# Menu 3 − Frequency Monitoring and Speed Feedback

Mode: Open‑Loop

The drive can operate under Open Loop and RFC modes with respect to frequency and current control and can drive asynchronous machines. The open loop asynchronous control is further broken down into vector and fixed boost modes

Parameter | 03.001 Final Demand Reference
--- | ---
Short description | Displays the final reference to the frequency controller
Mode | Open‑Loop
Minimum | −VM_FREQ | Maximum | VM_FREQ
Default |  | Units | Hz
Type | 32 Bit Volatile | Update Rate | 16ms
Display Format | Standard | Decimal Places | 2
Coding | RO, FI, VM, ND, NC, PT

Open loop mode:
Final Demand Reference (03.001) shows the fundamental drive output frequency from the Post Ramp Reference (02.001) and the Hard Frequency Reference (03.022).

RFC modes:
Final Demand Reference (03.001) shows the reference at the input to the frequency controller, which is the sum of the Post Ramp Reference (02.001) if the ramp output is not disabled and the hard frequency reference (if enabled). If the drive is disabled Final Demand Reference (03.001) shows 0.00.

Parameter | 03.005 Zero Frequency Threshold
--- | ---
Short description | Defines the threshold for detecting the zero frequency condition
Mode | Open‑Loop
Minimum | 0.00 | Maximum | 20.00
Default | 2.00 | Units | Hz
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 2
Coding | RW, BU

If the Post Ramp Reference (02.001) is at or below the level defined by this parameter in either direction Zero Frequency (10.003) = 1, otherwise Zero Frequency (10.003) = 0.

Parameter | 03.006 At Frequency Lower Limit
--- | ---
Short description | Defines the lower limit for detecting the at frequency condition
Mode | Open‑Loop
Minimum | 0.00 | Maximum | 550.00
Default | 1.00 | Units | Hz
Type | 32 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 2
Coding | RW

At Frequency (10.006) is set if the Post Ramp Reference (02.001) is on the boundaries or within the at speed window. Above Set Frequency (10.007) and Below Set Frequency (10.005) are set if the reference is above or below the window respectively.

If Absolute At Frequency Select (03.009) = 0 reference window mode is used.
The "at speed" condition is true if,

> (|Pre-ramp Reference (01.003)| - At Frequency Lower Limit (03.006)) ≤ |Post Ramp Reference (02.001)| ≤ (|Pre-ramp Reference (01.003)| + At Frequency Upper Limit (03.007))

(If the lower limit is less than zero then zero is used as the lower limit.)

If Absolute At Frequency Select (03.009) = 1 absolute window mode is used.
The "at speed" condition is true if,

> At Frequency Lower Limit (03.006) ≤ |Post Ramp Reference (02.001)| ≤ At Frequency Upper Limit (03.007)

Note: All flags are cleared if Reference On (01.011) is 0.

Parameter | 03.007 At Frequency Upper Limit
--- | ---
Short description | Defines the upper limit for detecting the at frequency condition
Mode | Open‑Loop
Minimum | 0.00 | Maximum | 550.00
Default | 1.00 | Units | Hz
Type | 32 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 2
Coding | RW

See At Frequency Lower Limit (03.006).

Parameter | 03.008 Over Frequency Threshold
--- | ---
Short description | Defines the threshold used to detect the over frequency condition
Mode | Open‑Loop
Minimum | 0.00 | Maximum | 550.00
Default | 0.00 | Units | Hz
Type | 32 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 2
Coding | RW

If Over Frequency Threshold (03.008) is set to a non-zero value it defines the over frequency threshold. If the Post Ramp Reference (02.001) exceeds this threshold in either direction an Over Speed trip is produced. If Over Frequency Threshold (03.008) is set to 0.0 the threshold is based on the variable minimum/maximum for the references and is equal to 1.2 x VM_SPEED_FREQ_REF[MAX].

Parameter | 03.009 Absolute At Frequency Select
--- | ---
Short description | Set to 1 to select absolute at frequency
Mode | Open‑Loop
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

See At Frequency Lower Limit (03.006).

Parameter | 03.022 Hard Frequency Reference
--- | ---
Short description | Defines the value of the hard frequency reference
Mode | Open‑Loop
Minimum | −VM_SPEED_FREQ_REF | Maximum | VM_SPEED_FREQ_REF
Default | 0.00 | Units | Hz
Type | 32 Bit User Save | Update Rate | 4ms
Display Format | Standard | Decimal Places | 2
Coding | RW, VM

The Hard Frequency Reference (03.022) is a reference value which does not pass through the ramp system, but is added directly to the Post Ramp Reference (02.001). The Hard Frequency Reference (03.022) is only added when selected by the Hard Frequency Reference Select (03.023) and Reference On (01.011) is active.

Parameter | 03.023 Hard Frequency Reference Select
--- | ---
Short description | Set to 1 to enable the use of the hard frequency reference
Mode | Open‑Loop
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | 4ms
Display Format | Standard | Decimal Places | 0
Coding | RW

See Hard Frequency Reference (03.022).

Parameter | 03.029 Position
--- | ---
Short description | Displays the position counter in frequency or encoder mode
Mode | Open‑Loop
Minimum | 0 | Maximum | 65535
Default |  | Units |
Type | 16 Bit Power Down Save | Update Rate | Background
Display Format | Standard | Decimal Places | 0
Coding | RO, FI, ND, NC, PT, BU

Indicates the current value of the position counter in Frequency or Encoder mode. Position is reset to 0 if Position Counter Reset (03.032) is 1.

Parameter | 03.032 Position Counter Reset
--- | ---
Short description | Set to 1 to reset the position counter
Mode | Open‑Loop
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | Background
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

When set, this parameter resets the position parameter (Position (03.029)) and revolution counter Revolution Counter (03.128) to 0.

Parameter | 03.035 Position Scaling Numerator
--- | ---
Short description | Defines the numerator used for scaling the pulse counter
Mode | Open‑Loop
Minimum | 0.000 | Maximum | 1.000
Default | 1.000 | Units |
Type | 16 Bit User Save | Update Rate | Background
Display Format | Standard | Decimal Places | 3
Coding | RW, BU

Position Scaling Numerator (03.035) and Position Scaling Denominator (03.036) are used to scale the pulse counter down to the required position units. The multiplying factor applied to the counter is defined as:

Position Scaling Numerator (03.035) ÷ Position Scaling Denominator (03.036)

Parameter | 03.036 Position Scaling Denominator
--- | ---
Short description | Defines the denonminator used for scaling the pulse counter
Mode | Open‑Loop
Minimum | 0.000 | Maximum | 100.000
Default | 1.000 | Units |
Type | 32 Bit User Save | Update Rate | Background
Display Format | Standard | Decimal Places | 3
Coding | RW

See Position Scaling Numerator (03.035).

Parameter | 03.037 Frequency Output or PWM Output Scaling
--- | ---
Short description | Defines the scaling factor applied to the frequency or PWM output
Mode | Open‑Loop
Minimum | 0.000 | Maximum | 4.000
Default | 1.000 | Units |
Type | 16 Bit User Save | Update Rate | Background
Display Format | Standard | Decimal Places | 3
Coding | RW, BU

Scale factor applied to the frequency or PWM output.

Parameter | 03.038 Maximum Output Frequency
--- | ---
Short description | Defines the maximum frequency required at the frequency output
Mode | Open‑Loop
Minimum | 0 | Maximum | 3
Default | 2 | Units | kHz
Type | 8 Bit User Save | Update Rate | Background
Display Format | Standard | Decimal Places | 0
Coding | RW, TE, BU

Value | Text | Description
0 | 1 | 15.1 bit resolution at Fmax
1 | 2 | 14.1 bit resolution at Fmax
2 | 5 | 12.8 bit resolution at Fmax
3 | 10 | 11.8 bit resolution at Fmax

Defines the maximum frequency required at the frequency output. The choice of maximum output frequency depends on the requirement of the output. Due to limitations in the hardware, higher output frequencies do not offer the best resolution at the top end of the frequency range.1, 2, 5, and 10kHz (0 - 3).

Fmax (kHz) | Resolution at Fmax
1 | 10 bit
2 | 9
5 | 8
10 | 7.7

Parameter | 03.042 Frequency Input High Precision
--- | ---
Short description | Increase the frequency input measuring window
Mode | Open‑Loop
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | Background
Display Format | Standard | Decimal Places | 0
Coding | RW

If Frequency Input High Precision (03.042) = 1 then the frequency input measurement window is doubled. This doubles the accuracy of the frequency input measurment but increase the response time by two.

If Frequency Input High Precision (03.042) = 0 then the frequency input measurement window is similar to Commander SK with better response time.

Parameter | 03.043 Maximum Reference Frequency
--- | ---
Short description | Defines the maximum frequency expected at the frequency input
Mode | Open‑Loop
Minimum | 0.00 | Maximum | 100.00
Default | 10.00 | Units | kHz
Type | 16 Bit User Save | Update Rate | Background
Display Format | Standard | Decimal Places | 2
Coding | RW

Defines the maximum frequency expected at the frequency input. The time the frequency is measured over is defined by

Measurement Time = 2048 / Maximum reference frequency

With a maximum measurement time of 0.341 seconds.
2048 is used to give the measurement more stability. The output is 10 bits.
Maximum reference frequency of less than 6kHz will have a lower resolution.

Parameter | 03.044 Frequency Reference Scaling
--- | ---
Short description | Defines the scaling factor applied to the frequency reference
Mode | Open‑Loop
Minimum | 0.000 | Maximum | 4.000
Default | 1.000 | Units |
Type | 16 Bit User Save | Update Rate | Background
Display Format | Standard | Decimal Places | 3
Coding | RW, BU

Scale factor applied to the frequency reference.

Parameter | 03.045 Frequency Reference
--- | ---
Short description | Displays the frequency reference
Mode | Open‑Loop
Minimum | -100.00 | Maximum | 100.00
Default |  | Units | %
Type | 16 Bit Volatile | Update Rate | 16ms
Display Format | Standard | Decimal Places | 2
Coding | RO, FI, ND, NC, PT

Indicates the reference input:

Digital input 6/7 mode (08.036) = 1 this is the reference from the frequency input.
Digital input 6/7 mode (08.036) = 2 this is the reference from the encoder AB input.

The reference has a 16ms filter.

Parameter | 03.047 Two Point Minimum Frequency
--- | ---
Short description | Defines the minimum frequency for scaling the frequency input
Mode | Open‑Loop
Minimum | -100.00 | Maximum | 100.00
Default | -100.00 | Units | %
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 2
Coding | RW

Frequency Reference (03.045) is scaled and limited using:

- Two Point Minimum Frequency (03.047)
- Drive Reference at Minimum Frequency (03.048)
- Two Point Maximum Frequency (03.049)
- Drive Reference at Maximum Frequency (03.050)

Parameters above can be selected to limit the range of Frequency Reference (03.045) and also scale it between the minimum and maximum reference.

Parameter | 03.048 Drive Reference at Minimum Frequency
--- | ---
Short description | Defines the drive reference for scaling the frequency input at minimum frequency
Mode | Open‑Loop
Minimum | -100.00 | Maximum | 100.00
Default | -100.00 | Units | %
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 2
Coding | RW

See Two Point Minimum Frequency (03.047).

Parameter | 03.049 Two Point Maximum Frequency
--- | ---
Short description | Defines the maximum frequency for scaling the frequency input
Mode | Open‑Loop
Minimum | 0.00 | Maximum | 100.00
Default | 100.00 | Units | %
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 2
Coding | RW

See Two Point Minimum Frequency (03.047).

Parameter | 03.050 Drive Reference at Maximum Frequency
--- | ---
Short description | Defines the drive reference for scaling the frequency input at maximum frequency
Mode | Open‑Loop
Minimum | 0.00 | Maximum | 100.00
Default | 100.00 | Units | %
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 2
Coding | RW

See Two Point Minimum Frequency (03.047).

Parameter | 03.072 Motor speed percent
--- | ---
Short description | Displays the final demand reference as a percentage of the reference clamp
Mode | Open‑Loop
Minimum | -150.0 | Maximum | 150.0
Default |  | Units | %
Type | 16 Bit Volatile | Update Rate | Background write
Display Format | Standard | Decimal Places | 1
Coding | RO, FI, ND, NC, PT

Motor speed percent (03.072) displays the Final Demand Reference (03.001) as a percentage of the reference clamp.

If Final Demand Reference (03.001) >= 0.00Hz then

> If Maximum Reference Clamp (01.006) = 0.00Hz then

> > Motor speed percent (03.072) = 0.0%

> else

> Motor speed percent (03.072) = Final Demand Reference (03.001) x 100 / Maximum Reference Clamp (01.006)

else

> If Negative Reference Clamp Enable (01.008) = 1 then

> > If Maximum Reference Clamp (01.006) = 0.00Hz then

> > > Motor speed percent (03.072) = 0.0%

> > else

> > > Motor speed percent (03.072) = -Final Demand Reference (03.001) x 100 / Minimum Reference Clamp (01.007)

> else

> > If Maximum Reference Clamp (01.006) = 0.00Hz then

> > > Motor speed percent (03.072)= 0.0%

> > else

> > Motor speed percent (03.072) = -Final Demand Reference (03.001) x 100 / (-Maximum Reference Clamp (01.006))

Parameter | 03.127 Frequency feedback
--- | ---
Short description | Frequency feedback from encoder
Mode | Open‑Loop
Minimum | −VM_SPEED_FREQ_REF | Maximum | VM_SPEED_FREQ_REF
Default |  | Units | Hz
Type | 32 Bit Volatile | Update Rate | 16ms
Display Format | Standard | Decimal Places | 2
Coding | RO, VM, ND, NC, PT

Frequency feedback (03.127) shows the frequency derived from the encoder feedback if Digital input 6/7 mode (08.036) = 2. The value shown is measured over a 16ms sliding window period and will depend on Rotary Lines Per Revolution (03.134).

Parameter | 03.128 Revolution Counter
--- | ---
Short description | Displays the revolution counter when in encoder mode
Mode | Open‑Loop
Minimum | 0 | Maximum | 65535
Default |  | Units | Revs
Type | 16 Bit Volatile | Update Rate | 16ms
Display Format | Standard | Decimal Places | 0
Coding | RO, FI, ND, NC, PT, BU

Encoder revolution counter from 0 to 65535. If Digital input 6/7 mode (08.036) is 2 in Encoder mode, read 0 otherwise.

Counter is reset to 0 if Position Counter Reset (03.032) is 1.

Parameter | 03.134 Rotary Lines Per Revolution
--- | ---
Short description | Defines the number of rotary lines per revolution for the encoder connected
Mode | Open‑Loop
Minimum | 0 | Maximum | 3
Default | 1 | Units |
Type | 8 Bit User Save | Update Rate | Background
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
0 | 512
1 | 1024
2 | 2048
3 | 4096

Rotary Lines Per Revolution (03.134) should be set to the number of lines per revolution for the encoder connected to the Di6 and Di7 inputs.

Parameter | 03.142 Encoder feedback filter
--- | ---
Short description | Defines the time period for a sliding window filter that may be applied to the feedback taken from the drive encoder feedback interface
Mode | Open‑Loop
Minimum | 1 | Maximum | 31
Default | 3 | Units | ms
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

Encoder feedback filter (03.142) defines the time period for a sliding window filter that may be applied to the feedback taken from the drive encoder feedback interface. This is a multiple of 16ms window. The encoder is sampled every 16ms and therefore if Encoder feedback filter (03.142) = 1 the filter is disabled.

Parameter | 03.143 Maximum Frequency Feedback
--- | ---
Short description | Defines the maximum frequency expected at the frequency encoder feedback
Mode | Open‑Loop
Minimum | −VM_SPEED_FREQ_REF | Maximum | VM_SPEED_FREQ_REF
Default | See exceptions below | Units | Hz
Type | 32 Bit User Save | Update Rate | Background
Display Format | Standard | Decimal Places | 2
Coding | RW, VM

Region | Default Value
50Hz | 50.00
60Hz | 60.00

Defines the maximum frequency feedback expected in Frequency feedback (03.127)