# Menu 21 − Motor 2 Parameters

Mode: RFC‑S

Contains parameter relative to the set up for motor map 2.

Parameter | 21.001 M2 Maximum Reference Clamp
--- | ---
Short description | Defines the maximum reference clamp for motor map 2
Mode | RFC‑S
Minimum | −VM_POSITIVE_REF_CLAMP2 | Maximum | VM_POSITIVE_REF_CLAMP2
Default | 3000.0 | Units |
Type | 32 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 1
Coding | RW, VM

This is the motor map 2 equivalent parameter for Maximum Reference Clamp (01.006).

Parameter | 21.002 M2 Minimum Reference Clamp
--- | ---
Short description | Defines the minimum reference clamp for motor map 2
Mode | RFC‑S
Minimum | −VM_NEGATIVE_REF_CLAMP2 | Maximum | VM_NEGATIVE_REF_CLAMP2
Default | 0.0 | Units |
Type | 32 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 1
Coding | RW, VM

This is the motor map 2 equivalent parameter for Minimum Reference Clamp (01.007).

Parameter | 21.003 M2 Reference Selector
--- | ---
Short description | Defines which reference is used for motor map 2
Mode | RFC‑S
Minimum | 0 | Maximum | 6
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
0 | A1 A2
1 | A1 Preset
2 | A2 Preset
3 | Preset
4 | Keypad
5 | Precision
6 | Keypad Ref

This is the motor map 2 equivalent parameter for Reference Selector (01.014).

Parameter | 21.004 M2 Acceleration Rate 1
--- | ---
Short description | Defines the acceleration rate used for motor map 2
Mode | RFC‑S
Minimum | −VM_ACCEL_RATE | Maximum | VM_ACCEL_RATE
Default | 0.200 | Units | s
Type | 32 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 3
Coding | RW, VM

This is the motor map 2 equivalent parameter for Acceleration Rate 1 (02.011).

Parameter | 21.005 M2 Deceleration Rate 1
--- | ---
Short description | Defines the deceleration rate used for motor map 2
Mode | RFC‑S
Minimum | −VM_ACCEL_RATE | Maximum | VM_ACCEL_RATE
Default | 0.200 | Units | s
Type | 32 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 3
Coding | RW, VM

This is the motor map 2 equivalent parameter for Deceleration Rate 1 (02.021).

Parameter | 21.007 M2 Rated Current
--- | ---
Short description | Defines the motor rated used for motor map 2
Mode | RFC‑S
Minimum | −VM_RATED_CURRENT | Maximum | VM_RATED_CURRENT
Default | 0.000 | Units | A
Type | 32 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 3
Coding | RW, VM, RA

This is the motor map 2 equivalent parameter for Rated Current (05.007).

Parameter | 21.008 M2 Rated Speed
--- | ---
Short description | Defines the motor rated speed used for motor map 2
Mode | RFC‑S
Minimum | 0.00 | Maximum | 33000.00
Default | 3000.00 | Units | rpm
Type | 32 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 2
Coding | RW

This is the motor map 2 equivalent parameter for Rated Speed (05.008).

Parameter | 21.009 M2 Rated Voltage
--- | ---
Short description | Defines the motor rated voltage used for motor map 2
Mode | RFC‑S
Minimum | −VM_AC_VOLTAGE_SET | Maximum | VM_AC_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 | Region | Default Value
200V | All | 230
400V | 50Hz | 400
400V | 60Hz | 460
575V | All | 575
690V | All | 690

This is the motor map 2 equivalent parameter for Rated Voltage (05.009).

Parameter | 21.011 M2 Number Of Motor Poles
--- | ---
Short description | Defines the number of motor poles used for motor map 2
Mode | RFC‑S
Minimum | 0 | Maximum | 240
Default | 3 | Units | PolePairs
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, BU

This is the motor map 2 equivalent parameter for Number Of Motor Poles (05.011).

Parameter | 21.012 M2 Stator Resistance
--- | ---
Short description | Defines the stator resistance used for motor map 2
Mode | RFC‑S
Minimum | 0.000000 | Maximum | 1000.000000
Default | 0.000000 | Units | Ω
Type | 32 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 6
Coding | RW, RA

This is the motor map 2 equivalent parameter for Stator Resistance (05.017).

Parameter | 21.014 M2 Ld
--- | ---
Short description | Defines the value of inductance in the flux axis for motor map 2
Mode | RFC‑S
Minimum | 0.000 | Maximum | 500.000
Default | 0.000 | Units | mH
Type | 32 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 3
Coding | RW, RA

This is the motor map 2 equivalent parameter for Ld (05.024).

Parameter | 21.015 Motor 2 Active
--- | ---
Short description | Indicates if motor 2 parameters are being used by the drive
Mode | RFC‑S
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 Motor 2 Active (21.015) = 0 then the standard motor set-up parameters are being used or if Motor 2 Active (21.015) = 1 then the motor 2 parameters are being used. The motor set-up parameters do not necessarily change immediately when Select Motor 2 Parameters (11.045) is changed (i.e. the drive may be enabled). Motor 2 Active (21.015) shows the actual motor parameters being used and only changes when the new parameters start being used by the drive.

Parameter | 21.016 M2 Motor Thermal Time Constant 1
--- | ---
Short description | Defines the thermal time constant of the motor used for motor map 2
Mode | RFC‑S
Minimum | 1.0 | Maximum | 3000.0
Default | 89.0 | Units | s
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 1
Coding | RW

This is the motor map 2 equivalent parameter for Motor Thermal Time Constant 1 (04.015).

Parameter | 21.017 M2 Speed Controller Proportional Gain Kp1
--- | ---
Short description | Defines the Kp value of the speed controller used for motor map 2
Mode | RFC‑S
Minimum | 0.0000 | Maximum | 200.0000
Default | 0.0100 | Units | s/rad
Type | 32 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 4
Coding | RW

This is the motor map 2 equivalent parameter for Speed Controller Proportional Gain Kp1 (03.010).

Parameter | 21.018 M2 Speed Controller Integral Gain Ki1
--- | ---
Short description | Defines the Ki value of the speed controller used for motor map 2
Mode | RFC‑S
Minimum | 0.00 | Maximum | 655.35
Default | 1.00 | Units | s²/rad
Type | 16 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 2
Coding | RW, BU

This is the motor map 2 equivalent parameter for Speed Controller Integral Gain Ki1 (03.011).

Parameter | 21.019 M2 Speed Controller Differential Feedback Gain Kd1
--- | ---
Short description | Defines the Kd value of the speed controller used for motor map 2
Mode | RFC‑S
Minimum | 0.00000 | Maximum | 0.65535
Default | 0.00000 | Units | 1/rad
Type | 16 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 5
Coding | RW, BU

This is the motor map 2 equivalent parameter for Speed Controller Differential Feedback Gain Kd1 (03.012).

Parameter | 21.020 M2 Position Feedback Phase Angle
--- | ---
Short description | Defines the phase angle between the rotor flux and the feedback position for motor map 2
Mode | RFC‑S
Minimum | 0.0 | Maximum | 359.9
Default |  | Units | °
Type | 16 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 1
Coding | RW, ND

This is the motor map 2 equivalent parameter for Position Feedback Phase Angle (03.025).

Parameter | 21.021 M2 Motor Control Feedback Select
--- | ---
Short description | Defines the source for the feedback device used for motor map 2
Mode | RFC‑S
Minimum | 0 | Maximum | 9
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, TE

Value | Text
0 | P1 Drive
1 | P2 Drive
2 | P1 Slot1
3 | P2 Slot1
4 | P1 Slot2
5 | P2 Slot2
6 | P1 Slot3
7 | P2 Slot3

This is the motor map 2 equivalent parameter for Motor Control Feedback Select (03.026).

Parameter | 21.022 M2 Current Controller Kp Gain
--- | ---
Short description | Defines the Kp value of the current controller used for motor map 2
Mode | RFC‑S
Minimum | 0 | Maximum | 30000
Default | 150 | Units |
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

This is the motor map 2 equivalent parameter for Current Controller Kp Gain (04.013).

Parameter | 21.023 M2 Current Controller Ki Gain
--- | ---
Short description | Defines the Ki value of the current controller used for motor map 2
Mode | RFC‑S
Minimum | 0 | Maximum | 30000
Default | 2000 | Units |
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

This is the motor map 2 equivalent parameter for Current Controller Ki Gain (04.014).

Parameter | 21.027 M2 Motoring Current Limit
--- | ---
Short description | Defines the motoring current limit used for motor map 2
Mode | RFC‑S
Minimum | −VM_MOTOR2_CURRENT_LIMIT | Maximum | VM_MOTOR2_CURRENT_LIMIT
Default | 0.0 | Units | %
Type | 16 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 1
Coding | RW, VM, RA

This is the motor map 2 equivalent parameter for Motoring Current Limit (04.005).

Parameter | 21.028 M2 Regenerating Current Limit
--- | ---
Short description | Defines the regenerating current limit used for motor map 2
Mode | RFC‑S
Minimum | −VM_MOTOR2_CURRENT_LIMIT | Maximum | VM_MOTOR2_CURRENT_LIMIT
Default | 0.0 | Units | %
Type | 16 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 1
Coding | RW, VM, RA

This is the motor map 2 equivalent parameter for Regenerating Current Limit (04.006).

Parameter | 21.029 M2 Symmetrical Current Limit
--- | ---
Short description | Defines the symmetrical current limit used for motor map 2
Mode | RFC‑S
Minimum | −VM_MOTOR2_CURRENT_LIMIT | Maximum | VM_MOTOR2_CURRENT_LIMIT
Default | 0.0 | Units | %
Type | 16 Bit User Save | Update Rate | 4ms read
Display Format | Standard | Decimal Places | 1
Coding | RW, VM, RA

This is the motor map 2 equivalent parameter for Symmetrical Current Limit (04.007).

Parameter | 21.030 M2 Volts Per 1000rpm
--- | ---
Short description | M2 Volts Per 1000rpm
Mode | RFC‑S
Minimum | 0 | Maximum | 10000
Default | 98 | Units | V
Type | 16 Bit User Save | Update Rate | Background Read
Display Format | Standard | Decimal Places | 0
Coding | RW

This is the motor map 2 equivalent parameter for Volts Per 1000rpm (05.033).

Parameter | 21.032 M2 Current Reference Filter Time Constant 1
--- | ---
Short description | Defines the time constant of a first order filter that can be applied to the final current reference for motor map 2
Mode | RFC‑S
Minimum | 0.0 | Maximum | 25.0
Default | 0.0 | Units | ms
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 1
Coding | RW, BU

This is the motor map 2 equivalent parameter for Current Reference Filter 1 Time Constant (04.012).

Parameter | 21.033 M2 Low Speed Thermal Protection Mode
--- | ---
Short description | Set to enable low speed thermal protection mode
Mode | RFC‑S
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

This is the motor map 2 equivalent parameter for Low Speed Thermal Protection Mode (04.025).

Parameter | 21.034 M2 Current Controller Mode
--- | ---
Short description | Set to enable high performance current controller mode
Mode | RFC‑S
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

This is the motor map 2 equivalent parameter for Current Controller Mode (04.030).

Parameter | 21.035 M2 Notch Filter Centre Frequency
--- | ---
Short description | Defines the centre frequency for a notch filter to cancel a mechanical resonance
Mode | RFC‑S
Minimum | 50 | Maximum | 1000
Default | 100 | Units | Hz
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

This is the motor map 2 equivalent parameter for Notch Filter Centre Frequency (04.031).

Parameter | 21.036 M2 Notch Filter Bandwidth
--- | ---
Short description | Defines the bandwidth for a notch filter to cancel a mechanical resonance
Mode | RFC‑S
Minimum | 0 | Maximum | 500
Default | 0 | Units | Hz
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

This is the motor map 2 equivalent parameter for Notch Filter Bandwidth (04.032).

Parameter | 21.039 M2 Motor Thermal Time Constant 2
--- | ---
Short description | Can be used to define an additional motor thermal time constant for motor map 2
Mode | RFC‑S
Minimum | 1.0 | Maximum | 3000.0
Default | 89.0 | Units | s
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 1
Coding | RW

This is the motor map 2 equivalent parameter for Motor Thermal Time Constant 2 (04.037).

Parameter | 21.040 M2 Motor Thermal Time Constant 2 Scaling
--- | ---
Short description | Defines the ratio of the contribution to the motor protection accumulator value from each of the time constants for motor map 2
Mode | RFC‑S
Minimum | 0 | Maximum | 100
Default | 0 | Units | %
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

This is the motor map 2 equivalent parameter for Motor Thermal Time Constant 2 Scaling (04.038).

Parameter | 21.043 M2 Torque Per Amp
--- | ---
Short description | Displays the torque per amp of the motor used for motor map 2
Mode | RFC‑S
Minimum | 0.00 | Maximum | 500.00
Default | 1.60 | Units | Nm/A
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 2
Coding | RW, BU

This is the motor map 2 equivalent parameter for Torque Per Amp (05.032).

Parameter | 21.044 M2 No-load Core Loss
--- | ---
Short description | M2 No-load Core Loss
Mode | RFC‑S
Minimum | 0.000 | Maximum | 99999.999
Default | 0.000 | Units | kW
Type | 32 Bit User Save | Update Rate | Background Read
Display Format | Standard | Decimal Places | 3
Coding | RW

This is the motor map 2 equivalent parameter for No-load Core Loss (04.045).

Parameter | 21.045 M2 Rated Core Loss
--- | ---
Short description | M2 Rated Core Loss
Mode | RFC‑S
Minimum | 0.000 | Maximum | 99999.999
Default | 0.000 | Units | kW
Type | 32 Bit User Save | Update Rate | Background Read
Display Format | Standard | Decimal Places | 3
Coding | RW

This is the motor map 2 equivalent parameter for Rated Core Loss (04.046).

Parameter | 21.046 M2 Inverted Motor Saturation Characteristic
--- | ---
Short description | The motor has an inverted saturation characteristic
Mode | RFC‑S
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | Background Read
Display Format | Standard | Decimal Places | 0
Coding | RW

This is the motor map 2 equivalent parameter for Inverted Saturation Characteristic (05.070).

Parameter | 21.047 M2 Low Speed Sensorless Mode Current Limit
--- | ---
Short description | Defines the maximum current limit used in low speed sensorelss mode
Mode | RFC‑S
Minimum | 0.0 | Maximum | 1000.0
Default | 20.0 | Units | %
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 1
Coding | RW, RA

This is the motor map 2 equivalent parameter for Low Speed Sensorless Mode Current (05.071).

Parameter | 21.048 M2 No-load Lq
--- | ---
Short description | Defines the inductance in the q axis with no current in the motor
Mode | RFC‑S
Minimum | 0.000 | Maximum | 500.000
Default | 0.000 | Units | mH
Type | 32 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 3
Coding | RW, RA

This is the motor map 2 equivalent parameter for No-load Lq (05.072).

Parameter | 21.051 M2 Iq Test Current For Inductance Measurement
--- | ---
Short description | Iq current level used for the inductance measurement auto-tuning
Mode | RFC‑S
Minimum | 0 | Maximum | 200
Default | 100 | Units | %
Type | 8 Bit User Save | Update Rate | Background Read
Display Format | Standard | Decimal Places | 0
Coding | RW, BU

This is the motor map 2 equivalent parameter for Iq Test Current For Inductance Measurement (05.075).

Parameter | 21.053 M2 Phase Offset At Iq Test Current
--- | ---
Short description | Defines the electrical angle between the point of minimum inductance around the motor as load is applied
Mode | RFC‑S
Minimum | -90.0 | Maximum | 90.0
Default | 0.0 | Units | °
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 1
Coding | RW, RA

This is the motor map 2 equivalent parameter for Phase Offset At Iq Test Current (05.077).

Parameter | 21.054 M2 Lq At Defined Iq Test Current
--- | ---
Short description | Defines the inductance in the q axis with the defined q axis current in the motor
Mode | RFC‑S
Minimum | 0.000 | Maximum | 500.000
Default | 0.000 | Units | mH
Type | 32 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 3
Coding | RW, RA

This is the motor map 2 equivalent parameter for Lq At The Defined Iq Test Current (05.078).

Parameter | 21.058 M2 Id Test Current For Inductance Measurement
--- | ---
Short description | Id current level used for the inductance measurement auto-tuning
Mode | RFC‑S
Minimum | -100 | Maximum | 0
Default | -50 | Units | %
Type | 8 Bit User Save | Update Rate | Background Read
Display Format | Standard | Decimal Places | 0
Coding | RW

This is the motor map 2 equivalent parameter for Id Test Current for Inductance Measurement (05.082).

Parameter | 21.060 M2 Lq at the defined Id test current
--- | ---
Short description | Defines the inductance in the q axis when the defined d axis current is in the motor
Mode | RFC‑S
Minimum | 0.000 | Maximum | 500.000
Default | 0.000 | Units | mH
Type | 32 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 3
Coding | RW, RA

This is the motor map 2 equivalent parameter for Lq At The Defined Id Test Current (05.084).