Instruction Manual

ECO2D
&

ECO4D

Via Monari Sardè, 3 - Bentivoglio (BO) - Italy

 +390516640464 - Fax +390516640784 - www.selema-srl.it
ECO2D/ECO4D Contents

CONTENTS

Chapter

1 Safety information page 3

2 General features page 5

3 Technical specifications page 8

4 Models and options page 13

4 Models page 13
4.1 Hardware Options (Board) page 16
4.2 Software options and their hardware configurations page 19
4.3 Ventilation set option page 27

5 Mechanical installation page 28

5.1 Mechanical installation & dimensions page 28
5.2 Braking resistor page 30

6 Electrical installation page 31

6.1 Electrical connections page 31
6.2 Wiring diagrams page 32
6.3 Sizing the power circuit page 49
6.4 Wiring and cable standards page 51
6.5 EMC components page 55
6.6 Switch-on/switch-off procedure page 57
6.7 Initial start-up - commissioning page 57
6.8 Maintenance page 60

7 Parameters and messages page 61

7.1 Local keypad operation and menus page 61
7.2 Parameter details page 77

8 Diagnostics and alarms page 97

8.1 Alarms page 97
8.2 Troubleshooting page 100

Annexes
A Key to label page 103
B Motor tables page 104

MANUAL REV. 2.1

Man. Code: 01MT ECO2/4D07
Catalogue code: 020607
May 2011

2
ECO2D/ECO4D - Chapter 1: Safety information

1 SAFETY INFORMATION

This manual contains all information required to enable correct product installation, use and
maintenance.
Its use is intended for technically qualified personnel with appropriate knowledge of the management
control technology employed as well as sufficient familiarity with the general concepts of automation
safety.
To ensure clear and easy understanding of the manual, it does not cover every single programming
particular and cannot consider all possible types of product application or operating mode. Therefore,
for specific enquiries please contact your dealer or Selema S.r.l. Customer Services.

WARRANTY
In accordance with the terms and conditions of sale, the product is covered by the Selema S.r.l.
warranty with effect from purchase date. Such warranty shall be invalidated should damage be due to
negligence, misuse or incorrect installation/application. In this respect it should be stressed that the
Drive is just one component of a complex kinematic system. The user/installer shall therefore assess the
product’s suitability for its intended application by checking the technical specifications detailed
hereafter.

In line with a policy of continuous improvement, the manufacturer reserves the right to modify product
manual and/or specifications without notice, whilst accepting no liability arising from IMPROPER use.

Symbols and terminology

This manual makes use of special terms to highlight essential information requiring particular attention.
The purpose of these terms is to guarantee major safety in the workplace and prevent damage being
caused to the system.
The following terms and symbols are used:

DANGER HIGH VOLTAGE

Paragraphs are labelled in this manner when personnel would be placed at serious risk
should the safety rules not be respected.

WARNING Read carefully

This term highlights important instructions that should be followed carefully in order to
avoid damaging the product.

NOTE
The notes contain useful information and hints for a correct use of the system.

Earth wire connection point

3
ECO2D/ECO4D - Chapter 1: Safety information

DANGER HIGH VOLTAGE

 Several product components are energised by high voltage and could
constitute a serious safety risk. Do not touch exposed connections with
the power supply connected. Always disconnect power supply and wait 5
minutes before carrying out any operation on connections or accessing
DANGER internal components.
HIGH VOLTAGE  Installation should be effected by technically qualified personnel who are
fully aware of the possible sources of danger and relevant safety and
accident-prevention legislation.
 The user should ensure that the installation complies with current safety
regulations.
 The appliance should be properly earthed in order to prevent the risk of
electric shock.

WARNING: PROTECTION RATING

 The product conforms to degree of protection IP20; full consideration should be
given to the environmental conditions of the installation site in order to ensure safe
and reliable operation.
 The customer should give details of unusual operating conditions since these may
require special build or protection specifications.

WARNING: FILTERS
 AC power filters should be permanently earthed, whilst filter leakages could affect
the performance of residual current devices.

WARNING: SALES DISTRIBUTION

 For unrestricted sales distribution: “Not intended to be used on a low-voltage public
network which supplies domestic premises. May cause radio frequency interference”.

4
ECO2D/ECO4D - Chapter 2: General features

2.1 GENERAL FEATURES

ECO2D/ECO4D is a state-of-the-art drive that employs new DSPs and RISC microprocessors offering
both exceptional computational capabilities and high integration of peripheral devices. All this has
enabled an extremely compact drive to be obtained, without foregoing excellent dynamic specifications
and high speed and positioning resolution.

Full digital in both speed and current loops, ECO2D/ECO4D is suitable for controlling both sinusoidal-
field brushless motors and the asynchronous type with feedback control (known as Vector or AC
Brushless in other parts of this manual). Both types of motor are designed to use feedback.
The type of control used within the drive (known as Field Oriented Control) allows extremely precise
movements to be effected and constant torque from zero to maximum speed even with asynchronous
motors; the drive can operate in torque, speed and space control. It incorporates various mechatronic
functions such as electronic gearbox, Stand Alone Positioner and electronic CAM.
Motors are supported with either Encoder with a range of pulse resolutions or Resolver.

It is recommended that programming and parameter setting be carried out via Personal Computer, whilst
individual parameters may be modified in a simple, interactive manner, including via the drive’s on-board
local keypad.
The local display also supplies information regarding operating status and any alarms that may have been
triggered.

The setpoint may be either analogue (0 +/-10V) or digital (Pulses + Direction, with field networks or
integrated mechatronic functions).

• PROGRAMMING

Thanks to mathematical modelling, by selecting the parameter relative to the motor under control, all
variables under consideration are reset to a scale suited to the constants of the chosen motor: electrical
time constant, mechanical time constant, torque constant, resistance and inductance.
This permits optimum system calibration by resetting essential drive parameters such as proportional
and integral gain, offset and maximum speed.
As one might expect, a vast range of parameters are available in order to optimise the system and
provide the solution to even the most exacting needs.

The ECO2D/ECO4D drive can operate with external analogue speed reference (± 10 V) or internally-
set reference for jogging or electronic gearing.
The external setpoint enables setting of an acceleration and deceleration ramp.

• ALARMS
The on-board diagnostics allow monitoring of drive status in order to ensure it is running correctly.
The drive is protected against short circuit of power stages and/or earth, overcurrent, overvoltage,
undervoltage, resolver cable breakage and overheating of motor and heat sink.
These alarms are stored and can be viewed on local display. Multiple alarms are stored and can be
viewed by typing a special command on the keypad.

• SIMULATED ENCODER
If using motors with Resolver, motor position output signals are available that imitate an Encoder with
programmable resolution. The output is available as a +5V LINE DRIVER.

5
 ECO2D/ECO4D - Chapter 2: General features

• SERIAL LINE
The standard RS 422 serial port allows the ECO2D/ECO4D drive to be linked to a PC for
programming and debugging using a standard USB/422 or SELINT interface. With the NETSAP
option, the 422/485 serial port also supports MODBUS and S-NET field networks.

• Parameter programming/Axis analysis/Debugging

Running the Drive Watcher application software on a PC enables user-friendly management of the
drive programming and test phases. Specific dedicated software packages are available for the more
complicated mechatronic functions.
The programme also allows you perform a detailed analysis of both drive variables and the entire
dynamic system including motor and load.
The programme utility enables the most important quantities such as current, speed, voltage, etc. to be
monitored and stored in graphic form, thus consenting a perfect analysis of the system’s required
torque in order to obtain optimum motor size.
The graphs obtained can be printed and/or saved and stored on file.

• OPTIONS
Controlling positioning loop using a pulse signal
Field networks: MODBUS, S-NET, S-CAN, CANopen
Mechatronic functions: SAP (Stand Alone Positioner), electronic gearbox, electronic cam

PULSE Set-point Trajectory ωsp

DIR generator generator
DRIVE
Space SECTION MOTOR
CONT/CLR Pulse/ feedback
Space

Set-point Tracking
Master generator generator
Encoder Master Encoder Resolver
Encoder/
Space
Electronic
cam

RS485/422 Set-point
CAN generator ENCODER or RTE
from 485 (Resolver To Encoder)
422 Output
CAN I/O SAP
SECTION
LS1
LS2 Homing
mode
Home Switch Controller

4 OUTPUTS 8 INPUTS

Figure 2.1 ECO2D/ECO4D drive pulse positioner, field network and mechatronic function sections.

6
 Figure 2.2

ECO2D/ECO4D - Chapter 2:
e2 d3 d4 e1 c2 F1 F2 F3 d1 d2 d5 d6 d7 d8 Current
Vectors
c3
Ia + Current Va L1 L2 l3
Block diagram of ECO2D/ECO4D drive section control system.

SPEED
Id 2 Loop
Speed -
REFERENCE ωs p + Speed
Reference Motor POWER
Filter Loop Ib + Current Vb
Conditioning - STAGE
Loop
Model -
Iq
Ic + Current Vc
RAMPS 3 + Loop
U V W
+
Saturation
ω

General features
TORQUE REFERENCE CURRENT
θe
FEEDBACK
7

NB Angular
Positiion
Motor
d1 - d8 =Drive Parametes,

e1, e2, =Extended Drive Parameters,

F1 - F3 =Function Parameters,

c1 - c9 =Control Parameters.
θe
CONVERSION
RATE FEEDBACK ω INTERFACE
Id = Flux Component Encoder Resolver

Iq = Torque Component
ECO2D/ECO4D - Chapter 3: Technical specifications

3 ECO2D/ECO4D TECHNICAL SPECIFICATIONS

Please refer to the following tables for correct storage and use of the drive. The drive operating conditions
MUST comply with the requirements set out in the tables below. Failure to comply with these
requirements could lead to malfunction or premature failure of the drive.

Power supply ECO2D 230 Vac ± RMS three-phase 10%, 50/60Hz

ECO4D 400 Vac ± RMS three-phase 10%, 50/60Hz

Control section power supply Isolated +24Vdc ±15%;

and digital inputs/outputs 0.5 A + 250 mA if coupled with vector motors fitted with
fan. + 10 mA per digital input used + consumption of
load connected to each output.
Voltage dissymmetry, line
impedance, voltage harmonics,
commutation notches Comply with CEI EN 61800-2: 1999-09.

Rated output current/Rated 4A RMS/1 kW for ECO2D0410, 4A RMS/1.4 kW for ECO4D0410

output power
5A RMS/1.5 kW for ECO4D0515, 6A RMS/1.5 kW for ECO2D0615

10A RMS/3 kW for ECO4D1020, 20A RMS/6 kW for ECO4D2040

25A RMS/7.2 kW for ECO4D2550

30A RMS/9KW for ECO4D3090

Power output rated short-circuit ECO2D0410 = 25 A -- ECO4D0410= 30 A

specifications
ECO4D0515 = 30 A -- ECO2D0615 = 35 A

ECO4D1020 = 60 A -- ECO4D2040 = 85 A

ECO4D2550 = 110 A -- ECO4D3090 = 170 A

Output frequency
0 to 300 Hz.

Switching frequency 8 kHz PWM

Drive leakage current Max. 3 mA

Table 3.1 Power supply - Electrical Specifications

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ECO2D/ECO4D - Chapter 3: Technical specifications

Analogue inputs 2, Resolution 1:5000,

- REF, REF\ differential ± 10 V Impedance ≥ 47 kΩ
- EXTREF 0-10V Impedance ≥ 15 kΩ

Isolated digital inputs 12 isolated (according to options): Impedance = 10 kΩ

Input

0V24

Digital input reference circuit,

with signal reversal protection.
Input signal at +24 Vdc  logic level 1 input.
Input signal at 0V or disconnected  logic level 0 input.

Table 3.2 Analogue and Digital Input Specifications

Digital outputs 4 isolated (according to options): PNP type, 0.5A/per output

The sum of all outputs shall not exceed 1A

+24V

Output

Digital output reference circuit.

1, Drive OK with 100 mA relay contact already connected to
+24 V

Table 3.3 Digital Output Specifications

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ECO2D/ECO4D - Chapter 3: Technical specifications

Motor encoder inputs Inputs are the 5V differential line receiver type for connection to a
5V line driver encoder (input impedance is 1 kΩ)

Resolver sine/cosine input A resolver can be used provided it meets the following
specifications: frequency 10KHz, min. input impedance 110 Ω+J140,
Revolver excitation output typical output impedance 130 Ω +J240, sine/cosine to excitation ratio
= 0.5

Encoder outputs 0-5V differential CMOS Line Driver Outputs.

(for motors with Encoder only) Impedance = 100 Ω (Max = 1 kΩ);
Resolution: the same as that of motor Encoder.

Simulated encoder outputs 0-5V differential CMOS Line Driver Outputs.

(only if Resolver To Encoder Impedance = 220 Ω (Max = 1 kΩ); with 220 Ω load impedance on
option requested) phases A and B the output signal changes to ≈ 2V.
Resolution: 128, 256, 512, 1024 pulses/electric revolution; multiply
by 3 to calculate pulses/mechanical revolution when using a 6-pole
Resolver, multiply by 2 for a 4-pole resolver, do not multiply when
using a 2-pole Resolver.

Serial Port 1 full duplex RS422/RS485

Pulse positioner input Pulse signal: 12 to 24 V dc active high, impedance 2.2 kΩ,

We recommend use with PNP open drain or push-pull commands

Table 3.4 Special Input/Output Specifications

Protections - Motor temperature rise: depends on the motor thermal

resistor
- Heat sink temperature rise: 75°C ± 5°C.
- IGBT temperature rise: TJ = 105°C ± 5°C.
- Phase short circuit.
- Earth short circuit.
- Motor overcurrent: depends on model.
- Power supply overvoltage: ECO2D 400 V dc, ECO4D 710 V
dc on internal DC BUS (+/- 3%).
- Power supply undervoltage: ECO2D 180 V dc, ECO4D 425 V
dc on internal DC BUS (+/- 3%).

Braking circuit Dissipative to external resistor. Response thresholds ECO2D = 390 V

dc (+/- 3%) ECO4D = 680 V dc (+/- 3%) on internal DC BUS.
Dissipation to the braking resistor depends entirely on the
application, the resistor supplied as standard is designed for
typical applications.
For applications with particularly exacting cycles, please refer to
the calculations at paragraph 5.2.
Table 3.5 Protections and Braking Circuit

10
ECO2D/ECO4D - Chapter 3: Technical specifications

Temperature during operation 0°C to +40 C max. 0-55 °C; from 40 to 55 °C derate.
At 55°C consider derating drive’s rated I
by 50% and therefore set parameter d5 to
50.

Relative humidity during operation 5% to 85% non-condensing

Altitude during operation Up to 1000 metres asl
Storage temperature -25°C to +85 C

Relative humidity for storage 5% to 95% non-condensing

Table 3.6 Climatic operating and storage conditions

Climatic conditions during transport Comply with clause 4.3 of CEI EN 61800-2: 1999-09.

Mechanical conditions Comply with CEI EN 61800-2: 1999-09.

Protection Rating IP 20.

Table 3.7 Mechanical and transport conditions

Electromagnetic compatibility The product complies with International Technical Standard:

- CEI EN 61800-3 2005-04 “Adjustable-speed electric power
drive systems - Part 3: EMC requirements and specific test
methods”;
and therefore also satisfies the European
Directive on Electromagnetic Compatibility
[89/336/EEC as amended by 92/31/EEC and
93/68/EEC].
Product conformity is only guaranteed if installation is carried
out in strict accordance with the instructions set out herein
under chapter 5 “Electrical Installation”.

Low Voltage and Safety Product safety and operating features meet the requirements of the
following International Standards:
- CEI EN 61800-2 1999-09 “Adjustable speed electrical power
drive systems: Part 2: General requirements - Rating
specifications for low voltage adjustable frequency AC power
drive systems”;
- CEI EN 61800-5-1 dated 2005-03 “Adjustable speed electrical
power drive systems - part 5-1: Safety requirements. Electrical,
thermal and energy”;
and thus comply with Low Voltage Directive
73/23/EEC as amended by 93/68/EEC.

Table 3.8 Normative references

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ECO2D/ECO4D - Chapter 3: Technical specifications

CE Marking The product illustrated herein meets the requirements of the

European Low Voltage and Electromagnetic Compatibility
Directives specified in this table and therefore fulfils all
conditions necessary for CE Marking.
Table 3.9 Normative References and CE marking

WARNING: EMC
 Should a Power Drive System (PDS) be just one component of equipment subject to
a different EMC product standard, the EMC standard covering the equipment as a
whole shall apply.
 The drive is used in conjunction with other components such as motor, transformer,
filter, switching, control, protective and auxiliary circuits, thus forming a complete
end product. The person in charge of assembly shall ensure that the system or
product complies with all current regulations applicable in the country where
the system or product itself is to be used.

12
ECO2D/ECO4D - Chapter 4: Models and options

4 MODELS AND OPTIONS

The ECO2D drive range can be used with voltage of 230 V ac and current of up to 6 A, whilst the
ECO4D drive range is designed for voltage of 400 V ac (see table 3.1.a) and current of up to 25 A. A
range of optional boards and/or specific groups of software functions are available for each model. The
standard model comprises a drive with analogue setpoint and torque limiter inputs, serial protocol for
fast parameter setting and tracing variables in oscilloscope mode using the special Drive Watcher
Programme on a PC.
Use the following criteria in order to ensure the correct choice of drive:

1. Select the required the voltage and current range by identifying the model in table 4.1.b.

2. Select the required type of feedback for the motor (encoder or resolver) and choose the HARDWARE
option (point 4.1) best suited to the application.

3. Check whether the standard configuration described in table 4.2.a is suitable or a more complex one is
required. In the latter case, please refer to point 4.2 SOFTWARE options and their hardware
configurations in order to find the most appropriate solution.

ECO2D models (230 V ac)

STANDARD MODEL: code “09ECO2D xxxx y” (with encoder)

Model 4 Amp RMS, Peak 10 Amp RMS, code: 09ECO2D0410y
Model 6 Amp RMS, Peak 15 Amp RMS, code: 09ECO2D0615y
Some drive models provide the option of choosing a larger heatsink to suit certain applications. When the
last letter of the code is “P” (y=P) it means there is a small heatsink, whilst “G” (y=G) stands for
large heatsink.

ECO4D models (400 V ac)

STANDARD MODEL: code “09ECO4D xxxx y” (with encoder)

Model 4 Amp RMS, Peak 10 Amp RMS, code: 09ECO4D0410
Model 5 Amp RMS, Peak 12 Amp RMS, code: 09ECO4D0615
Model 10Amp RMS, Peak 20 Amp RMS, code: 09ECO4D01020
Model 20 Amp RMS, Peak 40 Amp RMS, code: 09ECO4D2040
Model 25 Amp RMS, Peak 50 Amp RMS, code: 09ECO4D2550
Model 30 Amp RMS, Peak 90 Amp RMS, code: 09ECO4D3090

Motor feedback = RESOLVER Motor feedback = ENCODER

Programmable resolution Fixed: depends on encoder utilised.
See description of parameter c5.
Table 4.1 Models listed according to output current

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ECO2D/ECO4D - Chapter 4: Models and options

The functions described in table 4.2 are common to all models and characteristic of a Drive that uses an
analogue input as the setpoint reference. The analogue setpoint is used as a speed or torque reference.

BASIC functions common to all ECO2D/ECO4D models

Keypad and Display Included
The keypad can be used to modify individual drive
parameters; the display indicates drive status and any
alarm messages, see chapter “Diagnostics”.
Speed/Torque Reference With ± 10V external analogue signal and C9 =0
The external analogue reference signals REF and REF\
can be used for drive speed or torque control depending
on setting of parameter c3.
The analogue signal EXTREF makes it possible to limit
the amount of torque delivered to the motor.
Simulated Encoder Output Fitted

Serial Port RS 422 Mode

Drive and PC can communicate using serial interface and
special Drive Watcher software package; it is also
possible to set drive parameters and monitor control
variables.
CAN Port S-CAN
CANopen DS402
Table 4.2 Basic Functions common to all models

14
ECO2D/ECO4D - Chapter 4: Models and options

POSITIONING system specifications

In some operating modes, the ECO2D/ECO4D drive has its own “point-to-point” or “interpolated”
positioning system used for several mechatronic functions and the field networks. Hereafter we just deal
with the point-to-point mode common to all field networks and most of the mechatronic functions
implemented. Interpolated mode is only implemented in S-CAN and CANopen networks and electronic
CAM. Please refer to the relevant documentation for details of this particular operation.

The figure to the left summarises its

Positioner Mode potential.
Trapezoidal Profile For further details, please see the
documentation for the specific
mechatronic functions or field
networks.
Positioner Mode The positioning system has three types
“S” profile of profile with common characteristics.
It uses the same feedback as the
controlled motor (resolver or encoder)
or an external encoder.
Positioner Mode
SIN profile
The position loop regulates the
position every ms, thus allowing
optimum position trajectory tracking.
Velocity mode

Figure 4.1 Positioning system

In point-to-point mode the positioner moves from the current to target position. To achieve this you have
to send the target position to the positioner (target_position register) and supply a START signal,
following which the system will move to the target position whilst respecting the chosen parameter
settings (acceleration, deceleration, max. speed, jerk, etc.). The positioner can operate with an Absolute or
Incremental position setpoint. It is possible to choose the acquisition mode of the new position at the end
of the movement or with the “ON-THE-FLY” method, i.e. sending and performing the movement whilst
the previous one is still underway.

A function can be enabled that captures the current position following an external event with a high-speed
response time (50 µs) through the “Position Latch” signal.

In S-NET, MODBUS RTU or S-CAN mode, the movement can be started either via the specific field
network or a START input (pin 1 of CN2 terminal block).
The end of the movement is indicated by an EOJ signal. The software kernel handling the movement
reacts to various acceleration modes whilst it is taking place. These modes are called “profiles”. The
following profiles are implemented in the ECO2D/ECO4D drive: trapezoidal, “S” and “SIN”.
Parameters common to the various profiles are position setpoint, maximum speed, acceleration and
deceleration.
The “S” profile mode also utilises one Jerk parameter for acceleration and another for deceleration. In the
“SIN” profile there is just a single jerk parameter for both acceleration and deceleration.

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ECO2D/ECO4D - Chapter 4: Models and options

The three profiles comply with the following laws:

TRAPEZOIDAL profile

Acceleration jerk “S” RAMP profile

Deceleration jerk

NOTE : “S” RAMP

It is possible to have different settings for
acceleration and deceleration jerk.
“SIN” profile

Figure 4.2 Profile characteristics.

“Speed control” mode is completely different from the above-mentioned position profiles since the
position loop is totally disabled.
Through the field bus it is possible to supply a high-resolution digital speed setpoint that will clearly not
be affected by offset or electromagnetic interference.
The speed setpoint can be reached by using acceleration/deceleration ramps. With the S-NET network
(based on RS485), once the speed setpoint is achieved, an OUTEOJ (Out End Of JOB) signal is supplied.
With the other networks featuring high-speed communications, such information is available from the
network itself. Once the speed drops to a certain value (a parameter setting) for a time “t” (also settable),
speed is considered zero.

4.1 HARDWARE options

The hardware options comprise optional boards that are factory slotted inside the DRIVE so they need to
be ordered at the same time. These boards are used for specific application requirements such as motors
with resolver, CANopen network, etc. and go hand-in-hand with the software options that we will be
discussing hereafter. Details follow of the simplest or most popular hardware options. Additional boards
are available that handle complex functions and are described in the manual “COMPLEX BOARD for
ECO2D-ECO4D”.

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ECO2D/ECO4D - Chapter 4: Models and options

Resolver to Encoder board

Used in applications with motors implementing resolver feedback and axis controllers that use the
encoder input as the motor and therefore call for the drive to perform encoder simulation with sine-
cosine/excitation ratio automatically adjustable between 0.5 and 0.3.

RESOLVER OPTION simulated ENCODER Code 09FRRTE

Functions Description
Motor feedback RESOLVER
Resolutions available Brushless Motors with resolver with 3 pole pairs (6 poles)
1024/512/256/128 pulses/electric revolution
multiply (×3), in order to calculate pulses/mechanical
revolution.
Vector Motors with resolver with 2 pole pairs (4 poles)
1024/512/256/128 pulses/electric revolution
multiply (×2), in order to calculate pulses/mechanical
revolution.
Brushless Motors with resolver with 1 pole pair (2 poles)
1024/512/256/128 pulses/electric revolution
multiply (×1), in order to calculate pulses/mechanical
revolution.
Fixed, factory-set jumpers
0.5/0.3 ratio selection
Select using Dip Switches
Pulses/electric revolution selection

Table 4.3

Series N Resolver to encoder board

Used like the previous board but more flexible because it has digitally-selectable pulse resolution and
sine-cosine/excitation ratio automatically adjustable between 0.5 and 0.3.

RESOLVER OPTION simulated ENCODER Code 09FRRTEN

Functions Description
Motor feedback RESOLVER
Resolutions available Brushless Motors with resolver with 3 pole pairs (6 poles)
1024/512/256/128 pulses/electric revolution
multiply (×3), in order to calculate pulses/mechanical
revolution.
Vector Motors with resolver with 2 pole pairs (4 poles)
1024/512/256/128 pulses/electric revolution
multiply (×2), in order to calculate pulses/mechanical
revolution.
Brushless Motors with resolver with 1 pole pair (2 poles)
1024/512/256/128 pulses/electric revolution
multiply (×1), in order to calculate pulses/mechanical
revolution.
Automatic selection
0.5/0.3 ratio selection
Select using local keypad or PC
Pulses/electric revolution selection

Table 4.4

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ECO2D/ECO4D - Chapter 4: Models and options

Resolver board

Used in applications with motors that use resolver feedback with sine-cosine/excitation ratio
automatically adjustable between 0.5 and 0.3. The simulated encoder output is not available.

RESOLVER OPTION without simulated ENCODER Code 09RESCAN2

Functions Description
Motor feedback RESOLVER
No simulated encoder, no resolution change
Resolutions available
Automatic selection
0.5/0.3 ratio selection

Table 4.5

CANopen+resolver board

Used in applications with CANopen networked drives and motors using resolver feedback with sine-
cosine/excitation ratio automatically adjustable between 0.5 and 0.3. The simulated encoder output is not
available.

CANopen OPTION code 09RESCAN3

Functions Description
Motor feedback RESOLVER
8192 per mechanical revolution as a ratio of the user unit
Resolutions available
programmed in the objects provided by the DS402
Automatic selection
0.5/0.3 ratio selection

Table 4.6

CANopen board

Used in applications with CANopen networked drives and motors with encoder feedback.

CANopen OPTION code 09RESCAN1

Functions Description
Motor feedback ENCODER
Depends on the type of encoder fitted as a ratio of the user unit
Resolutions available
programmed in the objects provided by the DS402
Automatic selection
0.5/0.3 ratio selection

Table 4.7

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ECO2D/ECO4D - Chapter 4: Models and options

4.2 SOFTWARE options and their Hardware configurations

The ECO2D/ECO4D drive’s standard configuration includes the functions previously illustrated in table
4.2 “FUNCTIONS COMMON TO ALL MODELS”. However, the drive supports many more
configurations with highly scalable functions and performance.

“Pulse positioning” OPTION Code: 09PSSI

In any event, the “Pulse Positioning” option maintains the possibility of standard operation from an
analogue input.
The figure below shows how to choose the various operating modes.

Speed/torque
analogue reference
c9 = 0
*
MODE = 24Vdc

c9 = 1 * Pulse positioner
MODE = 0
*) NOTE
MODE input is pin 4
of CN2 connector.

Figure 4.3 Selecting operating mode for ECO2D/ECO4D with Pulse Positioner option.

Operating modes

Complete Movement
The sum of all pulses
Mechanical step

Figure 4.4 Pulse Positioning operating mode

This option allows the drive to be used as a positioner. Each pulse corresponds to a specified angular
displacement of the drive shaft.

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ECO2D/ECO4D - Chapter 4: Models and options

Parameters “P1” (most significant part) and “P2” (least significant part) define the number of pulses
required to make the drive shaft complete a single revolution.
For example, if P1 equals 10 and P2 equals 24, it means that 1024 pulses are required to make the drive
shaft complete a single revolution.

The direction of rotation is specified by the DIR input and “c2” parameter.

Maximum pulse frequency is 100 kHz.

It is possible to set directly on the drive the acceleration/deceleration ramps and maximum speed required
during movement (PL menu).

Furthermore, the drive section parameters (dr, Ed, FU, cn menu) and those of the position loop section
(IP menu) can be used to optimise movement.

Once the movement has ended, a “positioning complete” signal is sent (OUTEOJ).

In order to enable the pulse positioner option it is essential that parameter setting c9 = 1.

“Field network (MODBUS RTU, S-CAN, S-CAN & PROFIBUS, S-NET) and stand alone
positioner (SAP) + analogue operation OPTION Code: 09NETSAP

This configuration includes all the above-mentioned field networks and their associated functions plus
the stand alone positioner (SAP).
You must set parameter c9 to the following values in order to enable individual functions:
Modbus RTU c9 = 3
Snet c9 = 3 (the drive automatically recognises the S-NET or Modbus RTU protocol)
S-CAN c9 = 4
SAP c9 = 7
Analogue operation c9 = 0
Table 4.8

Field networks

Fieldbus networks allow you to manage drive functions by exchanging information using serial
transmission. The field network offers greater flexibility and fewer connections. The flexibility is provided
by the possibility of modifying parameters, sending a speed or position setpoint or adding specific
mechatronic functions. The reduction in the amount of wiring required is obtained by connecting several
drives to the same serial line. The difference between one field network and another regards the
communication speed, number of functions that can be handled and the reference standard.

When using a field network, depending on the length of the drive cables and the number
or drives installed, you will need to decide whether the field network requires
optoisolating, if necessary ordering the 09NETISOL isolation option. See Selema
publication “Isolated field buses with ECO2D/ECO4D” and request the correct setup.

20
ECO2D/ECO4D - Chapter 4: Models and options

MODBUS RTU & S-NET

These low-cost networks are flexible but not fast, making them suitable for changing parameters, changing
positioning registers and running integrated mechatronic functions.
Modbus RTU has a “physical layer” in accordance with standard EIA RS485 and a proprietary
“application layer” whose widespread popularity has led to it becoming a de facto standard.
Please see the SELEMA publication “Modbus RTU communication protocol” for details regarding the use
of Modbus RTU.
S-NET is based on a “physical layer” in accordance with standard EIA RS422 or EIA RS485 and a
Selema proprietary “application layer” with some specifications slightly different to Modbus RTU.
Please see the documentation “S-NET, S-CAN & Control Register” for details regarding the use of S-
NET.
You must set parameter c9 = 3 in order to enable MODBUS RTU and S-NET modes.

Enable and Drive control

Alarm Reading/ Alarm Reset

Homing Mode

to MODBUS RTU Parameter Reading/

& Parameter writing
To S-NET
Positioning System

SAP
Register

Figure 4.5 Description of functions that can be handled by Modbus RTU and S-NET

If using external encoder feedback, give an appropriate setting to parameter I6

21
ECO2D/ECO4D - Chapter 4: Models and options

S-CAN
This low-cost field network is both flexible and fast, so in addition to the above-mentioned functions for
Modbus RTU and S-NET, it can also be used for interpolation.
S-CAN is based on a “physical layer” and a “data link layer” in accordance with the CAN standard (ISO
11898) and a proprietary “application layer” that is both effective and user friendly.
Please see the SELEMA publication “S-NET, S-CAN & Control Register” for details regarding the use of
S-CAN.

Figure 4.6 Description of functions that can be handled by S-CAN

You must set parameter c9 = 4 in order to enable S-CAN mode.

S-CAN & PROFIBUS

The ECO2D/ECO4D drive can be connected to the Profibus field network using an external device that
translates between PROFIBUS-DP and S-CAN protocols. This device is in fact a Gateway and should be
placed between a master PROFIBUS-DP and the drive programmed using S-CAN (parameter c9 = 4). The
Selema gateway can handle up to 4 drives at once. The code for this device is 09GTWPROFI. It should be
remembered that PROFIBUS-DP is a fieldbus with I/O device profile and therefore the drive is seen as a
set of read/write words mapped inside the PLC I/O vector. Please see the SELEMA publications
“GTWPROFI - hardware manual” and “GTWPROFI - software manual” regarding the use of PROFIBUS-
DP on the drive side.

22
ECO2D/ECO4D - Chapter 4: Models and options

SAP (Stand Alone Positioner) Mode

SAP allows you to have 10 positions within the Drive, select them using the inputs and start the movement
associated with the register selected. Positioning can be absolute or incremental. Registers can be set by
using either the “Drive Watcher” or “SAP configurator” PC software. As you might expect, registers can
also be set by S-NET, MODBUS or S-CAN field networks. The position can be acquired directly by the
motor transducer (encoder or resolver) or an external encoder. There are HOMING and JOG manual
movement modes. Please see the SELEMA publication “SAP Stand Alone Positioner” for details on how
to use SAP.

Register
Position 1

Digital
I/O

Register
Position 10

Figure 4.7 SAP functional diagram

Electronic Gearbox + Electronic CAM + Field Network (MODBUS RTU, CAN, S-NET) + Stand
Alone Positioner (SAP) + Pulse Positioner (PSSI) + analogue operation OPTIONS Code:
09AENETSAP

This configuration includes all the above-mentioned field networks and their associated functions plus
the stand alone positioner (SAP), electronic gearbox and electronic CAM.
You must set parameter c9 to the following values in order to enable individual functions:
Analogue input c9 = 0
PSSI c9 = 1
Electronic gearbox c9 = 2
Modbus RTU c9 = 3
S-NET c9 = 3 (the drive automatically recognises the S-NET or Modbus RTU protocol)
S-CAN c9 = 4
CANopen c9 = 5
Electronic cam c9 = 6
SAP c9 = 7
Table 4.9

The following configuration is the most comprehensive and associates the mechatronic functions of
“electronic gearbox” and “electronic CAM” to the above-mentioned options.

23
ECO2D/ECO4D - Chapter 4: Models and options

Electronic gearbox mechatronic function

This function allows the movement of the motor controlled by ECO2D/ECO4D to be constrained to the
movement of a master motor with the possibility of choosing a certain ratio between the two movements.
Menu “AP” (from A1 to A6) specifies the electronic gearbox parameters (see chapter 6).
The dynamic parameters of gain, following error, feed, etc. can be set using the “IP” menu.
In order to select the electronic gearbox option, parameter “c9” should be set to 2 (c9 = 2).
The electronic gearbox option also offers the Homing function (axis zero).
The electronic gearbox is enabled when “START” signal is on (+24 V dc). The “START” signal is found
on pin 1 of the CN2 terminal block.
When switching on the drive, in the absence of the START signal, activating the TEN and IEN signals
enables the axis and holds it in position. In this case it is possible to enable the “axis zero” procedure
(Homing) by activating the “HOMING” signal (pin 5 of the CN2 terminal block).
The modes in which axis zero is performed can be programmed in the “Ho” menu (see chapter 6).
Subsequently moving the “START” signal to +24 V dc will enable the electronic gearbox. The electronic
gearbox is enabled or disabled according to whether the START signal is on or off.

“Electronic gearbox” operating mode

Master

Slave

Figure 4.8 Example of Master/Slave operating modes with 1/2 ratio.

This function features one important difference compared to a classic electronic gearbox: You can
switch between the “electronic gearbox” function and “analogue” mode using the MODE input (pin 4 of
CN2). With the MODE input disabled the electronic gearbox function is enabled.

Electronic CAM mechatronic function

Following drive configuration, the electronic cam provides a slave axis whose position is linked to that of
the master axis on the basis of a user-defined function: the axis is therefore controlled in an extremely
simple way using just a few I/O lines.
The table stating the slave/master position ratio is stored during configuration by way of a small number
of point pairs: the position that the slave axis must reach for certain master axis positions is specified.
Linear interpolation is used for the remaining positions as shown in figure 4.9.
Slave axis position

Master axis position

Figure 4.9

24
ECO2D/ECO4D - Chapter 4: Models and options

The master position is acquired through the “master encoder” input (CN3 connector). Drive configuration
is carried out over the RS 485 communication port using the S-Net communication protocol. Having
completed configuration, the communication line can be removed. A PC application (CAM Builder)
provides user-friendly axis configuration using a wizard. In addition to the table, you can set the drive’s
main registers and parameters. After these settings have been made, the axis is ready for use. To make
things convenient for the user, the I/O lines can also be used to manage jog and homing. Several registers
are associated with each operating mode in which the parameters for carrying out the required operations
are specified.
For full details, please see the SELEMA publication “Electronic CAM”. Electronic cam mode is enabled
using the drive keypad by setting parameter c9 to 6.

Figure 4.10 Complete functional diagram of 09AENETSAP option

The 09AENETSAP configuration already features the field bus isolation option. Please see
Selema publication “Isolated field buses with ECO2D/ECO4D” for a suitable wiring arrangement.

25
ECO2D/ECO4D - Chapter 4: Models and options

“CANopen” OPTION code: 09NETSAP

or 09AENETSAP

In order to implement CANopen you need to choose one of the two above-mentioned configurations and
request the hardware option 09RESCAN1 for motors with encoder or 09RESCAN3 for motors with
resolver

The CANopen option is the same as S-CAN but offers the advantage of implementing a standard protocol
in all its layers of the ISO/OSI model and in addition to the above-mentioned functions it also implements
the modes provided by the DS 402 Device Profile.
The CANopen network mode is enabled by setting c9 = 5. This option also keeps available all for the
chosen configuration (09NETSAP or 09AENETSAP) into which the CANopen board has been plugged.
The main features are as follows:

NMT: Slave.
Error Control: Node Guarding.
Node Id: Parameter in drive EEPROM.
Bit rate: Parameter in drive EEPROM.
Number of PDOs: 4 reception (RPDO), 4 transmission (TPDO).
PDO Modes: Synchronous (cyclic, acyclic); Asynchronous;
Remotely requested (sync or async).
PDO Linking: Yes.
PDO Mapping: Variable, max 8 entries per PDO.
Numbers of SDOs: 1 Server, 0 Client.
Emergency message: Yes.
CANopen version: DS-301 V4.01.
Device profile: DSP-402 V1.1.
Certification: In progress.
Operational modes: Profile position mode; Homing mode;
Interpolated position mode (linear interpolation);
Profile velocity mode.

For further details please refer to CiA (CAN in Automation) manuals DS-301 V4.01 and DSP-402 V1.1
and Selema “CANopen Additional Information” manual.

26
ECO2D/ECO4D - Chapter 4: Models and options

“VENTILATION SET” OPTION Code: 09VF1ECO

Models ECO2D0410 and ECO2D0615 are both very small in size. For more exacting tasks or where there
is very little space inside the switchboard, it may be necessary utilise the Ventilation Set option.
The Ventilation Set option must be requested when placing the order as subsequent fitting is not possible.
Please see paragraph 5.3, table 5.1 for mechanical and installation specifications.

CONTROLLABLE MOTORS

Being fully digital, the ECO2D/ECO4D drive utilises internal algorithms that predefine the exact set of
parameters with which the motor is controlled in order to optimise motor performance without having to
set a large number of parameters. This feature greatly facilitates Drive installation, notably reducing the
time required to tune axis dynamics.
It is therefore indispensable that it be coupled only with the motor for which it was designed. Every
model has been given a set of parameters for use with various motors that are all rated to suit its driving
capabilities, therefore the recommendations of the motor table should be followed to the letter.
The motor to be used is selectable through the “d8” parameter of the configuration file or via local
keypad.

NOTE: MOTOR TABLE

 Please see annex B for complete motor table.

27
ECO2D/ECO4D - Chapter 5 Mechanical installation- Dimensions

5.1 MECHANICAL INSTALLATION & DIMENSIONS

Check that the packaging is fully intact in its original box and the Drive, its connector Kit and
the brake resistor (if included) have suffered no visible damage during shipment. If this is not the case,
DO NOT under any circumstances connect the Drive or use the other components.

The ECO2D/ECO4D drive is designed for use in fixed installations and on non-mobile surfaces.
Suitable measures should be taken if needing to be mounted on surfaces with strong vibrations, e.g.
antivibration mountings

The ECO2/ECO4D drive is designed to allow fitting of a switchboard to the anchor plate using
the fixing holes provided on the external enclosure.

Mechanical dimensions are shown in figure 5.1 and tables 5.1.1 or 5.1.2 or 5.1.3.
To allow for sufficient ventilation it is necessary that it be positioned vertically in order to facilitate
natural air circulation through the heat sink vents.
Should lack of space make horizontal fitting necessary (horizontal fixing panel), it will require some form
of forced ventilation or a performance downgrade
ELECTRICAL SAFETY
In order to avoid malfunction of the drive, the installation must comply with the following guidelines
when fixing to the inside of the switchboard:

1. Install in a clean environment, free from dust and corrosive agents and with limited humidity.

2. Do not install near sources of heat such as transformers, etc. ..., and in any case do not place over such
sources so as to avoid overheating.

3. Ensure that the ventilation holes on the top and bottom of the drive are completely free from
obstruction.

4. Maintain a gap of at least 20 mm from the surrounding components.

5. Install on a supporting base consisting of a single metal plate.

28
ECO2D/ECO4D - Chapter 5 Mechanical installation- Dimensions
L3 P
L2
L2 L4 L4

H3 H3
H2 ( 4,5 ) ( 4,5 )
H1

L1 L1

Figure 5.1 ECO2D/ECO4D mechanical dimensions.

ECO2D MECHANICAL DIMENSIONS

Peso
Modello Drive L1 L2 L3 L4 H1 H2 H3 P K g.
09ECO2D0410P 37,5 62 68 -- - 186 168 179 150 1,3
09ECO2D0410G 37,5 62 82 -- - 186 168 179 150 1,5
09ECO2D0615 37,5 62 82 -- - 186 168 179 150 1,5
Table 5.1

ECO4D MECHANICAL DIMENSIONS

Peso
Modello Drive L1 L2 L3 L4 H1 H2 H3 P Kg.

09ECO4D0410 42,5 67 87 --- 227 210 220 190 2,2

09ECO4D0512 42,5 67 87 --- 227 210 220 190 2,5
09ECO4D1020 70 104 --- 52 270 242 260 224 4,2
09ECO4D2040 70 130 --- 65 345 315 335 224 7,5
09ECO4D2550 105 140 --- 70 390 360 380 250 8,5
09ECO4D3090 105 140 --- 70 390 360 380 250 9,7

Table 5.2

ECO2D mechanical dimensions with external ventilation

Under certain operating conditions it may be necessary to ventilate the drive. Subject to customer request
when placing order, the ECO2D drive can be supplied complete with ventilation set. The fan is secured to
the underside of the drive. The ventilation set requires +24Vdc power supply that is obtainable from the
drive's CN1 connector.

Peso
Modello Drive L1 L2 L3 L4 H1 H2 H3 P K g.
09ECO2D0410G/V 37,5 62 82 31 216 168 208 150 1,6
Table 5.3

29
ECO2D/ECO4D - Chapter 6: Electrical installation - Electrical connections

5.2 BRAKING RESISTOR

All ECO2D/ECO4D drive models are supplied with a braking resistor that in models ECO2xx, ECO4410
and ECO4512 is connected to the M2 terminal block. Models ECO41020 & ECO42040 have an internal
resistance connected with the option of connecting an external resistor to the M3 terminal block. In
models ECO42040, ECO42550 and ECO43090, the resistors are external and should be connected to the
M3 terminal block.
The braking resistors supplied with each drive clearly vary according to model and have the following
specifications: ECO2D 68Ω 100W, ECO4D410 150Ω, 100W ECO4D1020 150Ω 150W.
The braking resistor has the function of dissipating excess energy generated by the motor during braking.
There may be applications with particularly demanding cycles that when faced with a strong inertial load
do not allow the supplied resistor to dissipate all the energy necessary. When this occurs you will need to
connect a suitably-rated external resistor to the M3 terminal block. The amount of energy to be dissipated
by the external resistor during braking can be calculated using the following formula. The power value
obtained allows you to choose a suitably-rated resistor. For more details please see the Selema publication
“BRAKE RESISTORS & BRAKE MODULE”.

The braking resistor can reach very high temperatures depending on load inertia and the machine
cycle. It is therefore essential that the braking resistor be isolated in a section of the switchboard where it
does not represent a hazard for nearby equipment or the wiring itself. In some cases where high load
inertia is combined with an extremely short machine cycle, mechanical separation is essential with a
thermal resistor connected to an alarm.

P= (0,5 × J t × ω2 × f) – P1
where:
P = dissipated power [in watts],
Jt = total inertia [in kg m2],
ω = max. angular velocity [in radian/sec],
f = work cycle repetition rate [in number of cycles per second].
P1 = power needed to overcome friction.

30
ECO2D/ECO4D - Chapter 6: Electrical installation - Electrical connections

6 ELECTRICAL INSTALLATION

Being digitally controlled, it is vital that the ECO2D/ECO4D drive be connected to the motor for which it
was designed and therefore this operation should be rigorously supervised. To this end, you should ensure
correct setting of parameter d8 motor table.
If connection to an unsuitable model takes place, problems are likely to occur such as instability,
overheating and performance loss.

WARNING
 Do not open the drive enclosure without prior authorisation from Selema; in any
event, always wait three minutes after switching off before attempting to access
product.

6.1 ELECTRICAL CONNECTIONS

The ECO2D/ECO4D drive has terminal blocks and connectors situated on the front panel and top of the
enclosure. These connections are illustrated in the figure below. It should be noted that the M1 terminal
block on the ECO2D incorporates both power supply and motor, whilst on the ECO4D there are two
separate terminal blocks.

CN3: CN4 :
Encoder Master Motor Feedback
Electronic Cam Encoder/Resolver
Gearbox, Etc……

CN5:
CN2: Encoder Out
Input Output or
Simulated Encoder

CN1:
Digital Drive Command
Analog Reference
Input Pulse
CN6:
Serial Interface
Modbus
CANopen
M1 on ECO2D S-Can
LINE 230 Vac & S- Net
Motor Phases

M1 on ECO4D
LINE 400 Vac M2: on ECO4D
Motor Phases

Figure 6.1 ECO2D/ECO4D drive connections (NB The photo shows an ECO4D. The ECO2D drive has
a single terminal block for LINE and Motor Phase signals).

31
ECO2D/ECO4D - Chapter 6.2 Electrical installation - Wiring diagrams

6.2 WIRING DIAGRAMS

This paragraph provides all information necessary for making the ECO2D/ECO4D drive electrical
connections; in particular, the tables give details of all terminal blocks and connectors fitted to the drive,
whilst the respective connections are illustrated in the diagrams.
M1 terminal block for ECO2Dxxxx
Power supply and motor connections
Connector type 7-way plug-in terminal block.
Pin No. Signal Details of signal
1 L1 Phase L1, drive power supply.
2 L2 Phase L2, drive power supply.
3 L3 Phase L3, drive power supply.
4 SH Motor earth reference.
5 U Motor phase. Please refer to the table for correct connection on the motor
6 V Motor phase. side
7 W Motor phase.
Table 6.2.1 Description of M1 terminal block signals on ECO2Dxxxx (230 V ac)
MAINS SWITCHBOARD MACHINE WIRING
4 Metal Panel Machine Frame
L1
L2 To other
L3 equipment
NB
The connection inside
the switchboard with
Earth bar
the earth symbol
( )indicates a
direct connection to
Transformer the metal panel at the
Metal panel earth back of the
connection switchboard.
Fuses

PE L1 L2 L3
LINE NB
ECO2D LINE Filter
Please see 6.3 for
Earth CNW207 xx
LOAD information regarding
PE’ L1’ L2’ L3’
M1 the transformer.

SH Screened Motor Cable U

U
V
V MOTOR
W
W

M2
NB
External
1
braking
Metal Back Panel Please see paragraphs
(Earth)
2
resistor 6.4 and 6.5 for
The screen should be earthed using a metal
cable clamp (360° connection); remove information regarding
Max 10 cm
paint from the panel in the area where the
clamp will rest. This should be effected as
cables, earthing, and
Cable screen close as possible to the ends of the cable. EMC components.
WARNING Should it not be possible to connect the
Cable sheath cable clamp close to the drive, the braid
Earthing instructions should be followed to the
wire may be led to the earth terminal.
letter, otherwise system noise immunity could
be compromised.

Figure 6.2.1 Power signal wiring diagram

32
ECO2D/ECO4D - Chapter 6.2 Electrical installation - Wiring diagrams

M2 terminal block for ECO2Dxxxx: Braking resistor

Connector type 2-way terminal block on drive underside.
Table 6.2.2 Description of M1 terminal block signals on ECO2Dxxxx (230 V ac)

M1 terminal block for ECO4Dxxxx

M1 terminal block: Power supply connections
Connector type 3-way plug-in terminal block.
Pin No. Signal Details of signal
1 L1 Phase L1, drive power supply.
2 L2 Phase L2, drive power supply.
3 L3 Phase L3, drive power supply.
Table 6.2.3 Description of M1 terminal block signals on ECO4Dxxxx (400 V ac)

SWITCHBOARD MACHINE WIRING

MAINS
4 Metal Panel Machine Frame
L1
L2 To other
L3 equipment
NB
The connection inside
the switchboard with
Earth bar
the earth symbol
( )indicates a
direct connection to
Fuses
the metal panel at the
Metal panel earth
connection back of the
switchboard.

PE L1 L2 L3
LINE

ECO 400 LINE Filter

Earth
CNW207 xx NB
LOAD
PE’ L1’ L2’ L3’
Please see 6.3 for
M1 information regarding
L1 the transformer.
L2
L3
M2
W Screened Motor Cable U
V
U V MOTOR
SH
W

M3 NB
External Metal Back Panel
1 braking (Earth)
Please see paragraphs
2 resistor 6.4 and 6.5 for
The screen should be earthed using a metal
cable clamp (360° connection); remove information regarding
paint from the panel in the area where the cables, earthing, and
Max 10 cm clamp will rest. This should be effected as
Cable screen close as possible to the ends of the cable. EMC components.
WARNING Should it not be possible to connect the
Earthing instructions should be followed to the Cable sheath cable clamp close to the drive, the braid
letter, otherwise system noise immunity could wire may be led to the earth terminal.
be compromised.

Figure 6.2.2 ECO4D power signal wiring diagram

33
ECO2D/ECO4D - Chapter 6.2 Electrical installation - Wiring diagrams

M3 terminal block for ECO4D: Braking resistor

2-way terminal block on left underside of ECO4D0410, ECO4D0512 drive.
2-way plug-in terminal block on front panel of ECO4D1020, ECO4D2040, ECO4D2550 drive.
Table 6.2.4 Description of M3 terminal block signals on ECO4Dxxxx

M2 terminal block for ECO4D: MOTOR PHASES

Connector type 4-way plug-in terminal block.
Pin No. Signal Details of signal
1 W Motor W phase.
2 V Motor V phase.
3 U Motor U phase.
4 SH Motor earth reference.
Table 6.2.5 Description of M2 terminal block signals on ECO4Dxxxx

Motor side terminal block/connector connections

Motor terminal block connections have different names according to the type of motor used. Table 6.6.6
gives the different names and associates the Drive signal name with the motor terminal.

MOTOR PHASE connections

ECO2D/ECO4D MOTOR type
M2 terminal block ST SC SC DSM with DSM with smsT &
Resolver Encoder smsN
Pin Signal Connector/ 4-way MIL 4-way plug 4-way MIL 4-way MIL
No. terminal block connector connector connector connector Terminal
T. Block Conn. block

1 W 3 C B 3 C B W
2 V 2 B C 2 B C V
3 U 1 A A 1 A A U
4 SH 6 D D 4 D D EARTH
Table 6.2.6 Description of ST, DSM, SC, smsT, smsN motor terminal block signals

 WARNING: When connecting to motors not listed in table 5.5 (e.g. Torque Motors,
Linear Motors, etc.) please refer to the Selema publication:

MOTOR and FEEDBACK connections.

34
ECO2D/ECO4D - Chapter 6.2 Electrical installation - Wiring diagrams

CN1 terminal block

main control signals and analogue inputs
Connector type 12-way plug-in terminal block.
Pin No. Signal Details of signal
1 +V24 +24 V dc power supply.
2 0V24 +24V dc 0 V reference and 0 V reference for TEN, IEN isolated inputs.
3 OK DRIVE OK (100mAmax).
Relay output indicating drive status.
− +24 V dc closed contact under normal operating conditions.
− Open contact when in state of alarm.
4 TEN TORQUE ENABLE, torque enable signal.
Isolated digital input, active at +24 V dc.
Active signal enables drive to supply torque to motor.
In the absence of this signal the motor immediately frees itself.
5 IEN INPUT ENABLE, speed setpoint enable signal.
Isolated digital input, active at +24 V dc.
With signal on the drive enables reading of speed/torque setpoint.
In the absence of the signal, reading of setpoint is disabled and it is assigned the
value 0 V. With motor running, absence of IEN signal causes the motor to come
to a halt in accordance with the emergency ramp set; after the ramp has been
completed, the motor remains in locked rotor condition.
6 REF ±10V speed/torque external analogue reference signal
Non-inverting input.
7 REF/ ±10V speed/torque external analogue reference signal
Inverting input.
8 0V Earth reference for REF\, REF and EXTREF signals.
9 EXTREF EXTERNAL TORQUE REFERENCE.
Analogue input (0-10 V) limiting peak torque deliverable to the motor: Input at
0V  zero torque
Input disconnected or +10 V  stall torque
10 PULSE Only available with “Pulse Positioning” option.
Optoisolated input active at +24V, impedance 2K2 Ω.
Pulse input, every time this signal is activated, the positioner advances a certain
distance corresponding to that programmed in parameters P1 and P2 of PL
menu.
11 DIR Only available with “Pulse Positioning” option.
Optoisolated input active at +24V, impedance 2K2 Ω.
Direction of rotation input; the direction of rotation during positioning is defined
by the state of this signal.
DIR input at 0V  Clockwise direction (side with drive shaft
visible).
DIR input at +24Vdc  Anticlockwise direction (side with drive shaft
visible).
12 CONCLR Only available with “Pulse Positioning” option.
Optoisolated input active at +24V, impedance 10K Ω.
Control Clear signal, resets internal counter containing number of pulses
acquired.
Table 6.2.7 CN1 signal details.

35
ECO2D/ECO4D - Chapter 6.2 Electrical installation - Wiring diagrams

SWITCHBOARD

POWER SUPPLY
0V24 Metal Panel NOTA
Earth bar
If not utilised, the
+24V +24V
EXTREF torque limiting
Metal panel earth signal must remain
connection
ECO2D/4D completely disconnected.
CN1
+24V CNC
+24V
0V24 or Please see paragraphs
0V24
OK
OK
PLC 6.4 and 6.5 for information
TEN regarding cables and EMC
TEN
IEN
IEN
REF components.
REF
REF/
REF/
0V
EXTREF
PULSE
DIR
CONCLR

Figure 6.2.3 CN1 enable and control signal wiring diagram in standard version without options

SWITCHBOARD
Metal Panel NOTA
0V24
POWER SUPPLY Earth bar
 If not utilised, the
+24V +24V
EXTREF torque
Metal panel earth limiting signal must
ECO2D/4D connection remain completely
CN1 disconnected.
+24V
+24V
0V24
0V24 CNC  Please see paragraphs
OK OK
TEN or 6.4 and 6.5 for
TEN
IEN
IEN
PLC information regarding
REF cables and EMC
REF/ components.
0V
EXTREF
PULSE
PULSE
DIR DIR
CONCLR
CONCLR

CN2
OUTEOJ
12
13
14
15
16

Figure 6.2.4 CN1 enable and control signal wiring diagram in version with pulse positioner

Inputs PULSE, DIR and CONCLR accept PNP or PUSH-PULL 12-24 V dc inputs.

36
ECO2D/ECO4D - Chapter 6.2 Electrical installation - Wiring diagrams

SWITCHBOARD
Metal Panel NOTA
0V24
POWER SUPPLY Earth bar
 If not utilised, the
+24V +24V
EXTREF torque
Metal panel earth limiting signal must
ECO2D/4D connection remain completely
CN1 disconnected.
+24V
+24V
0V24
0V24 CNC  Please see paragraphs
OK OK
TEN or 6.4 and 6.5 for
TEN
IEN
IEN
PLC information regarding
REF
REF
REF\
cables and EMC
REF/
components.
0V
EXTREF PULSE
PULSE
DIR
DIR
CONCLR
CONCLR

CN2
3
4 MODE
5
........
11
OUTEOJ
12
13

Figure 6.2.5 Enable and control signal wiring diagram in version with PULSE POSITIONER and
possibility of external SWITCHING between PULSE POSITIONER and ANALOGUE INPUT (REF
and REF/) operation.

+24 v
+24 V
ECOD 0V
POWER SUPPLY
+24V
1
2 0V
C 3
TEN
N IEN
4 OK
1 5
6 REF
7 REF/
START PLC
1
2 S1 or
3 S2 CNC
S3
6
S4
7 SPEED SELECTION
10
HOMING MODE
C 5
14 HOME SWITCH
N LS1 +24V
8
2 LS2
9
11 FEEDBACK SELECTION
13 FEEDBACK_A
16 FEEDBACK_B
15 NEAR TARGET POSITION
12 OUTEOJ

Figure 6.2.6 Enable and control signal wiring diagram in SAP configuration

37
ECO2D/ECO4D - Chapter 6.2 Electrical installation - Wiring diagrams

SWITCHBOARD
Metal Panel NB
0V24
POWER SUPPLY Earth bar
 If not utilised, the
+24V +24V
EXTREF torque
Metal panel earth limiting signal must
ECO2D/4D connection remain completely
CN1 disconnected.
+24V +24V
0V24 0V24  Please see paragraphs
OK CNC
OK 6.4 and 6.5 for
TEN TEN or
IEN IEN
PLC information regarding
REF
REF
REF\
cables and EMC
REF/ components.
0V
EXTREF

CN2
START
1
2
3
MODE
4
5 HOMING

8
LS1 Photocell or
LS2
9 proximity switch
10
Position LATCH +24V *
11
OUTEOJ
12
13
HOME SWITCH
14

Master
Encoder
CN3

PLC
3
CN6 1 4 6 CNC
2 7
5 8 PC

Figure 6.2.7 Enable and control signal wiring diagram in Electronic gearbox, CAM configuration
including homing mode and possibility of switching between electronic gearbox and analogue operation.

38
ECO2D/ECO4D - Chapter 6.2 Electrical installation - Wiring diagrams

CN2 TERMINAL BLOCK

Secondary general-use control signals for mechatronic functions
Connector type 16-way plug-in terminal block
Pin No. Signal Details of signal
1 START Available with SAP options and various mechatronic options (electronic gearbox,
CAM etc.). Its functions change according to the setting of parameter c9 that selects
the required option.
2 S1 Coding input for selecting registers in SAP mode

3 S2 Coding input for selecting registers in SAP mode

4 MODE Mode selection signal.

Only available with ELECTRONIC GEARBOX or PULSE POSITIONER OPTION
MODE = 24 Vdc, operates from analogue input (REF and REF/).
5 HOMING Enable signal for Homing procedure (Axis Zero) in electronic gearbox mode (c9 = 2).
The signal must be active throughout the procedure.
Interruption of the signal will cause the procedure to be halted.
At the end of the procedure the OUTEOJ bit is activated.
6 S3 Coding input for selecting registers in SAP mode

7 S4 Coding input for selecting registers in SAP mode

8 LS1 Negative Limit Switch.

9 LS2 Positive Limit Switch.

10 EMER N.C. - Not Connected

11 POSITION Position Latch.

LATCH / Signal used for real-time axis position capture.
The position is stored on the leading edge of the signal within a maximum time of 50
FEEDBACK µs with MODBUS/S-NET/S-CAN/CANopen options only.
SELECTION
Feedback Selection: used solely in SAP configuration
Used to switch FEEDBACK-A and FEEDBACK-B outputs to FEEDBACK-C and
FEEDBACK-D (see SAP Stand Alone Positioner documentation)
12 OUTEOJ End of job output signal, output NOT available with analogue configuration.
This signal assumes importance (active at +24V) when the positioning system has
completed the command.
13 FEEDBACK- used solely in SAP configuration. The code acquired in inputs S1, S2, S3, S4 is
A repeated in the FEEDBACK outputs (A or B). S1 or S3 is repeated on FEEDBACK-
A
14 HOME SW Home Switch, signal that identifies the zero micro. The functions it performs are
chosen according to programming mode, please see the sections “Parameters and
Messages” and “A parameters –Homing Methods”
15 Near Target Signal that becomes active when the difference between final position and current
POSITION position is inside a window specified in a register

16 FEEDBACK- As per FEEDBACK-A, but S2 or S4 is repeated

B
Table 6.2.8 CN2 signal details.

39
ECO2D/ECO4D - Chapter 6.2 Electrical installation - Wiring diagrams

CN3 connector
External encoder input available for electronic gearbox, CAM, SAP and positioner used in field
networks
Connector type 9-way, D plug
Pin Signal Details of signal
No.
1 +5ENC +5Vdc power supply for external encoder
2 N. C. Not Connected
3 INA\ Master encoder phase A\
4 INA Master encoder phase A
5 05ENC +5V dc power supply reference
6 INB Master encoder phase B
7 INB\ Master encoder phase B\
8 -- Pin Reserved
9 -- Pin Reserved
Table 6.2.9 CN3 signal details.

SWITCHBOARD

Metal Panel Master Encoder

ECO2D/4D
for
CN3 Master Encoder Cable Electronic Gearbox
1 +5ENC +5ENC
2 MASTER
INA\ INA\
3 ENCODER
4 INA INA
5 05ENC 05ENC
6 INB INB
7 INB\ INB\
8
9

WARNING
For improved protection we recommend the use of shielded
twisted pair cables.
The shielding should be connected on the control side only

Figure 6.2.8 External encoder wiring diagram.

40
ECO2D/ECO4D - Chapter 6.2 Electrical installation - Wiring diagrams

CN4 connector
Connections to be made when using standard BRUSHLESS motors with RESOLVER

CN4 Connector: Resolver signals for brushless motors

Connector type 26-way, D socket, HD 3-row
Pin No. Signal Details of signal
8 COS2 Cosine input for resolver connector COS signal
9 COS1 Cosine input for resolver connector COS\ signal
17 SEN2 Sine input for resolver connector SEN signal
18 SEN1 Sine input for resolver connector SEN\ signal
22 0VECC Excitation signal output for resolver primary winding
23 ECC 8 kHz sine wave
25 +24V +24 V dc power supply.
26 TMOT MOTOR THERMAL RESISTOR isolated input
Signal originates from PTC thermal resistor situated inside the motor.
1, 2, 3, 4, 5, 6, These pins must NOT be Connected under any circumstances
7, 10, 11, 12, N. C. It is sometimes necessary to connect pin 21 to the Resolver cable
13, 14, 15, 16, internal shield when the drive side metal clamp is positioned more
19, 20, 24 than 50 cm away from the Drive.

SWITCHBOARD MACHINE WIRING

Metal Panel Machine Frame
CN4
ECO2D1
ECO4D2 Metal panel earth
3 Metal panel earth connection
4 connection
5 SMST/N motor NB
6 RESOLVER Please see paragraphs 6.4
Screened Resolver Cable
7
COS2 COSΦ C and 6.5 for information
8
COS1 COS\Φ E regarding cables and
9
SEN2 SENΦ G
10 EMC components.
SEN1 SEN\Φ H
11
0V B
12
V-Ref D
13
S
14
15
16
17
18 +24V A
19 WARNING
20
0VECC
Motor Earthing instructions
21 PTC should be followed to the
0VECC
22 TMOT N
23
ECC letter, otherwise system
24
+24V
noise immunity could be
25
TMOT compromised.
26 Metal Back Panel
(Earth)

CN4 Signal Resolver Conn. The screen should be earthed using a

Pin No. Details 19-way 10-way metal cable clamp (360° connection);
8 COS2 → COSΦ Φ C J Max 10 cm remove paint from the panel in the area
where the clamp will rest. This should be
9 COS1 → COSΦ Φ\ E C Cable screen effected as close as possible to the ends
17 SEN2 → SENΦ Φ G G of the cable. Should it not be possible to
Cable sheath
18 SEN1 → SENΦ Φ\ H K connect the cable clamp close to the
drive, the braid wire may be led
22 0VECC → 0 V B B to pin 22.
23 ECC → V-Ref D A
25 +24V → PTC A E
26 TMOT → PTC N F
Twisted pair screen → Screen S --

Figure 6.2.9 Resolver signal wiring diagram for Brushless motors.

41
ECO2D/ECO4D - Chapter 6.2 Electrical installation - Wiring diagrams

CN4 connector
Connections to be made when using AC BRUSHLESS motors with RESOLVER and Fan

SWITCHBOARD MACHINE WIRING

CN4
Metal Panel Machine Frame NB
ECO2D1 Earth bar
Earth bar
ECO4D2
Please see 6.4 and 6.5
3
Metal panel earth Metal panel earth for information
4
connection connection regarding cables and
5
6
Vector Motor RESOLVER EMC components.
Screened Motor Cable
7
COS2 COSΦ C
8
COS1 COS\Φ E
9
SEN2 SENΦ G
10
SEN1 SEN\Φ H
11
0V B
12
V-Ref D
13
S
14
15 WARNING
16
17 Earthing instructions
TMOT N
18
Vector
should be followed to
19
20 Motor the letter, otherwise
0VECC
21
+24V
PTC system noise immunity
22
0VECC A
23
ECC
0V24
could be
24 +24V
25
+24V
0V24 M
Fan compromised.
TMOT 0V24
26

CN4 Signal Resolver Revolver Cable

Pin No. Details Connector Twisted pair type
Metal Back Panel 8 COS2 → COSΦ C Shielded twisted
(Earth) 9 COS1 → COSΦ\ E pair
Max 10 cm
The screen should be earthed using a 17 SEN2 → SENΦ G Shielded twisted
metal cable clamp (360° connection); 18 SEN1 → SENΦ\ H pair
Cable screen
remove paint from the panel in the area
Cable sheath 22 0VECC → 0V B Shielded twisted
where the clamp will rest. This should be
effected as close as possible to the ends 23 ECC → V-Ref D pair
of the cable. Should it not be possible to 24 0V24 → 0V24V
M
connect the cable clamp close to the Motor Fan Twisted pair
drive, the braid wire may be led 25 +24V → Mot PTC Therm A
to pin 22. +24V Motor Fan
Partly used
26 TMOT → Motor PTC N
twisted pair

Figure 6.2.10 Resolver signal wiring diagram for AC Brushless (Vector) or standard forced-
ventilation brushless motors

WARNING: The difference between the layout of fig. 6.2.9 and fig. 6.2.10 merely concerns
the forced-ventilation connection since all AC Brushless motors are fitted as standard with
forced ventilation
 The arrangement of fig. 6.2.10 can be used for connecting to standard forced-ventilation
Brushless motors

42
ECO2D/ECO4D - Chapter 6.2 Electrical installation - Wiring diagrams

CN4 connector
Connections to be made when using
BRUSHLESS motors with ENCODER

CN4 Connector: Encoder Signals

Connector type 26-way, D socket, HD 3-row
Pin No. Signal Details of signal
1 A Phase A Encoder.
2 A\ Phase A\ Encoder.
3 B Phase B Encoder.
4 B\ Phase B\ Encoder.
5 EU Phase EU Encoder.
6 M Marker Encoder.
11 EW Phase EW Encoder.
12 EV Phase EV Encoder.
15 M\ Marker\ Encoder.
19 +5ENC +5 V dc Power Supply, Encoder
20 05ENC +5 V dc Power Supply Reference, Encoder
25 +24V +24 V dc power supply.
MOTOR THERMAL RESISTOR isolated input
26 TMOT
Signal originates from PTC thermal resistor situated inside the motor.
7, 8, 9, 10, 13, 14,
N. C. These pins must NOT be Connected under any circumstances
16, 17, 18, 21, 23, 24
Table 6.2.10 CN4 signal details.
SWITCHBOARD MACHINE WIRING
Metal Panel Machine Frame
ECO2D/4D
CN4 Encoder Cable
A A
1
A\ A\
2
B B
3
B\ B\
4
M\ M\
5
M
ENCODER
M
6
EU EU
7 EV
EV
8 EW
EW
9 +5ENC +5ENC
10 05ENC 05ENC
11
12
13 +24V
14
M\
15
16
Motor
17 PTC
TMOT
18 +5ENC
19
05ENC
20 NB NB
21 0VECC Please see paragraphs 6.4
22 Vector motors do not
and 6.5 for information
23 utilise signals “EU”,
24 regarding cables and EMC
25
+24V “EV”, “EW”. components.
TMOT
26

Figure 6.2.11 Encoder signal wiring diagram

43
ECO2D/ECO4D - Chapter 6.2 Electrical installation - Wiring diagrams

The ECO2D/ECO4D drive can be connected to various types of motors with differing electrical
performance and mechanical dimensions. As a result, the type of connector and terminal block also varies
according to the type of motor.

Description of the Encoder connections between CN4 on the drive side and the Encoder connectors on
the MOTOR side
ECO2D/ECO4D MOTOR type
CN5 connector ST 19-way SC SC DSM with Encoder smsT & smsN
MIL 14-way 15-way plug 14-way MIL 19-way MIL
N° pin Segnale connector MIL connector connector connector
connector

1 A G E 1 E G
2 A\ H D 2 D H
3 B P F 3 F P
4 B\ N L 4 L N
6 M J H 5 H J
15 M\ K M 6 M K
20 0VENC B A 14 A B
19 +5VENC A B 13 B A
5 EU M N 7 N M
12 EV E P 9 P E
11 EW C R 11 R C
26 +24V R J -- J R
25 TMOT V K -- K V
SHIELDING
Table 6.2.11 Description of drive side encoder signal connector and motor side ST, DSM, SC
smsT, smsN connectors

 WARNING: When connecting to motors not specified in table 6.2.11 (e.g. torque
motors, linear motors) or sensors not mentioned herein, please refer to the Selema
publication:

MOTOR and FEEDBACK connections.

44
ECO2D/ECO4D - Chapter 6.2 Electrical installation - Wiring diagrams

CN5 CONNECTOR
Using the CN5 connector, the ECO2D/ECO4D drive can provide positional information from the
transducer used on the motor. When using an incremental encoder, the output pulses are strictly
identical to those of the transducer as regards both electrical characteristics and the drive shaft’s
number of pulses/mechanical revolution. On the other hand, if using a resolver, the output pulses are
simulated and therefore the number of pulses per revolution is selectable, whilst output characteristics
are similar to those of an incremental encoder.

CN5 Connector: Encoder or simulated encoder outputs

Connector type 9-way D socket
Pin No. Signal Details of signal
1 N. C. Pin Not Connected
2 N. C. Pin Not Connected
3 A\ Phase A\ output
4 A Phase A output
5 GND Encoder signal earth reference signal output
6 B Phase B output
7 B\ Phase B\ output
8 M Marker output
9 M\ Marker\ output
Table 6.2.12 CN5 signal details

Motor feedback utilised: incremental encoder

Encoder outputs are physically connected to the encoder input received from the motor, it is therefore
possible to connect loads with a minimum total impedance of 120 ohm. Fig. 6.2.12 shows how the
incremental encoder operates. The M (marker) pulse is active only once per mechanical revolution and
lasts a half-period of Phase A. Encoders with an M signal of different duration are available on request.
Signals A and B have a phase shift of 90 electrical degrees.

PHASE A

PHASE B

M (zero pulse)

PHASE A\

PHASE B\

M\ (zero pulse)

Figure 6.2.12

45
ECO2D/ECO4D - Chapter 6.2 Electrical installation - Wiring diagrams

Motor feedback utilised: Resolver

Using a motor with resolver offers output signals that simulate an encoder.
This can be obtained by requesting Drive with optional RTE (resolver to encoder) board. There are two
types of RTE board with codes 09FRRTE and 09FRRTEN.
Both provide the same type of output signal, the difference regards flexibility. The 09FRRTE board can
drive resolvers having a voltage ratio of 0.3 or 0.5 and has dip switches for output pulse selection. The
09FRRTEN offers all this but is fully automatic.
The motor resolver can have one or more pole pairs per mechanical revolution. Since the marker signal
becomes active in a certain position of the resolver pole, clearly a resolver with 1 pole pair will have just
one marker per mechanical revolution, whilst a resolver with 2 pole pairs will have two markers per
mechanical revolution and so on.

Selecting 09FRRTE PULSE resolution (Resolver To Encoder, Simulated Encoder)

The 2 Dip Switches on the RTE board (right side of the drive) can be used to select four different
simulated-encoder resolutions that are expressed in pulses/electric revolution.
To access, remove protective rubber cap on side of drive.

Maximum resolver resolution is 12-bit, but with 4500 or 6000 RPM motors the resolution is reduced to
10-bit. This resolution change is automatic when selecting the 128- or 256-pulse resolution options
provided by the RTE board.
When using the drive with motors whose RPM rating is less than 4500 it is possible to choose resolution
1024-512-256-128 (12 bit); with motors whose RPM rating exceeds 4500, it is essential that 10-bit
resolution be employed. Therefore, resolution less than or equal to 256 pulses/electric revolution
should be selected.

Dip Switches Pulses/electric Pulses/mechanical revolution

2 1 revolution
Brushless AC Br.

2-pole 6-pole 4-pole

ON ON
1024 1024 3072 2048

OFF 512 512 1536 1024

ON

OFF 256 256 768 512

ON

OFF OFF 128 128 384 256

Table 6.2.13 Selecting RTE Resolution – 12-bit resolution

46
ECO2D/ECO4D - Chapter 6.2 Electrical installation - Wiring diagrams

Selecting 09FRRTEN PULSE resolution (Resolver To Encoder, Simulated Encoder)

The 09FRRTEN board selects the output pulse resolution in simulated encoder mode directly from C1
parameter so no dedicated jumper is required. Table 6.2.14 shows how selection is made.

Pulses/electric Pulses/mechanical revolution as a function of resolver pole pairs

C1 revolution
Parameter 1 pole pair 2 pole pairs 3 pole pairs 4 pole pairs
(2 poles) (4 poles) (6 poles) (8 poles)
1 1024 1024 2048 3096 4096
Max 6000 rpm Max 6000 rpm Max 4500 rpm Max 3000 rpm
2 512 512 1024 1536 2048
Max 6000 rpm Max 6000 rpm Max 4500 rpm Max 3000 rpm
3 256 256 512 768 1024
Max 6000 rpm Max 6000 rpm Max 6000 rpm Max 6000 rpm
4 128 128 256 384 512
Max 6000 rpm Max 6000 rpm Max 6000 rpm Max 6000 rpm
Table 6.2.14 Selecting simulated encoder output pulse resolution

WARNING: Encoder Output

The encoder output is fitted with a current limiter that offers overload and short circuit
protection.
However, this protection will cause an output voltage drop as a function of the applied load.
With an external load of ∼1 kΩ there is a voltage of 3.2 V between a phase and its negative
(e.g. A and A\); with 100 Ω the voltage drops to ∼2V.
However, these values conform to the RS 422 specifications typical of differential outputs.

Motor feedback utilised: Absolute encoders

The ECO2D/ECO4D drive supports both linear and rotary absolute encoders. Please refer to the Selema
publication “ABSOLUTE ENCODERS” for full details regarding the required optional boards, wiring
and technical specifications.

47
ECO2D/ECO4D - Chapter 6.2 Electrical installation - Wiring diagrams

CN6 CONNECTOR
CN6 is the field network signal output connector

CN6 connector: Serial interface signals

Connector type 8-way mini-DIN socket connector (round) 5 8
2
4 7
1
3 6
Pin No. Signal Details of signal
1 RX Receive Data high, reception signal non-inverting side
2 RX\ Receive Data low, reception signal inverting side
3 TX Transmit Data high, transmission signal non-inverting side
4 GND 0V signal for +5 V dc power supply.
5 VCC +5 V dc power supply.
6 TX\ Transmit Data low, transmission signal inverting side.
7 CANL CANBUS Low signal.
Only available in version with S-CAN, CANopen options
8 CANH CANBUS High signal.
Only available in version with S-CAN, CANopen options
Table 6.2.15 CN6 signal details.

The CN6 connector is used for debugging with the “Drive Watcher” software when installing the Drive or
connecting to a field network. A field network of several devices is established by connecting
communication signals in parallel; in addition, when connecting a large number of drives, implementing
an isolated connection is recommended in order to increase communication immunity to electromagnetic
interference. Selema has developed specific accessories that facilitate field network wiring and/or
isolation.

NOTE
 In order to facilitate wiring the connector in field network configuration when
connecting more than one drive, we recommend using the Selema cable and the
“Network Box Module A”.
 Product order code: “09BM06NETA”.
 In order to optoisolate the field network, order Drive with optoisolated
configuration and 09PSVNET800 power supply. A single power supply unit
can handle 6 optoisolated drives in a CAN network and 11 Drives in a
Modbus or S-NET network.

48
ECO2D/ECO4D - Chapter 6.3 Electrical installation - Sizing the power circuit

6.3 SIZING THE POWER CIRCUITS

ECO2D drives have a 230 Vac power supply. A transformer should be fitted when connecting to a 400
Vac three-phase network. On the other hand, ECO4D drives can be connected directly to the 400 V power
supply.

ECO2D

Details follow regarding size of transformer and safety fuses for positioning in series at the drive power
supply.
Connection to the 400 V ac supply network should be effected via a suitably sized transformer, if possible
with screen between primary and secondary winding and delta configuration for primary winding and star
configuration for secondary winding. In any event, safety regulations require that the star point of this
configuration be earthed.
Should earthing transformer secondary not be necessary, configurations featuring transformers with delta
secondary can also be used. This configuration keeps current harmonics to a minimum. Each drive should
be protected by a set of fuses. Table 6.3.1 shows the type of fuse to utilise according to drive current.

ECO2-D Model Transformer Slow-blow fuses Notes

ECO2D 04 10 Single-/three- 12A -
phase
ECO2D 06 15 Three-phase 16A -
Table 6.3.1 Transformers and safety fuses.

The choice of transformer must be made according to the rating of the motor with which the drive is to be
coupled and it is therefore advisable to consult the motor tables. For the more exacting tasks it may be
necessary to increase transformer power by 20-30%.

A single transformer can be used to power more than one drive in parallel. To determine the size required
it is necessary to consider whether or not they operate contemporarily and if so calculate the sum of their
respective capacities.

If powering more than three drives with a single transformer, it is advisable to fit a soft-start circuit.

Fuses should be the time-delay type since high current peaks can occur when switching on that
originate from the charge of the filter's internal capacitors.

NOTE:
 Depending on motor connected, the drive may also be powered by using single-
phase voltage supplied to the L1-L2 terminals only.
 If wishing to take advantage of this possibility by connecting to the 230 V ac supply,
it will be necessary to fix a current-limiting resistor to one of the two phases to be
shorted with a contactor ≅200 msec after switch-on (soft-start).

49
ECO2D/ECO4D - Chapter 6.3 Electrical installation - Sizing the power circuit

WARNING: SOFT - START

 Leaving aside the type of power supply utilised and the number of drives, it is in any
case advisable to fit a soft-start circuit whenever you intend switching on and off
dozens of times each day.

SOFT - START
The soft-start circuit consists of 2 current-limiting resistors (or 1 in the case of single-phase voltage) to be
positioned in series at the L1-L2 power phases and shunted about 200 msec after switch on.
The resistors must be the wire type and capable of supporting current overloads 10 times greater than the
rated current.
Optimum values are 100 Ω, 50 Wmin, 250 V ac; for this reason we advise the use of our braking resistors.
It therefore follows that the contacts of the contactor should be suitably sized.

Closure of contacts
after 200 ms
ECO2D

M1
2×R PE PE'
From Line filter L L1' L1
L1 L
secondary I O
winding of N 09CNW207xx A L2' L2
L2 E D
transformer
L3 L3' L3

Figure 6.3.1 Soft-Start Circuit

ECO4D

The ECO4D drive can be directly connected to the 400 Vac power supply and needs neither transformer
nor soft-start circuit. Each drive should be protected by a set of time-delay fuses. Table 6.3.2 shows the
type of fuse to utilise according to drive current.

ECO4-D Model Slow-blow fuses

ECO4D 04 10 12A
ECO4D 05 12 16A
ECO4D 10 20 25A
ECO4D 20 40 50A
ECO4D 25 50 63A
ECO4D 30 90 100A
Table 6.3.2 fuses

50
ECO2D/ECO4D - Chapter 6.4 Electrical installation - Wiring and cable standards

6.4 WIRING AND CABLE STANDARDS

The technical specifications set out hereafter should be followed to the letter in order to guarantee correct
wiring of the drive.

Power Conductors, Motor Cable

Power supply basically means the drive three-phase supply circuit and the motor power-supply cable.

The following table lists recommended cable sizes for each ECO2D/ECO4D model and also gives the
code of a suitable Selema motor cable.

ECO2D, ECO4D model Cable CSA Selema motor cable

(Trailing)
ECO2D 04 10 1,5 mm² Code 09CP15 S
ECO2D 06 15 1,5 mm² Code 09CP15 S
ECO4D 04 10 1,5 mm² Code 09CP15 S
ECO4D 05 12 1,5 mm² Code 09CP15 S
ECO4D 10 20 2,5 mm² Code 09CP25 S
ECO4D 20 40 4 mm² Code 09CP40 S
ECO4D 25 50 6 mm² ------------
ECO4D 30 90 10 mm² ------------
Table 6.4.1 Motor cable specifications

NOTE: Motor Cable

 The motor cable requires a 4-way model with external stranded-copper screening.
 Good earth bonding is indispensable in order to ensure correct product operation
and conformity with EMC regulations and safety standards.
 Bond the motor cable screening from both ends making use of as large a contact
surface as possible and utilising 360° metal clamps (nickel brass cable clamps).
 Use trailing cables in installations where the motor is mounted to a moving part.

Control/signal conductors

 Control/signal conductors
Unless otherwise indicated, the recommended size is 0.5 mm² with screw terminals.

 Analogue signal cable (if using of REF\, REF)

The cable must be the screened twisted-pair type (at least 0.22 mm²).

51
ECO2D/ECO4D - Chapter 6.4 Electrical installation - Wiring and cable standards

Resolver Cable

It is essential that the Resolver cable be provided with individually-screened twisted pairs for
signals COS2, COS1, SEN2, SEN1, ECC and 0VECC, whilst for the thermal resistor signals screening
of the twisted pair is not indispensable. In addition to the internal screening, the cable must also be fitted
with external screening.
When wiring it is most important that special attention be paid to the connection of the screens, both for
the twisted pairs and the outer screening (see wiring diagrams for the Resolver cable signals of Brushless
and AC Brushless motors).
Recommended Selema resolver cable, code: 09CRS (trailing).

NOTE: Selema recommended Resolver Cable

The recommended cable is a 6-twist duplex model (6×2×0.22mm2) with 3
individually-screened twisted pairs and three unscreened twisted pairs plus an
external screening covering all six twisted pairs.

NOTE: Resolver Cable Wiring

 The Resolver cable should have three screened twisted pairs (for signals COS2
and COS1, SEN2 and SEN1, ECC and 0VECC); all three internal screens of
these twisted pairs must be connected together on the ECO2D/ECO4D side and
led to pin 21 (0VECC) of the CN4. On the other side (resolver connector - motor
side) they should be connected to pin S.
 For the Motor thermal resistor (PTC) use an unscreened twisted pair.
 The external screening must be bonded from both ends with nickel-brass cable
clamps using the maximum possible contact surface.
 When the wiring arrangement makes it impossible to connect the outer screen
with metal cable clamps, there is the option of connecting the screen on the drive
side to pin 21 of the CN4 connector leaving the screen on the motor side open.

Encoder cable

The encoder signal connection cable must be the screened type with screen connected as per figure
6.2.11. Alternatively, a screened cable with 7 twisted pairs can be used.

Serial Cable

The cable must be an 8-way screened model (at least 0.22 mm²).

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ECO2D/ECO4D - Chapter 6.4 Electrical installation - Wiring and cable standards

WARNING: Cables
 The routes followed by power cables and signal cables should be kept well apart.
 The length of the Resolver and motor cables shall under no circumstances exceed 50
m if performance is not to suffer as a result of their excessive inductance and stray
capacitance; for longer distances please consult Selema S.r.l. Customer Care.

Earth connection

Earthing the drive is necessary to ensure ELECTRICAL SAFETY and ELECTROMAGNETIC

COMPATIBILITY. All instructions set out under the heading ELECTRICAL SAFETY MUST be
followed to the letter, whilst we recommend compliance with those found under the heading
ELECTROMAGNETIC COMPATIBILITY if the installation is to meet EMC regulations.

ELECTRICAL SAFETY

1. The cross-sectional area of the system earth conductor shall be at least 10 mm². If less, you
should check that the minimum size meets local safety regulations for equipment with stray
current.
2. The CSA of the wire leading from the drive to the switchboard earth bonding point or
terminal secured to its back panel shall be at least 2.5 mm².
3. The system earth point shall have a maximum impedance of 0.1 ohm.
4. The earth conductor shall be connected to the screw on the drive close to the Electrical Earth
symbol.
5. Do not switch on the drive before connecting the earth conductor to the drive and system
earth point.

ELECTROMAGNETIC COMPATIBILITY
Correct build and set-up of the earth circuit of a drive-motor system keeps EMI to a minimum and
thus guarantees compliance with EMC regulations applicable to the specific system.
Details follow of the precautions to be taken when earthing in accordance with electromagnetic
compatibility (EMC). For further details, please consult the Selema S.r.l. publication “Filtering
Solutions”.

• When fitting the drive to a panel inside the electrical cabinet, a good RF earth contact is required.
In this respect it is advisable to take advantage of broad surfaces and/or ground metal parts using
low-impedance conductors for high frequencies, e.g. using rectangular cables such as stranded
copper.

• Good bonding of drive metal housing is needed, both for safety and EMC reasons, if necessary
removing layers of rust or paint.

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ECO2D/ECO4D - Chapter 6.4 Electrical installation - Wiring and cable standards

• A good low-impedance ground (0,1 Ω) is required in the switchboard, e.g. copper bar.

• The motor casing should have a low-impedance RF ground (with the exclusion of drive/motor
reference effected by motor cable), therefore, mechanical grounding and the ground reference
provided by the motor cable may not be sufficient and good additional bonding should be created.

• Connect the earth terminal (screw on drive) to the metal earthing plate on which the drive is
mounted with as short a connection as possible.

• Cable external screening must be bonded from both ends with nickel-brass cable clamps or similar
connectors using the maximum possible contact surface.

EMERGENCY
In order to guarantee the safety of the operator and the machine itself, international standards
require that the drive should have its power supply shut off and be disabled.
As regards the ECO2D/ECO4D drive, depending on the “risk analysis” performed by the manufacturer
of the machine or system, two different operating modes are possible as detailed hereafter.

Mode 1 Immediately cut off power supply connections and switch off TEN signal.
This will lead to motor axis being freed immediately. If choosing this mode, we
recommend fitting an emergency brake to the motor.

Mode 2 Switches off the IEN signal immediately as illustrated in the figure “Enabling Emergency
Ramp” and power supply connections after max. 0.5sec (dependent on type of machine
and after having performed “risk analysis”).
This mode may be used for braking the motor with an emergency ramp regardless of the
signal present on pins REF and REF\.

ECO2D/ECO4D Drive +24Vdc

CN1 Emergency +24Vdc
+24V button
0V24
OK
TEN
TEN
IEN
IEN
REF
REF
REF\
REF/
0V
EXTREF Other emergency contacts (doors, limit switches, etc.)
PULSE
DIR
CONCLR

Figure 6.4.1 Enabling emergency ramp

This function is specially designed to stop the motor under machine emergency
conditions or at least slow it down with dynamics suited to the mechanics on which it is
installed.

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ECO2D/ECO4D - Chapter 6.5 Electrical installation - EMC components

In order to obtain this function, it is necessary to disconnect IEN signal from +24 V dc
when the emergency button is triggered, leaving the TEN input excited at +24V dc.
During the emergency ramp, the+24 Vdc AUX SUPPLY should also remain connected,
whilst the power supply may be disconnected at the same time as the IEN signal or after
0.5 seconds according to the application.
The Ramp obtained with IEN disabled and TEN enabled is set by changing parameter F3
“Emergency Ramp”.

The functional diagram of figure 6.4.1 merely illustrates operation of the IEN input and is
not intended to replace other equipment designed to protect machinery or operator.

6.5 EMC COMPONENTS

Brief particulars follow of our recommended filtering components for the various sizes of
ECO2D/ECO4D drive which allow EMC problems to be partly resolved. For comprehensive details,
please refer to our “Filtering Solutions” guide where the matter is fully discussed.

 LINE FILTER
In order to satisfy EMC standards (conducted emissions), it is necessary to install a power line filter
just upstream from the ECO2D/ECO4D between drive and any transformer.
The power line filter must be of sufficient size to handle the drive's supply current.

WARNING: LINE FILTERS

In order for the drive to respect EMC regulations, it is essential that filters
from the Selema series 09CNW207xx be used according to the application or
alternatively other filters with similar specifications. Pay a great deal of
attention to the filter's attenuation capacity for the frequency range in
question and verify the leakage current to the ground cable.

NOTE: LINE FILTERS

The location of required filters should be carefully established, but it is evident
that filtering each PDS is not practicable.

Depending on the switchboard layout, a single filter can be used for more than
one drive. In such case it is necessary to add together the simultaneous power
consumption of the various drives.

For instructions and choice of filters please refer to the Selema S.r.l. guide
“Filtering Solutions”.

 FERRITE CORES
In order to satisfy EMC standards regarding immunity and emissions, in some cases it is imperative
that one or more ferrite cores be fitted so as to reduce the flow of EMI through the cables. Cables
requiring core and type of core recommended are listed below

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ECO2D/ECO4D - Chapter 6.5 Electrical installation - EMC components

Type of cable Selema core Positioning

L1, L2, L3 power Core model SCK2 Position core close to M1 terminal block
supply cables. (internal Φ = 9 mm, Z=80 Ω). and include cables L1, L2, L3.

Position core in the immediate vicinity of

Signal and I/O Core model SCK3
CN1 terminal block and include all cables
connection cables (internal Φ = 13 mm, Z=80 Ω).
that converge into it.
Table 6.5.1 Ferrite cores

Should the serial cable route be situated close to sources of interference (transmission problems), a
core with suitably-sized internal diameter should also be fitted to this cable

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ECO2D/ECO4D - Chapter 6.6 Electrical installation - Switch-on/switch-off

6.6 SWITCH-ON/SWITCH-OFF PROCEDURE

Details follow of the sequence of steps required for a correct switch-on and switch-off of the
ECO2D/ECO4D drive.

➯ SWITCH-ON
1. Supply +24 V dc power to logic (the drive display will show “In” followed by “UL”).
2. Switch on power (the display will show “Fr”).
3. Enable drive (TEN signal on).

WARNING: Switch-on
When switching on the drive’s power supply, the +24 V dc auxiliary power
supply must always be on. Failure to respect this procedure could cause
damage to the drive.

Whenever there is a gap of more than 200 msec between supply of power to the logic and power
switch on, or in the absence of power, the drive sounds a low-voltage alarm; the alarm itself is
automatically reset by restoring the correct power supply level.

SWITCH-OFF
1. Disable ECO2D/ECO4D (TEN signal off).
2. Disconnect power supply (L1,L2,L3).
3. Disconnect +24V dc power supply.

These three switch-off steps can also take place contemporarily but not with a different
sequence to that specified.

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ECO2D/ECO4D - Chapter 6.7 Electrical installation - Commissioning

6.7 INITIAL START-UP and COMMISSIONING

The following paragraph assumes that the operator is fully conversant with product operating procedures.
Therefore, the start-up procedure indicated below is merely intended as a basic guide to the preliminary
checks and main operations required.

WARNING
 Drive installation is greatly facilitated by using the Drive Watcher monitoring
software whose functions offer user-friendly parameter set-up and start-up

PRELIMINARY CHECKS
a) Check that mechanical installation carefully follows the instructions given in chapter 5.1.
b) Check that the electrical connections correspond to those indicated in chapter 6, ensuring clean and
secure contact of all connectors and terminal blocks.
c) Mechanically disconnect the drive shaft from the load (no-load motor).

DANGER
 During testing the motor may be subject to high speed and acceleration and it is
therefore very important that its main body be securely mounted so as not to
constitute any form of human safety hazard.
 The spline should remain on the drive shaft in such a way as to prevent its sudden
release at high speeds (use the spline cover).

PROCEDURE
The following operations should be carried out separately on each drive.
Please consult chapter 8 should a malfunction or an alarm be encountered during this procedure.
1. Follow the switch-on procedure as indicated in the previous section without enabling the
ECO2D/ECO4D drive (TEN and IEN at 0V or disconnected).
The display will show “In” (initialization) and after 1 second “UL”; subsequently (after powering
up) “Fr” will appear to indicate that neither is enabled.
2. Ensure that the drive shaft is not in torque (shaft free).
3. Check that parameter “d8” is set for the correct motor. Check that drive-motor are correctly matched
in accordance with the tables of annex B.
4. Check that parameters “F1”, “F2”, “d1” “d2”, “d5”, “d6”, “d7” are set to their default value.

WARNING
 In the case of drive with “CANopen”, “S-CAN”, MODBUS/S-NET field
network, CAM or SAP options and other mechatronic functions, continue from
point 26.

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ECO2D/ECO4D - Chapter 6.7 Electrical installation - Commissioning

5. Enable TEN signal. Check that “Lo” appears on the display and that at the same time the motor is
placed in torque.
The motor should remain under locked rotor condition, without vibration or speed offset. If this is
not the case, carefully check wiring.

WARNING
 In the case of drive without options (standard version) continue from next point
(6) up to point 10.
 For drive with Pulse Positioning option continue from point 11 up to point 18.
 For drive with Electronic Gearbox option continue from point 19 up to point 25.

6. Supply +0.5V speed setpoint across REF\ and REF (REF positive) using CN or control board or
potentiometer.
Enable IEN signal. Check that “En” appears on the display  the motor should turn in an
anticlockwise direction (side with drive shaft visible) at 1/20 the rated speed of motor selected.
Test correct running at maximum speed  setpoint at +10 V.
7. Use parameter “d4” in order to regulate offset, see 6.2 “Parameter Details”.
8. Switch off ECO2D/ECO4D drive and apply load to motor.
9. Repeat points 1 and 2 and check remaining settings of the ECO2D/ECO4D drive according to
application and true load, as indicated in paragraph 6.2 “Parameter Details”.
10. Test machine cycle, including under the most stressful conditions, ensuring that neither an alarm nor
the I²T function is triggered (test to be performed by connecting the drive to a PC with Drive
Watcher software).

For drive with Pulse Positioning option continue up to point 18.

11. Set IP and PL menu parameters according to application.
12. Enable IEN signal and check that “En” appears on the display. The motor must remain stationary.
13. The pulse sets a transition from 0 V to 24 V and the subsequent transition from 24 V to 0 V. Supply
a pulse to the PULSE input and check that the motor turns over at the step programmed in
parameters “P1” and “P2” of the PL menu.
With DIR = 0 V, the motor rotates in a clockwise direction (side with drive shaft visible)
If just a single transition is effected, the motor will move just ½ step.
14. With DIR input at +24 Vdc, check that motor direction of rotation is the opposite to that noted at the
previous point (point 13).
15. Enable CONCLR input and ensure that the motor does not turn over even if pulses are supplied.
16. Switch off drive and apply load to motor.
17. Repeat points 1 and 2 and check remaining settings of the drive according to application and true
load, as indicated in paragraph 6.2 “Parameter Details”.
18. Test machine cycle, including under the most stressful conditions, ensuring that neither an alarm nor
the I²T function is triggered (test to be performed by connecting the drive to a PC with Drive
Watcher software).

For drive with Electronic Gearbox option continue up to point 25.

19. Set IP and AP menu parameters according to application.

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ECO2D/ECO4D - Chapter 6.8 Electrical installation - Maintenance

20. Enable IEN signal and check that “En” appears on the display. The motor must remain stationary.
21. Enable IN0 signal (pin 1 of CN1 terminal block), input active at +24 V dc.
22. Move the Master Encoder and check that the electronic gearbox follows the movements of the
Master.
23. Switch off ECO2D/ECO4D drive and apply load to motor.
24. Repeat points 1 and 2 and check remaining settings of the ECO2D/ECO4D drive according to
application and true load, as indicated in paragraph 6.2 “Parameter Details”.
25. Test machine cycle, including under the most stressful conditions, ensuring that neither an alarm nor
the I²T function is triggered (test to be performed by connecting the drive to a PC with Drive
Watcher software).

In the case of field-networked drive with “CANopen”, “S-CAN”, “MODBUS”, “S-NET” or

“Electronic Gearbox” options, continue up to point 2.
26. Set position loop parameters and speed/acceleration registers.
27. Switch on TEN signal, enable drive using network commands and check that the motor axis remains
in torque without vibration.
28. Switch on IEN signal and start system by sending the appropriate commands over the network
(CANopen, S-CAN, S-NET or MODBUS).

WARNING
 MODBUS and S-NET field network functions require axis calibration before the
network can be used since the field network commands and drive analysis
programme use the same serial port. The Drive Watcher AXIS TEST utility is
therefore very useful. There are also specific programmes for use with the more
complex mechatronic functions such as SAP for the Stand Alone Positioner
function and CAM BUILDER for the Electronic CAM function.

6.8 MAINTENANCE

Il Drive ECO2D/ECO4D non contiene componenti che richiedano manutenzione. Qualora si rendesse
necessario sostituire il Drive e rispedirlo alla SELEMA occorre imballarlo con la stessa modalità
utilizzata per l’imballo originale.

Se per qualsivoglia ragione occorre intervenire su componenti vicini al Drive fare attenzione,
alcune parti del drive possono essere calde.

When replacing the drive, you must disconnect the power supply and the respective connectors
see chapter 6.2. Even after disconnecting the power supply, DO NOT open the drive for any reason.

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ECO2D/ECO4D - Chapter 7 Parameters and messages - Local keypad and menus

7 PARAMETERS & MESSAGES

The front of the drive is fitted with a 2-button keyboard ( + & ENTER ) and a 2-figure display.

In most cases we recommend installing Drive Watcher on your PC for comprehensive programming of all
functions, however, standard function parameters can be programmed using the local keypad.
The display allows viewing of operating status, alarms, parameters and their respective values.
When switching on, drive operating status is displayed and initialisation of internal software is confirmed
by “In” (Initialisation, that appears for a few seconds); the message “Fr” (Free) will then appear to
confirm that the drive has been supplied with power and is ready to receive commands or else “UL”
(Under Level) if not energised.
If TEN signal is enabled, the motor will be supplied with power. At this point, the function performed
depends on the IEN signal. If IEN is on, the display shows “En” (Enable), the drive supplies torque to the
motor and (if parameter c9 = 0) is enabled to follow the analogue signal present on pins REF and REF/. If
IEN is off, the display shows "Lo" (Lock) and the drive supplies torque to the motor, but remains
stationary in position.

7.1 LOCAL KEYPAD OPERATION AND MENUS

The display shows Drive STATUS (“In”, “Fr”, “UL”, “En”, “Lo”). Press any key in order to access
the main parameters menu; once inside these menus, if no key is pressed, after 4-5 seconds the
display will once again show Drive STATUS.

Warning! When changed, all parameters remain in the drive's volatile memory (RAM). In
order to make parameter changes permanent, they must be saved to the Drive flash memory using
the procedure in the “EP” menu.

MAIN MENUS
The ECO2D/ECO4D main menu differs according to the options the user has requested.
 The main menu of the STANDARD MODEL comprises separate menus; press [+] to pass from one
to another. Upon reaching the last menu the cycle is completed and you will return to the first one
(figure 7.1.1) .
 The main menu of the product with “PULSE POSITIONER” option (c9=1) offers two additional
submenus “IP” and “PL”; press [+] to pass from one to another. Upon reaching the last menu the
cycle is completed and you will return to the first one (figure 7.1.2).
 The main menu of the product with “ELECTRONIC GEARBOX” option (c9=2) offers three
additional submenus “IP”, “AL” and “Ho”; press [+] to pass from one to another. Upon reaching the
last menu the cycle is completed and you will return to the first one (figure 7.1.2).
 The main menu of the product with “CANopen” (c9=5) and “S-CAN” (c9=4) option also offers the
“nP” menu. Press [+] to pass from one to another. Upon reaching the last menu the cycle is
completed and you will return to the first one (figure 7.1.3).

Press [ENTER] key to access menu currently shown on the display.

Details follow of the main menus and respective submenus.

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ECO2D/ECO4D - Chapter 7 Parameters and messages - Local keypad and menus

Main menu of ECO2D/4D without options (standard product)

The figure illustrates the main menu of the ECO 400

without options (standard model). Details of the
ENTER submenus follow.
d r

+ d r Drive parameter menu: Drive Parameters.

ENTER

E d Extended Drive parameter menu: Extended Drive

E d Parameters.
+
ENTER

F u Ramp and special function menu: Function

F u Parameters.
+
ENTER
c n c n Parameter control menu for the various operating
modes: Control Parameters.
+
ENTER
O P O P Menu that displays phase and peak currents, I2T
etc.: Output Parameters.
c9 = 0
Alignement absolut encoder.
A A Procedure with password.
*A A
Consult Selema S.r.l Customer Care
+
ENTER
S E Function menu: SEnsor.
S E Resolver alignment.
+ Only available if c9 = 0.
ENTER

A b A b Alarm buffer menu:

Alarm Buffer.
+
ENTER
E P Default parameter menu:
E P E2PROM.

+
ENTER Parameter save menu:
S A SAve.
S A
NB This menu will only appears if changes to
parameters have been made.

Figure 7.1.1 Main menu of ECO2D/ECO4D without options (standard product)

WARNING
The “SE” Resolver Alignment menu only appears in the main menu when
parameter c9 = 0.
The “AA” menu appears in some software option configurations for absolute
encoder management. Its use is explained in the publication “ABSOLUTE
ENCODERS”.

* 3.03 version or next

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ECO2D/ECO4D - Chapter 7 Parameters and messages - Local keypad and menus

ECO2D/ECO4 main menu with Pulse Positioner and/or Electronic Gearbox options

This figure illustrates the main menu of the

ENTER ECO2D/ECO4D with “Pulse positioner” and/or
d r “Electronic gearbox” option. Details follow of the
additional menus.
+
..............................
+ Positioner section parameters menu:
ENTER I P Intelligent Positioner Parameters.
c n Available with “Pulse positioner” and “electronic
gearbox” options.
+
ENTER
+ I P Pulse positioning command parameter menu:
P L PuLse Parameters.
+ c9=1 c9=2 Available with “Pulse positioner” option.
ENTER
P L A P Electronic gearbox option parameter menu:
A P Axis Parameters.
c9=6,7
ENTER Available with “Electronic gearbox” option.
H o
Parameter menu for all options offering the
H o
possibility of Homing:
Homing Parameters. With c9 = 2 only.
+
ENTER
O P

* A A

A b ENTER
+

..............................

Figure 7.1.2 ECO2D/ECO4D main menu with Pulse Positioner and/or Electronic Gearbox options

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ECO2D/ECO4D - Chapter 7 Parameters and messages - Local keypad and menus

ECO2D/ECO4D main menu with CANopen, S-CAN, MODBUS, S-NET, SAP or electronic
CAM option.

ENTER This figure illustrates the main menu of the

d r ECO2D/ECO4D with Modbus, S-NET, SAP, Electronic
CAM (c9 =3, 6, 7) and the menu that is displayed with the
+ “CANopen” or “S-CAN” option (c9=4 or 5). Details
.............................. follow of the respective additional menus.
+ ENTER

c n
+
ENTER S-CAN or CANopen network parameter menu:
n P Network Parameters.
I P
+ Available with “CANopen” or “S-CAN” options.
+
c9 = 4 o c9 = 5
+
ENTER
c9 = 3 , 6 , 7 n P

ENTER
O P

A A
*

+
ENTER
S E

+
ENTER
A b

..............................

Figure 7.1.3 ECO2D/ECO4D main menu with “CANopen” and “S-CAN” options.

* 3.03 version or next

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ECO2D/ECO4D - Chapter 7 Parameters and messages - Local keypad and menus

Dr “Drive Parameters” Drive standard parameter menu

This menu allows you to display and modify: motor selection and certain current, speed and control
loop parameters. It is worth noting that after selecting the motor, the Drive automatically sets the correct
full scales and all current loop data, therefore only application-specific parameters require setting
(moment of inertia, etc).

ENTER ENTER The figure shows the parameter editing page containing its
d r d 1 value.
Modify using the [+] key in order to increment the value
+ previously displayed. Hold down key to increment parameter
ENTER
value in fast automatic mode; press [ENTER] to store desired
d 2 value and return to main menu at point of departure.

+
...............................
+ Below is the list of parameters for this menu:
ENTER
Parameter Range Default Value
d 7
d1 Proportional gain: 01-99 20
+
ENTER d2 Integral gain: 01-99 50
d 8
d3 Full Scale Speed 01-99 50
+
d4 Speed offset: 01-99 50

d5 Maximum current: 01-99 99

d6 Peak I/rated I ratio: 01-99 99

d7 I2T function: 00-99 00

d8 Motor selection: 00-40 00

NB: After altering the value of a parameter, the two dots on the display will start flashing as a warning that
the change is not permanent (i.e. the new setting will be lost when switching off). Once drive parameter
setting operations are complete, use the “SA” (SAve) menu in order to save and thus retain the new set
of parameters.

Figure 7.1.4 “dr” menu

• To access press [ENTER] key when “dr” appears on the display.

NOTE
Parameters d5, d6, d7, d8 must not be modified with TEN enabled, axis under control
(with locked rotor or in movement).

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ECO2D/ECO4D - Chapter 7 Parameters and messages - Local keypad and menus

Ed “Extended Drive Parameters” - Extended Drive Parameters Menu

This menu allows the following three special drive parameters to be modified. Two (E1 and E2) are used
to set the speed setpoint and the third the position setpoint.

ENTER ENTER
The figure shows how the parameter value is displayed.
E d E 1
Use [+] key to modify this value; press [ENTER] to store
+ desired value and return to main menu at point of departure.
ENTER
E 2
Parameter Range Default Value
E1 Max. rated speed: 01-99 99
+
ENTER
E2 Input reference filter: 01-99 50
*E3 Exceptions parameter : ÷09
00÷ 00
E 4
+ *E4 Reserved : ÷16
01÷ 01

NB After altering the value of a parameter, the two dots on the display will start flashing as a warning that
the change is not permanent (i.e. the new setting will be lost when switching off). Once drive parameter
setting operations are complete, use the “SA” (SAve) menu in order to save and thus retain the new set
of parameters.

Figure 7.1.5 “Ed” menu

• To access press [ENTER] key when “Ed” appears on the display.
Changes to parameter values are made in the same way as for “dr” menu.
Fu “Function speed loop” - Speed loop function menu

This menu allows you to set speed setpoint ramp parameters.

To access this menu press [ENTER] key when display shows “Fu”; the first parameter will be displayed
with operating cycle similar to that of “dr” menu.
Each page represents a particular parameter; the [+] key allows complete scanning; when reaching the
final parameter press [+] again to return to the main menu in “Fu”.

The figure shows the parameter editing page containing its value.
ENTER ENTER
Having selected the parameter desired, press [ENTER] key to access
F u F 1 editing page and display its value; use [+] key to modify such value.
Each time this key is pressed, the parameter value increases until
+ reaching the top of the range and returning to one. Hold down key to
ENTER increment in fast automatic mode. Press [ENTER] to store desired
value and return to main menu at point of departure.
F 2

+
ENTER

F 4 Parameter Range Default Value

F1 Acceleration ramp: 00-99 00
+ F2 Deceleration ramp: 00-99 00
F3 Emergency ramp: 00-99 00
*F4 Reserved: ÷99
00÷ 00

NB After altering the value of a parameter, the dots on the display will start flashing as a warning that the
change is not permanent (i.e. the new setting will be lost when switching off). Once drive parameter
setting operations are complete, use the “-SA-” (SAve) menu in order to save and thus retain the new
set of parameters.

Figure 7.1.6 “Fu” menu

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ECO2D/ECO4D - Chapter 7 Parameters and messages - Local keypad and menus

cn “Control Parameters” - Drive operation control menu

This menu allows drive control parameters to be modified. This menu is extremely important and should
be used with great caution and only when you are completely au fait with the characteristics of every
parameter. Indeed, the operating mode is selected (analogue setpoint, pulsed digital or the integrated
mechatronic functions, as well as the supported field networks). Another very important parameter that
requires setting is the motor's direction of rotation that is clearly application-dependent.
Parameter C4 should NOT be changed since as explained in detail in the initial description and elsewhere
herein, after selecting the motor parameter (d8), the drive recognizes the type of motor used and the type
of feedback, the transducer's number of pulses and, in the case of a resolver, the number of poles.

ENTER ENTER To access press [ENTER] key when display shows “cn” and the
c n c 1 first page will be displayed; press [+] key to view the other pages.
Modify using the [+] key in order to increment the value
+ previously displayed. Hold down key to increment parameter value
ENTER in fast automatic mode; press [ENTER] to store desired value and
c 2 return to main menu at point of departure.

+
...............................
+
ENTER Below is the list of parameters for this menu:
c 8 Parameter Range Default Value
c1 RTE output pulse selection: 00-01 00
+ c2 Motor direction of rotation: 00-01 00
\\ ENTER c3 Control type selection: 00-01 00
c 9 c4 Resolver pole pair selection: 00-08 00
c5 Encoder pulses/rev selection: 00-07 01
+ *c6 Sensor type selection: 00 ÷05 00
c7 Network node number: 01-99 01
*c8 Reserved
*c9 Operating mode selection: 00 ÷09 00

NB After altering the value of a parameter, the dots on the display will start flashing as a warning that the
change is not permanent (i.e. the new setting will be lost when switching off). Once drive parameter
setting operations are complete, use the “-SA-” (SAve) menu in order to save and thus retain the new set
of parameters.

Figure 7.1.7 “cn” menu

* 3.03 version or next

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ECO2D/ECO4D - Chapter 7 Parameters and messages - Local keypad and menus

OP “Output Measures” - Measurement Menu

The OP menu is used to access pages O1, O2 and O3. These display various measurements carried out by
the drive. The main purpose is to provide easily-understandable data regarding the condition of the
drive/motor system. In other words, analysis of the data displayed should help to establish whether the
drive/motor system is under too much stress for the application in question or, conversely, the current and
torque being delivered fall well short of potential values. Clearly, such details are only approximate and
serve as a guide as to the efficiency of the drive/motor in the application in question. For precise details of
cycle time, current, etc., it is necessary to connect to a PC and run the Drive Watcher software using the
TRACE menu. The OP menu is extremely useful when using the drive as a positioner with MODBUS or
S-NET commands. Indeed, in this case the serial line is not available for running TRACE from PC.

ENTER ENTER
The figure shows how the measurement page is displayed as a
O P O 1 percentage of rated value. The rated value of the measurement
obviously depends on the variable measured. The respective
+ rated value is specified in the Motor Table.
ENTER

O 2

+
ENTER
Here is a list of the quantities displayed in these menus:
O 4
Measurement Value
+
O1 Instantaneous current: 01-99 % peak I

O2 RMS Current: 00-99 50 = rated I

O3 Overload: 00-99 % I2T

*O4 Reserved

Figure 7.1.8 “OP” menu

* 3.03 version or next

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ECO2D/ECO4D - Chapter 7 Parameters and messages - Local keypad and menus

SE “SEnsor” - Resolver/Encoder alignment menu

The “SE” menu allows you to check Resolver or Encoder alignment. The value indicates the phase angle
in electrical degrees between the Resolver or encoder and the electrical field of the magnets. In the event
of a considerable difference in phase, you can perform alignment by physically disconnecting the
Resolver or Encoder and changing its mechanical precision with respect to the drive shaft.
As the two procedures are slightly different for Resolver or Encoder, the instructions provided in Fig.
7.1.9 should be followed to the letter.
The “SE” menu is only displayed when parameter c9 = 0.
In order to access this menu, press [ENTER] key when “SE” appears on the display.
This is followed by the message “??”, indicating a request for the password.
Subsequent steps are explained in the diagram below.

ENTER + Drive status is displayed and you will return to the

S E ? ? home page.
ENTER
ENTER
Drive status is displayed and you will return to the
0 0
home page.
+
Press [+] key until reaching the numeric value of the
0 1 password.
After reaching the password value, press the
+ [ENTER] key.
Resolver
.. .. Enable TEN
The drive shaft moves to electrical zero.
ENTER Password Value The misalignment value is displayed.
Encoder
x. x. DO NOT enable TEN
Manually rotate the drive shaft for at least two
+ mechanical revolutions
The alignment value is displayed

A value “x. x. = 00-99”, indicates misalignment in electrical degrees (absolute

value).
Resolver
x. x.
A flashing value indicates that no torque is applied to the axis and therefore the
measurement is not valid. Apply torque to the axis by enabling the TEN signal
and misalignment will now be displayed.
The misalignment sign is shown by the decimal points of the two digits visible
on the display.
Encoder
A flashing value indicates that the measurement is not yet valid. The drive shaft
should be rotated for two mechanical revolutions. Once the TEN signal is active,
misalignment will be displayed.

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ECO2D/ECO4D - Chapter 7 Parameters and messages - Local keypad and menus

Figure 7.1.9 “SE” menu

 Use of the password (and respective Resolver/Encoder alignment function) is for technical
support staff only; the technical support engineer should know the password. Please contact
Selema Customer Care if you do not know the password.

WARNING
 During the Resolver alignment stage you should ensure that the shaft is
completely free to move; for safety reasons, you should also lock the motor
and not touch the drive shaft as it will be moved during this procedure.
 Misalignment values of between [-08 and +08] can be considered correct.
 Misalignment values exceeding 99 degrees are indicated by the flashing “--”
symbol.

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ECO2D/ECO4D - Chapter 7 Parameters and messages - Local keypad and menus

Ab “Alarm buffer” Alarm buffer menu

The alarm buffer menu allows you to view the last four alarms that have been triggered since the drive
was switched on.
In order to access this menu, press [ENTER] key when “Ab” appears on the display. The last alarm
detected will appear. Continue pressing [+] in order to carry out complete scanning of the most recent
alarms (in chronological order).
Having reached the final alarm, press [+] again in order to return to the main menu in “Ab”.

ENTER Press [ENTER] when "Ab" appears on the

A b A L n. all. display and a list is shown of the most recent
alarms to be generated since switch-on.
+ "AL" will flash on the screen followed by
corresponding alarm code, e.g. "AL" "15".
A L n. all.
Press [+] and [ENTER] to delete all alarms
+ ENTER stored in the buffer up until that time.
+
If no alarms have been generated, the display
A L n. all.
shows the code n. all. = 0 0
+

A L n. all.

NOTE:
+ n. all. = alarm number or code (see chapter 7.1).

Figure 7.1.10 “Ab” menu

EP “E2PROM” - Default parameter reset menu

This menu should be used if all parameter values have been modified incorrectly and you would like to
restore a safe configuration. Such menu therefore allows parameters to be loaded with their default
settings as indicated by the following diagram.
By pressing [ENTER] when “-EP-” appears on the
E P display, the “-dE-” menu will appear. Press [ENTER]
ENTER
again in order to load parameter default values.
The screen now shows “y?” seeking further
confirmation that you wish to load default values.
d E If you have made a mistake and do not wish to load
ENTER
wishing to load the default parameters, hold down just
one of the two keys and the message “no” will appear
for several seconds. On the other hand, if you wish to
y ? continue, press down both keys contemporarily for at
ENTER + ENTER + least 3 seconds. In this case a sequence of two messages
o e
will appear “YE” and “- -”.
Since this operation is only permitted with drive
disabled, if the TEN signal is active (drive enabled), the
n o Y E
“YE” box will flash in order to indicate this anomalous
situation. Once the TEN signal has been disabled, the
box stops flashing and the operation will be carried out.
- - Upon completion, you will return to “Fr” status.

Menu Principale
Figure 7.1.11 Details of “Ep” menu

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ECO2D/ECO4D - Chapter 7 Parameters and messages - Local keypad and menus

SA “SAVE” - Parameter save menu

This menu saves the parameters (stored in RAM) in non-volatile memory (flash memory).
Such command allows permanent storage of the entire set of parameters in use at time of saving.
Therefore, the next time the drive is switched on, the parameters will retain the values saved.
The submenus of this page are the same as for the “EP” page with the exception of the “dE” menu that is
not present. In order to activate the choice of a new motor (change to “d8” parameter), the drive should
be switched off and back on again.

WARNING
Details follow of the additional submenus that apply to ECO2D/ECO4D equipped
with the available options.

IP “Intelligent Positioner Parameters” - Positioning system parameter menu

This menu allows the main parameters of the drive positioning system section (position loop) to be
displayed and modified.

ENTER ENTER The figure shows the parameter editing page containing its
I P I 1 value.
You can change such value by using the [+] key that when
+ pressed increases the value previously displayed. Hold down
ENTER
key to increment parameter value in fast automatic mode. The
I 2 desired value is stored by pressing [ENTER] and you will
return to the main menu at point of departure.
+
...............................
+ Below is the list of parameters for this menu:
ENTER
I 6 Parameter Range Default Value
I1 Position loop proportional gain: 01-99 20
+ I2 Position loop integral gain: 00-99 10
ENTER I3 Position loop derivative gain: 00-99 00
I4 Inertia compensation value: 00-99 00
I 7 I5 Positioning error timeout (s/100): 01-99 20
*I6 Reserved: ÷14
00÷ 00
+
*I7 Reserved: ÷99
00÷ 01

NB: After altering the value of a parameter, the dots on the display will start flashing as a warning that the
change is not permanent (i.e. the new setting will be lost when switching off).
Once drive parameter setting operations are complete, use the “SA” (SAve) menu in order to save and
thus retain the new set of parameters.

Figure 7.1.12 Details of “IP” menu

* 3.03 version or next

WARNING
The additional submenu “IP” is always available except when using an analogue signal
(when c9 = 0).

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ECO2D/ECO4D - Chapter 7 Parameters and messages - Local keypad and menus

PL “Pulse Positioner Parameters” - Pulse positioner parameter menu

This menu allows the Pulse Positioner parameters to be displayed and modified.

ENTER ENTER The figure shows the parameter editing page containing its
P L P 1 value.
You can change such value by using the [+] key that when
+ pressed increases the value previously displayed. Hold down
ENTER
key to increment parameter value in fast automatic mode. The
P 2 desired value is stored by pressing [ENTER] and you will
return to the main menu at point of departure.
+
...............................
+ Below is the list of parameters for this menu:
ENTER
Parameter Range Default
P 6 P1 Pulses/revolution (most significant part): 00-99 03
P2 Pulses/revolution (least significant part): 00-99 60
+ P3 Following error in degrees
(most significant part): 00-99 99
ENTER
P4 Following error in degrees
P 7 (least significant part): 00-99 99
+ P5 Acceleration ramp in ms per 100 RPM: 00-99 10
P6 Deceleration ramp in ms per 100 RPM: 00-99 10
P7 Maximum speed in RPM / 100 : 01-60 30

NB: Parameters P1 and P2 must be read together, the default

value therefore reads 360. Likewise, for P3 and P4 the
default value is therefore 9999.

NB: After altering the value of a parameter, the dots on the display will start flashing as a warning that the
change is not permanent (i.e. the new setting will be lost when switching off).
Once drive parameter setting operations are complete, use the “SA” (SAve) menu in order to save and
thus retain the new set of parameters.

Figure 7.1.13 Details of “PL” menu

WARNING
 The additional submenu “PL” is only applicable to drives with at least the “pulse
positioning” option.

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ECO2D/ECO4D - Chapter 7 Parameters and messages - Local keypad and menus

AP “Axis Parameters” - Electronic Gearbox Parameters Menu

This menu allows the Electronic Gearbox parameters to be displayed and modified.

ENTER ENTER The figure shows the parameter editing page containing its
A P A 1 value.
You can change such value by using the [+] key that when
+ pressed increases the value previously displayed. Hold down
ENTER
key to increment parameter value in fast automatic mode. The
A 2 desired value is stored by pressing [ENTER] and you will
return to the main menu at point of departure.
+
...............................
+ Below is the list of parameters for this menu:
ENTER
Parameter Range Default Value
A 5 A1 Master encoder reference marks hi : 00-99 20
A2 Master encoder reference marks lo: 00-99 48
+ A3 Gearbox ratio numerator: 01-99 01
ENTER A4 Gearbox ratio denominator: 01-99 01
A 6 A5 Max. following error (in degrees) hi: 00-99 99
A6 Max. following error (in degrees) lo: 00-99 99
+
NB : Parameters A1 and A2 must be read together, the default
value therefore reads 2048 pulses/revolution.
Likewise, values A5 and A6 must be read together, the
default value is therefore 9999 degrees.

NB: After altering the value of a parameter, the dots on the display will start flashing as a warning that the
change is not permanent (i.e. the new setting will be lost when switching off).
Once drive parameter setting operations are complete, use the “SA” (SAve) menu in order to save and
thus retain the new set of parameters.
Figure 7.1.14 Details of “AP” menu

WARNING
 The additional submenu “AP” is only intended for drives with “Electronic
Gearbox” option.

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ECO2D/ECO4D - Chapter 7 Parameters and messages - Local keypad and menus

Ho “Homing Parameters” - Electronic Gearbox Parameters Menu

This menu allows you to display and modify parameters relating to the way in which the homing
procedure is carried out by the options with this facility.

ENTER ENTER The figure shows the parameter editing page containing its
H o H 1 value.
You can change such value by using the [+] key that when
+ pressed increases the value previously displayed. Hold down
ENTER
key to increment parameter value in fast automatic mode. The
H 2 desired value is stored by pressing [ENTER] and you will
return to the main menu at point of departure.
+
...............................
Below is the list of parameters for this menu:
+
Parameter Range Default value
ENTER

H 8 H1 Homing method: 01-35 01

H2 Switch homing speed as %
+ of rated speed: 01-99 05
ENTER H3 Index Pulse homing speed in
H 9 thousandths of rated speed: 01-99 05
H4 Ramp-up/down time
+ (in ms/100 RPM): 00-99 10
H5 Position offset sign: 00-01 00
H6 Position offset, tens of thousands: 00-99 00
H7 Position offset, hundreds: 00-99 00
H8 Position offset, units: 00-99 00
H9 Position offset manual calibration
utility: 00-02 01

NB: After altering the value of a parameter, the dots on the display will start flashing as a warning that the
change is not permanent (i.e. the new setting will be lost when switching off).
Once drive parameter setting operations are complete, use the “SA” (SAve) menu in order to save and
thus retain the new set of parameters.
Figure 7.1.15

WARNING
 The additional submenu “Ho” is only applicable to drives with the option that
uses the position loop.

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ECO2D/ECO4D - Chapter 7 Parameters and messages - Local keypad and menus

nP “Network Parameters” - Network parameter menu

This menu allows setting of network parameters (field bus).

In order to access this menu, press [ENTER] key when “nP” appears on the display. The “n1” parameter
will be displayed.

Having selected the parameter desired, press [ENTER] key to access

ENTER ENTER editing page and display its value; use [+] key to modify such value.
n P n 1 Each time this key is pressed, the parameter value increases until
reaching the top of the range and returning to one. Hold down key to
increment in fast automatic mode. Press [ENTER] to store desired
value and return to main menu at point of departure.

Parameter Range Default Valore

n1 CAN bus Baud rate: 01-08 08

NB: After altering the value of a parameter, the dots on the display will start flashing as a warning that the
change is not permanent (i.e. the new setting will be lost when switching off).
Once drive parameter setting operations are complete, use the “SA” (SAve) menu in order to save and
thus retain the new set of parameters.

Figure 7.1.16

WARNING
 The additional submenu “nP” is only intended for Drive with “CANopen” and
“S-CAN” options.

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ECO2D/ECO4D - Chapter 7.2 Parameters and messages - Parameter details

7.2 PARAMETER DETAILS

If wishing to configure the ECO2D/ECO4D drive, it will be necessary to set all parameters essential for
its correct operation.
The parameters are classified according to the different categories detailed in the following tables and
thereafter described individually.

d1 Speed loop proportional gain, KP %

d2 Speed loop integral gain, KI %
d3 Maximum motor speed, Vmax %
d4 Speed offset adjustment %
d5 Motor maximum current %
d6 Peak current/rated current ratio %
d7 I²T Function %
d8 Motor selection Pure number
Table 7.2.1 d parameters

E1 Maximum rated speed %

E2 Input setpoint filter %
E3 Exceptions Parameter Number
*E4 Reserved Number
Table 7.2.2 E parameters

F1 Maximum acceleration ramp %

F2 Maximum deceleration ramp %
F3 Emergency ramp %
*F4 Reserved Number
Table 7.2.3 F parameters

c1 RTE output pulse selection Pure number

c2 Motor direction of rotation Pure number
c3 Control type selection (speed/torque) Pure number
c4 Resolver pole pair selection Pure number
c5 Encoder pulses/revolution selection Pure number
c6 NOT UTILISED --
c7 Network node number Pure number
c8 NOT UTILISED --
c9 Operating mode selection Pure number
Table 7.2.4 c parameters

I1 Position loop proportional gain %

I2 Position loop integral gain %
I3 Position loop derivative gain %
I4 Inertia compensation value %
I5 Positioning error timeout (in hundredths of a second). Number
*I6 Reserved Number
*I7 Reserved Number
Table 7.2.5 I parameters with “Pulse Positioning or Electronic Gearbox” option

* 3.03 version or next

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ECO2D/ECO4D - Chapter 7.2 Parameters and messages - Parameter details

*O1 Istantaneous current. Number

*O2 RMS current. Number
*O3 Overload (% di I2T) . Number
*O4 Reserved Number
Tabella 7.2.6 O Parameters

P1 Drive shaft pulses/revolution (most significant part) Number

P2 Drive shaft pulses/revolution (least significant part) Number
P3 Maximum following error (degrees) (most significant part) Number
P4 Maximum following error (degrees) (least significant part) Number
P5 Ramp-up time (in ms/100 RPM) Number
P6 Ramp-down time (in ms/100 RPM) Number
P7 Maximum speed (in RPM/100) Number
Table 7.2.7 P parameters with “Pulse Positioning” option

A1 Master Encoder reference marks hi (most significant part). Number

A2 Master Encoder reference marks lo (least significant part). Number
A3 Gear ratio numerator. Number
A4 Gear ratio denominator. Number
A5 Maximum following error (in degrees) hi (most significant part). Degrees
A6 Maximum following error (in degrees) lo (least significant part). Degrees
Table 7.2.8 A parameters with “Electronic Gearbox” option

H1 Homing method. Pure number

H2 Switch homing speed as % of rated speed. %
H3 Index Pulse homing speed in thousandths of rated speed. %
H4 Ramp-up/down time (in ms/100 RPM). Number
H5 Position offset sign. Number
H6 Master Encoder position offset in pulses (hi), tens of thousands. Number
H7 Master Encoder position offset in pulses (mid), hundreds. Number
H8 Master Encoder position offset in pulses (lo), units. Number
H9 Position offset manual calibration utility. Number
Table 7.2.9 H (Homing) parameters with “Electronic Gearbox” option

n1 CANbus Baud rate. Pure number

Table 7.2.10 n parameters with “CANopen”, “S-CAN” options

* 3.03 version or next

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ECO2D/ECO4D - Chapter 7.2 Parameters and messages - Parameter details

d PARAMETERS

NOTE
The value of “d5” is of no importance if the EXTREF torque-limitation hardware
input is used.
For correct system management, it is essential that load moment of inertia is
never greater than ten times rotary moment of inertia, even when using
moderate accel/decel values.

d1 Speed loop proportional gain: KP %

(01-99): 01 = load moment of inertia zero = no-load motor (20 = default value);
50 = load moment of inertia 2.5 times rotary moment of inertia;
99 = load moment of inertia 5 times rotary moment of inertia.
An appropriate value should be selected as a function of load moment of inertia in order to
allow correct setting of motor speed.

d2 Speed loop integral gain: KI %

(01-99): 01 = three times less than nominal gain (50 = default value);
50 = nominal gain;
99 = three times greater than nominal gain.
In 80% of applications, integral gain is perfectly sized if set to its nominal value.
Should load moment of inertia be more than 5 times the rotary one, proportional reduction of
its value is advisable. On the other hand, increase to a suitable value if noting frequent
variations of resistance torque during machine cycle.

d3 Fine tuning of full scale speed %

Fine adjustment (max. +/-12.5%) of motor Full Scale Speed The nominal full scale motor
speed is prescribed in the motor Table. See MOTOR TABLE in Annex B

Full scale speed = nominal full scale speed * E1/99

Parameter d3 allows additional fine tuning of full scale speed

(01-99): 01 = -12.5% of full scale speed

50 = Full scale speed (50 = default value);
99 = +12.5% of full scale speed

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ECO2D/ECO4D - Chapter 7.2 Parameters and messages - Parameter details

d4 Speed offset adjustment %

(01-99): 01 = 0.4 % correction of rated speed in clockwise direction;

50 = zero offset (50 = default value);
99 = 0.4 % correction of rated speed in anticlockwise direction.
Offset adjustment of speed setpoint delivered to the drive.
Motor direction of rotation is intended with the drive shaft facing the observer.

d5 Motor maximum current: Imax %

(01-99): 99 = zero limitation ⇒ maximum rated current (99 = default value);

01 = maximum limitation ⇒ zero rated current.
Maximum rated current deliverable to motor is intended as Rated I indicated in the motor
tables.
The value of the parameter is of no importance if the EXTREF torque-limitation hardware
input is used.
Parameter dependent on type of motor and automatically set to its rated value.
It is automatically modified if the type of motor is changed (parameter “d8”).

d6 Peak current/rated current ratio %

(01-99): Percentage ratio between currents (99 = default value).

The parameter modifies the peak I value in accordance with the ratio indicated without
affecting the rated current value set by “d5”.
The range of the ratio is not always constant but varies according to motor selected and
maximum peak I deliverable by the drive utilised.
Parameter dependent on type of motor and automatically set to its rated value when “d8” is
set.

d7 I²T function %

(00-99): 99 = 1 second at peak I;

00 = 5 seconds at peak I (00 = default value).
The I²T function allows the motor to be supplied with higher than rated current for a limted
period in order to ensure compliance with motor heat dissipation parameters. If the motor
work cycle is not compatible with its thermal model, in order to protect the motor the I2T
function lowers the peak current limit to its rated current. See OP menu, variable O3

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ECO2D/ECO4D - Chapter 7.2 Parameters and messages - Parameter details

d8 Motor selection Pure number

(00-60): (00 = default value).

Please see motor tables to establish parameter value required to select motor the drive is to
control.

WARNING
 Do not set values for parameter “d8” different to those shown in the
motor tables of Annex B.
 In order to activate the choice of a new motor, the drive should be
switched off and back on again after selecting the motor.

E PARAMETERS

E1 Maximum rated speed: V1 %

The speed at which the motor must rotate with maximum speed setpoint of (e.g. 10 V for
analogue setpoint).
Obviously the maximum speed cannot exceed the nominal full scale speed that will clearly
depend on the type of motor.

(01-99): 01 = 1 % Nominal full scale speed

50 = 50 % Nominal full scale speed
99 = 100 % Nominal full scale speed (99 = default value).

E2 Input setpoint filter %

Low-pass filter on the speed setpoint (REF\, REF or digital setpoint).

(01-99): 1 ⇒ ƒt = 4 Hz;
50⇒ ƒt = 75 Hz (50 = default value);
99⇒ ƒt = 150 Hz; with ƒt = passband cutoff frequency.

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ECO2D/ECO4D - Chapter 7.2 Parameters and messages - Parameter details

E3 Exceptions Parameter Number

Exceptions parameter
(00 ÷ 09): 00 = default value
E3 = 01 ⇒ modifies input setpoint filter scale:
with E3 = 1, by changing the value of parameter “E2”, the setpoint filter
passband ranges between 0.08 and 8 Hz.

E3 = 02 ⇒ temporary positioning stop:

normally, if the IEN signal is switched off during positioning, the axis will
stop by using an emergency ramp.
By restoring the IEN signal, the axis remains under locked rotor condition.
With E3 = 2 in trapezoidal positioner mode, if during positioning the IEN
signal is switched off, the axis will still stop using the ramp, but once the
IEN signal is restored, the interrupted positioning manoeuvre will be
completed.

*E3 = 03 ⇒ control TEN IEN:

Control TEN IEN hardware only so incremental position maintained
by S_net.

*E3 = 04 ⇒ Reserved

*E3 = 05 ⇒ Reserved

*E3 = 06 ⇒ Reserved

*E3 = 07 ⇒ Reserved

*E3 = 08 ⇒ Reserved

*E3 = 09 ⇒ Change mapping for compatibility with Siemens PLC

MODBUS RTU mode

*E4 CUSTOM Number

* 3.03 version or next

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ECO2D/ECO4D - Chapter 7.2 Parameters and messages - Parameter details

F PARAMETERS

F1 Maximum acceleration ramp %

Time required to take motor from zero speed to rated speed.

(00-99): 00 = no ramp (00 = default value);
50 = 1.5 seconds;
99 = 3 seconds.

F2 Maximum deceleration ramp %

Time required to take motor from rated speed to zero speed.

(00-99): 0 = no ramp (00 = default value);
50 = 1.5 seconds;
99 = 3 seconds.

F3 Emergency ramp %

Value of deceleration ramp when disabling IEN (to be used where necessary as an
emergency stop) or identifying certain internal alarms that allow the Drive to lock the axis
(alarms 2, 5, 6, 10, 13).
(00-99): 0 = no ramp (00 = default value);
50 = 1.5 seconds;
99 = 3 seconds.

*F4 CUSTOM Number

* 3.03 version or next

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ECO2D/ECO4D - Chapter 7.2 Parameters and messages - Parameter details

c PARAMETERS

c1 RTE pulse selection --

When purchasing the drive with option 09FRRTEN (resolver to encoder pulse board with
automatic gain) you can select the simulated encoder output pulses digitally using this
parameter.

C1 = 1 -> 1024 pulses/electric revolution, 12-bit resolution (default)

C1 = 2 -> 512 pulses/electric revolution, 12-bit resolution
C1 = 3 -> 256 pulses/electric revolution, 10-bit resolution
C1 = 4 -> 128 pulses/electric revolution, 10-bit resolution

The number of pulses/mechanical revolution is calculated by multiplying pulses/electric

revolution by the number of resolver pole pairs (1 pole pair = 2 poles).

Values 1 and 2 can only be used if motor mechanical speed multiplied by number of
resolver poles is less than 20000 rpm.

Table 6.10 shows the number of mechanical pulses applicable to the resolvers commonly
used on Selema motors.

Table 6.10 Selecting simulated encoder output pulse resolution

Pulses/electric Pulses/mechanical revolution as a function of resolver pole pairs
C1 revolution
Parameter 1 pole pair 2 pole pairs 3 pole pairs 4 pole pairs
(2 poles) (4 poles) (6 poles) (8 poles)
1 1024 1024 2048 3096 4096
Max 6000 rpm Max 6000 rpm Max 4500 rpm Max 3000 rpm
2 512 512 1024 1536 2048
Max 6000 rpm Max 6000 rpm Max 4500 rpm Max 3000 rpm
3 256 256 512 768 1024
Max 6000 rpm Max 6000 rpm Max 6000 rpm Max 6000 rpm
4 128 128 256 384 512
Max 6000 rpm Max 6000 rpm Max 6000 rpm Max 6000 rpm

c2 Motor direction of rotation Pure number

(00-01): 00 = Clockwise (00 = default value);

01 = Anticlockwise (reversed).
The direction of rotation is intended as being whilst looking at the drive shaft.

c3 Control type selection Pure number

(00-01): 00 = Speed control (00 = default value);

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ECO2D/ECO4D - Chapter 7.2 Parameters and messages - Parameter details

01 = Torque control.

c4 Resolver pole pair selection “c6” = 0 Pure number

(0-8): 00 = Resolver pole pairs are set out in the MOTOR TABLE and strictly linked to
the respective “d8” selected
(00 = default value);

WARNING Parameter c4
 Do not alter. To be used only under special circumstances.
 Usually the resolver pole pairs are specified in the MOTOR table that
the drive uses when switching on (d8 parameter)

01 = 1 Pole pair;
.....................................
08 = 8 pole pairs.

Encoder pulses/revolution selection (when using Encoder instead of Pure number

c5 Resolver) “c6”=0

This parameter setting is dependent on the encoder fitted to the motor.

(00-09): 00 = 4096 pulses/revolution;
01 = 2048 pulses/revolution (01 = default value);
02 = 1024 pulses/revolution;
03 = 512 pulses/revolution;
04 = 4000 pulses/revolution;
05 = 2000 pulses/revolution;
06 = 1000 pulses/revolution;
07 = 500 pulses/revolution.
08, 09 = torque motors (see “Torque Motors - Technical Manual”)

WARNING Parameter c5
 Verify that the value of c5 is equal to that shown in the Notes section
on the table used for the motor selection (parameter d8). Example
Motor table A046 for Drive 09ECO2D0410 d8=43 c5=01
 This parameter is set by the Selema S.r.l. production department when
fitting the Encoder to the motor.

c6 Sensor type selection --

In addition to incremental encoders and resolvers, the drive can also handle absolute
encoders.
The type of position sensor is selected using this c6 parameter. In order to maintain
parameter compatibility with previous firmware releases, you must keep c6 = 0 (default c6 =
0). For further details, please refer to the publication “ABSOLUTE ENCODERS”.

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ECO2D/ECO4D - Chapter 7.2 Parameters and messages - Parameter details

c6 = 1: resolver
c6 = 2: incremental encoder
c6 = 3: linear absolute encoder
c6 = 4: rotary absolute encoder
*c6 = 5: rotary absolute encoder BISS

Warning c6 is only read when switching on the drive.

c7 Network node number Pure number

(01-99): (01 = default value).

This value indicates the address to be associated to the network-connected drive

WARNING
This parameter is only read when switching on the drive.
Therefore, all changes (subject obviously to being saved in non-volatile
memory) will only take effect the next time you switch on.

c8 NOT UTILISED --

Parameter not utilised, RESERVED

c9 Operating mode selection Pure number

Operating mode selection (analogue or positioning input)

(00-09): 00 = Analogue input, the speed or torque setpoint is acquired by REF and
REF\ inputs. (00 = default value).

01 = Pulse Positioning input, if this option is included.

02 = Electronic Gearbox input, if this option is included.

03 = MODBUS & S-NET network, if this option is included.

04 = S-CAN network, if this option is included.

05 = CANopen network, if this option is included.

.
06= Electronic CAM, if this option is included.

07 = SAP (Stand Alone Positioner) if this option is included.

*08 = MSQ

*09 = CUSTOM

* versione software 3.03 o successiva

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ECO2D/ECO4D - Chapter 7.2 Parameters and messages - Parameter details

I PARAMETERS

This menu is present in all options where the position loop is used, therefore electronic gearbox, SAP,
electronic CAM, field networks, pulse positioner, etc., and allows you to modify some of the Drive
positioner section parameters.
I1 Position loop proportional gain %

This parameter sets the proportional section of positioner PID control loop.
(01-99): 01 = bottom of scale (20 = default value);
99 = top of scale.
I2 Position loop integral gain %

This parameter sets the integral section of positioner PID control loop.
(00-99): 00 = bottom of scale (10 = default value);
99 = top of scale.
I3 Position loop derivative gain %

This parameter sets the derivative section of positioner PID control loop.
(00-99): 00 = bottom of scale (00 = default value);
99 = top of scale.
I4 Inertia compensation value, Feed %

System delay compensation parameter dependent on load inertia.

In order to minimise following error, keep this parameter at low values for low-inertia
systems and high values for high-inertia systems.
(00-99): 00 = for low-inertia systems (00 = default value);
99 = for high-inertia systems.
I5 Positioning error timeout Number

This parameter indicates the time (expressed in hundredths of a second) beyond which the
positioner will trigger an alarm if the demand position differs from measured position by an
amount exceeding that specified by the parameter defining maximum following error. This
takes place if a physical obstruction is encountered during movement or the system is not of
suitable size for the dynamic performance requested (acceleration, deceleration, speed).
(01-99): 01 = 10 ms (20 = default value);
99 = 990 ms.

*I6 Reserved Number

*I7 Reserved Number

* 3.03 version or next

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ECO2D/ECO4D - Chapter 7.2 Parameters and messages - Parameter details

P PARAMETERS

This menu is only available with the “Pulse positioner” option and contains the parameters of the pulse
positioning command.

P1 Drive shaft pulses/revolution (least significant part) Number

This parameter indicates the number of pulses required to make the drive shaft complete a
mechanical revolution. The number of pulses/revolution is given by: P1 × 100 + P2 (pulses).
(00-99): (03 = default value).

P2 Drive shaft pulses/revolution (least significant part) Number

This parameter indicates the number of pulses required to make the drive shaft complete a
mechanical revolution. The number of pulses/revolution is given by: P1 × 100 + P2 (pulses).
(00-99): (60 = default value).

P3 Maximum following error (most significant part) Number

Maximum acceptable variance (expressed in degrees) between demand position and

measured position. The maximum allowable error is given by: P3 × 100 + P4 (degrees).
(00-99): (99 = default value).

P4 Maximum following error (least significant part) Numero

Maximum acceptable variance (expressed in degrees) between demand position and

measured position. The maximum allowable error is given by: P3 × 100 + P4 (degrees).
(00-99): (99 = default value).

NOTE: Following error

If the following error exceeds the maximum allowable value for a longer time than the
setting of parameter I5 (following error time-out), it will trigger the “following error”
alarm: AL 16.

P5 Acceleration ramp Number

Acceleration ramp expressed in ms per 100 RPM of increase. If set to 10, it means that the
motor will increase its speed by 100 RPM every 10 ms. 100 ms will be necessary in order to
take the motor from 0 to 1000 RPM.
(00-99): 00 = minimum ramp (maximum acceleration), (10 = default value).
99 = 99 ms per 100 RPM of increase (minimum acceleration).

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ECO2D/ECO4D - Chapter 7.2 Parameters and messages - Parameter details

P6 Deceleration ramp Number

Deceleration ramp expressed in ms per 100 RPM of decrease. If set to 10, it means that the
motor will decrease its demand speed by 100 RPM every 10 ms. 100 ms will be necessary in
order to stop a motor that is running at 1000 RPM.
(00-99): 00 = minimum ramp (maximum deceleration), (10 = default value).
99 = 99 ms per 100 RPM of decrease (minimum deceleration).

P7 Maximum velocity Number

Maximum speed expressed in RPM/100. Set parameter to 30 in order to have a maximum

speed of 3000 RPM.
(01-60): 01 = 100 RPM (30 = default value).
60 = 6000 RPM.

A PARAMETERS

This menu is only available with the “Electronic Gearbox” option and contains the Master Encoder
parameters for Electronic Gearbox function “c9=2”.

A1 Master Encoder reference marks hi (most significant part) Number

“This parameter indicates the most significant part of the figure supplied by the Master
Encoder manufacturer, usually expressed as "pulses per revolution”.
The number of pulses/revolution is given by: A1 × 100 + A2.
(00-99): 20 = default value.

A2 Master Encoder reference marks lo (least significant part) Number

This parameter indicates the least significant part of the figure supplied by the Master
Encoder manufacturer, usually expressed as “pulses per revolution”.
The number of pulses/revolution is given by: A1 × 100 + A2.

(00-99): 48 = default value.

A3 Gear ratio numerator Number

This parameter indicates the gear ratio numerator

(01-99): 01 = default value.

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ECO2D/ECO4D - Chapter 7.2 Parameters and messages - Parameter details

A4 Gear ratio denominator Number

This parameter indicates the gear ratio denominator

(01-99): 01 = default value.

NOTE: Gear Ratio

The Gear Ratio represents the simulation of a mechanical gearbox and will also work with
fractional gear ratios. The slave motor, i.e. the one controlled by the drive, runs at a speed
given by the following formula:
Slave Speed = Master Speed × [A3/A4].
For example, by setting A3 = 3 and A4 = 5, the slave runs slower than the Master,
simulating a gearbox with ratio of 5:3.

A5 Maximum following error hi (most significant part) Degrees

Following error limit, represents the maximum acceptable variance (expressed in degrees)
between demand position and measured position of the slave drive shaft. The maximum
allowable error is given by: A5 × 100 + A6 (degrees).
(00-99): 99 = default value.

A6 Maximum following error lo (least significant part) Degrees

Following error limit, represents the maximum acceptable variance (expressed in degrees)
between demand position and measured position of the slave drive shaft. The maximum
allowable error is given by: A5 × 100 + A6 (degrees).
(00-99): 99 = valore di default.

NOTE: Following error

If the following error exceeds the maximum allowable value for a longer time than the
setting of parameter I5 (following error time-out), it will trigger the “following error”
alarm: AL 16.

* oP PARAMETETYERS

*O1 Instantaneous current %

instantaneous current, as a percentage of starting current

*O2 RMS current Number

RMS current, rated value 50, 10 second filtering

*O3 IIT Number

Percentuale sovraccarico, a 99 interviene iit

*O4 Reserved Number

* 3.03 version or next

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ECO2D/ECO4D - Chapter 7.2 Parameters and messages - Parameter details

H (HOMING) PARAMETERS

This menu is only available with the “Electronic Gearbox” option (“c9=2”) and contains the homing
parameters. On the other hand, homing operating modes are the same for all options that offer this
procedure (Electronic CAM, SAP and field networks in general). Homing menu parameters for the more
complex options can only be set by the Drive Watcher programme or the respective field networks. The
homing method description contained herein is the same for all procedures, however some parameters
for the more complex options are not described and you should consult the documentation for any
specific mechatronic function required.

Homing methods
This section describes the various methods by which the drive seeks the axis zero point (home position).
You can use two limit switches placed at the limits of travel or a home switch located anywhere along the
travel route. Having located the switch, some methods seek the encoder index pulse train (marker) in
order to obtain greater accuracy.
The user may specify both homing speed and acceleration, bearing in mind that the method uses a faster
speed when seeking the home switch and a slower speed if used to find the index pulse.
It is also possible to set a position offset: in this case, upon completion of the standard procedure, the
position is not reset but assigned the –offset value (offset with reverse sign). In addition, by forcing bit 7
of Register 18 homing_method to 1 after completing the standard homing operation, instead of stopping,
the axis continues to travel for a distance equal to the offset specified in Register 19 home_offset, thus
moving to the application’s zero position. Having reached the zero position, the axis is locked.
In order to ensure greater accuracy, the speed at which homing to the encoder marker is performed is
lower than that of homing to the home switch. Should there be an offset and movement to the application
zero position is required, such movement is carried out at index pulse homing speed.

The following conventions are adopted:

• the far left of the axis defines the lower position and therefore the left limit switch is the negative
one
• the far right of the axis defines the upper position and therefore the right limit switch is the
positive one
• Index pulse, marker and zero pulse are conventional ways of describing the same thing. i.e a pulse
that becomes active in a precise mechanical position of the motor shaft. In a motor with encoder,
it becomes active once per mechanical revolution, in a motor with resolver it becomes active at
each passing of the resolver pole pair. In a motor with resolver and one pole pair (2 poles) there
is a single pulse with 2 pole pairs (4 poles) there are two pulses, etc.
• In the drawings below, the dotted line shows the point where, by convention, the index pulse
becomes active.

When selecting the method, you must specify the homing signal used (limit switch or home switch), a
suitable direction of implementation and whether or not the index pulse is used.

The modes employed are those provided for CANopen Device Profile DSP 402. The modes employed are
numbers 1, 2, 3, 4, 5, 6, 17, 18, 19, 20, 21, 22, 33, 34, 35.

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ECO2D/ECO4D - Chapter 7.2 Parameters and messages - Parameter details

Method 1: homing on negative limit switch

The axis moves left until the negative limit switch is triggered. The direction of motion then changes and
the position is reset at the first index pulse detected.

1
Index Pulse

Negative Limit Switch

Figure - method 1: Homing on Negative Limit Switch

Method 2: homing on positive limit switch

The axis moves right until the positive limit switch is triggered. The direction of motion then changes and
the position is reset at the first index pulse detected.

2
Index Pulse

Positive Limit Switch

Figure - method 2: Homing on Positive Limit Switch

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ECO2D/ECO4D - Chapter 7.2 Parameters and messages - Parameter details

Methods 3 and 4: homing on positive home switch

With these methods the direction of movement depends on the status of the home switch at the start of the
homing procedure. Zero position coincides with the first index pulse immediately to the right or left of the
point at which the home switch state changes.
In method number 3, if the switch is initially set low, the axis moves right and, when the switch changes
state, there is a reversal of direction and the first index pulse is sought; if the switch is initially set high,
the axis moves left and, when the switch changes state, the first index pulse is sought without changing
direction.
Method 4 is the opposite to method 3: if the switch is initially set low, movement is rightwards and the
first index pulse after the switch changes state is sought without reversal of direction; if the switch is
initially set high, movement is leftwards and when the switch changes state, there is a reversal of direction
and the first index pulse is sought.

3
3

4
Index Pulse

Home Switch

Figure - methods 3 and 4: Homing on Positive Limit Switch and Index Pulse.

Methods 5 and 6: homing on negative home switch

These two methods are identical to methods 3 and 4, but the manner in which operations are performed is
essentially a mirror image. The figure shows the main characteristics.

6
Index Pulse

Home Switch

Figure - methods 5 and 6: Homing on Negative Limit Switch and Index Pulse.

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ECO2D/ECO4D - Chapter 7.2 Parameters and messages - Parameter details

Methods 17 to 22: homing without an index pulse

These are similar to methods 1 to 6, but there is no index pulse homing. Basically, position reset occurs as
the limit switch (methods 17 and 18) or home switch (methods 18 to 22) changes state.

Methods 33 and 34: homing on the index pulse

Homing begins by moving the axis from the current position leftwards for method 33 and rightwards for
method 34. The position is reset after finding the first index pulse.

33

34

Index Pulse

Figure - methods 33 and 34: Index Pulse homing

Method 35: homing on the current position

With this method the current position of the axis is considered the zero position.

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ECO2D/ECO4D - Chapter 7.2 Parameters and messages - Parameter details

H1 Homing method Number

This parameter defines the method that the Drive uses to carry out homing.

(01-35): 01 = default value.

H2 Switch homing speed as % of rated speed %

This parameter defines the speed employed for switch homing.

The value is expressed as a % of rated speed.
(01-99): 05 = default value.

H3 Index Pulse homing speed in thousandths of rated speed %

This parameter defines the speed employed for index pulse homing.
The value is expressed in thousandths of rated speed.
(01-99): 05 = default value.

H4 Ramp-up/down time (in ms/100 RPM) Number

The parameter defines the acceleration/deceleration ramps used during homing. The value is
expressed in ms per 100 RPM of speed change.
(00-99): 10 = default value.
If set to 10, it means that the motor will increase its speed by 100 RPM
every 10 ms. A speed change of 1000 RPM is therefore performed in 100
ms.

H5 Position offset sign Number

This parameter defines the position offset sign.

(00-01): 00 = positive position offset sign (00 = default value).
01 = negative position offset sign.

H6 Master Encoder position offset in pulses (hi), tens of thousands. Number

Master Encoder position offset in pulses (hi), the parameter defines the position offset tens of
thousands.
(00-99): 00 = default value.
Master Encoder position offset is expressed in pulses and given by:
10000 * H6 + 100 * H7 + H8.

H7 Master Encoder position offset in pulses (mid), hundreds. Number

Master Encoder position offset in pulses (mid), the parameter defines the position offset
hundreds.
(0-99): 00 = default value.
Master Encoder position offset is expressed in pulses and given by:
10000 * H6 + 100 * H7 + H8.

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ECO2D/ECO4D - Chapter 7.2 Parameters and messages - Parameter details

H8 Master Encoder position offset in pulses (lo), units. Number

Master Encoder position offset in pulses (lo), the parameter defines the position offset units.
(00-99): 00 = default value.
Master Encoder position offset is expressed in pulses and given by:
10000 * H6 + 100 * H7 + H8.

H9 Position offset manual calibration utility Number

Utility that allows manual calibration of position offset to be performed.

(00-02): 01 = default value (01 = default value).

00 = By setting value zero, the position offset is set to zero.
Having completed the operation, the parameter is reset to 01.
02 = By setting value 02, the position offset is set to the current value
of the position.
Having completed the operation, the parameter is reset to 01.

The procedure for manual calibration of position offset is therefore based on the following
points:
1) set parameter “H9” to 00;
2) perform homing (by activating the 'Homing' I/O line);
3) manually move the axis to the position set as machine zero. This operation can be carried
out in at least two ways:
− free the axis ('TEN' signal disabled) and then move it manually,
− place the drive under speed control by enabling the 'MODE' signal (pin 4 of CN2) and
control the axis using the REF and REF\ analogue input;
4) set parameter “H9” to 02;
5) in order to make the calibration permanent, it is obviously necessary to save the
parameters.
Every time that homing is performed, the axis will move to the position set as machine zero

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n PARAMETERS

This menu is only available with the “CANopen” and “S-CAN” options.

n1 CANbus Baud rate Number

The Baud rate parameter is coded as follows:

Parameter value: 1 2 3 4 5 6 7 8

Baud rate (kBaud): 10 20 50 125 250 500 800 1000

This parameter is only read when switching on the drive.

Therefore, all changes (subject obviously to being saved in non-volatile memory) will only
take effect the next time you switch on.

(01-08): 08 = default value.

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ECO2D/ECO4D - Chapter 8: Diagnostics and alarms

8 DIAGNOSTICS AND ALARMS

The Drive signals its operating status on the display and using a feedback contact called OK (CN2
connector). Provided there are no abnormal operating conditions, the OK signal is enabled and
“STATUS” is shown on the display. If an alarm has been triggered, its number will appear on the display.
Drive STATUS
“In” (Initialisation), appears for a few seconds when switching on the Drive

“UL” (Under Level) only when switching on the Drive and after “In” status
Input conditions: 1. L1, L2, L3 NOT energised.
2. TEN disabled
3. IEN of no importance
OK signal: On
Motor Conditions: Shaft Free

"Fr" (Free)
Input conditions: 1. L1, L2, L3 energised.
2. TEN disabled
3. IEN of no importance
OK signal: On
Motor Conditions: Shaft Free

"Lo" (Lock)
Input conditions: 1. L1, L2, L3 energised.
2. TEN enabled
3. IEN disabled
OK signal: On
Motor Conditions: Shaft locked, motor in locked rotor condition. The Drive supplies the motor
with torque, but maintains position regardless of setpoint.

"En" (Enable)
Input conditions: 1. L1, L2, L3 energised.
2. TEN enabled
3. IEN enabled
OK signal: On
Motor Conditions: Drive shaft moves in accordance with setpoint (analogue or digital depending
on the setting of C9).

8.1 ALARMS

The Drive continually monitors its own operating status and when an abnormal situation arises, the
corresponding alarm code appears on the display, the DRIVE OK signal is disabled and the motor is
disabled in various ways depending on the type of alarm.
“AL” and the respective alarm code will flash alternately on the display in order to indicate an alarm.

The drive can store sequences of up to 4 alarms, so the alarm buffer menu allows you to view the last four
alarms that have been triggered since the drive was switched on.
In order to access this menu, press [ENTER] key when “Ab” appears on the display. The last alarm
detected will appear. Continue pressing [+] in order to carry out complete scanning of the most recent
alarms (in chronological order).
Having reached the final alarm, press [+] again in order to return to the main menu in “Ab”.

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ECO2D/ECO4D - Chapter 8: Diagnostics and alarms

ENTER Press [ENTER] when “Ab” appears on the

A b A L n. all. display in order to view the latest alarms
triggered since switch-on.
+ “AL” will flash on the screen followed by
corresponding alarm code, e.g. “AL” “15”.
A L n. all.
Press [+] and [ENTER] to cancel all alarms
+ ENTER stored in the buffer to date.
+
If no alarms are present, the display will show
A L n. all.
code n. all. = 0 0
+

A L n. all.

NOTE:
+ n. all. = alarm number or code (see table 7.1).

Figure 8.1.1 Viewing alarms on keypad

The following table provides a list of possible alarms with respective codes, and details the resultant
action taken by the drive.

Table 7.1a Alarm details

Code Description Drive action
AL 01 Overcurrent, temperature rise or short circuit in Immediately frees axis.
the IGBT.
AL 02 Motor thermistor.
Brakes with set emergency ramp and
frees axis.
AL 03 Motor overcurrent. Immediately frees axis.
AL 04 DC bus overvoltage. Immediately frees axis.

AL 05 Undervoltage
Brakes with set emergency ramp and
frees axis.

Table 8.1.1 Alarm details

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ECO2D/ECO4D - Chapter 8: Diagnostics and alarms

AL 06 Drive thermistor.
Brakes with set emergency ramp and
frees axis.
AL 07 DSP Processor Fault. -
AL 08 Resolver or Encoder Alarm. Immediately frees axis.
AL 09 Flash Memory Alarm
Immediately frees axis.
AL 10 No reset of braking resistor Brakes with set emergency ramp and
frees axis.
AL 11 Network communication error Brakes with set emergency ramp and
(CANopen or S-CAN only). frees axis.
AL 12 Homing operation error
Immediately frees axis.
(options that utilise homing only).
AL 13 CAN communication error
Brakes with set emergency ramp and
(options that utilise S-CAN or CANopen only).
frees axis.
AL 14 Homing procedure not properly completed
(Positioner, Electronic Gearbox or network Immediately frees axis.
options only).
AL 15 Overflow Alarm (options that utilise positioner
only) Immediately frees axis.

AL 16 Following error (options that utilise positioner Immediately frees axis.

only)

AL 20 LS1 alarm (with special software only) Brakes with emergency ramp and only
allows movement in the opposite
direction
AL 21 LS2 alarm (with special software only) Brakes with emergency ramp and only
allows movement in the opposite
direction
AL 22 Machine alignment absolute encoder Immediately frees axis
(options that support absolute encoder only)
AL 23 Machine alignment absolute encoder Immediately frees axis
(options that support absolute encoder only)
AL 24 Machine alignment absolute encoder Immediately frees axis
(options that support absolute encoder only)
AL 25 Machine alignment absolute encoder Immediately frees axis
(options that support absolute encoder only)
AL 26 Unauthorised operating mode alarm Immediately frees axis

Table 8.1.2 Alarm details

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ECO2D/ECO4D - Chapter 8: Diagnostics and alarms

ALARM RESET

Once the cause of the malfunction has been removed, the alarm condition can be reset in two different
ways:

1. turn the drive off and on again;

For alarms caused by wrong parameter settings, etc., simply

2. disable and re-enable TEN signal.

Please refer to the following paragraph “Troubleshooting” for full details regarding the possible reasons
behind the alarm being triggered.

8.2 TROUBLESHOOTING

This paragraph examines several possible reasons for drive operational faults (signalled by a flashing
alarm code) and offers some suggestions as to how to remove the cause of the malfunction.
ALARM 01: Overcurrent, temperature rise or short circuit in the IGBT.
IGBT hardware protection has been triggered, indicating temperature rise or short
circuit or abnormally high current in the power stages.
• Disconnect power supply and check that phases U, V, W have not shorted each
other or caused earth signal short or leakage. If so, check wiring for possible cause.

ALARM 02: Motor thermistor.

Motor temperature rise, motor PTC thermistor triggered.
• In case of initial switch-on, check that motor thermistor wiring is correct.
• If not the case, check that motor temperature is close to 120°C. If motor
temperature is undoubtedly lower, check the presence of +24 V dc on the TMOT
terminal (pin 26 of CN4).

ALARM 03: Motor overcurrent.

• Ensure that motor selected is that actually utilised (check parameter “d8” in the
motor tables.
• Check that the wiring of motor and resolver cables corresponds to that indicated in
the diagrams of the “WIRING DIAGRAMS” paragraph; check the correct
alignment of the Resolver or Encoder.
• Check the absence of strong sources of impulse noise in the immediate vicinity of
the cables and/or product (e.g. relays, contactors, solenoid valves, etc.).
• Check that power cables are suitably isolated from signal cables (especially the
resolver cable).

ALARM 04: DC bus overvoltage.

• Check that wiring and size of power supply circuit conform to the requirements of
chapter 5 and that voltage is within allowed tolerances, i.e. inside the range
indicated in paragraph 3.1.

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ECO2D/ECO4D - Chapter 8: Diagnostics and alarms

• In case of alarm during duty cycle, check whether braking resistor is connected
(motor could be in regenerative phase with braking resistor disconnected).
• If condition persists then problem is due to fact that load inertia is greater than the
drive’s braking capacity. Recalculate the kinetic energy to be dissipated and choose
a more suitable braking module. If the problem persists, please contact Selema
Customer Services customercare@selema-srl.it.
ALARM 05: Undervoltage; supply voltage insufficient or below prescribed minimum.
• Check that wiring and size of power supply circuit conform to the requirements of
chapter 5 and that supply voltage falls within rated values (chapter 3).
• Should alarm be triggered during duty cycle, ensure that transformer size is correct.
ALARM 06: Drive thermal resistor; heat sink temperature rise.
• Ensure that the instructions regarding mechanical installation have been followed
to the letter (see chapter 4).

ALARM 07: DSP Processor Fault.

The alarm highlights an excessive level of on-line disturbance, resulting in failure of
processor hardware.
• Carefully check that wiring and electrical specifications meet the requirements of
chapter 5, especially as regards earthing, screening and noise filters.
ALARM 08: Resolver or encoder alarm; resolver (encoder) incorrectly connected.
• Ensure resolver (encoder) cable has been correctly wired.
ALARM 09: Flash Memory Alarm: Flash Memory contains incongruent data.
• Switch Drive off and back on and repeat storage operations.
If the problem persists, please contact Selema Customer Services
customercare@selema-srl.it.
ALARM 10: No reset of braking resistor: operate time exceeds 10 sec.
• If this alarm is triggered it means that system kinetic energy is too large to be
dissipated by the drive or supply voltage exceeds rating plate data, thus the braking
resistor remains permanently ON. Warning DO NOT reset the alarm before
verifying supply voltage, failing which damage may be caused to the braking
resistor.
ALARM 13: Network communication error alarm
(with Field Network options only).
• Check field network connections and respective parameters (nodes, etc.).
ALARM 14: Homing error alarm
Homing procedure non completed.
• Check for possible mechanical problems or errors in the Homing parameters.
• The acceleration or deceleration or speed set is incompatible with system
dynamics, check the respective configuration parameters.

ALARM 15: Positioning system overflow error alarm

The system uses 32-bit variables to represent positions. Should an individual
command call for excessive linear displacement (around 40 minutes with the axis at
3000 RPM), there is a risk of causing overflow in internal counting operations.

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ALARM 16: Following Error Alarm

This alarm is triggered when the demand position of the movement differs from the
measured position by an amount exceeding the maximum allowed following error
(e.g. parameters “P3” and “P4” of PL menu or “A5” and “A6” of AP menu) for a time
exceeding that indicated in the relevant parameter (e.g. “I5” of IP menu).
• Check for possible mechanical problems or errors in the above-mentioned
parameters.
• The acceleration or deceleration set is incompatible with system dynamics.
ALARM 20: LS1 signal enabled
ALARM 21: LS2 signal enabled
ALARM 22: Axis absolute position write procedure not implemented
ALARM 23: Electric field alignment procedure not implemented
ALARM 24: No serial communication with encoder
ALARM 25: Error of absolute position read by serial interface due to excessive axis movement
during switch-on
ALARM 26: This alarm advises that the mode selected is not compatible with the options
configured in the drive

Details now follow of other anomalous operating conditions and their possible solutions.

1. The motor turns over jerkily or vibrates excessively.

1a) Check that motor and resolver cable wiring corresponds to that indicated in the “WIRING
DIAGRAMS” of paragraph 6.2, screening included.
1b) Check that motor parameters have been programmed correctly.

2. Motor remains in torque but does not follow analogue speed setpoint.

2a) Check that IEN signal has been enabled.

2b) Check the presence of the actual speed setpoint desired across terminals REF and REF\ of
CN1.

3. Motor follows the analogue speed setpoint irregularly.

3a) Check that speed setpoint reference earth is connected to 0V terminal (pin 8 of CN1).
4. The motor vibrates slightly whilst under “locked rotor” condition.

4a) Check that motor and resolver or encoder wiring corresponds to that indicated in the wiring
diagrams of paragraph 5.2, screening included.
5. Motor occasionally suffers performance loss.

5a) Check whether I²T function has been triggered by displaying via PC.

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ECO2D/ECO4D - Annex A

Annex A KEY TO LABEL

This Annex describes the fields to be found on the ECO2D/ECO4D label thus allowing all drive data to
be ascertained.

Via Monari Sardè, 3

40010 Bentivoglio
(BO) ITALY

Cod. 09ECO2D0410PE Date 24/01/08

S/N 11858 REV. 18 2.55 RM 1.0 MT A046
Sp. Opt.
AC-INPUT AC-OUTPUT
230V +/-10% 50/60 Hz 215V 3 PHASE
1 or 3 PHASE - 4,5 AMPS 1,0 KW A 4,0

Cod. = Product sales code (see chapter 4 Models and Options).

Date = Product manufacturing date.

S/N = Serial Number.

Rev. = Identifies the new software or hardware release divided as follows:

the first two numbers identify the hardware release,
the subsequent two or three numbers identify the software release.
Example: Rev 10102 indicates hardware release 1.0 and software 10.2.

RM = Indicates the release of the instruction manual supplied with the product.
MT = Indicates motor table release
Sp. This field is used for:
=
- Custom software versions (VSx)
- special hardware settings (non standard)

Opt. Specifies option type (see chapter 4 Models and Options)

=
A Specifies the effective rated current that can be delivered to the drive.
=

AC-INPUT = Input specification details

AC- = Output specification details

OUTPUT

104
ECO2D/ECO4D Annex B

Annex B MOTOR TABLES

Being fully digital, the drive utilises internal algorithms that predefine the exact set of parameters used to
control the motor.
It is therefore indispensable that it be coupled only with the motor for which it was designed. Every
model has been given a set of parameters for use with various motors that are all rated to suit its driving
capabilities, therefore the recommendations of the motor table should be followed to the letter.
The motor to be used is selectable through the “d8” parameter of the configuration file or via local
keypad. The “d8” parameter is only acquired by the Drive when switching on, therefore changes to it will
only take effect after saving data (see “EP” menu), then switching the drive off and back on again.

Understanding the motor table:

Column d8 specifies the number to put in the parameter.

For easier consultation, the Selectable motors column is restricted to the technical part of the code and
misses out the initial commercial ID. You can obtain the commercial ID by placing the number “20” in
front of the code given in the table for motor ranges “MVQx..x”, “STx..x”, “DSMx..x” or “20SMS” for
motor ranges “T” and “N”.

The Revision column provides the revision number in which that particular motor was first assigned a
code. TBM indicates that the motor is coming soon and can be ordered, but does not yet feature in the
table.

The Notes column contains notes about the special characteristics of that particular motor, e.g. number of
resolver poles fitted or the specifications of the encoder mounted, etc.

The Speed column specifies the full scale speed.

The Rated current column specifies the RMS current that can be continuously delivered to the motor.

The Peak current column specifies the RMS current that can be delivered to the motor for a certain time
only, generally 5 seconds (parameter d7).

The Rated torque column specifies the torque that the motor delivers with the current value given in the
Rated current column.

The Peak torque column specifies the torque that the motor delivers with the current value given in the
Peak current column.

Warning !! For full details of the latest motor mapping, always consult the “Motor Tables”
reference manual by visiting www.selema-srl.it (see the download area)

105
ECO2D/ECO4D Annex B

Motor table Revision A0 46 for drive 09ECO2D0410

Speed Rated Peak Rated Peak
D8 Selectable motors Revision Notes (nominal full current current torque torque
scale) A RMS A RMS Nm Nm

25 DSM5 12 109 44 or next Res 2P 4800 0.8 2.9 0.4 1.45

26 DSM5 13 109 44 or next Res 2P 4800 1.6 6 0.82 3.06
35 DSM5 31 1x9 44 or next Res 2P 3000 1.6 6 1.4 4.9
43 DSM5 31 1x4 44 or next Encoder 3000 1.6 6 1.4 4,9
2048
C5=01
47 DSM5 32 1x9 44 or next Res 2P 3000 2.7 10 2.4 7,8
22 DSM5 32 1x4 44 or next Encoder 3000 2.7 10 2.4 7.8
2048
C5=01
23 DSM5 33 1x9 44 or next Res 2P 3000 3.8 10 3.5 8.6
48 DSM5 33 1x4 44 or next Encoder 3000 3.8 10 3.5 8.6
2048
C5=01
-- --------------- --------- ------- ------- ------ ----- ----- -----
4 MVQ 63 30 2 44 or next Res 4P 3000 3.5 7 2.5 5
6 MVQ 71 30 2 44 or next Res 4P 3000 4 10 3.5 9
-- --------------- --------- ------- ------- ------ ----- ----- -----
33 G00 M4074 44 or next Res 2P 4000 1.2 3.7 0.46 1.35
-- --------------- --------- ------- ------- ------ ----- ----- -----
27 ST0560051R TBM Res 2P 4500 0.84 2.6 0,5 1.5
28 ST0560091R TBM Res 2P 4500 1.51 4.6 0.9 2.7
29 ST0560131R TBM Res 2P 4500 2.27 6.8 1.3 4.05
30 ST0850121R TBM Res 2P 4500 2.02 6 1.2 3.6
31 ST0850122R TBM Res 2P 3000 1.32 4 1.2 3.6
32 ST0850221R TBM Res 2P 4500 3.69 10 2.2 6
45 ST0850222R 44 or next Res 2P 3000 2.42 7.3 2.2 6.6
44 ST0850322R TBM Res 2P 3000 3.52 10 3.2 8
36 ST0850422R Res 2P 3000 4 10 3.6 9,1
46 ST1150302R 44 or next Res 2P 3000 3.3 9.9 3 9
49 DSM5321x4 44 or next Encoder 3500 2.7 10 2.4 7.8
2048
C5=01

37 SC600656B 45 or next Encoder 5000 1,2 4,1 0,65 1,95

2000
C5=05
50 SC601306R 44 or next Res 2P 3000 1,2 4,1 1,3 3,9
51 SC601306R 44 or next Res 2P 4500 1,2 4,1 1,3 3,9
38 SC601306B 45 or next Encoder 5000 2,5 8,3 1,3 3,9
2000
C5=05
Warning: although not mentioned above, SMST & SMSN motors are present in this table in the
same positions as the F1ECOD0410 tables. This ensures full interchangeability with
F1ECOD0410. To make things clearer, the table with SMST & SMSN motors appears at the
end of this chapter.

x = 0 or 1

106
ECO2D/ECO4D Annex B

Motor table Revision A0 28 for drive 09ECO2D0615

Speed Rated Peak Rated Peak
D8 Selectable motors Revision Notes (nominal full current current torque torque
scale) A RMS A RMS Nm Nm
0 T1M2 030 3000 2.6 11.3 2.1 9
Factory used
1 N0 M6 030 27 or next Res 6P 3000 1.9 10 1.2 6.3
2 N1 M2 030 27 or next Res 6P 3000 2.4 10.9 2 9
3 N1 M4 030 27 or next Res 6P 3000 4.4 14.1 3.8 12
4 N7 M2 030 27 or next Res 6P 3000 4.5 14.1 3.3 10
5 N7 M4 030 27 or next Res 6P 3000 6 14.1 4.9 11.5
6 MVQ 63 30 2 27 or next Res 4P 3000 3.5 7 2.5 5
7 MVQ 71 30 2 27 or next Res 4P 3000 6 12 5.5 11
8 MVQ 80 30 2 27 or next Res 4P 3000 6 14.1 5.5 12.9
9 T0 M4 030 27 or next Res 6P 3000 1.4 6 1 4.5
10 T1 M2 030 27 or next Res 6P 3000 2.6 11.3 2.1 9
11 T1 M2 060 27 or next Res 6P 6000 5.2 14.1 2.1 5.8
12 T1 M4 030 27 or next Res 6P 3000 4.8 14.1 3.9 11.4
13 T1 M6 030 27 or next Res 6P 3000 6.8 14.1 4.8 11.4
14 MV 71 900 27 or next Res 4P 2000 3.8 9.5
15 NOT USED
-- --------------- --------- ------- ------- ------ ----- ----- -----
17 NOT USED
21 DSM5 32 1x4 TBM Encoder 3000 2.7 11,5 2.5 9,5
2048
(C5=01)
22 DSM5 32 1x9 TBM Res 2P 3000 2.7 10,5 2.5 8,8
19 DSM5 33 1X4 27 or next Encoder 3000 3.8 10 3.4 8.5
2048
(C5=01)
23 DSM5 33 1x9 TBM Res 2P 3000 3,8 15 3.3 12
24 DSM5 33 1x4 TBM Encoder 3000 3.8 15 3.4 13
2048
(C5=01)
18 DSM5 34 1X9 27 or next Res 2P 3000 4.6 15 4,1 12
20 DSM5 34 1X4 27 or next Encoder 3000 4.6 15 4.1 13,2
2048
(C5=01)
-- --------------- --------- ------- ------- ------ ----- ----- -----
25 ST0850221R TBM Res 2P 4500 3.69 11 2.2 6
26 ST0850222R TBM Res 2P 3000 2.42 7.3 2.2 6
27 ST0850322R TBM Res 2P 3000 3.52 10.6 3.2 8,8
28 ST0850422R TBM Res 2P 3000 4,62 13,8 4,2 11
29 ST1150302R TBM Res 2P 3000 3.3 9.9 3 9
30 ST1150522F 28 or next Encoder 3000 5.72 15 5,2 13.2
2000
(C5=5)
Table A0 28 continued on next page

107
ECO2D/ECO4D Annex B

Continued Motor table Revision A0 28 for drive 09ECO2D0615

Speed Rated Peak Rated Peak
D8 Selectable motors Revision Notes (nominal full current current torque torque
scale) A RMS A RMS Nm Nm
31 ST1150702R TBM Res 2P 3000 5,84 15 7 16,8
-- --------------- --------- ------- ------- ------ ----- ----- -----
16 MVQ 63 30 2 27 or next Res 4P 3000 4 10 2.8 7.1
-- --------------- --------- ------- ------- ------ ----- ----- -----

108
ECO2D/ECO4D Annex B

Motor table Revision A0 22 for drive 09ECO4D0410

Speed Rated Peak Rated Peak
D8 Selectable Revision Notes (nominal current current torque torque
motors full scale) A RMS A RMS Nm Nm
0 N1 V4 030
Factory used
1 NOT USED ---- ---- ---- ---- ---- ---- ----
2 NOT USED ---- ---- ---- ---- ---- ---- ----
3 NOT USED ---- ---- ---- ---- ---- ---- ----
4 T1 V2 030 20 or next Res 6P 3000 1.7 8.8 2.1 9.4
5 NOT USED ---- ---- ---- ---- ---- ---- ----
6 T1 V4 030 20 or next Res 6P 3000 3.3 10 3.9 11.7
7 N0 V6 030 20 or next Res 6P 3000 1.2 5.8 1.2 5.4
8 N1 V2 030 20 or next Res 6P 3000 1.5 6 2 8
9 N1 V4 030 20 or next Res 6P 3000 2.7 10 4 13.3
10 N7 V2 030 20 or next Res 6P 3000 2.2 8 3.3 11.8
11 MVQ 63304 20 or next Res 4P 3000 1.6 4.3 2.8 7.5
12 MVQ 71304 20 or next Res 4P 3000 2.6 6.7 4.6 11.9
13 MVQ 80304 20 or next Res 4P 3000 4.2 10 9.5 22.5
14 NOT USED ---- ---- ---- ---- ---- ---- ----
26 DSM5 31 2x4 20 or next Enc. 2048 3000 0.9 4 1.3 5
(C5=01)
31 DSM 5 32 2x4 20 or next Enc. 2048 3000 1.7 7 2.46 10
(C5=01)
32 DSM 5 33 2x4 20 or next Enc. 2048 3000 2.46 10 3.5 13.5
(C5=01)
34 DSM5 33 2x9 21 or next Res 2P 3000 2.46 10 3.5 13.5
25 DSM5 34 2x4 20 or next Enc. 2048 3000 2.75 9.95 4,2 14
(C5=01)
15 NOT USED ---- ---- ---- ---- ---- ---- ----
16 ST0560052 TBM 4500 0.55 1.6 0.5 1.5
17 ST0560092 TBM 4500 0.99 3 0.9 2.7
18 ST0560132 TBM 4500 1.43 4.5 1.35 4
19 ST0850122 TBM 4500 2.2 6 1.2 3.6
20 ST0850122 TBM 3000 2.2 6 1.2 3.6
21 ST0850222 TBM 4500 2.4 7.3 2.2 6.6
22 ST0850222 TBM 3000 2.4 7.3 2.2 6.6
Enc.2000
35 ST0850224F 22 or next 3000 1.38 4.1 2.2 6.56
(C5=05)
23 ST0850322R TBM Res 2P 4500 3.53 10 3.2 8.8
24 ST0850324R TBM Res 2P 3000 2 6.5 3.6 9.6
27 ST0850422R TBM Res 2P 4500 4 10 3.6 8.8
28 ST0850424F 22 or next Enc. 2000 3000 2.63 7.9 4.2 12.6
(C5=05)
29 ST1150303R TBM Res 2P 3000 2.50 8.2 3 9
30 ST1150524R TBM Res 2P 3000 3.25 10 5.2 14
33 ST1150704R TBM Res 2P 3000 4 10 6.2 14.8

109
ECO2D/ECO4D Annex B

Motor table Revision A0 22 for drive 09ECO4D0512

Speed Rated Peak Rated Peak
D8 Selectable motors Revision Notes (nominal full current current torque torque
scale) A RMS A RMS Nm Nm
0 N1 V4 030
Factory used
1 NOT USED ---- ---- ---- ---- ---- ---- ----
2 NOT USED ---- ---- ---- ---- ---- ---- ----
3 NOT USED ---- ---- ---- ---- ---- ---- ----
4 NOT USED ---- ---- ---- ---- ---- ---- ----
5 NOT USED ---- ---- ---- ---- ---- ---- ----
6 T1 V6030 19 or next Res 6P 3000 4.26 12 5.9 16.5
7 NOT USED ---- ---- ---- ---- ---- ---- ----
8 NOT USED ---- ---- ---- ---- ---- ---- ----
9 N1 V4030 19 or next Res 6P 3000 3 11.2 3.8 18
10 NOT USED ---- ---- ---- ---- ---- ---- ----
11 N7 V4030 19 or next Res 6P 3000 4.6 12 6 18
12 N2 V2030 19 or next Res 6P 3000 5 12 7.5 19
13 MVQ 80304 19 or next Res 4P 3000 4.5 12 8.8 28.8
14 MVQ 63304 19 or next Res 4P 3000 1.6 4.3 2.5 7.5
15 MVQ 71304 19 or next Res 4P 3000 2.6 6.7 5.9 12.3
16 MVQ 90304 19 or next Res 4P 3000 4.6 12 7.2 17.2
18 NOT USED ---- ---- ---- ---- ---- ---- ----
24 NOT USED ---- ---- ---- ---- ---- ---- ----
25 NOT USED ---- ---- ---- ---- ---- ---- ----
19 ST0560052R TBM Prefer 4500 0.55 1.6 0.5 1.5
20 ST0560092R TBM Res 2P 4500 0.99 3 0.9 2.7
21 ST0560132R TBM Res 2P 4500 1.43 4.5 1.35 4
22 ST0850122R TBM Prefer Res 4500 2.2 6 1.2 3.6
23 ST0850122R TBM Prefer Res 3000 2.2 6 1.2 3.6
35 ST0850222R TBM Prefer Res 4500 2.4 7.3 2.2 6.6
40 ST0850222R TBM Prefer Res 3000 2.4 7.3 2.2 6.6
26 ST1150704F 19 or next Encoder 3000 4.38 12 7 18.1
2000
(C5=05)
27 ST1150924F 19 or next Encoder 3000 5 12 8.25 18.8
2000
(C5=05)
28 ST0850324R TBM Prefer 3000 2 6.5 3.2 9.6
29 ST0850422R TBM 4500 4 10 3.2 8.8
30 ST0850424R TBM Prefer 3000 2.63 8.3 4.2 12.6
Table A0 22 continued on next page

110
ECO2D/ECO4D Annex B

Continued Motor table Revision A0 22 for drive 09ECO4D0512

Speed Rated Peak Rated Peak
D8 Selectable motors Revision Notes (nominal full current current torque torque
scale) A RMS A RMS Nm Nm
31 ST1150303 TBM 3000 2.50 8.2 3 9
32 ST1150524 TBM Prefer 3000 3.25 10 5.2 14
33 ST1150523 TBM 4000 4.3 12 5.2 14
34 ST0850322 TBM 4500 3.53 10 3.2 8.8
35 ST1421203R 21 or next Res 2P 4000 5 12 6 14
36 DSM5312x4 TBM Enc. 2048 3000 0.9 4 1.3 5
(C5=01)
37 DSM5322x4 TBM Enc. 2048 3000 1.7 7 2.46 10
(C5=01)
38 DSM5332x4 22 or next Enc. 2048 3000 2.46 10 3.5 13.5
(C5=01)
39 DSM5342x4 22 or next Enc. 2048 3000 2.75 12 4.2 16.8
(C5=01)
17 DSM5512x4 20 or next Enc. 2048 3000 5 12 7.6 18
(C5=01)

111
ECO2D/ECO4D Annex B

Motor table Revision A0 06 for drive 09ECO4D1020

Speed Rated Peak Rated Peak
D8 Selectable motors Revision Notes (nominal full current current torque torque
scale) A RMS A RMS Nm Nm
0 MVQ71304
Factory used
1 NOT USED ---- ---- ---- ---- ---- ---- ----
2 T1 V6030 TBM Res 6P 3000 4.26 12 5.9 16.5
3 N1 V4030 TBM Res 6P 3000 3 11.2 3.8 18
4 N7 V4030 TBM Res 6P 3000 4.6 12 6 18
5 N2 V2030 TBM Res 6P 3000 5 12 7.5 19
6 MVQ 80304 TBM Res 4P 3000 4.5 12 8.8 28.8
7 MVQ 71304 TBM Res 4P 3000 2.6 6.7 5.9 12.3
8 MVQ 90304 TBM Res 4P 3000 7.5 18 12 26
9 MVQ 00304 TBM Res 4P 3000 10 20 16 32
-- --------------- --------- ------- ------- ------ ----- ----- -----
11 ST0850422R TBM Res 2P 4500 4 10 3.6 8.8
12 ST0850424R TBM Prefer. 3000 2.63 8.3 4.2 12.6
13 ST1150303R TBM Prefer. 3000 2.50 8.2 3 9
14 ST1150524R TBM Prefer. 3000 3.25 10 5.2 14
15 ST 1150523R TBM 4500 4.3 12 5.2 14
23 ST1150702R A004 Res 2P 3000 7.7 20 7 18
24 ST1150702R A004 Res 2P 4500 7.7 20 7 18
16 ST1150704F A005 Enc.2000 3000 4.38 13.1 7 19.5
(C5=05)
17 ST1150924F A006 Enc.2000 3000 5.75 17.3 9.2 26
(C5=05)
18 ST1151104F A003 Enc.2000 3000 6.88 20 11 30
(C5=05)
19 ST1421204 TBM Prefer. 3000 7.50 20 12 30
20 ST1421654 TBM Prefer. 3000 10 20 16 30
21 ST1421204H A001 Enc.4096 3000 7.5 20 12 30
or next (C5=00)
22 ST1421204H A001 High P. 3000 7.5 20 12 30
or next Enc.4096
(C5=00)
45 N2V2030 A002 Enc.4096 3000 4.52 15 7.5 23
or next (C5=00)
46 N2V3030 A002 Enc.4096 3000 7.9 20 11 26
or next (C5=00)

112
ECO2D/ECO4D Annex B

Motor table Revision A0 02 for drive 09ECO4D2040

Speed Rated Peak Rated Peak
D8 Selectable motors Revision Notes (nominal full current current torque torque
scale) A RMS A RMS Nm Nm
0 MVQ71304
Factory used
1 T2 V4045 Res 6P 4500 10,6 35,4 10 30
2 T2 V2045 Res 6P 4500 7,9 29 7,5 25
3 T1 V4060 Res 6P 6000 5.5 24.9 3.7 15
-- --------------- --------- ------- ------- ------ ----- ----- -----
9 MVQ00304 Res 4P 3000 13,5 34,5 22 50
10 MVQ12304 Res 4P 3000 18 40 28 62
11
12 FAS T2 V6 030 A001 Res 6p 3000 11.4 39.5 19 65
or next
13 MOOG G405 TBM Res 2P 4500 13 29 13.5 28
1020A
14 MOOG G405 TBM Res 2P 4500 16.7 29 17.5 28
1020A High
Current
15 T2 V4030 Res 6P 3000 8.5 27 13 39
-- --------------- --------- ------- ------- ------ ----- ----- -----
18 ST1150702 TBM 4500 7.69 23.1 6.99 19
19 ST1150703 TBM 4000 5.84 17.5 7 19
20 ST1150704 TBM Prefer 3000 4.38 13.1 7 19
21 ST1150922 TBM 4500 10.1 30.3 9.2 25
22 ST1150923 TBM 4000 7.67 23 9.2 25
23 ST1150924 TBM Prefer 3000 5.75 17.3 9.2 25
24 ST1151102 TBM 4500 12.09 36.3 11 30
25 ST1151103 TBM 4000 9.17 27.5 11 30
26 ST1151104 TBM Prefer 3000 6.88 20.6 11 30
27 ST1421202 TBM 4500 13.19 39.6 12 33
28 ST1421203 TBM 4000 10.01 30 12 33
29 ST1421204 TBM Prefer 3000 7.5 22.5 12 33
30 ST1421652 TBM 4500 18.14 40 16.5 34.5
31 ST1421653 TBM 4000 13.76 40 16.5 44
32 ST1421654 TBM Prefer 3000 10.32 31 16.5 45
33 ST1422103 TBM 4000 17.51 40 21 45.5

34 ST1422104F A002 Enc. 2000 3000 13.13 39.4 21 58

or next (C5=5)
35 ST1422553 TBM 4000 20 40 24 45,5
36 ST1422554 TBM Prefer 3000 15.95 40 25.2 60

113
ECO2D/ECO4D Annex B

Motor table Revision A0 01 for drive 09ECO4D2550

Speed Rated Peak Rated Peak
D8 Selectable motors Revision Notes (nominal full current current torque torque
scale) A RMS A RMS Nm Nm
-- --------------- --------- ------- ------- ------ ----- ----- -----
10 MVQ12304 Res 4P 3000 18 45 28 66
-- --------------- --------- ------- ------- ------ ----- ----- -----
12 FAS T2 V6 030 Res 6p 3000 11,4 39,5 19 65
-- --------------- --------- ------- ------- ------ ----- ----- -----
17 ST1421652R TBM Res 2P 4500 18,14 50 16,5 42
18 ST1421653R TBM Res 2P 4000 13,76 41,3 16,5 45,5
19 ST1421654R TBM Res 2P 3000 10,32 31 16,5 45,5
20 ST1422102R TBM Res 2P 4500 23,08 50 21 43
21 ST1422103R TBM Res 2P 4000 17,51 50 21 55
22 ST1422104R TBM Res 2P 3000 13,13 39,4 21 58
23 ST1422553R TBM Res 2P 4000 21,26 50 25,5 55,8
24 ST1422554R TBM Res 2P 3000 15,95 47,8 25,5 70

114
ECO2D/ECO4D Annex B

Motor table Revision A0 46 for drive 09ECO2D0410 for “SMST & SMSN motors”
Speed Rated Peak Rated Peak
D8 Selectable motors Revision Notes (nominal full current current torque torque
scale) A RMS A RMS Nm Nm
0 MVQ71304
Factory used
1 N0M3030 A044 Res 6P 3000 1 5 0.6 3
2 N0M6030 or Res 6P 3000 1.9 10 1.2 6.3
3 N1M2030 next Res 6P 3000 2.4 10 2 8
4 MVQ63302 3000 3.5 7 2.5 5
5 T1M2030 Res 6P 3000 2.6 10 2.1 7.5
6 MVQ71302 3000 4 10 3.5 9
7 MV71900 2000 3.7 10 4.3 11.6
8 N1M4030 Res 6P 3000 4 10 3.42 8.5
9 N7M2030 Res 6P 3000 4 10 2.96 7.5
10 T00M2060 Res 6P 6000 0.85 3.82 0.3 1.35
11 T00M4060 Res 6P 6000 1.4 6.1 0.56 2.4
12 T0M2030 Res 6P 3000 0.8 3.54 0.5 2.2
13 T0M2060 Res 6P 6000 1.3 5.6 .05 2.2
14 T0M4030 Res 6P 3000 1.4 6 1 4.5
15 T0M4060 Res 6P 6000 2.4 10 1 4.2
16 T1M2030 Res 6P 3000 2.6 10 2.1 7.3
17 T1M2060 Res 6P 6000 4 10 1.64 4.1
18 T1M4030 Res 6P 3000 4 10 3.24 8.1
19 T000M3030 Res 6P 3000 1 2.1 0.14 0.3
20 T0M8030 Res 6P 3000 2.3 8 2 7
21 T00P060 Res 6P 6000 0.8 4.1 0.36 1.31

115