En SysCtrlProg FW G Lowres

ACS800
Firmware manual
System Control Program 7.x
System Control Program 7.x
Firmware manual
3AFE64670646 REV G
EN
EFFECTIVE: 2011-03-15
© 2011 ABB Oy. All Rights Reserved.

5
Table of contents
Table of contents
Introduction to the manual

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Reader . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Product and service inquiries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Product training . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Providing feedback on ABB Drives manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Document library on the Internet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Start-up
How to start-up the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Control panel
Overview of the panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Identification display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Panel operation mode keys and displays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Status row . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Drive control with the panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
How to start, stop and change direction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
How to set speed reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Actual signal display mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
How to select actual signals to the display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
How to display the full name of the actual signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
How to view and reset the fault history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
How to display and reset an active fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
About the fault history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Parameter mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
How to select a parameter and change the value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
How to adjust a source selection parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Function mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
How to copy parameters from one drive to other drives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
How to set the contrast of the display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Drive selection mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
How to select a drive and change its panel link ID number . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Reading and entering packed boolean values on the display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Table of contents
6
Program features
Local control vs. external control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Control modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
External control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Local control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Analogue inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Analogue outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Digital inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Digital outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Diagnostics and control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Fast analogue interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Fast digital interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
RMIO board connection diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Control through communication link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Control through I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Actual signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Motor identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Undervoltage control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Overvoltage control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Automatic start . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Auto restart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Emergency stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
If an emergency stop signal is activated when the motor is already stopped . . . . . . . . . . . . . . 69
If an emergency stop signal is activated when the motor is running . . . . . . . . . . . . . . . . . . . . . 69
Emergency stop through fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
Table of contents
7
Safe torque off function (STO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Prevention of unexpected start-up (POUS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
Safely limited speed (SLS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
DC magnetising . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Constant DC magnetising . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
DC hold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Flux braking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Flux optimisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
Acceleration and deceleration ramps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Variable slope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Oscillation damping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Speed filtering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
Speed controller tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Low speed fine tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Run interlock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Motor control, DTC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
Scalar control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
IR compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Hexagonal motor flux . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Parallel-connected inverters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
Reduced run function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Removing a broken inverter module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Current measurement calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Programmable protection functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
AI<Min . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Table of contents
8
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Panel loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Motor temperature protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
Motor thermal mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
Temperature sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Thermal sensor connection through I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
Thermal connection through analogue I/O extension . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
I/O configuration example 1 with motor temperature measurement . . . . . . . . . . . . . . . . . . . 93
I/O configuration example 2 with motor temperature measurement . . . . . . . . . . . . . . . . . . . 93
Alternative thermal connection for PTC thermistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
ATEX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
Short time overload . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Maximum current load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
Stall protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Underload protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Motor phase loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
Earth fault and current unbalance protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Communication fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Master/Follower link communication fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Speed measurement fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Motor fan control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
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Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
Preprogrammed faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Overcurrent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
DC overvoltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
DC undervoltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Drive temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
Short circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Run disable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Overfrequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Input phase loss . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
Control board temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
I/O monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Start inhibit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Overswitching frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
System fault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Operation limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Parameter lock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Adaptive programming with DriveAP 2.x . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
Master/Follower . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Diagnostics and control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Master drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
Follower drive(s) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
Data transfer from follower(s) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
Load share function with speed controlled Follower . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Process master on-line configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Master/Follower link specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
Inverter fan speed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
LSU communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Sine filter support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
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Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
Inverter charging logic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
Monitoring panel NLMD-01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
Pulse encoder, RTAC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
Position counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
Position count . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Firmware loading package . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Program boot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Memory handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
Fault and event loggers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
Time format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
Data loggers 1 and 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
Default signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
Backup and restore function with DriveWindow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
User macro save with DriveWindow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Software version update . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
Actual signals and parameters

What this chapter contains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
Fieldbus equivalent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
Fieldbus addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
Modbus and Modbus Plus address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
Terms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
01 ACTUAL SIGNALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
02 ACTUAL SIGNALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
03 ACTUAL SIGNALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
04 INFORMATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
05 LSU SIGNALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
07 CONTROL WORDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
07 CONTROL WORDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
08 STATUS WORDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
08 STATUS WORDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155
09 FAULT WORDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
10 DIGITAL INPUTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
11 REFERENCE SELECT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
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11
12 FAST IO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
13 ANALOGUE INPUTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
14 DIGITAL OUTPUTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
15 ANALOGUE OUTPUTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
16 SYSTEM CTR INPUTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
17 DC HOLD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
18 LED PANEL CTRL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 193
19 DATA STORAGE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
20 LIMITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
21 START/STOP FUNC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
22 ACCEL/DECEL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200
23 SPEED REF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
24 SPEED CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
25 TORQUE REF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
26 TORQUE REF HANDLING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
27 FLUX CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
28 MOTOR MODEL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
29 SCALAR CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
30 FAULT FUNCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
31 FAULT FUNCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
34 BRAKE CHOPPER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 233
35 MOTOR FAN CTRL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
36 MOTOR CABLE PROTECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
45 ENERGY SAVING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235
50 SPEED MEASUREMENT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236
51 MASTER ADAPTER (fieldbus adapter) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
52 STANDARD MODBUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
53 USER PARAMETERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
55 ADAPTIVE PROG1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240
56 ADAPT PROG1 CNTRL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242
57 ADAPTIVE PROG2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
58 ADAPT PROG2 CNTRL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 244
66 AP CONNECT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245
70 DDCS CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246
71 DRIVEBUS COMM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
90 D SET REC ADDR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 252
91 D SET REC ADDR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253
92 D SET TR ADDR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254
93 D SET TR ADDR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
95 LSU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
97 DRIVE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
98 OPTION MODULES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258
99 START-UP DATA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264
Fault tracing
Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
Alarm and fault indications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
How to reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
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Fault history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271

Abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272
Alarm messages generated by the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273
Alarm messages generated by the control panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281
Alarms by number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
Fault messages generated by the drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283
Faults by number . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296
Application macros
Overview of macros . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
User macros . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
How to create user macro 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
How to recall user macro 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298
Fieldbus control
System overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
Redundant fieldbus control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300
RDCO channels CH0...3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300
Commissioning and supporting tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
Setting up communication through fieldbus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
Setting up communication through the standard Modbus link . . . . . . . . . . . . . . . . . . . . . . . . . . . 303
Modbus link . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304
Setting up communication through Advant controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
External control interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
Data sets 1 and 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
For type Nxxx fieldbus adapters and RMBA-01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
For type Rxxx fieldbus adapters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 307
Data sets 10...33 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308
Data sets received from an external control system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
Data set transmitted to an external control system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310
Use of mailbox . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
ABB Drives communication profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311
Control examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313
Control block diagrams

Main control word control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 318
I/O speed and torque references and motor temperature protection . . . . . . . . . . . . . . . . . . . . 319
Speed measurement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
Speed reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
Speed reference ramp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322
Speed control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323
Torque reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324
Flux and DTC control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326
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13
Scalar control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327
Terms
Index
Table of contents
14
Table of contents
15
What this chapter contains

This chapter describes the contents of the manual. In addition it contains information
about the compatibility, safety and intended audience.
Compatibility
The manual is compatible with ACS800 System Control Program version
AMXR7290 and later. See signal 04.01 SW PACKAGE VER.
Safety instructions
Follow all safety instructions delivered with the drive.
• Read the complete safety instructions before you install, commission, or use
the drive. For single drive the complete safety instructions are given at the
beginning of the hardware manual. For multidrive safety instructions, see
ACS800 Multidrive Safety Instructions [3AFE64760432 (English)].
• Read the software function specific warnings and notes before changing the
default settings of the function. For each function, the warnings and notes are
given in this manual in the section describing the related user-adjustable
parameters.
Reader
The reader of the manual is expected to know the standard electrical wiring
practices, electronic components, and electrical schematic symbols.

16
Contents
The manual consists of the following chapters:
• Start-up instructs in setting up the application program.
• Control panel gives instructions for using the panel.
• Program features contains the feature descriptions and the reference lists of the
user settings and diagnostic signals.
• Actual signals and parameters describes the actual signals and parameters of the
drive.
• Fault tracing lists the alarm and fault messages with the possible causes and
remedies.
• Application macros contains a short description of each macro.
• Fieldbus control describes the communication through the serial communication
link.
• Control block diagrams contains control block diagrams.
• Terms lists the terms and abbreviation used in this manual.
Product and service inquiries

Address any inquiries about the product to your local ABB representative, quoting
the type code and serial number of the unit in question. A listing of ABB sales,
support and service contacts can be found by navigating to www.abb.com/drives and
selecting Sales, Support and Service network.
Product training
For information on ABB product training, navigate to www.abb.com/drives and select
Training courses.
Providing feedback on ABB Drives manuals

Your comments on our manuals are welcome. Go to www.abb.com/drives and select
Document Library – Manuals feedback form (LV AC drives).
Document library on the Internet

You can find manuals and other product documents in PDF format on the Internet.
Go to www.abb.com/drives and select Document Library. You can browse the library
or enter selection criteria, for example a document code, in the search field.

17
Start-up

This chapter describes the basic start-up procedure of the drive.
How to start-up the drive

The drive can be operated:
• locally from control panel or DriveWindow PC tool
• externally via I/O connections or fieldbus interface.
The start-up procedure presented uses the DriveWindow program. Drive references
can be monitored with DriveWindow with data loggers or with an oscilloscope
(connect analogue output signals to an oscilloscope and check the scaling of the
signals). For instruction on how to use the DriveWindow PC tool, see DriveWindow
Online Help and DriveWindow 2 User’s Manual [3AFE64560981 (English)].
The start-up procedure includes actions which need to be performed only when the
drive is powered up for the first time (e.g. entering the motor data). After the first
start-up, the drive can be powered up without using these start-up functions. The
start-up procedure can be repeated later if start-up data needs to be changed.
If an alarm or a fault is generated during the start-up, see chapter Fault tracing for
the possible causes and remedies. If problems continue, disconnect the main power
and wait 5 minutes for the intermediate circuit capacitors to discharge and check the
drive and motor connections.
Start-up
18
Safety
The start-up may only be carried out by a qualified electrician.
The safety instructions must be followed during the start-up procedure. See the safety
instructions on the first pages of the appropriate hardware manual or for multidrive,
see ACS800 Multidrive Safety Instructions [3AFE64760432 (English)].
Check the installation. See the installation checklist in the appropriate hardware manual.
Check that the starting of the motor does not cause any danger.
De-couple the driven machine if
- there is a risk of damage in case of an incorrect direction of rotation, or
- a Standard ID run needs to be performed during the drive start-up. (ID run is essential only
in applications which require the ultimate in motor control accuracy.)
Connect fibre optic cables between DDCS channel CH3 (of the RDCO-0x module) and the
RUSB-02 USB adapter or the NDPC cable adapter connected to PCMCIA card in the PC.
Disconnect the external control system from channel CH0 of the RDCO-0x module or from
the fieldbus adapter module type Rxxx connected to Slot 1 of the RMIO board.
Power up
Switch the power on.
Start the DriveWindow program.
Switch the drive to local control mode.
Motor data entering
Open the parameter list (Parameters) from the DriveWindow menu.
Select the language. 99.01 LANGUAGE
Double-click the DriveWindow Parameters window to upload
parameters and signals.
Select the motor control mode. 99.08 MOTOR CTRL
MODE
DTC is suitable for most cases. The SCALAR control mode is
recommended
- for multimotor drives with variable number of motors
- when the nominal current of the motor is less than 1/6 of the nominal
output current of the drive (inverter)
- when the drive is used for test purposes with no motor connected.
Start-up
19
Enter the motor data from the motor nameplate: Note: Set the motor data to
exactly the same value as
ABB Motors on the motor nameplate. For
example, if the motor
3 motor M2AA 200 MLA 4
IEC 200 M/L 55
nominal speed is 1440 rpm
No on the nameplate, setting
Ins.cl. F IP 55 the value of parameter
V Hz kW r/min A cos IA/IN t E/s
690 Y 50 30 1475 32.5 0.83
99.05 MOTOR NOM
400 D 50 30 1475 56 0.83 SPEED to 1500 rpm results
660 Y 50 30 1470 34 0.83 380 V in wrong operation of the
380 D 50 30 1470 59 0.83 mains drive.
415 D 50 30 1475 54 0.83
440 D 35 1770 59 0.83
voltage
60
Cat. no 3GAA 202 001 - ADA
6312/C3 6210/C3 180

IEC 34-1
- motor nominal voltage

Allowed range: 1/2 × UN … 2 × UN of the drive. (UN refers to the highest voltage in
each of the nominal voltage ranges: 415 V AC for 400 V AC units, 500 V AC for 99.02 MOTOR NOM
500 V AC units and 690 V AC for 600 V AC units.) VOLTAGE
- motor nominal current 99.03 MOTOR NOM

Allowed range: approximately 1/6 × Ihd … 2 × Ihd of the drive (0…2 × Ihd if CURRENT
parameter 99.08 MOTOR CTRL MODE = SCALAR))
With multimotor drives, see section Multimotor drives on page 20.
- motor nominal frequency

99.04 MOTOR NOM FREQ
Enter the exact value on the motor nameplate to achieve adequate estimated
torque accuracy and linearity.
Range: 8…300 Hz
With multimotor drives, see section Multimotor drives on page 20. 99.05 MOTOR NOM
SPEED
- motor nominal speed
Range: 1…18000 rpm 99.06 MOTOR NOM
With multimotor drives, see section Multimotor drives on page 20. POWER
- motor nominal power

Range: 0…9000 kW 99.12 MOTOR NOM
With multimotor drives, see section Multimotor drives on page 20. COSFII
- motor nominal cosϕ

If the nominal cosϕ of the motor is unknown, set parameter 99.13 POWER IS GIVEN
to POWER.
After the motor parameters have been set, alarm ID MAGN REQ is ** ALARM **
displayed. ID MAGN REQ
Start-up
20
Multimotor drives
i.e. more than one motor is connected to one drive
Note: Scalar control mode is recommended with multimotor drives
1) if the load is not equally shared between the motors,
2) if the motors are of different sizes, or
3) if the motors are going to be changed after the motor identification.
Check that the motors have the same relative slip, nominal voltage
and number of poles. If the manufacturer motor data is insufficient,
use the following formulas to calculate the slip and the number of
poles:
⎛ f N ⋅ 60⎞ * * Round to the nearest integer value.

p = Int ⎜ -----------------⎟
⎝ nN ⎠
f N ⋅ 60
n S = -----------------
p
nS – nN
s = --------------------- ⋅ 100%
nS
where
p = number of pole pairs (= motor pole number / 2)
fN = motor nominal frequency [Hz]
nN = motor nominal speed [rpm]
s = motor slip [%]
nS = motor synchronous speed [rpm].
Set the sum of the motor nominal currents. 99.03 MOTOR NOM
CURRENT
Set the nominal motor frequencies. Frequencies must be the same. 99.04 MOTOR NOM FREQ
Note: If scalar control is used (parameter 99.08 MOTOR CTRL
MODE = SCALAR), this setting does not apply.
Set the sum of the motor nominal powers. 99.06 MOTOR NOM
POWER
If the motor powers are close to each other or the same but the
99.05 MOTOR NOM
nominal speeds vary slightly, parameter 99.05 MOTOR NOM
SPEED
SPEED can be set to an average value of the motor speeds.
Optional modules
Start-up
21
Activate all optional modules connected to the RDCO-0x module. Parameter group 98
Select the connection interface and operation mode for the OPTION MODULES
modules.
I/O communication
Check the possible I/O signal selections. Parameter groups
10 DIGITAL INPUTS...
15 ANALOGUE OUTPUTS
Run interlock
If RUN INTERLOCK function is needed (prevents motor start): 16.14 RUN INTERLOCK
Program the interlocking with adaptive programming. 08.01 MAIN STATUS
WORD bit 13
See ACS600 / ACS800 Application Guide Adaptive Program for
System Application Program 7.x [3AFE68420075 (English)].
Safe torque off function and emergency stop circuit
If there is a Safe torque off circuit in use, check the operation as 08.02 AUX STATUS WORD
follows: bit 8 START INHIBITION
- Open the control switch: 08.02 bit 8 = 1, ASTO 24 V DC circuit is

open (active).
- Close the control switch: 08.02 bit 8 = 0, ASTO 24 V DC circuit is
closed (normal state).
Deactivate the logging of the Safe torque off alarm to the fault/alarm 31.02 START INHIBIT ALM
logger if the function will be used frequently. Without deactivation,
the logger will be filled with START INHIBI alarms.
If there is an emergency stop circuit in use, check that the circuit 08.01 MAIN STATUS
functions (emergency stop signal is connected to digital input DI1 WORD bit 4 OFF 2 STA and
bit 5 OFF 3 STA
and the feedback signal is sent through digital output DO1). For
more information, see section Emergency stop on page 69.
Select the emergency stop mode. 21.04 EME STOP MODE
RMIO board supply

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

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

If the motor is equipped with an external cooling fan (controlled by 35.01 MOTOR FAN CTRL
the drive): 35.02 FAN ACK DELAY
- Check the motor fan control circuit and associated parameters. 35.03 FAN OFF DELAY
35.04 FAN ON DELAY
10.06 MOTOR FAN ACK
Start-up
22
Optional DC switch
Activate the fuse switch control if R7i/R8i inverter is equipped with 98.12 FUSE SWITCH CTRL
a DC switch or if R7i inverter includes charging option +F272. 08.20 INV ENABLED
WORD
Note: The parameter setting comes into effect only after power-up.
Speed measurement
with pulse encoder
Check the speed scaling of the motor. 50.01 SPEED SCALING
Set parameter 50.03 SPEED FB SEL to INTERNAL. 50.03 SPEED FB SEL
Set the number of encoder pulses. 50.04 ENCODER PULSE

NR
Check other speed scaling and encoder settings. Parameter group 50 SPEED
MEASUREMENT
Reset the drive and start the motor.

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

Enter a small speed reference value (for example 3% of the nominal
motor speed).
Start-up
23
Check that the motor is running in the desired direction and the
polarity of the speed measurement is correct.
When the motor is rotating in the correct direction and the speed 01.03 SPEED MEASURED
reference is positive, the actual speed 01.03 SPEED MEASURED
must be positive and equal to 01.02 SPEED ESTIMATED. 01.02 SPEED ESTIMATED
Incorrect connection can be located as follows:
If the direction of the rotation is correct and 01.03 SPEED MEASURED is
negative, the phasing of the pulse encoder wires is reversed.
If the direction of the rotation is incorrect and 01.03 SPEED MEASURED is
negative, the motor cables are incorrectly connected.
If the direction of the rotation is incorrect and 01.03 SPEED MEASURED is
positive, both the motor and the pulse encoder are incorrectly connected.
Changing the connection:
Disconnect the main power, and wait for 5 minutes for the intermediate
circuit capacitors to discharge.
Do the necessary changes. Switch the power on and start the motor again.
Check that the actual speed value is positive.
Stop the motor.

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

Check that SPEED ESTIMATED and SPEED MEASURED values 01.02 SPEED ESTIMATED
are the same. 01.03 SPEED MEASURED
08.02 AUX STATUS WORD
Check that signal 08.02 AUX STATUS WORD bit 12 (INTERNAL
bit 12
SPEED FB) value is zero.
Stop the motor.
Speed measurement
without pulse encoder
Check the speed scaling of the motor. 50.01 SPEED SCALING
Reset and start the motor.

During the first start the motor is magnetised for 20...60 s at zero
speed and the drive calculates the motor model (the stator
resistance and other electrical losses are identified and stored to the
FPROM memory). The motor shaft is not rotating during the first
start. ** ALARM **
Alarm message ID MAGN REQ is displayed.
Alarm ID MAGN is displayed during the identification. The motor ID MAGN
stops after the identification magnetisation (ID MAGN) has been
performed. ID MAGN
Alarm message ID DONE is displayed after the identification is
completed. ID DONE
Start the motor again.
Start-up
24
Enter a small speed reference value (for example 3% of the nominal

motor speed).
Check that the motor is running in the desired direction.
If true motor speed is not equal to nominal value due to the motor 24.16 SLIP GAIN
construction, true speed can be fine tuned with slip gain.
Stop the motor.
Start-up
25
ID RUN (motor identification run)

WARNING! The motor will run at up to approximately 50…80% of the nominal speed
during the ID run. ENSURE THAT IT IS SAFE TO RUN THE MOTOR BEFORE
PERFORMING THE ID RUN!
Check the direction of rotation of the motor before starting the ID
run. During the run, the motor will rotate in the forward direction. forward
direction
Select the motor identification method by setting parameter 99.07
MOTOR ID RUN. During the Motor ID run, the drive will identify the
characteristics of the motor for optimum motor control. The ID run reverse
lasts a few minutes, depending on the motor size. direction
If 1 = NO (ID MAGN) is selected, ID run is not performed. When the start

command is given, the motor is magnetised for 20...60 s at zero speed and
the drive calculates the motor model.
Select the ID MAGN 99.07 MOTOR ID RUN
- for pump or fan application
- if there are drive sections in which more than one motor is connected to
one inverter. See section Multimotor drives on page 20.
The ID run (STANDARD or REDUCED) should be selected if

- the operation point is near zero speed, and/or
- the operation point is at a torque range above the motor nominal torque
within a wide speed range and no measured speed feedback is required.
The REDUCED ID run should be selected instead of the STANDARD if the

mechanical losses are higher than 20%, i.e. the motor cannot be
uncoupled from the driven equipment, or flux reduction is not allowed when
the motor is running, for example in a case of a braking motor in which a
mechanical brake is engaged when the flux falls below a certain level.
Note: The STANDARD Motor ID run may be performed even when
machinery is coupled if the machinery is not under load. However it is
always recommended to uncouple the driven equipment from the motor
with STANDARD Motor ID run.
WARNING! If STANDARD Motor ID run is to be performed with the
machinery coupled to the motor, make sure the machinery is able to
withstand the fast speed changes during the ID run.
With multimotor drives the ID run can be performed with the machinery
coupled or uncoupled.
Note: The Motor ID run (STANDARD or REDUCED) cannot be performed

if scalar control is selected (parameter 99.08 setting is SCALAR).
Start-up
26
Start the motor to activate the ID run. 16.01 RUN ENABLE

Note: RUN ENABLE must be active. 08.01 MAIN STATUS
When the ID run is started, alarm MOTOR STARTS is displayed. WORD bit 13
During the ID run, alarm ID RUN is displayed.
** ALARM **
After a successfully completed ID run, alarm ID DONE is displayed,
signal 08.02 AUX STATUS WORD bit 7 is set to 1 and parameter MOTOR STARTS
99.07 MOTOR ID RUN value is restored back to selection NO.
Note: If the Motor ID run has not been successfully completed, fault ID RUN
message ID RUN FAIL is displayed. See chapter Fault tracing.
ID DONE
Start function
Select the start function. 21.01 START FUNCTION
The fastest start is achieved when parameter 21.01 START
FUNCTION is set to AUTO (flying start).
The highest possible starting torque is achieved when parameter
21.01 START FUNCTION is set to DC MAGN (DC magnetising) or
CNST DC MAGN (constant DC magnetising).
Note: When parameter 21.01 START FUNCTION setting is
DC MAGN or CNST DC MAGN, flying start (start to a rotating motor)
is not possible.
When constant DC magnetising is used, the shaft movement during 21.11 START JERK COMP
the magnetising can be minimised:
Adjust parameter 21.11 START JERK COMP setting.
Set operation limits according to the process requirements. Parameter group 20 LIMITS
If there is a starting problem at zero speed with AUTO mode without 28.12 FLYSTART CUR REF
a pulse encoder, adjust parameters 28.12 FLYSTART CUR REF or 28.13 FLYSTART INIT DLY
28.15 RS20 [mOhm]
28.13 FLYSTART INIT DLY. See also effect of parameter 28.15
RS20 [mOhm] if starting torque is high.
Motor thermal model
Select the motor thermal model protection mode. 30.01 MOTOR THERM
PMODE
Note: DTC mode can only be used with ABB motors when the
nominal motor current IN < 800 A.
Select the thermal model protection function. 30.02 MOTOR THERM
PROT
When 30.01 MOTOR THERM P MODE setting is USER MODE:

- Set the time for the 63% temperature rise. 30.09 MOTOR THERM
TIME
- Set the maximum allowed operating load of the motor. 30.10 MOTOR LOAD
- Set the zero speed load. A higher value can be used if the motor CURVE
has an external motor fan to boost the cooling. 30.11 ZERO SPEED LOAD
- Set the break point frequency of the motor load curve. 30.12 BREAK POINT
Start-up
27
Set the thermal model alarm and fault limits. 30.28 THERM MOD ALM L
30.29 THERM MOD FLT L
Set the motor nominal temperature rise. 30.30 MOT NOM TEMP
RISE
Note: If the ABB motor rating plate includes temperature coefficient
value (MNTRC), multiply it by 80 °C to get the motor nominal
temperature rise.
Set the typical ambient temperature of the motor. 30.31 AMBIENT TEMP
Motor temperature measurement

If motor temperature measurement is connected, activate the motor 30.03/30.06 MOT1/2 TEMP
temperature measurement function for motor 1/2 and select the AI1/2 SEL
sensor type. 98.06 AI/O EXT MODULE 1
Sensor type Unit Scaling

Pt100 °C
PTC Ω normal 0...1.5 kΩ
overtemperature > 4 kΩ
KTY84-1xx Ω 90 °C = 936 Ω
110 °C = 1063 Ω
130 °C = 1197 Ω
150 °C = 1340 Ω
See control block diagram in section I/O speed and torque

references and motor temperature protection on page 319.
Set the temperature fault and alarm limits for motor 1/2. 30.04/30.07 MOT 1/2 TEMP
ALM L
30.05/30.08 MOT 1/2 TEMP
FLT L
Speed controller tuning

Note: These settings do not apply when parameter 99.08 MOTOR CTRL MODE setting is
SCALAR.
When tuning the drive, change one parameter at a time and monitor the response to the speed
reference step. To achieve the best possible result, the step response test should be carried out
with different speeds, from minimum speed up to the maximum speed.
The speed control values obtained depend mainly on
- the flux reference 27.03 FLUX REF
- the relationship between the motor power and the rotating mass
- backlashes in the drive's mechanical structure.
See control block diagram in section Speed control on page 323.
Note: Thyristor Supply Unit TSU should be in the normal operation mode during the step response
test (i.e. TSU signal 104.07 = 0). If TSU is in the diode bridge mode, an overvoltage alarm can trip
the drive when a step change down is given. Extra jumps may also appear in the step when the DC
voltage rises because no braking occurs.
The speed controller tuning can be performed automatically or manually:
Start-up
28
Automatic speed controller tuning

Activate the automatic tuning of the speed controller. Tuning is 24.01 PI TUNE
based on the estimated mechanical time constant. If automatic
tuning is not enough, use manual tuning.
Manual speed controller tuning
Select the following signals to be monitored with the DriveWindow
monitoring tool:
- 01.07 MOTOR TORQUE FILT2, actual torque
- 01.04 MOTOR SPEED, actual speed
- 02.03 SPEED ERROR NEG, filtered speed difference.
Start the motor with a small speed reference.
Give a speed reference step and monitor the response. Repeat the test for few speed reference
steps across the whole speed range:
Set the speed step: 1% or 2% of the maximum speed of the drive. 23.10 SPEED STEP
Optimise the P-part of the speed controller: Set the integration time 24.09 TIS
to its maximum value to change the PI (proportional integral)
controller into a P controller:
Give a step change up, for example 20 rpm. When the speed is 23.10 SPEED STEP
stabilised, give a step change down, for example -20 rpm.
Increase the relative gain until the response is sufficient: 24.03 KPS
y-axis = 02.09 TORQ REF 2
01.04 MOTOR
SPEED
KPS too low KPS too high KPS optimal
Start-up
29
Reduce the integration time until an overshoot is observed in the 24.09 TIS
response.
Adjust the integration time so that there is no overshoot or only
a slight overshoot (depending on the drive application). The integral
part is used to correct the error between the reference and the
actual value (which is caused by the proportional control) as quickly
as possible.
If the drive is stable and allows a high relative gain (KPS),
an overcompensated step response is obtained if the integration
time is set short.
y-axis = 02.09 TORQ REF 2
01.04 MOTOR
SPEED
TIS too long TIS too short TIS optimal
Low speed fine tuning

Eliminate potentially harmful oscillation at low speeds (e.g. during 50.13 ZERO DETECT
start): DELAY
50.14 SPEED HOLD TIME
- Set the time the speed controller saves the last reference value.
- Set the time delay for the proportional part of the speed controller.
The larger the mass of the driven equipment, the higher the value of
parameter 50.13 ZERO DETECT DELAY should be. Parameter
50.14 SPEED HOLD TIME should be set to approximately 60% of
the value of parameter 50.13.
For example, typical settings for a drive rotating a dryer section of
a paper machine are: par 50.13 = 50 ms and par. 50.14 = 30 ms.
Start-up
30
Speed filtering
The measured speed always has a small ripple because of mechanical interference and couplings.
A small ripple is acceptable as long as it does not affect the speed control chain. Reducing the
ripple with filters may cause speed controller tuning problems. A long filter time constant and fast
acceleration time contradict one other.
If the speed measurement shows rapid oscillation, it can be filtered 23.06 SPEED ERROR FILT
with a speed error filter: 50.06 SP ACT FILT TIME
- Set the speed error filter time constant.
- Set the time constant of the first order actual speed filter.
If there is no gear box and no pulse encoder feedback and if fast
oscillation is observed:
- Decrease the time constant of the first order actual speed filter to
its minimum.
See control block diagrams in sections Speed measurement on
page 320 and Scalar control on page 327.
If there is a substantial backlash in the drive, and the drive oscillates 24.04 KPSMIN
at low torque due to the mechanism: 24.05 KPS WEAKPOINT
- Set the adaptive speed control parameters. 24.06 KPS WP FILT TIME
If the adaptability has to be made abrupt (i.e. par. 24.03 KPS value
is high, and par. 24.04 value is low) the drive can start to oscillate as
the load varies. Use a speed step to test the adaptability (for
example 50 rpm). See section Manual speed controller tuning on
page 28.
If mechanical oscillation at a certain frequency is observed (narrow 26.04 OSC
frequency band), reduce oscillation: COMPENSATION
26.05 OSCILLATION FREQ
See section Oscillation damping on page 77.
26.06 OSCILLATION
PHASE
26.08 OSCILLATION GAIN
Scalar control and IR compensation

It is recommended to activate the scalar control mode in the following special applications:
- with multimotor drives:
1) if the load is not equally shared between the motors,
2) if the motors are of different sizes, or
3) if the motors are going to be changed after the motor identification.
- if the nominal current of the motor is less than 1/6 of the nominal output current of the inverter.
- if the drive is used without a motor connected (for example for test purposes).
- if the drive runs a medium voltage motor via a step-up transformer.
Magnetise the drive: 99.08 MOTOR CTRL
MODE
Start the drive in DTC control mode (par. 99.08 = DTC and par.
99.07 MOTOR ID RUN
99.07 = NO) before switching to the scalar control mode.
Start-up
31
Select the scalar control mode. Parameter group 29 SCALAR 99.08 MOTOR CTRL
CONTROL becomes visible. Parameters 29.02 FREQUENCY MAX MODE
and 29.03 FREQUENCY MIN are updated by the software
according to parameter 20.02 MAXIMUM SPEED and 20.01
MINIMUM SPEED values.
See control block diagram in section Scalar control on page 327.
When IR compensation is activated, the drive gives an extra voltage boost to the motor at low
speeds. IR compensation is useful in applications that require high breakaway torque or in
applications where the motor must rotate slowly, i.e. at a low frequency.
Set the relative output voltage boost at zero speed (IR 29.04 IR COMPENSATION
compensation).
Value can be set to 0...30% of the motor nominal voltage. Select
a value at which the motor is able to start and run at constant speed
over the whole speed range.
U/UN
(%) Relative output voltage. IR compensation
is set to 15%.
100%
15% Relative output voltage. No IR

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

Note: Supervise the temperature rise of the motor during the IR
compensation. With high IR compensation voltage values the motor
can be overheated.
Fieldbus control
The drive can be controlled from an external control system by using data sets 1, 2 or 10…33.
For more information on the external control, see chapter Fieldbus control.
Activate the external serial communication and select the interface. 98.02 COMM. MODULE
When parameter 98.02 = FIELDBUS, see parameter settings in
section Setting up communication through fieldbus on page 301.
When parameter 98.02 = ADVANT/N-FB, see parameter settings in
section Setting up communication through Advant controller on
page 305 or in section Setting up communication through fieldbus
on page 301.
When parameter 98.02 = STD MODBUS, see parameter settings in
section Setting up communication through the standard Modbus link
on page 303.
Start-up
32
Connect the external control system to channel CH0 of the

RDCO-0x module or to a fieldbus adapter module type Rxxx
connected to Slot 1 of the RMIO board.
Set the channel CH3 node address (DriveWindow PC tool 70.15 CH3 NODE ADDR
connection). Use addresses 1…75 and 124…254. Other addresses
are reserved for the NDBU branching units.
If CH3 channels of several drives are connected with a branching
unit, each one must be given a unique node address.
Note: The new node address becomes valid after the next power-up
of the RMIO board.
Select the topology of the channel CH3 link. Default value STAR is 70.20 CH3 HW
typically used with branching units. RING is used when the CH3 CONNECTION
channels of the RMIO boards are connected in a ring.
Test that the communication functions.
I/O control
The drive can be controlled by using I/O signals.
Select the I/O control mode (par. 98.02 = NO). 98.02 COMM. MODULE
Set the digital input parameters. Parameter group 10

DIGITAL INPUTS
For analogue signal, set the analogue input parameters. 11.01 EXT REF1 SEL
98.06 AI/O EXT MODULE 1
Parameter group 13
ANALOGUE INPUTS
Switching between I/O and external control can be controlled via 10.07 HAND/AUTO
a digital input.
Voltage control
If the DC voltage drops due to input power cut off, the undervoltage controller will automatically
decrease the motor torque in order to keep the voltage above the lower limit.
To prevent the DC voltage from exceeding the overvoltage control limit, the overvoltage controller
automatically decreases the generating torque when the limit is reached.
Activate the undervoltage and overvoltage controllers. 30.22 UNDERVOLTAGE
CTL
30.23 OVERVOLTAGE CTL
Deactivate the adaptive DC voltage measurement if undervoltage 20.14 ADAPTIVE UDC

control is used when several drives are connected to the same DC MEAS
link.
20.16 UNDERVOLT TORQ
Limit the maximum torque during undervoltage control. DN
Limit the minimum torque during undervoltage control to tune the 20.15 UNDERVOLT TORQ
generating torque level. UP
Start-up
33
AUTO RESTART function

It is possible to restart the drive automatically after a short power supply failure (max. 5 seconds)
using the AUTO RESTART function if
- the RMIO board is powered through an UPS (Uninterruptible Power System).
- digital input DI2 circuit remains closed during the power supply failure.
Activate the auto restart function. 21.09 AUTO RESTART
Set the maximum allowed power supply failure time. 21.10 AUTO RESTART
TIME
Activate the fault mask to prevent PPCC link fault indications. 30.24 PPCC FAULT MASK
Check that the auxiliary control circuit functions correctly during

power supply failure.
Master/Follower communication
Ensure the ID Run has been performed individually on all drives.
For more information on the Master/Follower applications, see section Master/Follower on page
108.
Select the Master/Follower mode. 70.08 CH2 M/F MODE or
07.03 AUX CTRL WORD 2
bits 6, 10 and 11
Select the data to be sent from the Master drive to the Follower. Master drive parameters
Example: Speed and torque references are sent from the Master 70.10 MASTER SIGNAL 2
drive to the Follower drive: 70.11 MASTER SIGNAL 3
Follower drive parameters
Master drive par. 70.10 = 2301 (23.01 SPEED REF).
70.17 FOLL SPEED REF
Master drive par. 70.11 = 210 (02.10 TORQ REF 3).
70.18 FOLL TORQ REF
Speed reference source:
Follower drive par. 70.17 = MASTER (or controlled by 07.03 AUX
CTRL WORD 2 bits 6 and 7).
Torque reference source:
Follower drive par. 70.18 = MASTER (or controlled by 07.03 AUX
CTRL WORD 2 bits 6 and 8).
Note: If parameter 70.08 CH2 M/F MODE is set to FOLLOWER,
parameter 70.10 MASTER SIGNAL 2 and 70.11 MASTER
SIGNAL 3 settings are not effective.
Load share function with speed controlled Follower drive (activated 07.03 AUX CTRL WORD 2
by 07.03 AUX CTRL WORD 2 bit 9): bit 9
23.18 FOLL SPD CTRL
Select the correction mode (23.19 FOLL SPD COR MODE) and
COR
increase the correction term (23.18 FOLL SPD CTRL COR) until the
23.19 FOLL SPD COR
Follower follows the Master torque accurately enough. MODE
Test the load sharing in practice by changing the load share value 25.03 LOAD SHARE
(within allowed range of the drive application) while the system is
running.
Start-up
34
Test that the emergency stop functions with the Master/Follower 21.04 EME STOP MODE
application.
Flying start tuning and flux correction
If flying start fails (21.01 START FUNCTION = AUTO), adjust the 28.12 FLYSTART CUR REF
flying start tuning parameters. [%]
28.13 FLYSTART INIT DLY
If required start torque is not achieved, i.e. motor will not start to 28.15 RS20 [mOhm]
rotate, decrease the stator resistance of the motor model.
Start-up
35
Control panel

This chapter describes how to use the control panel CDP 312R. The control panel is
used to control the drive(s), read status data, and adjust parameters. The drive is
programmable through a set of parameters.
The communication between the CDP 312R control panel and the drive uses the
Modbus protocol. Modbus is a common bus protocol for ABB Drives products. The
communication speed of the bus is 9600 bit/s. 31 drives and one panel can be
connected to the bus. Each station must have a unique ID number.
Overview of the panel
The LCD type display has 4 lines of 20 characters.

The language is selected at start-up (parameter 99.01
LANGUAGE).The control panel has four operation
modes:
- Actual Signal Display Mode (ACT key)
1 L -> 0.0 rpm 0 - Parameter Mode (PAR key)
LED PANE 0 %
MOTOR SP 0.0 rpm - Function Mode (FUNC key)
MOTOR TO 0.00 %
- Drive Selection Mode (DRIVE key)
The use of single arrow keys, double arrow keys and
ENTER depend on the operation mode of the panel.
ACT PAR FUNC DRIVE
The drive control keys are:
No. Use
ENTER 1 Start
2 Stop
7 6 3 1 3 Activate reference setting

LOC RESET REF
REM 4 Forward direction of rotation
5 Reverse direction of rotation

I 0
4 5 2 6 Fault reset
7 Change between Local/Remote (external)

control
Control panel
36
Identification display
When the control panel is connected to the panel link for the first time, or when the
drive is powered up, the identification display shows the panel software version:
CDP312 PANEL V5.30
After the Identification Display, the panel enters the Drive Selection Mode and
displays the inverter type:
ACS 800 0005_3 SR
ID NUMBER 1
Inverter type is constructed as follows:

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

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

NR = Multidrive, air cooled
MR = 4Q or 2Q low harmonic drive
LC = Liquid cooled multidrive
LS = Liquid cooled single drive (2Q)
LM = Liquid cooled single drive (4Q)
SD = Single drive with +V992
After two seconds, the display will clear, and the Actual Signal Display Mode will
appear.
Note: The panel can be connected to the drive while power is applied to the drive.
Control panel
37
Panel operation mode keys and displays

With control panel keys the user can select status data, parameters and change
parameter settings. The figure below shows the mode selection keys of the panel,
and the basic operations and displays in each mode.
Actual Signal Display Mode
Act. signal / Fault history 1 L -> 0.0 rpm 0 Status row

ACT selection
LED PANEL 0 % Actual signal names
MOTOR SP 0.0 rpm and values
Act. signal / Fault message
scrolling MOTOR TO 0.00 %
Enter selection mode
ENTER Accept new signal
Parameter Mode
Group selection 1 L -> 0.0 rpm 0 Status row

PAR Fast value change
99 START-UP DATA Parameter group
01 LANGUAGE Parameter
Parameter selection
Slow value change ENGLISH Parameter value
Enter change mode

ENTER Accept new value
Function Mode
1 L -> 0.0 rpm 0 Status row

FUNC Row selection
UPLOAD <=<=
Page selection
DOWNLOAD =>=> List of functions
CONTRAST 4
ENTER Function start
Drive Selection Mode
DRIVE
Drive selection ACS 800 0005_3 Device type
ID number change
DRYER SECTION 1
Enter change mode AMAM15D3 980605 SW version / application
ENTER Accept new value version and ID number
ID NUMBER 1
Status row
The figure below describes the status row digits.
Drive ID number Drive status

1 L -> 1242.0 rpm I I = Running
Drive control status
O = Stopped
L = Local control Direction of rotation Drive reference “ “ = Run disabled
“ “ = External control -> = Forward
<- = Reverse
Control panel
38
Drive control with the panel

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

Step Action Press Key Display
1. To show the status row. 1 -> 0.0 rpm 0

ACT PAR LED PANE 0 %
MOTOR SP 0.0 rpm
FUNC
MOTOR TO 0.00 %
2. To switch to local control. 1 L -> 0.0 rpm 0

LOC
(Only if the drive is not under local control, i.e. there is no L LED PANE 0 %
REM
on the first row of the display.) MOTOR SP 0.0 rpm
MOTOR TO 0.00 %
3. To stop. 1 L -> 0.0 rpm 0

LED PANE 0 %
MOTOR SP 0.0 rpm
MOTOR TO 0.00 %
4. To start. 1 L -> 0.0 rpm I

LED PANE 0 %
MOTOR SP 0.0 rpm
MOTOR TO 0.00 %
5. To change the direction to reverse. 1 L <- 0.0 rpm 0

0 LED PANE 0 %
MOTOR SP 0.0 rpm
MOTOR TO 0.00 %
6. To change the direction to forward. 1 L -> 0.0 rpm 0

I LED PANE 0 %
MOTOR SP 0.0 rpm
MOTOR TO 0.00 %
Control panel
39
How to set speed reference

1. To show the status row. 1 -> 1242.0 rpm 0

MOTOR SP 0.0 rpm
FUNC
MOTOR TO 0.00 %
2. To switch to local control. 1 L -> 1242.0 rpm 0

LOC
(Only if the drive is not under local control, i.e. there is no L LED PANE 0 %
REM
on the first row of the display.) MOTOR SP 0.0 rpm
MOTOR TO 0.00 %
3. To enter the Reference Setting function. REF

1 L -> [1242.0 rpm] 0
LED PANE 0 %
MOTOR SP 0.0 rpm
MOTOR TO 0.00 %
4. To change the reference. 1 L -> [1325.0 rpm] 0

(slow change) LED PANE 0 %
MOTOR SP 0.0 rpm
MOTOR TO 0.00 %
(fast change)
5. To save the reference. 1 L -> 1325.0 rpm 0

ENTER
(The value is stored in the permanent memory; it is LED PANE 0 %
restored automatically after power switch-off.) MOTOR SP 0.0 rpm
MOTOR TO 0.00 %
Actual signal display mode

The Actual Signal Display mode includes two displays: the Actual Signal Display and
the Fault History Display. In this Mode, the user can:
• show three actual signals on the display at a time
• select the actual signals to be displayed
• view the fault history
• reset the fault history.
The panel enters the Actual Signal Display Mode when the user presses the ACT
key, or if he does not press any key within one minute. If a fault is active, the Fault
History Display will be shown before the panel enters the Actual Signal Display
Mode. If the Drive Selection Mode is active, the Status Display of the Drive Selection
Mode is shown.
Control panel
40
How to select actual signals to the display

Step Action Press key Display
1. To enter the Actual Signal Display Mode. 1 L -> 0.0 rpm 0

ACT LED PANE 0 %
MOTOR SP 0.0 rpm
MOTOR TO 0.00 %
2. To select a row (a blinking cursor indicates the selected 1 L -> 0.0 rpm 0
row). LED PANE 0 %
MOTOR SP 0.0 rpm
MOTOR TO 0.00 %
3. To enter the actual signal selection function. ENTER 1 L -> 0.0 rpm 0
1 ACTUAL SIGNALS
01 MOTOR SPEED FILT
0.0 rpm
4. To select an actual signal. 1 L -> 0.0 rpm 0

2 ACTUAL SIGNALS
01 SPEED REF 2
To change the actual signal group.
0 rpm
5. To accept the selection and to return to the Actual Signal 1 L -> 0.0 rpm 0
ENTER
Display Mode. LED PANE 0 %
SPEED RE 0.0 rpm
MOTOR TO 0.00 %
6. To cancel the selection and keep the original selection. 1 L -> 0.0 rpm 0
MOTOR SP 0.0 rpm
The selected keypad mode is entered.
FUNC DRIVE MOTOR TO 0.00 %
How to display the full name of the actual signals

1. To display the full name of the three actual signals. Hold 1 L -> 0.0 rpm 0
LED PANEL OUTP
ACT MOTOR SPEED FILT
MOTOR TORQUE FILT
2. To return to the Actual Signal Display Mode. Release 1 L -> 0.0 rpm 0
LED PANE 0 %
ACT MOTOR SP 0.0 rpm
MOTOR TO 0.00 %
Control panel
41
How to view and reset the fault history
Note: The fault history cannot be reset if there are active faults or alarms.
1. To enter the Actual Signal Display Mode. 1 L -> 0.0 rpm 0

ACT LED PANE 0 %
MOTOR SP 0.0 rpm
MOTOR TO 0.00 %
2. To enter the Fault History Display. 1 L -> 0.0 rpm

The time of occurrence can be seen either as total power- 2 LAST FAULT
on time or in the date format if an external control system + PANEL LOSS
(for example AC 80, AC 800M) has been connected to 20 H 49 MIN 56 S
control the drive.
3. To select the previous (UP) or the next fault/alarm 1 L -> 0.0 rpm
(DOWN). 2 LAST FAULT
H MIN S
To clear the Fault History. RESET 1 L -> 0.0 rpm

2 LAST FAULT
+ OVERCURRENT
12 H 49 MIN 10 S
4. To return to the Actual Signal Display Mode. 1 L -> 0.0 rpm 0

LED PANE 0 %
MOTOR SP 0.0 rpm
MOTOR TO 0.00 %
How to display and reset an active fault

1. To display an active fault. 1 L -> 0.0 rpm 0

ACT ACS 800 75 kW
*** FAULT ***
2. To reset the fault. RESET 1 L -> 0.0 rpm 0

LED PANE 0 %
MOTOR SP 0.0 rpm
MOTOR TO 0.00 %
Control panel
42
About the fault history

The fault history restores information on the 16 latest events (faults, alarms and
resets) of the drive. The table below shows how the events are stored in the fault
history.
Event Information on display

Drive detects a fault and Sequential number of the event and
A Fault History View generates a fault message. LAST FAULT text
Sign Name and Name of the fault and a “+” sign in front
code of the name
Sequential number Power- Total power-on time

(1 is the most recent event) on time User resets the fault message. Sequential number of the event and
LAST FAULT text
1 L -> 0.0 rpm RESET FAULT text
2 LAST FAULT Total power-on time
+ OVERCURRENT
12 H 49 MIN 10 S Drive generates an alarm Sequential number of the event and
message. LAST ALARM text
Name of the alarm and a “+” sign in
front of the name
Total power-on time
Drive deactivates the alarm Sequential number of the event and
message. LAST ALARM text
Name of the alarm and a “-” sign in
front of the name
Total power-on time
Parameter mode
In the Parameter Mode, the user can:
• view parameter values
• change parameter settings.
The panel enters the Parameter Mode when the user presses the PAR key.
Note: Certain parameters do not allow changes. If tried, no change is accepted, and
the following warning is displayed:
**WARNING**
WRITE ACCESS DENIED
PARAMETER SETTING
NOT POSSIBLE
Control panel
43
How to select a parameter and change the value

1. To enter the Parameter Mode. 1 L -> 0.0 rpm O

PAR 13 ANALOGUE INPUTS
01 AI1 HIGH VALUE
10000
2. To select a group. 1 L -> 0.0 rpm O

When the arrow button is pressed down, only the 10 DIGITAL INPUTS
parameter group name is displayed. When the button is 01 START/STOP
released also the first parameter of the group is displayed. NO
3. To select a parameter within a group. 1 L -> 0.0 rpm O

When the arrow button is pressed down, only the 10 DIGITAL INPUTS
parameter name is displayed. When the button is released 02 DIRECTION
also the parameter value is displayed.
4. To enter the parameter setting function. ENTER 1 L -> 0.0 rpm O

10 DIGITAL OUTPUTS
02 DIRECTION
[FORWARD]
5. To change the parameter value. 1 L -> 0.0 rpm O

(slow change for numbers and text) 10 DIGITAL OUTPUTS
02 DIRECTION
[DI3]
(fast change for numbers only)
6a. To save the new value. ENTER 1 L -> 0.0 rpm O

10 DIGITAL OUTPUTS
02 DIRECTION
DI3
6b. To cancel the new setting and keep the original value, 1 L -> 0.0 rpm O
press any of the mode selection keys. ACT PAR 10 DIGITAL OUTPUTS
The selected mode is entered. 02 DIRECTION
FUNC DRIVE FORWARD
Control panel
44
How to adjust a source selection parameter

Most parameters define values that are used directly in the drive application
program. Source selection parameters are exceptions: They point to the value of
another parameter. The parameter setting procedure differs somewhat from that of
the other parameters.
1. See the table above to 1 L -> 0.0 rpm O

- enter the Parameter Mode PAR 55 ADAPTIVE PROG1
06 INPUT1
- select the correct parameter group and parameter
[±000.000.00]
- enter the parameter setting mode.
ENTER
2. To scroll between the inversion, group, index and bit 1 L -> 0.0 rpm O
fields.1) 55 ADAPTIVE PROG1
06 INPUT1
[±000.000.00]
3. To adjust the value of a field. 1 L -> 0.0 rpm O

55 ADAPTIVE PROG1
06 INPUT1
[±000.018.00]
4. To accept the value.

ENTER
1)
1 L -> 0.0 rpm O Inversion field inverts the selected parameter

55 ADAPTIVE PROG1 value. Plus sign (+): no inversion, minus (-) sign:
06 INPUT1 inversion.
[±001.018.00] Bit field selects the bit number (relevant only if the
Inversion field parameter value is a packed boolean word).
Group field Index field selects the parameter index.
Index field
Group field selects the parameter group.
Bit field
Note: Instead of pointing to another parameter, it is also possible to define a

constant by the source selection parameter. Proceed as follows:
• Change the inversion field to C. The appearance of the row changes. The rest of
the line is now a constant setting field.
• Give the constant value to the constant setting field.
• Press ENTER to accept.
Control panel
45
Function mode
In the Function Mode, the user can:
• Upload group 10...97 parameter values from the drive to the panel.
• Download group 10...97 parameter values from the panel to the drive.1)
• Copy group 10...97 parameter values from one drive to another by using the
upload and download functions.
• Adjust the contrast of the display.
The panel enters the Function Mode when the user presses the FUNC key.
The upload function can be performed also when the drive is running. During upload,
only a STOP command can be given to the drive.
The download function can only be performed, when the drive is stopped.
1)
The parameter groups 98, 99 and the results of the motor identification are not included.
How to copy parameters from one drive to other drives
Note:
• Upload before downloading.
• Ensure the firmware (e.g. system firmware) and its version are the same in both
drives. See signals 04.02 DTC SW VERSION and 04.03 APPLIC SW VERSION.
• Before removing the panel from a drive, ensure the panel is in remote operating
mode (selected with the LOC/REM key).
• Stop the drive before downloading.
• Parameter groups 98 and 99 will not be copied.
Before upload, repeat the following steps for each drive:

• Setup the motors. Enter the motor data from the motor nameplate (parameter
group 99 START-UP DATA) and if required, perform the identification run. For
instructions, see ID RUN (motor identification run) on page 25.
• Activate the communication to the optional equipment. See parameter group 98
OPTION MODULES.
Before upload, do the following steps for the drive from which the copies are to be
taken:
• Set the parameters in groups 10...97 as preferred.
• Proceed to the upload and download sequences (below).
Control panel
46
1. To enter the Function Mode. 1 L -> 0.0 rpm O

FUNC UPLOAD <=<=
DOWNLOAD =>=>
CONTRAST 0
2. To enter the page that contains the upload, download and 1 L -> 0.0 rpm O
contrast functions. UPLOAD <=<=
DOWNLOAD =>=>
CONTRAST 0
3. To select the upload function (a flashing cursor indicates 1 L -> 0.0 rpm O
the selected function). UPLOAD <=<=
DOWNLOAD =>=>
CONTRAST 0
4. To enter the upload function. ENTER 1 L -> 0.0 rpm O

UPLOAD <=<=
5. To switch to external control. 1 -> 0.0 rpm O

LOC
(No L on the first row of the display.) UPLOAD <=<=
REM
DOWNLOAD =>=>
CONTRAST 0
6. Disconnect the panel and reconnect it to the drive to which

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

drive.
8. Ensure the drive is in local control (L shown on the first row 1 L -> 0.0 rpm 0
LOC
of the display). If necessary, press the LOC/REM key to LED PANE 0 %
REM
change to local control. MOTOR SP 0.0 rpm
MOTOR TO 0.00 %

FUNC UPLOAD <=<=
DOWNLOAD =>=>
CONTRAST 0
DOWNLOAD =>=>
CONTRAST 0
11. To select the download function (a flashing cursor 1 L -> 0.0 rpm O
indicates the selected function). UPLOAD <=<=
DOWNLOAD =>=>
CONTRAST 0
12. To start the download. ENTER 1 L -> 0.0 rpm O

DOWNLOAD =>=>
Control panel
47
How to set the contrast of the display


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

selected function). UPLOAD <=<=
DOWNLOAD =>=>
CONTRAST 0
4. To enter the contrast setting function. ENTER 1 L -> 0.0 rpm O

CONTRAST [0]
5. To adjust the contrast. 1 L -> 0.0 rpm O

CONTRAST [7]
6.a To accept the selected value. ENTER 1 L -> 0.0 rpm O

UPLOAD <=<=
DOWNLOAD =>=>
CONTRAST 7
6.b To cancel the new setting and retain the original value by 1 L -> 0.0 rpm 0
pressing any of the mode selection keys. ACT PAR LED PANE 0 %
MOTOR SP 0.0 rpm
MOTOR TO 0.00 %
The selected mode is entered. FUNC DRIVE
Drive selection mode

In normal use the features available in the Drive Selection Mode are not needed; the
features are reserved for applications where several drives are connected to one
panel link. (For more information, see the Installation and Start-up Guide for the
Panel Bus Connection Interface Module, NBCI, [3AFY58919748 (English)].
In the Drive Selection Mode, the user can:
• Select the drive with which the panel communicates through the panel link.
• Change the identification number of a drive connected to the panel link.
• View the status of the drives connected to the panel link.
The panel enters the Drive Selection Mode when the user presses the DRIVE key.
Each on-line station must have an individual identification number (ID). By default,
the ID number of the drive is 1.
Note: The default ID number setting of the drive should not be changed unless the
drive is to be connected to the panel link with other drives on-line.
Control panel
48
How to select a drive and change its panel link ID number

1. To enter the Drive Selection Mode. ACS800 0003_3 SR

DRIVE DRIVE NAME
AMXR7200
ID NUMBER 1
2. To select the next drive/view. ACS800 0003_3 SR

The ID number of the station is changed by first pressing DRIVE NAME
ENTER (the brackets round the ID number appear) and AMXR7200
then adjusting the value with arrow buttons. The new value
ID NUMBER 1
is accepted with ENTER. The power of the drive must be
switched off to validate its new ID number setting.
The status display of all devices connected to the Panel 1o

Link is shown after the last individual station. If all stations
do not fit on the display at once, press the double-arrow up
Status Display Symbols:
to view the rest of them.
o = Drive stopped, direction
forward
= Drive running, direction
reverse
F = Drive tripped on a fault
3. To connect to the last displayed drive and to enter another 1 L -> 0.0 rpm 0
mode, press one of the mode selection keys. ACT PAR LED PANE 0 %
MOTOR SP 0.0 rpm
FUNC MOTOR TO 0.00 %
The selected mode is entered.
Reading and entering packed boolean values on the display

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

Hex 0 0 1 A
Control panel
49
Program features

This chapter describes the typical functions of the drive.
Local control vs. external control

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

adapter
RTAC/RDIO/RAIO Slot 1 or Slot 2

module
RDCO CH0 Fieldbus adapter

CH3 module (DDCS) Nxxx
DriveWindow
(DDCS) or
Advant controller
(e.g. AC 80, AC 800M)
CH1 AIMA-01 I/O RTAC/RDIO/RAIO

(DDCS) adapter module module
Control modes
The System control program has two main control modes: remote (external control)
and local (local control). The control mode is selected with the LOC/REM key on the
CDP 312R control panel or with the DriveWindow PC tool.
Program features
50
External control
When the drive is in external control, commands are given through a serial link
(connected to option module in Slot 1/2 of the drive or to DDCS channel CH0 of the
RDCO module) or the I/O terminals (digital and analogue inputs). The desired
alternative is selected by parameter 98.02 COMM. MODULE.
A HAND/AUTO function is suitable for applications requiring alternation between
serial communication control and I/O control. A digital input can be selected for
changing the control location. The function is activated by parameter
10.07 HAND/AUTO.
It is possible to use two serial communication interfaces with one drive. See section
Redundant fieldbus control on page 300.
I/O extension modules are connected to option Slot 1/2 of the drive or to DDCS
channel CH0 of the RDCO module. All I/O extension units connected to DDCS
channel CH1 are connected in ring topology. Channel CH1 acts as a master in the
communication link.The RMIO is the actual master of the communication link. Each
I/O unit has an individual address, set with DIP switches on the unit. Before use,
each I/O unit must be activated by parameter group 98 OPTION MODULES.
External control is indicated by a blank on the panel display.
1 ->1242 rpm I
Local control
When the drive is in local control, the control commands are given from the control
panel keypad or from a PC equipped with DriveWindow. When control panel is used,
L indicates local control on the panel display.
1 L ->1242 rpm I
Local control mode is mainly used during commissioning and maintenance. The
control panel always overrides the external control signal sources when used in local
mode. Changing the control location to local can be disabled by parameter
16.04 LOCAL LOCK.
In local control, the emergency stop activation signal source can be selected by
parameter 21.12 LOCAL EM STOP MODE.
Settings
Parameter Additional information
10.07 HAND/AUTO Activation of the HAND/AUTO function
16.04 LOCAL LOCK Activation of the local control lock
21.12 LOCAL EM STOP MODE Selection of the source for the emergency stop activation signal in
local control mode
98 OPTION MODULES Activation of the optional I/O and serial communication
Program features
51
The following diagram presents the external control interface and I/O connections.
Fieldbus RDIO-01 RAIO-01 RTAC-01 2)

RMIO adapter or or or
Slot 1 Rxxx (e.g.
RPBA-01
1) 2)
RDNA-01 Installed in Slot 1 or Slot 2 Recommended to be
RMBA-01 1) connected to AIMA-01
Slot 2 RDIO-01 or RAIO-01 or RTAC-01 2) or RMBA-011)
RDCO-0x POF (Plastic optic fibre)

- Fieldbus CH0 or or or
- ABB controllers
Fieldbus CI858 ModuleBus
4)
Used with adapter Nxxx
RDCO-01, 10 MBd (used with AC80 (4 AC 800M (4
AC 800M (4
RDCO-02
- I/O extensions
CH1 POF (Plastic optic fibre)
- Pulse encoder
NTAC-02 CH1 1A AIMA-01 CH1 1A AIMA-01 LSU

Node addr. DSU
= 16 Slot 1 Slot 2 Slot 3 Slot 1 Slot 2 Slot 3 (single drive
interface)
RDIO/RAIO/RTAC RDIO/RAIO/RTAC
0...2 AIMA-01 adapters according to the

- Master/Follower link HCS (Hard Silica Fibre with RDCO-01/02) number of RDIO, RAIO and RTAC modules
POF (Plastic optic fibre with RDCO-01/02/03)
CH2 or
Broadcast This option
module can
NAIO-03F
CH0/CH2 CH0/CH2 CH0/CH2 CH0/CH2 be used if (Fast AI)
RDCO-0x RDCO-0x RDCO-0x RDCO-0x no other Node addr = 1
devices
ACS800 ACS800 ACS800 ACS800 connected FEA-01
Follower 1 Follower 2 Follower 3 Follower 4 in the CH2. FIO-11
(Fast AI)
- PC tools POF (Plastic optic fibre)
- NETA-01 HCS (Hard Silica Fibre with RDCO-01/02) RDCO-0x CH0 or CH3
NETA-01
CH3 or NBDU MSTR
or
NDBU
-85/95
NDBU
CH0 -85/95 DDCS/PC card
cable
MSTR CH0
or NDPC-12
CH1 MSTR or
ACS800 CH2 CH1

PCMCIA PCMCIA
drives board and RUSB-02
CH3 ACS800 CH2 board and
... NDPA-02 NDPA-02
drives
CH8 CH3 PC PCI USB
... adapter adapter
ACS800 CH8
PC PC
Program features
52
Analogue inputs
The drive has three programmable non-galvanically isolated analogue inputs on
the RMIO board: one voltage input (0/2...10 V or -10...10 V) and two current inputs
(0/4...20 mA). The accuracy of the analogue inputs is +/-0.5%.
Two extension inputs are available if an optional Analogue I/O Extension 1 module,
RAIO, is used. The input signal range is selected with DIP switches. The hardware
filter time constant of the RMIO analogue inputs is approximately 1 ms.
For more information, see RAIO-01 Analogue I/O Extension User's Manual
[3AFE64484567 (English)].
Each input can be filtered, and the maximum and minimum values can be adjusted.
Analogue inputs can be used
• for motor temperature measurement
• as I/O speed or torque reference source
• as a communication interface for an external control system (e.g. fieldbus control)
• in adaptive programming using function blocks.
Analogue input speed reference can be summed with the fieldbus adapter speed
reference if parameter 11.02 AI+FBA SPEED REF is activated and parameter
98.02 COMM. MODULE is set to FIELDBUS.
See control block diagram in section I/O speed and torque references and motor
temperature protection on page 319.
Two extra inputs are also available for adaptive block programming if an optional
Analogue I/O Extension 2 module, RAIO, is used. (See blocks EXT2_AI1...2 in the
ACS600 / ACS800 Application Guide Adaptive Program for System Application
Program 7.x [3AFE68420075 (English)].)
The analogue input update cycle is 10 ms.
Program features
53
RMIO board
AI Input type Resolution Signal Additional information
(1
AI1 0...+/-10 11 bits MOTOR 1 TEMP Motor temperature measurement with 1...3 PTC thermistor,
V DC + sign or Pt100 or KTY84-1xx sensors.
Ri = 200 kΩ I/O speed reference Speed reference for I/O control or HAND/AUTO function (Par.
10.07 HAND/AUTO).
AI2 0/4...20 mA 11 bits I/O speed reference Speed reference (mA) for I/O control or HAND/AUTO function
Ri = 100 Ω + sign or (Par. 10.07 HAND/AUTO)
used in the adaptive
programming
AI3 0/4...20 mA 11 bits I/O torque reference Torque reference for I/O control or HAND/AUTO function
Ri = 100 Ω + sign or (Par. 10.07 HAND/AUTO)
used in the adaptive
programming
RAIO module: Unipolar mode (2

AI1 0(4)...20 mA 12 bits MOTOR 1 TEMP Motor 1 temperature measurement with 1...3 PTC thermistor,
Ri = 100 Ω Pt100 or KTY84-1xx sensors
0...2 V DC 12 bits or Speed reference for I/O control.
0...10 V DC I/O speed reference Isolated from analogue outputs, power supply and earth.
Ri > 200 κΩ Test voltage: 1.5 kV AC, 1 minute.
AI2 0(4)...20 mA 12 bits MOTOR 2 TEMP Motor 2 temperature measurement with 1...3 PTC thermistor,
Ri > 100 Ω Pt100 or KTY84-1xx sensors
0...2 V DC 12 bits or Torque reference for I/O control.
0...10 V DC I/O torque reference B Isolated from analogue outputs, power supply and earth.
Ri > 200 kΩ Test voltage: 1.5 kV AC, 1 minute.
RAIO module: Bipolar mode (3

AI1 -20...+20 mA 11 bits MOTOR 1 TEMP Motor 1 temperature measurement with 1...3 PTC thermistor,
0(4)...20 mA + sign Pt100 or KTY84-1xx sensors
Ri = 100 Ω
-2...+2 V DC 11 bits or Speed reference for I/O control.
-10...10 V DC + sign I/O speed reference Isolated from analogue outputs, power supply and earth.
Ri = 200 kΩ Test voltage: 1.5 kV AC, 1 minute.
AI2 -20...+20 mA 11 bits MOTOR 2 TEMP Motor 2 temperature measurement with 1...3 PTC thermistor,
0(4)...20 mA + sign Pt100 or KTY84-1xx sensors
Ri = 100 Ω
-2...+2 V DC 11 bits or Torque reference for I/O control.
-10...10 V DC + sign I/O torque reference B Isolated from analogue outputs, power supply and earth.
Ri = 200 kΩ Test voltage: 1.5 kV AC, 1 minute.
(1 If
analogue input AI1 has been selected for speed reference and motor temperature measurement, motor temperature
measurement is valid and the speed reference is switched to zero and alarm I/O SP REF is activated (see chapter Fault
tracing).
(2
Unipolar mode is selected by setting parameter 98.06 AI/O EXT MODULE 1 (with analogue I/O extension module 1) or
by setting parameters 98.13 AI1 EXT2 MODE and 98.14 AI2 EXT2 MODE (with analogue I/O extension module 2).
(3
With bipolar speed reference signal, the speed scaling is defined by parameters 13.01/13.04 AI1/2 HIGH VALUE and
13.02/13.05 AI1/2 LOW VALUE. See also parameter 13.12/13.06 MINIMUM AI1/2.
Program features
54
Example:
-10...+10 V bipolar speed reference signal:
• Set parameter 13.01 AI1 HIGH VALUE to 20000 and 13.02 AI1 LOW VALUE to
-20000.
• Select -10 V by parameter 13.12 MINIMUM AI1.
• Set speed scaling: Parameter 50.01 SPEED SCALING defines the speed
reference in rpm which corresponds to value 20000.
Settings
10.07 HAND/AUTO Switching between I/O control and serial communication control
through a digital input
11 REFERENCE SELECT Selection of analogue input as a reference source
13 ANALOGUE INPUTS Processing of the analogue inputs
30.27 AI<MIN FUNC Selection of the supervision with analogue input signal loss
98 OPTION MODULES Activation of the optional I/O and serial communication.
Definition of the analogue input signal type (bipolar or unipolar).
Diagnostics
Actual value Additional information
01.16, 01.17 MOTOR 1 TEMP Values of analogue inputs AI1...AI2 with motor temperature
measurement
01.19...01.21 Non-scaled values of analogue inputs AI1...AI3
01.41 EXT2 AI1, 01.42 EXT2 AI2 Non-scaled values of analogue inputs AI1...AI2 of I/O extension
module EXT2
02.25 ADDITIVE SP REF Sum of the analogue input speed reference and fieldbus adapter
reference
Program features
55
Analogue outputs
The drive has two programmable non-galvanically isolated current outputs
(0/4...20 mA) on the RMIO board. Two outputs can be added by using an optional
Analogue I/O Extension module, RAIO. For more information, see RAIO-01
Analogue I/O Extension User's Manual [3AFE64484567 (English)].
Analogue output signals can be inverted and filtered. The analogue output signals
can be proportional to motor speed, process speed (scaled motor speed), output
frequency, output current, motor torque, motor power, etc. It is possible to write
a value to an analogue output through a serial communication link (e.g. fieldbus
link).
The resolution of the RMIO board analogue outputs is 10 bits and the accuracy is
+/-1%. The resolution of the RAIO module analogue outputs is 12 bits and the
accuracy is +/-0.5%.
The analogue output update cycle is 10 ms.
Two extra outputs are also available for adaptive block programming if an optional
Analogue I/O Extension 2 module, RAIO, is used.
RMIO board
AO Input type Resolution Signal Additional information
AO1 0(4)...20 mA 10 bits AO1_OUT The output can be used as a constant current source
Ri = to supply temperature measurement sensor Pt100,
max. 700 Ω PTC or KTY84-1xx. The current is set automatically
according to the type of the sensor.
AO2 0(4)...20 mA 10 bits AO2_OUT The output can be controlled by an external control
Ri = system.
max. 700 Ω
RAIO module
AO Input type Resolution Signal Additional information
AO3 0(4)...20 mA 12 bits AO3_OUT See parameter 98.06 AI/O EXT MODULE 1 and
Ri = parameter group 15 ANALOGUE OUTPUTS.
max. 700 Ω Isolated from analogue inputs, power supply and
AO4 0(4)...20 mA 12 bits AO4_OUT earth. Test voltage: 1.5 kV AC, 1 minute.
Ri =
max. 700 Ω
(isolated from
the power
supply)
Program features
56
Settings
15 ANALOGUE OUTPUTS Selection and processing of analogue output values
98 OPTION MODULES Activation of optional I/O and serial communication
Diagnostics
01.23 AO1 [mA] Values of analogue outputs AO1...AO2
01.24 AO1 [mA]
FIO-11 current output (0(4)…20 mA) can be used as a fast analogue output. The
output can be connected to any parameter with an appropriate scaling value. Signal
can also be inverted.
Program features
57
Digital inputs
The drive has seven digital inputs on the RMIO board. Digital input DI1 is reserved
for the emergency stop signal and digital input DI2 is reserved for the run enable
signal. Digital inputs DI3...DI7 are freely programmable. Six inputs can be added by
using optional Digital I/O Extension modules, RDIOs. RDIO modules can also be
used to replace the RMIO board digital inputs. For more information, see RDIO-01
Digital I/O Extension User's Manual [3AFE64485733 (English)].
All digital inputs can be read through a serial communication link (e.g. fieldbus link).
The maximum number of digital inputs is 13. The analogue input update cycle time is
10 ms.
DI RMIO board RDIO module 1 RDIO module 2 Par. setting
I/O name DI1 DI2 DI3 DI4 DI5 DI6 DI7 Ext1 Ext1 Ext1 Ext2 Ext2 Ext2
in software DI1 DI2 DI3 DI1 DI2 DI3
DI1 1 2
DI2 1 2 1: Par. 98.03 1)
DI3 1 2 and Par. 98.04
= NO
DI4 1 3
2: Par. 98.03 1)
DI5 1 3
= REPLACE
DI6 1 3 3: Par. 98.04 =
DI7(DIIL) 2) 1 REPLACE
EXT1 DI1 5 5: Par. 98.03 1)
= EXTEND
EXT1 D12 5
6: Par. 98.04 =
EXT1 DI3 5
EXTEND or
EXT2 DI1 3) 6 STEP-UP
3)
EXT2 DI2 6
3)
EXT2 DI3 6
I/O extension module 1/2 is activated by parameters 98.03/98.04 and 98.09/98.10.
1)
98.03 DI/O EXT MODULE 1: NO = No RDIO module 1 used, REPLACE = RDIO replaces RMIO
DI1, DI2, DI3.
2) DI7 is a normal input, which is not connected to interlock circuit.
3) See parameter group 10 DIGITAL INPUTS.
Settings
10 DIGITAL INPUTS Selection and processing of digital input values
98 OPTION MODULES Activation of the optional I/O and serial communication
Diagnostics
01.15 DI6-1 STATUS Values of RMIO digital inputs
08.05 DI STATUS WORD Values of RMIO and extended digital inputs
Program features
58
Digital outputs
The drive has three programmable digital outputs on the RMIO board. Four outputs
can be added by using optional Digital I/O Extension modules, RDIOs. RDIO
modules can also be used to replace the RMIO board digital outputs. For more
information, see RDIO-01 Digital I/O Extension User's Manual [3AFE64485733
(English)].
The maximum number of digital outputs is 7. The digital output update cycle time is
10 ms.
It is possible to write a value to a digital output through a serial communication link
(e.g. fieldbus link).
DO RMIO board RDIO RDIO Parameter setting
module 1 module 2
I/O name DO1 DO2 DO3 Ext1 Ext1 Ext2 Ext2
in software DO1 DO2 DO1 DO2
DO1 1 2 1: Par. 98.03 (1 and Par. 98.04 = NO
2: Par. 98.03 (1 = REPLACE
DO2 1 2
3: Par. 98.04 = REPLACE
DO3 1 3
5: Par. 98.03 (1 = EXTEND
EXT1 DO1 2, 5 (controlled by signal 07.03 AUX
EXT1 DO2 2, 5 CONTRL WORD 2)
EXT2 DO1 6 6: Par. 98.04 = EXTEND or STEP-UP
EXT2 DO2 3, 6
I/O extension module 1/2 is activated by parameters 98.03/98.04 and 98.09/98.10.
(1 98.03
DI/O EXT MODULE 1: NO = No RDIO module 1 used, REPLACE = RDIO replaces RMIO
DO1 and DO2.
Settings
14 DIGITAL OUTPUTS Processing of the RMIO and RDIO digital outputs
30.26 COM LOSS RO Selection of the supervision of fieldbus controlled RMIO and RDIO
digital outputs DO1...3 in a communication break
98 OPTION MODULES Activation of optional I/O and serial communication
Diagnostics and control

01.22 RO3-1 STATUS Values of standard digital outputs
07.02 AUX CTRL WORD 1 RMIO DO1...DO2 control
07.03 AUX CTRL WORD 2 RDIO DO1...DO2 control
Program features
59
Fast analogue interface

The fast analogue input interface is available for speed and torque references by
using an NAIO-03F or an FIO-11 option I/O module. The module should be
connected to channel CH2 on the RDCO DDCS communication option. When the
fast analogue I/O module is enabled, no other modules are allowed on channel CH2.
The analogue input update cycle is 1 ms.
See the diagram showing the external control interface and I/O connections on page
51.
The fast analogue interface is NOT active if any of the following conditions is true:
• Drive ID run is in progress
• Parameter 99.07 MOTOR ID RUN value is other than “NO”. This means that the
ID run is selected to be run at the next start.
• There is no active start command.
The NAIO-03F module uses node address 1. The address is selected by DIP
switches on the NAIO-03F module. Bipolar mode must be used; it is also set by DIP
switches. See the Installation and Start-up Guide (3AFY58919730 [English]) for the
NAIO-0x modules for more information.
NAIO-03F DIP switch settings

21

The System Control program supports two external fast analogue inputs. See the
Installation and Start-up Guide [3AFY58919730 (English)] option module for more
information and for instructions on how to adjust the input ranges.
A fast external analogue output will be supported with the FIO-11 option module
(revision C or later). The FIO-11 requires an FEA-01 (Extension Adapter).
Settings
12.12 FAST AI1 REF SEL Signal source for fast analogue input AI1
12.13 FAST AI1 SPD SCL Scaling of fast analogue signal AI1 for speed reference chain.
12.14 FAST AI1 TORQ SCL Scaling of fast analogue signal AI1 for torque reference chain.
12.15 FAST AI2 REF SEL Signal source for fast analogue input AI2.
12.16 FAST AI2 SPD SCL Scaling of fast analogue input AI2 for speed reference chain.
12.17 FAST AI2 TORQ SCL Scaling of fast analogue AI2 for torque reference chain.
12.21 FAST EXT AO1 SEL Signal source for fast analogue output AO1
12.22 FAST EXT AO1 INV Inverts fast AO1
12.23 FAST EXT AO1 MIN Minimum value for AO1
12.24 FAST EXT AO1 SCL Scaling for AO1
Program features
60
Diagnostics
09.06 FAULT WORD 3 B8 Fast AI module fault FAST EXT AI
Fast digital interface

The standard DI5 can be used as fast DI. The fast DI is read on 1 ms timelevel and it
can be used to:
• (dis)connect the SPEED CORRECTION to / from speed reference chain (see
control block diagram in section Speed reference ramp on page 322.)
or
• position synchronisation see section Position counter on page 124.
Settings
12.03 FAST DI5 SEL Connect DI5 to SPEED CORRECTION or Position counter
Extracted from complete speed and torque control chain. See control block
diagrams Control block diagrams on page 317.
F A S T A I1 R E F S E L
1 2 .1 2
F A S T A I1 S C A L IN G 2 6 .0 4 T O R Q U E S T E P
F A S T A I1 S P D S C L 2 5 .0 4 T O R Q U E R E F B
1 2 .1 3 2 5 .0 1 T O R Q U E R E F A
F A S T A I1 T O R Q S C L 2 3 .0 4 S P E E D C O R R
1 2 .1 4 2 .2 5 A D D S P E E D
N O A I R E F
F A S T A I2 R E F S E L
1 2 .1 5
F A S T A I2 2 6 .0 4 T O R Q U E S T E P
S C A L IN G
F A S T A I2 S P D S C L 2 5 .0 4 T O R Q U E R E F B
1 2 .1 6 2 5 .0 1 T O R Q U E R E F A
F A S T A I2 T O R Q S C L 2 3 .0 4 S P E E D C O R R
1 2 .1 7
2 .2 5 A D D S P E E D
N O A I R E F
Program features
61
RMIO board connection diagrams

For RDCU Drive Control Unit (includes an RMIO board) installation instructions and
technical information, see RDCU Drive Control Units Hardware Manual
Program features
62
Control through communication link

The figure below shows the RMIO Motor Control and I/O board default connections
when the drive is controlled through a serial communication link.
Motor temperature X20
measurement 1...3 1 VREF Reference voltage -10 V DC, max. 10 mA
Pt100, PTC or 2 GND 1 kΩ < RL < 10 kΩ
KTY84-1xx X21
1 VREF Reference voltage 10 V DC, max. 10 mA
AI1+ 2 GND 1 kΩ < RL < 10 kΩ
AI1-
3 AI1+ Analogue input (voltage -10 V ... 0 ... +10 V)
4 AI1- Rin > 200 kΩ
5 AI2+ Analogue input (current 0(4)...20 mA)
AO1- 6 AI2- Rin = 100 Ω
AO1+
7 AI3+ Analogue input (current 0(4)...20 mA
8 AI3- Rin = 100 Ω
If parameter 30.03 =
% 9 AO1+ Motor torque 0…20 mA = 0…motor nom.
1...3 × PT100 or PTC
10 AO1- torque, RL < 700 Ω
11 AO2+ Motor speed 0…20 mA = 0…motor nom.
rpm
12 AO2- speed, RL < 700 Ω
X22
1 DI1 No Emergency Stop
2 DI2 Run Enabled
3 DI3 By default not in use
7 +24 V +24 V DC, max. 100 mA
8 +24 V
9 DGND1 Digital ground
11 DI7(DIIL) By default not in use
X23
Use external power supply if the total current 1 +24 V Auxiliary voltage input or output 24 V DC, 250
consumption exceeds 250 mA. 2 GND mA or 130 mA if an NLMD-01 panel is
included.
X25
1 RO11 Relay output 1
2 RO12 Emergency Stop (default)
3 RO13
X26
2 RO22 Running (default)
3 RO23
X27
2 RO32 Fault (default)
3 RO33
Program features
63
Control through I/O

The figure below shows the RMIO Motor Control and I/O board default signals when
the drive is controlled from the I/O: parameter 98.02 COMM. MODULE is set to NO
or HAND/AUTO function is used (Par. 10.07 HAND/AUTO).
X20
Motor temperature 1 VREF Reference voltage -10 V DC, max 10 mA
measurement 1...3 2 GND 1 kΩ < RL < 10 kΩ
Pt100, PTC or X21
KTY84-1xx 1 VREF Reference voltage 10 V DC, max 10 mA
2 GND 1 kΩ < RL < 10 kΩ
AI1+ 3 AI1+ Speed reference unipolar (default) (range for
AI1- AI1: -10 V… 0 ...10 V, Rin > 200 kΩ
4 AI1-
5 AI2+ Speed reference (current 0(4)…20 mA),
6 AI2- alternative, see Par. 11.01, Rin = 100 Ω
mA-type of alternative
AO1- for references 7 AI3+ Torque reference, (current 0(4)…20 mA)
AO1+ 8 AI3- (TORQ REF B), Rin = 100 Ω
% 9 AO1+ Motor torque 0…20 mA = 0 … motor nom.
If parameter 30.03 = 10 AO1- torque, RL < 700 Ω
1...3 × PT100 or PTC rpm 11 AO2+ Motor speed 0…20 mA = 0 … motor nom.
12 AO2- speed, RL < 700 Ω
X22
1 DI1 No Emergency Stop
2 DI2 Run Enabled
1)
3 DI3
4 DI4 1)
5 DI5 Reset
1)
6 DI6
1)See parameter group 10 7 +24 V +24 V DC, max. 100 mA
DIGITAL INPUTS for Start/ 8 +24 V
Stop/Direction control. 9 DGND1 Digital ground
1)
11 DI7 (DIIL)
X23
Use external power supply if the total current
1 +24 V Auxiliary voltage input or output 24 V DC, 250
consumption exceeds 250 mA.
2 GND mA or 130 mA if an NLMD-01 panel is
included.
X25
DO3: Motor fan control. See 2 RO12 Emergency Stop (default)
parameter 10.06 MOTOR FAN 3 RO13
ACK and parameter groups X26
14 DIGITAL OUTPUTS and 1 RO21 Relay output 2
35 MOTOR FAN CTRL. 2 RO22 Run (default)
3 RO23
X27
2 RO32 Fault (default)
3 RO33
Program features
64
Actual signals
Several actual signals are available:
• drive output frequency, current, voltage and power
• motor speed and torque
• intermediate circuit DC voltage
• drive temperature
• operating time counter (h), kWh counter, fan-on time counter (h) and motor run time
counter (h)
• digital I/O and analogue I/O status.
Three signals can be shown simultaneously on the control panel display. It is also
possible to read the values through a serial communication link or through analogue
outputs.
Settings
15 ANALOGUE OUTPUTS Selection of an actual signal to an analogue output
16.09 RESET COUNTER Resetting of the cooling fan running time counter
51 MASTER ADAPTER (fieldbus Settings of the fieldbus adapter used in serial communication
adapter)
92 D SET TR ADDR Selection of an actual signal to a data set (serial communication)
93 D SET TR ADDR
Diagnostics
01 ACTUAL SIGNALS... Lists of actual signals
09 FAULT WORDS
Motor identification
The performance of Direct Torque Control is based on an accurate motor model
determined during the motor start-up. A motor Identification Magnetisation is
automatically done the first time the start command is given. During this first start-up,
called ID MAGN, the motor is magnetised at zero speed for several seconds to allow
the motor model to be created. This identification method is suitable for most
applications. In demanding applications, a separate identification run can be
performed.
Settings
99.07 MOTOR ID RUN Selection of the motor identification run
Program features
65
Undervoltage control
If the incoming supply voltage is cut off, the drive will continue to operate by utilising
the kinetic energy of the rotating motor. The drive will be fully operational as long as
the motor rotates and generates energy to the drive. The drive can continue the
operation after the break if the main contactor remained closed.
Undervoltage control limit is 0.82 · 1.35 · U1min, where U1min is the minimum value of
the input voltage range.
See control block diagram in section Torque reference on page 324.
Note: Cabinet assembled units equipped with main contactor option must be
equipped with a hold circuit (e.g. UPS) which keeps the contactor control circuit
closed during a short supply break.
Umains
TM fout UDC
(Nm) (Hz) (V DC) UDC
160 80 520
120 60 390
fout
80 40 260
TM
40 20 130
t(s)
1.6 4.8 8 11.2 14.4
UDC= intermediate circuit voltage of the drive, fout = output frequency of the drive,
TM = motor torque
Loss of supply voltage at nominal load (fout = 40 Hz). The intermediate circuit DC voltage drops to the
minimum limit. The controller keeps the voltage steady as long as the mains is switched off. The drive
runs the motor in generator mode. The motor speed falls but the drive is operational as long as the
motor has enough kinetic energy.
Note: The undervoltage controller is able to adjust the torque in all operating
quadrants without limitations, if the following parameter values are set high enough:
- power limits: 20.17, 20.18,
- torque limits: 20.05, 20.06 and
- maximum current: 20.04.
Program features
66
Settings
20.04 MAXIMUM CURRENT Maximum current
20.05 MAXIMUM TORQUE and Torque limits
20.06 MINIMUM TORQUE
20.14 ADAPTIVE UDC MEAS Deactivation of the adaptive UDC measurement. Measurement
should be deactivated if undervoltage control is in use in
a application with several drives connected to the same DC bus.
20.15 UNDERVOLT TORQ UP and Limitation of the maximum/minimum torque during undervoltage
20.16 UNDERVOLT TORQ DN control, when adaptive UDC measurement is deactivated.
20.17 P MOTORING LIM and Power limits
20.18 P GENERATING LIM
30.22 UNDERVOLTAGE CTL Activation of the undervoltage controller
Diagnostics
08.03 LIMIT WORD 1, bit 12 DC undervoltage limit
Program features
67
Overvoltage control
Overvoltage control of the intermediate DC link is needed with two-quadrant
line-side converters when the motor operates within the generating quadrant.
To prevent the DC voltage from exceeding the overvoltage control limit, the
overvoltage controller automatically decreases the generating torque when the limit
is reached.
The overvoltage control limit is 1.24 × 1.35 × U1max, where U1max is the maximum
value of the input voltage range.
Settings
30.23 OVERVOLTAGE CTL Activation of the overvoltage controller
Diagnostics
08.03 LIMIT WORD 1, bit 13 DC overvoltage limit
Automatic start
Since the drive can detect the state of the motor within a few milliseconds,
the starting is immediate under all conditions. For example the starting of turbining
pumps or windmilling fans is easy.
Settings
21.01 START FUNCTION Selection of the start function
Program features
68
Auto restart
It is possible to restart the drive automatically after a short power supply failure (max.
5 seconds) using the AUTO RESTART function if
- the RMIO board is powered through an UPS (Uninterruptible Power System)
- digital input DI2 circuit remains closed during the power supply failure
- the inverter is allowed to run for max. 5 seconds without inverter fans.
The maximum time for a power failure for the auto restart function is adjustable
(21.10 AUTO RESTART TIME). The factory setting is five seconds.
Note: Check that the auxiliary control circuit functions correctly during a power
supply failure.
When a power supply failure occurs
• 08.01 MAIN STATUS WORD is frozen and DC UNDERVOLT fault (signal 09.02
Fault Word 2 bit 2) is masked. DC UNDERVOLT fault is internally reset.
• DC UNDERVOLT alarm is activated (signal 09.05 Alarm Word 2 bit 14 value is 1).
• 07.01 MAIN CONTROL WORD bit 0 (ON) changes from 1 to 0 and back to 1.
• Start function is forced temporarily to the flying start mode (parameter 21.01
START FUNCTION setting is AUTO).
• After a successful restart, alarm RESTARTED is activated (signal 09.05 Alarm
Word 2 bit 15 value is 1).
Note: If the power supply failure lasts over 5 seconds: Auto restart function is
cancelled, 08.01 Main Status Word is restored and DC UNDERVOLT fault (signal
09.02 Fault Word 2 bit 2) is unmasked.
PPCC fault indications can be masked when auto restart function has been selected.
Settings
21.09 AUTO RESTART Selection of the auto restart function
21.10 AUTO RESTART TIME Maximum duration of the power failure
30.24 PPCC FAULT MASK Activation of the fault mask (prevents PPCC fault indications)

07.01 MAIN CTRL WORD, bit 0 State ON/OFF1 control
08.01 MAIN STATUS WORD Main Status Word
09.02 FAULT WORD 2, bit 2 / DC undervoltage fault/alarm
09.05 ALARM WORD 2, bit 14
09.05 ALARM WORD 2, bit 15 Motor restart alarm
Program features
69
Emergency stop
ACS800 hardware and System Control Program fulfil the following emergency stop
category classes:
• Class 0 Immediate removal of power
• Class 1 Controlled emergency stop.
The emergency stop signal is connected to digital input DI1 of the RMIO board or
DI1 of the RDIO I/O Extension module 1 (Par. 98.03 DI/O EXT MODULE 1 setting
must be REPLACE). The function is activated by digital input DI1 or by setting 07.01
Main Control Word bit 2 (OFF3) to 0.
The emergency stop feedback signal is sent through relay output RO1 of the drive
RMIO board (or the RDIO I/O Extension module1) to the Auxiliary Control Unit,
which contains the control relays for the common emergency stop circuit.
The purpose of the feedback signal is to confirm that the emergency stop function
has been received and the drive program is running. If no feedback is received, the
main AC supply will be switched off after a short delay defined by the Auxiliary
Control Unit’s adjustable relays.
Note: During emergency stop, torque selector parameter 26.01 TORQUE
SELECTOR is internally set to speed control when parameter 21.04 EME STOP
MODE setting is STOP RAMPING or STOP TORQ.
Note: When an emergency stop signal is detected, the emergency stop function
cannot be cancelled even though the signal is cancelled.
If an emergency stop signal is activated when the motor is already stopped

- 07.01 Main Control Word bit 2 is set to 0 (= emergency stop), 08.01 Main Status
Word bit 5 is set to 0 (emergency stop active) and 09.04 Alarm Word 1 bit 1 is set
to 1 (= EM STOP alarm). Motor run and motor magnetisation commands are
disabled.
- Relay output RO1 (of the RMIO/RDIO) is energised until 07.01 Main Control Word
bit 0 value is set to 0 (i.e. when the drive is ready to proceed to READY TO SWITCH
ON state).
If an emergency stop signal is activated when the motor is running

- 07.01 Main Control Word bit 2 is set to 0 (= emergency stop), 08.01 Main Status
Word bit 5 is set to 0 (= emergency stop active) and 09.04 Alarm Word 1 bit 1 is set
to 1 (= EM STOP alarm). The drive is stopped according to the emergency stop
mode defined by parameter 21.04 EME STOP MODE.
- Emergency stop function is locked by the application, (i.e. it cannot be cancelled).
Relay output RO1 is energised until the motor has reached zero speed and
07.01 Main Control Word bit 0 value is set to 0. Control program supervises that the
drive deceleration rate is within the window defined by parameters 21.05 EMSTOP
DER MIN L and 21.06 EMSTOP DER MAX L. The supervision starts after the time
delay defined by parameter 21.07 EM STOP DEC MON DEL. If the drive is not able
to decelerate the motor within the window, it coasts to stop and 08.02 Auxiliary
Status Word bit 2 is set to 1 (= EMERG STOP COAST).
Program features
70
Emergency stop through fieldbus

Emergency stop can be activated by fieldbus via 07.01 Main Control Word bit 1 or 2.
Emergency stop control through fieldbus functions also in local control if parameter
21.12 LOCAL EMSTOP MODE setting is DI+FIELDBUS.
Emergency Stop Emergency off

OFF3 (MCW Bit2=0) OFF2 (MCW Bit1=0)
OFF3 OFF2
ACTIVE OFF_3_STA ACTIVE OFF_2_STA
(MSW Bit5=0) (MSW Bit4=0)
n(f)=0 / I=0
SWITCH-ON
INHIBITED ON_INHIBIT
(MSW Bit6=1)
ON (MCW Bit0=0)
Settings
21.04 EME STOP MODE Selection of the emergency stop mode
21.05 EMSTOP DER MAX L Maximum deceleration rate for the emergency stop
21.06 EMSTOP DER MIN L Minimum deceleration rate for the emergency stop
21.07 EM STOP DEC MON DEL Time delay between the emergency stop signal and the start
of the deceleration monitoring
21.12 LOCAL EMSTOP MODE Selection of the source for the emergency stop activation
signal in local control mode
98.03 DI/O EXT MODULE 1 Activation of the RDIO I/O Extension module 1

07.01 MAIN CTRL WORD, bit 0 State ON/OFF1 control
07.01 MAIN CTRL WORD, bits 1 and 2 Emergency stop control
08.01 MAIN STATUS WORD, bits 4 Emergency stop activation status
and 5
08.02 AUX STATUS WORD, bit 2 Emergency stop failure
09.04 ALARM WORD 1, bit 1 Emergency stop alarm
Program features
71
Safe torque off function (STO)

Safe torque off function disconnects the control voltage from the inverter power
semiconductors, i.e. the drive output voltage is cut off. See the circuit diagrams
delivered with the drive for the wirings to be made by the user.
WARNING! The Safe torque off function does not disconnect the voltage of the main
and auxiliary circuits from the drive. Therefore, maintenance work on electrical parts
may only be carried out after disconnecting the drive system from the input power
line.
The Safe torque off function operates as follows:

• The operator gives an STO function activation command (for example, with a
switch mounted on the control desk).
• The voltage supply of the ASTO-x1C board is disconnected.
• The drive application program receives an internal signal from the AINT board
that an STO function activation command has been given. If the STO function
activation command was given during run, the drive coasts to stop.
• The Safe torque off function is activated.
• Alarm START INHIBI is activated (09.04 Alarm Word 1 bit 0 value is 1).
• 08.02 AUX STATUS WORD bit 8 value is set to 1 (= Safe torque off function is
active) within 3 seconds.
Note: Fault START INHIBI is generated (09.06 Fault Word 3 bit 5 value is 1) if the
Safe torque off function is activated during motor run or if motor start command is
given when the Safe torque off function is already active.
Settings
31.02 START INHIBIT ALM Deactivation of the logging of START INHIBI alarm into the
fault/alarm logger.
Diagnostics
08.02 AUX STATUS WORD, bit 8 Safe torque off function activation status
09.04 ALARM WORD 1, bit 0 / Safe torque off function alarm/fault
09.06 FAULT WORD 3, bit 5
Prevention of unexpected start-up (POUS)

The Prevention of unexpected start-up functions as Safe torque off described above,
with the following exceptions:
• POUS must not be activated during run.
• POUS requires an AGPS-x1C board (not ASTO-x1C).
Program features
72
Safely limited speed (SLS)

The SLS function limits the motor speed to a safe value.
Note: If used without a safety PLC, the SLS function does not fulfill the requirements
for SIL classification as defined in EN IEC 61800-5-2.
When the SLS function is activated, speed limits are ramped from the values of
20.01 MAXIMUM SPEED and 20.02 MINIMUM SPEED to the value of 20.21 SLS
SPEED LIMIT and its additive inverse, respectively. The ramping begins at the
absolute value of the actual speed. If the actual speed is already below the SLS limit,
the limit comes into effect immediately without ramping.
When the SLS function is deactivated, the speed limits are ramped up back to the
values defined by 20.01 and 20.02, and the actual speed returns to the reference
value.
20.10 20.09
20.01 MAXIMUM SPEED
Actual speed
0 20.21 SLS SPEED LIMIT
20.02 MINIMUM SPEED

SLS activated
Settings
10.12 SLS SELECTION Selection of DI source.
20.21 SLS SPEED LIMIT Safely limited speed.
22.09 SLS ACCELER TIME Time required for speed limit to ramp up from SLS to normal.
22.10 SLS DECELER TIME Time required to ramp down from current actual speed to SLS.

08.03 FREQ LIMIT, bit 15 SLS activation status.
Program features
73
DC magnetising
When DC magnetising is activated, the drive automatically magnetises the motor
before starting. This feature guarantees the highest possible breakaway torque, up
to 200% of the motor nominal torque.
The automatic start feature (section Auto restart on page 68) and DC magnetising
cannot be activated at the same time.
Settings
21.01 START/STOP FUNC Selection of the DC magnetising
Constant DC magnetising
When constant DC magnetising is activated, the drive automatically magnetises the
motor for the defined magnetising time before starting. Constant DC magnetising
guarantees the highest possible breakaway torque when the pre-magnetising time is
set long enough. By adjusting the premagnetising time, it is possible to synchronise
the motor start and for example mechanical brake release.
The automatic start feature (section Auto restart on page 68) and DC magnetising
cannot be activated at the same time.
Settings
21.01 START/STOP FUNC Selection of the constant DC magnetising
21.02 CONST MAGN TIME Magnetising time
DC hold
By activating the motor DC hold feature it is possible to lock the rotor at zero speed.
When both the reference and the motor speed fall below the preset DC hold speed,
the drive stops the motor and starts to inject DC into the motor. When the reference
speed again exceeds the DC hold speed, normal drive operation resumes.
Motor
Speed
DC hold
DC hold
speed
t
Speed
Reference
DC hold
speed
t
Program features
74
Settings
17.01 DC HOLD Activation of the DC hold function
17.02 DC HOLD SPEED DC hold speed
17.03 DC HOLD CURRENT DC hold current
Flux braking
The drive can provide greater deceleration by raising the level of magnetisation in
the motor. By increasing the motor flux, the energy generated by the motor during
braking can be converted to motor thermal energy. This feature is useful in motor
power ranges below 15 kW.
Motor
speed
No flux braking
Flux braking
t (s)
The drive monitors the motor status continuously, also during flux braking.
Therefore, flux braking can be used both for stopping the motor and for changing the
speed. The other benefits of flux braking are:
• The braking starts immediately after a stop command is given. The function does
not need to wait for the flux reduction before it can start the braking.
• The cooling of the motor is efficient. The stator current of the motor increases
during the flux braking, not the rotor current. The stator cools much more
efficiently than the rotor.
Settings
27.02 FLUX BRAKING Activation of the flux braking function
Flux optimisation
Flux optimisation reduces the total energy consumption and motor noise level when
the drive operates below the nominal load. The total efficiency (motor and the drive)
can be improved by 1% to 10%, depending on the load torque and speed.
Note: Flux optimisation limits the dynamic control performance of the drive because
with a small flux reference the drive torque cannot be increased fast.
Settings
27.01 FLUX OPTIMIZATION Activation of the flux optimisation function
Program features
75
Acceleration and deceleration ramps

Acceleration and deceleration ramp can be defined by the user.
It is also possible to scale external ramp time references: With very fast or very slow
acceleration and deceleration times, the scaling from 16-bit data to integer value
might not be accurate enough. The accuracy can be improved by using acceleration/
deceleration ramp time scaling (22.03 ACC/DEC TIME SCLE).
See control block diagram in section Speed reference ramp on page 322.
If several constant ramp times are needed in the application, they can be easily
programmed with adaptive programming. For more information, see ACS600/
ACS800 Application Guide Adaptive Program for System Application Program 7.x
The following block diagram shows an adaptive programming example, where
acceleration and deceleration times are selected by digital input DI6:
DI6 = 0: Numeric 1 defines the acceleration time 1 and Numeric 3 defines the
deceleration time 1.
DI6 = 1: Numeric 2 defines the acceleration time 2 and Numeric 4 defines the
deceleration time 2.
Acceleration and deceleration values are then written to parameters
22.01 ACCELER TIME and 22.02 DECELER TIME.
The available ramp shape alternatives are Linear and S-curve.

Linear: Suitable for drives requiring steady or slow acceleration/deceleration.
Program features
76
S-curve: Ideal for conveyors carrying fragile loads, or other applications where
a smooth transition is required when changing the speed.
Motor
speed
Linear
S-curve
2 t (s)
Emergency stop ramp time can be defined by parameter 22.04 EME STOP RAMP.
See section Emergency stop on page 69.
Variable slope
When variable slope is activated by parameter 22.06 VARIABLE SLOPE, the slope
of the speed ramp is controlled during a speed reference change.
If the updating time interval for the external control system and the time for the
speed reference change defined by 22.07 VAR SLOPE RATE are equal,
02.02 SPEED REF 3 is a straight line.
This function is active only in the REMOTE control mode.
Speed ref
SPEED REF
A SPEED REF 3 (02.02)
t = updating time interval of the external control system

A = speed reference change during time t
Settings
22 ACCEL/DECEL Settings of the ramp function
Program features
77

02.02 SPEED REF 3 Limited speed reference
07.01 MAIN CTRL WORD, bits 4 and 5 Ramp Function Generator control
07.01 MAIN CTRL WORD, bit 6 Speed ramp input control
07.02 AUX CTRL WORD 1, bit 2 Speed reference ramp bypass
Oscillation damping
The oscillation damping function damps mechanical or DC voltage oscillations of the
intermediate circuit. The oscillation source is selected between speed error and DC
voltage by parameter 26.08 OSC COMP INPUT. As an output the oscillation
damping algorithm produces a sine wave. This sine wave can be summed with the
torque reference with a suitable gain and phase.
Tuning procedure of the oscillation damping

Select the input by Par. 26.08 OSC COMP INPUT
Set 26.04 OSC COMPENSATION bit 0 to ON.
Set 26.07 OSCILLATION GAIN to 0%.
Calculate the oscillation frequency from the signals

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

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

Increase 26.07 OSCILLATION GAIN and change Try other values for 26.06 OSCILLATION PHASE.
26.06 OSCILLATION PHASE (if necessary).
Increase 26.07OSCILLATION GAIN to suppress the

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

value of 0 deg is usually a suitable initial value.
Note: Changing the speed error lowpass filter time constant and integration time of
the speed controller can affect the tuning of the oscillation damping algorithm. It is
recommended to tune the speed controller before tuning this algorithm. Speed
controller gain can be altered after the tuning of the oscillation damping algorithm.
Program features
78
Settings
26.04 OSC COMPENSATION Activation of the torsional vibration or DC voltage oscillation
damping
26.05 OSCILLATION FREQ Oscillation frequency
26.06 OSCILLATION PHASE Phase angle of the sine wave
26.07 OSCILLATION GAIN Oscillation gain
26.08 OSC COMP INPUT Selection of algorithm input
Speed filtering
The measured speed always has a small ripple because of mechanical interference
and couplings. A small ripple is acceptable as long as it does not affect the speed
control loops. Reducing the ripple with filters may cause tuning problems. A long
filter time constant and fast acceleration time contradict each other.
If the speed measurement shows rapid oscillation, it can be filtered with a speed
error filter and by setting the time constant of the first order actual speed filter.
If fast oscillation is observed and the application has no gear box and no pulse
encoder feedback: decrease the time constant of the first order actual speed filter to
its minimum value.
If there is a substantial backlash in the drive, and the drive oscillates at low torque
due to the mechanism, adaptive speed control can be used (parameters 24.05 KPS
WEAKPOINT and 24.06 KPS WP FILT TIME). If the adaptivity has to be made
abrupt, the drive can start to oscillate as the load varies: Use a speed step to test the
adaptivity (for example 50 rpm).
For adaptive speed control as a function of the motor frequency, see parameters
24.17...24.20.
Settings
23.06 SPEED ERROR FILT Speed error filter time constant
24.04 KPS MIN Gain when speed controller output is zero.
24.05 KPS WEAKPOINT Speed controller output when gain is KPS.
24.06 KPS WP FILT TIME Rate of change of the gain
24.17...24.20 Adaptive speed control as a function of the motor frequency
50.06 SP ACT FILT TIME Time constant of the first order actual speed filter
Program features
79
Speed controller tuning

Speed controller tuning can be performed manually or automatically. Tuning
procedure is described in section Speed controller tuning on page 27.
The figure below is a simplified block diagram of the speed controller. The controller
output is the reference for the torque controller. For a more detailed block diagram,
see section Speed control on page 323.
Derivative
acceleration
compensation
Proportional,
integral + Torque
Speed + Error +
reference - value + reference
Derivative
Calculated or measured
actual speed
The figure below shows speed responses at a speed reference step (typically,
1 to 20%).
n
nN
%
A B C D
A: Undercompensated t
B: Normally tuned (PI tuning)
C: Normally tuned (manually). Better dynamic performance than with B
D: Overcompensated speed controller
Settings
23.10 SPEED STEP Additional speed step given to the speed controller
24.01 PI TUNE Activation of the automatic speed controller tuning
24.09 TIS Integration time of the speed controller
24.03 KPS Relative gain of the speed controller
Program features
80
Diagnostics
08.03 LIMIT WORD 1, bits 1 and 2 Speed control torque minimum and maximum limits
Low speed fine tuning

Low speed fine tuning can be used when a pulse encoder is used for the speed
measurement. In order to eliminate potentially harmful oscillations at low speeds (for
example, during start), parameters 50.13 ZERO DETECT DELAY and 50.14 SPEED
HOLD TIME should be adjusted. The larger the mass of the driven equipment,
the higher the value of the zero detect delay should be. Parameter 50.14 should be
set to approximately 60% of the value of parameter 50.13. For example, typical
values for a drive rotating a dryer section of a paper machine would be 50 ms and
30 ms respectively.
Settings
50.03 SPEED FB SEL Definition of the used speed feedback value
50.13 ZERO DETECT DELAY Adjusting the low speed fine tuning
50.14 SPEED HOLD TIME
Run interlock
Drive run can be prevented by the run interlock function. If the function is active,
motor start is prevented or motor is stopped if it was already running.
Note: Run interlock does not reset the start request.
Run interlock can be controlled either digital input DI2 by parameter 16.01 RUN
ENABLE = INTERLOCK or by adaptive programming.
Example: Run interlock is activated by digital input DI3:
Program features
81
DI3 = 1: No run interlock (normal state)

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

TIME LEVEL 2
BLOCK 1: BLOCK 2:
57.05 = SWITCH-B 57.10 = WR-I
57.06 = -8.05.2 57.11 = C16
57.07 = C1 57.12 = C14
57.08 = C0 57.13 =+57.09
Settings
16.14 RUN INTERLOCK Activation of the run interlock function
16.01 RUN ENABLE Activation of the run interlock function
Diagnostics
08.01 MAIN STATUS WORD, bit 13 Run interlock function status
Run interlock function does not activate any alarm or fault.
Motor control, DTC

The motor control of the frequency converter is based on direct torque control, DTC.
The inverter power semiconductors (switches) are regulated to achieve the required
stator flux and motor torque. The switching frequency is changed only if the actual
torque and the stator flux values differ from their reference values more than the
allowed hysteresis. The reference value for the torque controller comes from the
speed controller or directly from an external source.
Motor control requires measurement of the DC voltage and two motor phase
currents. Stator flux is calculated by integrating the motor voltage in vector space.
Motor torque is calculated as a cross product of the stator flux and the rotor current.
By utilising the identified motor model, the stator flux estimate is improved. Actual
motor shaft speed is not needed for the motor control.
The main difference between traditional control and DTC is that the torque control
has the same time level as the power switch control (25 microseconds). There is no
separate voltage and frequency controlled PWM modulator. All selections of the
switches are based on the electromagnetic state of the motor.
Program features
82
The DTC can only be applied by using high speed signal processing technology.
Digital signal processors are used in ACS800.
Note: In demanding applications a separate identification run is to be performed to
achieve the best motor control accuracy with DTC. See section ID RUN (motor
identification run) on page 25.
Settings
99.08 MOTOR CTRL MODE Selection of the motor control mode
99.07 MOTOR ID RUN Selection of the motor identification run
Program features
3 P H A S E S U P P L Y
3
B lo c k d ia g r a m o f th e D ir e c t T o r q u e C o n tr o l m e th o d
A C S 8 0 0
F R E Q U E N C Y R E F S P E E D a n d D IR E C T T O R Q U E A S IC
2 9 .0 1 F R E Q U E N C Y a n d F L U X
C O N T R O L T O R Q U E U S E D R E F H Y S T E R E S IS T o r q b its
S P E E D R E F C O N T R O L
2 3 .0 1 2 .1 3 O p tim a l
F lu x b its S w itc h in g
M O T O R S P E E D
1 .0 4 F L U X U S E D R E F C o n tro l
C o n tr o l b its
F R E Q U E N C Y 2 .1 4
1 .0 5
M O T O R C T R L M O D E C O N T R O L
M O D E
9 9 .0 8
F L U X A C T 2 .1 5 1 .0 8 M O T O R T O R Q U E
M O T O R M O D E L D C V O L T A G E
C U R R E N T
C A L C U L A T E M
A C T U A L V A L U E S
E S T IM A T E a n d
C A L C U L A T E
83
Program features
84
Scalar control
It is possible to select scalar control as the motor control method instead of Direct
Torque Control (DTC). In the scalar control mode, the drive is controlled with
a frequency reference. The outstanding performance of the default motor control
method, Direct Torque Control, is not achieved with scalar control.
It is recommended to activate the scalar control mode in the following special
applications:
• Multimotor drives: 1) if the load is not equally shared between the motors, 2) if the
motors are of different sizes, or 3) if the motors are going to be changed after the
motor identification.
• If the nominal current of the motor is less than 1/6 of the nominal output current of
the drive.
• If the drive is used without a motor connected (for example for test purposes).
• If the drive runs a medium voltage motor via a step-up transformer.
See control block diagram in section Scalar control on page 327.
See also the start-up procedure with scalar control in section Scalar control and IR
compensation on page 30.
Settings
99.08 MOTORCTRL MODE Selection of the motor control mode
IR compensation
IR compensation is active only when the motor control mode is scalar (see section
Scalar control on page 84). When IR compensation is activated, the drive gives
an extra voltage boost to the motor at low speeds. IR compensation is useful in
applications that require high breakaway torque or in applications where the motor
must rotate slowly, i.e. at a low frequency. In Direct Torque Control, no IR
compensation is possible/needed.
Motor voltage
IR compensation
Umax
No compensation
f (Hz)
Settings
29.04 IR COMPENSATION Activation of the IR compensation
Program features
85
Hexagonal motor flux

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

Upper-leg IGBTs AINT Main Circuit Interface Board
RMIO AINT APBU PPCS Link Branching Unit
Lower-leg IGBTs
U V W
Inverter unit block diagram (2 to 12 parallel inverters)
APBU CH3
RMIO
CH1 CH2
1 2 3
INT INT INT
U V W U V W U V W ...
Program features
86
Reduced run function

Reduced run function is available for parallel-connected R8 inverters, 2...12 × R8i.
Reduced run function makes it possible to continue the operation with limited current
if an inverter module(s) is out of order. If one of the modules is broken, it must be
removed from the cabinet. Parameter change is needed to continue the run with
reduced current.
Removing a broken inverter module
WARNING! The safety instructions must be followed. See the safety instructions on
the first pages of the appropriate hardware manual or the safety manual.
• Disconnect the supply voltage and all auxiliary voltages from the drive.
• Remove the broken inverter module from the cabinet. See appropriate hardware
manual.
• Fasten the air baffle provided with the unit to the top module guide to block airflow
through the empty module space.
• Disable the charging monitoring of the isolated module, i.e. set switch S1...S3
of the ASFC-01 board to DIS (= disabled).
• Switch on the supply voltage. INT COFIG fault (09.06 Fault Word 3 bit 7 value
is 1) now indicates that the number of the connected inverter modules has
changed.
• If the operation is continued with limited current, number of existing inverter
modules must be set by parameter 16.10 INT CONFIG USER.
• Reset the fault and start the drive. PPCS link is reconfigured automatically and
the maximum current is limited (internally) in relation to the new inverter
configuration and inverter nominal current.
Note: If INT CONFIG fault reappears, the number of parallel-connected inverters
defined by parameter 16.10 INT CONFIG USER is incorrect. See signal 08.22 INT
CONFIG WORD.
Note: When the isolated module is reconnected, set switch S1/S2/S3 of the
ASFC-01 board back to the enabled position.
Program features
87
Note: If all switches S1, S2 and S3 of the ASFC-01 board are set to DIS
(= disabled), the main contactors of the DC switches will not close.
When inverter hardware configuration is changed back to the original, parameter
16.10 INT CONFIG USER value automatically restores back to the original value.
Settings
16.10 INT CONFIG USER Number of parallel-connected inverter modules (R8i) in the drive
20.04 MAXIMUM CURRENT Maximum motor current
Diagnostics
08.22 INT CONFIG WORD Inverters recognized by the application program
09.06 FAULT WORD 3, bit 7 Number of recognized inverters
Current measurement calibration

The current measurement is calibrated automatically during the ID run.
Calibration can also be activated by setting 99.07 MOTOR ID RUN to CURRENT
CAL and starting a drive. It is recommended to perform calibration when inverter
module(s) hardware configuration has been changed. An alarm indication CALIBRA
REQ is activated during the calibration and alarm CALIBRA DONE when completed.
Settings
99.07 MOTOR ID RUN Activation of current measurement calibration
Programmable protection functions
AI<Min
AI<Min function defines the drive operation if the value of an analogue input used as
speed or torque reference falls below the preset minimum limit.
Settings
30.27 AI<MIN FUNC Selection of the supervision with analogue input signal loss
Diagnostics
Alarm Signal
AI<MIN FUNC Signal 09.05 Alarm Word 2 bit 10 value is 1.
Fault Signal
AI<MIN FUNC Signal 09.02 Fault Word 2 bit 10 value is 1.
Program features
88
Panel loss
Panel loss function defines the operation of the drive if the control panel or
DriveWindow selected as control location for the drive stops communicating.
Settings
30.21 PANEL LOSS Selection of the supervision in control panel or DriveWindow
communication break
Diagnostics
Alarm Signal
PANEL LOSS Signal 09.05 Alarm Word 2 bit 13 value is 1.
Fault Signal
PANEL LOSS Signal 09.02 Fault Word 2 bit 13 value is 1.
Motor temperature protection

The motor can be protected against overheating by
• activating the motor thermal protection function and by selecting one of the motor
thermal protection modes available (DTC motor thermal model or User Model).
See section Motor thermal mode on page 89.
• measuring the motor temperature with Pt100, PTC or KTY84-1xx sensors. See
sections Temperature sensors on page 90 and Alternative thermal connection for
PTC thermistor on page 94.
• detecting the state of the motor overload protection switch in the motor supply by
digital input. See input selector parameter 10.11 MOT PROT SWITCH and fault
function parameter 31.04 MOT PROT FLT SEL. If the contact opens, fault or
alarm indication MPROT SWITCH is activated (09.01 Fault Word 1 bit 10 or 09.04
Alarm Word 1 bit 12 value is set to 1).
• detecting the state of the thermal switch or thermistor relay by a digital input. See
section Alternative thermal connection for PTC thermistor on page 94.
The motor thermal model can be used parallel with other temperature protections
(PTC, Pt100, KTY84-1xx, thermistor relay or thermal switch).
T / °C Motor insulation classes according to IEC 85

180 15
155
10
130
Hot spot temperature margin 10
120
80 Allowed temperature rise 80 105 125
40
Maximum ambient temperature 40 40 40
Insulation class B F H
Maximum winding temperature 130°C 155°C 180°C
Program features
89
Motor thermal mode

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

load current 150
100% (%) Motor load curve
100
50
Temp. t Zero speed load
rise
Speed
100%
63%
t
Motor thermal time
Settings
30.01 MOT THERM P MODE Selection of the motor thermal protection mode
30.02 MOTOR THERM PROT Selection of the supervision with motor overtemperature
30.09...30.12 Definition of the user-defined thermal model
30.28...30.29 Fault and alarm limits
30.30 MOT NOM TEMP RISE Nominal temperature rise
30.31 AMBIENT TEMP Ambient temperature
Diagnostics
Alarm Signal
MOTOR TEMP Signal 09.04 Alarm Word 1 bit 3 value is 1.
Fault Signal
MOTOR TEMP Signal 09.01 Fault Word 1 bit 6 value is 1.
Program features
90
Temperature sensors
It is possible to detect motor overtemperature in the following ways:
• By connecting a motor temperature sensor to analogue inputs and outputs of the
drive. The information in this section pertains to this method.
• Through fieldbus.The method is otherwise similar to that above, except the
measured temperature is written to 01.16 MOTOR 1 TEMP from the fieldbus. To
activate temperature measurement through fieldbus, set 30.03 MOT1 TEMP AI1
SEL to (6) EXT TEMP.
Analogue output feeds constant current through the sensor. The sensor resistance
increases as the motor temperature rises, as does the voltage over the sensor.
The temperature measurement function reads the voltage through analogue input
and converts it to degrees centigrade. The System control program supports two
measurement channels: AI1 (of the RMIO or RAIO) and AI2 (of the RAIO) for
motor 1 and motor 2 temperature measurements. The constant current level is
automatically set by the application program according to the sensor type selection.
Sensor type Unit Scaling
Pt100 °C
PTC Ω normal 0...1.5 kΩ
overtemperature > 4 kΩ
KTY84-1xx, Ω 90 °C = 936 Ω
(silicon 110 °C = 1063 Ω
temperature 130 °C = 1197 Ω
sensor)
150 °C = 1340 Ω
Motor overtemperature can also be detected by connecting a PTC thermistor to

a digital input.
The alarm and fault (MOTOR TEMP M) limits are defined by parameters 30.04 MOT
1 TEMP ALM L and 30.05 MOT 1 TEMP FLT L for motor 1 and by parameters 30.07
MOT 2 TEMP ALM L and 30.08 MOT 2 TEMP FLT L for motor 2.
Parameter 31.03 TEMP MEAS FLT SEL selects whether a fault or alarm is
generated when a fault is detected in the temperature measurement circuit.
Two additional temperature measurements can be programmed with adaptive
programming if an optional analogue I/O extension module 2 (EXT2 AIO) is used.
For more information, see ACS600 / ACS800 Application Guide Adaptive Program
for System Application Program 7.x [3AFE68420075 (English)].
WARNING! According to IEC 664, the connection of the motor temperature sensor
to the RMIO board, requires double or reinforced insulation between motor live parts
and the sensor. Reinforced insulation entails a clearance and creepage distance of
8 mm (400 / 500 V AC equipment). If the assembly does not fulfil the requirement:
the RMIO board terminals must be protected against contact and they may not be
connected to other equipment
or
the temperature sensor must be isolated from the RMIO board terminals.
Program features
91
Thermal sensor connection through I/O

The figure below shows a motor temperature measurement of one motor when
RMIO board is used as the connection interface.
RMIO board
One sensor
AI1+
Motor
AI1-
T
AO1+
AO1-
Three sensors RMIO board
AI1+
Motor AI1-
T T T
AO1+
AO1-
Settings
30.03 MOT1 TEMP AI1 SEL Activation of the motor 1 temperature measurement function and
selection of the sensor type
30.04...30.05 Alarm and fault limits
31.03 TEMP MEAS FLT SEL Selection of the supervision with motor temperature measurement
circuit fault
Diagnostics
01.16 MOTOR 1 TEMP Measured temperature of motor 1
Alarm Signal
MOTOR TEMP M Signal 09.04 Alarm Word 1 bit 2 value is 1.
T MEAS CIRC Signal 09.04 Alarm Word 1 bit 6 value is 1.
Fault Signal
MOTOR TEMP M Signal 09.01 Fault Word 1 bit 5 value is 1.
T MEAS CIRC Signal 09.06 Fault Word 3 bit 4 value is 1.
Program features
92
Thermal connection through analogue I/O extension

The figure below shows a motor temperature measurement of one motor when
analogue input AI1 of an optional Analogue I/O Extension module, RAIO, is used as
the connection interface.
RAIO module
One sensor
AI1+
Motor
AI1-
T
AO1+
AO1-
Three sensors RAIO module
AI1+
Motor AI1-
T T T
AO1+
AO1-
Settings
30.03 MOT1 TEMP AI1 SEL / Activation of the motor 1/2 temperature measurement function and
30.06 MOT2 TEMP AI2 SEL selection of the sensor type
30.04...30.05 / 30.07...30.08 Alarm and fault limits
31.03 TEMP MEAS FLT SEL Selection of the supervision with motor temperature measurement
circuit fault
98.06 AI/O EXT MODULE 1 Activation of the motor temperature measurement with analogue I/O
extension module
98.11 AI/O EXT1 LOCATIO Activation of the communication to the optional analogue I/O
extension module
Diagnostics
01.16 MOTOR 1 TEMP / Measured temperature of motor 1/2
01.17 MOTOR 2 TEMP
Alarm Signal
MOTOR TEMP M Signal 09.04 Alarm Word 1 bit 2 value is 1.
T MEAS CIRC Signal 09.04 Alarm Word 1 bit 6 value is 1.
Fault Signal
MOTOR TEMP M Signal 09.01 Fault Word 1 bit 5 value is 1.
T MEAS CIRC Signal 09.06 Fault Word 3 bit 4 value is 1.
Program features
93
I/O configuration example 1 with motor temperature measurement

The following figure presents motor temperature measurement with RMIO board.
RMIO
+ RMIO RMIO +
Motor 1 temperature measurement and
AI1 AO1
protection
AI2
AI3 1.21 AI3
PTC /
Pt100 / KTY84-1xx
Parameter Setting
30.03 MOT1 TEMP AI1 SEL 1xPT100
2xPT100
3xPT100
or
1…3 PTC or EXT TEMP
I/O configuration example 2 with motor temperature measurement

The following figure presents the RMIO and RAIO analogue I/O connections, when
RAIO Analogue I/O Extension module is used for motor temperature measurement.
RMIO
SPEED REF if
RMIO 98.02 = NO or
RMIO
AI1 1.19 AI1 HAND/AUTO AO1 AO1 mA
AI2 1.20 AI2 signals
AI3 TORQUE REF if for AO AO2 AO2
1.21 AI3 mA
98.02 = NO or
HAND/AUTO
PTC /
Pt100 / KTY84-1xx
+ RAIO RAIO +
AI1 Motor 1 temperature measurement and AO1
protection
+ +
AI2 Motor 2 temperature measurement and AO2
protection
Parameter Setting
30.03 MOT1 TEMP AI1 SEL and 1xPT100
30.06 MOT2 TEMP AI2 SEL 2xPT100
3xPT100
or
1...3 PTC
98.06 AI/O EXT MODE TEMP MEAS
98.11 AI/O EXT1 LOCATIO Select according to the hardware configuration.
Program features
94
Alternative thermal connection for PTC thermistor

It is also possible to connect a PTC thermistor between the +24 V DC voltage supply
of the RMIO board and a digital input.
The figure below shows the alternative thermistor connections:
Alternative 1
Thermistor * or thermistor switch
relay*
RMIO board, X22
6 DI6
7 +24 V DC
T
Motor
Alternative 2 RMIO board, X22
6 DI6
7 +24 V DC
T
Motor
In normal motor operation temperature, the thermistor resistance should be less

than 1.5 kohm (current 5 mA). The drive stops the motor and gives alarm/fault
indication KLIXON if the thermistor resistance exceeds 4 kohm.
When a thermistor relay or a thermistor switch is used in the connection, alarm/fault
indication KLIXON is activated when the contact opens.
Digital input for the thermal switch or for the thermistor relay can be selected freely.
PTC thermistor can only be connected to digital input DI6.
Note: The installation must meet the regulations for protection against contact.
Settings
10.05 KLIXON Selection of an interface for the motor overtemperature protection
31.01 KLIXON MOT OVER T Selection of the supervision when a thermistor relay or a thermistor
switch connected to digital input opens.
Diagnostics
Alarm Signal
KLIXON Signal 09.04 Alarm Word 1 bit 2 value is 1.
Fault Signal
KLIXON Signal 09.01 Fault Word 1 bit 5 value is 1.
Program features
95
ATEX
ATEX-certified thermal motor protection requires that either option +L513+Q971
(protection with PTC thermistor relays) or +L514+Q971 (protection with Pt100
relays) is used. Of the connections presented in section Temperature sensors, only
Alternative thermal connection for PTC thermistor can therefore be used.
To receive diagnostic information on the status of the function, set parameter 10.11
MOT PROT SWITCH to DI6.
For detailed instructions on the implementation of the ATEX option, see ATEX-
certified thermal motor protection functions for ACS800 cabinet-installed drives
(+L513+Q971 and +L514+Q971) safety, wiring, start-up and operation instructions
(3AUA0000082378 [English]).
Program features
96
Short time overload

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

The drive switching frequency is limited if the drive load continuously exceeds the
value of Icont.max and
- the IGBT temperature exceeds 116 °C (e.g. due to unclean inverter heatsink) or
- the ambient temperature exceeds the nominal limit specified in the technical
catalogue.
If the drive is still loaded with maximum current in extreme environmental conditions,
alarm ACS800 TEMP is activated, and eventually the drive trips on fault ACS800
TEMP.
The frequency reduction and temperature supervision limits are drive type-specific.
Settings
Diagnostics
Alarm Signal
ACS800 TEMP Signal 09.04 Alarm Word 1 bit 4 value is 1.
Fault Signal
ACS800 TEMP Signal 09.01 Fault Word 1 bit 3 value is 1.
Program features
97
Stall protection
The drive protects the motor in a stall situation. It is possible to adjust the supervision
limits (torque, frequency, time) and choose how the drive reacts to a motor stall
condition (alarm indication / fault indication & stop the drive / no reaction).
Stall limit is defined by parameters 20.04 MAXIMUM CURRENT...20.10 TREF
TORQMIN. Torque and current limits must be set according to the maximum load of
the used application.
Note: Stall limit is restricted by internal current limit TORQ_INV_CUR_LIM.
When the application reaches the stall limit and the output frequency of the drive is
below the stall frequency: Fault MOTOR STALL is activated after the stall time delay.
Settings
20.04...20.10 Stall limit
30.13 STALL FUNCTION Selection of the supervision in a stall situation
30.14 STALL FREQ HI Frequency limit for the stall protection
30.15 STALL TIME Delay time for the stall protection
Diagnostics
08.03 LIMIT WORD 1 Torque limits and user-defined current limit
Alarm Signal
MOTOR STALL Signal 09.05 Alarm Word 2 bit 9 value is 1.
Fault Signal
MOTOR STALL Signal 09.02 Fault Word 2 bit 14 value is 1.
Program features
98
Underload protection
Loss of motor load may indicate process malfunction. The drive provides
an underload function to protect the machinery and process in such a serious fault
condition. Supervision limits - underload curve and underload time - can be chosen
as well as the action taken by the drive upon the underload condition (alarm
indication / fault indication & stop the drive / no reaction).
The protection is activated if all the following conditions are fulfilled at the same time:
• Motor load is below the underload curve selected by the user.
• Motor load has been below the selected underload curve longer than the time set
by the user.
• Output frequency of the drive is more than 10% of the motor nominal frequency.
Settings
30.16 UNDERLOAD FUNC Selection of the supervision in a underload condition
30.17 UNDERLOAD TIME Time limit
30.18 UNDERLOAD CURVE Selection of the load curve
Diagnostics
Alarm Signal
UNDERLOAD Signal 09.05 Alarm Word 2 bit 1 value is 1.
Fault Signal
UNDERLOAD Signal 09.01 Fault Word 1 bit 8 value is 1.
Motor phase loss

The phase loss function monitors the status of the motor cable connection.
The function is useful especially during the motor start: The drive detects if any of
the motor phases is not connected and refuses to start. The phase loss function also
supervises the motor connection status during normal operation.
The action taken by the drive upon phase loss can be chosen (fault indication & stop
the drive / no reaction).
Settings
30.19 MOTOR PHASE LOSS Activation of the phase loss function
Diagnostics
Fault Signal
MOTOR PHASE Signal 09.02 Fault Word 2 bit 15 value is 1.
Program features
99
Earth fault and current unbalance protection

The earth fault protection detects earth faults in the motor, motor cable or inverter
output. The protection is based on the sum current measurement (100 microsecond
time level).
The action taken by the drive upon earth fault can be chosen with non-parallel-
connected inverters (fault indication & stop the drive / alarm indication).
The earth fault trip level can be chosen with non-parallel-connected inverter
modules. The level is defined as inverter output current unbalance (measured by the
AINT board).
Note: With parallel-connected inverters modules, the protection monitors the
inverter output current unbalance (e.g. short circuit) and the fault indication is CUR
UNBAL x instead of EARTH FAULT. The action taken by the drive upon current
unbalance cannot be chosen (only fault indication). See chapter Fault tracing.
Settings
30.20 EARTH FAULT Selection of the supervision in an earth fault condition (with
non-parallel-connected inverters)
30.25 EARTH FAULT LEVEL Selection of the earth fault level
Diagnostics
Alarm Signal
EARTH FAULT Signal 09.04 Alarm Word 1 bit 14 value is 1.
Fault Signal
EARTH FAULT Signal 09.01 Fault Word 1 bit 4 value is 1.
CUR UNBAL x * Signal 09.01 Fault Word 1 bit 4 value is 1.
See also signal 09.13 CURRENT UNBALANCE.
* For parallel-connected inverter modules
Communication fault
The communication fault function supervises the messages received from DDCS
channel CH0 or fieldbus adapter module type Rxxx. The action taken by the drive
upon the communication fault (alarm indication / fault indication & stop the drive) can
be chosen.
Note: If the data update time to data set 10 is less than 2 s (data sets 10...33 are
activated by setting parameter 98.02 to ADVANT-N/FB), both alarm and fault
indications are activated.
Note: When COMM MODULE fault is activated, torque selector (26.01 TORQUE
SELECTOR) is set to speed control.
Settings
70.04 CH0 TIME OUT Delay time for communication supervision
70.05 CH0 COM LOSS CTRL Selection of the supervision with communication fault
Program features
100
Diagnostics
Alarm Signal
COMM MODULE Signal 09.05 Alarm Word 2 bit 11 value is 1.
Fault Signal
COMM MODULE Signal 09.02 Fault Word 2 bit 12 value is 1.
Master/Follower link communication fault

The Follower drive supervises the received broadcast data (data set 41). The action
taken by the drive upon a Master/Follower communication fault (alarm indication /
fault indication & stop the drive) can be chosen. The protection is activated after the
time delay defined by the user.
Settings
70.13 CH2 TIMEOUT Delay time for CH2 communication supervision
70.14 CH2 COM LOSS CTRL Selection of the supervision with CH2 communication fault
Diagnostics
Alarm Signal
CH2 COM LOSS Signal 09.04 Alarm Word 1 bit 11 value is 1.
Fault Signal
CH2 COM LOSS Signal 09.01 Fault Word 1 bit 11 value is 1.
Speed measurement fault

Speed measurement fault is activated when any of the following conditions is
fulfilled:
• No pulses are received from the encoder within the time defined by parameter
50.11 ENCODER DELAY and the drive is simultaneously at current or torque
limit.
• There is a 20% difference between the estimated speed and the measured speed
received from the pulse encoder (parameter 50.03 SPEED FB SEL =
ENCODER).
• There is no communication between the pulse encoder module and the RMIO
board.
• The pulse frequency of the pulse encoder changes considerably during a time
interval of 1 ms.
If an alarm function has been selected and speed measurement error is detected
(i.e. the pulse frequency of the pulse encoder changes considerably during a time
interval of 1 ms), the drive automatically starts to use estimated speed (08.02 AUX
STATUS WORD bit12 value is 1). The drive uses estimated speed as long as the
difference between the estimated and the measured speed is more than 1%. The
difference is checked every five seconds. When the difference is smaller than 1%,
the drive starts to use measured speed again.
The protection is activated after the time delay defined by the user.
Program features
101
Settings
50.03 SPEED FB SEL Selection of the speed feedback
50.05 ENCODER ALM/FLT Selection of the supervision with speed measurement error
50.11 ENCODER DELAY Delay time for speed measurement supervision
Diagnostics
08.02 AUX STATUS WORD, Internal speed feedback is followed.
bit12
Alarm Signal
ENCODER ERR Signal 09.04 Alarm Word 1 bit 5 value is 1.
Fault Signal
ENCODER ERR Signal 09.02 Fault Word 2 bit 5 value is 1.
Motor fan control

If the motor has an external cooling fan, it is possible to control the starter of the fan
motor via a digital output.
• During motor start: If the motor fan acknowledge signal is not received by the
selected digital input within the time defined by parameter 35.02 FAN ACK
DELAY, a fault is generated and the drive is tripped.
• During motor run: If the acknowledge signal is lost, an alarm is generated. If the
acknowledge signal is still lost after 35.02 FAN ACK DELAY, a fault is generated
and the drive is tripped. If the acknowledge time is zero, only an alarm is
displayed.
When fault is activated, fan off delay time (35.02 FAN ACK DELAY) is cleared.
Settings
10.06 MOTOR FAN ACK Selection of the motor fan acknowledgement signal source
14 DIGITAL OUTPUTS Settings of the digital outputs
35 MOTOR FAN CTRL Settings of the motor fan control
Diagnostics
Alarm Signal
MOTOR FAN Signal 09.05 Alarm Word 2 bit 0 value is set to 1.
Fault Signal
MOTOR FAN Signal 09.06 Fault Word 3 bit 0 value is set to 1.
Program features
102
Preprogrammed faults
Overcurrent
The overcurrent trip limit is 3.5 × Ihd, where Ihd is the nominal motor current for
heavy-duty use.
There are two sources for the overcurrent fault:
• RMIO software trip level (97% of the measurement range, time level
100 microseconds)
• hardware trip level with parallel-connected units (overcurrent is detected by the
APBU board logic).
Note: With parallel-connected inverters the overcurrent fault indication is
OVERCURR x.
Diagnostics
09.14 OVERCURRENT FAULT Overcurrent
Fault Signal
OVERCURRENT Signal 09.01 Fault Word 1 bit 1 value is 1.
OVERCURR x * Signal 09.01 Fault Word 1 bit 1 value is 1.
DC overvoltage
The DC overvoltage trip limit is 1.3 × 1.35 × U1max, where U1max is the maximum
Unom of the inverter unit U1max UDC overvoltage trip limit
400 V 415 V 728 V DC
500 V 500 V 877 V DC
690 V 690 V 1210 V DC
DC voltage control and trip limits

High voltage trip limit (130% of U1max)
High voltage control limit (124%)

Brake chopper limit (120%)
Low voltage control limit (82%)

Charging limit (79%)
Low voltage tripping limit (60% of U1min)
Program features
103
Diagnostics
Fault Signal
DC OVERVOLT Signal 09.01 Fault Word 1 bit 2 value is 1.
DC undervoltage
The DC undervoltage trip limit is 0.60 × 1.35 × U1min, where U1min is the minimum
Unom of the inverter unit U1min UDC undervoltage trip limit
400 V 380 V 308 V DC
500 V 380 V 308 V DC
690 V 525 V 425 V DC
Diagnostics
Fault Signal
DC UNDERVOLT Signal 09.02 Fault Word 2 bit 2 value is 1.
Drive temperature
The drive supervises the inverter module temperature. There are two supervision
limits: alarm limit and fault trip limit. These limits are inverter type-specific.
Note: The temperature difference between several parallel-connected inverter
modules is also monitored. If the temperature of one module compared to the
average temperature of the rest of the modules exceeds the limit, alarm/fault is
activated.
Diagnostics
Alarm Signal
ACS800 TEMP Signal 09.04 ALARM WORD 1 bit 4 value is 1.
TEMP DIF xy * Signal 09.18 TEMP DIF ALM WORD
Fault Signal
ACS800 TEMP Signal 09.01 FAULT WORD 1 bit 3 value is 1.
ACS TEMP xy * Signal 09.16 OVERTEMP WORD
TEMP DIF xy * Signal 09.17 TEMP DIF FLT WORD
Program features
104
Short circuit
Short circuit protection is based on the power semiconductor (IGBT) voltage
measurement (100 microsecond time level). If voltage Uce (collector-emitter voltage)
will not rise within an application-specific time, short circuit fault is activated. This
supervision is active also when no switch-off command has been issued to the IGBT.
The supervision is used for the inverter output circuit protection. If a short circuit
occurs, the drive will not start and a fault is activated.
Diagnostics
Fault Signal
SHORT CIRC Signal 09.01 FAULT WORD 1 bit 0 value is 1.
SC INV xy * Signal 09.15 SHORT CIRC FW
Run disable
To activate the RUN ENABLE signal, a voltage signal must be connected to digital
input DI2. If the voltage drops to 0 V, the drive coasts to stop and fault RUN ENABLE
is generated. The drive will not start before the RUN ENABLE signal is active.
RUN ENABLE signal is also used to control the inverter charging. See section
Inverter charging logic on page 123.
Diagnostics
Fault Signal
RUN DISABLE Signal 09.02 Fault Word 2 bit 4 and 08.02 Auxiliary Status Word
bit 4 values are 1.
Overfrequency
If the drive output frequency exceeds the preset level (20.11 FREQ TRIP MARGIN),
for example in overshooting of the speed control, the drive is stopped and a fault
indication is given.
Diagnostics
Fault Signal
OVERFREQ Signal 09.01 Fault Word 1 bit 9 value is 1.
Input phase loss

Input phase loss protection circuits supervise the main power cable connection by
detecting intermediate circuit ripple. If a phase is lost, the ripple increases. The drive
is stopped and a fault indication is given if the ripple exceeds 13%.
Diagnostics
Fault Signal
SUPPLY PHASE Signal 09.02 Fault Word 2 bit 0 value is 1.
Program features
105
Control board temperature

The drive supervises the control board temperature. A fault indication is given if the
temperature exceeds 88 °C.
Diagnostics
Fault Signal
CTRL B TEMP Signal 09.02 FAULT WORD 2 bit 7 value is 1.
I/O monitoring
If there is a communication break or signal read error with the RMIO Control board
I/O or with the I/O extension module or I/O extension link, alarm is activated.
Diagnostics
Alarm Signal
DIO ALARM Signal 09.04 ALARM WORD 1 bit 7 value is 1.
AIO ALARM Signal 09.04 ALARM WORD 1 bit 8 value is 1.
EXT DIO ALM Signal 09.04 ALARM WORD 1 bit 9 value is 1.
EXT AIO ALM Signal 09.04 ALARM WORD 1 bit 10 value is 1.
Start inhibit
When Safe torque off function is activated, the voltage supply of the ASTO-x1C
board is disconnected and
- alarm START INHIBI is generated if the drive was stopped
- fault START INHIBI is generated if the Safe torque off function is activated during
motor run or if motor start command is given while the Safe torque off function is
active.
The logging of START INHIBI alarm to the fault/alarm logger can be deactivated by
parameter 31.02 START INHIBIT ALM.
For more information, see Safe torque off function (STO) on page 71.
Settings
31.02 START INHIBIT ALM Deactivation of the logging of START INHIBI alarm into the
fault/alarm logger
Diagnostics
Alarm Signal
START INHIBI Signal 09.04 ALARM WORD1 bit 0 value is 1.
Fault Signal
START INHIBI 08.21 START INHIBI WORD.
09.06 Fault Word 3 bit 5 value is 1.
Program features
106
Overswitching frequency
If the inner DTC control loop exceeds the maximum switching frequency, a fault is
generated.
Diagnostics
Fault Signal
OVER SWFREQ Signal 09.02 Fault Word 2 bit 9 value is 1.
System fault
If an RMIO board software error causes a communication break, a system fault is
activated.
Diagnostics
09.03 SYSTEM FAULT WORD System fault information
Fault Signal
SYSTEM FAULT Signal 09.01 FAULT WORD 1 bit 7 value is 1.
Operation limits
The drive has adjustable limits for speed, current (maximum), torque (maximum),
power and DC voltage.
Settings
20 LIMITS Drive limits
Parameter lock
The user can prevent parameter changes to the flash memory (EPROM) by
activating the parameter lock. The lock prevents parameter changing from the
CDP 312R control panel. From an external control system (e.g. fieldbus control
system) parameter changes to the RAM memory are allowed, even when the lock is
active.
Settings
16.02 PARAMETER LOCK Selection of the state of the parameter lock
16.03 PASS CODE Selection of the pass code
Program features
107
Adaptive programming with DriveAP 2.x

Conventionally, the user can control the operation of the drive by parameters. Each
parameter has a fixed set of choices or a setting range. The parameters make the
programming easy, but the choices are limited. The user cannot customise the
operation any further. The adaptive program makes free customising possible
without the need of a special programming tool or language:
• The program is built of standard function blocks included in the drive application
program.
• The DriveAP 2.x or the control panel is the programming tool.
• The user can document the program by drawing it on block diagram template
sheets (maximum of 10 sheets).
The maximum size of the adaptive program is 26 function blocks (6 for 10 ms time
level and 20 for 100 ms time level) and 22 I/O blocks (DI/AI/AO/...). The program
may consist of several separate functions.
With the WRITE block, the adaptive program can easily be connected to any of
the parameters in the drive application program.
Note: If adaptive program (originally done with DriveAP 2.x programming tool) is
modified with control panel, the function block view with DriveAP 2.x will be different,
since the location of the function blocks cannot be determined by the panel.
For more information, see ACS600/ACS800 Application Guide Adaptive Program for
System Application Program 7.x [3AFE68420075 (English)] and DriveAP 2.1 User
Manual [3AFE64540998 (English)].
Program features
108
Master/Follower
In a Master/Follower application, the system is run by several drives and the motor
shafts are coupled to each other (via gears, chains, belts etc.). The Master drive
controls the Follower drive(s) via a fibre optic link: The Master sends a broadcast
message to the Follower. Its also possible to receive three selectable feedback
signals from maximum three followers via optic link.
Program features
U S E D M O T O R S P E E D T O R Q U E S E L E C T O R = S P E E D
S P E E D S P E E D S P E E D
F O L L S P E E D 7 0 .1 7 R E F 2 R E F 3 S P E E D 2 6 .0 1
R E F
R E F C O N T R O L T O R Q U E R E F 2
2 . 21 79 2 . 01 19 2 . 01 29 2 . 01 9 T O R Q U E R E F 3
S P E E D R E F 2 3 .0 1
P ID 2 . 1 09
T O R Q U E
M /F M O D E = 7 0 .0 8 C O N F IG U R A T IO N R E F A 2 5 .0 1
M A S T E R
M A S T E R S IG N A L 1 M A S T E R S IG N A L 2 M A S T E R S IG N A L 3
7 0 .0 9 M /F R E F E R E N C E S 7 0 .1 0 M /F R E F E R E N C E S 7 0 .1 1 M /F R E F E R E N C E S
D a ta s e t 4 1 .1 D a ta s e t 4 1 .2 D a ta s e t 4 1 .3
M C W S P E E D R E F T O R Q U E R E F
X
M A S T E R D R IV E M A S T E R S G N 3 S C A L E 7 0 .3 0
D S M C W F O L L O W E R
D S 4 1 . 12 2 . 21 9 S G N 3 D S 4 1 .3
M /F M O D E = 7 0 .0 8 C O N F IG U R A T IO N D S T O R Q R E F A
S C A L E
F O L L O W E R D S S P E E D R E F X
7 0 .3 1 2 .2 0
2 .1 9 D S 4 1 .2
A block diagram for torque controlled Follower:
S P E E D S H A R E 2 3 .0 5
W IN D O W W ID T H P O S 2 3 .0 8
F O L L O W E R
L O A D S H A R E 2 5 .0 3 L O A D S H A R E
F O L L S P D C T R L C O R 2 3 .1 8
F O L L S P D C O R R E N A = F A L S E 7 .0 3 b 9
T O R Q U E S E L E C T O R = 3 6
F O L L S P E E D U S E D F O L L S P D C O R R O U T 2 .3 0 (n o t S P E E D o r Z E R O )
R E F M O T O R S P E E D
S P E E D S P E E D
7 0 .1 7 R E F 2 S P E E D 2 6 .0 1
R E F
C O N T R O L T O R Q U E R E F 2
2 . 21 79 2 . 01 19 2 . 01 9 T O R Q U E R E F 3
S P E E D R E F 2 3 .0 1
P ID 2 . 1 09
D R O O P R A T E 2 4 .0 2 T O R Q U E R E F A 2 5 .0 1
= 0
F O L L T O R Q R E F 7 0 .1 8
F O L L O W E R D R IV E = (1)
D S MASTER
T O R Q R E F A
M A S T E R - F O L L O W E R A P P L IC A T IO N P R IN C IP L E : T O R Q U E C O N T R O L L E D F O L L O W E R
109
Program features
110
Program features
U S E D M O T O R S P E E D T O R Q U E S E L E C T O R = S P E E D
S P E E D S P E E D S P E E D
F O L L S P E E D 7 0 .1 7 R E F 2 R E F 3 S P E E D 2 6 .0 1
R E F
R E F C O N T R O L T O R Q U E R E F 2
2 . 21 79 2 . 01 19 2 . 01 29 2 . 01 9 T O R Q U E R E F 3
S P E E D R E F 2 3 .0 1
P ID 2 . 1 09
T O R Q U E
M /F M O D E = 7 0 .0 8 C O N F IG U R A T IO N R E F A 2 5 .0 1
M A S T E R
M A S T E R S IG N A L 1 M A S T E R S IG N A L 2 M A S T E R S IG N A L 3
7 0 .0 9 M /F R E F E R E N C E S 7 0 .1 0 M /F R E F E R E N C E S 7 0 .1 1 M /F R E F E R E N C E S
D a ta s e t 4 1 .1 D a ta s e t 4 1 .2 D a ta s e t 4 1 .3
M C W S P E E D R E F T O R Q U E R E F
X
M A S T E R D R IV E M A S T E R S G N 3 S C A L E 7 0 .3 0
D S M C W F O L L O W E R
D S 4 1 . 12 2 . 21 9 S G N 3 D S 4 1 .3
M /F M O D E = 7 0 .0 8 C O N F IG U R A T IO N D S T O R Q R E F A
S C A L E
F O L L O W E R D S S P E E D R E F X
7 0 .3 1 2 .2 0
2 .1 9 D S 4 1 .2
S P E E D S H A R E 2 3 .0 5
W IN D O W W ID T H P O S 2 3 .0 8
F O L L O W E R
L O A D S H A R E 2 5 .0 3 L O A D S H A R E
F O L L S P D C T R L C O R 2 3 .1 8
F O L L S P D C O R R E N A = T R U E 7 .0 3 b 9
T O R Q U E S E L E C T O R = 3 6
F O L L S P E E D U S E D F O L L S P D C O R R O U T 2 .3 0 TORQUE
( n o t S P E E SELECTOR
D o r Z E R O ) = 2 (SPEED)
R E F M O T O R S P E E D
S P E E D S P E E D
7 0 .1 7 R E F 2 S P E E D 2 6 .0 1
R E F
C O N T R O L T O R Q U E R E F 2
2 . 21 79 2 . 01 19 2 . 01 9 T O R Q U E R E F 3
S P E E D R E F 2 3 .0 1
P ID 2 . 1 09
A block diagram for speed controlled Follower with load share function:
D R O O P R A T E 2 4 .0 2 T O R Q U E R E F A 2 5 .0 1
= 0
F O L L O W E R D R IV E F O L L T O R Q R E F 7 0 .1 8
M A S T E R - F O L L O W E R A P P L IC A T IO N P R IN C IP L E : S P E E D C O N T R O L L E D F O L L O W E R W IT H L O A D S H A R E F U N C T IO N
111
Parameter selection (70.08 CH2 M/F MODE) defines whether the drive is the Master
or the Follower in the communication link. Parameter selection can be changed
on-line through an external control system (e.g. fieldbus control system via 07.03
bits 6, 10 and 11). Typically the speed controlled process master drive is configured
also as the Master of the communication.
The Master station is typically speed controlled and the other drives follow its torque
or speed reference. In general, torque control of the Follower should be used when
the motor shafts of the Master and Follower drives are coupled to each other and no
speed difference between the drives is possible. Pulse encoders are recommended
to be used in all of the torque controlled Followers.
The source for the Follower torque/speed reference is selected by parameter 70.17
FOLL SPEED REF / 70.18 FOLL TORQ REF. The Follower reference can also be
selected through external control by 07.03 Auxiliary Control Word 2 bits 6...8.
The selected bits of MCW sent by master can be used in the followers MCW. The
bits are selected by parameter 70.34 FOLLOWER MCW MASK in the follower. The
other bits of the followers MCW are for example sent by fieldbus.
The load sharing between the Master and the Follower can be adjusted by
a parameter (par. 25.03 LOAD SHARE of the Follower drive).
A Master/Follower link is formed by connecting the DDCS CH2 channels of two or
more drives in a ring or star configuration (NDBU branching unit is required with star
configuration).
Ring configuration:
T = Transmitter; R = Receiver; RMIO = I/O and Control Board
Please note that channels CH0/CH2/CH3 are located on the optional RDCO module.
Master Follower Follower
ACS800 ACS800 ACS800
RMIO-XX RMIO-XX RMIOXX
CH2 RDCO-0X CH2 RDCO-0X CH2 RDCO-0X

V17
V17
V17
V18
V18
V18
T R T R T R
Program features
112
Star configuration:
Master
ACS800
RMIO-XX
CH2 RDCO-0X
V17
V18
T R
Follower 1 Follower n
ACS800 Master
ACS800
MASTER
CH0 NDBU CHX
RMIO-XX RMIOXX
...
CH2 RDCO-0X CH2 RDCO-0X
V17
V18
V17
V18
T R T R
See control block diagrams in sections Speed reference on page 321 and Torque
reference on page 324.
Program features
113

Follower 1 Follower n
ACS800 MASTER ACS800
NDBU
X13 = REGEN
CHX CHX CHX
RMIO-XX RMIOXX
...
CH2 RDCO-0X CH2 RDCO-0X
V17
V18
V17
V18
T R T R
Master
ACS800
RMIO-XX
CH2 RDCO-0X
V17
V18
T R
Program features
114
Settings
23.07...23.09 Definition of the speed supervision function for
a torque-controlled Follower drive
25.03 LOAD SHARE Load share (i.e. scaling factor for torque reference 02.28 USED
TORQ REF)
25.03 LOAD SHARE Load share function with speed controlled Follower
23.18 FOLL SPD CTRL COR,
23.19 FOLL SPD COR MODE
26.01 TORQUE SELECTOR Selection of the torque reference
70.07...70.14, 70.17, 70.18, Settings of the Master/Follower link
70.30...70.37

02.30 FOLL SPD CORR OUT Output of the load share function used with speed controlled
Follower
03.33…03.42 Signal values received from followers
07.02 AUX CONTROL WORD 1, Speed supervision for a torque controlled Follower drive
bit 7
07.03 AUX CTRL WORD 2, Follower reference from external control
bits 6...8
07.03 AUX CTRL WORD 2, bit 9 Activation of the load share function with speed controlled
Follower
07.03 AUX CTRL WORD 2, Role of the drive in the Master/Follower link
bits 6, 10 and 11
Master drive
The torque reference source address is defined in the Master drive by parameter
70.11 MASTER SIGNAL 3 to be sent as data set 41 to the Follower drives. Main
Control Word 70.09 MASTER SIGNAL 1 and speed reference 70.10 MASTER
SIGNAL 2 can also be sent through the link in the same DDCS message.
Typical Master drive parameter settings are:
Master drive parameter Setting
70.08 CH2 M/F MODE MASTER
70.09 MASTER SIGNAL 1 07.01 MAIN CTRL WORD / 02.31 FOLLOWER MCW
70.10 MASTER SIGNAL 2 23.01 SPEED REF
70.11 MASTER SIGNAL 3 02.10 TORQ REF 3
70.35 FOLLOWER SEL NOT USED (No data read from followers)
The Master drive sends master references 1...3 in one DDCS broadcast message
(cyclic communication) every 2 ms.
70.11 MASTER SIGNAL 3 can be scaled by parameter 70.30 MASTER SGN3
SCALE before it is sent to the Follower drive. Rescaling is done by parameter 70.31.
FOLLOW SGN3 SCALE. Scaling is useful e.g. when torque reference received from
the Master needs to be relative to the power of the motor connected to the Follower.
Program features
115
Follower drive(s)
In the Follower mode the speed and torque references are read from data set 41.
The Follower mode includes only fast data read from data set 41. Therefore Follower
mode can also be used with an external control system connected to DDCS channel
CH0 by sending a message to data set 41 from the control system. This is useful
when fast communication is required but there is no need for a real Master/Follower
application.
Data set # Data word # Default parameter address Follower signal
41 1 02.31 FOLLOWER MCW 02.29 DS MCW
2 23.01 SPEED REF 02.18 DS SPEED REF
3 25.01 TORQ REF A 02.20 DS TORQ REF A
Typical Follower drive parameter settings are:

Follower drive parameter Setting
70.08 CH2 M/F MODE FOLLOWER
70.17 FOLL SPEED REF MASTER (if the speed reference is read from the Master drive)
(or controlled by 07.03 bits 6 and 7)
70.18 FOLL TORQ REF MASTER (if the torque reference is read from the Master drive)
(or controlled by 07.03 bits 6 and 8)
70.34 FOLLOWER MCW MASK 0 (MCW sent by master is not used)
25.03 LOAD SHARE Default: 100%. Set according to the application requirements.
26.01 TORQUE SELECTOR SPEED/TORQUE (depending on the reference used in the
motor torque control)
In some applications, both speed and torque control of the Followers are required.
For example if it is necessary to accelerate all drives along the same speed ramp up
to a certain speed before torque control can be started, switching between the speed
and torque control is required. The switching is done by controlling parameter 26.01
TORQ SELECTOR from an external control system (e.g. fieldbus control system) or
via adaptive programming.
A speed supervision function for a torque controlled Follower drive is available. See
parameters 23.07 WINDOW INTG ON … 23.09 WINDOW WIDTH NEG and signal
07.02 AUX CTRL WORD 1 bit 7.
The Follower drive is able to detect a communication break. The action taken by the
drive upon a communication brake is defined by parameters 70.13 CH2 TIMEOUT
and 70.14 CH2 COM LOSS CTRL.
See also section Master/Follower communication on page 33 for Master/Follower
configuration during drive start-up.
Program features
116
Data transfer from follower(s)

It is possible to receive three selectable feedback signals from a maximum of three
followers via optic link. The followers from which data is read are selected by
parameter 70.35 FOLLOWER SEL in master. The feedback signals are selected by
parameters 70.09 MASTER SIGNAL 1 … 70.11 MASTER SIGNAL 3 in the follower
drive. The received signals from followers can be read from signals 03.33
FOLLOWER2 MSW … 03.41 FOLLOWER4 ACT3 in master drive. The signal
values are transferred as integer values.
This communication can also be used for status monitoring of followers in the master
drive. The master’s start can be interlocked for status of followers. The enable signal
of the followers is selected by parameter 70.37 FOLL ENABLE SEL. The Master’s
reaction to followers faulting is selected by parameter 70.36 FOLL FAULT SEL. If
70.09 MASTER SIGNAL 1 is not 801 (MSW), the parameter 70.36 FOLL FAULT
SEL must set to NO REACTION and parameter 70.37 FOLL ENABLE SEL to
ALLWAYS.
The example of parameter settings for speed controlled master / follower application
where
• master is controlled by external control system (Command word and speed
reference)
• two followers are controlled by master’s MCW and references.
Master’s start is interlocked to the status of the followers by parameters
70.35…70.37 in the master drive.
E x te rn a l C o n tro l S y s te m (e .g . P L C )
) + 5 & ) + 5 &
M A S T E R F O L L O W E R 2
P a ra m e te r s e ttin g s : P a ra m e te r s e ttin g s :
5 0 .0 1 S P E E D S C A L IN G 2 0 0 0 rp m
C H 2
C H 2
7 0 .0 8 C H 2 M /F M O D E M A S T E R 7 0 .0 7 C H 2 N O D E A D D R 2
7 0 .0 9 M A S T E R S IG N A L 1 2 2 6
231 7 0 .0 8 C H 2 M /F M O D E F O L L O W E R
7 0 .1 0 M A S T E R S IG N A L 2 2 3 0 1 7 0 .0 9 M A S T E R S IG N A L 1 8 0 1
7 0 .1 1 M A S T E R S IG N A L 3 2 0 9 7 0 .1 0 M A S T E R S IG N A L 2 1 0 1
7 0 .3 2 C H 2 H W C O N N E C T IO N R IN G 7 0 .1 1 M A S T E R S IG N A L 3 1 0 7
7 0 .3 5 F O L L O W E R S E L F O L L O W E R 2 + 3 7 0 .0 7 C H 2 N O D E A D D R 2
7 0 .3 6 F O L L F A U L T S E L F A U L T 7 0 .1 7 F O L L S P E E D R E F M A S T E R
7 0 .3 7 F O L L E N A B L E S E L M S W B IT 0 7 0 .3 2 C H 2 H W C O N N E C T IO N R IN G
7 0 .3 4 F O L L O W E R M C W M A S K F F F F
9 8 .0 2 C O M M . M O D U L E N O
R in g o r S ta r ) + 5 &
T o p o lo g y in M /F lin k F O L L O W E R 3
P a ra m e te r s e ttin g s :
7 0 .0 7 C H 2 N O D E A D D R 3
C H 2
7 0 .0 8 C H 2 M /F M O D E F O L L O W E R
7 0 .0 9 M A S T E R S IG N A L 1 8 0 1
7 0 .1 0 M A S T E R S IG N A L 2 1 0 1
7 0 .1 1 M A S T E R S IG N A L 3 1 0 7
7 0 .0 7 C H 2 N O D E A D D R 3
7 0 .1 7 F O L L S P E E D R E F M A S T E R
7 0 .3 2 C H 2 H W C O N N E C T IO N R IN G
7 0 .3 4 F O L L O W E R M C W M A S K F F F F
9 8 .0 2 C O M M . M O D U L E N O
Program features
117
The example of paraneter settings for torque controlled master / follower application,
where
• master is controlled by external control system (Command word and speed
reference)
• two followers, MCW is received from external control system and references
from the master.
Master start is interlocked to the status of the followers by parameters 70.35…70.37
in the master drive.
E x te rn a l C o n tro l S y s te m (e .g . P L C )
M C W
M C W a n d S P E E D R E F M C W
) + 5 & ) + 5 &
M A S T E R F O L L O W E R 2
T O R Q R E F
P a ra m e te r s e ttin g s : S P E E D R E F P a ra m e te r s e ttin g s :
2 6 .0 1 T O R Q U E S E L E C T O R T O R Q U E / A D D
C H 2
2 6 .0 1 T O R Q U E S E L E C T O R S P E E D
C H 2
7 0 .0 8 C H 2 M /F M O D E M A S T E R 7 0 .0 7 C H 2 N O D E A D D R 2
7 0 .0 9 M A S T E R S IG N A L 1 0 7 0 .0 8 C H 2 M /F M O D E F O L L O W E R
7 0 .1 0 M A S T E R S IG N A L 2 2 3 0 1 7 0 .0 9 M A S T E R S IG N A L 1 8 0 1
7 0 .1 1 M A S T E R S IG N A L 3 2 0 9 7 0 .1 0 M A S T E R S IG N A L 2 1 0 1
7 0 .3 2 C H 2 H W C O N N E C T IO N R IN G 7 0 .1 1 M A S T E R S IG N A L 3 1 0 7
7 0 .3 5 F O L L O W E R S E L F O L L O W E R 2 + 3 7 0 .0 7 C H 2 N O D E A D D R 2
7 0 .3 6 F O L L F A U L T S E L F A U L T 7 0 .1 7 F O L L S P E E D R E F M A S T E R
7 0 .3 7 F O L L E N A B L E S E L M S W B 0 7 0 .1 8 F O L L T O R Q R E F M A S T E R
7 0 .3 4 F O L L O W E R M C W M A S K 0
9 8 .0 2 C O M M . M O D U L E F IE L D B U S /
A D V A N T
) + 5 &
F O L L O W E R 3
P a ra m e te r s e ttin g s :
2 6 .0 1 T O R Q U E S E L E C T O R T O R Q U E / A D D
7 0 .0 7 C H 2 N O D E A D D R 3
C H 2
7 0 .0 8 C H 2 M /F M O D E F O L L O W E R
7 0 .0 9 M A S T E R S IG N A L 1 8 0 1
F O L L 2 a n d 3 S W 7 0 .1 0 M A S T E R S IG N A L 2 1 0 1
7 0 .1 1 M A S T E R S IG N A L 3 1 0 7
7 0 .1 7 F O L L S P E E D R E F M A S T E R
7 0 .1 8 F O L L O W E R T O R Q R E F M A S T E R
7 0 .3 4 F O L L O W E R M C W M A S K 0
9 8 .0 2 C O M M . M O D U L E F IE L D B U S /
A D V A N T
The Main Control Word (02.31 FOLLOWER MCW), speed reference (02.18 SPEED
REF 4) and torque reference at the output of speed regulator (02.09 TORQUE REF
2) are sent from the master to the followers. The Main Status Words (08.01 MAIN
STATUS WORD), actual speed (01.01 MOTOR SPEED FILT) and actual torque
(01.07 MOTOR TORQ FILT2) are sent from the followers to the master. The master
start is prevented if the bit 0 of follower’s MSW is OFF and if one of the follower has
a fault, then also master is tripped to FOLLOWER FLT fault.
If master drive is faulted, it sends coast stop command also to followers.
Program features
118
Load share function with speed controlled Follower

Load sharing between Master drive and speed controlled Follower drives can be
used in several applications. The load share function is implemented by fine tuning
the speed reference with an additional term which is based on the torque reference
of the Master drive.
Load share is adjusted by parameter 25.03 LOAD SHARE and activated by 07.03
AUX CTRL WORD 2 bit 9. Parameters 23.18 FOLL SPD CTRL COR and 23.19
FOLL SPD COR MODE define how the Follower drives follow the Master torque.
The output of the load share function, 02.30 FOLL SPD CORR OUT, is added to
speed reference 02.02 SPEED REF3.
Note: The Master and Follower drives should have the same speed control tuning
values.
Note: Drooping (24.02 DROOP RATE) must be disabled when load share is used
with speed controlled Follower drives.
Note: The window control also limits the parameter 02.30 FOLL SPD CORR OUT.
See control block diagrams on page 110 and in section Speed reference ramp on
page 322.
Process master on-line configuration

If the on-line configurable master is required the separate CACP board has to be
used. CACP works as communication master and 1 or 2 of drives can be process
masters and other drives are process followers. The process master can be
changed on-line without any interrupts in the process. For more information, see
chapter Program features for Master/Follower in ACS800 Configuration and Control
Program for ABB Industrial Drives Firmware Manual (3AUA0000021158 [English]).
Master/Follower link specification

Size of the link: The size of the link depends on the cable length and type.
With RDCO-01 or RDCO-02:
- POF (Plastic Optic Fibre): Maximum cable length is 30 m.
- HCS (Hard-Clad Silica Fibre): Maximum cable length is 200 m.
For distances up to 1000 m: Use two Optical Converter/Repeater boards (NOCR-01)
with glass optic cable (GOF, 6.25 um, Multi-Mode).
With RDCO-03:
- POF (Plastic Optic Fibre): Maximum cable length is 10 m.
- HCS (Hard-Clad Silica Fibre): Not supported.
Transmission rate: 4 Mbit/s
Configuration: The role of the drive in the Master/Follower link can be changed
on-line through an external control system (connected to DDCS CH0) by parameter
70.08 CH2 M/F MODE or adaptive programming and thus there is no need for
hardware reconfiguration.
Program features
119
After a change in the configuration, all drives should first be set to MASTER, then to
FOLLOWER as appropriate. Otherwise the followers will trip on COMM2 FAULT.
Total performance of the link: < 5 ms to transfer references between the Master
and Follower drives.
Protocol: DDCS (Distributed Drives Communication System)
Inverter fan speed control

Parallel-connected inverter modules can be equipped with an optional inverter fan.
The fan speed can be controlled by adjusting the fan speed control parameters.
The following figures present the different fan speed control curves.
Fan speed / Hz 16.08 is set to CONST 50 HZ
Drive Drive
stopped modulating
50
Fan Fan
acceleration deceleration
time time
IGBT temperature / °C
Charging
Fan speed / Hz 16.08 is set to RUN/STOP
Drive Drive
stopped modulating
50
Fan Fan
acceleration deceleration
time time
10
IGBT temperature / °C
Charging
Fan speed / Hz
16.08 is set to CONTROLLED
Drive
Drive modulating
stopped
55
Fan deceleration time
25 Fan acceleration time
10
Charging IGBT temperature / °C
90 112
Settings
16.08 FAN SPD CTRL MODE Selection of the inverter fan speed control
Program features
120
LSU communication
Fibre optic link can be connected between line-side converter unit (LSU) and the
inverter unit (INU) in single drives. Fibre optic cable is connected between LSU
control board CH0 and INU control board CH1. LSU's start, stop and reset
commands can be given via INU and the actual values can be read from LSU to INU,
as well as DC and reactive power references can be written from INU to LSU. If INU
is faulted, also LSU is stopped. For further details, see description of signals and
parameters in groups 5 and 95.
Start by overriding system, when LSU starting is controlled by INU.

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*) Starting of modulation can be separated to free bit of MCW with parameter 95.06
LSU RUN MCW BIT.
Program features
121
There are several alternative for communication between the INU and LSU. This can
be selected by user’s parameter 95.05 LSU COMM SEL and it is not a HW
dependent like single drive or multidrive.
Settings
95.01...95.02 References for LSU
95.03...95.04 Selection parameters for actual signals read from LSU.
95.05 LSU COMM SEL Selection for communication type
95.06 LSU RUN MCW BIT Selection for the start bit of LSU modulation
Diagnostics
05.01...05.09 Actual values read from LSU
05.10..05.11 LSU status, fault and alarm words
05.13 LSU CONTROL WORD Main control word of LSU
05.21...26 Special signals of Wind Turbine Application
Sine filter support

The sine filters are low-pass filters that suppress the high frequency components of
the drive output. The sine filters available for the ACS800 consist of single- or three-
phase reactors and delta- or star-connected capacitors.
The following diagram shows a drive system with a sine filter.
M
3~
Drive Sine filter
The sine filters are used in conjunction with the ACS800 System Control Program.
The Scalar motor control mode (instead of DTC mode) is used with a sine filter. See
User’s Manual Sine Filters (3AFE68389178 [English]).
The sine filter function is activated by parameter 98.04 DI/O EXT MODULE 2
(selection (4) STEP UP). This selection activates scalar mode and sets internal
parameters for sine filter use. The function requires an RDIO extension module. This
Program features
122
activates scalar control mode with internal parameter settings. The following sine
filter protections are available.
Input Additional information
DI/O EXT2:DI1 0 = CHOKE OTEMP, overtemperature of sine filter.
1 = no fault
DI/O EXT2:DI2 0 = FAN OVERTEMP, cooling fan overtemperature of sine filter.
1 = no fault
DI/O EXT2:DI3 Not in use.
DI/O EXT2:RO1
DI/O EXT2:RO2
Settings
29.04 IR COMPENSATION Defines relative output voltage boost at zero speed.
29.06 IR STEP-UP FREQ Defines the frequency at which the step-up IR compensation reachers
the IR compensation
29.07 ENA INC SW FREQ Minimum switching frequency limitation
98.04 DI/O EXT MODULE 2 Activation of sine filter support
99.02 MOTOR NOM Using nominal supply voltage instead of motor rating plate value
VOLTAGE
98.10 DI/O EXT2 LOCATIO Location for DI/O EXT2 extension module
Diagnostics
Alarm Signal
FAN OVERTEMP Signal 09.05 ALARM WORD2 bit 5 value is 1
Fault Signal
CHOKE OTEMP Signal 09.06 FAULT WORD3 bit 8 value is 1
Program features
123
Inverter charging logic

With R2i…R5i and R7i inverters digital input DI2 is used to indicate the position of
an optional DC switch.
Three conditions must be fulfilled before the charging relay is energised:
• DC charging level has reached 79% of the nominal DC voltage.
• Voltage derivative is 0 (i.e. voltage is not changing any longer).
• Digital input DI2 value is 1, i.e. RUN ENABLE (see signal 08.05 DI STATUS
WORD).
When the DC switch opens, the inverter IGBT control is disabled and the charging
relay is de-energized. If undervoltage is detected in the supply voltage, the charging
relay is de-energized after the DC UNDERVOLT fault trip.
DC bars
DC switch
DI2
charging charging
logic relay
M
With R8i inverters equipped with an optional DC switch, the charging logic is
controlled by the Switch Fuse Control Board, ASFC.
Settings
98.12 FUSE SWITCH CTRL Activation of the inverter DC switch monitoring (with R8i inverters
equipped with an optional DC switch). The setting comes into effect
after power-up.
Diagnostics
08.05 DI STATUS WORD Digital input status
08.20 INV ENABLED WORD Inverter module operation status
Program features
124
Monitoring panel NLMD-01

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

RTAC-01 pulse encoder module is connected to Slot 1 or Slot 2 of the drive or via
an optional AIMA-01 I/O Module Adapter connected to RMIO board DDCS channel
CH1.
Position counter
The number of pulse encoder pulses can be counted by using signal 07.02 Auxiliary
Control Word 1 bits 9...11. The calculation has three output modes: number of
pulses, number of revolutions and motor shaft position in degrees.
When faster synchronising is required, see parameter 10.04 SYNC CMD.
Program features
F A S T D I5 S E L = P O S C N T S Y N C
D I5 1 2 .0 3
S Y N C C M D
Position count
S Y N C C M D D I S Y N C C O M M A N D
1 0 .0 4 > 1 &
S S
S Y N C C O M M A N D 7 .0 2 b 9 8 .0 2 b 5 S Y N C R D Y
R R
S Y N C D IS A B L E 7 .0 2 b 1 0
F A U L T 8 .0 1 b 3
> 1 1
R E S E T S Y N C R D Y 7 .0 2 b 1 1
3 .0 7 P O S C O U N T L O W
3 .0 8 P O S C O U N T H IG H
P O S C O U N T IN IT L O W 5 0 .0 8
P O S C O U N T IN IT H IG H 5 0 .0 9 3 .0 9 P O S C O U N T D E G R E E S
P U L S E S F R O M E N C O D E R
3 .1 0 P O S C O U N T R O U N D S
A D D
P O S C O U N T M O D E = R O U N D & D E G 5 0 .0 7
P O S IT IO N C O U N T : L O G IC A N D C A L C U L A T IO N D IA G R A M
125
Program features
126
Example:
A basic position count function can be seen in the following figure. When
synchronisation is enabled (07.02 bit 10 SYNC DISABLE value is 0) and the next
positive edge of the SYNC CMD (07.02 bit 9) is encountered, the initial values of
POS COUNT INIT LOW and POS COUNT INIT HIGH (par. 50.08 and 50.09) are
loaded into the counter. (Initial values can only be used in the pulse edge count
mode.) Status signal SYNC RDY (08.02 bit 5) is set to indicate position counter
synchronisation. When the positioning has been completed by an external control
system (i.e. the motor can be stopped or some other sequence started), signal
SYNC RDY can be reset by RESET SYNC RDY (07.02 bit 11).
SYNC CMD 7.02 B9
SYNC DISABLE 7.02 B10
SYNC RDY 8.02 B5
RESET SYNC RDY 7.02 B11
ENCODER PULSES
POS COUNT LO 3.07

POS COUNT HI 3.08
or
POS COUNT ROUNDS 3.10
POS COUNT DEGREES 3.09
POS COUNT INIT LO 50.08

POS COUNT INIT HI 50.09
Settings
10.04 SYNC CMD Synchronisation of the position count
50 SPEED MEASUREMENT Settings of the encoder and processing of the position counter
(50.07...50.09)
98.01 ENCODER MODULE Activation of the RTAC module

01.03 SPEED MEASURED Measured motor speed
03.07...03.10 Position counter values
07.02 AUX CONTROL Commands for the position count
WORD 1, bits 9...11
08.02 AUX STATUS WORD Speed feedback: 0 = Pulse encoder is used.
1 = Internal speed feedback is used.
Program features
127
Firmware
Firmware loading package

Each drive product has a product specific loading package, which contains all
necessary software files to be downloaded to the RMIO board. The loading
packages define for example the inverter ratings which are different for AC and DC
supplied inverters. The type information of the loading package can be identified
from signal 04.01 SW PACKAGE VER. The downloaded application program
version can be identified from signal 04.03 APPLIC SW VERSION.
Program boot
The application program of the RMIO board is saved to the FPROM memory. After
switching on the auxiliary power, the program starts routines for initialisation and
loading of all tasks, parameters and the application program from the FPROM to the
RAM memory. This takes 8 seconds. A fault reset is given at the end of the boot
procedure and the control mode of the drive is changed to remote.
Memory handling
Parameter value changes through DriveWindow or CDP 312R control panel are
stored to the RAM and FPROM memories. Parameter value changes through
an external control system are stored only to the RAM memory. However, if
parameter changes made through external control need to be saved to the FPROM,
saving can be executed by setting parameter 16.06 PARAMETER BACKUP to
SAVE.
DriveWindow parameter
or CDP 312R change
RAM memory
Par. 16.06
POWER-UP
USER 1
USER 1 Parameter file SAVE
LOAD
USER MACRO 1 file USER 2
USER 2
SAVE
LOAD
USER MACRO 2 file
FACTORY
FACTORY FILE
FPROM memory
When the power is turned off, 16 latest faults or alarms are saved to the FPROM
memory.
Settings
16.06 PARAMETER BACKUP Saving of parameters from the RAM memory to the FPROM
memory
Program features
128
Diagnostics
04.01 SW PACKAGE VER Type and version of the firmware package
04.03 APPLIC SW VERSION Type and the version of the application program
Diagnostics
Drive diagnostics is informed by signals, data loggers and event and fault loggers.
Fault and event loggers

The fault logger collects 64 of the most recent faults into the fault buffer in the RAM
memory. The latest 16 faults are stored to the flash memory at the beginning of
an auxiliary power supply loss when an internal +24 V power supply is used.
The fault logger records all available information from the drive including fault, alarm,
reset and system messages.
Time format
Fault logger time is taken from the power-on counter and can be seen on the
CDP 312R control panel in format xx H zz MIN yy S = hours, minutes seconds (with
DriveWindow the format is xxxx:zz: yy.yyyy = hours:minutes:seconds). The counter
can be updated cyclically from an external control system if the system includes
a controller with a clock master (for example AC 80 / AC 800M). In this case the
DriveWindow and the CDP 312R control panel show the real date and time.
Data loggers 1 and 2

Data loggers are used to monitor selected signals and to store them for later retrieval
and analysis. The contents of the data loggers are stored to the RAM memory. There
are two data loggers on the RMIO board. Both data loggers consist of 1...4 channels.
The minimum sample interval is 1 ms. The total memory size of a data logger is 1024
bytes. The maximum number of samples depends on the data type:
• Integer type signal or parameters reserve 1 byte.
• Real type values reserve 2 bytes.
Example: Four real type signals are measured with data logger 1. The maximum
number of samples is 1024 / (2 bytes · 4 channels) = 128.
Data loggers store the selected signals to the RAM memory every 5 milliseconds
Default signals
Data logger 1 default signals Data logger 2 default signals
01.01 MOTOR SPEED FILT 01.02 SPEED ESTIMATED
01.07 MOTOR TORQUE FILT 01.10 DC VOLTAGE
23.01 SPEED REF 01.12 PP TEMP
25.01 TORQUE REF A 02.15 FLUX ACT
The default trigger mode for data loggers is a fault condition. Data logger 1 can also
be triggered by an external control system (e.g. fieldbus) or adaptive programming
via 07.02 Auxiliary Control Word 1 (bits 0 and 1).
Program features
129
Example: Triggered by rising edge:

07.02 bit 0: Restart data logger 1.
07.02 bit 1: Data logger 1 triggered

03.11 DATALOG1 STATUS Status Word of data logger 1
07.02 AUX CTRL WORD 1 bits 0 and 1 Data logger 1 control
Backup and restore function with DriveWindow

It is recommended to take a backup copy of the parameters and Motor ID run results
at the end of the commissioning of the drive. The data can be restored later, e.g.
downloaded into a spare board of the same type. The backup is done with the
DriveWindow PC tool (or with the CDP 312R control panel: the backup is stored to
the EEPROM memory of the panel).
The DriveWindow backup file (*.BPG) stores all the information from the drive
FPROM to the PC. For instructions on how to make a backup, see DriveWindow 2
User’s Manual [3AFE64560981 (English)].
DriveWindow backup file (*.BPG) is normally downloaded if the RMIO board is
replaced.
The backup can be restored to a spare board in which CH3 node address is 1. One
spare RDCU-x2C unit or ACS800 drive module R2i/.../R5i/R2/.../R6 including an
RMIO board, is needed for each application software type (for example System,
Standard, Crane etc.). The spare board and the original board must have the same
firmware. See signal 04.01 SW PACKAGE VER. The inverter type for a spare RMIO
board (defined usually during software download) can be of any type (selection
NONE can also be used).
Note: The DriveWindow backup can be restored only if the destination firmware
(e.g. spare board firmware) and the original firmware (which was backed up) have
the same channel CH3 node addresses (70.15 CH3 NODE ADDR) or if the
destination firmware node address is 1. With other node addresses, the following
message is displayed.
Note that the new node address becomes valid only after the next power-up of the
drive.
Program features
130
Note: If backup restore function does not restore all the information (e.g. ID run
results), restore the backup again. Use DriveWindow version 2.21 or newer or
update your older version using service pack available in ABB Library.
Note: The DriveWindow backup cannot be executed in local control mode.
Note: Remember to save the backup file after the backup is completed.
Settings
70.15 CH3 NODE ADDR Definition of the channel CH3 node address
Diagnostics
04.01 SW PACKAGE VER Firmware package type and version
User macro save with DriveWindow

When user macros are saved to the PC with DriveWindow, both macros must be
saved separately:
1) Activate user macro 1 by setting parameter 99.11 APPLICATION MACRO to
USER1 LOAD and save it:
• Select remote control mode.
• Select the drive from the list.
• Select from the File menu: Parameters - Save as (parameter file name *.dwp).
2) Activate user macro 2 by setting parameter 99.11 APPLICATION MACRO to
USER2 LOAD and save it according to the instruction given above.
The files should be named logically and clearly to identify the corresponding drive
and the macro, e.g. Unwinder 1 macro 1. The process name of the drive can be
typed into parameter 97.01 DEVICE NAME, e.g. Unwinder 1, and it can be seen on
the DriveWindow main menu and on the second row of the control panel display.
For more information on user macros, see section User macros on page 298.
Settings
97.01 DEVICE NAME Definition of the drive name
99.11 APPLICATION MACRO Activation of user macro 1/2
Program features
131
Software version update

A version update restores parameters (groups 10...98) and ID run results from the
old drive firmware version to the new firmware version.
1) Before downloading the new software to the RMIO board, save parameters and
both user macros (if used) of the old software into a file in the PC:
• Select the drive from the list:
• Select from the File menu: Parameters - Save as (parameter file name *.dwp).
• Save both user macros (if used) to the PC: Parameters - Save as (parameter file
name *.dwp). (User macros are activated by setting parameter 99.11
APPLICATION MACRO to USER1/2 LOAD.)
• Create a DriveWindow backup file (*.BPG) to PC. For instructions, see
DriveWindow 2 User’s Manual [3AFE64560981 (English)].
• Upload DriveAP 2.x application to PC (if used) from the DriveAP drive menu:
Upload - Save as (file name *.ap).
Program features
132
2) Download the new software version to the RMIO board from the DOS loading
package according to the software downloading instructions.
3) Restore parameters (groups 10...98) and ID run results from the old software
version to the new software version:
• Open the parameter file of the old software by selecting from the File menu:
Parameters - Open - (parameter file name *.dwp) - Open.
• Select the appropriate drive.
• Select from the File menu: Parameters - Download.
Note: When user macros are restored, save the stored user macro files (*.dwp) as
user macro 1 and 2 of the new software.
• A version conflict notification appears. Proceed by clicking the YES button.
• Select parameters and ID run results and click the OK button.
Program features
133
• A user macro notification appears. If it is safe to proceed, click the YES button.
• Restart the drive software by clicking the YES button.
• Use compare function (File -Parameters -Compare) to check the parameter

differences between the drive and file.
• Check the settings of the new parameters.
For more information on DriveWindow, see DriveWindow 2 User’s Manual
Note: If adaptive programming is used and it has been created by the CDP 312R
control panel or DriveWindow, connections and blocks are activated automatically
when the parameter file is restored (parameter groups 53...66). If adaptive program
has been created by DriveAP 2.x, the program must be opened as follows:
• Open the DriveAP 2.x application into the RMIO board by selecting from the File
menu: Open - (block application file *.ap).
• Check that the DriveAP version is 2.1 or later.
• Select from the DriveAP Drive menu: Download.
• Start the adaptive program tasks by DriveAP 2.x.
Program features
134
Program features
135

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

136
Modbus and Modbus Plus address

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

Term Definition
Actual signal Signal measured or calculated by the drive. Can be monitored by the
user. No user setting possible.
B Boolean
C Character string
Def. Default value
FbEq Fieldbus equivalent: The scaling between the value shown on the panel
and the integer used in serial communication.
I Integer
P Pointer
Parameter A user-adjustable operation instruction of the drive
Pb Packed boolean
PB PROFIBUS equivalent for drive parameters communicating through the

NPBA-12 PROFIBUS Adapter. (Add 4000 in FMS Mode.)
R Real
See par. xx.yy…xx.yy The values of the parameters given determine the minimum and
maximum values of the parameter.
T Data type (see B, C, I, R, Pb)

137
Index Name/Value Description FbEq PB T

01 ACTUAL SIGNALS Basic signals for monitoring the drive
01.01 MOTOR SPEED FILT Filtered actual speed. Used speed feedback is defined by See par. 1 R
parameter 50.03 SPEED FB SEL. 50.01.
Filter time constant can be adjusted by parameter 50.12 MOTOR
SP FILT TIME.
rpm Speed
01.02 SPEED ESTIMATED Calculated motor speed See par. 2 R
50.01.
rpm Speed
01.03 SPEED MEASURED Measured motor speed See par. 3 R
50.01.
rpm Speed
01.04 MOTOR SPEED Actual speed used for the speed error calculation See par. 4 R
50.01.
rpm Speed
01.05 FREQUENCY Calculated drive output frequency 100 = 1 Hz 5 R
Hz Frequency
01.06 MOTOR CURRENT Measured motor current (absolute value) 10 = 1 A 6 R
A Current
01.07 MOTOR TORQ FILT2 Filtered motor torque. Filter time constant can be adjusted by 100 = 1% 7 R
parameter 25.07 TORQ ACT FILT TIM.
% Torque in percent of the rated motor torque
01.08 MOTOR TORQUE Motor torque 100 = 1% 8 R
01.09 POWER Motor power 10 = 1% 9 R
% Power in percent of the rated motor power
01.10 DC VOLTAGE Measured intermediate circuit voltage 1=1V 10 R
V Voltage
01.11 MOTOR VOLTAGE Calculated motor output voltage 1=1V 11 R
V Voltage
01.12 ACS800 TEMP IGBT temperature 1 = 1°C 12 R
°C Temperature
01.13 TIME OF USAGE Elapsed time counter. Runs when the control board is powered. 1=1h 13 R
h Time
01.14 KILOWATT HOURS kWh counter 1= 14 R
100 kWh
kWh Counter value
01.15 DI7-1 STATUS Status of digital inputs. 1=1 15 I
00000000…1111111 Example: 0001001 = DI1 and DI4 are on.
0001001
DI7 DI1
DI6 DI2
DI5 DI3
DI4

138

01.16 MOTOR 1 TEMP Measured temperature of motor 1. See parameter 30.03 MOT1 1 = 1°C or 16 R
TEMP AI1 SEL. 1Ω
°C or Ω °C = Pt100 measurement, Ω = PTC / KTY84-1xx measurement
01.17 MOTOR 2 TEMP Measured temperature of motor 2. See parameter 30.06 MOT2 1 = 1°C or 17 R
TEMP AI2 SEL. 1Ω
°C or Ω °C = Pt100 measurement, Ω = PTC / KTY84-1xx measurement
01.18 MOTOR TEMP EST Estimated motor temperature when thermal model (DTC or USER 1 = 1°C 18 R
MODE) is used for motor overtemperature protection. See
parameter 30.01 MOT THERM MODE.
°C Temperature
01.19 AI1 [V] Non-scaled value of analogue input AI1. See parameters 13.01 AI1 10000 = 19 R
HIGH VALUE and 13.02 AI1 LOW VALUE. 10 V or
20 mA
-10...10 V Voltage
01.20 AI2 [mA] Non-scaled value of analogue input AI2. See parameters 13.04 AI2 20000 = 20 R
HIGH VALUE and 13.05 AI2 LOW VALUE. 20 mA, 2 V
or 10 V
-20...20 mA Current
01.21 AI3 [mA] Non-scaled value of analogue input AI3. See parameters 13.08 AI3 20000 = 21 R
HIGH VALUE and 13.09 AI3 LOW VALUE. 20 mA
-20...20 mA Current
01.22 RO3-1 STATUS Status of relay outputs 1=1 22 I
0000000…1111111 Example: 0000110 = RO2 and RO3 are energised.
0000110
RO1
RO2
RO3
01.23 AO1 [mA] Value of analogue output AO1. See parameter group 15 20000 = 23 R
ANALOGUE OUTPUTS for signal selection and scaling. 20 mA
0...22 mA Current
01.24 AO2 [mA] Value of analogue output AO2. See parameter group 15 20000 = 24 R
ANALOGUE OUTPUTS for signal selection and scaling. 20 mA
0...22 mA Current
01.25 CONTROL MODE Active control mode 1=1 25 I
1 Speed control
2 Torque control
01.26 LED PANEL OUTPUT NLMD-01 LED panel output. See parameter group 18 LED PANEL 1 = 1 26 R
CTRL.
% Panel output
01.27 CABLE Motor cable thermal model output monitoring. See parameter 1=1 27 R
TEMPERATURE group 36 MOTOR CABLE PROTECTION.
% 102% corresponds to the trip limit.
01.28 IU Measured output current of phase U 1=1 28 R
0...300 A Current
01.29 IV Calculated output current of phase V 1=1 29 R
0...300 A Current

139

01.30 IW Measured output current of phase W 1=1 30 R
0...300 A Current
01.31 FAN ON-TIME Running time of the drive cooling fan 1 = 10 h 31 R
Note: Resetting of the counter is recommended when the fan is
replaced. See parameter 16.09 RESET COUNTER.
h Time
01.37 GENER TORQ FILT2 Filtered generating torque in percent of the rated motor or 100 = 1% 37 R
generator torque. Same as 01.07 MOTOR TORQ FILT2, but with
opposite sign. Filter time constant can be adjusted by parameter
25.07 TORQ ACT FILT TIM.
01.38 MOTOR RUN-TIME Running time of the motor fan 1 = 10 h 38 R
Note: The counter can be reset by parameter 16.09 RESET
COUNTER.
h Time
01.41 EXT2 AI1 Non-scaled value of analogue input AI1 of I/O extension module 1=1 41 I
EXT 2
-20000...20000 Integer value. 20000 corresponds to the maximum analogue input
signal value.
01.42 EXT2 AI2 Non-scaled value of analogue input AI2 of I/O extension module 1=1 42 I
EXT 2
-20000...20000 Integer value. 20000 corresponds to the maximum analogue input
signal value.
01.43 kWh Kilowatt hour counter. After 999999 kWh, 01.43 kWh is reset and 1 = 100 43 R
01.44 GWh counter is incremented. kWh
0…999999 Counter value
01.44 GWh Gigawatt hour counter 1=1 44 R
0…999999 Counter value
01.46 SAVED KWH Energy saved in kWh compared to direct-on-line motor connection. 1 = 100 46 R
See parameter group 45 ENERGY SAVING on page 235. kWh
KWh Energy saved.
01.47 SAVED GWH Energy saved in GWh compared to direct-on-line motor 1 = 1 GWh 47 R
connection.
GWh Energy saved.
01.48 SAVED AMOUNT Monetary savings compared to direct-on-line motor connection. 1 = 100 cur 48 R
This value is a multiplication of parameters 01.46 SAVED KWH and
45.02 ENERGY TARIFF.
See parameter group 45 ENERGY SAVING on page 235.
cur
01.49 SAVED AMOUNT M Monetary savings in millions compared to direct-on-line motor 1 = 1 Mcur 49 R
connection.
Mcur

140

01.50 SAVED CO2 Reduction in CO2 emissions in kilograms compared to direct-on- 1 = 100 kg 50 R
line motor connection. This value is calculated by multiplying saved
energy in megawatt-hours by 500 kg/MWh.
See parameter group 45 ENERGY SAVING on page 235.
kg Emission reduction in kilograms.
01.51 SAVED CO2 KTON Reduction in CO2 emissions in kilotons compared to direct-on-line 1 = 1 kton - R
motor connection.
kiloton Emission recuction in kilotons.
02 ACTUAL SIGNALS Speed and torque reference monitoring signals
02.01 SPEED REF 2 Limited speed reference See par. 51 R
50.01.
-18000...18000 rpm Speed
02.02 SPEED REF 3 Speed reference after the speed ramp See par. 52 R
50.01.
-18000...18000 rpm Speed
02.03 SPEED ERROR NEG Difference between speed reference and actual speed. See par. 53 R
If parameter 23.07 WINDOW INTG ON is active, 02.03 SPEED 50.01.
ERROR NEG is filtered through the window function.
% Difference
02.04 TORQUE PROP REF Output of the proportional part (P-part) of the PID controller 100 = 1% 54 R
% Output value
02.05 TORQUE INTEG REF Output of the integral part (I-part) of the PID controller 100 = 1% 55 R
% Output value
02.06 TORQUE DER REF Output of the derivative part (D-part) of the PID controller 100 = 1% 56 R
% Output value
02.07 TORQ ACC COMP Output of the acceleration compensation 100 = 1% 57 R
REF
% Output value
02.08 TORQUE REF 1 Limited torque reference 100 = 1% 58 R
% Value in percent of the nominal motor torque
02.09 TORQUE REF 2 Speed controller output 100 = 1% 59 R
02.10 TORQUE REF 3 Torque reference after the torque selector 100 = 1% 60 R
02.11 TORQUE REF 4 Torque reference: sum of 02.10 TORQUE REF 3 and 26.02 LOAD 100 = 1% 61 R
COMPENSATION
% Torque
02.12 TORQUE REF 5 Torque reference: sum of 02.11 TORQUE REF 4 and 26.03 100 = 1% 62 R
TORQUE STEP
% Torque
02.13 TORQ USED REF Limited torque reference after frequency, voltage and torque 100 = 1% 63 R
limiters
02.14 FLUX USED REF Flux reference 10 = 1% 64 R
% Flux

141

02.15 FLUX ACT Actual flux 10 = 1% 65 R
% Flux
02.16 dv/dt Speed reference change after the speed ramp generator 1=1 66 R
rpm/s Speed change
02.18 SPEED REF 4 Speed reference before speed error calculation See par. 68 R
50.01.
-18000...18000 rpm Speed
02.19 DS SPEED REF Speed reference in a Master/Follower application See par. 69 R
50.01.
-18000...18000 rpm Speed
02.20 DS TORQ REF A Torque reference in a Master/Follower application 100 = 1% 70 R
02.21 FIELDWK POINT ACT Actual field weakening point 100 = 1Hz 71 R
Hz Frequency
02.22 TORQ FREQ LIM REF Torque reference after the frequency limiter 100 = 1% 72 R
02.23 TORQ DC LIM REF Torque reference after the DC voltage limiter 100 = 1% 73 R
02.24 TORQ POW LIM REF Torque reference after the power limiter 100 = 1% 74 R
-600.00...600.00% Value in percent of the nominal motor torque
02.25 ADDITIVE SP REF Analogue input speed reference when AI+FBA SPEED REF See par. 75 R
function has been activated by parameter 11.02 REFERENCE 50.01.
SELECT. This additional speed reference can also be updated by
the Application Program if AI+FBA SPEED REF is not selected.
-18000...18000 rpm Speed
02.26 USED MCW Internal command word used by the application program. Control 1=1 - Pb
commands which are actually used can be monitored with this
signal.
0...65535 Control word value
02.27 USED SPEED REF Speed reference. See control block diagram in section Speed See par. - R
reference on page 321. 50.01.
-18000...18000 rpm Speed
02.28 USED TORQ REF A Torque reference. See control block diagram in section Torque 100 = 1% - R
02.29 DS MCW Main control word used in a Master/Follower application 1=1 - Pb
02.30 FOLL SPD CORR Speed output correction of the load share function with speed See par. - R
OUT controlled Follower drive. See section Load share function with 50.01.
speed controlled Follower on page 118.
-18000...18000 rpm Speed
02.31 FOLLOWER MCW Actual signal is sent by the Master to the Follower. Same as 02.26 -
USED MCW except bit 3 is replaced by masters MODULATING
STATUS. Selected by parameter 70.09 MASTER SIGNAL 1.

142

03 ACTUAL SIGNALS Monitoring signals
03.02 APPLICATION OVERL Overload monitoring 1=1 77 Pb
-32768...32767 Bit 0 = Application Task 1 overload
Bit 1 = Application Task 2 overload
03.03 RS Estimated stator resistance RS (consists of the resistance value 28676 = 78 R
estimated during ID run and the temperature dependence of the 1Ω
resistance).
mohm Resistance
03.04 LS Estimated stator inductance LS 100 = 1 mH 79 R
mH Inductance
03.05 SIGMALS Estimated value of leakage factor σLS 100 = 1 mH 80 R
mH Leakage factor
03.06 TR Estimated time constant of the rotor 1 = 1 ms 81 R
ms Time constant
03.07 POS COUNT LO Position counter value in pulses (16 least significant bits) 1=1 82 I
0...65535 Integer value
03.08 POS COUNT HI Position counter value in pulses (16 most significant bits) 1=1 83 I
0...65535 Integer value
03.09 POS COUNT Position counter value. Parameter 50.07 POS COUNT MODE 1 = 1 deg 84 R
DEGREES must be set to ROUND&DEG. This signal is used together with
signal 03.10 POS COUNT ROUNDS.
-360...360 deg Position
03.10 POS COUNT Position counter value in total shaft revolutions. Parameter 50.07 1=1 85 R
ROUNDS POS COUNT MODE must be set to ROUND&DEG. This signal is
used together with signal 03.09 POS COUNT DEGREES.
-8388608...8388608 Integer value
03.11 DATALOG1 STATUS Status Word of data logger 1. See section Data loggers 1 and 2 on 1 = 1 86 Pb
page 128.
-32768...32767 B0 = triggered on fault
B1 = triggered on set level
B2 = triggered on alarm
B3 = triggered on limit
B4 = triggered by user
B5 = triggered from level
B6 = trend triggered from difference
B7 = initialising
B8 = overwrite
B9 = filled
B10 = running
B11 = initialised
B12 = not initialised
03.12 PP 1 TEMP Measured IGBT temperature of inverter module no. 1 1=1 87 R
ºC Temperature

143

ºC Temperature
ºC Temperature
ºC Temperature
03.16 CTRL BOARD TEMP Control board (RMIO) temperature 1 = 1ºC 91 R
ºC Temperature
03.18 TEMP DIF MAX Maximum phase temperature difference 1 = 1ºC 93 R
ºC Temperature
03.19 PHASE U TEMP DIF Temperature difference between individual module phase U and 1 = 1ºC 94 R
the average temperature of the rest of the modules
ºC Temperature
03.20 PHASE V TEMP DIF Temperature difference between individual module phase V and 1 = 1ºC 95 R
ºC Temperature
03.21 PHASE W TEMP DIF Temperature difference between individual module phase W and 1 = 1ºC 96 R
ºC Temperature
03.31 LSU ACT SIGNAL 1 Line-side converter signal selected by parameter 95.03 LSU PAR1 1 = 1 - I
SEL. This signal is active only when parameter 95.05 LSU COMM
SEL = LIMITED.
-32768...32767 Signal value
03.32 LSU ACT SIGNAL 2 Line-side converter signal selected by parameter 95.04 LSU PAR2 1 = 1 - I
SEL. This signal is active only when parameter 95.05 LSU COMM
SEL = LIMITED.
03.33 FOLLOWER2 MSW 08.01 MAIN STATUS WORD of Follower 2 drive. 1=1 - Pb
0...65535 Signal value
03.34 FOLLOWER2 ACT2 Actual value 2 of Follower 2 drive. Signal source is selected by 1=1 - I
parameter 70.10 MASTER SIGNAL 2 in the Follower 2 drive.

144

03.42 FOLL234 MSW Main Status Word of Followers 2…4 combined together. See bit 1=1 - Pb
definitions from signal 08.01 MAIN STATUS WORD.
Following bits of Main Status Words have OR function:
- bit 3 TRIPPED
- bit 6 ON INHIB
- bit 7 ALARM
- bit 13 RUN INTERLOCK
- bit 15
Rest of the bits have then AND function and result of these is
written to this signal 03.42 FOLL234 MSW.
Example:
Follower 2: 08.01 MSW 0101 0101 0011 0111
Follower 3: 08.01 MSW 0000 0000 0011 1000
Master: 03.42 FOLL234 MSW 0000 0000 0011 1000
0...65535 Signal value.

145

04 INFORMATION Program versions
04.01 SW PACKAGE VER Displays the type and the version of the firmware package in the - - C
drive.
AMXR72x0
Product
A = Inverter software
D = DC drives software
I = Input bridge software
L = Large Drives software
Software application
B = Multi Block Programming Application
J = Cascade Control
M = System Control
N = PMSM System Control
P = Motion Control
S = Standard Control
T = FCB Application Template
U = Liquid Cooling Unit Application
Inverter hardware type

A = Custom Application Software
X = Multiple hardware (single drive & multidrive)
7 = ACS800-07/11/14/17LC (liquid cooled)
Control board type

A = NAMC-03 or NAMC-04 control board
M =NAMC-03 or NAMC-04 control board
B = NAMC-2x control board
C = AMC 3 control board
D = N2AC AMC board
E = NAMC-11 control board
G = NAMC-51 control board
R = RMIO control board
Software version number
04.02 DTC SW VERSION Motor control software version. This fixed part of the application - - C
program consists of motor control, operational system,
communication control of the DDCS channels and Modbus
software for the control panel.
04.03 APPLIC SW VERSION Displays the type and the version of the application program. - - C
04.04 APBU EPLD Displays the APBU logic software version. APBU branching unit is - C
VERSION used with parallel connected inverter modules. Signal value is
updated only after the PPCC link has been successful established.
04.09 INVERTER TYPE Displays the downloaded inverter type. - - C
04.11 BOARD TYPE Displays the RMIO board type. - - C
04.12 PARAMETER CRC Calculated checksum of parameter values. No actual signals are 1=1 - Pb
included in checksum calculation.
0…65535

146

05 LSU SIGNALS These Line Supply Unit signals and inputs are visible with WIDE
and WTA selection in parameter 95.05 LSU COMM SEL when
optic fibre communication link is connected between inverter RMIO
control board CH1 and LSU RMIO control board CH0. Data sets
are used to transfer information in communication. See parameter
group 95 LSU.
05.01 MAINS VOLTAGE [V] Line to line voltage calculated by the line converter and sent to INU 1 = 1 V - I
every 100 ms. The value of parameter 92.05 D SET 13 VAL 2 must
be 111 in LSU.
V Voltage
05.02 LINE CURRENT [A] Line current measured by the line supply unit and sent to INU every 1 = 1 A - I
100 ms. The value of parameter of 92.06 D SET 13 VAL 3 must be
106 in LSU.
A Current
05.03 POWER [kW] Grid power calculated by the line supply unit and sent to INU every 1 = 1 kW - I
10 ms. The value of parameter 92.02 D SET 11 VAL 2 must be 108
in LSU.
kW Power in kilowatts.
05.04 REACT POWER Reactive grid power calculated by the line supply unit and sent to 1 = 1 kVAr - I
[kVAr] INU every 10ms. Positive value = capacitive, negative = reactive.
The value of parameter 92.03 D SET 11 VAL 3 must be 107 in LSU.
kVAr Reactive power
05.05 LSU PP TEMP Power plate temperature of line supply unit, sent to INU every 500 1 = 1 °C - I
ms. The value of parameter 92.12 D SET 17 VAL 3 must be 112 in
LSU.
°C Temperature
05.06 LSU DI STATUS Status of line converter digital inputs DI7…DI1, sent to INU every 1=1 - I
100 ms. The value of parameter 92.04 D SET 13 VAL 1 must be
115 in LSU.
0...127 (bin) Example: 0001001 = DI1 and DI4 are on.
0001001
DI7 DI1
DI6 DI2
DI5 DI3
DI4
05.07 LSU ACT1 Programmable signal by LSU parameter 92.07 D SET 15 VAL 1, 1=1 - I
sent to INU every 100 ms.
-32768...32767
-32768...32767
-32768...32767
05.10 LSU STATUS WORD Signal 08.01 MAIN STATUS WORD in LSU. 1=1 - Pb

147

0...65535 Main status word of the line converter, sent to INU every 10 ms.
The parameter 92.01 D SET 11 VAL 1 must be 801 in LSU.
Bit Name Value Description
0 RDY_ON 1 Ready to switch on = no fault
0 Not ready to switch on = fault
1 RDY_RUN 1 Ready to operate = DC bus charged
0 Not ready to opearate
2 RDY_REF 1 Operation enabled
0 -
3 TRIPPED 1 Fault
0 No fault
4…6 Not in use
7 ALARM 1 Warning
0 No warning
8 MODULATING 1 Converter modulates.
0 Converter is not modulating.

9 REMOTE 1 Drive control location: REMOTE
0 Drive control location: LOCAL
10 NET OK 1 Network voltage is OK.

0 Network voltage is lost.
11…12 Not in use
13 CHARGING OR Combines bits 14 and 1.

RDY_RUN
1 Ready to operate = DC bus charged
or
Charging contactor closed
0 Not ready to operate

or
Charging contactor open
14 CHARGING 1 Charging contactor closed
0 Charging contactor open
15 Not in use
05.11 LSU FAULT WORD Supply fault word of the line converter, sent to INU every 500 ms. 1=1 - Pb

148

0...65535
Bit Name Description
0 CHARGING FLT DC link short-circuit during charging
1 OVERCURRENT Overcurrent
2 EXT EVENT DI5 External fault indicated via digital input

DI5
3 ACS 800 TEMP IGBT overtemperature

DI4
5 DI1 Fan failure. Fault is activated 5

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

the fault message from the fault logger
and contact your local ABB
representative.
9 NET VOLT FLT Supply voltage out of range during
synchronisation
10 COMM MODULE Communication error between drive

and type Rxxx fieldbus module or
between drive and external control
system..

DI7
12 EARTH FAULT Internally detected earth (ground) fault
13 SYNCHRO FLT Synchronisation to supply failed

14 DC UNDERVOLT Intermediate circuit DC undervoltage
15 DC OVERVOLT Intermediate circuit DC overvoltage
05.12 LSU ALARM WORD Supply alarm word of the line converter, sent to INU every 500 ms. 1 = 1 - Pb

149

0...65535
0 COMM MODULE Communication break detected
1 PANEL LOST Local control lost
2 DI1 DI1 alarm. Alarm is activated 0.5

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

selected)
4 ACS 800 TEMP IGBT overtemperature
5 CURRENT LIM Current limit exceeded
6…9 Not in use
10 NET LOST Network voltage lost

DI7
12 Not in use
13 EARTH FAULT Internally detected earth (ground) fault
EXT EVENT DI4 External fault indicated via digital input

DI4

DI5
15 Not in use
05.13 LSU CONTROL Main control word of the line converter, sent to LSU every 10 ms. 1=1 - Pb
WORD The parameter 90.01 D SET 10 VAL 1 must be 701 in LSU.
0...65535
0 ON/OFF 0 -> 1 Start charging (close charging contactor).

0 Open main contactor (switch power off).
1…2 Not in use
3 START 1 Start modulation

0 Stop modulation
4…6 Not in use
7 RESET 0 -> 1 Reset
0 -
8…15 Not in use
05.21 LSU REF1 Writes an additional reference to data set 12.1 of LSU or WTA. 1=1 - I
Sent to LSU every 100 ms.
-32768...32767
-32768...32767

150

-32768...32767
05.24 LSU ACT4 Reads a data value from data set 19.01 of LSU or WTA every 500 1 = 1 - I
ms. Programmable signal by LSU or WTA parameter 92.13 D SET
19 VAL 1.
-32768...32767
19 VAL 2.
-32768...32767
19 VAL 3.
-32768...32767
07 CONTROL WORDS ABB Drive Profile Control Words. See chapter Fieldbus control.
07.01 MAIN CTRL WORD Main Control Word (MCW). A 16-bit data word. 1=1 - Pb
MAIN CONTROL WORD (MCW)
Bit Name Value Enter state / Description
0 ON 1 Enter RDY RUN state (08.01 MSW bit 1). IGBT or diode supply unit is started (supported
only with ACS800 multidrive and liquid cooled single drives.)
OFF1 0 Enter OFF state (08.01 MSW bit 0): Stop along the deceleration ramp defined by
parameter 22.02 DECELER TIME. Control pulses are removed at zero speed. Proceed to
READY TO SWITCH ON state unless other interlocks (OFF2, OFF3) are active.
IGBT or diode supply unit is stopped (supported only with ACS800 single drives).
Note: Restart is not possible before the drive has decelerated to zero speed.
1 OFF2 1 OFF2 inactive (08.01 MSW bit 4)
0 Emergency OFF: Coast to stop. Enter OFF2 ACTIVE (08.01 MSW bit 4); proceed to ON
INHIB (08.01 MSW bit 6).
Stator and flux currents are set to zero and control pulses are removed.
2 OFF3 1 OFF3 inactive (08.01 MSW bit 5).
0 Emergency Stop: Stop along the deceleration ramp defined by parameter 21.04 EME
STOP MODE (fast stop). Stator and flux currents are set to zero and control pulses are
removed. Enter OFF3 ACTIVE (08.01 MSW bit 5); proceed to ON INHIB (08.01 MSW
bit 6).
Warning: Ensure motor and driven machine can be stopped using this stop mode.
See also section Emergency stop on page 69.
3 RUN 1 Enable operation. Enter RDY REF (08.01 MSW bit 2). Enable stator/armature pulses.
Raise flux to the nominal reference value, accelerate along speed ramp to the given
speed reference (Par. 23.01 SPEED REF).
Note: The Run Enable signal must be activated via digital input DI2 and the RUN
INTERLOCK function must deactivated by parameter 16.14 RUN INTERLOCK (08.01
MSW bit 13).
0 Inhibit operation, coast to stop. Enter operation inhibited (08.01 MSW bit 2 RDY REF
value is 0). Continue to RDY RUN state (08.01 MSW bit 1).

151
MAIN CONTROL WORD (MCW)

Bit Name Value Enter state / Description
4 RAMP OUT 1 Enter RFG: OUTPUT ENABLED.
ZERO See control block diagram in section Speed reference ramp on page 322.
0 Force Ramp Function Generator output to zero. Stop along ramp (current and DC voltage
limits are in force).
5 RAMP HOLD 1 Enable ramp function. Enter RFG: ACCELERATOR ENABLED.
0 Stop Ramp Function Generator (Ramp Function Generator output held).
6 RAMP IN 1 Enter OPERATING.
ZERO See control block diagram in section Speed reference ramp on page 322.
0 Inhibit setpoint (= speed or frequency reference). Input of the speed ramp is forced to
zero.
7 RESET 1 Fault reset (0 -> 1) if an active fault exists. Enter ON INHIB (08.01 MSW bit 6).
0 Continue normal operation.
8 INCHING 1 1 Accelerate to inching setpoint 1 (defined by parameter 23.02 CONST SPEED 1).
The following conditions must be fulfilled:
- bit 4 RAMP OUT ZERO = 0
- bit 5 RAMP HOLD = 0
- bit 6 RAMP IN ZERO = 0
0 Decelerate to zero speed.
9 INCHING 2 1 Accelerate to inching setpoint 2 (defined by parameter 23.03 CONST SPEED 2).
The following conditions must be fulfilled:
- bit 4 RAMP OUT ZERO = 0
- bit 5 RAMP HOLD = 0
- bit 6 RAMP IN ZERO = 0
0 Decelerate to zero speed.
10 REMOTE 1 External control enabled
CMD 0 No control from external system (exception: OFF1, OFF2 and OFF3 commands)
11...15 Not in use

152

07 CONTROL WORDS ABB Drive Profile Control Words. See chapter Fieldbus control.
07.02 AUX CTRL WORD 1 Auxiliary Control Word 1 (ACW 1). A 16-bit data word. 1=1 - Pb
0 RESTART Data logger 1 control: restart.

DLOG
1 TRIGG Data logger 1 control: trigger.

LOGGER
2 RAMP BYPASS Speed reference ramp is bypassed.
3 BAL RAMP Force speed ramp output to the value defined by

OUT parameter 22.08 BAL RAMP REF.
4 FLUX ON DC DC flux ON. (DC flux OFF: 07.02 ACW 1 bit 4
and 07.01 MCW bit 3, RUN, values must be 0.)
5 FLUX ON Flux ON (zero torque).
6 HOLD NCONT Hold integral part of the PI controller.
7 WINDOW CTRL Activate window control.
8 BAL NCONT Force external value to the output of the speed

controller.
9 SYNC Position counter control: synchronise command

COMMAND
10 SYNC DISABLE Position counter control: synchronise command

disabled
11 RESET SYNC Position counter control: synchronous ready

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

RAMPED INCH REF. See control block diagram in section Speed
REF reference on page 321.
13 DO1 CONTROL RMIO digital output DO1 control. See

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

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

parameters 14.06 DO3 GROUP+INDEX and
98.04 DI/O EXT MODULE 2.

153

07.03 AUX CTRL WORD 2 Auxiliary Control Word 2 (ACW 2). A 16-bit data word. 1=1 - Pb
0 EXT1 DO1 RDIO Extension module 1 digital output DO1

CONTROL control

CONTROL control

CONTROL control

CONTROL control
4...5 Not in use
6 FOLL REF SEL 1 = Follower speed and torque reference

ACW2 according to bits 7 (FOLL SPEED REF) and
8 (FOLL TORQ REF).
0 = Follower speed and torque reference
sources according to parameters 70.17
FOLL SPEED REF and 70.18 FOLL TORQ
REF. See control block diagrams in sections
Speed reference on page 321 and Torque
7 FOLL SPEED 1 = Follower speed reference is 02.19 DS

REF SPEED REF.
0 = Follower speed reference is 23.01
SPEED REF.
Used speed reference is indicated by signal
02.27 USED SPEED REF.
See control block diagram in section Speed
8 FOLL TORQ 1 = Follower torque reference is 02.20 DS
REF TORQ REF A.
0 = Follower torque reference is 25.01
TORQUE REF A.
Used torque reference is indicated by signal
02.28 USED TORQ REF A.
See control block diagram in section Torque
9 FOLL SPD 1 = Load share function with speed

CORR ENA controlled Follower drive is active. See
control block diagram in section Speed
reference ramp on page 322. 0 = Inactive
10 MASTER 1 = Drive is the Master of the channel CH2

communication link if value of bit 6 FOLL
REF SEL ACW2 is 1. 0 = Inactive
11 FOLLOWER 1 = Drive is the Follower of the channel CH2
communication link if value of bit 6 FOLL
REF SEL ACW2 is 1. 0 = Inactive
12 USER MACRO Macro change: 1 = macro 2, 0 = macro 1

CTRL See activation parameter 16.05 USER
MACRO CHG.
13 OSC See parameter 26.04 OSC

COMPENSATION COMPENSATION.
14...15 Not in use

154

08 STATUS WORDS ABB Drive Profile Status Words. See chapter Fieldbus control.
08.01 MAIN STATUS WORD Main Status Word (MSW). A 16-bit data word. 1=1 - Pb
0...65535 Status word value
MAIN STATUS WORD (MSW)
0 RDY ON 1 Ready to switch on. If the inverter unit has an internal control link to the start/stop
control of the IGBT supply unit or diode bridge unit: power supply is switched on.
OFF 0 Not ready to switch on. This state is active as long as the Emergency OFF or
Emergency Stop commands are active (OFF2 or OFF3). See par. 98.08 COMM
PROFILE.
If the inverter unit has an internal control link to the start/stop control of the IGBT
supply unit or diode bridge unit: power supply is switched off.
1 RDY RUN 1 Ready to operate
0 Not ready to operate
2 RDY REF 1 Operation enabled: RUNNING. The drive follows the given reference.
0 Operation inhibited
3 TRIPPED 1 Fault. The TRIPPED state is active until the fault is RESET.
Activate SWC ON INHIB state.
0 No fault
4 OFF2 STA 1 OFF2 inactive
0 OFF2 active
5 OFF3 STA 1 OFF3 inactive
0 OFF3 active
6 ON INHIB 1 Switch on inhibited. State is activated after Emergency OFF or Emergency Stop or
TRIPPED state. Enter OFF state.
0 No switch on inhibition
7 ALARM 1 Alarm
0 No alarm
8 AT SETPOINT 1 OPERATING. 01.04 MOTOR SPEED equals 02.18 SPEED REF 4 within tolerance
limits. Default setting for the tolerance is 10% of the motor nominal speed.
0 01.04 MOTOR SPEED differs from 02.18 SPEED REF 4, i.e. the difference is
outside the tolerance limits. Default setting for the tolerance is 10% of the motor
nominal speed.
9 REMOTE 1 Drive control location: remote
0 Drive control location: local
10 ABOVE LIMIT 1 Actual speed or frequency value equals or is greater than the supervision limit
defined by parameter 50.10 SPEED ABOVE LIMIT. Valid in both rotation directions
regardless of parameter 50.10 value.
0 Actual frequency or speed value is within supervision limit.
11 SELECTABLE MAIN STATUS WORD parameter 66.06
12 INTERNAL 1 Motor parameters have been set and Safe torque off function is active.
INTERLOCK 0 Motor parameters have not been set and/or Safe torque off function is inactive.

155
MAIN STATUS WORD (MSW)

13 RUN 1 RUN INTERLOCK. Run Interlock can be activated by parameter 16.14 RUN
INTERLOCK INTERLOCK using e.g. adaptive programming or by opening DI2, if parameter 16.01
RUN ENABLE = INTERLOCK.
0 No RUN INTERLOCK.
14 MODULATING 1 Modulating: IGBTs are controlled, i.e. the drive is RUNNING.
0 No modulation: IGBTs are not controlled.
15 Not in use
08 STATUS WORDS ABB Drive Profile Status Words. See chapter Fieldbus control.
08.02 AUX STATUS WORD Auxiliary Status Word (ASW). A 16-bit data word. 1=1 - Pb
0 LOGG DATA 1 = Data logger 1 is triggered.

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

window.
2 EMERG STOP Emergency stop function has failed.

COAST
3 MAGNETIZED Magnetisation time defined in 21.02 CONST

MAGN TIME has elapsed when 21.01
START FUNCTION = CNST DC MAGN.
4 RUN DISABLE Operation disabled. RUN ENABLE signal

connected to digital input DI2 is not active.
5 SYNC RDY Position counter is synchronised.
6 1 START NOT FIRST START has not been performed after

DONE the motor parameters in group 99 START-UP
DATA have been changed.
7 IDENTIF RUN Motor ID run is successfully completed.

DONE
8 START Safe torque off is active.

INHIBITION
9 LIMITING Control is at a limit. See actual signals 08.03

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

below the zero speed limit defined by
parameter 20.03 ZERO SPEED LIMIT
(default: 4% of the synchronous speed).
12 INTERNAL Internal speed feedback is being followed.

SPEED FB
13 CH2 COMM LOSS Channel CH2 (Master/Follower link)

communication error
14 USER MACRO 1 User macro 1 is activate.
15 USER MACRO 2 User macro 2 is activate.

156

08.03 LIMIT WORD 1 Limit word. A 16-bit data word. 1=1 - Pb
Bit Name Active Limit
0 TORQ MOTOR LIM Pull-out limit
1 SPC TORQ MIN LIM Speed control torque minimum limit
2 SPC TORQ MAX LIM Speed control torque maximum

limit
3 TORQ USER CUR LIM User-defined current limit
4 TORQ INV CUR LIM Internal current limit
5 TORQ MIN LIM Any torque minimum limit
6 TORQ MAX LIM Any torque maximum limit
7 TREF TORQ MIN LIM Torque reference minimum limit
8 TREF TORQ MAX LIM Torque reference maximum limit

9 FLUX MIN LIMIT Flux reference minimum limit
10 FREQ MIN LIMIT Speed/Frequency minimum limit

(valid in torque control)
11 FREQ MAX LIMIT Speed/Frequency maximum limit
(valid in torque control)
12 DC UNDERVOLT LIM DC undervoltage limit
13 DC OVERVOLT LIM DC overvoltage limit
14 TORQUE LIMIT Any torque limit
15 FREQ LIMIT Any speed/frequency limit
0...65535 Limit word value

08.04 LIMIT WORD 2 Limit word. A 16-bit data word. 1=1 - Pb
Bit Name Active Limit
0 P MOTORING LIM Power limit (motoring)
1 P GENERATING LIM Power limit (generating)
2 FOLL SPD COR MIN Output of the signal FOLL SPD

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

CORR OUT is at maximum limit.
4...15 Not in use

157

08.05 DI STATUS WORD Digital input status word. A 16-bit data word. 1=1 - Pb
0 DI1 RMIO board digital input DI1 status
6 EXT1_DI1 Optional Digital I/O Extension Module 1 RDIO

digital input DI1 status *


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



12 DI7 (DIIL) RMIO digital input DI7 status
13... Not in use

15
*See parameters 98.03...98.04 and section Digital inputs on page 57.

08.06 AUX STATUS Auxiliary Status Word 2 (ACW 2). A 16-bit data word. 1=1 - Pb
WORD 2 Bit Name Description
0 FAN ON Motor fan control via digital output. See parameter
CMD group 35 MOTOR FAN CTRL.
1...15 Not in use

158

08.07 LIMIT WORD INV A 16-bit data word. The LIMIT WORD INV includes information on 1 = 1 - Pb
the internal current limits. If any of the bit values are 1, signal
08.03 LIMIT WORD 1 bit 4 TORQ INV CUR LIM is set to 1.
0...1 Not in use
2 INT LOW FREQ Current limit at high IGBT temperature with

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

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

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

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

CUR parameter 20.04 MAXIMUM CURRENT.
9 CONT DC CUR Continuous DC current limit
10 CONT OUT Continuous output current limit (Icont.max)

CUR
11 RED RUN MAX Maximum continuous DC current limited due

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

CUR reduced run function
13... Not in use

15

08.10 MAIN STATUS Main Status Word 2. A 16-bit data word. Bits 0…7, 9, 11…13 are 1=1 - Pb
WORD2 same as 08.01 MAIN STATUS WORD.
8 LIMITING Some torque limit is active.
10 GRID ALARM If LSU is used, this bit indicates active grid

alarm.
14 TOGGLE BIT 100 ms toggle bit for communication

supervision.

159

08.20 INV ENABLE WORD A 16-bit data word. The INV ENABLED WORD includes 1=1 - Pb
information on the inverter module operation status. The inverters
are ready for operation (i.e. all bit values are 1) when inverter
module DC switches are closed, DC intermediate circuit is
charged and the modules are allowed to start modulation.
The DC switch monitoring must be activated by parameter 98.12
FUSE SWITCH CTRL.
0 INV1 ENABLED Inverter module 1 ready for operation

12... Not in use
15
08.21 START INHIBI WORD A 16-bit data word. The START INHIBI WORD includes 1=1 - Pb
information on the status of the Safe torque off circuit.
0 INV1 START INHIB Start of the inverter module 1 is inhibited


12... Not in use

15

160

08.22 INT CONFIG WORD A 16-bit data word. The INT CONFIG WORD includes information 1 = 1 - Pb
on the number of inverter modules connected to the APBU
branching unit. INT CONFIG fault is activated if the number of R8i
inverter modules recognized by application program during PPCC
link initialisation is not equal to original number of inverters. See
section Reduced run function on page 86.
0 INT1 Inverter module 1 INT board is recognised by the

application program during PPCC link initialisation











12... Not in use
15

161

08.23 LSU STATUS WORD A 16-bit data word. The LCU (= IGBT or diode supply unit) Status 1=1 - Pb
Word includes information on the line-side converter status.
0 RDY_ON Ready to switch on (no fault)
1 RDY_RUN Ready to operate
2 RDY_REF Operation enabled
3 TRIPPED Fault
4...6 Not in use
7 ALARM Alarm
8 MODULATING Modulating
9 REMOTE Drive control: remote
10 NET OK Network voltage is OK.
11...13 Not in use
14 CHARGING Charging contactor is closed.
15 Not in use

162

09 FAULT WORDS ABB Drive Profile Fault Words. For the possible causes and
remedies, see chapter Fault tracing.
09.01 FAULT WORD 1 A 16-bit data word. 1=1 - Pb
0 SHORT CIRC Short-circuit in the main circuit
1 OVERCURRENT Overcurrent
2 DC OVERVOLT Intermediate circuit DC overvoltage
3 ACS800 TEMP IGBT overtemperature
4 EARTH FAULT Earth (ground) fault or excessive output

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

FAULT WORD
8 UNDERLOAD Underload
9 OVERFREQ Overspeed
10 MPROT SWITCH Motor protection switch has opened.
11 CH2 COMM LOSS Channel CH2 (Master/Follower link)

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



0...65535 Fault word value

163

09.02 FAULT WORD 2 A 16-bit data word 1=1 - Pb
0 SUPPLY PHASE DC voltage ripple in intermediate circuit is too

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

DATA match with inverter data (parameter group 99
START-UP DATA).
3 CABLE TEMP Motor cable overtemperature

4 RUN DISABLE No RUN ENABLE signal
5 ENCODER ERR Encoder communication error
6 IO COMM ERR I/O communication error
7 CTRL B TEMP RMIO control board overtemperature
8 SELECTABLE FAULT WORD2 parameter 66.05
9 OVER SWFREQ Switching frequency is too high

10 AI<MIN FUNC Analogue control signal is below minimum
allowed value.
11 PPCC LINK AINT board current measurement or

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

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

active control location for drive has ceased
communicating.
14 MOTOR STALL Motor stall
15 MOTOR PHASE Motor phase loss

164

09.03 SYSTEM FAULT A 16-bit data word. 1=1 - Pb
WORD Bit Name Description
0 FLT (F1_7) Factory default parameter file error
1 USER MACRO User macro file error
2 FLT (F1_4) FPROM operating error
3 FLT (F1_5) FPROM data error
4 FLT (F2_12) Internal time level 2 overflow (100 µs)
5 FLT (F2_13) Internal time level 3 overflow (1ms)
6 FLT (F2_14) Internal time level 4 overflow (50 ms)
7 FLT (F2_15) Internal time level 5 overflow (1 s)
8 FLT (F2_16) State machine overflow
9 FLT (F2_17) Application program execution error
10 FLT (F2_18) Application program execution error
11 FLT (F2_19) Illegal instruction
12 FLT (F2_3) Register stack overflow
13 FLT (F2_1) System stack overflow
14 FLT (F2_0) System stack underflow
15 Not in use

09.04 ALARM WORD 1 A 16-bit data word 1=1 - Pb
0 START INHIBI Safe torque off function
1 EM STOP Emergency stop
2 MOTOR TEMP M Measured motor overtemperature

3 MOTOR TEMP Calculated motor overtemperature
4 ACS800 TEMP IGBT overtemperature
5 ENCODER ERR Encoder communication error
6 T MEAS CIRC Motor temperature measurement circuit error
7 DIGITAL IO RMIO digital input error
8 ANALOG IO RMIO analogue input error
9 EXT DIGITAL IO RDIO digital I/O error
10 EXT ANALOG IO RAIO analogue I/O error
11 CH2 COMM Channel CH2 (Master/Follower link)

LOSS communication error
12 MPROT SWITCH Motor protection switch has opened.
13 EM STOP DEC Emergency stop deceleration error
14 EARTH FAULT Earth (ground) fault
15 SAFETY SWITC Safety switch is open.
0...65535 Alarm word value

165

09.05 ALARM WORD 2 A 16-bit data word. 1=1 - Pb
0 MOTOR FAN No external motor fan acknowledgement

signal
1 UNDERLOAD Underload
2 INV OVERLOAD Inverter overload ACS 600

3 CABLE TEMP Motor cable overtemperature
4 ENCODER A<>B Wrong pulse encoder phasing
5 FAN OVERTEMP Fan fault of sine filter

6 Not in use
7 POWFAIL FILE Error in restoring powerfail.ddf file
8 POWDOWN FILE Error in restoring powerdown.ddf file
9 MOTOR STALL Motor stall
10 AI<MIN FUNC Analogue control signal is below minimum

allowed value.
11 COMM MODULE Communication error between drive and R-

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

battery error
13 PANEL LOSS Control panel or DriveWindow selected as

active control location for drive has ceased
communicating.

15 RESTARTED Motor has been restarted with AUTO
RESTART after a short power failure
(21.09 AUTO RESTART).

166

09.06 FAULT WORD 3 A 16-bit data word. 1=1 - Pb
0 MOTOR FAN No external motor fan acknowledgement

signal
1 (Not in use) Only with ACS 600: Start inhibit HW event
2 SAFETY Safety switch is open in the motor circuit.

SWITCH
3 LINE CONV ERR Line-side converter error
4 T MEAS CIRC Motor temperature measurement circuit

error
5 START INHIBI Safe torque off function is activated during
run or start command is given when Safe
torque off function is active. See section
Safe torque off function (STO) on page 71.
6 GD DISABLED X One of the ASTO power supply of the R8i

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

by application program during PPCC link
initialisation is not equal to original number
of inverters.
8 CHOKE OTEMP Excessive temperature of drive output filter

9 FAST AIO FAULT Communication error between drive and fast
AI/O module (NAIO-3F or FIO-11).
10 ENCODER A<>B Wrong pulse encoder phasing

11 DC HIGH RUSH Excessive drive supply voltage
12 INV OVERTEMP Excessive temperature of inverter module
13 MOD CHOKE T Overtemperature in choke of liquid cooled

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

module.
15 TEMP DIFF Temperature difference. See 09.17 TEMP

DIF FLT WORD.

09.07 FAULT WORD 4 1=1 - Pb
0 EM STOP DEC Emergency stop deceleration fault.
1 AGDR DU/DT C IGBT type mismatch in parallel-connected

modules.
2 AINT ID AINT board type mismatch in parallel-

CONFIG connected modules.

167

09.11 ALARM WORD 3 A 16-bit data word. 1=1 - Pb
0...8, Not in use

10,11
9 SELECTABLE ALM WORD3 parameter 66.04
12 INV OVERTEMP Temperature alarm of inverter module
13 MOD CHOKE T Overtemperature in choke of liquid cooled

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

module.
15 TEMP DIFF Temperature difference. See 09.18 TEMP
DIF ALM WORD.

168

09.13 CURRENT UNBAL A 16-bit data word. 1=1 - Pb
FW Bit Name Description
0 CUR UNBAL 1 Excessive output current unbalance in inverter

module 1 of several parallel connected inverter
modules

modules

modules

modules

modules

modules

modules

modules

modules

module 10 of several parallel connected
inverter modules

inverter modules

inverter modules
12... Not in use

15

169

09.14 OVERCURRENT FW A 16-bit data word. 1=1 - Pb
0 OVERCURR 1 Excessive input current in inverter module 1 of

several parallel connected inverter modules






9 OVERCURR 10 Excessive input current in inverter module 10

of several parallel connected inverter modules


12... Not in use

15

170

09.15 SHORT CIRC FW A 16-bit data word. 1=1 - Pb
0 SC INV1 Short circuit in inverter module 1.
1 SC INV2 Short circuit in inverter module 2 of several








11 SC INV 12 Short circuit in inverter module 12 of several

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

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

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

module
15 Not in use

171

09.16 OVERTEMP FW A 16-bit data word. 1=1 - Pb
0 ACS TEMP INV1 Overtemperature in inverter module 1 of










12 OVERTEMP Overtemperature in phase U of the faulted

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

PHASE V inverter module
14 OVERTEMP Overtemperature in phase W of the faulted
PHASE W inverter module
15 Not in use

172

09.17 TEMP DIF FW A 16-bit data word. 1=1 - Pb
0 TEMP DIF INV1 Temperature difference fault in inverter

inverter modules

inverter modules

inverter modules

inverter modules

inverter modules

inverter modules

inverter modules

inverter modules

inverter modules

inverter modules

inverter modules

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

U faulted inverter module
13 TEMP DIF PHASE Temperature difference fault in phase V of the
V faulted inverter module
14 TEMP DIF PHASE Temperature difference fault in phase W of

W the faulted inverter module
15 Not in use

173

09.18 TEMP DIF AW A 16-bit data word. 1=1 - Pb
0 TEMP DIF INV1 Temperature difference alarm in inverter

inverter modules

inverter modules

inverter modules

inverter modules

inverter modules

inverter modules

inverter modules

inverter modules

inverter modules

inverter modules

module 11of several parallel connected
inverter modules

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

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

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

PHASE W the faulted inverter module
15 Not in use

09.20 AP AFW Alarm and Fault word. This word can be used with adaptive 1=1 - Pb
programming (typically for fieldbus information). See ACS600/
ACS800 Application Guide Adaptive Program for System
Application Program 7.x [3AFE68420075 (English)].

174

0...65535 Alarm and fault word value
09.21 FAULT WORD SET1 Combined INU/LSU fault words 1=1 - Pb
0…3 Not in use
4 INU 09.01 B2 DC OVERVOLT Intermediate circuit DC

or overvoltage
LSU 09.11 B15 DC OVERVOLT
5 INU 09.02 B2 DC UNDERVOLT Intermediate circuit DC

or undervoltage
LSU 09.11 14 DC UNDERVOLT
6 INU 09.01 B1 OVERCURRENT
7 Not in use
8 LSU 09.11 B1 OVERCURRENT

9 INU 09.01 B3 ACS800 TEMP IGBT overtemperature
10 LSU 09.11 B3 ACS800 TEMP IGBT overtemperature
11 INU 09.01 B9 OVERFREQ Overspeed
12 Not in use
13 INU 09.01 B4 EARTH FAULT Earth (ground) fault or

excessive output current
unbalance in inverter unit of
several parallel connected
inverter modules.
14 LSU 09.11 B12 EARTH FAULT Internally detected earth
(ground) fault.
15 Not in use

175

09.22 FAULT WORD SET2 Combined INU/LSU fault words 1=1 - Pb
0 INU 09.02 B12 COMM MODULE Communication error between

drive and R-type fieldbus
module or between drive and
external control system.
1 Not in use
2 LSU 09.11 B10 COMM Communication error between

MODULE drive and type Rxxx fieldbus
module or between drive and
external control system (INU).
INU 09.06 B3 LINE CONV ERR Line side converter error

3 INU 09.02 B5 ENCODER ERR Encoder communication error
INU 09.06 B10 ENCODER A<>B Wrong pulse encoder phasing
INU 09.04 B5 ENCODER ERR Encoder communication error

4 Not in use
5 INU 09.02 B11 PPCC LINK AINT board current

measurement or
communication error between
RMIO and AINT
6 INU 09.03 SYSTEM FAULT AINT board current

WORD 0 measurement or
communication error between
RMIO and AINT
7 Not in use
8 LSU START FAULT INU has given LSU start

command, but LSU does not
start modulating (7 second
delay). INU trips to LINE
CONV (FF51) fault.
9 LSU 09.11 B0 CHARGING DC link short-circuit during

FAULT charging.
10 LSU 09.11 B5 DI1 Fault is activated 5 seconds

after failure.
11 Not in use
12 LSU 09.11 B6 MAIN CNT FLT Main contactor failure
13 INU OTHER FAULT Other fault from INU (not

specified in 09.21 or 09.22)
14 LSU OTHER FAULT Other fault from LSU (not

specified in 09.21 or 09.22)
15 Not in use

176

09.23 ALARM WORD SET2 Combined INU/LSU alarm words 1=1 - Pb
0 INU 09.04 B1 EM STOP Emergency stop
1 LSU 09.12 B4 ACS800 TEMP IGBT overtemperature

2 INU 09.04 B4 ACS800 TEMP IGBT overtemperature
3…8 Not in use
9 LSU 01.15 B1 DI2 STATUS

or
INU 07.01 Bx
(selected with 95.06 LSU RUN
MCW BIT)
or
INU 07.01 B0 OFF1
10…15 Not in use
09.30 FAULT CODE 1 LAST Fieldbus code of the latest fault. See chapter Fault tracing for the 1=1 - I
codes.
0...FFFF (hex) Fieldbus code
09.31 FAULT CODE 2 LAST Fieldbus code of the 2nd latest fault 1=1 - I
09.32 FAULT CODE 3 LAST Fieldbus code of the 3rd latest fault 1=1 - I
09.33 FAULT CODE 4 LAST Fieldbus code of the 4th latest fault 1=1 - I
09.34 FAULT CODE 5 LAST Fieldbus code of the 5th latest fault 1=1 - I
09.35 WARN CODE 1 LAST Fieldbus code of the latest alarm 1=1 - I
09.36 WARN CODE 2 LAST Fieldbus code of the 2nd latest alarm 1=1 - I
09.37 WARN CODE 3 LAST Fieldbus code of the 3rd latest alarm 1=1 - I
09.38 WARN CODE 4 LAST Fieldbus code of the 4th latest alarm 1=1 - I
09.39 WARN CODE 5 LAST Fieldbus code of the 5th latest alarm 1=1 - I

177
Index Name/Selection Description FbEq Def. PB T

10 DIGITAL INPUTS Digital input functions. See section Digital inputs on page 57.
10.01 START/STOP Defines the source for the start and stop commands when 1=1 1 101 I
I/O control is activated either by setting parameter 98.02
COMM. MODULE to NO or by setting parameter 10.07 HAND/
AUTO to HAND.
1 = NO No start or stop command source
2 = DI3 Start and stop through digital input DI3. Stop by falling edge of
digital input 1 -> 0. Start by rising edge of digital input 0 -> 1.
3 = DI4 See selection DI3.
6 = EXT2 DI1 Start and stop through RDIO I/O Extension module 2.
Parameter 98.04 DI/O EXT MODULE 2 must be set to
EXTEND. Stop by falling edge of digital input: 1 -> 0. Start by
rising edge of digital input: 0 -> 1.
7 = EXT2 DI2 See selection EXT2 DI1.
10.02 DIRECTION Defines the source for the direction command. 1=1 1 102 I
Unipolar speed reference is selected by parameter 13.12
MINIMUM AI1.
AUTO to HAND.
1 = FORWARD Fixed to forward
2 = DI3 Direction command through digital input DI3. 1 = reverse,
0 = forward.
6 = EXT2 DI1 Direction command through RDIO I/O Extension module 2.
EXTEND. 1 = reverse, 0 = forward.
10.03 RESET Defines the source for the reset signal. 1=1 4 103 I
AUTO to HAND.
1 = NO No reset source
2 = DI3 Reset by rising edge of digital input DI3. 0 -> 1.

178

6 = EXT2 DI1 Reset through RDIO I/O Extension module 2. Reset by rising
edge of digital input: 0 -> 1. Parameter 98.04 DI/O EXT
MODULE 2 must be set to EXTEND.
10.04 SYNC CMD Selects an interface for the position count. Active in all control 1=1 1 104 I
modes. By using this parameter, faster position count
synchronisation is achieved than by using 07.02 AUX CTRL
WORD 1 bit 9.
See section Position counter on page 124.
1 = NO No position count enabled
2 = DI3 Position count through DI3. 1 = active, 0 = inactive.
6 = EXT2 DI1 Position count through RDIO I/O Extension module 2.
EXTEND. 1 = active, 0= inactive.
10.05 KLIXON Selects an interface for motor overtemperature protection. 1=1 1 105 I
Digital input for the thermal switch (KLIXON) or for the
thermistor relay can be selected freely. PTC thermistor can only
be connected to digital input DI6. See section Alternative
thermal connection for PTC thermistor on page 94.
1 = NO No motor overtemperature protection selected
2 = DI3 Motor overtemperature protection through digital input DI3.
1 = no fault, 0 = fault trip.
6 = EXT2 DI1 Motor overtemperature protection through RDIO I/O Extension
module 2. Parameter 98.04 DI/O EXT MODULE 2 must be set
to EXTEND. 1 = no fault, 0 = fault trip.
10.06 MOTOR FAN ACK Selects the source for the motor fan acknowledgement signal. 1=1 1 106 I
An acknowledgement signal indicates that the contactor of the
fan motor is closed and the fan is ready to function. If the
contactor is open, no acknowledgement signal is received and
a fault indication is created. See parameter group 35 MOTOR
FAN CTRL and section Motor fan control on page 101.
1 = NO No motor fan acknowledgement selected

179

2 = DI3 Acknowledgement signal through digital input DI3.
1 = acknowledgement.
6 = EXT2 DI1 Acknowledgement signal through RDIO I/O Extension
to EXTEND. 1 = acknowledgement.
10.07 HAND/AUTO Enables switching between I/O control (HAND) and serial 1=1 1 107 I
communication control (AUTO) through digital input. This
parameter has a higher priority than parameter 98.02 COMM.
MODULE setting.
1 = NO No HAND/AUTO function selected
2 = DI3 Switching through digital input DI3. 1 = HAND, 0 = AUTO.
6 = EXT2 DI1 Switching through RDIO I/O Extension module 2. Parameter
98.04 DI/O EXT MODULE 2 must be set to EXTEND.
1 = HAND, 0 = AUTO.
10.08 START INHIB DI ACS 600 specific function to interlock run command. Use RUN 1=1 1 108 I
ENABLE or RUN INTERLOCK functions with ACS800.
This parameter defines the source for the start inhibition.
1 = NO No START INHIBITION function selected
2 = DI3 Start inhibition monitoring through digital input DI3. 0 = start
interlocked, 1 = start not interlocked.
6 = EXT2 DI1 Start inhibition monitoring through RDIO I/O Extension module
2. Parameter 98.04 DI/O EXT MODULE 2 must be set to
EXTEND.
0 = start interlocked, 1 = start not interlocked.
10.09 SAFETY SWITCH Defines the source for the motor safety switch monitoring. Fault 1 = 1 1 109 I
is created if the switch was opened during run. An alarm is
created if the drive was already stopped.
1 = NO No safety switch monitoring selected

180

2 = DI3 Safety switch monitoring through digital input DI3. 1 = no fault,
0 = fault trip.
6 = EXT2 DI1 Safety switch monitoring through RDIO I/O Extension
to EXTEND. 1 = no fault, 0 = fault trip.
10.10 I/O MACRO Enables the change of the user macro through a digital input, 1=1 1 110 I
CHANGE when parameter 16.05 USER MACRO CHG setting is I/O
CHANGE. See also parameter 99.11 APPLICATION MACRO.
The change is allowed only when the drive is stopped. During
the change, the drive will not start.
Note: Always save the user macro by parameter 99.11 after
changing any parameter settings, or reperforming the motor
identification run. The last settings saved by the user are
loaded into use whenever the power is switched off and on
again or the macro is changed. Any unsaved changes will be
lost.
Note: The value of this parameter is not included in the user
macro. A setting once made remains despite of the user macro
change.
1 = NO User macro change is not possible through a digital input.
2 = DI3 User macro change through digital input DI3.
Falling edge of digital input DI3 (1 -> 0): User macro 1 is loaded.
Rising edge of digital input DI3 (0 -> 1): User macro 2 is loaded.
6 = EXT2 DI1 User macro change through RDIO I/O Extension module 2.
EXTEND.
Falling edge of extension digital input DI1 (1 -> 0): User macro
1 is loaded.
Rising edge of extension digital input DI1 (0 -> 1): User macro 2
is loaded.
10.11 MOT PROT Selects a digital input for motor overload protection. (Input for 1=1 1 111 I
SWITCH the motor thermal protection device can be selected freely.)
1 = NO No overload protection
2 = DI3 Motor overload protection through digital input DI3.
1 = no fault, 0 = fault trip.

181

6 = EXT2 DI1 Motor overload protection through RDIO I/O Extension module
2. Parameter 98.04 DI/O EXT MODULE 2 must be set to
EXTEND. 1 = no fault, 0 = fault trip.
10.12 SLS SELECTION Selects the source for the SLS (safely limited speed) command. 1 = 1 1 112 I
1 = NO No DI selected for the SLS function.
2 = DI3 The SLS function is activated by a falling edge of DI3, ie when
the value of DI3 becomes 0.
6 = EXT2 DI1 SLS through RDIO I/O Extension module 2. Parameter 98.04
DI/O EXT MODULE 2 must be set to EXTEND.
11 REFERENCE Speed reference sources.
SELECT If analogue I/O extension module is used, see switch
configuration in parameter 98.06 AI/O EXT MODULE 1.
11.01 EXT REF1 SELECT Selects the speed reference through analogue input or external 1 = 1 1 126 I
reference.
1 = STD AI1 0…10 V speed reference input
2 = STD AI2 0(4)…20 mA speed reference input
3 = EXT REF The reference is given through parameter 11.03 EXT
REFERENCE, which can be written e.g. by Adaptive program.
11.02 AI+FBA SPEED Activates the AI+FBA SPEED REF function. Analogue input 1 1=1 0 127 B
REF or 2 speed reference can be summed with fieldbus adapter
reference if this parameter is activated and 98.02 COMM.
MODULE is set to FIELDBUS. Reference value can be
monitored with signal 02.25 ADDITIVE SP REF.
0 = OFF Inactive
1 = ON Active
11.03 EXT REFERENCE This external reference is used to speed or frequency reference 1 = 1 0 128 I
in case of I/O control, if EXT REF(3) is selected by parameter
11.01 EXT REF1 SELECTED. This parameter is typically
written by adaptive program.
-32768...32767 Integer value
12 FAST IO Fast IO interface
12.03 FAST DI5 SEL Selects connection for fast interface of DI5. 1=1 0 153 I
0 = NO FAST DI5 No fast DI5 used. The connection for DI5 can be selected in
group 10.

182

1 = POS CNT Fast DI5 is used for the position count. See section Position
SYNC counter on page 124.
2 = SPEED CORR Fast DI connects 23.04 SPEED CORRECTION to speed
reference chain.
0 = disconnected
1 = connected
The speed connection is connected to reference chain if the
parameter value is not SPEED CORR.
12.11 FAST EXT AIO SEL Interface for selection of fast analogue input module. 1=1 1 161 I
Fast AI is NOT active if any of the following conditions is true:
- drive ID run is in progress
- parameter 99.07 MOTOR ID RUN value is other than “NO”.
This means that the ID run is selected to be run at the next
start.
- there is no active start command.
Note: No other modules are allowed on CH2 if FAST AI module
is enabled.
1 = NO FAST AI No fast analogue input module.
2 = NAIO NAIO-03F module activated.
Note: Fast external analogue output is not supported with
NAIO-03F.
3 = FIO FIO-11 module activated.
12.12 FAST AI1 REF SEL Signal source for analogue input AI1. 1=1 0 162 I
0 = NO AI REF No connections for AI1 of fast NAIO-03F.
1 = ADD SPEED AI1 of the fast AI module is connected internally to input 02.25
ADDITIVE SPEED REF.
2 = SPEED CORR AI1 of the fast AI module is connected internally to input 23.04
SPEED CORRECTION.
3 = TORQ REF A AI1 of the fast AI module is connected internally to input 25.01
TORQUE REFERENCE A.
Note: For fast analogue input response, ensure that parameter
25.02 TORQ REF A FTC is set to zero.
4 = TORQ REF B AI1 of the fast AI module is connected internally to input 25.04
TORQUE REFERENCE B.
Note: Ensure that the torque reference chain parameter 25.05
TORQ RAMP UP and 25.06 TORQ RAMP DOWN are set to
zero.
5 = TORQ STEP AI1 of the fast AI module is connected internally to input 26.03
TORQUE STEP.
6 = SPEED External speed feedback.
FDBACK
12.13 FAST AI1 SPD SCL Scaling of fast analogue signal AI1 signal in the speed 20000 = 0 rpm 163 R
reference chain. The value of this parameter corresponds to the 1500
nominal signal level of fast AI module (+10 V or 20 mA). rpm
-8 × sync. speed … Speed scaling factor
8 × sync. speed
12.14 FAST AI1 TORQ Scaling of fast analogue signal AI1 signal in the torque 100 = 0% 164 R
SCL reference chain. The value of this parameter corresponds to the 1 %
nominal signal level of fast AI module (+10 V or 20 mA).

183

-x% … x% Torque scaling. Maximum and minimum values depend on the
defined motor parameters (99 START-UP DATA).
12.15 FAST AI2 REF SEL Signal source for analogue input AI2. 1=1 0 165 I
0 = NO AI REF No connections for AI2 of fast AI module.
1 = ADD SPEED AI2 of the fast AI module is connected internally to input 02.25
ADDITIVE SPEED REF.
2 = SPEED CORR AI2 of the fast AI module is connected internally to input 23.04
SPEED CORRECTION.
3 = TORQ REF A AI2 of the fast AI module is connected internally to input 25.01
TORQUE REFERENCE A.
Note: For fast analogue input response, ensure that parameter
25.02 TORQ REF A FTC is set to zero.
4 = TORQ REF B AI2 of the fast AI module is connected internally to input 25.04
TORQUE REFERENCE B.
Note: Ensure that the torque reference chain parameters 25.05
TORQ RAMP UP and 25.06 TORQ RAMP DOWN are set to
zero.
5 = TORQ STEP AI2 of the fast AI module is connected internally to input 26.03
TORQUE STEP.
6 = SPEED External speed feedback.
FDBACK
12.16 FAST AI2 SPD SCL Scaling of fast analogue input AI2 signal in the speed reference See Par. 0 rpm 166 R
chain. The value of this parameter corresponds to the nominal 50.01
signal level of fast AI module (+10 V or 20 mA).
-8 × sync. speed … Speed scaling factor.
8 × sync. speed
12.17 FAST AI2 TORQ Scaling of fast analogue input AI2 signal in the torque reference 100 = 0% 167 R
SCL chain. The value of this parameter corresponds to the nominal 1%
signal level of fast AI module (+10 V or 20 mA).
-x% … x% Torque scaling. Maximum and minimum values depend on the
defined motor parameters (99 START-UP DATA).
12.18 FAST AI SPFB Fast AI speed feedback offset. Change the value to 1= 0 rpm 168 R
OFFS compensate for the offset error in external AI speed feedback. 1 rpm
-60000…60000 rpm Offset in rpm.
12.21 FAST EXT AO1 Fast external analogue output is not supported with NAIO-03F. 1 = 1 101 171 I
SEL Connects a measured signal to fast external analogue output
AO1.
An external control system can also control the output. The data
set in which the signal is transmitted to the drive is directed into
one of the data parameters 19.01…19.08 using parameters
90.01…90.18. The data parameter is then coupled to the
analogue output with this parameter.
0 … 9999 Parameter index in (x)xyy format, where (x)x= parameter group,
yy = parameter number. For example value 2301 denotes
parameter 23.01.
12.22 FAST EXT AO1 INV Selects fast external analogue output AO1 signal inversion. 1=1 0 172 B
0 = NO Minimum signal value corresponds to the minimum output
value.

184

1 = YES Maximum signal value corresponds to the minimum output
value.
12.23 FAST EXT AO1 Defines the offset value for fast external analogue output AO1. 1=1 0 mA 173 I
MIN
0 = 0 mA 0 mA
1 = 4 mA 4 mA
2 = 10 mA With bipolar signals the defined minimum value 10 mA is in the
middle of the range 0...20 mA. For example:
-1000 rpm = 0 mA and 1000 rpm = 20 mA
Bipolar signals indicate the direction of torque, speed etc.
Bipolar signals are also needed for testing purposes.
12.24 FAST EXT AO1 Defines the nominal value of the signal connected to fast 1=1 20000 174 R
SCL external analogue output AO1. See parameter 12.21 FAST EXT
AO1 SEL. The value corresponds to 20 mA at the output.
0 … 65536 Nominal value
13 ANALOGUE Analogue input signal processing. See section Analogue inputs
INPUTS on page 52.
13.01 AI1 HIGH VALUE Defines the integer value that corresponds to the maximum 1=1 20000 176 I
value of analogue input AI1.
With I/O control, value 20000 corresponds the speed defined by
parameter 50.01 SPEED SCALING.
Note: Parameter is not active if AI1 is used for motor 1
temperature measurement. See parameter 30.03 MOT1 TEMP
AI1 SEL.
13.02 AI1 LOW VALUE Defines the integer value that corresponds to the minimum 1=1 0 177 I
With I/O control, when bipolar I/O reference is used, value
-20000 corresponds the maximum negative speed defined by
parameter 50.01 SPEED SCALING.
Note: Parameter is not active if AI1 is used for motor 1
temperature measurement. See parameter 30.03 MOT1 TEMP
AI1 SEL.
13.03 FILTER AI1 Defines the filter time constant for analogue input AI1. 1=1 1000 178 R
The hardware filter time constant of the RMIO analogue input is
1 ms.
0...30000 ms Filter time constant
13.06 MINIMUM AI2 Defines the minimum value for analogue input AI2. 1=1 1 181 I
1 = 0 mA 0 mA (range 0...20 mA)
2 = 4 mA 4 mA (range 4...20 mA)

185

3 = -20 mA -20 mA (range -20…20 mA). Used with a bipolar type of an
analogue input.
1 ms.
1 = 0 mA 0 mA
2 = 4 mA 4 mA
1 ms.
1 = 0 mA / 0 V 0 mA (range 0…20 mA)
2 = 4 mA / 2 V 4 mA (range 4…20 mA)
3 = -20 mA / -10 V -20 mA (range -20…20 mA). Used with a bipolar type of an
analogue input.
13.13 EXT2 AI1 CONV Selects the scaling for extension module 2 analogue input AI1. 1=1 1 188 I
MODE Scaling applies for unipolar and bipolar signals.
1 = NORMAL Normal scaling:
-20 mA / -2 V / -10 V…0…20 mA / 2 V / 10 V = -20000…20000
2 = 4 mA 4…20 mA = 0…20000
3 = PT100 Scaling with Pt100 temperature measurement:
200°C = 20000 if analogue output feeds the following constant
current to the Pt100 sensor:
with 1xPT100: 10 mA
with 2xPT100: 5 mA
with 3xPT100: 3.3 mA.
13.14 EXT2 AI1 FILTER Defines the filter time constant for extension module 2 analogue 1 = 1 ms 1000 189 I
input AI1.
13.15 EXT2 AI2 CONV Selects the scaling for extension module 2 analogue input AI2. 1=1 1 190 I
MODE Scaling applies for unipolar and bipolar signals.
See parameter 13.13 EXT2 AI1 CONV MODE.
13.16 EXT2 AI2 FILTER Defines the filter time constant for extension module 2 analogue 1 = 1 ms 1000 191 I
input AI2.

186

14 DIGITAL OUTPUTS Control of the digital outputs. See section Digital outputs on
page 58.
14.01 DO1 CONTROL Activates digital output DO1 control. 1=1 0 201 B
0 = OFF Emergency stop command controls digital output DO1.
The emergency stop function is activated by parameter 21.04
EME STOP MODE.
1 = ON Digital output DO1 control. Control signal is selected by
parameters 14.02 DO1 GROUP+INDEX and 14.03 DO1 BIT
NUMBER.
14.02 DO1 Selects digital output DO1 control signal when parameter 14.01 1 = 1 801 202 I
GROUP+INDEX DO1 CONTROL setting is ON. Output is controlled with
a selectable bit (see parameter 14.03 DO1 BIT NUMBER) of
the signal selected by this parameter. If the parameter is set
to 0, the output is controlled from an external control system by
07.02 AUX CTRL WORD 1 bit 13. See also parameter 30.26
COM LOSS RO.
-9999…9999 Parameter index in (-)xyy format, where (-1) = inversion,
x = parameter group, yy = parameter number. For example
value 801 denotes signal 08.01.*
14.03 DO1 BIT NUMBER Defines the bit number of the signal selected by parameter 1=1 1 203 I
14.02 DO1 GROUP+INDEX.
0…23 Bit number
14.04 DO2 Selects digital output DO2 control signal. Output is controlled 1=1 801 204 I
GROUP+INDEX with a selectable bit (see parameter 14.05 DO2 BIT NUMBER)
of the signal selected by this parameter. If the parameter is set
to 0, the output is controlled from an external control system by
07.02 AUX CTRL WORD 1 bit 14. See also parameters 14.12
DO2 GRP+INDEX MOD and 30.26 COM LOSS RO.
0…23 Bit number
14.06 DO3 Selects digital output DO3 control signal. Output is controlled 1=1 801 206 I
GROUP+INDEX with a selectable bit (see parameter 14.07 DO3 BIT NUMBER)
of the signal selected by this parameter. If the parameter is set
to 0, DO3 is controlled from an external control system by 07.02
AUX CTRL WORD 1 bit 15. See also parameter 30.26 COM
LOSS RO.
0...23 Bit number

187

14.08 EXT2 DO1 Selects extension module 2 digital output DO1 control signal. 1=1 801 208 I
GR+INDEX Output is controlled with a selectable bit (see parameter 14.09
EXT2 DO1 BIT NR) of the signal selected by this parameter. If
parameter is set to 0, DO1 is controlled from an external control
system by 07.03 AUX CTRL WORD 2 bit 2. To activate the
extension module see parameter 98.04 DI/O EXT MODULE 2.
See also parameter 30.26 COM LOSS RO.
14.09 EXT2 DO1 BIT NR Defines the bit number of the signal selected by parameter 1=1 1 209 I
14.08 EXT2 DO1 GR+INDEX.
0...23 Bit number
14.10 EXT2 DO2 Selects extension module 2 digital output DO2 control signal. 1=1 806 210 I
GR+INDEX Extension module 2 digital output DO2 is controlled with
a selectable bit (see parameter 14.11 EXT2 DO2 BIT NR) of the
signal selected with this parameter. If parameter is set to 0,
DO2 can be controlled from an external control system by
07.03 AUX CTRL WORD 2 bit 3. To activate the extension
module see parameter 98.04 DI/O EXT MODULE 2. See also
parameter 30.26 COM LOSS RO.
14.11 EXT2 DO2 BIT NR Defines the bit number of the signal selected by parameter 1=1 0 211 I
14.10 EXT2 DO2 GR+INDEX.
0...23 Bit number
14.12 DO2 GR+IND Defines digital output DO2 control in local and remote control 1=1 0 212 B
MODE modes.
0 = REM/LOCAL Parameters 14.04 DO2 GROUP+INDEX and 14.05 DO2 BIT
NUMBER are effective in remote and local control modes.
1 = LOCAL Parameters 14.04 DO2 GROUP+INDEX and 14.05 DO2 BIT
NUMBER are effective only in local control mode. In remote
control mode signal 07.02 AUX CTRL WORD 1 bit 14 controls
DO2.
*Example: If parameters 14.02 and 14.03 are set to 801 and 1, DO1 is active when 08.01 Main Status Word bit 1 is
1 = READY. If parameters 14.02 and 14.03 are set to -801 and 3, DO1 is active when 08.01 Main Status Word bit 3 is 0.

188

15 ANALOGUE Analogue output signal processing. The outputs are updated
OUTPUTS every 10 ms. See section Analogue outputs on page 55.
15.01 ANALOGUE Connects a measured signal to analogue output AO1. 1=1 106 226 I
OUTPUT1 If temperature measurement (parameter 30.03 MOT1 TEMP
AI1 SEL) is selected, analogue output AO1 is used for
supplying constant current for the sensor.
An external control system can also control the output. The data
set in which the signal is transmitted to the drive is directed into
one of the data parameters 19.01...19.08 using parameters
90.01...90.18. The data parameter is then coupled to the
analogue output with this parameter.
0…30000 Parameter index in (x)xyy format, where (x)x= parameter group,
y = parameter number. For example value 2301 denotes
parameter 23.01.
15.02 INVERT AO1 Selects analogue output AO1 signal inversion. 1=1 0 227 B
value.
value.
15.03 MINIMUM AO1 Defines the offset value for analogue output AO1. 1=1 1 228 I
Note: Parameter is not effective if motor 1 temperature
measurement is activated by parameter 30.03 MOT1 TEMP AI1
SEL.
1 = 0 mA 0 mA
2 = 4 mA 4 mA
-1000 rpm = 0 mA and 1000 rpm = 20 mA
15.04 FILTER AO1 Defines the filter time constant for analogue output AO1. 100 = 0.1 229 R
1s
0...10 s Filter time constant
15.05 SCALE AO1 Defines the nominal value of the signal connected to analogue 1=1 100 230 R
output AO1. See parameter 15.01 ANALOGUE OUTPUT1.
The value corresponds to 20 mA at the output.
0...65536 Nominal value
OUTPUT2
0...30000 Parameter index in (x)xyy format, where (x)x= parameter group,
parameter 15.06.
value.
value.

189

1 = 0 mA 0 mA
2 = 4 mA 4 mA
-1000 rpm = 0 mA and 1000 rpm = 20 mA
1s
OUTPUT3 If temperature measurement (parameter 30.03 MOT1 TEMP
AI1 SEL) is selected, analogue output AO3 is used for
supplying constant current for the sensor.
Analogue outputs AO3 and AO4 are available when RAIO I/O
Extension module is used and parameter 98.06 AI/O EXT
MODULE 1 is set to UNIPOLAR AI or BIPOLAR AI. See also
parameters 98.06 AI/O EXT MODULE 1 and 98.11 AI/O EXT1
LOCATIO.
parameter 23.01.
value.
value.
1 = 0 mA 0 mA
2 = 4 mA 4 mA
-1000 rpm = 0 mA and 1000 rpm = 20 mA
4 = 12 mA Used with 4…20 mA signals with meters which have zero point
in the middle of the range, e.g. -1000…0…1000 rpm.
1s

190

OUTPUT4 If temperature measurement (par. 30.06 MOT2 TEMP AI2 SEL)
is selected, analogue output AO4 is used for supplying constant
current for the sensor.
Analogue outputs AO3 and AO4 are available when I/O
extension is used and parameter 98.06 AI/O EXT MODULE 1 is
set to UNIPOLAR AI or BIPOLAR AI. See also parameters
98.06 AI/O EXT MODULE 1 and 98.11 AI/O EXT1 LOCATIO.
parameter 23.01.
value.
value.
1 = 0 mA 0 mA
2 = 4 mA 4 mA
-1000 rpm = 0 mA and 1000 rpm = 20 mA
4 = 12 mA Used with 4…20 mA signals with meters which have zero point
in the middle of the range, e.g. -1000…0…1000 rpm.
1s
15.21 EXT2 AO1 OFFSET Defines the offset value for extension module 2 analogue 1000 = 0 246 R
output AO1. 1 mA
0...20 mA Offset
15.22 EXT2 AO1 SCALE Scales the extension module 2 analogue output AO1 signal. 1=1 20000 247 I
0...30000 20000 = 20 mA
15.23 EXT2 AO2 OFFSET Defines the offset value for extension module 2 analogue 1000 = 0 248 R
output AO2. 1 mA
0...20 mA Offset
15.24 EXT2 AO2 SCALE Scales the extension module 2 analogue output AO2 signal. 1=1 20000 249 I
0...30000 20000 = 20 mA

191

16 SYSTEM CTR Run Enable, parameter lock etc.
INPUTS
16.01 RUN ENABLE DI2 Activates the RUN ENABLE signal. 1=1 2 251 I
1 = INTERLOCK To activate the RUN ENABLE signal, a voltage signal must be
connected to digital input DI2. If the voltage drops to 0 V, the
drive coasts to stop and RUN INTERLOCK bit is activated in
08.01 MSW bit 13.
2 = FAULT If the DI2 voltage drops to 0 V, the drive coasts to stop and fault
RUN DISABLE is generated.
3 = ALARM If the DI2 voltage drops to 0 V, the drive coasts to stop and
alarm RUN DISABLE is generated.
16.02 PARAMETER Selects the state of the parameter lock. The lock prevents 1=1 0 252 B
LOCK parameter changing.
0 = OPEN The lock is open. Parameter values can be changed.
1 = LOCKED Locked. Parameter values cannot be changed from the control
panel. The lock can be opened by entering the valid code to
parameter 16.03 PASS CODE.
16.03 PASS CODE Selects the pass code for the parameter lock. See parameter 1=1 0 253 I
16.02 PARAMETER LOCK.
0...30000 Setting 358 opens the lock. The value reverts back to 0
automatically.
16.04 LOCAL LOCK Disables entering local control mode (LOC/REM key of the 1=1 0 254 B
panel).
WARNING! Before activating, ensure that the control
panel is not needed for stopping the drive!
0 = FALSE Local control allowed

1 = TRUE Local control disabled
16.05 USER MACRO Enables the change of the user macro. See parameter 99.11 1=1 1 255 I
CHG APPLICATION MACRO. The change is allowed only when the
drive is stopped. During the change, the drive will not start.
Note: Always save the user macro by parameter 99.11 after
changing any parameter settings, or reperforming the motor
identification. The last settings saved by the user are loaded
into use whenever the power is switched off and on again or the
macro is changed. Any unsaved changes will be lost.
Note: The value of this parameter is not included in the user
macro. A setting once made remains despite of the user macro
change.
For more information, see section User macros on page 298.
1 = NOT SEL User macro change is not possible.
2 = ACW2 BIT 12 User macro change by 07.03 AUX CTRL WORD 2 bit 12. 1 =
macro 2, 0 = macro 1.
3 = I/O CHANGE User macro change defined by parameter 10.10 I/O MACRO
CHANGE.

192

16.06 PARAMETER Saves parameters from the RAM memory to the FPROM 1=1 0 256 B
BACKUP memory. Saving of parameters is needed only when parameter
changes through external control system have to be stored to
the FPROM memory.
Note: Parameter changes by CDP 312R control panel or
DriveWindow are immediately saved to the FPROM memory.
0 = DONE Parameter saving has been completed.
1 = SAVE Parameters are being saved to the FPROM memory.
16.07 CTRL BOARD Defines the source of the RMIO control board power supply. 1=1 1 257 B
SUPPLY Note: If an external supply is used but this parameter has value
INTERNAL, the drive trips on a fault when the power is
switched off.
1 = INTERNAL 24V The RMIO control board is supplied from internal power supply
from the inverter module. After power fail saving function the
RMIO board is booted.
2 = EXTERNAL 24V The RMIO control board is powered from an external supply.
After power fail saving function the RMIO is not automatically
booted.
16.08 FAN SPD CTRL Selects the inverter fan speed control. Parallel connected 1=1 2 258 I
MODE inverter modules 1…12 × R8i equipped with an optional
inverter fan have adjustable speed control as a function of IGBT
temperature. See section Inverter fan speed control on page
119.
During the charging of the inverter unit, the fan speed is
internally ramped to zero. When the charging is completed, the
speed accelerates to the selected speed.
0 = CONST 50HZ Fan is running always at constant frequency of 50 Hz when
powered.
1 = RUN/STOP Drive stopped: Fan is running at constant frequency of 10 Hz.
Drive started: Fan is running at constant frequency of 50 Hz.
2 = CONTROLLED Fan speed is determined from the IGBT temperature vs. the fan
speed curve.
16.09 RESET COUNTER Resets the motor cooling fan or drive cooling fan running time 1=1 0 259 I
counter.
1 = NO No reset
2 = MOTOR TIME Motor cooling fan running time counter reset (01.38 MOTOR
RUN-TIME)
3 = FAN ON TIME Drive cooling fan running time counter reset (01.31 FAN ON-
TIME)
16.10 INT CONFIG USER Defines the number of parallel connected R8i inverter modules 1=1 0 260 I
in the drive. Activates the reduced run function. See section
Reduced run function on page 86.
1...12 Number of parallel connected inverters
16.14 RUN INTERLOCK Activates the run interlock function. 1=1 0 264 B
0 = OFF Inactive
1 = ON Active (Main Status Word 08.01 bit 13 value is 1). Motor start is
prevented or motor stops if it was already running.
Note: Run interlock does not activate any alarm or fault.

193

17 DC HOLD DC hold function settings
17.01 DC HOLD Activates the DC hold function. DC hold is not possible if 1=1 0 276 B
parameter 99.08 MOTOR CTRL MODE is set to SCALAR.
When both the reference and the speed drop below the value
defined by parameter 17.02 DC HOLD SPEED, the drive will
stop generating sinusoidal current and start to inject DC into the
motor. The current is set by parameter 17.03 DC HOLD
CURRENT. When the reference speed exceeds parameter
17.02 value, normal drive operation continues.
SPEEDmotor
DC hold
Ref.
DC HOLD SPEED t
(par. 17.02)
Note: DC hold has no effect if the start signal is switched off.

Note: Injecting DC current into the motor causes the motor to
heat up. In applications where long DC hold times are required,
externally ventilated motors should be used. If the DC hold
period is long, the DC hold cannot prevent the motor shaft from
rotating if a constant load is applied to the motor.
0 = NO Inactive
1 = YES Active
17.02 DC HOLD SPEED Defines the DC hold speed. 1=1 5 277 R
0...3600 rpm Speed
17.03 DC HOLD Defines the DC hold current. 1=1 30 278 R
CURRENT
0...100% Value in percent of motor nominal current
18 LED PANEL CTRL The NLMD-01 Monitoring Display has a LED bar to show
an absolute real type value.
0 50 100 150%
The source and the scale of the display signal are defined by
this parameter group.
Note: If NLMD -01 and CDP 312R control panel are used
together, actual signal 01.26 LED PANEL OUTPUT must be the
first signal in CDP 312R Actual Signal Display Mode. Otherwise
the NLMD-01 LED bar display will show an incorrect value.
18.01 LED PANEL Selects the signal source for the NLMD-01 Monitoring Display. 1=1 107 301 I
OUTPUT
0…9999 For example parameter index 109 denotes parameter 01.09
POWER.
Note: The unit of the selected signal must be percent (%).

194

18.02 SCALE PANEL Defines the value of the signal selected by parameter 18.01 1=1 100 302 R
LED PANEL OUTPUT which corresponds to 100% on the LED
bar display.
Example: Signal 01.05 FREQUENCY is shown on the LED
display:
At 50 Hz the LED display indicates full value (100%) when:
Parameter 18.01 is set to 105.
Parameter 18.02 is set to 5000 (= 100 · 50 = 5000, where 100 is
the integer scale (FbEq) for signal 01.05.
0...65536 Scaling factor
19 DATA STORAGE Parameters for receiving information from or sending to an
external control system. The parameters are unconnected and
they can be used for linking, testing and commissioning
purposes. See chapter Fieldbus control.
AC 800M / AC 80 RMIO
Dataset table
Address For
Data
Data set Index assignment of data- DriveWindow
set
14 set PC tool
A Index 1 Group Index
1
Index 2 90 08 19.01
14 2
Index 3
3
A = value assigned from an external control system
AC 800M / AC 80 RMIO
Dataset table
Address From
Data
Data set Index assignment of data- DriveWindow
set
15 set PC tool
Index 1 Group Index
1
Index 2 92 08 19.02
B 15 2
Index 3
3
B = value assigned from an external control system

19.01 DATA 1 Stores data written from a user-defined source. 1=1 0 326 R
Example: Monitor a signal written by an external control
system to data set 18 word 3 using the DriveWindow PC tool as
follows:
Define the data set 18 word 3 destination address in the
converter application program by setting parameter 90.15 DATA
SET 18 VAL 3 to 1901 (points to 19.01 DATA 1.)
Set DriveWindow monitoring channel to read parameter 19.01.
-32768...32767 Data value
19.02 DATA 2 See parameter 19.01 DATA 1. 1=1 0 327 R
-32768...32767 Data value
... ... ... ...
19.08 DATA 8 See parameter 19.01 DATA 1. 1=1 0 333 R
-32768...32767 Data value
19.09 DATA PB 9 Data storage parameter. 1=1 0 334 Pb

195

0…65535 Data value
19.10 DATA PB 10 Data storage parameter. 1=1 0 335 Pb
0…65535 Data value
20 LIMITS Drive operation limits
Note: The absolute nominal torque is calculated in the
application program from the motor parameters. See parameter
group 99 START-UP DATA.
20.01 MINIMUM SPEED Defines the allowed minimum speed. See par. See 351 R
Note: The limit is linked to the motor nominal speed 50.01. par.
setting, parameter 99.05 MOTOR NOM SPEED. If 99.05.
Par. 99.05 value is changed, the default speed limit is
also changed.
-9000...1500 rpm Minimum speed limit
Note: If the value is positive, the motor cannot be run in the
reverse direction.
20.02 MAXIMUM SPEED Defines the allowed maximum speed. See par. See 352 R
Note: The limit is linked to the motor nominal speed 50.01. par.
setting, parameter 99.05 MOTOR NOM SPEED. If 99.05.
Par. 99.05 value is changed, the default speed limit is
also changed.
-1500...9000 rpm Maximum speed limit
20.03 ZERO SPEED Defines the zero speed limit. The motor is stopped along See par. 4% of 353 R
LIMIT a speed ramp until ZERO SPEED LIMIT is reached. After the 50.01. nom.
limit, the motor coasts to stop. motor
speed
0...15000 rpm Zero speed limit
20.04 MAXIMUM Defines the allowed maximum motor current Ihd. The maximum 100 = 180 354 R
CURRENT values are limited according to the duty cycle tables. See the 1%
appropriate technical catalogue.
0...[inverter specific] Current limit in percent of the allowed maximum motor current
20.05 MAXIMUM Defines the maximum torque limit for the drive. 100 = 300 355 R
TORQUE 1%
0...600% Torque limit in percent of the motor nominal torque
20.06 MINIMUM Defines the minimum torque limit for the drive. 100 = -300 356 R
TORQUE 1%
-600...0% Torque limit in percent of the motor nominal torque
20.07 SPC TORQMAX Defines the maximum speed controller output limit. 100 = 300 357 R
1%
0...600% Limit in percent of the motor nominal torque
20.08 SPC TORQMIN Defines the minimum speed controller limit. 100 = -300 358 R
1%
-600...0% Limit in percent of the motor nominal torque
20.09 TREF TORQMAX Defines the maximum torque reference limit. 100 = 300 359 R
1%
0...600% Limit in percent of the motor nominal torque
20.10 TREF TORQMIN Defines the minimum torque reference limit. 100 = -300 360 R
1%
-600...0% Limit in percent of the motor nominal torque

196

20.11 FREQ TRIP Defines together with parameters 20.01 MINIMUM SPEED and 100 = 50 361 R
MARGIN 20.02 MAXIMUM SPEED the maximum allowed frequency 1 Hz
(overspeed protection). If this frequency is reached,
OVERSPEED fault is activated.
Example: If the maximum speed is 1420 rpm = 50 Hz and
frequency trip margin is 10 Hz, the drive trips at 60 Hz.
0...500 Hz Frequency trip margin
20.12 PULLOUT TCOEF Limits the maximum motoring torque to prevent motor pull-out. 1=1 70 362 R
MAX See parameter 20.13 PULLOUT TCOEF MIN.
40...100% Maximum torque limit in percent of the calculated pull-out
torque
20.13 PULLOUT TCOEF Limits the minimum motor torque to prevent pull-out (when 1=1 50 363 R
MIN pulse encoder speed feedback is not used, i.e. 50.03 SPEED
FB SEL = INTERNAL).
|T|
PULLOUT TCOEF MAX
(par. 20.12)
PULLOUT TCOEF MIN

(par. 20.13)
f / Hz
20 Hz
0...100% Minimum torque limit in percent of the calculated pull-out torque

20.14 ADAPTIVE UDC Selects the adaptive DC voltage measurement function. 1=1 1 364 B
MEAS With several inverters connected to the same DC link, the DC
voltage measurement function should be OFF to ensure that
the inverters operate similarly during undervoltage control
(parameter 30.22 UNDERVOLTAGE CTL).
0 = OFF No adaptive DC voltage measurement function: Full DC voltage
(100%) equals to 1.35 · U1max, where U1max is the maximum
During undervoltage control, torque is controlled as defined by
parameters 20.15 UNDERVOLT TORQ UP and 20.16
UNDERVOLT TORQ DN.
1 = ON Adaptive DC voltage measurement function: DC voltage floats
according to the network conditions.

197

20.15 UNDERVOLT Limits the maximum torque during undervoltage control (30.22 10 =1% 500 365 R
TORQ UP UNDERVOLTAGE CTL). See parameters 20.16 UNDERVOLT
TORQ DN and 20.14 ADAPTIVE UDC MEAS.
T
UNDERVOLT TORQ UP
(par. 20.15)
UDC / V
UDC nominal
DC UNDERVOLT LIM
UNDERVOLT TORQ DN
(par. 20.16) UDC undervoltage trip limit
-T
0...600% Value in percent of the maximum motor torque
20.16 UNDERVOLT Limits the minimum torque at undervoltage trip limit. This -10 = -500 366 R
TORQ DN parameter is used together with the undervoltage controller -1%
(30.22 UNDERVOLTAGE CTL) to tune the generating torque
level of the drive during a supply power failure. See parameters
20.15 UNDERVOLT TORQ UP and 20.14 ADAPTIVE UDC
MEAS.
DC undervoltage trip limit is 0.6 × 1.35 × U1min, where U1min is
the minimum value of the input voltage range.
-500...0% Value in percent of the minimum motor torque
20.17 P MOTORING LIM Defines the allowed maximum power fed by the inverter to the 100 = 300 367 R
motor. 1%
0...600% Power limit in percent of the motor nominal power
20.18 P GENERATING Defines the allowed maximum power fed by the motor to the 100 = -300 368 R
LIM inverter. 1%
-600...0% Power limit in percent of the motor nominal power
20.19 SPC TMAX LOC/ Maximum speed controller output limit as a percentage of the 100 = 300 369 R
EMS motor nominal torque in local control and emergency stop 1%
situation.
0…600%
20.20 SPC TMIN LOC/ Minimum speed controller output limit as a percentage of the 100 = -300 370 R
EMS motor nominal torque in local control and emergency stop 1%
situation.
-600…0%
20.21 SLS SPEED LIMIT Defines the safely limited speed limit (SLS). When the SLS 20000 = 0 rpm 371 R
function is activated the speed limits are ramped to 20.21 SLS 1500
SPEED LIMIT. The speed of the deceleration to SLS is defined rpm
by parameter 22.10 and acceleration from SLS to the original
speed is defined by parameter 22.09.
0…9000 rpm (0…4
times sync speed)
21 START/STOP Start and stop modes of the motor
FUNC Note: Coast stop is always the stop mode in a fault situation.
21.01 START FUNCTION Selects the motor starting method. 1=1 1 376 I

198

1 = AUTO Automatic start guarantees optimal motor start in most cases.
It includes the flying start function (starting to a rotating
machine) and the automatic restart function. The drive motor
control program identifies the flux as well as the mechanical
state of the motor and starts the motor instantly under all
conditions.
2 = DC MAGN DC magnetising should be selected if a high break-away torque
is required. The drive pre-magnetises the motor before the
start. The pre-magnetising time is determined automatically,
being typically 200 ms to 2 s depending on the motor size. DC
magnetising guarantees the highest possible break-away
torque.
Note: Starting to a rotating machine is not possible when DC
magnetising is selected.
Note: DC magnetising cannot be selected if parameter 99.08
MOTOR CTRL MODE = SCALAR.
3 = CNST DC Constant DC magnetising should be selected instead of DC
MAGN magnetising if constant pre-magnetising time is required (for
example if the motor start must be simultaneous with a
mechanical brake release). This selection also guarantees the
highest possible break-away torque when the pre-magnetising
time is set long enough.The pre-magnetising time is defined by
parameter 21.02 CONST MAGN TIME.
This mode remembers the last position of the motor shaft. This
minimises possible shaft movement during the next start. See
parameter 21.11 START JERK COMP.
Note: Starting to a rotating machine is not possible when DC
magnetising is selected.
Note: DC magnetising cannot be selected if parameter 99.08
MOTOR CTRL MODE = SCALAR.
WARNING! The drive will start after the set
magnetising time has passed although the motor
magnetisation is not completed. Ensure always in
applications where a full break-away torque is essential that the
constant magnetising time is long enough to allow generation of
full magnetisation and torque.
21.02 CONST MAGN Defines the magnetising time in the constant magnetising mode 1 = 1 ms 500 377 R
TIME (21.01 START FUNCTION = CNST DC MAGN). After the start
command, the drive automatically pre-magnetises the motor
the set time.
30...10000 ms Magnetising time. To ensure full magnetising, set this value to
the same value as or higher than the rotor time constant. If not
known, use the rule-of-thumb value given in the table below:
Rated motor power Constant magnetising time
<10 kW > 100 to 200 ms
10 to 200 kW > 200 to 1000 ms
200 to 1000 kW > 1000 to 2000 ms
21.03 STOP FUNCTION Selects the motor stop function in local and I/O control modes. 1=1 1 378 I
1 = STOP Stop along a ramp. See parameter group 22 ACCEL/DECEL.
RAMPING
2 = STOP TORQ Stop according to the set torque limit (par. 20.05...20.08).

199

3 = COAST STOP Stop by cutting off the motor power supply. The motor coasts to
stop.
21.04 EME STOP MODE Selects the motor emergency stop function. See section 1=1 1 379 I
Emergency stop on page 69.
1 = STOP Stop along the emergency stop ramp. See parameter 22.04
RAMPING EME STOP RAMP.
2 = STOP TORQ Stop according to the set torque limit (par. 20.05...20.08).
3 = COAST STOP Stop by cutting off the motor power supply. The motor coasts to
stop.
4 = FOLLOW STOP Follower drive is decelerated to a stop with the Master drive
torque reference. 07.01 Main Control Word bit 6 (RAMP IN
ZERO) value is set to zero and emergency stop ramp is
activated.
5 = EXT DEC REF Stop according to the external speed reference using
deceleration ramp time (Par. 22.02 DECELER TIME).
6 = EXT DEC REF2 Stop according to the external speed reference using
emergency stop deceleration reference received from fieldbus.
Deceleration of speed reference follows Emergency stop ramp
time in follower drive.
21.05 EMSTOP DER Defines the maximum deceleration rate for emergency stop. If 1 = 1 1800 380 R
MAX L the drive is not able to decelerate within the window defined by
parameters 21.06 EMSTOP DER MAX L and 21.05 EMSTOP
DER MIN L, it is stopped by coasting and 08.02 AUX STATUS
WORD bit 2 value is set to 1.
Setting this parameter to 1800 rpm/s (= default value) disables
the supervision of the minimum deceleration.
See also parameter 21.07 EM STOP DEC MON DEL and
section Emergency stop on page 69.
0...18000 rpm/s Maximum deceleration rate
21.06 EMSTOP DER MIN Defines the minimum deceleration rate for emergency stop. If 1=1 0 381 R
L the drive is not able to decelerate within the window defined by
parameters 21.06 EMSTOP DER MIN L and 21.05 EMSTOP
DER MAX L, it is stopped by coasting and 08.02 AUX STATUS
WORD bit 2 value is set to 1.
Setting this parameter to 0 rpm/s (= default value) disables the
supervision of the maximum deceleration.
Actual deceleration can be monitored with signal 02.16 dv/dt.
See also parameter 21.07 EM STOP DEC MON DEL and
section Emergency stop on page 69.
0...18000 rpm/s Minimum deceleration time
21.07 EM STOP DEC Defines the time delay between the emergency stop signal and 10 = 1 s 20 382 R
MON DEL the start of the deceleration monitoring. See parameters 21.06
EMSTOP DER MAX L and 21.05 EMSTOP DER MIN L.
0...100 s Time delay

200

21.08 EM STOP TORQ This parameter activates the torque limit ramping function at the 1 = 1 1 383 I
RAMP beginning of an emergency stop. The purpose is to change the
direction of power smoothly and prevent a potential current
peak in the incoming supply unit. This function is recommended
for use with a regenerative thyristor supply.
300% / 100 ms T
20.05 MAXIMUM
T
TORQUE
5%
f / Hz
-5%
150 ms
(-20.05) MAXIMUM
TORQUE
EMERGENCY 300% / 100 ms

TRUE FALSE
STOP
1…2
21.09 AUTO RESTART Activates automatic restart using flying start after a short supply 1 = 1 0 384 B
power failure. See parameter 21.10 AUTO RESTART TIME.
0 = OFF Inactive
1 = ON Active
21.10 AUTO RESTART Defines the maximum time for a power failure for the auto 10 = 1 s 5 385 R
TIME restart function (21.09 AUTO RESTART). This time also
includes the charging delay of the inverters.
0.3...5 s Maximum time
21.11 START JERK Enables internal position control during the magnetising of the 1 = 1% 0 386 R
COMP motor to minimise shaft movement when the start mode
selected by parameter 21.01 START FUNCTION is CONST DC
MAGN. Find the setting that gives the smallest shaft movement.
Setting this parameter to 0 (= default value), disables the
function.
0...100% Value in percent
21.12 LOCAL EMSTOP Selects the source for the emergency stop activation signal in 1=1 0 387 I
MODE local control mode. See section Emergency stop on page 69.
0 = DI Digital input
1 = DI+FIELDBUS Digital input or fieldbus
22 ACCEL/DECEL Speed reference ramp functions. See section Acceleration and
deceleration ramps on page 75.
22.01 ACCELER TIME Defines the acceleration time i.e. the time required for the 100 = 20 401 R
speed to change from zero to the speed defined by parameter 1s
50.01 SPEED SCALING.
The maximum acceleration time is 1800 s (acceleration time
can be expanded by parameter 22.03 ACC/DEC TIME SCLE).
0...1000 s Acceleration time

201

22.02 DECELER TIME Defines the deceleration time i.e. the time required for the 100 = 20 402 R
speed to change from the value defined by parameter 50.01 1s
SPEED SCALING to zero.
The maximum deceleration time is 1800 s (deceleration time
can be expanded by parameter 22.03 ACC/DEC TIME SCLE).
If the deceleration time is set too short, the drive will
automatically prolong the deceleration in order not to exceed
drive operating limits. If there is any doubt about the
deceleration time being too short, ensure that the DC
overvoltage control is on (parameter 30.23 OVERVOLTAGE
CTL).
Note: If a short deceleration time is needed for a high inertia
application, the drive should be equipped with an electric
braking option for example with a brake chopper and a brake
resistor.
0...1000 s Deceleration time
22.03 ACC/DEC TIME Multiplies the acceleration/deceleration defined by parameter 100 = 1 1 403 R
SCLE 22.01/22.02 ACCELER/DECELER TIME.
0.1...100 Multiplication factor
22.04 EME STOP RAMP Defines the time inside which the drive is stopped if 10 = 1 s 20 404 R
an emergency stop is activated and parameter 21.04 EME
STOP MODE is set to STOP RAMPING. (i.e. the time required
for the speed to change from the value defined by parameter
50.01 SPEED SCALING to zero).
0...3000 s Deceleration time
22.05 SHAPE TIME Selects the shape of the acceleration/deceleration ramp. 100 = 0 405 R
This function is deactivated during emergency stop. 1s
0...1000 s 0.00 s: Linear ramp. Suitable for steady acceleration or
deceleration and for slow ramps.
0.01 … 1000.00 s: S-curve ramp. S-curve ramps are ideal for
conveyors carrying fragile loads, or other applications where a
smooth transition is required when changing from one speed to
another. The S-curve consists of symmetrical curves at both
ends of the ramp and a linear part in between.
Motor
speed
Linear
S-curve
t (s)
acceleration ramp shape

time time
(par. 22.01) (par. 22.05)
22.06 VARIABLE SLOPE Controls the slope of the speed ramp during a speed reference 1 = 1 0 406 B
change. See parameter 22.07 VAR SLOPE RATE and section
Variable slope on page 76.

202

0 = OFF Control inactive
1 = ON Control is active with the exception of LOCAL control mode.
22.07 VAR SLOPE RATE Defines the rate of the speed reference change, when 1 = 1 ms 4.05 407 R
parameter 22.06 VARIABLE SLOPE is ON.
Set this parameter to the same value as the updating time
interval of the external control system.
4.1...30000 ms Rate of the speed reference change
22.08 BAL RAMP REF Forces the output of the speed ramp to a selected value. The See par. 0 408 R
function is activated by setting 07.02 AUX CTRL WORD 1 bit 3 50.01.
value to 1.
See par. Speed ramp output
20.01...20.02 (rpm)
22.09 SLS ACCELER Defines the time required for the speed limits to ramp up from 100 = 20 s 409 R
TIME the safely limited speed defined by parameter 20.21 to the 1s
speed defined by parameter 50.01 SPEED SCALING when the
SLS function is deactivated.
0…1800 s Speed ramp time.
22.10 SLS DECELER Defines the time required for the speed limits to ramp down 100 = 20 s 410 R
TIME from the value defined by parameter 50.01 SPEED SCALING 1s
to the safely limited speed defined by parameter 20.21 when
the SLS function is activated.
If the speed is already lower than the safely limited speed, the
speed does not change.
0…1800 s Speed ramp time.
23 SPEED REF Speed reference functions. See control block diagram in
section Speed reference on page 321.
23.01 SPEED REF Defines the main speed reference for the speed controller input. See par. 0 426 R
50.01.
See par. Speed reference.
20.01...20.02 (rpm) Note: The value of this parameter value is not saved to the
flash memory.
23.02 CONST SPEED 1 Defines constant speed 1. Constant speed reference is 1=1 0 427 R
activated by 07.01 MAIN CONTROL WORD bit 8. See also
Main Control Word bits 4...6.
-18000...18000 rpm Constant speed 1
23.03 CONST SPEED 2 Defines constant speed 2. Constant speed reference is 1=1 0 428 R
activated by 07.01 MAIN CONTROL WORD bit 9. See also
Main Control Word bits 4...6.
-18000...18000 rpm Constant speed 2
23.04 SPEED Defines a value to be added to filtered speed reference 02.02 See par. 0 429 R
CORRECTION SPEED REF 3. 50.01.
Note: Parameter value is cleared at the beginning of an
emergency stop.
Note: Parameter value is not saved to the flash memory.
Note: If an external control system or RMIO software writes
a value into this parameter, the value must be set to zero before
a stop command is issued for the drive.
See par. 99.05 Speed correction
(rpm)

203

23.05 SPEED SHARE Speed reference share coefficient. 10 = 1% 100 430 R
Note: Parameter value is not effective during emergency stop.
-400...400% Value in percent
23.06 SPEED ERROR Defines the speed error filter time constant. (Speed error = 1 = 1 ms 0 431 R
FILT 02.18 SPEED REF 4 - Motor speed)
0...999999 ms Speed error filter time
23.07 WINDOW INTG ON The window control, together with selection ADD of parameter 1=1 0 432 B
26.01 TORQUE SELECTOR, forms a speed supervision
function for a torque controlled drive.
07.02 AUX CTRL WORD 1 bit 7 WINDOW CTRL must be set to
1 to enable the window control.
See also window control status bit, 08.02 AUX STATUS WORD
bit 1.
0 = OFF Inactive. When window control is on, the integrator part of the
speed control is inactive.
1 = ON Active. When window control is on, the integration part of the
speed controller is active. This selection is used only when
parameter 26.01 TORQUE SELECTOR value is set to ADD.
Window control supervises the speed error value (speed
reference - actual speed). In normal operation, the drive is
torque controlled according to 02.08 TORQ REF1.
The speed controller is evoked only if
- the speed error exceeds the value of parameter 23.08
WINDOW WIDTH POS
or
- the absolute value of the negative speed error exceeds the
value of parameter 23.09 WINDOW WIDTH NEG.
When the speed error moves outside the window, the
exceeding part of the error value is connected to the speed
controller. The speed controller produces a reference term,
relative to the speed controller input and gain, which the torque
selector adds to the torque reference. The result is used as the
internal torque reference for the drive.
When window control is used, the speed control (P-control)
brings the speed to the sum of SPEED REF 4 + WINDOW
WIDTH. (Note the permanent error of the P-control.)
Example: In a load loss condition the motor speed rises until a
speed limit of the drive is reached. If window control is used, the
internal torque reference of the drive is decreased to prevent
an excessive rise of the motor speed.

204

23.08 WINDOW WIDTH Defines the speed limit for the window control, when the See par. 10% of 433 R
POS calculated speed error (speed reference - actual speed) is 50.01. motor
positive. Parameter 07.02 AUX CTRL WORD 1 bit 7 WINDOW nom.
CTRL must be set to 1 to enable the window control. synchr.
Note: Window control speed limits (defined by par. 23.08 and speed
23.09) are forced to zero if the sum of 02.18 SPEED REF 4 and
23.09 WINDOW WIDTH NEG / 23.08 WINDOW WIDTH POS is
> 20.02 MAXIMUM SPEED or
< 20.01 MINIMUM SPEED.
See also parameter 23.11 SYMMETRIC WINDOW.
This parameter is also used with speed controlled follower with
load share function as maximum output limiting. See chapter
Control block diagrams in section Speed reference ramp.
0... 15000 (rpm) Speed limit
23.09 WINDOW WIDTH Defines the speed limit for the window control, when the See par. 10% of 434 R
NEG calculated speed error (speed reference - actual speed) is 50.01. motor
negative. Parameter 07.02 AUX CTRL WORD 1 bit 7 WINDOW nom.
CTRL must be set to 1 to enable the window control. synchr.
Note: Window control speed limits (defined by par. 23.08 and speed
23.09) are forced to zero if the sum of 02.18 SPEED REF 4 and
23.09 WINDOW WIDTH NEG / 23.08 WINDOW WIDTH POS is
> 20.02 MAXIMUM SPEED or
< 20.01 MINIMUM SPEED.
See also parameter 23.11 SYMMETRIC WINDOW.
This parameter is also used with speed controlled follower with
load share function as minimum output limiting. See chapter
Control block diagrams in section Speed reference ramp.
0... 15000 (rpm) Speed limit. The maximum is the absolute value of the setting
defined by parameter 23.08 WINDOW WIDTH POS.
23.10 SPEED STEP Defines an additional speed step given to the input of the speed See par. 0 435 R
controller (added to the speed error value). See control block 50.01.
diagram in section Speed control on page 323.
Note: If an external control system writes a value into this
parameter, the value must be set to zero (from the external
control system) before a stop command is issued for the drive.
Note: Parameter value is not saved to the flash memory.
See par. Additional speed step.
20.01…20.02 (rpm) Note: The minimum value of the parameter is the value of
20.01 MINIMUM SPEED or 0, whichever is lower. The
maximum value of the parameter is the value of
20.02 MAXIMUM SPEED or 0, whichever is higher.
23.11 SYMMETRIC Activates the symmetric window control function. Values for 1=1 0 436 B
WINDOW 23.08 WINDOW WIDTH POS and 23.09 WINDOW WIDTH
NEG are calculated from the absolute value of the speed
instead of the signed value of the speed. Thus window width
functions are symmetric for both directions of rotation.
Parameter 23.09 WINDOW WIDTH NEG functions as
overspeed supervision and 23.08 WINDOW WIDTH POS as
underspeed supervision.
0 = OFF Inactive
1 = ON Active

205

23.12 RFE SPEED Activates the resonance frequency elimination function. The 1=1 0 437 B
FILTER actual speed of the speed controller is filtered by a common
2nd order band-elimination filter to eliminate amplification of
mechanical resonance frequencies. The filter is configured by
parameters 23.13...23.16.
Note: When tuning the filter, the user should have basic
understanding of frequency filters. Incorrect tuning of the
parameters may amplify mechanical oscillations and cause
damage to the drive hardware. When the filter configuration
parameters are changed, it is recommended that the inverter is
either stopped or that the filter is switched off to ensure stability
of the speed controller.
0 = OFF Inactive
1 = ON Active
23.13 FREQUENCY OF Defines the zero frequency of the band-elimination filter. The 1 = 1 Hz 45 438 R
ZERO frequency must be set near the resonance frequency, which is
filtered out before the speed controller.
Frequency response
20
0
20log10|H(ω)|
-20
-40
-60
0 50 100 150
f / Hz
0.5...500 Hz Zero frequency

206

23.14 DAMPING OF Defines the damping coefficient for the 23.13 FREQUENCY OF 100 = 0 439 R
ZERO ZERO. Value 0 corresponds to the maximum elimination of the 1.0
resonance frequency FREQUENCY OF ZERO.
20
fzero = 45 Hz
ξzero = 0.25
0 ξpole = 1
20log10|H(ω)|
-20 fzero = 45 Hz
ξzero = 0
ξpole = 1
-40
-60
0 50 100 150
f / Hz
Note: To ensure that the resonance frequency band is filtered,
not amplified, DAMPING OF ZERO must be smaller than
DAMPING OF POLE (parameter 23.16).
-1...1 Damping coefficient
23.15 FREQUENCY OF Defines the frequency of pole of the band-elimination filter. 1 = 1 Hz 40 440 R
POLE
40
fzero = 45 Hz
fpole = 50 Hz
20 ξzero = 0
ξpole = 0.25
0
20log10|H(ω)|
fzero = 45 Hz
-20 fzero = 45 Hz
fpole = 30 Hz
fpole = 40 Hz
-40 ξzero = 0
ξzero = 0
ξpole = 0.25
ξpole = 0.25
-60
50 100
0
f / Hz
Note: If this parameter value is very different from parameter

23.13 FREQUENCY OF ZERO value, the frequencies near the
FREQUENCY OF POLE are amplified, which may cause
damage to the driven machine.
0.5...500 Hz Frequency of pole

207

23.16 DAMPING OF Defines the damping coefficient for the 23.15 FREQUENCY OF 100 = 0.25 441 R
POLE POLE. 1.0
Shapes the frequency response of the band-elimination filter:
Narrower bandwidth results in better dynamic properties. By
setting this parameter value to 1 the effect of the pole is
eliminated.
40
fzero = 45 Hz
fpole = 40 Hz
20
ξzero = 0
ξpole = 0.05
0
20log10|H(ω)|
-20 fzero = 45 Hz fzero = 45 Hz

fpole = 40 Hz fpole = 40 Hz
-40 ξzero = 0 ξzero = 0
ξpole = 0.75 ξpole = 0.25
-60
50 100
0
f / Hz
Note: To ensure that the resonance frequency band is filtered,
not amplified, DAMPING OF POLE must be higher than
DAMPING OF ZERO (parameter 23.14).
-1...1 Damping coefficient
23.17 RAMPED INCH Speed reference. 07.02 Auxiliary Control Word 1 bit 12 selects See par. 0 442 R
REF the used speed reference: 23.17 RAMPED INCH REF or 02.27 50.01.
USED SPEED REF.
See control block diagram in section Speed reference on page
321.
Note: This parameter cannot be used in local mode.
See par. Speed
20.01...20.02 (rpm)
23.18 FOLL SPD CTRL Defines the correction term for the load share function used 10 = 1% 0% 443 R
COR with speed controlled Follower drives. I.e. defines how
accurately the Follower drive follows the Master torque.
A greater value results in a more accurate performance.
See parameter 23.19 FOLL SPD COR MODE and section Load
share function with speed controlled Follower on page 118.
Note: Parameter 24.02 DROOP RATE setting must be 0.
23.19 FOLL SPD COR Selects the torque correction mode for the load share function 1 = 1 1 444 I
MODE used with speed controlled Follower drives. Used together with
parameter 23.18 FOLL SPD CTRL COR.
1 = FAST Fast torque correction mode. Follower torque is corrected as
fast as possible after the Master drive torque change.
2 = SLOW Slow torque correction mode. Follower torque is corrected
slowly after the Master drive torque change.

208

24 SPEED CONTROL Speed controller variables. See section Speed controller tuning
on page 27.
The speed controller is based on PID algorithm.
1
sTIS
Yr + u
+ + +
- + KPS
+
Tds
τfs+1
+
b
-
y
u(s) = KPS[(bYr(s)-Y(s))+(1/(sTIS) + Tds/(τfs+1))e(s)]

u = actual output of the controller
e = speed error (difference between actual and
reference speed)
Yr = setpoint value
TIS = integration time
KPS = gain
Td = derivation time
24.01 PI TUNE Activates automatic tuning of the speed controller. Tuning is 1=1 0 451 B
based on the estimation of the mechanical time constant.
Parameters 24.03 KPS, 24.09 TIS and 24.14 ACC COMP DER
TIME are updated after the PI tuning.
Instructions:
- Run the motor at a constant speed of 20 to 40% of the rated
speed.
- Activate the PI tune by setting this parameter to 1 = ON.
Note: The motor load must be connected to the motor.
0 = OFF Inactive
1 = ON Active

209

24.02 DROOP RATE Defines the droop rate. The correct droop rate for a process 10 = 1% 0 452 R
must be found out case by case in practice.
The drooping slightly decreases the drive speed as the drive
load increases. The actual speed decrease at a certain
operating point depends on the droop rate setting and the drive
load (= torque reference / speed controller output). At 100%
speed controller output, drooping is at its nominal level, i.e.
equal to the value of the DROOP RATE. The drooping effect
decreases linearly to zero along with the decreasing load.
This parameter value is also valid during emergency stop.
Speed decrease = Speed controller output · Drooping ·
Nominal speed
Example: Speed controller output is 50%, DROOP
RATE is 1%, nominal speed of the drive is 1500 rpm.
Speed decrease = 0.50 · 0.01 · 1500 rpm = 7.5 rpm
Motor speed
% of
nominal
No drooping
100% } Par. 24.02
Drooping DROOP RATE
100%
Speed Controller Drive load
Output / %
Note: Parameter setting must be 0 when load share is used

with speed controlled Follower drives. See section Load share
function with speed controlled Follower on page 118.
0...100% Droop rate in percent of the motor nominal speed
24.03 KPS Defines the relative gain of the speed controller. Great gain may 100 = 1 0 453 R
cause speed oscillation.
The figure below shows the speed controller output after an
error step when the error remains constant.
% Gain = KPS = 1
TIS = Integration time = 0
Td= Derivation time = 0
Error value
Controller output
Controller
output = KPS · e e = Error value
t
0...250 Gain. If KPS is set to 1, a change of 10% of the nominal
synchronous speed in the error value (reference - actual value)
causes the speed controller output to change by 10% of the
motor nominal torque.

210

24.04 KPS MIN Defines the gain when speed controller output is zero. 100 = 1 0 454 R
Speed error filtering with parameter 23.04 SPEED
CORRECTION is typically not enough to tune the drive. The
adaptive gain of the speed controller can be used to smooth out
disturbances caused by small load and backlashes.
See parameter 24.05 KPS WEAKPOINT.
KPS
KPS
KPS MIN
(par. 25.04)
TORQUE REF 5
(par. 02.12)
KPS WEAKPOINT (par. 24.05)
0...150 Minimum KPS (gain)
24.05 KPS WEAKPOINT Defines the speed controller output when gain is KPS. See 100 = 0 455 R
parameter 24.04 KPS MIN. 1%
0...see par. 20.05 KPS (gain) weakpoint
(%)
24.06 KPS WP FILT TIME Softens the rate of the change of the gain. 1 = 1 ms 100 456 R
0...999999 ms KPS (gain) weakpoint filter time
24.07 SET P WEIGHTING Enables the setpoint weighting. In setpoint weighting the 1=1 0 457 B
setpoint is weighted by factor b < 1. Decreasing b toward zero
reduces the overshoot on setpoint changes. Weighting is
applied only to the P-part of the PID controller.
When response to the ramp changes without delays is required,
see acceleration compensation parameters 24.14 ACC COMP
DER TIME and 24.15 ACC COMPFILT TIME.
This parameter can be changed on-line.
See parameter 24.08 SET POINT WEIGHT and PID algorithm
of the speed controller above.
0 = OFF Disabled
1 = ON Enabled
24.08 SET POINT Defines the setpoint weighting, i.e. the speed controller output 1 = 1% 100 458 R
WEIGHT when gain is KPS.
30...100% Setpoint weighting

211

24.09 TIS Defines the integration time of the speed controller. The 1000 = 2.5 459 R
integration time defines the rate at which the controller output 1s
changes when the error value is constant and the relative gain
of the speed controller is 1. The shorter the integration time, the
faster the continuous error value is corrected. Too short
an integration time makes the control unstable.
% Controller output
Gain = KPS = 1
TIS = Integration time > 0
KPS · e Td= Derivation time = 0
KPS · e e = Error value
t
TI
0.01...1000 s Integration time

24.10 TIS INIT VALUE Defines the initial value of the integrator. 100 = 0 460 R
1%
See par. Value in percent of motor nominal torque
20.06...20.05 (%)
24.11 BAL REF Defines the external value to be forced to the output of the 100 = 0 461 R
speed controller. Signal 07.02 Auxiliary Control Word 1 bit 8 1%
value must be 1.
See control block diagram in section Speed control on page
323.
See par. Value in percent of the nominal motor torque
20.06...20.05 (%)

212

24.12 DERIVATION TIME Defines the derivation time of the speed controller. Derivative 1 = 1 ms 0 462 R
action boosts the controller output if the error value changes.
The longer the derivation time, the more the speed controller
output is boosted during the change. If the derivation time is set
to zero, the controller works as a PI controller, otherwise as
a PID controller. The derivation makes the control more
responsive for disturbances.
Note: Changing this parameter is recommended only if a pulse
encoder is used.
Gain = KPS = 1
TIS = Integration time > 0
Td= Derivation time > 0
Ts= Sample time period = 2 ms
Δe = Error value change between two samples
Effect of derivation filter time

%
Controller Output
Δe
KPS · Td · KPS · e
Ts
Error Value
e = Error value
KPS · e
TIS t
0...10000 ms Derivation time

24.13 DERIV FILT TIME Defines the derivation filter time constant. 1 = 1 ms 8 463 R
0...100000 ms Derivation filter time constant

213

24.14 ACC COMP DER Defines the ramp time for acceleration (deceleration) 10 = 1 s 0 464 R
TIME compensation i.e. the time within the drive accelerates to
nominal motor speed (99.05 MOTOR NOM SPEED) with
nominal torque when the load consists only of inertia mass.
(Friction compensation is not taken into account.)
In order to compensate inertia during acceleration a derivative
of the reference is added to the output of the speed controller.
The principle of a derivative action is described for parameter
24.12 DERIVATION TIME.
Note: As a general rule, set this parameter to the value
between 50 and 100% of the sum of the mechanical time
constants of the motor and the driven machine. (The speed
controller PI tune does this automatically, see parameter 24.01
PI TUNE.)
The figure below shows the speed responses when a high
inertia load is accelerated along a ramp.
Actual speed without acceleration compensation
Actual speed with acceleration compensation
Speed reference
Acceleration compensation
See parameter 24.15 ACC COMPFILT TIME.

0...1000 s Derivation time. The function is deactivated by setting the value
to 0 s.
24.15 ACC COMPFILT Defines the filter time for the acceleration compensation. 1 = 1 ms 8 465 R
TIME
0...999999 ms Time
24.16 SLIP GAIN Defines the slip gain for the motor slip compensation control. 1 = 1% 100 466 R
100% means full slip compensation; 0% means no slip
compensation. The default value is 100%. Other values can be
used if a static speed error is detected despite of the full slip
compensation.
Example: 1000 rpm constant speed reference is given to the
drive. Despite of the full slip compensation (SLIP GAIN =
100%), a manual tachometer measurement from the motor axis
gives a speed value of 998 rpm. The static speed error is
1000 rpm - 998 rpm = 2 rpm. To compensate the error, the slip
gain should be increased until no static speed error exist.
Parameter is effective only when the calculated internal speed
is used as actual speed feedback.
0...400% Slip gain value

214

24.17 KPS TIS MIN FREQ Defines the minimum motor frequency limit above which the 100 = 5 467 R
relative gain and integration time are defined by parameters 1 Hz
24.19 KPS VAL MIN FREQ and 24.20 TIS VAL MIN FREQ.
At low speed, speed control can be improved by increasing the
relative gain and decreasing the integration time.
KPS
TIS
KPS VAL MIN FREQ (par. 24.19)
KPS
TIS
TIS VAL MIN FREQ (par. 24.20)

Motor frequency
KPS TIS MIN FREQ KPS TIS MAX FREQ

(par. 24.17) (par. 24.18)
0...200 Hz Frequency
24.18 KPS TIS MAX Defines the frequency at which KPS (gain) and TIS (integration 100 = 11.7 468 R
FREQ time) become constant. See parameter 24.17 KPS TIS MIN 1 Hz
FREQ.
0...200 Hz Frequency
24.19 KPS VAL MIN Defines the relative gain at speed defined by parameter 24.17 1 = 1% 100 469 R
FREQ KPS TIS MIN FREQ.
100...500% Value in percent of KPS (gain)
24.20 TIS VAL MIN FREQ Defines the integral time at speed defined by 24.17 KPS TIS 1 = 1% 100 470 R
MIN FREQ.
100...500% Value in percent of TIS (integration time)
24.21 KPS LOC/EMSTOP Relative gain for the speed controller in local control and 100 = 1 0 471 R
emergency stop situation. For example, if this parameter is set
to 1, a 10% change in the error value (e.g. reference - actual
value) causes also the speed controller output to change by
10%.
Set also parameter 24.03 KPS.
This parameter can be also used for activating/inactivating
LOC/EMS-parameters.
If the value of this parameter is 0, parameters 24.21 KPS LOC/
EMSTOP, 20.19 SPC TMAX LOC/EMS and 20.20 SPC TMIN
LOC/EMS are inactive and parameters 24.03 KPS, 20.07 SPC
TORQMAX and 20.08 SPC TORQMIN are active.
If the value of this parameter is not 0, parameter activation
depends on whether the local mode or emergency stop function
is on. In the local mode or during the emergency stop function,
the LOC/EMS parameters 24.21, 20.19 and 20.20 are active.
0…250

215

25 TORQUE REF Torque reference functions. See control block diagram in
section Torque reference on page 324.
25.01 TORQUE REF A Defines torque reference A. Reference can be scaled by 100 = 0 476 R
parameter 25.03 LOAD SHARE. 1%
Note: This signal is reset when the control is switched to I/O
control. See parameter 10.07 AUTO/HAND.
(inverter-specific Torque reference A
min and max
values)
25.02 TORQ REF A FTC Defines the low pass filter time constant for TORQUE REF A 1 = 1 ms 0 477 R
(25.01).
0...60000 ms Low pass filter time constant
25.03 LOAD SHARE Scales the external torque reference defined by parameter 10 = 1% 100 478 R
25.01 TORQUE REF A to a required level.
Note: Drooping (24.02 DROOP RATE) must be disabled when
load share is used with speed controlled Follower drives.See
section Load share function with speed controlled Follower on
page 118.
-400...400% Value in percent of TORQUE REF A
25.04 TORQUE REF B Defines torque reference B. Torque reference B is ramped by 100 = 0 479 R
parameters 25.05 TORQ RAMP UP and 25.06 TORQ RAMP 1%
DOWN.
Note: This signal is reset when the control is switched to
external control (par. 98.02 = FIELDBUS or ADVANT/N-FB).
See parameter 10.07 AUTO/HAND.
Note: This parameter value is not saved to the flash memory.
(inverter-specific Torque reference B
min and max
values)
25.05 TORQ RAMP UP Defines the torque reference ramp up time. 100 = 0 480 R
1s
0...120 s Time for the reference to increase from zero to the nominal
motor torque.
25.06 TORQ RAMP Defines the torque reference ramp down time. 100 = 0 481 R
DOWN 1s
0...120 s Time for the reference to decrease from the nominal motor
torque to zero.
25.07 TORQ ACT FILT Defines the filter time constant for signal 01.07 MOTOR TORQ 1 = 1 ms 100 482 R
TIM FILT2.
26 TORQUE REF Torque reference handling. See control block diagram in
HANDLING section Torque reference on page 324.
26.01 TORQUE Selects the reference used in motor torque control. 1=1 2 501 I
SELECTOR
1 = ZERO This selection forces the output of the torque selector to zero.
2 = SPEED Speed control

216

3 = TORQUE Torque control
Note: If TORQUE is selected, the drive does not restrict the
speed variation as long as the speed is within the limits defined
by parameters 20.01 MINIMUM SPEED and 20.02 MAXIMUM
SPEED. More definite speed supervision is often needed.
In those cases, the selection ADD should be used instead of
TORQUE.
Note: To prevent torque limitation in the generating mode, keep
the minimum torque limits < 0.
Note: In torque control, the maximum speed must be at least
10 Hz greater than the minimum speed.
4 = MINIMUM The torque selector compares the torque reference (02.08
TORQ REF1) and the speed controller output (02.09 TORQ
REF2), and the smaller of them is used as the reference for the
motor torque control. If the speed error becomes negative, the
drive follows TORQ REF2 until the speed error becomes
positive again (latch function). Thus the drive never accelerates
uncontrolled if the load is lost in torque control.
5 = MAXIMUM The torque selector compares the torque reference (02.08
TORQ REF1) and the speed controller output (02.09 TORQ
REF 2) and the greater of them is used as the reference for the
motor torque control. If the speed error becomes positive, the
drive follows TORQ REF2 until the speed error becomes
negative again (latch function). Thus the drive never
accelerates uncontrolled if the load is lost in torque control.
6 = ADD The torque selector adds speed controller output 02.09
TORQUE REF 2 to torque reference 02.08 TORQUE REF 1.
This selection together with the window control forms a speed
supervision function for a torque controlled Follower drive. See
parameter 23.07 WINDOW INTG ON and signal 07.02 AUX
CTRL WORD 1.
In normal generating mode the drive is speed controlled.
Torque reference TORQUE REF 1 is typically used for
acceleration and deceleration compensation (24.14 ACC
COMP DER TIME).
Selection ADD forces the window control ON if 98.02 COMM.
MODULE is set to NO.
26.02 LOAD Adds load compensation to 02.10 TORQ REF3. 100 = 0 502 R
COMPENSATION Note: If an external control system writes a value into this 1%
Note: Value of this parameter is not saved to the flash memory.
See par. Load compensation
20.06...20.05 (%)
26.03 TORQUE STEP Adds an additional torque step to 02.11 TORQ REF4. 100 = 0 503 R
Note: If an external control system writes a value into this 1%
Note: Value of this parameter is not saved to the flash memory.
See par. Torque step
20.06...20.05 (%)

217

26.04 OSC Activates the damping of torsional vibration or DC voltage 1=1 1 504 B
COMPENSATION oscillation. The bandpass filter uses speed error or DC voltage
as an input selected by parameter 26.08 OSC COMP INPUT.
The amplified output of the filter is added to the torque
reference after phase shift defined by parameter 26.06
OSCILLATION PHASE. See parameters 26.05…26.08 and
section Oscillation damping on page 77.
0 = ON Active
1 = OFF Inactive
26.05 OSCILLATION Defines the center frequency of the filter. Oscillation frequency 100 = 31 505 R
FREQ is determined from the speed difference signal and the 1 Hz
following equation:
f = Npeaks / T
Npeaks is the number of peaks within time T (seconds).
0...60 Hz Oscillation frequency
26.06 OSCILLATION Defines the phase shift for the output of the filter. 1 = 1.41° 0 506 R
PHASE
0...360° Oscillation phase
26.07 OSCILLATION Defines how much the output of the filter is amplified before it is 100 = 0 507 R
GAIN added to torque reference. Oscillation gain is scaled according 1%
to the speed controller gain so that changing the gain will not
disturb oscillation damping. This scaling is not effective when
DC VOLTAGE is selected to input.
0...100% Oscillation gain
26.08 OSC COMP INPUT Determines the input signal for oscillation damping function. 1 =1 0 508 B
0 = SPEED ERROR Speed error is selected to input of oscillation damping function.
1 = DC VOLTAGE DC voltage is selected to input of oscillation damping function.
27 FLUX CONTROL Flux control settings
27.01 FLUX Activates the flux optimisation function. Optimises the motor 1=1 0 526 B
OPTIMIZATION flux by minimising the motor losses and reducing motor noise.
Flux optimisation is used in drives that usually operate below
nominal load. See section Flux optimisation on page 74.
0 = NO Inactive
1 = YES Active
27.02 FLUX BRAKING Activates the flux braking function. 1=1 0 527 B
The braking ability of the drive can be highly improved by
utilising flux braking. During braking, mechanical energy of the
driven equipment has to be dissipated by the motor and the
inverter. By modifying the magnetising level of the motor,
thermal losses can be increased and the motor can be stopped
more effectively. This function can be used with the
non-regenerative incoming sections. See section Flux braking
on page 74.
0 = NO Inactive
1 = YES Active
27.03 FLUX REF Defines the flux reference value. 10 = 1% 100 528 R
See par. Flux reference
27.05...27.04 (%)

218

27.04 FLUX MAX Defines the maximum limit of the flux. 10 = 1% 140 529 R
100...140% Maximum flux
27.05 FLUX MIN Defines the minimum limit of the flux. 10 = 1% 25 530 R
0...100% Minimum flux
27.06 FLUX RAMP GAIN This parameter can be used to speed up the slope of the flux 1=1 1 531 R
reference and it is needed only, when very fast (e.g. 2…4 s)
acceleration or deceleration is required in the process. The
value increment effects to faster flux reference changes. If very
fast acceleration or deceleration is required the value 10 is
suitable for most applications.
0...128 Flux ramp gain
27.08 HEX FIELD Selects whether motor flux is controlled along a circular or 1=1 0 533 B
WEAKEN a hexagonal pattern in the field weakening area of the
frequency range (above 50 or 60 Hz). See section Hexagonal
motor flux on page 85.
0 = OFF The rotating flux vector follows a circular pattern. Optimal
selection in most applications: Minimal losses at constant load.
Maximal instantaneous torque is not available in the field
weakening range of the speed.
1 = ON Motor flux follows a circular pattern below the field weakening
point (typically 50 or 60 Hz) and a hexagonal pattern in the field
weakening range. Optimal selection in the applications that
require maximal instantaneous torque in the field weakening
range of the speed. The losses at constant operation are higher
than with selection OFF.
28 MOTOR MODEL Motor model fine tuning.
Note: If pulse encoder is used, parameters 28.01...28.05 are
not effective.
28.01 ZER_COEF1 Affects to the sensitivity of the motor pull-out prevention within 1 = 1% 6 551 R
the generator quadrant, when speed is 20% below nominal
speed and torque is 30%. This parameter is automatically set
during motor ID run or first start and normally requires no
alteration. If the motor is prone to pull-out at low speeds within
the generator quadrant, decrease the coefficient. If the motor is
unstable at zero speed, increase the coefficient.
0...100% Zero coefficient 1
28.02 ZER_GAIN Affects the sensitivity of the motor pull-out prevention within the 1 = 1% 7 552 R
generator quadrant. The impact is inverse compared to
parameter 28.01 ZER_COEF1: If the motor is prone to pull-out
at low speeds within the generator quadrant, increase the
coefficient. If the motor is unstable at zero speed, decrease the
coefficient.
0...100% Zero gain

219

28.03 MOT_COEF Affects the accuracy and linearity of torque control at low 1 = 1% 40 553 R
frequencies (<10% of the nominal frequency) within the motor
quadrant, when torque is 30%. This parameter is essential in
maximising the breakaway torque and affects the stability of the
torque, when the torque is above 100%. Decreasing the value
improves the ability to reach the maximum allowed torque. Too
small value makes the motor prone to pull-out at low
frequencies within the motor quadrant.
Note: Parameter is not active, when parameter
28.14 FS METHOD setting is ON.
0...100% Motor coefficient in percent
28.04 GEN_COEF Affects the stability of the torque at low frequencies (<30% of 1 = 1% 0 554 R
the nominal frequency) within the generator quadrant. A greater
value results in a more stable torque, however increasing the
susceptibility to pull-out if the torque is above 40%.
Vibration can be damped by increasing this value.
0...100% Coefficient
28.05 MG_COEF Affects the accuracy and linearity of torque control at low 1 = 1% 0 555 R
frequencies and torque within all quadrants. Parameter has no
effect when frequency exceeds 30% the of nominal frequency
or torque exceeds 80% of the nominal torque.
0...100% Coefficient
28.06 CABLE LENGTH Defines the motor cable length. This parameter affects the 1=1m 10 556 R
switching frequency at low frequencies (<20% of the nominal
motor frequency). With longer cables, the switching frequency
decreases.
Parameter value should be adjusted only, if motor power is
below 10 kW and the motor cable is longer than 80 metres.
0...1000 m Motor cable length
28.07 LONG DISTANCE Activates the long distance mode. The mode limits voltage 1=1 1 557 B
MOD peaks in the motor circuit and reduces the switching frequency
of the inverter. Long distance mode can be used with long
motor cables.
0 = OFF Inactive
1 = ON Active (used only with ACS 600)
28.08 TR TUNE Affects the calculated rotor time constant. Parameter should be 1 = 1 0 558 R
adjusted if the nominal speed of the motor rating plate does not
correspond the real speed.
Example: If the real slip speed is 10% higher than the
calculated slip speed stated on the motor rating plate: TR TUNE
is set to 10%.
Note: This parameter is effective only when a pulse encoder is
used.
-60...200% Time constant tuning

220

28.09 RS INC1 Defines the stator resistance coefficient at 0 Hz. By increasing 10 = 1% 25 559 R
the stator resistance value at low frequencies, the pull-out limit
is increased.
RS INC1
RS INC1 RS INC2
(par. 28.09)
RS INC2
(par. 28.10) f / Hz
0 1,25 · fN
-60...100% Stator resistant coefficient 1

28.10 RS INC2 Defines the stator resistance coefficient at 1.25 · Motor nominal 10 = 1% 0 560 R
frequency. See parameter 28.09 RS INC1.
-60...100% Stator resistant coefficient 2
28.11 CALC CURRENT Determines the relative gain which is used to correct the 1 = 1% 100 561 R
CORR calculated current Icalc based on the measured current lmeas:
Icalc = lcalc(-1) + (calc_current_corr/100) · (lmeas - lcalc(-1))
(lcalc(-1) is the previous value of Icalc.)
Default value, 100%, forces the calculated current to follow the
measured current. There is no need to adjust this value if no
interferences are observed in the current measurement.
If instantaneous current readings are disturbed by current
oscillations caused by long motor cables (or LC filter), the noise
immunity can be improved by decreasing the parameter value.
Normally 10% is a suitable value for Direct Torque Control with
long cables (when no long distance mode has been selected by
Par. 28.07 LONG DISTANCE MOD).
5...100% Calculated current correction
28.12 FLYSTART CUR Defines the current reference used with flying start (start to 1 = 1% 50% 562 I
REF [%] a rotating motor) when no pulse encoder is used.
If flying start fails (i.e. drive is unable to detect motor speed
01.02 SPEED ESTIMATED): Monitor signals 01.02 SPEED
ESTIMATED and 01.06 MOTOR CURRENT with DriveWindow
PC tool and increase the reference in steps of 5% until the
flying start function is successfully performed (i.e. drive is able
to detect 01.02 SPEED ESTIMATED).
See also parameter 28.13 FLYSTART INIT DLY.
28.13 FLYSTART INIT Defines together with the motor characteristics the delay before 1 = 1 25 563 I
DLY the speed value estimated at the beginning of flying start is
connected to the speed reference ramp output. Increase the
delay, if the motor starts to rotate in the wrong direction or if the
motor starts to rotate with the wrong speed reference.
See also parameter 28.12 FLYSTART CUR REF [%].
0...59 Delay

221

28.14 FS METHOD Activates the flux stabilisation function at low frequencies, < 3 1=1 1 564 B
Hz, when the torque exceeds 30%. Effective in the motoring
and generating modes.
Note: When flux stabilation is active, parameters 28.01...28.03
are not effective.
0 = OFF Inactive
1 = ON Active
28.15 RS20 [mOhm] Defines the stator resistance of the motor model at 20°C. 28676 = Set 565 R
By increasing the default value defined during ID run (does not 1 Ω during
include the temperature dependence of the resistance), the ID run.
motor model can be fine tuned especially in applications where
the motor or ambient temperature is not measured.
Note: If stator resistance value is too high, the desired starting
torque cannot be achieved.
0...x mΩ Resistance. The maximum value depends on the defined motor
parameters (99 START-UP DATA).
29 SCALAR Scalar control is activated by setting parameter 99.08 MOTOR
CONTROL CTRL MODE to SCALAR. This parameter group is not visible
when DTC control mode is selected.
Note: The following start-up parameters have no effect in scalar
control:
99.03 MOTOR NOM CURRENT
99.05 MOTOR NOM SPEED
99.06 MOTOR NOM POWER
Note: In the scalar mode parameter 50.01 SPEED SCALING
affects the actual speed signals.
Scalar control is suitable in special cases where DTC cannot be
applied. Scalar control mode is recommended:
- for multimotor drives with variable number of motors
- when the nominal current of the motor is less than 1/6 of the
nominal output current of the drive (inverter)
- the drive is used for test purposes with no motor connected.
The motor identification run, flying start, torque control, DC
hold, motor phase loss check, and stall functions are disabled in
the scalar control mode.
See section Scalar control on page 84.
29.01 FREQUENCY REF Defines the frequency reference. 100 = 0 576 R
1 Hz
See Par. Frequency reference
29.03…29.02 (Hz)
29.02 FREQUENCY MAX Defines the maximum frequency. If parameter 20.02 MAXIMUM 100 = See 577 R
SPEED is changed, this parameter value is also changed. 1 Hz par.
20.01.
See par. 29.03...300 Maximum frequency
Hz
29.03 FREQUENCY MIN Defines the minimum frequency. If parameter 20.01 MINIMUM 100 = See 578 R
SPEED is changed, this parameter value is also changed. 1 Hz par.
20.02.
-300...see par. Minimum frequency
29.02 (Hz)

222

29.04 IR Defines the relative output voltage boost at zero speed (IR 100 = 1 0 579 R
COMPENSATION compensation). The function is useful in applications which
require high break-away torque, but no DTC motor control can
be applied. The figure below illustrates the IR compensation.
Note: The function can be used only if parameter 99.08
MOTOR CTRL MODE is set to SCALAR.
U / UN
(%)
Relative output voltage. IR compensation
is set to 15%.
100%
Relative output voltage. No IR

15%
compensation.
f (Hz)
0...30% Value in percent of the motor nominal voltage. Select a value at

which the motor is able to start and run at constant speed over
the whole speed range.
29.05 ADD FREQ REF Additional frequency reference, when AI+FBA SPEED REF 100 = 0 580 R
function has been activated by parameter 11.02 REFERENCE 1 Hz
SELECT. This additional frequency reference can also be
updated by Application program, if AI+FBA SPEED REF is not
selected.
-500…+500 Hz Additional frequency reference in Hz.

223

29.06 IR STEP-UP FREQ Defines the frequency at which the step-up IR compensation 100 = 0 581 R
reaches the IR compensation used in scalar control (29.04 IR 1 Hz
COMPENSATION).
A voltage boost is used in step-up applications to achieve
higher break-away torque. Since voltage cannot be fed to the
transformer at 0 Hz, special IR compensation is used in step-up
applications. Full IR compensation starts around slip frequency.
The figure below illustrates the step-up IR compensation.
U / UN
(%)
100%
29.04 IR
COMPENSATION
f (Hz)
29.06 IR STEP-UP Field weakening

FREQ point (FWP)
For more information, see the Sine Filters User’s Manual for
ACS800 Drives [3AFE68389178 (English)].
0…50 Hz Value in Hz 0
29.07 ENA INC SW FREQ Activates the minimum switching frequency limitation with sine 1=1 0 582 B
filter application.
0 = NO Inactive 0
1 = YES Active. Minimum switching frequency limit is set according to 1
inverter type.
30 FAULT Programmable protection functions
FUNCTIONS
30.01 MOT THERM P Selects the thermal protection mode of the motor. When 1=1 1 601 I
MODE overtemperature is detected the drive reacts as defined by
parameter 30.02 MOTOR THERM PROT.
Note: The motor thermal model can be used when only one
motor is connected to the inverter.
See section Motor thermal mode on page 89.

224

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

model and the following basic assumptions:
- The motor is at the estimated temperature (value of 01.18
MOTOR TEMP EST saved at power switch off) when the power
is switched on. With the first power switch on, the motor is at
the ambient temperature (30°C).
- The motor temperature increases if it operates in the region
above the load curve.
- The motor temperature decreases if it operates in the region
below the curve. This applies only if the motor is overheated.
The user-defined thermal model uses the motor thermal time
constant (parameter 30.09 MOTOR THERM TIME) and the
motor load curve (parameters 30.10...30.12). User tuning is
typically needed only if the ambient temperature differs from the
normal operating temperature specified for the motor.
WARNING! The model does not protect the motor if it
does not cool properly due to dust and dirt.
30.02 MOTOR THERM Selects how the drive reacts when the motor overtemperature 1=1 1 602 I
PROT is detected by the function defined by parameter 30.01 MOT
THERM MODE.
The fault and alarm limits are defined by parameters 30.28
THERM MOD ALM LIM and 30.29 THERM MOD FLT LIM.
Note: An external temperature measurement is activated by
parameter 30.03 MOT1 TEMP AI1 SEL or 30.06 MOT2 TEMP
AI2 SEL. External temperature measurement alarm and fault
limits are defined by parameters 30.04, 30.05, 30.07 and 30.08.
1 = FAULT The drive generates alarm MOTOR TEMP when the
temperature exceeds the alarm level. The drive trips on fault
MOTOR TEMP when the temperature exceeds the fault level.
2 = WARNING The drive generates alarm MOTOR TEMP when the
temperature exceeds the alarm level.

225

3 = NO Inactive
30.03 MOT1 TEMP AI1 Activates the motor 1 temperature measurement function and 1=1 1 603 I
SEL selects the sensor type. See section Temperature sensors on
page 90.
Note: If the measurement function is used for purposes other
than motor temperature measurement (such as bearing), set
30.32 RS TEMP SCALE to 0.
1 = NOT IN USE Inactive
2 = 1xPT100 The function is active. The temperature is measured with one
Pt100 sensor. Analogue output AO1 feeds constant current
through the sensor. The sensor resistance increases as the
motor temperature rises, as does the voltage over the sensor.
The temperature measurement function reads the voltage
through analogue input AI1 and converts it to degrees
centigrade.
Constant current: 9.1 mA (0...10 V range with RMIO or 0...2 V
range with RAIO).
3 = 2xPT100 The function is active. Temperature is measured using two
Pt100 sensors. See selection 1xPT100.
Constant current: 9.1 mA (0...10 V range with RAIO)
4 = 3xPT100 The function is active. Temperature is measured using three
Pt100 sensors. See selection 1xPT100.
5 = 1...3 PTC The function is active. The temperature is supervised using one
to three PTC sensors or one to three KTY84-1xx silicon
temperature sensors. Analogue output AO1 feeds constant
current through the sensor(s).
The resistance of the sensor increases sharply as the motor
temperature rises over the sensor reference temperature Tref,
as does the voltage over the resistor. The temperature
measurement function reads the voltage through analogue
input AI1 and converts it into ohms. The figure below shows
typical PTC sensor resistance values as a function of the motor
operating temperature.
Ohm
4000
1330
Temperature PTC resistance

Normal 0…1.5 kohm 550
Excessive > 4 kohm

100
T
Constant current: 1.6 mA (0...10 V range with RAIO).

226

6 = EXT TEMP Externally measured motor temperature for motor
overtemperature protection and motor model. Measured
temperature is written either from fieldbus or adaptive program
application to signal 01.16 MOTOR 1 TEMP.
Note: In software versions AMXR7290 and below, this selection
reserves AO1 and it cannot be used for other purposes.
30.04 MOT 1 TEMP ALM Defines the alarm limit for motor 1 temperature measurement 1 = 1°C 110°C 604 R
L activated by parameter 30.03 MOT1 TEMP AI1 SEL Alarm or 1 Ω or 0 Ω
MOTOR TEMP M is generated when the limit is exceeded.
-10...180°C (Pt100) Limit in °C or Ω
/ 0...5000 ohm
(PTC / KTY84-1xx)
30.05 MOT 1 TEMP FLT L Defines the fault trip limit for motor 1 temperature measurement 1 = 1°C 130°C 605 R
activated by parameter 30.03 MOT1 TEMP AI1 SEL. Fault or 1 Ω or 0 Ω
MOTOR TEMP M is generated when the limit is exceeded.
-10...180°C (Pt100) Limit in °C or Ω
/ 0...5000 ohm
(PTC / KTY84-1xx)
30.06 MOT2 TEMP AI2 Activates the motor 2 temperature measurement function and 1=1 1 606 I
SEL selects the sensor type. Two motors can be protected only by
using an RAIO I/O Extension module (parameter 98.06 AI/O
EXT MODULE 1 setting must be TEMP MEAS).
Note: If parameter 98.06 selection is not TEMP MEAS, the
analogue I/O extension is used for motor 1 temperature
measurement (the standard I/O terminals are not in use).
See section Temperature sensors on page 90.
2 = 1xPT100 See 30.03 MOT1 TEMP AI1 SEL.
5 = 1...3 PTC See 30.03 MOT1 TEMP AI1 SEL.
30.07 MOT 2 TEMP Defines the alarm limit for the motor 2 temperature 1 = 1°C 110°C 607 R
ALM L measurement function activated by parameter 30.06 MOT2 or 1 Ω or 0 Ω
TEMP AI2 SEL. Alarm MOTOR TEMP M is generated when the
limit is exceeded.
-10...5000°C Limit in °C or Ω
(Pt100) / 0...5000 Ω
(PTC / KTY84-1xx)
30.08 MOT 2 TEMP FLT L Defines the fault trip limit for the motor 2 temperature 1 = 1°C 130°C 608 R
measurement function activated by parameter 30.06 MOT2 or 1 Ω or 0 Ω
TEMP AI2 SEL. Fault MOTOR TEMP M is generated when the
limit is exceeded.
-10...5000°C Limit in °C or Ω
(Pt100) / 0...5000 Ω
(PTC / KTY84-1xx)

227

30.09 MOTOR THERM Defines the thermal time constant for the user-defined thermal 1 = 1 s 780.10 609 R
TIME model (i.e. time inside which the temperature has reached 63% 6s
of the nominal temperature). See selection USER MODE of
parameter 30.01 MOT THERM P MODE.
Motor
Load
100%
Temperature
t
100%
63%
Motor thermal time constant t
To monitor the calculated temperature, see signal 01.18

MOTOR TEMP EST.
256...10000 s Time constant. If thermal protection according to UL
requirements for NEMA class motors is needed, the thermal
time for Class 10 trip curve is 350 s, for Class 20 trip curve
700 s and for Class 30 trip curve 1050 s.
Motor Thermal Times for ABB HXR and AMA Motors:
HXR motor type Temp. rise time

400S 2700 s
400L 3600 s
450L 4200 s
500L 4800 s
560L 6000 s
AMA motor type Temp. rise time
all types 1500 s

228

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

current
30.11 ZERO SPEED Defines the maximum motor load at zero speed of the load 1 = 1% 74 611 R
LOAD curve. A higher value can be used if the motor has an external
motor fan to boost the cooling. See the motor manufacturer's
recommendations. This parameter is used when USER MODE
is selected by parameter 30.01 MOT THERM P MODE.
See parameter 30.10 MOTOR LOAD CURVE.
25...150% Allowed continuous motor load at zero speed in percent of the
nominal motor current
30.12 BREAK POINT Defines the break point frequency of the load curve i.e. the 100 = 45 612 R
point at which the motor load curve begins to decrease from the 1 Hz
value of parameter 30.10 MOTOR LOAD CURVE to the value
of parameter 30.11 ZERO SPEED LOAD. This parameter is
used when USER MODE is selected by parameter 30.01 MOT
THERM P MODE.
1...300 Hz Drive output frequency at 100% load
30.13 STALL FUNCTION Selects how the drive reacts to a motor stall condition. The 1=1 1 613 I
protection is activated if the following conditions have been
valid longer than the time set by parameter 30.15 STALL TIME:
- output frequency of the drive is below the level set by
parameter 30.14 STALL FREQ HI.
- the application is at a stall limit set by the user (defined by
parameters 20.04...20.10).
Note: Stall limit is restricted by internal current limit
TORQ_INV_CUR_LIM.
See section Stall protection on page 97.
1 = NO Inactive
2 = WARNING The drive generates alarm MOTOR STALL. The indication
disappears in half of the time set by parameter 30.15 STALL
TIME.
3 = FAULT The drive trips on fault MOTOR STALL.

229

30.14 STALL FREQ HI Defines the frequency limit for the stall protection. See 100 = 20 614 R
parameter 30.13 STALL FUNCTION. 1 Hz
0.1…50 Hz Stall frequency
30.15 STALL TIME Defines the time delay for the stall protection. See parameter 1=1s 20 615 R
30.13 STALL FUNCTION.
10...400 s Stall time
30.16 UNDERLOAD Selects how the drive reacts to underload. The protection 1=1 1 616 I
FUNC wakes up if
- the motor torque falls below the curve selected by parameter
30.18 UNDERLOAD CURVE
- output frequency is higher than 10% of the nominal motor
frequency
- the above conditions have been valid longer than the time set
by parameter 30.17 UNDERLOAD TIME.
TM TM = Motor torque
ƒN = Nominal motor frequency
Underload curve
Underload region
f
0.1 · fN
1 = NO Protection is inactive.
2 = WARNING The drive generates alarm UNDERLOAD.
3 = FAULT The drive trips on fault UNDERLOAD.
30.17 UNDERLOAD TIME Time limit for the underload function. See parameter 30.16 1=1 600 617 R
UNDERLOAD FUNC.
0...600 s Underload time
30.18 UNDERLOAD Selects the load curve for the underload function. See 1=1 1 618 I
CURVE parameter 30.16 UNDERLOAD FUNC.
TM / TN
TM = Motor torque
(%) TN= Nominal motor torque
100 ƒN = Nominal motor frequency
80 3
70%
60 2
50%
40 1 5
30%
20
4
0
ƒN 2.4 · ƒN
1...5 Number of the load curve

230

30.19 MOTOR PHASE Activates the motor phase loss supervision function. 1=1 0 619 B
LOSS
0 = NO Inactive
1 = FAULT Active. The drive trips on fault MOTOR PHASE.
30.20 EARTH FAULT Selects how the drive reacts when an earth fault or current 1=1 1 620 B
unbalance is detected in the motor or the motor cable. See
section Earth fault and current unbalance protection on page
99.
Note: With parallel connected inverter modules (2...12 × R8i)
only selection FAULT is valid.
0 = WARNING The drive generates alarm EARTH FAULT.
1 = FAULT The drive trips on fault EARTH FAULT / CUR UNBAL x.
Note: With parallel connected inverters modules, the earth fault
function monitors the inverter output current unbalance
(e.g. short circuit) and the fault text is CUR UNBAL x instead of
EARTH FAULT.
30.21 PANEL LOSS Selects how the drive reacts to a control panel or DriveWindow 1 = 1 1 621 B
communication break.
0 = LAST SPEED The drive generates alarm PANEL LOSS and freezes the
speed to the level the drive was operating at. The speed is
determined by the average speed over the previous
10 seconds.
WARNING! Make sure that it is safe to continue
operation in case of a communication break.
1 = FAULT Drive trips on fault PANEL LOSS and the motor stops as
defined by parameter 21.03 STOP FUNCTION.
30.22 UNDERVOLTAGE Activates the undervoltage control of the intermediate DC link. 1=1 0 622 B
CTL If the DC voltage drops due to input power cut off, the
undervoltage controller will automatically decrease the motor
torque in order to keep the voltage above the lower limit. By
decreasing the motor torque, the inertia of the load will cause
regeneration back to the drive, keeping the DC link charged
and preventing an undervoltage trip until the motor coasts to
stop. This will act as a power-loss ride-through functionality in
systems with high inertia, such as a centrifuge or a fan.
Note: The undervoltage controller is able to adjust the torque
within all operating quadrants without limitations, if the following
parameter values are set high enough:
- power limits: 20.17, 20.18,
- torque limits: 20.05, 20.06 and
- maximum current: 20.04.
See section Undervoltage control on page 65.
0 = OFF Inactive
1 = ON Active

231

30.23 OVERVOLTAGE Activates the overvoltage control of the intermediate DC link. 1=1 1 623 B
CTL Fast braking of a high inertia load causes the voltage to rise to
the overvoltage control limit. To prevent the DC voltage from
exceeding the limit, the overvoltage controller automatically
decreases the braking torque.
Note: If a brake chopper and resistor or a regenerative supply
section are included in the drive, the controller must be OFF.
See section Overvoltage control on page 67.
0 = OFF Inactive
1 = ON Active
30.24 PPCC FAULT Activates the fault mask. Unwanted AINT board current 1=1 0 624 B
MASK measurement or communication faults can be masked in
situations where the DC voltage has been disconnected but the
RMIO board has an external power supply and fault indication
is not needed. A fault is produced only when the motor is
started. See also parameter 31.02 START INHIBIT ALM.
0 = NO Inactive
1 = YES Active
30.25 EARTH FAULT Selects the earth fault level for non-parallel connected R8i 1=1 Inverter 625 I
LEVEL inverters. type
Note: DO NOT change earth fault level with parallel connected depen-
inverter modules. With parallel connected inverters, the fault is dent
CUR UNBAL x instead of EARTH FAULT.
The earth fault level is given in percent of the current
measurement range.
0 Disabled
1 1% unbalance in the sum current
30.26 COMM LOSS RO Selects the operation of the fieldbus controlled digital output 1=1 0 - B
(07.02 AUX CTRL WORD 1 bits 13...15 and 07.03 AUX CTRL
WORD 2 bits 0…3) in a communication break. See parameter
group 14 DIGITAL OUTPUTS and chapter Fieldbus control.
The action taken by the drive on a communication break is
defined by parameter 70.05 CH0 COM LOSS CTRL.
0 = ZERO Digital output is de-energised.
1 = LAST VALUE Digital output keeps the last state before the communication
loss.
WARNING! After the communication recovers, the
update of the digital outputs starts immediately
without fault message resetting.

232

30.27 AI<MIN FUNC Selects how the drive reacts when the value of an analogue 1=1 1 - I
input that is used as speed or torque reference falls below the
minimum limit set by parameter 13.06 MINIMUM AI2 or 13.10
MINIMUM AI3.
1 = FAULT The drive trips on fault AI<MIN FUNC and the motor coasts to
stop.
2 = NO Inactive
3 = LAST SPEED The drive generates alarm AI<MIN FUNC and freezes the
speed to the level the drive was operating at. The speed is
determined by the average speed over the previous
10 seconds.
WARNING! Make sure that it is safe to continue
operation in case the analogue input signal is lost.
30.28 THERM MOD ALM Defines the thermal model alarm limit. See parameter 30.02 1 = 1°C 90 - R
LIM MOTOR THERM PROT. The calculated temperature of the
thermal model is shown by signal 01.18 MOTOR TEMP EST.
0...300°C Thermal model alarm limit
30.29 THERM MOD FLT Defines the thermal model fault trip limit. See parameter 30.02 1 = 1°C 110 - R
LIM MOTOR THERM PROT. The calculated temperature of the
thermal model is shown by signal 01.18 MOTOR TEMP EST.
0...300°C Thermal model fault limit
30.30 MOT NOM TEMP Defines the temperature rise of the motor when the motor is 1 = 1°C 80 - R
RISE loaded with nominal current.
Temperature
Motor
nominal
temperature
rise
Ambient temperature t
Note: If the ABB motor rating plate has coefficient MNTRC,

multiply it by 80°C to get the motor nominal temperature rise.
With non-ABB motors, contact the motor manufacturer.
0...300°C Nominal temperature rise of the motor
30.31 AMBIENT TEMP Defines the typical ambient temperature for the thermal 1 = 1°C 30 - R
protection mode (parameter 30.01 MOT THERM P MODE).
-40...100°C Ambient temperature
30.32 RS TEMP SCALE Defines the tuning coefficient for stator resistance Rs 1 = 1% 40 - R
temperature dependence, which is based on the temperature
measured with Pt100 sensors or on the internal motor thermal
protection model. The measured total resistance includes motor
cable and stator resistances. With pulse encoder feedback,
100% compensation can usually be used. Undercompensation
decreases the starting torque at high motor temperatures.
0...200% Coefficient in percent

233

31 FAULT Programmable protection functions
FUNCTIONS
31.01 KLIXON MOT Selects how the drive reacts when a thermistor relay or 1=1 0 626 B
OVER T a thermistor switch connected to digital input opens. See
parameter 10.05 KLIXON and section Alternative thermal
connection for PTC thermistor on page 94.
0 = FAULT The drive trips on fault KLIXON.
1 = ALARM The drive generates alarm KLIXON.
31.02 START INHIBIT Activates/deactivates the logging of Safe torque off alarm 1=1 0 627 B
ALM START INHIBI into the fault/alarm logger. This function has no
effect on status or alarm words.
0 = OFF Inactive
1 = ON Active
31.03 TEMP MEAS FLT Selects how the drive reacts when the motor temperature 1=1 0 628 B
SEL measurement circuit has a fault. See section Temperature
sensors on page 90.
0 = ALARM The drive generates alarm T MEAS CIRC.
1 = FAULT The drive trips on fault T MEAS CIRC.
31.04 MOT PROT FLT Selects how the drive reacts when motor overload protection is 1 = 1 0 629 B
SEL activated, i.e. motor protection switch opens. See parameter
10.11 MOT PROT SWITCH.
0 = FAULT The drive trips on fault MPROT SWITCH.
1 = ALARM The drive generates alarm MPROT SWITCH.
34 BRAKE CHOPPER Control of the internal brake chopper with frames R2…R6 and
R2i…R5i.
34.01 BRAKE CHOPPER Activates the internal brake chopper control. 1=1 OFF 701 B
CTL
0 = OFF Inactive
1 = ON Active.
Note: Ensure the brake chopper and resistor(s) are installed
and the overvoltage control is switched off by parameter 30.23
OVERVOLTAGE CTL.
34.02 BR OVERLOAD Activates the overload protection of the brake resistor. 1=1 NO 702 I
FUNC See parameters 34.04 BR THERM T CONST and 34.06 MAX
CONT BR POWER.
0 = NO Inactive
1 = WARNING Active. If the drive detects an overload, it generates alarm BR
OVERHEAT.
2 = FAULT Active. If the drive detects an overload, it trips on fault BR
OVERHEAT.
34.03 BR RESISTANCE Defines the resistance value of the brake resistor. The value is 1=1 100.00 703 R
used for brake chopper protection.
0… 100 ohm Resistance value

234

34.04 BR THERM T Defines the thermal time constant of the brake resistor. The 1=1 0.000 704 R
CONST value is used in the overload protection (parameter 34.02 BR
OVERLOAD FUNC).
With type SACE brake resistors, the parameter setting must be
200 s.
With type SAFUR brake resistors, the parameter setting must
be 555 s.
0...10000 s Time constant
34.05 MAX CONT BR Defines the maximum continuous braking power which will 1=1 0 705 R
POWER raise the resistor temperature to the maximum allowed value.
The value is used in the overload protection (parameter 34.02
BR OVERLOAD FUNC).
0...10000 kW Power
34.06 BC CONTROL Selects the control mode of braking chopper. 1=1 0 706 B
MODE
0 = AS Chopper operation is allowed when the DC voltage exceeds the 0
GENERATOR braking limit, the inverter bridge modulates and the motor
generates power to the drive.
The selection prevents the operation in case the intermediate
circuit DC voltage rises because of an abnormally high supply
voltage. A long time supply voltage rise would damage the
chopper.
1 = COMMON DC Chopper operation is allowed always when the DC voltage 1
exceeds the braking limit. The selection is to be used in
applications where several inverters are connected to the same
intermediate circuit (DC bus).
WARNING! Excessive supply voltage will raise the
intermediate circuit voltage above the operation limit
of the chopper. If the voltage remains abnormally
high for a long period, the braking chopper will be
overloaded and damaged.
35 MOTOR FAN CTRL Control logic and diagnostics of the motor fan.
The fan starter is controlled via a digital output. See parameter
group 14 DIGITAL OUTPUTS. Signal 08.06 AUX STATUS
WORD 2 bit 0 (FAN ON CMD) must be used as a control bit.
An acknowledgement signal can be selected by parameter
10.06 MOTOR FAN ACK.
35.01 MOTOR FAN CTRL Activates the motor fan diagnostics and the timer functions. See 1 = 1 1 726 I
08.06 AUX STATUS WORD 2 bit 0.
1 = OFF Motor fan control and diagnostics disabled
2 = ALARM If the fan acknowledgement signal is lost, alarm MOTOR FAN is
generated.
3 = ALARM/FAULT If the fan acknowledgement signal is lost, alarm MOTOR FAN is
generated. If the acknowledgement signal is still lost after the
delay time defined by parameter 35.02 FAN ACK DELAY, the
drive trips on fault MOTOR FAN.
35.02 FAN ACK DELAY Defines the delay time between fan acknowledgement signal 1=1s 5 727 R
loss and MOTOR FAN fault activation (see parameter 35.01
MOTOR FAN CTRL). Delay time count starts when the FAN ON
CMD activates (08.06 AUX STATUS WORD 2 bit 0).
2...300 s Delay time

235

35.03 FAN OFF DELAY Defines the fan off delay time. 1= 20 728 R
1 min
0...100 min Delay time
35.04 FAN ON DELAY Defines the fan on delay time. 1=1s 0 729 R
0...100 s Delay time
36 MOTOR CABLE The motor cable can be protected against overload by using the
PROTECTION thermal model. To activate this function, the cable parameters
must be set.
The thermal model of the motor cable is based on the current
measurement and known loading data of the cable.
36.01 CABLE NOM Defines the continuous current of the motor cable, including 10 = 1 9999.9 751 R
CURRENT possible limitation factors due to environment conditions
(ambient temperature, distances to other cables, etc.). See the
cable manufacturer's data book.
0...10000 A Cable current
Note: The new value becomes valid only after the next RMIO
board power-up.
36.02 CABLE TEMP Defines the loading time of the motor cable, i.e. time inside 10 = 1 s 85 752 R
CONST which the cable temperature has reached 63% of the nominal
temperature when the cable current is nominal as defined by
36.01 CABLE NOM CURRENT.
This parameter enables the calculation of the motor cable
temperature, 01.27 CABLE TEMPERATURE. If the value
exceeds 102%, alarm CABLE TEMP is activated, and if the
value reaches 106%, fault and alarm CABLE TEMP are
activated.
0.101…50000 s Time. The function is disabled by setting the value to 0 s.
45 ENERGY SAVING Energy optimization settings.
45.02 ENERGY TARIFF Price of energy per kWh. Used for reference when savings are 1 = 0 - R
calculated. See parameters 01.46 SAVED KWH, 01.48 SAVED 0.001
AMOUNT and 01.50 SAVED CO2.
0.0000...1024.0000 Price of energy per kWh.
45.06 E TARIFF UNIT Specifies the currency used for the savings calculation. 1=1 EUR - I
0 = LOCAL CURR The currency is determined by the setting of parameter 99.01
Language.
1 = EUR Euro
2 = USD US dollar
45.08 PUMP REF Pump power when connected directly to supply. Used for 1=1 100 - R
POWER reference when energy savings are calculated. See parameters
01.46 SAVED KWH, 01.48 SAVED AMOUNT and 01.50
SAVED CO2.
0…950% Pump power in percent of nominal motor power. Note: The
maximum value depends on the motor and is calculated in
power-up or when the motor power changes.
45.09 ENERGY RESET Resets the energy counters 01.46 SAVED KWH, 01.47 SAVED 1 = 1 0 - B
GWH, 01.48 SAVED AMOUNT, 01.49 SAVED AMOUNT M,
01.50 SAVED CO2 and 01.51 SAVED CO2 KTON.
0 = NO Reset not requested (normal operation).
1 = YES Reset energy counters. The value reverts automatically to NO.

236

50 SPEED Speed scaling and encoder connection.
MEASUREMENT See also encoder activation parameter 98.01 ENCODER
MODULE.
50.01 SPEED SCALING Defines the speed reference which corresponds to integer 10 = 1500 1001 R
value 20000 used in fieldbus control or I/O control. In the scalar 1 rpm
mode this parameter affects the actual speed signals.
0...100000 rpm Speed reference
50.02 SPEED MEAS Defines how the encoder pulses are calculated. 1=1 3 1002 I
MODE
0 = A_-B DIR Channel A: positive edges calculated for speed. Channel B:
direction.
1 = A_-_ Channel A: positive and negative edges calculated for speed.
Channel B: not used.
2 = A_-_B DIR Channel A: positive and negative edges are calculated for
speed. Channel B: direction.
3 = A_-_B_-_ All edges of the signals are calculated.
50.03 SPEED FB SEL Selects the speed feedback value used in speed control. 1=1 1 1003 I
1 = INTERNAL Calculated speed estimate
2 = ENCODER Actual speed measured with pulse encoder
50.04 ENCODER PULSE States the number of pulse encoder pulses per one revolution. 1=1 2048 1004 R
NR
1...30000 ppr Pulse number in ppr (= pulses per round)
50.05 ENCODER ALM/ Defines the operation of the drive if a failure is detected in 1=1 0 1005 B
FLT communication between the pulse encoder and the pulse
encoder interface module, or between the module and the
drive. Encoder supervision function activates if any of the
following conditions is fulfilled:
- No pulses are received from the encoder within the time
defined by parameter 50.11 ENCODER DELAY and the drive is
simultaneously at current or torque limit.
-There is a 20% difference between the estimated speed and
the measured speed received from the pulse encoder.
- There is no communication between the pulse encoder
module and the RMIO board.
- During fast acceleration measured speed drops to zero.
0 = ALARM The drive generates alarm ENCODER ERR.
1 = FAULT The drive trips on fault ENCODER ERR.
50.06 SP ACT FILT TIME Defines the time constant of the first order actual speed filter. 1 = 1 ms 4 1006 R
0...999999 ms Time constant
50.07 POS COUNT Selects the position count mode. The position counter is 1=1 1 1007 I
MODE controlled by 07.02 AUX CTRL WORD 1 bits 9...11. The status
can be monitored by 08.02 AUX STATUS WORD bit 5. See
section Position counter on page 124.
0 = PULSE EDGES Both edges of the pulses are counted. Actual values can be
read from signals 03.07 POS COUNT LO and 03.08 POS
COUNT HI.

237

1 = ROUND&DEG The application software counts the number of motor shaft
rounds and the shaft angle in degrees. Actual values can be
read from signals 03.09 POS COUNT DEGREES and 03.10
POS COUNT ROUNDS.
50.08 POS COUNT INIT Position counter value (16 least significant bits) when par. 50.07 1 = 1 0 1008 Pb
LO setting is PULSE EDGES. See section Position counter on
page 124.
0...65535 Value
50.09 POS COUNT INIT Position counter value (16 most significant bits) when par 50.07 1 = 1 0 1009 Pb
HI setting is PULSE EDGES. See section Position counter on
page 124.
0...65535 Value
50.10 ABOVE SPEED Defines the supervision limit for the actual speed. When actual See par. 0 1010 R
LIMIT speed has reached the limit, 08.01 MAIN STATUS WORD bit 50.01.
10 value is set to 1.
-9000…9000 rpm Actual speed limit
50.11 ENCODER DELAY Defines the time delay for the encoder supervision function. 1 = 1 ms 1000 1011 I
Supervision selected by parameter 50.05 ENCODER ALM/FLT
is activated if no pulses are received from the encoder within
the defined time when the drive is simultaneously at current or
torque limit.
0...50000 ms Time delay. The function is disabled by setting this value to 0.
50.12 MOTOR SP FILT Defines the filter time constant for signal 01.01 MOTOR SPEED 1 = 1 ms 500 1012 R
TIME FILT.

238

50.13 ZERO DETECT Defines the time the speed controller uses the last actual speed 1 = 1 4 1013 I
DELAY value. This parameter can be adjusted to optimise the speed
regulator for the best possible performance at low speeds when
a pulse encoder is used and pulses are not received from the
pulse encoder during a 1 ms time period.
The definition of low speed depends on the type of the used
encoder. If the encoder pulse number is 2048 and both edges
of both of the channels (A and B) are counted, the number of
pulses per revolution is 8192. This means that at least one
pulse per millisecond is received at 7.3 rpm (1 pulse/ms =>
1000 pulses/s => 1000/8192 rev/s = 7.3 rpm). Thus 4 ms
between pulses corresponds to 1.8 rpm and 80 ms to 0.09 rpm.
Example:
Pulse 1: After receiving a pulse, speed is calculated and
proportional part of the speed controller (P-part) is set to
a value related to the speed error. When no new pulses are
received within 1 ms, the measured speed and P-part due to
the constant speed reference remain unchanged. After the
50.14 SPEED HOLD TIME, the P-part is forced to zero so that
speed control will not be based on absolute speed
measurement value. After ZERO DETECT DELAY, it is
assumed that speed is zero: Measured speed is cleared and
the use of P-part is allowed.
Pulse 2: After the next pulse, speed is calculated again and the
P-part is set accordingly. P-part is forced to zero after SPEED
HOLD TIME. Speed is not set to zero any more, because a new
pulse comes before the time defined by ZERO DETECT
DELAY has elapsed.
Pulse 3: The time between pulses 3 and 4 is longer than
SPEED HOLD TIME and P-part is forced to zero.
Pulse 4: The time between pulses 4 and 5 is so short that
neither P-part nor the measured speed is forced to zero.
1 2 3 4 5
encoder pulse
edges
speed 0
t1 t1
speed
control 0
P-part t2 t2 t2 t2
t1 = ZERO DETECT DELAY = 250 ms
t2 = SPEED HOLD TIME = 4 ms
A long ZERO DETECT DELAY time gives accurate speed
measurement. Short SPEED HOLD TIME keeps the speed
control stable, because speed control output is not influenced
by the earlier speed measurement sample.
If the value of the P-part is very large, forcing it to zero causes
undesirable torque steps.
The tuning values depend on the mechanics. Therefore after
increasing these parameter values, check that the actual torque
value is still smooth.
1...2000 ms Zero detect delay

239

50.14 SPEED HOLD Defines the time delay for the proportional part (P-part) of the 1=1 4 1014 I
TIME speed controller. After the time has elapsed and no pulses have
been received, the P-part is forced to zero.
When time is increased, the effect of the P-part at low
frequencies is amplified due to the longer effect time of the
P-part. Oscillation can occur, if the time set is too long.
See par. 50.13 ZERO DETECT DELAY.
Note: The value of SPEED HOLD TIME < ZERO DETECT
DELAY.
1…see par. 50.13 Speed hold time
(ms)
51 MASTER Fieldbus adapter communication settings.
ADAPTER (fieldbus The parameters are visible and need to be adjusted only when
adapter) a fieldbus adapter module (optional) is installed and activated
by parameter 98.02 COMM. MODULE. For details on the
parameters, refer to the manual of the fieldbus module and
chapter Fieldbus control.
These parameter settings will remain the same even though the
macro is changed.
Note: Any changes in these parameters take effect only after
the next power-up of the drive, or when auxiliary power supply
is connected to RMIO board for the next time, or when fieldbus
adapter parameter 51.27 is activated.
Note: With NMBA-0x module, set parameter 70.19 CH0 HW
CONNECTION value to RING and 71.01 to NO to enable
forwarding of the received messages in the DDCS link.
51.01 FIELDBUS PAR1 (Module type and software version) The values are 1026 R
51.02 FIELDBUS PAR2 (According to module type) fieldbus adapter- 1027 R
dependent.
... ... ... ...
51.33 FIELDBUS PAR33 1058 R
52 STANDARD Standard Modbus Link settings. See chapter Fieldbus control
MODBUS and RMBA-01 Modbus Adapter User’s Manual [3AFE64498851
(English)].
These settings are visible only when the STANDARD MODBUS
has been selected by parameter 98.02 COMM. MODULE.
52.01 STATION NUMBER Defines the address of the device. Two units with the same 1=1 1 1051 I
address are not allowed on-line.
1...247 Address
52.02 BAUDRATE Defines the transfer rate of the link. 1=1 5 1052 I
1 = 600 600 bits/s
2 = 1200 1200 bits/s
3 = 2400 2400 bits/s
4 = 4800 4800 bits/s
5 = 9600 9600 bits/s
6 = 19200 19200 bits/s

240

52.03 PARITY Defines the use of parity and stop bit(s). The same setting must 1 = 1 3 1053 I
be used in all on-line stations.
1= No parity bit, one stop bit
NONE1STOPBIT
2= No parity, 2 stop bits
NONE2STOPBIT
3 = ODD Odd parity indication bit, one stop bit
4 = EVEN Even parity indication bit, one stop bit
53 USER Adaptive programming settings. See ACS600/ACS800
PARAMETERS Application Guide Adaptive Program for System Application
Program 7.x [3AFE68420075 (English)].
53.01 NUMERIC 1 User-defined numeric parameter for adaptive programming 1=1 0 - I
-8388608...8388607 Numeric value
53.02 NUMERIC 2 User-defined numeric parameter for adaptive programming 1=1 0 - I
-8388608...8388607 Numeric value
... ... ... I
53.10 NUMERIC 10 User-defined numeric parameter for adaptive programming 1=1 0 -
-8388608...8388607 Numeric value
53.11 STRING 1 User-defined alarm or fault text indication of the EVENT block. - - - C
0...9 characters ASCII string type
... ... ...
55 ADAPTIVE PROG1 Adaptive programming task 1 settings:
- selections of the function blocks and their input connections
- diagnostics.
See ACS600/ACS800 Application Guide Adaptive Program for
This parameter group is mainly used with the DriveAP 2.x PC
tool.
55.01 STATUS Shows the value of the adaptive program task 1 status word. 1=1 - - Pb
1…128 The table below shows the alternative bit states and the
corresponding values on the panel display.
Bit Display Meaning
0 1 Stopped
1 2 Running
2 4 Faulted
3 8 Editing
4 10 Checking
5 20 Pushing
6 40 Popping
8 80 Initialising
55.02 FAULTED PAR Points out the faulted parameter in adaptive program task 1. - 0 - I

241

0...32768 Value
55.05 BLOCK1 Selects the function block type for Block 1 in the adaptive 1=1 1 - I
program task 1.
1…26 Function block type
55.06 INPUT1 Selects the source for input I1 of Block 1. - 0 - P
-255.255.31 … Parameter index or a constant value:
+255.255.31 / C - Parameter pointer: Inversion, group, index and bit fields. The
-32768 … C 32767 bit number is effective only for blocks handling boolean inputs.
- Constant value: Inversion and constant fields. Inversion field
must have value C to enable the constant setting.
Example: The state of digital input DI2 is connected to Input 1
as follows:
- Set the source selection parameter (55.06) to +.01.15.01.
(The application program stores the state of digital input DI2 to
bit 1 of actual signal 01.15.)
- If you need an inverted value, switch the sign of the pointer
value (-01.15.01.).
See parameter 55.06 INPUT1.
55.09 OUTPUT Stores and displays the output of Block 1. 1=1 0 - I
0...32768 No user-setting possible
program task 1.
0...32768 Function block type
-255.255.31 C See parameter 55.06 INPUT1.
-32768 ...
255.255.31 C
32767
program task 1.
... ... ...

242

56 ADAPT PROG1 Adaptive program task 1 control. The update time of task 1
CNTRL control is 10 ms.
See parameter group 55 ADAPTIVE PROG1.
56.01 ADAPT PROG Selects the operation mode for the adaptive program task 1. 1=1 1 - I
CMD
1 = STOP Stop. The program can be edited.
2 = START Run. The program cannot be edited.
3 = EDIT Stop to edit mode (i.e. the execution of the task is stopped for
editing) The program can be edited.
56.02 EDIT CMD Selects the command for the block placed in the location 1=1 1 - I
defined by parameter 56.03 EDIT BLOCK.
1 = NO Home value. The value automatically restores to NO after an
editing command has been executed.
The program must be in the editing mode (see parameter 56.01
ADAPT PROG CMD).
2 = PUSH Shifts the block in the location defined by parameter 56.03 EDIT
BLOCK and the subsequent blocks one location up. A new
block can be placed in the emptied location.
ADAPT PROG CMD).
3 = DELETED Selects the block in the location defined by parameter 56.03
EDIT BLOCK and shifts the subsequent blocks one step down.
ADAPT PROG CMD).
4 = PROTECT Activation of the task protection: Read protects the input
connections of the blocks. Activate as follows:
- Ensure the task operation mode is START or STOP
(parameter 56.01 ADAPT PROG CMD).
- Set the passcode by parameter 56.05 PASS CODE.
- Set parameter 56.02 to PROTECT.
When protection is activated:
- All parameters in group 55 ADAPTIVE PROG1 excluding the
block output parameters are hidden (read protected).
- It is not possible to switch the task operating mode (parameter
56.01 ADAPT PROG CMD) to the editing mode.
- Parameter 56.05 PASS CODE value is set to 0.
5 = UNPROTECT Deactivation of the task protection: no read protection of the
inputs of the blocks. Deactivate as follows:
- Set parameter 56.02 to UNPROTECT.
56.03 EDIT BLOCK Defines the block location number for the command selected by 1 = 1 0 - I
parameter 56.02 EDIT CMD.
1...15 Block location number

243

56.04 TIMELEVEL_SEL Indicates the fixed execution cycle time of 10 ms for the 1=1 1 - I
adaptive program task 1.
56.05 PASS CODE Defines the passcode, which activates/deactivates the 1=1 0 - I
protection of the input connections of the blocks. See
0 h...FFFFFF h Passcode. The setting restores to 0 after the protection is
activated/deactivated.
Note: When you activate the protection, write down the
passcode and store it for later use.
57 ADAPTIVE PROG2 Adaptive programming task 2 settings:
- selections of the function blocks and their input connections
- diagnostics.
This parameter group is mainly used with the DriveAP 2.x PC
tool.
57.01 STATUS Shows the value of the adaptive program task 2 status word. 1=1 - - Pb
1…128 The table below shows the alternative bit states and the
corresponding values on the panel display.
Bit Display Meaning
0 1 Stopped
1 2 Running
2 4 Faulted
3 8 Editing
4 10 Checking
5 20 Pushing
6 40 Popping
8 80 Initialising
57.02 FAULTED PAR Points out the faulted parameter in adaptive program task 2. - 0 - I
0...32768 Value
57.05 BLOCK 1 Selects the function block type for Block 1 in the adaptive 1=1 1 - I
program task 2.
57.06 INPUT 1 Selects the source for input I1 of Block 1. - 0 - P
-255.255.31 … Parameter index or a constant value:
+255.255.31 / C - Parameter pointer: Inversion, group, index and bit fields. The
-32768 … C 32767 bit number is effective only for blocks handling boolean inputs.
- Constant value: Inversion and constant fields. Inversion field
must have value C to enable the constant setting.
Example: The state of digital input DI2 is connected to Input 1
as follows:
- Set the source selection parameter (55.06) to +.01.15.01.
(The application program stores the state of digital input DI2 to
bit 1 of actual signal 01.15.)
- If you need an inverted value, switch the sign of the pointer
value (-01.15.01.).
See parameter 57.06 INPUT 1.

244

program task 2.
program task 2.
... ... - I
57.104 OUTPUT Stores and displays the output of Block 20. 1=1 0
58 ADAPT PROG2 Adaptive program task 2 control. The update time of task 2
CNTRL control is 100 ms.
See parameter group 57 ADAPTIVE PROG2.
58.01 ADAPT PROG Selects the operation mode for the adaptive program task 2. 1=1 3 - I
CMD
1 = STOP Stop. The program can be edited.
2 = START Run. The program cannot be edited.
3 = EDIT Stop to edit mode. The program can be edited.
58.02 EDIT CMD Selects the command for the block placed in the location 1=1 1 - I
defined by parameter 58.03 EDIT BLOCK. The program must
be in editing mode (see parameter 58.01ADAPT PROG CMD).
1 = NO Home value. The value automatically restores to NO after an
editing command has been executed.
2 = PUSH Shifts the block in the location defined by parameter 58.03 EDIT
BLOCK and the subsequent blocks one location up. A new
block can be placed in the emptied location.
3 = DELETED Selects the block in the location defined by parameter 58.03
EDIT BLOCK and shifts the subsequent blocks one step down.

245

4 = PROTECT Activation of the task protection: Read protects the input
connections of the blocks. Activate as follows:
- Set parameter 56.02 to PROTECT.
When protection is activated:
- All parameters in group 55 ADAPTIVE PROG1 excluding the
block output parameters are hidden (read protected).
- It is not possible to switch the task operating mode (parameter
58.01 ADAPT PROG CMD) to the editing mode.
- Parameter 58.05 PASS CODE value is set to 0.
5 = UNPROTECT Deactivation of the task protection: no read protection of the
input connection of the blocks. Deactivate as follows:
- Ensure the Application task operation mode is START or
STOP (parameter 58.01 ADAPT PROG CMD).
- Set parameter 56.02 to UNPROTECT.
58.03 EDIT BLOCK Defines the block location number for the command selected by 0 - I
0...15 Block location number
58.04 TIMELEVEL_SEL Indicates the fixed execution cycle time of 100 ms for the 1 - I
adaptive program task 2.
58.05 PASS CODE Defines the passcode, which activates/deactivates the 0 - I
protection of the input connections of the blocks. See
0 h...FFFFFF h Passcode. The setting restores to 0 after the protection is
activated/deactivated.
Note: When you activate the protection, write down the
passcode and store it for later use.
66 AP CONNECT Parameters through which the adaptive program can control
the start command and the optional analogue outputs of the
drive.
For more information, see ACS600/ACS800 Application Guide
Adaptive Program for System Application Program 7.x
Note: It is recommended that these parameter values are set
with the DriveAP 2.x graphic tool.
66.01 START Selects the source for the drive start in I/O control. (Connected - 0 - P
parallel with I/O start signals. See START/STOP function in
parameter group 10 DIGITAL INPUTS.)
-255.255.31: C Parameter pointer or constant value:
-32768 … - Parameter pointer: Inversion, group, index and bit fields. The
-255.255.31: C bit number is effective only for blocks handling boolean inputs.
32767
- Constant value: Inversion and constant fields. The inversion
field must have value C to enable the setting of the constant.

246

66.02 EXT2 AO1 Selects the source for extension AI/O module 2 analogue - 0 - P
output 1 control.
-32768 ... - Parameter pointer: Inversion, group, index and bit fields. The
32767
66.03 EXT2 AO2 Selects the source for extension AI/O module 2 analogue - 0 - P
output 2 control.
32767
66.04 ALM WORD3 BIT9 Selects the source for 09.11 ALARM WORD3 bit 9 - 0 - P
32767
66.05 FLT WORD2 BIT8 Selects the source for 09.02 FAULT WORD2 bit 8 - 0 - P
8-255.255.31: C Parameter pointer or constant value:
32767
66.06 MSW BIT11 Selects the source for 08.01 MAIN STATUS WORD bit 11 - +005.0 - P
10.11
8-255.255.31: C Parameter pointer or constant value:
32767
70 DDCS CONTROL Settings for fibre optic channels CH0, CH1, CH2 and CH3
CH2 is used for Master/Follower application. See section
Master/Follower on page 108.
70.01 CH0 NODE ADDR Defines the node address for DDCS channel CH0. No two 1=1 1 1375 I
nodes on-line may have the same address.
With AC 800M (CI858) DriveBus connection the drives are
addressed from 1 to 24. With AC 80 DriveBus connection, the
drives are addressed from 1 to 12.
With Nxxx-type adapter modules the node address is 1.
With optical ModuleBus connection CH0 node address is
calculated with the following steps:
1. Multiply the hundreds of the position value by 16.
2. Add the tens and ones of the position value to the result.
For example, if the position value is 101, parameter 70.01 must
be set to value 16 × 1 + 1 = 17.

247

0...254 Node address
70.02 CH0 LINK Defines the light intensity of the transmission LEDs. LEDs act 1=1 10 1376 R
CONTROL as light sources for optic fibres which are connected to DDCS
channel CH0.
With the maximum length of optic fiber cable, use value 15.
1...15 Light intensity
70.03 CH0 BAUD RATE Defines the communication speed of DDCS channel CH0. 1=1 1 1377 I
If FCI (Fieldbus Communication Interface) and fieldbus
communication modules are used, parameter has to be set to
4 Mbits/s. Otherwise, the external control system sets the
communication speed automatically.
0 8 Mbit/s
1 4 Mbit/s
2 2 Mbit/s
3 1 Mbit/s
70.04 CH0 TIMEOUT Defines the time delay before channel CH0 or R-type fieldbus 1 = 1 ms 100 1378 R
adapter interface communication break alarm/fault (COMM
MODULE) is activated. Time count starts when the link fails to
update the communication message. The action taken by the
drive on a communication break is defined by parameter 70.05
CH0 COM LOSS CTRL.
0...60000 ms Time. The function is disabled by setting this value to 0.
70.05 CH0 COM LOSS Selects how the drive reacts when communication error on 1=1 1 1379 I
CTRL DDCS channel CH0 or on R-type fieldbus adapter interface has
been detected. Time delay for the communication break alarm/
fault activation is defined by parameter 70.04 CH0 TIMEOUT.
See also parameter 30.26 COM LOSS RO.
1 = STOP Fault COMM MODULE is generated. Drive ramps to stop. The
RAMPNG deceleration time is defined by parameter 22.02 DECELER
TIME.
2 = STOP TORQ Fault COMM MODULE is generated. Drive is stopped
according to the torque limit.
3 = COAST STOP Fault COMM MODULE is generated. Drive coasts to stop.
4 = LAST SPEED Alarm COMM MODULE is generated. The drive continues
running according to the last defined reference value.
5 = CNST SPEED1 Alarm COMM MODULE is generated. The drive continues
running with the speed reference defined by parameter 23.02
CONST SPEED 1.
70.06 CH1 LINK Defines the light intensity of the transmission LEDs. LEDs act 1=1 10 1380 I
channel CH1.
70.07 CH2 NODE ADDR Defines the node address for DDCS channel CH2. This 1=1 1 1381 R
parameter is used with Master/Follower applications where
feedback signals are read to master drive. In master drive this
parameter must be 1 or 0. In follower drive the value > 1
activates the data sending from follower to master.
1...125 Node address

248

70.08 CH2 M/F MODE Defines the role of the drive in the Master/Follower link. 1=1 1 1382 I
1 = NOT IN USE The Master/Follower link is not active.
2 = MASTER Master drive
3 = FOLLOWER Follower drive
70.09 MASTER SIGNAL 1 In case of master drive this parameter selects the data which is 1 = 1 0 1383 I
sent by the Master to the Follower drive(s) (to data set 41 index
1). In case of follower drive this parameter selects the data
which is sent from follower to master.
0...20000 Parameter index 231 denotes signal 02.31 FOLLOWER MCW.
2). In case of follower drive this parameter selects the data
which is sent from follower to master.
0...20000 Parameter index 2301 denotes parameter 23.01 SPEED REF.
2). The selected data can be scaled by parameter 70.30
MASTER SGN3 SCALE before it is sent to the Follower drive.
In case of follower drive this parameter selects the data which is
sent from follower to master.
0...20000 Parameter index 210 denotes signal 02.10 TORQUE REF 3.
channel CH2.
70.13 CH2 TIMEOUT Defines the time delay before a channel CH2 communication 1=1 100 1387 R
break fault is activated. Time count starts when the link fails to
update the communication message. The action taken by the
drive on a CH2 communication break is defined by parameter
70.14 CH2 COM LOSS CTRL.
0...60000 ms Time
70.14 CH2 COM LOSS Selects how the drive reacts when communication fault on 1=1 1 1388 I
CTRL DDCS channel CH2 has been detected (Master/Follower link
communication error). Time delay for the communication break
alarm/fault activation is defined by parameter 70.13 CH2
TIMEOUT.
1 = FAULT Drive is trips on fault CH2 COMM LOSS.
2 = ALARM Drive generates alarm CH2 COMM LOSS.
70.15 CH3 NODE ADDR Defines the node address for DDCS channel 3. No two nodes 1=1 1 1389 R
on-line may have the same address. Typically this setting
needs to be changed when the drive is connected in a ring or
star which consists of several drives and a PC with a
DriveWindow PC tool.
The new node address becomes valid only after the next
power-up of the drive, or when auxiliary power supply is
connected to RMIO board for the next time.
Note: Address 1 is reserved for sparepart restore function.
1...254 Address. Addresses 76…125 are reserved for branching units.

249

channel CH3.
70.17 FOLL SPEED REF Defines the source for the speed reference of the Follower 1=1 0 1391 B
drive. See control block diagram in section Speed reference on
page 321.
0 = FOLLOWER Speed reference is read from data set 1 or 10....24 or from I/O.
1 = MASTER Follower drive follows the Master drive speed reference. Speed
reference is read from data set 41.
70.18 FOLL TORQ REF Defines the source for the torque reference of the Follower 1=1 1 1392 B
drive. See control block diagram in section Torque reference on
page 324.
0 = FOLLOWER Torque reference is read from data set 1 or 10...24 or from I/O.
1 = MASTER Follower follows the Master drive torque reference. Torque
reference is read from data set 41.
70.19 CH0 HW Selects the topology of the DDCS channel CH0 link. 1=1 1 - B
CONNECTION Note: This parameter has no effect in the DriveBus mode.
Note: With NMBA-0x module, set parameter value to RING to
enable forwarding of received messages in the DDCS link.
0 = RING Devices are connected in a ring. Forwarding of messages is
enabled.
1 = STAR Devices are connected in a star. Forwarding of messages is
disabled. This selection is used with NDBU branching units.
CONNECTION
enabled.
70.29 FOLL DS SEL This parameter is used to activate selected data set package to 1 = 1 1 - I
be used in the follower drive. Each data set package contains 3
data words. This function is needed in customer application,
where the process master is changed on-line using CACP M/F
application as communication master in M/F link. See Firmware
Manual Configuration and Control Program for ABB Industrial
Drive [3AUA0000021158 (English)].
1 = MASTER Content of data set 41 (broadcast message) is read to speed
and torque reference chain in follower drive.
2 = FOLL NODE 2 Content of data set 45 is read to speed and torque reference
chain in follower drive, if parameter 70.07 CH2 NODE ADDR =
2.
3.
4.

250

5.
6.
7.
70.30 MASTER SGN3 Scales the signal selected by parameter 70.11 MASTER 10 = 1% 100% - R
SCALE SIGNAL 3 before it is sent to the Follower drive. With scaling it
is possible to send higher signal values.
Rescaling is defined by parameter 70.31 FOLLOW SGN3
SCALE.
70.31 FOLLOW SGN3 Rescales the signal selected by parameter 70.11 MASTER 10 = 1% 100% - R
SCALE SIGNAL 3 when it is received by the Follower drive. See
parameter 70.30 MASTER SGN3 SCALE.
CONNECTION
enabled.
70.33 MAILBOX DS SEL Selects the data set pair for mailbox use when parameter 98.02 1 = 1 0 - B
COMM. MODULE setting is ADVANT/N-FB. See section Data
sets 10...33 on page 308.
0 = 32/33 Data sets 32 and 33 are used for setting and inquiring
parameter values.
1 = 24/25 Data sets 24 and 25 are used for setting and inquiring
parameter values.
70.34 FOLLOWER MCW Mask word in follower drive for Main Control Word. Only the 1=1 0 - Pb
MASK selected bits are used in follower command word; the
unselected bits are read from parameter 07.01 MCW. The value
FFFF means that all command word bits in the follower drive
are read from the follower command word (defined by 70.09
MASTER SIGNAL 1 in master drive).
0...65535
70.35 FOLLOWER SEL This parameter selects in master from which followers the data 1 = 1 8 - I
is read.
1 = FOLLOWER 2 Data is read from follower drive in which CH2 NODE ADDRESS
= 2.
= 3.
3 = FOLLOWER Data is read from follower drives in which CH2 NODE
2+3 ADDRESS = 2 or 3.
= 4.

251

5 = FOLLOWER2+4 Data is read from follower drives in which CH2 NODE
ADDRESS = 2 or 4.
6 = FOLLOWER3+4 Data is read from follower drives in which CH2 NODE
ADDRESS = 3 or 4.
7 = FOLL 2+3+4 Data is read from follower drives in which CH2 NODE
ADDRESS = 2, 3 or 4.
8 = NOT USED No data is read from followers.
70.36 FOLL FAULT SEL Master drive has a supervision of follower drives status. 1=1 3 - I
Masters reaction to followers interlockings can be selected with
this parameter.
1 = NO REACTION Other drives in Master/Follower link continues running, if one or
more of the followers is faulted.
2 = ALARM An alarm FOLLOWER TRIP is activated in master drive.
3 = FAULT A fault FOLLOWER TRIP is activated in master drive. All drives
are stopped.
70.37 FOLL ENABLE SEL Starting of master drive can be interlocked to status of 1=1 3 - I
followers.
1 = MSW BIT 0 If follower selected by parameter 70.35 FOLLOWER SEL is not
RDY ON, starting of master drive is disabled.
2 = MSW BIT 1 If follower selected by parameter 70.35 FOLLOWER SEL is not
RDY RUN, starting of master drive is disabled.
3 = MSW BIT0+1 If follower selected by parameter 70.35 FOLLOWER SEL is not
RDY ON and RDY RUN, starting of master drive is disabled.
4 = ALWAYS Starting of master drive is not interlocked to status of
follower(s).
71 DRIVEBUS COMM DDCS channel CH0 DriveBus settings
71.01 CH0 DRIVEBUS Selects the communication mode for the DDCS channel CH0. 1 = 1 NO 1393 B
MODE The new mode becomes valid only after the next power-up of
the drive, or when auxiliary power supply is connected to RMIO
board for the next time.
Data is exchanged 4 times faster in the DriveBus mode than in
the DDCS mode.
0 = NO DDCS mode
1 = YES DriveBus mode

252

90 D SET REC ADDR Addresses into which the received fieldbus data sets are
written.
The parameters are visible only when a fieldbus communication
is activated by setting parameter 98.02 COMM. MODULE to
FIELDBUS or ADVANT/N-FB. For more information, see
chapter Fieldbus control.
RMIO-xx
Address
assignment
of data sets
DDCS link Data set table AMC table
External
control 10 Group
system 12 90.01...90.18
CH0 14 91.01...91.09
32
90.01 D SET 10 VAL 1 Selects the address into which data word 1 of data set 10 is 1=1 701 1735 I
written. Update time is 2 ms.
0...9999 Parameter index

253

91 D SET REC ADDR See parameter group 90 D SET REC ADDR.

254

92 D SET TR ADDR Data sets which the drive sends to the fieldbus master station.
The parameters in groups 92 and 93 are visible only when a
fieldbus communication is activated by setting parameter 98.02
COMM. MODULE to FIELDBUS or ADVANT/N-FB. For more
information, see chapter Fieldbus control.
RMIO
Address
assignment
DDCS link Data set table of data sets AMC table
External Group
11
control
CH0 13 92.01...92.18
system
15 93.01...93.09
33
92.01 D SET 11 VAL 1 Selects the address from which data word 1 of data set 11 is 1=1 801 1771 I
read. Update time is 2 ms.

255

93 D SET TR ADDR See parameter group 92 D SET TR ADDR.

256

95 LSU Line-side converter reference and actual signal selection. This
parameter group is used with single drives.
Note: Parameters are effective only when a fibre optic
communication link is connected between the inverter RMIO
control board channel CH1 and the line-side converter control
board channel CH0.
95.01 LSU Q POW REF Defines the reference value for the line-side converter reactive See par. 0 1825 I
power generation. Line-side converter can generate reactive descrip-
power to the supply network. This reference is written into tion.
line-side converter unit parameter 24.02 Q POWER REF2. For
more information, see IGBT Supply Control Program 7.x
Firmware manual [3AFE68315735 (English)].
Example 1: When parameter 24.03 Q POWER REF2 SEL is
set to PERCENT, value 10000 of parameter 24.02 Q POWER
REF2 equals to value 100% of parameter 24.01 Q POWER
REF (i.e. 100% of the converter nominal power given in signal
04.06 CONV NOM POWER).
set to kVAr, value 1000 of parameter 24.02 Q POWER REF2
equals to parameter 24.01 Q POWER REF value calculated
with the following equation: 100 ×(1000 kVAr divided by
converter nominal power in kVAr)%.
set to PHI, value 3000 of parameter 24.02 POWER REF2
equals approximately to parameter 24.01 Q POWER REF value
calculated with the following equation:
S
P P Q
cos ( 30 ) = ---- = ------------------------
S 2 2 30°
P +Q
P
Positive reference 30° denotes capacitive load.
Negative reference 30° denotes inductive load.
P = signal 01.09 POWER value
Parameter 24.02 values are converter to degrees by the
line-side converter application program: -3000...3000 =
-30°...30°. Values above 3000 or below -3000 equal to -30°/30°,
since the range is limited to -3000/3000.
-10000...10000 Reference value
95.02 LSU DC REF [V] Defines the intermediate circuit DC voltage reference for the 1=1V 0 1826 I
line-side converter. This reference is written into line-side
converter parameter 23.01 DC VOLT REF.
Note: The IGBT Supply Unit DC voltage is limited by its
minimum value. With 400 V supply, the minimum DC voltage is
approximately 560 V.
For more information, see IGBT Supply Control Program 7.x
0...1100 V Voltage
95.03 LSU PAR1 SEL Selects the line-side converter address from which the actual 1=1 106 1827 I
signal 03.31 LSU ACT SIGNAL1 is read from.

257

0...10000 Line-side converter parameter index. Default value 106 =
line-side converter parameter 01.06 LINE CURRENT.
95.04 LSU PAR2 SEL Selects the line-side converter address from which the actual 1=1 110 1828 I
signal 03.32 LSU ACT SIGNAL2 is read from.
0...10000 Line-side converter parameter index. Default value 110 =
line-side converter parameter 01.10 DC VOLTAGE.
95.05 LSU COMM SEL The control and data transfer of line-side converter by inverter 1=1 Acc. to 1829 I
unit is selected according to application. The parameter 98.02 HW
COMM. MODULE in LSU must have the equal value with this type
parameter.
1 = NO COMM No control for line-side converter via optic fibre from inverter
RMIO channel CH1.
2 = LIMITED Limited control. This is used normally with ACS800-11,
ACS800-17, ACS800-31 and ACS800-37 drives.
F IE L D B U S
F IE L D B U S A C T IV E
A D A P T E R S U P P L Y
U N IT
IN V E R T E R
U N IT
M A IN C O N T R O L W O R D
B it 0
L S U Q P O W R E F
L S U Q P O W R E F 9 5 .0 1
L S U D C R E F
L S U D C R E F 9 5 .0 2
L IN E C O N V E R T E R IN T E R N A L
D R IV E T Y P E M C W L S U S T A T U S W O R D
C O N T R O L
0 8 .2 5
08.23 L S U S T A T U S W O R D
0 3 .3 2 L S U A C T S IG N A L S 2 A D D R E S S
A S S IG N M E N T
0 3 .3 1 L S U A C T S IG N A L S 1 O F D A T A
L S U P A R 1 S E L 9 5 .0 3
L S U P A R 2 S E L 9 5 .0 4
3 = WIDE Wide communication. More actual values can be read from the
line-side converter. See signal group 05 LSU SIGNALS on
page 146.
4 = WTA Wide communication with wind turbine application
95.06 LSU RUN MCW Selection of run command for LSU. LSU charging and 1=1 0 1830 I
BIT modulation is normally started with 07.01 MCW bit 0, but
starting of modulation can be separated to free bits of MCW
(bits 11…15).
97 DRIVE Drive name or application
97.01 DEVICE NAME Defines the name for the drive or application. The name is - - 1861 C
visible on the control panel display in the Drive Selection Mode
or on the DriveWindow main menu.
Note: The name can be typed only by using a drive PC tool.
0...36 characters E.g. Unwinder 1

258

98 OPTION MODULES Activation of option modules.
ACS800 fieldbus adapter modules are connected to Slot 1 or 2
of the drive or to RDCO board DDCS channel CH0.
Other optional modules are connected to Slot 1 or 2 of the drive
or to RDCO board DDCS channel CH1 via optional AIMA-01
I/O Module Adapter. Multiple AIMA-01 adapters are connected
in a ring.
If the adapter is connected to channel CH0 or to AIMA-01, each
adapter module node number must be set with a switch (DIP
switch or switch S1).
The parameter settings in this group will remain the same even
though the application macro is changed by parameter 99.11
APPLICATION MACRO.
See chapter Fieldbus control.
98.01 ENCODER Activates the communication to the optional pulse encoder 1=1 1 1901 I
MODULE module. See also parameter group 50 SPEED
MEASUREMENT.
For more information, see RTAC-01 Pulse Encoder Interface
User's Manual [3AFE64486853 (English)] or NTAC/NDIO/NAIO
I/O Modules Installation and Start-up Guide [3AFY58919730
(English)].
0 = NTAC Communication active. Module type: NTAC module.
Connection interface: Fibre optic DDCS link (RMIO channel
CH1).
Note: Module node number must be set to 16 with DIP switch.
1 = NO Communication inactive
2 = RTAC-SLOT1 Communication active. Module type: RTAC.
Connection interface: Option Slot 1 of the drive.
3 = RTAC-SLOT2 Communication active. Module type: RTAC.
Connection interface: Option Slot 2 of the drive.
4 = RTAC-DDCS Communication active. Module type: RTAC. Switch S1
Connection interface: Optional I/O Module
DE F
Adapter (AIMA-01 connected to RMIO C
01
9AB
channel CH1) that communicates with the

2
drive through a fibre optic DDCS link.

3
4 5 78
6
Note: Module node number must be 0
(default setting of switch S1).
98.02 COMM. MODULE Selects the external serial communication and its interface in 1=1 3 1902 I
remote control mode. See chapter Fieldbus control.
1 = NO No external communication. The drive is controlled through the
I/O. See parameter group 10 DIGITAL INPUTS.
2 = FIELDBUS The drive communicates through an Rxxx type fieldbus adapter
connected to Slot 1 or trough an Nxxx type fieldbus adapter
connected to RMIO board DDCS channel CH0 using data sets
1 and 2.
Data set 1 and 2 are typically used with type Rxxx or Nxxx
fieldbus adapter modules. See also parameter group 51
MASTER ADAPTER (fieldbus adapter) and parameter 11.02
AI+FBA SPEED REF.

259

3 = ADVANT/N-FB The drive communicates via RMIO board DDCS channel CH0
using data sets 10 to 33. This selection is used with e.g.
AC 800M, AC 80, APC2 and Nxxx type fieldbus adapters. See
also parameter groups 70 DDCS CONTROL and
71 DRIVEBUS COMM.
4 = STD MODBUS The drive communicates through RMBA-0x Modbus adapter
module connected to option Slot 1/2 of the drive.
Note: With NMBA, use selection FIELDBUS or ADVANT/N-FB.
See parameter group 52 STANDARD MODBUS and RMBA-01
Modbus Adapter User's Manual [3AFE64498851 (English)].
98.03 DI/O EXT Activates RDIO/NDIO Digital I/O Extension module 1. RDIO/ 1=1 1 1903 I
MODULE 1 NDIO can be used to replace or extend the I/O.
Note: The communication to the I/O extension module must be
activated by parameter 98.09 DI/O EXT1 LOCATIO.
For more information, see RDIO-01 Digital I/O Extension User's
Manual [3AFE64485733 (English)] or NTAC/NDIO/NAIO I/O
Modules Installation and Start-up Guide [3AFY58919730
(English)].
1 = NO Inactive
2 = REPLACE RDIO/NDIO Extension module 1 replaces DI1, DI2, DI3, DO1
and DO2 of the RMIO board. (DO1 and DO2 of the RMIO board
and DO1 and DO2 of the RDIO module work parallel.)
3 = EXTEND RDIO/NDIO is used to extend the I/O with digital inputs and
outputs EXT1_DI1, EXT1_DI2, EXT1_DI3, EXT1_DO1 and
EXT1_DO2.
98.04 DI/O EXT Activates RDIO/NDIO Digital I/O Extension module 2. RDIO/ 1=1 1 1904 I
MODULE 2 NDIO can be used to replace or extend the I/O.
Note: The communication to the I/O extension module must be
activated by parameter 98.10 DI/O EXT2 LOCATIO.
For more information, see RDIO-01 Digital I/O Extension User's
Manual [3AFE64485733 (English)] or NTAC/NDIO/NAIO I/O
Modules Installation and Start-up Guide [3AFY58919730
(English)].
1 = NO Inactive
2 = REPLACE RDIO/NDIO replaces DI4, DI5, DI6 and DO3 of the RMIO
board. EXT2_DO2 is activated. (DO3 of the RMIO board and
DO3 of the RDIO Extension module work parallel.)
3 = EXTENDED RDIO/NDIO is used to extend the I/O with digital inputs and
outputs EXT2_DI1, EXT2_DI2, EXT2_DI3, EXT2_DO1 and
EXT2_DO2.
4 = STEP UP DI/O EXT MODULE 2 is used for protection of sine filter.
DI1 = choke overtemperature fault CHOKE OTEMP

(FF82) = 0, no choke overtemperature fault = 1.
DI2 = fan overtemp alarm of sine filter FAN OVERTEMP

(FF83) = 0, no fan overtemp alarm = 1.
DI3 = not in use for sinus filter protection.

260

98.06 AI/O EXT Defines the signal type for the inputs and outputs of the RAIO/ 1 = 1 1 1906 I
MODULE 1 NAIO Analogue I/O Extension module 1 or reserves the RAIO/
NAIO module for the motor temperature measurement function.
The input signal setting must match the signal connected to the
module. The input signal type can be selected with the
configuration DIP switch on the circuit board of the module.
For more information, see RAIO-01 Analogue I/O Extension
(English)].
Switch S2 (Operating mode) for RAIO-01
Analogue input AI1 Analogue input AI2 Input signal
ON ON ± 0(4)…20 mA
± 0(2)…10 V
1 2
± 0…2 V
1 2 3 4 5 6 3 4 5 6
ON ON 0(4)…20 mA
0(2)…10 V
1 2
0…2 V
1 2 3 4 5 6 3 4 5 6
(Default)
Switch S2 (Current or voltage signal)
ON ON Current signal
± 0(4)…20 mA
1 2 3
(Default)
4 5 6 1 2 3 4 5 6
ON ON Voltage signal
± 0(2)…10 V
1 2 3 4 5 6 1 2 3 4 5 6
± 0…2 V
1 2 3 4 5 6 1 2 3 4 5 6
The analogue I/O extension module replaces AI1 and AI2 of the
RMIO board, and extends the outputs with AO3 and AO4.
Note: The communication must be activated by parameter
98.11 AI/O EXT1 LOCATIO.
1 = NO Inactive
2 = UNIPOLAR AI Unipolar
3 = BIPOLAR AI Bipolar
4 = TEMP MEAS Motor temperature measurement (Pt100, PTC or KTY84-1xx)
with RAIO/NAIO module. See parameter 30.06 MOT2 TEMP
AI2 SEL.
98.08 COMM PROFILE Defines the profile on which the communication with the 1=1 1 1908 I
fieldbus or another drive is based. Visible only when fieldbus
communication is activated by parameter 98.02 COMM.
MODULE.
1 = ABB DRIVES ABB Drives profile
2 = ABB DRIVES C When no DC Voltage, 08.01 MAIN STATUS WORD
B0 = FALSE

261

98.09 DI/O EXT1 Activates the communication to the optional digital I/O 1=1 2 1909 I
LOCATIO extension module 1 and defines the type and connection
interface of the module. Parameter 98.03 DI/O EXT MODULE 1
activates digital I/O extension module 1.
Faster DC input signal detection can be achieved by disabling
the hardware filter of the digital input with the configuration DIP
switch on the circuit board of the module.
DIP switch S2 (RDIO)
DI3 DI2 DI1
ON
Enabled
Hardware filtering
Disabled
1 2 3 4
Note: Always enable the hardware filtering with an AC input

signal.
1 = NDIO Communication active. Module type: NDIO module. Connection
interface: Fibre optic DDCS link (RDCO board channel CH1)
3 = RDIO-SLOT1 Communication active. Module type: RDIO. Connection
interface: Option Slot 1 of the drive.
5 = RDIO-DDCS Communication active. Module type: RDIO. Switch S1
Connection interface: Optional I/O module
DE F
adapter (AIMA) that communicates with the C
01
9AB
drive through a fibre optic DDCS link. 2

3
Note: Module node number must be set to 2 4 5 78
6
with switch S1.
98.10 DI/O EXT2 Activates the communication to the optional digital I/O 1=1 2 1910 I
LOCATIO extension module 2 and defines the type and connection
interface of the module. Parameter 98.04 DI/O EXT MODULE 2
activates digital I/O extension module 2.
Faster DC input signal detection can be achieved by disabling
the hardware filter of the digital input with the configuration DIP
switch on the circuit board of the module.
DIP switch S2 (RDIO)
DI3 DI2 DI1
ON
Enabled
Hardware filtering
Disabled
1 2 3 4
Note: Always enable the hardware filtering with an AC input

signal.
1 = NDIO Communication active. Module type: NDIO module. Connection
interface: Fibre optic DDCS link (RDCO board channel CH1)

262

5 = RDIO-DDCS Communication active. Module type: RDIO. Switch S1
DE F
01
9AB
2
3
6
with switch S1.
98.11 AI/O EXT1 Activates the communication to the optional analogue I/O 1=1 2 1911 I
LOCATIO extension module 1, and defines the type and connection
interface of the module.
Parameter 98.06 AI/O EXT MODULE 1 selects how analogue
I/O extension module 1 will be used.
1 = NAIO Communication active. Module type: NAIO. Connection
interface: Fibre optic DDCS link (RDCO board channel CH1).
2 = NOT IN USE Communication inactive
3 = RAIO-SLOT1 Communication active. Module type: RAIO. Connection
5 = RAIO-DDCS Communication active. Module type: RAIO. Switch S1
DE F
adapter (AIMA) that communicates with the C 01
9AB

2
3
6
with switch S1.
98.12 FUSE SWITCH Activates the inverter DC switch (switch fuse) monitoring 1=1 Type 1912 B
CTRL function. The monitoring must be active when the Switch Fuse depend
Control Board (ASFC) is in use and connected to the inverter ent
AINT board, i.e. in all frame R8i inverters equipped with
optional DC switch.
For frame R8i inverter, the DC switch position status is sent by
the ASFC board through a fibre optic link. The data is written to
actual signal 08.20 INV ENABLED WORD together with the
inverter DC capacitor charging status.
Drive IGBT pulses are always blocked when the program
detects that the DC switch is opened or inverter charging is
ongoing (at power switch on). The application program
generates alarm INV DISABLED if the DC switch is opened
when the inverter is stopped. The inverter trips on fault INV
DISABLED if the DC switch is opened when the inverter is
running.
The default setting (ON or OFF) for each unit is set accordingly
at the factory.
Note: If changed, the parameter setting takes effect only after
the drive is powered up the next time or the auxiliary power
supply is connected to the RMIO board the next time.
0 = OFF Inactive. DC switch is not used.
1 = ON Active. DC switch is used. See multidrive hardware drawings.

263

98.13 AI1 EXT2 MODE Defines the signal type for input AI1 of the RAIO/NAIO 1=1 1 1913 I
Analogue I/O Extension module 2.
The input signal setting must match the signal connected to the
module. The input signal type can be selected by using the
configuration DIP switch on the circuit board of the module:
Switch S2 (Operating mode) for RAIO-01
Analogue input AI1 Analogue input AI2 Input signal
ON ON ± 0(4)…20 mA
± 0(2)…10 V
1 2
± 0…2 V
1 2 3 4 5 6 3 4 5 6
ON ON 0(4)…20 mA
0(2)…10 V
0…2 V
1 2 3 4 5 6 1 2 3 4 5 6
(Default)
Switch S2 (Current or voltage signal)
ON ON Current signal
± 0(4)…20 mA
(Default)
1 2 3 4 5 6 1 2 3 4 5 6
± 0(2)…10 V
1 2 3 4 5 6 1 2 3 4 5 6
± 0…2 V
1 2 3 4 5 6 1 2 3 4 5 6
Note: The communication must be activated by parameter

98.15 AI/O EXT2 LOCATIO.
For more information, see RAIO-01 Analogue I/O Extension
(English)].
1 = UNIPOLAR AI1 Unipolar
2 = BIBOLAR AI1 Bipolar
98.14 AI2 EXT2 MODE Defines the signal type for input AI2 of the RAIO Analogue I/O 1=1 1 1914 I
Extension module 2. See parameter 98.13 AI1 EXT2 MODE.
See parameter 98.13.
98.15 AI/O EXT2 Activates the communication to the optional analogue I/O 1=1 2 1915 I
LOCATIO extension module 2, and defines the type and connection
interface of the module.
Parameters 98.13 AI/O EXT2 MODE and 98.14 AI2 EXT2
MODE select how analogue I/O extension module 2 will be
used.
1 = NAIO Communication active. Module type: NAIO. Connection
interface: Fibre optic DDCS link (RDCO board CH1).
2 = NOT IN USE Communication inactive

264

5 = RAIO-DDCS Communication active. Module type: RAIO. Switch S1
DE F
01
9AB
2
3
6
with switch S1.
99 START-UP DATA Language selection. Definition of motor set-up data.
Note: The drive will not start if the start-up data parameters
have not been changed from the factory settings, or the
nominal current of the motor is too small compared to the
nominal current of the inverter.
WARNING! Running the motor and the driven
equipment with incorrect start-up data can result in
improper operation, reduction in control accuracy
and damage to equipment.
If several motors are connected to the drive, follow the
instruction given in chapter Start-up.
Note: Changing any of the motor parameters in group 99,
causes the cancellation of all existing Motor ID run results!
99.01 LANGUAGE Selects the display language. 1=1 0 1926 I
0 = ENGLISH British English
1 = ENGLISH AM Not available
2 = DEUTSCH German
3 = ITALIANO Not available
4 = ESPANOL Not available
5 = PORTUGUES Not available
6 = NEDERLANDS Not available
7 = FRANCAIS Not available
8 = DANSK Not available
9 = SUOMI Not available
10 = SVENSKA Not available
11 = CESKY Not available
12 = POLSKI Not available
13 = PO-RUSSKI Not available
99.02 MOTOR NOM Defines the nominal motor voltage. Must be equal to the value 1=1V 0 1927 R
VOLTAGE on the motor rating plate.
1/2...2 × UN V Voltage. Allowed range is 1/2...2 × UN of the drive.
Note: The stress on the motor insulations is always dependent
on the drive supply voltage. This also applies to the case where
the motor voltage rating is lower than the rating of the drive and
the supply of the drive.

265

99.03 MOTOR NOM Defines the nominal motor current. Must be equal to the value 10 = 1 A 0 1928 R
CURRENT on the motor rating plate. If several motors are connected to the
inverter, enter the total current of the motors.
Note: Correct motor run requires that the magnetizing current
of the motor does not exceed 90% of the nominal current of the
inverter.
0...2 · Ihd A Allowed range: Approximately 1/6...2 × Ihd of the drive when
parameter 99.08 MOTOR CTRL MODE is set to DTC.
Allowed range: Approximately 0...2 × Ihd of the drive when
parameter 99.08 MOTOR CTRL MODE is set to SCALAR.
99.04 MOTOR NOM Defines the nominal motor frequency. 100 = 50 1929 R
FREQ Note: If the nominal frequency of the motor is higher than 1 Hz
50 Hz, speed limits must be set before ID run. See parameter
group 20 LIMITS (DTC mode) or 29 SCALAR CONTROL
(scalar mode).
8...300 Hz Nominal frequency (50 or 60 Hz typically)
99.05 MOTOR NOM Defines the nominal motor speed. Must be equal to the value 1= 2900 1930 R
SPEED on the motor rating plate. The motor synchronous speed or 1 rpm
another approximate value must not be given instead!
Note: If the value of parameter 99.05 is changed, the speed
limits in parameter group 20 LIMITS change automatically as
well.
1...18000 rpm Nominal motor speed
99.06 MOTOR NOM Defines the nominal motor power. Set exactly as on the motor 10 = 0 1931 R
POWER rating plate. 1 kW
If several motors are connected to the inverter, enter the total
power of the motors. Set also parameter 99.12 MOTOR NOM
COS FII.
0...9000 kW Nominal motor power
99.07 MOTOR ID RUN Selects the type of the motor identification. During the 1=1 1 1932 I
identification, the drive will identify the characteristics of the
motor for optimum motor control. The ID run procedure is
described in section ID RUN (motor identification run) on
page 25.
Note: The ID run (STANDARD or REDUCED) should be
selected if:
- the operation point is near zero speed, and/or
- operation at torque range above the motor nominal torque
within a wide speed range and without any measured speed
feedback is required.
Note: The ID run (STANDARD or REDUCED) cannot be
performed if parameter 99.08 MOTOR CTRL MODE is set to
SCALAR.
1 = NO Motor ID run is not performed. If ID run has not been already
performed or if the motor parameters (par. group 99 START-UP
DATA) have been changed: The motor model is calculated at
first start by magnetising the motor at zero speed. The model is
stored to the FPROM memory. The first start lasts longer than
normal start.
Alarm ID MAGN is indicated during the first start.
This mode can be selected in most applications.

266

2 = STANDARD Standard ID run. Guarantees the best possible control
accuracy. The ID run takes about one minute.
Note: The motor must be de-coupled from the driven
equipment.
Note: Check the direction of rotation of the motor before
starting the ID run. During the run, the motor will rotate in the
forward direction.
WARNING! The motor will run at up to approximately
50...80% of the nominal speed during the ID run.
ENSURE THAT IT IS SAFE TO RUN THE MOTOR
BEFORE PERFORMING THE ID RUN!
3 = REDUCED Reduced ID run. Should be selected instead of the Standard ID
run if mechanical losses are higher than 20% (i.e. the motor
cannot be de-coupled from the driven equipment).
Note: Check the direction of rotation of the motor before
starting the ID run. During the run, the motor will rotate in the
forward direction.
WARNING! The motor will run at up to approximately
50...80% of the nominal speed during the ID Run.
ENSURE THAT IT IS SAFE TO RUN THE MOTOR
BEFORE PERFORMING THE ID RUN!
4 = CURRENT CAL Current offset and gain measurement calibration. Calibration is
performed on the next start.
99.08 MOTOR CTRL Selects the motor control mode. 1=1 0 1933 B
MODE If several motors are connected to the inverter, there are certain
restrictions on the usage of DTC.
0 = DTC Direct Torque Control mode is suitable for most applications.
See section Motor control, DTC on page 81.
1 = SCALAR Scalar control is suitable in special cases where DTC cannot be
applied.
The scalar control mode is recommended:
- for multimotor drives:
1) when the load is not equally shared between the motors,
2) when the motors are of different sizes, or
3) when the motors are going to be changed after the motor
identification.
- when the nominal current of the motor is less than 1/6 of the
nominal output current of the inverter
- when the drive is used without a motor connected (for
example for test purposes)
- when the drive runs a medium voltage motor via a step-up
transformer.
Note: The outstanding motor control accuracy of the DTC
cannot be achieved in scalar control. There are some standard
features that are disabled in the scalar control mode, for
example motor identification run (group 99 START-UP DATA),
speed limits and torque limits (group 20 LIMITS), DC hold
(group 17 DC HOLD) and DC magnetizing (group 21 START/
STOP FUNC).
See also parameter group 98.04 DI/O EXT MODULE 2
selection STEP UP and 29 SCALAR CONTROL.

267

99.09 APPLIC RESTORE Restores the original settings of the active application macro, 1=1 0 1934 B
99.11 APPLICATION MACRO.
- If a Factory macro is active, the parameter values are restored
to the default settings (factory settings). Exceptions: parameter
settings in parameter group 99 remain unchanged. The motor
model remains unchanged.
- If user macro 1 or 2 is active, the parameter values are
restored to the last saved values. In addition, the last saved
motor model is restored. Exceptions: Settings of parameters
16.05 USER MACRO CHG and 99.11 APPLICATION MACRO
remain unchanged. (User macro can be changed via digital
input by setting parameter 10.10 I/O MACRO CHANGE.)
Note: The parameter settings and the motor model are restored
according to the same principles when a macro is changed to
another.
0 = NO No restoring
1 = YES Restoring
99.10 DRIVE ID NUMBER Defines the ID number of the drive. This parameter requires 1=1 0 1935 I
support from an external control system.
0...32767 ID number

268

99.11 APPLICATION Selects the application macro. 1=1 1 1936 I
MACRO
DriveWindow parameter
or CDP 312R change
RAM memory
Par. 16.06
POWER-UP
USER 1
USER 1 Parameter file SAVE
LOAD
USER MACRO 1 file USER 2
USER 2
SAVE
LOAD
USER MACRO 2 file
FACTORY
FACTORY FILE
FPROM memory
In addition to the Factory setting there is a selection for saving

the current settings as a user macro (USER 1 SAVE or USER 2
SAVE), and recalling these settings (USER 1 LOAD or USER 2
LOAD).
Backup of the default parameter settings (factory settings) can
be restored by parameter 99.09 APPLIC RESTORE.
The macro can be changed from an external control system
using 07.03 AUX CTRL WORD 2 bit 12. See also parameter
16.05 USER MACRO CHG. The status of the active macro is
indicated by 08.02 AUX STATUS WORD bits 14 and 15.
Note: When user macros are saved to the PC with
DriveWindow, both macros must be saved separately. See
section User macro save with DriveWindow on page 130.
Note: Restoring of the DriveWindow backup file (.BPG)
restores both macros. See section Backup and restore function
with DriveWindow on page 129.
For more information, see chapter Application macros.
1 = FACTORY Loads factory parameters (default values) into the parameter
file.
2 = USER 1 LOAD Loads User 1 macro into use. Before loading, check that the
saved parameter settings and the motor model are suitable for
the application.
3 = USER 1 SAVE Saves User 1 macro. Stores the current parameter settings and
the motor model.
Note: There are parameters that are not included in the
macros. See parameter 99.09 APPLIC RESTORE.
4 = USER 2 LOAD Loads User 2 macro into use. Before loading, check that the
saved parameter settings and the motor model are suitable for
the application.
5 = USER 2 SAVE Saves User 2 macro. Stores the current parameter settings and
the motor model.
Note: There are parameters that are not included in the
macros. See parameter 99.09 APPLIC RESTORE.
99.12 MOTOR NOM COS Defines the cosϕ. Must be equal to the value on the motor 100 = 0.7 1937 R
FII rating plate. Cosfii1
0.3...1 Cosϕ

269

99.13 POWER IS GIVEN Selects whether the first start or ID run is be performed by using 1 = 1 0 1938 B
power or cosϕ of the motor. Cosϕ is recommended. Use power
selection if cosϕ is unknown.
0 = COSFII Cosϕ (defined by parameter 99.12 MOTOR NOM COS FII)
1 = POWER Power

270

271
Fault tracing

This chapter lists all alarm and fault messages including the possible causes and
corrective actions.
Safety
WARNING! Only qualified electricians are allowed to maintain the drive. Read the
Safety Instructions on the first pages of the appropriate hardware manual or the
safety manual before you work on the drive.
Alarm and fault indications

An alarm or a fault message on the panel display indicates abnormal drive status.
Most alarm and fault causes can be identified and corrected using this information.
If not, an ABB representative should be contacted.
If the drive is operated with the control panel detached, the red LED in the panel
mounting platform indicates the fault condition. (Note: Some drive types are not
fitted with the LEDs as standard).
The four-digit code number in brackets after the message is for the fieldbus
communication (see chapter Fieldbus control).
How to reset
The drive can be reset either by pressing the keypad RESET key, by digital input or
fieldbus, or switching the supply voltage off for a while. When the fault has been
removed, the motor can be restarted.
Fault history
When a fault is detected, it is stored in the fault history. The latest faults and alarms
are stored together with the time stamp at which the event was detected. See
section Fault and event loggers on page 128 and chapter Control panel for more
information.
Fault tracing
272
Abbreviations
AW Alarm Word
LW Limit Word
MSW Main Status Word
FW Fault Word
SFW System Fault Word
AP AFW Application Alarm and Fault Word
Fault tracing
273
Alarm messages generated by the drive

Alarm Cause What to do
ACS800 TEMP Drive IGBT temperature is excessive. Check ambient conditions.

(4210) Check air flow and fan operation.
09.04 AW 1 bit 4
Check heatsink fins for dust pick-up.
Check motor power against unit power.
AI<MIN FUNC Analogue control signal is below minimum Check for proper analogue control signal
(8110) allowed value. This can be caused by incorrect levels.
09.05 AW 2 bit 10 signal level or failure in control wiring. Check control wiring.
(programmable Check Fault Function parameter.
Fault Function, see Check analogue input AI minimum value
Par. 30.27) settings (parameter group 13 ANALOGUE
INPUTS).
ALM (xx) Drive internal alarm Check for loose connections in drive cabinet.
08.01 MSW bit 7 Write down alarm code (in brackets). Contact
your local ABB representative.
ANALOG IO Analog I/O error on RMIO board If AIMA-01 I/O Module Adapter is used, check
(5441) RMIO board channel CH1 fibre optic cables.
09.04 AW 1 bit 8 Replace RMIO board.
AP [message] Message generated by an EVENT block in the Consult the documentation or author of the
Adaptive Program. Adaptive Program.
AP PRG ERR An adaptive program error Download application by DriveAP 2 or set

(FFD6) block parameters by panel or DriveWindow.
Replace RMIO board.
BACKUP USED PC stored backup of drive parameters is Wait until download is completed.
(FFA3) downloaded into use.
BATT FAILURE APBU branching unit memory backup battery With parallel-connected inverter modules,
(5581) error caused by enable backup battery by setting actuator 6 of
09.05 AW 2 bit 12 - incorrect APBU switch S3 setting switch S3 to ON.
- too low battery voltage. Replace backup battery.
Note: Actuator 6 of switch S3 is normally
activated (ON) during commissioning.
Note: Set actuator 6 of switch S3 to OFF when
APBU is stored as spare part.
BR OVERHEAT Brake resistor overload Stop drive. Let resistor cool down.
(7112) Check parameter settings of resistor overload
protection function (parameter group 34
BRAKE CHOPPER).
Check that braking cycle meets allowed limits.
Check that supply AC voltage of drive is not
excessive.
Fault tracing
274
CABLE TEMP Motor cable temperature is too high (i.e. Check motor load.
(4080) relative cable temperature 01.27 CABLE Check motor cable and its type.
09.05 AW 2 bit 3 TEMPERATURE is 102%).
Check cable thermal model settings
(parameter group 36 MOTOR CABLE
PROTECTION).
CALIBRA DONE Current transducer calibration completed.

(FF37)
CALIBRA REQ Current transducer calibration requested by Start drive.

(FF36) parameter 99.07MOTOR ID RUN.
CH2 COMM LOSS RMIO channel CH2 (Master/Follower link) Check fibre optic cables on DDCS channels
(7520) communication error CH2s.
09.04 AW 1 bit 11 Check that fibre optic cable loop is closed.
(programmable Replace fibre optic cables.
Fault Function, see Check that there is one master drive and
Par. 70.14) remainder are followers in M/F link (70.08 CH2
M/F MODE).
Check if Master can communicate.
Replace optional RDCO module.
COMM MODULE Cyclical communication between drive and Check fieldbus communication status. See
(7510) type Rxxx fieldbus module or between drive chapter Fieldbus control, or appropriate
09.05 AW 2 bit 11 and external control system connected to fieldbus adapter manual.
DDCS channel CH0 is lost. Check group 51 MASTER ADAPTER (fieldbus
(programmable
Fault Function, see adapter) parameter settings.
Par. 70.04 and Check group 52 STANDARD MODBUS
70.05) (Standard Modbus link) parameter settings.
Check drive node address.
Check that bus master is communicating and
correctly configured.
Check cable connections and earthings.
Check fieldbus adapter connection.
Check optic fibres between Advant controller
(or type Nxxx fieldbus adapter) and RMIO
board DDCS channel CH0.
Replace fibre optic cables.
DC BUS LIM Drive limits torque due to too high or too low Informative alarm.
(3211) intermediate circuit DC voltage. Check Fault Function parameters.
DC UNDERVOLT Undervoltage trip limit has been reached Only indication

(3220) during Auto Restart.
09.05 AW 2 bit 14
DIGITAL IO Digital input error on RMIO board Replace RMIO board.

(5442)
09.04 AW 1 bit 7
Fault tracing
275
EARTH FAULT Drive has detected load unbalance typically Check that there are no power factor correction
(2330) due to external fault (earth fault in motor or capacitors or surge absorbers in motor cable.
09.04 AW 1 bit 14 motor cable) or internal fault (damaged Check that there is no earth fault in motor or
component). motor cables:
(programmable
Fault Function, see - measure insulation resistances of motor and
Par. 30.20) motor cable.
If no earth fault can be detected, contact your
local ABB representative.
Earth fault level can be sensitive with If no earth fault is detected, increase
non-parallel-connected R8i inverter modules parameter setting 30.25 EARTH FAULT
with long motor cables. LEVEL by one.
EM STOP Emergency Stop has been activated either by Return emergency stop push button to normal
(F081) digital input DI1 (if programmed with adaptive position.
09.04 AW 1 bit 1 programming blocks) or by 07.01 MAIN Check that Control Word is sent by external
CONTROL WORD bit 1 or 2 (= 0). control system to drive. See 07.01 MAIN
CONTROL WORD bits 1 and 2 or CW block
(see ACS600/ACS800 Application Guide
Adaptive Program for System Application
Program 7.x [3AFE68420075 (English)]).
Change drive status to READY: Main Control
Word bit 0 is first set to 0 and then back to 1.
With local and I/O control: Restart drive.
ENCODER A<>B Pulse encoder phasing is wrong: Phase A is Interchange connection of pulse encoder
(7302) connected to terminal of phase B and vice phases A and B.
09.05 AW 2 bit 4 versa.
ENCODER ERR Communication fault between pulse encoder Check parameter group 50 SPEED
(7301) and pulse encoder interface module or MEASUREMENT settings.
09.04 AW 1 bit 5 between pulse encoder interface module and Check encoder pulse number.
drive.
(programmable Check pulse encoder and its wiring and
Fault Function, see This can be caused by loose cable connection, module and its wiring including Ch A and Ch B
Par. 50.05) communication time-out, faulty pulse encoder, phasing. Sign of 01.03 SPEED MEASURED
faulty pulse encoder module, or too great must be same as sign of internal actual speed
difference between estimated and measured 01.02 SPEED ESTIMATED. If not, exchange
actual speeds. channels A and B.
Check connection between RMIO board and
RTAC pulse encoder module.
Check fibre optic connection between RMIO
board and NTAC pulse encoder module.
Check earthing of pulse encoder cable.
Check for highly emissive components nearby.
EXT AIO Analogue I/O error on RAIO I/O Extension Check cabinet temperature.
(7081) module Replace RAIO module if alarm is continuously
09.04 AW 1 bit 10 active.
EXT DIO Digital input error on RDIO I/O Extension Check cabinet temperature.
(7082) module Replace RDIO module if alarm is continuously
09.04 AW 1 bit 9 active.
Fault tracing
276
FAN OVERTEMP Fan fault of sine filter. Check the fan and replace if faulted.
(FF83) Check DI2 circuit of DI/O EXT MODULE 2.
FOLLOWER FLT There is an active alarm in follower drive. Check the fault loggers of follower drives to
(FF7E) Note, this message is indicated in master locate drive and its alarm message.
drive. Information is received via M/F link to
master.
ID DONE Drive has performed motor identification Continue drive operation.

(FF32) magnetisation and is ready for operation. This
alarm belongs to normal start-up procedure.
ID MAGN Motor identification magnetisation is on. This Wait until drive indicates that motor
(FF31) alarm belongs to normal start-up procedure. identification is completed.
ID MAGN REQ Motor identification is required. This alarm Start Identification Magnetisation by pressing
(FF30) belongs to normal start-up procedure. Drive Start key, or select ID run and start. See
expects user to select how motor identification parameter 99.07 MOTOR ID RUN.
should be performed: by Identification
Magnetisation or by ID run.
ID N CHANGED Drive ID (i.e. Modbus ID) number has been Change ID number back to 1. See section How
(FF68) changed from 1. to select a drive and change its panel link ID
number on page 48.
INV CUR LIM Internal inverter current or power limit has Reduce load or increase ramp time.
(2212) been exceeded. Limit inverter actual power or decrease line-
side converter reactive power generation
reference value.
Check Fault Function parameters.
INV DISABLED Drive DC switch has been opened while drive Close DC switch.
(3200) was stopped. DC switch status of each parallel-connected
09.02 FW 2 bit 4 This diagnostics is valid only for R8i inverter inverter module can be monitored by signal
08.20 INV modules equipped with ASFC Switch Fuse 08.20 INV ENABLED WORD.
ENABLED WORD Controller unit. If DC switch is not included in drive system,
deactivate this function by Par. 98.12 FUSE
SWITCH CTRL. Note: With R7i inverter units
equipped with charging option +F272
monitoring must be active.
INV OVERLOAD Inverter overload (ACS 600 only). 200% cycle Check load.
(5481) load has lasted 10 seconds. Check drive dimensioning.
I/O SP REF Analogue input AI1 of RMIO board has been Use analogue input AI2 for speed reference by
(7281) selected for speed reference and motor setting parameter 11.01 EXT REF1 SELECT to
temperature measurement when I/O control STD AI2
(98.02 = NO) or HAND/AUTO (10.07 HAND/ or
AUTO) function has been selected. use RAIO Analogue I/O Extension module.
See 98.06 AI/O EXT MODULE 1.
Fault tracing
277
KLIXON Motor 1 or motor 2 overtemperature: Thermal Check motor ratings and load.
(4311) switch or thermistor relay connected to digital Check cable.
(programmable input has opened or overtemperature is
Check PTC thermistor and thermal switch /
Fault Function, see detected by PTC thermistor connected digital
thermistor relay connections.
Par. 31.01) input DI6.
If thermistor resistance is over 4 kohm, motor
temperature is too high. Wait for motor to cool
down. State of DI6 returns back to 1 when
thermistor resistance is between 0...1.5 kohm.
Replace I/O board if voltage of selected digital
input for thermal switch / thermistor relay is
correct, but state of DI6 is 0 (01.15 DI6-1
STATUS or 08.05 DI STATUS WORD).
Check parameter 10.05 KLIXON setting.
Check Fault Function parameter.
LSU DI2 OPEN LSU start is prevented. Check the interlockings in DI2 circuit in LSU.
(FF96)
LSU TEMP Converter IGBT temperature is excessive. Check ambient conditions.

(4292) Warning is activated if temperature exceeds Check air flow and fan operation.
05.12 LSU ALARM 135 °C.
WORD bit 4
Check line current against converter current.
MACRO CHANGE Macro is restoring or user macro is being Wait until drive has finished task.
(FF69) saved.
M/F CONNECT Incompatible data type has been selected to be Change 70.09...70.11 parameter values.
(7582) sent by Master drive to Follower drive(s).
MOD BOARD T Overtemperature in AINT board of inverter Check inverter fan.

(FF88) module. Check ambient temperature.
09.11 AW 3 bit 14
MOD CHOKE T Overtemperature in choke of liquid cooled R8i Check inverter fan.
(FF89) inverter module Check ambient temperature.
09.11 AW 3 bit 13 Check liquid cooling system.
MOT CUR LIM Drive limits motor current according to current Reduce load or increase ramp time.
(2300) limit defined by parameter 20.04 MAXIMUM Increase parameter 20.04 MAXIMUM
CURRENT. CURRENT value.
MOT POW LIM Drive limits motor power according to limits Informative alarm.
(FF86) defined by parameters 20.17 and 20.18. Check parameter 20.17 P MOTORING LIM
and 20.18 P GENERATING LIM settings.
Fault tracing
278
MOT TORQ LIM Drive limits motor torque according to Informative alarm.
(FF85) calculated motor pull-out torque limit and Check torque limit parameters in group 20
minimum and maximum torque limits defined in LIMITS.
group 20 LIMITS.
If LIMIT WORD 1 bit 0 TORQ MOTOR LIM is
1,
- check motor parameter settings (parameter
group 99 START-UP DATA)
- ensure that ID run has been completed
successfully.
MOTOR FAN Acknowledgement signal is missing from Check acknowledgement circuit (35.02 FAN
(7083) external motor fan control circuit. ACK DELAY).
09.05 AW 2 bit 0 Check overload protection device of motor fan.
If protection has tripped, reset it.
Check condition of fan bearings by rotating fan
manually.
Replace fan.
MOTOR STALL Motor is operating in stall region due to e.g. Check motor load and drive ratings.
(7121) excessive load or insufficient motor power. Check Fault Function parameters.
09.05 AW 2 bit 9
(programmable
Fault Function, see
Par. 30.13...30.15)
MOTOR STARTS Motor identification run starts (drive is in Local Wait until drive indicates that motor
(FF34) control mode). This alarm belongs to ID run identification is completed.
procedure.
MOTOR TEMP Motor overtemperature based on motor Check motor ratings, load and cooling.
(4310) thermal model. This can be caused by Check start-up data.
09.04 AW 1 bit 3 excessive load, insufficient motor power,
inadequate cooling or incorrect start-up data.
(programmable Check parameter 30.28 THERM MOD ALM L
Fault Function, see setting. If USER MODE is selected, check
Par. 30.02) parameter 30.09...30.12, 30.30 and 30.31
settings.
Fault tracing
279
MOTOR TEMP M Measured motor 1 or 2 temperature has Check alarm limit value.
(4312) exceeded alarm limit set by parameters 30.04 Check that actual number of sensors
09.04 AW 1 bit 2 MOT 1 TEMP ALM L or 30.07 MOT 2 TEMP corresponds to set parameter value (30.03
ALM L. MOT1 TEMP AI1 SEL or 30.06 MOT2 TEMP
(programmable
Fault Function, see AI2 SEL).
Par. 30.04 or 30.07) Let motor cool down. Ensure proper motor
cooling: Check cooling fan, clean cooling
surfaces, etc.
Check motor ratings and load.
Check start-up data.
Check Pt100, KTY84-1xx or PTC connections
of AI and AO of RMIO board or RAIO
Extension module.
If RAIO Extension module is used for
temperature measurement, check DIP switch
and parameter 98.06 AIO EXT MODULE 1
settings.
MPROT SWITCH Motor overload, i.e. motor protection switch Check motor ratings and load.
(4315) has opened. Check cable connections.
09.04 AW 1 bit 12 Check Fault Function parameter.
(programmable Check parameter 10.11 MOT PROT SWITCH
Fault Function, see setting.
Par. 31.04)
Check digital input status. See 01.15 DI6-1
STATUS or 08.05 DI STATUS WORD.
PANEL LOSS Control panel or DriveWindow selected as Check control panel connection. Check control
(5300) active control location for drive has ceased panel connector. See appropriate hardware
09.05 AW 2 bit 13 communicating. manual.
(programmable Press RESET key (on control panel or
Fault Function, see DriveWindow).
Par. 30.21) Replace control panel in mounting platform.
Check DriveWindow connections.
POWDOWN FILE Error in restoring powerdown.ddf file Replace RMIO board if alarm is continuously
(FFA5) active.
09.05 AW 2 bit 8
POWFAIL FILE Error in restoring powerfail.ddf file during RMIO Replace RMIO board if alarm is continuously
(FFA0) board power switch-off. active.
09.05 AW 2 bit 7
PP OVERLOAD Excessive IGBT junction to case temperature. Check cooling.

(5482) This can be caused by excessive load at low Check inverter dimensioning.
08.07 LW 1 bit 5 frequencies (e.g. fast direction change with Increase speed reference ramp time.
excessive load and inertia).
Reduce load.
REPLACE FAN Running time of inverter cooling fan has Change fan.
(4280) exceeded its estimated life time. Reset fan run time counter (01.31 FAN ON-
TIME).
Fault tracing
280
RESTARTED Motor has been restarted with AUTO Only indication

(1086) RESTART after short power failure. See
09.05 AW 2 bit 15 parameter 21.09 AUTO RESTART.
SAFETY SWITCH Safety switch was opened while drive was Close safety switch.
(7084) stopped (parameter 10.09 SAFETY SWITCH).
09.04 AW 1 bit 15
START INHIBI Safe torque off function has been activated Close Safe torque off function switch.
(FF7A) while drive was stopped. If switch is closed and fault is still active, check
09.04 AW 1 bit 0 power supply at ASTO board input terminals.
Replace ASTO board.
SWC ON INHIB Drive is in ON INHIB state. Set 07.01 MAIN CONTROL WORD bit 0 first to
(FF7F) 0, then back to 1.
08.01 MSW bit 6
SYNCRO SPEED Motor nominal speed setting is incorrect: Value Check nominal speed from motor rating plate
(FF87) is too near synchronous speed of motor. and set parameter 99.05 MOTOR NOM
Tolerance is 0.1%. SPEED exactly accordingly.
This alarm is active only in DTC mode.
SYSTEM START Inverter software has been started, i.e. If this alarm appears during normal operation
(1087) auxiliary voltage +24 V DC is connected. of drive, check RMIO board power supply.
Check +24 V DC supply circuit connections.
Check for possible short cuts in +24 V DC
circuit.
TEMP DIF x y Excessive temperature difference between Check cooling fan.

(4380) several parallel-connected inverter modules or Replace fan.
09.11 AW 3 bit 15 cooling fan failure.
Check air filters.
09.18 TEMP DIF Excessive temperature can be caused e.g. by
ALM WORD unequal current sharing between parallel-
connected inverter modules.
x (1...12) refers to inverter module number and
y (U, V, W) refers to faulty phase.
T MEAS CIRC Error in motor temperature measurement Check connections of motor temperature
(FF91) circuit. This can be caused by broken measurement circuit. See section Temperature
09.04 AW 1 bit 6 temperature sensor or cable. sensors on page 90 for connection diagrams.
(programmable
Fault Function, see
Par. 31.03)
UNDERLOAD Motor load is too low due to e.g. release Check for problem in driven equipment.
(FF6A) mechanism in driven equipment. Check Fault Function parameters.
09.05 AW 2 bit 1
(programmable
Fault Function, see
Par. 30.16...30.18)
Fault tracing
281
Alarm messages generated by the control panel

DOWNLOADING Download function of panel has failed. No data Make sure panel is in local mode.
FAILED has been copied from panel to drive. Retry (there might be interference on link).
Contact your local ABB representative.
DRIVE Program versions in panel and drive do not Check program versions. See signal group 04
INCOMPATIBLE match. It is not possible to copy data from INFORMATION.
DOWNLOADING panel to drive.
NOT POSSIBLE
DRIVE IS Downloading is not possible while motor is Stop motor. Perform download.
RUNNING running.
DOWNLOADING
NOT POSSIBLE
NO Cabling problem or hardware malfunction on Press RESET key. Panel reset may take up to
COMMUNICATION panel link. half a minute, please wait.
Check panel link connections.
Panel type is not compatible with drive Check panel type and version of drive
application program version. application program. Panel type is printed on
panel cover. Application program version is
stored in signal 04.03 APPLIC SW VERSION.
NO FREE ID Panel link already includes 31 stations. Disconnect another station from link to free ID
NUMBERS number.
ID NUMBER
SETTING NOT
POSSIBLE
NOT UPLOADED No upload function has been performed. Perform upload function before downloading.
DOWNLOADING See section Function mode on page 45.
NOT POSSIBLE
UPLOADING Upload function of panel has failed. No data Retry (there might be interference on link).
FAILED has been copied from drive to panel. Contact your local ABB representative.
WRITE ACCESS Certain parameters do not allow changes while Stop motor and change parameter value.
DENIED motor is running. If tried, no change is
PARAMETER accepted, and alarm is displayed.
SETTING NOT
POSSIBLE Parameter lock is on. Open parameter lock by parameter 16.02
PARAMETER LOCK.
Fault tracing
282
Alarms by number
Alarm Alarm name Alarm Alarm name Alarm Alarm name
number number number
1086 RESTARTED 7302 ENCODER A<>B
1087 SYSTEM START 7510 COMM MODULE
2212 INV CUR LIM 7520 CH2 COMM LOSS
2300 MOT CUR LIM 7582 M/F CONNECT
2330 EARTH FAULT 8110 AI<MIN FUNC
3200 INV DISABLED F081 EM STOP
3211 DC BUS LIM FF31 ID MAGN
3220 DC UNDERVOLT FF32 ID DONE
4080 CABLE TEMP FF33 ID RUN SEL
4210 ACS800 TEMP FF34 MOTOR STARTS
4280 REPLACE FAN FF36 CALIBRA REQ
4292 LSU TEMP FF37 CALIBRA DONE
4310 MOTOR TEMP FF68 ID N CHANGED
4311 KLIXON FF69 MACRO CHANGE
4312 MOTOR TEMP M FF6A UNDERLOAD
4315 MPROT SWITCH FF7A START INHIB
4380 TEMP DIF x y FF7E FOLLOWER FLT
5300 PANEL LOSS FF7F SWC ON INHIB
5441 ANALOG IO FF83 FAN OVERTEMP
5442 DIGITAL IO FF85 MOT TORQ LIM
5481 INV OVERLOAD FF86 MOT POW LIM
5482 PP OVERLOAD FF87 SYNCRO SPEED
5581 BATT FAILURE FF88 MOD BOARD T
7081 EXT AIO FF89 MOD CHOKE T
7082 EXT DIO FF91 T MEAS CIRC
7083 MOTOR FAN FF96 LSU DI2 OPEN
7084 SAFETY SWITCH FFA0 POWFAIL FILE
7112 BR OVERHEAT FFA3 BACKUP USED
7121 MOTOR STALL FFA5 POWDOWN FILE
7281 I/O SP REF FFD6 AP PRG ERR
7301 ENCODER ERR
Fault tracing
283
Fault messages generated by the drive

Fault Cause What to do
ACS800 TEMP Drive IGBT temperature is excessive. Check ambient conditions.

(4210) Check air flow and fan operation.
09.01 FW 1 bit 3 Check heatsink fins for dust pick-up.
Check motor power against unit power.
ACS TEMP x y Excessive internal temperature in inverter Check ambient conditions.

(4210) module of several parallel-connected inverter Check air flow and fan operation.
09.01 FW 1 bit 3 modules. x (1...12) refers to faulty inverter
module number and y (U, V, W) refers to faulty
09.16 OVERTEMP Check motor power against unit power.
phase.
WORD
AGDR DU/DT C Configuration mismatch. Use the same IGBT type in all parallel
(5412) Different IGBT types detected between connected modules.
09.07 FW 4 bit 1 parallel-connected modules.
AINT ID CONFIG Configuration mismatch. Use the same AINT board type in all parallel
(5411) Different AINT board types detected between connected modules.
09.07 FW 4 bit 2 parallel-connected modules with inconsistent
DC voltage measurement scaling.
AI<MIN FUNC Analogue control signal is below minimum Check for proper analogue control signal
(8110) allowed value. This can be caused by incorrect levels.
09.02 FW 2 bit 10 signal level or failure in control wiring. Check control wiring.
(programmable Check Fault Function parameter.
Fault Function, see Check analogue input AI minimum value
Par. 30.27) settings (parameter group 13 ANALOGUE
INPUTS).
AP [message] Message generated by an EVENT block in the Consult the documentation or author of the
Adaptive Program. Adaptive Program.
BACKUP ERROR Failure when restoring PC-stored backup of Retry.

(FFA2) drive parameters. Check connections.
Check that parameters are compatible with
drive.
BC OVERHEAT Brake chopper overload Stop drive. Let chopper cool down.
BRAKE CHOPPER).
excessive.
BC SHORT CIR Short circuit in brake chopper IGBT(s) Replace brake chopper.
(7113) Ensure brake resistor is connected and not
damaged.
BR BROKEN Brake resistor is not connected or it is Check resistor and resistor connection.
(7110) damaged. Check that resistance rating meets
Resistance rating of brake resistor is too high. specifications. See drive hardware manual.
Fault tracing
284
BR OVERHEAT Brake resistor overload Stop drive. Let resistor cool down.
BRAKE CHOPPER).
excessive.
BR WIRING Wrong connection of brake resistor(s) Check resistor connection.

(7111) Ensure brake resistor is not damaged.
CABLE TEMP Motor cable temperature is too high (i.e. Check motor load.
(4080) relative cable temperature 01.27 CABLE Check motor cable and its type.
09.02 FW 2 bit 3 TEMPERATURE is 106%).
Check cable thermal model settings
(parameter group 36 MOTOR CABLE
PROTECTION).
CHOKE OTEMP Excessive temperature of drive output filter. Let drive cool down.
(FF82) Supervision is in use in sine filter and step-up Check ambient temperature-
09.06 FAULT applications.
Check filter fan rotates in correct direction and
WORD3 bit 8 air flows freely.
Check the DI1 circuit of DI/O EXT MODULE 2.
CH2 COMM LOSS RMIO channel CH2 (Master/Follower link) Check fibre optic cables on DDCS channels
(7520) communication error CH2s.
09.01 FW 1 bit 11 Check that fibre optic cable loop is closed.
(programmable Replace fibre optic cables.
Fault function, see Check that there is one Master drive and
Par. 70.14) remainder are Followers in M/F link (70.08
CH2 M/F MODE).
Check if Master can communicate.
Replace optional RDCO module.
COMM MODULE Cyclical communication between drive and Check fieldbus communication status. See
(7510) type Rxxx fieldbus module or between drive chapter Fieldbus control, or appropriate
09.02 FW 2 bit 12 and external control system connected to fieldbus adapter manual.
DDCS channel CH0 is lost. Check group 51 MASTER ADAPTER (fieldbus
(programmable
Fault function, see adapter) parameter settings.
Par. 70.04 and Note: When COMM MODULE fault is Check group 52 STANDARD MODBUS
70.05) activated, torque selector (26.01 TORQUE (Standard Modbus link) parameter settings.
SELECTOR) is set to speed control. Check drive node address.
Check that bus master is communicating and
correctly configured.
Check cable connections and earthings.
Check fieldbus adapter connections.
Check optic fibres between Advant controller
(or type Nxxx fieldbus adapter) and RMIO
board DDCS channel CH0.
Fault tracing
285
CTRL B TEMP RMIO control board temperature is out of Check cabinet air flow and fan operation.
(4110) acceptable range. Environment temperature is
09.02 FW 2 bit 7 too high (> 80°C).
CURR MEAS Current transformer failure in output current Check current transducer connections to Main
(2211) measurement circuit Circuit Interface Board, AINT.
CUR UNBAL x Drive has detected excessive output current Check motor and motor cable circuit.
(2330) unbalance in inverter unit of several parallel- Check that there are no power factor correction
09.13 CURRENT connected inverter modules. This can be capacitors or surge absorbers in motor cable.
UNBALANCE caused by external fault (earth fault, motor
DO NOT change parameter 30.25 EARTH
fault, motor cabling fault, etc.) or internal fault
09.01 FW 1 bit 4 FAULT LEVEL setting.
(damaged inverter component). x (1...12)
refers to faulty inverter module number. Check contents of APBU branching unit data
logger.
Contact your local ABB representative.
DC HIGH RUSH Drive supply voltage is excessive. DC voltage Check supply voltage level, rated voltage of
(FF80) rises too fast for overvoltage controller (if used) drive and allowed voltage range of drive.
09.06 FW 3 bit 11 to react.
When supply voltage is over 124% of unit
voltage rating (415, 500 or 690 V), motor
speed rushes to trip level (40% of nominal
speed).
DC OVERVOLT Excessive intermediate circuit DC voltage. This Check that overvoltage controller is on
(3210) can be caused by (parameter 30.23 OVERVOLTAGE CTL).
09.01 FW 1 bit 2 1. Static or transient overvoltages in mains. Check mains for static or transient overvoltage.
2. Faulty brake chopper or resistor(s) (if used). Check brake chopper and resistor(s) (if used).
3. Too short deceleration time (if there is no
Check deceleration time.
brake chopper or regenerative incoming
section). If regenerative incoming section is used, check
4. Internal fault in inverter unit. that diode mode is not forced during
deceleration: Check that TSU 07.01 Main
DC overvoltage trip limit is 1.3 × 1.35 × U1max,
Control Word bit 9 status is FALSE.
where U1max is maximum value of input
voltage range. Use coast to stop function (if applicable).
Check DC voltage level and inverter nominal
Unom of UDC overvoltage
U1max voltage.
inverter unit trip limit
Retrofit frequency converter with brake
400 V 415 V 728 V DC
chopper and brake resistor(s).
500 V 500 V 877 V DC
690 V 690 V 1210 V DC
DC UNDERVOLT Intermediate circuit DC voltage is not sufficient Check mains supply and fuses.
(3220) due to missing mains phase in diode rectifier With standard drive hardware:
09.02 FW 2 bit 2 bridge.
Check that RUN ENABLE signal connected to
DC undervoltage trip limit is 0.6 × 1.35 × U1min, digital input DI2 is active (1 = active) when
where U1min is minimum value of input voltage inverter is powered.
range.
Unom of UDC undervoltage

U1min
inverter unit trip limit
400 V 380 V 308 V DC
500 V 380 V 308 V DC
690 V 525 V 425 V DC
Fault tracing
286
DDF FORMAT File error in flash memory Replace RMIO board.

(FFA6)
09.03 SFW bit 3
EARTH FAULT Drive has detected load unbalance typically Check that there are no power factor correction
(2330) due to external fault (earth fault in motor or capacitors or surge absorbers in motor cable.
09.01 FW 1 bit 4 motor cable) or internal fault (damaged Check that there is no earth fault in motor or
component). motor cables:
(programmable
Fault Function, see - measure insulation resistances of motor and
Par. 30.20) motor cable.
If no earth fault can be detected, contact your
local ABB representative.
Earth fault level can be sensitive with non- If no earth fault is detected, increase
parallel-connected R8i inverter modules with parameter setting 30.25 EARTH FAULT
long motor cables. LEVEL by one.
EM STOP DEC Motor speed is not within defined limits during Check parameter 21.05 EM STOP DER MAX L
(F082) emergency stop deceleration. and 21.07 EM STOP DEC MON DEL settings.
09.04 AW 1 bit 13 Check load.
ENCODER A<>B Pulse encoder phasing is wrong: Phase A is Interchange connection of pulse encoder
(7302) connected to terminal of phase B and vice phases A and B.
09.06 FW 3 bit 10 versa.
ENCODER ERR Communication fault between pulse encoder Check parameter group 50 SPEED
(7301) and pulse encoder interface module or MEASUREMENT settings.
09.02 FW 2 bit 5 between pulse encoder interface module and Check encoder pulse number.
drive.
(programmable Check pulse encoder and its wiring and
Fault Function, see This can be caused by loose cable connection, module and its wiring including Ch A and Ch B
Par. 50.05) communication time-out, faulty pulse encoder, phasing. Sign of signal 01.03 SPEED
faulty pulse encoder module, or too great MEASURED must be same as sign of internal
difference between estimated and measured actual speed 01.02 SPEED ESTIMATED. If
actual speeds. not, exchange channels A and B.
Check connection between RMIO and optional
RDCO module.
Check fibre optic connection between RMIO
board and NTAC pulse encoder module.
Check earthing of pulse encoder cable.
Check for highly emissive components nearby.
FACTORY FILE Factory macro parameter file error Replace RMIO board.
(FFA7)
09.03 SFW bit 0
FLT (xx) Drive internal fault Check for loose connections in drive cabinet.
08.01 MSW bit 3 Write down Fault code (in brackets). Contact
your local ABB representative.
FOLLOWER FLT A fault active in follower drive. Check the fault loggers of follower drives to
(FF7E) Note, this message is indicated in master locate faulty drive and its fault message.
drive. Information is received via M/F link to
master.
Fault tracing
287
GD DISABLED X ASTO power supply of parallel-connected R8i Check Safe torque off function circuit.
(FF53) inverter module has been switched off during Replace ASTO board of R8i inverter module.
run. X (1...12) refers to inverter module
09.06 FW 3 bit 6
number.
ID RUN FAIL Motor ID run is not completed successfully. Check nominal motor values from parameter
(FF84) group 99 START-UP DATA.
08.01 MSW bit 3 Check that no external control system is
connected to drive.
Switch off auxiliary voltage supply from RMIO
board and power-up drive again.
Check group 20 LIMITS parameter settings.
20.02 MAXIMUM SPEED should be at least
80% of 99.05 NOMINAL SPEED.
Check that no limits prevent ID run. Restore
factory settings and try again.
Check that motor shaft is not locked.
ILLEGAL INST Operating system error Change RMIO board of RDCU control unit.
(FF5F)
09.03 SFW bit 11
INT CONFIG Number of R8i inverter modules recognized by Check status of inverters. See signal 08.22 INT
(5410) application program during PPCC link CONFIG WORD.
09.06 FW 3 bit 7 configuration is not equal to original number of Check fibre optic cables between APBU and
inverters. inverter modules.
Check inverter modules which are not
recognized by application program.
If reduced run function is used, isolate faulted
inverter module from main circuit and write
number of remaining inverter modules to
parameter 16.10 INT CONFIG USER. Reset
drive. See section Reduced run function on
page 86.
INV DISABLED DC switch has opened while drive was running Close DC switch.
(3200) or start command was given. DC switch status of each parallel-connected
09.02 FW 2 bit 4 This diagnostics is valid only for R8i inverter inverter module can be monitored by signal
modules equipped with AFSC-0x Fuse Switch 08.20 INV ENABLED WORD.
Controller unit. If DC switch is not included in drive system,
deactivate this function by Par. 98.12 FUSE
SWITCH CTRL. Note: With R7i inverter units
equipped with charging option +F272
monitoring must be active.
INV OVERLOAD Forced cooling cycle for inverter is active after Load is too high.
(5481) the overloading cycle 10 / 60 s. Check the dimensioning and process.
09.05 AW 2 bit 2
Fault tracing
288
IO COMM ERR I/O communication fault. This can be caused Option slot installation (RAIO, RDIO, RTAC):
(7000) by faulty I/O unit, defective fibre optic cable - Check option module status LED (WD/INIT,
09.02 FW 2 bit 6 connection or incorrect module identification yellow). LED is lit when drive is configuring
number (if I/O extension modules are present module during power-up. If LED does not go
via optic link). out after one second, configuration has failed.
- Check option module connections.
- Check connection between option module
and RMIO board.
- Change option module.
- Switch drive supply power off and on again.
I/O Module Adapter installation (AIMA-01):
- Replace fibre optic cables.
- Check node ID of extension I/O module.
- Check light intensity of fibre optic channels on
AIMA-01 adapter. See I/O Module Adapter
AIMA-01User’s Manual [3AFE 64661442
(English)].
- Replace I/O module adapter / extension
unit(s) if fault is still active.
KLIXON Motor 1 or motor 2 overtemperature: Thermal Check motor ratings and load.
(4311) switch or thermistor relay connected to digital Check cable.
09.01 FW 1 bit 5 input has opened or overtemperature detected
Check PTC thermistor and thermal switch /
by PTC thermistor connected digital input DI6.
(programmable thermistor relay connections.
Fault Function, see If PTC thermistor resistance is over 4 kohm,
Par. 31.01) motor temperature is too high. Wait for motor
to cool down. State of DI6 returns back to 1
when thermistor resistance is between 0…1.5
kohm.
Replace I/O board if voltage of selected digital
input for thermal switch / thermistor relay is
correct, but state of DI6 is 0 (01.15 DI6-1
STATUS or 08.05 DI STATUS WORD).
Check parameter 10.05 KLIXON setting.
Check FAULT FUNCTIONS parameters.
LINE CONV Line-side converter fault Shift panel from motor-side converter control
(FF51) board to line-side converter control board.
09.06 FW 3 bit 3 See line-side converter firmware manual for
fault description.
LSU CHARGING DC link voltage is not high enough after In LSU:

(3284) charging. Check charging circuit fuses.
05.11 LSU FAULT DC link voltage has not exceeded minimum Check charging circuit.
WORD bit 0 limit or current is not below preset limit.
Check possible short circuit in DC link.
Faulty PPCC link (DC voltage measurement is
Check undervoltage trip limit (parameter 30.12
zero).
DC UNDERVOLT TRIP).
Check PPCC link. See fault message PPCC
LINK.
Fault tracing
289
LSU COMM Cyclical communication between INU and LSU Check optic fibres in RDCU units between INU
(7581) is lost. - LSU.
05.11 LSU FAULT Replace fibre optic cables.
WORD bit 10 Check that following parameters have similar
selection (e.g. WIDE - INU COM WIDE or
LIMITED - INU COM LIM)
95.05 LSU COMM SEL in INU
98.02 COMM MODULE in LSU.
LSU DC OVOLT Excessive intermediate circuit DC voltage. This Check level of supply voltage, DC voltage and
(3283) can be caused by converter nominal voltage.
05.11 LSU FAULT - static or transient overvoltages in mains, or Check DC overvoltage trip limit (parameter
WORD bit 15 - excessive supply voltage during 30.11) in LSU.
synchronisation.
Default trip limit is 427 V DC for 240 V units,
740 V DC for 415 V units, 891 V DC for 500 V
units and 1230 V DC for 690 V units.
LSU DC UVOLT Intermediate circuit DC voltage is not sufficient Check supply and converter fuses.
(3282) because of due to missing mains phase, blown Check supply voltage.
05.11 LSU FAULT fuse or converter internal fault.
Check DC undervoltage trip limit (parameter
WORD bit 14 Default trip limit is 170 V DC for 240 V units, 30.12 BREAK POINT ) in LSU.
293 V DC for 415 V units, 354 V DC for 500 V
units and 488 V DC for 690 V units.
LSU EARTH F Earth fault in earthed/grounded network. Check converter and LCL filter for earth
(2383) Sum of line currents measured with internal leakages.
05.11 LSU FAULT current transducers is too high. Check motor.
WORD bit 12 Earth (ground) fault in LCL filter, converter, DC Check motor cables.
link, inverter(s), motor cables or motor, or Check inverter(s).
current imbalance in parallel connected
Earth (ground) fault detection can be too
converters.
sensitive. Check parameter 30.03 EARTH
FAULT LEVEL settings in LSU.
Check converter fuses (parallel connected
converter modules).
LSU EXT DI1 Overtemperature monitoring with thermal Check all acknowledge circuit connections to
(1082) switches (KLIXON) in DI1 circuit. This digital input DI1 in LSU.
05.11 LSU FAULT supervision is active only when converter is in
WORD bit 5 RDY_RUN state (i.e. 08.01 MAIN STATUS
WORD bit 1 = 1).
LSU EXT DI4 LSU digital input DI4 fault. Check digital input DI4.
(1080) Check parameter 30.04 DI4 EXT EVENT
05.11 LSU FAULT setting.
WORD bit 4
LSU EXT DI5 LSU digital input DI5 fault. Check digital input DI5 circuit.
(1081) Check parameter 30.05 DI5 EXT EVENT and
05.11 LSU FAULT 30.10 DI5 TRIP DELAY settings.
WORD bit 2
Fault tracing
290
LSU INTERNAL Internal fault Write down the fault message from LSU fault
(1083) log and contact your local ABB representative.
05.11 LSU FAULT
WORD bit 8
LSU MAIN BR LSU main contactor / main breaker is not Check main contactor / main breaker control
(2384) functioning properly, or there is a loose/bad interlocking circuit.
05.11 LSU FAULT connection. Check main contactor operating voltage level
WORD bit 6 (should be 230 V).
Check digital input DI3 connections.
LSU NET VOLT Main supply voltage is out of acceptable range Check main supply voltage.
(3285) during synchronisation or Line-side Restart unit.
05.11 LSU FAULT Identification. Trip limits is 115 V for 230 V
WORD bit 9 units, 208 V for 415 V units, 250 V for 500 V
units and 345 V for 690 V units.
LSU OVERCURR Excessive input current at LSU. There are two Check motor load.
(2380) overcurrent trip limits: Check supply voltage.
05.11 LSU FAULT - 0.98 converter maximum current (parameter Check that there are no power factor
WORD bit 1 04.08 ) compensation capacitors in supply.
- approximately 190% of converter nominal Check converter power semiconductors
current (parameter 04.05). (IGBTs) and current transducers.
LSU OVERTEMP LSU converter IGBT temperature is excessive. Check ambient conditions.
(4291) Trip level is 140 °C. Check air flow and fan operation.
05.11 LSU FAULT Check heatsink fins for dust pick-up.
WORD bit 3
Check line current against converter current.
LSU SC Short circuit fault Measure resistances of converter power

(2381) semiconductors (IGBTs).
05.11 LSU FAULT If faulty IGBTs are found, replace IGBTs and/or
WORD bit 7 INT and/or NGDR boards or converter module.
Check main circuit.
LSU START Syncronisation failed. Not synchronised within Check grid distortion situation.
(FF97) 7 seconds.
LSU SYNCHRO Synchronisation to supply network has failed. Perform Line-side Identification routine again.
(8180) Supply frequency has changed remarkably See parameter 99.07 LINE SIDE ID RUN in
05.11 LSU FAULT since sine-sidei identification routine. LSU.
WORD bit 13 Check 3 phase supply to LSU.
MOD BOARD T Overtemperature in AINT board of inverter Check inverter fan.

(FF88) module. Check ambient temperature.
09.06 FW 3 bit 14
MOD CHOKE T Overtemperature in choke of liquid cooled R8i Check inverter fan.
(FF89) inverter module Check ambient temperature.
09.06 FW 3 bit 13 Check liquid cooling system.
Fault tracing
291
MOTOR FAN Acknowledgement signal is missing from Check acknowledgement circuit (35.02 FAN
(7083) external motor fan control circuit. ACK DELAY).
09.06 FW 3 bit 0 Check overload protection device of motor fan.
If protection has tripped, reset it.
Check condition of fan bearings by rotating fan
manually.
Replace fan.
MOTOR PHASE One of motor phases is lost due to fault in Check motor and motor cable.
(FF56) motor, motor cable, thermal relay (if used) or Check thermal relay (if used).
09.02 FW 2 bit 15 internal fault.
Check Fault Function parameter. Deactivate
(programmable protection.
Fault Function, see Fault can also appear with small motors
Par. 30.19). (< 30 kW) at low speed. Deactivate protection
in this case.
MOTOR STALL Motor is operating in stall region due to e.g. Check motor load and drive ratings.
(7121) excessive load or insufficient motor power. Check Fault Function parameters.
09.02 FW 2 bit 14
(programmable
Fault Function, see
Par. 30.13...30.15)
MOTOR TEMP Motor overtemperature based on motor Check motor ratings, load and cooling.
(4310) thermal model. This can be caused by Check start-up data.
09.01 FW 1 bit 6 excessive load, insufficient motor power,
inadequate cooling or incorrect start-up data.
(programmable Check parameter 30.29 THERM MOD FLT LIM
Fault Function, see setting. If USER MODE is selected, check
Par. 30.02) parameter 30.09...30.12, 30.30 and 30.31
settings.
MOTOR TEMP M Measured motor 1 or 2 temperature has Check fault limit value.
(4312) exceeded fault limit set by parameter 30.05 Check that actual number of sensors
09.01 FW 1 bit 5 MOT 1 TEMP FLT L or 30.08 MOT 2 TEMP corresponds to set parameter value (30.03
FLT L. MOT1 TEMP AI1 SEL or 30.06 MOT2 TEMP
(programmable
Fault Function, see AI2 SEL).
Par. 30.05 or 30.08) Let motor cool down. Ensure proper motor
cooling: Check cooling fan, clean cooling
surfaces, etc.
Check motor ratings and load.
Check start-up data.
Check Pt100, KTY84-1xx or PTC connections
of AI and AO of RMIO board or RAIO
Extension module.
If RAIO Extension module is used for
temperature measurement, check DIP switch
and parameter 98.06 AIO EXT MODULE 1
settings.
Fault tracing
292
MPROT SWITCH Motor overload, i.e. motor protection switch Check motor ratings and load.
(4315) has opened. Check cable connections.
09.01 FW 1 bit 10 Check Fault Function parameter.
(programmable Check parameter 10.11 MOT PROT SWITCH
Fault Function, see setting.
Par. 31.04)
Check digital input status. See 01.15 DI6-1
STATUS or 08.05 DI STATUS WORD.
NO MOTOR DATA Motor data is not given or motor data does not Check motor data (parameters 99.02...99.06).
(FF52) match with inverter data.
09.02 FW 2 bit 1
NVOS ERROR Non-volatile operating system error Replace RMIO board.

(FFA8)
09.03 SFW bit 2
OVERCURRENT Output current exceeds trip limit. Check motor load.

(2310) Check acceleration time.
09.01 FW 1 bit 1 Check motor and motor cable (including
phasing).
Check encoder cable (including phasing).
Check that there are no power factor correction
capacitors or surge absorbers in motor cable.
If drive tripped during flying start, check that
parameter 21.01 START FUNCTION is set to
AUTO. (Other modes do not support flying
start.)
Check nominal motor values from parameter
group 99 START-UP DATA to confirm motor
model is correct.
OVERCURR x Overcurrent fault in inverter unit of several Check motor load.

(2310) parallel-connected inverter modules. x (1...12) Check acceleration time.
09.01 FW 1 bit 1 refers to faulty inverter module number.
Check motor and motor cable (including
09.14 phasing).
OVERCURRENT Check encoder cable (including phasing).
WORD
Check that there are no power factor correction
capacitors or surge absorbers in motor cable.
If drive tripped during flying start, check that
parameter 21.01 START FUNCTION is set to
AUTO. (Other modes do not support flying
start.)
Check motor nominal values from parameter
group 99 START-UP DATA to confirm that
motor model is correct.
Fault tracing
293
OVERFREQ Motor is turning faster than highest allowed Check minimum/maximum speed settings.
(7123) speed due to incorrectly set minimum/ Check adequacy of motor braking torque.
09.01 FW1 bit 9 maximum speed, insufficient braking torque or
Check applicability of torque control.
changes in load when torque reference is
used. If drive has Diode Supply Unit (DSU), check
need for brake chopper and resistor(s).
Check parameter 20.11 FREQ TRIP MARGIN
setting.
OVER SWFREQ Switching frequency is too high. This can be Replace RMIO board.
(FF55) caused by electronic board hardware fault. Replace AINT board.
09.02 FW 2 bit 9 With parallel-connected inverter modules,
replace branching unit.
PANEL LOSS Control panel or DriveWindow selected as Check control panel connection. Check control
(5300) active control location for drive has ceased panel connector. See appropriate hardware
09.02 FW 2 bit 13 communicating. manual.
(programmable Press RESET key (on control panel or
Fault Function, see DriveWindow).
Par. 30.21) Replace control panel in mounting platform.
Check DriveWindow connection.
PARAM CRC CRC (Cyclic Redundancy Check) error Switch control board power off and on again.
(6320) Reload firmware to control board.
Replace control board.
POWERFAIL INT board powerfail. Check that AINT board power cable is
(3381) connected.
Check that POW board is working correctly.
Replace AINT board.
POWF INV x AINT board powerfail in R8i inverter unit of Check that AINT board power cable is
(3381) several parallel-connected inverter modules. connected.
x refers to inverter module number (x = 1…12). Check that POW board is working correctly.
Replace AINT board.
PPCC LINK AINT board current measurement or Check fibre optic cables between RMIO and
(5210) communication fault between RMIO and AINT. AINT boards.
09.02 FW 2 bit 11 Fault can be masked with 30.24 PPCC FAULT If fault is still active, replace RMIO and/or AINT
MASK. board.
Check IGBT(s).
If RMIO is powered from external supply,
ensure that supply is on. See parameter 16.07
CTRL BOARD SUPPLY.
Check that there is no short circuit in power
stage. Short circuit or overcurrent caused by
faulty IGBTs can activate PPCC LINK fault.
Fault tracing
294
PPCC LINK xx AINT board current measurement or Check fibre optic cable connection between
(5210) communication fault between RMIO and AINT RMIO and AINT boards.
09.02 FW 2 bit 11 in inverter unit of several parallel-connected Check cabling of branching unit.
inverter modules. xx (1...12) refers to faulty
If fault is still active, replace branching unit,
inverter module number.
RMIO and/or AINT board.
Fault can be masked with 30.24 PPCC FAULT
Check IGBT(s).
MASK.
Check that there is no short circuit in power
stage. Short circuit or overcurrent caused by
faulty IGBTs can activate PPCC LINK fault.
If fault is still active, replace inverter module.
PP OVERLOAD Excessive IGBT junction to case temperature. Check cooling.

(5482) This can be caused by excessive load at low Check inverter dimensioning.
08.07 LIMIT WORD frequencies (e.g. fast direction change with Increase speed reference ramp time.
INV bit 5 excessive load and inertia).
Reduce load.
RUN DISABLE No Run enable signal received, because: Check that RUN ENABLE signal connected to
(FF54) - circuit connected to digital input DI2 is open digital input DI2 is active (1 = active, i.e. circuit
09.02 FW2 bit 4 (0 = open) is closed) when inverter is powered.
- of external device fault.
Note: If DC switch is opened, fault RUN
DISABLE is activated.
SAFETY SWITCH Safety switch was opened during run Close safety switch.
(7084) (parameter 10.09 SAFETY SWITCH)
09.06 FW3 bit 2
SC INV x y Short circuit (i.e. excessive output current) in Check motor and motor cable.
(2340) inverter unit of several parallel-connected Check inverter module IGBTs.
09.01 FW 1 bit 0 inverter modules. x (1...12) refers to faulty
If faulty IGBT module is detected, replace
inverter module number and y (U, V, W) refers
09.15 SHORT IGBT module or inverter module.
to faulty phase.
CIRC FW
SHORT CIRC Short circuit fault (i.e. excessive output current) Check motor and motor cable.
(2340) 09.15 SHORT CIRC FW x (=1) refers to faulty Check inverter module IGBTs.
09.01 FW 1 bit 0 inverter module number and y (U, V, W) refers If faulty IGBT module is detected, replace
09.15 SHORT to faulty phase. IGBT module or inverter module.
CIRC FW
START INHIBI Safe torque off has been activated during Close Safe torque off switch.
(FF7A) motor run or motor start command has been If switch is closed and fault is still active, check
08.21 START given when Safe torque off is active. power supply at ASTO board input terminals.
INHIBI WORD Replace ASTO board.
09.06 FW 3 bit 5
SUPPLY PHASE DC voltage ripple in intermediate circuit is too Check mains fuses.
(3130) high. This can be caused by missing mains Check if mains supply is unbalanced.
09.02 FW 2 bit 0 phase in diode bridge rectifier, or DC voltage
oscillation due to thyristor rectifying (if used).
Fault tracing
295
TEMP DIF x y Excessive temperature difference between Check cooling fan.

(4380) several parallel-connected inverter modules or Replace fan.
09.06 FW 3 bit 15 cooling fan failure. Excessive temperature can
Check air filters.
be caused e.g. by unequal current sharing
09.17 TEMP DIF
between parallel-connected inverter modules.
FLT WORD
x (1...12) refers to inverter module number and
y (U, V, W) refers to faulty phase.
T MEAS CIRC Error in motor temperature measurement Check connections of motor temperature
(FF91) circuit. This can be caused by broken measurement circuit. See section Temperature
09.06 FW 3 bit 4 temperature sensor or cable. sensors on page 90 for connection diagrams.
(programmable
Fault Function, see
Par. 31.03)
UNDERLOAD Motor load is too low due to e.g. release Check for problem in driven equipment.
(FF6A) mechanism in driven equipment. Check Fault Function parameters.
09.01 FW 1 bit 8
(programmable
Fault Function, see
Par. 30.16...30.18)
USER MACRO No user macro saved or file is defective. Create user macro.
(FFA1)
09.03 SFW bit 1
Fault tracing
296
Faults by number
Fault Fault name Fault Fault name Fault Fault name
number number number
1080 LSU EXT DI4 4311 KLIXON FF51 LINE CONV
1081 LSU EXT DI5 4312 MOTOR TEMP M FF52 NO MOTOR DATA
1082 LSU EXT DI1 4315 MPROT SWITCH FF53 GD DISABLED X
1083 LSU INTERNAL 4380 TEMP DIF FF54 RUN DISABL
2211 CURR MEAS 5210 PPCC LINK FF55 OVER SWFREQ
2310 OVERCURR x 5210 PPCC LINK xx FF56 MOTOR PHASE
2310 OVERCURRENT 5300 PANEL LOSS FF5F ILLEGAL INST
2330 CUR UNBAL x 5410 INT CONFIG FF6A UNDERLOAD
2330 EARTH FAULT 5411 AINT ID CONFIG FF7A START INHIBI
2340 SC INV x y 5412 AGDR DU/DT C FF7E FOLLOWER FLT
2340 SHORT CIRC 5481 INV OVERLOAD FF80 DC HIGH RUSH
2380 LSU OVERCURR 5482 PP OVERLOAD FF82 CHOKE OTEMP
2381 LSU SC 6320 PARAM CRC FF84 ID RUN FAIL
2383 LSU EARTH F 7000 IO COMM ERR FF88 MOD BOARD T
2384 LSU MAIN BR 7083 MOTOR FAN FF89 MOD CHOKE T
3130 SUPPLY PHASE 7084 SAFETY SWITCH FF91 T MEAS CIRC
3200 INV DISABLED 7110 BR BROKEN FF97 LSU START
3210 DC OVERVOLT 7111 BR WIRING FFA1 USER MACRO
3220 DC UNDERVOLT 7112 BR OVERHEAT FFA2 BACKUP ERROR
3282 LSU DC UVOLT 7113 BC SHORT CIR FFA6 DDF FORMAT
3283 LSU DC OVOLT 7114 BC OVERHEAT FFA7 FACTORY FILE
3284 LSU CHARGING 7121 MOTOR STALL FFA8 NVOS ERROR
3285 LSU NET VOLT 7123 OVERFREQ
3381 POWER FAIL 7301 ENCODER ERR
3381 POWF INV x 7302 ENCODER A<>B
4080 CABLE TEMP 7510 COMM MODULE
4110 CTRL B TEMP 7520 CH2 COMM LOSS
4210 ACS800 TEMP 7581 LSU COMM
4210 ACS TEMP x y 8110 AI<MIN FUNC
4291 LSU OVERTEMP 8180 LSU SYNCHRO
4310 MOTOR TEMP F082 EM STOP DEC
Fault tracing
297
Application macros

This chapter describes the intended use and operation of the system application
macros. It also describes how to save a user macro, and how to recall it.
Overview of macros
Application macros are preprogrammed parameter sets. While starting the drive, the
user selects the FACTORY macro by parameter 99.11 APPLICATION MACRO,
makes the essential changes and saves the result as a user macro (USER 1 or 2
SAVE). User macro settings can be recalled (USER 1 or 2 LOAD). The table below
contains a summary of the macros.
Macro Suitable applications
Factory Ordinary speed control applications where no, one, two or three constant speeds are
used:
- conveyors
- speed controlled pumps and fans
- test benches with predefined constant speeds.
User The user can save the customised standard macro i.e. the parameter settings and the
results of the motor identification to permanent memory, and recall the data at a later
time.
USER 1/2 SAVE User macro 1 or 2 is saved to the FPROM memory.
USER 1/2 LOAD User macro 1 or 2 is loaded to the RAM memory.
There are three parameter files available in the FPROM memory: PARAMETER.ddf,
USER_MACRO1.ddf and USER_MACRO2.ddf.
With Factory macro all parameter changes are saved automatically to file
PARAMETER.ddf. When user macros are in use, all parameter changes must be
saved to the corresponding user macro file by parameter 99.11 APPLICATION
MACRO. See section User macros on page 298.
Application macros
298
User macros
It is possible to create two user macros. They can be saved and restored by
parameters 99.09 APPLIC RESTORE and 99.11 APPLICATION MACRO. The user
macro allows the user to save parameter settings including parameter group 99
START-UP DATA and the results of the motor identification to permanent memory,
and to recall the data at a later time.
Two user macros are essential when switching between two motors is required.
How to create user macro 1

• Adjust parameters.
• Perform the motor identification.
• Save the parameter settings and the results of the motor identification by setting
parameter 99.11 to USER 1 SAVE (and press ENTER). The storing takes 20 s to
1 min.
Note: If user macro save function is executed several times, drive memory fills up
and file compression starts. File compression can last up to 10 minutes. Macro
saving will be completed after the file compression. (Operation is indicated on the
last row of the control panel display by blinking dots).
How to recall user macro 1

• Change parameter 99.11 to USER 1 LOAD.
• Press ENTER to load.
User macros can also be activated by 07.03 AUX CTRL WORD 2 bit 12 or via digital
input, if the function is enabled by parameter 16.05 USER MACRO CHG. See also
parameter 10.10 I/O MACRO CHANGE. The status of the active macro can be
monitored with 08.02 AUX STATUS WORD bits 14 and 15.
Note: User macro load restores also the motor settings in group 99 START-UP
DATA and the results of the motor identification. Check that the settings correspond
to the used motor.
See also section User macro save with DriveWindow on page 130.
Example: The user can switch the drive between two motors without having to adjust
the motor parameters and to repeat the motor identification every time the motor is
changed. The user needs only to adjust the settings and perform the motor
identification once for both motors and then to save the data as two user macros.
When the motor is changed, only the corresponding user macro needs to be loaded,
and the drive is ready to operate.
Application macros
299
Fieldbus control

This chapter describes how the drive can be controlled by external devices over
a communication network.
System overview
The drive can be connected to an external control system – usually a fieldbus
controller – via an adapter module. The drive can be set to receive all of its control
information through the external control interface, or the control can be distributed
between the external control interface and other available sources, for example
digital and analogue inputs.
The following diagram shows the control interfaces and I/O connections of the drive.
Fieldbus
controller
Fieldbus
(* (*
ACS800 Other
devices
Advant
Fieldbus adapter Controller controller
Rxxx (e.g. AC 800M,
Modbus AC 80)
Slot 1
RMIO board
(*
RMBA-01 adapter
std. Modbus link
Slot 1 or 2 I/O adapter
RTAC/RDIO/RAIO
CH1
RDCO comm. AIMA-01 I/O
module (DDCS) adapter module
CH0 Fieldbus adapter

(DDCS) Nxxx
or
Data Flow
Control Word (CW)
References
Process I/O (cyclic)
Status Word (SW)
Actual values
Parameter R/W requests/responses Service messages (acyclic)
(*
Either an Rxxx or Nxxx, and an RMBA-01 adapter can be connected to the drive simultaneously.
Fieldbus control
300
Redundant fieldbus control

It is possible to connect two fieldbuses to the drive with the following adapter
configuration:
• Type Rxxx fieldbus adapter module (not RMBA-01) is installed in drive Slot 1.
• RMBA-01 Modbus Adapter module is installed in drive Slot 2.
E.g. PROFIBUS Modbus
ACS800
RMIO board
RPBA-01 adapter
PROFIBUS-DP link
Slot 1
RMBA-01 adapter
std. Modbus link
Slot 2
The control (i.e. the Main Reference data set, see section Data sets 1 and 2 on
page 307) is activated by setting parameter 98.02 COMM. MODULE to FIELDBUS
or STD MODBUS.
In case there is a communication problem with one fieldbus, the control can be
switched to the other fieldbus. Switching between the buses can be controlled
e.g. with adaptive programming. Parameters and signals can be read by both
fieldbuses, but simultaneous cyclical writing to the same parameter is forbidden.
RDCO channels CH0...3

The following table gives information on the DDCS (Distributed Drives
Communication System) channels CH0...CH3 of the RDCO module (DDCS
Communication Option).
Channel Interfaces RDCO-01* RDCO-02*
CH0 Advant controller 10 MBd 5 MBd
Fieldbus Interface DDCS/DriveBus
CH1 Basic I/O / Optional I/O 5 MBd 5 MBd
CH2 Master/Follower 10 MBd 10 MBd
CH3 DriveWindow (PC, 1 Mbit/s) 10 MBd 10 MBd
*RDCO-01/02 is connected to the RMIO board.
The RMIO board CH0 supports either DriveBus or DDCS protocol. DriveBus
protocol is faster than the DDCS protocol.
Fieldbus control
301
Commissioning and supporting tools

DriveWindow and other tools can be connected to RMIO DDCS channel CH3, either
in a ring, or a star configuration using branching units. Before starting the
communication, node addresses must be set for each drive. See parameter 70.15
CH3 NODE ADDR. The new node address becomes valid on the next power-up of
the RMIO-board. DDCS channel CH3 is the slave in the communication link.
Setting up communication through fieldbus

Fieldbus adapters for several communication protocols are available (e.g.
PROFIBUS and Modbus). Rxxx type fieldbus adapter modules are mounted in
expansion Slot 1 of the drive. Nxxx type fieldbus adapter modules are connected to
channel CH0 of the RDCO.
Note: For instructions on setting up an RMBA-01 module, see section Setting up
communication through the standard Modbus link on page 303.
Before configuring the drive for fieldbus control, the adapter module must be
mechanically and electrically installed according to the instructions given in the
hardware manual of the drive, and the module manual. The communication between
the drive and the adapter module is then activated by setting parameter 98.02
COMM. MODULE.
The following table lists the parameters, which need to be defined when setting up
communication through a fieldbus adapter.
Parameter Alternative Setting for fieldbus control Function/Information
settings
COMMUNICATION INITIALISATION
98.02 NO FIELDBUS (with Rxxx or Initialises communication between drive and

COMM. FIELDBUS Nxxx) fieldbus adapter module. Activates module set-up
MODULE ADVANT/N-FB ADVANT/N-FB (with Nxxx) parameters for type Nxxx and Rxxx fieldbus
STD MODBUS modules (group 51 MASTER ADAPTER (fieldbus
adapter)).
70.01 CH0 0-254 1 Defines the node address for DDCS channel CH0
NODE ADDR
71.01 CH0 YES = NO Selects the communication mode for DDCS channel
DRIVEBUS DriveBus mode CH0
MODE* NO = DDCS
mode
70.04 CH0 0...60000 ms Defines the delay time before channel CH0 (type
TIMEOUT Nxxx adapter) or type Rxxx fieldbus adapter
interface communication break alarm/fault is
indicated.
70.05 CH0 STOP Defines the action taken after CH0 or type Rxxx
COM LOSS RAMPNG fieldbus adapter interface communication fault
CTRL STOP TORQ
COAST STOP
LAST SPEED
CNST SPEED1
Fieldbus control
302
70.19 CH0 RING Default value is STAR which Selects the topology of the channel CH0 link.
HW STAR is typically used with
CONNECTI branching units (NDBU).
ON This parameter has no effect
in DriveBus mode.
ADAPTER MODULE CONFIGURATION
51.01 - - Displays the type of the fieldbus adapter

MODULE module.
TYPE
51.02 These parameters are adapter module-specific. For more information, see the module manual.
(FIELDBUS Note that not all of these parameters are necessarily visible.
PARAMETE
R 2)
...
51.26
(FIELDBUS
PARAMETE
R 26)
51.27 FBA (0) DONE; - Validates any changed adapter module

PAR (1) REFRESH configuration parameter settings. After refreshing,
REFRESH** the value reverts automatically to DONE.
51.28 FILE xyz (binary - Displays the required CPI firmware revision of the
CPI FW coded fieldbus adapter as defined in the configuration file
REV** decimal) stored in the memory of the drive. The CPI firmware
version of the fieldbus adapter (refer to par. 51.32)
must contain the same or a later CPI version to be
compatible. x = major revision number; y = minor
revision number; z = correction number. Example:
107 = revision 1.07.
51.29 FILE xyz (binary - Displays the fieldbus adapter module configuration
CONFIG ID** coded file identification stored in the memory of the drive.
decimal) This information is drive application program-
dependent.
51.30 FILE xyz (binary - Displays the fieldbus adapter module configuration
CONFIG coded file revision stored in the memory of the drive.
REV** decimal) x = major revision number; y = minor revision
number; z = correction number. Example:
1 = revision 0.01.
51.31 FBA (0) IDLE; - Displays the status of the adapter module.
STATUS** (1) EXEC. INIT; IDLE = Adapter not configured.
(2) TIME OUT; EXEC. INIT = Adapter initialising.
(3) CONFIG TIME OUT = A timeout has occurred in the
ERROR; communication between the adapter and the drive.
(4) OFF-LINE; CONFIG ERROR = Adapter configuration error. The
(5) ON-LINE; major or minor revision code of the CPI firmware
(6) RESET revision stored in the adapter differs from that stated
in the configuration file in the memory of the drive.
OFF-LINE = Adapter is off-line.
ON-LINE = Adapter is on-line.
RESET = Adapter performing a hardware reset.
Fieldbus control
303
51.32 FBA - - Displays the CPI program revision of the module

CPI FW inserted in Slot 1. x = major revision number;
REV** y = minor revision number; z = correction number.
Example: 107 = revision 1.07.
51.33 FBA - - Displays the application program revision of the

APPL FW module inserted in Slot 1. x = major revision
REV** number; y = minor revision number; z = correction
number. Example: 107 = revision 1.07.
RECEIVE AND TRANSMIT DATA DEFINITIONS
Groups Addresses for receive and transmit data. See

90 D SET section External control interface on page 307.
REC
ADDR...93 D
SET TR
ADDR
* Parameter is valid after the next power-up of the drive.

** Parameters 51.27...51.33 are only visible when type Rxxx fieldbus adapter is installed.
Setting up communication through the standard Modbus link

An RMBA-01 Modbus Adapter installed in Slot 1 or 2 of the drive forms an interface
called the standard Modbus link. The standard Modbus link can be used for external
control of the drive by a Modbus controller (RTU protocol only).
Before configuring the drive for Modbus control, the adapter module must be
mechanically and electrically installed according to the instructions given in the
hardware manual of the drive, and the module manual. The communication between
the drive and the adapter module is then activated by setting parameter 98.02
COMM. MODULE.
communication through the standard Modbus link.
Note: With NMBA-01 Modbus Adapter, parameter 98.02 COMM. MODULE must be
set to FIELDBUS or ADVANT/N-FB. See parameter setting instructions in section
Setting up communication through fieldbus on page 301.
Parameter Alternative settings Setting for fieldbus control Function/Information
98.02 COMM. NO STD MODBUS Initialises communication between drive

MODULE FIELDBUS and Modbus adapter module. Activates
ADVANT/N-FB communication parameters in group 52
STD MODBUS STANDARD MODBUS.
52.01STATION 1...247 Specifies the station number of the drive on

NUMBER the standard Modbus link.
52.02 600; 1200; 2400; Defines the communication speed of the

BAUDRATE 4800; 9600; 19200 standard Modbus link.
52.03 PARITY NONE1STOPBIT Defines the parity setting for the standard
NONE2STOPBIT Modbus link.
ODD
EVEN
Fieldbus control
304
The drive parameters, data words, references and actual values are mapped into the
4xxyy register area:
Signal Address Modbus address
Control Word (MCW) 07.01 MAIN CTRL WORD 40001
Reference 1 (REF1) 23.01 SPEED REF in DTC or 40002

29.01 FREQ REF in scalar control
Reference 2 (REF2) 25.04 TORQUE REF B 40003
Status Word (MSW) 08.01 MAIN STATUS WORD 40004
Actual 1 (ACT1) 01.01 MOTOR SPEED FILT 40005
Actual 2 (ACT2) 01.07 MOTOR TORQ FILT2 40006
For the mapping of other signals and parameters see section Modbus and Modbus
Plus address on page 136.
More information on Modbus communication is available from the Modicon website
http://www.modicon.com.
Modbus link
The CDP 312R control panel, NLMD-01 Led Monitoring Display panel or
DriveWindow can be connected to the drive through a Modbus link. The
communication speed of the link is 9600 bit/s (8 data bits, 1 stop bit, odd parity).
The connected device is the master of the communication link. NBCI-01 Bus
Connection Modules must be used if the distance between the panel and the drive is
over three metres.
Modbus is designed for integration with Modicon PLCs (PLC = Programmable Logic
Controller) or other automation devices, and its services correspond mainly to the
PLC architecture. The drive looks like a Modicon PLC from the network.
Fieldbus control
305
Setting up communication through Advant controller

The Advant controller is connected via DDCS link to channel CH0 of the RDCO. The
communication between the drive and controller is activated by setting parameter
98.02 COMM. MODULE.
• AC 800M Advant Controller
DriveBus connection: CI858 DriveBus Communication Interface required. See CI858
DriveBus Communication Interface User’s Manual, [3AFE 68237432 (English)].
For more information, see AC 800M Controller Hardware Manual [3BSE 027 941
(English)], AC 800M/C Communication, Protocols and Design Manual
[3BSE 028 811 (English),] ABB Industrial Systems, Västerås, Sweden.
Optical ModuleBus connection: TB811 (5 MBd) or TB810 (10 MBd) Optical
ModuleBus Port Interface required. See section Optical ModuleBus connection
below.
• AC 80 Advant Controller
DriveBus connection: Connectable to RMIO-01/02 board with RDCO-01
Optical ModuleBus connection: TB811 (5 MBd) or TB810 (10 MBd) Optical
ModuleBus Port Interface required. See section Optical ModuleBus connection
below.
• CI810A Fieldbus Communication Interface (FCI)
Optical ModuleBus connection
TB811 (5 MBd) or TB810 (10 MBd) Optical ModuleBus Port Interface required.
The TB811 Optical ModuleBus Port Interface is equipped with 5 MBd optical
components, while the TB810 with 10 MBd components. All optical components on
a fibre optic link must be of the same type since 5 MBd components do not match
with 10 MBd components. The choice between TB810 and TB811 depends on the
equipment it is connected to. With RDCO Communication Option Module, the
Interface is selected as follows:
Optional ModuleBus Port DDCS Communication Option Module
Interface
RDCO-01 RDCO-02 RDCO-03
TB811 × ×
TB810 ×
If branching unit NDBU-85/95 is used with CI810A, TB810 Optical ModuleBus Port
Interface must be used.
Fieldbus control
306
communication between the drive and Advant controller.
Parameter Alternative Setting for Function/Information
settings fieldbus control
98.02 COMM. NO ADVANT/N-FB Initialises communication between drive

MODULE FIELDBUS (fibre optic channel CH0) and Advant
ADVANT/N-FB controller. The transmission speed is
STD MODBUS 4 Mbit/s.
70.01 CH0 0-254 AC 800M DriveBus (CI858) 1...24 Defines the node address for DDCS
NODE ADDR AC 800M ModuleBus 1...125 channel CH0.
AC 80 DriveBus 1-12
AC 80 ModuleBus 17-125
FCI (CI810A) 17-125
APC2 1
71.01 CH0 YES = DriveBus AC 800M DriveBus (CI858) YES Defines the communication mode for
DRIVEBUS mode AC 800M ModuleBus NO DDCS channel CH0.
MODE.* NO = DDCS mode AC 80 DriveBus YES
APC2/AC80 ModuleBus/FCI
(CI810A) NO
70.04 CH0 0-60000 ms Defines the delay time before channel

TIMEOUT CH0 (Advant controller) communication
break fault is indicated.
70.05 CH0 STOP RAMPNG Defines the action taken after CH0
COM LOSS STOP TORQ (Advant controller) communication fault.
CTRL COAST STOP
LAST SPEED
CNST SPEED1
70.19 CH0 HW RING Default value is STAR which is Selects the topology of the channel CH0
CONNECTION STAR typically used with branching units link.
(NDBU).
This parameter has no effect in the
DriveBus mode.
Groups Defines the addresses for receive and

90 D SET REC transmit data. See section External
ADDR...93 D control interface on page 307.
SET TR ADDR
* Parameter is valid after the next power-up of the drive.
Fieldbus control
307
External control interface

The communication between an external system and drive consists of data sets.
The link sends the data set into the data set table in the drive program and returns
the content of the next data set to the external control system as a return message.
If DriveBus protocol is used, the DriveBus master can send one message which
contains 1 data set for 10 drives during a 1 ms time period.
The System control program supports the use of data sets 1, 2 or data sets 10...33.
One data set (DS) consists of three 16-bit words called data words (DW).
The data received from an external control system affects only the RAM (not the
FPROM) memory of the RMIO board.
Data sets 1 and 2

Data set 1 for controlling the drive is referred to as the Main Reference data set.
Data set 2 containing actual information is referred to as the Main Actual Signal data
set. Fieldbus communication uses mainly data sets 1 and 2 (i.e. when parameter
98.02 COMM. MODULE setting is FIELDBUS).
The contents of the Main Reference and Main Actual Signal data sets are fixed as
follows:
For type Nxxx fieldbus adapters and RMBA-01
DS DW Signal Address Update time
1 1 Control Word 07.01 MAIN CTRL WORD 10 ms
2 Reference 1 23.01 SPEED REF in DTC or 10 ms
3 Reference 2 25.04 TORQUE REF B 10 ms
2 1 Status Word 08.01 MAIN STATUS WORD 10 ms
2 Actual 1 01.01 MOTOR SPEED FILT 10 ms
3 Actual 2 01.07 MOTOR TORQ FILT2E 10 ms
For type Rxxx fieldbus adapters

For RMBA-01, see section For type Nxxx fieldbus adapters and RMBA-01 above.
DS DW Signal Address Update time
1 1 Control Word 07.01 MAIN CTRL WORD 10 ms
2 Reference 1 23.01 SPEED REF in DTC or 10 ms
Reference 2 is defined in group 51 MASTER ADAPTER (fieldbus adapter).
2 1 Status Word 08.01 MAIN STATUS WORD 10 ms
2 Actual 1 01.01 MOTOR SPEED FILT 10 ms
Fieldbus control
308
Data sets 10...33

Data sets 10...33 are used when there is a need to transfer several control signals
and actual values. Advant controller communication uses data sets 10...33 (i.e.
when parameter 98.02 COMM. MODULE setting is ADVANT/N-FB).
The contents of data sets can be selected by parameter groups 90 D SET REC
ADDR...93 D SET TR ADDR or by means of transmit data sets 32...33. Data sets 32
and 33 are dedicated for mail box use. These data sets can be used for setting or
inquiring parameter values. Transmit and receive addresses and data for data sets
32 and 33 are defined in the external control system application. Data sets 24 and 25
can also be selected for mail box use instead of data sets 32 and 33 by parameter
70.33 MAILBOX DS SEL.
Fieldbus control
309
Data sets received from an external control system

Data set Data word Time (1 Default address Parameter (2
10 (3 1 2 ms 07.01 MAIN CTRL WORD 90.01

2 2 ms 23.01 SPEED REF 90.02
3 2 ms 25.01 TORQ REF A 90.03
(3
12 1 4 ms 07.02 AUX CTRL WORD 90.04
2 4 ms 90.05
3 4 ms 90.06
14 1 10 ms 90.07
2 10 ms 90.08
3 10 ms 90.09
16 1 10 ms 90.10
2 10 ms 90.11
3 10 ms 90.12
18 1 100 ms 90.13
2 100 ms 90.14
3 100 ms 90.15
20 1 100 ms 90.16
2 100 ms 90.17
3 100 ms 90.18
22 1 100 ms 91.01
2 100 ms 91.02
3 100 ms 91.03
24 4) 1 100 ms 91.04
2 100 ms 91.05
3 100 ms 91.06
26, 28, 30 1 Not in use
2 Not in use
3 Not in use
32 1 100 ms Transmit address Write
2 100 ms Transmit data Write
3 100 ms Inquire address Read
1)Time inside which the drive reads data from the data sets to the parameter table or writes data from
the parameter table to the data sets. Since the drive is a follower of the communication master,
the actual communication cycle time depends on the communication speed of the master.
2)
Selects the addresses into which the received fieldbus data sets are written.
3)
Boolean data type parameters are not supported. If boolean data type parameters need to be set
from external control system, use data sets 14...24.
4) Data set 24 can also be selected for mailbox use. See parameter 70.33 MAILBOX DS SEL.
Fieldbus control
310
Data set transmitted to an external control system

Data set Data word Time (1 Default address Parameter (2
11 3) 1 2 ms 08.01 MAIN STATUS WORD 92.01
2 2 ms 01.02 SPEED MEASURED 92.02
3 2 ms 02.09 TORQUE REF 2 92.03
13 3) 1 4 ms 08.02 AUX STATUS WORD 92.04
2 4 ms 01.01 MOTOR SPEED FILT 92.05
3 4 ms 01.08 MOTOR TORQUE 92.06
15 1 10 ms 09.01 FAULT WORD 1 92.07
2 10 ms 09.02 FAULT WORD 2 92.08
3 10 ms 09.06 FAULT WORD 3 92.09
17 1 10 ms 09.04 ALARM WORD 1 92.10
2 10 ms 09.05 ALARM WORD 2 92.11
3 10 ms 92.12
19 1 100 ms 08.03 LIMIT WORD 1 92.13
2 100 ms 08.04 LIMIT WORD 2 92.14
3 100 ms 92.15
21 1 100 ms 01.12 ACS800 TEMP 92.16
2 100 ms 01.15 MOTOR MEAS TEMP 92.17
3 100 ms 92.18
23 1 100 ms 93.01
2 100 ms 93.02
3 100 ms 93.03
4)
25 1 100 ms 93.04
2 100 ms 93.05
3 100 ms 93.06
27, 29, 31 Not in use
33 1 100 ms Transmit address feedback Write
2 100 ms Inquired data Read
3 100 ms Inquire address feedback Read
1)Time inside which the drive reads data from the data sets to the parameter table or writes data from
the parameter table to the data sets. Since the drive is a follower of the communication master,
the actual communication cycle time depends on the communication speed of the master.
2)
Selects the data sets which the drive sends to the fieldbus master station.
3)
Boolean data type parameters are not supported. If boolean data type parameters need to be set to
the external control system, use data sets 15…25.
4)
Data set 25 can also be selected for mailbox use. See parameter 70.33 MAILBOX DS SEL.
Fieldbus control
311
Use of mailbox
A B B P L C A C S 8 0 0
Parameter write to drive
Transmit address Data set Parameter Value
Value = 1901 3 2 .1
Transmit data Data set 1 9 .0 1 1 2 3 4
Value = 1234 3 2 .2 1
.
Transmit address Data set
.
.
.
.
.
feedback 3 3 .1
Value = 1901
Parameter read from drive
Inquire address Data set 2 4 .0 3 4 3 0 0
Value = 2403 3 2 .3 . .
. .
Inquired data Data set . .
Value = 4300 3 3 .2
Inquire address Data set
feedback 3 3 .3
Value = 2403
ABB Drives communication profile

The ABB Drives profile is a PROFIBUS-based model, which describes the drive
interface between the state transitions under an external control system.
The Control Word (CW) is the principal means of controlling the drive from
an external control system. The Control Word is sent by the external control system
to the drive. The drive switches between its states according to the bit-coded
instructions of the Control Word.
The Status Word (SW) is a word containing status information, sent by the drive to
the external control system.
For Status and Control Word bits, see signal groups 07 CONTROL WORDS...
08 STATUS WORDS.
The following figure presents the state diagram for the ABB Drives communication
profile.
The OFF commands are active except for Fault trips.
• OFF3 makes OFF1 inactive
• OFF2 makes OFF1 and OFF3 inactive.
Fieldbus control
312
Fieldbus control
313
Control examples
Control example: START by AUTO- or DC MAGN-mode, STOP by ramp generator control
State
1 100%
DC Voltage ON
30% FLUX ACTUAL
FLUX 0%
23.01 SPEED REF
Par. 50.10 ABOVE SPEED LIMIT
MOTOR SPEED
Par. 20.03 ZERO SPEED LIMIT 0 rpm
2 1
0 ON, OFF1
1
1 OFF2
2 OFF3 1
MCW 7.01 bits
3 6
3 RUN 0
4 RAMP OUT ZERO 1
5 RAMP HOLD 1
6 RAMP IN ZERO 1
4
7 RESET 7
0
8 INCHING1 0
9 INCHING2 0
10 REMOTE CMD 1
1
0 RDY ON
1
1 RDY RUN
2 RDY REF
MSW 8.01 bits
0
3 TRIPPED 0
4 OFF 2 STA 1
5 OFF 3 STA 1
6 SWC ON INHIB 0
7 ALARM 0
8 AT SETPOINT 0
9 REMOTE 1
10 ABOVE LIMIT
0
0
1
ACW 7.02 bits
2 RAMP BYPASS
0
3 BAL RAMP OUT
0
4 FLUX ON DC 0
5 FLUX ON 0
6
7
0
ASW 8.02 bits
...
3 MAGNETIZED 0
...
4 ZERO SPEED 5 1
t
Fieldbus control
314
Control example: START by FLUX ON DC command, STOP by torque limit

State
DC Voltage ON 1
100%
FLUX 0%
23.01 SPEED REF
MOTOR SPEED
2 1
0 ON, OFF1
1
1 OFF2
1
2 OFF3
MCW 7.01 bits
3 RUN
9
4 0
4 RAMP OUT ZERO 1
6 1
5 RAMP HOLD 10
6 RAMP IN ZERO 1
7 RESET 0
8 INCHING1 0
9 INCHING2 0
10 REMOTE CMD 1
1
0 RDY ON
1
1 RDY RUN
2 RDY REF
MSW 8.01 bits
0
3 TRIPPED 0
4 OFF 2 STA 1
5 OFF 3 STA 1
6 ON INHIBITED 0
7 ALARM 0
8 AT SETPOINT 0
9 REMOTE 1
10 ABOVE LIMIT
0
0
1
ACW 7.02 bits
2 RAMP BYPASS 0
3 BAL RAMP OUT 0
5 8 1
4 FLUX ON DC 3
5 FLUX ON
0
6
7
0
ASW 8.02 bits
...
3 MAGNETIZED 0
...
4 ZERO SPEED 7 1
Fieldbus control
315
Control example: FAULT RESET, RUN by CONST SPEED 1 (INCHING 1), CONST
SPEED 2, (INCHING 2) and SPEED REF State
DC Voltage ON
FLUX 100%
0%
23.01 SPEED REF
MOTOR SPEED
Par. 23.02 CONST SPEED 1
Par. 23.03 CONST SPEED2
1
0 ON, OFF1
4 1
1 OFF2
1
2 OFF3
MCW 7.01 bits
2 1
3 RUN 6 1
4 RAMP OUT ZERO
5 RAMP HOLD 5 9 1
6 RAMP IN ZERO 1
3
7 RESET 0
8 INCHING1 0
7
9 INCHING2 0
10 REMOTE CMD 8 1
1
0 RDY ON
1
1 RDY RUN
1
2 RDY REF
MSW 8.01 bits
3 TRIPPED 1 0
4 OFF 2 STA 1
5 OFF 3 STA 1
6 ON INHIBITED
0
7 ALARM 0
8 AT SETPOINT 1
9 REMOTE 1
10 ABOVE LIMIT 1
0
1
ACW 7.02 bits
2 RAMP BYPASS 0
3 BAL RAMP OUT 0
4 FLUX ON DC 0
5 FLUX ON 0
6
7
0
ASW 8.02 bits
...
3 MAGNETIZED 1
...
4 ZERO SPEED 1
Fieldbus control
316
Control example: Emergency Stop (OFF3) with ramp and AUTO RESTART after
a short supply power failure
State
DC Voltage 100%
UDC 75% 0%
Undervoltage trip limit
100%
FLUX
0%
23.01 SPEED REF
MOTOR SPEED
0 ON, OFF1 1
1 OFF2 1
1
2 OFF3
MCW 7.01 bits
1
3 RUN
1
4 RAMP OUT ZERO
5 RAMP HOLD 1
1
6 RAMP IN ZERO
7 RESET
0
8 INCHING1 0
9 INCHING2 0
10 REMOTE CMD *) 1
1
0 RDY ON
1
1 RDY RUN
1
2 RDY REF
MSW 8.01 bits
3 TRIPPED 0
4 OFF 2 STA 1
5 OFF 3 STA 1
6 ON INHIBITED 0
7 ALARM 1) 2)
0
8 AT SETPOINT 1
9 REMOTE 1
10 ABOVE LIMIT 1
0 ON, OFF1
Internal Control MCW
Internal commands with AUTO RESTART function.

7 RESET .
*) MSW and DC UNDERVOLTAGE

fault frozen when AUTO RESTART is enabled.
1) DC UNDERVOLTAGE alarm
2) AUTO RESTARTED alarm
0
ASW 8.02 bits
...
1
3 MAGNETIZED
...
4 ZERO SPEED
0
t
Fieldbus control
317

This chapter contains the control block diagrams. Speed control is executed every
1 ms. Speed ramp is executed every 2 ms.

318
R e la y o u tp u t
D ig ita l in p u ts R O 1 E M E R G E N C Y
E M E S T O P M O D E 2 1 .0 4 E M S T O P
S T O P IN T E R N A L M C W
N O D I1 E M S T O P D E R M A X L 2 1 .0 5

F U N C T IO N C O N T R O L
E M E R G E N C Y
S T O P
E M S T O P D E R M IN L 2 1 .0 6
O F F 3 8 .0 1 b 4 O F F 2 S T A
C H A R G IN G F e e d b a c k o f D C s w itc h E M S T O P D E C M O N D E L 2 1 .0 7
L O G IC w ith M u ltid r iv e s y s te m s &
L O C A L E M S T O P M O D E 2 1 .1 2 8 ..01b5 O F F 3 S T A
R 2 i...R 5 i, R 7 i
Z E R O S P E E D L IM IT 2 0 .0 3 O F F 2
8 .0 1 b 1 4 M O D U L A T IN G
&
E V E N T L O C A L C O N T R O L 8 .0 1 b 1 3 R U N IN T E R L O C K
R U N E N A B L E D I2 8 .0 2 b 4 R U N D IS A B L E D
1 6 .0 1
Main control word control
H A N D /A U T O D I O F F 3
1 0 .0 7 M C W O F F 2
L O C A L M C W F o llo w e r
7 .0 1 M C W
F ie ld b u s D S M C W s e le c to r
A d a p te r D S 8 1 .1 fro m
R M B A -0 1 M /F lin k
P a r. C O M M M O D U L E
A B B D S 1 0 g ro u p 9 8 .0 2 R U N 2 .3 1
A u t o m a t io n , 9 0 , 9 2 R U N
.... R E A D / S T D M O D B U S 4 S U P P L Y U N IT C O N T R O L A C T IV A T E D 7 0 .3 4
N -ty p e o f > 1
D S 2 4 W R IT E & F O L L O W E R
F ie ld b u s A D V A N T /N -F B 3 S U P P L Y U N IT M S W b it 0 R D Y _ O N
F U N C & M C W M A S K
F ie ld b u s F IE L D B U S 2
D S 1 .1 *) R U N IN T E R L O C K 1 6 .1 4 2 .2 6
A d a p te rs
I/O C O N T R O L N O 1 U S E D M C W
A U T O R E S T A R T 2 1 .0 9 A U T O R E S T A R T
F U N C T IO N A B B
A U T O R E S T A R T T IM E 2 1 .1 0 D R IV E
S T A R T / S T O P
P R O F IL E
D I R A M P O U T Z E R O
S T A R T /S T O P C H 0 T IM E O U T 7 0 .0 4 C H 0 / F IE L D B U S S T A T E
C O M M L O S S M A C H IN E
1 0 .0 1 I/O R A M P IN Z E R O
C H 0 C O M L O S S C T R L 7 0 .0 5 C O N T R O L
M C W
Z E R O S P E E D 8 .0 2 b 1 1
I/O O F F
S T A R T b it 0
S T O P F U N C T IO N 2 1 .0 3
/ S T O P R U N
Z E R O S P E E D L IM IT 2 0 .0 3 b it 3 I/O C O N T R O L S U P P L Y U N IT O N b it0 * * )
L O G IC D D C S
C O N T R O L
R E S E T R A M P C H 1
M A IN S T A T U S W O R D 8 .0 1 b 0 ( w ith s in g le d r iv e s ) R E S E T B it 7
IN Z E R O c o m m u n ic a t io n
b it 6
R E S E T D I
R E S E T
1 0 .0 3 b it 7 * ) N o t e ! R U N I N T E R L O C K c a n b e c o n n e c t e d to e .g . d ig ita l in p u t b y A d a p t iv e P r o g r a m m in g .
* * ) N o te ! S ta r tin g o f m o d u la tio n c a n b e s e p a r a te d to fr e e b it o f M C W w ith p a r a m e te r 9 5 .0 6 L S U R U N M C W B IT
M A IN C O N T R O L W O R D C O N T R O L - S Y S T E M A P P L IC A T IO N p a g e 1 (1 0 )
0 = F O R W A R D D IR E C T IO N
D I 1 = R E V E R S E D IR E C T IO N (2 0 0 0 0 = = P a r. 5 0 .0 1 S P E E D S C A L IN G )
D IR E C T IO N 1 0 .0 2 -1
I/O S P E E D
1 X R E F E R E N C E
R M IO
A N A L O G U E
A I2 H IG H V A L U E 1 3 .0 4 IN P U T
E X T R E F 1 S E L E C T = S T D A I2 1 1 .0 1
A I2 L O W V A L U E 1 3 .0 5 A I2
= P T 1 0 0 o r P T C
M IN IM U M A I2 1 3 .0 6
3 0 .0 3
F IL T E R A I2 1 3 .0 7 &
= N O 9 8 .0 6
C O M M M O D U L E = N O 9 8 .0 2
&
R M IO A I/O E X T M O D U L E 1 9 8 .0 6
A N A L O G U E = U N IP O L A R o r B IP O L A R 1 1 .0 3
E X T R E F E R E N C E
A I1
A I1 L O W V A L U E 1 3 .0 2 M O T O R 1
M IN IM U M A I1 1 3 .1 2 M O T 1 T E M P A L M L 3 0 .0 4 T E M P E R A T U R E
P R O T E C T IO N
F IL T E R A I1 1 3 .0 3 M O T 1 T E M P F L T L 3 0 .0 5
P T 1 0 0
A I/O E X T M O D U L E 1 S C A L IN G P T C
1 .1 6
A I/O 9 8 .0 6 M O T O R 1 T E M P
E X T E N S IO N M O T O R
= T E M P M E A S 3 0 .0 3 = 1 ...3 x P T 1 0 0 o r P T C
M O D U L E 1 M O D E L
E X T 1 :A I1 3 0 .0 3 = 1 ...3 x P T 1 0 0 o r E X T T E M P
A I/O E X T 1 L O C A T IO N 9 8 .1 1 M O T 2 T E M P A L M L 3 0 .0 7 M O T O R 2
T E M P E R A T U R E
M O T 2 T E M P F L T L 3 0 .0 8
S C A L IN G P R O T E C T IO N
1 .1 7 P T 1 0 0
E X T 1 :A I2
M O T O R 2 T E M P P T C
A I/O E X T M O D U L E 1 = U N IP O L A R o r B IP O L A R A I 9 8 .0 6
R M IO &
A N A L O G U E A I/O E X T 1 L O C A T IO N = N O T IN U S E 9 8 .1 1
( u n s c a le d )
1 .2 1 A I3 [m A ] E X T 1 A I/O A I1 u n s c a le d
1 .1 9 A I1 [V ]
A I3 L O W V A L U E 1 3 .0 9 I/O T O R Q U E R E F E R E N C E B
R M IO A I1 u n s c a le d
M IN IM U M A I3 1 3 .1 0 A I3
(1 0 0 0 0 = = M O T O R N O M IN A L T O R Q U E )
F IL T E R A I3 1 3 .1 1 E X T 1 A I/O A I2 u n s c a le d
1 .2 0 A I2 [m A ]
I/O speed and torque references and motor temperature protection
R M IO A I2 u n s c a le d
A I/O
E X T E N S IO N
A I1 E X T 2 M O D E 9 8 .1 3 M O D U L E 2
A I2 E X T 2 M O D E 9 8 .1 4 E X T 2 :A I1 1 .4 1 E X T 2 A I1
A I/O E X T 2 L O C A T IO N 9 8 .1 5
I/O S P E E D A N D T O R Q U E R E F E R E N C E S A N D
E X T 2 :A I2 1 .4 2 E X T 2 A I2
M O T O R T E M P E R A T U R E P R O T E C T IO N - S Y S T E M A P P L IC A T IO N p a g e 2 (1 0 )

319
320
S P E E D

M O N IT O R A B O V E L IM IT
E N C O D E R A L M /F L T = F A U L T 5 0 .0 5 A B O V E S P E E D L IM IT 5 0 .1 0
&
S P E E D F B S E L = E N C O D E R 5 0 .0 3 8 .0 1 b 1 0
> 1
&
E N C O D E R A L M /F L T = A L A R M 5 0 .0 5
S P A C T F IL T T IM E
E N C O D E R E R R O R F IL T E R
5 0 .0 6
Speed measurement
S P E E D M E A S U R E D M O T O R S P E E D
P u ls e E n c o d e r E N C O D E R 1 .0 3
R T A C -0 1 1 .0 4
S P E E D
P u ls e C A L C T o s p e e d c o n tro l
E n c o d e r M O T O R
M o d u le M O D E L 1 .0 2
E N C O D E R M O D U L E 9 8 .0 1
S P E E D E S T IM A T E D
S P E E D S C A L IN G 5 0 .0 1
S P E E D M E A S M O D E 5 0 .0 2
E N C O D E R P U L S E N R 5 0 .0 4 F IL T E R
N T A C -0 2 E N C O D E R A L M /F L T 5 0 .0 5
M O T O R S P E E D F IL T
E N C O D E R D E L A Y 5 0 .1 1
P u ls e 1 .0 1
E n c o d e r Z E R O D E T E C T D E L A Y 5 0 .1 3
P u ls e E n c o d e r M o d u le M O T O R S P F IL T T IM 5 0 .1 2
S P E E D H O L D T IM E 5 0 .1 4
a lte r n a tiv e
P O S IT IO N
C O U N T E R
F U N C T IO N
P O S C O U N T M O D E 5 0 .0 7 3 .0 7 P O S C O U N T L O W
P O S C O U N T IN IT L O W 5 0 .1 4 3 .0 8 P O S C O U N T H IG H
P O S C O U N T IN IT H IG H 5 0 .1 4
S Y N C C M D D I S Y N C C O M M A N D 3 .0 9 P O S C O U N T D E G R E E S x x .x x In p u t fo r re fe re n c e o r c o m m a n d
1 0 .0 4 3 .1 0 P O S C O U N T R O U N D S x x .x x P a ra m e te r (s a v e d to F L A S H m e m o ry )
S Y N C C O M M A N D 7 .0 2 b 9
S Y N C D IS A B L E 7 .0 2 b 1 0 8 .0 2 b 5 S Y N C R D Y x .x x R e a d o n ly s ig n a l
R E S E T S Y N C R D Y 7 .0 2 b 1 1 x .x x > x B it o f p a c k e d b o o le a n w o r d
S P E E D M E A S U R E M E N T C H A IN - S Y S T E M A P P L IC A T IO N p a g e 3 (1 0 )
L IM IT E R
M IN IM U M S P E E D 2 0 .0 1
M A X IM U M S P E E D 2 0 .0 2
F O L L R E F S E L A C W 2 = O N 7 .0 3 b 6
S P E E D R E F 2
F O L L S P E E D R E F = O N 7 .0 3 b 7 S P E E D S H A R E 2 3 .0 5
2 .0 1
F O L L S P E E D R E F = M A S T E R 7 0 .1 7
X
D A T A S E T E N A B L E R A M P E D IN C H R E F 7 .0 2 b 1 2
C H 2 M /F M O D E = F O L L O W E R 7 0 .0 8 &
Speed reference
D S 4 1 .2
L O C A L C O N T R O L
M a s te r / R A M P E D IN C H R E F 2 3 .1 7
F o llo w e r D S S P E E D R E F
M A S T E R F O L L O W E R S P E E D R E F U S E D S P E E D R E F
a p p lic a tio n
2 .1 9
in te r fa c e 2 .2 7
L O C A L C O N T R O L +
F ie ld b u s L O C A L R E F
A d a p te r D S 8 1 .2 S P E E D R E F 2 3 .0 1
R M B A -0 1 C O M M M O D U L E
A B B P a r. 9 8 .0 2 L O C A L C O N T R O L
A u t o m a t io n ,
D S 1 0 g ro u p
C O M M M O D U L E = N O 9 8 .0 2 &
N -ty p e o f .... 9 0 , 9 2
R E A D / S T D M O D B U S 4 A I+ F B A S P E E D R E F = O N 1 1 .0 2 A D D IT IV E
F ie ld b u s
A d a p te rs
D S 2 4 W R IT E A D V A N T /N -F B 3 S P E E D R E F
F U N C I/O S P E E D R E F E R E N C E
F ie ld b u s F IE L D B U S 2 2 .2 5
A d a p te rs
D S 1 .2
N O 1 F R E Q U E N C Y R E F E R E N C E
I/O S P E E D R E F E R E N C E ( s e e fig u r e o n p a g e 1 0 ) x x .x x In p u t fo r re fe re n c e o r c o m m a n d
x x .x x P a ra m e te r (s a v e d to F L A S H m e m o ry )
x .x x R e a d o n ly s ig n a l
M O T O R C T R L M O D E = S C A L A R 9 9 .0 8
x .x x > x B it o f p a c k e d b o o le a n w o r d
S P E E D R E F E R E N C E C H A IN - S Y S T E M A P P L IC A T IO N p a g e 4 (1 0 )

321
322
R A M P _ O U T _ Z E R O 7 .0 1 b 4
x x .x x In p u t fo r re fe re n c e o r c o m m a n d
R A M P H O L D 7 .0 1 b 5 &
R A M P _ IN _ Z E R O 7 .0 1 b 6
x .x x R e a d o n ly s ig n a l

&
x .x x > x B it o f p a c k e d b o o le a n w o r d IN C H IN G 1 7 .0 1 b 8
M IN IM U M S P E E D 2 0 .0 1 L IM IT E R
IN C H IN G 2 7 .0 1 b 9 & M A X IM U M S P E E D 2 0 .0 2
C O N S T S P E E D 1 2 3 .0 2 S P E E D R E F 3 S P E E D R E F 4
C O N S T S P E E D 2 2 3 .0 3 2 .0 2 2 .1 8
Speed reference ramp
R A M P O U T Z E R O 7 .0 1 b 4 +
0
R A M P B Y P A S S 7 .0 2 b 2
F A S T D I5 S E L = S P E E D C O R R 1 2 .0 3
B A L R A M P O U T 7 .0 2 b 3
E M E R G E N C Y
S T O P O F F 3 D I5
B A L R A M P R E F 2 2 .0 8
7 .0 1 b 2
> 1 A C C /D E C 0
7 .0 1 b 6
0
R A M P IN S P E E D R E F 2 S P E E D C O R R E C T IO N 2 3 .0 4
Z E R O 2 .0 1
A C C E L E R T IM E 2 2 .0 1 F O L L S P D C O R R E N A 7 .0 3 b 9
A C C E L .
A C C /D E C T IM E S C L E 2 2 .0 3 S P E E D C O N T R O L L IM IT E R
d V /d t
D S T O R Q R E F A 2 .2 0 L O A D S H A R E F O L L S P D
2 .1 6
D E C E L E R T IM E 2 2 .0 2 F U N C T IO N O F C O R R O U T
D E C E L .
( d n re f / d t ) L O A D S H A R E 2 5 .0 3 S P E E D
2 .3 0
E M E S T O P R A M P 2 2 .0 4 C O N T R O L L E D
F O L L S P D C T R L C O R 2 3 .1 8 F O L L O W E R 0
S H A P E T IM E 2 2 .0 5
F O L L S P D C O R M O D E 2 3 .1 9
R A M P H O L D 7 .0 1 b 5
V A R IA B L E S L O P E 2 2 .0 6 F O L L _ S P D _ C O R _ M A X _ L IM
&
W IN D O W W ID T H P O S 2 3 .0 8 M A X L IM 8 .0 4 b 3
V A R IA B L E F O L L _ S P D _ C O R _ M IN _ L IM
S L O P E
V A R S L O P E R A T E 2 2 .0 7 F U N C T IO N W IN D O W W ID T H N E G 2 3 .0 9
M IN L IM 8 .0 4 b 2
-1
S P E E D R E F E R E N C E R A M P C H A IN -S Y S T E M A P P L IC A T IO N p a g e 5 (1 0 )
A C C E L E R
A C C C O M P D E R T IM E 2 4 .1 4 C O M P
A C C C O M P F IL T T IM E 2 4 .1 5 T O R Q A C C C O M P R E F
2 .0 7
Speed control
S P E E D R E F 3 2 .0 2
L IM IT E R
S P C T O R Q M A X 2 0 .0 7
K P S 2 4 .0 3
S P E E D S P C T O R Q M IN 2 0 .0 8
-1 E R R O R N E G K P S M IN 2 4 .0 4
K P S
X 2 .0 3 K P S W E A K P O IN T 2 4 .0 5
K P S B A L _ N C O N T 7 .0 2 b 8
K P S W P F IL T T IM E 2 4 .0 6 K P S T O R Q U E R E F 2
X M IN B A L R E F 2 4 .1 1
- T O R Q
2 .0 9
S P E E D R E F 4 D R O O P R A T E 2 4 .0 2 S E T P W E IG H T IN G R E F 2
K P S
W E A K P O IN T
2 .1 8 + S P E E D S T E P 2 3 .1 0 + 2 4 .0 7 S P C T O R Q M IN L IM
S U B T O R Q U E P R O P R E F 8 .0 3 b 1
M O T O R S P E E D S E T P O IN T W E IG H T P
F IL T E R W IN D O W 2 .0 4 S P C T O R Q M A X L IM
1 .0 4 - + 2 4 .0 8 8 .0 3 b 2
0
S P E E D E R R O R F IL T 2 3 .0 6 T IS 2 4 .0 9 2 .0 5 +
T IS IN IT V A L U E 2 4 .1 0
I T O R Q U E
R F E S P E E D F IL T E R 2 3 .1 2
IN T E G
F R E Q U E N C Y O F Z E R O 2 3 .1 3 R F E R E F
D A M P IN G O F Z E R O 2 3 .1 4 D E R IV A T IO N T IM E 2 4 .1 2 2 .0 6
F R E Q U E N C Y O F P O L E 2 3 .1 5 D E R IV F IL T T IM E 2 4 .1 3 D T O R Q U E D E R R E F
D A M P IN G O F P O L E 2 3 .1 6
K P S ,
T IS K P S V A L
K P S T IS M IN F R E Q 2 4 .1 7 M IN F R E Q
W IN D O W W ID T H P O S 2 3 .0 8 K P S
K P S T IS M A X F R E Q 2 4 .1 8 T IS
W IN D O W W ID T H N E G 2 3 .0 9 K P S V A L
E N A B L E K P S V A L M IN F R E Q 2 4 .1 9 M IN F R E Q x x .x x In p u t fo r re fe re n c e o r c o m m a n d
W IN D O W F R E Q
K P S T IS
C O N T R O L M A X F R E Q
T IS V A L M IN F R E Q 2 4 .2 0 x x .x x P a ra m e te r (s a v e d to F L A S H m e m o ry )
K P S T IS
M IN F R E Q
W IN D O W C T R L 7 .0 2 b 7 x .x x R e a d o n ly s ig n a l
&
W IN D O W IN T G O N 2 3 .0 7 x .x x > x B it o f p a c k e d b o o le a n w o r d
S P E E D C O N T R O L - S Y S T E M A P P L IC A T IO N p a g e 6 (1 0 )

323
324
F O L L R E F S E L A C W 2 = O N 7 .0 3 b 6
F O L L T O R Q U E R E F = O N 7 .0 3 b 8
T R E F T O R Q

F O L L T O R Q R E F = M A S T E R 7 0 .1 8 L IM IT E R M IN L IM
T R E F T O R Q M A X 2 0 .0 9 8 .0 3 b 7
C H 2 M /F M O D E = F O L L O W E R 7 0 .0 8 & T R E F T O R Q M IN 2 0 .1 0 T R E F T O R Q
L O C A L C O N T R O L M A X L IM
8 .0 3 b 8
L O A D S H A R E 2 5 .0 3
Torque reference
D A T A S E T X T O R Q R E F 1
D S 4 1 .3 + 2 .0 8
M a s te r / M A S T E R F O L L O W E R T O R Q U E R E F D S T O R Q R E F A U S E D T O R Q R E F A F IL T E R
F o llo w e r 2 .2 0
a p p lic a tio n 2 .2 8
in te r fa c e
T O R Q R E F A F T C 2 5 .0 2
S T D M O D B U S D S 8 1 .3
R M B A -0 1 C O M M M O D U L E 9 8 .0 2
A B B P a r. S T D M O D B U S 4
D S 1 0 g ro u p
A u t o m a t io n D S 1 0 .3 A D V A N T /N -F B 3
.... 9 0 , 9 2
N -ty p e o f R E A D / F IE L D B U S 2
F ie ld b u s D S 2 4 W R IT E D S 1 .3 2 5 .0 1
A d a p te rs F U N C . 1
N O T O R Q U E R E F A
N -ty p e o f D S 1 .3
F ie ld b u s
A d a p te rs R - t y p e o f F ie ld b u s A d a p t e r L O C A L C O N T R O L
&
W ith R - ty p e o f F ie ld b u s a d a p te r s , d e f in e to r q u e r e fe r e n c e T O R Q U E C O N T R O L R A M P
Torque reference chain continues on the following page.
T O R Q U E R E F A o r B in p a r a m e te r g r o u p 5 1 . T O R Q U E R E F B
L O C A L R E F
2 5 .0 4
C O M M M O D U L E = F IE L D B U S 9 8 .0 2
> 1
C O M M M O D U L E = N O 9 8 .0 2 T O R Q R A M P U P 2 5 .0 5
T O R Q R A M P D O W N 2 5 .0 6
I/O T O R Q U E R E F E R E N C E B
F IE L D B U S T O R Q U E R E F B
(N -ty p e o r R M B A -0 1 )
N o te ! W ith o th e r R - ty p e o f F ie ld b u s m o d u le s ,
to r q u e r e fe r e n c e is a s s ig n e d b y P a r . g r o u p 5 1 . T O R Q U E R E F E R E N C E C H A IN - S Y S T E M A P P L IC A T IO N p a g e 7 (1 0 )
F R E Q
T O R Q U E S T E P 2 6 .0 3 L IM IT E R
S P E E D R E F 4 T O R Q U E R E F 5 T O R Q F R E Q L IM R E F
2 .1 8 + 2 .1 2 2 .2 2
L O A D C O M P E N S A T IO N 2 6 .0 2 T O R Q U E R E F 4
+
M O T O R S P E E D S U B
O S C IL L A T IO N 2 .1 1
1 .0 4 - T O R Q U E R E F 3 + F R E Q M A X L IM IT
D A M P IN G
F R E Q U E N C Y 1 .0 5
2 .1 0 8 .0 3 b 1 1
O S C C O M P E N S A T IO N 2 6 .0 4
F R E Q M IN L IM IT
O S C IL L A T IO N F R E Q 2 6 .0 5 M IN IM U M S P E E D 2 0 .0 1 8 .0 3 b 1 0
O S C IL L A T IO N P H A S E 2 6 .0 6 M A X IM U M S P E E D 2 0 .0 2 F R E Q L IM IT
O S C IL L A T IO N G A IN 2 6 .0 7 F R E Q T R IP M A R G IN 2 0 .1 1 8 .0 3 b 1 5
T O R Q U E S E L E C T O R T O R Q U E S E L E C T O R
2 6 .0 1
0
D C
S P E E D V O L T A G E
L IM IT E R
T O R Q U E R E F 1 T O R Q F R E Q L IM R E F T O R Q D C L IM R E F
T O R Q U E 2 .2 2 2 .2 3
2 .0 8
F ro m to r q u e r e fe r e n c e c h a in D C V O L T A G E 1 .1 0
M IN
U N D E R V O L T A G E C T L 3 0 .2 2
U N D E R D C U N D E R V O L T L IM
V O L T A G E
M A X U N D E R V O L T T O R Q U P 2 0 .1 5 C O N T R O L 8 .0 3 b 1 2
U N D E R V O L T T O R Q D N 2 0 .1 6
T O R Q U E R E F 2
A D D D C O V E R V O L T L IM
O V E R
2 .0 9 O V E R V O L T A G E C T L 3 0 .2 3 V O L T A G E
C O N T R O L
8 .0 3 b 1 3
F ro m s p e e d c o n tr o lle r
P O W E R T O R Q U E T O R Q U E
L IM IT L IM IT E R L IM IT
C A L C . C A L C
T O R Q D C L IM R E F T O R Q P O W L IM R E F T O R Q U S E D R E F
2 .2 3 2 .2 4 2 .1 3
F R E Q U E N C Y 1 .0 5 F L U X U S E D R E F 2 .1 4 M O T O R C U R R E N T 1 .0 6
T O R Q M A X L IM T O R Q U S E R C U R L IM
P M O T O R IN G L IM P M O T O R IN G L IM M IN IM U M T O R Q U E 2 0 .0 6 8 .0 3 b 6 8 .0 3 b 3
2 0 .1 7 8 .0 4 b 0 T O R Q M IN L IM M A X IM U M C U R R E N T 2 0 .0 4 T O R Q IN V C U R L IM
M A X IM U M T O R Q U E 2 0 .0 5
8 .0 3 b 5 8 .0 3 b 4
P G E N E R A T IN G L IM P G E N E R A T IN G L IM P U L L O U T T C O E F M A X 2 0 .1 2 T O R Q M O T O R L IM
2 0 .1 8 8 .0 4 b 1 P U L L O U T T C O F M IN 2 0 .1 3 8 .0 3 b 0 IN V E R T E R M A X IM U M C U R R E N T
T O R Q U E R E F E R E N C E C H A IN - S Y S T E M A P P L IC A T IO N p a g e 8 (1 0 )

325
326
S T A R T
S T A R T F U N C T IO N 2 1 .0 1 C O N T R O L
A U T O
S T A R T
D C M A G N
C O N S T M A G N T IM E 2 1 .0 2 C N S T D C M A G N
S T A R T F L U X
R E F E R E N C E
U S E D M C W 2 .2 6

F IE L D
F L U X M IN 2 7 .0 5
F L U X F L U X W E A K E N IN G
B R A K IN G F L U X U S E D R E F
O P T IM IS A T IO N
M O T O R T O R Q U E 1 .0 8 2 .1 4
F L U X R E F 2 7 .0 3
Flux and DTC control
F L U X B R A K IN G
M O T O R N O M F R E Q
2 7 .0 2 IN T E R N A L
F R E Q U E N C Y 1 .0 5 F L U X R E F 8 .0 3 b 9 F L U X M IN L IM IT
F L U X O P T IM IS A T IO N 2 7 .0 1
C A L C U L A T IO N
D C V O L T A G E 1 .1 0 2 .2 1 F IE L D W K P O IN T A C T
F L U X M A X 2 7 .0 4
F L U X M IN 2 7 .0 5
F L U X R A M P G A IN 2 7 .0 6
D IR E C T T O R Q U E A S IC A C S 8 0 0
a n d F L U X
H Y S T E R E S IS T o r q b its
C O N T R O L
O p tim a l
F lu x b its S w itc h in g
C o n tro l
C o n tr o l b its
T O R Q U E U S E D R E F 2 .1 3
F L U X A C T 2 .1 5 1 .0 8 M O T O R T O R Q U E
x x .x x In p u t fo r re fe re n c e o r c o m m a n d
M O T O R M O D E L D C V O L T A G E A C T U A L
C U R R E N T A C T U A L
x .x x R e a d o n ly s ig n a l C A L C U L A T E M
A C T U A L V A L U E S
x .x x > x B it o f p a c k e d b o o le a n w o r d
E S T IM A T E a n d
C A L C U L A T E
F L U X A N D D T C C O N T R O L - S Y S T E M A P P L IC A T IO N p a g e 9 (1 0 )
A C C E L E R T IM E 2 2 .0 1 R A M P
D E C E L E R T IM E 2 2 .0 2
E M E S T O P R A M P 2 2 .0 4
D C
S H A P E T IM E 2 2 .0 5 V O L T A G E
L IM IT E R L IM IT E R
S P E E D S H A R E L IM IT E R
F R E Q U E N C Y M A X 2 9 .0 2 L O C A L C O N T R O L T O R Q F R E Q L IM R E F T O R Q D C L IM R E F
2 3 .0 5
Scalar control
F R E Q U E N C Y M IN 2 9 .0 3 2 .2 2 2 .2 3
F R E Q . R E F X
L O C A L R E F D C V O L T A G E
2 9 .0 1
1 .1 0
F R E Q U E N C Y R E F E R E N C E +
U N D E R V O L T A G E C T L
U N D E R D C U N D E R V O L T L IM
V O L T A G E
2 9 .0 2 3 0 .2 2 C O N T R O L 8 .0 3 b 1 2
F R E Q U E N C Y M A X
C O M M M O D U L E = N O 9 8 .0 2 &
2 9 .0 3 O V E R V O L T A G E C T L D C O V E R V O L T L IM
O V E R
A I+ F B A S P E E D R E F = O N 1 1 .0 2 V O L T A G E
F R E Q U E N C Y M IN 3 0 .2 3 C O N T R O L
8 .0 3 b 1 3
I/O S P E E D R E F E R E N C E 2 9 .0 5
A D D F R E Q R E F
F L U X U S E D R E F 2 .1 4 S C A L A R C O N T R O L A S IC A C S 8 0 0
T O R Q U E
L IM IT S W IT C H IN G F R E Q R E F T o r q b its
C A L C O p tim a l
T O R Q U S E D R E F F R E Q U E N C Y 1 .0 5 F lu x b its S w itc h in g
2 .1 3 C o n tro l
C o n tr o l b its
M O T O R C U R R E N T 1 .0 6
T O R Q U S E R C U R L IM
8 .0 3 b 3 IR
D C V O L T A G E A C T U A L
C O M P E N S A T IO N
M A X IM U M C U R R E N T 2 0 .0 4 T O R Q IN V C U R L IM M O T O R N O M F R E Q
8 .0 3 b 4 M O T O R N O M V O L T A G E C U R R E N T A C T U A L
IR C O M P E N S A T IO N 2 9 .0 4 2 .1 5 F L U X A C T
IN V E R T E R M A X IM U M C U R R E N T
M A IN C O N T R O L W O R D 1 .0 8 M O T O R T O R Q U E
M
S C A L A R C O N T R O L - S Y S T E M A P P L IC A T IO N p a g e 1 0 (1 0 )

327
328

329
Terms
Term Full name Description
ACS800/ACS600 AC drive
ACU Auxiliary Control Unit
AI Analogue input Interface for analogue input signals
AIMA I/O Module Adapter Extension unit for mounting of I/O extension modules
AINT Main Circuit Interface Board Interface for RMIO/NAMC and main circuit
AO Analogue output Interface for analogue output signals
APBU PPCS Branching Unit Optical PPCS branching unit used with parallel
inverter modules.
APC2 Application Program Controller 2
AC 80 Advant Controller 80
AC 800M Advant Controller 800 M
ASIC Application Specific Integrated Circuit
CDP 311 Common Drives Panel 311
CDP 312R Common Drives Panel 312 Control panel is used for setting drive parameters and
monitoring the drive. Control panel uses the Modbus-
protocol.
CE Marking Communauté Européenne Marking CE marking is the manufacturer's claim that the
product meets the essential requirements of all
relevant European Directives.
CI858 DriveBus Communication Interface Used with AC 800M.
DDCC Distributed Drives Communication Communication ASIC

Circuit
DDCS Distributed Drives Communication Communication protocol used with drive products
System
DI Digital input Interface for digital input signals
DO Digital output Interface for digital output signals
DriveSize Windows based PC tool for dimensioning of the drive

and motor
DriveWindow DriveWindow is an easy to use Windows application

for commissioning and maintaining ABB drives
equipped with fibre optic communication.
DSP Digital Signal Processor Processor type used in RMIO and NAMC board
DSU Diode Supply Unit Diode input bridge
Terms
330
DTC Direct Torque Control See section Motor control, DTC on page 81.
EEPROM Electrically Erasable Programmable Non-volatile memory

ROM
EMC Electromagnetic Compatibility EMC is the ability of electrical/electronic equipment to

operate without problems within an electromagnetic
environment. Likewise, the equipment must not
disturb or interfere with any other product or system
within its locality.
EMI Electromagnetic interference
ESD Electrostatic discharge
FCB Function Chart Builder Software tool for ACS800 Template Application
programming
FCE Function Chart Editor FCB editor for application block drawing
FCI Fieldbus Communication Interface E.g. CI810A Fieldbus Communication Interface
FIO-11 Analogue I/O Extension The FIO-11 is a general purpose analogue and digital
input/output extension.
Flash EEPROM Electrically Erasable EEPROM memory Non-volatile memory
FSR Full Scale Range
HW Hardware Physical device or equipment
I/O Input/Output Input/Output interface (e.g. DI, DO, AI, AO)
IC International Cooling International cooling standard
ICMC Integrated Control Motor Circuit Motor and inverter control ASIC used in ACS600
ICU Incoming Unit Section through which the drive connects to the main
supply
ID run Identification run During the identification run, the drive will identify the
characteristics of the motor for optimum motor control.
IEC International Electrotechnical Organisation for Electrical and Electronic Engineering

Commission Standards
IEEE Institute of Electrical and Electronic US professional society which takes part in
Engineers standardisation. For example IEEE Conference
Reviews.
IGBT Insulated Gate Bipolar Transistor Power semiconductor
IM International Mounting International mounting standard
IOCC Input Output Control Circuit I/O ASIC used in ACS600
IP International Protection Degree of protection provided by enclosures
ISO International Organisation for E.g. ISO 9000 series of quality standards
Standardisation
KLIXON Thermal switch
Terms
331
KTY-84-1xx Silicon temperature sensor Temperature dependent silicon sensor. Used e.g. in
AC motors to indicate motor temperature.
LCD Liquid Crystal Display Electronic display type used in the CDP 312R control
panel
LED Light Emitting Diode Semiconductor
Modbus Fieldbus communication protocol
Multidrive Drive consisting of several inverter modules

connected to same DC link
NAFA AF100 Adapter AF 100 Adapter kit includes a Fieldbus

Communication Interface (FCI).
NAIO Analogue I/O Extension Module Optional module to replace or extend analogue I/O
channels
NBCI Bus Connection Module
NBRA Brake chopper. Option device for efficient braking for

drives with no regenerative input bridge.
NBRC Brake Chopper Controller Board Controls the operation of the brake chopper (NBRA).
NCPC Control Panel Cable Optional cable for remote connection of the CDP
312R control panel
NCSA CS 31 Adapter Module Optional module which enables connection of a drive

to a CS 31 system.
NDBU DDCS Branching Unit
NDIO Digital I/O Extension Module Optional module to replace or extend digital I/O
channels
NDNA DeviceNet Adapter Module Optional module which enables the connection of the
drive to a DeviceNet system.
NDPA PCMCIA interface card to PC
NDPC Cable adapter between DDCS link and Cable adapter between CH3 optic fibre cable and
PC NDPA card. Used with DriveWare products.
NETA Ethernet Adapter Module Optional module for browser-based remote

monitoring of drives via Ethernet
NIBA Interbus-S Adapter Module Optional module which enables connection of a drive
to an InterBus-S system
NLMD Led Monitoring Display The NLMD-01 Monitoring Display has a LED bar to
show an absolute real type value. Used for signal
monitoring.
NMBA Modbus Adapter Module Optional module which enables the connection of the
drive to a Modbus system.
NOCR Optical Converter/Repeater board
NPBA PROFIBUS Adapter Module Optional module which enables the connection of the
drive to a PROFIBUS system.
Terms
332
NTAC Pulse Encoder Interface Module Optional pulse encoder interface
NTC Negative Temperature Coefficient

resistor
PCB Printed Circuit Board
PCMCIA Personal Computer Memory Card DDCS/PCMCIA interface used with DriveWindow as
International Association an interface between the PC and the drive.
PE Protective Earth Earthing (grounding) terminal
PFC Pump and Fan Control Drive macro for controlling pump and fan sections
PID Proportional, Integral and Derivate Drive speed control is based on PID algorithm.
PLC Programmable Logic Controller
PPCS Power Plate Communication System Optical serial link for inverter control
ppr Pulses per revolution E.g. number of encoder pulses per one revolution
PROM Programmable ROM
Pt100 Platinum Wire Resistance Element 100 Temperature dependent resistor
PTC Positive Temperature Coefficient resistor PTC thermistor
PWM Pulse Width Modulation Inverter control method
RAM Random Access Memory Volatile memory
RAIO Analogue I/O Extension Module Optional I/O module for ACS800 to replace or extend
analogue I/O channels.
RDCO DDCS Communication Option Module Optional I/O module for DDCS communication for
ACS800. Includes channels CH0…CH3.
RDCU Drive Control Unit DIN rail installable drive controller unit which consists
of an RMIO board, a bottom plate and a plastic cover.
RDIO Digital I/O Extension Module Optional module for ACS800 to replace or extend
digital I/O channels.
RDNA DeviceNet Adapter Module Optional module which enables the connection of the
drive to a DeviceNet system.
RMBA Modbus Adapter Module Optional module through which a drive is connected
to a Modbus serial communication bus.
RMIO Motor Control and I/O Board Motor, I/O and inverter control board
RFI Radio Frequency Interference
RFE Resonance Frequency Eliminator Software filter used in the drive to eliminate
oscillations.
RMS Root Mean Square For sine wave the RMS value is obtained by dividing
the maximum value by the square root of 2.
RPBA PROFIBUS-DP Adapter Module
Terms
333
RO Relay output Interface for a digital output signal. Implemented with

a relay.
ROM Read Only Memory Non-volatile memory
RS 232, RS 485 Standards for data transmission interfaces
RTAC Pulse Encoder Interface Module Optional pulse encoder interface for ACS800
SDCS UCM-1 UC resistor board Used in thyristor supply unit
SDCS -COM-1 Communication board Used in thyristor supply unit
SDCS-CON-1 Control board Used in thyristor supply unit
SDCS-IOB-22 Digital connection card (115 V) Used in thyristor supply unit
SDCS-IOB-23 Digital connection card (230 V) Used in thyristor supply unit
SDCS-IOE-2 UC measurement board Used in thyristor supply unit
SDCS-PIN-41 Pulse transformer board Used in thyristor supply unit
SDCS-PIN-51 Measurement board Used in thyristor supply unit
SDCS-POW-1 Power supply board Used in thyristor supply unit
SW Software
TSU Thyristor Supply Unit Full controlled thyristor input bridge
UART Universal Asynchronous Receiver Communication controlled circuit used in

Transmitter asynchronous communication protocols.
UPS Uninterrupted Power Supply Power supply equipment with battery to maintain
output voltage during power failure
UR fuse Ultra Rapid fuse Fuse type used to protect semiconductors
VSD Variable Speed Drives
WIDE Wide communication. More actual values (group 5)

can be read from the line-side converter to the
inverter side.
WTA Wide communication. Used with wind turbine

application.
Terms
334
Terms
335
Index
A FAULT WORDS . . . . . . . . . . . . . . . . . . . . . . . 162

ACCEL/DECEL. . . . . . . . . . . . . . . . . . . . . . . 200 Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Acceleration and deceleration ramps . . . . . . . . 75 Flux braking . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
ACTUAL SIGNALS . . . . . . . . . . . . . . . . . . . . 137 FLUX CONTROL . . . . . . . . . . . . . . . . . . . . . . 217
Actual signals . . . . . . . . . . . . . . . . . . . . . . . . . 64 Flux optimisation . . . . . . . . . . . . . . . . . . . . . . . 74
ADAPT PROG1 CNTRL . . . . . . . . . . . . . . . . 242
ADAPT PROG2 CNTRL . . . . . . . . . . . . . . . . 244 H
ADAPTIVE PROG1 . . . . . . . . . . . . . . . . . . . . 240 Hexagonal motor flux . . . . . . . . . . . . . . . . . . . . 85
ADAPTIVE PROG2 . . . . . . . . . . . . . . . . . . . . 243
Adaptive programming with DriveAP 2.x . . . . . 107 I
ANALOGUE INPUTS . . . . . . . . . . . . . . . . . . 184 INFORMATION . . . . . . . . . . . . . . . . . . . . . . . 145
Analogue inputs . . . . . . . . . . . . . . . . . . . . . . . 52 Inverter charging logic . . . . . . . . . . . . . . . . . . . 123
ANALOGUE OUTPUTS. . . . . . . . . . . . . . . . . 188 Inverter fan speed control . . . . . . . . . . . . . . . . 119
Analogue outputs . . . . . . . . . . . . . . . . . . . . . . 55 IR compensation . . . . . . . . . . . . . . . . . . . . . . . 84
AP CONNECT . . . . . . . . . . . . . . . . . . . . . . . 245
Auto restart . . . . . . . . . . . . . . . . . . . . . . . . . . 68 L
Automatic start . . . . . . . . . . . . . . . . . . . . . . . . 67 LED PANEL CTRL . . . . . . . . . . . . . . . . . . . . . 193
LIMITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
B Local control vs. external control . . . . . . . . . . . . 49
Backup and restore function with DriveWindow 129 Low speed fine tuning . . . . . . . . . . . . . . . . . . . . 80
BRAKE CHOPPER . . . . . . . . . . . . . . . . . . . . 233 LSU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
LSU communication . . . . . . . . . . . . . . . . . . . . 120
C LSU SIGNALS . . . . . . . . . . . . . . . . . . . . . . . . 146
Constant DC magnetising . . . . . . . . . . . . . . . . 73
CONTROL WORDS . . . . . . . . . . . . . . . . . . . 150 M
Current measurement calibration . . . . . . . . . . . 87 MASTER ADAPTER (fieldbus adapter) . . . . . . 239
Master/Follower . . . . . . . . . . . . . . . . . . . . . . . 108
D Monitoring panel NLMD-01 . . . . . . . . . . . . . . . 124
D SET REC ADDR . . . . . . . . . . . . . . . . . . . . 252 MOTOR CABLE PROTECTION . . . . . . . . . . . . 235
D SET TR ADDR . . . . . . . . . . . . . . . . . . . . . 254 Motor control, DTC . . . . . . . . . . . . . . . . . . . . . . 81
DATA STORAGE . . . . . . . . . . . . . . . . . . . . . 194 MOTOR FAN CTRL . . . . . . . . . . . . . . . . . . . . 234
DC HOLD . . . . . . . . . . . . . . . . . . . . . . . . . . . 193 Motor identification . . . . . . . . . . . . . . . . . . . . . . 64
DC hold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73 MOTOR MODEL . . . . . . . . . . . . . . . . . . . . . . 218
DC magnetising . . . . . . . . . . . . . . . . . . . . . . . 73
DDCS CONTROL . . . . . . . . . . . . . . . . . . . . . 246 O
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . 128 Operation limits . . . . . . . . . . . . . . . . . . . . . . . 106
DIGITAL INPUTS . . . . . . . . . . . . . . . . . . . . . 177 OPTION MODULES . . . . . . . . . . . . . . . . . . . . 258
Digital inputs. . . . . . . . . . . . . . . . . . . . . . . . . . 57 Oscillation damping . . . . . . . . . . . . . . . . . . . . . 77
DIGITAL OUTPUTS . . . . . . . . . . . . . . . . . . . 186 Overvoltage control . . . . . . . . . . . . . . . . . . . . . 67
Digital outputs. . . . . . . . . . . . . . . . . . . . . . . . . 58
DRIVE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257 P
DRIVEBUS COMM . . . . . . . . . . . . . . . . . . . . 251 Parallel-connected inverters . . . . . . . . . . . . . . . 85
Parameter lock . . . . . . . . . . . . . . . . . . . . . . . . 106
E Preprogrammed faults . . . . . . . . . . . . . . . . . . 102
Emergency stop . . . . . . . . . . . . . . . . . . . . . . . 69 Programmable protection functions . . . . . . . . . . 87
ENERGY SAVING . . . . . . . . . . . . . . . . . . . . 235 Pulse encoder, RTAC . . . . . . . . . . . . . . . . . . . 124
F R
Fast analogue interface . . . . . . . . . . . . . . . . . . 59 Reduced run function . . . . . . . . . . . . . . . . . . . . 86
Fast digital interface . . . . . . . . . . . . . . . . . . . . 60 REFERENCE SELECT . . . . . . . . . . . . . . . . . . 181
FAST IO . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181 RMIO board connection diagrams . . . . . . . . . . . 61
FAULT FUNCTIONS . . . . . . . . . . . . . . . . 223, 233 Run interlock . . . . . . . . . . . . . . . . . . . . . . . . . . 80
Index
336
S
Safe Torque Off function (STO) . . . . . . . . . . . . . 71
SCALAR CONTROL . . . . . . . . . . . . . . . . . . . 221
Scalar control . . . . . . . . . . . . . . . . . . . . . . . . . 84
Sine filter support . . . . . . . . . . . . . . . . . . . . . . 121
Software version update . . . . . . . . . . . . . . . . . 131
SPEED CONTROL . . . . . . . . . . . . . . . . . . . . 208
Speed controller tuning . . . . . . . . . . . . . . . . . . . 79
Speed filtering . . . . . . . . . . . . . . . . . . . . . . . . . 78
SPEED MEASUREMENT . . . . . . . . . . . . . . . . 236
SPEED REF . . . . . . . . . . . . . . . . . . . . . . . . . 202
STANDARD MODBUS . . . . . . . . . . . . . . . . . . 239
START/STOP FUNC . . . . . . . . . . . . . . . . . . . 197
START-UP DATA . . . . . . . . . . . . . . . . . . . . . 264
STATUS WORDS . . . . . . . . . . . . . . . . . . . . . 154
SYSTEM CTR INPUTS . . . . . . . . . . . . . . . . . 191
T
TORQUE REF . . . . . . . . . . . . . . . . . . . . . . . . 215
TORQUE REF HANDLING . . . . . . . . . . . . . . . 215
U
Undervoltage control . . . . . . . . . . . . . . . . . . . . 65
User macro save with DriveWindow . . . . . . . . . 130
USER PARAMETERS . . . . . . . . . . . . . . . . . . 240
Index
3AFE64670646 REV G / EN
EFFECTIVE: 2011-03-15
ABB Oy ABB Inc. ABB Beijing Drive Systems Co. Ltd.

AC Drives Automation Technologies No. 1, Block D, A-10 Jiuxianqiao Beilu
P.O. Box 184 Drives & Motors Chaoyang District
FI-00381 HELSINKI 16250 West Glendale Drive Beijing, P.R. China, 100015
FINLAND New Berlin, WI 53151 Telephone +86 10 5821 7788
Telephone +358 10 22 11 USA Fax +86 10 5821 7618
Fax +358 10 22 22681 Telephone 262 785-3200 Internet www.abb.com
Internet www.abb.com 800-HELP-365
Fax 262 780-5135

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ACS800

© 2011 ABB Oy. All Rights Reserved.

Introduction to the manual

Safe torque off function (STO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

Actual signals and parameters

Fault history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271

Control block diagrams

Scalar control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327

Introduction to the manual

What this chapter contains

Introduction to the manual

Product and service inquiries

Providing feedback on ABB Drives manuals

Document library on the Internet

Introduction to the manual

What this chapter contains

How to start-up the drive

6312/C3 6210/C3 180

- motor nominal voltage

- motor nominal current 99.03 MOTOR NOM

- motor nominal frequency

- motor nominal power

- motor nominal cosϕ

⎛ f N ⋅ 60⎞ * * Round to the nearest integer value.

- Open the control switch: 08.02 bit 8 = 1, ASTO 24 V DC circuit is

RMIO board supply

Inverter fan speed control

Motor fan control

Set parameter 50.03 SPEED FB SEL to INTERNAL. 50.03 SPEED FB SEL

Set the number of encoder pulses. 50.04 ENCODER PULSE

Reset the drive and start the motor.

Start the motor again.

Stop the motor.

Start the motor.

Reset and start the motor.

Start the motor again.

Enter a small speed reference value (for example 3% of the nominal

ID RUN (motor identification run)

If 1 = NO (ID MAGN) is selected, ID run is not performed. When the start

The ID run (STANDARD or REDUCED) should be selected if

The REDUCED ID run should be selected instead of the STANDARD if the

Note: The Motor ID run (STANDARD or REDUCED) cannot be performed

Start the motor to activate the ID run. 16.01 RUN ENABLE

When 30.01 MOTOR THERM P MODE setting is USER MODE:

Motor temperature measurement

Sensor type Unit Scaling

See control block diagram in section I/O speed and torque

Speed controller tuning

Automatic speed controller tuning

KPS too low KPS too high KPS optimal

TIS too long TIS too short TIS optimal

Low speed fine tuning

Scalar control and IR compensation

15% Relative output voltage. No IR

Test the IR compensation with actual load

Connect the external control system to channel CH0 of the

Set the digital input parameters. Parameter group 10

Deactivate the adaptive DC voltage measurement if undervoltage 20.14 ADAPTIVE UDC

AUTO RESTART function

Check that the auxiliary control circuit functions correctly during

What this chapter contains

Overview of the panel

The LCD type display has 4 lines of 20 characters.

7 6 3 1 3 Activate reference setting