Parameter Description

Version ≥ A19.07
Part 2

UD
UNIVERSAL Drive
 Table of Contents

Table of Contents (Operating Instructions [Part 1])

Page
1 General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
1.1 Explanation of Symbols and Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
1.2 Safety and Operating Instructions for Drive Converters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
1.3 Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
1.4 Description of Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
1.5 Power Section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
1.6 Inverter Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
2.1 Inspection of Unit after Delivery. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
2.2 General Installation Instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
2.3 EMC (Electromagnetic Compatibility) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
2.3.1 Limit Classes. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10
2.3.2 Filter Components. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
2.3.3 Interference Suppression Measures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
2.3.4 EMC Ordinance (EMC Directive, 89/336 EEC). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
2.4 Wiring Practices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
2.4.1 Applicable Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
2.4.2 Power Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
2.4.3 Control Lines/Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
2.5 Line Power Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
2.5.1 Line Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
2.5.2 Line Fusing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17
2.5.3 Using Line Filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18
2.5.4 Start-Up on the Line . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18
2.5.5 Reducing Current Surges and Voltage Transients . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19
2.6 Motor Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19
2.7 Brake Resistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20
2.8 Functions and Use of the Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20
2.8.1 Power Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22
2.8.2 Control Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23
2.9 Typical Control Terminal Assignments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27
3 Technical Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28
3.1 Output Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28
3.2 Input Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .28
3.3 Control Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29
3.4 Protective Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29
3.5 Brake Chopper Power Dissipation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30
3.6 Display and Operating Unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30
3.7 Parameter Groups . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31
3.8 Mechanical Design and Ambient Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31
3.9 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32
4 Drive Variants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
4.1 The Motor Drive Data and How it is Measured . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
4.2 The Asynchronous Motor and Speed Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34
4.2.1 V/f-Controlled Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35
4.2.2 Field-Orientated-Controlled Mode (Vector Control) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38
4.2.3 SLV (Sensorless Vector Control) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .39
4.3 The EC Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42
5 Annex . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43
5.1 Abbreviations Used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .43
5.2 Parameter Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44
5.3 Parameter Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .45
5.4 Error States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50
5.4.1 Normal Handling of Error States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50
5.4.2 Handling of Error States with the “Acknowledge Error State” Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50

25.04.03 Parameter Description

07_GB_T2 UD 7000 — 1.5–55.0
2-1
Table of Contents

Table of Contents (Parameter Description [Part 2])

Page
6 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
6.1 Prior to Switch-On . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
6.2 What Happens on Switch-On . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
6.3 Further Steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
6.4 Assignment of the Control Terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
6.5 Parameter List/Help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
6.6 Commissioning Application 0 – Inverter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
6.6.1 Preparation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
6.6.2 Parameterisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
6.6.3 Precision Adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
6.6.4 Solution to the Problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
6.7 Commissioning of a Field-Orientated-Controlled Asynchronous Motor (FO) or of a Permanent-Field Synchronous Drive (EC). . . . 9
6.7.1 Hardware Precondition (Option Card and Wiring) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
6.7.2 Parameterisation of the Speed Controller on Systems with Feedback (FO and EC Applications) . . . . . . . . . . . . . . . . . . . 12
6.7.3 Controller Optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
6.7.4 Solution to the Problem . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
6.8 Commissioning an SLV Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
6.8.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
6.8.2 Commissioning Application 50 (SLV Rotational Speed Control) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
6.9 Note on Commissioning further to Application 51 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
6.9.1 Signal Flow Diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
6.10 Stepper Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
7 Keys and Displays/Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
7.1 Display and Operating Unit (ABE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
7.2 Display in the Operating Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
7.2.1 Standard Display 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
7.2.2 Standard Display 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
7.2.3 Display in the Program Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
7.2.4 Operating Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
7.3 On-Line Help . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
7.4 Key Functions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
7.4.1 Control Keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
7.4.2 Control and Parameter Keys – Single Operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
7.4.3 Control and Parameter Keys – Combinations with SHIFT. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
7.4.4 LED Status Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
8 Parameter Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
8.1 Group 1 – Motor Data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
8.2 Group 2 – Basic Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
8.3 Group 3 – Setpoint Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
8.4 Group 4 – Frequencies. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
8.5 Group 5 – Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
8.6 Group 6 – V/Hz Characteristic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
8.7 Group 7 – Inverter Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
8.8 Group 8 – Protective Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
8.9 Group 9 – Binary Inputs/Outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
8.10 Group A – Analog Outputs/SIO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
8.11 Group B – Speed Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
8.12 Group C – Stepper Control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
8.13 Group D – Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
8.14 Group E – Service Data II . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
8.15 Group F – Service Data III . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
8.16 Group 0 – Service Data I . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120
8.17 Error States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
8.17.1 Normal Handling of Error States . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
8.17.2 Handling of Error States with the “Acknowledge Error State” Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
9 Annex . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
9.1 Abbreviations Used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
9.2 Hexadecimal to Binary Conversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
9.3 Parameter Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
9.4 Parameter Overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

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 Commissioning

6 Commissioning

6.1 Prior to Switch-On

6.1.1 Entering Parameters

Familiarise yourself with the functions of the display and operator-control unit ABE (also re-
ferred to as keyboard and display below). Section 7.2.4, “Operating Examples”, explains,
by way of examples, how a parameter is edited. Please note the information on the various
keys and keyboard short-cuts in Tables 7.3, 7.4 and 7.5, so as to fully exhaust all capabili-
ties of parameter assignment.
Normally, entry of a new parameter value is processed by the inverter directly after it is con-
firmed with SHIFT or ENTER and takes effect at the latest when message “Stored” disap-
pears again. Parameters necessitating a restart are exceptions. This description contains
a corresponding note in conjunction with these parameters.

6.1.2 Selection Parameters

Always ensure that only the selection options documented in the Manual are set.
ATTENTION!
Undocumented selection values may lead to unexpected and/or dangerous states (back-
ground: the UD 7000 features a wide variety of special applications with solutions for spe-
cial problems in the field of drive engineering. Selection options are reserved for these ap-
plications). Our Sales Division will be more than willing to inform you of the currently avail-
able applications and can make available to you the corresponding application descriptions
on request.
In the case of the so-called “selection parameters”, it is also possible to enter values which
are not documented. Please note the following points so as to avoid danger to operating
staff and the system itself:
1. After entering a parameter, check whether the selected value is correct and has been
accepted.
2. If the entered value does not match the current operating state of the inverter (since, for
instance, it is illegal for the active application), the UD 7000 may automatically change
the value to the factory default setting, the value zero or the value active previously.
These settings must then be checked:
• What application is active?
• LOCAL or REMOTE mode?
• Have the output stages been enabled?
• Is an error or fault pending?

6.1.3 Parameter Sets

The UD 7000 features three equivalent parameter sets. Entered parameters and the results
of measurements in the test mode are always only ever stored in the active parameter set
(parameter E9 – Customer parameter set). Set 1 is active by default.
The active parameter set can be changed over either with the parameter E9 – Customer
parameter set or with the aid of binary inputs. To this end, one of the binary inputs R/J,
PS1–PS3 must be programmed to the corresponding function (see parameters 98–9B). Pa-
rameter sets can only be changed over in the stop state.
As one parameter set will be adequate for the majority of applications, it is possible to use
the second or third one to back up the optimized settings. For further information, refer to
the description of the parameters E9 – Customer parameter set and EA – Application-
dependent defaults in Section 8.14 of this parameter description.

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The parameter sets may contain diverse applications (parameter 2C). If, in the event of a
parameter set change-over, the unit detects that the new set contains a different applica-
tion, the inverter is restarted directly after the set change-over in order to adapt the inverter
environment.
If the change in the parameter set also results in a change in the motor data, the application
ATTENTION! number or other important motor quantities (stator and rotor resistance or controller param-
eters etc.), this may lead to a situation in which the inverter loses control of the motor. This
is why a safety function is integrated (parameter 8B) which deactivates the inverter output
stages in any case after a stop command once a certain time has elapsed.
Display of the active parameter set
In the “stop state”, the active parameter set is shown in the standard display 1:

REM Stop Set: 2

Set 23.45 Hz 0%

When the parameters are displayed, the active parameter set is recognizable by the char-
acter between the parameter number and the value.

PARAMETER SET CHARACTER

1 :
2 =
3 #

EXAMPLE:

... in customer ... in set 2 ... in set 3

parameter set 1
Maximum frequency Maximum frequency Maximum frequency
PROG 23: 100.0 Hz PROG 23= 100.0 Hz PROG 23# 100.0 Hz

The active parameter set is also correspondingly recognizable in standard display 2 (exam-
ple with parameter set 2 active):

VIEW D5= 88.5 %

VIEW 9= 45.6 Hz

6.1.4 Volatile and Power-Failsafe Storage of Parameter Changes

There are two possible ways of saving changed parameter values:

1) Key SHIFT accepts changes but these changes are not power-failsafe (i.e. they are
saved only in the RAM). If the unit is disconnected from the power supply, the change
is lost (this is a way of trying out settings and restoring the previous setting by switching
the unit off and back on again).
2) Key ENTER saves the entered value in power-failsafe manner, both in the RAM and in
the Z-RAM (non-volatile even in the event of power-off).
If a parameter contains at least one parameter which has been saved in non-power-failsafe
manner, this is indicated by an exclamation mark “!” after the group name.

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 Commissioning

6.1.5 Hexadecimal and Binary Notation

Most parameters are displayed as decimal numbers. The value range indicates whether
places after the decimal point and signs are used. In the case of certain parameters, entry
and status displays are implemented with the aid of bit-serial (binary) assignment. Func-
tions can be activated and deactivated by setting (value 1) or resetting (value 0) individual
bits. Since the number of places on the display does not suffice, binary numbers are en-
tered and displayed as hexadecimal numbers. Groups of four bits in each case are com-
bined to form one hexadecimal number, e.g. bit pattern 0101 corresponds to value 5hex.
Leading zeros are displays and the word “hex” is displayed after each hexadecimal param-
eter. The table on Page 2-123 will assist to you to convert the binary numbers to hexadec-
imal numbers.

6.1.6 Error Messages

If the PROG, SHIFT or ENTER key is pressed, the message is reset on the ABE (display
and operator-control unit). Acknowledgement of the error message does not cancel the
cause of the error. Errors may be also still be pending after reset (see also Chapter 8.17,
“Error States”).

6.2 What Happens on Switch-On

• Observe the general safety notes in the UD 7000 Operating Instructions

(07_GB_T1) before commissioning the inverter.
• Please read through Chapter 4, “Drive Variants” in order to better understand the UD
7000 inverter technology.
• If you should not yet be acquainted with how to operate the inverter, you will find the
menu structure and the key functions of the keypad on Pages 2-124 and 2-33 up to 2-38.
• Check that the inverter's supply voltage (nameplate) and line voltage agrees.
• Check the installation of the converter, referring to the notes given in Chapter 2.
• Connect the line voltage (as a test, the device-internal fans switch on briefly when the
line voltage is connected (the inverter up to 22 kW). The fans are then controlled tem-
perature-dependently). As of a nominal inverter output of 30 kW, the device-internal fans
run continuously.
The inverter checks the output stage size during the initialisation phase and defines the de-
fault values of diverse parameters that are dependent on it. The display then successively
shows the following:
1. “Start” (for a short time).
2. Type of unit, inverter power and software version.
3. Application. The application numbers that can be selected are described under param-
eter 2C – Application. X stands for:
V/Hz-Inverter / EC-speed ctrl. / EC-torque ctrl. / EC-El. Gearbox / FO-speed ctrl. / FO-
torque ctrl. / FO-El. Gearbox / RL-speed ctrl. / RL-torque ctrl. / RL-El. Gearbox / SLV-
speed ctrl. / SLV-sp. ctrl. II / SLV-torq.ctrl
The default setting for the application (X) and the application number is “V/Hz-Inverter”,
“0”.
The inverter is then in the operation mode and shows the default display 1 or 2 (see Chap-
ters 7.2.1 and 7.2.2).

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Commissioning

Start

Type of unit UD7000 5.5 kW Inverter power

SW-Vers. Axx.xx Software version

Application Application: 0 Application number

X V/Hz-Inverter

LOCAL MODE REMOTE MODE

LOC Stop Set: 1 REM Stop Set: 1

SET 0.00 Hz 0% SET 0.00 Hz 0%

The parameters in “Group 1 – Motor data” must be adapted to the local situation prior to
HINT! commissioning the drive so as to ensure optimum motor/unit coordination.

6.3 Further Steps

According to the works settings, the inverter can be controlled by keyboard (LOC) or via the
terminal inputs (REM). You can switch over between both control sources via the input PS3.
The frequency setpoint (SET) and the inverter load in % are displayed in the bottom display
line.
To adapt to the signal source used locally, parameters are available for the individual inputs
(outputs). You will find the parameter allocations of the typical control terminal assignments
on Page 1-27.
Adapt, i.e. which control source, e.g. speed setpoint or left/right starting, is to be used de-
pending on the selected operating mode, by means of parameter 31.

6.4 Assignment of the Control Terminals

Page 1-27 shows a typical connection configuration of the inverter control terminals. The
description of function of the functions available at the relevant inputs/outputs corresponds
to the various setting options of the inverter. The function of the relevant I/Os can, of course,
be adapted to the application using parameters scheduled for this. A reference in parenthe-
ses to the parameter responsible for the relevant I/O is provided in order to make it easier
to locate the parameters. The inverter interface is shown in brief at the left-hand side of the
terminals in order to provide the operator with an insight into the input wiring. The inverter's
binary inputs are set to HIGH-active when the inverter is delivered (in the case of European
factory default settings) (see also Parameter 9F).

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 Commissioning

6.5 Parameter List/Help

Pages 2-125...2-129 list the parameters accessible to the customer. This list contains
space for entry of the customer-specific settings besides the factory default parameter val-
ues. In order to achieve a satisfactory drive result, it will be necessary to adapt a number of
parameters to the application (see Chapter 6.6 (Commissioning Application 0 – Inverter),
6.7 (Commissioning of a Field-Orientated-Controlled Asynchronous Motor (FO) or of a Per-
manent-Field Synchronous Drive (EC)) or 6.8 (Commissioning an SLV Application)).
Please refer to the Parameter Description (Chapter 8) for a precise description of the pa-
rameters.
The recommended step-by-step procedure for commissioning an SL, FO, SLV2 or EC drive
(1)
is listed in the following chapters. Adaptation of the I/Os is not discussed here. The steps
described in short form merely serve to adapt the inverter to the motor. These settings
should be made with extreme caution because an optionally functioning drive will only be
guaranteed if the inverter is harmonised correctly to the motor.

6.6 Commissioning Application 0 – Inverter

6.6.1 Preparation

• Ensure that the software version in the unit corresponds to the Operating Instructions
and the Parameter Description. During the initialisation phase, you will see the software
version (e.g. A19.xx) in the second line on the display.
• The currently activated application is displayed briefly after power-on of the inverter dur-
ing the initialisation phase. If any other applications than “0 – Inverter” has been selected
in the unit, you can change this with parameter 2C – Application.
• In order to ensure that all parameters in the inverter correspond to the factory default
setting, you can reset all three or only one of the customer parameter sets to the factory
default setting with the aid of parameter EA – Application-dependent defaults. Please
note that this Reset only takes effect the next time the software is restarted. In order to
do this, either briefly disconnect the unit from the line supply (until the text on the display
disappears) or use parameter 2D – Software reset.

6.6.2 Parameterisation

After you have opted for your preferred display language (parameter 78), you can then start
parameterising the inverter:
• The motor data must always be entered first in parameter group 1.
In order to do this, simply transfer the information from the rating plate of the connected
motor to the corresponding parameters of group 1. This is the most important step for
parameterisation of the inverter! This is the only way of ensuring that the drive functions
correctly. The protection functions integrated in the inverter (e.g. current and rotational-
speed monitoring) operate reliably only if the inverter is familiar with the correct motor
data.
The Autotuning functions (i.e. the commissioning aids, see parameter 2A – Test mode)
also require entry of the correct data.

(1) Abbreviations used:

SL Sensorless and V/f-controlled mode.
EC Operation with electronically commutated synchronous motor.
FO Asynchronous motor in field-orientated control.
SLV Asynchronous motor in sensorless vector control (without feedback).

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Commissioning

• The next step is to check whether the parameter values in “Group 2 – Basic data” are
correct for your application. Frequently, the acceleration and deceleration times or the
maximum frequency needs to be adapted. It is also important that you check whether
the settings of parameters 29 – Control mode and 31 – Setpoint selection (frequency
setpoint) meet your requirements.
• Parameter 29 – Control mode defines the sources for the Start/Stop signal and the set-
point for the two operating modes LOCAL (the inverter is controlled via the operator-con-
trol unit) and REMOTE (operation via the control terminals).
• If you opt for operating mode REMOTE, you must then, as the next step, inform the in-
verter of what signal source you wish to use for the frequency setpoint via parameter 31
– Setpoint selection (frequency setpoint) and define, using parameters 71 – Start
and Stop options and 91 – Function of inputs FWD and REV, how the binary inputs
are to act.
• The parameters of “Group 6 – V/Hz characteristic” define how the voltage/frequency as-
signment is implemented in the inverter. In many cases, it is not necessary to adapt the
parameters. However, if the drive is to be operated with customer-selected assignment
of output voltage to output frequency, this can be done by entering the value 2 in param-
eter 62 – V/Hz characteristic selection. In this case, further steps are required, and
these are specified in the description under parameter 6A – V/Hz characteristic, volt-
age V3.
• For all other cases, the inverter generates the V/f ratio on the basis of a “Sensorless
Vector Motor Model” automatically. When doing this, it allows, amongst other things, for
the resistance losses at output frequency f = 0 Hz and, with the aid of the Autoboost
function (see parameter 61), adapts the motor's excitation to the load conditions.
• Entry of the correct motor data (group 1) and conducting Test mode are the precondi-
tions for a functioning motor model in the inverter. Test mode 104 (parameter 2A) is rec-
ommended, but, at least, the stator resistance (Test 101) should be measured. This test
run needs to be conducted successfully only once, i.e. no error message may be dis-
played during the test run. This completes the basic configuration of the inverter.

6.6.3 Precision Adjustment

The wide variety of other parameters also available for application “0 – Inverter” makes it
possible to also adapt the UD 7000 to more complex drive configurations. To put it in brief,
the following setting options are important:
• Adaptation of the torque limits in group 5 (factory default setting: 150% of the nominal
motor torque in all four quadrants).
• Correction of the motor excitation via parameter 22 – Boost.
• Adaptation of the ramps (e.g. use of S-shaped ramps) via parameters 72 and 73.
• Adaptation of the drive to the field attenuation via parameter 21 – Knee frequency and
parameter 62 – V/Hz characteristic selection.
• Configuration of the DC brake with parameters 63–65.
• Increase in rotational-speed stability with the aid of parameter 76 – Slip compensation.
• You can enhance the smooth-running characteristics at output frequencies less than ap-
prox. 5 Hz by activating PWM frequency correction (see parameter FB).
• Please consult Chapter 8.9, “Group 9 – Binary Inputs/Outputs” for the diverse functions
of the binary inputs and outputs.

Parameter Description 25.04.03

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 Commissioning

• Please note that application “0 – Inverter” is suitable only for “standard tasks”. This is
why a wide variety of other applications is available, and commissioning for these is de-
scribed separately. In some cases, additional functions can also be activated easily for
application 0 (function “Motor potentiometer”, Step-by-step control, alarm functions of
the binary outputs, Output of internal variables via the analogue outputs etc.).
• The option of parameterising and controlling the inverter via the serial RS 485 port is ap-
plication-independent.

6.6.4 Solution to the Problem

As soon as all parameters have been entered, several parameters providing information on
the current inverter status are available. In parameter group “0 – Service data I”, you can,
for instance, display the actual values of the currents, voltages, frequencies and the inverter
temperature. This allows you, for instance, to check the magnitude of the line input voltage,
whether the DC link voltage ( V DC link = 2 × V Line ) is correct, whether the inverter is over-
heating or the magnitude of the no-load current. These parameters which are used simply
for display purposes can be found in the parameter list on Pages 2-125...2-129. They are
identified with r-o (read-only) in column Factory default setting.
The data of the motor model used and the current inverter-specific states are displayed in
parameter groups “E – Service data II” and “F – Service data III” and some of them can
also be adapted manually.
Frequently, it is not visible immediately whether the cause of the fault or error relates to the
cabling of the installation, parameterisation of the inverter, incorrect rating or even defect
components.
1. Check the motor cabling.
2. Check the motor data in parameter group 1.
3. Check the cabling of the control terminals.
4. Is the inverter in the required control mode (LOC or REM)?
5. How does the inverter respond to the setpoint inputs (NOTE: the applied setpoint is
shown on the display)?
6. Is an error being displayed?
7. Has Test mode (parameter 2A) been conducted correctly and in line with the application
(parameter 2C)?

6.7 Commissioning of a Field-Orientated-Controlled Asynchronous Motor (FO) or

of a Permanent-Field Synchronous Drive (EC)

6.7.1 Hardware Precondition (Option Card and Wiring)

• Ensure that the software version in the unit corresponds to the Operating Instructions
and the Parameter Description. The software version (e.g. A19.xx) is shown on the dis-
play during the initialisation phase in the second line.
• The application activated in each case after power-up and its application number (see
description of parameter 2C – Application) are also shown during the initialisation
phase.

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Commissioning

• An EC or FO version (1) requires tachogenerator feedback (synchro-generator). The unit

must be extended with an option card for connection of the feedback signal. A card for
a resolver connection or encoder connection is available. If the option card required for
the selected application is not yet fitted in the unit, you will see message “Error 11 – Op-
tion”. Proceed as follows in order to install an option card:
1. Disconnect the unit from the line. Also ensure that there is no DC infeed (e.g. by a DC
link coupling). Hazardous voltages are still present if lamp “BUS CHG” is still lit (up to 55
kW in the case of inverters).
2. Remove the upper and lower parts of the black plastic cover.
3. Place the inverter with right-hand side pointing upwards in front of you on the bench.
4. Open the right-hand side by undoing the cross-recessed-head screw at the top and bot-
tom of the right-hand side cover. The cover can now be removed.
CAUTION: the operator-control unit will now be hanging loosely from the ribbon cable
which connects it to the control board.
5. The connection for the option card (50-pin socket connector) is located at the bottom
right-hand edge of the control board. Hexagon symbols in Figure 6.1 indicate at what
point the card must be installed.
6. Before you slide the optional card in, push on the two plastic spacers on the underside
of the optional card.
Different spacers and screws must be used depending on the size of the inverter (see
HINT! the table below):

Inverter size Nylon spacers Screws

BG II 4.8 mm 2.5 × 10 mm
BG III 4.8 mm 2.5 × 10 mm
BG IV 9.5 mm 2.5 × 16 mm
BG V 12.5 mm 2.5 × 20 mm
BG VI 12.5 mm 2.5 × 25 mm

(1) Abbreviations used:

SL Sensorless and V/f-controlled mode.
EC Operation with electronically commutated synchronous motor.
FO Asynchronous motor in field-orientated control.
SLV Asynchronous motor in sensorless vector control (without feedback).

Parameter Description 25.04.03

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 Commissioning

Figure 6.1

7. Plug the option card into the socket connector of the control board and screw the card
to the shielding plate with two M2.5 screws. Ensure that the card is not inserted twisted
into the connection socket for the optional card.
8. Using the supplied ribbon cable, make an additional connection between the pin con-
nectors of the control board and the option card (see “Ribbon cable connection” in Fig-
ure 6.2). The side of the ribbon cable marked in colour must be plugged onto the PIN
marked “1”.
9. Break out the required terminal or connector openings on the right-hand device cover
so as to provide access to the connections if the cover is closed off.
10. Firmly screw the cover back onto the unit.
11. Connect the encoder or resolver. Please refer to the descriptions of the synchro-gener-
ator and the option cards for further details.
12. Reconnect the unit to the line power supply.

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Figure 6.2

6.7.2 Parameterisation of the Speed Controller on Systems with Feedback (FO

and EC Applications)

1. Configure parameter 2C – Application for the required application (either one of the EC
applications 10, 11, 12 or one of the FO applications 20, 21, 22).
2. Switch off the line power supply, wait until the display disappears and switch back on or
set parameter 2D to 1. This restarts the software for application-specific parameters
(e.g. the parameters in group B) which are only now displayed.
3. Enter the motor data in parameter group 1. Always enter the correct motor data so that
the UD 7000 can compute the correct control limits and model variables.
NOTE: the UD 7000 uses the power factor of the motor as the key value for motor con-
trol. If the power factor is not specified on the motor's rating plate, please determine a
suitable value using the information specified for parameter 13 – Power factor.
4. Next, you should check whether the parameter values in “Group 2 – Basic data” are cor-
rect for your application. Frequently, for instance, it is necessary to adapt the accelera-
tion and ramp down times or the maximum frequency. It is also important that you check
whether the settings of parameter 29 – Control mode and 31 – Setpoint selection (fre-
quency setpoint) meet your requirements.
5. Parameter 29 – Control mode defines the sources for the Start/Stop signal and the set-
point for the two operating modes LOCAL (the inverter is controlled via the operator-con-
trol unit) and REMOTE (operation via the control terminals).

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6. If you opt for operating mode REMOTE, you must then, as the next step, inform the in-
verter of what signal source you wish to use for the frequency setpoint via parameter 31
– Setpoint selection (frequency setpoint) and define how the binary inputs are to act
with parameter 71 – Start and Stop options and 91 – Function of inputs FWD and
REV.
7. Enter the specific data of the synchro-generator used. This will either be the number of
lines of the encoder used in parameter BE or its number of pole pairs in parameter BA
if a resolver is connected.
8. Select the Test mode 109 in parameter 2A. After the first Start command after power-
on, the stator resistance, the leakage reactance Xσ and the direction of rotation of the
position encoder are determined during a test run. On the basis of this, the inverter com-
putes further model variables and controller parameters. After the test has been suc-
cessfully conducted, parameter 2A – Test mode is automatically set to value 0, i.e. no
further tests are conducted at a later point.
If the motor shaft is not free to move for the test run, conduct test 104 instead of test 109.
HINT! Please refer to parameter BD – Angle sensor direction of rotation for further informa-
tion.
9. Set the rotational speed setpoint to 0 Hz (or the torque setpoint 0% for closed-loop
torque control).
If the setpoint is not set to ZERO, the inverter will respond to the set setpoint after the
ATTENTION! test run, i.e. the motor will start to turn and, under certain circumstances, under full
torque.
10. The test run commences with the first Start command. Conducting the tests with no er-
rors is the precondition for trouble-free operation and is the basis for the optimization
steps which follow.
NOTE: if an error occurs during the test, switch off the line power supply, switch it back
on again and repeat the test. If there is still an error message, please always follow the
information in Section 6.7.4, “Solution to the Problem”.

6.7.3 Controller Optimization

If you have successfully completed configuration of the basic setting, the UD 7000 is con-
figured with a moderate response time. If you require higher performance, the speed con-
troller must be optimized by adapting parameters B1 and B2 accordingly. The following pro-
cedure will help you to establish the best settings:
1. Note down the values of the current controller parameters F8 – Current controller gain
and F9 – Specific current controller reset time, as determined automatically by the
test run 109 (or 104).
F8 (self-regulated) = _ _ _._ _ (in the example, F8 = 15.61 Ω)
F9 =_____ (F9 = 10)
2. Set parameter F8 to 1.
3. Set parameter A7 to 2. This sets the low-pass filter time for the measurement terminal.
4. Now start to optimise the velocity control loop:
Set parameter B2 – Reset time of speed controller to the maximum value which it is
possible to set. Set parameter B1 – Speed controller gain to (a lower value, i.e.) 20 or
below.
5. Set parameter A1 – Analog output MET1 selection to 19. The torque-generating cur-
rent is output signed at analogue output MET1. Connect an oscilloscope to terminals
COM and MET1 and set a resolution of 500 mV/division.
6. Set a setpoint of approx. 50% of the nominal motor frequency. Start the motor.

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Commissioning

7. Increase the setting of parameter B1 – Speed controller gain step-by-step until the mo-
tor starts to oscillate. See the illustration below.

8. Note down the period T (in this case 25 ms) of the oscillation and the value of parameter
B1 at the instant at which the proportional gain k entered the critical band.
EXAMPLE:
T = 25 ms
k = 1700
9. Calculate the correct value for B1 and enter this value:

( k × 0.45 ) 1700 × 0.45

B1 = --------------------------------------- = ------------------------------- = 49
F8 (self-regulated) 15.61

10. Calculate the correct integral-action time:

B2 = 0.85 × T = 0.85 × 25 ms = 21 ms.
Enter this value in parameter B2.
11. Set parameter F8 – Current controller gain to the value which you noted down in step
1 (e.g. 15.61 Ω).
12. Set parameter A1 – Analog output MET1 selection to 0. Move on to parameter 09 and
press SHIFT + ENTER (parameter 09 – Actual frequency is shown on the standard dis-
play 2). These two steps transfer the actual motor velocity to output MET1.
13. Standardise the output at MET1 output to twice the nominal motor frequency.
Parameter A6 – Reference value for the analog output can be calculated as follows:

2 × Nominal motor frequency 2 × 60 Hz

Parameter A6 = ---------------------------------------------------------------------------- e.g. A6 = ------------------------- = 1200
Resolution parameter 09 0.1 Hz
14. Use an oscilloscope at output MET1 in order to display the wave velocity. Set the fre-
quency setpoint to half the nominal frequency (cf. parameter 12) and increase the speed
of the drive from 0 to the setpoint. Use short ramps (parameters 25–28) if the process
allows this or deactivate the ramps entirely (parameter 72).

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 Commissioning

15. The settings established in steps 9 and 10 are the values for the critically damped con-
trol loop (see the illustration below). Starting from this setting, you can now begin to op-
timise the control loop so that it behaves in the manner required.

Over shoot

Speed setpoint

16. The above illustration shows the transient response of a drive whose speed controller
has been optimized using the method described. If you restrict overshoot, you must in-
crease parameter B2 – Reset time of speed controller. The next illustration shows the
acceleration if B2 is increased from 21 to 64.

In the above illustration, you can see that start time is now longer and that coasting is
shorter. The start time can be shortened by increasing the proportional gain B1.
17. The next illustration shows the transient response if B1 is increased to 100.

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Commissioning

18. It is difficult to establish the correct setting for the speed controller since it depends on
the application. Theoretically, the correct setting will have been established if the over-
shoot is 4.3%. In order to achieve this response behaviour, parameter B2 – Reset time
of speed controller must be increased again to 236. See the illustration below.

If you use a transmission in your application, the mechanical components cause transmis-
HINT! sion backlash. It is advisable to use higher values in parameter B2 – Reset time of speed
controller in order to avoid premature wear of the transmission.

6.7.4 Solution to the Problem

As soon as all parameters have been entered, several parameters are available providing
information on the current inverter status. In parameter group “0 – Service data I”, you can,
for instance, display the actual values of the currents, voltages, frequencies and the inverter
temperature. For instance, this allows you to check the magnitude of the line input voltage,
whether the DC link voltage ( V DC link = 2 × V Line ) is correct, whether the inverter is over-
heating or the magnitude of no-load current.
The data of the motor model used and the current inverter-specific statuses are displayed
in parameter groups “E – Service data II” and “F – Service data III” and some of them can
also be adapted manually.
Since it frequently cannot be seen immediately whether cause of an error or fault relates to
the cabling of the installation, parameterisation of the inverter, incorrect rating or even de-
fective components, the following procedure is recommended for systems with rotational
speed feedback:
1. Switch the unit on and select parameter BB. This allows you to read off the mechanical
angle of rotation of the feedback shaft. If the parameter setting for the feedback data (pa-
rameter BA – Resolver pole pair number if using a resolver or parameter BE –
Number of encoder lines with attached encoder) is correct, the display will run through
an angle of 0–360° with each mechanical revolution of the motor shaft precisely once.
2. Reduce the PWM frequency (parameter 79) to 2.00 kHz.
3. Reset the parameters (B1 and B2) of the speed controller back to the default values
specified in the Parameter Description.
4. Run the Test mode suitable for the application (see description, parameter 2A – Test
mode) again.
5. If the problem persists:

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 Commissioning

• Check the motor data in parameter group 1.

• Check the motor cabling:
– Earth connection.
– Actual motor cabling.
– Connection for feedback cables.
– Never lay the feedback cable together with the motor cabling.
6. If the problem has been solved:
• Run the optimization procedure described in section “Controller optimization”
(again).
• Once again increase the PWM frequency step-by-step in steps of 0.5 kHz.

6.8 Commissioning an SLV Application

This description applies to inverters as of software version A19.01.

HINT!

6.8.1 Introduction

The “Sensorless Vector Control” procedure SLV2 has been integrated in the UD 7000.
SLV2 stands for “SensorLess Vector”. This is a method for field-orientated control of the
asynchronous motor without rotational speed feedback.
Commissioning on the basis of application “50 – SLV2 rotational speed control” is de-
scribed at this point. Special application descriptions are available for the other SLV2 ap-
plications (51, 52 and 53). For instance, application 51 offers the option of operating with
torque control (within the framework of the restrictions of a sensorless method). It is advis-
able to place application “51 – SLV2 torque control” into operation precisely in the same
way as the SLV2 application with rotational speed control described at this point. The only
difference is that, as the last step, one must change parameter 2C – Application from 50
to 51 and reboot the software (see parameter 2D – Software reset), after which it is then
possible to operate with torque control.
The SLV2 rotational speed control has a time-proven structure with speed controller and
current controller as will also be known from field-orientated drive with feedback.

Figure 6.3
Structure with speed controller (DZR) and current controller (SR)

As of software version A19.01, the dynamic response covers the entire rotational speed
range. The dynamic response is comparable with that of the FO in the moderate rotational-
speed range (see Figure 6.4).

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Commissioning

During Test mode, the current controller can now be preset with the same values as field-
orientated drive with feedback (FO). This results in improved in compensation of the torque-
generating current which, in turn, means that the speed controller is easier to set. Normally,
all that needs to be done after Test mode is to optimise the speed controller.

Figure 6.4
Comparison of FO and SLV2 load connection 100% at 40 Hz. The torque-generating
current and the actual rotational speed are plotted in each case.

6.8.2 Commissioning Application 50 (SLV Rotational Speed Control)

Ensure that the software version in the unit corresponds to the Operating Instructions. A
prompt indicating the software version (e.g. A19.xx) is displayed in the second line on the
display during the initialisation phase.
1. In order to place application “50 – SLV2 rotational speed control” into operation, the best
way is to use parameter EA – Application-dependent defaults. Enter value 50 at this
point and then reboot the inverter software (by switching the unit off and back on again
or using parameter 2D – Software reset). After this, essential parameters in the UD
7000 will have been preset with the values required for the SLV2 application.
Otherwise, you must enter value 50 in parameter 2C – Application and reboot the soft-
ware so that the application-specific parameters are overlaid.
2. Always enter the motor data first in parameter group 1. In order to do this, simply transfer
the information from the rating plate of the connected asynchronous motor to the corre-
sponding parameters of group 1. This is the most important step for parameterising the
inverter. This is the only way of ensuring correct operation of the drive. The protection
functions integrated in the inverter (e.g. monitoring of current, rotational speed and
torque) will operate reliably only if the inverter is familiar with the correct motor data. The
Autotuning function (i.e. the commissioning aids, see parameter 2A – Test mode) also
necessitate entry of the correct data.
3. If step 1 has not been performed, parameter 2A – Test mode must be set manually to
value 104, i.e. the stator resistance R1 and the leakage reactance Xσ are measured af-
ter the first Start command after power-up of the inverter during a test run. The inverter
then computes further model variables and controller parameters.
4. The next step is to check whether the other parameter values in “Group 2 – Basic data”
are correct for your application. Frequently, for instance, it is necessary to adapt the ac-
celeration and deceleration times or the maximum frequency. It is also important that
you check whether the settings of parameters 29 – Control mode and 31 – Setpoint
selection (frequency setpoint) correspond to your requirements.

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 Commissioning

5. Parameter 29 – Control mode defines the sources for the Start/Stop signal and the set-
point for the two operating modes LOCAL (the inverter is controlled via the operator-con-
trol unit) and REMOTE (operation via the control terminals).
6. If you opt for operating mode REMOTE, you must then, as the next step, inform the in-
verter of what signal source you wish to use for the frequency setpoint using parameter
31 – Setpoint selection (frequency setpoint) or by programming the binary inputs
PS1 to PS3 (parameters 99 to 9B). Please follow note 4) given for parameter 29 – Con-
trol mode.
7. Define in what manner the binary inputs are to act using parameters 71 – Start and
Stop options and 91 – Function of inputs FWD and REV.
8. Set the rotational speed setpoint to 0 Hz (or the torque setpoint to 0% for closed-loop
torque control).
If the setpoint is not set to ZERO, the inverter will respond to the set setpoint after the
ATTENTION! test run, i.e. the motor will start to turn and, under certain circumstances, under full
torque.
9. Issue the Start command (via the terminals or keys FWD resp. REV depending on the
selected control mode). The Autotuning functions of the UD 7000 are performed – “Test”
is shown on the standard display. For this purpose, the inverter independently conducts
measurements on the energised motor. In this case, the motor may not be driven exter-
nally but may be locked by braking for the operation.
Test mode can be interrupted at any time with a STOP command. In this case, you will
see a “Warning ... measurement” warning.
When the test run is complete (i.e. display “Test” on the standard display disappears
again), issue the STOP command.
The Autotuning function performs its purpose only if all tests have been run through fully
HINT! once. If an error message or warning is issued during the measurement, Test mode
must be repeated by restarting the unit. If an error message occurs again, check the mo-
tor data in group 1 and correct cabling of the installation. Difficulties may also arise if the
nominal power values of inverter and motor differ greatly.
If the Autotuning function can, once again, not be performed with no errors, it will be nec-
essary to manually adapt parameters F3 – Stator resistance R1, F4 – Rotor resist-
ance R2 and F5 – Leakage reactance Xσ. Ideally, you can obtain the information from
the motor manufacturer. Otherwise, the UD 7000 Manual contains a table with the fac-
tory default settings for resistances and leakage reactance (in the description of param-
eters in group F). In this case, the selection must be made on the basis of the nominal
motor output and not the nominal inverter output.
If the Autotuning function is performed successfully, parameter 2A – Test mode is set
automatically to value 0, i.e. no further tests are performed at a later point.
10. The dynamic behaviour of the drive depends very greatly on the setting of the control-
lers. Application “50 – SLV2 rotational speed control” also features a speed controller
(see Figure 6.3) besides the current controller. Whilst the current controller has already
been adjusted using the Autotuning function, this must be done manually for the speed
controller. The speed controller must be adapted to the load conditions using parame-
ters B1 – Speed controller gain and B2 – Reset time of speed controller. Parameters
B1 and B2 must be adapted step-by-step and alternately until the drive displays the re-
quired behaviour in relation to dynamic response and overshoot. In principle, optimiza-
tion can also be performed for SLV2 speed control using the same method already de-
scribed in Section 6.7.3, “Controller Optimization”.

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Commissioning

If excessively high gain values are entered, it is possible the drive will show display
HINT! “Torque limit” immediately after the Start command (even at low loads). After the STOP
command, the “Auto-Stop” error may be displayed. The associated “Monitoring function
for stopping” is described in the section on parameter 8B – Maximum permissible
ramp extension in the event of stop.
If the process allows, the following optimization steps may be performed:
11. Parameter D5 – Actual value of the field-generating current component id allows
conclusions to be drawn as regards the accuracy of the motor data used in group F to a
certain extent. Firstly, you can adapt the value for parameter F3 – Stator resistance R1.
Parameter D5 – Actual value of the field-generating current component id whose
value should then be around 90%, is monitored at a setpoint of 0 Hz. Otherwise, it will
be necessary to adapt parameter F3 – Stator resistance R1.
Normally, higher values for the resistance R1 also lead to higher values for parameter
D5 – Actual value of the field-generating current component id. If this not the case,
the value of R1 must first of all be greatly reduced (halve the value), after which it should
be increased again in small increments.
12. A value of approx. 50% of the nominal frequency must then be selected as the setpoint
(e.g. 25 to 30 Hz in the case of a 50 Hz motor); the machine runs under no load or at
minimum possible load. Check parameter D5 – Actual value of the field-generating
current component id whose value should be near to 100% at the frequencies speci-
fied. Otherwise, you must adapt parameter F7 – Main reactance Xh until D5 indicates
values around 100% under the conditions described above.
Normally, higher values for the magnetising reactance will also lead to higher values for
parameter D5 – Actual value of the field-generating current component id. If this is
not the case, the value of F7 must first of all be greatly reduced (halve the value), after
which it must then be increased again in small increments.
13. The changes to the SLV2 structure specified at the start lead to new parameters which
are described below:

Parameter Description
13D – Filt.Freq.Calc. Various actual variables are used to compute the frequencies in the SLV2 model. In
some cases, in order to avoid unstable states in the control loops, it will be necessary to
pass specific variables through a filter prior to computation. You can enter the time con-
stant of the filter at this point. The factory default setting 4 ms will need to be changed
only in rare cases.

Case A:
After performing steps 1 to 10, the drive does not achieve the required dynamic response
despite high gain (parameter B1) and short integral-action time (parameter B2). The time
constant must now be reduced: first to 2 ms and, if this has no effect, smoothing is deac-
tivate with value 0 ms.

Case B:
After performing steps 1 to 10, the drive tends to oscillate or “hums” markedly (parameter
D7 jumps to and fro constantly between the allowed torque limits, e.g. ±150%) despite
no gain (B1) and long integral-action times (B2). Increase the time constant in 4 ms in-
crements until stable conditions are achieved.

Value range: 0–32000 ms Default: 4 ms

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 Commissioning

Parameter Description
13E – T. const. Rotor The rotor time constant of the motor is also included in the slip computation in the SLV2
model. This rotor time constant is computed from the motor data determined with the aid
of the Autotuning function. This provides the option of manually adapting the rotor time
constant.

Value range: 0–32000 ms Default: 100 ms

13F – Adjust Ud,dyn In the field-attenuation range, the inverter may reach its voltage limits before the set cur-
rent or torque limits are reached. This parameter influences how the available voltage is
split over field and torque generation.

Value 1 (default setting is 0) ensures that the maximum possible voltage is used for
torque generation when the voltage limit is reached.

NOTE: the parameter is displayed only if an SLV2 application is active and if the selected
maximum frequency is at least 110% of the nominal motor frequency.

Value range: 0 or 1 Default: 0

14. An optimum voltage utilisation can be achieved by entering the value 0 in parameter 62
– V/Hz characteristic selection so that voltage control is activated. Then, in the field-
attenuation range, the magnitude of the excitation is stabilised at the maximum possible
value depending on the available voltage.
If problems occur when using voltage control (e.g. the drive tends to oscillate in the field-
attenuation range), reset parameter 62 back to the factory default setting (setting 3).
Field attenuation is then performed controlled as of the break-point frequency (parame-
ter 21) indirectly proportional to the output frequency. In such cases, it is important to
enter the right break-point frequency (parameter 21). The entered value should be ap-
prox. 86% of the nominal motor frequency fnom:

f knee < = 0.866 × f nom

In the event of parameter 12 – Rated frequency being 50 Hz and step 1 being per-
formed, the default at 43 Hz is already correct.
15. If the speed of rotation at the motor shaft is not compensated precisely enough when
connecting loads (through to the nominal load), it may be necessary to adapt the rotor
time constant with the aid of parameter F6 – Rotor time constant setting.
16. Parameter FB – PWM frequency slaving. In order to improve the running characteris-
tics of the machine at low rotational speeds, the PWM frequency can be automatically
corrected to the frequency setpoint. This may cause louder noise at low rotational
speeds. PWM frequency correction is also recommended for heavy starting.
17. Parameter 7F – Control method. Trapezoidal modulation (parameter 7F = 2) should be
used at maximum frequencies of high rated frequency since this method achieves opti-
mum voltage utilisation.
18. Parameter 76 – Slip compensation. If step 1 has been performed, slip compensation
(parameter 76) will be activated by default, i.e. the speed controller stabilises the rotor
frequency at the selected frequency setpoint. If there are no problems using slip com-
pensation, the function should always remain activated. It has been observed that the
non-feedback drive moves more dynamically into the field-attenuation range under cer-
tain circumstances if slip compensation is deactivated (e.g. if the motor data, both the
data entered and the data determined by the Autotuning function, is not adequately pre-
cise).
19. The following adaptation may be necessary for operation of application 50 in the field-
attenuation range:

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Commissioning

• At all events, the ramp times must be adapted to the load conditions.
• The gain of the speed controller should be reduced.
• Compensation with the aid of gain boosting (parameters B3 and B4) is possible in
order to achieve a good dynamic response nevertheless at “normal” speeds of rota-
tion.

6.9 Note on Commissioning further to Application 51

It is advisable to place application “51 – SLV2 closed-loop torque control” into operation
precisely in the same way as SLV2 speed control (see Section 6.8.1, “Introduction”). The
only difference is that, as the last step, you must change parameter 2C – Application from
50 to 51 and reboot the software (see parameter 2D – Software reset), after which it is pos-
sible to operate with torque control.

6.9.1 Signal Flow Diagrams

Application 50: SLV2 speed control

Application 51: SLV2 torque control

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 Commissioning

Application 52: SLV2 speed control II

Application 53: SLV2 in the field-attenuation range

The application 52 shown here represents a step towards simplified commissioning with a
“single-controller solution”. Application 53 supplements the SLV2 variants with a solution
for the field-attenuation range. Please refer to the application description “SLV2 applica-
tions in the UD 7000” for details on applications 52 and 53.

Symbol Description further to the Signal Flow Diagrams

Symbol Significance Gated UD 7000 parameters

AA Automatic triggering. 79 – PWM frequency
That part of the inverter software which FB – PWM frequency slaving
generates the pulse patterns from volt-
age and frequency setpoints.
DZR Speed controller B1 – Speed controller gain
B2 – Reset time of speed controller
(B3, B4 – Gain boosting)
fact. Actual value of the motor rotational fre- 09 – Actual frequency
quency
%Field Percentage field setpoint FE – Excitation
FLD Field preset module (influencing the 21 – Knee frequency
magnetising current and implementa- 62 – V/Hz characteristic selection
tion of field attenuation)
fmax Maximum frequency 23 – Maximum frequency
fout Output frequency (stator frequency) 01 – Output frequency
fset Frequency setpoint 31 – Setpoint selection (frequency
setpoint)
3F – Frequency setpoint on the ba-
sis of ramp
71 – Start and Stop options
Table 6.1

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Commissioning

Symbol Significance Gated UD 7000 parameters

FVM SLV2 field preset model D5 – Actual value of the field-gener-
ating current component id
iq Actual value of the current component D6 – Actual value of the torque-gen-
for torque generation erating current component iq
iq,set Setpoint of the current component for D7 – Setpoint of the torque-generat-
torque generation ing current component iq,set
MLimits Torque limitation Parameter group 5
mmax Maximum torque 55 – Torque factor LIM input
MOM Torque setpoint input in the case of See Application Description
structure without speed controller (ap-
plication 52).
The setpoint of the torque to be injected
is computed directly from the slip set-
point sset
MSO Torque setpoint input in the case of ap-
plication 51.
Closed-loop torque control, allowing for
the special cases as follows:
• Undershoot of the minimum fre-
quency
• Reaching the maximum frequency
• Stop command
mset Setpoint of the torque
SLV SLV2-Model.
• Computation of output frequency
fout, actual frequency fact. and slip
sact.
RMP Ramp module 72 – Ramp function selection
sact. Actual slip 76 – Slip compensation
SR Current controller F8 – Current controller gain
F9 – Specific current controller reset
time
sset Slip setpoint.
The slip injected in the motor in order to
compensate for the load
TR Rotor time constant Parameter 13E – Rotor time constant
%Tr Percentage adaptation of the rotor time F6 – Rotor time constant setting (Tr
constant for slip compensation adaptation for slip compensation)
Ud, Uq Voltage components in the fixed-stator
coordinate system
Table 6.1

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 Commissioning

6.10 Stepper Control

The Berges inverter UD 7000 features a simple step-by-step control allowing simple func-
tion sequences to be implemented by the inverter itself as a function of programmable
boundary conditions (e.g. as a function of the status of the binary inputs).
The step-by-step control is a special application and is thus not described in greater detail
in this Manual.

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2-25
Keys and Displays/Indicators

7 Keys and Displays/Indicators

7.1 Display and Operating Unit (ABE)

Figure 7.1
Display and operating unit

The inverter control can be switched between the operating mode and the program mode.

7.2 Display in the Operating Mode

For the operating mode, you can choose between standard display 1 or 2.

7.2.1 Standard Display 1

Control mode Status Parameter set

LOC Stop Set: 1
SET 50.00 Hz 5%
Direction of rotation Frequency setpoint Output power referred to
the motor’s rated power
Figure 7.2
Operating mode – standard display 1

DISPLAY DESCRIPTION
[Address] The address [address] is selected through the serial interface (RS 485)
(SIO) (1)
Accelerate The motor accelerates
At speed The motor frequency is equal to the frequency setpoint
Autostrt.off The start command has been issued, but the autostart condition is not met
Control The inverter receives start/stop commands through the serial interface
(RS 485) (SIO) (1)
Decelerate The motor decelerates
Table 7.1

Parameter Description 25.04.03

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 Keys and Displays/Indicators

DISPLAY DESCRIPTION
Dyn. brake The braking chopper is in use
Error Inverter in the error state
FWD Right rotation selected
Jog Jog mode only as long as the FWD or REV key is pressed. The inverter
output is active
LOC LOCAL mode, control by keypad
Program The inverter is parameterised through the serial interface (RS 485) (SIO)
(1)

REM REMOTE mode, control through terminals

REV Left rotation selected
SET No direction of rotation selected (“STOP” status). The frequency setpoint
is displayed as the frequency
Set: 1
Display of the actual active set of parameters.The set of parameters can
Set: 2
be switched via binary inputs, for example.
Set: 3
SIO Control through serial interface (RS 485). Special form of REMOTE mode.
(1)

Speed search The inverter synchronises the output frequency to the rotation frequency
of the motor that is already rotating
Stop The inverter output is inactive
Test The inverter is in test mode
Torque limit The motor is running at the torque limit
Zero speed The inverter output is active, but the motor frequency is 0
Table 7.1

(1) Parameterising the inverter via the serial RS 485 port does not require SIO mode. “SIO mode” means only that the Start-Stop signals
are supplied by the RS 485 interface in REMOTE mode.

7.2.2 Standard Display 2

You normally change from standard display 1 to 2 in the REM control mode by means of
the ▲ or ▼ keys. In the LOC mode, you can change the display by means of the parameter
EC.
The display can be switched over to the standard display 2 in order to display the read-only
parameters (shown as X and Y here), for example the output frequency and motor current.

Parameter number
(e.g. output frequency)
Displayed item VIEW X: 1.0 Hz
Displayed item VIEW Y: 5.0 A

Figure 7.3
Operating mode – standard display 2

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Keys and Displays/Indicators

NOTE:
Each read-only parameter may be transferred to the standard display 2. The required read-
only parameter must be selected for this purpose. Pressing keyboard short-cut SHIFT +
ENTER (press key SHIFT first, hold it then press key ENTER) transfers the parameter to
the upper position of the standard display 2. This shifts the parameter which was previously
in the upper position to the lower position. The settings of standard display 2 are stored au-
tomatically in power-failsafe manner.

7.2.3 Display in the Program Mode

Parameter group Motor data

Group number (1)

Figure 7.4
Program mode – group menu

Help symbol; one or

several help texts to
explain parameters
Parameter name Nominal voltage ?
Access privilege PROG 11: 400.0 V
Parameter number Parameter with unit of
measure
Figure 7.5
Program mode – parameter menu

In the case of parameters that have help information, their program name is followed by a
question mark (?).

DISPLAY DESCRIPTION
PROG Parameter is editable
VIEW Read-only parameter (not editable)
Table 7.2
Access privilege

The following display appears when a parameter is edited and stored in non-volatile mem-
ory by pressing the “ENTER” key:

*** STORED ***

Figure 7.6
Storage message

You can work with a password as the operator privilege for editing parameters (see also
parameter 87). In this case, the password is queried before you edit the first parameter.

Parameter Description 25.04.03

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 Keys and Displays/Indicators

PASSWORD
→:
Figure 7.7
Program mode
Password input

The following message appears briefly when you enter the password correctly:
“*** CODE OK. ***”.

7.2.4 Operating Examples

Example 1: Incrementing the Frequency Setpoint in the LOCAL Mode

LOC Stop Set: 1

SET 0.00 Hz 0%

Press the key 1× (additionally pressing key SHIFT once provides a higher rate of
change of the data value).

LOC Stop Set: 1

SET 0.01 Hz 0%

Example 2: Storing the Set Frequency Setpoint in the LOCAL Mode

LOC Stop Set: 1

SET 0.01 Hz 0%

Press the key.

*** STORED ***

The standard display 1 appears after approx. 3 seconds.

LOC Stop Set: 1

SET 0.01 Hz 0%

Example 3: Switching from Standard Display 1 to 2 (in REMOTE Mode only)

LOC Stop Set: 1

SET 0.01 Hz 0%

Press the key or .

25.04.03 Parameter Description

07_GB_T2 UD 7000 — 1.5–55.0
2-29
Keys and Displays/Indicators

VIEW X: 0.01 Hz
VIEW Y: 0.0 A

Example 4: Switching from the Operating Mode to the Program Mode

LOC Stop Set: 1

SET 0.01 Hz 0%

Press the key.

Motor data
(1)

Example 5: Switching to another Parameter Group

Motor data
(1)

Press the key or .

Basic data
(2)

Example 6: Switching from the Parameter Group to Subparameter List

Motor data
(1)

Press the key.

Nominal voltage 400.0 V

PROG 11:

Example 7: Editing the “Nominal voltage” Parameter

Nominal voltage 400.0 V

PROG 11:

Press the key.

Parameter number 11 flashes.

Parameter Description 25.04.03

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 Keys and Displays/Indicators

Press the key: the value is counted down (additionally pressing key SHIFT once pro-
vides a higher rate of change of the data value).

Press the key: the value is counted up (additionally pressing key SHIFT once pro-
vides a higher rate of change of the data value).

Nominal voltage 380.0 V

PROG 11:

Press the key.

*** STORED ***

The parameter number 11 no longer flashes.

Nominal voltage 380.0 V

PROG 11:

Example 8: Switching from the Subparameter List to the Parameter Group

Nominal voltage 380.0 V

PROG 11:

Press the key. Any changed parameter values are not stored in power-failsafe man-
ner.

Motor data
(1)

Example 9: Switching from the Program Mode to the Operating Mode

Motor data
(1)

Press the key, keep it pressed and then press the or key.

LOC Stop Set: 1

SET 0.01 Hz 0%

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Keys and Displays/Indicators

Example 10: Switching the Parameter Display to the Help Function

Reference-selec ?
PROG 31: 11

Press the key, keep it pressed and then press the key.

0 - VIN: 0 ... 10 V ?
1 - VIN: +/–10 V

Example 11: Confirmation of an Error

Error 3
Overcurrent

Press the key , ,

Start

or switch off the line and switch on again.

Parameter Description 25.04.03

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 Keys and Displays/Indicators

7.3 On-Line Help

Figure 7.8

7.4 Key Functions

7.4.1 Control Keys

FUNCTION IN THE OPERATION MODE

KEY LOCAL MODE REMOTE MODE
Start the motor with clockwise rotation allowing for
the set ramps until the set setpoint is reached. If the
motor is already turning counter-clockwise, it will de-
No function.
celerate through to rotational speed 0, change the di-
rection of rotation and accelerate to the setpoint fre-
quency set.
Table 7.3
Control keys

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Keys and Displays/Indicators

FUNCTION IN THE OPERATION MODE

KEY LOCAL MODE REMOTE MODE
Start the motor with counter-clockwise rotation allow-
ing for the set ramps until the set setpoint is reached.
If the motor is already turning clockwise, it will decel-
erate through to rotational speed 0, change the di- No function.
rection of rotation and accelerate to the frequency
setpoint set. This key can basically be disabled via
parameter 29 – Control mode.
Depending on parameter 71 – Start and Stop op- Free slowing-down of the motor (EMERGENCY-
tions, one of the following happens: STOP) if this function has not been deactivated in
• Deceleration using the ramps or parameter 71. Error 0 “Emergency-Stop” is dis-
• Inverter disable → free slowing-down of the mo- played and must be acknowledged with key PROG,
tor. SHIFT or ENTER and the Start command must be
reissued.
Table 7.3
Control keys

7.4.2 Control and Parameter Keys – Single Operation(1)

FUNCTION
OPERATING MODE PROGRAM MODE
KEY STANDARD DISPLAY PARAMETER GROUP PARAMETER LIST DATA INPUT
1 OR 2
LOCAL mode: Skip to next parameter Skip to next parameter or Increments the parame-
Increments the frequency group resp. from the last from the last parameter to ter (increase in the rate of
setpoint in 0.01 Hz steps parameter group to pa- the first parameter. change after 5 s). (1)
(after 5 s, increase in the rameter group 0 (see also
rate of change; see also Example 5).
Example 1). (1)
REMOTE mode:
Switches over between
standard displays 1 and 2
(see also Example 3).
LOCAL mode: Skip to the previous pa- Skip to the previous pa- Decrements the parame-
Decrements the frequen- rameter group resp. from rameter resp. from the ter (increase in the rate of
cy setpoint in 0.01 Hz parameter group 0 to the first parameter to the last change after 5 s). (1)
steps (after 5 s, increase last parameter group. parameter.
in the rate of change). (1)
REMOTE mode:
Switches over between
standard displays 1 and 2
(see also Example 3).
Table 7.4
Control and parameter keys – single operation

(1) Additionally pressing key SHIFT once provides a higher rate of change of the data value.

Parameter Description 25.04.03

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 Keys and Displays/Indicators

FUNCTION
OPERATING MODE PROGRAM MODE
KEY STANDARD DISPLAY PARAMETER GROUP PARAMETER LIST DATA INPUT
1 OR 2
The parameter just edited
is reset to the factory de-
fault setting.
+
*** Default! *** is dis-
played for one second on
the display and the de-
or No function. No function. No function. fault value is then shown.
The value can then be
edited further until SHIFT
+ or ENTER is pressed.

Skip to parameter group Opens the parameter list Skip back to the parame- Abort data entry (without
and switch to Program relating to the selected ter group (see also Exam- saving any changes) and
mode (see also Example parameter group (see al- ple 8). Acknowledgement skip back to the parame-
4). Acknowledgement of so Example 6). Acknowl- of an error. (1) ter group. Acknowledge-
an error. (1) edgement of an error. (1) ment of an error. (1)
Acknowledgement of an Acknowledgement of an Transition to data entry → Quitting data entry with
error. (1) error. (1) parameter number blinks. the storage of the
It is then possible to set changed value but with-
the required value with out storing the value in
UP or DOWN. Acknowl- power-failsafe manner. It
edgement of an error. (1) a software reset or restart
of the inverter is now per-
formed, the value prior to
the change takes effect
again. If a parameter
group contains at least
parameter which has not
been stored in power-fail-
safe manner, this is indi-
cated by means of an ex-
clamation mark “!” after
the group name. Ac-
knowledgement of an er-
ror. (1)
In LOCAL mode only: Power-failsafe storage of Acknowledgement of an Power-failsafe storage of
The set setpoint is stored all parameters of this error. (1) the set parameter value.
in power-failsafe manner group. The UD 7000 indi- The UD 7000 acknowl-
(see also Example 2). cates that the entire edges acceptance of the
The inverter acknowledg- group has been stored new value with display:
es the entry with with display *** Stored ***. Acknowl-
** Set Stored **. Acknowl- ** Gr. Stored **. Acknowl- edgement of an error. (1)
edgement of an error. (1) edgement of an error. (1)
Table 7.4
Control and parameter keys – single operation

(1) If the PROG, SHIFT or ENTER key is pressed, the message is reset on the ABE (display and operator-control unit). Acknowledgement of the error message does not cancel
the cause of the error. Errors may be also still be pending after reset (see also Chapter 8.17, “Error States”).

25.04.03 Parameter Description

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Keys and Displays/Indicators

7.4.3 Control and Parameter Keys – Combinations with SHIFT

FUNCTION
OPERATING MODE PROGRAM MODE
KEYS STANDARD DISPLAY PARAMETER GROUP PARAMETER LIST DATA INPUT
1 OR 2
Transition to data entry → Quitting data entry with
parameter number blinks. the storage of the
It is then possible to set changed value but with-
+
the required value with out storing the value in
UP or DOWN. (1) power-failsafe manner. It
a software reset or restart
of the inverter is now per-
formed, the value prior to
No function. No function. the change takes effect
again. If a parameter
group contains at least
parameter which has not
been stored in power-fail-
safe manner, this is indi-
cated by means of an ex-
clamation mark “!” after
the group name. (1)
Transition to data entry → Quitting data entry with
parameter number blinks. the storage of the
It is then possible to set changed value but with-
+
the required value with out storing the value in
UP or DOWN. (1) power-failsafe manner. It
a software reset or restart
of the inverter is now per-
formed, the value prior to
No function. No function. the change takes effect
again. If a parameter
group contains at least
parameter which has not
been stored in power-fail-
safe manner, this is indi-
cated by means of an ex-
clamation mark “!” after
the group name. (1)
Calling the Help function Calling the Help function
(see also Example 10). (see also Example 10).
On the Help display: On the Help display:
+
Display of the next Help Display of the next Help
No function. No function.
page or quitting the Help page or quitting the Help
function (Help is also quit function (Help is also quit
automatically after 5 sec- automatically after 5 sec-
onds). (1) onds). (1)
Table 7.5
Control and parameter keys – combinations with SHIFT

Parameter Description 25.04.03

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 Keys and Displays/Indicators

FUNCTION
OPERATING MODE PROGRAM MODE
KEYS STANDARD DISPLAY PARAMETER GROUP PARAMETER LIST DATA INPUT
1 OR 2
Maximum rate of change
of the data value (Press
key UP, keep it pressed
+ No function. No function. No function.
and then press key
SHIFT once). (3)

Maximum rate of change

of the data value (Press
key DOWN, keep it
+ No function. No function. No function.
pressed and then press
key SHIFT once). (3)

Quitting Program mode Incrementing the data Incrementing the data

and switching over to the values in steps of one, values in steps of one,
standard display 1/2. (2) ten or one hundred, de- ten or one hundred, de-
+
No function. pending on value range pending on value range
and resolution (keep key and resolution (keep key
SHIFT pressed and brief- SHIFT pressed and brief-
ly press key UP). (2) ly press key UP). (2)
Quitting Program mode Decrementing the data Decrementing the data
and switching over to the values in steps of one, values in steps of one,
standard display 1/2. (2) ten or one hundred, de- ten or one hundred, de-
+
No function. pending on value range pending on value range
and resolution (keep key and resolution (keep key
SHIFT pressed and brief- SHIFT pressed and brief-
ly press key DOWN). (2) ly press key DOWN). (2)
Skip to parameter group Only the parameters dif- Transition to data entry → Transition to data entry →
and switch to Program fering from the factory de- parameter number blinks. parameter number blinks.
mode but only the param- fault setting are displayed It is then possible to set It is then possible to set
+
eters which differ from the in the current parameter the required value with the required value with
factory default setting are group. UP or DOWN. (1) UP or DOWN. (1)
displayed in all parameter NOTE:
groups. If the parameter group is
NOTE: not opened, there are no
You must return to the deviations from the facto-
operating mode from the ry default settings in this
menu with SHIFT + UP group. If the group is quit,
and start Program mode all parameters are dis-
with PROG in order to played again. (1)
display all parameters
again. (1)
Table 7.5
Control and parameter keys – combinations with SHIFT

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2-37
Keys and Displays/Indicators

FUNCTION
OPERATING MODE PROGRAM MODE
KEYS STANDARD DISPLAY PARAMETER GROUP PARAMETER LIST DATA INPUT
1 OR 2
REMOTE mode: Read-only parameters: Transition to data entry →
Starting Test mode under Each read-only parame- parameter number blinks.
specific preconditions ter can be transferred to It is then possible to set
+
(details as for parameter the standard display 2. the required value with
2A – Test mode). The required read-only UP or DOWN. (1)
LOCAL mode: parameter must be se-
No function. (1) lected for this purpose.
The parameter is trans-
ferred to the upper posi-
No function.
tion of the standard dis-
play (power-failsafe) by
pressing SHIFT + EN-
TER. This shifts the pa-
rameter which was previ-
ously in the upper posi-
tion to the lower position.
Editable parameter:
As for ENTER. (1)
Table 7.5
Control and parameter keys – combinations with SHIFT

NOTES:
(1) In the case of SHIFT/FWD, SHIFT/REV, SHIFT/STOP, SHIFT/PROG and SHIFT/EN-
TER, you must first press the SHIFT key, keep it pressed and then press the other key
in each case.
(2) In the case of SHIFT/UP and SHIFT/DOWN, always press key SHIFT first, keep it
pressed and then briefly press key UP or DOWN.
(3) In the case of UP/SHIFT and DOWN/SHIFT always press key UP or DOWN first, keep
it pressed and then briefly press key SHIFT once.

7.4.4 LED Status Display

DISPLAY MEANING
Red LED in STOP key Stop state
Green LED in FWD key Right-hand rotation
Green LED in REV key Left-hand rotation
Green LEDs in FWD and REV keys DC braking or Test mode
Table 7.6
LED status display

Parameter Description 25.04.03

2-38 UD 7000 — 1.5–55.0 07_GB_T2
 Group 1 – Motor Data Parameter Description

8 Parameter Description

8.1 Group 1 – Motor Data

Before the drive is commissioned, the parameters in this group must be adapted to
HINT! local conditions to ensure that the motor/device are tuned optimally.
The following calculations must be carried out in order to determine the correct data
in the case of applications in which several motors are connected parallel:
Motors with differing nominal rotational speed, number of poles, power factor, nominal out-
ATTENTION! put and nominal current may be operated only under application “0” and with controlled
characteristic (parameter 62 – V/Hz characteristic selection, setting 2). In all cases, the
nominal motor voltage must be the same.
1. Rated voltage:
Enter the motor voltage specified on the motor rating plate. The connected motors must
all have the same nominal voltage. Ensure that they have the same vector group ( or
).
2. Rated frequency:
Enter the frequency specified on the rating plate.
EXAMPLE (special case):
Rating plate specification, e.g. 230/400 V, 50 Hz, delta/star. The motor should be oper-
ated in a “delta” circuit with a 400 V unit. The nominal frequency can then be calculated
as follows:

F nom = 3 × 50 Hz = 87 Hz

CAUTION: parameter 21 – Knee frequency must also be set to this value.

3. Power factor:
Enter the power factor specified on the rating plate.
4. Rated speed:
Enter the nominal rotational speed specified on the rating plate.
The motor is operated up to 87 Hz as described in “2.” above. The slip speed must then
be determined first:
n slip = n sync – n nom

The synchronous speed at 87 Hz is then calculated:

87 Hz × 60
n sync (87 Hz) = ----------------------------
p
where p corresponds to the number of pole pairs. The rotational speed to be entered is
then as follows:
n nom (87 Hz) = n sync (87 Hz) – n slip

5. Rated power:
The outputs of the motors must be added.
The motor is operated up to 87 Hz as described above in “2.”. In this case, the output
issued by the motor at 87 Hz must be used for calculation. This means that it is calcu-
lated as follows in the example specified:

25.04.03 Parameter Description

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2-39
Parameter Description Group 1 – Motor Data

87 Hz
P (87 Hz) = P (50 Hz) × ---------------
50 Hz
6. Rated current:
The nominal currents of the motors must be added. The currents of the vector group
used must be used ( or ).

11 – Rated voltage SL / SLV

Rated motor voltage as detailed on the motor name plate. If the motor allows different
switching types ( or ), the voltage that corresponds to the switching type used must be
entered.
NOTE: this parameter is not relevant in versions with current control (EC/FO).
◊ Value range: 100.0–480.0 V Default Europe: see Table 8.1
Default USA: see Table 8.2
(see also parameter EA)

12 – Rated frequency SL / FO / SLV / EC

Rated motor frequency as detailed on the motor name plate or frequency at which the motor
must be operated in order to reach the rated speed under rated conditions.
◊ Value range: 10.0–1000.0 Hz Default Europe: see Table 8.1
Default USA: see Table 8.2
(see also parameter EA)

13 – Power factor SL / FO / SLV

Power factor cos ϕ as detailed on the motor name plate.
NOTES:
1) This parameter is not relevant when using a brushless servo motor.
2) The power factor cos ϕ can also be computed using the following formula with known or
estimated efficiency η:

P nom
cos ϕ = ----------------------------------------------------------
-
1.73 × I nom × V nom × η

Explanation of symbols:
cos ϕ – Power factor (parameter 13) [1]
Pnom – Nominal motor output (parameter 15) [W]
Inom – Nominal motor current (parameter 16) [A]
Vnom – Nominal motor voltage (parameter 11) [V]
η – Efficiency [1]
3) If US motors are used, the specification of the power factor may be missing on the rating
plate. Should the text “N.L. Amps” be present instead, the power factor cos ϕ can be cal-
culated to a good degree of approximation as follows:
Assumption:
N.L. Amps = sin ϕ × Rated current

N.L. Amps - ⇒ ϕ = sin -1  -----------------------------------

⇒ sin ϕ = -----------------------------------
N.L. Amps -
Rated current  Rated current

⇒ cos ϕ = cos  sin  -----------------------------------

-1 N.L. Amps - 
  Rated current 

Parameter Description 25.04.03

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 Group 1 – Motor Data Parameter Description

Using the table below, you can determine the power factor cos ϕ directly from the quotient
N.L. Amps -
----------------------------------- :
Rated current

N.L. Amps 0.31 0.44 0.51 0.54 0.57 0.60 0.63 0.65 0.67 0.69 0.71 0.76 0.8 0.83
------------------------------------
Rated current
cos ϕ 0.95 0.9 0.86 0.84 0.82 0.80 0.78 0.76 0.74 0.72 0.70 0.65 0.6 0.55

4) If you also do not know the specification of the “N.L. amps” and efficiency η, please
choose the value for cos ϕ from Table 8.1 or 8.2 as a function of the nominal motor out-
put.
◊ Value range: 0.50–1.00 Default Europe: see Table 8.1
Default USA: see Table 8.2
(see also parameter EA)

14 – Rated speed SL / FO / SLV / EC

Rated motor speed as detailed on the motor name plate.

◊ Value range: 100–32500 rpm Default Europe: see Table 8.1
Default USA: see Table 8.2
(see also parameter EA)

15 – Rated power SL / FO / SLV / EC

Rated motor power as detailed on the motor name plate.

◊ Value range: 0.01–100.00 kW Default Europe: see Table 8.1
Default USA: see Table 8.2
(see also parameter EA)

16 – Rated current SL / FO / SLV / EC

Rated current as detailed on the motor name plate. If the motor allows different switching
types ( or ), the current that corresponds to the switching type used must be entered.
◊ Value range: 0.1–300.0 A Default Europe: see Table 8.1
Default USA: see Table 8.2
(see also parameter EA)

EUROPE (400 V/50 HZ)

Prated inverter (kW) 1.5 2.2 3.0 4.0 5.5 7.5 11.0 15.0 22.0 30.0 37.0 45.0 55.0
Vrated [V] Parameter 11 400
frated [Hz] Parameter 12 50
cos ϕ (%eff) Parameter 13 0.82 0.82 0.82 0.82 0.83 0.83 0.85 0.85 0.81 0.86 0.86 0.87 0.87
nrated [rpm] Parameter 14 1410 1415 1415 1435 1450 1450 1455 1455 1460 1465 1475 1475 1475
Prated [kW] Parameter 15 1.5 2.2 3.0 4.0 5.5 7.5 11.0 15.0 22.0 30.0 37.0 45.0 55.0
Irated [A] Parameter 16 3.7 5.2 6.8 9.2 11.7 15.6 22.5 30.0 43.0 58.0 71.0 85.0 102.0
Table 8.1

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Parameter Description Group 2 – Basic Data

USA (460 V/60 HZ)

Prated inverter (kW) 1.5 2.2 3.0 4.0 5.5 7.5 11.0 15.0 18.5 22.0 30.0 37.0 45.0 55.0
Vrated [V] Parameter 11 460
frated [Hz] Parameter 12 60
cos ϕ (%eff) Parameter 13 0.78 0.785 0.787 0.79 0.72 0.76 0.76 0.75 0.79 0.82 0.86 0.85 0.86 0.86
nrated [rpm] Parameter 14 1750 1755 1755 1755 1765 1774 1770 1780 1775 1773 1775 1770 1775 1780
Prated [kW] Parameter 15 1.5 2.2 2.9 3.7 5.5 7.3 10.9 14.6 18.3 21.9 29.2 36.5 43.8 56.0
Irated [A] Parameter 16 3.0 4.2 5.5 6.7 10.7 13.5 20.0 27.0 32.5 36.5 46.0 58.0 69.0 84.3
Table 8.2

NOTES:
The default values depend on the power of the inverter.
The following parameters are automatically recomputed if changes are made to parameters
in the “Motor data” group:
Parameter F7 – Main reactance Xh
Parameter F8 – Current controller gain
Parameter F9 – Specific current controller reset time

8.2 Group 2 – Basic Data

21 – Knee frequency SL / FO / SLV / EC

The motor is operated in the frequency range from Zero up to the knee frequency with rated
excitation. This means that the inverter emits, at this frequency and rated load of the motor,
its rated voltage.
This parameter needs to be specified only if parameter 62 – V/Hz characteristic selection
has been programmed for functions 2, 3, 4 or 5 (controlled field attenuation). In the other
cases, the inverter automatically implements field attenuation as a function of the available
voltage and the load conditions.
◊ Value range: 10.0–1000.0 Hz Default Europe: 50.0 Hz
Default USA: 60.0 Hz
(see also parameter EA)
◊ SLV2 value range: 10.0–1000.0 Hz Default Europe: 43.0 Hz
Default USA: 51.0 Hz
(see also parameter EA)

22 – Boost SL – OE

Compensation factor for setting the excitation of the motor with regard to the V/Hz charac-
teristic determined by the inverter on the basis of the motor data (parameter group 1 or
measurement; see also parameter 2A). The compensation factor is active over the meas-
ured nominal range of the motor. A value of 100% corresponds to the characteristic deter-
mined by the inverter.
When this parameter is modified, the following parameters are recomputed automatically:
Parameter F8 – Current controller gain
Parameter F9 – Specific current controller reset time
This correction factor acts in the case of parameters 22 – Boost and 61 – Autoboost.

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 Group 2 – Basic Data Parameter Description

Setting excessive values may result in swift heating up of the motor at low speeds.
ATTENTION!
NOTE: this parameter is of no relevance in version with current control (EC/FO) and in the
case of SLV2. No display in the case of SLV2.
◊ Value range: 0.0–600.0% Default: 100.0%

23 – Maximum frequency SL / FO / SLV / EC

Top frequency limit that is never exceeded by the inverter. The “Minimum frequency” and
“Maximum frequency” parameters also serve to scale the analog setpoint inputs.
NOTE: for SLV2 applications, the maximum frequency should not amount to more than
twice the rated motor frequency. For operation in the field attenuation range, the speed con-
troller must be optimized again.
◊ Value range: 1.0–875.0 Hz Default Europe: 50.0 Hz
Default USA: 60.0 Hz
(see also parameter EA)

24 – Minimum frequency SL / FO / SLV / EC

Bottom frequency limit, which the inverter does not fall below in a stationary fashion. The
minimum frequency is evaluated differently depending on the setpoint source (see param-
eter 31, variants 1 and 2).
◊ Value range: 0.0–100.0 Hz Default: 0.0 Hz

25 – Acceleration time 1 SL / FO / SLV / EC – OE

Standard acceleration time. Period of time for acceleration from 0 Hz to the maximum fre-
quency (parameter 23).
◊ Value range: 0.1–999.9 s Default: 3.0 s

26 – Deceleration time 1 SL / FO / SLV / EC – OE

Standard deceleration time. Period of time for deceleration from the maximum frequency
(parameter 23) to 0 Hz.
◊ Value range: 0.1–999.9 s Default: 3.0 s

27 – Acceleration time 2 SL / FO / SLV / EC – OE

Alternative acceleration time. Period of time for acceleration from 0 Hz to the maximum fre-
quency (parameter 23). The switchover possibilities are programmed with the parameter
72 – Ramp function selection.
◊ Value range: 0.1–999.9 s Default: 5.0 s

28 – Deceleration time 2 SL / FO / SLV / EC – OE

Alternative deceleration time. Period of time for deceleration from the maximum frequency
(parameter 23) to 0 Hz. The switchover possibilities are programmed with the parameter 72
– Ramp function selection.
◊ Value range: 0.1–999.9 s Default: 5.0 s

29 – Control mode SL / FO / SLV / EC – SC

This parameter defines the sources for the Start/Stop signal and the setpoint in the two op-
erating modes LOCAL and REMOTE. Switchover between LOCAL and REMOTE is per-
formed via terminal input PS3 if this has been programmed for function x06 with parameter
9B – PS3 input function selection. Operating mode LOCAL is displayed by LOC on the
standard display 1 and display REM is shown in REMOTE mode.

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Parameter Description Group 2 – Basic Data

If you switch over from LOCAL mode to REMOTE mode (see also parameter 9B – PS3 in-
ATTENTION! put function selection), a Start command applied to the terminals is processed immedi-
ately if the motor is started. This may lead to death, injury or damage to equipment and in-
stallations.

LOCAL MODE REMOTE MODE

Setpoint Start/Stop signal Setpoint Start/Stop signal
x0 Keypad 1) Keypad 2) 6) NA NA
4) 2) 6) 4)
x1 see NOTE Keypad see NOTE Terminals 5)
x2 see NOTE 4) Keypad 2) 6) see NOTE 4) Keypad 2)
x3 Keypad 1) Keypad 2) 6) see NOTE 4) Terminals 5)
x4 NA NA see NOTE 4) Terminals
4) 2) 6) 4)
x5 see NOTE Keypad see NOTE SIO (RS-485) 3)
x6 Keypad 1) Keypad 2) 6) see NOTE 4) SIO (RS-485) 3)
x7 NA NA see NOTE 4) SIO (RS-485) 3)
0x REV key basically not active (applies only to LOCAL mode)
1x FWD and REV keys active (applies only to LOCAL mode)

◊ Value range: see Table Default Europe: 13

Default USA: 3
(see also parameter EA)
NOTES:
1) Key ▲: Increases the setpoint.
Key ▼: Reduces the setpoint.
Key ENTER: Failsafe storage of the setpoint.
2) Key FWD: Right rotation.
Key REV: Left rotation (if the REV key is enabled).
Key STOP: Deceleration or free coasting (output stage disable) of the motor
(see parameter 71 – Start and Stop options).
3) SIO mode is a special form of REMOTE mode. Command FWD (“Start with clockwise
rotating field”), REV (“Start with anticlockwise-rotating field”) and the STOP command
are preset solely via the serial port RS 485 in this mode. Parameter AD – Inverter con-
trol commands in SIO mode is used for this. On the standard display 1, display “SIO
XX” indicates that the inverter receives its control commands from the RS 485 bus and
that it has address XX (XX stands for 00 to 31, see parameter A9 – Slave address of
the inverter for SIO operation). The setpoint source is determined by parameter 31 –
Setpoint selection (frequency setpoint)).
Parameterisation of the inverter via the serial port RS 485 does not require SIO mode.
HINT! “SIO mode” means only that the Start-Stop signals are routed from the RS 485 interface
in the case of REMOTE mode.
4) The setpoint source is determined with parameter 31 – Setpoint selection (frequency
setpoint) and by programming inputs PS1, PS2 and PS3 with parameters 99 to 9B and
wiring these inputs according to the explanation below:

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 Group 2 – Basic Data Parameter Description

With valences PS1 – 20, PS2 – 21, PS3 – 22, inputs PS1–PS3 form a numerical value
which is used as the selection parameter for the terminal setpoint. The corresponding
bit is set equal to 1 if the input is programmed for function x00 “Selection of a fixed fre-
quency” with the relevant parameter 99 to 9B “Function selection of input PS1/PS2/PS3”
and the input has been activated. If one of the two conditions is not met, the bit is set
equal to zero. The following setpoint sources (see Table 8.3) are assigned to the possi-
ble values of the selection parameter thus generated. If all three bits are equal to zero,
only parameter 31 – Setpoint selection (frequency setpoint) determines the setpoint
source.
5) In this mode, Start and Stop commands are preset only with terminals “FWD” and
“REV”. Parameters 71 – Start and Stop options and 91 – Function of inputs FWD
and REV define how these terminals respond precisely. Both parameters must be
adapted in order to achieve safe operation of the installation. The keypad's STOP key
is programmed as “Emergency-Stop” by default.
6) Jog mode in LOCAL mode:
The set value of fixed frequency 1 may also be used as a jog frequency. For this pur-
pose, the binary inputs R/J and PS3 must be activated, parameter 98 – Run/Jog input
function selection must be programmed for function x00 “Jog mode selected” and LO-
CAL mode must be activated with parameter 9B (setting x06). The motor operates at the
set fixed frequency 1 in the corresponding direction for as long as key FWD or REV is
now pressed.

PS3 PS2 PS1 Frequency setpoint defined by:

0 0 0 Parameter 31 – Setpoint selection (frequency setpoint) (1)
0 0 1 Parameter 41 – Fixed frequency 1 (2) (3)
0 (4) 1 (5) 0 Parameter 42 – Fixed frequency 2 (3)
0 1 1 Parameter 43 – Fixed frequency 3 (3)
1 0 0 Parameter 44 – Fixed frequency 4 (3)
1 0 1 Parameter 45 – Fixed frequency 5 (3)
1 1 0 Parameter 46 – Fixed frequency 6 (3)
1 1 1 Parameter 23 – Maximum frequency
Table 8.3

(1) The frequency setpoint is determined by parameter 31 – Setpoint selection (frequency setpoint).
(2) The set value of fixed frequency 1 can be used as a jog frequency. For this purpose, the binary inputs R/J and PS3 must be activated,
parameter 98 (Selection function input Run/Jog) must be programmed for function “Jog mode selected” (setting x00) and LOCAL mode
must be activated with parameter 9B (setting x06). The motor operates at the set fixed frequency 1 in the corresponding direction for
as long as key FWD or REV is pressed.
(3) In the case of the fixed frequencies, parameters 41–46, only the setpoint which is not higher than the maximum frequency acts. In the
case of higher values, the maximum frequency is used.
(4) “0” means: the setting of the data code for parameters 99–9B is greater than 0 or active level is not applied to the input.
(5) “1” means: selection of a fixed frequency (data code “0” in parameters 99–9B) and input PS1–PS3 is assigned active level.

2A – Test mode SL / FO / SLV / EC

This parameter determines what motor-specific data must be determined automatically by

the inverter. This relates to parameters which are not specified on the motor rating plate.
Cables and motor are electrically live (risk of lethal injury) when Test mode is run. The motor
ATTENTION! turns in the case of certain test sequences.
Follow all commissioning steps before starting Test mode. It is particularly important that
correct motor data (parameter group 1) has been entered.

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Parameter Description Group 2 – Basic Data

After successful execution of the relevant measurement, parameters are computed whose
values can be determined from the measurement results, e.g. the current controller param-
eters from the measured resistances and inductances.
A setting for 101 for the sensorless inverter (application 0), 104 for SLV2 and 109 or 119
for the EC/FO variant are recommended in order to achieve as precise coordination as pos-
sible between motor and inverter. At this point, it is also possible to determined what test is
to be performed how frequently. For example, a test can be defined as “to be performed
successfully once”, i.e. the measurements are normally conducted only one single time
(with the first Start command). Thereafter, the parameter is reset automatically to the value
zero. However, if an error occurs during the test (i.e. measurement unsuccessful), the test
request remains pending for the next Start command. The factory default setting 101 starts
a non-recurrent measurement of the stator resistance after the first Start command. The fol-
lowing functions may be selected:

Notes Description
0 No parameter determination
1 Measurement of the stator resistance after the first start command following
power-on
2 Measurement of the stator resistance after every start command
(1)
3 Measurement of the stator resistance after the first start command following
power-on and after execution of each stop command
4 Measurement of the stator resistance and of the leakage inductance after
the first start command following power-on (mainly for SLV2 mode)
(2) (3)
5 Determination of the installation offset and the direction of rotation of the
position encoder after the first start command following power-on (only for
applications with rotational speed feedback)
(2) (3)
6 Measurement of the stator resistance and determination of the installation
offset and the direction of rotation of the position encoder after the first start
command following power-on
(2) (3)
9 Measurement of the stator resistance and of the leakage inductance, deter-
mination of the installation offset and of the direction of rotation of the posi-
tion encoder after the first start command following power-on
(2) (4)
10 Search for the Zero pulse when using an encoder in Master Slave
(4)
11 Same as 1, 4, 5, 6 and 9, but with a search for the Zero pulse when using
(4)
14 an encoder
(2) (3) (4)
15
(2) (3) (4)
16
(2) (3) (4)
19

Parameter Description 25.04.03

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 Group 2 – Basic Data Parameter Description

Notes Description
101 Like 1, 4, 5, 6, 9 (or 11, 14, 15, 16, 19) but as a singular performance, i.e.
104 that the parameter is automatically set to 0 after the selected test has been
(2) (3)
105 performed completely and without error message or warning.
106 (2) (3) After the next starting instruction and also after a software re-start (5), there
109 (2) (3) will be no further test run.
110 (2) (3)

111 (4) Starting the test run with a key combination:

114 (4) A Test mode can be started only in REMOTE-Mode and in the standard dis-
115 (3) (4) play 1 with keyboard short-cut SHIFT + ENTER (press SHIFT key first and
116 (3) (4) then key ENTER) and a set parameter value above 100 in the case of pa-
119 (3) (4) rameter 2A – Test mode. You are then prompted to indicate whether Test
mode is to be started, and this prompt can be confirmed by pressing key
FWD or aborted with STOP. If you abort the prompt, you will see a warning
message indicating that a measurement has not been conducted, the warn-
ing can be acknowledged with key PROG, SHIFT or ENTER. When Test
mode is started, you will see display “LOC Test”. The drive is de-energised
again and is stopped after completion of the measurements.

The following remark is valid no matter whether the tests have been
started through starting instruction or key combination:
In case of errors or the user interrupting the test, the entered value is pre-
served until the autotuning function has been performed completely or until
the user changes the value.

(1) As the stator resistance is measured after the Stop command is issued in test mode 3, the drive is not immediately de-energized after
ATTENTION! braking! The inverter output stages are blocked only at the end of the resistance measurement.
(2) The motor must be able to turn freely during this test run.
(3) If application 10, 11 or 12 is selected (EC motor), the resolver's mounting offset relative to the rotor zero displacement angle is meas-
ured. A DC voltage vector which pulls the rotor magnet wheel to its zero position is connected in this case. This angle offset is important
as regards commutation control of the output stages.
(4) The zero pulse is sought with the frequency entered under parameter D2 – Zero pulse search frequency.
(5) The inverter software is re-started when the inverter is switched on and when the software has been reset with the aid of parameter 2D
– Software reset.

◊ Value range: see Table Default: 101

A test run should always be conducted if
• the drive is being placed into operation for the first time.
• a parameter reset has been performed (parameter EA).
• a different motor is connected.
• the application is modified (parameter 2C).
• something has changed on the feedback system (new installation or exchange or instal-
lation of an encoder with a different number of lines or a different resolver etc.).
• a high rotational speed accuracy is required in application SLV2. Heating of the motor
will automatically result in a change in the winding resistances. This influences the drive
qualities. If the application allows, you should check whether Test mode 2 can be inte-
grated practically in the application (resistance measurement after each Start com-
mand).
The Autotuning function fulfils its purpose only if the selected test has been run through
HINT! once fully with no error message or warning. If an error message or warning is displayed
during the measurement, Test mode must be repeated by restarting the unit. If an error
message occurs again, the motor data in group 1 and correct cabling of the installation must
be checked. Difficulties may also arise if the nominal power values of inverter and motor
are far apart.
The measured and computed parameters are stored permanently. Therefore, one-time
measurements of the motor parameters, of the installation offset and of the angle sensor's
direction of rotation are adequate in most cases. However, these values should be deter-
mined again following changes in installation of the motor or encoder or the wiring.

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Parameter Description Group 2 – Basic Data

Solutions to the problem:

While carrying-out a test-run, none of the binary inputs R/J, PS1, PS 2, PS 3, may be driven.
The data established by Autotuning may differ from the optimum motor data if
• nominal motor and inverter power values differ greatly.
• the motor data in Group 1 do not agree with the actual data of the connected motor (e.g.
motor data for a star connection is input, but the motor is operated with a delta connec-
tion (or vice versa)).
• test operation does not take place at the PWM frequency (parameter 79) used subse-
quently.
• the nominal data of the inverter means that the inverter is not capable of providing the
current required for operation of the motor at the nominal working point or of providing
the nominal motor voltage (e.g. a motor with a nominal voltage of 600 V is operated con-
nected to the inverter in a 380 V power system).

Stator resistance measurement

The stator resistance is measured by application of a fixed voltage vector for several sec-
onds. In doing so, the motor is 0 Hz.
Newly computed parameters:
Parameter F3 – Stator resistance R1
Parameter F8 – Current controller gain
Parameter F9 – Specific current controller reset time

Leakage inductance measurement

The leakage inductance is measured by impressing an alternating field with the rated fre-
quency of the motor. In doing so, the motor is 0 Hz.
Newly computed parameters:
Parameter F4 – Rotor resistance R2
Parameter F5 – Leakage reactance Xσ
Parameter F7 – Main reactance Xh
Parameter F8 – Current controller gain
Parameter F9 – Specific current controller reset time

Determining the installation offset and the direction of rotation of the angle sensor

For operation with a encoder generator or angle sensor, the directions of rotation of the mo-
tor and angle sensor read in by the inverter must agree. The parameter BD – Angle sensor
direction of rotation serves to define this.
For the control of brushless servo motors, the rotor displacement angle of the motor must
be known to the inverter. To do this, the installation offset of the encoder (parameter BC) is
defined. This specifies the value measured by the angle sensor for the rotor displacement
angle 0°.
Both items of information are determined in one testing step. In doing so, the motor is ro-
tated by a total of 300°. The determined installation offset can be ignored if this testing step
is used to determine the direction of rotation of the angle sensor for an induction motor.
If an encoder is used as an angle or rotor displacement angle sensor, the encoder's Zero
pulse should be sought before determining the installation offset in order to arrive at a re-
producible value.
To carry out this testing step, the motor must be capable decoupled from the load. Discrep-
ancies may arise if this is not the case. In this case, the correct value must be determined
elsewhere and must be entered in the parameter BC – Angle sensor installation offset.
Newly computed parameters:

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 Group 2 – Basic Data Parameter Description

Parameter BD – Angle sensor direction of rotation

Parameter BC – Angle sensor installation offset

Zero pulse search when using an encoder as the angle sensor

When using an encoder as the rotor position sensor for a brushless servo motor or as a
general angle sensor for operation of the inverter in position control mode (e.g. electronic
gearbox), the Zero pulse can be used to reproducibly define an absolute starting position.
During the search, the motor is rotated at a programmable frequency (parameter D2 – Zero
pulse search frequency) until the evaluation electronics registers the Zero pulse. The po-
sition of the front edge of the Zero pulse is determined with the parameter D3 – Zero angle.
Newly computed parameters:
None.

Application Examples

Application: Inverter

Test mode 4, with which the motor parameters are measured, is used for start up. For fur-
ther operation, the parameter is set to 0 (no parameter determination) or 1 (measurement
of the stator resistance as a highly temperature-dependent value after every power-on).

Application: EC motor – speed control with resolver

Test mode 9, with which the motor parameters and the installation offset are determined, is
used for start up. The parameters of the current controller are calculated on the basis of the
measured motor parameters. For further operation, the parameter is set to 0 (no parameter
determination).

Application: EC motor – speed control with encoder

Test mode 19, with which the motor parameters and the installation offset are determined,
is used for start up. The parameters of the current controller are calculated on the basis of
the measured motor parameters. Before determination of the installation offset, the Zero
pulse of the encoder is sought in order to have an absolute Zero point. For further operation,
the parameter is set to 10 (Zero pulse search). This is necessary because the absolute Zero
point to which the stored installation offset refers must be sought again after every power-
on.

Application: FO (induction motor – electronic gearbox with encoder,

master setpoint specified through encoder)

Test mode 19, with which the motor parameters, the installation offset and the direction of
rotation of the encoder are determined, is used for start up. The parameters of the current
controller are calculated on the basis of the measured motor parameters. The installation
offset is irrelevant to the induction motor. As the encoder's direction of rotation is deter-
mined simultaneously, however, this function should be executed. Before determination of
the installation offset, the encoder's Zero pulse is sought in order to have an absolute Zero
point.
The setpoint for the “Electronic gearbox” function is specified through an encoder channel.
For this channel, the Zero pulse must also be sought in order to determine the Zero point
of the setpoint reference system. To do this, use the “Zero pulse search, master setpoint”
function, which is started by activating a binary input programmed to this function (param-
eters 98–9B). After activation, the master encoder must be rotated by at least one revolu-
tion so as to find the Zero point.

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Parameter Description Group 2 – Basic Data

For further operation, the parameter is set to 10 (Zero pulse search). This is necessary be-
cause the absolute Zero point to which the stored installation offset refers has to be sought
anew after every power-on. The same applies to the master setpoint Zero pulse. This also
has to be sought anew after every power-on.

Application: SLV2 (induction motor with sensorless control)

Test mode 4, with which the motor parameters are measured and on the basis of which the
controller parameters and other important variables for the SLV2 model are calculated, is
used for start up. For further operation, the parameter should be set to 0 (no parameter de-
termination), 1 (measurement of the stator resistance after every power-on) or 2 (measure-
ment of the stator resistance after every start command if the inverter is seldom isolated
from the line).

2B – Adjustment mode SL / FO / SLV / EC

This parameter must be used to adapt the incoming setpoint level to the control (if, for in-
stance, the incoming setpoint level cannot be set to 0.0 or 10.0 V by an offset or by the set-
point potentiometer, this parameter is used to adjust the minimum and maximum setpoint).
This parameter and the measurements conducted at this point run only once after a power-
on and make no changes to the present state of the inverter. If the parameter is set to a
value specified in the table and the inverter is then switched off and then back on again or
a Software Reset (parameter 2D) is performed, the display shows “SET MIN”. After correc-
tion of the minimum and maximum value, the inverter must be switched off and back on
again so that the changed values take effect. The parameter is automatically set to value 0
in this case.

0 Normal operation
1 Adjustment of analog setpoint input (minimum and maximum) 1)

◊ Value range: see Table Default: 0

NOTE:
1) The applied setpoint is shown on the display as a standardised value in the range
0.000–1.000. Switching between Minimum and Maximum adjustment can be done with
the PROG button.
Minimum adjustment (display: SET MIN): the applied analogue setpoint is set to the
minimum possible value and stored with key ENTER key (display: LIMIT SET). Switch
to maximum adjustment with key PROG.
Maximum adjustment: the applied analogue setpoint is set to the maximum possible
value and stored with key ENTER (display: LIMIT SET). The inverter must now be
switched off and back on again so as to accept the new settings.

2C – Application SL / FO / SLV / EC

You are prompted for this parameter once after power-on. A change in the parameter
makes no changes to the present state of the inverter. The parameter must be set to the
corresponding value and the unit must then be switched off and back on again or a Software
Reset (parameter 2D) must be performed in order to select a different application.
If, when the prompt for this parameter occurs, it is determined that the option board required
for this application is not fitted, error message 11 “Option” is displayed. This represents a
fatal error which can be remedied in two possible ways:
1. By switching off the unit, by installing the necessary option board and by connecting the
unit again.

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 Group 2 – Basic Data Parameter Description

2. Acknowledge the error message with key PROG, SHIFT or ENTER. Select an applica-
tion which does not require an option card. Switch the inverter off and back on again or
perform a Software Reset (parameter 2D).
The UD 7000 features three equivalent parameter sets. The parameter sets may contain
diverse applications. If, in the event of a parameter set change-over, the unit detects that
the new set contains a different application, the inverter is restarted directly after the set
change-over in order to adapt the inverter environment see “Note 1 – Changing the custom-
er parameter sets:”, Page 2-97.
The UD 7000 features a wide variety of special applications offering solutions to special
HINT! problems of drive engineering. Our Sales Division will be more than willing to inform you of
applications available for the UD 7000. Never activate an application for which you do not
have an application description. All functions described in this Manual apply only to the ap-
plications listed in this Manual.

VALUE APPLICATION REQUIRED OPTION

0 Inverter None
2 Brushless servo inverter running 1) None
10 EC motor – speed control Resolver or encoder evaluation
11 EC motor – torque control 2) Resolver or encoder evaluation
3)
12 EC motor – electronic gearbox Encoder evaluation
20 Induction motor – speed control Resolver or encoder evaluation
2)
21 Induction motor – torque control Resolver or encoder evaluation
22 Induction motor – electronic gearbox 3) Encoder evaluation
50 Induction motor – None
sensorless speed control SLV2 4)
51 Induction motor – None
sensorless torque control SLV2 2, 5)
52 Induction motor – None
sensorless SLV2 speed control II 6)
53 Induction motor – None
SLV2 in the field-attenuation range 6)
90 Velocity control 7) None

◊ Value range: see Table Default: 0

NOTES:
1) The following setpoint source must be programmed for the “Brushless servo inverter
running” application (parameter 31 “9 – LIM master setpoint”).
2) The setpoint is specified through the VIN or CIN terminals. The parameter 31 – Setpoint
selection (frequency setpoint) must be programmed accordingly. This mode serves
to implement applications in which purely torque-controlled operation is required (e.g.
tension controls).
The drive generates a specified torque independently of the speed, i.e. without load the
ATTENTION! motor accelerates up to the maximum frequency defined in parameter 23.
3) One of the following setpoint sources must be programmed (parameter 31) for the “Elec-
tronic gearbox” application:
“8 – Option encoder master setpoint channel 2” (the “Two-channel encoder evaluation”
option is required for this purpose) or
“9 – LIM master setpoint”.

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Parameter Description Group 2 – Basic Data

4) Sensorless speed control on the basis of the SLV2 method functions with standard mo-
tors within the frequency band 1 Hz through to twice the nominal motor frequency (pa-
rameter 12). The speed controller must be re-optimized if operating in the field-attenua-
tion range (frequencies above the break-point frequency (parameter 21)).
5) The sensorless torque control according to the SLV2 method functions reliably above
the slip frequency. To exclude problems in the range around 0 Hz, the minimum frequen-
cy (parameter 24) must be set to a value of around 3 Hz.
6) These applications are not described in further detail in this Manual. Special application
descriptions are available for these applications.
7) Any setpoint (parameter 31) with the exception of setting “7” or “9” may be selected for
application “Velocity control”. The control uses the LIM input which must be scaled using
parameter 36 – Pulse number of LIM input.

Applications

0 (Inverter)

FACTORY SETTING: the connected motor is controlled through a V/Hz ratio. Induction
motors (e.g. standard three-phase motors) can be connected.

2 (Brushless servo inverter running)

The following setpoint source must be programmed for the “Brushless servo inverter run-
ning” application: parameter 31 – Setpoint selection (frequency setpoint) = 9 (LIM mas-
ter setpoint).

10 (EC motor – speed control)

Speed-controlled operation of an EC machine (brushless servo motor). Commutation and

speed registering of the machine are realised by way of a resolver or incremental encoder
mounted on the motor shaft. The machine runs the specified speed regardless of the load.

11 (EC motor – torque control)

Torque-controlled operation of an EC machine. The machine is commutated by way of a

resolver or increment encoder mounted on the motor shaft. A rotational speed-controlled
deceleration is started when the Stop command is issued.
Dependent on the speed of rotation, the drive generates a given torque, i.e. the motor ac-
ATTENTION! celerates under no load under the maximum frequency defined in parameter 23.

12 (EC motor – electronic gearbox)

Angle-synchronous operation of the EC motor. The motor connected to the inverter follows
a two-phase reference signal angle-synchronously. The reference signal and the motor
feedback signal are connected to the resolver option card. Please refer to the description
of the resolver card for detailed information.
The illustration below shows a schematic representation of application “Electronic transmis-
sion”:

Parameter Description 25.04.03

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 Group 2 – Basic Data Parameter Description

S1
Resolver
tor
mo rive) S0
EC ve d
a E
(Sl

Motor
feedback

ith
0 w on
7 00 opti
r
UD olve
res
0
700
UD

Reference value sensor

(possibly with zero pulse)

Figure 8.1

The motor follows the incoming control pulses phase-synchronously. Prior to commission-
ing, please follow the explanations for parameter 2A – Test mode.
For Master-Slave mode using a resolver or encoder option card, it is important that the set-
point source 8 is selected. Please check the setting in parameter 31 – Setpoint selection
(frequency setpoint). The rotational speed ratio between reference sensor and Slave
drive is assigned on the basis of parameter 36 – Pulse number of LIM input. The assign-
ment of the direction of rotation is made with parameter 37 – Direction of rotation, master
setpoint.
There are two types of electronic transmission:
1. Angle-synchronous operation with any angle setting of the Slave and Master drive.
After the drive has been switched on and the Start command has been issued, the Slave
drive follows the Master drive starting from its current position. It is not necessary to
evaluate a zero pulse.
2. Angle-synchronous operation with fixed angular position between Slave and Master
drive.
After the drive has been switched on, the zero pulse of the reference sensor must be
sought before the Start command is issued (drive in STOP state). For this purpose, one
of the PS inputs or the Run/Jog input is programmed for function 9 or 109 (Zero pulse
search Master setpoint). If the function is selected, the reference sensor must be turned
beyond the zero pulse. As of this point, the angle assignment between Master and Slave
drive is always retained. This means that the zero pulses of Master and Slave drive co-
incide.
The angle between the zero pulses can be adjusted with parameter D3 – Zero angle.
Moreover, this angle may be varied via two PS inputs (PS1 and PS2, setting 13).

20 (Induction motor – speed control)

Speed-controlled operation of an induction machine. Field-oriented control and speed reg-

istering of the machine are realised by way of a resolver or an incremental encoder mount-
ed on the motor shaft. The machine runs the specified speed independently of the load.

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Parameter Description Group 2 – Basic Data

21 (Induction motor – torque control)

Torque-controlled operation of an induction machine. Field-oriented control of the machine

is realised by way of a resolver or an incremental encoder mounted on the motor shaft. A
rotational speed-controlled deceleration is started when the Stop command is issued if it
has not been deactivated in parameter 71.
Dependent on the speed of rotation, the drive generates a given torque, i.e. the motor ac-
ATTENTION! celerates under no load under the maximum frequency defined in parameter 23.

22 (Induction motor – electronic gearbox)

Angle-synchronous operation of the field-orientated-controlled asynchronous motor. The

motor connected to the inverter follows a two-phase reference signal angle-synchronously.
The reference signal and the motor feedback signal are connected to the encoder option
card. Please refer to the description of the encoder card for detailed information.
The illustration below shows a schematic representation of application “Electronic transmis-
sion”:

A
B
N
r
r de
oto co
En
i o n m ive)
t dr
uc
Ind Slave
(
Motor
feedback

h
wit n
00 tio
70 er op
UD cod
en
00
70
UD

Reference value sensor

(possibly with zero pulse)

Figure 8.2

The motor follows the incoming control pulses phase-synchronously. Prior to commission-
ing, please follow the explanations for parameter 2A – Test mode.
For Master-Slave mode using a resolver or encoder option card, it is important that the set-
point source 8 is selected. Please check the setting in parameter 31 – Setpoint selection
(frequency setpoint). The rotational speed ratio between reference sensor and Slave
drive is assigned on the basis of parameter 36 – Pulse number of LIM input. The assign-
ment of the direction of rotation is made with parameter 37 – Direction of rotation, master
setpoint.
There are two types of electronic transmission:
1. Angle-synchronous operation with any angle setting of the Slave and Master drive.
After the drive has been switched on and the Start command has been issued, the Slave
drive follows the Master drive starting from its current position. It is not necessary to
evaluate a zero pulse.

Parameter Description 25.04.03

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 Group 2 – Basic Data Parameter Description

2. Angle-synchronous operation with fixed angular position between Slave and Master
drive.
In the case of commissioning after connection of the line power supply and the Slave
drive, ensure that a test mode which includes an encoder zero pulse search is used. In
parameter 2A – Test mode, this corresponds to settings 10, 15, 16 and 19. When
searching for the zero pulse, the drive is rotated with the frequency entered in parameter
D2 – Zero pulse search frequency.
After the drive has been switched on, the zero pulse of the reference sensor must be
sought before the Start command is issued (drive in STOP state). For this purpose, one
of the PS inputs or the Run/Jog input is programmed for function 9 or 109 (Zero pulse
search Master setpoint). If the function is selected, the reference sensor must be turned
beyond the zero pulse. As of this point, the angle assignment between Master and Slave
drive is always retained. This means that the zero pulses of Master and Slave drive co-
incide.
The angle between two zero pulses (Master/Slave drive) can be adjusted using param-
eter D3 – Zero angle. Moreover, this angle may be varied via two PS inputs (PS1 and
PS2, setting 13).

50 (Induction motor – sensorless speed control SLV2)

Speed-controlled operation of an induction machine. Field-oriented control and speed reg-

istering of the machine are realised without sensors by way of the SLV2 motor model. The
machine runs the specified speed independently of the load.

51 (Induction motor – sensorless torque control SLV2)

Torque-controlled operation of an induction machine. Field-oriented control of the machine

is realised without sensors by way of the SLV2 motor model. A rotational speed-controlled
deceleration is started when the Stop command is issued.
Dependent on the speed of rotation, the drive generates a given torque, i.e. the motor ac-
ATTENTION! celerates under no load under the maximum frequency defined in parameter 23.

52 (Induction motor – sensorless SLV2 speed control II)

Rotational speed-control SLV2 mode as with application 50 but as “single-controller solu-

tion” (adjustment is performed via parameters F8 and F9 of the current controller). Good
drive characteristics in the range of very low rotational speeds and easy commissioning
(since only one controller needs to be set) are the advantages over application 50. The con-
troller structure is shown in Section 6.9.1, “Signal Flow Diagrams”.
This application is not described in greater detail in this Manual. Special application descrip-
tions are available for this application.

53 (Induction motor – SLV2 in the field-attenuation range)

Application 53 supplements the SLV2 variants with a solution for field-attenuation mode. If
frequencies up to above three times the nominal motor frequency are to be used, this ap-
plication offers advantages over application 50 owing to optimum utilisation of the voltage
in the field-attenuation range. This means that the drive can be accelerated through to the
field-attenuation range at the torque limit. As with application 52, this is a “single-controller
solution”.
This application is not described in greater detail in this Manual. Special application descrip-
tions are available for this application.

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Parameter Description Group 2 – Basic Data

90 (Velocity control)

This application implements simple rotational speed feedback. This means that a rotational
speed or velocity-proportional frequency signal is connected as the actual value to the in-
verter LIM input. Any setpoint (apart from the LIM setpoints) which can be selected via pa-
rameter 31 – Setpoint selection (frequency setpoint) can be processed as the setpoint.
In this application, the motor is operated in V/f-controlled mode (in accordance with appli-
cation 0: Inverter).
The controller structure is shown in the illustration below:

Figure 8.3

Firstly, you must enter the number of pulses arriving at the LIM input, in parameter 36 –
Pulse number of LIM input. Input frequencies up to maximum 100 kHz are processed.
If the actual frequency is unknown, it is frequently helpful to initially place the drive into op-
HINT! eration with parameter 2C – Application = 0, to preset a frequency setpoint and then meas-
ure the actual frequency. On the basis of these measured values, it is possible to make an
initial setting of parameter 35. Precise adjustment is then performed in controlled operation
(application = 90).
The controller:
The rotational speed setpoint is compared with the actual value at the summing junction.
Depending on the sign of the result, either the maximum frequency fmax or 0 Hz is preset
for the setpoint generator. The ramp-function generator now changes the rotational speed
until the frequency setpoint is equal to the actual frequency. The controller is optimized sim-
ply via the ramp dataset (acceleration and deceleration times in group 2). The times must
be changed until the drive operates free of oscillation. In general, the same value should be
entered for the acceleration and deceleration times.

2D – Software reset SL / FO / SLV / EC

Certain parameter settings (for example, activation of a different application with parameter
2C) require a software restart. This is achieved by switching the supply voltage off and back
on again or by programming this parameter to value 1. When this value is saved, the soft-
ware restarts once and the parameter once again has the value 0.

0 No action
1 Software is rebooted

Parameter Description 25.04.03

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 Group 3 – Setpoint Selection Parameter Description

NOTE:
Normally, all parameter changes are processed by the inverter immediately they are en-
tered. If a restart of the software is required in order for the change to take effect, this is
expressly stated in the parameter description.
◊ Value range: see Table Default: 0

8.3 Group 3 – Setpoint Selection

31 – Setpoint selection (frequency setpoint) SL / FO / SLV / EC – SC

A number of possibilities is available for specifying the rotation frequency. Adapt to the ex-
isting signal source by means of this parameter.

0 VIN 0–10 V or CIN 0–20 mA (variant 1) 1)

1 VIN ±10 V or CIN ±20 mA
2 VIN 2–10 V or CIN 4–20 mA 7)
3 VIN 0–10 V or CIN 0–20 mA (variant 2) 1)
4 Reserved N/A
5 Reserved N/A
6 Keypad. Setpoint is entered via the keypad, FWD, REV and STOP control via the
terminals. If the STOP key is pressed, error 0 (Emergency-Stop) is triggered by de-
fault 8)
7 LIM frequency input 100 kHz.
Scaling with parameter 35 – Calibration digital LIM input with factor DLIM 9)
8 Master-Slave mode (setting 12 and 22 in parameter 2C – Application). This appli-
cation is possible only in combination with the resolver or encoder option cards
9 f LIM
LIM master setpoint ----------- ; ZLIM = parameter 36 9)
Z LIM

10 Reserved N/A
11 External frequency setpoint 1 (parameter 3A)
12 External frequency setpoint 2 (parameter 3B)
13 Fixed frequency 1 (parameter 41) 2) 3) 6)
14 Fixed frequency 2 (parameter 42) 2) 6)
15 Fixed frequency 3 (parameter 43) 2) 6)
16 Fixed frequency 4 (parameter 44) 2) 6)
17 Fixed frequency 5 (parameter 45) 2) 6)
18 Fixed frequency 6 (parameter 46) 2) 6)
19 Maximum frequency (parameter 23)
20 f LIM
LIM master setpoint ----------- × K ; ZLIM = parameter 36
Z LIM
The frequency setpoint measured at the LIM input is also weighted with factor K
which is dependent on the voltage at the analogue input Vin and on parameter 34
4) 9)

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Parameter Description Group 3 – Setpoint Selection

21 f LIM
LIM master setpoint ----------- × K ; ZLIM = parameter 36
Z LIM
The frequency setpoint measured at the LIM input is also weighted with factor K
which is dependent on the voltage at the analogue input Vin and on parameter 34
5) 9)

◊ Value range: see Table Default: 0

NOTES:
1) The parameter 24 – Minimum frequency can be evaluated in two different ways:
Variant 1:
In the event of an increase in the setpoint value, the derived frequency setpoint also in-
creases linearly. Interpolation is performed between parameter 24 – Minimum frequen-
cy and 23 – Maximum frequency.
Variant 2:
The minimum frequency must be exceeded before the inverter recognizes the setpoint
increase. Interpolation is performed between 0.0 Hz and parameter 23 – Maximum fre-
quency.

Variant 1 Variant 2

It is possible to choose between the variants in the case of an analog setpoint input of
0–10 V or 0–20 mA. Only variant 2 is possible for all other setpoint sources. Both vari-
ants are equivalent if parameter 24 – Minimum frequency is programmed to the value
0.0 Hz.
2) Fixed frequencies 1–6 (frequency setpoint for selection via the binary inputs). The binary
inputs required (PS1/PS2/PS3) must be programmed for function “Selection of a fixed
frequency” (setting x00) with parameters 99, 9A and 9B and the selected control mode
(parameter 29) must use the setpoint from the terminals in the current operating mode
(LOCAL/REMOTE).
Apart from direct selection of a fixed frequency as a setpoint with values 13 to 18, it is
also possible to determine the fixed frequencies (regardless of the value of parameter
31) and the setpoint with the aid of the binary inputs. Please refer to the description of
the fixed frequencies (parameters 41 to 46) for details of this.
3) Fixed frequency 1 (parameter 41) is used as a jog frequency if the terminal input R/J has
been programmed for function “Jog mode selected” (setting x00) with parameter 98 and
the binary terminal input PS3 has been set to setting x06 (activation LOCAL mode) with
parameter 9B – PS3 input function selection. Both binary inputs must be activated
(High resp. Low signal). This switches over to LOCAL mode. Pressing key FWD or REV
key on the keypad causes the motor to operate with the fixed frequency determined by
parameter 41 for as long as the keys are pressed (acceleration and deceleration on the
basis of the set ramps). The STOP key has no function.

Parameter Description 25.04.03

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 Group 3 – Setpoint Selection Parameter Description

4) The frequency setpoint measured at the LIM input is weighted with factor K. Factor K is
as follows in the following cases:
VIN = 0 Volt ⇒ K = (100% minus parameter 34)
VIN = 5 Volt ⇒ K = 100%
VIN = 10 Volt ⇒ K = (100% plus parameter 34)
5) The frequency setpoint measured at the LIM input is weighted with factor K. Factor K is
as follows in the following cases:
VIN = 0 Volt ⇒ K = (100% plus parameter 34)
VIN = 5 Volt ⇒ K = 100%
VIN = 10 Volt ⇒ K = (100% minus parameter 34)
6) In the case of the fixed frequencies, parameters 41–46, only the setpoint which is not
higher than the maximum frequency acts. In the case of higher values, the maximum
frequency is used.
7) If the lower value is undershot, warning 27 “Set disconn” is displayed.
8) This selection offers the option of also entering the setpoint via the keypad in REMOTE
mode. The Start/Stop commands are supplied by the terminals (binary inputs FWD and
REV) or by the serial port. Key STOP is configured by default as EMERGENCY-STOP
in Remote mode (see parameter 71).
9) Input levels:
Low → Voltage at LIM input less than 5 VDC.
High → Voltage at LIM input greater than 5 VDC.
Maximum permitted voltage = 30 VDC.
Maximum frequency = 100 kHz.
The illustration below clearly shows the procedure when setting parameter 31:

25.04.03 Parameter Description

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Parameter Description Group 3 – Setpoint Selection

Figure 8.4

Parameter Description 25.04.03

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 Group 3 – Setpoint Selection Parameter Description

32 – Function of the LIM input SL / FO / SLV / EC – SC

By default, the control input LIM serves to set a torque limit (setting 1). It can also be pro-
grammed as an input for a digital frequency setpoint or as a setpoint compensation input.

0 Frequency setpoint compensation by additive compensation value. LIM input is con-

figured as analogue output 0–10 V (with the zero point at 5 V). 1)
1 0–10 V torque limit (10 V = parameter 55). 2)
2 Frequency setpoint compensation by multiplicative compensation value. LIM input
is configured as analogue output 0–10 V, with the zero point at 0 V. 3)
3 Digital frequency setpoint (is set automatically if selection parameter 31 = 7, 9, 10,
20, 21).
4 Frequency setpoint compensation by additive compensation value. LIM input is con-
figured as analogue output 0–10 V (with the zero point at 0 V). 4)
5 Reserved (is set automatically by special applications).

◊ Value range: see Table Default: 1

NOTES:
1) Frequency setpoint compensation by additive compensation value. The LIM input is
configured as analogue input 0–10 V (with the zero point at 5 V). Adjustment is per-
formed with parameter 34 – Scaling factor ALIM for analogue LIM input:

2 × V LIM
f add = F max × A LIM ×  --------------------- – 1
 10 V 

This allows positive and negative setpoint compensations to be implemented:

There is a compensation value for VLIM = 0 V f add = – F max × A LIM ;

by contrast, 10 V input voltage at input LIM (VLIM = 10 V) results in the positive maximum
compensation value +F max × A LIM .

NOTE: explanation of symbols in Table 8.4.

2) The voltage VLIM (0 to 10 V) applied to analogue input LIM is used to preset the torque
limit mlimit in percent of the nominal motor torque. Scaling is performed by parameter 55
– Torque factor LIM input. If a voltage of 10 V is applied to the LIM input, the torque
limit mlimit corresponds to the torque factor MF (parameter 55).

V LIM
m limit = MF × ------------
10 V
3) Frequency setpoint compensation by multiplicative compensation value. LIM input is
configured as analogue input 0–10 V with zero point at 0 V.
The voltage VLIM (0–10 V) applied to the analogue input LIM is used to preset parameter
33 – Frequency factor (this parameter defines a factor in percent by which any frequen-
cy setpoint is multiplied). Parameters 38 – Low frequency factor limit (GU in [%]) and
39 – High frequency factor limit (GO in [%]) are included in the calculation. The result-
ant frequency factor is calculated as follows:

V LIM × ( G O – G U )
- + GU
Frequency factor [%] = ---------------------------------------------
10 V
The current frequency factor can be read under parameter E3. If this function is pro-
grammed, the frequency factor cannot be changed manually via parameter 33 – Fre-
quency factor.

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Parameter Description Group 3 – Setpoint Selection

4) Frequency setpoint compensation by additive compensation value. LIM input is config-

ured as analogue input 0–10 V (with the zero point at 0 V):

V LIM
f add = F max × A LIM × ------------
10 V
This allows only positive setpoint compensations (frequency setpoint increases) to be
implemented:
A compensation value fadd = 0 Hz results for VLIM = 0 V; by contrast, VLIM = 10 V pro-
vides the maximum compensation value fadd = +Fmax × ALIM.

Symbol Significance/gated parameter

fadd Additive compensation value for the frequency setpoint
Fmax Maximum frequency (parameter 23)
ALIM Scaling factor for analogue LIM input (parameter 34)
VLIM The voltage applied to analogue input LIM in V
Table 8.4

33 – Frequency factor SL / FO / SLV / EC – OE

Frequency setpoint compensation by multiplicative compensation value. This parameter

defines a factor in percent by which any frequency setpoint is multiplied.
The function is required, amongst other things, if several inverters with the same frequency
reference value are to operate at differing speeds of rotation. If an additive setpoint is se-
lected via parameter 32 – Function of the LIM input, the sum of the two setpoints is influ-
enced via this parameter.
The frequency factor can be set in three different ways:
1. Direct entry by keypad via this parameter (this is the simplest method of setting fixed ro-
tational speed ratios between the drives of a group).
2. The frequency factor can also be preset via the LIM input. For this purpose, parameter
32 must be programmed for function “Frequency setpoint compensation by multiplica-
tive compensation value”. In this case, the frequency factor can no longer be changed
by this parameter and neither can it be changed with the aid of inputs PS1 and PS2.
3. Moreover, the change in the frequency factor can be made with the aid of inputs PS1
and PS2 if they are programmed for one of the functions “Incrementing resp. decrement-
ing the frequency factor” (parameters 99, 9A).
NOTE: the frequency factor can be changed only within the input limits stipulated by pa-
rameters 38 – Low frequency factor limit and 39 – High frequency factor limit in the
case of all three variants (keypad input, preset via PS inputs or setting via LIM input). If the
current selection of parameter 33 is no longer within the changed limits after the change to
parameters 38 and 39, the frequency factor is immediately adapted to the new limits. Pa-
rameter 33 cannot be set higher than parameter 39.
The frequency factor can also be read in the read-only parameter E3. This provides the op-
tion of transferring the frequency factor to the standard display 2 or outputting it at one of
the two analogue outputs.
◊ Value range: 0.00–150.00% Default: 100.00%

Parameter Description 25.04.03

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 Group 3 – Setpoint Selection Parameter Description

34 – Scaling factor ALIM for analogue LIM input SL / FO / SLV / EC – OE

Scaling of the LIM input if use of the LIM input as an analogue input has been defined, i.e.
if either
1) function “Frequency setpoint compensation by additive compensation value” (setting 0
or 4) has been selected in parameter 32.
The parameter defines the percentage value of the maximum frequency to which 10 V
at the LIM input corresponds. Please refer to the notes 1) and 4) for parameter 32 for
the precise formulae. This function is helpful in the case of very simple jockey arm con-
trols for instance so as to set the control influence of jockey arm deflection.
or
2) the setpoint sources 20 or 21 “LIM Master setpoint f × n” have been selected in param-
eter 31.
Please refer to the notes 4) and 5) for parameter 31 for the precise formulae.
◊ Value range: 0.0–150.0% Default: 10.0%

35 – Calibration digital LIM input with factor DLIM SL / FO / SLV / EC

Scaling of the digital frequency setpoint input. The parameter defines the ratio of inverter
frequency setpoint to frequency at the LIM input in Hz/kHz. Input frequencies up to max.
100 kHz are processed. The inverter frequency setpoint is calculated as follows:

fInverter = fLIM × DLIM where fInverter - inverter output frequency in Hz

fLIM - frequency setpoint at the LIM input in kHz
DLIM - factor digital frequency input in Hz/kHz

The parameter takes effect only when programming parameter 31 – Setpoint selection
(frequency setpoint) for function LIM frequency input (selection parameter 31 = 7).
EXAMPLE:
kLIM = 2.0 Hz/kHz → fLIM = 50 kHz → fInverter = 100 Hz.
◊ Value range: 0.1–1000.0 Hz/kHz Default: 2.0 Hz/kHz

36 – Pulse number of LIM input SL / FO / SLV / EC

See also the notes under “(1)” in order to facilitate understanding.
1) Master-Slave mode via LIM input (1)
Scaling of the frequency at the digital LIM input if used as Master setpoint input (param-
eter 31 = 9).
The parameter indicates the number of pulses arriving at the input per revolution. Input
frequencies up to maximum 100 kHz are processed. The inverter frequency setpoint is
calculated as follows:

f LIM where fInverter - inverter output frequency in Hz

f Inverter = ----------- fLIM - frequency setpoint at the LIM input in kHz
Z LIM
ZLIM - number of the pulses per revolution

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Parameter Description Group 3 – Setpoint Selection

EXAMPLE:
The Master (Master driver) outputs ten times the current output frequency at output ST4
(parameter 95 = 115). The Slave (Slave drive) should receive the same frequency as the
setpoint. For this purpose, the LIM input (parameter 32 = 3) with the setpoint source “LIM
Master setpoint” (parameter 31 = 9) is used and the number of pulses per revolution is set
to 10 in parameter 36 (ZLIM).

The output fre- 245 Hz is output at 254 Hz is meas- The frequency set-
quency of the Mas- the ST4 output of ured at the LIM in- point of the Salve
⇒ ⇒ ⇒
ter is 25.4 Hz and the Master drive. put of the Slave, drive is 25.4 Hz.
parameter 3E = 10. ZLIM = 10.

2) Master-Slave mode via Channel 2 of the encoder option card (1)

If using the option card with two-channel encoder evaluation, this parameter is interpret-
ed as the number of lines of the Master encoder if parameter 31 – Setpoint selection
(frequency setpoint) has been set to value 8.
3) Using the setpoint source “LIM frequency input 100 kHz” (parameter 31 = 7) (1)
Parameter 36 (ZLIM) is determined automatically by the program (possible values are 10
and 100) and cannot be changed in this case.
NOTES:
(1) Certain ratios (i) can be programmed with the aid of ZLIM by entering the product of z × i
instead of the actual number of lines (z) of the Master at this point in parameter 36 for
ZLIM;

f Master
where i = ---------------
-
f Slave

owing to the value range of ZLIM (only integers in the range 1–16384) however, only spe-
cific rotational speed ratios can be implemented in this way. “Non-linear rotational speed
ratios” must be programmed with the aid of parameter 33 – Frequency factor.
EXAMPLE:
For the example described above, let us program ZLIM so that the Slave drive turns only
half as fast as the Master, i.e. the following applies:

f Master f Master
- or i = ---------------- = 2 .
f Slave = ---------------
2 f Slave

This means ZLIM = z × i = 10 × 2 = 20 for parameter 36.

The output fre- 254 Hz is output at 254 Hz is meas- The frequency set-
quency of the Mas- output ST4 of the ured at the LIM in- point of the Slave
⇒ ⇒ ⇒
ter is 25.4 Hz, pa- Master drive. put of the Slave, drive is 12.7 Hz.
rameter 3E = 10. ZLIM = 20.

◊ Value range: 1–16384 Default: 6

The illustration below clearly shows the Master-Slave modes:

Parameter Description 25.04.03

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 Group 3 – Setpoint Selection Parameter Description

Figure 8.5

37 – Direction of rotation, master setpoint SL / FO / SLV / EC

The setpoint can be inverted through parameter 37 when “8” is selected as the setpoint
source in parameter 31.

0 Motor rotates in the same direction as the master

1 Motor rotates in the opposite direction to the master

◊ Value range: see Table Default: 0

38 – Low frequency factor limit SL / FO / SLV / EC

The range in which parameter 33 – Frequency factor can be varied can be restricted with
parameters 38 and 39.
The frequency factor can be varied using three different methods (keypad input, preset via
PS inputs or setting via LIM input) but only within the input limits stipulated by parameter 38
– Low frequency factor limit and 39 – High frequency factor limit in the case of all three
variants.
If the present value of parameter 33 is no longer within the changed limits after changing
parameters 38 and 39, the frequency factor is adapted immediately to the new limits.
If the frequency factor is preset via the LIM input (parameter 32, setting 2), the voltage
range 0–10 V is mapped in linear fashion onto parameters 38 and 39, i.e. the frequency
factor corresponds to the value of parameter 38 – Low frequency factor limit with 0 V at
the LIM input and the frequency factor is identical to the value entered for the frequency
factor in parameter 39 – High frequency factor limit with 10 V input voltage.
Overlap of the limits is not permitted by the unit so that the lower limit is always lower than
the upper limit.
◊ Value range: 0.00–149.99% Default: 0.00%

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Parameter Description Group 3 – Setpoint Selection

39 – High frequency factor limit SL / FO / SLV / EC

See parameter 38.
◊ Value range: 0.01–150.00% Default: 105.00%

3A – External frequency setpoint 1 SL / FO / SLV / EC – OE / SC

Frequency setpoints for setting through the serial interface. The selection is made in pa-
rameter 31 – Setpoint selection (frequency setpoint).
◊ Value range: –325.00–325.00 Hz Default: 0.00 Hz

3B – External frequency setpoint 2 SL / FO / SLV / EC – OE / SC

Frequency setpoints for setting through the serial interface. The selection is made in pa-
rameter 31 – Setpoint selection (frequency setpoint).
◊ Value range: –325.00–325.00 Hz Default: 80.00 Hz

3C – Filtering time constant VIN/CIN input SL / FO / SLV / EC – OE

This parameter allows you to adapt the filtering time constant of the analog input VIN/CIN.
The shorter the chosen time is, the faster the inverter reacts to setpoint changes.
The value is represented exponentially in the form 2x ms.
◊ Value range: 0–10 Default: 4 (corresponds to 24 ms = 16 ms)

3D – Filtering time constant LIM input SL / FO / SLV / EC – OE

The filtering time constant of the input VIN can be adapted by means of this parameter. The
shorter the chosen time is, the faster the inverter reacts to changes. The time constant is
used for analog as well as for digital signals.
The value is represented exponentially in the form 2x ms.
◊ Value range: 0–10 Default: 4 (corresponds to 24 ms = 16 ms)

3E – Pulse number ST4-output SL / FO / SLV / EC – OE

Scaling of the frequency output ST4. The parameter takes effect if programming parameter
95 – Output ST4 function selection (setting 16, “Frequency output frequency setpoint ×
n”) (fout = fMotor × kPulse).
The parameter defines the number of pulses to be issued at the output per electrical revo-
lution (corresponds to the stator frequency). Output frequencies up to fPwm/2 (cf. also pa-
rameter 79 – PWM frequency) are output. A jitter-free signal can be obtained up to an out-
put frequency of fPwm/4. Above this, only the mean value of the highlighted frequency cor-
responds to the anticipated frequency value. The illustration shows these two signal wave-
forms.

V Jitter-free signal
24 V

T 6∗T t

V Signal characterised by jitter

24 V

6∗T t
Figure 8.6

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 Group 4 – Frequencies Parameter Description

It can be seen that, after time 6 × T, the number of oscillations is the same but the flanks of
the individual pulses are not equally spaced in the case of the signal characterised by jitter.
The number of pulses, measured over a longer period, is identical in the case of both signal
traces.
The mark-to-space ratio in the case of the jitter-free signal is always 50:50.
HINT!

◊ Value range: 1–100 Default: 10

3F – Frequency setpoint on the basis of ramp (read-only) SL / FO / SLV / EC

Display of the frequency setpoint at the output of the up or down ramp. The frequency set-
point shown on the standard display 1 is processed directly by the inverter only if the ramp
function (parameter 72 = 3) is deactivated. Otherwise, the parameterised acceleration resp.
deceleration times (see parameter 25 to 28) are complied with.

Figure 8.7

◊ Resolution: 0.1 Hz

8.4 Group 4 – Frequencies

Frequency setpoints for selection via the binary inputs (PS1–PS3; parameters 99, 9A and
9B). The required binary inputs must be programmed for function “Selection of a fixed fre-
quency” (setting x00) and the selected control mode (parameter 29) must use the setpoint
from the terminals in the current operating mode (LOCAL/REMOTE). Each fixed frequency
can also be stipulated directly (i.e. regardless of the state of the binary inputs) as a frequen-
cy setpoint with the aid of parameter 31.
The set value of fixed frequency 1 can also be used as a jog frequency. For this purpose,
the binary inputs R/J and PS3 must be activated, parameter 98 – Run/Jog input function
selection must be programmed for function “Selection Jog mode” (setting x00) and LOCAL
mode must be activated with parameter 9B (setting x06). For as long as key FWD or REV
is now pressed, the motor operates at the set fixed frequency 1 in the corresponding direc-
tion.

41 – Fixed frequency 1 SL / FO / SLV / EC – OE

42 – Fixed frequency 2 SL / FO / SLV / EC – OE

43 – Fixed frequency 3 SL / FO / SLV / EC – OE

44 – Fixed frequency 4 SL / FO / SLV / EC – OE

45 – Fixed frequency 5 SL / FO / SLV / EC – OE

46 – Fixed frequency 6 SL / FO / SLV / EC – OE

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Parameter Description Group 4 – Frequencies

The frequency setpoint can also be determined by programming and wiring the inputs PS1,
PS2 and PS3 with parameters 99 to 9B apart from using parameter 31 – Setpoint selec-
tion (frequency setpoint). With valences PS1 – 20, PS2 – 21, PS3 – 22, inputs PS1–PS3
form a numerical value which is used as the selection parameter for the terminal setpoint.
The corresponding bit is set equal to 1 if the input is programmed for function x00 “Selection
of a fixed frequency” with the relevant parameter 99 to 9B “Selection function input PS1/
PS2/PS3” and the input has been activated. If one of the two conditions is not met, the bit
is set equal to zero. The following setpoint sources (see Table 8.5) are assigned to the pos-
sible values of the selection parameter thus generated. If all three bits are equal to zero,
only parameter 31 – Setpoint selection (frequency setpoint) determines the setpoint
source.

PS3 PS2 PS1 Frequency setpoint defined by:

0 0 0 Parameter 31 – Setpoint selection (frequency setpoint) (1)
0 0 1 Parameter 41 – Fixed frequency 1 (2) (3)
0 (4) 1 (5) 0 Parameter 42 – Fixed frequency 2 (3)
0 1 1 Parameter 43 – Fixed frequency 3 (3)
1 0 0 Parameter 44 – Fixed frequency 4 (3)
1 0 1 Parameter 45 – Fixed frequency 5 (3)
1 1 0 Parameter 46 – Fixed frequency 6 (3)
1 1 1 Parameter 23 – Maximum frequency
Table 8.5

(1) The frequency setpoint is determined by parameter 31 – Setpoint selection (frequency setpoint).
(2) The set value of fixed frequency 1 can be used as a jog frequency. For this purpose, the binary inputs R/J and PS3 must be activated,
parameter 98 (Selection function input Run/Jog) must be programmed for function “Jog mode selected” (setting x00) and LOCAL mode
must be activated with parameter 9B (setting x06). The motor operates at the set fixed frequency 1 in the corresponding direction for
as long as key FWD or REV is pressed.
(3) In the case of the fixed frequencies, parameters 41–46, only the setpoint which is not higher than the maximum frequency acts. In the
case of higher values, the maximum frequency is used.
(4) “0” means: the setting of the data code for parameters 99–9B is greater than 0 or active level is not applied to the input.
(5) “1” means: selection of a fixed frequency (data code “0” in parameters 99–9B) and input PS1–PS3 is assigned active level.

Depending on the parameter setting, the individual fixed frequencies also have the follow-
ATTENTION! ing further meanings:
1. Fixed frequency 1 is also used as a jog frequency (see Table 8.5).
2. Fixed frequencies 4, 5 and 6 are used to stipulate the V/f characteristic if parameter 62
– V/Hz characteristic selection is programmed for “Specification of a fixed V/Hz char-
acteristic” (setting 2).
3. Certain fixed frequencies have functions for the alarm outputs (binary outputs and relay
outputs).

Factory default setting

Fixed Fixed Fixed Fixed Fixed Fixed
frequency 1 frequency 2 frequency 3 frequency 4 frequency 5 frequency 6
5.0 Hz 20.0 Hz 40.0 Hz 60.0 Hz 0.0 Hz 0.0 Hz

◊ Value range: 0.0–875.0 Hz

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 Group 5 – Torque Parameter Description

47 – Hysteresis band for blocking frequencies SL / FO / SLV / EC – OE

This parameter defines the width of the frequency bands whose frequencies are defined by
the parameters 48, 49, 4A and 4B. The respective blocking frequency band is not active
when the value of one of these parameters is Zero. No stationary operating point can be
moved to within an active blocking frequency band.
The defined frequency bands apply to both directions of rotation. Pay attention to the fact
HINT! that the frequency bands must not overlap. Sorting is not necessary.

Figure 8.8

◊ Value range: 0.0–100.0 Hz Default: 1.0 Hz

48 – Blocking frequency 1 SL / FO / SLV / EC – OE

49 – Blocking frequency 2 SL / FO / SLV / EC – OE

4A – Blocking frequency 3 SL / FO / SLV / EC – OE

4B – Blocking frequency 4 SL / FO / SLV / EC – OE

See further explanations under parameter 47 – Hysteresis band for blocking frequen-
cies.
◊ Value range: 0.0–875.0 Hz Default: 0.0 Hz

8.5 Group 5 – Torque

51 – Torque limit selection, right rotation, motor operation SL / FO / SLV / EC – OE

52 – Torque limit selection, left rotation, motor operation SL / FO / SLV / EC – OE

53 – Torque limit selection, right rotation, generator operation SL / FO / SLV / EC – OE

54 – Torque limit selection, left rotation, generator operation SL / FO / SLV / EC – OE

Parameters 51–54 define the control source from which the torque limit for the individual
quadrants can be set.

0 1.5 Mrated
1 LIM input (10 V = parameter 55) *)

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Parameter Description Group 5 – Torque

2 The torque limit is defined by means of the following parameters:

• Torque limit (parameter 51) through parameter 58.
• Torque limit (parameter 52) through parameter 59.
• Torque limit (parameter 53) through parameter 5A.
• Torque limit (parameter 54) through parameter 5B.
3 External torque limit parameter 5C (torque limit editable through SIO and device
keypad (display))

*) The prerequisite for deriving the torque limit from the LIM input is that the parameter 32
must be set to “Torque limit”. If this is not the case, the value of the torque factor (pa-
rameter 55) is used as the torque limit (the voltage at the LIM input is assumed to be
10 V).
◊ Value range: see Table Default: 0

55 – Torque factor LIM input SL / FO / SLV / EC – OE

Scaling of the LIM input if “0–10 V torque limit” is selected as the function for the LIM input
(parameter 32). This parameter defines the percentage with regard to the rated motor
torque to which 10 V at the LIM input corresponds.
EXAMPLE:
Setting = 50%: a voltage of 10 V is applied at the LIM input. Then, the torque limit is 50%
of the rated motor torque.
◊ Value range: 0.0–400.0% Default: 100.0%

56 – Additional acceleration torque SL / FO / SLV / EC – OE

57 – Additional deceleration torque SL / FO / SLV / EC – OE

In acceleration or deceleration events, these torques are provided in addition to the torque
limit defined through the selection parameters and the limits. These values essentially cor-
respond to the torques that are needed for acceleration or deceleration of the rotating
masses.
◊ Value range: –500.0–500.0% Default: 0.0%

58 – Torque limit, right rotation, motor operation SL / FO / SLV / EC – OE

59 – Torque limit, left rotation, motor operation SL / FO / SLV / EC – OE

5A – Torque limit, right rotation, generator operation SL / FO / SLV / EC – OE

5B – Torque limit, left rotation, generator operation SL / FO / SLV / EC – OE

Torque limit for the quadrant when the respective parameter is selected as the source in
the affiliated selection parameter (parameters 51–54).
NOTE: these parameters are displayed only if parameters 51 to 54 have been set to 2.
◊ Value range: 0.0–400.0% Default: 100.0%

5C – External torque limit SL / FO / SLV / EC – OE / SC

Torque limit when the external torque limit is selected as the source for the respective quad-
rant in the affiliated selection parameter (parameters 51–54).
This allows a uniform torque limit to be preset for all four quadrants (motor/generator/clock-
wise/anti-clockwise) either via the keypad or via the serial port.
◊ Value range: 0.0–400.0% Default: 100.0%

Parameter Description 25.04.03

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 Group 5 – Torque Parameter Description

5D – Starting torque SL – OE
The value of this parameter with respect to the rated motor frequency is expected by the
inverter as the load torque in the starting command. It is necessary to specify this parameter
whenever a fast reaction to an applied load torque is to take place after the starting com-
mand in sensorless mode. If field build-up time (parameter 6D) is activated, the starting
torque is inoperable and parameter 5D is masked.
NOTE: this parameter is not relevant to operation with speed control and SLV2.
◊ Value range: 0.0–200.0% Default: 130.0%

5E – Torque setpoint factor SL / FO / SLV / EC – OE

Scaling of the VIN or CIN input when “Torque control” is programmed as the application (pa-
rameter 2C). The parameter defines the percentage with regard to the rated motor torque
to which +10 V at the input corresponds. A setpoint of -kT...+kT (kT – torque setpoint factor)
can be set when VIN or CIN is programmed to specification of a bipolar setpoint (parameter
31 – Setpoint selection (frequency setpoint)).
NOTE: this parameter is visible only in the case of application settings (parameter 2C) with
closed-loop torque control.
◊ Value range: 0.0–150.0% Default: 100.0%

5F – Gain (VRm), acceleration control (ramp), torque SL – OE

Acceleration control is used to adapt the set acceleration ramp to the current load condi-
tions. This control mode is used in applications which must be operated with as short a
ramp as possible, e.g. with differing load conditions (one typical example is that of an ex-
truder).
Proceed as follows when setting:
1. Set the minimum time for the acceleration and deceleration time at the minimum load.
At this setting, the inverter should not yet reach its current or torque limits.
2. Then operate at maximum load and vary the gain VRm until oscillation-free acceleration/
deceleration is achieved.
After connecting the load, optimise factor VRm so that the inverter responds fast enough
to the load change without tending to oscillate.
The diagram below shows an example of an operating cycle with differing load conditions.

fMotor
Minimal
load
Maximal
load

a max

t
Figure 8.9
Load-dependent operating profiles

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Parameter Description Group 6 – V/Hz Characteristic

The new ramp can be calculated on the basis of the following formula as a function of the
current torque:

M Limit – M
a = a max × V Rm × --------------------------
M Limit

mLimit = the torque limit defined by parameter 51 to 54 in the current quadrant.

A numeric example:
amax = 10 Hz/sec.
MLimit = 150%; torque limit set via parameters 51–54.
M = current torque, e.g. 100%.
VRm = parameter 5F: e.g. 2.
This achieves a resultant ramp of:
a = 10 Hz/sec × 2 × 0.5 = 10 Hz/sec
This means that, at this setting, there is still no ramp change at nominal torque. By contrast,
at 150%, the ramp would be changed by a factor of “0” (the ramp is stopped).
The acceleration “a” (acceleration/deceleration time) may consequently lie between values
0 and amax.
Acceleration control can be deactivated and activated with parameter FC – Ramp acceler-
ation control (torque).
NOTE: this parameter has no significance when operating with speed control and SLV2.
◊ Value range: 0.0–500.0% Default: 200.0%

8.6 Group 6 – V/Hz Characteristic

61 – Autoboost SL – OE

This parameter switches the Autoboost function off/on.

0 Off
1 On

The “Autoboost” function produces constant excitation of the motor independently of the
load. The affect on the V/Hz characteristic is shown below:

V/Hz characteristic with Autoboost V/Hz characteristic without Autoboost

Parameter Description 25.04.03

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 Group 6 – V/Hz Characteristic Parameter Description

The inverter computes the characteristic on the basis of the parameters in the “Motor data”
group and the stator resistance (parameter F3). The amount of the voltage at low frequen-
cies can be additionally influenced by the parameter 22 – Boost. A 100% value of the
“Boost” parameter corresponds to the characteristic determined by the inverter.
Setting excessive values may result in swift heating up of the motor at low speeds.
ATTENTION!
NOTE: this parameter is irrelevant during operation with speed control. It is not visible in
SLV2 applications.
◊ Value range: see Table Default: 1

62 – V/Hz characteristic selection SL / FO / SLV / EC

This parameter defines,
• whether the assignment of the output voltage to the output frequency is performed man-
ually (setting 2) or
• how the field is preset in the case of automatic (controlled) assignment of voltage fre-
quency (default setting for all applications SL/SLV2/EC/FO). Field preset defines how
the motor is electrically excited. Excitation of the motor is normally performed with the
nominal excitation determined automatically by the inverter from the motor parameters.
At this value, assumed to be 100%, the drive operates with the greatest dynamic re-
sponse and achieves its nominal torque. In certain operating states, it is necessary or
required to reduce this excitation:
– Energy-saving mode.
– Operation at the voltage limits.
– Asynchronous motors are operated above the nominal frequency at constant out-
put.
– Pmech = M × ω (M – motor output torque, ω – rotor rotational frequency).
The frequency range in which the drive is operated with an excitation less than 100% (i.e.
the field resp. the field strength is attenuated) is the so-called field-attenuation range.

0 Realization of a V/Hz characteristic with constant excitation.

In the field attenuation range, the amount of excitation is controlled to the possible
maximum value corresponding to the available voltage.
1 Energy saving mode.
The necessary excitation of an induction motor is adapted to the current load of the
motor and the available voltage. This operating mode is not suitable for high dynam-
ic requirements. The low limit of motor excitation is limited by parameter 6C – Min-
imum excitation. 1)
2 Specification of a fixed V/Hz characteristic with different V/Hz ratios over the fre-
quency range:
[0, V0], [ffix,4, V1], [ffix,5, V2], [ffix,6, V3] and [fknee, Vn]. 2)
3 Realization of a V/Hz characteristic with constant excitation up to the knee frequen-
cy (parameter 21). The ratio (fknee/f) of excitation is reduced above the knee fre-
quency (controlled operation); f is also dependent on parameter 6E – Filter field
weakening in the case of applications 51 and 53.
4 Realization of a V/Hz characteristic with constant excitation up to the knee frequen-
cy (parameter 21). The ratio (fknee/f)2 is reduced above the knee frequency (control-
led operation); f is also dependent on parameter 6E – Filter field weakening in the
case of applications 51 and 53.
5 Realization of a V/f characteristic with constant excitation with configurable voltage
control. Voltage control as with selection 0, but configurable using parameter 6B –
Cut-in point of voltage limitation control and 6F – Increment.

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 Parameter Description Group 6 – V/Hz Characteristic

6 Operation of a motor with permanent excitation.

This value is preset automatically by the program if an EC application is selected
(parameter 2C). 2)

NOTES:
1) No energy saving mode is possible for SLV2 applications. Any corresponding input is
ignored by the inverter and a V/Hz characteristic with constant excitation is realised (“0”
setting).
2) It is not possible to specify fixed V/Hz characteristics for FO, EC and SLV2 applications.
Any corresponding input is ignored by the inverter and a V/Hz characteristic is realised
with constant excitation up to the knee frequency (“3” setting). The voltage/frequency af-
filiation is defined by the following parameter relationships:

Frequency 0 Hz Parameter 44 Parameter 45 Parameter 46 Parameter 21

Voltage Parameter 67 Parameter 68 Parameter 69 Parameter 6A Parameter 11

◊ Value range: see Table Default: 3

63 – DC brake current SLV / SL – OE

Magnitude of the current injected during “DC braking” state. The factory default setting of
the DC braking current is dependent on the nominal current of the motor specified in pa-
rameter group 1.
Important: if the value of the parameter 16 – Rated current is changed, this value (param-
eter 63) is also adapted:

Default: Current of DC brake = Parameter 16 – Rated current-

------------------------------------------------------------------------------
2

Inverter 1.5 kW 2.2 kW 3.0 kW 4.0 kW 5.5 kW 7.5 kW 11.0 kW 15.0 kW 22.0 kW 30.0 kW 37.0 kW 45.0 kW 55.0 kW

Value range: 0.0 A ... 3.0 A 3.8 A 3.8 A 5.3 A 5.3 A 13.7 A 13.7 A 24.5 A 35.1 A 47.3 A 57.9 A 69.4 A 83.2 A

NOTE: this parameter has no relevance during operation with closed-loop speed control
(EC/FO).
◊ Value range: see Table

64 – DC brake time SL / FO / SLV / EC – OE

Duration for which DC braking operation is active. The time starts when the frequency falls
below the DC voltage on frequency (parameter 65) after a STOP command is issued. Dur-
ing the time of DC braking operation, the braking resistor is not used, i.e. the chopper tran-
sistor is generally not triggered.
◊ Value range: 0.0–60.0 s Default: 1.0 s

65 – DC brake switch-on frequency SLV / SL – OE

After issuing of a stop command, DC braking operation is activated when the frequency falls
below the frequency that has been defined with this parameter.
NOTE: this parameter is not relevant during operation with speed control (EC/FO).
◊ Value range: 0.0–875.0 Hz Default: 0.5 Hz

66 – Field build-up time FO / SLV / SL – OE

Period of time during which the motor field is build up after a starting command. The fre-
quency setpoint is kept at Zero during this time.

Parameter Description 25.04.03

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 Group 6 – V/Hz Characteristic Parameter Description

To activate the field build-up time set here, the parameter 6D must be set to “1”.
NOTE: this parameter has no significance in conjunction with EC applications (brushless
servo motor). If possible, the field build-up time should be activated for dynamic applica-
tions with SLV2 control.
◊ Value range: 0.1–10.0 s Default: 0.5 s

67 – V/Hz characteristic, voltage V0 SL

68 – V/Hz characteristic, voltage V1 SL

69 – V/Hz characteristic, voltage V2 SL

6A – V/Hz characteristic, voltage V3 SL

Together with the rated motor voltage Vnom (parameter 11) and the knee frequency fknee
(parameter 21), these parameters define a voltage/frequency characteristic that is used by
the inverter when the parameter 62 – V/Hz characteristic selection is programmed for
function 2. The characteristic consists of up to four lines and is defined by the points [0, V0],
[ffix, 4, V1], [ffix, 5, V2], [ffix, 6, V3] and [fknee, Vn]. See also the following table and figure.
Pay attention to the fact that the characteristic is generated from all participating parame-
ters. It is omitted to assign identical values to parameters (e.g. the number of line segments
is reduced by one with V1 = V2 and ffix, 5 = ffix, 6).
NOTE: these parameters have no significance on versions with closed-loop current control
(EC/FO/SLV2) and are visible only if parameter 62 – V/Hz characteristic selection is set
to 2 (presetting a fixed V/f characteristic).

Figure 8.10

◊ Value range: 0.0–480.0 V Default: see following table

Frequency 0 Hz Parameter 44 Parameter 45 Parameter 46 Parameter 21

f_FIX4 f_FIX5 f_FIX6 f_Knee
Voltage Parameter 67 Parameter 68 Parameter 69 Parameter 6A Parameter 11
(default) (0.0 V) (100.0 V) (150.0 V) (200.0 V) (rated motor
voltage)

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Parameter Description Group 6 – V/Hz Characteristic

6B – Cut-in point of voltage limitation control OE

The percentage value indicates at what voltage (referred to the maximum value) voltage
control cuts in. Up to this value, the field is maintained constant at the nominal value. Under
certain conditions (e.g. greatly fluctuating loads at high rotational speeds), it may be nec-
essary to reduce this value.
NOTE: this parameter is visible only if parameter 62 is set to 5.
◊ Value range: 95.0–99.5% Default: 98.0%

6C – Minimum excitation OE

This parameter defines the minimum excitation with regard to the rated excitation for induc-
tion motors that the inverter does not fall below. The parameter is active during automatic
realization of the field attenuation range by the inverter and in the energy saving mode (pa-
rameter 62 – V/Hz characteristic selection programmed to “Realization of a V/Hz charac-
teristic with constant excitation” or “Energy saving mode”). The “Minimum excitation” pa-
rameter is not active for the other settings of parameter 62.
In the energy saving mode, excitation of the motor is reduced as a function of the current
load. Thus, a large part of the excited power is saved when operating the motor with a low
load. However, excitation is not reduced below the value with respect to the rated excitation
that is defined with this parameter.
As a certain time is needed when modifying the load before the field has build up again, and
thus before the full torque is available again, this operating mode is not suitable for high
dynamic requirements.
◊ Value range: 15.0–100.0% Default: 33.0%

6D – Field build-up time activation SLV / SL – OE

0 Off
1 On

“Off”: no field build-up time is taken into account.

“On”: the field build-up time specified in parameter 66 is kept to after every starting com-
mand.
NOTE: for dynamic applications with SLV2 control, as far as possible the field build-up time
should be activated. For EC applications (synchronous machines), this parameter is set au-
tomatically to 0 (“OFF”).
◊ Value range: see Table Default: 1

6E – Filter field weakening SLV – OE

The output frequency is also included in the field preset calculation in applications 51 and
53. However, the output frequency is also routed via a PT1 filter and thus smoothed before
it is used for calculation. The filter's time constant is entered in this parameter. The param-
eter is required in order to be able to accelerate into the field-attenuation range dynamically
(with short ramps) in the specified applications. Higher values mean greater smoothing and
attenuate any oscillation (the drive behaves more steadily in the field-attenuation range).
NOTE: this parameter is displayed only if applications 51 or 53 are active.
◊ Value range: 0–2000 ms Default: 100 ms

6F – Increment SLV – OE

The parameter determines the increment with which the field to be preset is reduced or in-
creased when the voltage limit defined in parameter 6B is reached. The increment should
be increased only slowly.

Parameter Description 25.04.03

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 Group 7 – Inverter Functions Parameter Description

NOTE: this parameter is displayed only if parameter 62 is set to setting 5.

◊ Value range: 1–20 Default: 1

8.7 Group 7 – Inverter Functions

71 – Start and Stop options SL / FO / SLV / EC

This parameter defines the behaviour of the inverter after connection of the line and the
function of the stop command.
The entry for parameter 71 is routed via a filter which corrects illegally entered values so
HINT! that the next legal value down (see table) is accepted as the entry (legal digits are only 0 or
1). If, for instance, value 102 is entered, the inverter corrects this value automatically to val-
ue 101.

xxxx0 Autostart Off. The units digit:

Defines the starting behaviour of the inverter after con-
xxxx1 Autostart On.
necting the line power supply. If Autostart is activated and
the Start command is applied to the control terminals, the
motor is automatically started after connecting to the line
power supply. If Autostart is deactivated, the terminal in-
put for START or FWD/REV must be switched over from
Stop state to Start state after connection to the line power
supply so that the Start command is executed (non-recur-
rent signal change).
CAUTION: if automatic start is activated by connecting to
the line power supply, persons and systems will be at dan-
ger. Systems may need to be equipped with additional
monitoring and safety devices in accordance with the valid
safety regulations.
xxx0x Catch Motor Off (1) The tens digit:
(Rotational speed- This decides whether a check is conducted first as to
control deceleration whether the rotor is turning or not before energising the
in torque controlled motor after a Start command. If the rotor is turning, the in-
mode) verter first measures the speed of rotation and synchronis-
es with this frequency. From this point, the inverter accel-
xxx1x Catch Motor On (2)
erates the motor to the required direction of rotation and
(Switch-off when ro-
frequency. If the function is deactivated, the drive is accel-
tational speed zero is
erated to its frequency setpoint after the Start command is
reached) (3)
issued.
xx0xx Deceleration of the The hundreds digit:
motor in the case of Determines the inverter behaviour after a STOP command
Stop command (from the keypad, SIO or via terminal inputs).
xx1xx Free coasting of the
motor in the case of
Stop command

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Parameter Description Group 7 – Inverter Functions

x0xxx Ready function: Off The thousands digit:

Activates automatic switch-on of the inverter and the func-
x1xxx Ready function: On.
tion of the applied setpoint. Drive Enable (FWD/REV) must
be activated permanently for this purpose. If the setpoint
overshoots/undershoots the reference value programmed
in parameter 65 – DC brake switch-on frequency, the
output stage is connected/disconnected automatically.
Otherwise, the output stages of the inverter remain off until
condition setpoint > parameter 65 is met. If the setpoint un-
dershoots the stipulated value whilst the drive is already
running, DC braking is commenced immediately and the
output stages are then barred.
0xxxx “Emergency-Stop” The ten thousands digit:
Determines the function of the Stop key in Remote mode.
1xxxx No function of the
If the Stop key is evaluated as an Emergency-Stop key, an
Stop key in Remote
error message is generated in parallel with this (error 0)
mode

(1) Special significance in Closed-Loop Torque Control mode (application 11, 21 or 51):
In the case of a Stop command, the drive decelerates immediately with speed control at the set down ramp (parameter 26 resp. 28).
(2) The “Motor-speed detection and switch-off of frequency converter at detected point” function is not possible in the case of SLV2 appli-
cations. Entering xxx1x is ignored.
(3) Special significance in Closed-Loop-Torque Control mode (application 11, 21 or 51):
The motor is not braked by a speed controller in the event of a Stop command. If a Stop command is issued, the inverter waits to disable
the output stages until the actual rotational speed of the motor shaft has reached value 0 Hz. Until such time, the arriving torque set-
points are still fully processed, i.e. the motor must be decelerated with the aid of the torque setpoint (by a higher-level control).

◊ Value range: see Table Default: 0

If you switch over from LOCAL mode to REMOTE mode (see also parameter 9B – PS3 in-
ATTENTION! put function selection), a Start command applied to the terminals is processed immedi-
ately if the motor is started. This may lead to death, injury or damage to equipment and in-
stallations.

72 – Ramp function selection SL / FO / SLV / EC

This defines the function of the up/down ramps and the assignment of the ramp datasets 1
and 2 to the operating states described in the table below. The two parameters parameter
25 – Acceleration time 1 and 26 – Deceleration time 1, generate ramp dataset 1 and
ramp dataset 2 is programmed via 27 – Acceleration time 2 and 28 – Deceleration time 2.

x0 Change-over to ramp set 2 depending on a binary input (the prerequisite is

that one of the inputs has been configured for ramp set change-over: param-
eters 98–9B).
x1 Ramp set 1 in the case of FWD rotation, ramp set 2 in the case of REV rota-
tion.
x2 Ramp dataset 1 is used if the output frequency is lower than the frequency
set in parameter 46 – Fixed frequency 6; Ramp dataset 2 takes effect at
higher output frequencies.
x3 Ramp function off (no acceleration limiting). 1)
x4 Ramp set 1 in the case of frequencies <knee-point frequency, ramp set 2 in
the case of frequencies >knee-point frequency (parameter 21).
x5, x6, x7 Same as 0, 1, 2, but optimum deceleration depending on the DC link voltage.
2)

0x S-shaped ramps off (observe parameter 73).

1x S-shaped ramps on (observe parameter 73).

Parameter Description 25.04.03

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 Group 7 – Inverter Functions Parameter Description

NOTES:
1) Possible only with speed control. The ramp function can be deactivated (setting x3) so
that maximum dynamic response is achieved in applications FO, EC and SLV2. For
SLV2 applications, it is advisable to use short, non-S-shaped ramps (setting 0x).
2) Parameter 75 is used to optimise the DC link voltage controller linked in this way.
◊ Value range: see Table Default: 0

73 – Drag time SL / FO / SLV / EC – OE

This parameter defines the duration of the rise or drop of acceleration when in parameter
72 – Ramp function selection has been programmed as the ramp function.
It is advisable to connect S-shaped ramps in applications in which a high starting torque
(break-away torque) is required. The higher the required torque is, the longer the drag time
should be.

NOTE: this parameter is displayed only if using S-shaped ramps (parameter 72 is set to 1x).
◊ Value range: 0.1–5.0 s Default: 0.1 s

74 – Power failure response SL / FO / SLV / EC – OE

This parameter defines the behaviour of the inverter after a power failure.

0 Motor stop 1)
1 Optimum deceleration with control of the DC link voltage 1) 2)
2 Coast to stop

NOTES:
1) In this setting, parameter F2 – Power failure filter should be set to the minimum possi-
ble value so that braking of the motor can be commenced within the shortest possible
time after a line power failure.
2) Optimization of the DC link voltage controller related to this function is realised with pa-
rameter 75.
◊ Value range: see Table Default: 2

25.04.03 Parameter Description

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Parameter Description Group 7 – Inverter Functions

75 – DC link voltage control gain VDC link SL / FO / SLV / EC – OE

This parameter does not become visible until parameter 74 – Power failure response is
set to 1 or until parameter 72 – Ramp function selection is set to x5, x6 or x7.
DC link voltage control can be activated in the following situations:
1) Optimum deceleration of the motor in the event of power failure. Programmed through
the parameter 74 – Power failure response.
2) Optimum deceleration of the motor without a connected braking resistor. Programmed
by way of the parameter 72 – Ramp function selection.
In the event of a power failure, the supply of the inverter is safeguarded from the kinetic en-
ergy of the load so as to enable controlled shutdown of the motor despite failure of the line
voltage. In both cases, the deceleration ramp is set so that no more electric energy is recu-
perated from the kinetic energy of the load as can be consumed using the inverter's DC link.
At the same time, the acceleration is set on the basis of amax. amax is the acceleration that
results from the specified acceleration or deceleration time.
The gain VDC link defines the dependence on the DC link voltage and thus the control sys-
tem's reaction speed:

V DC link   for a max ≥ 0

a = a max × 1 + V DC link ×  1 – -----------------------
- , Limiting of a ≥ 0 
 V  a ≤ 0  for a max < 0
DC, rated

◊ Value range: 0.0–2000.0% Default: 500.0%

76 – Slip compensation SLV / SL – OE

This parameter switches slip compensation off/on.

0 Off
1 On

When slip compensation is activated, the motor's rotor frequency is kept constantly at the
value of the frequency setpoint, i.e. the motor's speed is independent of its load.

f set
n = -------------------------------------------------------------------------------------------------------------
-
p (p – Number of pole pairs of the motor)
Good functioning of the speed controller is only guaranteed if the motor parameters have
been entered correctly in parameter group 1. Further optimization of the speed controller is
realised by way of parameter 77 – Slip compensation setting. The highest accuracy of
the controller can be achieved over a speed range of 1:10. Below this frequency, the speed
may increase between the relieved and loaded motor.

Parameter Description 25.04.03

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 Group 7 – Inverter Functions Parameter Description

If the application 50 (SLV2 speed control) is active, the parameter has the following mean-
ing:

0 Speed control to fStator

1 Speed control to fRotor

NOTE: this parameter is not relevant during operation with speed control (EC/FO).
◊ Value range: see Table Default: 0

77 – Slip compensation setting SL – OE

This parameter for setting electronic slip compensation (without tacho) only appears when
the parameter 76 is set to 1.
The value defined by the inverter on the basis of the motor's rated data corresponds to
100% (default). If the drive should oscillate at this setting, this value must be reduced until
stable running is guaranteed under load and when idling.
Drive oscillations may lead to overloading of the braking chopper or the current limit may
ATTENTION! be exceeded. Therefore, this parameter must be optimized conscientiously and must be
checked for oscillation-free running over the entire speed and load range.
NOTE: this parameter is not relevant during operation with speed control and SLV2 appli-
cations. For these applications, the speed controller is adapted by way of the parameter F6
– Rotor time constant setting.
◊ Value range: 0.0–500.0% Default: 100.0%

78 – Language SL / FO / SLV / EC – OE

The display can be adapted to the respective national language here.

0 German
1 English

◊ Value range: see Table Default Europe: 0

Default USA: 1
(see also parameter EA)

79 – PWM frequency SL / FO / SLV / EC – OE

Setting of the PWM frequency (clock frequency of the power output stages). The inverters
are thermally designed for a rated clock frequency of 5 kHz. Depending on local cooling
conditions, higher clock frequencies may lead to excess temperature deactivation (observe
display messages). A setting is possible in 0.01 kHz increments.
NOTE: particularly in the lower speed range, the PWM frequency is also influenced by the
parameter FB – PWM frequency slaving. Above f = 4.50 kHz, a new voltage vector is now
only computed in every second PWM cycle.
The following parameters are recomputed automatically when this parameter is changed:
Parameter F8 – Current controller gain
Parameter F9 – Specific current controller reset time
◊ Value range: 2.00–9.00 kHz Default: 4.50 kHz

7A – Braking resistor power SL / FO / SLV / EC

Continuous rating of the internal or external braking resistor. If the thermal limit is exceeded,
a warning is issued initially followed by an error message. Controlled deceleration occurs
as the response to the error.

25.04.03 Parameter Description

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Parameter Description Group 7 – Inverter Functions

As standard, the inverters are equipped with 75 Ω (Sizes II–III) and also 20 Ω (Sizes IV–
HINT! VI) braking resistors. The use of resistors with a lower resistance may lead to the “Overcur-
rent” fault. Resistors with a higher resistance do not make full use of the inverter's available
braking power.

Protection of the braking resistor:

A thermal model of the braking resistor runs in the microcontroller. This model can, howev-
er, protect the resistor effectively only if the data of parameters 7A, 7D and 7E has been
specified correctly. The thermal load limit (Wmax (maximum energy [W])) of the connected
resistor is calculated from parameter 7D – Permissible heating time of braking resistor
(Tmax), the DC link voltage (V_DClink = 565 VDC nominal) and the braking resistance (pa-
rameter 7E – Connected braking resistor (RB)).
2
V_DC nom
W max = ---------------------------- × T max
RB

The transistor On time and the current DC link voltage are allowed for calculating the energy
currently consumed.
The resistor must have the following minimum values for the individual inverter sizes:

SIZE MAXIMUM CURRENT BRAKE RESISTOR

OF BRAKE CHOPPER (MINIMUM VALUE)
II 10 A 75 Ω
III 15 A 50 Ω
IV 50 A 16 Ω
V 75 A 10 Ω
VI 75 A 10 Ω

If unrealistically high continuous power loss values are specified or if the protection function
ATTENTION! is deactivated with parameter 7E – Connected braking resistor despite the fact that a
braking resistor is present or the value is specified incorrectly, protection of the resistor is
not guaranteed and this entails the risk of overheating or fire.
◊ Value range: 0.00–50.00 kW Default: 0.08 kW

7B – Increment motor potentiometer speed SL / FO / SLV / EC – OE

This parameter determines the rate of change of the frequency factor (parameter 33) if input
PS1 is programmed for one of the functions ×11 or ×12 (incrementing the frequency factor)
via parameter 99. If the value 10 s is programmed for the parameter, for example, the input
must be activated for 10 s in order to change the frequency factor by 100%.
◊ Value range: 0.1–640.0 s Default: 10.0 s

7C – Decrement motor potentiometer speed SL / FO / SLV / EC – OE

This parameter determines the rate of change of the frequency factor (parameter 33) if input
PS2 is programmed for one of the functions ×11 or ×12 (decrementing the frequency factor)
via parameter 9A. If the value 10 s is programmed for the parameter, for example, the input
must be activated for 10 s in order to change the frequency factor by 100%.
◊ Value range: 0.1–640.0 s Default: 10.0 s

Parameter Description 25.04.03

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 Group 8 – Protective Functions Parameter Description

7D – Permissible heating time of braking resistor SL / FO / SLV / EC

Maximum time during which the connected braking resistor may be operated on a voltage
of VDC link = 540 V (refer also to the description of the parameter 7A – Braking resistor
power).
If incorrect values are specified, protection of the resistor is no longer guaranteed and this
ATTENTION! entails the risk of overheating or fire (see also parameter 7A – Braking resistor power).
If external resistors of other suppliers are used, please enquire as regards the maximum
permitted heating time.
◊ Value range: 1–100 s Default: 2 s

7E – Connected braking resistor SL / FO / SLV / EC

Resistance value of the connected braking resistor. If no braking resistor is connected, the
maximum value must be entered so as to preclude the possibility of error messages. The
braking chopper monitoring function is then deactivated (see also description of parameter
7A – Braking resistor power).
If incorrect values are specified or if the protection function is deactivated for this parameter
ATTENTION! despite the fact that a braking resistor is present, this entails the risk of overheating or fire.
Setting 1000 Ohms corresponds to “braking resistor protection deactivated”.
NOTE: note the minimum values of the braking resistance (see parameter 7A).
◊ Value range: 15–1000 Ω Default: 75 Ω (for inverter power rating up to 11 kW)
20 Ω (for inverter power rating upwards of 15 kW)

7F – Control method SL / FO / SLV / EC

The sine vector method generates a sinusoidal output voltage that is largely devoid of har-
monics and, in doing so, it makes the fullest possible use of the line voltage fed in. With
trapezoidal control, even higher output voltages can be generated than when using the sine
vector method, but with a simultaneously higher amount of harmonics. The subharmonic
method supplies lower output voltages than the sine vector method. Here, the motor's star
point is at a constant potential.

0 Subharmonic method
1 Sine vector modulation
2 Trapezoidal control

◊ Value range: see Table Default: 1

8.8 Group 8 – Protective Functions

81 – MOL input function selection SL / FO / SLV / EC

At the MOL input, the resistance connected to it is evaluated by the processor in two ways.
On the one hand, the analog voltage drop is routed to an A/D converter input and, on the
other hand, the voltage drop is evaluated using a comparator with a fixed reference voltage.
This comparator then deactivates the output stages through hardware linking. To do this,
the resistance between the MOL+ and MOL– inputs must exceed a value of 4.1 kΩ.

0 Connection of relay:
The inverter is disabled (coast stop) when the relay is triggered. This disabling is re-
alised by the hardware through hardware linking. The voltage drop through the MOL
input is not evaluated by the program as an analog value (pure contact function).

25.04.03 Parameter Description

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Parameter Description Group 8 – Protective Functions

1 Connection of a single PTC.

Controlled deceleration takes place if 1.5 kΩ is exceeded. 1)
2 Connection of a triple PTC.
Controlled deceleration takes place if 3.0 kΩ is exceeded. 1)
3 Same as 0, but: the “MOL contact open” error is not reported and need not be ac-
knowledged. Thus, an EMERGENCY STOP can be wired through the MOL input by
disconnecting the inverter output stages.

NOTE:
1) If the resistance of 1.0 kΩ is exceeded, a warning message is always issued. Controlled
ATTENTION! deceleration occurs above 1.5 kΩ resp. 3.0 kΩ. If a resistance value of 4.1 kΩ is exceed-
ed, pure hardware switch-off always occurs.
◊ Value range: see Table Default Europe: 2
Default USA: 0
(see also parameter EA)

82 – MOL input display (read-only) SL / FO / SLV / EC

The voltage at the MOL input is displayed as a percentage of the maximum value. A 100%
display corresponds to a voltage drop of ≈25 V or 5 kΩ at the terminals.
◊ Value range: 0–100%

83 – Restart after fault definition SL / FO / SLV / EC

Stipulation as to what errors are to result in a restart of the inverter. A restart means auto-
matic restart of the inverter after an error occurs. For this purpose, the error which has oc-
curred must be identified as a restart-enabled error (with the aid of this parameter), the En-
able must have been issued (FWD resp. REV terminal is activated) and the maximum
number of restarts (parameter 84) may not yet have been reached. The Restart function is
possible only in REMOTE mode.
The notation is hexadecimal (see presetting example). Each fault is assigned one bit in the
parameter value. See Chapter 8.17, Page 2-121, for details of allocation of the fault number
and fault type.

8240

Display Hex 8 2 4 0
Binary Bin 1 0 0 0 0 0 1 0 0 1 0 0 0 0 0 0
Bit No. 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Fault 15
Fault 14
Fault 13
Fault 12

Fault 10
Fault 9
Fault 8

Fault 6
Fault 5
Fault 4
Fault 3
Fault 2
Fault 1
Fault 0
Fault 11 (1)

Fault 7 (1)

Function

(1) If these errors occur, no restart is possible. The corresponding bits should thus be set to zero.

Parameter Description 25.04.03

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 Group 8 – Protective Functions Parameter Description

PROGRAMMING EXAMPLE:
A restart is to be performed after error 6, 9 and 15. A “0” or a “1” must now be inserted for
each error (error 0 to error 15) in the order shown in the illustration above (starting at the
left). The digit “0” means “do not perform restart” and the digit “1” means “perform restart”.
Enter the hexadecimal value using a pocket calculator which can convert binary numbers
to hexadecimal values or using a table (see the conversion table on Page 2-123 in this de-
scription). In this example, the binary number “1000 0010 0100 0000” (the “1” at the 1st po-
sition from the left stands for error 15 (bit 15), at the 7th position for error 9 (bit 9) and at the
10th position (bit 6) for error 6) and the hexadecimal value to be entered is “8240”.
NOTE:
The values between FFFFHex and 8000Hex are reached by pushing the DOWN key ▼, de-
HINT! parting from “0”. The values in between 0 and 7FFFHex are reached with the UP key ▲.
◊ Value range: 8000H–FFFFH, 0000H–7FFFH Default: 0000H

84 – Number of restarts SL / FO / SLV / EC

Maximum number of restarts performed after occurrence of one of the errors stipulated in
parameter 83. Programming the value zero means that no restart is attempted under any
circumstances. The stored number of restarts performed to date is reset after 10 minutes
of error-free operation.
◊ Value range: 0–8 Default: 0

85 – Restart delay SL / FO / EC

If the Restart function is activated (see parameter 83) and the maximum permitted number
of restart attempts (parameter 84) has not yet been exceeded, an automatic restart of the
inverter is attempted after expiry of the time stipulated in this parameter if an error defined
in parameter 83 occurs.
◊ Value range: 0.1–60.0 s Default: 10.0 s

87 – Password SL / FO / SLV / EC
Entry of a password allows unauthorised access to the parameters to be prevented. After
entry of a password, the user is prompted to enter the password the first time the PROG
key is pressed after power-on – instead of reverting to Parameter Input mode. The pass-
word can now be set directly with keys UP/DOWN and acknowledged with key ENTER. If
the password has been entered correctly, you will see “ *** CODE OK. *** “ on the display.
Otherwise, you will see “ ** WRONG CODE ** “. Password zero deactivates the function.
If a password is entered (unequal to Zero), the character string ***** is displayed instead of
the value when the parameter is selected.
◊ Value range: 0–9999 Default: 0

88 – Thermal motor time constant SL / FO / SLV / EC

With the aid of the time constant, the inverter computes a thermal motor model on the basis
of a delay element. A warning or an error message is triggered if the thresholds are exceed-
ed. Controlled slowing down is the reaction to the error message.
This function is unable to ensure 100 percent thermal motor protection since the individual
ATTENTION! ambient conditions are ignored. However, if this is required, use of a motor PTC thermistor
detector is recommended.
◊ Value range: 1–120 min Default: 15 min

25.04.03 Parameter Description

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Parameter Description Group 8 – Protective Functions

89 – I2t warning threshold SL / FO / SLV / EC

See description under parameter 88.
◊ Value range: 10.0–200.0% Default: 115.0%

8A – I2t error threshold SL / FO / SLV / EC

See description under parameter 88.

◊ Value range: 10.0–200.0% Default: 120.0%

8B – Maximum permissible ramp extension in the event of stop SL / FO / SLV / EC

To enhance operating reliability, a monitoring function has been integrated for the stop op-
eration which makes sure that a drive that has got out of control will stop after a finite time.
The inverter checks whether the drive has stopped within a parameterisable time, as oth-
erwise braking is initiated immediately after the expiry of this time by means of the DC brake
and then the output stages are deactivated. The stop monitoring function is configured by
way of this parameter.
• The ramp time tramp that is used for checking is always the greater of the two run down
times from ramp sets 1 and 2 (parameter 26 or 28).
• The current frequency setpoint is taken into account on calculation of the time-out tout.

Parameter 8B % f setpoint
t out = t ramp × -------------------------------------------- × ---------------------
100% f max

VALUE MEANING
0 Monitoring function off.
For example, the function can be deactivated for applications in which brak-
ing is to take place at the moment limit.
50–99% Only effective when the active ramp set contains the smaller of the two run
down times; otherwise 100% is calculated internally.
100–1000% Parameter 8B % f setpoint
Time-out t out = t ramp × -------------------------------------------- × ---------------------
100% f max
The time-out determined for the current setpoint can be checked in the pa-
rameter 8C.
NOTE: tout is calculated up to a time less than 31 seconds with a resolution
of 100 ms; in the event of higher values it is rounded up to full seconds.

It is possible that the motor can no longer be stopped if the monitoring function is deactivat-
ATTENTION! ed and the parameterisation is incorrect. In any case, the monitoring function should only
be deactivated at the end of a commissioning operation and, at the same time, an EMER-
GENCY STOP (inverter lock) should be wired at a binary input (parameter 98–9B) or the
MOL terminals (parameter 81).
EXAMPLE:
The drive is currently running with 10 Hz, the maximum frequency is 50 Hz, ramp extension
is set to 400%, the deceleration ramp 1 (parameter 26) is set to 2.5 s and the deceleration
ramp 2 (parameter 28) is set to 5 seconds. Under normal conditions (no load limit), for
coasting down from 10 Hz to standstill the drive needs

2.5 s × 10 Hz
Deceleration time 10 Hz = ------------------------------------ = 0.5 s
50 Hz
The “Maximum permissible ramp extension” is set to 400%, i.e. the drive is given four times
the time for stopping (but calculation is based on the longer ramp 2):

Parameter Description 25.04.03

2-86 UD 7000 — 1.5–55.0 07_GB_T2
 Group 8 – Protective Functions Parameter Description

5 s × 400% × 10 Hz
t out = --------------------------------------------------- = 4 s
100% × 50 Hz
If the motor has not yet stopped at this time, the inverter switches off the output stages and
issues error message 12 (Auto-Stop).

Definitions

• The minimum time-out is set to 500 ms.

• When ramps are deactivated, a constant substitute ramp time tramp = 5 s is used to cal-
culate the time-out tout.

Error message

• The error message 12 “Auto-Stop” is issued after deactivation of the output stages by
the monitoring function.

Remedy

1) The drive's parameter settings are wrong:

• Motor data incorrectly entered (Frequent error: when using an induction motor, users
enter the synchronous speed).
• Test mode not run (see parameter 2A).
• Error during manual controller adjustment (speed, position, current controller), pro-
portional gain frequently too high.
• After change-over of the application (see parameter 2C), in any case the test mode
must be run again; controllers must be readjusted; begin with the default values
again! Starting the feedback-free SLV2 application with the controller settings that
were optimized for the field-oriented drive (working feedback) is particularly problem-
atic.
• A further conceivable reason:
Discrepancies in the active parameter set when using the “parameter set change-
over” function.
2) If the drive has been commissioned properly:
• It is overloaded and therefore no longer manages to stop the motor within the time-
out tout set in the parameter 8B – Maximum permissible ramp extension in the
event of stop.
• Check ramp times (group 2).
• Check torque limits (group 5).
• Depending on the application the parameter 8B – Maximum permissible ramp ex-
tension in the event of stop must be set to max. 10000% or to 0% to deactivate the
monitoring function.
NOTE: an entered value between 1 and 49 is overwritten automatically with 0.
◊ Value range: 0 or 50–10000% Default: 200%

8C – Current time-out tout for stop ramp SL / FO / SLV / EC

Time-out tout for stopping.

To enable a check, the time-out tout calculated with the aid of the parameter 8B is displayed
here.
◊ Value range: 0.1–999.9 s

25.04.03 Parameter Description

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Parameter Description Group 8 – Protective Functions

8D – Reference value for load-dependent switching of control outputs SL / FO / SLV / EC

Each of the UD 7000 control outputs (see description of parameters 92–96) can be pro-
grammed to the function “x31”. The parameter 8D determines the output torque (in percent
of the rated torque) the output switches at. For example, this function makes it possible to
give the signal that 120% of the motor torque have been reached to external control units,
and additional protective functions can be realised.
Depending on the mode, the value for the output torque calculated by the inverter can vary.
A filtered value is therefore taken as reference value for the above-mentioned comparison.
The filtering is made with a value determined through the parameter A7 – Filtering time
constant of displayed values in parameter group 0. This filtering avoids hypersensitivity
of the output (short peaks on the calculated moment are filtered out).
This parameter is only visible when at least one of the outputs has been programmed for
HINT! this function.
◊ Value range: 0–500.0% Default: 100.0%

8E – Selection speed control FO / SLV / EC

With this parameter, the user can choose whether error 8 (speed control) is caused only by
an excessive rotor speed or by as well an excessive speed as well as an excessive control
error.

0 Control of overspeed only, i.e. error 8 is caused only when the actual speed nist is
higher than the maximum permissible speed nmax. The maximum permissible
speed nmax results from the maximum frequency fmax (parameter 23) multiplied by
1.2, considering also the number of motor pole pairs zp:

f max
n max = 1.2 × ----------
zp

1 The overspeed (see selection 0) and the adherence to an adjustable control error
are monitored. 1)

NOTE:
1) Error “speed control” is caused when during speed control the control error between ref-
erence frequency and actual frequency is higher than a selected comparative value.
This comparative value can be either parameter 47 (Hysteresis band for blocking fre-
quencies) or (when parameter 47 is set to 0) the nominal slip sN of the motor multiplied
by 2. The nominal slip of the motor is calculated as follows:

nN
s N = f N – ---------------- × z p
s
60 ---------
min
sn = nominal slip.
fN = (motor) nominal frequency (parameter 12).
nN = nominal speed (parameter 14).
zp = number of pole pairs.
EXAMPLE:
A quadripole standard motor (zp = 2) with a nominal frequency fN = 50 Hz has a nominal
speed nN = 1425 min-1. The maximum frequency (parameter 23) is 100 Hz. The value
stored in parameter 8E is 1. Parameter 47 has been set to 0 Hz, i.e. the comparative value
is the double nominal slip. The nominal slip is calculated as follows:

Parameter Description 25.04.03

2-88 UD 7000 — 1.5–55.0 07_GB_T2
 Group 9 – Binary Inputs/Outputs Parameter Description

–1
1425 min
s N = 50 Hz – ------------------------------ × 2 = 2.5 Hz
s
60 ---------
min

f max 100 Hz
n max = 1.2 × ---------- = 1.2 × ------------------- = 60 Hz
zp 2

Error 8 “speed control” is thus caused when the control error is higher than 5 Hz or when
the rotor speed is higher than 60 Hz.
Parameter 8E appears only in applications with speed control (parameter 2C) and with
HINT! ramps switched on (parameter 72, “Ramp function selection”). For synchronous motors, the
nominal slip sN is always 0. Therefore, the value stored in parameter 47 (Hysteresis band
for blocking frequencies) mustn't be 0 (for EC applications). Parameter 47 can also be used
for other functions, as long as this particular value can be used for any function.
◊ Value range: see table Default: 0

8.9 Group 9 – Binary Inputs/Outputs

91 – Function of inputs FWD and REV SL / FO / SLV / EC

This parameter defines the functions of the FWD and REV terminal inputs.

0 FWD: start/stop.
REV: selection of the direction of rotation (active: left rotation).
1 FWD: start/stop, right rotation.
REV: start/stop, left rotation. (1)

(1) If both FWD and REV are active, this is interpreted as a STOP command.

◊ Value range: see Table Default: 1

92 – Output ST1 function selection SL / FO / SLV / EC

◊ Value range: see table under parameter 96 Default: 3

93 – Output ST2 function selection SL / FO / SLV / EC

◊ Value range: see table under parameter 96 Default: 102

94 – Output ST3 function selection SL / FO / SLV / EC

◊ Value range: see table under parameter 96 Default: 10

95 – Output ST4 function selection SL / FO / SLV / EC

◊ Value range: see table under parameter 96 Default: 115

96 – Relay output function selection SL / FO / SLV / EC

The following description applies to parameters 92–95 also.

x00 Inactive
x01 Inverter OK (Unit works faultless)
x02 ■ ● Inverter output frequency higher than rated motor slip frequency; calculated
on the basis of the rated speed specified in parameter 14

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x03 ■ ● Inverter output frequency greater than 0.5 Hz in the left or right-hand direction
of rotation. Operation with feedback: motor shaft rotation frequency/motor
pole pair number >0.5 Hz
x04 ■ ● Inverter output frequency 0 Hz.
Operation with feedback: motor shaft rotation frequency/motor pole pair
number = 0 Hz
x05 ■ ● Stator frequency = frequency setpoint.
Operation with feedback: frequency setpoint = actual frequency
x06 ■ ● Inverter output frequency greater than fixed frequency 2 (parameter 42) in the
left or right-hand direction of rotation. Operation with feedback: motor shaft
rotation frequency/motor pole pair number >fixed frequency 2
x07 ■ ● Inverter output frequency higher than fixed frequency 3 (parameter 43) in the
left or right-hand direction of rotation. Operation with feedback: motor shaft
rotation frequency/motor pole pair number >fixed frequency 3
x08 ■ Set torque limit reached (parameters 58–5B)
x09 Output controlled through serial interface (SIO)
x10 Motor temperature exceeded (MOL open / i2t, error message 5)
x11 Warning: motor temperature exceeded (MOL contact, warning message 17)
x12 ■ ● Maximum frequency (parameter 23) reached
x13 ■ ● Minimum frequency (parameter 24) reached
x14 ■ Setpoint current loop has discontinuity (only in the case of setpoint input 2–
10 V or 4–20 mA; is signalled if 2 V resp. 4 mA is undershot, warning mes-
sage 27)
x15 The Digital frequency output function is possible only in conjunction with ST4.
In the case of applications without feedback:
The output frequency corresponds to the stator frequency (in Hz) × n (n = pa-
rameter 3E).
Operation with feedback:
The output frequency corresponds to the rotor rotational frequency (in Hz) ×
n (n = parameter 3E)
x16 The Digital Frequency Output function is possible only in conjunction with
ST4.
The output frequency corresponds to the frequency setpoint × n (n = param-
eter 3E)
x17 ■ Inverter is in LOCAL mode (LOC)
x18 ■ Inverter is operating in speed control mode.
Inactive: inverter is operating unregulated
x19 ■ ● Inverter generates REV rotation field
x20 The inverter is carrying out a test mode (see also parameter 2A and param-
eter 98–9B, Setting 9 “zero pulse search”)
x21 ■ ● Inverter output frequency greater than fixed frequency 3 (parameter 43) in
right-hand rotation direction. Operation with feedback: motor shaft rotation
frequency/motor pole number >fixed frequency 3 in right-hand direction of ro-
tation
x22 ■ ● Inverter output frequency is greater than fixed frequency 3 (parameter 43) in
counter-clockwise direction of rotation. Operation with feedback: motor shaft
rotation frequency/motor pole number >fixed frequency 3 in counter-clock-
wise direction of rotation
x23 Top frequency reached. Acceleration / deceleration integrator has reached
reference value
x24 Reserved N/A

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 Group 9 – Binary Inputs/Outputs Parameter Description

x25 ■ ● Set inverter frequency after ramp generator higher than fixed frequency 2
(parameter 42) in the left or right direction of rotation
x26 Only for applications with a speed controller:
Control error between set and actual frequencies is higher than a selected
comparison value. (1)
x27 Output stage enabled
x28 Reserved N/A
x29 Reserved N/A
x30 Function for control of a holding brake. The output becomes active if 75% of
the field build-up time (parameter 66) has elapsed and it becomes inactive if
50% of the CD holding time has elapsed after a STOP command (parameter
64).
x31 ■ ● The output shows that a certain output torque has been exceeded. The pa-
rameter 8D – Reference value for load-dependent switching of control
outputs determines the output torque (in per cent of the rated torque) the out-
put switches at. For example, this function makes it possible to give the signal
that a certain motor torque has been reached to external control units.
0xx Low active level
1xx High active level
2xx Output indicates that the selected condition is satisfied and that the inverter
is OK; possible for all functions which are identified with ■ in the table (active
level Low)
3xx Output indicates that the selected condition is satisfied and that the inverter
is OK; possible for all functions which are identified with ■ in the table (active
level High)

NOTES:
● The control output is not set if the inverter is in the DC mode or in a test mode (cf. pa-
rameter 2A or parameter 98–9B “zero pulse search”), and in the field build-up time.
■ These functions of the control outputs can be logically combined with the condition “In-
verter OK”, i.e. the output is set if the selected condition (the last two digits) is satisfied
and if the inverter is functioning without faults. Enter 2xx or 3xx depending on the desired
active level.
(1) This comparison value is either parameter 47 – Hysteresis band for blocking fre-
quencies or, if parameter 47 has be set to zero, twice the nominal slip sN of the motor.
The nominal slip of the motor is calculated as follows:

nN
s N = f N – ----------------- × z p
s
60 ----------
min
EXAMPLE:
A four-pole standard motor (zp = 2) with a nominal frequency fnom = 50 Hz has a nominal
rotational speed nnom = 1425 rpm. Parameter 47 has been programmed to 0 Hz. The
nominal slip can be calculated as follows

1425 rpm
s nom = 50 Hz – ------------------------- × 2 = 2.5 Hz
s
60 ----------
min

Comparison value = 2 × snom = 2 × 2.5 Hz = 5 Hz.

This means that the output switches if the control error increases above 5 Hz.

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EXAMPLE:
The value 225 is entered in parameter 96:
The relay output opens if the inverter is operating without faults and if the setpoint frequency
is greater than the “fixed frequency 2” entered in parameter 42. However, the output does
not open if a higher frequency is output by the inverter during measurement of the leakage
inductance.
◊ Value range: see Table Default: 101

97 – Control of binary outputs through SIO SL / FO / SLV / EC – SC

To enable control of the binary outputs ST1–ST4 and REL through the serial interface, the
respective output must be programmed to the “Control of the output through serial inter-
face” function with the affiliated “Select function of output ...” selection parameter (parame-
ters 92–96 set to x09).

12

Display Hex 1 2
Binary Bin 0 0 0 1 0 0 1 0
Bit No. 7 6 5 4 3 2 1 0
Not used
Not used
Not used
REL
ST4
ST3
ST2
ST1

Function

PROGRAMMING EXAMPLE:
The binary outputs REL (parameter 96) and ST2 (parameter 93) should be controlled via
the serial port. A “0” or a “1” must now be inserted for each selection option (bits 0–7) in the
order shown in the table above (starting at the left). Digit “0” corresponds to “not activated”
and digit “1” corresponds to “activated”. Value “0” must be inserted for bits 5 to 7 which are
not used. The hexadecimal value must be entered using a pocket calculator which can con-
vert binary numerical values to hexadecimal values or a table (see conversion table on
Page 2-123 of this description). In this example, the binary number “0001 0010” (the “1” at
the 4th position from the left stands for REL (bit 4) and at the 7th position stands for ST2
(bit 1)) and the hexadecimal value to be entered is “12”.
◊ Value range: 0H–FFH Default: 0H

98 – Run/Jog input function selection SL / FO / SLV / EC

x00 Selection Jog mode (fixed frequency 1). The set value of the fixed frequency 1 can
also be used as a Jog frequency. For this purpose, binary inputs R/J and PS3 must
be activated, parameter 98 – Run/Jog input function selection must be pro-
grammed for function “Selection Jog mode” (setting x00) and LOCAL mode must be
activated with parameter 9B (setting x06). The motor now runs in the corresponding
direction at the set frequency 1 for as long as key FWD or REV is pressed.
x01 Selection of ramp set 2 (acceleration and deceleration time 2); see also parameter
72
x02 Selection of customer parameter set 1 (see note 1, Page 2-97)
x03 Selection of customer parameter set 2 (see note 1, Page 2-97)
x04 Inverter disabled (coast to stop)

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 Group 9 – Binary Inputs/Outputs Parameter Description

x05 DC braking. The inverter reverts to a mode in which it injects into the motor a DC
voltage which results in deceleration of the motor (DC braking). In this case, the cor-
responding direct current is monitored so that, at maximum, the current specified by
parameter 63 – DC brake current is able to flow. The DC brake functions only as
long as the output stages are enabled. This function may be selected only if param-
eter 2C – Application has been programmed to value “0” or “2”
x06 No function
x07 No function
x08 Deactivation of the position controller
x09 Zero pulse search master setpoint (only active in the stop state); see note 2, Page
2-98
x10 No function
x11 No function
x12 No function
x13 No function
x14 Deactivation of the master encoder for the synchronous system
x15 Suppression of positive counting pulses of the master encoder for the synchronous
system. Only negative counting pulses of the master are active
x16 Suppression of negative counting pulses of the master encoder for the synchronous
system. Only positive counting pulses of the master are active
x17 Inversion of the counting pulses of the master encoder
x18 Reserved N/A
x19 Acknowledge error state (see note 5, Page 2-99)
x20 Reserved N/A
0xx NO contact trips the selected function (see note 4, Page 2-99)
1xx NC contact trips the selected function (see note 4, Page 2-99)

NOTE:
The binary input R/J must not be triggered during execution of a test mode of operation (see
parameter 2A).
◊ Value range: see Table Default: 0

99 – PS1 input function selection SL / FO / SLV / EC

x00 Bit 0 for selection of a fixed frequency (0–7); if this function is not selected, the bit is
evaluated as Zero (see parameter 41–46)
x01 Selection of ramp set 2 (acceleration and deceleration time 2)
x02 Selection of customer parameter set 1 (see note 1, Page 2-97)
x03 Selection of customer parameter set 2 (see note 1, Page 2-97)
x04 Inverter disabling (coast to stop)

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Parameter Description Group 9 – Binary Inputs/Outputs

x05 DC braking. The inverter reverts to a mode in which it injects into the motor a DC
voltage which results in deceleration of the motor (DC braking). In this case, the cor-
responding direct current is monitored so that, at maximum, the current specified by
parameter 63 – DC brake current is able to flow. The DC brake functions only as
long as the output stages are enabled. This function may be selected only if param-
eter 2C – Application has been programmed to value “0” or “2”
x06 Incrementing of the frequency factor (parameter 33 or E3) with the active switching
edge; see note 3, Page 2-99
x07 Incrementing of the frequency factor (parameter 33 or E3) in the active switching
state every 64 ms; see note 3, Page 2-99
x08 Deactivation of the position control
x09 Zero pulse search master setpoint (only active in the STOP state); see note 2, Page
2-98
x10 No function
x11 Incrementing of the frequency factor (parameter 33 or E3) in an active switching
state (motor potentiometer). The rate of change is defined by the parameter 7B.
When a stop command is pending, the frequency factor is set to the low limit that is
set in the parameter 38
x12 Incrementing of the frequency factor (parameter 33 or E3) in the active switching
state (motor potentiometer). The rate of the change is defined by the parameter 7B;
see note 3, Page 2-99
x13 Incrementing the parameter D3 – Zero angle with the active control state. The rate
of change is determined by the parameter 7B. The zero angle is not stored in a non-
volatile manner
x14 Deactivation of the master encoder for the synchronous system
x15 Suppression of positive counting pulses of the master encoder for the synchronous
system. Only negative counting pulses of the master are active
x16 Suppression of negative counting pulses of the master encoder for the synchronous
system. Only positive counting pulses of the master are active
x17 Inversion of the counting pulses of the master encoder
x18 Reserved N/A
x19 Acknowledge error state (see note 5, Page 2-99)
x20 Reserved N/A
0xx NO contact trips the selected function (see note 4, Page 2-99)
1xx NC contact trips the selected function (see note 4, Page 2-99)

NOTE:
The binary input PS1 must not be triggered during execution of a test mode of operation
(see parameter 2A).
◊ Value range: see Table Default: 4

9A – PS2 input function selection SL / FO / SLV / EC

x00 Bit 1 for selection of a fixed frequency (0–7); if this function is not selected, the bit is
evaluated as Zero (see parameter 41–46)
x01 Selection of ramp set 2 (acceleration and deceleration time 2)
x02 Selection of customer parameter set 1 (see note 1, Page 2-97)

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 Group 9 – Binary Inputs/Outputs Parameter Description

x03 Selection of customer parameter set 2 (see note 1, Page 2-97)

x04 Inverter disabling (coast to stop)
x05 DC braking. The inverter reverts to a mode in which it injects into the motor a DC
voltage which results in deceleration of the motor (DC braking). In this case, the cor-
responding direct current is monitored so that, at maximum, the current specified by
parameter 63 – DC brake current is able to flow. The DC brake functions only as
long as the output stages are enabled. This function may be selected only if param-
eter 2C – Application has been programmed to value “0” or “2”
x06 Decrementing of the frequency factor (parameter 33 or E3) with the active switching
edge; see note 3, Page 2-99
x07 Decrementing of the frequency factor (parameter 33 or E3) in the active switching
state every 64 ms; see note 3, Page 2-99
x08 Deactivation of the position control
x09 Zero pulse search master setpoint (only active in the STOP state); see note 2, Page
2-98
x10 No function
x11 Decrementing of the frequency factor (parameter 33 or E3) in an active switching
state (motor potentiometer). The rate of change is defined by the parameter 7C.
When a stop command is pending, the frequency factor is set to the low limit that is
set in the parameter 38
x12 Decrementing of the frequency factor (parameter 33 or E3) in the active switching
state (motor potentiometer). The rate of the change is defined by the parameter 7C;
see note 3, Page 2-99
x13 Decrementing of the zero angle (parameter 33) in an active switching state (shifting
of the relative position between the master sensor and slave of the electrical shaft).
The rate of change is defined by the parameter 7C. The zero angle is not stored in
a power failsafe manner. The function can be used when the output stage is enabled
and coupling is running
x14 Deactivation of the master encoder for the synchronous system
x15 Suppression of positive counting pulses of the master encoder for the synchronous
system. Only negative counting pulses of the master are active
x16 Suppression of negative counting pulses of the master encoder for the synchronous
system. Only positive counting pulses of the master are active
x17 Inversion of the counting pulses of the master encoder
x18 Reserved N/A
x19 Acknowledge error state (see note 5, Page 2-99)
x20 Reserved N/A
0xx NO contact trips the selected function (see note 4, Page 2-99)
1xx NC contact trips the selected function (see note 4, Page 2-99)

NOTE:
The binary input PS2 must not be triggered during execution of a test mode of operation
(see parameter 2A).
◊ Value range: see Table Default: 1

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Parameter Description Group 9 – Binary Inputs/Outputs

9B – PS3 input function selection SL / FO / SLV / EC

x00 Bit 2 for selection of a fixed frequency (0–7); when this function is not selected, the
bit is evaluated as Zero (see parameter 41–46)
x01 Selection of ramp set 2 (acceleration and deceleration time 2)
x02 Selection of customer parameter set 1 (see note 1, Page 2-97)
x03 Selection of customer parameter set 2 (see note 1, Page 2-97)
x04 Inverter disabling (coast to stop)
x05 DC braking. The inverter reverts to a mode in which it injects into the motor a DC
voltage which results in deceleration of the motor (DC braking). In this case, the cor-
responding direct current is monitored so that, at maximum, the current specified by
parameter 63 – DC brake current is able to flow. The DC brake functions only as
long as the output stages are enabled. This function may be selected only if param-
eter 2C – Application has been programmed to value “0” or “2”
x06 Activation of LOCAL mode (see note 6, Page 2-99)
x07 No function
x08 Deactivation of the position controller
x09 Zero pulse search master setpoint (only active in the STOP state); see note 2, Page
2-98
x10 No function
x11 No function
x12 No function
x13 No function
x14 Deactivation of the master encoder for the synchronous system
x15 Suppression of positive counting pulses of the master encoder for the synchronous
system. Only negative counting pulses of the master are active
x16 Suppression of negative counting pulses of the master encoder for the synchronous
system. Only positive counting pulses of the master are active
x17 Inversion of the counting pulses of the master encoder
x18 Reserved N/A
x19 Acknowledge error state (see note 5, Page 2-99)
x20 Reserved N/A
0xx NO contact trips the selected function (see note 4, Page 2-99)
1xx NC contact trips the selected function (see note 4, Page 2-99)

NOTE:
The binary input PS3 must not be triggered during execution of a test mode of operation
(see parameter 2A).
◊ Value range: see Table Default Europe: 6
Default USA: 106

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 Group 9 – Binary Inputs/Outputs Parameter Description

NOTES ON PARAMETERS 98–9B:

Note 1 – Changing the customer parameter sets:

The UD 7000 features three equivalent parameter sets. Entered parameters and the results
of measurements in the test mode are always only ever stored in the active parameter set
(parameter E9 – Customer parameter set). Set 1 is active by default.
The active parameter set can be changed over either with the parameter E9 – Customer
parameter set or with the aid of binary inputs. To this end, one of the binary inputs R/J,
PS1–PS3 must be programmed to the corresponding function (see parameters 98–9B). Pa-
rameter sets can only be changed over in the stop state.
As one parameter set will be adequate for the majority of applications, it is possible to use
the second or third one to back up the optimized settings. For further information, refer to
the description of the parameters E9 – Customer parameter set and EA – Application-
dependent defaults in Section 8.14 of this parameter description.
The parameter sets may contain diverse applications (parameter 2C). If, in the event of a
parameter set change-over, the unit detects that the new set contains a different applica-
tion, the inverter is restarted directly after the set change-over in order to adapt the inverter
environment.
If the change in the parameter set also results in a change in the motor data, the application
ATTENTION! number or other important motor quantities (stator and rotor resistance or controller param-
eters etc.), this may lead to a situation in which the inverter loses control of the motor. This
is why a safety function is integrated (parameter 8B) which deactivates the inverter output
stages in any case after a stop command once a certain time has elapsed.

Programming example: Switch-over of the set of parameters via 2 control inputs

It is recommended to adjust the actual set of parameters to the demands first and, if re-
HINT! quired, to switch from set of parameters 1 to set of parameters 2 and so on with the param-
eter E9 (do not use control inputs R/J, PS 1, PS 2, PS 3).
Only when all parameters in all needed set of parameters are set, the switch-over of the set
of parameters with the control inputs R/J, PS 1, PS 2, PS 3 can be done according to the
programming example of the following list.
2 of the 4 control inputs are needed for the call-up of the set of parameters (example R/J
and PS 1):

Terminal R/J Parameter 98 Klemme PS1 Parameter 99 Choice of set

of parameters
active-high 2 inactive 3 1
inactive 2 active-high 3 2
active-high 2 active-high 3 3

With smaller parameter differences between the single set of parameters, set 1 for example
can be copied with parameter E9 (code 12) to set 2.
A changement on the binary inputs regarding the switch-over of sets of parameters is only
passed on after 800 ms. This makes it possible to switch over from set 3 (both inputs active)
to “no changement” (both inputs inactive) even with a slow control hardware without set 1
or set 2 being recognized.

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Parameter Description Group 9 – Binary Inputs/Outputs

Programming example: Switch-over of 2 sets of parameters via 1 control input

In this example, the binary input R/J is described. However this can be applied to any binary
input. The actual set of parameters has to be set of parameter 1.

Terminal R/J Parameter 98 Set of parameters 1 Set of parameters 2

inactive 3 active
active-high 102 active

Course of the parameterisation, departing from the actual set of parameters 1:

• open input R/J (separate +24 V from input R/J).
• set parameter 98 to 3 (for set of parameter 1).
• close input R/J (wire the input with +24 V).
• set parameter 98 to102 (for set of parameters 2).

Display of the active parameter set

In the “stop state”, the active parameter set is shown in the standard display 1:

REM Stop Set: 2

Set 23.45 Hz 0%

When the parameters are displayed, the active parameter set is recognizable by the char-
acter between the parameter number and the value.

PARAMETER SET CHARACTER

1 :
2 =
3 #

EXAMPLE:

... in customer ... in set 2 ... in set 3

parameter set 1
Maximum frequency Maximum frequency Maximum frequency
PROG 23: 100.0 Hz PROG 23= 100.0 Hz PROG 23# 100.0 Hz

The active parameter set is also correspondingly recognizable in standard display 2 (exam-
ple with parameter set 2 active):

VIEW D5= 88.5 %

VIEW 9= 45.6 Hz

Note 2 – Zero pulse search:

This function is required for the “Electronic gearbox” application if the master setpoint has
been specified using an encoder channel (see parameter 2A – Test mode).

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 Group 9 – Binary Inputs/Outputs Parameter Description

Note 3 – Saving of parameter 33:

The respectively reached value in parameter 33 is retained both in the STOP state and also
on deactivation of the line.

Note 4 – Contact type:

The inputs are operated by means of switching contacts in conjunction with a certain refer-
ence potential. Whether the contact must be open or closed in order to trip the desired func-
tion is defined individually for the inputs R/J, PS1, PS2 and PS3 (the inputs FWD and REV
can be activated only by closing of the contact). The reference potential is selected jointly
for the inputs FWD, REV, R/J, PS1, PS2 and PS3 by means of parameter 9F, i.e. all con-
tacts must be connected to the same reference potential.

Note 5 – Acknowledge error state:

An error state can be acknowledged through this input (see Chapter 8.17, “Error States”).

Note 6 – Activation of LOCAL mode:

If you switch over from LOCAL mode to REMOTE mode (see also parameter 9B – PS3 in-
ATTENTION! put function selection), a Start command applied to the terminals is processed immedi-
ately if the motor is started. This may lead to death, injury or damage to equipment and in-
stallations.

General note:

When several inputs are programmed to the same function, only the first of the applicable
HINT! inputs is evaluated in the order R/J, PS1, PS2 and PS3. An input must be connected to the
active level for at least 64 ms in order to ensure reliable activation of the selected function.

9C – Status of binary inputs (read-only) SL / FO / SLV / EC

The current level of the logical input signal is displayed. If SIO mode is not programmed
(parameter 29 – Control mode), these signals are generated from the levels of the device
terminals, paying attention to the parameter 9F – High/Low active binary input selection.
If SIO mode is programmed, the virtual terminals that are operable using the serial interface
are used for this purpose (parameter AD – Inverter control commands in SIO mode).
The display is hexadecimal. Conversion to binary notation is illustrated with reference to the
following example:

0063

Display Hex 0 0 6 3
Binary Bin 0 0 0 0 0 0 0 0 0 1 1 0 0 0 1 1
Bit No. 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Not used

PS3
PS2
PS1
FWD

R/J
REV

Acknowledge error

Function Bits 15-8 are reserved for

representing internal program
information

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Parameter Description Group 9 – Binary Inputs/Outputs

Each bit has the same significance as the physical terminal of the same name in SIO mode.
One exception is bit 3 “Acknowledge error” since there is no corresponding terminal on the
inverter. This bit allows error messages pending on the unit to be acknowledged, as with
keys PROG, SHIFT resp. ENTER on the display and operator-control unit (ABE).
◊ Value range: 0–FFFFH

9D – Status of binary outputs (read-only) SL / FO / SLV / EC

The current level of the physical output signals is displayed. When the output ST4 is pro-
grammed to “Frequency output” (parameter 95), the corresponding bit is set to a fixed val-
ue.
The display is hexadecimal. Conversion to binary notation is illustrated with reference to the
following example:

00F9

Display Hex 0 0 F 9
Binary Bin 0 0 0 0 0 0 0 0 1 1 1 1 1 0 0 1
Bit No. 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Fan
Not used
REL
ST4
ST3
ST2
ST1
Binary inputs High-active (parameter 9F)
Function Bits 15-8 are reserved for
representing internal program
information

◊ Value range: 0–FFFFH

9F – High/Low active binary input selection SL / FO / SLV / EC

0 Active low Switches must be connected to COM, internal pull-up resistor

1 Active high Switches must be connected to +24 V, internal pull-down resistor

Change-over takes place jointly for the inputs FWD, REV, R/F, PS1–PS3. Active high is se-
lected if the switches are connected between the inputs and +24 Volt; Active low is selected
if switches are connected to COM. Pull-up and pull-down resistors produce a defined po-
tential at the terminals when the switch is open.
In the case of inputs R/J, PS1–PS3, it is possible to additionally select whether the desired
function is tripped when the switch is opened or closed.
◊ Value range: see Table Default: 1

Parameter Description 25.04.03

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 Group A – Analog Outputs/SIO Parameter Description

8.10 Group A – Analog Outputs/SIO

A1 – Analog output MET1 selection SL / FO / SLV / EC – OE

The following table applies to parameter A1 and A2.

MEANING REMARK
x0 Actual value 1 from standard display 2 re- Maximum value of parameter A6 ***)
ferred to parameter A6
x1 Output frequency f/fmax Maximum value fmax (parameter 23)
x2 Output voltage V/Vn Maximum value 100%
x3 Output current I/In Maximum value 200%
x4 Output torque T/Tn Maximum value 200%
x5 Output power P/Pn Maximum value 200%
x6 Line voltage Vline Maximum value 820 V
x7 DC link voltage VDC link Maximum value 820 V
x8 Field-generating current Id/In Maximum value 500%
x9 Torque-generating current Iq/In Maximum value 500%
0x Output 0–10 V *) MET 1
1x Output ±10 V MET 1
0x Output 0–10 V **) MET 2
**)
1x Output 0–20 mA MET 2
20 Inactive 0 V is output at the analog output
21 Reserved N/A See Application description

NOTES:
*) Negative values are output as an amount.
**) Negative values are output as Zero.
***) Each read-only parameter may be transferred to the standard display 2. The required
read-only parameter must be selected for this purpose. Pressing keyboard short-cut
SHIFT + ENTER (press key SHIFT first, hold it then press key ENTER) transfers the
parameter to the upper position of the standard display 2. This shifts the parameter
which was previously in the upper position to the lower position. The settings of
standard display 2 are stored automatically in power-failsafe manner. An example is
given for the parameter A6.
◊ Value range: see Table Default: 1

A2 – Analog output MET2 selection SL / FO / SLV / EC – OE

See parameter A1.

◊ Value range: see table under parameter A1 Default: 4

A3 – MET1 factor SL / FO / SLV / EC – OE

Scaling of the display output 1.
This parameter defines the amount of the maximum value of the display quantity for which
10 V is output at the “analog output 1”.

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Parameter Description Group A – Analog Outputs/SIO

For example, if the inverter output current is displayed and this parameter is set to 50%, 10
V is output when the rated current is reached.

◊ Value range: 10.0–100.0% Default: 100.0%

A4 – MET2 factor SL / FO / SLV / EC – OE

The same description as under parameter A3 applies analogously here.

◊ Value range: 10.0–100.0% Default: 100.0%

A5 – MET2 offset SL / FO / SLV / EC – OE

Calibration of the offset of display output 2.
The parameters define the amount of the maximum value of the display quantity for which
0 V and 10 V (or 0 mA and 20 mA) are output at the “analog output 2”.

◊ Value range: 0.0–100.0% Default: 0.0%

A6 – Reference value for the analog output OE

Setting of the displayed maximum value of analogue outputs MET1/MET2 if parameter A1

or A2 is set to value x0 “Actual value 1 from standard display 2”.

required maximum value 150%

Reference value = -------------------------------------------------------------------------------------------------- e.g. 1500 = ---------------
resolution of the parameter to display 0.1%
EXAMPLE:
The actual value of the rotor frequency fact. (parameter 09) should be output signed at an-
alogue input MET1. The required displayed maximum value should be 50 Hz:

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 Group A – Analog Outputs/SIO Parameter Description

Select parameter 09 (read-only parameter). First press key SHIFT, keep it pressed and
then press key ENTER in order to display the actual frequency on the “standard display 2”.
Enter value 10 in parameter A1. Enter value “500” in parameter A6 for the required dis-
played maximum value of 50 Hz since fact. is displayed with a resolution of 0.1 Hz (see for-
mula). You can define whether the value to be output is also to be smoothed with parameter
A7 – Filtering time constant of displayed values in parameter group 0.
◊ Value range: 0–32766 Default: 500

A7 – Filtering time constant of displayed values in parameter group 0 SL / FO / SLV / EC – OE

This parameter can be used to adapt the smoothing time constant of the display values in
parameter group 0 (MET1/MET2 outputs). The longer a time is selected for this, the more
stable will be the display of the value shown.
The parameter A7 is also important for a special function of the control outputs. See the
description of parameter 8D – Reference value for load-dependent switching of control
outputs.
The value is represented exponentially in the form 2x ms.
◊ Value range: 0–15 Default: 6 (corresponds to 26 = 64 ms

A8 – Baud rate SIO selection SL / FO / SLV / EC – OE

This parameter should be entered before commissioning the serial interface (SIO) to en-
HINT! sure communication between the inverter and control.

x0 110 baud
x1 1200 baud
x2 2400 baud
x3 4800 baud
x4 9600 baud
x5 14400 baud
x6 19200 baud
x7 38400 baud
x8 57600 baud
x9 115200 baud
1x Same as x0, x1, x2, but only read operation allowed

NOTE: a change in this parameter value does not take effect until after the next power-on.
See also description: “UD 7000 – serial interface”.
◊ Value range: see Table Default: 4

A9 – Slave address of the inverter for SIO operation SL / FO / SLV / EC

For control through the serial interface, one of the addresses (0–31) must be assigned to
each of the maximum number of 32 inverters.
Refer also to the description: “UD 7000 – serial interface”.
◊ Value range: 0–31 Default: 0

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Parameter Description Group A – Analog Outputs/SIO

AA – SIO protocol SL / FO / SLV / EC

This parameter should be entered before commissioning the SIO to ensure communication
HINT! between the inverter and control. The change in the parameter value does not take effect
until after the next power-on.

0 7E1 (7 data bits, even parity, 1 stop bit)

1 8N1 (8 data bits, no parity, 1 stop bit)

See also description: “UD 7000 – serial interface”.

◊ Value range: see Table Default: 1

AB – SIO operation time-out SL / FO / SLV / EC

Monitoring function (Watchdog function) for SIO communication. Each telegram received
sets the watchdog counter to zero. If the counter reaches the value programmed at this
point, error message “SIO timeout” is triggered.
The value 0 has the meaning: “No time-out monitoring”.
See also description: “UD 7000 – serial interface”.
◊ Value range: 0–60 s Default: 0 s

AC – SIO operation error messages (read-only) SL / FO / SLV / EC

See also description: “UD 7000 – serial interface”.
The display is in hexadecimal notation. Conversion to the binary notation is illustrated with
reference to the following example:

80

Display Hex 8 0
Binary Bin 1 0 0 0 0 0 0 0
Bit No. 7 6 5 4 3 2 1 0
Invalid write attempt (read only)
Unknown parameter

Inverter is busy
Invalid checksum
Reserved
Value range exceeded

Time-out
Not used

Function

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 Group B – Speed Controller Parameter Description

EXAMPLE:
An 80 (hexadecimal value) is shown on the display. Determine the binary value using a
pocket calculator which can convert hexadecimal values to binary values or with a table
(see conversion table on Page 2-123 of this description). A “0” or a “1” must now be inserted
for each error message (bits 7–0) in the order shown in the table above (starting from the
left). Digit “0” corresponds to “no error occurred” and digit “1” corresponds to “error oc-
curred”. The binary number in this example “1000 0000” (the “1” at the 1st position from the
left (bit 7) stands for error message “Value range exceeded” (see table above). This means
that this error has occurred in SIO mode.
◊ Value range: 0–FFH

AD – Inverter control commands in SIO mode SL / FO / SLV / EC – SC

This parameter provides virtual terminals with which the inverter can be controlled in SIO
mode. In the SIO mode, each bit has the same function as a physical terminal.
See also description: “UD 7000 – serial interface”.
The display is shown in hexadecimal notation. Conversion to binary notation is shown by
way of the following example and explained analogously for parameter 97 (Page 2-92).

12

Display Hex 1 2
Binary Bin 0 0 0 1 0 0 1 0
Bit No. 7 6 5 4 3 2 1 0
Not used
Not used
PS3
PS2
PS1
FWD

JOG
REV

Function

◊ Value range: 0–FFH Default: 0

8.11 Group B – Speed Controller

Group barred in the case of sensorless and V/f-controlled mode.

HINT!

B1 – Speed controller gain FO / SLV / EC – OE

See description under parameter B2.

◊ Value range: 0–10000 Default: 100
◊ Value range SLV2: 0–10000 Default: 20

B2 – Reset time of speed controller FO / SLV / EC – OE

A PI controller is implemented as the speed controller. The speed controller computes the
torque needed to reach the speed setpoint. The calculations are done with the frequency
instead of the speed.

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Parameter Description Group B – Speed Controller

Parameter B1 is the P component (P gain). Increasing this parameter increases the gain.
Parameter B2 is the I component (integral-action time resp. reciprocal of the I gain). In-
creasing it prolongs the integral-action time, i.e. the controller operates more slowly.

fset – Rotation frequency setpoint.

fact. – Rated rotation frequency.
Tset – Torque setpoint.
Tact. – Rated motor torque.
The parameter 72 – Ramp function selection should be programmed to “Ramp function
HINT! off” for highly dynamic applications. For SLV2 applications, it is advisable to use short
ramps without an S shape.
◊ Value range: 1–30000 ms Default: 500 ms

B3 – Speed controller gain boosting factor FO / SLV / EC – OE

The functions of these two parameters are explained under parameter B4 by means of a
graphic.
◊ Value range: 1.0–5.0 Default: 1.1

B4 – Speed controller gain boosting end frequency FO / SLV / EC – OE

To be able to balance out disturbances more dynamically in the lower speed range, the con-
troller gain can be boosted in this range. Below the frequency value defined by the param-
eter B4, the controller gain is boosted, rising in linear fashion up to speed Zero. Attention
must be paid to the fact that the motor is subjected to a higher thermal load as the result of
boosting of the controller gain. It is therefore advisable to observe the temperature devel-
opment after boosting the gain.
The speed controller p-gain is boosted in the lower speed range from a frequency of 0 Hz
up to this frequency.

NOTES: in SLV2 applications in the field attenuation range, the parameter B4 can be pro-
grammed to the same value as the knee frequency in order to operate with lower gains in
the field attenuation range.
In V/Hz-controlled operation, this parameter is not visible.
◊ Value range: 0.0–100.0 Hz Default: 0.0 Hz

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 Group B – Speed Controller Parameter Description

B5 – Holding control FO / EC
Holding control is activated and deactivated.
Holding control serves the purpose of drift-free holding of positions, particularly at low
speeds or at Zero speed in speed-controlled mode, regardless of the applicable load
torque.

0 Off
1 On

NOTE: this parameter is not visible during SLV2 and V/Hz-controlled operation.
◊ Value range: see Table Default: 0

B7 – Specific holding controller following error FO / EC – OE

This parameter is active in the following modes of operation:

• Speed control with activated holding control for the holding controller.
• Electronic gearbox for the angle controller.
• Brushless servo inverter.

Holding control

Angle control

Brushless servo inverter running

kp – Specific following error in revolutions/Hz.

Pilot control serves to reduce the following error in the event of abrupt setpoint changes. If
the holding control is to be used mainly to apply holding torques, kp can remain at Zero. A
value around 100% should be selected for an undelayed reaction to abrupt setpoint chang-
es.

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Parameter Description Group B – Speed Controller

NOTE: this parameter is not visible in the SLV2 and the V/Hz-controlled modes.
◊ Value range: 0.001–32.000% Default: 0.100%

B8 – Specific position control reset time FO / EC

This parameter adds an integral component to the position control whenever required. This
is generally only needed for exact adjustment of target positions.
It is specified in the form 2x, i.e.:

tN tN tN tN
1 → ----- = 2 ; 2 → ----- = 4 ; 3 → ----- = 8 ; ... , 15 → ----- = 32768
tA tA tA tA

The parameter value Zero switches off the integral component.

A position controller with an integral component tends to oscillate. This parameter should
ATTENTION! therefore preferably be set to Zero or 15 (215 = 32768) to either deactivate the function or
to operate with a very long reset time. Other values should only be selected if urgently
called for by the application.
NOTE: this parameter is not visible in the SLV2 and in the V/Hz-controlled modes.
◊ Value range: 0–15 Default: 0

BA – Resolver pole pair number FO / EC

Only when the resolver option is fitted.
Pole pair number of the resolver used.
The correctness of the entry can be checked in the parameter BB – Motor shaft angle.
NOTE: this parameter is not visible in the SLV2 mode.
◊ Value range: 1–20 Default: 1

BB – Motor shaft angle (read-only) FO / EC

Display of the motor shaft angle from 0–360°. The measured angle, the correctness of the
entries in the parameter BA – Resolver pole pair number and parameter BD – Angle sen-
sor direction of rotation can be checked with reference to this display. In the case of a
positive direction of rotation of the motor, the angle per revolution is counted once upwards
from 0–360°.
NOTE: this parameter is not visible in the SLV2 and in the V/Hz-controlled modes.

BC – Angle sensor installation offset FO / EC

It is imperative to determine the correct value of this parameter for EC motors if installation
is not aligned.
It is sufficient to determine the offset once after installation. There are two possibilities of
doing this:
1. Manual measurement and entry of the value in the parameter.

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 Group C – Stepper Control Parameter Description

2. Determination by the inverter by setting the parameter 2A – Test mode to the “Deter-
mine installation offset” function. In this case, the value is entered automatically and per-
manently after completion of the measurement. The parameter 2A – Test mode can
then be set back to “normal operation” when using an absolute value sensor (e.g. a re-
solver with the suitable pole pair number). When using an encoder, it is generally nec-
essary to determine the value after every power-on.
NOTE: this parameter is not visible in the SLV2 and in the V/Hz-controlled modes.
◊ Value range: 8000–7FFFH Default: 0000H

BD – Angle sensor direction of rotation FO / EC

It is imperative to determine the correct direction of rotation if installation is not aligned.
It is sufficient to determine the direction of rotation once after installation.
There are two possibilities of doing this:
1. Manual determination and entry of the value in the parameter.
2. Determination by the inverter by setting the parameter 2A – Test mode to the “Deter-
mine installation offset” function. In this case, the direction of rotation is automatically
entered permanently after termination of the measurement and together with the instal-
lation offset. The parameter 2A – Test mode can then be set back to “normal operation”.

0 Angle sensor rotating in the same direction as the motor

1 Angle sensor rotating in the opposite direction to the motor

The entry can be checked in the parameter BB – Motor shaft angle.

NOTE: this parameter is not visible in the SLV2 and in the V/Hz-controlled modes.
◊ Value range: see Table Default: 0

BE – Number of encoder lines FO / EC

Only when the encoder option is fitted.

Number of lines of the encoder used for speed or position feedback.
For the “Electronic gearbox” application, the number of lines of the master encoder must be
programmed in the parameter 36 – Pulse number of LIM input.
NOTE: this parameter is not visible in the SLV2 and in the V/Hz-controlled modes.
◊ Value range: 1–16384 Default: 1024

BF – Resolver measured angle (read-only) FO / EC

This parameter indicates the measured angle of the resolver evaluation electronics. It is dis-
played in hexadecimal notation in 0–FFFFH increments within one resolver pole division.
Examples:
Resolver pole pair number: 1, display 8000H ⇒ motor shaft angle: 180°.
Resolver pole pair number: 2, display C000H ⇒ motor shaft angle: 135°.
NOTE: this parameter is not visible in the SLV2 and in the V/Hz-controlled modes.

8.12 Group C – Stepper Control

The Berges inverter UD 7000 features a simple step-by-step control allowing simple func-
tion sequences to be implemented by the inverter itself as a function of programmable
boundary conditions (e.g. as a function of the status of the binary inputs).

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Parameter Description Group D – Options

The step-by-step control is a special application and is thus not described in greater detail
in this Manual.

C2 – Enable step-by-step control application

This parameter activates/deactivates step-by-step control.

0 No enable (normal mode)

1 Enable step-by-step control

◊ Value range: see Table Default: 0

NOTE: if step-by-step control is enabled, other parameters are shown in group C. These
parameters are not documented in this Manual. An application description for step-by-step
control is available on request.

8.13 Group D – Options

D1 – Option number (read-only) SL / FO / SLV / EC

This parameter contains the number of the option board detected by the inverter. The op-
tion is detected automatically when the unit starts.

3 Option Resolver evaluation

7 Option 2-channel encoder evaluation with Sub-D connectors
11 Option 2-channel encoder evaluation with screw terminals
25 No option

NOTE: the options “Optical waveguide” and “I/O extension” do not appear in this parame-
ter.

D2 – Zero pulse search frequency FO / EC

This parameter defines the frequency that is used when programming the “Zero pulse
search” test mode (parameter 2A) for this function.
NOTE: the parameter is displayed only if an application with rotational speed feedback is
selected and an encoder option card is detected.
◊ Value range: 0.1–100.0 Hz Default: 0.5 Hz

D3 – Zero angle FO / EC
This parameter defines the angle that is assigned to the position of the front edge of an en-
coder's Zero pulse. Therefore, when using a position control, e.g. the “Electronic gearbox”
application, the Zero point of the reference system can be defined.
NOTE: the parameter is displayed only if an application with rotational speed feedback is
selected and an encoder option card is detected.
◊ Value range: –180.0–180.0° Default: 0.0°

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 Group E – Service Data II Parameter Description

D4 – Total stray factor σ (read-only) SLV

The total leakage factor σ is used by the inverter in the SLV2 model. It is computed from
the parameter F7 – Main reactance Xh and the parameter F5 – Leakage reactance Xσ. If
the total leakage factor s for the motor used is known and the value for the magnetising re-
actance Xh is adapted (see Section 6.8, “Commissioning an SLV Application”), it is possible
to select the correct total leakage factor σ by correcting parameter F5 – Leakage reactance
Xσ.
◊ Resolution: 0.01% Default: –

D5 – Actual value of the field-generating current component id (read-only) SL / FO / SLV / EC

In the field-orientated coordinate system, id is the field-generating current component. The

ratio id/Id,nom thus describes the degree of magnetisation of the motor.
◊ Resolution: 0.01% Default: –

D6 – Actual value of the torque-generating current component iq (read-only) SL / FO / SLV / EC

In the field-orientated coordinate system, iq is the torque-generating current component.
The ratio iq/Iq,nom describes the load utilisation of the motor. With field attenuation, the ratio
iq/Iq,nom = 100% at nominal motor load.
◊ Resolution: 0.01% Default: –

D7 – Setpoint of the torque-generating current component iq,set (read-only) SL / FO / SLV / EC

Percentage setpoint of the torque-generating current component (referred to the nominal

working point of the machine).
◊ Resolution: 0.01% Default: –

D8–DF – (application-dependent)

Parameters D8–DF are application-dependent parameters. Only if an application (parame-

ter 2C) uses one of these parameters do you receive a parameter name, factory default set-
tings and inputs limits. These parameters are described only in the corresponding applica-
tion descriptions.

8.14 Group E – Service Data II

E1 – Realised acceleration time (read-only) SL

E2 – Realised deceleration time (read-only) SL

Display of the times measuring during the last acceleration or deceleration operations. After
power-on, the values of ramp set 1 are displayed.
NOTE: these parameters are not displayed when operating with speed control.

E3 – Frequency factor (read-only) SL / FO / SLV / EC

This parameter defines a factor in percentage by which the frequency setpoint is multiplied.
This read-only parameter is identical with parameter 33 and creates the possibility of adopt-
ing the frequency factor in the standard display 2.

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Parameter Description Group E – Service Data II

E4 – Software version (read-only) SL / FO / SLV / EC

Version number of the device software. The number consists of a version number and a
subnumber (e.g. 19.00). The complete version number is also contained in the start display,
which is shown on the display every time the inverter is activated.
◊ Value range: 0.00–327.99

E5 – Lifetime (read-only) SL / FO / SLV / EC

Display of the unit's running time in hours.

E6 – On time (read-only) SL / FO / SLV / EC

Display of the time since the last power-on in hours.

E7 – Enabling time (read-only) SL / FO / SLV / EC

Amount of the lifetime during which the power output stage was enabled (start) in hours.

E8 – Inverter status (read-only) SL / FO / SLV / EC

Binary affiliation of the inverter status:

The display is in hexadecimal notation. The display is explained by way of the following ex-
ample.

1007

Display Hex 1 0 0 7
Binary Bin 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 1
Bit No. 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Load limit

Nominal direction of rotation, left (reverse)

Inverter operating on the DC bus
Field build-up time running

Trap motor

Output stage enabled

SIO mode
REMOTE mode
LOCAL mode

Slow-down
Start-up

Jog mode
DC brake
Test mode active

ST (1)
BB (2)
Function

(1) ST – Start command issued (FWD or REV).

(2) BB – Inverter ready (no error).

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 Group E – Service Data II Parameter Description

EXAMPLE:
A 1007 (hexadecimal value) is shown on the display. Determine the binary value with the
aid of a pocket calculator which can convert hexadecimal numerical values to binary values
or with a table (see conversion table on Page 2-123 of this description). Now enter a “0” or
a “1” for each display option (bit 15 to bit 0) in the order shown in the table above (starting
from the left). Digit “0” corresponds to “function not activated” and digit “1” corresponds to
“function activated”. The binary number in this example “0001 0000 0000 0111” (the “1” at
4th position from the left stands for function “REMOTE mode”, at 14th position stands for
“Output stage enabled”, at 15th position stands for “ST” and at 16th position stands for “BB”
(see the table above). The means that the inverter is in REMOTE mode, the output stages
are activated, a Start command has been issued and the inverter is running trouble-free.
◊ Value range: 0–FFFFH

E9 – Customer parameter set SL / FO / SLV / EC

This parameter contains the number of the current parameter set (1, 2 or 3). Parameters
are always stored in the displayed parameter set in input mode. The parameter set is
changed after input of the changed number. Change-over by means of parameter input is
possible in stop condition only.
This parameter also permits copying of customer parameter sets into each other (1, 2 or 3).

1 Customer parameter set 1

2 Customer parameter set 2
3 Customer parameter set 3
12 Copy the customer parameter set 1 ⇒ 2
13 Copy the customer parameter set 1 ⇒ 3
21 Copy the customer parameter set 2 ⇒ 1
23 Copy the customer parameter set 2 ⇒ 3
31 Copy the customer parameter set 3 ⇒ 1
32 Copy the customer parameter set 3 ⇒ 2

◊ Value range: see Table Default: 1

EXAMPLE:
The inverter is running with the current parameter set 1. You would like to change some
parameters in order to optimise the system. To do this it is necessary to select function 12
or 13. The parameters of customer parameter set 1 are then copied to parameter set 2 or
3. The required changes can now be made by selection of parameter set 2 or 3. If these
changes should not improve the interaction of inverter/motor, then operation is guaranteed
again by simply selecting parameter set 1.
NOTE: the parameter set can also be changed by means of binary inputs. For this purpose
it is necessary to program one of the binary inputs R/J, PS1–PS3 to the corresponding func-
tion in each case (see also parameter 98–9B). The following points must be observed:
• Evaluation of the binary inputs takes place statically.
• Change-over by means of binary inputs is also possible only in stop condition.
• A parameter input (set change) does not have any effect if such a binary input is active.
• The last active parameter set is loaded automatically when the system is switched on
again after line power off.
The parameter sets may contain diverse applications (parameter 2C). If, in the event of a
parameter set change-over, the unit detects that the new set contains a different applica-
tion, the inverter is restarted directly after the set change-over in order to adapt the inverter
environment.

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Parameter Description Group E – Service Data II

If the change in the parameter set also results in a change in the motor data, the application
ATTENTION! number or other important motor quantities (stator and rotor resistance or controller param-
eters etc.), this may lead to a situation in which the inverter loses control of the motor. This
is why a safety function is integrated (parameter 8B) which deactivates the inverter output
stages in any case after a stop command once a certain time has elapsed.

EA – Application-dependent defaults SL / FO / SLV / EC

The customer parameter sets are loaded with default values. Settings for Europe and the
USA are possible as default values. The settings for Europe and the USA are required to
permit adaptation to the respective network conditions and usual motor series.
The parameters are reset the next time the unit is switched on. After loading of the default
values, this parameter is set automatically to zero. In addition, the step control parameters
C4–CB can be reset.
The UD 7000 features a wide variety of special applications offering solutions to special
ATTENTION! problems of drive engineering. Our Sales Division will be more than willing to inform you of
applications available for the UD 7000. Never activate an application for which you do not
have an application description. All functions described in this Manual apply only to the ap-
plications listed in this Manual.

PRESETTINGS FOR EUROPE (400 V/50 HZ)

0 No function
1 Customer parameter sets 1, 2 and 3 are loaded with Europe default values at the
next start
3 Customer parameter set 1 is loaded with Europe default values at the next start
4 Customer parameter set 2 is loaded with Europe default values at the next start
5 Customer parameter set 3 is loaded with Europe default values at the next start
6 Step control C4–CB is cleared at the next start
50 Customer parameter set 1 is loaded with Europe presettings for application 50 (sen-
sorless speed control SLV2)
51 Customer parameter set 1 is loaded with Europe presettings for application 51 (sen-
sorless torque control SLV2)

PRESETTINGS FOR USA (460 V/60 HZ)

0 No function
-1 Customer parameter sets 1, 2 and 3 are loaded with USA default values at the next
start
-3 Customer parameter set 1 is loaded with USA default values at the next start
-4 Customer parameter set 2 is loaded with USA default values at the next start
-5 Customer parameter set 3 is loaded with USA default values at the next start
6 Step control C4–CB is cleared at the next start
-50 Customer parameter set 1 is loaded with USA presettings for application 50 (sen-
sorless speed control SLV2)
-51 Customer parameter set 1 is loaded with USA presettings for application 51 (sen-
sorless torque control SLV2)

◊ Value range: see Table Default: 0

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 Group F – Service Data III Parameter Description

EB – Inverter status 2 (read-only) SL / FO / SLV / EC

Binary affiliation of the inverter status.
The display is shown in hexadecimal notation. Conversion to binary notation is shown by
way of the following example and explained analogously with parameter E8.

1007

Display Hex 1 0 0 7
Binary Bin 0 0 0 1 0 0 0 0 0 0 0 0 0 1 1 1
Bit No. 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Braking resistor control

Encoder Zero pulse search running
Xσ measurement running

R1 measurement running

U-DC control active

Drive running
Installation offset determination running

FE (1)
AO (2)
Internal status signals

Load limit (briefly)

Function

(1) FE – Fatal error.

(2) AO – Autostart condition not met.

◊ Value range: 0000H–FFFFH Default: –

EC – Standard display SL / FO / SLV / EC

Display of the number of the current standard display (1 or 2).

The standard display is normally selected in the REMOTE mode with the ▲ and ▼ keys.
Using this parameter, the standard display can also be switched over in the LOCAL mode.
◊ Value range: 1–2 Default: 1

8.15 Group F – Service Data III

F1 – Rated inverter power (read-only) SL / FO / SLV / EC

Display of the inverter's rated power in kW for service purposes.

F2 – Power failure filter SL / FO / SLV / EC – OE

If a line undervoltage occurs, fault 1 “Min. net voltage” is tripped after the time determined
by this parameter has elapsed. The further behaviour of the inverter is determined by pa-
rameter 74 – Power failure response.
◊ Value range: 0.000–20.000 s Default: 0.040 s

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Parameter Description Group F – Service Data III

F3 – Stator resistance R1 SL / FO / SLV / EC

Stator resistance in Ω.
The stator resistance is measured by the inverter after the parameter 2A – Test mode has
been programmed to “Measure stator resistance”. During measurement, a direct current is
impressed. The previous value of the parameter remains unchanged if measurement is un-
successful.
When this parameter is entered and modified, the following parameters are recalculated:
Parameter F5 – Leakage reactance Xσ
Parameter F7 – Main reactance Xh
Parameter F8 – Current controller gain
Parameter F9 – Specific current controller reset time
Only a correct value that matches the motor used guarantees good leakage behaviour of
HINT! the inverter. For example, functioning of the BOOST, speed estimation or control dynamics
depends on this value.
◊ Value range: 0.00–50.00 Ω Default Europe: see Table 8.6
Default USA: see Table 8.7
(see also parameter EA)

F4 – Rotor resistance R2 SL / FO / SLV / EC

Rotor resistance in Ω.
The rotor resistance is measured by the inverter after the parameter 2A – Test mode has
been programmed to “Measure stator resistance and leakage inductance”. The previous
value of the parameter remains unchanged if measurement is unsuccessful.
When this parameter is entered and modified, the following parameters are recalculated:
Parameter F7 – Main reactance Xh
Parameter F8 – Current controller gain
Parameter F9 – Specific current controller reset time
Only a correct value that matches the motor used guarantees good leakage behaviour of
HINT! the inverter. For example, functioning of the BOOST, speed estimation or control dynamics
depends on this value.
◊ Value range: 0.00–50.00 Ω Default Europe: see Table 8.6
Default USA: see Table 8.7
(see also parameter EA)

F5 – Leakage reactance Xσ SL / FO / SLV / EC

Leakage reactance at rated motor frequency (parameter 12) in Ω.
The leakage reactance is measured by the inverter when the parameter 2A – Test mode
is programmed to “Measure stator resistance and leakage inductance”. The previous value
of the parameter remains unchanged if measurement is unsuccessful.
When this parameter is entered and modified, the following parameters are recalculated:
Parameter F7 – Main reactance Xh
Parameter F8 – Current controller gain
Parameter F9 – Specific current controller reset time
Only a correct value that matches the motor used guarantees good leakage behaviour of
HINT! the inverter. For example, functioning of the BOOST, speed estimation or control dynamics
depends on this value.

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 Group F – Service Data III Parameter Description

EUROPE 400 V MOTOR

Pn inverter [kW] 1.5 2.2 3.0 4.0 5.5 7.5 11.0 15.0 18.5 22.0 30.0 37.0 45.0 55.0
R1 [Ω] Parameter F3 6.10 4.00 2.40 1.58 1.10 0.68 0.41 0.29 0.21 0.16 0.11 0.09 0.07 0.05
R2 [Ω] Parameter F4 3.80 2.50 2.00 1.10 0.69 0.50 0.26 0.19 0.14 0.11 0.08 0.06 0.05 0.04
XSigma [Ω] Parameter F5 4.25 3.24 2.59 2.44 1.64 1.16 0.91 0.75 0.53 0.45 0.35 0.29 0.25 0.32
Table 8.6

USA 460 V MOTOR

Pn inverter [kW] 1.5 2.2 3.0 4.0 5.5 7.5 11.0 15.0 18.5 22.0 30.0 37.0 45.0 55.0
R1 [Ω] Parameter F3 3.83 2.36 1.95 1.53 0.67 0.37 0.26 0.21 0.21 0.13 0.09 0.08 0.06 0.05
R2 [Ω] Parameter F4 2.90 1.73 1.42 1.53 0.57 0.34 0.26 0.15 0.15 0.12 0.07 0.06 0.05 0.04
XSigma [Ω] Parameter F5 5.79 4.94 3.88 2.82 2.01 1.85 1.39 0.86 0.85 0.81 0.79 0.62 0.50 0.32
Table 8.7

NOTE:
The default values depend on the power of the inverter.
◊ Value range: 0.00–50.00 Ω Default Europe: see Table 8.6
Default USA: see Table 8.7
(see also parameter EA)

F6 – Rotor time constant setting SL / FO / SLV – OE

This parameter serves to adjust the rotor time constant within the scope of field-oriented
control of an induction motor. The value determined by the inverter on the basis of the mo-
tor's rated data corresponds to 100% (default).
If the manufacturer data or the measured motor data deviates excessively from the real mo-
tor parameters, this may lead to a situation in which the drive does not issue the full torque.
In this case, it may be necessary to adapt this parameter.
NOTE: this parameter is irrelevant when using a brushless servo motor.
◊ Value range: 0.0–250.0% Default: 100.0%

F7 – Main reactance Xh SLV

Main reactance Xh (unit: Ω) of the connected asynchronous motor at nominal motor fre-
quency.
The SLV2 applications use a motor model in which the main reactance Xh from the single-
phase equivalent circuit of the asynchronous motor is included. The main reactance Xh is
computed from the SLV2 model from the values for the stator resistance R1 (parameter
F3), the motor data (parameter group 1) and the measured results from Test mode. A
change of R1, R2, Xσ and the motor parameters (by parameter entry) results in re-compu-
tation of this parameter. If a Test mode is run, this parameter is recomputed only if a meas-
urement of the leakage inductance is also conducted.
This parameter influences the magnetisation current consumption of the machine. Correct
setting of this parameter can be checked with the drive operating by means of parameter
D5. This should be virtually 100% over the entire rotational speed range.
NOTE: this parameter is only display in SLV2 applications.
◊ Value range: 0.00–327.67 Ω Default: 30.00 Ω

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Parameter Description Group F – Service Data III

F8 – Current controller gain FO / SLV / EC – OE

F9 – Specific current controller reset time FO / SLV / EC – OE

The parameter F8 – Current controller gain and the parameter F9 – Specific current
controller reset time have the following meanings:

V x, Set
Gain k p = ---------------
-
∆i

tN
Specific reset time k i = -----  sampling time t A = -------------
1 -
tA  f PWM

One PI controller each for the d and q components is implemented as the current controller.
The current controller calculates the voltage needed to reach the respective current set-
point.

I(n – 1)
V Set = ∆i × k p + -------------------
ki

Vset – Output voltage in the d or q axis.

I (n) – Integral component at the time n.
∆i – System deviation in the d or q axis.
kp – Gain (P factor).
ki – Specific reset time.
NOTES:
Parameters F8 and F9 are dependent on a wide variety of boundary conditions: on the en-
tered nominal motor current, the PWM frequency, the motor parameters determined during
the test run or entered by hand (F3–F7) and, not least, the selected application.
Consequently, these parameters should be optimized manually only if all motor data, the
PWM frequency and the parameters F3 to F7 have been entered correctly and the test run
(parameter 2A) has been performed successfully.
NOTE: these parameters are not displayed in the case of V/f applications.
◊ Value range parameter F8: 0.00–250.00 Ω Default: 1.00 Ω
◊ Value range parameter F9: 10–30000 Default: 50

FA – Dead time compensation SL / FO / SLV / EC – OE

This parameter switches compensation of voltage errors resulting from switching dead
times on/off.
As the voltage emitted by the inverter drops clearly when dead time compensation is off, it
is advisable not to modify the default setting.

0 Off
1 Inverter, SLV2: On; EC/FO: Off
2 On

◊ Value range: see Table Default: 1

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FB – PWM frequency slaving SL / FO / SLV / EC

To improve the running characteristics of the machine at low speeds, the PWM frequency
can be slaved automatically to the frequency setpoint. In this case, increased noise may
occur at low speeds.

0 PWM frequency is not auto-adjust to the output frequency. The value in parameter
79 – PWM frequency is used as the PWM frequency.
1 PWM frequency is auto-adjust to the output frequency. This amounts to 1000 times
the frequency setpoint, but at least 2 kHz, and no more than the value selected in
parameter 79 – PWM frequency.

◊ Value range: see Table Default: 0

FC – Ramp acceleration control (torque) SL

This parameter switches torque-dependent acceleration control of the frequency ramp on/
off. Acceleration control corresponds to dynamic torque limiting (see also parameter 5F –
Gain (VRm), acceleration control (ramp), torque.

0 Off
1 On

NOTE: this parameter is not relevant during operation with speed control and SLV2.
◊ Value range: see Table Default: 1

FD – Torque limiting SL
This parameter allows torque limitation to be activated or deactivated.
In V/f-controlled mode, there is not the option of direct torque limitation (reduction in cur-
rent), as in FO, SLV2 or EC operating mode (application), so that the system establishes a
rotational speed corresponding to the load. In application 0, the rotational speed is reduced
when the torque limit is reached (parameter setting) assuming that the load torque will also
drop as the rotational speed drops.

0 Off
1 On

NOTE: this parameter is not relevant during operation with speed control and SLV2.
◊ Value range: see Table Default: 1

FE – Excitation (read-only) SL / FO / SLV / EC

Display of the current setpoint for the excitation of the motor in percent of its nominal exci-
tation. The value is always 100%. It is not reduced until entry into the field-attenuation
range.
Reference value: nominal excitation of the motor.
NOTE: the “Min.excitation” warning is issued if the field setpoint is controlled down to the
minimum value defined in parameter 6C – Minimum excitation.

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Parameter Description Group 0 – Service Data I

8.16 Group 0 – Service Data I

01 – Output frequency (read-only) SL / FO / SLV / EC

Display of the inverter's output frequency = motor's stator frequency.

◊ Resolution: 0.1 Hz

02 – Output voltage (read-only) SL / FO / SLV / EC

Display of the inverter's output voltage.

Reference variable:
Inverter – Rated voltage of the motor.
EC/FO – Line voltage.
◊ Resolution: 1%

03 – Output current (read-only) SL / FO / SLV / EC

Display of the inverter's output current (rms value).
◊ Resolution: 0.1 A

04 – Output torque (read-only) SL / FO / SLV / EC

Display of the inverter's output torque.

Reference variable: rated torque of the motor.
◊ Resolution: 0.1%

05 – Output power (read-only) SL / FO / SLV / EC

Display of the inverter's output power.

Reference variable: rated power of the motor.
◊ Resolution: 0.1%

06 – Line voltage (read-only) SL / FO / SLV / EC

Display of the line voltage (Rms value of the external line conductor tension).
◊ Resolution: 1 V

07 – DC link voltage (read-only) SL / FO / SLV / EC

Display of the DC link voltage value.

◊ Resolution: 1 V

09 – Actual frequency (read-only) SL / FO / SLV / EC

Display of the actual rotor rotation frequency that has been measured or determined by the
motor model.
◊ Resolution: 0.1 Hz

0A – Heat sink temperature (read-only) SL / FO / SLV / EC

Display of the inverter's heat sink temperature.
◊ Resolution: 1 °C

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 Fehlerzustände Parameter Description

0B – Error 1 (read-only) SL / FO / SLV / EC

0C – Error 2 (read-only) SL / FO / SLV / EC

0D – Error 3 (read-only) SL / FO / SLV / EC

0E – Error 4 (read-only) SL / FO / SLV / EC

0F – Error 5 (read-only) SL / FO / SLV / EC

Display of the error numbers pertaining to the last occurring errors (Error 1: youngest error
in the Error memory; Error 5: oldest error).
Error 0 (Emergency-Stop), 1 (AC Line voltage to low), 10 (DC Bus voltage to low), 11 (Op-
HINT! tion), 12 (Autostop), 13 (SIO timeout) and 15 (I²t monitoring) are not stored in the history.

8.17 Error States

If the PROG, SHIFT or ENTER key is pressed, the message is reset on the ABE (display
HINT! and operator-control unit). Acknowledgement of the error message does not cancel the
cause of the error. Errors may be also still be pending after reset.

8.17.1 Normal Handling of Error States

In certain circumstances, the inverter may assume an error state. The occurrence of such
a state can be reported through relay or transistor outputs (parameters 92–96, setting x01).
The output is activated if an error occurs. When the cause of the error disappears, the error
signalling output becomes inactive with deactivation of drive enabling; the drive is ready for
operation.

8.17.2 Handling of Error States with the “Acknowledge Error State” Function

When a binary input R/J, PS1–PS3 is programmed with the “Acknowledge error state” func-
tion, an error state always continues to exist until the cause of the error has been remedied,
drive enabling has been cancelled and the binary input “Acknowledge error state” is acti-
vated. Thus, in a system with several inverters, it is possible to cancel all drive enabling sig-
nals in the event of a malfunction occurring and to nevertheless locate the defective inverter
through the relay or transistor output.
In the basic state, the binary input must be deactivated as otherwise the inverter cannot be
started. In the event of an error, drive enabling must first be cancelled and only then the
input activated. The binary input should not be cancelled until the error state is no longer
indicated by the inverter.

FAULT MESSAGE DESCRIPTION

NO.
0 Local stop Keypad Stop button has been pushed in the remote mode
1 Min. net voltage AC Line voltage to low
2 Overtemperature Heat sink temperature to high
3 Overcurrent Over current in the output stage
4 Error PWM PWM Fault
5 MOL contact open MOL contact open/Motor temperature to high
6 Overvoltage DC-L DC Bus voltage to high
7 DC-Link failure DC Bus voltage out of limit during power up

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Parameter Description Fehlerzustände

FAULT MESSAGE DESCRIPTION

NO.
8 Speed observer Speed above limit or control error too high (see parameter 8E)
9 Dyn.brake-overld DB duty cycle above limit
10 UndervoltageDC-L DC Bus voltage to low
11 Option The option board is not plug in for the selected application
12 Auto-Stop The auto stop control has been detect
13 SIO-Timeout Series communication is disconnect
14 Position sensor Motor feedback is disconnect
15 I²t-Watch The electronic motor protection has been exceeded
WARNING MESSAGES:
16 Overtemperature Warning: Heat sink temperature to high
17 MOL contact Warning: Motor temperature exceeded
18 Dyn.brake 80% Warning: DB resistor overload
19 Motor synchron. Warning: Speed synchronization in an running motor doesn't work
2
21 I t Warning: The electronic motor protection has been exceeded
22 R1-Measuring Warning: R1 measuring out of limit
23 Overcurrent Warning: Overcurrent limit would been reached
25 Cable cap. The cable capacitor is to high
26 Xs-Measuring Warning: Xσ-Measuring is out of limit
27 Set disconn Warning: In case of setting the parameter 31 to 2 or 5 you get this message if the set-
point is below 2 V/4 mA
28 Sensor off. Warning: The measuring of the mounting offset is fail
29 Zero pulse Warning: No zero pulse is found
30 CAN-Controller No can controller found
31 Min. excitation Warning: Minimum limit of excitation is reached
THE FOLLOWING INTERNAL FAULTS ARE DISPLAYED ONLY AFTER POWER UP:
32 Watchdog reset Watchdog-Fault
33 Ill.trap number Unknown trap-number
34 Ill.Ext.Bus Acc. Unknown external Bus-access
35 Ill.Instr.Access Unknown instruction access
36 Ill.Word Op.Acc. Unknown word access
37 Protection Fault Protection fault
38 Undefined Opcode Undefined op-code
39 Stack Underflow Stack-underflow
40 Stack Overflow Stack-overflow
41 Nonmaskable Int. Nonmaskable interrupt

Parameter Description 25.04.03

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 Hexadecimal to Binary Conversion Annex

9 Annex

9.1 Abbreviations Used

The following abbreviations are used in this parameter description:

OE Parameter can be edited on-line.
SC Parameter can be written in the SIO control mode through the serial interface (see
description “UD 7000 – serial interface”).
SL Parameter is of significance in the version consisting of the standard inverter (Hz/V-
controlled amplifier).
FO Parameter is significant in the version consisting of a field-oriented controller with
feedback.
SLV Sensorless vector control SLV2.
EC Parameter is significant in the version consisting of a brushless servo amplifier.
SIO Serial RS 485 interface.

9.2 Hexadecimal to Binary Conversion

The following table shows the sixteen hexadecimal values and the corresponding binary
values.

Hex Binary
0 0 0 0 0
1 0 0 0 1
2 0 0 1 0
3 0 0 1 1
4 0 1 0 0
5 0 1 0 1
6 0 1 1 0
7 0 1 1 1
8 1 0 0 0
9 1 0 0 1
A 1 0 1 0
B 1 0 1 1
C 1 1 0 0
D 1 1 0 1
E 1 1 1 0
F 1 1 1 1

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Annex Parameter Structure

9.3 Parameter Structure

Figure 9.1

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 Parameter Overview Annex

9.4 Parameter Overview

GROUP 1 – Motor data

NO. DISPLAY DESCRIPTION RESOLUTION PAGE DEFAULT CUSTOMER
11 Nominal voltage Rated voltage [0.1 V] 2-40 400.0
12 Nom. frequency Rated frequency [0.1 Hz] 2-40 50.0
13 Power factor Power factor [0.01] 2-40
14 Nominal speed Rated speed [min-1] 2-41
15 Nominal power Rated power [0.01 kW] 2-41
16 Nominal current Rated current [0.1 A] 2-41

GROUP 2 – Basic data

NO. DISPLAY DESCRIPTION RESOLUTION PAGE DEFAULT CUSTOMER
21 V/Hz knee Knee frequency [0.1 Hz] 2-42 50.0
22 Boost Boost [0.1%] 2-42 100.0
23 Max. frequency Maximum frequency [0.1 Hz] 2-43 50.0
24 Min. frequency Minimum frequency [0.1 Hz] 2-43 0.0
25 Acceleration #1 Acceleration time 1 [0.1 s] 2-43 3.0
26 Deceleration #1 Deceleration time 1 [0.1 s] 2-43 3.0
27 Acceleration #2 Acceleration time 2 [0.1 s] 2-43 5.0
28 Deceleration #2 Deceleration time 2 [0.1 s] 2-43 5.0
29 Control mode Control mode [S-P] 2-43 13
2A Test mode Test mode [S-P] 2-45 101
2B Tuning mode Adjustment mode [S-P] 2-50 0
2C Application Application [S-P] 2-50 0
2D SW-Reset Software reset [S-P] 2-56 0

GROUP 3 – Setpoint selection (display: Setpoint-select)

NO. DISPLAY DESCRIPTION RESOLUTION PAGE DEFAULT CUSTOMER
31 Reference-selec Setpoint selection (frequency setpoint) [S-P] 2-57 0
32 Selection LIM Function of the LIM input [S-P] 2-61 1
33 Ratio frequency Frequency factor [0.01%] 2-62 100.00
34 Fact.LIM analog Scaling factor ALIM for analogue LIM input [0.1%] 2-63 10.0
35 Calibr.LIM digi Calibration digital LIM input with factor DLIM [0.1 Hz/kHz] 2-63 2.0
36 Pulse numberLIM Pulse number of LIM input [1] 2-63 6
37 Dir.master-ref. Direction of rotation, master setpoint [S-P] 2-65 0
38 min Ratio freq. Low frequency factor limit [0.01%] 2-65 0.00
39 max Ratio freq. High frequency factor limit [0.01%] 2-66 105.00
3A F-EXT1 (SIO) External frequency setpoint 1 [0.01 Hz] (1) 2-66 0.00
3B F-EXT2 (SIO) External frequency setpoint 2 [0.01 Hz] (1) 2-66 80.00
3C Time. VIN/CIN Filtering time constant VIN/CIN input [2x ms] 2-66 4
3D Time. LIM Filtering time constant LIM input [2x ms] 2-66 4
3E Pulse no. ST4 Pulse number ST4-output [1] 2-66 10
3F Speed Reference Frequency setpoint on the basis of ramp [0.1 Hz] 2-67 r-o

NOTES:(1)
Various parameters are only available as a function of the current mode.
r-o Read-only parameters are printed in italics and the reference in the tables is abbre-
viated to “r-o”.
[S-P] Selection parameter (for adaptation of the inverter functions).
◊ Value range and default values.

(1) In the “high frequency” application profile: unit [0.1 Hz].

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Annex Parameter Overview

GROUP 4 – Frequencies
NO. DISPLAY DESCRIPTION RESOLUTION PAGE DEFAULT CUSTOMER
41 Preset speed #1 Fixed frequency 1 [0.1 Hz] 2-67 5.0
42 Preset speed #2 Fixed frequency 2 [0.1 Hz] 2-67 20.0
43 Preset speed #3 Fixed frequency 3 [0.1 Hz] 2-67 40.0
44 Preset speed #4 Fixed frequency 4 [0.1 Hz] 2-67 60.0
45 Preset speed #5 Fixed frequency 5 [0.1 Hz] 2-67 0.0
46 Preset speed #6 Fixed frequency 6 [0.1 Hz] 2-67 0.0
47 Skip band Hysteresis band for blocking frequencies [0.1 Hz] 2-69 1.0
48 Skip freq. #1 Blocking frequency 1 [0.1 Hz] 2-69 0.0
49 Skip freq. #2 Blocking frequency 2 [0.1 Hz] 2-69 0.0
4A Skip freq. #3 Blocking frequency 3 [0.1 Hz] 2-69 0.0
4B Skip freq. #4 Blocking frequency 4 [0.1 Hz] 2-69 0.0

GROUP 5 – Torque
NO. DISPLAY DESCRIPTION RESOLUTION PAGE DEFAULT CUSTOMER
51 Select.TLim.MFo Torque limit selection, right rotation, motor operation [S-P] 2-69 0
52 Select.TLim.MRe Torque limit selection, left rotation, motor operation [S-P] 2-69 0
53 Select.TLim.GFo Torque limit selection, right rotation, generator operation [S-P] 2-69 0
54 Select.TLim.GRe Torque limit selection, left rotation, generator operation [S-P] 2-69 0
55 Torque-lim(LIM) Torque factor LIM input [0.1%] 2-70 100.0
56 T-Offset-Acc. Additional acceleration torque [0.1%] 2-70 0.0
57 T-Offset-Dec. Additional deceleration torque [0.1%] 2-70 0.0
58 TLimit-Mot-FWD Torque limit, right rotation, motor operation [0.1%] 2-70 100.0
59 TLimit-Mot-REV Torque limit, left rotation, motor operation [0.1%] 2-70 100.0
5A TLimit-Gen-FWD Torque limit, right rotation, generator operation [0.1%] 2-70 100.0
5B TLimit-Gen-REV Torque limit, left rotation, generator operation [0.1%] 2-70 100.0
5C SIO-Torq.limit External torque limit [0.1%] 2-70 100.0
5D Start torque Starting torque [0.1%] 2-71 130.0
5E Ref.torque(VIN) Torque setpoint factor [0.1%] 2-71 100.0
5F Gain TCtrl-ramp Gain (VRm), acceleration control (ramp), torque [0.1%] 2-71 200.0

GROUP 6 – V/Hz characteristic (display: V/f-char)

NO. DISPLAY DESCRIPTION RESOLUTION PAGE DEFAULT CUSTOMER
61 Autoboost Autoboost [S-P] 2-72 1
62 V-Hz selector V/Hz characteristic selection [S-P] 2-73 3
63 Curr. DC-brake DC brake current [0.1 A] 2-74
64 DC-brake time DC brake time [0.1 s] 2-74 1.0
65 Freq. DC On DC brake switch-on frequency [0.1 Hz] 2-74 0.5
66 Setuptime field Field build-up time [0.1 s] 2-74 0.5
67 V/f-Char. V0 V/Hz characteristic, voltage V0 [0.1 V] 2-75 0.0
68 V/f-Char. V1 V/Hz characteristic, voltage V1 [0.1 V] 2-75 100.0
69 V/f-Char. V2 V/Hz characteristic, voltage V2 [0.1 V] 2-75 150.0
6A V/f-Char. V3 V/Hz characteristic, voltage V3 [0.1 V] 2-75 200.0
6B Max. Voltage Cut-in point of voltage limitation control [0.1%] 2-76 98.0
6C Min.excitation Minimum excitation [0.1%] 2-76 33.0
6D Setup fld.activ Field build-up time activation [S-P] 2-76 1
6E Filt.Time.FWeak Filter field weakening [1 ms] 2-76 100
6F Increments Increment [1] 2-76 1

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GROUP 7 – Inverter functions (display: Inverter funct.)

NO. DISPLAY DESCRIPTION RESOLUTION PAGE DEFAULT CUSTOMER
71 Start/Stop opt. Start and Stop options [S-P] 2-77 0
72 Ramp selector Ramp function selection [S-P] 2-78 0
73 Ramp. smooth Drag time [0.1 s] 2-79 0.1
74 Sel. power fail Power failure response [S-P] 2-79 2
75 Gain UDC-Ctrl. DC link voltage control gain VDC link [0.1%] 2-80 500.0
76 Slip compensat. Slip compensation [S-P] 2-80 0
77 Gain slip-comp. Slip compensation setting [0.1%] 2-81 100.0
78 Language Language [S-P] 2-81 0
79 PWM frequency PWM frequency [0.01 kHz] 2-81 4.50
7A Power Chopp-R Braking resistor power [0.01 kW] 2-81 0.08
7B Sped motpot.Inc Increment motor potentiometer speed [0.1 s] 2-82 10.0
7C Sped motpot.Dec Decrement motor potentiometer speed [0.1 s] 2-82 10.0
7D heating time R Permissible heating time of braking resistor [1 s] 2-83 2
7E brake resistor Connected braking resistor [1 Ω] 2-83 20/75
7F PWM mode Control method [S-P] 2-83 1

GROUP 8 – Protective functions (display: Security funct.)

NO. DISPLAY DESCRIPTION RESOLUTION PAGE DEFAULT CUSTOMER
81 Selector MOL MOL input function selection [S-P] 2-83 2
82 MOL-Input MOL input display [1%] 2-84 r-o
83 Restart Select. Restart after fault definition [Binary] 2-84 0000
84 Number Restart Number of restarts [1] 2-85 0
85 Delay Restart Restart delay [0.1 s] 2-85 10.0
87 Access code Password [1] 2-85 0
88 Therm.timeconst Thermal motor time constant [1 min] 2-85 15
89 I2t-Limit(Warn) I2t warning threshold [0.1%] 2-86 115.0
8A I2t-Limit I2t error threshold [0.1%] 2-86 120.0
8B Max.Ramp.Delay Maximum permissible ramp extension in the event of stop [1%] 2-86 200
8C T.Stop observer Current monitoring time tout for stop ramp [0.1 s] 2-87
8D Refer. ST-Outp. Reference value for load-dependent switching of control outputs [0.1%] 2-88 0.0
8E Watch Speed Selection speed control [1] 2-88 0

GROUP 9 – Binary inputs/outputs (display: Binary In/Outpt)

NO. DISPLAY DESCRIPTION RESOLUTION PAGE DEFAULT CUSTOMER
91 Inputs FWD/REV Function of inputs FWD and REV [S-P] 2-89 1
92 Aux. output #1 Output ST1 function selection [S-P] 2-89 3
93 Aux. output #2 Output ST2 function selection [S-P] 2-89 102
94 Aux. output #3 Output ST3 function selection [S-P] 2-89 10
95 Aux. output #4 Output ST4 function selection [S-P] 2-89 115
96 Auxiliary relay Relay output function selection [S-P] 2-89 101
97 Outp.SIO-Contrl Control of binary outputs through SIO [Binary] 2-92 0
98 Input Run/Jog Run/Jog input function selection [S-P] 2-92 0
99 Input PS1 PS1 input function selection [S-P] 2-93 4
9A Input PS2 PS2 input function selection [S-P] 2-94 1
9B Input PS3 PS3 input function selection [S-P] 2-96 6
9C Status Inputs Status of binary inputs [Binary] 2-99 r-o
9D Status Outputs Status of binary outputs [Binary] 2-100 r-o
9F Inpt.H/L-active High/Low active binary input selection [S-P] 2-100 1

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GROUP A – Analog outputs/SIO (display: Analog Out/SIO)

NO. DISPLAY DESCRIPTION RESOLUTION PAGE DEFAULT CUSTOMER
A1 Meter output #1 Analog output MET1 selection [S-P] 2-101 1
A2 Meter output #2 Analog output MET2 selection [S-P] 2-101 4
A3 Factor Analog1 MET1 factor [0.1%] 2-101 100.0
A4 Factor Analog2 MET2 factor [0.1%] 2-102 100.0
A5 Offset Analog2 MET2 offset [0.1%] 2-102 0.0
A6 Reference MET Reference value for the analog output [1] 2-102 500
A7 FilterTime Gr.0 Filtering time constant of displayed values in parameter group 0 [2x ms] 2-103 6
A8 SIO-Baudrate Baud rate SIO selection [S-P] 2-103 4
A9 SIO-Address Slave address of the inverter for SIO operation [0–31] 2-103 0
AA SIO-Protocol SIO protocol [S-P] 2-104 1
AB SIO-Timeout SIO operation time-out [1 s] 2-104 0
AC SIO-Errors SIO operation error messages [Binary] 2-104 r-o
AD SIO-Commands Inverter control commands in SIO mode [Binary] 2-105 0

GROUP B – Speed controller (display: Speed control)

NO. DISPLAY DESCRIPTION RESOLUTION PAGE DEFAULT CUSTOMER
B1 P-gain Speed controller gain [1] 2-105 100
B2 I-gain Reset time of speed controller [1 ms] 2-105 500
B3 Gain boost Speed controller gain boosting factor [0.1] 2-106 1.1
B4 Maxfreq.gain-b. Speed controller gain boosting end frequency [0.1 Hz] 2-106 0.0
B5 Holding control Holding control [S-P] 2-107 0
B7 Rel.drag.dist. Specific holding controller following error [0.001%] 2-107 0.100
B8 TN pos.cntrl Specific position control reset time [2x] 2-108 0
BA Pole pairs Rslv Resolver pole pair number [1] 2-108 1
BB Angle (mech.) Motor shaft angle [0.1°] 2-108 r-o
BC Off.angle senso Angle sensor installation offset [8000–7FFFH] 2-108 0000
BD Dir.angle senso Angle sensor direction of rotation [S-P] 2-109 0
BE Lines Encoder Number of encoder lines [1] 2-109 1024
BF Angle (Sensor) Resolver measured angle [0–FFFFH] 2-109 r-o

GROUP C – Stepper control (display: Step-control)

NO. DISPLAY DESCRIPTION RESOLUTION PAGE DEFAULT CUSTOMER
C2 Step-control Enabling [S-P] 2-110 0
C3 Input step Step number for parameter input [1] 2-110 0
C4 Condition Input Input condition 2-110 0
C5 Condition Outpt Output condition 2-110 0
C6 Parameter-no. 1 Parameter number 1 [1] 2-110 0
C7 Param. value 1 Parameter value 1 [1] 2-110 0
C8 Parameter-no. 2 Parameter number 2 [1] 2-110 0
C9 Param. value 2 Parameter value 2 [1] 2-110 0
CA Parameter-no. 3 Parameter number 3 [1] 2-110 0
CB Param. value 3 Parameter value 3 [1] 2-110 0
CC Delay time Waiting time [0.001 s] 2-110 0
CD Actual step Current step [1] 2-110 0
CE Mask pin Mask for terminal signals 2-110 0
CF Step-ctrl input Input for terminal signals 2-110 0

Parameter Description 25.04.03

2-128 UD 7000 — 1.5–55.0 07_GB_T2
 Parameter Overview Annex

GROUP D – Options
NR. DISPLAY DESCRIPTION RESOLUTION PAGE DEFAULT CUSTOMER
D1 Option Option number [1] 2-110 r-o
D2 F-zero pulse Zero pulse search frequency [0.1 Hz] 2-110 0.5
D3 Zero angle Zero angle [0.1°] 2-110 0.0
D4 sigma Total stray factor σ [0.01%] 2-111 r-o
D5 id/Id,nom Actual value of the field-generating current component id [0.01%] 2-111 r-o
D6 iq/Iq,nom Actual value of the torque-generating current component iq [0.01%] 2-111 r-o
D7 iq,set/Iq,nom Setpoint of the torque-generating current component iq,set [0.01%] 2-111 r-o

GROUP E – Service data II

NR. DISPLAY DESCRIPTION RESOLUTION PAGE DEFAULT CUSTOMER
E1 Real.Acc.time Realised acceleration time [0.1 s] 2-111 r-o
E2 Real.Dec.time Realised deceleration time [0.1 s] 2-111 r-o
E3 Ratio frequency Frequency factor [0.01%] 2-111 r-o
E4 SoftwareVersion Software version [0.01] 2-112 r-o
E5 Total op. time Lifetime [1 h] 2-112 r-o
E6 Total run time On time [1 h] 2-112 r-o
E7 Enable time Enabling time [1 h] 2-112 r-o
E8 Status Inverter status [Binary] 2-112 r-o
E9 Custom para.set Customer parameter set [S-P] 2-113 1
EA Reset Parameter Application-dependent defaults [S-P] 2-114 0
EB Status 2 Inverter status 2 [Binary] 2-115 r-o
EC Standarddisplay Standard display [S-P] 2-115 1

GROUP F – Service data III (display: Service dataIII)

NR. DISPLAY DESCRIPTION RESOLUTION PAGE DEFAULT CUSTOMER
F1 Nom.Power Inv Rated inverter power [0.01 kW] 2-115 r-o
F2 Filt.power fail Power failure filter [0.001 s] 2-115 0.040
F3 R1 Stator resistance R1 [0.01 Ω] 2-116
F4 R2 Rotor resistance R2 [0.01 Ω] 2-116
F5 Xsigma Leakage reactance Xσ [0.01 Ω] 2-116
F6 Tr-Adaptation Rotor time constant setting [0.1%] 2-117 100.0
F7 Main reactance Main reactance Xh [0.01 Ω] 2-117 30.00
F8 Gain I-control Current controller gain [0.01 Ω] 2-118 1.00
F9 TN/TA I-control Specific current controller reset time [1] 2-118 50
FA Dead-time comp. Dead time compensation [1] 2-118 1
FB PWM freq.chnge. PWM frequency slaving [1] 2-119 0
FC Ramp control Ramp acceleration control (torque) [S-P] 2-119 1
FD Torq.limitation Torque limiting [S-P] 2-119 1
FE Excitation Excitation [0.1%] 2-119 r-o

GROUP 0 – Service data I

NR. DISPLAY DESCRIPTION RESOLUTION PAGE DEFAULT CUSTOMER
01 Outpt frequency Output frequency [0.1 Hz] 2-120 r-o
02 Output voltage Output voltage [1%] 2-120 r-o
03 Output current Output current [0.1 A] 2-120 r-o
04 Load torque Output torque [0.1%] 2-120 r-o
05 Output power Output power [0.1%] 2-120 r-o
06 Line voltage Line voltage [1 V] 2-120 r-o
07 DC voltage DC link voltage [1 V] 2-120 r-o
09 Actual freqncy. Actual frequency [0.1 Hz] 2-120 r-o
0A Inverter temp. Heat sink temperature [1 °C] 2-120 r-o
0B fault 1 Error 1 2-121 r-o
0C fault 2 Error 2 2-121 r-o
0D fault 3 Error 3 2-121 r-o
0E fault 4 Error 4 2-121 r-o
0F fault 5 Error 5 2-121 r-o

25.04.03 Parameter Description

07_GB_T2 UD 7000 — 1.5–55.0
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Annex Parameter Overview

Parameter Description 25.04.03

2-130 UD 7000 — 1.5–55.0 07_GB_T2
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