EN ACS800 SystemControlProgram FW D PDF

ACS800
Firmware Manual
System Control Program 7.x
System Control Program 7.x

Firmware Manual
3AFE64670646 REV D
EN
EFFECTIVE: 10.12.2007
2007 ABB Oy. All Rights Reserved.
Table of contents
Table of contents
Introduction to the manual
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reader . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Product and service inquiries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Product training . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Providing feedback on ABB Drives manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13
13
13
13
14
14
14
14
Start-up
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
How to start-up the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Control panel
Overview of the panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Identification display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Panel operation mode keys and displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Status row . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Drive control with the panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
How to start, stop and change direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
How to set speed reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Actual signal display mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
How to select actual signals to the display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
How to display the full name of the actual signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
How to view and reset the fault history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
How to display and reset an active fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
About the fault history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parameter mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
How to select a parameter and change the value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
How to adjust a source selection parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Function mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
How to copy parameters from one drive to other drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
How to set the contrast of the display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Drive selection mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
How to select a drive and change its panel link ID number . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reading and entering packed boolean values on the display . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
33
33
34
35
35
36
36
37
37
38
38
39
39
40
40
41
42
43
43
45
45
46
46
Table of contents
Program features
Local control vs. external control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Control modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
External control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Local control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Analogue inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Analogue outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Digital inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Digital outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics and control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RMIO board connection diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Control through communication link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Control through I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Actual signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motor identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Undervoltage control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overvoltage control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Automatic start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Auto restart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Emergency stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
If an emergency stop signal is activated when the motor is already stopped . . . . . . . . . . . . . .
If an emergency stop signal is activated when the motor is running . . . . . . . . . . . . . . . . . . . . .
Emergency stop through fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Prevention of Unexpected Start-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DC magnetising . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of contents
47
47
47
48
48
48
50
52
52
53
54
54
55
55
55
56
56
56
57
58
59
60
60
60
60
60
61
62
62
63
63
63
63
63
64
64
64
65
65
65
66
66
66
67
67
67
68
68
Constant DC magnetising . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DC hold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Flux braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Flux optimisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Acceleration and deceleration ramps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Variable slope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Oscillation damping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Speed filtering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Speed controller tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Low speed fine tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Run interlock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motor control, DTC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Scalar control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IR compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Hexagonal motor flux . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Parallel-connected inverters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Reduced run function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Removing a broken inverter module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Current measurement calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Programmable protection functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
AI<Min . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Panel loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motor temperature protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motor thermal mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
68
68
68
69
69
69
69
69
70
71
71
72
72
73
73
73
74
74
75
75
75
75
76
76
76
77
79
79
79
79
80
80
80
81
81
82
82
82
82
82
82
82
82
83
83
83
83
84
84
84
Table of contents
Temperature sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Thermal sensor connection through I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Thermal connection through analogue I/O extension . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
I/O configuration example 1 with motor temperature measurement . . . . . . . . . . . . . . . . . . .
I/O configuration example 2 with motor temperature measurement . . . . . . . . . . . . . . . . . . .
Alternative thermal connection for PTC thermistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Short time overload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Maximum current load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Stall protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Underload protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motor phase loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Earth fault and current unbalance protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Communication fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Master/Follower link communication fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Speed measurement fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motor fan control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Preprogrammed faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Overcurrent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DC overvoltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DC undervoltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Drive temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of contents
85
86
86
86
87
87
87
88
88
89
89
89
90
90
90
90
90
90
91
91
91
92
92
92
92
92
92
93
93
93
93
93
94
94
94
94
94
95
95
95
95
95
96
96
96
96
97
97
97
97
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Short circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Run disable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Overfrequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Input phase loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Control board temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
I/O monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Start inhibit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Overswitching frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
System fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Operation limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Parameter lock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Adaptive programming with DriveAP 2.x . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Master/Follower . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Diagnostics and control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Master drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Follower drive(s) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Data transfer from follower(s) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
Load share function with speed controlled Follower . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Process master on-line configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Master/Follower link specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
Inverter fan speed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
LSU communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Sine filter support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Inverter charging logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Monitoring panel NLMD-01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Pulse encoder, RTAC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Position counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
Table of contents
10
Diagnostics and control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Firmware loading package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Program boot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Memory handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fault and event loggers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Time format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Data loggers 1 and 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Default signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics and control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Backup and restore function with DriveWindow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
User macro save with DriveWindow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Software version update . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
119
120
120
120
120
120
121
121
121
121
121
121
122
122
123
123
123
123
124
Actual signals and parameters

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fieldbus equivalent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fieldbus addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Modbus and Modbus Plus address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
01 ACTUAL SIGNALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
02 ACTUAL SIGNALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
03 ACTUAL SIGNALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
04 INFORMATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
05 LSU SIGNALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
07 CONTROL WORDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
07 CONTROL WORDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
08 STATUS WORDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
08 STATUS WORDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
09 FAULT WORDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10 DIGITAL INPUTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11 REFERENCE SELECT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13 ANALOGUE INPUTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14 DIGITAL OUTPUTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15 ANALOGUE OUTPUTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16 SYSTEM CTR INPUTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17 DC HOLD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18 LED PANEL CTRL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
19 DATA STORAGE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
20 LIMITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
21 START/STOP FUNC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
22 ACCEL/DECEL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
23 SPEED REF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table of contents
127
127
127
128
128
129
131
133
136
137
141
143
145
146
153
165
169
169
171
173
176
178
178
179
180
182
185
186
11
24 SPEED CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
25 TORQUE REF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
26 TORQUE REF HANDLING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
27 FLUX CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
28 MOTOR MODEL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
29 SCALAR CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
30 FAULT FUNCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
31 FAULT FUNCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
34 BRAKE CHOPPER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
35 MOTOR FAN CTRL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
36 MOTOR CABLE PROTECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
50 SPEED MEASUREMENT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
51 MASTER ADAPTER (fieldbus adapter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
52 STANDARD MODBUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
53 USER PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
55 ADAPTIVE PROG1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
56 ADAPT PROG1 CNTRL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
57 ADAPTIVE PROG2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
58 ADAPT PROG2 CNTRL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
66 AP CONNECT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
70 DDCS CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
71 DRIVEBUS COMM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
90 D SET REC ADDR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
91 D SET REC ADDR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
92 D SET TR ADDR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
93 D SET TR ADDR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
95 LSU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
97 DRIVE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
98 OPTION MODULES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
99 START-UP DATA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
192
198
199
201
202
205
207
217
217
218
219
219
222
222
223
223
225
226
227
228
229
234
234
235
236
237
238
240
240
246
Fault tracing
Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Alarm and fault indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
How to reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fault history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Alarm messages generated by the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Alarm messages generated by the control panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Alarms by number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Fault messages generated by the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Faults by number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
253
253
253
253
253
254
255
262
263
264
277
Application macros
What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
Overview of macros . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
User macros . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280
Table of contents
12
How to create user macro 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280

How to recall user macro 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280
Fieldbus control
System overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Redundant fieldbus control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
RDCO channels CH0...3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Commissioning and supporting tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Setting up communication through fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Setting up communication through the standard Modbus link . . . . . . . . . . . . . . . . . . . . . . . . . . .
Modbus link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Setting up communication through Advant controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
External control interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Data sets 1 and 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
For type Nxxx fieldbus adapters and RMBA-01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
For type Rxxx fieldbus adapters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Data sets 10...33 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Data sets received from an external control system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Data set transmitted to an external control system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
ABB Drives communication profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Control examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
281
281
282
282
283
283
285
286
287
289
289
289
289
290
291
292
293
295
Control block diagrams

Main control word control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
I/O speed and torque references and motor temperature protection . . . . . . . . . . . . . . . . . . . .
Speed measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Speed reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Speed reference ramp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Speed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Torque reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Flux and DTC control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Scalar control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Terms
Table of contents
299
300
301
302
303
304
305
306
308
309
13

What this chapter contains
This chapter describes the contents of the manual. In addition it contains information
about the compatibility, safety and intended audience.
Compatibility
The manual is compatible with ACS800 System Control Program version
AMXR7230 and later. See signal 04.01 SW PACKAGE VER.
Safety instructions
Follow all safety instructions delivered with the drive.
Read the complete safety instructions before you install, commission, or use
the drive. For single drive the complete safety instructions are given at the
beginning of the hardware manual. For multidrive safety instructions, see
ACS800 Multidrive Safety Instructions [3AFE64760432 (English)].
Read the software function specific warnings and notes before changing the
default settings of the function. For each function, the warnings and notes are
given in this manual in the section describing the related user-adjustable
parameters.
Reader
The reader of the manual is expected to know the standard electrical wiring
practices, electronic components, and electrical schematic symbols.
14
Contents
The manual consists of the following chapters:
Start-up instructs in setting up the application program.
Control panel gives instructions for using the panel.
Program features contains the feature descriptions and the reference lists of the
user settings and diagnostic signals.
Actual signals and parameters describes the actual signals and parameters of the
drive.
Fault tracing lists the alarm and fault messages with the possible causes and
remedies.
Application macros contains a short description of each macro.
Fieldbus control describes the communication through the serial communication
link.
Control block diagrams contains control block diagrams.
Terms lists the terms and abbreviation used in this manual.
Product and service inquiries

Address any inquiries about the product to your local ABB representative, quoting
the type code 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/drives and
selecting Drives Sales, Support and Service network.
Product training
For information on ABB product training, navigate to www.abb.com/drives and select
Drives 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).
15
Start-up
This chapter describes the basic start-up procedure of the drive.
How to start-up the drive

The drive can be operated:
locally from control panel or DriveWindow PC tool
externally via I/O connections or fieldbus interface.
The start-up procedure presented uses the DriveWindow program. Drive references
can be monitored with DriveWindow with data loggers or with an oscilloscope
(connect analogue output signals to an oscilloscope and check the scaling of the
signals). For instruction on how to use the DriveWindow PC tool, see DriveWindow
Online Help and DriveWindow 2 Users Manual [3AFE64560981 (English)].
The start-up procedure includes actions which need to be performed only when the
drive is powered up for the first time (e.g. entering the motor data). After the first
start-up, the drive can be powered up without using these start-up functions. The
start-up procedure can be repeated later if start-up data needs to be changed.
If an alarm or a fault is generated during the start-up, see chapter Fault tracing for
the possible causes and remedies. If problems continue, disconnect the main power
and wait 5 minutes for the intermediate circuit capacitors to discharge and check the
drive and motor connections.
Start-up
16
Safety
The start-up may only be carried out by a qualified electrician.
The safety instructions must be followed during the start-up procedure. See the safety
instructions on the first pages of the appropriate hardware manual or for multidrive,
see ACS800 Multidrive Safety Instructions [3AFE64760432 (English)].
Check the installation. See the installation checklist in the appropriate hardware manual.
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 Standard ID run needs to be performed during the drive start-up. (ID run is essential only
in applications which require the ultimate in motor control accuracy.)
Connect fibre optic cables between DDCS channel CH3 (of the RDCO-0x module) and the
NDPC cable adapter connected to PCMCIA card in the PC.
Disconnect the external control system from channel CH0 of the RDCO-0x module or from
the fieldbus adapter module type Rxxx connected to Slot 1 of the RMIO board.
Power up
Switch the power on.
Start the DriveWindow program.
Switch the drive to local control mode.
Motor data entering
Open the parameter list (Parameters) from the DriveWindow menu.
Select the language.
Double-click the DriveWindow Parameters window to upload
parameters and signals.
99.01 LANGUAGE
Select the motor control mode.
99.08 MOTOR CTRL

MODE
DTC is suitable for most cases. The SCALAR control mode is

recommended
- for multimotor drives with variable number of motors
- when the nominal current of the motor is less than 1/6 of the nominal
output current of the drive (inverter)
- when the drive is used for test purposes with no motor connected.
Start-up
17
Enter the motor data from the motor nameplate:
ABB Motors
3
motor
V
690 Y
400 D
660 Y
380 D
415 D
440 D
Cat. no
M2AA 200 MLA 4

IEC 200 M/L 55
No
Ins.cl. F
IP 55
Hz
kW
r/min
A
cos
IA/IN t E/s
30
1475
32.5 0.83
50
56
50
1475
0.83
30
50
1470
34
0.83
30
30
1470
59
0.83
50
1475
50
54
0.83
30
35 1770
59
0.83
60
3GAA 202 001 - ADA
6312/C3
6210/C3
380 V
mains
voltage
Note: Set the motor data to

exactly the same value as
on the motor nameplate. For
example, if the motor
nominal speed is 1440 rpm
on the nameplate, setting
the value of parameter
99.05 MOTOR NOM
SPEED to 1500 rpm results
in wrong operation of the
drive.
180
IEC 34-1
- motor nominal voltage

Allowed range: 1/2 UN 2 UN of the drive. (UN refers to the highest voltage in
each of the nominal voltage ranges: 415 V AC for 400 V AC units, 500 V AC for
500 V AC units and 690 V AC for 600 V AC units.)
- motor nominal current

Allowed range: approximately 1/6 Ihd 2 Ihd of the drive (02 Ihd if
parameter 99.08 MOTOR CTRL MODE = SCALAR))
With multimotor drives, see section Multimotor drives on page 17.
- motor nominal frequency
99.02 MOTOR NOM

VOLTAGE
99.03 MOTOR NOM
CURRENT
Range: 8300 Hz
99.04 MOTOR NOM FREQ
- motor nominal speed
99.05 MOTOR NOM

SPEED
Range: 118000 rpm

99.06 MOTOR NOM

POWER
- motor nominal power

Range: 09000 kW
- motor nominal cos

If the nominal cos of the motor is unknown, set parameter 99.13 POWER IS GIVEN
to POWER.
After the motor parameters have been set, alarm ID MAGN REQ is
displayed.
99.12 MOTOR NOM

COSFII
** ALARM **
ID MAGN REQ
Multimotor drives
i.e. more than one motor is connected to one drive
Note: Scalar control mode is recommended with 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 the motor identification.
Start-up
18
Check that the motors have the same relative slip, nominal voltage
and number of poles. If the manufacturer motor data is insufficient,
use the following formulas to calculate the slip and the number of
poles:
fN 60 *
p = Int -----------------
nN
n
* Round to the nearest integer value.
f 60
N
= ---------------p
n S nN
s = --------------------- 100%
n
S
where
p = number of pole pairs (= motor pole number / 2)
fN = motor nominal frequency [Hz]
nN = motor nominal speed [rpm]
s = motor slip [%]
nS = motor synchronous speed [rpm].
Set the sum of the motor nominal currents.
99.03 MOTOR NOM

CURRENT
Set the nominal motor frequencies. Frequencies must be the same. 99.04 MOTOR NOM FREQ
Note: If scalar control is used (parameter 99.08 MOTOR CTRL
MODE = SCALAR), this setting does not apply.
Set the sum of the motor nominal powers.
If the motor powers are close to each other or the same but the
nominal speeds vary slightly, parameter 99.05 MOTOR NOM
SPEED can be set to an average value of the motor speeds.
99.06 MOTOR NOM

POWER
99.05 MOTOR NOM
SPEED
Optional modules
Activate all optional modules connected to the RDCO-0x module.
Select the connection interface and operation mode for the
modules.
Parameter group 98
OPTION MODULES
I/O communication
Check the possible I/O signal selections.
Parameter groups
10 DIGITAL INPUTS...
15 ANALOGUE OUTPUTS
Run interlock
If RUN INTERLOCK function is needed (prevents motor start):
Program the interlocking with adaptive programming.
See ACS600 / ACS800 Application Guide Adaptive Program for
System Application Program 7.x [3AFE68420075 (English)].
Start-up
16.14 RUN INTERLOCK

08.01 MAIN STATUS
WORD bit 13
19
Prevention of an Unexpected Start-up and emergency stop circuit

08.02 AUX STATUS WORD
If there is a Prevention of an Unexpected Start-up circuit in use,
bit 8 START INHIBITION
check the operation as follows:
- Open the control switch: 08.02 bit 8 = 1, AGPS (Gate Driver Power
supply board) 230/115 V AC circuit is open (active).
- Close the control switch: 08.02 bit 8 = 0, AGPS 230/115 V AC
circuit is closed (normal state).
Deactivate the logging of the Prevention of Unexpected Start-up

alarm to the fault/alarm logger if the function will be used frequently.
Without deactivation, the logger will be filled with START INHIBI
alarms.
31.02 START INHIBIT ALM
If there is an emergency stop circuit in use, check that the circuit

functions (emergency stop signal is connected to digital input DI1
and the feedback signal is sent through digital output DO1). For
more information, see section Emergency stop on page 65.
08.01 MAIN STATUS

WORD bit 4 OFF 2 STA and
bit 5 OFF 3 STA
Select the emergency stop mode.
21.04 EME STOP MODE
RMIO board supply

If the RMIO board is powered from an external supply, check that
parameter 16.07 CTRL BOARD SUPPLY settings is EXTERNAL.
16.07 CTRL BOARD

SUPPLY
Inverter fan speed control

With R8i module equipped with speed controlled fan, check the fan
speed control mode setting.
16.08 FAN SPD CTRL

MODE
Motor fan control

If the motor is equipped with an external cooling fan (controlled by
the drive):
- Check the motor fan control circuit and associated parameters.
35.01 MOTOR FAN CTRL

35.02 FAN ACK DELAY
35.03 FAN OFF DELAY
35.04 FAN ON DELAY
10.06 MOTOR FAN ACK
Optional DC switch
Activate the fuse switch control if R7i/R8i inverter is equipped with
a DC switch or if R7i inverter includes charging option +F272.
98.12 FUSE SWITCH CTRL

08.20 INV ENABLED
WORD
Start-up
20
Speed measurement
with pulse encoder
Check the speed scaling of the motor.
50.01 SPEED SCALING
Set parameter 50.03 SPEED FB SEL to INTERNAL.
50.03 SPEED FB SEL
Set the number of encoder pulses.
50.04 ENCODER PULSE

NR
Check other speed scaling and encoder settings.
Parameter group 50 SPEED

MEASUREMENT
Reset the drive and start the motor.

During the first start the motor is magnetised for 20...60 s at zero
speed and the drive calculates the motor model (the stator
resistance and other electrical losses are identified and stored to the
FPROM memory). The motor shaft is not rotating during the first
start.
Alarm message ID MAGN REQ is displayed.
Alarm ID MAGN is displayed during the identification. The motor
stops after the identification magnetisation (ID MAGN) has been
performed.
Alarm message ID DONE is displayed after the identification is
completed.
** ALARM **
ID MAGN REQ
ID MAGN
ID DONE
Start the motor again.

Enter a small speed reference value (for example 3% of the nominal
motor speed).
Check that the motor is running in the desired direction and the
polarity of the speed measurement is correct.
When the motor is rotating in the correct direction and the speed
reference is positive, the actual speed 01.03 SPEED MEASURED
must be positive and equal to 01.02 SPEED ESTIMATED.
Incorrect connection can be located as follows:
If the direction of the rotation is correct and 01.03 SPEED MEASURED is
negative, the phasing of the pulse encoder wires is reversed.
If the direction of the rotation is incorrect and 01.03 SPEED MEASURED is
negative, the motor cables are incorrectly connected.
If the direction of the rotation is incorrect and 01.03 SPEED MEASURED is
positive, both the motor and the pulse encoder are incorrectly connected.
Changing the connection:

Disconnect the main power, and wait for 5 minutes for the intermediate
circuit capacitors to discharge.
Do the necessary changes. Switch the power on and start the motor again.
Check that the actual speed value is positive.
Stop the motor.
Start-up
01.03 SPEED MEASURED

01.02 SPEED ESTIMATED
21
Set parameter 50.03 SPEED FB SEL to ENCODER.
50.03 SPEED FB SEL
Start the motor.

Check that SPEED ESTIMATED and SPEED MEASURED values
are the same.
Check that signal 08.02 AUX STATUS WORD bit 12 (INTERNAL
SPEED FB) value is zero.

bit 12
Stop the motor.

Speed measurement
without pulse encoder
Check the speed scaling of the motor.
Reset and start the motor.
During the first start the motor is magnetised for 20...60 s at zero
speed and the drive calculates the motor model (the stator
resistance and other electrical losses are identified and stored to the
FPROM memory). The motor shaft is not rotating during the first
start.
Alarm message ID MAGN REQ is displayed.
Alarm ID MAGN is displayed during the identification. The motor
stops after the identification magnetisation (ID MAGN) has been
performed.
Alarm message ID DONE is displayed after the identification is
completed.
50.01 SPEED SCALING
** ALARM **
ID MAGN
ID MAGN
ID DONE
Start the motor again.

Enter a small speed reference value (for example 3% of the nominal
motor speed).
Check that the motor is running in the desired direction.
If true motor speed is not equal to nominal value due to the motor
construction, true speed can be fine tuned with slip gain.
24.16 SLIP GAIN
Stop the motor.
Start-up
22
ID RUN (motor identification run)

WARNING! The motor will run at up to approximately 5080% of the nominal speed
during the ID run. ENSURE THAT IT IS SAFE TO RUN THE MOTOR BEFORE
PERFORMING THE 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.
Select the motor identification method by setting parameter 99.07
MOTOR ID RUN. During the Motor ID run, the drive will identify the
characteristics of the motor for optimum motor control. The ID run
lasts a few minutes, depending on the motor size.
forward
direction
reverse
direction
If 1 = NO (ID MAGN) is selected, ID run is not performed. When the start

command is given, the motor is magnetised for 20...60 s at zero speed and
the drive calculates the motor model.
Select the ID MAGN
- for pump or fan application
- if there are drive sections in which more than one motor is connected to
one inverter. See section Multimotor drives on page 17.
The ID run (STANDARD or REDUCED) should be selected if
- the operation point is near zero speed, and/or
- the operation point is at a torque range above the motor nominal torque
within a wide speed range and no measured speed feedback is required.
The REDUCED ID run should be selected instead of the STANDARD if the
mechanical losses are higher than 20%, i.e. the motor cannot be
uncoupled from the driven equipment, or flux reduction is not allowed when
the motor is running, for example in a case of a braking motor in which the
brake chopper is switched on when the flux falls below a certain level.
Note: The STANDARD Motor ID run may be performed even when
machinery is coupled if the machinery is not under load. However it is
always recommended to uncouple the driven equipment from the motor
with STANDARD Motor ID run.
WARNING! If STANDARD Motor ID run is to be performed with the
machinery coupled to the motor, make sure the machinery is able to
withstand the fast speed changes during the ID run.
With multimotor drives the ID run can be performed with the machinery
coupled or uncoupled.
Note: The Motor ID run (STANDARD or REDUCED) cannot be performed
if scalar control is selected (parameter 99.08 setting is SCALAR).
Start-up
99.07 MOTOR ID RUN
23
Start the motor to activate the ID run.

Note: RUN ENABLE must be active.
When the ID run is started, alarm MOTOR STARTS is displayed.
During the ID run, alarm ID RUN is displayed.
After a successfully completed ID run, alarm ID DONE is displayed,
signal 08.02 AUX STATUS WORD bit 7 is set to 1 and parameter
99.07 MOTOR ID RUN value is restored back to selection NO.
Note: If the Motor ID run has not been successfully completed, fault
message ID RUN FAIL is displayed. See chapter Fault tracing.
16.01 RUN ENABLE

08.01 MAIN STATUS
WORD bit 13
** ALARM **
MOTOR STARTS
ID RUN
ID DONE
Start function
21.01 START FUNCTION
Select the start function.
The fastest start is achieved when parameter 21.01 START
FUNCTION is set to AUTO (flying start).
The highest possible starting torque is achieved when parameter
21.01 START FUNCTION is set to DC MAGN (DC magnetising) or
CNST DC MAGN (constant DC magnetising).
Note: When parameter 21.01 START FUNCTION setting is
DC MAGN or CNST DC MAGN, flying start (start to a rotating motor)
is not possible.
When constant DC magnetising is used, the shaft movement during

the magnetising can be minimised:
Adjust parameter 21.11 START JERK COMP setting.
21.11 START JERK COMP
Set operation limits according to the process requirements.
Parameter group 20 LIMITS
If there is a starting problem at zero speed with AUTO mode without 28.12 FLYSTART CUR REF
a pulse encoder, adjust parameters 28.12 FLYSTART CUR REF or 28.13 FLYSTART INIT DLY
28.15 RS20 [mOhm]
28.13 FLYSTART INIT DLY. See also effect of parameter 28.15
RS20 [mOhm] if starting torque is high.
Motor thermal model
Select the motor thermal model protection mode.
Note: DTC mode can only be used with ABB motors when the
nominal motor current IN < 800 A.
30.01 MOTOR THERM

PMODE
Select the thermal model protection function.
30.02 MOTOR THERM

PROT
When 30.01 MOTOR THERM P MODE setting is USER MODE:

- Set the time for the 63% temperature rise.
- Set the maximum allowed operating load of the motor.
- Set the zero speed load. A higher value can be used if the motor
has an external motor fan to boost the cooling.
- Set the break point frequency of the motor load curve.
30.09 MOTOR THERM

TIME
30.10 MOTOR LOAD
CURVE
30.11 ZERO SPEED LOAD
30.12 BREAK POINT
Start-up
24
Set the thermal model alarm and fault limits.
30.28 THERM MOD ALM L

30.29 THERM MOD FLT L
Set the motor nominal temperature rise.

Note: If the ABB motor rating plate includes temperature coefficient
value (MNTRC), multiply it by 80 C to get the motor nominal
temperature rise.
30.30 MOT NOM TEMP

RISE
Set the typical ambient temperature of the motor.
30.31 AMBIENT TEMP
Motor temperature measurement

If motor temperature measurement is connected, activate the motor
temperature measurement function for motor 1/2 and select the
sensor type.
Sensor type
Unit
Pt100
PTC
normal 0...1.5 k
overtemperature > 4 k
KTY84-1xx
90 C = 936
110 C = 1063
130 C = 1197
150 C = 1340
30.03/30.06 MOT1/2 TEMP

AI1/2 SEL
98.06 AI/O EXT MODULE 1
Scaling
See control block diagram in section I/O speed and torque

references and motor temperature protection on page 301.
Set the temperature fault and alarm limits for motor 1/2.
30.04/30.07 MOT 1/2 TEMP

ALM L
30.05/30.08 MOT 1/2 TEMP
FLT L
Speed controller tuning

Note: These settings do not apply when parameter 99.08 MOTOR CTRL MODE setting is
SCALAR.
When tuning the drive, change one parameter at a time and monitor the response to the speed
reference step. To achieve the best possible result, the step response test should be carried out
with different speeds, from minimum speed up to the maximum speed.
The speed control values obtained depend mainly on
- the flux reference 27.03 FLUX REF
- the relationship between the motor power and the rotating mass
- backlashes in the drive's mechanical structure.
See control block diagram in section Speed control on page 305.
Note: Thyristor Supply Unit TSU should be in the normal operation mode during the step response
test (i.e. TSU signal 104.07 = 0). If TSU is in the diode bridge mode, an overvoltage alarm can trip
the drive when a step change down is given. Extra jumps may also appear in the step when the DC
voltage rises because no braking occurs.
The speed controller tuning can be performed automatically or manually:
Start-up
25
Automatic speed controller tuning

Activate the automatic tuning of the speed controller. Tuning is
based on the estimated mechanical time constant. If automatic
tuning is not enough, use manual tuning.
24.01 PI TUNE
Manual speed controller tuning

Select the following signals to be monitored with the DriveWindow
monitoring tool:
- 01.07 MOTOR TORQUE FILT2, actual torque
- 01.04 MOTOR SPEED, actual speed
- 02.03 SPEED ERROR NEG, filtered speed difference.
Start the motor with a small speed reference.
Give a speed reference step and monitor the response. Repeat the test for few speed reference
steps across the whole speed range:
Set the speed step: 1% or 2% of the maximum speed of the drive.
23.10 SPEED STEP
Optimise the P-part of the speed controller: Set the integration time
to its maximum value to change the PI (proportional integral)
controller into a P controller:
24.09 TIS
Give a step change up, for example 20 rpm. When the speed is
stabilised, give a step change down, for example -20 rpm.
23.10 SPEED STEP
Increase the relative gain until the response is sufficient:
24.03 KPS
y-axis = 02.09 TORQ REF 2
01.04 MOTOR
SPEED
KPS too low
KPS too high
KPS optimal
Start-up
26
Reduce the integration time until an overshoot is observed in the

response.
Adjust the integration time so that there is no overshoot or only
a slight overshoot (depending on the drive application). The integral
part is used to correct the error between the reference and the
actual value (which is caused by the proportional control) as quickly
as possible.
If the drive is stable and allows a high relative gain (KPS),
an overcompensated step response is obtained if the integration
time is set short.
24.09 TIS
y-axis = 02.09 TORQ REF 2
01.04 MOTOR
SPEED
TIS too long
TIS too short
TIS optimal
Low speed fine tuning

50.13 ZERO DETECT
Eliminate potentially harmful oscillation at low speeds (e.g. during
DELAY
start):
50.14 SPEED HOLD TIME
- Set the time the speed controller saves the last reference value.
- Set the time delay for the proportional part of the speed controller.
The larger the mass of the driven equipment, the higher the value of
parameter 50.13 ZERO DETECT DELAY should be. Parameter
50.14 SPEED HOLD TIME should be set to approximately 60% of
the value of parameter 50.13.
For example, typical settings for a drive rotating a dryer section of
a paper machine are: par 50.13 = 50 ms and par. 50.14 = 30 ms.
Start-up
27
Speed filtering
The measured speed always has a small ripple because of mechanical interference and couplings.
A small ripple is acceptable as long as it does not affect the speed control chain. Reducing the
ripple with filters may cause speed controller tuning problems. A long filter time constant and fast
acceleration time contradict one other.
If the speed measurement shows rapid oscillation, it can be filtered
with a speed error filter:
- Set the speed error filter time constant.
- Set the time constant of the first order actual speed filter.
If there is no gear box and no pulse encoder feedback and if fast
oscillation is observed:
- Decrease the time constant of the first order actual speed filter to
its minimum.
See control block diagrams in sections Speed measurement on
page 302 and Scalar control on page 309.
23.06 SPEED ERROR FILT

50.06 SP ACT FILT TIME
If there is a substantial backlash in the drive, and the drive oscillates 24.04 KPSMIN
24.05 KPS WEAKPOINT
at low torque due to the mechanism:
24.06 KPS WP FILT TIME
- Set the adaptive speed control parameters.
If the adaptability has to be made abrupt (i.e. par. 24.03 KPS value
is high, and par. 24.04 value is low) the drive can start to oscillate as
the load varies. Use a speed step to test the adaptability (for
example 50 rpm). See section Manual speed controller tuning on
page 25.
If mechanical oscillation at a certain frequency is observed (narrow
frequency band), reduce oscillation:
See section Oscillation damping on page 72.
26.04 OSC
COMPENSATION
26.05 OSCILLATION FREQ
26.06 OSCILLATION
PHASE
26.08 OSCILLATION GAIN
Scalar control and IR compensation

It is recommended to activate the scalar control mode in the following special applications:
- with 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 the motor identification.
- if the nominal current of the motor is less than 1/6 of the nominal output current of the inverter.
- if the drive is used without a motor connected (for example for test purposes).
- if the drive runs a medium voltage motor via a step-up transformer.
Magnetise the drive:
Start the drive in DTC control mode (par. 99.08 = DTC and par.
99.07 = NO) before switching to the scalar control mode.
99.08 MOTOR CTRL

MODE
99.07 MOTOR ID RUN
Start-up
28
Select the scalar control mode. Parameter group 29 SCALAR

CONTROL becomes visible. Parameters 29.02 FREQUENCY MAX
and 29.03 FREQUENCY MIN are updated by the software
according to parameter 20.02 MAXIMUM SPEED and 20.01
MINIMUM SPEED values.
See control block diagram in section Scalar control on page 309.
99.08 MOTOR CTRL

MODE
When 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 high breakaway torque or in
applications where the motor must rotate slowly, i.e. at a low frequency.
Set the relative output voltage boost at zero speed (IR
compensation).
Value can be set to 0...30% of the motor nominal voltage. Select
a value at which the motor is able to start and run at constant speed
over the whole speed range.
U/UN
(%)
29.04 IR COMPENSATION
Relative output voltage. IR compensation

is set to 15%.
100%
15%
Relative output voltage. No IR

compensation.
Field weakening point
f (Hz)
Test the IR compensation with actual load

Note: Supervise the temperature rise of the motor during the IR
compensation. With high IR compensation voltage values the motor
can be overheated.
Fieldbus control
The drive can be controlled from an external control system by using data sets 1, 2 or 1033.
For more information on the external control, see chapter Fieldbus control.
Activate the external serial communication and select the interface. 98.02 COMM. MODULE
When parameter 98.02 = FIELDBUS, see parameter settings in
section Setting up communication through fieldbus on page 283.
When parameter 98.02 = ADVANT/N-FB, see parameter settings in
section Setting up communication through Advant controller on
page 287 or in section Setting up communication through fieldbus
on page 283.
When parameter 98.02 = STD MODBUS, see parameter settings in
section Setting up communication through the standard Modbus link
on page 285.
Start-up
29
Connect the external control system to channel CH0 of the

RDCO-0x module or to a fieldbus adapter module type Rxxx
connected to Slot 1 of the RMIO board.
70.15 CH3 NODE ADDR
Set the channel CH3 node address (DriveWindow PC tool
connection). Use addresses 175 and 124254. Other addresses
are reserved for the NDBU branching units.
If CH3 channels of several drives are connected with a branching
unit, each one must be given a unique node address.
Note: The new node address becomes valid after the next power-up
of the RMIO board.
Select the topology of the channel CH3 link. Default value STAR is
typically used with branching units. RING is used when the CH3
channels of the RMIO boards are connected in a ring.
70.20 CH3 HW
CONNECTION
Test that the communication functions.

I/O control
The drive can be controlled by using I/O signals.
Select the I/O control mode (par. 98.02 = NO).
98.02 COMM. MODULE
Set the digital input parameters.
Parameter group 10
DIGITAL INPUTS
For analogue signal, set the analogue input parameters.
11.01 EXT REF1 SEL

Parameter group 13
ANALOGUE INPUTS
Switching between I/O and external control can be controlled via

a digital input.
10.07 HAND/AUTO
Voltage 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.
To prevent the DC voltage from exceeding the overvoltage control limit, the overvoltage controller
automatically decreases the generating torque when the limit is reached.
Activate the undervoltage and overvoltage controllers.
30.22 UNDERVOLTAGE
CTL
30.23 OVERVOLTAGE CTL
Deactivate the adaptive DC voltage measurement if undervoltage

control is used when several drives are connected to the same DC
link.
Limit the maximum torque during undervoltage control.
Limit the minimum torque during undervoltage control to tune the
generating torque level.
20.14 ADAPTIVE UDC

MEAS
20.16 UNDERVOLT TORQ
DN
20.15 UNDERVOLT TORQ
UP
Start-up
30
AUTO RESTART function

It is possible to restart the drive automatically after a short power supply failure (max. 5 seconds)
using the AUTO RESTART function if
- the RMIO board is powered through an UPS (Uninterruptible Power System).
- digital input DI2 circuit remains closed during the power supply failure.
Activate the auto restart function.
21.09 AUTO RESTART
Set the maximum allowed power supply failure time.
21.10 AUTO RESTART

TIME
Activate the fault mask to prevent PPCC link fault indications.
30.24 PPCC FAULT MASK
Check that the auxiliary control circuit functions correctly during

power supply failure.
Master/Follower communication
For more information on the Master/Follower applications, see section Master/Follower on page
102.
Select the Master/Follower mode.
70.08 CH2 M/F MODE or

07.03 AUX CTRL WORD 2
bits 6, 10 and 11
Select the data to be sent from the Master drive to the Follower.
Example: Speed and torque references are sent from the Master
drive to the Follower drive:
Master drive par. 70.10 = 2301 (23.01 SPEED REF).
Master drive par. 70.11 = 210 (02.10 TORQ REF 3).
Speed reference source:
Follower drive par. 70.17 = MASTER (or controlled by 07.03 AUX
CTRL WORD 2 bits 6 and 7).
Torque reference source:
Follower drive par. 70.18 = MASTER (or controlled by 07.03 AUX
CTRL WORD 2 bits 6 and 8).
Note: If parameter 70.08 CH2 M/F MODE is set to FOLLOWER,
parameter 70.10 MASTER SIGNAL 2 and 70.11 MASTER
SIGNAL 3 settings are not effective.
Master drive parameters

70.10 MASTER SIGNAL 2
Follower drive parameters
70.17 FOLL SPEED REF
70.18 FOLL TORQ REF
Load share function with speed controlled Follower drive (activated

by 07.03 AUX CTRL WORD 2 bit 9):
Select the correction mode (23.19 FOLL SPD COR MODE) and
increase the correction term (23.18 FOLL SPD CTRL COR) until the
Follower follows the Master torque accurately enough.

bit 9
23.18 FOLL SPD CTRL
COR
23.19 FOLL SPD COR
MODE
Test the load sharing in practice by changing the load share value
(within allowed range of the drive application) while the system is
running.
25.03 LOAD SHARE
Start-up
31
Test that the emergency stop functions with the Master/Follower

application.
21.04 EME STOP MODE
Flying start tuning and flux correction

If flying start fails (21.01 START FUNCTION = AUTO), adjust the
flying start tuning parameters.
28.12 FLYSTART CUR REF

[%]
28.13 FLYSTART INIT DLY
If required start torque is not achieved, i.e. motor will not start to
rotate, decrease the stator resistance of the motor model.
28.15 RS20 [mOhm]
Start-up
32
Start-up
33
Control panel
This chapter describes how to use the control panel CDP 312R. The control panel is
used to control the drive(s), read status data, and adjust parameters. The drive is
programmable through a set of parameters.
The communication between the CDP 312R control panel and the drive uses the
Modbus protocol. Modbus is a common bus protocol for ABB Drives products. The
communication speed of the bus is 9600 bit/s. 31 drives and one panel can be
connected to the bus. Each station must have a unique ID number.
Overview of the panel

The LCD type display has 4 lines of 20 characters.
The language is selected at start-up (parameter 99.01
LANGUAGE).The control panel has four operation
modes:
- Actual Signal Display Mode (ACT key)
1 L ->
LED PANE
MOTOR SP
MOTOR TO
0.0 rpm 0
0 %
0.0 rpm
0.00 %
- Parameter Mode (PAR key)

- Function Mode (FUNC key)
- Drive Selection Mode (DRIVE key)
The use of single arrow keys, double arrow keys and
ENTER depend on the operation mode of the panel.
ACT
PAR
FUNC
DRIVE
ENTER
LOC
RESET
REF
REM
0
5
The drive control keys are:

No.
Use
Start
Stop
Activate reference setting
Forward direction of rotation
Reverse direction of rotation
Fault reset
Change between Local/Remote (external)

control
Control panel
34
Identification display
When the control panel is connected to the panel link for the first time, or when the
drive is powered up, the identification display shows the panel software version:
CDP312 PANEL V5.30
After the Identification Display, the panel enters the Drive Selection Mode and
displays the inverter type:
ACS 800
0005_3 SR
ID NUMBER
Inverter type is constructed as follows:

ACS800 0210_3SR
kVA rating (210 kVA)
Part of the inverter type code
Voltage rating UN (400 V)

3 = 400 V
5 = 500 V
7 = 690 V
SR = Single drive, air cooled

NR = Multidrive, air cooled
MR = 4Q or 2Q low harmonic drive
LC = Liquid cooled multidrive
LS = Liquid cooled single drive (4Q or 2Q)
After two seconds, the display will clear, and the Actual Signal Display Mode will
appear.
Note: The panel can be connected to the drive while power is applied to the drive.
Control panel
35
Panel operation mode keys and displays

With control panel keys the user can select status data, parameters and change
parameter settings. The figure below shows the mode selection keys of the panel,
and the basic operations and displays in each mode.
Actual Signal Display Mode
Act. signal / Fault history
selection
ACT
Act. signal / Fault message

scrolling
1 L ->
LED PANEL
MOTOR SP
MOTOR TO
0.0 rpm 0
0 %
0.0 rpm
0.00 %
Status row
Actual signal names
and values
Enter selection mode

Accept new signal
ENTER
Parameter Mode
Group selection
Fast value change
PAR
Parameter selection
Slow value change
1 L ->
0.0 rpm
99 START-UP DATA
01 LANGUAGE
ENGLISH
1 L ->
UPLOAD
DOWNLOAD
CONTRAST
Status row
Parameter group
Parameter
Parameter value
Enter change mode

Accept new value
ENTER
Function Mode
FUNC
Row selection
Page selection
0.0 rpm
<=<=
=>=>
Status row
List of functions
Function start
ENTER
Drive Selection Mode
Drive selection
ID number change
DRIVE
Enter change mode

Accept new value
ENTER
ACS 800
0005_3
DRYER SECTION 1
AMAM15D3 980605
ID NUMBER 1
Device type
SW version / application
version and ID number
Status row
The figure below describes the status row digits.
Drive ID number
Drive control status
L = Local control
= External control
1 L ->
1242.0 rpm I
Direction of rotation
-> = Forward
<- = Reverse
Drive reference
Drive status
I = Running
O = Stopped
= Run disabled
Control panel
36
Drive control with the panel

The user can control the drive with the panel as follows:
start, stop, and change direction of the motor
give the motor speed reference or torque reference
give a process reference
reset the fault and alarm messages
change between local and external drive control.
The panel can be used for drive control always when the drive is under local control
and the status row is visible on the display. L indicates local control on the panel
display. External control (through I/O or fieldbus interface) is indicated by a blank on
the panel display.
Operational (e.g. start/stop) commands cannot be given from the panel when the
drive is in remote control. Actual signal monitoring, parameter setting, parameter
upload and ID number setting are allowed in remote control.
How to start, stop and change direction
Step
Action
1.
To show the status row.
Press Key
ACT
PAR
FUNC
2.
To switch to local control.

(Only if the drive is not under local control, i.e. there is no L
on the first row of the display.)
LOC
REM
Display
1
->
LED PANE
MOTOR SP
MOTOR TO
0.0 rpm 0
0 %
0.0 rpm
0.00 %
1 L ->
LED PANE
MOTOR SP
MOTOR TO
0.0 rpm 0
0 %
0.0 rpm
0.00 %
3.
To stop.
1 L ->
LED PANE
MOTOR SP
MOTOR TO
0.0 rpm 0
0 %
0.0 rpm
0.00 %
4.
To start.
1 L ->
LED PANE
MOTOR SP
MOTOR TO
0.0 rpm I
0 %
0.0 rpm
0.00 %
5.
To change the direction to reverse.
1 L <LED PANE
MOTOR SP
MOTOR TO
0.0 rpm 0
0 %
0.0 rpm
0.00 %
1 L ->
LED PANE
MOTOR SP
MOTOR TO
0.0 rpm 0
0 %
0.0 rpm
0.00 %
6.
To change the direction to forward.
Control panel
37
How to set speed reference

Step
Action
Press Key
1.
To show the status row.
ACT
PAR
FUNC
2.
To switch to local control.

(Only if the drive is not under local control, i.e. there is no L
on the first row of the display.)
3.
To enter the Reference Setting function.
4.
To change the reference.
LOC
REM
REF
(fast change)
To save the reference.
(The value is stored in the permanent memory; it is
restored automatically after power switch-off.)
1
-> 1242.0 rpm 0
LED PANE
0 %
MOTOR SP
0.0 rpm
MOTOR TO
0.00 %
1 L -> 1242.0 rpm 0
LED PANE
0 %
MOTOR SP
0.0 rpm
MOTOR TO
0.00 %
1 L -> [1242.0 rpm] 0
LED PANE
0 %
MOTOR SP
0.0 rpm
MOTOR TO
0.00 %
1 L -> [1325.0 rpm] 0
LED PANE
0 %
MOTOR SP
0.0 rpm
MOTOR TO
0.00 %
(slow change)
5.
Display
ENTER
1 L -> 1325.0 rpm 0

LED PANE
0 %
MOTOR SP
0.0 rpm
MOTOR TO
0.00 %
Actual signal display mode

The Actual Signal Display mode includes two displays: the Actual Signal Display and
the Fault History Display. In this Mode, the user can:
show three actual signals on the display at a time
select the actual signals to be displayed
view the fault history
reset the fault history.
The panel enters the Actual Signal Display Mode when the user presses the ACT
key, or if he does not press any key within one minute. If a fault is active, the Fault
History Display will be shown before the panel enters the Actual Signal Display
Mode. If the Drive Selection Mode is active, the Status Display of the Drive Selection
Mode is shown.
Control panel
38
How to select actual signals to the display

Step
Action
1.
To enter the Actual Signal Display Mode.
Press key
ACT
2.
To select a row (a blinking cursor indicates the selected

row).
3.
To enter the actual signal selection function.
4.
To select an actual signal.
ENTER
To accept the selection and to return to the Actual Signal

Display Mode.
6.
To cancel the selection and keep the original selection.

The selected keypad mode is entered.
1 L ->
LED PANE
MOTOR SP
MOTOR TO
0.0 rpm 0
0 %
0.0 rpm
0.00 %
1 L ->
LED PANE
MOTOR SP
MOTOR TO
0.0 rpm 0
0 %
0.0 rpm
0.00 %
1 L ->
0.0 rpm 0
1 ACTUAL SIGNALS
01 MOTOR SPEED FILT
0.0 rpm
1 L ->
0.0 rpm
2 ACTUAL SIGNALS
01 SPEED REF 2
0 rpm
To change the actual signal group.
5.
Display
ENTER
ACT
PAR
FUNC
DRIVE
1 L ->
LED PANE
SPEED RE
MOTOR TO
0.0 rpm 0
0 %
0.0 rpm
0.00 %
1 L ->
LED PANE
MOTOR SP
MOTOR TO
0.0 rpm 0
0 %
0.0 rpm
0.00 %
How to display the full name of the actual signals

Step
Action
Press key
Display
1.
To display the full name of the three actual signals.
Hold
1 L ->
0.0 rpm
LED PANEL OUTP
MOTOR SPEED FILT
MOTOR TORQUE FILT
ACT
2.
To return to the Actual Signal Display Mode.
Release
ACT
Control panel
1 L ->
LED PANE
MOTOR SP
MOTOR TO
0.0 rpm 0
0 %
0.0 rpm
0.00 %
39
How to view and reset the fault history

Note: The fault history cannot be reset if there are active faults or alarms.
Step
Action
1.
To enter the Actual Signal Display Mode.
Press key
ACT
2.
To enter the Fault History Display.
To select the previous (UP) or the next fault/alarm

(DOWN).
To clear the Fault History.
4.
1 L ->
LED PANE
MOTOR SP
MOTOR TO
0.0 rpm 0
0 %
0.0 rpm
0.00 %
1 L ->
0.0 rpm
2 LAST FAULT
+ PANEL LOSS
20 H 49 MIN 56 S
The time of occurrence can be seen either as total poweron time or in the date format if an external control system
(for example AC 80, AC 800M) has been connected to
control the drive.
3.
Display
1 L ->
0.0 rpm
2 LAST FAULT
H
MIN
S
RESET
To return to the Actual Signal Display Mode.
1 L ->
0.0 rpm
2 LAST FAULT
+ OVERCURRENT
12 H 49 MIN 10 S
1 L ->
LED PANE
MOTOR SP
MOTOR TO
0.0 rpm 0
0 %
0.0 rpm
0.00 %
How to display and reset an active fault

Step
Action
1.
To display an active fault.
Press Key
ACT
2.
To reset the fault.
RESET
Display
1 L ->
0.0 rpm
ACS 800
75 kW
*** FAULT ***
1 L ->
LED PANE
MOTOR SP
MOTOR TO
0.0 rpm 0
0 %
0.0 rpm
0.00 %
Control panel
40
About the fault history

The fault history restores information on the 16 latest events (faults, alarms and
resets) of the drive. The table below shows how the events are stored in the fault
history.
A Fault History View

Sign
Event
Information on display
Drive detects a fault and

generates a fault message.
Sequential number of the event and

LAST FAULT text
Name of the fault and a + sign in front
of the name
Name and
code
Sequential number
(1 is the most recent event)
1 L ->
0.0 rpm
2 LAST FAULT
+ OVERCURRENT
12 H 49 MIN 10 S
Total power-on time
Poweron time
User resets the fault message.

LAST FAULT text
RESET FAULT text
Total power-on time
Drive generates an alarm

message.

LAST ALARM text
Name of the alarm and a + sign in
front of the name
Total power-on time
Drive deactivates the alarm

message.

LAST ALARM text
Name of the alarm and a - sign in
front of the name
Total power-on time
Parameter mode
In the Parameter Mode, the user can:
view parameter values
change parameter settings.
The panel enters the Parameter Mode when the user presses the PAR key.
Note: Certain parameters do not allow changes. If tried, no change is accepted, and
the following warning is displayed:
**WARNING**
WRITE ACCESS DENIED
PARAMETER SETTING
NOT POSSIBLE
Control panel
41
How to select a parameter and change the value

Step
Action
1.
To enter the Parameter Mode.
Press key
Display
PAR
2.
To select a group.
When the arrow button is pressed down, only the
parameter group name is displayed. When the button is
released also the first parameter of the group is displayed.
3.
To select a parameter within a group.

When the arrow button is pressed down, only the
parameter name is displayed. When the button is released
also the parameter value is displayed.
4.
To enter the parameter setting function.
5.
To change the parameter value.
ENTER
(slow change for numbers and text)

(fast change for numbers only)
6a.
To save the new value.
6b.
To cancel the new setting and keep the original value,

press any of the mode selection keys.
ENTER
ACT
PAR
FUNC
DRIVE
The selected mode is entered.
1 L ->
0.0 rpm
13 ANALOGUE INPUTS
01 AI1 HIGH VALUE
10000
1 L ->
0.0 rpm
10 DIGITAL INPUTS
01 START/STOP
NO
1 L ->
0.0 rpm
10 DIGITAL INPUTS
02 DIRECTION
1 L ->
0.0 rpm
10 DIGITAL OUTPUTS
02 DIRECTION
[FORWARD]
1 L ->
0.0 rpm
10 DIGITAL OUTPUTS
02 DIRECTION
[DI3]
1 L ->
0.0 rpm
10 DIGITAL OUTPUTS
02 DIRECTION
DI3
1 L ->
0.0 rpm
10 DIGITAL OUTPUTS
02 DIRECTION
FORWARD
Control panel
42
How to adjust a source selection parameter

Most parameters define values that are used directly in the drive application
program. Source selection parameters are exceptions: They point to the value of
another parameter. The parameter setting procedure differs somewhat from that of
the other parameters.
Step
Action
Press Key
1.
See the table above to

PAR
- enter the Parameter Mode

- select the correct parameter group and parameter
- enter the parameter setting mode.
Display
1 L ->
0.0 rpm
55 ADAPTIVE PROG1
06 INPUT1
[000.000.00]
ENTER
2.
To scroll between the inversion, group, index and bit

fields.1)
1 L ->
0.0 rpm
55 ADAPTIVE PROG1
06 INPUT1
[000.000.00]
3.
To adjust the value of a field.
1 L ->
0.0 rpm
55 ADAPTIVE PROG1
06 INPUT1
[000.018.00]
4.
To accept the value.
ENTER
1)
1 L ->
0.0 rpm
55 ADAPTIVE PROG1
06 INPUT1
[001.018.00]
Inversion field
Group field
Index field
Bit field
Inversion field inverts the selected parameter

value. Plus sign (+): no inversion, minus (-) sign:
inversion.
Bit field selects the bit number (relevant only if the
parameter value is a packed boolean word).
Index field selects the parameter index.
Group field selects the parameter group.
Note: Instead of pointing to another parameter, it is also possible to define a

constant by the source selection parameter. Proceed as follows:
Change the inversion field to C. The appearance of the row changes. The rest of
the line is now a constant setting field.
Give the constant value to the constant setting field.
Press ENTER to accept.
Control panel
43
Function mode
In the Function Mode, the user can:
Upload group 10...98 parameter values from the drive to the panel.
Download group 10...97 parameter values from the panel to the drive.1)
Copy group 10...97 parameter values from one drive to another by using the
upload and download functions.
Adjust the contrast of the display.
The panel enters the Function Mode when the user presses the FUNC key.
The upload function can be performed also when the drive is running. During upload,
only a STOP command can be given to the drive.
The download function can only be performed, when the drive is stopped.
1)
The parameter groups 98, 99 and the results of the motor identification are not included.
How to copy parameters from one drive to other drives

Note:
Upload before downloading.
Ensure the firmware (e.g. system firmware) and its version are the same in both
drives. See signals 04.02 DTC SW VERSION and 04.03 APPLIC SW VERSION.
Before removing the panel from a drive, ensure the panel is in remote operating
mode (selected with the LOC/REM key).
Stop the drive before downloading.
Parameter groups 98 and 99 will not be copied.
Before upload, repeat the following steps for each drive:
Setup the motors. Enter the motor data from the motor nameplate (parameter
group 99 START-UP DATA) and if required, perform the identification run. For
instructions, see ID RUN (motor identification run) on page 22.
Activate the communication to the optional equipment. See parameter group 98
OPTION MODULES.
Before upload, do the following steps for the drive from which the copies are to be
taken:
Set the parameters in groups 10...97 as preferred.
Proceed to the upload and download sequences (below).
Control panel
44
Step
Action
1.
To enter the Function Mode.
Press Key
FUNC
Display
1 L ->
UPLOAD
DOWNLOAD
CONTRAST
0.0 rpm
<=<=
=>=>
0
2.
To enter the page that contains the upload, download and

contrast functions.
1 L ->
UPLOAD
DOWNLOAD
CONTRAST
0.0 rpm
<=<=
=>=>
0
3.
To select the upload function (a flashing cursor indicates

the selected function).
1 L ->
UPLOAD
DOWNLOAD
CONTRAST
0.0 rpm
<=<=
=>=>
0
4.
To enter the upload function.
0.0 rpm
<=<=
5.
To switch to external control.
1
->
UPLOAD
DOWNLOAD
CONTRAST
0.0 rpm
<=<=
=>=>
0
1 L ->
LED PANE
MOTOR SP
MOTOR TO
0.0 rpm 0
0 %
0.0 rpm
0.00 %
1 L ->
UPLOAD
DOWNLOAD
CONTRAST
0.0 rpm
<=<=
=>=>
0
(No L on the first row of the display.)
6.
Disconnect the panel and reconnect it to the drive to which

the data will be downloaded.
7.
Connect the panel containing the uploaded data to the

drive.
8.
Ensure the drive is in local control (L shown on the first row

of the display). If necessary, press the LOC/REM key to
change to local control.
9.
ENTER
LOC
REM
LOC
REM

FUNC
1 L ->
UPLOAD
10.

contrast functions.
1 L ->
UPLOAD
DOWNLOAD
CONTRAST
0.0 rpm
<=<=
=>=>
0
11.
To select the download function (a flashing cursor

indicates the selected function).
1 L ->
UPLOAD
DOWNLOAD
CONTRAST
0.0 rpm
<=<=
=>=>
0
12.
To start the download.
1 L ->
DOWNLOAD
0.0 rpm
=>=>
Control panel
ENTER
45
How to set the contrast of the display

Step
Action
Press Key
1.

FUNC
Display
1 L ->
UPLOAD
DOWNLOAD
CONTRAST
0.0 rpm
<=<=
=>=>
0
2.

contrast functions.
1 L ->
UPLOAD
DOWNLOAD
CONTRAST
0.0 rpm
<=<=
=>=>
0
3.
To select a function (a flashing cursor indicates the

selected function).
1 L ->
UPLOAD
DOWNLOAD
CONTRAST
0.0 rpm
<=<=
=>=>
0
4.
To enter the contrast setting function.
1 L ->
CONTRAST
0.0 rpm
[0]
5.
To adjust the contrast.
6.a
To accept the selected value.
6.b
To cancel the new setting and retain the original value by

pressing any of the mode selection keys.
ENTER
ENTER
ACT
PAR
FUNC
DRIVE
1 L ->
CONTRAST
0.0 rpm O
[7]
1 L ->
UPLOAD
DOWNLOAD
CONTRAST
0.0 rpm
<=<=
=>=>
7
1 L ->
LED PANE
MOTOR SP
MOTOR TO
0.0 rpm 0
0 %
0.0 rpm
0.00 %
Drive selection mode

In normal use the features available in the Drive Selection Mode are not needed; the
features are reserved for applications where several drives are connected to one
panel link. (For more information, see the Installation and Start-up Guide for the
Panel Bus Connection Interface Module, NBCI, [3AFY58919748 (English)].
In the Drive Selection Mode, the user can:
Select the drive with which the panel communicates through the panel link.
Change the identification number of a drive connected to the panel link.
View the status of the drives connected to the panel link.
The panel enters the Drive Selection Mode when the user presses the DRIVE key.
Each on-line station must have an individual identification number (ID). By default,
the ID number of the drive is 1.
Note: The default ID number setting of the drive should not be changed unless the
drive is to be connected to the panel link with other drives on-line.
Control panel
46
How to select a drive and change its panel link ID number

Step
Action
Press key
1.
To enter the Drive Selection Mode.
Display
DRIVE
2.
3.
ACS800
0003_3 SR
DRIVE NAME
AMXR7200
ID NUMBER 1
To select the next drive/view.
ACS800
The ID number of the station is changed by first pressing

ENTER (the brackets round the ID number appear) and
then adjusting the value with arrow buttons. The new value
is accepted with ENTER. The power of the drive must be
switched off to validate its new ID number setting.
DRIVE NAME
The status display of all devices connected to the Panel

Link is shown after the last individual station. If all stations
do not fit on the display at once, press the double-arrow up
to view the rest of them.
1o
To connect to the last displayed drive and to enter another

mode, press one of the mode selection keys.
0003_3 SR
AMXR7200
ID NUMBER 1
Status Display Symbols:

o = Drive stopped, direction
forward
= Drive running, direction
reverse
F = Drive tripped on a fault
ACT
PAR
FUNC
1 L ->
LED PANE
MOTOR SP
MOTOR TO
0.0 rpm 0
0 %
0.0 rpm
0.00 %
Reading and entering packed boolean values on the display

Some actual values and parameters are packed boolean, i.e. each individual bit has
a defined meaning (explained at the corresponding signal or parameter). On the
control panel, packed boolean values are read and entered in hexadecimal format.
In this example, bits 1, 3 and 4 of the packed boolean value are ON:
Bit 15
Boolean
Hex
Control panel
Bit 0
0000 0000 0001 1010

0
0
1
A
47
Program features
This chapter describes the typical functions of the drive.
Local control vs. external control

The drive can receive start, stop and direction commands and reference values from
the control panel or through digital and analogue inputs. An optional fieldbus adapter
enables control over an open fieldbus link. A PC equipped with DriveWindow can
also control the drive.
Local control
ACS800
External control
Standard I/O
Control panel
Fieldbus
adapter
Slot 1
RTAC/RDIO/RAIO Slot 1 or Slot 2

module
DriveWindow
CH3
(DDCS)
RDCO
module
CH0
(DDCS)
Fieldbus adapter
Nxxx
or
Advant controller
(e.g. AC 80, AC 800M)
CH1
(DDCS)
AIMA-01 I/O
adapter module
RTAC/RDIO/RAIO
module
Control modes
The System Application Program has two main control modes: remote (external
control) and local (local control). The control mode is selected with the LOC/REM
key on the CDP 312R control panel or with the DriveWindow PC tool.
Program features
48
External control
When the drive is in external control, commands are given through a serial link
(connected to option module in Slot 1/2 of the drive or to DDCS channel CH0 of the
RDCO module) or the I/O terminals (digital and analogue inputs). The desired
alternative is selected by parameter 98.02 COMM. MODULE.
A HAND/AUTO function is suitable for applications requiring alternation between
serial communication control and I/O control. A digital input can be selected for
changing the control location. The function is activated by parameter
10.07 HAND/AUTO.
It is possible to use two serial communication interfaces with one drive. See section
Redundant fieldbus control on page 282.
I/O extension modules are connected to option Slot 1/2 of the drive or to DDCS
channel CH0 of the RDCO module. All I/O extension units connected to DDCS
channel CH1 are connected in ring topology. Channel CH1 acts as a master in the
communication link.The RMIO is the actual master of the communication link. Each
I/O unit has an individual address, set with DIP switches on the unit. Before use,
each I/O unit must be activated by parameter group 98 OPTION MODULES.
External control is indicated by a blank on the panel display.
->1242 rpm
Local control
When the drive is in local control, the control commands are given from the control
panel keypad or from a PC equipped with DriveWindow. When control panel is used,
L indicates local control on the panel display.
1 L ->1242 rpm
Local control mode is mainly used during commissioning and maintenance. The
control panel always overrides the external control signal sources when used in local
mode. Changing the control location to local can be disabled by parameter
16.04 LOCAL LOCK.
In local control, the emergency stop activation signal source can be selected by
parameter 21.12 LOCAL EM STOP MODE.
Settings
Parameter
Additional information
10.07 HAND/AUTO
Activation of the HAND/AUTO function
16.04 LOCAL LOCK
Activation of the local control lock
21.12 LOCAL EM STOP MODE Selection of the source for the emergency stop activation signal in
local control mode
98 OPTION MODULES
Program features
Activation of the optional I/O and serial communication
49
The following diagram presents the external control interface and I/O connections.
Fieldbus
adapter
Rxxx (e.g.
RPBA-01
RDNA-01
RMIO
Slot 1
or
RDIO-01
1) Installed
or
or
in Slot 1 or Slot 2
1)
RMBA-01
RDIO-01
Slot 2
RDCO-0x
- Fieldbus
- ABB controllers
or
or
2) Recommended
to be
connected to AIMA-01
RTAC-01 2)
or
RMBA-011)
POF (Plastic optic fibre)

CH0
or
with
RDCO-01, 10 MBd
CH1
AC80 (4
CI858
ModuleBus
AC 800M (4
AC 800M (4
NTAC-02
Node addr.
= 16
CH1 1A
Slot 1
AIMA-01
Slot 2
CH1 1A
Slot 3
RDIO/RAIO/RTAC
HCS (Hard Silica Fibre with RDCO-01/02)

POF (Plastic optic fibre with RDCO-01/02/03)
- Master/Follower link
or
or
Fieldbus
adapter Nxxx
(used with
RDCO-02
4) Used
- I/O extensions
- Pulse encoder
RAIO-01
RTAC-01 2)
RAIO-01
Slot 1
AIMA-01
Slot 2
ISU
DSU
(single drive
interface)
Slot 3
RDIO/RAIO/RTAC
0...2 AIMA-01 adapters according to the
number of RDIO, RAIO and RTAC modules
CH2
Broadcast
- PC tools
- NETA-0x
CH3
CH0/CH2
RDCO-0x
CH0/CH2
RDCO-0x
CH0/CH2
RDCO-0x
CH0/CH2
RDCO-0x
ACS800
Follower 1
ACS800
Follower 2
ACS800
Follower 3
ACS800
Follower 4

HCS (Hard Silica Fibre with RDCO-01/02)
or
NDBU
-85/95
NDBU
-85/95
CH0
MSTR
CH0
CH1
ACS800
drives
ACS800
RDCO-0x CH0 or CH3 or

NBDU MSTR
MSTR
CH2
CH1
CH3
...
CH8
CH2
ACS800
drives
CH3
...
CH8
NETA-01
DDCS/PC card
cable
or
NDPC-12
PCMCIA
board and
NDPA-02
Laptop
PC
or
PCMCIA
board and
NDPA-02
PCI
adapter
Desktop
PC
Program features
50
Analogue inputs
The drive has three programmable non-galvanically isolated analogue inputs on
the RMIO board: one voltage input (0/2...10 V or -10...10 V) and two current inputs
(0/4...20 mA). The accuracy of the analogue inputs is +/-0.5% and the update cycle
is 10 ms.
Two extension inputs are available if an optional Analogue I/O Extension 1 module,
RAIO, is used. The input signal range is selected with DIP switches. The hardware
filter time constant of the RMIO analogue inputs is approximately 1 ms.
For more information, see RAIO-01 Analogue I/O Extension User's Manual
[3AFE64484567 (English)].
Each input can be filtered, and the maximum and minimum values can be adjusted.
Analogue inputs can be used
for motor temperature measurement
as I/O speed or torque reference source
as a communication interface for an external control system (e.g. fieldbus control)
in adaptive programming using function blocks.
Analogue input speed reference can be summed with the fieldbus adapter speed
reference if parameter 11.02 AI+FBA SPEED REF is activated and parameter
98.02 COMM. MODULE is set to FIELDBUS.
See control block diagram in section I/O speed and torque references and motor
temperature protection on page 301.
Two extra inputs are also available for adaptive block programming if an optional
Analogue I/O Extension 2 module, RAIO, is used. (See blocks EXT2_AI1...2 in the
ACS600 / ACS800 Application Guide Adaptive Program for System Application
Program 7.x [3AFE68420075 (English)].)
Program features
51
RMIO board
AI
AI1
(1
Input type
Resolution
Signal
0...+/-10
V DC
11 bits
+ sign
MOTOR 1 TEMP
or
I/O speed reference
Motor temperature measurement with 1...3 PTC thermistor,

Pt100 or KTY84-1xx sensors.
11 bits
+ sign
I/O speed reference

or
used in the adaptive
programming
Speed reference (mA) for I/O control or HAND/AUTO function

(Par. 10.07 HAND/AUTO)
11 bits
+ sign
I/O torque reference

or
used in the adaptive
programming
Torque reference for I/O control or HAND/AUTO function

(Par. 10.07 HAND/AUTO)
Ri = 200 k
AI2
0/4...20 mA
Ri = 100
AI3
0/4...20 mA
Ri = 100
Speed reference for I/O control or HAND/AUTO function (Par.

10.07 HAND/AUTO).
RAIO module: Unipolar mode (2

AI
Input type
Resolution
Signal
AI1
0(4)...20 mA
Ri = 100
12 bits
MOTOR 1 TEMP
Motor 1 temperature measurement with 1...3 PTC thermistor,

Pt100 or KTY84-1xx sensors
0...2 V DC
0...10 V DC
Ri > 200
12 bits
or
I/O speed reference
Speed reference for I/O control.

Isolated from analogue outputs, power supply and earth.
Test voltage: 1.5 kV AC, 1 minute.
0(4)...20 mA
Ri > 100
12 bits
MOTOR 2 TEMP

0...2 V DC
0...10 V DC
Ri > 200
12 bits
or
Torque reference for I/O control.
I/O torque reference B Isolated from analogue outputs, power supply and earth.
AI2
RAIO module: Bipolar mode (3

AI
Input type
Signal
AI1
-20...+20 mA 11 bits
0(4)...20 mA + sign
Ri = 100
MOTOR 1 TEMP

-2...+2 V DC 11 bits
-10...10 V DC + sign
Ri = 200 k
or
I/O speed reference
Speed reference for I/O control.

Isolated from analogue outputs, power supply and earth.
-20...+20 mA 11 bits
0(4)...20 mA + sign
Ri = 100
MOTOR 2 TEMP

-2...+2 V DC 11 bits
-10...10 V DC + sign
Ri = 200 k
or
Torque reference for I/O control.
I/O torque reference B Isolated from analogue outputs, power supply and earth.
AI2
Resolution
(1 If
analogue input AI1 has been selected for speed reference and motor temperature measurement, motor temperature
measurement is valid and the speed reference is switched to zero and alarm I/O SP REF is activated (see chapter Fault
tracing).
(2
Unipolar mode is selected by setting parameter 98.06 AI/O EXT MODULE 1 (with analogue I/O extension module 1) or
by setting parameters 98.13 AI1 EXT2 MODE and 98.14 AI2 EXT2 MODE (with analogue I/O extension module 2).
(3
With bipolar speed reference signal, the speed scaling is defined by parameters 13.01/13.04 AI1/2 HIGH VALUE and
13.02/13.05 AI1/2 LOW VALUE. See also parameter 13.12/13.06 MINIMUM AI1/2.
Program features
52
Example:
-10...+10 V bipolar speed reference signal:
Set parameter 13.01 AI1 HIGH VALUE to 20000 and 13.02 AI1 LOW VALUE to
-20000.
Select -10 V by parameter 13.12 MINIMUM AI1.
Set speed scaling: Parameter 50.01 SPEED SCALING defines the speed
reference in rpm which corresponds to value 20000.
Settings
Parameter
10.07 HAND/AUTO
Switching between I/O control and serial communication control

through a digital input
11 REFERENCE SELECT
Selection of analogue input as a reference source
13 ANALOGUE INPUTS
Processing of the analogue inputs
30.27 AI<MIN FUNC
Selection of the supervision with analogue input signal loss
98 OPTION MODULES
Activation of the optional I/O and serial communication.

Definition of the analogue input signal type (bipolar or unipolar).
Diagnostics
Program features
Actual value
01.16, 01.17 MOTOR 1 TEMP
Values of analogue inputs AI1...AI2 with motor temperature

measurement
01.19...01.21
Non-scaled values of analogue inputs AI1...AI3
01.41 EXT2 AI1, 01.42 EXT2 AI2
Non-scaled values of analogue inputs AI1...AI2 of I/O extension

module EXT2
02.25 ADDITIVE SP REF
Sum of the analogue input speed reference and fieldbus adapter

reference
53
Analogue outputs
The drive has two programmable non-galvanically isolated current outputs
(0/4...20 mA) on the RMIO board. Two outputs can be added by using an optional
Analogue I/O Extension module, RAIO. For more information, see RAIO-01
Analogue I/O Extension User's Manual [3AFE64484567 (English)].
Analogue output signals can be inverted and filtered. The analogue output signals
can be proportional to motor speed, process speed (scaled motor speed), output
frequency, output current, motor torque, motor power, etc. It is possible to write
a value to an analogue output through a serial communication link (e.g. fieldbus
link).
The resolution of the RMIO board analogue outputs is 10 bits and the accuracy is
+/-1%. The resolution of the RAIO module analogue outputs is 12 bits and the
accuracy is +/-0.5%.
The analogue output update cycle is 10 ms.
Two extra outputs are also available for adaptive block programming if an optional
Analogue I/O Extension 2 module, RAIO, is used.
RMIO board
AO
Input type
Resolution Signal
AO1 0(4)...20 mA
Ri =
max. 700
12 bits
AO1_OUT The output can be used as a constant current source

to supply temperature measurement sensor Pt100,
PTC or KTY84-1xx. The current is set automatically
according to the type of the sensor.
AO2 0(4)...20 mA
Ri =
max. 700
12 bits
AO2_OUT The output can be controlled by an external control

system.
RAIO module
AO
Input type
AO3 0(4)...20 mA
Ri =
max. 700
Resolution Signal
12 bits
12 bits
AO4 0(4)...20 mA
Ri =
max. 700
(isolated from
the power
supply)
AO3_OUT See parameter 98.06 AI/O EXT MODULE 1 and

parameter group 15 ANALOGUE OUTPUTS.
Isolated from analogue inputs, power supply and
AO4_OUT earth. Test voltage: 1.5 kV AC, 1 minute.
Program features
54
Settings
Parameter
15 ANALOGUE OUTPUTS
Selection and processing of analogue output values
98 OPTION MODULES
Activation of optional I/O and serial communication
Diagnostics
Program features
Actual value
01.23 AO1 [mA]

01.24 AO1 [mA]
Values of analogue outputs AO1...AO2
55
Digital inputs
The drive has seven digital inputs on the RMIO board. Digital input DI1 is reserved
for the emergency stop signal and digital input DI2 is reserved for the run enable
signal. Digital inputs DI3...DI7 are freely programmable. Six inputs can be added by
using optional Digital I/O Extension modules, RDIOs. RDIO modules can also be
used to replace the RMIO board digital inputs. For more information, see RDIO-01
Digital I/O Extension User's Manual [3AFE64485733 (English)].
All digital inputs can be read through a serial communication link (e.g. fieldbus link).
The maximum number of digital inputs is 13.
DI
RMIO board
RDIO module 1 RDIO module 2
I/O name
in software
DI1 DI2 DI3 DI4 DI5 DI6 DI7 Ext1 Ext1 Ext1 Ext2 Ext2 Ext2
DI1 DI2 DI3 DI1 DI2 DI3
DI1
DI2
2
1
DI3
2
1
DI4
3
1
DI6
1: Par. 98.03 1)
and Par. 98.04
= NO
2
1
DI5
DI7(DIIL)
3
1
2)
EXT1 DI1
3
1
EXT1 D12
EXT1 DI3
EXT2 DI2
EXT2 DI3
3)
3: Par. 98.04 =
REPLACE
6: Par. 98.04 =
EXTEND or
STEP-UP
EXT2 DI1 3)
2: Par. 98.03 1)
= REPLACE
5: Par. 98.03 1)
= EXTEND
3)
Par. setting
6
6
6
I/O extension module 1/2 is activated by parameters 98.03/98.04 and 98.09/98.10.

1)
98.03 DI/O EXT MODULE 1: NO = No RDIO module 1 used, REPLACE = RDIO replaces RMIO
DI1, DI2, DI3.
2) D17 is a normal input, which is not connected to interlock circuit.
3) See parameter group 10 DIGITAL INPUTS.
Settings
Parameter
10 DIGITAL INPUTS
Selection and processing of digital input values
98 OPTION MODULES
Activation of the optional I/O and serial communication
Diagnostics
Actual value
01.15 DI6-1 STATUS
Values of RMIO digital inputs
08.05 DI STATUS WORD
Values of RMIO and extended digital inputs
Program features
56
Digital outputs
The drive has three programmable digital outputs on the RMIO board. Four outputs
can be added by using optional Digital I/O Extension modules, RDIOs. RDIO
modules can also be used to replace the RMIO board digital outputs. For more
information, see RDIO-01 Digital I/O Extension User's Manual [3AFE64485733
(English)].
The maximum number of digital outputs is 7.
It is possible to write a value to a digital output through a serial communication link
(e.g. fieldbus link).
DO
RMIO board
RDIO
module 1
I/O name
in software
DO1 DO2 DO3 Ext1

DO1
DO1
DO2
Ext1
DO2
RDIO
module 2
Ext2
DO1
Ext2
DO2
2
1
DO3
EXT1 DO1
EXT1 DO2
EXT2 DO1
EXT2 DO2
1: Par. 98.03 (1 and Par. 98.04 = NO

2: Par. 98.03 (1 = REPLACE
2
1
Parameter setting
3: Par. 98.04 = REPLACE
5: Par. 98.03 (1 = EXTEND

(controlled by signal 07.03 AUX
CONTRL WORD 2)
2, 5
2, 5
6: Par. 98.04 = EXTEND or STEP-UP
6
3, 6
I/O extension module 1/2 is activated by parameters 98.03/98.04 and 98.09/98.10.

(1 98.03
DI/O EXT MODULE 1: NO = No RDIO module 1 used, REPLACE = RDIO replaces RMIO
DO1 and DO2.
Settings
Parameter
14 DIGITAL OUTPUTS
Processing of the RMIO and RDIO digital outputs
30.26 COM LOSS RO
Selection of the supervision of fieldbus controlled RMIO and RDIO

digital outputs DO1...3 in a communication break
98 OPTION MODULES
Activation of optional I/O and serial communication
Diagnostics and control
Program features
Actual value
01.22 RO3-1 STATUS
Values of standard digital outputs
RMIO DO1...DO2 control
RDIO DO1...DO2 control
57
RMIO board connection diagrams

For RDCU Drive Control Unit (includes an RMIO board) installation instructions and
technical information, see RDCU-02(C) Drive Control Unit Hardware Manual
Program features
58
Control through communication link

The figure below shows the RMIO Motor Control and I/O board default connections
when the drive is controlled through a serial communication link.
Motor temperature
measurement 1...3
Pt100, PTC or
KTY84-1xx
AI1+
AI1-
AO1AO1+
If parameter 30.03 =
1...3 PT100 or PTC
rpm
Use external power supply if the total current

consumption exceeds 250 mA.
X20
1
2
X21
1
2
3
4
5
6
7
8
9
10
11
12
X22
1
2
3
4
5
6
7
8
9
10
11
X23
1
2
X25
1
2
3
X26
1
2
3
X27
1
2
3
Program features
VREF
GND
Reference voltage -10 V DC, max. 10 mA

1 k < RL < 10 k
VREF
GND
AI1+
AI1AI2+
AI2AI3+
AI3AO1+
AO1AO2+
AO2-
Reference voltage 10 V DC, max. 10 mA

1 k < RL < 10 k
Analogue input (voltage -10 V ... 0 ... +10 V)
Rin > 200 k
Analogue input (current 0(4)...20 mA)
Rin = 100
Analogue input (current 0(4)...20 mA
Rin = 100
Motor torque 020 mA = 0motor nom.
torque, RL < 700
Motor speed 020 mA = 0motor nom.
speed, RL < 700
DI1
DI2
DI3
DI4
DI5
DI6
+24 V
+24 V
DGND1
DGND2
DI7(DIIL)
No Emergency Stop
Run Enabled
By default not in use
+24 V DC, max. 100 mA
+24 V
GND
Digital ground
Digital ground
Auxiliary voltage input or output 24 V DC, 250
mA or 130 mA if an NLMD-01 panel is
included.
RO11
RO12
RO13
Relay output 1
RO21
RO22
RO23
Relay output 2
RO31
RO32
RO33
Relay output 3
Emergency Stop (default)
Running (default)
Fault (default)
59
Control through I/O

The figure below shows the RMIO Motor Control and I/O board default signals when
the drive is controlled from the I/O: parameter 98.02 COMM. MODULE is set to NO
or HAND/AUTO function is used (Par. 10.07 HAND/AUTO).
Motor temperature
measurement 1...3
Pt100, PTC or
KTY84-1xx
AI1+
AI1-
AO1AO1+
mA-type of alternative
for references
%
If parameter 30.03 =
1...3 PT100 or PTC
rpm
1)
See parameter group 10

DIGITAL INPUTS for Start/
Stop/Direction control.
Use external power supply if the total current

consumption exceeds 250 mA.
DO3: Motor fan control. See

parameter 10.06 MOTOR FAN
ACK and parameter groups
14 DIGITAL OUTPUTS and
35 MOTOR FAN CTRL.
X20
1
2
X21
1
2
3
4
5
6
7
8
9
10
11
12
X22
1
2
3
4
5
6
7
8
9
10
11
X23
1
2
X25
1
2
3
X26
1
2
3
X27
1
2
3
VREF
GND
Reference voltage -10 V DC, max 10 mA

1 k < RL < 10 k
VREF
GND
AI1+
AI1AI2+
AI2AI3+
AI3AO1+
AO1AO2+
AO2-
Reference voltage 10 V DC, max 10 mA

1 k < RL < 10 k
Speed reference unipolar (default) (range for
AI1: -10 V 0 ...10 V, Rin > 200 k
Speed reference (current 0(4)20 mA),
alternative, see Par. 11.01, Rin = 100
Torque reference, (current 0(4)20 mA)
(TORQ REF B), Rin = 100
Motor torque 020 mA = 0 motor nom.
torque, RL < 700
Motor speed 020 mA = 0 motor nom.
speed, RL < 700
DI1
DI2
DI3
DI4
DI5
DI6
+24 V
+24 V
DGND1
DGND2
DI7 (DIIL)
No Emergency Stop
Run Enabled
+24 V
GND
1)
1)
Reset
1)
+24 V DC, max. 100 mA

Digital ground
Digital ground
1)
Auxiliary voltage input or output 24 V DC, 250

mA or 130 mA if an NLMD-01 panel is
included.
RO11
RO12
RO13
Relay output 1
RO21
RO22
RO23
Relay output 2
RO31
RO32
RO33
Relay output 3
Emergency Stop (default)
Run (default)
Fault (default)
Program features
60
Actual signals
Several actual signals are available:
drive output frequency, current, voltage and power
motor speed and torque
intermediate circuit DC voltage
drive temperature
operating time counter (h), kWh counter, fan-on time counter (h) and motor run time
counter (h)
digital I/O and analogue I/O status.
Three signals can be shown simultaneously on the control panel display. It is also
possible to read the values through a serial communication link or through analogue
outputs.
Settings
Parameter
15 ANALOGUE OUTPUTS
Selection of an actual signal to an analogue output
16.09 RESET COUNTER
Resetting of the cooling fan running time counter
51 MASTER ADAPTER (fieldbus

adapter)
Settings of the fieldbus adapter used in serial communication
92 D SET TR ADDR
Selection of an actual signal to a data set (serial communication)
93 D SET TR ADDR
Diagnostics
Actual value
01 ACTUAL SIGNALS...
09 FAULT WORDS
Lists of actual signals
Motor identification
The performance of Direct Torque Control is based on an accurate motor model
determined during the motor start-up. A motor Identification Magnetisation is
automatically done the first time the start command is given. During this first start-up,
called ID MAGN, the motor is magnetised 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 can be
performed.
Settings
Program features
Parameter
99.07 MOTOR ID RUN
Selection of the motor identification run
61
Undervoltage control
If the incoming supply voltage is cut off, the drive will continue to operate by utilising
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 the
operation after the break if the main contactor remained closed.
Undervoltage control limit is 0.82 1.35 U1min, where U1min is the minimum value of
the input voltage range.
See control block diagram in section Torque reference on page 306.
Note: Cabinet assembled units equipped with main contactor option must be
equipped with a hold circuit (e.g. UPS) which keeps the contactor control circuit
closed during a short supply break.
fout UDC
TM
(Nm) (Hz) (V DC)
160
80
520
120
60
390
80
40
260
40
20
130
Umains
UDC
fout
TM
1.6
4.8
8
11.2
14.4
UDC= intermediate circuit voltage of the drive, fout = output frequency of the drive,
TM = motor torque
t(s)
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 mains 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.
Note: The undervoltage controller is able to adjust the torque in all operating
quadrants without limitations, if the following parameter values are set high enough:
- power limits: 20.17, 20.18,
- torque limits: 20.05, 20.06 and
- maximum current: 20.04.
Program features
62
Settings
Parameter
20.04 MAXIMUM CURRENT
Maximum current
20.05 MAXIMUM TORQUE and

20.06 MINIMUM TORQUE
Torque limits
20.14 ADAPTIVE UDC MEAS
Deactivation of the adaptive UDC measurement. Measurement

should be deactivated if undervoltage control is in use in
a application with several drives connected to the same DC bus.
20.15 UNDERVOLT TORQ UP and Limitation of the maximum/minimum torque during undervoltage
20.16 UNDERVOLT TORQ DN
control, when adaptive UDC measurement is deactivated.
20.17 P MOTORING LIM and
20.18 P GENERATING LIM
Power limits
30.22 UNDERVOLTAGE CTL
Activation of the undervoltage controller
Diagnostics
Program features
Actual value
08.03 LIMIT WORD 1, bit 12
DC undervoltage limit
63
Overvoltage control
Overvoltage control of the intermediate DC link is needed with two-quadrant
line-side converters when the motor operates within the generating quadrant.
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 control limit is 1.24 1.35 U1max, where U1max is the maximum
value of the input voltage range.

Settings
Parameter
30.23 OVERVOLTAGE CTL
Activation of the overvoltage controller
Diagnostics
Actual value
08.03 LIMIT WORD 1, bit 13
DC overvoltage limit
Automatic start
Since the drive can detect the state of the motor within a few milliseconds,
the starting is immediate under all conditions. For example the starting of turbining
pumps or windmilling fans is easy.
Settings
Parameter
21.01 START FUNCTION
Selection of the start function
Program features
64
Auto restart
It is possible to restart the drive automatically after a short power supply failure (max.
5 seconds) using the AUTO RESTART function if
- the RMIO board is powered through an UPS (Uninterruptible Power System)
- digital input DI2 circuit remains closed during the power supply failure
- the inverter is allowed to run for max. 5 seconds without inverter fans.
The maximum time for a power failure for the auto restart function is adjustable
(21.10 AUTO RESTART TIME). The factory setting is five seconds.
Note: Check that the auxiliary control circuit functions correctly during a power
supply failure.
When a power supply failure occurs
08.01 MAIN STATUS WORD is frozen and DC UNDERVOLT fault (signal 09.02
Fault Word 2 bit 2) is masked. DC UNDERVOLT fault is internally reset.
DC UNDERVOLT alarm is activated (signal 09.05 Alarm Word 2 bit 14 value is 1).
07.01 MAIN CONTROL WORD bit 0 (ON) changes from 1 to 0 and back to 1.
Start function is forced temporarily to the flying start mode (parameter 21.01
START FUNCTION setting is AUTO).
After a successful restart, alarm RESTARTED is activated (signal 09.05 Alarm
Word 2 bit 15 value is 1).
Note: If the power supply failure lasts over 5 seconds: Auto restart function is
cancelled, 08.01 Main Status Word is restored and DC UNDERVOLT fault (signal
09.02 Fault Word 2 bit 2) is unmasked.
PPCC fault indications can be masked when auto restart function has been selected.
Settings
Parameter
21.09 AUTO RESTART
Selection of the auto restart function
21.10 AUTO RESTART TIME
Maximum duration of the power failure
30.24 PPCC FAULT MASK
Activation of the fault mask (prevents PPCC fault indications)
Program features
Actual value
07.01 MAIN CTRL WORD, bit 0
State ON/OFF1 control
08.01 MAIN STAUS WORD
Main Status Word
09.02 FAULT WORD 2, bit 2 /

09.05 ALARM WORD 2, bit 14
DC undervoltage fault/alarm
Motor restart alarm
65
Emergency stop
ACS800 hardware and System Application Program fulfil the following emergency
stop category classes:
Class 0 Immediate removal of power
Class 1 Controlled emergency stop.
The emergency stop signal is connected to digital input DI1 of the RMIO board or
DI1 of the RDIO I/O Extension module 1 (Par. 98.03 DI/O EXT MODULE 1 setting
must be REPLACE). The function is activated by digital input DI1 or by setting 07.01
Main Control Word bit 2 (OFF3) to 0.
The emergency stop feedback signal is sent through digital output DO1 of the drive
RMIO board (or the RDIO I/O Extension module 1) to the Auxiliary Control Unit,
which contains the control relays for the common emergency stop circuit.
The purpose of the feedback signal is to confirm that the emergency stop function
has been received and the drive program is running. If no feedback is received, the
main AC supply will be switched off after a short delay defined by the Auxiliary
Control Units adjustable relays.
Note: During emergency stop, torque selector parameter 26.01 TORQUE
SELECTOR is internally set to speed control when parameter 21.04 EME STOP
MODE setting is STOP RAMPING or STOP TORQ.
Note: When an emergency stop signal is detected, the emergency stop function
cannot be cancelled even though the signal is cancelled.
If an emergency stop signal is activated when the motor is already stopped
- 07.01 Main Control Word bit 2 is set to 0 (= emergency stop), 08.01 Main Status
Word bit 5 is set to 0 (emergency stop active) and 09.04 Alarm Word 1 bit 1 is set
to 1 (= EM STOP alarm). Motor run and motor magnetisation commands are
disabled.
- Relay output RO1 (of the RMIO/RDIO) is energised until 07.01 Main Control Word
bit 0 value is set to 0 (i.e. when the drive is ready to proceed to READY TO SWITCH
ON state).
If an emergency stop signal is activated when the motor is running
- 07.01 Main Control Word bit 2 is set to 0 (= emergency stop), 08.01 Main Status
Word bit 5 is set to 0 (= emergency stop active) and 09.04 Alarm Word 1 bit 1 is set
to 1 (= EM STOP alarm). The drive is stopped according to the emergency stop
mode defined by parameter 21.04 EME STOP MODE.
- Emergency stop function is locked by the application, (i.e. it cannot be cancelled).
Relay output RO1 is energised until the motor has reached zero speed and
07.01 Main Control Word bit 0 value is set to 0. Application program supervises that
the drive deceleration rate is within the window defined by parameters 21.05
EMSTOP DER MIN L and 21.06 EMSTOP DER MAX L. The supervision starts after
the time delay defined by parameter 21.07 EM STOP DEC MON DEL. If the drive is
not able to decelerate the motor within the window, it coasts to stop and 08.02
Auxiliary Status Word bit 2 is set to 1 (= EMERG STOP COAST).
Program features
66
Emergency stop through fieldbus

Emergency stop can be activated by fieldbus via 07.01 Main Control Word bit 1 or 2.
Emergency stop control through fieldbus functions also in local control if parameter
21.12 LOCAL EMSTOP MODE setting is DI+FIELDBUS.
Emergency Stop
OFF3 (MCW Bit2=0)
OFF3
ACTIVE
Emergency off
OFF2 (MCW Bit1=0)
OFF_3_STA
(MSW Bit5=0)
OFF2
ACTIVE
OFF_2_STA
(MSW Bit4=0)
n(f)=0 / I=0
SWITCH-ON
INHIBITED
ON_INHIBIT
(MSW Bit6=1)
ON (MCW Bit0=0)
Settings
Parameter
21.04 EME STOP MODE
Selection of the emergency stop mode
21.05 EMSTOP DER MAX L
Maximum deceleration rate for the emergency stop
21.06 EMSTOP DER MIN L
Minimum deceleration rate for the emergency stop
21.07 EM STOP DEC MON DEL
Time delay between the emergency stop signal and the start
of the deceleration monitoring
21.12 LOCAL EMSTOP MODE
Selection of the source for the emergency stop activation

signal in local control mode
98.03 DI/O EXT MODULE 1
Activation of the RDIO I/O Extension module 1
Program features
Actual value
State ON/OFF1 control
07.01 MAIN CTRL WORD, bits 1 and 2
Emergency stop control
08.01 MAIN STATUS WORD, bits 4

and 5
Emergency stop activation status
08.02 AUX STATUS WORD, bit 2
Emergency stop failure
Emergency stop alarm
67
Prevention of Unexpected Start-up

Prevention of Unexpected Start-up function disconnects the control voltage from
the inverter power semiconductors, i.e. the drive output voltage is cut off. See the
circuit diagrams delivered with the drive for the wirings to be made by the user.
WARNING! Prevention of Unexpected Start-up does not disconnect the voltage from
the main and auxiliary circuits. Therefore, maintenance work on electrical parts may
only be carried out after disconnecting the drive system from the input power line.
The Prevention of Unexpected Start-up function operates as follows:
- The operator activates the Prevention of Unexpected Start-up with a switch
mounted on the control desk.
- The drive application program receives an internal signal from the AINT board that
Prevention of Unexpected Start-up has been activated.
- The voltage supply of the AGPS-0x (Gate Driver Power Supply) board is
disconnected.
- If the Prevention of Unexpected Start-up function has been activated during run,
the drive coasts to stop.
- Alarm START INHIBI is activated (09.04 Alarm Word 1 bit 0 value is 1).
- 08.02 AUX STATUS WORD bit 8 value is set to 1 (= Prevention of Unexpected
Start-up is active) within 3 seconds.
Note: Fault START INHIBI is generated (09.06 Fault Word 3 bit 5 value is 1) if the
Prevention of Unexpected Start-up is activated during motor run or if motor start
command is given when the Prevention of Unexpected Start-up is already active.
Settings
Parameter
Deactivation of the logging of START INHIBI alarm into the

fault/alarm logger.
Diagnostics
Actual value
08.02 AUX STATUS WORD, bit 8 Prevention of Unexpected Start-up activation status
09.04 ALARM WORD 1, bit 0 /
09.06 FAULT WORD 3, bit 5
Prevention of Unexpected Start-up alarm/fault
Program features
68
DC magnetising
When DC magnetising is activated, the drive automatically magnetises the motor
before starting. This feature guarantees the highest possible breakaway torque, up
to 200% of the motor nominal torque.
The automatic start feature (section Auto restart on page 64) and DC magnetising
cannot be activated at the same time.
Settings
Parameter
21.01 START/STOP FUNC
Selection of the DC magnetising
Constant DC magnetising
When constant DC magnetising is activated, the drive automatically magnetises the
motor for the defined magnetising time before starting. Constant DC magnetising
guarantees the highest possible breakaway torque when the pre-magnetising time is
set long enough. By adjusting the premagnetising time, it is possible to synchronise
the motor start and for example mechanical brake release.
The automatic start feature (section Auto restart on page 64) and DC magnetising
cannot be activated at the same time.
Settings
Parameter
21.01 START/STOP FUNC
Selection of the constant DC magnetising
21.02 CONST MAGN TIME
Magnetising time
DC hold
By activating the motor DC hold feature it is possible to lock the rotor at zero speed.
When both the reference and the motor speed fall below the preset DC hold speed,
the drive stops the motor and starts to inject DC into the motor. When the reference
speed again exceeds the DC hold speed, normal drive operation resumes.
Motor
Speed
DC hold
speed
Speed
Reference
DC hold
speed
Program features
DC hold
69
Settings
Parameter
17.01 DC HOLD
Activation of the DC hold function
17.02 DC HOLD SPEED
DC hold speed
17.03 DC HOLD CURRENT
DC hold current
Flux braking
The drive can provide greater deceleration by raising the level of magnetisation in
the motor. By increasing the motor flux, the energy generated by the motor during
braking can be converted to motor thermal energy. This feature is useful in motor
power ranges below 15 kW.
Motor
speed
No flux braking
Flux braking
t (s)
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 motor is efficient. The stator current of the motor increases
during the flux braking, not the rotor current. The stator cools much more
efficiently than the rotor.
Settings
Parameter
27.02 FLUX BRAKING
Activation of the flux braking function
Flux optimisation
Flux optimisation reduces the total energy consumption and motor noise level when
the drive operates below the nominal load. The total efficiency (motor and the drive)
can be improved by 1% to 10%, depending on the load torque and speed.
Note: Flux optimisation limits the dynamic control performance of the drive because
with a small flux reference the drive torque cannot be increased fast.
Settings
Parameter
27.01 FLUX OPTIMIZATION
Activation of the flux optimisation function
Program features
70
Acceleration and deceleration ramps

Acceleration and deceleration ramp can be defined by the user.
It is also possible to scale external ramp time references: With very fast or very slow
acceleration and deceleration times, the scaling from 16-bit data to integer value
might not be accurate enough. The accuracy can be improved by using acceleration/
deceleration ramp time scaling (22.03 ACC/DEC TIME SCLE).
See control block diagram in section Speed reference ramp on page 304.
If several constant ramp times are needed in the application, they can be easily
programmed with adaptive programming. For more information, see ACS600/
ACS800 Application Guide Adaptive Program for System Application Program 7.x
The following block diagram shows an adaptive programming example, where
acceleration and deceleration times are selected by digital input DI6:
DI6 = 0: Numeric 1 defines the acceleration time 1 and Numeric 3 defines the
deceleration time 1.
DI6 = 1: Numeric 2 defines the acceleration time 2 and Numeric 4 defines the
deceleration time 2.
Acceleration and deceleration values are then written to parameters
22.01 ACCELER TIME and 22.02 DECELER TIME.
The available ramp shape alternatives are Linear and S-curve.

Linear: Suitable for drives requiring steady or slow acceleration/deceleration.
Program features
71
S-curve: Ideal for conveyors carrying fragile loads, or other applications where
a smooth transition is required when changing the speed.
Motor
speed
Linear
S-curve
2 t (s)
Emergency stop ramp time can be defined by parameter 22.04 EME STOP RAMP.
See section Emergency stop on page 65.
Variable slope
When variable slope is activated by parameter 22.06 VARIABLE SLOPE, the slope
of the speed ramp is controlled during a speed reference change.
If the updating time interval for the external control system and the time for the
speed reference change defined by 22.07 VAR SLOPE RATE are equal,
02.02 SPEED REF 3 is a straight line.
This function is active only in the REMOTE control mode.
Speed ref
SPEED REF
t
A
SPEED REF 3 (02.02)

t
t = updating time interval of the external control system

A = speed reference change during time t
Settings
Parameter
22 ACCEL/DECEL
Settings of the ramp function
Program features
72

Actual value
02.02 SPEED REF 3
Limited speed reference
07.01 MAIN CTRL WORD, bits 4 and 5 Ramp Function Generator control
Speed ramp input control
07.02 AUX CTRL WORD 1, bit 2
Speed reference ramp bypass
Oscillation damping
The oscillation damping function damps mechanical or DC voltage oscillations of the
intermediate circuit. The oscillation source is selected between speed error and DC
voltage by parameter 26.08 OSC COMP INPUT. As an output the oscillation
damping algorithm produces a sine wave. This sine wave can be summed with the
torque reference with a suitable gain and phase.
Tuning procedure of the oscillation damping
Select the input by Par. 26.08 OSC COMP INPUT
Set 26.04 OSC COMPENSATION to ON.
Set 26.07 OSCILLATION GAIN to 0%.
Calculate the oscillation frequency from the signals

monitored with the DriveWindow PC tool.
Set 26.05 OSCILLATION FREQ.
Set 26.06 OSCILLATION PHASE.
Increase 26.07 OSCILLATION GAIN gradually so that the

algorithm affects the system. (2%, 4%, 6%...)
Oscillation amplitude decreases:

Increase 26.07 OSCILLATION GAIN and change
26.06 OSCILLATION PHASE (if necessary).
Oscillation amplitude increases:

Try other values for 26.06 OSCILLATION PHASE.
Increase 26.07OSCILLATION GAIN to suppress the

oscillation totally.
If the DC voltage oscillation phase cannot be determined by measurements, the

value of 0 deg is usually a suitable initial value.
Note: Changing the speed error lowpass filter time constant and integration time of
the speed controller can affect the tuning of the oscillation damping algorithm. It is
recommended to tune the speed controller before tuning this algorithm. Speed
controller gain can be altered after the tuning of the oscillation damping algorithm.
Program features
73

Settings
Parameter
26.04 OSC COMPENSATION
Activation of the torsional vibration or DC voltage oscillation

damping
26.05 OSCILLATION FREQ
Oscillation frequency
26.06 OSCILLATION PHASE
Phase angle of the sine wave
26.07 OSCILLATION GAIN
Oscillation gain
26.08 OSC COMP INPUT
Selection of algorithm input
Speed filtering
The measured speed always has a small ripple because of mechanical interference
and couplings. A small ripple is acceptable as long as it does not affect the speed
control loops. Reducing the ripple with filters may cause tuning problems. A long
filter time constant and fast acceleration time contradict each other.
If the speed measurement shows rapid oscillation, it can be filtered with a speed
error filter and by setting the time constant of the first order actual speed filter.
If fast oscillation is observed and the application has no gear box and no pulse
encoder feedback: decrease the time constant of the first order actual speed filter to
its minimum value.
If there is a substantial backlash in the drive, and the drive oscillates at low torque
due to the mechanism, adaptive speed control can be used (parameters 24.05 KPS
WEAKPOINT and 24.06 KPS WP FILT TIME). If the adaptivity has to be made
abrupt, the drive can start to oscillate as the load varies: Use a speed step to test the
adaptivity (for example 50 rpm).
For adaptive speed control as a function of the motor frequency, see parameters
24.17...24.20.
Settings
Parameter
23.06 SPEED ERROR FILT
Speed error filter time constant
24.04 KPS MIN
Gain when speed controller output is zero.
24.05 KPS WEAKPOINT
Speed controller output when gain is KPS.
24.06 KPS WP FILT TIME
Rate of change of the gain
24.17...24.20
Adaptive speed control as a function of the motor frequency
50.06 SP ACT FILT TIME
Time constant of the first order actual speed filter
Program features
74
Speed controller tuning

Speed controller tuning can be performed manually or automatically. Tuning
procedure is described in section Speed controller tuning on page 24.
The figure below is a simplified block diagram of the speed controller. The controller
output is the reference for the torque controller. For a more detailed block diagram,
see section Speed control on page 305.
Derivative
acceleration
compensation
Speed
reference
+
-
Proportional,
integral
Error
value
+ Torque
+ reference
Derivative
Calculated or measured
actual speed
The figure below shows speed responses at a speed reference step (typically,
1 to 20%).
n
nN
%
A
A: Undercompensated
B: Normally tuned (PI tuning)
C: Normally tuned (manually). Better dynamic performance than with B
D: Overcompensated speed controller
Settings
Parameter
Program features
23.10 SPEED STEP
Additional speed step given to the speed controller
24.01 PI TUNE
Activation of the automatic speed controller tuning
24.09 TIS
Integration time of the speed controller
24.03 KPS
Relative gain of the speed controller
75
Diagnostics
Actual value
08.03 LIMIT WORD 1, bits 1 and 2
Speed control torque minimum and maximum limits
Low speed fine tuning

Low speed fine tuning can be used when a pulse encoder is used for the speed
measurement. In order to eliminate potentially harmful oscillations at low speeds (for
example, during start), parameters 50.13 ZERO DETECT DELAY and 50.14 SPEED
HOLD TIME should be adjusted. The larger the mass of the driven equipment,
the higher the value of the zero detect delay should be. Parameter 50.14 should be
set to approximately 60% of the value of parameter 50.13. For example, typical
values for a drive rotating a dryer section of a paper machine would be 50 ms and
30 ms respectively.
Settings
Parameter
50.03 SPEED FB SEL
Definition of the used speed feedback value
50.13 ZERO DETECT DELAY
Adjusting the low speed fine tuning
50.14 SPEED HOLD TIME
Run interlock
Drive run can be prevented by the run interlock function. If the function is active,
motor start is prevented or motor is stopped if it was already running.
Note: Run interlock does not reset the start request.
Run interlock can be controlled either digital input DI2 by parameter 16.01 RUN
ENABLE = INTERLOCK or by adaptive programming.
Example: Run interlock is activated by digital input DI3:
Program features
76
DI3 = 1: No run interlock (normal state)

DI3 = 0: Run interlock active
RUN INTERLOCK
RUN INTERLOCKED = 0
DI3
OUT
8.05.2
X22:3
-8.05.2
BLOCK 1
SWITCH-B
ACT
C1
NO
C0
NC
BLOCK 2
WR-I
C16
GROUP
C14
INDEX
57.09
+57.09
INPUT
Parameter settings with DriveWindow:

TIME LEVEL 2
BLOCK 1:
BLOCK 2:
57.05 = SWITCH-B
57.10 = WR57.06 = -8.05.2
57.11 = C16
57.07 = C1
57.12 = C14
57.08 = C0
57.13 =+57.09
Settings
Parameter
16.14 RUN INTERLOCK
Activation of the run interlock function
16.01 RUN ENABLE
Activation of the run interlock function
Diagnostics
Actual value
08.01 MAIN STATUS WORD, bit 13 Run interlock function status
Run interlock function does not activate any alarm or fault.
Motor control, DTC

The motor control of the frequency converter is based on direct torque control, DTC.
The inverter power semiconductors (switches) are regulated to achieve the required
stator flux and motor torque. The switching frequency is changed only if the actual
torque and the stator flux values differ from their reference values more than the
allowed hysteresis. The reference value for the torque controller comes from the
speed controller or directly from an external 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 utilising 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 DTC is that the torque control
has the same time level as the power switch control (25 microseconds). There is no
separate voltage and frequency controlled PWM modulator. All selections of the
switches are based on the electromagnetic state of the motor.
Program features
77
The DTC can only be applied by using high speed signal processing technology.
Digital signal processors are used in ACS800.
Note: In demanding applications a separate identification run is to be performed to
achieve the best motor control accuracy with DTC. See section ID RUN (motor
identification run) on page 22.
Settings
Parameter
99.08 MOTOR CTRL MODE
Selection of the motor control mode
99.07 MOTOR ID RUN
Selection of the motor identification run
Program features
Program features
F R E Q U E N C Y
M O T O R S P E E D
S P E E D R E F
F R E Q U E N C Y R E F
9 9 .0 8
M O T O R C T R L M O D E
1 .0 5
1 .0 4
2 3 .0 1
2 9 .0 1
C O N T R O L
M O D E
2 .1 4
F L U X U S E D
2 .1 3
F L U X A C T
R E F
T O R Q U E U S E D R E F
1 .0 8
E S T IM A T E a n d
C A L C U L A T E
C A L C U L A T E
A C T U A L V A L U E S
M O T O R M O D E L
2 .1 5
D IR E C T T O R Q U E
a n d F L U X
H Y S T E R E S IS
C O N T R O L
o f th e D ir e c t T o r q u e C o n tr o l m e th o d
S P E E D a n d
F R E Q U E N C Y
C O N T R O L
B lo c k d ia g r a m
O p tim a l
S w itc h in g
C o n tro l
V O L T A G E
C U R R E N T
D C
M O T O R T O R Q U E
C o n tr o l b its
F lu x b its
T o r q b its
A S IC
A C S 8 0 0
3 P H A S E S U P P L Y
78
79
Scalar control
It is possible to select scalar control as the motor control method instead of Direct
Torque Control (DTC). In the scalar control mode, the drive is controlled with
a frequency reference. The outstanding performance of the default motor control
method, Direct Torque Control, is not achieved with scalar control.
It is recommended to activate the scalar control mode in the following special
applications:
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 the
motor identification.
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 via a step-up transformer.
See control block diagram in section Scalar control on page 309.
See also the start-up procedure with scalar control in section Scalar control and IR
compensation on page 27.
Settings
Parameter
99.08 MOTORCTRL MODE
Selection of the motor control mode
IR compensation
IR compensation is active only when the motor control mode is scalar (see section
Scalar control on page 79). When 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 high breakaway torque or in applications where the motor
must rotate slowly, i.e. at a low frequency. In Direct Torque Control, no IR
compensation is possible/needed.
Motor voltage
Umax
IR compensation
No compensation
f (Hz)
Settings
Parameter
Activation of the IR compensation
Program features
80
Hexagonal motor flux

Typically the drive controls the motor flux in such a way that the rotating flux vector
follows a circular pattern. This is ideal in most applications. When operated above
the field weakening point (FWP, typically 50 or 60 Hz), it is, however, not possible to
reach 100% of the output voltage. The peak load capacity of the drive is lower than
with the full voltage.
If hexagonal flux control is selected, the motor flux is controlled along a circular
pattern below the field weakening point, and along a hexagonal pattern in the field
weakening range. The applied pattern is changed gradually as the frequency
increases from 100% to 120% of the FWP. Using the hexagonal flux pattern,
the maximum output voltage can be reached. The peak load capacity is higher than
with the circular flux pattern but the continuous load capacity is lower in the
frequency range of FWP to 1.6 FWP, due to increased losses.
Settings
Parameter
27.08 HEX FIELD WEAKEN
Selection of the motor flux control
Parallel-connected inverters
2 to 12 inverters can be connected parallel with branching unit APBU. AINT 1 is
connected to APBU CH1, AINT 2 to CH2 etc.
Inverter block diagram
Upper-leg IGBTs
RMIO
AINT
RMIO
Motor Control and I/O Board
AINT
Main Circuit Interface Board
APBU
PPCS Link Branching Unit
Lower-leg IGBTs
U
Inverter unit block diagram (2 to 12 parallel inverters)

PBU
RMIO
CH3
CH1 CH2
INT
Program features
INT
INT
...
81
Reduced run function

Reduced run function is available for parallel-connected R8 inverters, 2...12 R8i.
Reduced run function makes it possible to continue the operation with limited current
if an inverter module(s) is out of order. If one of the modules is broken, it must be
removed from the cabinet. Parameter change is needed to continue the run with
reduced current.
Removing a broken inverter module
WARNING! The safety instructions must be followed. See the safety instructions on
the first pages of the appropriate hardware manual or the safety manual.
Disconnect the supply voltage and all auxiliary voltages from the drive.
Remove the broken inverter module from the cabinet. See appropriate hardware
manual.
Fasten the air baffle provided with the unit to the top module guide to block airflow
through the empty module space.
Disable the charging monitoring of the isolated module, i.e. set switch S1...S3
of the ASFC-01 board to DIS (= disabled).
Switch on the supply voltage. INT COFIG fault (09.06 Fault Word 3 bit 7 value
is 1) now indicates that the number of the connected inverter modules has
changed.
If the operation is continued with limited current, number of existing inverter
modules must be set by parameter 16.10 INT CONFIG USER.
Reset the fault and start the drive. PPCS link is reconfigured automatically and
the maximum current is limited (internally) in relation to the new inverter
configuration and inverter nominal current.
Note: If INT CONFIG fault reappears, the number of parallel-connected inverters
defined by parameter 16.10 INT CONFIG USER is incorrect. See signal 08.22 INT
CONFIG WORD.
Note: When the isolated module is reconnected, set switch S1/S2/S3 of the
ASFC-01 board back to the enabled position.
Program features
82
Note: If all switches S1, S2 and S3 of the ASFC-01 board are set to DIS
(= disabled), the main contactors of the DC switches will not close.
When inverter hardware configuration is changed back to the original, parameter
16.10 INT CONFIG USER value automatically restores back to the original value.
Settings
Parameter
16.10 INT CONFIG USER
Number of parallel-connected inverter modules (R8i) in the drive
Maximum motor current
Diagnostics
Actual value
08.22 INT CONFIG WORD
Inverters recognized by the application program
09.06 FAULT WORD 3, bit 7
Number of recognized inverters
Current measurement calibration

The current measurement is calibrated automatically during the ID run.
Calibration can also be activated by setting 99.07 MOTOR ID RUN to CURRENT
CAL and starting a drive. It is recommended to perform calibration when inverter
module(s) hardware configuration has been changed. An alarm indication CALIBRA
REQ is activated during the calibration and alarm CALIBRA DONE when completed.
Settings
Parameter
99.07 MOTOR ID RUN
Activation of current measurement calibration
Programmable protection functions

AI<Min
AI<Min function defines the drive operation if an analogue input signal falls below the
preset minimum limit.
Settings
Parameter
30.27 AI<MIN FUNC
Selection of the supervision with analogue input signal loss
Diagnostics
Alarm
Program features
Signal
AI<MIN FUNC
Signal 09.05 Alarm Word 2 bit 10 value is 1.
Fault
Signal
AI<MIN FUNC
Signal 09.02 Fault Word 2 bit 10 value is 1.
83
Panel loss
Panel loss function defines the operation of the drive if the control panel or
DriveWindow selected as control location for the drive stops communicating.
Settings
Parameter
30.21 PANEL LOSS
Selection of the supervision in control panel or DriveWindow

communication break
Diagnostics
Alarm
Signal
PANEL LOSS
Fault
Signal
PANEL LOSS
Motor temperature protection

The motor can be protected against overheating by
activating the motor thermal protection function and by selecting one of the motor
thermal protection modes available (DTC motor thermal model or User Model).
See section Motor thermal mode on page 84.
measuring the motor temperature with Pt100, PTC or KTY84-1xx sensors. See
sections Temperature sensors on page 85 and Alternative thermal connection for
PTC thermistor on page 89.
detecting the state of the motor overload protection switch in the motor supply by
digital input. See input selector parameter 10.11 MOT PROT SWITCH and fault
function parameter 31.04 MOT PROT FLT SEL. If the contact opens, fault or
alarm indication MPROT SWITCH is activated (09.01 Fault Word 1 bit 10 or 09.04
Alarm Word 1 bit 12 value is set to 1).
detecting the state of the thermal switch or thermistor relay by a digital input. See
section Alternative thermal connection for PTC thermistor on page 89.
The motor thermal model can be used parallel with other temperature protections
(PTC, Pt100, KTY84-1xx, thermistor relay or thermal switch).
T / C
Motor insulation classes according to IEC 85
180
15
155
10
130
Hot spot temperature margin
120
80
10
Allowed temperature rise
80
105
125
Maximum ambient temperature
40
40
40
B
130C
F
155C
H
180C
40
Insulation class
Maximum winding temperature
Program features
84
Motor thermal mode

The drive calculates the temperature of the motor on the basis of the following
assumptions:
1) The motor is at the estimated temperature (value of 01.18 MOTOR TEMP EST
saved at power switch off) when power is applied to the drive. When power is
applied for the first time, the motor is at the ambient temperature (30C).
2) Motor temperature is calculated using either the user-adjustable or automatically
calculated motor thermal time and motor load curve (see the figures below).
The load curve should be adjusted in case the ambient temperature exceeds 30C.
Alarm/Fault MOTOR TEMP is activated when the limit defined by parameter 30.28
THERM MOD ALM L / 30.29 THERM MOD FLT L has been reached.
Note: If thermal protection according to UL requirements for NEMA class motors is
needed, the thermal model fault trip limit must be 110C (30.29 THERM MOD FLT L)
and the thermal time (30.09 MOTOR THERM TIME) for Class 10 trip curve must be
350 s, for Class 20 trip curve 700 s and for Class 30 trip curve 1050 s.
Motor
load
100%
Motor
current 150
(%)
100
Break point
Motor load curve
50
Temp.
rise
Zero speed load

Speed
100%
63%
Motor thermal time
Settings
Parameter
30.01 MOT THERM P MODE
Selection of the motor thermal protection mode
30.02 MOTOR THERM PROT Selection of the supervision with motor overtemperature
30.09...30.12
Definition of the user-defined thermal model
30.28...30.29
Fault and alarm limits
30.30 MOT NOM TEMP RISE Nominal temperature rise

30.31 AMBIENT TEMP
Ambient temperature
Diagnostics
Program features
Alarm
Signal
MOTOR TEMP
Fault
Signal
MOTOR TEMP
85
Temperature sensors
It is possible to detect motor overtemperature by connecting a motor temperature
sensor to analogue inputs and outputs of the drive.
Analogue output feeds constant current 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 analogue input
and converts it to degrees centigrade. The System Application program supports two
measurement channels: AI1 (of the RMIO or RAIO) and AI2 (of the RAIO) for
motor 1 and motor 2 temperature measurements. The constant current level is
automatically set by the application program according to the sensor type selection.
Sensor type
Unit
Pt100
Scaling
PTC
normal 0...1.5 k
overtemperature > 4 k
KTY84-1xx,
(silicon
temperature
sensor)
90 C = 936
110 C = 1063
130 C = 1197
150 C = 1340
Motor overtemperature can also be detected by connecting a PTC thermistor to

a digital input.
The alarm and fault (MOTOR TEMP M) limits are defined by parameters 30.04 MOT
1 TEMP ALM L and 30.05 MOT 1 TEMP FLT L for motor 1 and by parameters 30.07
MOT 2 TEMP ALM L and 30.08 MOT 2 TEMP FLT L for motor 2.
Parameter 31.03 TEMP MEAS FLT SEL selects whether a fault or alarm is
generated when a fault is detected in the temperature measurement circuit.
Two additional temperature measurements can be programmed with adaptive
programming if an optional analogue I/O extension module 2 (EXT2 AIO) is used.
For more information, see ACS600 / ACS800 Application Guide Adaptive Program
for System Application Program 7.x [3AFE68420075 (English)].
WARNING! According to IEC 664, the connection of the motor temperature sensor
to the RMIO board, requires double or reinforced insulation between motor live parts
and the sensor. Reinforced insulation entails a clearance and creepage distance of
8 mm (400 / 500 V AC equipment). If the assembly does not fulfil the requirement:
the RMIO board terminals must be protected against contact and they may not be
connected to other equipment
or
the temperature sensor must be isolated from the RMIO board terminals.
Program features
86
Thermal sensor connection through I/O

The figure below shows a motor temperature measurement of one motor when
RMIO board is used as the connection interface.
RMIO board
One sensor
AI1+
Motor
AI1-
T
AO1+
AO1-
RMIO board
Three sensors
AI1+
Motor
T
AI1T
AO1+
AO1-
Settings
Parameter
30.03 MOT1 TEMP AI1 SEL
Activation of the motor 1 temperature measurement function and

selection of the sensor type
30.04...30.05
Alarm and fault limits
31.03 TEMP MEAS FLT SEL
Selection of the supervision with motor temperature measurement

circuit fault
Diagnostics
Program features
Actual value
01.16 MOTOR 1 TEMP
Measured temperature of motor 1
Alarm
Signal
MOTOR TEMP M
T MEAS CIRC
Fault
Signal
MOTOR TEMP M
T MEAS CIRC
87
Thermal connection through analogue I/O extension

The figure below shows a motor temperature measurement of one motor when
analogue input AI1 of an optional Analogue I/O Extension module, RAIO, is used as
the connection interface.
RAIO module
One sensor
AI1+
Motor
AI1T
AO1+
AO1-
Three sensors
RAIO module
AI1+
Motor
T
AI1T
AO1+
AO1-
Settings
Parameter
30.03 MOT1 TEMP AI1 SEL / Activation of the motor 1/2 temperature measurement function and
30.06 MOT2 TEMP AI2 SEL selection of the sensor type
30.04...30.05 / 30.07...30.08
Alarm and fault limits
31.03 TEMP MEAS FLT SEL
Selection of the supervision with motor temperature measurement

circuit fault
Activation of the motor temperature measurement with analogue I/O

extension module
98.11 AI/O EXT1 LOCATION
Activation of the communication to the optional analogue I/O

extension module
Diagnostics
Actual value
01.16 MOTOR 1 TEMP /

01.17 MOTOR 2 TEMP
Measured temperature of motor 1/2
Alarm
Signal
MOTOR TEMP M
T MEAS CIRC
Fault
Signal
MOTOR TEMP M
T MEAS CIRC
Program features
88
I/O configuration example 1 with motor temperature measurement

The following figure presents motor temperature measurement with RMIO board.
RMIO
Motor 1 temperature measurement and
protection
RMIO
AI1
AI2
RMIO +
AO1
1.21 AI3
AI3
PTC /
Pt100 / KTY84-1xx
Parameter
Setting
1xPT100
2xPT100
3xPT100
or
13 PTC or EXT TEMP
I/O configuration example 2 with motor temperature measurement

The following figure presents the RMIO and RAIO analogue I/O connections, when
RAIO Analogue I/O Extension module is used for motor temperature measurement.
RMIO
SPEED REF if
98.02 = NO or
HAND/AUTO
RMIO
AI1
AI2
AI3
PTC /
Pt100 / KTY84-1xx
RAIO
+
+
RMIO
signals
for AO
AI1

protection
AI2

protection
Parameter
Setting
30.03 MOT1 TEMP AI1 SEL and
1xPT100
2xPT100
3xPT100
or
1...3 PTC
Program features
1.19 AI1
1.20 AI2
TORQUE REF if
1.21 AI3
98.02 = NO or
HAND/AUTO
AO1 AO1
mA
AO2 AO2
mA
RAIO +
AO1
AO2
98.06 AI/O EXT MODE
TEMP MEAS
98.11 AI/O EXT1 LOCATION
Select according to the hardware configuration.
89
Alternative thermal connection for PTC thermistor

It is also possible to connect a PTC thermistor between the +24 V DC voltage supply
of the RMIO board and a digital input.
The figure below shows the alternative thermistor connections:
Alternative 1
* or thermistor switch
Thermistor
relay*
RMIO board, X22
DI6
+24 V DC
Motor
Alternative 2
RMIO board, X22

6
DI6
+24 V DC
Motor
In normal motor operation temperature, the thermistor resistance should be less

than 1.5 kohm (current 5 mA). The drive stops the motor and gives alarm/fault
indication KLIXON if the thermistor resistance exceeds 4 kohm.
When a thermistor relay or a thermistor switch is used in the connection, alarm/fault
indication KLIXON is activated when the contact opens.
Digital input for the thermal switch or for the thermistor relay can be selected freely.
PTC thermistor can only be connected to digital input DI6.
Note: The installation must meet the regulations for protection against contact.
Settings
Parameter
10.05 KLIXON
Selection of an interface for the motor overtemperature protection
31.01 KLIXON MOT OVER T
Selection of the supervision when a thermistor relay or a thermistor

switch connected to digital input opens.
Diagnostics
Alarm
Signal
KLIXON
Fault
Signal
KLIXON
Program features
90
Short time overload

See ACS800 catalogue for light-overload and heavy-duty use ratings.
Settings
Parameter
Diagnostics
Signal
08.07 LIMIT WORD INV
Information on the internal current limits
Maximum current load

Drive switching frequency is limited, if the motor is continuously loaded with
maximum current and
- the IGBT temperature exceeds 116 C (e.g. due to unclean inverter) or
- the ambient temperature exceeds the nominal limit specified in the technical
catalogue.
If the drive is still loaded with maximum current in extreme environmental conditions,
alarm ACS800 TEMP is activated, and eventually the drive trips on fault ACS800
TEMP.
Note: With standard drives, frame types R7 and R8, maximum current is limited
when ACS800 TEMP alarm is active.
The frequency reduction and temperature supervision limits are drive type-specific.
Settings
Parameter
Diagnostics
Program features
Alarm
Signal
ACS800 TEMP
Fault
Signal
ACS800 TEMP
91
Stall protection
The drive protects the motor in a stall situation. It is possible to adjust the supervision
limits (torque, frequency, time) and choose how the drive reacts to a motor stall
condition (alarm indication / fault indication & stop the drive / no reaction).
Stall limit is defined by parameters 20.04 MAXIMUM CURRENT...20.10 TREF
TORQMIN. Torque and current limits must be set according to the maximum load of
the used application.
Note: Stall limit is restricted by internal current limit TORQ_INV_CUR_LIM.
When the application reaches the stall limit and the output frequency of the drive is
below the stall frequency: Fault MOTOR STALL is activated after the stall time delay.
Settings
Parameter
20.04...20.10
Stall limit
30.13 STALL FUNCTION
Selection of the supervision in a stall situation
30.14 STALL FREQ HI
Frequency limit for the stall protection
30.15 STALL TIME
Delay time for the stall protection
Diagnostics
Actual value
08.03 LIMIT WORD 1
Torque limits and user-defined current limit
Alarm
Signal
MOTOR STALL
Fault
Signal
MOTOR STALL
Program features
92
Underload protection
Loss of motor load may indicate process malfunction. The drive provides
an underload function to protect the machinery and process in such a serious fault
condition. Supervision limits - underload curve and underload time - can be chosen
as well as the action taken by the drive upon the underload condition (alarm
indication / fault indication & stop the drive / no reaction).
The protection is activated if all the following conditions are fulfilled at the same time:
Motor load is below the underload curve selected by the user.
Motor load has been below the selected underload curve longer than the time set
by the user.
Output frequency of the drive is more than 10% of the motor nominal frequency.
Settings
Parameter
30.16 UNDERLOAD FUNC
Selection of the supervision in a underload condition
30.17 UNDERLOAD TIME
Time limit
30.18 UNDERLOAD CURVE
Selection of the load curve
Diagnostics
Alarm
Signal
UNDERLOAD
Fault
Signal
UNDERLOAD
Motor phase loss

The phase loss function monitors the status of the motor cable connection.
The function is useful especially during the motor start: The drive detects if any of
the motor phases is not connected and refuses to start. The phase loss function also
supervises the motor connection status during normal operation.
The action taken by the drive upon phase loss can be chosen (fault indication & stop
the drive / no reaction).
Settings
Parameter
30.19 MOTOR PHASE LOSS
Activation of the phase loss function
Diagnostics
Program features
Fault
Signal
MOTOR PHASE
93
Earth fault and current unbalance protection

The earth fault protection detects earth faults in the motor, motor cable or inverter
output. The protection is based on the sum current measurement (100 microsecond
time level).
The action taken by the drive upon earth fault can be chosen with non-parallelconnected inverters (fault indication & stop the drive / alarm indication).
The earth fault trip level can be chosen with non-parallel-connected inverter
modules. The level is defined as inverter output current unbalance (measured by the
AINT board).
Note: With parallel-connected inverters modules, the protection monitors the
inverter output current unbalance (e.g. short circuit) and the fault indication is CUR
UNBAL x instead of EARTH FAULT. The action taken by the drive upon current
unbalance cannot be chosen (only fault indication). See chapter Fault tracing.
Settings
Parameter
30.20 EARTH FAULT
Selection of the supervision in an earth fault condition (with

non-parallel-connected inverters)
30.25 EARTH FAULT LEVEL
Selection of the earth fault level
Diagnostics
Alarm
Signal
EARTH FAULT
Fault
Signal
EARTH FAULT
CUR UNBAL x *

See also signal 09.13 CURRENT UNBALANCE.
* For parallel-connected inverter modules
Communication fault
The communication fault function supervises the messages received from DDCS
channel CH0 or fieldbus adapter module type Rxxx. The action taken by the drive
upon the communication fault (alarm indication / fault indication & stop the drive) can
be chosen.
Note: If the data update time to data set 10 is less than 2 s (data sets 10...33 are
activated by setting parameter 98.02 to ADVANT-N/FB), both alarm and fault
indications are activated.
Note: When COMM MODULE fault is activated, torque selector (26.01 TORQUE
SELECTOR) is set to speed control.
Settings
Parameter
70.04 CH0 TIME OUT
Delay time for communication supervision
70.05 CH0 COM LOSS CTRL Selection of the supervision with communication fault
Program features
94
Diagnostics
Alarm
Signal
COMM MODULE
Fault
Signal
COMM MODULE
Master/Follower link communication fault

The Follower drive supervises the received broadcast data (data set 41). The action
taken by the drive upon a Master/Follower communication fault (alarm indication /
fault indication & stop the drive) can be chosen. The protection is activated after the
time delay defined by the user.
Settings
Parameter
70.13 CH2 TIMEOUT
Delay time for CH2 communication supervision
70.14 CH2 COM LOSS CTRL
Selection of the supervision with CH2 communication fault
Diagnostics
Alarm
Signal
CH2 COM LOSS
Fault
Signal
CH2 COM LOSS
Speed measurement fault

Speed measurement fault is activated when any of the following conditions is
fulfilled:
No pulses are received from the encoder within the time defined by parameter
50.11 ENCODER DELAY and the drive is simultaneously at current or torque
limit.
There is a 20% difference between the estimated speed and the measured speed
received from the pulse encoder (parameter 50.03 SPEED FB SEL =
ENCODER).
There is no communication between the pulse encoder module and the RMIO
board.
The pulse frequency of the pulse encoder changes considerably during a time
interval of 1 ms.
If an alarm function has been selected and speed measurement error is detected
(i.e. the pulse frequency of the pulse encoder changes considerably during a time
interval of 1 ms), the drive automatically starts to use estimated speed (08.02 AUX
STATUS WORD bit12 value is 1). The drive uses estimated speed as long as the
difference between the estimated and the measured speed is more than 1%. The
difference is checked every five seconds. When the difference is smaller than 1%,
the drive starts to use measured speed again.
The protection is activated after the time delay defined by the user.
Program features
95
Settings
Parameter
50.03 SPEED FB SEL
Selection of the speed feedback
50.05 ENCODER ALM/FLT
Selection of the supervision with speed measurement error
50.11 ENCODER DELAY
Delay time for speed measurement supervision
Diagnostics
Actual value
08.02 AUX STATUS WORD,

bit12
Internal speed feedback is followed.
Alarm
Signal
ENCODER ERR
Fault
Signal
ENCODER ERR
Motor fan control

If the motor has an external cooling fan, it is possible to control the starter of the fan
motor via a digital output.
During motor start: If the motor fan acknowledge signal is not received by the
selected digital input within the time defined by parameter 35.02 FAN ACK
DELAY, a fault is generated and the drive is tripped.
During motor run: If the acknowledge signal is lost, an alarm is generated. If the
acknowledge signal is still lost after 35.02 FAN ACK DELAY, a fault is generated
and the drive is tripped. If the acknowledge time is zero, only an alarm is
displayed.
When fault is activated, fan off delay time (35.02 FAN ACK DELAY) is cleared.
Settings
Parameter
10.06 MOTOR FAN ACK
Selection of the motor fan acknowledgement signal source
14 DIGITAL OUTPUTS
Settings of the digital outputs
35 MOTOR FAN CTRL
Settings of the motor fan control
Diagnostics
Alarm
Signal
MOTOR FAN
Signal 09.05 Alarm Word 2 bit 0 value is set to 1.
Fault
Signal
MOTOR FAN
Signal 09.06 Fault Word 3 bit 0 value is set to 1.
Program features
96
Preprogrammed faults
Overcurrent
The overcurrent trip limit is 3.5 Ihd, where Ihd is the nominal motor current for
heavy-duty use.
There are two sources for the overcurrent fault:
RMIO software trip level (97% of the measurement range, time level
100 microseconds)
hardware trip level with parallel-connected units (overcurrent is detected by the
APBU board logic).
Note: With parallel-connected inverters the overcurrent fault indication is
OVERCURR x.
Diagnostics
Actual value
09.14 OVERCURRENT FAULT Overcurrent

Fault
Signal
OVERCURRENT
OVERCURR x *
DC overvoltage
The DC overvoltage trip limit is 1.3 1.35 U1max, where U1max is the maximum
Unom of the inverter unit
400 V
500 V
690 V
U1max
415 V
500 V
690 V
DC voltage control and trip limits

High voltage trip limit (130% of U1max)
High voltage control limit (124%)
Brake chopper limit (120%)
Low voltage control limit (82%)

Charging limit (79%)
Low voltage tripping limit (60% of U1min)
Program features
UDC overvoltage trip limit

728 V DC
877 V DC
1210 V DC
97
Diagnostics
Fault
Signal
DC OVERVOLT
DC undervoltage
The DC undervoltage trip limit is 0.60 1.35 U1min, where U1min is the minimum
Unom of the inverter unit
400 V
500 V
690 V
U1min
380 V
380 V
525 V
UDC undervoltage trip limit

308 V DC
308 V DC
425 V DC
Diagnostics
Fault
Signal
DC UNDERVOLT
Drive temperature
The drive supervises the inverter module temperature. There are two supervision
limits: alarm limit and fault trip limit. These limits are inverter type-specific.
Note: The temperature difference between several parallel-connected inverter
modules is also monitored. If the temperature of one module compared to the
average temperature of the rest of the modules exceeds the limit, alarm/fault is
activated.
Diagnostics
Alarm
Signal
ACS800 TEMP
Signal 09.04 ALARM WORD 1 bit 4 value is 1.
TEMP DIF xy *
Signal 09.18 TEMP DIF ALM WORD
Fault
Signal
ACS800 TEMP
Signal 09.01 FAULT WORD 1 bit 3 value is 1.
ACS TEMP xy *
Signal 09.16 OVERTEMP WORD
TEMP DIF xy *
Signal 09.17 TEMP DIF FLT WORD
Program features
98
Short circuit
Short circuit protection is based on the power semiconductor (IGBT) voltage
measurement (100 microsecond time level). If voltage Uce (collector-emitter voltage)
will not rise within an application-specific time, short circuit fault is activated. This
supervision is active also when no switch-off command has been issued to the IGBT.
The supervision is used for the inverter output circuit protection. If a short circuit
occurs, the drive will not start and a fault is activated.
Diagnostics
Fault
Signal
SHORT CIRC
SC INV xy *
Signal 09.15 SHORT CIRC FAULT
Run disable
To activate the RUN ENABLE signal, a voltage signal must be connected to digital
input DI2. If the voltage drops to 0 V, the drive coasts to stop and fault RUN ENABLE
is generated. The drive will not start before the RUN ENABLE signal is active.
RUN ENABLE signal is also used to control the inverter charging. See section
Inverter charging logic on page 116.
Diagnostics
Fault
Signal
RUN DISABLE
Signal 09.02 Fault Word 2 bit 4 and 08.02 Auxiliary Status Word
bit 4 values are 1.
Overfrequency
If the drive output frequency exceeds the preset level (20.11 FREQ TRIP MARGIN),
for example in overshooting of the speed control, the drive is stopped and a fault
indication is given.
Diagnostics
Fault
Signal
OVERFREQ
Input phase loss

Input phase loss protection circuits supervise the main power cable connection by
detecting intermediate circuit ripple. If a phase is lost, the ripple increases. The drive
is stopped and a fault indication is given if the ripple exceeds 13%.
Diagnostics
Program features
Fault
Signal
SUPPLY PHASE
99
Control board temperature

The drive supervises the control board temperature. A fault indication is given if the
temperature exceeds 88 C.
Diagnostics
Fault
Signal
CTRL B TEMP
I/O monitoring
If there is a communication break or signal read error with the RMIO Control board
I/O or with the I/O extension module or I/O extension link, alarm is activated.
Diagnostics
Alarm
Signal
DIO ALARM
AIO ALARM
EXT DIO ALM
EXT AIO ALM
Start inhibit
When Prevention of an Unexpected Start-up is activated, the voltage supply of the
AGPS-0x (Gate Driver Power Supply) board is disconnected and
- alarm START INHIBI is generated if the drive was stopped
- fault START INHIBI is generated if the Prevention of Unexpected Start-up is
activated during motor run or if motor start command is given while the Prevention of
Unexpected Start-up is active.
The logging of START INHIBI alarm to the fault/alarm logger can be deactivated by
parameter 31.02 START INHIBIT ALM.
For more information, see Prevention of Unexpected Start-up on page 67.
Settings
Parameter
Deactivation of the logging of START INHIBI alarm into the

fault/alarm logger
Diagnostics
Alarm
Signal
START INHIBI
Signal 09.04 ALARM WORD1 bit 0 value is 1.
Fault
Signal
START INHIBI
08.21 START INHIBI WORD.

09.06 Fault Word 3 bit 5 value is 1.
Program features
100
Overswitching frequency
If the inner DTC control loop exceeds the maximum switching frequency, a fault is
generated.
Diagnostics
Fault
Signal
OVER SWFREQ
System fault
If an RMIO board software error causes a communication break, a system fault is
activated.
Diagnostics
Actual value
09.03 SYSTEM FAULT WORD
System fault information
Fault
Signal
SYSTEM FAULT
Operation limits
The drive has adjustable limits for speed, current (maximum), torque (maximum),
power and DC voltage.
Settings
Parameter
20 LIMITS
Drive limits
Parameter lock
The user can prevent parameter changes to the flash memory (EPROM) by
activating the parameter lock. The lock prevents parameter changing from the
CDP 312R control panel. From an external control system (e.g. fieldbus control
system) parameter changes to the RAM memory are allowed, even when the lock is
active.
Settings
Program features
Parameter
16.02 PARAMETER LOCK
Selection of the state of the parameter lock
16.03 PASS CODE
Selection of the pass code
101
Adaptive programming with DriveAP 2.x

Conventionally, the user can control the operation of the drive by parameters. Each
parameter has a fixed set of choices or a setting range. The parameters make the
programming easy, but the choices are limited. The user cannot customise the
operation any further. The adaptive program makes free customising possible
without the need of a special programming tool or language:
The program is built of standard function blocks included in the drive application
program.
The DriveAP 2.x or the control panel is the programming tool.
The user can document the program by drawing it on block diagram template
sheets (maximum of 10 sheets).
The maximum size of the adaptive program is 26 function blocks (6 for 10 ms time
level and 20 for 100 ms time level) and 22 I/O blocks (DI/AI/AO/...). The program
may consist of several separate functions.
With the WRITE block, the adaptive program can easily be connected to any of
the parameters in the drive application program.
Note: If adaptive program (originally done with DriveAP 2.x programming tool) is
modified with control panel, the function block view with DriveAP 2.x will be different,
since the location of the function blocks cannot be determined by the panel.
For more information, see ACS600/ACS800 Application Guide Adaptive Program for
System Application Program 7.x [3AFE68420075 (English)] and DriveAP 2.1 User
Manual [3AFE64540998 (English)].
Program features
102
Master/Follower
In a Master/Follower application, the system is run by several drives and the motor
shafts are coupled to each other (via gears, chains, belts etc.). The Master drive
controls the Follower drive(s) via a fibre optic link: The Master sends a broadcast
message to the Follower. Its also possible to receive three selectable feedback
signals from maximum three followers via optic link.
Program features
2 3 .0 1
7 0 .0 8
S P E E D R E F
M /F M O D E =
M A S T E R
2 3 .0 1
2 . 01 19
2 . 21 79
M A S T E R
2 . 01 19
P ID
S P E E D
C O N T R O L
M O T O R S P E E D
T O R Q U E R E F A
F O L L T O R Q R E F
= D S T O R Q R E F A
2 5 .0 1
7 0 .1 8
2 .2 0
T O R Q U E R E F 2
2 . 01 9
R E F A
D S 4 1 .3
2 6 .0 1
2 . 1 09
T O R Q U E R E F 3
T O R Q U E S E L E C T O R = 3 ...6
(n o t S P E E D o r Z E R O )
D S T O R Q
7 0 .3 0
T O R Q U E R E F
X
2 . 1 09
T O R Q U E R E F 3
M /F R E F E R E N C E S
D a ta s e t 4 1 .3
S G N 3 S C A L E
S IG N A L 3
2 6 .0 1
T O R Q U E S E L E C T O R = S P E E D
P R IN C IP L E : T O R Q U E C O N T R O L L E D F O L L O W E R
2 4 .0 2
2 .3 0
D S 4 1 .2
R E F
D S M C W
2 . 21 9
S G N 3 S C A L E
F O L L O W E R
L O A D S H A R E
A P P L IC A T IO N
D R O O P R A T E
= 0
F O L L S P D C O R R O U T
S P E E D
R E F 2
- F O L L O W E R
2 . 21 79
U S E D
S P E E D
R E F
7 .0 3 b 9
F O L L S P D C O R R E N A = F A L S E
2 5 .0 3
2 3 .1 8
S H A R E
2 .1 9
D S S P E E D
D S 4 1 . 12
M A S T E R
M A S T E R
7 0 .1 1
T O R Q U E
R E F A
2 5 .0 1
T O R Q U E R E F 2
2 . 01 9
7 0 .3 1
D a ta s e t 4 1 .2
P ID
S P E E D
C O N T R O L
M O T O R S P E E D
S P E E D R E F
S IG N A L 2
2 . 01 29
S P E E D
R E F 3
F O L L O W E R
M A S T E R
7 0 .1 0
F O L L S P D C T R L C O R
L O A D
C O N F IG U R A T IO N
M C W
D a ta s e t 4 1 .1
S IG N A L 1
F O L L S P E E D
R E F
7 0 .1 7
7 0 .0 8
F O L L O W E R D R IV E
S P E E D R E F
M /F M O D E =
F O L L O W E R
M A S T E R D R IV E
M A S T E R
7 0 .0 9
7 0 .1 7
F O L L S P E E D
R E F
S P E E D
R E F 2
U S E D
S P E E D
R E F
103
A block diagram for torque controlled Follower:
Program features
Program features
2 3 .0 1
7 0 .0 8
S P E E D R E F
M /F M O D E =
M A S T E R
2 3 .0 1
M A S T E R
2 . 01 19
2 . 21 79
S H A R E
- F O L L O W E R
7 .0 3 b 9
2 3 .1 8
2 5 .0 3
2 . 01 19
2 .1 9
2 4 .0 2
2 5 .0 1
D S 4 1 .3
2 6 .0 1
2 . 1 09
T O R Q U E R E F 3
F O L L O W E R W IT H L O A D S H A R E F U N C T IO N
R E F
T O R Q U E R E F A
F O L L T O R Q
R E F A
7 0 .3 0
D S T O R Q
S G N 3 S C A L E
T O R Q U E R E F
X
2 . 1 09
T O R Q U E R E F 3
D a ta s e t 4 1 .3
2 6 .0 1
S IG N A L 3
7 0 .1 8
2 .2 0
T O R Q U E R E F 2
2 . 01 9
C O N T R O L L E D
P ID
S P E E D
C O N T R O L
M O T O R S P E E D
F O L L O W E R
L O A D S H A R E
2 .3 0
D S 4 1 .2
S G N 3 S C A L E
P R IN C IP L E : S P E E D
D R O O P R A T E
= 0
D S M C W
2 . 21 9
D S S P E E D R E F
D S 4 1 . 12
M A S T E R
M A S T E R
7 0 .1 1
T O R Q U E
R E F A
2 5 .0 1
T O R Q U E R E F 2
2 . 01 9
7 0 .3 1
D a ta s e t 4 1 .2
P ID
S P E E D
C O N T R O L
M O T O R S P E E D
S P E E D R E F
S IG N A L 2
2 . 01 29
S P E E D
R E F 3
F O L L O W E R
M A S T E R
7 0 .1 0
F O L L S P D C O R R O U T
S P E E D
R E F 2
A P P L IC A T IO N
2 . 21 79
U S E D
S P E E D
R E F
F O L L S P D C O R R E N A = T R U E
L O A D
M C W
D a ta s e t 4 1 .1
S IG N A L 1
F O L L S P E E D
R E F
7 0 .1 7
7 0 .0 8
F O L L O W E R D R IV E
S P E E D R E F
M /F M O D E =
F O L L O W E R
M A S T E R D R IV E
M A S T E R
7 0 .0 9
7 0 .1 7
F O L L S P E E D
R E F
S P E E D
R E F 2
U S E D
S P E E D
R E F
104
A block diagram for speed controlled Follower with load share function:
105
Parameter selection (70.08 CH2 M/F MODE) defines whether the drive is the Master
or the Follower in the communication link. Parameter selection can be changed
on-line through an external control system (e.g. fieldbus control system via 07.03
bits 6, 10 and 11). Typically the speed controlled process master drive is configured
also as the Master of the communication.
The Master station is typically speed controlled and the other drives follow its torque
or speed reference. In general, torque control of the Follower should be used when
the motor shafts of the Master and Follower drives are coupled to each other and no
speed difference between the drives is possible. Pulse encoders are recommended
to be used in all of the torque controlled Followers.
The source for the Follower torque/speed reference is selected by parameter 70.17
FOLL SPEED REF / 70.18 FOLL TORQ REF. The Follower reference can also be
selected through external control by 07.03 Auxiliary Control Word 2 bits 6...8.
The selected bits of MCW sent by master can be used in the followers MCW. The
bits are selected by parameter 70.34 FOLLOWER MCW MASK in the follower. The
other bits of the followers MCW are for example sent by fieldbus.
The load sharing between the Master and the Follower can be adjusted by
a parameter (par. 25.03 LOAD SHARE of the Follower drive).
A Master/Follower link is formed by connecting the DDCS CH2 channels of two or
more drives in a ring or star configuration (NDBU branching unit is required with star
configuration).
Ring configuration:
T = Transmitter; R = Receiver; RMIO = I/O and Control Board
Please note that channels CH0/CH2/CH3 are located on the optional RDCO-0x module.
Master
ACS800
ACS800
RMIO-XX
CH2
T R
RDCO-0X
V17
RDCO-0X
RMIOXX
V18
CH2
T R
V17
RDCO-0X
ACS800
RMIO-XX
V18
V17
V18
CH2
T R
Follower
Follower
Program features
106
Star configuration:
T = Transmitter; R = Receiver; RMIO = I/O and Control Board
Please note that channels CH0/CH2/CH3 are located on the optional RDCO-0x module.
Master
ACS800
RMIO-XX
RDCO-0X
V17
V18
CH2
T R
Follower 1
V17
V18
CH2
T R
RDCO-0X
RMIOXX
...
CH2
T R
RDCO-0X
V17
RMIO-XX
ACS800
MASTER
NDBU
V18
ACS800
Follower n
See control block diagrams in sections Speed reference on page 303 and Torque
reference on page 306.
Program features
107
Settings
Parameter
23.07...23.09
Definition of the speed supervision function for

a torque-controlled Follower drive
25.03 LOAD SHARE
Load share (i.e. scaling factor for torque reference 02.28 USED
TORQ REF)
25.03 LOAD SHARE

23.18 FOLL SPD CTRL COR,
23.19 FOLL SPD COR MODE
Load share function with speed controlled Follower
26.01 TORQUE SELECTOR
Selection of the torque reference
70.07...70.14, 70.17, 70.18,

70.30...70.37
Settings of the Master/Follower link

Actual value
02.30 FOLL SPD CORR OUT
Output of the load share function used with speed controlled

Follower
03.3303.42
Signal values received from followers
07.02 AUX CONTROL WORD 1,

bit 7
Speed supervision for a torque controlled Follower drive
07.03 AUX CTRL WORD 2,

bits 6...8
Follower reference from external control
07.03 AUX CTRL WORD 2, bit 9
Activation of the load share function with speed controlled

Follower
07.03 AUX CTRL WORD 2,

bits 6, 10 and 11
Role of the drive in the Master/Follower link
Master drive
The torque reference source address is defined in the Master drive by parameter
70.11 MASTER SIGNAL 3 to be sent as data set 41 to the Follower drives. Main
Control Word 70.09 MASTER SIGNAL 1 and speed reference 70.10 MASTER
SIGNAL 2 can also be sent through the link in the same DDCS message.
Typical Master drive parameter settings are:
Master drive parameter
Setting
70.08 CH2 M/F MODE
MASTER
07.01 MAIN CTRL WORD / 02.26 USED MCW
23.01 SPEED REF
02.10 TORQ REF 3
70.35 FOLLOWER SEL
NOT USED (No data read from followers)
The Master drive sends master references 1...3 in one DDCS broadcast message
(cyclic communication) every 2 ms.
70.11 MASTER SIGNAL 3 can be scaled by parameter 70.30 MASTER SGN3
SCALE before it is sent to the Follower drive. Rescaling is done by parameter 70.31.
FOLLOW SGN3 SCALE. Scaling is useful e.g. when torque reference received from
the Master needs to be relative to the power of the motor connected to the Follower.
Program features
108
Follower drive(s)
In the Follower mode the speed and torque references are read from data set 41.
The Follower mode includes only fast data read from data set 41. Therefore Follower
mode can also be used with an external control system connected to DDCS channel
CH0 by sending a message to data set 41 from the control system. This is useful
when fast communication is required but there is no need for a real Master/Follower
application.
Data set #
Data word #
Default parameter address
Follower signal
41
02.26 USED MCW
02.29 DS MCW
23.01 SPEED REF
02.18 DS SPEED REF
25.01 TORQ REF A
02.20 DS TORQ REF A
Typical Follower drive parameter settings are:

Follower drive parameter
Setting
70.08 CH2 M/F MODE
FOLLOWER
70.17 FOLL SPEED REF
MASTER (if the speed reference is read from the Master drive)
(or controlled by 07.03 bits 6 and 7)

70.18 FOLL TORQ REF
MASTER (if the torque reference is read from the Master drive)
(or controlled by 07.03 bits 6 and 8)

70.34 FOLLOWER MCW MASK
0 (MCW sent by master is not used)
25.03 LOAD SHARE
Default: 100%. Set according to the application requirements.
26.01 TORQUE SELECTOR
SPEED/TORQUE (depending on the reference used in the

motor torque control)
In some applications, both speed and torque control of the Followers are required.
For example if it is necessary to accelerate all drives along the same speed ramp up
to a certain speed before torque control can be started, switching between the speed
and torque control is required. The switching is done by controlling parameter 26.01
TORQ SELECTOR from an external control system (e.g. fieldbus control system) or
via adaptive programming.
A speed supervision function for a torque controlled Follower drive is available. See
parameters 23.07 WINDOW INTG ON 23.09 WINDOW WIDTH NEG and signal
07.02 AUX CTRL WORD 1 bit 7.
The Follower drive is able to detect a communication break. The action taken by the
drive upon a communication brake is defined by parameters 70.13 CH2 TIMEOUT
and 70.14 CH2 COM LOSS CTRL.
See also section Master/Follower communication on page 30 for Master/Follower
configuration during drive start-up.
Program features
109
Data transfer from follower(s)

It is possible to receive three selectable feedback signals from a maximum of three
followers via optic link. The followers from which data is read are selected by
parameter 70.35 FOLLOWER SEL in master. The feedback signals are selected by
parameters 70.09 MASTER SIGNAL 1 70.11 MASTER SIGNAL 3 in the follower
drive. The received signals from followers can be read from signals 03.33
FOLLOWER2 MSW 03.42 FOLLOWER4 ACT3 in master drive. The signal
values are transferred as integer values.
This communication can also be used for status monitoring of followers in the master
drive. The masters start can be interlocked for status of followers. The enable signal
of the followers is selected by parameter 70.37 FOLL ENABLE SEL. The Masters
reaction to followers faulting is selected by parameter 70.36 FOLL FAULT SEL. If
70.09 MASTER SIGNAL 1 is not 801 (MSW), the parameter 70.36 FOLL FAULT
SEL must set to NO REACTION and parameter 70.37 FOLL ENABLE SEL to
ALLWAYS.
The example of parameter settings for master - follower application, where master is
controlled by external control system and two followers are controlled by masters
MCW. Masters start is interlocked to the status of the followers by parameters
70.3570.37 in the master drive.
Program features
110
(e .g . P L C )
E x te rn a l C o n tro l S y s te m
) + 5 &
F O L L O W E R 2
ra
.0
.0
.0
.1
.1
.3
.3
.3
.3
m e
1 S
8 C
9 M
0 M
1 M
2 C
5 F
6 F
7 F
te r
P E
H 2
A S
A S
A S
H 2
O L
O L
O L
s e ttin g s :
E D S C A L IN G
M /F M O D E
T E R S IG N A L
T E R S IG N A L
T E R S IG N A L
H W C O N N E C
L O W E R S E L
L F A U L T S E L
L E N A B L E S E
2
T
2 0 0 0 rp
M A S T E
2 2 6
2 3 0 1
2 0 9
IO N R IN G
F O L L O
F A U L T
M S W B
m
R
C H 2
P a
5 0
7 0
7 0
7 0
7 0
7 0
7 0
7 0
7 0
C H 2
) + 5 &
M A S T E R
W E R 2 + 3
IT 0
P a
5 0
7 0
7 0
7 0
7 0
7 0
7 0
7 0
7 0
7 0
9 8
ra
.0
.0
.0
.0
.1
.1
.0
.1
.3
.3
.0
m e
1 S
7 C
8 C
9 M
0 M
1 M
7 C
7 F
2 C
4 F
2 C
te r
P E
H 2
H 2
A S
A S
A S
H 2
O L
H 2
O L
O M
s e ttin g s :
E D S C A L IN G
N O D E A D D R
M /F M O D E
T E R S IG N A L
T E R S IG N A L
T E R S IG N A L
N O D E A D D R
L S P E E D R E F
H W C O N N E C
L O W E R M C W
M . M O D U L E
T
M
2 0 0 0 rp m
F O L L O W E R
8 0 1
1 0 1
1 0 7
2
M A S T E R
IO N R IN G
A S K F F F F
N O
) + 5 &
F O L L O W E R 3
R in g o r S ta r
T o p o lo g y in M /F lin k
C H 2
P a
5 0
7 0
7 0
7 0
7 0
7 0
7 0
7 0
7 0
7 0
9 8
ra
.0
.0
.0
.0
.1
.1
.0
.1
.3
.3
.0
m e
1 S
7 C
8 C
9 M
0 M
1 M
7 C
7 F
2 C
4 F
2 C
te r
P E
H 2
H 2
A S
A S
A S
H 2
O L
H 2
O L
O M
s e ttin g s :
E D S C A L IN G
N O D E A D D R
M /F M O D E
T E R S IG N A L
T E R S IG N A L
T E R S IG N A L
N O D E A D D R
L S P E E D R E F
H W C O N N E C
L O W E R M C W
M . M O D U L E
3
T
M
2 0 0 0 rp m
F O L L O W E R
8 0 1
1 0 1
1 0 7
3
M A S T E R
IO N R IN G
A S K F F F F
N O
The Main Control Word (02.26 USED MCW), speed reference (02.18 SPEED REF
4) and torque reference at the output of speed regulator (02.09 TORQUE REF 2) are
sent from the master to the followers. The Main Status Words (08.01 MAIN STATUS
WORD), actual speed (01.01 MOTOR SPEED FILT) and actual torque (01.07
MOTOR TORQ FILT2) are sent from the followers to the master. The master start is
prevented if the bit 0 of followers MSW is OFF and if one of the follower has a fault,
then also master is tripped to FOLLOWER FLT fault.
If master drive is faulted, it sends coast stop command also to followers.
Load share function with speed controlled Follower
Load sharing between Master drive and speed controlled Follower drives can be
used in several applications. The load share function is implemented by fine tuning
the speed reference with an additional term which is based on the torque reference
of the Master drive.
Load share is adjusted by parameter 25.03 LOAD SHARE and activated by 07.03
AUX CTRL WORD 2 bit 9. Parameters 23.18 FOLL SPD CTRL COR and 23.19
FOLL SPD COR MODE define how the Follower drives follow the Master torque.
Program features
111
The output of the load share function, 02.30 FOLL SPD CORR OUT, is added to
speed reference 02.02 SPEED REF3.
Note: The Master and Follower drives should have the same speed control tuning
values.
Note: Drooping (24.02 DROOP RATE) must be disabled when load share is used
with speed controlled Follower drives.
See control block diagrams on page 104 and in section Speed reference ramp on
page 304.
Process master on-line configuration
If the on-line configurable master is required the separate CACP board has to be
used. CACP works as communication master and 1 or 2 of drives can be process
masters and other drives are process followers. The process master can be
changed on-line without any interrupts in the process. For more information, see
chapter Program features for Master/Follower in ACS800 Configuration and Control
Program for ABB Industrial Drives Firmware Manual (3AUA0000021158 [English]).
Master/Follower link specification
Size of the link: One master and maximum of 10 Follower drives. If more than 10
Followers are required, an ABB representative should be consulted. The maximum
length of the fibre optic cables depends on the type of the used cable:
With RDCO-01 or RDCO-02:
- POF (Plastic Optic Fibre): Maximum cable length is 30 m.
- HCS (Hard-Clad Silica Fibre): Maximum cable length is 200 m.
For distances up to 1000 m: Use two Optical Converter/Repeater boards (NOCR-01)
with glass optic cable (GOF, 6.25 um, Multi-Mode).
With RDCO-03:
- POF (Plastic Optic Fibre): Maximum cable length is 10 m.
- HCS (Hard-Clad Silica Fibre): Not supported.
Transmission rate: 4 Mbit/s
Configuration: The role of the drive in the Master/Follower link can be changed
on-line through an external control system (connected to DDCS CH0) by parameter
70.08 CH2 M/F MODE or adaptive programming and thus there is no need for
hardware reconfiguration.
Total performance of the link: < 5 ms to transfer references between the Master
and Follower drives.
Protocol: DDCS (Distributed Drives Communication System)
Program features
112
Inverter fan speed control

Parallel-connected inverter modules can be equipped with an optional inverter fan.
The fan speed can be controlled by adjusting the fan speed control parameters.
The following figures present the different fan speed control curves.
Fan speed / Hz
50
16.08 is set to CONST 50 HZ
Drive
stopped
Fan
acceleration
time
Drive
modulating
Fan
deceleration
time
IGBT temperature / C
Charging
Fan speed / Hz
Drive
modulating
Drive
stopped
50
10
16.08 is set to RUN/STOP
Fan
acceleration
time
Fan
deceleration
time
Charging
Fan speed / Hz
16.08 is set to CONTROLLED

Drive
stopped
55
Drive
modulating
Fan deceleration time
Fan acceleration time
25
10
Charging
90
112
Settings
Program features
Parameter
16.08 FAN SPD CTRL MODE
Selection of the inverter fan speed control
113
LSU communication
Fibre optic link can be connected between line-side converter unit (LSU) and the
inverter unit (INU) in 4Q, low harmonic and liquid cooled single drives. Fibre optic
cable is connected between LSU control board CH0 and INU control board CH1 or
CH2. LSU's start, stop and reset commands can be given via INU and the actual
values can be read from LSU to INU, as well as DC and reactive power references
can be written from INU to LSU. If INU is faulted, also ISU is stopped. For further
details, see description of signals and parameters in groups 5 and 95.
Start by overriding system, when ISU starting is controlled by INU.
6WDUW(QDEOHG+:9
2Q
2II
$X[LOLDU\3RZHU21
2Q
2II
2Q
2II
&ORVHG
2SHQ
VHFRQGV
)LHOGEXV&RPPVWDUWV
(PHUJHQF\6WRSEXWWRQV
&KDUJLQJ
'&9ROWDJH,68,18
'LVFKDUJHG

&ORVHG

2SHQ
,680DLQ&RQWDFWRU
V

,680RGXODWLRQ
,180RGXODWLRQ
&RQWUROIURPWKH2YHUULGLQJ6\VWHP
0&:ELWV
06:ELWV
6WDWXV:RUGWR2YHUULGLQJ6\VWHP
2Q
2II

7RUTXHUHIHUHQFH
6WRS
6HTXHQFH

21
2))
2))
581
5$03287=(52
5$03+2/'
5$03,1=(52
5(6(7
,1&+,1*
2Q
2II

1HHGHGRQO\LIIDXOWVLWXDWLRQ
,1&+,1*
5(027(B&0'
5'<B21
5'<B581
5'<B5()
75,33('
2))67$
2))67$

$/$50
$76(732,17
5(027(

WLPH
*) Starting of modulation can be separated to free bit of MCW with parameter 95.06
LSU RUN MCW BIT.
Program features
114
There are several alternative for communication between the INU and LSU. This can
be selected by users parameter 95.05 LSU COMM SEL and it is not a HW
dependent like single drive or multidrive.
Settings
Parameter
95.01...95.02
References for LSU
95.03...95.04
Selection parameters for actual signals read from LSU.
95.05 LSU COMM SEL
Selection for communication type
95.06 LSU RUN MCW BIT
Selection for the start bit of LSU modulation
Diagnostics
Actual value
05.01...05.09
Actual values read from LSU
05.10..05.11
LSU status, fault and alarm words
05.13 LSU CONTROL WORD
Main control word of LSU
05.21...26
Special signals of Wind Turbine Application
Sine filter support

The sine filters are low-pass filters that suppress the high frequency components of
the drive output. The sine filters available for the ACS800 consist of single- or threephase reactors and delta- or star-connected capacitors.
The following diagram shows a drive system with a sine filter.
M
3~
Drive
Sine filter
The sine filters are used in conjunction with the ACS800 System Control Program.
The Scalar motor control mode (instead of DTC mode) is used with a sine filter. See
Users Manual Sine Filters (3AFE68389178 [English]).
The sine filter function is activated by parameter 98.04 DI/O EXT MODULE 2
(selection (4) STEP UP). This selection activates scalar mode and sets internal
parameters for sine filter use. The function requires an RDIO extension module. This
Program features
115
activates scalar control mode with internal parameter settings. The following sine
filter protections are available.
Input
DI/O EXT2:DI1
0 = CHOKE OTEMP, overtemperature of sine filter.

1 = no fault
DI/O EXT2:DI2
0 = FAN OVERTEMP, cooling fan overtemperature of sine filter.

1 = no fault
DI/O EXT2:DI3
Not in use.
DI/O EXT2:RO1
DI/O EXT2:RO2
Settings
Parameter
Defines relative output voltage boost at zero speed.
29.06 IR STEP-UP FREQ
Defines the frequency at which the step-up IR compensation reachers

the IR compensation
29.07 ENA INC SW FREQ
Minimum switching frequency limitation
98.04 DI/O EXT MODULE 2
Activation of sine filter support
99.02 MOTOR NOM

VOLTAGE
Using nominal supply voltage instead of motor rating plate value
98.10 DI/O EXT2 LOCATION
Location for DI/O EXT2 extension module
Diagnostics
Alarm
Signal
FAN OVERTEMP
Signal 09.05 ALARM WORD2 bit 5 value is 1
Fault
Signal
CHOKE OTEMP
Signal 09.06 FAULT WORD3 bit 8 value is 1
Program features
116
Inverter charging logic

With R2iR5i and R7i inverters digital input DI2 is used to indicate the position of
an optional DC switch.
Three conditions must be fulfilled before the charging relay is energised:
DC charging level has reached 79% of the nominal DC voltage.
Voltage derivative is 0 (i.e. voltage is not changing any longer).
Digital input DI2 value is 1, i.e. RUN ENABLE (see signal 08.05 DI STATUS
WORD).
When the DC switch opens, the inverter IGBT control is disabled and the charging
relay is de-energized. If undervoltage is detected in the supply voltage, the charging
relay is de-energized after the DC UNDERVOLT fault trip.
DC bars
DC switch
DI2
charging
logic
charging
relay
M
With R8i inverters equipped with an optional DC switch, the charging logic is
controlled by the Switch Fuse Control Board, ASFC.
Settings
Parameter
98.12 FUSE SWITCH CTRL
Activation of the inverter DC switch monitoring (with R8i inverters

equipped with an optional DC switch)
Diagnostics
Program features
Actual value
08.05 DI STATUS WORD
Digital input status
08.20 INV ENABLED WORD
Inverter module operation status
117
Monitoring panel NLMD-01

The cabinet door of the drive can be equipped with Led Monitoring Display panel
NLMD-01 to indicate a selected signal. The unit of the selected signal must be
percent (%).
NLMD-01 can be used with or without the CDP 312R control panel.
Settings
Parameter
18 LED PANEL CTRL
Settings of the Led Monitoring Display panel
Pulse encoder, RTAC

RTAC-01 pulse encoder module is connected to Slot 1 or Slot 2 of the drive or via
an optional AIMA-01 I/O Module Adapter connected to RMIO board DDCS channel
CH1.
Position counter
The number of pulse encoder pulses can be counted by using signal 07.02 Auxiliary
Control Word 1 bits 9...11. The calculation has three output modes: number of
pulses, number of revolutions and motor shaft position in degrees.
When faster synchronising is required, see parameter 10.04 SYNC CMD.
Program features
Program features
1 0 .0 4
E N C O D E R
P O S C O U N T M O D E = R O U N D & D E G
P U L S E S F R O M
5 0 .0 9
7 .0 2 b 1 1
P O S C O U N T IN IT H IG H
R D Y
5 0 .0 8
R E S E T S Y N C
8 .0 1 b 3
7 .0 2 b 1 0
S Y N C D IS A B L E
F A U L T
7 .0 2 b 9
S Y N C C O M M A N D
D I
P O S C O U N T IN IT L O W
S Y N C C M D
5 0 .0 7
> 1
> 1
P O S IT IO N C O U N T : L O G IC A N D
A D D
&
S
R
C A L C U L A T IO N D IA G R A M
8 .0 2 b 5
S Y N C R D Y
3 .1 0
P O S C O U N T R O U N D S
P O S C O U N T D E G R E E S
P O S C O U N T H IG H
3 .0 8
3 .0 9
P O S C O U N T L O W
3 .0 7
118
119
Example:
A basic position count function can be seen in the following figure. When
synchronisation is enabled (07.02 bit 10 SYNC DISABLE value is 0) and the next
positive edge of the SYNC CMD (07.02 bit 9) is encountered, the initial values of
POS COUNT INIT LOW and POS COUNT INIT HIGH (par. 50.08 and 50.09) are
loaded into the counter. (Initial values can only be used in the pulse edge count
mode.) Status signal SYNC RDY (08.02 bit 5) is set to indicate position counter
synchronisation. When the positioning has been completed by an external control
system (i.e. the motor can be stopped or some other sequence started), signal
SYNC RDY can be reset by RESET SYNC RDY (07.02 bit 11).
SYNC CMD 7.02 B9
SYNC DISABLE 7.02 B10
SYNC RDY 8.02 B5
RESET SYNC RDY 7.02 B11
ENCODER PULSES
POS COUNT LO 3.07
POS COUNT HI 3.08
or
POS COUNT ROUNDS 3.10
POS COUNT DEGREES 3.09
POS COUNT INIT LO 50.08

POS COUNT INIT HI 50.09
Settings
Parameter
10.04 SYNC CMD
Synchronisation of the position count
50 SPEED MEASUREMENT
Settings of the encoder and processing of the position counter

(50.07...50.09)
98.01 ENCODER MODULE
Activation of the RTAC module

Actual value
Measured motor speed
03.07...03.10
Position counter values
07.02 AUX CONTROL

WORD 1, bits 9...11
Commands for the position count
Speed feedback: 0 = Pulse encoder is used.

1 = Internal speed feedback is used.
Program features
120
Firmware
Firmware loading package
Each drive product has a product specific loading package, which contains all
necessary software files to be downloaded to the RMIO board. The loading
packages define for example the inverter ratings which are different for AC and DC
supplied inverters. The type information of the loading package can be identified
from signal 04.01 SW PACKAGE VER. The downloaded application program
version can be identified from signal 04.03 APPLIC SW VERSION.
Program boot
The application program of the RMIO board is saved to the FPROM memory. After
switching on the auxiliary power, the program starts routines for initialisation and
loading of all tasks, parameters and the application program from the FPROM to the
RAM memory. This takes 8 seconds. A fault reset is given at the end of the boot
procedure and the control mode of the drive is changed to remote.
Memory handling
Parameter value changes through DriveWindow or CDP 312R control panel are
stored to the RAM and FPROM memories. Parameter value changes through
an external control system are stored only to the RAM memory. However, if
parameter changes made through external control need to be saved to the FPROM,
saving can be executed by setting parameter 16.06 PARAMETER BACKUP to
SAVE.
DriveWindow
or CDP 312R
parameter
change
RAM memory
POWER-UP
USER 1
LOAD
USER 2
LOAD
FACTORY
Par. 16.06
Parameter file
USER MACRO 1 file
USER 1
SAVE
USER 2
SAVE
USER MACRO 2 file

FACTORY FILE
FPROM memory
When the power is turned off, 16 latest faults or alarms are saved to the FPROM
memory.
Settings
Program features
Parameter
16.06 PARAMETER BACKUP
Saving of parameters from the RAM memory to the FPROM

memory
121
Diagnostics
Actual value
04.01 SW PACKAGE VER
Type and version of the firmware package
04.03 APPLIC SW VERSION
Type and the version of the application program
Diagnostics
Drive diagnostics is informed by signals, data loggers and event and fault loggers.
Fault and event loggers
The fault logger collects 64 of the most recent faults into the fault buffer in the RAM
memory. The latest 16 faults are stored to the flash memory at the beginning of
an auxiliary power supply loss when an internal +24 V power supply is used.
The fault logger records all available information from the drive including fault, alarm,
reset and system messages.
Time format
Fault logger time is taken from the power-on counter and can be seen on the
CDP 312R control panel in format xx H zz MIN yy S = hours, minutes seconds (with
DriveWindow the format is xxxx:zz: yy.yyyy = hours:minutes:seconds). The counter
can be updated cyclically from an external control system if the system includes
a controller with a clock master (for example AC 80 / AC 800M). In this case the
DriveWindow and the CDP 312R control panel show the real date and time.
Data loggers 1 and 2
Data loggers are used to monitor selected signals and to store them for later retrieval
and analysis. The contents of the data loggers are stored to the RAM memory. There
are two data loggers on the RMIO board. Both data loggers consist of 1...4 channels.
The minimum sample interval is 1 ms. The total memory size of a data logger is 1024
bytes. The maximum number of samples depends on the data type:
Integer type signal or parameters reserve 1 byte.
Real type values reserve 2 bytes.
Example: Four real type signals are measured with data logger 1. The maximum
number of samples is 1024 / (2 bytes 4 channels) = 128.
Data loggers store the selected signals to the RAM memory every 5 milliseconds
Default signals
Data logger 1 default signals
Data logger 2 default signals
01.01 MOTOR SPEED FILT
01.07 MOTOR TORQUE FILT
01.10 DC VOLTAGE
23.01 SPEED REF
01.12 PP TEMP
25.01 TORQUE REF A
02.15 FLUX ACT
The default trigger mode for data loggers is a fault condition. Data logger 1 can also
be triggered by an external control system (e.g. fieldbus) or adaptive programming
via 07.02 Auxiliary Control Word 1 (bits 0 and 1).
Program features
122
Example: Triggered by rising edge:

07.02 bit 0: Restart data logger 1.
07.02 bit 1: Data logger 1 triggered
Actual value
03.11 DATALOG1 STATUS
Status Word of data logger 1
07.02 AUX CTRL WORD 1 bits 0 and 1
Data logger 1 control
Backup and restore function with DriveWindow

It is recommended to take a backup copy of the parameters and Motor ID run results
at the end of the commissioning of the drive. The data can be restored later, e.g.
downloaded into a spare board of the same type. The backup is done with the
DriveWindow PC tool (or with the CDP 312R control panel: the backup is stored to
the EEPROM memory of the panel).
The DriveWindow backup file (*.BPG) stores all the information from the drive
FPROM to the PC. For instructions on how to make a backup, see DriveWindow 2
Users Manual [3AFE64560981 (English)].
DriveWindow backup file (*.BPG) is normally downloaded if the RMIO board is
replaced.
The backup can be restored to a spare board in which CH3 node address is 1. One
spare RDCU-02C unit or ACS800 drive module R2i/.../R5i/R2/.../R6 including an
RMIO board, is needed for each application software type (for example System,
Standard, Crane etc.). The spare board and the original board must have the same
firmware. See signal 04.01 SOFTWARE VERSION. The inverter type for a spare
RMIO board (defined usually during software download) can be of any type
(selection NONE can also be used).
Note: The DriveWindow backup can be restored only if the destination firmware
(e.g. spare board firmware) and the original firmware (which was backed up) have
the same channel CH3 node addresses (70.15 CH3 NODE ADDR) or if the
destination firmware node address is 1. With other node addresses, the following
message is displayed.
Note that the new node address becomes valid only after the next power-up of the
drive.
Program features
123
Note: If backup restore function does not restore all the information (e.g. ID run
results), restore the backup again. Use DriveWindow version 2.21 or newer or
update your older version using service pack available in ABB Library.
Note: The DriveWindow backup cannot be executed in local control mode.
Note: Remember to save the backup file after the backup is completed.
Settings
Parameter
70.15 CH3 NODE ADDR
Definition of the channel CH3 node address
Diagnostics
Actual value
04.01 SOFTWARE VERSION
Firmware package type and version
User macro save with DriveWindow

When user macros are saved to the PC with DriveWindow, both macros must be
saved separately:
1) Activate user macro 1 by setting parameter 99.11 APPLICATION MACRO to
USER1 LOAD and save it:
Select remote control mode.
Select the drive from the list.
Select from the File menu: Parameters - Save as (parameter file name *.dwp).
2) Activate user macro 2 by setting parameter 99.11 APPLICATION MACRO to
USER2 LOAD and save it according to the instruction given above.
The files should be named logically and clearly to identify the corresponding drive
and the macro, e.g. Unwinder 1 macro 1. The process name of the drive can be
typed into parameter 97.01 DEVICE NAME, e.g. Unwinder 1, and it can be seen on
the DriveWindow main menu and on the second row of the control panel display.
For more information on user macros, see section User macros on page 280.
Settings
Parameter
97.01 DEVICE NAME
Definition of the drive name
99.11 APPLICATION MACRO
Activation of user macro 1/2
Program features
124
Software version update

A version update restores parameters (groups 10...98) and ID run results from the
old drive firmware version to the new firmware version.
1) Before downloading the new software to the RMIO board, save parameters and
both user macros (if used) of the old software into a file in the PC:
Select the drive from the list:
Select from the File menu: Parameters - Save as (parameter file name *.dwp).
Save both user macros (if used) to the PC: Parameters - Save as (parameter file
name *.dwp). (User macros are activated by setting parameter 99.11
APPLICATION MACRO to USER1/2 LOAD.)
Create a DriveWindow backup file (*.BPG) to PC. For instructions, see
DriveWindow 2 Users Manual [3AFE64560981 (English)].
Upload DriveAP 2.x application to PC (if used) from the DriveAP drive menu:
Upload - Save as (file name *.ap).
Program features
125
2) Download the new software version to the RMIO board from the DOS loading
package according to the software downloading instructions.
3) Restore parameters (groups 10...98) and ID run results from the old software
version to the new software version:
Open the parameter file of the old software by selecting from the File menu:
Parameters - Open - (parameter file name *.dwp) - Open.
Select the appropriate drive.
Select from the File menu: Parameters - Download.
Note: When user macros are restored, save the stored user macro files (*.dwp) as
user macro 1 and 2 of the new software.
A version conflict notification appears. Proceed by clicking the YES button.
Select parameters and ID run results and click the OK button.
Program features
126
A user macro notification appears. If it is safe to proceed, click the YES button.
Restart the drive software by clicking the YES button.
Use compare function (File -Parameters -Compare) to check the parameter

differences between the drive and file.
Check the settings of the new parameters.
For more information on DriveWindow, see DriveWindow 2 Users Manual
Note: If adaptive programming is used and it has been created by the CDP 312R
control panel or DriveWindow, connections and blocks are activated automatically
when the parameter file is restored (parameter groups 53...66). If adaptive program
has been created by DriveAP 2.x, the program must be opened as follows:
Open the DriveAP 2.x application into the RMIO board by selecting from the File
menu: Open - (block application file *.ap).
Check that the DriveAP version is 2.1 or later.
Select from the DriveAP Drive menu: Download.
Start the adaptive program tasks by DriveAP 2.x.
Program features
127

The chapter describes the actual signals and parameters. Parameter groups 10...99
are user-adjustable. Actual signal groups 1...9 are only for monitoring (read-only, i.e.
no user setting is possible), though data can be written into the Control Words
(parameter group 7) through an external control system. Parameter changes
through DriveWindow or CDP 312R control panel are stored to the FPROM memory
and changes through external control system are stored to the RAM memory.
Note: Some parameters cannot be changed when the drive is running.
Fieldbus equivalent
Serial communication data between fieldbus adapter and drive is transferred in
integer format. Thus the drive actual and reference signal values must be scaled to
16-bit integer values. Fieldbus equivalent defines the scaling between the signal
value and the integer used in serial communication.
All the read and sent values are limited to 16 bits (-32768...32767).
Example 1: If 20.09 TREF TORQMAX is set from external control system, an integer
value of 100 corresponds to 1%.
Example 2: Speed reference is defined by parameter 23.01 SPEED REF. Parameter
50.01 SPEED SCALING defines the motor speed (in rpm) at maximum reference
(20000 for external control system). Thus, sending a value 20000 from an external
control system into parameter 23.01 sets the speed reference to the rpm value
defined by parameter 50.01.
Fieldbus addresses
Type Rxxx adapter modules (such as RPBA, RCAN, RDNA, etc.): See the
appropriate users manual.
PROFIBUS-DP NPBA-12 module: See column PB in the following signal and
parameter tables. (Add 4000 in FMS Mode.)
Interbus-S NIBA-01 module:
xxyy 100 + 12288 converted into hexadecimal (xx = parameter number and
yy = subindex)
Example: The index for drive parameter 13.09 AI3 LOW VALUE is 1309 + 12288 =
13597 = 351D (hex).
128
Modbus and Modbus Plus address

The drive parameters, data words, references and actual values are mapped into the
4xxyy register area. This holding register can be read from an external device, which
can modify the register values by writing into them.
There are no setup parameters for mapping the data into the 4xxyy register area.
The mapping is pre-defined and corresponds directly to the drive parameter
grouping which is being used by the local drive panel.
The parameters and signals are mapped into the area 4xxxx so that:
40001...40096 are reserved for data sets: 40001 = data set 1 data word 1,
40002 = data set 1 data word 2, 40003 = data set 1 data word 3,
40004 = data set 2 data word 1 etc.
40101...40999 are reserved for drive actual signals 01.01...09.99.
41000...49999 are reserved for drive parameters 10.01...99.99. (E.g. 41002 is
parameter 10.02). In this mapping, the thousands and hundreds correspond to
the group number, while the tens and ones correspond to the parameter number
within a group.
Terms and abbreviations

Term
Definition
Actual signal
Signal measured or calculated by the drive. Can be monitored by the

user. No user setting possible.
Boolean
Character string
Def.
Default value
FbEq
Fieldbus equivalent: The scaling between the value shown on the panel
and the integer used in serial communication.
Integer
Pointer
Parameter
A user-adjustable operation instruction of the drive
Pb
Packed boolean
PB
PROFIBUS equivalent for drive parameters communicating through the

NPBA-12 PROFIBUS Adapter. (Add 4000 in FMS Mode.)
Real
Data type (see B, C, I, R, Pb)
129
Index Name/Value
Description
01 ACTUAL SIGNALS
Basic signals for monitoring the drive
Filtered actual speed. Used speed feedback is defined by

parameter 50.03 SPEED FB SEL.
FbEq
PB T
See par.
50.01.
See par.
50.01.
See par.
50.01.
See par.
50.01.
100 = 1 Hz
10 = 1 A
100 = 1%
100 = 1%
10 = 1%
1=1V
10 R
1=1V
11
1 = 1C
12 R
1=1h
13 R
1=
100 kWh
14 R
1=1
15 I
Filter time constant can be adjusted by parameter 50.12 MOTOR

SP FILT TIME.
rpm
rpm
rpm
01.04 MOTOR SPEED
rpm
01.05 FREQUENCY
Hz
01.06 MOTOR CURRENT
A
01.07 MOTOR TORQ FILT2
%
01.08 MOTOR TORQUE
%
01.09 POWER
%
01.10 DC VOLTAGE
V
01.11
Speed
Calculated motor speed
Speed
Measured motor speed
Speed
Actual speed used for the speed error calculation
Speed
Calculated drive output frequency
Frequency
Measured motor current (absolute value)
Current
Filtered motor torque. Filter time constant can be adjusted by
parameter 25.07 TORQ ACT FILT TIM.
Torque in percent of the rated motor torque
Motor torque
Motor power
Power in percent of the rated motor power
Measured intermediate circuit voltage
Voltage
MOTOR VOLTAGE
Calculated motor output voltage
Voltage
01.12 ACS800 TEMP

C
01.13 TIME OF USAGE
h
01.14 KILOWATT HOURS
kWh
01.15 DI7-1 STATUS
0...127 (bin)
IGBT temperature
Temperature
Elapsed time counter. Runs when the control board is powered.
Time
kWh counter
Counter value
Status of digital inputs.
Example: 0001001 = DI1 and DI4 are on.
0001001
DI7
DI6
DI5
DI1
DI2
DI3
DI4
130
Index Name/Value
Description
FbEq
PB T
01.16 MOTOR 1 TEMP
Measured temperature of motor 1. See parameter 30.03 MOT1

TEMP AI1 SEL.
1 = 1C or
1
16 R
1 = 1C or
1
17 R
1 = 1C
18 R
Non-scaled value of analogue input AI1. See parameters 13.01 AI1 10000 =
HIGH VALUE and 13.02 AI1 LOW VALUE.
10 V or
20 mA
19 R
C or
01.17 MOTOR 2 TEMP
C or
01.18 MOTOR TEMP EST
C
01.19 AI1 [V]
-10...10 V
01.20 AI2 [mA]
-20...20 mA
01.21 AI3 [mA]
-20...20 mA
01.22 RO3-1 STATUS
0...127 (bin)
C = Pt100 measurement, = PTC / KTY84-1xx measurement

Measured temperature of motor 2. See parameter 30.06 MOT2
TEMP AI2 SEL.
C = Pt100 measurement, = PTC / KTY84-1xx measurement
Estimated motor temperature when thermal model (DTC or USER
MODE) is used for motor overtemperature protection. See
parameter 30.01 MOT THERM MODE.
Temperature
Voltage
20 mA, 2 V
or 10 V
20 R
Current
20 mA
21 R
Current
Status of relay outputs
1=1
22 I
20000 =
20 mA
23 R
20000 =
20 mA
24 R
Example: 0000110 = RO2 and RO3 are energised.

0000110
RO1
RO2
RO3
01.23 AO1 [mA]

0...22 mA
01.24 AO2 [mA]
0...22 mA
01.25 CONTROL MODE
Value of analogue output AO1. See parameter group 15

ANALOGUE OUTPUTS for signal selection and scaling.
Current
Value of analogue output AO2. See parameter group 15
ANALOGUE OUTPUTS for signal selection and scaling.
Current
Active control mode
Speed control
Torque control
01.26 LED PANEL OUTPUT

%
01.27 CABLE
TEMPERATURE
%
01.28 IU
0...300 A
01.29 IV
0...300 A
25 I
NLMD-01 LED panel output. See parameter group 18 LED PANEL 1 = 1

CTRL.
26 R
Panel output
Motor cable thermal model output monitoring. See parameter
group 36 MOTOR CABLE PROTECTION.
1=1
27 R
1=1
28 R
1=1
29 R
102% corresponds to the trip limit.

Measured output current of phase U
Current
Calculated output current of phase V
Current
131
Index Name/Value
Description
FbEq
PB T
01.30 IW
Measured output current of phase W
1=1
30 R
1 = 10 h
31 R
100 = 1%
37 R
1=1
38 R
1=1
41 I
1=1
42 I
See par.
50.01.
51 R
See par.
50.01.
52 R
See par.
50.01.
53 R
100 = 1%
54 R
100 = 1%
55 R
100 = 1%
56 R
100 = 1%
57 R
100 = 1%
58 R
0...300 A
01.31 FAN-ON-TIME
h
01.37 GENER TORQ FILT2
%
01.38 MOTOR RUN-TIME
h
01.41 EXT2 AI1
-20000...20000
01.42 EXT2 AI2
-20000...20000
Current
Running time of the drive cooling fan
Note: Resetting of the counter is recommended when the fan is
replaced. See parameter 16.09 RESET COUNTER.
Time
Filtered generating torque in percent of the rated motor or
generator torque. Same as 01.07 MOTOR TORQ FILT2, but with
opposite sign. Filter time constant can be adjusted by parameter
25.07 TORQ ACT FILT TIM.
Running time of the motor fan
Note: The counter can be reset by parameter 16.09 RESET
COUNTER.
Time
Non-scaled value of analogue input AI1 of I/O extension module
EXT 2
Integer value. 20000 corresponds to the maximum analogue input
signal value.
Non-scaled value of analogue input AI2 of I/O extension module
EXT 2
Integer value. 20000 corresponds to the maximum analogue input
signal value.
02 ACTUAL SIGNALS
Speed and torque reference monitoring signals
02.01 SPEED REF 2
Limited speed reference
-18000...18000 rpm
02.02 SPEED REF 3
-18000...18000 rpm
02.03 SPEED ERROR NEG
%
02.04 TORQUE PROP REF
%
Speed
Speed reference after the speed ramp
Speed
Difference between speed reference and actual speed.
If parameter 23.07 WINDOW INTG ON is active, 02.03 SPEED
ERROR NEG is filtered through the window function.
Difference
Output of the proportional part (P-part) of the PID controller
Output value
02.05 TORQUE INTEG REF Output of the integral part (I-part) of the PID controller
%
02.06 TORQUE DER REF
%
02.07 TORQ ACC COMP
REF
%
02.08 TORQUE REF 1
%
Output value
Output of the derivative part (D-part) of the PID controller
Output value
Output of the acceleration compensation
Output value
Limited torque reference
Value in percent of the nominal motor torque
132
Index Name/Value
Description
FbEq
PB T
02.09 TORQUE REF 2
Speed controller output
100 = 1%
59 R
100 = 1%
60 R
TORQUE REF 4
Torque reference: sum of 02.10 TORQUE REF 3 and 26.02 LOAD 100 = 1%
COMPENSATION
61 R
Torque
%
02.10 TORQUE REF 3
02.11
02.12 TORQUE REF 5

%
02.13 TORQ USED REF
%
02.14 FLUX USED REF
%
02.15 FLUX ACT
%
02.16 dv/dt
rpm/s
02.18 SPEED REF 4
-18000...18000 rpm
02.19 DS SPEED REF
-18000...18000 rpm
02.20 DS TORQ REF A
%

Torque reference after the torque selector
Torque reference: sum of 02.11 TORQUE REF 4 and 26.03

TORQUE STEP
02.23 TORQ DC LIM REF

%
02.24 TORQ POW LIM REF
-600.00...600.00%
02.25 ADDITIVE SP REF
-18000...18000 rpm
02.26 USED MCW
0...65535
100 = 1%
63 R
10 = 1%
64 R
10 = 1%
65 R
See par.
50.01.
66 R
See par.
50.01.
68 R
See par.
50.01.
69 R
100 = 1%
70 R
100 = 1Hz
71 R
100 = 1%
72 R
100 = 1%
73 R
10 = 1%
74 R
See par.
50.01.
75 R

Flux reference
Flux
Actual flux
Flux
Speed reference change after the speed ramp generator
Speed change
Speed reference before speed error calculation
Speed
Speed reference in a Master/Follower application
Speed
Torque reference in a Master/Follower application
Frequency
02.22 TORQ FREQ LIM REF Torque reference after the frequency limiter
%
62 R
Torque
Limited torque reference after frequency, voltage and torque
limiters
02.21 FIELDWK POINT ACT Actual field weakening point

Hz
100 = 1%

Torque reference after the DC voltage limiter
Torque reference after the power limiter
Analogue input speed reference when AI+FBA SPEED REF
function has been activated by parameter 11.02 REFERENCE
SELECT. This additional speed reference can also be updated by
the Application Program if AI+FBA SPEED REF is not selected.
Speed
Internal command word used by the application program. Control
commands which are actually used can be monitored with this
signal.
Control word value
Pb
133
Index Name/Value
Description
FbEq
02.27 USED SPEED REF
Speed reference. See control block diagram in section Speed

See par.
50.01.
100 = 1%
Pb
See par.
50.01.
-18000...18000 rpm
02.28 USED TORQ REF A
%
02.29 DS MCW
0...65535
02.30 FOLL SPD CORR
OUT
-18000...18000 rpm
03 ACTUAL SIGNALS
Speed
Torque reference. See control block diagram in section Torque
Main control word used in a Master/Follower application
Control word value
Speed output correction of the load share function with speed
controlled Follower drive. See section Load share function with
speed controlled Follower on page 110.
Speed
Monitoring signals
03.02 APPLICATION OVERL Overload monitoring

-32768...32767
03.03 RS
mohm
03.04 LS
mH
03.05 SIGMALS
mH
03.06 TR
ms
03.07 POS COUNT LO
0...65536
03.08 POS COUNT HI
0...65536
03.09 POS COUNT
DEGREES
-360...360 deg
03.10 POS COUNT
ROUNDS
-8388608...8388608
PB T
1=1
77 Pb
28676 =
1
78 R
Bit 0 = Application Task 1 overload

Estimated stator resistance RS (consists of the resistance value
estimated during ID run and the temperature dependence of the
resistance).
Resistance
100 = 1 mH 79 R
Estimated stator inductance LS

Inductance
Estimated value of leakage factor LS
100 = 1 mH 80 R
Leakage factor
Estimated time constant of the rotor
1 = 1 ms
81 R
1=1
82 I
1=1
83
1 = 1 deg
84 R
1=1
85 R
Time constant
Position counter value in pulses (16 least significant bits)
Integer value
Position counter value in pulses (16 most significant bits)
Integer value
Position counter value. Parameter 50.07 POS COUNT MODE
must be set to ROUND&DEG. This signal is used together with
signal 03.10 POS COUNT ROUNDS.
Position
Position counter value in total shaft revolutions. Parameter 50.07
POS COUNT MODE must be set to ROUND&DEG. This signal is
used together with signal 03.09 POS COUNT DEGREES.
Integer value
134
Index Name/Value
Description
03.11
DATALOG1 STATUS
Status Word of data logger 1. See section Data loggers 1 and 2 on

page 121.
-32768...32767
B0 = triggered on fault
B1 = triggered on set level
B2 = triggered on alarm
B3 = triggered on limit
B4 = triggered by user
B5 = triggered from level
B6 = trend triggered from difference
B7 = initialising
B8 = overwrite
B9 = filled
B10 = running
B11 = initialised
B12 = not initialised
03.12 PP 1 TEMP
C
03.13 PP 2 TEMP
C
03.14 PP 3 TEMP
C
03.15 PP 4 TEMP
C
03.16 CTRL BOARD TEMP
C
03.18 TEMP DIF MAX
C
03.19 PHASE U TEMP DIF
C
03.20 PHASE V TEMP DIF
C
03.21 PHASE W TEMP DIF
C
03.31 LSU ACT SIGNAL 1
-32768...32767
03.32 LSU ACT SIGNAL 2
-32768...32767
03.33 FOLLOWER2 MSW
0...65535
Measured IGBT temperature of inverter module no. 1
FbEq
PB T
86 Pb
1=1
87 R
1=1
88 R
1=1
89 R
1=1
90 R
1 = 1C
91 R
1 = 1C
93 R
1 = 1C
94 R
1 = 1C
95 R
1 = 1C
96 R
Temperature
Temperature
Temperature
Temperature
Control board (RMIO) temperature
Temperature
Maximum phase temperature difference
Temperature
Temperature difference between individual module phase U and
the average temperature of the rest of the modules
Temperature
Temperature difference between individual module phase V and
Temperature
Temperature difference between individual module phase W and
Temperature
Line-side converter signal selected by parameter 95.03 LSU PAR1 1 = 1
SEL. This signal is active only when parameter 95.05 LSU COMM
SEL = LIMITED.
Signal value
Line-side converter signal selected by parameter 95.04 LSU PAR2 1 = 1
SEL. This signal is active only when parameter 95.05 LSU COMM
SEL = LIMITED.
Signal value
08.01 MAIN STATUS WORD of Follower 2 drive.
Signal value
1=1
Pb
135
Index Name/Value
Description
FbEq
03.34 FOLLOWER2 ACT2
Actual value 2 of Follower 2 drive. Signal source is selected by

parameter 70.10 MASTER SIGNAL 2 in the Follower 2 drive.
1=1
1=1
1=1
Pb
1=1
1=1
1=1
Pb
1=1
1=1
1=1
Pb
-32768...32767
-32768...32767
03.36 FOLLOWER3 MSW
0...65535
-32768...32767
-32768...32767
03.39 FOLLOWER4 MSW
0...65535
-32768...32767
-32768...32767
03.42 FOLL234 MSW
PB T
Signal value
Signal value
Signal value
Signal value
Signal value
Signal value
Signal value
Signal value
Main Status Word of Followers 24 combined together. See bit
definitions from signal 08.01 MAIN STATUS WORD.
Following bits of Main Status Words have OR function:
- bit 3 TRIPPED
- bit 6 ON INHIB
- bit 7 ALARM
- bit 13 RUN INTERLOCK
- bit 15
Rest of the bits have then AND function and result of these is
written to this signal 03.42 FOLL234 MSW.
Example:
Follower 2: 08.01 MSW
0...65535
0101 0101 0011 0111
Follower 3: 08.01 MSW
0000 0000 0011 1000
Master: 03.42 FOLL234 MSW
0000 0000 0011 1000
Signal value.
136
Index Name/Value
Description
FbEq
04 INFORMATION
Program versions
04.01 SW PACKAGE VER
Displays the type and the version of the firmware package in the
drive.
PB T
AMXR72x0
Product
A = Inverter software
D = DC drives software
I = Input bridge software
L = Large Drives software
Software application
B = Multi Block Programming Application
J = Cascade Control
M = System Control
N = PMSM System Control
P = Motion Control
S = Standard Control
T = FCB Application Template
U = Liquid Cooling Unit Application
Inverter hardware type
A = Custom Application Software
X = Multiple hardware (single drive & multidrive)
7 = ACS800-07/11/14/17LC (liquid cooled)
Control board type
A = NAMC-03 or NAMC-04 control board
M =NAMC-03 or NAMC-04 control board
B = NAMC-2x control board
C = AMC 3 control board
D = N2AC AMC board
E = NAMC-11 control board
G = NAMC-51 control board
R = RMIO control board
Software version number
04.02 DTC SW VERSION
Motor control software version. This fixed part of the application

program consists of motor control, operational system,
communication control of the DDCS channels and Modbus
software for the control panel.
04.03 APPLIC SW VERSION Displays the type and the version of the application program.
04.04 APBU EPLD
VERSION
Displays the APBU logic software version. APBU branching unit is

used with parallel connected inverter modules. Signal value is
updated only after the PPCC link has been successful established.
04.09 INVERTER TYPE
Displays the downloaded inverter type.
04.11
Displays the RMIO board type.
BOARD TYPE
137
Index Name/Value
Description
05 LSU SIGNALS
These Line Supply Unit signals and inputs are visible with WIDE
and WTA selection in parameter 95.05 LSU COMM SEL when
optic fibre communication link is connected between inverter RMIO
control board CH1 and LSU RMIO control board CH0. Data sets
are used to transfer information in communication. See parameter
group 95 LSU.
05.01 MAINS VOLTAGE [V]
Line to line voltage calculated by the line converter and sent to INU 1 = 1 V
every 100 ms. The value of parameter 92.05 D SET 13 VAL 2 must
be 111 in LSU.
V
05.02 LINE CURRENT [A]
A
05.03 POWER [kW]
kW
05.04 REACT POWER
[kVAr]
kVAr
05.05 LSU PP TEMP
C
05.06 LSU DI STATUS
0...127 (bin)
FbEq
Voltage
Line current measured by the line supply unit and sent to INU every 1 = 1 A
100 ms. The value of parameter of 92.06 D SET 13 VAL 3 must be
106 in LSU.
Current
Grid power calculated by the line supply unit and sent to INU every 1 = 1 kW
10 ms. The value of parameter 92.02 D SET 11 VAL 2 must be 108
in LSU.
Power in kilowatts.
Reactive grid power calculated by the line supply unit and sent to 1 = 1 kVAr
INU every 10ms. Positive value = capacitive, negative = reactive.
The value of parameter 92.03 D SET 11 VAL 3 must be 107 in LSU.
Reactive power
Power plate temperature of line supply unit, sent to INU every 500 1 = 1 C
ms. The value of parameter 92.12 D SET 17 VAL 3 must be 112 in
LSU.
Temperature
Status of line converter digital inputs DI7DI1, sent to INU every
100 ms. The value of parameter 92.04 D SET 13 VAL 1 must be
115 in LSU.
1=1
Programmable signal by LSU parameter 92.07 D SET 15 VAL 1,

sent to INU every 100 ms.
1=1

1=1

1=1
Signal 08.01 MAIN STATUS WORD in LSU.
1=1
Pb
Example: 0001001 = DI1 and DI4 are on.

0001001
DI7
DI6
DI5
05.07 LSU ACT1
PB T
DI1
DI2
DI3
DI4
-32768...32767
05.08 LSU ACT2
-32768...32767
05.09 LSU ACT3
-32768...32767
05.10 LSU STATUS WORD
138
Index Name/Value
0...65535
Description
FbEq
Main status word of the line converter, sent to INU every 10 ms.
The parameter 92.01 D SET 11 VAL 1 must be 801 in LSU.
Bit
Name
Value
Description
RDY_ON
Ready to switch on = no fault
Not ready to switch on = fault
Ready to operate = DC bus charged
Not ready to opearate
Operation enabled
Fault
No fault
RDY_RUN
RDY_REF
TRIPPED
46
7
10
Not in use
ALARM
MODULATING
REMOTE
NET OK
Warning
No warning
Converter modulates.
Converter is not modulating.
Drive control location: REMOTE
Drive control location: LOCAL
Network voltage is OK.
Network voltage is lost.
1112
13
14
15
05.11
LSU FAULT WORD
PB T
Not in use
CHARGING
OR RDY_RUN
CHARGING
Combines bits 14 and 1.

1
Ready to operate = DC bus charged

or
Charging contactor closed
Not ready to operate

or
Charging contactor open
Charging contactor closed
Charging contactor open

Not in use
Supply fault word of the line converter, sent to INU every 500 ms.
1=1
PbI
139
Index Name/Value
Description
FbEq
PB T
0...65535
05.12 LSU ALARM WORD
Bit
Name
Description
CHARGING FLT
DC link short-circuit during charging
OVERCURRENT
Overcurrent
EXT EVENT DI5
External fault indicated via digital

input DI5
ACS 800 TEMP
IGBT overtemperature
EXT EVENT DI4

input DI4
DI1
Fan failure. Fault is activated 5

seconds after failure.
MAIN CNT FLT
Main contactor failure
SHORT CIRC
Short-circuit in the main circuit
Internal fault
Internal fault. If this bit is 1, write down

the fault message from the fault
logger and contact your local ABB
representative.
NET VOLT FLT
Supply voltage out of range during

synchronisation
10
COMM MODULE
Communication error between drive

and type Rxxx fieldbus module or
between drive and external control
system..
11
EXT EVENT DI7

input DI7
12
EARTH FAULT
Internally detected earth (ground)

fault
13
SYNCHRO FLT
Synchronisation to supply failed
14
DC UNDERVOLT
Intermediate circuit DC undervoltage
15
DC OVERVOLT
Intermediate circuit DC overvoltage
Supply alarm word of the line converter, sent to INU every 500 ms. 1 = 1
Pb
140
Index Name/Value
Description
FbEq
PB T
0...65535
Bit
Name
Description
COMM MODULE
Communication break detected
PANEL LOST
Local control lost
DI1
DI1 alarm. Alarm is activated 0.5

seconds after failure.
AI<MIN FUNC
Current below 4 mA (4 mA minimum

selected)
ACS 800 TEMP
CURRENT LIM
Current limit exceeded
69
Not in use
10
NET LOST
Network voltage lost
11
EXT EVENT DI7
External fault indicated via digital input

DI7
12
13
14
Not in use
EARTH FAULT
Internally detected earth (ground) fault
EXT EVENT DI4

DI4
EXT EVENT DI5

DI5
15
05.13 LSU CONTROL

WORD
Not in use
Main control word of the line converter, sent to INU every 10 ms.
1=1
Pb
Writes an additional reference to data set 12.1 of LSU or WTA.

Sent to LSU every 100 ms.
1=1

1=1

1=1
0...65535
Bit
Name
Value
Description
ON/OFF
0 -> 1
Start charging (close charging contactor).
Open main contactor (switch power off).
12
3
Not in use
START
Start modulation
Stop modulation
46
7
Not in use
RESET
815
05.21 LSU REF1
0 -> 1
Reset
Not in use
-32768...32767
05.22 LSU REF2
-32768...32767
05.23 LSU REF3
141
Index Name/Value
Description
FbEq
PB T
-32768...32767
05.24 LSU ACT4
Reads a data value from data set 19.01 of LSU or WTA every 500 1 = 1
ms. Programmable signal by LSU or WTA parameter 92.13 D SET
19 VAL 1.
Reads a data value from data set 19.02 of LSU or WTA every 500 1 = 1
19 VAL 1.
Reads a data value from data set 19.3 of LSU or WTA every 500
1=1
19 VAL 1.
-32768...32767
05.25 LSU ACT5
-32768...32767
05.26 LSU ACT6
-32768...32767
07 CONTROL WORDS
ABB Drive Profile Control Words. See chapter Fieldbus control.
07.01 MAIN CTRL WORD
Main Control Word (MCW). A 16-bit data word.
0...65535
Pb
Control word value
MAIN CONTROL WORD (MCW)

Bit
Name
Value
Enter state / Description
ON
Enter RDY RUN state (08.01 MSW bit 1). IGBT or diode supply unit is started (supported
only with ACS800 multidrive and liquid cooled single drives.)
OFF1
Enter OFF state (08.01 MSW bit 0): Stop along the deceleration ramp defined by
parameter 22.02 DECELER TIME. Control pulses are removed at zero speed. Proceed to
READY TO SWITCH ON state unless other interlocks (OFF2, OFF3) are active.
IGBT or diode supply unit is stopped (supported only with ACS800 single drives).
Note: Restart is not possible before the drive has decelerated to zero speed.
OFF2
OFF2 inactive (08.01 MSW bit 4)
Emergency OFF: Coast to stop. Enter OFF2 ACTIVE (08.01 MSW bit 4); proceed to ON
INHIB (08.01 MSW bit 6).
Stator and flux currents are set to zero and control pulses are removed.
OFF3 inactive (08.01 MSW bit 5).
Emergency Stop: Stop along the deceleration ramp defined by parameter 21.04 EME
STOP MODE (fast stop). Stator and flux currents are set to zero and control pulses are
removed. Enter OFF3 ACTIVE (08.01 MSW bit 5); proceed to ON INHIB (08.01 MSW
bit 6).
Warning: Ensure motor and driven machine can be stopped using this stop mode.
See also section Emergency stop on page 65.
Enable operation. Enter RDY REF (08.01 MSW bit 2). Enable stator/armature pulses.
Raise flux to the nominal reference value, accelerate along speed ramp to the given
speed reference (Par. 23.01 SPEED REF).
Note: The Run Enable signal must be activated via digital input DI2 and the RUN
INTERLOCK function must deactivated by parameter 16.14 RUN INTERLOCK (08.01
MSW bit 13).
Inhibit operation, coast to stop. Enter operation inhibited (08.01 MSW bit 2 RDY REF
value is 0). Continue to RDY RUN state (08.01 MSW bit 1).
OFF3
RUN
142
MAIN CONTROL WORD (MCW)

Bit
Name
Value
Enter state / Description
RAMP OUT
ZERO
Enter RFG: OUTPUT ENABLED.

Force Ramp Function Generator output to zero. Stop along ramp (current and DC voltage
limits are in force).
Enable ramp function. Enter RFG: ACCELERATOR ENABLED.

Stop Ramp Function Generator (Ramp Function Generator output held).

Enter OPERATING.
Inhibit setpoint (= speed or frequency reference). Input of the speed ramp is forced to
zero.
Fault reset (0 -> 1) if an active fault exists. Enter ON INHIB (08.01 MSW bit 6).
RAMP HOLD
RAMP IN
ZERO
RESET
1
0
Continue normal operation.
INCHING 1
Accelerate to inching setpoint 1 (defined by parameter 23.02 CONST SPEED 1).

The following conditions must be fulfilled:
- bit 4 RAMP OUT ZERO = 0
- bit 5 RAMP HOLD = 0
- bit 6 RAMP IN ZERO = 0
Decelerate to zero speed.
Accelerate to inching setpoint 2 (defined by parameter 23.03 CONST SPEED 2).

The following conditions must be fulfilled:
- bit 4 RAMP OUT ZERO = 0
- bit 5 RAMP HOLD = 0
- bit 6 RAMP IN ZERO = 0
Decelerate to zero speed.
External control enabled
No control from external system (exception: OFF1, OFF2 and OFF3 commands)
10
INCHING 2
REMOTE
CMD
11...15 Not in use
143
Index Name/Value
Description
07 CONTROL WORDS
ABB Drive Profile Control Words. See chapter Fieldbus control.
Auxiliary Control Word 1 (ACW 1). A 16-bit data word.
0...65535
FbEq
-
Bit
Name
Description
RESTART
DLOG
Data logger 1 control: restart.
TRIGG
LOGGER
Data logger 1 control: trigger.
RAMP BYPASS
Speed reference ramp is bypassed.
BAL RAMP
OUT
Force speed ramp output to the value defined by

parameter 22.08 BAL RAMP REF.
FLUX ON DC
DC flux ON. (DC flux OFF: 07.02 ACW 1 bit 4

and 07.01 MCW bit 3, RUN, values must be 0.)
FLUX ON
Flux ON (zero torque).
HOLD NCONT
Hold integral part of the PI controller.
WINDOW
CTRL
Activate window control.
BAL NCONT
Force external value to the output of the speed

controller.
SYNC
COMMAND
Position counter control: synchronise command
10
SYNC
DISABLE
Position counter control: synchronise command

disabled
11
RESET SYNC
RDY
Position counter control: synchronous ready

command reset
12
ENABLE
RAMPED INCH
REF
Speed reference select: 23.17 RAMPED INCH

REF. See control block diagram in section
Speed reference on page 303.
13
DO1 CONTROL
RMIO digital output DO1 control. See

parameters 14.01 DO1 CONTROL, 14.02 DO1
GROUP+INDEX and 98.03 DI/O EXT
MODULE 1.
14
DO2 CONTROL

parameters 14.04 DO2 GROUP+INDEX and
98.03 DI/O EXT MODULE 1.
15
DO3 CONTROL

parameters 14.06 DO3 GROUP+INDEX and
98.04 DI/O EXT MODULE 2.
PB T
Pb
Control word value
144
Index Name/Value
Description
FbEq
Auxiliary Control Word 2 (ACW 2). A 16-bit data word.
Bit
Name
Description
EXT1 DO1
CONTROL
RDIO Extension module 1 digital output DO1

control
EXT1 DO2
CONTROL

control
EXT2 DO1
CONTROL

control
EXT2 DO2
CONTROL

control
4...5
Not in use
FOLL REF SEL

ACW2
1 = Follower speed and torque reference

according to bits 7 (FOLL SPEED REF) and
8 (FOLL TORQ REF).
0 = Follower speed and torque reference
sources according to parameters 70.17
FOLL SPEED REF and 70.18 FOLL TORQ
REF. See control block diagrams in sections
Speed reference on page 303 and Torque
FOLL SPEED
REF
1 = Follower speed reference is 02.19 DS

SPEED REF.
0 = Follower speed reference is 23.01
SPEED REF.
Used speed reference is indicated by signal
02.27 USED SPEED REF.
See control block diagram in section Speed
FOLL TORQ
REF
1 = Follower torque reference is 02.20 DS

TORQ REF A.
0 = Follower torque reference is 25.01
TORQUE REF A.
Used torque reference is indicated by signal
02.28 USED TORQ REF A.
See control block diagram in section Torque
FOLL SPD
CORR ENA
1 = Load share function with speed

controlled Follower drive is active. See
control block diagram in section Speed
reference ramp on page 304. 0 = Inactive
10
MASTER
1 = Drive is the Master of the channel CH2

communication link if value of bit 6 FOLL
REF SEL ACW2 is 1. 0 = Inactive
11
FOLLOWER
1 = Drive is the Follower of the channel CH2

communication link if value of bit 6 FOLL
REF SEL ACW2 is 1. 0 = Inactive
12
USER MACRO
CTRL
Macro change: 1 = macro 2, 0 = macro 1

See activation parameter 16.05 USER
MACRO CHG.
13...15
Not in use
PB T
Pb
145
Index Name/Value
Description
0...65535
FbEq
PB T
Control word value
08 STATUS WORDS
ABB Drive Profile Status Words. See chapter Fieldbus control.
08.01 MAIN STATUS WORD Main Status Word (MSW). A 16-bit data word.
0...65535
Pb
Status word value
MAIN STATUS WORD (MSW)

Bit
Name
Value
Description
RDY ON
Ready to switch on. If the inverter unit has an internal control link to the start/stop
control of the IGBT supply unit or diode bridge unit: power supply is switched on.
OFF
Not ready to switch on. This state is active as long as the Emergency OFF or
Emergency Stop commands are active (OFF2 or OFF3).
If the inverter unit has an internal control link to the start/stop control of the IGBT
supply unit or diode bridge unit: power supply is switched off.
RDY RUN
Ready to operate
Not ready to operate
RDY REF
Operation enabled: RUNNING. The drive follows the given reference.
Operation inhibited
Fault. The TRIPPED state is active until the fault is RESET.

Activate SWC ON INHIB state.
No fault
4
5
6
TRIPPED
OFF2 STA
OFF3 STA
ON INHIB
OFF2 inactive
OFF2 active
OFF3 inactive
OFF3 active
Switch on inhibited. State is activated after Emergency OFF or Emergency Stop or

TRIPPED state. Enter OFF state.
No switch on inhibition
Alarm
ALARM
1
0
No alarm
AT SETPOINT
OPERATING. 01.04 MOTOR SPEED equals 02.18 SPEED REF4 within tolerance
limits. Default setting for the tolerance is 10% of the motor nominal speed.
01.04 MOTOR SPEED differs from 02.18 SPEED REF4, i.e. the difference is outside
the tolerance limits. Default setting for the tolerance is 10% of the motor nominal
speed.
Drive control location: remote
Drive control location: local
Actual speed or frequency value equals or is greater than the supervision limit
defined by parameter 50.10 SPEED ABOVE LIMIT. Valid in both rotation directions
regardless of parameter 50.10 value.
Actual frequency or speed value is within supervision limit.
Motor parameters have been set and Prevention of Unexpected Start-up is inactive.
Motor parameters have not been set and/or Prevention of Unexpected Start-up is
active.
9
10
REMOTE
ABOVE LIMIT
11
Not in use
12
INTERNAL
INTERLOCK
146
MAIN STATUS WORD (MSW)

Bit
Name
Value
Description
13
RUN
INTERLOCK
RUN INTERLOCK. Run Interlock can be activated by parameter 16.14 RUN

INTERLOCK using e.g. adaptive programming or by opening DI2, if parameter 16.01
RUN ENABLE = INTERLOCK.
No RUN INTERLOCK.
14
MODULATING
15
Not in use
Index
Name/Value
Modulating: IGBTs are controlled, i.e. the drive is RUNNING.
No modulation: IGBTs are not controlled.

Description
FbEq
08 STATUS WORDS
ABB Drive Profile Status Words. See chapter Fieldbus control.
08.02
Auxiliary Status Word (ASW). A 16-bit data word.
AUX STATUS WORD
0...65535
Bit
Name
Description
LOGG DATA
READY
1 = Data logger 1 is triggered.

0 = Data logger 1 is running.
OUT OF WINDOW
Speed difference is out of the allowed

window.
EMERG STOP
COAST
Emergency stop function has failed.
MAGNETIZED
Flux has been formed in the motor.
RUN DISABLE
Operation disabled. RUN ENABLE signal

connected to digital input DI2 is not active.
SYNC RDY
Position counter is synchronised.
1 START NOT
DONE
FIRST START has not been performed after

the motor parameters in group 99 START-UP
DATA have been changed.
IDENTIF RUN
DONE
Motor ID run is successfully completed.
START
INHIBITION
Prevention of Unexpected Start-up is active.
LIMITING
Control is at a limit. See actual signals 08.03

LIMIT WORD 1 and 08.04 LIMIT WORD 2.
10
TORQ CONTROL
Torque reference is being followed.
11
ZERO SPEED
Absolute value of motor actual speed is

below the zero speed limit defined by
parameter 20.03 ZERO SPEED LIMIT
(default: 4% of the synchronous speed).
12
INTERNAL
SPEED FB
Internal speed feedback is being followed.
13
CH2 COMM LOSS
Channel CH2 (Master/Follower link)

communication error
14
USER MACRO 1
User macro 1 is activate.
15
USER MACRO 2
User macro 2 is activate.
Status word value
PB T
Pb
147
Index
Name/Value
Description
FbEq
08.03
LIMIT WORD 1
Limit word. A 16-bit data word.
Pb
Pb
08.04
Bit
Name
Active Limit
TORQ MOTOR LIM
Pull-out limit
SPC TORQ MIN LIM
Speed control torque minimum limit
SPC TORQ MAX LIM
Speed control torque maximum limit
TORQ USER CUR LIM
User-defined current limit
TORQ INV CUR LIM
Internal current limit
TORQ MIN LIM
Any torque minimum limit
TORQ MAX LIM
Any torque maximum limit
TREF TORQ MIN LIM
Torque reference minimum limit
TREF TORQ MAX LIM
Torque reference maximum limit
FLUX MIN LIMIT
Flux reference minimum limit
10
FREQ MIN LIMIT
Speed/Frequency minimum limit
11
FREQ MAX LIMIT
Speed/Frequency maximum limit
12
DC UNDERVOLT LIM
DC undervoltage limit
13
DC OVERVOLT LIM
DC overvoltage limit
14
TORQUE LIMIT
Any torque limit
15
FREQ LIMIT
Any speed/frequency limit
0...65535
Limit word value
LIMIT WORD 2
Limit word. A 16-bit data word.
0...65535
Bit
Name
Active Limit
P MOTORING LIM
Power limit (motoring)
P GENERATING LIM
Power limit (generating)
FOLL SPD COR MIN
Output of the signal FOLL SPD

CORR OUT is at minimum limit.
FOLL SPD COR MAX
Output of the signal FOLL SPD

CORR OUT is at maximum limit.
4...15
Not in use
PB T
Limit word value
148
Index
Name/Value
Description
FbEq
08.05
DI STATUS WORD
Digital input status word. A 16-bit data word.
Pb
Pb
Bit
Name
Description
DI1
RMIO board digital input DI1 status
DI2
DI3
DI4
DI5
DI6
EXT1_DI1
Optional Digital I/O Extension Module 1 RDIO

digital input DI1 status *
EXT1_DI2

EXT1_DI3

EXT2_DI1
Optional Digital I/O Extension Module 2 (RDIO)

10
EXT2_DI2

11
EXT2_DI3

12
DI7 (DIIL)
RMIO digital input DI7 status
13...
15
Not in use
PB T
*See parameters 98.03...98.04 and section Digital inputs on page 55.
08.06
0...65535
Status word value
AUX STATUS
WORD 2
Auxiliary Status Word 2 (ACW 2). A 16-bit data word.
0...65535
Bit
Name
Description
FAN ON
CMD
Motor fan control via digital output. See parameter

group 35 MOTOR FAN CTRL.
1...15
Not in use
Status word value
149
Index
Name/Value
Description
08.07
LIMIT WORD INV
A 16-bit data word. The LIMIT WORD INV includes information on the internal current limits. If any of the bit values are 1, signal
08.03 LIMIT WORD 1 bit 4 TORQ INV CUR LIM is set to 1.
08.10
FbEq
Bit
Name
0...1
Not in use
INT LOW FREQ
Current limit at high IGBT temperature with

low output frequency (<10 Hz). Temperature
model is not active.
INTG PP TEMP
Current limit at high IGBT temperature.

Temperature model is not active.
PP OVER
TEMP
Current limit at high IGBT temperature.

Temperature model is active.
PP OVERLOAD
Current limit at high IGBT junction to case

temperature. Temperature model is active. If
the IGBT junction to case temperature
continues to rise in spite of the current
limitation, PP OVERLOAD alarm or fault
occurs.
INV POW LIM
Current limit at inverter output power limit
INV TRIP CUR
Current limit at inverter overcurrent trip limit
OVERLOAD
CUR
Maximum inverter overload current limit. See

parameter 20.04 MAXIMUM CURRENT.
CONT DC CUR
Continuous DC current limit
10
CONT OUT
CUR
Continuous output current limit (Icont.max)
11
CONT DC CUR
Maximum continuous output current limited

due to reduced run function
12
CONT OUT
CUR
Maximum output current limited due to

reduced run function
13...
15
Not in use
Pb
Description
0...65535
Limit word value
MAIN STATUS
WORD2
Main Status Word 2. A 16-bit data word. Bits 07, 9, 1113 are
same as 08.01 MAIN STATUS WORD.
0...65535
PB T
Bit
Name
Description
LIMITING
Some torque limit is active.
10
GRID ALARM
If LSU is used, this bit indicates active grid

alarm.
14
TOGGLE BIT
100 ms toggle bit for communication

supervision.
Pb
Status word value
150
Index
Name/Value
Description
FbEq
08.20
INV ENABLED WORD A 16-bit data word. The INV ENABLED WORD includes
information on the inverter module operation status. The inverters
are ready for operation (i.e. all bit values are 1) when inverter
module DC switches are closed, DC intermediate circuit is
charged and the modules are allowed to start modulation.
PB T
Pb
A 16-bit data word. The START INHIBI WORD includes

information on the status of the Prevention of Unexpected Start-up
circuit.
Pb
The DC switch monitoring must be activated by parameter 98.12

FUSE SWITCH CTRL.
08.21
START INHIBI WORD
0...65535
Bit
Name
Description
INV1 ENABLED
Inverter module 1 ready for operation
INV2 ENABLED
INV3 ENABLED
INV4 ENABLED
INV5 ENABLED
INV6 ENABLED
INV7 ENABLED
INV8 ENABLED
INV9 ENABLED
INV10 ENABLED
10
INV10 ENABLED
11
INV12 ENABLED
12...
15
Not in use
Bit
Name
Description
INV1 START INHIB
Start of the inverter module 1 is inhibited
INV2 START INHIB
INV3 START INHIB
INV4 START INHIB
INV5 START INHIB
INV6 START INHIB
INV7 START INHIB
INV8 START INHIB
INV9 START INHIB
INV10 START INHIB Start of the inverter module 10 is inhibited
10
INV11 START INHIB
11
INV12 START INHIB Start of the inverter module 12 is inhibited
12...
15
Not in use
Status word value
151
Index
Name/Value
Description
08.22
INT CONFIG WORD
A 16-bit data word. The INT CONFIG WORD includes information on the number of inverter modules connected to the APBU
branching unit. INT CONFIG fault is activated if the number of R8i
inverter modules recognized by application program during PPCC
link initialisation is not equal to original number of inverters. See
section Reduced run function on page 81.
0...65535
FbEq
Bit
Name
Description
INT1
Inverter module 1 INT board is recognised by the

application program during PPCC link initialisation
INT2

INT3

INT4

INT5

INT6

INT7

INT8

INT9

INT10

10
INT11

11
INT12

12...
15
Not in use
PB T
Pb
Status word value
152
Index
Name/Value
Description
FbEq
08.23
LSU STATUS WORD
A 16-bit data word. The LCU (= IGBT or diode supply unit) Status
Word includes information on the line-side converter status.
0...65535
Bit
Name
Description
RDY_ON
Ready to switch on (no fault)
RDY_RUN
Ready to operate
RDY_REF
Operation enabled
TRIPPED
Fault
4...6
Not in use
ALARM
Alarm
MODULATING
Modulating
REMOTE
Drive control: remote
10
NET OK
Network voltage is OK.
11...13
Not in use
14
CHARGING
15
Not in use
Status word value
Charging contactor is closed.
PB T
Pb
153
Index
Name/Value
Description
FbEq
09 FAULT WORDS
ABB Drive Profile Fault Words. For the possible causes and
remedies, see chapter Fault tracing.
09.01
A 16-bit data word.
FAULT WORD 1
0...65535
Bit
Name
Description
SHORT CIRC
Short-circuit in the main circuit
OVERCURRENT
Overcurrent
DC OVERVOLT
Intermediate circuit DC overvoltage
ACS800 TEMP
EARTH FAULT
Earth (ground) fault or excessive output

current unbalance in inverter unit of several
parallel connected inverter modules.
MOTOR TEMP M
Measured motor overtemperature
MOTOR TEMP
Calculated motor overtemperature
SYSTEM FAULT
System fault indicated by 09.03 SYSTEM

FAULT WORD
UNDERLOAD
Underload
OVERFREQ
Overspeed
10
MPROT SWITCH
Motor protection switch has opened.
11
CH2 COMM LOSS

communication error
12
SC (INU1)
Short circuit in inverter unit 1 of several

parallel connected inverter modules
13
SC (INU2)

14
SC (INU3)

15
SC (INU4)

PB T
Pb
Fault word value
154
Index
Name/Value
Description
FbEq
09.02
FAULT WORD 2
A 16-bit data word
0...65535
Bit
Name
Description
SUPPLY PHASE
DC voltage ripple in intermediate circuit is too

high.
NO MOTOR
DATA
Motor data is not given or motor data does not

match with inverter data (parameter group 99
START-UP DATA).
DC UNDERVOLT
CABLE TEMP
Motor cable overtemperature
RUN DISABLE
No RUN ENABLE signal
ENCODER ERR
Encoder communication error
IO COMM ERR
I/O communication error
CTRL B TEMP
RMIO control board overtemperature
Not in use
OVER SWFREQ
Switching frequency is too high
10
AI<MIN FUNC
Analogue control signal is below minimum

allowed value.
11
PPCC LINK
AINT board current measurement or

communication error between RMIO and AINT
12
COMM MODULE
Communication error between drive and

R-type fieldbus module or between drive and
external control system
13
PANEL LOSS
Control panel or DriveWindow selected as

active control location for drive has ceased
communicating.
14
MOTOR STALL
Motor stall
15
MOTOR PHASE
Motor phase loss
Fault word value
PB T
Pb
155
Index
Name/Value
Description
FbEq
09.03
SYSTEM FAULT
WORD
A 16-bit data word.
Pb
Pb
09.04
Bit
Name
Description
FLT (F1_7)
Factory default parameter file error
USER MACRO
User macro file error
FLT (F1_4)
FPROM operating error
FLT (F1_5)
FPROM data error
FLT (F2_12)
Internal time level 2 overflow (100 s)
FLT (F2_13)
Internal time level 3 overflow (1ms)
FLT (F2_14)
Internal time level 4 overflow (50 ms)
FLT (F2_15)
Internal time level 5 overflow (1 s)
FLT (F2_16)
State machine overflow
FLT (F2_17)
Application program execution error
10
FLT (F2_18)
Application program execution error
11
FLT (F2_19)
Illegal instruction
12
FLT (F2_3)
Register stack overflow
13
FLT (F2_1)
System stack overflow
14
FLT (F2_0)
System stack underflow
15
Not in use
0...65535
Fault word value
ALARM WORD 1
A 16-bit data word
0...65535
Bit
Name
Description
START INHIBI
Prevention of Unexpected Start-up
EM STOP
Emergency stop
MOTOR TEMP M
Measured motor overtemperature
MOTOR TEMP
Calculated motor overtemperature
ACS800 TEMP
ENCODER ERR
Encoder communication error
T MEAS CIRC
Motor temperature measurement circuit error
DIGITAL IO
RMIO digital input error
ANALOG IO
RMIO analogue input error
EXT DIGITAL IO
RDIO digital I/O error
10
EXT ANALOG IO
RAIO analogue I/O error
11
CH2 COMM
LOSS

communication error
12
MPROT SWITCH
Motor protection switch has opened.
13
EM STOP DEC
Emergency stop deceleration error
14
EARTH FAULT
Earth (ground) fault
15
SAFETY SWITC
Safety switch is open.
PB T
Alarm word value
156
Index
Name/Value
Description
FbEq
09.05
ALARM WORD 2
A 16-bit data word.
0...65535
Bit
Name
Description
MOTOR FAN
No external motor fan acknowledgement

signal
UNDERLOAD
Underload
INV OVERLOAD
Inverter overload ACS 600
CABLE TEMP
Motor cable overtemperature
ENCODER A<>B
Wrong pulse encoder phasing
FAN OVERTEMP
Fan fault of sine filter
Not in use
POWFAIL FILE
Error in restoring powerfail.ddf file
POWDOWN FILE
Error in restoring powerdown.ddf file
MOTOR STALL
Motor stall
10
AI<MIN FUNC

allowed value.
11
COMM MODULE
Communication error between drive and

R-type fieldbus module or between drive
and external control system
12
BATT FAILURE
APBU branching unit memory backup

battery error
13
PANEL LOSS

communicating.
14
DC UNDERVOLT
15
RESTARTED
Motor has been restarted with AUTO

RESTART after a short power failure
Alarm word value
PB T
Pb
157
Index
Name/Value
Description
FbEq
09.06
FAULT WORD 3
A 16-bit data word.
Pb
Pb
09.11
Bit
Name
Description
MOTOR FAN
No external motor fan acknowledgement

signal
(Not in use)
Only with ACS 600: Start inhibit HW event
SAFETY
SWITCH
Safety switch is open in the motor circuit.
LINE CONV ERR
Line-side converter error
T MEAS CIRC
Motor temperature measurement circuit error
START INHIBI
Prevention of Unexpected Start-up is

activated during run or start command is
given when Prevention of Unexpected
Start-up is active. See section Prevention of
Unexpected Start-up on page 67.
GD DISABLED X
One of the AGPS power supply of the R8i

inverter module has been switched off during
drive run.
INT CONFIG
Number of R8i inverter modules recognized

by application program during PPCC link
initialisation is not equal to original number of
inverters.
CHOKE OTEMP
Excessive temperature of drive output filter
Not in use
10
ENCODER A<>B
Wrong pulse encoder phasing
11
DC HIGH RUSH
Excessive drive supply voltage
12
INV OVERTEMP
Excessive temperature of inverter module
13
MOD CHOKE T
Overtemperature in choke of liquid cooled

R8i inverter module
14
MOD BOARD T
Overtemperature in AINT board of inverter

module.
15
TEMP DIFF
Temperature difference. See 09.17 TEMP

DIF FLT WORD.
0...65535
Fault word value
ALARM WORD 3
A 16-bit data word.
0...65535
Bit
Name
0...11
Not in use
12
INV OVERTEMP
Temperature alarm of inverter module
13
MOD CHOKE T
Overtemperature in choke of liquid cooled

R8i inverter module
14
MOD BOARD T

module.
15
TEMP DIFF
Temperature difference. See 09.18 TEMP

DIF ALM WORD.
PB T
Description
Fault word value
158
Index
Name/Value
Description
09.13
CURRENT UNBAL
FW
A 16-bit data word.
0...65535
PB T
Pb
Bit
Name
Description
CUR UNBAL 1
Excessive output current unbalance in inverter

module 1 of several parallel connected inverter
modules
CUR UNBAL 2

modules
CUR UNBAL 3

modules
CUR UNBAL 4

modules
CUR UNBAL 5

modules
CUR UNBAL 6

modules
CUR UNBAL 7

modules
CUR UNBAL 8

modules
CUR UNBAL 9

modules
CUR UNBAL 10

module 10 of several parallel connected
inverter modules
10
CUR UNBAL 11

inverter modules
11
CUR UNBAL 12

inverter modules
12...
15
Not in use
Fault word value
FbEq
159
Index
Name/Value
Description
FbEq
09.14
OVERCURRENT FW
A 16-bit data word.
1=1
0...65535
Bit
Name
Description
OVERCURR 1
Excessive input current in inverter module 1 of

several parallel connected inverter modules
OVERCURR 2

OVERCURR 3

OVERCURR 4

OVERCURR 5

OVERCURR 6

OVERCURR 7

OVERCURR 8

OVERCURR 9

OVERCURR 10
Excessive input current in inverter module 10

of several parallel connected inverter modules
10
OVERCURR 11

11
OVERCURR 12

12...
15
Not in use
PB T
Pb
Fault word value
160
Index
Name/Value
Description
FbEq
09.15
SHORT CIRC FW
A 16-bit data word.
1=1
0...65535
Bit
Name
Description
SC INV1
Short circuit in inverter module 1.
SC INV2
Short circuit in inverter module 2 of several

SC INV3

SC INV4

SC INV5

SC INV6

SC INV7

SC INV8

SC INV9

SC INV10

10
SC INV11

11
SC INV 12

12
SC PHASE U
Short circuit in phase U of the faulted inverter

module
13
SC PHASE V
Short circuit in phase V of the faulted inverter

module
14
SC PHASE W
Short circuit in phase W of the faulted inverter

module
15
Not in use
Fault word value
PB T
Pb
161
Index
Name/Value
Description
FbEq
09.16
OVERTEMP FW
A 16-bit data word.
1=1
0...65535
Bit
Name
Description
ACS TEMP INV1
Overtemperature in inverter module 1 of

ACS TEMP INV2

ACS TEMP INV3

ACS TEMP INV4

ACS TEMP INV5

ACS TEMP INV6

ACS TEMP INV7

ACS TEMP INV8

ACS TEMP INV9

ACS TEMP INV10

10
ACS TEMP INV11

11
ACS TEMP INV12

12
OVERTEMP
PHASE U
Overtemperature in phase U of the faulted

inverter module
13
OVERTEMP
PHASE V
Overtemperature in phase V of the faulted

inverter module
14
OVERTEMP
PHASE W
Overtemperature in phase W of the faulted

inverter module
15
Not in use
PB T
Pb
Fault word value
162
Index
Name/Value
Description
FbEq
09.17
TEMP DIF FW
A 16-bit data word.
1=1
0...65535
Bit
Name
Description
TEMP DIF INV1
Temperature difference fault in inverter

inverter modules
TEMP DIF INV2

inverter modules
TEMP DIF INV3

inverter modules
TEMP DIF INV4

inverter modules
TEMP DIF INV5

inverter modules
TEMP DIF INV6

inverter modules
TEMP DIF INV7

inverter modules
TEMP DIF INV8

inverter modules
TEMP DIF INV9

inverter modules
TEMP DIF INV10

inverter modules
10
TEMP DIF INV11

inverter modules
11
TEMP DIF INV12

inverter modules
12
TEMP DIF PHASE

U
Temperature difference fault in phase U of the

faulted inverter module
13
TEMP DIF PHASE

V
Temperature difference fault in phase V of the

14
TEMP DIF PHASE

W
Temperature difference fault in phase W of the

15
Not in use
Fault word value
PB T
Pb
163
Index
Name/Value
Description
FbEq
09.18
TEMP DIF AW
A 16-bit data word.
1=1
Pb
1=1
Pb
09.20
Bit
Name
Description
TEMP DIF INV1
Temperature difference alarm in inverter

modules
TEMP DIF INV2

modules
TEMP DIF INV3

modules
TEMP DIF INV4

modules
TEMP DIF INV5

modules
TEMP DIF INV6

modules
TEMP DIF INV7

modules
TEMP DIF INV8

modules
TEMP DIF INV9

modules
TEMP DIF INV10

inverter modules
10
TEMP DIF INV11

module 11of several parallel connected
inverter modules
11
TEMP DIF INV12

inverter modules
12
TEMP DIF
PHASE U
Temperature difference alarm in phase U of

the faulted inverter module
13
TEMP DIF
PHASE V
Temperature difference alarm in phase V of the

14
TEMP DIF
PHASE W
Temperature difference alarm in phase W of

the faulted inverter module
15
Not in usehh
0...65535
Alarm word value
AP AFW
Alarm and Fault word. This word can be used with adaptive
programming (typically for fieldbus information). See ACS600/
ACS800 Application Guide Adaptive Program for System
Application Program 7.x [3AFE68420075 (English)].
PB T
164
Index
09.30
09.31
09.32
09.33
09.34
09.35
09.36
09.37
09.38
09.39
Name/Value
Description
0...65535
Alarm and fault word value
FAULT CODE 1 LAST
Fieldbus code of the latest fault. See chapter Fault tracing for the
codes.
0...FFFF (hex)
Fieldbus code
FAULT CODE 2 LAST
Fieldbus code of the 2nd latest fault
0...FFFF (hex)
Fieldbus code
FAULT CODE 3 LAST
Fieldbus code of the 3rd latest fault
0...FFFF (hex)
Fieldbus code
FAULT CODE 4 LAST
Fieldbus code of the 4th latest fault
0...FFFF (hex)
Fieldbus code
FAULT CODE 5 LAST
Fieldbus code of the 5th latest fault
0...FFFF (hex)
Fieldbus code
WARN CODE 1 LAST
Fieldbus code of the latest alarm
0...FFFF (hex)
Fieldbus code
WARN CODE 2 LAST
Fieldbus code of the 2nd latest alarm
0...FFFF (hex)
Fieldbus code
WARN CODE 3 LAST
Fieldbus code of the 3rd latest alarm
0...FFFF (hex)
Fieldbus code
WARN CODE 4 LAST
Fieldbus code of the 4th latest alarm
0...FFFF (hex)
Fieldbus code
WARN CODE 5 LAST
Fieldbus code of the 5th latest alarm
0...FFFF (hex)
Fieldbus code
FbEq
PB T
1=1
1=1
1=1
1=1
1=1
1=1
1=1
1=1
1=1
1=1
165
Index
Name/Selection
Description
FbEq
10 DIGITAL INPUTS
Digital input functions. See section Digital inputs on page 55.
10.01
START/STOP
Defines the source for the start and stop commands when
I/O control is activated either by setting parameter 98.02
COMM. MODULE to NO or by setting parameter 10.07 HAND/
AUTO to HAND.
1 = NO
No start or stop command source
2 = DI3
Start and stop through digital input DI3. Stop by falling edge of
digital input 1 -> 0. Start by rising edge of digital input 0 -> 1.
3 = DI4
See selection DI3.
4 = DI5
See selection DI3.
5 = DI6
See selection DI3.
6 = EXT2 DI1
Start and stop through RDIO I/O Extension module 2.

Parameter 98.04 DI/O EXT MODULE 2 must be set to
EXTEND. Stop by falling edge of digital input: 1 -> 0. Start by
rising edge of digital input: 0 -> 1.
7 = EXT2 DI2
See selection EXT2 DI1.
10.02
10.03
8 = EXT2 DI3
9 = DI7
See selection DI3.
DIRECTION
Defines the source for the direction command.

Unipolar speed reference is selected by parameter 13.12
MINIMUM AI1.
AUTO to HAND.
1 = FORWARD
Fixed to forward
2 = DI3
Direction command through digital input DI3. 1 = reverse,

0 = forward.
3 = DI4
See selection DI3.
4 = DI5
See selection DI3.
5 = DI6
See selection DI3.
6 = EXT2 DI1
Direction command through RDIO I/O Extension module 2.

EXTEND. 1 = reverse, 0 = forward.
7 = EXT2 DI2
8 = EXT2 DI3
9 = DI7
See selection DI3.
RESET
Defines the source for the reset signal.

AUTO to HAND.
1 = NO
No reset source
2 = DI3
Reset by rising edge of digital input DI3. 0 -> 1.
3 = DI4
See selection DI3.
4 = DI5
See selection DI3.
5 = DI6
See selection DI3.
Def.
PB
101
102
103
166
Index
10.04
Name/Selection
Description
6 = EXT2 DI1
Reset through RDIO I/O Extension module 2. Reset by rising

edge of digital input: 0 -> 1. Parameter 98.04 DI/O EXT
MODULE 2 must be set to EXTEND.
7 = EXT2 DI2
8 = EXT2 DI3
9 = DI7
See selection DI3.
SYNC CMD
Selects an interface for the position count. Active in all control

modes. By using this parameter, faster position count
synchronisation is achieved than by using 07.02 AUX CTRL
WORD 1 bit 9.
FbEq
Def.
PB
104
105
106
See section Position counter on page 117.
10.05
10.06
1 = NO
No position count enabled
2 = DI3
Position count through DI3. 1 = active, 0 = inactive.
3 = DI4
See selection DI3.
4 = DI5
See selection DI3.
5 = DI6
See selection DI3.
6 = EXT2 DI1
Position count through RDIO I/O Extension module 2.

EXTEND. 1 = active, 0= inactive.
7 = EXT2 DI2
8 = EXT2 DI3
9 = DI7
See selection DI3.
KLIXON
Selects an interface for motor overtemperature protection.

Digital input for the thermal switch (KLIXON) or for the
thermistor relay can be selected freely. PTC thermistor can only
be connected to digital input DI6. See section Alternative
thermal connection for PTC thermistor on page 89.
1 = NO
No motor overtemperature protection selected
2 = DI3
Motor overtemperature protection through digital input DI3.

1 = no fault, 0 = fault trip.
3 = DI4
See selection DI3.
4 = DI5
See selection DI3.
5 = DI6
See selection DI3.
6 = EXT2 DI1
Motor overtemperature protection through RDIO I/O Extension

module 2. Parameter 98.04 DI/O EXT MODULE 2 must be set
to EXTEND. 1 = no fault, 0 = fault trip.
7 = EXT2 DI2
8 = EXT2 DI3
9 = DI7
See selection DI3.
MOTOR FAN ACK
Selects the source for the motor fan acknowledgement signal.

An acknowledgement signal indicates that the contactor of the
fan motor is closed and the fan is ready to function. If the
contactor is open, no acknowledgement signal is received and
a fault indication is created. See parameter group 35 MOTOR
FAN CTRL and section Motor fan control on page 95.
1 = NO
No motor fan acknowledgement selected
167
Index
10.07
10.08
Name/Selection
Description
FbEq
2 = DI3
Acknowledgement signal through digital input DI3.

1 = acknowledgement.
3 = DI4
See selection DI3.
4 = DI5
See selection DI3.
5 = DI6
See selection DI3.
6 = EXT2 DI1
Acknowledgement signal through RDIO I/O Extension

to EXTEND. 1 = acknowledgement.
7 = EXT2 DI2
8 = EXT2 DI3
9 = DI7
See selection DI3.
HAND/AUTO
Enables switching between I/O control (HAND) and serial

communication control (AUTO) through digital input. This
parameter has a higher priority than parameter 98.02 COMM.
MODULE setting.
1 = NO
No HAND/AUTO function selected
2 = DI3
Switching through digital input DI3. 1 = HAND, 0 = AUTO.
3 = DI4
See selection DI3.
4 = DI5
See selection DI3.
5 = DI6
See selection DI3.
6 = EXT2 DI1
Switching through RDIO I/O Extension module 2. Parameter

98.04 DI/O EXT MODULE 2 must be set to EXTEND.
1 = HAND, 0 = AUTO.
7 = EXT2 DI2
8 = EXT2 DI3
9 = DI7
See selection DI3.
START INHIB DI
ACS 600 specific function to interlock run command. Use RUN

ENABLE or RUN INTERLOCK functions with ACS800.
Def.
PB
107
108
1 = NO 109
This parameter defines the source for the start inhibition.
10.09
1 = NO
No START INHIBITION function selected
2 = DI3
Start inhibition monitoring through digital input DI3. 0 = start

interlocked, 1 = start not interlocked.
3 = DI4
See selection DI3.
4 = DI5
See selection DI3.
5 = DI6
See selection DI3.
6 = EXT2 DI1
Start inhibition monitoring through RDIO I/O Extension module

2. Parameter 98.04 DI/O EXT MODULE 2 must be set to
EXTEND.
0 = start interlocked, 1 = start not interlocked.
7 = EXT2 DI2
8 = EXT2 DI3
9 = DI7
See selection DI3.
SAFETY SWITCH
Defines the source for the motor safety switch monitoring. Fault
is created if the switch was opened during run. An alarm is
created if the drive was already stopped.
1 = NO
No safety switch monitoring selected
168
Index
10.10
10.11
Name/Selection
Description
2 = DI3
Safety switch monitoring through digital input DI3. 1 = no fault,

0 = fault trip.
3 = DI4
See selection DI3.
4 = DI5
See selection DI3.
5 = DI6
See selection DI3.
6 = EXT2 DI1
Safety switch monitoring through RDIO I/O Extension

to EXTEND. 1 = no fault, 0 = fault trip.
7 = EXT2 DI2
8 = EXT2 DI3
9 = DI7
See selection DI3.
I/O MACRO
CHANGE
Enables the change of the user macro through a digital input,

when parameter 16.05 USER MACRO CHG setting is I/O
CHANGE. See also parameter 99.11 APPLICATION MACRO.
The change is allowed only when the drive is stopped. During
the change, the drive will not start.
Note: Always save the user macro by parameter 99.11 after
changing any parameter settings, or reperforming the motor
identification run. The last settings saved by the user are
loaded into use whenever the power is switched off and on
again or the macro is changed. Any unsaved changes will be
lost.
Note: The value of this parameter is not included in the user
macro. A setting once made remains despite of the user macro
change.
1 = NO
User macro change is not possible through a digital input.
2 = DI3
User macro change through digital input DI3.

Falling edge of digital input DI3 (1 -> 0): User macro 1 is loaded.
Rising edge of digital input DI3 (0 -> 1): User macro 2 is loaded.
3 = DI4
See selection DI3.
4 = DI5
See selection DI3.
5 = DI6
See selection DI3.
6 = EXT2 DI1
User macro change through RDIO I/O Extension module 2.

EXTEND.
Falling edge of extension digital input DI1 (1 -> 0): User macro
1 is loaded.
Rising edge of extension digital input DI1 (0 -> 1): User macro 2
is loaded.
7 = EXT2 DI2
8 = EXT2 DI3
9 = DI7
See selection DI3.
MOT PROT
SWITCH
Selects a digital input for motor overload protection. (Input for

the motor thermal protection device can be selected freely.)
1 = NO
No overload protection
2 = DI3
Motor overload protection through digital input DI3.

1 = no fault, 0 = fault trip.
3 = DI4
See selection DI3.
FbEq
Def.
PB
1=NO
110
1 = NO
169
Index
Name/Selection
Description
4 = DI5
See selection DI3.
5 = DI6
See selection DI3.
6 = EXT2 DI1
Motor overload protection through RDIO I/O Extension module

2. Parameter 98.04 DI/O EXT MODULE 2 must be set to
EXTEND. 1 = no fault, 0 = fault trip.
7 = EXT2 DI2
8 = EXT2 DI3
9 = DI7
See selection DI3.
11 REFERENCE
SELECT
11.01
11.02
11.03
FbEq
PB
126
OFF
127
128
20000
176
177
Speed reference sources.

If analogue I/O extension module is used, see switch
configuration in parameter 98.06 AI/O EXT MODULE 1.
EXT REF1 SELECT Selects the speed reference through analogue input or external
reference.
1 = STD AI1
010 V speed reference input
2 = STD AI2
0(4)20 mA speed reference input
3 = EXT REF
The reference is given through parameter 11.03 EXT

REFERENCE, which can be written e.g. by Adaptive program.
AI+FBA SPEED
REF
Activates the AI+FBA SPEED REF function. Analogue input 1

or 2 speed reference can be summed with fieldbus adapter
reference if this parameter is activated and 98.02 COMM.
MODULE is set to FIELDBUS. Reference value can be
monitored with signal 02.25 ADDITIVE SP REF.
0 = OFF
Inactive
1 = ON
Active
EXT REFERENCE
This external reference is used to speed or frequency reference See par.

in case of I/O control, if EXT REF(3) is selected by parameter
50.01
11.01 EXT REF1 SELECTED. This parameter is typically
written by adaptive program.
-32768...32767
Integer value
13 ANALOGUE
INPUTS
Analogue input signal processing. See section Analogue inputs

on page 50.
13.01
Defines the integer value that corresponds to the maximum

value of analogue input AI1.
AI1 HIGH VALUE
Def.
1=1
With I/O control, value 20000 corresponds the speed defined by

parameter 50.01 SPEED SCALING.
Note: Parameter is not active if AI1 is used for motor 1
temperature measurement. See parameter 30.03 MOT1 TEMP
AI1 SEL.
13.02
-32768...32767
Integer value
AI1 LOW VALUE
Defines the integer value that corresponds to the minimum

With I/O control, when bipolar I/O reference is used, value
-20000 corresponds the maximum negative speed defined by
parameter 50.01 SPEED SCALING.
Note: Parameter is not active if AI1 is used for motor 1
temperature measurement. See parameter 30.03 MOT1 TEMP
AI1 SEL.
-32768...32767
Integer value
170
Index
Name/Selection
Description
13.03
FILTER AI1
Defines the filter time constant for analogue input AI1.

The hardware filter time constant of the RMIO analogue input is
1 ms.
0...30000 ms
Filter time constant
AI2 HIGH VALUE

-32768...32767
Integer value
13.05
AI2 LOW VALUE

-32768...32767
Integer value
13.06
MINIMUM AI2
Defines the minimum value for analogue input AI2.
1 = 0 mA
0 mA (range 0...20 mA)
2 = 4 mA
4 mA (range 4...20 mA)
13.04
3 = -20 mA
-20 mA. Used with a bipolar type of an analogue input.
FILTER AI2

1 ms.
0...30000 ms
13.08
AI3 HIGH VALUE

-32768...32767
Integer value
13.09
AI3 LOW VALUE

-32768...32767
Integer value
13.07
13.10
13.11
13.12
13.13
MINIMUM AI3
1 = 0 mA
0 mA
2 = 4 mA
4 mA
FILTER AI3

1 ms.
0...30000 ms
MINIMUM AI1
1 = 0 mA
0 mA
2 = 2 V / 4 mA
2 V / 4 mA
3 = -10 V
-10 V. Used with a bipolar type of an analogue input.
EXT2 AI1 CONV

MODE
Selects the scaling for extension module 2 analogue input AI1.

Scaling applies for unipolar and bipolar signals.
1 = NORMAL
Normal scaling:
-20 mA / -2 V / -10 V020 mA / 2 V / 10 V = -2000020000
2 = 4 mA
420 mA = 020000
FbEq
1=1
Def.
PB
1000
178
179
180
181
1000
182
10000
183
184
185
1000
186
187
171
Index
13.14
13.15
Name/Selection
Description
FbEq
Def.
3 = PT100
Scaling with Pt100 temperature measurement:

200C = 20000 if analogue output feeds the following constant
current to the Pt100 sensor:
with 1xPT100: 10 mA
with 2xPT100: 5 mA
with 3xPT100: 3.3 mA.
EXT2 AI1 FILTER
Defines the filter time constant for extension module 2 analogue 1 = 1 ms 1000
input AI1.
0...30000 ms
EXT2 AI2 CONV

MODE
Selects the scaling for extension module 2 analogue input AI2.

Scaling applies for unipolar and bipolar signals.
PB
See parameter 13.13 EXT2 AI1 CONV MODE.

13.16
EXT2 AI2 FILTER
Defines the filter time constant for extension module 2 analogue 1 = 1 ms 1000
input AI2.
0...30000 ms
14 DIGITAL OUTPUTS Control of the digital outputs. See section Digital outputs on
page 56.
14.01
14.02
14.03
14.04
14.05
DO1 CONTROL
Activates digital output DO1 control.
1=1
0 = OFF
Emergency stop command controls digital output DO1.

The emergency stop function is activated by parameter 21.04
EME STOP MODE.
1 = ON
Digital output DO1 control. Control signal is selected by

parameters 14.02 DO1 GROUP+INDEX and 14.03 DO1 BIT
NUMBER.
DO1
GROUP+INDEX
Selects digital output DO1 control signal when parameter 14.01

DO1 CONTROL setting is ON. Output is controlled with
a selectable bit (see parameter 14.03 DO1 BIT NUMBER) of
the signal selected by this parameter. If the parameter is set
to 0, the output is controlled from an external control system by
07.02 AUX CTRL WORD 1 bit 13.
-99999999
Parameter index in (-)xyy format, where (-1) = inversion,

x = parameter group, yy = parameter number. For example
value 801 denotes signal 08.01.*
DO1 BIT NUMBER
Defines the bit number of the signal selected by parameter

14.02 DO1 GROUP+INDEX.
023
Bit number
DO2
GROUP+INDEX
Selects digital output DO2 control signal. Output is controlled

with a selectable bit (see parameter 14.05 DO2 BIT NUMBER)
of the signal selected by this parameter. If the parameter is set
to 0, the output is controlled from an external control system by
07.02 AUX CTRL WORD 1 bit 14. See also parameter 14.12
DO2 GRP+INDEX MOD.
-99999999

DO2 BIT NUMBER

023
Bit number
0=
OFF
201
801
202
203
801
204
205
172
Index
Name/Selection
Description
14.06
DO3
GROUP+INDEX
Selects digital output DO3 control signal. Output is controlled

with a selectable bit (see parameter 14.07 DO3 BIT NUMBER)
of the signal selected by this parameter. If the parameter is set
to 0, DO3 is controlled from an external control system by 07.02
AUX CTRL WORD 1 bit 15.
-99999999

DO3 BIT NUMBER

0...23
Bit number
EXT2 DO1
GR+INDEX
Selects extension module 2 digital output DO1 control signal.

Output is controlled with a selectable bit (see parameter 14.09
EXT2 DO1 BIT NR) of the signal selected by this parameter. If
parameter is set to 0, DO1 is controlled from an external control
system by 07.03 AUX CTRL WORD 2 bit 2. To activate the
extension module see parameter 98.04 DI/O EXT MODULE 2.
-99999999

EXT2 DO1 BIT NR

14.08 EXT2 DO1 GR+INDEX.
0...23
Bit number
EXT2 DO2
GR+INDEX
Selects extension module 2 digital output DO2 control signal.

Extension module 2 digital output DO2 is controlled with
a selectable bit (see parameter 14.11 EXT2 DO2 BIT NR) of the
signal selected with this parameter. If parameter is set to 0,
DO2 can be controlled from an external control system by
07.03 AUX CTRL WORD 2 bit 3. To activate the extension
module see parameter 98.04 DI/O EXT MODULE 2.
-99999999

EXT2 DO2 BIT NR

14.10 EXT2 DO2 GR+INDEX.
0...23
Bit number
DO2 GR+IND
MODE
Defines digital output DO2 control in local and remote control

modes.
0 = REM/LOCAL
Parameters 14.04 DO2 GROUP+INDEX and 14.05 DO2 BIT

NUMBER are effective in remote and local control modes.
1 = LOCAL
Parameters 14.04 DO2 GROUP+INDEX and 14.05 DO2 BIT

NUMBER are effective only in local control mode. In remote
control mode signal 07.02 AUX CTRL WORD 1 bit 14 controls
DO2.
14.07
14.08
14.09
14.10
14.11
14.12
FbEq
1=1
Def.
PB
801
206
207
801
208
209
806
210
211
212
*Example: If parameters 14.02 and 14.03 are set to 801 and 1, DO1 is active when 08.01 Main Status Word bit 1 is
1 = READY. If parameters 14.02 and 14.03 are set to -801 and 3, DO1 is active when 08.01 Main Status Word bit 3 is 0.
173
Index
Name/Selection
Description
FbEq
15 ANALOGUE
OUTPUTS
Analogue output signal processing. The outputs are updated

every 10 ms. See section Analogue outputs on page 53.
15.01
Connects a measured signal to analogue output AO1.

If temperature measurement (parameter 30.03 MOT1 TEMP
AI1 SEL) is selected, analogue output AO1 is used for
supplying constant current for the sensor.
ANALOGUE
OUTPUT1
Def.
PB
106
226
NO
227
228
100 =
1s
0.1
229
1=1
100
230
101
231
NO
232
An external control system can also control the output. The data
set in which the signal is transmitted to the drive is directed into
one of the data parameters 19.01...19.08 using parameters
90.01...90.18. The data parameter is then coupled to the
analogue output with this parameter.
15.02
15.03
09999
Parameter index in (x)xyy format, where (x)x= parameter group,

y = parameter number. For example value 2301 denotes
parameter 23.01.
INVERT AO1
Selects analogue output AO1 signal inversion.
0 = NO
Minimum signal value corresponds to the minimum output

value.
1 = YES
Maximum signal value corresponds to the minimum output

value.
MINIMUM AO1
1=1
Defines the offset value for analogue output AO1.

Note: Parameter is not effective if motor 1 temperature
measurement is activated by parameter 30.03 MOT1 TEMP AI1
SEL.
15.04
15.05
15.06
15.07
1 = 0 mA
0 mA
2 = 4 mA
4 mA
3 = 10 mA
With bipolar signals the defined minimum value 10 mA is in the

middle of the range 0...20 mA. For example:
-1000 rpm = 0 mA and 1000 rpm = 20 mA
Bipolar signals indicate the direction of torque, speed etc.
Bipolar signals are also needed for testing purposes.
FILTER AO1
Defines the filter time constant for analogue output AO1.
0...10 s
SCALE AO1
Defines the nominal value of the signal connected to analogue

output AO1. See parameter 15.01 ANALOGUE OUTPUT1.
The value corresponds to 20 mA at the output.
0...65536
Nominal value
ANALOGUE
OUTPUT2
0...9999

parameter 15.06.
INVERT AO2
0 = NO

value.
1 = YES

value.
1=1
174
Index
Name/Selection
Description
15.08
MINIMUM AO2
1 = 0 mA
0 mA
2 = 4 mA
4 mA
3 = 10 mA

-1000 rpm = 0 mA and 1000 rpm = 20 mA
FILTER AO2
0...10 s
SCALE AO2

0...65536
Nominal value
ANALOGUE
OUTPUT3

If temperature measurement (parameter 30.03 MOT1 TEMP
AI1 SEL) is selected, analogue output AO3 is used for
supplying constant current for the sensor.
15.09
15.10
15.11
FbEq
Def.
PB
233
100 =
1s
0.1
234
1=1
3000
235
101
236
NO
237
238
100 =
1s
0.1
239
1=1
3000
240
Analogue outputs AO3 and AO4 are available when RAIO I/O
Extension module is used and parameter 98.06 AI/O EXT
MODULE 1 is set to UNIPOLAR AI or BIPOLAR AI. See also
parameters 98.06 AI/O EXT MODULE 1 and 98.11 AI/O EXT1
LOCATION.
0...9999

parameter 23.01.
INVERT AO3
0 = NO

value.
1 = YES

value.
MINIMUM AO3
1 = 0 mA
0 mA
2 = 4 mA
4 mA
3 = 10 mA

-1000 rpm = 0 mA and 1000 rpm = 20 mA
4 = 12 mA
Used with 420 mA signals with meters which have zero point
in the middle of the range, e.g. -100001000 rpm.
15.14
FILTER AO3
0...10 s
15.15
SCALE AO3

0...65536
Nominal value
15.12
15.13
1=1
175
Index
Name/Selection
Description
FbEq
15.16
ANALOGUE
OUTPUT4

If temperature measurement (par. 30.06 MOT2 TEMP AI2 SEL)
is selected, analogue output AO4 is used for supplying constant
current for the sensor.
Def.
PB
101
241
NO
242
243
100 =
1s
0.1
244
1=1
3000
245
1 mA =
1000
20000
20000
Analogue outputs AO3 and AO4 are available when I/O

extension is used and parameter 98.06 AI/O EXT MODULE 1 is
set to UNIPOLAR AI or BIPOLAR AI. See also parameters
98.06 AI/O EXT MODULE 1 and 98.11 AI/O EXT1 LOCATION.
15.17
15.18
15.19
15.20
15.21
15.22
15.23
15.24
0...9999

parameter 23.01.
INVERT AO4
0 = NO

value.
1 = YES

value.
1=1
MINIMUM AO4
1 = 0 mA
0 mA
2 = 4 mA
4 mA
3 = 10 mA

-1000 rpm = 0 mA and 1000 rpm = 20 mA
4 = 12 mA
Used with 420 mA signals with meters which have zero point
in the middle of the range, e.g. -100001000 rpm.
FILTER AO4
0...10 s
SCALE AO4

0...65536
Nominal value
EXT2 AO1 OFFSET Defines the offset value for extension module 2 analogue
output AO1.
0...20 mA
Offset
EXT2 AO1 SCALE
Scales the extension module 2 analogue output AO1 signal.
0...30000
20000 = 20 mA
EXT2 AO2 OFFSET Defines the offset value for extension module 2 analogue
output AO2.
1 mA =
1000
0...20 mA
Offset
EXT2 AO2 SCALE
Scales the extension module 2 analogue output AO2 signal.
0...30000
20000 = 20 mA
176
Index
Name/Selection
Description
16 SYSTEM CTR
INPUTS
Run Enable, parameter lock etc.
16.01
RUN ENABLE
Activates the RUN ENABLE signal.
1 = INTERLOCK
To activate the RUN ENABLE signal, a voltage signal must be

connected to digital input DI2. If the voltage drops to 0 V, the
drive coasts to stop and RUN INTERLOCK bit is activated in
08.01 MSW bit 13.
2 = FAULT
If the DI2 voltage drops to 0 V, the drive coasts to stop and fault
RUN DISABLE is generated.
3 = ALARM
If the DI2 voltage drops to 0 V, the drive coasts to stop and

alarm RUN DISABLE is generated.
PARAMETER
LOCK
Selects the state of the parameter lock. The lock prevents

parameter changing.
1 = LOCKED
Locked. Parameter values cannot be changed from the control

panel. The lock can be opened by entering the valid code to
parameter 16.03 PASS CODE.
16.02
16.03
16.04
0 = OPEN
The lock is open. Parameter values can be changed.
PASS CODE
Selects the pass code for the parameter lock. See parameter
16.02 PARAMETER LOCK.
0...30000
Setting 358 opens the lock. The value reverts back to 0

automatically.
LOCAL LOCK
Disables entering local control mode (LOC/REM key of the

panel).
FbEq
Def.
PB
1=1
2=
FAULT
251
1=1
OPEN
252
253
1=1
FALSE 254
WARNING! Before activating, ensure that the control

panel is not needed for stopping the drive!
16.05
0 = FALSE
Local control allowed
1 = TRUE
Local control disabled
USER MACRO
CHG
Enables the change of the user macro. See parameter 99.11

APPLICATION MACRO. The change is allowed only when the
drive is stopped. During the change, the drive will not start.
Note: Always save the user macro by parameter 99.11 after
changing any parameter settings, or reperforming the motor
identification. The last settings saved by the user are loaded
into use whenever the power is switched off and on again or the
macro is changed. Any unsaved changes will be lost.
Note: The value of this parameter is not included in the user
macro. A setting once made remains despite of the user macro
change.
For more information, see section User macros on page 280.
1 = NOT SEL
User macro change is not possible.
2 = ACW2 BIT 12
User macro change by 07.03 AUX CTRL WORD 2 bit 12. 1 =

macro 2, 0 = macro 1.
3 = I/O CHANGE
User macro change defined by parameter 10.10 I/O MACRO

CHANGE.
255
177
Index
Name/Selection
Description
16.06
PARAMETER
BACKUP
Saves parameters from the RAM memory to the FPROM

memory. Saving of parameters is needed only when parameter
changes through external control system have to be stored to
the FPROM memory.
Note: Parameter changes by CDP 312R control panel or
DriveWindow are immediately saved to the FPROM memory.
0 = DONE
Parameter saving has been completed.
1 = SAVE
Parameters are being saved to the FPROM memory.
CTRL BOARD
SUPPLY
Defines the source of the RMIO control board power supply.
16.07
FbEq
1=1
Def.
PB
DONE
256
Note: If an external supply is used but this parameter has value

INTERNAL, the drive trips on a fault when the power is
switched off.
0 = INTERNAL 24V The RMIO control board is supplied from internal power supply
from the inverter module. After power fail saving function the
RMIO board is booted.
1 = EXTERNAL 24V The RMIO control board is powered from an external supply.
After power fail saving function the RMIO is not automatically
booted.
16.08
FAN SPD CTRL

MODE
Selects the inverter fan speed control. Parallel connected

inverter modules 112 R8i equipped with an optional
inverter fan have adjustable speed control as a function of IGBT
temperature. See section Inverter fan speed control on page
112.
During the charging of the inverter unit, the fan speed is
internally ramped to zero. When the charging is completed, the
speed accelerates to the selected speed.
0 = CONST 50HZ
Fan is running always at constant frequency of 50 Hz when

powered.
1 = RUN/STOP
Drive stopped: Fan is running at constant frequency of 10 Hz.

Drive started: Fan is running at constant frequency of 50 Hz.
16.09
2 = CONTROLLED
Fan speed is determined from the IGBT temperature vs. the fan
speed curve.
RESET COUNTER
Resets the motor cooling fan or drive cooling fan running time
counter.
1 = NO
No reset
2 = MOTOR TIME
Motor cooling fan running time counter reset (01.38 MOTOR

RUN-TIME)
3 = FAN ON TIME
Drive cooling fan running time counter reset (01.31 FAN-ONTIME)
16.10
INT CONFIG USER Defines the number of parallel connected R8i inverter modules
in the drive. Activates the reduced run function. See section
Reduced run function on page 81.
1...12
Number of parallel connected inverters
16.14
RUN INTERLOCK
Activates the run interlock function.
ON
Active (Main Status Word 08.01 bit 13 value is 1). Motor start is
prevented or motor stops if it was already running.
NO
259
OFF
264
Note: Run interlock does not activate any alarm or fault.

OFF
Inactive
178
Index
Name/Selection
Description
17 DC HOLD
DC hold function settings
17.01
Activates the DC hold function. DC hold is not possible if

parameter 99.08 MOTOR CTRL MODE is set to SCALAR.
DC HOLD
FbEq
Def.
PB
1=1
NO
276
1=1
277
1=1
30
278
107
301
When both the reference and the speed drop below the value
defined by parameter 17.02 DC HOLD SPEED, the drive will
stop generating sinusoidal current and start to inject DC into the
motor. The current is set by parameter 17.03 DC HOLD
CURRENT. When the reference speed exceeds parameter
17.02 value, normal drive operation continues.
SPEEDmotor
DC hold
t
Ref.
DC HOLD SPEED
(par. 17.02)
Note: DC hold has no effect if the start signal is switched off.

Note: Injecting DC current into the motor causes the motor to
heat up. In applications where long DC hold times are required,
externally ventilated motors should be used. If the DC hold
period is long, the DC hold cannot prevent the motor shaft from
rotating if a constant load is applied to the motor.
1 = YES
Active
0 = NO
Inactive
17.02
DC HOLD SPEED
Defines the DC hold speed.
0...3600 rpm
Speed
17.03
DC HOLD
CURRENT
Defines the DC hold current.
0...100%
Value in percent of motor nominal current
18 LED PANEL CTRL
The NLMD-01 Monitoring Display has a LED bar to show

an absolute real type value.
50
100 150%
0
The source and the scale of the display signal are defined by
this parameter group.
Note: If NLMD -01 and CDP 312R control panel are used
together, actual signal 01.26 LED PANEL OUTPUT must be the
first signal in CDP 312R Actual Signal Display Mode. Otherwise
the NLMD-01 LED bar display will show an incorrect value.
18.01
LED PANEL
OUTPUT
Selects the signal source for the NLMD-01 Monitoring Display.
0...9999
For example parameter index 109 denotes parameter 01.09

POWER.
Note: The unit of the selected signal must be percent (%).
179
Index
Name/Selection
Description
FbEq
Def.
PB
18.02
SCALE PANEL
Defines the value of the signal defined by parameter 18.01

which corresponds to 100% on the LED bar display.
1=1
100
302
1=1
326
1=1
327
Example: Signal 01.05 FREQUENCY is shown on the

Monitoring Display: At 50 Hz the LED bar indicates full value
(100%) when:
Parameter 18.01 is set to 105.
Parameter 18.02 is set to 100 50 = 5000, where 100 is the
fieldbus equivalent (integer scaling factor) for signal 01.05.
0...65536
19 DATA STORAGE
Scaling factor
Parameters for receiving information from or sending to an
external control system. The parameters are unconnected and
they can be used for linking, testing and commissioning
purposes. See chapter Fieldbus control.
AC 800M / AC 80
RMIO/NAMC-xx
Dataset table
Data set
14
A
Data
Index
set
Index 1
Index 2
Index 3
14
Address
assignment of
dataset
Group
Index
90
08
For
DriveWindow
PC tool
19.01
A = value assigned from an external control system

AC 800M / AC 80
RMIO/NAMC-xx
Dataset table
Data set
15
Data
Index
set
Index 1
B
Index 2
Index 3
15
Address
assignment of
dataset
Group
Index
92
08
For
DriveWindow
PC tool
19.02
B = value assigned from an external control system
19.01
DATA 1
Stores data written from a user-defined source.

Example: Monitor a signal written by an external control system
to data set 18 word 3 using the DriveWindow PC tool as follows:
Define the data set 18 word 3 destination address in the
converter application program by setting parameter 90.15 DATA
SET 18 VAL 3 to 1901 (points to 19.01 DATA 1.)
Set DriveWindow monitoring channel to read parameter 19.01.
-32768...32767
Data value
DATA 2
See parameter 19.01 DATA 1.
-32768...32767
Data value
...
...
...
...
...
19.08
DATA 8
19.02
-32768...32767
1=1
333
Data value
180
Index
Name/Selection
Description
20 LIMITS
Drive operation limits

Note: The absolute nominal torque is calculated in the
application program from the motor parameters. See parameter
group 99 START-UP DATA.
20.01
MINIMUM SPEED
Defines the allowed minimum speed.
-9000...1500 rpm
Minimum speed limit
FbEq
Def.
PB
See
par.
99.05.
351
See par.
50.01.
See
par.
99.05.
352
See par.
50.01.
4% of
nom.
motor
speed
353
170
354
100 =
1%
300
355
100 =
1%
-300
356
100 =
1%
300
357
100 =
1%
-300
358
100 =
1%
300
359
100 =
1%
-300
360
See par.
50.01.
Note: The limit is linked to the motor nominal speed
setting, parameter 99.05 MOTOR NOM SPEED. If
Par. 99.05 value is changed, the default speed limit is
also changed.
Note: If the value is positive, the motor cannot be run in the

reverse direction.
20.02
MAXIMUM SPEED
Defines the allowed maximum speed.

Note: The limit is linked to the motor nominal speed
setting, parameter 99.05 MOTOR NOM SPEED. If
Par. 99.05 value is changed, the default speed limit is
also changed.
-1500...9000 rpm
Maximum speed limit
20.03
ZERO SPEED
LIMIT
Defines the zero speed limit. The motor is stopped along

a speed ramp until ZERO SPEED LIMIT is reached. After the
limit, the motor coasts to stop.
0...15000 rpm
Zero speed limit
20.04
MAXIMUM
CURRENT
Defines the allowed maximum motor current Ihd. The maximum 100 =
values are limited according to the duty cycle tables. See the
1%
appropriate technical catalogue.
0...200%
Current limit in percent of the allowed maximum motor current
20.05
MAXIMUM
TORQUE
Defines the maximum torque limit for the drive.
0...600%
Torque limit in percent of the motor nominal torque
MINIMUM
TORQUE
Defines the minimum torque limit for the drive.
-600...0%
Torque limit in percent of the motor nominal torque
SPC TORQMAX
Defines the maximum speed controller output limit.
0...600%
Limit in percent of the motor nominal torque
20.08
SPC TORQMIN
Defines the minimum speed controller limit.
-600...0%
20.09
TREF TORQMAX
Defines the maximum torque reference limit.
0...600%
TREF TORQMIN
Defines the minimum torque reference limit.
-600...0%
20.06
20.07
20.10
181
Index
Name/Selection
Description
20.11
FREQ TRIP
MARGIN
Defines together with parameters 20.01 MINIMUM SPEED and 100 =

20.02 MAXIMUM SPEED the maximum allowed frequency
1 Hz
(overspeed protection). If this frequency is reached,
OVERSPEED fault is activated.
Example: If the maximum speed is 1420 rpm = 50 Hz and
frequency trip margin is 10 Hz, the drive trips at 60 Hz.
0...500 Hz
Frequency trip margin
PULLOUT TCOEF
MAX
Limits the maximum motoring torque to prevent motor pull-out.

See parameter 20.13 PULLOUT TCOEF MIN.
40...100%
Maximum torque limit in percent of the calculated pull-out

torque
PULLOUT TCOEF
MIN
Limits the minimum motor torque to prevent pull-out (when

pulse encoder speed feedback is not used, i.e. 50.03 SPEED
FB SEL = INTERNAL).
20.12
20.13
FbEq
|T|
Def.
PB
50
361
1=1
70
362
1=1
50
363
1=1
364
PULLOUT TCOEF MAX

(par. 20.12)
PULLOUT TCOEF MIN

(par. 20.13)
20 Hz
20.14
f / Hz
0...100%
Minimum torque limit in percent of the calculated pull-out torque
ADAPTIVE UDC
MEAS
Selects the adaptive DC voltage measurement function.
0 = OFF
No adaptive DC voltage measurement function: Full DC voltage

(100%) equals to 1.35 U1max, where U1max is the maximum
With several inverters connected to the same DC link, the DC

voltage measurement function should be OFF to ensure that
the inverters operate similarly during undervoltage control
(parameter 30.22 UNDERVOLTAGE CTL).
During undervoltage control, torque is controlled as defined by

parameters 20.15 UNDERVOLT TORQ UP and 20.16
UNDERVOLT TORQ DN.
1 = ON
Adaptive DC voltage measurement function: DC voltage floats

according to the network conditions.
182
Index
Name/Selection
Description
FbEq
Def.
PB
20.15
UNDERVOLT
TORQ UP
Limits the maximum torque during undervoltage control (30.22

UNDERVOLTAGE CTL). See parameters 20.16 UNDERVOLT
TORQ DN and 20.14 ADAPTIVE UDC MEAS.
10 =1%
500
365
-125
366
100 =
1%
300
367
100 =
1%
-300
368
376
T
UNDERVOLT TORQ UP
(par. 20.15)
UDC / V
UDC nominal
DC UNDERVOLT LIM
UNDERVOLT TORQ DN
(par. 20.16)
-T
20.16
UDC undervoltage trip limit
0...600%
Value in percent of the maximum motor torque
UNDERVOLT
TORQ DN
Limits the minimum torque at undervoltage trip limit. This

-10 =
parameter is used together with the undervoltage controller
-1%
(30.22 UNDERVOLTAGE CTL) to tune the generating torque
level of the drive during a supply power failure. See parameters
20.15 UNDERVOLT TORQ UP and 20.14 ADAPTIVE UDC
MEAS.
DC undervoltage trip limit is 0.6 1.35 U1min, where U1min is
the minimum value of the input voltage range.
20.17
20.18
-500...0%
Value in percent of the minimum motor torque
P MOTORING LIM
Defines the allowed maximum power fed by the inverter to the

motor.
0...600%
Power limit in percent of the motor nominal power
P GENERATING
LIM
Defines the allowed maximum power fed by the motor to the

inverter.
-600...0%
21 START/STOP
FUNC
21.01
Power limit in percent of the motor nominal power

Start and stop modes of the motor
Note: Coast stop is always the stop mode in a fault situation.
START FUNCTION Selects the motor starting method.

1 = AUTO
Automatic start guarantees optimal motor start in most cases.

It includes the flying start function (starting to a rotating
machine) and the automatic restart function. 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.
2 = DC MAGN
DC magnetising should be selected if a high break-away torque

is required. The drive pre-magnetises the motor before the
start. The pre-magnetising time is determined automatically,
being typically 200 ms to 2 s depending on the motor size. DC
magnetising guarantees the highest possible break-away
torque.
Note: Starting to a rotating machine is not possible when DC
magnetising is selected.
Note: DC magnetising cannot be selected if parameter 99.08
MOTOR CTRL MODE = SCALAR.
183
Index
Name/Selection
Description
FbEq
Def.
PB
3 = CNST DC
MAGN
Constant DC magnetising should be selected instead of DC

magnetising if constant pre-magnetising time is required (for
example if the motor start must be simultaneous with a
mechanical brake release). This selection also guarantees the
highest possible break-away torque when the pre-magnetising
time is set long enough.The pre-magnetising time is defined by
parameter 21.02 CONST MAGN TIME.
CONST MAGN
TIME
Defines the magnetising time in the constant magnetising mode 1 = 1 ms 300

(21.01 START FUNCTION = CNST DC MAGN). After the start
command, the drive automatically pre-magnetises the motor
the set time.
377
30...10000 ms
Magnetising time. To ensure full magnetising, set this value 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:
378
379
This mode remembers the last position of the motor shaft. This
minimises possible shaft movement during the next start. See
parameter 21.11 START JERK COMP.
Note: Starting to a rotating machine is not possible when DC
magnetising is selected.
Note: DC magnetising cannot be selected if parameter 99.08
MOTOR CTRL MODE = SCALAR.
WARNING! The drive will start after the set
magnetising time has passed although the motor
magnetisation is not completed. Ensure always in
applications where a full break-away torque is essential that the
constant magnetising time is long enough to allow generation of
full magnetisation and torque.
21.02
Rated motor power

<10 kW
10 to 200 kW
200 to 1000 kW
21.03
21.04
Constant magnetising time

> 100 to 200 ms
> 200 to 1000 ms
> 1000 to 2000 ms
STOP FUNCTION
Selects the motor stop function in local and I/O control modes.
1 = STOP
RAMPING
Stop along a ramp. See parameter group 22 ACCEL/DECEL.
2 = STOP TORQ
Stop according to the set torque limit (par. 20.05...20.08).
3 = COAST STOP
Stop by cutting off the motor power supply. The motor coasts to
stop.
EME STOP MODE
Selects the motor emergency stop function. See section

Emergency stop on page 65.
1 = STOP
RAMPING
Stop along the emergency stop ramp. See parameter 22.04

EME STOP RAMP.
2 = STOP TORQ
Stop according to the set torque limit (par. 20.05...20.08).
3 = COAST STOP
Stop by cutting off the motor power supply. The motor coasts to
stop.
4 = FOLLOW STOP Follower drive is decelerated to a stop with the Master drive
torque reference. 07.01 Main Control Word bit 6 (RAMP IN
ZERO) value is set to zero and emergency stop ramp is
activated.
5 = EXT DEC REF
Stop according to the external speed reference using

deceleration ramp time (Par. 22.02 DECELER TIME).
184
Index
Name/Selection
Description
FbEq
Def.
PB
1800
380
381
20
382
OFF
384
385
386
387
6 = EXT DEC REF2 Stop according to the external speed reference using
emergency stop deceleration reference received from fieldbus.
Deceleration of speed reference follows Emergency stop ramp
time in follower drive.
21.05
EMSTOP DER
MAX L
Defines the maximum deceleration rate for emergency stop. If 1 = 1

the drive is not able to decelerate within the window defined by
parameters 21.06 EMSTOP DER MAX L and 21.05 EMSTOP
DER MIN L, it is stopped by coasting and 08.02 AUX STATUS
WORD bit 2 value is set to 1.
Setting this parameter to 1800 rpm/s (= default value) disables
the supervision of the minimum deceleration.
See also parameter 21.07 EM STOP DEC MON DEL and
section Emergency stop on page 65.
0...18000 rpm/s
21.06
Maximum deceleration rate
EMSTOP DER MIN Defines the minimum deceleration rate for emergency stop. If
1=1
L
the drive is not able to decelerate within the window defined by
parameters 21.06 EMSTOP DER MIN L and 21.05 EMSTOP
DER MAX L, it is stopped by coasting and 08.02 AUX STATUS
WORD bit 2 value is set to 1.
Setting this parameter to 0 rpm/s (= default value) disables the
supervision of the maximum deceleration.
Actual deceleration can be monitored with signal 02.16 dv/dt.
See also parameter 21.07 EM STOP DEC MON DEL and
section Emergency stop on page 65.
21.07
21.09
0...18000 rpm/s
Minimum deceleration time
EM STOP DEC
MON DEL
Defines the time delay between the emergency stop signal and 10 = 1 s
the start of the deceleration monitoring. See parameters 21.06
EMSTOP DER MAX L and 21.05 EMSTOP DER MIN L.
0...100 s
Time delay
AUTO RESTART
Activates automatic restart using flying start after a short supply 1 = 1

power failure. See parameter 21.10 AUTO RESTART TIME.
0 = OFF
Inactive
1 = ON
Active
AUTO RESTART
TIME
Defines the maximum time for a power failure for the auto
restart function (21.09 AUTO RESTART). This time also
includes the charging delay of the inverters.
0.3...5 s
Maximum time
21.11
START JERK
COMP
Enables internal position control during the magnetising of the 1 = 1%

motor to minimise shaft movement when the start mode
selected by parameter 21.01 START FUNCTION is CONST DC
MAGN. Find the setting that gives the smallest shaft movement.
Setting this parameter to 0 (= default value), disables the
function.
0...100%
Value in percent
21.12
LOCAL EMSTOP
MODE
Selects the source for the emergency stop activation signal in

local control mode. See section Emergency stop on page 65.
1 = DI
Digital input
2 = DI+FIELDBUS
Digital input or fieldbus
21.10
10 = 1 s
1=1
185
Index
Name/Selection
Description
22 ACCEL/DECEL
Speed reference ramp functions. See section Acceleration and

deceleration ramps on page 70.
22.01
Defines the acceleration time i.e. the time required for the
speed to change from zero to the speed defined by parameter
50.01 SPEED SCALING.
ACCELER TIME
FbEq
Def.
PB
100 =
1s
20
401
100 =
1s
20
402
100 = 1
403
10 = 1 s
20
404
The maximum acceleration time is 1800 s (acceleration time

can be expanded by parameter 22.03 ACC/DEC TIME SCLE).
22.02
0...1000 s
Acceleration time
DECELER TIME
Defines the deceleration time i.e. the time required for the
speed to change from the value defined by parameter 50.01
SPEED SCALING to zero.
The maximum deceleration time is 1800 s (deceleration time
can be expanded by parameter 22.03 ACC/DEC TIME SCLE).
If the deceleration time is set too short, the drive will
automatically prolong the deceleration in order not to exceed
drive operating limits. If there is any doubt about the
deceleration time being too short, ensure that the DC
overvoltage control is on (parameter 30.23 OVERVOLTAGE
CTL).
Note: If a short deceleration time is needed for a high inertia
application, the drive should be equipped with an electric
braking option for example with a brake chopper and a brake
resistor.
22.03
22.04
0...1000 s
Deceleration time
ACC/DEC TIME
SCLE
Multiplies the acceleration/deceleration defined by parameter

22.01/22.02 ACCELER/DECELER TIME.
0.1...100
Multiplication factor
EME STOP RAMP
Defines the time inside which the drive is stopped if

an emergency stop is activated and parameter 21.04 EME
STOP MODE is set to STOP RAMPING. (i.e. the time required
for the speed to change from the value defined by parameter
50.01 SPEED SCALING to zero).
0...3000 s
Deceleration time
186
Index
Name/Selection
Description
FbEq
Def.
PB
22.05
SHAPE TIME
Selects the shape of the acceleration/deceleration ramp.

This function is deactivated during emergency stop.
100 =
1s
405
0...1000 s
0.00 s: Linear ramp. Suitable for steady acceleration or

deceleration and for slow ramps.
OFF
406
1 = 1 ms 4.05
407
408
426
427
0.01 1000.00 s: S-curve ramp. S-curve ramps are ideal for

conveyors carrying fragile loads, or other applications where a
smooth transition is required when changing from one speed to
another. The S-curve consists of symmetrical curves at both
ends of the ramp and a linear part in between.
Motor
speed
Linear
S-curve
t (s)
acceleration
time
(par. 22.01)
ramp shape
time
(par. 22.05)
VARIABLE SLOPE
Controls the slope of the speed ramp during a speed reference 1 = 1

change. See parameter 22.07 VAR SLOPE RATE and section
Variable slope on page 71.
1 = ON
Control is active with the exception of LOCAL control mode.
0 = OFF
Control inactive
22.07
VAR SLOPE RATE
Defines the rate of the speed reference change, when

parameter 22.06 VARIABLE SLOPE is ON.
Set this parameter to the same value as the updating time
interval of the external control system.
4.1...30000 ms
Rate of the speed reference change
22.08
BAL RAMP REF
Forces the output of the speed ramp to a selected value. The

See par.
function is activated by setting 07.02 AUX CTRL WORD 1 bit 3 50.01.
value to 1.
See par.
20.01...20.02 (rpm)
Speed ramp output
22.06
23 SPEED REF
Speed reference functions. See control block diagram in

section Speed reference on page 303.
23.01
SPEED REF
Defines the main speed reference for the speed controller input. See par.
50.01.
See par.
20.01...20.02 (rpm)
Speed reference.
CONST SPEED 1
Defines constant speed 1. Constant speed reference is

activated by 07.01 MAIN CONTROL WORD bit 8. See also
Main Control Word bits 4...6.
23.02
Note: The value of this parameter value is not saved to the

flash memory.
-18000...18000 rpm Constant speed 1
1=1
187
Index
Name/Selection
Description
FbEq
Def.
PB
23.03
CONST SPEED 2
Defines constant speed 2. Constant speed reference is

activated by 07.01 MAIN CONTROL WORD bit 9. See also
Main Control Word bits 4...6.
1=1
428
See par.
50.01.
429
10 = 1%
100
430
431
-18000...18000 rpm Constant speed 2

23.04
SPEED
CORRECTION
Defines a value to be added to filtered speed reference 02.02

SPEED REF 3.
Note: Parameter value is cleared at the beginning of an
emergency stop.
Note: Parameter value is not saved to the flash memory.
Note: If an external control system or RMIO software writes
a value into this parameter, the value must be set to zero before
a stop command is issued for the drive.
See par. 99.05

(rpm)
23.05
SPEED SHARE
Speed correction
Speed reference share coefficient.
Note: Parameter value is not effective during emergency stop.
23.06
0...400%
Value in percent
SPEED ERROR
FILT
Defines the speed error filter time constant. (Speed error =

02.18 SPEED REF4 - Motor speed)
0...999999 ms
Speed error filter time
1 = 1 ms 0
188
Index
Name/Selection
Description
23.07
WINDOW INTG ON Activates the window control function. The window control,
together with selection ADD of parameter 26.01 TORQUE
SELECTOR, forms a speed supervision function for a torque
controlled drive.
FbEq
Def.
PB
1=1
OFF
432
See par.
50.01.
433
07.02 AUX CTRL WORD 1 bit 7 WINDOW CTRL must be set to

1 to enable the window control.
See also window control status bit, 08.02 AUX STATUS WORD
bit 1.
1 = ON
Active. When window control is on, the integration part of the

speed controller is active. This selection is used only when
parameter 26.01 TORQUE SELECTOR value is set to ADD.
Window control supervises the speed error value (speed
reference - actual speed). In normal operation, the drive is
torque controlled according to 02.08 TORQ REF1.
The speed controller is evoked only if
- the speed error exceeds the value of parameter 23.08
WINDOW WIDTH POS
or
- the absolute value of the negative speed error exceeds the
value of parameter 23.09 WINDOW WIDTH NEG.
When the speed error moves outside the window, the
exceeding part of the error value is connected to the speed
controller. The speed controller produces a reference term,
relative to the speed controller input and gain, which the torque
selector adds to the torque reference. The result is used as the
internal torque reference for the drive.
When window control is used, the speed control (P-control)
brings the speed to the sum of SPEED REF4 + WINDOW
WIDTH. (Note the permanent error of the P-control.)
Example: In a load loss condition the motor speed rises until a
speed limit of the drive is reached. If window control is used, the
internal torque reference of the drive is decreased to prevent
an excessive rise of the motor speed.
23.08
0 = OFF
Inactive. When window control is off, the integrator part of the

speed control is inactive.
WINDOW WIDTH
POS
Defines the speed limit for the window control, when the
calculated speed error (speed reference - actual speed) is
positive. Window control is activated by parameter 23.07
WINDOW INTG ON.
Note: Window control speed limits (defined by par. 23.08 and
23.09) are forced to zero if the sum of 02.18 SPEED REF 4 and
23.09 WINDOW WIDTH NEG / 23.08 WINDOW WIDTH POS is
> 20.02 MAXIMUM SPEED or
< 20.01 MINIMUM SPEEED.
See also parameter 23.11 SYMMETRIC WINDOW.
This parameter is also used with speed controlled follower with
load share function as maximum output limiting. See chapter
Control block diagrams in section Speed reference ramp.
0... 15000 (rpm)
Speed limit
189
Index
Name/Selection
Description
FbEq
Def.
PB
23.09
WINDOW WIDTH
NEG
Defines the speed limit for the window control, when the
calculated speed error (speed reference - actual speed) is
negative. Window control is activated by parameter 23.07
WINDOW INTDG ON.
See par.
50.01.
434
0... 15000 (rpm)
Speed limit. The maximum is the absolute value of the setting

defined by parameter 23.08 WINDOW WIDTH POS.
SPEED STEP
Defines an additional speed step given to the input of the speed See par.
controller (added to the speed error value). See control block
50.01.
diagram in section Speed control on page 305.
435
1=1
436
1=1
0=
OFF
Note: Window control speed limits (defined by par. 23.08 and

23.09) are forced to zero if the sum of 02.18 SPEED REF 4 and
23.09 WINDOW WIDTH NEG / 23.08 WINDOW WIDTH POS is
> 20.02 MAXIMUM SPEED or
< 20.01 MINIMUM SPEEED.
See also parameter 23.11 SYMMETRIC WINDOW.
This parameter is also used with speed controlled follower with
load share function as minimum output limiting. See chapter
Control block diagrams in section Speed reference ramp.
23.10
Note: If an external control system writes a value into this

parameter, the value must be set to zero (from the external
control system) before a stop command is issued for the drive.
Note: Parameter value is not saved to the flash memory.
23.11
23.12
See par.
20.01...20.02 (rpm)
Additional speed step
SYMMETRIC
WINDOW
Activates the symmetric window control function. Values for

23.08 WINDOW WIDTH POS and 23.09 WINDOW WIDTH
NEG are calculated from the absolute value of the speed
instead of the signed value of the speed. Thus window width
functions are symmetric for both directions of rotation.
Parameter 23.09 WINDOW WIDTH NEG functions as
overspeed supervision and 23.08 WINDOW WIDTH POS as
underspeed supervision.
0 = OFF
Inactive
1 = ON
Active
RFE SPEED
FILTER
Activates the resonance frequency elimination function. The

actual speed of the speed controller is filtered by a common
2nd order band-elimination filter to eliminate amplification of
mechanical resonance frequencies. The filter is configured by
parameters 23.13...23.16.
Note: When tuning the filter, the user should have basic
understanding of frequency filters. Incorrect tuning of the
parameters may amplify mechanical oscillations and cause
damage to the drive hardware. When the filter configuration
parameters are changed, it is recommended that the inverter is
either stopped or that the filter is switched off to ensure stability
of the speed controller.
1 = ON
Active
0 = OFF
Inactive
190
Index
Name/Selection
Description
FbEq
Def.
PB
23.13
FREQUENCY OF
ZERO
Defines the zero frequency of the band-elimination filter. The

frequency must be set near the resonance frequency, which is
filtered out before the speed controller.
10 =
1 Hz
45
Frequency response
20
20log10|H()|
-20
-40
-60
0
50
100
150
f / Hz
23.14
0.5...500 Hz
Zero frequency
DAMPING OF
ZERO
Defines the damping coefficient for the 23.13 FREQUENCY OF 100 =

ZERO. Value 0 corresponds to the maximum elimination of the 1.0
resonance frequency FREQUENCY OF ZERO.
20
fzero = 45 Hz
zero = 0.25
pole = 1
20log10|H()|
-20
fzero = 45 Hz
zero = 0
pole = 1
-40
-60
0
50
100
150
f / Hz
Note: To ensure that the resonance frequency band is filtered,
not amplified, DAMPING OF ZERO must be smaller than
DAMPING OF POLE (parameter 23.16).
-1...1
Damping coefficient
191
Index
Name/Selection
Description
FbEq
Def.
23.15
FREQUENCY OF
POLE
Defines the frequency of pole of the band-elimination filter.
10 =
1 Hz
40
0.25
40
fzero = 45 Hz
fpole = 50 Hz
20
20log10|H()|
PB
zero = 0
pole = 0.25
0
fzero = 45 Hz
-20
fzero = 45 Hz
fpole = 30 Hz
fpole = 40 Hz
zero = 0
-40
zero = 0
pole = 0.25
pole = 0.25
-60
100
50
f / Hz
Note: If this parameter value is very different from parameter
23.13 FREQUENCY OF ZERO value, the frequencies near the
FREQUENCY OF POLE are amplified, which may cause
damage to the driven machine.
23.16
0.5...500 Hz
Frequency of pole
DAMPING OF
POLE
Defines the damping coefficient for the 23.15 FREQUENCY OF 100 =

POLE.
1.0
Shapes the frequency response of the band-elimination filter:
Narrower bandwidth results in better dynamic properties. By
setting this parameter value to 1 the effect of the pole is
eliminated.
40
fzero = 45 Hz
fpole = 40 Hz
20log10|H()|
20
zero = 0
pole = 0.05
0
-20
-40
fzero = 45 Hz
fzero = 45 Hz
fpole = 40 Hz
fpole = 40 Hz
zero = 0
pole = 0.75
zero = 0
pole = 0.25
-60
0
50
100
f / Hz
Note: To ensure that the resonance frequency band is filtered,
not amplified, DAMPING OF POLE must be higher than
DAMPING OF ZERO (parameter 23.14).
23.17
-1...1
Damping coefficient
RAMPED INCH
REF
Speed reference. 07.02 Auxiliary Control Word 1 bit 12 selects See par.
the used speed reference: 23.17 RAMPED INCH REF or 02.27 50.01.
USED SPEED REF.
442
See control block diagram in section Speed reference on page

303.
-18000...18000 rpm Speed
192
Index
Name/Selection
Description
FbEq
Def.
PB
23.18
FOLL SPD CTRL

COR
Defines the correction term for the load share function used
with speed controlled Follower drives. I.e. defines how
accurately the Follower drive follows the Master torque.
A greater value results in a more accurate performance.
10 = 1%
0%
443
444
OFF
451
See parameter 23.19 FOLL SPD COR MODE and section Load
share function with speed controlled Follower on page 110.
Note: Parameter 24.02 DROOP RATE setting must be 0.
23.19
0...100%
Value in percent
FOLL SPD COR

MODE
Selects the torque correction mode for the load share function 1 = 1
used with speed controlled Follower drives. Used together with
parameter 23.18 FOLL SPD CTRL COR.
1 = FAST
Fast torque correction mode. Follower torque is corrected as

fast as possible after the Master drive torque change.
2 = SLOW
Slow torque correction mode. Follower torque is corrected

slowly after the Master drive torque change.
24 SPEED CONTROL
Speed controller variables. See section Speed controller tuning

on page 24.
The speed controller is based on PID algorithm.
1
sTIS
Yr
+
-
+
+
+
+
KPS
Td s
fs+1
b
+
-
u(s) = KPS[(bYr(s)-Y(s))+(1/(sTIS) + Tds/(fs+1))e(s)]

u = actual output of the controller
e = speed error (difference between actual and
reference speed)
Yr = setpoint value
TIS = integration time
KPS = gain
Td = derivation time
24.01
PI TUNE
Activates automatic tuning of the speed controller. Tuning is

1=1
based on the estimation of the mechanical time constant.
Parameters 24.03 KPS, 24.09 TIS and 24.15 ACC COMP DER
TIME are updated after the PI tuning.
Instructions:
- Run the motor at a constant speed of 20 to 40% of the rated
speed.
- Activate the PI tune by setting this parameter to 1 = ON.
Note: The motor load must be connected to the motor.
0 = OFF
Inactive
1 = ON
Active
193
Index
Name/Selection
Description
FbEq
Def.
PB
24.02
DROOP RATE
Defines the droop rate. The correct droop rate for a process
must be found out case by case in practice.
10 = 1%
452
10
453
The drooping slightly decreases the drive speed as the drive

load increases. The actual speed decrease at a certain
operating point depends on the droop rate setting and the drive
load (= torque reference / speed controller output). At 100%
speed controller output, drooping is at its nominal level, i.e.
equal to the value of the DROOP RATE. The drooping effect
decreases linearly to zero along with the decreasing load.
This parameter value is also valid during emergency stop.
Speed decrease = Speed controller output Drooping
Max.speed
Example: Speed controller output is 50%, DROOP
RATE is 1%, maximum speed of the drive is 1500 rpm.
Speed decrease = 0.50 0.01 1500 rpm = 7.5 rpm
Motor speed
% of
nominal
No drooping
100%
Drooping
Speed Controller Drive load

Output / %
} Par. 24.02
DROOP RATE
100%
Note: Parameter setting must be 0 when load share is used

with speed controlled Follower drives. See section Load share
function with speed controlled Follower on page 110.
24.03
0...100%
Droop rate in percent of the motor nominal speed
KPS
Defines the relative gain of the speed controller. Great gain may 100 = 1
cause speed oscillation.
The figure below shows the speed controller output after an
error step when the error remains constant.
%
Gain = KPS = 1
TIS = Integration time = 0
Td= Derivation time = 0
Error value
Controller
output = KPS e
Controller output
e = Error value
t
0...250
Gain. If KPS is set to 1, a 10% change in error value (reference

- actual value) causes the speed controller output to change by
10%.
194
Index
Name/Selection
24.04
KPS MIN
Description
FbEq
Def.
PB
Defines the gain when speed controller output is zero.
100 = 1
10
454
100 =
1%
455
456
OFF
457
100
458
Speed error filtering with parameter 23.04 SPEED

CORRECTION is typically not enough to tune the drive. The
adaptive gain of the speed controller can be used to smooth out
disturbances caused by small load and backlashes.
See parameter 24.05 KPS WEAKPOINT.
KPS
KPS
KPS MIN
(par. 25.04)
KPS WEAKPOINT (par. 24.05)
24.05
TORQUE REF 5
(par. 02.12)
0...150
Minimum KPS (gain)
KPS WEAKPOINT
Defines the speed controller output when gain is KPS. See

parameter 24.04 KPS MIN.
0...see par. 20.05

(%)
KPS (gain) weakpoint
24.06
KPS WP FILT TIME Softens the rate of the change of the gain.
24.07
SET P WEIGHTING Enables the setpoint weighting. In setpoint weighting the

setpoint is weighted by factor b < 1. Decreasing b toward zero
reduces the overshoot on setpoint changes. Weighting is
applied only to the P-part of the PID controller.
0...999999 ms
1 = 1 ms 100
KPS (gain) weakpoint filter time
When response to the ramp changes without delays is required,

see acceleration compensation parameters 24.14 ACC COMP
DER TIME and 24.15 ACC COMPFILT TIME.
This parameter can be changed on-line.
See parameter 24.08 SET POINT WEIGHT and PID algorithm
of the speed controller above.
24.08
0 = OFF
Disabled
1 = ON
Enabled
SET POINT
WEIGHT
Defines the setpoint weighting, i.e. the speed controller output

when gain is KPS.
30...100%
Setpoint weighting
1 = 1%
195
Index
Name/Selection
Description
FbEq
Def.
PB
24.09
TIS
Defines the integration time of the speed controller. The

1000 =
integration time defines the rate at which the controller output
1s
changes when the error value is constant and the relative gain
of the speed controller is 1. The shorter the integration time, the
faster the continuous error value is corrected. Too short
an integration time makes the control unstable.
2.5
459
100 =
1%
460
100 =
1%
461

%
Controller output
Gain = KPS = 1
TIS = Integration time > 0
Td= Derivation time = 0
KPS e
e = Error value
KPS e
TI
24.10
24.11
0.01...1000 s
Integration time
TIS INIT VALUE
Defines the initial value of the integrator.
See par.
20.06...20.05 (%)
Value in percent of motor nominal torque
BAL REF
Defines the external value to be forced to the output of the

speed controller. Signal 07.02 Auxiliary Control Word 1 bit 8
value must be 1.
See control block diagram in section Speed control on page
305.
See par.
20.06...20.05 (%)
196
Index
Name/Selection
Description
FbEq
Def.
24.12
DERIVATION TIME Defines the derivation time of the speed controller. Derivative
1 = 1 ms 0
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.
PB
462
463
Note: Changing this parameter is recommended only if a pulse

encoder is used.
Gain = KPS = 1
TIS = Integration time > 0
Td= Derivation time > 0
Ts= Sample time period = 2 ms
e = Error value change between two samples
%
KPS Td
Effect of derivation filter time
Controller Output
e
KPS e
Ts
Error Value
e = Error value
KPS e
TIS
0...10000 ms
24.13
Derivation time
DERIV FILT TIME
Defines the derivation filter time constant.
0...100000 ms
Derivation filter time constant
1 = 1 ms 8
197
Index
Name/Selection
Description
FbEq
Def.
PB
24.14
ACC COMP DER

TIME
Defines the ramp time for acceleration (deceleration)

compensation i.e. the time within the drive accelerates to
nominal motor speed (99.05 MOTOR NOM SPEED) with
nominal torque when the load consists only of inertia mass.
(Friction compensation is not taken into account.)
10 = 1 s
464
1 = 1 ms 8
465
466
In order to compensate inertia during acceleration a derivative

of the reference is added to the output of the speed controller.
The principle of a derivative action is described for parameter
24.12 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 speed
controller PI tune does this automatically, see parameter 24.01
PI TUNE.)
The figure below shows the speed responses when a high
inertia load is accelerated along a ramp.
Actual speed without acceleration compensation
Actual speed with acceleration compensation
Speed reference
Acceleration compensation
See parameter 24.15 ACC COMPFILT TIME.
24.15
24.16
0...1000 s
Derivation time. The function is deactivated by setting the value

to 0 s.
ACC COMPFILT
TIME
Defines the filter time for the acceleration compensation.
0...999999 ms
Time
SLIP GAIN
Defines the slip gain for the motor slip compensation control.
1 = 1%
100% means full slip compensation; 0% means no slip
compensation. The default value is 100%. Other values can be
used if a static speed error is detected despite of the full slip
compensation.
100
Example: 1000 rpm constant speed reference is given to the

drive. Despite of the full slip compensation (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 until no static speed error exist.
Parameter Is effective only when the calculated internal speed
is used as actual speed feedback.
0...400%
Slip gain value
198
Index
Name/Selection
Description
24.17
KPS TIS MIN FREQ Defines the minimum motor frequency limit above which the
relative gain and integration time are defined by parameters
24.19 KPS VAL MIN FREQ and 24.20 TIS VAL MIN FREQ.
FbEq
Def.
PB
100 =
1 Hz
467
11.7
468
1 = 1%
100
469
1 = 1%
100
470
100 =
1%
476
1 = 1 ms 0
477
10 = 1%
478
At low speed, speed control can be improved by increasing the

relative gain and decreasing the integration time.
KPS
TIS
KPS VAL MIN FREQ (par. 24.19)
KPS
TIS
TIS VAL MIN FREQ (par. 24.20)

Motor frequency
KPS TIS MIN FREQ
(par. 24.17)
KPS TIS MAX FREQ

(par. 24.18)
0...200 Hz
Frequency
24.18
KPS TIS MAX

FREQ
Defines the frequency at which KPS (gain) and TIS (integration 100 =
time) become constant. See parameter 24.17 KPS TIS MIN
1 Hz
FREQ.
0...200 Hz
Frequency
24.19
KPS VAL MIN

FREQ
Defines the relative gain at speed defined by parameter 24.17

KPS TIS MIN FREQ.
100...500%
Value in percent of KPS (gain)
24.20
TIS VAL MIN FREQ Defines the integral time at speed defined by 24.17 KPS TIS
MIN FREQ.
100...500%
Value in percent of TIS (integration time)
25 TORQUE REF
Torque reference functions. See control block diagram in

section Torque reference on page 306.
25.01
TORQUE REF A
Defines torque reference A. Reference can be scaled by

parameter 25.03 LOAD SHARE.
Note: This signal is reset when the control is switched to I/O
control. See parameter 10.07 AUTO/HAND.
-327327%
Torque reference A
25.02
TORQ REF A FTC
Defines the low pass filter time constant for TORQUE REF A
(25.01).
0...60000 ms
Low pass filter time constant
25.03
LOAD SHARE
Scales the external torque reference defined by parameter

25.01 TORQUE REF A to a required level.
Note: Drooping (24.022 DROOP RATE) must be disabled when
load share is used with speed controlled Follower drives.See
section Load share function with speed controlled Follower on
page 110.
-400...400%
Value in percent of TORQUE REF A
100
199
Index
Name/Selection
Description
FbEq
Def.
PB
25.04
TORQUE REF B
Defines torque reference B. Torque reference B is ramped by

parameters 25.05 TORQ RAMP UP TIME and 25.06 TORQ
RAMP DN TIME.
Note: This signal is reset when the control is switched to
external control (par. 98.02 = FIELDBUS or ADVANT/N-FB).
See parameter 10.07 AUTO/HAND.
100 =
1%
479
100 =
1s
480
100 =
1s
481
482
501
Note: This parameter value is not saved to the flash memory.

25.05
25.06
25.07
-327327%
Torque reference B
TORQ RAMP UP
Defines the torque reference ramp up time.
0...120 s
Time for the reference to increase from zero to the nominal

motor torque.
TORQ RAMP
DOWN
Defines the torque reference ramp down time.
0...120 s
Time for the reference to decrease from the nominal motor

torque to zero.
TORQ ACT FILT

TIM
Defines the filter time constant for signal 01.07 MOTOR TORQ 1 = 1 ms 100
FILT2.
2...20000 ms
26 TORQUE REF
HANDLING
Torque reference handling. See control block diagram in

section Torque reference on page 306.
26.01
TORQUE
SELECTOR
Selects the reference used in motor torque control.
1 = ZERO
This selection forces the output of the torque selector to zero.
2 = SPEED
Speed control
3 = TORQUE
Torque control
Note: If TORQUE is selected, the drive does not restrict the

speed variation as long as the speed is within the limits defined
by parameters 20.01 MINIMUM SPEED and 20.02 MAXIMUM
SPEED. More definite speed supervision is often needed.
In those cases, the selection ADD should be used instead of
TORQUE.
Note: To prevent torque limitation in the generating mode, keep
the minimum torque limits < 0.
4 = MINIMUM
The torque selector compares the torque reference (02.08

TORQ REF1) and the speed controller output (02.09 TORQ
REF2), and the smaller of them is used as the reference for the
motor torque control. If the speed error becomes negative, the
drive follows TORQ REF2 until the speed error becomes
positive again (latch function). Thus the drive never accelerates
uncontrolled if the load is lost in torque control.
5 = MAXIMUM
The torque selector compares the torque reference (02.08

TORQ REF1) and the speed controller output (02.09 TORQ
REF 2) and the greater of them is used as the reference for the
motor torque control. If the speed error becomes positive, the
drive follows TORQ REF2 until the speed error becomes
negative again (latch function). Thus the drive never
accelerates uncontrolled if the load is lost in torque control.
200
Index
Name/Selection
Description
6 = ADD
The torque selector adds speed controller output 02.09

TORQUE REF 2 to torque reference 02.08 TORQUE REF 1.
FbEq
Def.
PB
100 =
1%
502
100 =
1%
503
1=1
OFF
504
100 =
1 Hz
31
505
506
507
508
This selection together with the window control forms a speed

supervision function for a torque controlled Follower drive. See
parameter 23.07 WINDOW INTG ON and signal 07.02 AUX
CTRL WORD 1.
In normal generating mode the drive is speed controlled.
Torque reference TORQUE REF 1 is typically used for
acceleration and deceleration compensation (24.14 ACC
COMP DER TIME).
26.02
LOAD
COMPENSATION
Adds load compensation to 02.10 TORQ REF3.

Note: Value of this parameter is not saved to the flash memory.
26.03
See par.
20.06...20.05 (%)
Load compensation
TORQUE STEP
Adds an additional torque step to 02.11 TORQ REF4.

Note: Value of this parameter is not saved to the flash memory.
26.04
26.05
See par.
20.06...20.05 (%)
Torque step
OSC
COMPENSATION
Activates the damping of torsional vibration or DC voltage

oscillation. The bandpass filter uses speed error or DC voltage
as an input selected by parameter 26.08 OSC COMP INPUT.
The amplified output of the filter is added to the torque
reference after phase shift defined by parameter 26.06
OSCILLATION PHASE. See parameters 26.0526.08 and
section Oscillation damping on page 72.
0 = ON
Active
1 = OFF
Inactive
OSCILLATION
FREQ
Defines the center frequency of the filter. Oscillation frequency

is determined from the speed difference signal and the
following equation:
f = Npeaks / T
Npeaks is the number of peaks within time T (seconds).
0...60 Hz
Oscillation frequency
OSCILLATION
PHASE
Defines the phase shift for the output of the filter.
0...360
Oscillation phase
26.07
OSCILLATION
GAIN
Defines how much the output of the filter is amplified before it is 100 =
added to torque reference. Oscillation gain is scaled according 1%
to the speed controller gain so that changing the gain will not
disturb oscillation damping. This scaling is not effective when
DC VOLTAGE is selected to input.
0...100%
Oscillation gain
26.08
OSC COMP INPUT Determines the input signal for oscillation damping function.
26.06
0 = SPEED ERROR Speed error is selected to input of oscillation damping function.
1 = 1.41 0
1 =1
201
Index
Name/Selection
Description
FbEq
1 = DC VOLTAGE
DC voltage is selected to input of oscillation damping function.
27 FLUX CONTROL
Flux control settings
27.01
FLUX
OPTIMIZATION
Activates the flux optimisation function. Optimises the motor

flux by minimising the motor losses and reducing motor noise.
Flux optimisation is used in drives that usually operate below
nominal load. See section Flux optimisation on page 69.
1 = YES
Active
27.02
0 = NO
Inactive
FLUX BRAKING
Activates the flux braking function.
Def.
PB
1
1=1
NO
526
1=1
OFF
527
10 = 1%
100
528
10 = 1%
140
529
10 = 1%
25
530
531
OFF
533
The braking ability of the drive can be highly improved by

utilising flux braking. During braking, mechanical energy of the
driven equipment has to be dissipated by the motor and the
inverter. By modifying the magnetising level of the motor,
thermal losses can be increased and the motor can be stopped
more effectively. This function can be used with the
non-regenerative incoming sections. See section Flux braking
on page 69.
27.03
27.04
27.05
27.06
27.08
1 = YES
Active
0 = NO
Inactive
FLUX REF
Defines the flux reference value.
See par.
27.05...27.04 (%)
Flux reference
FLUX MAX
Defines the maximum limit of the flux.
100...140%
Maximum flux
FLUX MIN
Defines the minimum limit of the flux.
0...100%
Minimum flux
FLUX RAMP GAIN
1=1
This parameter can be used to speed up the slope of the flux
reference and it is needed only, when very fast (e.g. 24 s)
acceleration or deceleration is required in the process. The
value increment effects to faster flux reference changes. If very
fast acceleration or deceleration is required the value 10 is
suitable for most applications.
0...128
Flux ramp gain
HEX FIELD
WEAKEN
Selects whether motor flux is controlled along a circular or

a hexagonal pattern in the field weakening area of the
frequency range (above 50 or 60 Hz). See section Hexagonal
motor flux on page 80.
1 = ON
Motor flux follows a circular pattern below the field weakening

point (typically 50 or 60 Hz) and a hexagonal pattern in the field
weakening range. Optimal selection in the applications that
require maximal instantaneous torque in the field weakening
range of the speed. The losses at constant operation are higher
than with selection OFF.
0 = OFF
The rotating flux vector follows a circular pattern. Optimal

selection in most applications: Minimal losses at constant load.
Maximal instantaneous torque is not available in the field
weakening range of the speed.
1=1
202
Index
Name/Selection
28 MOTOR MODEL
Description
FbEq
Def.
PB
551
552
40
553
554
555
Motor model fine tuning.

Note: If pulse encoder is used, parameters 28.01...28.05 are
not effective.
28.01
ZER_COEF1
Affects to the sensitivity of the motor pull-out prevention within 1 = 1%

the generator quadrant, when speed is 20% below nominal
speed and torque is 30% above nominal speed. This parameter
is automatically set during motor ID run or first start and
normally requires no alteration. If the motor is prone to pull-out
at low speeds within the generator quadrant, decrease the
coefficient. If the motor is unstable at zero speed, increase the
coefficient.
Note: Parameter is not active, when parameter
28.14 FS METHOD setting is ON.
28.02
0...100%
Zero coefficient 1
ZER_GAIN
Affects the sensitivity of the motor pull-out prevention within the 1 = 1%

generator quadrant. The impact is inverse compared to
parameter 28.01 ZER_COEF1: If the motor is prone to pull-out
at low speeds within the generator quadrant, increase the
coefficient. If the motor is unstable at zero speed, decrease the
coefficient.
28.03
0...100%
Zero gain
MOT_COEF
Affects the accuracy and linearity of torque control at low

1 = 1%
frequencies (<10% of the nominal frequency) within the motor
quadrant, when torque is 30% above nominal speed. This
parameter is essential in maximising the breakaway torque and
affects the stability of the torque, when the torque is above
100%. Decreasing the value improves the ability to reach the
maximum allowed torque. Too small value makes the motor
prone to pull-out at low frequencies within the motor quadrant.
28.04
0...100%
Motor coefficient in percent
GEN_COEF
Affects the stability of the torque at low frequencies (<30% of

1 = 1%
the nominal frequency) within the generator quadrant. A greater
value results in a more stable torque, however increasing the
susceptibility to pull-out if the torque is above 40%.
Vibration can be damped by increasing this value.
28.05
0...100%
Coefficient
MG_COEF
Affects the accuracy and linearity of torque control at low

frequencies and torque within all quadrants. Parameter has no
effect when frequency exceeds 30% the of nominal frequency
or torque exceeds 80% of the nominal torque.
0...100%
Coefficient
1 = 1%
203
Index
Name/Selection
Description
FbEq
Def.
PB
28.06
CABLE LENGTH
Defines the motor cable length. This parameter affects the

switching frequency at low frequencies (<20% of the nominal
motor frequency). With longer cables, the switching frequency
decreases.
1=1m
10
556
1=1
ON
557
558
25
559
560
Parameter value should be adjusted only, if motor power is

below 10 kW and the motor cable is longer than 80 metres.
28.07
28.08
0...1000 m
Motor cable length
LONG DISTANCE
MOD
Activates the long distance mode. The mode limits voltage

peaks in the motor circuit and reduces the switching frequency
of the inverter. Long distance mode can be used with long
motor cables.
1 = ON
Active
0 = OFF
Inactive
TR TUNE
Affects the calculated rotor time constant. Parameter should be 1 = 1

adjusted if the nominal speed of the motor rating plate does not
correspond the real speed.
Example: If the real slip speed is 10% higher than the
calculated slip speed stated on the motor rating plate: TR TUNE
is set to 10%.
Note: This parameter is effective only when a pulse encoder is
used.
28.09
-60...200%
Time constant tuning
RS INC1
Defines the stator resistance coefficient at 0 Hz. By increasing

the stator resistance value at low frequencies, the pull-out limit
is increased.
RS INC1
RS INC2
RS INC1
(par. 28.09)
RS INC2
(par. 28.10)
f / Hz
0
28.10
10 = 1%
1,25 fN
-60...100%
Stator resistant coefficient 1
RS INC2
Defines the stator resistance coefficient at 1.25 Motor nominal 10 = 1%

frequency. See parameter 28.09 RS INC1.
-60...100%
Stator resistant coefficient 2
204
Index
Name/Selection
Description
FbEq
Def.
PB
28.11
CALC CURRENT
CORR
Determines the relative gain which is used to correct the

calculated current Icalc based on the measured current lmeas:
Icalc = lcalc(-1) + (calc_current_corr/100) (lmeas - lcalc(-1))
10 = 1%
100
561
1 = 1%
50%
562
25
563
ON
564
Set
during
ID run.
565
(lcalc(-1) is the previous value of Icalc.)

Default value, 100%, forces the calculated current to follow the
measured current. There is no need to adjust this value if no
interferences are observed in the current measurement.
If instantaneous current readings are disturbed by current
oscillations caused by long motor cables (or LC filter), the noise
immunity can be improved by decreasing the parameter value.
Normally 10% is a suitable value for Direct Torque Control with
long cables (when no long distance mode has been selected by
Par. 28.07 LONG DISTANCE MODE).
28.12
5...100%
Calculated current correction
FLYSTART CUR
REF [%]
Defines the current reference used with flying start (start to

a rotating motor) when no pulse encoder is used.
If flying start fails (i.e. drive is unable to detect motor speed
01.02 SPEED ESTIMATED): Monitor signals 01.02 SPEED
ESTIMATED and 01.06 MOTOR CURRENT with DriveWindow
PC tool and increase the reference in steps of 5% until the
flying start function is successfully performed (i.e. drive is able
to detect 01.02 SPEED ESTIMATED).
See also parameter 28.13 FLYSTART INIT DLY.
28.13
0...100%
Value in percent
FLYSTART INIT
DLY
Defines together with the motor characteristics the delay before 1 = 1

the speed value estimated at the beginning of flying start is
connected to the speed reference ramp output. Increase the
delay, if the motor starts to rotate in the wrong direction or if the
motor starts to rotate with the wrong speed reference.
See also parameter 28.12 FLYSTART CUR REF [%].
28.14
0...59
Delay
FS METHOD
Activates the flux stabilisation function at low frequencies, < 3

Hz, when the torque exceeds 30%. Effective in the motoring
and generating modes.
1=1
Note: When flux stabilation is active, parameters 28.01...28.03

are not effective.
28.15
1 = ON
Active
0 = OFF
Inactive
RS20 [mOhm]
Defines the stator resistance of the motor model at 20C.
28676 =
By increasing the default value defined during ID run (does not 1
include the temperature dependence of the resistance), the
motor model can be fine tuned especially in applications where
the motor or ambient temperature is not measured.
Note: If stator resistance value is too high, the desired starting
torque cannot be achieved.
0...x m
Resistance. The maximum value depends on the defined motor

parameters (99 START-UP DATA).
205
Index
Name/Selection
29 SCALAR
CONTROL
Description
FbEq
Def.
PB
100 =
1 Hz
576
See
par.
20.01.
577
See
par.
20.02.
578
Scalar control is activated by setting parameter 99.08 MOTOR

CTRL MODE to SCALAR. This parameter group is not visible
when DTC control mode is selected.
Note: The following start-up parameters have no effect in scalar
control:
99.03 MOTOR NOM CURRENT
99.05 MOTOR NOM SPEED
99.06 MOTOR NOM POWER
Note: In the scalar mode parameter 50.01 SPEED SCALING
affects the actual speed signals.
Scalar control is suitable in special cases where DTC cannot be
applied. Scalar control mode is recommended:
- for multimotor drives with variable number of motors
- when the nominal current of the motor is less than 1/6 of the
nominal output current of the drive (inverter)
- the drive is used for test purposes with no motor connected.
The motor identification run, flying start, torque control, DC
hold, motor phase loss check, and stall functions are disabled in
the scalar control mode.
See section Scalar control on page 79.
29.01
29.02
29.03
FREQUENCY REF
Defines the speed reference.
See Par.
29.0329.02 (Hz)
Frequency reference
FREQUENCY MAX Defines the maximum frequency. If parameter 20.02 MAXIMUM 100 =
SPEED is changed, this parameter value is also changed.
1 Hz
-300...300 Hz
Maximum frequency
FREQUENCY MIN
Defines the minimum frequency. If parameter 20.01 MINIMUM

SPEED is changed, this parameter value is also changed.
-300...300 Hz
Minimum frequency
100 =
1 Hz
206
Index
Name/Selection
Description
FbEq
Def.
PB
29.04
IR
COMPENSATION
Defines the relative output voltage boost at zero speed (IR

compensation). The function is useful in applications which
require high break-away torque, but no DTC motor control can
be applied. The figure below illustrates the IR compensation.
100 = 1
579
100 =
1 Hz
580
Note: The function can be used only if parameter 99.08

MOTOR CTRL MODE is set to SCALAR.
U / UN
(%)
Relative output voltage. IR compensation

is set to 15%.
100%
15%
Relative output voltage. No IR

compensation.
29.05
f (Hz)
0...30%
Value in percent of the motor nominal voltage. Select a value at

which the motor is able to start and run at constant speed over
the whole speed range.
ADD FREQ REF
Additional frequency reference, when AI+FBA SPEED REF

function has been activated by parameter 11.02 REFERENCE
SELECT. This additional frequency reference can also be
updated by Application program, if AI+FBA SPEED REF is not
selected.
-500+500 Hz
Additional frequency reference in Hz.
207
Index
Name/Selection
Description
29.06
IR STEP-UP FREQ Defines the frequency at which the step-up IR compensation

reaches the IR compensation used in scalar control (29.04 IR
COMPENSATION).
FbEq
Def.
PB
100 =
1 Hz
581
582
601
A voltage boost is used in step-up applications to achieve

higher break-away torque. Since voltage cannot be fed to the
transformer at 0 Hz, special IR compensation is used in step-up
applications. Full IR compensation starts around slip frequency.
The figure below illustrates the step-up IR compensation.
U / UN
(%)
100%
26.03 IR
COMPENSATION
f (Hz)
26.04 IR STEP-UP
FREQ
Field weakening
point (FWP)
For more information, see the Sine Filters Users Manual for
ACS800 Drives [3AFE68389178 (English)].
050 Hz
29.07
Value in Hz
ENA INC SW FREQ Activates the minimum switching frequency limitation with sine
filter application.
NO
Inactive
YES
Active. Minimum switching frequency limit is set according to

inverter type.
30 FAULT
FUNCTIONS
30.01
Selects the thermal protection mode of the motor. When

overtemperature is detected the drive reacts as defined by
parameter 30.02 MOTOR THERM PROT.
MOT THERM P
MODE
1=1
Note: The motor thermal model can be used when only one
motor is connected to the inverter.
See section Motor thermal mode on page 84.
208
Index
30.02
Name/Selection
Description
1 = DTC
The protection is based on the calculated motor thermal model.

The following assumptions are used in the calculation:
- The motor is at the estimated temperature (value of 01.18
MOTOR TEMP EST saved at power switch off) when the power
is switched on. With the first power switch on, the motor is at
the ambient temperature (30C).
- The motor temperature increases if it operates in the region
above the load curve.
- The motor temperature decreases if it operates in the region
below the curve. This applies only if the motor is overheated.
- The motor thermal time constant is an approximate value for
a standard self-ventilated squirrel-cage motor.
It is possible to finetune the model by parameter 30.10 MOTOR
LOAD CURVE.
Note: The model cannot be used with high power motors (i.e.
when parameter 99.03 MOTOR NOM CURRENT value is
higher than 800 A).
WARNING! The model does not protect the motor if it
does not cool properly due to dust and dirt.
2 = USER MODE
The protection is based on the user-defined motor thermal

model and the following basic assumptions:
- The motor is at the estimated temperature (value of 01.18
MOTOR TEMP EST saved at power switch off) when the power
is switched on. With the first power switch on, the motor is at
the ambient temperature (30C).
- The motor temperature increases if it operates in the region
above the motor load curve and decreases if it operates below
the curve.
The user-defined thermal model uses the motor thermal time
constant (parameter 30.09 MOTOR THERM TIME) and the
motor load curve (parameters 30.10...30.12). User tuning is
typically needed only if the ambient temperature differs from the
normal operating temperature specified for the motor.
WARNING! The model does not protect the motor if it
does not cool properly due to dust and dirt.
MOTOR THERM
PROT
Selects how the drive reacts when the motor overtemperature

is detected by the function defined by parameter 30.01 MOT
THERM MODE.
The fault and alarm limits are defined by parameters 30.28
THERM MOD ALM LIM and 30.29 THERM MOD FLT LIM.
Note: An external temperature measurement is activated by
parameter 30.03 MOT1 TEMP AI1 SEL or 30.06 MOT2 TEMP
AI2 SEL. External temperature measurement alarm and fault
limits are defined by parameters 30.04, 30.05, 30.07 and 30.08.
1 = FAULT
The drive generates alarm MOTOR TEMP when the

temperature exceeds the alarm level. The drive trips on fault
MOTOR TEMP when the temperature exceeds the fault level.
2 = WARNING
The drive generates alarm MOTOR TEMP when the

temperature exceeds the alarm level.
3 = NO
Inactive
FbEq
Def.
PB
602
209
Index
Name/Selection
Description
FbEq
30.03
MOT1 TEMP AI1

SEL
Activates the motor 1 temperature measurement function and

selects the sensor type. See section Temperature sensors on
page 85.
1 = NOT IN USE
Inactive
2 = 1xPT100
The function is active. The temperature is measured with one

Pt100 sensor. Analogue output AO1 feeds constant current
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 analogue input AI1 and converts it to degrees
centigrade.
Constant current: 9.1 mA (0...10 V range with RMIO or 0...2 V
range with RAIO).
3 = 2xPT100
The function is active. Temperature is measured using two

Pt100 sensors. See selection 1xPT100.
Constant current: 9.1 mA (0...10 V range with RAIO)
4 = 3xPT100
The function is active. Temperature is measured using three

Pt100 sensors. See selection 1xPT100.
5 = 1...3 PTC
The function is active. The temperature is supervised using one

to three PTC sensors or one to three KTY84-1xx silicon
temperature sensors. Analogue output AO1 feeds constant
current through the sensor(s).
The resistance of the sensor increases sharply as the motor
temperature rises over the sensor reference temperature Tref,
as does the voltage over the resistor. The temperature
measurement function reads the voltage through analogue
input AI1 and converts it into ohms. The figure below shows
typical PTC sensor resistance values as a function of the motor
operating temperature.
Def.
PB
603
110C
or 0
604
Ohm
4000
1330
Temperature
PTC resistance
Normal
01.5 kohm
Excessive
> 4 kohm
550
100
T
Constant current: 1.6 mA (0...10 V range with RAIO).
30.04
6 = EXT TEMP
Externally measured motor temperature for motor

overtemperature protection and motor model. Measured
temperature is written either from fieldbus or adaptive program
application to signal 01.16 MOTOR 1 TEMP.
MOT 1 TEMP ALM

L
Defines the alarm limit for motor 1 temperature measurement

activated by parameter 30.03 MOT1 TEMP AI1 SEL Alarm
MOTOR TEMP M is generated when the limit is exceeded.
1 = 1C
or 1
210
Index
Name/Selection
Description
FbEq
Def.
PB
130C
or 0
605
606
110C
or 0
607
130C
or 0
608
-10...180C (Pt100) Limit in C or

/ 0...5000 ohm
(PTC / KTY84-1xx)
30.05
MOT 1 TEMP FLT L Defines the fault trip limit for motor 1 temperature measurement 1 = 1C
activated by parameter 30.03 MOT1 TEMP AI1 SEL. Fault
or 1
MOTOR TEMP M is generated when the limit is exceeded.
/ 0...5000 ohm
(PTC / KTY84-1xx)
30.06
MOT2 TEMP AI2

SEL
Activates the motor 2 temperature measurement function and

selects the sensor type. Two motors can be protected only by
using an RAIO I/O Extension module (parameter 98.06 AI/O
EXT MODULE 1 setting must be TEMP MEAS).
Note: If parameter 98.06 selection is not TEMP MEAS, the
analogue I/O extension is used for motor 1 temperature
measurement (the standard I/O terminals are not in use).
See section Temperature sensors on page 85.
30.07
1 = NOT IN USE
Inactive
2 = 1xPT100
See 30.03 MOT1 TEMP AI1 SEL.

3 = 2xPT100

4 = 3xPT100

5 = 1...3 PTC

MOT 2 TEMP
ALM L
Defines the alarm limit for the motor 2 temperature

1 = 1C
measurement function activated by parameter 30.06 MOT2
or 1
TEMP AI2 SEL. Alarm MOTOR TEMP M is generated when the
limit is exceeded.

/ 0...5000 (PTC /
KTY84-1xx)
30.08
MOT 2 TEMP FLT L Defines the fault trip limit for the motor 2 temperature
1 = 1C
measurement function activated by parameter 30.06 MOT2
or 1
TEMP AI2 SEL. Fault MOTOR TEMP M is generated when the
limit is exceeded.
/ 0...5000 (PTC /
KTY84-1xx)
211
Index
Name/Selection
Description
FbEq
30.09
MOTOR THERM
TIME
Defines the thermal time constant for the user-defined thermal 1 = 1 s

model (i.e. time inside which the temperature has reached 63%
of the nominal temperature). See selection USER MODE of
parameter 30.01 MOT THERM P MODE.
Def.
PB
609
Motor
Load
100%
Temperature
100%
63%
Motor thermal time constant
To monitor the calculated temperature, see signal 01.18

MOTOR TEMP EST.
256...10000 s
Time constant. If thermal protection according to UL

requirements for NEMA class motors is needed, the thermal
time for Class 10 trip curve is 350 s, for Class 20 trip curve
700 s and for Class 30 trip curve 1050 s.
Motor Thermal Times for ABB HXR and AMA Motors:
HXR motor type
Temp. rise time
400S
2700 s
400L
3600 s
450L
4200 s
500L
4800 s
560L
6000 s
AMA motor type
Temp. rise time
all types
1500 s
212
Index
Name/Selection
Description
FbEq
Def.
PB
30.10
MOTOR LOAD
CURVE
Defines the maximum allowed operating load of the motor.

When parameter is set to 100%, the maximum allowed load is
equal to the value of parameter 99.03 MOTOR NOM
CURRENT. The load curve level should be adjusted if the
ambient temperature differs from the nominal value.
This parameter is used when USER MODE is selected by
parameter 30.01 MOT THERM P MODE.
1 = 1%
100
610
1 = 1%
74
611
45
612
613
I / IN
(%)
I = Motor current
IN = Nominal motor current
150
Par. 30.10
100
50
Par. 30.11
Par. 30.12
30.11
Drive output frequency
50...150%
Allowed continuous motor load in percent of the nominal motor

current
ZERO SPEED
LOAD
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. This parameter is used when USER MODE
is selected by parameter 30.01 MOT THERM P MODE.
See parameter 30.10 MOTOR LOAD CURVE.
30.12
30.13
25...150%
Allowed continuous motor load at zero speed in percent of the

nominal motor current
BREAK POINT
Defines the break point frequency of the load curve i.e. the
100 =
point at which the motor load curve begins to decrease from the 1 Hz
value of parameter 30.10 MOTOR LOAD CURVE to the value
of parameter 30.11 ZERO SPEED LOAD. This parameter is
used when USER MODE is selected by parameter 30.01 MOT
THERM P MODE.
1...300 Hz
Drive output frequency at 100% load
STALL FUNCTION
Selects how the drive reacts to a motor stall condition. The

protection is activated if the following conditions have been
valid longer than the time set by parameter 30.15 STALL TIME:
- output frequency of the drive is below the level set by
parameter 30.14 STALL FREQ HI.
- the application is at a stall limit set by the user (defined by
parameters 20.04...20.10).
Note: Stall limit is restricted by internal current limit
TORQ_INV_CUR_LIM.
See section Stall protection on page 91.
1 = NO
Inactive
2 = WARNING
The drive generates alarm MOTOR STALL. The indication

disappears in half of the time set by parameter 30.15 STALL
TIME.
3 = FAULT
The drive trips on fault MOTOR STALL.
213
Index
Name/Selection
Description
FbEq
Def.
PB
30.14
STALL FREQ HI
Defines the frequency limit for the stall protection. See

parameter 30.13 STALL FUNCTION.
100 =
1 Hz
20
614
0.150 Hz
Stall frequency
30.15
STALL TIME
Defines the time delay for the stall protection. See parameter
30.13 STALL FUNCTION.
1=1s
20
615
10...400 s
Stall time
30.16
UNDERLOAD
FUNC
Selects how the drive reacts to underload. The protection

wakes up if
616
1=1
600
617
618
- the motor torque falls below the curve selected by parameter

30.18 UNDERLOAD CURVE
- output frequency is higher than 10% of the nominal motor
frequency
- the above conditions have been valid longer than the time set
by parameter 30.17 UNDERLOAD TIME.
TM
TM = Motor torque
N = Nominal motor frequency
Underload curve
Underload region
f
0.1 fN
1 = NO
Protection is inactive.
2 = WARNING
The drive generates alarm UNDERLOAD.
3 = FAULT
The drive trips on fault UNDERLOAD.
30.17
UNDERLOAD TIME Time limit for the underload function. See parameter 30.16
UNDERLOAD FUNC.
0...600 s
Underload time
30.18
UNDERLOAD
CURVE
Selects the load curve for the underload function. See

parameter 30.16 UNDERLOAD FUNC.
TM / TN
(%)
100
TM = Motor torque
TN= Nominal motor torque
N = Nominal motor frequency
80
70%
60
2
50%
40
5
30%
20
0
N
1...5
2.4 N
Number of the load curve
214
Index
Name/Selection
Description
FbEq
Def.
PB
30.19
MOTOR PHASE
LOSS
Activates the motor phase loss supervision function.
1=1
NO
619
1 = FAULT
Active. The drive trips on fault MOTOR PHASE.
2 = NO
Inactive
EARTH FAULT
Selects how the drive reacts when an earth fault or current

unbalance is detected in the motor or the motor cable. See
section Earth fault and current unbalance protection on page
93.
1=1
FAULT
620
FAULT
621
OFF
622
30.20
Note: With parallel connected inverter modules (2...12 R8i)

only selection FAULT is valid.
30.21
30.22
1 = FAULT
The drive trips on fault EARTH FAULT / CUR UNBAL x.

Note: With parallel connected inverters modules, the earth fault
function monitors the inverter output current unbalance
(e.g. short circuit) and the fault text is CUR UNBAL x instead of
EARTH FAULT.
0 = WARNING
The drive generates alarm EARTH FAULT.
PANEL LOSS
Selects how the drive reacts to a control panel or DriveWindow 1 = 1

communication break.
1 = FAULT
Drive trips on fault PANEL LOSS and the motor stops as

defined by parameter 21.03 STOP FUNCTION.
0 = LAST SPEED
The drive generates alarm PANEL LOSS and freezes the

speed to the level the drive was operating at. The speed is
determined by the average speed over the previous
10 seconds.
WARNING! Make sure that it is safe to continue
operation in case of a communication break.
UNDERVOLTAGE
CTL
Activates the undervoltage control of the intermediate DC link.

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
stop. This will act as a power-loss ride-through functionality in
systems with high inertia, such as a centrifuge or a fan.
Note: The undervoltage controller is able to adjust the torque
within all operating quadrants without limitations, if the following
parameter values are set high enough:
- power limits: 20.17, 20.18,
- torque limits: 20.05, 20.06 and
- maximum current: 20.04.
See section Undervoltage control on page 61.
1 = ON
Active
0 = OFF
Inactive
1=1
215
Index
Name/Selection
Description
FbEq
Def.
PB
30.23
OVERVOLTAGE
CTL
Activates the overvoltage control of the intermediate DC link.
1=1
ON
623
NO
624
1=1
Inverter 625
type
dependent
1=1
ZERO
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 a brake chopper and resistor or a regenerative supply
section are included in the drive, the controller must be OFF.
See section Overvoltage control on page 63.
30.24
30.25
1 = ON
Active
0 = OFF
Inactive
PPCC FAULT
MASK
Activates the fault mask. Unwanted AINT board current

1=1
measurement or communication faults can be masked in
situations where the DC voltage has been disconnected but the
RMIO board has an external power supply and fault indication
is not needed. A fault is produced only when the motor is
started. See also parameter 31.02 START INHIBIT ALM.
0 = NO
Inactive
1 = YES
Active
EARTH FAULT
LEVEL
Selects the earth fault level for non-parallel connected R8i

inverters.
Note: DO NOT change earth fault level with parallel connected
inverter modules. With parallel connected inverters, the fault is
CUR UNBAL x instead of EARTH FAULT.
The earth fault level is given in percent of the current
measurement range.
30.26
Disabled
1% unbalance in the sum current
COMM LOSS RO
Selects the operation of the fieldbus controlled digital output

(07.02 AUX CTRL WORD bits 13...15) in a communication
break. See parameter group 14 DIGITAL OUTPUTS and
chapter Fieldbus control.
The action taken by the drive on a communication break is
defined by parameter 70.05 CH0 COM LOSS CTRL.
0 = ZERO
Digital output is de-energised.
1 = LAST VALUE
Digital output keeps the last state before the communication

loss.
WARNING! After the communication recovers, the
update of the digital outputs starts immediately
without fault message resetting.
216
Index
Name/Selection
Description
FbEq
30.27
AI<MIN FUNC
Selects how the drive reacts when an analogue input (RMIO

analogue input AI2, AI3 or RAIO analogue input AI2) signal falls
below the minimum limit set by parameter 13.06 MINIMUM AI2
or 13.10 MINIMUM AI3.
1 = FAULT
The drive trips on fault AI<MIN FUNC and the motor coasts to
stop.
2 = NO
Inactive
3 = LAST SPEED
The drive generates alarm AI<MIN FUNC and freezes the

speed to the level the drive was operating at. The speed is
determined by the average speed over the previous
10 seconds.
WARNING! Make sure that it is safe to continue
operation in case the analogue input signal is lost.
30.28
THERM MOD ALM

LIM
Defines the thermal model alarm limit. See parameter 30.02

MOTOR THERM PROT. The calculated temperature of the
thermal model is shown by signal 01.18 MOTOR TEMP EST.
0...300C
Thermal model alarm limit
30.29
THERM MOD FLT

LIM
Defines the thermal model fault trip limit. See parameter 30.02
MOTOR THERM PROT. The calculated temperature of the
thermal model is shown by signal 01.18 MOTOR TEMP EST.
0...300C
Thermal model fault limit
30.30
MOT NOM TEMP

RISE
Defines the temperature rise of the motor when the motor is

loaded with nominal current.
Def.
PB
90
110
1 = 1C
80
1 = 1C
30
40
Temperature
Motor
nominal
temperature
rise
Ambient temperature
Note: If the ABB motor rating plate has coefficient MNTRC,

multiply it by 80C to get the motor nominal temperature rise.
With non-ABB motors, contact the motor manufacturer.
30.31
30.32
0...300C
Nominal temperature rise of the motor
AMBIENT TEMP
Defines the typical ambient temperature for the thermal

protection mode (parameter 30.01 MOT THERM P MODE).
-40...100C
Ambient temperature
RS TEMP SCALE
1 = 1%
Defines the tuning coefficient for stator resistance Rs
temperature dependence, which is based on the temperature
measured with Pt100 sensors or on the internal motor thermal
protection model. The measured total resistance includes motor
cable and stator resistances. With pulse encoder feedback,
100% compensation can usually be used. Undercompensation
decreases the starting torque at high motor temperatures.
0...200%
Coefficient in percent
217
Index
Name/Selection
Description
FbEq
Def.
PB
1=1
626
1=1
627
1=1
628
1 = FAULT
The drive trips on fault T MEAS CIRC.
MOT PROT FLT

SEL
Selects how the drive reacts when motor overload protection is 1 = 1

activated, i.e. motor protection switch opens. See parameter
10.11 MOT PROT SWITCH.
0 = FAULT
The drive trips on fault MPROT SWITCH.
1 = ALARM
The drive generates alarm MPROT SWITCH.
31 FAULT
FUNCTIONS
31.01
KLIXON MOT
OVER T
Selects how the drive reacts when a thermistor relay or

a thermistor switch connected to digital input opens. See
parameter 10.05 KLIXON and section Alternative thermal
connection for PTC thermistor on page 89.
0 = FAULT
The drive trips on fault KLIXON.
1 = ALARM
The drive generates alarm KLIXON.
START INHIBIT
ALM
Activates/deactivates the logging of Prevention of Unexpected

Start-up alarm START INHIBI into the fault/alarm logger. This
function has no effect on status or alarm words.
0 = OFF
Inactive
1 = ON
Active
TEMP MEAS FLT

SEL
Selects how the drive reacts when the motor temperature

measurement circuit has a fault. See section Temperature
sensors on page 85.
0 = ALARM
The drive generates alarm T MEAS CIRC.
31.02
31.03
31.04
34 BRAKE CHOPPER Control of the internal brake chopper with frames R2R6 and
R2iR5i.
34.01
34.02
34.03
BRAKE CHOPPER Activates the internal brake chopper control.

CTL
0 = OFF
Inactive
1 = ON
Active.
Note: Ensure the brake chopper and resistor(s) are installed
and the overvoltage control is switched off by parameter 30.23
OVERVOLTAGE CTL.
BR OVERLOAD
FUNC
Activates the overload protection of the brake resistor.

See parameters 34.04 BR THERM T CONST and 34.06 MAX
CONT BR POWER.
0 = NO
Inactive
1 = WARNING
Active. If the drive detects an overload, it generates alarm BR

OVERHEAT.
2 = FAULT
Active. If the drive detects an overload, it trips on fault BR

OVERHEAT.
BR RESISTANCE
Defines the resistance value of the brake resistor. The value is

used for brake chopper protection.
0 100 ohm
Resistance value
OFF
701
1=1
NO
702
1=1
100.00
703
218
Index
Name/Selection
Description
FbEq
Def.
PB
34.04
BR THERM T
CONST
Defines the thermal time constant of the brake resistor. The

value is used in the overload protection (parameter 34.02 BR
OVERLOAD FUNC).
1=1
0.000
704
1=1
705
1=1
706
726
727
With type SACE brake resistors, the parameter setting must be

200 s.
With type SAFUR brake resistors, the parameter setting must
be 555 s.
34.05
34.06
0...10000 s
Time constant
MAX CONT BR
POWER
Defines the maximum continuous braking power which will

raise the resistor temperature to the maximum allowed value.
The value is used in the overload protection (parameter 34.02
BR OVERLOAD FUNC).
0.01...10000 kW
Power
BC CONTROL
MODE
Selects the control mode of braking chopper.
0 = AS
GENERATOR
Chopper operation is allowed when the DC voltage exceeds the

braking limit, the inverter bridge modulates and the motor
generates power to the drive.
The selection prevents the operation in case the intermediate

circuit DC voltage rises because of an abnormally high supply
voltage. A long time supply voltage rise would damage the
chopper.
1 = COMMON DC
Chopper operation is allowed always when the DC voltage

exceeds the braking limit. The selection is to be used in
applications where several inverters are connected to the same
intermediate circuit (DC bus).
WARNING! Excessive supply voltage will raise the

intermediate circuit voltage above the operation limit
of the chopper. If the voltage remains abnormally
high for a long period, the braking chopper will be
overloaded and damaged.
35 MOTOR FAN CTRL Control logic and diagnostics of the motor fan.
The fan starter is controlled via a digital output. See parameter
group 14 DIGITAL OUTPUTS. Signal 08.06 AUX STATUS
WORD 2 bit 0 (FAN ON CMD) must be used as a control bit.
An acknowledgement signal can be selected by parameter
10.06 MOTOR FAN ACK.
35.01
35.02
MOTOR FAN CTRL Activates the motor fan diagnostics and the timer functions. See
08.06 AUX STATUS WORD 2 bit 0.
1 = OFF
Motor fan control and diagnostics disabled
2 = ALARM
If the fan acknowledgement signal is lost, alarm MOTOR FAN is

generated.
3 = ALARM/FAULT
If the fan acknowledgement signal is lost, alarm MOTOR FAN is

generated. If the acknowledgement signal is still lost after the
delay time defined by parameter 35.02 FAN ACK DELAY, the
drive trips on fault MOTOR FAN.
FAN ACK DELAY
Defines the delay time between fan acknowledgement signal

1=1s
loss and MOTOR FAN fault activation (see parameter 35.01
MOTOR FAN CTRL). Delay time count starts when the FAN ON
CMD activates (08.06 AUX STATUS WORD 2 bit 0).
2...300 s
Delay time
219
Index
Name/Selection
Description
FbEq
Def.
PB
35.03
FAN OFF DELAY
Defines the fan off delay time.
1=
1 min
20
728
0...100 min
Delay time
FAN ON DELAY
Defines the fan on delay time.
1=1s
729
0...100 s
Delay time
1=1
9999.9
751
10 = 1 s
85
752
1500
1001 R
1=1
1002 I
1=1
1003 I
1=1
2048
1004 R
35.04
36 MOTOR CABLE
PROTECTION
The motor cable can be protected against overload by using the

thermal model. To activate this function, the cable parameters
must be set.
The thermal model of the motor cable is based on the current
measurement and known loading data of the cable.
36.01
CABLE NOM
CURRENT
Defines the continuous current of the motor cable, including

possible limitation factors due to environment conditions
(ambient temperature, distances to other cables, etc.). See the
cable manufacturer's data book.
0...10000 A
Cable current
Note: The new value becomes valid only after the next RMIO
board power-up.
36.02
CABLE TEMP
CONST
Defines the loading time of the motor cable, i.e. time inside
which the cable current has reached 63% of the nominal cable
current defined by 36.01 CABLE NOM CURRENT.
This parameter enables the calculation of the motor cable
temperature, 01.27 CABLE TEMPERATURE. If the value
exceeds 102%, alarm CABLE TEMP is activated, and if the
value reaches 106%, fault and alarm CABLE TEMP are
activated.
050000 s
Time. The function is disabled by setting the value to 0 s.
50 SPEED
MEASUREMENT
Speed scaling and encoder connection.
50.01
SPEED SCALING
Defines the speed reference which corresponds to integer

15000 =
value 20000 used in fieldbus control or I/O control. In the scalar 1500
mode this parameter effects the actual speed signals.
rpm
0...100000 rpm
Speed reference
SPEED MEAS
MODE
Defines how the encoder pulses are calculated.
0 = A_-B DIR
Channel A: positive edges calculated for speed. Channel B:

direction.
1 = A_-_
Channel A: positive and negative edges calculated for speed.

Channel B: not used.
2 = A_-_B DIR
Channel A: positive and negative edges are calculated for

speed. Channel B: direction.
50.02
50.03
50.04
See also encoder activation parameter 98.01 ENCODER

MODULE.
3 = A_-_B_-_
All edges of the signals are calculated.
SPEED FB SEL
Selects the speed feedback value used in speed control.
1 = INTERNAL
Calculated speed estimate
2 = ENCODER
Actual speed measured with pulse encoder
ENCODER PULSE
NR
States the number of pulse encoder pulses per one revolution.
1...30000 ppr
Pulse number in ppr (= pulses per round)
220
Index
Name/Selection
Description
FbEq
Def.
PB
50.05
ENCODER ALM/
FLT
Defines the operation of the drive if a failure is detected in

communication between the pulse encoder and the pulse
encoder interface module, or between the module and the
drive. Encoder supervision function activates if any of the
following conditions is fulfilled:
1=1
ALAR
M
1005 B
- No pulses are received from the encoder within the time

defined by parameter 50.11 ENCODER DELAY and the drive is
simultaneously at current or torque limit.
-There is a 20% difference between the estimated speed and
the measured speed received from the pulse encoder.
- There is no communication between the pulse encoder
module and the RMIO board.
- During fast acceleration measured speed drops to zero.
50.06
50.07
1 = FAULT
The drive trips on fault ENCODER ERR.
0 = ALARM
The drive generates alarm ENCODER ERR.
SP ACT FILT TIME
Defines the time constant of the first order actual speed filter.
0...999999 ms
Time constant
POS COUNT
MODE
Selects the position count mode. The position counter is

1=1
controlled by 07.02 AUX CTRL WORD 1 bits 9...11. The status
can be monitored by 08.02 AUX STATUS WORD bit 5. See
section Position counter on page 117.
1 = 1 ms 4
1006 R
ROUN
D
1007 I
1008
1009
1010 R
0 = PULSE EDGES Both edges of the pulses are counted. Actual values can be
read from signals 03.07 POS COUNT LO and 03.08 POS
COUNT HI.
50.08
50.09
50.10
50.11
50.12
1 = ROUND&DEG
The application software counts the number of motor shaft

rounds and the shaft angle in degrees. Actual values can be
read from signals 03.09 POS COUNT DEGREES and 03.10
POS COUNT ROUNDS.
POS COUNT INIT

LO
Position counter value (16 least significant bits) when par. 50.07 1 = 1
setting is PULSE EDGES. See section Position counter on
page 117.
0...65536
Value
POS COUNT INIT

HI
Position counter value (16 most significant bits) when par 50.07 1 = 1
setting is PULSE EDGES. See section Position counter on
page 117.
0...65536
Value
ABOVE SPEED
LIMIT
Defines the supervision limit for the actual speed. When actual
speed has reached the limit, 08.01 MAIN STATUS WORD bit
10 value is set to 1.
See par.
20.01...20.02 rpm
Actual speed limit
ENCODER DELAY
1 = 1 ms 1000
Defines the time delay for the encoder supervision function.
Supervision selected by parameter 50.05 ENCODER ALM/FLT
is activated if no pulses are received from the encoder within
the defined time when the drive is simultaneously at current or
torque limit.
0...50000 ms
Time delay. The function is disabled by setting this value to 0.
MOTOR SP FILT
TIME
Defines the filter time constant for signal 01.01 MOTOR SPEED 1 = 1 ms 500
FILT.
2...20000 ms
See par.
50.01.
1011 R
1012 R
221
Index
Name/Selection
Description
FbEq
50.13
ZERO DETECT
DELAY
Defines the time the speed controller uses the last actual speed
value. This parameter can be adjusted to optimise the speed
regulator for the best possible performance at low speeds when
a pulse encoder is used and pulses are not received from the
pulse encoder during a 1 ms time period.
Def.
PB
1013 I
The definition of low speed depends on the type of the used

encoder. If the encoder pulse number is 2048 and both edges
of both of the channels (A and B) are counted, the number of
pulses per revolution is 8192. This means that at least one
pulse per millisecond is received at 7.3 rpm (1 pulse/ms =>
1000 pulses/s => 1000/8192 rev/s = 7.3 rpm). Thus 4 ms
between pulses corresponds to 1.8 rpm and 80 ms to 0.09 rpm.
Example:
Pulse 1: After receiving a pulse, speed is calculated and
proportional part of the speed controller (P-part) is set to
a value related to the speed error. When no new pulses are
received within 1 ms, the measured speed and P-part due to
the constant speed reference remain unchanged. After the
50.14 SPEED HOLD TIME, the P-part is forced to zero so that
speed control will not be based on absolute speed
measurement value. After ZERO DETECT DELAY, it is
assumed that speed is zero: Measured speed is cleared and
the use of P-part is allowed.
Pulse 2: After the next pulse, speed is calculated again and the
P-part is set accordingly. P-part is forced to zero after SPEED
HOLD TIME. Speed is not set to zero any more, because a new
pulse comes before the time defined by ZERO DETECT
DELAY has elapsed.
Pulse 3: The time between pulses 3 and 4 is longer than
SPEED HOLD TIME and P-part is forced to zero.
Pulse 4: The time between pulses 4 and 5 is so short that
neither P-part nor the measured speed is forced to zero.
1
2
4 5
3
encoder pulse
edges
speed
t1
speed
control
P-part
t1
0
t2
t2
t2
t2
t1 = ZERO DETECT DELAY = 250 ms

t2 = SPEED HOLD TIME = 4 ms
A long ZERO DETECT DELAY time gives accurate speed

measurement. Short SPEED HOLD TIME keeps the speed
control stable, because speed control output is not influenced
by the earlier speed measurement sample.
If the value of the P-part is very large, forcing it to zero causes
undesirable torque steps.
The tuning values depend on the mechanics. Therefore after
increasing these parameter values, check that the actual torque
value is still smooth.
1...2000 ms
Zero detect delay
222
Index
Name/Selection
Description
50.14
SPEED HOLD
TIME
Defines the time delay for the proportional part (P-part) of the
speed controller. After the time has elapsed and no pulses have
been received, the P-part is forced to zero.
FbEq
Def.
PB
1014 I
When time is increased, the effect of the P-part at low

frequencies is amplified due to the longer effect time of the
P-part. Oscillation can occur, if the time set is too long.
See par. 50.13 ZERO DETECT DELAY.
Note: The value of SPEED HOLD TIME < ZERO DETECT
DELAY.
See par.
50.13...2000 (ms)
51 MASTER
ADAPTER (fieldbus
adapter)
Speed hold time

Fieldbus adapter communication settings.
The parameters are visible and need to be adjusted, only when
a fieldbus adapter module (optional) is installed and activated
by parameter 98.02 COMM. MODULE. For details on the
parameters, refer to the manual of the fieldbus module and
These parameter settings will remain the same even though the
macro is changed.
Note: Any changes in these parameters take effect only after
the next power-up of the drive, or when fieldbus adapter
parameter 51.27 is activated.
Note: With NMBA-0x module, set parameter 70.19 CH0 HW
CONNECTION value to RING and 71.01 to NO to enable
forwarding of the received messages in the DDCS link.
51.01
FIELDBUS PAR1
(Module type and software version)
1026 R
51.02
...
FIELDBUS PAR2
(According to module type)
1027 R
...
...
51.33
FIELDBUS PAR33
52 STANDARD
MODBUS
...
R
Standard Modbus Link settings. See chapter Fieldbus control

and RMBA-01 Modbus Adapter Users Manual [3AFE64498851
(English)].
These settings are visible only when the STANDARD MODBUS
has been selected by parameter 98.02 COMM. MODULE.
52.01
STATION NUMBER Defines the address of the device. Two units with the same
address are not allowed on-line.
1...247
52.02
52.03
Address
BAUDRATE
Defines the transfer rate of the link.
1 = 600
600 bits/s
2 = 1200
1200 bits/s
3 = 2400
2400 bits/s
4 = 4800
4800 bits/s
5 = 9600
9600 bits/s
6 = 19200
19200 bits/s
PARITY
Defines the use of parity and stop bit(s). The same setting must
be used in all on-line stations.
1=
NONE1STOPBIT
No parity bit, one stop bit
223
Index
Name/Selection
Description
FbEq
2=
NONE2STOPBIT
No parity, 2 stop bits
3 = ODD
Odd parity indication bit, one stop bit
4 = EVEN
Even parity indication bit, one stop bit
53 USER
PARAMETERS
Adaptive programming settings. See ACS600/ACS800

Application Guide Adaptive Program for System Application
Program 7.x [3AFE68420075 (English)].
53.01
User-defined numeric parameter for adaptive programming
NUMERIC 1
Def.
PB
-8388608...8388607 Numeric value

53.02
NUMERIC 2
-8388608...8388607 Numeric value

...
...
...
53.10
NUMERIC 10
53.11
STRING 1
User-defined alarm or fault text indication of the EVENT block.
0...9 characters
ASCII string type
STRING 2
-8388608...8388607 Numeric value
53.12
0...9 characters
ASCII string type
...
...
...
53.24
STRING 14
0...9 characters
ASCII string type
C
C
55 ADAPTIVE PROG1 Adaptive programming task 1 settings:

- selections of the function blocks and their input connections
- diagnostics.
See ACS600/ACS800 Application Guide Adaptive Program for
This parameter group is mainly used with the DriveAP 2.x PC
tool.
55.01
STATUS
Shows the value of the adaptive program task 1status word.
1128
The table below shows the alternative bit states and the
corresponding values on the panel display.
Bit
0
1
2
3
4
5
6
8
55.02
55.05
Display
1
2
4
8
10
20
40
80
Pb
Meaning
Stopped
Running
Faulted
Editing
Checking
Pushing
Popping
Initialising
FAULTED PAR
Points out the faulted parameter in adaptive program task 1.
0...32768
Value
BLOCK1
Selects the function block type for Block 1 in the adaptive

program task 1.
0...32768
Function block type
I
I
224
Index
Name/Selection
Description
55.06
INPUT1
Selects the source for input I1 of Block 1.
-255.255.31
Parameter index or a constant value:
+255.255.31 / C.-
- Parameter pointer: Inversion, group, index and bit fields. The

bit number is effective only for blocks handling boolean inputs.
32768 C.32768
FbEq
Def.
PB
- Constant value: Inversion and constant fields. Inversion field

must have value C to enable the constant setting.
Example: The state of digital input DI2 is connected to Input 1
as follows:
- Set the source selection parameter (55.06) to +.01.15.01.
(The application program stores the state of digital input DI2 to
bit 1 of actual signal 01.15.)
- If you need an inverted value, switch the sign of the pointer
value (-01.15.01.).
55.07
INPUT2
See parameter 55.06 INPUT1.

55.08
INPUT3
55.09
OUTPUT
Stores and displays the output of Block 1.
0...32768
No user-setting possible
BLOCK2

program task 1.
0...32768
Function block type
INPUT1
55.10
55.11
I
I
-255.255.31 C See parameter 55.06 INPUT1.

32768...-255.255.31
C 32768
55.12
INPUT2

55.13
INPUT3

55.14
55.15
...
OUTPUT
0...32768
BLOCK3

program task 1.
0...32768
Function block type
...
...
55.104 OUTPUT
0...32768

I
I
225
Index
Name/Selection
56 ADAPT PROG1
CNTRL
Description
FbEq
Def.
PB
Adaptive program task 1 control. The update time of task 1

control is 10 ms.
See parameter group 55 ADAPTIVE PROG1.
56.01
56.02
ADAPT PROG
CMD
Selects the operation mode for the adaptive program task 1.
1 = STOP
Stop. The program can be edited.
2 = START
Run. The program cannot be edited.
3 = EDIT
Stop to edit mode (i.e. the execution of the task is stopped for
editing) The program can be edited.
EDIT CMD
Selects the command for the block placed in the location

defined by parameter 56.03 EDIT BLOCK.
1 = NO
Home value. The value automatically restores to NO after an

editing command has been executed.
The program must be in the editing mode (see parameter 56.01

ADAPT PROG CMD).
2 = PUSH
Shifts the block in the location defined by parameter 56.03 EDIT

BLOCK and the subsequent blocks one location up. A new
block can be placed in the emptied location.
ADAPT PROG CMD).
3 = DELETED
Selects the block in the location defined by parameter 56.03

EDIT BLOCK and shifts the subsequent blocks one step down.
ADAPT PROG CMD).
4 = PROTECT
Activation of the task protection: Read protects the input

connections of the blocks. Activate as follows:
- Ensure the task operation mode is START or STOP
(parameter 56.01 ADAPT PROG CMD).
- Set the passcode by parameter 56.05 PASS CODE.
- Set parameter 56.02 to PROTECT.
When protection is activated:
- All parameters in group 55 ADAPTIVE PROG1 excluding the
block output parameters are hidden (read protected).
- It is not possible to switch the task operating mode (parameter
56.01 ADAPT PROG CMD) to the editing mode.
- Parameter 56.05 PASS CODE value is set to 0.
5 = UNPROTECT
Deactivation of the task protection: no read protection of the

inputs of the blocks. Deactivate as follows:
- Set parameter 56.02 to UNPROTECT.
56.03
EDIT BLOCK
Defines the block location number for the command selected by

parameter 56.02 EDIT CMD.
1...15
Block location number
226
Index
Name/Selection
Description
FbEq
Def.
PB
56.04
TIMELEVEL_SEL
Indicates the fixed execution cycle time of 10 ms for the

adaptive program task 1.
56.05
PASS CODE
Defines the passcode, which activates/deactivates the

protection of the input connections of the blocks. See
0 h...FFFFFF h
Passcode. The setting restores to 0 after the protection is

activated/deactivated.
Note: When you activate the protection, write down the
passcode and store it for later use.
57 ADAPTIVE PROG2 Adaptive programming task 2 settings:

- selections of the function blocks and their input connections
- diagnostics.
See ACS600/ACS800 Application Guide Adaptive Program for
This parameter group is mainly used with the DriveAP 2.x PC
tool.
57.01
STATUS
Shows the value of the adaptive program task 2 status word.
1128
The table below shows the alternative bit states and the
corresponding values on the panel display.
Bit
0
1
2
3
4
5
6
8
57.02
57.05
57.06
Display
1
2
4
8
10
20
40
80
Meaning
Stopped
Running
Faulted
Editing
Checking
Pushing
Popping
Initialising
FAULTED PAR
Points out the faulted parameter in adaptive program task 2.
0...32768
Value
BLOCK 1

program task 2.
0...32768
Function block type
INPUT 1
-255.255.31
Parameter index or a constant value:
+255.255.31 / C.-

32768 C.32768
- Constant value: Inversion and constant fields. Inversion field

must have value C to enable the constant setting.
Example: The state of digital input DI2 is connected to Input 1
as follows:
- Set the source selection parameter (55.06) to +.01.15.01.
(The application program stores the state of digital input DI2 to
bit 1 of actual signal 01.15.)
- If you need an inverted value, switch the sign of the pointer
value (-01.15.01.).
57.07
INPUT 2

See parameter 57.06 INPUT 1.
Pb
I
I
227
Index
Name/Selection
Description
57.08
INPUT 3
57.09
OUTPUT
0...32768
BLOCK 2

program task 2.
0...32768
Function block type
INPUT 1
FbEq
Def.
PB
57.10
57.11
I
I

57.12
INPUT 2

57.13
INPUT 3

57.14
57.15
...
OUTPUT
0...32768
BLOCK 3

program task 2.
0...32768
Function block type
I
I
...
57.104 OUTPUT
0...32768
58 ADAPT PROG2
CNTRL
I
Adaptive program task 2 control. The update time of task 2
control is 100 ms.
See parameter group 57 ADAPTIVE PROG2.
58.01
58.02
ADAPT PROG
CMD
Selects the operation mode for the adaptive program task 2.
1 = STOP
Stop. The program can be edited.
2 = START
Run. The program cannot be edited.
3 = EDIT
Stop to edit mode. The program can be edited.
EDIT CMD
Selects the command for the block placed in the location

defined by parameter 58.03 EDIT BLOCK. The program must
be in editing mode (see parameter 58.01ADAPT PROG CMD).
1 = NO
Home value. The value automatically restores to NO after an

editing command has been executed.
2 = PUSH
Shifts the block in the location defined by parameter 58.03 EDIT

BLOCK and the subsequent blocks one location up. A new
block can be placed in the emptied location.
3 = DELETED
Selects the block in the location defined by parameter 58.03

EDIT BLOCK and shifts the subsequent blocks one step down.
228
Index
Name/Selection
Description
4 = PROTECT
Activation of the task protection: Read protects the input

connections of the blocks. Activate as follows:
FbEq
Def.
PB

- Set parameter 56.02 to PROTECT.
When protection is activated:
- All parameters in group 55 ADAPTIVE PROG1 excluding the
block output parameters are hidden (read protected).
- It is not possible to switch the task operating mode (parameter
58.01 ADAPT PROG CMD) to the editing mode.
- Parameter 58.05 PASS CODE value is set to 0.
5 = UNPROTECT
Deactivation of the task protection: no read protection of the

input connection of the blocks. Deactivate as follows:
- Ensure the Application task operation mode is START or
STOP (parameter 58.01 ADAPT PROG CMD).
- Set parameter 56.02 to UNPROTECT.
58.03
EDIT BLOCK
Defines the block location number for the command selected by

1...15
Block location number
58.04
TIMELEVEL_SEL
Indicates the fixed execution cycle time of 100 ms for the

adaptive program task 2.
58.05
PASS CODE
Defines the passcode, which activates/deactivates the

protection of the input connections of the blocks. See
0 h...FFFFFF h
Passcode. The setting restores to 0 after the protection is

activated/deactivated.
Note: When you activate the protection, write down the
passcode and store it for later use.
66 AP CONNECT
Parameters through which the adaptive program can control

the start command and the optional analogue outputs of the
drive.
For more information, see ACS600/ACS800 Application Guide
Adaptive Program for System Application Program 7.x
Note: It is recommended that these parameter values are set
with the DriveAP 2.x graphic tool.
66.01
START
Selects the source for the drive start in I/O control. (Connected
parallel with I/O start signals. See START/STOP function in
parameter group 10 DIGITAL INPUTS.)
-255.255.31: C 32768...255.255.31: C
32768
Parameter pointer or constant value:

- Constant value: Inversion and constant fields. The inversion
field must have value C to enable the setting of the constant.
229
Index
Name/Selection
Description
66.15
EXT2 AO1
Selects the source for extension AI/O module 2 analogue

output 1 control.
-255.255.31: C 32768...255.255.31: C
32768
EXT2 AO2
Selects the source for extension AI/O module 2 analogue

output 2 control.
-255.255.31: C 32768...255.255.31: C
32768
66.16
70 DDCS CONTROL
FbEq
Def.
PB
T
P


Settings for fibre optic channels CH0, CH1, CH2 and CH3
CH2 is used for Master/Follower application. See section
Master/Follower on page 102.
70.01
CH0 NODE ADDR
Defines the node address for DDCS channel CH0. No two

nodes on-line may have the same address.
1=1
1375 R
1=1
10
1376 R
1=1
1377 I
With AC 800M (CI858) DriveBus connection the drives are

addressed from 1 to 24. With AC 80 DriveBus connection, the
drives are addressed from 1 to 12.
With Nxxx-type adapter modules the node address is 1.
With optical ModuleBus connection CH0 node address is
calculated with the following steps:
1. Multiply the hundreds of the position value by 16.
2. Add the tens and ones of the position value to the result.
For example, if the position value is 101, parameter 70.01 must
be set to value 16 1 + 1 = 17.
70.02
0...254
Node address
CH0 LINK
CONTROL
Defines the light intensity of the transmission LEDs. LEDs act

as light sources for optic fibres which are connected to DDCS
channel CH0.
With the maximum length of optic fiber cable, use value 15.
70.03
1...15
Light intensity
CH0 BAUD RATE
Defines the communication speed of DDCS channel CH0.

If FCI (Fieldbus Communication Interface) and fieldbus
communication modules are used, parameter has to be set to
4 Mbits/s. Otherwise, the external control system sets the
communication speed automatically.
8 Mbit/s
4 Mbit/s
2 Mbit/s
1 Mbit/s
230
Index
Name/Selection
Description
FbEq
70.04
CH0 TIMEOUT
Defines the time delay before channel CH0 or R-type fieldbus

adapter interface communication break alarm/fault (COMM
MODULE) is activated. Time count starts when the link fails to
update the communication message. The action taken by the
drive on a communication break is defined by parameter 70.05
CH0 COM LOSS CTRL.
1 = 1 ms 100
0...60000 ms
Time. The function is disabled by setting this value to 0.
CH0 COM LOSS

CTRL
Selects how the drive reacts when communication error on

DDCS channel CH0 or on R-type fieldbus adapter interface has
been detected. Time delay for the communication break alarm/
fault activation is defined by parameter 70.04 CH0 TIMEOUT.
See also parameter 30.26 COM LOSS RO.
1 = STOP
RAMPNG
Fault COMM MODULE is generated. Drive ramps to stop. The

deceleration time is defined by parameter 22.02 DECELER
TIME.
2 = STOP TORQ
Fault COMM MODULE is generated. Drive is stopped

according to the torque limit.
3 = COAST STOP
Fault COMM MODULE is generated. Drive coasts to stop.
4 = LAST SPEED
Alarm COMM MODULE is generated. The drive continues

running according to the last defined reference value.
70.05
Def.
PB
1378 R
1379 I
1=1
10
1380 R
1=1
1381 R
1382 I
1383 P
B
1384 R
5 = CNST SPEED1 Alarm COMM MODULE is generated. The drive continues

running with the speed reference defined by parameter 23.02
CONST SPEED 1.
70.06
CH1 LINK
CONTROL

channel CH1.
70.07
70.08
70.09
1...15
Light intensity
CH2 NODE ADDR
Defines the node address for DDCS channel CH2. This

parameter is used with Master/Follower applications where
feedback signals are read to master drive. In master drive this
parameter must be 1 or 0. In follower drive the value > 1
activates the data sending from follower to master.
1...125
Node address
CH2 M/F MODE
Defines the role of the drive in the Master/Follower link.
1 = NOT IN USE
The Master/Follower link is not active.
2 = MASTER
Master drive
3 = FOLLOWER
Follower drive
MASTER SIGNAL 1 In case of master drive this parameter selects the data which is 1 = 1
sent by the Master to the Follower drive(s) (to data set 41 index
1). In case of follower drive this parameter selects the data
which is sent from follower to master.
0...20000
70.10
Parameter index 701 denotes signal 07.01 Main Control Word.
2). In case of follower drive this parameter selects the data
which is sent from follower to master.
0...20000
Parameter index 2301 denotes parameter 23.01PEED REF.
231
Index
Name/Selection
70.11
2). The selected data can be scaled by parameter 70.30
MASTER SGN3 SCALE before it is sent to the Follower drive.
In case of follower drive this parameter selects the data which is
sent from follower to master.
70.12
Description
FbEq
0...20000
Parameter index 210 denotes signal 02.10TORQ REF3.
CH2 LINK
CONTROL

channel CH2.
Def.
PB
1385 R
1=1
10
1386 R
1=1
100
1387 R
1388 I
1=1
1389 R
1=1
15
1390 R
70.13
70.14
70.15
1...15
Light intensity
CH2 TIMEOUT
Defines the time delay before a channel CH2 communication

break fault is activated. Time count starts when the link fails to
update the communication message. The action taken by the
drive on a CH2 communication break is defined by parameter
70.14 CH0 COM LOSS CTRL.
0...60000 ms
Time
CH2 COM LOSS

CTRL
Selects how the drive reacts when communication fault on

DDCS channel CH2 has been detected (Master/Follower link
communication error). Time delay for the communication break
alarm/fault activation is defined by parameter 70.13 CH2
TIMEOUT.
1 = FAULT
Drive is trips on fault CH2 COMM LOSS.
0 = ALARM
Drive generates alarm CH2 COMM LOSS.
CH3 NODE ADDR
Defines the node address for DDCS channel 3. No two nodes

on-line may have the same address. Typically this setting
needs to be changed when the drive is connected in a ring or
star which consists of several drives and a PC with a
DriveWindow PC tool.
The new node address becomes valid only after the next
power-up of the drive.
Note: Address 1 is reserved for sparepart restore function.
70.16
1...254
Address. Addresses 76125 are reserved for branching units.
CH3 LINK
CONTROL

channel CH3.
70.17
70.18
1...15
Light intensity
FOLL SPEED REF
Defines the source for the speed reference of the Follower

1=1
drive. See control block diagram in section Speed reference on
page 306.
0 = FOLLOWER
Speed reference is read from data set 1 or 10....24 or from I/O.
1 = MASTER
Follower drive follows the Master drive speed reference. Speed

reference is read from data set 41.
FOLL TORQ REF
Defines the source for the torque reference of the Follower

1=1
drive. See control block diagram in section Torque reference on
page 306.
0 = FOLLOWER
Torque reference is read from data set 1 or 10...24 or from I/O.
FOLLO 1391 B
WER
MAST
ER
1392 B
232
Index
70.19
Name/Selection
Description
1 = MASTER
Follower follows the Master drive torque reference. Torque

reference is read from data set 41.
CH0 HW
CONNECTION
Selects the topology of the DDCS channel CH0 link.
FbEq
Def.
PB
1=1
STAR
1=1
STAR
100%
Note: This parameter has no effect in the DriveBus mode.

Note: With NMBA-0x module, set parameter value to RING to
enable forwarding of received messages in the DDCS link.
70.20
70.29
70.30
0 = RING
Devices are connected in a ring. Forwarding of messages is

enabled.
1 = STAR
Devices are connected in a star. Forwarding of messages is

disabled. This selection is used with NDBU branching units.
CH3 HW
CONNECTION
0 = RING

enabled.
1 = STAR

FOLL DS SEL
This parameter is used to activate selected data set package to 1 = 1

be used in the follower drive. Each data set package contains 3
data words. This function is needed in customer application,
where the process master is changed on-line using CACP M/F
application as communication master in M/F link. See Firmware
Manual Configuration and Control Program for ABB Industrial
Drive [3AUA0000021158 (English)].
1 = MASTER
Content of data set 41 (broadcast message) is read to speed

and torque reference chain in follower drive.
2 = FOLL NODE 2
Content of data set 45 is read to speed and torque reference

chain in follower drive, if parameter 70.07 CH2 NODE ADDR =
2.
3 = FOLL NODE 3

3.
4 = FOLL NODE 4

4.
5 = FOLL NODE 5

5.
6 = FOLL NODE 6

6.
7 = FOLL NODE 7

7.
MASTER SGN3
SCALE
Scales the signal selected by parameter 70.11 MASTER

SIGNAL 3 before it is sent to the Follower drive. With scaling it
is possible to send higher signal values.
Rescaling is defined by parameter 70.31 FOLLOW SGN3
SCALE.
0...1000%
Value in percent
10 = 1%
233
Index
Name/Selection
Description
FbEq
Def.
70.31
FOLLOW SGN3
SCALE
Rescales the signal selected by parameter 70.11 MASTER

SIGNAL 3 when it is received by the Follower drive. See
parameter 70.30 MASTER SGN3 SCALE.
10 = 1%
100%
0...1000%
Value in percent
CH2 HW
CONNECTION
1=1
RING
0 = RING

enabled.
1 = STAR

MAILBOX DS SEL
Selects the data set pair for mailbox use when parameter 98.02
COMM. MODULE setting is ADVANT/N-FB. See section Data
sets 10...33 on page 290.
0 = 32/33
Data sets 32 and 33 are used for setting and inquiring

parameter values.
1 = 24/25
Data sets 24 and 25 are used for setting and inquiring

parameter values.
FOLLOWER MCW
MASK
Mask word in follower drive for Main Control Word sent by

master. Only the selected bits are used and other bits are
coming from 07.01 MCW sent by fieldbus. The default value
FFFF means that all bits of sent MCW effects in the signal
02.26 USED MCW in follower drive.
1=1
FFFF
Pb
70.32
70.33
70.34
PB
0...65535
70.35
FOLLOWER SEL
This parameter selects in master from which followers the data 1 = 1

is read.
1 = FOLLOWER 2
Data is read from follower drive in which CH2 NODE ADDRESS

= 2.
2 = FOLLOWER 3

= 3.
3 = FOLLOWER
2+3
Data is read from follower drives in which CH2 NODE

ADDRESS = 2 or 3.
4 = FOLLOWER 4

= 4.
5 = FOLLOWER2+4 Data is read from follower drives in which CH2 NODE

ADDRESS = 2 or 4.
6 = FOLLOWER3+4 Data is read from follower drives in which CH2 NODE
ADDRESS = 3 or 4.
70.36
7 = FOLL 2+3+4
Data is read from follower drives in which CH2 NODE

ADDRESS = 2, 3 or 4.
8 = NOT USED
No data is read from followers.
FOLL FAULT SEL
Master drive has a supervision of follower drives status.

1=1
Masters reaction to followers interlockings can be selected with
this parameter.
1 = NO REACTION Other drives in Master/Follower link continues running, if one or

more of the followers is faulted.
2 = ALARM
An alarm FOLLOWER TRIP is activated in master drive.
3 = FAULT
A fault FOLLOWER TRIP is activated in master drive. All drives

are stopped.
234
Index
Name/Selection
Description
70.37
FOLL ENABLE SEL Starting of master drive can be interlocked to status of

followers.
1 = MSW BIT 0
If follower selected by parameter 70.35 FOLLOWER SEL is not

RDY ON, starting of master drive is disabled.
2 = MSW BIT 1

RDY RUN, starting of master drive is disabled.
3 = MSW BIT0+1

RDY ON and RDY RUN, starting of master drive is disabled.
4 = ALLWAYS
Starting of master drive is not interlocked to status of

follower(s).
71 DRIVEBUS COMM
DDCS channel CH0 DriveBus settings
71.01
Selects the communication mode for the DDCS channel CH0.

The new mode becomes valid only after the next power-up of
the drive.
CH0 DRIVEBUS
MODE
FbEq
Def.
PB
1=1
1=1
NO
Data is exchanged 4 times faster in the DriveBus mode than in

the DDCS mode.
0 = NO
DDCS mode
1 =YES
DriveBus mode
90 D SET REC ADDR
Addresses into which the received fieldbus data sets are

written.
The parameters are visible only when a fieldbus communication
is activated by setting parameter 98.02 COMM. MODULE to
FIELDBUS or ADVANT/N-FB. For more information, see
DDCS link
External
control
system
CH0
RMIO/NAMC-xx
Address
assignment
Data set table of data sets
10
Group
12
90.01...90.18
91.01...91.09
14
AMC table
32
90.01
D SET 10 VAL 1
Selects the address into which data word 1 of data set 10 is

written. Update time is 2 ms.
0...9999
Parameter index
90.02
D SET 10 VAL 2

0...9999
Parameter index
D SET 10 VAL 3

0...9999
Parameter index
D SET 12 VAL 1

0...9999
Parameter index
90.03
90.04
701
1735 I
1736 I
1737 I
1738 I
235
Index
Name/Selection
Description
90.05
D SET 12 VAL 2

0...9999
Parameter index
90.06
D SET 12 VAL 3

0...9999
Parameter index
90.07
D SET 14 VAL 1

0...9999
Parameter index
D SET 14 VAL 2

0...9999
Parameter index
D SET 14 VAL 3

0...9999
Parameter index
D SET 16 VAL 1

0...9999
Parameter index
D SET 16 VAL 2

0...9999
Parameter index
D SET 16 VAL 3

0...9999
Parameter index
D SET 18 VAL 1

0...9999
Parameter index
90.14
D SET 18 VAL 2

0...9999
Parameter index
90.15
D SET 18 VAL 3

0...9999
Parameter index
D SET 20 VAL 1

0...9999
Parameter index
D SET 20 VAL 2

0...9999
Parameter index
D SET 20 VAL 3

90.08
90.09
90.10
90.11
90.12
90.13
90.16
90.17
90.18
0...9999
FbEq
Def.
PB
1739 I
1740 I
1741 I
1742 I
1743 I
1744 I
1745 I
1746 I
1747 I
1748 I
1749 I
1750 I
1751 I
1752 I
Parameter index
91 D SET REC ADDR
See parameter group 90 D SET REC ADDR.
91.01
D SET 22 VAL 1

0...9999
Parameter index
1753 I
236
Index
Name/Selection
Description
91.02
D SET 22 VAL 2

0...9999
Parameter index
91.03
D SET 22 VAL 3

0...9999
Parameter index
91.04
D SET 24 VAL 1

0...9999
Parameter index
D SET 24 VAL 2

0...9999
Parameter index
D SET 24 VAL 3

0...9999
Parameter index
91.05
91.06
92 D SET TR ADDR
FbEq
Def.
PB
1754 I
1755 I
1756 I
1757 I
1758 I
Data sets which the drive sends to the fieldbus master station.
The parameters in groups 92 and 93 are visible only when a
fieldbus communication is activated by setting parameter 98.02
COMM. MODULE to FIELDBUS or ADVANT/N-FB. For more
information, see chapter Fieldbus control.
DDCS link
External
control
system
CH0
RMIO/NAMC-xx
Address
assignment
Data set table of data sets
11
Group
13
92.01...92.18
93.01...93.09
15
AMC table
33
92.01
D SET 11 VAL 1
Selects the address from which data word 1 of data set 11 is

read. Update time is 2 ms.
0...9999
Parameter index
D SET 11 VAL 2

0...9999
Parameter index
92.03
D SET 11 VAL 3

0...9999
Parameter index
92.04
D SET 13 VAL 1

0...9999
Parameter index
D SET 13 VAL 2

0...9999
Parameter index
92.02
92.05
1771 I
1772 I
1773 I
1774 I
1775 I
237
Index
Name/Selection
Description
92.06
D SET 13 VAL 3

0...9999
Parameter index
92.07
D SET 15 VAL 1

0...9999
Parameter index
92.08
D SET 15 VAL 2

0...9999
Parameter index
D SET 15 VAL 3

0...9999
Parameter index
D SET 17 VAL 1

0...9999
Parameter index
92.11
D SET 17 VAL 2

0...9999
Parameter index
92.12
D SET 17 VAL 3

0...9999
Parameter index
D SET 19 VAL 1

0...9999
Parameter index
D SET 19 VAL 2

0...9999
Parameter index
92.15
D SET 19 VAL 3

0...9999
Parameter index
92.16
D SET 21 VAL 1

0...9999
Parameter index
D SET 21 VAL 2

0...9999
Parameter index
D SET 21 VAL 3

92.09
92.10
92.13
92.14
92.17
92.18
FbEq
93 D SET TR ADDR
See parameter group 92 D SET TR ADDR.
93.01
D SET 23 VAL 1

0...9999
Parameter index
D SET 23 VAL 2

0...9999
Parameter index
93.02
Def.
PB
1776 I
1777 I
1778 I
1779 I
1780 I
1781 I
1782 I
1783 I
1784 I
1785 I
1786 I
1787 I
1788 I
1789 I
1790 I
238
Index
Name/Selection
Description
93.03
D SET 23 VAL 3

0...9999
Parameter index
93.04
D SET 25 VAL 1

0...9999
Parameter index
93.05
D SET 25 VAL 2

0...9999
Parameter index
D SET 25 VAL 3

0...9999
Parameter index
93.06
95 LSU
FbEq
Def.
PB
1791 I
1792 I
1793 I
1794 I
Line-side converter reference and actual signal selection. This

parameter group is used with single drives.
Note: Parameters are effective only when a fibre optic
communication link is connected between the inverter RMIO
control board channel CH1 and the line-side converter control
board channel CH0.
95.01
LSU Q POW REF
Defines the reference value for the line-side converter reactive

power generation. Line-side converter can generate reactive
power to the supply network. This reference is written into
line-side converter unit parameter 24.02 Q POWER REF2. For
more information, see IGBT Supply Control Program 7.x
Firmware manual [3AFE68315735 (English)].
Example 1: When parameter 24.03 Q POWER REF2 SEL is
set to PERCENT, value 10000 of parameter 24.02 Q POWER
REF2 equals to value 100% of parameter 24.01 Q POWER
REF (i.e. 100% of the converter nominal power given in signal
04.06 CONV NOM POWER).
set to kVAr, value 1000 of parameter 24.02 Q POWER REF2
equals to parameter 24.01 Q POWER REF value calculated
with the following equation: 100 (1000 kVAr divided by
converter nominal power in kVAr)%.
set to PHI, value 3000 of parameter 24.02 POWER REF2
equals approximately to parameter 24.01 Q POWER REF value
calculated with the following equation:
P
P
cos ( 30 ) = ---- = -----------------------S
2
2
P +Q
30
P
Positive reference 30 denotes capacitive load.
Negative reference 30 denotes inductive load.
P = signal 01.09 POWER value
Parameter 24.02 values are converter to degrees by the
line-side converter application program: -3000...3000 =
-30...30. Values above 3000 or below -3000 equal to -30/30,
since the range is limited to -3000/3000.
-10000...10000
Reference value
See par.
description.
239
Index
Name/Selection
Description
FbEq
Def.
PB
95.02
LSU DC REF [V]
Defines the intermediate circuit DC voltage reference for the

line-side converter. This reference is written into line-side
converter parameter 23.01 DC VOLT REF.
1=1V
106
110
Acc. to
HW
type
Note: The IGBT Supply Unit DC voltage is limited by its

minimum value. With 400 V supply, the minimum DC voltage is
approximately 560 V.
For more information, see IGBT Supply Control Program 7.x
95.03
0...1100 V
Voltage
LSU PAR1 SEL
Selects the line-side converter address from which the actual

signal 03.31 LSU ACT SIGNAL1 is read from.
0...10000
Line-side converter parameter index. Default value 106 =

line-side converter parameter 01.06 LINE CURRENT.
95.04
LSU PAR2 SEL
Selects the line-side converter address from which the actual

signal 03.32 LSU ACT SIGNAL2 is read from.
0...10000
Line-side converter parameter index. Default value 110 =

line-side converter parameter 01.10 DC VOLTAGE.
95.05
LSU COMM SEL
The control and data transfer of line-side converter by inverter

unit is selected according to application. The parameter 98.02
COMM. MODULE in LSU must have the equal value with this
parameter.
1 = NO COMM
No control for line-side converter via optic fibre from inverter

RMIO channel CH1.
2 = LIMITED
Limited control. This is used normally with ACS800-11,

ACS800-17, ACS800-31 and ACS800-37 drives.
F IE L D B U S
F IE L D B U S
A D A P T E R
A C T IV E
S U P P L Y
U N IT
IN V E R T E R
U N IT
B it 0
R E F
9 5 .0 1
L S U D C R E F
9 5 .0 2
L S U Q
P O W
L IN E C O N V E R T E R
D R IV E T Y P E
M A IN C O N T R O L W O R D
L S U Q
IN T E R N A L
M C W
C O N T R O L
L S U P A R 1 S E L
9 5 .0 3
9 5 .0 4
R E F
L S U S T A T U S W O R D
0 8 .2 5
L S U P A R 2 S E L
P O W
L S U D C R E F
L S U S T A T U S W O R D
0 3 .3 2
L S U A C T S IG N A L S 2
0 3 .3 1
L S U A C T S IG N A L S 1
A D D R E S S
A S S IG N M E N T
O F D A T A
3 = WIDE
Wide communication. More actual values can be read from the

line-side converter. See signal group 05 LSU SIGNALS on
page 137.
4 = WTA
Wide communication with wind turbine application
240
Index
Name/Selection
Description
FbEq
Def.
95.06
LSU RUN MCW

BIT
Selection of run command for LSU. LSU charging and

modulation is normally started with 07.01 MCW bit 0, but
starting of modulation can be separated to free bits of MCW
(bits 1115).
1=1
97 DRIVE
Drive name or application
97.01
DEVICE NAME
Defines the name for the drive or application. The name is

visible on the control panel display in the Drive Selection Mode
or on the DriveWindow main menu.
Note: The name can be typed only by using a drive PC tool.
0...32 characters
E.g. Unwinder 1
PB
T
I
1861 C
98 OPTION MODULES Activation of option modules.

ACS800 fieldbus adapter modules are connected to Slot 1/2 of
the drive or via optional AIMA-01 I/O Module Adapter
connected to RMIO board DDCS channel CH1. Multiple
AIMA-01 adapters are connected in a ring.
ACS600 fieldbus adapter modules are connected to RMIO
board channel CH0.
If the adapter is connected to channel CH0 or to AIMA-01, each
adapter module node number must be set with a switch (DIP
switch or switch S1).
The parameter settings in this group will remain the same even
though the application macro is changed by parameter 99.11
APPLICATION MACRO.
See chapter Fieldbus control.
98.01
ENCODER
MODULE
Activates the communication to the optional pulse encoder

module. See also parameter group 50 SPEED
MEASUREMENT.
1901 I
For more information, see RTAC-01 Pulse Encoder Interface

User's Manual [3AFE64486853 (English)] or NTAC/NDIO/NAIO
I/O Modules Installation and Start-up Guide [3AFY58919730
(English)].
0 = NTAC
Communication active. Module type: NTAC module.

Connection interface: Fibre optic DDCS link (RMIO channel
CH0).
16
Note: Module node number must be set to 16 with DIP switch.
3 = RTAC-SLOT2
Communication active. Module type: RTAC.

Connection interface: Option Slot 2 of the drive.
4 = RTAC-DDCS

Connection interface: Optional I/O Module
Adapter (AIMA-01 connected to RMIO
channel CH1) that communicates with the
drive through a fibre optic DDCS link.
Note: Module node number must be 0
(default setting of switch S1).
COMM. MODULE
Switch S1
C
DE F
9AB

Connection interface: Option Slot 1 of the drive.
6
4 5 78
2 = RTAC-SLOT1
Communication inactive
2
01
98.02
1 = NO
Selects the external serial communication and its interface in

remote control mode. See chapter Fieldbus control.
1902 I
241
Index
Name/Selection
Description
FbEq
1 = NO
No external communication. The drive is controlled through the

I/O. See parameter group 10 DIGITAL INPUTS.
2 = FIELDBUS
The drive communicates through an Rxxx type fieldbus adapter

connected to Slot 1 or trough an Nxxx type fieldbus adapter
connected to RMIO board DDCS channel CH0 using data sets
1 and 2.
Data set 1 and 2 are typically used with type Rxxx or Nxxx
fieldbus adapter modules. See also parameter group 51
MASTER ADAPTER (fieldbus adapter) and parameter 11.02
AI+FBA SPEED REF.
3 = ADVANT/N-FB
The drive communicates via RMIO board DDCS channel CH0

using data sets 10 to 33. This selection is used with e.g.
AC 800M, AC 80, APC2 and Nxxx type fieldbus adapters. See
also parameter groups 70 DDCS CONTROL and
71 DRIVEBUS COMM.
4 = STD MODBUS
The drive communicates through RMBA-0x Modbus adapter

module connected to option Slot 1/2 of the drive.
Def.
PB
1903 I
1904 I
Note: With NMBA, use selection FIELDBUS or ADVANT/N-FB.

See parameter group 52 STANDARD MODBUS and RMBA-01
Modbus Adapter User's Manual [3AFE64498851 (English)].
98.03
DI/O EXT
MODULE 1
Activates RDIO/NDIO Digital I/O Extension module 1. RDIO/

NDIO can be used to replace or extend the I/O.
Note: The communication to the I/O extension module must be
activated by parameter 98.09 DI/O EXT1 LOCATION.
For more information, see RDIO-01 Digital I/O Extension User's
Manual [3AFE64485733 (English)] or NTAC/NDIO/NAIO I/O
Modules Installation and Start-up Guide [3AFY58919730
(English)].
98.04
1 = NO
Inactive
2 = REPLACE
RDIO/NDIO Extension module 1 replaces DI1, DI2, DI3, DO1

and DO2 of the RMIO board. (DO1 and DO2 of the RMIO board
and DO1 and DO2 of the RDIO module work parallel.)
3 = EXTEND
RDIO/NDIO is used to extend the I/O with digital inputs and

outputs EXT1_DI1, EXT1_DI2, EXT1_DI3, EXT1_DO1 and
EXT1_DO2.
DI/O EXT
MODULE 2
Activates RDIO/NDIO Digital I/O Extension module 2. RDIO/

NDIO can be used to replace or extend the I/O.
Note: The communication to the I/O extension module must be
activated by parameter 98.10 DI/O EXT2 LOCATION.
For more information, see RDIO-01 Digital I/O Extension User's
Manual [3AFE64485733 (English)] or NTAC/NDIO/NAIO I/O
Modules Installation and Start-up Guide [3AFY58919730
(English)].
1 = NO
Inactive
2 = REPLACE
RDIO/NDIO replaces DI4, DI5, DI6 and DO3 of the RMIO

board. EXT2_DO2 is activated. (DO3 of the RMIO board and
DO3 of the RDIO Extension module work parallel.)
3 = EXTENDED
RDIO/NDIO is used to extend the I/O with digital inputs and

outputs EXT2_DI1, EXT2_DI2, EXT2_DI3, EXT2_DO1 and
EXT2_DO2.
242
Index
Name/Selection
Description
FbEq
4 = STEP UP
DI/O EXT MODULE 2 is used for protection of sine filter.
Def.
PB
1906 I
DI1 = choke overtemperature fault CHOKE OTEMP

(FF82) = 0, no choke overtemperature fault = 1.
DI2 = fan overtemp alarm of sine filter FAN OVERTEMP
(FF83) = 0, no fan overtemp alarm = 1.
DI3 = not in use for sinus filter protection.
98.06
AI/O EXT
MODULE 1
Defines the signal type for the inputs and outputs of the RAIO/
NAIO Analogue I/O Extension module 1 or reserves the RAIO/
NAIO module for the motor temperature measurement function.
The input signal setting must match the signal connected to the
module. The input signal type can be selected with the
configuration DIP switch on the circuit board of the module.
For more information, see RAIO-01 Analogue I/O Extension
(English)].
Switch S2 (Operating mode) for RAIO-01
Analogue input AI1
Analogue input AI2
ON
ON
1 2
ON
ON
1 2
1 2
1 2
Input signal
0(4)20 mA
0(2)10 V
02 V
0(4)20 mA
0(2)10 V
02 V
(Default)
Switch S2 (Current or voltage signal)

ON
1 2
ON
3
1 2
ON
1 2
1 2
Voltage signal
0(2)10 V
ON
ON
1 2
Voltage signal
02 V
ON
3
1 2
Current signal
0(4)20 mA
(Default)
The analogue I/O extension module replaces AI1 and AI2 of the
RMIO board, and extends the outputs with AO3 and AO4.
Note: The communication must be activated by parameter
98.11 AI/O EXT1 LOCATION.
1 = NO
Inactive
2 = UNIPOLAR AI
Unipolar
3 = BIBOLAR AI
Bipolar
4 = TEMP MEAS
Motor temperature measurement (Pt100, PTC or KTY84-1xx)

with RAIO/NAIO module. See parameter 30.06 MOT2 TEMP
AI2 SEL.
243
Index
Name/Selection
Description
98.08
COMM PROFILE
Defines the profile on which the communication with the

fieldbus or another drive is based. Visible only when fieldbus
communication is activated by parameter 98.02 COMM.
MODULE.
ABB DRIVES
ABB Drives profile
DI/O EXT1
LOCATION
Activates the communication to the optional digital I/O

extension module 1 and defines the type and connection
interface of the module. Parameter 98.03 DI/O EXT MODULE 1
activates digital I/O extension module 1.
98.09
FbEq
Def.
PB
1909 I
1910 I
Faster DC input signal detection can be achieved by disabling

the hardware filter of the digital input with the configuration DIP
switch on the circuit board of the module.
DIP switch S2 (RDIO)
DI3 DI2 DI1
Hardware filtering
Enabled
Disabled
ON
1 2
Note: Always enable the hardware filtering with an AC input

signal.
1 = NDIO
Communication active. Module type: NDIO module. Connection

interface: Fibre optic DDCS link (RMIO board channel CH0)
Inactive
3 = RDIO-SLOT1
Communication active. Module type: RDIO. Connection

interface: Option Slot 1 of the drive.
4 = RDIO-SLOT2

5 = RDIO-DDCS
Communication active. Module type: RDIO.

Connection interface: Optional I/O module
adapter (AIMA) that communicates with the
Note: Module node number must be set to 2
with switch S1.
DE F
9AB
45
67
DI/O EXT2
LOCATION
Switch S1
2
01
98.10
2 = NOT IN USE
Activates the communication to the optional digital I/O

extension module 2 and defines the type and connection
interface of the module. Parameter 98.04 DI/O EXT MODULE 2
activates digital I/O extension module 2.
Faster DC input signal detection can be achieved by disabling
the hardware filter of the digital input with the configuration DIP
switch on the circuit board of the module.
DIP switch S2 (RDIO)
DI3 DI2 DI1
Enabled
Hardware filtering
Disabled
ON
1 2
Note: Always enable the hardware filtering with an AC input

signal.
1 = NDIO
Communication active. Module type: NDIO module. Connection

interface: Fibre optic DDCS link (RMIO board channel CH0)
2 = NOT IN USE
Inactive
244
Description
3 = RDIO-SLOT1

4 = RDIO-SLOT2

5 = RDIO-DDCS
Communication active. Module type: RDIO.

with switch S1.
Def.
PB
1911 I
Switch S1
DE F
9AB
6
4 5 78
AI/O EXT1
LOCATION
FbEq
2
01
98.11
Name/Selection
Index
Activates the communication to the optional analogue I/O

extension module 1, and defines the type and connection
interface of the module.
Parameter 98.06 AI/O EXT MODULE 1 selects how analogue
I/O extension module 1 will be used.
1 = NAIO-DDCS
Communication active. Module type: NAIO. Connection

interface: Fibre optic DDCS link (RMIO board channel CH1).
3 = RAIO-SLOT1
Communication active. Module type: RAIO. Connection

4 = RAIO-SLOT2

5 = RAIO-DDCS
Communication active. Module type: RAIO.

with switch S1.
DE F
9AB
6
4 5 78
FUSE SWITCH
CTRL
Switch S1
2
01
98.12
2 = NOT IN USE
Activates the inverter DC switch (switch fuse) monitoring

function. The monitoring must be active when the Switch Fuse
Control Board (ASFC) is in use and connected to the inverter
AINT board, i.e. in all frame R8i inverters and R7i (which
include charging option +F272) equipped with optional DC
switch.
For frame R8i inverter, the DC switch position status is sent by
the ASFC board through a fibre optic link. The data is written to
actual signal 08.20 INV ENABLED WORD together with the
inverter DC capacitor charging status.
Drive IGBT pulses are always blocked when the program
detects that the DC switch is opened or inverter charging is
ongoing (at power switch on). The application program
generates alarm INV DISABLED if the DC switch is opened
when the inverter is stopped. The inverter trips on fault INV
DISABLED if the DC switch is opened when the inverter is
running.
The default setting (ON or OFF) for each unit is set accordingly
at the factory.
0 = OFF
Inactive. DC switch is not used.
1 = ON
Active. DC switch is used. See multidrive hardware drawings.
1=1
Type
depend
ent
245
Index
Name/Selection
Description
FbEq
98.13
AI1 EXT2 MODE
Defines the signal type for input AI1 of the RAIO/NAIO

Analogue I/O Extension module 2.
Def.
PB
The input signal setting must match the signal connected to the
module. The input signal type can be selected by using the
configuration DIP switch on the circuit board of the module:
Switch S2 (Operating mode) for RAIO-01
Analogue input AI1
Analogue input AI2
ON
ON
1 2
ON
1 2
1 2
ON
3
1 2
Input signal
0(4)20 mA
0(2)10 V
02 V
0(4)20 mA
0(2)10 V
02 V
(Default)
Switch S2 (Current or voltage signal)

ON
1 2
ON
3
ON
1 2
Voltage signal
0(2)10 V
ON
3
ON
1 2
1 2
1 2
Voltage signal
02 V
ON
3
1 2
Current signal
0(4)20 mA
(Default)
Note: The communication must be activated by parameter

98.15 AI/O EXT2 LOCATION.
For more information, see RAIO-01 Analogue I/O Extension
(English)].
1 = UNIPOLAR AI1
Unipolar
2 = BIBOLAR AI1
Bipolar
98.14
AI2 EXT2 MODE
Defines the signal type for input AI2 of the RAIO Analogue I/O
Extension module 2. See parameter 98.13 AI1 EXT2 MODE.
98.15
AI/O EXT2
LOCATION
Activates the communication to the optional analogue I/O

extension module 2, and defines the type and connection
interface of the module.
See parameter 98.13.
Parameters 98.13 AI/O EXT2 MODE and 98.14 AI2 EXT2

MODE select how analogue I/O extension module 2 will be
used.
1 = NAIO-DDCS
Communication active. Module type: NAIO. Connection

interface: Fibre optic DDCS link (RMIO board CH1).
2 = NOT IN USE
3 = RAIO-SLOT1

246
Name/Selection
Description
4 = RAIO-SLOT2

5 = RAIO-DDCS
Communication active. Module type: RAIO.

with switch S1.
Def.
PB
1926 I
1927 R
Switch S1
DE F
9AB
2
01
6
4 5 78
99 START-UP DATA
FbEq
Index
Language selection. Definition of motor set-up data.

Note: The drive will not start if the start-up data parameters
have not been changed from the factory settings, or the
nominal current of the motor is too small compared to the
nominal current of the inverter.
WARNING! Running the motor and the driven
equipment with incorrect start-up data can result in
improper operation, reduction in control accuracy
and damage to equipment.
If several motors are connected to the drive, follow the
instruction given in chapter Start-up.
Note: Changing any of the motor parameters in group 99,
causes the cancellation of all existing Motor ID run results!
99.01
99.02
LANGUAGE
Selects the display language.
0 = ENGLISH
British English
1 = ENGLISH AM
Not available
2 = DEUTSCH
German
3 = ITALIANO
Not available
4 = ESPANOL
Not available
5 = PORTUGUES
Not available
6 = NEDERLANDS
Not available
7 = FRANCAIS
Not available
8 = DANSK
Not available
9 = SUOMI
Not available
10 = SVENSKA
Not available
11 = CESKY
Not available
12 = POLSKI
Not available
13 = PO-RUSSKI
Not available
MOTOR NOM
VOLTAGE
Defines the nominal motor voltage. Must be equal to the value

on the motor rating plate.
1/2...2 UN V
Voltage. Allowed range is 1/2...2 UN of the drive.

Note: The stress on the motor insulations is always dependent
on the drive supply voltage. This also applies to the case where
the motor voltage rating is lower than the rating of the drive and
the supply of the drive.
1=1V
247
Index
Name/Selection
Description
FbEq
Def.
99.03
MOTOR NOM
CURRENT
Defines the nominal motor current. Must be equal to the value 10 = 1 A 0

on the motor rating plate. If several motors are connected to the
inverter, enter the total current of the motors.
PB
1928 R
Note: Correct motor run requires that the magnetizing current

of the motor does not exceed 90% of the nominal current of the
inverter.
0...2 Ihd A
Allowed range: Approximately 1/6...2 Ihd of the drive when

parameter 99.08 MOTOR CTRL MODE is set to DTC.
Allowed range: Approximately 0...2 Ihd of the drive when
parameter 99.08 MOTOR CTRL MODE is set to SCALAR.
99.04
99.05
MOTOR NOM
FREQ
Defines the nominal motor frequency.
8...300 Hz
Nominal frequency (50 or 60 Hz typically)
MOTOR NOM
SPEED
Defines the nominal motor speed. Must be equal to the value

on the motor rating plate. The motor synchronous speed or
another approximate value must not be given instead!
Note: If the nominal frequency of the motor is higher than

50 Hz, speed limits must be set before ID run. See parameter
group 20 LIMITS (DTC mode) or 29 SCALAR CONTROL
(scalar mode).
100 =
1 Hz
50
1929 R
1=
1 rpm
1930 R
10 =
1 kW
1931 R
1932 I
Note: If the value of parameter 99.05 is changed, the speed

limits in parameter group 20 LIMITS change automatically as
well.
99.06
99.07
1...18000 rpm
Nominal motor speed
MOTOR NOM
POWER
Defines the nominal motor power. Set exactly as on the motor

rating plate.
If several motors are connected to the inverter, enter the total
power of the motors. Set also parameter 99.12 MOTOR NOM
COS FII.
0...9000 kW
Nominal motor power
MOTOR ID RUN
Selects the type of the motor identification. During the

identification, the drive will identify the characteristics of the
motor for optimum motor control. The ID run procedure is
described in section ID RUN (motor identification run) on
page 22.
Note: The ID run (STANDARD or REDUCED) should be
selected if:
- the operation point is near zero speed, and/or
- operation at torque range above the motor nominal torque
within a wide speed range and without any measured speed
feedback is required.
Note: The ID run (STANDARD or REDUCED) cannot be
performed if parameter 99.08 MOTOR CTRL MODE is set to
SCALAR.
1 = NO
Motor ID run is not performed. If ID run has not been already

performed or if the motor parameters (par. group 99 START-UP
DATA) have been changed: The motor model is calculated at
first start by magnetising the motor at zero speed. The model is
stored to the FPROM memory. The first start lasts longer than
normal start.
Alarm ID MAGN is indicated during the first start.
This mode can be selected in most applications.
248
Index
Name/Selection
Description
2 = STANDARD
Standard ID run. Guarantees the best possible control

accuracy. The ID run takes about one minute.
Note: The motor must be de-coupled from the driven
equipment.
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...80% of the nominal speed during the ID run.
ENSURE THAT IT IS SAFE TO RUN THE MOTOR
BEFORE PERFORMING THE ID RUN!
3 = REDUCED
Reduced ID run. Should be selected instead of the Standard ID

run if mechanical losses are higher than 20% (i.e. the motor
cannot be de-coupled from the driven equipment).
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...80% of the nominal speed during the ID Run.
ENSURE THAT IT IS SAFE TO RUN THE MOTOR
BEFORE PERFORMING THE ID RUN!
FbEq
Def.
PB
1=1
DTC
1933 B
4 = CURRENT CAL Current offset and gain measurement calibration. Calibration is

performed on the next start.
99.08
MOTOR CTRL
MODE
Selects the motor control mode.
1 = SCALAR
Scalar control is suitable in special cases where DTC cannot be

applied.
The scalar control mode is recommended:
- for multimotor drives:
1) when the load is not equally shared between the motors,
2) when the motors are of different sizes, or
3) when the motors are going to be changed after the motor
identification.
- when the nominal current of the motor is less than 1/6 of the
nominal output current of the inverter
- when the drive is used without a motor connected (for
example for test purposes)
- when the drive runs a medium voltage motor via a step-up
transformer.
Note: The outstanding motor control accuracy of the DTC
cannot be achieved in scalar control. There are some standard
features that are disabled in the scalar control mode, for
example motor identification run (group 99 START-UP DATA),
speed limits and torque limits (group 20 LIMITS), DC hold
(group 17 DC HOLD) and DC magnetizing (group 21 START/
STOP FUNC).
See also parameter group 98.04 DI/O EXT MODULE 2
selection STEP UP and 29 SCALAR CONTROL.
0 = DTC
Direct Torque Control mode is suitable for most applications.

See section Motor control, DTC on page 76.
If several motors are connected to the inverter, there are certain

restrictions on the usage of DTC.
249
Index
Name/Selection
Description
99.09
APPLIC RESTORE Restores the original settings of the active application macro,
99.11 APPLICATION MACRO.
FbEq
Def.
PB
1=1
1934 B
1935 I
- If a Factory macro is active, the parameter values are restored

to the default settings (factory settings). Exceptions: parameter
settings in parameter group 99 remain unchanged. The motor
model remains unchanged.
- If user macro 1 or 2 is active, the parameter values are
restored to the last saved values. In addition, the last saved
motor model is restored. Exceptions: Settings of parameters
16.05 USER MACRO CHG and 99.11 APPLICATION MACRO
remain unchanged. (User macro can be changed via digital
input by setting parameter 10.10 I/O MACRO CHANGE.)
Note: The parameter settings and the motor model are restored
according to the same principles when a macro is changed to
another.
99.10
0 = NO
No restoring
1 = YES
Restoring
DRIVE ID NUMBER Defines the ID number of the drive. This parameter requires
support from an external control system.
0...32767
ID number
250
Index
Name/Selection
Description
FbEq
99.11
APPLICATION
MACRO
Selects the application macro.

DriveWindow
or CDP 312R
Def.
PB
1936 I
0.7
1937 R
parameter
change
RAM memory
POWER-UP
USER 1
LOAD
USER 2
LOAD
FACTORY
Par. 16.06
Parameter file
USER MACRO 1 file
USER 1
SAVE
USER 2
SAVE
USER MACRO 2 file

FACTORY FILE
FPROM memory
In addition to the Factory setting there is a selection for saving

the current settings as a user macro (USER 1 SAVE or USER 2
SAVE), and recalling these settings (USER 1 LOAD or USER 2
LOAD).
Backup of the default parameter settings (factory settings) can
be restored by parameter 99.09 APPLIC RESTORE.
The macro can be changed from an external control system
using 07.03 AUX CTRL WORD 2 bit 12. See also parameter
16.05 USER MACRO CHG. The status of the active macro is
indicated by 08.02 AUX STATUS WORD bits 14 and 15.
Note: When user macros are saved to the PC with
DriveWindow, both macros must be saved separately. See
section User macro save with DriveWindow on page 123.
Note: Restoring of the DriveWindow backup file (.BPG)
restores both macros. See section Backup and restore function
with DriveWindow on page 122.
For more information, see chapter Application macros.
99.12
1 = FACTORY
Loads factory parameters (default values) into the parameter

file.
2 = USER 1 LOAD
Loads User 1 macro into use. Before loading, check that the
saved parameter settings and the motor model are suitable for
the application.
3 = USER 1 SAVE
Saves User 1 macro. Stores the current parameter settings and

the motor model.
Note: There are parameters that are not included in the
macros. See parameter 99.09 APPLIC RESTORE.
4 = USER 2 LOAD
Loads User 2 macro into use. Before loading, check that the
saved parameter settings and the motor model are suitable for
the application.
5 = USER 2 SAVE
Saves User 2 macro. Stores the current parameter settings and

the motor model.
Note: There are parameters that are not included in the
macros. See parameter 99.09 APPLIC RESTORE.
MOTOR NOM COS Defines the cos. Must be equal to the value on the motor
FII
rating plate.
0.3...1
Cos
100 =
Cosfii1
251
Index
Name/Selection
Description
FbEq
99.13
POWER IS GIVEN
Selects whether the first start or ID run is be performed by using 1 = 1

power or cos of the motor. Cos is recommended. Use power
selection if cos is unknown.
0 = COSFII
Cos (defined by parameter 99.12 MOTOR NOM COS FII)
1 = POWER
Power
Def.
PB
1938 B
252
253
Fault tracing
This chapter lists all alarm and fault messages including the possible causes and
corrective actions.
Safety
WARNING! Only qualified electricians are allowed to maintain the drive. Read the
Safety Instructions on the first pages of the appropriate hardware manual or the
safety manual before you work on the drive.
Alarm and fault indications

An alarm or a fault message on the panel display indicates abnormal drive status.
Most alarm and fault causes can be identified and corrected using this information.
If not, an ABB representative should be contacted.
If the drive is operated with the control panel detached, the red LED in the panel
mounting platform indicates the fault condition. (Note: Some drive types are not
fitted with the LEDs as standard).
The four-digit code number in brackets after the message is for the fieldbus
communication (see chapter Fieldbus control).
How to reset
The drive can be reset either by pressing the keypad RESET key, by digital input or
fieldbus, or switching the supply voltage off for a while. When the fault has been
removed, the motor can be restarted.
Fault history
When a fault is detected, it is stored in the fault history. The latest faults and alarms
are stored together with the time stamp at which the event was detected. See
section Fault and event loggers on page 121 and chapter Control panel for more
information.
Fault tracing
254
Abbreviations
AW
Alarm Word
LW
Limit Word
MSW
FW
SFW
AP AFW
Fault tracing
Main Status Word

Fault Word
System Fault Word
Application Alarm and Fault Word
255
Alarm messages generated by the drive

Alarm
Cause
What to do
ACS800 TEMP
(4210)
09.04 AW 1 bit 4
Drive IGBT temperature is excessive.
Check ambient conditions.

Check air flow and fan operation.
Check heatsink fins for dust pick-up.
Check motor power against unit power.
ANALOG IO
(5441)
Analogue I/O error on RMIO board
09.04 AW 1 bit 8
AI<MIN FUNC
(8110)
09.05 AW 2 bit 10
Replace RMIO board.

allowed value. This can be caused by incorrect
signal level or failure in control wiring.
(programmable
Fault Function, see
Par. 30.27)
ALM (xx)
If AIMA-01 I/O Module Adapter is used, check

RMIO board channel CH1 fibre optic cables.
Check for proper analogue control signal

levels.
Check control wiring.
Check Fault Function parameter.
Check analogue input AI minimum value
settings (parameter group 13 ANALOGUE
INPUTS).
Drive internal alarm
08.01 MSW bit 7
Check for loose connections in drive cabinet.

Write down alarm code (in brackets). Contact
your local ABB representative.
AP PRG ERR
(FFD6)
An adaptive program error
Download application by DriveAP 2 or set

block parameters by panel or DriveWindow.
Replace RMIO board.
BATT FAILURE
(5581)
APBU branching unit memory backup battery

error caused by
09.05 AW 2 bit 12
- incorrect APBU switch S3 setting
With parallel-connected inverter modules,

enable backup battery by setting actuator 6 of
switch S3 to ON.
- too low battery voltage.
Replace backup battery.

Note: Actuator 6 of switch S3 is normally
activated (ON) during commissioning.
Note: Set actuator 6 of switch S3 to OFF when
APBU is stored as spare part.
BR OVERHEAT
(7112)
Brake resistor overload
Stop drive. Let resistor cool down.

Check parameter settings of resistor overload
protection function (parameter group 34
BRAKE CHOPPER).
Check that braking cycle meets allowed limits.
Check that supply AC voltage of drive is not
excessive.
CABLE TEMP
(4080)
09.05 AW 2 bit 3
CALIBRA DONE
(FF37)
Motor cable temperature is too high (i.e.

relative cable temperature 01.27 CABLE
TEMPERATURE is 102%).
Check motor load.

Check motor cable and its type.
Check cable thermal model settings
(parameter group 36 MOTOR CABLE
PROTECTION).
Current transducer calibration completed.
Fault tracing
256
Alarm
Cause
What to do
CALIBRA REQ
(FF36)
Current transducer calibration requested by

parameter 99.07MOTOR ID RUN.
Start drive.
CH2 COMM LOSS

(7520)
RMIO channel CH2 (Master/Follower link)

communication error
Check fibre optic cables on DDCS channels

CH2s.
09.04 AW 1 bit 11
Check that fibre optic cable loop is closed.
(programmable
Fault Function, see
Par. 70.14)
Replace fibre optic cables.

Check that there is one master drive and
remainder are followers in M/F link (70.08 CH2
M/F MODE).
Check if Master can communicate.
Replace optional RDCO module.
COMM MODULE
(7510)
09.05 AW 2 bit 11
(programmable
Fault Function, see
Par. 70.04 and
70.05)
Cyclical communication between drive and

type Rxxx fieldbus module or between drive
and external control system connected to
DDCS channel CH0 is lost.
Check fieldbus communication status. See

chapter Fieldbus control, or appropriate
fieldbus adapter manual.
Check group 51 MASTER ADAPTER (fieldbus
adapter) parameter settings.
Check group 52 STANDARD MODBUS
(Standard Modbus link) parameter settings.
Check drive node address.
Check that bus master is communicating and
correctly configured.
Check cable connections and earthings.
Check fieldbus adapter connection.
Check optic fibres between Advant controller
(or type Nxxx fieldbus adapter) and RMIO
board DDCS channel CH0.
DC UNDERVOLT
(3220)
Undervoltage trip limit has been reached

during Auto Restart.
Only indication
Digital input error on RMIO board
Replace RMIO board.
Drive has detected load unbalance typically

due to external fault (earth fault in motor or
motor cable) or internal fault (damaged
component).
Check that there are no power factor correction

capacitors or surge absorbers in motor cable.
09.05 AW 2 bit 14
DIGITAL IO
(5442)
09.04 AW 1 bit 7
EARTH FAULT
(2330)
09.04 AW 1 bit 14
(programmable
Fault Function, see
Par. 30.20)
Check that there is no earth fault in motor or

motor cables:
- measure insulation resistances of motor and
motor cable.
If no earth fault can be detected, contact your
local ABB representative.
Earth fault level can be sensitive with

non-parallel-connected R8i inverter modules
with long motor cables.
Fault tracing
If no earth fault is detected, increase

parameter setting 30.25 EARTH FAULT
LEVEL by one.
257
Alarm
Cause
What to do
EM STOP
(F081)
Emergency Stop has been activated either by

digital input DI1 (if programmed with adaptive
programming blocks) or by 07.01 MAIN
CONTROL WORD bit 1 or 2 (= 0).
Return emergency stop push button to normal

position.
09.04 AW 1 bit 1
Check that Control Word is sent by external

control system to drive. See 07.01 MAIN
CONTROL WORD bits 1 and 2 or CW block
(see ACS600/ACS800 Application Guide
Adaptive Program for System Application
Program 7.x [3AFE68420075 (English)]).
Change drive status to READY: Main Control
Word bit 0 is first set to 0 and then back to 1.
With local and I/O control: Restart drive.
EM STOP DEC
(F082)
Motor speed is not within defined limits during

emergency stop deceleration.
09.04 AW 1 bit 13
ENCODER A<>B
(7302)
09.05 AW 2 bit 4
ENCODER ERR
(7301)
09.04 AW 1 bit 5
(programmable
Fault Function, see
Par. 50.05)
Check parameter 21.05 EMSTOP DER MAX L

and 21.07 EM STOP DEC MON DEL settings.
Check load.
Pulse encoder phasing is wrong: Phase A is

connected to terminal of phase B and vice
versa.
Interchange connection of pulse encoder

phases A and B.
Communication fault between pulse encoder

and pulse encoder interface module or
between pulse encoder interface module and
drive.
Check parameter group 50 SPEED

MEASUREMENT settings.
This can be caused by loose cable connection,

communication time-out, faulty pulse encoder,
faulty pulse encoder module, or too great
difference between estimated and measured
actual speeds.
Check encoder pulse number.

Check pulse encoder and its wiring and
module and its wiring including Ch A and Ch B
phasing. Sign of 01.03 SPEED MEASURED
must be same as sign of internal actual speed
01.02 MOTOR SPEED. If not, exchange
channels A and B.
Check connection between RMIO board and
RTAC pulse encoder module.
Check fibre optic connection between RMIO
board and RTAC pulse encoder module.
Check earthing of pulse encoder cable.
Check for highly emissive components nearby.
EXT AIO
(7081)
Analogue I/O error on RAIO I/O Extension

module
Check cabinet temperature.
Digital input error on RDIO I/O Extension

module
Check cabinet temperature.
09.04 AW 1 bit 10
EXT DIO
(7082)
09.04 AW 1 bit 9
FAN OVERTEMP
(FF83)
Fan fault of sine filter.
FOLLOWER FLT
(FF7E)
There is an active alarm in follower drive.
ID DONE
(FF32)
Drive has performed motor identification

magnetisation and is ready for operation. This
alarm belongs to normal start-up procedure.
Replace RAIO module if alarm is continuously

active.
Replace RDIO module if alarm is continuously

active.
Check the fan and replace if faulted.
Check DI2 circuit of DI/O EXT MODULE 2.
Note, this message is indicated in master

drive. Information is received via M/F link to
master.
Check the fault loggers of follower drives to

locate drive and its alarm message.
Continue drive operation.
Fault tracing
258
Alarm
Cause
What to do
ID MAGN
(FF31)
Motor identification magnetisation is on. This

alarm belongs to normal start-up procedure.
Wait until drive indicates that motor

identification is completed.
ID MAGN REQ
(FF30)
Motor identification is required. This alarm

belongs to normal start-up procedure. Drive
expects user to select how motor identification
should be performed: by Identification
Magnetisation or by ID run.
Start Identification Magnetisation by pressing

Start key, or select ID run and start. See
parameter 99.07 MOTOR ID RUN.
ID N CHANGED
(FF68)
Drive ID (i.e. Modbus ID) number has been

changed from 1.
Change ID number back to 1. See section How

to select a drive and change its panel link ID
number on page 46.
INV DISABLED
(3200)
Drive DC switch has been opened while drive

was stopped.
Close DC switch.
09.02 FW 2 bit 4
08.20 INV
ENABLED WORD
This diagnostics is valid only for R8i inverter

modules equipped with ASFC Switch Fuse
Controller unit.
INV OVERLOAD
(5481)
Inverter overload (ACS 600 only). 200% cycle

load has lasted 10 seconds.
Check load.
I/O SP REF
(7281)
Analogue input AI1 of RMIO board has been

selected for speed reference and motor
temperature measurement when I/O control
(98.02 = NO) or HAND/AUTO (10.07 HAND/
AUTO) function has been selected.
Use analogue input AI2 for speed reference by

setting parameter 11.01 EXT REF1 SELECT to
STD AI2
or
use RAIO Analogue I/O Extension module.
See 98.06 AI/O EXT MODULE 1.
KLIXON
(4311)
Motor 1 or motor 2 overtemperature: Thermal

switch or thermistor relay connected to digital
input has opened or overtemperature is
detected by PTC thermistor connected digital
input DI6.
Check motor ratings and load.
(programmable
Fault Function, see
Par. 31.01)
DC switch status of each parallel-connected

inverter module can be monitored by signal
08.20 INV ENABLED WORD.
If DC switch is not included in drive system,
deactivate this function by Par. 98.12 FUSE
SWITCH CTRL. Note: With R7i inverter units
equipped with charging option +F272
monitoring must be active.
Check drive dimensioning.
Check cable.
Check PTC thermistor and thermal switch /
thermistor relay connections.
If thermistor resistance is over 4 kohm, motor
temperature is too high. Wait for motor to cool
down. State of DI6 returns back to 1 when
thermistor resistance is between 0...1.5 kohm.
Replace I/O board if voltage of selected digital
input for thermal switch / thermistor relay is
correct, but state of DI6 is 0 (01.15 DI6-1
STATUS or 08.05 DI STATUS WORD).
Check parameter 10.05 KLIXON setting.
LSU DI2 OPEN

(FF96)
Fault tracing
LSU start is prevented.
Check the interlockings in DI2 circuit in LSU.
259
Alarm
Cause
What to do
LSU TEMP
(4292)
Converter IGBT temperature is excessive.

Warning is activated if temperature exceeds
135 C.
05.12 LSU ALARM

WORD bit 4

Check line current against converter current.
MACRO CHANGE
(FF69)
Macro is restoring or user macro is being

saved.
Wait until drive has finished task.
M/F CONNECT
(7582)
Incompatible data type has been selected to be

sent by Master drive to Follower drive(s).
Change 70.09...70.11 parameter values.
MOD BOARD T
(FF88)

module.
Check inverter fan.
Overtemperature in choke of liquid cooled R8i

inverter module
Check inverter fan.
Check ambient temperature.
09.11 AW 3 bit 14
MOD CHOKE T
(FF89)
09.11 AW 3 bit 13
MOTOR FAN
(7083)

Check liquid cooling system.
Acknowledgement signal is missing from

external motor fan control circuit.
09.05 AW 2 bit 0
Check acknowledgement circuit (35.02 FAN

ACK DELAY).
Check overload protection device of motor fan.
If protection has tripped, reset it.
Check condition of fan bearings by rotating fan
manually.
Replace fan.
MOTOR STALL
(7121)
Motor is operating in stall region due to e.g.

excessive load or insufficient motor power.
Check motor load and drive ratings.
MOTOR STARTS
(FF34)
Motor identification run starts (drive is in Local

control mode). This alarm belongs to ID run
procedure.
Wait until drive indicates that motor

identification is completed.
MOTOR TEMP
(4310)
Motor overtemperature based on motor

thermal model. This can be caused by
excessive load, insufficient motor power,
inadequate cooling or incorrect start-up data.
Check motor ratings, load and cooling.
Check Fault Function parameters.
09.05 AW 2 bit 9
(programmable
Fault Function, see
Par. 30.13...30.15)
09.04 AW 1 bit 3
(programmable
Fault Function, see
Par. 30.02)
Check start-up data.

Check parameter 30.28 THERM MOD ALM L
setting. If USER MODE is selected, check
parameter 30.09...30.12, 30.30 and 30.31
settings.
Fault tracing
260
Alarm
Cause
What to do
MOTOR TEMP M
(4312)
Measured motor 1 or 2 temperature has

exceeded alarm limit set by parameters 30.04
MOT 1 TEMP ALM L or 30.07 MOT 2 TEMP
ALM L.
Check alarm limit value.
09.04 AW 1 bit 2
(programmable
Fault Function, see
Par. 30.04 or 30.07)
Check that actual number of sensors

corresponds to set parameter value (30.03
MOT1 TEMP AI1 SEL or 30.06 MOT2 TEMP
AI2 SEL).
Let motor cool down. Ensure proper motor
cooling: Check cooling fan, clean cooling
surfaces, etc.
Check Pt100, KTY84-1xx or PTC connections
of AI and AO of RMIO board or RAIO
Extension module.
If RAIO Extension module is used for
temperature measurement, check DIP switch
and parameter 98.06 AIO EXT MODULE 1
settings.
MPROT SWITCH
(4315)
Motor overload, i.e. motor protection switch

has opened.

Check cable connections.
09.04 AW 1 bit 12
(programmable
Fault Function, see
Par. 31.04)
Check parameter 10.11 MOT PROT SWITCH

setting.
PANEL LOSS
(5300)
09.05 AW 2 bit 13
Check digital input status. See 01.15 DI6-1

STATUS or 08.05 DI STATUS WORD.
communicating.
Check control panel connection. Check control

panel connector. See appropriate hardware
manual.
Press RESET key (on control panel or
DriveWindow).
(programmable
Fault Function, see
Par. 30.21)
Replace control panel in mounting platform.

Check DriveWindow connections.
POWDOWN FILE
(FFA5)
Error in restoring powerdown.ddf file
Replace RMIO board if alarm is continuously

active.
Error in restoring powerfail.ddf file during RMIO

board power switch-off.
Replace RMIO board if alarm is continuously

active.
Excessive IGBT junction to case temperature.
Check cooling.
This can be caused by excessive load at low

frequencies (e.g. fast direction change with
excessive load and inertia).
Check inverter dimensioning.
Running time of inverter cooling fan has

exceeded its estimated life time.
Change fan.
09.05 AW 2 bit 8
POWFAIL FILE
(FFA0)
09.05 AW 2 bit 7
PP OVERLOAD
(5482)
08.07 LW 1 bit 5
REPLACE FAN
(4280)
Fault tracing
Increase speed reference ramp time.

Reduce load.
Reset fan run time counter (01.31 FAN-ONTIME).
261
Alarm
Cause
What to do
RESTARTED
(1086)
Only indication
09.05 AW 2 bit 15
Motor has been restarted with AUTO

RESTART after short power failure. See
parameter 21.09 AUTO RESTART.
SAFETY SWITCH
(7084)
Safety switch was opened while drive was

stopped (parameter 10.09 SAFETY SWITCH).
Close safety switch.
Prevention of Unexpected Start-up has been

activated while drive was stopped.
Close Prevention of Unexpected Start-up

switch.
If switch is closed and fault is still active, check
power supply at AGPS board input terminals.
09.04 AW 1 bit 15
START INHIBI
(FF7A)
09.04 AW 1 bit 0
Replace AGPS board.

SWC ON INHIB
(FF7F)
Drive is in ON INHIB state.
Set 07.01 MAIN CONTROL WORD bit 0 first to

0, then back to 1.
Motor nominal speed setting is incorrect: Value

is too near synchronous speed of motor.
Tolerance is 0.1%.
Check nominal speed from motor rating plate

and set parameter 99.05 MOTOR NOM
SPEED exactly accordingly.
08.01 MSW bit 6

SYNCRO SPEED
(FF87)
This alarm is active only in DTC mode.

SYSTEM START
(1087)
Inverter software has been started, i.e.

auxiliary voltage +24 V DC is connected.
If this alarm appears during normal operation

of drive, check RMIO board power supply.
Check +24 V DC supply circuit connections.
Check for possible short cuts in +24 V DC
circuit.
TEMP DIF x y
(4380)
09.11 AW 3 bit 15
09.18 TEMP DIF
ALM WORD
Excessive temperature difference between

several parallel-connected inverter modules or
cooling fan failure.
Excessive temperature can be caused e.g. by
unequal current sharing between parallelconnected inverter modules.
Check cooling fan.

Replace fan.
Check air filters.
x (1...12) refers to inverter module number and

y (U, V, W) refers to faulty phase.
T MEAS CIRC
(FF91)
09.04 AW 1 bit 6
Error in motor temperature measurement

circuit. This can be caused by broken
temperature sensor or cable.
Check connections of motor temperature

measurement circuit. See section Temperature
sensors on page 85 for connection diagrams.
Motor load is too low due to e.g. release

mechanism in driven equipment.
(programmable
Fault Function, see
Par. 31.03)
UNDERLOAD
(FF6A)
Check for problem in driven equipment.
09.05 AW 2 bit 1
(programmable
Fault Function, see
Par. 30.16...30.18)
Fault tracing
262
Alarm messages generated by the control panel

Alarm
Cause
What to do
DOWNLOADING
FAILED
Download function of panel has failed. No data

has been copied from panel to drive.
Make sure panel is in local mode.

Retry (there might be interference on link).
Contact your local ABB representative.
DRIVE
INCOMPATIBLE
DOWNLOADING
NOT POSSIBLE
Program versions in panel and drive do not

match. It is not possible to copy data from
panel to drive.
Check program versions. See signal group 04

INFORMATION.
DRIVE IS
RUNNING
DOWNLOADING
NOT POSSIBLE
Downloading is not possible while motor is

running.
Stop motor. Perform download.
NO
COMMUNICATION
Cabling problem or hardware malfunction on

panel link.
Press RESET key. Panel reset may take up to

half a minute, please wait.
Check panel link connections.
Panel type is not compatible with drive

application program version.
Check panel type and version of drive

application program. Panel type is printed on
panel cover. Application program version is
stored in signal 04.03 APPLIC SW VERSION.
NO FREE ID
NUMBERS
ID NUMBER
SETTING NOT
POSSIBLE
Panel link already includes 31 stations.
Disconnect another station from link to free ID

number.
NOT UPLOADED
DOWNLOADING
NOT POSSIBLE
No upload function has been performed.
Perform upload function before downloading.

See section Function mode on page 43.
UPLOADING
FAILED
Upload function of panel has failed. No data

has been copied from drive to panel.
Retry (there might be interference on link).
WRITE ACCESS
DENIED
PARAMETER
SETTING NOT
POSSIBLE
Certain parameters do not allow changes while

motor is running. If tried, no change is
accepted, and alarm is displayed.
Stop motor and change parameter value.
Parameter lock is on.
Open parameter lock by parameter 16.02

PARAMETER LOCK.
Fault tracing
263
Alarms by number
Alarm
number
Alarm name
Alarm
number
Alarm name
Alarm
number
Alarm name
1086
RESTARTED
7121
MOTOR STALL
FF91
T MEAS CIRC
1087
SYSTEM START
7281
I/O SP REF
FFA0
POWFAIL FILE
2212
INV CUR LIM
7301
ENCODER ERR
FFA3
BACKUP USED
2300
MOT CUR LIM
7302
ENCODER A<>B
FFA5
POWDOWN FILE
2330
EARTH FAULT
7510
COMM MODULE
FFD6
AP PRG ERR
3200
INV DISABLED
7520
CH2 COMM LOSS
3211
DC BUS LIM
7582
M/F CONNECT
3220
DC UNDERVOLT
8110
AI<MIN FUNC
3381
POWER FAIL
F081
EM STOP
4080
CABLE TEMP
F082
EM STOP DEC
4210
ACS TEMP x y
FF30
ID MAGN REQ
4210
ACS800 TEMP
FF31
ID MAGN
4280
REPLACE FAN
FF32
ID DONE
4292
LSU TEMP
FF33
ID RUN SEL
4310
MOTOR TEMP
FF34
MOTOR STARTS
4311
KLIXON
FF35
ID RUN
4312
MOTOR TEMP M
FF36
CALIBRA REQ
4315
MPROT SWITCH
FF37
CALIBRA DONE
4380
TEMP DIF x y
FF38
HW RECONF RQ
5300
PANEL LOSS
FF39
'--> POWEROFF
5441
ANALOG IO
FF68
ID N CHANGED
5442
DIGITAL IO
FF69
MACRO CHANGE
5481
INV OVERLOAD
FF6A
UNDERLOAD
5482
PP OVERLOAD
FF7A
START INHIB
5581
BATT FAILURE
FF7F
SWC ON INHIB
7081
EXT AIO
FF83
FAN OVERTEMP
7082
EXT DIO
FF85
MOT TORQ LIM
7083
MOTOR FAN
FF86
MOT POW LIM
7084
SAFETY SWITCH
FF87
SYNCRO SPEED
7112
BR OVERHEAT
FF88
MOD BOARD T
7114
BC OVERHEAT
FF89
MOD CHOKE T
Fault tracing
264
Fault messages generated by the drive

Fault
Cause
What to do
ACS800 TEMP
(4210)
Drive IGBT temperature is excessive.

09.01 FW 1 bit 3

ACS TEMP x y
(4210)
09.01 FW 1 bit 3
09.16 OVERTEMP
WORD
AI<MIN FUNC
(8110)
09.02 FW 2 bit 10
Excessive internal temperature in inverter

module of several parallel-connected inverter
modules. x (1...12) refers to faulty inverter
module number and y (U, V, W) refers to faulty
phase.

allowed value. This can be caused by incorrect
signal level or failure in control wiring.
Check for proper analogue control signal

levels.
(programmable
Fault Function, see
Par. 30.27)
BACKUP ERROR
(FFA2)

Check control wiring.

Check analogue input AI minimum value
settings (parameter group 13 ANALOGUE
INPUTS).
Failure when restoring PC-stored backup of

drive parameters.
Retry.
Check connections.
Check that parameters are compatible with
drive.
BC OVERHEAT
(7114)
Brake chopper overload
Stop drive. Let chopper cool down.

BRAKE CHOPPER).
excessive.
BC SHORT CIR
(7113)
Short circuit in brake chopper IGBT(s)
BR BROKEN
(7110)
Brake resistor is not connected or it is

damaged.
BR OVERHEAT
(7112)
Replace brake chopper.

Ensure brake resistor is connected and not
damaged.
Check resistor and resistor connection.
Resistance rating of brake resistor is too high.
Check that resistance rating meets

specifications. See drive hardware manual.
Brake resistor overload
Stop drive. Let resistor cool down.

BRAKE CHOPPER).
excessive.
BR WIRING
(7111)
Fault tracing
Wrong connection of brake resistor(s)
Check resistor connection.

Ensure brake resistor is not damaged.
265
Fault
Cause
What to do
CABLE TEMP
(4080)
Motor cable temperature is too high (i.e.

relative cable temperature 01.27 CABLE
TEMPERATURE is 106%).
Check motor load.
Excessive temperature of drive output filter.

Supervision is in use in sine filter and step-up
applications.
Let drive cool down.
09.02 FW 2 bit 3
CHOKE OTEMP
(FF82)
09.06 FAULT
WORD3 bit 8
Check motor cable and its type.

Check cable thermal model settings
(parameter group 36 MOTOR CABLE
PROTECTION).
Check ambient temperatureCheck filter fan rotates in correct direction and

air flows freely.
Check the DI1 circuit of DI/O EXT MODULE 2.
CH2 COMM LOSS

(7520)
RMIO channel CH2 (Master/Follower link)

communication error
Check fibre optic cables on DDCS channels

CH2s.
09.01 FW 1 bit 11
Check that fibre optic cable loop is closed.
(programmable
Fault function, see
Par. 70.14)

Check that there is one Master drive and
remainder are Followers in M/F link (70.08
CH2 M/F MODE).
Check if Master can communicate.
Replace optional RDCO module.
COMM MODULE
(7510)
09.02 FW 2 bit 12
(programmable
Fault function, see
Par. 70.04 and
70.05)
Cyclical communication between drive and

type Rxxx fieldbus module or between drive
and external control system connected to
DDCS channel CH0 is lost.
Check fieldbus communication status. See

chapter Fieldbus control, or appropriate
fieldbus adapter manual.
Note: When COMM MODULE fault is

activated, torque selector (26.01 TORQUE
SELECTOR) is set to speed control.
Check group 52 STANDARD MODBUS

(Standard Modbus link) parameter settings.
Check group 51 MASTER ADAPTER (fieldbus

adapter) parameter settings.
Check drive node address.

Check that bus master is communicating and
correctly configured.
Check cable connections and earthings.
Check fieldbus adapter connections.
Check optic fibres between Advant controller
(or type Nxxx fieldbus adapter) and RMIO
board DDCS channel CH0.
CTRL B TEMP
(4110)
Check cabinet air flow and fan operation.
09.02 FW 2 bit 7
RMIO control board temperature is out of

acceptable range. Environment temperature is
too high (> 80C).
CURR MEAS
(2211)
Current transformer failure in output current

measurement circuit
Check current transducer connections to Main

Circuit Interface Board, AINT.
Fault tracing
266
Fault
Cause
What to do
CUR UNBAL x
(2330)
Drive has detected excessive output current

unbalance in inverter unit of several parallelconnected inverter modules. This can be
caused by external fault (earth fault, motor
fault, motor cabling fault, etc.) or internal fault
(damaged inverter component). x (1...12)
refers to faulty inverter module number.
Check motor and motor cable circuit.
09.13 CURRENT
UNBALANCE
09.01 FW 1 bit 4

DO NOT change parameter 30.25 EARTH
FAULT LEVEL.setting.
Check contents of APBU branching unit data
logger.
DC HIGH RUSH
(FF80)
09.06 FW 3 bit 11
Drive supply voltage is excessive. DC voltage

rises too fast for overvoltage controller (if used)
to react.
Check supply voltage level, rated voltage of

drive and allowed voltage range of drive.
When supply voltage is over 124% of unit

voltage rating (415, 500 or 690 V), motor
speed rushes to trip level (40% of nominal
speed).
DC OVERVOLT
(3210)
Excessive intermediate circuit DC voltage. This

can be caused by
Check that overvoltage controller is on

(parameter 30.23 OVERVOLTAGE CTL).
09.01 FW 1 bit 2
1. Static or transient overvoltages in mains.

2. Faulty brake chopper or resistor(s) (if used).
3. Too short deceleration time (if there is no
brake chopper or regenerative incoming
section).
4. Internal fault in inverter unit.
Check mains for static or transient overvoltage.
DC overvoltage trip limit is 1.3 1.35 U1max,

where U1max is maximum value of input
voltage range.
Unom of
inverter unit
400 V
500 V
690 V
DC UNDERVOLT
(3220)
09.02 FW 2 bit 2
U1max
415 V
500 V
690 V
UDC overvoltage
trip limit
728 V DC
877 V DC
1210 V DC
Intermediate circuit DC voltage is not sufficient

due to missing mains phase in diode rectifier
bridge.
DC undervoltage trip limit is 0.6 1.35 U1min,
where U1min is minimum value of input voltage
range.
Unom of
inverter unit
400 V
500 V
690 V
DDF FORMAT
(FFA6)
09.03 SFW bit 3
Fault tracing
U1min
380 V
380 V
525 V
File error in flash memory
Check brake chopper and resistor(s) (if used).

Check deceleration time.
If regenerative incoming section is used, check
that diode mode is not forced during
deceleration: Check that TSU 07.01 Main
Control Word bit 9 status is FALSE.
Use coast to stop function (if applicable).
Check DC voltage level and inverter nominal
voltage.
Retrofit frequency converter with brake
chopper and brake resistor(s).
Check mains supply and fuses.

With standard drive hardware:
Check that RUN ENABLE signal connected to
digital input DI2 is active (1 = active) when
inverter is powered.
UDC undervoltage
trip limit
308 V DC
308 V DC
425 V DC
Replace RMIO board.
267
Fault
Cause
What to do
EARTH FAULT
(2330)
Drive has detected load unbalance typically

due to external fault (earth fault in motor or
motor cable) or internal fault (damaged
component).

09.01 FW 1 bit 4
(programmable
Fault Function, see
Par. 30.20)
Check that there is no earth fault in motor or

motor cables:
- measure insulation resistances of motor and
motor cable.
If no earth fault can be detected, contact your
local ABB representative.
ENCODER A<>B
(7302)
09.06 FW 3 bit 10
ENCODER ERR
(7301)
09.02 FW 2 bit 5
(programmable
Fault Function, see
Par. 50.05)
Earth fault level can be sensitive with nonparallel-connected R8i inverter modules with
long motor cables.
If no earth fault is detected, increase

parameter setting 30.25 EARTH FAULT
LEVEL by one.
Pulse encoder phasing is wrong: Phase A is

connected to terminal of phase B and vice
versa.
Interchange connection of pulse encoder

phases A and B.
Communication fault between pulse encoder

and pulse encoder interface module or
between pulse encoder interface module and
drive.
Check parameter group 50 SPEED

MEASUREMENT settings.
This can be caused by loose cable connection,

communication time-out, faulty pulse encoder,
faulty pulse encoder module, or too great
difference between estimated and measured
actual speeds.
Check encoder pulse number.

Check pulse encoder and its wiring and
module and its wiring including Ch A and Ch B
phasing. Sign of signal 01.03 SPEED
MEASURED must be same as sign of internal
actual speed 01.02 MOTOR SPEED. If not,
exchange channels A and B.
Check connection between RMIO and optional
RDCO module.
Check fibre optic connection between RMIO
board and RTAC pulse encoder module.
Check earthing of pulse encoder cable.
Check for highly emissive components nearby.
FACTORY FILE
(FFA7)
Factory macro parameter file error
Replace RMIO board.
09.03 SFW bit 0

FLT (xx)
Drive internal fault
08.01 MSW bit 3

FOLLOWER FLT
(FF7E)
GD DISABLED X
(FF53)
09.06 FW 3 bit 6
Check for loose connections in drive cabinet.

Write down Fault code (in brackets). Contact
your local ABB representative.
A fault active in follower drive.

Note, this message is indicated in master
drive. Information is received via M/F link to
master.
AGPS power supply of parallel-connected R8i
inverter module has been switched off during
run. X (1...12) refers to inverter module
number.
Check the fault loggers of follower drives to

locate faulty drive and its fault message.
Check Prevention of Unexpected Start-up

circuit.
Replace AGPS board of R8i inverter module.
Fault tracing
268
Fault
Cause
What to do
ID RUN FAIL
(FF84)
Motor ID run is not completed successfully.
Check nominal motor values from parameter

group 99 START-UP DATA.
08.01 MSW bit 3
Check that no external control system is

connected to drive.
Switch off auxiliary voltage supply from RMIO
board and power-up drive again.
Check group 20 LIMITS parameter settings.
20.02 MAXIMUM SPEED should be at least
80% of 99.05 NOMINAL SPEED.
Check that no limits prevent ID run. Restore
factory settings and try again.
Check that motor shaft is not locked.
ILLEGAL
INSTRUCTION
(FF5F)
Operating system error
Change RMIO board of RDCU control unit.
Number of R8i inverter modules recognized by

application program during PPCC link
configuration is not equal to original number of
inverters.
Check status of inverters. See signal 08.22 INT

CONFIG WORD.
09.03 SFW bit 11

INT CONFIG
(5410)
09.06 FW 3 bit 7
Check fibre optic cables between APBU and

inverter modules.
Check inverter modules which are not
recognized by application program.
If reduced run function is used, isolate faulted
inverter module from main circuit and write
number of remaining inverter modules to
parameter 16.10 INT CONFIG USER. Reset
drive. See section Reduced run function on
page 81.
INV DISABLED
(3200)
DC switch has opened while drive was running

or start command was given.
09.02 FW 2 bit 4
This diagnostics is valid only for R8i inverter

modules equipped with AFSC-0x Fuse Switch
Controller unit.
Fault tracing
Close DC switch.
DC switch status of each parallel-connected
inverter module can be monitored by signal
08.20 INV ENABLED WORD.
If DC switch is not included in drive system,
deactivate this function by Par. 98.12 FUSE
SWITCH CTRL. Note: With R7i inverter units
equipped with charging option +F272
monitoring must be active.
269
Fault
Cause
What to do
IO COMM ERR
(7000)
I/O communication fault. This can be caused

by faulty I/O unit, defective fibre optic cable
connection or incorrect module identification
number (if I/O extension modules are present
via optic link).
Option slot installation (RAIO, RDIO, RTAC):
09.02 FW 2 bit 6
- Check option module status LED (WD/INIT,

yellow). LED is lit when drive is configuring
module during power-up. If LED does not go
out after one second, configuration has failed.
- Check option module connections.
- Check connection between option module
and RMIO board.
- Change option module.
- Switch drive supply power off and on again.
I/O Module Adapter installation (AIMA-01):
- Replace fibre optic cables.
- Check node ID of extension I/O module.
- Check light intensity of fibre optic channels on
AIMA-01 adapter. See I/O Module Adapter
AIMA-01Users Manual [3AFE 64661442
(English)].
- Replace I/O module adapter / extension
unit(s) if fault is still active.
LSU CHARGING
(3284)
DC link voltage is not high enough after

charging.
In LSU:
05.11 LSU FAULT

WORD bit 0
DC link voltage has not exceeded minimum

limit or current is not below preset limit.
Check charging circuit.
Faulty PPCC link (DC voltage measurement is

zero).
Check charging circuit fuses.

Check possible short circuit in DC link.
Check undervoltage trip limit (parameter 30.12
DC UNDERVOLT TRIP).
Check PPCC link. See fault message PPCC
LINK.
LSU COMM
(7581)
Cyclical communication between INU and LSU

is lost.
05.11 LSU FAULT

WORD bit 10
Check optic fibres in RDCU units between INU

- LSU.
Check that following parameters have similar
selection (e.g. WIDE - INU COM WIDE or
LIMITED - INU COM LIM)
95.05 LSU COMM SEL in INU
98.02 COMM MODULE in LSU.
LSU DC OVOLT
(3283)
Excessive intermediate circuit DC voltage. This

can be caused by
Check level of supply voltage, DC voltage and

converter nominal voltage.
05.11 LSU FAULT

WORD bit 15
- static or transient overvoltages in mains, or
Check DC overvoltage trip limit (parameter

30.11) in LSU.
- excessive supply voltage during

synchronisation.
Default trip limit is 427 V DC for 240 V units,
740 V DC for 415 V units, 891 V DC for 500 V
units and 1230 V DC for 690 V units.
Fault tracing
270
Fault
Cause
What to do
LSU DC UVOLT
(3282)
Intermediate circuit DC voltage is not sufficient

because of due to missing mains phase, blown
fuse or converter internal fault.
Check supply and converter fuses.
05.11 LSU FAULT

WORD bit 14
LSU EARTH F
(2383)
05.11 LSU FAULT
WORD bit 12
Default trip limit is 170 V DC for 240 V units,

293 V DC for 415 V units, 354 V DC for 500 V
units and 488 V DC for 690 V units.
Earth fault in earthed/grounded network.
Sum of line currents measured with internal
current transducers is too high.
Earth (ground) fault in LCL filter, converter, DC
link, inverter(s), motor cables or motor, or
current imbalance in parallel connected
converters.
Check supply voltage.

Check DC undervoltage trip limit (parameter
30.12 BREAK POINT ) in LSU.
Check converter and LCL filter for earth

leakages.
Check motor.
Check motor cables.
Check inverter(s).
Earth (ground) fault detection can be too
sensitive. Check parameter 30.03 EARTH
FAULT LEVEL settings in LSU.
Check converter fuses (parallel connected
converter modules).
LSU EXT DI1

(1082)
05.11 LSU FAULT
WORD bit 5
LSU EXT DI4
(1080)
Overtemperature monitoring with thermal

switches (KLIXON) in DI1 circuit. This
supervision is active only when converter is in
RDY_RUN state (i.e. 08.01 MAIN STATUS
WORD bit 1 = 1).
LSU digital input DI4 fault.
LSU digital input DI5 fault.
Check digital input DI5 circuit.

Check parameter 30.05 DI5 EXT EVENT and
30.10 DI5 TRIP DELAY settings.
05.11 LSU FAULT

WORD bit 2
LSU INTERNAL
(1083)
Check digital input DI4.

Check parameter 30.04 DI4 EXT EVENT
setting.
05.11 LSU FAULT

WORD bit 4
LSU EXT DI5
(1081)
Check all acknowledge circuit connections to

digital input DI1 in LSU.
Internal fault
Write down the fault message from LSU fault

log and contact your local ABB representative.
LSU main contactor / main breaker is not

functioning properly, or there is a loose/bad
connection.
Check main contactor / main breaker control

interlocking circuit.
05.11 LSU FAULT

WORD bit 8
LSU MAIN BR
(2384)
05.11 LSU FAULT
WORD bit 6
Check main contactor operating voltage level

(should be 230 V).
Check digital input DI3 connections.
LSU NET VOLT

(3285)
05.11 LSU FAULT
WORD bit 9
Fault tracing
Main supply voltage is out of acceptable range

during synchronisation or Line-side
Identification. Trip limits is 115 V for 230 V
units, 208 V for 415 V units, 250 V for 500 V
units and 345 V for 690 V units.
Check main supply voltage.

Restart unit.
271
Fault
Cause
What to do
LSU OVERCURR
(2380)
Excessive input current at LSU. There are two

overcurrent trip limits:
Check motor load.
05.11 LSU FAULT

WORD bit 1
- 0.98 converter maximum current (parameter

04.08 )
Check that there are no power factor

compensation capacitors in supply.
- approximately 190% of converter nominal

current (parameter 04.05).
Check converter power semiconductors

(IGBTs) and current transducers.
LSU converter IGBT temperature is excessive.

Trip level is 140 C.
LSU OVERTEMP
(4291)
05.11 LSU FAULT
WORD bit 3
LSU SC
(2381)
Check supply voltage.

Check line current against converter current.
Short circuit fault
05.11 LSU FAULT

WORD bit 7
Measure resistances of converter power

semiconductors (IGBTs).
If faulty IGBTs are found, replace IGBTs and/or
INT and/or NGDR boards or converter module.
Check main circuit.
LSU START
(FF97)
Syncronisation failed. Not synchronised within

7 seconds.
Check grid distortion situation.
LSU SYNCHRO
(8180)
Synchronisation to supply network has failed.
Perform Line-side Identification routine again.

See parameter 99.07 LINE SIDE ID RUN in
LSU.
05.11 LSU FAULT

WORD bit 13
KLIXON
(4311)
09.01 FW 1 bit 5
(programmable
Fault Function, see
Par. 31.01)
Supply frequency has changed remarkably

since sine-sidei identification routine.
Check 3 phase supply to LSU.

Motor 1 or motor 2 overtemperature: Thermal
switch or thermistor relay connected to digital
input has opened or overtemperature detected
by PTC thermistor connected digital input DI6.

Check cable.
Check PTC thermistor and thermal switch /
thermistor relay connections.
If PTC thermistor resistance is over 4 kohm,
motor temperature is too high. Wait for motor
to cool down. State of DI6 returns back to 1
when thermistor resistance is between 01.5
kohm.
Replace I/O board if voltage of selected digital
input for thermal switch / thermistor relay is
correct, but state of DI6 is 0 (01.15 DI6-1
STATUS or 08.05 DI STATUS WORD).
Check parameter 10.05 KLIXON setting.
Check FAULT FUNCTIONS parameters.
LINE CONV
(FF51)
Line-side converter fault
09.06 FW 3 bit 3
MOD BOARD T
(FF88)
Shift panel from motor-side converter control

board to line-side converter control board.
See line-side converter firmware manual for
fault description.

module.
Check inverter fan.

09.06 FW 3 bit 14
Fault tracing
272
Fault
Cause
What to do
MOD CHOKE T
(FF89)
Overtemperature in choke of liquid cooled R8i

inverter module
Check inverter fan.
09.06 FW 3 bit 13
MOTOR FAN
(7083)

Check liquid cooling system.
Acknowledgement signal is missing from

external motor fan control circuit.
09.06 FW 3 bit 0
Check acknowledgement circuit (35.02 FAN

ACK DELAY).
Check overload protection device of motor fan.
If protection has tripped, reset it.
Check condition of fan bearings by rotating fan
manually.
Replace fan.
MOTOR PHASE
(FF56)
09.02 FW 2 bit 15
One of motor phases is lost due to fault in

motor, motor cable, thermal relay (if used) or
internal fault.
(programmable
Fault Function, see
Par. 30.19).
MOTOR STALL
(7121)
Check motor and motor cable.

Check thermal relay (if used).
Check Fault Function parameter. Deactivate
protection.
Fault can also appear with small motors
(< 30 kW) at low speed. Deactivate protection
in this case.
Motor is operating in stall region due to e.g.

excessive load or insufficient motor power.
Check motor load and drive ratings.
Motor overtemperature based on motor

thermal model. This can be caused by
excessive load, insufficient motor power,
inadequate cooling or incorrect start-up data.
Check motor ratings, load and cooling.
09.02 FW 2 bit 14
(programmable
Fault Function, see
Par. 30.13...30.15)
MOTOR TEMP
(4310)
09.01 FW 1 bit 6
(programmable
Fault Function, see
Par. 30.02)
Fault tracing

Check parameter 30.29 THERM MOD FLT LIM
setting. If USER MODE is selected, check
parameter 30.09...30.12, 30.30 and 30.31
settings.
273
Fault
Cause
What to do
MOTOR TEMP M
(4312)
Measured motor 1 or 2 temperature has

exceeded fault limit set by parameter 30.05
MOT 1 TEMP FLT L or 30.08 MOT 2 TEMP
FLT L.
Check fault limit value.
09.01 FW 1 bit 5
(programmable
Fault Function, see
Par. 30.05 or 30.08)
Check that actual number of sensors

corresponds to set parameter value (30.03
MOT1 TEMP AI1 SEL or 30.06 MOT2 TEMP
AI2 SEL).
Let motor cool down. Ensure proper motor
cooling: Check cooling fan, clean cooling
surfaces, etc.
Check Pt100, KTY84-1xx or PTC connections
of AI and AO of RMIO board or RAIO
Extension module.
If RAIO Extension module is used for
temperature measurement, check DIP switch
and parameter 98.06 AIO EXT MODULE 1
settings.
MPROT SWITCH
(4315)
Motor overload, i.e. motor protection switch

has opened.

Check cable connections.
09.01 FW 1 bit 10
(programmable
Fault Function, see
Par. 31.04)
Check parameter 10.11 MOT PROT SWITCH

setting.
NO MOTOR DATA
(FF52)
Check digital input status. See 01.15 DI6-1

STATUS or 08.05 DI STATUS WORD.
Motor data is not given or motor data does not
match with inverter data.
Check motor data (parameters 99.02...99.06).
Non-volatile operating system error
Replace RMIO board.
Motor is turning faster than highest allowed

speed due to incorrectly set minimum/
maximum speed, insufficient braking torque or
changes in load when torque reference is
used.
Check minimum/maximum speed settings.
09.02 FW 2 bit 1
NVOS ERROR
(FFA8)
09.03 SFW bit 2
OVERFREQ
(7123)
09.01 FW1 bit 9
Check adequacy of motor braking torque.

Check applicability of torque control.
If drive has Diode Supply Unit (DSU), check
need for brake chopper and resistor(s).
Check parameter 20.11 FREQ TRIP MARGIN
setting.
OVER SWFREQ
(FF55)
09.02 FW 2 bit 8
Switching frequency is too high. This can be

caused by electronic board hardware fault.
Replace RMIO board.

Replace AINT board.
With parallel-connected inverter modules,
replace branching unit.
Fault tracing
274
Fault
Cause
What to do
OVERCURRENT
(2310)
Output current exceeds trip limit.
Check motor load.

Check acceleration time.
09.01 FW 1 bit 1
Check motor and motor cable (including

phasing).
Check encoder cable (including phasing).
If drive tripped during flying start, check that
parameter 21.01 START FUNCTION is set to
AUTO. (Other modes do not support flying
start.)
Check nominal motor values from parameter
group 99 START-UP DATA to confirm motor
model is correct.
OVERCURR x
(2310)
09.01 FW 1 bit 1
Overcurrent fault in inverter unit of several

parallel-connected inverter modules. x (1...12)
refers to faulty inverter module number.
09.14
OVERCURRENT
WORD
Check motor load.

Check acceleration time.
Check motor and motor cable (including
phasing).
Check encoder cable (including phasing).
If drive tripped during flying start, check that
parameter 21.01 START FUNCTION is set to
AUTO. (Other modes do not support flying
start.)
Check motor nominal values from parameter
group 99 START-UP DATA to confirm that
motor model is correct.
PANEL LOSS
(5300)
09.02 FW 2 bit 13

communicating.
Check control panel connection. Check control

panel connector. See appropriate hardware
manual.
Press RESET key (on control panel or
DriveWindow).
(programmable
Fault Function, see
Par. 30.21)
Replace control panel in mounting platform.

Check DriveWindow connection.
PARAM CRC
CRC (Cyclic Redundancy Check) error
(6320)
Switch control board power off and on again.

Reload firmware to control board.
Replace control board.
POWERFAIL
(3381)
INT board powerfail.
Check that AINT board power cable is

connected.
Check that POW board is working correctly.
Replace AINT board.
Fault tracing
275
Fault
Cause
What to do
POWF INV x
(3381)
AINT board powerfail in R8i inverter unit of

several parallel-connected inverter modules.
x refers to inverter module number (x = 112).
Check that AINT board power cable is

connected.
Check that POW board is working correctly.
Replace AINT board.
PPCC LINK
(5210)

communication fault between RMIO and AINT.
Check fibre optic cables between RMIO and

AINT boards.
09.02 FW 2 bit 11
Fault can be masked with 30.24 PPCC FAULT

MASK.
If fault is still active, replace RMIO and/or AINT

board.
Check IGBT(s).
If RMIO is powered from external supply,
ensure that supply is on. See parameter 16.07
CTRL BOARD SUPPLY.
Check that there is no short circuit in power
stage. Short circuit or overcurrent caused by
faulty IGBTs can activate PPCC LINK fault.
PPCC LINK xx
(5210)
09.02 FW 2 bit 11

communication fault between RMIO and AINT
in inverter unit of several parallel-connected
inverter modules. xx (1...12) refers to faulty
inverter module number.
Fault can be masked with 30.24 PPCC FAULT
MASK.
Check fibre optic cable connection between

RMIO and AINT boards.
Check cabling of branching unit.
If fault is still active, replace branching unit,
RMIO and/or AINT board.
Check IGBT(s).
Check that there is no short circuit in power
stage. Short circuit or overcurrent caused by
faulty IGBTs can activate PPCC LINK fault.
If fault is still active, replace inverter module.
PP OVERLOAD
(5482)
08.07 LIMIT WORD
INV bit 5
RUN DISABLE
(FF54)
09.02 FW2 bit 4
Excessive IGBT junction to case temperature.
Check cooling.
This can be caused by excessive load at low

frequencies (e.g. fast direction change with
excessive load and inertia).
Check inverter dimensioning.
No Run enable signal received, because:
Check that RUN ENABLE signal connected to

digital input DI2 is active (1 = active, i.e. circuit
is closed) when inverter is powered.
- circuit connected to digital input DI2 is open

(0 = open)
Increase speed reference ramp time.

Reduce load.
- of external device fault.

Note: If DC switch is opened, fault RUN
DISABLE is activated.
SAFETY SWITCH
(7084)
Safety switch was opened during run

(parameter 10.09 SAFETY SWITCH)
Close safety switch.
Short circuit (i.e. excessive output current) in

inverter unit of several parallel-connected
inverter modules. x (1...12) refers to faulty
inverter module number and y (U, V, W) refers
to faulty phase.
09.06 FW3 bit 2

SC INV x y
(2340)
09.01 FW 1 bit 0
09.15 SHORT
CIRC FAULT
Check inverter module IGBTs.

If faulty IGBT module is detected, replace
IGBT module or inverter module.
Fault tracing
276
Fault
Cause
What to do
SHORT CIRC
(2340)
Short circuit fault (i.e. excessive output current)
09.15 SHORT CIRC FAULT x (=1) refers to

faulty inverter module number and y (U, V, W)
refers to faulty phase.
Check inverter module IGBTs.
Prevention of Unexpected Start-up has been

activated during motor run or motor start
command has been given when Prevention of
Unexpected Start-up is active.
Close Prevention of Unexpected Start-up

switch.
If switch is closed and fault is still active, check
power supply at AGPS board input terminals.
09.01 FW 1 bit 0
09.15 SHORT
CIRC FAULT
START INHIBI
(FF7A)
08.21 START
INHIBI WORD for
ACS800
If faulty IGBT module is detected, replace

IGBT module or inverter module.
Replace AGPS board.
09.06 FW 3 bit 5
SUPPLY PHASE
(3130)
09.02 FW 2 bit 0
TEMP DIF x y
(4380)
09.06 FW 3 bit 15
09.17 TEMP DIF
FLT WORD
T MEAS CIRC
(FF91)
09.06 FW 3 bit 4
DC voltage ripple in intermediate circuit is too

high. This can be caused by missing mains
phase in diode bridge rectifier, or DC voltage
oscillation due to thyristor rectifying (if used).
Check mains fuses.
Excessive temperature difference between

several parallel-connected inverter modules or
cooling fan failure. Excessive temperature can
be caused e.g. by unequal current sharing
between parallel-connected inverter modules.
Check cooling fan.
Check if mains supply is unbalanced.
Replace fan.
Check air filters.
x (1...12) refers to inverter module number and

y (U, V, W) refers to faulty phase.
Error in motor temperature measurement
circuit. This can be caused by broken
temperature sensor or cable.
Check connections of motor temperature

measurement circuit. See section Temperature
sensors on page 85 for connection diagrams.
Motor load is too low due to e.g. release

mechanism in driven equipment.
Check for problem in driven equipment.
No user macro saved or file is defective.
Create user macro.
(programmable
Fault Function, see
Par. 31.03)
UNDERLOAD
(FF6A)
09.01 FW 1 bit 8
(programmable
Fault Function, see
Par. 30.16...30.18)
USER MACRO
(FFA1)
09.03 SFW bit 1
Fault tracing
277
Faults by number
Fault
number
Fault name
Fault
number
Fault name
Fault
number
Fault name
1080
LSU EXT DI4
4080
CABLE TEMP
7112
BR OVERHEAT
1081
LSU EXT DI5
4110
CTRL B TEMP
7113
BC SHORT CIR
1082
LSU EXT DI1
4210
ACS800 TEMP
7114
BC OVERHEAT
1083
LSU INTERNAL
4210
ACS TEMP x y
7121
MOTOR STALL
1086
RESTARTED
4280
REPLACE FAN
7123
OVERFREQ
1087
SYSTEM START
4290
INV OVERTEMP
7281
I/O SP REF
2211
CURR MEAS
4291
LSU OVERTEMP
7301
ENCODER ERR
2212
INV CUR LIM
4292
LSU TEMP
7302
ENCODER A<>B
2300
MOT CUR LIM
4310
MOTOR TEMP
7510
COMM MODULE
2310
OVERCURR x
4311
KLIXON
7520
CH2 COMM LOSS
2310
OVERCURRENT
4312
MOTOR TEMP M
7581
LSU COMM
3211
DC BUS LIM
4315
MPROT SWITCH
7582
M/F CONNECT
2330
CUR UNBAL
4380
TEMP DIF
8110
AI<MIN FUNC
2330
CUR UNBAL x
4380
TEMP DIF x y
8180
LSU SYNCHRO
2330
EARTH FAULT
5210
PPCC LINK
F081
EM STOP
2340
SC INV x y
5210
PPCC LINK xx
F082
EM STOP DEC
2340
SHORT CIRC
5300
PANEL LOSS
FF30
ID MAGN REQ
2380
LSU OVERCURR
5410
INT CONFIG
FF31
ID MAGN
2381
LSU SC
5441
ANALOG IO
FF32
ID DONE
2383
LSU EARTH F
5442
DIGITAL IO
FF33
ID RUN SEL
2384
LSU MAIN BR
5481
INV OVERLOAD
FF34
MOTOR STARTS
3130
SUPPLY PHASE
5482
PP OVERLOAD
FF35
ID RUN
3200
INV DISABLED
5581
BATT FAILURE
FF36
CALIBRA REQ
3210
DC OVERVOLT
6320
PARAM CRC
FF37
CALIBRA DONE
3220
DC UNDERVOLT
7000
IO COMM ERR
FF38
HW RECONF RQ
3282
LSU DC UVOLT
7081
EXT AIO
FF39
'--> POWEROFF
3283
LSU DC OVOLT
7082
EXT DIO
FF51
LINE CONV
3284
LSU CHARGING
7083
MOTOR FAN
FF52
NO MOTOR DATA
3285
LSU NET VOLT
7084
SAFETY SWITCH
FF53
GD DISABLED X
3381
POWER FAIL
7110
BR BROKEN
FF54
RUN DISABL
3381
POWF INV x
7111
BR WIRING
FF55
OVER SWFREQ
Fault tracing
278
Fault
number
Fault name
FF56
MOTOR PHASE
FF5F
ILLEGAL
INSTRUCTION
FF68
ID N CHANGED
FF69
MACRO CHANGE
FF6A
UNDERLOAD
FF7A
START INHIBI
FF7E
FOLLOWER FLT
FF7F
SWC ON INHIB
FF80
DC HIGH RUSH
FF81
IN CHOKE TEMP
FF82
CHOKE OTEMP
FF83
FAN OVERTEMP
FF84
ID RUN FAIL
FF85
MOT TORQ LIM
FF86
MOT POW LIM
FF87
SYNCRO SPEED
FF88
MOD BOARD T
FF89
MOD CHOKE
FF91
T MEAS CIRC
FF96
LSU DI2 OPEN
FF97
LSU START
FFA0
POWFAIL FILE
FFA1
USER MACRO
FFA2
BACKUP ERROR
FFA3
BACKUP USED
FFA5
POWDOWN FILE
FFA6
DDF FORMAT
FFA7
FACTORY FILE
FFA8
NVOS ERROR
FFD6
AP PRG ERR
Fault tracing
Fault
number
Fault name
Fault
number
Fault name
279
Application macros
This chapter describes the intended use and operation of the system application
macros. It also describes how to save a user macro, and how to recall it.
Overview of macros
Application macros are preprogrammed parameter sets. While starting the drive, the
user selects the FACTORY macro by parameter 99.11 APPLICATION MACRO,
makes the essential changes and saves the result as a user macro (USER 1 or 2
SAVE). User macro settings can be recalled (USER 1 or 2 LOAD). The table below
contains a summary of the macros.
Macro
Suitable applications
Factory
Ordinary speed control applications where no, one, two or three constant speeds are
used:
- conveyors
- speed controlled pumps and fans
- test benches with predefined constant speeds.
User
The user can save the customised standard macro i.e. the parameter settings and the
results of the motor identification to permanent memory, and recall the data at a later
time.
USER 1/2 SAVE
User macro 1 or 2 is saved to the FPROM memory.
USER 1/2 LOAD
User macro 1 or 2 is loaded to the RAM memory.
There are three parameter files available in the FPROM memory: PARAMETER.ddf,
USER_MACRO1.ddf and USER_MACRO2.ddf.
With Factory macro all parameter changes are saved automatically to file
PARAMETER.ddf. When user macros are in use, all parameter changes must be
saved to the corresponding user macro file by parameter 99.11 APPLICATION
MACRO. See section User macros on page 280.
Application macros
280
User macros
It is possible to create two user macros. They can be saved and restored by
parameters 99.09 APPLIC RESTORE and 99.11 APPLICATION MACRO. The user
macro allows the user to save parameter settings including parameter group 99
START-UP DATA and the results of the motor identification to permanent memory,
and to recall the data at a later time.
Two user macros are essential when switching between two motors is required.
How to create user macro 1
Adjust parameters.
Perform the motor identification.
Save the parameter settings and the results of the motor identification by setting
parameter 99.11 to USER 1 SAVE (and press ENTER). The storing takes 20 s to
1 min.
Note: If user macro save function is executed several times, drive memory fills up
and file compression starts. File compression can last up to 10 minutes. Macro
saving will be completed after the file compression. (Operation is indicated on the
last row of the control panel display by blinking dots).
How to recall user macro 1
Change parameter 99.11 to USER 1 LOAD.
Press ENTER to load.
User macros can also be activated by 07.03 AUX CTRL WORD 2 bit 12 or via digital
input, if the function is enabled by parameter 16.05 USER MACRO CHG. See also
parameter 10.10 I/O MACRO CHANGE. The status of the active macro can be
monitored with 08.02 AUX STATUS WORD bits 14 and 15.
Note: User macro load restores also the motor settings in group 99 START-UP
DATA and the results of the motor identification. Check that the settings correspond
to the used motor.
See also section User macro save with DriveWindow on page 123.
Example: The user can switch the drive between two motors without having to adjust
the motor parameters and to repeat the motor identification every time the motor is
changed. The user needs only to adjust the settings and perform the motor
identification once for both motors and then to save the data as two user macros.
When the motor is changed, only the corresponding user macro needs to be loaded,
and the drive is ready to operate.
Application macros
281
Fieldbus control
This chapter describes how the drive can be controlled by external devices over
a communication network.
System overview
The drive can be connected to an external control system usually a fieldbus
controller via an adapter module. The drive can be set to receive all of its control
information through the external control interface, or the control can be distributed
between the external control interface and other available sources, for example
digital and analogue inputs.
The following diagram shows the control interfaces and I/O connections of the drive.
Fieldbus
controller
Fieldbus
Other
devices
ACS800
(*
(*
Fieldbus adapter
Rxxx
Controller
Modbus
RMIO board
Slot 1
(*
RMBA-01 adapter
std. Modbus link
I/O adapter
RTAC/RDIO/RAIO
Slot 1 or 2
RDCO comm.
module
Advant
controller
(e.g. AC 800M,
AC 80)
CH1
AIMA-01 I/O
(DDCS) adapter module
CH0
(DDCS)
Fieldbus adapter
Nxxx
or
Data Flow
Control Word (CW)
References
Process I/O (cyclic)
Status Word (SW)

Actual values
Parameter R/W requests/responses
(*
Service messages (acyclic)
Either an Rxxx or Nxxx, and an RMBA-01 adapter can be connected to the drive simultaneously.
Fieldbus control
282
Redundant fieldbus control

It is possible to connect two fieldbuses to the drive with the following adapter
configuration:
Type Rxxx fieldbus adapter module (not RMBA-01) is installed in drive Slot 1.
RMBA-01 Modbus Adapter module is installed in drive Slot 2.
E.g. PROFIBUS
Modbus
ACS800
RMIO board
RPBA-01 adapter
PROFIBUS-DP link
Slot 1
RMBA-01 adapter
std. Modbus link
Slot 2
The control (i.e. the Main Reference data set, see section Data sets 1 and 2 on
page 289) is activated by setting parameter 98.02 COMM. MODULE to FIELDBUS
or STD MODBUS.
In case there is a communication problem with one fieldbus, the control can be
switched to the other fieldbus. Switching between the buses can be controlled
e.g. with adaptive programming. Parameters and signals can be read by both
fieldbuses, but simultaneous cyclical writing to the same parameter is forbidden.
RDCO channels CH0...3
The following table gives information on the DDCS (Distributed Drives
Communication System) channels CH0...CH3 of the RDCO module (DDCS
Communication Option).
Channel Interfaces
CH0
RDCO-01*
RDCO-02*
Advant controller
10 MBd
5 MBd
Fieldbus Interface
DDCS/DriveBus
CH1
Basic I/O / Optional I/O
5 MBd
5 MBd
CH2
Master/Follower
10 MBd
10 MBd
CH3
DriveWindow (PC, 1 Mbit/s)
10 MBd
10 MBd
*RDCO-01/02 is connected to the RMIO board.
The RMIO board CH0 supports either DriveBus or DDCS protocol. DriveBus
protocol is faster than the DDCS protocol.
Fieldbus control
283
Commissioning and supporting tools

DriveWindow and other tools can be connected to RMIO DDCS channel CH3, either
in a ring, or a star configuration using branching units. Before starting the
communication, node addresses must be set for each drive. See parameter 70.15
CH3 NODE ADDR. The new node address becomes valid on the next power-up of
the RMIO-board. DDCS channel CH3 is the slave in the communication link.
Setting up communication through fieldbus

Fieldbus adapters for several communication protocols are available (e.g.
PROFIBUS and Modbus). Rxxx type fieldbus adapter modules are mounted in
expansion Slot 1 of the drive. Nxxx type fieldbus adapter modules are connected to
channel CH0 of the RDCO.
Note: For instructions on setting up an RMBA-01 module, see section Setting up
communication through the standard Modbus link on page 285.
Before configuring the drive for fieldbus control, the adapter module must be
mechanically and electrically installed according to the instructions given in the
hardware manual of the drive, and the module manual. The communication between
the drive and the adapter module is then activated by setting parameter 98.02
COMM. MODULE.
The following table lists the parameters, which need to be defined when setting up
communication through a fieldbus adapter.
Parameter
Alternative
settings
Setting for fieldbus control
Function/Information
COMMUNICATION INITIALISATION
98.02
COMM.
MODULE
NO
FIELDBUS
ADVANT/N-FB
STD MODBUS
FIELDBUS (with Rxxx or

Nxxx)
ADVANT/N-FB (with Nxxx)
Initialises communication between drive and

fieldbus adapter module. Activates module set-up
parameters for type Nxxx and Rxxx fieldbus
modules (group 51 MASTER ADAPTER (fieldbus
adapter)).
70.01 CH0
NODE ADDR
0-254
Defines the node address for DDCS channel CH0
71.01 CH0
DRIVEBUS
MODE*
YES =
DriveBus mode
NO = DDCS
mode
NO
Selects the communication mode for DDCS channel

CH0
70.04 CH0
TIMEOUT
0...60000 ms
Defines the delay time before channel CH0 (type

Nxxx adapter) or type Rxxx fieldbus adapter
interface communication break alarm/fault is
indicated.
70.05 CH0
COM LOSS
CTRL
STOP
RAMPNG
STOP TORQ
COAST STOP
LAST SPEED
CNST SPEED1
Defines the action taken after CH0 or type Rxxx

fieldbus adapter interface communication fault
Fieldbus control
284
70.19 CH0
HW
CONNECTI
ON
RING
STAR
Default value is STAR which

is typically used with
branching units (NDBU).
Selects the topology of the channel CH0 link.
This parameter has no effect

in DriveBus mode.
ADAPTER MODULE CONFIGURATION

51.01
MODULE
TYPE
Displays the type of the fieldbus adapter

module.
51.02
(FIELDBUS
PARAMETE
R 2)
These parameters are adapter module-specific. For more information, see the module manual.
Note that not all of these parameters are necessarily visible.
...
51.26
(FIELDBUS
PARAMETE
R 26)
51.27 FBA
PAR
REFRESH**
(0) DONE;
(1) REFRESH
Validates any changed adapter module

configuration parameter settings. After refreshing,
the value reverts automatically to DONE.
51.28 FILE
CPI FW
REV**
xyz (binary
coded
decimal)
Displays the required CPI firmware revision of the

fieldbus adapter as defined in the configuration file
stored in the memory of the drive. The CPI firmware
version of the fieldbus adapter (refer to par. 51.32)
must contain the same or a later CPI version to be
compatible. x = major revision number; y = minor
revision number; z = correction number. Example:
107 = revision 1.07.
51.29 FILE
CONFIG ID**
xyz (binary
coded
decimal)
Displays the fieldbus adapter module configuration

file identification stored in the memory of the drive.
This information is drive application programdependent.
51.30 FILE
CONFIG
REV**
xyz (binary
coded
decimal)
Displays the fieldbus adapter module configuration

file revision stored in the memory of the drive.
x = major revision number; y = minor revision
number; z = correction number. Example:
1 = revision 0.01.
51.31 FBA
STATUS**
(0) IDLE;
(1) EXEC. INIT;
(2) TIME OUT;
(3) CONFIG
ERROR;
(4) OFF-LINE;
(5) ON-LINE;
(6) RESET
Displays the status of the adapter module.

IDLE = Adapter not configured.
EXEC. INIT = Adapter initialising.
TIME OUT = A timeout has occurred in the
communication between the adapter and the drive.
CONFIG ERROR = Adapter configuration error. The
major or minor revision code of the CPI firmware
revision stored in the adapter differs from that stated
in the configuration file in the memory of the drive.
OFF-LINE = Adapter is off-line.
ON-LINE = Adapter is on-line.
RESET = Adapter performing a hardware reset.
Fieldbus control
285
51.32 FBA
CPI FW
REV**
Displays the CPI program revision of the module

inserted in Slot 1. x = major revision number;
y = minor revision number; z = correction number.
Example: 107 = revision 1.07.
51.33 FBA
APPL FW
REV**
Displays the application program revision of the

module inserted in Slot 1. x = major revision
number; y = minor revision number; z = correction
number. Example: 107 = revision 1.07.
RECEIVE AND TRANSMIT DATA DEFINITIONS

Groups
Addresses for receive and transmit data. See

section External control interface on page 289.
90 D SET
REC
ADDR...93 D
SET TR
ADDR
* Parameter is valid after the next power-up of the drive.

** Parameters 51.27...51.33 are only visible when type Rxxx fieldbus adapter is installed.
Setting up communication through the standard Modbus link

An RMBA-01 Modbus Adapter installed in Slot 1 or 2 of the drive forms an interface
called the standard Modbus link. The standard Modbus link can be used for external
control of the drive by a Modbus controller (RTU protocol only).
Before configuring the drive for Modbus control, the adapter module must be
mechanically and electrically installed according to the instructions given in the
hardware manual of the drive, and the module manual. The communication between
the drive and the adapter module is then activated by setting parameter 98.02
COMM. MODULE.
communication through the standard Modbus link.
Note: With NMBA-01 Modbus Adapter, parameter 98.02 COMM. MODULE must be
set to FIELDBUS or ADVANT/N-FB. See parameter setting instructions in section
Setting up communication through fieldbus on page 283.
Parameter
Alternative settings
Setting for fieldbus control
98.02 COMM.
MODULE
NO
FIELDBUS
ADVANT/N-FB
STD MODBUS
STD MODBUS
Initialises communication between drive

and Modbus adapter module. Activates
communication parameters in group 52
STANDARD MODBUS.
52.01STATION
NUMBER
1...247
Specifies the station number of the drive on

the standard Modbus link.
52.02
BAUDRATE
600; 1200; 2400;

4800; 9600; 19200
Defines the communication speed of the

standard Modbus link.
52.03 PARITY
NONE1STOPBIT
NONE2STOPBIT
ODD
EVEN
Defines the parity setting for the standard

Modbus link.
Fieldbus control
286
The drive parameters, data words, references and actual values are mapped into the
4xxyy register area:
Signal
Address
Modbus address
Control Word (MCW)
40001
Reference 1 (REF1)
23.01 SPEED REF in DTC or

29.01 FREQ REF in scalar control
40002
Reference 2 (REF2)
25.04 TORQUE REF B
40003
Status Word (MSW)
08.01 MAIN STATUS WORD
40004
Actual 1 (ACT1)
40005
Actual 2 (ACT2)
01.07 MOTOR TORQ FILT2
40006
For the mapping of other signals and parameters see section Modbus and Modbus
Plus address on page 128.
More information on Modbus communication is available from the Modicon website
http://www.modicon.com.
Modbus link
The CDP 312R control panel, NLMD-01 Led Monitoring Display panel or
DriveWindow can be connected to the drive through a Modbus link. The
communication speed of the link is 9600 bit/s (8 data bits, 1 stop bit, odd parity).
The connected device is the master of the communication link. NBCI-01 Bus
Connection Modules must be used if the distance between the panel and the drive is
over three metres.
Modbus is designed for integration with Modicon PLCs (PLC = Programmable Logic
Controller) or other automation devices, and its services correspond mainly to the
PLC architecture. The drive looks like a Modicon PLC from the network.
Fieldbus control
287
Setting up communication through Advant controller

The Advant controller is connected via DDCS link to channel CH0 of the RDCO. The
communication between the drive and controller is activated by setting parameter
98.02 COMM. MODULE.
AC 800M Advant Controller
DriveBus connection: CI858 DriveBus Communication Interface required. See CI858
DriveBus Communication Interface Users Manual, [3AFE 68237432 (English)].
For more information, see AC 800M Controller Hardware Manual [3BSE 027 941
(English)], AC 800M/C Communication, Protocols and Design Manual
[3BSE 028 811 (English),] ABB Industrial Systems, Vsters, Sweden.
Optical ModuleBus connection: TB811 (5 MBd) or TB810 (10 MBd) Optical
ModuleBus Port Interface required. See section Optical ModuleBus connection
below.
AC 80 Advant Controller
DriveBus connection: Connectable to RMIO-01/02 board with RDCO-01
Optical ModuleBus connection: TB811 (5 MBd) or TB810 (10 MBd) Optical
ModuleBus Port Interface required. See section Optical ModuleBus connection
below.
CI810A Fieldbus Communication Interface (FCI)
Optical ModuleBus connection
TB811 (5 MBd) or TB810 (10 MBd) Optical ModuleBus Port Interface required.
The TB811 Optical ModuleBus Port Interface is equipped with 5 MBd optical
components, while the TB810 with 10 MBd components. All optical components on
a fibre optic link must be of the same type since 5 MBd components do not match
with 10 MBd components. The choice between TB810 and TB811 depends on the
equipment it is connected to. With RDCO Communication Option Module, the
Interface is selected as follows:
Optional ModuleBus Port
Interface
DDCS Communication Option Module

RDCO-01
TB811
TB810
RDCO-02
RDCO-03
If branching unit NDBU-85/95 is used with CI810A, TB810 Optical ModuleBus Port
Interface must be used.
Fieldbus control
288
communication between the drive and Advant controller.
Parameter
Alternative
settings
Setting for
fieldbus control
98.02 COMM.
MODULE
NO
FIELDBUS
ADVANT/N-FB
STD MODBUS
ADVANT/N-FB
Initialises communication between drive

(fibre optic channel CH0) and Advant
controller. The transmission speed is
4 Mbit/s.
70.01 CH0
NODE ADDR
0-254
AC 800M DriveBus (CI858)

1...24
AC 800M ModuleBus
1...125
AC 80 DriveBus
1-12
AC 80 ModuleBus
17-125
FCI (CI810A)
17-125
APC2
1
Defines the node address for DDCS

channel CH0.
71.01 CH0
DRIVEBUS
MODE.*
YES = DriveBus
mode
NO = DDCS mode
AC 800M DriveBus (CI858)

AC 800M ModuleBus
NO
AC 80 DriveBus
YES
APC2/AC80 ModuleBus/FCI
(CI810A)
NO
Defines the communication mode for

DDCS channel CH0.
70.04 CH0
TIMEOUT
0-60000 ms
Defines the delay time before channel

CH0 (Advant controller) communication
break fault is indicated.
70.05 CH0
COM LOSS
CTRL
STOP RAMPNG
STOP TORQ
COAST STOP
LAST SPEED
CNST SPEED1
Defines the action taken after CH0

(Advant controller) communication fault.
70.19 CH0 HW
CONNECTION
RING
STAR
YES
Default value is STAR which is

typically used with branching units
(NDBU).
Selects the topology of the channel CH0

link.
This parameter has no effect in the

DriveBus mode.
Groups
Defines the addresses for receive and

transmit data. See section External
control interface on page 289.
90 D SET REC
ADDR...93 D
SET TR ADDR
* Parameter is valid after the next power-up of the drive.
Fieldbus control
289
External control interface

The communication between an external system and drive consists of data sets.
The link sends the data set into the data set table in the drive program and returns
the content of the next data set to the external control system as a return message.
If DriveBus protocol is used, the DriveBus master can send one message which
contains 1 data set for 10 drives during a 1 ms time period.
The System Application program supports the use of data sets 1, 2 or data sets
10...33. One data set (DS) consists of three 16-bit words called data words (DW).
The data received from an external control system affects only the RAM (not the
FPROM) memory of the RMIO board.
Data sets 1 and 2
Data set 1 for controlling the drive is referred to as the Main Reference data set.
Data set 2 containing actual information is referred to as the Main Actual Signal data
set. Fieldbus communication uses mainly data sets 1 and 2 (i.e. when parameter
98.02 COMM. MODULE setting is FIELDBUS).
The contents of the Main Reference and Main Actual Signal data sets are fixed as
follows:
For type Nxxx fieldbus adapters and RMBA-01
DS
DW
Signal
Address
Update time
Control Word
10 ms
Reference 1

10 ms
Reference 2
25.04 TORQUE REF B
10 ms
Status Word
10 ms
Actual 1
01.01MOTOR SPEED FILT
10 ms
Actual 2
01.07 MOTOR TORQ FILT2E
10 ms
For type Rxxx fieldbus adapters

For RMBA-01, see section For type Nxxx fieldbus adapters and RMBA-01 above.
DS
DW
Signal
Address
Update time
Control Word
10 ms
Reference 1

10 ms
Status Word
08.01MAIN STATUS WORD
10 ms
Actual 1
10 ms
Fieldbus control
290
Data sets 10...33

Data sets 10...33 are used when there is a need to transfer several control signals
and actual values. Advant controller communication uses data sets 10...33 (i.e.
when parameter 98.02 COMM. MODULE setting is ADVANT/N-FB).
The contents of data sets can be selected by parameter groups 90 D SET REC
ADDR...93 D SET TR ADDR or by means of transmit data sets 32...33. Data sets 32
and 33 are dedicated for mail box use. These data sets can be used for setting or
inquiring parameter values. Transmit and receive addresses and data for data sets
32 and 33 are defined in the external control system application. Data sets 24 and 25
can also be selected for mail box use instead of data sets 32 and 33 by parameter
70.33 MAILBOX DS SEL.
Fieldbus control
291
Data sets received from an external control system

Data set
Data word
Time (1
Default address
Parameter (2
10 (3
2 ms
90.01
2 ms
23.01 SPEED REF
90.02
2 ms
25.01 TORQ REF A
90.03
4 ms
07.02 AUX CTRL WORD
90.04
4 ms
90.05
4 ms
90.06
10 ms
90.07
10 ms
90.08
12
(3
14
16
18
20
22
24 4)
26, 28, 30
32
10 ms
90.09
10 ms
90.10
10 ms
90.11
10 ms
90.12
100 ms
90.13
100 ms
90.14
100 ms
90.15
100 ms
90.16
100 ms
90.17
100 ms
90.18
100 ms
91.01
100 ms
91.02
100 ms
91.03
100 ms
91.04
100 ms
91.05
100 ms
91.06
Not in use
Not in use
Not in use
100 ms
100 ms
Transmit data
100 ms
Inquire address
Transmit address
1)
Time inside which the drive reads data from the data sets to the parameter table or writes data from
the parameter table to the data sets. Since the drive is a follower of the communication master,
the actual communication cycle time depends on the communication speed of the master.
2)
Selects the addresses into which the received fieldbus data sets are written.
3)
Boolean data type parameters are not supported. If boolean data type parameters need to be set
from external control system, use data sets 14...24.
4)
Data set 24 can also be selected for mailbox use. See parameter 70.33 MAILBOX DS SEL.
Fieldbus control
292
Data set transmitted to an external control system

Data set
Data word
Time (1
Default address
Parameter (2
11 3)
2 ms
92.01
2 ms
92.02
2 ms
02.09 TORQUE REF 2
92.03
4 ms
92.04
4 ms
92.05
4 ms
01.08 MOTOR TORQUE
92.06
13 3)
15
17
19
21
23
25
4)
10 ms
09.01 FAULT WORD 1
92.07
10 ms
09.02 FAULT WORD 2
92.08
10 ms
09.06 FAULT WORD 3
92.09
10 ms
09.04 ALARM WORD 1
92.10
10 ms
09.05 ALARM WORD 2
10 ms
100 ms
08.03 LIMIT WORD 1
92.13
100 ms
08.04 LIMIT WORD 2
92.14
100 ms
100 ms
01.12 TEMPERATURE (of the heat

sink)
92.16
100 ms
01.15 MOTOR MEAS TEMP
92.17
100 ms
92.18
100 ms
93.01
100 ms
93.02
100 ms
93.03
100 ms
93.04
100 ms
93.05
100 ms
93.06
27, 29, 31
33
92.11
92.12
92.15
Not in use
1
100 ms
Transmit address feedback
100 ms
Inquired data
100 ms
Inquire address feedback
1)
Time inside which the drive reads data from the data sets to the parameter table or writes data from
the parameter table to the data sets. Since the drive is a follower of the communication master,
the actual communication cycle time depends on the communication speed of the master.
2)
Selects the data sets which the drive sends to the fieldbus master station.
3)
Boolean data type parameters are not supported. If boolean data type parameters need to be set to
the external control system, use data sets 1525.
4)
Fieldbus control
Data set 25 can also be selected for mailbox use. See parameter 70.33 MAILBOX DS SEL.
293
ABB Drives communication profile

The ABB Drives profile is a PROFIBUS-based model, which describes the drive
interface between the state transitions under an external control system.
The Control Word (CW) is the principal means of controlling the drive from
an external control system. The Control Word is sent by the external control system
to the drive. The drive switches between its states according to the bit-coded
instructions of the Control Word.
The Status Word (SW) is a word containing status information, sent by the drive to
the external control system.
For Status and Control Word bits, see signal groups 07 CONTROL WORDS...
08 STATUS WORDS.
The following figure presents the state diagram for the ABB Drives communication
profile.
Fieldbus control
294
Fieldbus control
295
Control examples
Control example: START by AUTO- or DC MAGN-mode, STOP by ramp generator control
State
1
DC Voltage ON
FLUX
23.01 SPEED REF
Par. 50.10 ABOVE SPEED LIMIT
MCW 7.01 bits

MSW 8.01 bits
ACW 7.02 bits
ASW 8.02 bits
0%
MOTOR SPEED
Par. 20.03 ZERO SPEED LIMIT

0 ON, OFF1
1 OFF2
2 OFF3
3 RUN
4 RAMP OUT ZERO
5 RAMP HOLD
6 RAMP IN ZERO
7 RESET
8 INCHING1
9 INCHING2
10 REMOTE CMD
100%
30% FLUX ACTUAL
0 rpm
1
1
0
1
1
1
0
0
0
1
1
0 RDY ON
1 RDY RUN
2 RDY REF
3 TRIPPED
4 OFF 2 STA
5 OFF 3 STA
6 SWC ON INHIB
7 ALARM
8 AT SETPOINT
9 REMOTE
10 ABOVE LIMIT
1
0
0
1
1
0
0
0
1
0
0
1
2 RAMP BYPASS
3 BAL RAMP OUT
4 FLUX ON DC
5 FLUX ON
6
7
0
...
3 MAGNETIZED
...
4 ZERO SPEED
0
0
0
0
Fieldbus control
296
Control example: START by FLUX ON DC command, STOP by torque limit

State
1
DC Voltage ON
100%
FLUX
0%
23.01 SPEED REF

MOTOR SPEED
MCW 7.01 bits

0 ON, OFF1
1 OFF2
2 OFF3
3 RUN
4 RAMP OUT ZERO
5 RAMP HOLD
6 RAMP IN ZERO
7 RESET
8 INCHING1
1
1
1
4
6
0
0
0
1
ASW 8.02 bits
ACW 7.02 bits
MSW 8.01 bits
10 REMOTE CMD
0 RDY ON
1 RDY RUN
2 RDY REF
3 TRIPPED
4 OFF 2 STA
5 OFF 3 STA
6 ON INHIBITED
7 ALARM
8 AT SETPOINT
9 REMOTE
10 ABOVE LIMIT
0
...
3 MAGNETIZED
...
4 ZERO SPEED
Fieldbus control
10
0
1
1
1
9 INCHING2
0
1
2 RAMP BYPASS
3 BAL RAMP OUT
4 FLUX ON DC
5 FLUX ON
6
7
0 rpm
1
0
0
1
1
0
0
0
1
0
0
1
297
Control example: FAULT RESET, RUN by CONST SPEED 1 (INCHING 1), CONST
SPEED 2, (INCHING 2) and SPEED REF
State
DC Voltage ON
100%
FLUX
0%
ASW 8.02 bits
ACW 7.02 bits
MSW 8.01 bits
MCW 7.01 bits
23.01 SPEED REF

Par. 23.02 CONST SPEED 1
Par. 23.03 CONST SPEED2
MOTOR SPEED
0 rpm
1
0 ON, OFF1
1 OFF2
2 OFF3
3 RUN
4 RAMP OUT ZERO
5 RAMP HOLD
6 RAMP IN ZERO
7 RESET
8 INCHING1
9 INCHING2
10 REMOTE CMD
0 RDY ON
1 RDY RUN
2 RDY REF
3 TRIPPED
4 OFF 2 STA
5 OFF 3 STA
6 ON INHIBITED
7 ALARM
8 AT SETPOINT
9 REMOTE
10 ABOVE LIMIT
0
1
2 RAMP BYPASS
3 BAL RAMP OUT
4 FLUX ON DC
5 FLUX ON
6
7
0
...
3 MAGNETIZED
...
4 ZERO SPEED
1
1
1
1
0
0
7
8
0
1
1
1
1
0
1
1
0
0
1
1
1
0
0
0
0
1
1
Fieldbus control
298
Control example: Emergency Stop (OFF3) with ramp and AUTO RESTART after
a short supply power failure
State
DC Voltage
100%
UDC 75%
Undervoltage trip limit
0%
100%
0%
FLUX
23.01 SPEED REF
ASW 8.02 bits
Internal Control MCW
MSW 8.01 bits
MCW 7.01 bits
MOTOR SPEED
0 ON, OFF1
1 OFF2
2 OFF3
3 RUN
4 RAMP OUT ZERO
5 RAMP HOLD
6 RAMP IN ZERO
7 RESET
8 INCHING1
9 INCHING2
10 REMOTE CMD
0 RDY ON
1 RDY RUN
2 RDY REF
3 TRIPPED
4 OFF 2 STA
5 OFF 3 STA
6 ON INHIBITED
7 ALARM
8 AT SETPOINT
9 REMOTE
10 ABOVE LIMIT
0 rpm
1
1
1
1
1
1
0
0
0
1
*)
1
1
1
0
1
1
1)
2)
0
0
1
1
1
0 ON, OFF1
7 RESET
Internal commands with AUTO RESTART function.

.
*) MSW and DC UNDERVOLTAGE
fault frozen when AUTO RESTART is enabled.
1) DC UNDERVOLTAGE alarm
0
...
3 MAGNETIZED
...
4 ZERO SPEED
Fieldbus control
2) AUTO RESTARTED alarm

1
299

This chapter contains the control block diagrams. Speed control is executed every
1 ms. Speed ramp is executed every 2 ms.
1 6 .0 1
E N A B L E
Z E R O
S P E E D
D I
1 0 .0 3
R E S E T
Z E R O
D I
R E S E T
S P E E D L IM IT
P a r.
g ro u p
9 0 , 9 2
R E A D /
W R IT E
F U N C
2 0 .0 3
2 1 .0 3
8 .0 2 b 1 1
S T A R T / S T O P
D S 1 .1
D S 1 0
....
D S 2 4
D S 8 1 .1
D I
D I2
D I1
S T O P F U N C T IO N
1 0 .0 1
S T A R T /S T O P
F ie ld b u s
A d a p te rs
N -ty p e o f
F ie ld b u s
A B B
A u t o m a t io n ,
F ie ld b u s
A d a p te r
R M B A -0 1
1 0 .0 7
H A N D /A U T O
R U N
N O
E M E R G E N C Y
S T O P
D ig ita l in p u ts
I/O
S T A R T
/ S T O P
L O G IC
I/O
C O N T R O L
R E S E T
R A M P
IN Z E R O
R U N
O F F
N O
A D V A N T /N -F B
F IE L D B U S
M O D B U S
S T D
b it 7
b it 6
b it 3
b it 0
M C W
I/O
R U N
M A IN
D IS A B L E D
F e e d b a c k o f D C s w itc h
w ith M u ltid r iv e s y s te m s
R 2 i...R 5 i, R 7 i
8 .0 2 b 4
C O M M M O D U L E
9 8 .0 2
E V E N T
C H A R G IN G
L O G IC
C O N T R O L
L O S S C T R L
C H 0 T IM E O U T
C O N T R O L - S Y S T E M
S T A T U S W O R D
R U N
&
&
R U N
O F F 3
O F F 2
&
&
Z E R O
2 .2 9
M C W
R E S E T B it 7
O N b it0 * * )
B IT
F O L L O W E R
M C W M A S K
7 0 .3 4
D D C S
C H 1
c o m m u n ic a t io n
S T A T E
M A C H IN E
A B B
D R IV E
P R O F IL E
U S E D M C W
2 .2 6
F o llo w e r
M C W
s e le c to r
R U N IN T E R L O C K
D S M C W
fro m
M /F lin k
8 .0 1 b 1 3
M O D U L A T IN G
O F F 3 S T A
8 .0 1 b 1 4
O F F 2 S T A
8 .0 2 b 5
E M E R G E N C Y
S T O P
8 .0 1 b 4
R O 1
p a g e 1 (1 0 )
S U P P L Y U N IT
C O N T R O L
( w ith s in g le d r iv e s )
R A M P IN
R A M P O U T Z E R O
O F F 2
O F F 3
IN T E R N A L M C W
C O N T R O L
A P P L IC A T IO N
8 .0 1 b 0
C H 0 / F IE L D B U S
C O M M L O S S
C O N T R O L
A U T O R E S T A R T
F U N C T IO N
> 1
7 .0 1
M C W
S T O P
F U N C T IO N
E M
* ) N o t e ! R U N I N T E R L O C K c a n b e c o n n e c t e d to e .g . d ig ita l in p u t b y A d a p t iv e P r o g r a m m in g .
* * ) N o te ! S ta r tin g o f m o d u la tio n c a n b e s e p a r a te d to fr e e b it o f M C W w ith p a r a m e te r 9 5 .0 6 L S U R U N
M A IN
7 0 .0 5
7 0 .0 4
2 1 .1 0
2 1 .0 9
1 6 .1 4
b it 0 R D Y _ O N
IN T E R L O C K
R E S T A R T
R U N
R E S T A R T T IM E
A U T O
C H 0 C O M
A U T O
*)
S U P P L Y U N IT M S W
S U P P L Y U N IT C O N T R O L A C T IV A T E D
L O C A L M C W
C O N T R O L W O R D
I/O
2 0 .0 3
L O C A L C O N T R O L
S P E E D L IM IT
2 1 .1 2
L O C A L E M S T O P M O D E
Z E R O
2 1 .0 7
2 1 .0 6
D E L
E M S T O P D E R M IN L
E M S T O P D E C M O N
2 1 .0 5
2 1 .0 4
E M S T O P D E R M A X L
E M E S T O P M O D E
R e la y o u tp u t
300
Main control word control
A I/O
A I/O
1 3 .0 5
V A L U E
A I2
M IN IM U M
1 3 .0 2
V A L U E
A I1
A I1 L O W
M IN IM U M
1 3 .0 9
V A L U E
A I3
A I3 L O W
M IN IM U M
9 8 .1 4
9 8 .1 5
9 8 .1 3
A I1 E X T 2 M O D E
A I2 E X T 2 M O D E
E X T 2 L O C A T IO N
1 3 .1 1
F IL T E R A I3
1 3 .1 0
1 3 .0 8
A I3 H IG H V A L U E
9 8 .1 1
1 3 .0 3
E X T 1 L O C A T IO N
F IL T E R A I1
1 3 .0 1
1 3 .1 2
1 3 .0 7
F IL T E R A I2
1 3 .0 6
1 3 .0 4
A I2 L O W
1 0 .0 2
D IR E C T IO N
E X T 2 :A I2
E X T 2 :A I1
A I/O
E X T E N S IO N
M O D U L E 2
A I3
R M IO
A N A L O G U E
IN P U T
E X T 1 :A I2
E X T 1 :A I1
A I/O
E X T E N S IO N
M O D U L E 1
R M IO
A N A L O G U E
IN P U T
A I1
A I2
R M IO
A N A L O G U E
IN P U T
D I
9 8 .0 6
1 .4 2
1 .4 1
1 .2 1
( u n s c a le d )
&
E X T 2 A I2
E X T 2 A I1
A I3 [m A ]
E X T M O D U L E 1
9 8 .0 6
= T E M P M E A S
A I/O
= N O
= P T 1 0 0 o r P T C
3 0 .0 3
0 = F O R W A R D D IR E C T IO N
1 = R E V E R S E D IR E C T IO N
M O D U L E = N O
&
M O T 2 T E M P A L M
T O R Q U E R E F E R E N C E B
3 0 .0 8
3 0 .0 7
I/O S P E E D
R E F E R E N C E
1 .2 0
1 .1 9
P T 1 0 0
P T C
M O T O R 2
T E M P E R A T U R E
P R O T E C T IO N
A I2 [m A ]
A I1 [V ]
M O T O R
M O D E L
P T 1 0 0
P T C
M O T O R 1
T E M P E R A T U R E
P R O T E C T IO N
A P P L IC A T IO N p a g e 2 (1 0 )
A I2 u n s c a le d
A I2 u n s c a le d
R M IO
A I1 u n s c a le d
A I1 u n s c a le d
&
E X T 1 A I/O
R M IO
E X T 1 A I/O
9 8 .1 1
9 8 .0 6
M O T O R 2 T E M P
1 .1 7
M O T 2 T E M P F L T L
E X T 1 L O C A T IO N = N O T IN U S E
(1 0 0 0 0 = = M O T O R N O M IN A L T O R Q U E )
I/O
A I/O
3 0 .0 5
3 0 .0 4
3 0 .0 3 = 1 ...3 x P T 1 0 0 o r E X T T E M P
E X T M O D U L E 1 = U N IP O L A R o r B IP O L A R A I
S C A L IN G
M O T O R 1 T E M P
1 .1 6
M O T 1 T E M P F L T L
M O T 1 T E M P A L M
1 1 .0 3
E X T R E F E R E N C E
1 1 .0 1
I/O S P E E D A N D T O R Q U E R E F E R E N C E S A N D
M O T O R T E M P E R A T U R E P R O T E C T IO N - S Y S T E M
A I/O
S C A L IN G
9 8 .0 6
9 8 .0 2
3 0 .0 3 = 1 ...3 x P T 1 0 0 o r P T C
A I/O E X T M O D U L E 1
= U N IP O L A R o r B IP O L A R
C O M M
E X T R E F 1 S E L E C T = S T D A I2
-1
(2 0 0 0 0 = = P a r. 5 0 .0 1 S P E E D S C A L IN G )
301
I/O speed and torque references and motor temperature protection
1 0 .0 4
S Y N C C M D
P u ls e E n c o d e r
a lte r n a tiv e
P u ls e E n c o d e r
D I
5 0 .0 5
E N C O D E R A L M /F L T = A L A R M
7 .0 2 b 1 0
7 .0 2 b 1 1
R E S E T S Y N C
> 1
P O S IT IO N
C O U N T E R
F U N C T IO N
E N C O D E R
S P E E D
C A L C
&
&
1 .0 2
M O T O R
S Y N C R D Y
p a g e 3 (1 0 )
P O S C O U N T R O U N D S
5 0 .1 0
x .x x > x
x .x x
x x .x x
x x .x x
5 0 .1 2
5 0 .0 6
S P A C T F IL T T IM E
L IM IT
S P F IL T T IM
A B O V E S P E E D
P O S C O U N T D E G R E E S
P O S C O U N T H IG H
P O S C O U N T L O W
S P E E D E S T IM A T E D
A P P L IC A T IO N
8 .0 2 b 5
3 .1 0
3 .0 9
3 .0 8
3 .0 7
M O T O R
M O D E L
S P E E D M E A S U R E D
1 .0 3
M E A S U R E M E N T C H A IN - S Y S T E M
R D Y
S Y N C D IS A B L E
5 0 .1 4
P O S C O U N T IN IT H IG H
7 .0 2 b 9
5 0 .1 4
5 0 .0 7
P O S C O U N T M O D E
P O S C O U N T IN IT L O W
5 0 .1 3
5 0 .1 4
D E T E C T D E L A Y
S P E E D H O L D T IM E
Z E R O
5 0 .1 1
E N C O D E R D E L A Y
5 0 .0 4
5 0 .0 5
5 0 .0 2
E N C O D E R P U L S E N R
E N C O D E R A L M /F L T
5 0 .0 1
S P E E D S C A L IN G
9 8 .0 1
S P E E D M E A S M O D E
E N C O D E R M O D U L E
S P E E D
P u ls e
E n c o d e r
M o d u le
N T A C -0 2
P u ls e
E n c o d e r
M o d u le
R T A C -0 1
5 0 .0 3
S P E E D F B S E L = E N C O D E R
E N C O D E R E R R O R
5 0 .0 5
E N C O D E R A L M /F L T = F A U L T
M O T O R S P E E D F IL T
1 .0 1
T o s p e e d c o n tro l
1 .0 4
M O T O R S P E E D
8 .0 1 b 1 0
A B O V E L IM IT
B it o f p a c k e d b o o le a n w o r d
R e a d o n ly s ig n a l
P a ra m e te r (s a v e d to F L A S H
m e m o ry )
In p u t fo r re fe re n c e o r c o m m a n d
F IL T E R
F IL T E R
S P E E D
M O N IT O R
302
Speed measurement
D S 1 .2
F ie ld b u s
A d a p te rs
P a r.
g ro u p
9 0 , 9 2
R E A D /
W R IT E
F U N C
1
N O
A D V A N T /N -F B
F IE L D B U S
M O D B U S
S T D
7 0 .1 7
7 .0 3 b 7
S P E E D
9 9 .0 8
D S S P E E D
2 .1 9
7 0 .0 8
R E F
&
1 1 .0 2
9 8 .0 2
S P E E D R E F E R E N C E
R E F = O N
- S Y S T E M
A P P L IC A T IO N
&
2 .2 5
A D D IT IV E
S P E E D R E F
2 3 .1 7
p a g e 4 (1 0 )
U S E D S P E E D R E F
2 .2 7
R A M P E D IN C H R E F
7 .0 2 b 1 2
L IM IT E R
S P E E D R E F 2
2 .0 1
x x .x x
x .x x
x .x x > x
m e m o ry )
2 0 .0 2
2 0 .0 1
x x .x x
2 3 .0 5
S P E E D
M A X IM U M
S P E E D S H A R E
E N A B L E R A M P E D IN C H R E F
F R E Q U E N C Y R E F E R E N C E
( s e e fig u r e o n p a g e 1 0 )
I/O
A I+ F B A S P E E D
C O M M M O D U L E = N O
2 3 .0 1
R E F E R E N C E C H A IN
S P E E D R E F
L O C A L R E F
F O L L O W E R S P E E D R E F
C O M M M O D U L E
9 8 .0 2
M A S T E R
R E F = M A S T E R
R E F = O N
7 .0 3 b 6
C H 2 M /F M O D E = F O L L O W E R
F O L L S P E E D
M O T O R C T R L M O D E = S C A L A R
D S 1 0
....
D S 2 4
A B B
A u t o m a t io n ,
N -ty p e o f
F ie ld b u s
A d a p te rs
I/O
D S 8 1 .2
r /
e r
a tio n
c e
F ie ld b u s
A d a p te r
R M B A -0 1
M a s te
F o llo w
a p p lic
in te r fa
D S 4 1 .2
D A T A S E T
F O L L S P E E D
F O L L R E F S E L A C W 2 = O N
S P E E D
M IN IM U M
303
Speed reference
x .x x > x
2 2 .0 2
2 2 .0 4
2 2 .0 5
D E C E L E R T IM E
E M E S T O P R A M P
S H A P E T IM E
2 2 .0 6
V A R S L O P E R A T E
2 2 .0 7
V A R IA B L E S L O P E
7 .0 1 b 5
2 2 .0 3
A C C /D E C T IM E S C L E
R A M P H O L D
2 2 .0 1
S P E E D R E F 2
2 .0 1
&
V A R IA B L E
S L O P E
F U N C T IO N
D E C E L .
A C C E L .
A C C /D E C
2 2 .0 8
7 .0 2 b 3
B A L R A M P R E F
( d n
re f
W ID T H P O S
W ID T H N E G
W IN D O W
2 3 .1 9
&
&
W IN D O W
F O L L S P D C O R M O D E
2 3 .1 8
2 .2 0
2 5 .0 3
R E F A
L O A D S H A R E
D S T O R Q
S P E E D C O N T R O L
2 3 .0 3
C O N S T S P E E D 2
0
2 3 .0 2
C O N S T S P E E D 1
7 .0 1 b 9
&
2 .0 2
-1
2 3 .0 9
2 3 .0 8
A D S H
N C T IO
E E D
N T R O
L L O W
L L E D
E R
A R E
N O F
S P E E D
S P E E D
A P P L IC A T IO N
M IN L IM
M A X L IM
L IM IT E R
7 .0 3 b 9
F O L
8 .0
F O L
8 .0
S P E E D C O R R E C T IO N
2 3 .0 4
F O L L S P D C O R R E N A
L O
F U
S P
C O
F O
M A X IM U M
M IN IM U M
S P E E D R E F 3
S P E E D R E F E R E N C E R A M P C H A IN -S Y S T E M
/ d t )
d V /d t
2 .1 6
7 .0 2 b 2
7 .0 1 b 4
IN C H IN G
7 .0 1 b 8
7 .0 1 b 6
R A M P _ IN _ Z E R O
1
7 .0 1 b 5
IN C H IN G
7 .0 1 b 4
R A M P _ O U T _ Z E R O
R A M P H O L D
R A M P O U T Z E R O
B A L R A M P O U T
A C C E L E R T IM E
R A M P IN
Z E R O
7 .0 1 b 6
7 .0 1 b 2
> 1
x .x x
E M E R G E N C Y
S T O P O F F 3
P a ra m e te r (s a v e d to F L A S H m e m o ry )
x x .x x
R A M P B Y P A S S
x x .x x
L IM IT E R
S P D _ C O R _ M IN _ L IM
S P D _ C O R _ M A X _ L IM
2 .3 0
F O L L S P D
C O R R O U T
p a g e 5 (1 0 )
L _
4 b
L _
4 b
2 0 .0 2
2 0 .0 1
2 .1 8
S P E E D R E F 4
304
Speed reference ramp
W ID T H
W ID T H
C T R L
IN T G
W IN D O W
W IN D O W
W IN D O W
2 3 .1 6
O N
N E G
P O S
F IL T E R
2 3 .0 7
7 .0 2 b 7
2 3 .0 9
2 3 .0 8
R F E
2 4 .0 2
N E G
2 3 .1 0
&
W IN D O W
S P E E D S T E P
S P E E D
E R R O R
2 .0 3
D R O O P R A T E
W IN D O W
O F P O L E
2 3 .1 5
F R E Q U E N C Y O F P O L E
D A M P IN G
2 3 .1 4
O F Z E R O
D A M P IN G
2 3 .1 3
2 3 .0 6
F R E Q U E N C Y O F Z E R O
F IL T
2 3 .1 2
S U B
F IL T E R
R F E S P E E D
S P E E D E R R O R
M O T O R S P E E D
1 .0 4
S P E E D R E F 4
2 .1 8
-1
2 4 .1 9
2 4 .2 0
K P S V A L M IN F R E Q
T IS V A L M IN F R E Q
K P S
L
E Q
E Q
K P S V A L
M IN F R E Q
T O R Q
R E F 2
K P
T IS
K P S V A
M IN F R
F R
K P S T IS
M A X F R E Q
K P S T IS
M IN F R E Q
K P S ,
T IS
K P S
W E A K P O IN T
K P S
M IN
K P S
A C C E L E R
C O M P
2 4 .1 8
K P S T IS M A X F R E Q
S P E E D
2 4 .1 7
2 4 .1 3
F R E Q
K P S T IS M IN
D E R IV F IL T T IM E
2 4 .1 2
2 4 .1 0
T IS IN IT V A L U E
D E R IV A T IO N T IM E
2 4 .0 9
S E T P O IN T W E IG H T
2 4 .0 8
T IS
S E T P W E IG H T IN G
2 4 .0 7
2 4 .0 6
2 4 .0 5
K P S W E A K P O IN T
2 4 .0 4
K P S W P F IL T T IM E
2 4 .0 3
K P S
2 .0 2
2 4 .1 5
2 4 .1 4
K P S M IN
S P E E D R E F 3
C O M P F IL T T IM E
A C C
T IM E
C O M P D E R
A C C
2 .0 5
T O R Q U E D E R
R E F
2 .0 6
T O R Q U E
IN T E G
R E F
A P P L IC A T IO N
2 4 .1 1
7 .0 2 b 8
S P C T O R Q M IN
S P C T O R Q M A X
p a g e 6 (1 0 )
B A L R E F
B A L _ N C O N T
A C C C O M P R E F
T O R Q U E P R O P R E F
2 .0 4
T O R Q
2 .0 7
S P C
8 .0
S P C
8 .0
T O R Q
3 b 1
T O R Q
3 b 2
x .x x
x .x x > x
m e m o ry )
M A X L IM
M IN L IM
T O R Q U E R E F 2
2 .0 9
L IM IT E R
x x .x x
x x .x x
2 0 .0 8
2 0 .0 7
305
Speed control
I/O
D S 1 .3
D S 1 .3
D S 1 0 .3
9 8 .0 2
C O M M
F IE L D B U S T O R Q U E R E F B
(N -ty p e o r R M B A -0 1 )
T O R Q U E R E F E R E N C E B
M O D U L E = N O
9 8 .0 2
M O D U L E = F IE L D B U S
7 0 .0 8
C O M M
9 8 .0 2
M O D B U S
F IE L D B U S
> 1
2 5 .0 1
R E F A
&
T O R Q
L O C A L R E F
T O R Q U E C O N T R O L
T O R Q U E R E F A
D S T O R Q
2 .2 0
&
F IL T E R
S H A R E
R A M P D O W N
2 5 .0 6
2 5 .0 5
A P P L IC A T IO N
R A M P U P
2 5 .0 4
T O R Q U E R E F B
T O R Q
2 5 .0 2
R E F A
L O A D
T O R Q
R E F A F T C
2 .2 8
U S E D T O R Q
T O R Q U E R E F E R E N C E C H A IN - S Y S T E M
N O
A D V A N T /N -F B
S T D
M O D U L E
F O L L O W E R T O R Q U E R E F
R - t y p e o f F ie ld b u s A d a p t e r
W ith R - ty p e o f F ie ld b u s a d a p te r s , d e f in e to r q u e r e fe r e n c e
T O R Q U E R E F A o r B in p a r a m e te r g r o u p 5 1 .
P a r.
g ro u p
9 0 , 9 2
R E A D /
W R IT E
F U N C .
M A S T E R
N o te ! W ith o th e r R - ty p e o f F ie ld b u s m o d u le s ,
to r q u e r e fe r e n c e is a s s ig n e d b y P a r . g r o u p 5 1 .
C O M M
N -ty p e o f
F ie ld b u s
A d a p te rs
D S 2 4
D S 1 0
....
A B B
A u t o m a t io n
N -ty p e o f
F ie ld b u s
A d a p te rs
D S 8 1 .3
r /
e r
a tio n
c e
S T D M O D B U S
R M B A -0 1
M a s te
F o llo w
a p p lic
in te r fa
D S 4 1 .3
D A T A S E T
C H 2 M /F M O D E = F O L L O W E R
7 0 .1 8
7 .0 3 b 8
R E F = M A S T E R
F O L L T O R Q U E R E F = O N
F O L L T O R Q
7 .0 3 b 6
F O L L R E F S E L A C W 2 = O N
R A M P
p a g e 7 (1 0 )
2 5 .0 3
T R E F T O R Q
T R E F T O R Q
M IN
M A X
2 0 .1 0
2 0 .0 9
L IM IT E R
T O R Q
R E F 1
2 .0 8
T R E F T O R Q
M A X L IM
8 .0 3 b 8
T R E F T O R Q
M IN L IM
8 .0 3 b 7
306
Torque reference
Torque reference chain continues on the following page.
T O R Q
P G E N E R A T IN G
2 0 .1 8
L IM
R E F
P M O T O R IN G L IM
2 0 .1 7
1 .0 5
2 .2 3
D C L IM
s p e e d c o n tr o lle r
2 .0 9
T O R Q U E R E F 2
to r q u e r e fe r e n c e c h a in
F R E Q U E N C Y
F ro m
F ro m
2 .0 8
T O R Q U E R E F 1
A D D
M A X
M IN
L IM
L IM
L IM
2 0 .1 3
- S Y S T E M
2 0 .1 2
2 0 .0 5
P U L L O U T T C O F M IN
T O R Q U E
M A X IM U M
2 0 .0 6
2 .1 4
D N
U N D E R V O L T T O R Q
F R E Q
2 .2 2
L IM
3 0 .2 3
L IM
T O R Q M O T O R
8 .0 3 b 0
T O R Q M IN
8 .0 3 b 5
T O R Q M A X L IM
8 .0 3 b 6
T O R Q
A P P L IC A T IO N
T O R Q U E
L IM IT E R
O V E R V O L T A G E C T L
2 0 .1 5
2 0 .1 6
3 0 .2 2
1 .1 0
L IM
U P
V O L T A G E
2 .2 2
F R E Q
2 0 .1 1
2 9 .0 3
U N D E R V O L T A G E C T L
D C
T O R Q
T R IP M A R G IN
U N D E R V O L T T O R Q
F R E Q
F R E Q U E N C Y M IN
2 9 .0 2
1 .0 5
2 .1 2
F R E Q
2 .2 2
IN V E R T E R
M A X IM U M
L IM
D C
D C
R E F
R E F
M A X IM U M
C U R R E N T
C U R R E N T
2 0 .0 4
1 .0 6
O V E R V O L T L IM
8 .0 3 b 1 3
U N D E R V O L T L IM
8 .0 3 b 1 2
T O R Q D C L IM
2 .2 3
F R E Q L IM IT
8 .0 3 b 1 5
F R E Q M IN L IM IT
8 .0 3 b 1 0
F R E Q M A X L IM IT
8 .0 3 b 1 1
T O R Q
M O T O R C U R R E N T
O V E R
V O L T A G E
C O N T R O L
U N D E R
V O L T A G E
C O N T R O L
D C
V O L T A G E
L IM IT E R
F R E Q
L IM IT E R
p a g e 8 (1 0 )
L IM
R E F
R E F
T O R Q U E R E F 5
F R E Q U E N C Y
F R E Q U E N C Y M A X
T O R Q U E R E F 4
2 .1 1
2 6 .0 3
P U L L O U T T C O E F M A X
T O R Q U E
R E F
M IN IM U M
F L U X U S E D
T O R Q U E R E F 3
2 .1 0
2 6 .0 2
T O R Q U E S T E P
T O R Q U E R E F E R E N C E C H A IN
P G E N E R A T IN G
8 .0 4 b 1
P M O T O R IN G
8 .0 4 b 0
T O R Q P O W
2 .2 4
T O R Q U E
S P E E D
R E F
C O M P E N S A T IO N
O S C IL L A T IO N
D A M P IN G
L O A D
T O R Q U E S E L E C T O R
P O W E R
L IM IT
C A L C .
2 6 .0 7
T O R Q U E S E L E C T O R
2 6 .0 1
2 6 .0 6
O S C IL L A T IO N P H A S E
O S C IL L A T IO N G A IN
2 6 .0 4
2 6 .0 5
S U B
O S C IL L A T IO N F R E Q
O S C
M O T O R S P E E D
1 .0 4
S P E E D R E F 4
2 .1 8
T O R Q U E
L IM IT
C A L C
C U R L IM
R E F
T O R Q IN V C U R L IM
8 .0 3 b 4
T O R Q U S E R
8 .0 3 b 3
T O R Q U S E D
2 .1 3
307
F L U X M IN
2 7 .0 5
P a ra m e te r (s a v e d to F L A S H m e m o ry )
x .x x
x .x x > x
2 7 .0 2
1 .1 0
D C V O L T A G E
p a g e 9 (1 0 )
F L U X A C T
2 .1 3
1 .0 5
T O R Q U E U S E D R E F
F R E Q
M O T O R N O M
2 7 .0 5
F L U X M IN
F R E Q U E N C Y
2 .2 6
U S E D M C W
F L U X
B R A K IN G
2 1 .0 2
C O N S T M A G N T IM E
A P P L IC A T IO N
F L U X B R A K IN G
F L U X A N D D T C C O N T R O L - S Y S T E M
x x .x x
2 7 .0 6
x x .x x
F L U X R A M P G A IN
2 7 .0 4
2 7 .0 1
F L U X O P T IM IS A T IO N
F L U X M A X
2 7 .0 3
1 .0 8
F L U X R E F
F L U X
O P T IM IS A T IO N
2 1 .0 1
S T A R T F U N C T IO N
1 .0 8
E S T IM A T E a n d
C A L C U L A T E
C A L C U L A T E
A C T U A L V A L U E S
M O T O R M O D E L
2 .1 5
O p tim a l
S w itc h in g
C o n tro l
A S IC
F IE L D W K P O IN T A C T
F L U X M IN L IM IT
C U R R E N T A C T U A L
D C V O L T A G E A C T U A L
C o n tr o l b its
F lu x b its
T o r q b its
2 .2 1
8 .0 3 b 9
S T A R T F L U X
R E F E R E N C E
S T A R T
D IR E C T T O R Q U E
a n d F L U X
H Y S T E R E S IS
C O N T R O L
IN T E R N A L
F L U X R E F
C A L C U L A T IO N
F IE L D
W E A K E N IN G
C N S T D C M A G N
D C M A G N
A U T O
S T A R T
C O N T R O L
2 .1 4
A C S 8 0 0
F L U X U S E D R E F
308
Flux and DTC control
2 9 .0 3
R E F = O N
1 1 .0 2
C U R R E N T
C U R R E N T
M A X IM U M
M A X IM U M
IN V E R T E R
C U R R E N T
2 0 .0 4
1 .0 6
&
A D D
C U R L IM
R E F
IR
N O M
M O T O R
M A IN
1 .0 5
R E F
2 .1 4
A P P L IC A T IO N
C O N T R O L W O R D
2 9 .0 4
V O L T A G E
F R E Q
N O M
M O T O R
F R E Q
R E F
F R E Q U E N C Y
S W IT C H IN G
F L U X U S E D
2 9 .0 3
2 9 .0 2
T O R Q IN V C U R L IM
8 .0 3 b 4
T O R Q U S E R
8 .0 3 b 3
R E F
F R E Q
L IM IT E R
2 2 .0 5
S P E E D S H A R E
2 3 .0 5
F R E Q . R E F
2 9 .0 1
2 9 .0 5
T O R Q U S E D
2 .1 3
S C A L A R
L O C A L R E F
T O R Q U E
L IM IT
C A L C
M O T O R
I/O
A I+ F B A S P E E D
9 8 .0 2
L IM IT E R
C O M M M O D U L E = N O
F R E Q U E N C Y R E F E R E N C E
2 9 .0 2
2 2 .0 4
2 2 .0 2
2 2 .0 1
S H A P E T IM E
T IM E
D E C E L E R
E M E S T O P R A M P
T IM E
A C C E L E R
D C
L IM
R E F
V O L T A G E
1 .1 0
2 .2 2
F R E Q
C O N T R O L
V O L T A G E A C T U A L
O p tim a l
S w itc h in g
C o n tro l
A S IC
O V E R
V O L T A G E
C O N T R O L
U N D E R
V O L T A G E
C O N T R O L
D C
V O L T A G E
L IM IT E R
1 .0 8
2 .1 5
M O T O R
D C
D C
R E F
A C S 8 0 0
O V E R V O L T L IM
8 .0 3 b 1 3
U N D E R V O L T L IM
8 .0 3 b 1 2
T O R Q D C L IM
2 .2 3
T O R Q U E
F L U X A C T
C U R R E N T A C T U A L
D C
C o n tr o l b its
F lu x b its
T o r q b its
O V E R V O L T A G E C T L
3 0 .2 3
U N D E R V O L T A G E C T L
3 0 .2 2
T O R Q
p a g e 1 0 (1 0 )
IR
S C A L A R
R A M P
309
Scalar control
310
311
Terms
Term
Full name
ACS800/ACS600
Description
AC drive
ACU
Auxiliary Control Unit
AGPS
Gate Driver Power supply board
AI
Analogue input
Interface for analogue input signals
AIMA
I/O Module Adapter
Extension unit for mounting of I/O extension modules
AINT
Main Circuit Interface Board
Interface for RMIO/NAMC and main circuit
AO
Analogue output
Interface for analogue output signals
APBU
PPCS Branching Unit
Optical PPCS branching unit used with parallel

inverter modules.
APC2
Application Program Controller 2
AC 80
Advant Controller 80
AC 800M
Advant Controller 800 M
ASIC
Application Specific Integrated Circuit
CDP 311
Common Drives Panel 311
CDP 312R
Common Drives Panel 312
Control panel is used for setting drive parameters and

monitoring the drive. Control panel uses the Modbusprotocol.
CE Marking
Communaut Europenne Marking
CE marking is the manufacturer's claim that the

product meets the essential requirements of all
relevant European Directives.
CI858
DriveBus Communication Interface
Used with AC 800M.
DDCC
Distributed Drives Communication

Circuit
Communication ASIC
DDCS
Distributed Drives Communication

System
Communication protocol used with drive products
DI
Digital input
Interface for digital input signals
DO
Digital output
Interface for digital output signals
DriveSize
Windows based PC tool for dimensioning of the drive

and motor
DriveWindow
DriveWindow is an easy to use Windows application

for commissioning and maintaining ABB drives
equipped with fibre optic communication.
DSP
Digital Signal Processor
Processor type used in RMIO and NAMC board
Terms
312
Term
Full name
Description
DSU
Diode Supply Unit
Diode input bridge
DTC
Direct Torque Control
See section Motor control, DTC on page 76.
EEPROM
Electrically Erasable Programmable

ROM
Non-volatile memory
EMC
Electromagnetic Compatibility
EMC 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.
EMI
Electromagnetic interference
ESD
Electrostatic discharge
FCB
Function Chart Builder
Software tool for ACS800 Template Application

programming
FCE
Function Chart Editor
FCB editor for application block drawing
FCI
Fieldbus Communication Interface
E.g. CI810A Fieldbus Communication Interface
Flash EEPROM
Electrically Erasable EEPROM memory
Non-volatile memory
FSR
Full Scale Range
HW
Hardware
Physical device or equipment
I/O
Input/Output
Input/Output interface (e.g. DI, DO, AI, AO)
IC
International Cooling
International cooling standard
ICMC
Integrated Control Motor Circuit
Motor and inverter control ASIC used in ACS600
ICU
Incoming Unit
Section through which the drive connects to the main

supply
ID run
Identification run
During the identification run, the drive will identify the

characteristics of the motor for optimum motor control.
IEC
International Electrotechnical
Commission
Organisation for Electrical and Electronic Engineering

Standards
IEEE
Institute of Electrical and Electronic

Engineers
US professional society which takes part in

standardisation. For example IEEE Conference
Reviews.
IGBT
Insulated Gate Bipolar Transistor
Power semiconductor
IM
International Mounting
International mounting standard
IOCC
Input Output Control Circuit
I/O ASIC used in ACS600
IP
International Protection
Degree of protection provided by enclosures
ISO
International Organisation for

Standardisation
E.g. ISO 9000 series of quality standards
KLIXON
Terms
Thermal switch
313
Term
Full name
Description
KTY-84-1xx
Silicon temperature sensor
Temperature dependent silicon sensor. Used e.g. in

AC motors to indicate motor temperature.
LCD
Liquid Crystal Display
Electronic display type used in the CDP 312R control

panel
LED
Light Emitting Diode
Semiconductor
Modbus
Fieldbus communication protocol
Multidrive
Drive consisting of several inverter modules

connected to same DC link
NAFA
AF100 Adapter
AF 100 Adapter kit includes a Fieldbus

Communication Interface (FCI).
NAIO
Analogue I/O Extension Module
Optional module to replace or extend analogue I/O

channels
NBCI
Bus Connection Module
NBRA
Brake chopper. Option device for efficient braking for

drives with no regenerative input bridge.
NBRC
Brake Chopper Controller Board
Controls the operation of the brake chopper (NBRA).
NCPC
Control Panel Cable
Optional cable for remote connection of the CDP

312R control panel
NCSA
CS 31 Adapter Module
Optional module which enables connection of a drive

to a CS 31 system.
NDBU
DDCS Branching Unit
NDIO
Digital I/O Extension Module
Optional module to replace or extend digital I/O

channels
NDNA
DeviceNet Adapter Module
Optional module which enables the connection of the

drive to a DeviceNet system.
NDPA
PCMCIA interface card to PC
NDPC
Cable adapter between DDCS link and

PC
Cable adapter between CH3 optic fibre cable and

NDPA card. Used with DriveWare products.
NETA
Ethernet Adapter Module
Optional module for browser-based remote

monitoring of drives via Ethernet
NIBA
Interbus-S Adapter Module
Optional module which enables connection of a drive

to an InterBus-S system
NLMD
Led Monitoring Display
The NLMD-01 Monitoring Display has a LED bar to

show an absolute real type value. Used for signal
monitoring.
NMBA
Modbus Adapter Module

drive to a Modbus system.
NOCR
Optical Converter/Repeater board
NPBA
PROFIBUS Adapter Module

drive to a PROFIBUS system.
Terms
314
Term
Full name
Description
NTAC
Pulse Encoder Interface Module
Optional pulse encoder interface
NTC
Negative Temperature Coefficient

resistor
PCB
Printed Circuit Board
PCMCIA
Personal Computer Memory Card

International Association
DDCS/PCMCIA interface used with DriveWindow as

an interface between the PC and the drive.
PE
Protective Earth
Earthing (grounding) terminal
PFC
Pump and Fan Control
Drive macro for controlling pump and fan sections
PID
Proportional, Integral and Derivate
Drive speed control is based on PID algorithm.
PLC
Programmable Logic Controller
PPCS
Power Plate Communication System
Optical serial link for inverter control
ppr
Pulses per revolution
E.g. number of encoder pulses per one revolution
PROM
Programmable ROM
Pt100
Platinum Wire Resistance Element 100
Temperature dependent resistor
PTC
Positive Temperature Coefficient resistor
PTC thermistor
PWM
Pulse Width Modulation
Inverter control method
RAM
Random Access Memory
Volatile memory
RAIO
Analogue I/O Extension Module
Optional I/O module for ACS800 to replace or extend

analogue I/O channels.
RDCO
DDCS Communication Option Module
Optional I/O module for DDCS communication for

ACS800. Includes channels CH0CH3.
RDCU
Drive Control Unit
DIN rail installable drive controller unit which consists

of an RMIO board, a bottom plate and a plastic cover.
RDIO
Digital I/O Extension Module
Optional module for ACS800 to replace or extend

digital I/O channels.
RDNA
DeviceNet Adapter Module

drive to a DeviceNet system.
RMBA
Modbus Adapter Module
Optional module through which a drive is connected

to a Modbus serial communication bus.
RMIO
Motor Control and I/O Board
Motor, I/O and inverter control board
RFI
Radio Frequency Interference
RFE
Resonance Frequency Eliminator
Software filter used in the drive to eliminate

oscillations.
RMS
Root Mean Square
For sine wave the RMS value is obtained by dividing

the maximum value by the square root of 2.
RPBA
PROFIBUS-DP Adapter Module
Terms
315
Term
Full name
Description
RO
Relay output
Interface for a digital output signal. Implemented with

a relay.
ROM
Read Only Memory
Non-volatile memory
RS 232, RS 485
Standards for data transmission interfaces
RTAC
Pulse Encoder Interface Module
Optional pulse encoder interface for ACS800
SDCS UCM-1
UC resistor board
Used in thyristor supply unit
SDCS -COM-1
Communication board
SDCS-CON-1
Control board
SDCS-IOB-22
Digital connection card (115 V)
SDCS-IOB-23
Digital connection card (230 V)
SDCS-IOE-2
UC measurement board
SDCS-PIN-41
Pulse transformer board
SDCS-PIN-51
Measurement board
SDCS-POW-1
Power supply board
SW
Software
TSU
Thyristor Supply Unit
Full controlled thyristor input bridge
UART
Universal Asynchronous Receiver

Transmitter
Communication controlled circuit used in

asynchronous communication protocols.
UPS
Uninterrupted Power Supply
Power supply equipment with battery to maintain

output voltage during power failure
UR fuse
Ultra Rapid fuse
Fuse type used to protect semiconductors
VSD
Variable Speed Drives
WIDE
Wide communication. More actual values (group 5)

can be read from the line-side converter to the
inverter side.
WTA
Wide communication. Used with wind turbine

application.
Terms
316
Terms
3AFE64670646 REV D / EN
EFFECTIVE: 10.12.2007
ABB Oy
AC Drives
P.O. Box 184
FI-00381 HELSINKI
FINLAND
Telephone
+358 10 22 11
Fax
+358 10 22 22681
Internet
http://www.abb.com
ABB Inc.
Automation Technologies
Drives & Motors
16250 West Glendale Drive
New Berlin, WI 53151
USA
Telephone
262 785-3200
800-HELP-365
Fax
262 780-5135
ABB Beijing Drive Systems Co. Ltd.

No. 1, Block D, A-10 Jiuxianqiao Beilu
Chaoyang District
Beijing, P.R. China, 100015
Telephone
+86 10 5821 7788
Fax
+86 10 5821 7618
Internet
http://www.abb.com

EN ACS800 SystemControlProgram FW D PDF

Caricato da

Informazioni sul documento

Titolo originale

Copyright

Formati disponibili

Condividi questo documento

Condividi o incorpora il documento

Opzioni di condivisione

Hai trovato utile questo documento?

Questo contenuto è inappropriato?

Copyright:

Formati disponibili

EN ACS800 SystemControlProgram FW D PDF

Caricato da

Copyright:

Formati disponibili

ACS800

System Control Program 7.x

2007 ABB Oy. All Rights Reserved.

Diagnostics and control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Actual signals and parameters

How to create user macro 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280

Control block diagrams

Introduction to the manual

Introduction to the manual

Product and service inquiries

Providing feedback on ABB Drives manuals

Introduction to the manual

How to start-up the drive

Select the motor control mode.

99.08 MOTOR CTRL

DTC is suitable for most cases. The SCALAR control mode is

Enter the motor data from the motor nameplate:

M2AA 200 MLA 4

Note: Set the motor data to

- motor nominal voltage

- motor nominal current

- motor nominal frequency

99.02 MOTOR NOM

99.04 MOTOR NOM FREQ

- motor nominal speed

99.05 MOTOR NOM

Range: 118000 rpm

99.06 MOTOR NOM

- motor nominal power

- motor nominal cos

99.12 MOTOR NOM

* Round to the nearest integer value.

99.03 MOTOR NOM

99.06 MOTOR NOM

16.14 RUN INTERLOCK

Prevention of an Unexpected Start-up and emergency stop circuit

Deactivate the logging of the Prevention of Unexpected Start-up

31.02 START INHIBIT ALM

If there is an emergency stop circuit in use, check that the circuit

08.01 MAIN STATUS

Select the emergency stop mode.

21.04 EME STOP MODE

RMIO board supply

16.07 CTRL BOARD

Inverter fan speed control

16.08 FAN SPD CTRL

Motor fan control

35.01 MOTOR FAN CTRL

98.12 FUSE SWITCH CTRL

50.01 SPEED SCALING

Set parameter 50.03 SPEED FB SEL to INTERNAL.

50.03 SPEED FB SEL

Set the number of encoder pulses.

50.04 ENCODER PULSE

Check other speed scaling and encoder settings.

Parameter group 50 SPEED

Reset the drive and start the motor.

Start the motor again.

Changing the connection:

Stop the motor.

01.03 SPEED MEASURED

Set parameter 50.03 SPEED FB SEL to ENCODER.

50.03 SPEED FB SEL