# Menu 3 − Frequency Monitoring

Mode: Open‑Loop

Parameter | 03.005 Zero Speed Threshold
--- | ---
Short description | Set to the required zero speed threshold
Mode | Open‑Loop
Minimum | 0.0 | Maximum | 20.0
Default | 1.0 | Units | Hz
Type | 8 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 1
Coding | RW, BU

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

Parameter | 03.006 At Speed Lower Limit
--- | ---
Short description | Set to the required minimum at speed threshold
Mode | Open‑Loop
Minimum | 0.0 | Maximum | 550.0
Default | 1.0 | Units | Hz
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 1
Coding | RW

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

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

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

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

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

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

Parameter | 03.007 At Speed Upper Limit
--- | ---
Short description | Set to the required maximum at speed threshold
Mode | Open‑Loop
Minimum | 0.0 | Maximum | 550.0
Default | 1.0 | Units | Hz
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 1
Coding | RW

See At Speed Lower Limit (03.006).

Parameter | 03.008 Over Speed Threshold
--- | ---
Short description | Set to the required over speed threshold
Mode | Open‑Loop
Minimum | 0.0 | Maximum | 550.0
Default | 0.0 | Units | Hz
Type | 16 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 1
Coding | RW

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

Parameter | 03.009 Absolute At Speed Select
--- | ---
Short description | Indicates when the motor is running at speed
Mode | Open‑Loop
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit User Save | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW

See At Speed Lower Limit (03.006).

Parameter | 03.075 Initialise Position Feedback
--- | ---
Short description | Set to 1 to re-initialise any position feedback device connected
Mode | Open‑Loop
Minimum | 0 | Maximum | 1
Default | 0 | Units |
Type | 1 Bit Volatile | Update Rate | Background read
Display Format | Standard | Decimal Places | 0
Coding | RW, NC

If Initialise Position Feedback (03.075) is set to one any position feedback devices connected to the drive position feedback interfaces or any position feedback category option modules will be re-initialised.

Parameter | 03.076 Position Feedback Initialized
--- | ---
Short description | Indicates the initialisation state of position feedback devices connected
Mode | Open‑Loop
Minimum | 0 (Display: 0000000000) | Maximum | 1023 (Display: 1111111111)
Default | 0 (Display: 0000000000) | Units |
Type | 16 Bit Volatile | Update Rate | Background write
Display Format | Binary | Decimal Places | 0
Coding | RO, NC, PT

Position Feedback Initialized (03.076) contains flags that represent the initialisation state of position feedback devices connected to the drive position feedback interfaces or position feedback interfaces on position feedback category option modules. One indicates that the interface is initialised and zero indicates that the interface is not initialised. The flags are assigned as shown below.

Bit | Position feedback interface
0 | P1 Drive
1 | P2 Drive
2 | P1 Option slot 1
3 | P2 Option slot 1
4 | P1 Option slot 2
5 | P2 Option slot 2
6 | P1 Option slot 3
7 | P2 Option slot 3
8 | P1 Option slot 4
9 | P2 Option slot 4

If no option module, or an option module other than a position feedback category module, is fitted in an option slot then the relevant flag is always set to one. If an attempt is made to enable the drive when any of the flags are zero the drive initiates an Encoder 7 trip. If a drive reset is initiated, the bits in Position Feedback Initialized (03.076) are checked, and if any position feedback devices are not initialised an attempt is made to initialise them.

The table below shows the initialisation process for different position feedback devices that can be connected to the drive.

Encoder types | Initialisation process
AB, FD, FR Resolver | None. Initialisation is immediate and is always successful. The position feedback is set to zero on initialisation.
AB Servo FD Servo FR Servo SC Servo | The absolute position used to control a motor can only be defined accurately after two different changes of state of the UVW commutation signals. Initialisation resets the system that ensures that the UVW signals alone will be used to define the motor position until the encoder has moved through two valid commutation signal state changes. Initialisation is immediate and is always successful. The position feedback is set to zero on initialisation.
SC | The SINCOS interpolation system must be initialised. Initialisation is immediate and is always successful. The position feedback is set to zero on initialisation.
SC Hiperface SC EnDat SC SSI | Auto-configuration if required except SC SSI. The absolute position must be obtained via comms. This may cause a large change in position feedback. The SINCOS interpolation system must be initialised. This may have a small effect on the position feedback.
EnDat BiSS SSI | Auto-configuration if required except SSI. The absolute position must be obtained via comms. This may cause a large change in position feedback.
SC SC | The absolute position used to control a motor is obtained from the sine and cosine signals provided for one revolution until the marker pulse occurs. The position obtained from the marker pulse is assumed to be a position of zero. Once a marker has occurred the incremental position is used and the single turn sine wave signals are ignored. When the position feedback device is initialised the single turn sine wave signals are used again until another marker event occurs. No part of the initialisation process affects the position feedback seen in parameters, except that the SINCOS interpolation system must be initialised which may have a small effect on the position feedback. Initialisation is immediate and is always successful.