5500245X 2 ENG p02 of 2 2009-06 Cont-Tech Commander SK AdvUG

Advanced User Guide
Commander SK
AC variable speed drive for 3

phase induction motors from
0.25kW to 110kW, 0.33hp to
150hp
Part Number: 0472-0001-08

Issue: 8
Maillefer Doc.
550 0245X.2
www.controltechniques.com
General Information
The manufacturer accepts no liability for any consequences resulting from inappropriate, negligent or incorrect
installation or adjustment of the optional operating parameters of the equipment or from mismatching the variable speed
drive with the motor.
The contents of this guide are believed to be correct at the time of printing. In the interests of a commitment to a policy
of continuous development and improvement, the manufacturer reserves the right to change the specification of the
product or its performance, or the contents of the guide, without notice.
All rights reserved. No parts of this guide may be reproduced or transmitted in any form or by any means, electrical or
mechanical including photocopying, recording or by an information storage or retrieval system, without permission in
writing from the publisher.
Drive software version
This product is supplied with the latest software version. If this drive is to be connected to an existing system or machine,
all drive software versions should be verified to confirm the same functionality as drives of the same model already
present. This may also apply to drives returned from a Control Techniques Service Centre or Repair Centre. If there is
any doubt please contact the supplier of the product.
The software version of the drive can be checked by looking at Pr 11.29 and Pr 11.34. This takes the form of xx.yy.zz
where Pr 11.29 displays xx.yy and Pr 11.34 displays zz. (e.g. for software version 01.01.00, Pr 11.29 = 1.01 and Pr 11.34
displays 0).
Environmental statement
Control Techniques is committed to minimising the environmental impacts of its manufacturing operations and of its
products throughout their life cycle. To this end, we operate an Environmental Management System (EMS) which is
certified to the International Standard ISO 14001. Further information on the EMS, our Environmental Policy and other
relevant information is available on request, or can be found at www.greendrives.com.
The electronic variable-speed drives manufactured by Control Techniques have the potential to save energy and
(through increased machine/process efficiency) reduce raw material consumption and scrap throughout their long
working lifetime. In typical applications, these positive environmental effects far outweigh the negative impacts of product
manufacture and end-of-life disposal.
Nevertheless, when the products eventually reach the end of their useful life, they must not be discarded but should
instead be recycled by a specialist recycler of electronic equipment. Recyclers will find the products easy to dismantle
into their major component parts for efficient recycling. Many parts snap together and can be separated without the use
of tools, whilst other parts are secured with conventional fasteners. Virtually all parts of the product are suitable for
recycling.
Product packaging is of good quality and can be re-used. Large products are packed in wooden crates, while smaller
products come in strong cardboard cartons which themselves have a high recycled fibre content. If not re-used, these
containers can be recycled. Polythene, used on the protective film and bags for wrapping product, can be recycled in the
same way. Control Techniques' packaging strategy prefers easily-recyclable materials of low environmental impact, and
regular reviews identify opportunities for improvement.
When preparing to recycle or dispose of any product or packaging, please observe local legislation and best practice.
REACH legislation
EC Regulation 1907/2006 on the Registration, Evaluation, Authorisation and restriction of Chemicals (REACH) requires
the supplier of an article to inform the recipient if it contains more than a specified proportion of any substance which is
considered by the European Chemicals Agency (ECHA) to be a Substance of Very High Concern (SVHC) and is
therefore listed by them as a candidate for compulsory authorisation.
For current information on how this requirement applies in relation to specific Control Techniques products, please
approach your usual contact in the first instance. Control Techniques position statement can be viewed at:
http://www.controltechniques.com/REACH
Copyright © June 2009 Control Techniques Ltd.
Issue Number: 8
Software: 01.08.00 (Size A to D)
01.08.06 (Size 2 to 6)
Maillefer Doc. 550 0245X.2

Contents
1 Introduction....................................................................................................................4
2 Parameter x.00 ...............................................................................................................5
2.1 Saving parameters .................................................................................................................................5
2.2 Loading default parameters ...................................................................................................................5
2.3 Eur/USA parameter set differences .......................................................................................................5
3 Parameter description format.......................................................................................6
3.1 Software variable maximum term definitions .........................................................................................6
3.2 Parameter information ...........................................................................................................................7
3.3 Key to parameter codes .........................................................................................................................8
3.4 Sources and destinations ......................................................................................................................9
3.5 Sample/update times .............................................................................................................................9
4 Keypad and display .....................................................................................................10
4.1 Programming keys ...............................................................................................................................10
4.2 Control keys .........................................................................................................................................10
4.3 Selecting and changing parameters ....................................................................................................10
5 Serial communications ...............................................................................................12
5.1 Introduction ..........................................................................................................................................12
5.2 EIA232 to EIA485 communications .....................................................................................................12
5.3 Serial communications connections ....................................................................................................14
6 CT Modbus RTU...........................................................................................................16
6.1 CT Modbus RTU specification .............................................................................................................16
7 PLC Ladder programming .........................................................................................24
8 CTSoft ...........................................................................................................................26
9 Menu 0 ..........................................................................................................................30
10 Advanced parameter descriptions.............................................................................33
10.1 Overview ..............................................................................................................................................33
10.2 Menu 1: Speed reference selection, limits and filters ..........................................................................34
10.3 Menu 2: Ramps ...................................................................................................................................46
10.4 Menu 3: Speed sensing thresholds and frequency input and output ...................................................55
10.5 Menu 4: Current control .......................................................................................................................61
10.6 Menu 5: Motor control ..........................................................................................................................72
10.7 Menu 6: Drive sequencer and clock ....................................................................................................84
10.8 Menu 7: Analog inputs and outputs ...................................................................................................101
10.9 Menu 8: Digital inputs and outputs ....................................................................................................109
10.10 Menu 9: Programmable logic, motorized pot and binary sum ...........................................................118
10.11 Menu 10: Status logic and diagnostic information .............................................................................128
10.12 Menu 11: General drive set-up ..........................................................................................................138
10.13 Menu 12: Programmable threshold and variable selector .................................................................152
10.14 Menu 14: PID controller .....................................................................................................................165
10.15 Menu 15: Solutions Module set-up ....................................................................................................171
10.16 Menu 18: Application menu 1 ............................................................................................................185
10.17 Menu 20: Application menu 2 ............................................................................................................187
10.18 Menu 21: Second motor map ............................................................................................................188
Commander SK Advanced User Guide 3

Issue Number: 8 www.controltechniques.com
Parameter Keypad and Serial CT Modbus CT Modbus Advanced parameter
Introduction Parameter x.00 CTSoft Menu 0
description format display communications RTU RTU descriptions
1 Introduction
This Advanced User Guide provides information on the more advanced features and parameters of Commander SK:
• Parameter types
• Keypad and display information
• Modbus RTU serial communications protocol
• PLC Ladder logic programming
• CTSoft Windows™ based commissioning and monitoring tool
• Advanced parameter logic diagrams and full parameter descriptions
• Commander SK Solutions Module logic diagrams and parameter descriptions
Commander SK
The Commander SK is an open loop vector AC variable speed inverter drive used to control the speed of an AC induction motor. The drive uses an
open loop vector control strategy to maintain almost constant flux in the motor by dynamically adjusting the motor voltage according to the load on the
motor.
The AC supply is rectified through a bridge rectifier and then smoothed across high voltage capacitors to produce a constant voltage DC bus. The DC
bus is then switched through an IGBT bridge to produce AC at a variable voltage and a variable frequency. This AC output is synthesized by a pattern
of on-off switching applied to the gates of the IGBTs. This method of switching the IGBTs is known as Pulse Width Modulation (PWM).
Software structure
For the majority of applications, the Commander SK's keypad and display can be used to set up the drive through 'menu 0'. Menu 0 is structured to
give an extreme ease of set-up for a simple drive but with the flexibility for more demanding applications. See the Commander SK Getting Started
Guide for details.
For applications that require extra functionality, the advanced parameters from menu 1 through to menu 21 can be used. These advanced parameters
can be programmed and adjusted using the drives keypad and display or by using CTSoft. Also, the optional LED or LCD keypads can be used to
monitor and adjust parameters.
Options
To further enhance the functionality of the Commander SK, a number of Solutions Modules, SmartStick copying option and a LogicStick PLC ladder
logic option are also available. Details of these can be found on the CD supplied with the Commander SK or at www.controltechniques.com
4 Commander SK Advanced User Guide

www.controltechniques.com Issue Number: 8
Parameter Parameter Keypad and Serial CT Modbus PLC Ladder Advanced parameter
Introduction CTSoft Menu 0
x.00 description format display communications RTU programming descriptions
2 Parameter x.00
Pr x.00 (not Pr 0.00) is available in all menus and has the following functions:
1000 Save parameters
1070 Option reset
2.1 Saving parameters

When parameters are saved, all user save (US) parameters are saved to EEPROM within the drive. Normally Pr x.00 (not Pr 0.00) is set to 1000 and
a reset command is given to initiate a parameter save. This can be achieved on the drive by setting Pr 71 to 1.00, then setting Pr 61 to 1000 and a
reset command to activate a parameter save. When parameter save is complete, Pr x.00 is reset to zero by the drive. The drive must not be in the
under voltage (UU) condition for a save to take place. Saving parameters can take between 400ms and several seconds depending on the number of
parameter values that are different from the values already saved in EEPROM. If the power is removed from the drive during a parameter save, it is
possible for the EEPROM data to be corrupted giving an EEF failure when the drive is next powered up.
2.2 Loading default parameters

When default parameters are loaded, the new default parameter set is automatically saved to the drive EEPROM.
See Pr 29 in the Commander SK Getting Started Guide or Pr 11.43 in this Advanced User Guide.
2.3 Eur/USA parameter set differences

The following table gives the differences between the Eur and USA default parameters sets:
Pr Description Eur default USA default Voltage rating
1.06 Maximum set speed 50.0Hz 60.0Hz All
2.08 Standard ramp voltage 750V 775V 400V
2.11 Acceleration rate 5.00/100Hz 33s/100Hz All
2.21 Deceleration rate 10.0s/100Hz 33s/100Hz All
5.06 Motor rated frequency 50.0Hz 60.0Hz All
5.08 Motor rated full load rpm 1500rpm 1800rpm All
5.09 Motor rated voltage 400V 460V 400V
5.14 Voltage mode select Ur I Fd All
5.15 Low frequency voltage boost 3.0% 1.0% All
6.04 Start/Stop logic select 0 4 All
6.12 Enable stop key OFF (0) On (1) All
8.22 Terminal B4 digital input destination Pr 6.29 Pr 6.29 All
11.27 Drive configuration AI.AV PAd All
21.01 Motor 2 maximum set speed 50.0Hz 60.0Hz All
21.06 Motor 2 motor rated frequency 50.0Hz 60.0Hz All
21.08 Motor 2 motor rated full load rpm 1500rpm 1800rpm All
21.09 Motor 2 motor rated voltage 400V 460V 400V

Parameter Parameter Keypad and Serial CT Modbus PLC Ladder Parameter Advanced parameter
Introduction CTSoft
x.00 description format display communications RTU programming x.00 descriptions
3 Parameter description format

3.1 Software variable maximum term definitions
Table 3-1
Maximum Definition
FREQ_MAX Maximum frequency reference
[1500.0Hz] FREQ_MAX = Pr 1.06
(If the second motor map is selected Pr 21.01 is used instead of Pr 1.06)
RATED_CURRENT_MAX Maximum motor rated current
[999.9A] RATED_CURRENT_MAX ≤ 1.36 x Rated drive current
On drives that offer dual rating, the rated current can be increased above the rated drive current up to a
level not exceeding 1.36 x drive rated current. The actual level varies from one drive size to another.
DRIVE_CURRENT_MAX Maximum drive current
[999.9A] The maximum drive current is the current at the over current trip level and is given by:
DRIVE_CURRENT_MAX = rated drive current x 2
MOTOR1_CURRENT_LIMIT_MAX Maximum current limit settings for motor map 1
[999.9%] This maximum current limit setting is the maximum applied to the current limit parameters in motor map
1. See introduction to section 10.5 Menu 4: Current control for the definition.
MOTOR2_CURRENT_LIMIT_MAX Maximum current limit settings for motor map 2
[999.9%] This maximum current limit setting is the maximum applied to the current limit parameters in motor map
2. See introduction to section 10.5 Menu 4: Current control for the definition.
TORQUE_PROD_CURRENT_MAX Maximum torque producing current
[999.9%] This is used as a maximum for torque and torque producing current parameters. It is
MOTOR1_CURRENT_LIMIT_MAX or MOTOR2_CURRENT_LIMIT_MAX depending on which motor
map is currently active.
USER_CURRENT_MAX Current parameter limit selected by the user
[999.9%] The user can select a maximum for Pr 4.08 (torque reference) and Pr 4.20 (percentage load) to give
suitable scaling for analog I/O with Pr 4.24. This maximum is subject to a limit of
CURRENT_LIMIT_MAX.
USER_CURRENT_MAX = Pr 4.24
AC_VOLTAGE_SET_MAX Maximum output voltage set-point
[690V] Defines the maximum motor voltage that can be selected.
110V drives: 240V
200V drives: 240V
400V drives: 480V
575V drives: 575V
690V drives: 690V
AC_VOLTAGE_MAX Maximum AC output voltage
[886V] This maximum has been chosen to allow for maximum AC voltage that can be produced by the drive
including trapizoidal operation:
AC_VOLTAGE_MAX = 0.7446 x DC_VOLTAGE_MAX
110V drives: 309V
200V drives: 309V
400V drives: 618V
575V drives: 741V
690V drives: 886V
DC_VOLTAGE_SET_MAX Maximum DC voltage set-point
[1150V] 110V rating drive: 0 to 400V
200V rating drive: 0 to 400V
DC_VOLTAGE_MAX Maximum DC bus voltage
[1190V] The maximum measurable DC bus voltage.
110V drives: 415V
200V drives: 415V
400V drives: 830V
575V drives: 995V
690V drives: 1190V
POWER_MAX Maximum power in kW
[999.9kW] The maximum power has been chosen to allow for the maximum power that can be output by the drive
with maximum AC output voltage, maximum controlled current and unity power factor. Therefore
POWER_MAX = √3 x AC_VOLTAGE_MAX x RATED_CURRENT_MAX x 2
The values given in square brackets indicate the maximum value allowed for the variable maximum. The term 'rated drive current' is the value used
by the software as rated current, which is not always the same as the drive rating specified in Pr 11.32 (see section 10.5 Menu 4: Current control ).

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3.2 Parameter information

3.2.1 Parameter x.00
Pr x.00 (not Pr 0.00) in every menu is used for storing parameters. The range of this parameter is 4000 and the special codes used are as follows:
1000 Save parameters
1070 Option reset
3.2.2 Parameter types
There are two fundamental types of parameters in the drive, read only (RO) and read/write (RW). The read only parameters cannot be changed by
the user and are there to give the user useful information about the state of the drive. Read/write parameters are for the user to set up the way in
which the drive operates.
Parameters can be further broken down into Bit parameters and Non-bit parameters. Bit parameters are two state only (0 or 1) and if RW are used as
switches or two state input variables to the drive logic, or if RO indicate various drive conditions which are either true (1) or false (0). Non-bit
parameters have more than two values the range of each being given in the following descriptions.
In the basic parameter set, some parameters are represented as strings rather than numeric values which give a more informative indication of the
parameter setting.
Since the parameters in the basic parameter set are copies of extended parameters, the strings are indicated as well as the numeric value. Setting-up
via the serial interface requires numeric data.
Most parameters when being adjusted take immediate effect, but destination and source parameters do not. Using these parameter values while they
are being adjusted could cause a malfunction in the operation of the drive if an intermediary value were taken during the adjustment. For the new
value of one of these parameters to take effect a 'Drive Reset' must be carried out (see section 3.2.4 Drive reset ).
Any changes made to parameters over the serial interface are not stored in the drives EEPROM until a manual store is initiated.
3.2.3 32 bit parameters

Menu 32 bit parameters
Menu 4 Pr 4.01 Pr 4.02 Pr 4.17
Pr 20.21 Pr 20.22 Pr 20.23 Pr 20.24 Pr 20.25
Menu 20
Pr 20.26 Pr 20.27 Pr 20.28 Pr 20.29 Pr 20.30
NOTE
Menu 20 parameters cannot be displayed on the drive's LED display. Source and destination parameters cannot be set to 32 bit parameters.
Parameters Pr 4.01, Pr 4.02 and Pr 4.17 are special cases and can be used as a source.All routing within the drive is 16 bit.
If a counter in SyPTLite has a 32 bit output and this output is routed to a drive parameter, for example Pr 1.21, when the count reaches the set range
of Pr 1.21, the value in Pr 1.21 will be frozen until the counter value is reset or falls below the set range.
3.2.4 Drive reset

A drive reset is required for a number of reasons:
• To reset the drive from a tripped state
• To initiate loading of default parameters
• To implement a change in the value of certain parameters
• To initiate the saving of parameters in EEPROM
The later two of these can be done while the drive is running.
The drive can be reset in one of four ways:
1. The drive will be reset with a 0 to 1 transition of the enable input when the drive is tripped, such that a dedicated reset terminal is not required.
2. The drive will be reset when a 0 to 1 transition of the Drive Reset parameter Pr 10.33. This parameter is provided for control by a programmable
digital input such that a terminal can be used to reset the drive.
3. The Stop/Reset key. If the drive is not in keypad mode and the 'always stop' parameter is not set, then the key has a drive reset function only. In
keypad mode or if the 'always stop' parameter is set, a drive reset can be done while the drive is running by holding the Run key while the Stop/
Reset key is activated. When the drive is not running the Stop/Reset key will always reset the drive.
4. By the serial interface. This drive reset is triggered by a value of 100 being written to the User trip parameter Pr 10.38.
3.2.5 Storing drive parameters
When the keypad is used to edit a parameter, the parameter is stored when the mode key is pressed after adjustment has been made.
When using the serial interface, parameters are stored by setting Pr x.00 (not Pr 0.00) to a value of 1000 and performing a 'Drive reset'. Because a
'Drive reset' causes the values of certain parameters to be implemented, storing parameters has the effect of implementing all new values as the
store takes place.

Introduction CTSoft
3.3 Key to parameter codes

In the following sections descriptions are given for the advanced parameter set. With each parameter the following information block is given.
5.11 Number of motor poles

Bit SP FI DE Txt VM DP ND RA NC NV PT US RW BU PS
Coding
1 1 1 1
Range Auto(0), 2P(1), 4P(2), 6P(3), 8P(4)
Default Auto(0)
Second motor
Pr 21.11
parameter
Update rate Background
The top row gives the menu:parameter number and the parameter name. The other rows give the following information.
3.3.1 Coding
The coding defines the attributes of the parameter as follows.
Coding Attribute
Bit 1 bit parameter
SP Spare: not used
Filtered: some parameters which can have rapidly changing values are filtered when displayed on the drive keypad for easy
FI
viewing.
DE Destination: indicates that this parameter can be a destination parameter.
Txt Text: the parameter uses text strings instead of numbers.
VM Variable maximum: the maximum of this parameter can vary.
DP Decimal place: indicates the number of decimal places used by this parameter.
No default: when defaults are loaded (except when the drive is manufactured or on EEPROM failure) this parameter is not
ND
modified.
Rating dependant: this parameter is likely to have different values and ranges with drives of different voltage and current ratings.
RA
These parameters are not transferred by the SmartStick when the rating of the destination drive is different from the source drive.
NC Not copied: not transferred to or from the SmartStick during parameter copying.
NV Not visible: not visible on the keypad.
PT Protected: cannot be used as a destination.
US User save: saved in drive EEPROM when the user initiates a parameter save.
RW Read/write: can be written by the user.
Bit default one/unsigned: Bit parameters with this flag set to one have a default of one (all other bit parameters have a default of
BU
zero. Non-bit parameters are unipolar if this flag is one.
PS Power-down save: automatically saved in drive EEPROM at power-down.
3.3.2 Term definitions

Range
This gives the range of the parameter and the values it can be adjusted to.
Default
The default values given are the standard drive defaults.
Second motor parameter
Some parameters have an equivalent second motor map value that can be used as an alternative when a second motor is selected with Pr 11.45.
Menu 21 contains all the second motor map parameters.
Update rate
Defines the rate at which the parameter data is written by the drive or read and acted upon by the drive. Where background update rate is specified,
the update time depends on the drive processor load. Generally the update time is between 10ms and 100ms, however, the update time is
significantly extended when loading defaults, transferring data to/from a SmartStick, or transferring blocks of parameters to/from the drive via the drive
serial communications port.

www.controltechniques.com Issue Number:8
3.4 Sources and destinations

3.4.1 Sources
Some functions have source parameters, i.e. drive outputs, PID controller etc. The source parameter range is Pr 0.00 to Pr 21.51.
1. If the source parameter does not exist the input is taken as zero.
2. The input is given by (source value x 100%) / source parameter maximum.
3.4.2 Destinations
Some functions have destination parameters, i.e. drive inputs, etc. The destination parameter range is Pr 0.00 to Pr 21.51.
1. If the destination parameter does not exist then the output value has no effect.
2. If the destination parameter is protected then the output value has no effect.
3. If the function output is a bit value (i.e. a digital input) the destination value is either 0 or 1 depending on the state of the function output. If the
function output is not a bit value (i.e. analog input) the destination value is given by (function output x destination parameter maximum) / 100%
rounded down. Pr 1.36 and Pr 1.37 are a special case. The scaling shown in the description of Pr 1.10 is used when any non-bit type quantity is
routed to these parameters.
4. If more than one destination selector is routed to the same destination, the value of the destination parameter is undefined. The drive checks for
this condition where the destinations are defined in any menu except menu 15. If a conflict occurs a dESt trip occurs that cannot be reset until the
conflict is resolved.
NOTE
Setting a source or destination parameter to Pr 0.00 will disable the parameter.
3.4.3 Sources and destinations

1. Bit and non-bit parameters may be connected to each other as sources or destinations. The maximum for bit parameters is taken as one.
2. All new source and destination routing only changes to new set-up locations when the drive is reset.
3. When a destination is changed, the old destination is written to zero, unless the destination change is the result of loading defaults or transferring
parameters from a SmartStick. When defaults are loaded the old destination is set to its default value.
4. Cannot select any of the 32 bit parameters.
3.4.4 Parameters actioned on exit of edit mode and on drive reset
Some parameters (Pr 6.04, Pr 11.27, Pr 11.42, Pr 11.43 and Pr 12.41) are updated on exit from mode or on a drive reset. Serial access to these
parameters must be followed by a reset. Pr 6.04, Pr 11.27 and Pr 12.41 are only actioned on a reset when the value has changed.
3.5 Sample/update times

The sample/update times shown in the control terminal specification within the Commander SK Technical Guide are the default sample/update times
for the default terminal set-up. The sample/update time depends on the destination/source parameter of the digital or analog inputs/outputs.
These sample/update times are the sample or update times for the control microprocessor. The actual sample/update time maybe slightly longer due
to the design of the Commander SK.
3.5.1 Task routine times
At the beginning of each menu, there is a single line parameter description and this contains the update rate for each parameter. This time signifies
the task routine time in the software that the parameter is updated on. For a background task, the time depends on processor loading i.e. what
functions the drive is carrying out and what advanced menus are being used.
Update rate Microprocessor update time Comments

2ms 2ms Updated every 2ms
Reset N/A Destination/source parameter changed on a Reset
B Background
Updated as a background task. Update rate
BR Background read
depends on processor loading.
BW Background write
Parameter change actioned on exit of edit mode.
Edit mode exit N/A
Parameter change automation saved.
From practical tests carried out:
Condition Minimum Maximum Average
Time for drive to respond to a run command 4.1ms 5.62ms 5.02ms
Time for the drive to respond to a stop command 2.82ms 3.94ms 3.31ms
Time for the drive to respond to a step change in analog input
7.93ms
voltage

Parameter Keypad and Serial CT Modbus PLC Ladder Advanced parameter
Introduction Parameter x.00 CTSoft Menu 0
description format display communications RTU programming descriptions
4 Keypad and display

The keypad and display are used for the following:
• Displaying the operating status of the drive
• Displaying a fault or trip code
• Reading and changing parameter values
• Stopping, starting and resetting the drive
Figure 4-1 Keypad and display
on the display indicates if motor map 1 or 2 is selected.

4.1 Programming keys
The M MODE key is used to change the mode of operation of the drive.
The UP and DOWN keys are used to select parameters and edit their values. In keypad mode, they are used to increase and decrease the
speed of the motor.
4.2 Control keys
The START key is used to start the drive in keypad mode.
The STOP/RESET key is used to stop and reset the drive in keypad mode. It can also be used to reset the drive in terminal mode.
4.3 Selecting and changing parameters

NOTE
This procedure is written from the first power up of the drive and assumes no terminals have been connected, no parameters have been changed and
no security has been set.
Figure 4-2 Keypad control
STATUS MODE
or
Press and
Hold hold for 2s
for 2s / /
Press and
M release M M M
4 mins
/
timeout
PARAMETER VIEW MODE

Select parameter to view
Press or
Parameter number flashing
M Parameters M
saved
PARAMETER EDIT MODE

Change parameter value
Press or
Parameter value flashing
When in Status mode, pressing and holding the M MODE key for 2 seconds will change the display from displaying a speed indication to displaying

Maillefer Doc. 550 0245X.2 www.controltechniques.com Issue Number: 8
Parameter Keypad and Serial CT Modbus PLC Ladder Parameter Advanced parameter
Introduction Menu 0 CTSoft
description format display communications RTU programming x.00 descriptions
load indication and vice versa.

Pressing and releasing the M MODE key will change the display from status mode to parameter view mode. In parameter view mode, the left hand
display flashes the parameter number and the right hand display shows the value of that parameter.
Pressing and releasing the M MODE key again will change the display from parameter view mode to parameter edit mode. In parameter edit mode,
the right hand display flashes the value in the parameter being shown in the left hand display.
Pressing the M MODE key in parameter edit mode will return the drive to the parameter view mode. If the M MODE key is pressed again then the
drive will return to status mode, but if either of the UP or DOWN keys are pressed to change the parameter being viewed before the M MODE
key is pressed, pressing the MODE key will change the display to the parameter edit mode again. This allows the user to very easily change
M
between parameter view and edit modes while commissioning the drive.
Status Modes
Left hand
Status Explanation
display
Drive ready The drive is enabled and ready for a start command. The output bridge is inactive.
The drive is inhibited because there is no enable command, or a coast to stop is in

Drive inhibited
progress or the drive is inhibited during a trip reset.
Drive has tripped The drive has tripped. The trip code will be displayed in the right hand display.
DC injection braking DC injection braking current is being applied to the motor.
Mains loss When the drive is performing a mains loss stop or ride through.
Speed Indications
Display
Explanation
Mnemonic
Drive output frequency in Hz
Motor speed in rpm
Machine speed in customer define units
Load indications
Display
Explanation
Mnemonic
Load current as a % of motor rated load current
Drive output current per phase in Amps
The operation of the drives keypad and display is explained in the Commander SK Getting Started Guide.
When in parameter edit mode, the UP and DOWN keys are used to change parameter values. This will increase or decrease the parameter
value by the minimum unit value on display.
To allow values to be changed more quickly, it is possible to press the M MODE and UP or the M MODE and DOWN keys together to allow
either 1000’s of units, 100’s of units, 10’s of units or units to be adjusted.
Example:
It is required that a deceleration ramp of 2500 seconds is required.
Select Pr 04 using the normal procedure.
• Press the M MODE key to enter parameter edit mode
• Press the M MODE and UP keys together
• Press the UP key to adjust the 100’s of units
• Press the M MODE and UP keys together again
• Press the DOWN key once to adjust the 10’s of units
• Press the M MODE key to go back to parameter view mode
• Press the M MODE key again to go back to status mode Maillefer Doc. 550 0245X.2

5 Serial communications
5.1 Introduction
• 2-wire EIA RS485 via a RJ45 connector
• Modbus RTU protocol supported (see Chapter 6 CT Modbus RTU on page 16 for details).
A serial communications link enables one or more drives to be used in a system controlled by a host controller such as a PLC (Programmable Logic
Controller) or computer. The communications link uses the EIA, also known as RS485, as standard for the hardware interface. The EIA422 (RS422)
hardware interface is also supported.
The Commander SK has a standard 2-wire EIA485 half-duplex interface that enables all drive set-up, operation and monitoring to be accomplished if
required. Therefore it is possible to control the drive entirely through the EIA485 interface without the need for other control cabling etc.
A host controller can operate up to 32 EIA485 devices with the use of one line buffer. Further line buffers will increase this number, if necessary.
Each transmitter/receiver within the Commander SK loads the EIA485 lines by 2 unit loads (with any termination and pull-up and pull-down resistors
disconnected). This means that up to 16 drives can be connected in a single group to one line buffer. When additional line buffers are used, up to
247 drives can be operated by a host controller.
5.2 EIA232 to EIA485 communications

An external EIA232 hardware interface such as a PC can be used with a suitable converter. This converter must have the hardware and software
support to tri-state the transmit buffer following the message transmission. Otherwise, the Commander SK EIA485 transmitter will not be successful
in transmitting a reply as the host transmitter will cause contention on the 2-wire interface.
Examples of EIA232 to EIA485 converters (one to one)
• CT Comms cable (CT part number 4500-0087)
• USB Comms cable (CT part number 4500-0096)
• Amplicon 485Fi
CT Comms cable is specifically designed to convert EIA232 to EIA485 with Control Techniques products.
NOTE
These converters are for one to one connection between a PC and the Commander SK drive, they do not have multi-drop capability.
NOTE
The CT Comms cable is an isolated converter. It has reinforced insulation as defined in IEC60950 for altitudes up to 3,000 metres and has been
designed to connect the Commander SK to equipment such as lap-top computers.
5.2.1 CT Comms cable

CT Comms cable enables the use of serial communications with the Commander SK drive using a software package such as CTSoft. This allows
access to all of the drives parameters and advanced function menus.
CT Comms cable is only intended for the purpose of commissioning a drive. Therefore:
• It is not suitable for permanent installation
• It does not provide connectivity to an EIA485 based network
When this converter is used with a Commander SK and a true EIA232 host/master such as a PC, then no external power supply is required. This is
because the converter sources its power from both the drive and the EIA232 port. However, if the converter is attached to a host/master device that
does not have a standard EIA232 port, then an external power supply may be required.
CT Comms cable does not directly use any of the hand shaking functions that are available on a standard EIA232 port, but does utilise 2 of the hand
shaking pins (pins 4 and 7) as a source of power. If these signals are not available, then a +10V supply should be applied to pins 4 and 7 with respect
to pin 5 of the 9-way D-type connector.
Table 5-1 CT Comms cable 9 way D-Type pin functions
EIA232 9-way
Pin function
D-type connector
1 Not connected
2 TX
3 RX
4 DTR
5 GND
6 Not connected
7 RTS
8 Not connected
9 Not connected

The following table shows the pin functions for the RJ45 connector on the Commander SK control PCB:
Table 5-2 Commander SK RJ45 pin functions
EIA485
Pin function
RJ45 connector
Connection for built in EIA485 termination resistor
1
(120Ω). Connect to pin 8 if termination is required *
2 RXTX (2-wire EIA485 +)
3 0V
4 +24V (±15%) 100mA supply for options
5 Not connected
6 TX Enable
7 RXTX\ (2-wire EIA485 -)
8
NOTE
The TX Enable\ is a 0 to +5V output signal from the drive that can be used to control the buffers on an external serial communications converter.
The following table shows the pin functions for the RJ45 connector on the Commander SK Keypad Remote
Table 5-3 Commander SK Keypad Remote RJ45 pin functions
EIA485
Pin function
RJ45 connector
1
3 0V
4 +24 supply to keypad
5 0V
6 Not connected
8
* See Chapter 5.2.3 Terminating resistors on page 14 for information on terminating resistors.
The following table shows the pin functions for the RJ45 connector on the SM-Keypad Plus:
Table 5-4 SM-Keypad Plus RJ45 pin functions
EIA485
Pin function
RJ45 connector
1 Not connected
3 0V
4 +24V supply to keypad
5 0V
6 TX Enable
8 Not connected
NOTE
When using CT Comms cable, the available baud rate is limited to 19.2kbaud.
5.2.2 Multi-drop converters

Multi-drop converters are available from the following suppliers:
• Amplicon Magic 485F25 or Magic 485F9
(485F25 refers to a 25-way D-type connector and 485F9 refers to a 9-way D-type connector)
www.amplicon.co.uk
E-mail: support@amplicon.co.uk
• Westermo MA44
www.westermo.dircon.co.uk
E-mail: sales@westermo.co.uk

5.2.3 Terminating resistors

When using either of the above converters, or any other suitable converter with Commander SK, it is recommended that no terminating resistors be
connected on to the network. This applies to any of the drives on the network and also any converter used. It may be necessary to disable the
terminating resistor within the converter depending on which type is used. The information on how to disable the terminating resistor will normally be
contained in the user information supplied with the converter. Terminating resistors are of little or no value when used on EIA485 networks operating
at or below 38.4kBaud.
5.2.4 Isolation of the communications port

When using the communications port with a personal computer or centralised controller e.g. PLC, an isolation device must be included
with rated voltage at least equal to the drive supply voltage. Ensure that the correct fuses are installed at the drive input, and that the drive
is connected to the correct supply voltage.
WARNING
If a serial communications converter other than the CT Comms cable is used to be connected to other circuits classified as Safety Extra
Low Voltage (SELV) (e.g. to a personal computer), a safety isolating barrier must be included to maintain the SELV classification.
5.2.5 Isolation devices

Isolation devices are available from the following suppliers:
• OP232/B1 Isolator
www.scimar.co.uk
E-mail: sales@scimar.co.uk
• 232SPM14 Isolator - 4 channel

• 95POP2 Isolator - 2 channel
www.bb-elec.com
www.bb-europe.com
NOTE
CT Comms cable is also isolated (CT part number 4500-0087)
NOTE
For users of Commander SE, the serial link for the Commander SK is identical to that of the Commander SE.
5.3 Serial communications connections

If more than one drive is to be connected to a serial link, make the connections as shown in Figure 5-1. (The network should be a daisy chain
arrangement and not a star arrangement, although short stubs are allowed.)
Pin 4 of the RJ45 connector (+24V) can be connected together through the RJ45 cables, but there is no power sharing mechanism between drives
and therefore the maximum power available is the same as for a single drive. If pin 4 is not linked to the other drives on the network and has an
individual load, then the maximum power (100mA) can be taken from pin 4 of each drive.
The serial communications cable must be shielded. The shields must be connected as shown in Figure 5-1.
NOTE
A data communications cable should not be run parallel to any power cables, especially ones that connect the drive to motors. If parallel runs are
unavoidable, ensure a minimum spacing of 300mm (12in.) between the communications cable and the power cables.
NOTE
Cables crossing one another at right-angles are unlikely to give trouble. The maximum cable length for a EIA485 link is 1,200 metres (4,000 feet).
NOTE
If the serial communications cable is longer than 30 metres (100ft), the following must be adhered to:
• Shielded cable must be used
and either
• Do not connect the drive 0V to ground at the drive
or
• Provide isolation from ground at remote / master communications device
NOTE
If more than one drive is connected to a host computer/PLC etc. each drive must have an unique serial address (see Pr 11.23 on page 139). Any
number in the permitted range 0 to 247 may be used but addresses with zero in them should not be used as these are used in drive group addressing.

Figure 5-1 Serial communications connection diagram

Commander SK 1 Commander SK 2
T1 T1
Serial port (0V) Serial port (0V)
connector connector
(RJ45) (RJ45)
Optional Optional
link 2 link 2
Master
communications
device
TXRX
TX\RX\
0V Shielded
connector/splitter
Optional link 1
Cable shown is shielded, 8 core, twisted pair, one to one, RJ45 to RJ45 standard patch cable with shielded RJ45 connectors/splitters.
Optional link 1
Not required if master communications device is galvanically isolated
Optional link 2
In the event of noise problems, it may be helpful to connect the shield of the cable to 0V at the drive.
T-Bar connector/splitter
Unshielded and shielded T-bar connector/splitters are available from the following suppliers:
Unshielded
Part number: CNX3A02KNW
www.insight.com
Part number: 34011
UTP Y adaptor (unshielded twisted pair)
www.lindy.co.uk
RJ45 female to 2 x female

www.dttuk.co.uk/connectors-and-components-modular.htm
Shielded
Part number: 34001
STP Y adaptor (shielded twisted pair)
www.lindy.co.uk
RJ45 connector/splitter (CT part number 3471-0004)

6 CT Modbus RTU
6.1 CT Modbus RTU specification
This section describes the adaptation of the MODBUS RTU protocol offered on Control Techniques' products. The portable software class which
implements this protocol is also defined.
MODBUS RTU is a master slave system with half-duplex message exchange. The Control Techniques (CT) implementation supports the core
function codes to read and write registers. A scheme to map between MODBUS registers and CT parameters is defined. The CT implementation also
defines a 32bit extension to the standard 16bit register data format.
Parameter
Database
X.Y CMP
MODBUS RTU
RTU framing
UART
Physical layer
6.1.1 MODBUS RTU

Physical layer
Attribute Description
Normal physical layer for multi-drop operation RS485 2 wire
Bit stream Standard UART asynchronous symbols with Non Return to Zero (NRZ)
Each symbol consists of:-
1 start bit
Symbol
8 data bits (transmitted least significant bit first)
2 stop bits
Baud rates 2400,4800, 9600, 19200, 38400
RTU framing
The frame has the following basic format
SLAVE FUNCTION Silent

message data 16bit CRC
ADDRESS CODE interval
Message data
The frame is terminated with a minimum silent period of 3.5 character times (for example, at 19200 baud the minimum silent period is 2ms). Nodes
use the terminating silence period to detect the end of frame and begin frame processing. All frames must therefore be transmitted as a continuous
stream without any gaps greater or equal to the silence period. If an erroneous gap is inserted then receiving nodes may start frame processing early
in which case the CRC will fail and the frame will be discarded.
MODBUS RTU is a master slave system. All master requests, except broadcast requests, will lead to a response from an individual slave. The slave
will respond (i.e. start transmitting the response) within the quoted maximum slave response time (this time is quoted in the data sheet for all Control
Techniques products). The minimum slave response time is also quoted but will never be less than the minimum silent period defined by 3.5 character
times.
If the master request was a broadcast request then the master may transmit a new request once the maximum slave response time has expired.

Introduction CTSoft
The master must implement a message time out to handle transmission errors. This time out period must be set to the maximum slave response time
+ transmission time for the response.
minimum silence minimum silence

period period
Slave frame
Master request frame detect Slave response Master request
processing
New master request

Slave response time
can start here
Time
6.1.2 Slave address

The first byte of the frame is the slave node address. Valid slave node addresses are 1 through 247 decimal. In the master request this byte indicates
the target slave node; in the slave response this byte indicates the address of the slave sending the response.
Global addressing
Address zero addresses all slave nodes on the network. Slave nodes suppress the response messages for broadcast requests.
6.1.3 MODBUS registers

The MODBUS register address range is 16bit (65536 registers) which at the protocol level is represented by indexes 0 through 65535.
PLC registers
Modicon PLCs typically define 4 register 'files' each containing 65536 registers. Traditionally, the registers are referenced 1 through 65536 rather than
0 through 65535. The register address is therefore decremented on the master device before passing to the protocol.
File type Description

1 Read only bits
2 Read / write bits
3 Read only 16bit register
4 Read / write 16bit register
The register file type code is NOT transmitted by MODBUS and all register files can be considered to map onto a single register address space.
All parameters in the drive are holding registers.
CT parameter mapping
All CT products are parameterized using the menu.param notation. Indexes 'menu' and 'param' are in the range 0 through 99. The menu.param is
mapped into the MODBUS register space as menu*100 + param.
To correctly map the parameters at the application layer, the slave device increments the received register address. The consequence of this
behaviour is that Pr 0.00 cannot be accessed.
CT MODBUS PLC Register address

Comments
parameter register (protocol level)
Pr 0.00
X.Y 40000 + X x 100 + Y X x 100 + Y - 1 cannot be
accessed
Examples:
Pr 1.02 40102 101
Pr 1.00 40100 99
Pr 0.01 40001 0
Data types
The MODBUS protocol specification defines registers as 16bit signed integers. All CT devices support this data size.
Refer to the section 6.1.8 Extended data types on page 20 for detail on accessing 32bit register data.
6.1.4 Data consistency

All CT devices support a minimum data consistency of one parameter (16bit or 32bit data). Some devices support consistency for a complete multiple
register transaction.

6.1.5 Data encoding

MODBUS RTU uses a 'big-endian' representation for addresses and data items (except the CRC, which is 'little-endian'). This means that when a
numerical quantity larger than a single byte is transmitted, the MOST significant byte is sent first. So for example
16 - bits 0x1234 would be 0x12 0x34
32 - bits 0x12345678L would be 0x12 0x34 0x56 0x78
6.1.6 Function codes

The function code determines the context and format of the message data. Bit 7 of the function code is used in the slave response to indicate an
exception.
The following function codes are supported:
Code Description
3 Read multiple 16bit registers
6 Write single register
16 Write multiple 16bit registers
23 Read and write multiple 16bit registers
FC03 Read multiple

Read a contiguous array of registers. The slave imposes an upper limit on the number of registers, which can be read. If this is exceeded the slave
will issue an exception code 2.
Table 6-1 Master request
Byte Description
Slave destination node address 1 through 247, 0 is
0
global
1 Function code 0x03
2 Start register address MSB
3 Start register address LSB
4 Number of 16bit registers MSB
5 Number of 16bit registers LSB
6 CRC LSB
7 CRC MSB
Table 6-2 Slave response

Byte Description
0 Slave source node address
2 Length of register data in read block (in bytes)
3 Register data 0 MSB
4 Register data 0 LSB
3+byte count CRC LSB
4+byte count CRC MSB
FC6 Write single register

Writes a value to a single 16bit register. The normal response is an echo of the request, returned after the register contents have been written. The
register address can correspond to a 32bit parameter but only 16 bits of data can be sent.
Byte Description
0 Slave node address 1 through 247 0 is global
1 Function code 0x6
2 Register address MSB
3 Register address LSB
4 Register data MSB
5 Register data LSB
6 CRC LSB
7 CRC MSB

Introduction CTSoft

Byte Description
1 Function code 0x6
2 Register address MSB
3 Register address LSB
4 Register data MSB
5 Register data LSB
6 CRC LSB
7 CRC MSB
FC16 Write multiple

Writes a contiguous array of registers. The slave imposes an upper limit on the number of registers which can be written. If this is exceeded the slave
will discard the request and the master will time out.
Byte Description
Slave node address 1 through 247
0
0 is global
4 Number of 16bit registers MSB
5 Number of 16bit registers LSB
6 Length of register data to write (in bytes)

Byte Description
4 Number of 16bit registers written MSB
5 Number of 16bit registers written LSB
6 CRC LSB
7 CRC MSB
NOTE
It is not possible to write to 32 Bit parameters using FC16.

FC23 Read/Write multiple

Writes and reads two contiguous arrays of registers. The slave imposes an upper limit on the number of registers which can be written. If this is
exceeded the slave will discard the request and the master will time out.
Byte Description
Slave node address 1 through 247
0
0 is global
2 Start register address to read MSB
3 Start register address to read LSB
4 Number of 16bit registers to read MSB
5 Number of 16bit registers to read LSB
6 Start register address to write MSB
7 Start register address to write LSB
8 Number of 16bit registers to write MSB
9 Number of 16bit registers to write LSB
10 Length of register data to write (in bytes)
12+byte
CRC MSB
count

Byte Description
2 Length of register data in read block (in bytes)
6.1.7 Communications timeouts

When a CT Modbus RTU master sends a message to a slave, the master should use a timeout to detect a missing response from a slave. Ideally, a
variable timeout will be used based on the number of hops a CT Modbus RTU message makes between the master and its eventual destination.
In practice a master may not be able to handle variable timeouts in such a fashion. If this is the case a single timeout should be used which is large
enough to cater for the longest route to a destination. The recommended timeouts for use with a specific product are given in the specific product user
guides.
6.1.8 Extended data types
Standard MODBUS registers are 16bit and the standard mapping maps a single X.Y parameter to a single MODBUS register. To support 32bit data
types (integer and float) the MODBUS multiple read and write services are used to transfer a contiguous array of 16bit registers.
Slave devices typically contain a mixed set of 16bit and 32bit registers. To permit the master to select the desired 16bit or 32bit access the top two bits
of the register address are used to indicate the selected data type.
NOTE
The selection is applied for the whole block access
bit 15 bit 14
bits 0 - 13
TYP1 TYP0
Type select Parameter address

X x 100+Y-1

Introduction CTSoft
The 2bit type field selects the data type according to the table below:
Type field Selected data
Comments
bits 15-14 type
00 INT16 backward compatible
01 INT32
IEEE754 standard
10 Float32
Not supported on all slaves
11 Reserved
If a 32bit data type is selected then the slave uses two consecutive 16bit MODBUS registers (in 'big endian'). The master must also set the correct
'number of 16bit registers'.
Example, read Pr 20.21 through Pr 20.24 as 32bit parameters using FC03 from node 8:
Byte Value Description
0 0x08 Slave destination node address
1 0x03 FC03 multiple read
2 0x47 Start register address Pr 20.21
3 0xE4 (0x4000 + 2021 - 1) = 18404 = 0x47E4
4 0x00 Number of 16bit registers to read
Pr 20.21 through Pr 20.24 is 4x32bit registers =
5 0x08
8x16bit registers
6 CRC LSB
CRC
7
MSB

Byte Value Description
0 0x08 Slave destination node address
1 0x03 FC03 multiple read
Length of data (bytes) = 4x32bit registers =
2 0x10
16bytes
3-6 Pr 20.21 data
7-10 Pr 20.22 data
11-14 Pr 20.23 data
15-18 Pr 20.24 data
19 CRC LSB
20 CRC MSB
Reads when actual parameter type is different from selected

The slave will send the least significant word of a 32 bit parameter if that parameter is read as part of a 16 bit access.
The slave will sign extent the least significant word if a 16 bit parameter is accessed as a 32 bit parameter. The number of 16 bit registers must be
even during a 32 bit access.
Example, If Pr 20.21 is a 32 bit parameter with a value of 0x12345678, Pr 20.22 is a 16 bit parameter with a value of 0xABCD, and Pr 20.23 is a 16 bit
parameter with a value of 0x0123.

Start Number
Read register of 16bit Response Comments
address registers
Standard 16 bit access
to a 32bit register will
Pr 20.21 2020 1 0x5678
return low 16bit word of
truncated data
Pr 20.21 18404 2 0x12345678 Full 32bit access
Number of words must
Pr 20.21 18404 1 Exception 2
be even for 32bit access
to a 32bit register will
Pr 20.22 2021 1 0xABCD
return low 16bit word of
data
32bit access to a 16bit
Pr 20.22 18405 2 0xFFFFABCD register will return 32bit
sign extended data
32bit access to a 16bit
Pr 20.23 18406 2 0x00000123 register will return 32bit
sign extended data
Pr 20.21 to 0x5678, to a 32bit register will
2020 2
Pr 20.22 0xABCD return low 16bit word of
truncated data
Pr 20.21 to 0x12345678,
18404 4 Full 32bit access
Pr 20.22 0xFFFFABCD
Writes when actual parameter type is different from selected

The slave will allow writing a 32 bit value to a 16 bit parameter as long as the 32 bit value is within the normal range of the 16 bit parameter.
The slave will allow a 16 bit write to a 32 bit parameter. The slave will sign extent the written value, therefore, the effective range of this type of write
will be ±32767.
Examples, if Pr 20.21 has a range of ±100000, and Pr 20.22 has a range of ±10000.
Start Number
Write register of 16bit Data Comments
address registers
Standard 16 bit write to a
Pr 20.21 2020 1 0x1234 32bit register. Value
written = 0x00001234
Standard 16 bit write to a
Pr 20.21 2020 1 0xABCD 32bit register. Value
written = 0xFFFFABCD
Value written =
Pr 20.21 18404 2 0x00001234
0x00001234
Pr 20.22 2021 1 0x0123 Value written = 0x0123
Value written =
Pr 20.22 18405 2 0x00000123
0x00000123
6.1.9 Exceptions
The slave will respond with an exception response if an error is detected in the master request. If a message is corrupted and the frame is not
received or the CRC fails then the slave will not issue an exception. In this case the master device will time out. If a write multiple (FC16 or FC23)
request exceeds the slave maximum buffer size then the slave will discard the message. No exception will be transmitted in this case and the master
will time out.
Exception message format
The slave exception message has the following format.
Byte Description
1 Original function code with bit7 set
2 Exception code
3 CRC LSB
4 CRC MSB

Introduction CTSoft
Exception codes
The following exception codes are supported.
Code Description
1 Function code not supported
Register address out of range, or request to read too many
2
registers
Parameter over range during block write FC16

The slave processes the write block in the order the data is received. If a write fails due to an out of range value then the write block is terminated.
However, the slave does not raise an exception response, rather the error condition is signalled to the master by the number of successful writes field
in the response.
Parameter over range during block read/write FC23
There will be no indication that there has been a value out of range during a FC23 access.
6.1.10 CRC
The CRC is a 16bit cyclic redundancy check using the standard CRC-16 polynomial x16 + x15 + x2 + 1. The 16bit CRC is appended to the message
and transmitted LSB first.
The CRC is calculated on ALL the bytes in the frame.

7 PLC Ladder programming

PLC Ladder programming and SYPTLite
The Commander SK has the ability to store and execute a 3kb PLC ladder logic program.
NOTE
To enable the Commander SK to store and execute a SYPTLite program, a LogicStick must be installed to the drive.
The ladder logic program is written using SYPTLite, a Windows based ladder diagram editor allowing the development of programs for execution in
the Commander SK.
SYPTLite is designed to be easy to use and to make program development as simple as possible. SYPTLite programs are developed using ladder
logic, a graphical language widely used to program PLCs (IEC 61131-3). SYPTLite allows the user to 'draw' a ladder diagram representing a program.
SYPTLite provides a complete environment for the development of ladder diagrams. Ladder diagrams can be created, compiled into PLC ladder
programs and downloaded into the Commander SK for execution via the RJ45 serial communications port on the front of the drive. The run-time
operation of the compiled ladder diagram on the target can also be monitored using SYPTLite and facilities are provided to interact with the program
on the target by setting new values for target parameters.
SYPTLite is available on the CD which is provided with the drive. The LogicStick can be purchased from your local Control Techniques Drive Centre
or Distributor.
Benefits
The combination of the PLC ladder program and SYPTLite mean that Commander SK can replace nano and some micro PLC’s in many applications.
A Commander SK ladder program can contain up to 50 ladder logic rungs, up to 7 function blocks and 10 contacts per rung. The ladder program will
be stored on the LogicStick.
In addition to the basic ladder symbols, SYPTLIte contains:
• Arithmetic blocks
• Comparison blocks
• Timers
• Counters
• Multiplexers
• Latches
• Bit manipulation
Typical applications of the PLC ladder program include:

• Ancillary pumps
• Fans and control valves
• Interlocking logic
• Sequences routines
• Custom control words
Limitations
The PLC ladder program has the following limitations:
• The maximum program size is 3kbytes including the header and optional source code
• The user cannot create user variables. If they are needed, the user must use free registers in menus 18 and 20. The PLC ladder program can
manipulate any drive parameter except parameters in menu 0.
• The program is only accessible via the drive's RJ45 serial communications port.
• There are no real-time tasks i.e. the scheduling rate of the program cannot be guaranteed. The PLC ladder programming should not be used for
time critical applications.
NOTE
The LogicStick is rated for 1,000,000 downloads. The LogicStick can be transferred from one drive to another or a fresh copy of a PLC ladder
program can be made on a different LogicStick by downloading the program from SYPTLite.
User program performance
Programs run at a low priority. The Commander SK provides a single background task in which to run the ladder diagram. The drive is prioritised to
perform its major functions first e.g. motor control, and will use any remaining processing time to execute the ladder diagram. As the drive's processor
becomes more heavily loaded running its major functions, less time is spent executing the program. SYPTLite displays the average execution time
calculated over the last 10 scans of the user program.
Getting started and system requirements
SYPTLite can be found on the CD which is supplied with the drive.
• Commander SK LogicStick
• Windows 2000/XP/Vista 32 required. Windows 95/98/98SE/ME/NT4 are not supported.
• Internet explorer V5.0 or later must be installed
• Minimum of 800x600 screen resolution with 256 colors
• 128MB RAM
• Pentium III 500MHz or better recommended
• Adobe Acrobat 5.10 or later (for parameter help)
• RS232 to RS485, RJ45 communications lead to connect the PC to the Commander SK
NOTE
The user must have administrator rights under Windows 2000/XP/Vista 32 to install the software. Maillefer Doc. 550 0245X.2

To install SYPTLite, insert the CD and the auto-run facility should start the front end screen, from which SYPTLite can be selected.
See the SYPTLite help file for more information regarding using SYPTLite, creating ladder diagrams and the function blocks available.
For the associated PLC ladder program parameters, see parameter Pr 11.47, Pr 11.48 and Pr 11.50 in section 10.12.1 PLC ladder programming on
page 150.
User program trips
Trip Diagnosis
t090 PLC ladder program attempted divide by zero
t091 PLC ladder program attempted access to non-existent parameter
t092 PLC ladder program attempted to write to a read only parameter
t094 PLC ladder program attempted to write a value to parameter which is out of range
t095 PLC ladder program virtual memory stack overflow
t097 PLC ladder program enabled with no LogicStick inserted or LogicStick removed
t096 PLC ladder program invalid operating system call
t098 PLC ladder program invalid instruction
t099 PLC ladder program invalid function block argument

8 CTSoft
CTSoft is a Windows ™ based software commissioning and monitoring tool for Commander SK and other Control Techniques products.
CTSoft can be used for commissioning and monitoring, drive parameters can be uploaded, downloaded and compared, a simple or custom menu
listing can be created. Drive menus can be displayed in standard list format or as live block diagrams. CTSoft is able to communicate with a single
drive or a network.
CTSoft contains a wizard that can be used for simple drive set up by new or inexperienced users. CTSoft also can also be used to import a
Commander SE Soft ctd file into Commander SK.
CTSoft can be found on the CD supplied with the drive or can be downloaded from www.controltechniques.com.
System requirements
• Pentium IV 1000MHz or better recommended.
• Windows 2000/XP/Vista 32. Windows 95 and 98 are NOT supported.
• Internet Explorer V5.0 or later should also be installed.
• Minimum of 800x600 screen resolution with 256 colors. 1024x768 is recommended.
• Adobe Acrobat 5.1 or later (for parameter help).
• 256MB RAM.
• Administrator rights under Windows 2000/XP/Vista 32 to install and run.
Installing CTSoft
To install CTSoft from the CD, insert the CD and the auto-run facility should start up the front-end screen from which CTSoft can be selected.
Otherwise run the SETUP.EXE in the CTSoft folder. Any previous copy of CTSoft should be uninstalled before proceeding with the installation
(existing projects will not be lost).
Uninstalling CTSoft
To uninstall CTSoft, go to the Control Panel, select "Add and Remove Programs". Scroll down the list until "CTSoft" is found then click on "Change/
Remove". Uninstalling will not lose any user project or data files.
Communications Overview
CTSoft operates in 2 basic communication modes:
In ONLINE mode CTSoft polls the selected drive to update all displayed parameter values. Any changes made to a parameter value will be displayed
within CTSoft.
In OFFLINE mode CTSoft does not require any connection to a drive. Each parameter can be displayed and edited, and these alterations will only
affect CTSoft's internal parameter set.
Getting started with CTSoft

Please refer to the Readme file available within the installation directory for the latest information.
During the startup of CTSoft a number of initialisation files are accessed. These files enable CTSoft to store and retrieve system, user specific and
parameter data.
On initialisation, the startup dialog is displayed allowing you to create a new project, open a previously saved project, or to work with a drive which
automatically creates a project and allows quick access to communicating with a single drive.
Before drive commissioning can proceed, it is necessary to set up the Communications port to enable communication between the host PC and drive.
Select the "Drive" menu, and Properties, to open the Drive Properties dialog.
The document server can be downloaded from www.controltechniques.com. When help on a particular parameter is requested by the user, CTSoft
links to the parameter in the relevant advanced user guide. Double-click the mouse on the required parameter and select parameter help from the
displayed box
The following is a brief introduction to the functions available. Reference should be made to the CTSoft and drive Help files for more detailed
information.
• The drive set-up wizard guides the novice user in entering motor and application data. Help is provided for each step in the set-up wizard and,
after the data is downloaded to the drive, a quick motor test can be performed.
• CTSoft will automatically update the screen with any read values.
• The Navigation Panel allows the user to move between the screens in CTSoft.
• The Terminal Configuration screens display graphically the choice of terminal set-up. They enable the quick and effective setting of parameters to
achieve the terminal configuration desired, with no knowledge of the parameters being set-up. The Analog References screen also provides the
ability to set-up the mode of operation of the analog inputs. The graphical wiring diagram required for basic control dynamically altering with
respect to the user choice.
• The monitoring screens show the status motor parameters displayed on panel meters. Drive faults are displayed and the faults log shows the last
ten trips with description and time.
• The parameter listings are used to display the entire contents of a menu. This allows access to parameters that are not available to the user within
the graphical screens or block diagrams. Complete parameter upload and download functions are provided with the ability to save these to disk.
Complete compare facilities enable the comparison of CTSoft's memory with a user saved parameter file or database defaults, highlighting any
differences.

• The Custom list enables parameters to be added to a custom list made up of all available drive parameters. This enables the viewing of unrelated
parameters on the same screen. Custom files may be saved by the user for use at a later date.
• Many of the menus have associated block diagrams that graphically indicate how all of the related parameters interact. To change a parameter
value simply right-click on a parameter and select "Edit Parameter".
Table 8-1 Feature look up table

Feature Parameter number (Pr)
Acceleration rates 2.10 2.11 to 2.19 2.30 2.32 2.33 2.34 2.39
Allow negative
1.10
references
Analog I/O Menu 7
Analog output 7.19 7.20 7.33
Analog speed
1.36 7.01 7.06 7.08 7.09 7.10 7.28 7.30
reference 1
Analog speed
1.37 7.02 7.11 7.12 7.13 7.14 7.31 1.41
reference 2
Application menus Menu 18 Menu 20
At speed indicator bit 3.06 10.05 10.06 10.07
Auto reset 10.34 10.35 10.36 10.01
Autotune 5.12 5.17 5.23 5.24 5.10 5.11
Binary sum 9.29 9.30 9.31 9.32 9.33 9.34
Brake control 12.40 to 12.47
Braking 10.11 10.10 10.30 10.31 6.01 2.04 10.12 10.39 10.40
Catch a spinning motor 6.09 5.12 5.17
Copying 11.42
Coast to stop 6.01
Comms 11.23 to 11.26 6.42 6.43
Cost - per kWh
6.16 6.17 6.24 6.25 6.26
electricity
Current controller 4.13 4.14
Current feedback 4.01 4.02 4.17 4.04 4.20 4.24 4.26 10.08 10.09 10.17
Current limits 4.07 4.18 4.15 4.16 4.19 5.07 5.10 10.08 10.09 10.17
Current rating 11.32 4.24
DC bus voltage 5.05 2.08
DC injection braking 6.01 6.06 6.07
Deceleration rates 2.20 2.21 to 2.29 2.31 2.35 2.36 2.37 2.39
Defaults 11.43 11.46
Digital I/O Menu 8
Digital I/O read word 8.20
Digital I/O B3 8.01 8.11 8.21 8.31 8.41 12.41 Menu 3
Digital Input B4 8.02 8.12 8.22 6.04
Digital Input B5 8.03 8.13 8.23 6.04
Digital input B6 8.04 8.14 8.24 6.04
Digital input B7 8.05 8.15 8.25 8.35 Menu 3
Direction 1.12 10.13 10.14 6.30 6.31 6.32 6.33 6.37 10.40
Display units 4.21 5.34
Display timeout 11.41
Drive active 1.11 10.02 10.40
Drive ok 10.01 10.36 10.40
Dynamic V/F 5.13
Enable 6.15 6.29 8.02 8.12 8.22
External trip 10.32
Fan speed 6.45
Frequency input 3.32 3.33 3.34 3.43 3.44 3.45 8.25
Frequency output 3.17 3.18 8.21
Frequency reference
1.14 1.15
selection
Hard speed reference 3.22 3.23
High stability space
5.19
vector modulation

Issue Number: 8 www.controltechniques.com Maillefer Doc. 550 0245X.2

I/O sequencer 6.04 6.30 6.31 6.32 6.33 6.34 6.39 6.40 6.42 6.43
Jog reference 1.05 1.13 2.19 2.29
Keypad reference 1.17 1.14 1.43 1.51 6.12
Limit switches 6.35 6.36
Logic function 1 9.01 9.04 9.05 9.06 9.07 9.08 9.09 9.10
Logic function 2 9.02 9.14 9.15 9.16 9.07 9.18 9.19 9.20
Low DC bus operation 6.10
Mains loss 6.03 10.15 5.05
Maximum speed 1.06
Menu 0 set up 11.01 to 11.10 11.27 6.04
Minimum speed 1.07 10.04
Motor map 5.06 5.07 5.08 5.09 5.10 5.11
Motor map 2 Menu 21 11.45
Motorized
9.03 9.21 9.22 9.23 9.24 9.25 9.26 9.27 9.28
potentiometer
Offset speed reference 1.04 1.38 1.09
Onboard PLC 11.47 11.48 11.50
Open loop vector mode 5.14 5.17 5.23
Operating mode 5.14
Output 5.01 5.02 5.03 5.04
Over modulation enable 5.20
PID controller Menu 14
Power up parameter 11.22 11.21
Precision reference 1.18 1.19 1.20 1.44
Preset speeds 1.15 1.21 to 1.28 1.14 1.42 1.45 1.46 1.47 1.48 1.50
Programmable logic Menu 9
PWM output 3.17 8.21
Ramp (accel / decel)
2.04 2.08 6.01 2.03 10.30 10.31 10.39
mode
Regenerating 10.10 10.11 10.30 10.31 6.01 2.04 10.12 10.39 10.40
Relay output 8.07 8.17 8.27 12.41
Reset 10.33 8.02 8.12 8.22 6.14
S ramp 2.06 2.07
Security code 11.30 11.44 5.50
Serial comms 11.23 to 11.26 6.42 6.43
Skip speeds 1.29 1.30 1.31 1.32 1.33 1.34 1.35
Slip compensation 5.08 5.27
Software version 11.29 11.34 11.35
Speed reference
1.14 1.15 1.49 1.50 1.01 1.02
selection
Status word 10.40
Supply 5.05
Switching frequency 5.18 5.35 5.37
Thermal protection -
5.18 5.35 7.04 7.05 7.34 7.35 7.36 10.18
drive
Thermal protection -
4.15 5.07 4.19 4.16 4.25
motor
Thermistor input 8.35
Threshold detector 1 12.01 12.03 12.04 12.05 12.06 12.07
Threshold detector 2 12.02 12.23 12.24 12.25 12.26 12.27
Time - run log 6.22 6.23
Torque mode 4.08 4.11
10.20 to
Trip detection 10.37
10.29
Trip log 10.20 to 10.29
User trip 10.38
Under voltage 5.05 10.15


V/F mode 5.14 5.15
Variable selector 1 12.08 12.09 12.10 12.11 12.12 12.13 12.14 12.15
Variable selector 2 12.28 12.29 12.30 12.31 12.32 12.33 12.34 12.35
Voltage mode 5.14 5.17 5.23 5.15
Voltage rating 11.33 5.09 5.05
Warning 10.19 10.12 10.17 10.18 10.40
Zero speed indicator bit 3.05 10.03

9 Menu 0
Table 9-1 Menu 0 parameters: single line descriptions
Default Corresponding extended
Par Description Setting
Eur USA menu parameter
01 Minimum set speed (Hz) 0.0 Pr 1.07
02 Maximum set speed (Hz) 50.0 60.0 Pr 1.06
03 Acceleration rate (s/100Hz) 5.0 33.0 Pr 2.11
04 Deceleration rate (s/100Hz) 10.0 33.0 Pr 2.21
05 Drive configuration AI.AV PAd Pr 11.27
06 Motor rated current (A) Drive rating Pr 5.07
07 Motor rated speed (rpm) 1500 1800 Pr 5.08
230/400/575/ 230/460/575/
08 Motor rated voltage (V) Pr 5.09
690 690
09 Motor power factor (cos ϕ) 0.85 Pr 5.10
10 Parameter access L1 Pr 11.44
11 Start/Stop logic select 0 4 Pr 6.04
12 Brake controller enable diS Pr 12.41
15 Jog reference (Hz) 1.5 Pr 1.05
16 Analog input 1 mode (mA) 4-.20 Pr 7.06
17 Enable negative preset speeds OFF (0) Pr 1.10
18 Preset speed 1 (Hz) 0.0 Pr 1.21
22 Load display units Ld Pr 4.21
23 Speed display units Fr Pr 5.34
24 Customer defined scaling 1.000 Pr 11.21
25 User security code 0 Pr 11.30
27 Power up keypad reference 0 Pr 1.51
28 Parameter copying no Pr 11.42
29 Load defaults no Pr 11.43
30 Ramp mode select 1 Pr 2.04
31 Stop mode select 1 Pr 6.01
32 Dynamic V to f select OFF (0) Pr 5.13
33 Catch a spinning motor select 0 Pr 6.09
34 Terminal B7 mode select dig Pr 8.35
35 Digital output control (terminal B3) n=0 Pr 8.41
36 Analog output control (terminal B1) Fr Pr 7.33
37 Maximum switching frequency (kHz) 3 Pr 5.18
38 Autotune 0 Pr 5.12
39 Motor rated frequency (Hz) 50.0 60.0 Pr 5.06
40 Number of motor poles Auto Pr 5.11
41 Voltage mode select Ur I Fd Pr 5.14
42 Low frequency voltage boost (%) 3.0 1.0 Pr 5.15
43 Serial comms baud rate 19.2 Pr 11.25
44 Serial comms address 1 Pr 11.23
45 Software version Pr 11.29
46 Brake release current threshold (%) 50 Pr 12.42
47 Brake apply current threshold (%) 10 Pr 12.43
48 Brake release frequency (Hz) 1.0 Pr 12.44
49 Brake apply frequency (Hz) 2.0 Pr 12.45
50 Pre-brake release delay (s) 1.0 Pr 12.46
51 Post brake release delay (s) 1.0 Pr 12.47
52 *Solutions Module dependant Pr 15.03
55 Last trip Pr 10.20

Default Corresponding extended

Par Description Setting
Eur USA menu parameter
56 Trip before Pr 55 Pr 10.21
59 PLC ladder program enable 0 Pr 11.47
60 PLC ladder program status Pr 11.48
61 Configurable parameter 1
71 Pr 61 set up parameter Pr 11.01
81 Frequency reference selected Pr 1.01
82 Pre-ramp reference Pr 1.03
83 Post-ramp reference Pr 2.01
84 DC Bus voltage Pr 5.05
85 Motor frequency Pr 5.14
86 Motor voltage Pr 5.02
87 Motor speed Pr 5.04
88 Motor current Read only diagnostic parameters Pr 4.01
89 Motor active current Pr 4.02
90 Digital I/O read word Pr 8.20
91 Reference enabled indicator Pr 1.11
92 Reverse selected indicator Pr 1.12
93 Jog selected indicator Pr 1.13
94 Analog input 1 level Pr 7.01
95 Analog input 2 level Pr 7.02
* Please refer to the appropriate Solutions Module manual.

Figure 9-1 Menu 0 logic diagram
Speed clamps Ramps

Analog inputs Minimum
01 Acceleration
Analog 1 speed 03 rate
input Analog input 1 (%)
Maximum Deceleration
mode 02 04
Reference speed rate
T2 16 94 selected (Hz)
30 Ramp mode
0
Analog input 2 (%) X-1 1
81 0 Pre-ramp
1 reference (Hz)
1
1
T4 95 0
82
Jog
B7
reference 0
15
0Hz Post-ramp
reference 83
Digital I/O (Hz)
Sequencer Jog
selected
T6 Start/stop Motor
Digital I/O logic select frequency
93
T5
Read 11 Motor control
Digital output word
function Motor rated 85
Pr 90 Brake Reverse 06
enable current
B3 35 selected Motor rated
12 07 speed
B4 92 Motor rated
Stopping
XX 08 voltage
mode
B5 31 09 Motor power
Reference Motor
factor
Catch a on voltage
B6 Variable torque
spinning 32
select
Mode select motor 86
91 Switching
B7 34 select 37
frequency
33 DC bus
voltage 38 Autotune
Motor rated
84 39 frequency
Motor
40 No. of poles speed
Digital I/O read word Pr 90 rpm
Voltage
41
Terminal Binary value for XX mode select
B3 1 Voltage 87
Motor active 42
B4 2 Current current boost
B5 4 measurement
B6 8
89
B7 16 Analog
T5/T6 64 output
Analog
Motor current output
function
88 36 B1
Other parameters
Parameter Customer
10 24
access defined scaling
Enable negative
Key 17 preset speeds 25 Security access
Input Read-write (RW) Power-up
XX XX 18 to 21 Preset speeds 27 keypad reference
terminals parameter
Load display Parameter
22 28
Output units cloning
XX XX Read-only (RO)
terminals parameter Speed display Parameter
23 29
units default

10 Advanced parameter descriptions

10.1 Overview
Table 10-1 Menu descriptions
Menu no. Description
1 Frequency / speed reference
2 Ramps
3 Frequency I/O, speed feedback and speed control
4 Current control
5 Motor control
6 Sequencer and clock
7 Analog I/O
8 Digital I/O
9 Programmable logic, motorized pot and binary sum
10 Status and diagnostics
11 General drive set-up
12 Threshold detectors and variable selectors
14 User PID controller
15* Solutions module parameters
18 Application menu 1
20 Application menu 2
21 Second motor parameters
*Only appears when a solutions module is installed to the Commander SK.
Table 10-2 gives a full key of the coding which appears in the following parameter tables.
Table 10-2 Key to parameter coding
Coding Attribute
Bit 1 bit parameter
SP Spare: not used
Filtered: some parameters which can have rapidly changing
FI values are filtered when displayed on the drive keypad for
easy viewing.
Destination: indicates that this parameter can be a
DE
destination parameter.
Txt Text: the parameter uses text strings instead of numbers.
VM Variable maximum: the maximum of this parameter can vary.
Decimal place: indicates the number of decimal places used
DP
by this parameter.
No default: when defaults are loaded (except when the drive
ND is manufactured or on EEPROM failure) this parameter is not
modified.
Rating dependant: this parameter is likely to have different
values and ranges with drives of different voltage and current
RA ratings. These parameters are not transferred by SmartStick
when the rating of the destination drive is different from the
source drive.
Not copied: not transferred to or from SmartStick during
NC
copying.
NV Not visible: not visible on the keypad.
PT Protected: cannot be used as a destination.
User save: saved in drive EEPROM when the user initiates a
US
parameter save.
RW Read/write: can be written by the user.
Bit default one/unsigned: Bit parameters with this flag set to
one have a default of one (all other bit parameters have a
BU
default of zero. Non-bit parameters are unipolar if this flag is
one.
Power-down save: automatically saved in drive EEPROM at
PS
power-down.

Menu 1 Introduction CTSoft Menu 0
10.2 Menu 1: Speed reference selection, limits and filters

Parameter Range Default Setting Update Rate
1.01 Frequency reference selected {81} ± 1500.0 Hz* 5 ms
1.02 Pre-skip filter reference ± 1500.0 Hz 5 ms
1.03 Pre-ramp reference {82} ± 1500.0 Hz 5 ms
1.04 Reference offset ± 1500.0 Hz 0.0 5 ms
1.05 Jog reference {15} 0.0 to 400.0 Hz 1.5 5 ms
50(Eur)
1.06 Maximum set speed {02} 0.0 to 1500.0 Hz B
60(USA)
1.07 Minimum set speed {01} 0.0 to Pr 1.06 0.0 B
1.08 Not used
1.09 Reference offset select OFF(0) or On(1) OFF(0) 5 ms
1.10 Allow negative references {17} OFF(0) or On(1) OFF(0) B
1.11 Reference enabled indicator {91} OFF(0) or On(1) 2 ms
1.12 Reverse selected indicator {92} OFF(0) or On(1) 2 ms
1.13 Jog selected indicator {93} OFF(0) or On(1) 2 ms
A1.A2(0), A1.Pr(1),
1.14 Reference selector A2.Pr(2), Pr(3), PAd(4), A1.A2(0) 5 ms
Prc(5)
1.15 Preset speed selector 0 to 8 0 5 ms
1.16 Not used
1.17 Keypad reference ± 1500.0 Hz 0.0 B
1.18 Precision reference coarse ± 1500.0 Hz 0.0 B
1.19 Precision reference fine 0.000 to 0.099 Hz 0.000 B
1.20 Precision reference update disable OFF(0) or On(1) OFF(0) 5 ms
1.21 Preset speed 1 {18} ± 1500.0 Hz 0.0 5 ms
1.25 Preset speed 5 ± 1500.0 Hz 0.0 5 ms
1.29 Skip reference 1 0.0 to 1500.0 Hz 0.0 B
1.30 Skip reference band 1 0.0 to 25 Hz 0.5 B
1.35 Reference in rejection zone OFF(0) or On(1) 5 ms
1.36 Analog reference 1 ± 1500.0 Hz* 5 ms
1.37 Analog reference 2 ± 1500.0 Hz* 5 ms
1.38 Percentage trim ±100.0% 0.0 5 ms
1.39 Not used
1.40 Not used
1.41 Analog reference 2 select OFF(0) or On(1) On(1) 5 ms
1.42 Preset reference select OFF(0) or On(1) OFF(0) 5 ms
1.43 Keypad reference select OFF(0) or On(1) OFF(0) 5 ms
1.44 Precision reference select OFF(0) or On(1) OFF(0) 5 ms
1.45 Preset select bit 0 OFF(0) or On(1) OFF(0) 5 ms
1.48 Not used
1.49 Reference selected indicator 1 to 5 5 ms
1.50 Preset Reference selected indicator 1 to 8 5 ms
1.51 Power up keypad reference {27} 0(zero), LASt(1), PrS1(2) 0(zero) N/A
* The maximum value is Pr 1.06 or Pr 21.01

Introduction CTSoft Menu 0 Menu 1
Figure 10-1 Menu 1A logic diagram

Analog inputs Analog
reference 1
T2 1.36
Menu 7
T4 1.37
Analog
reference 2
Reference
offset
1.04 Reference
Preset speeds offset select
Preset speed 1 Percentage 1.09
1.21 trim
Preset speed 2 1.22 1.38
Preset speed 3 1.23
Preset speed 4 1.24

X
Preset speed 5 1.25
Preset speed 6 1.26
Preset speed 7 1.27
Preset speed 8 1.28
Keypad
reference 1.49 = 5
1.17 Frequency
reference selected
1.01 Menu 1B
Power-up keypad
Power down
1.51 control mode
value
reference
Precision reference Preset Reference

update disable reference selected
1.50 1.49
selected indicator
1.20 indicator
Precision Key
reference
coarse Input Read-write (RW)
XX
terminals XX
1.18 parameter
Memory Menu 1C Menu 1C
1.19 Output Read-only (RO)
XX XX
terminals parameter
Precision
reference fine

Figure 10-2 Menu 1B logic diagram
Menu 8
Drive sequencer (Menu 6)
Bipolar
reference 1.10
select Jog Reverse Reference
selected selected enabled
indicator indicator indicator
1.13 1.12 1.11
Pre-filter Pre-ramp
reference reference
1.02 1.03
Frequency
reference
selected
1.06 (21.01)
Menu 1A 1.01 0Hz
1.07 (21.02)
1.07 (21.02)
x(-1) 1.06 (21.01) Skip
Frequencies Menu 2
Menu 1 C
1.06 (21.01)
1.05 1.06 (21.01)

Jog reference
Key
Input Read-write (RW)
XX
terminals XX
parameter
Output Read-only (RO)

XX XX
terminals parameter
Figure 10-3 Menu 1C logic diagram

Preset
reference
selector
Digital inputs 1.15
Preset
select 0 Pr 1.47 Pr 1.46 Pr 1.45 Output
1.45 0 0 0 1
0 0 1 2 1
Preset Preset
select 1 0 1 0 3 2 selected
Menu 8 1.46 indicator
0 1 1 4 3
1 0 0 5
Preset 4 1.50 Menu 1A
select 2 1 0 1 6
1.47 1 1 0 7 5
1 1 1 8 6
Lowest Reference
Digital inputs priority selector
Analog ref 1.14 (21.03)
2 select
1.41
Preset Reference
select Pr 1.44 Pr 1.43 Pr 1.42 Pr 1.41 Output 1 selected
1.42 0 0 0 0 1 indicator
2
0 0 0 1 2
Menu 8 Keypad 3 1.49 Menu 1A
select 0 0 1 X 3
1.43 0 1 X X 4 4
1 X X X 5 5
Precision
ref select
1.44
Key
Highest
priority Input Read-write (RW)
XX
terminals XX
parameter

XX XX
terminals parameter

Figure 10-4 Menu 1D logic diagram

Reference in
rejection zone
1.35
Pre-filter Pre-ramp
reference reference
Menu 1B 1.02 1.03 Menu 2
1.29 1.31 1.33 Key

Skip Skip Skip Input Read-write (RW)
frequency 1 frequency 2 frequency 3
XX
terminals XX
parameter
1.30 1.32 1.34 Output

Skip Skip Skip terminals parameter
band 1 band 2 band 3

1.01 Frequency reference selected {81}

Coding
1 1 1 1 1
Range ±1500.0 Hz
Update rate 5ms
Indication of the reference being used by the drive for system setup and fault finding.
1.02 Pre-skip filter reference {82}

Coding
1 1 1 1 1
Range ±1500.0 Hz
Update rate 5ms
1.03 Pre-ramp reference {83}

Coding
1 1 1 1 1
Range ±1500.0 Hz
Update rate 5ms
Indication of the reference being used by the drive for system setup and fault finding.
1.04 Reference offset

Coding
1 1 1 1
Range ±1500.0 Hz
Default 0.0
Update rate 5ms
See Pr 1.09 on page 39.
1.05 Jog reference {15}

Coding
1 1 1 1
Range 0.0 to 400.0 Hz
Default 1.5
Update rate 5ms
Reference used for jogging. See section 10.7 Menu 6: Drive sequencer and clock for details on when the jog mode can be activated.
1.06 Maximum set speed {02}

Coding
1 1 1 1
Eur: 50.0
Default
USA: 60.0
Second motor
Pr 21.01
parameter
This parameter is a symmetrical limit on both directions of rotation.
Defines drive absolute maximum frequency reference. Slip compensation and current limit can increase the motor frequency further.

1.07 Minimum set speed {01}

Coding
1 1 1 1 1
Default 0.0
Second motor
Pr 21.02
parameter
Used in unipolar mode to define drive minimum set speed. This can be overridden if the maximum set speed clamp Pr 1.06 is adjusted to be less than
Pr 1.07. Inactive during jogging. With Pr 1.10 set to On, Pr 1.07 is 0.0.
1.08 Unused parameter
1.09 Reference offset select

Coding
1 1 1
Default OFF(0)
Update rate 5ms
When this parameter is OFF the reference is given by:
Pr 1.01 = selected reference x (100 + Pr 1.38) / 100
and when this parameter is On the reference is given by:
Pr 1.01 = SELECTED REFERENCE + Pr 1.04
1.10 Allow negative references {17}

Coding
1 1 1
Default OFF(0)
0: OFF Allow negative references disabled
1: On Allow negative references enabled
Needs to be set if the user requires to change the direction of rotation with a negative reference. If it is not set, all negative references are treated as
zero. Possible negative references are:
Preset speeds 1 to 8
Keypad reference
Precision reference
Analog reference from I/O Solutions Module
Reference from a comms Solutions Module
NOTE
Both standard analog inputs are unipolar and setting this bit does not allow bipolar analog references to be applied to the drive. However, the I/O
Solutions Module has a bipolar input for this purpose.
Analog input scaling
FREQ_MAX FREQ_MAX
Pr 1.07
or Pr 21.02
-100% 100% -100% 100%
-FREQ_MAX
Pr 1.10 = 0 (Unipolar mode) Pr 1.10 = 1 (Allow negative references mode)

1.11 Reference enabled indicator {91}

1.12 Reverse selected indicator {92}
1.13 Jog selected indicator {93}
Coding
1 1 1 1
Update rate 2ms
These flags are controlled by the drive sequencer defined in Menu 6. They select the appropriate reference as commanded by the drive logic.
1.14 Reference selector

Coding
1 1 1 1
Range A1.A2(0), A1.Pr(1), A2.Pr(2), Pr(3), PAd(4), Prc(5)
Default A1.A2(0)
Second motor
Pr 21.03
parameter
Update rate 5ms
This parameter is used to select a speed reference for motor 1 as follows:
0: A1.A2 Analog reference 1 or 2 selected by terminal input
1: A1.Pr Analog reference 1 (current) or 3 Presets selected by terminal input
2: A2.Pr Analog reference 2 (voltage) or 3 Presets selected by terminal input
3: Pr 4 Preset speeds selected by terminal input
4: PAd Keypad reference selected
5: Prc Precision reference selected
NOTE
For existing users of Commander SE:
On Commander SK, Pr 1.14 (Pr 21.03) is not automatically set-up for modes 1 to 3. Digital inputs need to be assigned to Pr 1.45 and Pr 1.46, to allow
selection of preset speeds. The tables below show possible configurations:
With Eur defaults
Terminal B4 Terminal B7
Pr 1.14 Pr 1.49
Destination Destination
A1.A2(0) Pr 6.29 Pr 1.41 Selected by terminal input
A1.Pr(1) Pr 1.45 Pr 1.46 1
A2.Pr(2) Pr 1.45 Pr 1.46 2
Pr(3) Pr 1.45 Pr 1.46 3
PAd(4) 4
Prc(5) 5
With USA defaults
Pr 1.14 Pr 1.49
Destination Destination
A1.Pr(1) Pr 1.45 Pr 1.46 1
A2.Pr(2 Pr 1.45 Pr 1.46 2
Pr(3) Pr 1.45 Pr 1.46 3
PAd(4) 4
Prc(5) 5
When this parameter is set to 0 the reference selected depends on the state of bit parameters Pr 1.41 to Pr 1.44. These bits are for control by digital
inputs such that references can be selected by external control. If any of the bits are set, the appropriate reference is selected (indicated by Pr 1.49).
If more than one bit is set the highest numbered will have priority.
In modes 1 and 2 a preset speed will be selected instead of the voltage or current selection if the preset selected is any preset speed other than
preset speed 1. This gives the user the flexibility to be able to select between current and 3 presets, or voltage and three presets, with only two digital
inputs.
NOTE
When Pr 1.14 is set to 5 (Prc), Pr 1.04, Pr 1.09 and Pr 1.38 cannot be used.

Pr 1.41 Pr 1.42 Pr 1.43 Pr 1.44 Reference selected Pr 1.49

0 0 0 0 Analog reference 1 (A1) 1
X 1 0 0 Preset reference (Pr) 3
X X 1 0 Keypad reference (PAd) 4
X X X 1 Precision reference (Prc) 5
Keypad reference
If Keypad reference is selected, the drive sequencer is controlled directly by the keypad keys and the keypad reference parameter (Pr 1.17) is
selected. The sequencing bits, Pr 6.30 to Pr 6.34, have no effect and jog is disabled.
NOTE
There is no forward/ reverse button on the drives keypad. If a forward/ reverse is required in keypad mode, see Pr 11.27 for how to set this up.
NOTE
On Commander SE, Pr 1.14 (Pr 21.03) used to correspond to Pr 05.
On Commander SK, Pr 11.27 corresponds to Pr 05.
If Pr 05 or Pr 11.27 is used in a desired system set-up and then Pr 1.14 (Pr 21.03) is then used to change this set-up, although some of these set-ups
for Pr 05 and Pr 1.14 (Pr 21.03) are the same, the displayed value showing the set-up of Pr 05 (AI.AV, AV.Pr etc.) will not change to the setting of
Pr 1.14 (Pr 21.03).
1.15 Preset speed selector

Coding
1 1 1
Range 0 to 8
Default 0
Update rate 5ms
This parameter is used to select a preset speed reference as follows:
0 Preset selection by terminal input
1 Preset 1 selected if Pr 1.49 = 3, AN1 selected if Pr 1.49 = 1, AN2 selected if Pr 1.49 = 2
2 Preset 2 selected
3 Preset 3 selected
4 Preset 4 selected
5 Preset 5 selected
6 Preset 6 selected
7 Preset 7 selected
8 Preset 8 selected
With a value other than 0 or 1, this means that the corresponding preset speed will be used as the selected reference (Pr 1.01).
When this parameter is set to 0 the preset selected depends on the state of bit parameters Pr 1.45, Pr 1.46 and Pr 1.47. These bits are for control by
digital inputs such that presets can be selected by external control. The preset selected depends on the binary code generated by these bits as
follows:
Pr 1.47 Pr 1.46 Pr 1.45 Preset selected Pr 1.50

0 0 0 1 (if Pr 1.49 = 3)
0 0 1 2
0 1 0 3
0 1 1 4
1 0 0 5
1 0 1 6
1 1 0 7
1 1 1 8
Pr 1.50 indicates the preset selected at all times.
If the reference selected by Pr 1.14 (or Pr 21.03) is 1 or 2 (current or voltage) a preset will be selected instead of the current or voltage selection if the
preset selected is any other than 1. This give the user the flexibility to be able to select between voltage and 3 presets, or current and three presets,
with only two digital inputs.

1.17 Keypad reference

Coding
1 1 1 1 1
Range ±1500.0Hz
Default 0.0
This parameter is the reference used when keypad reference is selected.
The range depends on the setting of Pr 1.10:
Pr 1.10 Range
0: OFF Pr 1.07 to 1500 Hz or Pr 21.02 to 1500 Hz
1: On ±1500 Hz
1.18 Precision reference coarse

Coding
1 1 1 1
Range ±1500.0Hz
Default 0.0
1.19 Precision reference fine

Coding
3 1 1 1
Range 0.000 to 0.099Hz
Default 0.000
The drives normal frequency resolution is 0.1Hz.
Selecting these two parameters as a reference automatically selects high resolution control (unless a frequency limit is hit or slip compensation is
enabled). The frequency in this case will have a resolution of 0.001Hz. Pr 1.18 defines the reference (either positive or negative) with a resolution of
0.1Hz. Pr 1.19 defines the fine part of the reference (always positive). The final reference is given by Pr 1.18 + Pr 1.19. Therefore Pr 1.19 increases
positive references away from zero, and decreases negative references towards zero.
1.20 Precision reference update disable

Coding
1 1 1
Default OFF(0)
Update rate 5ms
0: OFF Precision reference update disable off
1: On Precision reference update disable on
When this parameter is set to OFF, the pre-ramp reference (Pr 1.01) is updated with the precision reference parameters (Pr 1.18 and Pr 1.19). If the
precision reference parameters are changed while this parameter is set to OFF, the pre-ramp reference will be updated immediately.
When this parameter is set to On, the precision reference update parameters (Pr 1.18 and Pr 1.19) are continually read and updated in internal
memory but the pre-ramp reference (Pr 1.01) is not updated. Because the precision reference has to be set in two parameters, this parameter being
set to On prevents the reference from being updated while the parameters are being changed. This prevents the possibility of data skew.

1.21 Preset speed 1 {18}

1.25 Preset speed 5
1.26 Preset speed 6
1.27 Preset speed 7
1.28 Preset speed 8
Coding
1 1 1 1
Range ±1500.0Hz
Default 0.0
Update rate 5ms
Defines preset speeds 1 to 8
The preset speeds are clamped by the maximum set speed (Pr 1.06).
NOTE
The preset speeds do not go back to the maximum clamp value, if the clamp (Pr 1.06) has been reduced previously.
1.29 Skip reference 1

Coding
1 1 1 1
Range 0 to 1500.0Hz
Default 0.0
See Pr 1.30, Pr 1.32 and Pr 1.34 description.
1.30 Skip reference band 1

Coding
1 1 1 1
Range 0.0 to 25.0Hz
Default 0.5
Three skip references are available to prevent continuous operation at a speed that would cause mechanical resonance. When a skip reference
parameter is set to 0 that filter is disabled. The skip reference band parameters define the frequency or speed range either side of the programmed
skip reference, over which references are rejected. The actual reject band is therefore twice that programmed in these parameters, the skip reference
parameters defining the centre of the band. When the selected reference is within a band the lower limit of the band is passed through to the ramps
such that reference is always less than demanded.
1.35 Reference in rejection zone

Coding
1 1 1 1
Update rate 5ms
This parameter indicates that the selected reference is within one of the skip frequency regions such that the motor speed is not as demanded.

1.36 Analog reference 1

1.37 Analog reference 2
Coding
1 1 1 1 1
Range ±1500.0Hz
Update rate 5ms
These parameters are made available for control by analog inputs which are required to be frequency references.
The programmed input is automatically scaled such that 100.0% input corresponds to the set maximum speed (Pr 1.06 or Pr 21.01). Also the 0%
input level corresponds to the minimum speed level (Pr 1.07 or Pr 21.02) if negative references (Pr 1.10) is not selected.
1.38 Percentage trim

Coding
1 1 1
Range ±100.0%
Default 0.0
Update rate 5ms
See Pr 1.09.
1.39 to 1.40 Unused parameters
1.41 Analog reference 2 select

1.42 Preset reference select
1.43 Keypad reference select
1.44 Precision reference select
1.45 Preset select bit 0
Coding
1 1 1
Default 0
Update rate 5ms
These bits are provided for control by logic input terminals for external reference selection (see Pr 1.14 on page 40, and Pr 1.15 on page 41).
Pr 1.41 Analog reference 2 select (lowest priority)
Pr 1.42 Preset reference select
Pr 1.43 Keypad reference select
Pr 1.44 Precision reference select (highest priority)
If more than one of these parameters is active, the highest priority take precedence.
1.49 Reference selected indicator

Coding
1 1 1 1
Range 1 to 5
Update rate 5ms
Indicates the reference currently being selected.
1: Analog reference 1 selected
2: Analog reference 2 selected
3: Preset reference selected
4: Keypad reference selected
5: Precision reference selected

1.50 Preset reference selected indicator

Coding
1 1 1 1
Range 1 to 8
Update rate 5ms
Indicates the preset currently being selected. If Pr 1.49 = 1 or 2 then a value of 1 indicates that one of the analog references is being selected.
1.51 Power-up keypad reference {27}

Coding
1 1 1 1
Range 0(zero), LASt(1), PrS1(2)
Default 0
Update rate N/A
Selects the value of the keypad reference on power-up.
Value Display Function
0 0 keypad reference is zero
1 LASt keypad reference is the last used value
2 PrS1 keypad reference is copied from Preset speed 1 (Pr 1.21)

10.3 Menu 2: Ramps

Default
Parameter Range Setting Update Rate
Eur USA
2.01 Post ramp reference {83) ± 1500.0 Hz 21 ms
2.02 Not used
2.03 Ramp hold OFF(0) or On(1) OFF(0) 128 ms
2.04 Ramp mode select {30} 0 to 3 1 B
2.05 Not used
2.06 S ramp enable OFF(0) or On(1) OFF(0) B
2.07 S ramp acceleration limit 0.0 to 300.0 s2 /100 Hz 3.1 B
110V drive: 375
200V drive: 375
400V drive: 750 (Eur)
2.08 Standard ramp voltage 0 to DC_VOLTAGE_SET_MAX V B
775 (USA)
575V drive: 895
690V drive: 1075
2.09 Not used
2.10 Acceleration rate selector 0 to 9 0 5 ms
2.11 Acceleration rate 1 {03} 0.0 to 3200.0 s/100 Hz 5.0 33.0 5 ms
2.12 Acceleration rate 2 0.0 to 3200.0 s /100 Hz 5.0 5 ms
2.19 Jog acceleration rate 0.0 to 3200.0 s /100 Hz 0.2 5 ms
2.20 Deceleration rate selector 0 to 9 0 5 ms
2.21 Deceleration rate 1 {04} 0.0 to 3200.0 s /100 Hz 10.0 33.0 5 ms
2.22 Deceleration rate 2 0.0 to 3200.0 s /100 Hz 10.0 5 ms
2.29 Jog deceleration rate 0.0 to 3200.0 s /100 Hz 0.2 5 ms
2.30 Acceleration selected indicator 1 to 8 5 ms
2.31 Deceleration selected indicator 1 to 8 5 ms
2.32 Acceleration select bit 0 OFF(0) or On(1) OFF(0) 5 ms
2.35 Deceleration select bit 0 OFF(0) or On(1) OFF(0) 5 ms
2.38 Not used
2.39 Ramp rate units 0 to 2 1 B

Menu 2B Menu 2C
Acceleration Deceleration
selected 2.30 2.31 selected
indicator indicator
Acceleration 1 - Deceleration 1 -
motor map 2 21.04 21.05 motor map 2
Acceleration 1 2.11 1 1 2.21 Deceleration 1
Jog acceleration 2.19 2.29 Jog deceleration

1 0 0 1
Jog select 1.13
N N
t t
Acceleration Deceleration Post-ramp

rate rate reference
S ramp Current
Pre-ramp 1.03 2.03 Ramp hold 2.07 control 2.01 Menu 5
acceleration limit
reference Menu 4
Standard ramp
2.04 Ramp mode select 2.08
voltage
S ramp enable Ramp rate

2.06 2.39
units
Key
XX
terminals XX
parameter

XX XX
terminals parameter


Acceleration
rate
selector
2.10
Digital inputs
Acceleration
2.32 0 0 0 1
0 0 1 2
Acceleration
select 1 0 1 0 3 1
Menu 8 2.33 0 1 1 4 2 Acceleration
selected
1 0 0 5 3 indicator
Acceleration
select 2 1 0 1 6
4
2.34 1 1 0 7 2.30 Menu 2A
1 1 1 8 5
Key 8

XX XX Preset reference
terminals parameter 1.50
selected indicator

XX XX
terminals parameter

Deceleration
rate
selector
2.20
Digital inputs
Deceleration
2.35 0 0 0 1
0 0 1 2
Deceleration
select 1 0 1 0 3 1
Menu 8 2.36 0 1 1 4 2 Deceleration
selected
1 0 0 5 3 indicator
Deceleration
select 2 1 0 1 6
4
2.37 1 1 0 7 2.31 Menu 2A
1 1 1 8 5
Key 8

XX XX Preset reference
terminals parameter 1.50
selected indicator

XX XX
terminals parameter

2.01 Post ramp reference {83}

Coding
1 1 1 1 1 1
Range ±1500.0Hz
Update rate 21ms
Although the range for scaling purposes is ±1500 Hz, the actual parameter value can be increased beyond this range by the current limit controller
(up to 20% > than the maximum frequency).
This is shown on the drive’s display when Pr 23 is set to Fr (default).
2.03 Ramp hold

Coding
1 1 1
Default OFF(0)
Update rate 128ms
0: OFF Ramp hold disabled
1: On Ramp hold enabled
If this bit is set the ramp will be held. If S ramp is enabled the acceleration will ramp towards zero causing the ramp output to curve towards a constant
speed. If a drive stop is demanded the ramp hold function is disabled.
2.04 Ramp mode select {30}

Coding
1 1 1
Range 0 to 3
Default 1
This parameter has 4 settings as follows:
0: Fast ramp
1: Standard ramp with normal motor voltage
2: Standard ramp with high motor voltage
3: Fast ramp with high motor volts
The acceleration ramp is not affected by the ramp mode, and the ramp output will rise at the programmed acceleration rate (subject to the current
limits programmed).
Fast Ramp
In modes 0 and 3, the output of the ramp will fall at the programmed deceleration rate (subject to the current limits programmed). The DC Bus voltage
controller is not active in these modes.
Standard Ramp
In modes 1 & 2, the voltage rising to the standard ramp level (Pr 2.08) causes a proportional controller to operate, the output of which changes the
demanded current in the motor. As the controller regulates the bus voltage, the motor decelerates at a faster and faster rate as it approaches zero
speed. When the motor deceleration rate reaches the programmed deceleration rate the controller ceases to operate and the drive continues to
decelerate at the programmed rate. If the standard ramp voltage (Pr 2.08) is set lower than the nominal DC bus level the drive will not decelerate but
will coast to rest.
The current demand is fed to the frequency changing current controller and therefore the gain parameters, Pr 4.13 and Pr 4.14 must be set up for
optimum control.

Figure 10-8
Controller
operational
DC Bus voltage
Motor Speed
Programmed
deceleration
rate
t
In modes 0 and 1 the motor voltage is correctly set according to the motor rated voltage parameter, while in modes 2 and 3 the motor voltage is
allowed to go up to a factor of 1.2 times its normal value during deceleration. This higher voltage saturates the motor which increases the losses in the
motor and therefore reduces the amount of energy transferring from the motor to the DC bus for a given deceleration rate. For a given amount of
energy being dissipated by the drive at the regulated DC bus level, modes 2 and 3 will allow a faster deceleration than modes 0 and 1, providing that
the motor can stand the extra losses being dissipated in it.
NOTE
Mode 0 is normally selected when using a braking resistor (mode 3 can be selected if desired but will cause the motor to heat up more due to the
higher losses in the motor when compared to mode 0)
2.06 S ramp enable

Coding
1 1 1
Default OFF(0)
0: OFF S ramp disabled
1: On S ramp enabled
Setting this parameter enables the S ramp function. S ramp is disabled during deceleration when the standard ramp voltage controller is active. When
the motor is accelerated again after decelerating in standard ramp the acceleration ramp used by the S ramp function is reset to zero.
NOTE
The S ramp function is only available if the acceleration and deceleration rates are specified in s/100Hz (Pr 2.39 = 1).
2.07 S ramp acceleration limit

Coding
1 1 1 1
Range 0.0 to 300.0s2/100Hz
Default 3.1
This parameter defines the maximum rate of change of acceleration that the drive will operate with.
The default values have been chosen such that for the default ramps and maximum speed, the curved parts of the S will be 25% of the original ramp
if S ramp is enabled.
NOTE
It is not advisable to set this parameter to 0.1s2/100Hz, with an acceleration rate of 0.1s/100Hz as the system may become unstable.

Figure 10-9
Demanded Speed
Acceleration
Actual Speed
Programmed
ramp rate
S ramp
acceleration
ramp
T/2 T/2 T/2 T/2 t

T T
Since the ramp rate is defined in s/100Hz (s/1000Hz when Pr 2.39 = 0) and the S ramp parameter is defined in s2/100Hz (s2/1000Hz when Pr 2.39 =
0), the time T for the 'curved' part of the S can be determined quite easily by dividing the two variables thus:
T = S ramp rate of change / Ramp rate
Enabling S ramp increases the total ramp time by the period T since an additional T/2 is added to each end of the ramp in producing the S.
2.08 Standard ramp voltage

Coding
1 1 1 1 1
Range 0 to DC_VOLTAGE_SET_MAX V
110V rating drive: 375
Default 400V rating drive: Eur: 750, USA: 775
This voltage is used as the level for standard ramp modes. If it is set too low the machine will coast to rest, and if it is set too high and no braking
resistor is used it may trip on OV. The minimum level should be greater than the voltage produced on the DC bus by the highest supply voltage.
Normally the DC bus voltage will be approximately the rms supply voltage x √2
NOTE
If the output frequency does not decrease in 10 seconds after the drive has been given a stop command, the drive will disable. This can occur at low
speeds with long cables on a soft supply.
2.10 Acceleration rate selector

Coding
1 1 1
Range 0 to 9
Default 0
Update rate 5ms
The acceleration rate is selected as follows.
0 Ramp rate selection by terminal input
1 to 8 Ramp rate defined by parameter number, i.e. 1 = Pr 2.11, 2 = Pr 2.12, etc.
9 Ramp rate selection by parameter Pr 1.50
When parameter Pr 2.10 is set to 0 the acceleration ramp rate selected depends on the state of bit parameters Pr 2.32 to Pr 2.34. These bits are for
control by digital inputs such that ramp rates can be selected by external control. The ramp rate selected depends on the binary code generated by
these bits as follows:

Pr 2.34 Pr 2.33 Pr 2.32 Ramp defined by

0 0 0 Pr 2.11
0 0 1 Pr 2.12
0 1 0 Pr 2.13
0 1 1 Pr 2.14
1 0 0 Pr 2.15
1 0 1 Pr 2.16
1 1 0 Pr 2.17
1 1 1 Pr 2.18
When parameter Pr 2.10 is set to 9 the appropriate acceleration rate is automatically selected depending on the value of parameter Pr 1.50, and so
an acceleration rate can be programmed to operate with each reference. Since the new ramp rate is selected with the new reference, the acceleration
applies towards the selected preset if the motor needs to accelerate to reach the preset.
2.11 Acceleration rate 1 {03}

2.12 Acceleration rate 2
Coding
1 1 1 1
Range 0 to 3200.0s/100 Hz (or s/10Hz or s/1000Hz if Pr 2.39 = 0 or 2)
Default 5.0
Second motor
Pr 21.04 for parameter Pr 2.11 only
parameter
Update rate 5ms
NOTE
When switching between preset speeds and using the preset acceleration ramps, the acceleration ramp used is the one associated to the target
preset speed, i.e. if switching from preset speed 3 to preset speed 4, acceleration rate 4 would be used.
If enabling and running to a preset speed using the Run Forward and Run Reverse terminals, the preset acceleration ramp used will be the one
associated to the preset speed being run to.
2.19 Jog acceleration rate

Coding
1 1 1 1
Range 0 to 3200.0s/100 Hz (or s/10Hz or s/1000Hz if Pr 2.39 = 0 or 2)
Default 0.2
Update rate 5ms
The jog acceleration rate is only used when accelerating towards the jog reference and when changing the jog reference.
There are eight acceleration rates programmable for normal operation, plus one for jogging. The ramp rates are expressed as a time for a change of
100 Hz on the ramp output, therefore with a programmed ramp time of 5 seconds the ramp output will reach 50 Hz from 0 in 2.5 seconds (depending
on the setting of Pr 2.39).
2.20 Deceleration rate selector

Coding
1 1 1
Range 0 to 9
Default 0
Update rate 5ms
The deceleration rate is selected as follows.
0 Ramp rate selection by terminal input
1-8 Ramp rate defined by parameter number, i.e. 1 = Pr 2.21, 2 = Pr 2.22, etc.
9 Ramp rate selection by parameter Pr 1.50
When parameter Pr 2.20 is set to 0 the deceleration ramp rate selected depends on the state of bit parameters Pr 2.35 to Pr 2.37. These bits are for
control by digital inputs such that ramp rates can be selected by external control. The ramp rate selected depends on the binary code generated by
these bits as follows:

Pr 2.37 Pr 2.36 Pr 2.35 Ramp defined by

0 0 0 Pr 2.21
0 0 1 Pr 2.22
0 1 0 Pr 2.23
0 1 1 Pr 2.24
1 0 0 Pr 2.25
1 0 1 Pr 2.26
1 1 0 Pr 2.27
1 1 1 Pr 2.28
When parameter Pr 2.20 is set to 9 the appropriate deceleration rate is automatically selected depending on the value of parameter Pr 1.50, and so a
deceleration rate can be programmed to operate with each reference. Since the new ramp rate is selected with the new reference, the deceleration
applies towards the selected preset if the motor needs to decelerate to reach the preset.
2.21 Deceleration rate 1 {04}

2.22 Deceleration rate 2
Coding
1 1 1 1
Range 0 to 3200.0 s/100 Hz (or s/10Hz or s/1000Hz if Pr 2.39 = 0 or 2)
Default 10.0
Second motor
Pr 21.05 for parameter Pr 2.21 only
parameter
Update rate 5ms
NOTE
When switching between preset speeds and using the preset deceleration ramps, the deceleration ramp used is the one associated to the target
preset speed, i.e. if switching from preset speed 3 to preset speed 4 deceleration rate 4 would be used.
If enabling and running to a preset speed using the Run Forward and Run Reverse terminals, the preset deceleration ramp used will be the one
associated to the preset speed being run to.
2.29 Jog deceleration rate

Coding
1 1 1 1
Range 0 to 3200.0 s/100 Hz (or s/10Hz or s/1000Hz if Pr 2.39 = 0 or 2)
Default 0.2
Update rate 5ms
The jog deceleration rate is only used when the drive is changing speed because the jog reference has changed or to stop from the jog reference. It
is not used to go from the jog to the run state. This prevents the fast ramps normally used with jog from being used when changing between running
and jogging.
There are eight deceleration rates programmable for normal operation, plus one for jogging. The ramp rates are expressed as a time for a change of
100 Hz on the ramp output, therefore with a programmed ramp time of 5 seconds the ramp output will go from 50 Hz to 0 in 2.5 seconds (depending
on the setting of Pr 2.39).
2.30 Acceleration selected indicator

Coding
1 1 1 1
Range 1 to 8
Update rate 5ms

2.31 Deceleration selected indicator

Coding
1 1 1 1
Range 1 to 8
Update rate 5ms
2.32 Acceleration select bit 0

2.35 Deceleration select bit 0
Coding
1 1 1
Default OFF(0)
Update rate 5ms
These bits are provided for control by logic input terminals for external ramp selection (see Pr 2.10 on page 51 & Pr 2.20 on page 52).
2.39 Ramp rate units

Coding
1 1
Range 0 to 2
Default 1
This parameter can select 3 different ramp rates, as follows:
0: s/1000Hz
1: s/100Hz(default)
2: s/10Hz
Therefore, for 0 to 50Hz:
0: Maximum ramp time of 160 seconds, resolution 0.005s
1: Maximum ramp time of 1600 seconds, resolution 0.05s
2: Maximum ramp time of 16000 seconds (>4 hours), resolution 0.5s
Example:
If Pr 2.11 Acceleration rate 1 is set to 10, the following acceleration time would apply according to the value of Pr 2.39:
Pr 2.39 0 to 100Hz 0 to 50Hz
0 1s 0.5s
1 10s 5s
2 100s 50s

10.4 Menu 3: Speed sensing thresholds and frequency input and output
3.01 Not used
3.02 Not used
3.03 Not used
3.04 Not used
3.05 Zero speed threshold 0.0 to 20.0 Hz 1.0 BR
3.06 At speed window 0.0 to 20.0 Hz 1.0 BR
3.07 Not used
3.08 Not used
3.09 Not used
3.10 Not used
3.11 Not used
3.12 Not used
3.13 Not used
3.14 Not used
3.15 Not used
3.16 Not used
3.17 Frequency output or PWM output scaling 0.000 to 4.000 1.000 BR
3.18 Maximum output frequency 1 to 10 kHz 5 B
3.19 Not used
3.20 Not used
3.21 Not used
3.22 Hard frequency reference ±1500.0 Hz 0.0 128 ms
3.23 Hard frequency reference selector OFF(0) or On(1) OFF(0) 5 ms
3.24 Not used
3.25 Not used
3.26 Not used
3.27 Not used
3.28 Not used
3.29 Position 0 to 9999 B
3.30 Not used
3.31 Not used
3.32 Position counter reset OFF(0) or On(1) OFF(0) B
3.33 Position scaling numerator 0.000 to 1.000 1.000 B
3.34 Position scaling denominator 0.0 to 100.0 1.0 B
3.35 Not used
3.36 Not used
3.37 Not used
3.38 Not used
3.39 Not used
3.40 Not used
3.41 Not used
3.42 Not used
3.43 Maximum reference frequency 0.0 to 50.0 kHz 10.0 B
3.44 Frequency reference scaling 0.000 to 4.000 1.000 B
3.45 Frequency reference 0.0 to 100.0% 5 ms


Pre-ramp Menu 2 Post-ramp Motor
reference Ramp reference frequency
control Menu 4 Menu 5
Menu 1 1.03 Current 2.01 Slip 5.01
control compensation
Hard Zero speed

frequency threshold Zero speed
selector Reference
3.05 +
enabled
Hard 3.23 10.03
1.11 _
frequency
reference Minimum
speed Running at or below
3.22 1 minimum speed
1 1.07
0 +
21.02 10.04
0 _
0Hz
0Hz
Below set
speed
+
10.05
3.06 _
_ 2 At speed
+ At speed
window 10.06
Frequency
-3.06 +
error
2 10.07
Key _
Above set
Input Read-write (RW) speed
XX
terminals XX
parameter

XX XX
terminals parameter


Terminal B7
digital input
destination
8.25
Maximum Frequency Frequency

Frequency frequency reference reference
input 0.00
reference scaling
B7 3.43 3.45 3.44
21.51
Position
Position scaling
32 bit position 3.29
3.33
counter
3.34
Reset
3.32 position
Frequency Maximum
output or PWM output
0.00 output scaling frequency
Frequency
3.17 3.18 Menu 8A
PWM
21.51
Key
XX
terminals XX
parameter

XX XX
terminals parameter

Frequency input and output

The frequency input is used as a speed reference. In some applications, a frequency input from a controller is used in preference to a 0 to +10V or 4
to 20mA signal.
This frequency input is converted into a frequency reference percentage (Pr 3.45) and this percentage value is used to provide the speed reference
(as Pr 7.01 and Pr 7.02 in Menu 7).
This frequency input cannot be used for frequency slaving.
The frequency input and output are not 'locked' together or synchronised within the drive. The frequency input is used as a speed reference and from
this input, the software calculates the correct frequency to put on to the output. The threshold is 10V for a frequency input.
3.05 Zero speed threshold

Coding
1 1 1 1
Default 1.0
Update rate Background read
If the post ramp reference (Pr 2.01) is at or below the level defined by this parameter in either direction the Zero speed flag (Pr 10.03) is On(1),
otherwise the flag is OFF(0).
3.06 At speed window

Coding
1 1 1 1
Default 1.0
This parameter defines the 'At speed' window which is the boundary around the set speed point in which an 'At speed' indication is given (Pr 10.06 =
On(1). The 'At speed' window is thus defined as Set speed ±(Pr 3.06 / 2).
The speed detector system also includes an overspeed trip. The level cannot be set by the user, but the drive produces an overspeed trip if the output
frequency (Pr 5.01) exceeds 1.2 x Maximum frequency and regenerating and in current limit.
3.17 Frequency output or PWM output scaling

Coding
3 1 1 1
Range 0.000 to 4.000
Default 1.000
Scale factor applied to the frequency or PWM output.
3.18 Maximum output frequency or maximum PWM output frequency

Coding
1 1 1
Range 1, 2, 5 and 10kHz (0 to 3)
Default 5(2)
Defines the maximum frequency required at the frequency/PWM output. The choice of maximum output frequency depends on the requirement of the
output. Due to limitations in the hardware, higher output frequencies do not offer the best resolution at the top end of the frequency range.
Fmax (kHz)
Pr 3.18 Resolution at Fmax
(On display)
0 1 10 bit
1 2 9
2 5 8
3 10 7

3.22 Hard frequency reference

Coding
1 1 1 1
Range ±1500.0 Hz
Default 0.0
Update rate 128 ms
3.23 Hard frequency reference selector

Coding
1 1 1
Default OFF(0)
Update rate 5 ms
0: OFF Hard frequency reference disabled
1: On Hard frequency reference enabled
The hard frequency reference is a reference value which does not pass through the ramp system (Menu 2). It is added to the normal post ramp
frequency reference. The hard frequency reference is selected when Pr 3.23 = On(1).
NOTE
Large changes in value may cause the drive to trip OI.AC.
3.29 Position
Coding
1 1 1 1 1
Range 0 to 9999
Indicates the current value of the position counter.
3.32 Position counter reset

Coding
1 1 1
Default OFF(0)
3.33 Position scaling numerator

Coding
3 1 1 1
Range 0.000 to 1.000
Default 1.000

3.34 Position scaling denominator

Coding
1 1 1 1
Range 0.0 to 100.0
Default 1.0
Pr 3.33 and Pr 3.44 are used to scale the pulse counter down to the required position units. The multiplying factor applied to the counter is defined as:
Pr3.33
------------------
Pr3.34
3.43 Maximum reference frequency

Coding
1 1 1 1
Range 0.0 to 50.0 kHz
Default 10.0
The table below shows how the resolution decreases as the maximum reference frequency decreases:
Maximum reference frequency Resolution
6kHz – 50kHz 11 bits
3kHz – 6kHz 10 bits
1.5kHz – 3kHz 9 bits
750Hz – 1.5kHz 8 bits
375Hz – 750Hz 7 bits
Example:
With Pr 3.43 set to 10kHz and the destination parameter (Pr 8.25) set to preset speed 1 (Pr 1.21).
When the input frequency on terminal B7 is 10kHz, preset speed 1 will be 50Hz (Pr 1.06 = 50Hz, Eur defaults). This will have a resolution of 11 bits.
Frequency input with High Resolution
When Pr 8.35 is set to 3 (Frequency input with high resolution) this gives a 12 bit input for maximum reference frequencies of 12kHz and greater.
Pr 1.19 is automatically updated with the 2 LSBs.
Example:
With a maximum reference frequency of 12kHz, the resolution is 12 bits.
With a maximum reference frequency of 2kHz, the resolution is 9 bits.
3.44 Frequency reference scaling

Coding
3 1 1 1
Range 0.000 to 4.000
Default 1.000
Scale factor applied to the frequency reference.
3.45 Frequency reference

Coding
1 1 1 1 1
Range 0.0 to 100.0%
Update rate 5 ms
Indicates the percentage of the frequency input value, up to the maximum reference frequency (Pr 3.43).

10.5 Menu 4: Current control

0 to
4.01 Current magnitude (motor current) {88} B
DRIVE_CURRENT_MAX A
{89) ±DRIVE_CURRENT_MAX
4.02 Motor active current B
A
4.03 Not used
± TORQUE_PROD_
4.04 Current demand B
CURRENT_MAX%
4.05 Not used
4.06 Not used
0 to
4.07 Symmetrical current limit MOTOR1_CURRENT_LIMI 165.0 B
T_MAX %
± USER_CURRENT_
4.08 Torque reference 0.0 B
MAX%
4.09 Not used
4.10 Not used
4.11 Torque mode selector OFF(0) or On(1) OFF(0) B
4.12 Not used
4.13 Current controller Kp gain 0 to 250 20 B
4.14 Current controller Ki gain 0 to 250 40 B
4.15 Motor thermal time constant 0 to 250 89 B
4.16 Motor thermal protection mode OFF(0) or On(1) OFF(0) B
±DRIVE_CURRENT_MAX
4.17 Reactive current B
A
0.0 to TORQUE_PROD_
4.18 Overriding current limit B
CURRENT_MAX%
4.19 Motor overload accumulator 0.0 to 100.0% B
± USER_CURRENT_
4.20 Percentage load B
MAX%
4.21 Load display units {22} Ld(0) or A(1) Ld(0) B
4.22 Not used
4.23 Not used
0.0 to TORQUE_PROD_
4.24 User current maximum scaling 165.0 B
CURRENT_MAX%
4.25 Low speed thermal protection mode OFF(0) or On(1) OFF(0) B
± USER_CURRENT_
4.26 Percentage torque B
MAX%
4.27 Reduce internal current loop response OFF (0) or On (1) OFF(0) B


Torque mode
select
4.11
Pre-ramp Menu 2
reference Ramp Post-ramp Motor
control reference frequency
Menu 1 1.03 0
Menu 5
2.01 Motor map 5.01
1
Hard
frequency
selector Reference
Percentage
enabled
Hard 3.23 0 1 torque
frequency 1.11
0Hz Current to
reference 4.26
torque
3.22 1 conversion
1
0
0 Load
0Hz display units
0Hz
Current loop 4.21
4.13 P gain
Current
10.09 Percentage
limit active 4.14 I gain
load
0
_
Display
4.20 4.02 4.01 1
Motor rated Active Current
User current
frequency current magnitude
maximum +
scaling 5.06 Magnetising
4.24 (21.06) current
Current
demand 4.17
1 0
Torque to
Menu 7 4.08 current 4.04
conversion
Torque
reference
5.01
Motor
Rated power 5.10 frequency
factor (21.10)
Motor rated 5.07 Motor thermal Motor protection Low speed

current (21.07) Over-riding time constant mode protection mode
current limit 4.15
Current limit (21.16) 4.16 4.25
Motor current
4.07 4.18 overload alarm
(21.29) indicator
Maximum heavy Motor rated 5.07

duty drive 11.32 Overload detection 10.17
current (21.07)
current rating
Key 10.08 4.19

XX
terminals XX
parameter At 100% Motor
load overload
Output Read-only (RO) indicator accumulator
XX XX
terminals parameter

The scaling of the current feedback is based on the ratings of the drive as follows:
Level x rated drive current

Over-current trip 2.2
Open-loop peak limit 1.75
Open-loop maximum standard operating current 1.5
Rated drive current 1.0
Maximum Normal Duty current rating ≤1.36*
Maximum motor rated current ≤1.36*
* On drives that offer dual rating, the rated current can be increased above the rated drive current up to a level not exceeding 1.36 x drive rated
current. The actual level varies from one drive size to another.
The drive has a current controller to give current limiting in frequency control mode and a torque controller in torque control mode. The active current
is controlled by modification of the drive output frequency. Menu 4 provides parameters to set-up the current controller. Additional voltage based
current control is provided to limit transients (peak-limit), but there are no user parameters to control this.
200V 400V 575V 690V

Max Max Max Max Max Max Max Max
Rated Heavy Normal Rated Heavy Normal Rated Heavy Normal Rated Heavy Normal
Model drive Duty Duty Model drive Duty Duty Model drive Duty Duty Model drive Duty Duty
current current current current current current current current current current current current
rating rating rating rating rating rating rating rating
2202 17 17 22 2401 13 13 15.3 3501 4.1 4.1 5.4 4601 19 19 22
2203 25 25 28 2402 16.5 16.5 21 3502 5.4 5.4 6.1 4602 22 22 27
3201 31 31 42 2403 23 25 29 3503 6.1 6.1 8.4 4603 27 27 36
3202 42 42 54 2404 26 26 29 3504 9.5 9.5 11 4604 36 36 43
4201 56 56 68 3401 32 32 35 3505 12 12 16 4605 43 43 52
4202 68 68 80 3402 40 40 43 3506 18 18 22 4606 52 52 62
4203 80 80 104 3403 46 46 56 3507 22 22 27 5601 63 63 84
4401 60 60 68 5602 85 85 99
4402 74 74 83 6601 85.7 100 125
4403 96 96 104 6602 107.1 125 144
5401 124 124 138
5402 156 156 168
6401 154.2 180 205
6402 180 210 236
The drive operates in the stator flux reference frame under steady state conditions. The absolute maximum motor current is defined by the peak limit
system as 1.75 x rated drive current. However, the drive does not normally operate at this level, but uses the peak limit system as protection against
over-current trips. Under normal operation the motor current is limited to 1.50 x rated drive current, allowing a safety margin between the maximum
normal operating current and the peak limit level.
DRIVE_CURRENT_MAX is full scale current feedback, i.e. rated drive current x 2.0.
The relationship between the voltage and current is shown in the following vector diagram.
Rsisx
Rsisy
v*
isy
-1
ϕ ≈ cos (PF)
Stator flux
(in steady state)

Definitions:
vs = motor terminal voltage vector
is = motor current vector
isy = y axis component of current
isx = x axis component of current
v* = no load y axis voltage reference
MOTOR1_CURRENT_LIMIT_MAX is used as the maximum for some parameters such as the user current limits. This is defined in the vector
equation as follows (with a maximum of 1000%):
Maximum current 2
------------------------------------------------------- + ( PF ) 2 – 1
Motor rated current
MOTOR1_CURRENT_LIMIT_MAX = -------------------------------------------------------------------------------------------------------- × 100%
PF
Where:
Motor rated current is given by Pr 5.07
PF is motor rated power factor given by Pr 5.10
(MOTOR2_CURRENT_LIMIT_MAX is calculated from the motor map 2 parameters)
The Maximum current is (1.5 x Rated drive current) when the rated current set by Pr 5.07 (or Pr 21.07 if motor map 2 is selected) is less than or
equal to the Maximum Heavy Duty current rating specified in Pr 11.32, otherwise it is (1.1 x Maximum motor rated current).
For example, with a motor of the same rating as the drive and a power factor of 0.85, the maximum current limit is 165.2%.
The above calculation is based on the assumption that the flux producing current (Pr 4.17) in the stator flux reference frame does not vary with load
and remains at the level for rated load. This is not the case and the flux producing current will vary as the load is increased. Therefore the maximum
current limit may not be reached before the drive reduces the current limit to prevent the peak limit from becoming active.
The rated active and rated magnetising currents are calculated from the power factor (Pr 5.10) and motor rated current (Pr 5.07) as:
rated active current = power factor x motor rated current
rated magnetising current = √(1 - power factor2) x motor rated current
The drive uses the motor rated current and the power factor at rated load to set up the maximum current limits, scale the current limits correctly and
calculate the rated active and magnetising currents. The user may enter the nameplate values in Pr 5.07 and Pr 5.10 respectively and the drive will
operate satisfactorily. Alternatively the drive can perform an auto-tune test on the motor to measure the power factor at rated load by measuring Rs
(stationary test), σLs (stationary test), and Ls (rotating test). See Pr 5.12 on page 77 for details.
On Commander SK sizes 2 to 6, the ratio between maximum continuous current and maximum overload is less than on the smaller drives. This is
handled in the software by specifying the 'drives rated current' as maximum current limit level / 1.5, the same as on the smaller drives. The current
rating in Pr 11.32 is still the Heavy Duty rating of the drive, but because it is greater than the 'drive rating' figure used by the software, the current limit
point will be less than 150% of the rating specified in Pr 11.32.
The motor rated current (Pr 5.07) may be increased above the drive current rating specified in Pr 11.32 up to a limit defined by the Maximum motor
rated current. If the motor rated current is above the current rating specified in Pr 11.32, the motor thermal protection scheme is modified (see
Pr 4.16).
In the following descriptions the term 'drive rated current' is the one used by the software, not the value in Pr 11.32.
4.01 Current magnitude (motor current) {88}

Coding
1 1 2 1 1 1 1
Range 0 to DRIVE_CURRENT_MAX
This parameter is the r.m.s. current from each output phase of the drive. The phase currents consist of an active component and a reactive
component. The three phase currents can be combined to form a resultant current vector as shown below:
y Resultant
Active current output current
Pr 4.02 Pr 4.01
Reactive current
x Pr 4.17
The resultant current magnitude is displayed by this parameter. The active current is the torque producing current, and the reactive current is the
magnetising or flux producing current.

4.02 Motor active current {89}

Coding
1 1 2 1 1 1
Range ±DRIVE_CURRENT_MAX A
The active current is the torque producing current in a motor drive.
Direction of active current Direction of rotation State and direction of rotation Torque
+ + Forward accelerating Motoring (+)
- + Forward decelerating or braking Regeneration (-)
+ - Reverse decelerating or braking Regeneration (-)
- - Reverse accelerating Motoring (+)
The diagram above shows the magnetising and active current vectors. These are represented in x and y axes of a reference frame. Pr 4.02 gives the
active current which is proportional to the length of the vector in the y axis and equivalent to the active phase current value in amps.
If the drive operates with fixed boost the y axis is aligned with the output voltage. Therefore the magnetising current represents the reactive
component of current leaving the drive and the active current represents the real component of current leaving the drive. Therefore the active current
produces torque and supplies the losses in the motor.
If the drive operates in vector mode (see Pr 5.14 on page 79) the x axis is aligned with the stator flux in the steady state, and so the active current
should be proportional to the torque produced by the machine. The active current will give a good indication of the machine torque over most of the
frequency range, however, the accuracy is reduced below 10Hz.
In both cases the relationship between the active current and motor torque will change once the maximum drive output voltage or the rated voltage of
the motor set by Pr 5.09 is reached, whichever is the lowest. (Generally the maximum drive output voltage will be just below the r.m.s. line supply
voltage.) Once one of these limits is reached the voltage is held constant and the motor flux reduces with frequency. This is referred to as field
weakening or constant power operation. In this region the relationship between torque and active current is approximately as follows, where K is a
constant related to the motor:
Torque = K x active current x frequency at voltage limit / actual frequency
Normally the point at which the voltage limit is reached is close to the rated frequency of the motor.
4.04 Current demand

Coding
1 1 1 1 1 1
Range ±TORQUE_PROD_CURRENT_MAX %
The current demand is derived from the torque demand. If torque control mode is selected (Pr 4.11=On) this becomes the active current demand for
the drive. The current demand is shown as a percentage of the rated active current, which is defined by the user set-up of the drive. Provided the
motor is not field weakened, the torque and current demands are the same. In field weakening, the current demand is increased with reduced flux.
Pr4.08 × M otor frequency (Pr 5.01)

Current demand = ---------------------------------------------------------------------------------------------------
Rated frequency (Pr 5.06)
The current demand is subject to the current limits.
4.07 Symmetrical current limit

Coding
1 1 1 1 1 1
Range 0 to MOTOR1_CURRENT_LIMIT_MAX %
Default 165.0
Second motor
Pr 21.29
parameter
Maximum current 2
------------------------------------------------------- + ( PF ) 2 – 1
Motor rated current
MOTOR1_CURRENT_LIMIT_MAX = -------------------------------------------------------------------------------------------------------- × 100%
PF

This parameter defines the current limit as a percentage of the rated active current. When the motor rated current is set lower than the drive rated
current, the maximum value of this parameter increases to allow larger overloads.
Therefore, by setting the motor rated current to a lower value than the drive rated current, it is possible to have a current limit greater than 165%. An
absolute maximum current limit of 999.9% is applied.
In frequency control mode (Pr 4.11 = OFF), the drive output frequency is modified if necessary to keep the active current within the current limits as
shown below:
Post ramp
Ramp
reference
Current limit
active 1 0
Active
+
current P Pr 4.13
limit I Pr 4.14
-
Active
current
The active current limit is compared with the active current and if the current exceeds the limit the error value passes through the PI controller to give
a frequency component which is used to modify the ramp output. The direction of the modification is always to reduce the frequency to zero if the
active current is motoring, or to increase the frequency towards the maximum if the current is regenerating. Even when the current limit is active the
ramp still operates, therefore the proportional and integral gains (Pr 4.13 and Pr 4.14) must be high enough to counter the effects of the ramp. For
method of setting the gains see Pr 4.13 and Pr 4.14 on page 67.
In torque control mode the current demand is limited by the active current limit. For operation of this mode see Pr 4.11 on page 66.
When the current limit becomes active, the display will flash AC.Lt
4.08 Torque reference

Coding
1 1 1 1
Range ±USER_CURRENT_MAX%
Default 0.0
This is the main torque reference parameter. A positive value is required for torque to be applied in the forward direction, and a negative value is
required for torque to be applied in the reverse direction.
For a negative value, program a digital input to the analog input invert bit. This will give a negative value on the analog input destination parameter.
This will allow the direction of rotation to be controlled by the polarity of the analog input.
If operating in torque control, due to small errors in current measurement at low frequencies, with zero torque reference and light loads, the drive may
allow the motor to rotate. The direction of rotation while in torque control is determined by the polarity of the torque reference. Therefore, at power-up
with zero torque reference and with the drive enabled, the motor may rotate in either direction. This is because any error in the current feedback
maybe a positive or negative value. If the error is positive, the motor will rotate in the forward direction and if the error is negative, the motor will rotate
in the reverse direction.
If it is necessary to guarantee the direction of rotation at power up while in torque control, a small positive or negative error must be present in Pr 4.08.
4.11 Torque mode selector

Coding
1 1 1
Range OFF(0) or On(1)
Default OFF(0)
0: OFF Torque mode disabled
1: On Torque mode enabled
If this parameter is OFF(0) normal frequency control is used.
If this parameter is set to On(1) the current demand is connected to the current PI controller giving closed loop torque/current demand as shown
below.
The current error is passed through proportional and integral terms to give a frequency reference. In motoring conditions and regeneration, the
frequency reference is allowed to go up to the maximum programmed in menu 1 + 20% to allow for current control close to maximum speed.

Current Frequency
demand + P Pr 4.13 reference
I Pr 4.14
-
Active
current
NOTE
This parameter can be changed from OFF(0) to On(1) when the drive is still running, the drive does not have to be disabled or stopped etc.
NOTE
When torque control is enabled, slip compensation is automatically disabled to prevent overspeed trips (O.SPd)
4.13 Current controller Kp gain

Coding
1 1 1
Range 0 to 250
Default 20
See Pr 4.14 for details.
4.14 Current controller Ki gain

Coding
1 1 1
Range 0 to 250
Default 40
These parameters control the proportional and integral gains of the current controller. As already mentioned the current controller either provides
current limits or closed loop torque control by modifying the drive output frequency. The control loop is also used in its torque mode during mains loss,
or when the controlled mode standard ramp is active and the drive is decelerating, to regulate the flow of current into the drive. Although the default
settings have been chosen to give suitable gains for less demanding applications it may be necessary for the user to adjust the performance of the
controller. The following is a guide to setting the gains for different applications.
Current limit operation
The current limits will normally operate with an integral term only, particularly below the point where field weakening begins. The proportional term is
inherent in the loop. The integral term must be increased enough to counter the effect of the ramp which is still active even in current limit. For
example, if the drive is operating at constant frequency and is overloaded the current limit system will try to reduce the output frequency to reduce the
load. At the same time the ramp will try to increase the frequency back up to the demand level. If the integral gain is increased too far the first signs of
instability will occur when operating around the point where field weakening begins. These oscillations can be reduced by increasing the proportional
gain. A system has been included to prevent regulation because of the opposite actions of the ramps and the current limit. This can reduce the actual
level that the current limit becomes active by 12.5%. This still allows the current to increase up to the current limit set by the user. However the current
limit flag (Pr 10.09) could become active up to 12.5% below the current limit depending on the ramp rate used.
Torque control
Again the controller will normally operate with an integral term only, particularly below the point where field weakening begins. The first signs of
instability will appear around rated speed, and can be reduced by increasing the proportional gain. The controller can be less stable in torque control
mode rather than when it is used for current limiting. This is because load helps to stabilise the controller, and under torque control the drive may
operate with light load. Under current limit the drive is often under heavy load unless the current limits are set at a low level.
Mains loss and controlled standard ramp
The DC bus voltage controller becomes active if mains loss detection is enabled and the drive supply is lost or controlled standard ramp is being used
and the machine is regenerating. The DC bus controller attempts to hold the DC bus voltage at a fixed level by controlling the flow of current from the
drive inverter into its DC bus capacitors. The output of the DC bus controller is a current demand which is fed into the current PI controller as shown
below:

Current
demand
DC Bus + P Pr 4.13
voltage _
controller I Pr 4.14
Frequency
reference
DC Bus
capacitor
Active current
The DC bus controller gain is a function of DC bus capacitance and therefore is fixed internally. It may often be necessary to adjust the current
controller gains to obtain the required performance. If the gains are not suitable it is best to set up the drive in torque control first. Set the gains to a
value that does not cause instability around the point at which field weakening occurs. Then revert back to open loop speed control in standard ramp
mode. To test the controller the supply should be removed while the motor is running. It is likely that the gains can be increased further if required
because the DC bus voltage controller has a stabilising effect, provided that the drive is not required to operate in torque control mode.
4.15 Motor thermal time constant

Coding
1 1 1
Range 0 to 250 s
Default 89
Second motor
Pr 21.16
parameter
See Pr 4.16 for details.
4.16 Motor thermal protection mode

Coding
1 1 1
Default OFF(0)
0: OFF Trip when threshold reached
1: On Reduce current limit when threshold reached
The motor is modelled thermally in a way that is equivalent to the electrical circuit shown below:
t = RC
2 2
[(I /(K x Motor Rated Current) ]
C R Temp
The temperature of the motor as a percentage of maximum temperature, with a constant current magnitude of I, constant value of K and constant
value of motor rated current (set by Pr 5.07 or Pr 21.07) after time t is given by
2
I -t ⁄ τ
Temp = ------------------------------------------------------------------------2- ( 1 – e ) × 100%
( K × Motor rated current )
This assumes that the maximum allowed motor temperature is produced by K x Motor rated current and that τ is the thermal time constant of the point
in the motor that reaches it maximum allowed temperature first. τ is defined by Pr 4.15. The estimated motor temperature is given by Pr 4.19 as a
percentage of maximum temperature. If Pr 4.15 has a value of 0 the thermal time constant is taken as 1.
If the rated current (defined by Pr 5.07 or Pr 21.07 depending on which motor is selected) is less or equal to the Maximum heavy duty rating then
Pr 4.25 can be used to select 2 alternative protection characteristics (see diagram below). If Pr 4.25 is OFF(0) the characteristic is for a motor which
can operate at rated current over the whole speed range. Induction motors with this type of characteristic normally have forced cooling. If Pr 4.25 is
On(1) the characteristic is intended for motors where the cooling effect of motor fan reduces with reduced motor speed below half of rated speed. The
maximum value for K is 1.05, so that above the knee of the characteristics the motor can operate continuously up to 105% current.
Below the knee point, the drive will display OVL.d, with Pr 4.01 at 100% current.

Motor total
current (Pr 4.01)
as a percentage
of motor rated It2 protection operates in this region
current
105%
70%
Max. permissible
continuous
current
Pr 4.25 = 0
Pr 4.25 = 1
50% 100% Motor speed as a

percentage of base speed
Rated current (Pr 5.07 or Pr 21.07) ≤ maximum Heavy Duty rating.
If the rated current is above the maximum Heavy Duty rating then Pr 4.25 can also be used to select 2 alternative protection characteristics. Both
characteristics are intended for motors where the cooling effect of the motor fan reduces with reduced motor speed, but with different speeds below
which the cooling effect is reduced. The maximum value for K is 1.01, so that above the knee of the characteristics the motor can operate
continuously up to 101% current.
Motor total
current (Pr 4.01)
as a percentage
of motor rated It2 protection operates in this region
current
101%
70%
Max. permissible
continuous
current
Pr 4.25 = 0
Pr 4.25 = 1
15% 50% 100% Motor speed as a

percentage of base speed
Rated current (Pr 5.07 or Pr 21.07) >maximum Heavy Duty rating.
When the estimated temperature reaches 100% the drive takes some action depending on the setting of Pr 4.16. If Pr 4.16 is OFF(0), the drive trips
when the threshold is reached. If Pr 4.16 is On(1), the current limit is reduced to (K - 0.05) x 100% when the temperature is 100%. The current limit is
set back to the user defined level when the temperature (Pr 4.19) falls below 95%.
The time for some action to be taken by the drive from cold with constant motor current is given by:
K × Pr 5.07 2
T trip = - ( Pr 4.15 ) × In 1 – ⎛ ------------------------------⎞
⎝ Pr 4.01 ⎠
Alternatively the thermal time constant can be calculated from the trip time with a given current from
-T trip
Pr 4.15 = ---------------------------------------------------------
2
-
K
In 1 – ⎛ -----------------------------⎞
⎝ Overload⎠
For example, if the drive should trip after supplying 150% overload (Pr 4.01) for 60 seconds with K = 1.05 then
-60
Pr 4.15 = ----------------------------------------
- = 89
1.05 2
In 1 – ⎛ -----------⎞
⎝ 1.50⎠
The thermal model temperature accumulator is reset to zero at power-up and accumulates the temperature of the motor while the drive remains
powered-up. Each time parameter Pr 11.45 is changed to select a new motor, or the rated current defined by Pr 5.07 or Pr 21.07 (depending on the
motor selected) is altered, the accumulator is reset to zero.
4.17 Reactive current (motor magnetising current)

Coding
1 1 2 1 1 1
Range ±DRIVE_CURRENT_MAX A
This parameter is proportional to the length of the vector in the x axis of the reference frame and is equivalent to the reactive current (magnetising
current) in each output phase in amps.
4.18 Overriding current limit

Coding
1 1 1 1 1 1
Range 0 to TORQUE_PROD_CURRENT_MAX %
This parameter gives an indication of the internal CURRENT_LIMIT_MAX as defined above.
4.19 Motor overload accumulator

Coding
1 1 1 1 1
Range 0.0 to 100.0%
This parameter gives a continuous indication of modelled motor temperature as a percentage of the trip level.
When this parameter reaches 75% (and the load is above 105%), the drive will flash 'OVL.d' on the display to indicate that the motor temperature is
excessive and the motor current should be reduced to stop the drive from tripping on 'It.AC’
When this parameter reaches 100%, the drive will give an 'It.AC’ trip or apply a restriction on the current limit (see Pr 4.16 on page 68).
The level of the accumulator is given by:
⎛ Pr 4.01 2 ( 1 – e -t ⁄ Pr 4.15 )⎞
-⎟ × 100%
Pr 4.19 = ⎜ ------------------------------------------------------------
⎝ ( Pr 5.07 × 1.05 ) 2 ⎠
Also see Pr 4.15 on page 68.
4.20 Percentage load

Coding
1 1 1 1 1 1
Range ±USER_CURRENT_MAX%
This parameter indicates the drive loading as a percentage of rated active current, where the 100% rated active current is Pr 5.07 x Pr 5.10.
Therefore:
Motor active current (Pr 4.02)
Pr 4.20 = ---------------------------------------------------------------------------------------------------------------------------------------------------- × 100%
Motor rated current (Pr 5.07) × Power factor (Pr 5.10)
A positive value in this parameter indicates motoring load and a negative value indicates a regenerating load.
4.21 Load display units {22}

Coding
1 1 1 1
Range Ld(0) or A(1)
Default Ld(0)
0: Ld Value of Pr 4.20 displayed.
1: A Value of Pr 4.01 displayed.
This parameter defines whether the load indication in the display status mode displays percentage load or output current

4.24 User current maximum scaling

Coding
1 1 1 1 1 1
Range 0.0 to TORQUE_PROD_CURRENT_MAX%
Default 165.0
The maximum for Pr 4.08 and Pr 4.20 is defined by this parameter.
4.25 Low speed thermal protection mode

Coding
1 1 1
Default OFF(0)
0: OFF Low speed thermal protection mode disabled
1: On Low speed thermal protection mode enabled
See Pr 4.16 on page 68 for details.
4.26 Percentage torque

Coding
1 1 1 1 1 1
Range ±USER_CURRENT_MAX %
Pr 4.26 shows the torque producing current (Pr 4.02) as a percentage of the active torque producing current, but with an additional adjustment above
base speed so that this parameter shows percentage torque. Below base speed, Pr 4.26 is equal to Pr 4.20. Above base speed the percentage
torque producing current (Pr 4.20) is adjusted as follows:
Pr 4.26 = Pr 4.20 x motor rated frequency (Pr 5.06) /post ramp reference (Pr 2.01)
4.27 Reduce internal current loop response

Coding
1 1 1
Range OFF (0) or On (1)
Default OFF (0)
Modification of this parameter may be required when using the drive with a high- speed motor, which inherently has low inductance.
This parameter should only be set to On if OI.AC trips are occurring when the drive is carrying out a mains loss stop or DC injection brake with a high
speed motor.
NOTE
Only available with drive firmware V01.08.04 onwards (size 2 to 6).

10.6 Menu 5: Motor control

Default
Parameter Range Setting Update Rate
Eur USA
5.01 Motor frequency {85} ± 1500 Hz 21 ms
5.02 Motor voltage {86} 0 to AC_VOLTAGE_MAX V B
5.03 Output power ±POWER_MAX kW B
5.04 Motor speed {87} ± 9999 rpm B
0 to +DC_
5.05 DC bus voltage {84} B
VOLTAGE_MAX V
5.06 Motor rated frequency {39} 0.0 to 1500.0 Hz 50.0(Eur), 60.0(USA) B
0 to RATED_ Drive rated current
5.07 Motor rated current {06} B
CURRENT_MAX A {Pr 11.32}
5.08 Motor rated full load rpm {07} 0 to 9999 rpm 1500(Eur), 1800(USA) B
110V drive: 230
200V drive: 230
0 to AC_
400V drive: 400(Eur)
5.09 Motor rated voltage {08} VOLTAGE_SET_ 128 ms
460(USA)
MAX V
575V drive: 575
690V drive: 690
5.10 Motor rated power factor {09} 0.00 to 1.00 0.85 B
Auto(0), 2P(1), 4P(2),
5.11 Number of motor poles {40} Auto(0) B
6P(3), 8P(4)
5.12 Auto-tune {38} 0 to 2 0 B
5.13 Dynamic V to F select {32} OFF(0) or On(1) OFF(0) B
Ur S(0), Ur(1), Fd(2), Ur
5.14 Voltage mode select {41} Ur I(4) Fd (2) B
A(3), Ur I(4), SrE(5)
0.0 to 50.0% of motor
5.15 Low frequency voltage boost {42} 3.0 1.0 B
rated voltage
5.16 Not used
5.17 Stator resistance 0.000 to 65.000 Ω 0.000 B
5.18 Maximum switching frequency {37} 3(0) to 18kHz(3)* 3(0) B
5.19 High stability space vector modulation OFF(0) or On(1) OFF(0) B
5.20 Over modulation enable OFF(0) or On(1) OFF(0) B
5.21 Not used
5.22 Not used
5.23 Voltage offset 0.0 to 25.0 V 0.0 B
5.24 Transient inductance (σLs) 0.00 to 320.00 mH 0.00 B
5.25 Not used
5.26 Not used
5.27 Enable slip compensation OFF(0) or On(1) On(1) B
5.28 Not used
5.29 Not used
5.30 Not used
5.31 Not used
5.32 Not used
5.33 Not used
5.34 Speed display units {23} Fr(0), SP(1), Cd(2) Fr(0) B
5.35 Disable auto-switching frequency change OFF(0) or On(1) OFF(0) B
5.36 Not used
5.37 Actual switching frequency 3 to 18kHz BW
5.38 Not used
5.39 Not used
5.40 Not used
5.41 Not used
5.42 Not used
5.43 Not used
5.44 Not used
5.45 Not used
5.46 Not used
5.47 Not used
5.48 Not used
5.49 Not used
5.50 Security unlock 0 to 999 BR
*18kHz is only available on Commander SK size A to C, 200V units.


Speed
display units
Customer
defined units 5.34
Motor
11.21
rpm
DC bus Actual switching
voltage frequency
5.04 Display
5.05 Modulation 5.37
Maximum switching
5.18 frequency
High stability space
5.19 vector modulation
Hz to Motor
rpm Voltage calculations voltage Over modulation
5.20 enable
5.12 Autotune
Disable auto-switching
Dynamic V 5.02 5.35
5.13 frequency change
to f select
Post ramp Slip Motor Voltage
reference compensation frequency 5.14 mode select
+ Low frequency
5.15 voltage boost Menu 6
2.01 5.01
Sequencer
5.17 Stator
+ (21.12) resistance
Total motor
5.23 Voltage power (kW)
5.27 (21.13) offset Power
Slip calculations
compensation 5.03
5.24 Transient √3 x V x 1
enable (21.14) inductance
0Hz
Slip compensation
5.08 Motor rated 4.02 4.01
(21.08) full load rpm Active Current
current magnitude
Magnetising
Motor map Motor map current
2 selected select 4.17
21.15 11.45
Motor map 1 Motor map 2

Rated Rated
5.06 frequency 21.06 frequency
Key
5.07 Rated current 21.07 Rated current
5.09 Rated voltage 21.09 Rated voltage XX
terminals XX
parameter
Rated power Rated power
5.10 21.10
factor factor Output Read-only (RO)
XX XX
Number of Number of terminals parameter
5.11 21.11
poles poles

5.01 Motor frequency {85}

Coding
1 1 1 1 1 1
Range ±1500.0 Hz
Update rate 21 ms
Although the range for scaling purposes is ±1500Hz, the actual parameter value can be increased beyond this range by slip compensation. This
parameter gives the output frequency of the drive, i.e. the sum of the post ramp reference and the slip compensation.
5.02 Motor voltage {86}

Coding
1 1 1 1 1 1
Range 0 to AC_VOLTAGE_MAX V
This is the modulus of the r.m.s. fundamental line-to-line voltage at the inverter output.
5.03 Output power

Coding
1 1 2 1 1 1
Range ±POWER_MAX kW
Total output power of the drive (positive for power flow out of the drive's output terminals). Output power of the drive is calculated from the in phase
components of voltage and current such that the total real power output is measured.
3 × AC_VOLTAGE_MAX × RATED_CURRENT_MAX × 2
Output power range = --------------------------------------------------------------------------------------------------------------------------------------------------------------------
1000
Where:
5.04 Motor speed {87}

Coding
1 1 1 1
Range ±9999 rpm
The motor speed is calculated from the post ramp reference (Pr 2.01). The speed of rotation is calculated as follows:
speed = 60 × Frequency ⁄ No. of pole pairs = 60 × Pr 2.01 ⁄ ( Pr 5.11 ⁄ 2 )
The result will be fairly accurate provided the slip compensation has been set up correctly with the rated full load speed parameter (Pr 5.08). This
calculation relies on the number of motor poles being set up correctly in Pr 5.11, or if auto mode is selected (Pr 5.11 = Auto) then it relies on a
reasonably accurate value of motor rated speed being set in Pr 5.08 to allow correct calculation of the motor poles.
This is shown on the drive’s display when Pr 23 is set to SP or Cd.
NOTE
When set to Cd, speed displayed is scaled in customer defined units.
5.05 DC bus voltage {84}

Coding
1 1 1 1 1 1
Range 0 to +DC_VOLTAGE_MAX V
Voltage across the internal DC bus of the drive.

5.06 Motor rated frequency {39}

Coding
1 1 1 1
Default Eur: 50.0, USA 60.0
Second motor
Pr 21.06
parameter
The motor rated frequency and the motor rated voltage (Pr 5.09) are used to define the voltage to frequency characteristic applied to the drive (see
Pr 5.09). The motor rated frequency is also used in conjunction with the motor full load rpm to calculate the rated slip for slip compensation (see
Pr 5.08).
5.07 Motor rated current {06}

Coding
1 2 1 1 1 1
Range 0 to RATED_CURRENT_MAX A
Default Drive rated current (Pr 11.32)
Second motor
Pr 21.07
parameter
The motor rated current should be set at the machine nameplate value for rated current.
This value is used in the following:
Current limit, see Pr 4.07 on page 65
Motor protection system, see Pr 4.15 on page 68
Slip compensation, see Pr 5.08
Vector mode voltage control, see Pr 5.09 on page 76
Dynamic V to f control, see Pr 5.13 on page 78
5.08 Motor rated full load rpm {07}

Coding
1 1 1
Range 0 to 9999 rpm
Default Eur: 1500, USA 1800
Second motor
Pr 21.08
parameter
The rated full load rpm is used with the motor rated frequency and No. of motor poles to calculate the rated slip of the induction machine in Hz.
Rated slip = Motor rated frequency – ( No. of motor pole pairs × Motor full load rpm ⁄ 60 ) = Pr 5.06 – [ ( Pr 5.11 ⁄ 2 ) × ( Pr 5.08 ⁄ 60 ) ]
The rated slip is used to calculate the frequency adjustment required to compensate for slip from the following equation:
Slip compensation = Rated slip × Active current ⁄ Rated active current
If slip compensation is required, Pr 5.27 must be set to On(1) and this parameter should be set to the nameplate value, which should give the correct
rpm for a hot machine.
Sometimes it will be necessary to adjust this when the drive is commissioned because the nameplate value may be inaccurate. Slip compensation will
operate correctly both below rated speed and within the field weakening region. Slip compensation is normally used to correct for the motor speed to
prevent speed variation with load. The rated load rpm can be set higher than synchronous speed to deliberately introduce speed droop. This can be
useful to aid load sharing with mechanically coupled motors.
NOTE
If Pr 5.08 is set to 0 or to synchronous speed, slip compensation is disabled.
NOTE
If the full load speed of the motor is above 9999rpm, slip compensation should be disabled. This is because a value above 9999 cannot be entered in
Pr 5.08. It may be useful to disable slip compensation when using the Commander SK on a high inertia load e.g. fan or high speed spindle motor.

5.09 Motor rated voltage {08}

Coding
1 1 1 1 1
Range 0 to AC_VOLTAGE_SET_MAX V
110V rating drive: 230V
Default 400V rating drive: Eur: 400V, USA: 460V
Second motor
Pr 21.09
parameter
Update rate 128ms
The rated voltage is used in conjunction with the motor rated frequency (Pr 5.06) to define the voltage to frequency characteristic applied to the motor.
The following operating methods selected by Pr 5.14 are used to define the drive frequency to voltage characteristic.
Open-loop vector mode: Ur S, Ur A, Ur or Ur I
A linear characteristic is used from 0Hz to rated frequency, and then a constant voltage above rated frequency. When the drive operates between
rated frequency/50 and rated frequency/4, full vector based stator resistance (Rs) compensation is applied. However there is a delay of 0.5s when the
drive is enabled during which only partial vector based compensation is applied to allow the machine flux to build up. When the drive operates
between rated frequency/4 and rated frequency/2 the Rs compensation is gradually reduced to zero as the frequency increases. For the vector
modes to operate correctly the stator resistance (Pr 5.17), motor rated power factor (Pr 5.10) and voltage offset (Pr 5.23) are all required to be set-up
accurately.
Fixed boost mode: Fd
A linear characteristic is used from 0Hz to rated frequency, and then constant voltage above rated frequency. Low frequency voltage boost as defined
by Pr 5.15 is applied as shown below.
Output Output voltage characteristic

voltage
Pr 5.09
Pr 5.09 / 2
Voltage
boost Pr 5.15
Pr 5.06 / 2 Pr 5.06 Output
frequency
Square law mode: SrE

A square law characteristic is used from 0Hz to rated frequency, and then constant voltage above rated frequency. Low frequency voltage boost
raises the start point of the square law characteristic as shown below.
Pr 5.09
Pr 5.15 + [(freq/Pr 5.06)2 x (Pr 5.09 - Pr 5.15)]
Pr 5.15
Pr 5.06

5.10 Motor rated power factor {09}

Coding
2 1 1 1 1
Range 0.00 to 1.00
Default 0.85
Second motor
Pr 21.10
parameter
The power factor is the true power factor of the motor, i.e. the angle between the motor voltage and current. The power factor is used in conjunction
with the motor rated current (Pr 5.07) to calculate the rated active current and magnetising current of the motor. The rated active current is used
extensively to control the drive, and the magnetising current is used in vector mode Rs compensation. It is important that this parameter is set up
correctly.
NOTE
Pr 5.10 should be set to the motor power factor before an autotune is carried out.
5.11 Number of motor poles {40}

Coding
1 1 1 1
Range Auto(0), 2P(1), 4P(2), 6P(3), 8P(4)
Default Auto(0)
Second motor
Pr 21.11
parameter
Poles by text Pole pairs

(value on display) (value through serial comms)
Auto 0
2P 1
4P 2
6P 3
8P 4
This parameter is used in the calculation of motor speed and in applying the correct slip compensation. When auto is selected the number of motor
poles is automatically calculated from the rated frequency (Pr 5.06) and the rated load rpm (Pr 5.08).
The number of poles = 120 x rated frequency / rpm rounded to the nearest even number.
5.12 Autotune {38}

Coding
1 1 1
Range 0 to 2
Default 0
0: No auto-tune
1: Non-rotating static auto-tune
2: Rotating auto-tune
If this parameter is set to a non-zero value and the drive is enabled and a run command is applied in either direction, the drive will perform an auto-
tune test.
The drive must be in disabled or stopped condition before the test is initiated by applying a run command.
NOTE
It is important that the drive is at standstill before the auto-tune test is performed if the correct results are to be obtained.
The parameters modified by the autotune tests are defined overleaf. If the second motor map is selected for the duration of the tests (i.e. Pr 11.45 =
On(1), the second motor parameters in menu 21 are modified and not the parameters described below. All modified parameters are saved to
EEPROM immediately after the auto-tune is complete. When the test is completed successfully the drive is disabled. The motor can only be restarted
if the enable or run command is removed and then re-applied or if the drive is tripped, reset and then given a run command.

NOTE
Once a rotating auto-tune has been initiated (Pr 5.12 set to 2) on Commander SK, it must be completed before the drive will operate normally. If the
rotating auto-tune is not completed (through the drive being disabled or a trip occurring), the drive will only run at the auto-tune speed (2/3 rated
speed reference) when the drive is asked to run again.
If a drive is disabled during a rotating auto-tune, Pr 5.12 should be set back to 2 and the drive enabled again so that the rotating auto-tune can be
completed.
If the drive trips during a rotating auto-tune, the reason for the trip should be corrected and the rotating auto-tune started again after setting Pr 5.12
back to 2.
The condition can also be cleared by power cycling the drive.
The following parameters are used in the vector control algorithm.

Parameter Basic algorithm Slip compensation
Rated frequency 5.06 9 9
Rated current 5.07 9 9
Rated load rpm 5.08 9
Rated voltage 5.09 9
Power factor 5.10 9
No. of poles 5.11 9
Stator resistance (Rs) 5.17 9
Voltage offset 5.23 9
Transient inductance (σLs) 5.24
All these parameters can be set by the user except the transient inductance. The autotune test can be used to overwrite the user or default settings
as described below. Accurate values of stator resistance and voltage offset are required even for moderate performance in vector mode (an accurate
value of power factor is less critical).
1 Stationary test
The stationary test measures the stator resistance (Pr 5.17) and voltage offset (Pr 5.23). The power factor (Pr 5.10) is not affected.
2 Rotating test
A stationary test is performed to measure stator resistance (Pr 5.17), voltage offset (Pr 5.23) and transient inductance (Pr 5.24). The transient
inductance is not used directly by the drive, but is an intermediate value in determining the power factor after the rotating test. This is followed by a
rotating test in which the motor is accelerated with the currently selected ramps to 2/3 of rated speed and held at this speed for several seconds. Once
the test is complete the power factor (Pr 5.10) is updated and the motor coasts to a stop.
NOTE
The motor should be unloaded for this test to produce correct results.
The autotune tests may be aborted by removing the run command or if a trip occurs. During the auto-tune tests the following trips can occur in
addition to the other drive trips.
Trip code Reason
tunE Auto-tune stopped before completion
rS Stator resistance too high
The rS trip is produced if the drive cannot achieve the necessary current levels to measure the stator resistance during the test (i.e. there is no motor
connected to the drive), or if the necessary current level can be achieved, but the calculated resistance exceeds the maximum values for the
particular drive size. The maximum measurable value can be calculated from the following formula.
Rsmax = DC_VOLTAGE_MAX / (Drive rated current x √2 x 2)
NOTE
It is important to make sure that the motor wiring configuration is correct (i.e. Star/Delta) before performing an autotune.
If any changes are made to the drive's motor map parameter, system wiring, motor wiring configuration or motor size or type, the drive must be re-
autotuned to the motor. Not performing another auto-tune will result in poor motor performance, OI.AC or It.AC trips.
5.13 Dynamic V to f select {32}

Coding
1 1 1
Default OFF(0)
0: OFF Dynamic V to f select disabled
1: On Dynamic V to f select enabled
Setting this bit to On(1) enables dynamic V to f mode which is intended for applications where power loss should be kept to a minimum under low load
conditions. The V/f ratio is modified with load as follows:
If |active current| < 0.7 x rated active current
V/f ratio = Normal V/f ratio x (0.5 + (active current / (2 x 0.7 x rated active current))) Maillefer Doc. 550 0245X.2

Else, if |active current| ≥ 0.7 x rated active current

V/f ratio = Normal V/f ratio
Although the V/f ratio varies, the value shown as Pr 5.06 does not vary from that set by the user.
Use to avoid instability on unloaded large motors.
5.14 Voltage mode select {41}

Coding
1 1 1 1
Range Ur S(0), Ur(1), Fd(2), Ur A(3), Ur I(4), SrE(5)
Default Ur I(4)
0 Ur S Stator resistance and voltage offset measured on each run signal

The stator resistance (Pr 5.17) and the voltage offset (Pr 5.23) are measured and the parameters for the selected motor map are over-written each
time the drive is given a run signal. This test can only be done with a stationary machine where the flux has decayed to zero. Therefore this mode
should only be used if the machine is guaranteed to be stationary each time the drive is enabled. To prevent the test from being done before the flux
has decayed there is a period of 1 second after the drive has been in the ready state during which the test is not done if the drive is re-started. In this
case, previously measured values are used. The new values of stator resistance and voltage offset are automatically saved to EEPROM.
1 Ur No measurements
The stator resistance and voltage offset are not measured. The user can enter the motor and cabling resistance into the stator resistance parameter.
However this will not include resistance effects within the drive inverter. Therefore if this mode is to be used, it is best to use the auto-tuning stationary
test initially to measure the stator resistance.
2 Fd Fixed boost mode.
Neither the stator resistance nor the voltage offset are used, instead a fixed characteristic with boost applied as defined by Pr 5.15 is used. (see
Pr 5.09 on page 76)
NOTE
Fixed boost mode should be used for multiple motor applications.
3 Ur A Stator resistance and voltage offset measured at first drive enable
The stator resistance and voltage offset are measured once, the first time the drive is enabled and run. After the test has been completed successfully
the mode is changed to Ur mode. The stator resistance and voltage offset are written to the parameters for the currently selected motor map and
these parameters along with this parameter are saved in the EEPROM.
NOTE
If the test fails the stator resistance and voltage offset are not updated, the mode is changed to Ur, but no parameters are saved. If the drive is
powered down and back up, the drive will carry out another autotune when the drive is enabled and run.
4 Ur I Stator resistance and voltage offset measured at each power-up and after a drive default
The stator resistance and voltage offset are measured when the drive is first enabled after each power-up and after a drive default. The new values of
stator resistance and voltage offset are automatically saved to EEPROM.
5 SrE Square law characteristic
Neither the stator resistance nor the voltage offset are used, instead a fixed square law characteristic with boost applied as defined by Pr 5.15 is used.
(see Pr 5.09 on page 76)
5.15 Low frequency voltage boost {42}

Coding
1 1 1 1
Range 0.0 to 50.0% of motor rated voltage
Default 3.0
The voltage boost level used in fixed boost mode and square law mode is defined by this parameter. See Pr 5.09 on page 76.
This voltage boost compensates for the voltage drop arising from the stator resistance.

5.17 Stator resistance

Coding
3 1 1 1 1
Range 0.000 to 65.000 Ω
Default 0.000
Second motor
Pr 21.12
parameter
This parameter contains the stator resistance of the machine for open loop vector mode operation.
If the drive cannot achieve the necessary current levels to measure the stator resistance during an auto-tune (e.g. there is no motor connected to the
drive) an rS trip will occur and the value in Pr 5.17 remains unchanged. If the necessary current levels can be achieved but the calculated resistance
exceeds the maximum allowable value for that particular drive size, an rS trip will occur and Pr 5.17 will contain the maximum allowable value.
5.18 Maximum switching frequency {37}

Coding
1 1 1 1 1
Range 3(0), 6(1), 12(2), 18(3) kHz
Default 3(0)
Value Display Frequency (kHz)

0 3 3
1 6 6
2 12 12
3 18 18
This parameter defines the required switching frequency.

The drive may automatically reduce the actual switching frequency (without changing this parameter) if the power stage becomes too hot. The
switching frequency can reduce from 18kHz to 12kHz to 6kHz to 3kHz. An estimation of the IGBT junction temperature is made based on the heatsink
temperature and an instantaneous temperature drop using the drive output current and switching frequency. The estimated IGBT junction
temperature is displayed in Pr 7.34.
If the temperature exceeds 135oC, the switching frequency is reduced if possible (i.e if the current switching frequency is >3kHz) and auto-switching
frequency change mode is enabled (see Pr 5.35 on page 82) to reduce the drives losses and thus reduce the IGBT junction temperature.
If the load condition persists, the junction temperature may continue to rise. If the temperature exceeds 145oC and the switching frequency cannot be
reduced the drive will initiate an O.ht1 trip.
Every 20ms the drive will attempt to restore the set switching frequency if the higher switching frequency will not take the IGBT temperature above
135oC.
Also refer to 10.18 on page 131.
NOTE
The 18kHz switching frequency is not available on Commander SK size B and C, 400V units, Commander SK size D or Commander SK size 2 to 6.
Therefore it is not recommended to use these drives where the output frequencies are likely to be above 1000Hz.
NOTE
With drive firmware V01.07.01 onwards, the 400V size C drive will have an actual switching frequency of 3kHz when the output frequency is below
6Hz.
5.19 High stability space vector modulation

Coding
1 1 1
Default OFF(0)
0: OFF High stability space vector modulation disabled
1: On High stability space vector modulation enabled
Normally the drive will use space vector modulation to produce the IGBT control signals. High stability space vector modulation offers three
advantages in an open loop drive, but the acoustic noise produced by the motor may increase slightly.

• It is possible for instability to occur around motor rated frequency/2 on light load. The drive uses deadtime compensation to reduce this effect,
however, it is still possible that some machines will be unstable. To prevent this, high stability space vector modulation should be enabled by
setting this parameter.
• As the output voltage approaches the maximum available from the drive, pulse deletion occurs. This can cause unstable operation with a lightly or
fully loaded machine. High stability space vector modulation will reduce this effect.
• High stability space vector modulation will also give a small reduction in drive heat loss.
NOTE
High stability space vector modulation is not available on Commander SK sizes A, B and C. Available with size D and size 2 to 6.
5.20 Over modulation enable

Coding
1 1 1
Default OFF(0)
0: OFF Over modulation disabled
1: On Over modulation enable
The maximum modulation level of the drive is normally limited to unity giving an output voltage equivalent to the drive input voltage minus voltage
drops within the drive. If the motor rated voltage is set at the same level as the supply voltage some pulse deletion will occur as the drive output
voltage approaches the rated voltage level. If Pr 5.20 is set to On(1) the modulator will allow over modulation, so that as the output frequency
increases beyond the rated frequency the voltage continues to increase above the rated voltage. The modulation depth will increase beyond unity
producing trapezoidal waveforms. This can be used for example to get slightly better performance above rated speed. The disadvantage is that the
machine current will be distorted as the modulation depth increases above unity, and will contain a significant amount of low order odd harmonics of
the fundamental output frequency.
5.23 Voltage offset

Coding
1 1 1 1 1
Range 0.0 to 25.0 V
Default 0.0
Second motor
Pr 21.13
parameter
Due to various effects in the drive inverter a voltage offset must be produced before any current flows. To obtain good performance at low frequencies
where the machine terminal voltage is small this offset must be taken into account. The value shown in Pr 5.23 is this offset given in line to line rms
volts. It is not possible for the user to measure this voltage easily, and so the automatic measurement procedure should be used (see Pr 5.14 on page
79).
5.24 Transient inductance (σLs)

Coding
2 1 1 1 1
Range 0.00 to 320.00 mH
Default 0.00
Second motor
Pr 21.14
parameter
With reference to the diagram below, the transient inductance is defined as
σLs = L1 + (L2.Lm / (L2 + Lm))

R1 jwL1 jwL2
jwLm R2/s
Steady state per phase equivalent circuit

of an induction motor
Based on the parameters normally used for the motor equivalent circuit for transient analysis, i.e. Ls = L1 + Lm, Lr = L2 + Lm, the transient inductance
is given by:
σLs = Ls - (Lm2 / Lr)
The transient inductance is used as an intermediate variable to calculate the power factor.
5.27 Enable slip compensation

Coding
1 1 1 1
Default On(1)
0: OFF Slip compensation disabled
1: On Slip compensation enabled
The level of slip compensation is set by the rated frequency and rated speed parameters. Slip compensation is only enabled when this parameter is
set to On(1) and Pr 5.08 is set to a value other than zero or synchronous speed.
5.34 Speed display units {23}

Coding
1 1 1 1
Range Fr(0), SP(1), Cd(2)
Default Fr(0)
Selects the units for the displayed speed.
0: Fr Drive output in Hz (Pr 2.01)
1: SP Motor speed in RPM (Pr 5.04)
2: Cd Machine speed in customer defined units (Scaled from Pr 5.04)
NOTE
See Parameter scaling Pr 11.21 on page 139 for information on how to scale the rpm (Pr 5.04) when customer defined units is selected.
5.35 Disable auto-switching frequency change

Coding
1 1 1
Default OFF(0)
0: OFF Auto-switching frequency change enabled
1: On Auto-switching frequency change disabled
The drive thermal protection scheme (see Pr 5.18 on page 80) reduces the switching frequency automatically when necessary to prevent the drive
from overheating. It is possible to disable this feature by setting this bit parameter to On(1). If the feature is disabled the drive will trip immediately on
O.ht1 when the IGBT temperature gets too high.
NOTE
This is only operational with the IGBT junction temperature (Pr 7.34).
5.37 Actual switching frequency

Coding
1 1 1 1 1
Range 3 to 18kHz
Update rate Background write
Pr 5.37 shows the actual switching frequency used by the inverter. The maximum switching frequency is set with Pr 5.18, but this may be reduced by
the drive if automatic switching frequency changes are allowed (Pr 5.35 = OFF).
Value String Switching frequency (kHz)

0 3 3
1 6 6
2 12 12
3 18 18
NOTE
The 18kHz switching frequency is not available on Commander SK size B and C, 400V units, Commander SK size D or Commander SK size 2 to 6.
5.50 Security unlock

Coding
1 1 1 1 1 1
Range 0 to 999
Pr 5.50 is not visible from the keypad and holds the value of the security entered to allow parameters to be edited when security is enabled.

10.7 Menu 6: Drive sequencer and clock

6.01 Stop mode select {31} 0 to 4 1 2 ms
6.02 Not used
6.03 Mains loss mode diS(0), StoP(1), rd.th(2) diS(0) 2 ms
0 (Eur)
6.04 Start/stop logic select {11} 0 to 6 Edit mode exit
4 (USA)
6.05 Not used
6.06 Injection braking level 0.0 to 150.0% 100.0 B
6.07 Injection braking time 0.0 to 25.0 s 1.0 2 ms
6.08 Not used
6.09 Catch a spinning motor select {33} 0 to 3 0 B
6.10 Low DC bus operation* OFF(0) or On(1) OFF(0) B
6.11 Remote LED keypad function key status OFF(0) or On(1) OFF(0) B
6.12 Enable stop key OFF(0) or On(1) OFF(0)** B
6.13 Function key mode 0 to 6 0 BR
6.14 Disable auto reset on enable OFF(0) or On(1) OFF(1) 2 ms
6.15 Drive enable OFF(0) or On(1) On(1) 2 ms
6.16 Electricity cost per kWh 0.0 to 600.0 currency/kWh 0.0 B
6.17 Reset energy meter OFF(0) or On(1) OFF(0) B
6.18 Not used
6.19 Not used
6.20 Not used
6.21 Not used
6.22 Run time log: years.days 0.000 to 9.365 years.days B
6.23 Run time log: hours.minutes 0.00 to 23.59 hours.minutes B
6.24 Energy meter: MWh 0.0 to 999.9 MWh B
6.25 Energy meter: kWh 0.00 to 99.99 kWh B
6.26 Running cost ±32000 currency/hour B
6.27 Not used
6.28 Not used
6.29 Hardware enable OFF(0) or On(1) OFF(0) 2 ms
6.30 Sequencing bit: Run forward OFF(0) or On(1) OFF(0) 2 ms
6.31 Sequencing bit: Jog forward OFF(0) or On(1) OFF(0) 2 ms
6.32 Sequencing bit: Run reverse OFF(0) or On(1) OFF(0) 2 ms
6.33 Sequencing bit: Fwd/Rev OFF(0) or On(1) OFF(0) 2 ms
6.34 Sequencing bit: Run OFF(0) or On(1) OFF(0) 2 ms
6.35 Forward limit switch OFF(0) or On(1) OFF(0) 2 ms
6.36 Reverse limit switch OFF(0) or On(1) OFF(0) 2 ms
6.37 Sequencing bit: Jog reverse OFF(0) or On(1) OFF(0) 2 ms
6.38 Not used
6.39 Sequencing bit: /Stop OFF(0) or On(1) OFF(0) 2 ms
6.40 Enable sequencer latching OFF(0) or On(1) OFF(0) 2 ms
6.41 Not used
6.42 Control word 0 to 32767 0 2 ms
6.43 Control word enable OFF(0) or On(1) OFF(0) 2 ms
6.44 Not used
6.45 Force cooling fan to run at full speed OFF(0) or On(1) OFF(0) B
* Only available on Commander SK size B, C and D.
** On with USA defaults.


Control word
6.43
enable
&
Control word bit
6.42
7 auto/manual
Start/stop Control word
logic select 6.42 Sequencer
6.04
Drive enable
6.15 6.01 Stop mode
Run forward Mains loss Reference

6.03 enabled indicator
6.30 mode
Jog forward Injection braking

6.06
level 1.11
B5 6.31
Injection braking
6.07
Run reverse time Reverse
6.32 Catch a spinning selected indicator
6.09
motor
Forward / Reverse
B6 Menu 8 6.33 Low DC bus 1.12 Menu 1B
6.10
operation
Run Function key
6.34 6.13 Jog selected
mode
indicator
B4 Jog reverse Disable auto reset
6.14
6.37 on enable
1.13
/Stop Enable sequencer
6.40
latching
6.39
Force cooling fan
6.45 Drive running
to run at full speed
Hardware
enable 6.29 10.02
Forward limit switch 6.35
Reverse limit switch 6.36
Menu 6B
Key
XX
terminals XX
parameter

XX XX
terminals parameter

Clock control
Run-time 6.22 6.24
Electricity cost Power meter
clock 6.23 6.16 6.25
per kWh
Motor 6.17 Reset energy

5.03 meter 6.26 Running cost
power (kW)
Remote LED keypad
Logic 1 RUN
STOP
Remote LED
FUNCTION keypad function
key status
6.11
1
Drive keypad Sequencer
Logic 1 0
RUN
STOP
1
0
Reference
selected
indicator
Menu 1A
Reference 1.49 1.49 = 1
selection
6.12
Enable
stop key

6.01 Stop mode select {31}

Coding
1 1 1
Range 0 to 4
Default 1
Update rate 2 ms
0: Coast stop
1: Ramp stop
2: Ramp stop + dc injection
3: DC Injection braking stop with detection of zero speed
4: Timed dc injection braking stop
Stopping is in two distinct phases: decelerating to stop, and stopped. ( Table shows default values)
Stopping Mode Phase 1 Phase 2 Comments
Drive cannot be re-enabled for
Delay in phase 2 allows rotor flux to
0: Coast Inverter disabled a specific time period which is
decay.
drive size dependant.
Wait for 1s with inverter
1: Ramp Ramp down to zero frequency
enabled
Inject DC at level specified by
2: Ramp followed by DC injection Ramp down to zero frequency Pr 6.06 for time defined by
Pr 6.07
The drive automatically senses low
speed and therefore it adjusts the
Low frequency current injection with Inject DC at level specified by injection time to suit the application. If
3: DC injection with zero speed
detection of low speed before next Pr 6.06 for time defined by the injection current level is too small
detection
phase Pr 6.07 the drive will not sense low speed
(normally a minimum of 50-60% is
required).
The minimum total injection time is 1s
Inject DC at level specified by Inject DC at level specified by
4: Timed DC injection braking stop for phase 1 and 1s for phase 2, i.e. 2s
Pr 6.06 for time specified by Pr 6.07 Pr 6.06 for 1s
in total.
Once modes 3 or 4 have begun the drive must go through the ready state before being restarted either by stopping, tripping or being disabled.
Once DC injection braking has started, the drive cannot be restarted unless the drive is tripped or disabled.
The drive will enter one of the above stopping modes when the enable, run forward, run reverse, run or not stop terminals are opened, depending on
the programmed terminal configuration.
NOTE
When the enable terminal is opened, the drive will always enter the coast to stop mode.
NOTE
There is a delay of 65ms in the drives software when switching from run forward to run reverse or vice-versa. This delay is to allow the direction of
motor rotation to be changed without the drive entering one of the above selected stopping mode.
During each of the stopping mode sequences, there are two distinct phases:
• decelerating to stop
• stopped
Mode 1: Coast to stop

Pr 6.01 = 0
Phase 1
The output bridge of the drive is disabled.
Phase 2
The drive cannot be re-enabled for 2 seconds.
The 2 seconds delay in phase 2 allows the rotor flux to decay before the drive is allowed to be re-enabled. This 2 second time cannot be adjusted.
Mode 2: Ramp to stop
Pr 6.01 = 1 (default)
Phase 1
The drive will ramp down to zero frequency under the control of the selected ramp mode (Pr 2.04) in the time set by the deceleration rate.
Phase 2
The drive will wait for 1 second with the output bridge enabled and then it will disable.

Mode 3: Ramp to stop + timed DC injection braking

Pr 6.01 = 2
Phase 1
The drive will ramp down to zero frequency under the control of the selected ramp mode (Pr 2.04) in the time set by the deceleration rate.
Phase 2
Then DC current is injected into the motor at a level specified by Pr 6.06 and for a time specified by Pr 6.07.
Normally when this mode is used, phase 1 decelerates the motor to a stop and phase 2 locks the rotor shaft. This can be useful when trying to fully
stop an inertia load i.e. fan.
Mode 4: Injection braking stop with detection of zero speed
Pr 6.01 = 3
Phase 1
A low frequency current at 5Hz is injected into the motor at the level programmed by Pr 6.06, this will have the effect of slowing down the motor. When
the motor reaches 5Hz, the software goes into phase 2.
When the drive injects the low frequency current at 5Hz, it detects that regen current is flowing. When the motor reaches 5Hz, this regen current stops
and therefore the drive knows that the motor is at 5Hz.
Phase 2
DC current is injected into the motor at a level specified by Pr 6.06 and for a time specified by Pr 6.07.
The drive automatically senses low speed so therefore it adjusts the injection time to suit the application. If the injection current level is too small, the
drive will not sense low speed and it will sit at 5Hz (normally 50-60% is required in Pr 6.06).
Mode 5: Time DC injection braking stop
Pr 6.01 = 4
Phase 1
DC current is injected into the motor at a level specified by Pr 6.06 and for a time specified by Pr 6.07.
Phase 2
DC current is injected into the motor at a level specified by Pr 6.06 for 1 second.
The minimum total DC injection braking time is 1 second for phase 1 and 1 second for phase 2. Therefore the minimum DC injection braking time is 2
seconds.
Normally, the combination of the DC injection braking current level and injection braking time during phase 1 is used to stop the motor from rotating.
Then the 1 second DC injection braking in phase 2 is used to lock the motor shaft.
If the DC injection braking current level is set to a high level in Pr 6.06, the less time is required in Pr 6.07 to stop the motor. If the DC injection braking
current is set to a low level, the more time is required in Pr 6.07 to stop the motor.
6.03 Mains loss mode

Coding
1 1 1 1
Range diS(0), StoP(1), rd.th(2)
Default diS(0)
Update rate 2ms
This parameter has 3 settings as follows:

Pr 6.03 Mnemonic Function
0 diS Disabled
1 StoP Stop
2 rd.th Ride through
Mains Loss
There is no mains loss detection and the drive operates normally only as long as the DC bus voltage remains within specification (i.e. >Vuu). Once
the voltage falls below Vuu a UU trip occurs and this will reset itself if the voltage rises again above VuuRestart in the following table.
1 StoP
The action taken by the drive is the same as for ride through mode, except the ramp down rate is at least as fast as the deceleration ramp setting and
the drive will continue to decelerate to 0Hz even if the mains is re-applied.
Depending on whether the mains is re-applied during the ramp down phase will depend on what happens next:
• If the mains is not re-applied during the ramp down phase, the drive will trip on UU after it has reached 0Hz.
• If the mains is re-applied during the ramp down phase, when the drive reaches 0Hz and depending on the state of the control terminals, the drive
will either go into the 'rd' ready state or the drive will run back up to set speed.
Normally the controlling system will see that the mains has been lost and even though it has been re-applied, the controller will remove the run
terminal so that when it reaches 0Hz, it will go into the 'rd' state.
If normal or timed injection braking is selected, the drive will use ramp mode to stop on loss of the supply. If ramp stop followed by injection braking is

selected the drive will ramp to a stop and then attempt to apply DC injection. At this point, unless the mains has been restored the drive is likely to
initiate a UU trip.
2 rd.th
The drive detects mains loss when the DC bus voltage falls below Vml1. The drive then enters a mode where a closed-loop controller attempts to hold
the DC bus level at Vml2. This causes the motor to decelerate at a rate that increases as the speed falls. If the mains is re-applied it will force the DC
bus voltage above the detection threshold Vml1 and the drive will continue to operate normally. The output of the mains loss controller is a current
demand that is fed into the current control system and therefore the gain parameters Pr 4.13 and Pr 4.14 must be set up for optimum control. See
Pr 4.13 and Pr 4.14 on page 67 for set-up details.
The following table shows the voltage levels used by drives with each voltage rating.
Voltage level 110V drive 200V drive 400V drive 575V drive 690V drive
Vuu 175 175 330 435 435
Vml1 205 205 410 540 540
Vml2 195 195 390 515 515
VuuRestart 215 215 425 590 590
When the drive is carrying out a mains loss stop or ride through, the drive’s left hand display will show ‘AC’ ( with the drive software V01.03.00
onwards).
6.04 Start/stop logic select {11}

Coding
1 1 1
Range 0 to 6
Default Eur: 0, USA: 4
Update rate Actioned on exit of edit mode or drive reset
This parameter changes the functions of terminals B4, B5 and B6, which are normally associated with the enabling, starting and stopping the drive.
This also writes to parameter Pr 6.40 to enable and disable the input latches.
Pr 6.04 Terminal B4 7Terminal B5 Terminal B6 Pr 6.40

0 Enable Run Forward Run Reverse 0 (non latching)
1 /Stop Run Forward Run Reverse 1 (latching)
2 Enable Run Fwd/Rev 0 (non latching)
3 /Stop Run Fwd/Rev 1 (latching)
4 /Stop Run Jog 1 (latching)
5 User programmable Run Forward Run Reverse 0 (non latching)
6 User programmable User programmable User programmable User programmable
Pr 6.40, Pr 8.22, Pr 8.23 and Pr 8.24 are also saved when this parameter is modified.
A change to this parameter is only actioned when the drive is stopped, tripped or disabled. If the drive is active when this parameter is changed, the
parameter will return to its pre-altered value on exit of edit mode or drive reset.
In mode 6 the user is free to assign the terminals as appropriate to their application.
Pr 6.04=0
B2 +24V
B4 Enable
B5 Run Forward
B6 Run Reverse
Pr 6.04=1
B2 +24V
B4 /Stop/ Run Permit
B5 Run Forward
B6 Run Reverse

Pr 6.04=2
B2 +24V
B4 Enable
B5 Run
B6 Forward/Reverse
Pr 6.04=3
B2 +24V
B4 /Stop / Run Permit
B5 Run
B6 Forward/Reverse
Pr 6.04=4
B2 +24V
B4 /Stop / Run Permit
B5 Run
B6 Jog
Pr 6.04=5
B2 +24V
B4 User Programmable
B5 Run Forward
B6 Run Reverse
Pr 6.04=6
B2 +24V
6.06 Injection braking level

Coding
1 1 1 1 1
Range 0.0 to 150.0%
Default 100.0
Defines the current level used during DC injection braking as a percentage of motor rated current as defined by Pr 5.07.
6.07 Injection braking time

Coding
1 1 1 1
Range 0.0 to 25.0 s
Default 1.0
Update rate 2 ms
Defines the time of injection braking where this is specified in stopping modes 2 to 4 (see Pr 6.01 on page 87).

6.09 Catch a spinning motor select {33}

Coding
1 1 1
Range 0 to 3
Default 0
Pr 6.09 Function
0 Disabled
1 Detect positive and negative frequencies
2 Detect positive frequencies only
3 Detect negative frequencies only
When the drive is enabled with this bit at 0, the output frequency starts at zero and ramps to the required reference. When the drive is enabled and
this parameter has a non-zero value, the drive performs a start-up test to determine the motor speed and then sets the initial output frequency to the
synchronous frequency of the motor. The test is not carried out, and the motor frequency starts at zero, if the run command is given when the drive is
in a stopping state, or when the drive is first enabled after power up with UR I voltage mode, or when the run command is given in UR S voltage mode.
NOTE
For the test to operate correctly it is important that the stator resistance (Pr 5.17, Pr 21.12) is set up correctly. This applies even if fixed boost (Fd) or
square law (SrE) voltage mode is being used. The test uses the rated magnetising current of the motor during the test, therefore the rated current
(Pr 5.07, Pr 21.07 and Pr 5.10, Pr 21.10) and power factor should be set to values close to those of the motor, although these parameters are not as
critical as the stator resistance.
NOTE
Stationary lightly loaded motors with low inertia may move slightly during the test. The direction of the movement is undefined. Restrictions may be
placed on the direction of this movement and on the frequencies detected by the drive as in the above table.
6.10 Low DC bus operation

Coding
1 1 1
Default OFF(0)
0: OFF Low DC bus operation disabled
1: On Low DC bus operation enabled
The Low DC bus operation is designed to enable 3 phase 400VAC (medium voltage) Commander SKs to be run off a single phase 200VAC (low
voltage) supply in the event of a primary 400VAC supply failure.
When the primary supply fails, the back up supply can be switched in. This will allow the drive to control the motor at a reduced power, for example to
move an elevator up or down to the next floor.
There is no de-rating as such when low DC bus operation is enabled however the power will be limited by the reduced voltage and ripple generated
on the DC bus of the drive.
When Pr 6.10 is enabled and the DC bus voltage is less than 330VDC, the drives display will flash Lo.AC (Low AC) to indicate that it is supplied from
a low voltage back up supply.
NOTE
This mode is designed for use with a backup power supply and not for using a 400VAC (medium voltage) Commander SK in a 200VAC (low voltage)
application. As shown in the following diagram, the drives power down save parameters are saved at point 2. If the drive was to be used on a 200VAC
supply, the DC bus will never fall through point 2 and power down save parameters will not be saved.
Not available on Commander SK size 2 to 6.
Low DC bus operation voltage levels (Pr 6.10 enabled)
>425VDC - normal operation
<330VDC - LoAC operation
<230VDC - UV trip
See Figure 10-16 Low DC bus operation on page 92.
Only available on SKB, SKC and SKD.

Figure 10-16 Low DC bus operation
600
DC Bus (VDC)
400
200
NOTE
Low DC bus is only available on Commander SKB, SKC and SKD.
6.11 Remote LED keypad function key status

Coding
1 1
Default OFF(0)
The remote LED display has a function key. When the key is pressed this parameter will be On(1) otherwise it will be OFF(0). This allows drive user
programming to access the function key.
6.12 Enable stop key

Coding
1 1 1
Default Eur: OFF(0), USA: On(1)
This parameter permanently enables the Stop key on the drive such that the drive will always stop when the stop switch is pressed. If keypad mode is
selected this has no effect because the stop key is automatically enabled.
The sequencer logic has been designed so that pressing the stop key, whether the stop key is enabled or not, does not make the drive change from
a stopped to a running condition. As the stop key is also used to reset trips this means that if the stop key is pressed when the drive is tripped, the trip
will be reset but the drive will not start. This is done as follows.
Sequencer latching not enabled (Pr 6.40 = OFF)
If the stop key is pressed when the stop key is enabled (Pr 6.12 = On) or when the drive is tripped the sequencer run is removed, and so the drive
stops or remains stopped respectively. The sequencer run can only then be reapplied after at least on of the following conditions occurs.

1. Run forward, Run reverse and Run sequencing bits all zero
2. OR the drive is disabled via Pr 6.15 or Pr 6.29
3. OR Run forward and Run reverse are both active and have been for 60ms.
The drive can then be restarted by activating the necessary bits to give a normal start. This means that the drive cannot restart automatically after a
trip, for example, by pressing the stop key.
Sequencer latching enabled (Pr 6.40 = On)
If the stop key is pressed when the stop key is enabled (Pr 6.12 = On) or when the drive is tripped the sequencer run is removed, and so the drive
stops or remains stopped respectively. The sequencer run can only then be reapplied after at least one of the following conditions occurs.
1. Run forward, Run reverse and Run sequencing bits all zero after the latches
2. OR /Stop sequencing bit is zero
3. OR the drive is disabled via Pr 6.15 or Pr 6.29
4. OR Run forward and Run reverse are both active and have been for 60ms.
The drive can then be restarted by activating the necessary bits to give a normal start. This means that the drive cannot restart automatically after a
trip, for example, by pressing the stop key. Note that Run forward and Run reverse together will reset the stop key condition, but the latches
associated with Run forward and Run reverse must then be reset before the drive can be restarted.
6.13 Function key mode

Coding
1 1
Range 0 to 6
Default 0
On the LED keypad:

Modes:
0. No function (Function key disabled)
1. Forward / Reverse toggle (keypad mode).
Pressing the Function key will toggle between the forward and reverse direction of the motor.
2. Run reverse
Pressing the Function key will run the drive in the reverse direction, the start button will run the drive in the forward direction.
3. Jog
Pressing the Function key will jog the drive. As with the normal jog function the drive needs to be stopped for the jog function to operate. Giving
the drive a start command when jogging will cause the motor to run at the speed reference selected in menu 1.
4. Auto
On power up of the Keypad Remote, Stop (off) mode is assumed. The following modes are entered with the appropriate key press in each mode.
Stop Mode
(Off) - LED Flashes
Function
Stop
key
Start Stop
Keypad Mode Terminal Mode

(Hand) - LED Flashes (Auto) - LED On
The Function key LED flashes to indicate waiting for a user action in Stop (off) mode and Keypad (Hand) mode .
The Function key LED stays on when in Terminal (Auto) mode.
5. User defined function
In this mode no function is assigned to the Function key, this mode allows the user to define their own function. This would normally be done through
a user program in a LogicStick using Pr 6.11 to monitor key presses (Pr 6.11 = state of Function key).
On the LCD keypad:
This parameter enables the Fwd/Rev key to operate in keypad mode.
6. Forward/ Reverse toggle
NOTE
If the serial comms is lost to the keypad i.e. SCL trip, the drive will need to be power cycled. This is to ensure that the drive operates correctly.
6.14 Disable auto-reset on enable

Coding
1 1 1
Default OFF(0)
Update rate 2 ms
0: OFF Auto reset on enable enabled
1: On Auto reset on enable disabled

If this parameter is set to On(1), the automatic reset on the toggle of the enable terminal of the drive is disabled.
6.15 Drive enable

Coding
1 1 1 1
Default On(1)
Update rate 2 ms
0: OFF Drive disabled
1: On Drive enabled
Setting this parameter to OFF(0) will disable the drive. It must be at On(1) for the drive to run.
6.16 Electricity cost per kWh

Coding
1 1 1 1
Range 0.0 to 600.0 Currency/kWh
Default 0.0
When this parameter is set up correctly for the local currency, Pr 6.26 will give an instantaneous read out of running cost.
6.17 Reset energy meter

Coding
1 1 1
Default OFF(0)
If Pr 6.17 = On, the energy meter (Pr 6.24 and Pr 6.25) is reset and held at zero.
6.22 Run time log: years.days

Coding
3 1 1 1 1 1
Range 0.000 to 9.365 years.days
6.23 Run time log: hours.minutes

Coding
2 1 1 1 1 1
Range 0.00 to 23.59 hours.minutes
The run time log increments when the drive inverter is active to indicate the amount of time that the drive has been running since leaving the
manufacturing plant.
6.24 Energy meter: MWh

Coding
1 1 1 1 1
Range ±999.9 MWh

6.25 Energy meter: kWh

Coding
2 1 1 1 1
Range ±99.99 kWh
The energy meters indicate the energy supplied from and into the drive in kWh and MWh. Pr 6.24 and Pr 6.25 give an accumulated value of power
used.
The energy meters are reset and held at zero when Pr 6.17 = On.
6.26 Running cost

Coding
1 1 1 1
Range ±3200 currency/hour
This parameter gives an instantaneous read out of the cost/hour of running the drive. This requires Pr 6.16 to be set up correctly.
6.29 Hardware enable

Coding
1 1 1 1
Default OFF(0)
Update rate 2 ms
Provides a means of disabling the drive from a programmable input. In order that the drive does not always require a separate enable terminal this
parameter is automatically set to On(1) if a drive terminal is not programmed as an enable terminal. A change from 0 to 1 causes a drive reset if the
drive is tripped (see Pr 6.14 on page 93). When a terminal is set to control this parameter the drive terminal always has over riding control.
NOTE
This parameter is not designed to be used with the Solutions Modules.
6.30 Sequencing bit: Run forward

6.31 Sequencing bit: Jog forward
6.32 Sequencing bit: Run reverse
6.33 Sequencing bit: Forward/reverse
6.34 Sequencing bit: Run
6.35 Forward limit switch
6.36 Reverse limit switch
Coding
1 1 1
Default OFF(0)
Update rate 2 ms
Digital inputs connected to limit switches should be routed to these parameters if stopping is required at a limit. The drive will respond in 5ms and stop
the motor using the currently selected ramp rate. The limit switches are direction dependant so that the motor can rotate in a direction that allows the
system to move away from the limit switch.
Pre-ramp reference > 0Hz Forward limit switch active
Pre-ramp reference < 0Hz Reverse limit switch active
Pre-ramp reference = 0Hz Both limit switches active

6.37 Sequencing bit: Jog reverse

Coding
1 1 1
Default OFF(0)
Update rate 2 ms
6.39 Sequencing bit: /Stop

Coding
1 1 1
Default OFF(0)
Update rate 2 ms
The drive sequencer uses bits (Pr 6.30 to Pr 6.39) as inputs rather than looking at the terminals directly. This allows the user to define the use of each
terminal according to the requirements of each application.
Although these parameters are R/W, they are volatile and not stored on power down. Every time the drive powers up, they will be reset to OFF (0).
The drive uses these sequencer bits to control the operation of the drive providing the keypad reference has not been selected. If the keypad
reference has been selected, all the sequencing bits (apart from Pr 6.33 Forward/Reverse) are disregarded such that only the keypad keys are used
to control the drive. Pr 6.33 is still enabled to allow the motor direction to be changed by a terminal connection when in keypad control. If the keypad
reference has been selected, the run and stop keys are always operational.
The drive checks the state of the 'Run Forward' and 'Run Reverse' bits first. If either are set to On (1) but not both, then the drive will run in the
commanded direction. If both are found to be OFF (0) then the sequencer looks at the 'Run' bit and if it is set then the drive runs in the direction
commanded by the 'Forward/Reverse' bit (OFF (0) = forward, On (1) = reverse).
If the 'Jog' bit is set, the sequencer sets Pr 1.13 to On (1) to select the jog reference.
Pr 6.04 has a number of pre-determined set-ups that change the functions of the terminals. If the required set-up is not available in one of the pre-
determined set-ups, Pr 6.04 can be set to USEr to allow the desired set-up to be implemented.
Setting Pr 6.40 'Enable sequencer latching' to On (1) allows the Run Forward, Run Reverse and Run bits to become active from momentary inputs.
When sequencer latching is enabled from the setting of Pr 6.04, a /Stop input must also be applied by using a digital input programmed to Pr 6.39.
When the /Stop input becomes inactive, each of the three latches are reset. When the latches are disabled, they become transparent.
Pr 6.01 = mode 1 or 2 selected
As default, terminals B5 and B6 are configured as Run Forward and Run Reverse terminals. When either the Run Forward or Run Reverse is
selected, there is no delay (apart from normal sampling delays) before the drive will run in the direction requested. If the drive is running forward or
running reverse, there is also no delay when the run forward terminal or run reverse terminal is opened to stop the drive. Also, there is no delay if the
run forward terminal is opened and the run reverse terminal closed or vice-versa to allow a change of motor direction.
Pr 6.01 = mode 0, 3 or 4 selected
When either the Run Forward or Run Reverse is selected, there is no delay (apart from normal sampling delays) before the drive will run in the
direction requested. If the drive is running forward or running reverse, there is a delay of 60ms from when the terminal is opened until the command
is carried out by the drive. Also, there is a delay of 60ms from when the run forward terminal is opened, to when the run reverse terminal must be
closed or vice-versa to allow a change of motor direction. If the run reverse terminal or vice-versa is not closed within this 60ms, the drive will enter
the programmed stopping mode.
The delay of 60ms is to allow the direction of motor rotation to be changed without entering a stopping mode i.e. if DC injection braking mode was
selected and there was no 60ms delay, when the run forward terminal was opened, the drive would immediately go into the DC injection braking
mode rather then ramp down and ramp back up in the reverse direction.
This 60ms delay can cause problems in some applications where a very fast response is required between motor direction changes when coast to
stop or DC injection braking stopping modes is set.
One solution to the above is to set Pr 6.04 to mode 2 or 3 so that terminal B6 is set up as a forward/reverse terminal. This eliminates the 60ms delay
when changing from forward to reverse or reverse to forward in all modes.
The following diagram shows the main operation of the sequencer in normal terminal and keypad modes. The diagram shows normal terminal control
where the sequencer bits are used as inputs and keypad mode where the keypad keys are used as inputs.
In normal terminal operation, the sequencer has been designed to operate with run Forward and Run Reverse controls, and can be set up to
accommodate a Run and Forward/Reverse selector.
Run Forward / Run Reverse Configuration
If Run Forward or Run Reverse control is required, then bits Pr 6.30 and Pr 6.32 should be used to control the drive (digital inputs should not be
routed to Run and Forward/Reverse bits Pr 6.33 and Pr 6.34)
Run - Forward/Reverse Configuration
If Run control with Forward/Reverse selector is required, then bits Pr 6.33 and Pr 6.34 should be used to control the drive (digital inputs should not be
routed to the Run Forward and Run Reverse bits Pr 6.30 and Pr 6.32)

The Run, Run Forward or Run Reverse bits can be made latching by setting bit Pr 6.40. The /Stop bit Pr 6.39 should be set to On (1) to allow the
sequencing bits to be latched. If the /Stop bit is zero, all latches are cleared and held at zero.
Jog
To allow the drive to run at jog speed, the Run Forward, Run Reverse or Run inputs must remain inactive while the Jog input is made active (drive
must be enabled when enable input selected). If a Run command is given while the jog input is active, the drive will run at the normal speed reference
selected in Menu 1. If the jog input is made active when the run input is already active, the drive will not act upon the jog input until the run input has
been deactivated.
NOTE
With a /Stop input Pr 6.39, a change from a logic 0 to a 1 does not cause a trip reset. Also, Pr 6.39 is not automatically set to On (1) if a terminal is
not programmed as a /Stop terminal.

01.11
01.11

6.40 Enable sequencer latching

Coding
1 1 1
Default OFF(0)
Update rate 2 ms
This bit can be used to enable latches on the run forward, run reverse and run inputs to allow the drive to be controlled from momentary inputs. Also
see Pr 6.04 on page 89 and Pr 6.30, Pr 6.32 and Pr 6.34 on page 95.
6.42 Control word

Coding
1 1 1
Range 0 to 32767
Default 0
Update rate 2 ms
6.43 Control word enable

Coding
1 1 1
Default OFF(0)
Update rate 2 ms
Pr 6.42 and Pr 6.43 provide a method of controlling the sequencer inputs and other functions directly from a single control word. If Pr 6.43 = OFF the
control word has no effect, if Pr 6.43 = On the control word is enabled. Each bit of the control word corresponds to a sequencing bit or function as
shown below.
Bit Function Equivalent parameter
0 Drive enable Pr 6.15
1 Run forward Pr 6.30
2 Jog forward Pr 6.31
3 Run reverse Pr 6.32
4 Forward/reverse Pr 6.33
5 Run Pr 6.34
6 /Stop Pr 6.39
7 Auto/manual
8 Analog/Preset reference Pr 1.42
9 Jog reverse Pr 6.37
10 Reserved
11 Reserved
12 Trip drive
13 Reset drive Pr 10.33
14 Keypad watchdog
15 Reserved
Bits 0 to 7 & 9: sequencing control
When the control word is enabled (Pr 6.43 = On), and the Auto/manual bit (bit7) is also set to one (Pr 6.42), bits 0 to 6 of the control word become
active. A hardware enable must also be active (Pr 6.29 = On). The equivalent parameters are not modified by these bits, but become inactive when
the equivalent bits in the control word are active. When the bits are active they replace the functions of the equivalent parameters. For example, if
Pr 6.43 = On and bit 7 of Pr 6.42 = On the drive enable is no longer controlled by Pr 6.15, but by bit 0 of the control word. If either Pr 6.43 = OFF, or
bit 7 of Pr 6.42 = OFF, the drive enable is controlled by Pr 6.15.
Bit 8: Analog/preset reference
When the control word is enabled (Pr 6.43) bit 8 of the control word becomes active. (Bit 7 of the control word has no effect on this function.) The state
of bit 8 is written to Pr 1.42. With default drive settings this selects analog reference 1 (bit 8 = 0) or preset reference 1 (bit 8 = 1). If any other drive
parameters are routed to Pr 1.42 the value of Pr 1.42 is undefined.
Bit 12: Trip drive
When the control word is enabled (Pr 6.43) bit 12 of the control word becomes active. (Bit 7 of the control word has no effect on this function.) When

bit 12 is set to one a CL.bt trip is initiated. The trip cannot be cleared until the bit is set to zero.
Bit 13: Reset drive
When the control word is enabled (Pr 6.43) bit 13 of the control word becomes active. (Bit 7 of the control word has no effect on this function.) When
bit 13 is changed from 0 to 1 the drive is reset. This bit does not modify the equivalent parameter (Pr 10.33).
Bit 14: Keypad watchdog
When the control word is enabled (Pr 6.43) bit 14 of the control word becomes active. (Bit 7 of the control word has no effect on this function.) A
watchdog is provided for an external keypad or other device where a break in the communication link must be detected. The watchdog system can be
enabled and/or serviced if bit 14 of the control word is changed from zero to one with the control word enabled. Once the watchdog is enabled it must
be serviced at least once every second or an “SCL” trip occurs. The watchdog is disabled when an “SCL” trip occurs, and so it must be re-enabled
when the trip is reset.
6.45 Force cooling fan to run at full speed

Coding
1 1 1
Default OFF(0)
0: OFF Fan controlled by drive
1: On Fan runs at full speed
When this parameter is set to OFF(0), the fan is controlled by the drive. If the heatsink temperature is 60oC or above the drive output current (Pr 4.01)
is above 75% of the drive rated current or the option is over temperature, the fan will switch on and run at full speed for a minimum of 20s. After 20s,
if the heatsink temperature falls below 60oC or the drive output current falls below 75% of the drive rated current, the fan will switch off. If the
temperature remains above 60oC or the drive output current remains above 75% of the drive rated current, the fan will continue running at full speed.
When this parameter is set to On(1), the fan runs at full speed at all times when the drive is powered up (Commander SK size B and C).
Refer to Pr 7.05 on page 103 for more information on the cooling fan for Commander SK size D and 2 to 6.

10.8 Menu 7: Analog inputs and outputs

7.01 Analog input 1 level (terminal T2) {94) 0.0 to 100.0% 5 ms
7.02 Analog input 2 level (terminal T4) {95} 0.0 to 100.0% 5 ms
7.03 Not used
7.04 Heatsink temperature -128 to 127 °C B
7.05 Power circuit temperature 2 -128 to 127 °C B
0 -20(0), 20-0(1), 4-20(2),
7.06 Analog input 1 mode (terminal T2) {16} 20-4(3), 4-.20(4), 20-.4(5), 4-.20(4) B
VoLt(6)
7.07 Not used
7.08 Analog input 1 scaling 0.000 to 4.000 1.000 B
7.09 Analog input 1 invert OFF(0) or On(1) OFF(0) 5 ms
7.10 Analog input 1 destination Pr 0.00 to Pr 21.51 Pr 1.36 Drive reset
7.11 Analog input 2 mode (terminal T4) VoLt(0) or dig(1) VoLt(0) B
7.12 Analog input 2 scaling 0.000 to 4.000 1.000 B
7.13 Analog input 2 invert OFF(0) or On(1) OFF(0) 5 ms
7.14 Analog input 2 destination Pr 0.00 to Pr 21.51 Pr 1.37 Drive reset
7.15 Not used
7.16 Not used
7.17 Not used
7.18 Not used
7.19 Analog output source Pr 0.00 to Pr 21.51 Pr 2.01 Drive reset
7.20 Analog output scaling 0.000 to 4.000 1.000 21 ms
7.21 Not used
7.22 Not used
7.23 Not used
7.24 Not used
7.25 Not used
7.26 Not used
7.27 Not used
7.28 Current loop loss indicator OFF(0) or On(1) 5 ms
7.29 Not used
7.30 Analog input 1 offset ±100.0% 0.0 5 ms
7.31 Analog input 2 offset ±100.0% 0.0 5 ms
7.32 Not used
Fr(0), Ld(1), A(2), Por(3),
7.33 Analog output control (Terminal B1) {36} Fr(0) Edit mode exit
USEr(4)
7.34 IGBT junction temperature ±200 °C B
7.35 Drive thermal protection accumulator 0 to 100% B
7.36 Power circuit temperature 3 -128 to 127 °C B


Offset
Destination
7.30 Invert
7.10
7.09
Monitor (%)
Mode + Scaling 0.00 Default
T2 7.06 7.01 7.08 detination
Pr 1.36
Analog
Current mode x(-1) 21.51 reference 1
and protection
7.28
200R
Current loop
loss indicator
0V
Offset
Destination
7.31 Invert
7.14
7.13
Analog input 2
Monitor (%)
Mode + Scaling 0.00 Default
T4 7.11 7.02 7.12 detination
Pr 1.37
Analog
x(-1) 21.51 reference 2
Current
magnitude
Motor
active 4.02 5.03 Output power
current 4.01
Post ramp ref 2.01
Analog 7.33
output control
Source
Scaling
Default source
Pr 2.01 7.20 B1
Motor speed
Key
XX
terminals XX
parameter

XX XX
terminals parameter

7.01 Analog input 1 level (terminal T2) {94}

Coding
1 1 1 1 1
Range 0.0 to 100.0%
Update rate 5 ms
This parameter displays the level of the analog signal present at analog input 1.
In voltage mode, this is a unipolar voltage input where the input range is 0 to +10V.
In current mode, this is a unipolar current input having a maximum measurable input of 20mA. The drive can be programmed to convert the measured
current to any one of the defined ranges in Pr 7.06. The selected range is converted to 0 to 100.0%, the resolution being 10 bit for the 0 - 20mA range.
Resolution is 0.1%. Accuracy: ± 2%
7.02 Analog input 2 level (terminal T4) {95}

Coding
1 1 1 1 1
Range 0.0 to 100.0%
Update rate 5 ms
This parameter display's the level of the analog input 2.
This is a unipolar voltage input having a range of 0 to +10V which is converted to 0 - 100%, the resolution being 10 bits.
Analog input 2 can also be configured as a digital input in which case this parameter will indicate 0 or 100% depending on the state of the input.
Resolution is 0.1%. Accuracy: ± 2%
7.04 Heatsink temperature

Coding
1 1 1
Range -128°C to 127°C
This parameter displays the temperature currently being measured on the heatsink. If the level reaches 95°C the drive will trip O.ht2 on the display.
This is used as part of the drive's thermal model, see Pr 10.18 on page 131 for further details.
7.05 Power circuit temperature 2

Coding
1 1 1
On Commander SK size 2 and 6, this is power pcb temperature;
on Commander SK size 3, this is rectifier temperature;
on Commander SK size 4 and 5, this is rectifier and power pcb temperature.
For drive sizes 2 to 5, two temperatures are available from the power circuit, and these are displayed in Pr 7.04 and Pr 7.05. For drive size 6, three
temperatures are available from the power circuit, and these are displayed in Pr 7.04, Pr 7.05 and Pr 7.36.
If the temperature displayed in Pr 7.04, Pr 7.05 or Pr 7.36 exceeds the trip threshold for the parameter then an O.ht2 trip is initiated. This trip can
only be reset if the parameter that has caused the trip falls below the trip reset level. If the temperature exceeds the alarm level a 'hot' alarm is
displayed. If the temperature for any of these monitoring points is outside the range -20ºC to 120ºC it is assumed that the monitoring thermistor has
failed and a hardware fault trip is initiated (Pr 7.04 causes HF27 trip, Pr 7.05 or Pr 7.36 causes HF28 trip).
Table 10-10 Heatsink temperature (Pr 7.04) in ºC

Trip Trip reset Alarm
Drive size
temperature temperature temperature
A to C 95 90 85
D and 2 115 110 100
3 120 115 100
4 72 67 68
5 72 67 68
6 92 87 85

Additional monitoring is used with drive size 6 to detect failure of the power circuit cooling fan. If this fan fails, the monitoring point used to derive
heatsink temperature that is nearest the fan will raise temperature above its normal level, but not above the trip temperature for the power circuit. This
is detected and can initiate an O.ht2 trip. The trip threshold is shown below.
Drive size Trip temperature

6 67ºC
Table 10-11 Power circuit temperature 2 (Pr 7.05) in ºC

Drive size
2 100 95 95
3 98 93 94
4 78 73 72
5 78 73 72
6 78 73 72
Table 10-12 Power circuit temperature 3 (Pr 7.36) in ºC

Drive size
6 85 80 80
Drive cooling fan

The temperature from monitoring points and other actions control the drive cooling fan as follows:
1. If Pr 6.45 = 1 the fan is at full speed for at least 20 seconds.
2. If a Solutions Module indicates that it is too hot, the fan will run at full speed for at least 20 seconds.
3. For drive size D and 2, the fan is at full speed if the drive is enabled and the highest power circuit temperature (Pr 7.04 or Pr 7.05) or the
temperature calculated for the case of the IGBT package exceeds the threshold for the drive. The fan is at its low speed if this temperature falls
5ºC below the threshold or the drive is disabled and the temperature is below the alarm level for Pr 7.04 and Pr 7.05.
4. For drive size 3 to 6, the fan speed is controlled above its minimum level if the drive is enabled and the highest power circuit temperature (Pr 7.04,
Pr 7.05 or Pr 7.36) or the temperature calculated for the case of the IGBT package exceeds the lower threshold for the drive. The maximum fan
speed is reached when the highest of these temperatures exceeds the upper threshold. The fan is at its minimum speed if the drive is disabled
and the temperature is below the alarm level for Pr 7.04, Pr 7.05 and Pr 7.36.
The heatsink fan on Commander SK size D and 2 is a dual speed fan and on size 3 to 6 it is a variable speed fan. The drive controls the speed at
which the fan runs based on the temperature of the heatsink and the drives thermal model system.
Table 10-13 The thresholds are given in table below in ºC

Lower fan Upper fan
Drive size Fan threshold
threshold threshold
A to D 60
2 60
3 55 70
4 55 62
5 55 62
6 55 65
7.06 Analog input 1 mode (terminal T2) {16}

Coding
1 1 1 1
Range 0 -20(0), 20-0(1), 4-20(2), 20-4(3), 4-.20(4), 20-.4(5), VoLt(6)
Default 4-.20(4)
Terminal T2 is a voltage/current reference input. The setting of this parameter configures the terminal for the required mode.


0 0-20 0 to 20mA
1 20-0 20 to 0mA
2 4-20 4 to 20mA with trip on loss
4 4-.20 4 to 20mA with no trip on loss
6 VoLt 0 to +10 volts
In modes 2 and 3, a current loop loss trip (cL1) will be generated if the current input falls below 3mA.
NOTE
If 4-20 or 20-4 modes are selected and the drive trips on current loop loss (cL1), analog reference 2 cannot be selected if the current reference is less
than 3mA.
If 4-.20 or 20-.4 modes are selected, Pr 7.28 will switch from OFF to On to indicate that the current reference is less than 3mA.
NOTE
If both analog inputs (A1 and A2) are to be set-up as voltage inputs, and if the potentiometers are supplied from the drive’s +10V rail (terminal T3),
they must have a resistance >4kΩ.
7.08 Analog input 1 scaling

Coding
3 1 1 1
Range 0.000 to 4.000
Default 1.000
This parameter is used to scale the analog input if so desired. However in most cases it is not necessary as each input is automatically scaled such
that for 100.0%, the destination parameters (defined by the settings of Pr 7.10 and Pr 7.14) will be at maximum.
7.09 Analog input 1 invert

Coding
1 1 1
Default OFF(0)
Update rate 5 ms
This parameter can be used to invert the analog input reference (i.e. multiply the input scaling result by -1).
7.10 Analog input 1 destination

Coding
1 2 1 1 1 1
Range Pr 0.00 to Pr 21.51
Default Pr 1.36
Update rate Read on drive reset
As default, this parameter is set-up automatically according to the drive configuration (see Pr 11.27 on page 140).
Only parameters which are not protected can be controlled by analog inputs. If a non valid parameter is programmed to the destination of an analog
input, the input is not routed anywhere.
After a modification to this parameter, the destination is only changed when a reset is performed.

7.11 Analog input 2 mode (terminal T4)

Coding
1 1 1 1
Range VoLt(0) or dig(1)
Default VoLt(0)
Analog input 2 can be configured as either a 0 to +10V analog input or a +24V digital input (positive logic).

0 VoLt 0 to +10V
1 dig 0 to +24V
7.12 Analog input 2 scaling

Coding
3 1 1 1
Range 0.000 to 4.000
Default 1.000
When analog input 2 is set up for analog input, this parameter is used to scale the input (see Pr 7.08). When the input is defined as a digital input, this
parameter has no effect.
7.13 Analog input 2 invert

Coding
1 1 1
Default OFF(0)
Update rate 5 ms
When set-up as an analog input, this parameter can be used to invert the analog input reference (i.e. multiply the input scaling result by -1).
For digital input, this parameter selects a digital inversion.
7.14 Analog input 2 destination

Coding
1 2 1 1 1 1
Default Pr 1.37
As default, this parameter is set-up automatically according to the drive configuration (see Pr 11.27 on page 140).
Only parameters which are not protected can be controlled by analog inputs. If a non valid parameter is programmed to the destination of an analog
input, the input is not routed anywhere.
7.19 Analog output source

Coding
2 1 1 1 1
Default Pr 2.01
The parameter required to be represented as an analog signal by the analog output on terminal B1, should be programmed in this parameter.
This parameter is used in conjunction with Pr 7.33 to determine the analog output signal. Pr 7.33 has 4 pre-determined settings for easy set-up of the
analog output. If the user requires to set Pr 7.19 to another parameter, then Pr 7.33 must be set to 4: USEr.
See Pr 7.33 for further details. If a non valid parameter is programmed as a source, the output will remain at zero.

NOTE
Users wanting to output load should be aware of the maximum values of the parameters they are routing to the output.
The maximum value of Pr 4.02 (active current) is the maximum level of current that the drive can operate at which is drive rating x 2. Therefore, at
rated load the analog output will be 1/2 x 10 = 5V.
Users wishing to see 10V output at 100% load will need to set Pr 7.19 to Pr 4.20 and Pr 4.24 = 100.
7.20 Analog output scaling

Coding
3 1 1 1
Range 0.000 to 4.000
Default 1.000
Update rate 21 ms
This parameter can be used to scale the analog output if so desired. However in most cases it is not necessary as the output is automatically scaled
such that when the source parameter is at its maximum, the analog output will be at its maximum.
7.28 Current loop loss indicator

Coding
1 1 1 1
Update rate 5 ms
If analog input 1 is programmed in any of the modes 2 to 5 (see Pr 7.06 on page 104) then this bit is set to On(1) if the current input falls below 3mA.
This bit can be designated to a digital output to indicate that the current input is less than 3mA.
7.30 Analog input 1 offset

7.31 Analog input 2 offset
Coding
1 1 1
Range ±100.0%
Default 0.0
Update rate 5 ms
An offset can be added to each analog input with a range from -100% to 100%. If the sum of the input and the offset exceeds ±100% the results is
limited to ±100%.
7.33 Analog output control (Terminal B1) {36}

Coding
1 1 1
Range Fr(0), Ld(1), A(2), Por(3), USEr(4)
Default Fr(0)
Update rate Actioned on exit of edit mode
This offers a simple control of Pr 7.19 to change the analog output. Its function is used to set the value of Pr 7.19 between a frequency output, load
output, current output, or power output, or to leave the value unchanged. A user wishing to change the analog output to something other than these
must first program this parameter to USEr (or 4).
Pr 7.33 Display Function Pr 7.19
0 Fr Frequency output Pr 2.01
1 Ld Load output Pr 4.02
2 A Current output Pr 4.01
3 Por Power output Pr 5.03
4 USEr Allows Pr 7.19 to be set up by user. Maillefer Doc. 550 0245X.2

NOTE
Analog output terminal update rate is 21ms.
Frequency output, Pr 7.19 = Pr 2.01 (Post ramp reference)

0 Fr 0V represents 0Hz/0rpm
+10V represents the value of Pr 1.06 (Maximum set speed clamp)
Load output, Pr 7.19 = Pr 4.02 (Active current)
1 Ld Active current
V out = ---------------------------------------------------------------------------------- × 10
2 × Drive rated active current
2 A 0 to 200% output current = 0 to 10V
Where:
3 × AC_VOLTAGE_MAX × RATED_CURRENT_MAX × 2
3 Por 10V = --------------------------------------------------------------------------------------------------------------------------------------------------------------------
1000
7.34 IGBT junction temperature

Coding
1 1 1
Range ±200 °C
The IGBT junction temperature is calculated using Heatsink temperature (Pr 7.04) and a thermal model of the drive power stage. The resulting
temperature is displayed in this parameter. The calculated IGBT junction temperature is used to modify the drive switching frequency to reduce losses
if the devices become too hot (see Pr 5.18 on page 80).
7.35 Drive thermal protection accumulator

Coding
1 1 1 1
Range 0 to 100%
In addition to monitoring the IGBT junction temperatures the drive includes a thermal protection system to protect the other components within the
drive. This includes the effects of drive output current and DC bus ripple. The estimated temperature is displayed as a percentage of the trip level in
this parameter. If the parameter value reaches 100% an O.ht3 trip is initiated.
7.36 Power circuit temperature 3

Coding
1 1 1
This parameter displays the temperature on the input rectifier on Commander SK size 6 only.

10.9 Menu 8: Digital inputs and outputs

8.01 Terminal B3 digital input/output state OFF(0) or On(1) 2 ms
8.02 Terminal B4 digital input state OFF(0) or On(1) 2 ms
8.06 Not used
8.07 Status relay state (Terminals T5 & T6) OFF(0) or On(1) 2 ms
8.08 Not used
8.09 Not used
8.10 Not used
8.11 Terminal B3 digital input/output invert OFF(0) or On(1) OFF(0) 2 ms
8.12 Terminal B4 digital input invert OFF(0) or On(1) OFF(0) 2 ms
8.15 Terminal B7 digital input invert OFF(0) or On(1) On(1) 2 ms
8.16 Not used
8.17 Status relay invert OFF(0) or On(1) OFF(0) 2 ms
8.18 Not used
8.19 Not used
8.20 Digital I/O read word {90} 0 to 95 B
Terminal B3 digital input destination/output
8.21 Pr 0.00 to 21.51 Pr 10.03 Drive reset
source
8.22 Terminal B4 digital input destination Pr 0.00 to 21.51 Pr 6.29 Drive reset
8.26 Not used
8.27 Status relay source Pr 0.00 to 21.51 Pr 10.01 Drive reset
8.28 Not used
8.29 Not used
8.30 Not used
8.31 Terminal B3 mode select in(0), out(1), Fr(2), PuLS(3) out(1) B
8.32 Not used
8.33 Not used
8.34 Not used
8.35 Terminal B7 mode select {34} dig(0), th(1), Fr(2), Fr.hr(3) dig(0) B
8.36 Not used
8.37 Not used
8.38 Not used
8.39 Not used
8.40 Not used
n=0(0), At.SP(1), Lo.SP(2),
8.41 Digital output control (Terminal B3) {35} hEAL(3), Act(4), ALAr(5), n=0(0) Edit mode exit
I.Lt(6), At.Ld(7), USEr(8)


Brake controller Digital output control
enable (Terminal B3)
12.41 8.41
Terminal B3
function select
8.31
1.01
0.00
Terminal B3
digital
input/Ouput state 21.51
Terminal B3
0 8.01 Source/ 8.21
8.11 Destination
1 Invert
B3 1.01
0.00
2 Default source
10.03
3 Zero speed output
21.51
Frequency
Menu 3
Frequency or PWM output
PWM
Brake controller
enable
12.41
Status relay
source
8.27 8.17 Invert
Status relay state

0.00 (Terminals T5 & T6)
Default source
10.01
Drive healthy 8.07
T5
21.51
15.12
Relay
T6
Key
XX
terminals XX
parameter

XX XX
terminals parameter
The parameters are all shown at their default settings


Terminal B7
digital input
destination
Terminal B7
digital input invert 8.25
8.15
0.00
Default source
Mode select
Terminal B7 1.41
Terminal B7
digital input state Local/Remote
8.35 (Defined by 11.27)
21.51
8.05
0
1 Motor thermistor
B7 trip
2
3
Frequency input
Menu 3
Key
XX
terminals XX
parameter

XX XX
terminals parameter


Start/Stop logic
6.04
Terminal B4
digital input
destination
Invert
8.22
8.12
Terminal B4
digital input state
0.00 Default destination
B4 8.02 6.29 (Eur) Hardware enable
6.29 (USA) /Enable hardware
(Defined by 6.04)
B6 21.51
Terminal B5
digital input
destination
Invert
8.23
8.13
Terminal B5
digital input state
0.00 Default destination
8.03 6.30 (Eur) Run forward
6.34 (USA) Run
(Defined by 6.04)
21.51
Terminal B6
digital input
destination
Invert
8.24
8.14
Terminal B6
digital input state
0.00
Default destination
8.04 6.32 (Eur) Run reverse
6.31 (USA) Jog
(Defined by 6.04)
21.51
Key
XX
terminals XX
parameter

XX XX
terminals parameter


Terminal B3 digital
input/output state Digital I/O read word
8.20
B3 8.01
Digital I/O read word 8.20
Terminal B4 Terminal Binary value for xx

digital input state
B3 1
B4 2
B4 8.02 B5 4
B6 8
B7 16
Terminal B5 T5/T6 64
digital input state
B5 8.03 XX
Terminal B6
digital input state
B6 8.04
Terminal B7
digital input state
B7 8.05
Key
Status relay state Input Read-write (RW)
(Terminals T5 & T6) XX
terminals XX
parameter
T6
8.07 Output Read-only (RO)
XX XX
terminals parameter
T5

Terminals B3 to B7 are five programmable input terminals. In addition terminal B3 can also be programmed as an output terminal, and terminal B7
can be programmed as a motor thermistor input. If an external trip is required then one of the terminals should be programmed to control the External
Trip parameter (Pr 10.32) with the invert set to On so that the terminal must be made active for the drive not to trip.
NOTE
The digital inputs are set-up in positive logic only. This logic cannot be changed.
8.01 Terminal B3 digital input/output state

8.02 Terminal B4 digital input state
Coding
1 1 1 1
Update rate 2 ms
0: OFF Inactive
1: On Active
These parameters indicate the input and output state of the terminals
Terminals B4 to B7 are four programmable digital inputs. Terminal B3 is a digital output that can also be programmed as a digital input, using Pr 8.31.
If an external trip is required, then one of the terminals should be programmed to control the external trip parameter (Pr 10.32), with the invert set to
On(1) so that the terminal must be made active for the drive not to trip.
The digital inputs are sampled every 1.5ms and the digital output is updated every 21ms.
8.07 Status relay state (Terminals T5 and T6)

Coding
1 1 1 1
Update rate 2 ms
0: OFF De-energized
1: On Energized
This parameter indicates the state of the drive's status relay.
8.11 Terminal B3 digital input/output invert

8.12 Terminal B4 digital input invert
Coding
1 1 1
Default OFF(0)
Update rate 2 ms

Coding
1 1 1 1
Default On(1)
Update rate 2 ms
Setting these parameters to On(1) causes the input sense to the destination parameter to be inverted or the output sense from the source to be
inverted.

8.17 Status relay invert

Coding
1 1 1
Default OFF(0
Update rate 2 ms
Setting this parameter to On(1) causes the relay sense to be inverted.
8.20 Digital I/O read word {90}

Coding
1 1 1 1
Range 0 to 95
This word is used to determine the status of the digital I/O by reading one parameter.
Pr 8.20 contains a binary value ‘xx’. This binary value is determined by the state of Pr 8.01 to Pr 8.07. So for example, if all terminals were active the
value displayed in Pr 8.20 would be the sum of the binary values shown in the table, i.e. 95.
Binary value
Digital I/O
for xx
1 Terminal B3
2 Terminal B4
4 Terminal B5
8 Terminal B6
16 Terminal B7
64 Terminal T5/T6
8.21 Terminal B3 digital input destination/output source

8.22 Terminal B4 digital input destination
Coding
1 2 1 1 1 1
Destination: Pr 0.00 to Pr 21.51
Range
Source: Pr 0.00 to Pr 21.51
Parameter Function Default Setting Description

8.21 Terminal B3 digital input destination/output source 10.03 Zero Speed (Output)
8.22 Terminal B4 digital input destination 6.29 Enable
8.23 Terminal B5 digital input destination 6.30 Run forward
8.24 Terminal B6 digital input destination 6.32 Run Reverse
8.25 Terminal B7 digital input destination 1.41 Reference select
The terminal configuration for Terminal B4, B5 and B6 can be changed using Pr 6.04.
Destination parameters define the parameter each of the programmable inputs is to control. Only parameters which are not protected can be
controlled by the programmable digital inputs. If a non-valid parameter is programmed, the digital input is not routed anywhere.
Source parameters define the parameter to be represented by the digital output terminal. Only valid parameters can be selected as a source for a
digital output. If a non-valid parameter is programmed, then the digital output will remain in the inactive state.

8.27 Status relay source

Coding
2 1 1 1 1
Default Pr 10.01
This parameter defines the parameter to be represented by the status relay. Only valid parameters can be selected as a source for the relay output. If
a non-valid parameter is programmed, then the relay will remain in the de-energized state.
8.31 Terminal B3 mode select

Coding
1 1 1 1
Range in(0), out(1), Fr(2), PuLS(3)
Default out(1)
This parameter selects the function of Terminal B3 as follows:

0 in Digital input
1 out Digital output
2 Fr Frequency output
3 PuLS PWM output
If modes 1, 2 or 3 are selected, the digital input operation of the terminal is disabled.
In modes 0 and 1, terminal B3 will function as digital input/outputs which are described in menu 8.
In modes 2 and 3, terminal B3 will function as a frequency output or a PWM output as described in menu 3.
The frequency output will be scaled automatically to the source parameter. For example, with a source parameter of Pr 1.21 equal to 100 and an
output frequency of 10kHz (Pr 3.18), when the value of Pr 1.21 is 50, the output frequency will be 5kHz.
Examples
From default, setting Pr 8.31=Fr, will give a 5kHz output with a 50Hz reference value, when Pr 8.21=2.01 (with Pr 8.41=USEr). By setting the scaling
(Pr 3.17) to 0.01, this will give an output of 50 pulses/sec. With a 50Hz reference value.
From default, setting Pr 8.31=PuLS, will give a 24V output with a 50Hz reference value, when Pr 8.21=2.01 (Pr 8.41=USEr). By feeding this PWM
output into a R/C network, a voltage output can be obtained. This output would be proportional to the frequency output of the drive.
8.35 Terminal B7 mode select {34}

Coding
1 1 1 1
Range dig(0), th(1), Fr(2), Fr.hr(3)
Default dig(0)
This parameter selects the function of Terminal B7 as follows:

0 dig Digital input
1 th Thermistor input
2 Fr Frequency input
3 Fr.hr High resolution frequency input
If modes 1, 2 or 3 are selected, the digital input operation of the input is disabled.
In mode 0, the digital input functions as described in menu 8.
In mode 1, the input functions as a motor thermistor.
Trip resistance: 3kΩ
Reset resistance: 1k8
The drive will not trip if the thermistor goes short circuit. Maillefer Doc. 550 0245X.2

NOTE
The thermistor going short circuit will not damage the drive.
NOTE
When Pr 8.35 is set to th, the mode button will need to be pressed four times to return the drive display to status mode. This ensures that this setting
is saved.
When terminal B7 is set as motor thermistor input, Pr 1.41 is no longer assigned to terminal B7 therefore analog reference 2 is no longer selected.
Analog reference 1 should be used.
There is no parameter to display the motor temperature.
Connect the motor thermistor between 0V and terminal B7.
Figure 10-22 Connection diagram
T1 0V
Motor thermistor
B7
input
In modes 2 and 3, terminal B7 will function as a frequency input as described in menu 3.

The frequency input destination parameter, Pr 8.25 will be scaled by the maximum reference frequency, Pr 3.43. For example, (from default), setting
Pr 8.25 =1.21 and Pr 3.43=2kHz, with a frequency input of 1kHz on terminal B7, Pr 1.21 will be 25Hz.
NOTE
The amplitude of the frequency input must be above 15V peak to peak. The threshold voltage is 10V.
8.41 Digital output control (Terminal B3) {35}

Coding
1 1 1 1
Range n=0(0), At.SP(1), Lo.SP(2), hEAL(3), Act(4), ALAr(5), I.Lt(6), At.Ld(7), USEr(8)
Default n=0(0)
Update rate Action on exit of edit mode
This parameter offers a simple control of Pr 8.21 to change the functionality of the digital output.
Its function is used to set the value of Pr 8.21 to one of the parameters listed below.
Value Display Function Parameter Setting

0 n=0 At zero speed Pr 8.21 = Pr 10.03
1 At.SP At speed Pr 8.21 = Pr 10.06
2 Lo.SP At minimum speed Pr 8.21 = Pr 10.04
3 hEAL Drive ok Pr 8.21 = Pr 10.01
4 Act Drive active Pr 8.21 = Pr 10.02
5 ALAr General drive alarm Pr 8.21 = Pr 10.19
6 I.Lt Current limit active Pr 8.21 = Pr 10.09
7 At.Ld At 100% load Pr 8.21 = Pr 10.08
8 USEr Allows Pr 8.21 to be set up by user.
A user wishing to change the digital output to something other than the one’s listed above or using the terminal as an input, must first program this
parameter to 8. Pr 8.21 should then be programmed to the desired unprotected parameter.

10.10 Menu 9: Programmable logic, motorized pot and binary sum

9.01 Logic function 1 output OFF(0) or On(1) 21 ms
9.02 Logic function 2 output OFF(0) or On(1) 21 ms
9.03 Motorized pot output ±100.0% 21 ms
9.04 Logic function 1 source 1 Pr 0.00 to Pr 21.51 Pr 0.00 Drive reset
9.05 Logic function 1 source 1 invert OFF(0) or On(1) OFF(0) 21 ms
9.06 Logic function 1 source 2 Pr 0.00 to Pr 21.51 Pr 0.00 Reset
9.08 Logic function 1 output invert OFF(0) or On(1) OFF(0) 21 ms
9.09 Logic function 1 delay ±25.0 s 0.0 21 ms
9.10 Logic function 1 destination Pr 0.00 to Pr 21.51 Pr 0.00 Drive reset
9.11 Not used
9.12 Not used
9.13 Not used
9.18 Logic function 2 output invert OFF(0) or On(1) OFF(0) 21 ms
9.19 Logic function 2 delay ±25.0 s 0.0 21 ms
9.20 Logic function 2 destination Pr 0.00 to Pr 21.51 Pr 0.00 Drive reset
9.21 Motorized pot mode 0 to 3 2 BR
9.22 Motorized pot bipolar select OFF(0) or On(1) OFF(0) 21 ms
9.23 Motorized pot rate 0 to 250 s 20 B
9.24 Motorized pot scale factor 0.000 to 4.000 1.000 B
9.25 Motorized pot destination Pr 0.00 to Pr 21.51 Pr 0.00 Drive reset
9.26 Motorized pot up OFF(0) or On(1) OFF(0) 21 ms
9.27 Motorized pot down OFF(0) or On(1) OFF(0) 21 ms
9.28 Motorized pot reset OFF(0) or On(1) OFF(0) 21 ms
9.29 Binary sum one’s input OFF(0) or On(1) OFF(0) 21 ms
9.30 Binary sum two’s input OFF(0) or On(1) OFF(0) 21 ms
9.31 Binary sum four’s input OFF(0) or On(1) OFF(0) 21 ms
9.32 Binary sum output 0 to 255 21 ms
9.33 Binary sum destination Pr 0.00 to Pr 21.51 Pr 0.00 Drive reset
9.34 Binary sum offset 0 to 248 0 21 ms


Source 1 Logic Function 1
9.04 Invert
9.05
0.00
Destination
Invert
9.10
21.51 9.08
Source 2 Logic
output
9.06 Invert Delay 0.00
9.07 9.09 9.01
21.51
0.00
Positive Delay
21.51
Input
Delay
Output
Negative Delay
Input
Source 1 Delay
9.14 Invert Output
9.15
0.00 Logic Function 2
Destination
Invert
9.20
21.51 9.18
Source 2 Logic
output
9.16 Invert Delay 0.00
.9 17
1.01 9.19 9.02
21.51
0.00
21.51
Key
XX
terminals XX
parameter

XX XX
terminals parameter


Bi-polar
select
Destination
9.22 19.25
0.1
Motorised 100%
19.26
0.1 Monitor
pot up Scaling 1.01
0.00
0%
Rate 9.23 9.03 9.24
100%
Motorised _ 100% 21.51

9.27
pot down
9.28 Mode 9.21

0 - Zero at power up
Reset
1 - Last value at power up
2 - Zero at power up, only
change when running
3 - Last value at power up,
only change when running
Offset
Binary sum 9.34 Destination
Logic ones (LSB)
19.33
0.1
19.29
0.1
9.31 9.30 9.29 Output Binary sum
Binary sum 0 0 0 0 logic output value
0 0 1 1 1.01
0.00
Logic twos
0 1 0 2
19.30
9.29
0.1 0 1 1 3 9.32
1 0 0 4
1 0 1 5 21.51
Binary sum 1 1 0 6
Logic fours (MSB) 1 1 1 7
19.31
9.29
0.1
Key
XX
terminals XX
parameter

XX XX
terminals parameter

Menu 9 contains two programmable logic block functions (which can be used to produce any type of 2 input logic gate, with or without a delay), a
motorized potentiometer function and a binary sum block.
The programmable logic functions are active only if both the sources are routed to a valid parameter.
NOTE
The motorized potentiometer or binary sum functions are only active if the output destination is routed to a valid unprotected parameter. If only the
indicator parameter is required, the destination parameter should be routed to an unused valid parameter.
9.01 Logic function 1 output

9.02 Logic function 2 output
Coding
1 1 1 1
Update rate 21 ms
Indicates the output state of the programmable logic function. The output of the logic function can be routed to the digital output if required, by setting
the appropriate digital output source in menu 8.
9.03 Motorized pot output

Coding
1 1 1 1 1
Range ±100.0%
Update rate 21 ms
9.04 Logic function 1 source 1

Coding
2 1 1 1 1
Default Pr 0.00
This source parameter and Pr 9.14 define the inputs for source 1 of the programmable logic functions.
Any valid parameter can be programmed into these inputs.
If one or both inputs to the logic function are invalid, then the logic output will always be 0.
9.05 Logic function 1 source 1 invert

Coding
1 1 1
Default OFF(0
Update rate 21 ms
Setting this parameter and Pr 9.15 to On(1) causes the input sense of the logic functions to be inverted.

Coding
2 1 1 1 1
Default Pr 0.00
This source parameter and Pr 9.16 defines the inputs for source 2 of the programmable logic functions.


Coding
1 1 1
Default OFF(0)
Update rate 21 ms
Setting this parameter and Pr 9.17 to a On(1) causes the input sense of the logic functions to be inverted.
9.08 Logic function 1 output invert

Coding
1 1 1
Default OFF(0)
Update rate 21 ms
Setting this parameter and Pr 9.18 to On(1) causes the output sense from the logic functions to be inverted.
9.09 Logic function 1 delay

Coding
1 1 1
Range ±25.0 s
Default 0.0
Update rate 21 ms
If the delay parameter is positive, the delay ensures that the output does not become active until an active condition has been present at the input for
the delay time as shown below.
Input
Delay
Output
If the delay parameter is negative, the delay holds the output active for the delay period after the active condition has been removed as shown below.
Therefore an active input that lasts for as long as the sample time or more will produce an output that lasts at least as long as the delay time.
Input
Delay Output
9.10 Logic function 1 destination

Coding
2 1 1 1 1
Default Pr 0.00
This destination parameter and Pr 9.20 define the parameters to be controlled by the logic function. Only non-protected parameters can be
programmed as a destination. If a invalid parameter is programmed, the output is not routed anywhere.


Coding
2 1 1 1 1
Default Pr 0.00
This source parameter and Pr 9.04 define the inputs for source 1 of the programmable logic functions.

Coding
1 1 1
Default OFF(0)
Update rate 21 ms

Coding
2 1 1 1 1
Default Pr 0.00
This source parameter and Pr 9.06 defines the inputs for source 2 of the programmable logic functions.

Coding
1 1 1
Default OFF(0)
Update rate 21 ms
9.18 Logic function 2 output invert

Coding
1 1 1
Default OFF(0)
Update rate 21 ms
Setting this parameter and Pr 9.08 to On(1) causes the output sense from the logic functions to be inverted.
9.19 Logic function 2 delay

Coding
1 1 1
Range ±25.0 s
Default 0.0
Update rate 21 ms
If the delay parameter is positive, the delay ensures that the output does not become active until an active condition has been present at the input for

the delay time as shown below.
Input
Delay
Output
If the delay parameter is negative, the delay holds the output active for the delay period after the active condition has been removed as shown below.
Therefore an active input that lasts for as long as the sample time or more will produce an output that lasts at least as long as the delay time.
Input
Delay Output
9.20 Logic function 2 destination

Coding
2 1 1 1 1
Default Pr 0.00
This destination parameter and Pr 9.10 define the parameters to be controlled by the logic function. Only non-protected parameters can be
programmed as a destination. If a invalid parameter is programmed, the output is not routed anywhere.
9.21 Motorized pot mode

Coding
1 1 1
Range 0 to 3
Default 2
The motorized pot modes are given in the table below:
Pr 9.21 Mode Comments
Reset to zero at each power-up.
0 Zero at power-up
Up, down and reset are active at all times.
Set to value at power-down when drive powered-up.
1 Last value at power-up
Up, down and reset are active at all times.
Reset to zero at each power-up.
Zero at power-up and only change
2 Up and down are only active when the drive is running (i.e. inverter
when drive running
active). Reset is active at all times.
Set to value at power-down when drive powered-up.
Last value at power-up and only
3 Up and down are only active when the drive is running (i.e. inverter
change when drive running
active). Reset is active at all times.
9.22 Motorized pot bipolar select

Coding
1 1 1
Default OFF(0)
Update rate 21 ms
When this bit is set to OFF(0) the motorized pot output is limited to positive values only (0 to 100.0%). Setting it to On(1) allows negative outputs also
(-100.0% to 100.0%).

9.23 Motorized pot rate

Coding
1 1 1
Range 0 to 250 s
Default 20
This parameter defines the time taken for the motorized pot function to ramp from 0 to 100.0%. Twice this time will be taken to adjust the output from
-100.0% to +100.0%.
9.24 Motorized pot scale factor

Coding
3 1 1 1
Range 0.000 to 4.000
Default 1.000
This parameter can be used to restrict the output of the motorized pot to operate over a reduced range so that it can be used as a trim for example.
There is an automatic scaling such that when this parameter is set to 1.000, a 100% level on the motorized pot will cause the programmed destination
parameter to be at its maximum value.
9.25 Motorized pot destination

Coding
1 2 1 1 1 1
Default Pr 0.00
This needs to be set up with the parameter that the motorized pot is to control. Only parameters which are not protected can be controlled by the
motorized pot function, if a non valid parameter is programmed the output is not routed anywhere. If the motorized pot is to control speed then it is
suggested that one of the preset speed parameters is entered here.
9.26 Motorized pot up

9.27 Motorized pot down
9.28 Motorized pot reset
Coding
1 1 1
Default OFF(0)
Update rate 21 ms
These three bits control the motorized pot. The up and down inputs increase and decrease the output at the programmed rate respectively. If both up
and down are active together the up function dominates and the output increases. If the reset input is set to On(1), the motorized pot output is reset
and held at 0.0%.
Input terminals must be programmed to control these parameters to implement the motorized pot.
9.29 Binary sum one’s input

9.30 Binary sum two’s input
9.31 Binary sum four’s input
Coding
1 1 1
Default OFF(0)
Update rate 21 ms

9.32 Binary sum output

Coding
1 1 1 1 1
Range 0 to 255
Update rate 21 ms
9.33 Binary sum destination

Coding
1 2 1 1 1 1
Default Pr 0.00
Only non-protected parameters can be programmed as a destination.
9.34 Binary sum offset

Coding
1 1 1
Range 0 to 248
Default 0
Update rate 21 ms
The binary sum output is given by:

One’s input + (2 x two’s input) + (4 x four’s input) + Offset
The value written to the destination parameter is defined as follows:
If maximum of the destination parameter is ≤ (7 + offset):
The value in the destination parameter = the binary sum output (Pr 9.32)
If maximum of the destination parameter > (7 + offset):
The value in the destination parameter =
Destination parameter maximum x Binary sum output (Pr 9.32) / (7 + offset)
The table below shows how the binary sum function operates with 0 offset.
Value in destination parameter

Binary sum Destination parameter with a Destination parameter with a
Ones input Twos input Fours input
output maximum value of 7 or less, maximum value of greater than 7,
(Pr 9.29) (Pr 9.30) (Pr 9.31)
(Pr 9.32) i.e. Pr 6.01 with a range of i.e. Pr 5.23 with a range of
0 to 4 0.0 to 25.0
0 0 0 0 0 0.0
1 0 0 1 1 3.6
0 1 0 2 2 7.1
1 1 0 3 3 10.7
0 0 1 4 4 14.3
1 0 1 5 4 17.8
0 1 1 6 4 21.4
1 1 1 7 4 25.0
If the parameter that the binary sum value is routed to has a maximum value of less than 7 then the destination parameter will be limited to the correct
value for that parameter independent of the binary sum output.
If the parameter that the binary sum value is routed to has a maximum value greater than 7 then the binary sum output will be scaled evenly across
the maximum range of the destination parameter.
The table overleaf shows how the binary sum function operates with an offset value.

Value in destination parameter
Binary sum Destination parameter Destination parameter

Ones input Twos input Fours input Offset with a maximum value of with a maximum value of
output
(Pr 9.29) (Pr 9.30) (Pr 9.31) (Pr 9.34) (7 + offset) or less, greater than 7,
(Pr 9.32)
i.e. Pr 1.15 with a range of i.e. Pr 5.23 with a range of
0 to 8 0.0 to 25.0
0 0 0 3 3 7.5
1 0 0 4 4 10.0
0 1 0 5 5 12.5
1 1 0 6 6 15.0
3
0 0 1 7 7 17.5
1 0 1 8 8 20.0
0 1 1 9 8 22.5
1 1 1 10 8 25.0

10.11 Menu 10: Status logic and diagnostic information

10.01 Drive ok OFF(0) or On(1) B
10.02 Drive active OFF(0) or On(1) B
10.03 Zero speed OFF(0) or On(1) B
10.04 Running at or below minimum speed OFF(0) or On(1) B
10.05 Below set speed OFF(0) or On(1) B
10.06 At speed OFF(0) or On(1) B
10.07 Above set speed OFF(0) or On(1) B
10.08 Load reached OFF(0) or On(1) B
10.09 Drive output is at current limit OFF(0) or On(1) B
10.10 Regenerating OFF(0) or On(1) B
10.11 Dynamic brake active OFF(0) or On(1) B
10.12 Braking resistor alarm OFF(0) or On(1) B
10.13 Direction commanded OFF(0) or On(1) B
10.14 Direction running OFF(0) or On(1) B
10.15 Mains loss detected OFF(0) or On(1) B
10.16 Not used
10.17 Overload alarm OFF(0) or On(1) B
10.18 Drive temperature alarm OFF(0) or On(1) B
10.19 General drive alarm OFF(0) or On(1) B
10.20 Last trip {55} 0 to 232 On drive trip
10.21 Trip 1 {56} 0 to 232 On drive trip
10.24 Trip 4 0 to 232 On drive trip
10.30 Full power braking time 0.00 to 320.00 s 0.00 B
10.31 Full power braking period 0.0 to 1500.0 s 0.0 B
10.32 External trip OFF(0) or On(1) OFF(0) B
10.33 Drive reset OFF(0) or On(1) OFF(0) 21 ms
10.34 No. of auto reset attempts 0 to 5 0 B
10.35 Auto reset delay 0.0 to 25.0 s 1.0 B
10.36 Hold ‘drive ok’ until last attempt OFF(0) or On(1) OFF(0) B
10.37 Action on trip detection 0 to 3 0 B
10.38 User trip 0 to 255 0 B
10.39 Braking energy overload accumulator 0.0 to 100.0% B
10.40 Status word 0 to 32767 B

10.01 Drive ok
Coding
1 1 1 1
Indicates the drive is not in the trip state. If Pr 10.36 is On(1) and an auto-reset is being used, this bit is not cleared until all auto-resets have been
attempted and the next trip occurs.
10.02 Drive active

Coding
1 1 1 1
Indicates that the inverter output is active.
10.03 Zero speed

Coding
1 1 1 1
This bit is set to On(1) when the absolute value of the ramp output is at or below the threshold programmed into Pr 3.05.
10.04 Running at or below minimum speed

Coding
1 1 1 1
In bipolar mode (Pr 1.10 = On) this parameter is the same as zero speed (Pr 10.03).
In unipolar mode, this parameter is set if the absolute value of the ramp output is at or below minimum speed + 0.5Hz. Minimum speed is defined by
Pr 1.07.
The parameter is only set if the drive is running.
10.05 Below set speed

10.06 At speed
10.07 Above set speed
Coding
1 1 1 1
These flags are set by the speed detector in menu 3. These flags are only set if the drive is running.
10.08 Load reached

Coding
1 1 1 1
Indicates that the modulus of the active current is greater or equal to the rated active current as defined in menu 4.

10.09 Drive output is at current limit

Coding
1 1 1 1
Indicates that the normal current limits are active. The drives display will flash AC.Lt to indicate that normal current limits are active.
10.10 Regenerating
Coding
1 1 1 1
Indicates that power is being transferred from the motor to the drive.
10.11 Dynamic brake active

Coding
1 1 1 1
Indicates that the braking IGBT is active. If the IGBT becomes active this parameter is held on for at least 0.5s so that it can be seen on the display.
10.12 Braking resistor alarm

Coding
1 1 1 1
This parameter is set when the braking IGBT is active and the braking energy overload accumulator is greater than 75% (Pr 10.39). This parameter is
held on for at least 0.5s so that it can be seen on the display.
10.13 Direction commanded

Coding
1 1 1 1
This parameter is set if the pre-ramp reference (Pr 1.03) is negative (reverse), reset if pre-ramp reference is positive (forward).
10.14 Direction running

Coding
1 1 1 1
This parameter is set if the post-ramp reference (Pr 2.01) is negative (reverse), or reset if post-ramp reference is positive (forward).
10.15 Mains loss detected

Coding
1 1 1 1
Indicates that the drive has detected mains loss from the level of the DC bus voltage. This parameter can only become active if mains loss ride
through or mains loss stop modes are selected (see Pr 6.03 on page 88).

10.17 Overload alarm

Coding
1 1 1 1
This parameter is set if the drive output current is larger than 105% of motor rated current (Pr 5.07) and the overload accumulator is greater than 75%
to warn that if the motor current is not reduced the drive will trip on an Ixt overload. (If the rated current [Pr 5.07] is set to a level above the rated drive
current [Pr 11.32] the overload alarm is given when the current is higher than 100% of rated current.)
10.18 Drive temperature alarm

Coding
1 1 1 1
This flag is set if the IGBT junction temperature calculated from the drive thermal model is above 135°C, or if the heatsink temperature has made the
switching frequency decrease.
The following table indicates how the switching frequency is controlled:
Drive condition Action

Heatsink > 95°C Trip drive
Heatsink > 92°C Reduce switching frequency to 3kHz
IGBT temp > 135°C Reduce switching frequency, if it is minimum trip drive
The switching frequency and drive thermal model are updated once per second. Whenever the drive has reduced the switching frequency this alarm
is set, and the display will flash “hot”.
10.19 General drive alarm

Coding
1 1 1 1
This flag is set if any of the other drive alarms are active, i.e. Drive temperature alarm, Overload alarm or Dynamic brake alarm.
Pr 10.19 = Pr 10.18 or Pr 10.17 or Pr 10.12
10.20 Last trip {55}

10.21 Trip 1 {56}
10.22 Trip 2 {57}
10.23 Trip 3 {58}
10.24 Trip 4
10.25 Trip 5
10.26 Trip 6
10.27 Trip 7
10.28 Trip 8
10.29 Trip 9
Coding
1 1 1 1 1 1
Range 0 to 232
Update rate On drive trip
Contains the last 10 drive trips. Pr 10.20 is the most recent trip and Pr 10.29 the oldest. When a new trip occurs all the parameters move down one,
the current trip is put in 10.20 and the oldest trip is lost off the bottom of the log. Possible trips for Commander SK are shown in Table 10-17 on
page 132. All trips are stored including HF trips which are numbered from 20 to 30. (HF trips numbered from 1 to 19 are not stored in the trip log.) UU
trips are not stored unless the drive is running when the trip occurs. Any trip can be initiated by the actions described or by writing the relevant trip
number to Pr 10.38. If any trips shown as user trips are initiated the trip string is “txxx”, where xxx is the trip number.
NOTE
notr indicates that no trip was detected. Maillefer Doc. 550 0245X.2

Table 10-17 Trip indications

No. String Cause of trip
1 UU*** DC bus under voltage - Low AC supply voltage. Low DC Bus voltage when drive supplied by external DC power supply.
DC bus over voltage.
Drive voltage rating Instantaneous trip
2 OU 200V 415V
400V 830V
Excessive inertia in the machine during deceleration. Deceleration rate is set too fast for inertia of machine.
AC instantaneous over current. Insufficient ramp times. Phase to phase or phase to ground short circuit at the drive
3 OI.AC**
output. Autotune required.
4 OI.br** Braking resistor instantaneous current trip. Excessive current in braking resistor. Braking resistor value too small.
6 Et External trip (see Pr 10.32 on page 136)
Overspeed. Excessive motor speed (typically caused by the mechanical load driving the motor). The drive produces an
7 O.SPd
overspeed trip if the output frequency (Pr 5.01) exceeds 1.2 x Maximum frequency and regenerating and in current limit.
18 tunE Auto-tune stopped before completion (see Pr 5.12 on page 77)
19 It.br I2t on braking resistor (see Pr 10.31 on page 135)
20 It.AC I2t on drive output current (see Pr 4.15 on page 68)
21 O.ht1 Drive over-heat (IGBT junctions) based on thermal model (see Pr 5.18 on page 80)
22 O.ht2 Drive over-heat based on heatsink temperature (see Pr 7.04 on page 103)
24 th Motor thermistor trip
26 O.Ld1* +24V or Digital output overload
Drive over-heat based on thermal model (see Pr 7.35 on page 108)
The drive will attempt to stop the motor before tripping. If the motor does not stop in 10 seconds the drive trips
27 O.ht3
immediately. Thermal model looks at DC Bus ripple as well as output current. This is to protect the DC Bus stage from
overheating.
28 cL1 Analog input 1 current mode: current loss (see Pr 7.06 on page 104)
30 SCL Serial comms timeout with external keypad on drives comms port
Internal drive EEPROM failure. All the parameters are set to default. The trip can only be removed by entering a load
31 EEF
default command (see Pr 11.43 on page 149)
High input voltage phase imbalance or input phase loss. Normally a motor load of between 50 and 100% of drive rating is
32 PH
required to trigger the trip. The drive will attempt to stop the motor before tripping. The drive looks at DC Bus ripple.
Failure to measure stator resistance during auto-tune or when starting in open-loop voltage modes 0 or 3. This is either
33 rS because the resistance exceeds the maximum measurable value or no motor connected to drive (see Pr 5.12 on page 77,
Pr 5.14 and Pr 5.17 on page 80)
35 CL.bt Trip initiated from the control word (see Pr 6.42 on page 99)
t040 -
40-89 User trips
t089
90 t090 PLC ladder program attempted divide by zero
91 t091 PLC ladder program attempted access to non-existent parameter
92 t092 PLC ladder program attempted write to a read only parameter
94 t094 PLC ladder program attempted to write a value to a parameter which is out of range
95 t095 PLC ladder program virtual memory stack overflow
96 t096 PLC ladder program invalid operating system call
97 t097 PLC ladder program enabled with no LogicStick inserted or LogicStick removed
98 t098 PLC ladder program invalid instruction
99 t099 PLC ladder program invalid function block argument
100 Drive reset (see Pr 10.38 on page 137)
102 O.ht4 Power module rectifier over temperature. Check for supply imbalance. Increase acceleration/deceleration rates.
SmartStick data error:
182 C.Err The file access is corrupted.
Pr 11.42 is set to 3 or 4 and a parameter is changed in menu 0 before reset is activated.
Data does not exist:
183 C.dAt An attempt has been made to transfer data from a blank SmartStick or data block that does not exist or verify after write
fail.
SmartStick read/write fail:
185 C.Acc The drive cannot communicate with the SmartStick either because it is faulty or is not installed in the drive. Removing a
stick during an access will cause this trip.
Rating change:
186 C.rtg The parameters loaded to the drive from a SmartStick are for a drive of a different voltage or current rating. No rating
dependent parameters have been transferred.
189 O.cL Overload on current loop input (analog input 1).
199 dESt Destination parameter clash

No. String Cause of trip

Solutions Module hardware fault. This could occur because the module cannot be identified, or the module has not
200 SL.HF
indicated it is running within 5s of drive power-up, or an internal hardware fault has occurred in the module.
Solutions Module watchdog timeout. The module has started the watchdog system, but has not subsequently serviced the
201 SL.tO
watchdog within the timeout period.
Solutions Module error. The module has detected an error and tripped the drive. The reason for the error is stored in Pr
202 SL.Er
15.50
Solutions Module not installed. The Solutions Module is identified by the drive by an option code. The drive stores the
codes of the modules installed when the drive parameters are saved. The stored codes are compared with the codes from
203 SL.nF
the Solutions Modules at power-up. If a module is not present, but a code is stored in drive EEPROM to indicate that it
should be installed the drive trips. If the module is removed after power-up the drive produces this trip within 4ms.
Solutions Module different installed. The Solutions Module is identified by the drive by an option code. The drive stores the
204 SL.dF codes of the modules installed when the drive parameters are saved. The stored codes are compared with the codes from
the Solutions Modules at power-up. If a module is different to the code stored in drive EEPROM the drive trips.
220 to
HF20 - HF32 Hardware faults (See table Table 10-19 HF trips )
232
*The enable/reset terminal will not reset an O.Ld1 trip. Use the stop/reset key.
**These trips cannot be reset for 10 seconds.
***The UV trip is only stored in the drive’s trip log if the drive trips on UV while running.
Trips can be grouped into the following categories:
Category Trips Comments

These indicate fatal problems and cannot be reset. The drive is inactive after one
Hardware faults HF01 to HF19 of these trips and the display shows HFxx. The serial communications is inactive
and the parameters cannot be accessed.
Under voltage trip cannot be reset by the user, but is automatically reset by the
Self resetting trips UV drive when the supply voltage is within specification (See table Table 10-
18 Under voltage trip and restart levels )
Cannot be reset. The serial communications is active and parameters can be
Non-resetable trips HF20 to HF32, SL.HF
accessed.
EEF trip EEF Cannot be reset unless a default parameter set has been loaded.
Normal trips All other trips Can be reset after 1.0s
Normal trips with extended
OI.AC, OI.br Can be reset after 10.0s
reset
Low priority trips O.Ld1, cL1, SCL If Pr 10.37 is 1 or 3 the drive will stop before tripping.
The drive stops before tripping provided the drive motoring power is suitably
Phase loss PH
reduced after 500ms of detecting phase loss
Table 10-18 Under voltage trip and restart levels

Drive voltage rating UV trip level UV restart level Braking level OV trip
110Vac 175Vdc 215Vdc* 390Vdc 415Vdc
* These are the absolute minimum dc voltages that the drive can be supplied by.

Table 10-19 HF trips

HF fault code Reason for trip
01 to 03 Not used
04 Low DC bus at power up (on SK4, 5 and 6 - failure at power up)
05 No signal from DSP at start up
06 Unexpected interrupt
07 Watchdog failure
08 Interrupt crash (code overrun)
09 to 10 Not used
11 Access to the EEPROM failed
12 to 19 Not used
20 Power stage - code error
21 Power stage - unrecognised frame size
OI failure at power up - output short circuit or possible output bridge
22
failure
23 DSP software overrun
24 Not used
25 DSP Communications failure
Soft start relay failed to close, or soft start monitor failed, or braking
26
IGBT short circuit at power up
27 Power stage thermistor fault
28 Power circuit thermistor 2 or 3 fault/internal fan fault (size 3 only)
29 Fan failure (current too high)
30 DCCT wire break trip from power module
31 Internal capacitor bank fan failure (size 4 and larger)
32 Power circuit temperature feedback multiplexor failure
The braking IGBT continues to operate even when the drive is not enabled, and is only disabled if one of the following trips occurs or would occur if
another trip has not already become active: OI.br or It.br.
It should be noted that although the UU trip operates in a similar way to all other trips, all drive functions can still operate, but the drive cannot be
enabled. Parameter values are only loaded from EEPROM if the supply voltage is low enough for the switch mode power supply in the drive to shut
down and then it is increased to restart the drive power supplies. The only differences between UU and other trips are as follows:
1. Power down save user parameters are saved when UU trip is activated.
2. The UU trip is self-resetting when the DC bus voltage rises above the drive restart voltage level.
3. When the drive is first powered up a UU trip is initiated if the supply voltage is below the restart voltage level. This does not save power down
save parameters. If another trip occurs during power-up it is the active trip in preference to the UU trip. If this trip is cleared and the supply voltage
is still below the restart voltage threshold a UU trip is then initiated.
The following alarm warnings and display indications will flash on the right hand display when they become active.
Table 10-20 Alarm Warnings
Display Condition
Ixt overload (see Pr 4.15, Pr 4.16 on page 68, Pr 4.19 on page 70 and
OVL.d
Pr 10.17 on page 131)
Heatsink/IGBT temperature too high (see Pr 5.18 on page 80, Pr 5.35 on
hot
page 82 and Pr 10.18 on page 131)
Ixt overload on braking resistor (see Pr 10.12 on page 130, Pr 10.30 and
br.rS
Pr 10.31)
Table 10-21 Display indications

Display Condition
Drive is in current limit (see Pr 4.07 on page 65 and Pr 10.09 on page
AC.Lt
130)
Drive is supplied from a low voltage backup supply (Size B and C 400V
Lo.AC
drives only) (see Pr 6.10 on page 91)
An attempt was made to read the stick when the drive was not disabled
FAIL
or tripped, or the stick is read only (see 11.42 on page 148)

10.30 Full power braking time

Coding
2 1 1 1
Range 0.00 to 320.00 s
Default 0.00
This parameter defines the time period that the braking resistor installed can withstand full braking volts without damage. The setting of this parameter
is used in determining the braking overload time.
Drive voltage rating Full braking volts

110V 390V
200V 390V
400V 780V
575V 930V
690V 1120V
10.31 Full power braking period

Coding
1 1 1 1
Range 0.0 to 1500.0 s
Default 0.0
This parameter defines the time period which must elapse between consecutive braking periods of maximum braking power as defined by Pr 10.30.
The setting of this parameter is used in determining the thermal time constant of the resistor installed. It is assumed that the temperature will fall by
99% in this time, and so the time constant is Pr 10.30 / 5. If either Pr 10.30 or Pr 10.31 are is set to 0 then no braking resistor protection is
implemented.
The braking resistor temperature is modelled by the drive as shown below. The temperature rises in proportion to the power flowing into the resistor
and falls in proportion to the difference between the resistor temperature and ambient.
Overload
accumulator %
Pr 10.39
100
0
Pr t
10.30 Pr 10.31
Assuming that the full power braking time is much shorter than the full power braking period (which is normally the case) the values for Pr 10.30 and
Pr 10.31 can be calculated as follows:
Power flowing into the resistor when the braking IGBT is on, Pon = Full braking volts2 / R
Where:
Full braking volts is defined in the table (see Pr 10.30) and R is the resistance of the braking resistor.
Full power braking time (Pr 10.30), Ton = E / Pon
Where:
E is the total energy that can be absorbed by the resistor when its initial temperature is ambient temperature.
Therefore full power braking time (Pr 10.30), Ton = E x R / Full braking volts2
If the cycle shown in the diagram previously is repeated, where the resistor is heated to its maximum temperature and then cools to ambient:
The average power in the resistor Pav = Pon x Ton / Tp
Where:
Tp is the full power braking period
Pon = E / Ton
Therefore Pav = E / Tp Maillefer Doc. 550 0245X.2

Therefore full power braking period (Pr 10.31) Tp = E / Pav

The resistance of the braking resistor R, the total energy E and the average power Pav can normally be obtained for the resistor and used to calculate
Pr 10.30 and Pr 10.31.
The temperature of the resistor is monitored by the braking energy accumulator (Pr 10.39). When this parameter reaches 100% the drive will trip if
Pr 10.37 is 0 or 1, or will disable the braking IGBT until the accumulator falls below 95% if Pr 10.37 is 2 or 3. The second option is intended for
applications with parallel connected DC buses where there are several braking resistors, each of which cannot withstand full DC bus voltage
continuously. The braking load will probably not be shared equally between the resistors because of voltage measurement tolerances within the
individual drives. However, once a resistor reaches its maximum temperature its load will be reduced, and be taken up by another resistor.
10.32 External trip

Coding
1 1 1
Default OFF(0)
If this flag is set to On(1) then the drive will trip (Et). If an external trip function is required, a digital input should be programmed to control this bit (see
section 10.9 Menu 8: Digital inputs and outputs on page 109).
10.33 Drive reset

Coding
1 1 1
Default OFF(0)
Update rate 21 ms
An OFF to On change on this parameter will cause a drive reset. If a drive reset terminal is required on the drive the required terminal must be
programmed to control this bit.
10.34 No. of auto-reset attempts

Coding
1 1 1
Range 0 to 5
Default 0
10.35 Auto-reset delay

Coding
1 1 1 1
Range 0.0 to 25.0 s
Default 1.0
If Pr 10.34 is set to zero then no auto reset attempts are made. Any other value will cause the drive to automatically reset following a trip for the
number of times programmed. Pr 10.35 defines the time between the trip and the auto reset (this time is always at least 10s for OI.AC, OI.br trips,
etc.). The reset count is only incremented when the trip is the same as the previous trip, otherwise it is reset to 0. When the reset count reaches the
programmed value, any further trip of the same value will not cause an auto-reset. If there has been no trip for 5 minutes then the reset count is
cleared. Auto reset will not occur on UU, Et, EEF or HFxx trips. When a manual reset occurs the auto reset counter is reset to zero.
10.36 Hold ‘drive ok’ until last attempt

Coding
1 1 1
Default OFF(0)
If this parameter is OFF(0) then Pr 10.01 (Drive ok) is cleared every time the drive trips regardless of any auto-reset that may occur. When this
parameter is set, the 'drive ok' indication is not cleared on a trip if an auto-reset is going to occur.
Once all the resets have occured, the reset counter is reset to 0. To activate again, a manual reset is required.

10.37 Action on trip detection

Coding
1 1 1
Range 0 to 3
Default 0
Braking IGBT trip mode Stop on low priority trips

0 Trip No
1 Trip Yes
2 Disable No
3 Disable Yes
For details of braking IGBT trip mode see Pr 10.31 on page 135.
If stop on low priority trips is selected the drive will stop before tripping. Low priority trips are: th, O.Ld1, cL1, and SCL.
10.38 User trip

Coding
1 1 1
Range 0 to 255
Default 0
This parameter is used to generate user trips over the serial comms. Valid trip codes are numbers which are not values already used by the drive and
are not 100 or 255. Writing a trip code that already exists causes that trip to occur. User generated trips will be indicated by txxx in the trip log where
xxx is the trip code.
Users wishing to reset the drive over the serial comms can do so by writing a value of 100 to this parameter. Writing a value of 255 to this parameter
will cause the trip log to be cleared. When the drive has detected a write to this parameter it immediately writes the value back to zero.
NOTE
It is not possible to generate UU, EEF or HF trips using Pr 10.38.
10.39 Braking energy overload accumulator

Coding
1 1 1 1 1
Range 0.0 to 100.0%
This parameter gives an indication of braking resistor temperature based on a simple thermal model, see Pr 10.30 and Pr 10.31 on page 135. Zero
indicates the resistor is close to ambient and 100% is the maximum temperature (trip level). A br.rS warning is given if this parameter is above 75%
and the braking IGBT is active.
10.40 Status word

Coding
1 1 1 1
Range 0 to 32767
The bits in this parameter correspond to the status bits in menu 10 as follows.
15 14 13 12 11 10 9 8
Not used Pr 10.15 Pr 10.14 Pr 10.13 Pr 10.12 Pr 10.11 Pr 10.10 Pr 10.09
7 6 5 4 3 2 1 0
Pr 10.08 Pr 10.07 Pr 10.06 Pr 10.05 Pr 10.04 Pr 10.03 Pr 10.02 Pr 10.01

10.12 Menu 11: General drive set-up

11.01 Pr 61 set-up {71} Pr 1.00 to Pr 21.51 Pr 0.00 B
11.11 Not used
11.12 Not used
11.13 Not used
11.14 Not used
11.15 Not used
11.16 Not used
11.17 Not used
11.18 Not used
11.19 Not used
11.20 Not used
11.21 Customer defined scaling {24} 0.000 to 9.999 1.000 B
11.22 Parameter displayed at power up OFF(0) or On(1) OFF(0) N/A
11.23 Serial comms address {44} 0 to 247 1 B
11.24 Modbus RTU / user serial mode 0 to 4 1 B
2.4(0), 4.8(1), 9.6(2),
11.25 Serial comms baud rate {43} 19.2(3) B
19.2(3), 38.4(4)
11.26 Silent period extension 0 to 250 ms 2 B
AI.AV(0), AV.Pr(1), AI.Pr(2),
Eur:AI.AV(0)
11.27 Drive configuration {05} Pr(3), PAd(4), E.Pot(5), Edit mode exit
USA: PAd (4)
tor(6), Pid(7), HVAC(8)
11.28 Not used
11.29 Software version {45} 0.00 to 99.99 N/A
11.30 User security code {25} 0 to 999 0 B
11.31 Not used
11.32 Maximum heavy duty drive current rating 0.00 to 290.00 A N/A
11.33 Drive voltage rating 0 to 3 N/A
11.34 Software sub-version 0 to 99 N/A
11.35 DSP software version 0.0 to 9.9 N/A
11.36 Not used
11.37 Not used
11.38 Not used
11.39 Not used
11.40 Not used
11.41 Status mode timeout 0 to 250 s 240 B
no(0), rEAd(1), Prog(2),
11.42 Parameter copying {28} no(0) Edit mode exit
boot(3)
11.43 Load defaults {29} no(0), Eur(1), USA(2) no(0) Edit mode exit
11.44 Security status {10} L1(0), L2(1), L3(2), LoC(3) L1(0) Edit mode exit
11.45 Select motor 2 parameters OFF(0) or On(1) OFF(0) B
11.46 Defaults previously loaded 0 to 2 0 BW
11.47 PLC ladder program enable {59} 0 to 2 0 BR
11.48 PLC ladder program status {60} -128 to 127 BW
11.49 Not used
11.50 PLC ladder program maximum scan time 0 to 65535 ms User program

11.01 Pr 61 set-up {71}

11.02 Pr 62 set-up {72}
11.03 Pr 63 set-up {73}
11.04 Pr 64 set-up {74}
11.05 Pr 65 set-up {75}
11.06 Pr 66 set-up {76}
11.07 Pr 67 set-up {77}
11.08 Pr 68 set-up {78}
11.09 Pr 69 set-up {79}
11.10 Pr 70 set-up {80}
Coding
2 1 1 1 1
Default Pr 0.00
These parameters define the parameters that reside in the programmable area in level 2 of the basic parameter set.
11.21 Customer defined scaling {24}

Coding
3 1 1 1
Range 0.000 to 9.999
Default 1.000
When customer defined units are selected as the display units this parameter is used to scale the RPM (Pr 5.04) to give the displayed units. See
Pr 5.34 on page 82.
NOTE
When speeds greater than 9999 rpm are to be displayed, set Pr 11.21 to 0.1 or 0.01.
Example:
Maximum speed of 30000 rpm. Set Pr 11.21 to 0.1, 30000 rpm = 3000 on display
11.22 Parameter displayed at power-up

Coding
1 1 1
Default OFF(0)
Update rate N/A
0: OFF Frequency (Pr 2.01)
1: On Percentage load (Pr 4.20)
This parameter defines which parameter is displayed at power-up, either the speed or the load. This parameter is written to automatically when the
user switches between speed and load indications in parameter status mode by holding the Mode button down for a period of 2 seconds. In this case
the parameter is saved automatically by the drive, if the user changes this parameter using serial communication it is not saved automatically.
11.23 Serial comms address {44}

Coding
1 1 1
Range 0 to 247
Default 1
This parameter is used to define the unique address for the drive for the serial interface. The drive is always a slave.

Address 0 is used to globally address all slaves, and so this address should not be set in this parameter.
The communications port on the Commander SK will support Modbus RTU protocol only. Full details of the CT implementation of Modbus RTU are
given in "CT MODBUS RTU specification".
The protocol provides the following facilities:
• Drive parameter access with basic Modbus RTU
• Drive parameter database upload via CMP extensions
The following product specific limitations apply:
• Maximum slave response time when accessing the drive is 100ms
• Maximum number of 16 bit registers that can be written to, or read from, the drive itself is limited to 16
• The communications buffer can hold a maximum of 128 bytes
11.24 Modbus RTU / user serial mode

Coding
1 1 1
Range 0 to 3
Default 1
Modes 0, 1 and 4 are for Modbus slave mode. Modes 2 and 3 allow a drive user program to control the comms.
0: mode 0 8 data bits and 1 stop bit with no parity (Commander SE backward compatibility)
1: mode 1 8 data bits and 2 stop bits with no parity
2: mode 2 7 data bits and 1 stop bit with even parity
3: mode 3 8 data bits and 2 stop bits with no parity
4: mode 4 8 data bits and 1 stop bit with even parity
11.25 Serial comms baud rate {43}

Coding
1 1 1 1
Range 2.4(0), 4.8(1), 9.6(2), 19.2(3), 38.4(4),
Default 19.2(3)
This parameter is used to select the comms port baud rate in kilo baud.
11.26 Silent period extension

Coding
1 1 1
Range 0 to 250 ms
Default 2
Modbus RTU uses a silent period detection system to detect the end of a message. This silent period is normally the length of time for 3.5 characters
at the present baud rate, but for systems that cannot turn the communications buffers around fast enough this time can be extended to the time
programmed in Pr 11.26.
11.27 Drive configuration {05}

Coding
1 1 1 1 1
Range AI.AV(0), AV.Pr(1), AI.Pr(2), Pr(3), PAd(4), E.Pot(5), tor(6), Pid(7), HVAC(8)
Default Eur: AI.AV(0), USA: PAd(4)
Update rate Actioned on exit of edit mode or drive reset.
This parameter is used to automatically set up the user programmable area in the level 3 parameter set according to the required drive configuration.
Other default parameters may also be changed automatically by the drive configuration. See Table 10-23 for drive configuration parameter changes.
A change to Pr 11.27 is set on the exit of parameter edit mode or on a drive reset. The drive must be disabled, stopped or tripped for a change to take
place. If Pr 11.27 is changed while the drive is running, the parameter will return to its pre-altered value. Following a drive configuration change, the
parameters are automatically stored in EEPROM.
In all of the following settings, the status relay is set up as a drive ok relay.
T5
OK Fault
T6

Table 10-23 Parameter changes when drive configuration is changed

Parameter Drive Configuration
Description
number AI.AV AV.Pr AI.Pr Pr PAd E.Pot tor Pid HVAC
71 Configurable parameter 1 set-up Pr 9.23 Pr 14.10
74 Configurable parameter 4 set-up Pr 14.13
77 Configurable parameter 7 set-up
1.14 Reference select 0 1 1 3 4 3 0 2 0
6.04 Start/stop logic Note 1 Note 1 Note 1 Note 1 Note 1 Note 1 Note 1 Note 1 0
7.06 Analog input 1 mode 4 6 4 6 6 6 4 4 4
7.11 Analog input 2 mode 0 1 1 1 0 1 0 0 0
7.14 Analog input 2 destination Pr 1.37 Pr 1.46 Pr 1.46 Pr 1.46 Pr 1.37 Pr 9.27 Pr 4.08 0 Pr 1.37
8.15 Terminal B7 digital input invert 1 0 0 0 1 0 0 0 1
8.22 Terminal B4 digital input destination Note 2 Note 2 Note 2 Note 2 Pr 6.29 Note 2 Note 2 Note 2 Pr 6.29
8.25 Terminal B7 digital input destination Pr 1.41 Pr 1.45 Pr 1.45 Pr 1.45 Pr 1.41 Pr 9.26 Pr 4.11 Pr 14.08 Pr 1.43
9.25 Motorized pot destination 0 0 0 0 0 Pr 1.21 0 0 0
14.03 PID reference source 0 0 0 0 0 0 0 Pr 7.02 0
14.04 PID feedback source 0 0 0 0 0 0 0 Pr 7.01 0
14.16 PID destination 0 0 0 0 0 0 0 Pr 1.37 0
NOTE
1. If last default setting was Eur, then Pr 6.04 is 0. If last default setting was USA, then Pr 6.04 is 4 except in HVAC mode where Pr 6.04 is 0.
NOTE
2. If last default setting was Eur, then Pr 8.22 is 6.29. If last default was USA, then Pr 8.22 is 6.39 except in PAd or HVAC mode where Pr 8.22 is
6.29.
Pr 11.27 Configuration Description
0 AI.AV Voltage and current input
1 AV.Pr Voltage input and 3 preset speeds
2 AI.Pr Current input and 3 preset speeds
3 Pr 4 preset speeds
4 PAd Keypad control
5 E.Pot Electronic motorized potentiometer control
6 tor Torque control operation
7 Pid PID control
8 HVAC Fan and pump control

Figure 10-25 Key to switches
Latching switch
Momentary switch
Figure 10-26 Pr 11.27 = AI.AV

Eur USA
T1 0V T1 0V
Remote speed Remote current speed Remote speed Remote current speed
T2 T2
reference input reference input (A1) reference input reference input (A1)
T3 +10V reference output T3 +10V reference output
10k Local voltage speed 10k Local voltage speed

T4 T4
(2kmin) reference input (A2) (2kmin) reference input (A2)
_ _
+ Analog output + Analog output
V B1
(motor speed) V B1
(motor speed)
B2 +24V output B2 +24V output

+24V +24V
Digital output Digital output
B3 B3
(zero speed) (zero speed)
0V 0V
B4 Drive Enable/Reset B4 /Stop
B5 Run Forward B5 Run
B6 Run Reverse B6 Jog
Local (A2)/Remote (A1) Local (A2)/Remote (A1)

B7 B7
speed reference select speed reference select
Terminal B7 open: Local voltage speed reference input (A2) selected.

Terminal B7 closed: Remote current speed reference input (A1) selected.
Figure 10-27 Pr 11.27 = AV.Pr
Eur USA
T1 0V T1 0V
10k Local voltage speed 10k Local voltage speed

T2 T2
(2kmin) reference input (A1) (2kmin) reference input (A1)
T4 Reference select T4 Reference select
_ _
V B1
(motor speed) V B1
(motor speed)

+24V +24V
B3 B3
0V 0V
B7 Reference select B7 Reference select
T4 B7 Reference selected
0 0 A1
0 1 Preset 2
1 0 Preset 3
1 1 Preset 4

Figure 10-28 Pr 11.27 = AI.Pr

Eur USA
T1 0V T1 0V
T2 T2
_ _
V B1
(motor speed) V B1
(motor speed)

+24V +24V
B3 B3
0V 0V
0 0 A1
0 1 Preset 2
1 0 Preset 3
1 1 Preset 4
Figure 10-29 Pr 11.27 = Pr

Eur USA
T1 0V T1 0V
T2 Not used T2 Not used
_ _
V B1
(motor speed) V B1
(motor speed)

+24V +24V
B3 B3
0V 0V
0 0 Preset 1
0 1 Preset 2
1 0 Preset 3
1 1 Preset 4

Figure 10-30 Pr 11.27 = PAd

Eur USA
T1 0V T1 0V
_ _
V B1
(motor speed) V B1
(motor speed)

+24V +24V
B3 B3
0V 0V
B4 Drive Enable/Reset B4 Drive Enable/Reset
B5 Forward/Reverse B5 Forward/Reverse
B6 Not used B6 Not used
B7 Not used B7 Not used
Setting-up a Forward/Reverse terminal in Keypad mode

From the drive’s display:
• Set Pr 71 to 8.23
• Set Pr 61 to 6.33
• Press the Stop/Reset key
Terminal B5 will now be set-up as a Forward/Reverse terminal
Figure 10-31 Pr 11.27 = E.Pot

Eur USA
T1 0V T1 0V
T4 Down T4 Down
_ _
V B1
(motor speed) V B1
(motor speed)

+24V +24V
B3 B3
0V 0V
B7 Up B7 Up
When Pr 11.27 is set to E.Pot, the following parameters are made available for adjustment:
• Pr 9.23: Motorized pot up/down rate (s/100%)
• Pr 9.22: Motorized pot bipolar select (0 = unipolar, 1 = bipolar)
• Pr 9.21: Motorized pot mode:
0 = zero at power-up
1 = last value at power-up
2 = zero at power-up and only change when drive is running
3 = last value at power-up and only change when drive is running

Figure 10-32 Pr 11.27 = tor

Eur USA
T1 0V T1 0V
T2 T2
10k Torque reference 10k Torque reference

T4 T4
(2kmin) input (A2) (2kmin) input (A2)
_ _
V B1
(motor speed) V B1
(motor speed)

+24V +24V
B3 B3
0V 0V
Torque mode Torque mode

B7 B7
select select
When torque mode is selected and the drive is connected to an unloaded motor, the motor speed may increase rapidly to the maximum
speed (Pr 02 +20%)
WARNING
Figure 10-33 Pr 11.27 = Pid

Eur USA
T1 0V T1 0V
4-20mA PID 4-20mA PID

T2 PID feedback input T2 PID feedback input
feedback input feedback input
0-10V PID 0-10V PID

T4 PID reference input T4 PID reference input
reference input reference input
_ _
V B1
(motor speed) V B1
(motor speed)

+24V +24V
B3 B3
0V 0V
B7 PID enable B7 PID enable
When Pr 11.27 is set to Pid, the following parameters are made available for adjustment:
• Pr 14.10: PID proportional gain
• Pr 14.11: PID integral gain
• Pr 14.06: PID feedback invert
• Pr 14.13: PID high limit (%)
• Pr 14.14: PID low limit (%)
• Pr 14.01: PID output (%)

Figure 10-34 PID logic diagram

Drive
reference
PID reference % P Gain % Hz
input
+ 14.10 % to
T4 7.02 14.01 frequency 1.01
I Gain conversion
_
14.11
Invert
PID high
14.06 14.13
limit
PID feedback % PID low
14.14
input limit
T2 7.01 0
x(-1) 1
PID enable
B7
&
Drive healthy
Figure 10-35 Pr 11.27 = HVAC

Eur & USA
T1 0V
Remote speed Remote current speed

T2
reference input reference input (A1)
T3 +10V reference output
T4 Not used
_
+ Analog output
V B1
(motor speed)
B2 +24V output
+24V
Digital output
B3
(zero speed)
0V H
B4 Drive enable / reset
A H: Contacts made
B5 Run forward in 'hand' position -
Auto Keypad control
run A A: Contacts made
B6 Run reverse in 'auto' position -
Hand/Off/Auto Remote current
switch Reference speed reference
B7
select input.
NOTE
Only with V01.04.00 onwards.
11.29 Software version {45}

Coding
2 1 1 1 1
Range 0.00 to 99.99
Update rate N/A
The drive software version consists of three numbers xx.yy.zz. xx.yy is displayed in this parameter and zz is displayed in Pr 11.34. Where xx specifies
a change that affects hardware compatibility, yy specifies a change that affects product documentation, and zz specifies a change that does not affect
the product documentation.

11.30 User security code {25}

Coding
1 1 1 1 1
Range 0 to 999
Default 0
If any number, other than 0 is programmed into this parameter the user security is applied so that no parameters except Pr 11.44 can be adjusted with
the LED keypad. When this parameter is read via an LED keypad and security is locked it appears as zero. The security code can be modified via
serial comms etc. by setting this parameter to the required value, setting Pr 11.44 to 3 and initiating a reset by setting Pr 10.38 to 100. However
security can only be cleared via the LED keypad.
11.32 Maximum heavy duty drive current rating

Coding
2 1 1 1 1
Range 0.00 to 290.00 A
Update rate N/A
This parameter indicates the continuous industrial current rating of the drive for heavy-duty operation. If this parameter is programmed into the level
two area, the decimal place on the drives four digit display will be adjusted to 1 for drive sizes with current ratings greater than 99.99A.
11.33 Drive voltage rating

Coding
1 1 1 1 1
Range 200(0), 400(1), 575(2), 690(3)
Update rate N/A
This parameter has four possible values and indicates the output voltage rating of the drive.
0: 200 200V product
1: 400 400V product
2: 575 575V product
3: 690 690V product
11.34 Software sub-version

Coding
1 1 1 1
Range 0 to 99
Update rate N/A
11.35 DSP software version

Coding
1 1 1 1 1
Range 0.0 to 9.9
Update rate N/A
This parameter indicates the version of DSP software installed.

11.41 Status mode timeout

Coding
1 1 1
Range 0 to 250 s
Default 240
This parameter sets the timeout in seconds for the drive display to revert to status mode from edit mode following no presses of the keypad. Although
this parameter can be set to less than 2s, the minimum timeout is 2s.
11.42 Parameter copying {28}

Coding
1 1 1 1
Range no(0), rEAd(1), Prog(2), boot(3)
Default no(0)
NOTE
The drive only communicates with the SmartStick when commanded to read or write, meaning the stick may be “hot swapped”
This parameter selects the mode of operation for the copying module. 4 options are available
0 no No action
1 rEAd Read parameters from the SmartStick
2 Prog Write parameters to the SmartStick
3 boot Set the SmartStick as master, so it becomes read only.
NOTE
Before setting boot mode, the current drive settings must be stored in the SmartStick by using prog mode, otherwise the drive will trip on C.Acc at
power up. The stick must be either fitted at power up or a drive reset performed before any copying is initiated.
When data is programmed to the SmartStick it takes the information directly from the drives EEPROM memory thus taking a copy of the stored
configuration of the drive rather than the current configuration in drive RAM. The drive takes action on the command when the user exits the
parameter edit mode. Also, to be backwards compatible with Commander SE and to allow copying over the serial interface, the drive will action the
value programmed on a drive reset.
1 rEAd
Parameters can only be read from the SmartStick when the drive is disabled or tripped. If the drive is not in one of these states when a read is
commanded, the display will flash FAIL once and then Pr 11.42 will be set back to no. Immediately after a read takes place, Pr 11.42 is set back to no
by the drive. Once parameters are read from the SmartStick the drive automatically performs a parameter save to it’s internal EEPROM.
2 Prog
Parameters can be written to the SmartStick at any time. When a ‘Prog’ is commanded, the SmartStick is updated with the current parameter set.
Pr 11.42 is set back to no prior to the write taking place. If the stick is read only the display will flash FAIL once and then Pr 11.42 will be set back to
no. A parameter save should be implemented before the stick is programmed (Prog).
NOTE
Before the SmartStick /LogicStick is written to using Prog, the SmartStick/LogicStick will need to be inserted into the drive at power up or a reset
command performed when the drive has been powered up, otherwise will trip on C.dAt when Prog command executed.
3 boot
Mode 3 is similar to mode 2 except that Pr 11.42 is not reset to 0 before the write takes place. If the ‘boot’ mode is stored in the copying stick this
makes the copying stick the master device. When a drive is powered up it always checks for a SmartStick, if one is installed and it has been
programmed in ‘boot’ mode the parameters are automatically loaded from the copying stick to the drive and furthermore they are saved in the drive.
This provides a very fast and efficient way of re-programming a number of drives. Once a stick is set to boot it becomes read only. If the stick is read
only the display will flash FAIL once and then Pr 11.42 will be set back to no.
Different drive ratings
The SmartStick can be used to copy parameters between drives with different ratings but certain rating dependant parameters are not copied to the
copied drive, but are still stored within the copying key.
If the data is transferred to a drive of a different voltage or current rating from the source drive all parameters with the RA coding bit set are not
modified and a C.rtg trip occurs.
When the stick is used to copy parameters between drives with different ratings, bit parameters are not copied to the cloned drive.

Parameter number Function

2.08 Standard ramp voltage
4.07, 21.29 Current limits
5.07, 21.07 Motor rated currents
5.09, 21.09 Motor rated voltages
5.10, 21.10 Motor rated power factor
5.17, 21.12 Stator resistances
5.18 Switching frequency
5.23, 21.13 Voltage offsets
5.24, 21.14 Transient inductances
6.06 DC injection braking current
NOTE
If parameter copying is enabled when no SmartStick is installed into the drive, the drive’s display will show a C.Acc trip.
NOTE
The SmartStick should be fully inserted or removed from the drive before a drive reset is performed.
11.43 Load defaults {29}

Coding
1 1 1 1
Range no(0), Eur(1), USA(2)
Default no(0)
If this parameter is set to a non-zero value and edit mode is exited or the drive is reset when the drive is inactive, the selected default parameters will
automatically be loaded. After the parameters have been set to default values they are automatically saved to the drive’s internal EEPROM. If the
drive is active the display will flash FAIL once and then Pr 11.43 will be set back to no.

0 no No action
1 Eur Load European defaults
2 USA Load USA defaults
Disconnect the electro-mechanical brake circuit before performing a default.
WARNING
11.44 Security status {10}

Coding
1 1 1 1 1
Range L1(0), L2(1), L3(2), LoC(3)
Default L1(0)
Update rate Actioned on exit of edit mode
This read write parameter defines the level of security for menu 0.
Value Level Access permitted

0 L1 Only the first ten parameters can be accessed.
1 L2 Parameters up to 60 can be accessed.
2 L3 Parameters up to 95 can be accessed.
Lock security, so that the security code must be entered before a parameter can
3 LoC
be edited and set security status to L1.
The LED keypad can adjust this parameter even when user security is set.

11.45 Select motor 2 parameters

Coding
1 1 1
Default OFF(0)
When this bit is set to On(1) the motor 2 parameters in menu 21 become active instead of the equivalent parameters in other menus. Changes will
only be implemented when the drive is inactive. When the motor 2 parameters are active the display will light the 2 small dashes. If motor map 1 is
selected after motor map 2 has been active the display will light 1 small dash. If this parameter is On(1) when an auto-tune is carried out (Pr 5.12 = 1
or 2), the results of the auto-tune are written to the equivalent second motor parameters instead of the normal parameters. Each time this parameter
is changed the accumulator for motor thermal protection (Pr 4.19) is reset to zero.
NOTE
There is a 1 second delay when changing motor maps.
11.46 Defaults previously loaded

Coding
1 1 1 1 1
Range 0 to 2
Default 0
This parameter displays the number of the last set of defaults loaded e.g. 1 Eur, 2 USA.
10.12.1 PLC ladder programming
11.47 PLC ladder program enable {59}

Coding
1 1 1
Range 0 to 2
Default 0
The PLC ladder program enable parameter is used to start and stop the PLC ladder program.
Value Description
0 Stop the drive PLC ladder program
Run the drive PLC ladder program (trip drive if LogicStick is not installed). Any out-of-
1 range parameter writes attempted will be limited to the maximum / minimum values
valid for that parameter before being written.
Run the drive PLC ladder program (trip drive if LogicStick is not installed). Any out-of-
2
range parameter writes attempted will cause a drive trip.
11.48 PLC ladder program status {60}

Coding
1 1 1
Range -128 to +127
The PLC ladder program status parameter indicates to the user the actual state of the PLC ladder program. (not installed / running / stopped /
tripped.)
Value Description
PLC ladder program caused a drive trip due to an error condition while running rung
-n
n. Note that the rung number is shown on the display as a negative number.
0 LogicStick is installed with no PLC ladder program
1 LogicStick is installed, PLC ladder program is installed but stopped.
2 LogicStick is installed, PLC ladder program is installed and running.
3 LogicStick is not installed.

11.50 PLC ladder program maximum scan time

Coding
1 1 1 1
Range 0 to 65535 ms
Update rate User program execution period
The PLC ladder program maximum scan time parameter gives the longest scan time within the last ten scans of the PLC ladder program. If the scan
time is greater than the maximum value which may be represented by this parameter the value will be clipped to the maximum value.
NOTE
The LogicStick can be used as a SmartStick to store a parameter set at the same time as storing a PLC ladder program.
NOTE
The LogicStick should be fully inserted or removed from the drive before a drive reset is performed.

10.13 Menu 12: Programmable threshold and variable selector

12.01 Threshold detector 1 output OFF(0) or On(1) 21 ms
12.02 Threshold detector 2 output OFF(0) or On(1) 21 ms
12.03 Threshold detector 1 source Pr 0.00 to Pr 21.51 Pr 0.00 Drive reset
12.04 Threshold detector 1 level 0.0 to 100.0% 0.0 21 ms
12.05 Threshold detector 1 hysteresis 0.0 to 25.0% 0.0 21 ms
12.06 Threshold detector 1 output invert OFF(0) or On(1) OFF(0) 21 ms
12.07 Threshold detector 1 destination Pr 0.00 to Pr 21.51 Pr 0.00 Drive reset
12.08 Variable selector 1 source 1 Pr 0.00 to Pr 21.51 Pr 0.00 Drive reset
12.10 Variable selector 1 mode 0 to 9 0 21 ms
12.11 Variable selector 1 destination Pr 0.00 to Pr 21.51 Pr 0.00 Drive reset
12.12 Variable selector 1 output ±100.0% 21 ms
12.13 Variable selector 1 source 1 scaling ±4.000 1.000 21 ms
12.15 Variable selector 1 control 0.00 to 99.99 0.00 B
12.16 Not used
12.17 Not used
12.18 Not used
12.19 Not used
12.20 Not used
12.21 Not used
12.22 Not used
12.23 Threshold detector 2 source Pr 0.00 to Pr 21.51 Pr 0.00 Drive reset
12.24 Threshold detector 2 level 0.0 to 100.0% 0.0 21 ms
12.25 Threshold detector 2 hysteresis 0.0 to 25.0% 0.0 21 ms
12.26 Threshold detector 2 output invert OFF(0) or On(1) OFF(0) 21 ms
12.27 Threshold detector 2 destination Pr 0.00 to Pr 21.51 Pr 0.00 Drive reset
12.30 Variable selector 2 mode 0 to 9 0 21 ms
12.31 Variable selector 2 destination Pr 0.00 to Pr 21.51 Pr 0.00 Drive reset
12.32 Variable selector 2 output ±100.0% 21 ms
12.35 Variable selector 2 control 0.00 to 99.99 0.00 B
12.36 Not used
12.37 Not used
12.38 Not used
12.39 Not used
12.40 Brake release indicator OFF(0) or On(1) 21 ms
diS(0), rEL(1), d IO(2),
12.41 Brake controller enable {12} diS(0) Edit mode exit
USEr(3)
12.42 Brake release current threshold {46} 0 to 200% 50% 21 ms
12.43 Brake apply current threshold {47} 0 to 200% 10% 21 ms
12.44 Brake release frequency {48} 0.0 to 20.0 Hz 1.0 21 ms
12.45 Brake apply frequency {49} 0.0 to 20.0 Hz 2.0 21 ms
12.46 Pre-brake release delay {50} 0.0 to 25.0 s 1.0 21 ms
12.47 Post-brake release delay {51} 0.0 to 25.0 s 1.0 21 ms


Threshold detector 1
Threshold
Source 1 level 1 Invert 1 Destination 1
12.03
10.1 12.04 12.06
10.1 12.07
10.1
Threshold
exceeded 1
10.00
0.01
0.1 1.01
0.00
12.01
21.51
15.12 21.51
12.05
Hysteresis 1
(0% of max of source)
12.04/12.24
Hysteresis
Threshold 12.05/12.25
source
Threshold
exceeded
12.01/12.02
Threshold detector 2
Threshold
Source 2 level 2 Invert 2 Destination 2
12.23
12.03
10.1 12.04
12.24 12.06
12.26
10.1 12.27
12.07
10.1
Threshold
exceeded 2
10.00
0.01
0.1 1.01
0.00
12.02
21.51
15.12 21.51
12.05
12.25
Hysteresis 2
Key
XX
terminals XX
parameter

XX XX
terminals parameter


Source 1
12.08
10.1
10.00
0.10 Scaling Destination
12.13 12.11
10.1
21.51
15.12
Input 1 Output
Source 2 1.01
0.00
12.09
10.1 12.12
21.51
Input 2
10.00
0.1 Scaling
12.14
21.51
15.12
Variable selector modes 12.10
0 - 12.12 = Input 1 Key

1 - 12.12 = Input 2
2 - 12.12 = Input 1 + Input 2 Input Read-write (RW)
3 - 12.12 = Input 1 - Input 2
XX
terminals XX
parameter
4 - 12.12 = (Input 1 x Input 2) / 100
5 - 12.12 = (Input 1 x 100) / Input 2 Output
6 - 12.12 = Input 1 / (12.15s + 1) terminals
Variable parameter
7 - 12.12 = Input 1 via Ramp
selector control 8 - 12.12 = |Input 1|
12.15
12.15 9 - 12.12 = Input 1 The parameters are all shown at their default settings

Source 1
12.28
10.1
10.00
0.1 Scaling Destination
12.33 12.31
10.1
21.51
15.12
Input 1 Output
Source 2 1.01
0.00
12.29
10.1 12.32
21.51
Input 2
10.00
0.1 Scaling
12.34
21.51
15.12
Variable selector modes 12.30
0 - 12.32 = Input 1 Key

1 - 12.32 = Input 2
2 - 12.32 = Input 1 + Input 2 Input Read-write (RW)
3 - 12.32 = Input 1 - Input 2
XX
terminals XX
parameter
4 - 12.32 = (Input 1 x Input 2) / 100
5 - 12.32 = (Input 1 x 100) / Input 2 Output
6 - 12.32 = Input 1 / (12.15s + 1) terminals
Variable parameter
7 - 12.32 = Input 1 via Ramp
selector control 8 - 12.32 = |Input 1|
12.15
12.35 9 - 12.32 = Input 1 The parameters are all shown at their default settings


Current
Magnitude
4.01 +
_
Brake release
current threshold Pre-brake
Drive active release delay
12.42
12.46
Brake apply 10.02
current threshold Ramp hold
12.43 2.03
Output
frequency Brake disabled
0
Brake release
Latch Status relay state
5.01 +
In T5 & T6 T5
_ 12.40
1 8.07
Out
Brake release T6
frequency Reset 12.41
12.44 2 8.01 B3
Brake
Terminal B3
controller enable
12.47 digital input/output
Brake apply state User
Post-brake 3
frequency Programmable
release delay
12.45 +
_
Reference
enabled
1.11
Key
XX
terminals XX
parameter

XX XX
terminals parameter

Menu 12 includes two threshold detectors which produce logic signals depending on the level of a variable value with respect to a threshold, and two
variable selectors which allow two input parameters to be selected or combined to produce a variable output. A function is active if one or more
sources are routed to a valid parameter.
12.01 Threshold detector 1 output

12.02 Threshold detector 2 output
Coding
1 1 1 1
Update rate 21 ms
These parameters indicate whether the threshold input variable is above (On) or below (OFF) the programmed threshold.
12.03 Threshold detector 1 source

Coding
1 1 1 1 1
This parameter and Pr 12.23 define the parameter to be input to the programmable threshold.
The absolute value of the source variable is taken as input to the threshold comparator. Only valid parameters can be programmed as a source. If a
non valid parameter is programmed the input value is taken as 0.
12.04 Threshold detector 1 level

Coding
1 1 1 1
Range 0.0 to 100.0%
Update rate 21 ms
This parameter and Pr 12.24 are the user defined threshold levels entered as a percentage of the source maximum.
12.05 Threshold detector 1 hysteresis

Coding
1 1 1 1
Range 0.0 to 25.0%
Default 0.0
Update rate 21 ms
This parameter and Pr 12.25 define the band within which no change will occur on the output.
The upper limit for switching is: Threshold Level + Hysteresis/2
The lower limit for switching is:Threshold Level - Hysteresis/2
12.06 Threshold detector 1 output invert

Coding
1 1 1
Default OFF(0)
Update rate 21 ms
This parameter and Pr 12.26 are used to invert the logic states of the threshold output if required.
12.07 Threshold detector 1 destination

Coding
1 2 1 1 1 1
Default Pr 0.00
This parameter and Pr 12.27 define the parameter which is to be controlled by the threshold parameter. Only parameters which are not protected can
be set up as a destination. If a non valid parameter is programmed the output is not routed anywhere.

12.08 Variable selector 1 source 1

Coding
2 1 1 1 1
Default Pr 0.00
These parameters and Pr 12.28 and Pr 12.29 define the parameters which are to be switched by the variable selector block. These can be bit
variables or non bit variables. If programming a reference to a variable source select, if the reference is a whole number, then the variable source
treats the whole number as a percentage, e.g. 5.0Hz = 10% of reference.
12.10 Variable selector 1 mode

Coding
1 1 1
Range 0 to 9
Default 0
Update rate 21 ms
The output of the variable select can be changed by the mode as in the following table:
Mode value
Action Result
(Pr 12.10)
0 Select input 1 output = input1
2 Add output = input1 + input2
3 Subtract output = input1 - input 2
4 Multiply output = (input1 x input2) / 100.0
5 Divide output = (input1 x 100.0) / input2
6 Time constant output = input1 / ((control param)s + 1)
output = input1 via a ramp with a ramp time of (control param)
7 Linear ramp
seconds from 0 to 100%
8 Modulus output = | input1 |
output = input1 control param (0.01 - 0.03)
9 Raise to power control = 0.02: output = input12/ 100

control = 0.03: output = input13/ 1002
control has any other value: output = input 1
12.11 Variable selector 1 destination

Coding
1 2 1 1 1 1
Default Pr 0.00
Defines the destination parameter for the variable selector 1 output. Only non-protected parameters can be programmed as a destination. If a non-
valid parameter is programmed, the output is not routed anywhere.
12.12 Variable selector 1 output

Coding
1 1 1 1
Range ±100.0%
Update rate 21 ms
Indicates the level of output signal from the variable selector.

12.13 Variable selector 1 source 1 scaling

Coding
3 1 1
Range ±4.000
Default 1.000
Update rate 21 ms
Can be used to scale the source 1 input of the variable selector.

Coding
3 1 1
Range ±4.000
Default 1.000
Update rate 21 ms
12.15 Variable selector 1 control

Coding
2 1 1 1
Range 0.00 to 99.99
Default 0.00
The control parameter can be used to input a value when modes 6, 7 and 9 of the variable selector are implemented. See Pr 12.10 on page 157 and
Pr 12.30 on page 159 for variable selector modes.
12.23 Threshold detector 2 source

Coding
1 1 1 1 1
This parameter and Pr 12.03 define the parameter to be input to the programmable threshold.
The absolute value of the source variable is taken as input to the threshold comparator. Only valid parameters can be programmed as a source. If a
non valid parameter is programmed the input value is taken as 0.
12.24 Threshold detector 2 level

Coding
1 1 1 1
Range 0.0 to 100.0%
Update rate 21 ms
This parameter and Pr 12.04 are the user defined threshold levels entered as a percentage of the source maximum.
12.25 Threshold detector 2 hysteresis

Coding
1 1 1 1
Range 0.0 to 25.0%
Default 0.0
Update rate 21 ms
This parameter and Pr 12.05 define the band within which no change will occur on the output.
The upper limit for switching is: Threshold Level + Hysteresis/2
The lower limit for switching is:Threshold Level - Hysteresis/2
12.26 Threshold detector 2 output invert

Coding
1 1 1
Default OFF(0)
Update rate 21 ms
This parameter and Pr 12.06 are used to invert the logic states of the threshold output if required.
12.27 Threshold detector 2 destination

Coding
1 2 1 1 1 1
Default Pr 0.00
This parameter and Pr 12.07 define the parameter which is to be controlled by the threshold parameter. Only parameters which are not protected can
be set up as a destination. If a non valid parameter is programmed the output is not routed anywhere.

Coding
2 1 1 1 1
Default Pr 0.00
These parameters and Pr 12.08 and Pr 12.09 define the parameters which are to be switched by the variable selector block. These can be bit
variables or non bit variables. If programming a reference to a variable source select, if the reference is a whole number, then the variable source
treats the whole number as a percentage, e.g. 5.0Hz = 10% of reference.
12.30 Variable selector 2 mode

Coding
1 1 1
Range 0 to 9
Default 0
Update rate 21 ms
The output of the variable select can be changed by the mode as in the following table:
Mode value
Action Result
(Pr 12.30)
2 Add output = input1 + input2
3 Subtract output = input1 - input 2
4 Multiply output = (input1 x input2) / 100.0
5 Divide output = (input1 x 100.0) / input2
6 Time constant output = input1 / ((control param)s + 1)
output = input1 via a ramp with a ramp time of (control param)
7 Linear ramp
seconds from 0 to 100%
8 Modulus output = | input1 |
output = input1 control param (0.01 - 0.03)
9 Raise to power control = 0.02: output = input12/ 100

control = 0.03: output = input13/ 1002
control has any other value: output = input 1

12.31 Variable selector 2 destination

Coding
1 2 1 1 1 1
Default Pr 0.00
Defines the destination parameter for the variable selector 2 output.
12.32 Variable selector 2 output

Coding
1 1 1 1
Range ±100.0%
Update rate 21 ms
Indicates the level of output signal from the variable selector.

Coding
3 1 1
Range ±4.000
Default 1.000
Update rate 21 ms

Coding
3 1 1
Range ±4.000
Default 1.000
Update rate 21 ms
12.35 Variable selector 2 control

Coding
2 1 1 1
Range 0.00 to 99.99
Default 0.00
The control parameter can be used to input a value when modes 6, 7 and 9 of the variable selector are implemented. See Pr 12.10 on page 157 and
Pr 12.30 on page 159 for variable selector modes.

10.13.1 Brake control function

The brake control function can be used to control an electro-mechanical brake via the drive digital I/O.
12.40 Brake release indicator

Coding
1 1 1 1
Update rate 21 ms
This parameter should be used as a source for a digital output to control an electro-mechanical brake. This parameter is one to release the brake and
zero to apply the brake. Digital I/O can be automatically configured to use this parameter as a source (see Pr 12.41).
12.41 Brake controller enable {12}

Coding
1 1 1 1
Range diS(0), rEL(1), d IO(2), USEr(3)
Default diS(0)
Action will only occur if the drive is inactive. If the drive is active the parameter will return to its pre altered value on exit from edit mode or drive reset.
0 diS
The brake controller is disabled and no other drive parameters are affected by the brake controller. When this parameter is changed from a non-zero
value to zero Pr 2.03 is set to zero.
1 rEL
The brake controller is enabled with I/O set up to control the brake via the relay output. Drive ok is re-routed to digital I/O.
2 d IO
The brake controller is enabled with I/O set up to control the brake via digital I/O.
3 USEr
The brake controller is enabled, but no parameters are set to select the brake output.
The following table shows the automatic parameter changes that occur to set up digital I/O and the relay output after exit from edit mode or drive reset
when Pr 12.41 has been changed.
Old value of New value of

Pr 8.11 Pr 8.21 Pr 8.31 Pr 8.17 Pr 8.27 Pr 8.41
Pr 12.41 Pr 12.41
Drive ok output Brake release output
Any 1 3
OFF Pr 10.01 1 OFF Pr 12.40
Brake release output

Not 1 2 8
OFF Pr 12.40 1 No change No change
Brake release output Drive ok output

1 2 8
OFF Pr 12.40 1 OFF Pr 10.01
Zero speed output Drive ok output

1 0 or 3 0
OFF Pr 10.03 1 OFF Pr 10.01
Zero speed output

2 0 or 3 0
OFF Pr 10.03 1 No change No change
Ensure that the brake controller is setup correctly before the electro-mechanical brake circuit is connected to the drive. Disconnect the
electro-mechanical brake circuit before a default is performed.
WARNING

Figure 10-40 Brake function diagram

Current
magnitude
4.01 + Drive
_ active
10.02
Brake release
current threshold
12.42
12.43 Pre-brake
Brake apply release
current threshold delay
12.46
Brake
Ramp disabled
Motor hold
frequency
2.03 T5
5.01 + Latch
T6
In Out 12.40
_
B3
Reset Brake
Brake release
frequency release
12.47
12.44 Post brake
User
release
programmable
delay
12.41
Brake apply Brake
frequency controller
enable
12.45 +
_
Latch
Reference In Out
enabled
If the reset input is 1, the output is 0
Reset If the reset input is 0, the output
1.11 latches at 1 if the input is 1
Figure 10-41 Brake sequence
Pr 12.44 Brake release frequency Pr 12.45 Brake apply frequency
Pr 5.01 Output frequency

Pr 12.42 Brake release current threshold
Pr 12.43 Brake apply current threshold
Pr 4.01 Current magnitude
Pr 10.02 Drive active
Pr 1.11 Reference enabled
Pr 12.40 Brake release
Pr 2.03 Ramp hold

1 2 3 4 5 6
Pr 12.46 Pr 12.47
1. Wait for brake release current threshold and brake release frequency
2. Pre-brake release delay
3. Post-brake release delay
4. Wait for brake apply frequency
5. Wait for zero frequency
6. 1s delay as phase 2 of stopping sequence (Pr 6.01=1,2 or 3)

12.42 Brake release current threshold {46}

Coding
1 1 1
Range 0 to 200%
Default 50
Update rate 21 ms
12.43 Brake apply current threshold {47}

Coding
1 1 1
Range 0 to 200%
Default 10
Update rate 21 ms
The current magnitude (Pr 4.01) is compared to an upper and lower threshold by a comparator with hysteresis to give torque present and drive output
open detection functions respectively. The upper and lower threshold currents are given as a percentage of motor current defined by Pr 5.07 (or Pr
21.07 if motor map 2 is selected). The upper threshold (Pr 12.42) should be set to the current level that indicates that there is magnetising current and
sufficient torque producing current in the motor to deliver the required amount of torque when the brake is released. The output of the comparator
remains active after this level has been reached unless the current subsequently falls below the lower threshold (Pr 12.43) which should be set to the
required level to detect the condition where the motor has been disconnected from the drive. If the lower threshold is set greater or equal to the upper
threshold, the upper threshold applies with a hysteresis band of zero. If Pr 12.42 and Pr 12.43 are both set to zero then the output of the comparator
is always one.
12.44 Brake release frequency {48}

Coding
1 1 1 1
Range 0 to 20.0 Hz
Default 1.0
Update rate 21 ms
The frequency comparator can be used to detect when the motor frequency has reached a level where the motor can produce the required amount of
torque to ensure that the motor rotates in the demanded direction when the brake is released. This parameter should be set to a level slightly above
the motor slip frequency that is likely to occur under the highest expected load that is applied to the motor when the brake is released.
12.45 Brake apply frequency {49}

Coding
1 1 1 1
Range 0 to 20.0 Hz
Default 2.0
Update rate 21 ms
The brake apply frequency threshold is used to ensure that the brake is applied before the motor frequency reaches zero and to prevent the motor
rotating (in the reverse direction due to an overhauling load for example) during the brake apply time. If the frequency falls below this threshold, but
the motor is not required to stop (i.e. reversing direction without stopping), provided the reference on Pr 1.11 remains at one, the brake is not applied.
This prevents the brake from activating and de-activating as the motor passes through zero speed.
12.46 Pre-brake release delay {50}

Coding
1 1 1 1
Range 0.0 to 25.0 s
Default 1.0
Update rate 21 ms
The pre-brake release delay is used to allow time for the motor torque to reach the required level before the brake is released. This time should allow
for the motor flux to reach a significant proportion of the rated level (2 or 3 times the rotor time constant of the motor), and the time for slip
compensation to become fully active (at least 0.5s). During the Pre-brake delay period the frequency reference is held constant (Pr 2.03 = On).

12.47 Post-brake release delay {51}

Coding
1 1 1 1
Range 0.0 to 25.0 s
Default 1.0
Update rate 21 ms
The post-brake release delay is used to allow for the brake release time. During this period the frequency reference is held constant (Pr 2.03 = On),
so that there is no sudden increase in motor speed when the brake actually releases.

10.14 Menu 14: PID controller

14.01 PID output ±100.0% 21 ms
14.02 PID main reference source Pr 0.00 to Pr 21.51 Pr 0.00 Drive reset
14.03 PID reference source Pr 0.00 to Pr 21.51 Pr 0.00 Drive reset
14.04 PID feedback source Pr 0.00 to Pr 21.51 Pr 0.00 Drive reset
14.05 PID reference source invert OFF(0) or On(1) OFF(0) 21 ms
14.06 PID feedback source invert OFF(0) or On(1) OFF(0) 21 ms
14.07 PID reference slew rate limit 0.0 to 3200.0 s 0.0 B
14.08 PID enable OFF(0) or On(1) OFF(0) 21 ms
14.09 Optional PID enable source Pr 0.00 to Pr 21.51 Pr 0.00 Drive reset
14.10 PID proportional gain 0.000 to 4.000 1.000 21 ms
14.11 PID integral gain 0.000 to 4.000 0.500 21 ms
14.12 PID derivative gain 0.000 to 4.000 0.000 21 ms
14.13 PID high limit 0.0 to 100.0% 100.0 21 ms
14.14 PID low limit ±100.0% -100.0 21 ms
14.15 PID scaling 0.000 to 4.000 1.000 21 ms
14.16 PID output destination Pr 0.00 to Pr 21.51 Pr 0.00 Drive reset
14.17 PID hold integrator OFF(0) or On(1) OFF(0) 21 ms
14.18 Select symmetrical limit on PID OFF(0) or On(1) OFF(0) 21 ms
14.19 PID Main reference ±100.0% 21 ms
14.20 PID reference ±100.0% 21 ms
14.21 PID feedback ±100.0% 21 ms
14.22 PID error ±100.0% 21 ms


PID main
reference source
14.02
10.1
Main
reference
10.00
0.01
100..1
14.19
21.51
15.12
Hold
PID integrator
reference source 14.17
10.1 PID output
destination
14.02
14.03
10.1 Invert
14.16
10.1
14.05
10.1
PID
reference 14.10 PID proportional
10.00
0.01
0.1 PID slew PID error PID output
gain 1.01
0.00
rate limit + PID scaling +
14.20 14.11 PID integral
14.07 14.22 gain 14.01 14.15
21.51
15.12 +
_ 14.12 PID derivative 21.51
gain
PID
feedback source
14.13 High limit
14.02
14.04
10.1 Invert
14.06
10.1 14.14 Low limit
PID Symmetrical limit
feedback 14.18
10.00
0.01
0.1 select
14.21
21.51
15.12
PID
enable
14.08
10.01
Drive healthy
indicator
Key
10.00
0.01
0.1 Input Read-write (RW)
Logic one XX
terminals XX
parameter

XX XX
21.51
15.12 terminals parameter
14.02
1.01 Source
14.09 not used
Optional PID
enable source

NOTE
The PID function is only active if the output destination is routed to a valid unprotected parameter. If only the indicator parameters are required, the
destination parameter should be routed to an unused valid parameter.
14.01 PID output

Coding
1 1 1 1
Range ±100%
Update rate 21 ms
This parameter monitors the output of the PID controller before scaling is applied. Subject to the PID output limits the PID output is given by:
Output = Pe + Ie/s + Des
Where:
P = proportional gain (Pr 14.10)
I = integral gain (Pr 14.11)
D = differential gain (Pr 14.12)
e = input error to the PID (14.22)
s = Laplace operator
Therefore with an error of 100% and P = 1.00 the output produced by the proportional term is 100%. With an error of 100% and I = 1.00 the output
produced by the integral term will increase linearly by 100% every second. With an error that is increasing by 100% per second and D = 1.00 the
output produced by the D term will be 100%.
14.02 PID main reference source

14.03 PID reference source
14.04 PID feedback source
Coding
2 1 1 1 1
Default Pr 0.00
These parameters define the variables which are to be used as the input variables to the PID controller. Only valid parameters can be programmed as
a source. If a non valid parameter is programmed the input value is taken as 0. All variable inputs to the PID are automatically scaled to variables
having the range of ±100.0% or 0 to 100% (of the source parameter) if they are unipolar.
14.05 PID reference source invert

14.06 PID feedback source invert
Coding
1 1 1
Default OFF(0)
Update rate 21 ms
These parameters can be used to invert the PID reference and source variables respectively.
14.07 PID reference slew rate limit

Coding
1 1 1 1
Range 0.0 to 3200.0 s
Default 0.0
This parameter defines the time taken for the reference input to ramp from 0.0 to 100.0% following a 0 to 100% step change in input.

14.08 PID enable

Coding
1 1 1
Default OFF(0)
Update rate 21 ms
This parameter must be at On(1) for the PID controller to operate, if it is OFF(0) the PID output will be 0.
14.09 Optional PID enable source

Coding
2 1 1 1 1
Default Pr 0.00
To enable the PID controller the drive must be ok (Pr 10.01 = On) and the PID enable (Pr 14.08) must be set to On(1). If the optional enable source
(Pr 14.09) is 00.00 or routed to a non-existent parameter the PID controller is still enabled provided Pr 10.01 = On and Pr 14.08 = On. If the optional
enable source is routed to an existing parameter the source parameter must be On before the PID controller can be enabled. If the PID controller is
disabled the output is zero and the integrator is set to zero.
14.10 PID proportional gain

Coding
3 1 1 1
Range 0.000 to 4.000
Default 1.000
Update rate 21 ms
This is the proportional gain applied to the PID error.
14.11 PID integral gain

Coding
3 1 1 1
Range 0.000 to 4.000
Default 0.500
Update rate 21 ms
This is the gain applied to the PID error before being integrated.
14.12 PID derivative gain

Coding
3 1 1 1
Range 0.000 to 4.000
Default 0.000
Update rate 21 ms
This is the gain applied to the PID error before being differentiated.
14.13 PID high limit

Coding
1 1 1 1
Range 0.0 to 100.0%
Default 100.0
Update rate 21 ms

14.14 PID low limit

Coding
1 1 1 1
Range ±100.0 %
Default -100.0
Update rate 21 ms
If Pr 14.18 = OFF(0), the high limit (Pr 14.13) defines the maximum positive output for the PID controller and the lower limit (Pr 14.14) defines the
minimum positive or maximum negative output. If Pr 14.18 = On, the high limit defines the maximum positive or negative magnitude for the PID
controller output. When any of the limits are active the integrator is held.
14.15 PID scaling

Coding
3 1 1 1 1
Range 0.000 to 4.000
Default 1.000
Update rate 21 ms
The PID output is scaled by this parameter before being added to the main reference. After the addition to the main reference, the output is
automatically scaled again to match the range of the destination parameter.
14.16 PID output destination

Coding
1 2 1 1 1 1
Default Pr 0.00
The destination parameter should be set up with the parameter that the PID controller is to control. Only parameters which are not protected can be
controlled by the PID function. If a non valid parameter is programmed the output is not routed anywhere. If the PID is to control speed then it is
suggested that one of the preset speed parameters is entered here.
14.17 PID hold integrator

Coding
1 1 1
Default OFF(0)
Update rate 21 ms
When this parameter is set to 0 the integrator operates normally. Setting this parameter to On(1) will cause the integrator value to be held as long as
the PID is enabled when the drive is disabled. Setting this parameter does not prevent the integrator from being reset to zero if the PID controller is
disabled.
14.18 Select symmetrical limit on PID

Coding
1 1 1
Default OFF(0)
Update rate 21 ms
See Pr 14.13 and Pr 14.14 on page 151 and page 152 respectively.
14.19 PID main reference

Coding
1 1 1 1
Range ±100.0%
Update rate 21 ms
This parameter monitors the main reference input of the PID controller.
14.20 PID reference

Coding
1 1 1 1
Range ±100.0%
Update rate 21 ms
This parameter monitors the reference input of the PID controller.
14.21 PID feedback

Coding
1 1 1 1
Range ±100.0%
Update rate 21 ms
This parameter monitors the feedback input of the PID controller.
14.22 PID error

Coding
1 1 1 1
Range ±100.0%
Update rate 21 ms
This parameter monitors the error of the PID controller.

10.15 Menu 15: Solutions Module set-up

Figure 10-43 Location of Solutions Module slot
NOTE
The Solutions Module must be installed when the drive is powered down.
Parameters common to all catergories

Parameter Range Default Update rate
Pr 15.01 Solutions Module ID 0 to 599 Write on power up
Pr 15.02 Solutions Module software version 00.00 to 99.99 Write on power up
Pr 15.50 Solutions Module error status 0 to 255 BR
Pr 15.51 Solutions Module software sub-version 0 to 99 Write on power up
The Solutions Module ID indicates the type of module that is installed in the slot.
Table 10-26 Solutions Module ID
Solutions Module ID Module Category
0 No module installed
203 SM-I/O Timer
204 SM-PELV
205 SM-I/O 24V Protected
Automation
206 SM-I/O 120V
207 SM-I/O Lite
208 SM-I/O 32
401 SM-LON
403 SM-Profibus DP
404 SM-Interbus
407 SM-Devicenet Fieldbus
408 SM-CANopen
410 SM-Ethernet
421 SM-EtherCAT
NOTE
When a Solutions Module is installed to the Commander SK for the first time, when the drive is powered up, the drive will trip on SL.dF. Power down
and power back up. The Commander SK automatically saves the appropriate information for the Solutions Module. If a Solutions Module is removed,
when the drive is next powered up, the drive will trip on SL.nF. To clear this trip a parameter save needs to be performed.

Menu 15 Parameter Parameter Keypad and Serial CT Modbus PLC Ladder Advanced parameter
I/O options x.00 description format display communications RTU programming descriptions
10.15.1 SM-I/O Lite and SM-I/O Timer Solutions Module

NOTE
The encoder reference function is only active if the output destination is routed to a valid unprotected parameter. If only the indicator parameters are
required, the destination parameter should be routed to an unused valid parameter.
Table 10-27 Menu 15 I/O option parameters: single line descriptions
15.01 Solutions Module identification code 0 to 599 See table Write on power up
15.02 Solutions Module software version 00.00 to 99.99 Write on power up
15.03 Current loop loss indicator OFF(0) or On(1) BW
15.04 Terminal T5 digital input 1 state OFF(0) or On(1) BW
15.07 Relay 1 state (Terminals T21 and T23) OFF(0) or On(1) BW
15.08 Not used
15.09 Not used
15.10 Not used
15.11 Not used
15.12 Not used
15.13 Not used
15.14 Terminal T5 digital input 1 invert OFF(0) or On(1) OFF(0) BR
15.17 Relay 1 invert OFF(0) or On(1) OFF(0) BR
15.18 Not used
15.19 Real time clock daylight saving mode OFF(0) or On(1) OFF(0) BR
15.20 Digital I/O read word 0 to 120 BW
15.21 Not used
15.22 Not used
15.23 Not used
15.24 Terminal T5 digital input 1 destination Pr 0.00 to Pr 21.51 Pr 0.00 Drive reset
15.27 Terminal T21/T23 relay 1 source Pr 0.00 to Pr 21.51 Pr 0.00 Drive reset
15.28 Not used
15.29 Not used
15.30 Real time clock update mode 0 to 2 0 B R/W
15.31 Not used
15.32 Not used
15.33 Not used
15.34 Real time clock minutes/seconds 00.00 to 59.59 00.00 B R/W
15.35 Real time clock days/hours 1.00 to 7.23 0.00 B R/W
15.36 Real time clock month/date 00.00 to 12.31 00.00 B R/W
15.37 Real time clock years 2000 to 2099 2000 B R/W
0-20(0), 20-0(1), 4-20(2),
15.38 Analog input 1 mode (Terminal T2) 20-4(3), 4-.20(4), 20-.4(5), 0-20(0) On Drive reset
VoLt(6)
0-20(0), 20-0(1), 4-20(2),
15.39 Analog output 1 mode (Terminal T3) 0-20(0) BR
20-4(3), VoLt(4)
15.40 Analog input 1 level (Terminal T2) -100% to +100% BW
15.41 Analog input 1 scaling (Terminal T2) 0.000 to 4.000 1.000 BR
15.42 Analog input 1 invert (Terminal T2) OFF(0) or On(1) OFF(0) BR
15.43 Analog input 1 destination (Terminal T2) Pr 0.00 to Pr 21.51 Pr 0.00 Drive reset
15.44 Not used
15.45 Not used
15.46 Not used
15.47 Not used
15.48 Analog output 1 source (Terminal T3) Pr 0.00 to Pr 21.51 Pr 0.00 Drive reset
15.49 Analog output 1 scaling (Terminal T3) 0.000 to 4.000 1.000 BR
15.50 Solutions Module error status 0 to 255 BR
15.51 Solutions Module software sub-version 0 to 99 Write on power up
512(0), 1024(1), 2048(2),
15.52 Drive encoder lines per revolution 1024(1) BR
4096(3)
15.53 Drive encoder revolution counter 0 to 65535 BW

Parameter Parameter Keypad and Serial CT Modbus PLC Ladder Advanced parameter Menu 15
x.00 description format display communications RTU programming descriptions I/O options

16
15.54 Drive encoder position 0 to 65535 (1/2 ths of a BW
revolution)
15.55 Drive encoder speed feedback -32000 to +32000 rpm BW
15.56 Maximum drive encoder reference 0 to 32000 rpm 1500 BR
15.57 Drive encoder reference level -100% to +100% BW
15.58 Drive encoder reference scaling 0.000 to 4.000 1.000 BR
15.59 Drive encoder reference destination Pr 0.00 to Pr 21.51 Pr 0.00 Drive reset
Encoder only
15.60 Encoder reset OFF(0) or On(1) OFF(0) 13ms. All I/O
routed 30ms
Figure 10-44 Menu 15A logic diagram*

Destination
Invert
x.24
x.14
Monitor
0.00
T5 x.04 Default
destination
Pr 0.00
21.51
Destination
Invert
x.25
x.15
Monitor
0.00
T6 x.05 Default
destination
Pr 0.00
21.51
Destination
Invert
x.26
x.16
Monitor
0.00
T7 x.06 Default
destination
Pr 0.00
21.51
Relay
source
x.27 Invert
x.17
0.00 Monitor
Default
source
Pr 0.00 x.07 T21
21.51
T23
0V
Key
XX
terminals XX
parameter

XX XX
terminals parameter
* x in the parameter boxes represents Menu 15 (i.e. x.04 = Pr 15.04)

Issue Number: 8 Maillefer Doc. 550 0245X.2
Figure 10-45 Menu 15B logic diagram*

Destination
Invert
x.43
x.42
Monitor
Mode Scaling 0.00
T2 x.38 x.40 x.41 Default
destination
Current Pr 0.00
x(-1) 21.51
mode and
protection
x.03
200R
Current loop
0V loss indicator
Source
x.48
0.00 Scaling Voltage

Default or current
source x.49 T3
Pr 0.00 x.39 Mode
21.51
Key
XX
terminals XX
parameter

XX XX
terminals parameter

Figure 10-46 Menu 15C logic diagram*

Encoder
reference
destination
x.59
Default
B Drive Drive destination
T7 Drive encoder encoder Maximum encoder Pr 0.00
B\ lines per speed (rpm) drive encoder reference
revolution reference Scaling 0.00
T8 Encoder
A reference x.52 x.55 x.56 x.57 x.58
T9 input
21.51
A\
T10
x.60 x.53 x.54

Encoder
Revolution Revolution
reset
counter position
Real time
clock update
mode
x.30
Minutes/seconds
Real time
clock daylight x.34
saving mode Days/hours
x.19 x.35
User Month/date
Real time
clock normal x.36
operation Years
Real time
clock x.37
Real time
clock
+1 hour
Key
XX
terminals XX
parameter

XX XX
terminals parameter

Issue Number: 8
Figure 10-47 Menu 15D logic diagram*

Monitor
T5 x.04
Monitor
Digital I/O read word Pr x.20
T6 x.05 Digital I/O Terminal Binary value
read word
T5 8
Monitor
x.20 T6 16
T7 x.06 T7 32
T21/T23 64
Monitor
T21
x.07
T23
Key
XX
terminals XX
parameter

XX XX
terminals parameter

SM-I/O Lite & SM-I/O Timer

The Commander SK SM-I/O Lite & SM-I/O Timer options have an analog input that operates with a 11 bit resolution in both voltage and current
modes.
The analog output has a resolution of approximately 13 bits (± 1.25mV resolution in voltage mode and ± 2.5μA resolution in current mode).
Input / outputs - sample times / update rates
The communications between the drive and the Solutions Module is through a synchronous serial link operating at 100kHz. The update rate of the
I/O is dependant on the number of I/O being used.
If fast update rates of I/O are required, the drive I/O should be used or the Solutions Module I/O loading should be kept to a minimum.
I/O description Required update time (ms)

Background (mandatory) 5
Digital input 1 2
Digital input 2 2
Digital input 3/ Encoder input 2
Relay output 2
Analog input (10/11 bit) 2/8*
Analog output 3
Total update time for all 18/24*
Sample calculation of update rate:
Analog input (2) + analog output (3)+ digital input (2) + relay output (2) + background (5) = 14 ms
* When the analog input is routed to precision reference parameters, Pr 1.18 and Pr 1.19, the worst-case update time is 4 x 2 = 8 ms
NOTE
If a 32 bit parameter is used as a source parameter on a Solutions Module, then it should be routed via a Menu 18 parameter e.g. Pr 18.12.
NOTE
The encoder reference input is only active when the destination parameter (Pr 15.59) is routed to a valid parameter.
15.01 Solutions module identification code

Coding
1 1 1 1
Range 0 or 599
Default See Table 10-26 Solutions Module ID on page 171
Update rate Write on power up
The new parameter values are stored automatically by the drive. If the drive is subsequently powered up with a different Solutions Module installed or
no Solutions Module installed when one was previously installed. The drive will trip on SL.dF or SL.nF.
15.02 Solutions Module software version

Coding
2 1 1 1 1
Range 00.00 to 99.99
This parameter shows the version of software programmed into the Solutions Module. The software sub version is displayed in Pr 15.51.
These two parameters display the software version in the form of:
Pr 15.02 = xx.yy
Pr 15.51 = zz
15.03 Current loop loss indicator

Coding
1 1 1 1
If the SM-I/O Lite/ SM-I/O Timer analog input is programmed in any of the modes 2 to 5 (see Pr 15.38) then this bit is set if the current input falls below
3mA. This bit can be designated to a digital output to indicate that the current input is less than 3mA.

Issue Number: 8
15.04 Terminal T5 digital input 1 state

Coding
1 1 1 1
0: OFF Inactive
1: On Active
Terminals T5 to T7 are three programmable digital inputs.
These parameters indicate the state of the digital input terminals.
If an external trip is required, then one of the terminals should be programmed to control the external trip parameter (Pr 10.32), with the invert set to
On(1) so that the terminal must be made active for the drive not to trip.
NOTE
The digital inputs are set up in positive logic. This logic cannot be changed.
15.07 Relay 1 state (Terminals T21 and T23)

Coding
1 1 1 1
0: OFF De-energized
1: On Energized
This parameter indicates the state of the relay.
15.14 Terminal T5 digital input 1 invert

Coding
1 1 1
Default OFF(0)
Setting these parameters to On(1) causes the input sense to the destination parameter to be inverted.
15.17 Relay 1 invert (terminals T21 and T23)

Coding
1 1 1
Default OFF(0)
Setting this parameter to On(1) causes the relay sense to be inverted.

15.19 Real time clock daylight saving mode

Coding
1 1 1
Default OFF(0)
0: OFF Real time clock normal operation
1: On Real time clock + 1 hour
NOTE
The real time clock is not available on SM-I/O Lite.
15.20 Digital I/O read word

Coding
1 1 1 1
Range 0 to 120
This word is used to determine the status of the digital I/O by reading one parameter.
Pr 15.20 contains a binary value 'xx'. This binary value is determined by the state of Pr 15.04 to Pr 15.07. So for example, if all terminals were active
the value displayed in Pr 15.20 would be the sum of the binary values shown in the table, i.e. 120.
Binary value for xx Digital I/O

1
2
4
8 Terminal T5
16 Terminal T6
32 Terminal T7
64 Terminals T21 & T23
128
15.24 Terminal T5 digital input 1 destination

Coding
1 2 1 1 1 1
Default Pr 0.00
Destination parameters define the parameter each of the programmable inputs is to control. Only parameters that are not protected can be controlled
by the programmable digital inputs. If a non-valid parameter is programmed, the digital input is not routed anywhere.
15.27 Terminal T21/T23 relay 1 source

Coding
1 2 1 1 1 1
Default Pr 0.00
This parameter defines the parameter to be represented by the status relay. Only valid parameters can be selected as a source for the relay output. If
a non-valid parameter is programmed, then the relay will remain in the last known state.
15.28 to 15.29 Unused parameter

15.30 Real time clock update mode

Coding
1 1
Range 0 to 2
Default 0
Update rate Background read/write
0: Real time clock parameters controlled by real time clock
1: Real time clock parameters controlled by user
2: Real time clock reads real time clock parameters and sets Pr 15.30 to 0
NOTE
The real time clock is not available on SM-I/O Lite.
15.34 Real time clock minutes/seconds

Coding
2 1 1 1 1
Range 00.00 to 59.59
Default 00.00
15.35 Real time clock days/hours

Coding
2 1 1 1 1
Range 1.00 to 7.23
Default 00.0
15.36 Real time clock month/date

Coding
2 1 1 1 1
Range 00.00 to 12.31
Default 00.00
15.37 Real time clock years

Coding
1 1 1 1
Range 2000 to 2099
Default 2000
When an option with a real time clock is installed, Pr 15.34 to Pr 15.37 will be controlled by the option.
NOTE
Pr 15.34 to Pr 15.37 are not available on SM-I/O Lite
15.38 Analog input 1 mode (Terminal T2)

Coding
1 1 1 1
Range 0-20(0), 20-0(1), 4-20(2), 20-4(3), 4-.20(4), 20-.4(5), VoLt(6)
Default 0-20(0)
Update rate On drive reset
Terminal T2 is a voltage/current reference input. The setting of this parameter configures the terminal to the required mode

.
0 0-20 0 to 20mA
1 20-0 20 to 0mA
6 VoLt -10 to +10 volts
In modes 2 and 3, a current loop loss trip will be generated as SL.Er if the current input falls below 3mA, and Pr 15.50 will be set to a 2.
If 4-.20 or 20-.4 modes are selected, Pr 15.03 will switch from OFF to On to indicate that the current reference is less than 3mA.
NOTE
If Bi-Polar operation is required, the -10V reference must be generated and supplied by an external power supply.
15.39 Analog output 1 mode (Terminal T3)

Coding
1 1 1 1
Range 0-20(0), 20-0(1), 4-20(2), 20-4(3), VoLt(4)
Default 0-20(0)
Terminal T3 is a voltage/current output. The setting of this parameter configures the terminal to the required mode.
0 0-20 0 to 20mA
1 20-0 20 to 0mA
2 4-20 4 to 20mA
3 20-4 20 to 4mA
4 VoLt 0 to +10V
15.40 Analog input 1 level (Terminal T2)

Coding
1 1 1 1
Range -100% to +100%
This parameter displays the level of the analog signal present at analog input 1.
In voltage mode, this is a bipolar voltage input where the input range is -10V to +10V.
In current mode, this is a unipolar current input having a maximum measurable input of 20mA. The drive can be programmed to convert the measured
current to any one of the defined ranges in Pr 15.38. The selected range is converted to 0 - 100.0%.
15.41 Analog input 1 scaling (Terminal T2)

Coding
3 1 1 1
Range 0.000 to 4.000
Default 1.000
This parameter is used to scale the analog input if so desired. However in most cases it is not necessary as each input is automatically scaled such
that for 100.0%, the destination parameters (defined by the settings of Pr 15.43) will be at maximum.
15.42 Analog input 1 invert (terminal T2)

Coding
1 1 1
Default OFF(0)
This parameter can be used to invert the analog input reference (i.e. multiply the input scaling result by -1)

15.43 Analog input 1 destination (Terminal T2)

Coding
2 1 1 1 1
Default Pr 0.00
Update rate Drive read on reset
Only parameters that are not protected can be controlled by analog inputs. If a non-valid parameter is programmed to the destination of an analog
input, the input is not routed anywhere. After a modification to this parameter, the destination is only changed when a reset is performed.
15.48 Analog output 1 source (Terminal T3)

Coding
2 1 1 1 1
Default Pr 0.00
The parameter required to be represented as an analog signal by the analog output on Terminal T3 should be programmed in this parameter. Only
parameters that are valid can be programmed as a source. If a non-valid parameter is programmed as a source, the output will remain at zero. After
a modification to this parameter, the source is only changed when a reset is performed.
15.49 Analog output 1 scaling (Terminal T3)

Coding
3 1 1 1
Range 0.000 to 4.000
Default 1.000
This parameter can be used to scale the analog output if so desired. However in most cases it is not necessary as the output is automatically scaled
such that when the source parameter is at its maximum, the analog output will be at its maximum.
15.50 Solutions Module error status

Coding
1 1 1
Range 0 to 255
If a Solutions Module error is detected, the drive will trip on SL.Er. The reason for the trip is stored in Pr 15.50.
Table 10-28 Error Codes
Error Code Reason for Fault
0 No error
1 Digital output short circuit
2 Current input to high or too low
3 Encoder supply over current
4 SM-I/O Lite / SM-I/O Timer serial communications error
5 Real time clock error (SM-I/O Timer only)
74 SM-I/O Lite / SM-I/O Timer PCB over temperature
The drive can also trip on a number of Solutions Module trips, SL.xx. Please see table 9-13, Trip Indications in the Commander SK Advanced User
Guide.
The SM-I/O Lite and SM-I/O Timer includes a temperature monitoring circuit. If the pcb temperature exceeds 65°C, the drives cooling fan is forced to
operate for a minimum of 20 seconds. If the pcb temperature falls below 65°C, the fan will switch off. If the pcb temperature exceeds 70°C, the drive
will trip on SL.Er and the error status will be set to 74.

15.51 Solutions Module software sub-version

Coding
2 1 1 1 1
Range 00 to 99
This parameter shows the version of software sub version programmed into the Solutions Module. See Pr 15.02
15.52 Drive encoder lines per revolution

Coding
1 1 1 1
Range 512(0), 1024(1), 2048(2), 4096(3)
Default 1024(1)
Indicates the number of lines per revolution for the encoder.
Value Display Description

0 512 512 lines per revolution encoder
NOTE
A change to this parameter only takes effect when the drive is disabled, stopped or tripped.
15.53 Drive encoder revolution counter

Coding
1 1 1 1 1
Range 0 to 65535 revolutions
This parameter shows the revolutions count of the encoder reference.
NOTE
With a reset command, the revolution counter is reset to zero.
15.54 Drive encoder position

Coding
1 1 1 1 1
Range 0 to 65535 (1/216ths of a revolution)
This parameter shows the position of the encoder reference.
NOTE
With a reset command, the encoder position is reset to zero.
15.55 Drive encoder speed feedback

Coding
1 1 1 1
Range -32000 to + 32000 rpm
This parameter shows the encoder speed in rpm provided that the set-up parameters for the drives reference encoder are correct.
15.56 Maximum drive encoder reference

Coding
1 1 1
Range 0 to 32000 rpm
Default 1500
This parameter limits the range of the encoder speed reference being used.

Issue Number: 8
15.57 Drive encoder reference level

Coding
1 1 1
Range -100% to +100%
This parameter shows the percentage of the encoder reference level being used.
15.58 Drive encoder reference scaling

Coding
3 1 1 1
Range 0.000 to 4.000
Default 1.000
The encoder reference is scaled by this parameter, before being sent to the encoder reference destination.
15.59 Drive encoder reference destination

Coding
1 2 1 1 1 1
Default Pr 0.00
This parameter may be routed to any non-protected drive parameter.
15.60 Encoder reset

Coding
1 1
Default OFF(0)
Encoder only: 13ms
Update rate
All I/O routed: 30ms
Setting this Bit parameter to On will reset the drive encoder revolution counter (Pr 15.53) and drive encoder position (Pr 15.54) to zero.
NOTE
Please refer to the SM-I/O Lite/ SM-I/O Timer user guide for further information on the SM-I/O Lite and SM-I/O Timer.

10.16 Menu 18: Application menu 1

18.01 Application menu 1 power-down saved integer -32768 to 32767 0 N/A
18.02 Application menu 1 read-only integer -32768 to 32767 0 N/A
18.11 Application menu 1 read-write integer -32768 to 32767 0 N/A
18.31 Application menu 1 read-write bit OFF(0) or On(1) OFF(0) N/A

Menu 18 contains parameter that do not affect the operation of the drive. These general purpose parameters are intended for use with fieldbus and
drive user programming. The read-write parameters in this menu can be saved in the drive.
18.01 Application menu 1 power-down saved integer

Coding
1 1 1
Range -32768 to 32767
Default 0
Update rate N/A
18.02 to 18.10 Application menu 1 read-only integer

Coding
1
Range -32768 to 32767
Default 0
Update rate N/A
18.11 to 18.30 Application menu 1 read-write integer

Coding
1 1
Range -32768 to 32767
Default 0
Update rate N/A
18.31 to 18.50 Application menu 1 read-write bit

Coding
1 1 1
Default OFF(0)
Update rate N/A

10.17 Menu 20: Application menu 2

20.00 Not used
20.01 Not used
20.02 Not used
20.03 Not used
20.04 Not used
20.05 Not used
20.06 Not used
20.07 Not used
20.08 Not used
20.09 Not used
20.10 Not used
20.11 Not used
20.12 Not used
20.13 Not used
20.14 Not used
20.15 Not used
20.16 Not used
20.17 Not used
20.18 Not used
20.19 Not used
20.20 Not used
20.21 Application menu 2 read-write long integer -231 to 231-1 0 N/A
20.23 Application menu 2 read-write long integer 31 31 0 N/A
-2 to 2 -1
20.24 Application menu 2 read-write long integer -231 31
to 2 -1 0 N/A
Menu 20 contains parameters that do not affect the operation of the drive. These general purpose parameters are only for use with fieldbus and drive
user programming. The read-write parameters in this menu cannot be saved in the drive.
20.21 to 20.30 Application menu 2 read-write long integer

Coding
1 1
Range -231 to 231-1
Default 0
Update rate N/A

10.18 Menu 21: Second motor map

21.01 Motor 2 maximum set speed 0.0 to 1500.0 Hz 50(Eur), 60(USA) B
21.02 Motor 2 minimum set speed 0.0 to Pr 21.01 0.0 B
A1.A2(0), A1.Pr(1), A2.Pr(2),
21.03 Motor 2 reference selector A1.A2(0) 5 ms
Pr(3), PAd(4), Prc(5)
21.04 Motor 2 acceleration rate 0.0 to 3200.0 s/100 Hz 5.0 5 ms
21.05 Motor 2 deceleration rate 0.0 to 3200.0 s/100 Hz 10.0 5 ms
21.06 Motor 2 motor rated frequency 0.0 to 1500.0 Hz 50.0(Eur), 60.0(USA) B
0 to RATED_ Drive rated current
21.07 Motor 2 motor rated current B
CURRENT_MAX A {Pr 11.32}
21.08 Motor 2 motor rated full load rpm 0 to 9999 rpm 1500(Eur), 1800(USA) B
110V drive: 230
200V drive: 230
0 to AC_VOLTAGE_SET_ 400V drive: 400(Eur)
21.09 Motor 2 motor rated voltage 128 ms
MAX V 460(USA)
575V drive: 575
690V drive: 690
21.10 Motor 2 motor rated power factor 0.00 to 1.00 0.85 B
Auto(0), 2P(1), 4P(2), 6P(3),
21.11 Motor 2 number of motor poles Auto(0) B
8P(4)
21.12 Motor 2 stator resistance 0.000 to 65.000 Ω 0.00 B
21.13 Motor 2 voltage offset 0.0 to 25.0 V 0.0 B
21.14 Motor 2 transient inductance (σLs) 0.00 to 320.00 mH 0.00 B
21.15 Motor 2 active OFF(0) to On(1) OFF(0) B
21.16 Motor 2 thermal time constant 0 to 250 89 B
21.17 Not used
21.18 Not used
21.19 Not used
21.20 Not used
21.21 Not used
21.22 Not used
21.23 Not used
21.24 Not used
21.25 Not used
21.26 Not used
21.27 Not used
21.28 Not used
0 to
21.29 Motor 2 symmetrical current limit MOTOR2_CURRENT_LIMIT_ 165.0 B
MAX%

21.01 Motor 2 maximum set speed

Coding
1 1 1 1
Eur: 50.0
Default
USA: 60.0
First motor
Pr 1.06
parameter
This parameter is a symmetrical limit on both directions of rotation.
Defines drive absolute maximum frequency reference. Slip compensation and current limit can increase the motor frequency further.
21.02 Motor 2 minimum set speed

Coding
1 1 1 1 1
Default 0.0
First motor
Pr 1.07
parameter
Used in unipolar mode to define drive minimum set speed. This can be overridden if the maximum set speed clamp Pr 21.01 is adjusted to be less
than Pr 21.02. Inactive during jogging.
21.03 Motor 2 reference selector

Coding
1 1 1 1
Range A1.A2(0), A1.Pr(1), A2.Pr(2), Pr(3), PAd(4), Prc(5)
Default A1.A2(0)
First motor
Pr 1.14
parameter
Update rate 5ms
NOTE
When motor 2 selected (Pr 11.45 = On), the speed reference must be set correctly using Pr 21.03.
0: A1.A2 Analog reference 1 or 2 selected by terminal input
1: A1.Pr Analog reference 1 (current) or 3 Presets selected by terminal input
2: A2.Pr Analog reference 1 (voltage) or 3 Presets selected by terminal input
3: Pr 4 Preset speeds selected by terminal input
4: PAd Keypad reference selected
5: Prc Precision reference selected
With Eur defaults
Pr 21.03 Pr 1.49
destination destination
A1.Pr(1) Pr 1.45 Pr 1.46 1
A2.Pr(2) Pr 1.45 Pr 1.46 2
Pr(3) Pr 1.45 Pr 1.46 3
PAd(4) 4
Prc(5) 5

With USA defaults

Pr 1.14 Pr 1.49
destination destination
A1.Pr(1) Pr 1.45 Pr 1.46 1
A2.Pr(2) Pr 1.45 Pr 1.46 2
Pr(3) Pr 1.45 Pr 1.46 3
PAd(4) 4
Prc(5) 5
When this parameter is set to 0 the reference selected depends on the state of bit parameters Pr 1.41 to Pr 1.44. These bits are for control by digital
inputs such that references can be selected by external control. If any of the bits are set, the appropriate reference is selected (indicated by Pr 1.49).
If more than one bit is set the highest numbered will have priority.
In mode 1 and 2 a preset speed will be selected instead of the current or voltage selection if the preset selected is any preset speed other than preset
speed 1. This gives the user the flexibility to be able to select between current and 3 presets, or voltage and 3 presets, with only two digital inputs.
Pr 1.41 Pr 1.42 Pr 1.43 Pr 1.44 Reference selected Pr 1.49

X 1 0 0 Preset reference (Pr) 3
X X 1 0 Keypad reference (PAd) 4
X X X 1 Precision reference (Prc) 5
Keypad reference
If Keypad reference is selected, the drive sequencer is controlled directly by the keypad keys and the keypad reference parameter (Pr 1.17) is
selected. The sequencing bits, Pr 6.30 to Pr 6.34, have no effect and jog is disabled.
NOTE
There is no forward/ reverse button on the drives keypad. If a forward/ reverse is required in keypad mode, see Pr 11.27 for how to set this up.
NOTE
On Commander SE, Pr 21.03 (Pr 1.14) used to correspond to Pr 05.
On Commander SK, Pr 11.27 corresponds to Pr 05.
If Pr 05 or Pr 11.27 is used in a desired system set-up and then Pr 21.03 (Pr 1.14) is then used to change this set-up, although some of these set-ups
for Pr 05 and Pr 21.03 (Pr 1.14) are the same, the displayed value showing the set-up of Pr 05 (AI.AV, AV.Pr etc.) will not change to the setting of
Pr 21.03 (Pr 1.14).
21.04 Motor 2 acceleration rate

Coding
1 1 1 1
Range 0 to 3200.0s/100 Hz
Default 5.0
First motor
Pr 2.11
parameter
Update rate 5ms
Defines the acceleration ramp for motor 2.
The acceleration ramp rate units can be change to s/10Hz or s/1000Hz, see Pr 2.39 on page 54 for details.
21.05 Motor 2 deceleration rate

Coding
1 1 1 1
Range 0 to 3200.0 s/100 Hz
Default 10.0
First motor
Pr 2.21
parameter
Update rate 5ms
Defines the deceleration ramp for motor 2.
The deceleration ramp rate units can be change to s/10Hz or s/1000Hz, see Pr 2.21 on page 53 for details.

21.06 Motor 2 motor rated frequency

Coding
1 1 1 1
Default Eur: 50.0, USA 60.0
First motor
Pr 5.06
parameter
The motor rated frequency and the motor rated voltage (Pr 21.09) are used to define the voltage to frequency characteristic applied to the drive (see
Pr 21.09). The motor rated frequency is also used in conjunction with the motor full load rpm to calculate the rated slip for slip compensation (see
Pr 21.08 on page 191).
21.07 Motor 2 motor rated current

Coding
1 2 1 1 1 1
Range 0 to RATED_CURRENT_MAX A
Default Drive rated current (Pr 11.32)
First motor
Pr 5.07
parameter
The motor rated current should be set at the machine nameplate value for rated current.
This value is used in the following:
• Current limit, see Pr 21.29 on page 195
• Motor protection system, see Pr 21.16 on page 195
• Slip compensation, see Pr 21.08
• Vector mode voltage control, see Pr 21.09
• Dynamic V to f control, see Pr 5.13 on page 78
21.08 Motor 2 motor rated full load rpm

Coding
1 1 1
Range 0 to 9999 rpm
Default Eur: 1500, USA 1800
First motor
Pr 5.08
parameter
The rated full load rpm is used with the motor rated frequency and No. of motor poles to calculate the rated slip of the induction machine in Hz.
Rated slip = Motor rated frequency – ( No. of motor pole pairs × Motor full load rpm ⁄ 60 ) = Pr 21.06 – [ ( Pr 21.11 ⁄ 2 ) × ( Pr 21.08 ⁄ 60 ) ]
The rated slip is used to calculate the frequency adjustment required to compensate for slip from the following equation:
Slip compensation = Rated slip × Active current ⁄ Rated active current
If slip compensation is required, Pr 5.27 must be set to On(1) and this parameter should be set to the nameplate value, which should give the correct
rpm for a hot machine.
Sometimes it will be necessary to adjust this when the drive is commissioned because the nameplate value may be inaccurate. Slip compensation will
operate correctly both below rated speed and within the field weakening region. Slip compensation is normally used to correct for the motor speed to
prevent speed variation with load. The rated load rpm can be set higher than synchronous speed to deliberately introduce speed droop. This can be
useful to aid load sharing with mechanically coupled motors.
NOTE
If Pr 21.08 is set to 0 or to synchronous speed, slip compensation is disabled.
NOTE
If the full load speed of the motor is above 9999rpm, slip compensation should be disabled. This is because a value above 9999 cannot be entered in
Pr 21.08.

21.09 Motor 2 motor rated voltage

Coding
1 1 1 1 1
Range 0 to AC_VOLTAGE_SET_MAX V
Default 400V rating drive: Eur: 400V, USA: 460V
First motor
Pr 5.09
parameter
Update rate 128ms
The rated voltage is used in conjunction with the motor rated frequency (Pr 21.06) to define the voltage to frequency characteristic applied to the
motor. The following operating methods selected by Pr 5.14 are used to define the drive frequency to voltage characteristic.
Open-loop vector mode: Ur S, Ur A, Ur or Ur I
A linear characteristic is used from 0Hz to rated frequency, and then a constant voltage above rated frequency. When the drive operates between
rated frequency/50 and rated frequency/4, full vector based stator resistance (Rs) compensation is applied. However there is a delay of 0.5s when the
drive is enabled during which only partial vector based compensation is applied to allow the machine flux to build up. When the drive operates
between rated frequency/4 and rated frequency/2 the Rs compensation is gradually reduced to zero as the frequency increases. For the vector
modes to operate correctly the stator resistance (Pr 21.12), motor rated power factor (Pr 21.10) and voltage offset (Pr 21.13) are all required to be set-
up accurately.
Fixed boost mode: Fd
A linear characteristic is used from 0Hz to rated frequency, and then constant voltage above rated frequency. Low frequency voltage boost as defined
by Pr 5.15 is applied as shown below.
Output Output voltage characteristic

voltage
Pr 21.09
Pr 21.09 / 2
Voltage
boost Pr 5.15
Pr 21.06 / 2 Pr 21.06 Output
frequency
Square law mode: SrE

A square law characteristic is used from 0Hz to rated frequency, and then constant voltage above rated frequency. Low frequency voltage boost

raises the start point of the square law characteristic as shown below.
Pr 21.09
Pr 5.15 + [(freq/Pr 21.06)2 x (Pr 21.09 - Pr 5.15)]
Pr 5.15
Pr 21.06
21.10 Motor 2 motor rated power factor

Coding
2 1 1 1 1
Range 0.00 to 1.00
Default 0.85
First motor
Pr 5.10
parameter
The power factor is the true power factor of the motor, i.e. the angle between the motor voltage and current. The power factor is used in conjunction
with the motor rated current (Pr 21.07) to calculate the rated active current and magnetising current of the motor. The rated active current is used
extensively to control the drive, and the magnetising current is used in vector mode Rs compensation. It is important that this parameter is set up
correctly.
NOTE
Pr 21.10 should be set to the motor power factor before an autotune is carried out.
21.11 Motor 2 number of motor poles

Coding
1 1 1 1
Range Auto(0), 2P(1), 4P(2), 6P(3), 8P(4)
Default Auto(0)
First motor
Pr 5.11
parameter
Poles by text Pole pairs

(value on display) (value through serial comms)
Auto 0
2P 1
4P 2
6P 3
8P 4
This parameter is used in the calculation of motor speed and in applying the correct slip compensation. When auto is selected the number of motor
poles is automatically calculated from the rated frequency (Pr 21.06) and the rated load rpm (Pr 21.08).
The number of poles = 120 x rated frequency / rpm rounded to the nearest even number.

21.12 Motor 2 stator resistance

Coding
3 1 1 1 1
Range 0.000 to 65.000 Ω
Default 0.000
First motor
Pr 5.17
parameter
This parameter contains the stator resistance of the machine for open loop vector mode operation.
If the drive cannot achieve the necessary current levels to measure the stator resistance during an auto-tune (e.g. there is no motor connected to the
drive) an rS trip will occur and the value in Pr 21.12 remains unchanged. If the necessary current levels can be achieved but the calculated resistance
exceeds the maximum allowable value for that particular drive size, an rS trip will occur and Pr 21.12 will contain the maximum allowable value.
21.13 Motor 2 voltage offset

Coding
1 1 1 1 1
Range 0.0 to 25.0 V
Default 0.0
First motor
Pr 5.23
parameter
Due to various effects in the drive inverter a voltage offset must be produced before any current flows. To obtain good performance at low frequencies
where the machine terminal voltage is small this offset must be taken into account. The value shown in Pr 21.13 is this offset given in line to line rms volts.
It is not possible for the user to measure this voltage easily, and so the automatic measurement procedure should be used (see Pr 5.14 on page 79).
21.14 Motor 2 transient inductance (σLs)

Coding
2 1 1 1 1
Range 0.00 to 320.00 mH
Default 0.00
First motor
Pr 5.24
parameter
With reference to the following diagram, the transient inductance is defined as
σLs = L1 + (L2.Lm / (L2 + Lm))
R1 jwL1 jwL2
jwLm R2/s
Steady state per phase equivalent circuit

of an induction motor
Based on the parameters normally used for the motor equivalent circuit for transient analysis, i.e. Ls = L1 + Lm, Lr = L2 + Lm, the transient inductance
is given by:
σLs = Ls - (Lm2 / Lr)
The transient inductance is used as an intermediate variable to calculate the power factor.

21.15 Motor 2 active

Coding
1 1 1 1
Default OFF(0)
When this parameter is set to On(1), it signifies that motor map 2 is active.
This parameter can be programmed to a digital output to give a signal to an external circuit to close a second motor contactor when motor map 2
becomes active.
21.16 Motor 2 thermal time constant

Coding
1 1 1
Range 0 to 250 s
Default 89
First motor
Pr 4.15
parameter
Pr 21.16 works in conjunction with Pr 4.16 and Pr 4.25. The motor protection modes set-up by Pr 4.16 and Pr 4.25 for motor 1 will be used for motor
2 but the thermal time constant for motor 2 will be defined in Pr 21.16.
See Pr 4.16 on page 68 and Pr 4.25 on page 71 for further details.
21.29 Motor 2 symmetrical current limit

Coding
1 1 1 1 1 1
Range 0 to MOTOR2_CURRENT_LIMIT_MAX %
Default 165.0
First motor
Pr 4.07
parameter
This parameter defines the current limit as a percentage of the rated active current. When the motor rated current is set lower than the drive rated
current, the maximum value of this parameter increases to allow larger overloads.
Therefore, by setting the motor rated current to a lower value than the drive rated current, it is possible to have a current limit greater than 165%. An
absolute maximum current limit of 999.9% is applied.
In frequency control mode (Pr 4.11 = OFF), the drive output frequency is modified if necessary to keep the active current within the current limits as
shown in the following diagram:
Post ramp
Ramp
reference
Current limit
active 1 0
Active
+
current P Pr 4.13
limit I Pr 4.14
-
Active
current
The active current limit is compared with the active current and if the current exceeds the limit the error value passes through the PI controller to give
a frequency component which is used to modify the ramp output. The direction of the modification is always to reduce the frequency to zero if the
active current is motoring, or to increase the frequency towards the maximum if the current is regenerating. Even when the current limit is active the
ramp still operates, therefore the proportional and integral gains (Pr 4.13 and Pr 4.14) must be high enough to counter the effects of the ramp. For
method of setting the gains see Pr 4.13 and Pr 4.14 on page 67.
In torque control mode the current demand is limited by the active current limit. For operation of this mode see Pr 4.11 on page 66.

Index
Numerics D
32 bit parameters ..................................................................7, 9 Data skew ...............................................................................42
DC Bus ......................................................6, 31, 49, 50, 51, 67
A DC Bus controller ....................................................................68
Acceleration rate ......................................... 27, 30, 51, 52, 190 DC Bus voltage .................. 27, 74, 88, 89, 130, 132, 134, 136
Acoustic noise ......................................................................... 80 DC Bus voltage controller .......................................................49
Active current ................................63, 65, 66, 70, 77, 193, 195 DC injection braking .............................................11, 27, 90, 96
Alarm warnings ..................................................................... 134 Deadtime compensation .........................................................81
Analog 6, 9, 27, 30, 31, 33, 39, 40, 41, 44, 66, 103, 132, 141, Deceleration rate ...................................27, 30, 49, 50, 53, 190
................................................................177, 180, 189, 190 Default .... 5, 8, 9, 27, 30, 40, 78, 79, 132, 133, 140, 141, 149
Analog I/O ............................................................................... 33 Delay ..................................................... 96, 122, 123, 163, 192
Auto-reset ............................................................................. 136 Derivative gain ......................................................................168
Autotune ................................. 27, 30, 64, 77, 78, 80, 193, 194 Differential gain .....................................................................167
Digital .....................................................................9, 27, 30, 33
B Digital I/O ................................................................................33
Background task ....................................................................... 9 Display indications ................................................................134
Binary sum .............................................................................. 33 Drive ......................................................................................140
Bipolar .................................................................... 39, 124, 181 Drive cooling fan ...................................................................104
Bit parameters .......................................................................7, 9 Drive ok .................................................................................129
Boot mode ............................................................................. 148 Drive rated current ..................................................... 6, 66, 195
Brake ................................................................27, 30, 161, 163 Drive reset .................................................................................7
Braking resistor ..................................... 50, 132, 134, 135, 137 Drive set-up - general ..............................................................33
Drive voltage rating ...............................................................147
C Drives losses ...........................................................................80
Catch a spinning motor .............................................. 27, 30, 91 Dynamic brake ............................................................. 130, 131
Clock ....................................................................................... 33 Dynamic V to f ............................................. 27, 30, 75, 78, 191
Constant power operation ....................................................... 65
Controller ................................................................................ 68 E
Copying ...........................................................................27, 148 EEPROM ................... 5, 7, 8, 77, 79, 132, 133, 134, 148, 149
CT Comms cable ....................................................... 12, 13, 14 Enable .....................................................................................27
CTSoft .................................................................................4, 12 Encoder lines per revolution ..................................................183
Current controller ..............................................................27, 67 Encoder position .......................................................... 183, 184
Current feedback ....................................................... 27, 63, 66 Encoder reference .................................................................183
Current limit controller ............................................................. 49 Encoder reference destination ..............................................184
Current limits 6, 27, 38, 64, 65, 67, 75, 117, 130, 134, 191, 195 Encoder reference level ........................................................184
Current loop loss ..........................................105, 107, 177, 181 Encoder reset ........................................................................184
Current output ....................................................................... 107 Encoder revolution counter .......................................... 183, 184
Encoder speed feedback ......................................................183
External trip ........................................... 27, 114, 132, 136, 178
F
Fan ........................................................ 68, 100, 104, 134, 141
Fan speed ...............................................................................27
Field ........................................................................................65
Field weakening ....................................................... 67, 75, 191
Fixed boost ............................................................... 79, 91, 192
Flux .........................................................................................79
Frequency / speed reference ..................................................33
Frequency control .................................................... 63, 66, 195
Frequency input ..................................................... 27, 116, 117
Frequency output .............................................27, 58, 107, 116
H
Hard frequency reference .......................................................59
Hard speed reference .............................................................27
Heatsink ..................................................................................80
Heatsink temperature ...................................100, 103, 108, 131
HF trips ..................................................................................134
High inertia load ......................................................................75

I P
IGBT junction temperature .............................. 80, 82, 108, 131 Parameter copying ......................................................... 30, 148
Input rectifier .........................................................................108 Percentage load ................................................................. 6, 70
Integral gain ............................................ 66, 67, 167, 168, 195 Phase loss .................................................................... 132, 133
PID controller .................................................................... 28, 33
J PLC .........................................................................31, 132, 150
Jog ...................................... 38, 40, 52, 53, 89, 95, 96, 97, 99 Position counter ...................................................................... 59
Jog reference ...................................................... 28, 30, 38, 96 Positive logic ......................................................................... 114
Power ................................................................ 6, 74, 107, 135
K Power factor ........................................................................... 91
Keypad control ........................................................................96 Power output ........................................................................ 107
Keypad mode .............................................. 10, 41, 92, 93, 190 Precision reference .................28, 39, 40, 41, 42, 44, 189, 190
Keypad reference ............ 28, 39, 40, 41, 42, 44, 96, 189, 190 Preset reference ..................................................................... 44
Keypad remote ........................................................................13 Preset speeds .................. 28, 30, 40, 41, 43, 52, 53, 141, 189
Programmable logic ................................................................ 33
L Proportional gain ....................................................67, 167, 168
Latches .......................................................................96, 97, 99 Protected .................................................................................. 9
LCD keypad ............................................................................93 Pulse deletion ......................................................................... 81
Load output ...........................................................................107 Pulse Width Modulation ............................................................ 4
Load sharing .................................................................. 75, 191 Pump .................................................................................... 141
LogicStick .......................................................... 4, 24, 148, 150 PWM output .................................................................... 28, 116
Losses .....................................................................................50
Low DC Bus operation ..................................................... 28, 91 R
Ramp .................................................................................. 5, 33
M Ramp hold .............................................................................. 49
Machine flux ................................................................... 76, 192 Ramp mode ................................................................28, 30, 49
Magnetising current ...............................64, 65, 70, 77, 91, 193 Read only ................................................................................. 7
Mains loss .............................................11, 28, 67, 88, 89, 130 Read/write ................................................................................ 7
Motor .........................................................................................4 Real time clock .....................................................179, 180, 182
Motor control ...........................................................................33 Regenerating ................................ 28, 65, 66, 67, 70, 130, 195
Motor current ...........................................................................64 Regulation .............................................................................. 67
Motor full load rpm ................................................................191 Relay ....................................................................116, 177, 178
Motor poles ............................................... 74, 75, 77, 191, 193 Relay output ........................................................................... 28
Motor power factor ..................................................................30 Reset ................................................................... 7, 10, 28, 136
Motor rated current ..................... 30, 64, 75, 77, 131, 191, 193 Resolution ............................................................................... 42
Motor rated frequency .................... 5, 30, 71, 75, 76, 191, 192 RJ45 connector ...................................................................... 13
Motor rated full load rpm ............................................5, 75, 191
Motor rated power factor ........................... 64, 76, 77, 192, 193
Motor rated speed ...................................................................30
Motor rated voltage ...............................5, 30, 76, 81, 191, 192
Motor thermal protection ................................................ 68, 150
Motor thermistor .......................................... 114, 116, 117, 132
Motor voltage ............................................................................4
Motoring .....................................................................65, 66, 70
Motorised pot ..........................................................................33
Multi-drop converters ...............................................................13
N
Non-bit parameters .............................................................. 7, 9
O
Output frequency ....... 11, 51, 63, 66, 67, 74, 81, 91, 116, 195
Output voltage .................................................................... 6, 65
Over modulation ......................................................................81
Over modulation enable ..........................................................28
Overload ...........................64, 66, 69, 131, 132, 134, 137, 195

S
S ramp ..............................................................................28, 50
Safety Information ................................................................... 33
Second motor parameters ...................................................... 33
Security code .......................................................................... 28
Sequencer ............................................................................... 33
Slave frequency ...................................................................... 33
Slew rate ............................................................................... 167
Slip compensation .................. 28, 38, 42, 74, 77, 82, 191, 193
SmartStick .......................................4, 8, 9, 132, 148, 149, 151
SM-Keypad Plus ..................................................................... 13
Software version ..............................................28, 30, 146, 177
Speed control .......................................................................... 33
Speed droop ......................................................................... 191
Speed feedback ...................................................................... 33
Square law .........................................................76, 79, 91, 192
Square law mode ............................................................76, 192
Standard ramp ........................................................................ 67
Standard ramp voltage ......................................................49, 51
Stator flux ..........................................................................64, 65
Stator resistance .........................76, 78, 80, 91, 132, 192, 194
Status ...................................................................................... 33
Status relay ........................................................................... 114
Stop mode ............................................................................... 30
Storing drive parameters ........................................................... 7
Switching frequency .................................... 28, 30, 80, 82, 131
Synchronous speed ................................................................ 75
SYPTLite ................................................................................. 24
T
T-Bar connector/splitter ........................................................... 15
Temperature ........................................................................... 80
Terminating resistors ........................................................13, 14
Thermal model ..................................................... 131, 132, 137
Thermistor input ..............................................................28, 116
Threshold detectors ................................................................ 33
Torque ...................................................................... 65, 66, 163
Torque control ..................................... 63, 65, 66, 67, 141, 195
Torque mode ......................................................28, 66, 67, 145
Torque producing current ............................................. 6, 65, 71
Torque reference ................................................................6, 66
Transient inductance ................................................ 78, 81, 194
Trip indications ...................................................................... 132
Trips ........................................................................................ 33
U
Unipolar ................................................................................... 39
Update rate ...........................................................................8, 9
User PID controller .................................................................. 33
V
Variable selectors ................................................................... 33
Vector mode ...................28, 65, 75, 76, 78, 80, 191, 192, 194
Voltage mode ............................................................. 29, 30, 79
Voltage offset ...................................... 76, 78, 79, 81, 192, 194
W
Watchdog ............................................................. 100, 133, 134
Z
Zero speed ............................................................................ 129

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Advanced User Guide

AC variable speed drive for 3

Part Number: 0472-0001-08

Maillefer Doc. 550 0245X.2

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Commander SK Advanced User Guide 3

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4 Commander SK Advanced User Guide

2.1 Saving parameters

2.2 Loading default parameters

2.3 Eur/USA parameter set differences

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Commander SK Advanced User Guide 5

3 Parameter description format

6 Commander SK Advanced User Guide

3.2 Parameter information

3.2.3 32 bit parameters

3.2.4 Drive reset

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Commander SK Advanced User Guide 7

3.3 Key to parameter codes

5.11 Number of motor poles

3.3.2 Term definitions

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8 Commander SK Advanced User Guide

3.4 Sources and destinations

3.4.3 Sources and destinations

3.5 Sample/update times

Update rate Microprocessor update time Comments

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Commander SK Advanced User Guide 9

4 Keypad and display

Figure 4-1 Keypad and display

on the display indicates if motor map 1 or 2 is selected.

4.3 Selecting and changing parameters

PARAMETER VIEW MODE

PARAMETER EDIT MODE

10 Commander SK Advanced User Guide

load indication and vice versa.

The drive is inhibited because there is no enable command, or a coast to stop is in

DC injection braking DC injection braking current is being applied to the motor.

Drive output frequency in Hz

Motor speed in rpm

Machine speed in customer define units

Load current as a % of motor rated load current

Drive output current per phase in Amps

• Press the M MODE key to enter parameter edit mode

• Press the M MODE and UP keys together

• Press the UP key to adjust the 100’s of units

• Press the M MODE and UP keys together again

• Press the DOWN key once to adjust the 10’s of units

• Press the M MODE key to go back to parameter view mode

Commander SK Advanced User Guide 11

5.2 EIA232 to EIA485 communications

5.2.1 CT Comms cable

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12 Commander SK Advanced User Guide

5.2.2 Multi-drop converters

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