NTT 240/460

Compact digital drive for AC and DC, rotary, linear and tubular, brushless,
asynchronous, and DC permanent magnets motors at 230Vac and 400Vac
with resolver or incremental/absolute encoder. Operation mode via Ether-
cat CoE, Profinet RT, Profibus DPv0, Canopen®, ModbusRTU and I/O.

INSTALLATION AND USER GUIDE

NTT 240/460 

Manual or NTT 240/460 drive changes

Changes Description Vers. FW Vers. SW HW Vers.
Manual
Manual, Drive and Caliper Drive Caliper Drive
10/01/2019 Rev: 4.0 • First release for Caliper software suitable for NTT 240/460 drives. • 4.00 • 4.04 0-0
• 4.05
• V/Hz control for asynchronous motors. • 4.01 • 4.07
• 4.08
• Ethernet connector now available (not managed at the moment). • 4.02 • 4.08 0-1
• J7 connector at pin 16: +24V supply for frequency output now available on • 4.09
request. • 4.10
• 4.11
• External encoder loop management now added. • 4.05 • 4.12
• Position software limit now added for Canopen operation mode. • 4.06 • 4.13
• Pressure control topology now added. • 4.07 • 4.15
• Automatic convertion for IVT file from previous DGM series now added.
• Current offset for motor brake management now added. • 4.08
• Current limit management available with or without decimal. • 4.09 • 4.16
• Display H6 menu moved in S9. • 4.10
• 4.11

! It’s recommended to always verify drive firmware version in order to connect it to the related and correct
Caliper version.

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 NTT 240/460

Thanks for choosing this H.D.T. product.

www.hdtlovato.com

Read carefully this manual before using this product.

For continuous improvement, H.D.T. reserves the right to

change features and specifications to manual and product
without notice for the customer.

Any parts of this manual can not be reproduced in any Doc. NTT 240/460
way or transmitted without a write permission from the
manufacturer.
Rev. N° 4.0
Details of images, contained here in, may be different from
real product.
Date 10/01/2019
All rights reserved.
All trademarks belong to their respective owners.

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Summary

Ch. 1 Safety Informations 7

1.01 Danger  7
1.02 Attention 8
1.03 Notes 8
1.04 Directives, marks and industrial standards 8
Ch. 2 Introduction 9
2.01 Description 9
2.02 Delivery ispection 9
2.03 Drive sizes and option configuration 10
2.04 NTT 240 drive features 12
2.05 NTT 460 drive features 13
2.06 Technical data 15
Ch. 3 Installation 19
3.01 Mechanical installation 19
3.02 Dimensions and side view 20
Ch. 4 Supply and quick start 23
4.01 Standard wiring for quick start 23
4.02 Fuses 24
4.03 External braking resistor 24
4.04 EMC Filter 24
4.05 External DC link power supply 25
4.06 DC bus reforming 25
Ch. 5 Wiring and connections 26
5.01 General description 26
5.02 J1 connector: motor power connection 28
5.03 J2 connector: drive power supply and braking resistor 30
5.04 J3 connector: EC and PN option configuration 32
5.05 J3 connector: CM option configuration 33
5.06 J3 connector: PB option configuration 34
5.07 J4 connector: drive settings 35
5.07.1 Using USB 2.0 HUB 35
5.08 J5 connector: Feedback 1 36
5.08.1 Wiring a H.D.T. motor with encoder feedback 38
5.09 J6 connector: Feedback 2 40
5.09.1 Wiring a H.D.T. motor with resolver feedback 41

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5.10 J7-8-9 connectors: Frequency, digital and analog I/O 42

5.10.1 J7 connector: frequency I/O 42
5.10.2 J8 connector: digital I/O 43
5.10.3 J9 connector: analog I/O 44
5.10.4 Cable per J7-8-9 45
5.11 J10 connector: RS485 46
5.12 J11 connector: logic supply and S.T.O. safety function 46
5.13 J12 connector: Ethernet 47
Ch. 6 Operation mode 48
6.01 Introducing Caliper 49
6.02 Caliper Data Monitor 51
6.03 Caliper Menu 52
6.03.1 Menu: ‘FIELD BUS’ item 53
6.03.2 Menu: ‘MOTOR DATA’ item and ‘FEEDBACK’ sub-menu 55
6.03.3 Menu: ‘ADVANCED SETUP’ item 61
6.03.4 Menu: ‘Control Set’ ‘Modbus’ ‘CanOpen’ ‘Ethercat’ ‘Profinet’ items 62
6.04 Emergency stop functions 71
6.04.1 FAULT REACTION function 71
6.04.2 HALT function 72
6.04.3 Safe Torque Off safety stop function 72
6.05 Factors 73
6.05.1 Factor calculation procedure 73
6.05.2 Custom Application 74
6.05.3 Custom Label 75
6.06 Display and keyboard 76
6.06.1 Keybord access parameters 77
6.07 Motor autophasing 82
6.08 Digital I/O 83
6.08.1 Digital I/O functions 85
6.09 Drive references 87
6.09.1 Main reference 87
6.09.2 Auxiliary references 88
6.10 Speed ramps 89
6.11 Motor brake 90
6.12 Braking resistor 92
6.13 Motor cogging torque compensation  93
6.14 Scope function 94
6.14.1 Scope: ‘CHANNEL SETTING’ 95
6.14.2 Scope: ‘PID SETTING’ and ‘WAVE GENERATOR’ 96
6.14.3 Scope: ‘TEST’ 96
6.14.4 Scope: ‘TRIGGER’ 97
6.15 Control topologies 98
6.15.1 Torque control 100
6.15.2 Sensored speed control 101
6.15.3 Sensorless speed control 102
6.15.4 Position control: electronic gearbox mode 103
6.15.5 Position control: positioner mode 104
6.15.6 Position control: electronic cam mode 105
6.15.7 Pressure control 106
6.16 Closed loop regulation tuning 107
6.16.1 Current loop tuning 107
6.16.2 Speed loop tuning 108
6.16.3 Position observer tuning 110
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6.17 Sensorless loop tuning 111

6.17.1 Setting speed/current loop and motor parameters 111
6.17.2 Setting sensorless parameters 112
6.17.3 Sensorless loop tuning 113

Ch. 7 S.T.O. safety circuit 116

Ch. 8 Drive status and diagnostics 120
8.01 Drive status 120
8.02 Fieldbus status signaling 120
8.03 Diagnostics 121
Ch. 9 Accessories 126

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Ch. 1 Safety Informations

Read carefully this manual before using NTT 240/460 drive.

Take care of this handbook and keep it at hand for later reference.

Please make sure that this handbook is delivered to the final customer and user.

Safety symbols used in this guide are described below:

DANGER:

This symbol means the possibility of serious body hazards due to

electrical, thermal or mechanical shock.

! ATTENTION/WARNING:

This symbol means the possibility of damaging drive or other

equipment.

NOTES:

This symbol suggests auxiliary informations to ensure a correct

operation for drive or other equipment.

1.01 Danger
• Never supply the drive without the cover and never remove the cover while supply is on.
• Do not manipulate the drive with wet hands. Failure to observe this could lead to electrical shocks.
• Keep a safety distance from the motor and the machine when the power is on and never touch the rotary parts
of the motor when it is in function.
• When reset the alarms make sure that the signal of running is enabled in order to avoid unexpected start of the
motor. Fix up a separate emergency stop device. It exists the risk of injury.
• Do not touch the terminals of the drive, the motor or the external braking resistance, while the power is on.
Failure to observe this could lead to electrical or thermal shocks.
• Before starting wiring, ensure that all supplies are off and motor is stopped.
• Always turn the device’s input off before starting any maintenance. Failure to observe this could lead to fires or
electrical shocks.
• Disconnect all supplies before performing drive maintenance.
• Always wait at least 8 minutes after turning off the input power before starting inspections. Make sure that LEDs
have been erased.Failure to observe this could lead to electrical shock.
• The maintenance, the inspection and part replacement must be done by a designated person. Remove all the
metal accessories like watches, bracelets etc before beginning the job. Failure to observe this could lead to
electrical shocks and injuries.
• Always turn the power off before inspecting the motor or machine. A potential is applied on the motor terminal
even when the motor is stopped. Failure to observe this could lead to electrical shock.
• Ensure that supply voltage range mathes with drive features.

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1.02 Attention !
• Earth cable must be wired according to safety standards of the Country where drive is installed.
• Installation must be done by a designated person.
• Always fix the drive before executing the wiring.
• Install a protection circuit (fuses or magnetic contactor) on drive supply.
• Do not connect an esternal supply on terminals U, V, W.
• Ensure that the drive voltage correspond to the voltage of the supply.
• Fix terminal screws with a correct fixing torque.
• Connect correctly the output side (U,V,W). Failure to do so could cause the motor to rotate in reverse and the
machine to be damage.
• If drive power supply is not connected, not connect motor cable if motor is rotating. It exists the danger to
damage the machine.
• Not obstruct the entry and the escape of the air and not introduce stranger object. Fire danger exists.
• Ensure the functionality of the motor as single unit before connecting it mechanically to the machine and verify
that the max speed of the motor are accepted from the machine. It exists the danger to hurt and to damage the
machine.
• Never modify the drive.
• Clean the drive with a vacuum cleaner. Do not use organic solvents. Failure to observe this could lead to burns
or damage.
• For your safety, it is very important that any software update or service have to be done by our company.
• When you have to throw away the drive, please dispose of this product as industrial waste, so respect standards
enforced by Country laws.
!
1.03 Notes
• Qualified electrical staff must execute installation and maintenance.
• Earth cable must be wired according to safety standards of the Country where drive is installed.
• The machine operator must receive an adapt preparation.
• The drive may be source of radio-frequency noise if unprovided of the adequate mains filter.
• Observe the drive specifiations and the warnings contained in this manual.
• Always provide an adequate ventilation and keep clean the drive.
• Avoid water or other liquid penetration inside the drive.
• Connect adequate cable to the imput/output terminals.
• Product in C2 cat. may be source of radio-frequency noise if used in public mains feeding voltage to habitation.
• Product in C3 cat. is not suitable in public mains feeding voltage to habitation. The drive may be source of radio-
frequency noise.

1.04 Directives, marks and industrial standards

Standard/Mark Description

CEI EN 60204-1 Low voltage safety directive, 2006/95/CE.

CEI EN 61800-3 Product rule reffered to EMC 2004/108/CE directive.

CEI EN 60529 IP protection level.

CE CE marking.

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Ch. 2 Introduction

2.01 Description
NTT 240/460 digital servodrives replace the well known previous DGM series. The evolution
version incorporates a last generation microcontroller that provides a doubled calculation
performance, a quadruplicated analog to digital converter accuracy, resulting in an evolution for
motor control and software application.
According to drive selected configuration, functionality control takes place via the most
advanced fieldbus comunication protocols, including ETHERCAT CoE, PROFINET RT, PROFIBUS,
Canopen® and Modbus RTU, as well as the Input/Output operating mode (always available in
each drive configuration).
It allows control for AC and DC Brushless motors, type rotary, linear and tubular, asynchronous
motors and permanent magnets continuous current motors equipped with HALL sensors, incremental encoder with
or without HALL sensors, absolute encoder on SSI serial protocol and resolver (optional), for position and speed
feedback. An AC power supply, 230Vac singlephase or triphase and 400Vac triphase, or DC power supply from 250V
to 360V for NTT 240 and from 400V to 700V for NTT 460, is requested for power stage and a second DC logic supply
is requested for turning on the drive.
NTT 240/460 can be set up with property software, Caliper, (compatible with Microsoft Windows® operative systems),
that allows to enter all calibration settings, parameters saving and alarm management and, thanks to USB 2.0
comunication, to perform debug with realtime scope up to 100μs on 4 simultaneous channels.
Head-on display allows to check drive state and to verify alarms/warnings, leading to a fast failure diagnostic.

2.02 Delivery ispection

For delivery ispection and storage:
1. Remove drive from the packaging and check details on the label that confirm the drive correspond to the
one ordered. The label in on the heatsink side.
2. Make sure that the product has not been damaged.
3. If the drive is not to be used for a while after purchasing, it has to be stored, possibly with its shipment
covering, in a place with no humidity, absence of vibrations and far from water sprays.
4. Always inspect the inverter before using after a long period storage.
Product code H.D.T.Srl www.hdtlovato.com
and Via Sile 8 - 36030 Monte di Malo - ITALY
Tel. +39.0445.602744 Fax. +39.0445.602668
Serial Number Drive Logic Supply
DIGITAL BRUSHLESS SERVODRIVE

Type NTT24036 CMR

S.N. __________ D.C. Logic 24Vdc

Supply

Drive Power Supply A.C. Power 230Vac 50/60Hz Firmware V.VV Firmware Version
Supply
Hardware V-V Hardware Version
In 3.00A Protection IP2X
Ipk 6.00A Tested XX

Rated Current In
Peak Current Ipk

It’s recommended to always verify drive firmware version in order to connect it to the related and correct
! Caliper version.

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2.03 Drive sizes and option configuration

The power available is covered by following models:

Output Current Dimension Power Voltage

MODEL
Rated Maximum Mechanical VAC / VDC
Name Size Arms Size nominali
1.5/3 1.5 3
T0
3/6 3 6
NTT 240 230VAC / 300VDC
6/12 6 12 T1
10/20 10 20 T2
1.5/3 1.5 3 T0
3/6 3 6 T1
6/12 6 12 T2
10/20 10 20
T3
20/40 20 40
35/70 35 70
NTT 460 400VAC / 540VDC
45/90 45 90 T4
45/150 45 150
75/150 75 150 T5
100/200* 100 200 *
150/300* 150 300 *
200/400* 200 400 *

Available configurations differ for fieldbus option and for secondary feedback desired and are shown below:

Label CONFIGURATION description

“STANDARD” (no installed option)
ST I/O operation mode: analog, frequency and I/O commands.
Feedback1 from incremental encoder with/without HALL and SSI absolute encoder.
“STANDARD” + “R” Feedback option installed
I/O operation mode: analog, frequency and I/O commands.
ST R
Feedback1 from incremental encoder with/without HALL and SSI absolute encoder.
Feedback2 from resolver.
“CM” Fieldbus option installed
Canopen CiA402 or Modbus RTU operation mode.
CM
I/O operation mode: analog, frequency and I/O commands.
Feedback1 from incremental encoder with/without HALL and SSI absolute encoder.
“CM” Fieldbus option + “R” Feedback option installed
Canopen CiA402 or Modbus RTU operation mode.
CM R I/O operation mode: analog, frequency and I/O commands.
Feedback1 from incremental encoder with/without HALL and SSI absolute encoder.
Feedback2 from resolver.

*This model is under development. For information please contact our technical department.

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Label CONFIGURATION description

“EC” Fieldbus option installed
Ethercat CoE operation mode.
EC
I/O operation mode: analog, frequency and I/O commands.
Feedback1 from incremental encoder with/without HALL and SSI absolute encoder.
“EC” Fieldbus option + “R” Feedback option installed
Ethercat CoE operation mode.
EC R I/O operation mode: analog, frequency and I/O commands.
Feedback1 from incremental encoder with/without HALL and SSI absolute encoder.
Feedback2 from resolver.
“PN” Fieldbus option installed
Profinet RT operation mode.
PN
I/O operation mode: analog, frequency and I/O commands.
Feedback1 from incremental encoder with/without HALL and SSI absolute encoder.
“PN” Fieldbus option + “R” Feedback option installed
Profinet RT operation mode.
PN R I/O operation mode: analog, frequency and I/O commands.
Feedback1 from incremental encoder with/without HALL and SSI absolute encoder.
Feedback2 from resolver.
“PB” Fieldbus option installed
PROFIBUS DPv0 operation mode.
PB
I/O operation mode: analog, frequency and I/O commands.
Feedback1 from incremental encoder with/without HALL and SSI absolute encoder.
“PB” Fieldbus option + “R” Feedback option installed
PROFIBUS DPv0 operation mode.
PB R I/O operation mode: analog, frequency and I/O commands.
Feedback1 from incremental encoder with/without HALL and SSI absolute encoder.
Feedback2 from resolver.

Order code composition:

Drive type: Current size:

1 3 1.5/3 4 5 9 0
Power supply voltage:
3 6 4 5 1 5 0
NTT 2 4 0 3 6 C M R
240 = 230Vac / 300Vdc
6 1 2 7 5 1 5 0
460 = 400Vac / 540Vdc
1 0 2 0 1 0 0 2 0 0

2 0 4 0 1 5 0 3 0 0
Fieldbus options: 3 5 7 0 2 0 0 4 0 0
ST = No Fieldbus EC = EtherCat PB = Profibus
CM = CanOpen/ModBus PN = Profinet

Feedback options: Variations:

R = Resolver (blank) = No Feedback Option (blank) = No variations

EXAMPLE: NTT 240 36 CM R NTT 230Vac - 3/6A - With CanOpen/Modbus option and Feedback R option

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2.04 NTT 240 drive features

NTT 240

Sizes 1.5/3 3/6 6/12 10/20

1Ph 3Ph 1Ph 3Ph 1Ph 3Ph 3Ph

VAC
Rated power supply 230VAC +/- 15% 50/60Hz

VDC 200VDC ÷ 360VDC

Rated current ARMS 1.5 3 6 10

Peak current (IPEAK) ARMS 3 6 12 20

Rated output power kW 0.5 1 1.5 3

Switching frequency kHz 10kHz

Forced ventilation - - √

VDC +24VDC ± 10%

Rated logic supply
VAMAX 15VA 18VA

Dimensions - T0 T1 T2

Internal braking resistor - - 39Ω 100W

External braking resistor * √

√
Internal EMC filter **
(in appliance with 61800-3 cat. C2 - C3)
STO SIL3 - Safe Torque Off for cat. 0 stop; realized with IEC EN 61800-5-2 law
Safety function -
conformal and IEC61508 safety level conformal law.
Weight ~ Kg 1.8 2.4 2.7
MS04M MS04M MS08G B10N
MS06M MS06M B07L B10M
H.D.T. motors suitable B05S MS08L B07G B10L
-
with NTT 240 drive B05M B07S B10S B10G
B05L B07M B10N B14K
B07S B07L B14K B14S

For information about additional optional, see “Ch. 9 Accessories” pag. 126.
For information about H.D.T. AC brushless motors, refer to related manuals downloaded from internet corporate site:
www.hdtlovato.com

*Other major power resistors are available for heavy braking cycles: please, see additional optional or contact our technical department.
**Depending on drive size, H.D.T. provides external EMC filters.

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2.05 NTT 460 drive features

NTT 460

Sizes 1.5/3 3/6 6/12 10/20 20/40

3Ph
VAC
Rated power supply 400VAC +/- 15% 50/60Hz

VDC 400VDC ÷ 700VDC

Rated current ARMS 1.5 3 6 10 20

Peak current (IPEAK) ARMS 3 6 12 20 40

Rated output power kW 0.9 1.8 3 5 10

Switching frequency kHz 10kHz

Forced ventilation - - √

VDC +24VDC ± 10%

Rated logic supply
VAMAX 15VA 18VA

Dimensions - T0 T1 T2 T3

Internal braking resistor - - 100Ω 100W 82Ω 300W -

External braking resistor * √

√
Internal EMC filter ** -
(in appliance with 61800-3 cat. C3)
STO SIL3 - Safe Torque Off for cat. 0 stop; realized with IEC EN 61800-5-2 law
Safety function -
conformal and IEC61508 safety level conformal law.
Weight ~ Kg 1.8 2.4 2.7 5.7
B05S B07M B10N B10L B14M
B05M B07L B10M B10G B20S
H.D.T. motors suitable B05L B07G B10L B14S B20M
-
with NTT 460 B07S B10S B10G B14N B20L
B07M B10N B14K B14M
B14S B20S

For information about additional optional, see “Ch. 9 Accessories” pag. 126.
For information about H.D.T. AC brushless motors, refer to related manuals downloaded from internet corporate site:
www.hdtlovato.com

*Other major power resistors are available for heavy braking cycles: for information please contact our technical department.
**Depending on drive size, H.D.T. provides external EMC filters.

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NTT 240/460 Introduction

NTT 460
*** *** ***
Sizes 35/70 45/90 45/150 75/150
100/200 150/300 200/400
3Ph
VAC
Rated power supply 400VAC +/- 15% 50/60Hz

VDC 400VDC ÷ 700VDC

Rated current ARMS 35 45 45 75 *** *** ***

Peak current (IPEAK) ARMS 70 90 150 150 *** *** ***

Rated output power kW 17 22 40 *** *** ***

Switching frequency kHz 5kHz *** *** ***

Forced ventilation - √

VDC +24VDC ± 10%

Rated logic supply
VAMAX 20VA 22VA *** *** ***

Dimensions - T4 T5 *** *** ***

Internal braking resistor - -

External braking resistor * √

Internal EMC filter ** -

STO SIL3 - Safe Torque Off for cat. 0 stop; realized with IEC EN 61800-5-2 law
Safety function -
conformal and IEC61508 safety level conformal law.
Weight ~ Kg 12 20 *** *** ***
B20S B20M B20M
B20M B20L B20L
B20L B20G B20G
H.D.T. motors suitable
- B20G B26S B26S *** *** ***
with NTT 460
B26S B26M B26M
B26M B26L
B26G

For information about additional optional, see “Ch. 9 Accessories” pag. 126.
For information about H.D.T. AC brushless motors, refer to related manuals downloaded from internet corporate site:
www.hdtlovato.com

*Other major power resistors are available for heavy braking cycles: for information please contact our technical department.
**Depending on drive size, H.D.T. provides external EMC filters.
***Not available at the moment.

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2.06 Technical data

NTT 240/460 TECHNICAL FEATURES
Control Fully digital ring regulation control:
• Synchronous AC brushless rotary and linear motor: FOC control, SVM modulation, with
feedback or sensorless.
• Asynchronous inductive rotary motor: V/Hz and FOC control, SVM modulation, with
feedback or sensorless.
• Synchronous AC brushless rotary and linear motor: Trapezoidal modulation only with
HALL sensors.
• Permanent magnets continuous current rotary motor with feedback.
Speed, torque, position and pressure reference:
• via analog input or frequency input (pulse train).
• single parameter or parameter table selectable via digital input o fieldbus.
• with torque limit management.
• with factors management useful to make easier convertions.
• with change target on the fly.
• with trapezoidal ramps or S ramps distinct for rotation direction.
Position feedback:
• motor sensor (incremental or absolute encoder or resolver).
• external incremental encoder.
Available filters:
• Observer on motor feedback.
• Notch filter on current reference.
• Iq filter on quadrature current to motor.
• PB filter in analog and digital input.
Motor autophasing procedure available for all feedback.
Digital I/O fully programmable.
Cogging motor compensation available for brushless motors.
DC braking procedure available for asynchronous inductive motors.
Motor mechanical brake management.
Drive setting via Caliper software or via display and keypad (limited parameter set).
Protections and Short-circuit of motore and between phase and earth.
diagnostics AC power supply overvoltage and undervoltage.
Overpressure and underpressure.
Phase lack and voltage lack for power supply.
Digital I/O +24V voltage lack.
Overcurrent limitation.
Drive heatsink overtemperature (Fan dynamic management).
Motor thermal image and motor PTC.
Braking resistor thermal image.
Resolver and Hall sensors/encoder damage.
Safety stop input STO, Safe Torque Off.
Drive status and alarms/warning occured shown via 5-digit display.
Fieldbus status shown via LEDs and 5-digit display.
Operating Operating temperature: 0°C / +40°C.
and storage Storage and transport : -20°C / +70°C.
condition Altitude: up to 1000m. For upper altitude, degrade drive by 1% each additional 100meters.
Protection level: IP20.

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NTT 240/460 TECHNICAL FEATURES

Operating INPUT / OUTPUT (always available for all drive configuration)
modes 1. Speed/Torque Control or Speed with Torque limit.
2. Electronic Gearbox (CHA-B, CW-CCW, Pulse-Direction).
3. Position: single, analog 12 bit, up to 64 target table via cyclic/acyclic target, via
digital input selection, via input start selection.
4. Electronic Cam (CHA-B, Pulse-Direction, 576 points per cam, up to 8 cams).
5. Pressure control.
CANOPEN® and MODBUS RTU (available only for CM or CMR options)
»» Canopen® CiA301 e CiA402 up to »» Modbus RTU up to 57.6Kbps
1Mbps and Sync up to 1ms 1. Speed/Torque Control and Speed with
1. Electronic Gear Torque limit control.
2. Position Mode 2. Electronic Gearbox (CHA-B, CW-CCW,
3. Velocity Mode Pulse-Direction).
4. Profile Velocity Mode 3. Position: single, analog 12 bit, up to 64
target table via cyclic/acyclic target, via
5. Profile Torque Mode
digital input selection, via input start
6. Homing Mode selection.
7. Interpolated Position Mode 4. Electronic Cam (576 points per cam, up
8. Cyclic Sync Position Mode to 8 cams).
9. Cyclic Sync Velocity Mode 5. Pressure control.
10. Cyclic Sync Torque Mode
11. Touch Probe
12. Pressure control
ETHERCAT CoE (available only for EC or ECR options)
»» Canopen® CiA301 and CiA402 over Ethercat Free Run, Sync Manager, DC up to 500μs:
1. Electronic Gear
2. Position Mode
3. Velocity Mode
4. Profile Velocity Mode
5. Profile Torque Mode
6. Homing Mode
7. Interpolated Position Mode
8. Cyclic Sync Position Mode
9. Cyclic Sync Velocity Mode
10. Cyclic Sync Torque Mode
11. Touch Probe
12. Pressure control
PROFINET RT Realtime CC-A and CC-B (available only for PN or PNR options)
»» PROFIDRIVE
1. Speed control (AC1)
2. Position in Program Mode (AC3)
3. Position (manual AC3)
4. Pressure control
PROFIBUS DPv0 (available only for PB or PBR options)
»» PROFIDRIVE
1. Speed control
2. Position (single)
3. Torque control
4. Pressure control
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NTT 240/460 ELECTRICAL FEATURES

Output current IPEAK up to 2 seconds
Output frequency Up to 1000Hz
Digital output N° 6 PNP optoinsulated: OUT0 to OUT5 programmable
• VDC < 30V and IMAX LOAD < 30mA for each output.
N° 1 clean contact relay: OUT6 programmable
• VMAX_ISOL < 100V / IMAX LOAD < 1Amp / TC < 10ms (bounce time included).
Analog output N°2 single ended range ±10V DAC-10bit: AN1-AN2 programmable
• Impedence = 100Ω.
Stabilized N°1 +10V, max 15mA (stabilized).
supply output N°1 -10V, max 15mA (stabilized).
N°1 +24V, max 100mA (provided by logic supply +24V - 2V internal voltage drop).
N°1 +5V, max 100mA (stabilized).
Digital input N° 8 PNP optoinsulated 10-30V: IN0 to IN7 programmable
• Impedence ≥ 3.5kΩ.
• IN6-IN7 are also Input Capture type.
N° 3 PNP not insulated 10-30V: IN8 to IN10 programmable
• Impedence = 300kΩ.
• derived from analog input converted to digital input.
Analog input N°1 main differential input range ±10V ADC 16bit: IN8
reference • Impedence = 400kΩ.
• available only if not used as digital input.
N°2 auxiliary differential input range ±10V ADC 12bit: IN9-IN10
• Impedence = 400kΩ.
• available only if not used as digital input.
Frequency input N°1 main optoinsulated input (2 x differential or single ended channels)
reference • Line Driver 5V: impedence = 200Ω / up to 500kHz for each channel.
• NPN/PNP 24V: internal 1.8kΩ pull-up resistor / up to 200kHz for each channel.
Main Incremental Encoder with/without HALL sensors:
Feedback 1 • Supply: VDC = 5-9V adjustable with encoder sensing / IMAX LOAD < 200mA.
• HALL sensors: single ended 0/+5V (120° sequence management).
• Incremental Encoder (2 x differential or single ended channels)
1. Line Driver 5V: impedence 1kΩ / up to 2.5MHz for each channel.
2. Push-Pull 5V: impedence 1kΩ / up to 400kHz for each channel.
3. Open Collector 5V: up to 200kHz for each channel (with internal pull up resistor
with value equal to1kΩ).
SSI Absolute Encoder:
• Supply: VDC = 5-9V adjustable with encoder sensing / IMAX LOAD< 300mA.
• DATA Line Driver 5V: impedence = 220Ω.
• CLOCK Line Driver 5V: IMAX LOAD = 20mA.
• SSI binary code single and multiturn: up to 16bit in single-turn and 15bit in multi-turn,
including MSB used for sign management.
Optional Resolver: (available only with “R” option)
Feedback 2 • Supply: VAC = 6.5VRMS from 2 to 10 kHz / IMAX LOAD < 100mARMS.
• Transformation Ratio: from 0.28 to 0.5.
• Resolution: up to 16bit at 5000RPM.
• Up to 8 pole pairs.

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NTT 240/460 ELECTRICAL FEATURES

Encoder output Output selectable between:
• Feedback 1 encoder with/without zero index repetition.
• Frequency input reference repetition.
• Feedback 2 emulation encoder output.
Encoder Signals:
• ABZ Line Driver 5V: internal supply / IMAX LOAD < 20mA for each channel.
• ABZ Line Driver 12-24V: external supply up to 30V / IMAX LOAD < 20mA (only upon request:
contact our technical department).
• GND and SHIELD connection.
Motor PTC N°2 PTC sensor: one for main feedback and other one for “R” feedback
• PTC rated value ≤ 550Ω (low temperature).
• Overtemperature PTC value ≥ 1400Ω.
USB 2.0 USB 2.0 port for drive setting via Caliper software
• USB micro-AB port.
Ethernet Standard Ethernet port (not managed at present)
• RJ45 shielded with leds.
MODBUS (RS485) MODBUS (RS485) port for comunication (not managed at present)
• IN/OUT connection via screw terminal.

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Ch. 3 Installation

3.01 Mechanical installation

Please follow the following instruction during the installation:
1. Install the drive in a vertical and perpendicular position regarding the floor.
2. Insure yourself that the environment temperature is comprised between 0 and 40° Celsius.
3. Avoid the following conditions:
• Direct exposure to the solar light
• Assemble in places with presence of powders, soil, particles of iron.
• Assemble in places with corrosive gas, explosive gas or high grade of humidity.
• Assemble in proximity of machines that generate vibrations.
• Assemble in proximity or on inflammable matter (as wood) or not resistant to the heat.
4. Insure yourself that the driver will be assembled in a position that guarantee a correct ventilation, as shown
in picture below.

T0 T1 T2 T3 T4 T5

>150 >150
>50 >50 >50 >50

>30 >30 >30 >30 >50 >30 >30 >30

>50 >50

FRONT VIEW >100

Airflow
>150
Inlet Forced Airflow >150

Vertical mounting. Dimension in mm.

>60
>60 >60
>60

UPPER VIEW >60

>60
Vertical mounting. Dimension in mm.

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NTT 240/460 Installation

3.02 Dimensions and side view

T0 T0 side view
Ø4,5
241,5
231,5
216,5

173,5
33,7
67,2

T1 T2 T1-2 side view

40 15.3 40 15.3
Ø4,5 Ø4,5
241,5
231,5
216,5
241,5
231,5
216,5

188,5
47,7 58,7

83 93

Dimensions in mm.

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T3 T3 side view
Ø4,5

297,7

268
288

20,9 87,6 215,9

131,5

T4 T4 side view
Ø6,5
326,2
354

306

267,37
30 130
190

Dimensions in mm.

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T5 T5 side view

Ø6,5
379

352

329

286,9
34,5 183,6
249,6

Dimensions in mm.

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Supply and quick start NTT 240/460

Ch. 4 Supply and quick start

4.01 Standard wiring for quick start

AC Power Supply
230Vac 1Ph L3 L2 L1 PE
230Vac 3Ph NTT drive Control
400Vac 3Ph
1
CCW / DIR / CHA 24V
2 Frequency reference:
CCW / DIR+ / CHA+
Fuse F1 3 CW/CCW
CCW / DIR - / CHA - PULSE/DIR
4
CONTACTOR
24VDC CW / PULSE / CHB 24V ENCODER
Logic Supply 5 Line driver 5V
CW / PULSE+ / CHB+ Line driver 24V
+ - 6
CW / PULSE - / CHB -
J11 J7 +5V
7

1 8
24V IN SHIELD
Noise Filter 2 9
GND IN OUT A+ Emulated Encoder
IN1 3 10
STO IN1 OUT A - from Feedback2
4 11 or
24V OUT OUT B+ Repetition Feedback1
5 12
STO IN2 OUT B - or
IN2 13 Repetition freq. reference
OUT Z+ Line driver 5V
14
OUT Z - Line driver 24V

! J2 0L
15
16
PE +24VE
External
L1
Braking Digital +24V
L2 J8 24V I/O 1
Resistor
L3 +24V 2 Do not connect pin 2 if +24V
from control is used
EXT B.R. IN0 3
Remove jumper if external
resistor is used INT B.R. IN1 4
+DC BUS IN2 5
External Control
- DC BUS IN3 6 Programmable
digital
DC Link 7
PNP digital
Output
Fuse F2 IN4 input 0-7
J1 IN5 8
1
PE (input capture) IN6
9
2
FEEDBACK U (input capture) IN7
10
3 Digital GND
M V 0V I/O 11
4 Do not connect pin 12 if +24V
W 0V 12
from control is used
D
13
OUT0
14
OUT1
- Incremental Encoder and/or Hall
- Absolute SSI encoder J5 FB1 OUT2 15 Programmable Control
PNP digital digital
16
OUT3 output 0-5 Input
17
OUT4
- Resolver
- Sin/Cos and/or serial encoder
J6 FB2 18
OUT5
19

J3
relay OUT6
relay OUT6 20 } Programmable relay clean contact
for output 6

FIELDBUS
IN/OUT J9 REF+
1 Main analog +/-10V
reference or
2
REF - Pressure transducer
3
AUX1+ Auxiliary1 analog
4 +/-10V reference
AUX1 -
Caliper Ethernet AUX2+
5
Auxiliary2 analog
remote service AUX2 -
6 +/-10V reference
7
SHIELD
8 Analog GND
0S
J12 ETH 9 A
Caliper Ethernet
AN1
AN2
10 } Programmable analog output

local service 11

Caliper microUSB
J4 USB
+10V
- 10V
12 } Stabilized voltage output for potenziometer

local service and

firmware upgrade

For detailed information about connection between ‘external control-drive-motor’, please see:
• “Ch. 5 Wiring and connections” pag. 26
• “6.15 Control topologies” pag. 98

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4.02 Fuses
F1 must be ultra fast fuse.
In order to choice a correct value for F1 with single phase and tri-phase line, please use formulas below, where PT is
maximum output active power provided by drive and VACIN is minimum AC input line voltage at L1-2-3 pins:

In order to choice a correct value for F2 with DC line, please use formulas below, where PT is maximum output active
power provided by drive and VACIN is minimum DC input voltage at +/-DC pins:

4.03 External braking resistor

If external braking resistor is used, please disconnet any internal resistor; please see “5.03 J2 connector: drive power
supply and braking resistor” pag. 30.
External braking resistor must be placed at 50mm far from drive at least and on a NOT inflammable matter also
resistant to the heat.
Do not touch the insulated metal case of resistor, that could reach high temperature. Failure to observe this
could lead to thermal shocks.
For information, please see “Ch. 9 Accessories” pag. 126. or contact our technical department.

4.04 EMC Filter

Cat. C2 product may be source of radio-frequency noise if used in public mains feeding voltage to habitation.
! Only NTT 240 single phase with internal EMC filter is suitable to C2 cat. - A class.
Cat. C3 product is not suitable in public mains feeding voltage to habitation. The drive may be source of radio-
frequency noise. NTT 240/460 triphase with internal/external EMC filter is suitable to C3 cat.

To ensure IEC61800-3 law compliance, about line conducted emissions, in C2 cat. - A class, type 2 environment
(industrial), please respect the instructions below:
• EMC input filter must be placed less than 300mm far from drive.
• motor cable must be less than 5m lenght and stricly shielded: shield must be connect to both Power
Earth cable ends; shield must also be connect to drive Power Earth of motor connector (pin PE of J1).
• part of input power supply cable, that from EMC filter goes to drive input power supply connector (J1),
must be shielded; shield must also be connect to drive Power Earth of input power supply connector
(pin PE of J1).
• it’s recommended to use n°1 common mode toroid, with high permeability, to be inserted in power
motor cable; to ensure a proper use, enter only and exclusively U-V-W motor cables through toroid
hole.
• keep line cable at least 15cm far from load filter cable.
• for longer motor cable, external EMC filter has principle diagramm shown below, in singlephase
topology:
1 µF(X2) 1 µF(X2)
L L’
47nF(Y2)

LINE 2 x 4mH 2 x 25µH PE LOAD

47nF(Y2)
N N’
470kΩ 1W

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Supply and quick start NTT 240/460

To ensure IEC61800-3 law compliance, about line conducted emissions, in C3 category, type 2 ambient (industry),
please respect the instructions below:
• EMC input filter must be placed less than 300mm far from drive.
• motor cable must be less than 5m lenght fot NTT 460 and less than 10m for NTT 240; it must be stricly
shielded: shield must be connect to both Power Earth cable ends; shield must also be connect to drive
Power Earth of motor connector (pin PE of J1).
• part of input power supply cable, that from EMC filter goes to drive input power supply connector (J2),
must be shielded; shield must also be connect to drive Power Earth of input power supply connector
(pin PE of J2).
• it’s recommended to use n°1 common mode toroid, with high permeability, to be inserted in power
motor cable; to ensure a proper use, enter only and exclusively U-V-W motor cables through toroid
hole.
• keep line cable at least 15cm far from load filter cable.
• for longer motor cable, external EMC filter has principle diagramm shown below, in triphase topology:

3 x (>2.2μF_X2) 3 x (>2.2μF_X2) 3 x (> 47nF_Y2) 3 x (>2.2μF_X2)

L1 L’
>2μH

LINE L2 N’ LOAD
>2μH

L3 L’
3 x (>1.2mH) 3 x (>1mH) >2μH

PE

!
NOTES:
• External H.D.T. EMC filter, depending on drive size, could supply more NTT 240/460 parallel drive. EMC
input filter must be placed less than 300mm far from any drive and grounded to one point only.
• The actual EMC level may be different depending on the actual system configuration, wiring, and other
conditions.
• For information about additional optional, see “Ch. 9 Accessories” pag. 126.

4.05 External DC link power supply

Connect DC link only if DC ar AC supply is the same.
! If only DC link power supply is used, it’s mandatory to perform an external DC precharge procedure for all
connected drives, limiting peak precharge current to 10Amps.
If AC power supply with DC linked is used, it’s mandatory to connect AC power supply to all connected drives
(external precharge is not necessary).
If external braking resistor is used, connect it to only one drive.

4.06 DC bus reforming

After long storage periods (more than 1 year), it’s strongly recommended to perform the reforming procedure,
providing voltage supply at step by step value up to rated value; using a variable transformer, provide first 30-50Vac
for 30minutes, then increase value adding 30-50Vac avery 30minutes up to rated voltage.
Hold the rated voltage for 1 hour at least, before starting the application.
It’s also recommended to perform this procedure 1 time per year also if drive will not be used, in order to prevent
rapid performance decreasing during next operation.

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Ch. 5 Wiring and connections

5.01 General description

Position and name of connectors related to mechanical size are shown below:

T0 J11 J10 T1 J11 J10

J12 J12

J9 J9
(optional) J3 (optional) J3
J4 J4
J1 J1
J5 J5
(optional) J6 (optional) J6
J7 J7
J2 J2
J8 J8

J11 J10
T2 J11 J10 T3
J12
J12
J9
J9
(optional) J3 (optional) J3
J4
J4
J1
J5
J5 (optional) J6
(optional) J6
J7
J7
J2 J2 J8
J8
J1

T4 T5 J2
J2

J11 J11

J10 J10

J12 J12
J1 J1
J9 J9
J3 J3
J4 (optional) J4
(optional)

J5 J5

J6 J6 J7
(optional) J7 (optional)

J8 J8

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The table below describes connector function and shown their naming on front and upper graphic label related to
mechanical size:
Connector Description Drive Graphic Labels
NTT 240 T0-1-2
J1
Motor supply output connector NTT 460 T0-1-2-3
J1
U, V, W, PE terminal marking
NTT 460 T4-5
UVW
NTT 240 T0-1-2
Input power supply for single phase, triphase NTT 460 T0-1-2-3 J2
J2 line or DC link and internal/external braking
resistor terminal marking
NTT 460 T4-5
+DC -DC RF L1 L2 L3

J3 Fieldbus comunicazion connector (optional) J3

USB Micro AB port for drive setting via Caliper

J4 J4
on PC

J5 Feedback 1 from motor: encoder, HALL sensors J5

Feedback 2 from motor: resolver and encoder

J6 J6
(optional - feedback R)
I/O connector: frequency input and encoder
J7 J7
output buffered or emulated. NTT 240/460
I/O connector: digital input and output and re- all size
J8 J8
lay clean contact.

J9 I/O connector: analog input and output J9

J10 RS485 Modbus comunication connector J10

+24VDC logic supply and safety stop connector

J11 J11
S.T.O., (Safe Torque Off, SIL3)
Ethernet comunication connector
J12 J12
(available only for HW 0-1 or later drives)

For information about drive mechanical size, see “2.03 Drive sizes and option configuration” pag. 10.

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NTT 240/460 Wiring and connections

5.02 J1 connector: motor power connection

Do not connect an external supply on terminals U, V, W.

! Do not connect cable when drive power supply is off and motor is rotating.
Connect correctly U,V,W wiring both H.D.T. drive and motor:

Screw connector for mechanical size T0-1-2-3, male connection

Connector TYPE MADE in ITALY
Terminal block for mechanical size T4-5
MADE in ITALY

Utility U,V,W motor power connection

Mechanical size T0-1-2-3: 4 pins (3 motor phases + PE)

N° pins
Mechanical T4-5: 3 terminal block (motor phases) + screw for Power Earth (PE) eyelet
J3

OUT
FIELD BUS

NTT240 T0-1-2 NTT460 T0-1-2 NTT460

J3 T3 NTT460 T4-5
front output front output OUT lower output upper output
FIELD BUS

IN - +
J1 J1 DC DC RB L3 L2 L1 W V U
IN PE PE

U PE
USB J4
U
V U
W
J5 V USBV J4

18 W 9
W
J5
FEEDBACK 1

18 9
FEEDBACK 1

10 1

PIN
J2 J1 connector description
-DC BUS J7 16 8
U Motor connection, U phase or +M
10 pole for1continuous current motor.
+DC BUS
ENC/FREQ IN

J2
ENC OUT

INT V
B.R. Motor connection, V phase.
-DC BUS - + J7 16 8
EXT B.R.
ENC/FREQ IN

WL3 Motor connection, W phase or -M pole for DC RB

DCcontinuous L3 L2 L1
current motor. W V U
ENC OUT

+DC BUS
L2 9 1 PE PE
PEL1 Power Earth connection , PE
J8 20 INT B.R. 10
J2
EXT B.R. 9 1
DIGITAL OUT

DIGITAL IN

J8 20 -DC BUS 10
L3
The table below shows the power connection with H.D.T. motors:
+DC BUS
DIGITAL OUT

L2
DIGITAL IN

• B05 - B07 - B10 - B14 - B20 - BK20 - B26

INT B.R.
• BSP - BSD11 L1 1
EXT B.R.
• MS04 - MS06 - MS08
11 L3 1
MOTOR
J1 ID/COLOUR L2
DRIVE EXTENTION CABLE B20-BK20- MS04-
B05-B07L1 B10-B14 BSP-BSD
B26 MS06-MS08
U U -1 / BLACK 1 A A/U 1 1
V V - 2 / BLACK o GREY 3 B B/V 3 2
W W - 3 / BLACK o BROWN 5 C C/W 4 3
PE YELLOW-GREEN + shield
+ (PE and SHIELD connected both 6 D PE 2 4
SHIELD side drive and motor)

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Minimum cable section for motor cable is shown below related to drive power sizes:
Minimum Section Maximum Section
Drive Power Size
mm2 (AWG) mm2 (AWG)
NTT 240 1,5/3 4 x 1 mm2 (AWG17) Shielded
NTT 240 3/6 4 x 1 mm2 (AWG17) Shielded
2.5 mm2 (AWG13)
NTT 240 6/12 4 x 1.5 mm2 (AWG15) Shielded
NTT 240 10/20 4 x 2.5 mm2 (AWG13) Shielded
NTT 460 1,5/3 4 x 1 mm2 (AWG17) Shielded
NTT 460 3/6 4 x 1 mm2 (AWG17) Shielded 2.5 mm2 (AWG13)
NTT 460 6/12 4 x 1.5 mm2 (AWG15) Shielded
NTT 460 10/20 4 x 2.5 mm2 (AWG13) Shielded
6 mm2 (AWG9)
NTT 460 20/40 4 x 4 mm2 (AWG11) Shielded
NTT 460 35/70 4 x 6 mm2 (AWG9) Shielded + M6x16 exagonal screw
16 mm2 (AWG5)
NTT 460 45/90 (45/150) 4 x 10 mm2 (AWG7) Shielded + M6x16 exagonal screw
NTT 460 75/150 4 x 25 mm2 (AWG3) Shielded + M6x16 exagonal screw 25 mm2 (AWG3)
!
NOTES:
• It’s mandatory to use shielded cables and to connect shield to PE terminal both drive and motor side.
• To ensure a correct electric wiring, and for electric safety, use an adequate cap.
• For cable lenght longer than 50meters, it could be necessary to use a triphase motor choke to grant
drive correct operation.
• It’s recommended to perform motor autophasing procedure to ensure that connection is correct (it’s
mandatory if third party motor is used). Please see “6.07 Motor autophasing” pag. 82.
• For information about H.D.T. AC brushless motors wiring (serie B05-B26, BSD10-BSD14 e MS04-MS08),
refer to technical manuals downloaded from internet corporate site:
www.hdtlovato.com

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J3 J3
PE - +
5.03 J2 connector:
OUT drive power
OUT supply and braking
DC DC resistor
RB L3 L2 L1 W V U

FIELD BUS
U

FIELD BUS
PE PE
J1 V
Screw connector forINmechanical size T0-1-2-3, male connection
IN
Connector TYPE W
J1
Terminal block for mechanical size T4-5
U
Utility
U AC power
V supply, DC link and internal or external braking resistor connection.
USB J4 USB J4
V
W
W
Mechanical
J5 size T0-1-2-3: 8 pins
J5
N° pins
Mechanical
18 9T4-5: 6 terminal block
18 9 + screw for Power Earth (PE) eyelet

FEEDBACK 1
FEEDBACK 1

NTT240 T0-1-2 NTT460 T0-1-2 NTT460 T3 NTT460 T4-5

front output front output front output upper output
10 1 10 1

J2 J2 J2 - +
DC DC RB L3 L2 L1 W V U
-DC BUS J7 16-DC BUS 8 J7 16 8

-DC BUS
PE PE
+DC BUS ENC/FREQ IN
ENC/FREQ IN

ENC OUT
ENC OUT

INT B.R. +DC BUS

+DC BUS
EXT B.R.
INT B.R.
L3 INT B.R.
L2 9 EXT B.R. 1 9 1
EXT B.R.
L1 J8 20 10 J8 20 10
L3 L3
DIGITAL OUT
DIGITAL OUT

L2
DIGITAL IN
DIGITAL IN

L2

L1 L1

11 1 11 1

PIN J2 connector description

- DC BUSDC link connection.
+ DC BUS Monitored Voltage: for information, see “8.03 Diagnostics” pag. 121.
Internal braking resistor connection.
INT B.R. In order to use internal resistor, connect ‘INT B.R.’ with ‘+DC BUS’ pin.
Monitored Resistor: for information, see “8.03 Diagnostics” pag. 121.
Internal braking resistor connection.
In order to use internal resistor, disconnect ‘INT B.R.’ with ‘+DC BUS’ pin, if present, and
EXT B.R.
connect resistor between ‘EXT B.R.’ and ‘+DC BUS’ pin.
Monitored Resistor: for information, see “8.03 Diagnostics” pag. 121.
L3 Drive AC power supply.
For NTT 240 single phase power supply, it’s possible to connect phases into any 2 input
L2
of 3 available equally.
L1 Monitored Voltage: for information, see “8.03 Diagnostics” pag. 121.
PE Drive power connection, Power Earth (PE).

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Minimum cable section for drive power supply cable is shown below related to drive power sizes:
Minimun section Minimum Section Maximum Section
Drive power size
1Ph - mm2 (AWG) 3Ph - mm2 (AWG) mm2 (AWG)
NTT 240 1,5/3 1 mm2 (AWG17) 1 mm2 (AWG17)
NTT 240 3/6 1 mm2 (AWG17) 1 mm2 (AWG17)
2.5 mm2 (AWG13)
NTT 240 6/12 2.5 mm2 (AWG13) 1.5 mm2 (AWG15)
NTT 240 10/20 - 2.5 mm2 (AWG13)
NTT 460 1,5/3 - 1 mm2 (AWG17)
NTT 460 3/6 - 1 mm2 (AWG17) 2.5 mm2 (AWG13)
NTT 460 6/12 - 1.5 mm2 (AWG15)
NTT 460 10/20 - 2.5 mm2 (AWG13)
6 mm2 (AWG9)
NTT 460 20/40 - 4 mm2 (AWG11)
6 mm2 (AWG9) +
NTT 460 35/70 -
M6x16 exagonal screw
16 mm2 (AWG5)
10 mm2 (AWG7) +
NTT 460 45/90 (45/150) -
M6x16 exagonal screw
25 mm2 (AWG3) +
NTT 460 75/150 - 25 mm2 (AWG3)
M6x16 exagonal screw
!
NOTES:
• NTT 240/460 drives, that include internal resistor, are already equipped with bridge connection
between INT. B.R. and +DC BUS pins.
• If AC power supply with external EMC filter is used, it’s recommended to use shielded cables.
• If DC power supply or DC link is used, it’s mandatory to use shielded cables and to connect shield to PE
drive terminal.
• To ensure a correct electric wiring, and for electric safety, use an adequate cap.

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 DLD
43

BUS
54

BUS
65
6
NTT 240/460 Wiring and connections

5.04 J3 connector: EC and PN option configuration

»» EC configuration: Ethercat

Double RJ45: IN (A) and OUT (B) port with Link/Act and
Connector TYPE
fieldbus status led.
Run
Run
J3 Link/Act
8 J3 Link/Act
8 Fieldbus comunication protocol:
OUT B
B Utility
FIELD

OUT 1 • Ethercat CoE, (Canopen® CiA 402 over Ethercat) with EC

FIELD

1 Act
Act
Link/Act option.
BUS

8 Link/Act
BUS

8
IN A N° pins
IN A
1
1 Act 8 x 2 (Ethernet standard according to EN50173-1:2011).
Act and
4 x LED link/activity and 1 x green LED for fieldbus status.
LEDs

»» PN configuration: Profinet

Double RJ45: IN (A) and OUT (B) port with Link/Act and
Connector TYPE
fieldbus status led.
Bus
Bus
Failure
Failure
J3 Link/Act
8 Link/Act
8
J3 Fieldbus comunication protocol:
OUT B Utility
B • Profinet RT, (Profidrive CA e CB) with PN option.
FIELD

OUT 1
FIELD

Act
1 Act
Link/Act
BUS

8 Link/Act
BUS

IN
8
A N° pins
IN 1 A 8 x 2 (Ethernet standard according to EN50173-1:2011).
1 Act and
Act 4 x LED link/activity and 1 x red LED for fieldbus status.
LEDs

PIN J3 connector description - EC and PN Option Cable

A1-B1 TD + Transmit Data +
A2-B2 TD - Transmit Data -
A3-B3 RD + Receive Data +
1 8
A4-B4 -
A5-B5 - 1
J3
J3
1
A6-B6
OUT BRD - Receive Data -
B 8
FIELD

OUT
FIELD

A7-B7 - 8
1
BUS

A8-B8 A-
1
BUS

! IN
IN A 8
8
NOTES:
• Monitored Fieldbus: for information, see “8.03 Diagnostics” pag. 121.
• Keep comunication cables far from power and feedback cables.
• It may be necessary to use a switch repeter for bus lenght grater than 1000m.
• Use shielded patch cable (pin-to-pin) FTP 568 (B) Cat. 5 or better.
• As to connect multiple drives, RJ45 needs a cascade connection, so the wiring between the drives
themselves must be pin-to-pin.
• For information about cable, see “Ch. 9 Accessories” pag. 126.

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 LD BUS
Link/Act
8
IN A
Wiring and connections
1 Act NTT 240/460

5.05 J3 connector: CM option configuration

Connector TYPE Double RJ45: IN (A) and OUT (B) parallel connected ports

Fieldbus comunication protocols:

J3
1 Utility • Canopen® CiA301e CiA402
OUT B • Modbus RTU
FIELD BUS

8
1

IN A 8 x 2: A1-A8 and B1-B8 (CIA303 standard + Modbus RTU

8 N° pins
standard)

PIN J3 connector description - CM Option Cable

A1-B1 CAN H High Canopen® data
A2-B2 CAN L Low Canopen® data
A3-B3 GND Common Ground for Canopen®
1 8
A4-B4 MODBUS + + data for RS485 Modbus RTU
A5-B5 MODBUS - - data for RS485 Modbus RTU
A6-B6 -
A7-B7 Shortcircuit For possible external signal or supply
A8-B8 GND Common Ground for Modbus RTU

In order to ensure a correct operation for Canopen® Fieldbus comunication, please follow instruction below:
• connect external 120Ω termination resistor
• the table below shows Bus total lenght related to Baudrate:
Baudrate Bus total lenght
1 Mbit/s < 20m
500 kbit/s < 100m
250 kbit/s < 250m
125 kbit/s < 500m
50 kbit/s < 1000m
20 kbit/s < 2500m
10 kbit/s < 5000m
!
NOTES:
• Monitored Fieldbus: for information, see “8.03 Diagnostics” pag. 121.
• Keep comunication cables far from supply and feedback cables.
• It may be necessary to use a repeter or signal amplifier for bus lenght grater than 1000m.
• Use shielded patch cable (pin-to-pin) FTP 568 (B) Cat. 5 or better.
• As to connect multiple drives, RJ45 needs a cascade connection, so the wiring between the drives
themselves must be pin-to-pin.
• Node id address is settable via keybord; please see “6.06 Display and keyboard” pag. 76.
• For information about cable, see “Ch. 9 Accessories” pag. 126.

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NTT 240/460 Wiring and connections

5.06 J3 connector: PB option configuration

Pitch 3.5mm, male connection

Connector TYPE
Max cable section: 1mm2

J3
1 Utility PROFIBUS Comunication with IN/OUT connection
FIELD BUS

2
3
4
5
6
N° pins 6

PIN J3 connector description - PB Option

1 PROFI+ + data for PROFIBUS comunication
2 PROFI- - data for PROFIBUS comunication
3 GND Common Ground for PROFIBUS comunication
4 PROFI+ + data for PROFIBUS comunication
Run
5 PROFI- - data for PROFIBUS comunication
J3 Link/Act
8
6 OUT SHIELD
B Cable shield. This pin is connected to drive Power Earth (PE)
!
FIELD BUS

1 Act
Link/Act
NOTES:8
IN A
• 1 Monitored Fieldbus: for information, see “8.03 Diagnostics” pag. 121.
Act
• Keep comunication cables far from supply and feedback cables.
• It may be necessary to use a repeter or signal amplifier for bus lenght grater than 1000m.
• Node id address is settable via keybord; please see “6.06 Display and keyboard” pag. 76.

Bus
Failure
J3 Link/Act
8
OUT B
FIELD BUS

1 Act
Link/Act
8
IN A
1 Act

J3
1
OUT B
FIELD BUS

8
1

IN A
8
Installation and user guide
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 J3
WiringOUT
and connections NTT 240/460

FIELD BUS
5.07 J4 connector: drive settings
IN

Connector TYPE Micro USB AB type

USB 2.0 comunication protocol at 12Mbps.

Setting operating modes, diagnostic and calibration via
USB J4 Utility
Caliper.
Firmware upgrade.
J6
N° pins Standard USB A type to micro-B type, shielded cable.

5 15
5.07.1 Using USB 2.0 HUB
FEEDBACK 2

I’s allowed to use USB 2.0 HUBs in cascaded connection to visualize more axises with same PC. Tipical connection
available between PC and NTT 240/460 drive, using USB HUBs, is shown below:
6
1 11 < 3m

< 3m

J7 16 8 < 1m
ENC/FREQ IN
ENC OUT

< 1m

9 1

J8 20 10

!
DIGITAL OUT

DIGITAL IN

NOTES:
• Not insulated connection: USB comunication ground and 0L drive ground are equipotential. Maximum
permitted voltage against Power Earth (PE) is 50V.
• It’s strongly recommended to use USB shielded cables, whose lenght is less than 3m for single drive or
11 less than11m for each drive connected to an USB HUB.
• Keep USB comunication cables far from power and feedback cables.
• It’s recommended to use shielded HUB with active supply if long distances are required.
• Maximum number of installable USB devices is 128, but real displayable number is related to PC
hardware and used operating system.
• It’s possible to connect all other H.D.T. drive families, that support USB, to the same HUB.
• For information about cable, see “Ch. 9 Accessories” pag. 126.

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 J3

NTT 240/460
OUT Wiring and connections

FIELD BUS
J1
5.08 IN J5 connector: Feedback 1
U To avoid motor feedback damage, befors connecting cables, please ensure that connection is correct and
! that drive is set correctly.
V USB J4

W
J5 Double row, pitch 3.5mm, male connection
Connector TYPE
18 9 Max cable section: 1mm2
FEEDBACK 1

Motor main Feedback.

Utility
Incremental or absolute encoder and HALL sensors.

10 1 N° pins 18
J2

-DC BUS J7 16 8
PIN J5 connector description
ENC/FREQ IN
ENC OUT

+DC BUS 1 A+
Differential line driver (5V) input for incremental channel A.
INT B.R. A-
2
A Single (5V) Open Collector and Push Pull input for incremental channel A.
EXT B.R. 9 1
3 B+
J8 20 10
L3 Differential line driver (5V) input for incremental channel B.
B-
4
DIGITAL OUT

L2 B Single (5V) Open Collector and Push Pull input for incremental channel B.
DIGITAL IN

L1 5 Z + / CK+ Differential line driver (5V) input for channel Z of incremental encoder.
Z - / CK - Differential line driver (5V) output for CLOCK data for SSI absolute encoder.
6
11
Z 1
Single (5V) Open Collector and Push Pull input for incremental channel Z.
7 PTC
Digital input for motor PTC. If motor is devoid of PTC, ensure to short pin 7 and 8.
8 PTC
9 +V_SENSE1 Supply voltage sensing input pin from encoder.
Regulated encoder supply 5-9V for feedback 1.
• for 5V encoder supply: if available, connect supply sensing pins (9 and 18 pin), otherwise,
10 +V leave them open circuit.
• for encoder supply higher than 5V: perform short circuit between supply sensing pins (9
and 18 pin) to obtain 9V encoder supply.
11 0L Common Ground 0L for encoder supply and signals.
12 D-
Differential line driver (5V) input for DATA for SSI absolute encoder.
(HA) / D +
13
HA / (D +) HALL sensor A signal input
14 HB HALL sensor B signal input
15 HC HALL sensor C signal input
16 SHIELD
Encoder and signal cable shield. This pin is connected to drive Power Earth (PE)
17 SHIELD
18 0L_SENSE1 Supply common groung sensing input pin from encoder.

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Wiring and connections NTT 240/460

Wiring connections and pins numbering for J5 connector is shown below, according to previous table:
18 9

18 9 !
1
10
Porre attenzione al gancio di inserzione del connet-
tore prima di cablare la matassa: assicurarsi che sia
1
orientato correttamente.
10

Tipical encoder wiring connections for J5 connector and incremental encoder variation wiring is shown below:

Line Driver incremental Open Collector incremental Open Collector incremental

Encoder connection Encoder connection Encoder connection
with internal Pull-up resistor with external Pull-up resistor
Drive
J5 - 10 +V J5 - 10 +5E
CH A+ J5 - 1 1kΩ
1kΩ
CH A- J5 - 2
J5 - 1 J5 - 1
1kΩ Rext 1kΩ
CH B+ J5 - 3 J5 - 2
J5 - 2 CH A
1kΩ CH A

CH B- J5 - 4
J5 - 3 J5 - 3
1kΩ Rext 1kΩ
CK+/CH Z+ J5 - 5 J5 - 4
J5 - 4 CH B
1kΩ CH B

CK-/CH Z- J5 - 6
J5 - 5 J5 - 5
1kΩ Rext 1kΩ
PTC J5 - 7 J5 - 6 J5 - 6
Motor PTC CH Z CH Z
PTC J5 - 8
J5 - 16/17 J5 - 16/17
+V J5 - 10 Drive Drive
Encoder Supply 5-9VDC
0L J5 - 11

+V sense J5 - 9 External resistor must be dimensioned according to main feedback

0L sense J5 - 18
encoder used.
D- J5 - 12
+5V
220Ω
D+ J5 - 13

1kΩ
J5 - 13
Hall A
1kΩ
J5 - 14
Hall B
1kΩ
J5 - 14
Hall C

Motor/Encoder J5 - 16/17
Earth Connection

!
NOTES:
• Monitored Feedback: for information, see “8.03 Diagnostics” pag. 121.
• Maximum permitted voltage for 0L against Power Earth (PE) is 50V.
• Use shielded cable. Keep I/O cables far from supply and feedback cables.
• To ensure a correct electric wiring, and for electric safety, strip the wire up to 6-8mm, or use an adequate
cap.
• In order to use cable lenght between 50m and 100m, ti’s recommended to use incremental encoders
that allow not to exceed 250kHz, during application rated speed.
• For absolute encoders, whose sum of single-turn and multi-turn bit is higher than 15, it’s recommended
to use cable lenght lower than 50meters.
• It’s recommended to perform motor autophasing procedure to ensure that connection is correct (it’s
mandatory if third party motor is used). Please see “6.07 Motor autophasing” pag. 82.

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37
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NTT 240/460 Wiring and connections

5.08.1 Wiring a H.D.T. motor with encoder feedback

Tables below show connection with H.D.T. Bxx, BSDxx and MSxx motor series with:
1. absolute SSI encoder for Bxx e BSDxx motors:
• cod. 480*: ST 12bit + incremental channels (only Bxx series)
• cod. 500*: MT 12bit and ST 17bit

J5 DRIVE FUNCTION EXTENTION CABLE MOTORE

CONNECTOR COLOUR CONNECTOR
cod. 480 cod. 500
1 A+ - GREEN 5
2 A- - BROWN 6
3 B+ - YELLOW 7
4 B- - ORANGE PINK 8
5 CK+ PURPLE 14
6 CK - WHITE/GREEN 13
7 PTC WHITE/YELLOW 17
8 PTC YELLOW/BROWN 2
9 - +V_SENSE1 BROWN/GREEN 16
10 +V RED 3
11 0L BLACK 4
12 D- RED/BLUE 12
13 D+ GREY 11
14 - - -
15 - - -
16 PE / Shield
drain or braid 1
17 PE / Shield
18 - 0L_SENSE1 GREY/PINK 15

2. incremental encoder for Bxx motors:

• cod. 2* o 280*: 1024ppr with HALL sensors
J5 DRIVE EXTENTION CABLE MOTORE
FUNCTION
CONNECTOR COLOUR CONNECTOR
1 A+ GREEN 5
2 A- BROWN 6
3 B+ YELLOW 7
4 B- ORANGE PINK 8
5 Z+ BLUE 9
6 Z- WHITE 10
7 PTC WHITE/YELLOW 17
8 PTC YELLOW/BROWN 2
9 - -
10 +V RED 3
11 0L BLACK 4
12 - - -
13 HA+ GREY 11
14 HB+ PURPLE 14
15 HC+ GREY/PINK 15
16 PE / Shield
drain or braid 1
17 PE / Shield
18 - -

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Wiring and connections NTT 240/460

3. incremental encoder for MS motor:

• cod. 200*: 2500ppr with HALL sensors, output with flying MATE’N’LOK capsule (AMP 172171-1) and
plug (AMP 172163-1).

EXTENTION CABLE MOTOR

J5 DRIVE AMP AMP
FUNCTION ENCODER OUTPUT
CONNECTOR COLOUR 172163-1 172171-1
N. PIN CABLE COLOUR
1 A+ GREEN 9 BLUE/BLACK
2 A- BROWN 10 BLUE
3 B+ YELLOW 11 GREEN
4 B- ORANGE PINK 12 GREEN/BLACK
5 Z+ BLUE 13 YELLOW
6 Z- WHITE 14 YELLOW/BLACK
7 PTC I motori della serie MS non prevedono il PTC.
8 PTC Cortocircuitare il pin 7 e 8 sul connettore J5.
9 +V_SENSE1 - - -
10 +V RED 1 RED
11 0L BLACK 2 BLACK
12 - - - -
13 HA+ GREY 7 WHITE
14 HB+ PURPLE 5 GREY
15 HC+ GREY/PINK 3 BROWN
16 PE / Shield
drain or braid 15 SHIELD
17 PE / Shield
18 0V_SENSE1 - - -
!
NOTE:
• incremental channels LD 5V, also using the absolute encoder cod. 480, can be sent to on PLC or CN via
J8 connector in order to close the position loop.
• All pins of motor side and colours cable not mentioned are unused.

* For information about H.D.T. AC brushless motors wiring (serie B05-B26, BSD10-BSD14 e MS04-MS08), refer to
technical manuals downloaded from internet corporate site:
www.hdtlovato.com

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 J3
NTT 240/460 OUT
Wiring and connections

FIELD BUS
5.09 J6 connector:
IN Feedback 2
To avoid motor feedback damage, befors connecting cables, please ensure that connection is correct and
! that drive is set correctly.
USB J4

J6 High density D-Sub, male connection

Connector TYPE
Max cable section: 0.5mm2
5 15
FEEDBACK 2

Feedback 2 from motor: resolver.

Utility
Only available with FEEDBACK R option.
6
1 11

N° pins 15

J7 16 8
ENC/FREQ IN

PIN J6 connector description

ENC OUT

1 EXC +
Differential line driver supply for Resolver excitation/primary winding.
2 EXC -
9 1
3 COS - COS - input from Resolver feedback.
J8 20 10
4 COS + COS + input from Resolver feedback.
5 SEN - SEN - input from Resolver feedback.
DIGITAL OUT

DIGITAL IN

6 SHIELD Encoder and signal cable shield. This pin is connected to drive Power Earth (PE).
7 - Do not use this connection.
8 PTC - 11 1
Digital input for motor PTC. If motor is devoid of PTC, ensure to short pin 8 and 9.
9 PTC +
10 SEN + SEN + input from Resolver feedback.
11 -
12 -
13 - Do not use this connection.
14 -
15 -
!
NOTES:
• Monitored Feedback: for information, see “8.03 Diagnostics” pag. 121.
• Maximum permitted voltage for 0L against Power Earth (PE) is 50V.
• Use shielded and twisted cable. Keep I/O cables far from supply and feedback cables.
• It’s recommended to perform motor autophasing procedure to ensure that connection is correct (it’s
mandatory if third party motor is used). Please see “6.07 Motor autophasing” pag. 82.

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Wiring and connections NTT 240/460

Resolver wiring connections for J6 connector: Resolver connection

Drive
EXC+ J6 - 1
Resolver
Reference J6 - 2
EXC-

COS- J6 - 3

COS+ J6 - 4

SEN- J6 - 5

SEN+ J6 - 10

PTC J6 - 8
Motor PTC J6 - 9
PTC

J6 - 6
Motor/Resolver
Earth Connection

5.09.1 Wiring a H.D.T. motor with resolver feedback

Table below shows connection with H.D.T. B05-B07-B10-B14-B20-BK20-B26 and BSP-BSD motor series with
resolver cod. 1*:

J6 DRIVE EXTENTION RESOLVER CONNECTOR

FUNCTION
CONNECTOR CABLE COLOUR B05-B07, BSP-BSD B10-B14-B20-B26 BK20
1 EXC + BIANCO 6 F 10
2 EXC - MARRONE 4 D 7
3 COS - GIALLO 2 B 5
4 COS + VERDE 1 A 6
5 SEN - ROSSO 3 C 4
6 SHIELD drenaggio o calza - - -
7 - - - - -
8 PTC - GRIGIO 7 H 9
9 PTC + ROSA 8 G 8
10 SEN + BLU 5 E 14
11 - - - - -
12 - - - - -
13 - - - - -
14 - - - - -
15 - - - - -
!
NOTES:
• All pins of motor side and colours cable not mentioned are unused.

* For information about H.D.T. AC brushless motors wiring (B05-B07-B10-B14-B20-BK20-B26 and BSP-BSD series),
refer to technical manuals downloaded from internet corporate site:
www.hdtlovato.com

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 J6

NTT5240/460
15
Wiring and connections
FEEDBACK 2

5.10 J7-8-9 connectors: Frequency, digital and analog I/O

6
1 11
5.10.1 J7 connector: frequency I/O
Double row, pitch 3.5mm, male connection
J7 16 8 Connector TYPE
Maximum cable section: 1mm2
ENC/FREQ IN
ENC OUT

Frequency main reference input.

Utility
Emulated or buffered encoder output.

9 1 N° pins 16

J8 20 10

PIN J7 connector description

DIGITAL OUT

1 CCW/DIR/CHA 24V
DIGITAL IN

Optoinsulated digital input for DIRECTION / CH A / CCW data.

2 CCW/DIR/CHA + Frequency
Line Driver 5V (pin 2-3) or NPN/PNP input (pin 1-3); see image below.
3 CCW/DIR/CHA - main
4 CW/PULSE/CHB 24V reference
11 1 Optoinsulated digital input for PULSE / CH B / CW data.
5 CW/PULSE/CHB + input
Line Driver 5V (pin 5-6) or NPN/PNP input (pin 4-6); see image below.
6 CW/PULSE/CHB -
7 +5V Stabilized internal supply +5V (<100mA) for any external encoder.
8 SHIELD Encoder and signal cable shield. This pin is connected to drive Power Earth (PE).
9 OUT A + Differential line driver (5V) output for buffered encoder or emulated
10 OUT A - encoder channel A (+24V available on request).
Frequency
11 OUT B + Differential line driver (5V) output for buffered encoder or emulated
encoder
12 OUT B - encoder channel B (+24V available on request).
output
13 OUT Z + Differential line driver (5V) output for buffered encoder or emulated
14 OUT Z - encoder channel Z (+24V available on request).
15 0L Ground 0L for I/O frequency signals and for supply +5V (pin 7) or +24VE (pin 16).
Do not use this connection with hardware “0-0” drives. Available on request.
16 +24VE
+24V input supply for frequency encoder output stage.

NPN FREQUENCY INPUT Control

PNP FREQUENCY INPUT
+Vcc = 24V
Control
+Vcc = 24V
Drive Drive
J7 - 1 J7 - 1
1,9kΩ 1,9kΩ

J7 - 3 J7 - 3

+Vcc = 24V

+Vcc = 24V J7 - 4 J7 - 4
1,9kΩ 1,9kΩ

J7 - 6 J7 - 6

J7 - 8 J7 - 8

LINE DRIVER FREQUENCY INPUT LINE DRIVER ENCODER OUTPUT

Control or Drive Control
Encoder
+5V +Vcc = 5V
+Vcc = 5V
Drive
J7 - 2 J7 - 9
+
CHB / CHA
160R CHA
DIR J7 - 3 J7 - 10
-
J7 - 15 (0S) + J7 - 11
CHB
CHB
+5V J7 - 12
Encoder Supply J7 - 7 -
+ J7 - 13
+Vcc = 5V CHZ
CHZ
J7 - 5 J7 - 14
-
CHA / 160R
PULSE J7 - 6 (0S) J7 - 15

J7 - 8

J7 - 8

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 J7 16 8

Wiring and connections NTT 240/460

ENC/FREQ IN
ENC OUT
5.10.2 J8 connector: digital I/O
9 1

J8 20 10 Double row, pitch 3.5mm, male connection

Connector TYPE
DIGITAL OUT
Maximum cable section: 1mm2

DIGITAL IN
Programmable 10-30V digital I/O.
Utility
Programmable clean contact relay output.

11 1 N° pins 20

PIN J8 connector description

Digital OUTx supply +24V voltage input.
1 +24V I/O
Monitored supply: for information, see “8.03 Diagnostics” pag. 121.
2 +24V +24V internal supply available for feeding voltage to digital OUTx (pin 1).
3 IN0
4 IN1
5 IN2
6 IN3 Optoinsulated PNP input also programmable related to chosen operating mode.
7 IN4 For information, see “6.08.1 Digital I/O functions” pag. 85.
8 IN5
9 IN6
10 IN7
11 0V I/O Isolated Common Ground 0V_I/O for I/O signals.
12 0V Common Ground 0V for +24V
13 OUT0
14 OUT1
15 OUT2 Optoinsulated PNP output also programmable.
16 OUT3 For information, see “6.08.1 Digital I/O functions” pag. 85.
17 OUT4
18 OUT5
19 Programmable clean contact relay output.
OUT6 relay
20 For information, see “6.08.1 Digital I/O functions” pag. 85.

EXTERNAL SOURCE PNP INPUT INTERNAL SOURCE PNP INPUT

Control Drive Control Drive
+Vcc +24V +Vcc +24V
J8 - 2 J8 - 2
10-30V
INx INx
J8 - 3/.. /10 1,9kΩ J8 - 3/.. /10 1,9kΩ

J8 - 11 (0V_I/O) J8 - 11 (0V_I/O)

J8 - 12 0V J8 - 12 0V

EXTERNAL SOURCE PNP OUTPUT INTERNAL SOURCE PNP OUTPUT

Drive +24V J8 - 2 Control Drive +24V J8 - 2 Control
+Vcc +Vcc
J8 - 1 J8 - 1
Input Input
IMAX_LOAD OUTx
IMAX_LOAD
OUTx
J8 - 13/.. /18 Rint J8 - 13/.. /18 Rint
22kΩ 22kΩ

(0V_I/O) J8 - 11 J8 - 11

0V J8 - 12 0V J8 - 12

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 MO
2

ET
MOD- 8
MOD+ 1
NTT 240/460 Wiring and connections

5.10.3 J9 connector: analog I/O

Double row, pitch 3.5mm, male connection
Connector TYPE
12 6 Maximum cable section: 1mm2
ANALOG I/O

J9 Utility Analog I/O

7 1
N° pins 12

PIN J9 connector description

1 REF + Analog differential IN8 ±10V input ADC 16bit for main reference.
IN8 Also available as IN8 digital input (single ended PNP).
2 REF - For information, see “6.09 Drive references” pag. 87.
3 AUX1 +
IN9 Analog differential ±10V input ADC 12bit for auxiliary IN9-IN10 references.
4 AUX1 -
Also available as IN9-IN10 digital input (single ended PNP).
5 AUX2 +
IN10 For information, see “6.09.2 Auxiliary references” pag. 88.
6 AUX2 -
7 SHIELD Signal cable shield. This pin is connected to drive Power Earth (PE).
8 0S Common Ground 0L for analog I/O and stabilized +/-10V supply.
9 AN0
Analog single ended ±10V programmable output DAC 10bit.
10 AN1
11 +10V Stabilized internal supply output +/-10V (< 15mA), usefull for feeding voltage to
12 -10V analog input via external potentiometer.

ANALOG DIFFERENTIAL INPUT ANALOG SINGLE ENDED INPUT

100k
Control 100k
Control

200k J9 - 2/4/6 200k J9 - 2/4/6

- -
200k + 200k +
J9 - 1/3/5 J9 - 1/3/5
100k 100k
(0S) J9 - 8 (0S) J9 - 8
Drive Drive
(+10V) J9 - 11 (+10V) J9 - 11
(-10V) J9 - 12 (-10V) J9 - 12

(SHIELD) J9 - 7 (SHIELD) J9 - 7

ANALOG OUTPUT
Drive
ANx
J9 - 9/10
100Ω
Instrument
(0S) J9 - 8

(SHIELD) J9 - 7

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5.10.4 Cable per J7-8-9

Wiring connections and pins numbering for J4 connector is shown below, according to previous table related to
J8 connector (J7 and J9 connector cable are similar, but with different pin number): 20 10

!
20 10
1
11

Please ensure that insertion hook of connector is

facing correctly.

1
11

!
NOTES:
• 0L and 0S common ground are equipotential and maximum permitted voltage against Power Earth
(PE) is 50V.
• Maximum permitted voltage for 0V, 0V_I/O against Power Earth (PE) is 100V.
• Do not use +24V (pin 2 of J8) to directly engage motor brake.
• Single ended PNP connection for analog references is to connect negative pins (pin 2-4-6 of J9)) to
0S ground (pin 8 of J9) and to connect signal to positive pins (pin1-3-5 of J9); this connection type is
usefull if the external controller device has not differential analog output, but ±10V single ended only,
and if this analog input is used as digital input.
• Keep I/O cables far from supply and feedback cables.
• To ensure a correct electric wiring, and for electric safety, strip the wire up to 6-8mm, or use an
appropriate cap.
• For frequency main reference input and analog input, it’s mandatory to use shielded cable.

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 +24 OUT 4
IN 1 3

NTT 240/460 GND IN

+24 IN
2
1
Wiring and connections
LOGIC
SUPPLY

5.11 J10 connector: RS485

Pitch 3.5mm, male connection

Connector TYPE
Maximum cable section: 1mm2
SHIELD 6
J10
MOD- 5 RS4851 serial comunication with IN/OUT. connection.
Utility

ETHERNET
4
MODBUS

MOD+
GND 3 J12 (Not managed at the moment).
MOD- 2 8
MOD+ 1

N° pins 6

PIN J10 connector description

1 D+ 12 +6data for RS485 comunication
ANALOG I/O

2 J9
D- - data for RS485 comunication
3 0L Common Ground for RS485 comunication
7 1
4 D+ + data for RS485 comunication
5 D- - data for RS485 comunication
6 SHIELD Cable shield. This pin is connected to drive Power Earth (PE)
!
NOTES:
• Not insulated: maximum permitted voltage for 0L against Power Earth (PE) is 50V.

5.12 J11 connector: logic supply and S.T.O. safety function

The cable for J1 is composed of logic supply voltage and STO safety circuit contacts (Safe Torque Off ). For further
information about safety circuit, please see “Ch. 7 S.T.O. safety circuit” pag. 116.

J11 Pitch 5mm, male connection

Connector TYPE
S.T.O. Maximum cable section: 2.5mm2
IN 2 5
+24 OUT 4 +24VDC logic supply connection and safety function STO
Utility
IN 1 3 (Safe Torque Off ).
GND IN 2
+24 IN 1
LOGIC
SUPPLY
N° pins 5

PIN J11 connector description

1 +24V IN Drive logic supply voltage.
2 GND IN (0V) This voltage line is necessary to use NTT 240/460 drive.
SHIELD 6
J10
MOD- 5 Redundant n°1 input channel for STO safety function.
3 IN1 1
ETHERNET

4
for information, see “8.03 Diagnostics” pag. 121.
Monitored input:J12
MODBUS

MOD+
GND 3
2
4 +24V
MOD-
OUT 1
Alimentazione del circuito di8sicurezza STO, fornita dal drive.
MOD+

Redundant n°1 input channel for STO safety function.

5 IN2
Monitored input: for information, see “8.03 Diagnostics” pag. 121.
!
NOTES:
6
• 12Maximum permitted voltage for 0V against Power Earth (PE) is 100V.
ANALOG I/O

•J9 NTT 240/460 drives are equipped with bridge connection between pin 3-4-5, on connector. To use
correctly the STO function, please disconnect bridge connection.
7 1

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5.13 J12 connector: Ethernet

! Connection available only for hardware 0-1 o later versions.

Connector TYPE RJ45 with Link and Activity LEDs

1 Comunication protocol:
ETHERNET

J12 Utility • IEEE 802.3™ Compliant Ethernet 10/100 Base-T

8 (Not managed at the moment).

N° pins 8 (standard Ethernet secondo EN50173-1:2011).

PIN J12 connector description: Ethernet Cable

1 TD + Transmit Data +
2 TD - Transmit Data -
3 RD + Receive Data +
1 8
4 -
5 -
6 RD - Receive Data -
7 -
8 -
!
NOTES:
• Keep comunication cables far from power and feedback cables.
• It may be necessary to use a switch repeter for bus lenght grater than 1000m.
• Use shielded patch cable (pin-to-pin) FTP 568 (B) Cat. 5 or better.

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Ch. 6 Operation mode

Operation mode supported by drive are listed below:

1. Input / Output (I/O): analog and digital input and output.

2. Modbus RTU (for CM configuration only).
3. Canopen® CiA301 and CiA402 protocol (for CM configuration only).
4. Ethercat CoE CiA402 protocol (for EC configuration only).
5. Profinet RT Profidrive protocol (for PN configuration only).
6. Profibus Profidrive DPv0 (for PB configuration only).

Control topologies supported by drive, with rotary and linear or tubular motor type, are listed below:

1. Torque control via analog/inside input reference or via fieldbus parameter.

2. Speed and Speed with Torque limit control via analog/inside/frequency/Table-selection input reference or via
fieldbus parameter.
3. Sensorless speed control.
4. Position control related to desired operation mode:
• Single Target positioner via analog reference or via single parameter.
• Table Target Positioner up to 64 target: cyclic/acyclic target or via digital input selection or via input-start
selection.
• Electronic Gearbox via frequency reference (CHA/CHB, pulse/direction and CW/CCW).
• Electronic Cam via frequency reference (CHA/CHB, pulse/direction).
5. Pressure control via analog input references or via fieldbus parameter.

Main drive status, during operation, are shown below and are visible on display device (please see also “Ch. 8 Drive
status and diagnostics” pag. 120):

• SWITCH-OFF state: drive will not provide torque to motor and shows Drive OK or FAULT condition.
• SWITCH-ON state: drive will provide torque to motor in order to keep it stopped.
• OPERATION ENABLED state: drive will follow speed, torque or position reference, depending on choosen control
topology.
• Drive OK or FAULT condition: drive will show Drive OK condition, only when there are no active alarms. If an alarm
occurs, drive will show a FAULT condition.

Drive has a firmware that communicates with proprietary Caliper 4.0 software: the using of this software leads to:

• select the desired drive operation mode.

• select the motor between rotary and linear or tubular type, with related feedback.
• configure all motor and drive parameters.
• save, modify or reload previous configured motor and drive parameters.
• configure, reload, modify and save all parameters for drive integrated software applications.
• monitor drive and motor during operation.
• perform debug of the entire machine quickly viewing all parameter addresses related to Fieldbus operation
mode and emulating functionality and commands.
• perform HALL sensors autophasing.
• configure analog and digital I/O.
• configure drive to react in alarm, emergency and safe stop conditions.
• configure languages.
• use Scope function.

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6.01 Introducing Caliper

Caliper software requires a PC Windows98® or later and installation software pack can be downloaded
from enterprise web site, after registration and login:

! www.hdtlovato.com

During Caliper installation procedure, when Windows® gives message related to reliable installation USB driver
origin, please accept all in order to go on with installation procedure; if not do so, Windows® will not reach
H.D.T. drive and a new installation procedure is mandatory.

Caliper main window consists of:

1. a Toolbar, located at the top, that, via drop-down menu, allows to set the correct Caliper type related to
drive connected; if a USB HUB 2.0 is used, it allows to connect with the desired drive. It allows to send to
drive command signals, as SWITCH-ON, OPERATION ENABLED, RESET, emulating fieldbus protocol and I/O
functions, and also to configure drive parameters in offline mode, perform HALL sensors autophasing and
use Scope function.
2. a State bar, located at the lower, shows drive state and any active alarms, DC bus power supply voltage and
firmware release for the connected drive.
3. a Data Monitor, located at the left column, gives information about connected drive size, actual drive
operation mode (Fieldbus or I/O), actual control topology (Mode), motor speed and position parameters
and drive current and temperature. Also actual digital I/O function and state (with a graphic view for state)
is displayed.
4. a Menu, into a tree view, located at the right of Data Monitor, allows to set all drive parameters: operation
mode selection (Field Bus menu item), motor and feedback Data parameters (Motor Data menu item),
advanced setup parameters (Advanced Setup menu item) and control topology selection (menu item
depends on desired operation mode in Field Bus menu item).
5. a Drive Data allows to configure Menu parameters directly, set desired Application related to Factors
submenu and to visualize all parameter addresses related to Fieldbus operation mode.

3 4 5

Caliper 4.0 present version and later, extend compatibility with 3.xx previous version in order to use a unique software
to configure all H.D.T. drive families that support it, selecting the correct Caliper version via drop-down menu into
Toolbar. Present maual will describe Caliper 4.0 and later releases.

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!
NOTES:
• Pointing mouse on icons, a brief description will appeare, showing the function.
• To confirm any modified parameters (and to automatically send to drive), press ENTER key, or you
can enable Autosave function in Commands menu to send any modified parameters to drive (a label
‘A’ = Automatic appears in state bar).
• There is an ‘Hidden Menu’ (reachable only entering a password in Commands menu) that allows to set
other critical parameters not interesting for user (voltage, I2T drive and temperature thresholds). For
other informations, please contact our technical support office.

Main software icons, in the toolbar, are described below:

Icon Description
Drive and PC connection: choose correct Caliper Version and desired drive, then press to connect the
drive. State bar, in the lower, shows if connection is OK or not.
Drive and PC disconnection: USB comunication is disabled and drive continues to operate according to
latest modifided parameters before disconnection.
Loading just set configuration into drive memory.
It’s recommended always to perform backup files for drive and motor parameters.

Load default parameters: factory settings will reload into drive memory
!
Motor autophasing: a window is opened to perform motor autophasing, that lets to verify

Ch. 6.07
poles and HALL sensors allignment. Please ensure to set correct encoder pulse number
before proceding. Rotor must be free to rotate. !
Local control via Caliper: this key lets to enable, into Caliper software, all emulated signals and parame-
ters related to each mode operation.
If Local control is pressed, all real fieldbus and I/O signals are NOT considered. Howerver, some input
signals, as limit switch, are considered for machine debug operation.
Enter password, called “1035”, into Commands Menu to enable Local control via Caliper.

‘SWITCH-ON’ ‘Ramp unlock’

‘OPERATION ENABLED’ ‘Ramp enable’

‘CW’ (clock wise) , ‘Start Home Position’

‘CCW’ (counter clock wise) , ‘Absolut/Relative’ reference

‘IN 4’ Input ‘Start Quota’

‘RESET’ ‘Change’ (change set)

‘HALT’ ‘Reset Encoder’ e ‘Reset Position’

‘Ramp reference enable’ ‘Axis enable’

‘JOG back and forth’

Scope: a window is opened to show Scope that allows some drive variables monitoring.

Ch. 6.14 Open a Scope file saved into a PC directory.

System state: a window is opened to show any active or occured alarms with ID code e type information
about alarms and warnings.

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Icon Description
Drive setting: a window is opened to show all drive setting parameters and lets to create a calibration
setup without RS232 active connection yet.

Save all drive calibration setup for motor + drive into a PC directory. This procedure will save all drive
and motor data into default folders created from Caliper software at first program launch. Saving folder
directory can be changed.

Open a drive calibration setup saved into a PC directory.

Motor setting: a window is opened to show all motor setting parameters and lets to create a calibration
setup without RS232 active connection yet.

Save all motor calibration setup and PID current regulator into a PC directory.

Open a drive calibration setup saved into a PC directory.

6.02 Caliper Data Monitor

Data Monitor shows drive main parameters listed below:
1. Drive size, operation mode and set control topology
2. Current provided to motor (A) and Drive heat sink temperature (°C)
3. Speed (with fixed unit):
• RPM: rotary motor.
• mm/s: linear or tubular motor.
4. Position (with fixed unit):
• N. of revolution / counts per turn (16bit) and total counts (32bit
with 1bit for sign management): rotary motor.
• mm: linear or tubular motor.
5. Digital I/O state
• Digital input are programmable and enabled depending on
choosen operation mode and choosen control topology.
• Analog input (12bit) with sign management whose values are
displayed and realtime updated.
• Digital output are programmable and always enabled.
• Graphic LED for digital input activation.

!
NOTES:
• Graphics allows to see I/O function selected and if they are enabled; for digital input, the external LED
ring is activated if hardware input is on High level and internal circle is activated when input function
is enabled.
• Visualized speed and position parameters units can not be changed and depend on motor type (rotary
and linear or tubular). Drive position, speed and acceleration reference units can be changed, instead.
For further information, please see “6.05 Factors” pag. 73.
• For further information about digital I/O, please see “6.08 Digital I/O” pag. 83.

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6.03 Caliper Menu

In order to modify drive parameters, please ensure to:
• enable USB connection with desired drive: if connection is missing, parameters can be set clicking Drive
setting key; then save configuration into PC directory in order to load it into drive memory during active
USB connection.
• enable Local control via Caliper icon key (after entering “1035” password) and ensure to set drive state in
SWITCH-OFF (disable related icon key).
Whenever a Menu item is selected, all relevant parameters appear into Drive Data window: to confirm any
modified parameters (and to automatically send to drive), press ENTER key, or you can enable Autosave function
in Commands menu to send any modified parameters to drive; last modified parameters highlighted in blue track.
Menu items are listed below:
1. FIELD BUS: operation mode selection.
2. MOTOR DATA: motor and feedback parameters settings.
3. ADVANCED SETUP: regulator, filter, limiters settings and alarms managing.
4. The fourth Menu item depends on the desired operation mode and can be set in:
• Control Set: I/O operatio.
• Modbus: Modbus RTU operation.
• CanOpen CiA301 e CanOpen CiA402: Canopen® operation.
• Ethercat: Canopen® CiA301 and CiA402 over Ethercat operation.
• Profinet and Profidrive: Profinet RT Profidrive operation.
• Profidrive: Profibus Profidrive DPv0 operation.

For example, Control Set item into Menu, with its contents in Drive Data and during I/O operation, is shown below:

!
NOTES:
• Control Set item allows an overview of choosen control type into a block diagram (see previous image).
Each time a block is enabled (ramps, filter and limiters), these blocks appear inside block diagram in
appropriate location.
• Into Drive Data window, a single block diagram can be selected and can be opened into a new window
where main block parameters can be set, without looking for it into Advanced Setup (see image below):

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6.03.1 Menu: ‘FIELD BUS’ item

‘Field Bus’ item allows to:
• set drive name, usefull for identification between a multiple axis connection via USB HUB.
• select the desired operation mode.

Operation mode: I/O (Input/Output)

During this operation mode, Control Set item is enable

into Menu and lets to configure analog/digital input
and desired control topology.

Operation mode: Modbus RTU

This screen allows to set fieldbus Address (up to 247)

and comunication Baudrate (up to 57.6KBit).

A Time-out comunication alarm can be configure to

report failure comunication after a time of inactivity.

Operation mode: Canopen® CiA301 and CiA402

This screen allows to set fieldbus Node (up to 127) and

comunication Baudrate (up to 1Mbit).

A Time-out comunication alarm can be configure to

report failure comunication after a time of inactivity.

Operation mode: Ethercat CoE CiA301 and CiA402

This screen allows to set “Station Alias” addressing type

(up to 65536)

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Modalità di funzionamento: Profinet RT Profidrive

This screen allows to set Device Name and IP Address

for Profinet comunication.

Modalità di funzionamento: Profibus DPv0

This screen allows to set Node ID for Profibus Profidrive

DPv0 comunication.

Operation mode is settable only if drive is in SWITCH-OFF state:

• during Fieldbus operation, to ensure witch drive and motor parameters are settable, related to drive
state, please see related fieldbus user guide, downloadable from enterprise web site:
www.hdtlovato.com

• during I/O operation, parameters can be modified only via software Caliper; if parameter is not
changeable, it will appear grey coloured and it will be not selectable.

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6.03.2 Menu: ‘MOTOR DATA’ item and ‘FEEDBACK’ sub-menu

‘Motor Data’ item allows to enter parameters and permanent magnets motor type connected to drive:
1. “PM rotary motor”: brushless permanent magnet rotative motor.
2. “PM linear motor”: brushless permanent magnet linear motor.
3. “Rotary, brushed DC motor”: brushed permanent magnet DC motor.
4. “Induction V/Hz”: asynchronous motor (induction) with V/Hz control.

6.03.2.a Brushless permanent magnet rotative motor

It’s necessary to set correctly:

• Nominal Speed
• Nominal Current
• Peak Current
• Motor Poles: (up to 50poles).
• I2T Time: motor I2T, default set to 10s.

All feedback supported are suitable for this motor type.

Other choke parameters usefull for sensorless control.

6.03.2.b Brushless permanent magnet linear motor

It’s necessary to set correctly:

• Nominal Speed
• Nominal Current
• Peak Current
• Pole Pitch in mm.
• I2T Time: motor I2T, default set to 10s.

All feedback supported are suitable for this motor type.

Other choke parameters usefull for sensorless control.

6.03.2.c Brushed permanent magnet DC motor

It’s necessary to set correctly:

• Nominal Speed
• Nominal Current
• Peak Current
• I2T Time: motor I2T, default set to 10s.

All feedback supported are suitable for this motor type

with exception for sensorless control.

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6.03.2.d Asynchronous motor with V/Hz control

V/Hz control does not need any kind of feedback.

First parameter set allows to enter motor data parameters usefull for a correct functionality; second parameter set
allows to ender parameters for frequency jumps (if necessary) and V/Hz function curve.
!
NOTES:
• Nominal Speed parameter units depends on choosen motor type (rotary and linear or tubular). For
further informations, please see “6.05 Factors” pag. 73.
• I2T motor protection is settable and identifies a motor overload time limit: default set to 10s (setable
from 1s a 3000s). If stress is too high, drive will provide an appropriate alarm/warning (FA 16) and will
limit motor current equal to ‘Nominal Current’ parameter. The choice of this parameter is normally
related to motor physical size.

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‘Feedback’ sub-menu item allows to choose correct feedback and to enable motor cogging compensation:
1. “Incr. Encoder without HALL”
2. “Incr. Encoder with HALL”
3. “HALL only”
4. “Encoder SSI” (absolute encoder)
5. “Sensorless”
6. “Resolver” (with FEEDBACK R option only)

! Ensure to select correct feedback type before connecting to motor.

All H.D.T. drives, in standard condition, that is no feedback reversing and default factors values (please see “6.05
Factors” pag. 73), consider that increasing feedback counter is related to a clockwise rotation of the motor,
viewed by front shaft side.

6.03.2.e Incremental encoder with/without HALL sensors

It’s necessary to set correctly:

• Pulse/Revolution: encoder pulse number per round.
• Offset: offset encoder (only for HALL management)
• Encoder input: set input type between Line Driver and
Open Collector/Push-Pull topology.

Other parameters are:

• Reverse Feedback: encoder counter is reversed related to
motor rotation.
• Cogging compensation: motor cogging mapping.

If incremental encoder without HALL sensors is used, after SWITCH-ON command, drive will perform a rotation
angle, more or less evidence, related to real shaft position. I’s possible to perform this procedure at first start, at
every start or at every reset command, as set into drop-down menu.
If incremental encoder with HALL sensors is used, it’s mandatory to correctly set offset-encoder parameter, set
to 0° for all H.D.T. motors; otherwise perform the autophasing procedure if third part motor is used (“6.07 Motor
autophasing” pag. 82).
Motor cogging map is available only if encoder provides zero index.
Connection is located into J5 connector (please see “5.08 J5 connector: Feedback 1” pag. 36):
1. supply +V power to the feedback of used motor: +V (pin 10) and 0L (pin 11) and sensing pin if available (pin
9-18), otherwise leave them not connected for feedback at +5V or short-circuit them for feedback up to +9V.
2. connect the incremental signals: A+ (pin 1), A- (pin 2), B+ (pin 3), B- (pin 4).
3. if available, connect three HALL signals: HA (pin 13), HB (pin 14) e HC (pin 15).
4. if available, connect encoder zero index: Z+ (pin 5) and Z- (pin 6).
5. if available, connect motor temperature sensor PTC (pin 7-8).

6.03.2.f HALL sensors only

For a trapezoidal control (DC brushless motors), only HALL sensors feedback is used. It’s necessary to enter offset
parameter. Autophasing procedure is not available.
Motor cogging map is not available.
Connection is located into J5 connector (please see “5.08 J5 connector: Feedback 1” pag. 36):
1. supply +V power to the feedback of used motor: +V (pin 10) and 0L (pin 11) and sensing pin if available (pin
9-18), otherwise leave them not connected for feedback at +5V or short-circuit them for feedback up to +9V.
2. if available, connect three HALL signals: HA (pin 13), HB (pin 14) e HC (pin 15).
3. if available, connect motor temperature sensor PTC (pin 7-8).

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6.03.2.g SSI absolute encoder

It’s necessary to set correctly:

• Bit single-Turn
• Bit multi-Turn (if present).
• Offset: offset encoder.

Other parameters are:

• Reverse Feedback: encoder counter is reversed related to
motor rotation.
• Cogging compensation: motor cogging mapping.

If SSI absolute encoder is used, it’s mandatory to correctly set offset-encoder parameter, set to 0° for all H.D.T.
motors; otherwise, perform the autophasing procedure if third part motor is used (“6.07 Motor autophasing” pag.
82).
For single-turn absolute encoders, set Bit multi-Turn to 0.
It’s possible to set the “application offset” parameter related to encoder absolute 0 position: keep motor on desired
position and press ‘Home’ key into sub-menu Feedback inside Drive Data, to store the offset (this parameter is
mapped in every operation mode supported).
Besides, it’s possible to connect encoders having single-turn and multi-turn resolutions higher than 16bit and
15bit respectively; if single-turn and multi-turn bit sum is higher than 31bit, drive provides an error. If single-
turn bit are higher than 16bit, drive performs an automatic truncation of excess bits; by the way drive operates
correctly, affecting offered resolution, limiting it to 16bit. Istantaneous real value for encoder absolute position is
always visible.
Motor cogging map is available.
Connection is located into J5 connector (please see “5.08 J5 connector: Feedback 1” pag. 36):
1. supply +V power to the feedback of used motor: +V (pin 10) and 0L (pin 11) and sensing pin if available (pin
9-18), otherwise leave them not connected for feedback at +5V or short-circuit them for feedback up to +9V.
2. connect signals: CK+ (pin 5), CK - (pin 6), D - (pin 12) e D+ (pin 13).
3. if available, it’s possible to connect the incremental signals: A+ (pin 1), A- (pin 2), B+ (pin 3), B- (pin 4).
4. if available, connect motor temperature sensor PTC (pin 7-8).

6.03.2.h Sensorless

It’s necessary to perform a correct sensorless tuning to

obtain desired performances for applications.

Other parameters are:

• Reverse Feedback: encoder counter is reversed related to
motor rotation.

If brushless encoder is used, drive performs a start procedure with V/hz sensorless control to engage rotor position;
then predictive FOC control is used.
If asynchronous motor is used start procedureis not managed.
All sub-window include sensorless parameters usefull for motor regulation and application desired performances:
• current, speed and phase covariance.
• current noise.
• start procedure set.
• zero crossing speed and rotor lock current parameters.
For further information about sensorless loop tuning, please see “6.17 Sensorless loop tuning” pag. 111.

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6.03.2.i Resolver

E’ necessario inserire correttamente:

• Resolver pole pairs
• Offset

Other parameters are:

• Reverse Feedback: feedback counter is reversed
related to motor rotation.
• Resolver precision: motor feedback ADC conversion
precision.
• Encoder precision: emulated encoder output
precision.
• Reverse simulater encoder: emulated encoder
counter direction is reversed related to motor
feedback counter.
• Cogging compensation: motor cogging mapping.
If resolver is used, it’s mandatory to correctly set resolver pole pairs. Then it’s mandatory to set correctly feedback
offset, set to 0° for all H.D.T. motors; otherwise, if third-party motor is used instead, please perform the autophasing
procedure “6.07 Motor autophasing” pag. 82.
Feedback resolution parameter allows to tune resolver precision between 10 and 16bit. Default value is set to
14bit and it allows to cover most applications with excellent behaviour; for application speed up to 5000RPM,
it’s possible to set 16bit resolution to increase positioning performance, but accepting a speed loop bandwidth
decreasing (at least 4 times lower than 14bit).
Encoder resolution parameter sets number of pulse per mechanical round (PPR), performed by emulated encoder
output with zero index. It’s possible to set only values equal to Feedback resolution or lower.
Besides, monitoring for resolver funcionality is visible.
Some visualized parameters are reserved.
Motor cogging map is available.
Connection is located into J5 connector (please see “5.08 J5 connector: Feedback 1” pag. 36):
1. supply excitation to resolver primary winding: EXC+ (pin 1) and EXC- (pin 2).
2. connect the sin/cos signals: COS- (pin 3), COS+ (pin 4), SEN- (pin 5), SEN+ (pin 10).
3. if available, connect motor temperature sensor PTC (pin 8-9).
!
NOTES:
• If motor has not temperature PTC sensor, please short-circuit connector pins to bypass alarm provided
by drive.
• If Hall sensors are managed, real shaft electric position related to HALL position sectors is displayed.
• Hall sensor only does not provide good performance at low speeds. It has a good function starting from
10% of maximum speed, therefore, in the case of a 3000RPM motor, good performance are obtained
at more than 300RPM.
• It’s possible to provide incremental channels to external controller via J7 connector in order to close
position loop externally.
• For further information about motor cogging compensation, please see “6.13 Motor cogging torque
compensation” pag. 93.

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‘Observer’ sub-menu item allows to enable and set gain and bandwidth for observer system applied to position
feedback from motor: with this tool, it’s possible to increase round resolution up to 16bit. Observer system is available
for all supported feedback (with exception for sensorless control).
It’s useful to reduce motor noise keeping unchanged application bandwidth.
It’s disabled for default condition, but it’s recommended when:
• encoder feedbacks, that provide resolution lower than 1000ppr or lower than 12bit, is used.
• HALL sensor feedbacks is used.

Observer function could lead to system instability, so please follow tuning instruction at “6.16 Closed loop regulation
tuning” pag. 107.

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6.03.3 Menu: ‘ADVANCED SETUP’ item

‘Advanced Setup’ item allows to set regulators, filters, limiters, alarms managements, brake managements and
digital outputs and it is independent of the operation mode selection.
This item shows firmware release and drive label data.
It’s possible to set the desired encoder output from
drop-down menu choosing between incremental en-
coder, frequency input or simulated encoder output.

This item allows to set:

• control loop gains.
• alarms with relevant reset manegment.
• filters and limiters.
• digital outputs function.

To set each of items in the sub-menu, just select it and modifing window will appear in Drive Data.
Advanced Setup sub-menu items are listed below:
1. Speed Regulator: PID speed regulator (set from 1 to 3000). Increasing value, coefficients KP, KI increase their
effect.
2. Current Regulator: PID current regulator (set from 1 to 2000). Increasing value, coefficients KP, KI increase their
effect.
3. Position loop: position regulator. Increasing value, coefficients KP increases its effect. Parameter for choosing
feedback to close position loop (motor feedback or external encoder). Parameters for axis ratio between
motor and encoder and encoder pulse number.
4. Alarm Memory: occured alarm history up to 16 maximum stored locations, with description; alarm list can
be erased.
5. Alarm Mode: some alarm managment including Overvoltage, Undervoltage, Voltage/phase lack and drive
I2T; they can be set as shown below:
• Autoreset or Stored for voltage faults.
• Rated current limit or Cyclic auto reset for drive I2T warning; also it’s possible to define the I2T alarm after
parameter time elapsed.
6. Limit: limiter for upper speed and current in percentage of motor rated current.
7. Notch Filter: notch filter enable and engage at desired frequency and attenuation.
8. Iq Filter: 1ST order time constant filter for quadrature current reference (set from 0.01ms to 30ms). Please be
carefull using this filter that could lead to instability conditions.
9. Output: digital output managment. For any information about output functions, please see “6.08.1 Digital
I/O functions” pag. 85.
10. Generic data: flash memory (non volatile) location addresses available for customer and reachable only via
fieldbus comunication.
11. Analog Out: analog output management; they can monitor measured speed/current or speed/current
reference.
12. Braking Resistor: parameters related to internal/external braking resistor.
!
NOTES:
• Drive position, speed and acceleration reference units depends on motor type (rotary and linear or
tubular). For further information, please see “6.05 Factors” pag. 73.

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6.03.4 Menu: ‘Control Set’ ‘Modbus’ ‘CanOpen’ ‘Ethercat’ ‘Profinet’ items

As already described above, the 4th Menu item depends of operation mode selection. Drive parameters for the
type of selected control are settable, including:
1. Desired control topology via drop-down menu inside Drive Data window.
2. FACTORS setting: drive position, speed and acceleration reference units depends on motor type (rotary and
linear or tubular). For further information, please see “6.05 Factors” pag. 73.
3. analog and digital I/O setting: digital output are manageble also via fieldbus parameter.
! all parameters related to desired control topology.
4.
NOTES:
• To set all parameters via Caliper, ‘Local Controll via Caliper’ key must be enabled. Comunication
with Master controller is cut off.
• For further information about fieldbus protocols, please see related fieldbus user guide, downloadable
from enterprise web site:
www.hdtlovato.com

6.03.4.a Input/Output operation mode: ‘Control Set’ items

• speed control (and speed with torque limit).
• torque control.
• electronic gearbox control (CHA/B, CW/CCW, Pulse/Direction).
• position control (single target positioner, analog positioner, cyclic table selection positioner or via digital
input up to 64 target).
• electronic cam control.
• Pressure control.

For example, speed control with analog +/-10V input is shown below:

Control Set sub-menu items are listed below:

1. Control setting: Stop mode management during Fault Reaction and HALT conditions. For further information,
please see “6.04 Emergency stop functions” pag. 71. Stop mode available are shown below (selectable from
dropdown menu):
• Disable power: motor inertia stop.
• Ramp controlled stop and then disable power.
• Ramp controlled stop keeping motor in standstill condition at power on.
• Limit torque stop, setting desired torque limit.

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2. Digital Input: drive digital input setting in I/O operation mode. For any other information about digital input
functions, please see “6.08.1 Digital I/O functions” pag. 85.
• Filter Input: input 1ST order filter parameters, in ms unit.
3. Factors: multiplier factors associated with input reference in order to modify scale resolution. Please see
“6.05 Factors” pag. 73.
4. Position Setting: maximum admitted position error and maximum admitted recovery time setting; beyond
these values drive provides an error/alarm condition.
5. Position: setting for all parameters related to desired position control between single target positioner,
analog positioner, cyclic/acyclic table selection or via digital input or via input start up to 64 target. For
further information, please see “6.09 Drive references” pag. 87 and “6.15.5 Position control: positioner mode”
pag. 104.
• Pos Parameter: profile setting and position procedure setting, software positive and negative limits and
Homing offset.
• Position Jog: JOG setting.
• Home Position: HOMING procedures and parameters. For further information, please see Modbus user
guide.
• Pos. - Input X: index stop, at relative position, when event happens on INPUT X of drive I/O connector.
6. Main Speed: speed control and main speed reference setting between analog, inside, frequency or Tab-
selection. For further information please see “6.09 Drive references” pag. 87 and “6.15.2 Sensored speed
control” pag. 101 or “6.15.3 Sensorless speed control” pag. 102.
• Aux Speed: auxiliary speed reference setting between analog, inside or torque limit.
• Ramps: acceleration and deceleration ramp managment; linear ramp or S ramp (JERK parameter).
7. GearBox: gearbox axis rate management and engage and disengage settings; input type can be selected
between CHA/B, CW/CCW, Pulse/Direction input reference. For turther information please see “6.09 Drive
references” pag. 87 and “6.15.4 Position control: electronic gearbox mode” pag. 103.
• Engaging: engaging phase parameter set
• Disengaging: disengaging phase parameter set
• Home position: HOMING procedures and parameters. For further information, please see Modbus user
guide.
• Gearbox JOG: JOG setting.
8. Torque: torque control setting and input reference setting between analog and inside. For further information
please see “6.09 Drive references” pag. 87 and “6.15.1 Torque control” pag. 100.
9. Electronic Cam: Cam table and all parameter setting. For further information, please see “6.09 Drive references”
pag. 87 and “6.15.6 Position control: electronic cam mode” pag. 105.
• Sync/Shift: isync parameter set and master/slave position shift setting.
• Data Engaging: engaging phase parameter set
• Data Disengaging: disengaging phase parameter set
• Home position: HOMING procedures and parameters. For further information, please see Modbus user
guide.
• Cam JOG: JOG setting.
10. Press: pressure reference accuracy setting and fullscale setting for speed and pressure reference and for
pressure transducer. For further information please see “6.09 Drive references” pag. 87 and “6.15.7 Pressure
control” pag. 106.
• Setting: safety pressure threshold setting, beyond which the drive introduces set speed limit. Speed
variation is managed with ramp.
• Limit: current and negative speed limit setting.
• Alarm mode: overpressure and underpressure threshold setting and enabling.
• Pressure Reg.: pressure ring regulators setting.
• Ramps: pressure and speed ramps setting and enabling.
• Output: analog output fullscale setting and output setting for pressure reached condition related to
pressure and time window parameter.

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6.03.4.b Modbus RTU operation mode: ‘Modbus’ items

Control type and state machine in picture:

• speed control (and speed with torque
limit).
• torque control.
• electronic gearbox control (CHA/B, CW/
CCW, Pulse/Direction).
• position control (single target positioner,
analog positioner, cyclic table selection
positioner or via digital input up to 64
target).
• electronic cam control.
• pressure control.

During fieldbus operation mode, Caliper software shows all Modbus RTU parameter addresses, nearby the
parameter.
Same Modbus RTU protocol implemented inside NTT 240/460 drive is è compatible with all other H.D.T. drive
families that support it.

Modbus sub-menu items are listed below:

1. Control: Modbus RTU Control Word and Status Word informations.
2. Control Set: control type selection.
3. Control setting: Stop mode management during Fault Reaction, HALT conditions, comunication timeout and
speed reached with window parameters. For further information, please see “6.04 Emergency stop functions”
pag. 71.Stop mode available are shown below (selectable from dropdown menu):
• Disable power: motor inertia stop.
• Ramp controlled stop and then disable power.
• Ramp controlled stop keeping motor in standstill condition at power on.
• Limit torque stop, setting desired torque limit.
4. Digital Input: drive digital input setting in Modbus RTU operation mode. For any other information about
digital input functions, please see “6.08.1 Digital I/O functions” pag. 85.
• Filter Input: input 1ST order filter parameters, in ms unit.
5. Factors: multiplier factors associated with input reference in order to modify scale resolution. Please see
“6.05 Factors” pag. 73.
6. Position Setting: maximum admitted position error and maximum admitted recovery time setting; beyond
these values drive provides an error/alarm condition.
7. Position: setting for all parameters related to desired position control between single target positioner,
analog positioner, cyclic/acyclic table selection or via digital input or via input start up to 64 target. For
further information, please see “6.09 Drive references” pag. 87 and “6.15.5 Position control: positioner mode”
pag. 104.
• Pos Parameter: profile setting and position procedure setting, software positive and negative limits and
Homing offset.
• Position Jog: JOG setting.
• Home Position: HOMING procedures and parameters.
• Pos. - Input X: index stop, at relative position, when event happens on INPUT X of drive I/O connector.
8. Main Speed: speed control and main speed reference setting between analog, inside, frequency or Tab-
selection. For further information please see “6.09 Drive references” pag. 87, and “6.15.2 Sensored speed
control” pag. 101 or “6.15.3 Sensorless speed control” pag. 102.
• Aux Speed: auxiliary speed reference setting between analog, inside or torque limit.
• Ramps: acceleration and deceleration ramp managment; linear ramp or S ramp (JERK parameter).
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9. GearBox: gearbox axis rate management and engage and disengage settings; input type can be selected
between CHA/B, CW/CCW, Pulse/Direction input reference. For turther information please see “6.09 Drive
references” pag. 87 and “6.15.4 Position control: electronic gearbox mode” pag. 103.
• Engaging: engaging phase parameter set.
• Disengaging: disengaging phase parameter set.
• Home position: HOMING procedures and parameters.
• Gearbox JOG: JOG setting.
10. Torque: torque control setting and input reference setting between analog and inside. For further information
please see “6.09 Drive references” pag. 87 and “6.15.1 Torque control” pag. 100.
11. Electronic Cam: Cam table and all parameter setting. For further information, please see “6.09 Drive references”
pag. 87 and “6.15.6 Position control: electronic cam mode” pag. 105.
• Sync/Shift: isync parameter set and master/slave position shift setting.
• Data Engaging: engaging phase parameter set
• Data Disengaging: disengaging phase parameter set
• Home position: HOMING procedures and parameters. For further information, please see Modbus user
guide.
• Cam JOG: JOG setting.
12. Press: pressure reference accuracy setting and fullscale setting for speed and pressure reference and for
pressure transducer. For further information please see “6.09 Drive references” pag. 87 and “6.15.7 Pressure
control” pag. 106.
• Setting: safety pressure threshold setting, beyond which the drive introduces set speed limit. Speed
variation is managed with ramp.
• Limit: current and negative speed limit setting.
• Alarm mode: overpressure and underpressure threshold setting and enabling.
• Pressure Reg.: pressure ring regulators setting.
• Ramps: pressure and speed ramps setting and enabling.
• Output: analog output fullscale setting and output setting for pressure reached condition related to
pressure and time window parameter.

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6.03.4.c Canopen® operation mode: Canopen CiA301 and Canopen CiA402 item

Control type and state machine in picture:

• Position Mode
• Velocity Mode
• Profile Velocity Mode
• Profile Torque Mode
• Homing Mode
• Interpolated Position Mode
• Cyclic Sync Position Mode
• Cyclic Sync Velocity Mode
• Cyclic Sync Torque Mode
• Touch Probe
• Electronic Gear
• Pressure control

During fieldbus operation mode, Caliper software shows all Canopen parameter addresses, nearby the parameter.
Same Canopen protocol implemented inside NTT 240/460 drive is è compatible with all other H.D.T. drive families
that support it.

Canopen CiA301 sub-menu items are listed below:

1. Comunication Data: guard time setting and parameters saving in EEPROM (according to Canopen® standards).
2. Alarms: alarms setting and erasing.
3. RPDO MAP: RPDO map visualization.
4. TPDO MAP: TPDO map visualization.

Canopen CiA402 sub-menu items are listed below:

1. Control: Canopen® Control Word and Status Word informations.
2. Factors: multiplier factors associated with input reference in order to modify scale resolution. Please see
“6.05 Factors” pag. 73.
3. Control setting: Stop mode management during Fault Reaction, HALT conditions and comunication timeout.
For further information, please see “6.04 Emergency stop functions” pag. 71. Stop mode available are shown
below (selectable from dropdown menu):
• Disable power: motor inertia stop.
• Ramp controlled stop and then disable power.
• Ramp controlled stop keeping motor in standstill condition at power on.
• Limit torque stop, setting desired torque limit.
4. Position Setting: maximum admitted position error and maximum admitted recovery time setting; beyond
these values drive provides an error/alarm condition.
5. Digital Input: drive digital input setting in Modbus RTU operation mode. For any other information about
digital input functions, please see “6.08.1 Digital I/O functions” pag. 85.
• Filter Input: input 1ST order filter parameters, in ms unit.
6. Touch Probe: parameters for Touch Probe input setting. It’s possible to see Touch Probe status word inside
Drive Data window.
7. Positioner: ramp topology and speed/position targets setting; position with its error visualization during
operation.
• Pos. - Input X: index stop, at relative position, when event happens on INPUT X of drive I/O connector.
8. Homing Mode: HOMING mode setting; zero search speed and switch search speed with acceleration
parameter.
9. Profile Velocity: point to point speed targets setting; ramps and speed error window with timeout; speed
visualization during operation.
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10. Velocity Mode: speed reference and ramp setting; speed visualization during operation.
11. Interpol. Mode: interpolator mode parameter visualization.
12. Torque Mode: profile torque and torque reference setting; torque value visualization during operation.
13. GearBox: gearbox axis rate management and engage and disengage settings; input type can be selected
between CHA/B, CW/CCW, Pulse/Direction input reference. For turther information please see “6.09 Drive
references” pag. 87.
• Engaging: engaging phase parameter set.
• Disengaging: disengaging phase parameter set.
14. Press: pressure reference accuracy setting and fullscale setting for speed and pressure reference and for
pressure transducer. For further information please see “6.09 Drive references” pag. 87 and “6.15.7 Pressure
control” pag. 106.
• Setting: safety pressure threshold setting, beyond which the drive introduces set speed limit. Speed
variation is managed with ramp.
• Limit: current and negative speed limit setting.
• Alarm mode: overpressure and underpressure threshold setting and enabling.
• Pressure Reg.: pressure ring regulators setting.
• Ramps: pressure and speed ramps setting and enabling.
• Output: analog output fullscale setting and output setting for pressure reached condition related to
pressure and time window parameter.

6.03.4.d Ethercat operation mode: Ethercat item

Control type and state machine in picture:

• Position Mode
• Velocity Mode
• Profile Velocity Mode
• Profile Torque Mode
• Homing Mode
• Interpolated Position Mode
• Cyclic Sync Position Mode
• Cyclic Sync Velocity Mode
• Cyclic Sync Torque Mode
• Touch Probe
• Electronic Gear
• Pressure control

During fieldbus operation mode, Caliper software shows all Canopen (index and subindex) parameter addresses,
nearby the parameter.
Same Ethercat CoE protocol implemented inside NTT 240/460 drive is è compatible with all other H.D.T. drive
families that support it.

Ethercat sub-menu items are listed below:

1. DC Sync/Watchdog: syncronization type set view.
2. Watch dog: process watchdog viewer.
3. SyncManager: alarm setting and erasing.
4. CanOpen CiA301 and CanOpen CiA402: see “6.03.4.c Canopen® operation mode: Canopen CiA301 and Canopen
CiA402 item” pag. 66. Following item added to submenu:
• Sync Manager PDO: PDO map for sync manager operation.
• Sync Man Synchro: all parameter related to syncronization.

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6.03.4.e Profinet RT operation mode: Profinet e ProfiDrive items

Control type and state machine in picture:

• Speed control (AC1)
• Position control (AC3, program mode and
manual positioner)
• Pressure control

During fieldbus operation mode, Caliper software shows all Profinet (PNU index and sub-index) parameter
addresses, nearby the parameter.
Same Profinet RT Profidrive protocol implemented inside NTT 240/460 drive is è compatible with all other H.D.T.
drive families that support it.

Profinet sub-menu items are listed below:

1. DU Ident: protocol PNU parameter useful to identify Drive Unit.
2. DO Ident: protocol PNU parameter useful to identify Data Object.
3. Access Service: identification for Base mode parameter Access of Profinet protocol.

Profidrive sub-menu items are listed below:

1. Control: Profinet Profidrive Control Word and Status Word informations.
2. Control setting: Stop mode management during Fault Reaction, HALT conditions and comunication timeout.
For further information, please see “6.04 Emergency stop functions” pag. 71. Stop mode available are shown
below (selectable from dropdown menu):
• Disable power: motor inertia stop.
• Ramp controlled stop and then disable power.
• Limit torque stop, setting desired torque limit.
3. Active map: active cyclic telegram structure and its number is displayed.
4. Custom map: set-point, misures and other available parameters setting.
5. Allarms: buffer memory for drive alarm event.
6. Fault buffer: Profidrive buffer memory for drive alarm event.
7. Factors: multiplier factors associated with input reference in order to modify scale resolution. Please see
“6.05 Factors” pag. 73.
8. Digital Input: drive digital input setting in Profinet operation mode. For any other information about digital
input functions, please see “6.08.1 Digital I/O functions” pag. 85.
• Filter Input: input 1ST order filter parameters, in ms unit.
9. Touch Probe: parameters for Touch Probe input setting. It’s possible to see Touch Probe status word inside
Drive Data window.
10. Velocity Mode: speed reference and ramp setting; speed visualization during operation.

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11. Position: setting for all parameters related to desired position control between manual positioner (single
target) or program mode via 64 target parameters.
• Pos Parameter: profile setting and position procedure setting, software positive and negative limits and
Homing offset.
• Position Jog: JOG setting.
• Home Position: HOMING procedures and parameters.
• Pos. - Input X: index stop, at relative position, when event happens on INPUT X of drive I/O connector.
12. Press: pressure reference accuracy setting and fullscale setting for speed and pressure reference and for
pressure transducer. For further information please see “6.09 Drive references” pag. 87 and “6.15.7 Pressure
control” pag. 106.
• Setting: safety pressure threshold setting, beyond which the drive introduces set speed limit. Speed
variation is managed with ramp.
• Limit: current and negative speed limit setting.
• Alarm mode: overpressure and underpressure threshold setting and enabling.
• Pressure Reg.: pressure ring regulators setting.
• Ramps: pressure and speed ramps setting and enabling.
• Output: analog output fullscale setting and output setting for pressure reached condition related to
pressure and time window parameter.

6.03.4.f Profibus operation mode: ProfiDrive item

Control type and state machine in picture:

• Speed control (PNU)
• Position control (Single target)
• Speed control (Analog reference)
• Torque control (PNU)
• Torque control (Analog reference)
• Pressure control

During fieldbus operation mode, Caliper software shows all Profibus (PNU) parameter addresses, nearby the
parameter.
Same Profibus Profidrive protocol implemented inside NTT 240/460 drive is è compatible with all other H.D.T. drive
families that support it.

Profidrive sub-menu items are listed below:

1. Control: Profinet Profidrive Control Word and Status Word informations.
2. Control setting: Stop mode management during Fault Reaction, HALT conditions and comunication timeout.
For further information, please see “6.04 Emergency stop functions” pag. 71. Stop mode available are shown
below (selectable from dropdown menu):
• Disable power: motor inertia stop.
• Ramp controlled stop and then disable power.
3. Allarms: buffer memory for drive alarm event.
4. Moving average: moving average operation on parameters inside “Drive data” window
5. Factors: multiplier factors associated with input reference in order to modify scale resolution.Please see “6.05
Factors” pag. 73.

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6. Digital Input: drive digital input setting in Profibus operation mode. For any other information about digital
input functions, please see “6.08.1 Digital I/O functions” pag. 85.
• Filter Input: input 1ST order filter parameters, in ms unit.
7. Digital speed: speed reference (PNU) and ramp setting; speed visualization during operation.
8. Analog speed: analog speed reference and ramp setting; speed visualization during operation. For further
information, please see “6.09 Drive references” pag. 87.
9. Position: setting for all parameters related to single target position control:
• Pos Parameter: profile setting and position procedure setting, software positive and negative limits and
Homing offset.
• Position Jog: JOG setting.
• Home Position: HOMING procedures and parameters.
• Pos. - Input X: index stop, at relative position, when event happens on INPUT X of drive I/O connector.
10. Torque: torque reference (PNU or analog input) in percentage related to “Nominal Current” motor parameter;
speed visualization during operation. For further information, please see “6.09 Drive references” pag. 87.
11. Press: pressure reference accuracy setting and fullscale setting for speed and pressure reference and for
pressure transducer. For further information please see “6.09 Drive references” pag. 87 and “6.15.7 Pressure
control” pag. 106.
• Setting: safety pressure threshold setting, beyond which the drive introduces set speed limit. Speed
variation is managed with ramp.
• Limit: current and negative speed limit setting.
• Alarm mode: overpressure and underpressure threshold setting and enabling.
• Pressure Reg.: pressure ring regulators setting.
• Ramps: pressure and speed ramps setting and enabling.
• Output: analog output fullscale setting and output setting for pressure reached condition related to
pressure and time window parameter.

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6.04 Emergency stop functions

In order to perform correctly the emergency stop functions, it’s mandatory that +24V for logic supply is
! available untill the procedure is completed.

For managing the emergency stop, drive provides some features that can change the operating status. Function are
shown below:
1. FAULT REACTION function
2. HALT function
3. SAFE TORQUE OFF safety function

Drive operating status are shown below:

• SWITCH-OFF status: drive does not provide current to motor and Drive OK or Fault condition is shown.
This status is reachable during operation when emergency stop procedure is active.
• SWITCH-ON status: drive provides current to motor in standstill only if Drive OK or warning condition is
active. This status is reachable during operation when emergency stop procedure is active.
• OPERATION ENABLED status: drive follows speed, torque or position reference, related to desired control
topology only if Drive OK or warning condition is active.
Drive operating conditions are shown below:
• DRIVE OK or FAULT conditions: drive provides high active output for DRIVE OK condition when no alarms
occured. If an alarm occurs, drive goes into FAULT condition and output is low.
• WARNING condition: some alarms allow the drive to enter the WARNING condition where motor control
is available but only with limit performance or simply showing that an unusual situation is occured.
To further information about alarms that cause warning condition, please see “Ch. 8 Drive status and
diagnostics” pag. 120.

Emergency stop function during Modbus operation mode is shown below:

6.04.1 FAULT REACTION function

With the FAULT REACTION function is possible to set drive management when an alarm occures.
To further information about alarms that allow fault reaction function, please see “Ch. 8 Drive status and diagnostics”
pag. 120.
Settings for this function are shown below:
• Inertia stop: drive goes immediatly into SWITCH-OFF status disabling power to motor.
• Ramp controlled stop, setting related ramp parameter, then drive goes into SWITCH-OFF status disabling
power to motor.
• Limit torque stop, setting related torque limit parameter then drive goes into SWITCH-OFF status
disabling power to motor.

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6.04.2 HALT function

HALT function is achieveable via digital input or via fieldbus operation mode and it’s available only when DRIVE
OK (o WARNING) condition is active.
Settings for this function are shown below:
• Inertia stop: drive goes immediatly into SWITCH-OFF status disabling power to motor.
• Ramp controlled stop, setting related ramp parameter, then drive goes into SWITCH-OFF status disabling
power to motor.
• Ramp controlled stop, setting related ramp parameter, then drive goes into SWITCH-ON status providing
current to motor in standstill.
• Limit torque stop, setting related torque limit parameter then drive goes into SWITCH-OFF status
disabling power to motor.

During fieldbus operation mode, in addition to HALT, other emergency stop functions are available managing
them via fieldbus that allow to set drive behaviour during particular operating conditions.
These function are shown below:
• QUICK STOP, set via fieldbus control word, with slow and quick ramp, and managing the SWITCH-ON o
SWITCH OFF status.
• COMUNICATION TIMOUT for managing the emergency stop when fieldbus comunication timeout
occures.
Some settings are not available depending on operation mode.
For further information about fieldbus emergency stop, please see related manuals available at enterprise website:
www.hdtlovato.com

6.04.3 Safe Torque Off safety stop function

Safe Torque Off hardware safety function is realized with IEC EN 61800-5-2 law reference conformal, 0 stop category,
and with IEC61508 law reference for SIL3.
The Safe Torque-Off (STO) feature of NTT 240/460 drive is made of a redundant electrical circuit designed to bring
a drive to a state of safe torque absence. It is a feature used to prevent unexpected motor rotation in case of
emergency without the necessity to interrupt power supply. When STO function is active, the servodrive and the
motor are in a state of functional safety, which means that is impossible to cause an active rotation of motor shaft
or, if it is alredy rotating, it stops by inertia.
The safety stop category 0 is achieved with the immediate disconnection of electronic components (IGBT) capable
of system energization, that cause an uncontrolled stop of the axis, by inertia.
For further information about this function, please see “Ch. 7 S.T.O. safety circuit” pag. 116.

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6.05 Factors
To ensure a correct operation for entire application, FACTORS calculation procedure must be performed.
! This calculation is automatic and must be started via Caliper software whenever position, speed and
acceleration parameter units, that drive will receive as reference, will be changed.

Factors:
• let thew drive to know input reference topology (position, speed and acceleration units), that it will receive
depending on operation mode.
• depend on chosen units and a correct value must be set at any changing in order to use drive correctly.

6.05.1 Factor calculation procedure

Factors set via Caliper software is shown below (the picture shows rotary motor, for example):
1. choose between base units or custom application units or custom label units defined by user:
• 1a - Base units: reffered to motor shaft, driven by drive, can be selected by a drop-down menu related
to position, speed and acceleration parameters.
• 1b - Custom Application: only when units depends on application (Custom Application), it’s necessary
to set it in the Application submenu of Drive Data window; please see “6.05.2 Custom Application” pag.
74.
• 1c - Custom Label: only when units depends on a desired label (Custom Label), it’s necessary to set it in
the Application submenu of Drive Data window; please see “6.05.3 Custom Label” pag. 75.
2. choose polarity for position and speed reference.
3. automatic calculate for factors.

1a 1b

1c

!
NOTES:
• It’s recommended to use the Custom Label only after be ensured that the desired units are not
implemented as main units, in order to avoid any errors in factors.
• It’s recommended to use the Custom Application, if position, speed and acceleration references,
provided to drive, are reffered to load and not to motor shaft (so downstream any reducers or rack).
• Graphics allow to see the chosen Custom Application.
• Calculated factors can be save/load from the used PC directory.

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Main units supported by drive are listed below:

Angular units Linear units Standard units

Position radians, deg cm, mm, μm, nm, inches, mils counts

Speed radians/s, deg/s cm/s, mm/s, μm/s, nm/s, inches/s, mils/s counts/s, RPM, RPS

!
Acceleration radians/s2, deg/s2 cm/s2, mm/s2, μm/s2, nm/s2, inches/s2, mils/s2 counts/s2, RPM/s, RPS/s

NOTES:
• There are other units, in the same drop-down menu, that allow to set tenths, cents and thousandth of
main units.

6.05.2 Custom Application

»» In case of rotary motor, supported Custom Application can be selected by a drop-down menu and they are listed
below:
1. Disk axis (angular measurement): application with angular units reffered directy to a load represented by a rotary
disk downstream any reducer. Set parameters are:
• units
• reducer ratio
2. Disk axis (angular measurement): application with linear units reffered directy to a load represented by a rotary
disk downstream any reducer. Set parameters are:
• units
• reducer ratio
• disk diameter
3. Axis conveyor belt (flat belt): application with linear units reffered directy to a load represented by an axis conveyor
belt downstream any reducer. Set parameters are:
• units
• reducer ratio
• dragged disk diameter
4. Axis conveyor belt (toothed belt): application with linear units reffered directy to a load represented by an axis
conveyor belt downstream any reducer. Set parameters are:
• units
• reducer ratio
• tooth number e tooth pitch
5. Transmission axis (flat belt): application with linear units reffered directy to a load represented by a transmission
axis downstream any reducer. Set parameters are:
• units
• reducer ratio
• disks diameters
6. Transmission axis (toothed belt): application with linear units reffered directy to a load represented by a
transmission axis downstream any reducer. Set parameters are:
• units
• reducer ratio
• toohtd disks number
7. Axis with worm: application with linear units reffered directy to a load represented by an axis with worm
downstream any reducer. Set parameters are:
• units
• reducer ratio
• screw pitch

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8. Axis with hollow shaft motor: application with linear units reffered directy to a load represented by an axis with
an hollow shaft motor. Set parameters are:
• units
• screw pitch

»» In case of linear or tubular motor, the Custom Application is unique, and the calculation for Factors is equal to that
described for rotary motor:

!
NOTES:
• Some units, as nm, are not implemented in linear motor application; by the way, it can be created with
Custom Label.
• Graphics allow to see the chosen Custom Application.
• Calculated factors can be save/load from the used PC directory.

6.05.3 Custom Label

Custom Label allows user to set custom units related to a specified application.
To define units, it’s allow to set:
• a ratio between number of desired revolutions to perform in order to reach target of specified
application (in case of rotary motor).
• a ratio between number of desired pole pitch to perform in order to reach target of specified application
(in case of linear or tubular motor).
This means that target quota, that user provides to drive, is equal to that set as number of revolution or number of
pole pitch.
An example of Custom Label setting is shown in the picture below:

Setting, as target (‘obj’), value ‘1’ and, as number of revolutions,

value ‘28’, drive will perform 28 revolutions when user provides it ,
as target position, value ‘1’.

!
NOTES:
• Custom Label settable parameters are 16bit (resolution at 65535).

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6.06 Display and keyboard

Drive has 5-digit (7-segment) display, useful for rapid view of drive status and parameters, and a keybord for navigate
the parameter set and for modify then in realtime during operation or during tuning procedure if PC is missing.

Menu L1 level (main) Parameter set is organized into levels and sub-levels, di-
splayed during navigation.
Menu L2 level
Menu L3 level The keyboard is formed by 4 buttons:
Menu L4 level • ESC: it leads to navigate escaping levels or sub-levels
and to escape from parameter without saving.
Menu L5 level (parameter)
• DIRECTIONAL INDICATORS (UP and DOWN): they lead
to navigate into levels or sub-levels and to modify
parameters.
• ENTER: it leads to navigate entering levels or sub-
levels and to select and save parameters.

After turn-on, drive shows installed firmware version for a few seconds; then it displays main display visualizatrion
menu for primary drive parameters.
d.0000 Drive status (STOP, ENA, RUN, F xx and FA xx) d.0007 Absolute feedback position freezing when
going out from Home sensor
d.0001 Motor speed in RPM d.0008 Drive current size
d.0002 Motor current in Ampere d.0009 Drive voltage size
d.0003 DC link voltage in Volt d.000A Reserved
d.0004 Drive Heatsink temperature in °C d.000b Pressure reference

!
d.0005
d.0006
Position-rounds of the motor
Position-offset-round of the motor
d.000C Measured pressure

The amount of parameters that can be viewed and modified is limited to available number of 5-digit. For
further information about these parameters, please see “6.06.1 Keybord access parameters” pag. 77. For a
complete drive setting, please use Caliper 4 software (or newer).

To enter drive main setting menu, press ESC + ENTER at the same time; main menu in navigation are shown:

Menu M: motor parameter setting

Menu T: control topology setting

Menu U: speed control parameter setting

Menu C: torque control parameter setting

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Menu P: position control parameter setting

Menu F: pressure control parameter setting

Menu S: drive advanced setup parameters

Menu H: drive reserved setup parameters (only for authorized personnel)

6.06.1 Keybord access parameters

Table below shows parameter access via keyboard (press ESC + ENTER at the same time).

L1 Description L2 Description L3 Description PAR. Description Value Type

‘EnA’ = Switch-ON
‘Run’ = Operation Enable
d.0000 Drive status R
‘StoP’ = Switch-OFF
‘F XX’ or ‘FA XX’ = Fault XX
d.0001 Motor speed -9999 ÷ 9999 RPM R
-99.99 ÷ 99.99A o
d.0002 Provided current R
-999.9 ÷ 999.9 A
d.0003 DCbus voltage 0 ÷ 1000V R
BASIC
d DISPLAY d.0004 Drive temperature 0 ÷ 200.00 °C R
PARAMETERS d.0005 Position-rounds -32767 ÷ 32767 cnts R
d.0006 Position-offset 0 ÷ 65535 cnts R
d.0007 H.P. freezing 0 ÷ 65535 cnts R
d.0008 Drive current size Drive current size R
d.0009 Drive voltage size 240 / 460 R
d.000A Reserved -
d.000b Pressure reference 0 ÷ 1000.0Bar R
d.000C Measured pressure 0 ÷ 1000.0Bar R
‘0 S-r’ = Synchronous rotative
‘1 S-L’ = Synchronous linear
m.1000 Motor type ‘2 dC’ = Permanent mag. DC S
‘3 U-F’ = Induction V/Hz
‘4 IM’ = Induction FOC

MOTOR m.1001 Rated speed 0 ÷ 20000 RPM S

m1 m.1002 Rated current 0 ÷ 600.00 A S
MAIN PARAMETERS
m.1003 Peak current 0 ÷ 600.00 A S

MOTOR m.1004 Stall current 0 ÷ 600.00 A S

m
DATA m.1005 Rated voltage 10 ÷ 460 V S
m.1006 Poli motore 2 ÷ 50 poli S
m.1007 Poli resolver 2 ÷ 16 poli S
m.2000 Phase resistance 0.01 ÷ 650 Ω S
m.2001 Sync. inductance 0.01 ÷ 650 mH S
MOTOR m.2002 I2T Time 1 ÷ 3000 s S
m2
ADVANCED PARAMETERS Motor autophasing ‘C off = OFF command
m.2003 S
command ‘C on’ = ON command
m.2004 Feedback offset 0 ÷ 360.00 ° S

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L1 Description L2 Description L3 Description PAR. Description Value Type

‘U’ = Speed
‘C’ = Torque
CONTROL ‘A’ = Electr. Gearbox
t -t- Control topologies S
TOPOLOGIES ‘P’ = Position
‘E’ = Electr. Cam
‘F’ = Servo press
‘0-AnL’ = Analog
Choose reference ‘1-Int’ = Inside
U10 CHOICE U.1000 S
type ‘2-FrE’ = Frequency
‘3-tAb’ = Selection Table
U.1100 Fullscale 0 ÷ 60000 RPM W
MAIN U11 ANALOG REF.
U1 U.1101 Offset -999.9 ÷ 999.9 RPM W
REFERENCE
U12 INTERNAL REF. U.1200 Target speed -9999 ÷ 9999 RPM W
U.1500 Pulse per round 128 ÷ 16384 S
FREQUENCY ‘0 A-b’ = encoder ChA/ChB
U15
REF. U.1501 Input type ‘1 F-d’ = Frequency/Direction S
SPEED ‘2 ImP’ = CW/CCW Pulse
U
CONTROL ‘0-AnL’ = Analog
Choose reference
U20 CHOICE U.2000 ‘1-Int’ = Interno S
type
‘2-LIm’ = Limite di Coppia
U.2100 Fullscale 0 ÷ 60000 RPM W
AUXILIARY U21 ANALOG REF.
U2 U.2101 Offset -999.9 ÷ 999.9 RPM W
REFERENCE
U22 INTERNAL REF. U.2200 Target speed -9999 ÷ 9999 RPM W
TORQUE U.2300 Fullscale 0.0 ÷ 250.0% W
U23
LIMIT U.2301 Offset -100.0 ÷ 100.0% W
U24 ENABLE U.2400 Enable reference On/Off W
U.3005 Enable S-ramps On/Off W
U3 RAMPS U30 ENABLE
U.3006 Enable linear ramps On/Off W
Choose reference ‘0-AnL’ = Analog
C0 CHOICE C.0000 S
type ‘1-Int’ = Inside
TORQUE
C C.1000 Fullscale 0.0 ÷ 250.0% W
CONTROL C1 ANALOG REFERENCE
C.1001 Offset -100.0 ÷ 100.0% W
C2 INTERNAL REFERENCE C.2000 Target torque -250.0 ÷ 250.0% W
‘0-SnG’ = Single target
POSITION
‘1-AnL’ = Analog
CONTROL Choose reference
P P0 CHOICE P.1000 ‘2-tAb’ = Selection Table S
- type
‘3-CLC’ = Cyclic Table
POSITIONER
‘4-t/S’ = Input start table
F.1000 Speed reference 1 ÷ 9999 RPM W
F.1001 Speed ref. offset -999.9 ÷ 999.9 RPM W
F.1002 Pressure reference 1 ÷ 1000.0 bar W
FULLSCALE PARAMETERS FOR
F.1003 Pressure ref. offset -100.0 ÷ 100.0 bar W
F1 PRESSURE REFERENCE AND
F.1004 Transducer 1 ÷ 1000.0 bar W
TRANSDUCER
F.1005 Transducer offset -100.0 ÷ 100.0 bar W
Pressure reference ‘dEC 0’ without decimal
PRESSURE F.1006 S
F accuracy ‘dEC 1’ with 1 decimal
CONTROL
F.2000 Pressure threshold 0 ÷ 1000 bar W
THRESHOLD SETTING FOR F.2001 Hysteresis for F.2000 1 ÷ 50 bar W
F2
POWER LIMITING F.2002 Speed threshold 0 ÷ 9999 RPM W
F.2003 Speed ramps 1 ÷ 60000 RPM/s W
F.3000 Current limit 0.0 ÷ 1000.0 % W
F3 LIMITS F.3001 Negative speed -9999 ÷ 0 RPM W
F.3002 It acts on S.5002 parameter

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L1 Description L2 Description L3 Description PAR. Description Value Type

F.4000 Pressure output 0 ÷ 1000 bar W
ANALOG OUTPUT MANAGEMENT
F.4001 Speed output 1 ÷ 9999 RPM W
F4
F.4002 Pressure error 1 ÷ 1000 bar W
DIGITAL OUTPUT MANAGEMENT
F.4003 Threshold time 1 ÷ 60000 ms W
F.5000 Overpressure 1 ÷ 1000 bar W
F.5001 Time for F.5000 1 ÷ 60000 ms W
ALARM MODE F.5002 Enable F.5000 ON/OFF S
F5
THRESHOLD MANAGEMENT F.5003 Under pressure 1 ÷ 1000 bar W
F.5004 Time for F.5003 1 ÷ 60000 s W
F.5005 Enable F.5003 ON/OFF S
PRESSURE F.6000 KP Pressure 1 ÷ 32767 W
F CONTROL F.6001 Exponential for KP -16 ÷ 16 W
(continue) PRESSURE PID REGULATORS AND F.6002 KI Pressure 1 ÷ 32767 W
F6
EXPONENTIAL MULTIPLYER COEFFICIENTS F.6003 Exponential for KI -16 ÷ 16 W
F.6004 KD Pressure 1 ÷ 32767 W
F.6005 Exponential for KD -16 ÷ 16 W
F.7000 Acceleration 1 ÷ 60000 bar/s W
F.7001 Deceleration 1 ÷ 60000 bar/s W
PRESSURE RAMPS ON REFERENCE
F.7002 Jerk 0 ÷ 10000 ms W
F7 F.7003 Ramp enable ON/OFF S
F.7004 Acceleration 1 ÷ 60000 RPM/s W
SPEED RAMPS ON REFERENCE F.7005 Deceleration 1 ÷ 60000 RPM/s W
F.7006 Ramp enable ON/OFF S
S.1000 KP speed 1 ÷ 65535 W
S10 PID SPEED S.1001 KI speed 0 ÷ 65535 W
S.1002 KD speed 0 ÷ 65535 W
S.1100 KP current 1 ÷ 65535 W
S11 PID CORRENTE S.1101 KI current 0 ÷ 65535 W
S.1102 KD current 0 ÷ 65535 W
PID
S1 PID ASINCRONO S.1200 KP flux 0 ÷ 65535 W
REGULATORS S12
DI FLUSSO S.1201 KI flux 0 ÷ 65535 W
PID ASINCRONO S.1300 KP flux weakening 0 ÷ 65535 W
S13
DEFLUSSAGGIO S.1301 KI flux weakening 0 ÷ 65535 W
S14 PID POSIZIONE S.1400 KP posizione 0 ÷ 4000 W
ERRORE DI S.1500 Error threshold 0 ÷ 65535 cnts W
S15
ADVANCED POSIZIONE S.1501 Threshold time 10 ÷ 10000 ms W
S
SETUP S.3000 Encoder output res. 256-1024-4096-16384 ppr S
Reset alarms
S.3002 ON/OFF W
command
S.3003 Alarm list Last 16 appeared alarms R
ENCODER RESOLUTION
S.3004 Firmware version ‘SFX.XX’ firmware version R
S3 and
S.3005 Feedback Reverse ON/OFF S
ALARMS
‘0 rIF’ frequency reference
S.3006 Encoder output type ‘1 SIM’ emulated enc. out S
‘2 EnC’ motor encoder
S.3007 Enc. out. reverse ON/OFF S
‘oFF’ stored
S.4002 STO alarm mode W
S4 ALARM MODE ‘on’ autoreset
S.4008 Check 24V for I/O ON/OFF W

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L1 Description L2 Description L3 Description PAR. Description Value Type

S.5000 Maximum speed 0 ÷ 20000 RPM W
S.5001 Maximum current 0.0 ÷ 1000.0 % W
S5 LIMITS
Limit current accu- ‘dEC 0’ without decimal
S.5002 S
racy ‘dEC 1’ with 1 decimal
‘0 Io’ Input/Output
‘1 mod’ Modbus
‘2 CAn’ Canopen
S70 CHOICE S.7000 Fieldbus choice S
‘3 EtH’ Ethercat
‘4 Pnt’ Profinet
‘5 PrF’ Profibus
S.7100 MODBUS address 1 ÷ 247 S
‘0 nuL’ null
MODBUS parity
S.7101 ‘1 EUE’ pari S
check
‘2 odd’ dispari
S71 MODBUS
‘9600’ - ‘14400’ - ‘19200’
S.7102 MODBUS baudrate S
‘38400’ - ‘57600’ - ‘115200’
S.7103 Timeout 10 ÷ 4000 ms S
S.7104 Timout enable ON/OFF S
S.7200 CANOPEN address 1 ÷ 127 S
‘10’ - ‘20’ - ‘50’ - ‘100’ - ‘125’
S.7201 CANOPEN baudrate S
S72 CANOPEN ‘250’ - ’500’ - ‘800’ - ‘1000’
S7 FIELDBUS
ADVANCED S.7202 Timeout 10 ÷ 4000 ms S
S SETUP S.7203 Timout enable ON/OFF S
(continue) S73 PROFIBUS S.7300 PROFIBUS address 1 ÷ 125 S
S74 ETHERCAT S.7400 ETHERCAT alias 1 ÷ 65535 S
S.7500
S.7501
Profinet IP address fields W
S.7502 192 . 168 . 1 . 10
S.7503 ADDRESS

S.7510
S.7511 Profinet Subnet Mask ad-
S75 PROFINET W
S.7512 dress fields
255 . 255 . 255 . 1
S.7513 ADDRESS
S.7520
S.7521 Profinet Gateway address
W
S.7522 fields
192 . 168 . 1 . 1
S.7523 ADDRESS
S.8000 Enable time 10 ÷ 2000 ms W
S.8001 Disable time 10 ÷ 2000 ms W
S8 MOTOR BAKE
S.8002 Deceleration ramp 0 ÷ 60000 RPM/s W
S.8003 Brake enable speed 1 ÷ 500 RPM W
H.6000 Ohmic value 10 ÷ 10000 Ω S
H6 BRAKING RESISTOR H.6001 Power rating 30 ÷10000 W S
H.6002 Overload time 1 ÷ 255 s S

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L1 Description L2 Description L3 Description PAR. Description Value Type

H0 RESERVED PARAMETER ACCES H.0000 Password entering - W
H.1002 I2T drive time 0.1 ÷ 25.0 s W
Voltage lack control
H.1003 ON/OFF S
enable
H1 - H.1004 Switching frequency 2.0 ÷20.0 kHz W
H.1005 Heat temp. threshold 1.0 ÷ 200.0 °C W
H.1006 Fan enable threshold 0.0 ÷ 200.0 °C W
RESERVED H.1007 Stop fan hysteresis 1.0 ÷ 200.0 °C W
H
SETUP H.3000 DC braking threshold 15 ÷ 960 V W
H.3001 Hysteresis for H.3000 1 ÷ 125 V W
H.3002 DC max threshold 15 ÷ 960 V W
H3 -
H.3003 Hysteresis for H.3002 1 ÷ 125 V W
H.3004 DC min threshold 5 ÷ 560 V W
H.3005 Hysteresis for H.3004 1 ÷ 125 V W
H4 I2T LIMIT FREQUENCY H.4000 I2T limit threshold 0.00 ÷10.00 Hz W
H5 ALARMS ERASING H.5000 Erase alarms ON/OFF W

Variable “Type” show:

1. R = read only
2. W = always write (STOP, ENA, RUN o FAULT)
3. S = write only in STOP (or FAULT) drive status

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6.07 Motor autophasing

Autophasing function allows drive to identify connected motor poles number and incremental encoder offset (all
data are visible in ‘Motor Data’ item); ensure to perform autophasing procedure if a third parts motor is used, in order
to grant a correct drive functionality.

If drive manages motor brake, its disengage is performed during autophasing function. In case of vertical
axis load, please use an oppropriate external mechanic brake esterno and separate rotor from load. In
the end of autophasing operation, motor brake will engage.
Rotor MUST be free to rotate during autophasing function.
! Please set correct used motor encoder pulse number and motor rated current before performing
autophasing.
Drive can perform autophasing also without HALL sensors in order to identify only connected motor poles number.

In the launching window, dove a motor current confirmation message appears and lets to enter correct data; also a
free rotor message appears, as shown in the image below:

!
NOTES:
• Modifing current data and encoder pulse number before performing autophasing, it lets to auto update
related into Motor Data item, as shown in previous image.
• H.D.T. motors are normally phased at drive default value, so, during first start up, it is not necessary to
perform autophasing.

Caliper software shows some information during autophasing operation, as shown in the image below:
During this operation, motor performs one complete turn at low
speed, identifing total motor poles number; the graphic window
shows istantaneous information about rotor position within turn.
Press Start to perform autophasing.
Autophasing can be stopped in any tyme pressing Stop key. An au-
tophasing operation must have been complete at least, in order to
ensure a drive correct operation with connected motor.
If during autophasing motor runs in counterclockwise, (shaft side
view), please invert two motor phases of cable connection.
In the end, Caliper software will update motor poles number into ‘Mo-
tor Data’ item and will automatically send data to drive.

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6.08 Digital I/O

Digital input (also analog input used as digital input) and output ports are totally configurable with all theri input
function, so they are not linked to hardware input position, exception for 2 input capture functions, as Touch
Probe.
To learn more about digital I/O functions according to choosen operation mode, please see “6.08.1 Digital I/O
functions” pag. 85, and for information about I/O topology, please see “5.10 J7-8-9 connectors: Frequency, digital
and analog I/O” pag. 42.
Please remember that ‘Digital Input’ sub item is nested in Menu item releated to desired operation mode; for
example, a kind of useful configuration for digital input functions, with related settings, during speed control in
I/O operation mode is shown below:

Setting into window is shown below:

• setting input 6 and 7 as analog or digital
input.
• setting Power ON/OFF activation type
between Level or Edge of selected input
signal.
• setting input function from dropdown
menu and desired logic state.

Digital input functions are listed below:

1. Power ON o Switch ON: motor locked in torque standstill condition command.
2. Power ON/Reset: reset alarms and torque standstill condition joint command.
3. Power/Operat.: torque standstill condition and reference enabled joint command.
4. Power/Operat./ Reset: reset + torque standstill + reference enabled joint command.
5. Enable Reference o Enable Operation: reference enabled command.
6. Start Reference: Start position command.
7. Halt: Halt command.
8. Position Abs./Rel.: target conversion between absolute and relative and viceversa.
9. Reset Alarms o Fault Reset: drive alarms reset command.
10. Limit Switch CW and Limit Switch CCW: input for clockwise (CW) and counterclockwise limit switch (CCW).
11. Home Switch: input for Home switch.
12. Current limit 1 and Current limit 2: input for 1ST and 2ND torque limit at specified percentage value.
13. Reverse Speed: reverse speed command.
14. Home Position: start Home Position procedure command.
15. JOG+ and JOG-: speed JOG command.
16. Selection-Start: target table selection input and start per input-start position control.
17. Reference Select(0-5): target table selection input via Modbus operation mode.
18. Reset Index: cyclic positioner index reset.
19. Position on Input X: index stop, at relative position, when event happens on defined Input.
20. Measure position on In X: start/stop position measurement on defined input.
21. Selection Cam: electronic cam table selection input.
22. Input Sync Cam: electronic cam sync input.
23. Input Sync Slave: electronic cam slave module sync input.
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24. Position Phase Shift: input for performing axis posizion phase shift.
25. Velocity Shift + and Velocity Shift -: input for performing axis speed phase shift.
26. Touch Probe 1 and Touch Probe 2: Touch Probe 1 and 2 function input.

Output can be set into Advanced Setup as shown below:

Output is enabled for each operation
mode supported by drive.
Drive Data window lets choosing output
port function and shows some function
parameter.
In order to enable function, please select
it in the drop-down menu into Drive Data
item.
Digital output functions are available in
every supported operation mode.

Output functions are listed below:

1. Torque limit: if drive provides rated torque or reaches torque limit set as reference, output will switched to
an high state value.
2. I2T Alarm: if drive identifies a drive or motor I2T alarm condition, output will switched to an high state value.
3. Speed 0: if drive identifies a Zero Speed condition, output will switched to an high state value. Speed value
and timeout, beyond that it’s necessary to send alarm, can be set in Drive Data item.
4. Target reached: output will switched to an high state value if drive identifies one of the following reached
target condition: target position reached, home position executed, cam completed and pressure reached.
5. Mot. Brake: motor brake management and current offset parameter for vertical axis. To learn more about
this function, please see “6.11 Motor brake” pag. 90.
6. Drive OK: high active logic signal for Drive OK status; output is disabled if any alarms occur.
7. Secure Power disable: this function provides an high active output if both SPD contacts are correctly
opened; please see “Ch. 7 S.T.O. safety circuit” pag. 116.
8. Pos-Freq. Out: this output provides a squared wave whose frequency is equal to a divider,
settable with a power of two, of motor position in turn (counts). Maximum allowable frequency
for output is 2.5kHz so for using correctly thi function, please follow the formula shown below:

where NRPM.V (RPM) is the maximum speed reachable by the motor in the application, FBRESOLUTION is the
feedback resolution (it equals to encoder pulse number multiplied by 4, if incremental encoder is used,
whereas it equals to resolution due to number of bit if absolute encoder is used), and DIVMIN is the minimum
allowable divider; so from Caliper drop-down menu, please choose an “Encoder count Divider”, DIV, higher
than DIVMIN found value, to result in ENCOUT, that is the output resolution in CPR (counts per round).
9. Pos Output: available only for input-start position mode, it provides an output pulse, with time setting,
when position is reached.
10. Homing attained: when any homing procedure is performed, output will switched to an high state value
and it will remain untill next Homing procedure call (or drive turn off ).
!
NOTES:
• Digital output are also configurable to be controlled via fieldbus parameter in order to let controller to
perform custom function.

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6.08.1 Digital I/O functions

Available functions, during I/O operation mode and related control type, are shown in table below:

I/O Operation mode

Speed Torque Elect. Axis Position Elect. Cam Press

Power ON Power ON Power ON Power ON Power ON Power ON
IN 0
Power ON/Reset Power ON/Reset Power ON/Reset Power ON/Reset Power ON/Reset Power ON/Reset
IN 1 Enable Reference Enable Reference Enable Reference Enable Reference Enable Reference Enable Reference
Reset Alarms Reset Alarms Reset Alarms Reset Alarms Reset Alarms Reset Alarms
IN 2 Current Limit 1 Current Limit 1 Current Limit 1 Current Limit 1 Current Limit 1 Current Limit 1
Current Limit 2 Current Limit 2 Current Limit 2 Current Limit 2 Current Limit 2 Current Limit 2
IN 3
Halt Halt Halt Halt Halt Halt
IN 4 Reverse Speed Home position Home position Home position Limit Switch CW
Limit Switch CW Limit Switch CW Limit Switch CW Limit Switch CW Limit Switch CCW
IN 5 Limit Switch CCW Limit Switch CCW Limit Switch CCW Limit Switch CCW

IN 6 Home Switch Home Switch Home Switch Home Switch

JOG+ JOG- JOG+ JOG- JOG+ JOG-
IN 7 Pos. Phase Shift Selection-Start Selection Cam
Velocity Shift + Position on Input X Velocity Shift +
IN 8* Velocity Shift - Velocity Shift -

IN 9* Input Sync Cam

Input Sync Slave
IN 10*

DIR CHA - CCW - DIR - CHA - CCW - DIR - CHA - DIR -

PULSE CHB - CW - PULSE - CHB - CW - PULSE - CHB - PULSE -

Available functions, during Modbus RTU operation mode and related control type, are shown in table below:

MODBUS RTU Operation mode

Speed Torque Elect. Axis Position Elect. Cam Press

Switch ON Switch ON Switch ON Switch ON Switch ON Switch ON
IN 0
Power/Operation Power/Operation Power/Operation Power/Operation Power/Operation Power/Operation
IN 1 Pow./Op./Reset Pow./Op./Reset Pow./Op./Reset Pow./Op./Reset Pow./Op./Reset Pow./Op./Reset
Enable Operation Enable Operation Enable Operation Enable Operation Enable Operation Enable Operation
IN 2 Fault Reset Fault Reset Fault Reset Fault Reset Fault Reset Fault Reset
Halt Halt Halt Halt Halt Halt
IN 3
Meas. pos. Input X Start reference Meas. pos. Input X Meas. pos. Input X Meas. pos. Input X Start reference
IN 4 Limit Switch CW Meas. pos. Input X Limit Switch CW Limit Switch CW Limit Switch CW Meas. pos. Input X
Limit Switch CCW Limit Switch CCW Limit Switch CCW Limit Switch CCW Limit Switch CW
IN 5 Home Switch Home Switch Home Switch Home Switch Limit Switch CCW

IN 6 Start reference Start reference Start reference

Home Position Home Position Home Position
IN 7 JOG+ JOG- JOG+ JOG- JOG+ JOG-
Pos. Phase Shift Selection-Start Selection Cam (0-2)
IN 8* Velocity Shift + Reference select Velocity Shift +
Velocity Shift - (0-5) Velocity Shift -
IN 9*
Position Abs./Rel Input Sync Cam
IN 10* Position on Input X Input Sync Slave

DIR CHA - CCW - DIR - CHA - CCW - DIR - CHA - DIR -

PULSE CHB - CW - PULSE - CHB - CW - PULSE - CHB - PULSE -

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Available functions, during Canopen, Ethercat CoE, Profinet and Profibus operation mode are shown in table
below:

Operation Mode

Canopen CiA402 Ethercat CoE CiA402 Profinet Profidrive Profibus DPv0

IN 0 Position on Input X - Measuring Position -

IN 1 Position on Input X - Measuring Position Limit Switch CW

IN 2 Limit Switch CW Limit Switch CCW

IN 3 Limit Switch CCW -

IN 4 Home Switch -

IN 5 Position on Input X - Measuring Position -

IN 6 Position on Input X - Measuring Position - Touch Probe 1 - Touch Probe 2 Home Switch

IN 7 Position on Input X - Measuring Position - Touch Probe 1 - Touch Probe 2 Position on Input X

DIR CHA - CCW - DIR (only for Electronic Gearbox) - -

PULSE CHB - CW - PULSE (only for Electronic Gearbox) - -

!
NOTES:
• Drive considers that an I/O port is activated when high level logic state is detected. For any information
about logic state levels, please see “2.06 Technical data” pag. 15. For further information about wiring,
please see “5.10 J7-8-9 connectors: Frequency, digital and analog I/O” pag. 42
• * Input 8,9 and 10 are same hardware analog input; to use them as digital input, they must be enabled:
single ended PNP connection for analog references is to connect negative pins (pin 2-4-6 of J9)) to 0S
ground (pin 8 of J9) and to connect signal to positive pins (pin1-3-5 of J9).
• Function related to Position table selection (Selection Position from 0 to 5) and Cam table selection
(Selection Cam from 0 to 2) have to be set manually during Modbus RTU operation mode.
• Please, see fieldbus user guides for any other detailes related to how to manage digital I/O (logic states
or activation sequences).

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6.09 Drive references

Drive acquires references, related to operation mode and control topology, from type shown below:
1. Main reference
2. Auxiliary AUX1 reference
3. Auxiliary AUX2 reference
Having the analog references a voltage range between -10V e +10V, zero condition is obtained when input
! voltage to drive pin port (pin 1-2, 3-4, 5-6 of J9 connector) equals to 0V. For further information about connections
and about analog input topology, please see “5.10 J7-8-9 connectors: Frequency, digital and analog I/O” pag.
42.

6.09.1 Main reference

Main reference provides following features:
• speed control as IN8 analog speed reference (I/O and Modbus op. mode): pin 1-2 of J9 connector.
• speed control as frequency speed reference (I/O and Modbus op. mode): pin 1 to 6 of J7 connector.
• speed control as target speed table selection reference (I/O and Modbus op. mode).
• torque control as IN8 analog torque reference (I/O, Modbus and Profibus op. mode): pin 1-2 of J9
connector.
• position control as frequency position reference (‘elect. gearbox’ for I/O, Modbus, Canopen and Ethercat
op. mode and ‘electronic cam’ for I/O and Modbus op. mode): pin 1 to 6 of J7 connector.
• position control as IN8 analog speed reference (I/O and Modbus op. mode): pin 1-2 of J9 connector., if
‘single target positioner’ or ‘analog positioner’ is used.
• pressure control as analog IN8 pressure transducer reading feedback: pin 1-2 of J9 connector.

Topologies are shown below:

1. Analog IN8: reference is feeded from external signal, whose voltage range lies between ±10V. Drive input
is a differential port (pin 1-2 of J9 connector).
• In speed control, this signal feeds main speed reference related to settable parameters.
• In torque control, this signal feeds percentage torque reference according to rated motor current data
(‘Nominal Current’ in Motor Data item).
• In position control, if ‘single target positioner’ or ‘analog positioner’ is used, this signal feeds main speed
reference related to settable parameters into position sub-menu.
• In pressure control, this signal feeds pressure transducer reading related to settable parameters into
press sub-menu.
2. Inside: speed or torque reference is generated internally by drive and it’s constant. By the way, it can be
modified via Caliper software during operation or via fieldbus parameter.
3. Frequency: speed or position reference is feeded from 2 frequency signals (pin 1 to 6 of J7 connector) with
these features:
• PULSE - DIRECTION mode: a signal frequency provides to drive the position/speed refererce, whereas
the second one provides to drive the direction signal depending on high logic signal (forward motion)
or low logic signal (backwards motion).
• EXTERNAL ENCODER CHA - CHB: external real or simulated encoder input. It’s recommended not to
connect more than 2 drives on external encoder incremental channels in order to not overload it; in this
case, please use a signal amplifier device every 2 drives connected.
• CW - CCW: a signal frequency provides to drive the position/speed refererce, whereas the second one
provides to drive the ‘Start’ command (low logic signal). Depending on which of the two inputs receives
the frequency signal, the drive controls motor in forward motion (CW) or in backwards motion (CCW).
4. Tab-Speed: reference is located into 64 target table with index selection via digital input or fieldbus
parameters.

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Analog input setting, related to a speed control, is shown in picture below:

Parameters to set are:
• maximum absolute value for reachable speed
(back and forth operation) when analog input
voltage value matches with ±10V scale value
(example: ±3000RPM).
• speed offset useful to compensate any external
signal offset.
• a low pass digital filter on external signal.

Information about istantaneous measured speed

appears.

6.09.2 Auxiliary references

Auxiliary reference AUX1/IN9 provides following features:
• speed control as auxiliary speed reference.
• speed control as torque limit reference.
• position control as analog position reference, if ‘analog positioner’ is used.
• pressure control as analog/inside pressure reference.

Topologies are shown below:

1. Analog IN9: reference is feeded from external signal, whose voltage range lies between ±10V. Drive input is
a differential port (pin 3-4 of J9 connector).
• In auxiliary speed control, this signal is added to main speed reference and parameters to set are
maximum reachable speed (in absolute value) when analog input voltage value matches with ±10V
scale value (example: ±3000RPM).
• In position control, setting minimum target position (equivalent -10V) and maximun target position
(equivalent +10V) parameters, drive performs positioning between this two values following the 12 bit
analog auxiliary reference range (±10V).
• In pressure control, this signal feeds pressure reference related to settable parameters into press sub-
menu.
2. Inside: auxiliary reference is generated internally by drive and it’s constant. By the way, it can be modified
via Caliper software during operation or via fieldbus parameter.
3. Torque limit: reference is used in speed control as torque limit value. Reference is feeded from external
signal, whose voltage range lies between ±10V (pin 3-4 of J9 connector). Parameters to set are:
• absolute torque value to load when analog input voltage value matches with +10V scale value
(example: 100%).
• torque offset useful to compensate any external signal offset.

Auxiliary reference AUX2/IN10 (pin 5-6 of J9 connector) is available with all operatin modes and and provides
following features:
• pressure control as analog/inside speed reference.

Topologies are shown below:

1. Analog IN10: pressure transducer feedback is feeded from external signal, whose voltage range lies
between ±10V. Drive input is a differential port (pin 5-6 of J9 connector).
• In pressure control, this signal feeds speed reference related to settable parameters into press sub-menu.
2. Inside: auxiliary reference is generated internally by drive and it’s constant. By the way, it can be modified
via Caliper software during operation or via fieldbus parameter.

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Analog input setting, related to auxiliary speed control, is shown in picture below:
Parameters to set are:
• maximum added value for reachable
speed (back and forth operation)
when analog input voltage value
matches with ±10V scale value
(example: ±3000RPM).
• speed offset useful to compensate
any external signal offset.

Limit torque function, related to auxiliary speed control, is shown in picture below:

!
NOTES:
• please pay attention to any activated digital input set for torque limit function.

6.10 Speed ramps

Acceleration and deceleration ramps management is enabled only with speed control in any operation mode.
Drive performs ramps at any reference change.
Acceleration and deceleration ramps enabling and setting are shown below:

After ramps enabling, acceleration and deceleration values must be set, as RPM/s, both clockwise (CW) that
counterclockwise (CCW): so, knowing TRAMP-V time to reach NRPM-V operating speed, acceleration and deceleration
parameters (RAMP-V) are provided by following formula:

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Another ramp type supported by drive is the S ramp (Type S) that, besides just described parameters, uses a further
parameter called JERK (RPM/s2); this last parameter, also called smooth factor, introduces another ramp coefficient
related to acceleration and deceleration profile, and lets drive to smooth speed profile around reference change;
knowing TRAMP-A time to reach RAMP-V parameter, acceleration and deceleration ramps (JERK or smooth factor) are
provided by following formula:

Smooth factor effect on speed profile is shown below:

6.11 Motor brake

Motor brake function provides that drive, at any SWITCH-OFF command (load torque disabled), performs a ramp
to stop load, before brake enabling and before leaving SWITCH-ON state.

If application requires motor brake function, do NOT use a control feedback from incremental channel
! only (without HALL sensors) because, in this condition, drive needs to perform, at every SWITCH-ON
command, a rotation angle, in order to align poles, more or less pronounced, depending on the rotor position
in that moment.

It’s recommended NOT to connect OUT-x output directly to motor brake command contact. Please use a
! mechanical contact (as a relay) or any other proper mechanical/electric contact as long as OUT-x current
consumption is lower than limit imposed by drive electrical features.
‘Time brake enable’ and ‘time brake disable’ must be appropriate to estimated time for brake handling.

Into Advanced Setup item, into Output sub-item, output OUT-x can be set for motor brake management (please see
“6.08 Digital I/O” pag. 83 to learn about output setting), with features shown below:
1. convention used for output provides to ‘disable’ brake (disengage) at high logic signal and ‘enable’ brake
(engage) at low logic signal.
2. ‘time brake enable’ and ‘time brake disable’ setting from 10 to 2000 ms.
3. ‘speed brake enable’ setting: it is the speed target to enable brake.
4. deceleration ramp setting, to reach speed target, at any SWITCH-OFF command (only with operating speed
grater than speed target).

During engaging brake, drive provides to stop load keeping block torque, after reaching speed target, and, at this
time, it provides output signal; drive holds torque until ‘time brake enable’ set is expired.

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During disengaging brake, drive provides to keep motor rated torque/current. When brake contact is really
disengage, drive provides load proper torque/current in order to hold it until ‘time brake disable’ set is expired.
During disengaging brake, any axis movements may occur, because of mechanical brake disable time and drive
PID regulator smartness. For this reason, “Current Offset” parameter is available for pre-applying torque to motor
during the brake disable time, in order to avoid axis movements when PID regulators start to operate.
To use correctly the pre-torque function, follow the instruction below:
• set “Current Offset” parameter to 0.
• disengage brake and read the current value provided by the drive to keep load.
• write the current value (with sign value) into “Current Offset” parameter.

The timing-chart for motor brake function is described in the image below:

Enable/engage condition for motor brake Disable/disengage for motor brake

1 2 3 1 2 3
External
Stop ramp Speed Speed
Reference Reference
Target
Speed

Enable Disable
Output for Time Time Output for
motor brake motor brake
(OUT-x) (OUT-x)
Drive in Drive in Drive in Drive in Drive in Drive in
OPERATION ENABLED SWITCH-ON SWITCH-OFF SWITCH-OFF SWITCH-ON OPERATION ENABLED

1 SWITCH-OFF command and stop-ramp perform 1 Command for SWITCH-ON + brake disable

2 Enable motor blake and drive in SWITCH-ON 2 Disable time is over and drive is ready to
OPERATION ENABLED
3 Drive in SWITCH-OFF
3 Command for OPERATION ENABLED
Speed reference generated by drive to perform
braking procedure

Output brake function setting and parameter described above are shown in the image below:

!
NOTES:
• Drive performs stop following speed reference, not measured speed, in order to engage motor brake
also during power stage failure conditions.
• Motor brake function is not available during torque control.
• To ensure that pre-torque function works properly, it’s necessary that vertical axis load should be quite
constant during all machine working cycle.

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6.12 Braking resistor

Into Advanced Setup item, into Braking Resistor sub-item, drive braking resistor parameters can be set. If braking
resistor is provided by H.D.T., all parameters are will be default setting in NTT 240/460 drive.
Parameters are shown below:
• Braking resistor value (from 10Ω to 10000Ω)
• Nominal/rated power (from 30W to 3000W)
• Overload time (from 1s to 255s): time until it’s possible to provide to braking resistor a power 10 times
grater than rated one.

!
NOTES:
• To ensure operation during braking conditions, please enter correct parameters related to suitable
resistor; please, pay attention to enter correct value to the Overload Time.
• Drive will provide alarm if theoretical calculation for thermal behaviour has detected an overheating
of resistor due to an heavy braking cycle not supported by resistor features. For further information,
please see “Ch. 8 Drive status and diagnostics” pag. 120.
• Other major power resistors are available for heavy braking cycles: for information please contact our
technical department.

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6.13 Motor cogging torque compensation

Motor cogging compensation function lets to get a better accuracy during a torque control reference following.
Motor cogging mapping is valid:
• only for rotative motors.
• only for absolute encoder feedback or at least for incremental encoder with zero index (mandatory).
• only for the motor on witch the procedure was performed; in case of motor replacement or encoder
rephasing, a new procedure launch is required.

Mapping procedure must be performed only via Caliper software, then the enabling and disabling function can
be reached also via fieladbus operation; before starting procedure, rotor must be free to rotate, so ensure to
disconnect the load.

Mapping procedure is shown below:

!
NOTES:
• Advise against using motor cogging compensation during a speed or position control.
• If motor cogging compensation is uded with incremental encoder feedback without ZERO index,
procedure will be aborted.

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6.14 Scope function

Available on Caliper software, Scope function allows to control drive several variables time trend. It can display up
to 4 channel at a time and with a sampling rate up to 100μs.
Scope main screen consists of:
1. a toolbar located at the top allows to:
• open and save in a used PC folder and stamp all display traces.
• provide Start and Stop acquiring, Refresh data and Erase data commands.
• configure channels to display and sampling time.
• configure PID regulator looking at traces during operation mode.
2. a state bar located at the lower allows to monitor drive state and to provide information about set trigger
type and about PC RAM buffer usage, to receive and trasmit via USB2.0 port.
3. a display allows to visualize acquired enable channel data, creating a amplitude-time graph on an adjustable
time base, depending on sampling time. It allows graphic zoom by selecting the interested area with the
PC mouse.
4. a setting window located at the right of display, divided into 3 different item, allows to:
• enable misure cursor for timebase axis (X axis) and for amplitude axis (Y axis) and to check the realtime
value.
• define visualized variables amplitude resolution (automatic or manual setting).
• set desired trigger topology between ‘Rolling’, ‘Automatic’ and ‘One Shot’.

Scope main window is shown below, divided into three separated views for the setting window:

4 4 4

!
NOTES:
• Timebase resolution is adjustable up to a total display time equal to 60000 seconds, depending to
choosen sampling time. Buffer is FIFO type, so for this reason first data stored will be lost if monitoring
continues besides full time elapsed.
• Channels are enabled pushing ‘CHx’ key related to desired channel.
• If comunication buffer, visible on state bar, exceed maximun size (100%), the transmission crashes.
• To mark traced, a color palette is available, pushing the coloured round visible near Channel
identification in toolbar.

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Main scope icons, in the toolbar, are described below:

Icon Description
Open a saved Scope session: it opens a previous saved session.

Save current Scope session in a PC folder.

Start acquiring command: it starts data acquiring with selected sampling time.

Stop acquiring command.

Force Scope Trigger: this icon forces a start acquiring command at pressing. This key is enabled only
after Start acquiring command pressed. Function is useful when trigger is set in ‘Automatic’ or ‘One
shot’ mode and allow to crossover trigger setup into setting window.

Restart Trigger: only in ‘One Shot’ mode, it allows to restart waiting trigger; This key is enabled
only after total acquiring time is elapsed.
Erase graph: it erases actual acquired data or, during monitoring, it restarts acquiring.
Stored data will be lost.
!
Refresh graph: restart data acquiring.
Scope channel setting: it opens a new window to set 4 channels to monitor, choosed from a preset list.
It aalows to set channels desired sampling time too.
PID setting: it opens a new window to set PID regulator cefficients in realtime and to enable ‘Wave
Generator’ function.
TEST: it opens a new window to set position target values (from 2 and up to 5 values) used to tune
loop gain regulator parameters, in order to test all real automation system performances.

6.14.1 Scope: ‘CHANNEL SETTING’

Image nearby shows how to set sampling
time and Scope channels, among which
the main are:

• Speed reference and measured speed

(RPM).
• Current referenceand measured current
(A).
• Position reference, measured position and
position error.
• DCbus measured voltage (V).
• Torque limit (%).
• Heatsink measured temperature (°C).
• Drive and motor I2T (°C).
• Digital I/O logic status.
• Bit-word status for Modbus RTU and
Canopen® protocols.

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6.14.2 Scope: ‘PID SETTING’ and ‘WAVE GENERATOR’

Scope allows to use a Wave Generator to

create simulated input current/speed refe-
rences simulati that drive has to follow.

Generated waveforms are settable as

shown below:
• square wave
• triangular wave
• sinusoidal wave

SWITCH-ON, OPERATION ENABLED and

RESET commands could be launched di-
rectly in this window.

Speed/current reference is created setting

desired operating speed/current and wa-
veform period.

If the connected load permits it, speed/current and position regulators could be set in realtime in order to perform
tuning for all automation system parameters. For further informations about gain loop tuning, please see “6.16
Closed loop regulation tuning” pag. 107.

6.14.3 Scope: ‘TEST’

This function allows to set target postion values that drive has to cyclically reach: so this function performs a cyclic
positioner simulator. It allows to set operation speed to reach during positioning and to set CW/CCW acceleration
and deceleration ramps .

It allows to set:
• up to 5 target position values.
• following position profile, that can be set as standard ramps with related acceleration and deceleration
parameters, and as S ramps with JERK.
• change target on the fly.
• position target values, that can be set as number of turns (revolution parameter) or as angular/linear
target to perform respect to an initial offset position and to an operating speed.
• JOG function, with related parameters.
• Power ON, Test OFF, RESET, JOG and Start Quota commands, that could be launched directly in this
window.

If the connected load permits it, speed/current and position regulators could be set in realtime in order to perform
tuning for all automation system parameters. For further informations about gain loop tuning, please see “6.16
Closed loop regulation tuning” pag. 107.

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6.14.4 Scope: ‘TRIGGER’

Trigger modes are listed below:
• Rolling: in this mode, Scope acquires continuously all enable channel data; trigger menu shown below
is disabled.
• Automatic: in this mode, Scope acquires data every occured trigger condition; trigger menu is enabled
in order to allow setting channel selection, trigger amplitude and position time fopr triggering.
• One Shot: in this mode, Scope acquires data once, only when desired condition trigger is occured;
trigger menu is enabled in order to allow setting channel selection, trigger amplitude and position
time fopr triggering.
Optional dinamic trigger (Enable Dinamic) allows to visualize data in realtime during acquiring.
Buffer bar, shown at the low of trigger menu, allows to set total or partial data related to time axis up to maximum
admitted acquiring time. Decreasing visualization time, only a part of acquired data is shown in Scope, while the
resolution is unchanged.
It’s recommended to set buffer bar correctly in order to view periodic signals in realtime.
An example of trigger setting and related acquiring condition is shown below; acquiring condition is enabled on
channels described below:
1. CH1 - Speed reference: this is the read reference provided to drive into the main speed reference input;
trigger will acquire this channel when signal rises beyond threshold set into trigger set-up window.
2. CH2 - Measured speed: this signal is the motor speed reading.
3. CH4 - Measured current: this signal is the supplied current reading.

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6.15 Control topologies

Torque control: it allows to control the motor torque managed by an analog input reference or a fieldbus command.
The provided torque reference is proportional to the rated torque of the motor.
According to the type of reference you work with, in Caliper software it is possible to set different parameters, for
example full-scale of analog input, optimal PID controlers for the application and the desired digital I/O.
For further information, please see “6.15.1 Torque control” pag. 100.

Speed control: it allows to control the motor speed managed by an analog input, a frequency input or a fieldbus
command.
In I/O or Modbus operating mode, it is possible to use an additional analog auxiliary speed reference or a torque limit
reference. Therefore, it is possible to work in speed control mode, limiting the maximum torque output by imposing
a limit threshold.
Also a sensorles speed control is possible for motor with no feedback on board.
For further information, please see “6.15.2 Sensored speed control” pag. 101 and “6.15.3 Sensorless speed control” pag.
102.

Position control - electronic gearbox: it allows to set a transmission ratio between one or more motors, where a
slave axis, or “follower”, follows a master axis according to a preset ratio. This ratio is set in the slave drive and can be
freely changed.
The movement of the master is measured with an encoder, which signal is sent to the input of the follower drive,
that follows according the set ratio. The electronic gearbox replicates the mechanical transmission principle, in the
same way that happens in a mechanical reducer/gearbox or in a recirculating ball screw or in a rack or a pulley and
belt system.
The transmission with mechanical reduction allows to change speed, to increase torque and helps to match inertia
between motor and load. The electronic gearbox function, compared to mechanical reduction/gearbox, only
regulates the speed but with the advantage of allowing to freely change and to eliminate backlash and deterioration
typical of mechanical systems. It is possible to connect different slave axes to a single master axis, with different
electrial gear ratio.
When managing the electrical axis, it is important to calibrate the parameters of slave axis, especially response times,
in order to not let the slave to be in late than master dynamics.
For further information, please see “6.15.4 Position control: electronic gearbox mode” pag. 103.

Position control - electronic cam: it is a feature that replicate the concept of mechanical cam. The mechanical cam
is an element with irregular shape (tipically ovoid) fixed to a rotating shaft of an axis and wihich moves another
mechanical parts that follows and reproduces the profile.
In the electronic cam, the mechanical regulation is replaced with electronics. A cam profile is defined via a X/Y table
up to 576 interpolation points. Where the cam profile is fixed to master axis, in the electronic cam the profile is stored
in the drive. The “slave” axis receives the space reference of the “master” axis and replicates the profile described in the
table of X/Y points, generating the resulting motion. The signal of the master axis can come from an external encoder
or from the signal of a simulated encoder of another servo axis.
Up to 8 profiles are storable inside drive and they can be set via digital I/O; also it’s possible to freely change cam
profiles via Modbus RTU fieldbus.
The benefit of the electronic cam compared to the mechanical one is evident in the flexibility to manage more than
one profile, to be able to modify the profile very easily in any moment and not least the reduction of mechanical
backlash and the corresponding adjustments that follow.
For further information, please see “6.15.6 Position control: electronic cam mode” pag. 105.

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Position control - integrated positioner: the positioner application generates a speed profile to reproduce a motion
trajectory with controlled acceleration and jerk, allowing accurate positioning. The profile calculation is performed
in real time allowing to modify on-the-fly the position target. This allows to manage in a fast way different motion
profiles.
The positioner provides also a functionality called “index stop” that allows to perform a controlled position stop when
a sensor signal is detected by a digital input of the drive during the execution of the trajectory.
For further information, please see “6.15.5 Position control: positioner mode” pag. 104.
Positioner application is divided into 4 selectable modes:
• Single target positioner: this mode can be activated both with digital/analog input and with all fieldbuses. The
drive configured in this way allows to generate a trajectory profile only for a target defined as position target,
with speed, acceleration, decelaration and jerk. The positions can be absolute or relative. Using the fieldbuses, all
parameters can only be set on the fly by telegram; only the Modbus RTU allows to work with maximum flexibility
using both modbus commands and digital/analog input commands. In case a fieldbus is not available, position
and speed can be set in analog mode via the related input, while the other parameters can be set via Caliper
software.
• Target table positioner: this mode can be activated both with digital/analog inputs and with Modbus RTU and
ProfiNet RT. The positioner allows to manage a maximum of 64 targets. As with the single target, for each target
it is possible to set position, speed, acceleration and jerk. The positions can be absolute or relative. The targets
are wrote in a table on the drive via Caliper or via fieldbus. The targets can be executed individually or linked
in different ways allowing to generate more complex profiles. It is possible to cycle automatically the series of
linked targets and to interpose a waiting time between one target and the other.
• Cyclic positioner: this mode is similar to the target table positioner, with the difference that the targets are rigidly
executed one after the other. The targets can be activated manually via I/O or via Modbus RTU. The option to
make the sequence of set dimensions cyclical is provided.
• “Input-start” positioner: this mode allows to synchronize the starting of an axis with the position reached condition
of another axis, without the necessity to use a PLC. It is different from the previous one because the input that
selects the target or the group of linked targets also becomes the start command of the target itself. The “reached
position” signal can be activated on each of the digital output of the drive. Therefore, connecting one of the
output of reached target of a drive to the “input-start” digital input of another drive, it allows the synchronized
starting of the latter. This mode only works with digital/analog inputs and with Modbus RTU fieldbus.

Pressure control - servo press application: designed expressly for applications that use servo-pumps like in presses
and plastic injection machine, which are applications that combine an idraulic system with an electrical regulation
via servodrive and brushless motor.
By activating this mode on NTT 240/460 servodrives, three inputs are enabled: the first input for the speed reference
signal is used to regolate the speed of a motor connected to a pump, and so the respective flow; the second input
is enabled to receive the pressure reference signal, and the third input is enabled for the pressure transducer signal
(pressure feedback). The two pressure signals are compared and the servodrive operates the control of speed to
maintain the real pressure equal to the reference.
The pairing of NTT 240/460 with a brushless servomotor. thanks to this application, allows to replace a traditional
system with pump and asynchronous motor, obtaining an incredible benefit in the system efficiency and minimal
response times that allow a very accurate control and repetibility with considerable improvement in the accuracy of
moulding process.
Energy consumption is drastically reduced, oil temperature is reduced (reducing also radiators system), idraulic
system is simplified thanks to the elimination of proportional valve and the pressure and flow control is improved,
that are reflected on the product quality.
The drastic energy saving is due to the fact that NTT 240/460 allows to stop the motor maintaining the system
pressure with a near-zero power consumption, while in the traditional systems with asynchronous motor , the motor
heve to rotate at fixed speed around 1500rpm to maintain the system pressure even if the application is not working.
Furthermore, among the motors, the brushless is the one with higher efficiency, with values around 95%. Not least,
the system is much more silent and with lower size.
For further information, please see “6.15.7 Pressure control” pag. 106.

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6.15.1 Torque control

Operation conditions:
• control is available with any supported motor type and with any supported feedback, except for sensorless (also
only Hall sensor feedback is not recommended).
• main torque reference can be analog or inside reference and fieldbus reference available for I/O, Modbus,
Canopen, Ethercat and Pro operation mode.
• about regulation, only current regulator is available.
• brake motor management not available.
• ramps not available.

During torque control mode, the percentage of set torque is reffered to motor parameter called ‘Nominal Current’.

The following image shows an example of setting of a torque control working with I/O mode, then you can set:
• the type of reference: analog/inside mode in case of I/O and Modbus mode, or fieldbus prameters (in the case
shown in picture the reference of torque is analog).
• the setting of full scale for the analog inputs.
• optimal PID regulators for application.
• desired digital I/O.

In order to obtain a correct operation, please ensure to perform Factors calculation procedure: please see “6.05
! Factors” pag. 73.

See “Ch. 5 Wiring and connections” pag. 26 for more details about connectors:
»» J5-6 connector: for feedback connection, see:
1. “6.03.2.e Incremental encoder with/without HALL sensors” pag. 57
2. “6.03.2.g SSI absolute encoder” pag. 58
3. “6.03.2.i Resolver” pag. 59
»» J3 and J7-8-9 connector:
1. provide the main torque reference in the differential input (pins 1-2 of J9). For details about input reference,
please see “6.09 Drive references” pag. 87.
2. for fieldbus operation modes, connect J3 connector and see related fieldbus manuals for information about all
control topology parameters.
3. connect the appropriate input and output signals (please see “6.08 Digital I/O” pag. 83).

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6.15.2 Sensored speed control

Operation conditions:
• control is available with any supported motor type and with any supported feedback (also Hall sensor feedback
is recommended for low performance application only).
• main speed reference can be analog, inside or frequency reference and fieldbus reference available for any
operation mode.
• auxiliary speed reference or torque limit reference are available for I/O and Modbus RTU operation mode only.
• about regulation, speed/current regulators are available.
• brake motor management is available.
• trapezoidal ramps and “S”-ramps are available.

During speed control with torque limit, the percentage of set torque is reffered to motor parameter called ‘Nominal
Current’.

The following image shows an example of setting of a speed control, with torque limit, working in Modbus RTU
mode, then you can set:
• the reference type: analog/inside/frequency/tab. selection for I/O and Modbus mode or or fieldbus prameters (in
the case shown in picture, speed and torque reference are analog).
• full scale for analog analog inputs.
• optimal PID regulators for application.
• desired digital I/O.

In order to obtain a correct operation, please ensure to perform Factors calculation procedure: please see “6.05
! Factors” pag. 73.

See “Ch. 5 Wiring and connections” pag. 26 for more details about connectors:
»» J5-6 connector: for feedback connection, see:
1. “6.03.2.e Incremental encoder with/without HALL sensors” pag. 57
2. “6.03.2.f HALL sensors only” pag. 57
3. “6.03.2.g SSI absolute encoder” pag. 58
4. “6.03.2.i Resolver” pag. 59
»» J3 and J7-8-9 connector:
1. provide the main speed reference in the differential input (pins 1-2 of J9) or the frequency reference (pins
1 to 6 of J7) or fill the target speed table-selection. For details about input reference, please see “6.09 Drive
references” pag. 87.
2. provide the auxiliary reference for torque limit control or for second speed reference (pin 3-4 of J9). For
details about input reference, please see “6.09.2 Auxiliary references” pag. 88.
3. for fieldbus operation modes, connect J3 connector and see related fieldbus manuals for information about all
control topology parameters.
4. connect the appropriate input and output signals (please see “6.08 Digital I/O” pag. 83).

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6.15.3 Sensorless speed control

This control topology is designed only for applications that require medium-low performance where speed and
position accuracy are not strictly necessary.

Operation conditions:
• control is available with rotary brushless or asynchronous motor type only.
• main speed reference can be analog, inside or frequency reference and fieldbus reference available for any
operation mode.
• auxiliary speed reference for I/O and Modbus RTU operation mode only.
• about regulation, standard speed/current regulators are available and also sensorless regulators for brushless
and asynchronous motors.
• brake motor management is not available.
• trapezoidal ramps are available.

The following image shows an example of setting of a speed control working in Modbus RTU mode, then you can set:
• the reference type, analog mode in case of Input / Output mode and Modbus RTU mode or internal mode in case
of fieldbus (in the case shown in picture, speed and torque reference are analog).
• full scale for analog analog inputs.
• optimal standard and sensorless PID regulators for application.
• desired digital I/O.

In order to obtain a correct operation, please ensure to perform Factors calculation procedure: please see “6.05
! Factors” pag. 73.

See “Ch. 5 Wiring and connections” pag. 26 for more details about connectors:
»» J5-6 connector: for feedback connection, see:
1. “6.03.2.h Sensorless” pag. 58
»» J3 and J7-8-9 connector:
1. provide the main speed reference in the differential input (pins 1-2 of J9) or the frequency reference (pins
1 to 6 of J7) or fill the target speed table-selection. For details about input reference, please see “6.09 Drive
references” pag. 87.
2. provide the auxiliary reference for second speed reference (pin 3-4 of J9). For details about input reference,
please see “6.09.2 Auxiliary references” pag. 88.
3. for fieldbus operation modes, connect J3 connector and see related fieldbus manuals for information about all
control topology parameters.
4. connect the appropriate input and output signals (please see “6.08 Digital I/O” pag. 83).

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6.15.4 Position control: electronic gearbox mode

Operation conditions:
• control is available with any supported motor type and with any supported feedback, except for sensorless (Hall
sensor feedback is not recommended).
• main position reference can be only frequency reference: CHA-CHB, Pulse-Direction and CW-CCW.
• control is available for I/O, Modbus RTU, Canopen and Ethercat operation mode.
• about regulation, position/speed/current regulators are available.
• brake motor management is available.
• trapezoidal ramps are available.

The following image shows an example of I/O setting, then you can set:
• axis ratio: numerator (NUM) and denominator (DEN).
• master device pulse number (PULSEmaster): it provides to slave the information about master device pulse number.
• engage, disengage and phase shift for slave axis parameters and also Homing and JOG parameters.
• optimal PID regulators for application.
• desired digital I/O.

Therefore, number per turn performed by slave device, depending on frequency signal received, is shown below:

Ratio between pulse number, read by slave drive (PULSEinput), and set master pulse number (PULSEmaster) provides
information about axis position of master device, whereas ratio between NUM and DEN provides information about
percentage axis position in turn of slave device related to master position in turn.

In order to obtain a correct operation, please ensure to perform Factors calculation procedure: please see “6.05
! Factors” pag. 73.

See “Ch. 5 Wiring and connections” pag. 26 for more details about connectors:
»» J5-6 connector: for feedback connection, see:
1. “6.03.2.e Incremental encoder with/without HALL sensors” pag. 57
2. “6.03.2.g SSI absolute encoder” pag. 58
3. “6.03.2.i Resolver” pag. 59
»» J3 and J7-8-9 connector:
1. provide the main position reference (pins 1 to 6 of J7). For details about input reference, please see “6.09
Drive references” pag. 87.
2. for fieldbus operation modes, connect J3 connector and see related fieldbus manuals for information about all
control topology parameters.
3. connect the appropriate input and output signals (please see “6.08 Digital I/O” pag. 83).

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6.15.5 Position control: positioner mode

“Positioner” mode is settable as following:
1. Single target positioning: available for any operation mode. Parameter target position with internal or main
analog speed reference (for I/O and Modbus) or fieldbus parameters.
2. Analog main reference positioning (12bit): available for I/O and Modbus operation mode. Setting minimum
target position and maximun target position parameters, drive performs positioning between this two
values following the 12 bit AUX1 analog reference range, with analog or internal speed reference.
3. Up to 64 target table selection positioning via digital input or via Profinet parameter: available for I/O, Modbus,
Profibus and Profinet operation mode. At every start command, drive performs positioning at target
identified via binary digital input combination (I/O and Modbus) or via fieldbus addresses.
4. Up to 64 target cyclic/acyclic table positioning: available for I/O and Modbus. At every start command, drive
performs cyclic or acyclic positioning between target set inside table.
5. Up to 64 target table positioning via input start: available for I/O and Modbus. At every edge transition (Low to
High) of the enabled input, it performs related target set in the table.

Operation conditions:
• control is available with any supported motor type and with any supported feedback, except for sensorless (also
Hall sensor feedback is not recommended).
• about regulation, position/speed/current regulators are available.
• brake motor management is available.
• trapezoidal ramps and “S”-ramps are available.

The following image shows an example of I/O setting, then you can set:
• desired position application type and position profile type between trapezoidal or ramps with/without JERK.
• recovery position and End position pocedures and limit switch, homing and JOG parameters.
• optimal PID regulators for application.
• desired digital I/O configuration.

In order to obtain a correct operation, please ensure to perform Factors calculation procedure: please see “6.05
! Factors” pag. 73.

See “Ch. 5 Wiring and connections” pag. 26 for more details about connectors:
»» J5-6 connector: for feedback connection, see:
1. “6.03.2.e Incremental encoder with/without HALL sensors” pag. 57
2. “6.03.2.g SSI absolute encoder” pag. 58
3. “6.03.2.i Resolver” pag. 59
»» J3 and J7-8-9 connector:
1. for positioning with analog speed reference, provide main speed reference in the differential input (pins 1-2
of J9). For details about input reference, please see “6.09 Drive references” pag. 87.
2. for analog positioning, provide position analog reference +/-10V (pin 3-4 of J9). For details about input
reference, please see “6.09.2 Auxiliary references” pag. 88.
3. for fieldbus operation modes, connect J3 connector and see related fieldbus manuals for information about all
control topology parameters.
4. connect the appropriate input and output signals (please see “6.08 Digital I/O” pag. 83).
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6.15.6 Position control: electronic cam mode

Operation conditions:
• control is available with any supported motor type and with any supported feedback, except for sensorless (also
Hall sensor feedback is not recommended).
• main position reference can be only frequency reference: CHA-CHB and Pulse-Direction
• control is available for I/O and Modbus operation mode.
• about regulation, position/speed/current regulators are available.
• brake motor management is available.
• trapezoidal ramps are available.

The following image shows an example of I/O setting, then you can set:
• up to 8 cam tables and up to 576 points per cam with linear or cubic interpolation.
• axis rate (Numerator e Denominator) and Master and Slave Module pulses for every cam.
• engage, disengage and phase shift position parameters for slave axis, Homing and JOG parameters.
• desired I/O configuration and optimal PID regulators for application.

This operating mode allows a control in space of axis related to a space reference acquired from encoder, conditioned
by the values of “Encoder Numerator” and “Encoder Denominator”. This function can be used in application that
require to follow special curves such as Packaging machines, Flying saw, Flying shear, Cut to Lenght and more.
The “Master module” indicates master encoder pulse number used to calculate shape of cam profile. The result of the
division of “Master module” and “Number of table points” gives the space range between two consecutive points of
the table. The profile of the cam between two points is calculated using a cubic interpolation.
The “Slave module” represent the excursion of the cam measured in terms of resolver pulses (the numbers of resolver
pulses in a single revolution of the motor shaft is 65535), Every point of the cam table ( that can range from 0 to
65535) is multiply for the “Slave module” and divided for 65536, in this way every point of the cam table can take an
effective value ranging from 0 and “Slave module ”.

In order to obtain a correct operation, please ensure to perform Factors calculation procedure: please see “6.05
! Factors” pag. 73.

See “Ch. 5 Wiring and connections” pag. 26 for more details about connectors:
»» J5-6 connector: for feedback connection, see:
1. “6.03.2.e Incremental encoder with/without HALL sensors” pag. 57
2. “6.03.2.g SSI absolute encoder” pag. 58
3. “6.03.2.i Resolver” pag. 59
»» J3 and J7-8-9 connector:
1. provide the main position reference (pins 1 to 6 of J7). For details about input reference, please see “6.09
Drive references” pag. 87.
2. for fieldbus operation modes, connect J3 connector and see related fieldbus manuals for information about all
control topology parameters.
3. connect the appropriate input and output signals (please see “6.08 Digital I/O” pag. 83).

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6.15.7 Pressure control

Operation conditions:
• control is available with any supported motor type and with any supported feedback, except for sensorless (also
Hall sensor feedback is not recommended).
• control is available for all operation mode.
• pressure transducer feedback is only available via analog input for all operation mode.
• pressure and speed references via analog input or via fieldbus operation.
• about regulation, pressure/speed/current regulators are available.
• brake motor management is available.
• trapezoidal ramps and “S” ramps are available for speed and pressure.

The following image shows an example of I/O setting, then you can set:
• type and fullscale for pressure reference or feedback, and speed/pressure ramps.
• speed, current and pressure limit, and overpressure and underpressure alarm threshold.
• desired I/O configuration and optimal current/speed PID regulators for application.

• Pressure PID regulator management shown a further exponential (2^) multiplier parameter useful during
the tuning of the pressure loop regulation to appreciate visible variations. Default parameter set is a good
compromise for the most servo press applications.

In order to obtain a correct operation, please ensure to perform Factors calculation procedure: please see “6.05
! Factors” pag. 73.

See “Ch. 5 Wiring and connections” pag. 26 for more details about connectors:
»» J5-6 connector: for feedback connection, see:
1. “6.03.2.e Incremental encoder with/without HALL sensors” pag. 57
2. “6.03.2.g SSI absolute encoder” pag. 58
3. “6.03.2.i Resolver” pag. 59
»» J3 and J7-8-9 connector:
1. for I/O operation mode, please see “6.09 Drive references” pag. 87:
• provide pressure transducer feedback in the differential input +/-10V (pins 1-2 of J9).
• provide pressure reference in the AUX1 differential input +/-10V (pins 3-4 of J9).
• provide speed reference in the AUX2 differential input +/-10V (pins 5-6 of J9).
2. for fieldbus operation modes:
• provide pressure transducer feedback in the differential input +/-10V (pins 1-2 of J9).
• connect J3 connector and see related fieldbus manuals for information about all control topology
parameters.
3. connect the appropriate input and output signals (please see “6.08 Digital I/O” pag. 83).
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6.16 Closed loop regulation tuning

The tuning procedure is essential to obtain stability and performance of the entire controlled system; the drive, that
performs the control, has PID controller both for the current loop that for the speed loop.
To perform tuning, please use Caliper software and observe some variables with Scope during operation (see “6.14
Scope function” pag. 94).
The following tuning procedure provides good results in most types of controlled systems, if following conditions
are met:
• drive must be able to provide motor rated current.
• load inertia is 6 times grater than motor, maximum.

6.16.1 Current loop tuning

If drive controls an H.D.T. motor, the optimum PID current regulator setting is stored in a motor configuration file,
in the directory to save data in PC used*.
To perform PID current tuning, it is not essential that the load remains connected to the motor.

If third parts motor is used, it’s recommended to perform motor autophasing both before and after the PID
! current tuning (see “6.07 Motor autophasing” pag. 82). Please use an appropriate mechanical brake, in the
case of vertical axis load (safety condition required during current loop tuning, due to automatic 90° motor
phase autoshifting in order to avoid providing torque.

To perform tuning, please do the following:

1. generate a square wave current reference: use ‘Wave Generator’ function into Caliper software to create
desired reference (see “6.14 Scope function” pag. 94). Provide to drive a reference with rated motor current
amplitude and period set between 0.05seconds and 0.1seconds.
In this operation, drive provides the rated motor current, so the motor could reach high case temperature.

2. PID current setting: parameters to set are KP e il KI.

• set KI = 1: integral action erased.
• increase gradually Kp until current resonance appears: in this condition, an evident current resonance
appears in Scope visualization (besides, this condition leads to a motor unusual noise).

• halve KP value: halving KP, system avoids oscillation in transient conditions.

• increase gradually KI: increase until misured current variable accurately follows the desired current
reference. In any case, KI parameter should not be greater than 60% of KP previously set.

*To get PID current configuration data related to H.D.T. motor, please contact our technical department.

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An optimal current loop tuning is shown in picture below:

At the end of PID current tuning, if a third parts motor is used, please perform a ‘Motor Autophasing’ (see “6.07 Motor
autophasing” pag. 82).
!
NOTES:
• KP and KI optimum values could vary greatly depending on application.
• In high inertia systems, resonance may not occur at any KP values lower than maximum set value (2000).
In these cases, set KP equal to 1000 and increase KI until misured current variable accurately follows the
desired current reference: repeat entire operation erasing KI and increasing KP at step of 200.
• In any case, it’s recommended to set KP ≤ 1800.

6.16.2 Speed loop tuning

Speed loop tuning must be performed with load connected because time constants depend on dinamic system
to control.
Speed loop tuning must be performed after current loop tuning and execution step are similar.

It’s recommended to perform motor autophasing before speed loop tuning (see “6.07 Motor autophasing”
! pag. 82).

To perform tuning, please do the following:

1. generate appropriate cyclic target position: use ‘TEST’ function into Caliper software to create desired
reference (see “6.14 Scope function” pag. 94). Set target position with appropriate acceleration and
deceleration parameters according to system dinamic, as shown in the image below:
In these conditions, drive follows a speed and cyclic position reference with ramp parameters: please,
pay attention to load during operation.

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2. PID speed setting: parameters to set are KP e il KI.

• set KI = 0: integral action erased.
• increase gradually KP until until speed resonance appears: in this condition an evident speed error
and resonance appear in Scope visualization (besides, this condition leads to a motor unusual noise).

• halve KP value: halving KP, system avoids oscillation in transient conditions..

• increase gradually KI: increase until misured speed variable accurately follows the desired speed
reference. In any case, KI parameter should not be greater than 40% of KP previously set.

When observing the behavior of the load corresponding to the reference changes, please keep a waveform
responce as possible without overshoot (low gain set), but also with enough performance (high gain set). Therefore
tuning is always the result of compromises between stability and performance.

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Images below show tipical step of fisical closed loop system (current loop in the image at the low of graph and
speed in the image above of graph).

• Step responce with low proporzional gain: internal current reference, provided
by speed regulator, is too slow andlead to overshoots around the constant
condition reference, before get stability.
Note that, in correspondence with current reference variation (origin of the
axes), current loop responds correctly without overshoots; then the problem
is caused by speed control gain.

• Step responce with acceptable proporzional gain: current reference is fast

enough and speed step responce shows anly one overshoot.
In these cases, a too high integral gain, could leads to get more speed
overshoots.

• Step responce with optimum gain:

This condition leads to get performance and stability of system.

It’s recommended that noise amplitude R is lower than 15% of peak drive
current value.
P
R

6.16.3 Position observer tuning

Observer function allows to filter motor position information in order to reduce application noise due to speed
loop ruggedness, while maintaining sufficiently static and dinamic performances. This function is very usefull
when motor provide a low resolution feedback (lower than 1000ppr) or with Hall sensor only applications.
Observer function is available with all supported feedback type (sensorless not supported).
Position observer tuning must be performed with load connected to motor and only after speed loop tuning is
correctly done.

Usefull parameters are a Gain and a Bandwidth; the major filtering effect is due to bandwidth parameter, while
observer responce is due to gain parameter, whose default value is correctly set for a lot of application.
For a correct and safety tuning, it’s recommended to start with high bandwidth value, for example 300Hz where
observer filtering is very low, then decrease this parameter gradually untill the application noise reduction desired
is obtained.

Decreasing parameters excessively could lead to instability condition and to loss of motor controll, with
! consequently risk of damage equipment.

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6.17 Sensorless loop tuning

The tuning procedure is necessary in order to obtain entire system stability; drive uses the internal current and speed
loop regulator and the sensorless loop regulator together.
To perform the procedure, Caliper software is necessary to observe some variables in Scope function during the drive
operation (please see “6.14 Scope function” pag. 94).
The following tuning procedure provides good results in most types of controlled systems, if following conditions
are met:
• drive must be able to provide motor rated current.
• load inertia is 6 times grater than motor, maximum.
• speed ramps must be enabled and lower than 5000RPM/s.

6.17.1 Setting speed/current loop and motor parameters

»» Regarding motor data, it’s necessary to enter these parameters into Motor Data menu:
• Motor PHASE resistor value in Ω. ATTENTION: If motor datasheet provides PHASE to PHASE resistor,
please enter that halved parameter.
• Motor PHASE Inductance (Synchrony) in mH. ATTENTION: If motor datasheet provides PHASE to PHASE
inductance, please enter that halved parameter.
• Magnetic flux (Magnet Flow) in Wb using the following formula:

In the previous formula, ‘Ke’ is motor e.m.f. parameter in Vs (Volt x second), ‘P’ is motor poles number.
Just in case ‘Ke’ would not be directly provided into datasheet, please use formula below to get the correct
parameter by motor e.m.f. (FEMRPM) given at a specified speed (RPM):

Motor data must be set as shown in the picture below:

»» Regarding speed and current loop regulators, as main parameters are related to sensorless predictive control,
speed and current PID must be set as low as possible in order to avoid to let the system to instability conditions;
it’s recommended to set PID parameters (nel sottomenu Advanced Setup) as shown in the table below:
PID Speed Current
Kp 50 120
Ki 10 70
Kd 1 1

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6.17.2 Setting sensorless parameters

The main window for sensorless setting parameters is shown in the image below, reporting default data:

Covariance-noise window shows sensorless regulation parameters sensorless:

• Covariance current: sensorless regulation parameter; range between 0.01 and 650.00;
• Covariance speed: sensorless regulation parameter; range between 0.01 and 650.00;
• Covariance phase: sensorless regulation parameter; range between 0.0001 and 6.5000;
• Current noise: sensorless regulation parameter; range between 0.01 and 650.00;

Parameters start window allows to set:

• Starting current: current provided by drive to motor in order to guide the shaft to initial position; this
parameter is percentage related to Nominal current parameter.
• Current ramp: ramp, in seconds, to reach starting current.
• Initial speed: speed parameter, in RPM, beyond which drive changes control algorithm, from V/F to
sensorless.
• Speed Hysteresis: it’s reffered to initial speed; this parameter is shown in RPM.
• Speed ramp: ramp, in RPM/s, to reach initial speed from zero speed.
• Initial delay: time parameter beyond which drive starts to follow speed reference; the delay is necessary
to let the motor shaft to reach the corrrect start position.

Setting windows allow to set:

• Zero crossing mode parameter: it’s available as Continuous or Stop-Start. Continuous mode allows to cross
zero speed without the stop procedure, when a speed reference inversion occurs. Otherwise, Stop/
Start mode let the drive to change into V/F control and perform the starting procedure in accordance
with parameters shown into Parameters start window.
• Stationing current: when SWITCH-ON command is provided to drive, this parameter shows the 0 speed
current that drive must provide to motor; this parameter is percentage related to Nominal current
parameter.
• Fault measured speed: speed parameter, in RPM, beyond which drive provides alarm.

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6.17.3 Sensorless loop tuning

! ATTENTION:
• default data do not guarantee a correct sensorless tuning for any motors and must be used only for
initial conditions of the tuning procedure.
• during procedure, drive could lose motor control engage and lead to an overrun rotation or to an
unexpected shutdown. Please take safety relatated actions.

For sensorless tuning procedure, it’s necessary to observe the following variables into Scope function of Caliper
software:
• current reference
• measured current.
• speed reference.
• measured speed.

»» INITIAL PHASE: disconnect load and verify the correct motor phase connection.
1. set an internal speed reference whose value must be positive and lower than default initial speed; so, for
example, 50RPM.
2. enable the OPERATION ENABLE command neighter with digital input or with Caliper software.
3. ensure that motor rotate in clockwise viewing it from shaft; otherwise turn off the drive and invert two
phases of motor, then re-execute 1-2-3 instruction points.

»» MIDDLE PHASE: tuning with no load.

4. set an internal speed reference whose value must be a bit higher than default initial speed; so, for example,
500RPM. In this condition, motor could rotate in a discontinuous way or even NOT rotate.
5. enable the OPERATION ENABLE command and ensure that speed reference is actually brought to the
desired value set into instruction point 4. Otherwise increase or decrease Covariance current parameter;
it’s recommended to increase or decrease with steps of 2-5 units. The initial sensorless setting example is
shown below. In most cases:
• for motor with a PHASE resistor lower than 0.8Ω and a PHASE inductance lower than 0.8mH, parameter
should be increased. When target is reached, please do not exceed beyond with the parameter setting.
• for motor with a PHASE resistor higher than 0.8Ω and a PHASE inductance higher than 0.8mH, parameter
should be decreased. When target is reached, please do not exceed beyond with the parameter setting.

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6. if, with procedure described into instruction point 5, it’s not easy to stabilize correctly the speed reference
to the desired value set into instruction point 4, then reset the Covariance current parameter at default value
(6) and increase Covariance phase parameter; it’s recommended to increase with steps of 0.01 units, untill
the speed reference is correctly stabilized to the desired value set into instruction point 4. When target is
reached, please do not exceed beyond with the parameter setting.
7. increase speed reference: for example 700-1000RPM.
8. to further reduce the measured speed noise and current reference noise, increase or decrease Covariance
current parameter; it’s recommended to increase or decrease with steps of 2-5 units. In most cases:
• for motor with a PHASE resistor lower than 0.8Ω and a PHASE inductance lower than 0.8mH, parameter
should be increased. When target is reached, please do not exceed beyond with the parameter setting.
• for motor with a PHASE resistor higher than 0.8Ω and a PHASE inductance higher than 0.8mH, parameter
should be decreased. When target is reached, please do not exceed beyond with the parameter setting.
9. if necessary, to reduce the measured current noise and consequently the measured speed noise, increase
or decrease Current noise parameter; it’s recommended to increase or decrease with steps of 2-5 units. In
most cases:
• for motor with a PHASE resistor lower than 0.8Ω and a PHASE inductance lower than 0.8mH, parameter
should be increased. When target is reached, please do not exceed beyond with the parameter setting.
• for motor with a PHASE resistor higher than 0.8Ω and a PHASE inductance higher than 0.8mH, parameter
should be decreased. When target is reached, please do not exceed beyond with the parameter setting.
10. if necessary, it’s possible to act further on Covariance phase parameter to reduce the no load current of the
drive; however, in this way the measured speed noise increases. This solution could be usefull with low
power/current motors.
11. now perform again all instruction points 8-9-10, increasing the speed reference with steps of 200-500RPM
untill the desired application speed is reached. Note that the tuning performed at 500RPM could NOT be
excellent for 2000RPM and vice versa. It’s recommended to iterate the procedure with steps untill the desired
speed is reached and then perform an excellent sensorless tuning. The picture below shows that setting is
not excellent at 500RPM, but it’s excellent for speed higher than 1000RPM.

12. to further reduce the measured current noise and measured speed noise at 500RPM (see previous image), it’s
possible to decrease Covariance current parameter again: but this solution does NOT guarantee that tuning
will be excellent at 2000RPM. For this reason, the tuning procedure requires an iteration with increasing
steps for speed reference, in order to avoid abnormal behaviours that may occur if the speed reference
changes from 500RPM to 3000RPM without an excellent tuning in the range.

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13. Covariance speed parameter takes effect only for output frequency above 500Hz. In applications where these
frequencies or above are necessary, usually speed noise or speed resonance may occurs; it’s recommended
to decrease Covariance speed parameter with step of 0.1 or 0.2 units untill the measured the speed is correctly
stabilized to the desired value.
14. to increase performances during speed reference invertion, set zero crossing parameter to continuous value
and perform an reference invertion. The speed sensorless control performs a commutation that may cause
an abnormal rotation, during a zero crossing reference. Just in case the zero crossing may lead to drive
alarms, with consequently loss of motor control, try to further decrease speed and current PID regulators
(especially the integral action Ki) or set zero crossing parameter to stop/start value.

»» END PHASE: load connected

15. it’s possible to act further to all parameter described to get the excellent sensorles control tuning with load
connected agire ulteriormente sui parametri precedentemente descritti per ottenere un tuning ottimale in
condizione di carico. In most cases, the excellent parameters with load are not much different to parameters
get with no load, if the following conditions are met:
• drive must be able to provide motor rated current.
• load inertia is 6 times grater than motor, maximum.
• speed ramps must be enabled and lower than 5000RPM/s.
!
NOTES:
• factors are enabled: in order to ensure the correct function, it’s recommended to perform an automatic
calculation; si veda “6.05 Factors” pag. 73.
• the use of sensorless control with ramps higher than 5000RPM are allowed, but, during fast transient
reference changes, instability may occure; this instability condition may not occure with slower
dynamics.
• into the scope function, it’s recommended to set fixed scale for all variables and, in order to observe
the correct overlap of traces, it’s further recommended that scale for reference and related measured
variables are the same.
• it’s recommended to keep visible on PC monitor both the main Caliper window and the Scope window
appropriately scaled; in this way, it’s easy to set sensorless parameters on Caliper main window
observing effects on scope window.

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Ch. 7 S.T.O. safety circuit

S.T.O. safety circuit (Safe Torque Off) is realized with IEC EN 61800-5-2 law reference conformal, 0 stop category, and with
IEC61508 law reference for SIL3.

The a.c. induction motor requires a rotating magnetic field to produce torque. This requires a threephase source of
alternating current at the connections. The drive has a single internal d.c. power supply available which is converted to
a.c. by a continuous active switching action of the six power semiconductor devices.

The Safe Torque-Off (STO) feature of NTT 240/460 drive is made of a redundant electrical circuit designed to bring a
drive to a state of safe torque absence. It is a feature used to prevent unexpected motor rotation in case of emergency
without the necessity to interrupt power supply. When STO function is active, the servodrive and the motor are in a
state of functional safety, which means that is impossible to cause an active rotation of motor shaft or, if it is alredy
rotating, it stops by inertia.

The safety stop category 0 is achieved with the immediate disconnection of electronic components (IGBT) capable of
system energization, that cause an uncontrolled stop of the axis, by inertia.

It is usual, in the applications where there isn’t a drive equipped with STO, to secure the system interrupting the power
supply using a contactor of adequate capacity. Using a STO it is possible to eliminate the contactor allowing economical
advantage, space saving in the cabinet and achieving an higher level of integrity.

Principle diagram for drive without STO safety circuit is shown below:

Stop
Start
PWM To
Interface µP Control motor
User
Opto Power
I/O
(6) (6)

Hardware enable

The commutation signals are transmitted from the complex control circuit of the PWM to the IGBTs by optocouplers
that use light-emitting diodes (LED) for the transmission of simple on/off commands through the electrical isolation
barrier. In the Secure Power Disable system shown in Figure_2, the LED power is provided by a safety circuit from the
two enable inputs (STO IN 1, STO IN 2). The switching sequence can reach the IGBTs only if the two enable inputs are
present, or if therehas been a highly improbable combination of undetected errors, which allowed both the two enable
inputs to receive power supply. If the STO signal is inactive, the drive is certainly disabled through the loss of power of
! and by the microprocessor.
the LEDs

NOTES:
• Failure of an individual IGBT or their drive circuits either into the on or in the off state cannot generate
torque, but when a permanent magnet motor such as a servo motor is used, a single torque transient
could be produced by a multiple IGBT failure. The motor can rotate at the maximun of 360°/p, where p
is the number of poles.

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Principle diagram for drive with STO safety circuit is shown below:

Stop
Start
PWM To
Interface µP Control motor
User
Opto Power
I/O
(6) (6)

STO1
Fail-safe Interface
STO2

1. Safety function Safe Torque Off (STO)

When the two drive enable inputs STO IN 1, STO IN 2 are not connected, the drive is in a high integrity disabled
state. It will not produce torque in the motor even if internal faults are present. The drive remains active: its internal
circuits are working, parameters can be modify, signal inputs and outputs are active and it keeps communicating.
Instead, when the twoenable inputs are connected to a digital level of +24V nominal, the drive operates normally.

2. How to use Safe Torque Off (STO)

ATTENTION!!!
Normally, drive is provided with J11 connector with bridge cables between 3-4-5 pins; in this condition, user
shall not consider the drive to be in Safe State. In order to use correctly the Safety Function STO, please take off
all bridge cables and wire external contacts.
Secure Power Disable is used in exactly the same way as a conventional enable input, so all existing applications
remain the same. In addition it disables the drive with a very high integrity, so that it can be used in safety-related
applications.

J11 CONNECTOR J11 CONNECTOR

(STO connection with internal supply) (STO connection with external supply)

+24V IN +24V IN
1 1
GND IN
GND IN
2 2
GND STO
STO IN1 STO IN1
3 3

+24V OUT +24V STO +24V OUT

4 4

STO IN2 STO IN2

5 5

drive internal connection

It can also be used in other applications where a highly reliable disable function is required. For example, it is
common for a start/stop function to use a simple reliable contactor latch circuit in order to avoid expensive, non-
safety-related damage from inadvertent start-up. Secure Power Disable can eliminate the use of a contactor.

3. STO does not provide motor braking

If a running drive is disabled, it immediately ends to produce torque, either motoring or braking. The motor
continue to run by its inertia untill it stops.

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4. STO does not provide electrical isolation of the drive output.

If access is needed to the electrical connections of the motor circuit, an approved isolation device must isolate
the drive power input. The required discharge time that must spent before access is permitted is usually about 10
minutes.

5. STO cannot detect if the two enable inputs have been energised both inadvertently.
If both the two input channel STO IN 1, STO IN 2 have been inadvertently connected to a positive digital signal
within the specified range, the drive will be enabled.The probability of this happening is very low. However, to
ensure the maximun integrity, during installation the wiring must be protected from accidental contact with
digital signals or supplies.

6. Special Requirement
The output of SDP should be monitored at every intervention of the safety circuit by user. If the STO output is not
active, with both the two STO inputs de-energized, it means that at least one of the two safety circuits is faulty and
therefore the drive must be send to repaired. STO output is managed by microcontroller and for this reason, it’s
not considered as a secure output.
STO output follows graphs below:
De-energize condition for SPD IN 1 e SPD IN 2 channels

SPD IN 1 channel

SPD IN 2 channel

SPD output
FA08 FA08 FA18 o FA23
(OUT1-2)
Drive OK Safe State Drive not OK Safe State Drive not OK Avaria Hardware

>5ms 100ms 100ms

Energize condition for SPD IN 1 e SPD IN 2 channels

SPD IN 1 channel

SPD IN 2 channel

SPD output FA08 FA08 Drive OK FA08 FA18 o FA23

(OUT1-2) Safe State Drive OK Safe State Drive not OK Safe State Drive not OK Avaria Hardware

>5ms 100ms 100ms

A special requirement is needed for the use of protected wiring to the two enable (STO IN 1, STO IN 2) inputs, in
order to exclude the possibility of a short-circuit to a positive supply (see box below). Is reccomanded, under UNI
EN ISO 13849-2 law, the use of protected wiring.
PROTECTED WIRING
Protected wiring is arranged so that no short circuit is credible to any source of voltage which might cause a
failure in the unsafe direction. A practical implementation is either:
Fully segregated in dedicated trunking etc. or
Screened, with the screen connected to ground, in a positive-logic grounded control circuit.

7. Caratteristiche dei contatti esterni

With mechanical contacts, it’s mandatory that activation or deactivation latency time will be less than 100ms
(including any rebounds for mechanical contacts within 20ms). It’s recommended to use contact that allows
activation and deactivation delay to be less than 50ms, or please use contacts that are granted by external STO
Safety Function approved modules.

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8. Operations relating to the functions of the STO

MOTOR DISPLAY STO OUTPUT
STO INPUT STATUS DRIVE STATUS
BEHAVIOUR SIGNALING (OUTx)

OPERATION ENABLED Stop by inertia FA08 1

DE-ENERGIZED SWITCH-ON Free FA08 1

SWITCH-OFF Free FA08 1

OPERATION ENABLED Turns RUN 0

ENERGIZED SWITCH-ON Still in torque ENA 0

SWITCH-OFF Free STOP 0

9. Fault management on the STO circuit

STO circuit faults are detected when the STO input is de-energized.
STO MOTOR HOW TO DISPLAY STO OUTPUT
DRIVE STATUS
CHANNEL BEHAVIOUR INTERVENT SIGNALING (OUTx)

Repair
OPERATION ENABLED Stop by inertia FA18 0
needed

Repair
STO IN1 SWITCH-ON Free FA18 0
needed

Repair
SWITCH-OFF Free FA18 0
needed

Repair
OPERATION ENABLED Stop by inertia FA23 0
needed

Repair
STO IN2 SWITCH-ON Free FA23 0
needed

Repair
SWITCH-OFF Free FA23 0
needed

For further information about drive status and error descriptions, please see “Ch. 8 Drive status and diagnostics”
pag. 120.

ATTENTION!!!
TURN ON THE MACHINE WITH THE STO1 AND STO2 INPUT SIGNALS DE-ENERGIZED
TO VERIFY THAT THE SAFETY CIRCUIT IS WIRING IN THE CORRECT WAY
AND THAT IT IS INTACT WHITIN THE DRIVE:
FA08 ALARM MUST OCCURE AND THE STO OUTPUT MUST BE ACTIVE .

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Ch. 8 Drive status and diagnostics

8.01 Drive status

Main drive status, during operation, are visible on d.0000 display parameter, and description is shown below:
DISPLAY
STATUS CONDITION DESCRIPTION
d.0000
Drive does not provide torque to motor and shows Drive
Drive OK “STOP”
SWITCH OK condition.
OFF Drive does not provide torque to motor and shows Fault
FAULT - Warning “F xx” o “FA xx”
condition or Warning condition.
J3
Drive keeps motor in standstill torque and shows Drive OK
Drive OK “ENA” 1
SWITCH condition.

FIELD BUS
2
3
ON Drive keeps motor in standstill
4
torque and shows Warning
Warning “F xx” 5
condition. 6

Drive provides torque to motor following references and

Drive OK “RUN”
OPERATION shows Drive OK condition.
ENABLED Drive provides torque to motor following references and
Warning “F xx”
shows Warning condition.

8.02 Fieldbus status signaling J3

Run

J3 Link/Act
1 8
During Ethercat CoE and Profinet operation modes, other LEDs provide following Bbus status:
FIELD BUS

2 OUT
FIELD BUS
3 1 Act
4
• LINK and ACTIVITY (Green and5 Yellow LEDs on each port of J3 connector) show
8
statusLink/Act
for ethernet comunication.
6
• state machine identification during Ethercat operation mode with green IN LEDAor Bus Failure identification during
1 Act
Profinet operation mode with red LED.

ETHERCAT PROFINET

Bus
Run Failure
J3 Link/Act J3 Link/Act
8 8
OUT B OUT B
FIELD BUS

FIELD BUS

1 Act 1 Act
Link/Act Link/Act
8 8
IN A IN A
1 Act 1 Act

“RUN” LED “BUS FAILURE”

(green) status (red)
Inizialisation Off Active comunication link
Pre-Operational Bus
flashing Status OK / NO Comunication
Failure
Safe-Operational Link/Act
single flash 1
J3 -
J3
8
Operational B On OUT BNo link available
FIELD BUS

OUT
FIELD BUS

1 8
Act
1
Link/Act
8
IN A
IN A 8
1 Act

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Drive status and diagnostics NTT 240/460

8.03 Diagnostics
Alarms (display view as “FA xx”) and warnings (display view as “F xx”) can be reset by related command, depending on
set operation mode (RESET digital input or RESET key in Caliper software or RESET command in fieldbus operation).
If logic supply is turned off, alarms/warnings will be reset.
To learn error-code details, use Caliper software and see ‘Advanced Setup - Alarm Memory’ section.
When an alarm occures, drive immediatly can stop providing current to motor or can perform the FAult
! Reaction precedure; instead, in some warning situations, drive can hold motor control (this feature can be
set via Caliper software).

Alarms /warnings codes, descriptions and solutions are shown below:

FAULT
ERROR ID DESCRIPTION SOLUTION RESET
REACT.
EEPROM FA01 An error occured while attempting This alarm code may result in EE- NO NO
CORRUPTED to read EEPROM memory data. PROM memory data loss.
DATA Drive stops providing current and It requires a default data upload and
‘Drive OK’ condition is disabled. then a new customer data upload,
with riserved data too.
CURRENT FA02 An error occured while attempting At least, one of inverter current sen- NO NO
SENSORS to read signals from inverter cur- sors has failed.
rent sensors. A repair from technical and designa-
Drive stops providing current and ting person is required.
‘Drive OK’ condition is disabled.
OVER FA03 Drive has detected an overcurrent Please remove U,V,W cable from dri- YES NO
CURRENT condition in inverter current rea- ve wirings and try OPERATION ENA-
ding signals. BLED status in this condition.
Drive stops providing current and If alarms still occures, a repair from
‘Drive OK’ condition is disabled. technical and designating person is
required.
If alarm does not occure please en-
sure:
• any short-circuits between motor
phases or phase to Power Earth
may occur.
• that current loop gain coefficients
are correctly set.
OVER FA04 Drive has detected an overvoltage Please ensure that power supply vol- YES NO
VOLTAGE condition in DC bus voltage rea- tage is within expected range.
ding signals. If alarm occures during braking ope-
Drive stops providing current and rations, try to connect an appropria-
‘Drive OK’ condition is disabled. te external braking resistor.
VOLTAGE FA05 Drive has detected supply voltage Disable alarm if drive is supplied by YES YES
FAULT fault or 2 phase lack for triphase DC voltage.
supply, at least. It’s possible to set:
Drive stops providing current and • AUTO RESET when 2 phases are
‘Drive OK’ condition is disabled. present at least (only with FA06
disabled).
• RESET signal request.
PHASE FA06 Drive has detected voltage fault Please, verify if power cables are OK YES YES
FAULT for 1 phase of triphase supply. or if input power supply fuses are OK.
Drive stops providing current and
‘Drive OK’ condition is disabled.

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FAULT
ERROR ID DESCRIPTION SOLUTION RESET
REACT.
FEEDBACK FA07 Feedback wiring cable is wrong or Please verify encoder wiring cable YES NO
FAULT damaged. (“5.08 J5 connector: Feedback 1” pag.
Drive stops providing current and 36 or “5.09 J6 connector: Feedback
‘Drive OK’ condition is disabled. 2” pag. 40) or check encoder and
cable integrity.
If wiring is OK, encoder may be da-
maged. Replace motor encoder.
S.T.O. FA08 STO safey circuit action (safe tor- Close external contact and reset all YES NO
que off ): external contact, feeding alarms.
voltage to STO safety circuit, is If STO safety circuit has failed, drive
opened. will provide alarm FA18 or FA23 after
Drive stops providing current and closing external contact. In this case,
‘Drive OK’ condition is disabled. a repair from technical and designa-
ting person is required.
MOTOR FA09 Thermal sensor has detected a Ensure that motor work cycle is not YES NO
PTC motor overtemperature. much heavy for used motor.
Drive stops providing current and Ensure that PTC cables are correctly
‘Drive OK’ condition is disabled. connected to drive and, if PTC is not
present, please short pin 7-8 of J5
connector.
BRAKING FA10 During braking condition, theore- Number of cycle during braking con- YES NO
RESISTOR tical calculation for thermal beha- dition is too much heavy for used re-
viour has detected an overheating sistor. Ensure that braking work cycle
of resistor. is not much heavy for used resistor
Drive stops providing current and or use an higher power resistor, set-
‘Drive OK’ condition is disabled. ting correct parameters into Caliper
software; vedi “6.12 Braking resistor”
pag. 92.
+24V I/O FA11 I/O Voltage fault (+24V I/O, pin Provide 24VDC at pin 1 (+24V I/O) and YES NO
FAULT 1-11 di J8). 11 (0V I/O ) of J8 connector.
Drive stops providing current and Voltage is available at pin 2-12 di J8
‘Drive OK’ condition is disabled. connector.
It’s possible to disable alarm.
UNDER FA12 Drive has detected an undervol- Solutions: YES YES
VOLTAGE tage condition in DC bus voltage • automatic restart, when DC
reading signals. voltage value will be within
Drive stops providing current and expected range.
‘Drive OK’ condition is disabled. • restart with RESET signal.
POSITION FA13 In gearbox control or position con- Recommended solutions: YES YES
FOLLOWING trol, difference between reference • increase following error threshold.
and feedback signals is out of cho-
ERROR • edit PID speed parameters.
sen tollerance.
• decrease dynamics.
Drive stops providing current and
‘Drive OK’ condition is disabled.
HOME FA14 Drive has detected the Home Po- Please perform an Home Position YES NO
POSITION sition lack. command, after drive operation
Drive stops providing current and mode was selected. See “6.03 Caliper
‘Drive OK’ condition is disabled. Menu” pag. 52.

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FAULT
ERROR ID DESCRIPTION SOLUTION RESET
REACT.
I2T F15 Theoretical drive temperature, During initial start-up, please ensu- YES NO
DRIVE due to provided current to load, re a correct motor and drive wiring.
exceeded maximum threshold. Ensure that working cycle to be per-
WARNING
Drive continuous to operate nor- formed is not too much hard for se-
mally, but maximum provided cur- lected drive.
rent is equal to drive rated current. Ensure that control loop parameters
(speed) are not heavy.
If application allows, increase ramp
times.
I2T F16 Theoretical motor temperature, Ensure that working cycle to be per- YES NO
MOTOR due to provided current from dri- formed is not too much heavy for
ve, exceeded maximum 100°C ΔT used motor.
WARNING
threshold. Ensure that control loop parameters
Drive continuous to operate nor- (speed) are not heavy.
mally, but maximum provided If application allows, increase ramp
current is equal to motor rated times.
current.
Ensure that ‘I2T Time’ value, set in
Motor Data section via Caliper, is
correct for used motor.
OVER F17 Maximum velocity value, set in Please ensure that ‘Speed Limit’ pa- YES NO
SPEED Advanced Setup - Limiter section rameter is at least 10% upper than
via Caliper, exceeded threshold. maximum reachable speed.
WARNING
Drive continuous to operate nor- Ensure that speed loop parameters
mally, showing warning condition. do not generate high speed over-
shoot.
CH1 FA18 Redundant n°1 channel of safety If external environment cable is cor- NO NO
STO circuit is broken. rectly set, a repair from technical and
designating person is required.
TARGET F19 During position control, drive has Drive received an external signal and YES NO
OUTSIDE detected that position reached is has been stopped during positio-
different to target position. ning; for this reason it was not able
WARNING
Drive continuous to operate nor- to reach target position.
mally, showing warning condition. Verify if commands sent to drive are
OK
FIELDBUS FA20 Canopen® Node Guarding error Restore fieldbus comunication. YES YES
occures or Time out error Modbus See “5.05 J3 connector: CM option
occures. configuration” pag. 33.
Drive stops providing current and
‘Drive OK’ condition is disabled.
Depending on settings, drive
stops providing current or decele-
rates in ramp.
BROKEN FA21 EEPROM memory does not re- A repair from technical and designa- NO NO
EEPROM spond. ting person is required.
Drive stops.

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FAULT
ERROR ID DESCRIPTION SOLUTION RESET
REACT.
MOTOR F22 During motor autophasing, drive Depending on used motor, recom- YES NO
PHASES has detected a wrong wiring con- mended solutions are:
nection. • H.D.T. motor: ensure the correct
If SWITCH-ON command is able, wiring between drive and motor,
motor could run without control. then execute motor autophasing.
See “5.02 J1 connector: motor power
connection” pag. 28 e “6.07 Motor
autophasing” pag. 82.
• Third party motor: invert 2 motor
phases, then execute motor
autophasing.
CH2 FA23 Redundant n°2 channel of safety If external environment cable is cor- NO NO
STO circuit is broken. rectly set, a repair from technical and
designating person is required.
OVER FA24 Heatsink temperature exceeded Recommended solutions: YES NO
TEMP. maximum threshold. • wait some minutes before
Drive stops providing current and restarting drive.
‘Drive OK’ condition is disabled. • ensure ambient temperature to be
lower than 40°C.
HALL FA25 Drive detected a wrong HALL se- Recommended solutions: YES NO
ENSORS quence. • connect correctly HALL sensors.
SEQUENCE Drive stops providing current and
‘Drive OK’ condition is disabled.
ERROR
SPEED FA26 In Canopen mode, in profile velo- Recommended solutions: YES NO
ERROR city mode, drive detected a speed • increase velocity window and
error depending on velocity win- velocity window time parameters.
dow and velocity window time
• if application allows, decrease
parameters.
acceleration and deceleration
Drive stops providing current and ramp parameters.
‘Drive OK’ condition is disabled.
• ensure that there are not any
barriers or obstacles during
movement.
I2T FA27 Theoretical drive temperature, During initial start-up, please ensure YES NO
DRIVE due to provided current to motor, a correct motor and drive wiring.
exceeded maximum threshold Ensure that there are no obstacles
ALARM
and drive continued to provide along the axis stroke.
current beyond set time.
Drive stops providing current and
‘Drive OK’ condition is disabled.
I2T FA28 Theoretical motor temperature, Ensure that working cycle to be per- YES NO
MOTOR due to provided current from dri- formed is not too much heavy for
ve, exceeded maximum 100°C ΔT used motor.
ALARM
threshold and drive continued to
provide current beyond set time.
Drive stops providing current and
‘Drive OK’ condition is disabled.
DC BUS FA29 Drive has detected that DC bus Disconnect power supply by the dri- YES NO
SYMMETRY symmetry is out of range. ve immediatly.
Drive stops providing current and A repair from technical and designa-
‘Drive OK’ condition is disabled. ting person is required.

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FAULT
ERROR ID DESCRIPTION SOLUTION RESET
REACT.
OVER FA30 Drive detected hydraulic over Ensure that transducer cable is YES NO
PRESSURE pressure condition from pressure whole and correct. Ensure also that
transducer. transducer works properly.
Drive stops providing current and Check pressure parameter set into
‘Drive OK’ condition is disabled. drive are correct.
Ensure, via Caliper, that analog input
reads correctly, otherwise a repair
from technical and designating per-
son is required.
UNDER FA31 Drive detected hydraulic under Ensure that transducer cable is YES NO
PRESSURE pressure condition from pressure whole and correct. Ensure also that
transducer. transducer works properly.
Drive stops providing current and Check pressure parameter set into
‘Drive OK’ condition is disabled. drive are correct.
Ensure, via Caliper, that analog input
reads correctly, otherwise a repair
from technical and designating per-
son is required.

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Ch. 9 Accessories

Caliper 4 setup cable CODE: CNTPRG53

Description
USB cable for drive setting and tuning via Caliper 4 software.
Shielded, shield connected to both side of connector plugs.
For any informations about connections, please see “5.07 J4 connector: drive settings” pag.
35.

Type: USB A to micro B shielded for USB 2.0

Poles: 5pin standard

Total lenght: 3m

Termination resistors for Canopen and Modbus CODE: CNTETH00

Description
Termination resistors connection for Canopen and Modbus network.

Type: RJ45

120Ω between CAN H to CAN L

Termination value:
120Ω between MODBUS + to MODBUS -

Total lenght: 40mm

Multiple drives fieldbus wiring patch cable: CODE: CNTETH01

Description
Multiple NTT 240/460 drives wiring cable for cascade connection in fieldbus operation.
Shielded FTP Cat. 5E EIA/TIA568B.

Type: RJ45 / RJ45 Shielded FTP

Poles: 8 pin-to-pin EIA/TIA568B

Total lenght: 250mm

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EMC filters for NTT 460

Description

Type: 2 x (3xCM) + 3 x (1xDM)

Rated current Note: dimension in mm.
TDC10 10A@40°C Bolt connection.
CODE
TDC20 20A@40°C

EMC filters for NTT 460

Description

Terminals
PE

Type: 3 x (3xCM) Note: dimension in mm and terminal connection

Rated current L1 L2 L3 L4 B1 B2 H1 Connection

CNW207/35 35A@40°C 400 4

CNW207/50 50A@40°C 335 320 305 60 35 150

500 5
CNW207/65 65A@40°C

CODE CNW207/80 80A@40°C 6

CNW207/100 100A@40°C 7
380 364 350 - 178 130 220
CNW207/150 150A@40°C
8
CNW207/200 200A@40°C

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Braking external resistor for NTT 460 20/40 e 35/70 CODE: RF39R1300W
Description

30

215 500

60

197

Value 39Ω Note: dimension in mm.

Rated/peak For 35/70 size, it’s recommended to use two same
300W / 1300W resistor parallel connected.
power

Please contact H.D.T. technical/sales department for further resistance and power values.

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THIENE
SCHIO THIENE

MONTE DI MALO
HDT SCHIO
MALO
Via Sile
A31
VALDAGNO DUEVILLE
Priabona

SS46 SS46 TREVISO

MALO
VICENZA VICENZA NORD

VICENZA OVEST VICENZA

A4
VICENZA EST
A4

MILANO VENEZIA

H.D.T. s.r.l.
www.hdtlovato.com

via Sile 8, 36030 Monte di Malo (VI)

Tel. +39. (0) 445.602744 r.a. – Fax +39. (0) 445.602668