# Menu 6 − Sequencer and Clock

Mode: RFC‑A

The diagram below shows the sequencer for RFC-A and RFC-S modes.

The sequencer, which provides overall control of the drive, is implemented in two stages. The first stage includes the enable logic and sequencer logic and consists of static logic elements. The second stage is a state machine with internal states.

Hardware Enable (06.029) follows the safe torque off enable signal provided none of the digital inputs that are integral to the drive are routed to the Hardware Enable (06.029). The safe torque off hardware includes a delay in detecting a change from the enable to disable state of up to 20ms, but for most applications this is not a problem. However, a faster disable time can be achieved (600us) if digital input 4 or 5 on the drive is routed to the Hardware Enable (06.029).

If the safety function of the safe torque off input is required then there must not be a direct connection between the safe torque off input and any other digital I/O on the drive. If the safety function of the safe torque off input and a fast disable function are required together, then the drive should be given two separate independent enable input signals. A signal from a safe source should be connected to the safe torque off input on the drive. A second enable should be connected to the digital I/O selected for the fast disable function. The circuit must be arranged so that a fault which causes the fast input to be forced high cannot cause the safe torque off input to be forced high as well, including the case where a component such as a blocking diode has failed.

The diagram below shows the sequencer logic when Reference Selected Indicator (01.049) is not equal to 4 (i.e. keypad control mode is not selected). The definition of the logic symbols are given below.

The diagram below shows the sequencer logic when Reference Selected Indicator (01.049) = 4 (i.e. keypad control mode is selected). The definition of the logic symbols are given below.

Parameter | 06.001 Stop Mode
--- | ---
Short description | Defines how the motor is controlled when the run signal is removed from the drive
Mode | RFC‑A
Minimum | 0 | Maximum | 2
Default | 1 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
0 | Coast
1 | Ramp
2 | No Ramp

There is only one phase during the stopping sequence as shown in the table below for each of the possible values of Stop Mode (06.001).

Stop Mode (06.001) | Action
0: Coast | Inverter disabled
1: Ramp | Stop with ramp
2: No ramp | Stop with no ramp

The following should be noted:

1. Stop Mode (06.001) = 0 (Coast) the inverter is inhibited immediately when the Final drive run is de-activated. If however, Hold Zero Speed (06.008) = 1, then the inverter will be re-enabled to hold zero speed. The result is that the inverter is disabled for one sample and then enabled to ramp the motor to a stop. Therefore is coast stop is required Hold Zero Speed (06.008) should be set to 0.
2. If Stop Mode (06.001) = 1 (stop with ramp) the relevant ramp rate is used to stop the motor even if Ramp Enable (02.002) = 0.
3. The motor can be stopped with position orientation after stopping. This mode is selected with Standard Motion Controller Mode (13.010). When orientation stop is selected Stop Mode (06.001) has no effect.

Parameter | 06.002 Limit Switch Stop Mode
--- | ---
Short description | Defines the behaviour of the drive when limit switch is active
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
0 | Stop
1 | Ramp

If Limit Switch Stop Mode (06.002) = 0 then when Limit switch active is activated the motor is stopped without ramps. If Limit Switch Stop Mode (06.002) = 1 then the motor is stopped with the currently selected ramp rate.

Parameter | 06.003 Supply Loss Mode
--- | ---
Short description | Defines the behaviour of the drive when the supply voltage is reduced
Mode | RFC‑A
Minimum | 0 | Maximum | 3
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
0 | Disable
1 | Ramp Stop
2 | Ride Thru
3 | Limit Stop

If Supply Loss Mode (06.003) > 0 and the D.c. Bus Voltage (05.005) falls below Supply Loss Detection Level (06.048) - 0.05 x VM_SUPPLY_LOSS_LEVEL[MIN] then the supply loss condition is detected and Supply Loss (10.015) = 1. If the supply subsequently rises above Supply Loss Detection Level (06.048) + 0.05 x VM_SUPPLY_LOSS_LEVEL[MIN] then the supply loss condition is no longer active and Supply Loss (10.015) = 0.

0: Disable
No supply loss detection is provided by monitoring the D.c. Bus Voltage (05.005). The drive will continue to operate normally unless the under voltage condition is detected.

1: Ramp Stop
The action taken by the drive is the same as for ride through mode, except that the ramp down rate is at least as fast as the currently selected deceleration ramp and the drive will continue to decelerate and stop even if the supply is re-applied. Once the sequencer state machine has reached the DISABLE state, it will be necessary to disable and re-enable the drive for it to run again because bit 2 of Enable Conditions (06.010) is set when the sequencer state machine changes from the DECELERATION state. It should be noted that even if S ramps are enabled (i.e. S Ramp Enable (02.006) = 1) this is ignored while the drive is stopping in this mode, and a linear ramp is always used.

2: Ride through
The drive attempts to control the d.c. link voltage to take energy from the motor and load inertia to ride through the Supply loss condition for as long as possible.

3: Limit Stop
The speed reference is set to zero and the ramps are disabled allowing the drive to decelerate the motor to a stop under current limit. If the supply is re-applied while the motor is stopping any run signal is ignored until the motor has stopped. If the current limit value is set at a very low level the drive may enter the Under Voltage state before the motor has stopped. Once the sequencer state machine has reached the DISABLE state, it will be necessary to disable and re-enable the drive for it to run again because bit 2 of Enable Conditions (06.010) is set when the sequencer state machine changes from the DECELERATION state.

Parameter | 06.008 Hold Zero Speed
--- | ---
Short description | Set to 1 to hold the motor at zero speed
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW

If Hold Zero Speed (06.008) = 0 the sequencer state machine goes to the DISABLE state and the inverter is disabled when the Final drive run is de-activated and the motor reaches standstill.

If Hold Zero Speed (06.008) = 1 and Motor Pre-heat Current Magnitude (06.052) = 0% the sequencer state machine goes to the STOP state when the Final drive run is de-activated and the motor reaches standstill. The drive remains enabled with a frequency or speed reference of zero. If Motor Pre-heat Current Magnitude (06.052) is set to a non-zero value it defines the current in the motor when the sequencer state machine is in the STOP state. This is intended for applications where there is no motor load at standstill, but motor current is required to prevent condensation in the motor when it is stopped. If the motor is not force cooled the motor cooling is less effective at standstill than when the motor is rotating, and so care should be taken not to damage the motor by leaving it at standstill for prolonged periods with a high level of current.

Parameter | 06.009 Catch A Spinning Motor
--- | ---
Short description | Defines the behaviour of the drive when the drive is enabled whilst the motor is not at zero speed
Mode | RFC‑A
Minimum | 0 | Maximum | 3
Default | 1 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
0 | Disable
1 | Enable
2 | Fwd Only
3 | Rev Only

When the drive is enabled the ramp output can be set up so that the inital speed reference (i.e. combination of the ramp output and the hard speed reference if enabled) matches the speed of the motor, so that there is no transient speed change on enable. To do this Post Ramp Reference (02.001) is pre-loaded with Speed Feedback (03.002) - Hard Speed Reference (03.022) if the hard speed reference is enabled, or with Speed Feedback (03.002) if not. If Catch A Spinning Motor (06.009) = 1 then the ramp output is reloaded in this way, however different settings of Catch A Spinning Motor (06.009) can be used to restrict the initial speed reference if required as given in the table below. If the initial speed reference is forced to zero then Post Ramp Reference (02.001) is pre-loaded with Speed Feedback (03.002) - Hard Speed Reference (03.022) if the hard speed reference is enabled, or with zero if not.

Catch A Spinning Motor (06.009) | Initial speed reference
0 | Always zero
1 | In either direction
2 | Zero or positive
3 | Zero or negative

If sensorless mode is being used then it is recommended that catch a spinning motor is disabled if the motor will always be stationary when the drive is enabled as this gives a smooth start and avoids unwanted transient movement of the motor on starting. If catch a spinning motor is enabled, but the motor is at standstill or rotating slowly it is likely than some unwanted movement will occur. This can be reduced by reducing Magnetising Current Limit (04.049), however if this is reduced too much, especially with larger motors, and over-current trip may occur on starting. It is possible, although not likely, that the drive does not correctly detect the speed of the motor when sensorless control is active. If this is the case Spin Start Boost (05.040) can be increased to correct this.

Parameter | 06.010 Enable Conditions
--- | ---
Short description | Displays all the conditions needed to change the state of the final drive enable
Mode | RFC‑A
Minimum | 0 (Display: 000000000000) | Maximum | 4095 (Display: 111111111111)
Default |  | Units |
Type | 16 Bit Volatile | Update Rate | 2ms write
Display Format | Binary | Decimal Places | 0
Coding | RO, ND, NC, PT

The Final drive enable is a combination of the Hardware Enable (06.029), Drive Enable (06.015) and other conditions that can prevent the drive from being enabled. All of these conditions are shown as bits in Enable Conditions (06.010) as given in the table below.

Enable Conditions (06.010) bits | Enable condition
0 | Hardware Enable (06.029)
1 | Drive Enable (06.015)
2 | 0 if auto-tune completed or trip during auto-tune, or if the drive stops when supply loss stop is active, but the drive needs to be disabled and re-enabled. (Always 1 in Regen mode).
3 | 1 if fire mode is active.
4 | Zero if Position Feedback Initialized (03.076) is present and all devices are not indicated as initialised, otherwise one.
5 | Zero until the drive thermal model has obtained temperatures from all drive thermistors at least once.
6 | Zero until all option modules that are present in the drive have indicated that they are ready to run or the system has timed out waiting for this.
7-10 | Zero if an option module has forced the drive to be disabled if for example it is updating its user program. Bit 7 corresponds to slot 1, bit 8 to slot 2, etc.
11 | Zero if the drive is in standby mode. See Standby Mode Enable (06.060)

Parameter | 06.011 Sequencer State Machine Inputs
--- | ---
Short description | Displays the states of inputs into the sequencer state machine
Mode | RFC‑A
Minimum | 0 (Display: 000000) | Maximum | 63 (Display: 111111)
Default |  | Units |
Type | 8 Bit Volatile | Update Rate | 2ms write
Display Format | Binary | Decimal Places | 0
Coding | RO, ND, NC, PT

The bits in Sequencer State Machine Inputs (06.011) show the state of the inputs to the sequencer state machine as given in the tables below.

Sequencer State Machine Inputs (06.011) | Signal | Indicates
0 | Final drive enable | The drive inverter is allowed to be enabled.
1 | Final drive run | The motor can move away from standstill.
2 | Under Voltage Active (10.016) | The under voltage condition has been detected.
3 | Zero Speed (10.003) | Indicated when the motor has stopped.
4 | Drive tripped | The drive is tripped.
5 | Supply Loss (10.015) | Supply loss condition has been detected.

Parameter | 06.012 Enable Stop Key
--- | ---
Short description | Set to 1 to enable the use of the stop key
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

The Stop key can be used to stop the drive if Enable Stop Key (06.012) = 1 or Reference Selected Indicator (01.049) = 4. The Stop key is also used to reset the drive from the keypad. If Enable Stop Key (06.012) = 0 and Reference Selected Indicator (01.049) is not equal to 4 the Stop key is not active and can be used to initiate a drive reset and without stopping the drive from running. If Enable Stop Key (06.012) = 1 or Reference Selected Indicator (01.049) = 4 the drive reset can be initiated without stopping the drive by holding the Run key and then pressing the Stop key.

It should be noted that if the drive is tripped and is then reset from any source other than the keypad Stop key then the drive may start immediately under the following conditions:

Enable Sequencer Latching (06.040) = 0, the Final drive enable is active and one of the sequencer bits (Run Forward (06.030), Run Reverse (06.032) or Run (06.034) is active.

Enable Sequencer Latching (06.040) = 1, the Final drive enable is active, Not Stop (06.039) is active and one of the sequencer bits (Run Forward (06.030), Run Reverse (06.032) or Run (06.034) is active.

The drive sequencer has been designed so that pressing the Stop key, whatever the value of Enable Stop Key (06.012) or Reference Selected Indicator (01.049), does not make the drive state change from stopped to running. As pressing the Stop key could reset a drive trip which could then restart the drive, the run output from the sequencer is held off until the following conditions are met when the drive is tripped and the Stop key is pressed.

(Run Forward (06.030) = 0 and Run Reverse (06.032) = 0 and Run (06.034) = 0 and Not Stop (06.039) = 0*

OR (Run Forward (06.030) = 1 and Run Reverse (06.032) = 1 for at least 60ms*

OR The Hardware Enable (06.029) = 0 or software enable is zero+

OR The sequencer is in the UNDER_VOLTAGE state

*Not Stop (06.039) is only used with latching logic (i.e. Enable Sequencer Latching (06.040) = 1). When latching logic is not used then Not Stop (06.039) is normally zero, and so it does not affect the conditions required to reapply the drive run.

+The software enable is either Drive Enable (06.015) or the enable from Control Word (06.042) as selected by Control Word Enable (06.043).

Once the necessary conditions have been met the drive can then be restarted by activating the necessary bits for a normal start.

Parameter | 06.013 Enable Auxiliary Key
--- | ---
Short description | Defines the behaviour of the drive when the auxilliary button is pressed
Mode | RFC‑A
Minimum | 0 | Maximum | 2
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
0 | Disabled
1 | Forward/Reverse
2 | Run Reverse

If Hand/Off/Auto mode is active (see Hand/Off/Auto Operating Mode (01.052)) then Enable Auxiliary Key (06.013) has no effect. Otherwise if Reference Selected Indicator (01.049) = 4 then Enable Auxiliary Key (06.013) can be used to enable the Auxiliary key as a reverse key. If Enable Auxiliary Key (06.013) = 1 then each time the Auxiliary key is pressed Reverse Select (01.012) is toggled. If Enable Auxiliary Key (06.013) = 2 then the Auxiliary key behaves in a similar way to the Run key except that the drive runs in the reverse direction when it is pressed.

Parameter | 06.015 Drive Enable
--- | ---
Short description | Set to 1 to enable the drive
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 1 | Units |
Type | 1 Bit User Save | Update Rate | 2ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, BU

Drive Enable (06.015) must be active for the drive to be enabled. See description of enable logic.

Parameter | 06.016 Date
--- | ---
Short description | Displays the current date
Mode | RFC‑A
Minimum | 0 (Display: 00-00-00) | Maximum | 311299 (Display: 31-12-99)
Default |  | Units |
Type | 32 Bit Volatile | Update Rate | Background read/write
Display Format | Date | Decimal Places | 0
Coding | RW, ND, NC, PT

Date (06.016), Time (06.017) and Day Of Week (06.018) show the date and time as selected by Date/Time Selector (06.019). Date (06.016) stores the date in dd.mm.yy format regardless of the setting made in Date Format (06.020) however if the parameter is viewed using a keypad the date will be displayed in the format selected in Date Format (06.020). If a real time clock is selected from an option module then the days, months and years are from the real time clock and the day of the week is displayed in Day Of Week (06.018). Otherwise the days have a minimum value of 0 and roll over after 30, the months have a minimum value of 0 and roll over after 11, and Day Of Week (06.018) is always 0 (Sunday).

If when setting the date/time this parameter is being written via comms or from and applications module then the value should be written in standard dd/mm/yy format as described below.

The value of this parameter as seen over comms or to an applications module is as follows.

Value = (day[1..31] x 10000) + (month[1..12] x 100) + year[0..99]

Parameter | 06.017 Time
--- | ---
Short description | Dispalys the current time
Mode | RFC‑A
Minimum | 0 (Display: 00:00:00) | Maximum | 235959 (Display: 23:59:59)
Default |  | Units |
Type | 32 Bit Volatile | Update Rate | Background read/write
Display Format | Time | Decimal Places | 0
Coding | RW, ND, NC, PT

See Date (06.016).

The value of this parameter as seen over comms or to an applications module is as follows.

Value = (hour[0..23] x 10000) + (minute[0..59] x 100) + seconds[0..59]

Parameter | 06.018 Day Of Week
--- | ---
Short description | Displays the current day of the week
Mode | RFC‑A
Minimum | 0 | Maximum | 6
Default |  | Units |
Type | 8 Bit Volatile | Update Rate | Background write
Display Format | Standard | Decimal Places | 0
Coding | RO, TE, ND, NC, PT

Value | Text
0 | Sunday
1 | Monday
2 | Tuesday
3 | Wednesday
4 | Thursday
5 | Friday
6 | Saturday

See Date (06.016).

Parameter | 06.019 Date/Time Selector
--- | ---
Short description | Defines which clock is used to display the current time, date and day of the week
Mode | RFC‑A
Minimum | 0 | Maximum | 9
Default | 1 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
0 | Set
1 | Powered
2 | Running
3 | Acc Powered
4 | Local Keypad
5 | Remote Keypad
6 | Slot 1
7 | Slot 2
8 | Slot 3
9 | Slot 4

Date/Time Selector (06.019) is used to select the drive date and time as shown in the table below.

Date/Time Selector (06.019) | Date/Time Source
0: Set | Date and time parameters can be written by the user.
1: Power | Time since the drive was powered up.
2: Running | Accumulated drive running time since the drive was manufactured.
3: Acc Power | Accumulated powered-up time since the drive was manufactured.
4: Local Keypad | If a keypad fitted to the front of the drive includes a real-time clock then the date/time from this clock is displayed, otherwise the date/time is set to zero.
5: Remote Keypad | If a keypad connected to the user comms port of a drive with a 485 includes a real-time clock then the date/time from this clock is displayed, otherwise the date/time is set to zero.
6: Slot 1 | As 4 above, but for option slot 1
7: Slot 2 | As 4 above, but for option slot 2
8: Slot 3 | As 4 above, but for option slot 3
9: Slot 4 | As 4 above, but for option slot 4

When Date/Time Selector (06.019) = 0 the Date (06.016) and Time (06.017) can be written by the user and the values in these parameters are transferred to the real time clocks in the keypad or any option modules that support this feature that are fitted to the drive. When Date/Time Selector (06.019) is changed to any other value, the real time clocks are allowed to run normally again. When Date/Time Selector (06.019) is changed from any value to 0 the date and time from a real time clock, if present, is automatically loaded into Date (06.016) and Time (06.017), so that this date and time is used as the initial value for editing. If more than one real time clock is present the date/time from the keypad is used, if present, and if not then the date/time from the lowest number slot with a real time clock is used.

Date (06.016) and Time (06.017) are used by the timers in Menu 09 and for time stamping trips. These features will continue to use the originally selected clock even if Date/Time Selector (06.019) is changed until a drive reset is initiated. If Date/Time Selector (06.019) has been changed and a reset is initiated Timer 1 Repeat Function (09.039) and Timer 2 Repeat Function (09.049) are set to zero to disable the timers, and the trip dates and times (10.041 to 10.060) are reset to zero.

Parameter | 06.020 Date Format
--- | ---
Short description | Defines if the US date format is used or not
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
0 | Std
1 | US

Date Format (06.020) selects the display style for Date (06.016), Timer 1 Start Date (09.035), Timer 1 Stop Date (09.037), Timer 2 Start Date (09.045), Timer 2 Stop Date (09.047), and for the trip time stamping date parameters (10.041, 10.043, 10.045, 10.047, 10.049, 10.051, 10.053, 10.055, 10.057 and 10.059) when displayed on a keypad connected to the drive. The format selection made in this parameter does not affect the value of these parameters if they are read using comms or by an applications program.

If Date Format (06.020) is 0 then standard format is used and the date is displayed on the keypad as dd.mm.yy and if Date Format (06.020) is 1 then US format is used and the date is displayed on the keypad as mm.dd.yy.

Parameter | 06.021 Time Between Filter Changes
--- | ---
Short description | Defines the time between filter changes
Mode | RFC‑A
Minimum | 0 | Maximum | 30000
Default | 0 | Units | Hours
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

Time Between Filter Changes (06.021) should be set to a non-zero value to enable the filter change timer system. Each time Filter Change Required / Change Done (06.022) is changed by the user from 1 to 0 the value of Time Between Filter Changes (06.021) is copied to Time Before Filter Change Due (06.023). For each hour while Drive Active (10.002) = 1 the Time Before Filter Change Due (06.023) is reduced by 1 until it reaches zero. When Time Before Filter Change Due (06.023) changes from 1 to 0 Filter Change Required / Change Done (06.022) is set to 1 to indicate that a filter change is required. The filter should be changed and the system reset again by resetting Filter Change Required / Change Done (06.022) to 0.

Parameter | 06.022 Filter Change Required / Change Done
--- | ---
Short description | Set to 0 when a filter change has taken place
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | Background read/write
Display Format | Standard | Decimal Places | 0
Coding | RW, ND, NC

See Time Between Filter Changes (06.021).

Parameter | 06.023 Time Before Filter Change Due
--- | ---
Short description | Displays the time before a filter change is required
Mode | RFC‑A
Minimum | 0 | Maximum | 30000
Default |  | Units | Hours
Type | 16 Bit Power Down Save | Update Rate | Background write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See Time Between Filter Changes (06.021).

Parameter | 06.024 Reset Energy Meter
--- | ---
Short description | Set to 1 to reset the energy meter
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

Energy Meter: MWh (06.025) and Energy Meter: kWh (06.026) accumulate the energy transferred through the drive. If Reset Energy Meter (06.024) = 1 then Energy Meter: MWh (06.025) and Energy Meter: kWh (06.026) are held at zero. If Reset Energy Meter (06.024) = 0 then the energy meter is enabled and will accumulate the energy flow. If the maximum or minimum of Energy Meter: MWh (06.025) is reached the parameter does not rollover and is instead clamped at the maximum or minimum value. For Open-loop, RFC-A and RFC-S modes a positive energy flow indicates that power is flowing out of the a.c. motor terminals. For Regen mode a positive enegry flow indicates that power is flowing from the supply to the a.c. drive terminals.

Parameter | 06.025 Energy Meter: MWh
--- | ---
Short description | Displays the energy accumulated by through the drive in MWh
Mode | RFC‑A
Minimum | -999.9 | Maximum | 999.9
Default |  | Units | MWh
Type | 16 Bit Power Down Save | Update Rate | Background write
Display Format | Standard | Decimal Places | 1
Coding | RO, ND, NC, PT

See Reset Energy Meter (06.024).

Parameter | 06.026 Energy Meter: kWh
--- | ---
Short description | Displays the energy accumulated by through the drive in kWh
Mode | RFC‑A
Minimum | -99.99 | Maximum | 99.99
Default |  | Units | kWh
Type | 16 Bit Power Down Save | Update Rate | Background write
Display Format | Standard | Decimal Places | 2
Coding | RO, ND, NC, PT

See Reset Energy Meter (06.024).

Parameter | 06.027 Energy Cost Per kWh
--- | ---
Short description | Defines the cost of energy per kWh
Mode | RFC‑A
Minimum | 0.0 | Maximum | 600.0
Default | 0.0 | Units |
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 1
Coding | RW

Running Cost (06.028) is derived from the Output Power (05.003) and the Energy Cost Per kWh (06.027) in cost per hour. The sign of Running Cost (06.028) is the same as the sign of Output Power (05.003).

Parameter | 06.028 Running Cost
--- | ---
Short description | Displays the running cost of the drive
Mode | RFC‑A
Minimum | -32000 | Maximum | 32000
Default |  | Units |
Type | 16 Bit Volatile | Update Rate | Background write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See Energy Cost Per kWh (06.027).

Parameter | 06.029 Hardware Enable
--- | ---
Short description | Set to 1 to enable the hardware of the drive
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | 2ms read
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

Hardware Enable (06.029) normally shows the hardware enable state based on the state of the safe torque off system. However, drive I/O can be routed to Hardware Enable (06.029) to reduce the disable time. See description of the enable logic for more details.

Parameter | 06.030 Run Forward
--- | ---
Short description | Set to to give the drive a run forward signal
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | 2ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

If Reference Selected Indicator (01.049) is not equal to 4 then Run Forward (06.030) can be used to make the Final drive run active and Reverse Select (01.012) = 0, i.e. to make the drive run in the forward direction. See description of sequencer logic for more details.

Parameter | 06.031 Jog
--- | ---
Short description | Set to 1 to give the drive a jog signal
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | 2ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

If Reference Selected Indicator (01.049) is not equal to 4 then Jog (06.031) can be used to make the Final drive run active and Jog Select (01.013) = 1, i.e. to make the drive run using the jog reference and jog ramps rates. The jog function is disabled if the run is made active through the normal running sequencing bits. See description of sequencer logic for more details.

Parameter | 06.032 Run Reverse
--- | ---
Short description | Set to 1 to give the drive a run reverse signal
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | 2ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

If Reference Selected Indicator (01.049) is not equal to 4 then Run Reverse (06.032) can be used to make the Final drive run active and Reverse Select (01.012) = 1, i.e. to make the drive run in the reverse direction. See description of sequencer logic for more details.

Parameter | 06.033 Forward/Reverse
--- | ---
Short description | Set to 1 to reverse the direction of the motor
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | 2ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

If Reference Selected Indicator (01.049) is not equal to 4 then Forward/Reverse (06.033) can be used to force the state of Reverse Select (01.012). If Forward/Reverse (06.033) = 1 then Reverse Select (01.012) = 1. If Forward/Reverse (06.033) = 0 then Forward/Reverse (06.033) = 0 unless it is set to 1 by the rest of the normal run or jog logic. See description of sequencer logic for more details.

Parameter | 06.034 Run
--- | ---
Short description | Set to 1 to give the drive a run signal
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | 2ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

If Reference Selected Indicator (01.049) is not equal to 4 then Run (06.034) can be used to make the Final drive run active, but not to affect the state of Reverse Select (01.012). Normally Run (06.034) would be used in conjunction with Forward/Reverse (06.033) if control of the direction is required. See description of sequencer logic for more details.

Parameter | 06.035 Forward Limit Switch
--- | ---
Short description | Set to 1 to activate the forward limit switch and remove the final drive run signal
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | 2ms or 250µs read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

Forward Limit Switch (06.035) and Reverse Limit Switch (06.036) can be used to activate Limit Switch Active (10.066) and remove the Final drive run signal. When Limit Switch Active (10.066) is active and Limit Switch Stop Mode (06.002) = 0 the motor is stopped without ramps, otherwise it is stopped with the currently selected ramp rate. If digital input 4 or 5 are routed to Forward Limit Switch (06.035) or Reverse Limit Switch (06.036) the maximum delay is approximately 600us. The limit switches are direction dependant as shown below, so that the motor can rotate in a direction that allows the system to move away from the limit switch.

Condition | Forward Limit Switch (06.035) | Reverse Limit Switch (06.036)
Pre-ramp Reference (01.003) + Hard Speed Reference (03.022) > 0.0 | Enabled | Enabled
Pre-ramp Reference (01.003) + Hard Speed Reference (03.022) < 0.0 | Not enabled | Enabled
Pre-ramp Reference (01.003) + Hard Speed Reference (03.022) = 0.0 | Enabled | Enabled

Note that if Hard Speed Reference Select (03.023) = 0 then the Hard Speed Reference (03.022) is taken as 0.

Parameter | 06.036 Reverse Limit Switch
--- | ---
Short description | Set to 1 to activate the reverse limit switch and remove the final drive run signal
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | 2ms or 250µs read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

See Forward Limit Switch (06.035).

Parameter | 06.037 Jog Reverse
--- | ---
Short description | Set to 1 to give the drive a jog reverse signal
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | 2ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

If Reference Selected Indicator (01.049) is not equal to 4 then Jog Reverse (06.037) can be used to make the Final drive run active, Jog Select (01.013) = 1 and Reverse Select (01.012) = 1, i.e. to make the drive run using the jog reference and jog ramps rates in the reverse direction. The jog function is disabled if the run is made active through the normal running sequencing bits. See description of sequencer logic for more details.

Parameter | 06.039 Not Stop
--- | ---
Short description | Set to 1 to reset the latched sequencer bits if sequencer latching is enabled
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | 2ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

If Enable Sequencer Latching (06.040) = 1 then the sequencer bits can be latched. Not Stop (06.039) should be used to reset the latched sequencer bits. If Not Stop (06.039) = 1 then the sequencer bits can be latched. If Not Stop (06.039) = 0 then the latches are cleared and their outputs are forced to zero which will de-activate the Final drive run. See description of sequencer logic for more details.

Parameter | 06.040 Enable Sequencer Latching
--- | ---
Short description | Set to 1 to enable sequencer latching
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | 2ms read
Display Format | Standard | Decimal Places | 0
Coding | RW

See Not Stop (06.039).

Parameter | 06.041 Drive Event Flags
--- | ---
Short description | Displays if certain actions have occurred within the drive
Mode | RFC‑A
Minimum | 0 (Display: 00) | Maximum | 3 (Display: 11)
Default | 0 (Display: 00) | Units |
Type | 8 Bit Volatile | Update Rate | Background write
Display Format | Binary | Decimal Places | 0
Coding | RW, NC

Drive Event Flags (06.041) indicates that certain actions have occurred within the drive as described below.

Bit | Corresponding event
0 | Defaults loaded
1 | Drive mode changed

Bit 0: Defaults loaded
The drive sets bit 0 when defaults have been loaded and the associated parameter save has been completed. The drive does not reset this flag except at power-up.

Bit 1: Drive mode changed
The drive sets bit 1 when the drive mode has changed and the associated parameter save has been completed. The drive does not reset this flag except at power-up.

Parameter | 06.042 Control Word
--- | ---
Short description | Controls the sequencer state machine inputs if the control word is enabled
Mode | RFC‑A
Minimum | 0 (Display: 000000000000000) | Maximum | 32767 (Display: 111111111111111)
Default | 0 (Display: 000000000000000) | Units |
Type | 16 Bit Volatile | Update Rate | Bits 9,7-0: 2ms read. Other bits: Background read
Display Format | Binary | Decimal Places | 0
Coding | RW, NC

If Control Word Enable (06.043) = 0 then Control Word (06.042) has no effect. If Control Word Enable (06.043) = 1 the bits in Control Word (06.042) are used instead of their corresponding parameters or to initiate drive functions as shown in the table below.

Bit | Corresponding parameter or function
0 | Drive Enable (06.015)
1 | Run Forward (06.030)
2 | Jog (06.031)
3 | Run Reverse (06.032)
4 | Forward/Reverse (06.033)
5 | Run (06.034)
6 | Not Stop (06.039)
7 | Auto/manual
8 | Analogue/Preset reference
9 | Jog Reverse (06.037)
10 | Not used
11 | Not used
12 | Trip drive
13 | Drive Reset (10.033)
14 | Watchdog

Bits 0-7 and bit 9: Sequencer control
When Auto/manual bit (bit7) = 1 then bits 0 to 6 and bit 9 of the Control Word (06.042) become active. The equivalent parameters are not modified by these bits, but become inactive when the equivalent bits in the Control Word (06.042) are active. When the bits are active they replace the functions of the equivalent parameters.

Bit 8: Analogue/preset reference
The state of Analogue/Preset Reference (bit 8) is written continuously to Reference Select Flag 2 (01.042). With default drive settings (i.e. Reference Selector (01.014) = 0) this selects Analog Reference 1 (01.036) when bit 8 = 0 or Preset Reference 1 (01.021) when bit8 = 1. If any other drive parameters are routed to Reference Select Flag 2 (01.042) the value of this parameter is undefined.

Bit 10 and bit 11: Not used
The values of these bits have no effect on the drive.

Bit 12: Trip drive
If bit 12 = 1 then a Control Word trip is repeatedly initiated. The trip cannot be cleared until bit 12 = 0.

Bit 13: Reset drive
If bit 13 is changed from 0 to 1 a drive reset is initiated. Bit 13 does not modify Drive Reset (10.033).

Bit 14: Watchdog
A watchdog system can be enabled or serviced each time bit 14 is changed from 0 to 1. Once bit 14 has been changed from 0 to 1 to enable the watchdog, this must be repeated every 1s or else a Watchdog trip will be initiated. The watchdog is disabled when the trip occurs and must be re-enabled if required when the trip is reset.

Parameter | 06.043 Control Word Enable
--- | ---
Short description | Set to 1 to enable the control word
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | 2ms read
Display Format | Standard | Decimal Places | 0
Coding | RW

See Control Word (06.042).

Parameter | 06.044 Active Supply
--- | ---
Short description | Indicates when the backup supply mode is enabled and the dc link voltage is below the upper under voltage threshold
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | Background write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

If Backup Supply Mode Enable (06.068) = 0 then Active Supply (06.044) = 0. If Backup Supply Mode Enable (06.068) = 1 then Active Supply (06.044) = 0 when the d.c. link voltage is above the upper under-voltage threshold otherwise it is one. In Regen mode Active Supply (06.044) is always zero.

Parameter | 06.045 Cooling Fan control
--- | ---
Short description | Defines the maximum speed of the drive cooling fan
Mode | RFC‑A
Minimum | 0 | Maximum | 11
Default | 10 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

Cooling Fan control (06.045) can be used to control or limit the cooling fan speed. A value of 11 forces the fans to run at full speed and a value of zero froces the fans to stop. When values from 1 to 10 are used the fan speed is controlled based on the level of Percentage Of Drive Thermal Trip Level (07.036) and the value of Cooling Fan control (06.045) which sets the maximum fan speed. If Percentage Of Drive Thermal Trip Level (07.036) is at or below the minimum percentage level defined for the size of drive (e.g. 20%) then the fan is stopped. As Percentage Of Drive Thermal Trip Level (07.036) varies between the minimum and maximum percentage defined for the drive (e.g. 20% to 50%) then fan speed varies between its minimum and maximum speed. As Cooling Fan control (06.045) is changed between 1 and 10 it defines how far up the range between the minimum and maximum percentage can be used. For example with a range from 20% to 50%, if Cooling Fan control (06.045) = 3 the fan speed can only be increased up to a level equivalent to a temperature given by 20% + [(50% - 20%) x 3/10] = 30%. Note that if Cooling Fan control (06.045) is set to too low a level Percentage Of Drive Thermal Trip Level (07.036) may reach 100% and the drive may trip.

Parameter | 06.047 Input Phase Loss Detection Mode
--- | ---
Short description | Defines how the input phase loss is detected
Mode | RFC‑A
Minimum | 0 | Maximum | 2
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
0 | Full
1 | Ripple Only
2 | Disabled

Input phase loss is detected by monitoring the d.c. link voltage ripple which increases with load. When compared to normal operation, if an input phase is missing or there is excessive input phase imbalance the d.c. link the ripple level is higher. For frame sizes 07 and above additional input phase loss detection is provided by direct monitoring of the supply voltages. Unlike the d.c. voltage ripple based detection which can only operate when the drive is enabled and on load, the additional input phase loss detection can operate whether the drive is enabled or not. Input Phase Loss Detection Mode (06.047) defines the methods used for input phase loss detection provided by the drive.

Input Phase Loss Detection Mode (06.047) | Drive Active (10.002) = 0 | Drive Active (10.002) = 1
0 | *Direct input phase loss detection | *Direct input phase loss detection D.c. link voltage ripple detection
1 | No input phase loss detection | D.c. link voltage ripple detection
2 | No input phase loss detection | No input phase loss detection

*Frame sizes 07 and above

Input phase loss detection can be disabled when the drive is required to operate from a d.c. supply connected to the d.c. link or from a single phase supply. If the drive operates from a single phase supply or a supply with high levels of phase imbalanced under load the input stage and d.c. link thermal protection system may produce an OHt dc bus trip.

When frame sizes 10 and above are operated with parallel power modules a trip is initiated if the supply is completely removed from the input to any of the parallel modules. This additional detection is disabled if Input Phase Loss Detection Mode (06.047) > 0.

Parameter | 06.048 Supply Loss Detection Level
--- | ---
Short description | Defines the threshold for indicating when the supply loss condition is detected
Mode | RFC‑A
Minimum | −VM_SUPPLY_LOSS_LEVEL | Maximum | VM_SUPPLY_LOSS_LEVEL
Default | See exceptions below | Units | V
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, VM, RA

Voltage | Default Value
200V | 205
400V | 410
575V | 540
690V | 540

See Supply Loss Mode (06.003).

Parameter | 06.051 Hold Supply Loss Active
--- | ---
Short description | Hold Supply Loss Active
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | 2ms Read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

If supply loss is detected (i.e. Supply Loss (10.015) = 1) or Hold Supply Loss Active (06.051) = 1 the supply loss indication and the action taken on supply loss will be active. For example, Hold Supply Loss Active (06.051) can be controlled by an external rectifier or a Regen system (via a digital input) to prevent power from being taken from the supply if supply loss ride-through mode is being used until the input system is ready to provide power. This can allow for the charge system in an external rectifier to complete the charging, or it can allow a Regen system to become synchronised.

Parameter | 06.052 Motor Pre-heat Current Magnitude
--- | ---
Short description | Defines the current in the motor when the state machine is in the stop state
Mode | RFC‑A
Minimum | 0 | Maximum | 100
Default | 0 | Units | %
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

See Hold Zero Speed (06.008).

Parameter | 06.053 Sleep / Wake Threshold
--- | ---
Short description | Defines the threshold used for enabling the sleep/wake function
Mode | RFC‑A
Minimum | −VM_SPEED_FREQ_REF_UNIPOLAR | Maximum | VM_SPEED_FREQ_REF_UNIPOLAR
Default | 0.0 | Units |
Type | 32 Bit User Save | Update Rate |
Display Format | Standard | Decimal Places | 1
Coding | RW, VM

The diagram below shows the sleep mode detection system. If Fire mode active = 1, Reference Selected Indicator (01.049) = 4, the Run excluding sleep = 0 or Sleep / Wake Threshold (06.053) = 0 then the sleep mode system is disabled, and so Sleep Required (06.056) and Sleep Active (06.057) are held at zero.

The sleep mode system will stop the motor if |Reference Selected (01.001)| < Sleep / Wake Threshold (06.053) for a time equal to Sleep Time (06.054) and restart the motor if |Reference Selected (01.001)| ≥ Sleep / Wake Threshold (06.053) for a time equal to Wake Time (06.055). If Bipolar Reference Enable (01.010) = 0 (i.e. unipolar mode is being used) then negative values of Reference Selected (01.001) are treated as zero. It is possible for the PID controller (Menu 14) to hold off sleep mode by setting PID1 Pre-sleep Boost Level (14.028) to 1.

Parameter | 06.054 Sleep Time
--- | ---
Short description | Defines the time that the drive will stop the motor if the sleep function is active
Mode | RFC‑A
Minimum | 0.0 | Maximum | 250.0
Default | 10.0 | Units | s
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 1
Coding | RW

See Sleep / Wake Threshold (06.053).

Parameter | 06.055 Wake Time
--- | ---
Short description | Defines the time that the drive will restartthe motor if the wake function is active
Mode | RFC‑A
Minimum | 0.0 | Maximum | 250.0
Default | 10.0 | Units | s
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 1
Coding | RW

See Sleep / Wake Threshold (06.053).

Parameter | 06.056 Sleep Required
--- | ---
Short description | Indicates if the pre-requisites of the sleep mode system are in the state to enable the sleep function
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | Background write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See Sleep / Wake Threshold (06.053).

Parameter | 06.057 Sleep Active
--- | ---
Short description | Displays if the sleep function has been activated
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | Background write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See Sleep / Wake Threshold (06.053).

Parameter | 06.058 Output Phase Loss Detection Time
--- | ---
Short description | Output Phase Loss Detection Time
Mode | RFC‑A
Minimum | 0 | Maximum | 3
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | Background Read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
0 | 0.5s
1 | 1.0s
2 | 2.0s
3 | 4.0s

See Output Phase Loss Detection Enable (06.059). This parameter has no effect in RFC-S mode.

Parameter | 06.059 Output Phase Loss Detection Enable
--- | ---
Short description | Set to 1 to enable output phase loss detection
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
0 | Disabled
1 | Enabled

Output phase loss detection can be used to detect a disconnected motor phase if Output Phase Loss Detection Enable (06.059) is set to a non-zero value.

0: Disabled
Output phase loss detection is not active.

1: Enabled
A test is carried out each time the drive is enabled to run to check if all three phases are connected. If the test fails a Out Phase Loss.X trip is initiated where X indicates which phase is not connected (1 = U, 2 = V, 3 = W). It should be noted that this test is not carried out in Open-loop mode if "catch a spinning motor is enabled (i.e. Catch A Spinning Motor (06.009) > 0).

For Open-loop and RFC-A modes a test is also carried out while the drive is running. If the drive output frequency is above 4Hz and a phase is disconnected for the time specified by Output Phase Loss Detection Time (06.058) then a Out Phase Loss.4 trip is initiated. It should be noted that if the motor is operating at high speed and flux weakening is active so that the magnetising current is below half the rated level then output phase loss will not be detected. If the motor is heavily loaded when a phase is disconnected it is likely that the motor will stall and the drive output frequency may fall below 4Hz before output phase loss is detected.

Parameter | 06.060 Standby Mode Enable
--- | ---
Short description | Set to 1 enable standby mode
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

If Standby Mode Enable (06.060) = 1 then the drive will go into the standby power state whenever Drive Active (10.002) = 0. In this state the LED on the front of the drive flashes 0.5s on and 5s off, the drive cannot be enabled and the following actions are taken as defined by the Standby Mode Mask (06.061). Actions are enabled by setting the appropriate bit to 1. Once standby mode has become active it will remain active, even if an attempt is made subsequently to enable the drive, until Standby Mode Enable (06.060) is set to 0.

Standby Mode Mask (06.061) bits | Action
0 | Turn off the drive position feedback power supply. On leaving standby mode the drive position feedback interfaces will be re-initialised.
1 | Turn off the power supply to a keypad fitted to the drive.
2 | Turn off the drive 24V output.
3 | Request that the option module in option slot 1 to go into the standby power mode
4 | Request that the option module in option slot 2 to go into the standby power mode
5 | Request that the option module in option slot 3 to go into the standby power mode
6 | Request that the option module in option slot 4 to go into the standby power mode

Parameter | 06.061 Standby Mode Mask
--- | ---
Short description |
Mode | RFC‑A
Minimum | 0 (Display: 0000000) | Maximum | 127 (Display: 1111111)
Default | 0 (Display: 0000000) | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Binary | Decimal Places | 0
Coding | RW

See Standby Mode Enable (06.060).

Parameter | 06.065 Standard Under Voltage Threshold
--- | ---
Short description | Defines the standard under voltage threshold
Mode | RFC‑A
Minimum | −VM_STD_UNDER_VOLTS | Maximum | VM_STD_UNDER_VOLTS
Default | See exceptions below | Units | V
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, VM, RA

Voltage | Default Value
200V | 175
400V | 330
575V | 435
690V | 435

Under-voltage and power supply control

Under-voltage system
The under-voltage system controls the state of Under Voltage Active (10.016) which is then used by the sequencer state machine. Each under voltage threshold detection system includes hysteresis of 5% of the actual threshold level therefore:

D.c. Bus Voltage (05.005) | Under voltage detection
Vdc | Active
Threshold ≤ Vdc | No change
Vdc ≥ Threshold x 1.05* | Not active

* Hysteresis is 5% subject to a minimum of 5V

When Under Voltage Active (10.016) = 1 the sequencer state machine will change to the UNDER_VOLTAGE state and when the UNDER_VOLTAGE state is active it is not possible to enable the drive inverter. The under-voltage system operates in different ways depending on the setting of Backup Supply Mode Enable (06.068).

If the low under-voltage threshold is used or if back-up supply mode is selected the internal drive power supplies are normally powered from the 24V supply input (i.e. Digital I/O 13). User Supply Select (06.072) should be set to one to select this supply and its monitoring system. (It should be noted that in Regen mode Backup Supply Mode Enable (06.068) is not present, and so back-up supply mode cannot be selected.)

Drive frame sizes 06 and below use a charging system based on a charge resistor and shorting relay. For larger drive frame sizes a thyristor based charge system is used. The type of charge system does not alter the operation of the drive except for the times allowed for soft-start state changes and the method used for back-up supply mode. The setting for the under-voltage level is used to detect the under-voltage condition based on the d.c. link voltage. If a thyristor charging system is used this level is also passed to the thyristor rectifier system so that it is fully deactivated (i.e. the thyristors are phased forwards so that the drive can take power from the supply) by the time the d.c. link voltage reaches the under-voltage level and allows the drive inverter to become active. It should be noted that the under-voltage threshold used with a thyristor based charge system and the charging rate (Slow Rectifier Charge Rate Enable (06.071)) are automatically saved within the rectifier units each time the value is changed because these will be required at the next power-up before the drive control system is active. These values will be retained when they are changed 128 times. If any more changes are made between power-up and power-down the new values are not retained.

Standard mode: Backup Supply Mode Enable (06.068) = 0
If Low Under Voltage Threshold Select (06.067) = 0 then the under voltage threshold is defined by Standard Under Voltage Threshold (06.065). If Low Under Voltage Threshold Select (06.067) = 1 then the under voltage threshold is defined by Low Under Voltage Threshold (06.066). For drives which have a d.c. link charge system based on a charge resistor and shorting contactor, the charge system is normally active (contactor open) when Under Voltage Active (10.016) = 1, and inactive when Under Voltage Active (10.016) = 0. The exception is that there is a delay of 50ms while the contactor changes state and during these periods Under Voltage Active (10.016) = 1.

If the d.c. link voltage is above the under-voltage threshold and Under Voltage Active (10.016) = 0 a large surge of current can occur if the a.c. supply is removed and then reapplied to the drive. For a given level of supply voltage the worst case surge occurs when the supply is applied at the point where one of the line voltages is at its peak. The surge is proportional to the difference between the d.c. link voltage before the supply is reconnected and the magnitude of the supply voltage. The minimum setting and default for Standard Under Voltage Threshold (06.065) corresponds to the lowest d.c. link voltage level where the maximum allowed a.c. supply voltage can be applied without damaging the drive or rupturing the recommended supply fuses. Therefore it is safe to adjust the under-voltage threshold using the Standard Under Voltage Threshold (06.065). If the under-voltage threshold needs to be lower than the minimum of Standard Under Voltage Threshold (06.065), then the Low Under Voltage Threshold (06.066) should be used. It is important that the difference between the under-voltage threshold level and the peak of the supply voltage is never larger than the difference between the minimum Standard Under Voltage Threshold (06.065) and the peak of the maximum allowed a.c. supply voltage for the drive. For example:

The minimum Standard Under Voltage Threshold (06.065) for a 400V drive is 330V

The maximum allowed supply voltage for this drive is 480V + 10%

The peak of the maximum allowed supply voltage = 480 x 1.1 x √2 = 747V

The difference between the under-voltage threshold and the peak supply voltage = 747 - 330 = 417V

Therefore for this drive voltage rating the peak line to line voltage must never be higher than Low Under Voltage Threshold (06.066) + 417V.

If Low Under Voltage Threshold Select (06.067) is set to one and Low Under Voltage Threshold (06.066) is reduced below the variable maximum level VM_STD_UNDER_VOLTAGE[MIN], or if Backup Supply Mode Enable (06.068) is set to one, an indication is stored in Potential Drive Damage Conditions (10.106) that cannot be cleared by the user. This marks the drive, so that if it is damaged as a result of an input current surge, this can be detected by service personnel.

For frame size 07 drives and larger, which use a d.c. link charge system based on a half controlled thyristor input bridge, the charge system is activated based on the level of the voltage at the a.c. supply terminals of the drive. The threshold for the charge system is set so that the rectified supply will give the required under-voltage threshold level. The under-voltage system operates in exactly the same way as for smaller drives except that the delay during the transition out of the under-voltage state is extended. For single power module drive the delay is 1.0s to allow the thyristor charge system to charge the d.c. link. For parallel power modules the delay is extended to 2.5s to ensure that all modules power up correctly.

Backup Supply Mode for frame size 06 drives and smaller: Backup Supply Mode Enable (06.068) = 1
Backup supply mode is intended to provide a smooth transition, without disabling the drive, from a high voltage a.c. supply to a low voltage d.c. backup supply. It is necessary to disable the drive for the transition back to the high voltage a.c. supply. The following diagram is a simple representation of the power circuit required. This does not include the necessary circuit protection components or possible battery charger, etc.

The diagram below shows the state of Under Voltage Active (10.016), the control signal to the external contactor (Under-voltage System Contactor Close (06.069)) and Active Supply (06.044). When Backup Supply Mode Enable (06.068) is set to one the maximum applied to Low Under Voltage Threshold (06.066) prevents this from being increased above Standard Under Voltage Threshold (06.065) / 1.1 so that the 5% hysteresis band on the low under-voltage threshold does not overlap the standard under-voltage threshold.

The numbers below correspond to the numbers shown in the diagram:

1. If the D.c. Bus Voltage (05.005) is below the Lower Threshold the drive is in the under-voltage state and the internal charge system is active to limit the charging current either from the low voltage d.c. backup supply or the high voltage a.c. supply. Under-voltage System Contactor Close (06.069) = 1, and so it is possible for the high voltage a.c. supply to charge the d.c. link.
2. If the D.c. Bus Voltage (05.005) is above the Lower Threshold, but below the Upper Threshold, there are two possible states depending on whether the Final drive enable is 0 or 1. If Final drive enable = 0 then Under Voltage Active (10.016) = 1, the internal charge system is active and Under-voltage System Contactor Close (06.069) = 1, so that the d.c. link can be charged by the high voltage a.c. supply. If Final drive enable = 1 then Under Voltage Active (10.016) = 0 and the internal charge system is inactive so that the drive can run from the low voltage d.c. backup supply. Under-voltage System Contactor Close (06.069) = 0, so that it is not possible for the high voltage a.c. supply to charge the d.c. link.
3. If the D.c. Bus Voltage (05.005) is above the Upper Threshold then Under Voltage Active (10.016) = 0 and Under-voltage System Contactor Close (06.069) = 1, so the drive can run from the high voltage a.c. supply.
4. If the D.c. Bus Voltage (05.005) subsequently falls below the Upper Threshold and the Final drive enable = 1, the drive can continue to run, but Under-voltage System Contactor Close (06.069) is set to zero to open the high voltage a.c. supply contactor. The d.c. link voltage will fall until it reaches the low voltage d.c. backup supply level. This gives a smooth changeover to the backup supply without stopping the motor.

To ensure that the soft-start is in the correct state to protect the drive the following additional restrictions are applied:

1. The soft-start cannot change to the inactive state (i.e. internal soft-start relay closed) unless the d.c. link voltage is above the upper under-voltage threshold or Under-voltage System Contactor Closed (06.070) = 0. This is shown in the diagram below which shows the drive operation when the d.c. link voltage is between the upper and lower thresholds. When the Final Drive Enable becomes active the external contactor is opened to disconnect the supply because the drive is intended to run from the back-up supply. The soft-start should not be deactivated until the external contactor is opened because it is providing protection against surge currents due to the supply being reapplied. Once it is open the soft-start is deactivated (relay closed) and the drive can run. A side effect of this additional condition occurs when the d.c. link voltage falls and crosses the upper threshold when the drive in running. There should be a smooth transition, but the delay between disabling the external contector (Under-voltage System Contactor Close (06.069) = 0) and confirmation of this (Under-voltage System Contactor Closed (06.070) = 0) when the d.c. link voltage crosses the threshold will cause the soft-start to activate transiently giving a period with under-voltage active. To prevent this problem the indication that the d.c. link voltage has fallen and crossed the upper threshold is delayed by 200ms.
2. Under-voltage System Contactor Close (06.069) is not set to one until the soft-start is fully active (relay open) because the soft-start is required to prevent current surges from the supply being applied. This is also shown in the diagram below.

Backup Supply Mode for frame size 07 drives and larger: (Backup Supply Mode Enable (06.068) = 1)
Backup supply mode is intended to provide a smooth transition, without disabling the drive, from a high voltage a.c. supply to a low voltage d.c. backup supply and vice versa. The following diagram is a simple representation of the power circuit required. This does not include the necessary circuit protection components or possible battery charger, etc.

The diagram below shows the state of Under Voltage Active (10.016) and the control signal to the external contactor (Under-voltage System Contactor Close (06.069)).

The backup supply system contactor is used to provide the charge system for the low voltage d.c. backup supply. The charge system for the high voltage a.c. supply is provided by the half controlled thyristor input bridge within the drive. The system operates in a similar way to standard mode (i.e. back-up mode not enabled) with the following differences.

1. The thyristor charge system always uses a threshold voltage related to the upper under-voltage threshold.
2. Under-voltage System Contactor Close (06.069) is set to one when the d.c. link voltage is above the lower under-voltage threshold.
3. Under Voltage Active (10.016) cannot be zero to allow the drive to be enabled if Under-voltage System Contactor Closed (06.070) is zero. This prevents power from being taken from the back-up supply if the mains supply is not present when the external soft-start system contactor is open.

The following diagram shows how these differences apply to the system operation.

Parameter | 06.066 Low Under Voltage Threshold
--- | ---
Short description | Defines the low under voltage threshold
Mode | RFC‑A
Minimum | −VM_LOW_UNDER_VOLTS | Maximum | VM_LOW_UNDER_VOLTS
Default | See exceptions below | Units | V
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, VM, RA

Voltage | Default Value
200V | 175
400V | 330
575V | 435
690V | 435

See Standard Under Voltage Threshold (06.065).

Parameter | 06.067 Low Under Voltage Threshold Select
--- | ---
Short description | Set to 1 to use the low under voltage threshold
Mode | RFC‑A
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 Standard Under Voltage Threshold (06.065). Also see User Supply Select (06.072) for details of when and how drive parameters can be saved, and when a User 24V trip can occur.

Parameter | 06.068 Backup Supply Mode Enable
--- | ---
Short description | Set to 1 to enable the backup supply mode
Mode | RFC‑A
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 Standard Under Voltage Threshold (06.065). Also see User Supply Select (06.072) for details of when and how drive parameters can be saved, and when a User 24V trip can occur.

Parameter | 06.069 Under-voltage System Contactor Close
--- | ---
Short description |
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default |  | Units |
Type | 1 Bit Volatile | Update Rate | 4ms write
Display Format | Standard | Decimal Places | 0
Coding | RO, ND, NC, PT

See Standard Under Voltage Threshold (06.065).

Parameter | 06.070 Under-voltage System Contactor Closed
--- | ---
Short description |
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW

See Standard Under Voltage Threshold (06.065).

Parameter | 06.071 Slow Rectifier Charge Rate Enable
--- | ---
Short description | Set to 1 to reduce the charge rate of the d.c. bus
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

For frame size 07 drives and larger, which use a d.c. link charge system based on a half controlled thyristor input bridge, the rate at which the d.c. bus is charged can be reduced by setting Slow Rectifier Charge Rate Enable (06.071) to one. This will reduce the charging current which may be required if significant additional capacitance is added to the d.c. link to prevent rupturing of input fuses.

Parameter | 06.072 User Supply Select
--- | ---
Short description | Set to 1 to select the supply from the user 24V input
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

The power for the drive control system is either taken from the user 24V power supply or the main supply (i.e. derived from the power circuit d.c. link). If Low Under Voltage Threshold Select (06.067) = 0 and Backup Supply Mode Enable (06.068) = 0 and User Supply Select (06.072) = 0 then the supply used is determined as follows for drive sizes 5 and below. (For drive sizes 6 and above a diode OR system is used to select the required power supply, and so this is done automatically in hardware.)

1. When the drive first powers up it tries to use the main supply or the user 24V supply in turn until the drive starts up, begining with the main supply.
2. If the main supply is active and the d.c. link voltage (D.c. Bus Voltage (05.005)) falls to a level where it is no longer possible to communicate with the power stage then the drive attempts to switch over to the user 24V supply. If the user 24V supply is not present then the drive will power down, otherwise it will continue to run off the user 24V supply. The level at which the power stage powers down depends on whether the user 24V supply is present or not. However this is usually below half the minimum for Standard Under Voltage Threshold (06.065).
3. If the user 24V supply is being used and the d.c. link voltage (D.c. Bus Voltage (05.005)) rises above 95% of the minimum for Standard Under Voltage Threshold (06.065) then the drive attempts to switch to the main supply.

The following should be noted:

1. Parameters can be saved by setting Parameter mm.000 (mm.000) to 1000 (not in under-voltage state), or to 1 or 1001 (in the under-voltage state or not) and initiating a drive reset. Power-down save parameters are saved when the under-voltage state becomes active.
2. If the drive is powered from the user 24V supply and then the main supply is activated but is not above 95% of the minimum for Standard Under Voltage Threshold (06.065) then the drive will continue to be powered from the user 24V supply. If the user 24V supply is subsequently removed the drive will power down, but then if the main supply is high enough will power up again on the main supply.

If Low Under Voltage Threshold Select (06.067) = 1 or Backup Supply Mode Enable (06.068) = 1 or User Supply Select (06.072) = 1 then the 24V user supply is always selected. If the user 24V supply is not present then a User 24V is initiated. The following should be noted:

1. The drive will still power-up on the main supply even if the user 24V supply is not present because the drive tries each supply in turn to power up, however the drive will remain in the tripped state until the user 24V supply is activated.
2. Parameters can only be saved by setting Parameter mm.000 (mm.000) to1001 and initiating a drive reset. Power-down save parameters are not saved when the under-voltage state becomes active.

Parameter | 06.073 Braking IGBT Lower Threshold
--- | ---
Short description | Defines the lowest level of the d.c. bus voltage where the braking IGBT becomes active
Mode | RFC‑A
Minimum | −VM_DC_VOLTAGE_SET | Maximum | VM_DC_VOLTAGE_SET
Default | See exceptions below | Units | V
Type | 16 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, VM, RA

Voltage | Default Value
200V | 390
400V | 780
575V | 930
690V | 1120

Braking IGBT Lower Threshold (06.073) defines the lowest level of D.c. Bus Voltage (05.005) where the braking IGBT will become active and Braking IGBT Upper Threshold (06.074) defines the level of D.c. Bus Voltage (05.005) where the braking IGBT will be on continuously. When the braking IGBT is turned on it will remain on for at least 1ms. The braking IGBT on-time is defined by the thresholds and the d.c. link voltage as given in the table below where L = Braking IGBT Lower Threshold (06.073) and U = Braking IGBT Upper Threshold (06.074).

D.c. link voltage level | On-time
D.c. Bus Voltage (05.005) | 0%
L ≤ D.c. Bus Voltage (05.005) | [(D.c. Bus Voltage (05.005) - L) / (U - L)] x 100%
D.c. Bus Voltage (05.005) ≥ U | 100%

As the D.c. Bus Voltage (05.005) rises above the lower threshold the braking IGBT is active with an on/off ratio of 1/100. As the voltage rises further, the on/off ratio increases until at the upper threshold the braking IGBT is on continuously. The upper and lower voltage threshold can be set up so that braking resistors in drives with parallel connected d.c. links will share the braking load.

If Braking IGBT Lower Threshold (06.073) ≥ Braking IGBT Upper Threshold (06.074) then the braking IGBT is off when D.c. Bus Voltage (05.005) < Braking IGBT Upper Threshold (06.074) and on if D.c. Bus Voltage (05.005) ≥ Braking IGBT Upper Threshold (06.074). This method of control is the same as that used in Unidrive SP and the default values for the braking thresholds are equal to the braking thresholds in Unidrive SP.

Unless sharing between braking resistors is required the braking thresholds do not normally need to be adjusted. Care should be taken when reducing the thresholds because if either threshold is below the maximum value of the peak rectified supply voltage the braking resistor could take power from the supply.

The list below gives conditions that will disable the braking IGBT:

1. Braking IGBT Upper Threshold (06.074) = 0, or Low Voltage Braking IGBT Threshold Select (06.076) = 1 and Low Voltage Braking IGBT Threshold (06.075) = 0.
2. The drive is in the under-voltage state.
3. A priority 1, 2 or 3 trip is active (see Trip 0 (10.020)).
4. One of the following trips is active or would be active if another trip is not already active: OI Brake, PSU, Th Brake Res or OHt Inverter.
5. Percentage Of Drive Thermal Trip Level (07.036) = 100%. This is an indication that some part of the drive is too hot and is used to indicate if an internally fitted braking resistor is too hot.
6. Brake R Too Hot is active or the system has been set up to disable the braking IGBT based on the braking resistor temperature and the resistor is too hot (i.e. bit 2 of Action On Trip Detection (10.037) is set).

Parameter | 06.074 Braking IGBT Upper Threshold
--- | ---
Short description | Defines the level of the d.c. bus voltage where the braking IGBT will be on continuously
Mode | RFC‑A
Minimum | −VM_DC_VOLTAGE_SET | Maximum | VM_DC_VOLTAGE_SET
Default | See exceptions below | Units | V
Type | 16 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, VM, RA

Voltage | Default Value
200V | 390
400V | 780
575V | 930
690V | 1120

See Braking IGBT Lower Threshold (06.073).

Parameter | 06.075 Low Voltage Braking IGBT Threshold
--- | ---
Short description | Defines the threshold used for low voltage braking
Mode | RFC‑A
Minimum | −VM_DC_VOLTAGE_SET | Maximum | VM_DC_VOLTAGE_SET
Default | 0 | Units | V
Type | 16 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, VM, RA

If Low Voltage Braking IGBT Threshold Select (06.076) = 0 the normal thresholds are used. If Low Voltage Braking IGBT Threshold Select (06.076) = 1 then Low Voltage Braking IGBT Threshold (06.075) is used, so that the braking IGBT is on with a minimum on time of 1ms is the d.c. link voltage is above this level, or off if the d.c. link voltage is below this level.

Parameter | 06.076 Low Voltage Braking IGBT Threshold Select
--- | ---
Short description | Set to 1 enable low voltage IGBT braking
Mode | RFC‑A
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW

See Low Voltage Braking IGBT Threshold (06.075).

Parameter | 06.084 Date And Time Offset
--- | ---
Short description | Date And Time Offset
Mode | RFC‑A
Minimum | -24.00 | Maximum | 24.00
Default | 0.00 | Units | Hours
Type | 16 Bit User Save | Update Rate | Background Read
Display Format | Standard | Decimal Places | 2
Coding | RW

Date And Time Offset (06.084) is an offset, specified in hours, that can be applied to the Time (06.017). If the offset applied causes the time to roll-over midnight then the Date (06.016) and Day Of Week (06.018) are also modified. The offset is only applied when the clock source is a clock derived from a keypad or option module, i.e. Date/Time Selector (06.019) > 3. The offset can be used for time zone offsets or daylight saving time etc. It should be noted that when the date and time is derived from an option module this may be in the form of UTC (Coordinated Universal Time) with an additional offset also provided by the option module. The data and time is derived by adding the additional offset and the time from the option module and then adding Date And Time Offset (06.084).