XT Series PRO3V120 Service Manual

Service Manual
Rev 5.9A with software Pro3V120
XT SERIES
Service Manual
This document and the information contained herein,

is the exclusive property of Drivecon and represents
a non-public, confidential and proprietary trade secret Quick Setup pg. 84
that may not be reproduced, disclosed to third parties,
altered, or otherwise employed in any manner whatsoever Guides
without the express written consent of Drivecon.
Copyright © 2011 Drivecon. All rights reserved.
Drivecon reserves the right to alter or amend the above information without notice. 11/22/11 • rev 5.9A for Pro3V120
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Service Manual
Pro3V120
This manual is valid for XT series drives revisions 5.9A. The parameter numbers
are based on the software version Pro3V120.
CAUTION
1. Before starting, read the instructions carefully.
2. Verify all of the connections are in done in accordance to the drawings.
3. Verify the motor supply is connected correctly; faulty connections will
damage the drive.
4. Check to make sure that the drive’s cover is properly installed.
5. High voltages are present in the drive. Switch the power off and wait 5
minutes before opening the cover.
6. Insulation resistance test with a megger requires special precautions.
7. Do not make any measurements inside the device when it is connected to
the 3-phase power supply.
8. Do not touch the components on the circuit boards. Static voltage discharge
may cause damage to the IC-circuits.
9. Check to make sure that all ventilation holes are clear and uncovered.
10. Check to make sure that hot air coming from the dynamic braking resistors
cannot cause any damage.
11. Do not make any inspections unless the supply has been disconnected at
the main disconnect switch.
12. It is forbidden to use radiophones or portable phones near this device with
the doors open.
13. All the doors and covers must be closed during crane operation.
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Pro3V120
Table of contents
1 GENERAL ------------------------------------------------------------------------------------------------------- 4
1.1 Technical Data ------------------------------------------------------------------------------------------- 4
1.2 Type mark coding ---------------------------------------------------------------------------------------- 6
1.3 Basic description ----------------------------------------------------------------------------------------- 7
1.4 Functional description ----------------------------------------------------------------------------------- 8
1.5 Control Methods ------------------------------------------------------------------------------------------ 9
1.6 Mechanical brake control ------------------------------------------------------------------------------- 11
1.7 Motor control modes ------------------------------------------------------------------------------------ 12
1.8 EMC -------------------------------------------------------------------------------------------------------- 13
1.8.1 Fulfilled EMC-standards ------------------------------------------------------------------------- 14
2 INSTALLATION ------------------------------------------------------------------------------------------------ 15
2.1 Cooling ----------------------------------------------------------------------------------------------------- 15
2.2 Power cabling --------------------------------------------------------------------------------------------- 16
2.3 Control wiring --------------------------------------------------------------------------------------------- 18
2.4 EMC compatible grounding ---------------------------------------------------------------------------- 18
2.5 SCCR rating ----------------------------------------------------------------------------------------------- 18
3 START-UP PROCECURE ----------------------------------------------------------------------------------- 19

3.1 Visual checks --------------------------------------------------------------------------------------------- 19
3.2 Check before the first run ------------------------------------------------------------------------------ 19
3.3 Test run without load ------------------------------------------------------------------------------------ 20
3.4 Test run with load ---------------------------------------------------------------------------------------- 20
3.5 After the test run and autotuning --------------------------------------------------------------------- 20
4 PARAMETER ADJUSTMENTS ----------------------------------------------------------------------------- 21

4.1 Control keypad operation ------------------------------------------------------------------------------- 21
4.1.1 Navigation on the control keypad -------------------------------------------------------------- 22
4.1.2 Value line editing ---------------------------------------------------------------------------------- 22
4.1.3 Passwords ------------------------------------------------------------------------------------------ 23
4.1.4 Special button functions and shortcuts ------------------------------------------------------- 23
4.1.5 Monitoring ------------------------------------------------------------------------------------------- 24
4.2 Input selections ------------------------------------------------------------------------------------------- 25
4.3 Speed supervision settings ---------------------------------------------------------------------------- 26
4.3.1 Functional test run for SSU --------------------------------------------------------------------- 28
4.4 Open Loop motor parameter adjustments ---------------------------------------------------------- 29
4.4.1 Open Loop speed control for hoisting -------------------------------------------------------- 29
4.4.2 Open Loop rated motor parameters for traveling ------------------------------------------- 29
4.4.3 Open Loop autotuning for traveling, frequency control ----------------------------------- 30
4.4.4 Open Loop manual tuning for traveling ------------------------------------------------------- 30
4.4.5 Open Loop manual tuning for traveling, frequency control ------------------------------ 31
4.4.6 Open Loop manual tuning for traveling, current control ---------------------------------- 31
4.5 Closed Loop motor parameter adjustments -------------------------------------------------------- 32
4.5.1 Closed Loop rated motor parameters --------------------------------------------------------- 32
4.5.2 Closed Loop autotuning, speed control ------------------------------------------------------- 34
4.5.3 Closed Loop manual tuning for hoisting, speed control ----------------------------------- 37
4.5.4 Brake Control -------------------------------------------------------------------------------------- 38
4.6 Brake Slip feature ---------------------------------------------------------------------------------------- 40
4.6.1 Description of brake slip feature --------------------------------------------------------------- 40
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Pro3V120
4.6.2 Activation of brake slip feature ----------------------------------------------------------------- 41

4.6.3 Brake slip feature field testing procedure ---------------------------------------------------- 41
4.6.4 What to do in case of brake slip --------------------------------------------------------------- 43
4.6.5 Service on hoist motor/encoder/brake with Brake Slip feature active ------------------ 43
5 PARAMETER DESCRIPTIONS ----------------------------------------------------------------------------- 44
6 COMPONENTS ------------------------------------------------------------------------------------------------ 58
6.1 INVERTER ------------------------------------------------------------------------------------------------ 58
6.1.1 Power supply unit (PSU) ------------------------------------------------------------------------- 61
6.1.2 Control unit (CSU) -------------------------------------------------------------------------------- 61
6.1.3 Basic I/O board (Slot A) -------------------------------------------------------------------------- 62
6.1.4 Relay / Thermistor board (Slot B) -------------------------------------------------------------- 63
6.1.5 SSU Speed Supervision board (Slot C) ------------------------------------------------------- 63
6.1.6 I/O Extension board (Slot D) -------------------------------------------------------------------- 64
6.1.7 Relay Extension board (Slot E) ----------------------------------------------------------------- 64
6.1.8 Profibus board (Slot E) --------------------------------------------------------------------------- 65
6.1.9 System board (Slot D or Slot E) ---------------------------------------------------------------- 66
6.1.10 CANopen Board (Slot E) ------------------------------------------------------------------------- 67
6.2 Reference potentiometer ------------------------------------------------------------------------------- 68
6.3 Speed sensors -------------------------------------------------------------------------------------------- 69
6.3.1 Encoder --------------------------------------------------------------------------------------------- 69
6.3.2 Sensor bearing ------------------------------------------------------------------------------------- 70
6.3.3 Proximity switch ----------------------------------------------------------------------------------- 71
6.3.4 Buffer amplifier KAE248 ------------------------------------------------------------------------- 72
6.4 Brake controllers ----------------------------------------------------------------------------------------- 73
6.4.1 REC12-690+DC ----------------------------------------------------------------------------------- 73
6.4.2 ESD141 ---------------------------------------------------------------------------------------------- 73
7 TROUBLESHOOTING ---------------------------------------------------------------------------------------- 74
7.1 Field repair actions -------------------------------------------------------------------------------------- 74
7.2 Inverter fault codes -------------------------------------------------------------------------------------- 75
7.2.1 Fault time data record ---------------------------------------------------------------------------- 80
7.2.2 Fault Counter --------------------------------------------------------------------------------------- 81
7.3 Inverter alarm codes ------------------------------------------------------------------------------------ 82
8 SERVICE -------------------------------------------------------------------------------------------------------- 83
8.1 DC-bus electrolytic capacitors ------------------------------------------------------------------------ 83
8.1.1 Reforming after a long storage period -------------------------------------------------------- 83
9 QUICK SETUP GUIDES ------------------------------------------------------------------------------------ 84

XT Series Quick Setup Guide (Closed Loop) ----------------------------------------------------- 85
XT Series Quick Setup Guide (Traverse) ---------------------------------------------------------- 89
XT Series Quick Setup Guide (Loadbrake Hoist) ------------------------------------------------- 92
XT Series Quick Setup Guide (Open Loop Hoist) ------------------------------------------------ 95
10 WIRING DIAGRAMS ------------------------------------------------------------------------------------------ 98

• CONTROL UNIT CONNECTIONS ---------------------------------------------------- Inside Back Cover
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Pro3V120
1 GENERAL
1.1 Technical data
Power Class (460-series) 4004 4005 4009 4012 4016 4022 4031 4038 4045 4061 4072 4087 4105 4140 4168 4210 4245 4300 4385 4460 4590 4650
Frame Size F r4 F r4 F r4 F r4 F r5 F r5 F r6 F r6 F r6 F r7 F r7 F r7 F r8 F r8 F r8 F r9 F r9 F r10 F r10 F r10 F r11 F r11

Horsepower (Hp) at 460V 2 3 5 7.5 10 15 20 25 30 40 50 60 75 100 125 150 200 250 300 350 500 550
Output Current In (A) 4.5 5.6 9 12 16 22 31 38 45 61 72 87 105 140 168 210 245 300 385 460 590 650
Max. Current 1min (A) 10 10 15 20 27 36 48 63 72 90 113 135 165 225 270 315 368 450 578 690 885 975
Max. Current 2s/20s (A) 11 11 18 24 32 46 62 76 92 122 144 174 210 280 336 349 444 545 697 832 1068 1177
Power Class (575-series) 5005 5007 5010 5013 5018 5022 5027 5034 5041 5052 5062 5080 5100 5125 5144 5170
Frame Size F r6 F r6 F r6 F r6 F r6 F r6 F r6 F r7 F r7 F r8 F r8 F r8 F r9 F r9 F r9 F r9
Horsepower (Hp) at 575V 3 5 7.5 10 15 20 25 30 40 50 60 75 100 125 150 175
Output Current In (A) 5.5 7.5 10 13.5 18 22 27 34 41 52 62 80 100 125 144 170
Max Current 1min (A) 9 12 15 21 27 33 41 51 62 78 93 120 150 188 216 255
Max. Current 2s/20s (A) 11 15 20 27 36 44 54 68 82 104 124 160 200 213 245 289
Power Class (240-series) 2011 2012 2017 2025 2031 2048 2061 2075 2088 2105 2140 2170
Frame Size Fr4 Fr5 Fr5 Fr5 Fr6 Fr6 Fr7 Fr7 Fr7 Fr8 Fr8 Fr8
Horsepower (Hp) at 230V 2.6 4 5.3 6.7 9.3 14.7 20.1 24.1 29.5 40.2 49.6 60.3
Output Current In (A) 11 12.5 17.5 25 31 48 61 75 88 105 140 170
Max Current 1min (A) 16.5 18.5 26 37 46 72 91 112 132 157 210 255
Overloadability 1.5 x In, 1min/10min; 2.0 x In, 2s/20s

Max. output voltage Equal to supply voltage
Supply
Supply voltage 240-series 208-240VAC, 460-series 380-500VAC, 575-series 525-690VAC
Allowable voltage fluctuation +/- 10%
Nominal supply frequency 50/60Hz +/- 5%
Signal Input Levels
Digital controls S1, S2, DIA3, DIA4, DIA5, DID1, DID2, DID3, DID4, DID5: 42 … 240VAC; 15mA
Analog references AIN1: 0 … +10V and AIN2: -10 … +10V; 200k Ω load; accuracy 0.5%
Encoder feedback EA+/- and EB+/-; 0/24V; 3k Ω load; floating differential inputs
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(Technical Data Continued)
Control features
Control method Open loop or closed loop vector control
Frequency control range 0 ... 250Hz
Frequency command Potentiometer, motor potentiometer, 2-4-step controller or 0 ... 10V analog signal
Limit switch functions Slowdown and stop limit inputs for both directions
Speed control range Open loop vector control
s N ... 100% (s N = motor nominal slip)
Closed loop vector control
0 ... 100%
Speed accuracy Open loop vector control
1% of nominal speed at speed range 10 ... 100%
1/3 of motor nominal slip at speed below 10%
Closed loop vector control
0.01% of nominal speed
Extended speed range 100 ... 200% programmable
Braking torque 150%
Protections
Stall prevention During acceleration and constant speed
Motor overload protection Thermistor/Klixon based temperature measurement
Overload protection Fault is detected if the current momentarily exceeds 280% of RMS rated current
Undervoltage / blown fuse Fault is detected if DC voltage drops below 183V (240-series), 333V (460-series), 460V (575-series)
Overvoltage protection Fault is detected if DC voltage exceeds 437V (240-series), 911V (460-series), 1200V (575-series)
Momentary power loss Immediate fault stop
Inverter overtemperature Temperature sensor on the heat sink
Mechanical brake Brake contactor control relay
Braking transistor Electronic supervision for the braking chopper and for the braking resistor
Brake slip protection Only in closed loop and if protection function enabled, also a programmable relay output
Ground fault Provided by electronic circuitry
Overspeed, stall, speed difference supervision
Independent measurement using SSU board and a pulse wheel or encoder
Ambient conditions
Ambient temperature -10°C ... +55°C (14°F ... 131°F) for ED≤60%
Storage temperature -40°C ... +60°C (-31°F ... 140°F) dry. Power on >1h per year.
Humidity <95%RH (no condensation)
Altitude Maximum 1000m at In. Above 1000m: In reduces 1% per each 100m.
Above 3000m: consult factory.
Vibration Operation: maximum displacement amplitude 1mm at 3-15.8Hz.
Maximum acceleration amplitude 1G (9.81m/s²) at 15.8-150Hz
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1.2 Type mark coding

XT Series drives can be summarized as "crane motor control systems, which controls the speed by
changing the frequency of the supply voltage of a squirrel cage motor". A stepless speed adjustment can
be achieved by this method. Type marking is shown below.
000 XTx Device name

000 - Base Drive (430,440) or Pre-engineered Panel (488,489,etc…)
XT - Series name
x - d (Base drive vector), e (base drive vector with SSU board), s (open loop
vector panel), v (closed loop vector panel)
4 Supply voltage
2 208 - 240VAC, 50/60Hz
4 380 - 500VAC, 50/60Hz
5 525 - 690VAC, 50/60Hz
009 Power class current handling type code
See technical specifications
TC Panel Motion and Duty Class
XX=Base Drive only
TC=Traverse class C
TD=Traverse class D
HC=Hoist class C
HD=Hoist class D
58 Software Revision code
The latest revision may differ
000 XTx 4 009 TC 58 0 0 0 4

Construction
0 Basic wall mounted
1 Through panel
EMC-compatibility
0 IT Network (Americas)
N IEC 61800-3 Second Environment (Europe)
Option board configuration
0 Standard A, B, D
1 Standard with speed supervision A, B, C, D
2 Profibus A, B, D, E
3 Profibus with speed supervision A, B, C, D, E
6 Fiber Optics A, B, D, E
7 Fiber Optics with speed supervision A, B, C, D, E
8 Relay A, B, D, E
9 Relay with speed supervision A, B, C, D, E
Special
1. NXP and normal boards
2. NXP and lacquered boards
3. NXP and fiber optic link and lacquered boards
4. NXP2 and normal boards
5. NXP2 and lacquered boards
6. NXP2 and fiber optic link and lacquered boards
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Pro3V120
1.3 Basic description

XT Series drives have many advantages and offer many new features, when compared to other inverter
based systems, which might be used in crane applications.
Inverter The XT Series drive is a crane specific inverter. The specific crane
features for the inverter hardware and the special software are achieved
by combining the experience and know-how of crane applications with the
latest technology. The inverter uses vector calculations for several
different motor control modes in both open and closed loop.
Crane user interface All XT Series drives have exactly the same interface with pre-designed
locations for all typical crane functions. The main part of this interface is
carried out by a terminal strip, which has separated sections for signals
with main, control and electronics voltage levels.
Brake control XT Series drive panels include a relay for brake contactor control. The
brake contactor then controls the “parking” brake on the motor whether it
is 3-phase AC, 1-phase AC, or a DC brake coil.
Electrical braking XT Series drives include an internal dynamic braking transistor, which is
dimensioned for all crane applications. The braking transistor will
dissipate regenerative energy through an external braking resistor. This
resistor is sized according to the drive voltage, power, and duty cycle.
Control methods XT Series drives can be controlled by the electronic potentiometer control
with 2-step pushbuttons (2 speed infinitely variable), the potentiometer
control with analog joystick-type control, the automation control with PLC
and radio controls, and by the multistep control with 2-5 step controllers.
Any two of these control methods is programmable and available with
every drive.
Limit switch functions XT Series drives will come preprogrammed for slowdown and stop limit
switch functions for both operating directions. If slowdown and/or stop
limit switches are not used, their inputs may be programmed to other
functions or to “not used”.
Speed supervision In a non-loadbrake hoisting application the drive must include an

overspeed detection device. In XT Series drives this is called a speed
supervision unit (SSU) and is separate from the drive and is not
dependent on software. This safety circuitry is used to monitor the speed
of the motor. In case of speed difference, overspeed or stall, the speed
supervision unit stops the motion immediately. A SSU board is standard
with any non-load brake hoist however can also be supplied for this
application or any traveling application if requested.
Protections XT Series drives include motor thermal protection that is based on motor
temperature measurement by thermistors or klixons placed in the motor
windings. If this protection is not desired, it may be turned off in the
programming. All other protection functions are listed in the technical
data.
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Pro3V120
1.4 Functional description

See circuit diagrams for following descriptions of operation.
Operation when power - Slow down limit switches S11 and S21, and stop limit switches S12 and
is switched on S22 are assumed to be normally closed, as well as the emergency
stop button ES.
- The control voltage is supplied to the drive’s control inputs (externally
supplied 42VAC…230VAC control voltage). When the supply voltage is
connected to the drive’s power supply, the inverter will power up. If the
control voltage ok and the ready circuit have all of their contacts
closed, drive will be ready to operate in about 1-2 seconds.
- If either one of the direction signals S1 or S2 is on during power up, the
display shows F6 and running can begin only after the direction signals
have been turned off for 300ms.
Normal operation – For the description of the speed reference setting options see chapter
1.5 "Control methods".
– Operation starts when one of the directional inputs is given to the drive.
The drive will then close the ROB2 relay and energize the K7 brake
contactor, which will cause the “parking” brake to open. The drive will
then accelerate according to the acceleration ramp settings to the
requested speed.
– When the directional input is removed from the drive, it will stop
according to the deceleration ramp settings and finish by controlling the
“parking” brake to set and hold the motor.
– The dynamic braking resistor will dissipate the regenerative energy
during deceleration and hoisting in the down direction. The power
supplied to the resistor is controlled by the drive. If the braking resistor
fan(s) are included in an external resistor unit, they will start to operate
when power is supplied to the braking resistors. The fan cooling will
continue for about 4-5 minutes after electrical regenerative braking to
ensure that the temperature of the dynamic braking resistors drops
below 150°C (302°F).
Other features – Slowdown limit switches S11 and S21 provide position dependent
frequency limiting.
– Any reason that causes the ready circuit to open will stop the operation
of drive and sets the mechanical “parking” brake.
– In case of an overload (motor overheating, etc.), the hoisting can be
disabled by removing the direction signal.
– Thermistor or Klixon interface function can be used when required.
– When the stop limit switch S12 or S22 opens, the brake contactor K7
de-energizes and the mechanical “parking” brake will stop the motion.
– Independent speed supervision unit (SSU) for applications with speed
feedback.
– The speed measurement and supervision can be done either using an
encoder, bearing encoder, or pulse sensor. The measured signals are
square wave pulses. The frequency of the pulses is proportional to the
speed of the motor and if the frequency is too high, overspeed is
detected. If there are no pulses a stall situation is detected. If the
actual speed differs too much from the supply frequency to the motor,
the speed difference supervision stops the motion.
– When using a proximity switch or bearing sensor, a buffer amplifier
should be used to amplify the sensor pulses and filter out disturbances.
This amplifier should be located as close to the motor as possible.
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1.5 Control methods

There are four different control methods (command modes) available. At any given time 2 different control
modes may be used. A selector switch and programming of the drive is required to select the desired
control method when using 2 different control modes. Instructions on how to program the drive for each
different type of control can be found below.
EP Electronic motor potentiometer function.

- Stepless control using a 2-step pushbutton controller (2 speed
infinitely variable).
- EP3 stepless control using a 3-step controller (3 speed infinitely
variable).
PO Potentiometer control using a joystick type controller.

- Requires a single 15V power supply (supplied by the drive).
- Additional amplifier is not required.
AU Automation control
- For any control device with an output in the range of 0-10V.
- E.g. radio-controls, process computers.
MS Multistep control (2-5 steps as standard).

- Requires programmable digital inputs for each speed reference
step.
Command mode The command mode (EP, PO or AU) is selected by the CMS and AP
selection inputs to the drive. Normally the selection can be done only when the
motion is stopped (not when running), but in special applications it may be
possible.
PO- and AU-modes PO and AU modes select either of the analog inputs for speed reference.
Both analog inputs can be adjusted from 0V to 10V (radio or PLC-
reference) or from 10V to 6.7V (potentiometer). As default, Ain1 is used in
PO-mode and Ain2 is used in AU-mode.
Ain1 / PO Ain1 / PO Ain2 / AU Ain2 / AU Ain1 / PO

DIA3 AP not used AP not used AP not used AP = 0 AP = 1
DIA4 CMS not used CMS = 0 CMS = 1 CMS = 1 CMS = 1
EP-mode EP-mode selects the AP-button for speed reference. EP step 1 is

command for minimum speed or hold speed. EP step 2 is the acceleration
command.
EP step 1 EP step 2 EP step 1 EP step 2

DIA3 AP = 0 AP = 1 AP = 0 AP = 1
DIA4 CMS not used CMS not used CMS = 0 CMS = 0
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Synchronization If required, two or more XT Series drives can be run in precise digital
synchronization. A separate synchronization controller is needed for this.
The same speed reference (in EP- or PO-mode) and the correction signal
are connected to each drive. The speed reference signal of each drive
can also be modified separately by a PLC. Parameter selection and proper
tuning activate the synchronization functionality.
Description of the control methods

EP2-control requires two 2-step pushbuttons, one for Pushbutton position
rest = deceleration
each direction. The operation is as follows: up / fwd speed step 1 = hold speed
- the rest position means standstill (0-position) step 2 = acceleration
- while running the rest position means deceleration
- when starting, step one means acceleration up to
the minimum speed pushbutton
time
- when running step one (switch S1 or S2) means position
hold speed
- step two (switch AP) means acceleration (up to the down / rev
maximum speed if desired) EP-mode
- at the maximum speed step two does nothing
because the maximum speed cannot be exceeded
Pushbutton position
rest = stop
EP3-control requires a 3-step controller. The step 1 = minimum speed
operation is as follows: up / fwd speed step 2 = hold speed
- the rest position means standstill (0-position) step 3 = acceleration
- step one (switch S1 or S2) is the minimum speed
command
- step two (EP hold command) means hold speed time
pushbutton
- step three (switch AP) means acceleration (up to position
the maximum speed if desired)
- when releasing the controller, step one means down / rev
deceleration down to the minimum speed EP3-mode
PO-control requires a controller with potentiometer.

The operation is as follows:
- when the controller is at the rest position the
potentiometer is at the middle position causing speed
speed
zero speed up / fwd
- run commands are controlled separately by closing controller
the direction switches (S1 and S2) position
- when the operator turns the controller to any
direction the speed increases time
- the same turning angle of the controller causes a
smaller change in speed, the closer the speed is to potentiometer reference (controller position)
or auxiliary reference
the minimum speed down / rev
PO- and AU-modes
AU-control requires an analog reference from radio
or PLC. The operation is as follows:
- the speed linearly follows the input signal. 0V
means zero speed and the higher the voltage, the
higher the speed
- run commands are controlled separately by closing
the direction switches (S1 and S2)
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speed
MS-control requires a 2-5-step controller. The up / fwd speed
operation is as follows: controller
- each step has its own frequency position
- the frequencies are freely selectable
- when controller is set to a certain step, the drive time
will either accelerate or decelerate to match the controller
position
requested speed
down / rev
MS-mode
1.6 Mechanical brake control

The brake is controlled so that, while starting, the motor generates torque first and then the brake is
opened. The same applies for stopping; while the brake is being closed, the motor still generates torque.
During a direction change, the brake is held open. The drive will decelerate the motor to a stop according
to the set deceleration time when the run command is removed, so the brake is used only as a holding
brake. This way brake wear is minimized. Only if a fault occurs or the emergency stop button is pushed
will cause the brake to close immediately stopping the motor and the load.
All motors used on cranes should use some type of electromechanical brake. Different applications may
require a different type of brake. Also, different applications may require this brake to be used differently.
As a default, XT Series drive panels are wired to control a single-phase AC brake. If a 3-phase brake is
to be used, some wiring changes will be required. If a DC brake is being used, a brake rectifier will need
to be used. The type brake rectifier that is required will depend upon the size and voltage of the brake
coil.
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1.7 Motor control modes

Open loop
XT Series drives have a built-in motor model, which calculates - one thousand times per second - the
values of the motor. The input data needed for the calculation is the instantaneous value of the motor
voltage from the ASIC and the measured motor current. Motor magnetic flux and shaft torque are
calculated in the motor model based on the nameplate data parameters taken from motor.
Open loop
vector control M
Speed Speed ref Asic Inverter
ref Control 3~
Torque
Vector Current
Flux calculation
Frequency control In Open Loop Frequency Control, the frequency supplied to the motor follows the
Open loop (mode 0) frequency reference signal given to the drive. The actual rotating speed depends
on load and is equal to the slip below or above the output frequency. Even with
frequency control, the vector calculation is used to keep the magnetization at a
correct level for optimized torque.
Current control In Open Loop Current Control, the frequency supplied to the motor follows the
Open Loop (mode 1) frequency reference signal given to the drive. The motor is current controlled in
smaller frequencies (typically <10Hz) and in higher frequencies the motor is
voltage controlled. The current control ensures that in small frequencies the
speed of the motor is almost independent of the load.
Closed loop
The closed loop vector control also includes a motor model, which has simpler configuration than the
open loop vector control. This is because an additional input data from the incremental encoder is
available, thus eliminating additional calculations inside the drive. This measurement of the rotation of the
motor is used as feedback to the motor model calculation and allows possibilities for additional checking
and fine adjustments of the motor control. This is how 1000:1 speed control is achieved.
Closed loop vector

control M
Speed Speed ref Asic Inverter
ref Control 3~
G
Torque
Current
Vector
Flux calculation Speed
Speed control In Closed Loop Speed Control, the frequency supplied to the motor follows the
Closed loop (mode 3) frequency reference signal given to the drive. The drive adjusts the motor
frequency and with this function compensates the load-dependent slip. The slip
compensation keeps the actual shaft speed constant and independent of loading
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conditions. With closed loop speed control it is even possible to reach zero
speed with full torque.
Torque control In Torque Control, the shaft torque is kept equal to the reference signal provided
Closed loop (mode 4) to the drive. The motor speed depends very much on loading conditions - for
example, an unloaded motor would run at full speed all the time. For safety
reasons, the speed is limited between adjustable minimum and maximum
speeds.
1.8 EMC
The abbreviation "EMC" stands for the Electro Magnetic Compatibility. The XT Series drives contain EMC
input filtering that reduces the voltage and current harmonics that are produced by the drive and
generated back into the power supply. The XT Series drives used in North America have this filtering
capacity modified to allow for the varying types and fluctuations in the power network. If the European
Union EMC standards are necessary, the power supply must meet minimum requirements and the drive
configuration for this must be specified when ordering.
According to the European Union EMC directive "the apparatus shall be so constructed that:
a) The electromagnetic disturbance it generates does not exceed a level allowing other apparatus to
operate as intended
b) The apparatus has an adequate level of intrinsic immunity of electromagnetic disturbance to
enable it to operate as intended."
Technical The technical construction file describes how the frequency converters
construction file have been constructed to comply with the directive and standard
requirements.
Declaration of With the declaration of conformity the manufacturer informs that device is
conformity manufactured to fulfill required EMC standards.
CE-mark The CE marking is a declaration by a manufacturer or importer located in

the European Economic Area that a product complies with the safety and
health requirements of the directive in question. The manufacturer
demonstrates for the authorities that the product complies with the safety
requirements within the EU.
EMC Plan EMC Plan for inverters is intend to use as a guide in cases when
disturbance problems appear in crane installations, in the crane itself or in
other devices in the installation environment.
Environments Immunity and emission requirements are divided in two levels in the
product standard according to the environments.
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First environment means an environment that includes domestic premises

and also establishments directly connected to a low-voltage power supply
network. The first environment is divided in to categories C1 and C2.
PDS XT Series drives are not intended to be used on a low-voltage public

network, which supplies domestic premises. The drive may cause radio
frequency interference to other devices if used on such a network.
Second environment means environment that includes all establishments

other than those directly connected a low-voltage power supply network.
The second environment is divided in to categories C3 and C4.
PDS If rated current of the crane supply is less than 400 A, the inverters belong
to the category C3; otherwise they belong to the category C4.
Power drive system (PDS) means a system consisting of power and

control equipment, including the XT Series drive.
1.8.1 Fulfilled EMC-standards
Immunity The XT Series drive fulfills the immunity requirements defined in the
EN/IEC 61800-3: 2004 for the second environment, EN 61000-6-1
(residential, commercial and light industry) and EN 61000-6-2 (industrial
environment).
Emissions The XT Series drive fulfills the emission requirements of the EN/IEC
61800-3: 2004 for the second environment. If a disturbance causes
problems the EMC Plan can be used as the guide to solve those.
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2 INSTALLATION
2.1 Cooling
The cooling requirements for XT Series drives vary by application. The actual thermal loading of the enclosure has to be
estimated based on the environmental conditions and duty cycles. The power losses of the drive are listed in the below
table for each power rating in units of Watts [W]. Cooling for models, which are installed in totally closed cubicles, should
be checked case by case with ambient temperatures above 110 degrees Fahrenheit.
Through panel mounted Totally enclosed cubicle Through panel mounted Totally enclosed cubicle
Model ED40 ED60 ED100 ED40 ED60 ED100 Model ED40 ED60 ED100 ED40 ED60 ED100
4004 21 24 29 67 92 141 5003 18 19 21 56 64 80
4005 21 24 29 67 92 141 5004 19 21 23 67 81 108
4009 21 23 28 64 87 132 5005 20 22 26 76 94 130
4012 24 28 36 96 134 211 5007 22 25 30 93 120 174
4016 25 30 39 116 160 248 5010 24 28 35 115 153 229
4022 31 39 54 176 250 398 5013 27 32 43 146 199 305
4031 30 37 51 177 246 383 5018 31 38 53 185 258 403
4038 38 49 71 256 364 581 5022 35 44 62 220 310 491
4045 41 54 79 289 413 662 5027 39 50 73 264 376 600
4061 34 43 60 230 318 493 5034 44 58 86 332 471 748
4072 43 57 83 322 456 724 5041 50 67 101 392 561 899
4087 53 71 107 415 596 957 5052 57 76 114 598 791 1176
4105 54 72 108 570 749 1108 5062 65 89 136 684 920 1392
4140 73 101 156 763 1039 1591 5080 81 112 175 840 1153 1781
4168 89 125 197 927 1284 1999 5100 50 66 98 781 942 1264
4210 73 101 157 1013 1291 1845 5125 62 84 127 896 1114 1551
4245 89 125 196 1170 1526 2237 5144 70 97 149 983 1245 1769
5170 82 115 179 1103 1424 2068
Note! The power losses given above do not include the power fed to the dynamic braking resistors. Check
each application that requires the dynamic braking resistor to be installed in the same enclosure as
the drive.
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2.2 Power cabling

Shielded In crane applications the drive fulfills EN/IEC 61800-3: 2004 second environment radiated
motor cable emission requirements without a shielded motor cable. However, shielded motor cable is
recommended to be used in fixed installations, especially in buildings.
In the second environment, shielded motor cable is recommended to be used in fixed installations,
especially in buildings. However motor cables in crane and festoon power supplies are normally
not shielded due to the practicality of it.
Shielded motor cable is essential to use if the installation is requested to fulfill the first
environment emission requirements.
Double If the power is supplied to the crane via conductor rails, double collectors are required. This
collectors ensures a reliable contact with the rail in all circumstances. Short interruptions and sparks
between the conductor rail and the collector may cause nuisance tripping, other undesired
operation, and in some cases even cause permanent damage to the drive components.
Cable Cabling for the drive can be done using normal crane cables. All the cables must be
selection dimensioned according to local regulations. Ambient temperature, cabling method
(size of bunches etc.) and allowable current for the cable in use must be taken into
consideration. If there are no other regulations, following values can be used (three
phase 480V/575V supply).
The table below is based on ED less than or equal to 60% and ambient temperature
+40C (104F). A higher ambient temperature may require increased cable sizes. The
input current does not exceed the continuous current (I cont ) of the drive, so it can be
used as the dimensioning current. If the actual load current is below the drive’s rated
continuous current, then the fuses and the supply cable may be dimensioned
according to the load current.
Power class 4004 4005 4009 4012 4016 4022 4031 4038
Continuous current I CONT A 4.5 5.5 9 12 16 22 31 38
o
Motor cable 104 F AWG 14 14 14 14 14 14 12 10
Braking resistor cable for hoist o
104 F AWG 14 14 14 14 14 14 14 14
CMAA Class D SRML Cable
Braking resistor cable for travel o
104 F AWG 14 14 14 14 14 14 14 14
Power class 4045 4061 4072 4087 4105 4140 4168 4210
Continuous current I CONT A 45 61 72 87 105 140 168 210
o
Motor cable 104 F AWG 8 6 6 4 2 1 1/0 2/0
104 F AWG 10 8 6 6 4 1/0 1/0 1/0
104 F AWG 10 8 6 6 4 2 2 2
Power class 5005 5007 5010 5013 5018 5022 5027 5034
Continuous current I CONT A 5.5 7.5 10 13.5 18 22 27 34
o
Motor cable 104 F AWG 14 14 14 14 14 10 10 8
104 F AWG 14 14 14 14 14 14 14 10
104 F AWG 14 14 14 14 14 14 14 12
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Power class 5041 5052 5062 5080 5100 5125 5144 5170
Continuous current I CONT A 41 52 62 80 100 125 144 170
o
Motor cable 104 F AWG 8 4 4 2 2 2/0 2/0 3/0
104 F AWG 8 6 6 4 2 1 1/0 2/0
104 F AWG 10 10 8 6 4 4 1 1/0
**For wire sizing information for higher duty cycles and/or drives larger than listed
above, please contact Driecon.
Cable To protect the supply cables from a short circuit there must be fuses or motor circuit
protection breakers (MCCBs) installed at the supply end of the power cable. Sizing of the fuses
or MCCBs depends on the cable used and on the type of primary fuses or MCCBs. If
there are no other regulations, the values given in this section can be used to size
the fuses (three phase 480V/575V supply).
The overload protection of the XT drive protects both the supply and the motor
cables. The fuses on the power supply provide short circuit protection.
Cable length The maximum motor cable length is based on 150% of inverter rated current
(=current during acceleration) and a 2.5 % voltage drop in the cable. For longer
2
cables, the required conductor cross sectional area A (mm ) is given by the following
formula:
A = 2.43*[( l * 1.5 * I F ) / (p * U)]
where l is the cable length (m)

IF is the motor current (A) at shaft power P F
p is the allowed voltage drop in %
U is the nominal motor voltage
Note! All control wires must be placed as far away from the motor and braking resistor wires
as possible.
2.3 Control wiring

Shielded signal cable It's recommended to use twisted pair and braided shielded signal cables.
Foil shields are not sufficient enough in crane applications because of its
poor mechanical durability. The cable insulation material affects the cable
capacitance. The recommended cable capacitance between signal-signal
and signal-ground is equal or less than 100pF/m (31pF/ft).
It is not recommended to use shielded flat cable, because its capacitance

is extremely high and thus may cause high frequency interference.
Reference signals Shielded round cables must be used for analog reference signals. The
shield is to be grounded only at the drive (not at the other end of the
cable).
Bearing sensor/Pulse The cable for bearing sensors or pulse sensors must be shielded round
sensor cable and should be 360° grounded at both ends.
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Encoder The encoder connections may be split into two cables. The signal
conductors (4pcs) should go together in one cable and the supply and
common (+24V/0V) together in another cable. The encoder cable(s) must
be shielded round cable(s) and should be 360 degree grounded at both
ends.
Note! All shielded cables must be placed as far from the motor cables as possible (>20cm).
Shielding must be continuous. The "pigtail" (= the end to be connected) of the shield
should not be used. Instead, 360 degree grounding should be used to minimize
disturbances to the low voltage signals.
2.4 EMC compatible grounding

Construction All metal construction parts of the cubicle must be electrically connected
connections to each other using largest possible surface area. Paint to paint
connection must not be used.
Cable connections Control cables and power cables should be separated and routed
separately for eliminating noise coupling. The distance between braking
resistor cables and the other cables should be kept as long as possible.
The distance between the resistor cables should be kept as low as
possible to prevent the antenna behavior. Cable lengths should be kept as
short as possible to minimize the noise effects that can come from
coupling capacitances and inductances between the wires.
Shielded control Shielded control cables should be grounded in both ends. The shield must
cables be connected to the ground using the largest possible surface area. Extra
intermediary terminators cutting the shield are not allowed. Spare
conductors should be grounded in both ends to avoid antenna behavior.
All shielded cable shields should be 360° grounded.
2.5 SCCR Rating
D2V frequency converters have an integral solid state short circuit protection. According to our UL
certification, D2V can adopt high SCCR (Short Circuit Current Rating) ratings according to the branch
circuit protection device protecting the D2V. The D2V units are suitable for use on a circuit capable of
delivering not more than 100,000 rms symmetrical amperes, 600V maximum.
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3 START-UP PROCEDURE
If any problems or malfunctions occur during the start-up, refer to the “Troubleshooting” chapter to find
hints on correcting the problem. All problems must be solved before continuing.
Warning! High voltages inside the device. Wait for at least five minutes after the supply voltage
has been switched off before performing any service actions. The display in the
operating condition (lights on) indicates a dangerous voltage on the DC-bus. When
display turns off, the DC-bus voltage is approximately 100V. Note also that there is
always a dangerous voltage in the braking resistor when the DC-bus is charged.
- Do not connect any voltage to the output terminals (U, V, W). This will cause damage to the drive.
- The overload protection protects both the supply and the motor cables. The fuses in the power supply
provide short circuit protection.
3.1 Visual checks

- Record all checks and results.
- Check condition of the enclosures.
- Make sure that the drive serial number is the same as in the delivery documents.
- Check the rotary dial and dip switch settings on the SSU board (see chapter "SSU").
- If necessary, open the control box cover and adjust the SSU settings.
- Check the wiring to the motor, brake, thermistors and speed sensor.
- Check the motor type and motor parameters
- Check the wire terminations in the motor connection box
- Check connections for motor, thermistors, heaters, brake wear and speed sensor circuits.
- Disconnect motor (U, V, W) and brake cables to prevent damage of the inverter. Measure the isolation
resistance (using a megger) of the brake coil and the motor windings (each phase to ground).
- Re-connect motor and brake cables.
- Check braking resistor(s) and resistor enclosure air ventilation.
- The temperature of hot air coming from braking resistors may rise over 200C (400F). Make sure
that hot air does not cause any danger.
- A board terminals A1-A10 and C board terminals C1-C6 are for electronics level signals.
- Normally only shielded wires are connected to these terminals. Make sure that no control or line
voltage level wires are connected there.
3.2 Checks before the first test run

Warning! High voltages inside the device.
- Make sure that the power supply voltage is sufficient (nominal voltage +/- 10%).
- Make sure that run commands are off (pushbuttons / controller (master switch) at zero position).
- Turn on the power from the main switch and the control voltage switch.
- Within about 1 second the keypad should display "AC on", and then in about 1 second the display
should change to the multimonitor parameter 4.23.1 and the green READY status indicator should also
turn on.
- In a fault situation, the red FAULT status indicator blinks and the display shows a fault code instead
of the multimonitor.
- Make sure that the green RUN status indicator is off.
- Make sure that the external connections and programming of the digital and analog inputs are done
according to the application requirements.
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- Check to make sure the parameters are properly set. Take notes of all of the parameter adjustments
that were necessary on the parameter list supplied with the drive; write down in the parameter list all
the values that have been changed.
3.3 Test run without load

- Reference chapter 4.4 Open Loop motor parameter adjustments and chapter 4.5 Closed Loop
motor parameter adjustments.
- Make sure that movement will not cause any danger to the environment or to the crane itself. Avoid
running close to the limit areas.
- Check the limit switches manually if possible.
- Check the run commands on the keypad display and correct the motor rotating direction. The arrow
rotates clockwise if S1 (fwd/up) is applied, and counter-clockwise if S2 (rev/down) is applied.
- Check the function of the speed sensor; see chapter “Speed sensors”
- Check the function of the speed supervision circuit. See "Functional test run for SSU".
- Run forward (upwards) at minimum speed for 5 to 10 seconds. Accelerate to full speed. Run 5 to 10
seconds. Stop. Repeat the same in the reverse (down) direction. Check the frequency display to make
sure that the frequency changes through the whole operational frequency range from the minimum to
the nominal speed.
- Check the motor operation (acceleration, deceleration and braking): accelerate to full speed forward
(up), change to full speed reverse (down) and full speed forward (up) again and stop.
- Check the limit switch functions: run forward (up) slowly and check the slowdown and the stop limit
switch operations. Re-check using full speed. Repeat the same check for the reverse (down)
direction.
- If the optional ESR is used, check the maximum frequency.
- When all functionality is verified to be correct, autotuning needs to be performed.
- See chapter 4.4.3 for open loop autotuning instructions for Traverse motions.
- See chapter 4.5.2 for closed loop autotuning instructions for Hoist motions with an encoder.
3.4 Test run with load

- See also chapter 4.4 Open Loop motor parameter adjustments and chapter 4.5 Closed Loop motor
parameter adjustments
- Note: three loads are required:
- Nominal load (100%) for normal operation.
- Limited load for ESR (optional).
- An adequate extra load for dynamic overload testing and to test the ESR load limit.
- Make sure that movement will not cause any danger to the environment or to the crane itself.
- If the optional extended speed range (ESR) is used, check that the load limit is correctly set and
hoisting with bigger loads is prevented.
- Run in both directions at minimum and maximum speeds.
- If the fan tube resistor unit is included, check that the fan(s) starts to blow when running down with
nominal load and continues to blow for about 4-5 minutes after stopping.
3.5 After the test run and autotuning

- Record all the parameter value changes in the parameter list.
- Make sure all remarks and setting values are recorded.
- Copy all parameters up to keypad memory at parameter 6.3.2.
- Save user parameters in Control Unit at parameter 4.1.2.
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4 PARAMETER ADJUSTMENTS
4.1 Control keypad operation
Drive status indications :
RUN Motor is running
Motor rotation direction
RUN STOP READY ALARM FAULT
STOP Inverter is not running
P3.4.1.1. I/O term Keypad Bus/Comm
READY OK circuit is active
Motor Nom Volt ALARM
FAULT
Active warning
Active fault
400 V Control place indications :
I/O term Terminals are the selected control place
ready run fault Keypad Control keypad is the selected control place
START
Bus/Comm Control through Profibus is selected
reset
Text lines :
STOP Line 1 Location indication (parameter number)
Line 2 Description line (parameter name)
Line 3 Value line (parameter value)
select enter
Status LEDs :
ready green Illuminates the AC-supply is on
run green Illuminates during run
fault red Illuminates due to a fault
Button descriptions – also see section 4.1.4 for keypad shortcuts:
Starts the motor if the keypad is the active

reset Reset active faults START
control location
Stops the motor if the keypad is the active

select Switch between two latest displays STOP
control location
enter Confirmation of selections
Move to previous menu level

Browse up the menus
Move cursor left
Increase values
Exit edit mode
Move to next menu level
Browse down the menus
Move cursor right
Decrease values
Enter edit mode
Warning! Running via keypad can cause a hazardous situation. Keypad control must not be used.
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4.1.1 Navigation on the control keypad
The letters listed below will appear as the first character in the parameter address. This letter only
describes the type of parameter you are viewing. It has no relationship as to where you are in the
parameters. Parameter navigation is actually completely determined by the numbers and is not
dependent upon the letter.
Letter front of the code number describes variable type

B = Button G = Group N = Multimonitor T = Trip Counter
C = Counter H = Fault History P = Parameter V = Value
D = Data I = Info R = Reference
E = Expander M = Menu Group S = System
STOP READY STOP READY STOP READY
M8. I/O term

H8.1. I/O term
T8.1.1. I/O term
Fault History 57 Thermistor Operation days

H1Hxx F T1T16 0
STOP READY
M7. I/O term
Active Faults
F0
STOP READY STOP READY
M6. I/O term

S6.2. I/O term
System Menu Application

S1S8 Crane
G5. I/O term

B5.1. I/O term
Panel Control Panel Control

B1R2 Off
G4. I/O term

V4.22. I/O term
Monitoring Output Frequency

G1G23 0.00 Hz
STOP READY STOP READY STOP READY STOP READY
G3. I/O term

G3.4. I/O term
G3.4.1. I/O term
P3.4.1.1. I/O term
Parameters Motor Parameters Motor Set 1 Motor Nom Volt

G1G9 G1G7 P1G23 400 V
4.1.2 Value line editing

STOP READY Mode Edit Accept
P3.4.1.1. I/O term change value value
Motor Nom Volt

enter
400 V
Warning! Changing parameter settings during running may cause a hazardous situation.
Parameter settings must not be changed during operation.
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4.1.3 Passwords
Parameter Name Description

P3.1.1 Password Following passwords release the parameter locks.
Level 1 Locked 0
Level 2 Start-up 26
Level 3 Engineering 768
4.1.4 Special buttons, shortcuts and copy parameter functions
Button Time delay Description
START > 2 seconds Password level changes to Level 3 Engineering.
> 2 seconds Displays the software version.
> 2 seconds Display changes straight to adequate autotuning parameter.
select > 2 seconds Changes display straight to V4.22 Output Frequency.
reset > 3 seconds Resets whole H8 Fault History when display in any level of H8 menu.
enter > 1 second Resets whole H8 Fault History when display in sublevel of H8 menu.
Parameter Name Description

S6.3.1 Parameter Sets Not used in D2V. To save or load a parameter set useG4.1 Parameter Backup
S6.3.2 Upload to Keypad Uploads the current user parameters to keypad memory
S6.3.3 Download from Keypad Downloads parameters in keypad memory to user parameters
S6.3.4 Autom. Backup 0 = Yes. Parameter changes are upload automatically to keypad
1 = No. Parameter changes are not uploaded automatically to keypad
The default value of Automatic Backup is 1 = No. That allows
keeping a good copy of the parameters in keypad memory
**Record some distinct parameters that are trying to be achieved prior to using process
To Upload parameters to keypad: Navigate to parameter S6.3.2. Press the right arrow on the keypad so
that “All Parameters” is flashing. Now press “Enter” on the keypad and wait until the keypad says “OK”
To Download parameters from keypad: Navigate to parameter S6.3.3. Press the right arrow on the
keypad so that “All Parameters” is flashing. Now press “Enter” on the keypad and wait until the keypad
says “OK”
**Verify that parameters have correctly loaded by comparing loaded parameters with recorded parameters
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4.1.5 Monitoring
Below is a list of the group 4 Monitoring parameters. For example, operation of analog and digital inputs
can be verified with monitoring parameters. After power off and on the display returns to its default display
at 4.23.1 which is the Multimonitor.
G4.7 Digital Input Unit PW 1

G4 Monitoring Unit PW 1 G4.7.1 DI Status Unit PW 1
G4.1 Parameter Backup Unit PW 1 V4.7.1.1 S1 1
B4.1.1 Load Default Par 1 V4.7.1.2 S2 1
B4.1.2 Save User Par 1 V4.7.1.3 DIA3 1
B4.1.3 Load User Par 1 V4.7.1.4 DIA4 1
G4.1.4 Factory Default Unit PW 4 V4.7.1.5 DIA5 1
B4.1.4.1 Save Default Par 4 V4.7.1.6 OK 1
G4.2 Analog I/O Unit PW 1 V4.7.1.7 DID1 1
V4.2.1 Ain1 Value V 1 V4.7.1.8 DID2 1
V4.2.2 Ain2 Value V 1 V4.7.1.9 DID3 1
V4.2.3 Aout1 Value mA 1 V4.7.1.10 DID4 1
V4.2.4 Aout2 Value V 1 V4.7.1.11 DID5 1
G4.3 Relay Output Unit PW 1 G4.7.2 DI Functions Unit PW 1
V4.3.1 ROB1 State 1
V4.3.2 ROB2 State K7 1
V4.7.2.1 DIA3 Function 1
V4.3.3 ROC1 State 1 V4.7.2.2 DIA4 Function 1
V4.3.4 ROD1 State 1 V4.7.2.3 DIA5 Function 1
V4.3.5 ROE1 State 1 V4.7.2.4 DID1 Function 1
G4.4 Operate Counters Unit PW 2 V4.7.2.7 DID4 Function 1
V4.4.1 Motor MWh MWh 2 V4.7.2.8 DID5 Function 1
V4.4.2 Generator MWh MWh 2 V4.7.3 Basic Board 1
V4.4.3 Start Counter x 1k 2 V4.7.4 Extension Board 1
V4.4.4 MotorRuntime (h) h 2
G4.8 SSU Unit PW 1
G4.5 Fault Counter Unit PW 2 V4.8.1 Overspd Lim 1 % 1
V4.5.1 F1 Overcurrent 2
V4.8.2 Overspd Lim 2 % 1
V4.5.2 F2 Overvoltage 2
V4.5.3 F3 Earth Fault 2 G4.9 Service Unit PW 3
V4.5.4 F7 Saturation 2 V4.9.1 Phase U Curr A 3
V4.5.5 F9 Undervoltage 2 V4.9.2 Phase V Curr A 3
V4.5.6 F10 Input Phase 2 V4.9.3 Phase W Curr A 3
V4.5.7 F11 Output Phase 2 V4.9.4 Encoder Speed Hz 3
V4.5.8 F12 BrakeChopper 2 V4.9.5 HeatSinkTempMax °C 3
V4.5.9 F13 Undertemp 2 V4.9.6 HeatSinkTempMin °C 3
V4.5.10 F14 Overtemp 2
V4.9.7 IGBT Temp Max °C 3
V4.5.12 F31 IGBT Temp HW 2
V4.9.8 IGBT Temperature °C 3
V4.5.13 F41 IGBT Temp 2
V4.5.14 F43 Encoder 2 V4.9.9 SlipAdjustChange % 3
V4.5.15 F53 Profibus 2 G4.9.10 Max Current Unit PW 3
V4.5.16 F56 Gen Curr Lim 2 V4.9.10.1 Max Current 3
V4.5.11 F57 Thermistor 2 V4.9.10.2 Max Current Freq 3
V4.5.17 F61 SSU Overspd 2 V4.9.10.3 Max Current Torq 3
V4.5.18 F62 SSU Spd Diff 2
V4.5.19 F63 SSU Stall 2 G4.10 Sway Control Unit PW 3
V4.5.20 F74 Sway Control 2 V4.10.1 Swing Time s 3
V4.5.21 F76 Input Signal 2 V4.10.2 Pendulum Length m 3
V4.5.22 A81 Brake Slip 2 V4.10.3 StoppingDistance m 3
V4.5.23 A82 Overweight 2 V4.10.4 Sway Ctrl Status 3
V4.5.24 F90 System Bus 2 V4.10.5 License Status 3
V4.5.25 Other faults 2 V4.10.6 DemoLicenseTime 3
V4.5.26 Total Faults 2 V4.11 Freq Ref Hz 1
G4.6 Bus Control Unit PW 1 V4.12 Speed Req Hz 1
V4.6.1 S1 Fieldbus 1 V4.13 Distance Counter m 1
V4.6.2 S2 Fieldbus 1 V4.14 DC-link Voltage V 1
V4.6.3 Motor Set 2 1
V4.15 Heat Sink Temp °C 1
V4.6.4 Second Speed Lim 1
V4.16 MotorTemperature % 1
V4.6.5 Field Weakening 1
V4.6.6 Alt Control Mode 1 V4.17 Motor Power % 1
V4.6.7 Brake Feedback 1 V4.18 Motor Voltage V 1
V4.6.8 Ramp 2 1 V4.19 Motor Torque % 1
V4.6.9 Torque Limit 1 V4.20 Motor Current A 1
V4.6.10 AP 1 V4.21 Motor Speed rpm 1
V4.6.11 Slow Limit S11 1 V4.22 Output Frequency Hz 1
V4.6.12 Slow Limit S21 1
G4.23 Multimonitor Unit PW 1
V4.6.13 End Limit S12 1
V4.23.1 Multimonitor 1
V4.6.14 End Limit S22 1
V4.6.15 Brake Pedal 1
V4.6.16 S-Curve Inhibit 1
V4.6.17 Tare 1
V4.6.18 Inching 1
V4.6.19 SlackCableBypass 1
V4.6.20 Brake Pedal 2 1
V4.6.21 Synchronizing 1
V4.6.22 Speed Reference Hz 1
V4.6.23 Torque Reference % 1
V4.6.24 Speed Correction Hz 1
V4.6.25 Ramp Reference 1
V4.6.26 Torgue Limit Ref % 1
V4.6.27 Speed Limit Ref 1
V4.6.28 Load Feedback 1
V4.6.29 Sway Ctrl Height 1
V4.6.30 Calibration Pos 1
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4.2 Input selections

Digital inputs are programmed based on function. Each function can be set to one of the 8 programmable
digital inputs. The programmable digital inputs are DIA3, DIA4, DIA5, DID1, DID2, DID3, DID4 or DID5.
Some functions can be set always ON or always OFF to activate certain functions permanently.
There are also 3 other inputs, which functions can not be changed by parameters. These non-
programmable inputs are OK-input and the direction signals S1 (up or forward) and S2 (down or reverse).
In basic applications one function is set to each input. For special applications it is also possible to set
many functions to same input. For example the Torque limit and Ramp2 should be activated with DIA5.
Select the value 3=DIA5 in both parameters P3.2.1.7 and P3.2.1.8.
Note! Impossible function combinations may be selected.
The following table lists the possible inputs for each function.
Parameter Name / Function DIA3 DIA4 DIA5 DID1 DID2 DID3 DID4 DID5 ON OFF
P3.2.1.1 Motor Set 2 X X X X X X X X X X
P3.2.1.2 SSL X X X X X X X X X X
P3.2.1.3 ESR X X X X X X X X X X
P3.2.1.4 Micro Speed Sel X X X X X X X X X X
P3.2.1.5 Alt Control Sel X X X X X X X X X X
P3.2.1.6 Profibus Control - - X - - - - - - -
P3.2.1.7 Ramp2 X X X X X X X X X X
P3.2.1.8 Trq Limit X X X X X X X X X X
P3.2.1.9 AP X - - - - - - - X X
P3.2.1.10 CMS - X - - - - - - X X
P3.2.1.11 EP-Hold X X X X X X X X - -
P3.2.1.12 Multistep2 X X - - - - - - - -
P3.2.1.13 Multistep3 - X X - - - - - - -
P3.2.1.14 Multistep4 - - X X - - - - - -
P3.2.1.15 Multistep5 - - - X X - - - - -
P3.2.1.16 PO/MS X X X X X X X X - -
P3.2.1.17 S11 - - X - X - - - X X
P3.2.1.18 S21 - - - X - X - - X X
P3.2.1.19 S11 & S21 X X X X X X X X - -
P3.2.1.20 S12 - - - - X - X - - -
P3.2.1.21 S22 - - - - - X - X - -
P3.2.1.22 MF1 Input X X X X X X X X - -
P3.2.1.24 MF2 Input X X X X X X X X - -
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4.3 Speed supervision settings

SSU is a hoist motion speed supervision unit, which reads the pulse frequency from
the hoist motor bearing sensor, encoder, or pulse sensor. This pulse frequency is
compared with a fixed oscillator frequency and drive frequency reference. As a result
of the frequency comparison, there are three different speed supervision functions
available:
S1
- overspeed supervision (rush control) ON OFF
- stall supervision
1 2 3 4
- speed difference supervision S2
Overspeed supervision (F61) is totally implemented by hardware.

S3
Switches S2-2 and S2-3 divide the full frequency range to four frequency areas.
- Selected frequency area is the same for normal and ESR speeds.
The four frequency areas are each divided to lower and upper frequency ranges
- Switch S2-1 selects the frequency range at normal speed.
- Switch S2-4 selects the frequency range at ESR speed (Extended Speed
Range).
The exact tripping frequency level is selected with rotary switches.

- Switch S1 sets the tripping level at normal speed (value shown in V4.8.1).
- Switch S3 sets the tripping level at ESR speed (value shown in V4.8.2).
Overspeed tripping levels are shown at display as % of the motor nominal speed. The
overspeed setting should be 15-25% above the nominal speed.
When overspeed is detected, the mechanical brake is closed immediately and power to the motor is
switched off.
Speed difference supervision (F62) compares the motor actual speed (= pulse frequency) with
frequency reference. In practice this means that the motor slip is measured and if that exceeds a preset
limit, supervision stops the motion. Allowed speed difference (%) is adjusted with parameter P3.3.10.1.
The use of ESR has no effect on this parameter setting.
Stall supervision (F63) stops the motion if there are no pulses coming from the sensor when the brake is
open (K7 energized). Allowed time (s) without pulses before a fault is detected is adjusted with parameter
P3.3.10.2.
SSU relay test (F64): SSU relay is tested each time the drive powers up. Operation is prevented if a fault
has been detected.
SSU Watchdog fault (F65): Communication between SSU board and control board is tested once every
50ms. A fault will be detected if there is communication error. When a fault is detected operation is
prevented.
SSU Overspeed Limit (F66): Maximum setting of the overspeed limit is 1.4*nominal speed of direction
S2 (normal and ESR). Fault will be detected if the overspeed limit is set higher than that value. When a
fault is detected, operation is prevented.
Brake Slip (A84): Active only when the parameters have been programmed for this detection.
See section 4.6 of this manual for further information about this feature.
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Standard settings
As an aid to determine proper settings, these tables indicate the pulse frequencies and the correct switch settings
for standard cases with certain combinations of motor speed and pulses per revolution.
Open loop Proximity switch Bearing sensor

Motor RPM 3600 3000 1800 1500 3600 3000 3600 3000 3600 3000
Pulse number 24 24 24 24 32 32 64 64 80 80
Pulse frequency 1440 1200 720 600 1920 1600 3840 3200 4800 4000
Rotary switch S1, S3 7 4 E B 1 F A 8 D B
Switch S2-1, S2-4 ON ON OFF OFF ON OFF ON ON ON ON
Switch S2-2 ON ON ON ON OFF OFF OFF OFF OFF OFF
Switch S2-3 OFF OFF OFF OFF OFF OFF OFF OFF OFF OFF
Closed Loop Encoder

Motor RPM
3600 3000 1800 1500 1200 1000 1800 1200 900
Pulse number
600 600 600 600 600 600 1024 1024 1024
Pulse frequency
36000 30000 18000 15000 12000 10000 30720 20480 15360
Rotary switch S1,
4 1 B 8 5 3 2 C 9
S3
Switch S2-1, S2-4
ON ON OFF OFF OFF OFF ON OFF OFF
Switch S2-2
ON ON ON ON ON ON ON ON ON
Overspeed tripping frequency levels
Area selection 300 – 3234 Hz 600 – 6467Hz 1200 – 12935Hz 9600 – 70722Hz
S2:2 ON OFF OFF ON
S2:3 OFF OFF ON ON
Range selection
Normal S2:1 OFF ON OFF ON OFF ON OFF ON
0 300 1027 600 2055 1200 4110 9600 32878
1 324 1109 647 2218 1295 4436 10359 35489
2 350 1195 700 2391 1400 4781 11196 38251
3 378 1291 756 2582 1511 5163 12092 41304
S1/Normal
4 408 1396 816 2793 1632 5585 13055 44684
5 441 1506 881 3012 1763 6024 14104 48188
Tripping 6 476 1625 951 3251 1902 6502 15217 52013
level 7 514 1755 1027 3511 2055 7022 16439 56174
selection 8 555 1896 1109 3793 2218 7585 17744 60681
9 599 2048 1198 4096 2395 8192 19163 65536
S3/ESR A 647 2210 1296 4420 2587 8840 20696 70722
B 698 2381 1396 4763 2793 9526 22342 --
C 755 2586 1510 5163 3019 10326 24153 --
D 815 2793 1630 5585 3259 11171 26075 --
E 880 3012 1760 6024 3521 12047 28167 --
F 951 3234 1902 6467 3804 12935 30435
ESR S2:4 OFF ON OFF ON OFF ON OFF ON
Range selection
S2:1, together with S1, are used for setting the tripping frequency level at normal speed.
S2:4, together with S3, are used for setting the tripping frequency level at ESR speed.
If ESR is not used, set S2:4 + S3 equal to S2:1 and S1.
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Example
Normal use A 3000 rpm motor with 32 On the table the highest Check from V4.8.1 that
pulses per revolution has a value under 2000Hz is the detection level is
full speed pulse frequency 1902Hz. Suitable switch 1902Hz/1600Hz
of 1600 Hz. settings are =118.9% of nominal
speed.
Suitable maximum S2-2=OFF and S2-3=OFF
overspeed detection level
is 1600Hz + 25% = S2-1=OFF and S2-4=OFF
2000Hz. S1=F and S3=F
ESR use If ESR is applied for 150% S2-2=OFF and S2-3=OFF Check from V4.8.2 that
of nominal speed, then the are according to normal the detection level is
full ESR pulse frequency is speed settings. 2793Hz/2400Hz
1.5 * 1600Hz = 2400Hz. =116.4% of ESR speed.
On the table the highest
Suitable maximum over- value under 3000Hz is
speed detection level is 2793Hz.
2400Hz + 25% = 3000Hz.
Correct switch settings are
S2-4=ON and S3=4.
Settings for non-standard cases

In nonstandard situations the pulse frequency can be calculated. With these results the SSU settings can
be defined like ESR setting above.
Pulse frequency calculation
Pulse frequency (Hz) = [(Motor RPM * Pulses Per Revolution) / 60]
4.3.1 Functional test run for SSU
Note! Test run must be made without load.
This test is completely applicable for hoisting motions. In traveling motions the only overspeed
supervision can be tested by following steps 5 - 7. All of the SSU faults will be reset automatically after
one second without pulses.
1. Disconnect the +24V wire going to the pulse generator at the terminal strip.
2. Run with the minimum speed. The motion must stop within the set time.
- Fault F63 (Stall supervision) should be detected
3. Run with maximum speed, the motion must stop at once.
- Fault F62 (Speed difference) should be detected
4. Reconnect the disconnected +24V wire to the terminal strip.
5. Set rotary switch S1/S3 value 2 steps smaller
6. Run with maximum speed. The motion must stop after full speed is reached.
- Fault F61 (Overspeed) should be detected
7. Set rotary switch S1/S3 back to its original value.
Note! The test makes the crane stop suddenly that may cause a dangerous situation.
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4.4 Open Loop motor parameter adjustments

In hoisting motions the open loop control is available. In hoisting motions the open loop is only available
for specific motors that use bearing sensors or pulse sensors, or load brake hoists. The purpose of this is
that there must be some overspeed detection device when using a hoist with an inverter.
In traveling motions the open loop control is suitable for most applications. The applicable minimum
speed is 1/3 of the motor rated slip.
4.4.1 Open Loop speed control for hoisting

Note! Non-loadbrake hoisting open loop motor parameters must not be changed.
In open loop speed control when using a motor with a bearing sensor, the parameters are factory tested
for the specific motor type. The motor parameters are set at the factory and must not be modified.
P3.4.1.9 Control Mode Preset value is 1 (OL Current Control). Factory

preset value must not be changed.
4.4.2 Open Loop motor parameters for traveling
Note! If motor type is marked on the parameter list, the calculated motor parameters have
been set at the factory. However, in some cases these factory set parameters do not
give the best result and the adjustment should be done according to this instruction.
In traveling motion the most commonly used motor control mode is Frequency control, however current
control is also available. The following parameter adjustments must be done before these modes can be
used.
1. P3.4.1.1 Motor Nominal Voltage Set equal to nominal voltage on motor rating plate.
P3.4.1.2 Motor Nominal Frequency Set equal to nominal frequency on motor rating plate.
P3.4.1.3 Motor Nominal Speed Set equal to nominal speed on motor rating plate.
2. P3.4.1.4 Motor Nominal Current Set equal to nominal current on motor rating plate.
P3.4.1.5 Nominal Flux Current Set equal to no load current on motor rating plate (if
not available, set value to 50% of P3.4.1.4).
- If there are several motors connected in parallel, the correct value of P3.4.1.4
and P3.4.1.5 is the current of one motor multiplied by the number of motors.
3. P3.4.1.6 Motor Cosine Phi Set equal to cosine phi value on motor rating plate (if
not available, do not change the default setting).
4. P3.4.1.7 Start Current Set to 0.8 x P3.4.1.4.
- The value of P3.4.1.7 must be limited to 0.8 x drive's nominal output current (In).
P3.4.1.8 Current Limit Set to 1.2 x P3.1.1.4. Different applications may
require a different multiplier to be used.
- The value of P3.4.1.8 must be limited to the drive's maximum output current
(1 minute value).
5. P3.4.1.15 Maximum Frequency S1 Set equal to desired maximum frequency (usually the
P3.4.1.16 Maximum Frequency S2 nominal frequency on motor rating plate).
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6. P3.4.1.17 ESR Point Freq Set to nominal frequency on motor rating plate
P3.4.1.18 ESR Point Volt Set to nominal voltage on motor rating plate
4.4.3 Open Loop autotuning for traveling, frequency control

The purpose of autotuning is to allow for an adequate motor magnetizing level throughout the entire
frequency range. By performing autotuning the drive will automatically calculate and set the motor specific
tuning parameters in Frequency control.
Note! Motor rating plate value parameters must to be set correctly before autotuning. Any
changes to the motor parameters will require autotuning to be performed again.
1. P3.4.1.9 Control mode Set to 0 (OL Frequency Control).

P3.4.1.19 Drive selection Set to 1 (Travel).
2. P3.4.2.3 OL Autotuning 1 Default value is Not Done.

- Push Enter >2 s to start autotuning.
- The value changes to Tuning. The brake is not opened during autotuning.
Tuning may be aborted by pushing Reset or Stop.
- If autotuning fails, the value changes to Failed, Output Phase or Store Failure.
Check connections, motor rating plate values and motor set selection.
- After successful procedure, the value is Done.
After successful autotuning there is no need for other motor parameter changes or manual adjustment of
U/f-curve parameters. Any manual change of motor parameters will change the value of P3.4.2.3 to
Modified. The adjusted autotuning parameters are:
P3.4.2.1.1 Zero Freq Volt P3.4.1.13 Min Freq S1

P3.4.2.1.2 U/f Mid Volt P3.4.1.14 Min Freq S2
P3.4.2.1.3 U/f Mid Freq P3.4.2.2.6 Start Freq S1
P3.4.2.1.7 Rs Voltage Drop P3.4.2.2.7 Start Freq S2
The drive is ready to operate after a successful completion of this procedure.
4.4.4 Open Loop manual tuning for traveling

If autotuning did not give a proper result, calculate Rs Voltage Drop and go through chapter Open Loop
manual tuning for traveling. Check also the values of parameters P3.4.2.2.6 and P3.4.2.2.7.
P3.4.2.1.7 Rs Voltage Drop Set equal to calculated relative motor phase

impedance.
A. Switch the power off and disconnect the motor cables on motor output
terminals.
B. Measure the stator phase impedance (R) of cold motor on disconnected cable
ends.
- If there are several motors connected in parallel, the correct value is
approximately the stator impedance of one motor divided by the number of
motors.
- A simple multimeter might not be good enough to measure low resistances.
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C. Connect the motor and switch power on.

D. Calculate relative value of motor phase impedance.
Rs Voltage Drop = [(2217 * Resistance * P3.4.1.4) / P3.4.1.1]
4.4.5 Open Loop manual tuning for traveling, frequency control
The default motor control mode is Frequency control. Frequency control is used to get optimal
magnetizing current to the motor by utilizing U/f-curve tuning. When using Frequency control this
guarantees good low and middle speed characteristics. The following table shows the formulas to
calculate the values from where to start the tuning.
P3.4.2.1.1 P3.4.2.1.2 P3.4.2.1.3

Zero Frequency Voltage (%) U/f Midpoint Voltage (%) U/f Midpoint Frequency (Hz)
[(100 * Resistance * P3.4.1.5) /
1.41 * P3.4.2.1.1 (P3.4.2.1.1 * P3.4.1.2) / 100
P3.4.1.1]
1. P3.4.1.9 Control Mode Set to 0 (OL Frequency Control).

2. P3.4.1.13 Minimum Frequency S1 Set equal to P3.4.2.1.3 (U/f Midpoint Frequency).
P3.4.1.14 Minimum Frequency S2
A. Run at maximum speed and check the motor current value (V4.20).
B. Try to run at minimum speed and check the motor current value. Motor current
at minimum speed should be approximately average of the previously
measured maximum speed current and the rated current.
P3.4.2.1.2 C. Increase or decrease value to increase or decrease motor current. Run again
minimum speed and check motor current. Repeat step B until current value is
within the desired range.
3. P3.4.1.13 Minimum Frequency S1 Set equal to P3.4.2.1.3 divided by 2.
A. Try to run at minimum speed and check the motor current value. It must be
approximately average of the previously measured maximum speed current
and rated current.
P3.4.2.1.1 B. Increase or decrease value to increase or decrease motor current. Run again
minimum speed and check motor current. Repeat step A until current value is
within the desired range. The motor might not run if the frequency is very low.
4. P3.4.1.13 Minimum Frequency S1 Set according to desired minimum speed
A. If the motor is not running at minimum speed, increase parameters and
continue from step 1.
The drive is ready to operate after a successful completion of this procedure.
4.4.6 Open Loop manual tuning for traveling, current control
Current control can be used instead of frequency control according to following rules.
- Motor nominal current must not be higher than drive’s rated current.
- The number of connected motors must not be variable.
1. P3.4.1.9 Control Mode Set to 1 (OL Current Control).
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2. P3.4.1.5 Nominal Flux Current If the rating plate value was not available, a proper
value can be found by test run.
A. Make sure that the crane has no load on the hook.
B. Run on maximum speed and read the current on the keypad display (V4.20).
The drive is ready to operate after these adjustments.
4.5 Closed Loop motor parameter adjustments

Closed loop control is available for all power ratings. Motors for these applications must have an
incremental encoder mounted directly on the motor shaft for speed feedback. Normally the incremental
encoder has 600 pulses per revolution. In special applications, like modernization, it is possible to use
512, 1000, 1024, 1200, 2000 or 2048 pulses per revolution encoders also. Speed accuracy is better than
with open loop control modes and thus fine positioning is accurate.
In traveling motions closed loop requires the SSU board in the inverter and closed loop is used only in
special cases when the speed accuracy demands are high.
Note! The closed loop parameters must always be set in start-up.
4.5.1 Closed Loop rated motor parameters

Before running
In closed loop speed control, the parameters must always be set during commissioning. The following
parameter adjustments must be performed before this mode can be used.
1. P3.4.1.1 Motor Nominal Voltage Set equal to nominal voltage on motor rating plate.
P3.4.1.2 Motor Nominal Frequency Set equal to nominal frequency on motor rating plate.
P3.4.1.3 Motor Nominal Speed Set equal to nominal speed on motor rating plate.
2. P3.4.1.4 Motor Nominal Current Set equal to nominal current on motor rating plate.
P3.4.1.5 Nominal Flux Current Set equal to no load current on motor rating plate (if
not available, set value to 50%).
- If there are several motors connected in parallel, the correct value of P3.4.1.4
and P3.4.1.5 is the current of one motor multiplied by the number of motors.
3. P3.4.1.6 Motor Cosine Phi Set equal to cosine phi value on motor rating plate.
4. P3.4.1.7 Start Current Set to 1.0 x P3.4.1.4. Different applications may
- The value of P3.4.1.7 must be limited to drive’s nominal output current (In).
P3.4.1.8 Current Limit Set to 1.2 x P3.1.1.4. Different applications may
- The value of P3.4.1.8 must be limited to drive’s maximum output current (1
minute value).
5. P3.4.1.15 Maximum Frequency S1 Set equal to desired maximum frequency (usually the
P3.4.1.16 Maximum Frequency S2 nominal frequency on motor rating plate).
6. P3.4.1.9 Control Mode Verify the value is 3 (CL Speed Control).
Note! Check the operation of limit switches before performing closed loop tuning.
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Speed controller
The inertia affects the speed controller parameters. A high inertia requires high gain value. Low inertia
requires low gain value. If gain value is too high, it may cause vibration. A permanent speed difference
can be eliminated by integration. High integration time value eliminates the difference slowly. Small
integration time value eliminates the difference fast, but may cause vibration. P3.4.3.3 Speed Ctrl Kp is
gain and P3.4.3.4 Speed Ctrl Ti is integration time.
Speed controller parameters may have to be re-adjusted after closed loop tuning.
Small inertia Medium inertia Large inertia or

disk brakes disk and shoe brakes several shoe brakes
P3.4.3.3 (gain) 10 … 15 15 … 25 >30
P3.4.3.4 (integration) 30 ms 30 ms 30 ms
Brake and encoder checking

- Reset Fault History.
- Set correct encoder pulses per revolution to P3.4.1.20 Pulse Number.
- Brake checking: Run at minimum frequency and check brake functionality (opening and closing). Make
sure that the brake air gap is correct.
- Encoder checking: Run about 20 % and see V4.21 Motor Speed from the control keypad. When
running in direction S1 (up), motor speed is positive, and to direction S2 (down), motor speed is
negative.
- If the motor is not running smoothly and polarity of speed is incorrect, it usually means that the
encoder pulse channels are connected incorrectly. A faulty encoder connection causes F43
Encoder Failure, which is detected after 5 seconds of operation.
F43 Encoder Failure includes 4 codes: Note that if the negative channels (EA-
Code 1 = EA+/- is missing and EB-) are cross-connected, motor
Code 2 = EB+/- is missing does not run properly. There is no fault
Code 3 = Both EA+/- and EB+/- are missing code for this situation.
Code 4 = EA+ and EB+ are cross-connected
- Make sure that there are no faults in fault history, and reset if necessary.
Note! Closed loop speed control is very sensitive to encoder pulse defects. Faulty encoder
connections and/or disturbance in encoder pulses may cause wrong operation or
inverter faults.
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4.5.2 Closed Loop autotuning, speed control

The purpose of autotuning is to allow for an adequate motor magnetizing level throughout the entire
frequency range. By performing autotuning the drive will automatically calculate and set the motor specific
tuning parameters in closed loop speed control.
Note! Motor rating plate values have to be set correctly before autotuning.
P3.4.1.9 Control mode Set to 3 (CL Speed Control).

P3.4.1.19 Drive selection Set to 2 (Hoist) or 1 (Travel), depends on application.
B3.4.3.6.4 CL Autotuning Modes Set to 0 (Normal).
- 0 Normal is the default setting for autotuning. In normal mode inverter stops
automatically, when tuning is being performed in steps 2 and 3.
- Tandem must be selected when two inverters drive the same movement. In
tandem mode inverter will not stop automatically, but it follows the direction and
speed reference commands. Because of speed limitations in step 2 and step 3,
tandem drives have to be tuned simultaneous.
Note! Steps 1 and 2 of closed loop autotuning must be done with empty hook and without any
loading devices. In the steps 2 and 3, the motor will need to be operated. The display
will show how the motor needs to be run. It will not run automatically.
CL autotuning step 1–Static tuning, the brake will not be controlled to open
P3.4.3.6.1 CLAutotune1step1
Slip Adjust pre-tuning
- Push Enter >2 s to start autotuning step 1.
- The value changes to Tuning. The brake is not opened during CL autotuning
step 1. Tuning may be aborted by pushing Reset or Stop button.
- If autotuning fails, check instructions from troubleshooting section.
- After successful procedure, the value is “Done.”
- Adjusted parameter in autotuning step 1 is P3.4.3.1 Slip Adjust.
- Check value of P3.4.3.1 Slip Adjust. If the value is very close to 200, reset the
value to 70 and continue to autotuning step 2
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Encoder checking
V3.4.3.6.2 Encoder checking
Activate the encoder diagnostic function by pressing enter >2 s. Make sure that there is
no load on the hook.
Drive > 5 s to dir 1 with full speed reference. Drive limits the speed automatically to 50 %
speed. Follow the instructions from the drive keypad
Read the result value from V3.4.3.6.2.
V4.9.11.1 Description
0 / Off Encoder diagnostics is not active.
1 / OK Encoder diagnostics is done and no faults were found.
2 / A Missing Pulses in A channel are missing.
3 / B Missing Pulses in B channel are missing.
4 / A B Crossed Pulses in A and B channel are crossed.
5 / A+B+ Crossed A+ and B+ channels are crossed.
6 / A-B- Crossed A- and B- channels are crossed.
7 / Wrong PPR Encoder pulse number is wrong.
8 / NoiseOrMount Encoder signals have too much noise or abnormal variation.
9 / Drive Dir 1 Encoder diagnostic requests to drive direction S1.
10 / Drive Faster Encoder diagnostic requests faster speed.
11 / Speed Ok Speed is at good level and encoder diagnostics is measuring
and analyzing encoder pulses.
12 / Failed Encoder diagnostic has failed and is not completed.
CL autotuning step 2–dynamic tuning, run the motor without load on crane
Flux Current and Brake Control tuning
- Brake will open during step 2.
- Follow instructions from the inverter display.
- Drive upwards or forwards (dir 1) and accelerate straight to full speed.
- Inverter stops driving and restarts once.
- After successful procedure, the value is “Done.”
- Any manual change of flux current parameter changes value to Modified.
- Adjusted parameters in autotuning step 2 are P3.4.1.5 Nom Flux Curr,
P3.4.3.5.4 Brk Opening Del and P3.4.3.5.5 Start Magn Time.
CL autotuning step 3–dynamic tuning, run the motor with 75-125% load on crane
Slip Adjust fine-tuning
- Brake will open during step 3.
- Follow instructions from the inverter display.
- Drive upwards or forwards (dir 1), accelerate straight to full speed and stop driving.
- Fine-tuning may require several driving operations.
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- After successful completion, the value is “Done.”

- Any manual change of Slip Adjust parameter will change the value to Modified.
- Adjusted parameters in autotuning step 3 are P3.4.3.1 Slip Adjust and P3.3.14.1 Accel
Torque.
After successful autotuning there is no need to make any other motor parameter changes or manual tuning of Closed
Loop. The adjusted parameters in CL Autotuning are:
P3.4.1.5 Nom Flux Curr P3.4.3.5.4 Brk Opening Del

P3.4.3.1 Slip Adjust P3.4.3.5.5 Start Magn Time
P3.3.14.1 Accel Torque
Drive is ready to operate after these adjustments. If there is any vibration, fine adjustments of speed controller parameters
may improve the operation.
Closed Loop autotuning troubleshooting
Step Fault Checking

Step 1 Brake failure - encoder is giving pulses => the brake is slipping
- check brake adjustment
Output phase failure - the current is not flowing in all three phases
- check motor cable connections
Failed - Autotuning failed
- check chapter 4.5.1 Closed Loop rated motor parameters
Step 2 Load too high - calculated motor torque too high (>30%)
- decrease the load
Flux current fault - tuning of motor flux current was not successful
- original value of P3.4.1.5 Nom Flux Curr is wrong
- check motor rating plate value
Speed failure - inverter can not accelerate to 64 % of nominal speed with normal
ramp
- check P3.4.1.15 Max Freq S1 is correct
- check that there is no mechanical barriers
Brake detect fault - brake opening not OK
- general fault during brake opening
- wrong current limit values or motor parameters
Any fault code - in case of any fault code, if no reason found, change P3.4.3.1 Slip
Adjust to 70 (default) and try CL autotuning step 2 again
Step 3 Load too small - inertia of machinery is too small
- test load needed between 75-125%
Slip adjust fault - inverter was not able to tune Slip Adjust properly in 10 attempts
- Slip Adjust value does not change and differs over 1% of original Slip
adjust value
- original value of P3.4.3.1 Slip Adjust is wrong
- change P3.4.3.1 Slip Adjust to 70 (default) and try again CL
autotuning step 1
Failed - try again
Steps 1 - 3 Store failure - writing to EEPROM failed
Failed - reset or stop
- general fault in inverter
- motor set change during tuning
- incorrect operation based on keypad instructions
After troubleshooting the failure, restart the autotuning from the lowest step that has value “Not Done” or “Failed.”
If autotuning does not give a proper result, go through chapter 4.5.3. Closed Loop manual tuning for hoisting, speed
control. In case of traveling motion, contact factory for more information.
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4.5.3 Closed Loop manual tuning for hoisting, speed control
If autotuning could not be completed or did not give a satisfactory result, go through the following closed
loop manual tuning for hoisting.
Motor nominal flux current (no load current) measurement
This procedure must be done when there is no information of motor no load current in the motor rating
plate. The measured no load current must be set to P3.4.1.5 Motor Nom Flux Current. The motor nominal
flux current is the current motor is taking in constant speed and without any torque boost and U/f-curve
adjustments.
- Set P3.4.1.9 Control Mode = 0 (Open Loop Freq Control).
- Set P3.4.2.1.1 Zero Freq Volt, P3.4.2.1.2 U/f Mid Volt, P3.4.2.1.3 U/f Mid Freq to zero and P3.4.2.1.4
Torque Boost = 0 (OFF) in G3.4.2.1 U/f- curve.
- Run without any load in the hook 75% of nominal frequency of the motor. Fill the values of V4.18 Motor
Voltage, V4.22 Output Frequency, V4.19 Motor Torque and V4.20 Motor Current in the closed loop
start-up table.
- Set the measured motor no load current to P3.4.1.5 Motor Nom Flux Current.
- Set P3.4.1.9 Control Mode = 3 (Closed Loop Speed Control).
Closed Loop test run without load
- Make sure that P3.4.1.9 Control Mode = 3 (Closed Loop Speed Control).
- Make sure that the U/f-curve is between lower and upper limit voltage. Run without load upwards at
75% of the nominal frequency.
a) If voltage is lower than lower limit => increase value of P3.4.1.5 Motor Nom Flux Current.
b) If voltage is higher than upper limit => decrease value of P3.4.1.5 Motor Nom Flux Current.
- After possible changes of P3.4.1.5 Motor Nom Flux Current, run 75 % of nominal speed. Fill the values
of V4.18 Motor Voltage, V4.22 Output Frequency, V4.19 Motor Torque and V4.20 Motor Current in the
closed loop start-up table.
Below are test frequencies and voltage ranges for V4.18 Motor Voltage. Frequency is 75% of nominal and
voltage 76 % of nominal +10V window. Adjusted U/f-curve must be between Lower Limit Voltage and
Upper Limit Voltage in closed loop test without load and with load when running upwards.
Motor Nom Freq 50 Hz 60 Hz 100 Hz 120 Hz

P3.4.1.15 Max Freq S1 37.5 45 75 90
Motor Nom Voltage 380 V 400 V 415 V 440 V 460 V 480 V 500 V
V4.18 Lower Limit Voltage 289 304 315 334 350 365 380
V4.18 Upper Limit Voltage 299 314 325 344 360 375 390
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4.5.4 Brake control

The drive has a semi-automatic measurement procedure, which gives optimal values to P3.4.3.5.4 Brake
Opening Delay and P3.4.3.5.5 Start Magn Time.
Note! This procedure must be done with empty hook or spreader. This precaution is carried
out, because there is an internally set torque limit 100 % active when Auto Detect
function is ON.
- Go to G3.4.3.5 Brake Control => B3.4.3.5.1 Auto Detect and turn it ON by pressing enter.
- Set P3.4.3.5.5 Start Magn Time = 2s. The value must be 2s during measurement
- Select V3.4.3.5.2 Measured Brake Delay. Run to direction S1 (up) about 2 seconds and repeat this 5
times. The average values of these 5 measurements are automatically calculated at V3.4.3.5.2
Measured Brake Delay and V3.4.3.5.3 Measured Magnetizing Time.
- Fill the measured values in closed loop start-up table.
- Read the value from V3.4.3.5.3 Measured Magnetizing Time and set it manually to the value of
P3.4.3.5.5 Start Magn Time.
- Read the value of V3.4.3.5.2 Measured Brake Delay, round the value up to next 0.05 s step and set the
rounded value to P3.4.3.5.4 Brake Opening delay. For example: if V3.4.3.5.2 Measured Brake Delay =
0.12 s, then P3.4.3.5.4 Brake Opening Delay should be set to 0.15 s.
- Fill the values of P3.4.3.5.4 Brake Opening Delay and P3.4.3.5.5 Start Magn Time in the closed loop
start-up table.
- Go to B3.4.3.5.1 Auto Detect and turn it OFF by pressing enter.
Note! Auto Detect function must not be active after brake control procedure.
Closed Loop test run with load >50% (recommended 75 ... 125%)
- Make sure that the U/f-curve is between lower and upper limit voltage. Run with load upwards at 75%
of the nominal frequency.
a) If the voltage is lower than lower limit => decrease the value of P3.4.3.1 Slip Adjust.
b) If the voltage is higher than upper limit => increase the value of P3.4.3.1 Slip Adjust.
- After possible changes of Slip Adjust, run 75% of nominal speed. Fill the values of V4.18 Motor
Voltage, V4.22 Output Frequency, V4.19 Motor Torque and V4.20 Motor Current in the closed loop
start-up table.
The drive is ready to operate after these manual-tuning adjustments. If there is any vibration, fine
adjustment of speed controller parameters may improve the operation.
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CLOSED LOOP START-UP TABLE

drive serial number drive type code
Project number Project name
Motor type code: No Load Current:

A
Power: Nom Voltage: Nom Current:
kW V A
ED: Nom Frequency: Nom Speed:
% Hz rpm
Motor nominal flux current (no load current) measurement

Note! P3.4.1.9 Control Mode = 0 (Open Loop Freq Control)
Load below 5%. P3.4.2.1.1=0%, P3.4.2.1.2=0%, P3.4.2.1.3=0Hz, P3.4.2.1.4 = 0 (OFF).
V4.18 V4.22 V4.20
Motor Voltage V Output Frequency Hz Motor Current A
Closed Loop test run without load

Note! P3.4.1.9 Control Mode = 3 (Closed Loop Speed Control)
Record tuned value of P3.4.1.5 V4.19
Motor Nom Flux A Motor Torque %
V4.18 V4.22 V4.20
Brake control
Record values of V3.4.3.5.2 V3.4.3.5.3
Measured Brake Delay s Measured Magn Time s
P3.4.3.5.4 P3.4.3.5.5
Brake Opening delay s Start Magn Time s
Closed Loop test run with load >50% (recommended 80 ... 125 %)
Note! P3.4.1.9 Control Mode = 3 (Closed Loop Speed Control)
Record tuned value of P3.4.3.1 V4.19
Slip Adjust % Motor Torque %
V4.18 V4.22 V4.20
Speed Controller
Record values of P3.4.3.3 P3.4.3.4
Speed Ctrl Kp Speed Ctrl Ti ms
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4.6 Brake Slip Feature
This inverter is equipped with a programmable brake slip detection safety feature that can be activated
during closed loop operation. This feature, when activated, is designed to allow the hoist motor to
continue to support a suspended load during hoist brake slip or failure. Electric power to the inverter
must remain uninterrupted during such failure for this feature to remain effective.
Power interruption to the inverter during hoist brake slip or failure, regardless of cause, including
power interruption caused by operator engagement of the “E” or “Emergency” stop button, could result in
the dropping of the load which creates a hazardous situation, which if not avoided, could result in property
damage and/or death or serious injury to personnel located in, on, or around the subject crane.
Alarm code “A81” is temporarily displayed on the inverter keypad when the brake slip detection feature
detects a hoist brake slip or failure. In this event, the crane must be moved to a safe location and the
load lowered to the ground prior to cutting crane/hoist power. Corrective action should be taken to repair
the hoist brake prior to resuming normal operation.
The brake slip detection feature MUST, when activated, be used in conjunction with an audible and/or
visual alarm and product labeling sufficient to warn the crane operator of the existence of an “A81”
inverter condition (detection of hoist brake slip or failure) and the above-referenced power maintenance
requirement.
The default setting for the programmable brake slip detection safety feature at the time of factory
delivery is off or deactivated unless factory activation is requested by the customer in writing at the time
of order. Feature activation requires the installation and/or connection of crane/hoist circuits and/or
components external to the inverter (see Service Manual) and should be completed only by trained and
qualified personnel experienced with inverters equipped with this feature.
Specific crane operator training designed to identify both those hazards identified herein and those
procedures required to minimize those hazards MUST be conducted by the crane owner immediately
following feature activation and prior to crane use.
4.6.1 Description of brake slip feature

When the motor holding brake slips or fails leading to the rotation of the motor/encoder, the Speed
Supervision Unit (SSU board) inside the drive senses at least -5Hz of motor frequency generated by the
encoder pulses. When this happens, the drive is energized and magnetizes the motor holding the load
keeping it at zero speed and sends a command releasing the brake and activating the externally
connected warning horn or alarm (if installed). This should allow enough time for the operator to safely
lower the load.
Drive tuning, external electrical drive connections, and encoder installation/quality/coupling to the motor
are key factors for this feature to work precisely. Consult above warning label.
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The e-stop SHOULD NOT be activated and the power to the crane/hoist SHOULD NOT be turned off,
since the drive requires this power supply to be energized and to magnetize the motor which is holding
the load. Consult above warning label.
4.6.2 Activation of Brake Slip Feature
Feature activation requires the installation and/or connection of crane/hoist circuits and/or components
external to the inverter and should be completed only by trained and qualified personnel experienced
with inverters equipped with this feature.
Activating this feature depends mainly on the setting of parameters P3.6.8, P3.2.5.2 and P3.4.1.21.9 as
well as the specific wiring design of the hoisting controls. Furthermore, all other drive parameters should
be properly closed loop tuned for proper drive functionality.
The need for how to set P3.6.8 parameter will be dictated by the requirements of each application. This
parameter can be set to either “Not Used,” “S1 Allowed,” “S1 Slow Spd,” or “S1 Disabled.” (Consult
parameter description section 5 in this manual).
When P3.6.8 is set to “0 =Not Used”, the brake slip detection feature is disabled which prevents the
drive from going into brake slip mode and hold the load.
When P3.6.8 is set to “1=S1 Allowed”, hoisting in any speed in the up direction is allowed. Lowering in
any speed is allowed. (Consult the factory prior to setting this parameter as Brake Slip can be by passed)
When P3.6.8 is set to “2=S1 Slow Spd”, hoisting in slow speed is only allowed in the up direction.
Lowering in any speed is allowed. (Consult the factory prior to setting this parameter as Brake Slip can be
by passed)
When P3.6.8 is set to “3=S1 Disabled”, hoisting in the up direction in not allowed but only lowering in any
speed is allowed. (Typical factory setting)
As stated above, it is strongly recommended to use some audible and/or visual alert to notify the operator
if the drive detects brake slip. Regardless of which type of device will be used, a relay output must be
programmed for Brake Slip. As a default, the drive will be programmed to use ROD1 for this function.
This is achieved by programming P3.2.5.2 set to 21=brake slip.
Set P3.4.1.21.9 Stop Function to 1/Ramping
All drive parameters, including the brake slip parameters (if feature required) should be verified and set
on site during start-up of the drive.
4.6.3 Brake Slip Feature Field Testing Procedure

Do not cut power or activate the e-stop when field testing this feature. The load should be lowered to
the ground.
Please read this prior to testing:
- Familiarize yourself with this section 4.6 from the beginning prior to field testing this
feature as some pre-requirements are vital for this feature to work as designed.
- All precautionary safety measures should be taken as in any crane load testing.
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- You will require to lift a load (30% to 50% of nominal load maximum) to turn the drum
when the brake is manually released. (DO NOT USE FULL LOAD)
- Only trained and qualified personnel experienced with inverters equipped with this feature
should attempt this testing.
- A dedicated alarm device (horn or light) must be wired and connected correctly to the
circuitry/drive output per schematics prior to testing. If an alarm device is not available or
connected, activation or testing of this function must not be performed.
- Motor encoder, encoder coupling, installation and functionality should be in proper
working conditions.
- Do not turn power off to the crane/hoist during this test as it is needed for the drive.
- Make sure “brake slip” warning pendant tag, enclosure warning label near disconnect,
crane runway warning label and drive warning sticker are applied and existent.
Step 1: Verify drive is tuned and running properly prior to brake slip feature activation. (see service
manual section 4.5 for closed loop hoist tuning instructions)
Step 2: Verify alarm is connected per schematics
Step 3: Verify section 4.6.2 above is completed and all parameters programmed as needed.
Step 4: Identify/mark the hoist holding brake contactor(s) (see schematics) (this step is needed for
manual release in next steps)
The below steps will require two individuals. One to monitor drum rotation and one to deactivate the
holding brake.
Step5: Lift the load (use 30% to 50% maximum of nominal load) approximately 10 to 20cm (4 to 8 in.) off
the ground.
Step6: Manually depress and hold the brake contactor(s) for 1-2 seconds maximum to disengage the
holding brake(s) to allow the load to begin to drop, keeping watch of the hoist drum rotation not to exceed
90° of angular rotation. The drive should detect brake slip (within 1-2 seconds of releasing the brake) at
about –5Hz frequency sent by the encoder pulses and subsequently activating the drive to hold the load.
If the drive does not hold the load within 1-2 seconds after releasing the brake or exceeds 90° of hoist
drum angular rotation, release the brake contactor to engage the brake and stop the load. This implies
the test has failed. Re-examine all drive programming, external circuitry and connections. Re-start testing
procedure. Consult factory for support.
Do not hold brake contactor depressed more than 1-2 seconds as this will cause the load to accelerate
and damage could occur to the load, ground and even the crane/hoist/braking system.
Once the drive is active and holds the load, verify that the alarm system (horn/light) is active and Alarm
code “A81” is temporarily displayed on the inverter keypad suggesting brake slip.
DO NOT ENGAGE E-STOP OR CUT POWER TO THE INVERTER AS THIS WILL DROP THE LOAD.
Step 7: Lower the load to the ground using the pendant station/other control as soon as possible.
Do not leave drive/load in this brake slip mode more than is required to safely bring the load down as this
could damage the drive and motor.
Step 8: Finally, when load is securely on the ground, then and only then, turn off all crane power supply to
reset the brake slip function and drive. Wait for 5 minutes then power up crane and check that hoist
function is normal.
Contact Drivecon technical support for assistance if required at 1-800-374-8266.
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4.6.4 What to do in case of brake slip
- Familiarize yourself with this section 4.6 from the beginning prior to operating the crane. Only
qualified and trained operators should operate the crane.
Once brake slip has been detected by the drive, an audible and/or visual alarm system will be activated.
Once this alarm is active, the hoist will go into load hold mode at zero speed where the load will remain
suspended by the energized motor.
Locate a safe space and lower the load as soon as possible to the ground. Raising the load might not be
possible and depends on the programming of Parameter P3.6.8 (consult section 4.6.2 of the service
manual).
Do not engage the e-stop on the pendant station or radio control unit as this will drop the load.
Alarm code “A81” is temporarily displayed on the inverter keypad when the brake slip detection feature
detects a hoist brake slip or failure. In this event, the crane must be moved to a safe location and the
load lowered to the ground prior to cutting crane/hoist power. Corrective action should be taken to repair
the hoist brake prior to resuming normal operation.
In case of brake slip condition, lower the load to the ground safely and contact your crane service
organization as soon as possible for immediate service.
4.6.5 Service on hoist motor/encoder/brake with Brake Slip feature active
In the event the power is not turned off to the hoist inverter and the hoist motor/encoder/brake is being
serviced, any rotation of the motor/encoder/brake could activate the drive and starts to feed current to the
motor. Power should be turned off/crane tagged and locked prior to any service being performed on the
crane.
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5 PARAMETER DESCRIPTIONS
The parameters are assorted to groups. Below is the group map of the parameters based on the
software version PRO3V120.
The groups are shown in control keypad according to the password level and the selected functions.
All Groups are not always viewable in the control keypad. A sign of + in the front of the group code
means that the group is visible in keypad, but only if the group function is selected.
G3 Parameters
G3.1 Basic Parameters
G3.2 I/O Parameters
G3.2.1 Digital Inputs
G3.2.2 Analog Input 1
+ G3.2.3.7 AU-Speed Ref
+ G3.2.3.8 Torque Reference
+ G3.2.3.9 Speed Correction
+ G3.2.3.10 Torque Limit
+ G3.2.3.11 Load Feedback
G3.2.4 Analog Output
G3.2.4.1 Aout1 Function
G3.2.4.2 Aout2 Function
G3.2.5 Relay Outputs
G3.3 Drive Control
G3.3.6 Limit Functions
+ G3.3.7 Ramp2
G3.3.8 Advanced Ramps
+ G3.3.9 Multistep
+ G3.3.10 SSU
G3.3.11 Prohib Freq
+ G3.3.12 Multicare
G3.3.12.1 Multicare 1
G3.3.12.2 Multicare 2
G3.3.13 Torque Control
G3.3.14 Load Control
G3.3.15 Sway Control
G3.3.16 Joystick Filter
G3.3.17 Shock Load Ctrl
G3.4 Motor Parameters
G3.4.1 Motorset 1
G3.4.1.21 Additional
G3.4.1.22 ESR
G3.4.1.23 Current Control
+ G3.4.2 Open Loop 1
G3.4.2.1 U/f Curve
G3.4.2.2 Brake Control
P3.4.2.3 OL Autotuning 1
+ G3.4.3 Closed Loop 1
G3.4.3.6 CL Autotuning 1
+ G3.4.4 Motorset 2
G3.4.4.21 Additional
G3.4.4.22 ESR
G3.4.4.23 Current Control
G3.4.5.1 U/f Curve
G3.4.7 Expert
G3.4.7.2 Current Ctrl OL
G3.4.7.3 Speed Ctrl CL
+ G3.5 Bus Parameters
G3.5.2 Diagnostic
G3.5.3 Bus Control
G3.6 Protection
G3.7 Laboratory
+ G3.8 System Bus
G3.8.7 Synchronization
G3.8.7.5 Monitoring
G3.8.8 Tandem
+ G3.9 PLC Parameters
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G4 Monitoring
V4.22 Output Frequency
*)
G4.1 Parameter Backup
G4.1.4 Factory Default
G4.2 Analog I/O
G4.3 Relay Output
G4.4 Operate Counters
G4.5 Fault Counter
+ G4.6 Bus Control
G4.7 Digital Input
G4.7.1 DI Status
G4.7.2 DI Functions
+ G4.8 SSU
G4.9 Service
G4.9.10 Max Current
G4.9.11 Encoder
+ G4.10 Sway Control
G4.23 Multimonitor
G5 Panel Control
M6 System Menu
S6.3 Copy Parameters
S6.4 ParamComparison
S6.5 Security
S6.6 Keypad Settings
S6.7 HW Settings
S6.8 System Info
S6.8.1 Total Counters
S6.8.2 Trip Counters
S6.8.3 Software
S6.8.4 Applications
S6.8.5 Hardware
S6.8.6 Expander boards
S6.8.7 Debug
S6.9 Power Monitor
S6.11 Power Multimon.
M7 Active Faults
M8 Fault History
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Below are listed the default values for parameters in hoisting and traveling. Also are listed the password
lock levels for parameter P3.1.1. Some of the parameters have a value marked with X. The values of
these parameters differ depending on motor/voltage.
This parameter list is based on the software version PRO3V120.

G3 Parameters
G3.1 Basic Parameters OL Trav CL Trav CL Hoist OL Hoist Unit PW 1 Description
P3.1.1 Password 768 768 768 768 1
V3.1.2 Supply Voltage X X X X V 1 5 = F 380V - 500V
6 = K 525V - 690V
V3.1.3 Dev ice 1 1 1 1 1 1 = Process
G3.2 I/O Parameters OL Trav CL Trav CL Hoist OL Hoist Unit PW 2 Description
G3.2.1 Digital Inputs OL Trav CL Trav CL Hoist OL Hoist Unit PW 3 Description
P3.2.1.1 Motor Set 2 0 0 0 0 3 0 = Not Used
1 = DIA3
2 = DIA4
3 = DIA5
4 = DID1
5 = DID2
6 = DID3
7 = DID4
8 = DID5
9 = Always ON
10 = Always OFF
P3.2.1.2 SSL 0 0 0 0 3 Same as P3.2.1.1
P3.2.1.3 ESR 0 0 0 0 3 Same as P3.2.1.1
P3.2.1.4 Micro Speed Sel 0 0 0 0 3 Same as P3.2.1.1
P3.2.1.5 Alt Control Sel 0 0 0 0 3 Same as P3.2.1.1
P3.2.1.6 Prof ibus Control 0 0 0 0 3 0 = Not Used
1 = DIA5
P3.2.1.7 Ramp2 0 0 0 0 3 Same as P3.2.1.1
P3.2.1.8 Trq Limit 0 0 0 0 3 Same as P3.2.1.1
P3.2.1.9 AP 1 1 1 1 3 0 = Not Used
1 = DIA3
2 = Always ON
3 = Always OFF
P3.2.1.10 CMS 1 1 1 1 3 0 = Not Used
1 = DIA4
2 = Always ON
3 = Always OFF
P3.2.1.11 EP-Hold 0 0 0 0 3 0 = Not Used
1 = DIA3
2 = DIA4
3 = DIA5
4 = DID1
5 = DID2
6 = DID3
7 = DID4
8 = DID5
P3.2.1.12 Multistep2 0 0 0 0 3 0 = Not Used
1 = DIA3
2 = DIA4
1 = DIA4
2 = DIA5
1 = DIA5
2 = DID1
1 = DID1
2 = DID2
P3.2.1.16 PO/M 0 0 0 0 3 Same as P3.2.1.11
P3.2.1.17 S11 1 1 1 1 3 0 = Not Used
1 = DID2
2 = DIA5
3 = Always ON
4 = Always OFF
5 = DIA3
6 = DIA4
P3.2.1.18 S21 1 1 1 1 3 0 = Not Used
1 = DID3
2 = DID1
3 = Always ON
4 = Always OFF
5 = DIA4
6 = DIA5
P3.2.1.19 S11 & S21 0 0 0 0 3 Same as P3.2.1.11
P3.2.1.20 S12 1 1 1 1 3 0 = Not Used
1 = DID4
2 = DID2 & DID4
3 = DIA3
4 = DIA4
P3.2.1.21 S22 1 1 1 1 3 0 = Not Used
1 = DID5
2 = DID3 & DID5
3 = DIA4
4 = DIA5
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G3.2.1 Digital Inputs OL Trav CL Trav CL OL Unit PW 3 Description
P3.2.1.22 MF1 0 0 0 0 3 Same as P3.2.1.11
P3.2.1.23 MF1 Operation 0 0 0 0 3 0=Not Used
1=Brake Pedal
2=Inching
3=Fault Reset
4=S-Curv eInhib
5=Tare
6=Brake Feedb
7=SlackBypass
8=Synchro
9=Brake Pedal2
10=Ov erweight
11 = MasterFollow
12=CalibratePos
13=S12&S22
P3.2.1.24 MF2 0 0 0 0 3 Same as P3.2.1.11
P3.2.1.25 MF2 Operation 0 0 0 0 3 Same as P3.2.1.23
G3.2.2 Analog Input 1 OL Trav CL Trav CL OL Unit PW 2 Description
V3.2.2.1 Ain1 Function 2 0 = Not Used
1 = PO-Speed Ref
2 =
V3.2.2.2 Ain1 Value 2
P3.2.2.3 Min Value Volt 1 10 10 10 10 V 2
P3.2.2.4 Max Value Volt 1 6.7 6.7 6.7 6.7 V 2
P3.2.2.5 Max Value Freq 1 60 60 60 60 Hz 2
P3.2.2.6 Ain1 Range 0 0 0 0 V 2 0 = 0-10 V
1 = 1-9 V
2 = 2-10 V
P3.2.2.7 Ain1 Filter Time 0.10 0.10 0.10 0.10 s 2
P3.2.2.8 Ain1 0 0 0 0 2 0 = Linear
1 = x^2
2 =
3 =
4 =
G3.2.3 Analog Input 2 OL Trav CL Trav CL OL Unit PW 2 Description
P3.2.3.1 Ain2 Function 1 1 1 1 2 0 = Not Used
1 = AU-Speed Ref
2 = Torque Ref
3 = Speed Corr
4 = Load Feedb
5 = Torque Limit
6 =
7 = Sway Control
V3.2.3.2 Ain2 Value V
P3.2.3.3 Min Value Volt 2 0 0 0 0 V 2
P3.2.3.4 Max Value Volt 2 10 10 10 10 V 2
P3.2.3.5 Ain2 Range 0 0 0 0 V 2 0 = 0-10 V
1 = 1-9 V
2 = 2-10 V
3 = -10-10 V
P3.2.3.6 Ain2 Filter Time 0.10 0.10 0.10 0.10 s 2
G3.2.3.7 AU-Speed Ref OL Trav CL Trav CL OL Unit PW 2 Description
P3.2.3.7.1 Max Value Freq 2 60 60 60 60 Hz 2
G3.2.3.8 Torque Reference OL Trav CL Trav CL OL Unit PW 2 Description
P3.2.3.8.1 Max Value TRQ 100.0 100.0 100.0 100.0 % 2
G3.2.3.9 Speed Correction OL Trav CL Trav CL OL Unit PW 2 Description
P3.2.3.9.1 Min KR Freq 0.00 0.00 0.00 0.00 Hz 2
P3.2.3.9.2 Max KR Freq -10 -10 -10 -10 Hz 2
G3.2.3.10 Torque Limit OL Trav CL Trav CL OL Unit PW 2 Description
P3.2.3.10.1 Max Val Trq Lim 200 200 200 200 % 2
G3.2.3.11 Load Feedback OL Trav CL Trav CL OL Unit PW 2 Description
P3.2.3.11.1 Max Value Load 100.00 100.00 100.00 100.00 % 2
P3.2.3.12 Ain2 0 0 0 0 2 0 = Linear
1 =
2 =
3 =
4 =
G3.2.4 Analog Output OL Trav CL Trav CL OL Unit PW 3 Description
G3.2.4.1 Aout1 Function OL Trav CL Trav CL OL Unit PW 3 Description
P3.2.4.1.1 Aout1 Function 3 3 3 3 3 0 = Not Used
1 = Motor Freq
2 = Motor Speed
3 = Motor Curr
4 = MotorTorque1
5 = Motor Power
6 = Motor Volt
7 = DC-link Volt
8 = MotorTorque2
9 = HeatSinkTemp
10 = Multicare
11 = DA-board CH1
12 = DA-board CH2
13 = Load Display
14 = Sway Control
15 = Bus Output
16 = Echo Ain1
17 = Echo Ain2
18 = Static Torque
P3.2.4.1.2 Zero Value Curr 0 0 0 0 mA 3
P3.2.4.1.3 Nom Value Curr 20 20 20 20 mA 3
P3.2.4.1.4 Aout1 Range 0 0 0 0 mA 3 0 = 0-20mA Sign
1 = 4-20mA Sign
2 = 0-20mA Unsig
3 = 4-20mA Unsig
P3.2.4.1.5 Aout1 FilterTime 0.10 0.10 0.10 0.10 s 3
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G3.2.4.2 Aout2 Function OL Trav CL Trav CL Hoist OL Hoist Unit PW 3 Description
P3.2.4.2.1 Aout2 Function 1 1 1 1 3 Same as P3.2.4.1.1
P3.2.4.2.2 Zero Value Volt 0 0 0 0 V 3
P3.2.4.2.3 Nom Value Volt 10 10 10 10 V 3
P3.2.4.2.4 Aout2 Range 0 0 0 0 V 3 0 = 0-10V Signed
1 = 2-10V Signed
2 = 0-10V Unsign
3 = 2-10V Unsign
P3.2.4.2.5 Aout2 Filter Time 0.10 0.10 0.10 0.10 s 3
G3.2.5 Relay Outputs OL Trav CL Trav CL Hoist OL Hoist Unit PW 3 Description
P3.2.5.1 ROB1 4 4 4 4 3 0 = Not Used
1 = Fault
2 = BrakeControl
3 = Run
4 = Ready
5 = Ready Inv ert
6 = Fan
7 = E-stop
8 = Rev Plugging
9 = At Speed
10 = S2 Activ e
11 = Saf ety Brake
12 = ESR Activ e
13 = ESR Allowed
14 = Temperature1
15 = Temperature2
16 = Alarm
17 = Set 2 Activ e
18 = MS Alarm
19 = Exceed SSL1
20 = Exceed SSL2
21 = Brake Slip
22 = Ov erweight
23 = Slack Cable
24 = DelayedK7Inv
25 = Motor Set 2
26 = SwayCtrl On
27 = SwayCtrl Run
28 = LimitSwTest
29 = Bus Output
30 = ChargeSwitch
P3.2.5.2 ROD1 6 6 6 6 3 Same as P3.2.5.1
P3.2.5.3 Fan Of f Delay 300 300 300 300 s 3
P3.2.5.4 Temp Limit 20 20 20 20 °C 3
P3.2.5.5 ROE1 0 0 0 0 3 Same as P3.2.5.1
P3.2.5.6 ROE2 0 0 0 0 3 Same as P3.2.5.1
P3.2.5.7 ROE3 0 0 0 0 3 Same as P3.2.5.1
P3.2.5.8 DOA1 0 0 0 0 3 Same as P3.2.5.1
G3.3 Drive Control OL Trav CL Trav CL Hoist OL Hoist Unit PW 3 Description
P3.3.1 Acc Start Shape 0,200 0,200 0.000 0.000 s 3
P3.3.2 Acc End Shape 0,200 0,200 0,200 0,200 s 3
P3.3.3 Dec Start Shape 0,200 0,200 0,200 0,200 s 3
P3.3.4 Dec End Shape 0,200 0,200 0.000 0.000 s 3
P3.3.5 Ch Ref at Run 0 0 0 0 3 0 = No
1 = Yes
G3.3.6 Limit Functions OL Trav CLTrav CL Hoist OL Hoist Unit PW 3 Description
P3.3.6.1 Slow Speed Freq 6 6 15 15 Hz 3
V3.3.6.2 Distance Counter m 3
P3.3.6.3 Slow Distance 0.00 0.00 0.00 0.00 m 3
P3.3.6.4 Nominal Speed 0,00 0,00 0,00 0,00 m/min 3
P3.3.6.5 Second SpdLimS1 20 20 20 20 Hz 3
P3.3.6.6 Second SpdLimS2 20 20 20 20 Hz 3
P3.3.6.7 End Reset Delay 1.00 1.00 1.00 1.00 s 3
P3.3.6.8 End Limit Action 1 1 1 1 3 0 = Normal Stop
1 = Brake Stop 1
2 =Trq Lim Stop
3 = StopDistance
4 = Brake Stop 2
P3.3.6.9 Inching Time 1 1 1 1 s 3
B3.3.6.10 Nom Speed Calib 3 0=Of f
1=On
P3.3.6.11 Calib Distance 2,000 2,000 2,000 2,000 m 3
P3.3.6.12 Nom Speed Adjust 100,00 100,00 100,00 100,00 % 3
P3.3.6.13 TerminalPosCalib 0 0 0 0 3 0 = Positiv eEdge
1 = Negativ eEdge
2 = BothEdges
G3.3.7 Ramp2 OL Trav CL Trav CL Hoist OL Hoist Unit PW 3 Description
P3.3.7.1 Acc Time 2 5.0 5.0 2 2 s 3
P3.3.7.2 Dec Time 2 5.0 5.0 2 2 s 3
G3.3.8 Advanced Ramps OL Trav CL Trav CL Hoist OL Hoist Unit PW 3 Description
P3.3.8.1 Acc Ramp Form 0 0 0 0 3 0 = Linear
1 = Form 1
2 = Form 2
3 = Form 3
4 = Form 4
V3.3.8.2 Acc TotalRamp Time s 3
P3.3.8.3 Dec Ramp Form 0 0 0 0 3 0 = Linear
1 = Form 1
2 = Form 2
3 = Form 3
4 = Form 4
V3.3.8.4 Dec TotalRamp Time s 3
P3.3.8.5 Stop Ramp S1 0,0 0,0 0,0 0,0 s 3
P3.3.8.6 Stop Ramp S2 0,0 0,0 0,0 0,0 s 3
P3.3.8.7 Direction Change 0,0 0,0 0,0 0,0 s 3
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G3.3.9 Multistep OL Trav CL Trav CL Hoist OL Hoist Unit PW 3 Description

P3.3.9.1 Multistep Logic 0 0 0 0 3 0 = MSL
1 = MSH
2 = MSL Alarm
P3.3.9.2 Multistep 2 Freq 15,00 15,00 15,00 15,00 Hz 3
G3.3.10 SSU OL Trav CL Trav CL Hoist OL Hoist Unit PW 3 Description
P3.3.10.1 Speed Dif Limit 30.0 30.0 30.0 30.0 % 3
P3.3.10.2 Stall Sup Time 1.0 1.0 1.0 1.0 s 3
P3.3.10.3 Ov erspd Lim Sel 0 0 0 0 3 0 = Set 1 ESR
1 = Set 2 ESR
2 = Set1 & Set2
G3.3.11 Prohib Freq OL Trav CL Trav CL Hoist OL Hoist Unit PW 3 Description
P3.3.11.1 Prohib Freq Low 0.00 0.00 0.00 0.00 Hz 3
P3.3.11.2 Prohib Freq High 0.00 0.00 0.00 0.00 Hz 3
G3.3.12 Multicare OL Trav CL Trav CL Hoist OL Hoist Unit PW 3 Description
G3.3.12.1 Multicare 1 OL Trav CL Trav CL Hoist OL Hoist Unit PW 3 Description
B3.3.12.1.1 Test Voltage Min 3 Of f
On
B3.3.12.1.2 Test Voltage Max 3 Of f
On
V3.3.12.1.3 Ain1 Value V 3
P3.3.12.1.4 Min Value Volt 1 10.000 10.000 10.000 10.000 V 3
P3.3.12.1.5 Max Value Volt 1 6.700 6.700 6.700 6.700 V 3
G3.3.12.2 Multicare 2 OL Trav CL Trav CL Hoist OL Hoist Unit PW 3 Description
B3.3.12.2.1 Test Voltage Min 3 Of f
On
B3.3.12.2.2 Test Voltage Max 3 Of f
On
V3.3.12.2.3 Ain2 Value V 3
P3.3.12.2.4 Min Value Volt 2 0.000 0.000 0.000 0.000 V 3
P3.3.12.2.5 Max Value Volt 2 10.000 10.000 10.000 10.000 V 3
G3.3.13 Torque Control OL Trav CL Trav CL Hoist OL Hoist Unit PW 4 Description
P3.3.13.1 Free Rolling Trq 5.0 5.0 5.0 5.0 % 4
P3.3.13.2 Trq Inc Ramp 0.30 0.30 0.30 0.30 s 4
P3.3.13.3 Trq Dec Ramp 0.10 0.10 0.10 0.10 s 4
P3.3.13.4 Brake Pedal Torq 150 150 150 150 % 4
P3.3.13.5 DynamicDamp Gain 0 0 0 0 % 4
P3.3.13.6 DynamicDamp TC 0 0 0 0 ms 4
P3.3.13.7 TrqCtrl SpeedRef 0 0 0 0 4 0=No
1=Yes
G3.3.14 Load Control OL Trav CL Trav CL Hoist OL Hoist Unit PW 3 Description
P3.3.14.1 Slack Cable Mode 0 0 0 0 3 0=Not Used
1=Alarm
2=S2 Disabled
3=S2 Slow Spd
4=Trq+S2Slow
5=Trq+S2Disab
P3.3.14.2 Slack Cbl Lev el 1 1 1 1 % 3
P3.3.14.3 Slack Cable Filt 0.50 0.50 0.50 0.50 s 3
P3.3.14.4 Load Disp Mode 0 0 0 0 3 0=Not Used
1=Update Mode1
2=Update Mode2
P3.3.14.5 Load Disp 0V Trq 1 1 1 1 % 3
P3.3.14.6 Load Disp10V Trq 100 100 100 100 % 3
V3.3.14.7 Filtered Torque 3
P3.3.14.8 Ov erweight Mode 0 0 0 0 3 0=Not Used
1=Alarm
2=S1 Disabled
P3.3.14.9 Ov erweight Lev el 100 100 100 100 % 3
P3.3.14.10 Ov erweight Filt 1 1 1 1 s 3
V3.3.14.11 Meas Acc Trq % 3
B3.3.14.12 Detect Acc Trq 3 0=Of f
1=On
P3.3.14.13 S2 Torque Ratio 80 80 80 80 % 3
G3.3.15 Sway Control OL Trav CL Trav CL Hoist OL Hoist Unit PW 3 Description
P3.3.15.1 Acc Time Coef f 100 100 100 100 % 3
P3.3.15.2 Dec Time Coef f 100 100 100 100 % 3
P3.3.15.3 Ramp Mode 0 0 0 0 3 0 = Of f
1 = Smooth
2 = Fast
3 = Smooth1Fast2
4 = Fast1Smooth2
P3.3.15.4 HeightCorrection 0,00 0,00 0,00 0,00 m 3
V3.3.15.5 Swing Time s 3
P3.3.15.6 Slow Down Mode 0 0 0 0 3 0 = Of f
1 = On
P3.3.15.7 Jog Time W indow 0,0 0,0 0,0 0,0 s 3
P3.3.15.8 Sway Control Mode 0 0 0 0 3 0 = Not Used
1 = Lite
2 = Standard
3 = Pro
4 = Demo 100h
P3.3.15.9 Dir Change Limit 100 100 100 100 % 3
P3.3.15.10 Max Height 40.00 40.00 40.00 40.00 m 3
P3.3.15.11 Load Ratio 0 0 0 0 % 3
P3.3.15.12 License Key 1 0 0 0 0 3
P3.3.15.13 License Key 2 0 0 0 0 3
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G3.3.16 Joystick Filter OL Trav CL Trav CL Hoist OL Hoist Unit PW 3 Description
P3.3.16.1 Joystick Filter 0 0 0 0 3 0=Of f
1=On
P3.3.16.2 Max Filter Range 20 20 20 20 % 3
P3.3.16.3 Max Filter 1,5 1,5 1,5 1,5 s 3
P3.3.16.4 Min Filter 0,00 0,00 0,00 0,00 s 3
G3.3.17 Shock Load Ctrl OL Trav CL Trav CL Hoist OL Hoist Unit PW 3 Description
P3.3.17.1 Shock Load Mode 0 0 0 0 3 0 = Of f
1 = Set1
2 = Set2
3 = Set1 & Set2
P3.3.17.2 Load Delta Limit 0.0 0.0 0.0 0.0 %/cm 3
P3.3.17.3 Tightening Speed 1.50 1.50 1.50 1.50 mmin 3
B3.3.17.4 Detect Max Delta 3 0=Of f
1=On
V3.3.17.5 Max Load Delta %/cm 3 0=Of f
1=On
P3.3.17.6 Sof t Landing 0 0 0 0 3 0 = Of f
1 = On
G3.4 Motor Parameters OL Trav CL Trav CL Hoist OL Hoist Unit PW 2 Description
G3.4.1 Motorset 1 OL Trav CL Trav CL Hoist OL Hoist Unit PW 2 Description
P3.4.1.1 Motor Nom Volt X / 380 X / 380 X / 380 X / 380 V 2
P3.4.1.2 Motor Nom Freq X / 60 X / 60 X / 60 X / 60 Hz 2
P3.4.1.3 Motor Nom Speed X / 1750 X / 1750 X / 1750 X / 1750 rpm 2
P3.4.1.4 Motor Nom Curr X / 1 X / 1 X / 1 X / 1 A 2
P3.4.1.5 Nom Flux Curr X / 0.5 X / 0.5 X / 0.5 X / 0.5 A 2
P3.4.1.6 Motor Cos Phi X / 0.85 X / 0.85 X / 0.85 X / 0.85 2
P3.4.1.7 Start Current 0.8 x P3.4.1.4 P3.4.1.4 1.2 x P3.4.1.4 1.2 x P3.4.1.4 A 2
Max 0.8 x In Max 1.0 x In Max 1.0 x In Max 1.0 x In
P3.4.1.8 Current Limit 1.5 x P3.4.1.4 1.5 x P3.4.1.4 1.5 x P3.4.1.4 1.5 x P3.4.1.4 A 2
P3.4.1.9 Control Mode 0 3 3 1 2 0 = OL Freq Ctrl
1 = OL Curr Ctrl
2 = OL Spd Ctrl
3 = Spd Ctrl CL
4 = Trq Ctrl CL
P3.4.1.10 Accel Time 1 5 5 1,5 1,5 s 2
P3.4.1.11 Decel Time 1 5 5 1,5 1,5 s 2
P3.4.1.12 Adv anced Ramps 0 0 0 0 2 0 = Normal
1 = Adv anced1
2 = Adv Rev Plug
3 = Ramp1&Ramp2
4 = PluggingCtrl
P3.4.1.13 Min Freq S1 X / 2.5 1 1 X / 3 Hz 2
P3.4.1.14 Min Freq S2 X / 2.5 1 1 X / 3 Hz 2
P3.4.1.15 Max Freq S1 X / 60 X / 60 X / 60 X / 60 Hz 2
P3.4.1.17 ESR Point Freq 100,00 100,00 100,00 100,00 % 2
P3.4.1.18 ESR Point Volt 100,00 100,00 100,00 100,00 % 2
P3.4.1.19 Driv e Selection 1 1 2 2 2 0 = None
1 = Trav el
2 = Hoist
3 = SmoothTrav el
4 = Load Brake
P3.4.1.20 Pulse Number 0 8 8 0 2 0 = 24
1 = 36
2 = 48
3 = 72
4 = 32
5 = 64
6 = 80
7 = 102
8 = 600
9 = 1000
10 = 1024
11 = 2000
12 = 2048
13 = 512
14 = 1200
G3.4.1.21 Additional OL Trav CL Trav CL Hoist OL Hoist Unit PW 3 Description
P3.4.1.21.1 Trq Lim Function 0 0 0 0 3 0 = Not Used
1 = Constant
2 = Adjustable
P3.4.1.21.2 Torque Limit Mot 200 200 200 200 % 3
P3.4.1.21.3 Torque Limit Gen 200 200 200 200 % 3
P3.4.1.21.4 Max Brake Del 0.0 0.0 0.0 0.0 s 3
P3.4.1.21.5 Alt Control Mode 0 0 0 0 3 0 = OL Freq Ctrl
1 = OL Curr Ctrl
2 = OL Spd Ctrl
3 = Spd Ctrl CL
4 = Trq Ctrl CL
P3.4.1.21.6 Correction Mode 0 0 0 0 3 0 = Not Used
1 = Speed Corr
2 = Multicare 1
3 = Multicare 2
4 = Synchro
5 = Sway Control
6 = SwayCtrlCorr
P3.4.1.21.7 Micro Speed Freq 10 10 10 10 Hz 3
P3.4.1.21.8 Micro Speed Ramp 0 0 0 0 3 0 = Not Scaled
1 = Scaled
P3.4.1.21.9 Stop Function 1 1 1 1 3 0 = Brake
1 = Ramping
2 = Free Rolling
P3.4.1.21.10 Prog Slip 0.00 1 0.00 0.00 % 3
P3.4.1.21.11 Ramp Scale Sel 0 0 0 0 3 0 = MotorNomFreq
1 = Max Freq S1
2 = MaxFreqS1+PD
P3.4.1.21.12 Accel Torque 100 100 100 100 % 3
P3.4.1.21.13 Power Limit Mot 300 300 300 300 % 3
P3.4.1.21.14 Power Limit Gen 300 300 300 300 % 3
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G3.4.1.22 ESR OL Trav CL Trav CL Hoist OL Hoist Unit PW 3 Description
P3.4.1.22.1 Max ESR P3.4.1.2 P3.4.1.2 P3.4.1.2 P3.4.1.2 Hz 3
P3.4.1.22.2 ESR Activ ation 0 0 0 0 3 0 = During Stop
1 = During Run
P3.4.1.22.3 ESR Mode 0 0 0 0 3 0 = Not Used
1 = Ain Scaled
2 = AinNotScaled
3 =Automatic
G3.4.1.23 Current Control OL Trav CL Trav CL Hoist OL Hoist Unit PW 4 Description
P3.4.1.23.1 Current Ctrl Kp 4000 4000 4000 4000 4
P3.4.1.23.2 Current Ctrl Ti 1.5 1.5 1.5 1.5 4
P3.4.1.23.3 Accel Comp TC 0.10 0.10 0.10 0.10 s 4
G3.4.2 Open Loop 1 OL Trav CL Trav CL Hoist OL Hoist Unit PW 2 Description
G3.4.2.1 U/f Curve OL Trav CL Trav CL Hoist OL Hoist Unit PW 2 Description
P3.4.2.1.1 Zero Freq Volt X / 0 0 0 X / 0 % 2
P3.4.2.1.2 U/f Mid Volt X / 0 0 X / % 2
P3.4.2.1.3 U/f Mid Freq X / 0 0 X / Hz 2
P3.4.2.1.4 Torque Boost 1 1 1 1 2 0 =
1 = On
P3.4.2.1.5 IrAdd 30 30 66 X / 100 % 2
P3.4.2.1.6 IrAdd Generator 50 50 0 X / 100 % 2
P3.4.2.1.7 Rs Voltage Drop X / 100 100 100 X / 100 2
P3.4.2.1.8 Stabilators 1 1 1 1 2 0 = Not Used
1 = In Use
G3.4.2.2 Brake Control OL Trav CL Trav CL Hoist OL Hoist Unit PW 3 Description
P3.4.2.2.1 Brk Opening Del 0.10 X / 0.10 s 3
P3.4.2.2.2 Start DC-Time 0,15 X / 0.20 s 3
P3.4.2.2.3 Start Boost Time 0,15 X / 0.15 s 3
P3.4.2.2.4 Stop DC-Time 0,1 X / s 3
P3.4.2.2.5 Stop DC-Freq 0.50 X / Hz 3
P3.4.2.2.6 Start Freq S1 X / X / Hz 3
P3.4.2.2.7 Start Freq S2 X / X / Hz 3
P3.4.2.2.8 Brake Stop Freq 0.50 X / 1.5 Hz 3
V3.4.2.2.9 Meas Brake Delay s 3
B3.4.2.2.10 Auto Detect 3 0 =
1 = On
P3.4.2.3 OL Autotuning 1 0 0 0 0 2 0=Not Done
1=Tuning
2=Failed
3=OutputPhase
4=StoreFailure
5=Done
6=Modif ied
G3.4.3 Closed Loop 1 OL Trav CL Trav CL Hoist OL Hoist Unit PW 2 Description
P3.4.3.1 Slip Adjust 70 70 70 70 % 2
P3.4.3.2 Flux Ref erence 100 100 100 100 % 2
P3.4.3.3 Speed Ctrl Kp 12 12 15 15 2
P3.4.3.4 Speed Ctrl Ti 53 53 53 53 ms 2
G3.4.3.5 Brake Control OL Trav CL Trav CL Hoist OL Hoist Unit PW 3
B3.4.3.5.1 Auto Detect 3 0 = Of f
1 = On
V3.4.3.5.3 Meas Magn Time s 3
P3.4.3.5.4 Brk Opening Del 0,2 0,2 s 3
P3.4.3.5.5 Start Magn Time 0,2 0,2 s 3
P3.4.3.5.6 Brake Stop Delay 0.50 0.50 s 3
P3.4.3.5.7 Stop Magn Time 1 1 s 3
P3.4.3.5.8 Brake Stop Freq 0.1 0.1 Hz 3
P3.4.3.5.9 LoadFloatingTime 0.00 0.00 s 3
G3.4.3.6 CL Autotuning 1 OL Trav CL Trav CL Hoist OL Hoist Unit PW 2
V3.4.3.6.1 CLAutotune1Step1 2 0 = Not Done
1 = Tuning
2 = Failed
3 = Output Phase
4 = BrakeFailure
5 = Done
V3.4.3.6.2 Enc Diagnostics 2 0
1 = OK
2 = A
3 = B
4 = A B Crossed
5 = A+B+ Crossed
6 = A-B- Crossed
7 = W rong PPR
8= NoiseOrMount
9 = Driv e Dir1
10 = Driv e Faster
11 = Speed OK
12 = Failed
1 = Driv e Dir1
2 = Driv e
3 = Speed OK
4 = LoadTooHigh
5 =
6 = SpeedFailure
7 = BrkDetectFlt
8 = StoreFailure
9 = Failed
10 = Restart Dir1
11 = Done
12 =
13 = Stop Driv ing
1 = Driv e Dir1
2 = Restart Dir1
3 = LoadTooSmall
4 = SlipAdjFault
5 = StoreFailure
6 = Failed
7 = Done
8 =
9 = Stop Driv ing
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P3.4.3.6.5 SlipAdj1 Ctrl TC 15 15 15 15 min 3
B3.4.3.6.6 CL Autotune Mode 0 = Normal
1 = Tandem
G3.4.4 Motorset 2 OL Trav CL Trav CL Hoist OL Hoist Unit PW 2 Description
P3.4.4.1 Motor Nom Volt X / 380 X / 380 X / 380 X / 380 V 2
P3.4.4.2 Motor Nom Freq X / 60 X / 60 X / 60 X / 60 Hz 2
P3.4.4.3 Motor Nom Speed X / 1750 X / 1750 X / 1750 X / 1750 rpm 2
P3.4.4.4 Motor Nom Curr X / 1 X / 1 X / 1 X / 1 A 2
P3.4.4.5 Nom Flux Curr X / 0.5 X / 0.5 X / 0.5 X / 0.5 A 2
P3.4.4.6 Motor Cos Phi X / 0.85 X / 0.85 X / 0.85 X / 0.85 2
P3.4.4.7 Start Current 0.8 x P3.4.4.4 P3.4.4.4 1.2 x P3.4.4.4 1.2 x P3.4.4.4 A 2
P3.4.4.8 Current Limit 1.5 x P3.4.4.4 1.5 x P3.4.4.4 1.5 x P3.4.4.4 1.5 x P3.4.4.4 A 2
P3.4.4.9 Control Mode 0 3 3 1 2 0 = OL Freq Ctrl
1 = OL Curr Ctrl
2 = OL Spd Ctrl
3 = Spd Ctrl CL
4 = Trq Ctrl CL
P3.4.4.10 Accel Time 1 5 5 1,5 1,5 s 2
P3.4.4.11 Decel Time 1 5 5 1,5 1,5 s 2
P3.4.4.12 Adv anced Ramps 0 0 0 0 2 0 = Normal
1 = Adv anced1
2 = Adv Rev Plug
3 = Ramp1&Ramp2
4 = PluggingCtrl
P3.4.4.13 Min Freq S1 X / 2.5 1 1 X / 3 Hz 2
P3.4.4.14 Min Freq S2 X / 2.5 1 1 X / 3 Hz 2
P3.4.4.17 ESR Point Freq 100 100 100 100 % 2
P3.4.4.18 ESR Point Volt 100 100 100 100 % 2
P3.4.4.19 Driv e Selection 1 1 2 2 2 0 = None
1 = Trav el
2 = Hoist
3 = SmoothTrav el
4 = Load Brake
P3.4.4.20 Pulse number 0 8 8 0 2 0 = 24
1 = 36
2 = 48
3 = 72
4 = 32
5 = 64
6 = 80
7 = 102
8 = 600
9 = 1000
10 = 1024
11 = 2000
12 = 2048
13 = 512
14 = 1200
G3.4.4.21 Additional OL Trav CL Trav CL Hoist OL Hoist Unit PW 3 Description
P3.4.4.21.1 Trq Lim Function 0 0 0 0 3 0 = Not Used
1 = Constant
2 = Adjustable
P3.4.4.21.2 Torque Limit Mot 200 200 200 200 % 3
P3.4.4.21.3 Torque Limit Gen 200 200 200 200 % 3
P3.4.4.21.4 Max Brake Del 0.0 0.0 0.0 0.0 s 3
P3.4.4.21.5 Alt Control Mode 0 0 0 0 3 0 = OL Freq Ctrl
1 = OL Curr Ctrl
2 = OL Spd Ctrl
3 = Spd Ctrl CL
4 = Trq Ctrl CL
P3.4.4.21.6 Correction Mode 0 0 0 0 3 0 = Not Used
1 = Speed Corr
2 = Multicare 1
3 = Multicare 2
4 = Synchro
5 = Sway Control
6 = SwayCtrlCorr
P3.4.4.21.7 Micro Speed Freq 10 10 10 10 Hz 3
P3.4.4.21.8 Micro Speed Ramp 0 0 0 0 3 0 = Not Scaled
1 = Scaled
P3.4.4.21.9 Stop Function 1 1 1 1 3 0 = Brake
1 = Ramping
2 = Free Rolling
P3.4.4.21.10 Prog Slip 0.00 1 0.00 0.00 % 3
P3.4.4.21.11 Ramp Scale Sel 0 0 0 0 3 0 = MotorNomFreq
1 = Max Freq S1
2 = MaxFreqS1+PD
P3.4.4.21.12 Accel Torque 100 100 100 100 % 3
P3.4.4.21.13 Power Limit Gen 300 300 300 300 % 3
P3.4.4.21.14 Power Limit Mot 300 300 300 300 % 3
G3.4.4.22 ESR OL Trav CL Trav CL Hoist OL Hoist Unit PW 3 Description
P3.4.4.22.1 Max ESR Freq P3.4.4.2 P3.4.4.2 P3.4.4.2 P3.4.4.2 Hz 3
P3.4.4.22.2 ESR Activ ation 0 0 0 0 3 0 = During Stop
1 = During Run
P3.4.4.22.3 ESR Mode 0 0 0 0 3 0 = Not Used
1 = Ain Scaled
2 = AinNotScaled
3 =Automatic
G3.4.4.23 Current Control OL Trav CL Trav CL Hoist OL Hoist Unit PW 4 Description
P3.4.4.23.1 Current Ctrl Kp 4000 4000 4000 4000 4
P3.4.4.23.2 Current Ctrl Ti 1.5 1.5 1.5 1.5 4
P3.4.4.23.3 Accel Comp TC 0.10 0.10 0.10 0.10 s 4
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G3.4.5 Open Loop 2 OL Trav CL Trav CL Hoist OL Hoist Unit PW 2 Description

G3.4.5.1 U/f Curve OL Trav CL Trav CL Hoist OL Hoist Unit PW 2 Description
P3.4.5.1.1 Zero Freq Volt X / 0 0 0 X / 0 % 2
P3.4.5.1.2 U/f Mid Volt X / 0 0 0 X / 0 % 2
P3.4.5.1.3 U/f Mid Freq X / 0 0 0 X / 0 Hz 2
P3.4.5.1.4 Torque Boost 1 1 1 1 2 0 = Of f
1 = On
P3.4.5.1.5 IrAdd Motor 30 30 66 X / 100 % 2
P3.4.5.1.6 IrAdd Generator 50 50 0 X / 100 % 2
P3.4.5.1.7 Rs Voltage Drop X / 100 100 100 X / 100 2
P3.4.5.1.8 Stabilators 1 1 1 1 2 0 = Not Used
1 = In Use
P3.4.5.2.1 Brk Opening Del 0.10 X / 0.10 s 3
P3.4.5.2.2 Start DC-Time 0,15 X / 0.20 s 3
P3.4.5.2.3 Start Boost Time 0,15 X / 0.15 s 3
P3.4.5.2.4 Stop DC-Time 0,1 X / 0.5 s 3
P3.4.5.2.5 Stop DC-Freq 0.50 X / 1.5 Hz 3
P3.4.5.2.6 Start Freq S1 X / 1 X / 1.5 Hz 3
P3.4.5.2.7 Start Freq S2 X / 1 X / 1.5 Hz 3
P3.4.5.2.8 Brake Stop Freq 0.50 X / 1.5 Hz 3
1 = On
P3.4.5.3 OL Autotuning 2 0 0 0 0 2 0=Not Done
1=Tuning
2=Failed
3=OutputPhase
4=StoreFailure
5=Done
6=Modif ied
G3.4.6 Closed Loop 2 OL Trav CL Trav CL Hoist OL Hoist Unit PW 2 Description
P3.4.6.1 Slip Adjust 70 70 70 70 % 2
P3.4.6.2 Flux Ref erence 100 100 100 100 % 2
P3.4.6.3 Speed Ctrl Kp 12 12 15 15 2
P3.4.6.4 Speed Ctrl Ti 53 53 53 53 ms 2
1 = On
V3.4.6.5.3 Meas Magn Time s 3
P3.4.6.5.4 Brk Opening Del 0,2 0,2 s 3
P3.4.6.5.5 Start Magn Time 0,2 0,2 s 3
P3.4.6.5.6 Brake Stop Delay 0.50 0.50 s 3
P3.4.6.5.7 Stop Magn Time 1 1 s 3
P3.4.6.5.8 Brake Stop Freq 0.1 0.1 Hz 3
P3.4.6.5.9 LoadFloatingTime 0.00 0.00 s 3
1 = Tuning
2 = Failed
3 = Output Phase
4 = BrakeFailure
5 = Done
V3.4.6.6.2 Enc Diagnostics 3 0 =Of f
1 = OK
2 = A Missing
3 = B Missing
4 = A B Crossed
5 = A+B+ Crossed
6 = A-B- Crossed
7 = W rong PPR
8= NoiseOrMount
9 = Driv e Dir1
10 = Driv e Faster
11 = Speed OK
12 = Failed
1 = Driv e Dir1
2 = Driv e Faster
3 = Speed OK
4 = LoadTooHigh
5 = FluxCurrFlt
6 = SpeedFailure
7 = BrkDetectFlt
8 = StoreFailure
9 = Failed
10 = Restart Dir1
11 = Done
12 = Modif ied
13 = Stop Driv ing
1 = Driv e Dir1
2 = Restart Dir1
3 = LoadTooSmall
4 = SlipAdjFault
5 = StoreFailure
6 = Failed
7 = Done
8 = Modif ied
9 = Stop Driv ing
P3.4.6.6.5 SlipAdj2 Ctrl TC 15 15 15 15 min 3
B3.4.6.6.6 CL Autotune Mode 3 0 = Normal
1 = Tandem
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G3.4.7 Expert OL Trav CL Trav CL Hoist OL Hoist Unit PW 4 Description

P3.4.7.1 Modulation Index 150 150 150 150 % 4
G3.4.7.2 Current Ctrl OL OL Trav CL Trav CL Hoist OL Hoist Unit PW 4 Description
P3.4.7.2.1 Flux Current Kp 4000 4000 4000 4000 4
P3.4.7.2.2 Flux Current Ti 25 25 25 25 ms 4
P3.4.7.2.3 S2 Flux Control 100 100 100 100 % 4
P3.4.7.2.4 Freq 0 1 1 1 1 % 4
P3.4.7.2.5 Freq 1 2 2 3 3 % 4
P3.4.7.2.6 Freq 2 S1 10 10 10 10 % 4
P3.4.7.2.7 Freq 3 S1 30 30 30 30 % 4
P3.4.7.2.8 Zero Flux Curr 80 80 80 80 % 4
P3.4.7.2.9 Stray Flux Curr 40 40 40 40 % 4
P3.4.7.2.10 Freq 2 S2 10 10 10 10 % 4
P3.4.7.2.11 Freq 3 S2 30 30 30 30 % 4
P3.4.7.2.12 Zero Speed Curr 100 100 120 120 % 4
P3.4.7.2.13 Min Current Ref 50 50 90 90 % 4
P3.4.7.2.14 Ref Angle S1 768 768 768 768 4
P3.4.7.2.15 Ref Angle S2 1536 1536 1536 1536 4
P3.4.7.2.16 Flux Curr Damp 100 100 100 100 ms 4
P3.4.7.2.17 Speed Control Kp 1000 1000 1000 1000 4
P3.4.7.2.18 Speed Control Ki 50 50 50 50 4
P3.4.7.2.19 Current Limit 2 0 0 0 0 4
G3.4.7.3 Speed Ctrl CL OL Trav CL Trav CL Hoist OL Hoist Unit PW 4 Description
P3.4.7.3.1 Speed Ctrl Freq0 0 0 0 0 Hz 4
P3.4.7.3.2 Speed Ctrl Kp0 100 100 100 100 % 4
P3.4.7.3.3 Speed Ctrl Freq1 0 0 0 0 Hz 4
P3.4.7.3.4 Speed Ctrl KpESR 100 100 100 100 % 4
P3.4.7.3.5 Speed Ctrl Tlim 0.0 0.0 0.0 0.0 % 4
P3.4.7.3.6 Speed Ctrl TlimKp 100 100 100 100 % 4
P3.4.7.3.7 Speed Ctrl P TC 0 0 0 0 ms 4
P3.4.7.3.8 Pull Out Torque 400.0 400.0 400.0 400.0 % 4
P3.4.7.3.9 Encoder FiltTime 3.0 3.0 3.0 3.0 ms 4
P3.4.7.3.10 BandStopFiltFreq 0 0 0 0 Hz 4
P3.4.7.3.11 LowPassFilt Freq 0 0 0 0 Hz 4
P3.4.7.3.12 Res Damp Freq 0 0 0 0 Hz 4
P3.4.7.3.13 Res Damp Gain 0 0 0 0 % 4
P3.4.7.3.14 Res Damp Phase 0 0 0 0 deg 4
P3.4.7.3.15 Res Damp Select 0 0 0 0 4
P3.4.7.4 DeadTime Comp 2200 2200 2200 2200 4 =>F-series
3600 3600 3600 3600 =>K-series
P3.4.7.5 DeadTime CurrLim 100 100 100 100 4 =>F-series
50 50 50 50 =>K-series
P3.4.7.6 Freq Corr Ramp 1.00 1.00 1.00 1.00 s 4
P3.4.7.7 FluxCurrRampTime 10 10 10 10 ms 4
P3.4.7.8 PLCRampCycleTime 20 20 20 20 ms 4
P3.4.7.9 Prog Slip Time 0 0 0 0 ms 4
P3.4.7.10 Prog Slip Mode 0 0 0 0 4 0 = Not Limited
1 = Limited
P3.4.7.11 SlipAdjAdapt Meth 1 1 0 0 4 0 = Voltage
1 = Flux
G3.5 Bus Parameters OL Trav CL Trav CL Hoist OL Hoist Unit PW 2 Description
P3.5.1 Slav e Address 126 126 126 126 2
G3.5.2 Diagnostic OL Trav CL Trav CL Hoist OL Hoist Unit PW 3 Description
P3.5.2.1 Process Data 3 2 2 10 2 3 0 = Not Used
1 = Motor Freq
2 = MotorTorque1
3 = Motor Volt
4 = Motor Power
5 = DC-link Volt
6 = Unit Temp
7 = Freq Ref
8 = Enc Pos m
9 = Enc Pos mm
10 = MotorTorque2
11 = FaultCode1+2
12 = FaultCode3+4
13 = Ain1 Voltage
14 = Ain2 Voltage
15 = D/A BoardCh1
16 = D/A BoardCh2
17 = D/A BoardCh3
18 = D/A BoardCh4
19 = Status W ord3
20 = Status W ord4
21 = StopDistance
22 = Sway Angle
23 = PLC Param 1
24 = PLC Param 2
25 = EncoderSpeed
26 = RampGenOutp
27 = SpeedLimitS1
28 = SpeedLimitS2
29 = ESR Speed
30 = Swing Time
31 = AngularSpeed
32 = Temp W ord
33 = Time Stamp
34 = Mot Power kW
35 = Static Torque
P3.5.2.2 Process Data 4 6 6 6 6 3 Same as P3.5.2.1
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G3.5.3 Bus Control OL Trav CL Trav CL Hoist OL Hoist Unit PW 3 Description
P3.5.3.1 Control Place 0 0 0 0 3 0 = Terminal
1 = Terminal/Bus
2 = Bus
P3.5.3.2 S1 2 2 2 2 3 1 = Terminal
2 = Bus
3 = OR
4 = AND
P3.5.3.3 S2 2 2 2 2 3 Same as P3.5.3.2
P3.5.3.4 Motor Set 2 0 0 0 0 3 0= Not Used
1 = Terminal
2 = Bus
3 = OR
P3.5.3.5 SSL 0 0 0 0 3 0 = Not Used
1 = Terminal
2 = Bus
3 = AND
4 = AND CrossChk
P3.5.3.6 ESR 0 0 0 0 3 0 = Not Used
1 = Terminal
2 = Bus
3 = AND
P3.5.3.7 Alt Control Mode 0 0 0 0 3 Same as P3.5.3.4
P3.5.3.8 Brake Feedback 0 0 0 0 3 Same as P3.5.3.4
P3.5.3.9 Ramp 2 0 0 0 0 3 Same as P3.5.3.4
P3.5.3.10 Torque Limit 0 0 0 0 3 Same as P3.5.3.4
P3.5.3.11 AP 0 0 0 0 3 Same as P3.5.3.4
P3.5.3.12 Slow Limit S11 1 1 1 1 3 Same as P3.5.3.5
P3.5.3.13 Slow Limit S21 1 1 1 1 3 Same as P3.5.3.5
P3.5.3.14 End Limit S12 1 1 1 1 3 Same as P3.5.3.5
P3.5.3.15 End Limit S22 1 1 1 1 3 Same as P3.5.3.5
P3.5.3.16 Brake Pedal 0 0 0 0 3 Same as P3.5.3.6
P3.5.3.17 Master Follower 0 0 0 0 3 0= Not Used
1 = Terminal
2 = Bus
P3.5.3.18 Bus Fault Mode 0 0 0 0 3 0 = Brake
1 = Ramping
P3.5.3.19 Ref erence 2 19 19 19 19 3 0 = Not Used
1 = Speed Limit
2 = LoadFeedback
3 = SwCtrlHeight
4 = CalibratePos
5 = ControlW ord3
6 = Ramp Ref
7 = Torque Limit
8 = Sync Of f set
9 = Load Share
10 = Speed Share
11 = DAC W rite 1
12 = DAC W rite 2
13 = DynDamp Gain
14 = DynDamp TC
15 = Power Lim Mot
16 = Power Lim Gen
17 = Aout1
18 = Aout2
19 = Torque Ref
20 = Speed Corr
P3.5.3.20 Ref erence 3 20 20 20 20 3 Same as P3.5.3.19
G3.6 Protection OL Trav CL Trav CL Hoist OL Hoist Unit PW 3 Description
P3.6.1 Ref Fault Resp 0 0 0 0 3 0 = Not Used
1 = Alarm
2 = Fault
P3.6.2 Motor Thermistor 2 2 2 2 3 0 = Not Used
1 = Fault
2 = Ramping
P3.6.3 Brake Chopper 1 1 1 1 4 0=No
1=Yes
2=Yes External
3=Yes TestPuls
4= YesTestPuls2
5= YesTestPuls3
6= Yes Ready
7= YesTestPuls4
8= YesTestPuls5
P3.6.4 Earth Fault 1 1 1 1 3 0=No
1=Yes
P3.6.5 Line Superv ision 1 1 1 1 3 0=No
1=Yes
P3.6.6 Output Superv is 1 1 1 1 3 0=No
1=Yes
P3.6.7 Switching Freq 2 => F-series 2 => F-series 2 => F-series 2 => F-series 3 0 = Auto
1 => K-series 1 => K-series 1 => K-series 1 => K-series 1 = 1.5 kHz
2 = 3.6 kHz
3 = 7.5 kHz
4 = 10 kHz
5 = 16 kHz
6 = 2.5 kHz
P3.6.8 Brake Slip 0 0 0 0 3 0 = Not Used
1 = S1 Allowed
2 = S1 Slow Spd
3 = S1 Disabled
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G3.6 Protection OL Trav CL Trav CL Hoist OL Hoist Unit PW 3 Description
P3.6.9 Motor Therm Prot 0 0 0 0 3 0 = Not Used
1 = Alarm
2 = Fault
P3.6.10 MotAmbTempFactor 0.0 0.0 0.0 0.0 % 3
P3.6.11 MTP f 0 Current 40.0 40.0 40.0 40.0 % 3
P3.6.12 MTP Motor 45 45 45 45 min 3
P3.6.13 Motor Duty Cycle 100 100 100 100 % 3
P3.6.14 Encoder Fault 1 1 1 1 3 0 = Not Used
1 = Fault
P3.6.15 Ramp Stretching 50 0 0 0 % 3
P3.6.16 BrakeSuperv Time 0.0 0.0 0.0 0.0 s 3
P3.6.17 BrkCh DroopCycle 5,00 5,00 5,00 5,00 s 3
P3.6.18 BrkCh DroopRamp 2,00 2,00 2,00 2,00 s 3
P3.6.19 BrkCh DroopOf f s 0 0 0 0 V 3
P3.6.20 BrkCh DroopVolt 0 0 0 0 V 3
P3.6.21 Brake Slip Retry 0 0 0 0 3
G3.7 Laboratory OL Trav CL Trav CL Hoist OL Hoist Unit PW 4 Description
P3.7.1 DAC1 Var Type 1 1 1 1 4 0= System
1= Application
P3.7.2 DAC1 Address 0 0 0 0 4
P3.7.3 DAC1 Mask 65535 65535 65535 65535 4
V3.7.4 DAC1 Value 4
1= Application
P3.7.6 DAC2 Address 0 0 0 0 4
P3.7.7 DAC2 Mask 65535 65535 65535 65535 4
V3.7.8 DAC2 Value 4
1= Application
P3.7.10 DAC3 Address 0 0 0 0 4
P3.7.11 DAC3 Mask 65535 65535 65535 65535 4
V3.7.12 DAC3 Value 4
1= Application
P3.7.14 DAC4 Address 0 0 0 0 4
P3.7.15 DAC4 Mask 65535 65535 65535 65535 4
V3.7.16 DAC4 Value 4
P3.7.17 DAC Enable 1 1 1 1 4 0=Of
1=On
G3.7.18 DAC Write OL Trav CL Trav CL Hoist OL Hoist Unit PW 4 Description
P3.7.18.1 Index 1 35729 35729 0 0 4
P3.7.18.2 Value 1 -100 -100 0 0 4
P3.7.18.3 W rite Mode 1 1 0 0 4 0 = Not W ritten
1 = Power-up
2 =
3 = Cyclic Slow
P3.7.18.4 Index 2 0 0 0 0 4
P3.7.18.5 Value 2 0 0 0 0 4
P3.7.18.6 W rite Mode 0 0 0 0 4 Same as P3.7.18.3
P3.7.18.7 Index 3 0 0 0 0 4
P3.7.18.8 Value 3 0 0 0 0 4
P3.7.18.9 W rite Mode 3 0 0 0 0 4 Same as P3.7.18.3
P3.7.18.10 Index 4 0 0 0 0 4
P3.7.18.11 Value 4 0 0 0 0 4
P3.7.18.12 W rite Mode 0 0 0 0 4 Same as P3.7.18.3
G3.7.19 Datalogger OL Trav CL Trav CL Hoist OL Hoist Unit PW 4 Description
P3.7.19.1 Trigger Mode 2 2 2 2 4 0 =
1 = First
2 = Last Four
P3.7.19.2 Logger Variable1 8 8 8 8 4 0 = None
1 = EncoderSpeed
2 = Motor Freq
3 = Motor Curr
4 = MotorTorque1
5 = MotorTorque2
6 = Ramp Gen
7 = DC-Link Volt
8 = Fault Code
9 = IGBT Temp
10 = Brake Control
11 = D/A BoardCh1
12 = D/A BoardCh2
P3.7.19.3 Condition 1 0 0 0 0 4 0 =
1 =
2 =
3 =
4 =
5 = <>
P3.7.19.4 Limit 0 0 0 0 4
P3.7.19.5 Logic Operator 1 1 1 1 4 0 = None
1 = AND
2 = OR
P3.7.19.6 Logger Variable2 8 8 8 8 4 0 = None
1 = EncoderSpeed
2 = Motor Freq
3 = Motor Curr
4 = MotorTorque1
5 = MotorTorque2
6 = Ramp Gen
7 = DC-Link Volt
8 = Fault Code
9 = IGBT Temp
10 = Brake Control
11 = D/A BoardCh1
12 = D/A BoardCh2
P3.7.19.7 Condition 2 5 5 5 5 4 0 = >
1 = >=
2 =
3 =
4 =
5 =
P3.7.19.8 Limit 2 6 6 6 6 4
V3.7.19.9 Data Log Counter
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G3.8 System Bus OL Trav CL Trav CL Hoist OL Hoist Unit PW 3 Description

P3.8.1 Address 0 0 0 0 3
P3.8.2 Next Address 0 0 0 0 3
P3.8.3 Last Address 0 0 0 0 3
P3.8.4 System Bus Speed 0 0 0 0 3 0 = 1.5 Mbit/s
1 = 3 Mbit/s
2 = 6 Mbit/s
3 = 12 Mbit/s
P3.8.5 System Bus Mode 0 0 0 0 3 0 = Of f
1 = Synchro
2 = MasterFollow
P3.8.6 Station Type 0 0 0 0 3 0 = None
1 = Follower
2 = Master
3 = Auto
G3.8.7 Synchronization OL Trav CL Trav CL Hoist OL Hoist Unit PW 3 Description
P3.8.7.1 Gain 100 100 100 100 3
P3.8.7.2 Max Corr Pos Err 1000 1000 1000 1000 3
P3.8.7.3 Displacement Lim 0 0 0 0 mm 3
P3.8.7.4 Sync Activ ation 0 0 0 0 3 0 = During Stop
1 = During Run
G3.8.7.5 Monitoring OL Trav CL Trav CL Hoist OL Hoist Unit PW 3 Description
V3.8.7.5.1 Max Pos Error mm 3
V3.8.7.5.2 Pos Error 1 mm 3
V3.8.7.5.6 Peak Pos Error 1 mm 3
V3.8.7.5.10 Synchro Status 3
G3.8.8 Master Follower OL Trav CL Trav CL Hoist OL Hoist Unit PW 3 Description
P3.8.8.1 Follower Mode 0 0 0 0 4 0 = Speed Ctrl
1 = Torque Ctrl
P3.8.8.2 SpdCtrl Drooping 10 10 10 10 % 4
P3.8.8.3 Torq Ctrl W indow 5 5 5 5 Hz 4
V3.8.8.4 MasterFollStatus 3
G3.9 PLC Parameters OL Trav CL Trav CL Hoist OL Hoist Unit PW 3 Description
P3.9.1 PLC Parameter 1 0 0 0 0 3
P3.9.2 PLC Parameter 2 0 0 0 0 3
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6 COMPONENTS
6.1 Inverter
Inverter (XT) includes Power supply unit (PSU) and Control unit (CSU), which are separate parts. PSU
includes supply, brake resistor and motor connections. IGBTs are located in the PSU. Microprocessors
and ASIC are located in the CSU. The CSU is power class independent.
1min Frame Dimension Dimension Weight Weight

XTx PSU CSU In Imax size mm (WxHxD) in (WxHxD) kg lbs
XTx4004NF1e04 PSU002NF1e1 CSU04 5.5 10 Fr4 128x339x190 5.04x13.35x7.48 6 13
XTx4005NF1e04 PSU003NF1e1 CSU04 8 12 Fr4 128x339x190 5.04x13.35x7.48 6 13
XTx5034NK1e04 PSU018NK1e1 CSU04 22 33 Fr6 195x561x237 7.68x22.09x9.33 20 44

e defines the power supply network (0 = unlimited or IT network, N = limited or grounded Y network)
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1min Frame Dimension Dimension Weight Weight

D2V PSU CSU In Imax size mm (WxHxD) in (WxHxD) kg lbs
XTx2011NJ1e04 PSU002NJ1e1 CSU04 11 16.5 Fr4 128x292x190 5.04x11.50x7.48 6 13
XTx2012NJ1e04 PSU003NJ1e1 CSU04 12.5 18.5 Fr5 144x391x214 5.67x15.39x8.43 10 22
XTx2017NJ1e04 PSU004NJ1e1 CSU04 17.5 26 Fr5 144x391x214 5.67x15.39x8.43 10 22
XTx2025NJ1e04 PSU005NJ1e1 CSU04 25 37 Fr5 144x391x214 5.67x15.39x8.43 10 22
e defines supply network ( 0 = unlimited, N = limited)
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The main circuit diagram of XTx4004 – XTx4022 and XTx5005 – XTx5022

BR B+ B-
DC+
UH_G VH_G WH_G
UH_D VH_D WH_D
L1 U/T1
L2 V/T2
L3 W/T3
BRK_G UL_G VL_G WL_G
UL_D VL_D WL_D

BRK_D
DC-
The main circuit diagram of XTx4031 – XTx4245 and XTx5027 – XTx5170
BR B+ B-
DC+
UH_G VH_G WH_G
UH_D VH_D WH_D
L1 U/T1
L2 V/T2
L3 W/T3
BRK_G UL_G VL_G WL_G
BRK_D UL_D VL_D WL_D
DC-
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6.1.1 Power supply unit (PSU)

The power supply unit (PSU) includes the main circuit components. PSU has connectors for supply
cables, motor cables and braking resistor cables. PSU also includes a 24 pin D-connector for connecting
to the CSU.
Main supply voltage terminals

L1 Mains L1
L2 Mains L2
L3 Mains L3
PE Protective earth
DC-bus and Braking Resistor terminals
B- External DC-bus negative
B+ External DC-bus positive / Brake resistor positive
R- Brake resistor negative
Motor output voltage terminals
U/T1 Motor U
V/T2 Motor V
W/T3 Motor W
6.1.2 Control unit (CSU)

The control unit (CSU) includes a control board with five board slots for option boards and a control
keypad for parameter adjustments. CSU is normally connected to PSU through a D-connector. In special
applications the CSU is connected to PSU with a fiber optic cable. The CSU can be powered with an
external power supply (24Vdc).
Control board LED indications

Yellow Red Status
KEYPAD
blinking blinking Everything is OK. GREEN
0.5Hz 0.5Hz IEC Application Scheduler
is running and Application
is running
blinking blinking IEC Application Scheduler

0.25Hz 0.5Hz is running and Application
is NOT running
OFF blinking IEC Application Scheduler

0.5Hz and Application are NOT
running
Green Status
RED YELLOW
ON PSU ready
OFF PSU not ready
A B C D E
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6.1.3 Basic I/O board (Slot A)

The basic I/O-Board is always included in CSU slot A. It has two board levels, one for electronics level
signals (terminals 1-10) and one for control voltage signals (11-18).
XTx- I/O_BOARD
Terminal Signal name Description
1 PUR Output, pull up resistor, maximum current 10mA
2 +15 V Output +15Vdc, maximum current 50mA
3 AIN1+ Analog input 1 (0-10V)
4 AIN2+ Analog input 2 (–10V-+10V)
5 AIN- Common for analog input and output signals
6 AOUT1 Analog output 1 (0-20mA; R cmax=500Ω)
7 AOUT2 Analog output 2 (0-10V)
8 DOA1 Digital output, open collector output 48V 50mA
9 0V I/O ground terminal
10 +24V +24Vdc output, maximum current 200mA
11 S1 Digital input 42-240Vac 50/60Hz (Direction S1)

12 S2 Digital input 42-240Vac 50/60Hz (Direction S2)
13 DIA3 Digital input 42-240Vac 50/60Hz
16 OK Digital input 42-240Vac 50/60Hz (OK-signal).
- OK-input is connected straight to the ASIC.
- Inverter is ready to operate when OK-signal is active “1”.
17 COM Common for 42-240Vac 50/60Hz
18 COM Common for 42-240Vac 50/60Hz
The threshold voltage for digital inputs S1, S2, DIA3, DIA4, DIA5
and OK is 35VAC, 15mA.
11 12 13 14 15 16 17 18
1 2 3 4 5 6 7 8 9 10
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6.1.4 Relay / Thermistor board (Slot B)

Relay / Thermistor board is always included in CSU slot B.
XTx-NXOPTA3
21 ROB1
22 ROB1 Relay output, 250V 8A
23 ROB1
Relay output, 250V 8A,
25 ROB2
normal open
26 ROB2
28 T1 Thermistor or Klixon input,
double isolated
29 T2
R trip =4.7kohms
21 22 23 25 26 28 29
6.1.5 SSU Speed Supervision board (Slot C)

SSU is always included in CSU slot C for applications requiring speed feedback.
XTx-SSU
1 EA+ Threshold voltage 10VDC
2 EA- Threshold voltage 10VDC
3 EB+ Threshold voltage 10VDC
4 EB- Threshold voltage 10VDC
5 +24V +24VDC short circuit protected
6 0V Common for encoder supply
S1
Relay output, 250V 8A, normal
28 ROC1
open
29 ROC1
S2
- Relay contact ROC1 closes when inverter is powered and no faults
occurs YELLOW
- Relay contact ROC1 opens if the SSU has tripped in:
S3 RED
- Overspeed
- Speed difference
- Zero speed
- Relay test fault
- Watch dog fault
LED Blinking Status

Red 1Hz OK
Yellow 0.25Hz OK
Yellow 4Hz Board internal fault or communication fault with
control unit
1 2 3 4 5 6 28 29
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6.1.6 I/O Extension board (Slot D)

I/O-extension board is normally included in CSU slot D.
XTx-NXOPTB9
1 DID1 42-240VAC 50/60Hz
2 DID2 42-240VAC 50/60Hz
3 DID3 42-240VAC 50/60Hz YELLOW
4 DID4 42-240VAC 50/60Hz
5 DID5 42-240VAC 50/60Hz
6 COM Common for DID1-DID5
7 ROD1
normal open
8 ROD1
The threshold voltage for digital inputs DID1-DID5 is 35VAC,

15mA.
LED Blinking Status

Yellow 0.25Hz OK
Yellow 4Hz Board internal fault or communication
fault with control unit
1 2 3 4 5 6 7 8
6.1.7 Relay Extension board (Slot E)

Relay extension board is an optional board in CSU slot E, when additional relay functionality is needed.
Functions of these relay outputs are programmable and are determined for each application.
XTx-NXOPTB5
22 ROE1
normal open
23 ROE1
25 ROE2
normal open
26 ROE2 Y E L LO W

28 ROE3
normal open
29 ROE3
LED Blinking Status
Yellow 0.25Hz OK
Yellow 4Hz Board internal fault or communication

fault with control unit
25 26 25 26 28 29
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6.1.8 Profibus board (Slot E)

Profibus board can be optionally included in CSU slot E. The
board has the 9-pin female D-connector for the Profibus cable
connector. The connector signals are shown in the following
table.
XTx-NXOPTC5
1 Shield Cable shield
3 RxD/TxD-P Receive/Transmit data –
plus (B = red wire)
5 DGND Data Ground (reference
potential for VP)
6 VP Supply voltage –
plus (5V)
8 RxD/TxD-N Receive/Transmit data –
minus (A = green wire)
X1
The shield of the Profibus cable can be grounded in two different
X4
ways in the board: directly to the drive frame or to the frame of
YELLOW
GREEN
X6
the drive through a RC filter. The selection of grounding the bus
RED
cable shield is done with the jumper X1. The default setting is the
direct grounding. The default position of jumper X1 is shown in
the figure to the right.
Jumpers X4 and X6 are for the bus termination. The default

position for the jumpers is shown in the figure to the right.
The three LED indicators on the board are located next to the bus connector. In the normal Profibus
communication the red LED is OFF, the yellow LED is blinking once a second and the green LED is also
blinking once a second.
Red LED Profibus status
OFF Profibus communicates normally
- normal data exchange between Master and Slave
ON Profibus communication is broken or not started
- Profibus cable broken or incorrectly connected
- incorrect configuration or programmed data of Profibus master
- Profibus master is off line or shut down
Yellow LED Status of Profibus option board
OFF Option board not activated
ON Option board in initialization state waiting for activation command from the drive control
unit
Blinking fast Option board is activated and in RUN state, ready for external communication
1Hz
Blinking slow Option board is activated and in FAULT state (an internal fault of option board)
0.2Hz
Green LED Communication status
OFF Profibus board is waiting for the parameters from the drive control unit, no external
communication
ON Profibus board is activated: the parameters received from the drive control unit and the
board is waiting for messages from the Profibus master
Blinking fast Profibus board is activated and receiving messages from the Profibus master
1Hz
Blinking slow Profibus board is in a FAULT state
0.2Hz - no messages from Profibus master within the watchdog time
- Profibus cable broken, cable loose or Profibus master off line
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6.1.9 System bus board (Slot D or Slot E)

System bus board can be optionally included in CSU slots D or E. The
board has four optical terminals. The connector signals are presented
in the following table.
D2V-NXOPTD1
H1 Rx1 System Bus optical input 1
H2 Rx2 System Bus optical input 2
H3 Tx1 System Bus optical output 1
H4 Tx2 System Bus optical output 2
Following fiber pairs are used for optical communication between

system bus boards.
Cable length Cable name Description

1m D2V-EPP00109 Fiber pair
10 m D2V-EPP00129 Fiber pair H1 H2 H3 H4
The connectors of the fiber pairs are color coded, black for Rx and
blue for Tx. The black connector has a latching mechanism.
The unused fiber optic terminals must be protected with rubber pins in order to avoid disturbances.
Below is shown the connection model of System bus.
Drive 1 / Master Drive 2 / Follower Drive 3 / Follower Drive 4 / Follower
H4/Tx2 H1/Rx1 H4/Tx2 H1/Rx1 H4/Tx2 H1/Rx1 H4/Tx2 H1/Rx1
H2/Rx2 H3/Tx1 H2/Rx2 H3/Tx1 H2/Rx2 H3/Tx1 H2/Rx2 H3/Tx1
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6.2 Reference potentiometer

A special potentiometer connection is used with the XT Series drive. End terminals of the potentiometer
are shorted together and connected to the +10V terminal which is on the A board pin #5. The power
supply is connected via a series resistor to the A board pin #1. The wiper of the potentiometer must be
connected to the A board pin #3.
Note that if several drives are controlled by a single potentiometer the power supply must be taken from
only one of those drives. The impedance of the Ain1 input is about 200kohms, so the Ain1 inputs of the
other drives can be connected in parallel (maximum four at a time). The inputs should be wired
permanently parallel to maintain constant impedance.
P3.2.2.3, P3.2.2.4, P3.2.2.5, P3.2.2.6, and P3.2.2.7 settings have an effect on the frequency reference
F REF . See examples below, where Ain1 is voltage at the A board pin #3.
Speed Ain1 P3.2.2.3 P3.2.2.4 F REF The default values

min 10.0V 10.000 V 0.000 0% P3.2.2.3 = 10.000 V
max 0V 10.000 V 0.000 100% P3.2.2.4 = 6.700 V
min 10.0V 10.000 5.000 0% P3.2.2.5 = 50.00 Hz
max 5.0V 10.000 5.000 100% P3.2.2.6 = 0
min 10.0V 10.000 6.700 0% P3.2.2.7 = 0.10s
max 6.7V 10.000 6.700 100%
XT series drives can be used with a custom-designed
CONNECTION TO AIN− X1:25
potentiometer, which structure is shown beside. The resistance
between the end terminals of the potentiometer is 10kohms.
10 kohm
The active region of the potentiometer is only about 180
degrees, but the length of the resistive element is about 340
MOVING
degrees. In the middle of the normally unused 180 degrees CONTACT
(WIPER)
region, there is a non-conducting gap.
END END
TERMINAL TERMINAL
When the end terminals are shorted together, the resistance
measured between the end terminals and the wiper varies from UNUSED
REGION
2.5-2.8kohms (wiper in the middle, corresponds to minimum
speed) to less than 800 ohms (wiper close to end terminal, CONNECTION TO AIN1+ X1:23
corresponds to maximum speed).
Potentiometer construction
With the potentiometer joystick and default parameter values,
the voltage level at the Ain1-input ranges from 10 to 6.7 volts
(from 0 to 100% speed). Also any other potentiometer-controller
combination can be used provided that P3.2.2.3, P3.2.2.4,
P3.2.2.5, P3.2.2.6, and P3.2.2.7 setting range are sufficient.
Voltage Speed
12
Voltage / V Speed
10 100%
80%
8
6 60%
21 23 25
4 40%
PUR AIN1+ AIN−
+ 15V
2 20%
0 1k31 REFERENCE
-90 -60 -30 0 30 60 90
Turning angle of potentiometer / °
Control voltage and speed as a function of turning angle. Connection
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6.3 Speed Sensors

6.3.1 Encoder
An incremental encoder can be used with XT Series drives to obtain excellent speed accuracy and fast
response as well as to reach very low minimum speeds for precise positioning. The encoder signal is also
used for speed supervision purposes. Standard encoder has 600 pulses per revolution. The XT is allowed to
use 512, 1000, 1024, 1200, 2000 or 2048 ppr encoders depending on motor speed and cable length.
Encoder connection examples are shown below. The power supply from the drive (+24V, 0V) is connected to
the respective encoder terminals. Both input channels (EA, EB) of the drive are "floating" inputs to reach
maximum immunity to noise. All signal wires (EA+, EA-, EB+, EB-) shall be included inside a single shielded
cable. The power supply to the encoder may also be included in the same cable.
TERMINAL BOX BRIDGE CUBICLES

Standard connection ENCODER +24V +24V
D2H/D2C
A+ EA+
The positive and negative G B+ EB+
terminals of both channels

EA-
(EA+, EA-, EB+, EB-) are B6 A-
B- EB-
connected to encoder
0V
outputs (A+, A-, B+, B-). 0V
PE PE PE
Alternative connection
TERMINAL BOX BRIDGE CUBICLES
The positive terminals of both ENCODER +24V
+24V
D2H/D2C
channels (EA+, EB+) are A+
EA+
connected to encoder G B+
EB+
outputs (A+, B+).
EA-
B6 OUTPUTS
A- AND B- NOT
A-
EB-
The negative terminals of CONNECTED B-
0V
both channels (EA-, EB-) are CHANNELS EA- AND EB- 0V
PE PE PE
connected to 0V as close to CONNECTED TO 0V
IN MOTOR JUNCTION BOX
the encoder as possible.
In many encoders, there are also "zero outputs (Z+, Z-)", which should be left disconnected. Signal outputs
may also be labeled as 1, 1, 2, 2, 0 and 0. If the encoder does not have negative channels (A- and B-), EA-
and EB- must be connected to 0V at motor terminal box (alternative connection).
In order to avoid fault situations, the cable between the encoder and the drive must be
- as far as possible from the cables of motor and braking resistor (minimum distance >20cm)
- a braided shielded and twisted pair cable
- the shield must at both ends, 360 degree grounding at each interconnect point
- the shield should always be grounded when going through terminals
Some problems may occur when using shielded flat cable or in situations where the encoder cable has been
placed too close (< 5cm) to the motor cables and braking resistor cables.
Encoder has been standardized based on cable lengths and maximum speeds of applied motors:
Code Pulses per Minimum Motor maximum speed (rpm) at cable length
revolution nominal speed
(ppr) (rpm) 40 m 50 m 63 m 80 m 100 m 120 m 150 m 200 m
NM701NR3 600 1000 6000 6000 6000 5500 5200 5000 4800 3800
CAUTION: Maximum nominal and ESR-speeds above are as allowed by the XT Series drive itself, but
there may be other limiting factors due to mechanical reasons.
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6.3.2 Bearing Sensor
The drive needs information about the motor rotation speed for stall, speed difference and overspeed
supervision. Order codes of the bearing sensors are shown in the table below.
Motor type Motor Pulses per Order code Supply Max load
code revolution voltage
MF10MA200 T1 32 NM768NR3 24V DC 20 mA
MF10MB200 T2 32 NM768NR3 24V DC 20 mA
MF10MC200 T3 32 NM768NR3 24V DC 20 mA
MF11MA200 T4 64 NM768NR4 24V DC 20 mA
MF11MB200 T5 64 NM768NR4 24V DC 20 mA
MF13Z-200 T6 80 NM768NR5 24V DC 20 mA
MF13ZA200 T7 80 NM768NR5 24V DC 20 mA
MF13ZB200 T8 80 NM768NR5 24V DC 20 mA
MF13ZC200 T9 80 NM768NR5 24V DC 20 mA
MF13X-200 TA 80 NM768NR5 24V DC 20 mA
Sensor bearing requires KAE248 buffer amplifier. If channel A+ is damaged, channel B+ can be used
instead in emergency situations.
Signal name Sensor bearing Terminal number

wire color
+24V Red KAE248:6
0V Black KAE248:2
A+ White KAE248:1
B+ Blue not connected
X1
+ 24V 6 + 24V 3 :55
RED BROWN +24V
A 1 OUT 4 :51
INVERTER
WHITE WHITE EA+
0V 2 0V 7 :56
BLACK GREEN 0V
:52
EA-
Warning! Critical damage if: The supply voltage is over 28V or a short circuit between the signal
and the supply, or induction heating or hammer mounting. In case of sensor damage,
the entire motor must be changed.
Note the following details

- buffer amplifier must be located as close to the bearing sensor as possible (maximum distance 2.5m)
- bearing sensor signal cable must be located as far from the motor cables and braking resistor cables as
possible (minimum distance >20cm)
In order to avoid fault situations, the cable between the buffer amplifier and the drive must be
- grounded (the shield) at both ends, 360 degree grounding on the drive terminal
- the shield should be grounded always when going through terminals
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6.3.3 Proximity switch
The drive needs information about the motor rotation speed for stall, speed difference and overspeed
supervision. Type markings of the speed supervision sensors (not needed in applications with encoder or
bearing sensor) and fixing distance from the pulse wheel (air gap) are shown in the table below.
Proximity switch air gap

Honeywell 3GT101DC 0.5 ... 1.0 mm
Schönbuch INSOR88 ICDM 8802 0.5 ± 0.1 mm 5
Baumer IFRM08N1501/L 0.5 ± 0.1 mm

35
Baumer IFRM08N1501/S35L 0.5 ... 1.0 mm
Pulse wheel teeth numbers have been standardized according to the

motor rotation speed, although other teeth numbers can be used
(see table below). 12
29
Motor synchronous Standard teeth Other allowed Honeywell 3GT101DC

speed number teeth numbers
3600 24 18
3000 24 18
40
1800 24 18, 36, 48
1500 24 36, 48, 54
1200 36 24, 48, 54, 72
1000 36 48, 54, 72 8
900 48 36, 54, 72
750 48 54, 72
600 72 48, 54 Schönbuch INSOR ICDM 8802
500 72 -
Note: that the Honeywell-sensor cable is lengthened and the wire

colors are not the same as other sensors. However, color markings
corresponding to the other sensors have been added to wire ends (not
necessarily, if cable has been shortened afterwards). The connection of
Honeywell-sensor and the cable markings are shown in the table below. 50
35
30
Signal Sensor Cable Color Terminal

name marking number
M8x1 M8x1
+24V Red Brown Brown KAE248:6
PULSE Green Green Black KAE248:1 Baumer IFRM08N1501/L
Baumer IFRM08N1501/S35L
0V Black White Blue KAE248:2
The speed supervision sensor connection to the buffer amplifier KAE248 is performed as follows:
A5 A5
Red Brown 6 3
INVERTER
+V +V Brown 6 3 + 24V
+V +V
Green Green 1 4
OUT Black 1 4 EA+
Black OUT
White 2 7
0V 0V Blue 2 7 0V
0V 0V
EA-
Schönbuch INSOR ICDM 8802 PE
Baumer IFRM08N1501/L
Honeywell 3GT101DC Baumer IFRM08N1501/S35L
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Note the following details
- buffer amplifier must be located as close to the proximity switch as possible (maximum distance
3m)
- sensor cable must be located as far from the motor cables and braking resistor cables as possible
(minimum distance >20cm)
In order to avoid fault situations, the cable between the buffer amplifier and the drive must be
- grounded (the shield) at both ends, 360 degree grounding on the drive terminal
- the shield should always be grounded when going through terminals
Some problems have occurred when using a shielded flat cable, or in the situations when the sensor
cable has been placed too close (< 5cm) to the motor cables. Cabling methods and distances determine
the best way to ground the shielded cable; at both ends or only at one end.
Buffer amplifier pulse output can be measured during running. If the pulse sequence is not uniform and
for instance longer pulses occur every now and then, the reason may be one of following:
- an incorrect air gap (proximity switch)
- the sensor is not properly on the top of the pulse wheel (proximity switch)
- disturbances are transferred to the sensor cable
- the pulse wheel is faulty
Honeywell 3GT101DC Hall-sensor requires tooth movement past the sensor. A motionless tooth can not
generate a pulse.
6.3.4 Buffer amplifier KAE248

The speed sensor (proximity switch or bearing sensor) is connected to the drive via a KAE248 buffer
amplifier. KAE248 must be located near the sensor (usually in the connection box of the hoist or the
motor).
Without a buffer amplifier some faulty pulses could activate a speed supervision fault in the drive.
Typically the problem would be a momentary lack of pulses or oscillations at the sensor output. Usually
the noise sensitivity increases when the sensor temperature rises.
KAE248 connection with a speed sensor. 69 20
X1 5 6
+ 24V 6 + 24V 3 :55
+24V 1 2
OUT 1 OUT 4 :51
INVERTER
EA+ 79
0V 2 0V 7 :56
0V 3 4
:52 7 8
EA-
The dimensions shown above are in

millimeters.
Buffer amplifier pulse output can be measured 24V± 1V

during running. The picture on the right
presents the pulse output.
0± 1V
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6.4 Brake controllers AC Line Voltage
6.4.1 REC12-690+DC K7 K7
Brake control unit REC12 is a line voltage half-wave rectifier for L1-1 L1-2 L2
DC-brakes.
Voltage range 200...690Vac

a
Output voltage U DC Half wave 0.45 x U AC
Maximum current 1.25Adc K7
REC12
K7
b
When the brake is opened, the brake contactor K7 connects two
phases of mains voltage to terminals L1 and L2. In addition, the
brake contactor shorts terminals a and b, completing the DC-circuit.
To close the brake, the brake contactor disconnects the supply to

terminals L1 and L2. The released brake contactor also opens the Brake
brake coil DC-circuit, which speeds closing of the brake. The
purpose of the varistor is to provide overvoltage protection for K7
contacts and the brake coil.
6.4.2 ESD141
AC Line Voltage
Brake control unit ESD141 is a line voltage full/half-wave rectifier
for DC-brakes.
K7 K7
Voltage range 200...690Vac
Output voltage U DC Full wave 0.90 x U AC
K7
Half wave 0.45 x U AC
Set 0.3s
Maximum current 1.25Adc continuous and 3 2 1
2.5Adc at ED5%.
When the brake is opened, the brake contactor K7 connects two

phases of mains voltage to terminals 1, 2 and 3, which makes the
device a full wave rectifier. The full wave mode is used to get the
4
brake open fast. In addition, the brake contactor shorts terminals 4
and 5 thus making the DC-circuit. K7
ESD141
After a time delay (normally 0.3s), the delayed contact of the brake K7
5
contactor opens, which disconnects the supply from terminal 3 and
the rectifier changes to a half wave type. Half wave operation
prevents heating of the brake coil and is enough to keep the brake 6 7
open.
To close the brake, the brake contactor disconnects the supply to Brake
terminals 1 and 2. The released brake contactor also opens the
brake coil DC-circuit, which speeds closing of the brake. The
purpose of the varistor is to provide overvoltage protection for K7
contacts and the brake coil.
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7 TROUBLESHOOTING
Warning! High voltages inside the device. Wait for at least five minutes after the supply voltage
has been switched off before performing any service actions. The display in the
operating condition (lights on) indicates a dangerous voltage on the DC-bus. When
display turns off, the DC-bus voltage is approximately 100V. Note also that there is
always a dangerous voltage in the braking resistor when the DC-bus is charged.
This chapter describes how to detect and correct drive faults. The purpose is to find out which
components are causing the fault and how to replace or correct them to restore proper operation.
7.1 Field repair actions

The purpose of troubleshooting and field repair actions is primarily to determine whether the problems are
in fact caused by the drive or external devices. After that, the next step is to detect the possibly damaged
components inside the drive. If any damage inside drive is caused by the environment (motor failure,
brake failure, power supply problems etc.) it is very important to repair/change faulty items to prevent
further damage.
The best way to repair a faulty inverter is to replace it with a new one. If the fault can be located, it is also
possible to replace some of the inverter components. Always, if any power component inside the inverter
is damaged, it is highly recommended to change the component that controls the damaged component. In
the smallest models, replacing components except for the PC-boards is not recommended because of
cost. When replacing an inverter or a PC-board with a new one, the parameter list of the existing drive
configuration is needed so that the parameter settings can be copied from the existing drive.
If parameters have been copied to the keypad before damage, it may be used for uploading the
parameters to the spare or replacement inverter (requires same software versions).
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7.2 Inverter fault codes

If any of the following failures are found, the inverter displays the fault code and closes the mechanical brake
causing the movement to stop. If several faults occur one after another, the latest one is displayed, the others are
stored to fault history page.
When inverter fault supervision trips, the FAULT indicator turns on and the blinking fault code “F xx“ (xx = fault
number) appears on the display.
XT series drives include an automatic fault reset operation; the fault code stays on the display until the fault is
removed and the controller released back to 0-position. Some of the fault codes require to switch the power off
before run is possible.
The faults are stored to the fault history, from there they can be seen if necessary. The fault history can store last
30 fault codes. Following exceptions exist when storing faults to the fault history
not stored faults: F6, F70
repeated faults are stored only once: F50, F51, F55, F60, F66, F71, F72
Fault code Possible cause Checking

F1 Inverter has measured too high current (over 4*In) Reset: switch power off and restart after the lamps of
Overcurrent in the motor output: keypad are off.
• sudden heavy load increase Check:
• short circuit in the motor or cable • motor cable connection
• not suitable motor • motor and motor cable insulation
• wrong motor parameters • brake operation
• motor loading
• motor type and power rating
• parameters
F2 DC-bus voltage has exceeded 135% maximum Reset has an additional 5 s time delay.
Overvoltage level, 911 VDC (F-series), 1200 VDC (K-series) Check:
• supply voltage raised >1.35 x Un (high • adjust the deceleration time longer
overvoltage spikes at mains or not sinusoidal • measure main supply voltage level and wave form while
voltage wave form) not running
• deceleration time is too short • motor insulation
• motor cable insulation (phase-ground, phase-phase)
• braking resistor cable
• braking resistor type and resistance
• braking chopper operation
F3 Current measurement has sensed unbalance in Reset has an additional 5 s time delay.
Earth fault motor phase currents. Supervision level is 5% of Check:
inverter nominal current • motor insulation
• not symmetric load • motor cable insulation (phase-ground, phase-phase)
• insulation failure in the motor or the cables
F5 Charging switch is open when START command Check:
Charging switch becomes active • control unit and power unit connections
• interference fault • charging resistors
• component failure If the fault comes again, change the control unit.
F6 Either the ES or RDY-signal has been tripped Check:
External Stop during run or SSU speed supervision unit has • ES and RDY external connections
detect • brake operation
• OS overspeed supervision • pulse sensor/encoder function and cabling
• ZS stall supervision • measure pulse sensor/encoder pulses with graphical
• SD speed difference supervision multimeter or scope
Fault is not stored into fault history. • SSU settings and SSU relay operation
F7 Very high overload or defective component Reset: switch power off and restart after the lamps of
Saturation trip keypad are off.
Check:
• motor and motor cable insulation
• measure main circuit diodes and IGBT transistors
If the fault comes again, change the D2V.
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F8 System fault due to component failure or faulty Reset: switch power off and restart after the lamps of
System fault operation. keypad are off.
Subcodes: Check:
• read fault extension code and contact authorized service
If the fault comes again, change the unit.
S1 = Feedback of motor voltage Motor voltage feedback not received correctly from power
unit:
• measure main circuit diodes and IGBT transistors
• check all fiber optic connections and connectors
• replace the fiber adapter board
• replace the control unit
S2 = Microprocessor Watchdog Microprocessor watchdog failure in the ASIC circuit
• check that all groundings are done properly
S3 = Microprocessor Watchdog Microprocessor watchdog failure in units ≥ D2V055F or
≥ D2V045K.
• check that all groundings are done properly
S4 = ASIC trip Subcode 4 does not exist in D2V. If fault occurs check all
groundings.
If fault occurs again contact factory.
S5 = Disturbance in optical bus Communication failure in the optical bus between Control
Unit and Power Unit in units ≥ D2V110F or ≥ D2V090K.
• check the fiber optic connection at power unit end
• check the fiber optic connection at control unit end
• check the condition of the fiber optics. Replace fiber
optics if necessary.
S6 = Feedback of charging switch External charging switch feedback fault in units
≥ D2V110F or ≥ D2V090K.
External charging switch is not used in D2V.
• check jumpers between power unit terminals:
• X9: 25 – X15: 23
• X9: 26 – X15: 21
S7 = Charging switch External charging switch feedback fault in units
≥ D2V110F or ≥ D2V090K.
External charging switch is not used in D2V.
• check jumpers between power unit terminals:
• X9: 25 – X15: 23
• X9: 26 – X15: 21
S8 = No power to driver board Driver board auxiliary voltage missing in units
≥ D2V110F or ≥ D2V090K.
• check all fiber optic connections and connectors
S9 = Power unit communication Communication bus between control unit and power unit
S10 = Power unit communication faulty in units ≥ D2V110F or ≥ D2V090K.
S11 = Power unit communication • check all fiber optic connections and connectors
• check that the fiber adapter board and control unit is
properly connected together.
S12 = Expander board failure Failure of board in slot D or E
• if there is a system bus board in the D2V, replace the
board
• replace other boards in Slots D or E
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F9 Subcodes: Read the fault extension code
Undervoltage S1 = DC-bus voltage has dropped below 333 VDC In case of temporary supply voltage break, reset: manually
(F-series), 460 VDC (K-series) restart after a while.
• Mains supply voltage interrupted Check mains input.
• Inverter fault can also cause an undervoltage trip
• If mains supply is correct, an internal failure has
occurred
Contact authorized service
S2 = No communication to the power unit. Communication bus between control unit and power unit
• Control unit does not receive DC voltage faulty in units ≥ D2V110F or D2V090K.
information from the power unit • Make sure control unit grounding is ok. Electrical
• Communication problem between the power unit disturbances can cause the communication failure.
and control unit. • check all fiber optic connections and connectors
• check that the fiber adapter board and control unit is
properly connected together.
Contact authorized Service.
F 10 One input line phase is missing or supply voltage is Check:
Input line wrong • supply voltage
supervision • mains connection
F 11 Current supervision has sensed that one of the Check:
Output phase motor phases has no current • motor cable connections
supervision • measure motor phase currents and compare to display
value
F 12 Braking chopper or braking resistor circuit has Reset: switch power off and restart after the lamps of
Braking chopper failed. Fault appears if keypad are off.
supervision • braking resistor is broken Check:
• braking chopper is broken • braking resistor and cable resistance and insulation
• braking resistor is not installed resistance
• measure braking transistor IGBT and freewheeling
diodes
• if resistor is OK, then the chopper is broken
• contact authorized service
F 13 Temperature of heat sink is below acceptable Check
Inverter operating level -10°C (14°F) • ambient temperature
undertemperature • cubicle heating
• inverter cooling fan activation (continuous / temperature
limit)
F 14 Temperature of heat sink is over acceptable Check:
Inverter operating level +90°C (194°F). • ambient temperature
overtemperature Overtemperature warning is issued when the heat • inverter cooling fan operation
sink temperature exceeds +85°C (185°F) • cooling air flow through heat sink
• heat sink is not dusty
F16 Mathematical motor temperature model has Check:
Motor detected motor overheating. Motor is overloaded. • motor load
overtemperature • if no overload exists, then check motor temperature
model parameters
F 22 Parameter save error After power off the inverter will automatically load factory
F 23 • interference fault default parameter settings. XTD/XTE does not work
EEPROM checksum • component failure (control unit) properly nor enable running after this fault.
fault Check:
• all parameter settings
• +24 V voltage output loading
If the fault comes again, contact authorized service.
F 24 Changes may have occurred in the different counter No special actions required. Take a critical attitude to the
Counter fault data due to mains interruption counter data.
F 25 • interference fault If the fault comes again, read fault extension code and
Microprocessor • component failure (control unit) contact authorized service.
watchdog-fault
F 26 Faulty power unit Contact authorized service.
Power Unit Fault
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F 31 Too high temperature in IGBT transistors. A Reset: switch power off and restart after the lamps of
IGBT temperature hardware temperature measurement has tripped. keypad are off.
Check:
• motor loading
• brake operation
• inverter heat sink
• inverter cooling fan operation
• environment temperature
F 32 Cooling fan of the frequency converter do not work, If the fault comes again, contact authorized service.
Fan cooling fault when ON command has been given
F 34 Sent message not acknowledged Ensure that there is another device on the bus with the
CAN bus same configuration.
communication Check:
• system bus
F 35 Run-time exception in the application program Contact authorized service.
Application fault
F 36 Faulty Control Unit Contact authorized service.
Control Unit
F 37 Option board or power unit has been changed to Reset the fault.
Device changed same type
F 38 Option board of same type or drive of same power Reset the fault.
Device added rating added
F 39 Option board removed. Drive removed. Reset the fault.
Device removed
F 40 Unknown option board or power unit. Check the type of option board or control unit and power
Device unknown unit.
F 41 Too high temperature in IGBT transistors. Reset: switch power off and restart after the lamps of
IGBT temperature • long duration overload keypad are off.
• lowered cooling Check:
• high environment temperature • motor loading
• brake operation
• inverter heat sink
• inverter cooling fan operation
• environment temperature
F 43 Encoder failure. Check:
Encoder failure Subcodes: • encoder cabling
S1 = EA+/- is missing • brake opening
S2 = EB+/- is missing • encoder mechanical assembly
S3 = Both EA+/- and EB+/- are missing • encoder type and pulse number
S4 = EA+ and EB+ are cross connected
S5 = SSU-board is missing or system load is too
high
F 44 Option board or control unit has been changed to Reset the fault. Option board parameters or all parameters
Device changed different type or different power rating are set up to default values.
F 45 Option board of different type or drive of different Reset the fault. Option board parameters or all parameters
Device added power rating added are set up to default values.
F 50 Analog input signal is out of selected range 1-9V or Check:
Reference value 2-10V • reference cable
fault • control cable is broken • reference source
• signal source has failed
F 51 Stop limit has tripped Reset: keep controller at zero >300 ms.
Stop limit Ensure that fault disappears after leaving the stop limit.
F 53 Watchdog time out in Profibus communication. Reset: switch power off and restart after the lamps of
Profibus Effective only if control through Profibus is selected. keypad are off.
communication error Poor Profibus cable connection or communication Check:
problems with Profibus master. • Profibus slave address
• Profibus cable connection
• Profibus termination resistor settings
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F 55 Some of following board is missing: Reset: switch power off and restart after the lamps of
Board Fault • A = Basic I/O board keypad are off.
• B = Thermistor board Check:
• C = SSU (in closed loop and hoisting • board slots A, B and C
applications) • drive selection
• control mode
F 56 Open loop frequency control only. Too short Reset has an additional 5 s time delay.
Generator side deceleration time or open loop generator side Check:
current limit current limit is too low. • deceleration time
• current limit setting
F 57 Thermistor input in relay / thermistor board has Check:
Thermistor fault detected motor overtemperature. Fault appears • motor cooling and loading
when thermistor input has been open over 1s. • thermistor connection. If expansion board thermistor
input is not used, it should be shorted
• motor parameters
• the brake operation
F 60 Inverter has lost parameters. Drive selection Download parameters from keypad
Parameter fault parameter has changed to 0 / none.
F 61 SSU has tripped to Overspeed (hardware Resets when 1s without pulses from pulse sensor/encoder
Overspeed Fault supervision). Motor speed has increased above to SSU and controller is at zero position.
overspeed detection level. Check:
• function and cabling
• maximum frequency setting parameters
• SSU settings
F 62 SSU has tripped to Speed Difference Resets when 1s without pulses from pulse sensor/encoder
Speed Difference to SSU and controller is at zero position.
Fault Check:
• pulse sensor/encoder function and cabling
• pulse sensor/encoder pulse number
• speed difference supervision settings
F 63 SSU has tripped to Stall Resets when 1s without pulses from pulse sensor/encoder
Stall Supervision to SSU and controller is at zero position.
Fault Check:
• brake operation
• pulse sensor/encoder function and cabling
• stall supervision settings
F 64 Relay in SSU board is damaged, SSU relay is Reset: switch power off and restart after the lamps of
SSU Relay Test bypassed or OK input is damaged. keypad are off.
Fault Check:
• ES and RDY external connections
• OK input operation
• change SSU board
F 65 SSU internal fault Check:
SSU Watchdog • interference fault between SSU board and control • SSU status (System menu / System info / Expander
board boards / C: SSU / status)
• component failure (control board or SSU board) • SSU LED’s
If the fault comes again, contact authorized service
F 66 SSU overspeed limit has been set over 140% of Check:
SSU Overspeed maximum frequency • set SSU overspeed limit under 140% of maximum
Limit frequency
• motor type plate parameters
• maximum frequency parameters
F 70 Other XTD/XTE has tripped to fault or brake of other Check other XTD/XTE:
Multicare Fault XTD/XTE has not been opened. Fault is not stored • fault history
into fault history. • brake operation
• brake relay control delay settings
F 71 Brake operation is faulty or load information from Check:
Brake Control Fault load measuring device is out of operation window • brake operation
• Ain2 wiring
• settings of load measuring device
F 72 Brake is opening or closing in wrong time Check:
Brake Feedback • brake operation
Fault • brake relay (ROB2) and brake contactor (K7/K71)
operation
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F 73 Both direction signals are active at same time >500 Check:
Both Dir Active ms • controller operation
• wiring of direction signals
Brake closes immediately and speed is ramped down. If
the fault happens at high speed, mechanical brake wears
heavily.
F 74 Sway control calculation has tripped Crane movement by sway control is prevented to ensure
Sway Control safety. Contact factory for more information.
F 75 One or all limit switches have failed in the test Check:
Limit Test • limit switch operations
• wiring of limit switches
F 76 Limit switch signals from terminals and Profibus are Check:
Input Signal different • wiring of limit switches
F90 All Follower units are supervising SystemBus. One All drives are stopped with brake.
System Bus fault of the follower units has not received Counter ms Check:
bits at process data during defined time. • System Bus function
• System Bus board physical connections.
F91 Master unit has not got brake opening or closing All drives are stopped with brake.
System Bus brake information from all units during 500 ms from ramp Check:
supervision release. • direction signals to each drive
• brake control parameters of closed loop
• ramp times. Acceleration and deceleration ramp times
must be equal in every drive.
F92 Displacement limit of the Synchro drives has been All drives are stopped with brake.
Synchronization exceeded. Probable cause is difference in braking Reset: switch Synchro off.
Displacement times between drives. Check:
• mechanical brake operation and adjustments
• speed feedback operation. See also fault history
contents and look possible F43 encoder faults codes
and sub codes.
• value of parameter Displacement Lim
• ramp times. Acceleration and deceleration ramp times
must be equal in every drive.
F93 System Bus activation is not done in correct All drives are stopped with brake.
System Bus operation state. Stop driving before System Bus is activated or
Activation deactivated.
7.2.1 Fault time data record

When a fault occurs, the fault number is displayed. By pushing the cursor right button you will enter the
Fault time data record menu, indicated by T.1-T.16. In this menu, some selected important data valid at
the time of the fault is recorded. The data available is:
T.1 Counted operation days d

T.2 Counted operation hours hh:mm:ss
T.3 Output frequency Hz
T.4 Motor current A
T.5 Motor voltage V
T.6 Motor power %
T.7 Motor torque %
T.8 DC voltage V
T.9 Unit temperature °C
T.10 Ready 0=Not Ready 1=Ready
Run 0=Not Running 1=Run
T.11 Direction 0=Off 1=On
Fault 0=No 1=Yes
T.12 Warning 0=No 1=Yes
At reference 0=No 1=Yes
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T.13 0-speed 0=Not Zero Speed
1=Zero Speed
T.14 Subcode
T.15 Module
T.16 Submodule
7.2.2 Fault Counter

When a fault occurs, the fault is recorded in a counter.
V4.5.1 F1 Overcurrent Overcurrent fault counter

V4.5.2 F2 Overvoltage Overvoltage fault counter
V4.5.3 F3 Earth Fault Earth fault counter
V4.5.4 F7 Saturation Saturation trip fault counter
V4.5.5 F9 Undervoltage Undervoltage fault counter
V4.5.6 F10 Input Phase Input line supervision fault counter
V4.5.7 F11 Output Phase Output phase supervision fault counter
V4.5.8 F12 BrakeChopper Braking chopper supervision fault counter
V4.5.9 F13 Undertemp Inverter undertemperature fault counter
V4.5.10 F14 Overtemp Inverter overtemperature fault counter
V4.5.11 F31 IGBT Temp HW IGBT temperature fault counter
V4.5.12 F41 IGBT Temp IGBT temperature fault counter
V4.5.13 F43 Encoder Encoder failure fault counter
V4.5.14 F53 Profibus Profibus communication error fault counter
V4.5.15 F56 Gen Curr Lim Generator side current limit fault counter
V4.5.16 F57 Thermistor Thermistor fault counter
V4.5.17 F61 SSU Overspd Overspeed fault counter
V4.5.18 F62 SSU Spd Diff Speed difference fault counter
V4.5.19 F63 SSU Stall Stall supervision fault counter
V4.5.20 F74 Sway Control Sway Control fault counter
V4.5.21 F76 Input Signal Input Signal
V4.5.22 A81 Brake Slip Brake Slip alarm counter
V4.5.23 A82 Overweight Overweight alarm counter
V4.5.24 Other faults Sum counter of following faults:
F4, F5, F8, F22, F23, F24, F25, F26, F32, F33, F34,
F35, F36, F37, F38, F39, F40, F44, F45, F48, F50,
F54, F55, F60, F64, F65, F71, F72, F73, F75
V4.5.25 Total Faults Total number of all faults.
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7.3 Inverter Alarm codes

Alarm is a sign of an unusual operating condition. Alarm remains in the display for about 10 seconds.
Alarm code Possible cause Checking

A 16 Mathematical motor temperature Check:
Motor model has detected motor - motor load
overtemperature overheating. Motor is overloaded. - if no overload exists, then check motor
temperature model parameters
A 50 Analog input signal is out of Check:
Reference value selected range 1-9V or 2-10V - reference cable
alarm - control cable is broken - reference source
- signal source has failed
A 80 Controller does not operate Check:
Multistep sequence accurately - controller
alarm
A 81 Inverter run command is off but Don’t turn off the power before the load is
Brake Slip motor is rotating safe on the ground.
Check:
- mechanical brake
See section 4.6 of this manual for more
information.
A 82 Motor load is over adjusted value Check:
Overweight alarm - Overweight limit value
A 83 Motor load is under adjusted value Check:
Slack cable alarm - Slack cable limit value
A 84 One or both Sway Control License Check:
SwCtrlLicens Keys are incorrect or missing - License Key numbers
- Sway Control mode
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8 SERVICE
In the normal operation XT Series drives do not require regular maintenance. The following actions are
recommended:
1. Check the fault history of the inverter - Find out reasons of possible faults
- Record faults and clear the fault history
2. Clean the heat sink of the inverter - Prevent the dust to spread inside cubicles
- Lock the fans before blowing compressed air
3. Check that there are no abnormal noises
coming from the cooling fans
4. Tighten all screws and connectors - Avoid too high tightening torques
5. Clean dust from PC-boards
6. Check the speed supervision circuit - See section 4.3.1 Functional test run for SSU
8.1 DC-bus electrolytic capacitors

Inverters have large aluminum electrolytic capacitors in DC-bus. In the normal operation the leakage current of the
capacitor is low based on dielectric aluminum oxide layer (forming) on the foil. If the inverters or separate
capacitors are stored a long period without applied voltage, the forming looses it’s homogeneous. When a long
stored inverter is connected straight to mains voltage, a high leakage current can exist and damage the other
inverter components.
8.1.1 Re-forming after a long storage period

Complete inverters regular maintenance
When the complete inverters are stored without voltage applied, the re-forming of the capacitors should be done at
least once in a year. Connect the mains voltage into inverter and keep power on at least 1 h continuously.
Complete inverters re-forming after a long storage period

If much more than one year has elapsed since the inverter was energized last time, the re-forming of the capacitors
has to be done in a way that the possible high leakage current through the capacitors is limited. Best alternative is
to use a DC-power supply provided with an adjustable current limitation. Set current limit to 300…500 mA and
connect DC-power supply straight to the inverter DC-bus terminals B+ and B-. Then adjust DC-voltage up to
nominal DC-voltage level of the inverter (F-series: 675 VDC, K-series: 930 VDC) and keep power supplied at least
1h.
If the DC-power supply is not available and the inverter has been stored much longer than 1 year de-energized,
consult authorized service before switching the power on .
Spare capacitors re-forming after a long storage period

When using over one year old spare part capacitors from the stock, the re-forming is recommended to perform
before capacitors are installed inside the inverter. For loose capacitors, set DC-power current limit to 50…100 mA.
Then adjust DC-voltage up to the rated value of capacitors (F-series: 420 VDC, K-series: 550 VDC) and keep power
supplied at least 1h. The degree of re-forming process can be followed on the current meter of the DC-power
supply.
If the re-forming is not done for the loose capacitors, the re-forming has to be done for a complete inverter
according to above instruction of re-forming after a long storage period.
Warning! Due to high leakage resistance the dangerous voltage can remain in capacitor a long time. If the
DC-power supply is not able to dissipate the voltage after re-forming, discharge the capacitor
by using a resistor (minimum 100kohm 2W). Discharging will take several minutes and resistor
will get hot. Measure the voltage before touching the capacitor terminals.
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9 QUICK SETUP GUIDES
See following pages
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XT Series Quick Setup Guide (Closed Loop)
Navigating the Keypad

In the parameter addresses shown below, the first character is a letter and should be ignored. (i.e.
G4.23.1). This letter has no relationship to your location in the menu structure. Navigation is determined
by the numbers alone. Focus on the numbers and the decimal points separating them.
Programming Your Drive’s Parameters

When viewing a parameter value you want to change, press to edit it. The value of the parameter
will flash on the keypad. Use and to select between the available preset values. If the
parameter is a numeric value, you can press again to select an individual digit and use the and
to increase or decrease its value. Once the desired selection is achieved, press enter to save the
change to the drive’s memory. A successful parameter change is confirmed when the parameter value
stops flashing.
1. Check all power and control connections to the drive.

Ensure all are correct, and there are no loose wires. Refer to “Control Mode Selection
Parameters” and “Control Unit Connections” pages in the back of this manual for drive control
configuration.
2. Apply power to the drive.

The keypad should turn on and display a monitoring page with the motor current, voltage, and
frequency. If the drive displays a fault code, check the service manual for troubleshooting tips.
3. Enter the password into the drive.

Press and hold until the display shows “Password Level: Engineering.” By doing this,
S TA R T
you have just entered the Engineering level password into the drive. This shortcut works from
any location within the parameter menu structure, and allows the user access to all of the
necessary parameters to complete the drive setup process.
4. Edit applicable motor parameters.

Navigate to 3.4.1.1 and enter the following motor and encoder info from the nameplates:
3.4.1.1 - Motor Nominal Voltage (Set to nameplate value)

3.4.1.2 - Motor Nominal Freq. (Set to nameplate value)
3.4.1.3 - Motor Nominal Speed (Set to nameplate value. May fault if set incorrectly)
3.4.1.4 - Motor Nominal Current (Set to nameplate value)
3.4.1.5 - Nominal Flux Current (If not available, set at 50% of motor rated current)
3.4.1.6 - Motor [Cos Φ] (= Motor Power Factor. If not available, do not change)
3.4.1.7 - Start Current (Set the same as 3.4.1.4)
3.4.1.8 - Current Limit (Set to 120% of 3.4.1.4)
3.4.1.15 - Max. Freq. S1 (Set to nameplate value)
3.4.1.20 - PPR (Must be set according to proper encoder/sensor value)
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5. Verify the follow parameters are set accordingly:

3.4.1.9 - Control Mode (Set for Speed Control CL)
3.4.1.10 - Accel Time 1 (Set for 3 seconds)
3.4.1.11 - Decel Time 1 (Set for 1.5 seconds)
3.4.1.13 - Min. Freq. S1 (Set for 1 Hz)
3.4.1.19 - Drive Selection (Must be set for “Hoist”)’
6. Set the SSU card Overspeed settings. (Inside the blue control unit – Slot C)
Open the cover of the control unit to access the SSU board’s rotary dials and dip switches.
Watch the display while trying different combinations of the rotary dial and dip switch settings
until the overspeed setting for each rotary dial is approximately 115%. Drive will not operate
properly without SSU overspeed settings set correctly. Any change to the motor parameters
that would affect the total possible pulse frequency will create the need to revisit this step.
7. Wire in your slow and/or stop limits, or set limit parameters to ‘not used.’
By default, the drive is programmed to operate using 4 limit switches: 2 slow limits and 2 stop
limits.
If you are using limit switches:
• Wire them into the appropriate digital inputs (as shown on the wiring diagram in the
back of this manual).
If you are not using any limit switches:
• Navigate to parameters 3.2.1.17 through 3.2.1.21 and program all 5 parameters to

‘not used’.
8. Test run the hoist.

Ensure that the motor is phased correctly and the display shows positive frequency in the up
direction and negative in the down.
9. Perform the Autotuning Process Step 1. (No load on the hook)

Press and hold until the display shows “CL Autotuning Step 1.” Then press enter until the
display shows “Tuning” with arrows scrolling across the screen. The tuning process will not
turn the motor or open the brake; it will only magnetize the motor. Once tuning is complete, the
keypad will display “Done.”
Press twice, and the keypad will display “CL Autotuning Step 2.” Press enter until the
Keypad displays “Drive Dir 1.” Drive the hoist in the up direction at full speed (while watching
the hook) until the keypad displays “Stop Driving.” Once the hoist comes to a stop, the keypad
will display “Restart Dir 1.” Drive the hoist at low speed until the keypad displays “Done.”
11. Perform the Autotuning Process Step 3. (75 – 125% rated load on the hook)
Pick up a test load that is between 75-125% of the hoist’s rated load (known load not
necessary. Once the load is off the ground, press and the display will read “CL Autotuning
Step 3.” Press and hold enter until the display shows “Drive Dir 1.” Drive the hoist up at full
speed (while watching the hook) until the keypad displays “Stop Driving.”
The drive will instruct you to repeat these steps approximately 2-10 times. Autotuning Step 3 is
successfully completed when the keypad displays “Done.” If at any time during this step you
need to drive in the down direction to make more room, you can do so without causing
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problems or canceling the Autotuning process; the drive understands the purpose of you
driving in the down direction. When you are done, press and hold to display output
s e le c t
frequency monitoring.
12. Test run the hoist again.

Make sure it operates as desired. Double check the motor parameters, and verify correct
operating speeds.
13. Store your parameters in the drive’s keypad.

Once the drive has been programmed, autotuned, and is functioning as desired, navigate to
6.3.2 and upload the drive parameters to the keypad. Doing so causes your programmed
parameters to be saved to the internal memory inside the drive’s keypad.
14. You’re done.

If you want to return to the multimonitor screen, which displays motor voltage, motor current,
and output frequency, navigate to parameter 4.23.1.
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(use the numbers in the upper left hand corner for current menu location information)
G3 Parameters
G3.2 I/O Parameters
slow down and stop limits
speed reference and other functions
G3.3 Drive Control
G3.3.1-4 S-curves
+ G3.3.9 Multistep
Multistep frequencies
+ G3.3.12 Multicare
G3.4.1 Motorset 1 SET EQUAL TO MOTOR NAMEPLATE VALUES
G3.4.1.1 Motor voltage
G3.4.1.2 Motor frequency
G3.4.1.3 Motor speed
G3.4.1.4 Motor current
G3.4.1.5 Flux current
G3.4.1.6 Cos Phi
G3.4.1.7 Start current = motor rated current
G3.4.1.8 Current limit = 1.2*motor rated current
G3.4.1.9 Control mode = Speed Cntl CL
G3.4.1.10 Accel Time
G3.4.1.11 Decel time
G3.4.1.13-16 Minimum and Maximum frequencies
G3.4.1.19 Drive selection = Hoist
G3.4.1.20 Pulse number = encoder PPR
P3.4.3.1 Slip adjust
G4 Monitoring
G4.1 Parameter backup
G4.2 Analog I/O
G4.3 Relay output
G4.4 Operate counters
G4.5 Fault counter DI status
G4.7 Digital inputs DI functions
G4.7.1 Basic board
G4.7.2 Extension board
V4.7.3
V4.7.4
G4.8 SSU U, V, W phase currents
G4.9 Service Max current
V4.9.1-3
G4.9.10
V4.11 Freq ref
V4.12 Speed req
V4.14 DC-link voltage
V4.15 Heat sink temp **Default display
V4.19 Motor torque
G4.23 Multimonitor **Copy parameters to or from keypad
M6 System Menu
S6.4 Parameter comparison
M7 Active Faults
M8 Fault History
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XT Series Quick Setup Guide (Traverse)


will flash on the keypad. Use and to select between the available preset values. If the parameter
is a numeric value, you can press again to select an individual digit and use the and to
increase or decrease its value. Once the desired selection is achieved, press enter to save the change
to the drive’s memory. A successful parameter change is confirmed when the parameter value stops
flashing.

configuration.


Press and hold until the display shows “Password Level: Engineering.” By doing this, you
S TA R T
have just entered the Engineering level password into the drive. This shortcut works from any
location within the parameter menu structure, and allows the user access to all of the


3.4.1.3 - Motor Nominal Speed (Set to nameplate value)
3.4.1.6 - Motor [Cos Φ] (= Motor Power Factor. If not available,don’t change)
3.4.1.7 - Start Current (Set to 80% of 3.4.1.4)
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3.4.1.9 - Control Mode (Set for “OL Frequency Control”)
3.4.1.11 - Decel Time 1 (Set for 5 seconds)
3.4.1.19 - Drive Selection (Must be set for “Travel”)
limits.

‘not used’.

Press and hold until the display shows “OL Autotuning.” Then press enter until the keypad
displays “Tuning” with arrows scrolling across the screen. The tuning process will not turn the
motor or open the brake; it will only magnetize the motor. Once tuning is complete, the keypad
will display “Done.”

operating speeds.

10. You’re done.

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G3 Parameters
G3.2 I/O Parameters
G3.3 Drive Control
G3.3.1-4 S-curves
+ G3.3.9 Multistep
+ G3.3.12 Multicare
G3.4.1.6 Cos Phi
G3.4.1.8 Current limit =1.25*motor rated current
G3.4.1.9 Control mode
G3.4.1.19 Drive selection
G3.4.2.1 U/f Curve
G4 Monitoring
G4.2 Analog I/O
G4.3 Relay output
G4.5 Fault counter
G4.7 Digital inputs
G4.7.1 DI status
G4.7.2 DI functions
V4.7.3 Basic board
V4.7.4 Extension board
G4.8 SSU
G4.9 Service
V4.9.1-3 U, V, W phase currents
G4.9.10 Max current
V4.11 Freq ref
V4.12 Speed req
V4.15 Heat sink temp
V4.19 Motor torque
G4.23 Multimonitor **Default display
M6 System Menu
S6.3 Copy Parameters **Copy parameters to or from keypad
M7 Active Faults
M8 Fault History
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XT Series Quick Setup Guide (Loadbrake Hoist)


flashing.
will flash on the keypad. Use and to select between the available preset values. If the parameter is
a numeric value, you can press again to select an individual digit and use the and to increase
or decrease its value. Once the desired selection is achieved, press enter to save the change to the
drive’s memory. A successful parameter change is confirmed when the parameter value stops flashing.

configuration.


S TA R T


3.4.1.6 - Motor [Cos Φ] (= Motor Power Factor. If not available, do not change)
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3.4.1.9 - Control Mode (Set for OL Frequency Control)
3.4.1.11 - Decel Time 1 (Set for 3 seconds)
3.4.1.13 - Min. Freq. S1 (Set for 2.5 Hz)
3.4.1.14 - Min. Freq. S2 (Set for 2.5 Hz)
limits.

‘not used’.

8. Change U/f curve parameters.

Navigate to and increase the following parameters by 25%.
3.4.2.1.1 - Zero Freq Volt

3.4.2.1.2 - U/f Mid Volt
3.4.2.1.3 - U/f Mid Freq
9. Change Control Mode & Drive Selection parameters.

Navigate to and change the following parameters:
3.4.1.19 - Drive Selection (Set to “Loadbrake”)

3.4.1.21.9 - Stop Function (Set to “Brake”)

operating speeds.

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12. You’re done.

G3 Parameters
G3.2 I/O Parameters
G3.3 Drive Control
G3.3.1-4 S-curves
+ G3.3.9 Multistep
+ G3.3.12 Multicare
G3.4.1.6 Cos Phi
G3.4.1.8 Current limit =1.25*motor rated current
G3.4.1.9 Control mode
G3.4.1.19 Drive selection
G3.4.2.1 U/f Curve
G4 Monitoring
G4.2 Analog I/O
G4.3 Relay output
G4.5 Fault counter
G4.7 Digital inputs
G4.7.1 DI status
G4.7.2 DI functions
V4.7.3 Basic board
V4.7.4 Extension board
G4.8 SSU
G4.9 Service
V4.9.1-3 U, V, W phase currents
G4.9.10 Max current
V4.11 Freq ref
V4.12 Speed req
V4.15 Heat sink temp
V4.19 Motor torque
G4.23 Multimonitor **Default display
M6 System Menu
S6.3 Copy Parameters **Copy parameters to or from keypad
M7 Active Faults
M8 Fault History
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XT Series Quick Setup Guide (Open Loop)


flashing.

configuration.


S TA R T


3.4.1.6 - Motor [Cos Φ] (= Motor Power Factor. If not available, don’t change)

3.4.1.9 - Control Mode (Set for OL Frequency Control)
3.4.1.10 - Accel Time 1 (Set for 1.5 seconds)
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3.4.1.11 - Decel Time 1 (Set for 1.5 seconds)
limits.

‘not used’.

8. Change U/f curve parameters.

Navigate to and increase the following parameters by 25%:
3.4.2.1.1 - Zero Freq Volt

3.4.2.1.2 - U/f Mid Volt
3.4.2.1.3 - U/f Mid Freq
9. Change Control Mode & Drive Selection parameters.

Navigate to and change the following parameters:
3.4.1.9 - Control Mode (Set to “OL Curr Cntl”)

3.4.1.19 - Drive Selection (Set to “Hoist”)
10. Set the SSU card Overspeed settings . (Located inside the blue control unit – Slot C)
Open the cover of the control unit to access the SSU board’s rotary dials and dip switches.
Watch the display while trying different combinations of the rotary dial and dip switch settings
until the overspeed setting for each rotary dial is approximately 115%. Drive will not operate
properly without SSU overspeed settings set correctly. Any change to the motor parameters
that would affect the total possible pulse frequency will create the need to revisit this step.

operating speeds.

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13. You’re done.

G3 Parameters
G3.2 I/O Parameters
G3.3 Drive Control
G3.3.1-4 S-curves
+ G3.3.9 Multistep
+ G3.3.12 Multicare
G3.4.1.6 Cos Phi
G3.4.1.8 Current limit = 1.2*motor rated current
G3.4.1.9 Control mode = Speed Cntl CL
G3.4.1.19 Drive selection = Hoist
G3.4.1.20 Pulse number = encoder PPR
P3.4.3.1 Slip adjust
G4 Monitoring
G4.2 Analog I/O
G4.3 Relay output
G4.5 Fault counter DI status
G4.7 Digital inputs DI functions
G4.7.1 Basic board
G4.7.2 Extension board
V4.7.3
V4.7.4
G4.8 SSU U, V, W phase currents
G4.9 Service Max current
V4.9.1-3
G4.9.10
V4.11 Freq ref
V4.12 Speed req
V4.15 Heat sink temp **Default display
V4.19 Motor torque
G4.23 Multimonitor **Copy parameters to or from keypad
M6 System Menu
M7 Active Faults
M8 Fault History
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10 WIRING DIAGRAMS
See following pages
Control Unit Connections
© 2011 Drivecon
820 Lakeside Drive
Gurnee, IL 60031-9165
(800) 374-8266
(847) 855-9150
www.drivecon.com

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Service Manual

Rev 5.9A with software Pro3V120

This document and the information contained herein,

3 START-UP PROCECURE ----------------------------------------------------------------------------------- 19

4 PARAMETER ADJUSTMENTS ----------------------------------------------------------------------------- 21

4.6.2 Activation of brake slip feature ----------------------------------------------------------------- 41

5 PARAMETER DESCRIPTIONS ----------------------------------------------------------------------------- 44

9 QUICK SETUP GUIDES ------------------------------------------------------------------------------------ 84

10 WIRING DIAGRAMS ------------------------------------------------------------------------------------------ 98

Frame Size F r4 F r4 F r4 F r4 F r5 F r5 F r6 F r6 F r6 F r7 F r7 F r7 F r8 F r8 F r8 F r9 F r9 F r10 F r10 F r10 F r11 F r11

Output Current In (A) 11 12.5 17.5 25 31 48 61 75 88 105 140 170

Overloadability 1.5 x In, 1min/10min; 2.0 x In, 2s/20s

(Technical Data Continued)

1.2 Type mark coding

000 XTx Device name

000 XTx 4 009 TC 58 0 0 0 4

1.3 Basic description

Speed supervision In a non-loadbrake hoisting application the drive must include an

1.4 Functional description

1.5 Control methods

EP Electronic motor potentiometer function.

PO Potentiometer control using a joystick type controller.

MS Multistep control (2-5 steps as standard).

Ain1 / PO Ain1 / PO Ain2 / AU Ain2 / AU Ain1 / PO

EP-mode EP-mode selects the AP-button for speed reference. EP step 1 is

EP step 1 EP step 2 EP step 1 EP step 2

Description of the control methods

PO-control requires a controller with potentiometer.

1.6 Mechanical brake control

1.7 Motor control modes

Closed loop vector

CE-mark The CE marking is a declaration by a manufacturer or importer located in

First environment means an environment that includes domestic premises

PDS XT Series drives are not intended to be used on a low-voltage public

Second environment means environment that includes all establishments

Power drive system (PDS) means a system consisting of power and

1.8.1 Fulfilled EMC-standards

2.2 Power cabling

A = 2.43*[( l * 1.5 * I F ) / (p * U)]

where l is the cable length (m)

2.3 Control wiring

It is not recommended to use shielded flat cable, because its capacitance

2.4 EMC compatible grounding

2.5 SCCR Rating

3.1 Visual checks

3.2 Checks before the first test run

3.3 Test run without load

3.4 Test run with load

3.5 After the test run and autotuning

Button descriptions – also see section 4.1.4 for keypad shortcuts:

Starts the motor if the keypad is the active

Stops the motor if the keypad is the active

enter Confirmation of selections

Move to previous menu level

4.1.1 Navigation on the control keypad

Letter front of the code number describes variable type

STOP READY STOP READY STOP READY

M8. I/O term

Fault History 57 Thermistor Operation days

M6. I/O term

System Menu Application

G5. I/O term

Panel Control Panel Control

G4. I/O term

A = 2.43[( l 1.5 * I F ) / (p * U)]