5580 Enterprise Parkway, Fort Myers, Florida 33905 ... · CN6 = Keypad connector CN5 = Connector is...

5580 Enterprise Parkway, Fort Myers, Florida 33905 • Telephone (941) 693-7200 • Fax (941) 693-2431

REV: D2.02 06/01P/N: 027-2050© 2001 Saftronics

dcM6+ / dcM12+

INSTRUCTION MANUAL

Digital DC Drives

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dcM6+ / dcM12+INSTRUCTION MANUAL

© 2001 Saftronics, Inc.

www.saftronics.com

NOTICEPrinted March, 2001. The information contained within this document is the proprietary property of Saftronic, Inc., and may not becopied, reproduced or transmitted to other parties without the expressed written authorization of Saftronics, Inc.

No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Saftronics isconstantly improving its high-quality products, the information contained in this manual is subject to change without notice. Everyprecaution has been taken in the preparation of this manual. Nevertheless, Saftronics assumes no responsibility for errors oromissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

TABLE OF CONTENTS1.0 DESCRIPTION ................................................................................................................................ 1

1.1 Overview ............................................................................................................................................................................. 11.2 Operating Components ...................................................................................................................................................... 11.3 The Microprocessor Control Card ES800 ......................................................................................................................... 11.4 Suppression Card ES727 ................................................................................................................................................... 31.5 High Voltage Card ES728 ................................................................................................................................................... 31.6 Burden-pak Card ES729 .................................................................................................................................................... 41.7 Field Regulator ES734 ........................................................................................................................................................ 41.8 Terminal Interface Board ES801 ........................................................................................................................................ 41.9 Optional MODBUS Card ES733 ........................................................................................................................................ 51.10 AC Fuse Kit ....................................................................................................................................................................... 51.11 DC Fuse Kit ...................................................................................................................................................................... 51.12 Power Section ................................................................................................................................................................... 5

2.0 INSTALLATION & WIRING PRACTICES ......................................................................................... 62.1 Receiving ............................................................................................................................................................................ 62.2 Storage ................................................................................................................................................................................ 62.3 Drive Controller Location .................................................................................................................................................... 62.4 Wiring the Equipment .......................................................................................................................................................... 72.5 Typical Motor Wiring ........................................................................................................................................................... 8

3.0 STANDARD FEATURES .................................................................................................................. 93.1 Application ........................................................................................................................................................................... 93.2 Output Voltage ..................................................................................................................................................................... 93.3 Capacities ........................................................................................................................................................................... 93.4 SCR Conversion Bridge ..................................................................................................................................................... 93.5 Speed Range ...................................................................................................................................................................... 93.6 Speed Regulation ................................................................................................................................................................ 93.7 Cooling ................................................................................................................................................................................ 93.8 Efficiency and Power Factor ............................................................................................................................................... 103.9 Overload Capacity .............................................................................................................................................................. 103.10 Field Regulator .................................................................................................................................................................. 103.11 Auto-Tune ......................................................................................................................................................................... 103.12 Serial Interface MODBUS Communication ...................................................................................................................... 103.13 Communiction Specifications ........................................................................................................................................... 113.14 Data to be Sent/Received by Communication ................................................................................................................. 113.15 Operation Mode Selection (C160) ................................................................................................................................... 113.16 MODBUS Slave Address ................................................................................................................................................. 113.17 Ramp Function ................................................................................................................................................................. 113.18 Control Inputs ................................................................................................................................................................... 113.19 Control Outputs ................................................................................................................................................................ 123.20 Drive Protection Features ................................................................................................................................................ 12

4.0 BURDEN RESISTOR SELECTION CHART ..................................................................................... 13240 Vdc Drive Rating Size Selection Chart ............................................................................................................................. 13480 Vdc Drive Rating Size Selection Chart ............................................................................................................................. 13

5.0 WIRING DIAGRAMS ........................................................................................................................ 145.1 Control Board Connections for all dcM6/M12+ Drives ...................................................................................................... 145.2 Control Logic Connection for Model M062005 to 2150, 47P7 to 4300 ............................................................................. 155.2.1 Control Logic Connection for Model M064400 to 4800 .................................................................................................. 16

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5.2.2 Power Section & Control Logic Connection for P/N M122005 to 4800 .......................................................................... 175.2.3 Internal Connection for Model M062005 to 2100, M0647P7 to 4200 ............................................................................ 185.2.4 Internal Connection for Model M064250 to 4800 ........................................................................................................... 195.3 Control Logic Connection for Model M122005 to 2150, M1247P5 to 4300 ...................................................................... 205.3.1 Control Logic Connection for Model M124400 to 4800 .................................................................................................. 215.3.2 Power Section & Control Logic Connection for Model M12005 to 4800 ........................................................................ 225.3.3 Internal Connection for Model M122005 to 2100, M1247P5 to 4200 ............................................................................ 235.3.4 Internal Connection for Model M124250 to 4800 ........................................................................................................... 245.4 Feedback from Encoder .................................................................................................................................................... 265.5 Open Collector Encoder ..................................................................................................................................................... 265.6 Line Driver Encoder ........................................................................................................................................................... 265.7 ES800 Control Terminals and Configurations .................................................................................................................... 275.8 Three-phase AC Line Voltage Jumper ............................................................................................................................... 285.9 Block Diagram .................................................................................................................................................................... 295.9.1 Main Ref ........................................................................................................................................................................... 305.9.2 Ref n ................................................................................................................................................................................. 315.9.3 Voltage Loop ..................................................................................................................................................................... 325.9.4 I Ref .................................................................................................................................................................................. 335.9.5 Current Loop .................................................................................................................................................................... 345.9.6 Field Loop ........................................................................................................................................................................ 355.9.7 Analog In / Out ................................................................................................................................................................. 365.9.8 Digital In / Out .................................................................................................................................................................. 375.10 Milliampere Input / Output Signals .................................................................................................................................... 385.10.1 Input Signals .................................................................................................................................................................. 385.10.2 Output Signals ............................................................................................................................................................... 395.11 CT’s Settings by HP for dcM6/M12+................................................................................................................................ 40

6.0 MAIN OPERATING PROCEDURE ................................................................................................... 426.1 Introduction ......................................................................................................................................................................... 426.2 Preliminary Checks ............................................................................................................................................................ 426.3 Main Checks and Configurations ....................................................................................................................................... 436.4 Speed Control Mode Operation ......................................................................................................................................... 446.5 Ramp Configuration in the Speed Control Mode ............................................................................................................... 456.6 Speed Control Options ....................................................................................................................................................... 456.7 Current (Torque) Control Mode Operation ........................................................................................................................ 466.8 Current Limit Control Options ............................................................................................................................................ 476.9 Analog and Digital Outputs ................................................................................................................................................. 486.10 Current Parameters Back-up and Restoring .................................................................................................................. 486.11 Automatic Tuning ............................................................................................................................................................... 486.11.1 Current Self-Tuning ....................................................................................................................................................... 486.11.2 Speed Self-Tuning ......................................................................................................................................................... 496.11.3 I x R Tuning .................................................................................................................................................................... 496.12 Ramps Over the Reference ............................................................................................................................................ 506.13 Parameters P050 - P057 .................................................................................................................................................. 516.14 Operation Quadrants ....................................................................................................................................................... 536.15 Motor Heating Thermal Image .......................................................................................................................................... 546.16 Field Regulator .................................................................................................................................................................. 556.17 Configurable Digital Outputs ............................................................................................................................................ 576.18 Speed Parameter Autoadaptation .................................................................................................................................... 596.18.1 Constant-load quick reference change ........................................................................................................................ 596.18.2 Constant-reference quick load change ........................................................................................................................ 60

7.0 KEYPAD AND ALPHANUMERIC DISPLAY ..................................................................................... 617.1 Functions Displayed by the LEDs ..................................................................................................................................... 627.2 Local / Remote Running Mode ........................................................................................................................................... 627.3 Keypad ................................................................................................................................................................................ 647.4 “M” Monitor Group .............................................................................................................................................................. 657.5 “P” Programming Group ..................................................................................................................................................... 657.6 “C” Constant Group ........................................................................................................................................................... 697.7 “A” Fault Group ................................................................................................................................................................... 717.8 “W” Warning Group ............................................................................................................................................................ 71

8.0 QUICK-START PROGRAMMING TREE ........................................................................................... 728.1 Menu Parameter Tree ......................................................................................................................................................... 738.2 How to change a parameter ............................................................................................................................................... 748.3 Setting Motor Data .............................................................................................................................................................. 75

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8.4 Setup Procedure for Voltage Feedback ............................................................................................................................. 758.5 Setup Procedure for Tachometer Feedback ..................................................................................................................... 768.6 Setup Procedure for Encoder Feedback .......................................................................................................................... 778.7 Setup Procedure for Automatic Tuning .............................................................................................................................. 788.8 Setup Procedure for Current Auto Tuning ......................................................................................................................... 798.9 Setup Procedure for Speed Auto Tuning ........................................................................................................................... 808.10 Septup Procedure for R x I Auto Tuning .......................................................................................................................... 818.11 Setup Procedure for Constant HP Range ....................................................................................................................... 81

9.0 QUICKSTART MAIN PARAMETER DIAGRAM ................................................................................ 82

10.0 MEASURE PARAMETERS .............................................................................................................. 83

11.0 PROGRAMMING PARAMETERS .................................................................................................... 89

12.0 CONFIGURATION PARAMETERS .................................................................................................. 115

13.0 ALARM PARAMETERS ................................................................................................................... 131

14.0 WARNING PARAMETERS ............................................................................................................... 137

15.0 SPARE PARTS ................................................................................................................................ 13815.1 AC Line Fuse & DC Bus Fuse Part Numbers ................................................................................................................ 14115.2 AC Line Fuse & DC Bus Fuse Kit Assy. .......................................................................................................................... 141

16.0 DIMENSION DRAWINGS ................................................................................................................. 14216.1 Dimensions and Weights .................................................................................................................................................. 14316.2 Dimension Drawing for M12+ 250-300HP (460V) and 125-150HP (250V) Chassis ..................................................... 14416.3 Dimension Drawing for M12+ 400-500HP (460V) Chassis ............................................................................................ 14516.4 Dimension Drawing for M12+ 600-800HP (460V) Chassis ............................................................................................ 14616.5 Dimension Drawing for M6+ 250-300HP (460V) and 125-150HP (230V) Chassis ....................................................... 14716.6 Dimension Drawing for M6+ 400-500HP (460V) Chassis .............................................................................................. 14816.7 Dimension Drawing for M6+ 600-800HP (460V) Chassis .............................................................................................. 149

17.0 DYNAMIC BRAKING RESISTOR SIZE CHART............................................................................... 150

18.0 GLOSSARY ..................................................................................................................................... 151

19.0 FORMULAS ..................................................................................................................................... 15819.1 Mechanical Formulas ....................................................................................................................................................... 15819.2 Electrical Formulas ........................................................................................................................................................... 15919.3 Rules of Thumb ................................................................................................................................................................. 159

20.0 TROUBLESHOOTING ..................................................................................................................... 160

21.0 USER’S PARAMETERS DIFFERENT FROM DEFAULT VALUES ................................................... 161

22.0 APPENDIX ...................................................................................................................................... 16422.1 Fuse Mounting Instructions ............................................................................................................................................. 16422.2 Crossover Resistor Instructions ..................................................................................................................................... 16722.3 RS-485 Serial Networking Instructions ........................................................................................................................... 16822.4 ES800 Replacement Instructions .................................................................................................................................... 171

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1.0 DESCRIPTION

1.1 Overview

These instructions cover the installation, adjustment, operation and maintenance of the Saftronics dcM PlusSeries Digital DC Drive. The drives are 6-pulse controllers, either single quadrant (non-regenerative) or 4-quadrant(fully-regenerative). The closed-loop and open loop control functions are performed by a high speed, 16-bitmicroprocessor. A wide range of functions can be performed by the standard drive without adding options.

Since this manual covers a variety of drive unit ratings, the information contained herein is generally applicable toall the sizes of controllers.

The manual contains parameter charts for documenting the drive setting data, adjustments, and settings thatresult from the start-up procedures. It is strongly recommended that these parameters be recorded after the initialstart-up. This information can be useful at a later date should difficulties occur, or if less familiar service peopleshould become involved with the equipment.

This manual is primarily intended to serve as a guide to the installation and start-up of standard drives and not arepair manual.

1.2 Operating Components

dcM Plus series drive consists of the following major functional sections.

1.3 The Microprocessor Control Card ES800

Contains most of the closed-loop and open-loop control functions such as the speed, current and gating control. Italso contains the keypad and display that are used for entering and observing the various parameters that effectthe operation of the drive. The drive controller adjustment is accomplished by using a removable keypad up to adistance of 10 feet maximum. The parameter values that are set via keypad are stored in the EEPROM. Thesevalues remain in the memory, even when the power is removed. There is no real time clock that runs theMicroprocessor. So therefore, there is no need for battery backup.

· ES800 Description of Connectors

CN1 = Interface connector to ES728 connector CN14



CN4 = Interface connector to fixed field supply card not used on dcM Plus Drives

CN5 = Connector is the same as the keypad connector

CN6 = Keypad connector CN5 = Connector is the same as the keypad connector

CN7 = Connector is for option card ES733 (MODBUS)

· ES800/1 Description of JP Jumpers

JP1 = 2+3 is standard setting, JP1 = 1+2 used for factory test procedure.

JP2 = 2+3 is standard setting used for Picket Fence gate pulse firing (20 kHz).

JP2 = 1+2 continuous gate pulse firing (1.65 ms).

JP3 = 2+3 is standard setting. JP3 = 1+2 to add the termination resistor on the drive when the keypad is extended to a distance of 30 feet.

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· ES800 Description of Trim Potentiometer

T2 (Imax) (1) = user adjustment potentiometer to lower current limit. Viewed by M013.

· ES800 Description of Test Point

TS6 is the test point to monitor the current feedback waveform.

TS46 & 47 is the test point to monitor the encoder signal CHA & CHB waveform.

· LED Indicator for ES800

S8: LED displays thermal switch mounted on the heatsink (illuminated displays stack O/T).

S9(2): LED illuminated displays field current not at zero in a drive when used without the field regulatorcard.

SA: LED illuminated displays positive current flow in the bridge A section.

SB: LED illuminated displays negative current flow in the bridge B section.

STX: LED flashing displays drive is sending a message.

RUN: LED illuminated displays drive in RUN.

LIM: LED illuminated displays drive in current limit

· LED Indicator for ES800 Digital Input Logical State

SO:LED illuminated displays enable input logical state TB24

S1: LED illuminated displays start input logical state TB26

S2: LED illuminated displays programmable MDI-1 Input logical state TB28






· LED Indicator for ES800 Digital Output Logical State

SC: LED illuminated displays programmable MDO-1 Output logical state TB25-27

SD: LED illuminated displays programmable MDO-2 Output logical state TB29-31

SE: LED illuminated displays programmable MDO-3 Output logical state TB33-35

SF: LED illuminated displays programmable MDO-4 Output logical state TB37-39

SG:LED illuminated displays programmable MDO-5 Output logical state TB41-43

NOTE: (1) Do not adjust any other factory set potentiometer.

(2) Not used with standard dcM Plus drive, LED is off.

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1.4 Suppression Card ES727

It is a specially designed resistor capacitor network to protect the SCR’s from excessive dv/dt, which can resultfrom line voltage spikes.




FU1-2-3 = Fuse Protection, P/N F6001-02

1.5 High Voltage Card ES728

contains the circuit that interface with the ES800 control card that in turn controls the firing circuit to phasecontrol the SCR’s. The ES728 provides power to the fan control, monitors the O/T switch and the line voltage.ES729 Burden-pak also mounted on this card.


CN1 = 230 / 460 Vac supply voltage connector (connects to ES758 TB 53 & 54)

CN2 = Gate lead 5A (dcM6/12+)

CN3 = Gate lead 5B (dcM12+)




CN7 = Interface connector to ES727 connector CN2 AC supply voltage










CN17 = Interface connector to Burden-pak ES729

CN18 = Interface connector to Burden-pak ES729

CN19 = C/T’s feedback leads


CN21 = N/A

CN22 = O/T switch leads

CN23 = Fan supply leads

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1.6 Burden-pak Card ES729

The burden-pak is scaled to the power unit rating. ES729 takes the current feedback signal and provides currentlimit protection to the drive. If the burden-pak is replaced with any other burden-pak, it could result in damage tothe power unit if not properly sized.




1.7 Field Regulator ES734

Field regulator is designed to control the field current of a DC motor, 5 Amps for a 100 Amps Power Unit and lessand 15 Amps for Power Unit above 100Amps, with option of 35 Amps. The ES734 controls a single-phase semi-controlled bridge (2 SCR’s, 2 Diodes and a free wheeling diode). The ES800 Microprocessor control card controlsthe ES724 card through software control.


CN1 = N/A


CN3 = Supplies voltage to the field SCR device

IP1 = Off = 380 - 480 VAC supply

= On = 200 - 240 VAC supply

1.8 Terminal Interface Board ES801

Terminal board is a discrete adapter board, which allows discrete devices such as push-buttons, selectorswitches, contact and analog voltage or 4-20 mA input speed reference signal.

The input and output contacts are isolated.

The encoder feedback is connected to a DB9 pin connector. Optional encoder cable can be supplied with thedistance of 4 feet and a terminal block. P/N 018-9006

· ES801/1 Description of Jumpers

JP7 1 + 2 = 0 ± 10 Vdc, input TB5 - 2 2+3 = 4 - 20 mA input TB5-7

JP8 1 + 2 = 0 ± 10 Vdc, input TB11 - 2 2+3 = 4 - 20 mA input TB11-13

JP9 1 + 2 = 0 ± 10 Vdc, output TB8 - 9 2+3 = 4 - 20 mA output TB8 - 9

JP10 1 + 2 = 0 ± 10 Vdc, output TB10 - 9 2+3 = 4 - 20 mA output TB10 - 9

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1.9 Optional MODBUS Card ES733

MODBUS option card has a standard RS232, 9 pin male connector and a RS485 female connector half duplex / fullduplex (selectable via jumper) opto-isolated. It is a 10 x 10 cm board connected to ES800 at CN7 a 34 polesvertical strip and fixed to the three standoffs on the ES800 card.

1.10 AC Fuse Kit

The fuse kit was sized for the dcM Plus series drives, with better protection (lower I2t) and superior reliability.Lower I2t minimizes damages to the SCR’s on a short circuit. Controlled arc voltage reduces stress to circuitcomponents during fuse clearing.

WARNING! Fuse kit P/N see Chapter 15, recommended or equivalent. Fuses must be used or warranty is void.

1.11 DC Fuse Kit

The DC fuse kit was sized for the regenerative dcM Plus series drives, with better protection (lower I2t) andsuperior reliability. Lower I2t minimizes damages to the SCR’s on a short circuit. Controlled arc voltage reducesstress to circuit components during fuse clearing.

WARNING! Fuse kit P/N see Chapter 15, recommended or equivalent. Fuses must be used or warranty is void.

1.12 Power Section

The armature SCR converter is a 6-pulse bridge rectifies the incoming 3-phase voltage and permits the averageDC voltage to be varied, thereby controlling the speed of the connected DC motor. (Vac x 1.3 = Vdc). Protectionfuse kits were sized for the dcM Plus drives, with better protection (lower I2t) and superior reliability.

In the 4-quadrant, regenerative version dcM12+ has two 6-pulse bridges (6 SCR modules)

Arranged in back-to-back (non-circulating currents) configuration are used to control the voltages and currents forboth motoring and braking in both the forward and reverse directions of operation.

In the single-quadrant, non-regenerative version dcM6+ has one 6-pulse bridge (6 SCR modules). Thisconfiguration is used to control the voltages and currents for only motoring in the forward directions of operation.

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2.0 INSTALLATION & WIRING PRACTICES

2.1 Receiving

Thoroughly inspect the equipment before accepting shipment from the transportation company.

On the drive controller unit, check the condition of the chassis and its heatsink for damage, dents, loose or brokenparts. Remove cover on the front and inspect the circuit boards for loose or missing components or disconnectedwires. Check all connectors for tightness.

2.2 Storage

If the drive unit is not to be installed immediately, it should be stored in a clean, dry location at an ambienttemperature from -200C to 550C (-40F to +1310F). The surrounding air must be free of corrosive fumes or electricallyconductive contaminants. Care must be taken to prevent condensation from forming within the equipmentenclosure during storage. Failure to store the equipment properly could damage the equipment and void thewarranty.

Motors, transformers and other equipment supplied as part of the order may also have storage limitations. Referto the manuals supplied with this equipment for specific recommendations.

2.3 Drive Controller Location

Drives supplied as open chassis units will normally require an enclosure for installation that meets the applicablesafety codes. The type of enclosure, (NEMA 1, NEMA 4, NEMA 12, etc.) will depend on the environmentalconditions at the installation site. The purchaser of open chassis units is responsible for assuring properinstallation that meets the requirements listed below as well as any applicable safety codes.

Drive units supplied in either wall mounted or free standing enclosures are generally suitable for installation in mostfactory areas. In choosing a location for the controller, be sure to consider the need for adequate clearance to allowcooling air circulation. Ample room must also be provided to permit the door to swing open for maintenance andservice. See Section 12.

Drives units should be installed where the following conditions exist:· Ambient temperature is between 00C and +500C, (+320F to +1220F), for open chassis mounted units,

00C to +400C, (+320F to +1040F), for units in enclosures.

· Altitude above sea level does not exceed 3,300 feet (1000 meters).

· Relative humidity is noncondensing and does not exceed 95%.

· Atmosphere is reasonably free of dirt, dust, combustible vapors, chemical fumes, oil vapor andelectrically conductive or corrosive materials.

· Mounting surfaces are level and sufficiently rigid to support the weight of the equipment withoutsettling or damage to cable duct and conduit enclosed connections. DO NOT MOUNT TOSURFACES THAT ARE SUBJECT TO SHOCK OR VIBRATION!

· The area is free of electromagnetic interference or noise, caused for example, by:

A. Radio frequency signals, such as those generated by portable transmitters used near the drive orits wiring.

B. Stray high voltage or high frequency signals, such as those generated by arc welders orunsuppressed inductive loads, (e.g., relay, contactor or brake coils), which are connected tocircuits used within, or in the vicinity of, the drive or its wiring.

Only qualified personnel should work on this equipment, and only after becoming familiar with all safety notices, installation,operation and maintenance procedures contained in this manual. The successful and safe operation of this equipment is dependentupon proper handling, installation, operation and maintenance of the equipment.

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2.4 Wiring the Equipment

This equipment contains hazardous voltages and rotating mechanical parts. Loss of life, severe personal injury orproperty damage can result if instructions in this manual are not followed.

The user is responsible for installation of the motor, drive controller, transformer, and other devices in accordancewith the National Electrical Code and other applicable local codes which cover such items as wiring size,grounding, disconnects and overcurrent protection.

Hazardous voltages may be present on external surfaces of ungrounded controllers. This can result in loss of life,severe personal injury or substantial property damage. If the drive cabinet or open chassis unit is mounted suchthat it is not grounded, a ground wire must be connected to the panel or enclosure frame for personnel safety. Alsothe motor frame, transformer enclosure and operator station must be connected to earth ground. Consult theNational Electrical Code and other local codes for specific equipment grounding requirements.

Consult the rating plate inside the drive controller to determine the AC and DC current ratings required for operation.The wiring can then be sized in accordance with the National Electrical Code and other applicable local codes.

When a drive controller is supplied with additional options, components, or circuits that are not part of the standarddrive unit, a “custom” schematic will be supplied. Refer to this drawing for details on how to wire the controller andassociated equipment.

Drilling or punching can create loose metal chips. This can result in shorts or grounds that can be hazardous toequipment. If it is necessary to drill or punch holes in the equipment enclosures for conduit entry, be sure thatmetal chips do not enter the circuits.

Circuits shown on the drawing that require shielded cable are sensitive to pickup from other electrical circuits.Examples include wiring from the tachometer and from the speed setting device. Erratic or improper operation ofthe equipment is likely if the following precautions are not observed.

A. Where shielded cable is required, use 2- or 3- conductor TWISTED and SHIELDED cable with theshield either connected as shown in the drawings, or “floating”, if so specified. If the shield is to beconnected, so only at the specified terminal in the drive unit: NOT AT A REMOTE LOCATION.

B. Shielded cables outside the drive enclosure should be run in separate steel conduit, and should not bemixed in with other circuits that are not wired with shielded cable.

C. Inside the drive equipment, wherever possible, avoid running the shielded cable close to other circuits.Avoid long parallel runs to other non-shielded circuits, and cross other cable bundles at right angles.

Meggering circuits connected to the drive can cause damage to electronic components. DO NOT MEGGER orHI-POT THIS EQUIPMENT. Use a battery operated Volt-Ohm-Meter (VOM) to check for shorts, opens or mis-wiring.

Connection of unsuppressed inductive devices to the power feed or control circuits can cause malfunction andpossible component damage to the equipment.

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2.5 Typical Motor Wiring

Many motors utilize dual voltage fields, (150/300 Vdc). In general, the fields will be in parallel for 150 Vdc operationand in series for 300 Vdc operation.

Improper field connections can result in damage to the motor. Be sure to double check the motor nameplate andthe wiring diagram. If the motor contains a thermal protector, connect it in accordance with the wiring diagram. Ifthe motor does not have a thermal protector, the two terminals provided in the control logic for it must be jumperedtogether before the drive can be energized.

A typical motor field current shows the 300 Vdc current rating and the minimum field current for the max. motorspeed. When connected for 150 V the current is double the base speed current value.

REGENERATIVE DRIVES

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3.0 STANDARD FEATURES

3.1 Application

The dcM Plus series drive is a fully digital, three-phase AC to DC converter used to supply DCmotors with the ability to perform speed and torque control, by the closing of a contact.

· Line Voltage Variation

Three-phase, 240/480 Vac +15 / -10%, 40-70 Hz (with automatic adjustment).

AC line distribution system KVA Capacity*

Note: *When applying drives to power distribution systems with KVA capacity in excess of five times thesmallest drive rating, use of an isolation transformer or line reactors of similar impedance is required.

3.2 Output Voltage

0 to + 240 Vdc, for 240 Vac input. (Vac x 1.3 = max Vdc)

0 to + 500 Vdc, for 480 Vac input (for dcM12+ do not exceed 500VDC)

3.3 Capacities

Service Factor 1.0

Maximum Load 150% for one minute

3.4 SCR Conversion Bridge

dcM6 Plus non-regenerative SCR three-phase bridge, fully controlled with dv/dt protection ofSCR’s for single quadrant operation.

dcM12 Plus regenerative SCR three-phase bridge, fully controlled with dv/dt protection of SCR’s forfour quadrant operation.

3.5 Speed Range

Operating Range 0 to rated speed

Range for quoted regulation (typical) 50:1*

Note: *Dependent on top speed and speed feedback used.

3.6 Speed Regulation

Armature Voltage Feedback 2% or better

5PY DC Tachometer 1% or better

BC42 DC Tachometer 0.5% or better

BC46 DC Tachometer 0.1% or better

Encoder 0.1% or better

3.7 Cooling

Fan cooled

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3.8 Efficiency and Power Factor

Displacement power factor at:

100% speed = 88%

50 % speed = 44%

25% speed = 22%

Efficiency of Power Module at: Including Motor:

100% Speed and 100% Load 95% 87%

75% Speed and 100% Load 92% 85%

50% Speed and 100% Load 91% 80%

25% Speed and 100% Load 90% 67%

3.9 Overload Capability

150% of motor full load current for 1 minute.

3.10 Field Regulator

Internal field regulator protected by an external fast acting fuse. Field loss protection, fieldeconomy and field forcing.

Max Field Amps:Max: 5 Amps DC continuous for power units 100 Amps and less.Max: 15 Amps DC continuous for power units greater than 100 Amps with the option

of 35 Amps.

Max Field Voltage:400 Vdc @ 480 Vac; 200 Vdc @ 240 Vac, consult factory for custom voltages.

3.11 Auto-Tune

The drive automatically calculates the ideal gain parameters for both the current, speed loops andthe IR compensation, by recognizing the basic motor characteristics (armature resistance,inductance, and the ratio between the back-EMF and the angular speed).

3.12 Serial Interface MODBUS Communication (Manual P/N 027-2064)

The dcM+ drive can perform serial transmission by using a programmable controller (PLC) andMODBUS communications. MODBUS is composed of one master PLC and 1 to 31 (maximum)slave drives. In signal transmission between master and slave units, the master unit always startstransmission and the slave units respond to it.

The master unit performs signal transmission with one slave unit at a time. Hence, address numbersare assigned to each slave unit in advance and the master unit specifies a number to perform signaltransmission. The slave unit which receives the command from the master unit executes the functionand returns the response to the master unit.

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3.13 Communication Specifications- Interface: RS-485, RS-422 (communication interface ES733 card must be

mounted)- Synchronization: Asynchronous- Transmission parameter: Baud rate: selectable from 4800, 9600 BPS (parameter C161)

Data length: fixed at 8 bitsParity: parity/no parity, even/odd selectable (parameter C162)

- Protocol: In accordance with MODBUS- Maximum number of

units to be connected: 31 units (when RS-485 is used)

3.14 Data to be Sent/Received by Communication

Data to be sent/received by communication are run commands, speed reference, fault contents,drive status and parameter setting/reading.

3.15 Operation Mode Selection (C160)

3.16 MODBUS Slave Address (C163)

The slave address number is set. It is necessary to set the address number so that it will not overlapwith the address number of another slave unit connected on the same transmission line.

3.17 Ramp Function

Completely digital with independent adjustment of the acceleration and deceleration time in bothforward and reverse directions. Rounding of the ramps with a 2nd order function (S-curve) can beprogrammed.

3.18 Control Inputs

Digital: (2) Fixed Inputs, (6) Programmable Inputs (C130)

(2) Fixed Digital Inputs: Start, Enable

(6) Programmable Digital Inputs: Defaults: Reset, Current Limit, Reverse, Preset Speed A, Jog A, Jog B (C130)

Options: Reset, Preset Speed A, Preset Speed B, Preset Speed C,Current Limit, Reverse, Slave Enabled, Ramp Disabled,Second Parameter Set, Min. Speed Enabled, Field EconomyDisabled, Field Forcing Enabled, Jog A, Jog B

Analog: (1) Fixed Input, (3) Programmable Inputs (C120)

(1) Fixed Analog Input: 0 to ±10 Vdc or 4 to 20 mA, Resolution 12 bit, Main SpeedReference

(3) Programmable Analog Inputs: Defaults: 0 = excluded (C120)

Options: Speed Loop Add Reference, Current Loop Add Reference,Ramp Reduction, Positive Acceleration Time, PositiveDeceleration Time, Negative Acceleration Time, NegativeDeceleration Time, External Current Limit, Bridge A CurrentLimit, Bridge B Current Limit

12



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3.19 Control Outputs

Digital: (5) Programmable Outputs (P170)

(5) Programmable Digital Outputs: Defaults: Drive OK, Speed Threshold, CurrentThreshold, Motor at Speed, CurrentLimitation

Options: Drive OK, Speed Threshold, Current Threshold, Motor atSpeed, Current Limitation, Drive Running, Full Over Limit,Fld Weakening, Ifld Threshold

Analog: (2) Fixed Outputs, (2) Programmable Outputs (P150)

(2) Fixed Analog Outputs: 0 to ±10 Vdc, Resolution 12 Bit, Speed Signal Output,Current Signal Output

(2) Programmable Analog Outputs: 0 to ±10 Vdc or 4 to 20 mA, Resolution 12 bit

Defaults: 0 = 0 volts

Options: 0 Volts, Ramp Volts Reference, Speed Error, Speed LoopOut, Current Reference, Back Emf, Output Power, InertiaComp, nfdbk, Armature Current, Field Current, MotorTorque

3.20 Drive Protection Features

From output short-circuit: ultra-fast fuses to be fitted.

From excessive dv/dt on thyristors: R-C single filters together with the varistors on the three-phase line.

From lack of ventilation: alarm A002 from thermoswitch on heatsink.

From drive overload: alarm A022 from Ixt thermal image of the same.

From motor overload: alarm A021 from I2t thermal image of the same.

From armature overcurrent: alarm A003

From field overcurrent: alarm A009.

From field failure: alarm A001.

From armature overvoltage: alarm A010.

From load loss: alarm A004.

From thyristors firing failure: alarm A005.

From unstable or out of range mains frequency: alarms A006 and A012.

From supply mains value failure: alarms A007, A013, A016 and A017, with possibility ofdisabling any alarm related to mains micro losses.

From speed feedback failure: alarm A008.

From automatic tuning failure: alarms A011, A014, A015, A018 and A019.

From EEPROM failure: alarms A024, A025 and A026.

From serial communication failure: alarm A027.

13



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4.0 BURDEN RESISTOR SELECTION CHART

4.1 240 Vdc Drive Rating Size Selection Chart

Note: The above table is based in Table 430-147 of the National Electrical Code.

1. Voltage across the burden resistor is directly proportional to the output current. Full armature currentis equal to 1 Vdc.

2. To set C000 = Motor FLA / Burden Pak value x 100.

4.2. 480 Vdc Drive Rating Size Selection Chart

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5.7 5P72 42 92 27 04 04 05 78

01 0102 23 83 59 04 04 05 411

51 5102 54 55 87 07 08 08 561

02 0202 85 27 09 08 08 001 612

52 5202 27 98 98 001 001 521 762

03 0302 68 601 07 051 521 061 813

04 0402 411 041 39 051 061 002 024

05 0502 341 571 79 081 081 002 525

06 0602 371 212 48 052 052 513 636

57 5702 802 552 37 053 513 053 567

001 0012 772 143 79 053 053 004 3201

521 5212 053 524 58 005 005 006 5721

051 0512 514 605 58 006 006 006 8151

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01 0104 51 81 09 02 53 53 45

51 5104 22 72 86 04 53 04 18

02 0204 82 43 58 04 04 05 201

52 5204 53 34 27 06 08 08 921

03 0304 24 15 58 06 08 001 351

04 0404 55 86 79 07 08 001 402

05 0504 86 48 48 001 001 521 252

06 0604 08 69 69 001 521 521 792

57 5704 001 321 28 051 061 002 963

001 0014 331 461 19 081 081 002 294

521 5214 661 502 28 052 052 513 516

051 0514 002 642 89 052 052 513 837

002 0024 862 033 49 053 053 004 099

052 0524 033 504 18 005 006 006 5121

003 0034 093 774 59 005 006 006 1341

004 0044 025 336 48 057 008 008 9981

005 0054 056 397 88 009 008 0021 0832

006 0064 577 059 97 0021 0021 0021 0582

007 0074 009 0011 19 0021 0021 0061 0033

008 0084 0201 2621 87 0061 0021 0061 0573

14



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5.0 WIRING DIAGRAMS

5.1. Control Board Connections for all dcM6/12+ Drives

15



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5.2. Control Logic Connection for Model M062005 to 2150, 47P5 to 4300

16



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5.2.1 Control Logic Connection for Model M064400 to 4800

17



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5.2.2 Power Section & Control Logic Connection for P/N M122005 to 4800

18



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5.2.3 Internal Connection for Model M062005 to 2100, M0647P5 to 4200

19



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5.2.4 Internal Connection for Model M064250 to 4800

20



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5.3 Control Logic Connection for Model M122005 to 2150, M1247P5 to 4300

21



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5.3.1 Control Logic Connection for Model M124400 to 4800

22



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5.3.2 Power Section & Control Logic Connection for Model M12005 to 4800

23



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5.3.3 Internal Connection for Model M122005 to 2100, M1247P5 to 4200

24



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5.3.4 Internal Connection for Model M124250 to 4800

25



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42

16

14

12

40+24v

Zero Mark

Ch A

Ch B

0v

ES 801

PG

Wiring an Open-Collector Input Encoder

Shielded twisted-pair wires must be used for signal lines.Do not use the PG power for anything other than PG. Using it for another purpose can cause malfunctionsdue to noise.The length of the PG's wiring must not be more than 100 meters (328 feet).The direction of rotation of the drive can be reversed by switching Ch A and Ch B.

N/C

AC Tach

BR1

+

-

R1C1

or

C1 = PN C5004-70R1 = PN R3003-05BR1 = D1010-03

~

Wiring a Line Driver Encoder for +5Vdc/+24Vdc

Do not use the PG power for anything other than PG. Using it for another purpose can cause malfunctions

The length of the PG's wiring must not be more than 100 meters (328 feet).The direction of rotation of the drive can be reversed by switching Ch A, Ch A, and Ch B, Ch B .

For +24Vdc encoder cable, push back pin # 7 from +5Vdc connection and insert into pin #9.

Pin #7 = +5Vdc (Red)

Shielded twisted-pair wires must be used for signal lines.

Pin #8 = 0 Vdc (Blk)Pin #9 = +24Vdc

+5Vdc encoder assembly connector = p/n 018-9006.

due to noise.

Pin #1 = Ch A (Brn)Pin #2 = Ch A (Org)Pin #3 = Ch B (Yel)Pin #4 = Ch B (Grn)Pin #5 = N/CPin #6 = N/C

ES 801

1

9

CN2

PG

_

_

_ _

26



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5.4. Feedback from Encoder

For the encoder connection, the following may be used:

1.The M1 screw double terminal board with 44 terminals.

2. The CN2 9-pole D-connector.

5.5. Open Collector Encoder

In the first event the features of the encoder to be connected are the following:1a. Complimentary push-pull encoder or NPN-type - Open Collector encoder.2a. High level of the output waveform on the three channels equal to 24 Vdc max.3a. Input maximum frequency equal to 68.22 kHz (e.g. 1024 pulses/rev. per 4000 RPM max.)4a. 5Vdc or 24 Vdc voltage values available by the drive to supply the encoder.

The following terminals should be used:14 - Input for channel A15 - 5 Vdc supply output16 - Input for channel B12 - Input for channel zero marker (1)

42 - 0 V40 - 24 Vdc supply output

The encoder screened cable shield should be connected to the ground potential as directly as possible. Use oneof the three collar-shaped cable fasteners situated on the bottom of the control board supporting guard.

5.6 Line Driver Encoder

In the second case the features of the encoder to be connected are the following:

1a. Line-driver encoder (RS422 output standard)2a. High level of the output waveform on the six channels equal to 15 Vdc max3a. Input maximum frequency equal to 68.266 kHz (e.g. 1024 pulses/rev. per 4000 RPM max.)4a. 5 Vdc or 24 Vdc voltage values available by the drive to supply the encoder.

The following D-Connector pins should be used:

pin 1 - Input for channel Apin 2 - Input for channel Apin 3 - Input for channel Bpin 4 - Input for channel Bpin 5 - Input for channel zero marker (1)

pin 6 - Input for channel zero marker (1)

pin 7 - 5 Vdc supply outputpin 8 - 0 Vpin 9 - 24 Vdc supply output

In this case, it is not necessary to use one of the three collar-shaped cable fasteners located on the bottom of thecontrol board supporting guard to connect the screened cable shield of the encoder to the ground potential, unlessa screened 9-pole flying male connector is used. Said connector is to be assembled inside a screening metalbody.

In that way, the ground potential on 90° female connector in board ES801 will be transmitted to the metal body,then to the screened cable shield connecting the encoder.

(1) This is required for the position control only and not for the speed feedback, do not connect.

27



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5.7 ES800 Control Terminals and Configurations

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NOTE: (1) Only in case parameter C051 is set a 1:Predictive value, even when the START contact to Terminal 26 is open and themotor fall ramp is over, if the ENABLE contact to terminal 24 is still closed, the drive “regulates zero current” (no torque isgenerated), i.e. the drive is still operating, although the motor is idling.

While the motor is not running (idling), if for some particular reasons contactor M has to remain closed for a long time, for theoperator’s safety it is better to wire an additional contact to terminal 24; such contact is to be series connected to auxiliary contactNO of contactor M. If this contact opens, the current reference will be set to zero, and the drive will be disabled (motor idling, drivein standby).

5.8 Three-Phase AC Line Voltage Jumper

NOTE: Preset at factory, prior to shipment.

(If there is a need to change the factory preset follow the following steps)

1.Change parameter P011 to max. armature voltage

2.Change parameter C030 to nominal AC line voltage.

3.ES728 Card Jumper ON for 230V, OFF for 460V. Jumper part number 018-0003.

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29

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12

+IN

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© 2001 S

aftronics, Inc.

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7 Analog In/Out 8 Digital In/Out

Main RefSerial Link Ref

Field Bus Ref

Terminal Ref

UpDown Ref

1 Main Ref

M

5 Current loop

+(-)

-(+)

ArmatureI arm

I Ref

I arm

Ref n

ENABLE

Jog Ref

Preset Ref

Main Ref

2 Ref n

4 I Ref

I loop add.ref

Ref n

V err

I Ref

Currentlimits

SLAVE

6 Field loop

BEMF

nom BEMF

+

-

Field

ES734

3 Voltage loop

Ref nRamps

n loop add.ref

V errn setpoint

n feedback(tacho)(armature)(encoder)

V arm

M00708-0

5.9B

lock D

iagram

30 dc

M6

+ / d

cM

12

+IN

ST

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5.9.1M

ain R

ef

P125I refGain

P124I refBias

P123I refPol

P121

V refBias

P120

V refPol

P122

V refGain

C050

SpdLoopSel3:Iref=Vref

≠ 3

= 3

5

7

Terminal

M014

TermRef

C105…108

Ref Sel x1:Terminal

= 0

= 1

Serial Link

M015

SLRef

C105…108

Ref Sel x3:Serial Link

= 0

= 3

Field Bus

M016

FBRef

C105…108

Ref Sel x4:FieldBus

= 0

= 4

Main

31

dc

M6

+ / d

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12

+IN

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Main Ref

0 0 0 MAIN REF0 0 1 JOG REF0 1 0 PRESET REF0 1 1 JOG REF1 0 0 MAIN REF1 0 1 MAIN REF1 1 0 PRESET REF1 1 1 PRESET REF

(***)START PRESET JOG M000

FBus Start

M031FBDgIn [S]

Slink Start

M030SLDgIn [S]

STOPSTART

LOC SEQOFF ON / BLINK / BLINK

M021

DigIn [S]

(*)

(**)

VRef signReversal

KeypadREVERSE

Term/Slink/FBusREVERSE

Ref n

M000

Vref

(***)

REF

SEQ

P222…224Jog 1…3

P013…016

nMax(Min)Pos(Neg)

C130…135MDIx Cfg

9:MinSpdDisabled

= 9

ENABLE

≠ 1…3

= 1…3

LOC SEQOFFON

C130…135

MDIx Cfg1(2)(3):Preset Speed A(B)(C)

P211…217Preset Spdx

Preset Ref

= 12 (13)

JOGC130…135MDIx Cfg

12(13):JOGA(B)

LOC SEQOFF ON

/ BLINK /BLINK

x (-1)

LOC SEQ

= 5

C130…135

MDIx Cfg5:Reverse FORWARD

REVERSE

OFF ON / BLINK /

BLINK

(**)

Jog Ref

= 0

= 1

C110…112

Seq Sel x1:Terminal

START26

M029

TrmDgIn [S]

= 0

= 3

C110…112

Seq Sel x3:Serial Link

= 0

= 4

C110…112

Seq Sel x4:FieldBus

P012

Spd Dmnd Pol

REF ≠ JOG

REF = JOG

MDOxCfg = 9

level

V refThreshold

OR

START

“0”

“0”

“0”

M00710-0

(*)

KeypadSTOP

KeypadSTART

START

Term/Slink/FBusSTART

C103 1:Excluded 0:Included

5.9.2R

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M6

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cM

12

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DT25Vmax

DT80Vmax

DT250Vmax

20

22

23

C070

n Fdbk Select

= 2

= 0

= 1

M ES727

P011

V arm Max

V mains Max

V arm Offset

P010

n Fdbk Max

C072

Encoder Pls

COUNTERCHA

14

CHB16

C070

n Fdbk Select

= 3

= 0…2

= 4

M006

Varm

P010

n Fdbk Max

C074

Tach Const

n OUT4

V arm

n Fdbk

An OutxCfg = 8

MDOxCfg = 1

level

SpeedThreshold

Speed Error

An OutxCfg = 2

M002

Verr

MDOxCfg = 3

level

Motor atSpeed

= 7

C130…135

MDIx Cfg7:RampsDisabled

P221, P030…03

Jog SelectRampUp(Dn)(Stop)Pos(Neg)

= 3…7

C120…122An Inx Cfg

3…7:Ramps(t...) reduct.

C123Ext Lim Pol

Inertia Comp

An OutxCfg = 7

Ref n

Ramped V ref

An OutxCfg = 1

n Fdbk Select

C070= 4 ≠ 4

P088

RxI

P086

Armature CompM004

Iarm

= 1

C120…122

An Inx Cfg1:n loop add.ref

M001

nFdbk

P240Low Pass Const

V errn setpoint

P012

Spd Dmnd Pol

REF ≠ JOG

REF = JOG

P012…016Spd Dmnd Pol

nMax(Min)Pos(Neg)

P087

V err Offset

C130…135MDIx Cfg

9:MinSpdDisabled

= 9

Ref n

M00711-0

5.9.3Vo

ltage L

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p

33

dc

M6

+ / d

cM

12

+IN

ST

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ww

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5.9.4I R

ef

C050, P070 … 085

SpdLoopSelKp(Ti)Speed(Adapt)(2)AdaptCtrl Verr1(2)

TiRampScale

V err

= 8

Ref n

C050

Speed Loop Select

≠ 3

= 3


2:I loop add.ref

= 2

Mn

An OutxCfg = 3

Speed Loop OUT

C000C060 … 063P050 … 058P060 … 062

I nom xth-QuadIlim1(2)A(B)SpeedHyper1(2)

Clim OverLimA(B)TFullOvLim

= 6= 4


8..10:Ext.(BrdgA, B) lim.

= 8 … 10

MDOxCfg = 4

CurrLimitation

MDOxCfg = 6

FullOver Limit

An OutxCfg = 4

Current Ref.

I ref

M003

Iref

+ V

C130…135MDIx Cfg

8:Second ParmSet

C130…135

MDIx Cfg6:Slave Enabled C130…135

MDIx Cfg4:Clim

I max[T2]T2

(ES800)

M00712-0

34 dc

M6

+ / d

cM

12

+IN

ST

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5.9.5C

urren

t Lo

op

I ref

P059

dI / dt Max

ES729

LINECT’s

I arm

I OUT6

P156

I out Pol

Drive SizeM004Iarm

C001

Mot Thrshold

C002

Mot Th constA021

Motor I2t Trip

Drv Thrshold

Drv Th const

A022Drive It Trip

MDOxCfg = 2

level

I armThreshold

C051, P100 … 104

CurrLoopSelKp(Ti)Curr(Disc)(Cont)

RxI(LdI/dt)Pred

P230, P231

Alfa Min, Alfa Max

M008

MFreq

M028PhaseSeq

M005

Alfa

ES728

IA

L1L2L3

+(-)

-(+)

Armature

M

A1

A2

ENABLE

Armature Curr

An OutxCfg = 9

Output Power

An OutxCfg = 6

Drive SizeM024

POut

V arm

FBus Enable

M031FBDgIn [E]

ENABLE24

M029

TrmDgIn [E]

Slink Enable

M030SLDgIn [E]

M021

DigIn [E

= 0

= 3

C110…112

Seq Sel x3:Serial Link

= 0

= 4

C110…112

Seq Sel x4:FieldBus

M025

Torque

Motor Torqu

An OutxCfg = 11

I fld

AND

“1”

“1”

M00713-0

35

dc

M6

+ / d

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12

+IN

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5.9.6F

ield L

oo

p

Ref Fld

FIELDCT

ES734I fld Drive Size

Field Current

An OutxCfg = 10

M018

Ifld

IF

+

-

E1

E2

Field

F1

F2

C052, P110, P111

FldLoopSelKp(Ti)Fld

= 11

C130…135MDIx Cfg

11:FldFrcEnabled

P088

RxI

C012

Base V arm

I arm

V arm

MDOxCfg = 7

FldWeakening

C010 … 018

IfldNom, BaseSpeed, BaseVarm,FldEcoLevel(Delay), IfldMinLim,

FldFrcLevel(Time)

M017RefFld

M007

BEMF

Back EMF

An OutxCfg = 5

C000

I nomC120…122An Inx Cfg

11:Fld.curr.lim.

= 11

M00714-0

36 dc

M6

+ / d

cM

12

+IN

ST

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5.9.7A

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/ Ou

t

P153

An Out2Cfg

An Outx

10AN OUT2

M020

AnOut2

P154

An Out2Bias

P158

An Out2Pol

P155

An Out2Gain

P150

An Out1Cfg

An Outx

P151

An Out1Bias

P157

An Out1Pol

P152

An Out1Gain

8AN OUT1

M019

AnOut1= n

= n

An Inx

P128

An In1Gain

P127

An In1Bias

P126

An In1Pol

17AN IN2

P131

An In2Gain

P130

An In2Bias

19AN IN3

P134

An In3Gain

P133

An In3Bias

sum[An Inx]

(n = 1, 2)

minabs [An Inx]

(n = 3…11)

11

AN IN 1 +

AN IN 1 -

13

x (-1)

x (-1)

x (-1)

LOC SEQ

= 5C130…135

MDIx Cfg5:Reverse

FORWARDREVERSE

OFF ON/ BLINK

= 1C120…122

An Inx Cfg1:n loop add.ref

M010

AnIn1= n

C120

An In1 Cfg

M011

AnIn2= n

C121

An In2 Cfg

M012

AnIn3= n

C122

An In3 Cfg

P129

An In2Pol

P132

An In3Pol

M00715-0

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C130

MDI1 Cfg= n

28

MDI1

C131

MDI2 Cfg= n

30

MDI2

C132

MDI3 Cfg= n

32

MDI3

C133

MDI4 Cfg= n

34

MDI4

C134

MDI5 Cfg= n

36

MDI5

C135

MDI6 Cfg= n

38

MDI6

MDIx MDOxP170

MDO1 Cfg

= n

P171 … 175

On(Off)Delay, Level,Hyst, Logic

25

MDO1

27

P176

MDO2 Cfg

= n

P177 … 181


29

MDO2

31

P182

MDO3 Cfg

= n

P183 … 187


33

MDO3

35

P188

MDO4 Cfg

= n

P189 … 193


37

MDO4

39

P194

MDO5 Cfg

= n


P195 … 199 41

MDO5

43M00716-0

5.9.8D

igital In

/ Ou

t

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5.10 Milliampere Input / Output Signals

It is possible to feed an analog input as a mA signal to terminals 5 / 7 (REF) or terminals 11 / 13 (IN 1): if currententers terminal 5 and goes out from terminal 7, or if current enters terminal 11 and goes out from terminal 13, theinternally generated signal is positive by default.

Similarly, it is possible to obtain an analog output as an mA signal from terminal 8 (OUT 1) or terminal 10 (OUT 2):said signal, that may be only outgoing towards 0 V, is obtained by an internally generated signal which is positiveby default.

5.10.1 Input Signals

Between signal Iin in mA, which is externally applied, and signal V

RL in Volt, which is internally generated in the load

resistance terminals, the following relation is applied:

Iin = 20 mA VRL = 4 V

The Gain and Bias functions (and the Polarity and Reverse following functions) may be applied to signal VRLbefore generating the Vref reference displayed by parameter M000 (or signal AnIn 1 displayed by parameter M010),according to the formula below:

Vref (Anin1) = VRL x Gain + 10 x Bias

100 100

With the default values of the relevant parameters, the final matching between Iin and Vref (Anin 1) is the following:

Iin = 0 mA Vref (Anin 1) = ) V

Iin = 4 mA Vref (Anin 1) = 0.8 V

Iin = 20 mA Vref (Anin 1) = 4 V

The table below shows the values to be assigned to the different parameters relating to functions Gain and Bias toobtain a particular reference Vref (Anin1) in Volt, starting from external signal I

in in mA. The table assumes that the

parameters relating to the Polarity function (parameter P120 and P125) are at their default value and that theReverse function is not applied.

I ni )010M(000M

3-2.sopni108SEsi7PJrepmuj 3-2.sopni108SEni8PJrepmuj

FER )7/5slanimret(ecnereferegatlov/deeps

FER )7/5slanimret(ecnerefertnerruc

1NI )31/11slanimret(

niaG saiB niaG saiB niaG saiB

Am02...0 V01...0 %052=221P %0=121P %052=421P %0=721P %052=721P %0=621P

Am02...0 V01+...01- %005=221P %001-=121P %005=421P %001-=321P %005=721P %001-=621P

Am02...4 V01...0 %5.213=221P %52-=121P %5.213=421P %52-=321P %5.213=721P %52-=621P

Am02...4 V01+...01- %526=221P %051-=121P %526=421P %051-=321P %526=721P %051-=621P

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5.10.2 Output Signals

Between signal AnOut1 (2) in Volt, which is internally generated after configuring analog output OUT 1 or OUT 2 isdesired and which is displayed by parameters M019 and M020 respectively, and outgoing signal I

out in mA, the

following relations is to be applied:

AnOut1 (2) = 10V Iout = 20 mA

Before generating signal AnOut1 (2), the Gain and Bias functions may be used (followed by the Polarity function)starting from signals Vout (2) originally configured, according to the formula below:

AnOut = Vout x Gain + 10 x Bias

100 100

With the default values of the relevant parameters, the final matching between Vout and Iout is the following:

Vout

= 0 V Iout

= 0 mA

Vout

= 2 V Iout

= 4 mA

Vout

= 10 V Iout

= 20 mA

The table below shows the values to be assigned to the different parameters relating to the Gain and Biasfunctions to obtain a particular signal Iout in mA, starting from internal signal Vout in volt. The table assumes thatthe parameters relating to the Polarity function (par. P157 and P158) are at their default value.

V tuo I tuo

3-2.sopni108SEsi9PJrepmuj 3-2.sopni108SEni01PJrepmuj

1TUO )8lanimret( 2TUO )01lanimret(

niaG saiB niaG saiB

V01...0 Am02...0 %001=251P %0=151P %001=551P %0=451P

V01...0 Am02...4 %08=251P %02=151P %08=551P %02=451P

V01+...01- Am02...0 %05=251P %05=151P %05=551P %05=451P

V01+...01- Am02...4 %04=251P %06=151P %04=551P %06=451P

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Model #M06 -M12 -

Current TransformersConnection Diagram

BurdenPAKResistor Value

P/N

2005

47P5 - 4010

TA1120004100/0.2 (1-2 taps)Ratio = 125

6.2500 Ω ES729-20

27P5 - 2010

4015 - 4020

TA1120004100/0.2 (1-3 taps)Ratio = 250

6.2500 ΩES729-40

4025 - 4030TA1120004100/0.2 (1-4 taps)Ratio = 500

8.3333 ΩES729-60

2015

4040

TA1120004100/0.2 (1-4 taps)Ratio = 500

7.1428 ΩES729-70

2025

4050 - 4060

TA1120004100/0.2 (1-4 taps)Ratio = 500

5.0000 ΩES729-100

2030 - 2040

4075

TA1220001200/0.2Ratio = 1000

6.6667 ΩES729-150

2050

4100

TA1220001200/0.2Ratio = 1000

5.5555 ΩES729-180

2060

4125 - 4150

TA1320001300/0.2Ratio = 1500

6.0000 ΩES729-250

5.11 CT’s Settings by HP for dcM6/12+

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Model #M06 –M12 -

Current TransformersConnection Diagram

BurdenPAKResistor Value

P/N

2075 - 2100

4200

TA1320001300/0.2Ratio = 1500

4.2857 ΩES729-350

2125

4250 - 4300

TA1420001600/0.3Ratio = 2000

4.0000 ΩES729-500

2150TA1420001600/0.3Ratio = 2000

3.3333 ΩES729-600

4400TA1520001800/0.4Ratio = 2000

2.6666 ΩES729-750

4500TA1520001800/0.4Ratio = 2000

2.2222 ΩES729-900

4600 - 4700TA16200011000/0.5Ratio = 2000

1.6667 ΩES729-1200

4800 - 41000TA17200011500/1.0Ratio = 1500

0.9375 ΩES729-1600

BurdenPak Calculation = CT Ratio / ES729 – Amps rating (ES729-250) Example: 1500 / 250 = 6.000 Ω

Note: The above table is based on Table 430-147 of the National Electrical code @ 1996.

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6.0 MAIN OPERATING PROCEDURE

6.1 Introduction

This section describes the main checks and operations which should be carried out to achieve an excellentadjustment of the dcM+ drive.

All information contained herein is directed to the Users being already familiar with the use of the keypad. If needbe, refer to the Keypad and Alphanumeric Display section for further information.

To make the drive operation clearer to the users, the information given is referred to a drive REMOTE mode; thetransmission of both references and digital inputs are performed via terminal board instead of serial.

This section has to be considered as a simple and useful guide aimed at achieving a proper adjusting of the device.It covers both the regulations regarding the most common applications and the setting up of more specificconfigurations.

For further information about the function of the different hardware terminals or software parameters and additionaldetails, refer to the specific sections of the manual.

In particular, it is strongly recommended to follow the Power Connection and Signal Connection sections for thecorrect use of the hardware terminals, and to the Parameter List section for proper setting up of the softwareparameters.

6.2 Preliminary Checks

During the installation phase, carefully read the information given on the adhesive plate fitted on the front panel andmake sure that the supply voltage value required to supply the power section at bars L1-2-3 does not exceed themaximum value advised (standard value: 500 Vac for dcM6+ / dcM12+). Check also that the supply voltage for thefield regulator on terminals E1-2 and for the control section on terminals 53-54 is included within the suggestedrange (standard: 380 ... 500 Vac).

Of course, the latter requirement shall not be necessary whenever the user is going to supply the control sectionwith a 24 Vdc direct voltage on terminals 40-42.

Note: The device standard equipment is suitable to be supplied on terminals 53-54 with a single-phase alternate voltage between380 ... 500 Vac, OR on terminals 44-42 with a 24 Vdc direct voltage. On request the device may be supplied on terminals53-54 with a single-phase alternate voltage between 200 ... 240 Vac.

The standard equipment may be supplied through terminals E1-2 (field regulator) with a single-phase voltageranging from 380 to 500 Vac. In order to supply terminals E1-2 with a single-phase alternate voltage ranging from200 to 240 Vac, just enable jumber J1 on field regulator board ES734 in position “230 ON”.

Check also that the drive is not oversized compared to the motor rated current. That means that the motor currentvalue should not be lower than 75% of the drive rated current.

Carefully inspect the wiring by referring to the Power Connection and Signal Connection sections of this manual.

Connect the shield of the screened cables relating to the analog signals to the ground potential as directly aspossible. Use the three collar-shaped cable fasteners situated on the bottom of the control board supportingguard.

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6.3 Main Checks and Configurations

Supply the control section and the field regulator of the device (except the power section). The four LED’s whichcan be seen through the small rectangular slot on the cover should be off.

Note: Whenever the display shows an alarm condition, it is necessary to reset it by simultaneously pressing the “PROG” and“ENTER” keys on the front keypad, or by means of one of the MDIx configurable digital inputs, by programmingparameters C130 (131)(132)(133)(134)(135) at the 0: Reset value (this configuration is a default value on MDI1, terminal 28).Should the alarm not disappear from the display (and therefore the alarm cause persists), refer to the Alarm Parameterssection of the manual.

Note: Before changing the above mentioned parameters and any other parameter, set the value of parameter P000 to 1 (or 8).

Any other setup procedure described below should always be saved on the EEPROM. The nonobservance of saidinstruction shall produce the loss of all data while turning off the device.

When no alarm condition is stored, the display generally keeps on showing the Status page, unless a differentdisplaying page has been programmed at device turning on through parameter C170 (First Page). When no alarmcondition is stored, the Status page displays a Drive OK message, the software version which has been installed,the drive type, the drive size and the max. supply voltage that may be applied to the power section. Here followsan example of such displaying messages.

Drive OK - D3.04

dcM12+ 4.100

By the example stated above, we understand that no alarm conditions are detected, that the installed softwareversion is D3.04, and that the device is a dcM12+ with continuous output current equal to 100 A and the three-phase voltage applicable to the power section is equal to 480 V.

Note: The displaying of warning message W003 (Imax T2 < 100%) means that it is necessary to turn the T2 trimmer completelyclockwise, since a partial rotation clockwise could result in a disagreement between the current limit and the armaturemaximum current values to be obtained. More precisely, the armature maximum current value could be lower than the onerequired.

The trimmer is located on the right side of the ES800 board, near the two seven-segment displays which can be seenthrough the small slot on the drive cover.

Check the correct operation of the air-cooling unit (if any). Air blowing should be generated from the bottom to thetop.

The device is already supplying the motor field winding, according to the economy function (Field Economy) set inparameter C014.On parameter C010 (default value: 10%), set the field rated current percentage of the motor with respect to the fieldrated current of the drive, which is 5 Amps for 100 max, 15 Amps for above 100 A unit, optional 35 Amps.If need be, you can also change the standstill field current on parameter C014 (default value: 10%) and the fielddecrease delay on parameter C015 (default value: 240 s).If a boost on the field current is to be set at the device running, adjust the value of parameter C017 (default value:100%) and of parameter C018 (default value: 10s) accordingly by enabling the function through one of the MDIxconfigurable digital inputs; set parameters C130(131)(132)(133)(134)(135) at the 11:FldFrc Enabled value. This,however, could have no effect if the field current increase does not produce any remarkable field flux increase,thus limiting this function application.

If a dynamic regulation of the field current in field weakening mode is required - with a speed feedback differentthan the armature feedback - besides programming par. C010 and C014, program the motor armature nominalvoltage in par. C012 (default value: 1000V) and the limit at the field current min. value in par. C016.

As stated on the FIELD REGULATOR chapter, set the last value at approx. 75% of the min. motor rated fieldcurrent corresponding to its max.speed.

Make sure that the rated value of the power section supply voltage coincides with the indications stated inparameter C030 (default value: 480V): if necessary, change the value.

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Access parameter C000 (default value: 100%) and set the percentage value of the armature rated current of themotor with respect to the armature rated current of the drive.

If need be, set also a proper thermal constant on parameter C002 (default value: 340 sec) by following the generalindications described in any chapter of this manual dealing with that parameter.

Choose the operating mode of the current loop through parameter C051 (default value: PI). It is advised to leavethe default selection of C051 at value 0 : PI Operating in most cases, and to set C051 selection at value 1/:.Predictive only when a very quick response is demanded with a dcM12 in encoder or tach feedback mode, unlessthe load inertial torque is much lower than the resisting torque.

When choosing the second mode (predictive algorithm), the current automatic tuning procedure should beperformed at first: set parameter P000 at value 2:Current Tuning and follow the instructions displayed (see also theAutomatic Tuning section). In contrast, if the first mode (PI regulator) is chosen, go on with the next step of theprocedure.

Access parameter C070 (default value: Tach feedback: 80 ...250 V) and make sure that the speed feedback typewhich has been set corresponds to the one required.

Should the feedback be generated from a tach, check the value set on C070 (among values 0-1-2), which shouldmatch the terminal being used to receive the signal from the tach.

Then, if the tach transduction ratio set on parameter C074 (default value: 50 V / 1000 RPM) is correct, set thespeed concerning the maximum reference in parameter P010 (default value: 1750 RPM) in r.p.m.

Note: Any value being set on parameters C074 and P010 should be programmed in such a way that product C074 x P010 doesnot exceed the value of 250 V, in order to avoid possible speed control faults caused by the drive.

Should the feedback be generated from an encoder, check that the transduction ratio of the supplied signal, whichhas been set on parameter C072 (default value: 1024 pulses/rev) is correct. If necessary, change it accordingly.

The speed concerning the maximum reference (expressed in r.p.m.) should always be set on parameter P010(default value: 1750 RPM).

Any value being set on parameters C072 and P010 should be programmed in such a way that product C072 x P010 doesnot exceed the value of 68.2 kHz, in order to avoid possible speed control faults caused by the drive.

Should the feedback be generated from an armature, set parameter P011 (default value: 500 V for dcM12+, 500 Vfor dcM6+), the armature voltage corresponding to the maximum value (in Volt).

Except for a dcM6+ model, a dcM12+ model with an armature feedback or whenever the load inertial moment isvariable (e.g. in a coiler), the speed automatic tuning may be performed at that moment. Set parameter P000 atvalue 3: Speed Tuning and follow the instructions displayed (see also the Automatic Tuning section).

Now Rxl armature resistive drop autotuning is to be done by setting par. P000 at 4:Rxl Tuning and by following theinstructions displayed (see also AUTOMATIC TUNING chapter). On the other hand, if the autotuning function is notperformed and par. P088 is left at its default value (0V), the drive will not be able to process the back-electromotiveforce and to display it in par. M007 (BackEMF) and it will not be able to keep the BEMF constant during thedynamic adjustment of the field current in field weakening mode or in armature feedback stage (by means of thecompensation function to be done through parameter P86, with a value defined as a percentage of par. P088value).

6.4 Speed Control Mode Operation

The previous section Main Checks and Configurations has already covered the programming procedure of thespeed corresponding to the maximum reference, as far as the three main types of speed feedback (tach, encoder,armature) are concerned.

As for the analog inputs, the REF input between terminals 5 and 7 is generally used (in differential mode, or bysending a 0 (4) ... 20 mA reference after adjusting jumper JP7 of board ES801 in pos. 2-3). The ramp function maybe applied to said input.

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Alternatively, it is possible to use input IN 1 between terminals 11 and 13 (in differential mode, or by sending a 0 (4)... 20 mA reference after adjusting jumper JP8 of board ES801 in pos. 2-3).

You can finally use input IN 2 between 17 and 0 V or input IN 3 between terminal 19 and 0 V.

Note: Whenever a (0) 4 ... 20 mA reference is to be used, refer to the chapter dealing with Milliampere Input / Output Signals toknow the value to be programmed in the parameters relating to the Gain and Bias operators.

WARNING: Make sure that, at maximum speed and maximum voltage, the output armature voltage does notexceed the motor rated value.

Note: The operation stability is generally more critical when the maximum speed value is set according to the maximum outputspeed . In order to set maximum speed values being especially low, it is therefore recommended to reduce the referenceamplification through the Gain function relating to the selected analog input (see the Speed Control Options chapter),instead of adjusting the feedback.

The value of the reference for the jog run (jog) may be chosen among the three values set on parameters P222 ...P224 (default values: +5%, -5% and 0% respectively), while the set value should be selected via a combination oftwo MDIx configurable digital inputs (max.) by programming parameters C130 (131)(132)(133)(134)(135) at values12: JogA and 13: JogB (these configurations are both default values on MDI2 on terminal 30 and on MDI3 onterminal 32 respectively: see the table reported in the chapter dealing with parameters P222 ... P224.

6.5 Ramp Configuration in the Speed Control Mode

Ramps may be set for the REF main reference indicated by parameter C101 (VrefSelect). To do that, set the valueon parameters P030 ... P035 (default values: 0s) or set rounding through parameters P038 and P039 (defaultvalues: 0s).

Note: Between ramp times and rounding times, a certain ratio of inequality should be proved. Said value is reported in the notein chapter Ramps Over Reference.

On the other hand, the jog run ramps are indicated by parameter P221 (by default, they have also been applied tothe REF main reference) and, depending on the parameter setting, may also be indicated by parameters P030 ...P035 (default values: 0s) or by parameter P036 and parameter P037 (default values: 0s).

The ramp and rounding times, indicated by parameters P030 ... P035, P038, P039, may also be changed incontinuous mode from the outside, through one of the configurable analog inputs. To do that, set parameters C120(121)(122) at one of values 3: Ramps reduct ... 7: tUP-reduction, otherwise they may be set to zero through one ofthe MDIx configurable digital inputs by programming parameters C130 (131)(132)(133)(134)(135) at value 7:Ramps Disabled.

In case of medium-duration ramps, it could be advisable to set the integral time automatic increase during ramp bymeans of parameter P085 (which is disabled by default).

6.6 Speed Control Options

The signal entering analog inputs REF, IN1, IN2, IN3 may be set with the following operators: Gain (with parameterP122, parameter P127, parameter 129 and parameter P131 respectively. Default values: 100%), Bias (withparameter P121, parameter P126, parameter 128 and parameter P130 respectively. Defaults values: 0%) andReverse (through the MDIx configurable digital inputs by programming parameters C130 (131)(132)(133)(134)(135)at value 5: Reverse: such configuration is a default value on MDI6, terminal 38.

The Polarity of the first two analog inputs may be applied (with parameter P120 and parameter P125 respectively.Default values : bipolar).

The reference generated inside, resulting from the application of the above mentioned operators, is displayed byparameters M000, M010, M011 and M012 respectively.

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Instead of the REF main reference indicated by parameter C101 (VrefSelect), it is possible to choose one of thepreset running references (up to a maximum of seven) on parameters P211 (212)(213)(214)(215)(216)(217) (defaultvalues: +5%, +20%, +10%, 0%, -5%, -20%, -10% respectively). The required reference is selected via thecombination of a maximum number of three MDIx configurable digital inputs, by programming parameters C130(131)(132)(133)(134)(135) at values 1: PresetSpdA, 2: PresetSpdB and 3: PresetSpdC (see the table reported inthe chapter dealing with parameters P211 ... P217: the 1: PresetSpdA function is programmed by default on MDI4,terminal 34). The above mentioned Reverse function may be applied to these preset running references too. Byintroducing a preset running reference, the START contact closure is always required.

As for the global inner reference of speed, it is possible to select the admitted polarity through parameter P012(default value: Bipolar).

For said reference, the maximum value through parameter P013 and parameter P015 (default values: +100% and-100% respectively) may also be defined. This limit is also valid for the REF main reference (either local orremote).

After programming a polarity of one sign only on parameter P012, by closing one of the MDIx configurable digitalinputs (once parameters C130 (131)(132)(133)(134)(135) have been programmed at value 9: MinSpd Enabled aminimum speed value is given both for the global inner reference of speed and for the REF main reference (eitherlocal or remote) through parameter P014 parameter P016 (default values: 0%). By introducing a minimum speed,the START contact closure is always required.

In case of tach or encoder feedback - when alarm A008 (Speed Feedback Failure) has been disabled withparameter C155 - and in the event of a fault it is possible to set the automatic switching towards the armaturefeedback through parameter C075 (default value: No).

If the dynamic regulation of the field current in field weakening mode is enabled, in order to keep the speed ofrotation constant - in case of feedback failure - par. P011 (default value 500 V) is to be set at the same value as par.C012 whereas par. C011 (default value 33%) is to be set at the max. speed per cent at which field weakeningnominally starts. (See FIELD REGULATOR chapter).

In case of armature feedback, the Rxl drop compensation may be introduced through par. P086 (default value:100%) whose value represents the value per cent of par. P088 computed by the autotuning function. Theautotuning function may be enabled by setting par. P000 at 4:Rxl Tuning.

Should the motor tend to turn slowly with a zero reference, i.e. when a speed error offset is detected, it is possibleto stop the motor by adjusting parameter P087 (default value: 0%).

A limit of the firing angle value may be obtained both in the energy transfer towards the load and in the energyregeneration towards the mains. Set parameter P230 (default value: 30° for dcM12+ and 25° for dcM6+) andparameter P231 (default value: 150°) respectively.

To avoid possible speed overshoots due to quick variations of reference at constant load (drive in current limitmode), or to avoid temporary speed losses in case of quick variations of load at constant reference, it may beadvisable to introduce the parameter auto adaption (this function has been disabled by default) through parameterP082 and any other related parameter. Refer to the chapter dealing with parameter P082 to know the differentprocedures required.

6.7 Current (Torque) Control Mode Operation

A current control (torque) is generally required when tension controls are performed on a winding or unwindingmaterial or while controlling any machine integral to another from a mechanical point of view. In fact, saidconditions require a proper torque distribution.

In the first event, a simple external regulation of the current limit is generally requested by using one of theconfigurable analog inputs: set parameters C120 (121)(122) at one of values 8: Ext.cur.lim ... 10: BrdgB ext. lim.The polarity of the used signal may be selected on parameter C123 (default value: Positive Only).

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Note: For this operating mode the speed reference should allow to keep the drive in current limit condition at any time.

In the second case, a direct setting of the current reference is generally performed. To use the REF main inputbetween terminals 5 and 7 it is then possible to program parameter C050 at value 3: Iref = Vref (default value: PIDoperating) whenever a permanent configuration is required. Otherwise it could be advisable to close one of theMDIx configurable digital inputs by programming parameters C130 (131)(132)(133)(134)(135) at value 6: SlaveEnabled whenever the current reference setting is performed only through an external command setting.

Note: A current reference setting may be performed on REF, IN1, IN2, IN3 analog inputs, after programming them accordingly.

In particular, if the REF main input between terminals 5 and 7 is to be used, the Gain and Bias operators use distinctparameters (i.e. different from the ones enabled in case of voltage / speed reference). In particular, the Gain function isprogrammed on parameter P124 (default value: 100%), while the Bias function is programmed on parameter P123 (defaultvalue: 0%).

By contrast, if auxiliary analog input IN 1 (2)(3) is to be used, parameter C120 (121)(122) is to be set at value 2: I loop add.ref. In addition, main reference REF is to become a current reference, either permanently by programming parameter C050at value 3: Iref = Vref or temporarily by closing a digital input set at value 6: Slave Enabled. For each of those two modes,main input REF is to be connected to zero volt.

For a drive pair operating in Master / Slave mode, the current reference to be supplied by the master drive may be obtainedon terminal 8 (10) by programming P150 (153) = 4: Current ref.

For a drive couple operating in MASTER / SLAVE mode, the current reference to be supplied by the master drive may beobtained on terminal 8(10) by programming P150 (153) = 4:Current ref. As the reference standard level supplied by theMASTER drive is 5V at the nominal current (M003 = 100%), if also the SLAVE drive must supply its nominal current - withsaid reference at REF main reference between terminals 5 and 7 - gain P124 (IrefGain) is to be set at 200%.

6.8 Current Limit Control Options

In the speed and current control, the current internal limitation remains always activated. It is generally set assingle-value adjusting through parameter P050 and parameter P051 (default values: 100%) and always representsa percentage of the armature current rated value indicated by parameter C000 (default value: 100%).

Whenever a double-value adjusting is required, it is necessary to set parameter P052 and parameter P053 (defaultvalues: 100%) by fixing the switching speed threshold with parameter P054 (default value: 100%).

If an hyperbolic adjusting is to be programmed, set parameter P055, parameter P056 and parameter P057 (defaultvalue: 100%).

A current overlimit (i.e. a permanent increase of the current limit) is available in case of heavy torque demands. Thelimit overcurrent value may be programmed through par. P060 and P061 (default value: 100%). If the currentrequired is inconsistent with the max. allowable duty-cycle (150% of the nominal current for 1m every 10m), alarmA022 will trip (Drive It Trip). Up to version D2.00, the current overlimit is not permanent; its duration will depend onpar. P062 setup (default value: 2s).

On the other hand, to achieve a current limit decrease through an external command, it is necessary to close oneof the MDIx configurable digital inputs by programming parameters C130 (131)(132)(133)(134)(135) at value 4: Clim(said configuration is set by default on MDI5, terminal 36), after setting the limit decrease value on parameter P058(default value: 50%).

To enable or disable one or more work quadrants of the torque / speed plan, set parameter C160 ... C163 (defaultvalues: 1st quadrant enabled for dcM6+, and 1st ... 4th quadrant enabled for dcM12+).

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6.9 Analog and Digital Outputs

The configurable analog outputs OUT1 and OUT2 are available on terminals 8 and 10. Their meaning is indicatedby parameters P150 and P153 respectively (default value: 0 V). Any analog output OUT1, OUT2 may include Gainoperators (with parameter P152 and parameter P155 respectively; default value: 100%). Bias operators (withparameter P151 and parameter P154 respectively; default value: 0%). and Polarity operators (with parameter P157and parameter P158 respectively; default value: Bipolar).

By moving jumpers JP9 and / or JP10 from pos. 1-2 (standard) to pos. 2-3, said analog outputs turn to 0 ... 20 mAcurrent outputs respectively (outgoing current only: for the value to be set in the parameters relating to Gain andBias operators, see Milliampere Input / Output Signals chapter).

The two non-configurable analog outputs have been already defined: n OUT on terminal 4 and I OUT on terminal 6.The latter may be defined as polarity of the output signal through parameter P156 (default value: Bipolar fordcM12+, and Positive Only for dcM6+).

There are five MDOx configurable digital outputs. They are available on terminals 25-27, 29-31, 33-35, 37-39 and41-43, and are defined by parameters P170 (176)(182)(188)(194). The MDOx configurable digital outputs mayinclude functions On Delay (with parameters P171 (177)(183)(189)(195) respectively and default values: 0s). OffDelay (with parameters P172 (178)(184)(190)(196) respectively and default values: 0s). Level (with parametersP173 (179)(185)(191)(197) respectively and default values: 50%, 3%, 50%, 5%, 50%). Hysteresis (withparameters P174 (180)(186)(192)(198) respectively and default values: 2%) and Logic (with parameters P175(181)(187)(193)(199) respectively and default values: Normally Open).

6.10 Current Parameters Back-Up and Restoring

Once the machine operating procedure and the parameter adjustments have been correctly performed, it isadvisable to perform a backup of the current parameters. Set parameter P000 at value 6 in order to make thebackup parameters restore available by adjusting parameter P000 at value: 7.

It is advised to note down any parameters whose values have been changed with respect to the default value.Refer to the table in Chapter 17. Parameters Modified with Respect to the Default Value. By setting parameterP000 to 8 and scrolling any other parameter with the arrow keys, only said parameters will be displayed, i.e. thoseparameters whose actual value is different from the default value. Set P001 = 1 to view all changed parameters.

6.11 Automatic Tuning

The drives of the dcM+ Series are provided with a particular operating mode, which is able to recognize theessential characteristics of the motor and load as well, in order to automatically calculate the optimal parametersto be inserted into the current and speed loop.

The different parameters containing the above mentioned characteristics do already have default values written tothe EEPROM, which normally grant a generally satisfactory operation for the most common applications of thedrive. To better streamline the performances, the Automatic Tuning procedure can be performed. This display-assisted procedure is performed off-line at the first setup of the machine and whenever necessary (i.e., if theelectromechanical characteristics of the machine have changed).

In particular, there are three automatic tuning, as follows:

Before operating one of the three, the ENABLE contact at terminal must be open.

6.11.1 Current self-tuning

Can be performed only choosing a predictive control for the current loop by means of the parameter C051(CurrLoopSel) programmed with value 1: Predictive. Unless the inertia torque of the load is much lower than theresistive torque, it is recommended to perform this selection to achieve a very quick response in case of a dcM12in feedback from tach generator or encoder. In this case a current self-tuning is recommended to better streamlinethe drive operation.

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This self-tuning, on the contrary, is not recommended if the current loop you choose is a proportional-integralcontrol by means of parameter C051 (CurrLoopSel) programmed at the value 0: P1 operating. This selection ishowever recommended in case of a dcM12 in armature feedback or in case of a dcM6 and generally in all caseswhere the resistance torque is much higher than the inertia one, or when the output of the dcM does supply a motorbut supply a resistive load.

The command is issued by setting the parameter P000 to the value 2: Current Tuning through keys “DEC” or “INC”and then by pressing the “ENTER” key. When the following message Close ENABLE to continue is displayed,close the ENABLE contact at term. 24. When the following message disappears, Transfer in progress ... and P000= 1 is displayed again, the self-tuning procedure is over.

The values of the parameters P103, P104 are calculated and saved on EEPROM. Moreover, the value ofparameter concerning the armature feedback reading is optimized in such a way that while the drive is off,parameter M006 (Varm) displays 0 V.

NOTE: During the self-tuning as above, the A014 (R out of range) can trip if the motor rated current, set by par. C000, is too low ifcompared to the drive rated current. Therefore the drive may never be oversized compared to the motor, but on thecontrary its size must be comparable to or immediately higher than the motor rated current.C000 75%).

6.11.2 Speed self-tuning

This tuning can be performed for whichever choice of current loop operation and is generally recommended. It canbe avoided in case of a dcM6+, or a dcM12+ in armature feedback or when the inertia torque of the load is variable(i.e. a coiler).

The command is issued by setting the parameter P000 to the value 3: Speed Tuning through keys “DEC” or “INC”and then by pressing “ENTER” key. When the following message Close ENABLE to continue is displayed, closethe ENABLE contact at term. 24. When the following message disappears, Transfer in progress ... and P000 = 1 isdisplayed again, the self-tuning procedure is over.

The values of the parameters P070 and P071, or, alternatively, of parameters P076 and P077 are calculated andsaved on EEPROM. Parameters P076 and P077 are calculated instead of the parameters P070 and P071 if thepossible digital input, that has been configured by setting one of the parameters C130 ... C135 to the value 8:SecondParmSet, is closed.

Note: The speed self-tuning, during which the motor has to physically turn, delivers a positive polarity to the terminal A1 ascompared to the terminal A2.

Note: Whenever two different sets of speed loop adjusting parameters have been considered through one of the MDIxconfigurable digital inputs being set at value 8: SecondParmSet, then the speed automatic tuning calculates theparameters relating to one of the two sets according to the state of the above mentioned digital input.

6.11.3 I x R Tuning

This tuning can be performed with armature feedback or when the application requires field weakening. IRcompensation in the field regulator is required on impact type loads when the motor is in field weakening mode.

This command is issued by setting P000 to the value of 4: R x I Tuning, when the number 4 is flashing,press the enter key to perform the self-tuning. When the following message Close ENABLE to continue isdisplayed , or press PROG to quit, close the enable or give a run command to start the auto tune. The drive will bein a I x R tuning mode when the I x R tuning mode when the display reads Auto Tune In Progress.

The I x R tuning is completed when the Auto tune in progress message has disappeared and the messageP000 = 1 is displayed again. Remove the enable or run command. I x R Tuning calculates P088.

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6.12 Ramps Over the Reference

In parameters ranging from P030 to P039, the operator may program the ramp application to the set reference inorder to produce a reference with no value instant variation (discontinuity).

With respect to the references applied when the START input is on, the programmable rise and/or fall ramps areseparate concerning the positive polarity and the negative polarity of the set reference (P030 ... P033). Someinitial/final rounding is also possible either at the beginning of the transient (P038) or at the end of the transient(P039). Moreover, when the start contact opens, two additional fall ramps may be programmed (stop ramps), alsoseparate concerning the reference positive polarity and negative polarity; the initial/final rounding programmed arenot applied to the stop ramps.

The figure below shows a possible example of the reference that can be produced by the ramp circuit.

Note: The following inequality is to be verified between the ramp times programmed in parameter P030 ... P033 and the initial/final rounding times programmed in parameters P038, P039:

P038 + P039 < P030 (031)(032)(033).

2 2

As the figure shows, for each ramp transient (rise ramp or fall ramp transient), the duration of the ramp time set is equalto the addition of the time programmed in the relevant parameter, of half the initial rounding time and half the finalrounding time.

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6.13 Parameters P050 - P057

The parameters ranging from P050 to P062 variably control the max. current to be supplied to the load.

The figure below shows a possible programming for current limit I LIM A(B) depending on speed n and resultingfrom the combination of the different configuring modes. The figure refers to converter dcM12+; the parameters inbrackets relate to bridge B.

As the figure shows, in the calculation for the current limit, the major value which all other parameters are relatedto is the k one, equal to C000 - M013, standing for the rate of motor C000 nominal current less any trimmerhardware limit (M013). As we discussed above, for the converter normal use, M013 value is to be at 100%, so theparameters stated in the figure represent some simple rates of motor C000 nominal current.

1st Mode: Limit independent of speedThe current limit may be set at P050(51) rate of the motor nominal current.

2nd Mode: Two-value limit depending on speed.The current limit may be defined as a simple two-value function, i.e. two different P050(51) and P052(53)rates. They are selected whether speed is respectively higher or lower than P054 rate of P010 max. speed.

3rd Mode: Limit with hyperbolic trend depending on a speed.The current limit may be defined hyperbolically depending on speed:

I lim A(B) = c n - n

0

In the formula above, n0 is the max. speed rate of the hyperbole vertical asymptote, whereas c is the constant for

inverse proportionality.

In the latter mode, you need to program P056 rate for the max. speed enabling the hyperbolic step, P057 rate forthe max. speed disabling the hyperbolic step and P055 rate for the motor nominal current at the end of thehyperbolic step, provided that the motor nominal current rate at the beginning of the hyperbolic stop is coincidentwith P050(51) value.

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For a better understanding, c and n0 values obtained under such conditions are shown below:

c = P050 x P055 x (P057 - P056) ; n0 = P050 x P056 - P055 x P057

P050 - P055 P050 - P055

The operator may also program P057 = 100%, so that the hyperbolic step ends with P010 max. speed. When thecurrent limit is defined by overlapping two of the modes above or all the modes above, then the current limitenabled time after time will be the lower one among the limits relating to each of the modes applied.

The hyperbolic relation of the current limit with respect to speed is generally used if the motor manufacturerimposes that when the speed rotation increases, the max. current to be supplied to the motor is to increase with asimilar law, so as to avoid any switching trouble in the collector.

Another typical application example of the hyperbolic limit is themixed control of the armature limit current shown in the figures.The three figures show - depending on speed n - the trends ofarmature max. current I

A’ field current I

F’ max. torque T and max.

power P.

In the first range 0 < n < n1’ the motor is in full field and the

armature max. current is kept constant, so the operation is inconstant max. available torque mode.

In the second range n1 < n < n2 ’

the motor is in full field but thearmature max. current decreases hyperbolically, thus leading themax. torque to decrease with speed. The max. available power(as a product of torque by speed) is kept constant, so theoperation is in constant max. available power mode.

In the third range n2 < n < nmax’ the armature current is keptconstant but the motor is in field regulation mode, so the max.torque goes on inversely decreasing with respect to speed. Themax. available power (as a product of torque by speed, or ofvoltage by current) is kept constant, so the operation is still inconstant max. available power mode.

The current limit value, set at each speed value as we discussedabove, may be increased (overlimit) by the rate programmed inparameter P060 and P061, for bridge A and bridge B respectively,for the time set in parameter P062. Such limit current increasemay be repetitive for a duty-cycle: when the overlimit time rangeis over, the current limit returns to its original value and cannot beincreased anymore until a period as long as 9 times the value setin parameter P062 has elapsed, unless the current has droppedbelow 100% of C000.

Finally, the current limit value, set at each speed value as wediscussed above, may be decreased using an external commandby enabling a digital input programmed for function 4: Clim. Thecurrent limit value enabled is decreased by the rate programmedin parameter P058.

The value of the current limit, besides being decreased by a set rate, may also be continuously decreased throughone of the configurable analog inputs by setting parameters C120(121)(122) at one of values 8: Ext.curr.lim. ... 10:BrdgB ext.lim.

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6.14 Operation Quadrants

The operation quadrants are defined in Cartesian coordinates with speed (n) / torque (T). The “forward” direction isassociated with positive speeds (feedback polarity); bridge “A” is the one which causes motor clockwise rotation(seen sideways in the drawing) with no external torque.

The four quadrants may be identified as follows:

1st Quadrant: Forward direction with motor torque (positive speed feedback and bridge A on).

2nd Quadrant: Reverse direction with braking torque (negative speed feedback and bridge A on).

3rd Quadrant: Reverse direction with motor torque (negative speed feedback and bridge B on).

4th Quadrant: Forward direction with braking torque (positive speed feedback and bridge B on).

Parameters C060 ... C063 allow the quadrant enabling / disabling.

dcM6+ default operation is assigned to the 1st quadrant only, and may be enabled for the 2nd quadrant, but not forthe third and fourth quadrant (only bridge “A” is in).

On the other hand, dcM12+ default operation is assigned to all four quadrants (both bridge “A” and “B” are in).Whenever a braking torque is produced, an energy regeneration simultaneously takes place from the load to themains.

What we said above is shown in the following figure, where we suppose that the motor is fit to the axle of a reelwinding or unwinding some tensioned material.

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6.15 Motor Heating Thermal Image

dcM+ converter software is able to detect the motor rise in temperature. A motor heating, i.e. the rise intemperature with respect to ambient temperature T(t) = T(t) - T

amb of a motor supplied with constant current I

0’

follows a curve

T(t) = k x I0

2 x (1 - e ), where is the motor thermal time constant and k is a proportional constant with [0C / A2]as units of measure.

We may therefore infer that, once temperature has stabilized, the rise in temperature will be proportional to thecurrent second power, as it is equal to k x I

02.

The figure below shows the heating of a motor supposing it is fed with two different current values (I01

and I02

) whichare quantified depending on the reference current represented by parameter C001.

The reference current value programmed in parameter C001 is normally at 100% of the motor nominal current,which acts as the motor overload with the time set in C002.

Therefore, the rise in temperature is never to exceed the max. allowable temperature, i.e. k x C0012 (temperatureallowable value when the motor runs regularly with a current equal to C001).

With a current equal to I02’

alarm A021 will trip in instant t*.

For the motor overtemperature protection, the correct setting of the thermal time constant value programmed inparameter C002 (default value is 340s) is then needed.

- t

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6.16 Field Regulator

dcM6+ and dcM12+ drives are equipped with an internal field regulator that may be used both to set a field currentfixed value and for a dynamic regulation in field weakening mode.

In both cases, the field current reference displayed in par. M017 (RefFld), so the relevant current, may be assignedthe values shown in the figure below.

Stand by + Economy Run + Forcing Run Stand-by Stand by + Economy

t

n = 0

n 0

Varm>C030 x 0.66

Varm<C030 x 0.66

n 0

n = 0

C018 C015

C010 x C017

C010

C010 x C016

C010 x C014

RefFld(M017)

First case. The dynamic field regulation in field weakening mode is not required. The nominal field current is set inparameter C010 (IfidNom).

As soon as the run command is sent and for the time set in par. C018 (FldFrcTime) the field forcing function maybe enabled, which increases the field current by the value per cent set in par. C017 (FldFrcLevel) in order to havea temporary torque boost. This will have no effect if the field flux is saturated. The field forcing will be alwaysdisabled, when the time set in par. C018 is over or if the armature voltage reaches approx. 66% of the valueprogrammed in par. C030 (VmainsNom).

Once the drive run is over, the economy function may be enabled. This function allows the field current to bedecreased by the value per cent set in par. C014 (FldEcoLevel) as soon as the drive run is over and once the delayset in par. C015 (FldEcoDelay) is over. This may be useful when an energy saving function is needed or when themotor temperature is to constantly exceed a min. value (anticondensate function).

If a min. speed of rotation is detected when the drive is not running (motor pulled), the field current will be broughtto the nominal value set by par. C010.

Second case. Another typical use of the field regulator is the dynamic regulation in field weakening modedepending on the speed change. This may be used to control DC motors designed for operating in the two constantavailable max. torque / power sections. Of course, said function may be mixed with the others.

This operating mode may be used both when a relatively large torque is needed (at a low speed) and when arelatively high max. speed is needed (but with a smaller torque), as for winders or unwinders in tension control.

In order to enable this operating mode, the drive starts decreasing the field current when the speed requiredincreases, so that the back-electromotive force does not exceed the nominal value.

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Suppose the motor ratings are the following as far as the field weakening is concerned:

Nominal armature voltage 500VNominal field voltage 300VNominal field current 9A (with motor at zero speed or with not yet weakened field)Field weakening starting speed 1000 RPMMin. field current 1.8A (with motor at its max. speed)Max. speed 4000 RPM

As we said in the chapter concerning the basic start-up procedure, the RxI resistive drop autotuning is to beperformed by setting par. P000 at 4:RxI Tuning. Starting from this value and the value of the nominal armature, thedrive will estimate the nominal back-electromotive force (max.) to be adjusted.

The parameters below are to be set, supposing a power unit rated at 350 Amps is used, with a 15A nominal fieldcurrent:

C010 (IfldNom) = x 100 = 60% (9A with respect to the drive nominal 15A)

C012 (VarmNom) = 500V

P010 (nFdbkMax) = 4000 RPM

C016 (IfldNom) = x 0.75 x 100 = 15% (75% of min. 1.8A with respect to nominal 9A)

The parameters above are all required for the field weaking correct operation. The field current reference displayedin parameter M017 (RefFld), as a function of speed, is shown in the figure below.

nP010

C010

= C010 x C01

C010 x C016

RefFld(M017)

M007 = f.c.e.m. max

~

= C011 x P010~

The value set in par. C016 (IfldMinLim) represents the min. limit for the field current provided that the drive isrunning. We recommend that this limit be never set below the min. current that the regulator will actually retrieve.Leave a 25% safety margin.

Field value 1.8A at the max. speed is not to be set in any parameters, as it will automatically be retrieved by thecontrol loop of the back-electromotive force.

915

1.8 9

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Always try to set in par. C016 the min. limit, depending on the field current at the max. speed, as sometimes thespeed of rotation may reach very high levels, which may damage the mechanical parts. For example, this mayoccur if the max. speed has been set at a very high level (a wrong terminal has been connected in case of a tachofeedback, or the setting of transduction constant C072 or CO74 is wrong), or the motor could be accelerated by anexternal torque.

In both cases, the field regulator will keep decreasing the field current in order to keep the back-electromotive forceconstant and Alarm A010 (Armature Overvoltage) will not trip: that’s why C016 min. value is to be set. If a furtherfield current decrease is inhibited, Alarm A023 (Ifld Underlimited) trips and the drive is locked.

The dynamic regulation of the field current in field weakening mode is possible only in tacho or encoder feedbackmode, not in armature feedback mode. If a speed feedback failure occurs, the automatic switch may beprogrammed towards the armature feedback by setting par. C155 at 1:Excluded and par. C075 at 1:Yes.

In order to keep the speed of rotation approx. constant with the same reference, the values shown are to be set inthe following parameters, always referring to the motor chosen in the example above:

P011 (VarmMax) = C012 (VarmNom) = 500V

C011 (BaseSpeed) = x 100 = 25% (1000 RPM field weakening starting with respect to max. 4000 RPM).

6.17 Configurable Digital Outputs

dcM+ drive is provided with 5 digital outputs (relay normally open contact). Any output may be assigned to someconfigurations: for further details, see the chapter relating to par. P170(176)(182)(188)(194) and to the otherschapters relating to the configurable digital outputs.

Depending on the configuration assigned, every output enables either when a certain logic condition occurs (e.g.3:Motor at Speed) or when an analog quantity exceeds a certain level (e.g. 8:Ifld Threshold).

In both cases, the drive may be programmed in order to have a particular delay before enabling or disabling thedigital output.

At the same time, the logic may be defined, i.e. the digital output enabling determines the relay excitation (so thecontact closing) or the relay disexcitation (so the contact opening).

Moreover, if the digital input is to be enabled when an analog quantity exceeds a particular level, the enabling leveland the hysteresis - necessary to avoid any relay high frequency vibration when the relevant analog quantity isnear the level chosen - are to be defined.

For instance, suppose configurable digital output MDO1 is to be enabled when the armature voltage reaches 38%of the drive nominal current. A hysteresis is to be entered in said current threshold, equal to 10% of the currentlevel chosen. The output enabling is to have a 10-second delay. The output disabling is to have a 18 seconds delay.

In order to obtain this, the following setup is required:

P170 = 2:Iarm ThresholdP173 = 38%P174 = 10%P171 = 10 sP172 = 18 s

The first diagram in the following figure shows a possible trend of the time-depending armature current. The seconddiagram shows MDO1digital output enabling and disabling. The third and fourth diagram show the physical state ofthe contact at terminals 25-27 respectively, provided that the logic setup is the following:

P175 = 0:Normally OpenorP175 = 1:Normally Closed.

1000 4000

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27 25

t

MDO1

OFFOFF

Iarm

P175 = 1: Normally Closed

10s18s

P175 = 0 : Normally Open

P173 (38%)

P173 – P174 (28%)

t

t

t

15s

ON

27 25

the current levelis not lower thanIlevel - Hysteresysfor a time longerthan MDO1Off delay

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6.18 Speed Parameter Autoadaptation

When the speed reference value is suddenly changed and the load speed is not able to follow such variation, thespeed loop proportional gain in the transient is to be large enough to avoid any excessive speed overshoot bothduring acceleration and deceleration. On the other hand, once the speed is constantly kept at the new value set,said value is generally too high for the speed loop and may cause some instability.

The dcM+ allows to enable the SPEED PARAMETER AUTOADPATION through par. P082 (AdaptCtrl). Thisparameter allows the proportional gain to have a rather high value, selected through par. P073 (KpSpdAdapt), whenalso the speed error displayed in par. M002 (Verr) is high - so when the speed has not yet reached the reference.When the load speed reaches the new value set, so the speed error decreases until it becomes null, theproportional gain is gradually reduced until it reaches the original value set in par. P070 (KpSpeed): the transitionbetween the two values is not sudden but it gradually occurs between the error value set in par. P083 (Verr1) andthe one set in par. P084 (Verr2).

This may be seen in the figure below.

Kp

VerrP083

(Verr1)P084

(Verr2)

P070(KpSpeed)

P073(KpSpdAdapt)

The speed parameter autoadaptation also controls the speed loop integral time. During the transient, the integraltime may be changed starting from the original value set in par. P071 (TiSpeed) up to the new value set in par. P074(TiSpdAdapt). In that case as well, the transition between the two values gradually occurs between the error valueset in par. P083 (Verr1) and the one set in par. P084 (Verr2).

Two opposite cases are shown below, requiring an opposite integral time change.

6.18.1 Constant-load quick reference change

This may happen with an inertial load, when the drive is in current limit mode due to a sudden speed referencechange.

In that case, to avoid any speed overshoot at the transient end, the proportional gain is to be temporarily increasedand the integral time is to be longer, as is shown in the figure below.

Kp

VerrP083

(Verr1)P084

(Verr2)

P070(KpSpeed)

P073(KpSpdAdapt)

Ti

VerrP083

(Verr1)P084

(Verr2)

P071(TiSpeed)

P074(TiSpdAdapt)

Ti

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6.18.2 Constant-reference quick load change

This may happen in a machine-tool rotating at a constant speed when it starts a piece processing.

In that case, to avoid any speed decrease at the transient beginning, the proportional gain is to be temporarilyincreased and the integral time is be shorter, as shown in the figure below.

Kp

VerrP083

(Verr1)P084

(Verr2)

P070(KpSpeed)

P073(KpSpdAdapt)

Ti

VerrP083

(Verr1)P084

(Verr2)

P071(TiSpeed)

P074(TiSpdAdapt)

Finally, if a motor has a different mechanical time constant, a different reduction ratio, a different load inertialmoment, and so on, the speed loop regulation parameters it requires are different than the standard ones.

In that case, the configured digital input is to be closed by setting one of par. C130 ... C135 at 8:Second ParmSet.The new values of the proportional gain and the speed loop integral time will be the ones programmed in par. P076(KpSpeed2) and P077 (TiSpeed2) respectively instead of the original values set in par. P070 (KpSpeed) and P071(TiSpeed).

During the transient, the parameter autoadaption function - if enabled - will bring the proportional gain and integraltime values to the new values set in par. P079 (KpSpdAdapt2) and P080 (TiSpdAdapt2) respectively.

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7.0 KEYPAD AND ALPHANUMERIC DISPLAYThe drives of the dcM6+ and dcM12+ Series may be equipped with a remotable keypad provided with analphanumeric display, including 8 keys and 8 signalling LEDs.

NOTE: The keypad is not to be series installed on the drive and is to be mounted separately. The remotable keypad kit isto be ordered for mounting the keypad on a separate panel.

The 2-line 16-digit backlit LCD display shows the parameter values, the diagnostic messages and the values of thequantities processed by the drive. From now on, the term “page” indicates the 32 characters that aresimultaneously displayed.

The eight keys have the following functions:

- “PROG/RESET”: allows to switch from display mode (fixed cursor) to programming mode (blinking cursor) andvice versa. So when the cursor is fixed, you may use the scrolling keys to display the different parameters insequence. When the cursor is blinking, you may change the value of the current parameter.

- “” (“DEC”): allows to decrease either the page number or the value displayed inside the current page, dependingon which mode you selected with the “PROG” key, i.e. depending on the cursor state.

- “” (“INC”): allows to increase either the page number or the value displayed inside the current page, dependingon which mode you selected with the “PROG” key, i.e. depending on the cursor state.

- “ENTER/RESET”: in programming mode only, it saves the current value in the page displayed on non-volatilememory (EEPROM), so that the value is kept stored even after turning the drive off, to be available again at thefollowing turning on.

- “JOG”: this key is active in LOCAL mode only. Press it to enable the jog mode with the reference programmed onparameter P220 (LocalJog).

- “ “ : this key is active in LOCAL mode only; when pressed, it enables the polarity final reversal of

main reference REF given by parameter C101 (VrefSelect) (up to SW Vers. D2.01 the LED is called . In SWVers. D2.02 the polarity reversal takes place until the key is kept pressed).

- “START”: this key is active in LOCAL mode only; when pressed, it enables a self-held start command; the mainreference source REF is indicated by parameter C101 (VrefSelect).

- “STOP”: this key may be active both in LOCAL and REMOTE mode, depending on parameter C103 (EmergStop)programming. When pressed, it is equivalent to the opening of START contact on terminal 26.

Note:

1. When operating, the drive uses the current parameter set, i.e. the parameters available at the moment. The parameter thathas been updated with the “” and “” keys will be immediately used instead of the previous parameter, even if it is notsaved with the “SAVE” key. The new value will not obviously be stored when the drive is turned off.

2. To save or change parameters, the drive must not have RUN or ENABLE energized. TB40 to TB24 amd T26 must be open.

For a simpler use of the drive, the following command combinations are available:

- ALARM RESET: Pressing the “PROG/RESET” and “ENTER/RESET” keys simultaneously is equivalent toclose a digital input configured as 0:Reset, to delete an alarm. Of course, the alarm will be cancelled once thecause responsible for its trip has disappeared.

- QUICK PAGE SHIFT (MONITOR function): Press the “” and “” keys simultaneously to access the pagerelating to parameter P000 (Key). Press “” and “” again to access the page relating to parameter M000 (Vref). Bypressing both keys once again, the operator may return to the page where the prior keys had been pressed.

- REMOTE/LOCAL MODE SWITCHING (LOC SEQ/LOC REF function): Press the “” and “ENTER/RESET” keyssimultaneously to switch the drive operation from the REMOTE to LOCAL mode and vice versa. Switching is

FWDREV

FORWARDREVERSE

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enabled only when parameter C100 (LocRemSel) is set on value 0:Enabled with drive disabled, i.e. not running.Once the drive has been turned off, during any further turning on it will immediately switch to the REMOTE mode.Therefore the LOC SEQ mode “status” will not represent one of the variables which may be saved on theEEPROM.

7.1 Functions Displayed by the LEDs

The eight LEDs located on the alphanumeric display have the following functions:

- The RUN LED is on when the drive is running (i.e. when the firing board sends pulses). This LED blinks during thefall ramp programmed in parameters P034 (RampStopPos) or P035 (RampStopNeg) after the START contact toterminal 26 opens. When this LED is on, the RUN LED in control board ES800 is on as well.

- The REF LED may turn on only when the drive is running. It may have the following two functions:

a) If at least one reference among REF main reference (local or remote mode) and one of the three auxiliaryreferences IN 1, IN 2, IN 3 is configured as a speed reference, then the LED will turn on when a global speedreference is detected. The latter may be also represented by one of the jog inner references or by one of the presetrunning references.

b) If no reference among REF main reference (local or remote mode) and the three auxiliary references IN 1, IN 2,IN 3 is configured as a speed reference but at least one of them is configured as a current reference, then the LEDwill turn on when a current reference is detected. The latter may be also represented by one of the jog innerreferences or by one of the preset running references.

- The FORWARD and REVERSE LEDs indicate the motor direction of rotation; the forward direction is the oneobtained by generating a motor torque with a positive reference. If the motor is still running and the drive digitalcommands are in local mode (LOC SEQ LED on), the FORWARD LED will blink if the self-retaining run referencehas a positive polarity, whereas the REVERSE LED blinks if the self-retaining run reference has a negative polarity(said function is available starting from SW Vers. D2.03). (Up to SW Vers. D2.01, the LEDs are called FWD andREV).

- The LOC SEQ and LOC REF LEDS indicate the drive control mode for the START / STOP and JOG commandsand the reference which is programmed by pressing the “” and “ENTER/RESET” key in the keypad. If both LEDsare on, the digital commands and the reference are in LOCAL mode (starting from SW Vers. D2.02).

- (available up to SW Vers. D2.01) The REM and LOC LEDs indicate the drive control mode with respect to theSTART / STOP and JOG commands programmed by pressing the “” and “SAVE” key in the keypad.

- The BRAKE LED indicates that the electrical braking, or in general the energy regeneration from the load to themains, is on (up to SW Vers. D2.01 the LED is called BRK).

- The I LIMIT LED indicates that the drive is in current limit. When this LED is on, ILIM LED in control board ES800is on as well. (up to SW Vers. D2.01 the LED is called LIM).

7.2 Local/Remote Running Mode

As we have already seen, by simultaneously pressing keys “” and “ENTER/RESET” in some circumstances, thedrive operation may be switched from the REMOTE to the LOCAL mode and vice versa.

- REMOTE MODE: This mode is active whenever the drive is turned on. Both references and digital inputs comeeither from terminal board or serial connection, depending on the indications stated through the latter. Therefore,should the serial connection between the PC and the drive operate in Mxxx ReadWrite mode (parameter M029 setat value 1), regardless of the value of parameter C101 (VrefSelect), the speed reference set is always the onewhich is serially transmitted. The configurable digital functions shall also be forced through the serial port.

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On the other hand, if the connection between the PC and the drive does not operate in Mxxx ReadWrite mode(parameter M029 with a value other than 1), both references and digital inputs come from the terminal board,unless parameter C101 (VrefSelect) is set at 1:Local; in that case, the main reference is the one set in parameter210 (Local Vref).

Finally, should parameter C103 (EmergStop) be set at 0:Included (default value) the “STOP” key controlling theemergency stop (when pressed) is enabled as well, with the ramps programmed in parameters P034 and P035.

For each LOCAL REMOTE switching, parameter C101 (VrefSelect) is first set at 0:Remote, thus the referencesalways come from the terminal board or serial connection (as for the digital inputs), depending on what is statedthrough the latter.

- LOCAL MODE: the run / stop commands are enabled through the “START” and “STOP” keys on the keypad. The“JOG” key is also enabled; it activates the jog running mode according to the reference which has beenprogrammed on parameter P220 (LocalJog), while the “ “ key enables the polarity final reversal ofthe main reference REF or the jog reference.

The main reference source is the internal reference programmed in P210 (Local/Vref), unless parameter C101(VrefSelect) is set at 0:Remote; in that case, the main reference is the main analog input REF on terminals 5 and7. Before sending the self-retaining run command via the “START” key, the FORWARD or the REVERSE LEDblinks, depending on the reference polarity prepared and indicated by par. C101 (VrefSelect) is positive or negative.

For each LOCAL REMOTE switching, parameter C101 (VrefSelect) is first set at 1:Local, thus the mainreference is always the reference internally programmed in parameter P210: during the switching stage, the displayimmediately shows the page of the parameter at issue; the programming mode is enabled, like in case of settingparameter P000 at 1:Program Enable or 8:Modified Parms.

FORWARDREVERSE

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7.3 Keypad

“M” Group of Programming Parameters M000 to M029These parameters are to display the measured values.

“P” Group of Programming Parameters P000 to P224These parameters may be changed during the running operation.

Programming Access Code P000:

0 = Program Disable - P000 only may be changed.1 = Program Enable - All parameters may be changed.2 = Current Tuning - It carries out the current loop auto tuning.3 = Speed Tuning - It carries out the speed loop auto tuning.4 = RxI Tuning - It carries out the IR compensation tuning.5 = Default Restore - Restore to factory default parameters.6 = Actual Backup - Backup of the parameters that have been changed from factory default.7 = Backup Restore - Restore of the parameters that have been backed up.8 = Modified Constants - Display of the parameters that have been changed from factory default.

“C” Group of Configuration Parameters C000 to C170These parameters may be changed only when the drive is not running.

“A” Group of Alarm Parameters A001 to A027These parameters are displayed when an alarm occurs.

“W” Group of Warning Parameters W000 to W003These parameters are displayed when a warning occurs.

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7.4 “M” Monitor Group

Keypad Display Range Value Function

M000 - Vref -100 / +100% Speed Reference Input TB5-7M001 - nFdbk -100 / +100% Speed / Voltage FeedbackM002 - Verr -200 / +200% Speed / Voltage ErrorM003 - Iref -150 / +150% Armature Current ReferenceM004 - Iarm 0 to 1600A Armature CurrentM005 - Alfa P230 ... 231 Thyristor Firing Delay AngleM006 - Varm -1k ...+1Kv Armature VoltageM007 - BackEMF -1k ...+1Kv Back-electromotive forceM008 - Frequency 40 ... 70 Hz Mains FrequencyM009 - Vmains 0 ...1Kv Mains VoltageM010 - AnIn1 -100 / +100% Auxiliary Analog Input, An1, TB11-13M011 - AnIn2 -100 / +100% Auxiliary Analog Input, An2, TB17M012 - AnIn3 -100 / +100% Auxiliary Analog Input, An3, TB19M013 - Imax 0 ... 100% Current Hardware LimitM014 - OptIn1 -100 / +100% Optional Analog Input, An1, on Pin 33 of J7M015 - OptIn2 -100 / +100% Optional Analog Input, An2, on Pin 8 of J7M016 - OptIn3 -100 / +100% Optional Analog Input, An3, on Pin 10 of J7M017 - RefFld 0 ...+100% Field Current ReferenceM018 - Ifld 0 ... 40A Field CurrentM019 - AnOut1 -10 ... 10V Analog Output, An Out 1, on TB 8M020 - AnOut2 -10 ... +10V Analog Output, An Out 2, on TB 10M021 - MDIState On . . . Off Digital Input StateM022 - MDOState On . . . Off Digital Output StateM023 - FldRegState Run- >55Hz Field Regulator StateM024 - OutputPower 0.00 kW Power in KilowattsM025 - MotorTorque 0.50% Percentage of Motor TorqueM026-27 0.00 kW Future ParametersM028 - PhaseSeq RST - TSR Phase SequenceM029 - SerialState 0 . . . 3 Serial Communication

7.5 “P” Programming Group

“P” Programming Parameters can be changed in the run mode.

Keypad Display Defaults Function

P000 Key 0 : ProgramDisable Programming ModeP001 - ProgLevel 0: Basic Level of Programming ModeP002 - P009 Future ParametersP010 - nFdbkMax 1750 RPM Max SpeedP011 - VarmMax 500 V Max. Armature VoltageP012 - SpdDmndPol 0 : Bipolar Speed Reference PolarityP013 - nMaxPos 100% Max. Positive Speed ReferenceP014 - nMinPos 0% Min. Positive Speed ReferenceP015 - nMaxNeg -100% Max. Negative Speed ReferenceP016 - nMinNeg 0% Min. Negative Speed ReferenceP017 - P029 Future ParametersP030 - RampUpPos 0.00 sec. Fwd Acceleration Ramp Time of the Positive

ReferenceNOTE: Highlighted parameters are in Basic Level

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“P” Programming Group (con’t)



P031 - RampDnPos 0.00 sec. Fwd Deceleration Ramp Time of the Positive Reference

P032 - RampUpNeg 0.00 sec. Rev Acceleration Ramp Time of the Negative Reference

P033 - RampDnNeg 0.00 sec. Rev Deceleration Ramp Time of the Negative Reference

P034 - RampStopPos 0.00 sec. Fwd Stop Deceleration Ramp Time of the Positive Reference

P035 - RampStopNeg 0.00 sec. Rev Stop Deceleration Ramp Time of the Negative Reference

P036 - RampUpJog 0.00 sec. Fwd Acceleration Ramp Time of the Jog ReferenceP037 - RampDnJog 0.00 sec. Rev Deceleration Ramp Time of the Jog ReferenceP038 - IntialRndg 0.00 sec. Fwd S-Curve Ramp Time RoundingP039 - FinalRndg 0.00 sec. Rev S-Curve Ramp Time RoundingP040 - P049 Future ParametersP050 - Ilim1A 100% First Current Limit Bridge AP051 - Ilim1B 100% First Current Limit Bridge BP052 - Ilim2A 100% Second Current Limit Bridge AP053 - Ilim2B 100% Second Current Limit Bridge BP054 - Speed 1-2 100% 1st - 2nd Current Limit SpeedP055 - IlimHyper 100% Constant HP Pattern End Current LimitP056 - SpeedHyper1 100% Constant HP Limit Start SpeedP057 - Speed Hyper2 100% Constant HP Limit End SpeedP058 - Clim 50% Current Limit Decrease % by External ContactP059 - dI/dtMax 0.40% / ms Current Reference Ramp TimeP060 - OverLimA 100% Bridge A Current Over-LimitP061 - OverLimB 100% Bridge B Current Over-LimitP062 - TFullovLim 60.00 sec. Over-Limit TimeP063 - P069 Future ParametersP070 - KpSpeed 4.00 Speed Loop ProportionalP071 - Tispeed 1.00 sec. Speed Loop Integral TimeP072 Future ParameterP073 - KpSpdAdapt 4.00 Speed Loop Adapted ProportionalP074 - TiSpdAdapt 1.00 sec. Speed Loop Adapted Integral TimeP075 - TdSpdAdapt 0.100 sec. Speed Loop Adapted DerivativeP076 - KpSpeed2 4.00 Speed Loop Proportional, 2nd GainP077 - TiSpeed2 1.00 sec. Speed Loop Integral Time, 2nd TimeP078 Future ParameterP079 - KpSpdAdapt2 4.00 Speed Loop Adapted Proportional, 2nd GainP080 - TiSpdAdapt2 1.00 sec. Speed Loop Adapted Integral Time, 2nd TimeP081 Future ParameterP082 - AdaptCtrl 0 : NO Speed Parameter Auto AdaptationP083 - Verr1 0.500% First Speed Error for Auto AdaptationP084 - Verr2 1.00% Second Speed Error for Auto AdaptationP085 - TiRampScale X 1 Speed Integral Time Increment During RampP086 - ArmatureCmp 100% Armature CompensationP087 - VerrOffset 0.000% Offset Over the Speed ErrorP088 - Rxl 0 V IR Compensation

NOTE: Highlighted parameters are in Basic Level

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P089 - P099 Future ParametersP100 - KpCurr 0.200 Current Loop Proportional GainP101 - TiCurrDisc 1.30 ms Current Loop Integral Time with Discontinuous CurrentP102 - TiCurrCont 32.0 ms Current Loop Integral Time with Continuous Current

ConductionP103 - RxI 70.92 V Armature Equivalent Resistive DropP104 - LdI / dt Pred 0.707 V Armature Equivalent Inductive DropP105 - P109 Future ParametersP110 - KpFld 10.0 Field Voltage Loop Proportional GainP111 - TiFld 0.100 sec. Field Voltage Loop Integral TimeP112 - P119 Future ParametersP120 - VrefPol 0 : Bipolar Speed Reference PolarityP121 - VrefBias 0.000% Speed Reference Input BiasP122 - VrefGain 100.0% Speed Reference Input GainP123 - IrefBias 0.000% Current Reference Input BiasP124 - IrefGain 100.0% Current Reference Input GainP125 - AnIn1Pol 0 : Bipolar Auxiliary Analog Input Polarity, An1, TB11-13P126 - AnIn1Bias 0.000% Auxiliary Analog Input Bias, An1, TB11-13P127 - AnIn1Gain 100.0% Auxiliary Analog Input Gain, An1, TB11-13P128 - AnIn2Bias 0.000% Auxiliary Analog Input Bias, An2, TB17P129 - AnIn2Gain 100.0% Auxiliary Analog Input Gain, An2, TB17P130 - AnIn3Bias 0.000% Auxiliary Analog Input Bias, An3, TB19

P131 - AnIn3Gain 100.0% Auxiliary Analog Input Gain, An1, TB19P132 - OptIn1Bias 0.000% Optional Analog Input One BiasP133 - OptIn1Gain 100.0% Optional Analog Input One GainP134 - OptIn2Bias 0.000% Optional Analog Input Two BiasP135 - OptIn2Gain 100.0% Optional Analog Input Two GainP136 - OptIn3Bias 0.000% Optional Analog Input Three BiasP137 - OptIn3Gain 100.0% Optional Analog Input Three GainP138 - P149 Future ParametersP150 - AnOut1Cfg 0:0 Volt Analog Output, AnOut1, TB8P151 - AnOut1Bias 0.000% Analog Output Bias, AnOut1, TB8P152 - AnOut1Gain 100.0% Analog Output Gain, AnOut1, TB8P153 - AnOut2Cfg 0:0 Volt Analog Output, AnOut2, TB10P154 - AnOut2Bias 0.000% Analog Output Bias, AnOut2, TB10P155 - AnOut2Gain 100.0% Analog Output Gain, AnOut2, TB10P156 - IoutPol 0 : Bipolar = dcM12+ Analog I Output Polarity, AnIOut, TB6

1 : Positive - dcM6+P157 - AnOut1Pol 0 : Bipolar Analog Output Polarity, AnOut1, TB8P158 - AnOut2Pol 0 : Bipolar Analog Output Polarity, AnOut2, TB10P159 - P169 Future ParametersP170 - MDO1Cfg 0 : Drive OK Digital Outputs, MDO1, TB25-27P171 - MDO1OnDelay 0.00 sec. Digital Outputs, MDO1, On DelayP172 - MDO1OffDly 0.00 sec. Digital Outputs, MDO1, Off DelayP173 - MDO1Level 50% Digital Outputs, MDO1, Switching LevelP174 - MDO1Hyst 2% Digital Outputs, MDO1, Switching HysteresisP175 - MDO1Logic 0 : Normally Open Digital Outputs, MDO1, Contact LogicP176 - MDO2Cfg 1 : Speed Threshold Digital Outputs, MDO2, TB29-31

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P177 - MDO2OnDelay 0.00 sec. Digital Outputs, MDO2, On DelayP178 - MDO2OffDly 0.00 sec. Digital Outputs, MDO2, Off DelayP179 - MDO2Level 3% Digital Outputs, MDO2, Switching LevelP180 - MDO2Hyst 2% Digital Outputs, MDO2, Switching HysteresisP181 - MDO2Logic 0 : Normally Open Digital Outputs, MDO2, Contact LogicP182 - MDO3Cfg 2 : Iarm Threshold Digital Outputs, MDO3, TB33-35P183 - MDO3OnDelay 0.00 sec. Digital Outputs, MDO3, On DelayP184 - MDO3OffDly 0.00 sec. Digital Outputs, MDO3, Off DelayP185 - MDO3Level 50% Digital Outputs, MDO3, Switching LevelP186 - MDO3Hyst 2% Digital Outputs, MDO3, Switching HysteresisP187 - MDO3Logic 0 : Normally Open Digital Outputs, MDO3, Contact LogicP188 - MDO4Cfg 3 : Motor at Speed Digital Outputs, MDO4, TB37-39P189 - MDO4OnDelay 0.00 sec. Digital Outputs, MDO4, On DelayP190 - MDO4OffDly 0.00 sec. Digital Outputs, MDO4, Off DelayP191 - MDO4Level 5% Digital Outputs, MDO4, Switching LevelP192 - MDO4Hyst 2% Digital Outputs, MDO4, Switching HysteresisP193 - MDO4Logic 0 : Normally Open Digital Outputs, MDO5, Contact LogicP194 - MDO5Cfg 4 : CurrLimitation Digital Outputs, MDO5, TB41-43P195 - MDO5OnDelay 0.00 sec. Digital Outputs, MDO5, On DelayP196 - MDO5OffDly 0.00 sec. Digital Outputs, MDO5, Off DelayP197 - MDO5Level 50% Digital Outputs, MDO5, Switching LevelP198 - MDO5Hyst 2% Digital Outputs, MDO5, Switching HysteresisP199 - MDO5Logic 0 : Normally Open Digital Outputs, MDO5, Contact LogicP200 - P209 Future ParametersP210 - LocalVref 0.00% Local Speed ReferenceP211 - PresetSpd1 5.00% Preset Speed 1 ReferenceP212 - PresetSpd2 20.0% Preset Speed 2 ReferenceP213 - PresetSpd3 10.0% Preset Speed 3 ReferenceP214 - PresetSpd4 00.0% Preset Speed 4 ReferenceP215 - PresetSpd5 - 5.00% Preset Speed 5 ReferenceP216 - PresetSpd6 - 20.0% Preset Speed 6 ReferenceP217 - PresetSpd7 - 10.0% Preset Speed 7 ReferenceP218 - P219 Future ParametersP220 - Local Jog 5.00% Local Jog ReferenceP221 - JogSelect 0 : Common Ramps Jog SelectP222 - Jog1 5.00% Jog 1P223 - Jog2 -5% Jog 2P224 - Jog3 0.00% Jog 3P221 - P229 Future ParametersP230 - AlfaMin 30.0° = dcM12+ Min. Firing Angle

25.0° = dcM6+P231 - AlfaMax 150° Max. Firing AngleP232 - P239 Future ParametersP240 - LowPassCnst 0.00 ms Low Pass Filter Over Speed Error


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7.6 “C” Constant Group

“C” Constant Parameters cannot be changed in the run mode.


C000 - Inom 100% Motor Rated CurrentC001 - MotThrshold 100% Current for 12T ProtectionC002 - MotThConst 340 sec. Time Constant for Motor I2T ProtectionC003 - C009 Future ParametersC010 - IfdNom 10% Max. Field CurrentC011 - SpeedFld 100% Field Crossover Set-PointC012 - VarmNom 1000 V Nominal Armature VoltageC013 Future ParameterC014 - FldEcoLevel 10% Field Economy Current LevelC015 - FldEcoDelay 240 sec. Field Economy Current Decrease DelayC016 - IfldMin 25% Min. Field CurrentC017 - FldFrcLlevel 10% Field Forcing Current LevelC018 - FldFrcTime 10.0 sec. Field Forcing On TimeC019 - C029 Future ParametersC030 - VmainNom 480 V Main Nominal VoltageC031 - C049 Future ParametersC050 - SpdLoopSel 1 : PI operating Speed Loop SelectionC051 - CurrLoopSel 0 : PI operating Current Loop OperationC052 - FldLoopSel 0 : PI operating Field Regulator Voltage Loop SelectionC053 - C059 Future ParametersC060 - 1st Q-FwdMot 0 : Enabled = dcM12+ Fwd Motoring, 1st Quadrant Selection

1: Disabled = dcM6+C061 - 2nd Q-RevReg 0 : Enabled = dcM12+ Rev Regeneration Braking, 2nd Quadrant Selection

1 : Disabled = dcM6+C062 - 3rdRevMot 0 : Enabled = dcM12+ Rev Motoring, 3rd Quadrant Selection

1 : Disabled = dcM6+C063 - 4thFwdReg 0 : Enabled = dcM12+ Fwd Braking, 4th Quadrant Selection

1 : Enabled = dcM6+C064 - C069 Future ParametersC070 - nFdbkSelect 4 : Armature Feedback SelectionC071 Future ParameterC072 - EncoderPls 1024 pls/R Encoder Pulse per RevolutionC073 Future ParametersC074 -Tach Volts 50 V / 1000RPM Tach Volts ScalingC075 - nFdbkSwitch 0 : No Feedback Auto SwitchingC076 - C089 Future ParametersC090 - AutoReset 0 times Auto Restart NumberC091 - AutoResTime 300 sec. Auto Restart Reset TimeC092 - PwrOnReset 0 : No Alarm Trip DeletionC093 - MainsReset 1 : Yes Auto Resets Mains FailureC094 - StartSafety 0 : No Manual/Auto Saftey StartC095 - C099 Future ParametersC100 - LocRemSel 0 : Enabled Local / Remote SelectionC101 - VrefSelect 0 : Remote Main Reference SelectC102 Future ParameterC103 - EmergStop 0 : Included Emergency StopC104 - C119 Future ParametersC120 - AnIn1Cfg 0 : Excluded Analog Input, AnIn1, TB11-13

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“C” Constant Group (con’t)

“C” Constant Parameters cannot be changed in the run mode.


C121 - AnIn2Cfg 0 : Excluded Analog Input, AnIn2, TB17C122 - AnIn3Cfg 0 : Excluded Analog Input, AnIn3, TB19C123 - ExtLimPol 0 : Positive only External Current Limit Reference PolarityC124 - C129 Future ParametersC130 - MDI1Cfg 0 : Reset Digital Input 1, MDI 1, TB28C131 - MDI2Cfg 12 : Jog A Digital Input 2, MDI 2, TB30C132 - MDI3Cfg 13 : Jog B Digital Input 3, MDI 3, TB32C133 - MDI4Cfg 1 : PresetSpeed A Digital Input 4, MDI 4, TB34C134 - MDI5Cfg 4 : Clim Digital Input 5, MDI 5, TB36C135 - MDI6Cfg 5 : Reverse Digital Input 6, MDI 6, TB38C136 - C140 Future ParameterC141 - A016/7 (Vac) 1000 ms Mains Alarm A016 / 017 Trip DelayC142 - C149 Future ParametersC150 - A001 (Fldl) 0 : Included Field Loss Alarm A001 Trip DisableC151 - A004 (Load) 0 : Included Load Loss Alarm A004 Trip DisableC152 - A005 (Thyr) 0 : Included Thyristor Failure Alarm A005 Trip DisableC153 - A006 (fUnst 0 : Included Unstable Frequency Alarm A006 Trip DisableC154 - A007 (Mains) 0 : Included Mains Failure Alarm A007 Trip DisableC155 - A008 (nFdbk) 0 : Included Alarm A008 Trip DisableC156 - A010 (ArmOV) 0 : Included Alarm A010 Trip DisableC157 - A016 / 7 (Vac) 0 : Included Alarm A016 / 017 Trip DisableC158 - A027 (RTU) 0 : Included Serial Link FailureC159 Future ParameterC160 - DeviceID #1 Serial Connection Drive AddressC161 - BaudRate 9600 bps Serial Connection Baud RateC162 - Parity 0 : None Serial Connection Parity ControlC163 - BaseAddress #0 Master Data Area Base AddressC164 - RTUTimeOut 300 ms Serial Time OutC165 - R x T x Delay 0.00 ms Serial Response DelayC166 - C169 Future ParametersC170 - FirstPage Status Page Displayed at Power On


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7.7 “A” Fault Group

Keypad Display Function

A001 - Field Failure Field Current FailureA002 - Heatsink Trip Heatsink OvertemperatureA003 - Armature Overcurrent Armature OvercurrentA004 - Load Loss Loss of LoadA005 - Thyristor Firing Failure Thyristor Firing FailureA006 - Unstable Mains Frequency Unstable Mains FrequencyA007 - Mains Phase Failure Mains Phase FailureA008 - Speed Feedback Failure Speed Feedback FailureA009 - Field Overcurrent Field OvercurrentA010 - Armature Overvoltage Armature OvervoltageA011 - L out of Range Auto Tuning Inductance Out of RangeA012 - Frequency Out of Range Mains Frequency Out of RangeA013 - Synchronization Failure Synchronization FailureA014 - R Out of Range Auto Tuning Resistance Out of RangeA015 - Auto Tune Error Torque During Current Auto TuningA016 - Mains OverVoltage Mains OvervoltageA017 - Mains UnderVoltage Mains UndervoltageA018 - AutoTune Interrupted Auto Tuning InterruptedA019 - AutoTune Limitation Limitation During Speed Auto TuningA020 FutureA021 - Motor I2 t Trip Motor I2 t Protection TripA022 - Drive I x t Trip Drive I x t Protection TripA023 - Ifd Underlimited Field Weakening, Minimum Current LimitA024 - Missing E2PROM Missing E2PROMA025 - E2PROM Failure E2PROM FailureA026 - Backup Failure Backup FailureA027 - Serial Link Failure Serial Link Failure

7.8 “W” Warning Group

Keypad Display Function

W001 - OverLimit Lock Over Limit LockW002 - Speed Fdbk Switch to Varm Speed Feedback Switch to Voltage ArmatureW003 - Imax (t2) Max current potentiometer is set less than 100%

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8.0 Quick-Start Programming Tree

Step OneSection 8.1

Step TwoSection 8.2

Step ThreeSection 8.3

Step FourSection 8.4

Step FiveSection 8.5

Step SixSection 8.6

Step SevenSection 8.7

Step EightSection 8.8

Step NineSection 8.9

Step TenSection 8.10

Do you have aspeed feedback

device?

YES

NOFinished with the

set upprocedure. Step Eleven

Section 8.11

AC or DCTachometer

?

YES

NO

YESYES

Encoder?

YES

Finishedwith set up procedure.

Do youhave a Constant HP

application ?

OK

OK

OK

OK

OK

OK

YES

YES

YES

NO

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8.1 Menu Parameter Tree

M000 : Main AnalogReference

P000: ProgrammingCode

Scroll upkey

P parameters can beprogrammed in a running

operation.

Scroll upkey

Scroll upkey

C000: Motor RatedCurrent

C parameters cannot beprogrammed in a running

operation.

Rating Example Drive OK - D3.06 = Software Rev

dcM12+4.70 dcM12+ = Regen dcM6+ = Non-regn 4 = 460Vac 2 = 240Vac 70 = Unit Max.Amp rating

Drive OK - D3.04dcM12+4.70

Power On

M parameters are monitoronly.

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8.2 How to Change a Parameter

Press the Monitor Function Inc & Dec KeySimultaneously

Drive OK- D3.04dcM12+4.70

P000 Key0 : ProgramDisable

Press Prog / Reset Key

P000 Key0 : ProgramDisable0: Blinking cursor

P000 Key1 : Program Enabled

Blinking cursor

Press Inc Key

Once


P000 Key1 : Program Enabled

C010 = 11%

Press Inc Keyand scroll up to C010


Press Inc Key and scroll up to 11.0%

C010 IfldNom11.0 %

Blinking cursor

Press Enter / Reset

to save

Set P000 = 0or when the power

is removed thedrive will default

back to P000 Key

0 : Program Disable

To return to P000 Key

Press Inc & Dec keysimultaneously

C010 IfldNom10.0 %

Blinking cursor

C010 IfldNom11.0 %

Fixed cursor

How to Set

Note:Stores parm.

even afterremoving power.

Go to step 8.3

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8.3 Setting Motor Data 8.4 Setup Procedure for Voltage Fdbk

OK

OK

OK

ExampleC010 = 100% = 5A forstacks size less than

100A C010 = 100% = 15Afor stacks size above

100AExample

Field current = 2.1.AC010 = 2.1 / 5 x 100

C010 = 42 %

C030: AC Line VoltageSet C030 to the value displayed in

M009

P011: Armature Voltage isfactory set, verify that P011 is set

to the motor nameplate rating.eg. 500 or 240Vdc

C000 : Armature Amps is factoryset, verify that C000 is set to the

FLA as a percentage motornameplate rating. (Page 13)

Warning!!! C010 : Field Ampsmust be set to apercentage of the

nameplate rating ofmotor. View M018

after a run command toverify.

Set the remote speed reference tozero, check by viewing M000

OK

Apply a run command and turn thespeed reference up slowly to 50 %

view M006 to verify that half thearmature voltage is acquired.

Observe on the keypad that the "Ref Det LED" is "ON"

"Run LED" is "ON" "Forward LED" is "ON"

OK

OK

Adjust the acceleration anddeceleration rates as required.

P030 to P033

Adjust the STOP accelerationand deceleration rates as

required.P034 to P035

OK

OK

Checkdirection of motor

rotation?

If the rotationis wrong,

remove powerand reverse

the field wires.

Do you have speedfeedback ?

Yes

Go to section 8.5

No

Finished

PositiveVoltage Ref is

forward.

Do you have an Encoder

Yes

No

Go to section 8.6

OKView M0009 andrecord value to set

C030.

OK

OK

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8.5 Setup Procedure for Tachometer Feedback

Example for a AC Tach60Vac / 1000 rpm

@1750rpm 60Vac = 0.9 = 54Vdc

C074 = 54Vdc / 1000 rpm

C070 : nFdbkSelect C070 = 54Vdc / 1000 rpm x

1750 = 94.5VdcSet C070 = 2

This set the maximum inputlevel. Verify that the proper

input terminal is correct.

Set C074 Volts / rpm

Set C070nFdbkSelect

Before changing the drive from armature voltage to tachometer fdbk. Run the drive inarmature fdbk and check the polarity of the DC tach. voltage.

The correct polarity would be positive fdbk for a positive reference."Forward LED" is "ON" M000 will verify this positive REF for FWD rotation. If motor

rotation is wrong remove line power to the controller and switch the field leads.

OK

YES

NO

OK

OK

OK

Constant HP applications require aspeed fdbk device.

Example of Constant Hp is whenthe motor is in its extended speed

range. eg. 1750 to 2300 rpm

Go to step 8.7

YES

ACTachometerfor dcM6+drive only.

DCTachometer

for dcM6/12+drives.

Record Motor Rpm at Base Speed and at

Top Speed if Constant Hp is required.

AC Tachometer as the speed feedback device. The

AC tach requires a diode bridgerectifier as shown on pg. 25.

The AC tach fdbk will not workon a dcM12+ Drive.

Example for a DC Tach50Vdc / 1000 rpm

@1750rpm C074 = 50Vdc / 1000 rpm

C070 : nFdbkSelect C070 = 50Vdc / 1000 rpm x

1750 = 87.5VdcSet C070 = 2

This set the maximum inputlevel. Verify that the proper

input terminal is correct.

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8.6 Setup Procedure for Encoder Feedback

Set C070 = 3nFdbkSelect

Before changing the drive from armature toEncoder fdbk. Run the drive in armature fdbk for

correct rotation. The correct polarity would be positive fdbk for a

positive reference."Forward LED" is "ON", M000 will verify this positive

REF for FWD rotation. If motor rotation is wrongremove line power to controller and switch the field

leads.

If possible turn the motor by hand andcheck, that the correct polarity would

be positive fdbk for a positivereference.

"Forward LED" is "ON"M000 & M001 will verify this.

If this is not possibly then set thespeed reference to show 2 %, verify

on M000.View M001and then start the driveand if the speed starts to take off or

the drive trips on A086 Spd fdbk lossthen reverse the signal CHA with

CHB and CHA with CHB.

OK

OK

OK

Set C072Encoder Fdbk to ppr of encoder

Pulse / rev

OKOK

Go to step 8.7

Constant HP applicationsrequire a speed fdbk device.Example of Constant Hp is

when the motor is in itsextended speed range. eg. 1750 to 2300 rpm

Record Motor Rpm at Base Speed and at

Top Speed if Constant Hp isrequired.

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8.7 Setup Procedure for Automatic Tuning

Automatic tuning is able to recognize the essentialcharacteristics of the motor and load. The defaultvalues cover most applications. To better stream

line the higher performances application theautomatic tuning can be preformed.

Do you have aregenerative drive

(M12 +) with speedfeedback.

OK

YES

NO

Auto Tunning Is not RequiredYour application does not require

auto tuning. The default values will provideadequate speed performance.

Run the drive and view M001 for speed stability. Ifthe motor is unstable adjust PO70 in small

increments while the motor is running. The dynamicresponse of the equipment will determine whetherthe gain is to be set at a higher or lower level then

the default value.

Finished

Go to step 8.8

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8.8 Setup Procedure for Current Auto Tuning

Set C051 = 11: Predictive

Set P000 = 2Current Tune

YES

YES

Press the enter key

The display will showP000 = 2

2 is flashing

YES

The display will show the message "Close ENABLE

to continue or PressPROG to quit" appears.

Close the enable input or give arun command.

The display will show "Auto Tune In Progress"


when the current tune isfinished.

Leave C051Set to C051 = 1

1: Predictive

Do you require ahigh response for a

low inertiaload.

Set C051 = 00: PI operating

YES

NO

Applications that require a highresponse current loop are the

following applications:High Speed Spindle.

CNC Machine.Web Processing.

Winders.Multi Drive Systems that are

following another regenerativedrive .

Go to Step 8.9

Go to Step 8.9

The load doesnot need to bedisconnected

from themotor.

YES

YES

YES

YES

YES

YES

YES

The run command or enable input must be

disabled.

The run command or enable input must be

disabled.

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8.9 Setup Procedure for Speed Auto Tuning

Set P000 = 33: Speed Tune

Press the enter key to performthe auto tune.

P000 =3 Speed TuningThe number 3 is flashing

The display will show the message "Close ENABLE

to continue or PressPROG to quit" appears.


The display will show "AutoTune In Progress"


when this apears the speedtune is completed

Warning !Set the speed reference to zero

before starting speed tune.

The load does notneed to be

disconnected fromthe motor.

Verify that speed reference isset to zero M000.

YES

Finished

YES

YES

YES

YES

YES

YES

YES

YES

Remove the enable input orgive a stop command.

The run command or enableinput must be disabled.

Does application require

Constant HP ?

OK

YESNO

Go to step8.10

YES

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8.10 Setup Procedure forR X I Auto Tuning

8.11 Setup Procedure forConstant HP Range

Set P000 = 44: R x I Tuning

Press the enter key to performthe auto tune.

Display will showP000 = 4 R xI Tuning

The number 4 is flashing

The displaywill show the

message "Close ENABLEto continue or Press

PROG to quit" appears.


The display will show "AutoTune In Progress"


Constant HPThe field current will remains constant up to

base speed, and decreases from basespeed to top speed value.

Verify with M018Armature Voltage will increases from zero

speed to base speed and then remainconstant to top speed.

Verify with M006

YES

YES

YES

YES

YES

YES

Set P001 = 1P001 = 1: Advanced

Set P010 equal to your topspeed.

e.g.. 2100 rpm

Scroll down toSet C012 :VarmNom to motor rated

Armature Voltage eg. 500 or 240 vdc

YES

Open the enable input or give astop command.

OK

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9.0 QUICKSTART MAIN PARAMETER DIAGRAM

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10.0 MEASURE PARAMETERSThe measure parameters are the display parameters marked with an M followed by the parameter number.The following symbols have been used to describe the above mentioned parameters and any other parametersafterwards stated.

Keys to the symbols used:

P : Parameter number

R : Range of the allowable values

D : Factory setting

F : Function

M000: Main Analog Reference

P M000 - Vref

R -150. ... 150. % (up to SW Vers. D2.02: -100.% ... 100.%)

F This parameter indicates, as a percentage of the max. reference corresponding to 10V, the value of thereference resulting from REF main reference between terminals 5 and 7. The reference obtained is either aspeed / voltage reference or a current reference, should the 6:Slave function (see parameter set C130 ...C135) be enabled via a digital input.On the contrary, if parameter C101 (VrefSelect) is set at value 1:Local, it displays the reference being seton parameter P210 (LocalVref). Said procedure is not valid whenever the drive operates in REMOTEconfiguration while the serial connection between PC and drive simultaneously operates in MxxxReadWrite mode (parameter M029 set at value 1): in this case the reference set (which is also displayed onthis parameter) is the one transmitted via a serial. The value per cent displayed in this parameter - either asa speed / voltage reference or a current reference - may take account of the Gain, Bias blocks (seeparameters P122, P121 or parameters P124, 123 respectively), of the Polarity block (see parameterP120) and of the 5:Reverse function (see parameter set C130 ... C135) which are applied in the above-mentioned order.For instance, if a motor turns at 2000 RPM with a 10V reference and P122 = 100%, with a 10V referenceand P122 = 25%, the motor will turn at 500 RPM (and will display M000 = 25%, M001 = 25%), whereas,with a 2.5V reference and P122 = 200%, the motor will turn at 1000 RPM (and will display M000 = 50%,M001 = 50%). The value per cent displayed in this parameter also indicates the reference issued froma current external signal (milliAmperes), provided that jumper JP7 is set on position 2-3: if an analog input isto be used as a 0(4) ... 20mA signal, the value to be set on the parameters relating to Gain and Biasoperators is shown in the MILLIAMPERE INPUT / OUTPUT SIGNALS chapter.

M001: Speed / Voltage Feedback

P M001 - nFdbk

R -100. ... 100. %

F This parameter indicates, as a percentage of the max. feedback corresponding to 10V, the value of thefeedback resulting from the algebraic sum of all speed / voltage references applied to the external analog inputs,or to the references that are internally issued.

In case of a tacho feedback or an encoder feedback, 100% of such value corresponds to the max. speed setthrough parameter P010. In case of an armature feedback, 100% of such value corresponds to the max. voltageset through parameter P011.

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M002: Speed / Voltage Error

P M002 - Verr

R -200. ... 200. %

F This parameter indicates, as a percentage of the max. error corresponding to 10V, the difference between thespeed / voltage global reference and the feedback quantity (tacho, encoder or armature voltage). For instance, ifonly REF main reference (either local or remote), with ramp times equal to zero, is used, then M002 = M000 -M001.

M003: Armature Current Reference

P M003 - Iref

R -150. ... 150. %

F This parameter indicates, as a percentage of the max. reference corresponding to the drive rated current, thecurrent loop input (corresponding to the speed / voltage loop output) eventually limited by one or more relevantparameters (see parameter C000 and parameter set P050 ... P062, in case of internal limit). For instance, with aburden pack of 100, M003 will correspond to 100A.

M004: Armature Current

P M004 - Iarm

R -5250 ... 5250 Amps

F This parameter indicates, in Amperes, the mean value of the armature current feedback, which is obtainedthrough the current transformers.

M005: Thyristor Firing Delay Angle

P M005 - Alfa

R P230 ... P231

F This parameter indicates, in electrical degrees, the delay angle of the thyristor firing pulses. Such angle resultsfrom the intersections of the three-phase line voltages.

M006: Armature Voltage

P M006 - Varm

R -1000 ... 1000 V

F This parameter indicates, in Volts, the voltage across the motor armature circuit. Such voltage is directlymeasured at the drive output.

M007: Back-electromotive Force

P M007 - BackEMF

R -1000 ... 1000 V

F This parameter indicates, in Volts, the back-electromotive force generated by the motor. Such voltage isinternally calculated using the motor electric ratings. M007= M006 - P088 this feedback is used for fieldregulator crossover.

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M008: Mains Frequency

P M008 - Frequency

R 40.0 ... 70.0 Hz (normally displayed range)

F This parameter indicates, in Hertz, the power supply mains frequency measured on the input bars.

M009: Mains Voltage

P M009 - Vmains

R 0 ... 1000 V

F This parameter indicates, in Volts, the mains voltage applied to the drive power section.

M010: Auxiliary Analog Input 1 to Terminals 11 and 13

P M010 - AnIn1

R -100. ... 100. %

F This parameter indicates, as a percentage of the max. reference corresponding to 10V, the value of thereference resulting from IN 1 reference application between terminals 11 and 13. The reference obtainedmay be configured through parameter C120. The value per cent displayed in this parameter takes accountof the Gain, Bias, Polarity blocks (see parameters P127, P126 and P125 respectively) and of the 5:Reversefunction - only in case of an input configured as a speed additional reference - (see parameter set C130 ...C135) which are applied in the abovementioned order.The value per cent displayed in this parameter also displays the reference issued from a current externalsignal (milliAmperes), provided that jumper JP8 on terminal board ES801 is set on position 2-3: if an analoginput is to be used as a 0(4) ... 20mA signal, the value to be set on the parameters relating to Gain andBias operators is shown in the MILLIAMPERE INPUT / OUTPUT SIGNALS chapter.

M011: Auxiliary Analog Input 2 on Terminal 17

P M011 - AnIn2

R -100. ... 100. %

F This parameter indicates, as a percentage of the max. reference corresponding to 10V, the value of thereference resulting from IN 2 reference application between terminal 17 and 0V. The reference obtained maybe configured through parameter C121. The value per cent displayed in this parameter takes account of theGain and Bias blocks (see parameters P129 and P128 respectively) and of the 5:Reverse function - only ifan input is configured as a speed additional reference - (see parameter set C130 ... C135) applied in theabove-mentioned order.

M012: Auxiliary Analog Input 3 on Terminal 19

P M012 - AnIn3

R -100. ... 100. %

F This parameter indicates, as a percentage of the max. reference corresponding to 10V, the value of thereference resulting from IN 3 reference application between terminal 19 and 0V. The reference obtained maybe configured through parameter C122. The value per cent displayed in this parameter takes account of theGain and Bias blocks (see parameters P131 and P130 respectively) and of the 5:Reverse function -only ifan input is configured as a speed additional reference - (see parameter set C130 ... C135) applied in theabove-mentioned order.

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M013: Current Hardware Limit

P M013 - Imax

R 0.00 ... 100. %

F This parameter indicates, as a percentage of the current limit obtained by the composition of the valuesset to all relevant parameters (see parameter C000 and parameter set P050 ... P062, in case of internallimit), the limit value decreased through trimmer T2 (IMAX) in ES800 control board.M013 = 100% display corresponds to the trimmer complete clockwise rotation.

WARNING! During the drive ordinary operation, this parameter shall indicate 100%, so the trimmer isto be thoroughly turned clockwise.

M014: Optional Analog Input 1 on Pin 33 of CN7

P M014 - OptIn1 (not used)

R -100. ... 100. %

F Optional input 1.



R -100. ... 100. %

F Optional input 2.



R -100. ... 100. %

F Optional input 3.

M017: Field Current Reference

P M017 - RefFld

R 0.00 ... 100. %

F It indicates, as a percentage of the max. reference corresponding to the max. field current that may begenerated by the drive, the current loop input (corresponding to the voltage loop output) of the internal fieldregulator. The max. field current generated by the drive is equal to 5A for dcM+ rated at 100 Amps and less,15A for a dcM+ rated at 100 Amps and above, with the option of 35 Amps.For instance, for a dcM+ 4075, 100% of M017 will correspond to 15 Amps.

M018: Field Current

P M018 - Ifld

R 0.00 ... 40.0 Amps

F This parameter indicates, in Amperes, the field current feedback value obtained through the zero gausscurrent transformer.

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M019: Analog Output 1 on Terminal 8

P M019 - AnOut1

R -10.0 ... 10.0 V

F This parameter indicates, in Volts, the value of the analog output available on terminal 8.The output at issue may be configured through parameter P150.The value per cent displayed in this parameter takes account of the Gain and Bias set through parametersP152 and P151 respectively.

M020: Analog Output 2 on Terminal 10

P M020 - AnOut2

R -10.0 ... 10.0 V

F This parameter indicates, in Volts, the value of the analog output available on terminal 10.The output at issue may be configured through parameter P153.The value per cent displayed in this parameter takes account of the Gain and Bias set through parametersP155 and P154 respectively.

M021: Digital Input State

P M021 - MDIState

R ... (the figure shows a display example for each input)

F This parameter displays the state of the available MDIx digital inputs, that may be configured throughparameter set C130 ... C135. A small black square indicates that the digital input is active, i.e. the relevantterminal is connected to +24V.

The input terminal states are the following:

E ENABLE input logical state (terminal 24).S START input logical state (terminal 26).1 MDI1 input logical state (terminal 28).2 MDI2 input logical state (terminal 30).3 MDI3 input logical state (terminal 32).4 MDI4 input logical state (terminal 34).5 MDI5 input logical state (terminal 36).6 MDI6 input logical state (terminal 38).

M022: Digital Output State

P M022 - MDOState

R ... (the figure shows a display example for each output)

F This parameter displays the state of the available MDOx digital outputs, that may be configured throughparameter set P170 ... P199. A small black square indicates that the digital output is active, whereas thephysical state of the contact depends on parameters MDOxLogic programming.

The output terminal states are the following:

1 MDO1 output logical state (terminals 25-27).2 MDO2 output logical state (terminals 29-31).3 MDO3 output logical state (terminals 33-35).4 MDO4 output logical state (terminals 37-39).5 MDO5 output logical state (terminals 41-43).

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M023: Field Regulator Inner Digital Inputs State

P M023 - FldRegState

R ... (for each outputs, the figure shows an example of a possible displaying)

F Displays the state of the two inner digital inputs of the field regulator. A black square indicates that thedigital input is active, i.e. the relating terminal on the field regulator is connected to 0V.

M024: Output power

P M024 - Output power (available starting from SW Vers. D2.02)

R 0 ... 5250 kW

F It express, in kW, the power supplied to the load, as a division by 1000 of the output voltage product(par. M006) for the output current (par. M004).

M025: Motor Torque

P M025 - MotorTorque (available starting from SW Vers. D2.02)

R 0 ... 3

F It displays, as a percentage of the motor nominal torque, the motor torque as a product per cent of thearmature current by the field current. 100% of this parameter is obtained with the motor armature nominalcurrent (set by par. C000) and the motor field nominal current (set by par. C010).

M028: PhaseSeq

P M028 – PhaseSeq

R RST … TSR

F Indicates which is the phase sequence supplying the drive section power with reference to bars L1-L2-L3 respectively.

M029: Serial Communication Mode

P M029 - SerialState

R 0 … 3

F Indicates the serial communication mode.

0:Mxxx Read Only. Along with the reading / writing of parameters Pxxx and Cxxx, parameters Mxxx mayonly be read.1:Mxxx ReadWrite. Along with the reading / writing of parameters Pxxx and Cxxx, some Mxxx parametersmay also be read / written (i. e. inputs may be forced).2:Test. Mode used by the equipment Manufacturer for the functional autotest.3:Test + Mxxx RW. Mode used by the Manufacturer in order to simultaneously use values 1 and 2.

Up to SW Vers. D2.00, the four configurations above are assigned to the following numbers:0:Mxxx Read Only.1: Test.2: Mxxx ReadWrite3: Test + Mxxx RW.

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11.0 PROGRAMMING PARAMETERS

The value of the programming parameters may be fixed by the user even during the drive operation. Theseparameters are marked with a P followed by the parameter number.

P000: Programming Code

P P000 - Key

R 0 ... 8

D 0

F Programming access code.

0:Program Disable. P000 only may be changed.

1:Program Enable. All parameters may be changed (for Cxxx parameters, the drive is not to berunning).

2:Current Tuning. It carries out the current loop auto tuning, under the choice of a predictive controlthrough parameter C051 (CurrLoopSel) set to 1:Predictive; parameters P103, P104 will be calculated.Moreover, the value of the parameter relating to the armature feedback reading is optimized; in thatway, while the drive is not running, parameter M006 (Varm) will be able to display 0V.

3:Speed Tuning. It carries out the speed loop auto tuning; parameters P070 and P071 are calculated,or P076, P077 if the digital input, configured by setting one parameter among C130 ... C135 to8:Second ParmSet, is closed.

4:RxI Tuning (available starting from SW Vers. D2.02). The armature resistive drop is measured; itsvalue is stored in par. P088 (RxI). The parameter value relating to the armature feedback reading isoptimized so that par. M006 (Varm) displays 0V when the drive is not running.

5:Default Restore. Restore of the default parameters.

6:Actual Backup. Back-up of the actual parameters.

7:Backup Restore. Restore of the parameters that have been backed up.

8:Modified Parms. As for parameters Pxxx and Cxxx, only the parameters whose actual value isdifferent from the default value are displayed. The programming mode will be also activated, accordingto the results obtained by setting parameter P000 = 1.

WARNING! If said parameter is set at 8:Modified Parms, all parameters with a value different than thedefault value will be displayed, provided that par. P001 (ProgLevel) is set at 1:Advanced.Otherwise, the display will show only the parameters mentioned in the list defined bypar. P001 set at 0:Basic having a value different than the default value.

P001: Programming level

P P001 – ProgLevel (available starting from SW Vers. D2.02)

R 0 … 1

D 0

F 0:Basic.1:Advanced.Sets the programming level required, chosen between a fast starting base level with the basic functionsand an advanced level for skilled users who want to optimize the equipment performance.

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If this parameter is programmed at 0:Basic, only the following parameters may be accessed:M000 (Vref). Main analog reference.…M029 (SerialState). Serial communication mode.

P000 (Key)P001 (ProgLevel)P010 (nFdbkMax)P011 (VarmMax)

P030 (RampUpPos)P031 (RampDnPos)P032 (RampUpNeg)P033 (RampDnNeg)P034 (RampStopPos)P035 (RampStopNeg)P038 (InitialRndg)P039 (FinalRndg)P060 (OverLimA)P061 (OverLimB)P086 (ArmatureCmp)P087 (VerrOffset)C000 (Inom)C010 (IfldNom)C030 (VmainsNom)C051 (CurrLoopSel)C070 (nFdbkSelect)C072 (EncoderPls)C074 (Tach Volts)

If this parameter is set at 1:Advanced, all other parameters may be accessed.

P010: Max. Speed

P P010 - nFdbkMax

R 300 ... 4000 RPM

D 1750 RPM

F It sets, in rpm, the max. speed the motor achieves in case of a tacho or encoder feedback when thespeed reference is equal to 100%.In both cases, the constant of the transducer used is to be set. Use parameter C072 if the transducer isrepresented by the encoder; use parameter C074 if the transducer is represented by the tacho.

WARNING! In encoder feedback mode, the values set in par. C072 and in par. P010 have to ensurethat product C072 x P010 does not exceed 68.266 kHz (e.g. 1024 pulse/rev by max. 4000RPM), whereas in tacho feedback mode the values set in par. C074 and par. P010 have toensure that product C074 x P010 does not exceed 250V in order to avoid any drive speedcontrol failure.

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P011: Max. Armature Voltage

P P011 - VarmMax

R 50 ... 2000 V (up to SW Vers. D2.00: 100 ... 1000V; in SW Vers. D2.01: 100 ... 2000V)

D 500 V

F It sets, in Volts, the max. armature voltage the motor achieves in case of an armature feedback, when thevoltage reference is equal to 100%.

WARNING! A software lock exists avoiding to decrease par. P011 value under the value set in par.P088 (RxI).

WARNING! For this parameter, never save a parameter lower than the one saved in EEPROM forP088 in order to avoid the drive malfunction.

P012: Speed / Voltage Reference Polarity

P P012 - SpdDmndPol

R 0 ... 2

D 0

F This parameter sets the polarity allowed for the global speed / voltage reference resulting from thealgebraic sum of all speed / voltage references applied to the external analog inputs.

0:Bipolar. Bipolar reference.

1:Positive only. Positive reference only.

2:Negative only. Negative reference only.

If you program a unipolar global reference, the possible reference of the opposite polarity will be shut andconsidered as equal to zero.This parameter has no effect either on the jog internal references, that may have a dual polarity, or on thepossible offset on the speed error set through parameter P087. In order to enter a positive (P014) ornegative (P016) min. speed / voltage reference, you need to first program P012 = 1:Positive only or P012 =2:Negative only respectively.In order to change P012 value, both parameters P014 and P016 are to be equal to zero.

WARNING! If a certain min. reference other than zero is saved in EEPROM (parameter P014 or P016),in P012 do not save any value that does not match the polarity of the said min. reference,as this will cause the drive malfunction.

P013: Max. Positive Speed / Voltage Reference

P P013 - nMaxPos

R 0 ... 100 %

D 100 %

F This parameter sets, as a percentage of the max. reference corresponding to 10V, the max. valueallowed for REF main reference (either local or remote) or the preset run reference, and the global positivespeed / voltage reference, resulting from the algebraic sum of all references that are externally applied.

This parameter may be used to limit the speed set in the running direction at issue.

WARNING! In this parameter, do not save any lower value than the one saved in EEPROM for P014,as this will cause the drive malfunction.

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P014: Min. Positive Speed / Voltage Reference

P P014 - nMinPos

R 0 ... 100 %

D 0 %

F This parameter sets, as a percentage of the max. reference corresponding to 10V, the min. valueallowed for REF main reference (either local or remote) or the preset run reference, and the global positivespeed / voltage reference, even if no reference is externally applied or when negative references areapplied.In this parameter, in order to enter a min. reference you need to program P012 = 1:Positive only first, thenyou have to close the digital input set to the 9:MinSpd Enabled function (see parameter set C130 ... C135).The minimum speed setting always requires the START contact closure.

WARNING! In this parameter, do not save any value exceeding the one saved in EEPROM for P013,as this will cause the drive malfunction.

WARNING! If a value of P012 1 is saved in EEPROM, do not save any value other than zero forthis parameter, as this will cause the drive malfunction.

P015: Max. Negative Speed / Voltage Reference

P P015 - nMaxNeg

R -100 ... 0 %

D -100 %

F This parameter sets, as a percentage of the max. reference corresponding to 10V, the max. absolutevalue allowed for both REF main reference (either local or remote) or the preset run reference, and theglobal negative speed / voltage reference resulting from the algebraic sum of all references that areexternally applied.

WARNING! In this parameter, do not save - as an absolute value - any value exceeding the one savedin EEPROM for P016, as this will cause the drive malfunction.This parameter may be used to limit the speed set in the running direction at issue.

P016: Min. Negative Speed / Voltage Reference

P P016 - nMinNeg

R -100 ... 0 %

D 0 %

F It sets, as a percentage of the max. reference corresponding to 10V, the min. absolute value allowed forboth REF main reference(either local or remote) or for the run preset reference and the global negativespeed / voltage reference, even if no reference is externally applied, or when positive references areapplied.In this parameter, in order to enter a min. reference you need to program P012 = 2:Negative only first, thenyou have to close the digital input set to the 9:MinSpd Enabled function (see parameter set C130 ... C135).The minimum speed setting always requires the START contact closure.

WARNING! In this parameter, do not save - as an absolute value - any value exceeding the one savedin EEPROM for P015, as this will cause the drive malfunction.

WARNING! If a value of P012 # 2 is saved in EEPROM, do not save any value other than zero for thisparameter, as this will cause the drive malfunction.

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P030: Rise Ramp of the Positive Reference

P P030 - RampUpPos

R 0.000 ... 300.0 s

D 0.000 s

F Rise ramp time, expressed in seconds, from 0% to 100% of the positive speed / voltage referenceapplied to the REF main reference (either local or remote) or to the preset run reference, possibly limited theminimum and/or maximum value. See also figure shown in the RAMPS OVER REFERENCE chapter.The real speed ramp corresponds to the ramp set in this parameter as long as the drive is not in currentlimit mode.

NOTE: This parameter programming cannot be changed if a digital input configured for the 7:Ramps Disabled functionis closed.

P031: Fall Ramp of the Positive Reference

P P031 - RampDnPos

R 0.000 ... 300.0 s

D 0.000 s

F Fall ramp time, expressed in seconds, from 100% to 0% of the positive speed /voltage referenceapplied to the REF main reference (either local or remote) or to the preset run reference, possibly limited theminimum and/or maximum value. See also figure shown in the RAMPS OVER REFERENCE chapter.The real speed ramp corresponds to the ramp set in this parameter as long as the drive is not in currentlimit mode, whereas for dcM6+, the real speed ramp corresponds the ramp set as soon as it exceeds thetime required for the coast to stop stage.


P032: Rise Ramp of the Negative Reference

P P032 - RampUpNeg

R 0.000 ... 300.0 s

D 0.000 s

F Rise ramp time, expressed in seconds, from 0% to 100% of the negative speed / voltage referenceapplied to the REF main reference (either local or remote) or to the preset run reference, possibly limited atthe minimum and/or maximum value. See also figure shown in the RAMPS OVER REFERENCE chapter.As for the real speed ramp, see relevant note stated in parameter P030.


P033: Fall Ramp of the Negative Reference

P P033 - RampDnNeg

R 0.000 ... 300.0 s

D 0.000 s

F Fall ramp time, expressed in seconds, from 100% to 0% of the negative speed / voltage reference appliedto the REF main reference (either local or remote) or to the preset run reference, possibly limited at theminimum and/or maximum value. See also figure shown in the RAMPS OVER REFERENCE chapter.As for the real speed ramp, see relevant note stated in parameter P031.

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P034: Stop Ramp of the Positive Reference

P P034 - RampStopPos

R 0.000 ... 300.0 s

D 0.000 s

F Fall ramp time, expressed in seconds, from 100% to 0% of the positive speed / voltage referenceapplied to the REF main reference (either local or remote) or to the preset run reference, possibly limited atthe minimum and/or maximum value, due to the opening of the START contact to terminal 26. See alsofigure shown in the RAMPS OVER REFERENCE chapter.In order to exactly respect the time set for the stop ramp, the time set in par. P031 is to be equal to at least10% of the time set in P034.Such parameter sets a positive reference fall ramp to be enabled - through the opening of the STARTcontact - instead of the main ramp defined in parameter P031.As for the real speed ramp, see relevant note stated in parameter P031.

P035: Stop Ramp of the Negative Reference

P P035 - RampStopNeg

R 0.000 ... 300.0 s

D 0.000 s

F Fall ramp time, expressed in seconds, from 100% to 0% of the negative speed / voltage referenceapplied to the REF main reference (either local or remote) or to the preset run reference, possibly limited atthe minimum and/or maximum value, due to the opening of the START contact to terminal 26. See also thefigure in the RAMP OVER THE REFERENCE chapter.In order to exactly respect the time set for the stop ramp, the time set in par. P033 is to be equal to at least10% of the time set in P035.Such parameter sets a negative reference fall ramp to be enabled - through the opening of the STARTcontact - instead of the main ramp defined in parameter P033.As for the real speed ramp, see relevant note stated in parameter P031.

P036: Rise Ramp of the Jog Reference

P P036 - RampUpJog

R 0.000 ... 300.0 s

D 0.000 s

F Rise ramp time, expressed in seconds, from 0% to 100% of the speed / voltage reference selectedamong the three items programmed on parameters P222 ... P224 and enabled if max. two preset digitalinputs close, should some parameter among C130...C135 be set to 12:JogA and 13:JogB.The value programmed in this parameter is used for P221 = 2:Separate ramps. As for the real speed ramp,see relevant note in parameter P030.

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P037: Fall Ramp of the Jog Reference

P P037 - RampDnJog

R 0.000 ... 300.0 s

D 0.000 s

F Fall ramp time, expressed in seconds, from 100% to 0% of the speed / voltage reference selectedamong the three items set on parameters P222 ... P224, which is enabled if the value set in this parameterdecreases or if max. two preset digital inputs open, should some parameter among C130 ... C135 be set to12:JogA and 13:JogB. The value programmed in this parameter is used for P221 = 2:Separate ramps. Asfor the real speed ramp, see relevant note in parameter P031.

P038: Ramp Initial Rounding

P P038 - InitialRndg

R 0.0 ... 10. s

D 0.0 s

F This parameter sets, in seconds, the initial rounding of the ramps up and ramps down defined throughparameters P030 ... P033. See also figure shown in the RAMPS OVER REFERENCE chapter.


P039: Ramp Final Rounding

P P039 - FinalRndg

R 0.0 ... 10. s

D 0.0 s

F This parameter sets, in seconds, the final rounding of the ramps up and ramps down defined throughparameters P030 ... P033. See also figure shown in the RAMPS OVER REFERENCE chapter.

NOTE: This parameter programming cannot be changed in case a digital input configured for the 7:Ramps Disabledfunction is closed.

P050: Bridge A First Current Limit

P P050 - Ilim1A

R 0 ... 300 %

D 100 %

F This parameter sets the first current limit value relating to bridge A. Such value indicates thepercentage of C000 motor rated current, eventually with the trimmer hardware limit (M013).That limit is used if the speed is lower than the value set in P054. When M001 (nFdbk) speed is higher thanthe value set in P054, P052 limit is used. See also figure shown in the CURRENT LIMIT chapter.

WARNING! The product of P050 x C000 x M013 is not to exceed 100%, that corresponds to the driverated current (e.g. 100A for a power unit rated at 100 A).

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P051: Bridge B First Current Limit

P P051 - Ilim1B (used in dcM12+ only)

R 0 ... 300 %

D dcM12+: 100%dcM6+: 0% (not used)

F This parameter sets the first current limit value relating to bridge B. It is available in dcM12+ only. Suchvalue indicates the percentage of C000 motor rated current, eventually with the trimmer hardware limit(M013).That limit is used if the speed is lower than the value set in P054. When M001 (nFdbk) speed is higher thanthe value set in P054, P052 limit is used. See also figure shown in the CURRENT LIMIT chapter.

WARNING! The product of P051 x C000 x M013 is not to exceed 100%, that corresponds to the driverated current (e.g. 100A for a dcM12+ power unit rated at 100 A).

P052: Bridge A Second Current Limit

P P052 - Ilim2A

R 0 ... 300 %

D 100 %

F This parameter sets the second current limit value relating to bridge A. Such value indicates thepercentage of C000 motor rated current, eventually with the trimmer hardware limit (M013).That limit is used if the speed is higher than the value set in P054. When M001 (nFdbk) speed is lower thanthe value set in P054, P050 limit is used. See also figure shown in the CURRENT LIMIT chapter.

WARNING! The product of P052 x C000 x M013 is not to exceed 100%, that corresponds to the driverated current (e.g. 100A for a dcM+ power unit rated at 100 A).

P053: Bridge B Second Current Limit

P P053 - Ilim2B (used in dcM12+ only)

R 0 ... 300 %

D dcM12+: 100%dcM6+: 0% (not used)

F This parameter sets the second current limit value relating to bridge B. It is available in dcM12+ only.Such value indicates the percentage of C000 motor rated current, eventually with the trimmer hardware limit(M013).That limit is used if the speed is higher than the value set in P054. When M001 (nFdbk) speed is lower thanthe value set in P054, P051 limit is used. See also figure shown in the CURRENT LIMIT chapter.

WARNING! The product of P053 x C000 x M013 is not to exceed 100%, that corresponds to the driverated current (e.g. 100A for a dcM12+ power unit rated at 100 A).

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P054: 1st 2nd Current Limit Speed

P P054 - Speed 1 2

R 0 ... 100 %

D 100 %

F This is the speed, expressed as the value per cent set in P010 (nFdbkMax), above which switchingfrom the first to the second current limit value (from P050 to P052 or from P051 to P053, depending on theactive bridge) occurs. See also figure shown in the CURRENT LIMIT chapter.This parameter is aimed at obtaining a two-value characteristic for the current limit.

P055: Hyperbolic Pattern End Current Limit

P P055 - IlimHyper

R 0 ... 300 %

D 100 %

F This parameter sets the current limit value at the end of the hyperbolic pattern. Such value indicatesthe percentage of C000 motor rated current eventually with the trimmer hardware limit (M013). See alsofigure shown in the CURRENT LIMIT chapter.

P056: Hyperbolic Limit Start Speed

P P056 - SpeedHyper1

R 0 ... 100 %

D 100 %

F If this speed - expressed as a value per cent of P010 (nFdbkMax) - is exceeded, the current limitbecomes a speed hyperbolic function. See also figure shown in the CURRENT LIMIT chapter.


P057: Hyperbolic Limit End Speed

P P057 - SpeedHyper2

R 0 ... 100 %

D 100 %

F If this speed - expressed as a value per cent of P010 (nFdbkMax) - is exceeded, the current limit stopsbeing a speed hyperbolic function and becomes constant again. See also figure shown in the CURRENTLIMIT chapter.

WARNING! In this parameter, do not save any value lower than the one saved in EEPROM for P056,as this will cause the drive malfunction.

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P058: Current Limit Decrease Per Cent

P P058 - Clim

R 0 ... 100 %

D 50 %

F Current limit decrease per cent for both bridges following the configured digital input closing, as long asone parameter among C130 ... C135 is set to 4:Clim.Such value is to be applied to the present current limit resulting from the composition of the values set in allrelevant parameters (see parameter C000, parameter set P050 ... P062 - in case of internal limit - andtrimmer hardware limit (M013) - if any).

P059: Ramp Over the Current Reference

P P059 - dI/dtMax

R .01 ... 1.0 %/µs

D .40 %/µs

F This parameter indicates the max. variation of the current reference in a microsecond; that variation isexpressed as a percentage of the max. value (100%) corresponding to the drive rated current.This is the same as imposing - to the current reference - a min. rise ramp time from zero to 100% and amin. fall ramp time from 100% to zero.The time (expressed in milliseconds) corresponding to a particular value of such parameter results from thefollowing formula: e.g., the range of this parameter is equal to 0.1 … 10ms with a0.25ms default value.

P060: Bridge A Current Overlimit

P P060 - OverLimA

R 100 ... 300 %

D 150 %

F Bridge A current limit may be increased by this value per cent, provided that you program P060 >100%.Such value is applied to the present current limit resulting from the composition of the values set in allrelevant parameters (see parameter C000 and parameter set P050 ... P062 - in case of internal current).

WARNING! The actual limit is not to exceed 150% of the drive rated current (e.g. 150A for a powerunit rated a 100 A).

P061: Bridge B Current Overlimit

P P061 - OverLimB (used in dcM12+ only)

R 100 ... 300 %

D 150 %

F Bridge B current limit may be increased by this value per cent, provided that you program P061 >100%. This function is to be found in dcM12+ only.Such value is applied to the present current limit resulting from the composition of the values set in allrelevant parameters (see parameter C000 and parameter set P050 ... P062 - in case of internal limit).

WARNING! The actual overlimit is not to exceed 150% of the drive rated current (e.g. 150A for adcM12+ power unit rated at 100 A).

t = ____________ 10 x P 059

1

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P062: Overlimit Digital Output Delay

P P062 - TFullOvLim

R .200 ... 60.0 s

D 60 s

F Starting from SW Vers. D2.01: When this time, expressed in seconds, is over, if the drive is still incurrent overlimit, the 6:FullOverLimit function is enabled, which is programmed in one of the configurabledigital outputs. Said output is disabled as soon as the drive is no longer in overlimit mode.Up to SW Vers. D2.00: Throughout this period, which is expressed in seconds, the current limit may beincreased for the two bridges by the value programmed in P060 and P061 respectively, provided that theirvalue is equal to at least 101%.As soon as one of the two bridges achieves the current limit, this will be increased by the value per centprogrammed and will be held in this state throughout the time set in this parameter. When the time set isover, the current limit will return to its start value. The start value cannot be increased anymore before atime as much as 9 times the value set in P062 has passed; warning W001 (OverLimit Lock) will remaindisplayed until this time is over.In addition, once the time set in P062 is over and the bridge at issue is still in current overlimit mode, the6:Full OverLimit function will be active throughout the time equal to as much as 9 times the value set inP062.This function may be set in one of the programmable digital outputs through par. P170 ... P199.

P070(076): Speed Loop Proportional Gain (Second Gain)

P P070 - KpSpeedP076 - KpSpeed2

R 0.00 ... 100.

D 4.00

F P070: Speed loop proportional gain.P076: Speed loop second proportional gain.

If the digital input configured by setting one parameter among C130 ... C135 to 8:Second ParmSet is open,then parameter P070 (or P076 if said digital input is closed) indicates proportional gain Kp of the speed loop,with the following transfer function used for the control and calculated bythe speed auto tuning.

G(s) = Kp (1 + ______ )

sTi

1

P071(077): Speed Loop Integral Time (Second Time)

P P071 - TiSpeedP077 - TiSpeed2

R .010 ... 5.00 s

D 1.00 s

F P071: Speed loop integral time.P077: Speed loop second integral time.

If the digital input configured by setting one parameter among C130 ... C135 to 8:Second ParmSet is open,then parameter P071 (or P077 if said digital input is closed) indicates integral time Ti of the speed loop, withthe following transfer function used for the control and calculated by thespeed auto tuning.

G(s) = Kp (1 + ______ )

sTi

1

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P073(079): Speed Loop Adapted Proportional Gain (Second Gain)

P P073 - KpSpeedAdaptP079 - KpSpeedAdapt2

R 0.00 ... 100.

D 4.00

F P073: Speed loop adapated proportional gain.P079: Speed loop adapted second proportional gain.

If the digital input configured by setting one parameter among C130 ... C135 to 8:Second ParmSet is open,then parameter P073 (or P079 if said digital input is closed) indicates the proportional gain used for thecontrol, provided that the Parameter Auto Adaptation is enabled (parameter P082 set to 1:YES) and thatVerr (M002) > Verr2 (P084). See also the SPEED PARAMETER AUTOADAPTATION chapter.

P074(080): Speed Loop Adapted Integral Time (Second Time)

P P074 - TiSpeedAdaptP080 - TiSpeedAdapt2

R .010 ... 5.00 s

D 1.00 s

F P074: Sped loop adapted integral time.P080: Speed loop adapted second integral time.

If the digital input configured by setting one par. among C130 ... C135 to 8:Second ParmSet is open, thenparameter P074 (or P080 if said digital input is closed) indicates the integral time, expressed in seconds,that is used for the control, provided that the Parameter Auto Adaptation is enabled (parameter P082 set to1:YES) and that Verr (M002) > Verr2 (P084). See also the SPEED PARAMETER AUTOADAPTATIONchapter.

P082: Speed Parameter Auto Adaptation

P P082 - AdaptCtrl

R 0 ... 1

D 0

F This parameter enables the speed parameter auto adaptation following the error variation according towhat has been mentioned in parameters P083 and P084 to avoid possible speed overshoots which couldoccur in case of quick reference variations at constant load (current limit drive), or temporary speed lossesin case of quick load variations at constant reference.0:No. The auto adaptation is not enabled.1:Yes. The auto adaptation is enabled.

In both cases a different programmation is needed: in the first event, parameters are to be set not onlyfor a proportional gain increase, but also for an integral time increase. In the second case, it is necessary toset an integral time decreasing besides the proportional gain increase. See also SPEED PARAMETERAUTOADAPTATION chapter.

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P083: First Speed Error for Auto Adaptation

P P083 - Verr1

R 0.00 ... 100 %

D .500 %

F This is the speed error value, expressed as a percentage of the max. error corresponding to 10V, belowwhich the speed PI will use parameters P070 and P071 or P076 and P077, should the digital inputconfigured by setting one parameter among C130 ... C135 to 8:Second ParmSet be respectively open orclosed.

WARNING! In this parameter, do not save any value exceeding the one saved in EEPROM for P084,as this will cause the drive malfunction. See also SPEED PARAMETERAUTOADAPTATION chapter.

P084: Second Speed Error for Auto Adaptation

P P084 - Verr2

R 0.00 ... 100 %

D 1.00 %

F This is the speed error value, expressed as a percentage of the max. error corresponding to 10V, abovewhich the speed PI (as long as the Parameter Autoadaptation is enabled - parameter P082 set to 1:YES)will use parameters P073 and P074 or P079 and P080, should the digital input configured by setting oneparameter among C130 ... C135 to 8:Second ParmSet be respectively open or closed.

WARNING! In this parameter, do not save any value lower than the one saved in EEPROM for P083,as this will cause the drive malfunction. See also SPEED PARAMETERAUTOADAPTATION chapter.

P085: Speed Integral Time Increment During Ramp

P P085 - TiRampScale

R x1 ... x1000

D x1

F Multiplication factor of the speed PI integral time during the ramp transient set inside the drive.

P086: Armature Compensation

P P086 - ArmatureCmp (used in dcM6+ only up to SW Vers. D2.01)

R 0 ... 100 % (up to SW Vers. D2.01: 0 ... 200%)

D 100% (0% for dcM12+ up to SW Vers. D2.01)

F Value of the compensation of RxI resistive drop in the motor so as to adjust the speed (back-electromotive force) using Varm as a feedback.Starting from SW Vers. D2.02: it expresses, as a percentage of the value set in par. P088 (RxI), thequantity used in the armature resistive drop compensation. 100% of this parameter corresponds to par.P088 whole value used for compensation.Up to SW Vers. D2.01: 100% of this parameter corresponds to resistance R of product RxI as the theequivalent resistance drop RxIPred stored in par. P103.

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P087: Offset over the Speed Error

P P087 - VerrOffset

R -1.000 ... 1.000 %

D 0.000 %

F This parameter, using the value per cent of the max. reference corresponding to 10V, allows the offsetfine-tuning at the output of the speed loop, i.e. of the speed error. You may adjust this parameter wheneverthe motor tends to turn slowly even if the speed / voltage reference is equal to zero.The value set in this parameter is neither subject to the polarity limits relating to parameter P012 nor to anymin. and/or max. value imposed by parameters P013 ... P016.

P088: Armature Resistive Drop

P P088 – RxI (available starting from SW Vers. D2.02)

R 0 ... 100 V

D 0 V

F This parameter, expressed in Volts, indicates the motor armature resistive drop with a current equal tothe drive nominal current, which is computed by the autotuning function - set par. P000 at 4:RxI Tuning.This parameter value is generally used to compute the back-electromotive force and to display it in par.M007 (BackEMF). This value is also used for the armature resistive drop compensation both for thedynamic regulation of the field current in field weakening mode and in the armature feedback (as apercentage set in par. P086).

WARNING! A software lock exists avoiding increasing par. P088 value until the value set in par. P011(VarmMax) is exceeded.


P100: Current Loop Proportional Gain

P P100 - KpCurr

R 0.00 ... 1.00

D .200

F If the current loop operation has been programmed by setting parameter C051 to 0:PI operating, thisparameter will indicate proportional gain Kp of the current loop, with the following transfer function used forthe control:

P101: Current Loop Integral Time with Discontinuous Current Conduction

P P101 - TiCurrDisc

R 1.00 ... 100. ms

D 1.30 ms

F If the current loop operation has been programmed by setting parameter C051 to 0:PI operating, thisparameter will indicate integral time T

i (expressed in milliseconds) of the current loop, with the following

transfer function:

G(s) = Kp (1 + ______ )

sTi

1

G(s) = Kp (1 + ______ )

sTi

1

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used for the control in case of discontinuous current conduction, i.e. when the output current is left at zerofor given time intervals.

P102: Current Loop Integral Time with Continuous Current Conduction

P P102 - TiCurrCont

R 1.00 ... 320 ms

D 32.0 ms

F If the current loop operation has been programmed by setting parameter C051 to 0:PI operating, thisparameter will indicate integral time Ti - expressed in milliseconds - of the current loop, with the followingtransfer function:

used for the control in case of continuous current conduction, i.e. when the output current is never left atzero for given time intervals.

G(s) = Kp (1 + ______ )

sTi

1

P103: Armature Equivalent Resistive Drop

P P103 - RxI Pred (RxI up to SW Vers. D2.01)

R 0.000 ... 283.6 V

D 70.92 V

F If the current loop operation has been programmed by setting parameter C051 to 1:Predictive, thisparameter will indicate, in Volts, the value of the motor armature equivalent resistive drop, with a currentvalue equal to the drive rated value. The equivalent armature resistive drop takes account of the electricratings of the motor as well as the power wire.

P104: Armature Equivalent Inductive Drop

P P104 - LdI/dt Pred (LdI/dt up to SW Vers. D2.01)

R 0.000 ... 2.828 V

D 0.707 V

F If the current loop operation has been programmed by setting parameter C051 to 1:Predictive, thisparameter will indicate, in Volts, the value of the motor armature equivalent inductive drop, with a currentvariation - in a millisecond - from zero to the drive rated value, that is calculated by the current autotuning.

P110: Field Regulator Voltage Loop Proportional Gain

P P110 - KpFld (available starting from SW Vers. D2.02)

R 0.00 ... 10.

D 2.00

F Proportional gain Kp of the field regulator voltage loop, with the following transfer function:

used for the control.G(s) = Kp (1 + ______ )

sTi

1

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P111: Field Regulator Voltage Loop Integral Time

P P111 - TiFld (available starting from SW Vers. D2.02)

R .100 ... 1.00 s

D .100 s

F This parameter indicates, in seconds, integral time Ti of the field regulator voltage loop, with thefollowing transfer function: used for the control.

P120: Main Analog Input Polarity

P P120 - VrefPol

R 0 ... 2

D 0

F This parameter sets the polarity allowed for REF main reference between terminals 5 and 7 AFTERapplying Gain and Bias operators.0:Bipolar. Bipolar reference.1:Positive only. Positive reference only.2:Negative only. Negative reference only.If you program a unipolar REF main reference, the reference of the opposite polarity will be shut andconsidered as equal to zero.

P121: Speed / Voltage Main Input Bias

P P121 - VrefBias

R -400.0 ... 400. %

D 0.000 %

F If we suppose that REF main reference between terminals 5 and 7 indicated by parameter C101(VrefSelect) is a speed / voltage reference - the digital input programmed for the 6:Slave function(seeparameter set C130 ... C135) is open - this parameter will indicate, as a percentage of the max.reference corresponding to 10V, the reference value obtained when the signal applied to the terminal boardis equal to zero. Signal V

2 obtained when applying the Gain and Bias operators to signal V

1 is given by the

following formula:

P122: Speed / Voltage Main Input Gain

P P122 - VrefGain

R -800.0 ... 800.0 % (up to SW Vers. D2.01: -500.0 ... 500.0%)

D 100.0 %

F If we suppose that REF main reference between terminals 5 and 7 is a speed / voltage reference - thedigital input programmed for the 6:Slave function (see parameter set C130 ... C135) is open - this parameterwill indicate the amplification which is internally applied to the signal in the terminal board, before summingthe Bias. Signal V


1 is given by the following

formula:

G(s) = Kp (1 + ______ )

sTi

1

V2 = V1 x __________ + (10 x __________ ) 100 100

P ... [Gain] P ... [Bias]

V2 = V

1 x __________ + (10 x __________ )

100 100


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P123: Current Main Input Bias

P P123 - IrefBias

R -400.0 ... 400.0 %

D 0.000 %

F If we suppose that REF main reference between terminals 5 and 7 is a current reference - the digitalinput programmed for the 6:Slave function (see parameterset C130 ... C135) is closed - this parameter willindicate, as a percentage of the max. reference corresponding to 10V, the reference value obtained whenthe signal applied to the terminal board is equal to zero. Signal V

2 obtained when applying the Gain and Bias

operators to signal V1 is given by the following formula:

P124: Current Main Input Gain

P P124 - IrefGain

R -800.0 ... 800.0 % (up to SW Vers. D2.01: -500.0 ... 500.0%)

D 100.0 %

F If we suppose that REF main reference between terminals 5 and 7 is a current reference - the digitalinput programmed for the 6:Slave function (see parameter set C130 ... C135) is closed - this parameter willindicate the amplification which is internally applied to the signal in the terminal board, before summing theBias.Signal V


1 is given by the following formula:

NOTE: With two drives in MASTER / SLAVE mode, as the reference standard level supplied by the MASTER drive is 5V atthe nominal current (M003 = 100%), if also the SLAVE drive must supply its nominal current - with said referenceat REF main reference between terminals 5 and 7 - gain P124 (IrefGain) is to be set at 200%.

P125: Auxiliary Analog Input 1 Polarity

P P125 - AnIn1Pol

R 0 ... 2

D 0

F It sets the allowable polarity for auxiliary reference 1 (IN 1) to terminals 11 and 13, AFTER applyingGain and Bias operators.0:Bipolar. Bipolar reference.1:Positive only. Positive reference only.2:Negative only. Negative reference only.If a unipolar auxiliary reference 1 (IN 1) is programmed, the reference of the opposite polarity - if any - willbe shut and considered as equal to zero.

V2 = V1 x __________ + 10 x __________ 100 100


V2 = V1 x __________ + 10 x __________ 100 100


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P126(128)(130): Auxiliary Analog Input 1(2)(3) Bias

P P126(128)(130) - AnIn1(2)(3)Bias

R -400.0 ... 400.0 %

D 0.000 %

F P126: Bias for auxiliary analog input 1 to terminals 11 and 13.P128: Bias for auxiliary analog input 2 on terminal 17.P130: Bias for auxiliary analog input 3 on terminal 19.

This parameter indicates, as a percentage of the max. reference corresponding to 10V, the reference valueobtained when the signal applied to the terminal board is equal to zero.Signal V



P127(129)(131): Auxiliary Analog Input 1(2)(3) Gain

P P127(129)(131) - AnIn1(2)(3)Gain

R -800.0 ... 800.0% (up to SW Vers. D2.01: -500.0 ... 500.0%)

D 100.0 %

F P127: Gain for analog input 1 to terminals 11 and 13.P129: Gain for analog input 2 on terminal 17.P131: Gain for analog input 3 on terminal 19.

This parameter indicates the amplification which is internally applied to the signal in the terminal boardbefore summing the Bias. Signal V


1 is

given by the following formula:

P132(134)(136): Optional Analog Input 1(2)(3) Bias

P P132(134)(136) - OptIn1(2)(3)Bias (not used)

R -400.0 ... 400.0 %

D 0.000 %

F P132: Bias for optional analog input 1 on pin 33 in CN7.P134: Bias for optional analog input 2 on pin 8 in CN7.P136: Bias for optional analog input 3 on pin 10 in CN7.

This parameter indicates, as a percentage of the max. reference corresponding to 10V, the reference valueobtained when the signal applied to the connector is equal to zero.Signal V



V2 = V1 x __________ + (10 x __________) 100 100


V2 = V

1 x __________ + (10 x __________)

100 100


V2 = V1 x __________ + (10 x __________) 100 100


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P133(135)(137): Optional Analog Input 1(2)(3) Gain

P P133(135)(137) - OptIn1(2)(3)Gain (not used)

R -800.0 ... 800.0% (up to SW Vers. D2.01: -500.0 ... 500.0%)

D 100.0 %

F P133: Gain for optional analog input 1 on pin 33 in CN7.P135: Gain for optional analog input 2 on pin 8 in CN7.P137: Gain for optional analog input 3 on pin 10 in CN7.

This parameter indicates the amplification which is internally applied to the connector signal beforesumming the Bias. Signal V


1 is given by

the following formula:

P138: Current Main Analog Input Polarity

P P138 - IrefPol

R 0 ... 2

D 0

F This parameter sets the polarity allowed for IREF main reference between terminals 5 and 7 AFTERapplying Gain and Bias operators.0:Bipolar. Bipolar reference.1:Positive only. Positive reference only.2:Negative only. Negative reference only.If you program a unipolar IREF main reference, the reference of the opposite polarity will be shut andconsidered as equal to zero.

P150(153): Analog Output 1(2) Configuration

P P150(153) - AnOut1(2)Cfg

R 0 ... 11 (up to SW Vers. D2.01: 0 ... 10)

D 0

F P150: It indicates the configuration of analog output 1 (OUT 1) to terminal 8.P153: It indicates the configuration of analog output 2 (OUT 2) to terminal 10.0:0 Volt. 0 Volt.1:Ramped Vref. Ramp block output: 10V at 100% of the max. reference.2:Speed Error. Speed error: 10V with M002 = 100%.3:SpeedLoop OUT. Speed loop output: 10V with the speed / voltage global reference at 100% of themax. value, the feedback (M001) at 0% and the proportional gain (P070, P076, P073 or P079depending on the circumstances) equal to 1 (supposing that only the proportional part of PI regulator isactive).4:Current Ref. Current reference: 5V with M003 = 100%. For a drive pair having a MASTER / SLAVEconfiguration, the current reference to be given by the master drive may be obtained on terminal 8(10) ifP150(153) = 4:Current ref.5:BackEMF. Back-electromotive force: 5V with M007 = 511V.6:Output Power. Power resulting from the product of the output voltage by the output current: 5V withM006 = 600V and M004 = 100%.7:Inertia Comp. Three-value signal for the external synchronization of the inertia compensation duringtension tests. Throughout the acceleration ramp: -10V, with rated speed: 0V, throughout the decelerationramp: +10V.

V2 = (V1 x __________) + (10 x __________) 100 100


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8:nFdbk. Speed feedback signal (voltage): 10V with M001 = 100%9:ArmatureCurr. Armature current feedback signal. The value is 6.67V according to the rated current ofthe drive (e.g. 100A for a DCREG.100).10:FieldCurrent. Field current feedback signal. The value is 10V according to the drive rated current,i. e. 5A for DCREG.100max, 15A for DCREG.150min Size 1 and 35A for DCREG Size 2 ... 4 (in SWVers. D2.02: 5A for DCREG.40max and 15A for DCREG.70min Size 1; up to SW Vers. D2.01: 15A forDCREG Size 1).11: Motor Torque (available starting from SW Vers. D2.02). Signal of the motor torque resulting fromthe product of the armature current by the field current. Its value is 6.67V with the motor armaturenominal current (defined by par. C000) and by the motor field nominal current (defined by par. C010).

NOTE: The above mentioned Volt values which can be obtained by the two analog outputs relate to jumpers JP9 andJP10 of board ES801 in pos. 1-2. Should they be placed in pos. 2-3, the two analog outputs will deliver anoutgoing only current signal equal to 0 ... 20mA from the terminal: in this case, the value to be set on theparameters relating to Gain and Bias operators is shown in the MILLIAMPERE INPUT / OUTPUT SIGNALSchapter.

P151(154): Analog Output 1(2) Bias

P P151(154) - AnOut1(2)Bias

R -400.0 ... 400.0 %

D 0.000 %

F P151: Bias for analog output 1 on terminal 8.P154: Bias for analog output 2 on terminal 10.

This parameter indicates, as a percentage of the max. signal corresponding to 10V, the value of the signalgenerated in the terminal board when the internal signal is equal to zero.Signal V



P152(155): Analog Output 1(2) Gain

P P152(155) - AnOut1(2)Gain

R -800.0 ... 800.0% (up to SW Vers. D2.01: -500.0 ... 500.0%)

D 100.0 %

F P152: Gain for analog output 1 on terminal 8P155: Gain for analog output 2 on terminal 10

This parameter indicates the amplification that is internally applied to the generated signal before summingthe Bias. Signal V


1 is given by the following

formula:

P156: Analog IOut Polarity on Terminal 6

P P156 - IOutPol (used in dcM12+ only)

R 0 ... 1

D dcM12+: 0dcM6+: 1(not used)

F This parameter defines the range of current analog output I Out on terminal 6. It is available in dcM12+only.0:Bipolar. Bipolar range: the amperemeter connected is to be a central-zero one.1:Positive only. Unipolar range: the amperemeter connected is NOT to be a central-zero one.

V2 = (V1 x __________) + (10 x __________) 100 100


V2 = (V

1 x __________) + (10 x __________)

100 100


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P157(158): Analog output polarity 1(2)

P P157(158) - AnOut1(2)Pol

R 0 ... 1

D 0

F P157: Polarity with which the signal in Volt can be generated by analog output 1 on terminal 8P158: Polarity with which the signal in Volt can be generated by analog output 2 on terminal 100:Bipolar. Bipolar range.1:Positive only. Unipolar range, only positive in the two above mentioned outputs.

NOTE: This parameter is active only if the signal set on the analog output is a voltage signal (-10 ... 10V)(jumper JP9 and/or JP10 in pos. 1-2). If a current signal (0 ... 20mA) (jumper JP9 and/or JP10 inpos. 2-3) is to be brought to the output at issue, polarity may not be defined, as the current direction isthe one outgoing from the terminal towards zero volt.

P170(176)(182)(188)(194): Digital Output 1(2)(3)(4)(5) Configuration

P P170(176)(182)(188)(194) - MDO1(2)(3)(4)(5)Cfg

R 0 ... 8 (up to SW Vers. D2.01: 0 ... 6)

D P170: 0P176: 1P182: 2P188: 3P194: 4

F P170: It indicates the configuration of digital output 1 (MDO 1) to terminals 25 and 27.P176: It indicates the configuration of digital output 2 (MDO 2) to terminals 29 and 31.P182: It indicates the configuration of digital output 3 (MDO 3) to terminals 33 and 35.P188: It indicates the configuration of digital output 4 (MDO 4) to terminals 37 and 39.P194: It indicates the configuration of digital output 5 (MDO 5) to terminals 41 and 43.0:Drive OK. No alarm is active.1:SpeedThreshold. The speed / voltage threshold set has been overcome.2:Iarm Threshold. The armature current threshold set has been overcome.3:Motor at Speed. The speed / voltage set at the ramp circuit input has been reached - i.e. the ramptransient has been performed. This function is enabled as long as the drive is running.4:CurrLimitation. The drive is in a current limit state, i.e. the armature current is at the max. valueallowed at that moment.5:Drive Running. The drive is running (it is controlling).6:Full OverLimit. The drive has been in a current overlimit state throughout the time set in P062.7: Fld Weakening (available starting from SW Vers. D2.02). The dynamic regulation of the field currentin field weakening mode is in progress.8: Ifld Threshold (available starting from SW Vers. D2.02). The field current threshold set has beenovercome.

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P171(177)(183)(189)(195): Digital Output 1(2)(3)(4)(5) On Delay

P P171(177)(183)(189)(195) - MDO1(2)(3)(4)(5)OnDelay

R 0.000 ... 600.0 s (0.00 ... 60.0 s up to SW Vers. D2.01)

D 0.000 s

F P171: Delay time, expressed in seconds, enabling digital output 1 to terminals 25 and 27.P177: Delay time, expressed in seconds, enabling digital output 2 to terminals 29 and 31.P183: Delay time, expressed in seconds, enabling digital output 3 to terminals 33 and 35.P189: Delay time, expressed in seconds, enabling digital output 4 to terminals 37 and 39.P195: Delay time, expressed in seconds, enabling digital output 5 to terminals 41 and 43.

This parameter indicates, in seconds, the delay time that actually enables the digital output starting fromthe time when all necessary requirements are met. See also figure in the CONFIGURABLE DIGITALOUTPUTS chapter.

P172(178)(184)(190)(196): Digital Output 1(2)(3)(4)(5) Off Delay

P P172(178)(184)(190)(196) - MDO1(2)(3)(4)(5)OffDly

R 0.000 ... 600.0 s (0.00 ... 60.0 s up to SW Vers. D2.01)

D 0.000 s

F P172: Delay time, expressed in seconds, disabling digital output 1 to terminals 25 and 27.P178: Delay time, expressed in seconds, disabling digital output 2 to terminals 29 and 31.P184: Delay time, expressed in seconds, disabling digital output 3 to terminals 33 and 35.P190: Delay time, expressed in seconds, disabling digital output 4 to terminals 37 and 39.P196: Delay time, expressed in seconds, disabling digital output 5 to terminals 41 and 43.

This parameter indicates, in seconds, the delay time that actually disables the digital output starting fromthe time when all necessary requirements are met. See also figure in the CONFIGURABLE DIGITALOUTPUTS chapter.

P173(179)(185)(191)(197): Digital Output 1(2)(3)(4)(5) Switching Level

P P173(179)(185)(191)(197) - MDO1(2)(3)(4)(5)Level

R 0 ... 200 %

D P173: 50%P179: 3%P185: 50%P191: 5%P197: 50%

F P173: Speed / voltage level, current or error level, for the switching of digital output to terminals 25 and27 (if it is set according to one of said indications).P179: Speed / voltage level, current or error level, for the switching of digital output 2 to terminals 29and 31(if it is set according to one of said indications).P185: Speed / voltage level, current or error level, for the switching of digital output 3 to terminals 33and 35 (if it is set according to one of said indications).P191: Speed / voltage level, current or error level, for the switching of digital output 4 to terminals 37and 39 (if it is set according to one of said indications)P197: Speed / voltage level, current or error level, for the switching of digital output 5 to terminals 41and 43 (if it is set according to one of said indications).

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P174(180)(186)(192)(198): Digital Output 1(2)(3)(4)(5) Switching Hysteresis

P P174(180)(186)(192)(198) - MDO1(2)(3)(4)(5)Hyst

R 0 ... 200 %

D 2 %

F P174: Hysteresis level for the enabling / disabling of digital output 1 to terminals 25 and 27.P180: Hysteresis level for the enabling / disabling of digital output 2 to terminals 29 and 31.P186: Hysteresis level for the enabling / disabling of digital output 3 to terminals 33 and 35.P192: Hysteresis level for the enabling / disabling of digital output 4 to terminals 37 and 39.P198: Hysteresis level for the enabling / disabling of digital output 1 to terminals 41 and 43.

NOTE: This parameter defines the switching hysteresis of the digital output considered below the value fixed byMDOxLevel. See also figure in the CONFIGURABLE DIGITAL OUTPUTS.

NOTE: The hysteresis value set in these parameters may not exceed the level value set in MDOxLevel-typeparameters.

WARNING! To avoid any drive malfunction, never save a value higher than the one saved inEEPROM for MDOxLevel-type parameters.

P175(181)(187)(193)(199): Digital Output 1(2)(3)(4)(5) Contact Logic

P P175(181)(187)(193)(199) - MDO1(2)(3)(4)(5)Logic

R 0 ... 1

D 0

F P175: It indicates the contact state when digital output 1 to terminals 25 and 27 is disabled.P181: It indicates the contact state when digital output 2 to terminals 29 and 31 is disabled.P187: It indicates the contact state when digital output 3 to terminals 33 and 35 is disabled.P193: It indicates the contact state when digital output 4 to terminals 37 and 39 is disabled.P199: It indicates the contact state when digital output 5 to terminals 41 and 43 is disabled.

0:Normally Open. When the output enables, the relevant relay energizes and the contact on the relevantterminals closes.1:Normally Closed. When the output enables, the relevant relay de-energizes and the contact on therelated terminals opens. See also figure in the CONFIGURABLE DIGITAL OUTPUTS chapter.

NOTE: The digital output configured as 1:SpeedThreshold enables when the speed in M001 (nFdbk) is higher thanthis parameter value. The digital output configured as 2:Iarm Threshold enables when the current in M004(Iarm) - expressed as a percentage of the drive armature nominal current, is higher than this parameter value. Thedigital output configured as 8:Ifld Threshold enables when the current in M018 (Ifld) - expressed as a percentageof the drive field nominal current - is higher than this parameter value. The digital input configured as 3:Motor atSpeed enables when the speed error between the ramp circuit input reference and the speed / voltage feedback islower than this parameter value. This means that the actual speed has reached the programmed setpoint; i.e. theramp transient is over.

NOTE: The level value set in these parameters cannot be lower than the value set in MDOxHyst-type parameters.

WARNING! To avoid any drive malfunction, never save a value lower than the one saved in EEPROMfor MDOxHyst-type parameters.

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P210: Main Local Reference

P P210 - LocalVref

R -100. ... 100. %

D 0.00 %

F If parameter C101 is set to 1:Local, this parameter indicates the speed or current reference set.Nevertheless, whenever the drive operates in REMOTE configuration and the serial connection between thePC and the drive operates in Mxxx ReadWrite mode (parameter M029 to value 1), the set speed referenceshall be the reference sent via serial communication.

P211 (212)(213)(214)(215)(216)(217): Preset Run Reference 1(2)(3)(4)(5)(6)(7)

P P211 (212)(213)(214)(215)(216)(217) - PresetSpd1(2)(3)(4)(5)(6)(7)

R -100. ... 100. %

D P211: 5.00 %P212: 20.0 %P213: 10.0 %P214: 0.00 %P215: -5.00 %P216: -20.0 %P217: -10.0 %

F P211: Preset run reference PresetSpd1.P212: Preset run reference PresetSpd2.P213: Preset run reference PresetSpd3.P214: Preset run reference PresetSpd4.P215: Preset run reference PresetSpd5.P216: Preset run reference PresetSpd6.P217: Preset run reference PresetSpd7.

Said present run references are to be considered as current references if a digital input programmed for the6:Slave function (see parameter set C130 ... C135) is closed, or if parameter C050 is programmed for the3:Iref=Vref function. If not, they act as speed / voltage references which can be used instead of REF mainreference between terminals 5 and 7; you may reverse their polarity by closing any digital input that hasbeen programmed for the 5:Reverse function.Whenever issuing a preset run reference, the START contact should always be closed.

SELECTION: Among the seven preset run references to be stored, the valid one results from the closingof one or more digital inputs that have been properly configured.If three digital inputs are set to 1:PresetSpdA, 2:PresetSpdB and 3:PresetSpdC, the preset run reference isdetermined by the table below, where a blank square indicates the digital input opening state (or the inputthat has not been set) and the black square indicates the closing state:

ecnerefernurdetceleS CdpSteserP BdpSteserP AdpSteserP

)101Cretemarap(.ferniamFER

1dpSteserP

2dpSteserP

3dpSteserP

4dpSteserP

5dpSteserP

6dpSteserP

7dpSteserP

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Among the seven preset run references, if you want to select only the first three ones, you just need to settwo digital inputs as 1:PresetSpdA and 2:PresetSpdB. For one reference only, you just need to set oneinput: PresetSpdA for the first, 2:PresetSpdB for the second, 3:PresetSpdC for the fourth.

NOTE: (Up to SW Vers. D2.02 only) If one digital input set to the 5:Reverse function is closed, the programming of theseparameters cannot be changed.

P220: Local Jog Reference

P P220 - LocalJog

R -100. ... 100. %

D 5.00 %

F This parameter represents the speed reference being set by pressing the “JOG” key on keypad, inLOCAL mode only.

P221: Jog Ramp Selection

P P221 - JogSelect

R 0 ... 2

D 0

F This parameter defines the ramps to be assigned to the jog references.0:Common Ramps. The jog references pass through common ramps P030, P031, P032, P033. Whenthe jog digital input opens, ramp P034 or P035 takes place, depending on the polarity programmed.1:Without Ramps. The jog references are directly taken.2:Separate Ramps. The jog references pass through separate ramps P036, P037.Ramp P037 takes place both when the value set in this parameter decreases and when the jog digitalinput opens.

P222 (223)(224): Jog Reference 1(2)(3)

P P222(223)(224) - Jog1(2)(3)

R -100. ... 100. %

D P222: 5.00 %P223: -5.00 %P224: 0.00 %

F P222: Jog1 Reference.P223: Jog2 Reference.P224: Jog3 Reference.

Said jog references are to be considered as current references if a digital input programmed for the 6:Slavefunction (see parameter set C130 ... C135) is closed, or if parameter C050 is programmed for the3:Iref=Vref function. If not, they act as speed / voltage references: you may reverse their polarity by closingany digital input that has been programmed for the 5:Reverse function.

SELECTION: Among the three jog references to be stored, the valid one results from the closing of oneor more digital inputs that have been properly configured.If two digital inputs are set to 12:JogA and 13:JogB, the preset jog reference is determined by the tablebelow, here a blank square indicates the digital input opening state (or the input that has not been set) andthe black square indicates the closing state:

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If you want to select only one jog reference out of three, you just need to set one input with values 12:JogAfor the first and 13:JogB for the second.

NOTE: (Up to SW Vers. D2.02 only) If one digital input set to the 5:Reverse function is closed, the programming of theseparameters cannot be changed.

P230: Min. Firing Angle

P P230 - AlfaMin

R 0.00 ... 80.0o

D dcM12+: 30.0o

dcM6+: 25.0o

F Min. delay angle for the thyristor firing and the energy transfer from the mains to the load.This is the limit for parameter M005 (Alfa) when operation is programmed as “motor”.

WARNING! In a dcM6+ you may enable the second quadrant through parameter C061 (2ndQ-RevReg)set to 0:Enabled for the energy regeneration from the load to the mains. If the load is amotor and the motor max. speed may be adjusted by dcM+ itself, you have to set thisparameter to at least 30...in order to prevent the power section from being damaged dueto large back-electromotive force that cannot be regenerated.

P231: Max. Firing Angle

P P231 - AlfaMax

R 100. ... 180.o

D 150.o

F Max. delay angle for the thyristor firing and the energy transfer from the load to the mains.This is the limit for parameter M005 (Alfa) when operation is programmed as “brake”.

P240: Low Pass Filter over the Speed / Voltage Error

P P240 - LowPassConst

R 0 ... 300 ms

D 0 ms

F This parameter expresses, in milliseconds, time constant τ of the low pass filter for the first speed erroroperating according to the transfer function below:

G(s) = ______ 1 + Sτ

1

ecnerefernurdetceleS BgoJ AgoJ

-

1goJ

2goJ

3goJ

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12.0 CONFIGURATION PARAMETERS

The value of the configuration parameters may be defined by the user only when the equipment is not running.These parameters are marked with a C followed by the parameter number.

C000: Motor Rated Current

P C000 - Inom

R 1 ... 100 %

D 100 %

F This parameter sets the motor rated current as a percentage of the drive rated current.For instance, for a 100 Amp power unit, 100% of C000 corresponds to 100A.This parameter is the reference value for all calculations relating to the different current limits.

C001: Current for Motor I2t Protection

P C001 - MotThrshold

R 1 ... 120 %

D 100 %

F This parameter sets - as a percentage of the motor rated current programmed on parameter C000 - thereference current for the thermal image formation of motor temperature increase to enable the motorelectronic protection against overheating (protection I2t). See also figure in MOTOR HEATING THERMALIMAGE chapter.For instance, in a 100 Amp unit, where a value equal to C000=80% has been set, 105% of C001corresponds to 84A.

C002: Time Constant for Motor I2t Protection

P C002 - MotThConst

R 0 ... 10800 s

D 340 s

F This parameter sets, in seconds, the thermal time constant for thermal image formation of motortemperature increase to enable the motor electronic protection against overheating (protection I2t). See alsofigure in MOTOR HEATING THERMAL IMAGE chapter.Program C002=0 to disable I2t control.As a reference, in parameter C002 you can set a value of approx.1200 sec for motors with some hundredsof Ampere, while a value up to 3600 sec may be set for motors with some thousands of Ampere.

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C010: Motor Field Rated Current

P C10 - IfldNom

R 3.00 ... 100. % (up to SW Vers. D2.01: 5 ... 100%)

D 10.0 %

F This parameter sets, as a percentage of the max. field current value supplied by the drive, the motorfield rated current supplied when the motor is not running or when the motor is rotating at a lower speedthan the one enabling the field regulation.

NOTE: The max. field current the drive can generate is equal to 5A for 100 Amp unit max, 15A for a 180 Amp to 1250 Ampunit. For instance, for an Amp unit ,100% of C010 corresponds to 15A.

C011: Field Weakening Start Rated Speed

P C011 - BaseSpeed (available starting from SW Vers. D2.02)

R 0 ... 100 %

D 33%

F This parameter indicates the speed, expressed as a value per cent of P010 (nFdbkMax), enablingnominally the field weakening start. If a speed feedback failure occurs and the armature feedbackautomatic switch is enabled (par. C155 at value 1:Excluded and par. C075 at value 1:Yes), a correctparameter setting allows the speed of rotation to be kept approx. constant. In any other case, thisparameter setting will have no effect.See also FIELD REGULATOR chapter.

C012: Nominal Armature Voltage (Cross-over Point)

P C012 - VarmNom (available starting from SW Vers. D2.02)

R 50 ... 1000 V

D 1000V

F It sets, in Volts, the motor nominal armature voltage, already obtained at the speed determining the fieldweakening start. To have a field current dynamic regulation in field weakening mode when the speedchanges:1. set this parameter at a value lower than 1000V2. with par. C70, set a feedback speed other than value 4:Armature.If the speed feedback set is the armature feedback, no field current dynamic regulation in field weakeningmode will take place for any value of the actual parameter.See also FIELD REGULATOR chapter.

C014: Standstill Field Current

P C014 - FldEcoLevel

R 0 ... 100 % (up to SW Vers. D2.01: 1 ... 100%)

D 10 %

F This parameter represents the current value, expressed as a percentage of C010 (IfldNom), to whichthe field must be reduced when the drive is not running, once the time set at parameter C015 (FldEcoDelay)has elapsed. As soon as the device is supplied at the terminals of the field rectifier and as long as the runcommand is not operated, the field current value supplied is the one set in the actual parameter.Starting from SW Vers. D2.02, the Field Economy function is disabled whenever the motor speed ofrotation is other than zero. See also FIELD REGULATOR chapter.

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C015: Standstill Field Current Decrease Delay

P C015 - FldEcoDelay

R 0.0 ... 300 s

D 240 s

F This parameter indicates, in seconds, the time interval that has to pass before setting the field currentto value C014 (FldEcoLevel), starting from the time when the drive stops. See also FIELD REGULATORchapter.

C016: Field Weakening Min. Current

P C016 - IfldMinLim (available starting from SW Vers. D2.02)

R 5 ... 100 %

D 25 %

F It sets, as a percentage of C010 (IfldNom), the motor field nominal current min. limit during the dynamicregulation in field weakening mode. Field current can never be lower than the value of actual parameter,even if speed is at max value. If the motor speed of rotation reaches too high and dangerous values, thecorrect setting of this parameter allows Alarm A023 (Ifld Underlimit) to trip and the equipment to lock. Thisparameter should be set at 75% of the min. current field nominal value at the max. speed. See also FIELDREGULATOR chapter.

C017: Boost over the Field Current

P C017 - FldFrcLevel

R 100 ... 120 %

D 100 %

F If one of the digital inputs set for the function 11:FldFrcEnabled is closed, the actual parameterrepresents the value, expressed as percentage of C010 (IfldNom), to which the field current is increasedaccording to the time set at parameter C018 (FldFrcTime), starting from the very moment when the runcommand is operated.Starting from SW Vers. D2.02, this forcing function (Field Forcing) will be disabled if the armature voltageexceeds the following value , and will be enabled when drive is started again. See alsoFIELD REGULATOR chapter.

NOTE: Product C010 x C017 should not exceed the 100% of the field maximum current to be supplied by the device.

NOTE: The forcing function may have no effect if the curent increase does not produce any remarkable field fluxincrease.

C018: Boost duration on field current

P C018 - FldFrcTime

R 0.0 ... 60. sec.

D 10 sec.

F This is the time interval, expressed in seconds, during which the field current is increased according tothe percentage set at parameter C017 (FldFrcLevel) starting from the very moment when the run commandis operated. See also FIELD REGULATOR chapter.

C030 x 1.316 2

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C030: Nominal Mains Voltage

P C030 – VmainsNom

R 10 … NNN V

D 480 V

F This parameter sets, in Volts, the three-phase mains voltage nominal value in the power section.The upper extreme value to be set (i.e. the maximum three-phase voltage to be supplied to the powersection) indicated as NNN, is factory-set, is shown in the Status page and depends on the componentsused for the device manufacturing. It may be one of the following four values: 440V, 500V, 600V, 690V.The value set in this parameter controls alarm A016 (Mains OverVoltage), A017 (Mains UnderVoltage) andA010 (Armature OverVoltage) trip (mains overvoltage or undervoltage and armature overvoltagerespectively).

NOTE: The value set in this parameter cannot exceed the drive factory-set value.

C050: Speed Loop Operation

P C050 - SpdLoopSel

R 1 ... 3 (up to SW Vers. D2.01: 0 ... 3)

D 1 (up to SW Vers. D2.01: 0)

F This parameter programs the speed loop operating mode.(Up to SW Vers. D2.01) 0:PID operating. This setup is the same as next one 1:PI operating.1:PI operating. The PI regulator proportional and integral sections are both active.2:P operating. Only the PI regulator proportional section is active.3:Iref=Vref. The speed loop is inactive. The current reference is supplied by REF main reference indicatedby parameter C101 (VrefSelect) (after being transferred to Gain, Bias, Polarity and the 5:Reverse function)or by one of the preset run references (with function 5:Reverse if necessary). The current reference may besummed to IN 1 reference between terminals 11 and 13, to IN 2 reference on terminal 17 and to IN 3reference on terminal 19 as long as they have been configured by setting C120(121)(122) = 2: I loopadd.ref., and after being transferred to Gain, Bias, Polarity (Polarity relates to IN 1 only).If C050 = 3:Iref=Vref and no external reference is available, the current reference may also be obtained byone of the jog run internal references.The current references always enter the control loop with no ramp or rounding, even if they have been set inparameters P030 ... P039.

NOTE: If a digital input configured for the 6:Slave function is closed, then this parameter programming cannot bechanged.

C051: Current Loop Operation

P C051 - CurrLoopSel

R 0 ... 1

D 0

F This parameter programs the current loop operating mode.0:PI operating. The current loop operates through a PI regulator (proportional part plus integral part). It isrecommended that this mode be selected in case of a dcM12+ in armature feedback or in case of a dcM6+and generally in all cases where the resistance torque is much higher than the inertia one, or when theoutput bars of the dcM+ do not supply a motor but supply a resistive load.1:Predictive. The current loop operates according to a predictive control.

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C052: Field Regulator Voltage Loop Operation

P C052 - FldLoopSel (available starting from SW Vers. D2.02)

R 0 ... 1

D 0

F This parameter programs the field regulator voltage loop operating mode.0:PI operating. Both the PI regulator proportional and integral sections are active.1:P operating. Only the PI regulator proportional section is active.

C060: First Quadrant Selection

P C060 – 1stQ-FwdMot

R 0 … 1

D 0

F Operation enabling/disabling of the first work quadrant of the torque / speed plan. See also figure in theOPERATION QUADRANTS chapter.0:Enabled. The first quadrant is enabled.1:Disabled. The first quadrant is disabled.

C061: Second Quadrant Selection

P C061 – 2ndQ-RevReg

R 0 … 1

D dcM12+:0dcM6+:1

F Operation enabling/disabling of the second work quadrant of the torque / speed plan. See also figure inthe OPERATION QUADRANTS chapter.0:Enabled. The second quadrant is enabled.1:Disabled. The second quadrant is disabled.

C062: Third Quadrant Selection

P C062 – 3rdQ-RevMot (used in dcM12+ only)

R 0 … 1

D dcM12+:0dcM6+:1 (not used)

F Operation enabling/disabling of the third work quadrant of the torque / speed plan. This function isavailable in dcM12+ only. See also figure in the OPERATION QUADRANTS chapter.0:Enabled. The third quadrant is enabled.1:Disabled. The third quadrant is disabled.

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C063: Fourth Quadrant Selection

P C063 – 4thQ-FwdReg (used in dcM12+ only)

R 0 … 1

D dcM12+:0dcM6+:1 (not used)

F Operation enabling/disabling of the fourth work quadrant of the torque / speed plan.This function is available in dcM12+ only. See also figure in the OPERATION QUADRANTS chapter.0:Enabled. The fourth quadrant is enabled.1:Disabled. The fourth quadrant is disabled.

C070: Feedback Selection

P C070 - nFdbkSelect

R 0 ... 4

D 4

F This parameter selects the signal to be used as a feedback.0:Tach 8-25 V. The signal used as a speed feedback is included in the 8 ... 25V voltage range; the voltage issupplied by a tacho and detected via terminal 20.1:Tach 25-80 V. The signal used as a speed feedback is included in the 25 ... 80V voltage range; the voltageis supplied by a tacho and detected via terminal 22.2:Tach 80-250 V. The signal used as a speed feedback is included in the 80 ... 250V voltage range; thevoltage is supplied by a tacho and detected via terminal 23.3:Encoder. The signal used as a speed feedback is an encoder output detected via terminals 14 and 16, orvia 9-pole D-connector CN2.4:Armature. The signal used as a voltage feedback is the drive voltage output; in case of a motor, thevoltage feedback is the armature voltage. When the drive operates according to an armature feedback witha resistive load, parameter C051 (CurrLoopSel) should be set to 0:PI operating.

NOTE: In case of a tacho or encoder feedback, the max. motor speed with a speed reference equal to 100% isprogrammed through parameter P010 (nFdbkMax); in case of an armature feedback, the max. voltage with aspeed reference equal to 100% is programmed through parameter P011 (VarmMax).

C072: Encoder Pulses/Rev

P C072 - EncoderPls

R 100 ... 1024 pulses/rev

D 1024 pulses/rev

F This parameter conveys information about the encoder pulses/rev.

The values set in parameter C072 and parameter P010 should allow product C072 x P010 not to exceed68.266kHz (e.g. 1024 pulse/rev for 4000 RPM max) in order to avoid any drive failure.

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C074: Tacho Transduction Ratio

P C074 - Tach Volts

R 20 ... 120 V /1000 RPM

D 50 V / 1000 RPM

F This parameter conveys information about the transduction ratio of the tacho used for the speedfeedback according to a V / 1000 RPM unit of measure.

The values set on parameter C072 and parameter P010 should allow product C074 x P010 not to exceed the250V value to avoid possible failures in the speed control by the drive.

C075: Feedback Auto Switching

P C075 - nFdbkSwitch

R 0 ... 1

D 0

F 0:No.1:Yes.

If you set this parameter to 1:Yes and disable the A008 (Speed Feedback Failure) alarm by settingparameter C155 to 1:Excluded, you will obtain the feedback auto switching from TACHO or ENCODER toARMATURE as soon as a speed feedback loss occurs. In this case, warning W002 (Speed Fdbk switchedto Varm) will take place; open the ENABLE contact to restore it.

C090: AlarmAutoReset Number

P C090 - AutoReset

R 0 ... 10 times

D 0 times

F This parameter programs the max. number of autoreset retries of an alarm (autoreset) which may beperformed (every time after about 2s from the alarm trip) when the minimum time between two resettingprocedures - set on parameter C091 (AutoResTime) - has not passed.Set C090 = 0 to disable the function.

C091: ResetTime of AutoresetNumber

P C091 - AutoResTime

R 1 ... 999 s

D 300 s

F This parameter determines, in seconds, the minimum time interval that should pass from the last reset,before setting the autoreset counter to zero. The counter may be manually reset only when the drive hasperformed all the resets programmed on parameter C090 consecutively and the alarm connects again.

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C092: PowerOnReset

P C092 - PowerOnReset

R 0 ...1

D 0

F This parameter determines whether no memorization should be performed in the EEPROM after analarm trip, so that the alarm will not be displayed at the following drive power on (if, of course, the alarmcause has been removed).0:No. The alarm trip is stored and displayed when the drive is powered on again.1:Yes. The alarm trip is not stored, so it is not displayed when the drive is powered on again.

C093: Autoreset after mains break

P C093 - MainsReset

R 0 ... 1

D 1

F This parameter determines whether the drive, in case of a mains break (regardless of its duration)concerning the power section, is able to perform an unlimited number of alarm autoresets, in such a waythat by restoring the power supply no alarm is kept stored. As a rule the generating alarm is A007(MainsFailure), though it may sometimes happen that alarms A006 (Unstable Frequency) or A013 (MissingSyncronization) are tripped.0:No. When the power supply is restored after a mains break on the power section, one of the abovementioned alarms is kept stored.1:Yes. When the power supply is restored after a mains break on the power section, no alarm trip is keptstored.

C094: StartSafety

P C094 - StartSafety

R 0 ... 1

D 0

F When the cause of the alarm trip has disappeared and a manual or automatic reset of the alarm hasbeen performed, this parameter determines whether a safety preventing the drive to automatically andimmediately restart should be enabled. Of course, this function is active only if the device is actually ableto restart (no alarm detected, power section properly supplied, ENABLE and START contacts closed).0:No. Device self-start enabled when no alarm conditions are detected, after the reset or when the powersupply is restored.1:Yes. The device is not allowed to restart by itself when no alarm conditions are detected, after the reset orwhen the power supply is restored. On the contrary, it may be restarted only after the ENABLE contacttemporary opening and closing.

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C100: LOCAL / REMOTE Selection Enabling

P C100 - LocRemSel

R 0 ... 1

D 0

F This parameter allows the drive switching from the REMOTE mode (i.e. from terminal board or serial) tothe LOCAL mode (i.e. from keypad) and vice versa, by simultaneously pressing “” and “SAVE” keys.0:Enabled. Switching (obtained by pressing the two above mentioned keys simultaneously) enabled.1:Disabled. Switching (obtained by pressing the two above mentioned keys simultaneously) disabled.This parameter may be used to avoid an accidental switching of the drive operation trough the keypad.

NOTE: In any operating mode, the drive running procedure always requires the ENABLE contact closing on terminal 24.

C101: Main Reference Source

P C101 - VrefSelect

R 0 ... 1

D 0

F This parameter determines the source of REF main reference. The value of said parameter is NOTconsidered whenever the drive operates in REMOTE mode and the serial connection between PC and drivesimultaneously operates in Mxxx ReadWrite mode (parameter M029 at value 1): in this condition the presetspeed reference is always the one transmitted via a serial.0:Remote. The main reference is supplied to term. 5 and 7 (LOC REF LED on the keypad is off).1:Local. The main reference is represented by the value of parameter P210 (LocalVref) LOC REF LED onthe keypad is on).

WARNING: During any REMOTE LOCAL or LOCAL REMOTE switching, the value of thisparameter is switched so that it always complies with the running mode selected. Saidvalue may not be saved on EEPROM.

C103: Emergency Stop

P C103- EmergStop

R 0 ...1

D 0

F Defines the “STOP” key operating mode when the drive digital inputs are in REMOTE mode, i.e. whenthe LOC SEQ LED is off.0:Included. Pressing the “STOP” key is equivalent to opening the START contact on terminal 26; speed willdecrease according to the ramp set in parameter P034 (RampStopPos) or P035 (RampStopNeg), dependingon the reference polarity. To restart, open and close the START contact on terminal 26.1:Excluded. The “STOP” key function is disabled.

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C120(121)(122): Analog Input 1(2)(3) Configuration

P C120(121)(122): - AnIn1(2)(3)Cfg

R 0 ... 10

D 0

F C120: It defines the configuration of programmable analog input 1 (IN 1) between terminals 11 and 13.C121: It defines the configuration of programmable analog input 2 (IN 2) on terminal 17.C122: It defines the configuration of programmable analog input 3 (IN 3) on terminal 19.0:Excluded.1:n loop add.ref. The reference to analog input IN x is an additional speed / voltage reference.2:I loop add.ref. The reference to analog input IN x is an additional current reference.3:Ramps reduct. The reference to analog input IN x is a signal for the decrease per cent of the four ramptimes programmed through parameters P030 ... P033.4:tUP+ reduction. The reference to analog input IN xis a signal for the decrease per cent of the rise ramptime of positive reference P030.5:tUP- reduction. The reference to analog input IN x is a signal for the decrease per cent of the rise ramptime of negative reference P032.6:tDN+ reduction. The reference to analog input IN x is a signal for the decrease per cent of the fall ramptime of positive reference P031.7:tDN- reduction. The reference to analog input IN x is a signal for the decrease per cent of the fall ramptime of negative reference P033.8:Ext. curr.lim. The reference to analog input IN x is a current limit external reference for bridge A only(dcM6+) or for both bridges A and B (dcM12+).9:BrdgA ext.lim. The reference to analog input IN x is a a current limit external reference for bridge A onlyin dcM12+. (This function is available for dcM12+ only).10:BrdgB ext.lim. The reference to analog input IN x is a a current limit external reference for bridge B onlyin dcM12+. (This function is available for dcM12+only).

NOTE: As for the external current limit, at 100% ofthe internal signal (M010, M011 or M012) and if wesuppose that limit parameters P050 ... P057 areprogrammed for 100%, then the current limit will bethe one set by C000 motor rated current, eventuallyreduced by hardware limit (M013). On the other hand,if the internal signal is under 100%, then the currentlimit will proportionally decrease.If several analog inputs have been configured asexternal current limit, the analog input with theabsolute value min. limit will prevail. All this is shownin the diagram by side, where the polarity to beapplied to the external limit signal of both bridges isassumed positive (par. C123 (ExtLimPol) at 0:Positiveonly) and C000=50%, P050=50%, and P051=100%.

If more than one analogic input has been setup as an external current limit, then the one with minimum limitresulting in absolute value is considered.

NOTE: As for the ramp time external limit, at 100% of the internal signal (M010, M011 or M012) the ramp times willcorrespond to the times internally set through parameters P030 ... P033.On the other hand, if the internal signal is under 100%, then the ramp times will proportionally decrease. P038and P039 rounding will be decreased by the same value per cent as well.For the ramp time external decrease function, the signal applied to the analog input may have any polarity.If several analog inputs have been configured as ramp time external decrease, the analog input with the min.ramp time will prevail.

+25%

-50%

+100%+50%An Inx

I LIM B

I LIM A

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C123: External Limit Reference Polarity

P C123 - ExtLimPol

R 0 ... 1

D 0

F This parameter indicates the acknowledged polarity of the internal signal (M010 , M011 or M012) for thecurrent external limit.0:Positive only. A positive reference is acknowledged only.1:Negative only. A negative reference is acknowledged only.

NOTE: If several analog inputs have been configured as current external limits, the limit obtained will be equal to zeroif the external signals have different polarities or the polarity of the signal applied to analog input IN 1 does notmatch parameter P125 (AnIn1Pol) programming.

C130(131)(132)(133)(134)(135): Digital Input 1(2)(3)(4)(5)(6) Configuration

P C130(131)(132)(133)(134)(135) - MDI1(2)(3)(4)(5)(6)Cfg

R 0 ... 13

D C130: 0C131: 12C132: 13C133: 1C134: 4C135: 5

F C130: It indicates the configuration of programmable digital input 1 (MDI 1) on term. 28.C131: It indicates the configuration of programmable digital input 2 (MDI 2) on term. 30.C132: It indicates the configuration of programmable digital input 3 (MDI 3) on term. 32.C133: It indicates the configuration of programmable digital input 4 (MDI 4) on term. 34.C134: It indicates the configuration of programmable digital input 5 (MDI 5) on term. 36.C135: It indicates the configuration of programmable digital input 6 (MDI 6) on term. 38.0:Reset. When the input closes, it enables deleting the alarm previously stored.This is equivalent to simultaneous pressing the “PROG” and “SAVE” keys.1:PresetSpdA. When the input closes, it selects - in conjunction with other digital inputs programmedwith the 2:PresetSpdB and 3:PresetSpdC functions - a preset run reference among all referencesprogrammed in parameters P211 ... P217, according to the matching table contained in the sectionrelating to said parameters.2:PresetSpdB. When the input closes, it selects - in conjunction with other digital inputs programmedwith the 1:PresetSpdA and 3:PresetSpdC functions - a preset run reference among all referencesprogrammed in parameters P211 ... P217, according to the matching table contained in the sectionrelating to said parameters.3:PresetSpdC. When the input closes, it selects - in conjunction with other digital inputs programmedwith the 1:PresetSpdA and 2:PresetSpdB functions - a preset run reference among all referencesprogrammed in parameters P211 ... P217, according to the matching table contained in the sectionrelating to said parameters.4:Clim. When the input closes, it enables decreasing the actual current limit for both bridges accordingthe value per cent programmed in P058 (Clim).5:Reverse. When the input closes, it enables the polarity final reversal of the REF main referenceindicated by parameter C101 (VrefSelect), of the preset run references, and -provided that they areconfigured as speed references - of the references on auxiliary inputs and the inner jog references.

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6:Slave Enabled. When the input closes, it disables the speed loop; the same function is obtained ifparameter C050 is programmed as 3:Iref=Vref. As a consequence, the current reference is supplied by REFmain reference or one of the preset run references, summed to references IN 1, IN 2 and IN 3, provided thatthey have been configured as current additional references. The current reference may also be supplied byone of internal jog references. However, the current reference enter the control loop with no ramp orrounding, even though they have been programmed in parameters P030 ... P039.7:Ramps Disabled. When the input closes, it resets the ramp times programmed in parameters P030 ...P033 as well as any rounding value programmed in parameters P038 and P039. When the ramp times androunding values are to be brought back to their original values, the digital input is to be opened beforesending the new speed reference; if not, the ramp programmed will not take place.8:Second ParmSet. If a motor constantly operates under different conditions (such as mechanical timeconstants, gear ratio, inertial moments and so on) that require separate control parameters for the speedloop, the input closing enables switching from the parameter standard values to its alternative values.Particularly, for the proportional gain, integral time, adaptated proportional gain, adapted integral time, thevalues programmed in P070 ... P074 will switch to the values programmed in P076 ... P080 respectively.For the first two parameters, the speed auto tuning will calculate the standard or alternative valuesdepending on the state of the digital input concerned.9:MinSpd Enabled. If you set parameter P012 (SpdDmndPol) to 1:Positive only or 2:Negative only, whenthe input closes this function will enable the min. speed positive reference programmed in parameter P014(nMinPos) or the min. speed negative reference programmed in parameter P016 (nMinNeg).10:ExtFailure (available starting from SW Vers. D2.02) Alarm A020 trips when the input is open.11:FldFrcEnabled. When this input is closed, it increases the field current to the value possibly set atparameter C017 (FldFrcLevel) and according to the time programmed at parameter C018 (FldFrcTime).12:JogA. When this input is closed, it selects, together with another possible digital input programmed withfunction 13:JogB, a jog reference among the ones programmed on parameter P222 ... P224, according tothe corresponding matching table.13:JogB. When this input is closed, it selects, together with another possible digital input programmed withfunction 12:JogA, a jog reference among the ones programmed on parameter P222 ... P224, according tothe corresponding matching table.

NOTE: (for MDI xCfg set at 6:Slave Enable).With respect to the external setting of a currentreference, when the internal signal per-centage isincreased (M000, M010, M011 or M012) the currentreference percentage -displayed by par. M003 (Iref) -will increase accordingly, until the limit current valueis reached. Beyond that value, the current referenceset will be kept constant. This is shown in the figureby side, where the current reference external setup isassumed defined by REF main reference andC000=50%, P050=50% and P051=100%.

With two drives configured in MASTER / SLAVE mode, as the reference standard level supplied by theMASTER drive is 5V at the nominal current (M003 = 100%), if also the SLAVE drive must supply its nominalcurrent - with said reference at REF main reference between terminals 5 and 7 - gain P124 (IrefGain) is to be set at200%.

NOTE: If you set several digital inputs to the same configuration, close at least one of the relevant digital inputs toenable that configuration.

M003

REF

+25%

-50%

+100%+25%

-50%-100%

I LIM B

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C141: Alarm A016/017 Trip Delay

P C141 - A016/7(VAC)

R 10.0 ... 2000 ms

D 1000 ms

F This parameter sets, in milliseconds, the delay time of the drive locking when either alarm A016 (MainsOverVoltage) or A017 (Mains UnderVoltage) trips.

C150: Alarm A001 Trip Disabling

P C150 - A001 (Fld)

R 0 ... 1

D 0

F It inhibits alarm A001 (Field Failure) trip.0:Included. The alarm is enabled.1:Excluded. The alarm is disabled.


P C151 - A004 (Load)

R 0 ... 1

D 0

F It inhibits alarm A004 (Load Loss).0:Included. The alarm is enabled.1:Excluded. The alarm is disabled.


P C152 – A005 (Thyr)

R 0 ... 1

D 0

F This parameter inhibits alarm A005 (Thyristor Failure) trip.0:Included. The alarm is enabled.1:Excluded. The alarm is disabled.


P C153 - A006(fUnst)

R 0 ... 1

D 0

F It inhibits alarm A006 (Unstable Frequency).0:Included. The alarm is enabled.1:Excluded. The alarm is disabled.

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P C154 - A007(Mains)

R 0 ... 1

D 0

F It inhibits alarm A007 (Mains Failure).0:Included. The alarm is enabled.1:Excluded. The alarm is disabled.


P C155 - A008(nFdbk)

R 0 ... 1

D 0

F It inhibits alarm A008 (Speed Feedback Failure).0:Included. The alarm is enabled.1:Excluded. The alarm is disabled.


P C156 – A010(Arm0V)

R 0 ... 1

D 0

F This parameter inhibits alarm A010 (Armature OverVoltage) trip.0:Included. The alarm is enabled.1:Excluded. The alarm is disabled.

C157: Alarm A016/017 Trip Disabling

P C157 - A016/7(VAC)

R 0 ... 1

D 0

F It inhibits both alarm A016 (Mains OverVoltage) and A017 alarm (Mains UnderVoltage).0:Included. The two alarms are enabled.1:Excluded. The two alarms are disabled.


P C158 - A027 (RTU)

R 0 ... 1

D 0

F It inhibits alarm A027 (Serial Link Failure) trip.0:Included. The alarm is enabled.1:Excluded. The alarm is disabled.

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C160: Serial Connection Drive Address

P C160 - DeviceID

R 1 ... 247

D 1

F This parameter indicates the physical address identifying the dcM+ drive in the MODBUS connection tothe serial mains linking it (if any).

C161: Serial Connection Transmission speed

P C161 - BaudRate

R 1200 ... 57600 bps

D 9600 bps

F This parameter expresses the serial connection transmission speed (baud rate) in bits per second.1200. The transmission speed is equal to 1200 bps....57600. The transmission speed is equal to 57600 bps.

C162: Serial Connection Parity Control

P C162 - Parity

R 0 ... 2

D 0

F This parameter indicates whether the parity control is enabled and specifies the type of control.0:None. No parity control is to be found. Each character ends with two STOP BITS.1:Even. The parity control is enabled. It is an “even” parity control (the data to be transmitted are addeda bit, so the total number of “1” is even). Each character ends with a STOP BIT only.2:Odd. The parity control is enabled. It is an “odd” parity control (the data to be transmitted are added abit, so the total number of “1” is odd). Each character ends with a STOP BIT only.

C163: Master Data Area Base Address

P C163 – BaseAddress

R 0 … 32767

D 0

F This parameter indicates the correspondence between the drive data area and the master data area.

C164: Serial Time Out

P C164 – RTUTimeOut

R 0.00 … 2000 ms

D 300. ms

F This parameter indicates, in milliseconds, the timeout of the drive (time out) while receiving anadditional character, before considering the inquiry transmitted by the master a concluded message.

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C165: Serial Response Delay

P C165 -Rx TxDelay

R 0.00 … 2000 ms

D 0.00 ms

F This parameter concerns the half duplex transmission mode only, like the two-wire RS485 standard. Itdefines, in milliseconds, the delay time of the drive before its response to a master inquiry, to make surethat the latter has already switched to the listening mode.

C170: Page Displayed at Power On

P C170 - FirstPage

R Status ... M029

D Status

F This parameter defines the page displayed when the drive is turned on.Status. Main menu access page is displayed (stating Drive OK or indicating a possible alarmmessage).M000 Vref. Main analog input.M001 nFdbk. Speed / voltage feedback.M002 Verr. Speed / voltage error.M003 Iref. Armature current reference.M004 Iarm. Armature current.M005 Alfa. Thyristor firing delay angle.M006 Varm. Armature voltage.M007 BackEMF. Electromotive force.M008 Frequency. Mains frequency.M009 Vmains. Mains voltage.M010 AnIn1. Auxiliary analog input 1 on terminals 11 and 13.M011 AnIn2. Auxiliary analog input 2 on terminal 17.M012 AnIn3. Auxiliary analog input 3 on terminal 19.M013 Imax. Hardware current limitation.M014 OptIn1. Optional analog input 1 on pin 33 of CN7.M015 OptIn2. Optional analog input 2 on pin 8 of CN7.M016 OptIn3. Optional analog input 3 on pin 10 of CN7.M017 RefFld. Field current reference.M018 Ifld. Field currentM019 AnOut1. Analog output 1 on terminal 8.M020 AnOut2. Analog output 2 on terminal 10.M021 MDIState. Digital inputs state.M022 MDOState. Digital outputs state.M023 FldRegState. Field regulator inner digital inputs state.M024 Output Power. Output power (available starting from SW Vers. D2.02).M025 MotorTorque. Motor torque (available starting from SW Vers. D2.02).

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13.0 ALARM PARAMETERS

These parameters are displayed when an alarm trips; in this case, the equipment is simultaneously locked.They are marked on the display with an A followed by the parameter number.

TRIP. Whenever a failure is detected, the microcontroller operates both the keypad display and the two seven-segment displays of the control board. The code relating to an alarm is shown and the drive is then locked.Delay and disabling. When both alarms A016 (Mains Overvoltage) and A017 (Mains Undervoltage) aretripped, i.e. the alarms of the out-of-tolerance mains value, their connection may be delayed with parameterC141. The other alarms are characterized by an inner preset and fixed delay. Finally, the trip of a certainnumber of alarms may be disabled through parameters C150 … 157.

STORAGE. When 0.5s have gone by after the display visualization and the device locking because of a failure,this condition is stored in the EEPROM, except when it occurs while the control section is not supplied.Power-on autoreset. The storage in the EEPROM will not occur whenever parameter C092 (PwrOnReset) isset to value 1:Yes. By cutting out the control section supply, at the following drive power on, it will be ready tobe restarted provided that the alarm cause has been removed.

DELETION. To allow the device restarting, it is necessary to reset (i.e. to delete) the tripped alarm. Of course,this alarm has to be no more present, i.e. the cause generating it must be removed.Manual and Automatic Reset. A manual reset may be performed by simultaneously pressing the “PROG”and “SAVE” keys or by closing a digital input which had been programmed as 0:Reset. Alternatively, you mayprogram an automatic reset (autoreset) by setting any value different from zero on parameter C090(AutoReset). The drive performs then a complete autoreset when about 2s have gone by after the alarm trip;said autoreset is repeated whenever the alarm is connected again: parameter C090 sets precisely themaximum number of autoreset operations which may be performed when the minimum time between a resetand the following one - preset on parameter C091 (AutoResTime) - has not gone by.Mains break. Especially for alarms A006 (Unstable Frequency), A007 (Mains Failure), A013 (MissingSynchronization) - i.e. the alarms which may typically trip after a mains break on power section - it is possibleto program the autoreset with an unlimited number of autodeletions by means of parameter C093. Thisoperation may be performed also without programming on parameter C090 the general autoreset for all theother alarms.

RESTART. Whenever the power section is supplied and the device is able to restart (no alarm detected, supplyenabled on power section, both ENABLE and START contacts closed), it may be restarted at once or soonafter a temporary opening and closing of the ENABLE contact, according to what stated on parameter C094(StartSafety).In the same way, also when the power section is constantly supplied, the value of this parameter may eitherenable the drive to be restarted or not after a manual or automatic reset has deleted an alarm storage, and thecause generating the alarm has disappeared.

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A001: Field Current Failure

I A001 - Field Failure

S The alarm trips:a. When running, in case of a field current failure.b. Alternatively, during the current auto tuning if the field current has been detected. The field currentdetection control is made either through an internal relay contact, if the fixed energizing circuit isinstalled (dcM6+), or through a comparison between parameter M018 (Ifld) and an inner threshold equalto a 2% of the maximum field current value to be supplied, if the field regulator is installed (dcM12+,dcM6+).This alarm may be disabled through parameter C150.

NOTE: In a dcM6+, when the contact of the field detection internal relay closes, LED SB in control board ES800turns on, and the alarm may occur only when the ENABLE contact is closed.On the other hand, in a dcM6+ or dcM12+, the alarm may occur only when the drive is actually operating.The alarm trip is subject to an inner 2s delay (1s up to SW Vers. D2.01).

A002: Heatsink Overtemperature

I A002 - Heatsink Trip

S The contact relating to the thermoswitch assembled in the drive heatsink is open, thus signalling thatthe max. allowable temperature has been exceeded.

NOTE: When the thermoswitch contact is closed, LED SA in control board ES800 turns on. The alarm may occur onlywhen the ENABLE contact is closed.

A003: Armature Overcurrent

I A003 - Armature OverCurrent

S The instantaneous value (peak value) of armature overcurrent M004 (Iarm) has exceeded 200 % of thedrive rated current, or 300 % of the drive rated current under overlimit conditions.

A004: Load Loss

I A004 - Load Loss

S The alarm trips:a. When one of the two connections to the load terminals is cut off.b. If the DC side fuse (if any) is disconnected.This alarm may be disabled through parameter C151.

A005: Thyristor Firing Failure

I A005 - Thyristor Failure

S The root mean squares of the current absorbed by the three mains phases are unbalanced. This alarmmay be disabled through parameter C152.

A006: Unstable Mains Frequency

I A006 - Unstable Mains Frequency

S The mains frequency voltage varies more than the max. allowable value, equal to 500s between twomains periods. This alarm may occur only when the ENABLE contact is closed. Set disabling throughparameter C153 and unlimited autoreset through parameter C093.

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A007: Mains Phase Failure

I A007 - Mains Failure

S Failure of one of the three mains phases, or more than one. This alarm may occur only when theENABLE contact is closed. Set disabling through parameter C154 and unlimited autoreset throughparameter C093.

A008: Speed Feedback Failure

I A008 - Speed Fdbk Failure

S The alarm trips:a. When the tacho (or encoder) connection is reversed.b. When the tacho (or encoder) connection is cut off.c. In case of the tacho (or encoder) failure.This alarm may be disabled through parameter C155.

A009: Field Overcurrent

I A009 - Field OverCurrent

S The value of field current M018 (Ifld) has exceeded the product of C010 x C017 (value of the rated fieldcurrent increased by the value percent set with the boost) for more than 15%. For the alarm trip, theENABLE contact must be closed. The alarm trip is subject to a 4s inner delay. Starting from SW Vers.D2.02, when this alarm trips, the field current is cut out.

A010: Armature Overvoltage

I A010 - Armature OverVoltage

S The value of armature voltage M006 (Varm) has exceeded the max. allowable limit, which is linked withthe rated value of the power section supply voltage; such limit is determined by the following product:C030x1.316. For instance, for a supply voltage nominal value equal to 400Vac, the alarm threshold willremain equal to 526Vdc. This alarm may be disabled through parameter C156.

A011: Auto Tuning Inductance Out of Range

I A011 - L out of Range

S The inductance corresponding to equivalent inductive drop P104 (LdI/dt Pred) resulting from the currentauto tuning is not included in the allowable range.

A012: Mains Frequency Out of Range

I A012 - Frequency out of Range

S Frequency M008 (Frequency) of the mains is over 70 Hz or is under 40 Hz.

A013: Synchronization Failure

I A013 - Missing Synchronization

S Failure of the circuits supplying the synchronizing signals of the mains three-phase voltage. This alarmmay occur only when the ENABLE contact is closed. Set unlimited autoreset through parameter C093.

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A014: Auto Tuning Resistance Out of Range

I A014 - R out of Range

S The resistance corresponding to equivalent resistive drop P103 (RxI Pred) resulting from the currentauto tuning is not included in the allowable range.

A015: Torque During Current Auto Tuning

I A015 - Autotune Error

S During the current auto tuning stage (P000=2), the motor torque allows the motor to rotate at M001(nFdbk) value higher than approx. 1.5%, due to any residual magnetism, even if the field is off. This alarmmay also occurs if during the armature resistive drop autotuning (P000=4), the motor torque allows it torotate at M001 (nFdbk) speed higher than approx. 1.5% in tacho or encoder feedback mode, or higher than10% in encoder feedback mode, because of any residual magnetism, even if the field is off.

A016: Mains Overvoltage

I A016 - Mains OverVoltage

S Value M009 of power section mains voltage (Vmains) has exceeded the lowest limit between thefollowing values: 1) the maximum voltage to be applied (factory-set) increased by 10%. 2) The rated voltage(C030) increased by 20%. This alarm may occur only when the ENABLE contact is closed. It may bedelayed through parameter C141 and disabled through parameter C157.

A017: Mains Undervoltage

I A017 - Mains UnderVoltage

S Value M009 of power section mains voltage (Vmains) is under the rated voltage limit (C030) for a valueequal to 15% in case of drives which are able to regenerate mains energy (2nd and/or 4th quadrantenabled). Otherwise, it proves a 20% decrease in case of drives which are not able to regenerate mainsenergy (2nd and 4th quadrant disabled). This alarm may occur only when the ENABLE contact is closed.May be delayed through parameter C141 and disabled through parameter C157.

A018: Auto Tuning Interrupted

I A018 - Autotune Interrupted

S The current auto tuning stage has been interrupted due to the opening of contact ENABLE on terminal24.

A019: Limitation During Speed Auto Tuning

I A019 - Autotune Limitation

S During the speed auto tuning stage, the drive current limit took place.

A020: External Alarm

I A020 - External Failure (available starting from SW Vers. D2.02)

S The digital input configured by setting one of par. C130 ... C135 at 10:ExtFailure is open.

135



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A021: Motor I2t Protection Trip

I A021 - Motor I2t Trip

S Motor overtemperature. The motor I2t trip depends on the value programmed in Service parametersC001 (MotThrshold) and C002 (MotThConst).

A022: Drive Ixt Protection Trip

I A022 - Drive It Trip

S Drive overtemperature. The alarm trip depends on the drive factory-set values .

A023: Field Weakening Min. Current Limit

I A023 – Ifld Underlimited (available starting from SW Vers. D2.02)

S During the dynamic regulation in field regulation mode, the alarm trips if the field current may no longerdecrease because it is locked by the min. value defined by par. C016 (IfldMinLim) when the motor speedincreases. The current may not decrease below par. C016 value. This alarm - that may have a 500msinternal delay, may trip due to a too high value set in par. C016 or the motor excessive speed. This alarmresets the field current value. See also the FIELD REGULATOR chapter.

A024: EEPROM Missing

I A024 - Missing EEPROM

S The alarm trips:a. If EEPROM is missing.b. If EEPROM is not programmed.In these cases, the drive may also operate with the parameter set stored in the EPROM (thoseparameters may be changed but not stored).

A025: EEPROM Failure

I A025 - EEPROM Failure

S The content of some EEPROM work area is altered. Such area is checked whenever the drive controlsection is on. In that case, provided that the current parameters have been backed up once the set-upprocedure is over (through command P000 = 6:Actual Backup), it is recommended that the alarm and thecurrent parameters be restored (through command P000 = 7:Backup Restore), thus allowing the EEPROMwork area to be rewritten. Should alarm A026 (BACKUP Failure) trip as well, you will have to reset the alarmand to enter the default values again (through command P000 = 5:DefaultRestore); then, you will have tomanually change all parameters you noted down at the end of the set-up procedure.

A026: Wrong Backup Parameters

I A026 - BACKUP Failure

S The content of some EEPROM work area is altered. Such area is checked whenever the backupparameters are resetted. In that case, the said area cannot be used anymore. After resetted the alarm, youwill have to enter the default values again (through command P000 = 5:DefaultRestore) , then you will haveto manually change all parameters you noted down at the end of the set-up procedure.

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A027: Serial Communication Failure

I A027 - Serial Link Failure

S This alarm trips whenever a time-out is over during the serial link between the master and the drive,during which the drive is not able to receive a new message. The serial communication protocol selected fordcM+ Series drives is the MODBUS type, according to the RTU trasmission mode. The time-out limit hasbeen fixed at 20s. The alarm may occur only when the serial communication mode is not a read-onlyfunction, i.e. when the value of parameter M029 is different from 0:Mxxx Read Only. As soon as the alarmtrips, the serial communication automatically switches to the read-only mode.

Further Alarm Signals

POWER ONThis message usually pops up when control board ES800 begins to supply the keypad for the first time. Ifthe message does not disappear, this means that the microcontroller on the keypad is live but does notreceive any message from the keypad.

ERROR #1 LINK MISMATCHSaid message is displayed with a time out. This means that the microcontroller on the keypad has detecteda communication break with control board ES800.

In both cases, if 88 is displayed along with one of the two messages (or some other digits other than 00 forDrive OK, two blinking digits for an alarm or two fixed digits for a warning) control board ES800 is probablydamaged and shall be replaced.

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14.0 WARNING PARAMETERSThe warning parameters are displayed to indicate that a particular condition is taking place, although the drive isnot locked.Those parameters are marked by a W followed by the parameter number.

W001: Overlimit Lock

I W001 - OverLimit Lock (available up to SW Vers. D2.00).

S The period of time inhibiting the current overlimit is being counted. If the drive is still under the current limit(overlimit) condition when the time set through ToverLim (P062) is over, the 6:Full OverLimit function will be active inconjunction with the warning display (that function may be programmed in a digital output, see parameter set P170... P199).

W002: Speed Feedback Loss

I W002 - Speed Fdbk switched to Varm

S The drive has switched from tacho or encoder feedback to armature feedback.

W003: Hardware limit current not at maximum value

I W003 - Imax (T2)

S Should the display show warning message W003 (Imax [T2] <100%), trimmer T2 of control board ES800 hasNOT been completely rotated clockwise. The trimmer indicates a hardware limitation of the armature current, whichis also a wrong position. In fact it would cause a disagreement between the preset current limit values (shown bythe display) and the maximum armature current to be obtained. Then, the latter value would be lower than thatrequired.In this case it is necessary to turn trimmer T2 completely clockwise. It is located on the right side of the ES800 board,near the two 7-segment displays which can be seen through the small slot on the drive cover. The trimmer shouldbe used by the Service personnel only, to temporarily reduce all the current limits during special test performances.After that, it should be reset to its maximum position.

138



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15.0 SPARE PARTS

NOITPIRCSEDLEDOM

ECNEREFERTRAP

REBMUNDERIUQER.YTQ

TINUREP

subdoM 6Mcd + 21Mcd/ + 1-337SE 1

erawtfoSknilfaS 6Mcd + 21Mcd/ + 7107-640 1

draClortnoCrossecorporciM)x/008SE(

6Mcd + 21Mcd/ + 1-008SE 1

draCecafretnIcdV42)x/008SE(

6Mcd + 21Mcd/ + 1-108SE 1

draCegatloVhgiH)x/827SE(

6Mcd + 6-1-827SE 1

draCegatloVhgiH)21-x/827SE(

21Mcd + 21-1-827SE 1

draCnoisserppuS)x/727SE(

21/6Mcd + 0012ot5002-21/6Mcd + 0024ot5P74-

1-727SE 1

draCnoisserppuS)A-x/727SE(

21/6Mcd + 0512ot5212-21/6Mcd + 0084ot0524-

A1-727SE 1

esuFdraCnoisserppuS)V005,A1,3-2-1UF(

6Mcd + 21Mcd/ + 20-1006F 1

dapyeK 6Mcd + 21Mcd/ + 4009-210 1

tnuomrood21/1ameNrotarepolatigidroftik

6Mcd + 21Mcd/ + 0209-300 1

kcolBrewoProtalugeRdleiF)VIP0061,A23(

21/6Mcd + 0512ot5002-21/6Mcd + 0084ot5P74-

1005-800 1

kcolBrewoProtalugeRdleiF)VIP0061,A04(

21/6Mcd + 2005-800 1

)437SE(draCrotalugeRdleiF 6Mcd + 21Mcd/ + 437SE 1

C°09hctiwSerutarepmeT-revO21/6Mcd + 0012ot5002-21/6Mcd + 0024ot5P74-

2051-710 1

C°58hctiwSerutarepmeT-revO21/6Mcd + 0512ot5212-21/6Mcd + 0084ot0524-

30-200325S 2

naFevirD21/6Mcd + 0502ot5002-21/6Mcd + 0014ot5P74-

5110110NV 1

naFevirD21/6Mcd + 0012ot0602-21/6Mcd + 0024ot5214-

9410110NV 1

.yssAtiKnaFevirD21/6Mcd + 0512ot5212-21/6Mcd + 0084ot0524-

960012A 1

remrofsnarTtnerruC)2.0:001(

21/6Mcd + 5202ot5002-21/6Mcd + 0604ot5P74-

4000211AT 2


21/6Mcd + 0502ot0302-21/6Mcd + 0014ot5704-

1000221AT 2


21/6Mcd + 0012ot0602-21/6Mcd + 0024ot5214-

1000231AT 2


21/6Mcd + 0034ot0524- 1000241AT 2


21/6Mcd + 0054ot0044- 1000251AT 2


21/6Mcd + 0084ot0064- 1000261AT 2

:elbaCtcennocretnIselbaCnoisnetxEdapyeK(

elbacehtslauqe"xxx":stigidtsaL)sehcninihtgnel

6Mcd + 21Mcd/ +

63-1005-810 1

84-1005-810 1

06-1005-810 1

27-1005-810 1

48-1005-810 1

021-1005-810 1

#VER=x

139



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SPARE PARTS (con’t)

NOITPIRCSEDLEDOM

ECNEREFERTRAP

REBMUNDERIUQER.YTQ

TINUREP

RCS)VIP0061,A55(

21/6Mcd + 5202ot5002-21/6Mcd + 0604ot5P74-

A30PS01N 6/3

RCS)VIP0061,A09(

21/6Mcd + 0502ot0302-21/6Mcd + 0014ot5704-

A60PS01N 6/3

RCS)VIP0061,A261(

21/6Mcd + 0012ot0602-21/6Mcd + 0024ot5214-

A90PS01N 6/3

RCS)VIP0061,A028(

21/6Mcd + 0512ot5212-21/6Mcd + 0034ot0524-

254617N 21/6

RCS)VIP0061,A0041(

21/6Mcd + 0084ot0044- 221917N 21/6

esuFRCSCA)V007,A53(

21/6Mcd + 5002-21/6Mcd + 5104ot5P74-

0170-010 3

esuFRCSCD)V007,A53(

21Mcd + 5002-21Mcd + 0104ot5P74-

0170-010 1

esuFRCSCA)V007,A04(

21/6Mcd + 0102ot5P72-21/6Mcd + 0204-

1170-010 3

esuFRCSCD)V007,A04(

21Mcd + 5104- 1170-010 1

esuFRCSCD)V007,A05(

21Mcd + 0102ot5P72-21Mcd + 0204-

2170-010 1

esuFRCSCA)V007,A08(

21/6Mcd + 0202ot5102-21/6Mcd + 0404ot5204-

3170-010 3

esuFRCSCD)V007,A08(

21Mcd + 5102-21Mcd + 5204-

3170-010 1

esuFRCSCA)V007,A001(

21/6Mcd + 5202-21/6Mcd + 0504-

4170-010 3

esuFRCSCD)V007,A001(

21Mcd + 0202-21Mcd + 0404ot0304-

4170-010 1


21/6Mcd + 0302-21/6Mcd + 0604-

5170-010 3


21Mcd + 5202-21Mcd + 0604ot0504-

5107-010 1


21/6Mcd + 0402-21/6Mcd + 5704-

6170-010 3


21Mcd + 0302- 6170-010 1


21/6Mcd + 0502-21/6Mcd + 0014-

7170-010 3


21Mcd + 0502ot0402-21Mcd + 0014ot5704-

8170-010 1


21/6Mcd + 0602-21/6Mcd + 0514ot5214-

9170-010 3

140



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SPARE PARTS (con’t)

NOITPIRCSEDLEDOM

ECNEREFERTRAP

REBMUNDERIUQER.YTQ

TINUREP


21/6Mcd + 5702- 1270-010 3


21Mcd + 0602-21Mcd + 0514-5214-

1270-010 1


21/6Mcd + 0012-21/6Mcd + 0024-

2270-010 3


21Mcd + 5702- 2270-010 1


21Mcd + 0012-21Mcd + 0024-

4270-010 1


21/6Mcd + 5212- 22-300206F 3


21/6Mcd + 0512-21/6Mcd + 0034-0524-

32-300206F 3


21Mcd + 0512-5212-21Mcd + 0034-0524-

32-300206F 1


21/6Mcd + 0054-0044- 52-300206F 3


21Mcd + 0044- 52-300206F 1


21/6Mcd + 0084-0064- 82-300206F 3


21Mcd + 0064-0054- 82-300206F 1


21Mcd + 0084-0074- 13-300206F 1

redloHesuFCD/CA21/6Mcd + 0512-500221/6Mcd + 0024-5P74

4009-010 1

redloHesuFdleiF&draClortnoC)8-7-6-5UF(

6Mcd + 21Mcd/ + 200010F 1

esuFylppuSdraClortnoC)caV005,A1,6-5UF(

6Mcd + 21Mcd/ + 60-200106F 2

esuFylppuSdleiF)caV006,MTA,A01,8-7UF(

A0.5ot0spmAdleiF 41-200106F 2


A51ot5spmAdleiF 71-200106F 2


A02ot51spmAdleiF 91-200106F 2

141



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15.1 AC Line Fuse & DC Bus Fuse Part Numbers

15.2 AC Line Fuse & DC Bus Fuse Kit Assy.

NOTE:For larger HP drives fuses areincluded inside power unit.

AC Fuse Kit

DC Fuse Kit

NOTE:For larger HP drives

fuses are includedinside power unit.

rewopesroHledoMrebmuN21M-60M

esuFCAscinortfaS

rebmuNtraP

esuFCAtumwahSdluoG

rebmuNtraP

esuFCDscinortfaS

rebmuNtraP

esuFCDtumwahSdluoG

rebmuNtraP5 5002 0170-010 8D53C66-00A 0170-010 8D53C66-00A

5.75P725P74

1170-0100170-010

8D04C66-00A8D53C66-00A

2170-0100170-010

8D05C66-00A8D53C66-00A

0101020104

1170-0100170-010

8D04C66-00A8D53C66-00A

2170-0100170-010

8D05C66-00A8D53C66-00A

5151025104

3170-0100170-010

8D08C66-00A8D53C66-00A

3170-0101170-010

8D08C66-00A8D04C66-00A

0202020204

3170-0101170-010

8D08C66-00A8D04C66-00A

4170-0102170-010

8D001C66-00A8D05C66-00A

5252025204

4170-0103170-010

8D001C66-00A8D08C66-00A

5170-0103170-010

8D521C66-00A8D08C66-00A

0303020304

5170-0103170-010

8D521C66-00A8D08C66-00A

6170-0104170-010

8D061C66-00A8D001C66-00A

0404020404

6170-0103170-010

8D061C66-00A8D08C66-00A

8170-0104170-010

8D002C66-00A8D001C66-00A

0505020504

7170-0104170-010

8D081C66-00A8D001C66-00A

8170-0105170-010

8D002C66-00A8D521C66-00A

0606020604

9170-0105170-010

8D052C66-00A8D521C66-00A

1270-0105170-010

8D513C66-00A8D521C66-00A

5757025704

1270-0106170-010

8D513C66-00A8D061C66-00A

2270-0108170-010

8D053C66-00A8D002C66-00A

00100120014

2270-0106170-010

8D053C66-00A8D081C66-00A

4270-0108170-010

8D004C66-00A8D002C66-00A

521 5214 9170-010 8D052C66-00A 1270-010 8D513C66-00A051 0514 9170-010 8D052C66-00A 1270-010 8D513C66-00A002 0024 2270-010 8D053C66-00A 4270-010 8D004C66-00A

rewopesroHrebmuNledoM

21M-60MtiKredloHesuFCA

rebmuNtraPtiKredloHesuFCD

rebmuNtraP5 5002 0209-010 0509-010

5.705P725P74

1209-0100209-010

2509-0100509-010

0101020104

1209-0100209-010

2509-0100509-010

5151025104

3209-0100209-010

3509-0101509-010

0202020204

3209-0101209-010

4509-0102509-010

5252025204

4209-0103209-010

5509-0103509-010

0303020304

5209-0103209-010

6509-0104509-010

0404020404

6209-0103209-010

7509-0104509-010

0505020504

7209-0104209-010

7509-0105509-010

0606020604

9209-0105209-010

9509-0106509-010

5757025704

0309-0106209-010

0609-0107509-010

00100120014

1309-0107209-010

1609-0107509-010

521 5214 9209-010 9509-010051 0514 9209-010 9509-010002 0024 1309-010 1609-010

142



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16.0 DIMENSION DRAWINGS

4.0"

4.0"

0.5"0.5"

dcM+Series

Air Flow

9.76" 8.56"

7.56"FASTENING WITH4 MS SCREWS

15.4" 17.6"

Size 5 - 100 HP (230V); Size 7.5-200 HP (460V)

143



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16.1 Dimensions and Weights

evirDsissahCcdV042

rewopesroH spmArotoMrebmuNledoM

21M/60M

snoisnemiD)sehcnI(

DxWxH

thgieW60M)sbl(

thgieW21M)sbl(

5 02 5002

67.9x65.8x6.71

03 23

5.7 92 5P72

01 83 0102

51 55 5102

02 27 0202

52 98 5202

03 001 0302

04 041 0402

33 53

05 571 0502

06 602 0602

57 552 5702

001 143 0012

evirDsissahCcdV084

rewopesroH spmArotoMrebmuNledoM

21M/60M

snoisnemiD)sehcnI(

DxWxH

thgieW60M)sbl(

thgieW21M)sbl(

5.7 41 5P74

67.9x65.8x6.71

03 23

01 81 0104

51 72 5104

02 43 0204

52 34 5204

03 15 0304

04 76 0404

33 53

05 38 0504

06 99 0604

57 321 5704

001 461 0014

521 502 5214

051 642 0514

002 523 0024

144



www.saftronics.com

16.2 Dimension Drawing for M12+ 250 - 300 HP (460V) and 125 - 150 HP (230V) Chassis

46.56

22.64

13.26

Weight 275 lbs

145



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16.3 Dimension Drawing for M12+ 400 - 500 HP (460V) Chassis

52.62

23.45

13.27

Weight 300 lbs

146



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26.092

14.77

52.06

Weight 350 lbs

147



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16.5 Dimension Drawing for M6+ 250 - 300 HP (460V) and 125 - 150 HP (230V) Chassis

26.38

22.64

13.26

Weight 175 lbs

148



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31.13

23.39

13.28

Weight 175 lbs

149



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32.50

14.77

26.09

Weight 250 lbs

150



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17.0 Dynamic Braking Resistor Size Chart

NOTE: (1) Consult factory for sizing wattage, when the application requires field weakening.

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)sehcnI(

HxDxW

ytitnauQderiuqeR

traPrebmuN

5 821 8

5x4x21

1

1034-500

5.7 581 5.5 2034-500

01 342 2.4 3034-500

51 153 9.2 4034-500

02 654 2.2 5x7x21 5034-500

52 075 8.1

5x4x41

6034-500

03 476 5.1 7034-500

04 268 1.1 8034-500

05 7701 9.0

5x7x21

9034-500

06 7031 77.0 0134-500

57 0651 6.0 1134-500

001 9312 64.0 5x01x21 2134-500

euqroTgnikarB%051erutamrAcdV084ylnOegnaReuqroTtnatsnoC

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)sehcnI(

HxDxW

ytitnauQderiuqeR

traPrebmuN

5.7 081 5.42

5x4x21

1

1534-500

01 042 5.81 2534-500

51 853 3.21 3534-500

02 354 8.9 4534-500

52 065 7.7

5x7x21

5534-500

03 676 5.6 6534-500

04 088 9.4 7534-500

05 0011 4

5x01x21

8534-500

06 0921 3.3 9534-500

57 3361 7.2 0634-500

001 1512 25x31x21

1634-500

521 9862 6.1 2634-500

051 8833 4.1 5x01x81 3634-500

002 6534 1 5x31x81 4634-500

052 0875 8.0 5x01x62 5634-500

003 2676 56.05x31x62

6634-500

004 0529 5.0 7634-500

005 06511 4.05x61x62

8634-500

006 71331 23.0 9634-500

007 06851 82.001x31x62

0734-500

008 69481 52.0 1734-500

151



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18.0 GLOSSARY

AC Contactor An alternating-current (AC) contactor is designed for the specific purpose of establishingor interrupting an AC power circuit.

Adjustable Speed The concept of varying the speed of a motor, either manually or automatically. The desiredoperating speed (set speed) is relatively constant regardless of load.

Ambient Temperature Ambient temperature is the temperature of air, water or a surrounding medium whereequipment is operated or stored.

Armature The rotating part of a DC motor.

Armature Control Abbreviated term for Armature Voltage Control of a DC motor, which describes the usualmethod of changing the speed of a DC motor by controlling the magnitude of appliedarmature voltage.

Armature Current Armature current is the DC current required by a DC motor to produce torque and drive aload. The maximum safe, continuous current is stamped on the motor nameplate. This canonly be exceeded for initial acceleration, and for short periods of time. Armature currentis proportional to the amount of torque being produced, therefore, it rises and falls as thetorque demand rises and falls.

Armature Voltage Feedback Armature voltage can be used as the speed feedback signal to an electronic speedregulator. This voltage is about directly proportional to motor speed, assuming a constantmotor field and ignoring IR drop. Armature voltage feedback is used where the expenseof a tachometer-generator for speed feedback is not justified and a regulation accuracy of2-5% is adequate.

Back of a Motor The back of a motor is the end which carries the coupling or driving pulley (NEMA). Thisis sometimes called the drive end (D.E.) or pulley end (P.E.)

Base Speed Base speed is the manufacturer’s nameplate rating where the motor will develop rated HPat rated load and voltage. With DC drives, it is commonly the point where full armaturevoltage is applied with full rated field excitation.

Braking Braking provides a means of stopping an AC or DC motor and can be accomplished inseveral ways:

A. Dynamic Braking slows the motor by applying a resistive load across the armatureleads after disconnection from the DC supply. This must be done while the motorfield is energized. The motor then acts as a generator until the energy of therotating armature is dissipated. This is not a holding brake.

B. Regenerative Braking is similar to Dynamic Braking, but is accomplishedelectronically. The generated power is returned to the line through the powerconverter. It may also be just dissipated as losses in the converter (within itslimitations).

C. Motor Mounted or Separately Mounted Brake is a positive action, mechanical,friction device. Normal configuration is such that when the power is removed, thebrake is set. This can be used as a holding brake. (NOTE: A separately MountedBrake is one which is located on some part of the mechanical drive train other thanthe motor).

Breakaway Torque The torque required to start a machine from standstill. It is always greater than the torqueneeded to maintain motion.

Bridge Rectifier A full-wave rectifier that conducts current in only one direction of the input current. ACapplied to the input results in approximate DC at the output.

Bridge Rectifier (Diode, SCR) A diode bridge rectifier is a non-controlled full wave rectifier that produces a constantrectifier DC voltage. An SCR bridge rectifier is a full wave rectifier with an output that canbe controlled by switching on the gate control element.

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Brush A brush is a conductor, usually composed of some element of carbon, serving to maintainan electrical connection between stationary and moving parts of a machine (commutatorof a DC motor). The brush is mounted in a spring-loaded holder and positioned tangentto the commutator segments against which it “brushes”. Pairs of brushes are equally spacedaround the circumference of the commutator.

C.E.M.F. Abbreviation for counter electromotive force, which is the product of a motor armaturerotating in a magnetic field. This generating action takes place whenever a motor is rotating.Under stable motoring conditions the generated voltage (C.E.M.F.) is equal to the voltagesupplied to the motor minus small losses. However, the polarity of the C.E.M.F. is oppositeto that of the power being supplied to the armature.

“C” Face (Motor Mounting) This type of motor mounting is used to close couple pumps and similar applications wherethe mounting holes in the face are threaded to receive bolts from the pump. Normally, the“C” face is used where a pump or similar item is to be overhung on the motor. This type ofmounting is a NEMA standard design and available with or without feet.

Closed Loop Closed loop refers to a regulator circuit in which the actual value of the controlled variable(e.g., speed) is sensed and a signal proportional to this value (feedback signal) is comparedwith a signal proportional to the desired value (reference signal). The difference betweenthese signals (error signal) causes the actual value to change in the direction that will reducethe difference in signals to zero.

Cogging A condition in which a motor does not rotate smoothly but “steps” or “jerks” from one positionto another during shaft revolution. Cogging is most pronounced at low motor speeds andcan cause objectionable vibrations in the driven machine.

Commutation (DC Motor) Reversing the current in an armature coil when the coil (ends) moves from one side of thebrush to the other side of the same brush. This completes the connection between thearmature winding and the external circuit.

Commutator The commutator is a cylindrically shaped assembly that is fastened to the motor shaft andis considered part of the armature assembly. It consists of segments or “bars” that areelectrically connected to two ends of one (or more) armature coils. Current flows from thepower supply through the brushes, to the commutator and hence through the armature coils.The arrangement of commutator segments is such that the magnetic polarity of each coilchanges a number of times per revolution (the number of times depends on the number ofpoles in the motor).

Constant Horsepower Range A range of motor operation where motor speed is controlled by field weakening. In thisrange, motor torque decreases as speed increases. Since horsepower is speed timestorque (divided by a constant), the value of horsepower developed by the motor in this rangeis constant.

Constant Torque Range A speed range in which the motor is capable of delivering a constant torque, subject tocooling limitations of the motor.

Contactor Reversing A method of reversing motor rotation by the use of two separate contactors, one of whichproduces rotation in one direction and the other produces rotation in the opposite direction.The contactors are electrically (and mechanically) interlocked so that both cannot beenergized at the same time.

Continuous Duty (CONT) A motor that can continue to operate within the insulation temperature limits afterit has reached normal operating (equilibrium) temperature.

Converter The process of changing AC to DC. This is accomplished through use of a diode rectifieror thyristor rectifier circuit. The term “converter” may also refer to the process of changingAC to DC to AC (e.g. adjustable frequency drive). A “frequency converter”, such as thatfound in an adjustable frequency drive, consists of a Rectifier, a DC Intermediate Circuit,and Inverter and a Control Unit.

Current Limiting An electronic method of limiting the maximum current available to the motor. This isadjustable so that the motor’s maximum current can be controlled. It can also be preset asa protective device to protect both the motor and control from extended overloads.

Damping Damping is the reduction in amplitude of an oscillation in the system.

DC Contactor A contactor specifically designed to establish or interrupt a direct-current power circuit.

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Definite-Purpose Motor A definite purpose motor is any motor design, listed and offered in standard ratings withstandard operating characteristics from a mechanical construction for use under serviceconditions other than usual or for use on a particular type of applications (NEMA).

Dead Band The range of values through which a system input can be changed without causing acorresponding change in system output.

Demagnetization (Current) When a permanent magnet DC motor is subjected to high current pulses, the magnets maybecome slightly demagnetized, resulting in a lower torque constant. Pulse currents of 7 to10 times rated values can usually be applied without demagnetization.

Deviation Difference between an instantaneous value of a controlled variable and the desired valueof the controlled variable corresponding to the set point. Also called error.

“D” Flange (Motor Mounting) This type of motor mounting is used when the motor is to be built as part of the machine.The mounting holes of the flange are not threaded. The bolts protrude through the flangefrom the motor side. Normally “D” flange motors are supplied without feet since the motoris mounted directly to the driven machine.

di/dt The rate of change in current versus a rate of change in time. Line reactors and isolationtransformers can be used to provide the impedance necessary to reduce the harmful effectsthat unlimited current sources can have on phase controlled rectifiers (SCR’s).

Diode A device that passes current in one direction, but blocks current in the reversed direction.

Drift Drift is the deviation from the initial set speed with no load change over a specific time period.Normally the drive must be operated for a specified warm-up time at a specified ambienttemperature before drift specifications apply. Drift is normally caused by random changesin operating characteristics of various control components.

Drive Controller (also called a Variable Speed Drive) An electronic device that can control the speed, torquehorsepower and direction of an AC or DC motor.

dv/dt The rate of change in voltage versus a rate of change in time. Specially designed Resistor-Capacitor networks can help protect the SCR’s from excessive dv/dt which can result fromline voltage spikes., line disturbances and circuit configurations with extreme forwardconducting or reverse blocking requirements.

Dynamic Braking See Braking.

Duty Cycle The relationship between the operating and rest times or repeatable operation at differentloads.

Eddy Current Currents induced in motor components from the movement of magnetic fields. Eddycurrents produce waste heat and are minimized by lamination of the motor poles andarmature.

Efficiency Ratio of mechanical output to electrical input indicated by a percent. In motors, it is theeffectiveness with which a motor converts electrical energy into mechanical energy.

EMF The initials of electromotive force which is another term for voltage or potential difference.In DC adjustable speed drives, voltage applied to the motor armature from power supplyis the EMF and the voltage generated by the motor is the counter-EMF or CEMF.

Enable To allow an action or acceptance of data by applying an appropriate signal to theappropriate input.

Encoder An electromechanical transducer that produces a serial or parallel digital indication ofmechanical angle or displacement. Essentially, an encoder provides high resolutionfeedback data related to shaft position and is used with other circuitry to indicate velocityand direction. The encoder produces discrete electrical pulses during each increment ofshaft rotation.

Error Difference between the set point signal and the feedback signal. An error is necessarybefore a correction can be made in a controlled system.

Feedback The element of a control system that provides an actual operation signal for comparisonwith the set point to establish an error signal used by the regulator circuit.

Field The stationary electrical part of a DC motor.

Field Control Method of controlling DC motor speed by varying the field current in the shunt field windings.

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Field Economy A circuit design feature of a DC motor shunt field supply that reduces the supply voltageoutput after a predetermined period of time. On many field supplies, this means a 50%reduction in output voltage 2 to 3 minutes after machine shutdown (idle). A field economycircuit serves to reduce standby power consumption and prolong the insulation life of themotor field windings.

Field Forcing Temporarily overexciting a motor shunt field to over the L/R time constant, increase the rateof flux change and rapidly reverse the direction of shunt motor field current.

Field Range The range of motor speed from base speed to the maximum rated speed.

Field Weakening The action of reducing the current applied to a DC motor shunt field. This action weakensthe strength of the magnetic field and thereby increases the motor speed.

Filter A device that passes a signal or a range of signals and eliminates all others.

Floating Ground A circuit whose electrical common point is not at earth ground potential or the same groundpotential as circuitry it is associated with. A voltage difference can exist between the floatingground and earth ground.

Force The tendency to change the motion or position of an object with a push or pull. Force ismeasured in ounces or pounds.

Form Factor A figure of merit which indicates how much rectified current deviates from pur (non-pulsating) DC. A large departure from unity form factor (pure DC) increases the heatingeffect of the motor. Mathematically, it is expressed as Irms/Iav (Motor heating current / Torqueproducing current).

Four-Quadrant Operation The four combinations of forward and reverse rotation and forward and reverse torque ofwhich a regenerative drive is capable. The four combinations are:

1. Forward rotation / forward torque (motoring).2. Forward rotation / reverse torque (regeneration).3. Reverse rotation / reverse torque (motoring).4. Reverse rotation / forward torque (regeneration).

Front of a Motor The end opposite the coupling or driving pulley (NEMA). This is sometimes called theopposite pulley end (O.P.E.) or commutator end (C.E.).

Full-Load Torque The full-load torque of a motor is the torque necessary to produce rated horsepower at full-load speed.

Gate The control element of an SCR (silicon controlled rectifier) commonly referred to as athyristor. When a small positive voltage is applied to the gate momentarily, the SCR willconduct current (when the anode is positive with respect to the cathode of the SCR). Currentconduction will continue even after the gate signal is removed.

Horsepower A measure of the amount of work that a motor can perform in a given period of time.

Hunting Undesirable fluctuations in motor speed that can occur after a step change in speedreference (either acceleration or deceleration) or load.

Hysteresis Loss The resistance offered by materials to becoming magnetized results in energy beingexpended and corresponding loss. Hysteresis loss in a magnetic circuit is the energyexpended to magnetize and demagnetize the core.

Inertia A measure of a body’s resistance to changes in velocity, whether the body is at rest ormoving at a constant velocity. The velocity can be either linear or rotational. The momentof Inertia (WK2) is the product of the weight (W) of an object and the square of the radiusof gyration (K2). The radius of gyration is a measure of how the mass of the object isdistributed about the axis of rotation. WK2 is usually expressed in units of Ib-ft2.

Instability The state or property of a system where there is an output but no corresponding input.

Integral Horsepower Motor A motor built in a frame having a continuous rating of 1 HP or more.

Intermittent Duty (INT) A motor that never reaches equilibrium temperature (equilibrium), but is permitted tocool down between operations. For example, a crane, hoist or machine tool motor is oftenrated for 15 or 30 duty.

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IR Compensation A way to compensate for the voltage drop across resistance of the AC or DC motor circuitand the resultant reduction in speed. This compensation also provides a way to improvethe speed regulation characteristics of the motor, especially at low speeds. Drives that usea tachometer-generator for speed feedback generally do not require an IR Compensationcircuit because the tachometer will inherently compensate for the loss of speed.

Isolation Transformer A transformer that electrically separates the drive from the AC power line. An isolationtransformer provides the following advantages:

1. In DC motor applications, it guards against inadvertent grounding of plant powerlines through grounds in the DC motor armature circuit.

2. Enhances protection of semiconductors from line voltage transients.3. Reduces disturbances from other solid state control equipment such as drives

without isolation transformers, time clock systems, electronic counters, etc.

Jogging Jogging is a means of accomplishing momentary motor movement by repetitive closure ofa circuit using a single push-button or contact element.

Kinetic Energy The energy of motion possessed by a body.

Linearity A measure of how closely a characteristic follows a straight line function.

Linear Acceleration / Deceleration (LAD) A circuit that controls the rate at which the motor is allowed to accelerate to a setspeed or decelerate to zero speed. On most drives, this circuit is adjustable and can be setto accommodate a particular application.

Meggar Test A test used to measure an insulation system’s resistance. This is usually measured inmegohms and tested by passing a high voltage at low current through the motor windingsand measuring the resistance of the various insulation systems.

Negative Feedback A condition where feedback is subtractive to the input reference signal. Negative feedbackforms the basis for automatic control systems.

NEC The National Electrical Code is recommendations of the National Fire ProtectionAssociation and is revised every three years. City or State regulations may differ from coderegulations and take precedence over NEC rules.

NEMA The National Electrical Manufacturers Association is a nonprofit organization organizedand supported by manufacturers of electrical equipment and supplies. Some of thestandards NEMA specifies are: HP ratings, speeds, frame sizes and dimensions, torquesand enclosures.

Offset The steady state deviation of a controlled variable from a fixed setpoint.

Open Loop A control system that lacks feedback.

Operating / Service Deviation A means of specifying the speed regulating performance of a drive controller generally inpercent of base speed.

Operating Deviation defines speed change due to load change and typically assumes:

1. A change from one steady state load value to another (not transient).2. A 95% maximum load change.

Service Deviation defines speed change due to changes in ambient conditions greater thanthese typical variations:

Condition ChangeAC Line Voltage +10% -5%AC Line Frequency +3% -3%Ambient Temperature 15°C

Overload Capacity The ability of the drive to withstand currents beyond the systems continuous rating. It isnormally specified as a percentage of full load current for a specified time period. Overloadcapacity is defined by NEMA as 150% of rated full load current for one minute for StandardIndustrial DC Motors.

Overshoot The amount that a controlled variable exceeds desired value after a change of input.

Positive Feedback Positive feedback is a condition where the feedback is additive to the input signal.

Power Work done per unit of time. Measured in horsepower or watts:

1 HP = 33,000 ft-lb / min. = 746 watts.

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Power Factor A measurement of the time phase difference between the voltage and current in an ACcircuit. It is represented by the cosine of the angle of this phase difference. Power factoris the ratio of Real Power (kW) to total kVA or the ratio of actual power (W) to apparent power(volt-amperes).

Preset Speed Preset speed refers to one or more fixed speeds at which the drive will operate.

PC (Programmable Controller) Solid-state control logic for machines and processes where asequence of operations can be changed easily with programming (software).

Rectifier A device that transforms alternating-current to direct-current.

Regeneration The characteristic of a motor to act as a generator when the CEMF is larger than the drive’sapplied voltage (DC drives) or when the rotor synchronous frequency is greater than theapplied frequency (AC drives).

Regenerative Braking The technique of slowing or stopping a drive by regeneration. See also Braking.

Regenerative Control A regenerative drive contains the inherent capability and / or power semiconductors tocontrol the flow of power to and from the motor.

Regulation The ability of a control system to hold a speed once it has been set. Regulation is givenin percentages of either base speed or set speed. Regulation is rated upon two separatesets of conditions:

A. Load Regulation (speed regulation) is the percentage of speed change with adefined change in load, assuming all other parameters to be constant. Speedregulation values of 2% are possible in drives utilizing armature voltage feedback,while regulation of .01% is possible using digital regulator schemes.

B. Line Regulation (speed regulation) is the percentage of speed change with a givenline voltage change, assuming all other parameters to be constant.

Resolution The smallest distinguishable increment into which a quantity can be divided (e.g. positionor shaft speed). It is also the degree to which nearly equal values of a quantity can bediscriminated. For encoders, it is the number of unique electrically identified positionsoccurring in 360 degrees of input shaft rotation.

Reversing Changing the direction of rotation of the motor armature or rotor. A DC motor is reversedby changing the polarity of the field or the armature, but not both. An AC motor is reversedby reversing the connections of one leg on the three phase power line or by reversing theleads on a single phase power line. The reversing function is performed in one of thefollowing ways:

A. (DC) Contactor Reversing is done by changing the phase rotation of an AC motoror the polarity to a DC motor armature with switching contactors. The contactorsare operated by momentary push-buttons, and / or limit switches to stop the motorand change directions. A zero speed (anti-lugging) circuit is associated with thissystem to protect the motor and control.

B. (DC) Field Reversing is accomplished by changing the DC polarity to the motorshunt field. This type of reversing can be accomplished with DC rated contactorsor by means of an electronically controlled solid -state field supply.

C. (AC or DC) Static Reversing is the act of reversing the DC polarity of the DC motorarmature or phase rotation of an AC motor with no mechanical switching. This isaccomplished electronically with solid-state devices. Solid-State Anti-pluggingCircuitry is generally a part of the design.

Service Deviation See Operating / Service Deviation.

Service Factor When used on a motor nameplate, a number which indicates how much above thenameplate rating a motor can be loaded without causing serious degradation (i.e. A motorwith 1.15 S-F can produce 15% greater torque than one with 1.0 S-F).

When used in applying motors or gear motors, it is a figure of merit which is used to adjustmeasured loads in an attempt to compensate for conditions which are difficult to measureor define.

Set Speed The desired operating speed.

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Silicon Controlled Rectifier (SCR) A solid-state switch, sometimes referred to as a thyristor. The SCR has an anode,cathode and control element called the gate. The device provides controlled rectificationsince it can be turned on at will. The SCR can rapidly switch large currents at high voltages.They are small in size and low in weight.

Shock Load The load seen by a clutch, brake or motor in a system which transmits high peak loads. Thistype of load is present in crushers, separators, grinders, conveyors, winches and cranes.

Skew The arrangement of laminations on a rotor or armature to provide a slight angular patternof their slots with respect to the shaft axis. This pattern helps to eliminate low speed coggingin an armature and minimize induced vibration in a rotor as well as reduce associated noise.

Skewing Refers to time delay or offset between any two signals in relation to each other.

Slewing Slewing is an incremental motion of the motor shaft or machine table from one position toanother at maximum speed without losing position control.

Speed Range The speed minimum and maximum at which a motor must operate under constant orvariable torque load conditions. At 50:1 speed range for a motor with top speed of 1800RPM means the motor must operate as low as 36 RPM and still remain within regulationspecifications. Controllers are capable of wider controllable speed ranges than motorsbecause there is no thermal limitations, only electrical. Controllable speed range of a motoris limited by the ability to deliver 100% torque below base speed without additional cooling.

Speed Regulation The numerical measure in percent, of how accurately the motor speed can be maintained.It is the percentage of change in speed between full load and no load.

Stability The ability of a drive to operate a motor at constant speed (under varying load) without“hunting” (alternately speeding up and slowing down). It is related to both the characteristicsof the load being driven and electrical time constants in the drive regulator circuits.

Stiffness The ability of a device to resist deviation due to load change.

Surge Protection The process of absorbing and clipping voltage transients on an incoming AC line or controlcircuit. MOV’s (Metal Oxide Varistors) and specially designed R-C networks are usuallyused to accomplish this.

Tachometer-Generator (Tach) A small generator normally used as a rotational speed sensing device. Tachometers aretypically, coupled to the shaft of DC or AC motors requiring close speed regulation. Thetach feeds a signal to a controller which then adjusts the output voltage or frequency to themotor.

Thread Speed A fixed low speed, usually adjustable, supplied to provide a convenient method for loadingand threading machines. May also be called a preset speed.

Torque A turning force applied to a shaft, tending to cause rotation. Torque is normally measuredin ounce-inches or pound-feet and is equal to the force applied, times the radius throughwhich it acts.

Torque Constant (in-lbs) This motor parameter provides a relationship between input current and outputtorque. For each ampere of current applied to the rotor, a fixed amount of torque will result.

Torque Control A method of using current limit circuitry to regulate torque instead of speed.

Transducer A device that converts one energy form to another (e.g. mechanical to electrical) Also, adevice that when actuated by signals from one or more systems or media, can supply relatedsignals to one or more other systems or media.

Transient A momentary deviation in an electrical or mechanical system.

Transistor A solid-state three-terminal device that allows amplification of signals and can be used forswitching and control. The three terminals are called the emitter, base and collector.

Work A force moving an object over a distance. Measured in inch-ounces (in-oz) or foot-pounds(ft-lbs) Work = force x distance.

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19.0 FORMULAS

19.1 Mechanical Formulas

CIRCUMFERENCE C = (3.1416) x DiameterOF A CIRCLE

DIAMETER CircumferenceOF A CIRCLE (3.1416)

VELOCITY FPM = .262 x Diameter x RPMIN FEET PER MINUTE

RPM Feet per MinuteREVOLUTIONS PER MINUTE .262 x Diameter

TORQUE HP x 63025IN/LBS RPM

TORQUE Force (lbs) x Radius (in)IN/LBS

HORSEPOWER Torque (ft/lbs) x RPM 5250

HORSEPOWER Force x RPM 3300

BELT OR CHAIN PULL _____________________OVERHUNG LOAD RPM x Diameter (inches)

BELT LENGTH (DIA + dia) x 1.57 + (2 x Center Dist)

DEGREES .56 x (Degrees F - 32)(IN CENTIGRADE)

DEGREES (Degree C x 1.8) + 32(IN FAHRENHEIT)

CONVEYOR HP Force / Weight (lbs) x Velocity (FPM)(VERTICAL) 33,000

CONVEYOR HP Force / Weight (lbs) x Velocity (FPM) x Coef. of Friction(HORIZONTAL) 33,000

WEB SYSTEM HP Tension (lbs) x Line Speed (FPM) 33,000

HP x 126000

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19.2 Electrical Formulas

HORSEPOWER-DC Volts x Amps x Efficiency 746

WATTS-DC Volts x Amps

AMPERES (DC) WattsVolts

AMPERES (AC) ____________________Volts x Eff x PF x 1.732

KVA Volts x Amps x 1.732 1000

AC AMPS DC Amps x 0.816(FOR 6 PULSE DC DRIVE)

DC AMPS DC Amps x 0.577(FOR EACH SCR)

AVERAGE VALUE OF 1.35 x AC VoltsDC OUTPUT VOLTAGE

19.3 Rules of Thumb

1 HP = 746 Watts or (.746 Kilowatts)

At 3600 RPM a Motor develops 1.5 Ft/Lbs of Torque per HP

At 1800 RPM a Motor develops 3 Ft/Lbs of Torque per HP

At 1200 RPM a MOtor develops 4.5 Ft/Lbs of Torque per HP

A 460 Volt Three-Phase Motor draws 1.25 Amps per HP

A 230 Volt Three-Phase Motor draws 2.5 Amps per HP

A 230 Volt Single-Phase Motor draws 5 Amps per HP

746 x Horsepower

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20.0 TROUBLESHOOTING

Problem Cause Solution

Drive is unstable Auto Tune is required Review auto tune setup or set C051 to 0.

Drive will not start No RUN command ES801 check that the LED SA and SB is onwith a run command.

No speed control No Speed reference View M000 for signal, check wiring.

A003 Fault Load inertia is larger than Check C000 is set to low or adjust theDrive rating accel / decel rate longer.

A005 Open SCR Replace SCR.

A014 Current Autotune Fault During the current self-tuning C000 is set toless than 75%. For current tuning set C000greater than 75%. For overload protectionC000 must be set back to the correct valvefor the motor FLA after current tune.

A015 Motor shaft turned during Lock Motor shaft or remove tach / encodercurrent auto tune signal connector.

A021 Motor I2t trip Set accel / decel rate longer.Load is too large for drive and motor.

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21.0 USER’S PARAMETERS DIFFERENT FROM DEFAULT VALUES

retemaraPrebmuN noitarugifnoC eulaVtluafeD deifidoM

eulaVretemaraP

rebmuN noitarugifnoC eulaVtluafeD deifidoMeulaV

100P leveLgorP cisaB:0 280P lrtCtpadA oN:0

010P xaMkbdFn MPR0571 380P 1rreV %005.0

110P xaMmraV V005 480P 2rreV %00.1

210P loPdnmDdpS ralopiB:0 580P elacSpmaRiT 1x

310P soPxaMn %001 680P pmCerutamrA %001

410P soPniMn %0 780P tesffOrreV %000.0

510P geNxaMn %001- 880P lxR V0

610P geNniMn %0 001P rruCpK 002.0

030P soPpUpmaR s00.0 101P csiDrruCiT sm03.1

130P soPnDpmaR s00.0 201P tnoCrruCiT sm0.23

230P geNpUpmaR s00.0 301P derPlxR V29.07

330P geNnDpmaR s00.0 401P derPtd/ldL V707.0

430P soPpotSpmaR s00.0 011P dlFpK 00.2

530P geNpotSpmaR s00.0 111P dlFiT s001.0

630P goJpUpmaR s00.0 021P loPferV ralopiB:0

730P goJnDpmaR s00.0 121P saiBferV %000.0

830P gdnRlaitinI s00.0 221P niaGgerV %0.001

930P gdnRlaniF s00.0 321P saiBferI %000.0

050P A1milI %001 421P niaGferI %0.001

150P B1milI +21Mcd%001+6Mcd%0 521P loP1nInA ralopiB:0

250P A2milI %001 621P saiB1nInA %000.0

350P B2milI +21Mcd%001+6Mcd%0 721P niaG1nInA %0.001

450P 1deepS 2 %001 821P saiB2nInA %000.0

550P repyHmilI %001 P niaG2nInA %0.001

650P 1repyHdeepS %001 031P saiB3nInA %000.0

750P 2repyHdeepS %001 131P niaG3nInA %0.001

850P milC %05 231P saiB1nItpO %000.0

950P xaMtd/ld %04. µs 331P niaG1nItpO %0.001

060P AmiLrevO %051 431P saiB2nItpO %000.0

160P BmiLrevO %051 531P niaG2nItpO %0.001

260P miLvOlluFT s06 631P saiB3nItpO %000.0

070P deepSpK 00.4 731P niaG3nItpO %0.001

170P deepSiT s00.1 831P loPferI ralopiB:0

370P tpadAdpSpK 00.4 051P gfC1tuOnA V0:0

470P tpadAdpSiT s00.1 151P saiB1tuOnA %000.0

670P 2deepSpK 00.4 251P niaG1tuOnA %0.001

770P 2deepSiT s00.1 351P gfC2tuOnA V0:0

970P 2tpadAdpSpK 00.4 451P saiB2tuOnA %000.0

080P 2tpadAdpSiT s00.1 551P niaG2tuOnA %0.001

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User’s parameters different from default values (CON’T)


eulaVretemaraP


651P loPtuOI

ralopiB:0)+21Mcd(

ylnOevitisoP:1)+6Mcd(

312P 3dpSteserP %0.01

751P 1loPtuOnA ralopiB:0 412P 4dpSteserP %00.0

851P loP2tuOnA ralopiB:0 512P 5dpSteserP %00.5-

071P gfC1ODM KOevirD:0 612P 6dpSteserP %0.02-

171P yaleDnO1ODM s00.0 712P 7dpSteserP %0.01-

271P ylDffO1ODM s00.0 022P goJlacoL %00.5

371P leveL1ODM %05 122P tceleSgoJnommoC:0

spmaR

471P tsyH1ODM %2 222P 1goJ %00.5

571P cigoL1ODM nepOyllamroN:0 322P 2goJ %00.5-

671P gfC2ODM -ohserhTdeepS:1dl 422P 3goJ %00.0

771P yaleDnO2ODM s00.0 032P niMaflA0.03 o )+21Mcd(0.52 o )+6Mcd(

871P ylDffO2ODM s00.0 132P xaMaflA .051 o

971P leveL2ODM %3 042P tsnCssaPwoL sm0

081P tsyH2ODM %2 000C monI %001

181P cigoL2ODM nepOyllamroN:0 100C dlohsrhTtoM %001

281P gfC3ODM dlohserhTmraI:2 200C tsnoChTtoM s043

381P yaleDnO3ODM s00.0 010C moNdlfI %01

481P ylDffO3ODM s00.0 110C deepSesaB %33

581P leveL3ODM %05 210C moNmraV V0001

681P tsyH3ODM %2 410C leveLocEdlF %01

781P cigoL3ODM nepOyllamroN:0 510C yaleDocEdlF s042

881P gfC4ODM deepStarotoM:3 610C miLniMdlfL %52

981P yaleDnO4ODM s00.0 710C leveLcrFdlF %001

091P ylDffO4ODM s00.0 810C emiTcrFdlF s.01

191P leveL4ODM %5 030C moNsniamV V084

291P tsyH4ODM %2 050C leSpooLdpS gnitarepolP:1

391P cigoL4ODM nepOyllamroN:0 150C leSpooLrruC gnitarepolP:0

491P gfC5ODM noitatimiLrruC:4 250C leSpooLdlF gnitarepolP:0

591P yaleDnO5ODM s00.0 060C toMdwF-Qts1 delbanE:0

691P ylDffO5ODM s00.0 160C geRveR-Qdn2

delbanE:0)+21Mcd(delbasiD:1

)+6Mcd(

791P leveL5ODM %05 260C toMveR-Qdr3


)+6Mcd(

891P tsyH5ODM %2 360C geRdwF-Qht4


)+6Mcd(

991P cigoL5ODM nepOyllamroN:0 070C tceleSkbdFn erutamrA:4

012P ferVlacoL %00.0 270C slPredocnE ver/eslup4201

112P 1dpSteserP %00.5 470C stloVhcaT 0001/V05

212P 2dpSteserP %0.02 570C hctiwSkbdFn oN:0

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User’s parameters different from default values (CON’T)


eulaVretemaraP


090C teseRotuA semit0 141C )CAV(7/610A sm0001

190C emiTseRotuA s003 051C )dlF(100A deduclnI:0

290C teseRnOrwP oN:0 151C )daoL(400A deduclnI:0

390C teseRsniaM seY:1 251C )ryhT(500A dedulcnI:0

490C ytefaStratS oN:0 351C )tsnUf(600A dedulcnI:0

001C leSmeRcoL delbanE:0 451C )sniaM(700A dedulcnI:0

101C tceleSferV etomeR:0 551C )kbdFn(800A dedulcnI:0

301C potSgremE dedulcnI:0 651C )VOmrA(010A dedulcnI:0

021C gfC1nInA dedulcxE:0 751C )CAV(7/610A dedulcnI:0

121C gfC2nInA dedulcxE:0 851C )UTR(720A dedulcnI:0

221C gfC3nInA dedulcxE:0 061C DIeciveD 1

321C loPmiLtxE ylnoevitisoP:0 161C etaRduaB spb0069

031C gfC1lDM teseR:0 261C ytiraP enoN:0

131C gfC2lDM AgoJ:21 361C sserddAesaB 0

231C gfC3lDM BgoJ:31 461C tuOemiTUTR sm.003

331C gfC4lDM AdpSteserP:1 561C xR yaleDxT sm00.0

431C gfC5lDM milC:4 071C egaPtsriF sutatS

531C gfC6lDM esreveR:5

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22.0 APPENDIX

22.1 Fuse Mounting Instructions

Rev 3 07/12/01 Document P/N 027-5015

IMPORTANT: To assure proper operation when installing this mounting kit please review chapter eleven of the drivemanual to verify the proper fuse size compared to the drive size.

Installation for Standard 150/300 Vdc field supply

Mount the AC Fuse Kit to the dcM6/12+ drive with the four (4) # 10 screws to the mounting holes on the bothsides of the fan housing.

Connect the wire marked E1 & E2 to the terminals marked E1 & E2.

Connect the wire marked # 53 & 54 to the terminals marked 53 & 54.

The terminals marked F1 & F2 is the connection for the motor field.

Connections for drive inputs are shown in the drawing below.

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Installation for Non-Standard 240 Vdc Field Supply

Mount the AC Fuse Kit to the dcM6/12+ drive with the four (4) # 10 screws to the mounting holes on the bothsides of the fan housing.

Connect the wire marked R1 to the Buck / Boost transformer terminals marked H4 & X1.

Add a jumper to H3 & H2 and then another jumper to X2 & X3.

Connect the wire marked E1 to the Buck / Boost terminals marked X4 and then to the terminals marked E1.

Connect the wire marked E2 from the bottom of L2 Fuse holder to the Buck / Boost terminals marked H1 andthen to the terminals marked E2 on the drive.

Connect the wire marked # 53 & 54 to the terminals marked 53 & 54.

The terminals marked F1 & F2 is the connection for the motor field.

Connections for drive inputs are shown in the drawing below.

Part Numbers for Buck / Boost transformer :

P/N T040171, Rated at 250VA for a 5.2Amp field supply.



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22.2 Crossover Resistor Instructions

Note: This is only required for Extended speed range with Software Rev. 2.04 & 3.04.

To assure proper operation when the application requires:

1. Extended speed range above base speed when a DC contactor is used in the armature output.

Reason:

With the motor above the base speed and the field current in a field weakening condition, the armature voltage willalso be at the maximum value. When the E-stop contact is opened, causing the motor DC contactor to open, itimmediately forces the field current to motor rated full field current. This condition of high motor speed and full fieldcurrent would cause the Back-emf to rise and create a flashover condition. The Crossover Resistor Kit will preventthis from happening.

20

21 ___AFLC___HP___VDC

19

DC MOTOR

29

RESISTOR

___A,700V

FU4

27

30K,5W

M(aux)1

M

M

47

28

28(-)

DB 4

27(+)

(1-1G)

Parts Description:Qty 1- Terminal block, Pn # J150053Qty 1- Resistor, 30k, 5W, Pn # R3003-07

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22.3 RS-485 Serial Networking Instructions

dcM6/12+ RS-485 SERIAL NETWORKING KIT P/N 012-9008

Overview

Please carefully read this manual in its entirety before attempting the installation.

Up to 247 dcM6/12+ Controllers may be networked together using an ES733/1 serial communication card oneach Controller, an RS-232 to RS-485 converter, and a host computer with Saflink software.

Kit Includes

(1) P/N 046 - 9009 RS – 232 to RS – 485 converter w/ AC adapter

NOTE: The Serial Kit requires the use of Saflink software kit P/N 046-7017 which is purchased separately andincludes (1) ES733/1 Serial Communication Card. Additional cards will need to be purchased for each addedController.

Installation Procedure

REFERRING TO DIAGRAM 1

1 - Install the dcM6/12+ serial communication card P/N ES733/1 in the controller(s) as per the instruction manualprovided with the card (DOC. 027-2064). Make sure that jumpers JP1 thru JP6 on the communications card(s)are set as follows:

JP1 = 1-2 2FILI JP4 = 2-3 Bias off

JP2 = 1-2 Swap TX/RX JP5 = 2-3 Term off (see note)

JP3 = 2-3 RS485 JP6 = 2-3 Bias off

NOTE: On the last controller (physically last on the network) set JP5 to the on position (pins 1-2). This properlyterminates the RS-485 data link. All prior controllers are set to off (pins 2-3).

2 - Next make the half-duplex interconnections to the serial card, pins 3 & 8 of the DB9F connector with acustomer supplied DB9M mating connector and the RS-485 to RS-232 converter as shown. All wiring shouldfollow good standard practices and local codes.

3 - Power up the Controllers(s) and set the address *(1 to 247) for each Controller and set the serialcommunications parameters. This is done with the Controller keypad by entering the program mode andthen selecting the C160 thru C165 parameters and setting the appropriate value for each as follows:

C160 Address (1 to 247)C161 Serial baud rate 9600C162 Parity no parityC163 Master data area address 0C164 Serial time out 300 msC165 Serial response delay 0.00 ms

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4 - Connect the RS-232 to RS-485 converter to the host computer.

5 - Install the Saflink software (P/N 046-7017) on the host PC. (NOTE: The P/N 046-7017 Saflink software kit isnot included in the Serial kit and must be purchased separately, it includes (1) ES733/1 serialcommunication card). Once installed, run the program and from the tool bar select drive settingsdrive settingsdrive settingsdrive settingsdrive settings andthen to serial setupserial setupserial setupserial setupserial setup. At this point the communications is to be tested for each Controller. To do this, setthe appropriate address for the controller to be tested. Also insure that the following settings are in place:

Connection medium = Direct Serial LinkConnection Type = RS-422 (4 Wire)Communications Port = COMx (user determined)Parity = No ParityBaud Rate = 9600Master Data Base Address = 0

Then “click on“ the test comm test comm test comm test comm test comm button and note the status, it should sequence to 100%100%100%100%100%. Select the nextaddress and continue with this procedure until all Controllers have been tested for communications.

6 - The communications link should now be established, and the application ready to be implemented.

* The address for a given Controller on the network does not necessarily have to be in sequence with it’sphysical position on the network. Also, the address numbers used do not have to be in sequence either.Example: The physically first of a network of (3) Controllers could have an address of 10 while the secondcould be 2 and the third and final, 1.

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HOSTPC

SAFLINK SOFTWARE P/N 046 - 7017 (see note 5)

COMMUNICATION CARDP/N ES733/1 (See Notes 1 & 3)

ADDR. = 1

NOTES:

1- The ES733/1 Communication card is part of the Saflink software kit p/n 046-7017. Only one card is provided. Additional cards must be purchased for each drive that is to be added to the network.

2- The ES733/1 card has a DB9F (female) connector on board for connection to the RS-485 Bus. A DB9M (male) must be provided by user.

3 - The ES733/1 Jumper settings JP1 - JP6 are as follows: JP1= 1-2 2FILI JP2= 1-2 Swap TX/RX JP3= 2-3 RS-485 JP4= 2-3 Bias Off Jp5= 2-3 Term Off (On last drive set to ON 1-2) JP6= 2-3 Bias Off

4 - The RS-232 to RS-485 Converter is provided with approx. 5 ft. of twisted pair wire. For applications where this the wire length needs to be extended the wire used must be unconditioned dry metallic, between 19 and 26 AWG solid copper core, unshielded.

5 - * Software Settings:

On the Host Computer with the Saftlink program loaded: A - Go to the tool bar and select Drive Settings B - Select Serial Settings C - Set Connection Medium = Direct Serial Link Connection Type = RS- 422 (4 Wire) Communications Port = Comx (user determined) Parity = no parity Baud Rate = 9600 Test/Default Address = (select drive address) Master Data Base Address = 0 On each drive on the network: A - Enter the programming mode with keypad B - Set C160 Serial Connection Drive Address = (as required) C161 Serial Connection Tranmission Speed = 9600 C162 Serial Connection Transmission Parity = no parity C163 Master Data Base Address = 0 C164 Serial Time Out = 300 ms. C165 Serial Response Delay = 0.00 ms. * Most of the software settings are initially set by default but should be checked for conformance.

38

ADDR. = 2

38

ADDR. =31

38

CN2RS-485

DB9F CONNECTOR(See Note 2)

CN2RS-485

CN2RS-485

RS-232 TO RS-485CONVERTERP/N 046-9009

RS-232

E

E

E

dcM6/12+

dcM6/12+

dcM6/12+

DIAGRAM 1 dcM6/12+ RS - 485 SERIAL NETWORKING KIT

DBF9 CONNECTOR

RED

WHITE

See Note 4

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22.4 ES800 Replacement Instructions

dcM6+ and dcM12+ CONTROL BOARD AND IC U11 REPLACEMENT

Introduction

When replacing the Control Board for the dcM6+ or dcM12+ Drive it is recommended that the non-volatile memorychip IC U11 be transferred from the “old” board to the replacement board so that the original factory programmedparameters are preserved. If this is not done then significant programming steps will be required which is both timeconsuming and error prone. In the case that IC U11 is damaged, please consult factory before proceeding. Whenhandling IC U11 maintain good practices as set forth by industry standards avoiding static electricity andmechanical damage.

SAFETY FIRST! Disconnect and lockout all power before working on the equipment.

There are lethal voltages present and could result in injury or damage to equipment. Read this entire manual beforeattempting to proceed.

Replacement Procedure

The following tools will be required to disassemble and replace the control board and IC U11.

- screwdriver

- small bladed screwdriver

- needle nose pliers

- IC puller (optional)

Referring to Figure 1:

Disassembly

1- Remove Terminal Cover with (2) screws

2- Remove Main Cover with (4) screws

3- Remove Keypad Retainer with (1) screw

4- Remove Keypad by inserting a small bladed screwdriver as per instructions on Keypad.

5- Remove Keypad Mounting Plate from stand-offs with (4) screws and washers.

6- IC U11 should now be visible on the Control Board and should be removed at this time and saved. Proceedwith CAUTION as this component can be easily damaged if not handled properly. An IC puller is preferredbut if one is not available, using a small bladed screwdriver, slide the blade under one end of the IC abovethe socket and gently pry. Do not try to remove the IC completely. Then go to the other end and repeat.Alternate this procedure until the IC is loose and can easily be removed. After removal inspect the IC toinsure that there is no damage and the pins have not been bent. Put the IC in a plastic container as it willbe assembled in the new Control Board.

7- Disconnect (3) cables connected to CN1, CN2, and CN3

8- Remove (1) mounting screw from the Interface Board.

9- The Control Board and Interface Board are held by plastic mounting clips to the chassis. Using a pair ofneedle nose pliers, gently squeeze each clip across the rib and at the same time pull up on the board sothat it is free of the clip. There are (4) clips on the Control Board and (1) on the Interface Board.

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10 & 11- Once the boards are free from the chassis, they may be separated at connectors CN1(InterfaceBoard) and CN10 (Control Board) and the Control Board completely removed. NOTE: The connections tothe Interface Board 11 terminal block do not need to be removed unless this board is also being replaced.

Re-assembly

Connect the new Control Board 10 CN10 to the Interface Board 11 CN1 and place over the plastic locking clips 9on the chassis. Gently push down on each clip until the board(s) is seated at the bottom of clip. Assemblemounting screw 8 to Interface Board.

Using the procedure previously described, remove IC U11 6 and put aside. Insert the IC removed from the “old”Control Board by gently pushing into the socket making sure that the pins are aligned and properly seated.NOTE: Insure that the notch on the IC is oriented properly as shown in the attached diagram.

Reconnect (3) cables 7 and insure they are properly seated. Replace Keypad Mounting Plate 5 with (4) screws andwashers. Align Keypad 4 and connecting cable and push into Mounting Plate making sure the Keypad connectingcable is properly seated. Replace Keypad Retainer 3 then Main Cover 2 and finally Terminal Cover 1.

Check all connections for integrity before applying power.

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2

3

1

COVER(4) SCREWS

TERMINALCOVER(2) SCREWS

4

KEYPADRETAINER

RETAINERSCREW

5

KEYPAD

REMOVE ASPER

INSTRUCTIONS

KEYPADMOUNTING PLATE

(4) SCREWS &WASHERS

6

7

REMOVAL OF U11 CAN BE BYA SMALL BLADE SCREWDRIVEROR AN IC PULLER

NOTCH

10

DISCONNECT(3) CABLES

8

REMOVESCREW

9SQUEEZE LOCKING CLIPSACROSS RIB AND PULL UP ONPC BOARD (5) PLACES

CONTROLBOARD

11

INTERFACEBOARD

CHASSIS

A

A

A

A

A

A

IC SOCKET

TERMINALBLOCK

U11

CN1

CN6

CN1

CN2

CN3

Fig. 1 dcM6/12+ CONTROL BOARD AND IC U11 REPLACEMENT

DISCONNECT ALL POWER BEFORE PROCEEDING !

RIB

5580 Enterprise Parkway, Fort Myers, Florida 33905 • Telephone (941) 693-7200 • Fax (941) 693-2431

REV: D3.04 07/01P/N: 027-2050© 2001 Saftronics

dcM6+ / dcM12+

INSTRUCTION MANUAL

Digital DC Drives

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