menu - Primary settings - Start, stop, reference - Constant frequencies,
Menu - Primary settings - Start, stop, reference - Constant speeds
• Parameter groups 22 Speed reference selection (page 274) and 28 Frequency
reference chain (page 294).
 Critical speeds/frequencies
Critical speeds (sometimes called “skip speeds”) can be predefined for applications
where it is necessary to avoid certain motor speeds or speed ranges because of, for
example, mechanical resonance problems.
The critical speeds function prevents the reference from dwelling within a critical band
for extended times. When a changing reference (22.87 Speed reference act 7) enters
a critical range, the output of the function (22.01 Speed ref unlimited) freezes until the
reference exits the range. Any instant change in the output is smoothed out by the
ramping function further in the reference chain.
When the drive is limiting the allowed output speeds/frequencies, it limits to the
absolutely lowest critical speed (critical speed low or critical frequency low) when
accelerating from standstill, unless the speed reference is over the upper critical
speed/ frequency limit.
The function is also available for scalar motor control with a frequency reference. The
input of the function is shown by 28.96 Frequency ref act 7.
Example
A fan has vibrations in the range of 540 to 690 rpm and 1380 to 1560 rpm. To make
the drive avoid these speed ranges,
• enable the critical speeds function by turning on bit 0 of parameter 22.51 Critical
speed function, and
• set the critical speed ranges as in the figure below.
22.01 Speed ref unlimited (rpm)

(output of function)
1 Par. 22.52 = 540 rpm
2 Par. 22.53 = 690 rpm
1560
3 Par. 22.54 = 1380 rpm
1380
4 Par. 22.55 = 1560 rpm
690
540
1 2 3 4 22.87 Speed reference act 7 (rpm)

(input of function)
Settings
• Critical speeds: parameters 22.51…22.57 (page 279)
• Critical frequencies: parameters 28.51…28.57 (page 299).
 Rush control
In torque control, the motor could potentially rush if the load were suddenly lost. The
control program has a rush control function that decreases the torque reference
whenever the motor speed exceeds 30.11 Minimum speed or 30.12 Maximum speed.
Motor speed
Overspeed trip level
31.30 Overspeed trip margin

30.12
0
Time
Rush control active
30.11
31.30 Overspeed trip margin
The function is based on a PI controller. The program sets the proportional gain to
10.0 and integration time to 2.0 s.
 Jogging
The jogging function enables the use of a momentary switch to briefly rotate the
motor. The jogging function is typically used during servicing or commissioning to
control the machinery locally.
Two jogging functions (1 and 2) are available, each with their own activation sources
and references. The signal sources are selected by parameters 20.26 Jogging 1 start
source and 20.27 Jogging 2 start source (Menu - Primary settings - Start, stop,
reference - Jogging). When jogging is activated, the drive starts and accelerates to
the defined jogging speed (22.42 Jogging 1 ref or 22.43 Jogging 2 ref) along the
defined jogging acceleration ramp (23.20 Acc time jogging). After the activation signal
switches off, the drive decelerates to a stop along the defined jogging deceleration
ramp (23.21 Dec time jogging).
The figure and table below provide an example of how the drive operates during
jogging. In the example, the ramp stop mode is used (see parameter 21.03 Stop
mode).
Jog cmd = State of source set by 20.26 Jogging 1 start source or 20.27 Jogging 2
start source
Jog enable = State of source set by 20.25 Jogging enable
Start cmd = State of drive start command.
Jog cmd
Jog enable
Start cmd
Speed
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 t
Jog Jog Start

Phase Description
cmd enable cmd
1-2 1 1 0 Drive accelerates to the jogging speed along the acceleration
ramp of the jogging function.
2-3 1 1 0 Drive follows the jog reference.
3-4 0 1 0 Drive decelerates to zero speed along the deceleration ramp
of the jogging function.
4-5 0 1 0 Drive is stopped.
5-6 1 1 0 Drive accelerates to the jogging speed along the acceleration
ramp of the jogging function.
7-8 0 1 0 Drive decelerates to zero speed along the deceleration ramp
8-9 0 1->0 0 Drive is stopped. As long as the jog enable signal is on, start
commands are ignored. After jog enable switches off, a fresh
start command is required.
9-10 x 0 1 Drive accelerates to the speed reference along the selected
acceleration ramp (parameters 23.11…23.15).
10-11 x 0 1 Drive follows the speed reference.
11-12 x 0 0 Drive decelerates to zero speed along the selected
deceleration ramp (parameters 23.11…23.15).
12-13 x 0 0 Drive is stopped.
13-14 x 0 1 Drive accelerates to the speed reference along the selected
acceleration ramp (parameters 23.11…23.15).
Jog Jog Start

Phase Description
cmd enable cmd
14-15 x 0->1 1 Drive follows the speed reference. As long as the start
command is on, the jog enable signal is ignored. If the jog
enable signal is on when the start command switches off,
jogging is enabled immediately.
15-16 0->1 1 0 Start command switches off. The drive starts to decelerate
along the selected deceleration ramp (parameters
23.11…23.15).
When the jog command switches on, the decelerating drive
adopts the deceleration ramp of the jogging function.
17-18 0 1->0 0 Drive decelerates to zero speed along the deceleration ramp
See also the block diagram on page 538.

Notes:
• Jogging is not available when the drive is in local control.
• Jogging cannot be enabled when the drive start command is on, or the drive
started when jogging is enabled. Starting the drive after the jog enable switches
off requires a fresh start command.
WARNING! If jogging is enabled and activated while the start command is on,
jogging will activate as soon as the start command switches off.
• If both jogging functions are activated, the one that was activated first has priority.
• Jogging uses vector control.
• The inching functions activated through fieldbus (see 06.01 Main control word,
bits 8…9) use the references and ramp times defined for jogging, but do not
require the jog enable signal.
Settings
• Menu - Primary settings - Start, stop, reference - Jogging
• Parameters 20.25 Jogging enable (page 266), 20.26 Jogging 1 start source (page
267), 20.27 Jogging 2 start source (page 268), 22.42 Jogging 1 ref (page 279),
22.43 Jogging 2 ref (page 279), 23.20 Acc time jogging (page 283) and 23.21 Dec
time jogging (page 283).
 Speed control performance figures

The table below shows typical performance figures for speed control.
T (%)
TN
Tload
100
Speed control Performance
Static accuracy 20% of motor
nominal slip
Dynamic accuracy < 10% s with 100% t (s)
torque step
nact-nref Area < 10% s
nN
TN = rated motor torque
nN = rated motor speed
nact = actual speed
nref = speed reference
 Torque control performance figures

The drive can perform precise torque control without any speed feedback from the
motor shaft. The table below shows typical performance figures for torque control.
T (%)
TN Tref
Torque control Performance 100
Tact
Non-linearity ± 5% with nominal 90
torque
(± 20% at the most
demanding operating
point)
Torque step rise time < 10 ms with nominal
torque
10 t (s)
< 5 ms
TN = rated motor torque
Tref = torque reference
Tact = actual torque
 Scalar motor control

Scalar motor control is the default motor control method. In scalar control mode, the
drive is controlled with a speed or frequency reference. However, the excellent
performance of vector control is not achieved in scalar control.
It is recommended to activate scalar motor control mode in the following situations:
• In multimotor drives: 1) if the load is not equally shared between the motors, 2) if
the motors are of different sizes, or 3) if the motors are going to be changed after
motor identification (ID run)
• If the nominal current of the motor is less than 1/6 of the nominal output current of
the drive
• If the drive is used without a motor connected (for example, for test purposes)
• If the drive runs a medium-voltage motor through a step-up transformer.
In scalar control, some standard features are not available.
See also section Operating modes of the drive (page 183).
IR compensation for scalar motor control

IR compensation (also known as
Motor voltage
voltage boost) is available only when
the motor control mode is scalar. When
IR compensation
IR compensation is activated, the drive
gives an extra voltage boost to the
motor at low speeds. IR compensation
is useful in applications that require a
high break-away torque. No compensation
In vector control, no IR compensation is
f (Hz)
possible or needed as it is applied
automatically.
Settings
• Menu - Primary settings - Motor - IR compensation
• Parameters 97.13 IR compensation (page 386) and 99.04 Motor control mode
(page 388)
• Parameter group 28 Frequency reference chain (page 294).
 User load curve

The User load curve provides a supervisory function that monitors an input signal as
a function of frequency or speed, and load. It shows the status of the monitored signal
and can give a warning or fault based on the violation of a user defined profile.
The user load curve consists of an overload and an underload curve, or just one of
them. Each curve is formed by five points that represent the monitored signal as a
function of frequency or speed.
In the example below, the user load curve is constructed from the motor nominal
torque to which a 10% margin is added and subtracted. The margin curves define a
working envelope for the motor so that excursions outside the envelope can be
supervised, timed and detected.
Motor torque / Nominal torque
1.2
1.0
0.8
0.6
0.4
0.2
1
2
0.0 3
-0.2
0 10 20 30 40 50
Output frequency (Hz)
1 = Overload curve (five points)
2 = Nominal process load curve
3 = Underload curve (five points)
An overload warning and/or fault can be set to occur if the monitored signal stays
continuously over the overload curve for a defined time. An underload warning and/or
fault can be set to occur if the monitored signal stays continuously under the
underload for a defined time.
Overload can be for example used to monitor for a saw blade hitting a knot or fan
load profiles becoming too high.
Underload can be for example used to monitor for load dropping and breaking of
conveyer belts or fan belts.
Settings
Parameter group 37 User load curve (page 338).
 U/f ratio
The U/f function is only available in scalar motor control mode, which uses frequency
control.
The function has two modes: linear and squared.
In linear mode, the ratio of voltage to frequency is constant below the field weakening
point. This is used in constant torque applications where it may be necessary to
produce torque at or near the rated torque of the motor throughout the frequency
range
In squared mode (default), the ratio of the voltage to frequency increases as the
square of the frequency below the field weakening point. This is typically used in
centrifugal pump or fan applications. For these applications, the torque required
follows the square relationship with frequency. Therefore, if the voltage is varied
using the square relationship, the motor operates at improved efficiency and lower
noise levels in these applications.
The U/f function cannot be used with energy optimization; if parameter 45.11 Energy
optimizer is set to Enable, parameter 97.20 U/F ratio is ignored.
Settings
• Menu - Primary settings - Motor - U/f ratio
• Parameter 97.20 U/F ratio (page 386).
 Flux braking
The drive can provide greater deceleration by raising the level of magnetization in the
motor. By increasing the motor flux, the energy generated by the motor during
braking can be converted to motor thermal energy.
Motor TBr
(%) TBr = Braking torque
speed
= 100 Nm
No flux braking 60
40 Flux braking
20
Flux braking No flux braking
t (s) f (Hz)
The drive monitors the motor status continuously, also during flux braking. Therefore,
flux braking can be used both for stopping the motor and for changing the speed. The
other benefits of flux braking are:
• The braking starts immediately after a stop command is given. The function does
not need to wait for the flux reduction before it can start the braking.
• The cooling of the induction motor is efficient. The stator current of the motor
increases during flux braking, not the rotor current. The stator cools much more
efficiently than the rotor.
• Flux braking can be used with induction motors and permanent magnet
synchronous motors.
Two braking power levels are available:
• Moderate braking provides faster deceleration compared to a situation where flux
braking is disabled. The flux level of the motor is limited to prevent excessive
heating of the motor.
• Full braking exploits almost all available current to convert the mechanical braking
energy to motor thermal energy. Braking time is shorter compared to moderate
braking. In cyclic use, motor heating may be significant.
WARNING: The motor needs to be rated to absorb the thermal energy

generated by flux braking.
Settings
• Menu - Primary settings - Motor - Flux braking
• Parameter 97.05 Flux braking (page 384).
 DC magnetization
The drive has different magnetization functions for different phases of motor
start/rotation/stop: pre-magnetization, DC hold, post-magnetization and pre-heating
(motor heating).
Pre-magnetization
Pre-magnetization refers to DC magnetization of the motor before start. Depending
on the selected start mode (21.01 Vector start mode or 21.19 Scalar start mode), pre-
magnetization can be applied to guarantee the highest possible breakaway torque,
up to 200% of the nominal torque of the motor. By adjusting the pre-magnetization
time (21.02 Magnetization time), it is possible to synchronize the motor start and, for
example, the release of a mechanical brake.
Settings
Parameters 21.01 Vector start mode, 21.19 Scalar start mode, 21.02 Magnetization
time
DC hold
The function makes it possible to lock the rotor at (near) zero speed in the middle of
normal operation. DC hold is activated by parameter 21.08 DC current control. When
both the reference and motor speed drop below a certain level (parameter 21.09 DC
hold speed), the drive will stop generating sinusoidal current and start to inject DC
into the motor. The current is set by parameter 21.10 DC current reference. When the
reference exceeds parameter 21.09 DC hold speed, normal drive operation
continues.
Motor speed DC hold
Reference
t
21.09 DC hold speed
Settings
Parameters 21.08 DC current control and 21.09 DC hold speed
Post-magnetization
The function keeps the motor magnetized for a certain period (parameter 21.11 Post
magnetization time) after stopping. This is to prevent the machinery from moving
under load, for example before a mechanical brake can be applied. Post-
magnetization is activated by parameter 21.08 DC current control. The magnetization
current is set by parameter 21.10 DC current reference.
Note: Post-magnetization is only available when ramping is the selected stop mode
(see parameter 21.03 Stop mode).
Settings
Parameters 21.01 Vector start mode, 21.02 Magnetization time and 21.08…21.11
(page 272).
Pre-heating (Motor heating)

The pre-heating function keeps the motor warm and prevents condensation inside the
motor by feeding it with DC current when the drive has been stopped. The heating
can only be activated when the drive is in the stopped state, and starting the drive
stops the heating.
The heating is only started after a delay when the start command has been removed
to prevent excessive current if coast stop is used. The delay depends on the motor
size and the rotating speed.
The function can be defined to be always active when the drive is stopped or it can be
activated by a digital input, fieldbus, timed function or supervision function. For
example, with the help of signal supervision function, the heating can be activated by
a thermal measurement signal from the motor.
The pre-heating current fed to the motor can be defined as 0…30% of the nominal
motor current.
The drive generates a warning when the pre-heating is active to indicate that current
is being fed to the motor.
Notes:
• In applications where the motor keeps rotating for a long time after the modulation
is stopped, it is recommended to use ramp stop with pre-heating to prevent a
sudden pull at the rotor when the pre-heating is activated.
• The heating function requires that run enable, interlock and STO signals are
active.
• The heating function requires that the drive is not faulted.
• Pre-heating uses DC hold to produce current.
Settings
• Menu - Primary settings - Motor - Pre-heating
• Parameters 21.14 Pre-heating input source and 21.16 Pre-heating current (page
272)
 Energy optimization
The function optimizes the motor flux so that total energy consumption and motor
noise level are reduced when the drive operates below the nominal load. The total
efficiency (motor and drive) can be improved by 1…20% depending on load torque
and speed.
Note: With a permanent magnet motor , energy optimization is always enabled.
Settings
• Menu - Energy efficiency
• Parameter 45.11 Energy optimizer (page 357)
 Switching frequency
The drive has two switching frequencies: reference switching frequency and
minimum switching frequency. The drive tries to keep the highest allowed switching
frequency (= reference switching frequency) if thermally possible, and then adjusts
dynamically between the reference and minimum switching frequencies depending

on the drive temperature. When the drive reaches the minimum switching frequency
(= lowest allowed switching frequency), it starts to limit output current as the heating
up continues.
For derating, see section Switching frequency derating on page 499.
Example 1: If you need to fix the switching frequency to a certain value as with some
external filters, set both the reference and the minimum switching frequency to this
value and the drive will retain this switching frequency.
Example 2: If the reference switching frequency is set to 12kHz and the minimum
switching frequency is set to 1kHz, the drive maintains the highest possible switching
frequency to reduce motor noise and only when the drive heats it will decrease the
switching frequency. This is useful, for example, in applications where low noise is
necessary but higher noise can be tolerated when the full output current is needed.
Settings
Parameter 97.01 Switching frequency reference and 97.02 Minimum switching
frequency (page 378)
 Speed compensated stop

Speed compensation stop is available for example for applications where a conveyer
needs to travel a certain distance after receiving the stop command. At maximum
speed, the motor is stopped normally along the defined deceleration ramp. Below
maximum speed, stop is delayed by running the drive at current speed before the
motor is ramped to a stop. As shown in the figure, the distance travelled after the stop
command is the same in both cases, ie, area A equals area B.
Motor speed
Stop command
Max. area A = area B
speed
A
Used
speed
B
t (s)
Speed compensation can be restricted to forward or reverse rotating direction.

Speed compensation is only supported in vector motor control.
Settings
Parameters 21.03 Stop mode (page 269), 21.30 Speed comp stop delay (page 274)
and 21.31 Speed comp stop threshold (page 274).
Application control
 Control macros
Control macros are predefined parameter edits and I/O configurations. See chapter
Control macros (page 161).
 Process PID control

There is a built-in process PID controller in the drive. The controller can be used to
control process such as pressure or flow in the pipe or fluid level in the container.
In process PID control, a process reference (setpoint) is connected to the drive
instead of a speed reference. An actual value (process feedback) is also brought
back to the drive. The process PID control adjusts the drive speed in order to keep
the measured process quantity (actual value) at the desired level (setpoint). This
means that user does not need to set a frequency/speed/torque reference to the drive
but the drive adjust its operation according to the process PID.
The simplified block diagram below illustrates the process PID control. For more
detailed block diagrams, see pages 544 and 545.
Setpoint
Limitation
Process Speed, torque or
Filter PID frequency
reference chain
AI1
Process
AI2 actual
••• values
FBA
The drive contains two complete sets of process PID controller settings that can be
alternated whenever necessary; see parameter 40.57 PID set1/set2 selection.
Note: Process PID control is only available in external control; see section Local
control vs. external control (page 180).
Quick configuration of the process PID controller

1. Activate the process PID controller: Menu - Primary settings - PID - PID
controls
2. Select a feedback source: Menu - Primary settings - PID - Feedback
3. Select a setpoint source: Menu - Primary settings - PID - Setpoint
4. Set the gain, integration time, derivation time: Menu - Primary settings - PID -
Tuning
5. Set the PID output limits: Menu - Primary settings - PID - PID output
6. Select the PID controller output as the source of, for example, 22.11 Ext1 speed
ref1: Menu - Primary settings - Start, stop, reference - Reference from
Sleep and boost functions for process PID control

The sleep function is suitable for PID control applications where the consumption
varies, such as clean water pumping systems. When used, it stops the pump
completely during low demand, instead of running the pump slowly below its efficient
operating range. The following example visualizes the operation of the function.
Example: The drive controls a pressure boost pump. The water consumption falls at
night. As a consequence, the process PID controller decreases the motor speed.
However, due to natural losses in the pipes and the low efficiency of the centrifugal
pump at low speeds, the motor would never stop rotating. The sleep function detects
the slow rotation and stops the unnecessary pumping after the sleep delay has
passed. The drive shifts into sleep mode, still monitoring the pressure. The pumping
resumes when the pressure falls under the predefined minimum level and the wake-
up delay has passed.
The user can extend the PID sleep time by the boost functionality. The boost
functionality increases the process setpoint for a predetermined time before the drive
enters the sleep mode.
Setpoint Sleep boost time (40.45)
Sleep boost step (40.46)
Time
Actual value Wake-up delay
(40.48)
Non-inverted
(40.31 = Not inverted (Ref - Fbk))
Wake-up level
(Setpoint - Wake-up deviation [40.47])
Time
Actual value
Wake-up level
(Setpoint + Wake-up deviation [40.47])
Inverted (40.31 = Inverted (Fbk - Ref))
Time
Motor speed
tsd = Sleep delay (40.44) Sleep mode
t < tsd tsd
Sleep level
(40.43)
Time
STOP START
Tracking
In tracking mode, the PID block output is set directly to the value of parameter 40.50
(or 41.50) Set 1 tracking ref selection. The internal I term of the PID controller is set
so that no transient is allowed to pass on to the output, so when the tracking mode is
left, normal process control operation can be resumed without a significant bump.
Settings
• Menu - Primary settings - PID
• Parameter 96.04 Macro select (macro selection)
• Parameter groups 40 Process PID set 1 (page 341) and 41 Process PID set 2
(page 351).
 Mechanical brake control

A mechanical brake can be used for holding the motor and driven machinery at zero
speed when the drive is stopped, or not powered. The brake control logic observes
the settings of parameter group 44 Mechanical brake control as well as several
external signals, and moves between the states presented in the diagram on page
207. The tables below the state diagram detail the states and transitions. The timing
diagram on page 208 shows an example of a close-open-close sequence.
Inputs of the brake control logic

The start command of the drive (bit 5 of 06.16 Drive status word 1) is the main control
source of the brake control logic.
Outputs of the brake control logic

The mechanical brake is to be controlled by bit 0 of parameter 44.01 Brake control
status. This bit should be selected as the source of a relay output (or a digital
input/output in output mode) which is then wired to the brake actuator through a relay.
See the wiring example on page 209.
The brake control logic, in various states, will request the drive control logic to hold
the motor or ramp down the speed. These requests are visible in parameter 44.01
Brake control status.
Settings
Parameter group 44 Mechanical brake control (page 354).
Brake state diagram
(from any state) (from any state)
1 2
BRAKE DISABLED BRAKE CLOSED BRAKE OPENING

3
3 4
7
5
BRAKE CLOSING BRAKE OPEN
BRAKE CLOSING
DELAY
BRAKE CLOSING WAIT 5

8
State descriptions
State name Description

BRAKE DISABLED Brake control is disabled (parameter 44.06 Brake control enable = 0, and 44.01
Brake control status b4 = 0). The open signal is active (44.01 Brake control
status b0 = 1).
BRAKE OPENING: Brake has been requested to open. (44.01 Brake control status b2 = 1). Open
signal has been activated (44.01 Brake control status b0 is set). The load is
held in place by the speed control of the drive until 44.08 Brake open delay
elapses.
BRAKE OPEN The brake is open (44.01 Brake control status b0 = 1). Hold request is removed
(44.01 Brake control status b2 = 0), and the drive is allowed to follow the
reference.
BRAKE CLOSING:
BRAKE CLOSING WAIT Brake has been requested to close. The drive logic is requested to ramp down
the speed to a stop (44.01 Brake control status b3 = 1). The open signal is kept
active (44.01 Brake control status b0 = 1). The brake logic will remain in this
state until the motor speed is below 44.14 Brake close level.
BRAKE CLOSING DELAY Closing conditions have been met. The open signal is deactivated (44.01 Brake
control status b0 → 0). The ramp-down request is maintained (44.01 Brake
control status b3 = 1). The brake logic will remain in this state until 44.13 Brake
close delay has elapsed.
At this point, the logic proceeds to BRAKE CLOSED state.
BRAKE CLOSED The brake is closed (44.01 Brake control status b0 = 0). The drive is not
necessarily modulating.
State change conditions ( n )

1 Brake control disabled (parameter 44.06 Brake control enable → 0).
2 06.11 Main status word, bit 2 = 0.
3 Brake has been requested to open.
4 44.08 Brake open delay has elapsed.
5 Brake has been requested to close.
6 Motor speed is below closing speed 44.14 Brake close level.
7 44.13 Brake close delay has elapsed.
8 Brake has been requested to open.
9 Brake control enabled (parameter 44.06 Brake control enable → 1).
Timing diagram
The simplified timing diagram below illustrates the operation of the brake control
function. Refer to the state diagram above.
Start command
(06.16 b5)
Modulating (06.16 b6)
tmd
Ready ref (06.11 b2)
Speed reference
ncs
Brake control signal

(44.01 b0) tod
Hold stopped request

(44.01 b2)
Ramp to stopped
request (44.01 b3)
BRAKE BCW BCD BRAKE

State CLOSED BRAKE OPENING BRAKE OPEN CLOSED
BRAKE CLOSING
1 2 3 4 5 6 7 8
tmd Motor magnetization delay

tod Brake open delay (parameter 44.08 Brake open delay)
ncs Brake close speed (parameter 44.14 Brake close level)
tcd Brake close delay (parameter 44.13 Brake close delay)
BCW BRAKE CLOSING WAIT
BCD BRAKE CLOSING DELAY
Wiring example
The figure below shows a brake control wiring example. The brake control hardware
and wiring is to be sourced and installed by the customer.
WARNING! Make sure that the machinery into which the drive with brake
control function is integrated fulfils the personnel safety regulations. Note that
the frequency converter (a Complete Drive Module or a Basic Drive Module, as
defined in IEC/EN 61800-2), is not considered as a safety device mentioned in the
European Machinery Directive and related harmonised standards. Thus, the
personnel safety of the complete machinery must not be based on a specific
frequency converter feature (such as the brake control function), but it has to be
implemented as defined in the application specific regulations.
The brake is controlled by bit 0 of parameter 44.01 Brake control status. In this
example, parameter 10.24 RO1 source is set to Brake command (ie. bit 0 of 44.01
Brake control status.
Brake control Drive control unit

hardware X8
115/230 VAC
20 RO1A
19 RO1C
21 RO1B
Emergency
brake
Motor Mechanical brake
 Timed functions
TBA Settings
Parameter group 34 Timed functions (page 321).
DC voltage control
 Overvoltage control
Overvoltage control of the intermediate DC link is typically needed when the motor is
in generating mode. The motor can generate when it decelerates or when the load
overhauls the motor shaft, causing the shaft to turn faster than the applied speed or
frequency. To prevent the DC voltage from exceeding the overvoltage control limit,
the overvoltage controller automatically decreases the generating torque when the
limit is reached. The overvoltage controller also increases any programmed
deceleration times if the limit is reached; to achieve shorter deceleration times, a
brake chopper and resistor may be required.
 Undervoltage control (power loss ride-through)

If the incoming supply voltage is cut off, the drive will continue to operate by utilizing
the kinetic energy of the rotating motor. The drive will be fully operational as long as
the motor rotates and generates energy to the drive. The drive can continue
operation after the break if the main contactor (if present) remained closed.
Note: Units equipped with a main contactor must be equipped with a hold circuit (e.g.
UPS) to keep the contactor control circuit closed during a short supply break.
Uinput power
TM fout UDC
(N·m) (Hz) (Vdc) UDC
160 80 520
120 60 390
fout
80 40 260
TM
40 20 130
t (s)
1.6 5.8 8 11.2 15.4
UDC = Intermediate circuit voltage of the drive, fout = Output frequency of the drive,
TM = Motor torque
Loss of supply voltage at nominal load (fout = 40 Hz). The intermediate circuit DC voltage
drops to the minimum limit. The controller keeps the voltage steady as long as the input
power is switched off. The drive runs the motor in generator mode. The motor speed falls but
the drive is operational as long as the motor has enough kinetic energy.
Automatic restart
It is possible to restart the drive automatically after a short (max. 5 seconds) power
supply failure by using the Automatic restart function, provided that the drive is
allowed to run for 5 seconds without the cooling fans operating.
When enabled, the function takes the following actions upon a supply failure to
enable a successful restart:
• The undervoltage fault is suppressed (but a warning is generated).
• Modulation and cooling is stopped to conserve any remaining energy.
• DC circuit pre-charging is enabled.
If the DC voltage is restored before the expiration of the period defined by parameter
21.18 Auto restart time and the start signal is still on, normal operation will continue.
However, if the DC voltage remains too low at that point, the drive trips on a fault,
3220 DC link undervoltage.
 Voltage control and trip limits

The control and trip limits of the intermediate DC voltage regulator are relative to the
supply voltage as well as drive/inverter type. The DC voltage (UDC) is approximately
1.35 times the line-to-line supply voltage, and is displayed by parameter 01.11 DC
voltage.
The following diagram shows the relation of selected DC voltage levels. Note that the
absolute voltages vary according to drive/inverter type and AC supply voltage range.
Overvoltage fault level (1.3 × UDCmax)
Overvoltage control level (1.25 × UDCmax)

Overvoltage warning level (1.15 × UDCmax)
UDCmax
UDCmin
Undervoltage control/warning level (0.85 × UDCmin)
Undervoltage fault level (0.6 × UDCmin)
UDCmax = DC voltage corresponding to +10% × nominal AC voltage × 1.35

UDCmin = DC voltage corresponding to -15% × nominal AC voltage × 1.35
Settings
Parameters 01.11 DC voltage (page 229), 30.30 Overvoltage control (page 308),
30.31 Undervoltage control (page 308) and 95.01 Supply voltage (page 378).
 Brake chopper
A brake chopper can be used to handle the energy generated by a decelerating
motor. When the DC voltage rises high enough, the chopper connects the DC circuit
to an external brake resistor. The chopper operates on the pulse width modulation
principle.
The internal brake choppers in the drive (in frames R0…R3) start conducting when
the DC link voltage reaches approximately 1.15 × UDCmax. 100% maximum pulse
width is reached at approximately 1.2 × UDCmax. (UDCmax is the DC voltage
corresponding to the maximum of the AC supply voltage range.) For information on
external brake choppers, refer to their documentation.
Note: Overvoltage control needs to be disabled for the chopper to operate.
Settings
Parameter 01.11 DC voltage (page 229); parameter group 43 Brake chopper (page
353).
Safety and protections

 Fixed/Standard protections
Overcurrent
If the output current exceeds the internal overcurrent limit, the IGBTs are shut down
immediately to protect the drive.
DC overvoltage
See section Overvoltage control on page 210.
DC undervoltage
See section Undervoltage control (power loss ride-through) on page 210.
Drive temperature
If the temperature rises high enough, the drive first starts to limit the switching
frequency and then the current to protect itself. If it is still keeps heating up, for
example because of a fan failure, an overtemperature fault is generated.
Short circuit
In case of a short circuit, the IGBTs are shut down immediately to protect the drive.
 Emergency stop
The emergency stop signal is connected to the input selected by parameter 21.05
Emergency stop source. An emergency stop can also be generated through fieldbus
(parameter 06.01 Main control word, bits 0…2).
The mode of the emergency stop is selected by parameter 21.04 Emergency stop
mode. The following modes are available:
• Off1: Stop along the standard deceleration ramp defined for the particular
reference type in use
• Off2: Stop by coasting
• Off3: Stop by the emergency stop ramp defined by parameter 23.23 Emergency
stop time.
• Stop torque.
With Off1 or Off3 emergency stop modes, the ramp-down of the motor speed can be
supervised by parameters 31.32 Emergency ramp supervision and 31.33 Emergency
ramp supervision delay.
Notes:
• The installer of the equipment is responsible for installing the emergency stop
devices and all additional devices needed for the emergency stop function to fulfill
the required emergency stop categories. For more information, contact your local
ABB representative.
• After an emergency stop signal is detected, the emergency stop function cannot
be canceled even though the signal is canceled.
• If the minimum (or maximum) torque limit is set to 0%, the emergency stop
function may not be able to stop the drive.
Settings
• Menu - Primary settings - Start, stop, reference - Run permissions
• Parameters 21.04 Emergency stop mode (page 270), 21.05 Emergency stop
source (page 270), 23.23 Emergency stop time (page 284), 31.32 Emergency
ramp supervision (page 314) and 31.33 Emergency ramp supervision delay (page
314).
 Motor thermal protection

The control program features two separate motor temperature monitoring functions.
The temperature data sources and warning/trip limits can be set up independently for
each function.
The motor temperature can be monitored using
• the motor thermal protection model (estimated temperature derived internally
inside the drive), or
• sensors installed in the windings. This will result in a more accurate motor model.
Motor thermal protection model

The drive calculates the temperature of the motor on the basis of the following
assumptions:
1. When power is applied to the drive for the first time, the motor is assumed to be at
ambient temperature (defined by parameter 35.50 Motor ambient temperature).
After this, when power is applied to the drive, the motor is assumed to be at the
estimated temperature.
2. Motor temperature is calculated using the user-adjustable motor thermal time and
motor load curve. The load curve should be adjusted in case the ambient
temperature exceeds 30 °C.
Note: The motor thermal model can be used when only one motor is connected to
the inverter.
Temperature monitoring using PTC sensors

PTC sensors are connected through a CMOD-02 multifunction module (see CMOD-
02 multifunction extension module (external 24 V AC/DC and isolated PTC interface)
on page 576)
1)
60 PTC IN
61 PTC IN
CMOD-02
1) One or 3…6 PTC thermistors connected in series.
The resistance of the PTC sensor increases when its temperature rises. The
increasing resistance of the sensor decreases the voltage at the input, and eventually
its state switches from 1 to 0, indicating overtemperature.
The figure below shows typical PTC sensor resistance values as a function of
temperature.
Ohm
4000
1330
550
100
Temperature monitoring using Pt100 sensors

1…3 Pt100 sensors can be connected in series to an analog input and an analog
output.
The analog output feeds a constant excitation current of 9.1 mA through the sensor.
The sensor resistance increases as the motor temperature rises, as does the voltage
over the sensor. The temperature measurement function reads the voltage through
the analog input and converts it into degrees Celsius.
It is possible to adjust the motor temperature supervision limits and select how the
drive reacts when overtemperature is detected.
For the wiring of the sensor, see section AI1 and AI2 as Pt100, Pt1000, Ni1000,
KTY83 and KTY84 sensor inputs (X1) on page 104.
Temperature monitoring using Pt1000 sensors

1…3 Pt1000 sensors can be connected in series to an analog input and an analog
output.
Temperature monitoring using Ni1000 sensors

One Ni1000 sensor can be connected to an analog input and an analog output on the
control unit.
Temperature monitoring using KTY84 sensors

One KTY84 sensor can be connected to an analog input and an analog output on the
control unit.
The figure and table on page 217 show typical KTY84 sensor resistance values as a
function of the motor operating temperature.
Temperature monitoring using KTY83 sensors

One KTY83 sensor can be connected to an analog input and an analog output on the
control unit.
The figure and table below show typical KTY83 sensor resistance values as a
function of the motor operating temperature.
Ohm
3000
Scaling KTY84
KTY84 KTY83 KTY83
2000
°C ohm ohm
90 936 1569
110 1063 1774
130 1197 1993
150 1340 2225 1000
0 T oC
-100 0 100 200 300
It is possible to adjust the motor temperature supervision limits and select how the
drive reacts when overtemperature is detected.
Settings
• Menu - Primary settings - Motor - Thermal protection estimated,
Menu - Primary settings - Motor - Thermal protection measured
• Parameter group 35 Motor thermal protection (page 327).
 Programmable protection functions

External events (parameters 31.01…31.10)
Five different event signals from the process can be connected to selectable inputs to
generate trips and warnings for the driven equipment. When the signal is lost, an
external event (fault, warning, or a mere log entry) is generated. The contents of the
messages can be edited on the control panel by selecting Menu - Primary settings -
Advanced functions - External events.
Motor phase loss detection (parameter 31.19)

The parameter selects how the drive reacts whenever a motor phase loss is detected.
Earth (Ground) fault detection (parameter 31.20)

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

The parameter selects how the drive reacts whenever a supply phase loss is
detected.
Safe torque off detection (parameter 31.22)

The drive monitors the status of the Safe torque off input, and this parameter selects
which indications are given when the signals are lost. (The parameter does not affect
the operation of the Safe torque off function itself). For more information on the Safe
torque off function, see section Implementing the Safe torque off function on page 69.
Swapped supply and motor cabling (parameter 31.23)

The drive can detect if the supply and motor cables have accidentally been swapped
(for example, if the supply is connected to the motor connection of the drive). The
parameter selects if a fault is generated or not.
Stall protection (parameters 31.24…31.28)

The drive protects the motor in a stall situation. It is possible to adjust the supervision
limits (current, frequency and time) and choose how the drive reacts to a motor stall
condition.
Overspeed protection (parameter 31.30)

The user can set overspeed limits by specifying a margin that is added to the
currently-used maximum and minimum speed limits.
Local control loss detection (parameter 49.05)

The parameter selects how the drive reacts to a control panel or PC tool
communication break.
AI supervision (parameters 12.03…12.04)

The parameters select how the drive reacts when an analog input signal moves out of
the minimum and/or maximum limits specified for the input.
 Automatic fault resets

The drive can automatically reset itself after overcurrent, overvoltage, undervoltage
and external faults. The user can also specify a fault that is automatically reset.
By default, automatic resets are off and must be specifically activated by the user.
Settings
• Menu - Primary settings - Advanced functions - Autoreset faults
• Parameters 31.12…31.16 (page 310).
Diagnostics
 Signal supervision
Six signals can be selected to be supervised by this function. Whenever a supervised
signal exceeds or falls below predefined limits, a bit in 32.01 Supervision status is
activated, and a warning or fault generated. The contents of the message can be
edited on the control panel by selecting Menu - Primary settings - Edit texts.
The supervised signal is low-pass filtered.
Settings
Parameter group 32 Supervision (page 315).
 Energy saving calculators

This feature consists of the following functionalities:
• An energy optimizer that adjusts the motor flux in such a way that the total system
efficiency is maximized
• A counter that monitors used and saved energy by the motor and displays them in
kWh, currency or volume of CO2 emissions, and
• A load analyzer showing the load profile of the drive (see separate section on
page 220).
In addition, there are counters that show energy consumption in kWh of the current
and previous hour as well as the current and previous day.
Note: The accuracy of the energy savings calculation is directly dependent on the
accuracy of the reference motor power given in parameter 45.19 Comparison power.
Settings
• Menu - Energy efficiency
• Parameter group 45 Energy efficiency (page 355).
• Parameters 01.50 Current hour kWh, 01.51 Previous hour kWh, 01.52 Current
day kWh and 01.53 Previous day kWh on page 230.
 Load analyzer
Peak value logger
The user can select a signal to be monitored by a peak value logger. The logger
records the peak value of the signal along with the time the peak occurred, as well as
motor current, DC voltage and motor speed at the time of the peak. The peak value is
sampled at 2 ms intervals.
Amplitude loggers
The control program has two amplitude loggers.
For amplitude logger 2, the user can select a signal to be sampled at 200 ms
intervals, and specify a value that corresponds to 100%. The collected samples are
sorted into 10 read-only parameters according to their amplitude. Each parameter
represents an amplitude range 10 percentage points wide, and displays the
percentage of the collected samples that have fallen within that range.
You can view this graphically with the assistant panel or the Drive composer PC tool.
Percentage of samples
0…10%
10…20%
20…30%
30…40%
40…50%
50…60%
60…70%
70…80%
80…90%
>90%
Amplitude ranges
(parameters 36.40…36.49)
Amplitude logger 1 is fixed to monitor motor current, and cannot be reset. With
amplitude logger 1, 100% corresponds to the maximum output current of the drive
(Imax). The measured current is logged continuously. The distribution of samples is
shown by parameters 36.20…36.29.
Settings
• Menu - Diagnostics - Load profile
• Parameter group 36 Load analyzer (page 335).
Miscellaneous
 Backup and restore
You can make backups of the settings manually to the assistant panel. The panel also
keeps one automatic backup. You can restore a backup to another drive, or a new
drive replacing a faulty one. You can make backups and restore on the panel or with
the Drive composer PC tool.
Backup
Manual backup
Make a backup when necessary, for example, after you have started up the drive or
when you want to copy the settings to another drive.
Parameter changes from fieldbus interfaces are ignored unless you have forced
parameter saving with parameter 96.07 Parameter save manually.
Automatic backup
The assistant panel has a dedicated space for one automatic backup. An automatic
backup is created two hours after the last parameter change. After completing the
backup, the panel waits for 24 hours before checking if there are additional parameter
changes. If there are, it creates a new backup overwriting the previous one.
You cannot adjust the delay time or disable the automatic backup function.
Parameter changes from fieldbus interfaces are ignored unless you have forced
parameter saving with parameter 96.07 Parameter save manually.
Restore
The backups are shown on the panel. Automatic backups are marked with icon
and manual backups with . To restore a backup, highlight it and press . In the
following display you can view backup contents and restore all parameters or select a
subset to be restored.
Note: To restore a backup, the drive has to be in Local control.
Settings
• Menu - Backups
• Parameter 96.07 Parameter save manually (page 380).
 User parameter sets

The drive supports four user parameter sets that can be saved to the permanent
memory and recalled using drive parameters. It is also possible to use digital inputs to
switch between user parameter sets. To change a user parameter set, the drive has
to be stopped.
A user parameter set contains all editable values in parameter groups 10…99 except
• I/O extension module settings (groups 14…16)
• data storage parameters (group 47)
• fieldbus communication settings (groups 51…53 and 58).
As the motor settings are included in the user parameter sets, make sure the settings
correspond to the motor used in the application before recalling a user set. In an
application where different motors are used with the drive, the motor ID run needs to
be performed with each motor and the results saved to different user sets. The
appropriate set can then be recalled when the motor is switched.
Settings
• Menu - Primary settings - Advanced functions - User sets
• Parameters 96.10…96.13 (page 381).
 Data storage parameters

Twelve (eight 32-bit, four 16-bit) parameters are reserved for data storage. These
parameters are unconnected by default and can be used for linking, testing and
commissioning purposes. They can be written to and read from using other
parameters’ source or target selections.
Settings
Parameter group 47 Data storage (page 361).
Parameters 225
13
Parameters
The chapter describes the parameters, including actual signals, of the control
program.
226 Parameters

Term Definition
Actual signal Type of parameter that is the result of a measurement or calculation by
the drive, or contains status information. Most actual signals are read-
only, but some (especially counter-type actual signals) can be reset.
Def (In the following table, shown on the same row as the parameter name)
The default value of a parameter when used in the Factory macro. For
information on other macro-specific parameter values, see chapter
Control macros (page 161).
FbEq16 (In the following table, shown on the same row as the parameter range,
or for each selection)
16-bit fieldbus equivalent: The scaling between the value shown on the
panel and the integer used in communication when a 16-bit value is
selected for transmission to an external system.
A dash (-) indicates that the parameter is not accessible in 16-bit format.
The corresponding 32-bit scalings are listed in chapter Additional
parameter data (page 393).
Other The value is taken from another parameter.
Choosing “Other” displays a parameter list in which the user can specify
the source parameter.
Other [bit] The value is taken from a specific bit in another parameter.
Choosing “Other” displays a parameter list in which the user can specify
the source parameter and bit.
Parameter Either a user-adjustable operating instruction for the drive, or an actual
signal.
p.u. Per unit
Parameters 227
Summary of parameter groups

Group Contents Page
01 Actual values Basic signals for monitoring the drive. 229
03 Input references Values of references received from various sources. 231
04 Warnings and faults Information on warnings and faults that occurred last. 232
05 Diagnostics Various run-time-type counters and measurements related to drive 233
maintenance.
06 Control and status words Drive control and status words. 234
07 System info Drive hardware and firmware information. 238
10 Standard DI, RO Configuration of digital inputs and relay outputs. 238
11 Standard DIO, FI, FO Configuration of the frequency input. 241
12 Standard AI Configuration of standard analog inputs. 243
13 Standard AO Configuration of standard analog outputs. 247
15 I/O extension module Configuration of the I/O extension module installed in slot 2. 252
19 Operation mode Selection of local and external control location sources and 258
operating modes.
20 Start/stop/direction Start/stop/direction and run/start/jog enable signal source 259
selection; positive/negative reference enable signal source
selection.
21 Start/stop mode Start and stop modes; emergency stop mode and signal source 268
selection; DC magnetization settings.
22 Speed reference selection Speed reference selection; motor potentiometer settings. 274
23 Speed reference ramp Speed reference ramp settings (programming of the acceleration 282
and deceleration rates for the drive).
24 Speed reference Speed error calculation; speed error window control configuration; 286
conditioning speed error step.
25 Speed control Speed controller settings. 286
26 Torque reference chain Settings for the torque reference chain. 291
28 Frequency reference chain Settings for the frequency reference chain. 294
30 Limits Drive operation limits. 303
31 Fault functions Configuration of external events; selection of behavior of the drive 308
upon fault situations.
32 Supervision Configuration of signal supervision functions 1…3. 315
34 Timed functions Configuration of the timed functions. 321
35 Motor thermal protection Motor thermal protection settings such as temperature 327
measurement configuration, load curve definition and motor fan
control configuration.
36 Load analyzer Peak value and amplitude logger settings. 335
37 User load curve Settings for user load curve. 338
40 Process PID set 1 Parameter values for process PID control. 341
41 Process PID set 2 A second set of parameter values for process PID control. 351
43 Brake chopper Settings for the internal brake chopper. 353
44 Mechanical brake control Configuration of mechanical brake control. 354
45 Energy efficiency Settings for the energy saving calculators. 355
228 Parameters
Group Contents Page

46 Monitoring/scaling settings Speed supervision settings; actual signal filtering; general scaling 359
settings.
47 Data storage Data storage parameters that can be written to and read from 361
using other parameters’ source and target settings.
49 Panel port communication Communication settings for the control panel port on the drive. 362
50 Fieldbus adapter (FBA) Fieldbus communication configuration. 363
51 FBA A settings Fieldbus adapter A configuration. 367
52 FBA A data in Selection of data to be transferred from drive to fieldbus controller 368
through fieldbus adapter A.
53 FBA A data out Selection of data to be transferred from fieldbus controller to drive 369
through fieldbus adapter A.
58 Embedded fieldbus Configuration of the embedded fieldbus (EFB) interface. 369
71 External PID1 Configuration of external PID. 376
95 HW configuration Various hardware-related settings. 378
96 System Language selection; access levels; macro selection; parameter 379
save and restore; control unit reboot; user parameter sets; unit
selection.
97 Motor control Switching frequency; slip gain; voltage reserve; flux braking; anti- 384
cogging (signal injection); IR compensation.
98 User motor parameters Motor values supplied by the user that are used in the motor 386
model.
99 Motor data Motor configuration settings. 388
Parameters 229
Parameter listing
No. Name/Value Description Def/FbEq16
01
01 Actual values Basic signals for monitoring the drive.
All parameters in this group are read-only unless otherwise
noted.
Note: Values of these actual signals are filtered with the filter
time defined in group 46 Monitoring/scaling settings. The
selection lists for parameters in other groups mean the raw
value of the actual signal instead. For example, if a selection
is “Output frequency” it does not point to the value of
parameter 01.06 Output frequency but to the raw value.
01.01 Motor speed used Estimated motor speed. A filter time constant for this signal -
can be defined by parameter 46.11 Filter time motor speed.
-30000.00… Estimated motor speed. See par.
30000.00 rpm 46.01
01.02 Motor speed Estimated motor speed in rpm. A filter time constant for this -
estimated signal can be defined by parameter 46.11 Filter time motor
speed.
-30000.00… Estimated motor speed. See par.
30000.00 rpm 46.01
01.03 Motor speed % Motor speed in percent of the nominal motor speed. -
-1000.00… Motor speed. See par.
1000.00% 46.01
01.06 Output frequency Estimated drive output frequency in Hz. A filter time constant -
for this signal can be defined by parameter 46.12 Filter time
output frequency.
-500.00…500.00 Estimated output frequency. See par.
Hz 46.02
01.07 Motor current Measured (absolute) motor current in A. -
0.00…30000.00 A Motor current. 1=1A
01.08 Motor current % of Motor current (drive output current) in percent of the nominal -
motor nom motor current.
0.0…1000.0% Motor current. 1 = 1%
01.09 Motor current % of Motor current (drive output current) in percent of the nominal -
drive nom drive current.
0.0…1000.0% Motor current. 1 = 1%
01.10 Motor torque Motor torque in percent of the nominal motor torque. See also -
parameter 01.30 Nominal torque scale.
A filter time constant for this signal can be defined by
parameter 46.13 Filter time motor torque.
-1600.0…1600.0% Motor torque. See par.
46.03
01.11 DC voltage Measured DC link voltage. -
0.00…2000.00 V DC link voltage. 10 = 1 V
01.13 Output voltage Calculated motor voltage in V AC. -
0…2000 V Motor voltage. 1=1V
230 Parameters

01.14 Output power Drive output power. The unit is selected by parameter 96.16 -
Unit selection. A filter time constant for this signal can be
defined by parameter 46.14 Filter time power.
-32768.00… Output power. 1 = 1 unit
32767.00 kW or hp
01.15 Output power % of Output power in percent of the nominal motor power. -
motor nom
-300.00… 300.00% Output power. 1 = 1%
01.16 Output power % of Output power in percent of the nominal drive power. -
drive nom
-300.00… 300.00% Output power. 1 = 1%
01.17 Motor shaft power Estimated mechanical power at motor shaft. -
-32768.00… Motor shaft power. 1 = 1 unit
32767.00 kW or hp
01.18 Inverter GWh Amount of energy that has passed through the drive (in either -
counter direction) in full gigawatt-hours. The minimum value is zero.
0…65535 GWh Energy in GWh. 1 = 1 GWh
01.19 Inverter MWh Amount of energy that has passed through the drive (in either -
counter direction) in full megawatt-hours. Whenever the counter rolls
over, 01.18 Inverter GWh counter is incremented. The
minimum value is zero.
0…999 MWh Energy in MWh. 1 = 1 MWh
01.20 Inverter kWh Amount of energy that has passed through the drive (in either -
counter direction) in full kilowatt-hours. Whenever the counter rolls
over, 01.19 Inverter MWh counter is incremented. The
minimum value is zero.
0…999 kWh Energy in kWh. 10 = 1 kWh
01.24 Flux actual % Used flux reference in percent of nominal flux of motor. -
0…200% Flux reference. 1 = 1%
01.30 Nominal torque Torque that corresponds to 100% of nominal motor torque. -
scale The unit is selected by parameter 96.16 Unit selection.
Note: This value is copied from parameter 99.12 Motor
nominal torque if entered. Otherwise the value is calculated
from other motor data.
0.000… N·m or lb·ft Nominal torque. 1 = 100 unit
01.31 Ambient Measured temperature of incoming cooling air. The unit is -
temperature selected by parameter 96.16 Unit selection. Only for frames
R5…R9.
-32768…32767 °C Cooling air temperature. 1 = 1°
or °F
01.50 Current hour kWh Current hour energy consumption. -
-21474836.48… Energy. 1 = 1 kWh
21474836.47 kWh
01.51 Previous hour kWh Previous hour energy consumption. -
-21474836.48… Energy. 1 = 1 kWh
21474836.47 kWh
01.52 Current day kWh Current day energy consumption. -
-21474836.48… Energy. 1 = 1 kWh
21474836.47 kWh
Parameters 231

01.53 Previous day kWh Previous day energy consumption. -
-21474836.48… Energy. 1 = 1 kWh
21474836.47 kWh
01.61 Abs motor speed Absolute value of parameter 01.01 Motor speed used. -
used
0.00… 30000.00 1 = 1 rpm
rpm
01.62 Abs motor speed % Absolute value of parameter 01.03 Motor speed %. -
0.00… 1000.00% 1 = 1%
01.63 Abs output Absolute value of parameter 01.06 Output frequency. -
frequency
0.00…500.00 Hz 1 = 1 Hz
01.64 Abs motor torque Absolute value of parameter 01.10 Motor torque. -
0.0…1600.0% 1 = 1%
01.65 Abs output power Absolute value of parameter 01.14 Output power. -
0.00… 32767.00 1 = 1 kW
kW or hp
01.66 Abs output power % Absolute value of parameter 01.15 Output power % of motor -
mot nom nom.
0.00… 300.00% 1 = 1%
01.67 Abs output power % Absolute value of parameter 01.16 Output power % of drive -
drive nom nom.
0.00… 300.00% 1 = 1%
01.68 Abs motor shaft Absolute value of parameter 01.17 Motor shaft power. -
power
0.00… 32767.00 1 = 1 kW
kW or hp
03
03 Input references Values of references received from various sources.
noted.
03.01 Panel reference Reference 1 given from the control panel or PC tool.. -
-100000.00… Control panel or PC tool reference. 1 = 10
100000.00
03.05 FB A reference 1 Reference 1 received through fieldbus adapter A. -
See also chapter Fieldbus control through a fieldbus adapter
(page 467).
-100000.00… Reference 1 from fieldbus adapter A. 1 = 10
100000.00
03.06 FB A reference 2 Reference 2 received through fieldbus adapter A. -
-100000.00… Reference 2 from fieldbus adapter A. 1 = 10
100000.00
03.09 EFB reference 1 Scaled reference 1 received through the embedded fieldbus 1 = 10
interface.
-30000.00… Scaled reference 1 received through the embedded fieldbus 1 = 10
30000.00 interface.
232 Parameters

03.10 EFB reference 2 Scaled reference 2 received through the embedded fieldbus 1 = 10
interface.
-30000.00… Scaled reference 2 received through the embedded fieldbus 1 = 10
30000.00 interface.
04
04 Warnings and faults Information on warnings and faults that occurred last.
For explanations of individual warning and fault codes, see
chapter Fault tracing.
noted.
04.01 Tripping fault Code of the 1st active fault (the fault that caused the current -
trip).
0000h…FFFFh 1st active fault. 1=1
04.02 Active fault 2 Code of the 2nd active fault. -
0000h…FFFFh 2nd active fault. 1=1
04.03 Active fault 3 Code of the 3rd active fault. -
0000h…FFFFh 3rd active fault. 1=1
04.04 Active fault 4 Code of the 4th active fault. -
0000h…FFFFh 4th active fault. 1=1
04.05 Active fault 5 Code of the 5th active fault. -
0000h…FFFFh 5th active fault. 1=1
04.06 Active warning 1 Code of the 1st active warning. -
0000h…FFFFh 1st active warning. 1=1
04.07 Active warning 2 Code of the 2nd active warning. -
0000h…FFFFh 2nd active warning. 1=1
04.08 Active warning 3 Code of the 3rd active warning. -
0000h…FFFFh 3rd active warning. 1=1
04.09 Active warning 4 Code of the 4th active warning. -
0000h…FFFFh 4th active warning. 1=1
04.10 Active warning 5 Code of the 5th active warning. -
0000h…FFFFh 5th active warning. 1=1
04.11 Latest fault Code of the 1st stored (non-active) fault. -
0000h…FFFFh 1st stored fault. 1=1
04.12 2nd latest fault Code of the 2nd stored (non-active) fault. -
0000h…FFFFh 2nd stored fault. 1=1
04.13 3rd latest fault Code of the 3rd stored (non-active) fault. -
0000h…FFFFh 3rd stored fault. 1=1
04.14 4th latest fault Code of the 4th stored (non-active) fault. -
0000h…FFFFh 4th stored fault. 1=1
04.15 5th latest fault Code of the 5th stored (non-active) fault. -
0000h…FFFFh 5th stored fault. 1=1
04.16 Latest warning Code of the 1st stored (non-active) warning. -
0000h…FFFFh 1st stored warning. 1=1
Parameters 233

04.17 2nd latest warning Code of the 2nd stored (non-active) warning. -
0000h…FFFFh 2nd stored warning. 1=1
04.18 3rd latest warning Code of the 3rd stored (non-active) warning. -
0000h…FFFFh 3rd stored warning. 1=1
04.19 4th latest warning Code of the 4th stored (non-active) warning. -
0000h…FFFFh 4th stored warning. 1=1
04.20 5th latest warning Code of the 5th stored (non-active) warning. -
0000h…FFFFh 5th stored warning. 1=1
05
05 Diagnostics Various run-time-type counters and measurements related to
drive maintenance.
noted.
05.01 On-time counter On-time counter. The counter runs when the drive is -
powered..
0…65535 d On-time counter. 1=1d
05.02 Run-time counter Motor run-time counter. The counter runs when the inverter -
modulates.
0…65535 d Motor run-time counter. 1=1d
05.04 Fan on-time Running time of the drive cooling fan. Can be reset from the -
counter control panel by keeping Reset down for over 3 seconds.
0…65535 d Cooling fan run-time counter. 1=1d
05.10 Control board Measured temperature of the control board -
temperature
-32768.00… Control board temperature in degrees Celsius. 1 = unit
32767.00 °C or °F
05.11 Inverter Estimated drive temperature in percent of fault limit. The fault -
temperature limit varies according to the type of the drive.
0.0% = 0 °C (32 °F)
100.0% = Fault limit
-40.0…160.0% Drive temperature in percent. 1 = 1%
05.22 Diagnostic word 3 Diagnostic word 3. For possible causes and remedies, see -
chapter Fault tracing.
Bit Name Value

0…8 Reserved
9 kWh pulse 1 = kWh pulse is active.
10 Reserved
11 Fan command 1 = Drive fan is rotating above idle speed.
12…15 Reserved
0000h…FFFFh Diagnostic word 3. 1=1

234 Parameters

06
06 Control and status Drive control and status words.
words
06.01 Main control word The main control word of the drive. This parameter shows the -
control signals as received from the selected sources (such
as digital inputs, the fieldbus interfaces and the application
program).
The bit assignments of the word are as described on page
473. The related status word and state diagram are presented
on pages 475 and 476 respectively.
This parameter is read-only.
0000h…FFFFh Main control word. 1=1
06.11 Main status word Main status word of the drive. -
The bit assignments are described on page 475. The related
control word and state diagram are presented on pages 473
and 476 respectively.
0000h…FFFFh Main status word. 1=1
06.16 Drive status word 1 Drive status word 1. -
Bit Name Description

0 Enabled 1 = Both run enable (see par. 20.12) and start enable (20.19) signals
are present. Note: This bit is not affected by the presence of a fault.
1 Inhibited 1 = Start inhibited. To start the drive, the inhibiting signal (see par.
06.18) must be removed and the start signal cycled.
2 DC charged 1 = DC circuit has been charged
3 Ready to start 1 = Drive is ready to receive a start command
4 Following 1 = Drive is ready to follow given reference
reference
5 Started 1 = Drive has been started
6 Modulating 1 = Drive is modulating (output stage is being controlled)
7 Limiting 1 = Any operating limit (speed, torque, etc.) is active
8 Local control 1 = Drive is in local control
9 Network control 1 = Drive is in network control (see page 30).
10 Ext1 active 1 = Control location EXT1 active
11 Ext2 active 1 = Control location EXT2 active
12 Reserved
13 Start request 1 = Start requested
14…15 Reserved
0000h…FFFFh Drive status word 1. 1=1

Parameters 235


0 Identification run done 1 = Motor identification (ID) run has been performed
1 Magnetized 1 = The motor has been magnetized
2 Torque control 1 = Torque control mode active
3 Speed control 1 = Speed control mode active
4 Reserved
5 Safe reference active
1 = A “safe” reference is applied by functions such as
parameters 49.05 and 50.02
6 Last speed active 1 = A “last speed” reference is applied by functions such as
parameters 49.05 and 50.02
7 Loss of reference 1 = Reference signal lost
8 Emergency stop failed 1 = Emergency stop failed (see parameters 31.32 and 31.33)
9 Jogging active 1 = Jogging enable signal is on
10 Above limit 1 = Actual speed, frequency or torque equals or exceeds limit
(defined by parameters 46.31…46.33). Valid in both directions of
rotation.
11…15 Reserved

236 Parameters

06.18 Start inhibit status Start inhibit status word. This word specifies the source of the -
word inhibiting signal that is preventing the drive from starting.
The conditions marked with an asterisk (*) only require that
the start command is cycled. In all other instances, the
inhibiting condition must be removed first.
See also parameter 06.16 Drive status word 1, bit 1.

0 Not ready run 1 = DC voltage is missing or drive has not been parametrized
correctly. Check the parameters in groups 95 and 99.
1 Ctrl location changed * 1 = Control location has changed
2 SSW inhibit 1 = Control program is keeping itself in inhibited state
3 Fault reset * 1 = A fault has been reset
4 Lost start enable 1 = Start enable signal missing
5 Lost run enable 1 = Run enable signal missing
6 Reserved
7 STO 1 = Safe torque off function active
8 Current calibration * 1 = Current calibration routine has finished
ended
9 ID run ended * 1 = Motor identification run has finished
10 Reserved
11 Em Off1 1 = Emergency stop signal (mode off1)
14 Auto reset inhibit 1 = The autoreset function is inhibiting operation
15 Jogging active 1 = The jogging enable signal is inhibiting operation
0000h…FFFFh Start inhibit status word. 1=1

06.19 Speed control Speed control status word. -
status word This parameter is read-only.

0 Zero speed 1 = Drive is running at zero speed
1 = Drive is running in forward direction above zero speed limit
1 Forward
(par. 21.06)
1 = Drive is running in reverse direction above zero speed limit
2 Reverse
(par. 21.06)
3…6 Reserved
Any constant speed 1 = A constant speed or frequency has been selected; see par.
7
request 06.20.
8…15 Reserved
0000h…FFFFh Speed control status word. 1=1

Parameters 237

06.20 Constant speed Constant speed/frequency status word. Indicates which -
status word constant speed or frequency is active (if any). See also
parameter 06.19 Speed control status word, bit 7, and section
Constant speeds/frequencies (page 190).

0 Constant speed 1 1 = Constant speed or frequency 1 selected
7…15 Reserved
0000h…FFFFh Constant speed/frequency status word. 1=1


0 DC hold active 1 = DC hold is active
1 Post-magnetizing 1 = Post-magnetizing is active
active
2 Motor pre-heating 1 = Motor pre-heating is active
active
3…15 Reserved

06.30 MSW bit 11 Selects a binary source whose status is transmitted as bit 11 Ext ctrl loc
selection (User bit 0) of 06.11 Main status word.
False 0. 0
True 1. 1
Ext ctrl loc Bit 11 of 06.01 Main control word (see page 234). 2
Other [bit] Source selection (see Terms and abbreviations on page 226). -
06.31 MSW bit 12 Selects a binary source whose status is transmitted as bit 12 Ext run
selection (User bit 1) of 06.11 Main status word. enable
False 0. 0
True 1. 1
Ext run enable Status of the external run enable signal (see parameter 20.12 2
Run enable 1 source).
06.32 MSW bit 12 Selects a binary source whose status is transmitted as bit 13 False
False 0. 0
True 1. 1
238 Parameters

06.33 MSW bit 14 Selects a binary source whose status is transmitted as bit 14 False
False 0. 0
True 1. 1
07
07 System info Drive hardware and firmware information.
All parameters in this group are read-only.
07.03 Drive rating id Type of the drive/inverter unit. -
07.04 Firmware name Firmware identification. -
07.05 Firmware version Version number of the firmware. -
07.06 Loading package Name of the firmware loading package. -
name
07.07 Loading package Version number of the firmware loading package. -
version
07.11 Cpu usage Microprocessor load in percent. -
0…100% Microprocessor load. 1 = 1%
10
10 Standard DI, RO Configuration of digital inputs and relay outputs.
10.02 DI delayed status Displays the status of digital inputs DI1…DI6. This word is -
updated only after activation/deactivation delays (if any are
specified).
Bits 0…5 reflect the delayed status of DI1…DI6.
0000h…FFFFh Delayed status of digital inputs. 1=1
10.03 DI force selection The electrical statuses of the digital inputs can be overridden 0000h
for eg. testing purposes. A bit in parameter 10.04 DI forced
data is provided for each digital input, and its value is applied
whenever the corresponding bit in this parameter is 1.
Note: Boot and power cycle reset the force selections
(parameters 10.03 and 10.04).
Bit Value
0 1 = Force DI1 to value of bit 0 of parameter 10.04 DI forced data.
6…15 Reserved
0000h…FFFFh Override selection for digital inputs. 1=1

10.04 DI forced data Allows the data value of a forced digital input to be changed 0000h
from 0 to 1. It is only possible to force an input that has been
selected in parameter 10.03 DI force selection.
Bit 0 is the forced value for DI1; bit 5 is the forced value for
the DI6.
0000h…FFFFh Forced values of digital inputs. 1=1
Parameters 239

10.21 RO status Status of relay outputs RO3…RO1. Example: 00000001b = -
RO1 is energized, RO2…RO3 are de-energized.
0000h…FFFFh Status of relay outputs. 1=1
10.22 RO force selection The signals connected to the relay outputs can be overridden
for eg. testing purposes. A bit in parameter 10.23 RO forced
data is provided for each relay output, and its value is applied
whenever the corresponding bit in this parameter is 1.
Bit Value
0 1 = Force RO1 to value of bit 0 of parameter 10.23 RO forced data.
3…7 Reserved
10.23 RO forced data Contains the values of relay outputs that are used instead of
the connected signals if selected in parameter 10.22 RO
force selection. Bit 0 is the forced value for RO1.
0000h…FFFFh Forced RO values. 1=1
10.24 RO1 source Selects a drive signal to be connected to relay output RO1. Ready run
Not energized Output is not energized. 0
Energized Output is energized. 1
Ready run Bit 1 of 06.11 Main status word (see page 234). 2
Enabled Bit 0 of 06.16 Drive status word 1 (see page 234). 4
Started Bit 5 of 06.16 Drive status word 1 (see page 234). 5
Magnetized Bit 1 of 06.17 Drive status word 2 (see page 235). 6
Running Bit 6 of 06.16 Drive status word 1 (see page 234). 7
Ready ref Bit 2 of 06.11 Main status word (see page 234). 8
At setpoint Bit 8 of 06.11 Main status word (see page 234). 9
Reverse Bit 2 of 06.19 Speed control status word (see page 236). 10
Zero speed Bit 0 of 06.19 Speed control status word (see page 236). 11
Above limit Bit 10 of 06.17 Drive status word 2 (see page 235). 12
Warning Bit 7 of 06.11 Main status word (see page 234). 13
Fault Bit 3 of 06.11 Main status word (see page 234). 14
Fault (-1) Inverted bit 3 of 06.11 Main status word (see page 234). 15
Brake command Bit 0 of 44.01 Brake control status (see page 354). 22
Ext2 active Bit 11 of 06.16 Drive status word 1 (see page 234). 23
Remote control Bit 9 of 06.11 Main status word (see page 234). 24
Timed function 1 Bit 0 of 34.01 Combined timer status (see page 321). 27
Supervision 1 Bit 0 of 32.01 Supervision status (see page 315). 33
240 Parameters

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

tOff = 10.26 RO1 OFF delay
0.0 … 3000.0 s Activation delay for RO1. 10 = 1 s
10.26 RO1 OFF delay Defines the deactivation delay for relay output RO1. See 0.0 s
parameter 10.25 RO1 ON delay.
0.0 … 3000.0 s Deactivation delay for RO1. 10 = 1 s
10.27 RO2 source Selects a drive signal to be connected to relay output RO2. Running
For the available selections, see parameter 10.24 RO1
source.
1
Status of selected
source
0
1
RO status
0
Time
tOn tOff tOn tOff

10.30 RO3 source Selects a drive signal to be connected to relay output RO3. Fault (-1)
For the available selections, see parameter 10.24 RO1
source.
Parameters 241

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

10.101 RO1 toggle counter Displays the number of times relay output RO1 has changed -
states.
0…4294967000 State change count. 1=1
states.
states.
11
11 Standard DIO, FI, FO Configuration of the frequency input.
11.25 DI6 configuration Selects how digital input 6 is used. Digital input
Digital input DI6 is used as a digital input. 0
Frequency input DI6 is used as a frequency input. 1
11.38 Freq in 1 actual Displays the value of frequency input 1 (via DI6 when it is -
value used as a frequency input) before scaling. See parameter
11.42 Freq in 1 min.
0 … 16000 Hz Unscaled value of frequency input 1. 1 = 1 Hz
11.39 Freq in 1 scaled Displays the value of frequency input 1 (via DI6 when it is -
value used as a frequency input) after scaling. See parameter 11.42
Freq in 1 min.
-32768.000… Scaled value of frequency input 1. 1=1
32767.000
242 Parameters

11.42 Freq in 1 min Defines the minimum for the frequency actually arriving at 1 Hz
frequency input 1 (DI6 when it is used as a frequency input).
The incoming frequency signal (11.38 Freq in 1 actual value)
is scaled into an internal signal (11.39 Freq in 1 scaled value)
by parameters 11.42…11.45 as follows:
11.39
11.45
11.44
fin (11.38)
11.42 11.43
1 … 16000 Hz Minimum frequency of frequency input 1 (DI6). 1 = 1 Hz

11.43 Freq in 1 max Defines the maximum for the frequency actually arriving at 16000 Hz
frequency input 1 (DI6 when it is used as a frequency input).
See parameter 11.42 Freq in 1 min.
1 … 16000 Hz Maximum frequency for frequency input 1 (DI6). 1 = 1 Hz
11.44 Freq in 1 at scaled Defines the value that is required to correspond internally to 0.000
min the minimum input frequency defined by parameter 11.42
Freq in 1 min. See diagram at parameter 11.42 Freq in 1 min.
-32768.000… Value corresponding to minimum of frequency input 1. 1=1
32767.000
11.45 Freq in 1 at scaled Defines the value that is required to correspond internally to 1500.000
max the maximum input frequency defined by parameter 11.43
Freq in 1 max. See diagram at parameter 11.42 Freq in 1 min.
-32768.000… Value corresponding to maximum of frequency input 1. 1=1
32767.000
Parameters 243

12
12 Standard AI Configuration of standard analog inputs.
12.02 AI force selection The true readings of the analog inputs can be overridden for 0000h
eg. testing purposes. A forced value parameter is provided for
each analog input, and its value is applied whenever the
corresponding bit in this parameter is 1.
Note: AI filter times (parameters 12.16 AI1 filter time and
12.26 AI2 filter time) have no effect on forced AI values
(parameters 12.13 AI1 forced value and 12.23 AI2 forced
value).
Bit Value
0 1 = Force AI1 to value of parameter 12.13 AI1 forced value.
1 1 = Force AI2 to value of parameter 12.23 AI2 forced value.
2…7 reserved
0000h…FFFFh Forced values selector for analog inputs AI1 and AI2. 1=1
12.03 AI supervision Selects how the drive reacts when an analog input signal No action
function moves out of the minimum and/or maximum limits specified
for the input.
The inputs and the limits to be observed are selected by
parameter 12.04 AI supervision selection.
No action No action taken. 0
Fault Drive trips on 80A0 AI supervision. 1
Warning Drive generates an A8A0 AI supervision warning. 2
Last speed Drive generates a warning (A8A0 AI supervision) and freezes 3
the speed (or frequency) to the level the drive was operating
at. The speed/frequency is determined on the basis of actual
speed using 850 ms low-pass filtering.
WARNING! Make sure that it is safe to continue
operation in case of a communication break.
Speed ref safe Drive generates a warning (A8A0 AI supervision) and sets the 4
speed to the speed defined by parameter 22.41 Speed ref
safe (or 28.41 Frequency ref safe when frequency reference
is being used).
12.04 AI supervision Specifies the analog input limits to be supervised. See 0000h
selection parameter 12.03 AI supervision function.

0 AI1 < MIN 1 = Minimum limit supervision of AI1 active.
1 AI1 > MAX 1 = Maximum limit supervision of AI1 active.
2 AI2 < MIN 1 = Minimum limit supervision of AI2 active.
3 AI2 > MAX 1 = Maximum limit supervision of AI2 active.
4…15 Reserved
0000h…FFFFh Activation of analog input supervision. 1=1

244 Parameters

12.11 AI1 actual value Displays the value of analog input AI1 in mA or V (depending -
on whether the input is set to current or voltage by a hardware
setting).
4.000…20.000 mA Value of analog input AI1. 1000 = 1 unit
or 0.000…10.000 V
12.12 AI1 scaled value Displays the value of analog input AI1 after scaling. See -
parameters 12.19 AI1 scaled at AI1 min and 12.20 AI1 scaled
at AI1 max.
-32768.000… Scaled value of analog input AI1. 1=1
32767.000
12.13 AI1 forced value Forced value that can be used instead of the true reading of -
the input. See parameter 12.02 AI force selection.
4.000…20.000 mA Forced value of analog input AI1. 1000 = 1 unit
or 0.000…10.000 V
12.15 AI1 unit selection Selects the unit for readings and settings related to analog V
input AI1.
Note: This setting must match the corresponding hardware
setting on the drive control unit. See section Switches (page
100) and the default control connections for the macro in use
in chapter Control macros (page 161). Control board reboot
(either by cycling the power or through parameter 96.08
Control board boot) is required to validate any changes in the
hardware settings.
V Volts. 2
mA Milliamperes. 10
12.16 AI1 filter time Defines the filter time constant for analog input AI1. 0.100 s
%
Unfiltered signal
100
63 Filtered signal
t
T
O = I × (1 - e-t/T)
I = filter input (step)

O = filter output
t = time
T = filter time constant
Note: The signal is also filtered due to the signal interface

hardware (approximately 0.25 ms time constant). This cannot
be changed by any parameter.
0.000…30.000 s Filter time constant. 1000 = 1 s
Parameters 245

12.17 AI1 min Defines the minimum site value for analog input AI1. 4.000 mA or
Set the value actually sent to the drive when the analog signal 0.000 V
from plant is wound to its minimum setting.
4.000…20.000 mA Minimum value of AI1. 1000 = 1 unit
or 0.000…10.000 V
12.18 AI1 max Defines the maximum site value for analog input AI1. 20.000 mA or
from plant is wound to its maximum setting.
4.000…20.000 mA Maximum value of AI1. 1000 = 1 unit
or 0.000…10.000 V
12.19 AI1 scaled at AI1 Defines the real internal value that corresponds to the 0.000
min minimum analog input AI1 value defined by parameter 12.17
AI1 min. (Changing the polarity settings of 12.19 and 12.20
can effectively invert the analog input.)
AIscaled (12.12)
12.20
AIin (12.11)
12.17
12.18
12.19
-32768.000… Real value corresponding to minimum AI1 value. 1=1

32767.000
12.20 AI1 scaled at AI1 Defines the real internal value that corresponds to the 50.000
max maximum analog input AI1 value defined by parameter 12.18
AI1 max. See the drawing at parameter 12.19 AI1 scaled at
AI1 min.
-32768.000… Real value corresponding to maximum AI1 value. 1=1
32767.000
12.21 AI2 actual value Displays the value of analog input AI2 in mA or V (depending -
on whether the input is set to current or voltage by a hardware
setting).
4.000…20.000 mA Value of analog input AI2. 1000 = 1 unit
or 0.000…10.000 V
12.22 AI2 scaled value Displays the value of analog input AI2 after scaling. See -
parameters 12.29 AI2 scaled at AI2 min and 12.30 AI2 scaled
at AI2 max.
-32768.000… Scaled value of analog input AI2. 1=1
32767.000
12.23 AI2 forced value Forced value that can be used instead of the true reading of -
the input. See parameter 12.02 AI force selection.
246 Parameters

4.000…20.000 mA Forced value of analog input AI2. 1000 = 1 unit
or 0.000…10.000 V
12.25 AI2 unit selection Selects the unit for readings and settings related to analog mA
input AI2.
hardware settings.
V Volts. 2
mA Milliamperes. 10
12.26 AI2 filter time Defines the filter time constant for analog input AI2. See 0.100 s
parameter 12.16 AI1 filter time.
12.27 AI2 min Defines the minimum site value for analog input AI2. 4.000 mA or
from plant is wound to its minimum setting.
4.000…20.000 mA Minimum value of AI2. 1000 = 1 unit
or 0.000…10.000 V
12.28 AI2 max Defines the maximum site value for analog input AI2. 20.000 mA or
from plant is wound to its maximum setting.
4.000…20.000 mA Maximum value of AI2. 1000 = 1 unit
or 0.000…10.000 V
12.29 AI2 scaled at AI2 Defines the real value that corresponds to the minimum 0.000
min analog input AI2 value defined by parameter 12.27 AI2 min.
(Changing the polarity settings of 12.29 and 12.30 can
effectively invert the analog input.)
AIscaled (12.22)
12.30
AIin (12.21)
12.27
12.28
12.29
-32768.000… Real value corresponding to minimum AI2 value. 1=1

32767.000
Parameters 247

12.30 AI2 scaled at AI2 Defines the real value that corresponds to the maximum 100.000
max analog input AI2 value defined by parameter 12.28 AI2 max.
See the drawing at parameter 12.29 AI2 scaled at AI2 min.
-32768.000… Real value corresponding to maximum AI2 value. 1=1
32767.000
13
13 Standard AO Configuration of standard analog outputs.
13.02 AO force selection The source signals of the analog outputs can be overridden 0000h
for eg. testing purposes. A forced value parameter is provided
for each analog output, and its value is applied whenever the
corresponding bit in this parameter is 1.
Bit Value
0 1 = Force AO1 to value of parameter 13.13 AO1 forced value.
1 1 = Force AO2 to value of parameter 13.23 AO2 forced value.
2…7 Reserved
0000h…FFFFh Forced values selector for analog outputs AO1 and AO2. 1=1
13.11 AO1 actual value Displays the value of AO1 in mA. -
0.000…22.000 mA Value of AO1. 1 = 1 mA
13.12 AO1 source Selects a signal to be connected to analog output AO1. Motor speed
used
Zero None. 0
Motor speed used 01.01 Motor speed used (page 229). 1
Output frequency 01.06 Output frequency (page 229). 3
Motor current 01.07 Motor current (page 229). 4
Motor current % of 01.08 Motor current % of motor nom (page 229). 5
motor nom
Motor torque 01.10 Motor torque (page 229). 6
DC voltage 01.11 DC voltage (page 229). 7
Output power 01.14 Output power (page 230). 8
Speed ref ramp in 23.01 Speed ref ramp input (page 282). 10
Speed ref ramp out 23.02 Speed ref ramp output (page 282). 11
Speed ref used 24.01 Used speed reference (page 286). 12
Freq ref used 28.02 Frequency ref ramp output (page 294). 14
Process PID out 40.01 Process PID output actual (page 341). 16
Temp sensor 1 The output is used to feed an excitation current to the 20
excitation temperature sensor 1, see parameter 35.11 Temperature 1
source. See also section Motor thermal protection (page
214).
Temp sensor 2 The output is used to feed an excitation current to the 21
excitation temperature sensor 2, see parameter 35.21 Temperature 2
source. See aso section Motor thermal protection (page 214).
248 Parameters

Abs motor speed 01.61 Abs motor speed used (page 231). 26
used
Abs motor speed % 01.62 Abs motor speed used (page 231). 27
Abs output 01.63 Abs output frequency (page 231). 28
frequency
Abs motor torque 01.64 Abs motor torque (page 231). 30
Abs output power 01.65 Abs output power (page 231). 31
Abs motor shaft 01.68 Abs motor shaft power (page 231). 32
power
External PID1 out 71.01 External PID act value ((page 376). 33
Other Source selection (see Terms and abbreviations on page 226). -
13.13 AO1 forced value Forced value that can be used instead of the selected output 0.000 mA
signal. See parameter 13.02 AO force selection.
0.000…32767.000 Forced value for AO1. 1 = 1 unit
mA or V
13.15 AO1 unit selection Selects the unit for readings and settings related to analog mA
input AO1.
hardware settings.
V Volts. 2
mA Milliamperes. 10
13.16 AO1 filter time Defines the filtering time constant for analog output AO1. 0.100 s
%
Unfiltered signal
100
63 Filtered signal
t
T
O = I × (1 - e-t/T)

O = filter output
t = time
0.000 … 30.000 s Filter time constant. 1000 = 1 s

Parameters 249

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

selected by
13.12
Programming 13.17 as the maximum value and 13.18 as the

minimum value inverts the output.
IAO1 (mA)
13.20
13.19

selected by
13.12
250 Parameters

AO has automatic scaling. Every time the source for the AO is changed, the scaling range is
changed accordingly. User given minimum and maximum values override the automatic values.
13.12 AO1 source, 13.17 AO1 source min, 13.18 AO1 source max,
13.22 AO2 source 13.27 AO2 source min 13.28 AO2 source max
0 Zero N/A (Output is constant zero.)
1 Motor speed used 0 46.01 Speed scaling
3 Output frequency 0 46.02 Frequency scaling
4 Motor current 0 30.17 Maximum current
5 Motor current % of motor 0% 100%
nom
6 Motor torque 0 46.03 Torque scaling
7 DC voltage Min. value of 01.11 DC Max. value of 01.11 DC
voltage voltage
8 Output power 0 46.04 Power scaling
10 Speed ref ramp in 0 46.01 Speed scaling
11 Speed ref ramp out 0 46.01 Speed scaling
12 Speed ref used 0 46.01 Speed scaling
14 Freq ref used 0 46.02 Frequency scaling
16 Process PID out Min. value of 40.01 Process Max. value of 40.01 Process
PID output actual PID output actual
20 Temp sensor 1 excitation N/A (Analog output is not scaled; it is determined by the
21 Temp sensor 2 excitation sensor’s triggering voltage.)
26 Abs motor speed used 0 46.01 Speed scaling
27 Abs motor speed % 0 46.01 Speed scaling
28 Abs output frequency 0 46.02 Frequency scaling
30 Abs motor torque 0 46.03 Torque scaling
31 Abs output power 0 46.04 Power scaling
32 Abs motor shaft power 0 46.04 Power scaling
33 External PID1 out Min. value of 71.01 External Max. value of 71.01 External
PID act value PID act value
Other Min. value of the selected Max.. value of the selected
parameter parameter
-32768.0…32767.0 Real signal value corresponding to minimum AO1 output 1=1

value.
13.18 AO1 source max Defines the real maximum value of the signal (selected by 50.0
maximum required AO1 output value (defined by parameter
13.20 AO1 out at AO1 src max). See parameter 13.17 AO1
source min.
-32768.0…32767.0 Real signal value corresponding to maximum AO1 output 1=1
value.
13.19 AO1 out at AO1 src Defines the minimum output value for analog output AO1. 0.000 mA
min See also drawing at parameter 13.17 AO1 source min.
0.000 … 22.000 mA Minimum AO1 output value. 1000 = 1 mA
13.20 AO1 out at AO1 src Defines the maximum output value for analog output AO1. 20.000 mA
max See also drawing at parameter 13.17 AO1 source min.
0.000 … 22.000 mA Maximum AO1 output value. 1000 = 1 mA
Parameters 251

13.21 AO2 actual value Displays the value of AO2 in mA. -
0.000 … 22.000 mA Value of AO2. 1000 = 1 mA
13.22 AO2 source Selects a signal to be connected to analog output AO2. Motor current
Alternatively, sets the output to excitation mode to feed a
constant current to a temperature sensor.
For the selections, see parameter 13.12 AO1 source.
13.23 AO2 forced value Forced value that can be used instead of the selected output 0.000 mA
signal. See parameter 13.02 AO force selection.
0.000 … 22.000 mA Forced value for AO2. 1000 = 1 mA
13.26 AO2 filter time Defines the filtering time constant for analog output AO2. See 0.100 s
parameter 13.16 AO1 filter time.
0.000 … 30.000 s Filter time constant. 1000 = 1 s
13.27 AO2 source min Defines the real minimum value of the signal (selected by 0.0
minimum required AO2 output value (defined by parameter
13.29 AO2 out at AO2 src min). See parameter 13.17 AO1
source min about the AO automatic scaling.
IAO2 (mA)
13.30
13.29

selected by
13.22
Programming 13.27 as the maximum value and 13.28 as the

minimum value inverts the output.
IAO2 (mA)
13.30
13.29

selected by
13.22
-32768.0…32767.0 Real signal value corresponding to minimum AO2 output 1=1

value.
252 Parameters

13.28 AO2 source max Defines the real maximum value of the signal (selected by 100.0
maximum required AO2 output value (defined by parameter
13.30 AO2 out at AO2 src max). See parameter 13.27 AO2
source min. See parameter 13.17 AO1 source min about the
AO automatic scaling.
-32768.0…32767.0 Real signal value corresponding to maximum AO2 output 1=1
value.
13.29 AO2 out at AO2 src Defines the minimum output value for analog output AO2. 0.000 mA
min See also drawing at parameter 13.27 AO2 source min.
0.000 … 22.000 mA Minimum AO2 output value. 1000 = 1 mA
13.30 AO2 out at AO2 src Defines the maximum output value for analog output AO2. 20.000 mA
max See also drawing at parameter 13.27 AO2 source min.
0.000 … 22.000 mA Maximum AO2 output value. 1000 = 1 mA
-32768.000… Real signal value corresponding to minimum AO8 output 1000 = 1
32767.000 value.
14
15 I/O extension Configuration of the I/O extension module installed in slot 2.
module See also section Programmable I/O extensions (page 187).
Note: The contents of the parameter group vary according to
the selected I/O extension module type.
15.01 Extension module Activates (and specifies the type of) I/O extension module. If None
type the value is None, when an extension module has been
installed and the dive is powered, the drive automatically sets
the value to the type it has detected (= value of parameter
15.02 Detected extension module); otherwise warning A7AB
Extension I/O configuration failure is generated and you have
to set the value of this parameter manually.
None Inactive. 0
CMOD-01 CMOD-01. 1
CMOD-02 CMOD-02. 2
CHDI-01 CHDI-01. 3
15.02 Detected extension I/O extension module detected on the drive. None
module
None Inactive. 0
CMOD-01 CMOD-01. 1
CMOD-02 CMOD-02. 2
CHDI-01 CHDI-01. 3
15.03 DI status Displays the status of the digital inputs DI7…DI12 on the -
extension module
Bit 0 indicates the status of DI7.
Example: 001001b = DI7 and DI10 are on, remainder are off.
0000h…FFFFh Status of digital input/outputs. 1=1
Parameters 253

15.04 RO/DO status Displays the status of the relay outputs RO4 and RO5 and -
digital output DO1 on the extension module.
Bits 0…1 indicates the status of RO4…RO5; bit 5 indicates
the status of DO1.
Example: 100101b = RO4 is on, RO5 is off. and DO1 is on.
0000h…FFFFh Status of relay/digital outputs. 1=1
15.05 RO/DO force The electrical statuses of the relay/digital outputs can be 0000h
selection overridden for eg. testing purposes. A bit in parameter 15.06
RO/DO forced data is provided for each digital input, and its
value is applied whenever the corresponding bit in this
parameter is 1.
Bit Value
0 1 = Force RO4 to value of bit 0 of parameter 15.06 RO/DO forced data.
1 1 = Force RO5 to value of bit 1 of parameter 15.06 RO/DO forced data.
2…4 Reserved
5 1 = Force DO1 to value of bit 5 of parameter 15.06 RO/DO forced data.
6…15 Reserved
0000h…FFFFh Override selection for relay/digital outputs. 1=1

15.06 RO/DO forced data Allows the data value of a forced relay or digital output to be 0000h
changed from 0 to 1. It is only possible to force an output that
has been selected in parameter 15.05 RO/DO force selection.
Bits 0…1 are the forced values for RO4…RO5; bit 5 is the
forced value for DO1.
0000h…FFFFh Forced values of relay/digital outputs. 1=1
15.07 RO4 source Selects a drive signal to be connected to relay output RO4. Not
energized
254 Parameters

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

15.10 RO5 source Selects a drive signal to be connected to relay output RO4. Not
For the available selections, see parameter 15.07 RO4 energized
source.
1
Status of selected
source
0
1
RO status
0
Time
tOn tOff tOn tOff

15.22 DO1 configuration Selects how DO1 is used. Digital output
Digital output DO1 is used as a digital output. 0
Parameters 255

Frequency output DO1 is used as a frequency output. 1
15.23 DO1 source Selects a drive signal to be connected to digital output DO1 Not
when 15.22 DO1 configuration is set to Digital output. energized
15.24 DO1 ON delay Defines the activation delay for relay output DO1 when 15.22 0.0 s
DO1 configuration is set to Digital output.
1
Status of selected
source
0
1
RO status
0
Time
tOn tOff tOn tOff
tOn = 15.24 DO1 ON delay
tOff = 15.25 DO1 OFF delay
0.0 … 3000.0 s Activation delay for DO1. 10 = 1 s
256 Parameters

15.25 DO1 OFF delay Defines the deactivation delay for relay output DO1 when 0.0 s
15.22 DO1 configuration is set to Digital output. See
parameter 15.24 DO1 ON delay.
0.0 … 3000.0 s Deactivation delay for DO1. 10 = 1 s
15.32 Freq out 1 actual Displays the value of frequency output 1 at digital output DO1 -
value when 15.22 DO1 configuration is set to Frequency output.
0 … 16000 Hz Value of frequency output 1. 1 = 1 Hz
15.33 Freq out 1 source Selects a signal to be connected to digital output DO1 when Not selected
15.22 DO1 configuration is set to Frequency output.
Alternatively, sets the output to excitation mode to feed a
constant current to a temperature sensor.
Not selected None. 0
Parameters 257

15.34 Freq out 1 src min Defines the real value of the signal (selected by parameter 0.000
15.33 Freq out 1 source) that corresponds to the minimum
value of frequency output 1 (defined by parameter 15.36 Freq
out 1 at src min). This applies when 15.22 DO1 configuration
is set to Frequency output.
IAO1 (mA)
15.37
15.36

selected by par.
15.33
IAO1 (mA)
15.37
15.36

selected by par.
15.33
-32768.000… Real signal value corresponding to minimum value of 1=1

32767.000 frequency output 1.
15.35 Freq out 1 src max Defines the real value of the signal (selected by parameter 1500.000
15.33 Freq out 1 source) that corresponds to the maximum
value of frequency output 1 (defined by parameter 15.37 Freq
out 1 at src max). This applies when 15.22 DO1 configuration
is set to Frequency output.
See parameter 15.34 Freq out 1 src min.
-32768.000… Real signal value corresponding to maximum value of 1=1
32767.000 frequency output 1.
15.36 Freq out 1 at src Defines the minimum output value of frequency output 1 0 Hz
min when 15.22 DO1 configuration is set to Frequency output.
See also drawing at parameter 15.34 Freq out 1 src min.
0 … 16000 Hz Minimum frequency output 1 value. 1 = 1 Hz
15.37 Freq out 1 at src Defines the maximum value of frequency output 1 when 16000 Hz
max 15.22 DO1 configuration is set to Frequency output.
See also drawing at parameter 15.34 Freq out 1 src min.
0 … 16000 Hz Maximum value of frequency output 1. 1 = 1 Hz
258 Parameters

19
19 Operation mode Selection of local and external control location sources and
operating modes.
19.01 Actual operation Displays the operating mode currently used. -
mode See parameters 19.11…19.14.
Zero None. 1
Speed Speed control (in vector motor control mode). 2
Torque Torque control (in vector motor control mode). 3
In The torque selector is comparing the output of the speed 4
controller (25.01 Torque reference speed control) and torque
reference (26.74 Torque ref ramp out) and the smaller of the
two is used.
Max The torque selector is comparing the output of the speed 5
controller (25.01 Torque reference speed control) and torque
reference (26.74 Torque ref ramp out) and the greater of the
two is used.
Add The speed controller output is added to the torque reference. 6
Scalar (Hz) Frequency control in scalar motor control mode. 10
Scalar (rpm) Speed control in scalar motor control mode. 11
Forced magn. Motor is in magnetizing mode. 20
19.11 Ext1/Ext2 selection Selects the source for external control location EXT1/EXT2 EXT1
selection.
0 = EXT1
1 = EXT2
EXT1 EXT1 (permanently selected). 0
EXT2 EXT2 (permanently selected). 1
MCW bit11: Ext ctrl Control word bit 11 received through fieldbus interface A. 2
loc
DI1 Digital input DI1 (10.02 DI delayed status, bit 0). 3
Parameters 259

19.12 Ext1 control mode Selects the operating mode for external control location Speed
EXT1.
Zero None. 1
Speed Speed control. The torque reference used is 25.01 Torque 2
reference speed control (output of the speed reference
chain).
Torque Torque control. The torque reference used is 26.74 Torque ref 3
ramp out (output of the torque reference chain).
Minimum Combination of selections Speed and Torque: the torque 4
selector compares the speed controller output (25.01 Torque
reference speed control) and the torque reference (26.74
Torque ref ramp out) and selects the smaller of the two.
If speed error becomes negative, the drive follows the speed
controller output until speed error becomes positive again.
This prevents the drive from accelerating uncontrollably if the
load is lost in torque control.
Maximum Combination of selections Speed and Torque: the torque 5
selector compares the speed controller output (25.01 Torque
reference speed control) and the torque reference (26.74
Torque ref ramp out) and selects the greater of the two.
If speed error becomes positive, the drive follows the speed
controller output until speed error becomes negative again.
This prevents the drive from accelerating uncontrollably if the
load is lost in torque control.
19.14 Ext2 control mode Selects the operating mode for external control location Speed
EXT2.
For the selections, see parameter 19.12 Ext1 control mode.
19.16 Local control mode Selects the operating mode for local control. Speed
Speed Speed control. The torque reference used is 25.01 Torque 0
reference speed control (output of the speed reference
chain).
Torque Torque control. The torque reference used is 26.74 Torque ref 1
ramp out (output of the torque reference chain).
19.17 Local control Enables/disables local control (start and stop buttons on the No
disable control panel, and the local controls on the PC tool).
WARNING! Before disabling local control, ensure that
the control panel is not needed for stopping the drive.
No Local control enabled. 0
Yes Local control disabled. 1
20
20 Start/stop/direction Start/stop/direction and run/start/jog enable signal source
selection; positive/negative reference enable signal source
selection.
For information on control locations, see section Local control
vs. external control (page 180).
20.01 Ext1 commands Selects the source of start, stop and direction commands for In1 Start; In2
external control location 1 (EXT1). Dir
See also parameters 20.02…20.05.
Not selected No start or stop command sources selected. 0
260 Parameters

In1 Start The source of the start and stop commands is selected by 1
parameter 20.03 Ext1 in1 source. The state transitions of the
source bits are interpreted as follows:
State of source 1 (20.03) Command

0 -> 1 (20.02 = Edge)
Start
1 (20.02 = Level)
0 Stop
In1 Start; In2 Dir The source selected by 20.03 Ext1 in1 source is the start 2
signal; the source selected by 20.04 Ext1 in2 source
determines the direction. The state transitions of the source
bits are interpreted as follows:
State of source 1 State of source 2

Command
(20.03) (20.04)
0 Any Stop
0 -> 1 (20.02 = Edge) 0 Start forward
1 (20.02 = Level) 1 Start reverse
In1 Start fwd; In2 The source selected by 20.03 Ext1 in1 source is the forward 3
Start rev start signal; the source selected by 20.04 Ext1 in2 source is
the reverse start signal. The state transitions of the source

Command
(20.03) (20.04)
0 0 Stop
0 -> 1 (20.02 = Edge)
0 Start forward
1 (20.02 = Level)
0 -> 1 (20.02 = Edge)
0 Start reverse
1 (20.02 = Level)
1 1 Stop
In1P Start; In2 Stop The sources of the start and stop commands are selected by 4
parameters 20.03 Ext1 in1 source and 20.04 Ext1 in2 source.
The state transitions of the source bits are interpreted as
follows:

Command
(20.03) (20.04)
0 -> 1 1 Start
Any 0 Stop
Notes:
• Parameter 20.02 Ext1 start trigger type has no effect with
this setting.
• When source 2 is 0, the Start and Stop keys on the control
panel are disabled.
Parameters 261

In1P Start; In2 Stop; The sources of the start and stop commands are selected by 5
In3 Dir parameters 20.03 Ext1 in1 source and 20.04 Ext1 in2 source.
The source selected by 20.05 Ext1 in3 source determines the
direction. The state transitions of the source bits are
interpreted as follows:
State of State of State of

source 1 source 2 source 3 Command
(20.03) (20.04) (20.05)
0 -> 1 1 0 Start forward
0 -> 1 1 1 Start reverse
Any 0 Any Stop
Notes:
this setting.
panel are disabled.
In1P Start fwd; In2P The sources of the start and stop commands are selected by 6
Start rev; In3 Stop parameters 20.03 Ext1 in1 source, 20.04 Ext1 in2 source and
20.05 Ext1 in3 source. The source selected by 20.05 Ext1 in3
source determines the direction. The state transitions of the

(20.03) (20.04) (20.05)
0 -> 1 Any 1 Start forward
Any 0 -> 1 1 Start reverse
Any Any 0 Stop
Note: Parameter 20.02 Ext1 start trigger type has no effect

with this setting.
Control panel The start and stop commands are taken from the control 11
panel (or PC connected to the panel connector).
Fieldbus A The start and stop commands are taken from fieldbus adapter 12
A.
Note: Set also 20.02 Ext1 start trigger type to Level.
Embedded fieldbus The start and stop commands are taken from the embedded 14
fieldbus interface.
20.02 Ext1 start trigger Defines whether the start signal for external control location Level
type EXT1 is edge-triggered or level-triggered.
Note: This parameter is not effective if a pulse-type start
signal is selected. See the descriptions of the selections of
parameter 20.01 Ext1 commands.
Edge The start signal is edge-triggered. 0
Level The start signal is level-triggered. 1
20.03 Ext1 in1 source Selects source 1 for parameter 20.01 Ext1 commands. DI1
Not selected 0 (always off). 0
Selected 1 (always on). 1
262 Parameters

20.04 Ext1 in2 source Selects source 2 for parameter 20.01 Ext1 commands. DI2
For the available selections, see parameter 20.03 Ext1 in1
source.
20.05 Ext1 in3 source Selects source 3 for parameter 20.01 Ext1 commands. Not selected
source.
20.06 Ext2 commands Selects the source of start, stop and direction commands for Not selected
external control location 2 (EXT2).
See also parameters 20.07…20.10.
Not selected No start or stop command sources selected. 0
In1 Start The source of the start and stop commands is selected by 1
parameter 20.08 Ext2 in1 source. The state transitions of the
State of source 1 (20.08) Command

0 -> 1 (20.07 = Edge)
Start
1 (20.07 = Level)
0 Stop
In1 Start; In2 Dir The source selected by 20.08 Ext2 in1 source is the start 2
signal; the source selected by 20.09 Ext2 in2 source
determines the direction. The state transitions of the source

Command
(20.08) (20.09)
0 Any Stop
0 -> 1 (20.07 = Edge) 0 Start forward
1 (20.07 = Level) 1 Start reverse
Parameters 263

In1 Start fwd; In2 The source selected by 20.08 Ext2 in1 source is the forward 3
Start rev start signal; the source selected by 20.09 Ext2 in2 source is
the reverse start signal. The state transitions of the source

Command
(20.08) (20.09)
0 0 Stop
0 -> 1 (20.07 = Edge)
0 Start forward
1 (20.07 = Level)
0 -> 1 (20.07 = Edge)
0 Start reverse
1 (20.07 = Level)
1 1 Stop
In1P Start; In2 Stop The sources of the start and stop commands are selected by 4
parameters 20.08 Ext2 in1 source and 20.09 Ext2 in2 source.
The state transitions of the source bits are interpreted as
follows:

Command
(20.08) (20.09)
0 -> 1 1 Start
Any 0 Stop
Notes:
this setting.
panel are disabled.
In1P Start; In2 Stop; The sources of the start and stop commands are selected by 5
In3 Dir parameters 20.08 Ext2 in1 source and 20.09 Ext2 in2 source.
The source selected by 20.10 Ext2 in3 source determines the
direction. The state transitions of the source bits are
interpreted as follows:

(20.08) (20.09) (20.10)
0 -> 1 1 0 Start forward
0 -> 1 1 1 Start reverse
Any 0 Any Stop
Notes:
this setting.
panel are disabled.
264 Parameters

In1P Start fwd; In2P The sources of the start and stop commands are selected by 6
Start rev; In3 Stop parameters 20.08 Ext2 in1 source, 20.09 Ext2 in2 source and
20.10 Ext2 in3 source. The source selected by 20.10 Ext2 in3
source determines the direction. The state transitions of the

(20.08) (20.09) (20.10)
0 -> 1 Any 1 Start forward
Any 0 -> 1 1 Start reverse
Any Any 0 Stop
Note: Parameter 20.07 Ext2 start trigger type has no effect

with this setting.
Control panel The start and stop commands are taken from the control 11
panel (or PC connected to the panel connector).
Fieldbus A The start and stop commands are taken from fieldbus adapter 12
A.
Embedded fieldbus The start and stop commands are taken from the embedded 14
fieldbus interface.
20.07 Ext2 start trigger Defines whether the start signal for external control location Level
type EXT2 is edge-triggered or level-triggered.
Note: This parameter is not effective if a pulse-type start
signal is selected. See the descriptions of the selections of
parameter 20.06 Ext2 commands.
Edge The start signal is edge-triggered. 0
Level The start signal is level-triggered. 1
source.
source.
source.
20.11 Run enable stop Selects the way the motor is stopped when the run enable Coast
mode signal switches off.
The source of the run enable signal is selected by parameter
20.12 Run enable 1 source.
Coast Stop by switching off the output semiconductors of the drive. 0
The motor coasts to a stop.
WARNING! If a mechanical brake is used, ensure it is
safe to stop the drive by coasting.
Ramp Stop along the active deceleration ramp. See parameter 1
group 23 Speed reference ramp on page 282.
Torque limit Stop according to torque limits (parameters 30.19 and 30.20). 2
Parameters 265

20.12 Run enable 1 Selects the source of the external run enable signal. If the run Selected
source enable signal is switched off, the drive will not start. If already
running, the drive will stop according to the setting of
parameter 20.11 Run enable stop mode.
1 = Run enable signal on.
Note: This parameter cannot be changed while the drive is
running.
See also parameter 20.19 Enable start command.
Not selected 0. 0
Selected 1. 1
FBA A Control word bit 3 received through fieldbus interface A. 30
EFB Control word bit 3 received through the embedded fieldbus 31
interface.
20.19 Enable start Selects the source for the start enable signal. Selected
command 1 = Start enable.
With the signal switched off, any drive start command is
inhibited. (Switching the signal off while the drive is running
will not stop the drive.)
See also parameter 20.12 Run enable 1 source.
Not selected 0. 0
Selected 1. 1
266 Parameters

20.21 Direction Selects the direction of the motor. Request
Request In external control the direction is selected by a direction 0
command (parameter 20.01 Ext1 commands or 20.06 Ext2
commands). If no direction command is defined, the motor
rotates in the direction of the reference; otherwise it rotates
forward.
Forward Motor rotates forward. 1
Reverse Motor rotates reverse. 2
20.22 Enable to rotate Selects source 1 for parameter 20.01 Ext1 commands. Selected
20.25 Jogging enable Selects the source for a jog enable signal. Not selected
(The sources for jogging activation signals are selected by
parameters 20.26 Jogging 1 start source and 20.27 Jogging 2
start source.)
1 = Jogging is enabled.
0 = Jogging is disabled.
Notes:
• Jogging is supported in vector control mode only.
• Jogging can be enabled only when no start command from
an external control location is active. On the other hand, if
jogging is already enabled, the drive cannot be started
from an external control location (apart from inching
commands through fieldbus).
See section Rush control (page 191).
Not selected 0. 0
Selected 1. 1
Parameters 267

20.26 Jogging 1 start If enabled by parameter 20.25 Jogging enable, selects the Not selected
source source for the activation of jogging function 1. (Jogging
function 1 can also be activated through fieldbus regardless
of parameter 20.25.)
1 = Jogging 1 active.
Notes:
• If both jogging 1 and 2 are activated, the one that was
activated first has priority.
• This parameter cannot be changed while the drive is
running.
Not selected 0. 0
Selected 1. 1
268 Parameters

20.27 Jogging 2 start If enabled by parameter 20.25 Jogging enable, selects the Not selected
source source for the activation of jogging function 2. (Jogging
function 2 can also be activated through fieldbus regardless
of parameter 20.25.)
1 = Jogging 2 active.
For the selections, see parameter 20.26 Jogging 1 start
source.
Notes:
• If both jogging 1 and 2 are activated, the one that was
activated first has priority.
running.
21
21 Start/stop mode Start and stop modes; emergency stop mode and signal
source selection; DC magnetization settings.
21.01 Vector start mode Selects the motor start function for the vector motor control Automatic
mode, ie. when 99.04 Motor control mode is set to Vector.
Notes:
• The start function for the scalar motor control mode is
selected by parameter 21.19 Scalar start mode.
• If parameter 99.04 Motor control mode is set to Scalar,
selections Fast and Const time are ignored.
• Starting into a rotating motor is not possible when DC
magnetizing is selected (Fast or Const time).
• With permanent magnet motors, Automatic start mode
must be used.
running.
See also section DC magnetization (page 199).
Fast The drive pre-magnetizes the motor before start. The pre- 0
magnetizing time is determined automatically, being typically
200 ms to 2 s depending on motor size. This mode should be
selected if a high break-away torque is required.
Const time The drive pre-magnetizes the motor before start. The pre- 1
magnetizing time is defined by parameter 21.02
Magnetization time. This mode should be selected if constant
pre-magnetizing time is required (e.g. if the motor start must
be synchronized with the release of a mechanical brake).
This setting also guarantees the highest possible break-away
torque when the pre-magnetizing time is set long enough.
WARNING! The drive will start after the set
magnetizing time has passed even if motor
magnetization is not completed. In applications where
a full break-away torque is essential, ensure that the constant
magnetizing time is long enough to allow generation of full
magnetization and torque.
Automatic Automatic start guarantees optimal motor start in most cases. 2
It includes the flying start function (starting into a rotating
motor) and the automatic restart function (a stopped motor
can be restarted immediately without waiting the motor flux to
die away). The drive motor control program identifies the flux
as well as the mechanical state of the motor and starts the
motor instantly under all conditions.
Note: If parameter 99.04 Motor control mode is set to Scalar,
no flying start or automatic restart is possible by default.
Parameters 269

21.02 Magnetization time Defines the pre-magnetization time when 500 ms
• parameter 21.01 Vector start mode is set to Const time (in
vector motor control mode), or
• parameter 21.19 Scalar start mode is set to Const time (in
scalar motor control mode).
After the start command, the drive automatically
premagnetizes the motor for the set time. To ensure full
magnetizing, set this parameter to the same value as, or
higher than, the rotor time constant. If not known, use the
rule-of-thumb value given in the table below:
Motor rated power Constant magnetizing time

< 1 kW > 50 to 100 ms
1 to 10 kW > 100 to 200 ms
10 to 200 kW > 200 to 1000 ms
200 to 1000 kW > 1000 to 2000 ms

running.
0…10000 ms Constant DC magnetizing time. 1 = 1 ms
21.03 Stop mode Selects the way the motor is stopped when a stop command Coast
is received.
Additional braking is possible by selecting flux braking (see
parameter 97.05 Flux braking).
Coast Stop by switching off the output semiconductors of the drive. 0
The motor coasts to a stop.
WARNING! If a mechanical brake is used, ensure it is
safe to stop the drive by coasting.
Ramp Stop along the active deceleration ramp. See parameter 1
group 23 Speed reference ramp on page 282.
Torque limit Stop according to torque limits (parameters 30.19 and 30.20). 2
Speed comp Speed compensation is used for constant distance braking. 3
forward Speed difference (between used speed and maximum speed)
is compensated by running the drive with current speed
before the motor is stopped along a ramp. See also section
Switching frequency (page 201).
If the direction of rotation is reverse, the drive is stopped
along a ramp.
Speed comp Speed compensation is used for constant distance braking if 4
reverse the direction of rotation is reverse. Speed difference (between
used speed and maximum speed) is compensated by running
the drive with current speed before the motor is stopped
along a ramp. See also section Switching frequency (page
201).
If the direction of rotation is forward, the drive is stopped
along a ramp.
Speed comp bipolar Speed compensation is used for constant distance braking. 5
Speed difference (between used speed and maximum speed)
is compensated by running the drive with current speed
before the motor is stopped along a ramp. See also section
270 Parameters

21.04 Emergency stop Selects the way the motor is stopped when an emergency Ramp stop
mode stop command is received. (Off1)
The source of the emergency stop signal is selected by
parameter 21.05 Emergency stop source.
Ramp stop (Off1) With the drive running: 0
• 1 = Normal operation.
• 0 = Normal stop along the standard deceleration ramp
defined for the particular reference type (see section
Reference ramping [page 189]). After the drive has
stopped, it can be restarted by removing the emergency
stop signal and switching the start signal from 0 to 1.
With the drive stopped:
• 1 = Starting allowed.
• 0 = Starting not allowed.
Coast stop (Off2) With the drive running: 1
• 1 = Normal operation.
• 0 = Stop by coasting. The drive can be restarted by
restoring the start interlock signal and switching the start
signal from 0 to 1.
• 1 = Starting allowed.
• 0 = Starting not allowed.
Eme ramp stop With the drive running: 2
(Off3) • 1 = Normal operation
• 0 = Stop by ramping along emergency stop ramp defined
by parameter 23.23 Emergency stop time. After the drive
has stopped, it can be restarted by removing the
emergency stop signal and switching the start signal from
0 to 1.
• 1 = Starting allowed
• 0 = Starting not allowed
Stop torque With the drive running: 3
• 1 = Normal operation
• 0 = Stop against the maximum torque limit (parameter
30.20 Maximum torque 1 or 30.24 Maximum torque 2).
The drive can be restarted by switching the start signal
from 0 to 1.
• With the drive stopped:
• 1 = Starting allowed
• 0 = Starting not allowed
21.05 Emergency stop Selects the source of the emergency stop signal. The stop Inactive
source mode is selected by parameter 21.04 Emergency stop mode. (true)
0 = Emergency stop active
1 = Normal operation
running.
Active (false) 0. 0
Inactive (true) 1. 1
Parameters 271

21.06 Zero speed limit Defines the zero speed limit. The motor is stopped along a 30.00 rpm
speed ramp (when ramped stop is selected or emergency
stop time is used) until the defined zero speed limit is
reached. After the zero speed delay, the motor coasts to a
stop.
0.00…30000.00 Zero speed limit. See par.
rpm 46.01
21.07 Zero speed delay Defines the delay for the zero speed delay function. The 0 ms
function is useful in applications where a smooth and quick
restarting is essential. During the delay, the drive knows the
rotor position accurately.
Without zero speed delay:
The drive receives a stop command and decelerates along
a ramp. When actual motor speed falls below the value of
parameter 21.06 Zero speed limit, inverter modulation is
stopped and the motor coasts to a standstill.
Speed
Speed controller switched off:

Motor coasts to a stop.
21.06 Zero speed limit
Time
With zero speed delay:

The drive receives a stop command and decelerates along a
ramp. When actual motor speed falls below the value of
parameter 21.06 Zero speed limit, the zero speed delay
function activates. During the delay the function keeps the
speed controller live: the inverter modulates, motor is
magnetized and the drive is ready for a quick restart. Zero
speed delay can be used e.g. with the jogging function.
Speed
Speed controller remains
active. Motor is decelerated to
true zero speed.
21.06 Zero speed limit
Delay Time
0…30000 ms Zero speed delay. 1 = 1 ms

272 Parameters

21.08 DC current control Activates/deactivates the DC hold and post-magnetization 00b
functions. See section DC magnetization (page 199).
Note: DC magnetization causes the motor to heat up. In
applications where long DC magnetization times are required,
externally ventilated motors should be used. If the DC
magnetization period is long, DC magnetization cannot
prevent the motor shaft from rotating if a constant load is
applied to the motor.
Bit Value
0 1 = DC hold. See section DC hold (page 199).
Note: The DC hold function has no effect if the start signal is switched off.
1 1 = Post-magnetization. See section Settings (page 200).
Note: Post-magnetization is only available when ramping is the selected stop mode (see
parameter 21.03 Stop mode).
2…15 Reserved
00b…11b DC magnetization selection. 1=1

21.09 DC hold speed Defines the DC hold speed in speed control mode. See 5.00 rpm
parameter 21.08 DC current control, and section DC hold
(page 199).
0.00…1000.00 rpm DC hold speed. See par.
46.01
21.10 DC current Defines the DC hold current in percent of the motor nominal 30.0%
reference current. See parameter 21.08 DC current control, and section
DC magnetization (page 199).
0.0…100.0% DC hold current. 1 = 1%
21.11 Post magnetization Defines the length of time for which post-magnetization is 0s
time active after stopping the motor. The magnetization current is
defined by parameter 21.10 DC current reference.
See parameter 21.08 DC current control.
0…3000 s Post-magnetization time. 1=1s
21.14 Pre-heating input Selects the source for triggering pre-heating. The status of Off
source the pre-heating is shown as bit 2 of 06.20 Drive status word 3.
Notes:
• The heating function requires that run enable, interlock and
STO signals are active.
• The heating function requires that the drive is not faulted.
• Pre-heating uses DC hold to produce current.
Off 0. Pre-heating is always deactivated. 0
On 1. Pre-heating is always activated when the drive is stopped. 1
Parameters 273

21.16 Pre-heating current Defines the DC current used to heat motor findings. 0.0%
0.0…30.0% Pre-heating current. 1 = 1%
21.18 Auto restart time The motor can be automatically started after a short supply 10.0 s
power failure using the automatic restart function. See section
Automatic restart (page 211).
When this parameter is set to 0.0 seconds, automatic
restarting is disabled. Otherwise, the parameter defines the
maximum duration of the power failure after which restarting
is attempted. Note that this time also includes the DC
precharging delay.
0.0 s Automatic restarting disabled. 0
0.1…10.0 s Maximum power failure duration. 1=1s
21.19 Scalar start mode Selects the motor start function for the scalar motor control Normal
mode, ie. when 99.04 Motor control mode is set to Scalar.
Notes:
• The start function for the vector motor control mode is
selected by parameter 21.01 Vector start mode.
• With permanent magnet motors, Automatic start mode
must be used.
running.
See also section DC magnetization (page 199).
Normal Immediate start from zero speed. 0
Const time The drive pre-magnetizes the motor before start. The pre- 1
magnetizing time is defined by parameter 21.02
Magnetization time. This mode should be selected if constant
pre-magnetizing time is required (e.g. if the motor start must
be synchronized with the release of a mechanical brake).
This setting also guarantees the highest possible break-away
torque when the pre-magnetizing time is set long enough.
Note: This mode cannot be used to start into a rotating motor.
WARNING! The drive will start after the set
magnetizing time has passed even if motor
magnetization is not completed. In applications where
a full break-away torque is essential, ensure that the constant
magnetizing time is long enough to allow generation of full
magnetization and torque.
Automatic The drive automatically selects the correct output frequency 2
to start a rotating motor. This is useful for flying starts: if the
motor is already rotating, the drive will start smoothly at the
current frequency.
Note: Cannot be used in multimotor systems.
21.21 DC hold frequency Defines the DC hold frequency, which is used instead of 5.00 Hz
parameter 21.09 DC hold speed when the motor is in scalar
frequency mode. See parameter 21.08 DC current control,
and section DC hold (page 199).
0.00…1000.00 Hz DC hold frequency. 1 = 1 Hz
274 Parameters

21.22 Start delay Defines the start delay. After the conditions for start have 0.00 s
been fulfilled, the drive waits until the delay has elapsed and
then starts the motor. During the delay, warning AFE9 Start
delay is shown.
Start delay can be used with all start modes.
0.00…60.00 s Start delay 1=1s
21.30 Speed comp stop This delay adds distance to the total distance traveled during 0.00 s
delay a stop from maximum speed. It is used to adjust the distance
to match requirements so that the distance traveled is not
solely determined by the deceleration rate. See also section
0.00…1000.00 s Time delay for speed compensation. 1=1s
21.31 Speed comp stop This parameter sets a speed threshold below which the 10%
threshold Speed compensated stop feature is disabled. In this speed
region, the speed compensated stop is not attempted and the
drive stops as it would using the ramp option. See also
section Switching frequency (page 201).
0…100% Speed threshold for speed compensation. 1 = 1%
22
22 Speed reference Speed reference selection; motor potentiometer settings.
selection See the control chain diagrams on pages 534…538.
22.01 Speed ref unlimited Displays the output of the speed reference selection block. -
See the control chain diagram on page 537.
-30000.00… Value of the selected speed reference. See par.
30000.00 rpm 46.01
Parameters 275

22.11 Ext1 speed ref1 Selects Ext1 speed reference source 1. AI1 scaled
Two signal sources can be defined by this parameter and
22.12 Ext1 speed ref2. A mathematical function (22.13 Ext1
speed function) applied to the two signals creates an Ext1
reference (A in the figure below).
A digital source selected by 19.11 Ext1/Ext2 selection can be
used to switch between Ext1 reference and the
corresponding Ext2 reference defined by parameters 22.18
Ext2 speed ref1, 22.19 Ext2 speed ref2 and 22.20 Ext2
speed function (B in the figure below).
22.11
22.13
0
AI Ref1
FB
… … ADD
Other SUB
MUL A
MIN Ext1
22.12
MAX
0
AI
FB
… …
19.11
Other
0
22.86
22.18 1
22.20
0
AI Ref1
FB
… … ADD
Ext2
Other SUB
MUL
B
MIN
22.19
MAX
0
AI
FB
… …
Other
Zero None. 0
AI1 scaled 12.12 AI1 scaled value (see page 244). 1
FB A ref1 03.05 FB A reference 1 (see page 231). 4
EFB ref1 03.09 EFB reference 1 (see page 231). 8
Motor 22.80 Motor potentiometer ref act (output of the motor 15
potentiometer potentiometer).
PID 40.01 Process PID output actual (output of the process PID 16
controller).
Frequency input 11.38 Freq in 1 actual value (when DI6 is used as a frequency 17
input).
276 Parameters

22.12 Ext1 speed ref2 Selects Ext1 speed reference source 2. Zero
For the selections, and a diagram of reference source
selection, see parameter 22.11 Ext1 speed ref1.
22.13 Ext1 speed function Selects a mathematical function between the reference Ref1
sources selected by parameters 22.11 Ext1 speed ref1 and
22.12 Ext1 speed ref2. See diagram at 22.11 Ext1 speed ref1.
Ref1 Signal selected by 22.11 Ext1 speed ref1 is used as speed 0
reference 1 as such (no function applied).
Add (ref1 + ref2) The sum of the reference sources is used as speed reference 1
1.
Sub (ref1 - ref2) The subtraction ([22.11 Ext1 speed ref1] - [22.12 Ext1 speed 2
ref2]) of the reference sources is used as speed reference 1.
Mul (ref1 × ref2) The multiplication of the reference sources is used as speed 3
reference 1.
Min (ref1, ref2) The smaller of the reference sources is used as speed 4
reference 1.
Max (ref1, ref2) The greater of the reference sources is used as speed 5
reference 1.
22.19 Ext2 speed ref2. A mathematical function (22.20 Ext2
speed function) applied to the two signals creates an Ext2
reference. See diagram at 28.11 Ext1 frequency ref1.
Zero None. 0
Control panel 03.01 Panel reference (see page 231). 3
controller).
selection, see parameter 22.18 Ext2 speed ref1.
22.20 Ext2 speed function Selects a mathematical function between the reference Ref1
sources selected by parameters 22.18 Ext2 speed ref1 and
22.19 Ext2 speed ref2. See diagram at 22.18 Ext2 speed
ref1.
Ref1 Signal selected by Ext2 speed ref1 is used as speed 0
Add (ref1 + ref2) The sum of the reference sources is used as speed reference 1
1.
Sub (ref1 - ref2) The subtraction ([22.11 Ext1 speed ref1] - [22.12 Ext1 speed 2
ref2]) of the reference sources is used as speed reference 1.
Parameters 277

Mul (ref1 × ref2) The multiplication of the reference sources is used as speed 3
reference 1.
Min (ref1, ref2) The smaller of the reference sources is used as speed 4
reference 1.
Max (ref1, ref2) The greater of the reference sources is used as speed 5
reference 1.
22.21 Constant speed Determines how constant speeds are selected, and whether 00b
function the rotation direction signal is considered or not when
applying a constant speed.
Bit Name Information

0 Constant speed 1 = Packed: 7 constant speeds are selectable using the three sources
mode defined by parameters 22.22, 22.23 and 22.24.
0 = Separate: Constant speeds 1, 2 and 3 are separately activated by
the sources defined by parameters 22.22, 22.23 and 22.24 respectively.
In case of conflict, the constant speed with the smaller number takes
priority.
1…15 Reserved
00b…11b Constant speed configuration word. 1=1

22.22 Constant speed When bit 0 of parameter 22.21 Constant speed function is 0 DI3
sel1 (Separate), selects a source that activates constant speed 1.
When bit 0 of parameter 22.21 Constant speed function is 1
(Packed), this parameter and parameters 22.23 Constant
speed sel2 and 22.24 Constant speed sel3 select three
sources whose states activate constant speeds as follows:
Source defined Source defined Source defined

Constant speed active
by par. 22.22 by par. 22.23 by par. 22.24
0 0 0 None
1 0 0 Constant speed 1

278 Parameters

22.23 Constant speed When bit 0 of parameter 22.21 Constant speed function is 0 DI4
sources that are used to activate constant speeds. See table
at parameter 22.22 Constant speed sel1.
For the selections, see parameter 22.22 Constant speed sel1.
22.24 Constant speed When bit 0 of parameter 22.21 Constant speed function is 0 Not selected
sources that are used to activate constant speeds. See table
at parameter 22.22 Constant speed sel1.
For the selections, see parameter 22.22 Constant speed sel1.
22.26 Constant speed 1 Defines constant speed 1 (the speed the motor will turn when 300.00 rpm
constant speed 1 is selected).
-30000.00… Constant speed 1. See par.
30000.00 rpm 46.01
22.27 Constant speed 2 Defines constant speed 2. 0.00 rpm
30000.00 rpm 46.01
30000.00 rpm 46.01
30000.00 rpm 46.01
30000.00 rpm 46.01
30000.00 rpm 46.01
30000.00 rpm 46.01
Parameters 279

22.41 Speed ref safe Defines a safe speed reference value that is used with 0.00 rpm
supervision functions such as
• 12.03 AI supervision function
• 49.05 Communication loss action
• 50.02 FBA A comm loss func.
-30000.00… Safe speed reference. See par.
30000.00 rpm 46.01
22.42 Jogging 1 ref Defines the speed reference for jogging function 1. For more 0.00 rpm
information on jogging, see page 191.
-30000.00… Speed reference for jogging function 1. See par.
30000.00 rpm 46.01
22.43 Jogging 2 ref Defines the speed reference for jogging function 2. For more 0.00 rpm
information on jogging, see page 191.
-30000.00… Speed reference for jogging function 2. See par.
30000.00 rpm 46.01
22.51 Critical speed Enables/disables the critical speeds function. Also 00b
function determines whether the specified ranges are effective in both
rotating directions or not.
See also section Critical speeds/frequencies (page 190).

0 Enable 1 = Enable: Critical speeds enabled.
0 = Disable: Critical speeds disabled.
1 Sign mode 1 = Signed: The signs of parameters 22.52…22.57 are taken into
account.
0 = Absolute: Parameters 22.52…22.57 are handled as absolute values.
Each range is effective in both directions of rotation.
2…15 Reserved
00b…11b Critical speeds configuration word. 1=1

22.52 Critical speed 1 low Defines the low limit for critical speed range 1. 0.00 rpm
Note: This value must be less than or equal to the value of
22.53 Critical speed 1 high.
-30000.00… Low limit for critical speed 1. See par.
30000.00 rpm 46.01
22.53 Critical speed 1 Defines the high limit for critical speed range 1. 0.00 rpm
high Note: This value must be greater than or equal to the value of
22.52 Critical speed 1 low.
-30000.00… High limit for critical speed 1. See par.
30000.00 rpm 46.01
30000.00 rpm 46.01
30000.00 rpm 46.01
280 Parameters

30000.00 rpm 46.01
30000.00 rpm 46.01
22.71 Motor Activates and selects the mode of the motor potentiometer. Disabled
potentiometer See section Speed control performance figures (page 195).
function
Disabled Motor potentiometer is disabled and its value set to 0. 0
Enabled (init at When enabled, the motor potentiometer first adopts the value 1
power-up) defined by parameter 22.72 Motor potentiometer initial value.
The value can then be adjusted from the up and down
sources defined by parameters 22.73 Motor potentiometer up
source and 22.74 Motor potentiometer down source.
After a power cycle, the motor potentiometer reverts to the
predefined initial value (22.72).
Enabled (resume at As Enabled (init at power-up), but the motor potentiometer 2
power-up) value is retained over a power cycle.
Enabled (init to Whenever another reference source is selected, the value of 3

actual) the motor potentiometer follows that reference. After the
source of reference returns to the motor potentiometer, its
value can again be changed by the up and down sources
(defined by 22.73 and 22.74).
22.72 Motor Defines an initial value (starting point) for the motor 0.00
potentiometer initial potentiometer. See the selections of parameter 22.71 Motor
value potentiometer function.
-32768.00… Initial value for motor potentiometer. 1=1
32767.00
22.73 Motor Selects the source of motor potentiometer up signal. Not selected
potentiometer up 0 = No change
source 1 = Increase motor potentiometer value. (If both the up and
down sources are on, the potentiometer value will not
change.)
Not selected 0. 0
Selected 1. 1
Parameters 281

22.74 Motor Selects the source of motor potentiometer down signal. Not selected
potentiometer down 0 = No change
source 1 = Decrease motor potentiometer value. (If both the up and
down sources are on, the potentiometer value will not
change.)
For the selections, see parameter 22.73 Motor potentiometer
up source.
22.75 Motor Defines the change rate of the motor potentiometer. This 10.0 s
potentiometer ramp parameter specifies the time required for the motor
time potentiometer to change from minimum (22.76) to maximum
(22.77). The same change rate applies in both directions.
0.0…3600.0 s Motor potentiometer change time. 10 = 1 s
22.76 Motor Defines the minimum value of the motor potentiometer. -50.00
potentiometer min Note: If vector control mode is used, value of this parameter
value must be changed.
-32768.00… Motor potentiometer minimum. 1=1
32767.00
22.77 Motor Defines the maximum value of the motor potentiometer. 50.00
potentiometer max Note: If vector control mode is used, value of this parameter
value must be changed.
-32768.00… Motor potentiometer maximum. 1=1
32767.00
22.80 Motor The output of the motor potentiometer function. (The motor -
potentiometer ref potentiometer is configured using parameters 22.71…22.74.)
act This parameter is read-only.
-32768.00… Value of motor potentiometer. 1=1
32767.00
22.86 Speed reference Displays the value of the speed reference (Ext1 or Ext2) that -
act 6 has been selected by 19.11 Ext1/Ext2 selection. See diagram
at 22.11 Ext1 speed ref1 or the control chain diagram on page
534.
-30000.00… Speed reference after additive 2. See par.
30000.00 rpm 46.01
282 Parameters

22.87 Speed reference Displays the value of speed reference before application of -
act 7 critical speeds. See the control chain diagram on page 537.
The value is received from 22.86 Speed reference act 6
unless overridden by
• any constant speed
• a jogging reference
• network control reference
• control panel reference
• safe speed reference.
-30000.00… Speed reference before application of critical speeds. See par.
30000.00 rpm 46.01
23
23 Speed reference Speed reference ramp settings (programming of the
ramp acceleration and deceleration rates for the drive).
23.01 Speed ref ramp Displays the used speed reference (in rpm) before it enters -
input the ramping and shaping functions. See the control chain
diagram on page 538.
-30000.00… Speed reference before ramping and shaping. See par.
30000.00 rpm 46.01
23.02 Speed ref ramp Displays the ramped and shaped speed reference in rpm. -
output See the control chain diagram on page 538.
-30000.00… Speed reference after ramping and shaping. See par.
30000.00 rpm 46.01
23.11 Ramp set selection Selects the source that switches between the two sets of Acc/Dec time
acceleration/deceleration ramp times defined by parameters 1
23.12…23.15.
0 = Acceleration time 1 and deceleration time 1 are active
1 = Acceleration time 2 and deceleration time 2 are active
Acc/Dec time 1 0. 0
Acc/Dec time 2 1. 1
interface.
Parameters 283

23.12 Acceleration time 1 Defines acceleration time 1 as the time required for the speed 20.000 s
to change from zero to the speed defined by parameter 46.01
Speed scaling (not to parameter 30.12 Maximum speed).
If the speed reference increases faster than the set
acceleration rate, the motor speed will follow the acceleration
rate.
If the speed reference increases slower than the set
acceleration rate, the motor speed will follow the reference.
If the acceleration time is set too short, the drive will
automatically prolong the acceleration in order not to exceed
the drive torque limits.
0.000 …1800.000 s Acceleration time 1. 10 = 1 s
23.13 Deceleration time 1 Defines deceleration time 1 as the time required for the speed 20.000 s
to change from the speed defined by parameter 46.01 Speed
scaling (not from parameter 30.12 Maximum speed) to zero.
If the speed reference decreases slower than the set
deceleration rate, the motor speed will follow the reference.
If the reference changes faster than the set deceleration rate,
the motor speed will follow the deceleration rate.
If the deceleration rate is set too short, the drive will
automatically prolong the deceleration in order not to exceed
drive torque limits (or not to exceed a safe DC link voltage). If
there is any doubt about the deceleration time being too
short, ensure that DC overvoltage control is on (parameter
30.30 Overvoltage control).
Note: If a short deceleration time is needed for a high inertia
application, the drive should be equipped with braking
equipment such as a brake chopper and brake resistor.
0.000 …1800.000 s Deceleration time 1. 10 = 1 s
23.14 Acceleration time 2 Defines acceleration time 2. See parameter 23.12 60.000 s
Acceleration time 1.
0.000 …1800.000 s Acceleration time 2. 10 = 1 s
23.15 Deceleration time 2 Defines deceleration time 2. See parameter 23.13 60.000 s
Deceleration time 1.
0.000 …1800.000 s Deceleration time 2. 10 = 1 s
23.20 Acc time jogging Defines the acceleration time for the jogging function ie. the 60.000 s
time required for the speed to change from zero to the speed
value defined by parameter 46.01 Speed scaling.
0.000 …1800.000 s Acceleration time for jogging. 10 = 1 s
23.21 Dec time jogging Defines the deceleration time for the jogging function ie. the 60.000 s
time required for the speed to change from the speed value
defined by parameter 46.01 Speed scaling to zero.
0.000 …1800.000 s Deceleration time for jogging. 10 = 1 s
284 Parameters

23.23 Emergency stop Defines the time inside which the drive is stopped if an 3.000 s
time emergency stop Off3 is activated (ie. the time required for the
speed to change from the speed value defined by parameter
46.01 Speed scaling or 46.02 Frequency scaling to zero).
Emergency stop mode and activation source are selected by
parameters 21.04 Emergency stop mode and 21.05
Emergency stop source respectively. Emergency stop can
also be activated through fieldbus.
Note:
• Emergency stop Off1 uses the standard deceleration ramp
as defined by parameters 23.11…23.15.
• The same parameter value is also used in frequency
control mode (ramp parameters 28.71…28.75).
0.000 …1800.000 s Emergency stop Off3 deceleration time. 10 = 1 s
23.28 Variable slope Activates the variable slope function, which controls the slope Off
enable of the speed ramp during a speed reference change. This
allows for a constantly variable ramp rate to be generated,
instead of just the standard two ramps normally available.
If the update interval of the signal from an external control
system and the variable slope rate (23.29 Variable slope rate)
are equal, speed reference (23.02 Speed ref ramp output) is
a straight line.
Speed reference
Speed
reference
23.02 Speed ref ramp output
Time
t = update interval of signal from external control system

A = speed reference change during t
This function is only active in remote control.

Off Variable slope disabled. 0
On Variable slope enabled (not available in local control). 1
23.29 Variable slope rate Defines the rate of the speed reference change when variable 50 ms
slope is enabled by parameter 23.28 Variable slope enable.
For the best result, enter the reference update interval into
this parameter.
2…30000 ms Variable slope rate. 1 = 1 ms
Parameters 285

23.32 Shape time 1 Defines the shape of the acceleration and deceleration ramps 0.100 s
used with the set 1.
0.000 s: Linear ramp. Suitable for steady acceleration or
deceleration and for slow ramps.
0.001…1000.000 s: S-curve ramp. S-curve ramps are ideal
for lifting applications. The S-curve consists of symmetrical
curves at both ends of the ramp and a linear part in between.
Acceleration:
Linear ramp:
23.32 = 0 s
Speed
Linear ramp:
23.32 = 0 s
S-curve ramp:
23.32 > 0 s
S-curve ramp:
23.32 > 0 s
Time
Deceleration:
Speed
S-curve ramp:
23.32 > 0 s
Linear ramp:
23.32 = 0 s
S-curve ramp:
23.32 > 0 s
Linear ramp:
23.32 = 0 s
Time
0.100…1800.000 s Ramp shape at start and end of acceleration and 10 = 1 s

deceleration.
used with the set 2. See parameter 23.32 Shape time 1.
deceleration.
286 Parameters

24
24 Speed reference Speed error calculation; speed error window control
conditioning configuration; speed error step.
See the control chain diagrams on pages 539 and 540.
24.01 Used speed Displays the ramped and corrected speed reference (before -
reference speed error calculation). See the control chain diagram on
page 539.
-30000.00… Speed reference used for speed error calculation. See par.
30000.00 rpm 46.01
24.02 Used speed Displays the speed feedback used for speed error calculation. -
feedback See the control chain diagram on page 539.
-30000.00… Speed feedback used for speed error calculation. See par.
30000.00 rpm 46.01
24.03 Speed error filtered Displays the filtered speed error. See the control chain -
-30000.0… 30000.0 Filtered speed error. See par.
rpm 46.01
24.04 Speed error Displays the inverted (unfiltered) speed error. See the control -
inverted chain diagram on page 539.
-30000.0… 30000.0 Inverted speed error. See par.
rpm 46.01
24.11 Speed correction Defines a speed reference correction, ie. a value added to the 0.00 rpm
existing reference between ramping and limitation. This is
useful to trim the speed if necessary, for example to adjust
draw between sections of a paper machine.
-10000.00… Speed reference correction. See par.
10000.00 rpm 46.01
24.12 Speed error filter Defines the time constant of the speed error low-pass filter. 0 ms
time If the used speed reference changes rapidly, the possible
interferences in the speed measurement can be filtered with
the speed error filter. Reducing the ripple with this filter may
cause speed controller tuning problems. A long filter time
constant and fast acceleration time contradict one another. A
very long filter time results in unstable control.
0…10000 ms Speed error filtering time constant. 0 = filtering disabled. 1 = 1 ms
25
25 Speed control Speed controller settings.
25.01 Torque reference Displays the speed controller output that is transferred to the -
speed control torque controller. See the control chain diagram on page 539.
-1600.0…1600.0% Limited speed controller output torque. See par.
46.03
Parameters 287

25.02 Speed proportional Defines the proportional gain (Kp) of the speed controller. Too 10.00
gain high a gain may cause speed oscillation. The figure below
shows the speed controller output after an error step when
the error remains constant.
%
Gain = Kp = 1
TI = Integration time = 0
TD= Derivation time = 0
Error value
Controller output
Controller e = Error value
output = Kp × e
Time
If gain is set to 1, a 10% change in error value (reference -

actual value) causes the speed controller output to change by
10%, ie. the output value is input × gain.
0.00 …250.00 Proportional gain for speed controller. 100 = 1
288 Parameters

25.03 Speed integration Defines the integration time of the speed controller. The 2.50 s
time integration time defines the rate at which the controller output
changes when the error value is constant and the
proportional gain of the speed controller is 1. The shorter the
integration time, the faster the continuous error value is
corrected. This time constant must be set to the same order
of magnitude as the time constant (time to respond) of the
actual mechanical system being controlled, otherwise
instability will result.
Setting the integration time to zero disables the I-part of the
controller. This is useful to do when tuning the proportional
gain; adjust the proportional gain first, then return the
integration time.
Anti-windup (the integrator just integrates up to 100%) stops
the integrator if the controller output is limited.
The figure below shows the speed controller output after an
error step when the error remains constant.
Controller output
Gain = Kp = 1
TI = Integration time > 0
TD= Derivation time = 0
Kp × e
Kp × e e = Error value
Time
TI
0.00…1000.00 s Integration time for speed controller. 10 = 1 s

Parameters 289

25.04 Speed derivation Defines the derivation time of the speed controller. Derivative 0.000 s
time action boosts the controller output if the error value changes.
The longer the derivation time, the more the speed controller
output is boosted during the change. If the derivation time is
set to zero, the controller works as a PI controller, otherwise
as a PID controller. The derivation makes the control more
responsive for disturbances. For simple applications
(especially those without a pulse encoder), derivative time is
not normally required and should be left at zero.
The speed error derivative must be filtered with a low pass
filter to eliminate disturbances.
The figure below shows the speed controller output after an
error step when the error remains constant.
Controller output
Δe
K p × TD ×
Ts Kp × e
Error value
Kp × e e = Error value
TI Time
Gain = Kp = 1
TI = Integration time > 0
TD= Derivation time > 0
Ts= Sample time period = 250 µs
Δe = Error value change between two samples
0.000…10.000 s Derivation time for speed controller. 1000 = 1 s

25.05 Derivation filter time Defines the derivation filter time constant. See parameter 8 ms
25.04 Speed derivation time.
0…10000 ms Derivation filter time constant. 1 = 1 ms
290 Parameters

25.06 Acc comp Defines the derivation time for acceleration(/deceleration) 0.00 s
derivation time compensation. In order to compensate for a high inertia load
during acceleration, a derivative of the reference is added to
the output of the speed controller. The principle of a derivative
action is described under parameter 25.04 Speed derivation
time.
Note: As a general rule, set this parameter to the value
between 50 and 100% of the sum of the mechanical time
constants of the motor and the driven machine.
The figure below shows the speed responses when a high
inertia load is accelerated along a ramp.
No acceleration compensation:
Speed reference
Actual speed
Time
Acceleration compensation:
Speed reference
Actual speed
Time
0.00…1000.00 s Acceleration compensation derivation time. 10 = 1 s

25.07 Acc comp filter time Defines the acceleration (or deceleration) compensation filter 8.0 ms
time constant. See parameters 25.04 Speed derivation time
and 25.06 Acc comp derivation time.
0.0…1000.0 ms Acceleration/deceleration compensation filter time. 1 = 1 ms
25.15 Proportional gain Defines the proportional gain for the speed controller when an 10.00
em stop emergency stop is active. See parameter 25.02 Speed
proportional gain.
1.00…250.00 Proportional gain upon an emergency stop. 100 = 1
Parameters 291

25.53 Torque prop Displays the output of the proportional (P) part of the speed -
reference controller. See the control chain diagram on page 539.
-30000.0… P-part output of speed controller. See par.
30000.0% 46.03
25.54 Torque integral Displays the output of the integral (I) part of the speed -
-30000.0… I-part output of speed controller. See par.
30000.0% 46.03
25.55 Torque deriv Displays the output of the derivative (D) part of the speed -
-30000.0… D-part output of speed controller. See par.
30000.0% 46.03
25.56 Torque acc Displays the output of the acceleration compensation -
compensation function. See the control chain diagram on page 539.
-30000.0… Output of acceleration compensation function. See par.
30000.0% 46.03
26
26 Torque reference Settings for the torque reference chain.
chain See the control chain diagrams on pages 541 and 542.
26.01 Torque reference to Displays the final torque reference given to the torque -
TC controller in percent. This reference is then acted upon by
various final limiters, like power, torque, load etc.
-1600.0…1600.0% Torque reference for torque control. See par.
46.03
26.02 Torque reference Displays the final torque reference (in percent of motor -
used nominal torque) given to the torque controller, and comes
after frequency, voltage and torque limitation.
-1600.0…1600.0% Torque reference for torque control. See par.
46.03
26.08 Minimum torque ref Defines the minimum torque reference. Allows for local -300.0%
limiting of the torque reference before it is passed on to the
torque ramp controller. For absolute torque limiting, refer to
parameter 30.19 Minimum torque 1.
-1000.0…0.0% Minimum torque reference. See par.
46.03
26.09 Maximum torque ref Defines the maximum torque reference. Allows for local 300.0%
limiting of the torque reference before it is passed on to the
torque ramp controller. For absolute torque limiting, refer to
parameter 30.20 Maximum torque 1.
0.0…1000.0% Maximum torque reference. See par.
46.03
292 Parameters

26.11 Torque ref1 source Selects torque reference source 1. Zero
26.12 Torque ref2 source. A digital source selected by 26.14
Torque ref1/2 selection can be used to switch between the
two sources, or a mathematical function (26.13 Torque ref1
function) applied to the two signals to create the reference.
26.13
26.11 Ref1
0
AI ADD
FB 26.70
SUB
… …
MUL 26.14
Other
MIN 0
MAX 26.72
26.12 1
0
AI
26.71
FB
… …
Other
Zero None. 0
controller).
26.12 Torque ref2 source Selects torque reference source 2. Zero
selection, see parameter 26.11 Torque ref1 source.
26.13 Torque ref1 function Selects a mathematical function between the reference Ref1
sources selected by parameters 26.11 Torque ref1 source
and 26.12 Torque ref2 source. See diagram at 26.11 Torque
ref1 source.
Ref1 Signal selected by 26.11 Torque ref1 source is used as torque 0
Add (ref1 + ref2) The sum of the reference sources is used as torque reference 1
1.
Sub (ref1 - ref2) The subtraction ([26.11 Torque ref1 source] - [26.12 Torque 2
ref2 source]) of the reference sources is used as torque
reference 1.
Parameters 293

Mul (ref1 × ref2) The multiplication of the reference sources is used as torque 3
reference 1.
Min (ref1, ref2) The smaller of the reference sources is used as torque 4
reference 1.
Max (ref1, ref2) The greater of the reference sources is used as torque 5
reference 1.
26.14 Torque ref1/2 Configures the selection between torque references 1 and 2. Torque
selection See diagram at 26.11 Torque ref1 source. reference 1
0 = Torque reference 1
1 = Torque reference 2
Torque reference 1 0. 0
Torque reference 2 1. 1
Follow Ext1/Ext2 Torque reference 1 is used when external control location 2
selection EXT1 is active. Torque reference 2 is used when external
control location EXT2 is active.
See also parameter 19.11 Ext1/Ext2 selection.
26.17 Torque ref filter time Defines a low-pass filter time constant for the torque 0.000 s
reference.
0.000…30.000 s Filter time constant for torque reference. 1000 = 1 s
26.18 Torque ramp up Defines the torque reference ramp-up time, ie. the time for the 0.000 s
time reference to increase from zero to nominal motor torque.
0.000…60.000 s Torque reference ramp-up time. 100 = 1 s
26.19 Torque ramp down Defines the torque reference ramp-down time, ie. the time for 0.000 s
time the reference to decrease from nominal motor torque to zero.
0.000…60.000 s Torque reference ramp-down time. 100 = 1 s
26.21 Torque sel torque in Selects the source for 26.74 Torque ref ramp out. Torque ref
torq ctrl
Torque ref torq ctrl Torque reference from the torque chain. 1
26.22 Torque sel speed in Selects the source for 25.01 Torque reference speed control. Torque ref
speed ctrl
Torque ref speed Torque reference from the speed chain. 1
ctrl
-1600.0…1600.0% Value of torque reference source 1. See par.
46.03
294 Parameters

26.70 Torque reference Displays the value of torque reference source 1 (selected by -
act 1 parameter 26.11 Torque ref1 source). See the control chain
46.03
26.71 Torque reference Displays the value of torque reference source 2 (selected by -
act 2 parameter 26.12 Torque ref2 source). See the control chain
46.03
26.72 Torque reference Displays the torque reference after the function applied by -
act 3 parameter 26.13 Torque ref1 function (if any), and after
selection (26.14 Torque ref1/2 selection). See the control
chain diagram on page 541.
-1600.0…1600.0% Torque reference after selection. See par.
46.03
26.73 Torque reference Displays the torque reference after application of reference -
act 4 additive 1. See the control chain diagram on page 541.
-1600.0…1600.0% Torque reference after application of reference additive 1. See par.
46.03
26.74 Torque ref ramp out Displays the torque reference after limiting and ramping. See -
the control chain diagram on page 541.
-1600.0…1600.0% Torque reference after limiting and ramping. See par.
46.03
26.75 Torque reference Displays the torque reference after control mode selection. -
act 5 See the control chain diagram on page 543.
-1600.0…1600.0% Torque reference after control mode selection. See par.
46.03
27
28 Frequency reference Settings for the frequency reference chain.
chain See the control chain diagrams on pages 544 and 535.
28.01 Frequency ref ramp Displays the used frequency reference before ramping. See -
input the control chain diagram on page 544.
-500.00…500.00 Frequency reference before ramping. See par.
Hz 46.02
28.02 Frequency ref ramp Displays the final frequency reference (after selection, -
output limitation and ramping). See the control chain diagram on
page 544.
-500.00…500.00 Final frequency reference. See par.
Hz 46.02
Parameters 295

28.11 Ext1 frequency ref1 Selects Ext1 frequency reference source 1. AI1 scaled
28.12 Ext1 frequency ref2. A mathematical function (28.13
Ext1 frequency function) applied to the two signals creates an
Ext1 reference (A in the figure below).
A digital source selected by 19.11 Ext1/Ext2 selection can be
used to switch between Ext1 reference and the
corresponding Ext2 reference defined by parameters 28.15
Ext2 frequency ref1, 28.16 Ext2 frequency ref2 and 28.17
Ext2 frequency function (B in the figure below).
28.11
28.13
0
AI Ref1
FB
… … ADD
Other SUB
MUL A
MIN Ext1
28.12
MAX
0
AI
FB
… …
19.11
Other
0
28.92
28.15 1
28.17
0
AI Ref1
FB
… … ADD
Ext2
Other SUB
MUL
B
MIN
28.16
MAX
0
AI
FB
… …
Other
Zero None. 0
controller).
296 Parameters

28.12 Ext1 frequency ref2 Selects Ext1 frequency reference source 2. Zero
selection, see parameter 28.11 Ext1 frequency ref1.
28.13 Ext1 frequency Selects a mathematical function between the reference Ref1
function sources selected by parameters 28.11 Ext1 frequency ref1
and 28.12 Ext1 frequency ref2. See diagram at 28.11 Ext1
frequency ref1.
Ref1 Signal selected by 28.11 Ext1 frequency ref1 is used as 0
frequency reference 1 as such (no function applied).
Add (ref1 + ref2) The sum of the reference sources is used as frequency 1
reference 1.
Sub (ref1 - ref2) The subtraction ([28.11 Ext1 frequency ref1] - [28.12 Ext1 2
frequency ref2]) of the reference sources is used as
frequency reference 1.
Mul (ref1 × ref2) The multiplication of the reference sources is used as 3
Min (ref1, ref2) The smaller of the reference sources is used as frequency 4
reference 1.
Max (ref1, ref2) The greater of the reference sources is used as frequency 5
reference 1.
28.15 Ext2 frequency ref1 Selects Ext2 frequency reference source 1. AI1 scaled
28.16 Ext2 frequency ref2. A mathematical function (28.17
Ext2 frequency function) applied to the two signals creates an
Ext2 reference. See diagram at 28.11 Ext1 frequency ref1.
Zero None. 0
controller).
28.16 Ext2 frequency ref2 Selects Ext2 frequency reference source 2. Zero
selection, see parameter 28.15 Ext2 frequency ref1.
28.17 Ext2 frequency Selects a mathematical function between the reference Ref1
function sources selected by parameters 28.15 Ext2 frequency ref1
and 28.16 Ext2 frequency ref2. See diagram at 28.15 Ext2
frequency ref1.
Ref1 Signal selected by 28.15 Ext2 frequency ref1 is used as 0
frequency reference 1 as such (no function applied).
Add (ref1 + ref2) The sum of the reference sources is used as frequency 1
reference 1.
Parameters 297

Sub (ref1 - ref2) The subtraction ([28.15 Ext2 frequency ref1] - [28.16 Ext2 2
frequency ref2]) of the reference sources is used as
Mul (ref1 × ref2) The multiplication of the reference sources is used as 3
Min (ref1, ref2) The smaller of the reference sources is used as frequency 4
reference 1.
Max (ref1, ref2) The greater of the reference sources is used as frequency 5
reference 1.
28.21 Constant frequency Determines how constant frequencies are selected, and 00b
function whether the rotation direction signal is considered or not
when applying a constant frequency.

0 Const freq 1 = Packed: 7 constant frequencies are selectable using the three
mode sources defined by parameters 28.22, 28.23 and 28.24.
0 = Separate: Constant frequencies 1, 2 and 3 are separately activated
by the sources defined by parameters 28.22, 28.23 and 28.24
respectively. In case of conflict, the constant frequency with the smaller
number takes priority.
00b…11b Constant frequency configuration word. 1=1

28.22 Constant frequency When bit 0 of parameter 28.21 Constant frequency function is Not selected
sel1 0 (Separate), selects a source that activates constant
frequency 1.
When bit 0 of parameter 28.21 Constant frequency function is
1 (Packed), this parameter and parameters 28.23 Constant
frequency sel2 and 28.24 Constant frequency sel3 select
three sources whose states activate constant frequencies as
follows:
Source defined Source defined Source defined Constant frequency

by par. 28.22 by par. 28.23 by par. 28.24 active
0 0 0 None
1 0 0 Constant frequency 1
Not selected 0. 0
Selected 1. 1
298 Parameters

frequency 2.
three sources that are used to activate constant frequencies.
See table at parameter 28.22 Constant frequency sel1.
For the selections, see parameter 28.22 Constant frequency
sel1.
frequency 3.
three sources that are used to activate constant frequencies.
See table at parameter 28.22 Constant frequency sel1.
For the selections, see parameter 28.22 Constant frequency
sel1.
28.26 Constant frequency Defines constant frequency 1 (the frequency the motor will 0.00 Hz
1 turn when constant frequency 1 is selected).
-500.00…500.00 Constant frequency 1. See par.
Hz 46.02
28.27 Constant frequency Defines constant frequency 2. 0.00 Hz
2
Hz 46.02
3
Hz 46.02
4
Hz 46.02
5
Hz 46.02
Parameters 299

6
Hz 46.02
7
Hz 46.02
28.41 Frequency ref safe Defines a safe frequency reference value that is used with 0.00 Hz
supervision functions such as
• 12.03 AI supervision function
• 49.05 Communication loss action
• 50.02 FBA A comm loss func.
-500.00…500.00 Safe frequency reference. See par.
Hz 46.02
28.51 Critical frequency Enables/disables the critical frequencies function. Also 00b
function determines whether the specified ranges are effective in both
rotating directions or not.
See also section Critical speeds/frequencies (page 190).

0 Crit freq 1 = Enable: Critical frequencies enabled.
0 = Disable: Critical frequencies disabled.
1 Sign mode 1 = According to par: The signs of parameters 28.52…28.57 are taken
into account.
0 = Absolute: Parameters 28.52…28.57 are handled as absolute values.
Each range is effective in both directions of rotation.
00b…11b Critical frequencies configuration word. 1=1

28.52 Critical frequency 1 Defines the low limit for critical frequency 1. 0.00 Hz
low Note: This value must be less than or equal to the value of
28.53 Critical frequency 1 high.
-500.00…500.00 Low limit for critical frequency 1. See par.
Hz 46.02
28.53 Critical frequency 1 Defines the high limit for critical frequency 1. 0.00 Hz
28.52 Critical frequency 1 low.
-500.00…500.00 High limit for critical frequency 1. See par.
Hz 46.02
Hz 46.02
Hz 46.02
300 Parameters

Hz 46.02
Hz 46.02
28.71 Freq ramp set Selects a source that switches between the two sets of Acc/Dec time
selection acceleration/deceleration times defined by parameters 1
28.72…28.75.
0 = Acceleration time 1 and deceleration time 1 are in force
1 = Acceleration time 2 and deceleration time 2 are in force
Acc/Dec time 1 0. 0
Acc/Dec time 2 1. 1
interface.
28.72 Freq acceleration Defines acceleration time 1 as the time required for the 20.000 s
time 1 frequency to change from zero to the frequency defined by
parameter 46.02 Frequency scaling. After this frequency has
been reached, the acceleration continues with the same rate
to the value defined by parameter 30.14 Maximum frequency.
If the reference increases faster than the set acceleration
rate, the motor will follow the acceleration rate.
If the reference increases slower than the set acceleration
rate, the motor frequency will follow the reference.
If the acceleration time is set too short, the drive will
automatically prolong the acceleration in order not to exceed
the drive torque limits.
0.000…1800.000 s Acceleration time 1. 10 = 1 s
28.73 Freq deceleration Defines deceleration time 1 as the time required for the 20.000 s
time 1 frequency to change from the frequency defined by
parameter 46.02 Frequency scaling (not from parameter
30.14 Maximum frequency) to zero.
If there is any doubt about the deceleration time being too
short, ensure that DC overvoltage control (30.30 Overvoltage
control) is on.
Note: If a short deceleration time is needed for a high inertia
application, the drive should be equipped with braking
equipment such as a brake chopper and brake resistor.
0.000…1800.000 s Deceleration time 1. 10 = 1 s
Parameters 301

28.74 Freq acceleration Defines acceleration time 2. See parameter 28.72 Freq 60.000 s
time 2 acceleration time 1.
0.000…1800.000 s Acceleration time 2. 10 = 1 s
28.75 Freq deceleration Defines deceleration time 2. See parameter 28.73 Freq 60.000 s
time 2 deceleration time 1.
0.000…1800.000 s Deceleration time 2. 10 = 1 s
28.76 Freq ramp in zero Selects a source that forces the frequency reference to zero. Inactive
source 0 = Force frequency reference to zero
Active 0. 0
Inactive 1. 1
302 Parameters

used with the set 1.
0.000 s: Linear ramp. Suitable for steady acceleration or
deceleration and for slow ramps.
0.001…1000.000 s: S-curve ramp. S-curve ramps are ideal
for lifting applications. The S-curve consists of symmetrical
curves at both ends of the ramp and a linear part in between.
Acceleration:
Linear ramp:
28.82 = 0 s
Speed
Linear ramp:
28.82 = 0 s
S-curve ramp:
28.82 > 0 s
S-curve ramp:
28.82 > 0 s
Time
Deceleration:
Speed
S-curve ramp:
28.82 > 0 s
Linear ramp:
28.82 = 0 s
S-curve ramp:
28.82 > 0 s
Linear ramp:
28.82 = 0 s
Time

deceleration.
used with the set 2. See parameter 28.82 Shape time 1.
deceleration.
Parameters 303

28.92 Frequency ref act 3 Displays the frequency reference after the function applied by -
parameter 28.13 Ext1 frequency function (if any), and after
selection (19.11 Ext1/Ext2 selection). See the control chain
-500.00…500.00 Frequency reference after selection. See par.
Hz 46.02
28.96 Frequency ref act 7 Displays the frequency reference after application of constant -
frequencies, control panel reference, etc. See the control
-500.00…500.00 Frequency reference 7. See par.
Hz 46.02
30
30 Limits Drive operation limits.
30.01 Limit word 1 Displays limit word 1. -

0 Torq lim 1 = Drive torque is being limited by the motor control (undervoltage
control, current control, load angle control or pull-out control), or by the
torque limits defined by parameters.
1…2 Reserved
3 Torq ref max 1 = Torque reference is being limited by 26.09 Maximum torque ref
4 Torq ref min 1 = Torque reference is being limited by 26.08 Minimum torque ref
5 Tlim max speed 1 = Torque reference is being limited by the rush control because of
maximum speed limit (30.12 Maximum speed)
6 Tlim min speed 1 = Torque reference is being limited by the rush control because of
minimum speed limit (30.11 Minimum speed)
7 Max speed ref lim 1 = Speed reference is being limited by 30.12 Maximum speed
8 Min speed ref lim 1 = Speed reference is being limited by 30.11 Minimum speed
9 Max freq ref lim 1 = Frequency reference is being limited by 30.14 Maximum frequency
10 Min freq ref lim 1 = Frequency reference is being limited by 30.13 Minimum frequency
11…15 Reserved
0000h…FFFFh Limit word 1. 1=1

304 Parameters

30.02 Torque limit status Displays the torque controller limitation status word. -

0 Undervoltage *1 = Intermediate DC circuit undervoltage
1 Overvoltage *1 = Intermediate DC circuit overvoltage
2 Minimum torque *1 = Torque is being limited by 30.19 Minimum torque 1, 30.26 Power
motoring limit or 30.27 Power generating limit
3 Maximum torque *1 = Torque is being limited by 30.20 Maximum torque 1, 30.26 Power
motoring limit or 30.27 Power generating limit
4 Internal current 1 = An inverter current limit (identified by bits 8…11) is active
5 Load angle (With permanent magnet motors and reluctance motors only)
1 = Load angle limit is active, ie. the motor cannot produce any more
torque
6 Motor pullout (With asynchronous motors only)
Motor pull-out limit is active, ie. the motor cannot produce any more
torque
7 Reserved
8 Thermal 1 = Input current is being limited by the main circuit thermal limit
9 Max current *1 = Maximum output current (IMAX) is being limited
10 User current *1 = Output current is being limited by 30.17 Maximum current
11 Thermal IGBT *1 = Output current is being limited by a calculated thermal current
value
12…15 Reserved
*Only one out of bits 0…3, and one out of bits 9…11 can be on simultaneously. The bit typically
indicates the limit that is exceeded first.
0000h…FFFFh Torque limitation status word. 1=1

30.11 Minimum speed Defines the minimum allowed speed. 0.00 rpm
WARNING! This value must not be higher than 30.12
Maximum speed.
WARNING! In frequency control mode, this limit is not
effective. Make sure the frequency limits (30.13 and
30.14) are set appropriately if frequency control is
used.
-30000.00… Minimum allowed speed. See par.
30000.00 rpm 46.01
30.12 Maximum speed Defines the maximum allowed speed. 1500.00 rpm
WARNING! This value must not be lower than 30.11
Minimum speed.
WARNING! In frequency control mode, this limit is not
effective. Make sure the frequency limits (30.13 and
30.14) are set appropriately if frequency control is
used.
-30000.00… Maximum speed. See par.
30000.00 rpm 46.01
Parameters 305

30.13 Minimum frequency Defines the minimum allowed frequency. 0.00 Hz
WARNING! This value must not be higher than 30.14
Maximum frequency.
WARNING! This limit is effective in frequency control
mode only.
-500.00…500.00 Minimum frequency. See par.
Hz 46.02
30.14 Maximum Defines the maximum allowed frequency. 50.00 Hz
frequency WARNING! This value must not be lower than 30.13
Minimum frequency.
WARNING! This limit is effective in frequency control
mode only.
-500.00…500.00 Maximum frequency. See par.
Hz 46.02
30.17 Maximum current Defines the maximum allowed motor current. 0.00 A
0.00…30000.00 A Maximum motor current. 1=1A
30.18 Torq lim sel Selects a source that switches between two different Torque limit
predefined minimum torque limit sets. set 1
0 = minimum torque limit defined by 30.19 and maximum
torque limit defined by 30.20 are active
1 = minimum torque limit selected by 30.21 and maximum
torque limit defined by 30.22 are active
The user can define two sets of torque limits, and switch
between the sets using a binary source such as a digital
input.
The first set of limits is defined by parameters 30.19 and
30.20. The second set has selector parameters for both the
minimum (30.21) and maximum (30.22) limits that allows the
use of a selectable analog source (such as an analog input).
30.21
0
AI1 30.18
AI2 1
PID
30.23 User-defined
0 minimum torque
Other
limit
30.19
30.22
0
AI1 30.18
AI2 1
PID
30.24 User-defined
Other 0 maximum torque
limit
30.20
Note: In addition to the user-defined limits, torque may be

limited for other reasons (such as power limitation). Refer to
the block diagram on page 543.
Torque limit set 1 0 (minimum torque limit defined by 30.19 and maximum 0
torque limit defined by 30.20 are active).
306 Parameters

Torque limit set 2 1 (minimum torque limit selected by 30.21 and maximum 1
torque limit defined by 30.22 are active).
interface.
30.19 Minimum torque 1 Defines a minimum torque limit for the drive (in percent of -300.0%
nominal motor torque). See diagram at parameter 30.18 Torq
lim sel.
The limit is effective when
• the source selected by 30.18 Torq lim sel is 0, or
• 30.18 is set to Torque limit set 1.
-1600.0…0.0% Minimum torque limit 1. See par.
46.03
30.20 Maximum torque 1 Defines a maximum torque limit for the drive (in percent of 300.0%
nominal motor torque). See diagram at parameter 30.18 Torq
lim sel.
0.0…1600.0% Maximum torque 1. See par.
46.03
30.21 Min torque 2 source Defines the source of the minimum torque limit for the drive Minimum
(in percent of nominal motor torque) when torque 2
• the source selected by parameter 30.18 Torq lim sel is 1,
or
See diagram at 30.18 Torq lim sel.
Note: Any positive values received from the selected source
are inverted.
Zero None. 0
controller).
Minimum torque 2 30.23 Minimum torque 2. 16
Parameters 307

30.22 Max torque 2 Defines the source of the maximum torque limit for the drive Maximum
source (in percent of nominal motor torque) when torque 2
• the source selected by parameter 30.18 Torq lim sel is 1,
or
Note: Any negative values received from the selected source
are inverted.
Zero None. 0
controller).
Maximum torque 2 30.24 Maximum torque 2. 16
30.23 Minimum torque 2 Defines the minimum torque limit for the drive (in percent of -300.0%
nominal motor torque) when
• 30.18 is set to Torque limit set 2
and
• 30.21 Min torque 2 source is set to Minimum torque 2.
-1600.0…0.0% Minimum torque limit 2. See par.
46.03
30.24 Maximum torque 2 Defines the maximum torque limit for the drive (in percent of 300.0%
nominal motor torque) when
• 30.18 is set to Torque limit set 2
and
• 30.22 Max torque 2 source is set to Maximum torque 2.
0.0…1600.0% Maximum torque limit 2. See par.
46.03
30.26 Power motoring Defines the maximum allowed power fed by the inverter to the 300.00%
limit motor in percent of nominal motor power.
0.00…600.00% Maximum motoring power. 1 = 1%
30.27 Power generating Defines the maximum allowed power fed by the motor to the -300.00%
limit inverter in percent of nominal motor power.
-600.00…0.00% Maximum generating power. 1 = 1%
308 Parameters

30.30 Overvoltage control Enables the overvoltage control of the intermediate DC link. Enable
Fast braking of a high inertia load causes the voltage to rise
to the overvoltage control limit. To prevent the DC voltage
from exceeding the limit, the overvoltage controller
automatically decreases the braking torque.
Note: If the drive is equipped with a brake chopper and
resistor, or a regenerative supply unit, the controller must be
disabled.
Disable Overvoltage control disabled. 0
Enable Overvoltage control enabled. 1
30.31 Undervoltage Enables the undervoltage control of the intermediate DC link. Enable
control If the DC voltage drops due to input power cut off, the
undervoltage controller will automatically decrease the motor
torque in order to keep the voltage above the lower limit. By
decreasing the motor torque, the inertia of the load will cause
regeneration back to the drive, keeping the DC link charged
and preventing an undervoltage trip until the motor coasts to
a stop. This will act as a power-loss ride-through functionality
in systems with high inertia, such as a centrifuge or a fan.
Disable Undervoltage control disabled. 0
Enable Undervoltage control enabled. 1
31
31 Fault functions Configuration of external events; selection of behavior of the
drive upon fault situations.
31.01 External event 1 Defines the source of external event 1. Inactive
source See also parameter 31.02 External event 1 type. (true)
0 = Trigger event
Active (false) 0. 0
Inactive (true) 1. 1
31.02 External event 1 Selects the type of external event 1. Fault
type
Fault The external event generates a fault. 0
Warning The external event generates a warning. 1
31.03 External event 2 Defines the source of external event 2. See also parameter Inactive
source 31.04 External event 2 type. (true)
For the selections, see parameter 31.01 External event 1
source.
31.04 External event 2 Selects the type of external event 2.
type
Parameters 309

source.
type
source.
type
source.
type
31.11 Fault reset Selects the source of an external fault reset signal. The signal Not selected
selection resets the drive after a fault trip if the cause of the fault no
longer exists.
0 -> 1 = Reset
Note: A fault reset from the fieldbus interface is always
observed regardless of this parameter.
Not selected 0. 0
Selected 1. 1
310 Parameters

31.12 Autoreset selection Selects faults that are automatically reset. The parameter is a 0000h
16-bit word with each bit corresponding to a fault type.
Whenever a bit is set to 1, the corresponding fault is
automatically reset.
Note: The autoreset function is only available in external
control; see section Local control vs. external control (page
180).
The bits of this binary number correspond to the following
faults:
Bit Fault
0 Overcurrent
1 Overvoltage
2 Undervoltage
3 AI supervision fault
4…9 Reserved
10 Selectable fault (see parameter 31.13 Selectable fault)
11 External fault 1 (from source selected by parameter 31.01 External event 1 source)
0000h…FFFFh Automatic reset configuration word. 1=1

31.13 Selectable fault Defines the fault that can be automatically reset using 0
parameter 31.12 Autoreset selection, bit 10.
Faults are listed in chapter Fault tracing (page 433).
Note: The fault codes are in hexadecimal. The selected code
must be converted to decimal for this parameter.
0000h…FFFFh Fault code. 10 = 1
31.14 Number of trials Defines the number of automatic fault resets the drive 0
performs within the time defined by parameter 31.15 Total
trials time.
0…5 Number of automatic resets. 10 = 1
31.15 Total trials time Defines the time the automatic reset function will attempt to 30.0 s
reset the drive. During this time, it will perform the number of
automatic resets defined by 31.14 Number of trials.
1.0…600.0 s Time for automatic resets. 10 = 1 s
31.16 Delay time Defines the time that the drive will wait after a fault before 0.0 s
attempting an automatic reset. See parameter 31.12
Autoreset selection.
0.0…120.0 s Autoreset delay. 10 = 1 s
31.19 Motor phase loss Selects how the drive reacts when a motor phase loss is Fault
detected.
Fault The drive trips on fault 3381 Output phase loss. 1
Parameters 311

31.20 Earth fault Selects how the drive reacts when an earth (ground) fault or Fault
current unbalance is detected in the motor or the motor cable.
Warning The drive generates an A2B3 Earth leakage warning. 1
Fault The drive trips on fault 2330 Earth leakage. 2
31.21 Supply phase loss Selects how the drive reacts when a supply phase loss is Fault
detected.
Fault The drive trips on fault 3130 Input phase loss. 1
31.22 STO indication Selects which indications are given when one or both Safe Fault/Fault
run/stop torque off (STO) signals are switched off or lost. The
indications also depend on whether the drive is running or
stopped when this occurs.
The tables at each selection below show the indications
generated with that particular setting.
Notes:
• This parameter does not affect the operation of the STO
function itself. The STO function will operate regardless of
the setting of this parameter: a running drive will stop upon
removal of one or both STO signals, and will not start until
both STO signals are restored and all faults reset.
• The loss of only one STO signal always generates a fault
as it is interpreted as a malfunction.
For more information on the STO, see chapter The Safe
torque off function on page 555.
Fault/Fault 0
Inputs
Indication (running or stopped)
IN1 IN2
0 0 Fault 5091 Safe torque off
Faults 5091 Safe torque off and FA81 Safe
0 1
torque off 1
Faults 5091 Safe torque off and FA82 Safe
1 0
torque off 2
1 1 (Normal operation)
Fault/Warning 1
Inputs Indication
IN1 IN2 Running Stopped
Fault 5091 Safe torque Warning A5A0 Safe
0 0
off torque off
Faults 5091 Safe Warning A5A0 Safe
0 1 torque off and FA81 torque off and fault
Safe torque off 1 FA81 Safe torque off 1
Faults 5091 Safe Warning A5A0 Safe
312 Parameters

Fault/Event 2
Inputs Indication
IN1 IN2 Running Stopped
Fault 5091 Safe torque Event B5A0 Safe
0 0
off torque off
Faults 5091 Safe Event B5A0 Safe
Faults 5091 Safe Event B5A0 Safe
Warning/Warning 3
Inputs
Indication (running or stopped)
IN1 IN2
0 0 Warning A5A0 Safe torque off
Warning A5A0 Safe torque off and fault FA81
0 1
Safe torque off 1
Warning A5A0 Safe torque off and fault FA82
1 0
Safe torque off 2
31.23 Cross connection Selects how the drive reacts to incorrect input power and Fault
motor cable connection (ie. input power cable is connected to
drive motor connection).
Fault The drive trips on fault 3181 Cross connection. 1
31.24 Stall function Selects how the drive reacts to a motor stall condition. No action
A stall condition is defined as follows:
• The drive exceeds the stall current limit (31.25 Stall current
limit), and
• the output frequency is below the level set by parameter
31.27 Stall frequency limit or the motor speed is below the
level set by parameter 31.26 Stall speed limit, and
• the conditions above have been true longer than the time
set by parameter 31.28 Stall time.
No action None (stall supervision disabled). 0
Warning The drive generates an A780 Motor stall warning. 1
Fault The drive trips on fault 7121 Motor stall. 2
31.25 Stall current limit Stall current limit in percent of the nominal current of the 200.0%
motor. See parameter 31.24 Stall function.
0.0…1600.0% Stall current limit. -
31.26 Stall speed limit Stall speed limit in rpm. See parameter 31.24 Stall function. 150.00 rpm
0.00…10000.00 Stall speed limit. See par.
rpm 46.01
Parameters 313

31.27 Stall frequency limit Stall frequency limit. See parameter 31.24 Stall function. 15.00 Hz
Note: Setting the limit below 10 Hz is not recommended.
0.00…1000.00 Hz Stall frequency limit. See par.
46.02
31.28 Stall time Stall time. See parameter 31.24 Stall function. 20 s
0…3600 s Stall time. -
31.30 Overspeed trip Defines, together with 30.11 Minimum speed and 30.12 500.00 rpm
margin Maximum speed, the maximum allowed speed of the motor
(overspeed protection). If the speed (24.02 Used speed
feedback) exceeds the speed limit defined by parameter
30.11 or 30.12 by more than the value of this parameter, the
drive trips on the 7310 Overspeed fault.
WARNING! This function only supervises the speed in
vector motor control mode. The function is not
effective in scalar motor control mode.
Example: If the maximum speed is 1420 rpm and speed trip
margin is 300 rpm, the drive trips at 1720 rpm.
Speed (24.02)
31.30
30.12
0
Time
30.11
31.30
0.00…10000.0 rpm Overspeed trip margin. See par.

46.01
314 Parameters

31.32 Emergency ramp Parameters 31.32 Emergency ramp supervision and 31.33 0%
supervision Emergency ramp supervision delay, together with the
derivative of 24.02 Used speed feedback, provide a
supervision function for emergency stop modes Off1 and
Off3.
The supervision is based on either
• observing the time within which the motor stops, or
• comparing the actual and expected deceleration rates.
If this parameter is set to 0%, the maximum stop time is
directly set in parameter 31.33. Otherwise, 31.32 defines the
maximum allowed deviation from the expected deceleration
rate, which is calculated from parameters 23.11…23.15 (Off1)
or 23.23 Emergency stop time (Off3). If the actual
deceleration rate (24.02) deviates too much from the
expected rate, the drive trips on 73B0 Emergency ramp
failed, sets bit 8 of 06.17 Drive status word 2, and coasts to a
stop.
If 31.32 is set to 0% and 31.33 is set to 0 s, the emergency
stop ramp supervision is disabled.
See also parameter 21.04 Emergency stop mode.
0…300% Maximum deviation from expected deceleration rate. 1 = 1%
31.33 Emergency ramp If parameter 31.32 Emergency ramp supervision is set to 0%, 0s
supervision delay this parameter defines the maximum time an emergency stop
(mode Off1 or Off3) is allowed to take. If the motor has not
stopped when the time elapses, the drive trips on 73B0
Emergency ramp failed, sets bit 8 of 06.17 Drive status word
2, and coasts to a stop.
If 31.32 is set to a value other than 0%, this parameter
defines a delay between the receipt of the emergency stop
command and the activation of the supervision. It is
recommended to specify a short delay to allow the speed
change rate to stabilize.
0…100 s Maximum ramp-down time, or supervision activation delay. 1=1s
Parameters 315

32
32 Supervision Configuration of signal supervision functions 1…3.
Three values can be chosen to be monitored; a warning or
fault is generated whenever predefined limits are exceeded.
See also section Signal supervision (page 220).
32.01 Supervision status Signal supervision status word. 000b
Indicates whether the values monitored by the signal
supervision functions are within or outside their respective
limits.
Note: This word is independent of the drive actions defined
by parameters 32.06, 32.16, 32.26, 32.36, 32.46 and 32.56.

0 Supervision 1 active 1 = Signal selected by 32.07 is outside its limits.
6…15 Reserved
000…111b Signal supervision status word. 1=1

32.05 Supervision 1 Selects the mode of signal supervision function 1. Determines Disabled
function how the monitored signal (see parameter 32.07) is compared
to its lower and upper limits (32.09 and 32.10 respectively).
The action to be taken when the condition is fulfilled is
selected by 32.06.
Disabled Signal supervision 1 not in use. 0
Low Action is taken whenever the signal falls below its lower limit. 1
High Action is taken whenever the signal rises above its upper 2
limit.
Abs low Action is taken whenever the absolute value of the signal falls 3
below its (absolute) lower limit.
Abs high Action is taken whenever the absolute value of the signal 4
rises above its (absolute) upper limit.
Both Action is taken whenever the signal falls below its low limit or 5
rises above its high limit.
Abs both Action is taken whenever the absolute value of the signal falls 6
below its (absolute) low limit or rises above its (absolute) high
limit.
32.06 Supervision 1 Selects whether the drive generates a fault, warning or No action
action neither when the value monitored by signal supervision 1
exceeds its limits.
Note: This parameter does not affect the status indicated by
32.01 Supervision status.
No action No warning or fault generated. 0
Warning A warning (A8B0 Signal supervision) is generated. 1
Fault The drive trips on 80B0 Signal supervision. 2
316 Parameters

32.07 Supervision 1 Selects the signal to be monitored by signal supervision Zero
signal function 1.
Zero None. 0
Speed 01.01 Motor speed used (page 229). 1
Frequency 01.06 Output frequency (page 229). 3
Current 01.07 Motor current (page 229). 4
Torque 01.10 Motor torque (page 229). 6
AI1 12.11 AI1 actual value (page 244). 9
AI2 12.21 AI2 actual value (page 245). 10
Torque ref used 26.02 Torque reference used (page 291). 21
Inverter 05.11 Inverter temperature (page 233). 23
temperature
Process PID output 40.01 Process PID output actual (page 341). 24
Feedback act value 40.02 Process PID feedback actual (page 342). 25
Setpoint act value 40.03 Process PID setpoint actual (page 342). 26
Deviation act value 40.04 Process PID deviation actual (page 342). 27
32.08 Supervision 1 filter Defines a filter time constant for the signal monitored by 0.000 s
time signal supervision 1.
0.000 … 30.000 s Signal filter time. 1000 = 1 s
32.09 Supervision 1 low Defines the lower limit for signal supervision 1. 0.00
-21474830.00… Low limit. -
21474830.00
32.10 Supervision 1 high Defines the upper limit for signal supervision 1. 0.00
-21474830.00… Upper limit. -
21474830.00
32.11 Supervision 1 Defines the hysteresis for the signal monitored by signal 0.00
hysteresis supervision 1.
0.00…100000.00 Hysteresis. -
selected by 32.16.
limit.
Parameters 317

limit.
exceeds its limits.
signal function 2.
For the available selections, see parameter 32.07
Supervision 1 signal.
-21474830.00… Low limit. -
21474830.00
-21474830.00… Upper limit. -
21474830.00
0.00…100000.00 Hysteresis. -
selected by 32.26.
limit.
318 Parameters

limit.
exceeds its limits.
signal function 3.
-21474830.00… Low limit. -
21474830.00
-21474830.00… Upper limit. -
21474830.00
0.00…100000.00 Hysteresis. -
selected by 32.36.
limit.
limit.
Parameters 319

exceeds its limits.
signal function 4.
-21474830.00… Low limit. -
21474830.00
-21474830.00… Upper limit. -
21474830.00
0.00…100000.00 Hysteresis. -
selected by 32.46.
limit.
limit.
exceeds its limits.
320 Parameters

signal function 5.
-21474830.00… Low limit. -
21474830.00
-21474830.00… Upper limit. -
21474830.00
0.00…100000.00 Hysteresis. -
selected by 32.56.
limit.
limit.
exceeds its limits.
signal function 6.
Parameters 321

-21474830.00… Low limit. -
21474830.00
-21474830.00… Upper limit. -
21474830.00
0.00…100000.00 Hysteresis. -
34
34 Timed functions Configuration of the timed functions.
See also section Timed functions (page 209).
34.01 Combined timer Status of the combined timers. The status of a combined -
status timer is the logical OR of all timers connected to it.

0 Combined timer 1 1 = Active.
3…15 Reserved
0000h…0FFFFh Status of combined timers 1…3. 1=1

34.02 Timer status Status of timers 1…12. -

0 Timer 1 1 = Active.
12…15 Reserved
0000h…FFFFh Timer status. 1=1

322 Parameters

34.04 Season/exception Status of seasons 1…3, exception weekday and exception -
day status holiday. Only one season can be active at a time. A day can
be a workday and a holiday at the same time.

0 Status of season 1 1 = Active.
4…9 Reserved
10 Status of exception 1 = Active.
weekday
11 Status of exception holiday 1 = Active.
12…15 Reserved
0000h…FFFFh Status of the seasons and exception weekday and holiday. 1=1
34.10 Timed functions Selects the source for the timed functions enable signal. Not selected
enable 0 = Disabled.
1 = Enabled.
Not selected 0. 0
Selected 1. 1
Parameters 323

34.11 Timer 1 Defines when timer 1 is active. 00000111100
configuration 00000

0 Monday 1 = Monday is an active start day.
1 Tuesday 1 = Tuesday is an active start day.
2 Wednesday 1 = Wednesday is an active start day.
3 Thursday 1 = Thursday is an active start day.
4 Friday 1 = Friday is an active start day.
5 Saturday 1 = Saturday is an active start day.
6 Sunday 1 = Sunday is an active start day.
7 Season 1 1 = Timer is active in season 1.
11 Exceptions 1 = Timer is active on exception days.
12 Holidays 0 = Timer is inactive on exception days configured as
"Holiday".
1 = Timer is active on exception days configured as
"Holiday".
13 Workdays 0 = Timer is inactive on exception days configured as
"Workday".
1 = Timer is active on exception days configured as
"Workday".
14…15 Reserved
0000h…FFFFh Configuration of timer 1. 1=1

34.12 Timer 1 start time Defines the daily start time of timer 1. The time can be 00:00:00
changed in second steps.
The timer can be started at an other time than the start time.
E.g. if the timer's duration is more than one day and the active
session starts during the time, the timer is started at 00:00
and stopped when there is no duration left.
00:00:00…23:59:59 Daily start time of the timer. 1=1
34.13 Timer 1 duration Defines the duration of timer 1. The duration can be changed 00 00:00
in minute steps.
The duration can extend over the change of the day but if an
exception day becomes active, the period is interrupted at
midnight. In the same way the period started on an exception
day stays active only until the end of the day, even if the
duration is longer. The timer will continue after a break if there
is duration left.
00 00:00…07 00:00 Timer duration. 1=1
34.14 Timer 2 See 34.11 Timer 1 configuration. 00000111100
configuration 00000
34.15 Timer 2 start time See 34.12 Timer 1 start time. 00:00:00
34.16 Timer 2 duration See 34.13 Timer 1 duration. 00 00:00
configuration 00000
324 Parameters

configuration 00000
configuration 00000
configuration 00000
configuration 00000
configuration 00000
configuration 00000
configuration 00000
configuration 00000
configuration 00000
34.60 Season 1 start date Defines the start date of season 1 in format dd.mm, where dd 01.01.
is the number of the day and mm is the number of the month.
The season changes at midnight. One season can be active
at a time. Timers are started on exception days even if they
are not inside the active season.
The season start dates (1…4) must be given in increasing
order to use all seasons. The default value is interpreted that
the season is not configured. If the season start dates are not
in increasing order and the value is something else than the
default value, a season configuration warning is given.
Parameters 325

01.01…31.12 Season start date.
34.61 Season 2 start date Defines the start date of season 2. 01.01.
See 34.60 Season 1 start date.
34.70 Number of active Defines how many of the exceptions are active by specifying 3
exceptions the last active one. All preceding exceptions are active.
Exceptions 1…3 are periods (duration can be defined) and
exceptions 4…16 are days (duration is always 24 hours).
Example: If the value is 4, exceptions 1…4 are active, and
exceptions 5…16 are not active.
0…16 Number of active exception periods or days. -
34.71 Exception types Defines the types of exceptions 1…16 as workday or holiday. 111111111111
Exceptions 1…3 are periods (duration can be defined) and 111
exceptions 4…16 are days (duration is always 24 hours).

0 Exception 1 0 = Workday. 1 = Holiday
0000h…FFFFh Types of exception period or days. 1=1

34.72 Exception 1 start Defines the start date of the exception period in format 01.01.
dd.mm, where dd is the number of the day and mm is the
number of the month.
The timer started on an exception day is always stopped at
23:59:59 even if it has duration left.
The same date can be configured to be holiday and workday.
The date is active if any of exception days are active.
01.01.…31.12. Start date of exception period 1.
34.73 Exception 1 length Defines the length of the exception period in days. 0
Exception period is handled the same as a number of
consecutive exception days.
0…60 Length of exception period 1. 1=1
34.74 Exception 2 start See 34.72 Exception 1 start. 01.01.
326 Parameters

34.75 Exception 2 length See 34.73 Exception 1 length. 0
34.76 Exception 3 start See 34.72 Exception 1 start. 01.01.
34.77 Exception 3 length See 34.73 Exception 1 length. 0
34.78 Exception day 4 Defines the date of exception day 4. 01.01.
01.01.…31.12. Start date of exception day 4.
The timer started on an exception day is always stopped at
23:59:59 even if it has duration left.
34.79 Exception day 5 See 34.79 Exception day 4. 01.01
34.81 Exception day 7 See 34.79 Exception day 4 01.01
34.100 Combined timer 1 Defines which timers are connected to combined timer 1. 0000000000
0 = Not connected. 00000
1 = Connected.
See 34.01 Combined timer status.

0 Timer 1 0 = Inactive. 1 = Active.
14…15 Reserved
0000h…FFFFh Timers connected to combined timer 1. 1=1

See 34.01 Combined timer status. 00000
See 34.01 Combined timer status. 00000
Parameters 327

34.110 Extra time function Defines which combined timers (that is, timers that are 000
connected to the combined timers) are activated with the
extra time function.

0 Combined 1 0 = Inactive. 1 = Active.
3…15 Reserved
0000h…FFFFh Combined timers including the extra timer. 1=1

34.111 Extra time Selects the source of extra time activation signal. Off
activation source 0 = Disabled.
1 = Enabled.
Off 0. 0
On 1. 1
34.112 Extra time duration Defines the time inside which the extra time is deactivated 00 00:00
after extra time activation signal is switched off.
Example: If parameter 34.111 Extra time activation source is
set to DI1 and 34.112 Extra time duration is set to 00 01:30,
the extra time is active for 1 hour and 30 minutes after digital
input DI is deactivated.
00 00:00…00 00:00 Extra time duration. 1=1
35
35 Motor thermal Motor thermal protection settings such as temperature
protection measurement configuration, load curve definition and motor
fan control configuration.
See also section Motor thermal protection (page 214).
35.01 Motor estimated Displays the motor temperature as estimated by the internal -
temperature motor thermal protection model (see parameters
35.50…35.55). The unit is selected by parameter 96.16 Unit
selection.
-60…1000 °C or Estimated motor temperature. 1 = 1°
-76…1832 °F
35.02 Measured Displays the temperature received through the source -
temperature 1 defined by parameter 35.11 Temperature 1 source. The unit is
selected by parameter 96.16 Unit selection.
-10…1000 °C or Measured temperature 1. 1 = 1 unit
14…1832 °F
328 Parameters

35.03 Measured Displays the temperature received through the source -
temperature 2 defined by parameter 35.21 Temperature 2 source. The unit
is selected by parameter 96.16 Unit selection.
-10…1000 °C or Measured temperature 2. 1 = 1 unit
14…1832 °F
35.11 Temperature 1 Selects the source from which measured temperature 1 is Estimated
source read. temperature
Usually this source is from a sensor connected to the motor
controlled by the drive, but it could be used to measure and
monitor a temperature from other parts of the process as long
as a suitable sensor is used as per the selection list.
Disabled None. Temperature monitoring function 1 is disabled. 0
Estimated Estimated motor temperature (see parameter 35.01 Motor 1
temperature estimated temperature).
The temperature is estimated from an internal drive
calculation. It is important to set up the ambient temperature
of the motor in 35.50 Motor ambient temperature.
KTY84 StdIO / KTY84 sensor connected to the analog input selected by 2
Extension I/O parameter 35.14 Temperature 1 AI source and an analog
module output.
The following settings are required:
• Set the hardware jumper or switch related to the analog
input to U (voltage). Any change must be validated by a
control unit reboot.
• Set the appropriate analog input unit selection parameter
in group 12 Standard AI to V (volt).
• In parameter group 13 Standard AO, set the source
selection parameter of the analog output to Temp sensor 1
excitation.
The analog output feeds a constant current through the
sensor. As the resistance of the sensor increases along with
its temperature, the voltage over the sensor increases. The
voltage is read by the analog input and converted into
degrees.
PT100 x1 StdIO Pt100 sensor connected to a standard analog input selected 5
by parameter 35.14 Temperature 1 AI source and an analog
output.
excitation.
degrees.
PT100 x2 StdIO As selection PT100 x1 StdIO, but with two sensors connected 6
in series. Using multiple sensors improves measurement
accuracy significantly.
Parameters 329

PT100 x3 StdIO As selection PT100 x1 StdIO, but with three sensors 7
connected in series. Using multiple sensors improves
measurement accuracy significantly.
Direct AI The temperature is taken from the source selected by 11
temperature parameter 35.14 Temperature 1 AI source. The value of the
source is assumed to be degrees Celsius.
Extension module parameter 35.14 Temperature 1 AI source and an analog
output.
excitation.
degrees.
output.
excitation.
degrees.
PT1000 x2 StdIO As selection PT1000 x1 StdIO, but with two sensors 14
330 Parameters

NI1000 Ni1000 sensor connected to the analog input selected by 16
parameter 35.14 Temperature 1 AI source and an analog
output.
excitation.
degrees.
PTC extension PTC is connected to the CMOD-02 multifunction extension 17
module module, which is installed in drive slot 2. See section CMOD-
02 multifunction extension module (external 24 V AC/DC and
isolated PTC interface) on page 576.
35.14 Temperature 1 AI Selects the input for parameter 35.11 Temperature 1 source Not selected
source selections KTY84 StdIO / Extension I/O module, PT100 x1
StdIO, PT100 x2 StdIO, PT100 x3 StdIO, Direct AI
temperature, KTY83 StdIO / Extension module, PT1000 x1
StdIO, PT1000 x2 StdIO, PT1000 x3 StdIO and NI1000.
AI1 actual value Analog input AI1 on the control unit. 1
35.21 Temperature 2 Selects the source from which measured temperature 2 is Disabled
source read.
Usually this source is from a sensor connected to the motor
controlled by the drive, but it could be used to measure and
monitor a temperature from other parts of the process as long
as a suitable sensor is used as per the selection list.
Disabled None. Temperature monitoring function 2 is disabled. 0
Estimated Estimated motor temperature (see parameter 35.01 Motor 1
temperature estimated temperature).
The temperature is estimated from an internal drive
calculation. It is important to set up the ambient temperature
of the motor in 35.50 Motor ambient temperature.
Parameters 331

Extension I/O parameter 35.24 Temperature 2 AI source and an analog
module output.
excitation.
degrees.
output.
excitation.
degrees.
PT100 x2 StdIO As selection PT100 x1 StdIO, but with two sensors connected 6
in series. Using multiple sensors improves measurement
accuracy significantly.
Direct AI The temperature is taken from the source selected by 11
temperature parameter 35.24 Temperature 2 AI source. The value of the
source is assumed to be degrees Celsius.
332 Parameters

Extension module parameter 35.14 Temperature 1 AI source and an analog
output.
excitation.
degrees.
output.
excitation.
degrees.
PT1000 x2 StdIO As selection PT1000 x1 StdIO, but with two sensors 14
NI1000 Ni1000 sensor connected to the analog input selected by 16
parameter 35.14 Temperature 1 AI source and an analog
output.
excitation.
degrees.
Parameters 333

PTC extension PTC is connected to the CMOD-02 multifunction extension 17
module module, which is installed in drive slot 2. See section CMOD-
02 multifunction extension module (external 24 V AC/DC and
isolated PTC interface) on page 576.
35.24 Temperature 2 AI Selects the input for parameter 35.21 Temperature 2 source Not selected
source selections KTY84 StdIO / Extension I/O module, PT100 x1
StdIO, PT100 x2 StdIO, PT100 x3 StdIO, Direct AI
temperature, KTY83 StdIO / Extension module, PT1000 x1
StdIO, PT1000 x2 StdIO, PT1000 x3 StdIO and NI1000.
35.50 Motor ambient Defines the ambient temperature of the motor for the motor 20 °C or
temperature thermal protection model. The unit is selected by parameter 68 °F
96.16 Unit selection.
The motor thermal protection model estimates the motor
temperature on the basis of parameters 35.50…35.55. The
motor temperature increases if it operates in the region above
the load curve, and decreases if it operates in the region
below the load curve.
WARNING! The model cannot protect the motor if the
motor does not cool properly because of dust, dirt, etc.
-60…100 °C or Ambient temperature. 1 = 1°
-75 … 212 °F
35.51 Motor load curve Defines the motor load curve together with parameters 35.52 100%
Zero speed load and 35.53 Break point. The load curve is
used by the motor thermal protection model to estimate the
motor temperature.
When the parameter is set to 100%, the maximum load is
taken as the value of parameter 99.06 Motor nominal current
(higher loads heat up the motor). The load curve level should
be adjusted if the ambient temperature differs from the
nominal value set in 35.50 Motor ambient temperature.
I/IN
(%) I = Motor current
IN = Nominal motor current
150
35.51
100
50
35.52
35.53 Drive output

frequency
50…150% Maximum load for the motor load curve. 1 = 1%

334 Parameters

35.52 Zero speed load Defines the motor load curve together with parameters 35.51 100%
Motor load curve and 35.53 Break point. Defines the
maximum motor load at zero speed of the load curve. A
higher value can be used if the motor has an external motor
fan to boost the cooling. See the motor manufacturer's
recommendations.
See parameter 35.51 Motor load curve.
50…150% Zero speed load for the motor load curve. 1 = 1%
35.53 Break point Defines the motor load curve together with parameters 35.51 45.00 Hz
Motor load curve and 35.52 Zero speed load. Defines the
break point frequency of the load curve ie. the point at which
the motor load curve begins to decrease from the value of
parameter 35.51 Motor load curve towards the value of
parameter 35.52 Zero speed load.
See parameter 35.51 Motor load curve.
1.00…500.00 Hz Break point for the motor load curve. See par.
46.02
35.54 Motor nominal Defines the temperature rise of the motor above ambient 80 °C or
temperature rise when the motor is loaded with nominal current. See the motor 176 °F
manufacturer's recommendations.
The unit is selected by parameter 96.16 Unit selection.
Temperature
Motor nominal
temperature rise
Ambient temperature
Time
0…300 °C or Temperature rise. 1 = 1°

32…572 °F
Parameters 335

35.55 Motor thermal time Defines the thermal time constant for use with the motor 256 s
const thermal protection model, defined as the time to reach 63% of
the nominal motor temperature. See the motor
manufacturer's recommendations.
Motor current
100%
Time
Temperature rise
100%
63%
Motor thermal time Time
100…10000 s Motor thermal time constant. 1=1s

36
36 Load analyzer Peak value and amplitude logger settings.
See also section Load analyzer (page 220).
36.01 PVL signal source Selects the signal to be monitored by the peak value logger. Output power
The signal is filtered using the filtering time specified by
parameter 36.02 PVL filter time.
The peak value is stored, along with other pre-selected
signals at the time, into parameters 36.10…36.15.
The peak value logger can be reset using parameter 36.09
Reset loggers. The date and time of the last reset are stored
into parameters 36.16 and 36.17 respectively.
Not selected None (peak value logger disabled). 0
Speed ref ramped 23.02 Speed ref ramp output (page 282). 11
Torque ref used 26.02 Torque reference used (page 291). 13
336 Parameters

36.02 PVL filter time Peak value logger filtering time. See parameter 36.01 PVL 2.00 s
signal source.
0.00…120.00 s Peak value logger filtering time. 100 = 1 s
36.06 AL2 signal source Selects the signal to be monitored by amplitude logger 2. The Motor torque
signal is sampled at 200 ms intervals.
The results are displayed by parameters 36.40…36.49. Each
parameter represents an amplitude range, and shows what
portion of the samples fall within that range.
The signal value corresponding to 100% is defined by
parameter 36.07 AL2 signal scaling.
Amplitude logger 2 can be reset using parameter 36.09 Reset
loggers. The date and time of the last reset are stored into
parameters 36.50 and 36.51 respectively.
For the selections, see parameter 36.01 PVL signal source.
36.07 AL2 signal scaling Defines the signal value that corresponds to 100% amplitude. 100.00
0.00…32767.00 Signal value corresponding to 100%. 1=1
36.09 Reset loggers Resets the peak value logger and/or amplitude logger 2. Done
(Amplitude logger 1 cannot be reset.)
Done Reset completed or not requested (normal operation). 0
All Reset both the peak value logger and amplitude logger 2. 1
PVL Reset the peak value logger. 2
AL2 Reset amplitude logger 2. 3
36.10 PVL peak value Peak value recorded by the peak value logger. 0.00
-32768.00… Peak value. 1=1
32767.00
36.11 PVL peak date The date on which the peak value was recorded. 01.01.1980
- Peak occurrence date. -
36.12 PVL peak time The time at which the peak value was recorded. 00:00:00
- Peak occurrence time. -
36.13 PVL current at peak Motor current at the moment the peak value was recorded. 0.00 A
-32768.00… Motor current at peak. 1=1A
32767.00 A
36.14 PVL DC voltage at Voltage in the intermediate DC circuit of the drive at the 0.00 V
peak moment the peak value was recorded.
0.00…2000.00 V DC voltage at peak. 10 = 1 V
36.15 PVL speed at peak Motor speed at the moment the peak value was recorded. 0.00 rpm
-30000… 30000 Motor speed at peak. See par.
rpm 46.01
36.16 PVL reset date The date on which the peak value logger was last reset. 01.01.1980
- Last reset date of the peak value logger. -
36.17 PVL reset time The time at which the peak value logger was last reset. 00:00:00
- Last reset time of the peak value logger. -
Parameters 337

36.20 AL1 0 to 10% Percentage of samples recorded by amplitude logger 1 that 0.00%
fall between 0 and 10%.
0.00…100.00% Amplitude logger 1 samples between 0 and 10%. 1 = 1%
36.29 AL1 over 90% Percentage of samples recorded by amplitude logger 1 that 0.00%
exceed 90%.
0.00…100.00% Amplitude logger 1 samples over 90%. 1 = 1%
338 Parameters

36.49 AL2 over 90% Percentage of samples recorded by amplitude logger 2 that 0.00%
exceed 90%.
0.00…100.00% Amplitude logger 2 samples over 90%. 1 = 1%
36.50 AL2 reset date The date on which amplitude logger 2 was last reset. 01.01.1980
- Last reset date of amplitude logger 2. -
36.51 AL2 reset time The time at which amplitude logger 2 was last reset. 00:00:00
- Last reset time of amplitude logger 2. -
36
37 User load curve Settings for user load curve.
See also section User load curve (page 196).
37.01 ULC output status Displays the status of the monitored signal. 0000h
word

0 Under load limit 1 = Signal lower than the underload curve.
1 Within load range 1 = Signal between the underload and overload curve.
2 Overload limit 1 = Signal higher than the overload curve.
3…15 Reserved
0000h…FFFFh Status of the monitored signal. 1=1

37.02 ULC supervision Selects the signal to be supervised. Motor torque
signal
Not selected No signal selected. ULC disabled. 0
Motor speed % 01.03 Motor speed % (page 229). 1
Motor current % 01.08 Motor current % of motor nom (page 229). 2
Ouput power % of 01.15 Output power % of motor nom (page 230). 4
motor nom
Ouput power % of 01.16 Output power % of drive nom (page 230). 5
drive nom
37.03 ULC overload Selects an action taken if the signal stays over the overload Disabled
actions curve for a defined time.
Disabled No warnings or fault generated. 0
Parameters 339

Warning The drive generates an A8C1 ULC overload warning if the 1
signal has been continuously over the overload curve for a
time defined by parameter 37.41 ULC overload timer.
Fault The drive generates an 8002 ULC overload fault if the signal 2
has been continuously over the overload curve for a time
defined by parameter 37.41 ULC overload timer.
Warning/Fault The drive generates an A8C1 ULC overload warning if the 3
signal has been continuously over the overload curve for half
of the time defined by parameter 37.41 ULC overload timer.
The drive generates an 8002 ULC overload fault if the signal
has been continuously over the overload curve for a time
defined by parameter 37.41 ULC overload timer.
37.04 ULC underload Selects an action taken if the signal stays under the Disabled
actions underload curve for a defined time.
Disabled No warnings or fault generated. 0
Warning The drive generates an A8C4 ULC underload warning if the 1
signal has been continuously under the underload curve for a
time defined by parameter 37.42 ULC underload timer.
Fault The drive generates an 8001 ULC underload fault if the signal 2
has been continuously under the underload curve for a time
defined by parameter 37.42 ULC underload timer.
Warning/Fault The drive generates an A8C4 ULC underload warning if the 3
signal has been continuously under the underload curve for
half of the time defined by parameter 37.42 ULC underload
timer.
The drive generates an 8001 ULC underload fault if the signal
has been continuously under the underload curve for a time
defined by parameter 37.42 ULC underload timer.
37.11 ULC speed table Defines the first of the five speed points on the X-axis of the 150.0 rpm
point 1 user load curve.
The values of the parameters must satisfy: -30000.0 rpm <
37.11 ULC speed table point 1 < 37.12 ULC speed table point
2 < 37.13 ULC speed table point 3 < 37.14 ULC speed table
point 4 < 37.15 ULC speed table point 5 < 30000.0 rpm.
Speed points are used if parameter 99.04 Motor control mode
is set to Vector or if 99.04 Motor control mode is set to Scalar
and the reference unit is rpm.
-30000.0…30000.0 Speed. 1 = 1 rpm
rpm
37.12 ULC speed table Defines the second speed point. 750.0 rpm
point 2 See parameter 37.11 ULC speed table point 1.
-30000.0…30000.0 Speed. 1 = 1 rpm
rpm
37.13 ULC speed table Defines the third speed point. 1290.0 rpm
-30000.0…30000.0 Speed. 1 = 1 rpm
rpm
37.14 ULC speed table Defines the fourth speed point. 1500.0 rpm
-30000.0…30000.0 Speed. 1 = 1 rpm
rpm
340 Parameters

37.15 ULC speed table Defines the fifth speed point. 1800.0 rpm
-30000.0…30000.0 Speed. 1 = 1 rpm
rpm
37.16 ULC frequency Defines the first of the five frequency points on the X-axis of 5.0 Hz
table point 1 the user load curve.
The values of the parameters must satisfy: -500.0 Hz < 37.16
ULC frequency table point 1 < 37.17 ULC frequency table
point 2 < 37.18 ULC frequency table point 3 < 37.19 ULC
frequency table point 4 < 37.20 ULC frequency table point 5 <
500.0 Hz.
Frequency points are used if parameter 99.04 Motor control
mode is set to Scalar and the reference unit is Hz.
-500.0…500.0 Hz Frequency. 1 = 1 Hz
37.17 ULC frequency Defines the second frequency point. 25.0 Hz
table point 2 See parameter 37.16 ULC frequency table point 1.
-500.0…500.0 Hz Frequency. 1 = 1 Hz
37.18 ULC frequency Defines the third frequency point. 43.0 Hz
-500.0…500.0 Hz Frequency. 1 = 1 Hz
37.19 ULC frequency Defines the fourth frequency point. 50.0 Hz
-500.0…500.0 Hz Frequency. 1 = 1 Hz
37.20 ULC frequency Defines the fifth frequency point. 60.0 Hz
-500.0…500.0 Hz Frequency. 1 = 1 Hz
37.21 ULC underload Defines the first of the five points on the Y-axis that together 10.0%
point 1 with the corresponding point on the X-axis (37.11 ULC speed
table point 1…37.15 ULC speed table point 5 or 37.15 ULC
speed table point 5…37.20 ULC frequency table point 5)
define the underload (lower) curve.
The following conditions must be fulfilled:
• 37.21 ULC underload point 1 <= 37.31 ULC overload point 1
-1600.0…1600.0% Underload point. 1 = 1%
37.22 ULC underload Defines the second underload point. 15.0%
point 2 See parameter 37.21 ULC underload point 1.
-1600.0…1600.0% Underload point. 1 = 1%
37.23 ULC underload Defines the third underload point. 25.0%
point 3 See parameter 37.21 ULC underload point 1
-1600.0…1600.0% Underload point. 1 = 1%
37.24 ULC underload Defines the fourth underload point. 30.0%
-1600.0…1600.0% Underload point. 1 = 1%
Parameters 341

37.25 ULC underload Defines the fifth underload point. 30.0%
-1600.0…1600.0% Underload point. 1 = 1%
37.31 ULC overload point Defines the first of the five points on the Y-axis that together 300.0%
1 with the corresponding point on the X-axis (37.11 ULC speed
table point 1…37.15 ULC speed table point 5 or 37.15 ULC
speed table point 5…37.20 ULC frequency table point 5)
define the overload (higher) curve.
At each of the five points the value of the underload curve
point must be equal to or smaller than the value of the
overload curve point. See parameter 37.21 ULC underload
point 1.
-1600.0…1600.0% Overload point. 1 = 1%
37.32 ULC overload point Defines the second overload point. 300.0%
2 See parameter 37.31 ULC overload point 1.
-1600.0…1600.0% Overload point. 1 = 1%
37.33 ULC overload point Defines the third overload point. 300.0%
-1600.0…1600.0% Overload point. 1 = 1%
37.34 ULC overload point Defines the fourth overload point. 300.0%
-1600.0…1600.0% Overload point. 1 = 1%
37.35 ULC overload point Defines the fifth overload point. 300.0%
-1600.0…1600.0% Overload point. 1 = 1%
37.41 ULC overload timer Defines the time period for which time the monitored signal 20.0 s
must remain continuously below the overload curve.
0.0…10000.0 s Time. 1=1s
37.42 ULC underload Defines the time period for which time the monitored signal 20.0 s
timer must remain continuously above the underload curve.
0.0…10000.0 s Time. 1=1s
40
40 Process PID set 1 Parameter values for process PID control.
The drive output can be controlled by the process PID. When
the process PID control is enabled, the drive controls the
process feedback to the reference value.
Two different parameter sets can be defined for the process
PID. One parameter set is in use at a time. The first set is
made up of parameters 40.07…40.50, the second set is
defined by the parameters in group 41 Process PID set 2.
The binary source that defines which set is used is selected
by parameter 40.57 PID set1/set2 selection.
See also the control chain diagrams on pages 544 and 545.
40.01 Process PID output Displays the output of the process PID controller. See the -
actual control chain diagram on page 545.
-32768.00… Process PID controller output. 1 = 1 unit
32767.00
342 Parameters

40.02 Process PID Displays the value of process feedback after source -
feedback actual selection, mathematical function (parameter 40.10 Set 1
feedback function), and filtering. See the control chain
This parameter is read-only..
-32768.00… Process feedback. 1 = 1 unit
32767.00
40.03 Process PID Displays the value of process PID setpoint after source -
setpoint actual selection, mathematical function (40.18 Set 1 setpoint
function), limitation and ramping. See the control chain
-32768.00… Setpoint for process PID controller. 1 = 1 unit
32767.00
40.04 Process PID Displays the process PID deviation. By default, this value -
deviation actual equals setpoint - feedback, but deviation can be inverted by
parameter 40.31 Set 1 deviation inversion. See the control
-32768.00… PID deviation. 1 = 1 unit
32767.00
40.06 Process PID status Displays status information on process PID control. -
word This parameter is read-only.
Bit Name Value

0 PID active 1 = Process PID control active.
1 Setpoint frozen 1 = Process PID setpoint frozen.
2 Output frozen 1 = Process PID controller output frozen.
3 PID sleep mode 1 = Sleep mode active.
4 Sleep boost 1 = Sleep boost active.
5 Reserved
6 Tracking mode 1 = Tracking function active.
7 Output limit high 1 = PID output is being limited by par. 40.37.
8 Output limit low 1 = PID output is being limited by par. 40.36.
9 Reserved
10 PID set 0 = Parameter set 1 in use. 1 = Parameter set 2 in use.
11 Reserved
12 Internal setpoint 1 = Internal setpoint active (see par. 40.16…40.16)
active
13…15 Reserved
0000h…FFFFh Process PID control status word. 1=1

40.07 Process PID Activates/deactivates process PID control. Off
operation mode Note: Process PID control is only available in external
control; see section Local control vs. external control (page
180).
Off Process PID control inactive. 0
On Process PID control active. 1
On when drive Process PID control is active when the drive is running. 2
running
Parameters 343

40.08 Set 1 feedback 1 Selects the primary source of process feedback. See the AI1 scaled
source control chain diagram on page 544.
Freq in scaled 11.39 Freq in 1 scaled value (see page 241). 3
EFB ref Embedded fieldbus reference 4
40.09 Set 1 feedback 2 Selects the second source of process feedback. The second Not selected
source source is used only if the setpoint function requires two
inputs.
For the selections, see parameter 40.08 Set 1 feedback 1
source.
40.10 Set 1 feedback Defines how process feedback is calculated from the two In1
function feedback sources selected by parameters 40.08 Set 1
feedback 1 source and 40.09 Set 1 feedback 2 source.
In1 Source 1. 0
In1+In2 Sum of sources 1 and 2. 1
In1-In2 Source 2 subtracted from source 1. 2
In1*In2 Source 1 multiplied by source 2. 3
In1/In2 Source 1 divided by source 2. 4
MIN(In1,In2) Smaller of the two sources. 5
MAX(In1,In2) Greater of the two sources. 6
AVE(In1,In2) Average of the two sources. 7
sqrt(In1) Square root of source 1. 8
sqrt(In1-In2) Square root of (source 1 - source 2). 9
sqrt(In1+In2) Square root of (source 1 + source 2). 10
sqrt(In1)+sqrt(In2) Square root of source 1 + square root of source 2. 11
40.11 Set 1 feedback filter Defines the filter time constant for process feedback. 0.000 s
time
0.000…30.000 s Feedback filter time. 1=1s
40.16 Set 1 setpoint 1 Selects the primary source of process PID setpoint. See the AI1 scaled
source control chain diagram on page 544.
Internal setpoint Internal setpoint. See parameter 40.19 Set 1 internal setpoint 2
sel1.
Freq in scaled 11.39 Freq in 1 scaled value (see page 241). 10
344 Parameters

40.17 Set 1 setpoint 2 Selects the second source of process setpoint. The second Not selected
source source is used only if the setpoint function requires two
inputs.
For the selections, see parameter 40.16 Set 1 setpoint 1
source.
40.18 Set 1 setpoint Selects a function between the setpoint sources selected by In1
function parameters 40.16 Set 1 setpoint 1 source and 40.17 Set 1
setpoint 2 source.
In1 Source 1. 0
In1+In2 Sum of sources 1 and 2. 1
In1-In2 Source 2 subtracted from source 1. 2
In1*In2 Source 1 multiplied by source 2. 3
In1/In2 Source 1 divided by source 2. 4
MIN(In1,In2) Smaller of the two sources. 5
MAX(In1,In2) Greater of the two sources. 6
AVE(In1,In2) Average of the two sources. 7
sqrt(In1) Square root of source 1. 8
sqrt(In1-In2) Square root of (source 1 - source 2). 9
sqrt(In1+In2) Square root of (source 1 + source 2). 10
sqrt(In1)+sqrt(In2) Square root of source 1 + square root of source 2. 11
40.19 Set 1 internal Selects together with 40.20 Set 1 internal setpoint sel2 the Not selected
setpoint sel1 internal setpoint out of the presets defined by parameters
40.21…40.23.
Note: Parameters 40.16 Set 1 setpoint 1 source and 40.17
Set 1 setpoint 2 source must be set to Internal setpoint.
Source defined Source defined

Setpoint preset active
by par. 40.19 by par. 40.20
0 0 Setpoint source
1 0 1 (par. 40.21)
0 1 2 (par. 40.22)
1 1 3 (par. 40.23)
Not selected 0. 0
Selected 1. 1
Parameters 345

40.20 Set 1 internal Selects together with 40.19 Set 1 internal setpoint sel1 the Not selected
setpoint sel2 internal setpoint used out of the three internal setpoints
defined by parameters 40.21…40.23. See table at 40.19 Set
1 internal setpoint sel1.
Not selected 0. 0
Selected 1. 1
40.21 Set 1 internal Internal process setpoint 1. See parameter 40.19 Set 1 0.00
setpoint 1 internal setpoint sel1.
-32768.00… Internal process setpoint 1. 1 = 1 unit
32767.00
32767.00
32767.00
40.26 Set 1 setpoint min Defines a minimum limit for the process PID controller 0.00
setpoint.
-32768.00… Minimum limit for process PID controller setpoint. 1=1
32767.00
40.27 Set 1 setpoint max Defines a maximum limit for the process PID controller 32767.00
setpoint.
-32768.00… Maximum limit for process PID controller setpoint. 1=1
32767.00
40.28 Set 1 setpoint Defines the minimum time it takes for the setpoint to increase 0.0 s
increase time from 0% to 100%.
0.0…1800.0 s Setpoint increase time. 1=1
346 Parameters

40.29 Set 1 setpoint Defines the minimum time it takes for the setpoint to decrease 0.0 s
decrease time from 100% to 0%.
0.0…1800.0 s Setpoint decrease time. 1=1
40.30 Set 1 setpoint Freezes, or defines a source that can be used to freeze, the Not selected
freeze enable setpoint of the process PID controller. This feature is useful
when the reference is based on a process feedback
connected to an analog input, and the sensor must be
serviced without stopping the process.
1 = Process PID controller setpoint frozen
See also parameter 40.38 Set 1 output freeze enable.
Not selected Process PID controller setpoint not frozen. 0
Selected Process PID controller setpoint frozen. 1
40.31 Set 1 deviation Inverts the input of the process PID controller. Not inverted
inversion 0 = Deviation not inverted (Deviation = Setpoint - Feedback) (Ref - Fbk)
1 = Deviation inverted (Deviation = Feedback - Setpoint)
See also section Sleep and boost functions for process PID
control (page 204).
Not inverted 0. 0
(Ref - Fbk)
Inverted (Fbk - Ref) 1. 1
40.32 Set 1 gain Defines the gain for the process PID controller. See 1.00
parameter 40.33 Set 1 integration time.
0.10…100.00 Gain for PID controller. 100 = 1
Parameters 347

40.33 Set 1 integration Defines the integration time for the process PID controller. 60.0 s
time This time needs to be set to the same order of magnitude as
the reaction time of the process being controlled, otherwise
instability will result.
Error/Controller output
O
I
G×I
G×I
Time
Ti
I = controller input (error)

O = controller output
G = gain
Ti = integration time
Note: Setting this value to 0 disables the “I” part, turning the
PID controller into a PD controller.
0.0…9999.0 s Integration time. 1=1s
40.34 Set 1 derivation Defines the derivation time of the process PID controller. The 0.000 s
time derivative component at the controller output is calculated on
basis of two consecutive error values (EK-1 and EK) according
to the following formula:
PID DERIV TIME × (EK - EK-1)/TS, in which
TS = 2 ms sample time
E = Error = Process reference - process feedback.
0.000…10.000 s Derivation time. 1000 = 1 s
40.35 Set 1 derivation Defines the time constant of the 1-pole filter used to smooth 0.0 s
filter time the derivative component of the process PID controller.
%
Unfiltered signal
100
63 Filtered signal
t
T
O = I × (1 - e-t/T )

O = filter output
t = time

348 Parameters

40.36 Set 1 output min Defines the minimum limit for the process PID controller -32768.0
output. Using the minimum and maximum limits, it is possible
to restrict the operation range.
-32768.0… 32767.0 Minimum limit for process PID controller output. 1=1
40.37 Set 1 output max Defines the maximum limit for the process PID controller 32767.0
output. See parameter 40.36 Set 1 output min.
-32768.0… 32767.0 Maximum limit for process PID controller output. 1=1
40.38 Set 1 output freeze Freezes (or defines a source that can be used to freeze) the Not selected
enable output of the process PID controller, keeping the output at the
value it was before freeze was enabled. This feature can be
used when, for example, a sensor providing process
feedback must to be serviced without stopping the process.
1 = Process PID controller output frozen
See also parameter 40.30 Set 1 setpoint freeze enable.
Not selected Process PID controller output not frozen. 0
Selected Process PID controller output frozen. 1
40.43 Set 1 sleep level Defines the start limit for the sleep function. If the value is 0.0, 0.0
set 1 sleep mode is disabled.
The sleep function compares the motor speed to the value of
this parameter. If the motor speed remains below this value
longer than the sleep delay defined by 40.44 Set 1 sleep
delay, the drive enters the sleep mode and stops the motor.
0.0…32767.0 Sleep start level. 1=1
40.44 Set 1 sleep delay Defines a delay before the sleep function actually becomes 60.0 s
enabled, to prevent nuisance sleeping.
The delay timer starts when the sleep mode is enabled by
parameter 40.43 Set 1 sleep level, and resets when the sleep
mode is disabled.
0.0…3600.0 s Sleep start delay. 1=1s
40.45 Set 1 sleep boost Defines a boost time for the sleep boost step. See parameter 0.0 s
time 40.46 Set 1 sleep boost step.
0.0…3600.0 s Sleep boost time. 1=1s
Parameters 349

40.46 Set 1 sleep boost When the drive is entering sleep mode, the process setpoint 0.0
step is increased by this percentage for the time defined by
parameter 40.45 Set 1 sleep boost time.
If active, sleep boost is aborted when the drive wakes up.
0.0…32767.0 Sleep boost step. 1 = 1 unit
40.47 Set 1 wake-up Defines the wake-up level as deviation between process 0.00
deviation setpoint and feedback.
When the deviation exceeds the value of this parameter, and
remains there for the duration of the wake-up delay (40.48
Set 1 wake-up delay), the drive wakes up.
See also parameter 40.31 Set 1 deviation inversion.
-32768.00 … Wake-up level (as deviation between process setpoint and 1 = 1%
32767.00 rpm, % or feedback).
Hz
40.48 Set 1 wake-up Defines a wake-up delay for the sleep function to prevent 0.50 s
delay nuisance wake-ups. See parameter 40.47 Set 1 wake-up
deviation.
The delay timer starts when the deviation exceeds the wake-
up level (40.47 Set 1 wake-up deviation), and resets if the
deviation falls below the wake-up level.
0.00…60.00 s Wake-up delay. 1=1s
40.49 Set 1 tracking mode Activates (or selects a source that activates) tracking mode. Not selected
In tracking mode, the value selected by parameter 40.50 Set
1 tracking ref selection is substituted for the PID controller
output. See also section Tracking (page 205).
1 = Tracking mode enabled
Not selected 0. 0
Selected 1. 1
Supervision 4 N/A 24
40.50 Set 1 tracking ref Selects the value source for tracking mode. See parameter Not selected
selection 40.49 Set 1 tracking mode.
350 Parameters

40.57 PID set1/set2 Selects the source that determines whether process PID Not selected
selection parameter set 1 (parameters 40.07…40.50) or set 2 (group
41 Process PID set 2) is used.
0 = Process PID parameter set 1 in use
1 = Process PID parameter set 2 in use
Not selected 0. 0
Selected 1. 1
40.58 Set 1 increase Prevention of PID integration term increase for PID set 1. No
prevention
No Increase prevention not in use. 0
Limiting The PID integration term is not increased if the maximum 1
value for the PID output is reached. This parameter is valid
for the PID set 1.
Ext PID min lim The process PID integration term is not increased when the 2
output of the external PID has reached it's minimum limit. In
this setup, the external PID is used as a source for the
process PID. This parameter is valid for the PID set 1.
Ext PID max lim The process PID integration term is not increased when the 3
output of the external PID has reached it's maximum limit. In
40.59 Set 1 decrease Prevention of PID integration term decrease for PID set 1. No
prevention
No Decrease prevention not in use. 0
Parameters 351

Limiting The PID integration term is not decreased if the minimum 1
value for the PID output is reached. This parameter is valid
for the PID set 1.
Ext PID min lim The process PID integration term is not decreased when the 2
output of the external PID has reached it's minimum limit. In
Ext PID max lim The process PID integration term is not decreased when the 3
output of the external PID has reached it's maximum limit. In
40.62 PID internal Displays the value of the internal setpoint. See the control -
setpoint actual chain diagram on page 545.
-32768.00… Process PID internal setpoint. 1 = 1 unit
32767.00
41
41 Process PID set 2 A second set of parameter values for process PID control.
The selection between this set and first set (parameter group
40 Process PID set 1) is made by parameter 40.57 PID
set1/set2 selection.
See also parameters 40.01…40.06, and the control chain
diagrams on pages 544 and 545.
41.07 Set 2 PID operation See parameter 40.07 Process PID operation mode. Off
mode
41.08 Set 2 feedback 1 See parameter 40.08 Set 1 feedback 1 source. AI1 scaled
source
41.09 Set 2 feedback 2 See parameter 40.09 Set 1 feedback 2 source. Not selected
source
41.10 Set 2 feedback See parameter 40.10 Set 1 feedback function. In1
function
41.11 Set 2 feedback filter See parameter 40.11 Set 1 feedback filter time. 0.000 s
time
41.16 Set 2 setpoint 1 See parameter 40.16 Set 1 setpoint 1 source. AI2 scaled
source
41.17 Set 2 setpoint 2 See parameter 40.17 Set 1 setpoint 2 source. Not selected
source
41.18 Set 2 setpoint See parameter 40.18 Set 1 setpoint function. In1
function
41.19 Set 2 internal See parameter 40.19 Set 1 internal setpoint sel1. Not selected
setpoint sel1
41.20 Set 2 internal See parameter 40.20 Set 1 internal setpoint sel2. Not selected
setpoint sel2
41.21 Set 2 internal See parameter 40.21 Set 1 internal setpoint 1. 0.00
setpoint 1
setpoint 2
setpoint 3
41.26 Set 2 setpoint min See parameter 40.26 Set 1 setpoint min. 0.00
41.27 Set 2 setpoint max See parameter 40.27 Set 1 setpoint max. 32767.00
352 Parameters

41.28 Set 2 setpoint See parameter 40.28 Set 1 setpoint increase time. 0.0 s
increase time
41.29 Set 2 setpoint See parameter 40.29 Set 1 setpoint decrease time. 0.0 s
decrease time
41.30 Set 2 setpoint See parameter 40.30 Set 1 setpoint freeze enable. Not selected
freeze enable
41.31 Set 2 deviation See parameter 40.31 Set 1 deviation inversion. Not inverted
inversion (Ref - Fbk)
41.32 Set 2 gain See parameter 40.32 Set 1 gain. 1.00
41.33 Set 2 integration See parameter 40.33 Set 1 integration time. 60.0 s
time
41.34 Set 2 derivation See parameter 40.34 Set 1 derivation time. 0.000 s
time
41.35 Set 2 derivation See parameter 40.35 Set 1 derivation filter time. 0.0 s
filter time
41.36 Set 2 output min See parameter 40.36 Set 1 output min. -32768.0
41.37 Set 2 output max See parameter 40.37 Set 1 output max. 32767.0
41.38 Set 2 output freeze See parameter 40.38 Set 1 output freeze enable. Not selected
enable
41.43 Set 2 sleep level See parameter 40.43 Set 1 sleep level. 0.0
41.44 Set 2 sleep delay See parameter 40.44 Set 1 sleep delay. 60.0 s
41.45 Set 2 sleep boost See parameter 40.45 Set 1 sleep boost time. 0.0 s
time
41.46 Set 2 sleep boost See parameter 40.46 Set 1 sleep boost step. 0.0
step
41.47 Set 2 wake-up See parameter 40.47 Set 1 wake-up deviation. 0.00%
deviation
41.48 Set 2 wake-up See parameter 40.48 Set 1 wake-up delay. 0.50 s
delay
41.49 Set 2 tracking mode See parameter 40.49 Set 1 tracking mode. Not selected
41.50 Set 2 tracking ref See parameter 40.50 Set 1 tracking ref selection. Not selected
selection
41.58 Set 2 increase See parameter 40.58 Set 1 increase prevention. No
prevention
41.59 Set 2 decrease See parameter 40.59 Set 1 decrease prevention. No
prevention
41.62 PID internal See parameter 40.62 PID internal setpoint actual. -
setpoint actual
Parameters 353

43
43 Brake chopper Settings for the internal brake chopper.
43.01 Braking resistor Displays the estimated temperature of the brake resistor, or -
temperature how close the brake resistor is to being too hot.
The value is given in percent where 100% is the temperature
the resistor would reach if the maximum continuous braking
power (43.09 Brake resistor Pmax cont) is applied to the
resistor for 100% rated time. The thermal time constant
(43.08 Brake resistor thermal tc) defines the rated time to
achieve 63% temperature. 100% would be reached when
100% time has elapsed.
0.0…120.0% Estimated brake resistor temperature. 1 = 1%
43.06 Brake chopper Enables brake chopper control. Disabled
enable Note: Before enabling brake chopper control, ensure that
• a brake resistor is connected
• overvoltage control is switched off (parameter 30.30
Overvoltage control)
• the supply voltage range (parameter 95.01 Supply voltage)
has been selected correctly.
Disabled Brake chopper control disabled. 0
Enabled with Brake chopper control enabled with resistor overload 1
thermal model protection.
Enabled without Brake chopper control enabled without resistor overload 2
thermal model protection. This setting can be used, for example, if the
resistor is equipped with a thermal circuit breaker that is wired
to stop the drive if the resistor overheats.
43.07 Brake chopper Selects the source for quick brake chopper on/off control. On
runtime enable 0 = Brake chopper IGBT pulses are cut off
1 = Normal brake chopper IGBT modulation.
This parameter can be used to program the chopper control
to function only when the supply is missing from a drive with a
regenerative supply unit.
Off 0. 0
On 1. 1
43.08 Brake resistor Defines the thermal time constant of the brake resistor for 0s
thermal tc overload protection.
0…10000 s Brake resistor thermal time constant. 1=1s
43.09 Brake resistor Defines the maximum continuous braking power of the 0.00 kW
Pmax cont resistor (in kW) which will raise the resistor temperature to the
maximum allowed value. The value is used in the overload
protection.
0.00… Maximum continuous braking power. 1 = 1 kW
10000.00 kW
43.10 Brake resistance Defines the resistance value of the brake resistor. The value 0.0 ohm
is used for brake chopper protection.
0.0…1000.0 ohm Brake resistor resistance value. 1 = 1 ohm
354 Parameters

43.11 Brake resistor fault Selects the fault limit for the brake resistor temperature 105%
limit protection function. When the limit is exceeded, the drive trips
on fault 7183 BR excess temperature.
The value is given in percent of the temperature the resistor
reaches when loaded with the power defined by parameter
43.09 Brake resistor Pmax cont.
0…150% Brake resistor temperature fault limit. 1 = 1%
43.12 Brake resistor Selects the warning limit for the brake resistor temperature 95%
warning limit protection function. When the limit is exceeded, the drive
generates a A793 BR excess temperature warning.
The value is given in percent of the temperature the resistor
reaches when loaded with the power defined by parameter
43.09 Brake resistor Pmax cont.
0…150% Brake resistor temperature warning limit. 1 = 1%
44
44 Mechanical brake Configuration of mechanical brake control.
control See also section Mechanical brake control (page 206).
44.01 Brake control status Displays the mechanical brake control status word. -

0 Open command Close/open command to brake actuator (0 = close, 1 = open).
Connect this bit to desired output.
1 Opening torque 1 = Opening torque requested from drive logic
request
2 Hold stopped 1 = Hold requested from drive logic
request
3 Ramp to stopped 1 = Ramping down to zero speed requested from drive logic
4 Enabled 1 = Brake control is enabled
5 Closed 1 = Brake control logic in BRAKE CLOSED state
6 Opening 1 = Brake control logic in BRAKE OPENING state
7 Open 1 = Brake control logic in BRAKE OPEN state
8 Closing 1 = Brake control logic in BRAKE CLOSING state
9…15 Reserved
0000h…FFFFh Mechanical brake control status word. 1=1

44.06 Brake control Activates/deactivates (or selects a source that Not selected
enable activates/deactivates) the mechanical brake control logic.
0 = Brake control inactive
1 = Brake control active
Not selected 0. 0
Selected 1. 1
Parameters 355

44.08 Brake open delay Defines the brake open delay, ie. the delay between the 0.00 s
internal open brake command and the release of motor speed
control. The delay timer starts when the drive has magnetized
the motor. Simultaneously with the timer start, the brake
control logic energizes the brake control output and the brake
starts to open.
Set this parameter to the value of mechanical opening delay
specified by the brake manufacturer.
0.00…5.00 s Brake open delay. 100 = 1 s
44.13 Brake close delay Specifies a delay between a close command (that is, when 0.00 s
the brake control output is de-energized) and when the drive
stops modulating. This is to keep the motor live and under
control until the brake actually closes.
Set this parameter equal to the value specified by the brake
manufacturer as the mechanical make-up time of the brake.
0.00…60.00 s Brake close delay. 100 = 1 s
44.14 Brake close level Defines the brake close speed as an absolute value. 10.0 rpm
After motor speed has decelerated to this level, a close
command is given.
0.0…1000.0 rpm Brake close speed. See par.
46.01
45
45 Energy efficiency Settings for the energy saving calculators.
See also section Energy saving calculators (page 220).
45.01 Saved GW hours Energy saved in GWh compared to direct-on-line motor -
connection. This parameter is incremented when 45.02
Saved MW hours rolls over.
This parameter is read-only (see parameter 45.21 Energy
calculations reset).
0…65535 GWh Energy savings in GWh. 1 = 1 GWh
45.02 Saved MW hours Energy saved in MWh compared to direct-on-line motor -
connection. This parameter is incremented when 45.03
Saved kW hours rolls over.
When this parameter rolls over, parameter 45.01 Saved GW
hours is incremented.
0…999 MWh Energy savings in MWh. 1 = 1 MWh
356 Parameters

45.03 Saved kW hours Energy saved in kWh compared to direct-on-line motor -
connection.
If the internal brake chopper of the drive is enabled, all energy
fed by the motor to the drive is assumed to be converted into
heat, but the calculation still records savings made by
controlling the speed. If the chopper is disabled, then
regenerated energy from the motor is also recorded here.
When this parameter rolls over, parameter 45.02 Saved MW
hours is incremented.
0.0…999.9 kWh Energy savings in kWh. 10 = 1 kWh
45.04 Saved energy Energy saved in kWh compared to direct-on-line motor -
connection.
If the internal brake chopper of the drive is enabled, all energy
fed by the motor to the drive is assumed to be converted into
heat.
0.0…214748364.7 Energy savings in kWh. 1 = 1 kWh
kWh
45.05 Saved money Monetary savings in thousands compared to direct-on-line -
x1000 motor connection. This parameter is incremented when 45.06
Saved money rolls over.
The currency is defined by parameter 45.17 Tariff currency
unit.
0…4294967295 Monetary savings in thousands of units. 1 = 1 unit
thousands
45.06 Saved money Monetary savings compared to direct-on-line motor -
connection. This value is a calculated by multiplying the
saved energy in kWh by the currently active energy tariff
(45.14 Tariff selection).
When this parameter rolls over, parameter 45.05 Saved
money x1000 is incremented.
unit.
0.00…999.99 units Monetary savings. 1 = 1 unit
45.07 Saved amount Monetary savings compared to direct-on-line motor -
connection. This value is a calculated by multiplying the
saved energy in kWh by the currently active energy tariff
(45.14 Tariff selection).
unit.
0.00… Monetary savings. 1 = 1 unit
21474836.47 units
Parameters 357

45.08 CO2 reduction in Reduction in CO2 emissions in metric kilotons compared to -
kilotons direct-on-line motor connection. This value is incremented
when parameter 45.09 CO2 reduction in tons rolls over.
0…65535 metric Reduction in CO2 emissions in metric kilotons. 1 = 1 metric
kilotons kiloton
45.09 CO2 reduction in Reduction in CO2 emissions in metric tons compared to -
tons direct-on-line motor connection. This value is calculated by
multiplying the saved energy in MWh by the value of
parameter 45.18 CO2 conversion factor (by default, 0.5
metric tons/MWh).
When this parameter rolls over, parameter 45.08 CO2
reduction in kilotons is incremented.
0.0…999.9 metric Reduction in CO2 emissions in metric tons. 1 = 1 metric
tons ton
45.10 Total saved CO2 Reduction in CO2 emissions in metric tons compared to -
direct-on-line motor connection. This value is calculated by
multiplying the saved energy in MWh by the value of
parameter 45.18 CO2 conversion factor (by default, 0.5
metric tons/MWh).
0.0…214748364.7 Reduction in CO2 emissions in metric tons. 1 = 1 metric
metric tons ton
45.11 Energy optimizer Enables/disables the energy optimization function. The Disable
function optimizes the motor flux so that total energy
consumption and motor noise level are reduced when the
drive operates below the nominal load. The total efficiency
(motor and drive) can be improved by 1…20% depending on
load torque and speed.
Note: With a permanent magnet motor, energy optimization
is always enabled regardless of this parameter.
Disable Energy optimization disabled. 0
Enable Energy optimization enabled. 1
45.12 Energy tariff 1 Defines energy tariff 1 (price of energy per kWh). Depending 0.100 units
on the setting of parameter 45.14 Tariff selection, either this
value or 45.13 Energy tariff 2 is used for reference when
monetary savings are calculated.
unit.
Note: Tariffs are read only at the instant of selection, and are
not applied retroactively.
0.000… Energy tariff 1. -
4294967.295 units
45.13 Energy tariff 2 Defines energy tariff 2 (price of energy per kWh). 0.200 units
See parameter 45.12 Energy tariff 1.
0.000… Energy tariff 2. -
4294967.295 units
358 Parameters

45.14 Tariff selection Selects (or defines a source that selects) which pre-defined Energy tariff
energy tariff is used. 1
0 = 45.12 Energy tariff 1
1 = 45.13 Energy tariff 2
Energy tariff 1 0. 0
Energy tariff 2 1. 1
45.17 Tariff currency unit Specifies the currency used for the savings calculations. EUR
Local currency The currency is determined by the language selection (see 100
parameter 96.01 Language).
EUR Euro. 101
USD US dollar. 102
45.18 CO2 conversion Defines a factor for conversion of saved energy into CO2 0.500
factor emissions (kg/kWh or tn/MWh). tn/MWh
0.000…65.535 Factor for conversion of saved energy into CO2 emissions. 1 = 1 tn/MWh
tn/MWh
45.19 Comparison power Actual power that the motor absorbs when connected direct- 0.00 kW
on-line and operating the application. The value is used for
reference when energy savings are calculated.
Note: The accuracy of the energy savings calculation is
directly dependent on the accuracy of this value. If nothing is
entered here, then the nominal motor power is used by the
calculation, but that may inflate the energy savings reported
as many motors do not absorb nameplate power.
0.00…100000.00 Motor power. 1 = 1 kW
kW
45.21 Energy calculations Resets the savings counter parameters 45.01…45.10. Done
reset
Done Reset not requested (normal operation), or reset complete. 0
Reset Reset the savings counter parameters. The value reverts 1
automatically to Done.
Parameters 359

46
46 Monitoring/scaling Speed supervision settings; actual signal filtering; general
settings scaling settings.
46.01 Speed scaling Defines the maximum speed value used to define the 1500.00 rpm
acceleration ramp rate and the initial speed value used to
define the deceleration ramp rate (see parameter group 23
Speed reference ramp). The speed acceleration and
deceleration ramp times are therefore related to this value
(not to parameter 30.12 Maximum speed).
Also defines the 16-bit scaling of speed-related parameters.
The value of this parameter corresponds to 20000 in eg.
fieldbus communication.
0.10…30000.00 Acceleration/deceleration terminal/initial speed. 1 = 1 rpm
rpm
46.02 Frequency scaling Defines the maximum frequency value used to define the 50.00 Hz
acceleration ramp rate and the initial frequency value used to
define deceleration ramp rate (see parameter group 28
Frequency reference chain). The frequency acceleration and
deceleration ramp times are therefore related to this value
(not to parameter 30.14 Maximum frequency).
Also defines the 16-bit scaling of frequency-related
parameters. The value of this parameter corresponds to
20000 in eg. fieldbus communication.
0.10…1000.00 Hz Acceleration/deceleration terminal/initial frequency. 10 = 1 Hz
46.03 Torque scaling Defines the 16-bit scaling of torque parameters. The value of 100.0%
this parameter (in percent of nominal motor torque)
corresponds to 10000 in eg. fieldbus communication.
0.1…1000.0% Torque corresponding to 10000 on fieldbus. 10 = 1%
46.04 Power scaling Defines the output power value that corresponds to 10000 in 1000.0 kW or
eg. fieldbus communication. The unit is selected by hp
parameter 96.16 Unit selection.
0.1…30000.0 kW or Power corresponding to 10000 on fieldbus. 1 = 1 unit
0.1…40214.5 hp
46.05 Current scaling Defines the 16-bit scaling of current parameters. The value of 10000 A
this parameter corresponds to 10000 in fieldbus
communication.
0…30000 A
46.11 Filter time motor Defines a filter time for signals 01.01 Motor speed used and 500 ms
speed 01.02 Motor speed estimated.
2…20000 ms Motor speed signal filter time. 1 = 1 ms
46.12 Filter time output Defines a filter time for signal 01.06 Output frequency. 500 ms
frequency
2…20000 ms Output frequency signal filter time. 1 = 1 ms
46.13 Filter time motor Defines a filter time for signal 01.10 Motor torque. 100 ms
torque
2…20000 ms Motor torque signal filter time. 1 = 1 ms
46.14 Filter time power Defines a filter time for signal 01.14 Output power. 100 ms
2…20000 ms Output power signal filter time. 1 = 1 ms
360 Parameters

46.21 At speed hysteresis Defines the “at setpoint” limits for speed control of the drive. 50.00 rpm
When the difference between reference (22.87 Speed
reference act 7) and the speed (24.02 Used speed feedback)
is smaller than 46.21 At speed hysteresis, the drive is
considered to be “at setpoint”. This is indicated by bit 8 of
06.11 Main status word.
24.02 (rpm)
22.87 + 46.21 (rpm)

Drive at setpoint 22.87 (rpm)
(06.11 bit 8 = 1)
22.87 - 46.21 (rpm)
0 rpm
0.00…30000.00 Limit for “at setpoint” indication in speed control. See par.
rpm 46.01
46.22 At frequency Defines the “at setpoint” limits for frequency control of the 2.00 Hz
hysteresis drive. When the absolute difference between reference
(28.96 Frequency ref ramp input) and actual frequency (01.06
Output frequency) is smaller than 46.22 At frequency
hysteresis, the drive is considered to be “at setpoint”. This is
indicated by bit 8 of 06.11 Main status word.
01.06 (Hz)
28.96 + 46.22 (Hz)

Drive at setpoint 28.96 (Hz)
(06.11 bit 8 = 1)
28.96 - 46.22 (Hz)
0 Hz
0.00…1000.00 Hz Limit for “at setpoint” indication in frequency control. See par.
46.02
Parameters 361

46.23 At torque hysteresis Defines the “at setpoint” limits for torque control of the drive. 5.0%
When the absolute difference between reference (26.73
Torque reference act 4) and actual torque (01.10 Motor
torque) is smaller than 46.23 At torque hysteresis, the drive is
considered to be “at setpoint”. This is indicated by bit 8 of
06.11 Main status word.
01.10 (%)
26.73 + 46.23 (%)

Drive at setpoint 26.73 (%)
(06.11 bit 8 = 1)
26.73 - 46.23 (%)
0%
0.0…300.0% Limit for “at setpoint” indication in torque control. See par.
46.03
46.31 Above speed limit Defines the trigger level for “above limit” indication in speed 0.00 rpm
control. When actual speed exceeds the limit, bit 10 of 06.17
Drive status word 2 is set.
0.00…30000.00 “Above limit” indication trigger level for speed control. See par.
rpm 46.01
46.32 Above frequency Defines the trigger level for “above limit” indication in 0.00 Hz
limit frequency control. When actual frequency exceeds the limit,
bit 10 of 06.17 Drive status word 2 is set.
0.00…1000.00 Hz “Above limit” indication trigger level for frequency control. See par.
46.02
46.33 Above torque limit Defines the trigger level for “above limit” indication in torque 0.0%
control. When actual torque exceeds the limit, bit 10 of 06.17
Drive status word 2 is set.
0.0…1600.0% “Above limit” indication trigger level for torque control. See par.
46.03
46.41 kWh pulse scaling Defines the trigger level for the “kWh pulse” on for 50 ms. The 1.000 kWh
output of the pulse is bit 9 of 05.22 Diagnostic word 3.
0.001… “kWh pulse” on trigger level. 1 = 1 kWh
1000.000 kWh
47
47 Data storage Data storage parameters that can be written to and read from
using other parameters’ source and target settings.
Note that there are different storage parameters for different
data types.
See also section Data storage parameters (page 223).
47.01 Data storage 1 Data storage parameter 1. 0.000
real32
-2147483.008… 32-bit data. -
2147483.008
real32
-2147483.008… 32-bit data. -
2147483.008
362 Parameters

real32
-2147483.008… 32-bit data. -
2147483.008
real32
-2147483.008… 32-bit data. -
2147483.008
47.11 Data storage 1 Data storage parameter 9. 0
int32
-2147483648… 32-bit data. -
2147483647
int32
-2147483648… 32-bit data. -
2147483647
int32
-2147483648… 32-bit data. -
2147483647
int32
-2147483648… 32-bit data. -
2147483647
int16
-32768…32767 16-bit data. 1=1
int16
-32768…32767 16-bit data. 1=1
int16
-32768…32767 16-bit data. 1=1
int16
-32768…32767 16-bit data. 1=1
49
49 Panel port Communication settings for the control panel port on the
communication drive.
49.01 Node ID number Defines the node ID of the drive. All devices connected to the 1
network must have a unique node ID.
Note: For networked drives, it is advisable to reserve ID 1 for
spare/replacement drives.
1…32 Node ID. 1=1
49.03 Baud rate Defines the transfer rate of the link. 115.2 kbps
9.6 kbps 9.6 kbit/s. 0
38.4 kbps 38.4 kbit/s. 1
57.6 kbps 57.6 kbit/s. 2
Parameters 363

86.4 kbps 86.4 kbit/s. 3
115.2 kbps 115.2 kbit/s. 4
230.4 kbps 230.4 kbit/s. 5
49.04 Communication Sets a timeout for control panel (or PC tool) communication. If 10.0 s
loss time a communication break lasts longer than the timeout, the
action specified by parameter 49.05 Communication loss
action is taken.
0.1…3000.0 s Panel/PC tool communication timeout. 10 = 1 s
49.05 Communication Selects how the drive reacts to a control panel (or PC tool) Fault
loss action communication break.
Fault Drive trips on 7081 Control panel loss Programmable fault: 1
49.05 Communication loss action.
Last speed Drive generates an A7EE Panel loss warning and freezes the 2
speed to the level the drive was operating at. The speed is
determined on the basis of actual speed using 850 ms low-
pass filtering.
Speed ref safe Drive generates an A7EE Panel loss warning and sets the 3
speed to the speed defined by parameter 22.41 Speed ref
is being used).
49.06 Refresh settings Applies the settings of parameters 49.01…49.05. Done
Note: Refreshing may cause a communication break, so
reconnecting the drive may be required.
Done Refresh done or not requested. 0
Configure Refresh parameters 49.01…49.05. The value reverts 1
automatically to Done.
50
50 Fieldbus adapter Fieldbus communication configuration.
(FBA) See also chapter Fieldbus control through a fieldbus adapter
(page 467).
50.01 FBA A enable Enables/disables communication between the drive and Disable
fieldbus adapter A, and specifies the slot the adapter is
installed into.
Disable Communication between drive and fieldbus adapter A 0
disabled.
Option slot 1 Communication between drive and fieldbus adapter A 1
enabled. The adapter is in slot 1.
50.02 FBA A comm loss Selects how the drive reacts upon a fieldbus communication No action
func break. The time delay is defined by parameter 50.03 FBA A
comm loss t out.
Fault Communication break detection active. Upon a 1
communication break, the drive trips on a 7510 FBA A
communication fault and coasts to a stop.
364 Parameters

Last speed Communication break detection active. Upon a 2
communication break, the drive generates a warning (A7C1
FBA A communication) and freezes the speed to the level the
drive was operating at. The speed is determined on the basis
of actual speed using 850 ms low-pass filtering.
Speed ref safe Communication break detection active. Upon a 3
communication break, the drive generates a warning (A7C1
FBA A communication) and sets the speed to the value
defined by parameter 22.41 Speed ref safe (or 28.41
Frequency ref safe when frequency reference is being used).
50.03 FBA A comm loss t Defines the time delay before the action defined by parameter 0.3 s
out 50.02 FBA A comm loss func is taken. Time count starts when
the communication link fails to update the message.
0.3…6553.5 s Time delay. 1=1s
50.04 FBA A ref1 type Selects the type and scaling of reference 1 received from Speed or
fieldbus adapter A. The scaling of the reference is defined by frequency
parameters 46.01…46.04, depending on which reference
type is selected by this parameter.
Speed or frequency Type and scaling is chosen automatically according to the 0
currently active operation mode as follows:
Operation mode
Reference 1 type
(see par. 19.01)
Speed control Speed
Torque control Speed
Frequency control Frequency
Transparent No scaling is applied. 1

General Generic reference without a specific unit. 2
Torque The scaling is defined by parameter 46.03 Torque scaling. 3
Speed The scaling is defined by parameter 46.01 Speed scaling. 4
Frequency The scaling is defined by parameter 46.02 Frequency scaling. 5
50.05 FBA A ref2 type Selects the type and scaling of reference 2 received from Speed or
fieldbus adapter A. The scaling of the reference is defined by frequency
parameters 46.01…46.04, depending on which reference
type is selected by this parameter.
Operation mode
Reference 2 type
(see par. 19.01)
Speed control Torque
Torque control Torque
Frequency control Torque

Parameters 365

50.06 FBA A SW sel Selects the source of the Status word to be sent to the Auto
fieldbus network through fieldbus adapter A.
Auto Source of the Status word is chosen automatically. 0
Transparent mode The source selected by parameter 50.09 FBA A SW 1
transparent source is transmitted as the Status word to the
fieldbus network through fieldbus adapter A.
50.07 FBA A actual 1 type Selects the type and scaling of actual value 1 transmitted to Speed or
the fieldbus network through fieldbus adapter A. The scaling frequency
of the value is defined by parameters 46.01…46.04,
depending on which actual value type is selected by this
parameter.
Operation mode
Actual value 1 type
(see par. 19.01)
Speed control Speed

50.08 FBA A actual 2 type Selects the type and scaling of actual value 2 transmitted to Speed or
the fieldbus network through fieldbus adapter A. The scaling frequency
of the value is defined by parameters 46.01…46.04,
depending on which actual value type is selected by this
parameter.
Operation mode
Actual value 2 type
(see par. 19.01)
Speed control Torque
Torque control Torque
Frequency control Torque

50.09 FBA A SW Selects the source of the fieldbus status word when Not selected
transparent source parameter 50.06 FBA A SW sel is set to Transparent mode.
Not selected No source selected. -
366 Parameters

50.10 FBA A act1 When parameter 50.07 FBA A actual 1 type is set to Not selected
transparent source Transparent, this parameter selects the source of actual value
1 transmitted to the fieldbus network through fieldbus adapter
A.
50.11 FBA A act2 When parameter 50.08 FBA A actual 2 type is set to Not selected
transparent source Transparent, this parameter selects the source of actual value
2 transmitted to the fieldbus network through fieldbus adapter
A.
50.12 FBA A debug Enables the display of raw (unmodified) data received from Disable
enable and sent to fieldbus adapter A in parameters 50.13…50.18.
This functionality should only be used for debugging.
Disable Display of raw data from fieldbus adapter A disabled. 0
Enable Display of raw data from fieldbus adapter A enabled. 1
50.13 FBA A control word Displays the raw (unmodified) control word sent by the -
master (PLC) to fieldbus adapter A if debugging is enabled by
parameter 50.12 FBA A debug enable.
00000000h… Control word sent by master to fieldbus adapter A. -
FFFFFFFFh
50.14 FBA A reference 1 Displays raw (unmodified) reference REF1 sent by the master -
(PLC) to fieldbus adapter A if debugging is enabled by
-2147483648… Raw REF1 sent by master to fieldbus adapter A. -
2147483647
50.15 FBA A reference 2 Displays raw (unmodified) reference REF2 sent by the master -
(PLC) to fieldbus adapter A if debugging is enabled by
-2147483648… Raw REF2 sent by master to fieldbus adapter A. -
2147483647
50.16 FBA A status word Displays the raw (unmodified) status word sent by fieldbus -
adapter A to the master (PLC) if debugging is enabled by
00000000h… Status word sent by fieldbus adapter A to master. -
FFFFFFFFh
50.17 FBA A actual value Displays raw (unmodified) actual value ACT1 sent by fieldbus -
1 adapter A to the master (PLC) if debugging is enabled by
-2147483648… Raw ACT1 sent by fieldbus adapter A to master. -
2147483647
Parameters 367

50.18 FBA A actual value Displays raw (unmodified) actual value ACT2 sent by fieldbus -
2 adapter A to the master (PLC) if debugging is enabled by
-2147483648… Raw ACT2 sent by fieldbus adapter A to master. -
2147483647
51
51 FBA A settings Fieldbus adapter A configuration.
51.01 FBA A type Displays the type of the connected fieldbus adapter module. -
0 = Module is not found or is not properly connected, or is
disabled by parameter 50.01 FBA A enable; 0 = None;
1 = PROFIBUS-DP; 32 = CANopen; 37 = DeviceNet;
128 = Ethernet; 132 = PROFInet IO; 135 = EtherCAT;
136 = ETH Pwrlink; 485 = RS-485 comm; 101 = ControlNet;
51.02 FBA A Par2 Parameters 51.02…51.26 are adapter module-specific. For -
more information, see the documentation of the fieldbus
adapter module. Note that not all of these parameters are
necessarily in use.
0…65535 Fieldbus adapter configuration parameter. 1=1
… … … …
51.26 FBA A Par26 See parameter 51.02 FBA A Par2. -
0…65535 Fieldbus adapter configuration parameter. 1=1
51.27 FBA A par refresh Validates any changed fieldbus adapter module configuration Done
settings. After refreshing, the value reverts automatically to
Done.
running.
Done Refreshing done. 0
Configure Refreshing. 1
51.28 FBA A par table ver Displays the parameter table revision of the fieldbus adapter -
module mapping file (stored in the memory of the drive).
In format axyz, where ax = major table revision number; yz =
minor table revision number.
Parameter table revision of adapter module. -
51.29 FBA A drive type Displays the drive type code in the fieldbus adapter module -
code mapping file (stored in the memory of the drive).
0…65535 Drive type code stored in the mapping file. 1=1
51.30 FBA A mapping file Displays the fieldbus adapter module mapping file revision -
ver stored in the memory of the drive in decimal format.
0…65535 Mapping file revision. 1=1
51.31 D2FBA A comm Displays the status of the fieldbus adapter module Not
status communication. configured
Not configured Adapter is not configured. 0
Initializing Adapter is initializing. 1
Time out A timeout has occurred in the communication between the 2
adapter and the drive.
368 Parameters

Configuration error Adapter configuration error: mapping file not found in the file 3
system of the drive, or mapping file upload has failed more
than three times.
Off-line Fieldbus communication is off-line. 4
On-line Fieldbus communication is on-line, or fieldbus adapter has 5
been configured not to detect a communication break. For
more information, see the documentation of the fieldbus
adapter.
Reset Adapter is performing a hardware reset. 6
51.32 FBA A comm SW Displays the common program revision of the adapter module
ver in format axyz, where a = major revision number, xy = minor
revision number, z = correction number or letter.
Example: 190A = revision 1.90A.
Common program revision of adapter module. -
51.33 FBA A appl SW ver Displays the application program revision of the adapter
module in format axyz, where a = major revision number, xy =
minor revision number, z = correction number or letter.
Example: 190A = revision 1.90A.
Application program version of adapter module. -
52
52 FBA A data in Selection of data to be transferred from drive to fieldbus
controller through fieldbus adapter A.
Note: 32-bit values require two consecutive parameters.
Whenever a 32-bit value is selected in a data parameter, the
next parameter is automatically reserved.
52.01 FBA A data in1 Parameters 52.01…52.12 select data to be transferred from None
the drive to the fieldbus controller through fieldbus adapter A.
None None. 0
CW 16bit Control Word (16 bits) 1
Ref1 16bit Reference REF1 (16 bits) 2
SW 16bit Status Word (16 bits) 4
Act1 16bit Actual value ACT1 (16 bits) 5
SW2 16bit Status Word 2 (16 bits) 24
Parameters 369

… … … …
52.12 FBA A data in12 See parameter 52.01 FBA A data in1. None
53
53 FBA A data out Selection of data to be transferred from fieldbus controller to
drive through fieldbus adapter A.
Note: 32-bit values require two consecutive parameters.
Whenever a 32-bit value is selected in a data parameter, the
next parameter is automatically reserved.
53.01 FBA A data out1 Parameters 53.01…53.12 select data to be transferred from None
the fieldbus controller to the drive through fieldbus adapter A.
None None. 0
CW2 16bit Control Word 2 (16 bits) 21
… … … …
53.12 FBA A data out12 See parameter 53.01 FBA A data out1. None
54
58 Embedded fieldbus Configuration of the embedded fieldbus (EFB) interface.
See also chapter Fieldbus control through the embedded
fieldbus interface (EFB) (page 441).
58.01 Protocol enable Enables/disables the embedded fieldbus interface and None
selects the protocol to use.
None None (communication disabled). 0
Modbus RTU Embedded fieldbus interface is enabled and uses the Modbus 1
RTU protocol.
58.02 Protocol ID Displays the protocol ID and revision. -
Protocol ID and revision. 1=1
58.03 Node address Defines the node address of the drive on the fieldbus link. 1
Values 1…247 are allowable. Two devices with the same
address are not allowed on-line.
Changes to this parameter take effect after the control unit is
rebooted or the new settings validated by parameter 58.06
Communication control.
0…255 Node address (values 1…247 are allowed). 1=1
58.04 Baud rate Selects the transfer rate of the fieldbus link. 19.2 kbps
Autodetect When using autodetect, the parity setting of the bus must be 0
known and configured in parameter 58.05 Parity. The bus is
monitored for a period of time and the detected baud rate is
written to the parameter.
370 Parameters

19.2 kbps 19.2 kbit/s. 3
38.4 kbps 38.4 kbit/s. 4
57.6 kbps 57.6 kbit/s. 5
76.8 kbps 76.8 kbit/s. 6
115.2 kbps 115.2 kbit/s. 7
58.05 Parity Selects the type of parity bit, and number of stop bits. 8 EVEN 1
8 NONE 1 Eight data bits, no parity bit, one stop bit. 0
8 NONE 2 Eight data bits, no parity bit, two stop bits. 1
8 EVEN 1 Eight data bits, even parity bit, one stop bit. 2
8 ODD 1 Eight data bits, odd parity bit, one stop bit. 3
58.06 Communication Takes changed EFB settings in use, or activates silent mode. Enabled
control
Enabled Normal operation. 0
Refresh settings Refreshes settings (parameters 58.01…58.05, 58.14…58.17, 1
58.25, 58.28…58.35) and takes changed EFB configuration
settings in use. Reverts automatically to Enabled.
Silent mode Activates silent mode (no messages are transmitted). 2
Silent mode can be terminated by activating the Refresh
settings selection of this parameter.
Parameters 371

58.07 Communication Displays the status of the EFB communication. -
diagnostics This parameter is read-only.
Note that the name is only visible when the error is present
(bit value is 1).

0 Init failed 1 = EFB initialization failed
1 Addr config err 1 = Node address not allowed by protocol
2 Silent mode 1 = Drive not allowed to transmit
0 = Drive allowed to transmit
3 Autodetect 1 = Autodetect in progress: EFB is trying to determine the baud
rate
4 Wiring error 1 = Errors detected (A/B wires possibly swapped)
5 Parity error 1 = Error detected: check parameters 58.04 and 58.05
6 Baud rate error 1 = Error detected: check parameters 58.05 and 58.04
7 No bus activity 1 = 0 bytes received during last 5 seconds
8 No packets 1 = 0 packets (addressed to any device) detected during last 5
seconds
9 Noise or addressing 1 = Errors detected (interference, or another device with the
error same address on line)
10 Comm loss 1 = 0 packets addressed to the drive received within timeout
(58.16)
11 CW/Ref loss 1 = No control word or references received within timeout (58.16)
12 Not active Reserved
13…14 Reserved
15 Internal error 1 = Problem with calls to drive control program
0000h…FFFFh EFB communication status. 1=1

58.08 Received packets Displays a count of valid packets addressed to the drive. -
During normal operation, this number increases constantly.
Can be reset from the control panel by keeping Reset down
for over 3 seconds.
0…4294967295 Number of received packets addressed to the drive. 1=1
58.09 Transmitted packets Displays a count of valid packets transmitted by the drive. -
During normal operation, this number increases constantly.
for over 3 seconds.
0…4294967295 Number of transmitted packets. 1=1
58.10 All packets Displays a count of valid packets addressed to any device on -
the bus. During normal operation, this number increases
constantly.
for over 3 seconds.
0…4294967295 Number of all received packets. 1=1
58.11 UART errors Displays a count of character errors received by the drive. An -
increasing count indicates a configuration problem on the
bus.
for over 3 seconds.
0…4294967295 Number of UART errors. 1=1
372 Parameters

58.12 CRC errors Displays a count of packets with a CRC error received by the -
drive. An increasing count indicates interference on the bus.
for over 3 seconds.
0…4294967295 Number of CRC errors. 1=1
58.14 Communication Selects how the drive reacts to an EFB communication break. No
loss action Changes to this parameter take effect after the control unit is
See also parameters 58.15 Communication loss mode and
58.16 Communication loss time.
No No action taken (monitoring disabled). 0
Fault Drive trips on 6681 EFB comm loss. This occurs only if 1
control is expected from the EFB.
Last speed Drive generates an A7CE EFB comm loss warning and 2
freezes the speed to the level the drive was operating at. The
speed is determined on the basis of actual speed using 850
ms low-pass filtering. This occurs only if control is expected
from the EFB.
Speed ref safe Drive generates an A7CE EFB comm loss warning and sets 3
the speed to the speed defined by parameter 22.41 Speed ref
is being used). This occurs only if control is expected from the
EFB.
Fault always Drive trips on 6681 EFB comm loss. This occurs even though 4
no control is expected from the EFB.
58.15 Communication Defines which message types reset the timeout counter for None
loss mode detecting an EFB communication loss.
See also parameters 58.14 Communication loss action and
58.16 Communication loss time.
None None. 0
Any message Any message addressed to the drive resets the timeout. 1
Cw / Ref1 / Ref2 A write of the control word or a reference resets the timeout. 2
58.16 Communication Sets a timeout for EFB communication. If a communication 30.0 s
loss time break lasts longer than the timeout, the action specified by
parameter 58.14 Communication loss action is taken.
See also parameter 58.15 Communication loss mode.
0.0…6000.0 s EFB communication timeout. 1=1
Parameters 373

58.17 Transmit delay Defines a minimum response delay in addition to any fixed 0 ms
delay imposed by the protocol.
0…65535 ms Minimum response delay. 1=1
58.18 Internal 1 Displays the raw (unmodified) control word for debugging -
purposes.
0000h…FFFFh Control word. 1=1
58.19 Internal 2 Displays the raw (unmodified) status word for debugging -
purposes.
0000h…FFFFh Status word. 1=1
58.25 Control profile Defines the communication profile used by the protocol. ABB Drives
ABB Drives ABB Drives control profile (with a 16-bit control word) 0
DCU Profile DCU control profile (16 or 32-bit control word) 5
58.26 EFB ref1 type Selects the type of reference 1. Speed or
frequency
currently active operation mode as follows.
Operation mode
Reference 1 type
(see par. 19.01)
Speed control Speed

Torque Torque reference. The scaling is defined by parameter 46.03 3
Torque scaling.
Speed Speed reference. The scaling is defined by parameter 46.01 4
Speed scaling.
Frequency Frequency reference. The scaling is defined by parameter 5
46.02 Frequency scaling.
58.27 EFB ref2 type Selects the type of reference 2. Speed or
For the selections, see parameter 58.26 EFB ref1 type. frequency
58.28 EFB act1 type Selects the type of actual value 1. Speed or
58.29 EFB act2 type Selects the type of actual value 2. Speed or
58.31 EFB act1 Selects the source of actual value 1 when in transparent Not selected
transparent source mode.
374 Parameters

58.32 EFB act2 Selects the source of actual value 1 when in transparent Not selected
transparent source mode.
58.33 Addressing mode Defines the mapping between parameters and holding Mode 0
registers in the 100…65535 Modbus register range.
Mode 0 16-bit values (groups 1…99, indexes 1…99): 0
Register address = 400000 + 100 × parameter group +
parameter index. For example, parameter 22.80 would be
mapped to register 400000 + 2200 + 80 = 402280.
32-bit values (groups 1…99, indexes 1…99):
2 × parameter index. For example, parameter 22.80 would be
parameter index. For example, parameter 22.80 would be
2 × parameter index. For example, parameter 122.80 would
be mapped to register 400000 + 62464 + 160 = 462624.
2 × parameter index. For example, parameter 22.180 would
be mapped to register 400000 + 5632 + 360 = 405992.
58.34 Word order Selects in which order 16-bit registers of 32-bit parameters LO-HI
are transferred.
For each register, the first byte contains the high order byte
and the second byte contains the low order byte.
HI-LO The first register contains the high order word, the second 0
contains the low order word.
LO-HI The first register contains the low order word, the second 1
contains the high order word.
Parameters 375

58.35 Return app error Specifies whether an exception is returned or not when writes No
fail at the application. In some systems, application layer
errors (such as writing a register to a value out of the
acceptable range of the parameter) should not return an
exception.
No Application layer errors do not return an exception. This 0
conforms to the Modbus protocol specification.
Yes Application layer errors return a 04 Slave Device Failure 1
exception.
58.101 Data I/O 1 Defines the address in the drive which the Modbus master CW 16bit
accesses when it reads from or writes to the register address
corresponding to Modbus I/O parameter 1. The master
defines the type of the data (input or output).
The value is transmitted in a Modbus frame consisting of two
16-bit words. If the value is 16-bit, it is transmitted in the LSW
(least significant word). If the value is 32-bit, the subsequent
parameter is also reserved for it.
None None 0
CW2 16bit Control Word 2 (16 bits) 21
SW2 16bit Status Word 2 (16 bits) 24
58.102 Data I/O 2 Defines the address in the drive which the Modbus master Ref1 16bit
accesses when it reads from or writes to register address
400002.
For the selections, see parameter 58.101 Data I/O 1.
58.103 Data I/O 3 Defines the address in the drive which the Modbus master Ref2 16bit
400003.
58.104 Data I/O 4 Defines the address in the drive which the Modbus master SW 16bit
400004.
58.105 Data I/O 5 Defines the address in the drive which the Modbus master None
400005.
376 Parameters

58.106 Data I/O 6 Defines the address in the drive which the Modbus master None
400006.
58.107 Data I/O 7 Parameter selector for Modbus register address 400007. None
… … … …
58.131 Data I/O 31 Parameter selector for Modbus register address 400031. CW 32bit
58.133 Data I/O 33 Parameter selector for Modbus register address 400033. SW 32bit
… … … …
54
71 External PID1 Configuration of external PID.
71.01 External PID act See parameter 40.01 Process PID output actual. -
value
71.02 Feedback act value See parameter 40.02 Process PID feedback actual. -
71.03 Setpoint act value See parameter 40.03 Process PID setpoint actual. -
71.04 Deviation act value See parameter 40.04 Process PID deviation actual. -
71.06 PID status word Displays status information on process external PID control. -
Bit Name Value

0 PID active 1 = Process PID control active.
1 Reserved
2 Output frozen 1 = Process PID controller output frozen. Bit is set if parameter
71.38 Output freeze enable is TRUE, or the deadband function is
active (bit 9 is set).
3…6 Reserved
7 Output limit high 1 = PID output is being limited by par. 40.37.
8 Output limit low 1 = PID output is being limited by par. 40.36.
9 Deadband active 1 = Deadband is active.
10…11 Reserved
12 Internal setpoint 1 = Internal setpoint active (see par. 40.16…40.16)
active
13…15 Reserved
0000h…FFFFh Process PID control status word. 1=1

71.07 PID operation mode See parameter 40.07 Process PID operation mode. Off
Parameters 377

71.08 Feedback 1 source See parameter 40.08 Set 1 feedback 1 source. Not selected
71.11 Feedback filter time See parameter 40.11 Set 1 feedback filter time. 0.000 s
71.14 Set 1 setpoint TBA 1500.00
scaling
71.15 Set 1 output scaling TBA 1500.00
71.16 Setpoint 1 source See parameter 40.16 Set 1 setpoint 1 source. AI2 scaled
71.19 Internal setpoint See parameter 40.19 Set 1 internal setpoint sel1. Not selected
sel1
71.20 Internal setpoint See parameter 40.20 Set 1 internal setpoint sel2. Not selected
sel2
71.21 Internal setpoint 1 See parameter 40.21 Set 1 internal setpoint 1. 0.00
71.26 Setpoint min See parameter 40.26 Set 1 setpoint min. 0.00
71.27 Setpoint max See parameter 40.27 Set 1 setpoint max. 32767.00
71.31 Deviation inversion See parameter 40.31 Set 1 deviation inversion. Not inverted
(Ref - Fbk)
71.32 Gain See parameter 40.32 Set 1 gain. 1.00
71.33 Integration time See parameter 40.33 Set 1 integration time. 60.0 s
71.34 Derivation time See parameter 40.34 Set 1 derivation time. 0.000 s
71.35 Derivation filter time See parameter 40.35 Set 1 derivation filter time. 0.0 s
71.36 Output min See parameter 40.36 Set 1 output min. -32768.0
71.37 Output max See parameter 40.37 Set 1 output max. 32767.0
71.38 Output freeze See parameter 40.38 Set 1 output freeze enable. Not selected
enable
71.39 Deadband range If the PID feedback is within dead band area defined by this 0.0
parameter for the time period defined by parameter 71.40
Deadband delay, the PID output is frozen.
71.40 Deadband delay Defines the deadband delay for the deadband function. See 0.0 s
parameter 71.39 Deadband range.
71.58 Increase prevention See parameter 40.58 Set 1 increase prevention. TBA
71.59 Decrease See parameter 40.59 Set 1 decrease prevention. TBA
prevention
71.62 Internal setpoint See parameter 40.62 PID internal setpoint actual. -
actual
378 Parameters

90
95 HW configuration Various hardware-related settings.
95.01 Supply voltage Selects the supply voltage range. This parameter is used by Automatic /
the drive to determine the nominal voltage of the supply not selected
network. The parameter also affects the current ratings and
the DC voltage control functions (trip and brake chopper
activation limits) of the drive.
WARNING! An incorrect setting may cause the motor
to rush uncontrollably, or the brake chopper or resistor
to overload.
Note: The selections shown depend on the hardware of the
drive. If only one voltage range is valid for the drive in
question, it is selected by default.
Automatic / not No voltage range selected. The drive will not start modulating 0
selected before a range is selected, unless parameter 95.02 Adaptive
voltage limits is set to Enable, in which case the drive
estimates the supply voltage itself.
200…240 V 200…240 V, available for ACS580-01-xxxx-2 drives 1
95.02 Adaptive voltage Enables adaptive voltage limits. Enable
limits Adaptive voltage limits can be used if, for example, an IGBT
supply unit is used to raise the DC voltage level. If the
communication between the inverter and IGBT supply unit is
active, the voltage limits are related to the DC voltage
reference from the IGBT supply unit. Otherwise the limits are
calculated based on the measured DC voltage at the end of
the pre-charging sequence.
This function is also useful if the AC supply voltage to the
drive is high, as the warning levels are raised accordingly.
Disable Adaptive voltage limits disabled. 0
Enable Adaptive voltage limits enabled. 1
95.03 Estimated AC AC supply voltage estimated by calculating using DC voltage. -
supply voltage
0.0…1000.0 V Voltage. 10 = 1 V
95.04 Control board Specifies how the control board of the drive is powered. Internal 24V
supply
Internal 24V The drive control board is powered from the drive power unit 0
it is connected to.
External 24V The drive control board is powered from an external power 1
supply.
Parameters 379

95.20 HW options word 1 Specifies hardware-related options that require differentiated -
parameter defaults.
This parameter is not affected by a parameter restore.
Bit Name Value

0 Supply ferquency 0 = 50 Hz.
60 Hz 1 = 60 Hz.
1…15 Reserved
0000h…FFFFh Hardware options configuration word. 1=1

96
96 System Language selection; access levels; macro selection;
parameter save and restore; control unit reboot; user
parameter sets; unit selection.
96.01 Language Selects the language of the parameter interface and other -
displayed information when viewed on the control panel.
Notes:
• Not all languages listed below are necessarily supported.
• This parameter does not affect the languages visible in the
Drive composer PC tool. (Those are specified under View
– Settings – Drive default language.)
English English. 1033
Deutsch German. 1031
Italiano Italian. 1040
Español Spanish. 3082
Nederlands Dutch. 1043
Français French. 1036
Suomi Finnish. 1035
Svenska Swedish. 1053
Russki Russian. 1049
Polski Polish. 1045
Türkçe Turkish. 1055
Chinese (Simplified, Simplified Chinese. 2052
PRC)
96.02 Pass code Pass codes can be entered into this parameter to activate 0
further access levels (for example additional parameters).
Code 358 allows you to change the value of 96.50 Parameter
lock once.
0…99999999 Pass code. -
96.04 Macro select Selects the control macro. See chapter Control macros (page Done
161) for more information.
After a selection is made, the parameter reverts automatically
to Done.
Done Macro selection complete; normal operation. 0
ABB standard Factory macro (see page 162). 1
Hand/Auto Hand/Auto macro (see page 170). 2
380 Parameters

Hand/PID Hand/PID macro (see page 172). 3
3-wire 3-wire macro see page 164). 11
Alternate Alternate macro see page 166). 12
Motor Motor potentiometer macro (see page 168). 13
potentiometer
PID PID macro (see page 174). 14
96.05 Macro active Shows which control macro is currently selected. See chapter ABB
Control macros (page 161) for more information. standard
To change the macro, use parameter 96.04 Macro select.
ABB standard Factory macro (see page 162). 1
Hand/Auto Hand/Auto macro (see page 170). 2
Hand/PID Hand/PID macro (see page 172). 3
3-wire 3-wire macro see page 164). 11
Alternate Alternate macro see page 166). 12
Motor Motor potentiometer macro (see page 168). 13
potentiometer
PID PID macro (see page 174). 14
96.06 Parameter restore Restores the original settings of the control program, ie. Done
parameter default values.
running.
Done Restoring is completed. 0
Restore defaults All editable parameter values are restored to default values, 8
except
• motor data and ID run results
• I/O extension module settings
• end user texts, such as customized warnings and faults
(external faults and changed), and the drive name
• control panel/PC communication settings
• fieldbus adapter settings
• control macro selection and the parameter defaults
implemented by it
• parameter 95.20 HW options word 1 and the differentiated
defaults implemented by it.
Clear all All editable parameter values are restored to default values, 62
except
• end user texts, such as customized warnings and faults
(external faults and changed), and the drive name
• control panel/PC communication settingsfieldbus adapter
settings.
• control macro selection and the parameter defaults
implemented by it
• parameter 95.20 HW options word 1 and the differentiated
defaults implemented by it.
PC tool communication is interrupted during the restoring.
Parameters 381

96.07 Parameter save Saves the valid parameter values to the permanent memory Done
manually on the drive control unit to ensure that operation can continue
after cycling the power. Save the parameters with this
parameter
• to store values sent from the fieldbus
• when using external +24 V DC power supply to the control
unit: to save parameter changes before you power down
the control unit. The supply has a very short hold-up time
when powered off.
Note: A new parameter value is saved automatically when
changed from the PC tool or control panel but not when
altered through a fieldbus adapter connection.
Done Save completed. 0
Save Save in progress. 1
96.08 Control board boot Changing the value of this parameter to 1 reboots the control 0
unit (without requiring a power off/on cycle of the complete
drive module).
The value reverts to 0 automatically.
0…1 1 = Reboot the control unit. 1=1
96.10 User set status Shows the status of the user parameter sets. -
See also section User parameter sets (page 223).
n/a No user parameter sets have been saved. 0
Loading A user set is being loaded. 1
Saving A user set is being saved. 2
Faulted Invalid or empty parameter set. 3
User1 IO active User set 1 has been selected by parameters 96.12 User set 4
I/O mode in1 and 96.13 User set I/O mode in2.
User1 backup User set 1 has been saved or loaded. 20
382 Parameters

96.11 User set save/load Enables the saving and restoring of up to four custom sets of No action
parameter settings.
The set that was in use before powering down the drive is in
use after the next power-up.
Notes:
• Some hardware configuration settings, such as I/O
extension module, fieldbus and encoder configuration
parameters (groups 14…16, 47, 50…58 and 92…93) are
not included in user parameter sets.
• Parameter changes made after loading a set are not
automatically stored – they must be saved using this
parameter.
running
No action Load or save operation complete; normal operation. 0
User set I/O mode Load user parameter set using parameters 96.12 User set I/O 1
mode in1 and 96.13 User set I/O mode in2.
Load set 1 Load user parameter set 1. 2
Save to set 1 Save user parameter set 1. 18
96.12 User set I/O mode When parameter 96.11 User set save/load is set to User set Not selected
in1 I/O mode, selects the user parameter set together with
parameter 96.13 User set I/O mode in2 as follows:
Status of source Status of source User parameter

defined by par. defined by par. set selected
96.12 96.13
0 0 Set 1
1 0 Set 2
0 1 Set 3
1 1 Set 4
Not selected 0. 0
Selected 1. 1
Parameters 383

96.13 User set I/O mode See parameter 96.12 User set I/O mode in1. Not selected
in2
96.16 Unit selection Selects the unit of parameters indicating power, temperature 00000b
and torque.

0 Power unit 0 = kW
1 = hp
1 Reserved
2 Temperature 0 = °C
unit 1 = °F
3 Reserved
4 Torque unit 0 = Nm (N·m)
1 = lbft (lb·ft)
5…15 Reserved
0000h…FFFFh Unit selection word. 1=1

96.50 Parameter lock Selects the state of the parameter lock. The lock prevents
parameter changing.Note: The parameter lock can be
opened only after entering the correct pass code in parameter
96.02 Pass code.
OPEN Parameter values can be changed. 0
LOCKED Parameter values cannot be changed from the control panel 65535
or PC.
384 Parameters

96
97 Motor control Switching frequency; slip gain; voltage reserve; flux braking;
anti-cogging (signal injection); IR compensation.
97.01 Switching Defines the switching frequency of the drive that is used as 4 kHz
frequency reference long as the drive does not heat too much. See section
Switching frequency on page 201.
Higher switching frequency results in lower acoustic noise.
In multimotor systems, do not change the switching frequency
from the default value.
4 kHz 4 kHz. 4
8 kHz 8 kHz. 8
12 kHz 12 kHz. 12
97.02 Minimum switching Lowest switching frequency that is allowed. 2 kHz
frequency
1.5 kHz 1.5 kHz. 1
2 kHz 2 kHz. 2
4 kHz 4 kHz. 4
8 kHz 8 kHz. 8
12 kHz 12 kHz. 12
97.03 Slip gain Defines the slip gain which is used to improve the estimated 100%
motor slip. 100% means full slip gain; 0% means no slip gain.
The default value is 100%. Other values can be used if a
static speed error is detected despite having the setting at full
slip gain.
Example (with nominal load and nominal slip of 40 rpm): A
1000 rpm constant speed reference is given to the drive.
Despite having full slip gain (= 100%), a manual tachometer
measurement from the motor axis gives a speed value of 998
rpm. The static speed error is 1000 rpm - 998 rpm = 2 rpm. To
compensate the error, the slip gain should be increased to
105% (2 rpm / 40 rpm = 5%).
0…200% Slip gain. 1 = 1%
97.04 Voltage reserve Defines the minimum allowed voltage reserve. When the -2%
voltage reserve has decreased to the set value, the drive
enters the field weakening area.
Note: This is an expert level parameter and should not be
adjusted without appropriate skill.
If the intermediate circuit DC voltage Udc = 550 V and the
voltage reserve is 5%, the RMS value of the maximum output
voltage in steady-state operation is
0.95 × 550 V / sqrt(2) = 369 V
The dynamic performance of the motor control in the field
weakening area can be improved by increasing the voltage
reserve value, but the drive enters the field weakening area
earlier.
-4…50% Voltage reserve. 1 = 1%
97.05 Flux braking Defines the level of flux braking power. (Other stopping and Disabled
braking modes can be configured in parameter group 21
Start/stop mode).
Disabled Flux braking is disabled. 0
Parameters 385

Moderate Flux level is limited during the braking. Deceleration time is 1
longer compared to full braking.
Full Maximum braking power. Almost all available current is used 2
to convert the mechanical braking energy to thermal energy
in the motor.
97.10 Signal injection Enables the anti-cogging function: a high-frequency Disabled
alternating signal is injected to the motor in the low speed
region to improve the stability of torque control. This removes
the “cogging” that can sometimes be seen as the rotor passes
the motor magnetic poles. Anti-cogging can be enabled with
different amplitude levels.
Notes:
• This is an expert level parameter and should not be
• Use as low a level as possible that gives satisfactory
performance.
• Signal injection cannot be applied to asynchronous
motors.
Disabled Anti-cogging disabled. 0
Enabled (5%) Anti-cogging enabled with amplitude level of 5%. 1
97.11 TR tuning Rotor time constant tuning. 100%
This parameter can be used to improve torque accuracy in
closed-loop control of an induction motor. Normally, the motor
identification run provides sufficient torque accuracy, but
manual fine-tuning can be applied in exceptionally
demanding applications to achieve optimal performance.
25…400% Rotor time constant tuning. 1 = 1%
386 Parameters

97.13 IR compensation Defines the relative output voltage boost at zero speed (IR 3.50%
compensation). The function is useful in applications with a
high break-away torque where vector control cannot be
applied.
U / UN
(%)
Relative output voltage. IR

compensation set to 15%.
100%
15% Relative output voltage. No

IR compensation.
f (Hz)
Field weakening point
50% of nominal
frequency
See also section IR compensation for scalar motor control on

page 196.
0.00…50.00% Voltage boost at zero speed in percent of nominal motor 1 = 1%
voltage.
97.20 U/F ratio Selects the form for the U/f (voltage to frequency) ratio below Squared
field weakening point. For scalar control only.
Linear Linear ratio for constant torque applications. 0
Squared Squared ratio for centrifugal pump and fan applications. 1
With squared U/f ratio the noise level is lower for most
operating frequencies. Not recommended for permanent
magnet motors.
98
98 User motor Motor values supplied by the user that are used in the motor
parameters model.
These parameters are useful for non-standard motors, or to
just get more accurate motor control of the motor on site. A
better motor model always improves the shaft performance.
98.01 User motor model Activates the motor model parameters 98.02…98.12 and Not selected
mode 98.14.
Notes:
• Parameter value is automatically set to zero when ID run is
selected by parameter 99.13 ID run requested. The values
of parameters 98.02…98.12 are then updated according to
the motor characteristics identified during the ID run.
• Measurements made directly from the motor terminals
during the ID run are likely to produce slightly different
values than those on a data sheet from a motor
manufacturer.
running.
Not selected Parameters 98.02…98.12 inactive. 0
Parameters 387

Motor parameters The values of parameters 98.02… 98.12 are used as the 1
motor model.
98.02 Rs user Defines the stator resistance RS of the motor model. 0.00000 p.u.
With a star-connected motor, RS is the resistance of one
winding. With a delta-connected motor, RS is one-third of the
resistance of one winding.
0.00000…0.50000 Stator resistance in per unit. -
p.u.
98.03 Rr user Defines the rotor resistance R R of the motor model. 0.00000 p.u.
Note: This parameter is valid only for asynchronous motors.
0.00000…0.50000 Rotor resistance in per unit. -
p.u.
98.04 Lm user Defines the main inductance LM of the motor model. 0.00000 p.u.
0.00000… Main inductance in per unit. -
10.00000 p.u.
98.05 SigmaL user Defines the leakage inductance σL S. 0.00000 p.u.
0.00000…1.00000 Leakage inductance in per unit. -
p.u.
98.06 Ld user Defines the direct axis (synchronous) inductance. 0.00000 p.u.
Note: This parameter is valid only for permanent magnet
motors.
0.00000 … Direct axis inductance in per unit. -
10.00000 p.u
98.07 Lq user Defines the quadrature axis (synchronous) inductance. 0.00000 p.u.
motors.
0.00000 … Quadrature axis inductance in per unit. -
10.00000 p.u
98.08 PM flux user Defines the permanent magnet flux. 0.00000 p.u.
motors.
0.00000 … 2.00000 Permanent magnet flux in per unit. -
p.u
98.09 Rs user SI Defines the stator resistance RS of the motor model. 0.00000 ohm
0.00000… Stator resistance. -
100.00000 ohm
98.10 Rr user SI Defines the rotor resistance R R of the motor model. 0.00000 ohm
0.00000… Rotor resistance. -
100.00000 ohm
98.11 Lm user SI Defines the main inductance LM of the motor model. 0.00 mH
0.00…100000.00 Main inductance. 1 = 10000
mH mH
388 Parameters

98.12 SigmaL user SI Defines the leakage inductance σLS. 0.00 mH
0.00…100000.00 Leakage inductance. 1 = 10000
mH mH
98.13 Ld user SI Defines the direct axis (synchronous) inductance. 0.00 mH
motors.
0.00 …100000.00 Direct axis inductance. 1 = 10000
mH mH
98.14 Lq user SI Defines the quadrature axis (synchronous) inductance. 0.00 mH
motors.
0.00 …100000.00 Quadrature axis inductance. 1 = 10000
mH mH
99
99 Motor data Motor configuration settings.
99.03 Motor type Selects the motor type. Asynchro-
Note: This parameter cannot be changed while the drive is nous motor
running.
Asynchronous Standard squirrel cage AC induction motor (asynchronous 0
motor induction motor).
Permanent magnet Permanent magnet motor. Three-phase AC synchronous 1
motor motor with permanent magnet rotor and sinusoidal BackEMF
voltage.
99.04 Motor control mode Selects the motor control mode. Scalar
Vector Vector control. Vector control has better accuracy than scalar 0
control but cannot be used in all situations (see selection
Scalar below).
Requires motor identification run (ID run). See parameter
99.13 ID run requested.
Note: In vector control the drive performs a standstill ID run at
the first start if ID run has not been previously performed. A
restart is required to get the drive operational.
Note: To achieve a better motor control performance, you can
perform a normal ID run without load.
Scalar Scalar control. Suitable for most applications, if top 1
performance is not required.
Motor identification run is not required.
Note: Scalar control must be used in the following situations:
• with multimotor applications 1) if the load is not equally
shared between the motors, 2) if the motors are of different
sizes, or 3) if the motors are going to be changed after the
motor identification (ID run)
• if the nominal current of the motor is less than 1/6 of the
nominal output current of the drive
• if the drive is used with no motor connected (for example,
for test purposes).
Note: Correct motor operation requires that the magnetizing
current of the motor does not exceed 90% of the nominal
current of the inverter.
See also section Speed control performance figures (page
195), and section Operating modes of the drive (page 183).
Parameters 389

99.06 Motor nominal Defines the nominal motor current. Must be equal to the value 0.0 A
current on the motor rating plate. If multiple motors are connected to
the drive, enter the total current of the motors.
Notes:
• Correct motor operation requires that the magnetizing
current of the motor does not exceed 90% of the nominal
current of the drive.
running.
0.0…6400.0 A Nominal current of the motor. The allowable range is 1/6…2 × 1=1A
IN of the drive (0…2 × IN with scalar control mode).
99.07 Motor nominal Defines the nominal motor voltage supplied to the motor. This 0.0 V
voltage setting must match the value on the rating plate of the motor.
Notes:
• With permanent magnet motors, the nominal voltage is the
BackEMF voltage at nominal speed of the motor. If the
voltage is given as voltage per rpm, e.g. 60 V per
1000 rpm, the voltage for a nominal speed of 3000 rpm is
3 × 60 V = 180 V. Note that the nominal voltage is not
equal to the equivalent DC motor voltage (EDCM)
specified by some motor manufacturers. The nominal
voltage can be calculated by dividing the EDCM voltage by
1.7 (or square root of 3).
• The stress on the motor insulation is always dependent on
the drive supply voltage. This also applies to the case
where the motor voltage rating is lower than that of the
drive and the supply.
running.
0.0…800.0 Nominal voltage of the motor. 10 = 1 V
99.08 Motor nominal Defines the nominal motor frequency. This setting must 50.0 Hz
frequency match the value on the rating plate of the motor.
running.
0.0…500.0 Hz Nominal frequency of the motor. 10 = 1 Hz
99.09 Motor nominal Defines the nominal motor speed. The setting must match the 0 rpm
speed value on the rating plate of the motor.
running.
0…30000 rpm Nominal speed of the motor. 1 = 1 rpm
99.10 Motor nominal Defines the nominal motor power. The setting must match the 0.00 kW or
power value on the rating plate of the motor. If multiple motors are hp
connected to the drive, enter the total power of the motors.
The unit is selected by parameter 96.16 Unit selection.
running.
-10000.00… Nominal power of the motor. 1 = 1 unit
10000.00 kW or
-13404.83…
13404.83 hp
390 Parameters

99.11 Motor nominal cos Defines the cosphi of the motor for a more accurate motor 0.00
phi model. (Not applicable to permanent magnet motors.) Not
obligatory; if set, should match the value on the rating plate of
the motor.
running.
0.00…1.00 Cosphi of the motor. 100 = 1
99.12 Motor nominal Defines the nominal motor shaft torque for a more accurate 0.000
torque motor model. Not obligatory. The unit is selected by N·m or lb·ft
parameter 96.16 Unit selection.
running.
0.000… Nominal motor torque. 1 = 100 unit
N·m or lb·ft
99.13 ID run requested Selects the type of the motor identification routine (ID run) None
performed at the next start of the drive. During the ID run, the
drive will identify the characteristics of the motor for optimum
motor control.
If no ID run has been performed yet (or if default parameter
values have been restored using parameter 96.06 Parameter
restore), this parameter is automatically set to Standstill,
signifying that an ID run must be performed.
After the ID run, the drive stops and this parameter is
automatically set to None.
Notes:
• For the Advanced ID run, the machinery must always be
de-coupled from the motor.
• With a permanent magnet or synchronous reluctance
motor, a Normal, Reduced or Standstill ID run requires that
the motor shaft is NOT locked and the load torque is less
than 10%.
• With scalar control mode (99.04 Motor control mode =
Scalar), only the Current measurement calibration ID run
mode is possible.
• Once the ID run is activated, it can be cancelled by
stopping the drive.
• The ID run must be performed every time any of the motor
parameters (99.04, 99.06…99.12) have been changed.
• Ensure that the Safe Torque Off and emergency stop
circuits (if any) are closed during the ID run.
• Mechanical brake (if present) is not opened by the logic for
the ID run.
running.
None No motor ID run is requested. This mode can be selected 0
only if the ID run (Normal/Reduced/Standstill/Advanced) has
already been performed once.
Parameters 391

Normal Normal ID run. Guarantees good control accuracy for all 1
cases. The ID run takes about 90 seconds. This mode should
be selected whenever it is possible.
Notes:
• If the load torque will be higher than 20% of motor nominal
torque, or if the machinery is not able to withstand the
nominal torque transient during the ID run, then the driven
machinery must be de-coupled from the motor during a
Normal ID run.
• Check the direction of rotation of the motor before starting
the ID run. During the run, the motor will rotate in the
forward direction.
WARNING! The motor will run at up to approximately
50…100% of the nominal speed during the ID run.
ENSURE THAT IT IS SAFE TO RUN THE MOTOR
BEFORE PERFORMING THE ID RUN!
Reduced Reduced ID run. This mode should be selected instead of the 2
Normal or Advanced ID Run if
• mechanical losses are higher than 20% (ie. the motor
cannot be de-coupled from the driven equipment), or if
• flux reduction is not allowed while the motor is running (ie.
in case of a motor with an integrated brake supplied from
the motor terminals).
With this ID run mode, the resultant motor control in the field
weakening area or at high torques is not necessarily as
accurate as motor control following a Normal ID run. Reduced
ID run is completed faster than the Normal ID Run (< 90
seconds).
Note: Check the direction of rotation of the motor before
starting the ID run. During the run, the motor will rotate in the
forward direction.
WARNING! The motor will run at up to approximately
50…100% of the nominal speed during the ID run.
ENSURE THAT IT IS SAFE TO RUN THE MOTOR
BEFORE PERFORMING THE ID RUN!
Standstill Standstill ID run. The motor is injected with DC current. With 3
an AC induction (asynchronous) motor, the motor shaft is not
rotated. With a permanent magnet motor, the shaft can rotate
up to half a revolution.
Note: This mode should be selected only if the Normal,
Reduced or Advanced ID run is not possible due to the
restrictions caused by the connected mechanics (e.g. with lift
or crane applications).
Current Current offset and gain measurement calibration is set to 5
measurement calibrate the control loops. The calibration will be performed
calibration at next start. Only for frames R5…R9.
392 Parameters

Advanced Advanced ID run. Guarantees the best possible control 6
accuracy. The ID run can take a couple of minutes. This mode
should be selected when top performance is needed across
the whole operating area.
Note: The driven machinery must be de-coupled from the
motor because of high torque and speed transients that are
applied.
WARNING! The motor may run at up to the maximum
(positive) and minimum (negative) allowed speed
during the ID run. Several accelerations and
decelerations are done. The maximum torque, current and
speed allowed by the limit parameters may be utilized.
ENSURE THAT IT IS SAFE TO RUN THE MOTOR BEFORE
PERFORMING THE ID RUN!
99.14 Last ID run Shows the type of ID run that was performed last. For more None
performed information about the different modes, see the selections of
parameter 99.13 ID run requested.
None No ID run has been performed. 0
Normal Normal ID run. 1
Reduced Reduced ID run. 2
Standstill Standstill ID run. 3
Current Current measurement calibration. 5
measurement
calibration
Advanced Advanced ID run. 6
99.15 Motor polepairs Calculated number of pole pairs in the motor. 0
calculated
0…1000 Number of pole pairs. 1=1
99.16 Motor phase order Switches the rotation direction of motor. This parameter can UVW
be used if the motor turns in the wrong direction (for example,
because of the wrong phase order in the motor cable), and
correcting the cabling is considered impractical.
Notes:
• Changing this parameter does not affect speed reference
polarities, so positive speed reference will rotate the motor
forward. The phase order selection just ensures that
“forward” is in fact the correct direction.
UVW Normal. 0
UWV Reversed rotation direction. 1
Additional parameter data 393
14
Additional parameter data
This chapter lists the parameters with some additional data such as their ranges and
32-bit fieldbus scaling. For parameter descriptions, see chapter Parameters (page
225).

Term Definition
Actual signal Signal measured or calculated by the drive. Usually can only be monitored
but not adjusted; some counter-type signals can however be reset.
Analog src Analog source: the parameter can be set to the value of another parameter
by choosing “Other”, and selecting the source parameter from a list.
In addition to the “Other” selection, the parameter may offer other pre-
selected settings.
Binary src Binary source: the value of the parameter can be taken from a specific bit
in another parameter value (“Other”). Sometimes the value can be fixed to
0 (false) or 1 (true). In addition, the parameter
may offer other pre-selected settings.
Data Data parameter
FbEq32 32-bit fieldbus equivalent: The scaling between the value shown on the
panel and the integer used in communication when a 32-bit value is
selected for transmission to an external system.
The corresponding 16-bit scalings are listed in chapter Parameters (page
225).
394 Additional parameter data
Term Definition
List Selection list.
No. Parameter number.
PB Packed Boolean (bit list).
Real Real number.
Type Parameter type. See Analog src, Binary src, List, PB, Real.
Fieldbus addresses
Refer to the User’s manual of the fieldbus adapter.
Parameter groups 1…9

No. Name Type Range Unit FbEq32
01 Actual values
01.01 Motor speed used Real -30000.00…30000.00 rpm 100 = 1 rpm
01.02 Motor speed estimated Real -30000.00…30000.00 rpm 100 = 1 rpm
01.03 Motor speed % Real -1000.00…1000.00 % 100 = 1%
01.06 Output frequency Real -500.00…500.00 Hz 100 = 1 Hz
01.07 Motor current Real 0.00…30000.00 A 100 = 1 A
01.08 Motor current % of motor nom Real 0.0…1000.0 % 10 = 1%
01.09 Motor current % of drive nom Real 0.0…1000.0 % 10 = 1%
01.10 Motor torque Real -1600.0…1600.0 % 10 = 1%
01.11 DC voltage Real 0.00…2000.00 V 100 = 1 V
01.13 Output voltage Real 0…2000 V 1=1V
01.14 Output power Real -32768.00…32767.00 kW or hp 100 = 1 unit
01.15 Output power % of motor nom Real -300.00…300.00 % 100 = 1%
01.16 Output power % of drive nom Real -300.00…300.00 % 100 = 1%
01.17 Motor shaft power Real -32768.00…32767.00 kW or hp 100 = 1 unit
01.18 Inverter GWh counter Real 0…65535 GWh 1 = 1 GWh
01.19 Inverter MWh counter Real 0…999 MWh 1 = 1 MWh
01.20 Inverter kWh counter Real 0…999 kWh 1 = 1 kWh
01.24 Flux actual % Real 0…200 % 1 = 1%
01.30 Nominal torque scale Real 0.000… N·m or 1000 = 1 unit
lb·ft
01.31 Ambient temperature Real -32768…32767 °C or °F 10 = 1°
01.50 Current hour kWh Real -21474836.48… kWh 100 = 1 kWh
21474836.47
01.51 Previous hour kWh Real -21474836.48… kWh 100 = 1 kWh
21474836.47
01.52 Current day kWh Real -21474836.48… kWh 100 = 1 kWh
21474836.47
01.53 Previous day kWh Real -21474836.48… kWh 100 = 1 kWh
21474836.47
01.61 Abs motor speed used 0.00… 30000.00 rpm 100 = 1 rpm
01.62 Abs motor speed % 0.00… 1000.00% % 100 = 1%
01.63 Abs output frequency 0.00…500.00 Hz Hz 100 = 1 Hz
01.64 Abs motor torque 0.0…1600.0 % 10 = 1%
01.65 Abs output power 0.00… 32767.00 kW 100 = 1 kW
01.66 Abs output power % mot nom 0.00…300.00 % 100 = 1%
01.67 Abs output power % drive nom 0.00…300.00 % 100 = 1%
01.68 Abs motor shaft power 0.00… 32767.00 kW 100 = 1 kW
03 Input references
03.01 Panel reference Real -100000.00…100000.00 - 100 = 1
03.05 FB A reference 1 Real -100000.00…100000.00 - 100 = 1

03.06 FB A reference 2 Real -100000.00…100000.00 - 100 = 1
03.09 EFB reference 1 Real -30000.00…30000.00 - 100 = 1
03.10 EFB reference 2 Real -30000.00…30000.00 - 100 = 1
04 Warnings and faults
04.01 Tripping fault Data 0000h…FFFFh - 1=1
04.02 Active fault 2 Data 0000h…FFFFh - 1=1
04.06 Active warning 1 Data 0000h…FFFFh - 1=1
04.11 Latest fault Data 0000h…FFFFh - 1=1
04.12 2nd latest fault Data 0000h…FFFFh - 1=1
04.13 3rd latest fault Data 0000h…FFFFh - 1=1
04.14 4th latest fault Data 0000h…FFFFh - 1=1
04.15 5th latest fault Data 0000h…FFFFh - 1=1
04.16 Latest warning Data 0000h…FFFFh - 1=1
04.17 2nd latest warning Data 0000h…FFFFh - 1=1
04.18 3rd latest warning Data 0000h…FFFFh - 1=1
04.19 4th latest warning Data 0000h…FFFFh - 1=1
04.20 5th latest warning Data 0000h…FFFFh - 1=1
05 Diagnostics
05.01 On-time counter Real 0…65535 d 1=1d
05.02 Run-time counter Real 0…65535 d 1=1d
05.04 Fan on-time counter Real 0…65535 d 1=1d
05.10 Control board temperature Real -32768.00…32767.00 °C or °F 10 = 1 °C
05.11 Inverter temperature Real -40.0…160.0 % 10 = 1%
05.22 Diagnostic word 3 PB 0000h…FFFFh -
06 Control and status words
06.01 Main control word PB 0000h…FFFFh - 1=1
06.11 Main status word PB 0000h…FFFFh - 1=1
06.16 Drive status word 1 PB 0000h…FFFFh - 1=1
06.18 Start inhibit status word PB 0000h…FFFFh - 1=1
06.19 Speed control status word PB 0000h…FFFFh - 1=1
06.20 Constant speed status word PB 0000h…FFFFh - 1=1

06.30 MSW bit 11 selection Binary - - 1=1
src
src
src
src
07 System info
07.03 Drive rating id List 0…999 - 1=1
07.04 Firmware name List - - 1=1
07.05 Firmware version Data - - 1=1
07.06 Loading package name List - - 1=1
07.07 Loading package version Data - - 1=1
07.11 Cpu usage Real 0…100 % 1 = 1%
Parameter groups 10…99

10 Standard DI, RO
10.02 DI delayed status PB 0000h…FFFFh - 1=1
10.03 DI force selection PB 0000h…FFFFh - 1=1
10.04 DI forced data PB 0000h…FFFFh - 1=1
10.21 RO status PB 0000h…FFFFh - 1=1
10.22 RO force selection PB 0000h…FFFFh - 1=1
10.23 RO forced data PB 0000h…FFFFh - 1=1
10.24 RO1 source Binary - - 1=1
src
10.25 RO1 ON delay Real 0.0…3000.0 s 10 = 1 s
10.26 RO1 OFF delay Real 0.0…3000.0 s 10 = 1 s
src
src
10.101 RO1 toggle counter Real 0…4294967000 - 1=1
11 Standard DIO, FI, FO
11.25 DI6 configuration List 0…1 - 1=1
11.38 Freq in 1 actual value Real 0…16000 Hz 1 = 1 Hz
11.39 Freq in 1 scaled value Real -32768.000…32767.000 - 1000 = 1
11.42 Freq in 1 min Real 1…16000 Hz 1 = 1 Hz
11.43 Freq in 1 max Real 1…16000 Hz 1 = 1 Hz
11.44 Freq in 1 at scaled min Real -32768.000…32767.000 - 1000 = 1
11.45 Freq in 1 at scaled max Real -32768.000…32767.000 - 1000 = 1
12 Standard AI
12.02 AI force selection PB 0000h…FFFFh - 1=1
12.03 AI supervision function List 0…4 - 1=1
12.04 AI supervision selection PB 0000h…FFFFh - 1=1
12.11 AI1 actual value Real 4.000…20.000 mA or mA or V 1000 = 1 unit
0.000…10.000 V
12.12 AI1 scaled value Real -32768.000…32767.000 - 1000 = 1
12.13 AI1 forced value Real 4.000…20.000 mA or mA or V 1000 = 1 unit
0.000…10.000 V
12.15 AI1 unit selection List 2, 10 - 1=1
12.16 AI1 filter time Real 0.000…30.000 s 1000 = 1 s

12.17 AI1 min Real 4.000…20.000 mA or mA or V 1000 = 1 unit
0.000…10.000 V
12.18 AI1 max Real 4.000…20.000 mA or mA or V 1000 = 1 unit
0.000…10.000 V
12.19 AI1 scaled at AI1 min Real -32768.000…32767.000 - 1000 = 1
12.20 AI1 scaled at AI1 max Real -32768.000…32767.000 - 1000 = 1
12.21 AI2 actual value Real 4.000…20.000 mA or mA or V 1000 = 1 unit
0.000…10.000 V
12.22 AI2 scaled value Real -32768.000…32767.000 - 1000 = 1
12.23 AI2 forced value Real 4.000…20.000 mA or mA or V 1000 = 1 unit
0.000…10.000 V
12.25 AI2 unit selection List 2, 10 - 1=1
12.26 AI2 filter time Real 0.000…30.000 s 1000 = 1 s
12.27 AI2 min Real 4.000…20.000 mA or mA or V 1000 = 1 unit
0.000…10.000 V
12.28 AI2 max Real 4.000…20.000 mA or mA or V 1000 = 1 unit
0.000…10.000 V
12.29 AI2 scaled at AI2 min Real -32768.000…32767.000 - 1000 = 1
12.30 AI2 scaled at AI2 max Real -32768.000…32767.000 - 1000 = 1
13 Standard AO
13.02 AO force selection PB 0000h…FFFFh - 1=1
13.11 AO1 actual value Real 0.000…22.000 mA 1000 = 1 mA
13.12 AO1 source Analog - - 1=1
src
13.13 AO1 forced value Real 0.000…32767.000 mA 1000 = 1 mA
13.15 AO1 unit selection List 2, 10 - 1=1
13.16 AO1 filter time Real 0.000…30.000 s 1000 = 1 s
13.17 AO1 source min Real -32768.0…32767.0 - 10 = 1
13.18 AO1 source max Real -32768.0…32767.0 - 10 = 1
13.19 AO1 out at AO1 src min Real 0.000…22.000 mA 1000 = 1 mA
13.20 AO1 out at AO1 src max Real 0.000…22.000 mA 1000 = 1 mA
13.21 AO2 actual value Real 0.000…22.000 mA 1000 = 1 mA
13.22 AO2 source Analog - - 1=1
src
13.23 AO2 forced value Real 0.000…22.000 mA 1000 = 1 mA
13.26 AO2 filter time Real 0.000…30.000 s 1000 = 1 s
13.27 AO2 source min Real -32768.0…32767.0 - 10 = 1
13.28 AO2 source max Real -32768.0…32767.0 - 10 = 1
13.29 AO2 out at AO2 src min Real 0.000…22.000 mA 1000 = 1 mA
13.30 AO2 out at AO2 src max Real 0.000…22.000 mA 1000 = 1 mA
15 I/O extension module
15.01 Extension module type List 0…3 - 1=1
15.02 Detected extension module List 0…3 - 1=1
15.03 DI status PB 0000h…FFFFh - 1=1

15.04 RO/DO status PB 0000h…FFFFh - 1=1
15.05 RO/DO force selection PB 0000h…FFFFh - 1=1
15.06 RO/DO forced data PB 0000h…FFFFh - 1=1
src
src
15.22 DO1 configuration List 0…1 - 1=1
15.23 DO1 source Binary - - 1=1
src
15.24 DO1 ON delay Real 0.0…3000.0 s 10 = 1 s
15.25 DO1 OFF delay Real 0.0…3000.0 s 10 = 1 s
15.32 Freq out 1 actual value Real 0…16000 Hz 1 = 1 Hz
15.33 Freq out 1 source Analog - - 1=1
src
15.34 Freq out 1 src min Real -32768.0…32767.0 - 1000 = 1
15.35 Freq out 1 src max Real -32768.0…32767.0 - 1000 = 1
15.36 Freq out 1 at src min Real 0…16000 Hz 1 = 1 Hz
15.37 Freq out 1 at src max Real 0…16000 Hz 1 = 1 Hz
19 Operation mode
19.01 Actual operation mode List 1…6, 10…11, 20 - 1=1
19.11 Ext1/Ext2 selection Binary - - 1=1
src
19.12 Ext1 control mode List 1…5 - 1=1
19.14 Ext2 control mode List 1…5 - 1=1
19.16 Local control mode List 0…1 - 1=1
19.17 Local control disable List 0…1 - 1=1
20 Start/stop/direction
20.01 Ext1 commands List 0…6, 11…12, 14 - 1=1
20.02 Ext1 start trigger type List 0…1 - 1=1
20.03 Ext1 in1 source Binary - - 1=1
src
src
src
20.06 Ext2 commands List 0…6, 11…12, 14 - 1=1
20.07 Ext2 start trigger type List 0…1 - 1=1
src

src
src
20.11 Run enable stop mode List 0…2 - 1=1
20.12 Run enable 1 source Binary - - 1=1
src
20.19 Enable start command Binary - - 1=1
src
20.21 Direction List 0…2 - 1=1
20.22 Enable to rotate Binary - - 1=1
src
20.25 Jogging enable Binary - - 1=1
src
20.26 Jogging 1 start source Binary - - 1=1
src
20.27 Jogging 2 start source Binary - - 1=1
src
21 Start/stop mode
21.01 Vector start mode List 0…2 - 1=1
21.02 Magnetization time Real 0…10000 ms 1 = 1 ms
21.03 Stop mode List 0…5 - 1=1
21.04 Emergency stop mode List 0…3 - 1=1
21.05 Emergency stop source Binary - - 1=1
src
21.06 Zero speed limit Real 0.00…30000.00 rpm 100 = 1 rpm
21.07 Zero speed delay Real 0…30000 ms 1 = 1 ms
21.08 DC current control PB 00b…11b - 1=1
21.09 DC hold speed Real 0.00…1000.00 rpm 100 = 1 rpm
21.10 DC current reference Real 0.0…100.0 % 10 = 1%
21.11 Post magnetization time Real 0…3000 s 1=1s
21.14 Pre-heating input source Binary - - 1=1
src
21.16 Pre-heating current Real 0.0…30.0 % 10 = 1%
21.18 Auto restart time Real 0.0, 0.1 … 10.0 s 10 = 1 s
21.19 Scalar start mode List 0…2 - 1=1
21.21 DC hold frequency Real 0.00…1000.00 Hz 100 = 1 Hz
21.22 Start delay Real 0.00…60.00 s 100 = 1 s
21.30 Speed comp stop delay Real 0.00…1000.00 s 100 = 1 s
21.31 Speed comp stop threshold Real 0…100 % 1 = 1%
22 Speed reference selection
22.01 Speed ref unlimited Real -30000.00…30000.00 rpm 100 = 1 rpm
22.11 Ext1 speed ref1 Analog - - 1=1
src

src
22.13 Ext1 speed function List 0…5 - 1=1
src
src
22.20 Ext2 speed function List 0…5 - 1=1
22.21 Constant speed function PB 00b…11b - 1=1
22.22 Constant speed sel1 Binary - - 1=1
src
src
src
22.26 Constant speed 1 Real -30000.00…30000.00 rpm 100 = 1 rpm
22.41 Speed ref safe Real -30000.00…30000.00 rpm 100 = 1 rpm
22.42 Jogging 1 ref Real -30000.00…30000.00 rpm 100 = 1 rpm
22.43 Jogging 2 ref Real -30000.00…30000.00 rpm 100 = 1 rpm
22.51 Critical speed function PB 00b…11b - 1=1
22.52 Critical speed 1 low Real -30000.00…30000.00 rpm 100 = 1 rpm
22.53 Critical speed 1 high Real -30000.00…30000.00 rpm 100 = 1 rpm
22.71 Motor potentiometer function List 0…3 - 1=1
22.72 Motor potentiometer initial Real -32768.00…32767.00 - 100 = 1
value
22.73 Motor potentiometer up source Binary - - 1=1
src
22.74 Motor potentiometer down Binary - - 1=1
source src
22.75 Motor potentiometer ramp time Real 0.0…3600.0 s 10 = 1 s
22.76 Motor potentiometer min value Real -32768.00…32767.00 - 100 = 1
22.77 Motor potentiometer max Real -32768.00…32767.00 - 100 = 1
value
22.80 Motor potentiometer ref act Real -32768.00…32767.00 - 100 = 1

22.86 Speed reference act 6 Real -30000.00…30000.00 rpm 100 = 1 rpm
22.87 Speed reference act 7 Real -30000.00…30000.00 rpm 100 = 1 rpm
23 Speed reference ramp
23.01 Speed ref ramp input Real -30000.00…30000.00 rpm 100 = 1 rpm
23.02 Speed ref ramp output Real -30000.00…30000.00 rpm 100 = 1 rpm
23.11 Ramp set selection Binary - - 1=1
src
23.12 Acceleration time 1 Real 0.000 …1800.000 s 1000 = 1 s
23.13 Deceleration time 1 Real 0.000 …1800.000 s 1000 = 1 s
23.14 Acceleration time 2 Real 0.000 …1800.000 s 1000 = 1 s
23.15 Deceleration time 2 Real 0.000 …1800.000 s 1000 = 1 s
23.20 Acc time jogging Real 0.000 …1800.000 s 1000 = 1 s
23.21 Dec time jogging Real 0.000 …1800.000 s 1000 = 1 s
23.23 Emergency stop time Real 0.000 …1800.000 s 1000 = 1 s
23.28 Variable slope enable List 0…1 - 1=1
23.29 Variable slope rate Real 2…30000 ms 1 = 1 ms
23.32 Shape time 1 Real 0.000 …1800.000 s 1000 = 1 s
23.33 Shape time 2 Real 0.000 …1800.000 s 1000 = 1 s
24 Speed reference conditioning
24.01 Used speed reference Real -30000.00…30000.00 rpm 100 = 1 rpm
24.02 Used speed feedback Real -30000.00…30000.00 rpm 100 = 1 rpm
24.03 Speed error filtered Real -30000.0…30000.0 rpm 100 = 1 rpm
24.04 Speed error inverted Real -30000.0…30000.0 rpm 100 = 1 rpm
24.11 Speed correction Real -10000.00…10000.00 rpm 100 = 1 rpm
24.12 Speed error filter time Real 0…10000 ms 1 = 1 ms
25 Speed control
25.01 Torque reference speed Real -1600.0…1600.0 % 10 = 1%
control
25.02 Speed proportional gain Real 0.00…250.00 - 100 = 1
25.03 Speed integration time Real 0.00…1000.00 s 100 = 1 s
25.04 Speed derivation time Real 0.000…10.000 s 1000 = 1 s
25.05 Derivation filter time Real 0…10000 ms 1 = 1 ms
25.06 Acc comp derivation time Real 0.00…1000.00 s 100 = 1 s
25.07 Acc comp filter time Real 0.0…1000.0 ms 10 = 1 ms
25.15 Proportional gain em stop Real 1.00…250.00 - 100 = 1
25.53 Torque prop reference Real -30000.0…30000.0 % 10 = 1%
25.54 Torque integral reference Real -30000.0…30000.0 % 10 = 1%
25.55 Torque deriv reference Real -30000.0…30000.0 % 10 = 1%
25.56 Torque acc compensation Real -30000.0…30000.0 % 10 = 1%
26 Torque reference chain
26.01 Torque reference to TC Real -1600.0…1600.0 % 10 = 1%

26.02 Torque reference used Real -1600.0…1600.0 % 10 = 1%
26.08 Minimum torque ref Real -1000.0…0.0 % 10 = 1%
26.09 Maximum torque ref Real 0.0…1000.0 % 10 = 1%
26.11 Torque ref1 source Analog - - 1=1
src
26.12 Torque ref2 source Analog - - 1=1
src
26.13 Torque ref1 function List 0…5 - 1=1
26.14 Torque ref1/2 selection Binary - - 1=1
src
26.17 Torque ref filter time Real 0.000…30.000 s 1000 = 1 s
26.18 Torque ramp up time Real 0.000…60.000 s 1000 = 1 s
26.19 Torque ramp down time Real 0.000…60.000 s 1000 = 1 s
26.21 Torque sel torque in Binary - - 1=1
src
26.22 Torque sel speed in Binary - - 1=1
src
26.70 Torque reference act 1 Real -1600.0…1600.0 % 10 = 1%
26.74 Torque ref ramp out Real -1600.0…1600.0 % 10 = 1%
28 Frequency reference chain
28.01 Frequency ref ramp input Real -500.00…500.00 Hz 100 = 1 Hz
28.02 Frequency ref ramp output Real -500.00…500.00 Hz 100 = 1 Hz
28.11 Ext1 frequency ref1 Analog - - 1=1
src
src
28.13 Ext1 frequency function List 0…5 - 1=1
src
src
28.17 Ext2 frequency function List 0…5 - 1=1
28.21 Constant frequency function PB 00b…11b - 1=1
28.22 Constant frequency sel1 Binary - - 1=1
src
src
src
28.26 Constant frequency 1 Real -500.00…500.00 Hz 100 = 1 Hz

28.41 Frequency ref safe Real -500.00…500.00 Hz 100 = 1 Hz
28.51 Critical frequency function PB 00b…11b - 1=1
28.52 Critical frequency 1 low Real -500.00…500.00 Hz 100 = 1 Hz
28.53 Critical frequency 1 high Real -500.00…500.00 Hz 100 = 1 Hz
28.71 Freq ramp set selection Binary - - 1=1
src
28.72 Freq acceleration time 1 Real 0.000…1800.000 s 1000 = 1 s
28.73 Freq deceleration time 1 Real 0.000…1800.000 s 1000 = 1 s
28.74 Freq acceleration time 2 Real 0.000…1800.000 s 1000 = 1 s
28.75 Freq deceleration time 2 Real 0.000…1800.000 s 1000 = 1 s
28.76 Freq ramp in zero source Binary - - 1=1
src
28.82 Shape time 1 Real 0.000…1800.000 s 1000 = 1 s
28.83 Shape time 2 Real 0.000…1800.000 s 1000 = 1 s
28.92 Frequency ref act 3 Real -500.00…500.00 Hz 100 = 1 Hz
28.96 Frequency ref act 7 Real -500.00…500.00 Hz 100 = 1 Hz
30 Limits
30.01 Limit word 1 PB 0000h…FFFFh - 1=1
30.02 Torque limit status PB 0000h…FFFFh - 1=1
30.11 Minimum speed Real -30000.00…30000.00 rpm 100 = 1 rpm
30.12 Maximum speed Real -30000.00…30000.00 rpm 100 = 1 rpm
30.13 Minimum frequency Real -500.00…500.00 Hz 100 = 1 Hz
30.14 Maximum frequency Real -500.00…500.00 Hz 100 = 1 Hz
30.17 Maximum current Real 0.00…30000.00 A 100 = 1 A
30.18 Torq lim sel Binary - - 1=1
src
30.19 Minimum torque 1 Real -1600.0…0.0 % 10 = 1%
30.20 Maximum torque 1 Real 0.0…1600.0 % 10 = 1%
30.21 Min torque 2 source Analog - - 1=1
src
30.22 Max torque 2 source Analog - - 1=1
src
30.23 Minimum torque 2 Real -1600.0…0.0 % 10 = 1%
30.24 Maximum torque 2 Real 0.0…1600.0 % 10 = 1%

30.26 Power motoring limit Real 0.00…600.00 % 100 = 1%
30.27 Power generating limit Real -600.00…0.00 % 100 = 1%
30.30 Overvoltage control List 0…1 - 1=1
30.31 Undervoltage control List 0…1 - 1=1
31 Fault functions
31.01 External event 1 source Binary - - 1=1
src
31.02 External event 1 type List 0…1 - 1=1
src
src
src
src
31.11 Fault reset selection Binary - - 1=1
src
31.12 Autoreset selection PB 0000h…FFFFh - 1=1
31.13 Selectable fault Real 0000h…FFFFh - 1=1
31.14 Number of trials Real 0…5 - 1=1
31.15 Total trials time Real 1.0…600.0 s 10 = 1 s
31.16 Delay time Real 0.0…120.0 s 10 = 1 s
31.19 Motor phase loss List 0…1 - 1=1
31.20 Earth fault List 0…2 - 1=1
31.21 Supply phase loss List 0…1 - 1=1
31.22 STO indication run/stop List 0…3 - 1=1
31.23 Cross connection List 0…1 - 1=1
31.24 Stall function List 0…2 - 1=1
31.25 Stall current limit Real 0.0…1600.0 % 10 = 1%
31.26 Stall speed limit Real 0.00…10000.00 rpm 100 = 1 rpm
31.27 Stall frequency limit Real 0.00…1000.00 Hz 100 = 1 Hz
31.28 Stall time Real 0…3600 s 1=1s
31.30 Overspeed trip margin Real 0.00…10000.00 rpm 100 = 1 rpm
31.32 Emergency ramp supervision Real 0…300 % 1 = 1%
31.33 Emergency ramp supervision Real 0…100 s 1=1s
delay
32 Supervision
32.01 Supervision status PB 000…111b - 1=1

32.05 Supervision 1 function List 0…6 - 1=1
32.06 Supervision 1 action List 0…2 - 1=1
32.07 Supervision 1 signal Analog - - 1=1
src
32.08 Supervision 1 filter time Real 0.000…30.000 s 1000 = 1 s
32.09 Supervision 1 low Real -21474830.00… - 100 = 1
21474830.00
32.10 Supervision 1 high Real -21474830.00… - 100 = 1
21474830.00
32.11 Supervision 1 hysteresis Real 0.00…100000.00 - 100 = 1
src
21474830.00
21474830.00
src
21474830.00
21474830.00
src
21474830.00
21474830.00
src

21474830.00
21474830.00
src
21474830.00
21474830.00
34 Timed functions
34.01 Combined timer status PB 0000h…FFFFh - 1=1
34.02 Timer status PB 0000h…FFFFh - 1=1
34.04 Season/exception day status PB 0000h…FFFFh - 1=1
34.10 Timed functions enable Binary - - 1=1
src
34.11 Timer 1 configuration PB 0000h…FFFFh - 1=1
34.12 Timer 1 start time Time 00:00:00…23:59:59 s 1=1s
34.13 Timer 1 duration Duration 00 00:00…07 00:00 min 1 = 1 min

34.60 Season 1 start date Date 01.01…31.12 d 1=1d
34.70 Number of active exceptions Real 0…16 - 1=1
34.71 Exception types PB 0000h…FFFFh - 1=1
34.72 Exception 1 start Date 01.01…31.12 d 1=1d
34.73 Exception 1 length Real 0…60 d 1=1d
34.78 Exception day 4 Date 01.01…31.12 d 1=1d
34.100 Combined timer 1 PB 0000h…FFFFh - 1=1

34.110 Extra time function PB 0000h…FFFFh - 1=1
34.111 Extra time activation source Binary - - 1=1
src
34.112 Extra time duration Duration 00 00:00…07 00:00 min 1 = 1 min
35 Motor thermal protection
35.01 Motor estimated temperature Real -60…1000 °C or °C or °F 1 = 1°
-76…1832 °F
35.02 Measured temperature 1 Real -10…1000 °C or °C, °F or 1 = 1 unit
14…1832 °F ohm
35.03 Measured temperature 2 Real -10…1000 °C or °C, °F or 1 = 1 unit
14…1832 °F ohm
35.11 Temperature 1 source List 0…2, 5…7, 11…17 - 1=1
35.14 Temperature 1 AI source Analog - - 1=1
src
35.21 Temperature 2 source List 0…2, 5…7, 11…17 - 1=1
35.24 Temperature 2 AI source Analog - - 1=1
src
35.50 Motor ambient temperature Real -60…100 °C or °C 1=1°
-75 … 212 °F
35.51 Motor load curve Real 50…150 % 1 = 1%
35.52 Zero speed load Real 50…150 % 1 = 1%
35.53 Break point Real 1.00 … 500.00 Hz 100 = 1 Hz
35.54 Motor nominal temperature Real 0…300 °C or 32…572 °F °C or °F 1 = 1°
rise
35.55 Motor thermal time const Real 100…10000 s 1=1s
36 Load analyzer
36.01 PVL signal source Analog - - 1=1
src
36.02 PVL filter time Real 0.00…120.00 s 100 = 1 s
36.06 AL2 signal source Analog - - 1=1
src
36.07 AL2 signal scaling Real 0.00…32767.00 - 100 = 1
36.09 Reset loggers List 0…3 - 1=1
36.10 PVL peak value Real -32768.00…32767.00 - 100 = 1
36.11 PVL peak date Data - - 1=1
36.12 PVL peak time Data - - 1=1
36.13 PVL current at peak Real -32768.00…32767.00 A 100 = 1 A
36.14 PVL DC voltage at peak Real 0.00…2000.00 V 100 = 1 V
36.15 PVL speed at peak Real -30000… 30000 rpm 100 = 1 rpm
36.16 PVL reset date Data - - 1=1
36.17 PVL reset time Data - - 1=1
36.20 AL1 0 to 10% Real 0.00…100.00 % 100 = 1%
36.21 AL1 10 to 20% Real 0.00…100.00 % 100 = 1%

36.22 AL1 20 to 30% Real 0.00…100.00 % 100 = 1%
36.23 AL1 30 to 40% Real 0.00…100.00 % 100 = 1%
36.24 AL1 40 to 50% Real 0.00…100.00 % 100 = 1%
36.25 AL1 50 to 60% Real 0.00…100.00 % 100 = 1%
36.26 AL1 60 to 70% Real 0.00…100.00 % 100 = 1%
36.27 AL1 70 to 80% Real 0.00…100.00 % 100 = 1%
36.28 AL1 80 to 90% Real 0.00…100.00 % 100 = 1%
36.29 AL1 over 90% Real 0.00…100.00 % 100 = 1%
36.40 AL2 0 to 10% Real 0.00…100.00 % 100 = 1%
36.41 AL2 10 to 20% Real 0.00…100.00 % 100 = 1%
36.42 AL2 20 to 30% Real 0.00…100.00 % 100 = 1%
36.43 AL2 30 to 40% Real 0.00…100.00 % 100 = 1%
36.44 AL2 40 to 50% Real 0.00…100.00 % 100 = 1%
36.45 AL2 50 to 60% Real 0.00…100.00 % 100 = 1%
36.46 AL2 60 to 70% Real 0.00…100.00 % 100 = 1%
36.47 AL2 70 to 80% Real 0.00…100.00 % 100 = 1%
36.48 AL2 80 to 90% Real 0.00…100.00 % 100 = 1%
36.49 AL2 over 90% Real 0.00…100.00 % 100 = 1%
36.50 AL2 reset date Data - - 1=1
36.51 AL2 reset time Data - - 1=1
37 User load curve
37.01 ULC output status word PB 0000h…FFFFh - 1=1
37.02 ULC supervision signal Analog - - 1=1
src
37.03 ULC overload actions List 0…3 - 1=1
37.04 ULC underload actions List 0…3 - 1=1
37.11 ULC speed table point 1 Real -30000.0…30000.0 rpm 10 = 1 rpm
37.16 ULC frequency table point 1 Real -500.0…500.0 Hz 10 = 1 Hz
37.21 ULC underload point 1 Real -1600.0…1600.0 % 10 = 1%

37.31 ULC overload point 1 Real -1600.0…1600.0 % 10 = 1%
37.41 ULC overload timer Real 0.0…10000.0 s 10 = 1 s
37.42 ULC underload timer Real 0.0…10000.0 s 10 = 1 s
40 Process PID set 1
40.01 Process PID output actual Real -32768.00…32767.00 rpm, % or 100 = 1 unit
Hz
40.02 Process PID feedback actual Real -32768.00…32767.00 rpm, % or 100 = 1 unit
Hz
40.03 Process PID setpoint actual Real -32768.00…32767.00 rpm, % or 100 = 1 unit
Hz
40.04 Process PID deviation actual Real -32768.00…32767.00 rpm, % or 100 = 1 unit
Hz
40.06 Process PID status word PB 0000h…FFFFh - 1=1
40.07 Process PID operation mode List 0…2 - 1=1
40.08 Set 1 feedback 1 source Analog - - 1=1
src
src
40.10 Set 1 feedback function List 0…11 - 1=1
40.11 Set 1 feedback filter time Real 0.000…30.000 s 1000 = 1 s
40.16 Set 1 setpoint 1 source Analog - - 1=1
src
src
40.18 Set 1 setpoint function List 0…11 - 1=1
40.19 Set 1 internal setpoint sel1 Binary - - 1=1
src
src
40.21 Set 1 internal setpoint 1 Real -32768.00…32767.00 rpm, % or 100 = 1 unit
Hz
Hz
Hz
40.26 Set 1 setpoint min Real -32768.00…32767.00 - 100 = 1
40.27 Set 1 setpoint max Real -32768.00…32767.00 - 100 = 1
40.28 Set 1 setpoint increase time Real 0.0…1800.0 s 10 = 1 s
40.29 Set 1 setpoint decrease time Real 0.0…1800.0 s 10 = 1 s
40.30 Set 1 setpoint freeze enable Binary - - 1=1
src

40.31 Set 1 deviation inversion Binary - - 1=1
src
40.32 Set 1 gain Real 0.10…100.00 - 100 = 1
40.33 Set 1 integration time Real 0.0…9999.0 s 10 = 1 s
40.34 Set 1 derivation time Real 0.000…10.000 s 1000 = 1 s
40.35 Set 1 derivation filter time Real 0.0…10.0 s 10 = 1 s
40.36 Set 1 output min Real -32768.0…32767.0 - 10 = 1
40.37 Set 1 output max Real -32768.0…32767.0 - 10 = 1
40.38 Set 1 output freeze enable Binary - - 1=1
src
40.43 Set 1 sleep level Real 0.0…32767.0 - 10 = 1
40.44 Set 1 sleep delay Real 0.0…3600.0 s 10 = 1 s
40.45 Set 1 sleep boost time Real 0.0…3600.0 s 10 = 1 s
40.46 Set 1 sleep boost step Real 0.0…32767.0 - 10 = 1
40.47 Set 1 wake-up deviation Real -32768.00 … 32767.00 rpm, % or 100 = 1 unit
Hz
40.48 Set 1 wake-up delay Real 0.00…60.00 s 100 = 1 s
40.49 Set 1 tracking mode Binary - - 1=1
src
40.50 Set 1 tracking ref selection Analog - - 1=1
src
40.57 PID set1/set2 selection Binary - - 1=1
src
40.58 Set 1 increase prevention List 0…3 - 1=1
40.59 Set 1 decrease prevention List 0…3 - 1=1
40.62 PID internal setpoint actual Real -32768.00…32767.00 rpm, % or 100 = 1 unit
Hz
41 Process PID set 2
41.07 Set 2 PID operation mode List 0…2 - 1=1
src
src
41.10 Set 2 feedback function List 0…11 - 1=1
41.11 Set 2 feedback filter time Real 0.000…30.000 s 1000 = 1 s
src
src
41.18 Set 2 setpoint function List 0…11 - 1=1
src
src
Hz

Hz
Hz
41.26 Set 2 setpoint min Real -32768.0…32767.0 - 100 = 1
41.27 Set 2 setpoint max Real -32768.0…32767.0 - 100 = 1
41.28 Set 2 setpoint increase time Real 0.0…1800.0 s 10 = 1 s
41.29 Set 2 setpoint decrease time Real 0.0…1800.0 s 10 = 1 s
41.30 Set 2 setpoint freeze enable Binary - - 1=1
src
41.31 Set 2 deviation inversion Binary - - 1=1
src
41.32 Set 2 gain Real 0.10…100.00 - 100 = 1
41.33 Set 2 integration time Real 0.0…9999.0 s 10 = 1 s
41.34 Set 2 derivation time Real 0.000…10.000 s 1000 = 1 s
41.35 Set 2 derivation filter time Real 0.0…10.0 s 10 = 1 s
41.36 Set 2 output min Real -32768.0…32767.0 - 10 = 1
41.37 Set 2 output max Real -32768.0…32767.0 - 10 = 1
41.38 Set 2 output freeze enable Binary - - 1=1
src
41.43 Set 2 sleep level Real 0.0…32767.0 - 10 = 1
41.44 Set 2 sleep delay Real 0.0…3600.0 s 10 = 1 s
41.45 Set 2 sleep boost time Real 0.0…3600.0 s 10 = 1 s
41.46 Set 2 sleep boost step Real 0.0…32767.0 - 10 = 1
41.47 Set 2 wake-up deviation Real -2147483648… rpm, % or 100 = 1 unit
2147483647 Hz
41.48 Set 2 wake-up delay Real 0.00…60.00 s 100 = 1 s
41.49 Set 2 tracking mode Binary - - 1=1
src
41.50 Set 2 tracking ref selection Analog - - 1=1
src
41.58 Set 2 increase prevention List 0…3 - 1=1
41.59 Set 2 decrease prevention List 0…3 - 1=1
41.62 PID internal setpoint actual Real -32768.00…32767.00 rpm, % or 100 = 1 unit
Hz
43 Brake chopper
43.01 Braking resistor temperature Real 0.0…120.0 % 10 = 1%
43.06 Brake chopper enable List 0…2 - 1=1
43.07 Brake chopper runtime enable Binary - - 1=1
src
43.08 Brake resistor thermal tc Real 0…10000 s 1=1s
43.09 Brake resistor Pmax cont Real 0.00…10000.00 kW 100 = 1 kW
43.10 Brake resistance Real 0.0…1000.0 ohm 10 = 1 ohm
43.11 Brake resistor fault limit Real 0…150 % 1 = 1%

43.12 Brake resistor warning limit Real 0…150 % 1 = 1%
44 Mechanical brake control
44.01 Brake control status PB 0000h…FFFFh - 1=1
44.06 Brake control enable Binary - - 1=1
src
44.08 Brake open delay Real 0.00…5.00 s 100 = 1 s
44.13 Brake close delay Real 0.00…60.00 s 100 = 1 s
44.14 Brake close level Real 0.0…1000.0 rpm 100 = 1 rpm
45 Energy efficiency
45.01 Saved GW hours Real 0…65535 GWh 1 = 1 GWh
45.02 Saved MW hours Real 0…999 MWh 1 = 1 MWh
45.03 Saved kW hours Real 0.0…999.0 kWh 10 = 1 kWh
45.04 Saved energy Real 0.0…214748364.7 kWh 10 = 1 kWh
45.05 Saved money x1000 Real 0…4294967295 thousands (selecta- 1 = 1 unit
ble)
45.06 Saved money Real 0.00…999.99 (selecta- 100 = 1 unit
ble)
45.07 Saved amount Real 0.00…21474836.47 (selecta- 100 = 1 unit
ble)
45.08 CO2 reduction in kilotons Real 0…65535 metric 1 = 1 metric

kiloton kiloton
45.09 CO2 reduction in tons Real 0.0…999.9 metric 10 = 1 metric
ton ton
45.10 Total saved CO2 Real 0.0…214748365.7 metric 10 = 1 metric
ton ton
45.11 Energy optimizer List 0…1 - 1=1
45.12 Energy tariff 1 Real 0.000…4294967.295 (selecta- 1000 = 1 unit
ble)
45.13 Energy tariff 2 Real 0.000…4294967.295 (selecta- 1000 = 1 unit
ble)
45.14 Tariff selection Binary - - 1=1
src
45.17 Tariff currency unit List 100…102 - 1=1
45.18 CO2 conversion factor Real 0.000…65.535 metric 1000 = 1
ton/ MWh metric
ton/MWh
45.19 Comparison power Real 0.00…100000.00 kW 10 = 1 kW
45.21 Energy calculations reset List 0…1 - 1=1
46 Monitoring/scaling settings
46.01 Speed scaling Real 0.00…30000.00 rpm 100 = 1 rpm
46.02 Frequency scaling Real 0.10…1000.00 Hz 100 = 1 Hz
46.03 Torque scaling Real 0.1…1000.0 % 10 = 1%
46.04 Power scaling Real 0.1…30000.0 kW or kW or hp 10 = 1 unit
0.1…40215.5 hp
46.05 Current scaling Real 0…30000 A 1=1A

46.11 Filter time motor speed Real 2…20000 ms 1 = 1 ms
46.12 Filter time output frequency Real 2…20000 ms 1 = 1 ms
46.13 Filter time motor torque Real 2…20000 ms 1 = 1 ms
46.14 Filter time power Real 2…20000 ms 1 = 1 ms
46.21 At speed hysteresis Real 0.00…30000.00 rpm 100 = 1 rpm
46.22 At frequency hysteresis Real 0.00…1000.00 Hz 100 = 1 Hz
46.23 At torque hysteresis Real 0.00…300.00 % 1 = 1%
46.31 Above speed limit Real 0.00…30000.00 rpm 100 = 1 rpm
46.32 Above frequency limit Real 0.00…1000.00 Hz 100 = 1 Hz
46.33 Above torque limit Real 0.0…1600.0 % 10 = 1%
46.41 kWh pulse scaling Real 0.001…1000.000 kWh 1000 = 1 kWh
47 Data storage
47.01 Data storage 1 real32 Real -2147483.008… - 1000 = 1
2147483.008
2147483.008
2147483.008
2147483.008
47.11 Data storage 1 int32 Real -2147483648… - 1=1
2147483647
2147483647
2147483647
2147483647
47.21 Data storage 1 int16 Real -32768…32767 - 1=1
49 Panel port communication
49.01 Node ID number Real 1…32 - 1=1
49.03 Baud rate List 1…5 - 1=1
49.04 Communication loss time Real 0.1…3000.0 s 10 = 1 s
49.05 Communication loss action List 0…3 - 1=1
49.06 Refresh settings List 0…1 - 1=1
50 Fieldbus adapter (FBA)
50.01 FBA A enable List 0…1 - 1=1
50.02 FBA A comm loss func List 0…3 - 1=1
50.03 FBA A comm loss t out Real 0.3…6553.5 s 10 = 1 s
50.04 FBA A ref1 type List 0…5 - 1=1

50.05 FBA A ref2 type List 0…5 - 1=1
50.06 FBA A SW sel List 0…1 - 1=1
50.07 FBA A actual 1 type List 0…5 - 1=1
50.08 FBA A actual 2 type List 0…5 - 1=1
50.09 FBA A SW transparent source Analog - - 1=1
src
50.10 FBA A act1 transparent source Analog - - 1=1
src
50.11 FBA A act2 transparent source Analog - - 1=1
src
50.12 FBA A debug enable List 0…1 - 1=1
50.13 FBA A control word Data 00000000h…FFFFFFFFh - 1=1
50.14 FBA A reference 1 Real -2147483648… - 1=1
2147483647
50.15 FBA A reference 2 Real -2147483648… - 1=1
2147483647
50.16 FBA A status word Data 00000000h…FFFFFFFFh - 1=1
50.17 FBA A actual value 1 Real -2147483648… - 1=1
2147483647
50.18 FBA A actual value 2 Real -2147483648… - 1=1
2147483647
51 FBA A settings
51.01 FBA A type List - - 1=1
51.02 FBA A Par2 Real 0…65535 - 1=1
… … … … …
51.26 FBA A Par26 Real 0…65535 - 1=1
51.27 FBA A par refresh List 0…1 - 1=1
51.28 FBA A par table ver Data - - 1=1
51.29 FBA A drive type code Real 0…65535 - 1=1
51.30 FBA A mapping file ver Real 0…65535 - 1=1
51.31 D2FBA A comm status List 0…6 - 1=1
51.32 FBA A comm SW ver Data - - 1=1
51.33 FBA A appl SW ver Data - - 1=1
52 FBA A data in
52.01 FBA A data in1 List - - 1=1
… … … … …
52.12 FBA A data in12 List - - 1=1
53 FBA A data out
53.01 FBA A data out1 List - - 1=1
… … … … …
53.12 FBA A data out12 List - - 1=1
58 Embedded fieldbus
58.01 Protocol enable List 0…1 - 1=1

58.02 Protocol ID Real 0…65535 - 1=1
58.03 Node address Real 0…255 - 1=1
58.04 Baud rate List 0…7 - 1=1
58.05 Parity List 0…3 - 1=1
58.06 Communication control List 0…2 - 1=1
58.07 Communication diagnostics PB 0000h…FFFFh - 1=1
58.08 Received packets Real 0…4294967295 - 1=1
58.09 Transmitted packets Real 0…4294967295 - 1=1
58.10 All packets Real 0…4294967295 - 1=1
58.11 UART errors Real 0…4294967295 - 1=1
58.12 CRC errors Real 0…4294967295 - 1=1
58.14 Communication loss action List 0…4 - 1=1
58.15 Communication loss mode List 0…2 - 1=1
58.16 Communication loss time Real 0.0…6000.0 s 10 = 1 s
58.17 Transmit delay Real 0…65535 ms 1 = 1 ms
58.18 Internal 1 PB 0000h…FFFFh - 1=1
58.19 Internal 2 PB 0000h…FFFFh - 1=1
58.25 Control profile List 0, 5 - 1=1
58.26 EFB ref1 type List 0…5 - 1=1
58.27 EFB ref2 type List 0…5 - 1=1
58.28 EFB act1 type List 0…5 - 1=1
58.29 EFB act2 type List 0…5 - 1=1
58.31 EFB act1 transparent source Analog - - 1=1
src
58.32 EFB act2 transparent source Analog - - 1=1
src
58.33 Addressing mode List 0…5 - 1=1
58.34 Word order List 0…1 - 1=1
58.35 Return app error List 0…1 - 1=1
58.101 Data I/O 1 Analog - - 1=1
src
58.102 Data I/O 2 Analog - - 1=1
src
58.103 Data I/O 3 Analog - - 1=1
src
58.104 Data I/O 4 Analog - - 1=1
src
58.105 Data I/O 5 Analog - - 1=1
src
58.106 Data I/O 6 Analog - - 1=1
src
58.107 Data I/O 7 Analog - - 1=1
src

… … … … …
58.130 Data I/O 30 Analog - - 1=1
src
58.131 Data I/O 31 Analog - - 1=1
src
58.132 Data I/O 32 Analog - - 1=1
src
58.133 Data I/O 33 Analog - - 1=1
src
58.134 Data I/O 34 Analog - - 1=1
src
… … … … …
58.140 Data I/O 40 Analog - - 1=1
src
71 External PID1
71.01 External PID act value Real -32768.00…32767.00 rpm, % or 100 = 1 unit
Hz
71.02 Feedback act value Real -32768.00…32767.00 rpm, % or 100 = 1 unit
Hz
71.03 Setpoint act value Real -32768.00…32767.00 rpm, % or 100 = 1 unit
Hz
71.04 Deviation act value Real -32768.00…32767.00 rpm, % or 100 = 1 unit
Hz
71.06 PID status word PB 0000h…FFFFh - 1=1
71.07 PID operation mode List 0…2 - 1=1
71.08 Feedback 1 source Analog - - 1=1
src
71.11 Feedback filter time Real 0.000…30.000 s 1000 = 1 s
71.14 Set 1 setpoint scaling Real -32768.00…32767.00 - 100 = 1
71.15 Set 1 output scaling Real -32768.00…32767.00 - 100 = 1
71.16 Setpoint 1 source Analog - - 1=1
src
71.19 Internal setpoint sel1 Binary - - 1=1
src
71.20 Internal setpoint sel2 Binary - - 1=1
src
71.21 Internal setpoint 1 Real -32768.00…32767.00 rpm, % or 100 = 1 unit
Hz
Hz
Hz
71.26 Setpoint min Real -32768.00…32767.00 - 100 = 1
71.27 Setpoint max Real -32768.00…32767.00 - 100 = 1
71.31 Deviation inversion Binary - - 1=1
src
71.32 Gain Real 0.10…100.00 - 100 = 1

71.33 Integration time Real 0.0…9999.0 s 10 = 1 s
71.34 Derivation time Real 0.000…10.000 s 1000 = 1 s
71.35 Derivation filter time Real 0.0…10.0 s 10 = 1 s
71.36 Output min Real -32768.0…32767.0 - 10 = 1
71.37 Output max Real -32768.0…32767.0 - 10 = 1
71.38 Output freeze enable Binary - - 1=1
src
71.39 Deadband range Real 0.0…32767.0 - 10 = 1
71.40 Deadband delay Real 0.0…3600.0 s 10 = 1 s
71.58 Increase prevention List 0…3 - 1=1
71.59 Decrease prevention List 0…3 - 1=1
71.62 Internal setpoint actual Real -32768.00…32767.00 rpm, % or 100 = 1 unit
Hz
95 HW configuration
95.01 Supply voltage List 0…5 - 1=1
95.02 Adaptive voltage limits List 0…1 - 1=1
95.03 Estimated AC supply voltage 0.0…1000.0 - 1=1V
95.04 Control board supply List 0…1 - 1=1
95.20 HW options word 1 PB 0000h…FFFFh - 1=1
96 System
96.01 Language List - - 1=1
96.02 Pass code Data 0…99999999 - 1=1
96.04 Macro select List 0…3, 11…14 - 1=1
96.05 Macro active List 1…3, 11…14 - 1=1
96.06 Parameter restore List 0, 8, 62 - 1=1
96.07 Parameter save manually List 0…1 - 1=1
96.08 Control board boot Real 0…1 - 1=1
96.10 User set status List 0…7, 20…23 - -
96.11 User set save/load List 0…5, 18…21 - -
96.12 User set I/O mode in1 Binary - - -
src
96.13 User set I/O mode in2 Binary - - -
src
96.16 Unit selection PB 000h…FFFFh 1=1
96.50 Parameter lock Enum 0, 65535 - -
97 Motor control
97.01 Switching frequency reference List 4…12 kHz 1=1
97.02 Minimum switching frequency List 1…12 kHz 1=1
97.03 Slip gain Real 0…200 % 1 = 1%
97.04 Voltage reserve Real -4…50 % 1 = 1%
97.05 Flux braking List 0…2 - 1=1
97.10 Signal injection List 0…4 - 1=1

97.11 TR tuning Real 25…400 % 1 = 1%
97.13 IR compensation Real 0.00…50.00 % 100 = 1%
97.20 U/F ratio List 0…1 - 1=1
98 User motor parameters
98.01 User motor model mode List 0…1 - 1=1
98.02 Rs user Real 0.0000…0.50000 p.u. 100000 = 1
p.u.
98.03 Rr user Real 0.0000…0.50000 p.u. 100000 = 1
p.u.
98.04 Lm user Real 0.00000…10.00000 p.u. 100000 = 1
p.u.
98.05 SigmaL user Real 0.00000…1.00000 p.u. 100000 = 1
p.u.
98.06 Ld user Real 0.00000…10.00000 p.u. 100000 = 1
p.u.
98.07 Lq user Real 0.00000…10.00000 p.u. 100000 = 1
p.u.
98.08 PM flux user Real 0.00000…2.00000 p.u. 100000 = 1
p.u.
98.09 Rs user SI Real 0.00000…100.00000 ohm 100000 = 1
p.u.
98.10 Rr user SI Real 0.00000…100.00000 ohm 100000 = 1
p.u.
98.11 Lm user SI Real 0.00…100000.00 mH 100 = 1 mH
98.12 SigmaL user SI Real 0.00…100000.00 mH 100 = 1 mH
98.13 Ld user SI Real 0.00…100000.00 mH 100 = 1 mH
98.14 Lq user SI Real 0.00…100000.00 mH 100 = 1 mH
99 Motor data
99.03 Motor type List 0…1 - 1=1
99.04 Motor control mode List 0…1 - 1=1
99.06 Motor nominal current Real 0.0…6400.0 A 10 = 1 A
99.07 Motor nominal voltage Real 0.0…800.0 V 10 = 1 V
99.08 Motor nominal frequency Real 0.0 … 500.0 Hz 10 = 1 Hz
99.09 Motor nominal speed Real 0 … 30000 rpm 1 = 1 rpm
99.10 Motor nominal power Real -10000.00…10000.00 kW kW or hp 100 = 1 unit
or
-13405.83 … 13405.83 hp
99.11 Motor nominal cos phi Real 0.00 … 1.00 - 100 = 1
99.12 Motor nominal torque Real 0.000… N·m or 1000 = 1 unit
lb·ft
99.13 ID run requested List 0…3, 5…6, - 1=1
99.14 Last ID run performed List 0…3, 5…6, - 1=1
99.15 Motor polepairs calculated Real 0…1000 - 1=1
99.16 Motor phase order List 0…1 - 1=1
Fault tracing 423
15
Fault tracing
The chapter lists the warning and fault messages including possible causes and
corrective actions. The causes of most warnings and faults can be identified and
corrected using the information in this chapter. If not, contact an ABB service
representative. If you have a possibility to use the Drive composer PC tool, send the
Support package created by the Drive composer to the ABB service representative.
Warnings and faults are listed below in separate tables. Each table is sorted by
warning/fault code.
Safety
WARNING! Only qualified electricians are allowed to service the drive. Read
the instructions in chapter Safety instructions on page 17 before working on
the drive.
Indications
 Warnings and faults
Warnings and faults indicate an abnormal drive status. The codes and names of
active warnings and faults are displayed on the control panel of the drive as well as in
the Drive composer PC tool. Only the codes of warnings and faults are available over
fieldbus.
Warnings do not need to be reset; they stop showing when the cause of the warning
ceases. Warnings do not latch and the drive will continue to operate the motor.
424 Fault tracing
Faults do latch inside the drive and cause the drive to trip, and the motor stops. After
the cause of a fault has been removed, the fault can be reset from a selectable
source (Menu - Primary settings - Advanced functions - Reset faults manually
(Reset faults manually from:); or parameter 31.11 Fault reset selection) such as the
control panel, Drive composer PC tool, the digital inputs of the drive, or fieldbus. After
the fault is reset, the drive can be restarted.
Note that some faults require a reboot of the control unit either by switching the power
off and on, or using parameter 96.08 Control board boot – this is mentioned in the
fault listing wherever appropriate.
 Pure events
In addition to warnings and faults, there are pure events that are only recorded in the
event log of the drive. The codes of these events are included in the Warning
messages table on page (426).
 Editable messages
For some warnings and faults, the message text can be edited and instructions and
contact information added. To edit these messages, select Menu - Primary settings
- Edit texts on the control panel.
Warning/fault history
 Event log
All indications are stored in the event log with a time stamp and other information.
The event log stores information on
• the last 8 fault recordings, that is, faults that tripped the drive or fault resets
• the last 10 warnings or pure events that occurred.
See section Viewing warning/fault information on page 424.
Auxiliary codes
Some events generate an auxiliary code that often helps in pinpointing the problem.
On the control panel, the auxiliary code is stored as part of the details of the event; in
the Drive composer PC tool, the auxiliary code is shown in the event listing.
 Viewing warning/fault information

The drive is able to store a list of the active faults actually causing the drive to trip at
the present time. The drive also stores a list of faults and warnings that have
previously occurred.
Fault tracing 425
For active faults and warnings, see

• Menu - Diagnostics - Active faults
• Menu - Diagnostics - Active warnings
• Options - Active faults
• Options - Active warnings
• parameters in group 04 Warnings and faults (page 232).
For previously occurred faults and warnings, see
• Menu - Diagnostics - Fault & event log
• parameters in group 04 Warnings and faults (page 232).
The event log can also be accessed (and reset) using the Drive composer PC tool.
See Drive composer PC tool user’s manual (3AUA0000094606 [English]).
426 Fault tracing
Warning messages
Note: The list also contains events that only appear in the Event log.
Code
Warning / Aux. code Cause What to do
(hex)
A2A1 Current calibration Current offset and gain Informative warning. (See parameter
measurement calibration will 99.13 ID run requested.)
occur at next start.
A2B1 Overcurrent Output current has exceeded Check motor load.
internal fault limit. Check acceleration times in parameter
group 23 Speed reference ramp (speed
control), 26 Torque reference chain
(torque control) or 28 Frequency
reference chain (frequency control). Also
check parameters 46.01 Speed scaling,
46.02 Frequency scaling and 46.03
Torque scaling.
Check motor and motor cable (including
phasing and delta/star connection).
Check for an earth fault in motor or motor
cables by measuring the insulation
resistances of motor and motor cable.
See Checking the insulation of the
assembly on page 76.
Check there are no contactors opening
and closing in motor cable.
Check that the start-up data in parameter
group 99 Motor data corresponds to the
motor rating plate.
Check that there are no power factor
correction capacitors or surge absorbers
in motor cable.
A2B3 Earth leakage Drive has detected load Check there are no power factor
unbalance typically due to correction capacitors or surge absorbers
earth fault in motor or motor in motor cable.
cable. Check for an earth fault in motor or motor
assembly on page 76. If an earth fault is
found, fix or change the motor cable
and/or motor.
If no earth fault can be detected, contact
your local ABB representative.
A2B4 Short circuit Short-circuit in motor cable(s) Check motor and motor cable for cabling
or motor. errors.
Check there are no power factor
in motor cable.
Fault tracing 427
Code
(hex)
A2BA IGBT overload Excessive IGBT junction to Check motor cable.
case temperature. This Check ambient conditions.
warning protects the IGBT(s) Check air flow and fan operation.
and can be activated by a short Check heatsink fins for dust pick-up.
circuit in the motor cable.
Check motor power against drive power.
A3A1 DC link overvoltage Intermediate circuit DC voltage Check the supply voltage setting
too high (when the drive is (parameter 95.01 Supply voltage). Note
stopped). that the wrong setting of the parameter
may cause the motor to rush
A3A2 DC link undervoltage Intermediate circuit DC voltage
uncontrollably, or may overload the brake
too low (when the drive is
chopper or resistor.
stopped).
Check the supply voltage.
A3AA DC not charged The voltage of the intermediate If the problem persists, contact your local
DC circuit has not yet risen to ABB representative.
operating level.
A491 External temperature Measured temperature 1 has Check the value of parameter 35.02
1 exceeded warning limit. Measured temperature 1.
(Editable message text) Check the cooling of the motor (or other
equipment whose temperature is being
measured).
A492 External temperature Measured temperature 2 has Check the value of parameter 35.03
2 exceeded warning limit. Measured temperature 2.
measured).
A4A1 IGBT overtemperature Estimated drive IGBT Check ambient conditions.
temperature is excessive. Check air flow and fan operation.
Check heatsink fins for dust pick-up.
A4A9 Cooling Drive module temperature is Check ambient temperature. If it exceeds
excessive. 40 °C/104 °F (frames R5…R9) or if it
exceeds 50 °C /122 °F (frames R0 …R9),
ensure that load current does not exceed
derated load capacity of drive. See
section Derating on page 498.
Check drive module cooling air flow and
fan operation.
Check inside of cabinet and heatsink of
drive module for dust pick-up. Clean
whenever necessary.
A4B0 Excess temperature Power unit module Check ambient conditions.
A4B1 Excess temperature High temperature difference Check the motor cabling.
difference between the IGBTs of different Check cooling of drive module(s).
phases.
A4F6 IGBT temperature Drive IGBT temperature is Check ambient conditions.
excessive. Check air flow and fan operation.
A580 PU communication Communication errors Check the connections between the drive
detected between the drive control unit and the power unit.
control unit and the power unit.
428 Fault tracing
Code
(hex)
A5A0 Safe torque off Safe torque off function is Check safety circuit connections. For
Programmable warning: active, ie safety circuit signal(s) more information, see chapter The Safe
31.22 STO indication connected to connector STO is torque off function on page 555 and
run/stop lost. description of parameter 31.22 STO
indication run/stop (page 311).
A5EA Measurement circuit Problem with internal Contact your local ABB representative.
temperature temperature measurement of
the drive.
A5EB PU board powerfail Power unit power supply Contact your local ABB representative.
failure.
A5EC PU communication Communication errors Check the connections between the drive
internal detected between the drive control unit and the power unit.
A5ED Measurement circuit Measurement circuit fault. Contact your local ABB representative.
ADC
A5EE Measurement circuit Measurement circuit fault. Contact your local ABB representative.
DFF
A5EF PU state feedback State feedback from output Contact your local ABB representative.
phases does not match control
signals.
A5F0 Charging feedback Charging feedback signal Check the feedback signal coming from
missing. the charging system.
A6A4 Motor nominal value The motor parameters are set Check the settings of the motor
incorrectly. configuration parameters in group 99.
The drive is not dimensioned Check that the drive is sized correctly for
correctly. the motor.
A6A5 No motor data Parameters in group 99 have Check that all the required parameters in
not been set. group 99 have been set.
Note: It is normal for this warning to
appear during the start-up and continue
until the motor data is entered.
A6A6 Voltage category The voltage category has not Set voltage category in parameter 95.01
unselected been defined. Supply voltage.
A6D1 FBA A parameter The drive does not have a Check PLC programming.
conflict functionality requested by a Check settings of parameter groups 50
PLC, or requested functionality Fieldbus adapter (FBA).
has not been activated.
A6E5 AI parametrization The current/voltage hardware Check the event log for an auxiliary code.
setting of an analog input does The code identifies the analog input
not correspond to parameter whose settings are in conflict.
settings. Adjust either the hardware setting (on the
drive control unit) or parameter
12.15/12.25.
Note: Control board reboot (either by
cycling the power or through parameter
96.08 Control board boot) is required to
validate any changes in the hardware
settings.
A780 Motor stall Motor is operating in stall Check motor load and drive ratings.
Programmable warning: region because of e.g. Check fault function parameters.
31.24 Stall function excessive load or insufficient
motor power.
Fault tracing 429
Code
(hex)
A791 Brake resistor Brake resistor broken or not Check that a brake resistor has been
connected. connected.
Check the condition of the brake resistor.
A793 BR excess Brake resistor temperature has Stop drive. Let resistor cool down.
temperature exceeded warning limit defined Check resistor overload protection
by parameter 43.12 Brake function settings (parameter group 43
resistor warning limit. Brake chopper).
Check warning limit setting, parameter
43.12 Brake resistor warning limit.
Check that the resistor has been
dimensioned correctly.
Check that braking cycle meets allowed
limits.
A794 BR data Brake resistor data has not Check the resistor data settings
been given. (parameters 43.08…43.10).
A79C BC IGBT excess Brake chopper IGBT Let chopper cool down.
temperature temperature has exceeded Check for excessive ambient
internal warning limit. temperature.
Check for cooling fan failure.
Check for obstructions in the air flow.
Check the dimensioning and cooling of
the cabinet.
Check resistor overload protection
function settings (parameters
43.06…43.10).
Check minimum allowed resistor value
for the chopper being used.
limits.
Check that drive supply AC voltage is not
excessive.
A7AB Extension I/O Installed CMOD module is not Check that the installed module (shown
configuration failure the same as configured. by parameter 15.02 Detected extension
module) is the same as selected by
parameter 15.01 Extension module type.
A7C1 FBA A communication Cyclical communication Check status of fieldbus communication.
Programmable warning: between drive and fieldbus See user documentation of fieldbus
50.02 FBA A comm loss adapter module A or between interface.
func PLC and fieldbus adapter Check settings of parameter groups 50
module A is lost. Fieldbus adapter (FBA), 51 FBA A
settings, 52 FBA A data in and 53 FBA A
data out.
Check cable connections.
Check if communication master is able to
communicate.
A7CE EFB comm loss Communication break in Check the status of the fieldbus master
Programmable warning: embedded fieldbus (EFB) (online/offline/error etc.).
58.14 Communication loss communication. Check cable connections to the
action EIA-485/X5 terminals 29, 30 and 31 on
the control unit.
430 Fault tracing
Code
(hex)
A7EE Panel loss Control panel or PC tool Check PC tool or control panel
Programmable warning: selected as active control connection.
49.05 Communication loss location for drive has ceased Check control panel connector.
action communicating. Check mounting platform if being used.
Disconnect and reconnect the control
panel.
A8A0 AI supervision An analog signal is outside the Check signal level at the analog input.
Programmable warning: limits specified for the analog Check the wiring connected to the input.
12.03 AI supervision input. Check the minimum and maximum limits
function
of the input in parameter group 12
Standard AI.
A8A1 RO life warning The relay has changed states Change the control board or stop using
more than the recommended the relay output.
number of times.
0001 Relay output 1 Change the control board or stop using
relay output 1.
relay output 2.
relay output 3.
A8A2 RO toggle warning The relay output is changing Replace the signal connected to the relay
states faster than output source with a less frequently
recommended, eg. if a fast changing signal.
changing frequency signal is
connected to it. The relay
lietime will be exceeded
shortly.
0001 Relay output 1 Select a different signal with parameter
10.24 RO1 source.
10.27 RO2 source.
10.30 RO3 source.
A8B0 Signal supervision Warning generated by a signal Check the source of the warning
(Editable message text) supervision function. (parameter 32.07, 32.17 or 32.27).
Programmable warning:
32.06 Supervision 1 action
A8C0 ULC invalid speed User load curve: X-axis points Check that points fulfil conditions. See
table (speed) are not valid. parameter 37.11 ULC speed table point
1.
A8C1 ULC overload warning User load curve: Signal has See parameter 37.03 ULC overload
been too long over the actions.
overload curve.
A8C4 ULC underload User load curve: Signal has See parameter 37.04 ULC underload
warning been too long under the actions.
underload curve.
A8C5 ULC invalid underload User load curve: Underload Check that points fulfil conditions. See
table curve points are not valid. parameter 37.21 ULC underload point 1.
A8C6 ULC invalid overload User load curve: Overload Check that points fulfil conditions. See
table curve points are not valid. parameter 37.31 ULC overload point 1.
Fault tracing 431
Code
(hex)
A8C8 ULC invalid frequency User load curve: X-axis points Check that points fulfil conditions. -
table (frequency) are not valid. 500.0 Hz < 37.16 < 37.17 < 37.18 <
37.19 < 37.20 < 500.0 Hz. See
parameter 37.16 ULC frequency table
point 1.
A981 External warning 1 Fault in external device 1. Check the external device.
(Editable message text) Check setting of parameter 31.01
Programmable warning: External event 1 source.
source
type
source
type
source
type
source
type
source
type
AF88 Season configuration You have configured a season Configure the seasons with increasing
warning which starts before the start dates, see parameters 34.60
previous season. Season 1 start date…34.63 Season 4
start date.
AF8C Process PID sleep The drive is entering sleep Informative warning. See section Sleep
mode mode. and boost functions for process PID
control (page 204), and parameters
40.43…40.48.
AFAA Autoreset A fault is about to be autoreset. Informative warning. See the settings in
parameter group 31 Fault functions.
AFE1 Emergency stop (off2) Drive has received an Check that it is safe to continue
emergency stop (mode operation. Then return emergency stop
selection off2) command. push button to normal position. Restart
drive.
AFE2 Emergency stop (off1 Drive has received an
or off3) emergency stop (mode If the emergency stop was unintentional,
selection off1 or off3) check the source selected by parameter
command. 21.05 Emergency stop source.
432 Fault tracing
Code
(hex)
AFEA Enable start signal No enable start signal Check the setting of (and the source
missing received. selected by) parameter 20.19 Enable
(Editable message text) start command.
AFE9 Start delay The start delay is active and Informative warning. See parameter
the drive will start the motor 21.22 Start delay.
after a predefined delay.
AFEB Run enable missing No run enable signal is Check setting of parameter 20.12 Run
received. enable 1 source. Switch signal on (e.g. in
the fieldbus Control Word) or check
wiring of selected source.
AFEC External power signal 95.04 Control board supply is Check the external 24 V DC power
missing set to External 24V but no supply to the control unit, or change the
voltage is connected to the setting of parameter 95.04.
control unit.
AFED Enable to rotate Signal enable to rotate has not Switch enable to rotate signal on (eg. in
been received within a fixed digital inputs).
time delay. Check the setting of (and source
selected by) parameter 20.22 Enable to
rotate.
AFF6 Identification run Motor ID run will occur at next Informative warning.
start.
B5A0 STO event Safe torque off function is Check safety circuit connections. For
Programmable event: active, ie. safety circuit more information, see The Safe torque
31.22 STO indication signal(s) connected to off function on page 555 and description
run/stop connector STO is lost. of parameter 31.22 STO indication
run/stop (page 311).
Fault tracing 433
Fault messages
Code
Fault / Aux. code Cause What to do
(hex)
1080 Backup/Restore Panel or PC tool has failed to Request backup or restore again.
timeout communicate with the drive
when backup was being made
or restored.
1081 Rating ID fault Drive software has not been Reset the fault to make the drive try to
able to read the rating ID of the reread the rating ID.
drive. If the fault reappears, cycle the power to
the drive. You may have to be repeat this.
If the fault persists, contact your local
ABB representative.
2281 Calibration Measured offset of output Try performing the current calibration
phase current measurement or again (select Current measurement
difference between output calibration at parameter 99.13). If the
phase U2 and W2 current fault persists, contact your local ABB
measurement is too great (the representative.
values are updated during
current calibration).
2310 Overcurrent Output current has exceeded Check motor load.
internal fault limit. Check acceleration times in parameter
group 23 Speed reference ramp (speed
control), 26 Torque reference chain
(torque control) or 28 Frequency
reference chain (frequency control). Also
check parameters 46.01 Speed scaling,
46.02 Frequency scaling and 46.03
Torque scaling.
Check there are no contactors opening
and closing in motor cable.
Check that the start-up data in parameter
group 99 corresponds to the motor rating
plate.
Check that there are no power factor
in motor cable.
2330 Earth leakage Drive has detected load Check there are no power factor
Programmable fault: 31.20 unbalance typically due to correction capacitors or surge absorbers
Earth fault earth fault in motor or motor in motor cable.
cable. Check for an earth fault in motor or motor
Try running the motor in scalar control
mode if allowed. (See parameter 99.04
Motor control mode.)
If no earth fault can be detected, contact
your local ABB representative.
434 Fault tracing
Code
(hex)
2340 Short circuit Short-circuit in motor cable(s) Check motor and motor cable for cabling
or motor errors.
Check there are no power factor
in motor cable.
Cycle the power to the drive.
2381 IGBT overload Excessive IGBT junction to Check motor cable.
case temperature. This fault Check ambient conditions.
protects the IGBT(s) and can Check air flow and fan operation.
be activated by a short circuit Check heatsink fins for dust pick-up.
in the motor cable.
3130 Input phase loss Intermediate circuit DC voltage Check input power line fuses.
Programmable fault: 31.21 is oscillating due to missing Check for loose power cable
Supply phase loss input power line phase or connections.
blown fuse. Check for input power supply imbalance.
3181 Cross connection Incorrect input power and Check input power connections.
Programmable fault: 31.23 motor cable connection (ie.
Cross connection input power cable is connected
to drive motor connection).
3210 DC link overvoltage Excessive intermediate circuit Check that overvoltage control is on
DC voltage. (parameter 30.30 Overvoltage control).
Check that the supply voltage matches
the nominal input voltage of the drive.
Check the supply line for static or
transient overvoltage.
Check brake chopper and resistor (if
present).
Check deceleration time.
Use coast-to-stop function (if applicable).
Retrofit drive with brake chopper and
brake resistor.
Check that the brake resistor is
dimensioned properly and the resistance
is between acceptable range for the
drive.
3220 DC link undervoltage Intermediate circuit DC voltage Check supply cabling, fuses and
is not sufficient because of a switchgear.
missing supply phase, blown
fuse or fault in the rectifier
bridge.
3381 Output phase loss Motor circuit fault due to Connect motor cable.
Programmable fault: 31.19 missing motor connection (all
Motor phase loss three phases are not
connected).
4110 Control board Control board temperature is Check proper cooling of the drive.
temperature too high. Check the auxiliary cooling fan.
4210 IGBT overtemperature Estimated drive IGBT Check ambient conditions.
Fault tracing 435
Code
(hex)
4290 Cooling Drive module temperature is Check ambient temperature. If it exceeds
excessive. 40 °C/104 °F (frames R5…R9) or if it
exceeds 50 °C /122 °F (frames R0 …R9),
ensure that load current does not exceed
derated load capacity of drive. See
section Derating on page 498.
Check drive module cooling air flow and
fan operation.
Check inside of cabinet and heatsink of
drive module for dust pick-up. Clean
whenever necessary.
42F1 IGBT temperature Drive IGBT temperature is Check ambient conditions.
excessive. Check air flow and fan operation.
4310 Excess temperature Power unit module Check ambient conditions.
4380 Excess temperature High temperature difference Check the motor cabling.
difference between the IGBTs of different Check cooling of drive module(s).
phases.
4981 External temperature Measured temperature 1 has Check the value of parameter 35.02
1 exceeded fault limit. Measured temperature 1.
measured).
4982 External temperature Measured temperature 2 has Check the value of parameter 35.03
2 exceeded fault limit. Measured temperature 2.
measured).
5081 Auxiliary fan broken An auxiliary cooling fan Check auxiliary fan(s) and connection(s).
(connected to the fan Replace fan if faulty.
connectors on the control unit) Make sure the front cover of the drive
is stuck or disconnected. module is in place and tightened.
Reboot the control unit (using parameter
96.08 Control board boot) or by cycling
power.
5090 STO hardware failure STO hardware diagnostics has Contact your local ABB representative for
detected hardware failure. hardware replacement.
5091 Safe torque off Safe torque off function is Check safe torque off circuit connections.
Programmable fault: 31.22 active, ie. safety circuit For more information, see chapter The
STO indication run/stop signal(s) connected to Safe torque off function on page 555 and
connector STO is broken description of parameter 31.22 STO
during start or run. indication run/stop (page 311).
5092 PU logic error Power unit memory has Contact your local ABB representative.
cleared.
436 Fault tracing
Code
(hex)
5093 Rating ID mismatch The hardware of the drive does Cycle the power to the drive. You may
not match the information have to be repeat this.
stored in the memory unit. This
may occur eg. after a firmware
update or memory unit
replacement.
5094 Measurement circuit Problem with internal Contact your local ABB representative.
temperature temperature measurement of
the drive.
50A0 Fan Cooling fan stuck or Check fan operation and connection.
disconnected. Replace fan if faulty.
5681 PU communication Communication errors Check the connection between the drive
detected between the drive control unit and the power unit.
5682 Power unit lost Connection between the drive Check the connection between the
control unit and the power unit control unit and the power unit.
is lost.
5690 PU communication Internal communication error. Contact your local ABB representative.
internal
5691 Measurement circuit Measurement circuit fault. Contact your local ABB representative.
ADC
5692 PU board powerfail Power unit power supply Contact your local ABB representative.
failure.
5693 Measurement circuit Measurement circuit fault. Contact your local ABB representative.
DFF
5696 PU state feedback State feedback from output Contact your local ABB representative.
phases does not match control
signals.
5697 Charging feedback Charging feedback signal Check the feedback signal coming from
missing. the charging system
6181 FPGA version Firmware and FPGA versions Reboot the control unit (using parameter
incompatible are incompatible. 96.08 Control board boot) or by cycling
power. If the problem persists, contact
your local ABB representative
6306 FBA A mapping file Fieldbus adapter A mapping Contact your local ABB representative.
file read error.
6481 Task overload Internal fault. Reboot the control unit (using parameter
6487 Stack overflow Internal fault. Reboot the control unit (using parameter
64A1 Internal file load File read error. Reboot the control unit (using parameter
Fault tracing 437
Code
(hex)
64B2 User set fault Loading of user parameter set Ensure that a valid user parameter set
failed because exists. Reload if uncertain.
• requested set does not exist
• set is not compatible with
control program
• drive was switched off
during loading.
64E1 Kernel overload Operating system error. Reboot the control unit (using parameter
6581 Parameter system Parameter load or save failed. Try forcing a save using parameter 96.07
Parameter save manually. Retry.
65A1 FBA A parameter The drive does not have a Check PLC programming.
conflict functionality requested by Check settings of parameter groups 50
PLC, or requested functionality Fieldbus adapter (FBA) and 51 FBA A
has not been activated. settings.
6681 EFB comm loss Communication break in Check the status of the fieldbus master
Programmable fault: 58.14 embedded fieldbus (EFB) (online/offline/error etc.).
Communication loss communication. Check cable connections to the
action EIA-485/X5 terminals 29, 30 and 31 on
the control unit.
6682 EFB config file Embedded fieldbus (EFB) Contact your local ABB representative.
configuration file could not be
read.
6683 EFB invalid Embedded fieldbus (EFB) Check the settings in parameter group 58
parameterization parameter settings Embedded fieldbus.
inconsistent or not compatible
with selected protocol.
6684 EFB load fault Embedded fieldbus (EFB) Contact your local ABB representative.
protocol firmware could not be
loaded.
Version mismatch between
EFB protocol firmware and
drive firmware.
6685 EFB fault 2 Fault reserved for the EFB Check the documentation of the protocol.
protocol application.
6686 EFB fault 3 Fault reserved for the EFB Check the documentation of the protocol.
protocol application.
6882 Text 32-bit table Internal fault. Reset the fault. Contact your local ABB
overflow representative if the fault persists.
6885 Text file overflow Internal fault. Reset the fault. Contact your local ABB
representative if the fault persists.
7081 Control panel loss Control panel or PC tool Check PC tool or control panel
Programmable fault: 49.05 selected as active control connection.
Communication loss location for drive has ceased Check control panel connector.
action communicating. Disconnect and reconnect the control
panel.
7121 Motor stall Motor is operating in stall Check motor load and drive ratings.
Programmable fault: 31.24 region because of e.g. Check fault function parameters.
Stall function excessive load or insufficient
motor power.
438 Fault tracing
Code
(hex)
7181 Brake resistor Brake resistor broken or not Check that a brake resistor has been
connected. connected.
Check the condition of the brake resistor.
Check the dimensioning of the brake
resistor.
7183 BR excess Brake resistor temperature has Stop drive. Let resistor cool down.
temperature exceeded fault limit defined by Check resistor overload protection
parameter 43.11 Brake resistor function settings (parameter group 43
fault limit. Brake chopper).
Check fault limit setting, parameter 43.11
Brake resistor fault limit.
limits.
7184 Brake resistor wiring Brake resistor short circuit or Check brake chopper and brake resistor
brake chopper control fault. connection.
Ensure brake resistor is not damaged.
7191 BC short circuit Short circuit in brake chopper Ensure brake resistor is connected and
IGBT. not damaged.
Check the electrical specifications of the
brake resistor against chapter Resistor
braking on page 547.
Replace brake chopper (if replaceable).
7192 BC IGBT excess Brake chopper IGBT Let chopper cool down.
temperature temperature has exceeded Check for excessive ambient
internal fault limit. temperature.
Check for cooling fan failure.
Check for obstructions in the air flow.
Check resistor overload protection
function settings (parameter group 43
Brake chopper).
limits.
Check that drive supply AC voltage is not
excessive.
7310 Overspeed Motor is turning faster than Check minimum/maximum speed
highest allowed speed due to settings, parameters 30.11 Minimum
incorrectly set speed and 30.12 Maximum speed.
minimum/maximum speed, Check adequacy of motor braking torque.
insufficient braking torque or Check applicability of torque control.
changes in load when using Check need for brake chopper and
torque reference. resistor(s).
73B0 Emergency ramp Emergency stop did not finish Check the settings of parameters 31.32
failed within expected time. Emergency ramp supervision and 31.33
Emergency ramp supervision delay.
Check the predefined ramp times
(23.11…23.15 for mode Off1, 23.23 for
mode Off3).
Fault tracing 439
Code
(hex)
7510 FBA A communication Cyclical communication Check status of fieldbus communication.
Programmable fault: 50.02 between drive and fieldbus See user documentation of fieldbus
FBA A comm loss func adapter module A or between interface.
PLC and fieldbus adapter Check settings of parameter groups 50
module A is lost. Fieldbus adapter (FBA), 51 FBA A
settings, 52 FBA A data in and 53 FBA A
data out.
Check cable connections.
Check if communication master is able to
communicate.
8001 ULC underload fault User load curve: Signal has See parameter 37.04 ULC underload
been too long under the actions.
underload curve.
8002 ULC overload fault User load curve: Signal has See parameter 37.03 ULC overload
been too long over the actions.
overload curve.
80A0 AI supervision An analog signal is outside the Check signal level at the analog input.
Programmable fault: limits specified for the analog Check the wiring connected to the input.
12.03 AI supervision input. Check the minimum and maximum limits
function
of the input in parameter group 12
Standard AI.
80B0 Signal supervision Fault generated by a signal Check the source of the fault (parameter
(Editable message text) supervision function. 32.07, 32.17 or 32.27).
Programmable fault:
9081 External fault 1 Fault in external device 1. Check the external device.
Programmable fault: 31.01 External event 1 source.
External event 1 source
type
type
type
type
type
440 Fault tracing
Code
(hex)
FA81 Safe torque off 1 Safe torque off function is Check safety circuit connections. For
active, ie. STO circuit 1 is more information, see chapter The Safe
broken. torque off function on page 555 and
description of parameter 31.22 STO
FA82 Safe torque off 2 Safe torque off function is
indication run/stop (page 311).
active, ie. STO circuit 2 is
broken.
FF61 ID run Motor ID run was not Check the nominal motor values in
completed successfully. parameter group 99 Motor data.
Check that no external control system is
connected to the drive.
Cycle the power to the drive (and its
control unit, if powered separately).
Check that no operation limits prevent
the completion of the ID run. Restore
parameters to default settings and try
again.
Check that the motor shaft is not locked.
FF81 FB A force trip A fault trip command has been Check the fault information provided by
received through fieldbus the PLC.
adapter A.
FF8E EFB force trip A fault trip command has been Check the fault information provided by
received through the the PLC.
embedded fieldbus interface.
Fieldbus control through the embedded fieldbus interface (EFB) 441
16
Fieldbus control through the
embedded fieldbus interface
(EFB)
The chapter describes how the drive can be controlled by external devices over a
communication network (fieldbus) using the embedded fieldbus interface.
System overview
The drive can be connected to an external control system through a communication
link using either a fieldbus adapter or the embedded fieldbus interface.
The embedded fieldbus interface supports the Modbus RTU protocol. The drive
control program can receive and send cyclic data from and to the Modbus master on
10 ms time level. The actual response time depends on other factors as well, such as
the baud rate (a parameter setting in the drive).
The drive can be set to receive all of its control information through the fieldbus
interface, or the control can be distributed between the embedded fieldbus interface
and other available sources, for example, digital and analog inputs.
442 Fieldbus control through the embedded fieldbus interface (EFB)
Fieldbus controller
Termination ON1)
Fieldbus
Data flow
Control Word (CW)
References
Process I/O (cyclic)
Status Word (SW)
Actual values
Parameter R/W
requests/responses Service messages (acyclic)
TERM BIAS
TERM BIAS
TERM BIAS
ON
ON
X5 X5 ON X5
ON
ON
ON
Termination ON1)
Termination OFF
Bias OFF
Termination OFF
Bias OFF ... Bias ON2)
CEIA-01 CEIA-01 CEIA-01

Drive Drive Drive
1) The device at both ends on the fieldbus must have termination on.
2)
One device, preferably at the end on the fieldbus must have bias on.
Connecting the fieldbus to the drive

Connect the fieldbus to terminal X5 on the CEIA-01, which is attached on the control
unit of the drive. The connection diagram is shown below.
To be added
Setting up the embedded fieldbus interface

Set the drive up for the embedded fieldbus communication with the parameters
shown in the table below. The Setting for fieldbus control column gives either the
value to use or the default value. The Function/Information column gives a
description of the parameter.
Setting for
Parameter Function/Information
fieldbus control
COMMUNICATION INITIALIZATION
58.01 Protocol enable Modbus RTU Initializes embedded fieldbus communication.
EMBEDDED MODBUS CONFIGURATION

58.03 Node address 1 (default) Node address. There must be no two nodes
with the same node address online.
58.04 Baud rate 19.2 kbps (default) Defines the communication speed of the link.
Use the same setting as in the master station.
58.05 Parity 8 EVEN 1 (default) Selects the parity and stop bit setting. Use the
same setting as in the master station.
58.14 Communication No (default) Defines the action taken when a
loss action communication loss is detected.
58.15 Communication None (default) Enables/disables communication loss
loss mode monitoring and defines the means for
resetting the counter of the communication
loss delay.
58.16 Communication 30.0 s (default) Defines the timeout limit for the
loss time communication monitoring.
58.17 Transmit delay 0 ms (default) Defines a response delay for the drive.
58.25 Control profile ABB Drives Selects the control profile used by the drive.
(default) See section Basics of the embedded fieldbus
interface (page 446).
58.26 EFB ref1 type Speed or Selects the reference and actual value types.
… … frequency With the Speed or frequency setting, the type
58.29 EFB act2 type (default), is selected automatically according to the
Transparent, currently active drive control mode.
General, Torque,
Speed, Frequency
58.33 Addressing Mode 0 (default) Defines the mapping between parameters
mode and holding registers in the 100…65535
Modbus register range.
58.34 Word order LO-HI (default) Defines the order of the data words in the
Modbus message frame.
58.35 Return app error No (default) Selects whether the drive returns Modbus
exception codes or not.
Setting for
fieldbus control
58.101 Data I/O 1 None (default) Defines the address of the drive parameter
… … which the Modbus master accesses when it
58.140 Data I/O 40 reads from or writes to the register address
corresponding to Modbus In/Out parameters.
Select the parameters that you want to read
or write through the Modbus I/O words.
58.06 Communication Refresh settings Validates the settings of the configuration
control parameters.
The new settings will take effect when the drive is powered up the next time, or when
they are validated by parameter 58.06 Communication control.
Setting the drive control parameters

After the embedded fieldbus interface has been set up, check and adjust the drive
control parameters listed in the table below. The Setting for fieldbus control column
gives the value or values to use when the embedded fieldbus signal is the desired
source or destination for that particular drive control signal. The
Function/Information column gives a description of the parameter.
Setting for
fieldbus control
CONTROL COMMAND SOURCE SELECTION

20.01 Ext1 Embedded fieldbus Selects fieldbus as the source for the start
commands and stop commands when EXT1 is selected
as the active control location.
20.02 Ext2 Embedded fieldbus Selects fieldbus as the source for the start
commands and stop commands when EXT2 is selected
as the active control location.
SPEED REFERENCE SELECTION

22.11 Ext1 speed ref1 EFB ref1 Selects a reference received through the
embedded fieldbus interface as speed
reference 1.
22.18 Ext2 speed ref1 EFB ref1 Selects a reference received through the
embedded fieldbus interface as speed
reference 2.
TORQUE REFERENCE SELECTION

26.11 Torque ref1 EFB ref1 Selects a reference received through the
source embedded fieldbus interface as torque
reference 1.
26.12 Torque ref2 EFB ref1 Selects a reference received through the
source embedded fieldbus interface as torque
reference 2.
Setting for
fieldbus control
FREQUENCY REFERENCE SELECTION

28.11 Ext1 frequency EFB ref1 Selects a reference received through the
ref1 embedded fieldbus interface as frequency
reference 1.
28.15 Ext2 frequency EFB ref1 Selects a reference received through the
ref1 embedded fieldbus interface as frequency
reference 2.
OTHER SELECTIONS
EFB references can be selected as the source at virtually any signal selector parameter by
selecting Other, then either 03.09 EFB reference 1 or 03.10 EFB reference 2.
REFERENCE TYPE AND SCALING

58.26 EFB ref1 type Speed or frequency Defines the types of fieldbus references 1 and
58.27 EFB ref2 type (default), Transparent, 2. The scaling for each reference type is
General, Torque, defined by parameters 46.01…46.03. With
Speed, Frequency the Speed or frequency setting, the type is
selected automatically according to the
currently active drive control mode.
ACTUAL VALUE TYPE AND SCALING

58.28 EFB act1 type Speed or frequency Defines the types of actual values 1 and 2.
58.29 EFB act2 type (default), Transparent, The scaling for each actual value type is
General, Torque, defined by parameters 46.01…46.03. With
Speed, Frequency the Speed or frequency setting, the type is
selected automatically according to the
currently active drive control mode.
ACTUAL VALUE SOURCE SELECTION (when Transparent type is selected)

58.31 EFB act1 Other Defines the source of actual values 1 and 2
transparent source when the selected type is Transparent.
58.32 EFB act2
transparent source
SYSTEM CONTROL INPUTS

96.07 Parameter save Save (reverts to Saves parameter value changes (including
manually Done) those made through fieldbus control) to
permanent memory.
Basics of the embedded fieldbus interface

The cyclic communication between a fieldbus system and the drive consists of 16-bit
data words or 32-bit data words (with a transparent control profile).
The diagram below illustrates the operation of the embedded fieldbus interface. The
signals transferred in the cyclic communication are explained further below the
diagram.
Fieldbus network
1)
Cyclic communication EFB profile EXT1/2
Start commands
SEL
EFB CW
CW 0
2) 03.09 EFB reference
REF1 1
2 1 20.01
REF2 3
03.10 EFB reference 20.06
58.25 2
SEL Reference
SW 0 EFB SW selection
2)
ACT1 1 Actual 1
2
ACT2 3 Actual 2
58.25
Groups
Data I/O 22/26/28/40 etc.
selection
I/O 1
I/O 2 Reference
I/O 3 Par. 01.01…255.255 selection
…
I/O 69
58.101
…
58.140 Groups
22/26/28/40 etc.
Parameter
Acyclic communication table
1. See also other parameters which can be controlled through fieldbus.

2. Data conversion if parameter 58.25 Control profile is set to ABB Drives. See section About the control
profiles (page 449).
 Control word and Status word

The Control Word (CW) is a 16-bit or 32-bit packed boolean word. It is the principal
means of controlling the drive from a fieldbus system. The CW is sent by the fieldbus
controller to the drive. With drive parameters, the user selects the EFB CW as the
source of drive control commands (such as start/stop, emergency stop, selection
between external control locations 1/2, or fault reset). The drive switches between its
states according to the bit-coded instructions of the CW.
The fieldbus CW is either written to the drive as it is or the data is converted. See
section About the control profiles (page 449).
The fieldbus Status Word (SW) is a 16-bit or 32-bit packed boolean word. It contains
status information from the drive to the fieldbus controller. The drive SW is either
written to the fieldbus SW as it is or the data is converted. See section About the
control profiles (page 449).
 References
EFB references 1 and 2 are 16-bit or 32-bit signed integers. The contents of each
reference word can be used as the source of virtually any signal, such as the speed,
frequency, torque or process reference. In embedded fieldbus communication,
references 1 and 2 are displayed by 03.09 EFB reference 1 and 03.10 EFB reference
2 respectively. Whether the references are scaled or not depends on the settings of
58.26 EFB ref1 type and 58.27 EFB ref2 type. See section About the control profiles
(page 449).
 Actual values
Fieldbus actual signals (ACT1 and ACT2) are 16-bit or 32-bit signed integers. They
convey selected drive parameter values from the drive to the master. Whether the
actual values are scaled or not depends on the settings of 58.28 EFB act1 type and
58.29 EFB act2 type. See section About the control profiles (page 449).
 Data input/outputs
Data input/outputs are 16-bit or 32-bit words containing selected drive parameter
values. Parameters 58.101 Data I/O 1 … 58.140 Data I/O 40 define the addresses
from which the master either reads data (input) or to which it writes data (output).
 Register addressing
The address field of Modbus requests for accessing holding registers is 16 bits. This
allows the Modbus protocol to support addressing of 65536 holding registers.
Historically, Modbus master devices used 5-digit decimal addresses from 40001 to
49999 to represent holding register addresses. The 5-digit decimal addressing limited
to 9999 the number of holding registers that could be addressed.
Modern Modbus master devices typically provide a means to access the full range of
65536 Modbus holding registers. One of these methods is to use 6-digit decimal
addresses from 400001 to 465536. This manual uses 6-digit decimal addressing to
represent Modbus holding register addresses.
Modbus master devices that are limited to the 5-digit decimal addressing may still
access registers 400001 to 409999 by using 5-digit decimal addresses 40001 to
49999. Registers 410000-465536 are inaccessible to these masters.
Note: Register addresses of 32-bit parameters cannot be accessed by using 5-digit
register numbers.
About the control profiles

A control profile defines the rules for data transfer between the drive and the fieldbus
master, for example:
• if packed boolean words are converted and how
• if signal values are scaled and how
• how drive register addresses are mapped for the fieldbus master.
You can configure the drive to receive and send messages according to one of the
two profiles:
• ABB Drives
• DCU Profile.
For the ABB Drives profile, the embedded fieldbus interface of the drive converts the
fieldbus data to and from the native data used in the drive. The DCU Profile involves
no data conversion or scaling. The figure below illustrates the effect of the profile
selection.
Profile selection
SEL
Data
conversion & 0
scaling
Fieldbus Drive
5
58.25
Control profile selection with parameter 58.25 Control profile is:

• (0) ABB Drives
• (5) DCU Profile.
Control Word
 Control Word for the ABB Drives profile
The table below shows the contents of the fieldbus Control Word for the ABB Drives
control profile. The embedded fieldbus interface converts this word to the form in
which it is used in the drive. The upper case boldface text refers to the states shown
in State transition diagram for the ABB Drives profile on page 457.
Bit Name Value STATE/Description
0 OFF1_ 1 Proceed to READY TO OPERATE.
CONTROL 0 Stop along currently active deceleration ramp. Proceed to
OFF1 ACTIVE; proceed to READY TO SWITCH ON
unless other interlocks (OFF2, OFF3) are active.
1 OFF2_ 1 Continue operation (OFF2 inactive).
CONTROL
0 Emergency OFF, coast to stop.
Proceed to OFF2 ACTIVE, proceed to SWITCH-ON
INHIBITED.
2 OFF3_ 1 Continue operation (OFF3 inactive).
CONTROL
0 Emergency stop, stop within time defined by drive
parameter. Proceed to OFF3 ACTIVE; proceed to
SWITCH-ON INHIBITED.
Warning: Ensure that the motor and driven machine can
be stopped using this stop mode.
3 INHIBIT_ 1 Proceed to OPERATION ENABLED.
OPERATION Note: Run enable signal must be active; see the drive
documentation. If the drive is set to receive the Run
enable signal from the fieldbus, this bit activates the
signal.
0 Inhibit operation. Proceed to OPERATION INHIBITED.
4 RAMP_OUT_ 1 Normal operation. Proceed to RAMP FUNCTION
ZERO GENERATOR: OUTPUT ENABLED.
0 Force Ramp Function Generator output to zero. Drive
ramps to stop (current and DC voltage limits in force).
5 RAMP_HOLD 1 Enable ramp function. Proceed to RAMP FUNCTION
GENERATOR: ACCELERATOR ENABLED.
0 Halt ramping (Ramp Function Generator output held).
6 RAMP_IN_ 1 Normal operation. Proceed to OPERATING.
ZERO Note: This bit is effective only if the fieldbus interface is
set as the source for this signal by drive parameters.
0 Force Ramp Function Generator input to zero.
7 RESET 0=>1 Fault reset if an active fault exists. Proceed to SWITCH-
ON INHIBITED.
Note: This bit is effective only if the fieldbus interface is
set as the source for this signal by drive parameters.
0 Continue normal operation.

8 Reserved
…9
10 REMOTE_ 1 Fieldbus control enabled.
CMD
0 Control Word <> 0 or Reference <> 0: Retain last Control
Word and Reference.
Control Word = 0 and Reference = 0: Fieldbus control
enabled. Reference and deceleration/acceleration ramp
are locked.
11 EXT_CTRL_ 1 Select External Control Location EXT2. Effective if the
LOC control location is parameterized to be selected from the
fieldbus.
0 Select External Control Location EXT1. Effective if the
control location is parameterized to be selected from the
fieldbus.
12 USER_0 Writable control bits that can be combined with drive logic
for application-specific functionality.
13 USER_1
14 USER_2
15 USER_3
 Control Word for the DCU Profile

The embedded fieldbus interface writes the fieldbus Control Word as is to the drive
Control Word bits 0 to 15. Bits 16 to 32 of the drive Control Word are not in use.
Bit Name Value State/Description
0 STOP 1 Stop according to the Stop Mode parameter or the stop
mode request bits (bits 7…9).
0 (no op)
1 START 1 Start the drive.
0 (no op)
2 Reserved for Not yet implemented.
REVERSE
3 Reserved
4 RESET 0=>1 Fault reset if an active fault exists.
0 (no op)
5 EXT2 1 Select External control location EXT2. Effective if the
fieldbus.
0 Select External control location EXT1. Effective if the
fieldbus.
6 RUN_DISABLE 1 Run disable. If the drive is set to receive the run enable
signal from the fieldbus, this bit deactivates the signal.
0 Run enable. If the drive is set to receive the run enable
signal from the fieldbus, this bit activates the signal.

7 STOPMODE_RA 1 Normal ramp stop mode
MP 0 (no op) Default to parameter stop mode if bits 7…9 are all
0.
8 STOPMODE_EM 1 Emergency ramp stop mode.
ERGENCY_RAM 0 (no op) Default to parameter stop mode if bits 7…9 are all
P 0.
9 STOPMODE_CO 1 Coast stop mode.
AST
0 (no op) Default to parameter stop mode if bits 7…9 are all
0.
RAMP_PAIR _2
11 RAMP_OUT_ZER 1 Force Ramp Function Generator output to zero. Drive
O ramps to stop (current and DC voltage limits in force).
0 Normal operation.
12 RAMP_HOLD 1 Halt ramping (Ramp Function Generator output held).
0 Normal operation.
13 RAMP_IN_ZERO 1 Force Ramp Function Generator input to zero.
0 Normal operation.
REQ_LOCAL_LO
CK
TORQ_LIM_PAIR
_2
16 FB_LOCAL_CTL 1 Local mode for control from the fieldbus is requested.
Steal control from the active source.
0 (no op)
17 FB_LOCAL_REF 1 Local mode for reference from the fieldbus is requested.
Steal reference from the active source.
0 (no op)
18 Reserved for Not yet implemented. This is START_DISABLE_1 in
RUN_DISABLE_1 HVAC.
19 Reserved
20 Reserved
21 Reserved
22 USER_0 Writable control bits that can be combined with drive logic
for application-specific functionality.
23 USER_1
24 USER_2
25 USER_3
26 Reserved
…31
Status Word
 Status Word for the ABB Drives profile
The table below shows the fieldbus Status Word for the ABB Drives control profile.
The embedded fieldbus interface converts the drive Status Word into this form for the
fieldbus. The upper case boldface text refers to the states shown in State transition
diagram for the ABB Drives profile on page 457.
0 RDY_ON 1 READY TO SWITCH ON.
0 NOT READY TO SWITCH ON.
1 RDY_RUN 1 READY TO OPERATE.
0 OFF1 ACTIVE.
2 RDY_REF 1 OPERATION ENABLED.
0 OPERATION INHIBITED.
3 TRIPPED 1 FAULT.
0 No fault.
4 OFF_2_STATUS 1 OFF2 inactive.
0 OFF2 ACTIVE.
5 OFF_3_STATUS 1 OFF3 inactive.
0 OFF3 ACTIVE.
6 SWC_ON_ 1 SWITCH-ON INHIBITED.
INHIB 0 –
7 ALARM 1 Warning/Alarm.
0 No warning/alarm.
8 AT_ 1 OPERATING. Actual value equals Reference (is within
SETPOINT tolerance limits, e.g. in speed control, speed error is
10% max. of nominal motor speed).
0 Actual value differs from Reference (is outside
tolerance limits).
9 REMOTE 1 Drive control location: REMOTE (EXT1 or EXT2).
0 Drive control location: LOCAL.
10 ABOVE_ 1 Actual frequency or speed equals or exceeds
LIMIT supervision limit (set by drive parameter). Valid in both
directions of rotation.
0 Actual frequency or speed within supervision limit.
11 USER_0 Status bits that can be combined with drive logic for
application-specific functionality.
12 USER_1
13 USER_2
14 USER_3
15 Reserved
 Status Word for the DCU Profile

The embedded fieldbus interface writes the drive Status Word bits 0 to 15 to the
fieldbus Status Word as is. Bits 16 to 32 of the drive Status Word are not in use.
0 READY 1 Drive is ready to receive the start command.
0 Drive is not ready.
1 ENABLED 1 External run enable signal is active.
0 External run enable signal is not active.
2 Reserved for Not yet implemented. This is STARTED in HVAC.
ENABLED_TO_R
OTATE
3 RUNNING 1 Drive is modulating.
0 Drive is not modulating.
4 ZERO_SPEED 1 Drive is at zero speed.
0 Drive is not at zero speed.
ACCELERATING
DECELERATING
7 AT_SETPOINT 1 Drive is at setpoint.
0 Drive is not at setpoint.
8 LIMIT 1 Drive operation is limited.
0 Drive operation is not limited.
9 SUPERVISION 1 Actual value (speed, frequency or torque) is above a
limit. Limit is set with parameters 46.31…46.33
0 Actual value (speed, frequency or torque) is within
limits.
REVERSE_REF
REVERSE_ACT
12 PANEL_LOCAL 1 Panel/keypad (or PC tool) is in local control mode.
0 Panel/keypad (or PC tool) is not in local control mode.
13 FIELDBUS_LOC 1 Fieldbus is in local control mode.
AL 0 Fieldbus is not in local control mode.
14 EXT2_ACT 1 External control location EXT2 is active.
0 External control location EXT1 is active.
15 FAULT 1 Drive is faulted.
0 Drive is not faulted.
16 ALARM 1 Warning/Alarm is active.
0 No warning/alarm.

17 Reserved
DIRECTION_LO
CK
19 Reserved
20 Reserved
21 Reserved
22 USER_0 Status bits that can be combined with drive logic for
23 USER_1 application-specific functionality.
24 USER_2
25 USER_3
26 REQ_CTL 1 Control is requested in this channel.
0 Control is not requested in this channel.
27 … Reserved
31
State transition diagrams

 State transition diagram for the ABB Drives profile
The diagram below shows the state transitions in the drive when the drive is using the
ABB Drives profile and the drive is configured to follow the commands of the control
word from the embedded fieldbus interface. The upper case texts refer to the states
which are used in the tables representing the fieldbus Control and Status words. See
sections Control Word for the ABB Drives profile on page 450 and Status Word for
the ABB Drives profile on page 454.
SWITCH-ON ABB Drives profile

MAINS OFF INHIBITED (SW Bit6=1)
Power ON (CW Bit0=0)
NOT READY TO
SWITCH ON (SW Bit0=0) CW = Control Word
A B C D
SW = Status Word
n = Speed
I = Input Current
(CW=xxxx x1xx xxxx x110)
RFG = Ramp Function
(CW Bit3=0)
Generator
READY TO f = Frequency
OPERATION SWITCH ON (SW Bit0=1)
INHIBITED (SW Bit2=0)
from any state
operation (CW=xxxx x1xx xxxx x111)
inhibited Fault
READY TO
FAULT (SW Bit3=1)
from any state OPERATE (SW Bit1=1)
OFF1 (CW Bit0=0) (CW Bit7=1)

(CW=xxxx x1xx xxxx 1111
OFF1 and SW Bit12=1)
ACTIVE (SW Bit1=0)
from any state from any state
n(f)=0 / I=0 Emergency Stop Emergency OFF
(CW Bit3=1 OFF3 (CW Bit2=0) OFF2 (CW Bit1=0)
and
SW Bit12=1) OFF3 OFF2
B C D ACTIVE (SW Bit5=0) ACTIVE (SW Bit4=0)
(CW Bit4=0) n(f)=0 / I=0
OPERATION
C D
ENABLED (SW Bit2=1)
A
(CW Bit5=0) (CW=xxxx x1xx xxx1 1111)
D RFG: OUTPUT
ENABLED
B
(CW Bit6=0) (CW=xxxx x1xx xx11 1111)
RFG: ACCELERATOR STATE

ENABLED
C
condition
(CW=xxxx x1xx x111 1111)
OPERATION rising edge of the bit

(SW Bit8=1)
D
References
 References for the ABB Drives profile and DCU Profile
The ABB Drives profile supports the use of two references, EFB reference 1 and EFB
reference 2. The references are 16-bit words each containing a sign bit and a 15-bit
integer. A negative reference is formed by calculating the two’s complement from the
corresponding positive reference.
The references are scaled as defined by parameters 46.01…46.04; which scaling is
in use depends on the setting of 58.26 EFB ref1 type and 58.27 EFB ref2 type (see
page 373).
Fieldbus Drive
46.01 (with speed reference)

20000
46.02 (with frequency reference)
46.03 (with torque reference)

10000
46.04 (with power reference)
0 0
-(46.03) (with torque reference)

-10000
-(46.04) (with power reference)
-(46.01) (with speed reference)

-20000
-(46.02) (with frequency reference)
The scaled references are shown by parameters 03.09 EFB reference 1 and 03.10
EFB reference 2.
Actual values
 Actual values for the ABB Drives profile and DCU Profile
The ABB Drives profile supports the use of two fieldbus actual values, ACT1 and
ACT2. The actual values are 16-bit words each containing a sign bit and a 15-bit
integer. A negative value is formed by calculating the two’s complement from the
corresponding positive value.
The actual values are scaled as defined by parameters 46.01…46.04; which scaling
is in use depends on the setting of parameters 58.28 EFB act1 type and 58.29 EFB
act2 type (see page 373).
Fieldbus Drive

20000
46.03 (with torque reference)

10000
46.04 (with power reference)
0 0
-(46.03) (with torque reference)

-10000
-(46.04) (with power reference)

-20000
Modbus holding register addresses

 Modbus holding register addresses for the ABB Drives profile and
DCU Profile
The table below shows the default Modbus holding register addresses for the drive
data with the ABB Drives profile. This profile provides a converted 16-bit access to
the drive data.
Note: Only the 16 least significant bits of the drive’s 32-bit Control and Status Words
can be accessed
Note: Bits 16 through 32 of the DCU Control/Status word are not in use if 16-bit
control/status word is used with the DCU Profile.
Register address Register data (16-bit words)
400001 Control word. See sections Control Word for the ABB Drives profile
(page 450) and Control Word for the DCU Profile (page 451).
The selection can be changed using parameter 58.101 Data I/O 1.
400002 Reference 1 (REF1).
400003 Reference 2 (REF2).
400004 Status Word (SW). See sections Status Word for the ABB Drives
profile (page 454) and Status Word for the DCU Profile (page 455).
400005 Actual value 1 (ACT1).
400006 Actual value 2 (ACT2).
400007…400040 Data in/out 7…40.
Selected by parameters 58.107 Data I/O 7 … 58.140 Data I/O 40.
400070…400089 Unused
400090…400100 Error code access. See section Error code registers (holding registers
400090…400100) (page 466).
400101…465536 Parameter read/write.
Parameters are mapped to register addresses according to parameter
58.33 Addressing mode.
Modbus function codes

The table below shows the Modbus function codes supported by the embedded
fieldbus interface.
Code Function name Description
01h Read Coils N/A
02h Read Discrete Inputs N/A
03h Read Holding Registers N/A
05h Write Single Coil N/A
06h Write Single Register N/A
08h Diagnostics Provides a series of tests for checking the
communication, or for checking various internal error
conditions.
Supported subcodes:
• 00h Return Query Data: Echo/loopback test.
• 01h Restart Comm Option: Restarts and initializes
the EFB, clears communications event counters.
• 04h Force Listen Only Mode
• 0Ah Clear Counters and Diagnostic Register
• 0Bh Return Bus Message Count
• 0Ch Return Bus Comm. Error Count
• 0Dh Return Bus Exception Error Count
• 0Eh Return Slave Message Count
• 0Fh Return Slave No Response Count
• 10h Return Slave NAK (negative acknowledge)
Count
• 11h Return Slave Busy Count
• 12h Return Bus Character Overrun Count
• 14h Clear Overrun Counter and Flag
0Bh Get Comm Event N/A
Counter
0Fh Write Multiple Coils N/A
10h Write Multiple Registers N/A
16h Mask Write Register N/A
17h Read/Write Multiple N/A
Registers
Code Function name Description

2Bh / 0Eh Encapsulated Interface Supported subcodes:
Transport • 0Eh Read Device Identification: Allows reading the
identification and other information.
Supported ID codes (access type):
• 00h: Request to get the basic device identification
(stream access)
• 04h: Request to get one specific identification
object (individual access)
Supported Object IDs:
• 00h: Vendor Name (“ABB”)
• 01h: Product Code (for example, “AINFX”)
• 02h: Major Minor Revision (combination of contents
of parameters 07.05 Firmware version and 58.02
Protocol ID).
Exception codes
The table below shows the Modbus exception codes supported by the embedded
fieldbus interface.
Code Name Description
01h ILLEGAL FUNCTION The function code received in the query is not an
allowable action for the server.
02h ILLEGAL DATA The data address received in the query is not an
ADDRESS allowable address for the server.
03h ILLEGAL DATA VALUE A value contained in the query in not an allowable
value for the server.
04h SLAVE DEVICE An unrecoverable error occurred while the server was
FAILURE attempting to perform the requested action. See
section Error code registers (holding registers
400090…400100) on page 466.
06h SLAVE DEVICE BUSY The server is engaged in processing a long-duration
program command.
Coils (0xxxx reference set)

Coils are 1-bit read/write values. Control Word bits are exposed with this data type.
The table below summarizes the Modbus coils (0xxxx reference set). Note that the
references are 0-based index which match the address transmitted on the wire.
Reference ABB Drives profile DCU Profile
0 OFF1_CONTROL STOP
1 OFF2_CONTROL START
2 OFF3_CONTROL Reserved
3 INHIBIT_OPERATION Reserved
4 RAMP_OUT_ZERO RESET
5 RAMP_HOLD EXT2
6 RAMP_IN_ZERO RUN_DISABLE
7 RESET STOPMODE_RAMP
8 JOGGING_1 STOPMODE_EMERGENCY_RAMP
9 JOGGING_2 STOPMODE_COAST
10 REMOTE_CMD Reserved
11 EXT_CTRL_LOC RAMP_OUT_ZERO
12 USER_0 RAMP_HOLD
13 USER_1 RAMP_IN_ZERO
14 USER_2 Reserved
15 USER_3 Reserved
16 Reserved FB_LOCAL_CTL
17 Reserved FB_LOCAL_REF
18 Reserved Reserved
22 Reserved USER_0
23 Reserved USER_1
24 Reserved USER_2
25 Reserved USER_3
Discrete inputs (1xxxx reference set)

Discrete inputs are 1-bit read-only values. Status Word bits are exposed with this data
type. The table below summarizes the Modbus discrete inputs (1xxxx reference set).
Note that the references are 0-based index which match the address transmitted on
the wire.
Reference ABB Drives profile DCU Profile
0 RDY_ON READY
1 RDY_RUN ENABLED
2 RDY_REF Reserved
3 TRIPPED RUNNING
4 OFF_2_STATUS ZERO_SPEED
5 OFF_3_STATUS Reserved
6 SWC_ON_INHIB Reserved
7 ALARM AT_SETPOINT
8 AT_SETPOINT LIMIT
9 REMOTE SUPERVISION
10 ABOVE_LIMIT Reserved
11 USER_0 Reserved
12 USER_1 PANEL_LOCAL
13 USER_2 FIELDBUS_LOCAL
14 USER_3 EXT2_ACT
15 Reserved FAULT
16 Reserved ALARM
22 Reserved USER_0
23 Reserved USER_1
24 Reserved USER_2
25 Reserved USER_3
26 Reserved REQ_CTL
Error code registers (holding registers 400090…400100)

These registers contain information about the last query. The error register is cleared
when a query has finished successfully.
Reference Name Description
89 Reset Error Registers 1 = Reset internal error registers (91…95). 0 = Do
nothing.
90 Error Function Code Function code of the failed query.
91 Error Code Set when exception code 04h is generated (see table
above).
• 00h No error
• 02h Low/High limit exceeded
• 03h Faulty Index: Unavailable index of an array
parameter
• 05h Incorrect Data Type: Value does not match the
data type of the parameter
• 65h General Error: Undefined error when handling
query
92 Failed Register The last register (discrete input, coil, input register or
holding register) that failed to be read or written.
93 Last Register Written The last register that was written successfully.
Successfully
94 Last Register Read The last register that was read successfully.
Successfully
Fieldbus control through a fieldbus adapter 467
17
Fieldbus control through a
fieldbus adapter
This chapter describes how the drive can be controlled by external devices over a
communication network (fieldbus) through an optional fieldbus adapter module.
The fieldbus control interface of the drive is described first, followed by a
configuration example.
System overview
The drive can be connected to an external control system through an optional
fieldbus adapter (“fieldbus adapter A” = FBA A) mounted onto the control unit of the
drive. The drive can be configured to receive all of its control information through the
fieldbus interface, or the control can be distributed between the fieldbus interface and
other available sources such as digital and analog inputs, depending on how control
locations EXT1 and EXT2 are configured.
Fieldbus adapters are available for various communication systems and protocols, for
example
• PROFIBUS DP (FPBA-01 adapter)
• CANopen (FCAN-01 adapter)
• DeviceNetTM (FDNA-01 adapter)
• EtherNet/IPTM (FENA-11 adapter)
468 Fieldbus control through a fieldbus adapter
Note: The text and examples in this chapter describe the configuration of one
fieldbus adapter (FBA A) by parameters 50.01…50.18 and parameter groups 51 FBA
A settings…53 FBA A data out.
Drive
Fieldbus
controller
Fieldbus
Other
devices
Type Fxxx fieldbus adapter installed onto

drive control unit (slot 1)
Data Flow
Control word (CW)
References
Process I/O (cyclic)
Status word (SW)
Actual values
Parameter R/W requests/responses Process I/O (cyclic) or

Service messages (acyclic)
Basics of the fieldbus control interface

The cyclic communication between a fieldbus system and the drive consists of 16- or
32-bit input and output data words. The drive is able to support a maximum of 12 data
words (16 bits) in each direction.
Data transmitted from the drive to the fieldbus controller is defined by parameters
52.01 FBA A data in1 … 52.12 FBA A data in12. The data transmitted from the
fieldbus controller to the drive is defined by parameters 53.01 FBA A data out1 …
53.12 FBA A data out12.
Fieldbus network
1)
Fieldbus adapter FBA Profile
EXT1/2
Start func
DATA Profile
OUT 2) selection
4) FBA MAIN CW
4)
FBA REF1
1
DATA OUT FBA REF2
2 20.01
selection 20.06
Fieldbus-specific interface
3
3)
… Speed/Torque
REF1 sel
12 Par. 10.01…99.99
DATA Profile
IN 2) selection
Group 53
FBA MAIN SW 22.11 / 26.11
5)
5) FBA ACT1 / 26.12
1
DATA IN FBA ACT2
2 selection Speed/Torque
3 REF2 sel
3)
…
12 Par. 01.01…99.99
Cyclic communication 22.12 / 26.11

Group 52 / 26.12
Acyclic communication
See the manual of the fieldbus Parameter
adapter module. table
1) See also other parameters which can be controlled from fieldbus.

2) The maximum number of data words used is protocol-dependent.
3) Profile/instance selection parameters. Fieldbus module specific parameters. For more
information, see the User’s manual of the appropriate fieldbus adapter module.
4) With DeviceNet, the control part is transmitted directly.
5) With DeviceNet, the actual value part is transmitted directly.
 Control word and Status word

The Control word is the principal means for controlling the drive from a fieldbus
system. It is sent by the fieldbus master station to the drive through the adapter
module. The drive switches between its states according to the bit-coded instructions
in the Control word, and returns status information to the master in the Status word.
The contents of the Control word and the Status word are detailed on pages 473 and
475 respectively. The drive states are presented in the state diagram (page 476).
Debugging the network words

If parameter 50.12 FBA A debug enable is set to Enable, the Control word received
from the fieldbus is shown by parameter 50.13 FBA A control word, and the Status
word transmitted to the fieldbus network by 50.16 FBA A status word. This “raw” data
is very useful to determine if the fieldbus master is transmitting the correct data
before handing control to the fieldbus network.
 References
References are 16-bit words containing a sign bit and a 15-bit integer. A negative
reference (indicating reversed direction of rotation) is formed by calculating the two’s
complement from the corresponding positive reference.
ABB drives can receive control information from multiple sources including analog
and digital inputs, the drive control panel and a fieldbus adapter module. In order to
have the drive controlled through the fieldbus, the module must be defined as the
source for control information such as reference. This is done using the source
selection parameters in groups 22 Speed reference selection, 26 Torque reference
chain and 28 Frequency reference chain.

If parameter 50.12 FBA A debug enable is set to Enable, the references received
from the fieldbus are displayed by 50.14 FBA A reference 1 and 50.15 FBA A
reference 2.
Scaling of references
The references are scaled as defined by parameters 46.01…46.04; which scaling is
in use depends on the setting of 50.04 FBA A ref1 type and 50.05 FBA A ref2 type.
Fieldbus Drive

20000
10000 46.03 (with torque reference)
0 0
-10000 -(46.03) (with torque reference)

-20000
The scaled references are shown by parameters 03.05 FB A reference 1 and 03.06
FB A reference 2.
 Actual values
Actual values are 16-bit words containing information on the operation of the drive.
The types of the monitored signals are selected by parameters 50.07 FBA A actual 1
type and 50.08 FBA A actual 2 type.

If parameter 50.12 FBA A debug enable is set to Enable, the actual values sent to the
fieldbus are displayed by 50.17 FBA A actual value 1 and 50.18 FBA A actual value
2.
Scaling of actual values

The actual values are scaled as defined by parameters 46.01…46.04; which scaling
is in use depends on the setting of parameters 50.07 FBA A actual 1 type and 50.08
FBA A actual 2 type.
Fieldbus Drive

20000
10000 46.03 (with torque reference)
0 0
-10000 -(46.03) (with torque reference)

-20000
 Contents of the fieldbus Control word

The upper case boldface text refers to the states shown in the state diagram (page
476).
0 Off1 control 1 Proceed to READY TO OPERATE.
0 Stop along currently active deceleration ramp. Proceed to OFF1
ACTIVE; proceed to READY TO SWITCH ON unless other interlocks
(OFF2, OFF3) are active.
1 Off2 control 1 Continue operation (OFF2 inactive).
0 Emergency OFF, coast to a stop.
Proceed to OFF2 ACTIVE, proceed to SWITCH-ON INHIBITED.
2 Off3 control 1 Continue operation (OFF3 inactive).
0 Emergency stop, stop within time defined by drive parameter.
Proceed to OFF3 ACTIVE; proceed to SWITCH-ON INHIBITED.
WARNING: Ensure motor and driven machine can be
stopped using this stop mode.
3 Run 1 Proceed to OPERATION ENABLED.
Note: Run enable signal must be active; see drive documentation. If
the drive is set to receive the Run enable signal from the fieldbus, this
bit activates the signal.
0 Inhibit operation. Proceed to OPERATION INHIBITED.
4 Ramp out zero 1 Normal operation. Proceed to RAMP FUNCTION GENERATOR:
OUTPUT ENABLED.
0 Force Ramp function generator output to zero. The drive will
immediately decelerate to zero speed (observing the torque limits).
5 Ramp hold 1 Enable ramp function.
Proceed to RAMP FUNCTION GENERATOR: ACCELERATOR
ENABLED.
0 Halt ramping (Ramp Function Generator output held).
6 Ramp in zero 1 Normal operation. Proceed to OPERATING.
Note: This bit is effective only if the fieldbus interface is set as the
source for this signal by drive parameters.
0 Force Ramp function generator input to zero.
7 Reset 0=>1 Fault reset if an active fault exists. Proceed to SWITCH-ON
INHIBITED.
Note: This bit is effective only if the fieldbus interface is set as the
source of the reset signal by drive parameters.
0 Continue normal operation.
8 Inching 1 1 Accelerate to inching (jogging) setpoint 1.
Notes:
• Bits 4…6 must be 0.
• See also section Rush control (page 191).
0 Inching (jogging) 1 disabled.
9 Inching 2 1 Accelerate to inching (jogging) setpoint 2.
See notes at bit 8.
0 Inching (jogging) 2 disabled.
10 Remote cmd 1 Fieldbus control enabled.
0 Control word and reference not getting through to the drive, except
for bits 0…2.
11 Ext ctrl loc 1 Select External Control Location EXT2. Effective if control location is
parameterized to be selected from fieldbus.
0 Select External Control Location EXT1. Effective if control location is
parameterized to be selected from fieldbus.
12 User bit 0 1 TBA
0 TBA
13 User bit 1 1 TBA
0 TBA

14 User bit 2 1 TBA
0 TBA
15 User bit 3 1 TBA
0 TBA
 Contents of the fieldbus Status word

The upper case boldface text refers to the states shown in the state diagram (page
476).
0 Ready to switch 1 READY TO SWITCH ON.
ON 0 NOT READY TO SWITCH ON.
1 Ready run 1 READY TO OPERATE.
0 OFF1 ACTIVE.
2 Ready ref 1 OPERATION ENABLED.
0 OPERATION INHIBITED.
3 Tripped 1 FAULT.
0 No fault.
4 Off 2 inactive 1 OFF2 inactive.
0 OFF2 ACTIVE.
5 Off 3 inactive 1 OFF3 inactive.
0 OFF3 ACTIVE.
6 Switch-on inhibited 1 SWITCH-ON INHIBITED.
0 –
7 Warning 1 Warning active.
0 No warning active.
8 At setpoint 1 OPERATING. Actual value equals reference = is within tolerance
limits (see parameters 46.21…46.23).
0 Actual value differs from reference = is outside tolerance limits.
9 Remote 1 Drive control location: REMOTE (EXT1 or EXT2).
0 Drive control location: LOCAL.
10 Above limit - See bit 10 of 06.17 Drive status word 2.
11 User bit 0 - See parameter 06.30 MSW bit 11 selection.
15 Reserved
 The state diagram
SWITCH-ON from any state

MAINS OFF
INHIBITED SW b6=1
Fault
Power ON CW b0=0
FAULT
NOT READY TO SW b3=1
A B C D SWITCH ON SW b0=0
CW b7=1
CW=xxxx x1xx xxxx x110

CW b3=0
READY TO
OPERATION SWITCH ON SW b0=1
INHIBITED from any state
SW b2=0
operation Emergency stop
CW=xxxx x1xx xxxx x111 OFF2 (CW b1=0)
inhibited
OFF2
READY TO
from any state ACTIVE SW b4=0
OPERATE SW b1=1
OFF1 (CW b0=0)

CW=xxxx x1xx xxxx 1111
OFF1
ACTIVE SW b1=0 from any state
n(f) = 0 / I = 0 Emergency stop

OFF3 (CW b2=0)
B C D OFF3
ACTIVE SW b5=0
CW b4=0
n(f) = 0 / I = 0
OPERATION
C D ENABLED SW b2=1
A
CW b5=0 CW=xxxx x1xx xxx1 1111
STATE
RFG: OUTPUT
D ENABLED condition
B
CW b6=0 CW=xxxx x1xx xx11 1111 rising edge of
bit
CW = Control word RFG: ACCELERATOR
SW = Status word ENABLED
bx = bit x
n = Speed C
I = Input Current CW=xxxx x1xx x111 1111
RFG = Ramp Function
Generator
f = Frequency OPERATION
SW b8=1
D
Setting up the drive for fieldbus control

1. Install the fieldbus adapter module mechanically and electrically according to the
instructions given in the User’s manual of the module.
2. Power up the drive.
3. Enable the communication between the drive and the fieldbus adapter module
with parameter 50.01 FBA A enable.
4. With 50.02 FBA A comm loss func, select how the drive should react to a fieldbus
communication break.
Note: This function monitors both the communication between the fieldbus
master and the adapter module and the communication between the adapter
module and the drive.
5. With 50.03 FBA A comm loss t out, define the time between communication break
detection and the selected action.
6. Select application-specific values for the rest of the parameters in group 50
Fieldbus adapter (FBA), starting from 50.04. Examples of appropriate values are
shown in the tables below.
7. Set the fieldbus adapter module configuration parameters in group 51 FBA A
settings. As a minimum, set the required node address and the communication
profile.
8. Define the process data transferred to and from the drive in parameter groups 52
FBA A data in and 53 FBA A data out.
Note: Depending on the communication protocol and profile being used, the
Control word and Status word may already be configured to be sent/received by
the communication system.
9. Save the valid parameter values to permanent memory by setting parameter
96.07 Parameter save manually to Save.
10. Validate the settings made in parameter groups 51, 52 and 53 by setting
parameter 51.27 FBA A par refresh to Configure.
11. Configure control locations EXT1 and EXT2 to allow control and reference signals
to come from the fieldbus. Examples of appropriate values are shown in the
tables below.
 Parameter setting example: FPBA (PROFIBUS DP)

This example shows how to configure a basic speed control application that uses the
PROFIdrive communication profile with PPO Type 2. The start/stop commands and
reference are according to the PROFIdrive profile, speed control mode.
The reference values sent over the fieldbus have to be scaled within the drive so they
have the desired effect. The reference value ±16384 (4000h) corresponds to the
range of speed set in parameter 46.01 Speed scaling (both forward and reverse
directions). For example, if 46.01 is set to 480 rpm, then 4000h sent over fieldbus will
request 480 rpm.
Direction PZD1 PZD2 PZD3 PZD4 PZD5 PZD6
Out Control word Speed reference Acc time 1 Dec time 1
In Status word Speed actual value Motor current DC voltage
The table below gives the recommended drive parameter settings.

Drive parameter Setting for ACS580 Description
drives
50.01 FBA A enable 1 = [slot number] Enables communication between the
drive and the fieldbus adapter module.
50.04 FBA A ref1 type 4 = Speed Selects the fieldbus A reference 1 type
and scaling.
50.07 FBA A actual 1 type 0 = Speed or Selects the actual value type and scaling
frequency according to the currently active Ref1
mode defined in parameter 50.04.
51.01 FBA A type 1 = FPBA1) Displays the type of the fieldbus adapter
module.
51.02 Node address 32) Defines the PROFIBUS node address of
the fieldbus adapter module.
51.03 Baud rate 120001) Displays the current baud rate on the
PROFIBUS network in kbit/s.
51.04 MSG type 1 = PPO11) Displays the telegram type selected by
the PLC configuration tool.
51.05 Profile 0 = PROFIdrive Selects the Control word according to the
PROFIdrive profile (speed control mode).
51.07 RPBA mode 0 = Disabled Disables the RPBA emulation mode.
1)
52.01 FBA data in1 4 = SW 16bit Status word
52.02 FBA data in2 5 = Act1 16bit Actual value 1
52.03 FBA data in3 01.072) Motor current
52.05 FBA data in5 01.112) DC voltage
53.01 FBA data out1 1 = CW 16bit1) Control word
53.02 FBA data out2 2 = Ref1 16bit Reference 1 (speed)
53.03 FBA data out3 23.122) Acceleration time 1
Drive parameter Setting for ACS580 Description

drives
53.05 FBA data out5 23.132) Deceleration time 1
51.27 FBA A par refresh 1 = Configure Validates the configuration parameter

settings.
19.12 Ext1 control mode 2 = Speed Selects speed control as the control
mode 1 for external control location
EXT1.
20.01 Ext1 commands 12 = Fieldbus A Selects fieldbus adapter A as the source
of the start and stop commands for
20.02 Ext1 start trigger type 1 = Level Selects a level-triggered start signal for
22.11 Ext1 speed ref1 4 = FB A ref1 Selects fieldbus A reference 1 as the
source for speed reference 1.
1)
Read-only or automatically detected/set
2)
Example
The start sequence for the parameter example above is given below.
Control word:
• 477h (1143 decimal) –> READY TO SWITCH ON
• 47Fh (1151 decimal) –> OPERATING (Speed mode)
Maintenance and hardware diagnostics 481
18
Maintenance and hardware
diagnostics
The chapter contains preventive maintenance instructions and LED indicator
descriptions.
Maintenance intervals
If installed in an appropriate environment, the drive requires very little maintenance.
Section Preventive maintenance intervals on page 482 lists the routine maintenance
intervals recommended by ABB for customer maintenance tasks.
The recommended maintenance intervals and component replacements are based
on specified operational and environmental conditions. ABB recommends annual
drive inspections to ensure the highest reliability and optimum performance. Consult
your local ABB Service representative for more details on the maintenance. On the
Internet, go to http://www.abb.com/drives. See the maintenance instructions in this
chapter.
482 Maintenance and hardware diagnostics
 Preventive maintenance intervals

The table below shows the intervals for the preventive maintenance tasks allowed for
the customer. For other maintenance tasks, consult your local ABB Service
representative, or see the complete maintenance schedule on the Internet.
Years from start-up
Maintenance task/object
0 1 2 3 4 5 6 7 8 9 10 11 12 …
Cooling fans
Main cooling fan (R0… R9). See R R
(R) (R)
page 485. (R) (R)
Auxiliary cooling fan for circuit R R R R
boards (R6…R9). See page 489. (R) (R) (R) (R)
Batteries
Control panel battery. See page R
491. (R)
Connections and environment
Quality of supply voltage O O O O O O O O O O O O O
Improvements
I I I I
Based on product notes
(I) (I) (I) (I)
Spare parts
I I I I I I I I I I I I I
Spare part stock
(I) (I) (I) (I) (I) (I) (I) (I) (I) (I) (I) (I) (I)
Reforming of DC circuit capacitors
(spare modules and spare O O O O O O O O O O O O O
capacitors). See page 490.
Other useful tasks
Checking tightness of cable and I I I I I I I I I I I I I
busbar terminals. Tightening if
(I) (I) (I) (I) (I) (I) (I) (I) (I) (I) (I) (I) (I)
needed.
Checking ambient conditions I I I I I I I I I I I I I
(dustiness, moisture, temperature) (I) (I) (I) (I) (I) (I) (I) (I) (I) (I) (I) (I) (I)
Cleaning the heatsink. See page O O O O O O O O O O O O O
484. (O) (O) (O) (O) (O) (O) (O) (O) (O) (O) (O) (O) (O)
4FPS10000309652.xlsx B
Symbols
I Inspection, maintenance action if needed
(I) Inspection in harsh conditions*, maintenance action if needed
R Replacement
(R) Replacement in harsh conditions*
O Other work (commissioning, tests, measurements, etc.)
* Ambient temperature constantly over 40 °C, especially dusty or humid ambient conditions,
cyclic heavy load, or continuous nominal (full) load.
To maintain the best possible performance and reliability of the drive, inspect the drive
annually. Contact ABB Service at least once in three years for replacement of aging
components.
Note: Recommended maintenance intervals and component replacements are based on
operation in specified ambient conditions.
Heatsink
The drive heatsink fins pick up dust from the cooling air. The drive runs into
overtemperature warnings and faults if the heatsink is not clean. When necessary,
clean the heatsink as follows.
WARNING! Obey the instructions in chapter Safety instructions on page 17.

Ignoring the instructions can cause physical injury or death, or damage to the
equipment.
WARNING! Use a vacuum cleaner with antistatic hose and nozzle. Using a
normal vacuum cleaner creates static discharges which can damage circuit
boards.
1. Stop the drive and disconnect it from the power line. Wait for 5 minutes and then
make sure by measuring that there is no voltage. See section Precautions before
electrical work on page 20 before you start the work.
2. Remove the cooling fan(s). See section Fans on page 485.
3. Blow clean, dry and oilfree compressed air from bottom to top and simultaneously
use a vacuum cleaner at the air outlet to trap the dust. Note: If there is a risk of
dust entering adjoining equipment, perform the cleaning in another room.
4. Reinstall the cooling fan(s).
Fans
See section Maintenance intervals on page 481 for the fan replacement interval in
average operation conditions. Parameter 05.04 Fan on-time counter indicates the
running time of the cooling fan. Reset the counter after a fan replacement.
Replacement fans are available from ABB. Do not use other than ABB specified
spare parts.
 Replacing the cooling fan, frames R0…R3

equipment.
2. Lever the fan assembly off the drive frame with for example a screwdriver (2a)
and pull out the fan assembly (2b).
R0 R1…R2 R3
2a 2a
2a
R0 R1…R2 R3
2b
2b 2b
3. Install the fan assembly in reverse order.

 Replacing the cooling fan, frame R5

equipment.
2. Lift the fan assembly upwards from the front edge (2a) and remove the assembly
(2b).
3. Install the new fan assembly in reverse order.
2b
2a
 Replacing the main cooling fan, frames R6…R8

equipment.
2. Undo the two mounting screws of the fan mounting plate at the bottom of the
drive.
3. Pull the fan mounting plate down from the side edge.
4. Unplug the fan power supply wires from the drive.
5. Lift the fan mounting plate off.
6. Remove the fan from the mounting plate.
7. Install the new fan in reverse order.
6
3
2
 Replacing the main cooling fans, frame R9

equipment.
2. Undo the two mounting screws of the fan mounting plate.
3. Turn the mounting plate downwards.
4. Unplug the fan power supply wires from the drive.
5. Remove the fan mounting plate.
6. Remove the fans by undoing the two mounting screws.
7. Install the new fans in reverse order.
4
3
2
6
2 6
 Replacing the auxiliary cooling fan, frames R6…R9

equipment.
2. Remove the front cover (see page 58).
3. Unplug fan power supply wires from the drive.
4. Release the retaining clips.
5. Lift the fan off.
6. Install the new fan in reverse order. Make sure that the arrow on the fan points up.
4
Capacitors
The drive intermediate DC circuit employs several electrolytic capacitors. Their
lifespan depends on the operating time of the drive, loading and ambient
temperature. Capacitor life can be prolonged by lowering the ambient temperature.
Capacitor failure is usually followed by damage to the drive and an input cable fuse
failure, or a fault trip. Contact ABB if capacitor failure is suspected. Replacements are
available from ABB. Do not use other than ABB specified spare parts.
 Reforming the capacitors

The capacitors must be reformed if the drive has been stored for a year or more. See
section Type designation label on page 40 for how to find out the manufacturing date
from the serial number.
For information on reforming the capacitors, see Converter module capacitor
reforming instructions (3BFE64059629 [English]), available on the Internet (go to
http://www.abb.com and enter the code in the Search field).
Control panel
 Cleaning the control panel
Use a soft damp cloth to clean the control panel. Avoid harsh cleaners which could
scratch the display window.
 Replacing the battery in the assistant control panel

A battery is only used in assistant control panels that have the clock function. The
battery keeps the clock operating in memory during power interruptions.
The expected life for the battery is greater than ten years.
Note: The battery is NOT required for any control panel or drive functions, except the
clock.
1. Remove the control panel from the drive. See section Control panel on page 39.
2. To remove the battery, use a coin to rotate the battery cover on the back of the
control panel.
3. Replace the battery with type CR2032. Dispose the old battery according to local
disposal rules or applicable laws.
CR2032
2
LEDs
 Drive LEDs
There is a green POWER and a red FAULT LED on the front of the drive. They are
visible through the panel cover but invisible if a control panel is attached to the drive.
The table below describes the drive LED indications.
Drive LEDs POWER and FAULT, on the front of the drive, under the control panel / panel
cover
If a control panel is attached to the drive, switch to remote control (otherwise a fault will be
generated), and then remove the panel to be able to see the LEDs
LEDs off LED lit and steady LED blinking
No power Green Power supply on the board Green Blinking:
(POWER) OK (POWER) Drive in an alarm state
Blinking for one second:
Drive selected on the
control panel when multiple
drives are connected to the
same panel bus.
Red Active fault in the drive. To Red Active fault in the drive. To
(FAULT) reset the fault, press (FAULT) reset the fault, switch off the
RESET from the control drive power.
panel or switch off the drive
power.
 Assistant panel LEDs

The assistant control panel has one LED. The table below describes the control panel
LED indications. For more information see ACS-AP-x assistant control panels user’s
manual (3AUA0000085685 [English]).
Assistant control panel LED, at the left edge of the control panel
LED off LED lit and steady LED blinking/flickering
Panel has Green Drive functioning normally. Green Blinking:
no power. Connection between the Active warning in the drive
drive and control panel may Flickering:
be faulty or lost, or the Data transferred between
panel and drive may be the PC tool and drive
incompatible. Check the through the USB
control panel display. connection of the control
panel
Red Check the display to see Red Active fault in the drive.
where the fault is. To reset the fault, cycle the
• Active fault in the drive. drive power.
Reset the fault.
• Active fault in another
drive in the panel bus.
Switch to the drive in
question and check and
reset the fault.
Technical data 495
19
Technical data
The chapter contains the technical specifications of the drive, for example ratings,
sizes and technical requirements as well as provisions for fulfilling the requirements
for CE, UL and other approval marks.
496 Technical data
Ratings
 IEC ratings
Type Input Max. Output ratings Frame
ACS580 rating current
Nominal use Light- duty use Heavy-duty use size
-01-
I1N Imax IN PN I Ld PLd IHd PHd
A A A kW A kW A kW
3-phase UN = 400 V (380…415 V)
02A6-4 2.6 3.2 2.6 0.75 2.5 0.75 1.8 0.55 R0
03A3-4 3.3 4.7 3.3 1.1 3.1 1.1 2.6 0.75 R0
04A0-4 4.0 5.9 4.0 1.5 3.8 1.5 3.3 1.1 R0
05A6-4 5.6 7.2 5.6 2.2 5.3 2.2 4.0 1.5 R0
07A2-4 7.2 10.1 7.2 3.0 6.8 3.0 5.6 2.2 R1
09A4-4 9.4 13.0 9.4 4.0 8.9 4.0 7.2 3.0 R1
12A6-4 12.6 14.1 12.6 5.5 12.0 5.5 9.4 4.0 R1
017A-4 17.0 22.7 17.0 7.5 16.2 7.5 12.6 5.5 R2
025A-4 25.0 30.6 25.0 11.0 23.8 11.0 17.0 7.5 R2
032A-4 32.0 44.3 32.0 15.0 30.4 15.0 24.6 11.0 R3
038A-4 38.0 56.9 38.0 18.5 36.1 18.5 31.6 15.0 R3
045A-4 45.0 67.9 45.0 22.0 42.8 22.0 37.7 18.5 R3
061A-4 61 76 61 30 58 30 45 22 R5
072A-4 72 104 72 37 68 37 61 30 R5
087A-4 87 122 87 45 83 45 72 37 R5
105A-4 105 148 105 55 100 55 87 45 R6
145A-4 145 178 145 75 138 75 105 55 R6
169A-4 169 247 169 90 161 90 145 75 R7
206A-4 206 287 206 110 196 110 169 90 R7
246A-4 246 350 246 132 234 132 206 110 R8
293A-4 293 418 293 160 278 160 2461) 132 R8
363A-4 363 498 363 200 345 200 293 160 R9
430A-4 430 617 430 250 400 200 3632) 200 R9
3AXD00000586715.xls E
See definitions and notes on page 497.

Technical data 497
 NEMA ratings
Type Input Output ratings Frame
ACS580 rating Nominal use Heavy-duty use size
-01-
I1N I Ld PLd I Hd PHd
A A hp A hp
3-phase UN = 460 V (440…480 V)
02A6-4 2.1 2.1 1.0 1.6 0.75 R0
03A3-4 3.0 3.0 1.5 2.1 1.0 R0
04A0-4 3.4 3.4 2.0 3.0 1.5 R0
05A6-4 4.8 4.8 3.0 3.4 2.0 R0
07A2-4 6.0 6.0 3.0 4.0 3.0 R1
09A4-4 7.6 7.6 5.0 4.8 3.0 R1
12A6-4 11.0 11.0 7.5 7.6 5.0 R1
017A-4 14.0 14.0 10.0 11.0 7.5 R2
025A-4 21.0 21.0 15.0 14.0 10.0 R2
032A-4 27.0 27.0 20.0 21.0 15.0 R3
038A-4 34.0 34.0 25.0 27.0 20.0 R3
045A-4 40.0 40.0 30.0 34.0 25.0 R3
061A-4 52 52 40 40 30 R5
072A-4 65 65 50 52 40 R5
087A-4 77 77 60 65 50 R5
105A-4 96 96 75 77 60 R6
145A-4 124 124 100 96 75 R6
169A-4 156 156 125 124 100 R7
206A-4 180 180 150 156 125 R7
246A-4 240 240 200 180 150 R8
293A-4 260 260 200 2401) 150 R8
363A-4 361 361 300 302 250 R9
430A-4 414 414 350 3612) 300 R9
3AXD00000586715.xls E
 Definitions
UN Nominal supply voltage
I1N Nominal input current. Continuous rms input current (for dimensioning cables
and fuses).
Imax Maximum output current. Available for two seconds at start.
IN Nominal output current. Maximum continuous rms output current allowed (no
overload).
PN Nominal power of the drive. Typical motor power (no overloading). The kilowatt
ratings apply to most IEC 4-pole motors. The horsepower ratings apply to most
NEMA 4-pole motors.
ILd Maximum current with 110% overload, allowed for one minute every ten minutes
PLd Typical motor power in light-duty use (110% overload)
498 Technical data
IHd Maximum current with 150% overload, allowed for one minute every ten minutes
1)
Maximum current with 130% overload, allowed for one minute every ten
minutes
2)
Maximum current with 125% overload, allowed for one minute every ten
minutes
P Hd Typical motor power in heavy-duty use (150% overload)
 Sizing
Drive sizing is based on the rated motor current and power. To achieve the rated
motor power given in the table, the rated current of the drive must be higher than or
equal to the rated motor current. Also the rated power of the drive must be higher
than or equal to compared to the rated motor power. The power ratings are the same
regardless of the supply voltage within one voltage range.
Note: For frames R0…R3 the ratings apply at ambient temperature of 50 °C (122 °F)
for IN. For frames R5…R9, the ratings apply at ambient temperature of 40 °C (104 °F)
for IN. Above theses temperatures derating is required.
The DriveSize dimensioning tool available from ABB is recommended for selecting
the drive, motor and gear combination.
 Derating
The load capacity (IN, ILd, IHd; note that Imax is not derated) decreases for certain
situations, as defined below. In such situations, where full motor power is required,
oversize the drive so that the derated value provides sufficient capacity.
Note: If several situations are present at a time, the effect of derating for each
situation is cumulative.
Example:
If your application requires continuous 12.0 A of motor current ( IN) at 8 kHz switching frequency,
the supply voltage is 400 V and the drive is situated at 1500 m, calculate the appropriate drive
size requirement as follows:
Switching frequency derating (page 499):
The minimum size required is IN = 12.0 A / 0.66 = 18.18 A,
where 0.66 is the derating for 8 kHz switching frequency (frames R0…R3).
Altitude derating (page 499):
The derating factor for 1500 m is 1 - 1/1000 m · (1500 - 1000) m = 0.95.
The minimum size required becomes then IN = 18.18 A / 0.95 = 19.14 A.
Referring to IN in the ratings tables (starting from page 496), drive type ACS580-01-025A-4
exceeds the IN requirement of 19.24 A.
Technical data 499
Ambient temperature derating, IP21

Frame size Temperature
range
R0…R3 up to +50 °C No derating
up to +122 °F
R5…R9 up to +40 °C No derating
up to +104 °F
+40…+50 °C Derate 1% for every 1 °C (1.8 °F)
+104…+122 °F
The output current is calculated by multiplying the current given in the rating table by
the derating factor (k, in the diagram below).
k
R0…R3
1.00
0.95 R5…R9
0.90
0.85
0.80
-15 °C … +40 °C +50 °C T
-59 °F +104 °F +122 °F
Switching frequency derating

the derating factor given in the table below.
Note: If you change the minimum switching frequency with parameter 97.02
Minimum switching frequency, derate according to the table below. Changing
parameter 97.01 Switching frequency reference does not require derating.
Frame size Derating factor (k) for the minimum switching frequencies
1 kHz 2 kHz 4kHz 8 kHz 12 kHz
R0…R3 1 TBA TBA TBA TBA
R5 1 TBA TBA TBA TBA
R8 1 TBA TBA TBA N/A
R9 1 TBA TBA TBA N/A
Altitude derating
In altitudes 1000…4000 m (3300…13120 ft) above sea level, the derating is 1% for
every 100 m (330 ft).
500 Technical data
the derating factor k, which for x meters (1000 m <= x <= 4000 m) is:
k = 1 - 1/1000 m · (x - 1000) m
Check the network compatibility restrictions above 2000 m (6562 ft), see Installation
site altitude on page 515. Check also PELV limitation on relay output terminals above
2000 m (6562 ft), see sections Isolation areas, R0…R3: on page 513 and Isolation
areas, R5…R9: on page 514.
Technical data 501
Fuses (IEC)
gG as well as uR or aR fuses for protection against short-circuit in the input power
cable or drive are listed below. Either fuse type can be used for frames R0…R3 and
R5…R6 if it operates rapidly enough. The operating time depends on the supply
network impedance and the cross-sectional area and length of the supply cable. For
frames R7…R9 ultrarapid (aR) fuses must be used.
Note 1: See also Implementing thermal overload and short-circuit protection on page
68.
Note 2: Fuses with higher current rating than the recommended ones must not be
used.
Note 3: Fuses from other manufacturers can be used if they meet the ratings and the
melting curve of the fuse does not exceed the melting curve of the fuse mentioned in
the table.
 gG fuses
Check on the fuse time-current curve to ensure the operating time of the fuse is
below 0.5 seconds. Obey the local regulations.
Type Min. short- Input gG (IEC 60269)
ACS580 circuit current
current 1) Nominal I2t Voltage ABB type IEC 60269
-01- current rating size
A A A A2s V
3-phase UN = 400 or 460 V (380…415 V, 440…480 V)
02A6-4 32 2.6 4 55 500 OFAF000H4 000
03A3-4 48 3.3 6 110 500 OFAF000H6 000
04A0-4 48 4.0 6 110 500 OFAF000H6 000
05A6-4 80 5.6 10 360 500 OFAF000H10 000
07A2-4 80 7.2 10 360 500 OFAF000H10 000
09A4-4 128 9.4 16 740 500 OFAF000H16 000
12A6-4 128 12.6 16 740 500 OFAF000H16 000
017A-4 200 17.0 25 2500 500 OFAF000H25 000
025A-4 256 25.0 32 4000 500 OFAF000H32 000
032A-4 320 32.0 40 7700 500 OFAF000H40 000
038A-4 400 38.0 50 16000 500 OFAF000H50 000
045A-4 500 45.0 63 20100 500 OFAF000H63 000
061A-4 800 61 80 37500 500 OFAF000H80 000
072A-4 1000 72 100 65000 500 OFAF000H100 000
087A-4 1000 87 100 65000 500 OFAF000H100 000
105A-4 1300 105 125 100000 500 OFAF00H125 00
145A-4 1700 145 160 170000 500 OFAF00H160 00
169A-4 N/A 169
206A-4 N/A 206
Use aR fuses only.
246A-4 N/A 246
293A-4 N/A 293
502 Technical data
Type Min. short- Input gG (IEC 60269)

current1) Nominal I2t Voltage ABB type IEC 60269
-01- current rating size
A A A A2s V
363A-4 N/A 363
Use aR fuses only.
430A-4 N/A 430
3AXD00000586715.xls E
1) Minimum short-circuit current of the installation
 uR and aR fuses
Type Min. short- Input uR or aR
current1) Nominal Voltage I2t Bussmann IEC 60269
-01- current rating type size
A A A A2s V
3-phase UN = 400 or 460 V (380…415 V, 440…480 V)
02A6-4 TBA 2.6 25 130 690 170M1561 000
03A3-4 TBA 3.3 25 130 690 170M1561 000
04A0-4 TBA 4.0 25 130 690 170M1561 000
05A6-4 TBA 5.6 25 130 690 170M1561 000
07A2-4 TBA 7.2 25 130 690 170M1561 000
09A4-4 TBA 9.4 25 130 690 170M1561 000
12A6-4 TBA 12.6 25 130 690 170M1561 000
017A-4 TBA 17.0 40 460 690 170M1563 000
025A-4 TBA 25.0 40 460 690 170M1563 000
032A-4 TBA 32.0 63 1450 690 170M1565 000
038A-4 TBA 38.0 63 1450 690 170M1565 000
045A-4 TBA 45.0 80 2550 690 170M1566 000
061A-4 380 61 100 4650 690 170M1567 1
072A-4 480 72 125 8500 690 170M1568 1
087A-4 480 87 125 8500 690 170M1568 1
105A-4 700 105 160 16000 690 170M1569 1
145A-4 700 145 200 28000 690 170M1570 1
169A-4 1280 169 315 46500 690 170M3817 1
206A-4 1280 206 315 46500 690 170M3817 1
246A-4 1520 246 350 68500 690 170M3818 1
293A-4 1810 293 400 105000 690 170M3819 1
363A-4 2620 363 550 190000 690 170M5811 1
430A-4 3010 430 630 275000 690 170M5812 1
3AXD00000586715.xls E
1)
Minimum short-circuit current of the installation
Technical data 503
Dimensions, weights and free space requirements

Frame Dimensions and weights
size IP21 / UL type 1
H1 H2 H3 H4 W D Weight
mm mm mm mm mm mm kg
R0 330.0 303.0 N/A N/A 125.0 210.0 4.47
R1 330.0 303.0 N/A N/A 125.0 223.0 4.57
R2 430.0 394.0 N/A N/A 125.0 227.0 7.54
R3 490.0 454.0 N/A N/A 203.0 228.0 14.86
R5 596.0 597.5 726.0 626.5 203.0 283.0 23.00
R6 548.0 549.3 726.0 589.4 252.0 369.0 45.00
R7 600.0 601.3 880.0 641.4 284.0 370.0 55.00
R8 680.0 677.3 965.0 721.1 300.0 393.0 70.00
R9 680.0 680.0 955.0 741.4 380.0 418.0 98.00
3AXD00000586715.xls E
W D W D
H1
H2
H4
H3
Symbols
IP21 / UL type 1
H1 Height back without gland box
H2 Height front without gland box
H3 Height front with gland box
H4 Height back with gland box
W Width
D Depth
504 Technical data
Frame Free space

size Vertical mounting Vertical mounting Horizontal mounting
stand alone side by side
Above Below Above Below Between Above Below Between
mm mm mm mm mm mm mm mm
R0 200 200 200 200 0 TBA TBA TBA
R1 200 200 200 200 0 TBA TBA TBA
R2 200 200 200 200 0 TBA TBA TBA
R3 200 200 200 200 0 TBA TBA TBA
R5 200 300 200 300 0 TBA TBA TBA
R6 200 300 200 300 0 TBA TBA TBA
R7 200 300 200 300 0 TBA TBA TBA
R8 200 300 200 300 0 TBA TBA TBA
R9 200 300 200 300 0 TBA TBA TBA
3AXD00000586715.xls E
See the figures in section Checking the installation site on page 44.
Technical data 505
Losses, cooling data and noise

The air flow direction is from bottom to top.
The table below specifies the heat dissipation in the main circuit at nominal load and
in the control circuit with minimum load (I/O, options and panel not in use) and
maximum load (all digital inputs and relays in the ON state, and the panel, fieldbus
and fan in use). The total heat dissipation is the sum of the heat dissipation in the
main and control circuits. Use the maximum losses when designing cabinet or
electrical room cooling needs.
Type Heat dissipation Air flow Noise Frame
ACS580 Main circuit Control Control Main and size
-01- at rated circuit circuit control boards
I1N at IN minimum maximum maximum
W W W W m3/h dB(A)
3-phase UN = 400 or 460 V (380…415 V, 440…480 V)
02A6-4 20 3.5 25 45 TBA TBA R0
03A3-4 30 3.5 25 55 TBA TBA R0
04A0-4 41 3.5 25 66 TBA TBA R0
05A6-4 59 3.5 25 84 TBA TBA R0
07A2-4 81 3.5 25 106 TBA TBA R1
09A4-4 108 3.5 25 133 TBA TBA R1
12A6-4 149 3.5 25 174 TBA TBA R1
017A-4 203 3.5 25 228 TBA TBA R2
025A-4 297 3.5 25 322 TBA TBA R2
032A-4 405 3.5 25 430 TBA TBA R3
038A-4 500 3.5 25 525 TBA TBA R3
045A-4 594 3.5 25 619 TBA TBA R3
061A-4 1117 4.1 36 1153 280 62 R5
072A-4 1117 4.1 36 1153 280 62 R5
087A-4 1120 4.1 36 1156 280 62 R5
105A-4 1295 4.1 36 1331 435 67 R6
145A-4 1440 4.1 36 1476 435 67 R6
169A-4 1940 4.1 36 1976 450 67 R7
206A-4 2310 4.1 36 2346 550 67 R7
246A-4 3300 4.1 36 3336 550 65 R8
293A-4 3900 4.1 36 3936 1150 65 R8
363A-4 4800 4.1 36 4836 1150 68 R9
430A-4 6000 4.1 36 6036 1150 68 R9
3AXD00000586715.xls E
506 Technical data
Terminal and lead-through data for the power cables

Input, motor, resistor and DC cable cable lead-throughs, maximum wire sizes (per
phase) and terminal screw sizes and tightening torques (T) are given below.
Frame Cable lead- L1, L2, L3, T1/U, T2/V, T3/W terminals Grounding
size throughs terminals
Per Ø1) Max wire size T (Wire screw) T (Terminal Max wire T
cable (solid/ nut) size
type stranded)
pcs mm mm2 M… N·m M… N·m mm2 N·m
R0 1 30 6/4 TBA 0.5…0.6 N/A N/A TBA TBA
R1 1 30 6/4 TBA 0.5…0.6 N/A N/A TBA TBA
R2 1 30 16/16 TBA 1.2…1.5 N/A N/A TBA TBA
R3 1 30 35/25 TBA 2.5…4.5 N/A N/A TBA TBA
R5 1 32 70 M8 5.6 N/A N/A 35 2.9
R6 1 45 150 M10 30 N/A N/A 185 9.8
R7 1 54 240 M10 40 N/A N/A 185 9.8
R8 2 45 2×150 M10 40 M10 24 2×185 9.8
R9 2 54 2×240 M12 70 M10 24 2×185 9.8
3AXD00000586715.xls E
1)Maximum cable diameter accepted. For the lead-through plate hole diameters, see chapter Dimension
drawings on page 523.
Frame Cable lead- R+, R-, UDC+ and UDC- terminals

size throughs
Per Ø1) Max wire size T (Wire screw) T (Terminal
cable (solid/strand nut)
type ed)
pcs mm mm2 M… N·m M… N·m
R0 1 23 6/4 0.5…0.6 N/A N/A
R1 1 23 6/4 0.5…0.6 N/A N/A
R2 1 23 16/16 1.2…1.5 N/A N/A
R3 1 23 35/25 2.5…4.5 N/A N/A
R5 1 32 70 M8 5.6 N/A N/A
R6 1 45 150 M8 20 N/A N/A
R7 1 54 240 M10 30 N/A N/A
R8 2 45 2×150 M10 40 M10 24
R9 2 54 2×240 M12 70 M10 24
3AXD00000586715.xls E
1)
Maximum cable diameter accepted. For the lead-through plate hole diameters, see
chapter Dimension drawings on page 523.
Technical data 507
Terminal and lead-through data for the control cables

Control cable lead-throughs, wire sizes and tightening torques (T) are given below.
Frame Cable lead- Control cable entries and terminal sizes
size throughs
Holes Max +24V, DCOM, DGND, EXT. 24V DI, AI/O, AGND, RO, STO
cable terminals
size Wire size T Wire size T
pcs mm mm2 N·m mm2 N·m
R0 3 17 0.2…2.5 0.5…0.6 0.14…1.5 0.5…0.6
R1 3 17 0.2…2.5 0.5…0.6 0.14…1.5 0.5…0.6
R2 3 17 0.2…2.5 0.5…0.6 0.14…1.5 0.5…0.6
R3 3 17 0.2…2.5 0.5…0.6 0.14…1.5 0.5…0.6
R5 2 22 0.14…2.5 0.5…0.6 0.14…2.5 0.5…0.6
R6 4 17 0.14…2.5 0.5…0.6 0.14…2.5 0.5…0.6
R7 4 17 0.14…2.5 0.5…0.6 0.14…2.5 0.5…0.6
R8 4 17 0.14…2.5 0.5…0.6 0.14…2.5 0.5…0.6
R9 4 17 0.14…2.5 0.5…0.6 0.14…2.5 0.5…0.6
3AXD00000586715.xls E
508 Technical data
Electrical power network specification

Voltage (U1) 380 … 480 V AC 3-phase +10%…-15%
Network type TN (grounded), IT (ungrounded) and corner-grounded TN
systems. See section Checking the compatibility with IT
(ungrounded) and corner-grounded TN systems on page
77.
Rated conditional short-circuit 65 kA when protected by fuses given in the fuse tables
current (IEC 61439-1)
Frequency 47 to 63 Hz
Imbalance Max. ± 3% of nominal phase to phase input voltage
Fundamental power factor 0.98 (at nominal load)
(cos phi1)
Motor connection data

Motor types Asynchronous AC induction motors and permanent
magnet motors
Voltage (U2) 0 to U1, 3-phase symmetrical, U max at the field weakening
point
Short-circuit protection The motor output is short-circuit proof by IEC/EN 61800-5-
(IEC/EN 61800-5-1, UL 508C) 1 and UL 508C.
Frequency 0.…500 Hz
Frequency resolution 0.01 Hz
Current See section Ratings on page 496.
Switching frequency 2 kHz, 4 kHz, 8 kHz, 12 kHz (depends on the frame and
parameter settings)
Technical data 509
Maximum recommended motor Operational functionality and motor cable length

cable length The drive is designed to operate with optimum performance
with the following maximum motor cable lengths.
Note: These motor cable lengths do not comply with EMC
requirements.
Frame Maximum motor cable length, 4 kHz
size Scalar control Vector control
m ft m ft
Standard drive, without external options
R0 100 330 100 330
R1 100 330 100 330
R2 200 660 200 660
R3 300 990 300 990
R5 300 990 300 990
R6 300 990 300 990
R7 300 990 300 990
R8 300 990 300 990
R9 300 990 300 990
Note: In multimotor systems, the calculated sum of all

motor cable lengths must not exceed the maximum motor
cable length given in the table.
510 Technical data
EMC compatibility and motor cable length

To comply with the European EMC Directive (standard
EN 61800-3), use the following maximum motor cable
lengths at 4 kHz switching frequency.
Frame Maximum motor cable length, 4 kHz
size m ft
EMC limits for Category C2 1)
Standard drive with internal EMC filter. See Notes 2, 3.
R0 100 330
R1 100 330
R2 100 330
R3 100 330
R5 100 330
R6 150 492
R7 150 492
R8 150 492
R9 150 492
EMC limits for Category C3 1)
Standard drive with internal EMC filter. See Note 3.
R0 100 330
R1 100 330
R2 100 330
R3 100 330
R5 100 330
R6 150 492
R7 150 492
R8 150 492
R9 150 492
3AXD00000586715.xls E
1)
See the terms in section Definitions on page 519.
Note 2: Radiated emissions are according to C2 with and

without an external EMC filter.
Note 3: The internal EMC filter must be connected.
Brake resistor connection data

Short-circuit protection The brake resistor output is conditionally short-circuit proof
(IEC/EN 61800-5-1, IEC 60439-1, by IEC/EN 61800-5-1 and UL 508C. For correct fuse
UL 508C) selection, contact your local ABB representative. Rated
conditional short-circuit current as defined in IEC 60439-1.
Technical data 511
Control connection data

External power supply Maximum power:
Frames R0…R3: 25 W, 1.04 A at 24 V AC/DC ±10%
with an optional module
Frames R5…R9: 36 W, 1.50 A at 24 V AC/DC ±10% as
standard
Supplied from an external power supply through optional
module CMOD-01 or CMOD-02.
Terminal size:
Frames R0…R3: 0.2…2.5 mm2
Frames R5…R9: 0.14…2.5 mm2
+24 V DC output Total load capacity of this outputs is 6.0 W (250 mA / 24 V)
(Term. 10) minus the power taken by the option modules installed on
the board.
Terminal size:
Frames R0…R3: 0.2…2.5 mm2
Frames R5…R9: 0.14…2.5 mm2
Digital inputs DI1…DI6 Input type: NPN/PNP
(Term. 13…18) Terminal size:
Frames R0…R3: 0.14…1.5 mm2
Frames R5…R9: 0.14…2.5 mm2
DI1…DI5 (Term.13…17)
12/24 V DC logic levels: “0” < 4 V, “1” > 8 V
Rin: 2,68 kohm
Hardware filtering: 0.04 ms, digital filtering: 2 ms sampling
DI6 (Term.18)
Can be used as a digital or frequency input.
12/24 V DC logic levels: “0” < 3 V, “1” > 8 V
Rin: 6.2 kohm
Max. frequency 16 kHz
Symmetrical signal (duty cycle D = 0.50)
Relay outputs RO1…RO3 250 V AC / 30 V DC, 2 A
(Term. 19…27) Terminal size:
Frames R0…R3: 0.14…1.5 mm2
Frames R5…R9: 0.14…2.5 mm2
See sections Isolation areas, R0…R3: on page 513 and
Isolation areas, R5…R9: on page 514.
Analog inputs AI1 and AI2 Current/voltage input mode selected with a dip switch, see
(Term. 2 and 5) page 100.
Current input: 0(4)…20 mA, Rin: 100 ohm
Voltage input: 0(2)…10 V, Rin: > 200 koh
Terminal size:
Frames R0…R3: 0.14…1.5 mm2
Frames R5…R9: 0.14…2.5 mm2
Inaccuracy: typical ±1%, max. ±1.5% of full scale
512 Technical data
Analog outputs AO1 and AO2 Current/voltage output mode for AO1 selected with a dip
(Term. 7 and 8) switch, see page 100.
Current output: 0…20 mA, Rload: < 500 ohm
Voltage input: 0…10 V, R load: > 100 kohm (AO1 only)
Terminal size:
Frames R0…R3: 0.14…1.5 mm2
Frames R5…R9: 0.14…2.5 mm2
Inaccuracy: ±1% of full scale (in voltage and current
modes)
Reference voltage output for Max. 20 mA output
analog inputs +10V DC Inaccuracy: ±1%
(Term. 4)
Safe torque off (STO) inputs IN1 24 V DC logic levels: “0” < 5 V, “1” > 13 V
and IN2 Rin: 2.47 kohm
(Term. 37 and 38) Terminal size:
Frames R0…R3: 0.14…1.5 mm2
Frames R5…R9: 0.14…2.5 mm2
Control panel - drive connection EIA-485, male RJ-45 connector, max. cable length 100 m
Control panel - PC connection USB Type Mini-B, max. cable length 2 m
Technical data 513
Isolation areas, R0…R3:
Panel port
X1 Power unit
AI/AO connection
X2
24 V
GND
X3
DI
SLOT1
X4 FBA
STO
X8
RO
SLOT3 X7
EFB RO
X6
RO
SLOT2
I/O extension
Symbol Description
Reinforced insulation (IEC/EN 61800-5-1:2007)
Functional insulation (IEC/EN 61800-5-1:2007)
Below altitudes 2000 m (6562 ft): The terminals on the control board fulfil
the Protective Extra Low Voltage (PELV) requirements (EN 50178): There
is adequate insulation between the user terminals which only accept ELV
voltages and terminals that accept higher voltages (relay outputs).
Between altitudes 2000 m (6562 ft) … 4000 m (13123 ft): If you connect
higher than ELV voltage to one relay output, no relay output meets the
Protective Extra Low Voltage (PELV) requirements (EN 50178), because
there is only functional insulation between the individual relay outputs.
514 Technical data
Isolation areas, R5…R9:
SLOT1
FBA
X1:1…3
AI1
X1:4…6
Power unit
AI2
connection
X1:7…8
AO
X2
24 V
GND
X3:1…3
DI
X3:4…6
DI SLOT3
EFB
X4
STO
X10
Ext. 24 V
X8
SLOT2 RO1
I/O extension X7
RO2
Panel port X6
RO3
Symbol Description
Reinforced insulation (IEC/EN 61800-5-1:2007)
The terminals on the control board fulfil the Protective Extra Low Voltage
(PELV) requirements (EN 50178): There is reinforced insulation between
the user terminals which only accept ELV voltages and terminals that
accept higher voltages (relay outputs).
Note: There is reinforced insulation also between the individual relay
outputs.
Note: There is reinforced insulation on the power unit.
Technical data 515
Auxiliary circuit power consumption

Maximum external power supply:
Frames R0…R3: 25 W, 1.04 A at 24 V AC/DC (with
optional modules CMOD-01, CMOD-02)
Frames R5…R9: 36 W, 1.50 A at 24 V AC/DC (as
standard, terminals 40…41)
Efficiency
Approximately 98% at nominal power level
Degree of protection
IP21 (UL type 1)
Ambient conditions
Environmental limits for the drive are given below. The drive is to be used in a heated, indoor,
controlled environment.
Operation Storage Transportation
installed for in the protective in the protective
stationary use package package
Installation site altitude • 0 to 4000 m - -
(13123 ft)
above sea level
1)
• 0 to 2000 m
(6561 ft) above
sea level 2)
Above 1000 m
(3281 ft), see
page 499.
Air temperature -15 to +50 °C (5 to -40 to +70 °C (-40 -40 to +70 °C (-40
122 °F). to +158 °F) to +158 °F)
0 to -15 °C (32 to
5 °F): No frost
allowed.
See section
Ratings.
Relative humidity 5 to 95% Max. 95% Max. 95%
No condensation allowed. Maximum allowed relative
humidity is 60% in the presence of corrosive gases.
Contamination levels No conductive dust allowed.
(IEC 60721-3-3, IEC 60721-3-2, Chemical gases: Chemical gases: Chemical gases:
IEC 60721-3-1) Class 3C2 Class 1C2 Class 2C2
Solid particles: Solid particles: Solid particles:
Class 3S2 Class 1S3 Class 2S2
516 Technical data
Atmospheric pressure 70 to 106 kPa 70 to 106 kPa 60 to 106 kPa

0.7 to 1.05 0.7 to 1.05 0.6 to 1.05
atmospheres atmospheres atmospheres
Vibration (IEC 60068-2) Max. 1 mm (0.04 - -
in.)
(5 to 13.2 Hz),
max. 7 m/s2 (23
ft/s2)
(13.2 to 100 Hz)
sinusoidal
Vibration (ISTA) - R0…R5 (ISTA 1A): Displacement,
25 mm peak to peak, 14200 vibratory
impacts
R6…R9 TBA
Shock/Drop (ISTA) Not allowed R0…R5 (ISTA 1A): Drop, 6 faces, 3
edges and 1 corner
Weight range mm in
0…10 kg (0…22 lb) 760 29.9
10…19 kg (22…42 lb) 610 24.0
19…28 kg (42…62 lb) 460 18.1
28…41 kg (62…90 lb) 340 13.4
R6…R9 (ISTA 3E): Shock, incline

impact: 1.1 m/s (3.61 ft/s)
Shock, rotational edge drop: 200 mm
(7.9 in)
1) For
neutral-grounded TN and TT systems and non-corner grounded IT systems.
See also section Limiting relay output maximum voltages at high installation altitudes on
page 73.
2) For corner-grounded TN, TT and IT systems
Materials
Drive enclosure • PC/ABS 3 mm, color NCS 1502-Y (RAL 9002 / PMS 1C
Cool Grey) and RAL 9017
• PC+10%GF 3.0mm, Color RAL 9017 (in frames
R0…R3 only)
• hot-dip zinc coated steel sheet 1.5 to 2.5 mm, thickness
of coating 100 micrometers, color NCS 1502-Y
Package Plywood, cardboard and moulded pulp. Foam cushions
PP-E, bands PP.
Technical data 517
Disposal The main parts of the drive can be recycled to preserve

natural resources and energy. Product parts and materials
should be dismantled and separated.
Generally all metals, such as steel, aluminum, copper and
its alloys, and precious metals can be recycled as
material. Plastics, rubber, cardboard and other packaging
material can be used in energy recovery. Printed circuit
boards and DC capacitors (C1-1 to C1-x) need selective
treatment according to IEC 62635 guidelines. To aid
recycling, plastic parts are marked with an appropriate
identification code.
Contact your local ABB distributor for further information
on environmental aspects and recycling instructions for
professional recyclers. End of life treatment must follow
international and local regulations.
Applicable standards
The drive complies with the following standards. The compliance with the European Low
Voltage Directive is verified according to standard EN 61800-5-1.
EN 60204-1:2006 + AC:2010 Safety of machinery. Electrical equipment of machines.
Part 1: General requirements. Provisions for compliance:
The final assembler of the machine is responsible for
installing
- emergency-stop device
- supply disconnecting device.
IEC/EN 60529:1992 + A2: 2013 Degrees of protection provided by enclosures (IP code)
EN 61000-3-12:2011 Electromagnetic compatibility (EMC) - Part 3-12: Limits -
Limits for harmonic currents produced by equipment
connected to public low-voltage systems with input current
IEC/EN 61800-3:2004 + A1:2012 Adjustable speed electrical power drive systems. Part 3:
EMC requirements and specific test methods
IEC/EN 61800-5-1:2007 Adjustable speed electrical power drive systems. Part 5-1:
Safety requirements – electrical, thermal and energy
518 Technical data
CE marking
A CE mark is attached to the drive to verify that the drive follows the provisions of the
European Low Voltage, EMC, RoHS and WEEE Directives.The CE marking also
verifies that the drive, in regard to its safety functions (such as Safe torque off),
conforms with the Machinery Directive as a safety component.
 Compliance with the European Low Voltage Directive

The compliance with the European Low Voltage Directive has been verified according
to standard EN 61800-5-1:2007. Declaration (3AXD10000302784) is available on the
Internet. See section Document library on the Internet on the inside of the back cover.
 Compliance with the European EMC Directive

The EMC Directive defines the requirements for immunity and emissions of electrical
equipment used within the European Union. The EMC product standard (EN 61800-
3:2004 + A1:2012) covers requirements stated for drives. See section Compliance
with the EN 61800-3:2004 + A1:2012 below. Declaration (3AXD10000302785) is
available on the Internet. See section Document library on the Internet on the inside
of the back cover.
 Compliance with the European ROHS Directive 2002/95/EC

The RoHS Directive defines the restriction of the use of certain hazardous
substances in electrical and electronic equipment.
 Compliance with the European WEEE Directive 2002/96/EC

The WEEE Directive defines the regulated disposal and recycling of electric and
electrical equipment.
 Compliance with the European Machinery Directive 2006/42/EC 2nd

Edition – June 2010
The drive is a machinery component that can be integrated into a wide range of
machinery categories as specified in European Commission’s Guide to application of
the Machinery Directive 2006/42/EC 2nd Edition – June 2010. Declaration
(3AXD10000302783) is available on the Internet. See section Document library on
the Internet on the inside of the back cover.
Validating the operation of the Safe torque off function

See chapter The Safe torque off function on page 555.
Technical data 519
Compliance with the EN 61800-3:2004 + A1:2012

 Definitions
EMC stands for Electromagnetic Compatibility. It is the ability of electrical/electronic
equipment to operate without problems within an electromagnetic environment.
Likewise, the equipment must not disturb or interfere with any other product or
system within its locality.
First environment includes establishments connected to a low-voltage network which
supplies buildings used for domestic purposes.
Second environment includes establishments connected to a network not directly
supplying domestic premises.
Drive of category C1: drive of rated voltage less than 1000 V and intended for use in
the first environment.
Drive of category C2: drive of rated voltage less than 1000 V and intended to be
installed and started up only by a professional when used in the first environment.
Note: A professional is a person or organization having necessary skills in installing
and/or starting up power drive systems, including their EMC aspects.
Drive of category C3: drive of rated voltage less than 1000 V, intended for use in the
second environment and not intended for use in the first environment.
 Category C1
The emission limits are complied with the following provisions:
1. The optional EMC filter is selected according to the ABB documentation and
installed as specified in the EMC filter manual.
2. The motor and control cables are selected as specified in this manual.
3. The drive is installed according to the instructions given in this manual.
4. For the maximum motor cable length with 4 kHz switching frequency, see page
509.
WARNING! In a domestic environment, this product may cause radio inference, in

which case supplementary mitigation measures may be required.
520 Technical data
 Category C2
The emission limits are complied with the following provisions:
509.
WARNING! The drive may cause radio interference if used in residential or domestic
environment. The user is required to take measures to prevent interference, in
association to the requirements for the CE compliance listed above, if necessary.
Note: Do not install a drive with the internal EMC filter connected on IT (ungrounded).
The supply network becomes connected to ground potential through the internal
EMC filter capacitors which may cause danger or damage to the drive. For
disconnecting the EMC filter see page 78.
Note: Do not install a drive with internal EMC filter connected on corner-grounded TN
systems; otherwise the drive will be damaged. For disconnecting the internal EMC
filter see page 78.
 Category C3
The drive complies with the standard with the following provisions:
509
WARNING! A drive of category C3 is not intended to be used on a low-voltage public

network which supplies domestic premises. Radio frequency interference is expected
if the drive is used on such a network.
 Category C4
If the provisions under Category C3 cannot be met, the requirements of the standard
can be met as follows:
1. It is ensured that no excessive emission is propagated to neighboring low-voltage
networks. In some cases, the inherent suppression in transformers and cables is
Technical data 521
sufficient. If in doubt, the supply transformer with static screening between the
primary and secondary windings can be used.
Medium voltage network

Supply transformer
Neighboring network
Static screen
Point of measurement
Low voltage Low voltage

Equipment Drive
(victim)
Equipment Equipment
2. An EMC plan for preventing disturbances is drawn up for the installation. A

template is available from the local ABB representative.
WARNING! A drive of category C4 is not intended to be used on a low-voltage public

network which supplies domestic premises. Radio frequency interference is expected
if the drive is used on such a network.
EAC marking
EAC marking is required in Russia, Belarus and Kazakhstan. The EAC certificate of
conformity (3AXD10000312900) is available on the Internet. See section Document
library on the Internet on the inside of the back cover.
Disclaimer
The manufacturer shall have no obligation with respect to any product which (i) has
been improperly repaired or altered; (ii) has been subjected to misuse, negligence or
accident; (iii) has been used in a manner contrary to the manufacturer's instructions;
or (iv) has failed as a result of ordinary wear and tear.
522 Technical data
Dimension drawings 523
20
Dimension drawings
This chapter shows the dimension drawings of the ACS580. The dimensions are
given in millimeters and [inches].
524 Dimension drawings
Frame R0, IP21
3AXD10000257110
Frame R1, IP21
3AXD10000257188
Frame R2, IP21
3AXD10000257203
Frame R3, IP21
3AXD10000257219
Frame R5, IP21
3AXD10000258138
Frame R6, IP21
3AXD10000258705
Frame R7, IP21
3AXD10000258995
Frame R8, IP21
3AXD10000287670
Frame R9, IP21
3AXD10000287428
Control chain diagrams 533
21
Control chain diagrams
The chapter presents the reference chains of the drive. For a general diagram, see
section Operating modes of the drive (page 183).
>
Selection 28.13 Ext1 frequency function
28.11 Ext1 frequency ref1 ADD
>
Selection
SUB
MUL
28.92 Frequency ref act 3
MIN Value
28.12 Ext1 frequency ref2 MAX
>
Selection
>
28.17 Ext2 frequency function Selection
28.15 Ext2 frequency ref1 ADD
>
Selection
SUB 28.96 Frequency ref act 7
534 Control chain diagrams
MUL Value
MIN
28.16 Ext2 frequency ref2 MAX
>
Selection
>
19.11 Ext1/Ext2 selection Selection
b0 Constant frequency ref
>
28.22 Constant frequency sel1 Selection BIN
Frequency reference selection
b1 TO
>
28.23 Constant frequency sel2 Selection 0 Constant frequency command
INT
b2 SEL OUT
>
28.24 Constant frequency sel3 Selection
0
Network reference
28.26 Constant frequency 1 Value Fieldbus:
1 6.16 bit 9 Network control Value
28.27 Constant frequency 2 Value 2 ODVA CIP
3
28.28 Constant frequency 3 Value
03.01 Panel reference Value
4
5 06.16 bit 8 Local control Value
28.30 Constant frequency 5 Value 6
7
28.32 Constant frequency 7 Value 28.41 Frequency ref safe Value
0 0
1
2
3 49.05 Communication loss action = Speed ref safe
Panel comm loss active AND
OR
Panel as local control device Frequency reference safe command
28.22 Constant frequency sel1 Value 1
INT
SEL 50.02 FBA A comm loss func = Speed ref safe
Fieldbus comm loss active AND
Control from Fieldbus active
>
28.21 Constant frequency function Selection
>
28.76 Freq ramp in zero source Selection Value
OR
6.1 bit 6 Ramp in zero Value
>
28.51 Critical frequency function Selection CRITICAL
FREQ
28.52 Critical frequency 1 low Value
28.53 Critical frequency 1 high Value
28.55 Critical frequency 2 high Value RAMP

6.1 bit 5 Ramp hold Value
Value 30.14 Maximum frequency Value

28.57 Critical frequency 3 high
28.96 Frequency ref act 7 Value 28.97 Freq ref unlimited

Value
0 28.01 Frequency ref ramp input

Value
30.13 Minimum frequency Value
28.72 Freq acceleration time 1 Value

Frequency reference modification
28.74 Freq acceleration time 2 Value
28.73 Freq deceleration time 1 Value
28.75 Freq deceleration time 2 Value
28.82 Shape time 1 Value
28.83 Shape time 2 Value
28.02 Frequency ref ramp output

0
>
28.71 Freq ramp set selection Selection Value
6.1 bit 4 Ramp out zero Value

>
22.13 Ext1 speed function Selection
ADD
>
22.11 Ext1 speed ref1 Selection
SUB 22.86 Speed reference act 6
MUL Value
MIN
MAX
>
>
22.20 Ext2 speed function Selection
ADD
Speed reference source selection I
>
SUB
MUL
MIN
MAX
>
>
19.11 Ext1/Ext2 selection Selection

22.86 Speed ref act 6 Value
Value
b0
>
22.22 Constant speed sel1 Selection BIN
b1 TO 0
>
22.23 Constant speed sel2 Selection
INT OUT
b2 SEL
>
22.24 Constant speed sel3 Selection 22.87 Speed reference act 7
22.26 Constant speed 1 Value 0 Value Value

22.43 Jogging 2 ref
1
22.27 Constant speed 2 Value 2
3
22.28 Constant speed 3 Value
4
22.29 Constant speed 4 Value 22.42 Jogging 1 ref Value
5
22.30 Constant speed 5 Value 6
7
Network reference
22.32 Constant speed 7 Value Fieldbus:
ODVA CIP 6.16 bit 9 Network control Value
0 0 3.01 Panel reference Value

1
6.16 bit 8 Local control Value
2
3 49.05 Communication loss
22.28 Constant speed 3 Value action = Speed ref safe 22.41 Speed ref safe Value
Panel comm loss active AND Speed ref safe command CRITICAL
22.22 Constant speed sel1
OR SPEEDS 22.01 Speed ref unlimited
Value 1
Panel as local control device
INT
Speed reference source selection II
22.23 Constant speed sel2 Value 2 Value

>
SEL 22.51 Critical speed function Selection

22.24 Constant speed sel3 Value 3 50.02 FBA A comm loss func = Speed ref safe
22.52 Critical speed 1 low Value
Fieldbus comm loss active AND
22.53 Critical speed 1 high Value
>
22.21 Const speed function Selection Control from Fieldbus active
22.54 Critical speed 2 low Value
20.27 Jogging 2 start source Value 22.55 Critical speed 2 high Value
20.25 Jogging enable Value AND Jogging 2 22.56 Critical speed 3 low Value
22.57 Critical speed 3 high Value
Jogging 1
AND
20.26 Jogging 1 start source
23.01 Speed ref ramp input
30.12 Maximum speed Value
6.1 bit 8 Inching 1 Value

XOR
6.1 bit 9 Inching 2 Value

22.01 Speed ref unlimited Value AND
Value 6.1 bit 5 Ramp hold Value
0
30.11 Minimum speed Value

RAMP
6.11 bit 5 Off 3 inactive Value 6.1 bit 9 Inching 2 Value
23.23 Emergency stop time Value
22.42 Jogging 1 ref
>
23.11 Ramp set selection Selection Value Value
23.02 Speed ref ramp output

RAMP 22.43 Jogging 2 ref Value
23.12 Acceleration time 1 Value Value
ACC TIME
23.14 Acceleration time 2 Value 23.20 Acc time jogging Value ACC TIME
23.13 Deceleration time 1 Value 23.21 Dec time jogging Value DEC TIME
DEC TIME
23.15 Deceleration time 2 Value
SHAPE
23.32 Shape time 1 Value TIME
SHAPE
Speed reference ramping and shaping
23.33 Shape time 2 Value 0
6.11 bit 5 Off 3 inactive Value
23.20 Acc time jogging Value 0
23.21 Dec time jogging Value
20.25 Jogging enable

AND
OR
23.28 Variable slope enable Value
23.29 Variable slope rate Value AND

Stop command
46.01 Speed scaling Value
25.06 Acc comp derivation time Value
25.07 Acc comp filter time Value
d TAccCom Value 25.56 Torque acc compensation

dt
Speed error calculation
-1
x Value 24.04 Speed error inverted
23.02 Speed ref ramp output Value 24.03 Speed error filtered
+ 24.01 Used speed reference Value
24.11 Speed correction Value - Value
24.02 Used speed feedback Value
24.12 Speed error filter time Value

30.18 Torq lim sel Value
30.20 Maximum torque Value
30.22 Max torque 2 source Value

Speed controller
Speed regulator
PID
24.03 Speed error filtered Value Value 25.53 Torque prop reference 25.01 Torque reference speed control
Value 25.54 Torque integral reference Value
Value 25.55 Torque deriv reference

25.02 Speed proportional gain Value Value 25.56 Torque acc compensation
25.03 Speed integration time Value
25.04 Speed derivation time Value
25.05 Derivation filter time Value
25.15 Proportional gain em stop Value
30.19 Minimum torque Value
30.21 Min torque 2 source Value
30.18 Torq lim sel Value

26.09 Maximum torque ref Value
MIN
Internal torque lim max
>
26.14 Torq ref1/2 selection Selection
26.73 Torque reference act 4
Value
26.13 Torq ref1 function Value 26.72 Torque reference act 3
Value
26.18 Torq ramp up time
Ref 1
6.16 bit 9 Network control Value
26.11 Torq ref1 source ADD Value
>
Selection 26.70 Torque Reference act 1 SUB
Value
MUL
26.12 Torq ref2 source
MIN
>
Selection 26.71 Torque Reference act 2 26.74 Torque ref ramp out
Value MAX Value
Fieldbus:
ODVA CIP
Network ref
03.01 Panel reference

Value
26.08 Minimum torque ref Value

MAX
Internal torque lim min Value
26.17 Torque ref filter time Value

Torque reference source selection and modification
26.19 Torque ramp down time Value

Torque selector
26.22 Torque sel speed in ZERO 26.01 Torque reference to TC

25.01 Torq reference speed control 0 SPEED
>
Selection Value Value
TORQUE
Speed
limitation
MIN
MAX
26.21 Torque sel torque in 26.74 Torque ref ramp out Value 26.75 Torque reference act 5
>
Selection Value ADD
19.12 Ext1 control mode
>
Selection Value
19.14 Ext2 control mode 01.01 Motor speed used Value
>
Selection Value
30.12 Maximum speed Value
>
19.11 Ext1/Ext2 sel Selection
30.11 Minimum speed Value
Fieldbus: SPEED
Value
ODVA Value
6.16 bit 9 Network control 19.01 Actual operation mode
CIP
19.16 Local control mode Value
SPEED
06.17 bit 6 Last speed active Value
SPEED
06.17 bit 5 Safe reference active Value
SCALAR
Reference selection for torque controller
99.04 Motor ctrl mode Value
SPEED
Safety function active

SPEED
6.01 bit 0 Off1 control Value

AND
6.01 bit 2 Off3 control Value
OR
21.05 Emergency stop source Value
Torque limitation
30.02 Torque limit status

DC voltage Load angle Motor pull-out
limiter Power limiter Torque limiter limitation limitation Current limiter
To TC
26.01 Torq reference to TC Value 26.02 Torque reference used
Value
30.30 Overvoltage control Value 30.02 Torque limit status
Bit Name
30.31 Undervoltage control Value
0 = Undervoltage
1 = Overvoltage
24.02 Used speed feedback Value
2 = Minimum torque
3 = Maximum torque
30.26 Power motoring limit Value
4 = Internal current
5 = Load angle
30.27 Power generating limit Value 6 = Motor pull-out
7 = Reserved
8 = Thermal
30.19 Minimum torque Value
30.17 Maximum current Value 9 = Max current
10 = User current
30.20 Maximum torque Value
11 = Thermal IGBT
12 =
13 =
14 =
15 =
b0
>
40.19 Set 1 internal setpoint sel1 Selection BIN
TO 0
b1 INT
>
40.20 Set 1 internal setpoint sel2 Selection SEL OUT
0 0
1
40.21 Set 1 internal setpoint 1 Value
2
3
40.18 Set 1 setpoint function Value
Value 40.27 Set 1 setpoint max

Setpoint 1
ADD 40.30 Set 1 setpoint freeze enable

>
SUB Selection
MUL
DIV 40.62 PID internal setpoint actual RAMP

Add 40.03 Process PID setpoint actual
Value
>
Selection Value Value
MIN
MAX
Mul
40.16 Set 1 setpoint 1 source
AVE +
>
Selection Value a
a-b 40.26 Set 1 setpoint min Value
40.17 Set 1 setpoint 2 source a+b 40.28 Set 1 setpoint increase time Value
a+ b
40.29 Set 1 setpoint decrease time Value
40.06 Process PID status word: bit 4 PID sleep mode Value Pulse
40.45 Set 1 sleep boost time Value 0
40.46 Set 1 sleep boost
>
40.10 Set 1 feedback function Selection Value
step
Feedback 1
ADD
SUB
40.08 Set 1 feedback 1 source
40.11 Set 1 feedback filter time Value
>
Selection Value MUL
DIV
Add
MIN
Value 40.02 Process PID feedback actual
40.09 Set 1 feedback 2 source MAX
Mul
Process PID setpoint and feedback source selection
>
Selection Value AVE
a
Note! Process PID parameter set 2 is also available. See parameter group 41.
a-b
a+b
a+ b
PROCESS PID FUNCTION
>
40.38 Set 1 output freeze enable Selection Value 40.01 Process PID Output actual
>
40.49 Set 1 tracking mode Selection Value
40.37 Set 1 output max Value 40.50 Set 1 tracking ref selection Value
40.04 Process PID deviation actual Value
PID 40.43 Set 1 sleep level Value
40.03 Process PID setpoint actual Value Scale

Process PID controller
40.02 Process PID feedback actual Value

- x
40.31 Set 1 deviation inversion

40.32 Set 1 gain Value
>
Selection
40.33 Set 1 integration time Value
1 Value
40.34 Set 1 derivation time Value 40.45 Set 1 sleep boost time 40.06 bit 3 Sleep mode
-1 Value 40.46 Set 1 sleep boost step Value
40.35 Set 1 derivation filter time
40.07 Set 1 PID operation mode Value 40.43 Set 1 sleep level Value Sleep
Value
Function
40.44 Set 1 sleep delay
40.47 Set 1 wake-up deviation Value
40.36 Set 1 output min Value
Value 40.06 bit 4 Sleep boost
40.48 Set 1 wake-up delay
Process
PID
status 40.06 Process PID status word
Value
Note! Process PID parameter set 2 is also available. See parameter group 41.
Resistor braking 547
22
Resistor braking
The chapter describes how to select the brake resistor and cables, protect the
system, connect the brake resistor and enable resistor braking.
Operation principle and hardware description

The brake chopper handles the energy generated by a decelerating motor. The
chopper connects the brake resistor to the intermediate DC circuit whenever the
voltage in the circuit exceeds the limit defined by the control program. Energy
consumption by the resistor losses lowers the voltage until the resistor can be
disconnected.
For frame R0…R3 internal brake choppers and resistors, see below. For R5…R9
external brake choppers and resistors, see Resistor braking, frames R5…R9 on page
553.
Resistor braking, frames R0…R3

 Planning the braking system
Selecting the brake resistor
Frames R0…R3 have an built-in brake chopper as standard equipment. The brake
resistor is selected using the table and equations presented in this section.
1. Determine the required maximum braking power PRmax for the application. PRmax
must be smaller than PBRmax given in the table on page 548 for the used drive
type.
2. Calculate resistance R with Equation 1.
3. Calculate energy ERpulse with Equation 2.
548 Resistor braking
4. Select the resistor so that the following conditions are met:

• The rated power of the resistor must be greater than or equal to PRmax.
• Resistance R must be between Rmin and Rmax given in the table for the used
drive type.
• The resistor must be able to dissipate energy ERpulse during the braking
cycle T.
Equations for selecting the resistor:
450000 ton
Eq. 1. U N = 400 V: R = PRmax
PRmax
615000 PRave
U N = 460 V: R =
PRmax T
Eq. 2. ERpulse = P Rmax · ton
ton
Eq. 3. PRave = PRmax · For conversion, use 1 hp = 746 W.
T
where R= selected brake resistor value (ohm)
PRmax = maximum power during the braking cycle (W)
PRave = average power during the braking cycle (W)
ERpulse = energy conducted into the resistor during a single braking pulse (J)
ton = length of the braking pulse (s)
T = length of the braking cycle (s).
The table shows reference resistor types for the maximum braking power.
Type Rmin Rmax PBRmax Reference resistor types
ACS580-01 ohm ohm kW hp Danotherm
3-phase UN = 400 or 460 V (380…415 V, 440…480 V)
0246-4 54 690 0.6 0.8 CBH 360 C T 406 210R or
CAR 200 D T 406 210R
03A3-4 54 465 0.9 1.2 CBH 360 C T 406 210R or
CAR 200 D T 406 210R
04A0-4 54 313 1.3 1.7 CBH 360 C T 406 210R or
CAR 200 D T 406 210R
05A6-4 54 223 1.9 2.6 CBH 360 C T 406 210R or
CAR 200 D T 406 210R
07A2-4 54 153 2.6 3.5 CBR-V 330 D T 406 78R UL
09A4-4 54 112 3.5 4.7 CBR-V 330 D T 406 78R UL
12A6-4 54 83 4.9 6.6 CBR-V 330 D T 406 78R UL
017A-4 32 60 6.8 9.0 CBR-V 560 D HT 406 39R UL
025A-4 23 42 10 13.6 CBR-V 560 D HT 406 39R UL
032A-4 16 29 14 18.5 CBT-H 560 D HT 406 19R
038A-4 11 21 17 22.8 CBT-H 760 D HT 406 16R
045A-4 11 17 20 27.4 CBT-H 760 D HT 406 16R
3AXD00000586715.xls E
Symbols
Rmin = minimum allowed brake resistor that can be connected to the brake chopper
Rmax = maximum allowed brake resistor that allows PBRmax
PBRmax = maximum braking capacity of the drive, must exceed the desired braking power.
WARNING! Do not use a brake resistor with a resistance below the minimum
value specified for the particular drive. The drive and the internal chopper are
not able to handle the overcurrent caused by the low resistance.
Selecting and routing the brake resistor cables

Use a shielded cable with the conductor size specified in section Terminal and lead-
through data for the power cables on page 506.
Minimizing electromagnetic interference

Follow these rules in order to minimize electromagnetic interference caused by the
rapid current changes in the resistor cables:
• Install the cables away from other cable routes.
• Avoid long parallel runs with other cables. The minimum parallel cabling
separation distance should be 0.3 meters.
• Cross the other cables at right angles.
• Keep the cable as short as possible in order to minimize the radiated emissions
and stress on chopper IGBTs. The longer the cable the higher the radiated
emissions, inductive load and voltage peaks over the IGBT semiconductors of the
brake chopper.
Maximum cable length

The maximum length of the resistor cable(s) is 10 m (33 ft).
EMC compliance of the complete installation

Note: ABB has not verified that the EMC requirements are fulfilled with external user-
defined brake resistors and cabling. The EMC compliance of the complete installation
must be considered by the customer.
Placing the brake resistor

Install the resistors outside the drive in a place where they will cool.
Arrange the cooling of the resistor in a way that:
• no danger of overheating is caused to the resistor or nearby materials
• the temperature of the room the resistor is located in does not exceed the allowed
maximum.
Supply the resistor with cooling air/water according to the resistor manufacturer’s
instructions.
WARNING! The materials near the brake resistor must be non-flammable. The
surface temperature of the resistor is high. Air flowing from the resistor is of
hundreds of degrees Celsius. If the exhaust vents are connected to a ventilation
system, ensure that the material withstands high temperatures. Protect the resistor
against physical contact.
Protecting the system in brake circuit fault situations
Protecting the system in cable and brake resistor short-circuit situations
The input fuses will also protect the resistor cable when it is identical with the input
cable.
Protecting the system against thermal overload

Equipping the drive with a main contactor is highly recommended for safety reasons.
Wire the contactor so that it opens in case the resistor overheats. This is essential for
safety since the drive will not otherwise be able to interrupt the main supply if the
chopper remains conductive in a fault situation. An example wiring diagram is shown
below. We recommend that you use resistors equipped with a thermal switch (1)
inside the resistor assembly. The switch indicates overtemperature and overload.
We recommend that you also wire the thermal switch to a digital input of the drive.
L1 L2 L3
OFF
2
1 3 5 13 3
ON
2 4 6 14 4
Θ 1 ACS580
ACS580
L1 L2 L3
10 +24V
x DIx
K1
 Mechanical installation
All brake resistors must be installed outside the drive. Follow the resistor
manufacturer’s instructions.
 Electrical installation
Checking the insulation of the assembly
Follow the instructions given in section Brake resistor assembly on page Brake
resistor assembly.
Connection diagram
See section Connection diagram page 80.
Connection procedure
See section Brake resistor cable (if used) on page 85.
Connect the thermal switch of the brake resistor as described in section Protecting
the system against thermal overload on page 550.
 Start-up
Note: Protective oil on the brake resistors will burn off when the brake resistor is used
for the first time. Make sure that the airflow is sufficient.
Set the following parameters:
1. Disable the overvoltage control of the drive with parameter 30.30 Overvoltage
control.
2. Set parameter 31.01 External event 1 source source to point to the digital input
where the thermal switch of the brake resistor is wired.
3. Set parameter 31.02 External event 1 type to Fault.
4. Enable the brake chopper by parameter 43.06 Brake chopper enable. If Enabled
with thermal model is selected, set also the brake resistor overload protection
parameters 43.08 and 43.09 according to the application.
5. Check the resistance value of parameter 43.10 Brake resistance.
With these parameter settings, the drive generates a fault and coasts to a stop on
brake resistor overtemperature.
WARNING! If the drive is equipped with a brake chopper but the chopper is not
enabled by the parameter setting, the internal thermal protection of the drive
against resistor overheating is not in use. In this case, the brake resistor must be
disconnected.
Resistor braking, frames R5…R9

To be added
The Safe torque off function 555
23
The Safe torque off function
This chapter describes the Safe torque off (STO) function of the drive and gives
instructions for its use.
Description
The Safe torque off function can be used, for example, to construct safety or
supervision circuits that stop the drive in case of danger. Another possible application
is a prevention of unexpected start-up switch that enables short-time maintenance
operations like cleaning or work on non-electrical parts of the machinery without
switching off the power supply to the drive.
Note: The Safe torque off function does not disconnect the voltage from the drive,
see the warning on page 562.
When activated, the Safe torque off function disables the control voltage of the power
semiconductors of the drive output stage (A, see diagram on page 558), thus
preventing the drive from generating the torque required to rotate the motor. If the
motor is running when Safe torque off is activated, it coasts to a stop.
The Safe torque off function has a redundant architecture, that is, both channels must
be used in the safety function implementation. The safety data given in this manual is
calculated for redundant use, and does not apply if both channels are not used.
556 The Safe torque off function
The Safe torque off function of the drive complies with these standards:
Standard Name
EN 60204-1:2006 + Safety of machinery – Electrical equipment of machines – Part 1:
AC:2010 General requirements
IEC 61326-3-1:2008 Electrical equipment for measurement, control and laboratory use –
EMC requirements – Part 3-1: Immunity requirements for safety-
related systems and for equipment intended to perform safety-
related functions (functional safety) – General industrial
applications
IEC 61508-1:2010 Functional safety of electrical/electronic/programmable electronic
safety-related systems – Part 1: General requirements
IEC 61508-2:2010 Functional safety of electrical/electronic/programmable electronic
safety-related systems – Part 2: Requirements for
electrical/electronic/programmable electronic safety-related
systems
IEC 61511:2003 Functional safety – Safety instrumented systems for the process
industry sector
IEC/EN 61800-5-2:2007 Adjustable speed electrical power drive systems –
Part 5-2: Safety requirements – Functional
IEC/EN 62061:2005 + Safety of machinery – Functional safety of safety-related electrical,
AC:2010 electronic and programmable electronic control systems
EN ISO 13849-1:2008 + Safety of machinery – Safety-related parts of control systems –
AC:2009 Part 1: General principles for design
EN ISO 13849-2:2012 Safety of machinery – Safety-related parts of control systems – Part
2: Validation
The function also corresponds to Prevention of unexpected start-up as specified by

EN 1037:1995 + A1:2008 and Uncontrolled stop (stop category 0) as specified in
EN 60204-1:2006 + AC:2010.
 Compliance with the European Machinery Directive

See section Compliance with the European Machinery Directive 2006/42/EC 2nd
Edition – June 2010 on page 518.
Connection principle
 Connection with internal +24 V DC power supply
Control unit Drive
K STO
OUT1 34
+ 24 V DC
OUT2 35
+ 24 V DC
SGND 36
IN1 37
IN2 38 UDC+
T1/U,
Control logic
A T2/V,
T3/W
UDC-
 Connection with external +24 V DC power supply
24 V DC Drive
- + Control unit
STO
K OUT1 34
+ 24 V DC
OUT2 35
+ 24 V DC
SGND 36
IN1 37
IN2 38 UDC+
T1/U,
Control logic
A T2/V,
T3/W
UDC-
Wiring examples
An example of a Safe torque off wiring with internal +24 V DC power supply is shown
below.
Drive Safe PLC
34 OUT1 OUT
35 OUT2
13 23 31 Y1 Y2
36 SGND
K
Safety relay
14 24 32 A1 A2
37 IN1
38 IN2
GND
An example of a Safe torque off wiring with external +24 V DC power supply is shown
below.
Drive +24 V DC external Safe PLC

power supply
- +
34 OUT1 OUT
35 OUT2
13 23 31 Y1 Y2
36 SGND
K
Safety relay
14 24 32 A1 A2
37 IN1
38 IN2
GND
For information on the specifications of the STO input, see chapter Control
connection data (page 511).
 Activation switch
In the wiring diagram above (page 558), the activation switch has the designation (K).
This represents a component such as a manually operated switch, an emergency
stop push button switch, or the contacts of a safety relay or safety PLC.
• In case a manually operated activation switch is used, the switch must be of a
type that can be locked out to the open position.
• Inputs IN1 and IN2 must open/close within 200 ms of each other.
 Cable types and lengths

• Double-shielded twisted-pair cable is recommended.
• Maximum cable length 300 m (984 ft) between activation switch (K) and drive
control unit.
Note: A short-circuit in the wiring between the switch and an STO terminal causes a
dangerous fault and therefore it is recommended to use a safety relay (including
wiring diagnostics), or a wiring method (shield grounding, channel separation) which
reduces or eliminates the risk caused by the short-circuit.
Note: The voltage at the INx terminals of each drive must be at least 13 V DC to be
interpreted as “1”. Pulse tolerance of input channels is 1 ms.
 Grounding of protective shields

• Ground the shield in the cabling between the activation switch and the control
board at the control board.
• Ground the shield in the cabling between two control boards at one control board
only.
Operation principle
1. The Safe torque off activates (the activation switch is opened, or safety relay
contacts open).
2. The STO inputs IN1 and IN2 on the drive control board de-energize.
3. The STO cuts off the control voltage from the drive IGBTs.
4. The control program generates an indication as defined by parameter 31.22 STO
indication run/stop.
The parameter selects which indications are given when one or both Safe torque
off (STO) signals are switched off or lost. The indications also depend on whether
the drive is running or stopped when this occurs.
Note: This parameter does not affect the operation of the STO function itself. The
STO function will operate regardless of the setting of this parameter: a running
drive will stop upon removal of one or both STO signals, and will not start until
both STO signals are restored and all faults reset.
Note: The loss of only one STO signal always generates a fault as it is interpreted
as a malfunction of STO hardware or wiring.
5. Motor coasts to a stop (if running). The drive cannot restart while the activation
switch or safety relay contacts are open. After the contacts close, a new start
command is required to start the drive.
Start-up including acceptance test

To ensure the safe operation of a safety function, validation is required. The final
assembler of the machine must validate the function by performing an acceptance
test. The acceptance test must be performed
• at initial start-up of the safety function
• after any changes related to the safety function (circuit boards, wiring,
components, settings, etc.)
• after any maintenance work related to the safety function.
 Authorized person
The acceptance test of the safety function must be carried out by an authorized
person with expertise and knowledge of the safety function. The test must be
documented and signed by the authorized person.
An authorized person is an individual with authorization from the machine builder or
end user to carry out, report and sign off the safety function validation / acceptance
testing on behalf of the machine builder or end user.
 Acceptance test reports

Signed acceptance test reports must be stored in the logbook of the machine. The
report shall include documentation of start-up activities and test results, references to
failure reports and resolution of failures. Any new acceptance tests performed due to
changes or maintenance shall be logged into the logbook.
 Acceptance test procedure

After wiring the Safe torque off function, validate its operation as follows.
Action
WARNING! Follow the Safety instructions, page 17. Ignoring the

instructions can cause physical injury or death, or damage to the
equipment.
Ensure that the drive can be run and stopped freely during start-up.
Stop the drive (if running), switch the input power off and isolate the drive from the
power line by a disconnector.
Check the Safe torque off circuit connections against the wiring diagram.
Close the disconnector and switch the power on.
Test the operation of the STO function when the motor is stopped.
• Give a stop command for the drive (if running) and wait until the motor shaft is at a
standstill.
Ensure that the drive operates as follows:
• Open the STO circuit. The drive generates an indication if one is defined for the
‘stopped’ state in parameter 31.22 STO indication run/stop. For description of the
warning, see chapter Fault tracing on page 423.
• Give a start command to verify that the STO function blocks the drive’s operation.
The drive displays a warning. The motor should not start.
• Close the STO circuit.
• Reset any active faults. Restart the drive and check that the motor runs normally.
Test the operation of the STO function when the motor is running.
• Start the drive and ensure the motor is running.
• Open the STO circuit. The motor should stop. The drive generates an indication if
one is defined for the ‘running’ state in parameter 31.22 STO indication run/stop.
For description of the warning, see chapter Fault tracing on page 423.
• Reset any active faults and try to start the drive.
• Ensure that the motor stays at a standstill and the drive operates as described
above in testing the operation when the motor is stopped.
• Close the STO circuit.
• Reset any active faults. Restart the drive and check that the motor runs normally.
Document and sign the acceptance test report which verifies that the safety function is
safe and accepted for operation.
Use
1. Open the activation switch, or activate the safety functionality that is wired to the
STO connection.
2. STO inputs on the drive control unit de-energize, and the drive control unit cuts off
the control voltage from the drive IGBTs.
3. The control program generates an indication as defined by parameter 31.22 STO
indication run/stop.
4. The motor coasts to a stop (if running). The drive will not restart while the
activation switch or safety relay contacts are open.
5. Deactivate the STO by closing the activation switch, or resetting the safety
functionality that is wired to the STO connection.
6. Reset any faults before restarting.
WARNING! The Safe torque off function does not disconnect the voltage of
the main and auxiliary circuits from the drive. Therefore maintenance work
on electrical parts of the drive or the motor can only be carried out after
isolating the drive from the main supply.
WARNING! (With permanent magnet motors only) In case of a multiple

IGBT power semiconductor failure, the drive system can produce an
alignment torque which maximally rotates the motor shaft by 180/p
degrees regardless of the activation of the Safe torque off function. p
denotes the number of pole pairs.
Notes:
• If a running drive is stopped by using the Safe torque off function, the drive will cut
off the motor supply voltage and the motor will coast to a stop. If this causes
danger or is not otherwise acceptable, stop the drive and machinery using the
appropriate stop mode before activating the Safe torque off function.
• The Safe torque off function overrides all other functions of the drive unit.
• The Safe torque off function is ineffective against deliberate sabotage or misuse.
• The Safe torque off function has been designed to reduce the recognized
hazardous conditions. In spite of this, it is not always possible to eliminate all
potential hazards. The assembler of the machine must inform the final user about
the residual risks.
Maintenance
After the operation of the circuit is validated at start-up, the STO function shall be
maintained by periodic proof testing. In high demand mode of operation, the
maximum proof test interval is 20 years. In low demand mode of operation, the
maximum proof test interval is 2 years. The test procedure is given in section
Acceptance test procedure (page 561).
In addition to proof testing, it is a good practice to check the operation of the function
when other maintenance procedures are carried out on the machinery.
Include the Safe torque off operation test described above in the routine maintenance
program of the machinery that the drive runs.
If any wiring or component change is needed after start up, or the parameters are
restored, follow the test given in section Acceptance test procedure (page 561).
Use only ABB approved spare parts.
Fault tracing
The indications given during the normal operation of the Safe torque off function are
selected by parameter 31.22 STO indication run/stop.
The diagnostics of the Safe torque off function cross-compare the status of the two
STO channels. In case the channels are not in the same state, a fault reaction
function is performed and the drive trips on an “STO hardware failure” fault. An
attempt to use the STO in a non-redundant manner, for example activating only one
channel, will trigger the same reaction.
See the drive firmware manual for the indications generated by the drive, and for
details on directing fault and warning indications to an output on the control unit for
external diagnostics.
Any failures of the Safe torque off function must be reported to ABB.
Safety data
The safety data for the Safe torque off function is given below.
Note: The safety data is calculated for redundant use, and does not apply if both STO
channels are not used.
Frame IEC 61508 and IEC/EN 61800-5-2

size SIL PFH d HFT SFF T1 PFD
(1/h) (%) (a)
R0 3 2.34E-09 1 99.8 20 4.91E-06
R1 3 2.34E-09 1 99.8 20 4.91E-06
R2 3 2.34E-09 1 99.8 20 4.91E-06
R3 3 2.34E-09 1 99.8 20 4.92E-06
R5 3 6.23E-10 1 99.9 20 9.98E-06
R6 3 9.28E-10 1 99.8 20 1.49E-05
R7 3 9.28E-10 1 99.8 20 1.49E-05
R8 3 7.71E-10 1 99.7 20 1.66E-05
R9 3 7.71E-10 1 99.7 20 1.66E-05
Frame EN ISO 13849-1 IEC/EN IEC 61511

size 62061
PL CCF MTTFd1 DC 2 Category SILCL SIL
(%) (a) (%)
R0 e 80 2973 >90 3 3 3
R1 e 80 2973 >90 3 3 3
R2 e 80 2973 >90 3 3 3
R3 e 80 2972 >90 3 3 3
R5 e 80 18190 >90 3 3 3
R6 e 80 12253 >90 3 3 3
R7 e 80 12253 >90 3 3 3
R8 e 80 2757 >90 3 3 3
R9 e 80 2757 >90 3 3 3
1
100 years must be used for calculation of a safety loop. 3AXD00000586715.xls E
2
According to standard EN ISO 13849-1 table E.1
• The following temperature profile is used in safety value calculations:

• 670 on/off cycles per year with T = 71.66 °C
• 32 °C board temperature at 2.0% of time
• 60 °C board temperature at 1.5% of time
• 85 °C board temperature at 2.3% of time.
• The STO is a type A safety component as defined in IEC 61508-2.

• Relevant failure modes:
• The STO trips spuriously (safe failure)
• The STO does not activate when requested
A fault exclusion on the failure mode “short circuit on printed circuit board” has
been made (EN 13849-2, table D.5). The analysis is based on an assumption that
one failure occurs at one time. No accumulated failures have been analyzed.
• STO reaction time (shortest detectable break): 1 ms
• STO response time: 2 ms (typical), 5 ms (maximum)
• Fault detection time: Channels in different states for longer than 200 ms
• Fault reaction time: Fault detection time + 10 ms
• STO fault indication (parameter 31.22) delay: < 500 ms
• STO warning indication (parameter 31.22) delay: < 1000 ms
• Maximum cable length 300 m (984 ft) between activation switch (K) and drive
control unit.
• The voltage at the INx terminals of each drive must be at least 13 V DC to be
interpreted as “1”. Pulse tolerance of input channels is 1 ms.
 Abbreviations
Abbr. Reference Description
CCF EN ISO 13849-1 Common cause failure (%)
DC EN ISO 13849-1 Diagnostic coverage
FIT IEC 61508 Failure in time: 1E-9 hours
HFT IEC 61508 Hardware fault tolerance
MTTFd EN ISO 13849-1 Mean time to dangerous failure: (The total number of life
units) / (the number of dangerous, undetected failures)
during a particular measurement interval under stated
conditions
PFD IEC 61508 Probability of failure on demand
PFH D IEC 61508 Probability of dangerous failures per hour
PL EN ISO 13849-1 Performance level. Levels a…e correspond to SIL
SC IEC 61508 Systematic capability
SFF IEC 61508 Safe failure fraction (%)
SIL IEC 61508 Safety integrity level (1…3)
SILCL EN 62061 Maximum SIL (level 1…3) that can be claimed for a safety
function or subsystem
STO IEC/EN 61800-5-2 Safe torque off
T1 IEC 61508 Proof test interval
 Declaration of conformity
Declaration of conformity (3AXD10000302783) is available on the Internet. See
section Document library on the Internet on the inside of the back cover.
 Certificate
TÜV certificate (3AXD10000302787) is available on the Internet. See section
Document library on the Internet on the inside of the back cover.
Optional I/O extension modules 567
24
Optional I/O extension
modules
This chapter describes how to install and start up the optional CMOD-01 and
CMOD-01 multifunction extension modules. The chapter also contains diagnostics
and technical data.
CMOD-01 multifunction extension module (external

24 V AC/DC and digital I/O)
 Safety instructions
WARNING! Obey the safety instructions for the drive. If you ignore the safety
instructions, injury or death can occur.
 Hardware description
Product overview
The CMOD-01 multifunction extension module (external 24 V AC/DC and digital I/O)
expands the outputs of the drive control unit. It has two relay outputs and one
transistor output, which can function as a digital or frequency output.
In addition, the extension module has an external power supply interface, which can
be used to power up the drive control unit in case the drive power supply fails. If you
do not need the back-up power supply, you do not have to connect it because the
module is powered from the drive control unit by default.
568 Optional I/O extension modules
Note: In frames R5…R9, you do not need a CMOD-01 module to use external
24 V AC/DC supply. The external supply is connected directly to terminals 40 and 41
on the control unit.
Layout
5
3
6
4 3
Item Description Additional

information
1 Grounding screw Page 568
2 Hole for mounting screw Page 568
3 3-pin terminal blocks for relay outputs Page 569
4 3-pin terminal block for transistor output Page 569
5 2-pin terminal block for external power supply Page 569
6 Diagnostic LED Page 573
Necessary tools and instructions
• Screwdriver and a set of suitable bits.
Unpacking and checking the delivery

1. Open the option package.
2. Make sure that the package contains:
• CMOD-01 multifunction extension module
• mounting screw.
3. Make sure that there are no signs of damage.
Installing the module

See chapter Installing optional modules on page 110.
Warnings

you ignore them, injury or death, or damage to the equipment can occur. If you
are not a qualified electrician, do not do electrical work.

• Screwdriver and a set of suitable bits
• Cabling tools
Terminal designations
For more detailed information on the connectors, see section Technical data on
page 573.
Relay outputs
Marking Description
50 RO4C Common, C
51 RO4A Normally closed, NC
52 RO4B Normally open, NO
53 RO5C Common, C
54 RO5A Normally closed, NC
55 RO5B Normally open, NO
Transistor output
Marking Description
42 DO1 SRC Source input
43 DO1 OUT Digital or frequency output
44 DO1 SGND Ground (earth) potential
External power supply6

The external power supply is needed only if you want to connect an external back-up
power supply for the drive control unit
Note: Only frames R0…R3 need CMOD-01 (or CMOD-02) for connecting external
power supply, frames R5…R9 have corresponding terminals 40 and 41 on the control
unit.
Marking Description
40 24V AC/DC + in External 24 V (AC/DC) input
41 24V AC/DC - in External 24 V (AC/DC) input
General cabling instructions

Obey the instructions given in chapter Planning the electrical installation on page 59.
Wiring
Connect the external control cables to the applicable module terminals. Ground the
outer shield of the cables 360 degrees under a grounding clamp on the grounding
shelf of the control cables.
Relay output connection example
RO4C
50
24 V DC RO4A
51
RO4B
52
CMOD-01
Digital output connection example
42 DO1 SRC
24 V DC
43 DO1 OUT
44 DO1 SGND
CMOD-01
Frequency output connection example
1) 42 DO1 SRC
43 DO1 OUT
44 DO1 SGND
CMOD-01
1)
An externally supplied frequency indicator which provides, for example:
• a 40 mA / 12 V DC power supply for the sensor circuit (CMOD frequency output)
• suitable voltage pulse input (10 Hz … 16 kHz).
External power supply connection example
+
1) 40 24V AC/DC - in
- 41 24V AC/DC + in
CMOD-01
1) External power supply, 24 V AC/DC
 Start-up
Setting the parameters
2. If no warning is shown,
• make sure that the value of both parameter 15.02 Detected extension module
and parameter 15.01Extension module type is CMOD-01.
If warning A7AB Extension I/O configuration failure is shown,
• make sure that the value of parameter 15.02 Detected extension module is
CMOD-01.
• set parameter 15.01 Extension module type to CMOD-01.
You can now see the parameters of the extension module in parameter group 15
I/O extension module (page 252).
3. Set the parameters of the extension module to applicable values.
Examples are given below.
Parameter setting example for relay output

This example shows how make relay output RO4 of the extension module indicate
the reverse direction of rotation of the motor with a one-second delay.
Parameter Setting
15.07 RO4 source Reverse
15.08 RO4 ON delay 1s
15.09 RO4 OFF delay 1s
Parameter setting example for digital output

This example shows how to make digital output DO1 of the extension module indicate
the reverse direction of rotation of the motor with a one-second delay.
Parameter Setting
15.22 DO1 configuration Digital output
15.23 DO1 source Reverse
15.24 DO1 ON delay 1s
15.25 DO1 OFF delay 1s
Parameter setting example for frequency output

This example shows how to make digital output DO1 of the extension module indicate
the motor speed 0... 1500 rpm with a frequency range of 0...10000 Hz.
Parameter Setting
15.22 DO1 configuration Frequency output
15.33 Freq out 1 source 01.01
15.34 Freq out 1 src min 0
15.35 Freq out 1 src max 1500.00
15.36 Freq out 1 at src min 1000 Hz
15.37 Freq out 1 at src max 10000 Hz
 Diagnostics
Faults and warning messages
Warning A7AB Extension I/O configuration failure, see page 429.
LEDs
The extension module has one diagnostic LED.
Color Description
Green The extension module is powered up.
 Technical data
Dimension drawing:
The dimensions are in millimeters and [inches].
Installation: Into an option slot on the drive control unit

Degree of protection: IP20
Ambient conditions: See the drive technical data.
Package: Cardboard
Isolation areas:
CMOD-01
Plugged to
24 Vin drive SLOT2 RO4
DO1 RO5
Symbol Description
Reinforced insulation (IEC 61800-5-1:2007)
Functional insulation (IEC 61800-5-1:2007)
Relay outputs (50…52, 53…55):

• Wire size max. 1.5 mm 2
• Minimum contact rating: 12 V / 10 mA
• Maximum contact rating: 250 V AC / 30 V DC / 2 A
• Maximum breaking capacity: 1500 VA
Transistor output (42…44):
• Wire size max. 1.5 mm 2
• Type: Transistor output PNP
• Maximum switching voltage: 30 V DC
• Maximum switching current: 100 mA / 30 V DC, short-circuit protected
• Frequency: 10 Hz … 16 kHz
• Resolution: 1 Hz
• Accuracy: 0.2%
External power supply (40…41):

• Wire size max. 1.5 mm2
• 24 V AC / V DC ±10% (GND, user potential)
• Maximum current consumption: 25 W, 1.04 A at 24 V DC
CMOD-02 multifunction extension module (external

24 V AC/DC and isolated PTC interface)
 Safety instructions
WARNING! Obey the safety instructions for the drive. If you ignore the safety
instructions, injury or death can occur.
 Hardware description
Product overview
The CMOD-02 multifunction extension module (external 24 V AC/DC and isolated
PTC interface) has a motor thermistor connection for supervising the motor
temperature and one relay output, which indicates the thermistor status. To trip the
drive, the user must connect this overtemperature indication back to the drive, for
example, to its Safe torque off input.
In addition, the extension module has an external power supply interface, which can
be used to power up the drive control unit in case the drive power supply fails. If you
do not need the back-up power supply, you do not have to connect it because the
module is powered from the drive control unit by default.
There is reinforced insulation between the motor thermistor connection, the relay
output and the drive control unit interface. Thus, you can connect a motor thermistor
to the drive through the extension module.
Note: In frames R5…R9, you do not need a CMOD-01 module to use external
24 V AC/DC supply. The external supply is connected directly to terminals 40 and 41
on the control unit.
Layout
5 4
6 3
Item Description Additional

information
1 Grounding screw Page 577
2 Hole for mounting screw Page 577
3 2-pin terminal block for motor thermistor connection Page 578
4 2-pin terminal block for relay output Page 578
5 2-pin terminal block for external power supply Page 578
6 Diagnostic LED Page 581
Unpacking and checking the delivery

1. Open the option package.
2. Make sure that the package contains:
• CMOD-02 multifunction extension module
• mounting screw
3. Make sure that there are no signs of damage.
Installing the module

See chapter Installing optional modules on page 110.
Warnings

you ignore them, injury or death, or damage to the equipment can occur. If you
are not a qualified electrician, do not do electrical work.

• Cabling tools
Terminal designations
For more detailed information on the connectors, see section Technical data on
page 582.
Motor thermistor connection

Marking Description
60 PTC IN PTC connection
61 PTC IN Ground (earth) potential
Relay output
Marking Description
62 RO PTC C Common, C
63 RO PTC B Normally open, NO
External power supply

The external power supply is needed only if you want to connect an external back-up
power supply for the drive control unit.
Note: Only frames R0…R3 need CMOD-01 (or CMOD-02) for connecting external
power supply, frames R5…R9 have corresponding terminals 40 and 41 on the control
unit.
Marking Description
40 24V AC/DC + in External 24 V (AC/DC) input
41 24V AC/DC - in External 24 V (AC/DC) input
General cabling instructions

Obey the instructions given in chapter Planning the electrical installation on page 59.
Wiring
Connect the external control cables to the applicable module terminals. Ground the
outer shield of the cables 360 degrees under a grounding clamp on the grounding
shelf of the control cables
Motor thermistor connection example
1)
60 PTC IN
61 PTC IN
CMOD-02
1)
One or 3…6 PTC thermistors connected in series.
Relay output connection example
CMOD-02
RO PTC C
62
63
RO
PTC B
X4 CCU
34 OUT1
35 OUT2
36 SGND
37 IN1
38 IN2
Power supply connection example
+
1) 40 24V AC/DC - in
- 41 24V AC/DC + in
CMOD-02
1)
External power supply, 24 V AC/DC
 Start-up
Setting the parameters
2. If no warning is shown,
• make sure that the value of both parameter 15.02 Detected extension module
and parameter 15.01Extension module type is CMOD-02.
If warning A7AB Extension I/O configuration failure is shown,
• make sure that the value of parameter 15.02 Detected extension module is
CMOD-02.
• set parameter 15.01 Extension module type to CMOD-02.
You can now see the parameters of the extension module in parameter group 15
I/O extension module (page 252).
 Diagnostics
Faults and warning messages
Warning A7AB Extension I/O configuration failure, see page 429.
LEDs
The extension module has one diagnostic LED.
Color Description
Green The extension module is powered up.
 Technical data
Dimension drawing:
The dimensions are in millimeters and [inches].
Installation: Into an option slot on the drive control unit

Degree of protection: IP20
Ambient conditions: See the drive technical data.
Package: Cardboard
Isolation areas:
CMOD-02
Plugged to
24 Vin drive SLOT2 RO PTC
PTCin
Symbol Description
Reinforced insulation (IEC 61800-5-1:2007)
Functional insulation (IEC 61800-5-1:2007)
Motor thermistor connection (60…61):

• Supported standards: DIN 44081 and DIN 44082
• Number of PTC thermistor relays: 1 or 3…6 in series
• Triggering threshold: 3.6 kohm
• Recovery threshold: 1.6 kohm
• PTC terminal voltage: < 5.0 V
• PTC terminal current: < 1 mA
• Short-circuit detection: < 50 ohm
Relay output (62…63):
• Maximum contact rating: 250 V AC / 30 V DC / 5 A
• Maximum breaking capacity: 1000 VA
External power supply (40…41):
• 24 V AC / V DC ±10% (GND, user potential)
• Maximum current consumption: 25 W, 1.04 A at 24 V DC
Further information
Product and service inquiries
Address any inquiries about the product to your local ABB representative, quoting
the type designation and serial number of the unit in question. A listing of ABB sales,
support and service contacts can be found by navigating to
www.abb.com/searchchannels.
Product training
For information on ABB product training, navigate to www.abb.com/drives and select
Training courses.
Providing feedback on ABB Drives manuals

Your comments on our manuals are welcome. Go to www.abb.com/drives and select
Document Library – Manuals feedback form (LV AC drives).
Document library on the Internet

You can find manuals and other product documents in PDF format on the Internet.
Go to www.abb.com/drives and select Document Library. You can browse the library
or enter selection criteria, for example a document code, in the search field.
Contact us
www.abb.com/drives
www.abb.com/drivespartners
3AUA0000076333 Rev A (EN) 2014-03-24
3AUA0000076333A

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ABB general purpose drives

Option manuals and guides

Tool and maintenance manuals and guides

2. Introduction to the manual

3. Operation principle and hardware description

5. Planning the electrical installation

8. Start-up, control with I/O and

10. Settings, I/O and diagnostics on the control panel

11. Control macros

12. Program features

14. Additional parameter data

15. Fault tracing

16. Fieldbus control through the embedded fieldbus

18. Maintenance and hardware diagnostics

19. Technical data

20. Dimension drawings

21. Control chain diagrams

22. Resistor braking

23. The Safe torque off function

24. Optional I/O extension modules

2. Introduction to the manual

3. Operation principle and hardware description

Frame R7 cable entry box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

5. Planning the electrical installation

8. Start-up, control with I/O and ID run

10. Settings, I/O and diagnostics on the control panel

11. Control macros

12. Program features

Drive configuration and programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185

Backup and restore . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222

14. Additional parameter data

15. Fault tracing

16. Fieldbus control through the embedded fieldbus interface (EFB)

Actual values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 460

17. Fieldbus control through a fieldbus adapter

18. Maintenance and hardware diagnostics

19. Technical data

20. Dimension drawings

21. Control chain diagrams

22. Resistor braking

23. The Safe torque off function

24. Optional I/O extension modules

Use of warnings and notes in this manual

General warning tells about conditions, other than those caused by

Electrostatic sensitive devices warning tells you about the risk of

General safety in installation, start-up and maintenance

WARNING! Obey these instructions. If you ignore them, injury or death, or

• Handle the drive carefully.

• Beware of hot surfaces. Some parts, such as heatsinks of power semiconductors,

Electrical safety in installation, start-up and maintenance

WARNING! Obey these instructions. If you ignore them, injury or death, or

 Additional instructions and notes

WARNING! Obey these instructions. If you ignore them, injury or death, or

WARNING! Obey these instructions. If you ignore them, injury or death, or

• If you are not a qualified electrician, do not do grounding work.

Additional instructions for permanent magnet motor drives

• Do not work on a drive when a rotating permanent magnet motor is connected to

General safety in operation

WARNING! Obey these instructions. If you ignore them, injury or death, or

Purpose of the manual