Parameter Lists & Descriptions

All parameters are listed with their descriptions. The links below will take you to each Parameter Group.

Elevator System Setup

Read Only status Parameters for the drive	Setup the Control terminals on the drive and control mode
Used to setup Modbus RTU or CANopen communication	Selects units to work in and enter your system data such as gear ratio, rope ratio etc...

Motor Setup

Enter motor data and perform an Auto-tune in this parameter group	Define how the motor brake operates and the timings for the motor brake
If you are using an encoder this is where you will set it up for the drive

Drive Speeds & Comfort

Setup Rescue Mode for UPS Supplies or Battery operation	Select the speeds of the travel profile
This is where you can optimise the drive for best comfort specifically to your system

Drive Advanced Features

Set any extra functions on the drive such as Anti-Stall, Travel Counter, Motor Connected Check and more	Used to configure the drive operation with advanced functions
Sets a User Defined Macro, allowing each Digital/Analog Input to have its own user defined function

Group 0 Monitoring - Parameter List

Parameter Number

Parameter Name

Explanation

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P0-00

Keypad Parameter Display Mode

This parameter allows the user to see only the parameters that have been set different to defaults.

N/A

0: Show all Parameters

1: Show difference from factory defaults

2: Show difference from user defaults

N/A

P0-01

Digital Input 1 to 5 Status

Displays the status of the drive Digital Input terminals 1 to 5

Display value	0	0	0	0	0
Input Terminal	DI1 status	DI2 status	DI3 status	DI4 status	DI5 status

1 = Input Active

0 = Input Inactive

N/A

0 ... 31

N/A

2012

10001

P0-02

Digital Input 6 to 10 Status

Displays the status of the drive Digital Input terminals 6 to 8 and Auxiliary inputs available on the universal encoder module

Display value	0	0	0	0	0
Input Terminal	DI6 status	DI7 status	DI8 status	*Daux 1 Input Status	*Daux 2 Input Status

*Daux are the auxiliary inputs on the universal encoder module

1 = Input Active

0 = Input Inactive

N/A

0 ... 31

N/A

2012

10002

P0-03

Safe Torque Off Input Status

Shows the Status of the ports STO1 and STO2

1 = Closed 0 = Open

N/A

0 ... 1

N/A

2012

10003

P0-04

Relay 1 Status

Displays the status of Relay 1

Display value					0
Output Terminal					Relay 1 Status

N/A

0 ... 1

N/A

2015

10004

P0-05

Relay 2 Status

Displays the status of Relay 2

Display value					0
Output Terminal					Relay 2 Status

N/A

0 ... 1

N/A

2015

10005

P0-06

Digital Output Status

Displays the status of the drive Digital Outputs

Display value			0	0	0
Output Terminal			DA1	DA2	DO3

0 = Digital Output InActive

1 = Digital Output Active

N/A

0 ... 7

N/A

10006

P0-07

Analog Output 1 Value

Shows the Voltage/Current output value from Analog output 1(DA1) after scaling and offsets have been applied.

Parameter

P1-14

DA1 Output 1 Type

P1-18

DA1 Output 1 Format

P0-07

Display Value

Setting

0 (Digital Output)

N/A

0.0 (Output Off)

1.0 (Output On)

1 (Analog Output)

U 0-10, U 10-0

Value in Volts

A 0-20, A 20-0, A 4-20, A 20-4

Value in mA

N/A

0.0

0.0 ... 10.0

1 = 0.1

10007

P0-08

Analog Output 2 Value

Shows the Voltage/Current output value from Analog output 2 after scaling and offsets have been applied.

Parameter

P1-21

DA2 Output 2 Type

P1-25

DA2 Output 2 Format

P0-08

Display Value

Setting

0 (Digital Output)

N/A

1.0 (Output Off)

0.1 (Output On)

1 (Analog Output)

U 0-10, U 10-0

Value in Volts

A 0-20, A 20-0, A 4-20, A 20-4

Value in mA

N/A

0.0

0.0 ... 10.0

1 = 0.1

10008

P0-09

Motor Contactor measured opening time

0.0

0.0 ... 6553.5ms

N/A

10009

P0-10

Motor Contactor measured closing time

0.0

0.0 ... 6553.5ms

N/A

10010

P0-11

Brake Release Measured opening time

0.0

0.0 ... 6553.5ms

N/A

10011

P0-12

Brake Release Measured closing time

0.0

0.0 ... 6553.5ms

N/A

10012

P0-13

Pre-Ramp Speed Controller Reference

Displays the set point reference input applied to the drive internal speed controller

Hz / rpm / Linear

0.0

-P8-01 ... P8-01

1 = 0.1

10013

P0-14

Speed Reference via Fieldbus Network

Displays the setpoint being received by the drive from the currently active Fieldbus interface.

Hz / rpm / Linear

0.0

-P8-01 ... P8-01

1 = 0.1

10014

P0-15

Post-Ramp Speed Controller Reference

Displays the post-ramp set-point reference applied to the drive internal speed controller

Hz / rpm / Linear

0.0

-P8-01 ... P8-01

1 = 0.1

10015

P0-16

Speed Error

Speed Error between the Post-Ramp Speed Controller Reference (P0-15) and either of the two options below:

Rotor speed (P0-18) with Encoder disabled

Encoder speed (P0-19) with Encoder Enabled.

Hz / rpm / Linear

0.0

-P8-01 ... P8-01

1 = 0.1

10016

P0-17

Rollback Error

Displays the rollback count of the previous travel. This can be used as a reference when tunning out rollback.

PPRx4

0.0

-65535 ... 65535

N/A

10017

P0-18

Rotor Speed

This parameter displays either the estimated rotor speed of the motor, if no encoder feedback is present, or the measured rotor speed if an optional Encoder Feedback Interface Option is fitted.

Hz / rpm / ft/s / m/s

0.0

-P8-01 ... P8-01

1 = 0.1

200C

10018

P0-19

Encoder Feedback Speed

Displays the Actual Encoder Feedback speed. The Universal Encoder Module must be fitted and commissioned or this parameter will show 0.

Hz / rpm / Linear

0.0

-P8-01 ... P8-01

1 = 0.1

10019

P0-20

Real-time Encoder Offset value

Live Encoder offset value shown in Degrees (0.1° resolution)

Deg (°)

0.0°

359.9°

N/A

10020

P0-21

Calculated Slip Speed Value

Displays the calculated slip speed

Hz / rpm / Linear

0.0

-P8-01 ... P8-01

1 = 0.1

10021

P0-22

Measured Motor Power Factor

Real time motor power factor whilst drive is running.

cos(Φ)

0.00

-1.00 ... 1.00

N/A

10022

P0-23

Highest Current during Acceleration

Records the highest current during the acceleration ramp.

Stored value is the highest current from the previous travel.

Amps

0.0A

Drive Dependent

1 = 0.1

10023

P0-24

Highest Current during Deceleration

Records the highest current during the deceleration ramp.

Stored value is the highest current from the previous travel.

Amps

0.0A

Drive Dependent

1 = 0.1

10024

P0-25

Motor Current

Real time motor current

Amps

0.0A

Drive Dependent

1 = 0.1A

200D

10025

P0-26

Motor Magnatising Current (Id)

Displays the motor magnetising Current, providing an Auto-tune has been successfully completed.

Amps

0.0A

Drive Dependent

1 = 0.1

10026

P0-27

Motor Rotor Current (Iq)

Displays the motor Rotor (torque producing) current, providing an Auto-tune has been successfully completed.

Amps

0.0A

Drive Dependent

1 = 0.1

10027

P0-28

Output Torque

Displays the instantaneous output torque level produced by the motor.

0.1% resolution

100% = motor rated torque.

0.0%

-200.0 ... 200.0%

1 = 0.1

200E

10028

P0-29

Motor Input Power

0.00 kW

-250.00 ... 250.00 kW

1 = 0.1

200F

10029

P0-30

Motor Shaft Power

0.00 kW

-250.00 ... 250.00 kW

1 = 0.1

10030

P0-31

Motor Overload Accumulator

0.0%

0.0 ... 100.0%

1 = 0.1

10031

P0-32

Back EMF Measured Value

Phase to Phase back emf measurement

Used for running permanent magnet motors in open loop, run in closed loop and then populate P4-02 with this value. Value can be used to run in open loop to diagnose an encoder problem.

Volts

0 ... 1200V

N/A

10032

P0-33

Drive Output Voltage

Displays the instantaneous output voltage from the drive to the motor

Volts

0 ... 1200V

N/A

10033

P0-34

Motor Poles Calculated

Displays the calculated number of pole pairs when the motor pole parameter (P4-05) is set to 0 (Automatic calculation of motor poles).

N/A

0 ... 480

N/A

10034

P0-35

Travel Profile State

Displays what the drive is currently doing at any time.

N/A

0 ... 57

N/A

10035

P0-36

Travel Profile State at Trip

This parameter indicates at what point on the travel curve the drive tripped.

N/A

0 ... 57

N/A

10036

P0-37

Currently Active Trip Code

This parameter indicates the current trip code.

N/A

0: No Fault

0 ... 65535

N/A

10037

P0-38

Las Trip 1 (Newest Trip)

This parameter shows the newest trip

N/A

0: No Fault

0 ... 65535

N/A

11380

P0-38 - 1

Last Trip 2

This parameter shows the second previous trip

N/A

0: No Fault

0 ... 65535

N/A

11381

P0-38 - 2

Last Trip 3

This parameter shows the third previous trip

N/A

0: No Fault

0 ... 65535

N/A

11382

P0-38 - 3

Last Trip 4 (Oldest Trip)

This parameter shows the fourth previous trip

N/A

0: No Fault

0 ... 65535

N/A

11383

P0-39

Reserved

0 ... 0

P0-40

DC Bus Voltage

Displays the instantaneous DC Bus Voltage internally within the drive

Volts

0 ... 1200V

N/A

2011

10040

P0-41

DC Bus Voltage Ripple

Displays the level of ripple present on the DC Bus Voltage.

Volts

0 ... 90V

N/A

10041

P0-42

L1 Input Voltage

Measured Input Voltage on Terminal L1

Volts

0 ... 690V

N/A

10042

P0-43

L2 Input Voltage

Measured Input Voltage on Terminal L2

Volts

0 ... 690V

N/A

10043

P0-44

L3 Input Voltage

Measured Input Voltage on Terminal L3

Volts

0 ... 690V

N/A

10044

P0-45

Motor Thermistor Resistance

Measured Analog Input 1 thermistor resistance

0Ω

0 ... 5000Ω

N/A

10045

P0-46

Motor Thermistor Resistance 2

Measured Analog Input 2 thermistor resistance

0Ω

0 ... 5000Ω

N/A

10046

P0-47

Brake Resistor Active

0 = Brake Resistor Off

1 = Brake Resistor On

N/A

0 ... 1

N/A

10047

P0-48

IGBT Temperature

Displays the Instantaneous Heatsink (IGBT thermistor) Temperature measured by the drive

°C

0°C

-127 ... 127°C

1 = 0.1

10048

P0-49

Drive Internal Temperature

Displays the Instantaneous Internal (Control PCB) Temperature measured by the drive

°C

0°C

-127 ... 127°C

1 - 0.1

10049

P0-50

Hours run since last trip

Displays the running time of the drive since the last trip occurred.

This value shown is the number of hours. Pressing the Up key will display the seconds.

This value is reset upon a new trip.

Hour

0 ... 65535h

N/A

10050

P0-50 - 1

Seconds Running since last trip

Displays the running time of the drive since the last trip occurred.

This value shown is the number of seconds.

This value is reset upon a new trip.

sec

0 ... 3600s

N/A

11501

P0-51

Reserved

0 ... 0

P0-52

Hours Running since last enable

Displays the total running time of the drive since the last Run command was received. The first value shown is the number of hours. Pressing the Up key will display the seconds.

Hour

0 ... 65535h

N/A

10052

P0-52 - 1

Seconds running since last enable

Shows the seconds since the last run command was received.

sec

0 ... 3600s

N/A

11521

P0-53

Drive operating lifetime

Displays the total operating time of the drive. The first value shown is the number of hours. Pressing the Up key will display the seconds.

Hour

0 ... 65535h

N/A

10053

P0-53 - 1

Drive operating lifetime (s)

Shows the total operating life time of the drive in seconds.

sec

0 ... 3600s

N/A

11531

P0-54

Drive total run time

Displays the total run time of the drive. The first value shown is the number of hours. Pressing the Up key will display the seconds.

Hour

0 ... 65535h

N/A

10053

P0-54 - 1

Drive Total run time (s)

Shows the total run time of the drive in seconds.

sec

0 ... 3600s

N/A

11541

P0-55

Drive Heatsink Cooling Fan Total operation Time

Displays the total operating time of the drive internal cooling fans. The first value shown is the number of hours. Pressing the Up key will display the minutes and seconds. This is used for scheduled maintenance information

Hour

0 ... 65535h

N/A

10055

P0-55 - 1

Drive Heatsink Cooling Fan Total operation Time (s)

Shows the total operating time of the drive internal cooling fan in seconds.

sec

0 ... 3600s

N/A

11551

P0-56

Analog Input 1 Applied Signal Level

Displays the actual signal level applied to Analog Input 1 (DI4) before scaling and offsets have been applied.

N/A

0.0

-10.0 ... 20

1 = 0.1

2013

10056

P0-57

Analog Input 1 Final Signal Level

Displays the signal level after Offset (P1-04) and Scaling (P1-05) is applied

0.0%

-100.0 ... 100.0%

1 = 0.1

10057

P0-58

Analog Input 2 Applied Signal Level

Displays the actual signal level applied to Analog Input 2 (DI5) before scaling and offsets have been applied.

N/A

0.0

-10.0 ... 20

1 = 0.1

2013

10058

P0-59

Analog Input 2 Final Signal Level

Displays the signal level after Offset (P1-10) and Scaling (P1-11) is applied

0.0%

-100.0 ... 100.0%

1 = 0.1

10059

P0-60

Reserved

P0-61

Reserved

P0-62

Reserved

P0-63

Reserved

P0-64

Reserved

P0-65

Reserved

P0-66

Reserved

P0-67

Reserved

P0-68

Reserved

P0-69

Reserved

P0-70

Drive Rated Voltage

Displays the Rated Voltage of the drive

Volts

Fixed Value

110 ... 690V

N/A

10070

P0-70 - 1

Drive Frame Size

Displays the frame size of the drive

N/A

Fixed Value

1 ... 8

N/A

11701

P0-70 - 2

Drive Rated Power (kW)

Displays the Drive Rated Power (kW)

Fixed Value

0.37 ... 250kW

N/A

11702

P0-70 - 3

Number of Input Phases

Displays the number of input phases of the drive

N/A

Fixed Value

1 ... 3

N/A

11703

P0-70 - 4

Drive Type Code

Displays the drive type

N/A

Fixed Value

0 ... 65535

N/A

11704

P0-71

Option Module ID

Displays the option module type

Blank if no option module connected

N/A

Fixed Value

0 ... 65535

N/A

10071

P0-71 - 1

Option Module Firmware Version

Displays the option module's firmware version

N/A

Fixed Value

0 .., 99999999

N/A

11711

P0-71 - 2

Option Module Serial Number (High)

Displays the option module's serial number (high part)

N/A

Fixed Value

0 ... 999999

N/A

11712

P0-71 - 3

Option Module Serial Number (Low)

Displays the option module's serial number (low part)

N/A

Fixed Value

0 ... 999999

N/A

11713

P0-72

IO Firmware Version

Displays the IO firmware version

N/A

Fixed Value

0 .., 99999999

N/A

10072

P0-72 - 1

IO Firmware Checksum

Displays the IO firmware checksum

N/A

Fixed Value

0 ... 65535

N/A

11721

P0-72 - 2

IO Personality Version

Displays the IO personality version

N/A

Fixed Value

0.00 ... 99.99

N/A

11722

P0-73

Power Stage Firmware Version

Displays the Power Stage firmware version

N/A

Fixed Value

0 ... 99999999

N/A

10073

P0-74

Serial number (High)

Displays the Drive serial number (high part)

N/A

Fixed Value

0 ... 65535

N/A

10074

P0-74 - 1

Serial Number (Low)

Displays the Drive serial number (low part)

N/A

Fixed Value

0 ... 99999

N/A

11741

P0-75

PS Read Value

Internal use only

N/A

Fixed Value

-32768 ... 32768

N/A

10075

Group 1 User IO - Parameter List

Table 1. Group 1.1 - User IO - Primary Command Source Selection

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P1-01	Primary Command Source	N/A	0: Terminal	0: Terminal 1: Modbus RTU 2: CANopen 3: Reserved	RW	N	N/A	1	2065h	0	101

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P1-01

Primary Command Source

N/A

0: Terminal

1: Modbus RTU

2: CANopen

3: Reserved

N/A

2065h

101

Table 2. Group 1.2 - User IO - Control Terminal Function Select

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P1-02	Control Terminal Function Select	N/A	1: Macro 1	0: Macro 0 1: Macro 1 2: Macro 2 3: Macro 3 4: Macro 4 5: Macro 5 6: Macro 6 7: Macro 7 8: Macro 8 9: Macro 9 10: Macro 10 11: Macro 11 12: Macro 12	RW	N	N/A	1	2066h	0	102

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P1-02

Control Terminal Function Select

N/A

1: Macro 1

0: Macro 0

1: Macro 1

2: Macro 2

3: Macro 3

4: Macro 4

5: Macro 5

6: Macro 6

7: Macro 7

8: Macro 8

9: Macro 9

10: Macro 10

11: Macro 11

12: Macro 12

N/A

2066h

102

Table 3. Group 1.3 - User IO - Analog Input 1 (DI4) configuration

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P1-03	DI4 Analog Input 1 Format	N/A	0: U 0-10	0 ... 9	RW	N	N/A	1	2067h	103
P1-04	DI4 Analog Input 1 Offset	%	0.0%	-500.0 ... 500.0%	RW	Y	1 = 0.1%	2	2068h	104
P1-05	DI4 Analog Input 1 Scaling	%	100.0%	-500.0 ... 500.0%	RW	Y	1 = 0.1%	2	2069h	105
P1-06	DI4 Analog Input 1 Filter	sec	0.00s	0.00 ... 2.00s	RW	Y	1 = 0.01s	1	206Ah	106
P1-07	DI4 Analog Input Signal Loss Reaction	N/A	0: No Reaction	0 ... 2	RW	Y	N/A	1	206Bh	107
P1-08	DI4/DI5 Analog Input Signal Loss Speed	%	80.00%	0.00 ... 100.00%	RW	Y	1 = 0.01%	1	206Ch	108

Table 4. Group 1.4 User IO - Analog Input 2 (DI5) configuration

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P1-09	DI5 Analog Input 2 Format	N/A	0: U 0-10	0 ... 9	RW	Y	N/A	1	206Dh	109
P1-10	DI5 Analog Input 2 Offset	%	0.0%	-500.0 ... 500.0%	RW	Y	1 = 0.1%	2	206Eh	110
P1-11	DI5 Analog Input 2 Scaling	%	100.0%	-500.0 ... 500.0%	RW	Y	1 = 0.1%	2	206Fh	111
P1-12	DI5 Analog Input 2 Filter	sec	0.00s	0.00 ... 2.00s	RW	Y	1 = 0.01s	1	2070h	112
P1-13	DI5 Analog Input 2 Signal Loss Reaction	N/A	0: No Reaction	0 ... 2	RW	Y	N/A	1	2071h	113

Table 5. Group 1.5 - User IO - DA1 Output 1 Configuration

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P1-14	DA1 Output 1 Type	N/A	0: Digital Output	0 ... 1	RW	Y	N/A	1	2072h	114
P1-15	DA1 Digital Output 1 Function Select	N/A	1: Drive Healthy	0 ... 20	RW	Y	N/A	1	2073h	115
P1-16	DA1 Digital Output 1 Invert	N/A	0: Standard	0: Standard 1: Inverted	RW	Y	N/A	1	2074h	116
P1-17	DA1 Analog Output 1 Source Select	N/A	0 : Output Frequency	0 ... 5	RW	Y	N/A	1	2075h	117
P1-18	DA1 Analog Output 1 Format	N/A	0: U 0-10	0 ... 5	RW	Y	N/A	1	2076h	118
P1-19	DA1 Analog Output 1 Scaling	%	100.0%	0.0 ... 500.0 %	RW	Y	1 = 0.1%	1	2077h	119
P1-20	DA1 Analog Output 1 Offset	%	0.0%	-500.0 ... 500.0 %	RW	Y	1 = 0.1%	2	2078h	120

Table 6. Group 1.6 - User IO - DA2 Output 2 configuration

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P1-21	DA2 Output 2 Type	N/A	0: Digital Output	0 ... 1	RW	Y	N/A	1	2079h	121
P1-22	DA2 Digital Output 2 Function Select	N/A	0: Drive Enabled (Running)	0 ... 20	RW	Y	N/A	1	207Ah	122
P1-23	DA2 Digital Output 2 Invert	N/A	0: Standard	0: Standard 1: Inverted	RW	Y	N/A	1	207Bh	123
P1-24	DA2 Analog Output 2 Source Select	N/A	0: Output Frequency	0 ... 5	RW	Y	N/A	1	207Ch	124
P1-25	DA2 Analog Output 2 Format	N/A	0: U 0-10	0 ... 5	RW	Y	N/A	1	207Dh	125
P1-26	DA2 Analog Output 2 Scaling	%	100.0%	0.0 ... 500.0 %	RW	Y	1 = 0.1%	2	207Eh	126
P1-27	DA2 Analog Output 2 Offset	%	0.0%	-500.0 ... 500.0 %	RW	Y	1 = 0.1%	2	207Fh	127

Table 7. Group 1.7 - User IO - Digital Output 3 Configuration

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P1-28

DO3 Digital Output 3 Function Select

N/A

12: Motor Shorting Contactor

0 ... 20

N/A

2080h

128

P1-29

DO3 Digital Output 3 Invert

N/A

0: Standard

1: Inverted

N/A

2081h

129

Table 8. Group 1.8 - User IO - User Relays

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P1-30	Relay 1 Function Select	N/A	11: Motor Contactor Control	0 ... 20	RW	Y	N/A	1	2082h	0	130

Table 9. Group 1.9 - User IO - Hysteresis

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P1-31	DA1 Threshold Upper Limit	%	100.0%	P1-32 ... 200.0 %	RW	Y	1 = 0.1%	1	2083h	131
P1-32	DA1 Threshold Lower Limit	%	0.0%	0.0 ... P1-31	RW	Y	1 = 0.1%	1	2084h	132
P1-33	DA2 Threshold Upper Limit	%	100.0%	P1-34 ... 200.0 %	RW	Y	1 = 0.1%	1	2085h	133
P1-34	DA2 Threshold Lower Limit	%	0.0%	0.0 ... P1-33	RW	Y	1 = 0.1%	1	2086h	134
P1-35	Relay 1 Threshold Upper Limit	%	100.0%	0.0 ... 200.0 %	RW	Y	1 = 0.1%	1	2087h	135
P1-36	Relay 1 Threshold Lower Limit	%	0.0%	0.0 ... 100.0 %	RW	Y	1 = 0.1%	1	2088h	136
P1-37	Digital/Relay Output Hysteresis Band	%	0.3%	0.0 ... 25.0 %	RW	Y	1 = 0.1%	1	2089h	137
P1-38	DO3 Threshold Upper Limit	%	100.0%	0.0 ... 200.0%	RW	Y	1 = 0.1%	1	208Ah	138
P1-39	DO3 Threshold Lower Limit	%	0.0%	0.0 ... 100.0%	RW	Y	1 = 0.1%	1	208Bh	139

Table 10. Group 1.9 - User IO - Logic Control

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P1-40	Start Mode Select / Automatic Restart	N/A	0: Edge-r	0 ... 6	RW	Y	N/A	1	208Ch	140
P1-41	Auto-reset delay time	sec	20s	1 ... 60s	RW	Y	N/A	1	208Dh	141
P1-42	Speed Following Error	%	5.0%	0.0 ... 50.0%	RW	Y	1 = 0.1%	2	208Eh	142
P1-43	Positive/Negative Logic Select	N/A	0: Positive Logic	0: Positive Logic 1: Negative Logic	RW	N	N/A	1	208Fh	143

Group 1.1 - User IO - Primary Command Source Selection

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P1-01	Primary Command Source	N/A	0: Terminal	0: Terminal 1: Modbus RTU 2: CANopen 3: Reserved	RW	N	N/A	1	2065h	0	101

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P1-01

Primary Command Source

N/A

0: Terminal

1: Modbus RTU

2: CANopen

3: Reserved

N/A

2065h

101

P1-01 - Primary Command Source

Select the command source for the drive.

Setting	Drive Display	Function
0 : Terminal	tEr	The drive responds directly to control signals applied to the drive control terminals. Terminal designations assigned with parameter P1-02.
1 : Modbus RTU	rtu	The drive only responds to Modbus RTU commands sent to the RJ45 port on the drive.
2 : CANopen	CAn	The drive only responds to CAN bus commands sent to the RJ45 port on the drive.
3: Reserved	-	Reserved

Note

When using either Modbus RTU or CANopen no Digital Input needs to be closed (High) for the drive to run.

However the drive will not start unless the Safe Torque Off terminals STO1 and STO2 are closed.

Group 1.2 - User IO - Control Terminal Function Select

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P1-02	Control Terminal Function Select	N/A	1: Macro 1	0: Macro 0 1: Macro 1 2: Macro 2 3: Macro 3 4: Macro 4 5: Macro 5 6: Macro 6 7: Macro 7 8: Macro 8 9: Macro 9 10: Macro 10 11: Macro 11 12: Macro 12	RW	N	N/A	1	2066h	0	102

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P1-02

Control Terminal Function Select

N/A

1: Macro 1

0: Macro 0

1: Macro 1

2: Macro 2

3: Macro 3

4: Macro 4

5: Macro 5

6: Macro 6

7: Macro 7

8: Macro 8

9: Macro 9

10: Macro 10

11: Macro 11

12: Macro 12

N/A

2066h

102

P1-02 - Control Terminal Function Select

When the Primary Command Source (P1-01) is set to 0 the setting of Parameter P1-02 defines the function of each of the drives control terminals.

Use the Macro table found in Control Terminal Function Select Macros to decide the function of each Control Terminal input.Control Terminal Function Select Macros

The user can also select their own terminal function assignments by setting P1-02 to 0. This allows the user to select any function on any input via Group 12.

When the drive is powered by mains supply if a function of P1-02 is selected this is mimicked in Group 12 so each input is assigned the corresponding Macro's function. For example if P1-02 is set to 1 then P12-01 will be set to 1: Run Forward and so on for the rest of the Macro's functions.

Macro Status Monitoring

When the Primary Command Source (P1-01) is set to 0, the setting of Parameter P1-02 defines the function of each of the drives control terminals.

Use the Macro table below to select an appropriate value of P1-02 to match the elevator controller output signals.

The status of the control terminals can be monitored using parameter P0-01 and P0-02.

P0-01 Display value	0	0	0	0	0
Function	Digital Input 1 status	Digital Input 2 status	Digital Input 3 status	Digital Input 4 status	Digital Input 5 status

P0-02 Display value	0	0	0	0	0
Function	Digital Input 6 status	Digital Input 7 status	Digital Input 8 status	Daux 1 Input Status	Daux 2 Input Status

Macro Tables

The Macro tables are used by P1-02 to select the function of each IO Input. P1-02 parameter can be found here.Group 1 User IO - Parameter List

P1-02 Setting	DI1	DI2	DI3	DI4	DI5	DI6	DI7	DI8	Speed Source
0	User Configurable using Group 12
1	Open = Disabled Closed = Run Forward	Open = Disabled Closed = Run Reverse	Open = Disabled Closed = Levelling Speed (P8-05)	Open = Disabled Closed = High Speed (P8-06)	Open = Disabled Closed = High Speed 5/Relevelling Speed (P8-12)	Open = Disabled Closed = Inspection Speed (P8-08)	Fault Reset	Open = Mains Mode Closed = Rescue Mode Activate	If more than 1 speed selection input is high the largest speed value will be used.
2	Open = Disabled Closed = Run Forward	Open = Disabled Closed = Run Reverse	Open = Disabled Closed = Levelling Speed (P8-05)	Open = Disabled Closed = High Speed (P8-06)	Open Available Functions = E-Trip when open with no other functions enabled Thermistor trip if thermistor function selected in P1-09 Analog Input 2 (DI5) Format Motor Contactor feedback trip if P3-02 is set to 1 (Enabled) Brake Resistor monitoring trip if P3- 06 is set to 1. Closed = Ok	Open = Disabled Closed = Inspection Speed (P8-08)	Fault Reset	Open = Mains Mode Closed = Rescue Mode Activate
For settings 1 and 2 above, the drive will only start if all the below conditions are met: Safe Torque off inputs are enabled (P0-03 = 1) A direction Command (DI1 or DI2) has been given. At least 1 speed has been selected.
3	Open = Disabled Closed = Run Forward	Open = Disabled Closed = Run Reverse	1	0	0	Open Available Functions = E-Trip when open with no other functions enabled Motor Contactor feedback trip if P3-02 is set to 1 (Enabled) Closed = Ok	Fault Reset	Open = Mains Mode Closed = Rescue Mode Activate	P8-06 High Speed
			0 or 1	0	1				P8-07 Intermediate Speed
			0 or 1	1	0 or 1				P8-08 Inspection Speed
			0	0	0				P8-05 Levelling Speed
4	Open = Disabled Closed = Run Forward	Open = Disabled Closed = Run Reverse	1	0	Open Available Functions = E-Trip when open with no other functions enabled Thermistor trip if thermistor function selected in P1-09 Analog Input 2 (DI5) Format Motor Contactor feedback trip if P3-02 is set to 1 (Enabled) Brake Resistor monitoring trip if P3- 06 is set to 1. Closed = Ok	0	Fault Reset	Open = Mains Mode Closed = Rescue Mode Activate	P8-06 High Speed
			0 or 1	0		1			P8-07 Intermediate Speed
			0 or 1	1		0 or 1			P8-08 Inspection Speed
			0	0		0			P8-05 Levelling Speed
5	Open = Disabled Closed = Run Forward	Open = Disabled Closed = Run Reverse	0	0	0	Open Available Functions = E-Trip when open with no other functions enabled Thermistor trip if thermistor function selected in P1-09 Analog Input 2 (DI5) Format Motor Contactor feedback trip if P3-02 is set to 1 (Enabled) Brake Resistor monitoring trip if P3- 06 is set to 1. Closed = Ok	Fault Reset	Open = Mains Mode Closed = Rescue Mode Activate	P8-05 Levelling Speed
			1	0	0				P8-06 High Speed
			0	1	0				P8-07 Intermediate Speed
			1	1	0				P8-08 Inspection Speed
			0	0	1				P8-09 Speed 2
			1	0	1				P8-10 Speed 3
			0	1	1				P8-11 Speed 4
			1	1	1				P8-12 High Speed 5/Relevelling Speed
6	Open = Disabled Closed = Run Forward	Open = Disabled Closed = Run Reverse	No Function	Speed Reference from Analogue input	Open Available Functions = E-Trip when open with no other functions enabled Thermistor trip if thermistor function selected in P1-09 Analog Input 2 (DI5) Format Motor Contactor feedback trip if P3-02 is set to 1 (Enabled) Brake Resistor monitoring trip if P3- 06 is set to 1. Closed = Ok	Open Available Functions = E-Trip when open with no other functions enabled Motor Contactor feedback trip if P3-02 is set to 1 (Enabled) Closed = Ok	Fault Reset	Open = Mains Mode Closed = Rescue Mode Activate	Analog input Reference level
7	Open = Disabled Closed = Run Forward	Open = Disabled Closed = Run Reverse	Open = Disabled Closed = Levelling Speed (P8-05)	Torque Sensor Input	Open = Disabled Closed = High Speed (P8-06)	Open = Disabled Closed = Inspection Speed (P8-08)	Fault Reset	Open = Mains Mode Closed = Rescue Mode Activate	If more than 1 speed selection input is high the highest speed will be used.
For settings 3,4,5,6,7 above, the drive will only start if all the below conditions are met and in the correct sequence Safe Torque Off inputs are enabled. A direction command (DI1 or DI2) has been given. At least 1 speed has been selected (For Macros 3,4 and 5)
8	Open = Disabled Closed = Run Forward	Open = Disabled Closed = Run Reverse	0	0	Brake Release Monitor Input 1 (Only Active if P5-04 Brake Release Monitoring Enable is set to a value of 2)	Brake Release Monitor Input 2 (Only Active if P5-04 Brake Release Monitoring Enable is set to a value of 2)	Fault Reset	Open = Mains Mode Closed = Rescue Mode Activate	P8-05 Levelling Speed
			1	0					P8-06 High Speed
			0	1					P8-07 Intermediate Speed
			1	1					P8-08 Inspection Speed
For setting 8 above, the drive will only start if all the below conditions are met and in the correct sequence. Safe Torque Off inputs are enabled. A direction command (DI1 or DI2) has been given.
*9	Open = Disabled Closed = Run Forward	Open = Disabled Closed = Run Reverse	Open = Mains Mode Closed = Rescue Mode Activate	0	0	0	Brake Release Monitor Input 1 No Function	Open = Disabled Closed = Drive Enabled	P8-05 Levelling Speed
				1	0	0			P8-06 High Speed
				0	1	0			P8-07 Intermediate Speed
				1	1	0			P8-08 Inspection Speed
				0	0	1			P8-09 Speed 2
				1	0	1			P8-10 Speed 3
				0	1	1			P8-11 Speed 4
				1	1	1			P8-12 High Speed 5/Relevelling Speed
*Setting 9 above has a different operation (in terms of Motor contactor control) to all other operating modes. When a direction command is given the motor contactor relay will close and normal contactor sequence will begin, however the drive will not start until STO inputs are closed and then Digital Input 8 (Drive Enable signal) has been given.
10	Open = Disabled Open = Disabled	Open = Disabled Closed = Run Reverse	0	0	Open Available Functions = E-Trip when open with no other functions enabled Thermistor trip if thermistor function selected in P1-09 Analog Input 2 (DI5) Format Closed = Ok	Open Available Functions = E-Trip when open with no other functions enabled Motor Contactor feedback trip if P3-02 is set to 1 (Enabled) Closed = Ok	Open Available Functions = E-Trip when open with no other functions enabled Brake Resistor monitoring trip if P3- 06 is set to 1. Closed = Ok	Open = Mains Mode Closed = Rescue Mode Activate	P8-05 Levelling Speed
			1	0					P8-06 High Speed
			0	1					P8-07 Intermediate Speed
			1	1					P8-08 Inspection Speed
*11	Open = Disabled Open = Run Forward	Open = Disabled Closed = Run Reverse	Open = Mains Mode Closed = Rescue Mode Activate	0	0	0	No Function (Only Active if P5-04 Brake Release Monitoring Enable is set to a value of 2)	No Function	P8-05 Levelling Speed
				1	0	0			P8-06 High Speed
				0	1	0			P8-07 Intermediate Speed
				1	1	0			P8-08 Inspection Speed
				0	0	1			P8-09 Speed 2
				1	0	1			P8-10 Speed 3
				0	1	1			P8-11 Speed 4
				1	1	1			P8-12 High Speed 5/Relevelling Speed
*Setting 11 above has a different operation (in terms of Motor contactor control) to all other operating modes: When a direction command is given the motor contactor relay will close and normal contactor sequence will begin, however the drive will not start until STO inputs are closed.
12	Open = Disabled Closed = Run Forward	Open = Disabled Closed = Run Reverse	1	0	Open = Coast to Stop Closed = No Action	No Function	Fault Reset	Open = Mains Mode Closed = Rescue Mode	P8-06 High Speed
			0 or 1	1					P8-08 = Inspection Speed
			0	0					P8-05 = Levelling Speed

Group 1.3 - User IO - Analog Input 1 (DI4) configuration

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P1-03	DI4 Analog Input 1 Format	N/A	0: U 0-10	0 ... 9	RW	N	N/A	1	2067h	103
P1-04	DI4 Analog Input 1 Offset	%	0.0%	-500.0 ... 500.0%	RW	Y	1 = 0.1%	2	2068h	104
P1-05	DI4 Analog Input 1 Scaling	%	100.0%	-500.0 ... 500.0%	RW	Y	1 = 0.1%	2	2069h	105
P1-06	DI4 Analog Input 1 Filter	sec	0.00s	0.00 ... 2.00s	RW	Y	1 = 0.01s	1	206Ah	106
P1-07	DI4 Analog Input Signal Loss Reaction	N/A	0: No Reaction	0 ... 2	RW	Y	N/A	1	206Bh	107
P1-08	DI4/DI5 Analog Input Signal Loss Speed	%	80.00%	0.00 ... 100.00%	RW	Y	1 = 0.01%	1	206Ch	108

P1-03 - DI4 Analog Input 1 Format

Digital Input 4 only operates as an Analog Input when P1-02 is set to 6 or 7 or configured via Group 12 when using Macro 0. Below are the analog configurations available for Analog Input 1.

Setting	Drive Display	Input Format
U 0-10	U 0-10	0 to 10 Volt Signal (Uni-polar
U 10-0	U 10-0	10 to 0 Volt Signal (Uni-polar)
-10 - 10	- 10- 10	-10 to +10 Volt Signal (Bi-polar)
A 0-20	A 0-20	0 to 20mA Signal
A 20-4	A 20-0	20 to 0mA Signal
t 4-20	A 4-20	4 to 20mA Signal (4-20F trip if signal falls below 3mA)
t 20-4	A 20-4	20 to 4mA Signal (20-4F trip if signal falls below 3mA)
PrE-t	PrE-t	Pre-Torque Input (Bipolar -10V to +10V)
Ptc-th	Ptc-th	Motor PTC thermistor input
ty-th	ty-th	Motor KTY84 thermistor input

P1-04 - DI4 Analog Input 1 Offset

When Terminal DI4 is operating as an Analog Input this parameter allows an offset to be set, the value is set as a percentage of the full-scale range of the input, which is applied to the Analog Input signal.

P1-05 - DI4 Analog Input 1 Scaling

When Terminal DI4 is operating as an analog input scales the Analog Input by this factor, e.g. if P1-03 is set for U 0 – 10, and the scaling factor is set to 200.0%, a 5 Volt input at the control terminal DI4 will result in the drive running at maximum speed (P8-01).

The pre and post scaling values can be viewed in parameters P0-56 and P0-57.

P1-06 - DI4 Analog Input 1 Filter

This filter helps in situations where the analog input is used for the speed reference or from a Torque sensor and the source signal is noisy which would result in oscillation in speed.

The filters primary aim is to make the signal smoother to the internal speed reference but will result in less responsiveness.

P1-07 - DI4 Analog Input Signal Loss Reaction

The drive will monitor for speed reference signal loss on the analog input terminals and react according to the setting of P1-07. Speed reference loss is defined as the point when the speed reference falls below a % (as per set in P1-08) of the previous reference for a period of 500ms.

Setting	Reaction
0	No Reaction
1	Run at speed in P1-08 (Analog Input Signal Loss speed) and return to speed reference when signal is reinstated.
2	Ramp to Stop using P8-04 (Deceleration ramp time) and trip Ai-LoS

P1-08 - DI4/DI5 Analog Input Signal Loss Speed

Used in conjunction with P1-07 (DI4/DI5 Analog Input Signal Loss Reaction) and P1-13 (Analog Input 2) Signal Loss Reaction setting 1 and is set as a % of the speed reference prior to the speed reference loss.

Group 1.4 User IO - Analog Input 2 (DI5) configuration

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P1-09	DI5 Analog Input 2 Format	N/A	0: U 0-10	0 ... 9	RW	Y	N/A	1	206Dh	109
P1-10	DI5 Analog Input 2 Offset	%	0.0%	-500.0 ... 500.0%	RW	Y	1 = 0.1%	2	206Eh	110
P1-11	DI5 Analog Input 2 Scaling	%	100.0%	-500.0 ... 500.0%	RW	Y	1 = 0.1%	2	206Fh	111
P1-12	DI5 Analog Input 2 Filter	sec	0.00s	0.00 ... 2.00s	RW	Y	1 = 0.01s	1	2070h	112
P1-13	DI5 Analog Input 2 Signal Loss Reaction	N/A	0: No Reaction	0 ... 2	RW	Y	N/A	1	2071h	113

P1-09 - DI5 Analog Input 2 Format

Below are the analog configurations available for Analog input 2.

Setting	Drive Display	Input Format
U 0-10	U 0-10	0 to 10 Volt Signal (Uni-polar
U 10-0	U 10-0	10 to 0 Volt Signal (Uni-polar)
-10 - 10	- 10- 10	-10 to +10 Volt Signal (Bi-polar)
A 0-20	A 0-20	0 to 20mA Signal
A 20-4	A 20-0	20 to 0mA Signal
t 4-20	A 4-20	4 to 20mA Signal (4-20F trip if signal falls below 3mA)
t 20-4	A 20-4	20 to 4mA Signal (20-4F trip if signal falls below 3mA)
PrE-t	PrE-t	Pre-Torque Input (Bipolar -10V to +10V)
Ptc-th	Ptc-th	Motor PTC thermistor input
ty-th	ty-th	Motor KTY84 thermistor input

P1-10 - DI5 Analog Input 2 Offset

When terminal DI5 is operating as an Analog input this parameter sets an offset, as a percentage of the full-scale range of the input, which is applied to the Analog Input signal.

P1-11 - DI5 Analog Input 2 Scaling

When Terminal DI4 is operating as an analogue input scales the Analog Input by this factor, e.g. if P1-03 is set for 0 – 10, and the scaling factor is set to 200.0%, a 5 Volt input at the control terminal DI4 will result in the drive running at maximum speed (P8-01).

The pre and post scaling values can be viewed in parameters P0-58 and P0-59.

P1-12 - DI5 Analog Input 2 Filter

This filter helps in situations where the analog input is used for the speed reference or from a Torque sensor and the source signal is noisy which would result in oscillation in speed.

The filters primary aim is to make the signal smoother to the internal speed reference but will result in less responsiveness.

P1-13 - DI5 Analog Input 2 Signal Loss Reaction

Set the reaction method on a signal loss when terminal DI5 is used as Analog Input speed reference.

Setting	Reaction
0	No Reaction
1	Run at speed in P1-08 (Analog Input Signal Loss speed) flashing Ai-LoS and return to speed reference when signal is reinstated.
2	Ramp to Stop using P8-04 (Deceleration ramp time) and trip Ai-LoS or F-Ptc or F-tY depending on P1-09 setting.

Group 1.5 - User IO - DA1 Output 1 Configuration

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P1-14	DA1 Output 1 Type	N/A	0: Digital Output	0 ... 1	RW	Y	N/A	1	2072h	114
P1-15	DA1 Digital Output 1 Function Select	N/A	1: Drive Healthy	0 ... 20	RW	Y	N/A	1	2073h	115
P1-16	DA1 Digital Output 1 Invert	N/A	0: Standard	0: Standard 1: Inverted	RW	Y	N/A	1	2074h	116
P1-17	DA1 Analog Output 1 Source Select	N/A	0 : Output Frequency	0 ... 5	RW	Y	N/A	1	2075h	117
P1-18	DA1 Analog Output 1 Format	N/A	0: U 0-10	0 ... 5	RW	Y	N/A	1	2076h	118
P1-19	DA1 Analog Output 1 Scaling	%	100.0%	0.0 ... 500.0 %	RW	Y	1 = 0.1%	1	2077h	119
P1-20	DA1 Analog Output 1 Offset	%	0.0%	-500.0 ... 500.0 %	RW	Y	1 = 0.1%	2	2078h	120

P1-14 - DA1 Output 1 Type

Sets if the output terminal DA1 is to operate as a Digital Output (24Vdc) or as an Analog Output.

Setting	DA1 Output Type
0	Digital Output
1	Analog Output

P1-15 - DA1 Digital Output 1 Function Select

This defines the output function when terminal DA1 is configured in digital mode (P1-14 = 0).

Setting	Status/Function Source	Conditions for Status
0	Drive Enabled (Running)	Logic 1 when Drive is enabled and output stage is on
1	Drive Healthy	Logic 1 when no Fault condition exists on the drive. (“InHibit” is not included as a fault)
2	Motor at Zero speed	Logic 1 when motor speed is </=minimum output frequency (P8-02) or </= DC injection at stop speed (P9-15)
3	Motor at Target speed	Logic 1 when the output frequency matches the setpoint speed
4	Motor Speed > 0	Logic 1 when the motor runs above zero speed
5	Motor Speed >/= Limit	Logic 1 when the motor speed exceeds the adjustable limit as per set in P1-31 and P1-32
6	Motor Current >/= Limit	Logic 1 when the motor speed exceeds the adjustable limit as per set in P1-31 and P1-32
7	Motor Torque >/= Limit	Logic 1 when the motor speed exceeds the adjustable limit as per set in P1-31 and P1-32
8	STO Status	Logic 1 when both STO inputs are present, and the drive is able to be operated
9	Rescue Mode active	Logic 1 when the drive is operating in Rescue Mode
10	2nd Anip > limit	Logic 1 when the signal applied to terminal DI5 (Analog Input 2) exceeds the adjustable limits set in speed P1-31 and P1-32
Note When using settings 5, 6, 7, 10, parameters P1-31 and P1-32 must be used together to control the behaviour. The output will switch to Logic 1 when the selected signal exceeds the value programmed in P1-31 and return to Logic 0 when the signal falls below the value in P1-32.
11	Motor Contactor control	Used to control the operation of a motor contactor. Logic 1 when motor contactor is closed by the drive.
12	Motor Shorting Contactor Control	Used to control the operation of a motor shorting contactor.
13	Direction of Travel	Logic 1 when direction down, Logic 0 when stopped or direction up. (Fwd command given and speed is positive): UP direction means a forward command has been given and motor turns clockwise (Looking at the shaft) and motor speed is positive.
14	Service Indicator	Logic 1 when service time interval set in P11-17 has been met.
15	Brake Control	Logic 1 when Relay is closed (Motor Brake Released)
16	Door Zone	Logic 1 when motor speed equals (P10-02 Early Door Opening Speed Threshold).
17	Light Load direction	Logic 0 = Easiest direction is up. Logic 1 = Easiest direction is downwards.
18	Travel limit counter reached	Logic 1 when Travel Direction Change Counter limit P10-05 has been reached.
19	Set speed and actual speed > P1-42	Logic 1 when the % difference (as per set in Speed following error P1-42) is exceeded between set speed and the actual speed (estimated speed in open loop/encoder speed in closed loop-with encoder)
20	Alarm	Logic 1 when an alarm is active, e.g P3-07 has been set to 2.

P1-16 - DA1 Digital Output 1 Invert

Inverts the logic of DA1 output when operating in digital output mode (P1-14 = 0).

Setting	Function
0	Standard
1	Inverted

P1-17 - DA1 Analog Output 1 Source Select

This defines the output source when DA1 is configured in analog mode.

Setting	Status Source	Signal Source
0	Output Frequency (Motor Speed) -Estimated	0 to P8-01 (Maximum Frequency)
1	Output (Motor) current	0 to 200% of P4-03
2	Motor Torque	0 to 200% of motor rated torque
3	Electrical Output power	0 to 200% of drive rated power
4	Output Speed From Encoder	0 to 200% of P8-01 (Maximum speed rpm)
5	DC Bus voltage	0 to 1000Vdc

P1-18 - DA1 Analog Output 1 Format

Sets the format for DA1 when in Analog Mode selected by P1-14.

Setting	Output Format
U 0-10	0 to 10V
U 10-0	10 to 0V
A 0-20	0 to 20mA
A 20-0	20 to 0mA
A 4-20	4 to 20mA
A 20-4	20 to 4mA

P1-19 - DA1 Analog Output 1 Scaling

Defines the scaling percentage of DA1.

P1-20 - DA1 Analog Output 1 Offset

Defines the scaling factor as a %, where output value = (Input value-Offset P1-20) *Scaling factor P1-19

Group 1.6 - User IO - DA2 Output 2 configuration

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P1-21	DA2 Output 2 Type	N/A	0: Digital Output	0 ... 1	RW	Y	N/A	1	2079h	121
P1-22	DA2 Digital Output 2 Function Select	N/A	0: Drive Enabled (Running)	0 ... 20	RW	Y	N/A	1	207Ah	122
P1-23	DA2 Digital Output 2 Invert	N/A	0: Standard	0: Standard 1: Inverted	RW	Y	N/A	1	207Bh	123
P1-24	DA2 Analog Output 2 Source Select	N/A	0: Output Frequency	0 ... 5	RW	Y	N/A	1	207Ch	124
P1-25	DA2 Analog Output 2 Format	N/A	0: U 0-10	0 ... 5	RW	Y	N/A	1	207Dh	125
P1-26	DA2 Analog Output 2 Scaling	%	100.0%	0.0 ... 500.0 %	RW	Y	1 = 0.1%	2	207Eh	126
P1-27	DA2 Analog Output 2 Offset	%	0.0%	-500.0 ... 500.0 %	RW	Y	1 = 0.1%	2	207Fh	127

P1-21 - DA2 Output 2 Type

Sets if the output from terminal DA2 is to operate as a Digital Output (24V dc) or as an Analog Output, the Analog type is defined in P1-25 DA2 Analog Output 2 Format.

Setting	Output Type
0	Digital Output
1	Analog Output

P1-22 - DA2 Digital Output 2 Function Select

This defines the output source when DA2 is configured in digital mode.

Setting	Status/Function Source	Conditions for Status
0	Drive Enabled (Running)	Logic 1 when Drive is enabled and output stage is on
1	Drive Healthy	Logic 1 when no Fault condition exists on the drive. (“InHibit” is not included as a fault)
2	Motor at Zero speed	Logic 1 when motor speed is </=minimum output frequency (P8-02) or </= DC injection at stop speed (P9-15)
3	Motor at Target speed	Logic 1 when the output frequency matches the setpoint speed
4	Motor Speed > 0	Logic 1 when the motor runs above zero speed
5	Motor Speed >/= Limit	Logic 1 when the motor speed exceeds the adjustable limit as per set in P1-33 and P1-34
6	Motor Current >/= Limit	Logic 1 when the motor speed exceeds the adjustable limit as per set in P1-33 and P1-34
7	Motor Torque >/= Limit	Logic 1 when the motor speed exceeds the adjustable limit as per set in P1-33 and P1-34
8	STO Status	Logic 1 when both STO inputs are present, and the drive is able to be operated
9	Rescue Mode active	Logic 1 when the drive is operating in Rescue Mode
10	2nd Anip > limit	Logic 1 when the signal applied to terminal DI5 (Analog Input 2) exceeds the adjustable limits set in speed P1-33 and P1-34
Note When using settings 5, 6, 7, 10, parameters P1-33 and P1-34 must be used together to control the behaviour. The output will switch to Logic 1 when the selected signal exceeds the value programmed in P1-33 and return to Logic 0 when the signal falls below the value in P1-34.
11	Motor Contactor control	Used to control the operation of a motor contactor. Logic 1 when motor contactor is closed by the drive.
12	Motor Shorting Contactor Control	Used to control the operation of a motor shorting contactor.
13	Direction of Travel	Logic 1 when direction down, Logic 0 when stopped or direction up. (Fwd command given and speed is positive): UP direction means a forward command has been given and motor turns clockwise (Looking at the shaft) and motor speed is positive.
14	Service Indicator	Logic 1 when service time interval set in P11-17 has been met.
15	Brake Control	Logic 1 when Relay is closed (Motor Brake Released)
16	Door Zone	Logic 1 when motor speed equals (P10-02 Early Door Opening Speed Threshold).
17	Light Load direction	Logic 0 = Easiest direction is up. Logic 1 = Easiest direction is downwards.
18	Travel limit counter reached	Logic 1 when Travel Direction Change Counter limit P10-05 has been reached.
19	Set speed and actual speed > P1-42	Logic 1 when the % difference (as per set in Speed following error P1-42) is exceeded between set speed and the actual speed (estimated speed in open loop/encoder speed in closed loop-with encoder)
20	Alarm	Logic 1 when an alarm is active, e.g P3-07 has been set to 2.

P1-23 - DA2 Digital Output 2 Invert

Inverts the logic of DA2 output when operating in digital output mode.

Setting	Function
0	Standard
1	Inverted

P1-24 - DA2 Analog Output 2 Source Select

This defines the output source when DA2 is configured in analog mode.

Setting	Status Source	Signal Source
0	Output Frequency (Motor Speed) -Estimated	0 to P8-01 (Maximum Frequency)
1	Output (Motor) current	0 to 200% of P4-03
2	Motor Torque	0 to 200% of motor rated torque
3	Electrical Output power	0 to 200% of drive rated power
4	Output Speed From Encoder	0 to 200% of P8-01 (Maximum speed rpm)
5	DC Bus voltage	0 to 1000Vdc

P1-25 - DA2 Analog Output 2 Format

Defines the format of Analog Output 2

Setting	Output Format
U 0-10	0 to10V
U 10-0	10 to 0V
A 0-20	0 to 20mA
A 20-0	20 to 0mA
A 4-20	4 to 20mA
A 20-4	20 to 4mA

P1-26 - DA2 Analog Output 2 Scaling

Inverts the logic of DA2 output when operating in digital output mode.

P1-27 - DA2 Analog Output 2 Offset

Defines the scaling factor as a %, where output value = (Input value-Offset P1-27)*Scaling factor P1-26.

Group 1.7 - User IO - Digital Output 3 Configuration

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P1-28

DO3 Digital Output 3 Function Select

N/A

12: Motor Shorting Contactor

0 ... 20

N/A

2080h

128

P1-29

DO3 Digital Output 3 Invert

N/A

0: Standard

1: Inverted

N/A

2081h

129

P1-28 - DO3 Digital Output 3 Function Select

The settings of the DO3 terminal are listed below:

Setting	Status/Function Source	Conditions for Status
0	Drive Enabled (Running)	Logic 1 when Drive is enabled and output stage is on
1	Drive Healthy	Logic 1 when no Fault condition exists on the drive. (“InHibit” is not included as a fault)
2	Motor at Zero speed	Logic 1 when motor speed is </=minimum output frequency (P8-02) or </= DC injection at stop speed (P9-15)
3	Motor at Target speed	Logic 1 when the output frequency matches the setpoint speed
4	Motor Speed > 0	Logic 1 when the motor runs above zero speed
5	Motor Speed >/= Limit	Logic 1 when the motor speed exceeds the adjustable limit as per set in P1-38 and P1-39
6	Motor Current >/= Limit	Logic 1 when the motor speed exceeds the adjustable limit as per set in P1-38 and P1-39
7	Motor Torque >/= Limit	Logic 1 when the motor speed exceeds the adjustable limit as per set in P1-38 and P1-39
8	STO Status	Logic 1 when both STO inputs are present, and the drive is able to be operated
9	Rescue Mode active	Logic 1 when the drive is operating in Rescue Mode
10	2nd Anip > limit	Logic 1 when the signal applied to terminal DI5 (Analog Input 2) exceeds the adjustable limits set in speed P1-38 and P1-39
Note When using settings 5, 6, 7, 10, parameters P1-38 and P1-39 must be used together to control the behaviour. The output will switch to Logic 1 when the selected signal exceeds the value programmed in P1-38 and return to Logic 0 when the signal falls below the value in P1-39.
11	Motor Contactor control	Used to control the operation of a motor contactor. Logic 1 when motor contactor is closed by the drive.
12	Motor Shorting Contactor Control Contactor control	Used to control the operation of a motor shorting contactor.
13	Direction of Travel	Logic 1 when direction down, Logic 0 when stopped or direction up. (Fwd command given and speed is positive): UP direction means a forward command has been given and motor turns clockwise (Looking at the shaft) and motor speed is positive.
14	Service Indicator	Logic 1 when service time interval set in P11-17 has been met.
15	Brake Control	Logic 1 when Relay is closed (Motor Brake Released)
16	Door Zone	Logic 1 when motor speed equals (P10-02 Early Door Opening Speed Threshold).
17	Light Load direction	Logic 0 = Easiest direction is up. Logic 1 = Easiest direction is downwards.
18	Travel limit counter reached	Logic 1 when Travel Direction Change Counter limit P10-05 has been reached.
19	Set speed and actual speed > P1-42	Logic 1 when the % difference (as per set in Speed following error P1-42) is exceeded between set speed and the actual speed (estimated speed in open loop/encoder speed in closed loop-with encoder)
20	Alarm	Logic 1 when an alarm is active, e.g P3-07 has been set to 2.

P1-29 - DO3 Digital Output 3 Invert

Inverts the logic of DO3 output terminal.

Setting	Function
0	Standard
1	Inverted

Group 1.8 - User IO - User Relays

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P1-30	Relay 1 Function Select	N/A	11: Motor Contactor Control	0 ... 20	RW	Y	N/A	1	2082h	0	130

P1-30 - Relay 1 Function Select

The settings of Relay 1 are listed below.

Setting	Status/Function Source	Conditions for Status
0	Drive Enabled (Running)	Logic 1 when Drive is enabled and output stage is on
1	Drive Healthy	Logic 1 when no Fault condition exists on the drive. (“InHibit” is not included as a fault)
2	Motor at Zero speed	Logic 1 when motor speed is </=minimum output frequency (P8-02) or </= DC injection at stop speed (P9-15)
3	Motor at Target speed	Logic 1 when the output frequency matches the setpoint speed
4	Motor Speed > 0	Logic 1 when the motor runs above zero speed
5	Motor Speed >/= Limit	Logic 1 when the motor speed exceeds the adjustable limit as per set in P1-35 and P1-36
6	Motor Current >/= Limit	Logic 1 when the motor current exceeds the adjustable limit as per set in P1-35 and P1-36
7	Motor Torque >/= Limit	Logic when the motor torque exceeds the adjustable limit as per set in P1-35 and P1-36
8	STO Status	Logic 1 when both STO inputs are present, and the drive is able to be operated
9	Rescue Mode active	Logic 1 when the drive is operating in Rescue Mode
10	2nd Anip > limit	Logic 1 when the signal applied to terminal DI5 (Analog Input 2) exceeds the adjustable limit as per set in P1-35 and P1-36
Note When using settings 5, 6, 7, 10, parameters P1-35 and P1-36 must be used together to control the behaviour. The output will switch to Logic 1 when the selected signal exceeds the value programmed in P1-35 and return to Logic 0 when the signal falls below the value in P1-36.
11	Motor Contactor control	Used to control the operation of a motor contactor. Logic 1 when motor contactor is closed by the drive.
12	Motor Shorting Contactor Control Contactor control	Used to control the operation of a motor shorting contactor.
13	Direction of Travel	Logic 1 when direction down, Logic 0 when stopped or direction up. (Fwd command given and speed is positive): UP direction means a forward command has been given and motor turns clockwise (Looking at the shaft) and motor speed is positive.
14	Service Indicator	Logic 1 when service time interval set in P11-17 has been met.
15	Brake Control	Logic 1 when Relay is closed (Motor Brake Released)
16	Door Zone	Logic 1 when motor speed equals (P10-02 Early Door Opening Speed Threshold).
17	Light Load direction	Logic 0 = Easiest direction is up. Logic 1 = Easiest direction is downwards.
18	Travel limit counter reached	Logic 1 when Travel Direction Change Counter limit P10-05 has been reached.
19	Set speed and actual speed > P1-42	Logic 1 when the % difference (as per set in Speed following error P1-42) is exceeded between set speed and the actual speed (estimated speed in open loop/encoder speed in closed loop-with encoder)
20	Alarm	Logic 1 when an alarm is active, e.g P3-07 has been set to 2.

Group 1.9 - User IO - Hysteresis

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P1-31	DA1 Threshold Upper Limit	%	100.0%	P1-32 ... 200.0 %	RW	Y	1 = 0.1%	1	2083h	131
P1-32	DA1 Threshold Lower Limit	%	0.0%	0.0 ... P1-31	RW	Y	1 = 0.1%	1	2084h	132
P1-33	DA2 Threshold Upper Limit	%	100.0%	P1-34 ... 200.0 %	RW	Y	1 = 0.1%	1	2085h	133
P1-34	DA2 Threshold Lower Limit	%	0.0%	0.0 ... P1-33	RW	Y	1 = 0.1%	1	2086h	134
P1-35	Relay 1 Threshold Upper Limit	%	100.0%	0.0 ... 200.0 %	RW	Y	1 = 0.1%	1	2087h	135
P1-36	Relay 1 Threshold Lower Limit	%	0.0%	0.0 ... 100.0 %	RW	Y	1 = 0.1%	1	2088h	136
P1-37	Digital/Relay Output Hysteresis Band	%	0.3%	0.0 ... 25.0 %	RW	Y	1 = 0.1%	1	2089h	137
P1-38	DO3 Threshold Upper Limit	%	100.0%	0.0 ... 200.0%	RW	Y	1 = 0.1%	1	208Ah	138
P1-39	DO3 Threshold Lower Limit	%	0.0%	0.0 ... 100.0%	RW	Y	1 = 0.1%	1	208Bh	139

P1-31 - DA1 Threshold Upper Limit

Used in conjunction with settings 5,6,7,10 of Parameter P1-15 (DA1 Digital Output Function Select).

The table below shows the specific settings of P1-15 and the parameter that P1-31/P1-32 look at for the % to change the state of the Digital Output.

Setting	Status/Function Setting	Parameter monitored for Relay State Change
4	Motor Speed > 0	P0-15 Post-ramp Speed Controller Reference
5	Motor Speed >/= Limit	P0-15 Post-ramp Speed Controller Reference
6	Motor Current >/= Limit	P0-25 Motor Current
7	Motor Torque >/= Limit	P0-28 Output Torque

P1-32 - DA1 Threshold Lower Limit

Used in conjunction with settings 5,6,7,10 of Parameter P1-15 DA1 Digital Output 1 Function Select to set the lower limit of Digital Output 1.

P1-33 - DA2 Threshold Upper Limit

Used in conjunction with settings 5,6,7,10 of Parameter P1-22 (DA2 Digital Output Function Select).

The table below shows the specific settings of P1-22 and the parameter that P1-31/P1-32 look at for the % to change the state of the Digital Output.

Setting	Status/Function Setting	Parameter monitored for Relay State Change
4	Motor Speed > 0	P0-15 Post-ramp Speed Controller Reference
5	Motor Speed >/= Limit	P0-15 Post-ramp Speed Controller Reference
6	Motor Current >/= Limit	P0-25 Motor Current
7	Motor Torque >/= Limit	P0-28 Output Torque

P1-34 - DA2 Threshold Lower Limit

Used in conjunction with settings 5,6,7,10 of Parameter P1-22 DA1 Digital Output 2 Function Select to set the lower threshold of Digital Output 2.

P1-35 - Relay 1 Threshold Upper Limit

Used in conjunction with settings 5,6,7,10 of Parameter P1-30 (Relay 1 Source Selector)

The table below shows the settings of P1-30 and the parameter that P1-35/P1-36 look at for the % to change the state of the Relay.

Setting	Status/Function Setting	Parameter monitored for Relay State Change
4	Motor Speed > 0	P0-15 Post-ramp Speed Controller Reference
5	Motor Speed >/= Limit	P0-15 Post-ramp Speed Controller Reference
6	Motor Current >/= Limit	P0-25 Motor Current
7	Motor Torque >/= Limit	P0-28 Output Torque

P1-36 - Relay 1 Threshold Lower Limit

Used in conjunction with settings 5,6,7,10 of Parameter P1-30 (Relay 1 Source Selector) to set the lower threshold of Relay 1.

P1-37 - Digital/Relay Output Hysteresis Band

This parameter works in conjunction with P1-15, P1-22, P1-28, P1-30 = 2 or 3 to set a band around the Motor at Target Speed (e.g. P1-15 = 3) or Motor at Zero speed (e.g. P1-15 = 2). When the speed is within this band, the drive is considered to be at Target speed or Zero speed. This function is used to prevent “chatter” on the relay/Digital output if the operating speed coincides with the level at which the digital / relay output changes state. e.g. if P1-30 = 3, P8-01 = 50Hz and P1-36 = 5%, the relay contacts close above 2.5Hz.

P1-38 - DO3 Threshold Upper Limit

Used in conjunction with settings 5,6,7,10 of Parameter P1-28 DO3 Digital Output 3 Function Select to set the upper limit of the threshold.

P1-39 - DO3 Threshold Lower Limit

Used in conjunction with settings 5,6,7,10 of Parameter P1-28 DO3 Digital Output 3 Function Select

Group 1.9 - User IO - Logic Control

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P1-40	Start Mode Select / Automatic Restart	N/A	0: Edge-r	0 ... 6	RW	Y	N/A	1	208Ch	140
P1-41	Auto-reset delay time	sec	20s	1 ... 60s	RW	Y	N/A	1	208Dh	141
P1-42	Speed Following Error	%	5.0%	0.0 ... 50.0%	RW	Y	1 = 0.1%	2	208Eh	142
P1-43	Positive/Negative Logic Select	N/A	0: Positive Logic	0: Positive Logic 1: Negative Logic	RW	N	N/A	1	208Fh	143

P1-40 - Start Mode Select / Automatic Restart

Defines the behaviour of the drive relating to the Direction / Enable Digital Input and configures the Automatic Restart function.

Setting

Behaviour

Edge-r

Following power on or reset, the drive will not start if a Direction Input remains closed. The Input must be closed after a power on or reset to start the drive.

Auto-0

Following a power on or Reset, the drive will automatically start if the start conditions are met, without the need to seeing a rising edge.

Auto-1 to Auto-5

Following a power on or Reset, the drive will automatically start if the start conditions are met, without the need to seeing a rising edge.

Also following a trip, the drive will make up to 5 attempts to restart at 20 second intervals. The drive must be powered down to reset the counter. The number of restart attempts are counted, and if the drive fails to start on the final attempt, the drive will display a fault message, and will require the user to manually reset the fault.

Note

The default reset time is 20 seconds and can be modified using parameter P1-41.

P1-41 - Auto-restart delay time

Sets the delay time which will elapse between consecutive drive reset attempts when Auto Reset is enabled in P1-40.

Note

This parameter is only applicable if the other run conditions are fulfilled. For example even if P1-40 is set to Auto-1 and the direction input is closed the drive will not start if the Safety Chain is not closed.

P1-42 - Speed Following Error

Used in conjunction with Setting 19: Set speed and actual speed > P1-42 in parameters P1‑15, P1‑22, P1‑28 and P1‑30 as the % error difference between set speed and the actual speed.

Setting	Status/Function Source	Conditions for Status
19	Set speed and actual speed > P1-42	Logic 1 when the % difference (as per set in Speed following error P1-42) is exceeded between set speed and the actual speed (estimated speed in open loop/encoder speed in closed loop-with encoder)

P1-43 - Positive/Negative Logic Select

Changes the control logic for all Digital Inputs (including the Universal Encoder module terminals Daux1 and Daux2).

Setting	Logic
0	Positive Logic
1	Negative Logic

Note

STO1 and STO2 Inputs are always positive logic.

Group 2 Communications - Parameter List

Table 11. Group 2.1 - Communications - Modbus RTU

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P2-01	Modbus Slave Address	N/A	1	0 ... 247	RW	N	N/A	1	20C9h	201
P2-02	Modbus RTU Baud Rate	N/A	4: 115200bps	0: 9600bps 1: 19200bps 2: 38400bps 3: 57600bps 4: 115200bps	RW	N	N/A	1	20CAh	202
P2-03	Modbus RTU Data Format	N/A	0: n-1	0: n-1 1: n-2 2: 0-1 3: E-1	RW	N	N/A	1	20CBh	203
P2-04	Modbus Communications Loss Timeout	sec	1.0s	0.0 ... 5.0s	RW	N	1 = 0.1s	1	20CCh	204
P2-05	Communications Loss Action	N/A	0: Trip	0: Trip 1: Ramp to Stop the Trip 2: Ramp to Stop Only (No Trip) 3: Run at Inspection Speed (P8-08)	RW	Y	N/A	1	20CDh	205
P2-06	Modbus RTU Response Delay	N/A	0 char	0 ... 16 char	RW	N	N/A	1	20CEh	206

Table 12. Group 2.2 - Communications - CANopen

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P2-07

CANopen Address

N/A

1 ... 127

N/A

20CFh

207

P2-08

CANopen Baud Rate

N/A

2: 500kbps

0: 125kbps

1: 250kbps

2: 500kbps

3: 1Mbps

N/A

20D0h

208

P2-09

CANopen Comms Loss Reaction

N/A

2: Ramp to Stop Only (No Trip)

0: Trip

1: Ramp to Stop then Trip

2: Ramp to Stop Only (No Trip)

3: Run at Inspection Speed (P8-09)

N/A

20D1h

209

Table 13. Group 2.3 - Communications - USB-C

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P2-10

PC/App Communications Loss Timeout

sec

2.0s

0.0 ... 5.0s

1 = 0.1s

20D2h

210

P2-11

PC/App Communications Loss Action

N/A

0: Trip

1: Ramp to Stop then Trip

2: Ramp to Stop Only (No Trip)

3: Run at Inspection Speed (P8-09)

N/A

20D3h

211

P2-13

USB Port Enable

N/A

1: Enabled

0: Disabled

1: Enabled

N/A

20D5h

213

Table 14. Group 2.4 - Communications - Modbus Message Monitoring

Parameter Number	Parameter Name	Units	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P2-20	Modbus Messages Per Second	msg/s	0 ... 1000msg/s	RO	N	N/A	2	20DCh	220
P2-21	Modbus Messages Processed	N/A	0 ... 4294967295	RO	N	N/A	4	20DDh	221
P2-22	Modbus Errors	N/A	0 ... 4294967295	RO	N	N/A	4	20Deh	222

Table 15. Group 2.5 - Communications - USB-C Message Monitoring

Parameter Number	Parameter Name	Units	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P2-23	USB Messages Processed Per Second	msg/s	0 ... 1000ms	RO	N	N/A	2	20DFh	223
P2-24	USB Messages Processed	N/A	0 ... 4294967295	RO	N	N/A	4	20E0h	224
P2-25	USB Errors	N/A	0 ... 4294967295	RO	N	N/A	4	20E1h	225

Table 16. Group 2.6 - Communications - Modbus Drive Monitoring

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P2-50	Modbus Control Word	N/A	0	0 ... 7	RO	N	N/A	1	20FAh	0	250
P2-51	Modbus Speed Reference	Hz	0.00	-P8-01 ... P8-01	RO	Y	N/A	2	20FBh	0	251
P2-52	Modbus Torque Reference	%	0.0	0.0 ... 100.0%	RO	Y	1 = 0.1%	2	20FCh	0	252
P2-53	Modbus Ramp Rate	sec	0.0	0.0 ... 600.0	RO	Y	1 - 0.1 s	2	20FDh	0	253
P2-56	Modbus status word lower byte: Drive status	N/A	0	0 ... 255	RO	N	N/A	2	2100h	0	256
P2-56 (1)	Modbus status word upper byte: Error code	N/A	0	0 ... 255	RO	N	N/A	2	2100h	1	256
P2-57	Modbus Speed Feedback	Hz / rpm / ft/s / m/s	0.00	-P8-01 ... P8-01	RO	N	1 = 0.1Hz	2	2101h	0	257
P2-58	Modbus Motor Current	Amps	0.0A	-3276.7 ... 3276.7A	RO	N	1 = 0.1A	2	2102h	0	258
P2-59	Modbus Output Torque	%	0.0%	-200.0 ... 200.0%	RO	N	1 = 0.1%	2	2103h	0	259

Group 2.1 - Communications - Modbus RTU

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P2-01	Modbus Slave Address	N/A	1	0 ... 247	RW	N	N/A	1	20C9h	201
P2-02	Modbus RTU Baud Rate	N/A	4: 115200bps	0: 9600bps 1: 19200bps 2: 38400bps 3: 57600bps 4: 115200bps	RW	N	N/A	1	20CAh	202
P2-03	Modbus RTU Data Format	N/A	0: n-1	0: n-1 1: n-2 2: 0-1 3: E-1	RW	N	N/A	1	20CBh	203
P2-04	Modbus Communications Loss Timeout	sec	1.0s	0.0 ... 5.0s	RW	N	1 = 0.1s	1	20CCh	204
P2-05	Communications Loss Action	N/A	0: Trip	0: Trip 1: Ramp to Stop the Trip 2: Ramp to Stop Only (No Trip) 3: Run at Inspection Speed (P8-08)	RW	Y	N/A	1	20CDh	205
P2-06	Modbus RTU Response Delay	N/A	0 char	0 ... 16 char	RW	N	N/A	1	20CEh	206

P2-01 - Modbus Slave Address

Sets the drive address when communicating over Modbus RTU via the RJ45 port on the drive.

P2-02 - Modbus RTU Baud Rate

Sets the baud rate when Modbus RTU communications is being used.

P2-03 - Modbus RTU Data Format

Value	Setting	Format
0	n-1	No Parity, 1 stop bit
1	n-2	No parity, 2 stop bits
2	0-1	Odd parity, 1 stop bit
3	E-1	Even parity, 1 stop bit

P2-04 - Modbus Communications Loss Timeout

Sets the timeframe for a Modbus message to be sent to the drive before tripping.

P2-05 - Communication Loss Action

Controls the behaviour of the drive following a loss of communications from either Modbus RTU or CANopen.

Setting	Drive Display	Reaction
0	triP	Immediate trip
1	r-triP	Ramp to stop then trip
2	StoP	Ramp to stop only (No Trip)
3	InSPct	Run at Inspection Speed (P8-08)

P2-06 - Modbus RTU Response Delay

Allows the user to configure an additional delay between the drive receiving a request via the Modbus RTU interface and transmitting a reply. The value entered represents the delay in addition to the minimum delay permissible according to the Modbus RTU specification, and is expressed as the number of additional characters.

Group 2.2 - Communications - CANopen

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P2-07

CANopen Address

N/A

1 ... 127

N/A

20CFh

207

P2-08

CANopen Baud Rate

N/A

2: 500kbps

0: 125kbps

1: 250kbps

2: 500kbps

3: 1Mbps

N/A

20D0h

208

P2-09

CANopen Comms Loss Reaction

N/A

2: Ramp to Stop Only (No Trip)

0: Trip

1: Ramp to Stop then Trip

2: Ramp to Stop Only (No Trip)

3: Run at Inspection Speed (P8-09)

N/A

20D1h

209

P2-07 - CANopen Address

Sets the drive address when communicating over CANopen via the RJ45 port on the drive.

P2-08 - CANopen Baud Rate

Sets the baud rate when CANopen communications is being used.

P2-09 - CANopen Comms Loss Reaction

Controls the behaviour of the drive following a loss of communications with CANopen when using Heartbeat or Node Guarding.

Setting	Reaction
0	Immediate trip
1	Ramp to stop then trip
2	Ramp to stop only (No Trip)
3	Run at Inspection Speed (P8-08)

Group 2.3 - Communications - USB-C

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P2-10

PC/App Communications Loss Timeout

sec

2.0s

0.0 ... 5.0s

1 = 0.1s

20D2h

210

P2-11

PC/App Communications Loss Action

N/A

0: Trip

1: Ramp to Stop then Trip

2: Ramp to Stop Only (No Trip)

3: Run at Inspection Speed (P8-09)

N/A

20D3h

211

P2-13

USB Port Enable

N/A

1: Enabled

0: Disabled

1: Enabled

N/A

20D5h

213

P2-10 - PC/App Communications Loss Timeout

Sets the timeframe for a PC/App message to be sent to the drive before tripping.

P2-11 - PC/App Communications Loss Action

Controls the behaviour of the drive following a loss of communications from either PC Tool/Mobile App.

Setting	Drive Display	Reaction
0	triP	Immediate trip
1	r-triP	Ramp to stop then trip
2	StoP	Ramp to stop only (No Trip)
3	InSPct	Run at Inspection Speed (P8-08)

P2-13 - USB Port Enable

Determines whether the USB port on the drive is enabled or not.

If the USB port is disabled then the drive will show the message USB P on the drive display, indicating that the USB port is disabled.

Setting	Function
0	Disabled - Messages can not be transferred via USB to the drive.
1	Enabled - Messages can be transferred via USB to the drive.

Group 2.4 - Communications - Modbus Message Monitoring

Parameter Number	Parameter Name	Units	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P2-20	Modbus Messages Per Second	msg/s	0 ... 1000msg/s	RO	N	N/A	2	20DCh	220
P2-21	Modbus Messages Processed	N/A	0 ... 4294967295	RO	N	N/A	4	20DDh	221
P2-22	Modbus Errors	N/A	0 ... 4294967295	RO	N	N/A	4	20Deh	222

P2-20 - Modbus Messages Per Second

Number of Modbus RTU messages currently being processed per second.

P2-21 - Modbus Messages Processed

Total number of Modbus RTU messages processed.

P2-22 - Modbus Errors

Number of Modbus RTU messages that could not be processed due to errors.

Group 2.5 - Communications - USB-C Message Monitoring

Parameter Number	Parameter Name	Units	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P2-23	USB Messages Processed Per Second	msg/s	0 ... 1000ms	RO	N	N/A	2	20DFh	223
P2-24	USB Messages Processed	N/A	0 ... 4294967295	RO	N	N/A	4	20E0h	224
P2-25	USB Errors	N/A	0 ... 4294967295	RO	N	N/A	4	20E1h	225

P2-23 - USB Messages Processed Per Second

The number of messages currently being processed per second.

P2-24 - USB Messages Processed

Total number of messages processed from the USB port.

P2-25 - USB Errors

The number of messages from the USB port that failed to be processed.

Group 2.6 - Communications - Modbus Drive Monitoring

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P2-50	Modbus Control Word	N/A	0	0 ... 7	RO	N	N/A	1	20FAh	0	250
P2-51	Modbus Speed Reference	Hz	0.00	-P8-01 ... P8-01	RO	Y	N/A	2	20FBh	0	251
P2-52	Modbus Torque Reference	%	0.0	0.0 ... 100.0%	RO	Y	1 = 0.1%	2	20FCh	0	252
P2-53	Modbus Ramp Rate	sec	0.0	0.0 ... 600.0	RO	Y	1 - 0.1 s	2	20FDh	0	253
P2-56	Modbus status word lower byte: Drive status	N/A	0	0 ... 255	RO	N	N/A	2	2100h	0	256
P2-56 (1)	Modbus status word upper byte: Error code	N/A	0	0 ... 255	RO	N	N/A	2	2100h	1	256
P2-57	Modbus Speed Feedback	Hz / rpm / ft/s / m/s	0.00	-P8-01 ... P8-01	RO	N	1 = 0.1Hz	2	2101h	0	257
P2-58	Modbus Motor Current	Amps	0.0A	-3276.7 ... 3276.7A	RO	N	1 = 0.1A	2	2102h	0	258
P2-59	Modbus Output Torque	%	0.0%	-200.0 ... 200.0%	RO	N	1 = 0.1%	2	2103h	0	259

P2-50 - Modbus Control Word

Allows the user to monitor the Control word individual bits

The drive Control Word is as follows:

Bit	Function when Bit = 0	Function When Bit = 1
0	No Function	Drive Run Forward
1	No Function	Drive Run Reverse
2	No Function	Reset Fault

P2-51 - Modbus Speed Reference

Displays the speed reference received via Modbus.

P2-52 - Modbus Torque Reference

Displays the torque reference received via Modbus

P2-53 - Modbus Ramp Rate

Displays the ramp rate received via Modbus.

P2-56 - Modbus Status Word lower byte: Drive Status

Shows the real-time Modbus status word lower byte.

The below table shows the lower bytes individual bits

Bit	Function when Bit = 0	Function When Bit = 1
0	Drive Stopped	Drive Running
1	Drive Healthy	Drive Tripped
2	STO Closed	STO Open (Drive Inhibited)
3	Service Time not Reached	Service Time Reached
4	Drive not in Standby	Drive in Standby
5	Reserved	Reserved
6	Reserved	Reserved
7	Reserved

P2-56 (1) - Modbus Status Word Upper Byte: Drive Error Code

Shows the real-time Modbus status word upper byte.

P2-57 - Modbus Speed Feedback

Speed feedback from Modbus command.

Only active while P1-01 is set to rtu

P2-58 - Modbus Motor Current

Motor Current feedback while using Modbus.

Only active while P1-01 is set to rtu

P2-59 - Modbus Output Torque

Output Torque feedback while using Modbus.

Only active while P1-01 is set to rtu

Group 3 System - Parameter List

Table 17. Group 3 - System - System Mechanical Data/Linear Units operation

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P3-01	Motor Contactor Closing Time	sec	0.2s	0.0 ... 5.0s	RW	Y	1 = 0.1s	1	212Dh	0	301

Table 18. Group 3.2 - System - Motor Contactor Monitoring

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P3-02

Motor Contactor Monitoring Terminal Enable

N/A

0: Off

1: Enabled

N/A

212Eh

302

P3-03

Total Number of Motor Contactor Monitoring Errors

N/A

0 ... 65535

N/A

212Fh

303

Table 19. Group 3.3 - System - Brake Resistor Protection

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P3-04	Brake Resistor Resistance	ohms	Rating Dependent	0 ... 60000 ohms	RW	Y	N/A	2	2130h	304
P3-05	Brake Resistor Power	kW	0.0kW	0.0 ... 6000.0 kW	RW	Y	1 = 1W	2	2131h	305
P3-06	Brake Resistor Temperature Monitor Enable	N/A	0: Disabled	0: Disabled 1: Enabled	RW	Y	N/A	1	2132h	306
P3-07	Brake Resistor Temperature Monitoring trip reaction	N/A	0 : Normal Stop, Trip After stopping	0: Normal Stop, Trip After stopping 1 : Immediate Trip, Apply motor Brake 2: Warning Only No Trip	RW	Y	N/A	1	2133h	307

Table 20. Group 3.4 - System - System Mechanical Data/Linear Units operation

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P3-08	Sheave Diameter	N/A	0.0	0.0 ... 2000.0	RW	Y	1 = 0.1	2	2134h	308
P3-09	Roping Ratio	N/A	1: 1:1	1: 1:1 2: 2:1 3: 3:1 4: 4:1	RW	Y	N/A	1	2135h	309
P3-10	Gear Ratio	N/A	1.0	1.0 ... 100.0	RW	Y	10 = 1.0	2	2136h	310
P3-12	System Inertia Constant	N/A	10	0 ... 100	RW	Y	N/A	1	2138h	312

Group 3 - System - System Mechanical Data/Linear Units operation

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P3-01	Motor Contactor Closing Time	sec	0.2s	0.0 ... 5.0s	RW	Y	1 = 0.1s	1	212Dh	0	301

P3-01 - Motor Contactor Closing Time

Sets a delay time between a Direction signal being applied to the drive and the drive energising the motor, this ensures that the motor contactor has had enough time to change state before current flows from the drive to the motor.

Typical values are 0.2 to 0.5 seconds.

During the delay time the drive will display “CC” to indicate Contactor Closing time.

Group 3.2 - System - Motor Contactor Monitoring

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P3-02

Motor Contactor Monitoring Terminal Enable

N/A

0: Off

1: Enabled

N/A

212Eh

302

P3-03

Total Number of Motor Contactor Monitoring Errors

N/A

0 ... 65535

N/A

212Fh

303

P3-02 - Motor Contactor-Monitoring Terminal Enable

Sets the Motor Contactor Monitoring function to enabled or disabled.

Setting	Function
0	Off - Motor Contactor Monitoring disabled
1	Enabled - Motor Contactor Monitoring enabled

Applicable Macros (P1-02) for Motor Contactor Monitoring Function:

Through Digital Input 5 when P1-02 = 2 or 4
Through any Digital Input as selected in P12-32 when P1-02 = 0 (Setting the Digital Input functions via Group 12 to create your own macro).

P3-03 - Total Number of Motor Contactor Monitoring Errors

This value increases by 1 each time there is CF-Err error.

The value can only be reset by loading factory/user defaults.

Group 3.3 - System - Brake Resistor Protection

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P3-04	Brake Resistor Resistance	ohms	Rating Dependent	0 ... 60000 ohms	RW	Y	N/A	2	2130h	304
P3-05	Brake Resistor Power	kW	0.0kW	0.0 ... 6000.0 kW	RW	Y	1 = 1W	2	2131h	305
P3-06	Brake Resistor Temperature Monitor Enable	N/A	0: Disabled	0: Disabled 1: Enabled	RW	Y	N/A	1	2132h	306
P3-07	Brake Resistor Temperature Monitoring trip reaction	N/A	0 : Normal Stop, Trip After stopping	0: Normal Stop, Trip After stopping 1 : Immediate Trip, Apply motor Brake 2: Warning Only No Trip	RW	Y	N/A	1	2133h	307

P3-04 - Brake Resistor Resistance

Enter external Brake Resistor resistance in ohms.

P3-05 - Brake Resistor Power

For software protection of the connected brake resistor, enter the rated power and resistance of the resistor into the relevant parameters. The drive will then monitor the brake resistor to ensure that it does not operate outside of its designed limits. Where an external thermal protection device is fitted, and software protection is not required. Setting parameter P3-05 to zero will disable the software protection feature.

P3-06 - Brake Resistor Temperature Monitor Enable

This parameter is used when a brake resistor thermal switch is wired back to a Digital Input set for External Trip and tells the drive that the drive should trip on a brake resistor feedback fault (Ot-br)rather than an external trip.

P3-07 - Brake Resistor Temperature Monitor trip reaction

This parameter defines the drive’s reaction when the Brake Resistor Overload function has been triggered (Ot-br)

Setting	Function	Reaction Details
0	Stop then Trip	Drive stops normally then trips
1	Trip Immediately	Immediate trip, apply motor brake
2	Warning Only	Warning only, no trip.

Group 3.4 - System - System Mechanical Data/Linear Units operation

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P3-08	Sheave Diameter	N/A	0.0	0.0 ... 2000.0	RW	Y	1 = 0.1	2	2134h	308
P3-09	Roping Ratio	N/A	1: 1:1	1: 1:1 2: 2:1 3: 3:1 4: 4:1	RW	Y	N/A	1	2135h	309
P3-10	Gear Ratio	N/A	1.0	1.0 ... 100.0	RW	Y	10 = 1.0	2	2136h	310
P3-12	System Inertia Constant	N/A	10	0 ... 100	RW	Y	N/A	1	2138h	312

P3-08 - Sheave Diameter

This defines the traction sheave diameter. If the entered value in P3-08 is <100 drive assumes inches and if the value entered in >=100 the drive assumes mm.

P3-09 - Roping Ratio

This defines the roping ratio of the system.

Setting	Roping Ratio
1	1:1
2	2:1
3	3:1
4	4:1

P3-10 - Gear Ratio

This defines the Gear Ratio of the mechanical Gear.

P3-12 - System Inertia Constant

This value can normally be left at the default value (10).

Group 4 Motor Setup - Parameter List

Table 21. Group 4.1 - Motor Setup - Motor Data

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P4-01	Motor Control Mode	N/A	0: Advanced Vector IM Speed Control	0: Advanced Vector IM Speed Control 1: Vector IM Speed Control 2: Enhanced V/F IM Speed Control 3: PM Motor Speed Control	RW	N	N/A	1	2191h	401
P4-02	Motor Rated Voltage/Back EMF-PM Motors	Volts	Rating Dependent	Rating Dependent	RW	N	N/A	2	2192h	402
P4-03	Motor Rated Current	Amps	Rating Dependent	Rating Dependent	RW	N	0.1 = 1A	2	2193h	403
P4-04	Motor Rated Frequency	Hz	50.00Hz	5.00 ... 500.00Hz	RW	N	1 = 100 Hz	2	2194h	404
P4-05	Motor Poles	N/A	4	0 ... 240	RW	N	N/A	1	2195h	405
P4-06	Motor Rated Speed	rpm	0rpm	0 ... 3000rpm	RW	N	1 = 1rpm	2	2196h	406
P4-07	Motor Power Factor	N/A	0.80	0.00 ... 0.99	RW	N	1 = 0.01	1	2197h	407

Table 22. Group 4.2 - Motor Setup - Motor Autotune

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P4-08	Motor Auto-tune Mode	N/A	0: Disabled / Auto-tune completed	0 ... 7	RW	N	N/A	1	2198h	0	408

Table 23. Group 4.3 - Motor Setup - V/F Mode Control

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P4-09	V/F Mode Voltage Boost	%	2.5%	0.0 ... 20.0%	RW	Y	1 = 0.1%	1	2199h	409
P4-10	V/F Characteristic Adjustment Frequency	%	0.0%	0.0 ... 100.0%	RW	Y	1 = 0.1%	2	219Ah	410
P4-11	V/F Characteristic Adjustment Voltage	%	0.0%	0.0 ... 100.0%	RW	Y	1 = 0.1%	2	219Bh	411

Table 24. Group 4.4 - Motor Setup - Open Loop Torque Boost

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P4-12	Low frequency torque boost current at start	%	0.0%	0.0 ... 200.0%	RW	Y	1 = 0.1%	2	219Ch	412
P4-13	Low frequency Torque Boost current at start Frequency limit	%	0.0%	0.0 ... 100.0%	RW	Y	1 = 0.1%	2	219Dh	413
P4-14	Low frequency Torque boost current at stop	%	0.0%	0.0 ... 200.0%	RW	Y	1 = 0.1%	2	219Eh	414
P4-15	Torque Boost Frequency limit at stop	%	0.0%	0.0 ... 100.0%	RW	Y	1 = 0.1%	2	219Fh	415

Table 25. Group 4.5 - Motor Setup - Stopping

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P4-16	Flux Braking Current Level	%	20.0%	0.0 ... 200.0%	RW	Y	1 = 0.1%	2	21A0h	0	416
P4-17	Torque Reduction time during stopping	sec	1.0s	0.0 ... 10.0s	RW	Y	1 = 0.1s	1	21A1h	0	417

Table 26. Group 4.6 - Motor Setup - Torque Limits

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P4-18	Maximum Motoring Torque Limit	%	200.0%	0.0 ... 400.0%	RW	Y	1 = 0.1%	2	21A2h	0	418
P4-19	Maximum Regenerating Torque Limit	%	150.0%	0.0 ... 400.0%	RW	Y	1 = 0.1%	2	21A3h	0	419

Table 27. Group 4.7 - Motor Setup - Slip Compensation

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P4-20	Slip Compensation Gain in Motoring mode	%	100.0%	0.0 ... 400.0%	RW	Y	1 = 0.1%	2	21A4h	0	420
P4-21	Slip Compensation Gain in Regenerating mode	%	100.0%	0.0 ... 400.0%	RW	Y	1 = 0.1%	2	21A5h	0	421

Table 28. Group 4.8 Motor Setup - Using a Motor Thermistor for Overload Protection

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P4-22	Reserved	-	-	-	-	-	-	-	-	-	-
P4-23	Motor Thermistor Trip Reaction	N/A	0: Stop at Next stop command and show thermistor fault message	0 ... 2	RW	Y	N/A	1	21A7h	0	423

Table 29. Group 4.9 - Motor Setup - Motor Measured Data

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P4-24	Motor Stator Resistance (Rs)	ohms	Rating Dependent	0.000 ... 31.500 Ω	RW	N	1 = 0.001 Ω	2	21A8h	424
P4-25	Motor Rotor Resistance (Rr)	ohms	Rating Dependent	0.000 ... 31.500 Ω	RW	N	1 = 0.001 Ω	2	21A9h	425
P4-26	Motor Stator Inductance (Lsd)	mH	Rating Dependent	0.0 ... 6553.5 mH	RW	N	1 = 0.1 mH	2	21AAh	426
P4-27	PM Motor stator inductance (Lsq)	mH	Rating Dependent	0.0 ... 6553.5 mH	RW	N	1 = 0.1 mH	2	21ABh	427
P4-28	Motor Magnetising current (Id rms)	Amps	Rating Dependent	0.0 ... 10.5 A	RW	N	1 = 0.1 A	1	21ACh	428
P4-29	Enhanced Generator Control Enable	N/A	0: Disabled	0 ... 1	RW	N	N/A	1	21ADh	429
P4-30	Motor Magnetising Time	ms	40ms	0 ... 65535ms	RW	N	N/A	2	21AEh	430

Group 4.1 - Motor Setup - Motor Data

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P4-01	Motor Control Mode	N/A	0: Advanced Vector IM Speed Control	0: Advanced Vector IM Speed Control 1: Vector IM Speed Control 2: Enhanced V/F IM Speed Control 3: PM Motor Speed Control	RW	N	N/A	1	2191h	401
P4-02	Motor Rated Voltage/Back EMF-PM Motors	Volts	Rating Dependent	Rating Dependent	RW	N	N/A	2	2192h	402
P4-03	Motor Rated Current	Amps	Rating Dependent	Rating Dependent	RW	N	0.1 = 1A	2	2193h	403
P4-04	Motor Rated Frequency	Hz	50.00Hz	5.00 ... 500.00Hz	RW	N	1 = 100 Hz	2	2194h	404
P4-05	Motor Poles	N/A	4	0 ... 240	RW	N	N/A	1	2195h	405
P4-06	Motor Rated Speed	rpm	0rpm	0 ... 3000rpm	RW	N	1 = 1rpm	2	2196h	406
P4-07	Motor Power Factor	N/A	0.80	0.00 ... 0.99	RW	N	1 = 0.01	1	2197h	407

P4-01 - Motor Control Mode

Sets the motor control mode depending on the motor type used.

Setting	Motor Control Mode	Applicable Motor Types	Encoder Feedback Option
Setting	Motor Control Mode	Applicable Motor Types	Open Loop (without Encoder)	Closed Loop (With Encoder)
0	Advanced Vector IM Speed Control	Geared Induction Motor	Yes	Yes
1	Simple Vector IM Speed Control	Geared Induction Motor (without power factor known)	Yes	Yes
2	Enhanced V/F Speed Control	Geared Induction Motor Gearless Permanent Magnet Motor	Yes Yes	No No
3	PM Motor Speed Control	Gearless Permanent Magnet Motor	No	Yes

P4-02 - Motor Rated Voltage/Back EMF‑PM Motors

For Induction (Geared) type elevator Motors (P4-01=0,1,2) enter the motor rated voltage as shown on the motor nameplate. If set to 0 voltage compensation is disabled.

When operating Gearless Permanent Magnet Motors in closed loop this value can be set to 0.

When operating Gearless Permanent Magnet Motors (P4-01 = 3) in open loop (P6-05 = 0) the Phase-to-Phase back emf voltage at rated speed must be entered in this parameter.

P4-03 - Motor Rated Current

Enter the Rated (nameplate) current of the motor.

This value must be entered to protect the motor.

P4-04 - Motor Rated Frequency

Rated (nameplate) Frequency of the motor.

P4-05 - Motor Poles

Enter the number of motor poles as shown on the motor nameplate.

Setting	Result
0	Drive automatically calculates the pole number based on the entered values for motor rated frequency (P4-04) and motor rated speed (P4-06) and populates parameter P0-34 (motor poles calculated) with the calculated value
1...240	Poles from motor nameplate

P4-06 - Motor Rated Speed

Rated (nameplate) speed of the motor.

Geared Induction Motor: Allows drive calculation of the rated slip of the motor (in V/F Mode only)

All motors: Changes all speed related parameter values to rpm. This parameter is also required for operating in Linear units mode and when operating with an Encoder.

P4-07 - Motor Power Factor

Rated (nameplate) Cos-Phi of the motor.

If value not available leave at default.

Group 4.2 - Motor Setup - Motor Autotune

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P4-08	Motor Auto-tune Mode	N/A	0: Disabled / Auto-tune completed	0 ... 7	RW	N	N/A	1	2198h	0	408

P4-08 - Motor Autotune

Used to select the required Auto-tune mode.

To perform an Auto-tune the following conditions must be fulfilled:

The drive must be free from fault codes
Motor data must be entered in P4-02 - P4-07 prior to Auto-tuning the drive
If performing an Encoder Offset Auto-tune P6-02 - P6-04 must the encoder data entered prior to the Auto-tune

P4-08 Setting (Auto-tune Mode)	Autotune Function	Applicable Motor	Static/Rotating
0	Disabled / Auto-tune completed
1	Measures the electrical characteristic of Both Induction and Permanent Magnet motors. Following completion of the auto-tune, the parameter automatically returns to 0. This Auto-tune measures and populates the following parameters: P4-24 (Stator R), P4-25 (Rotor R), P4-26 (Stator Ind 1), P4-28 (Mag Current), P4-27 (Stator Ind 2).	Induction Motor / Permanent Magnet Motor	Static
2	Measures the Encoder Offset of Permanent Magnet Motors using Signal Injection and is required in addition to Auto-tune 1. The encoder offset uses the Encoder to measure the angular position (Encoder Offset) of the magnetic flux in order to accurately control the motor torque. This Auto-tune measures the Encoder Offset and populates the following parameters: P6-09 (Encoder Offset) If the drive trips on AtF-06 it means that the motor has surface mount magnets and the alternative Encoder Offset measurement is required (P4-08=4)	Permanent Magnet Motor	Static
3	Performs Auto-tune 1 and then Auto-tune 2.	Permanent Magnet Motor	Static
4	Measures the Encoder Offset of Permanent Magnet Motors using Current Pulses and is an alternative to Auto-tune 2, this method should be used for Surface-Mount Magnet type motors or if the drive has tripped AtF-06. This Auto-tune measures the Encoder Offset and populates the following parameters: P6-09 (Encoder Offset)	Permanent Magnet Motor	Static
5	Measures the Encoder Offset of Permanent Magnet Motors when the ropes are removed (uncoupled) and populates the following parameters: P6-09 (Encoder Offset).	Permanent Magnet Motor	Rotating
6	Reserved	Reserved	Reserved
7	Reserved	Reserved	Reserved

Group 4.3 - Motor Setup - V/F Mode Control

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P4-09	V/F Mode Voltage Boost	%	2.5%	0.0 ... 20.0%	RW	Y	1 = 0.1%	1	2199h	409
P4-10	V/F Characteristic Adjustment Frequency	%	0.0%	0.0 ... 100.0%	RW	Y	1 = 0.1%	2	219Ah	410
P4-11	V/F Characteristic Adjustment Voltage	%	0.0%	0.0 ... 100.0%	RW	Y	1 = 0.1%	2	219Bh	411

P4-09 - V/F Mode Voltage Boost

Voltage boost is used to increase the applied motor voltage at low output frequencies, this can help improve low speed and starting torque.

Setting	Function
0.0	Drive automatically calculates Voltage Boost Value
0.1...100%	Boost Voltage as a % of the motor rated voltage (P4-02)

P4-10 - V/F Characteristic Adjustment Frequency

When operating in V/F mode (P4-01 = 2), this parameter in conjunction with P4-11 sets a frequency point (as a % of P4-04) at which the voltage set in P4-11 (as a % of P4-02) is applied to the motor. Care must be taken to avoid overheating and damaging the motor when using this feature.

P4-11 - V/F Characteristic Adjustment Voltage

Used in conjunction with P4-10

Group 4.4 - Motor Setup - Open Loop Torque Boost

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P4-12	Low frequency torque boost current at start	%	0.0%	0.0 ... 200.0%	RW	Y	1 = 0.1%	2	219Ch	412
P4-13	Low frequency Torque Boost current at start Frequency limit	%	0.0%	0.0 ... 100.0%	RW	Y	1 = 0.1%	2	219Dh	413
P4-14	Low frequency Torque boost current at stop	%	0.0%	0.0 ... 200.0%	RW	Y	1 = 0.1%	2	219Eh	414
P4-15	Torque Boost Frequency limit at stop	%	0.0%	0.0 ... 100.0%	RW	Y	1 = 0.1%	2	219Fh	415

P4-12 - Low frequency torque boost current at start

Only effective when operating without an encoder.

Allows a Boost current to be applied at start-up and low frequency (limit defined by P4-13), as a % of the motor rated current (P4-03). Injecting some additional current into the motor at low speed to ensure that rotor alignment is maintained and improving operation during starting and low speed with additional holding torque.

P4-13 - Low frequency Torque Boost current at start Frequency Limit

Only effective when operating without an encoder.

Frequency range for applied boost current (P4-12) as a % of motor rated frequency (P4-04). This sets the frequency cut-off point above which boost current (P4-12) is no longer applied to the motor.

P4-14 - Low frequency Torque Boost current at Stop

Only effective when operating without an encoder.

Allows a Boost current to be applied at stop and low frequency (limit defined by P4-15), as a % of the motor rated current (P4-03). Injecting some additional current into the motor at low speed to ensure that rotor alignment is maintained and improving operation during stopping with additional holding torque.

P4-15 - Torque Boost Frequency limit at stop

Only effective when operating without an encoder.

Frequency range for applied boost current (P4-14) as a % of motor rated frequency (P4-04). This sets the frequency cut-off point below which boost current is no longer applied to the motor.

Group 4.5 - Motor Setup - Stopping

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P4-16	Flux Braking Current Level	%	20.0%	0.0 ... 200.0%	RW	Y	1 = 0.1%	2	21A0h	0	416
P4-17	Torque Reduction time during stopping	sec	1.0s	0.0 ... 10.0s	RW	Y	1 = 0.1s	1	21A1h	0	417

P4-16 - Flux Braking Current Level

Additional flux during braking/regen

P4-17 - Torque Reduction time during stopping

Setting the parameter to 0.0s means the function is disabled. This parameter helps in reducing the noise in the lift car when the motor brake is applied due to the immediate removal of current. Increasing this value reduces audible noise, setting too high can result in reduced torque and rollback during stopping.

This parameter has no effect when operating in an IM or V/F control mode (P4-01 = 0, 1 or 2) and the torque reduction time is fixed at 100ms.

Group 4.6 - Motor Setup - Torque Limits

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P4-18	Maximum Motoring Torque Limit	%	200.0%	0.0 ... 400.0%	RW	Y	1 = 0.1%	2	21A2h	0	418
P4-19	Maximum Regenerating Torque Limit	%	150.0%	0.0 ... 400.0%	RW	Y	1 = 0.1%	2	21A3h	0	419

P4-18 - Maximum Motoring Torque Limit

When operating in Vector Speed motor control modes (P4-01 = 0, 1, 3), this parameter defines the maximum torque limit when motoring.

If this limit is reached for 1 second the drive will trip Sp-Err.

P4-19 - Maximum Regenerating Torque Limit

When operating in Vector Speed motor control modes (P4-01 = 0, 1, 3), this parameter defines the maximum torque limit when regenerating.

If this limit is reached for 1 second the drive will trip Sp-Err.

Group 4.7 - Motor Setup - Slip Compensation

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P4-20	Slip Compensation Gain in Motoring mode	%	100.0%	0.0 ... 400.0%	RW	Y	1 = 0.1%	2	21A4h	0	420
P4-21	Slip Compensation Gain in Regenerating mode	%	100.0%	0.0 ... 400.0%	RW	Y	1 = 0.1%	2	21A5h	0	421

P4-20 - Slip Compensation Gain in Motoring mode

The elevator can have different travel speeds in each direction under the same load. This is called slip (difference between synchronous speed and asynchronous speed).

For example if the nominal speed of a motor is 1430rpm. With an empty car in the downwards direction the speed is 1430 rpm. In upwards direction the speed is 1570rpm.

To eliminate this use P4-20 when in motoring mode (positive torque direction).

P4-21 - Slip Compensation Gain in Regeneration mode

As per P4-20 use this parameter when in regeneration mode.

Group 4.8 Motor Setup - Using a Motor Thermistor for Overload Protection

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P4-22	Reserved	-	-	-	-	-	-	-	-	-	-
P4-23	Motor Thermistor Trip Reaction	N/A	0: Stop at Next stop command and show thermistor fault message	0 ... 2	RW	Y	N/A	1	21A7h	0	423

P4-22 - Reserved

P4-23 - Motor Thermistor Trip Reaction

Used to set the trip reaction when a motor thermistor fault occurs.

Setting	Reaction
0	Trip at next stop command and show thermistor fault message F-Ptc or F-tY depending on the setting of P1-03 or P1-09.
1	Trip Immediately and show thermistor fault message F-Ptc or F-tY depending on the setting of P1-03 or P1-09.
2	Continue running and show thermistor warning message Ot-Mm.

Group 4.9 - Motor Setup - Motor Measured Data

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P4-24	Motor Stator Resistance (Rs)	ohms	Rating Dependent	0.000 ... 31.500 Ω	RW	N	1 = 0.001 Ω	2	21A8h	424
P4-25	Motor Rotor Resistance (Rr)	ohms	Rating Dependent	0.000 ... 31.500 Ω	RW	N	1 = 0.001 Ω	2	21A9h	425
P4-26	Motor Stator Inductance (Lsd)	mH	Rating Dependent	0.0 ... 6553.5 mH	RW	N	1 = 0.1 mH	2	21AAh	426
P4-27	PM Motor stator inductance (Lsq)	mH	Rating Dependent	0.0 ... 6553.5 mH	RW	N	1 = 0.1 mH	2	21ABh	427
P4-28	Motor Magnetising current (Id rms)	Amps	Rating Dependent	0.0 ... 10.5 A	RW	N	1 = 0.1 A	1	21ACh	428
P4-29	Enhanced Generator Control Enable	N/A	0: Disabled	0 ... 1	RW	N	N/A	1	21ADh	429
P4-30	Motor Magnetising Time	ms	40ms	0 ... 65535ms	RW	N	N/A	2	21AEh	430

P4-24 - Motor Stator Resistance (Rs)

For Geared (Induction) and PM motors: phase to phase stator resistance value in ohms as measured following an Auto-tune.

Should be left at the value measured by the Auto-tune.

P4-25 - Motor Rotor Resistance (Rr)

For Geared (Induction) motors: phase to phase rotor resistance value in ohms as measured following an Auto-tune.

Should be left at the value measured by the Auto-tune.

P4-26 - Motor Stator Inductance (Lsd)

For Geared (Induction) motors: phase stator inductance value. For Gearless (Permanent Magnet) motors: phase d-axis stator inductance in Milli Henry (mH).

Should be left at the value measured by the Auto-tune.

P4-27 - PM Motor stator inductance (Lsq)

For Gearless (Permanent Magnet) motors: phase q-axis stator inductance in Milli Henry (mH).

Should be left at the value measured by the Auto-tune.

P4-28 - Motor Magnetising current (Id rms)

For Geared (Induction) motors only: magnetizing / no load current, before Auto-tune,

P4-29 - Enhanced Generator Control Enable

Setting	Function
0	Disabled
1	Enabled

P4-30 - Motor Magnetising Time

Time that the motor is being magnatised.

Group 5 Motor Brake Control - Parameter List

Table 30. Group 5.1 - Motor Brake Control - Motor Brake Control

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P5-01	Brake Release Time	sec	0.5s	0.0 ... 5.0s	RW	Y	1 = 0.1s	1	21F5h	501
P5-02	Brake Apply Delay	sec	0.2s	0.0 ... 5.0s	RW	Y	1 = 0.1s	1	21F6h	502
P5-03	Brake Apply Speed	Hz / rpm / Linear	0.00	0.00 ... P8-01	RW	Y	1 = 0.01Hz	2	21F7h	503

Table 31. Group 5.2 - Motor Brake Control - Motor Brake Monitoring

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P5-04	Brake Release Monitoring Enable	N/A	0: Function Off	0 ... 2	RW	Y	N/A	1	21F8h	504
P5-05	Brake Release Monitoring Time	sec	0.5s	0.1 ... 5.0s	RW	Y	1 = 0.1s	1	21F9h	505
P5-06	Brake Release Number of Errors Before Lockout	N/A	0	0 ... 5	RW	Y	N/A	1	21FAh	506
P5-07	Brake Release Monitoring Errors	N/A	0	0 ... 65535	RO	N	N/A	2	21FBh	507

Table 32. Group 5.3 - Motor Brake Control - Alternative Motor Brake Control

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P5-08	Brake Release Speed	Hz / rpm / Linear	0.00	0.00 ... 10.00Hz	RW	Y	1 = 0.01	2	21FCh	0	508
P5-09	Brake Release Torque	%	0.0%	0.0 ... 100.0%	RW	Y	1 = 0.1%	2	21FDh	0	509

Group 5.1 - Motor Brake Control - Motor Brake Control

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P5-01	Brake Release Time	sec	0.5s	0.0 ... 5.0s	RW	Y	1 = 0.1s	1	21F5h	501
P5-02	Brake Apply Delay	sec	0.2s	0.0 ... 5.0s	RW	Y	1 = 0.1s	1	21F6h	502
P5-03	Brake Apply Speed	Hz / rpm / Linear	0.00	0.00 ... P8-01	RW	Y	1 = 0.01Hz	2	21F7h	503

P5-01 - Brake Release Time

Sets the delay time, in which it takes for the motor brake to be released (Relay 2) before the drive output frequency ramps up.

This value should bet set so there is enough time for the motor brake to be released (this time can be found from the manufacture's datasheet).

P5-02 - Brake Apply Delay

Sets the delay time, for the motor brake to apply (Relay 2 to open).

P5-03 - Brake Apply Speed

Sets the speed at which the drive will open Relay 2 and apply the motor brake.

If P5-03 has a value > 0 then DC Injection at Stop (P9-13) is not active in Geared Induction open loop control (P4-01 = 0 or 1).

Group 5.2 - Motor Brake Control - Motor Brake Monitoring

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P5-04	Brake Release Monitoring Enable	N/A	0: Function Off	0 ... 2	RW	Y	N/A	1	21F8h	504
P5-05	Brake Release Monitoring Time	sec	0.5s	0.1 ... 5.0s	RW	Y	1 = 0.1s	1	21F9h	505
P5-06	Brake Release Number of Errors Before Lockout	N/A	0	0 ... 5	RW	Y	N/A	1	21FAh	506
P5-07	Brake Release Monitoring Errors	N/A	0	0 ... 65535	RO	N	N/A	2	21FBh	507

P5-04 - Brake Release Monitoring Enable

Setting	Function
0 (Function Disabled)	Motor Brake Release Monitoring Disabled
1	Motor Brake Release Monitoring Enabled and monitored via Daux 1 Input and Daux 2 Input on the Universal Encoder Module with 2 N/C contacts.
2	Motor Brake Release Monitoring Enabled and monitored via Digital Inputs DI5 and DI6 providing that P1-02 is set to Macro 8 and Digital input DI7 if P1-02 is set to 9.

P5-05 - Brake Release Monitoring Time

If the monitoring terminal has not changed state in this time (since the brake has been released by relay 2 of the drive) then the drive will trip "bF-Err" or "bF-Loc" (if number of attempts as set in P5-06 has been met)

P5-06 - Brake Release Number of Errors Before Lockout

The drive will automatically try to clear the "bF-Err" at 1.5 second intervals for the number of times set, after each attempt the travel sequence will restart, once the number of brake release monitoring errors has reached the number set in this parameter a permanent trip "bF-Loc" will be displayed.

P5-07 - Brake Release Monitoring Errors

Total number of "bF-Err" trips since the drive was installed.

The counter can be reset when default the drive parameters.

Group 6 Encoder - Parameter List

Table 33. Group 6.1 - Encoder - Encoder Setup

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P6-01	Reserved	-	-	-	-	-	-	-	-	-	-
P6-02	Encoder Feedback Direction	N/A	0: Clockwise Direction	0: Clockwise Direction 1: Anti-Clockwise Direction	RW	N	N/A	1	2259h	0	602
P6-03	Encoder Pulses Per Revolution	N/A	2048	256 ... 65535	RW	N	N/A	2	225Ah	0	603
P6-04	Encoder Type	N/A	0: None	0 ... 12	RW	N	N/A	1	225Bh	0	604
P6-05	Encoder Feedback Enable	N/A	0: Encoder Feedback Disabled	0: Encoder Feedback Disabled 1: Encoder Feedback Enabled	RW	N	N/A	1	225Ch	0	605

Table 34. Group 6.2 - Encoder - Encoder Filter Settings

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P6-06	Encoder Feedback Filter at Start	ms	4ms	1 ... 20ms	RW	Y	1 = 1ms	1	225Dh	606
P6-07	Encoder Feedback Filter Whilst Running	ms	4ms	1 ... 20ms	RW	Y	1 = 1ms	1	225Eh	607
P6-08	Encoder Feedback Filter at Stop	ms	4ms	1 ... 20ms	RW	Y	1 = 1ms	1	225Fh	608

Table 35. Group 6.3 - Encoder - Encoder Offset and Position

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P6-09	Encoder Offset	°	0.0°	0.0 ... 360.0°	RW	N	1 = 0.1°	2	2260h	0	609
P6-10	Encoder Count/Position	°	0.0°	0.0 ... 359.9°	RO	N	1 = 0.1°	2	2261h	0	610

Table 36. Group 6.4 - Encoder - Speed Error Detection

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P6-11	Speed Error Trip Level	%	10.0%	0.0 ... 100.0%	RW	Y	1 = 0.1%	2	2262h	0	611
P6-12	Speed Error Trip Detection Time	sec	0.5s	0.0 ... 5.0s	RW	Y	1 = 0.1s	1	2263h	0	612

Table 37. Group 6.5 - Encoder - Encoder Read-Only

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P6-13	Encoder Module Error Code	N/A	0	0 ... 255	RO	N	N/A	1	2264h	0	613
P6-14	Encoder Comms signal Quality	%	0%	0.00 ... 100.00%	RO	N	1 = 0.1%	2	2265h	0	614

Group 6.1 - Encoder - Encoder Setup

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P6-01	Reserved	-	-	-	-	-	-	-	-	-	-
P6-02	Encoder Feedback Direction	N/A	0: Clockwise Direction	0: Clockwise Direction 1: Anti-Clockwise Direction	RW	N	N/A	1	2259h	0	602
P6-03	Encoder Pulses Per Revolution	N/A	2048	256 ... 65535	RW	N	N/A	2	225Ah	0	603
P6-04	Encoder Type	N/A	0: None	0 ... 12	RW	N	N/A	1	225Bh	0	604
P6-05	Encoder Feedback Enable	N/A	0: Encoder Feedback Disabled	0: Encoder Feedback Disabled 1: Encoder Feedback Enabled	RW	N	N/A	1	225Ch	0	605

P6-01 - Reserved

P6-02 - Encoder Feedback Direction

Changes the direction of the incremental signals of the encoder feedback signal.

Setting	Function
0	A leads B when an Up command is given (Clockwise Direction)
1	B leads A when an Up command is given (Anti-Clockwise Direction)

P6-03 - Encoder Pulses Per Revolution

Sets the number of Pulses Per Revolution for the encoder according the Encoder nameplate/datasheet. This value must be set correctly to guarantee proper operation of the drive when Encoder feedback mode is enabled (P6-05 = 0).

Typically values for Incremental encoders are 512, 1024, 2048, 4096

Note

With an EnDat type encoder the drive reads from the encoder and populates this parameter value automatically.

P6-04 - Encoder Type

Set the Encoder type from the table below.

Note

For settings 6,7,9,10 where a single ended encoder is used (e.g. A and B) the unused channels of the encoder module must be connected to 0V.

Setting	Encoder Type
0	No encoder type selected
1	Incremental TTL- Differential (A,/A,B,/B)
2	Incremental HTL-Differential (A,/A,B,/B)
3	SinCos with C/D lines
4	Endat with Incremental signals
5	Incremental TTL- Differential (A,/A,B,/B, Z,/Z)
6	Incremental TTL (A,B)
7	Incremental TTL (A,B, Z)
8	Incremental HTL- Differential (A,/A,B,/B, Z/Z)
9	Incremental HTL (A,B)
10	Incremental HTL (A,B,Z)
11	EnDat without Incremental signals

P6-05 - Encoder Feedback Enable

Enables or disables encoder feedback. When the encoder is disabled it is referred to as open loop and when the encoder is enabled it is referred to as closed loop.

Setting	Function
0	Encoder Feedback Disabled
1	Encoder Feedback Enabled

Note

Even if P6-05 is set to 0 (Encoder Feedback Disabled) encoder feedback can still be monitored (P0-19) providing P6-03 and P6-04 have been set correctly. Encoder feedback Errors are disabled in this mode of operation.

Group 6.2 - Encoder - Encoder Filter Settings

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P6-06	Encoder Feedback Filter at Start	ms	4ms	1 ... 20ms	RW	Y	1 = 1ms	1	225Dh	606
P6-07	Encoder Feedback Filter Whilst Running	ms	4ms	1 ... 20ms	RW	Y	1 = 1ms	1	225Eh	607
P6-08	Encoder Feedback Filter at Stop	ms	4ms	1 ... 20ms	RW	Y	1 = 1ms	1	225Fh	608

P6-06 - Encoder Feedback Filter at Start

Helps in situations where there is noise on the Incremental encoder cables, and also allows for setting of higher speed loop gains.

P6-07 - Encoder Feedback Filter Whilst Running

Helps in situations where there is noise on the Incremental encoder cables, and also allows for setting of higher speed loop gains.

P6-08 - Encoder Feedback Filter at Stop

Helps in situations where there is noise on the Incremental encoder cables, and also allows for setting of higher speed loop gains.

Group 6.3 - Encoder - Encoder Offset and Position

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P6-09	Encoder Offset	°	0.0°	0.0 ... 360.0°	RW	N	1 = 0.1°	2	2260h	0	609
P6-10	Encoder Count/Position	°	0.0°	0.0 ... 359.9°	RO	N	1 = 0.1°	2	2261h	0	610

P6-09 - Encoder Offset

Populated measurement of the stationary encoder offset measurement when setting the Auto-tune (P4-08) to either setting 2,3,4 or 5.

This value can also be entered manually.

P6-10 - Encoder Count/Position

Real-time position of the encoder.

Group 6.4 - Encoder - Speed Error Detection

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P6-11	Speed Error Trip Level	%	10.0%	0.0 ... 100.0%	RW	Y	1 = 0.1%	2	2262h	0	611
P6-12	Speed Error Trip Detection Time	sec	0.5s	0.0 ... 5.0s	RW	Y	1 = 0.1s	1	2263h	0	612

P6-11 - Speed Error Trip Level

In Open Loop operation this parameter defines the maximum permissible speed error (as % of the motor rated speed P4-06) between the Post-ramp Speed Controller Reference and the estimated rotor speed as calculated by the motor control algorithms. If the speed error exceeds this limit (for the time set in Parameter P6-12 Speed Error Trip Detection Time), the drive will trip Sp-Err.

Figure 1. Speed Error Detection in Open Loop Operation

Example below was on an application with a 1370 rpm rated speed motor, 0.3s detection time and a 0.1% speed error trip level, where 0.1% equates to 1.37rpm (0.001*1370rpm) for 0.3s after which the drive will trip Sp-Err.

In Closed loop operation this parameter defines the maximum permissible speed error between the encoder feedback speed value and the estimated rotor speed calculated by the motor control algorithms. If the speed error exceeds this limit (for the time set in Parameter P6-12 Speed Error Trip Detection Time) , the drive will trip Sp-Err.

Note

The Speed Error Trip does not operate (Function disabled) under the following conditions :

When P6-11 is set to zero
When motor control mode P4-01 is set to 2 (IM VF Mode)
While DC Injection is active.

P6-12 - Speed Error Trip Detection Time

Used in Conjunction with P6-11 (Speed Error Trip Level) to define to allowed time when the speed is above the value in P6-11 before tripping.

Group 6.5 - Encoder - Encoder Read-Only

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P6-13	Encoder Module Error Code	N/A	0	0 ... 255	RO	N	N/A	1	2264h	0	613
P6-14	Encoder Comms signal Quality	%	0%	0.00 ... 100.00%	RO	N	1 = 0.1%	2	2265h	0	614

P6-13 - Encoder Module Error Code

Displays the Error Codes for the Universal Encoder Module.

Information on the error codes and can be found in the troubleshooting section.

P6-14 - Encoder Comms signal Quality

Displays Encoder Communication Signal quality.

If the signal quality is poor this will lead to dropped messages and could lead to poor motor performance.

Group 7 Rescue Operation - Parameter List

Table 38. Group 7.1 - Rescue Operation - Rescue Mode Setup

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P7-01

Rescue Supply type

N/A

0: 230V UPS

1: 400V UPS

2: Battery Operation

N/A

22BDh

701

P7-02

Rescue Operation Function

N/A

0: Basic Rescue Mode

1: Light Load Detection

2: UPS Easiest Direction based on Load Measurement

3: Energy Optimized

N/A

22BEh

702

Table 39. Group 7.2 - Rescue Operation - Basic Rescue Mode

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P7-03	Rescue Mode Speed	Hz / rpm / Linear	5.00Hz	P8-02 ... P8-01	RW	Y *Does not take effect until next travel	1 = 0.1Hz	2	22BFh	0	703

Table 40. Group 7.3 - Rescue Operation - UPS Protection Function

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P7-04	UPS Rating	kW	0.0	0.0 ... 65535kW	RW	Y	1 = 0.1kW	2	22C0h	0	704
P7-05	Rescue Mode Current Limit	%	100.0%	0.0 ... 200.0%	RW	Y	1 = 0.1%	2	22C1h	0	705

Table 41. Group 7.4 - Rescue Operation - Speed Loop Gains

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P7-06	Rescue Mode Proportional Speed Loop Gain	%	10.0%	0.0 ... 400.0%	RW	Y	1 = 0.1%	2	22C2h	0	706
P7-07	Rescue Mode Integral Speed Loop Gain	ms	50ms	0 ... 1000ms	RW	Y	1 = 0.1ms	2	22C3h	0	707

Table 42. Group 7.5 - Rescue Operation - Light Load Detection

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P7-08

Light Load Detection Measurement time

sec

1.0s

0.0 ... 10.0s

1 = 0.1s

22C4h

708

P7-09

Light Load Detection Speed

Hz / rpm / Linear

5.00Hz

P8-02 ... P8-01

Y *Does not take effect until next travel

1 = 0.01Hz

1 = 1rpm

22C5h

709

Table 43. Group 7.6 - Rescue Operation - UPS Easiest Direction Based on Load Measurement

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P7-10

Load Measurement extended time

sec

0.0s

0.0 ... 10.0s

1 = 0.1s

22C6h

710

P7-11

Light Load Detection Results

N/A

0: Light direction is clockwise

1: Light direction is Anti-clockwise

2: Balanced

N/A

22C7h

711

Table 44. Group 7.7 - Rescue Operation - Energy Optimisation

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P7-12	Energy Saving Rescue Unbalancing Max speed	Hz / rpm / Linear	5.00Hz	P8-02 ... P8-01	RW	Y	1 = 0.01Hz	2	22C8h	712
P7-13	Energy Saving Rescue Minimum Speed	Hz / rpm / Linear	5.00Hz	P8-02 ... P8-01	RW	Y	1 = 0.01Hz	2	22C9h	713
P7-14	Energy Saving Rescue Minimum Speed Time	sec	0.0s	0.0 ...10.0s	RW	Y	1 = 0.1s	1	22CAh	714

Table 45. Group 7.8 - Rescue Mode - Read Only

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P7-15

Rescue mode active

N/A

0: Mains Supply

1: Rescue Supply

N/A

22CBh

715

Table 46. Group 7.9 - Rescue Mode - UPS Limit

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P7-16	UPS overload time limit	sec	2.0s	0.0 ... 10.0s	RW	N	1 = 0.1s	1	22CCh	0	716

Group 7.1 - Rescue Operation - Rescue Mode Setup

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P7-01

Rescue Supply type

N/A

0: 230V UPS

1: 400V UPS

2: Battery Operation

N/A

22BDh

701

P7-02

Rescue Operation Function

N/A

0: Basic Rescue Mode

1: Light Load Detection

2: UPS Easiest Direction based on Load Measurement

3: Energy Optimized

N/A

22BEh

702

P7-01 - Rescue Supply type

Select what type of power supply is being used for Rescue Mode Operation.

Setting	Drive Display	Power Supply
UPS230	UPS230	230VAC 1ph UPS
UPS400	UPS400	400VAC 2ph UPS
bAtt	bAtt	Battery Operation

P7-02 - Rescue Operation Function

Setting	Function
0	Basic Rescue Mode
1	Light Load Detection
2	UPS Easiest Direction based on Load Measurement
3	Energy Optimized

P7-02 lets you set the type running mode while in Rescue Mode.

There are 4 types of rescue mode operation, the following points of consideration help select the most suitable mode:

If the controller is to choose the direction of travel, then P7-02 should be set to Mode 0 (Basic Rescue Mode) should be used.
If a test is required to find the easiest direction to run in then P7-02 should be set to Mode 1 (Light Load Detection). This mode performs a test after each run command to measure which is the easiest direction of travel to consume the least amount of energy from the UPS/Battery. Mode 1 (Light Load Detection) selects the easiest direction while in Rescue Operation.
If a test is required to find the easiest direction to run in then P7-02 should be set to Mode 2 (UPS Easiest Direction based on Load Measurement). This mode lets the drive measure which is the easiest direction of travel to consume the least amount of energy from the UPS/Battery before entering Rescue Mode. Mode 2 should be used if the drive should know the easiest direction to run in before entering Rescue Mode.
If no drive output is required then P7-02 should be set to Mode 3 (Energy Optimised). This when the drive output should be switched off and controlled only by the motor brake.

Group 7.2 - Rescue Operation - Basic Rescue Mode

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P7-03	Rescue Mode Speed	Hz / rpm / Linear	5.00Hz	P8-02 ... P8-01	RW	Y *Does not take effect until next travel	1 = 0.1Hz	2	22BFh	0	703

P7-03 - Rescue Mode Speed

This parameter defines the motor speed during Rescue Mode operation (when Rescue Mode Input is activated), the value is also controlled internally by the power limit function based on the UPS rating entered into parameter P7-04.

The actual achievable speed will be limited depending on a number of factors such as DC bus voltage level, motor, travel speed, system efficiencies, estimated value can be calculated as follows:

It should also be noted that the level of motor load will affect the available DC bus Voltage; in some cases it may be necessary to reduce the Rescue Speed further in order to prevent nuisance Under Voltage (“U-volt”) trips.

Group 7.3 - Rescue Operation - UPS Protection Function

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P7-04	UPS Rating	kW	0.0kW	0.0 ... 65535kW	RW	Y	1 = 0.1kW	2	22C0h	0	704
P7-05	Rescue Mode Current Limit	%	100.0%	0.0 ... 200.0%	RW	Y	1 = 0.1%	2	22C1h	0	705

P7-04 - UPS Rating

Used to protect overloading/ collapsing of voltage of the UPS power supply which could cause a motor stall condition.

When the output power to the motor exceeds this value for the time set in parameter (P7-16) UPS Overload Time Limit, the drive will ramp down to Stop, apply brakes (if controlled by the drive) and trip on “UPS-L”, to restart a new direction command will need to be provided by the controller.

If value is set to 0.0 then this function is disabled.

P7-05 - Rescue Mode Current Limit

Sets the current limit during rescue mode operation. If the drive current exceeds this value then the speed will be reduced until the current level falls below this value.

Group 7.4 - Rescue Operation - Speed Loop Gains

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P7-06	Rescue Mode Proportional Speed Loop Gain	%	10.0%	0.0 ... 400.0%	RW	Y	1 = 0.1%	2	22C2h	0	706
P7-07	Rescue Mode Integral Speed Loop Gain	ms	50ms	0 ... 1000ms	RW	Y	1 = 0.1ms	2	22C3h	0	707

P7-06 - Rescue Mode Proportional Speed Loop Gain

Sets the Rescue Mode P-Gain to improve speed stability during rescue operation.

P7-07 - Rescue Mode Integral Speed Loop Gain

Sets the Rescue Mode I-Gain to improve speed stability during rescue operation.

Group 7.5 - Rescue Operation - Light Load Detection

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P7-08	Light Load Detection Measurement time	sec	1.0s	0.0 ... 10.0s	RW	Y	1 = 0.1s	1	22C4h	0	708
P7-09	Light Load Detection Speed	Hz / rpm / Linear	5.00Hz	P8-02 ... P8-01	RW	Y *Does not take effect until next travel	1 = 0.01Hz	2	22C5h	0	709

P7-08 - Light Load Detection Measurement Time

This parameter sets the time that the drive runs for in each direction during the Light Load Detection test after enable. SO if P7-08 is set to 2s then the drive will run forward for 2 seconds then reverse for 2 seconds after a start command is given. The speed the test is conducted at is set via P7-09.

P7-09 - Light Load Detection Speed

This parameter sets the motor speed ONLY during the Light Load Detection test in each direction. After the test and a direction has been chosen this speed is no longer used and the speed used after the result is set in P7-03.

Group 7.6 - Rescue Operation - UPS Easiest Direction Based on Load Measurement

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P7-10

Load Measurement extended time

sec

0.0s

0.0 ... 10.0s

1 = 0.1s

22C6h

710

P7-11

Light Load Detection Results

N/A

0: Light direction is clockwise

1: Light direction is Anti-clockwise

2: Balanced

N/A

22C7h

711

P7-10 - Load Measurement extended time

Sets the extended measurement time which starts of P5-01 has finished.

Increasing this value can help improve the measurement accuracy of the feature.

P7-11 - Light Load Detection Results

Shows the result of either the Light Load Detection Test (P7-02 = 1) or the UPS Easiest direction based on measurement result (P7-02 = 2).

Value	Result
0	Light direction is clockwise
1	Light direction is Anti-clockwise
2	Balanced

Group 7.7 - Rescue Operation - Energy Optimisation

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P7-12	Energy Saving Rescue Unbalancing Max speed	Hz / rpm / Linear	5.00Hz	P8-02 ... P8-01	RW	Y	1 = 0.01Hz	2	22C8h	712
P7-13	Energy Saving Rescue Minimum Speed	Hz / rpm / Linear	5.00Hz	P8-02 ... P8-01	RW	Y	1 = 0.01Hz	2	22C9h	713
P7-14	Energy Saving Rescue Minimum Speed Time	sec	0.0s	0.0 ...10.0s	RW	Y	1 = 0.1s	1	22CAh	714

P7-12 - Energy Saving Rescue Unbalancing Max speed

This is the maximum allowable speed when the drive is operating in rescue mode and with P7-02 = 3, when this value is reached the drive will command the motor brake to apply.

P7-13 - Energy Saving Rescue Minimum Speed

This is the minimum speed that must be achieved when Energy saving mode is active, further this speed must be achieved within the time set in P7-14, otherwise the drive will apply the brake and automatically carry out the Light Load Detection test (as per P7-02 = 1) on Geared motors (P4-01 = 0 or 1) or use direction from controller (P7-02 = 0) on gearless motors (P4-01 = 3).

P7-14 - Energy Saving Rescue Minimum Speed Time

This parameter is used in conjunction with P7-13, when Energy Saving mode (P7-02 = 3) is active the speed must be at least the value in P7-13 within the time set in P7-14.

Group 7.8 - Rescue Mode - Read Only

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P7-15

Rescue mode active

N/A

0: Mains Supply

1: Rescue Supply

N/A

22CBh

715

P7-15 - Rescue mode active

Displays the active supply that the drive is being operated from.

Setting	Supply
0	Mains Supply
1	Rescue Supply

Group 7.9 - Rescue Mode - UPS Limit

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P7-16	UPS overload time limit	sec	2.0s	0.0 ... 10.0s	RW	N	1 = 0.1s	1	22CCh	0	716

P7-16 - UPS overload time limit

Used in conjunction with parameter P7-04 (UPS rating).

When the value in P7-04 is exceeded for the cumulative time set in this parameter the drive will trip UPS-L.

Note

If P7-04 = 0 UPS Protection is disabled and the time in this parameter is not used.

Group 8 Travel Curve - Parameter List

Table 47. Group 8.1 - Travel Curve - Speed Limits

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P8-01	Maximum Frequency / Speed Limit	Hz / rpm / Linear	50.00	P8-02 ... 500.00 Hz	RW	N	1 = 0.01Hz	2	2321h	0	801
P8-02	Minimum Frequency / Speed Limit	Hz / rpm / Linear	0.00	0.00 ... P8-01	RW	N	1 = 0.01Hz	2	2322h	0	802

Table 48. Group 8.2 - Travel Curve - Acceleration/Deceleration Ramp Times

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P8-03	Acceleration ramp time	sec	2.00s	0.00 ... 600.00s	RW	Y	1 = 0.1s	2	2323h	0	803
P8-04	Deceleration ramp time	sec	2.00s	0.00 ... 600.00s	RW	Y	1 = 0.1s	2	2324h	0	804

Table 49. Group 8.3 - Travel Curve - Speed Parameters

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P8-05	Levelling Speed	Hz / rpm / Linear	5.00	0.00 ... P8-01	RW	Y	1 = 0.01Hz	2	2325h	805
P8-06	High Speed	Hz / rpm / Linear	50.00	0.00 ... P8-01	RW	Y	0.01 = 1Hz	2	2326h	806
P8-07	Intermediate Speed	Hz / rpm / Linear	25.00	0.00 ... P8-01	RW	Y	0.01 = 1Hz	2	2327h	807
P8-08	Inspection Speed	Hz / rpm / Linear	5.00	0.00 ... P8-01	RW	Y	0.01 = 1Hz	2	2328h	808
P8-09	High Speed 2	Hz / rpm / Linear	0.00	0.00 ... P8-01	RW	Y	0.01 = 1Hz	2	2329h	809
P8-10	High Speed 3	Hz / rpm / Linear	0.00	0.00 ... P8-01	RW	Y	0.01 = 1Hz	2	232Ah	810
P8-11	High Speed 4	Hz / rpm / Linear	0.00	0.00 ... P8-01	RW	Y	0.01 = 1Hz	2	232Bh	811
P8-12	High Speed 5 / Re-levelling Speed	Hz / rpm / Linear	0.00	0.00 ... P8-01	RW	Y	0.01 = 1Hz	2	232Ch	812
P8-13	Action on Zero Reference	N/A	0: Direction Removed	0: Direction Removed 1: Direction Removed or Zero Speed Reference	RW	N	N/A	1	232Dh	813

Group 8.1 - Travel Curve - Speed Limits

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P8-01	Maximum Frequency / Speed Limit	Hz / rpm / Linear	50.00	P8-02 ... 500.00 Hz	RW	N	1 = 0.01Hz	2	2321h	0	801
P8-02	Minimum Frequency / Speed Limit	Hz / rpm / Linear	0.00	0.00 ... P8-01	RW	N	1 = 0.01Hz	2	2322h	0	802

P8-01 - Maximum Frequency / Speed Limit

Maximum output motor speed limit. If P4-06 (motor rated speed) > 0, the value entered / displayed is in Rpm. If System information has been entered into P3-08 (sheave diameter), P3-09 (roping ratio), P3-10(Gear ratio) then value entered/displayed will be in linear units. This parameter is updated automatically to match the values set in the motor rated frequency (P4-04) and motor rated speed (P4-06), the user can also set the value independently.

P8-02 - Minimum Frequency / Speed Limit

Minimum motor speed the drive will run at. The drive will always be clamped to this speed even if any speed reference parameters in Group 8 have a lower value than this parameter.

For example if P8-06 is selected as the speed reference and set to 25Hz while this parameter is set to 30Hz the drive will run at 30 Hz while P8-06 is the speed reference.

Group 8.2 - Travel Curve - Acceleration/Deceleration Ramp Times

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P8-03	Acceleration ramp time	sec	2.00s	0.00 ... 600.00s	RW	Y	1 = 0.1s	2	2323h	0	803
P8-04	Deceleration ramp time	sec	2.00s	0.00 ... 600.00s	RW	Y	1 = 0.1s	2	2324h	0	804

P8-03 - Acceleration Ramp Time

Ramp used when accelerating to a speed from start.

The Jerks used during this are P9-01 and P9-02.

P8-04 - Deceleration Ramp Time

Ramp used when decelerating to a speed reference >0.

Group 8.3 - Travel Curve - Speed Parameters

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P8-05	Levelling Speed	Hz / rpm / Linear	5.00	0.00 ... P8-01	RW	Y	1 = 0.01Hz	2	2325h	805
P8-06	High Speed	Hz / rpm / Linear	50.00	0.00 ... P8-01	RW	Y	0.01 = 1Hz	2	2326h	806
P8-07	Intermediate Speed	Hz / rpm / Linear	25.00	0.00 ... P8-01	RW	Y	0.01 = 1Hz	2	2327h	807
P8-08	Inspection Speed	Hz / rpm / Linear	5.00	0.00 ... P8-01	RW	Y	0.01 = 1Hz	2	2328h	808
P8-09	High Speed 2	Hz / rpm / Linear	0.00	0.00 ... P8-01	RW	Y	0.01 = 1Hz	2	2329h	809
P8-10	High Speed 3	Hz / rpm / Linear	0.00	0.00 ... P8-01	RW	Y	0.01 = 1Hz	2	232Ah	810
P8-11	High Speed 4	Hz / rpm / Linear	0.00	0.00 ... P8-01	RW	Y	0.01 = 1Hz	2	232Bh	811
P8-12	High Speed 5 / Re-levelling Speed	Hz / rpm / Linear	0.00	0.00 ... P8-01	RW	Y	0.01 = 1Hz	2	232Ch	812
P8-13	Action on Zero Reference	N/A	0: Direction Removed	0: Direction Removed 1: Direction Removed or Zero Speed Reference	RW	N	N/A	1	232Dh	813

P8-05 - Levelling Speed

This parameter sets the speed reference for the drive to run at when levelling speed is selected. Levelling Speed can be selected via the Digital Inputs.

P8-06 - High Speed

This parameter sets the speed reference for the drive to run at when High Speed is selected. High Speed can be selected via the Digital Inputs.

P8-07 - Intermediate Speed

This parameter sets the speed reference for the drive to run at when Intermediate Speed is selected. Intermediate Speed can be selected via the Digital Inputs.

P8-08 - Inspection Speed

This parameter sets the speed reference for the drive to run at when Inspection Speed is selected. Inspection Speed can be selected via the Digital Inputs.

P8-09 - High Speed 2

This parameter sets the speed reference for the drive to run at when High Speed 2 is selected. High Speed 2 can be selected via the Digital Inputs.

P8-10 - High Speed 3

This parameter sets the speed reference for the drive to run at when High Speed 3 is selected. High Speed 3 can be selected via the Digital Inputs.

P8-11 - High Speed 4

This parameter sets the speed reference for the drive to run at when High Speed 4 is selected. High Speed 4 can be selected via the Digital Inputs.

P8-12 - High Speed 5

This parameter sets the speed reference for the drive to run at when High Speed 5 is selected. High Speed 5 can be selected via the Digital Inputs.

P8-13 - Action on Zero Reference

This parameter defines the stopping conditions for the Drive.

When set to 0 the stopping condition is direction command removed. If a zero speed reference is given the drive will stay enabled at zero speed until the direction command is removed.

When set to 1 an extra stopping condition is added. The stopping conditions become a direction removed OR a zero speed reference. This setting is used to stop the drive sitting at 0 speed for a prolonged period of time. For the zero speed reference condition to be fulfilled both the Pre-ramp and Post-ramp needs to be at 0 for at least 100ms.

Setting	Stopping Condition
0	Direction Input Removed
1	Direction Input Removed OR Zero Speed Reference

Group 9 Comfort Optimisation - Parameter List

Table 50. Group 9.1 - Comfort Optimisation - S-ramps/Jerk Adjustment

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P9-01	Acceleration Start Jerk	sec	1.0s	0.0 ... 5.0s	RW	Y	1 = 0.1s	2	2385h	901
P9-02	Acceleration End Jerk	sec	1.0s	0.0 ... 5.0s	RW	Y	1 = 0.1s	2	2386h	902
P9-03	Deceleration Start Jerk	sec	1.0s	0.0 ... 5.0s	RW	Y	1 = 0.1s	2	2387h	903
P9-04	Deceleration End Jerk	sec	1.0s	0.0 ... 5.0s	RW	Y	1 = 0.1s	2	2388h	904
P9-05	Levelling End Jerk	sec	1.0s	0.0 ... 5.0s	RW	Y	1 = 0.1s	2	2389h	905
P9-06	Stopping Ramp Time	sec	1.0s	0.0 ... 600.0s	RW	Y	1 = 0.01s	2	238Ah	906
P9-07	Stopping Jerk	sec	1.0s	0.0 ... 5.0s	RW	Y	1 = 0.1s	2	238Bh	907

Table 51. Group 9.2 - Comfort Optimisation - Smooth Start Function

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P9-08	Smooth Start Time	sec	0.0s	0.0 ... 5.0s	RW	Y	1 = 0.1s	1	238Ch	908
P9-09	Smooth Start Speed	Hz / rpm / Linear	0.00Hz	0.00 ... P8-01	RW	Y	1 = 0.01Hz	2	238Dh	909
P9-10	Smooth Start Ramp Time	sec	0.50s	0.00 ... 600.00s	RW	Y	1 = 0.01s	2	238Eh	910

Table 52. Group 9.3 - Comfort Optimisation - DC Injection operation to solve rollback during starting

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P9-11	DC Injection Time At Start	sec	0.5s	0.0 ... 10.0s	RW	Y	1 = 0.1s	1	238Fh	0	911
P9-12	DC Injection Current At Start	%	50.0%	0.0 ... 200.0%	RW	Y	1 = 0.1%	2	2390h	0	912

Table 53. Group 9.4 - Comfort Optimisation - DC Injection operation to solve rollback during stopping

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P9-13	Position Lock / DC Injection Time At Stop	sec	0.5s	0.0 ... 10.0s	RW	Y	1 = 0.1s	1	2391h	913
P9-14	DC Injection Current At Stop	%	50.0%	0.0 ... 200.0%	RW	Y	1 = 0.1%	2	2392h	914
P9-15	Position Lock / DC Injection Speed At Stop	Hz / rpm / Linear	0.0Hz	0.0 ... P8-01	RW	Y	1 = 0.01Hz	2	2393h	915

Table 54. Group 9.5 - Comfort Optimisation - Position Lock to solve rollback during starting

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P9-16	Rollback Control P-gain at Start	%	50.0%	0.0 ... 400.0%	RW	Y	1 = 0.1%	2	2394h	0	916
P9-18	Rollback Control Activation Pulses	PPRx4	4PPRx4	0 ... 10PPRx4	RW	Y	N/A	1	2396h	0	918

Table 55. Group 9.6 - Comfort Optimisation - Position Lock to Solve Rollback During Stopping

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P9-20	Rollback Control P-Gain at stop	%	0.0%	0.0 ... 400.0%	RW	Y	1 = 0.1%	2	2398h	920
P9-21	Rollback Control I-Gain at stop	ms	10ms	0 ... 1000ms	RW	Y	1 = 1ms	2	2399h	921
P9-22	Zero Speed Holding Time on Disable	sec	0.2s	0.0 ... 100.0s	RW	Y	1 = 0.1s	2	239Ah	922

Table 56. Group 9.7 - Comfort Optimisation - Speed Loop Gains

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P9-23	Speed Loop Proportional Gain at Start	%	50.0%	0.0 ... 400.0%	RW	Y	1 = 0.1%	2	239Bh	923
P9-24	Speed Loop Integral Gain at Start	ms	50ms	0 ... 1000ms	RW	Y	1 = 1ms	2	239Ch	924
P9-25	Speed Loop Gain Transition Speed During Acceleration	Hz / rpm / Linear	0.00Hz	0.0 ... P8-01	RW	Y	1 = 0.01Hz	2	239Dh	925
P9-26	Speed Loop Gain Transition Bandwidth During Acceleration	Hz / rpm / Linear	0.00Hz	0.0 ... P8-01	RW	Y	1 = 0.01Hz	2	239Eh	926
P9-27	Speed Loop Proportional Gain During Run	%	50.0%	0 ... 400.0%	RW	Y	1 = 0.1%	2	239Fh	927
P9-28	Speed Loop Integral Gain During Run	ms	50ms	0 ... 1000ms	RW	Y	1 = 1ms	2	23A0h	928
P9-29	Speed Loop Differential Gain During Run	%	0.0%	0.0 ... 400.0%	RW	Y	1 = 0.1%	2	23A1h	929
P9-30	Speed Loop Proportional Gain During Deceleration	%	50.0%	0 ... 400.0%	RW	Y	1 = 0.1%	2	23A2h	930
P9-31	Speed Loop Integral Gain During Deceleration	ms	50ms	0 ... 1000ms	RW	Y	1 = 1ms	2	23A3h	931
P9-32	Speed Loop Gain Transition Speed During Deceleration	Hz / rpm / Linear	0.00Hz	0.0 ... P8-01	RW	Y	1 = 0.01Hz	2	23A4h	932
P9-33	Speed Loop Gain Transition Bandwidth During Deceleration	Hz / rpm / Linear	0.00Hz	0.0 ... P8-01	RW	Y	1 = 0.01Hz	2	23A5h	933
P9-34	Speed Loop Proportional Gain at Zero Speed	%	50.0%	0 ... 400.0%	RW	Y	1 = 0.1%	2	23A6h	934
P9-35	Speed Loop Integral Gain at Zero Speed	ms	50ms	0 ... 1000ms	RW	Y	1 = 1ms	2	23A7h	935

Table 57. Group 9.8 - Comfort Optimisation - Motor Pre-torque Adjustment

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P9-36	Motor Pre-Torque in Clockwise Direction	%	0.0%	-100.0 ... 100.0%	RW	Y	1 = 0.1%	2	23A8h	936
P9-37	Motor Pre-Torque in Counter-Clockwise Direction	%	0.0%	-100.0 ... 100.0%	RW	Y	1 = 0.1%	2	23A9h	937
P9-38	Speed Error Dead Band	%	2.0%	0.0 ... 100.0%	RW	Y	1 = 0.1%	2	23AAh	938
P9-39	Torque Feed forward Source	N/A	0: Disabled	0: Disabled 1: Torque Sensor 2: Pre-loaded value	RW	N	N/A	1	23ABh	939

Group 9.1 - Comfort Optimisation - S-ramps/Jerk Adjustment

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P9-01	Acceleration Start Jerk	sec	1.0s	0.0 ... 5.0s	RW	Y	1 = 0.1s	2	2385h	901
P9-02	Acceleration End Jerk	sec	1.0s	0.0 ... 5.0s	RW	Y	1 = 0.1s	2	2386h	902
P9-03	Deceleration Start Jerk	sec	1.0s	0.0 ... 5.0s	RW	Y	1 = 0.1s	2	2387h	903
P9-04	Deceleration End Jerk	sec	1.0s	0.0 ... 5.0s	RW	Y	1 = 0.1s	2	2388h	904
P9-05	Levelling End Jerk	sec	1.0s	0.0 ... 5.0s	RW	Y	1 = 0.1s	2	2389h	905
P9-06	Stopping Ramp Time	sec	1.0s	0.0 ... 600.0s	RW	Y	1 = 0.01s	2	238Ah	906
P9-07	Stopping Jerk	sec	1.0s	0.0 ... 5.0s	RW	Y	1 = 0.1s	2	238Bh	907

P9-01 - Acceleration Start Jerk

Sets the acceleration jerk for the start of the acceleration ramp in P8-03.

P9-02 - Acceleration End Jerk

Sets the acceleration jerk for the end of the acceleration ramp in P8-03.

P9-03 - Deceleration Start Jerk

Sets the deceleration jerk for the start of the deceleration ramp in P8-04

P9-04 - Deceleration End Jerk

Sets the deceleration jerk for the end of the deceleration ramp in P8-04.

P9-05 - Levelling End Jerk

Sets the jerk for the end of levelling speed in P8-05.

P9-06 - Stopping Ramp Time

Defines the time to decelerate from a speed reference to zero, when a stop command is given. Used in conjunction with the setting of P8-13 which defines the stop command.

P9-07 - Stopping Jerk

Defines the Jerk when stopping. Used in conjunction with P9-06 Stopping Ramp Time.

Group 9.2 - Comfort Optimisation - Smooth Start Function

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P9-08	Smooth Start Time	sec	0.0s	0.0 ... 5.0s	RW	Y	1 = 0.1s	1	238Ch	908
P9-09	Smooth Start Speed	Hz / rpm / Linear	0.00Hz	0.00 ... P8-01	RW	Y	1 = 0.01Hz	2	238Dh	909
P9-10	Smooth Start Ramp Time	sec	0.50s	0.00 ... 600.00s	RW	Y	1 = 0.01s	2	238Eh	910

P9-08 - Smooth Start Time

Sets the time that the Smooth Start Function is active for once the drive reaches the speed set in P9-09.

Must have a value > 0 for Smooth Start to be active.

P9-09 - Smooth Start Speed

Sets the target speed for the drive during the Smooth Start Function.

Must have a value > 0 for Smooth Start to be active.

P9-10 - Smooth Start Ramp Time

Sets the ramp time to reach the target speed set in P9-09.

Group 9.3 - Comfort Optimisation - DC Injection operation to solve rollback during starting

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P9-11	DC Injection Time At Start	sec	0.5s	0.0 ... 10.0s	RW	Y	1 = 0.1s	1	238Fh	0	911
P9-12	DC Injection Current At Start	%	50.0%	0.0 ... 200.0%	RW	Y	1 = 0.1%	2	2390h	0	912

P9-11 - DC Injection Time at Start

The drive injects DC current into the motor for the time set in this parameter at the start of the travel sequence at 0.

Function Disabled if value entered = 0.0.

Best value is the shortest time but with the least amount of rollback. Also note that while DC Injection is active the speed error detection is turned off.

P9-12 - DC Injection Current at Start

Sets the level of current injected into the drive for the time set in P9-11.

Value is set as a % of P4-06 motor rated current.

Group 9.4 - Comfort Optimisation - DC Injection operation to solve rollback during stopping

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P9-13	Position Lock / DC Injection Time At Stop	sec	0.5s	0.0 ... 10.0s	RW	Y	1 = 0.1s	1	2391h	913
P9-14	DC Injection Current At Stop	%	50.0%	0.0 ... 200.0%	RW	Y	1 = 0.1%	2	2392h	914
P9-15	Position Lock / DC Injection Speed At Stop	Hz / rpm / Linear	0.0Hz	0.0 ... P8-01	RW	Y	1 = 0.01Hz	2	2393h	915

P9-13 - Position Lock / DC Injection Time At Stop

Sets the time Position Lock or DC Injection will be active for at stop.

P9-14 - DC Injection Current At Stop

Sets the level of current injected into the drive for the time set in P9-13.

Best value is the lowest value but with the least amount of rollback, the higher the value the more heat generated in the motor and nuisance over current trips.

Function Disabled if value entered = 0.0.

P9-15 - Position Lock / DC Injection Speed At Stop

Sets the speed at which either Position Lock or DC Injection activates, depending on the motor and encoder configuration.

Best to aim for the lowest suitable value, as too high a value can cause the motor to stop to early resulting in the lift car stopping before reaching the floor.

DC Injection function is disabled if value entered = 0.0.

Group 9.5 - Comfort Optimisation - Position Lock to solve rollback during starting

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P9-16	Rollback Control P-gain at Start	%	50.0%	0.0 ... 400.0%	RW	Y	1 = 0.1%	2	2394h	0	916
P9-18	Rollback Control Activation Pulses	PPRx4	4PPRx4	0 ... 10PPRx4	RW	Y	N/A	1	2396h	0	918

P9-16 - Rollback Control P-Gain at Start

Sets the P-Gain during rollback control.

Rollback control is only active when the drive is at 0 speed.

P9-18 - Rollback Control Activation Pulses

This parameter determines the number of measured encoder feedback pulses before the Rollback Control gain parameters activate.

Group 9.6 - Comfort Optimisation - Position Lock to Solve Rollback During Stopping

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P9-20	Rollback Control P-Gain at stop	%	0.0%	0.0 ... 400.0%	RW	Y	1 = 0.1%	2	2398h	920
P9-21	Rollback Control I-Gain at stop	ms	10ms	0 ... 1000ms	RW	Y	1 = 1ms	2	2399h	921
P9-22	Zero Speed Holding Time on Disable	sec	0.2s	0.0 ... 100.0s	RW	Y	1 = 0.1s	2	239Ah	922

P9-20 - Rollback Control P-Gain at stop

Used to decrease rollback in Geared and Gearless closed loop applications.

Increase the value until the point where rollback has been eliminated, incorrect settings will identify as audible noise, vibration and end jerk.

P9-21 - Rollback Control I-Gain at stop

Used to decrease rollback in Geared and Gearless closed loop applications.

Increase the value until the point where rollback has been eliminated, incorrect settings will identify as audible noise, vibration and end jerk.

P9-22 - Zero Speed Holding Time on Disable

Sets the zero speed holding time, between reaching the DC Injection speed at Stop P9-15 and the brake command being given to engage the brake.

Group 9.7 - Comfort Optimisation - Speed Loop Gains

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P9-23	Speed Loop Proportional Gain at Start	%	50.0%	0.0 ... 400.0%	RW	Y	1 = 0.1%	2	239Bh	923
P9-24	Speed Loop Integral Gain at Start	ms	50ms	0 ... 1000ms	RW	Y	1 = 1ms	2	239Ch	924
P9-25	Speed Loop Gain Transition Speed During Acceleration	Hz / rpm / Linear	0.00Hz	0.0 ... P8-01	RW	Y	1 = 0.01Hz	2	239Dh	925
P9-26	Speed Loop Gain Transition Bandwidth During Acceleration	Hz / rpm / Linear	0.00Hz	0.0 ... P8-01	RW	Y	1 = 0.01Hz	2	239Eh	926
P9-27	Speed Loop Proportional Gain During Run	%	50.0%	0 ... 400.0%	RW	Y	1 = 0.1%	2	239Fh	927
P9-28	Speed Loop Integral Gain During Run	ms	50ms	0 ... 1000ms	RW	Y	1 = 1ms	2	23A0h	928
P9-29	Speed Loop Differential Gain During Run	%	0.0%	0.0 ... 400.0%	RW	Y	1 = 0.1%	2	23A1h	929
P9-30	Speed Loop Proportional Gain During Deceleration	%	50.0%	0 ... 400.0%	RW	Y	1 = 0.1%	2	23A2h	930
P9-31	Speed Loop Integral Gain During Deceleration	ms	50ms	0 ... 1000ms	RW	Y	1 = 1ms	2	23A3h	931
P9-32	Speed Loop Gain Transition Speed During Deceleration	Hz / rpm / Linear	0.00Hz	0.0 ... P8-01	RW	Y	1 = 0.01Hz	2	23A4h	932
P9-33	Speed Loop Gain Transition Bandwidth During Deceleration	Hz / rpm / Linear	0.00Hz	0.0 ... P8-01	RW	Y	1 = 0.01Hz	2	23A5h	933
P9-34	Speed Loop Proportional Gain at Zero Speed	%	50.0%	0 ... 400.0%	RW	Y	1 = 0.1%	2	23A6h	934
P9-35	Speed Loop Integral Gain at Zero Speed	ms	50ms	0 ... 1000ms	RW	Y	1 = 1ms	2	23A7h	935

Speed Loop Gains During Start

P9-23 - Speed Loop Proportional Gain During Start

Sets the proportional gain that is used until the speed in parameter P9-25 is reached.

Not active by default needs a value > 0 to be set in P9-25 to become active.

P9-24 - Speed Loop Integral Gain at Start

Sets the integral gain that is used until the speed in parameter P9-25 is reached.

Not active by default needs a value > 0 to be set in P9-25 to become active.

P9-25 - Speed Loop Gain Transition Speed During Acceleration

Sets the transition point to move from the gains at start (P9-23 & P9-24) being active to the run gains (P9-27 & P9-28) being active.

Used with P9-26 to set the transition band.

When a value > 0 is set in this parameter activates parameters P9-23 & P9-24.

P9-26 - Speed Loop Transition Bandwidth During Acceleration

Sets the speed bandwidth for parameter P9-25.

Speed Loop Gains During Run

P9-27 - Speed Loop Proportional Gain During Run

Sets the proportional gain during run.

This gain is active throughout the whole travel curve by default unless the transition speed parameters have a value > 0.

When both transition point speed parameters P9-25 & P9-33 have a value > 0, this gain is active while the drive is at a speed above P9-25 during acceleration & above P9-33 during deceleration.

P9-28 - Speed Loop Integral Gain During Run

Sets the integral gain during run.

This gain is active throughout the whole travel curve by default unless the transition speed parameters have a value > 0.

When both transition point speed parameters P9-25 & P9-33 have a value > 0, this gain is active while the drive is at a speed above P9-25 during acceleration & above P9-33 during deceleration.

P9-29 - Speed Loop Differential Gain During Run

Sets the differential gain during run.

This gain is active throughout the whole travel curve by default unless the transition speed parameters have a value > 0.

When both transition point speed parameters P9-25 & P9-33 have a value > 0, this gain is active while the drive is at a speed above P9-25 during acceleration & above P9-33 during deceleration.

This parameter does not normally need to be adjusted.

Speed Loop Gains During Deceleration

P9-30 - Speed Loop Proportional Gain During Deceleration

Sets the proportional gain during deceleration.

Not active by default needs a value > 0 to be set in P9-32 to become active.

P9-31 - Speed Loop Integral Gain During Deceleration

Sets the integral gain during deceleration.

Not active by default needs a value > 0 to be set in P9-32 to become active.

P9-32 - Speed Loop Transition Speed During Deceleration

Sets the transition point to move from the gains at run (P9-27 & P9-28) being active to the deceleration gains (P9-30 & P9-31) being active.

When a value > 0 is set in this parameter activates parameters P9-30 & P9-31.

P9-33 - Speed Loop Gain Transition Bandwidth During Deceleration

Sets the speed bandwidth for parameter P9-32.

Speed Loop Gains During Zero Speed

P9-34 - Speed Loop Proportional Gain at Zero Speed

Sets the proportional gain during zero speed while stopping.

This gain is always active for the time set in P9-22 regardless of the other gains statuses.

P9-35 - Speed Loop Integral Gain at Zero

Sets the integral gain during zero speed while stopping.

This gain is always active for the time set in P9-22 regardless of the other gains statuses.

Group 9.8 - Comfort Optimisation - Motor Pre-torque Adjustment

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P9-36	Motor Pre-Torque in Clockwise Direction	%	0.0%	-100.0 ... 100.0%	RW	Y	1 = 0.1%	2	23A8h	936
P9-37	Motor Pre-Torque in Counter-Clockwise Direction	%	0.0%	-100.0 ... 100.0%	RW	Y	1 = 0.1%	2	23A9h	937
P9-38	Speed Error Dead Band	%	2.0%	0.0 ... 100.0%	RW	Y	1 = 0.1%	2	23AAh	938
P9-39	Torque Feed forward Source	N/A	0: Disabled	0: Disabled 1: Torque Sensor 2: Pre-loaded value	RW	N	N/A	1	23ABh	939

P9-36 - Motor Pre-Torque in Clockwise Direction

% of motor rated current. Used to provide torque immediately as the drive starts. Used to stop rollback.

P9-37 - Motor Pre-Torque in Counter-Clockwise Direction

% of motor rated current. Used to provide torque immediately as the drive starts. Used to stop rollback.

P9-38 - Speed Error Dead Band

When the speed error value is below this parameter the speed gains are reduced.

P9-39 - Torque Feed forward Source

Selects the torque feed forward source from the three options.

Setting

Function

Disabled parameters P9-36 and P9-37 are used as the torque feed forward source.

If both P9-36 and P9-37 are 0 then there is no torque feed forward source.

Torque Sensor Input via an analog input which has the Torque Sensor function assigned to it.

This is available in Macro 7.

The Torque Sensor function can be assigned to Analog Input 1 or Analog Input 2 using P1-03 or P1-09 respectively.

Pre-loaded value of torque based on 50% of torque which was required at the last stop.

Group 10 Extended Functions - Parameter List

Table 58. Group 10.1 - Extended Functions - Short Floor Operation

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P10-01

Enable Short Floor Operation

N/A

0: Disabled

1: Enabled

N/A

23E9h

1001

Table 59. Group 10.2 - Extended Functions - Early Door Opening

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P10-02	Early Door Opening Speed Threshold	%	0.0%	0.0 ... 100.0%	RW	Y	1 = 0.1%	2	23EAh	0	1002

Table 60. Group 10.3 - Extended Functions - Rope Wear Counter

Parameter Number	Parameter Name	Units	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P10-03	Travel Direction Change Counter (non-resettable)	N/A	0 ... 4294967295	RO	N	N/A	4	23EBh	1003
P10-04	Travel Direction Change Counter	N/A	0 ... 4294967295	RO	N	N/A	4	23ECh	1004
P10-05	Travel Direction Change Counter limit	N/A	0 ... 1013995	RW	Y	N/A	4	23EDh	1005

Table 61. Group 10.4 - Extended Functions - Travel Counter

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P10-06

Reset motor direction change counter

N/A

0: Disabled

1: Reset

N/A

23EEh

1006

P10-07

Number of travels

N/A

0 ... 4294967295

N/A

23EFh

1007

Table 62. Group 10.5 - Extended Functions - Motor Connected Check

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P10-08	Motor Connected Check	%	5.0%	0.0 ... 100.0%	RW	N	1 = 0.1%	2	23F0h	0	1008

Table 63. Group 10.6 - Extended Functions - Anti-Stall

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P10-09

Anti-Stall Enable

N/A

0: Disabled

1: Enabled

N/A

23F1h

1009

P10-10

Anti-Stall Limit

100.0%

100.0 ... 250.0%

1 = 0.1%

23F2h

1010

P10-11

Anti-Stall Hysteresis

10.0%

0.0 ... 50.0%

1 = 0.1%

23F3h

1011

Table 64. Group 10.7 - Extended Functions - Motor Overspeed governor Test

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P10-12	Overspeed Governor test speed	%	0.0%	0.0 ... 125%	RW	-	-	2	23F4h	0	1012

Table 65. Group 10.8 - Extended Functions - Travel Counter Read Only

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P10-13	Travel Direction Change Counter Limit Reached	N/A	0	0 ... 1	RO	N	N/A	1	23F5h	0	1013

Group 10.1 - Extended Functions - Short Floor Operation

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P10-01

Enable Short Floor Operation

N/A

0: Disabled

1: Enabled

N/A

23E9h

1001

P10-01 - Enable Short Floor Operation

Used to Enable or Disable Short Floor Operation.

Setting	Function
0	Function Disabled
1	Function Enabled

Group 10.2 - Extended Functions - Early Door Opening

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P10-02	Early Door Opening Speed Threshold	%	0.0%	0.0 ... 100.0%	RW	Y	1 = 0.1%	2	23EAh	0	1002

P10-02 - Early Door Opening Speed Threshold

The Early Door opening function is used to provide the elevator controller with a signal (From a digital output) at a set speed to open the elevator doors prior to reaching the exact floor level (saving time at stop to open the doors).

Any of the drives digital outputs or relays can be set to give an output when the door zone speed condition has been met (setting 16).

The Digital/Relay output will only come on during deceleration approaching the floor and will not change state during acceleration even if the trigger speed is passed.

Group 10.3 - Extended Functions - Rope Wear Counter

Parameter Number	Parameter Name	Units	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P10-03	Travel Direction Change Counter (non-resettable)	N/A	0 ... 4294967295	RO	N	N/A	4	23EBh	1003
P10-04	Travel Direction Change Counter	N/A	0 ... 4294967295	RO	N	N/A	4	23ECh	1004
P10-05	Travel Direction Change Counter limit	N/A	0 ... 1013995	RW	Y	N/A	4	23EDh	1005

P10-03 - Travel Direction Change Counter (Non-Resettable)

Counts up by 1 every time there is a change in travel direction. This parameter is not reset with a factory/user default.

P10-04 - Travel Direction Change Counter

Counts up by 1 every time there is a change in travel direction. This parameter can be reset with a factory/user default of the drive

P10-05 - Travel Direction Change Counter Limit

When the value entered in this parameter has been reached a warning message (tr-Lt) is shown on the drive display and a digital output or Relay will come on providing the output source is set for 18 - Travel Limit Counter Reached.

Group 10.4 - Extended Functions - Travel Counter

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P10-06

Reset motor direction change counter

N/A

0: Disabled

1: Reset

N/A

23EEh

1006

P10-07

Number of travels

N/A

0 ... 4294967295

N/A

23EFh

1007

P10-06 - Reset motor direction change counter

Resets the value in P10-05

Setting	Function
0	Keeps the travel counter value.
1	Resets the Travel counter value (Returns to 0 when completed)

P10-07 - Number of travels

Displays the total number of travels. The count increases by 1 each time a new run command is given. The condition to increase P10-07 is a direction input received from a Digital Input while the Safe Torque Off inputs are closed.

Group 10.5 - Extended Functions - Motor Connected Check

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P10-08	Motor Connected Check	%	5.0%	0.0 ... 100.0%	RW	N	1 = 0.1%	2	23F0h	0	1008

P10-08 - Motor Connected Check

To ensure that the motor is connected, the drive has a function which checks that at each start command all 3 phases of the motor are connected prior to releasing the electro-mechanical brake.

This function checks for breaks in the connection between the drive and the motor, for example a broken cable or a faulty contactor.

The drive will trip “OUt-Phx” if the drive detects the motor is not connected, where x is the phase that is missing e.g. "OUt-phU"

Setting 0.0 means function is disabled.

The default value is in general suitable for most applications, this value can be reduced to reduce the audible noise when the test is performed. The correct value is one in which the audible noise level is acceptable, but the drive still detects a missing motor phase should it not be connected.

Group 10.6 - Extended Functions - Anti-Stall

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P10-09

Anti-Stall Enable

N/A

0: Disabled

1: Enabled

N/A

23F1h

1009

P10-10

Anti-Stall Limit

100.0%

100.0 ... 250.0%

1 = 0.1%

23F2h

1010

P10-11

Anti-Stall Hysteresis

10.0%

0.0 ... 50.0%

1 = 0.1%

23F3h

1011

P10-09 - Anti-Stall Enable

Setting

Function

No Anti-Stall Prevention, if the acceleration time is too short for a given high load, then the drive can trip on over-current.

Anti-Stall Prevention enabled:

If During acceleration the output current exceeds the value set in the Anti-stall limit parameter P10-10 then the drive will stop accelerating and hold the current speed, once the current drops below the value set in P10-10 minus the Anti-Stall hysteresis band P10-11 then acceleration will continue.

P10-10 - Anti-Stall Limit

Set as a % of motor rated current

P10-11 - Anti-Stall Hysteresis

Set as a % of motor rated current

The value set should be below the value set in the torque limit parameters P4-18 and P4-19 so that the 2 functions don’t conflict with each other.

Group 10.7 - Extended Functions - Motor Overspeed governor Test

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P10-12	Overspeed Governor test speed	%	0.0%	0.0 ... 125%	RW	-	-	2	23F4h	0	1012

P10-12 - Overspeed Governor test speed

Parameter P10-12 can be used for testing of overspeed governors, normally performed during initial installation or scheduled inspections.

Once a value of >0.0 has been entered, the next run command from the controller to the drive will result in the motor running at the value set in terms of a % of the value set in the High-Speed parameter (P8-01), then at the next stop command the value of the parameter will return to 0.0 automatically so that the test is not repeated, and normal operation is resumed.

Note that the overspeed value may well be higher than the maximum speed limit parameter, however this should be allowed in the case of the over speed test only.

Group 10.8 - Extended Functions - Travel Counter Read Only

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P10-13	Travel Direction Change Counter Limit Reached	N/A	0	0 ... 1	RO	N	N/A	1	23F5h	0	1013

P10-13 - Travel Direction Change Counter Limit Reached

Used to detect if the travel counter limit in P10-05 has been reached or exceeded by P10-04.

Setting	Function
0	Travel direction change counter has not reached the limit
1	Travel direction change counter has reached or exceeded the limit

Group 11 Drive Configuration - Parameter List

Table 66. Group 11.1 - Drive Configuration - On-board Back-up of User Parameter Settings

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P11-01	Save User Defaults	N/A	0: No Action	0 ... 2	RW	N	N/A	1	244Dh	0	1101

Table 67. Group 11.2 - Drive Configuration - Parameter Access Lock

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P11-02

Extended Group Access Code

N/A

0 ... 9999

N/A

244Eh

1102

P11-03

Parameter Access Lock

N/A

0: Unlocked

1: Locked

N/A

244Fh

1103

P11-04

Level 2 Access Definition

N/A

101

0 ... 9999

N/A

2450h

1104

Table 68. Group 11.3 - Drive Configuration - Drive Operational Management

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P11-05	Effective Switching Frequency	kHz	8.0kHz	2.0 ... 10.0kHz	RW	N	1 = 0.1Hz	1	2451h	0	1105
P11-06	Auto Thermal Management	kHz	2.0kHz	2.0 ... 10.0kHz	RW	N	1 = 0.1Hz	1	2452h	0	1106
P11-07	Thermal Overload Value Retention Enable	N/A	0: Disabled	0: Disabled 1: Enabled	RW	N	N/A	1	2453h	0	1107
P11-08	Reserved	N/A	Reserved	Reserved	Reserved	-	-	-	-	-	-
P11-09	Output Phase Sequence	N/A	0: U, V, W	0: U, V, W 1: U, W, V	RW	N	N/A	1	2455h	0	1109
P11-10	PWM Modulation Type	N/A	0: 3-Phase	0: 3-Phase 1: 2-Phase 2: Auto	RW	N	N/A	1	2456h	0	1110

Table 69. Group 11.4 - Drive Configuration - Display Scaling Source

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P11-11	Display Scaling Factor	N/A	0.000	-30.000 ... 30.000	RW	Y	1 = 0.001	2	2457h	0	1111
P11-12	Display Scaling Source	N/A	2	0 ... 6	RW	Y	N/A	1	2458h	0	1112

Table 70. Group 11.5 - Drive Configuration - Cooling Fan Control

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P11-13

Reset Cooling Fan Run-time

N/A

0: Disabled

1: Reset

N/A

2459h

1113

P11-14

Cooling Fan Control

N/A

0 ... 1

N/A

245Ah

1114

P11-15

Cooling Fan Run-time After Disable

sec

60s

0 ... 600s

N/A

245Bh

1115

Table 71. Group 11.6 - Drive Configuration - Service Time

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P11-16	Resets kWh Meter	N/A	0: Disabled	0: Disabled 1: Reset	RW	N	N/A	1	245Ch	1116
P11-17	Service time interval	hours	0h	0 ... 65535h	RW	N	1 = 1 hour	2	245Dh	1117
P11-18	Time remaining to next service	hours	0h	-65536 ... 65535h	RO	N	1 = 1hour	2	245Eh	1118
P11-19	Reset service time indicator	N/A	0: Disabled	0: Disabled 1: Reset	RW	Y	N/A	1	245Fh	1119

Table 72. Group 11.7 - Drive Configuration - Motor Thermistor Configuration

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P11-20	Motor Thermistor Trip Threshold	Ω	2500Ω	0 ... 5000Ω	RW	Y	1 = 1Ω	2	2460h	0	1120
P11-21	Motor Thermistor Reset Threshold	Ω	1900Ω	0 ... 5000Ω	RW	Y	1 = 1Ω	2	2461h	0	1121

Table 73. Group 11.8 - Drive Configuration - Display Index

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P11-22	P0-75 Display Index	N/A	0	0 ... 99999	RW	Y	N/A	2	2462h	0	1122

Table 74. Group 11.9 - Drive Configuration - Sequence Detection

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P11-23

Disable Run Sequence Error Detection

N/A

1: Disabled

0: Disabled

1: Enabled

N/A

2463h

1123

P11-24

STO Status Detection Time

sec

2.0s

0 0 ... 10.0s

N/A

2464h

1124

P11-25

STO-L Trip Disable

N/A

0: Enabled

1: Disabled

N/A

2465h

1125

Table 75. Group 11.10 - Drive Configuration - Read Only Parameters

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P11-30	Drive Type Code	N/A	Drive Dependent	Drive Dependent	RO	N	N/A	2	246Ah	1130
P11-31	Drive Branding Identifier	N/A	Drive Dependent	0 ... 65535	RO	N	N/A	2	246Bh	1131
P11-37	Drive rated current	Amps	Drive Dependent	N/A	RO	N	1 = 0.1A	2	2471h	1137
P11-38	Drive rated voltage	Volts	Drive Dependent	N/A	RO	N	N/A	2	2472h	1138
P11-39	Drive rated power (kW)	kW	Drive Dependent	N/A	RO	N	1 = 0.1kW	2	2473h	1139
P11-40	Drive rated power (HP)	HP	Drive Dependent	N/A	RO	N	1 = 0.1HP	2	2474h	1140
P11-41	Number of input phases	N/A	Drive Dependent	1 ... 3	RO	N	N/A	1	2475h	1141
P11-42	Drive frame size	N/A	Drive Dependent	1 ... 5	RO	N	N/A	1	2476h	1142
P11-43	Duty Rating	N/A	Drive Dependent	0 ... 1	RO	N	N/A	1	2477h	1143
P11-44	IP Rating	N/A	Drive Dependent	0 ... 66	RO	N	N/A	1	2478h	1144

Group 11.1 - Drive Configuration - On-board Back-up of User Parameter Settings

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P11-01	Save User Defaults	N/A	0: No Action	0 ... 2	RW	N	N/A	1	244Dh	0	1101

P11-01 - Save User Defaults

The drive can store a backup of the user parameter settings, this is useful in the event of someone inadvertently adjusting the drive operational parameters and allows for the parameter settings to be returned exactly as per the original installation.

Once the drive has been programmed for the application, setting parameter P11-01 to a 1 will save the drive parameters as user default parameters.

Settings

Function

No Action

Saves the current parameter settings as "User default parameters".

When the User carries out a 3-button default parameter command (UP, DOWN and STOP), the parameters saved when P11-01 was last set to 1 will be restored.

The display will show the message USr-PS to indicate the values have been saved.

Clears user parameters. A 3-button default with no user default parameters saved will restore factory defaults.

The display will show the message USr-cL to indicate factory defaults have now been loaded.

Group 11.2 - Drive Configuration - Parameter Access Lock

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P11-02

Extended Group Access Code

N/A

0 ... 9999

N/A

244Eh

1102

P11-03

Parameter Access Lock

N/A

0: Unlocked

1: Locked

N/A

244Fh

1103

P11-04

Level 2 Access Definition

N/A

101

0 ... 9999

N/A

2450h

1104

P11-02 - Extended Access Code

The value entered in parameter P11-02 determines which parameter groups are accessible by the user by Default if:

P11-02 = 0 = Level 1 parameter groups can be accessed.
P11-02 = 101 = Level 2 parameter groups can be accessed.

Level 1 access includes groups 0 through to group 11.

Level 2 access includes groups 0 through to group 12.

The code for Level 2 can be changed by the user by setting the desired value into parameter P11-04.

P11-03 - Parameter Access Lock

Setting	Function
0	All parameters can be accessed and changed
1	Parameters are made read only (apart from P11-02 and P11-04)

P11-04 - Level 2 Access Definition

Enter your chosen access code here (> 0) which once set must be entered in P11-02 to access parameter Group 2.

Once set this parameter will become hidden until the same value is entered into P11-02.

Note

When the menu access code (P11-04) is changed then it must be retained in a safe location for further reference to allow further configuration or service. Forgotten access codes can be cleared by returning the drive back to default settings. A default is performed by pressing STOP, UP and DOWN buttons simultaneously for more than 2 seconds. This will clear all drive parameters, including the security codes back to default values.

Group 11.3 - Drive Configuration - Drive Operational Management

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P11-05	Effective Switching Frequency	kHz	8.0kHz	2.0 ... 10.0kHz	RW	N	1 = 0.1Hz	1	2451h	0	1105
P11-06	Auto Thermal Management	kHz	2.0kHz	2.0 ... 10.0kHz	RW	N	1 = 0.1Hz	1	2452h	0	1106
P11-07	Thermal Overload Value Retention Enable	N/A	0: Disabled	0: Disabled 1: Enabled	RW	N	N/A	1	2453h	0	1107
P11-08	Reserved	N/A	Reserved	Reserved	Reserved	-	-	-	-	-	-
P11-09	Output Phase Sequence	N/A	0: U, V, W	0: U, V, W 1: U, W, V	RW	N	N/A	1	2455h	0	1109
P11-10	PWM Modulation Type	N/A	0: 3-Phase	0: 3-Phase 1: 2-Phase 2: Auto	RW	N	N/A	1	2456h	0	1110

P11-05 - Effective Switching Frequency

IGBT Switching Frequency.

Selects the type of PWM modulation.

Higher switching frequencies reduce the audible ‘ringing’ noise from the motor and improve the output current waveform at the expense of increased drive losses.

P11-06 - Auto Thermal Management

This parameter defines the minimum effective switching frequency which the drive will use when the drive auto- switches down the switching frequency (Based on Heatsink Temperature and motor current) in order to reduce the losses and heat from the power stage.

P11-07 - Thermal Overload Value Retention Enable

When P11-07 is 0, removing the power supply from the drive and re-applying will reset the value of the accumulator.

When P11-07 is 1, the value is retained during power off.

Setting	Function
0	Disabled (No retention)
1	Enabled (retention). An internal overload accumulator (P0-31) monitors the motor output current over time, and will trip the drive if the usage exceeds the thermal limit.

P11-08 - Reserved

Reserved

P11-09 - Output Phase Sequence

Select the motor phase orientation.

Setting	Orientation
0	U, V, W
1	U, W, V Direction of motor rotation when operating in a forward direction will be reversed

P11-10 - PWM Modulation Type

Setting	Modulation type
0	3-Phase
1	2-Phase
2	Auto

Group 11.4 - Drive Configuration - Display Scaling Source

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P11-11	Display Scaling Factor	N/A	0.000	-30.000 ... 30.000	RW	Y	1 = 0.001	2	2457h	0	1111
P11-12	Display Scaling Source	N/A	2	0 ... 6	RW	Y	N/A	1	2458h	0	1112

P11-11 - Display Scaling Factor

If P11-11 is set >0, the variable selected in P11-12 is multiplied by the factor entered in P11-11, and displayed whilst the drive is running with a ‘c’ to indicate the customer scaled units.

P11-11 & P11-12 allow the user to program the drive to display an alternative output unit scaled from an existing parameter, e.g. to display speed in meters per second based on the output frequency.

Note

This function is disabled if P11-11 is set to 0.

P11-12 - Display Scaling Source

Source to be multiplied by P11-11

Setting	Scaling Source
0	Motor Speed
1	Motor Current
2	Speed Error (As defined by parameter P0-16 (Speed Following Error)
3	Encoder Offset (Real-Time) (As per P0-20)
4	Elevator Sequence Segment (As per P0-35)
5	Rollback Error Count (As defined by P0-17)
6	P0-75 (signed with one decimal place) – Internal use only

Group 11.5 - Drive Configuration - Cooling Fan Control

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P11-13

Reset Cooling Fan Run-time

N/A

0: Disabled

1: Reset

N/A

2459h

1113

P11-14

Cooling Fan Control

N/A

0 ... 1

N/A

245Ah

1114

P11-15

Cooling Fan Run-time After Disable

sec

60s

0 ... 600s

N/A

245Bh

1115

P11-13 - Reset Cooling Fan Run-time

Resets the internal fan run-time counter to zero (as displayed in P0-55).

Setting	Function
0	Disabled
1	Reset fan run-time counter in P0-55

P11-14 - Cooling Fan Control

Sets how the drive fan should operate when the turn on conditions are reached.

Setting

Function

The fan is controlled by the drives internal temperature measurement regardless of if drive is running or not. When P0-48 reaches 45°C then fan will turn on and stay on until the temperature drops below 40°C, as long as the drive has not run during the time the temperature reaches 45°C and then falls below 40°C.

If drive runs while above 45°C then the fan will stay on until the time in P11-15 has elapsed, even if the temperature in P0-48 drops below 40°C.

The fan will only run when the drive is given a run command and the value in P0-48 is 45°C or above.

P11-15 - Cooling Fan Run-time After Disable

This parameter defines the fan run time after the drive has stopped running when the temperature in P0-48 reaches 45°C.

Group 11.6 - Drive Configuration - Service Time

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P11-16	Resets kWh Meter	N/A	0: Disabled	0: Disabled 1: Reset	RW	N	N/A	1	245Ch	1116
P11-17	Service time interval	hours	0h	0 ... 65535h	RW	N	1 = 1 hour	2	245Dh	1117
P11-18	Time remaining to next service	hours	0h	-65536 ... 65535h	RO	N	1 = 1hour	2	245Eh	1118
P11-19	Reset service time indicator	N/A	0: Disabled	0: Disabled 1: Reset	RW	Y	N/A	1	245Fh	1119

P11-16 - Resets kWh Meter

Setting to 1 resets the internal energy consumption kWh meter to zero (as displayed in P13-57 and P13-58).

P11-17 - Service time interval

This defines the total number of run time hours which must elapse before the Service indicator output comes on.

For example if terminal DA1 is set to Digital Output and Parameter P1-15 is set at 14: Service Indicator then once the value in this parameter has been met the Digital Output changes to Logic 1.

Note

To reset this value set P11-19 to 1.

P11-18 - Time remaining to next service

Displays the number of hours remaining on the service counter before the next service is due

A negative value shows the service overdue hours.

P11-19 - Reset service time indicator

When this parameter is set to 1, the internal Service time interval counter (P11-17) is reset.

Group 11.7 - Drive Configuration - Motor Thermistor Configuration

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P11-20	Motor Thermistor Trip Threshold	Ω	2500Ω	0 ... 5000Ω	RW	Y	1 = 1Ω	2	2460h	0	1120
P11-21	Motor Thermistor Reset Threshold	Ω	1900Ω	0 ... 5000Ω	RW	Y	1 = 1Ω	2	2461h	0	1121

P11-20 - Motor Thermistor Trip Threshold

Sets the trip threshold resistance for the connected motor thermistor.

P11-21 - Motor Thermistor Reset Threshold

Sets the trip reset threshold resistance for the connected motor thermistor.

Group 11.8 - Drive Configuration - Display Index

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P11-22	P0-75 Display Index	N/A	0	0 ... 99999	RW	Y	N/A	2	2462h	0	1122

P11-22 - P0-75 Display Index

Internal Use only

Group 11.9 - Drive Configuration - Sequence Detection

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P11-23

Disable Run Sequence Error Detection

N/A

1: Disabled

0: Disabled

1: Enabled

N/A

2463h

1123

P11-24

STO Status Detection Time

sec

2.0s

0 0 ... 10.0s

N/A

2464h

1124

P11-25

STO-L Trip Disable

N/A

0: Enabled

1: Disabled

N/A

2465h

1125

P11-23 - Disable Run Sequence Error Detection

This function checks that the control commands sent from the controller to the drive are in the following expected order:

Safe Torque Off inputs given
Speed Selection given
Direction command given.

Setting	Function
0	Run Sequence Error detection Disabled
1	Run Sequence Error detection Enabled

P11-24 - STO Status Detection Time

Sets the time that when the drive stops the Safety Chain inputs (STO1 and STO2) must open. If the STO inputs do not change state then the drive will trip Sto-S.

This is used to detect a short circuit of the drive STO ports.

Setting P11-24 to 0.0 will disable this function.

P11-25 - STO-L Trip Disable

This parameter allows you to disable the STO-L trip by setting the value to 1. So when both STO terminals (STO1 & STO2) are opened while the drive is running the drive will not trip By default the STO-L trip is enabled.

It is recommended that you keep the STO-L trip enabled to show if there is a fault with the Safe Torque Off Ports (STO1 & STO2).

Setting	Function
0	STO-L Trip Enabled
1	STO-L Trip Disabled

Group 11.10 - Drive Configuration - Read Only Parameters

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P11-30	Drive Type Code	N/A	Drive Dependent	Drive Dependent	RO	N	N/A	2	246Ah	1130
P11-31	Drive Branding Identifier	N/A	Drive Dependent	0 ... 65535	RO	N	N/A	2	246Bh	1131
P11-37	Drive rated current	Amps	Drive Dependent	N/A	RO	N	1 = 0.1A	2	2471h	1137
P11-38	Drive rated voltage	Volts	Drive Dependent	N/A	RO	N	N/A	2	2472h	1138
P11-39	Drive rated power (kW)	kW	Drive Dependent	N/A	RO	N	1 = 0.1kW	2	2473h	1139
P11-40	Drive rated power (HP)	HP	Drive Dependent	N/A	RO	N	1 = 0.1HP	2	2474h	1140
P11-41	Number of input phases	N/A	Drive Dependent	1 ... 3	RO	N	N/A	1	2475h	1141
P11-42	Drive frame size	N/A	Drive Dependent	1 ... 5	RO	N	N/A	1	2476h	1142
P11-43	Duty Rating	N/A	Drive Dependent	0 ... 1	RO	N	N/A	1	2477h	1143
P11-44	IP Rating	N/A	Drive Dependent	0 ... 66	RO	N	N/A	1	2478h	1144

Group 12 Address - Parameter list

Table 76. Group 12.1 - User I/O Configuration - Input Function Select

Parameter Number	Parameter Name	Units	Default	Available Settings	Drop Down Options	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P12-01	DI1 input Function select	N/A	1: Run Forward	0 ... 29	0: No Function 1: Run Forward 2: Run Reverse 3: Levelling Speed 4: High Speed 5: High Speed 5 6: Inspection Speed 7: Fault Reset 8: Rescue Mode 9: E-Trip Mode 1 10: Preset with override High Speed 11: Preset with override Inspection Speed 12: Preset with override Intermediate Speed 13: E-Trip Mode 2 14: Preset Bit 0 (2) 15: Preset Bit 1 (2) 16: Preset Bit 2 (2) 17: Speed Reference 18: Torque Sensor 19: Forward, Contactor Control 20: Reverse, Contactor Control 21: Drive Enable 22: E-Trip Mode 3 23: Brake Release Monitor Input 1 24: Brake Release Monitor Input 2 25: Analog mode 26: Direction (0 – Fwd, 1 - Rev) 27: Preset Bit 0 With Active (3) 28: Preset Bit 1 With Active (3) 29: Preset Bit 2 With Active (3)	RW	Y	N/A	1	24B1h	1201
P12-02	DI2 input Function select	N/A	2: Run Reverse	0 ... 29		RW	Y	N/A	1	24B2h	1202
P12-03	DI3 input Function select	N/A	3: Levelling Speed	0 ... 29		RW	Y	N/A	1	24B3h	1203
P12-04	DI4 input Function select	N/A	4: High Speed	0 ... 29		RW	Y	N/A	1	24B4h	1204
P12-05	DI5 input Function select	N/A	5: High Speed 5	0 ... 29		RW	Y	N/A	1	24B5h	1205
P12-06	DI6 input Function select	N/A	6: Inspection Speed	0 ... 29		RW	Y	N/A	1	24B6h	1206
P12-07	DI7 input Function select	N/A	7: Fault Reset	0 ... 29		RW	Y	N/A	1	24B7h	1207
P12-08	DI8 input Function select	N/A	8: Rescue Mode	0 ... 29		RW	Y	N/A	1	24B8h	1208
P12-09	Daux1 input Function select	N/A	0: No Function	0 ... 29		RW	Y	N/A	1	24B9h	1209
P12-10	Daux2 input Function select	N/A	0: No Function	0 ... 29		RW	Y	N/A	1	24BAh	1210

Table 77. Group 12.2 - User I/O Configuration - Parameter References

Parameter Number	Parameter Name	Units	Default	Available Settings	Drop Down Options	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P12-11	Speed reference source	N/A	0	0 ... 5	N/A	RO	Y	N/A	1	24BBh	1211
P12-12	Reference active	N/A	0	0 ... 1	N/A	RO	Y	N/A	1	24BCh	1212
P12-13	User pre-ramp reference	Hz	0.00	-P8-01 to P8-01	N/A	RO	Y	1 = 0.1 Hz	2	24BDh	1213

Group 12.1 - User I/O Configuration - Input Function Select

Parameter Number	Parameter Name	Units	Default	Available Settings	Drop Down Options	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P12-01	DI1 input Function select	N/A	1: Run Forward	0 ... 29	0: No Function 1: Run Forward 2: Run Reverse 3: Levelling Speed 4: High Speed 5: High Speed 5 6: Inspection Speed 7: Fault Reset 8: Rescue Mode 9: E-Trip Mode 1 10: Preset with override High Speed 11: Preset with override Inspection Speed 12: Preset with override Intermediate Speed 13: E-Trip Mode 2 14: Preset Bit 0 (2) 15: Preset Bit 1 (2) 16: Preset Bit 2 (2) 17: Speed Reference 18: Torque Sensor 19: Forward, Contactor Control 20: Reverse, Contactor Control 21: Drive Enable 22: E-Trip Mode 3 23: Brake Release Monitor Input 1 24: Brake Release Monitor Input 2 25: Analog mode 26: Direction (0 – Fwd, 1 - Rev) 27: Preset Bit 0 With Active (3) 28: Preset Bit 1 With Active (3) 29: Preset Bit 2 With Active (3)	RW	Y	N/A	1	24B1h	1201
P12-02	DI2 input Function select	N/A	2: Run Reverse	0 ... 29		RW	Y	N/A	1	24B2h	1202
P12-03	DI3 input Function select	N/A	3: Levelling Speed	0 ... 29		RW	Y	N/A	1	24B3h	1203
P12-04	DI4 input Function select	N/A	4: High Speed	0 ... 29		RW	Y	N/A	1	24B4h	1204
P12-05	DI5 input Function select	N/A	5: High Speed 5	0 ... 29		RW	Y	N/A	1	24B5h	1205
P12-06	DI6 input Function select	N/A	6: Inspection Speed	0 ... 29		RW	Y	N/A	1	24B6h	1206
P12-07	DI7 input Function select	N/A	7: Fault Reset	0 ... 29		RW	Y	N/A	1	24B7h	1207
P12-08	DI8 input Function select	N/A	8: Rescue Mode	0 ... 29		RW	Y	N/A	1	24B8h	1208
P12-09	Daux1 input Function select	N/A	0: No Function	0 ... 29		RW	Y	N/A	1	24B9h	1209
P12-10	Daux2 input Function select	N/A	0: No Function	0 ... 29		RW	Y	N/A	1	24BAh	1210

Group 12.2 - User I/O Configuration - Parameter References

Parameter Number	Parameter Name	Units	Default	Available Settings	Drop Down Options	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P12-11	Speed reference source	N/A	0	0 ... 5	N/A	RO	Y	N/A	1	24BBh	1211
P12-12	Reference active	N/A	0	0 ... 1	N/A	RO	Y	N/A	1	24BCh	1212
P12-13	User pre-ramp reference	Hz	0.00	-P8-01 to P8-01	N/A	RO	Y	1 = 0.1 Hz	2	24BDh	1213

P12-11 - Speed reference source

Shows the active speed source reference.

P12-12 - Reference active

Shows if a speed reference is active.

P12-13 - User pre-ramp reference

Shows the active Pre-ramp speed reference.

Installation

Mechanical Installation - Topic List

The following topics show how to mechanically install the drive.

Details how to install the drive mechanically including screw & DIN Rail mounting	Specification on environmental conditions to install the drive
How to install the drive after a prolonged period of storage for more than 1 year	Each Drive frame size dimensions

Mechanical Installation - Environmental Data

To prolong the life of the Drive, it should be installed in an environment that satisfies the following constraints:

Environment Factor to be Considered	Condition to be adhered to
Location of Installation	Indoors
Ambient Temperature	-10°C ... 50°C @10 kHz No Derating required
Storage Temperature	-40°C ... 60°C
Humidity	<95% (non-condensing)
Altitude	Maximum altitude with no derating:- 1000m Maximum approved UL installation:- 2000m / 6562ft with derating Maximum non-UL approved installation:- 4000m with derating For information on derating the drive please see the Technical Data sectionDrive Altitude Information
Vibration
Drive Mounting	The drive must be mounted vertically with enough surrounding area to allow proper cooling and prevent temperature related trips
Acoustic Noise
Drive Mounting Position	The drive must be mounted vertically.

Note

For more information on compliant UL installation please see the Information for UL Approved Installations section.

Installation after a period of Storage

Where the drive has been stored for some time prior to installation or has remained without the main power supply present for an extended period of time, it is necessary to reform the DC capacitors within the drive according to the following table before operation.

For drives which have not been connected to the main power supply for a period of more than 2 years, this requires a reduced mains voltage to be applied for a time period, and gradually increased prior to operating the drive. The voltage levels relative to the drive rated voltage, and the time periods for which they must be applied are shown in the following table. Following completion of the procedure, the drive may be operated as normal.

Storage/Power Off Period	Initial Input Voltage Level	Time Period (T1)	Secondary Input Voltage Level	Time Period (T2)	Third Input Voltage Level	Time Period (T3)	Final Input Voltage Level	Time Period (T4)
Up to 1 Year	100%	N/A
1 - 2 Years	100%	1 Hour	N/A
2 - 3 Years	25%	30 Minutes	50%	30 Minutes	75%	30 Minutes	100%	30 Minutes
More than 3 Years	25%	2 Hours	50%	2 Hours	75%	2 Hours	100%	2 Hours

Mechanical Dimensions

Drive Dimensions and Weights

Drive Frame Size	Height (h.)		Width (w.)		Depth (d.)		Weight
Units	mm	in	mm	in	mm	in	kg	lb
2	220	8.66	110	4.33	184	7.24	1.8	4.0
3	261	10.39	131	5.16	207	8.15	3.5	7.7
4	418	16.46	172	6.77	254	10	10.36	22.9

Note

Drive dimensions include the optional Universal Encoder Module but not the optional Cable Management Bracket.

Required Clearances around the drive

For the best cooling the drive requires the following clearances:

Drive Frame Size	Vertical Clearance (X)		Horizontal Clearance (Y)
Units	mm	in	mm	in
2	75	2.95	50	1.97
3	100	3.94	50	1.97
4	200	7.87	10	0.39

Mechanically Install the Drive

Mounting Guidelines

The guidelines below must be followed when installing the Drive.

Pre-Mounting Guidelines
The drive should be mounted prior to any wires being connected to the drive.
For ease of installation the drive packaging carton has a mounting template to follow, ensuring dust from drilling does not enter the drive.
Enclosure Guidelines
Installation should be in a suitable enclosure, according to EN60529 or other relevant local codes or standards.
Enclosures should be made from a thermally conductive material.
Where vented enclosures are used, there should be venting above the drive and below the drive to ensure good air circulation, air should be drawn in below the drive and expelled above the drive.
For drives mounted in non-ventilated metallic enclosures ensure that the minimum clearances below are met.
Environmental Installation Guidelines
In any environments where the conditions require it, the enclosure must be designed to protect the drive against ingress of airborne dust, corrosive gases or liquids, conductive contaminants (such as condensation, carbon dust, and metallic particles) and sprays or splashing water from all directions.
High moisture, salt or chemical content environments should use a suitably sealed (non-vented) enclosure.
The drive should be mounted in a vertical position only, on a flat, flame resistant, vibration free mounting using the integral mounting holes.
The drive must be installed in a pollution degree 1 or 2 environment only.
Do not mount flammable material close to the drive.
Ensure that the ambient temperature where the drive will be installed does not exceed 50°C or below -20°C.
Ensure that the height above sea level where the drive will be installed does not exceed 1000m, if it does then refer to Drive Altitude Information.Drive Altitude Information
Provide suitable clean, moisture and contaminant free cooling air sufficient to fulfill the cooling requirements of the drive.

Using the Foot Mounting points

When referring to Mounting Points in the documentation it means the holes where the drive can be panel mounted.

The screw size for the drive mounting points are shown in the table below.

All four mounting points should be used to install the drive.

Quick_Start_-_Mechanical_Installation_-_Using_the_Foot_Mounting_Points.svg

Mounting Points
Drive Size	e.		f.
Drive Size	mm	in	mm	in
2	210	8.27	93	3.66
3	113	4.45	250	9.84
4	125	4.92	399	15.70

Mounting Bolts
Drive Size	Metric	UNF
2	M5	#10
3	M5	#10
4	M6	1/4

Frame Size 2 Din Rail Installation & Removal

DIN Rail Mounting Instructions (Frame Size 2 only)

DIN Rail Dis-Mounting (Frame Size 2 only)

Din Rail Mounting system Patent pending GB 2625869.

Electrical Installation - Topics List

The topics below detail how to electrically install the drive.

For full safety information prior to installing the drive refer to the Elevator Core Quick Start Manual which can be found with the link: Quick Start Manual.

Power & Motor Terminals & Protection

Cable sizes & tightening torques for the Power Supply, Motor Cables, Brake Resistor & DC Connection terminals	Details the what each power terminal does with installation considerations for Power Supply, Motor Cables, Brake Resistor & DC Connection terminals
Provides recommendations for the circuit protection type and ratings for each drive model

Control Terminals

This Topic provides the specifications of the each Control (I/O) terminals	Details how to electrically & mechanically install the I/O terminals
Provides an example of setting up the Control terminals with functions from default

Dynamic Braking

Find out how to connect the brake resistor to the drive and the safety protections	A guide for selecting the correct brake resistor for each drive model
Each drive has an internal brake transistor this topic details the activation levels

EMC

Installation_-_Electrical_Installation_-_Icons_-_EMC_Compliant_Installation.svg

How to install the drive for an EMC compliant installation

Grounding the Drive

Installation_-_Electrical_Installation_-_Icons_-_Grounding_Guidelines.svg

How to Ground the drive correctly

Control Terminals Installation

Electrical Installation - Control Terminals Cable Sizing

Drive Model Code	Maximum Cables Size		Screw Type	Recommended Screw Tightening Torque
Units	mm²	AWG/ Kcmil	Screw Type	Nm	Ibf.in
All Models	3.3	12	M5 Phillips	0.4	3.5

The following points should be followed when wiring the Control Terminals for a proper installation:

All analog signal cables should be suitably shielded. Twisted pair cables are recommended.
All Control Terminals are Screw type and require a terminal screwdriver to install and remove.
Power and Control Signal cables should be routed separately where possible, and must not be routed parallel to each other.
Signal levels of different voltages e.g. 24 Volt DC and 110 Volt AC, should not be routed together and should be separated.
The Control Terminals are designed to accept the following termination methods:
- Bare conductor
- Ferrule
Use the Table in this Section for full details of cable size and tightening torques

Control Terminal Logic Select

The Elevator Core offers dual logic control terminals. The Drive can be used in PNP or NPN logic.

By default the drive is configured to use PNP logic.

To change the logic of the Drive follow the steps below:

Disable the drive (Open the STO1 & STO2 terminals)
Caution
If you do not disable the drive by opening the STO ports before changing the logic there is a risk of the drive starting as soon as you change the logic.
Adjust your wiring to reflect the change in logic
Set P1-43 to either 0 or 1 (0 = PNP) (1 = NPN)

Control Terminal Functions

This Topic provides detail on the drive's control terminals and each terminals electrical specification as well as the associated parameters to program each terminal.

When wiring the drive control terminals refer to the Standard Control Terminals Connection Diagram for reference.

Control Terminals - Relay 1 Motor Contactor

Type of Terminal

Terminal Name

Terminal Label

Function Parameter

Function (Specification)

Installation_-_Electrical_Installation_-_Control_Terminals_-_Relay_1.svg

Programmable Relay (Relay 1)

Relay Output 1 Common

1-C

P1-30 (Relay 1 Function Select)

Relay contacts, 8A/250VAC 10A/30VDC

20 Programable Functions

Relay Output 1 Normally Open

1NO

Relay Output 1 Normally Closed

1NC

Control Terminals - Relay 2 Motor Brake

	Type of Terminal	Terminal Name	Terminal Label	Function Parameter	Function (Specification)
	Motor Brake Relay (Relay 2)	Relay Output 2 Common	2-C	N/A - Fixed as Motor Brake	Relay contacts, 6A/250VAC 6A/30VDC
	Motor Brake Relay (Relay 2)	Relay Output 2 Normally Open	2NO	N/A - Fixed as Motor Brake	Relay contacts, 6A/250VAC 6A/30VDC

Control Terminals - Digital/Analog Inputs

Type of Terminal	Terminal Name	Terminal Label	Function Parameter	Function (Specification)
Digital Inputs / Analog Inputs	Digital Input 1	DI1	P12-01	Digital Input: 8 – 30 Vdc Analog Input Voltage Mode: -10 to10V Analog Input Current Mode: 0 to 20mA Logic Selected via P1-43 (Positive/Negative Logic Select)
	Digital Input 2	DI2	P12-02
	Digital Input 3	DI3	P12-03
	Digital Input 4 / Analog Input 1	DI4	P12-04
	Digital Input 5 / Analog Input 2	DI5	P12-05
	Digital Input 6	DI6	P12-06
	Digital Input 7	DI7	P12-07
	Digital Input 8	DI8	P12-08
Optional Digital Inputs	Digital input 9	Daux1	P12-09	Only available on the Universal Encoder Module
Optional Digital Inputs	Digital Input 10	Daux2	P12-10	Only available on the Universal Encoder Module

Control Terminals - Digital/Analog Outputs

Type of Terminal

Terminal Name

Terminal Label

Function Parameter

Function (Specification)

Digital / Analog Output

Digital / Analog Output 1

DA1

Digital / Analog Type: P1-14

Digital Function: P1-15

Digital Logic: P1-16

Analog Function: P1-17

Analog Logic: P1-18

Digital Output: 0 - 24Vdc

Analog Output Voltage Mode: 0 to 10V

Analog Output Current Mode: 0 to 20mA

Digital / Analog Output 2

DA2

Digital / Analog Type: P1-21

Digital Function: P1-22

Digital Logic: P1-23

Analog Function: P1-24

Analog Logic: P1-25

Digital Output 3

DO3

Digital Function: P1-28

Digital Logic: P1-29

Control Terminals - Safe Torque Off

Type of Terminal	Terminal Name	Terminal Label	Function Parameter	Function (Specification)
Safe Torque Off	Safe Torque Off 1	STO1	N/A - Logic fixed to PNP Will not change with P1-43	Nominal Range: 0 - 24Vdc Operating Range: 18 - 30Vdc Maximum Voltage: 30Vdc
	Safe Torque Off 2	STO2
	Safe Torque Off 24Vdc Supply	24V
	Safe Torque Off 0V Common	0V

Control Terminals - IO User Supply

Type of Terminal	Terminal Name	Terminal Label	Function Parameter	Function (Specification)
IO User Supply	+24Vdc Input/Output supply	+24V	N/A	+24Vdc, 200mA current User Input/Output
	0 Volt Common	0V
	0 Volt Common	0V

Standard Control Terminals Connection Diagram

Below is a the standard connection diagram for the drive with the parameters all at default. This can be modified and adjusted depending on the users needs.

For details on the Control terminals electrical specification refer to the Topic Control Terminals Specification.

For a guide on installing the control terminals refer to the Topic Control Terminals Installation.

Electrical Installation - Drive Power Terminals Functions

This section details the power terminal's location on the drive, each terminals function and best practice installations.

Electrical Installation - Terminal Details

The table below shows the drive Input and Output terminals nomenclature and functions.

Terminal Layout	Terminal Label	Terminal Function
Input Supply
	⏚ (Top of drive)	Earth/Ground for the input power supply
	L1/L	230V Drives - Live phase from Input power supply (L) 400V Drives - Live phase from input power supply (L1)
	L2/N	230V Drives - Neutral phase from input power supply (N) 400V Drives - Live phase from input power supply (L2)
	L3	400V Dives - Live phase from input power supply
Motor Cables & Brake Resistor connections
	⏚ (Bottom of Drive)	Earth/Ground for the motor
	+DC	DC Power supply input positive (+) for: Battery DC Supply Brake Resistor Input
	BR	Brake Resistor Input
	-DC	DC Power supply input negative (-) for: Battery Supply DC Supply
	U	Motor U Phase
	V	Motor V Phase
	W	Motor W Phase

Warning

Do not connect the Input Supply terminals to the Motor terminals and vice versa.

Electrical Installation - Power Supply Connections

It is recommended that the power cabling should be 4-core PVC-insulated screened cable and laid in accordance with local industrial regulations and codes of practice.

The cables should be dimensioned according to any local codes or regulations.

Suitable fuses to provide wiring protection of the input power cable should be installed in the incoming supply line, recommended ratings are given in section 6 Product Technical Information.. The fuses must comply with any local codes or regulations in place. In general, type gG (IEC 60269) or UL type T fuses are suitable; however, in some cases type aR fuses may be required. The operating time of the fuses must be below 0.5 seconds.

A fixed installation is required according to IEC61800-5-1 with a suitable disconnecting device installed between the drive and the AC Power Source. The disconnecting device must conform to the local safety code / regulations (e.g. within Europe, EN60204-1, Safety of machinery).

Where allowed by local regulations, suitably dimensioned type B MCB circuit breakers of equivalent rating may be utilised in place of fuses, providing that the clearing capacity is sufficient for the installation.

The maximum permissible short circuit current at the drive Power terminals as defined in IEC60439-1 is 100kA.

When the power supply is removed from the drive, a minimum of 30 seconds should be allowed before re-applying the power. A minimum of 5 minutes should be allowed before removing the terminal covers or connection.

An optional Input Choke/Line reactor is recommended to be installed in the supply line for drives where any of the following conditions occur:-

The incoming supply impedance is low or the fault level / short circuit current is high
The supply is prone to dips or brown outs
An imbalance exists on the supply (3 phase drives)
The power supply to the drive is via a busbar and brush gear system.

In all other installations, an input choke is recommended to ensure protection of the drive against power supply faults.

Electrical Installation - Motor Connections

There are sometimes multiple connections within the motor terminal box, in general: Star and Delta. It is essential to ensure that the motor is connected in accordance with the voltage at which it will be operated.

Maximum Motor cable length for shielded type cables is 100mtrs/330ft (150mtrs/495ft for un-shielded cables).

Note that the maximum motor cable length stated is the maximum permissible cable length for the drive hardware and does not take into consideration EMC compliance.

The motor earth must be connected to one of the drive earth terminals

The cable screen should be terminated at the motor end using an EMC type gland allowing connection to the motor body through the largest possible surface area.

The PWM output switching from any inverter when used with a long motor cable length can cause an increase in the voltage at the motor terminals, depending on the motor cable length and inductance. The rise time and peak voltage can affect the service life of the motor. Invertek Drives Ltd recommend using an output choke for motor cable lengths of 50m or more to ensure good motor service life.

The motor must be connected to the drive U, V, and W terminals using a suitable 3 or 4 core cable. Where a 3 core cable is utilised, with the shield operating as an earth conductor, the shield must have a cross sectional area at least equal to the phase conductors when they are made from the same material. Where a 4 core cable is utilised, the earth conductor must be of at least equal cross sectional area and manufactured from the same material as the phase conductors.

For compliance with the European EMC directive, a suitable screened (shielded) cable should be used. Braided or twisted type screened cable where the screen covers at least 85% of the cable surface area, designed with low impedance to HF signals are recommended as a minimum. Installation within a suitable steel or copper tube is generally also acceptable.

Where drives are mounted in a steel control panel enclosure, the cable screen should be terminated directly to the control panel using a suitable EMC clamp or gland, as close to the drive as possible.

Electrical Installation - Power Terminal Cable Size & Torque Information

This section details the cable sizes, termination methods and tightening torque for the Elevator Core power terminals.

The power terminals refer to the: Input Supply (L1/L, L2/N L3 & Earth), Motor Output (U,V,W & Earth) and Brake Resistor/DC Bus (DC+, BR, DC-).

Electrical Installation - Cable Sizing

Table 78. 200 – 240 Volt (+/-10%), 1 Phase Input (50-60Hz +/- 5%)

Drive Model Code

Maximum Input Supply Cables Size

(L1/L, L2/N, L3, Earth)

Maximum Motor Phase & Brake Resistor Cables Size

(U, V, W, Earth, DC+, BR, DC-)

Screw Type

Recommended Screw Tightening Torque

Units

mm²

AWG/ kcmil

mm²

AWG/ kcmil

Ibf.in

ODL-3-220105-142SB#

M3 Phillips

1.5

13.3

Table 79. 200 – 240 Volt (+/-10%), 3 Phase Input (50-60Hz +/- 5%)

Drive Model Code	Maximum Input Supply Cables Size (L1/L, L2/N, L3, Earth)		Maximum Motor Phase & Brake Resistor Cables Size (U, V, W, Earth, DC+, BR, DC-)		Screw Type	Recommended Screw Tightening Torque
Units	mm²	AWG/ kcmil	mm²	AWG/ kcmil	Screw Type	Nm	Ibf.in
ODL-3-220180-342SB#	6	10	6	10	M3 Phillips	1.5	13.3
ODL-3-220240-342SB#	6	10	6	10	M3 Phillips	1.5	13.3
ODL-3-320300-342SB#	16	6	16	6	M4 Phillips	1.5	13.3

Table 80. 380 – 480 Volt (+/-10%), 3 Phase Input (50-60Hz +/- 5%)

Drive Model Code	Maximum Input Supply Cables Size (L1/L, L2/N, L3, Earth)		Maximum Motor Phase & Brake Resistor Cables Size (U, V, W, Earth, DC+, BR, DC-)		Screw Type	Recommended Screw Tightening Torque
Units	mm²	AWG/ kcmil	mm²	AWG/ kcmil	Screw Type	Nm	Ibf.in
ODL-3-240095-342SB#	6	10	6	10	M3 Phillips	1.5	13.3
ODL-3-240140-342SB#	6	10	6	10	M3 Phillips	1.5	13.3
ODL-3-340180-342SB#	16	6	16	6	M4 Phillips	1.5	13.3
ODL-3-340240-342SB#	16	6	16	6	M4 Phillips	1.5	13.3
ODL-3-340300-342SB#	16	6	16	6	M4 Phillips	1.5	13.3

Electrical Installation - Power, Motor Terminals & Brake Resistor Termination Methods

The Elevator Core drive is designed to accept terminals from the following termination methods for all Input supply, Motor and Brake Resistor terminals:

Bare Conductor
Bootlace Ferrule

Drive Frame Size	Maximum Cable Stripped Length (mm)
2	8
3	13
4	18

Drive Circuit Protection

The Section below details the input supply protection for each drives and the recommended rating.

Suitably rated fuses or MCB should be fitted in the mains supply to the drive, according to any local legislation or codes.

Table 81. 200 – 240 Volt (+/-10%), 1 Phase Input (50-60Hz +/- 5%)

Model Code	Input Current (A)	Fuse or MCB (Type B)
Model Code	Input Current (A)	Non UL (A)	UL (A)
ODL-3-220105-142SB#	22	25	25

Table 82. 200 – 240 Volt (+/-10%), 3 Phase Input (50-60Hz +/- 5%)

Model Code	Input Current (A)	Fuse or MCB (Type B)
Model Code	Input Current (A)	Non UL (A)	UL (A)
ODL-3-220180-342SB#	22	25	30
ODL-3-220240-342SB#	27	32	35
ODL-3-320300-342SB#	34	40	40

Table 83. 380 – 480 Volt (+/-10%), 3 Phase Input (50-60Hz +/- 5%)

Model Code	Input Current (A)	Fuse or MCB (Type B)
Model Code	Input Current (A)	Non UL (A)	UL (A)
ODL-3-240095-342SB#	14	16	20
ODL-3-240140-342SB#	21	32	30
ODL-3-340180-342SB#	24	32	35
ODL-3-340240-342SB#	30	40	40
ODL-3-340300-342SB#	38	50	60

Brake Resistor Connections and Protection

The drive must be fitted with an external braking resistor (purchased separately)

Brake Resistor Connections

Caution

The brake resistor must be connected between the +DC and BR Terminals of the drive as shown in the image below, failure to do so can result in damage to the drive/Brake resistor.

Danger

The voltage level at these terminals may exceed 800V DC. Stored charge may be present after disconnecting the mains power. Allow a minimum of 10 minutes discharge after power off before attempting any connection to these terminals.

Using the drives software based Brake Resistor overload protection.

Caution

The correct values must be entered into parameters P3-04 and P3-05 for the drive to protect the brake resistor against overload. this will ensure that it does not operate outside of its design limits.

To enable the built-in brake resistor overload protection follow the below steps :

Enter the resistance of the brake resistor in P3-04 (Ohms)
Enter the power of the brake resistor in P3-05 (kW)

Brake Resistor overload protection using a thermal overload relay.

Caution

It is highly recommended to equip the drive with a main contactor in order to provide an additional thermal overload protection for the braking resistor.

The contactor should be wired so that it will open when the resistor overheats, otherwise the drive will not be able to interrupt the main supply if the brake chopper remains closed (short-circuited) in a fault situation.

It is also recommended to wire the thermal overload protection to a digital input of the drive as an External Trip.

The diagram below shows a recommended circuit for removing mains power from the drive in the event of brake resistor overload.

The output from the thermal overload relay/thermal switch can be wired into a digital input, that way the drive can react accordingly in the event of an overload situation.

To enable a digital input as brake resistor monitoring input follow the steps below:

Set P3-06 (Brake Resistor Temperature Monitoring Enable) to a 1 (Enabled)
Set P3-07 (Brake Resistor Temperature Monitoring trip reaction) to the required reaction as per the table below.

Setting	Function	Reaction Details
0	Stop then Trip	Drive stops normally then trips
1	Trip Immediately	Immediate trip, apply motor brake
2	Warning Only	Warning only, no trip.

Brake Resistor Parameters

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P3-04	Brake Resistor Resistance	ohms	Rating Dependent	0 ... 60000 ohms	RW	Y	N/A	2	2130h	304
P3-05	Brake Resistor Power	kW	0.0kW	0.0 ... 6000.0 kW	RW	Y	1 = 1W	2	2131h	305
P3-06	Brake Resistor Temperature Monitor Enable	N/A	0: Disabled	0: Disabled 1: Enabled	RW	Y	N/A	1	2132h	306
P3-07	Brake Resistor Temperature Monitoring trip reaction	N/A	0 : Normal Stop, Trip After stopping	0: Normal Stop, Trip After stopping 1 : Immediate Trip, Apply motor Brake 2: Warning Only No Trip	RW	Y	N/A	1	2133h	307

P3-04 - Brake Resistor Resistance

Enter external Brake Resistor resistance in ohms.

P3-05 - Brake Resistor Power

P3-06 - Brake Resistor Temperature Monitor Enable

P3-07 - Brake Resistor Temperature Monitor trip reaction

This parameter defines the drive’s reaction when the Brake Resistor Overload function has been triggered (Ot-br)

Setting	Function	Reaction Details
0	Stop then Trip	Drive stops normally then trips
1	Trip Immediately	Immediate trip, apply motor brake
2	Warning Only	Warning only, no trip.

Brake Resistor Selection

The Resistor power ratings shown are guideline only, the values should be calculated based on the individual application, considering the braking power and duty cycle of the elevator.

The resistance of the braking resistor must not be less than the minimum values shown in the table below.

Model Code	Recommended Brake Resistance (Minimum)	Resistor power rating (W)
ODL-3-220105-142SB#	35 (20)	1000
ODL-3-220180-342SB#	20 (20)	1000
ODL-3-220240-342SB#	20 (20)	1500
ODL-3-320300-342SB#	20 (12)	2000
ODL-3-240095-342SB#	100 (40)	1000
ODL-3-240140-342SB#	75 (40)	1500
ODL-3-340180-342SB#	50 (22)	2000
ODL-3-340240-342SB#	40 (22)	3000
ODL-3-340300-342SB#	50 (22)	4000

Internal Brake Transistor

All models of the drive have an Internal Brake Transistor (sometimes referred to as a Brake Chopper) fitted as standard that automatically enables when the regenerative energy from the load reaches a pre-determined level as shown below:

Drive Voltage Rating	Brake transistor Turn-on Voltage	Brake transistor Turn-Off Voltage
Single and 3 Phase 230V	390Vdc	378Vdc
3 Phase 400V	780Vdc	756Vdc

Note

The Brake Transistor will ONLY turn on while the drive is running. If the levels are reached while the drive is stopped or inhibited the brake transistor WILL NOT turn on preventing the brake transistor from burning out.

EMC Compliant Installation

All equipment installed within the UK or European Union must comply with the applicable UK or European EMC Directive. The installer must be familiar with the Directive and appropriate good EMC practice. Invertek Drives Ltd products may be considered as a Basic Drive Module or Complete Drive Module according to the EMC standard definition dependent on the drive type. The BDM or CDM may then be incorporated into a Power Drive System. It is the sole responsibility of the installer to ensure that the complete PDS is compliant with the Directive.

Recommended Installation for EMC Compliance

The diagram below provides general guidance to ensure compliance is achieved.

Recommended Installation for EMC compliance

Maximum motor cable lengths in accordance with EMC category

Maximum Motor Cable Length to Achieve (m)
C1 _1,2,4,5,7	C2_3,4,5,7	C3_6,7
1	5	25

General

¹Compliance with category C1 conducted emissions only is achieved.

Supply Cable

²A screened (shielded) cable suitable for fixed installation with the relevant mains voltage in use. Braided or twisted type screened cable where the screen covers at least 85% of the cable surface area, designed with low impedance to HF signals. Installation of a standard cable within a suitable steel or copper tube is also acceptable - in this case, ensure that metal tube is adequately grounded.

³A cable suitable for fixed installation with relevant mains voltage with a concentric protection wire. Installation of a standard cable within a suitable steel or copper tube is also acceptable.

Motor Cable

⁴A screened (shielded) cable suitable for fixed installation with the relevant voltage in use. Braided or twisted type screened cable where the screen covers at least 85% of the cable surface area, designed with low impedance to HF signals.

⁵The cable shield should be terminated at the motor end using an EMC type gland allowing connection to the motor body through the largest possible surface area. The shield must also be terminated at the drive end, as close as practically possible to the drive output terminals. Where drives are mounted in a steel control panel enclosure, the cable screen may be terminated directly to the control panel backplate using a suitable EMC clamp or gland fitted as close to the drive as possible. The drive earth terminal must also be connected directly to this point, using a suitable cable which provides low impedance to high frequency currents.

Electrical Installation

⁶A cable suitable for fixed installation with relevant voltage with a concentric protection wire. Installation of a standard cable within a suitable steel or copper tube is also acceptable.

Control Cable

⁷A shielded cable with low impedance shield. Double shielded twisted pair cable should be used for analog signals.

Grounding Guidelines

Grounding the Drive

Adequate safety earthing must be provided in accordance with local wiring rules and codes of practice. The ground terminal of the drive should be connected back to the common safety earth bar to maintain touch potentials within safe limits.

The ground terminal the drive should be individually connected DIRECTLY to the site ground bus bar (through the EMC filter if installed).

Drive ground connections should not loop from one drive to another, or to, or from any other equipment. Ground impedance must conform to local industrial safety regulations and/or electrical codes.

To meet UL regulations, UL approved ring crimp terminals should be used for all ground wiring connections.

The integrity of all ground connections should be checked periodically.

Protective Earth Conductor

The Cross-sectional area of the PE Conductor must be at least equal to that of the incoming supply conductor.

Motor Ground

The motor ground must be connected to one of the ground terminals on the drive.

Ground Fault Monitoring

As with all inverters, a leakage current to earth can exist. The drive is designed to produce the minimum possible leakage current whilst complying with worldwide standards. The level of current is affected by motor cable length and type, the effective switching frequency, the earth connections used and the type of RFI filter installed. If an ELCB (Earth Leakage Circuit Breaker) is to be used, the following conditions apply:

A Type B Device must be used.
A device with 10ms trip delay is recommended.
Individual device should be used for each drive.
The device must be suitable for protecting equipment with a DC component in the leakage current.
The device should be not sensitive to high frequency leakage current.

Shield Termination (Cable Screen)

The safety ground terminal provides a grounding point for the motor cable shield. The motor cable shield connected to this terminal (drive end) should also be connected to the motor frame (motor end). Use a shield terminating, EMI clamp.

Features and Functions

The following topics explains how each individual function of the drive works and how they can be setup.

Use the sections below to select the feature category you want to view:

Features and Functions - Topic List

Topic list detailing each of the drive's elevator specific functions

Prevents over-current trips during acceleration	Used to open doors before stopping at the next floor
In Geared Induction Motors DC Injection is used to prevent rollback at starting and stopping	Choose the reaction of specific fault codes
Control how the heatsink fan operates	Use to measure the load in the elevator car Load-Cell Input
Checks that all motor phases are present before running	How to connect the Motor Thermistor to the drive for protection
Run the drive faster than normal for one run to allow for the external overspeed governor to be commissioned	Pick which direction the motor rotates in without having to re-wire the motor cables
Used to count the number of direction changes to protect the ropes	Reduce stopping time based on speed inputs
Overcome stiction in systems by adding an extra ramp to the travel curve	Shows how to use torque compensation to reduce rollback at start and the different methods available
Smoothly drop off torque at the end of the travel	Count the total number of travels
Real-time monitoring of exactly what the drive is doing	Select a saved set of User Default parameters for quick commissioning

Anti-Stall

The Anti-Stall function prevents over-current trips during the Acceleration Ramp Time (P8-03) should the time be too short to accelerate the load to the target speed. It does this by holding a speed until the Output Current (P0-25) has been reduced before carrying on to accelerate to the speed reference.

Enable Anti-stall by setting P10-09 = 1.

Anti-Stall Operation Guide

Anti-Stall Operation Sequence During acceleration if the output current exceeds the value set in P10-10 the drive will stop and hold the current speed. Then the drive will run at the held speed until the Motor Current drops below: P10-10 - P10-11. Once the Motor Current reaches the acceptable level the drive will continue acceleration to the target speed.	Anti-Stall Timing Diagram
Note Real-time Motor Current can be monitored via P0-25 or on the drive display or through OptiTools Pro

Anti-Stall Parameters

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P0-25	Motor Current	Amps	0.0A	Drive Dependent	RO	N	1 = 0.1A	1	200D	10025
P10-09	Anti-Stall Enable	N/A	0: Disabled	0: Disabled 1: Enabled	RW	N	N/A	1	23F1h	1009
P10-10	Anti-Stall Limit	%	100.0%	100.0 ... 250.0%	RW	N	1 = 0.1%	2	23F2h	1010
P10-11	Anti-Stall Hysteresis	%	10.0%	0.0 ... 50.0%	RW	N	1 = 0.1%	2	23F3h	1011

P10-09 - Anti-Stall Enable

Setting

Function

No Anti-Stall Prevention, if the acceleration time is too short for a given high load, then the drive can trip on over-current.

Anti-Stall Prevention enabled:

P10-10 - Anti-Stall Limit

Set as a % of motor rated current

P10-11 - Anti-Stall Hysteresis

Set as a % of motor rated current

The value set should be below the value set in the torque limit parameters P4-18 and P4-19 so that the 2 functions don’t conflict with each other.

Early Door Opening

The Early Door Opening function is used to provide the elevator controller with a signal (from a Digital or Relay Output) at a set speed to open the elevator doors prior to reaching the floor (saving time at stop to open the doors).

The Early Door Opening speed is set with P10-02 (Early Door Opening Speed Threshold) and is a percentage of parameter P4-06 (Motor Rated Speed).

To enable Early Door Opening set a value > 0 in P10-02 & set the Motor Rated Speed from the Motor Nameplate in P4-06.

Early Door Opening - Output Signal

The signal from the drive to the controller to indicate that the Early Door Opening speed has been reached is done with either a Digital or Relay Output. The table below details the parameters to assign an Output the Early Door Opening function.

Output	Drive Terminal Labels	Parameters	Parameter Setting
Digital Output 1	DA1	P1-15	16: Door Zone	Setting Early Door Opening via OptiTools Pro
Digital Output 2	DA2	P1-22
Digital Output 3	DO3	P1-28
Relay 1	1-C 1NO or 1NC	P1-30

Note

If you would like to change the Logic of the Digital Outputs so the state changes from 1 to 0 when the early door speed is reached then you will need to invert the logic of the Digital Output assigned to early door opening. For Full details on Logic see topic I/O Logic Select - Outputs.

Early Door Opening - Operation Guide

Early Door Opening Setup

Make sure P4-06 is set to the Motor Rated Speed - this can be found on the motor nameplate or datasheet.
Set P10-02 to a percentage of the speed you want the doors to open. For example if your rated speed is 1000rpm and you want the doors to open when the drive is at a speed of 10rpm you would set P10-02 to 1%.
Now when P0-15 (Post-ramp speed controller reference) reaches the value set in P10-02 this will trigger the Output assigned with the early door opening function to change state to 1 (High) so the controller can signal the doors to open.
Set any of the Digital or Relay Outputs to setting 16 (full details in the table).

Early Door Opening Example

Features_and_Functions_-_Early_Door_Opening_-_Timing_Diagram.svg

This image shows how once the drive has reached a speed that is 10% (as set in P10-02) of P4-06 then the relay changes state to signal to the controller to open the doors and only changes state back to 0 (low) once the travel profile has finished.

Note

The Early Door Opening only works during the deceleration part of the travel curve (Deceleration Ramp P8-04) when the speed set is passed during acceleration (Acceleration Ramp P8-03) the Digital or Relay Output will not change state.

Early Door Opening - Parameters

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P1-15	DA1 Digital Output 1 Function Select	N/A	1: Drive Healthy	0 ... 20	RW	Y	N/A	1	2073h	115
P1-22	DA2 Digital Output 2 Function Select	N/A	0: Drive Enabled (Running)	0 ... 20	RW	Y	N/A	1	207Ah	122
P1-28	DO3 Digital Output 3 Function Select	N/A	12: Motor Shorting Contactor	0 ... 20	RW	Y	N/A	1	2080h	128
P1-30	Relay 1 Function Select	N/A	11: Motor Contactor Control	0 ... 20	RW	Y	N/A	1	2082h	130
P4-06	Motor Rated Speed	rpm	0rpm	0 ... 3000rpm	RW	N	1 = 1rpm	2	2196h	406
P10-02	Early Door Opening Speed Threshold	%	0.0%	0.0 ... 100.0%	RW	Y	1 = 0.1%	2	23EAh	1002

Output Function Select Settings

P1-15 - DA1 Digital Output 1 Function Select

This defines the output function when terminal DA1 is configured in digital mode (P1-14 = 0).

Setting	Status/Function Source	Conditions for Status
16	Door Zone	Logic 1 when motor speed equals (P10-02 Early Door Opening Speed Threshold).

P1-22 - DA2 Digital Output 2 Function Select

This defines the output source when DA2 is configured in digital mode.

Setting	Status/Function Source	Conditions for Status
16	Door Zone	Logic 1 when motor speed equals (P10-02 Early Door Opening Speed Threshold).

P1-28 - DO3 Digital Output 3 Function Select

The settings of the DO3 terminal are listed below:

Setting	Status/Function Source	Conditions for Status
16	Door Zone	Logic 1 when motor speed equals (P10-02 Early Door Opening Speed Threshold).

P1-30 - Relay 1 Function Select

The settings of Relay 1 are listed below.

Setting	Status/Function Source	Conditions for Status
16	Door Zone	Logic 1 when motor speed equals (P10-02 Early Door Opening Speed Threshold).

P4-06 - Motor Rated Speed

Rated (nameplate) speed of the motor.

Geared Induction Motor: Allows drive calculation of the rated slip of the motor (in V/F Mode only)

All motors: Changes all speed related parameter values to rpm. This parameter is also required for operating in Linear units mode and when operating with an Encoder.

P10-02 - Early Door Opening Speed Threshold

Any of the drives digital outputs or relays can be set to give an output when the door zone speed condition has been met (setting 16).

The Digital/Relay output will only come on during deceleration approaching the floor and will not change state during acceleration even if the trigger speed is passed.

Early Door Opening Function FAQ

Below is the answers to some commonly asked questions about the Early Door Opening function.

Question	Answer
Can any Output be used as the Early Opening Signal?	Only Digital Outputs 1 - 3 or Relay Output 1 can be used.
Why does the Door not open at the correct time?	Make sure that P10-02 is set to the percentage of P4-06 and P4-06 has a value > 0.

Rollback - DC Injection

DC Injection is commonly used in open loop geared applications to prevent rollback. DC Injection is performed by injecting current into the motor as the brake releases (at start) or applies (at stop) to hold the sheave in position and prevent rollback.

DC Injection is only used in geared motors without an encoder (Open Loop), due to there being no feedback loop.

The sections below detail the DC Injection setup and working principle.

Note

DC Injection is only available in Geared Open Loop Applications (P4-01 = 0 or 1 & P6-05 = 0).

DC Injection at Start

DC Injection at start is enabled by default for 0.5s with 50% of motor rated current injected. This can be adjusted with the following steps:

To adjust the time that DC Injection is active for use P9-11.
Note
This should be enough time so that the sheave does not move.
To adjust the amount of current injected into the motor use P9-12. Typical values should be enough to hold the sheave at all loads. 100% = P4-06 value.

The images below shows what happens if DC Injection is not active during start and the effects of rollback.

DC Injection at 75% for 2 seconds	DC Injection Disabled

As you can see the current is increased while DC Injection is active and there is no movement of the motor sheave (shown in green).	Unlike when DC Injection is active the motor sheave in this example moves backwards (rollback) as the load takes effect once the motor brake is released, due to DC Injection not being active. As you can see the travel and current profile is much worse than when using DC Injection.

Note

While DC Injection is active the speed error is disabled so if the load is to heavy you may overhaul the motor.

DC Injection at Stop

DC Injection at stop works to hold the motor sheave in place before the brake applies so that the motor does not rollback.

DC Injection at stop is enable by default in geared open loop applications.

To modify DC Injection at stop follow the steps below.

To adjust the DC Injection time at stop change P9-13
To adjust the amount of current change P9-14. A value of 100% in P9-14 = P4-06.
DC Injection at stop has the additional feature where you can choose a speed at which DC Injection is applied
By default DC Injection is active at 0 speed.
When setting this parameter the best value is the lowest speed to stop the motor fully. Too high a speed will cause a sudden and harsh stop and the elevator may overshoot.

DC Injection Parameters

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P9-11	DC Injection Time At Start	sec	0.5s	0.0 ... 10.0s	RW	Y	1 = 0.1s	1	238Fh	911
P9-12	DC Injection Current At Start	%	50.0%	0.0 ... 200.0%	RW	Y	1 = 0.1%	2	2390h	912
P9-13	Position Lock / DC Injection Time At Stop	sec	0.5s	0.0 ... 10.0s	RW	Y	1 = 0.1s	1	2391h	913
P9-14	DC Injection Current At Stop	%	50.0%	0.0 ... 200.0%	RW	Y	1 = 0.1%	2	2392h	914
P9-15	Position Lock / DC Injection Speed At Stop	Hz / rpm / Linear	0.0Hz	0.0 ... P8-01	RW	Y	1 = 0.01Hz	2	2393h	915

P9-11 - DC Injection Time at Start

The drive injects DC current into the motor for the time set in this parameter at the start of the travel sequence at 0.

Function Disabled if value entered = 0.0.

Best value is the shortest time but with the least amount of rollback. Also note that while DC Injection is active the speed error detection is turned off.

P9-12 - DC Injection Current at Start

Sets the level of current injected into the drive for the time set in P9-11.

Value is set as a % of P4-06 motor rated current.

P9-13 - Position Lock / DC Injection Time At Stop

Sets the time Position Lock or DC Injection will be active for at stop.

P9-14 - DC Injection Current At Stop

Sets the level of current injected into the drive for the time set in P9-13.

Best value is the lowest value but with the least amount of rollback, the higher the value the more heat generated in the motor and nuisance over current trips.

Function Disabled if value entered = 0.0.

P9-15 - Position Lock / DC Injection Speed At Stop

Sets the speed at which either Position Lock or DC Injection activates, depending on the motor and encoder configuration.

Best to aim for the lowest suitable value, as too high a value can cause the motor to stop to early resulting in the lift car stopping before reaching the floor.

DC Injection function is disabled if value entered = 0.0.

Rollback - DC Injection FAQ

Below is the answers to some commonly asked questions about the DC Injection at Start & Stop

Question

DC Injection at Start

DC Injection at Stop

How to change the time DC Injection is active for

Use Parameter P9-11

Use Parameter P9-13

Why are the parameters unable to be changed

Check that P4-01 IS set to 0 or 1. (DC Injection at start is only available when controlling a Geared Induction Motor in open loop)

Check that the parameters are not locked. P11-03 should be set to 0.

Fault Suppression

Fault suppression is used to customized the fault reaction, from the default reaction (Immediate Trip) to a user selectable reaction. This can be used to avoid the lift getting stuck in the middle of the shaft.

Fault Suppression is only available for the trips listed in the table below:

Display message

No.

Description

Trip Reaction Parameter

Available Reactions

Ai-Los

Analog Input Signal Loss

P1-07 - DI4 Analog Input Signal Loss Reaction

Setting	Reaction
0	No Reaction
1	Run at speed in P1-08 (Analog Input Signal Loss speed) and return to speed reference when signal is reinstated.
2	Ramp to Stop using P8-04 (Deceleration ramp time) and trip Ai-LoS

F-Ptc

Motor PTC Over Temperature

P4-23 - Motor Thermistor Trip Reaction

Setting	Reaction
0	Trip at next stop command and show thermistor fault message F-Ptc or F-tY depending on the setting of P1-03 or P1-09.
1	Trip Immediately and show thermistor fault message F-Ptc or F-tY depending on the setting of P1-03 or P1-09.
2	Continue running and show thermistor warning message Ot-Mm.

F-tY

Motor KTY84 Thermistor Fault

Ot-br

Brake resistor overtemperature

P3-07 - Brake Resistor Temperature Monitor trip reaction

Setting	Function	Reaction Details
0	Stop then Trip	Drive stops normally then trips
1	Trip Immediately	Immediate trip, apply motor brake
2	Warning Only	Warning only, no trip.

Sc-F01

Modbus Communication Fault

P2-05 - Communication Loss Action

Setting	Drive Display	Reaction
0	triP	Immediate trip
1	r-triP	Ramp to stop then trip
2	StoP	Ramp to stop only (No Trip)
3	InSPct	Run at Inspection Speed (P8-08)

Sc-F02

CANopen Communication Fault

P2-09 - CANopen Comms Loss Reaction

Fault Suppression - Available Trips Detailed

Analog Input Signal Loss

When controlling the drive via Macro 6 (P1-02 = 6) and the Analog Input signal is lost this trip occurs. However you can suppress the trip by running at a set speed reference until the signal returns. This can help if there is noise on the IO causing intermittent signal loss.

Below is the details of how to set the fault suppression for this trip.

P1-07 - DI4 Analog Input Signal Loss Reaction

Setting	Reaction
0	No Reaction
1	Run at speed in P1-08 (Analog Input Signal Loss speed) and return to speed reference when signal is reinstated.
2	Ramp to Stop using P8-04 (Deceleration ramp time) and trip Ai-LoS

Motor PTC Over Temperature & Motor KTY84 Thermistor Fault

When using an Analog Input as a thermistor monitor setting the drive reaction can be set if the motor has overheated. Using P4-23 sets the trip reaction when the overtemperature threshold is reached.

P4-23 - Motor Thermistor Trip Reaction

Used to set the trip reaction when a motor thermistor fault occurs.

Setting	Reaction
0	Trip at next stop command and show thermistor fault message F-Ptc or F-tY depending on the setting of P1-03 or P1-09.
1	Trip Immediately and show thermistor fault message F-Ptc or F-tY depending on the setting of P1-03 or P1-09.
2	Continue running and show thermistor warning message Ot-Mm.

Brake Resistor Overtemperature

The brake resistor overtemperature trip's reaction can be modified. By modifying the trip reaction you can select how the drive reacts when a fault occurs to tailor the drive to your system.

The section below shows the option that can be set.

P3-07 - Brake Resistor Temperature Monitor trip reaction

This parameter defines the drive’s reaction when the Brake Resistor Overload function has been triggered (Ot-br)

Setting	Function	Reaction Details
0	Stop then Trip	Drive stops normally then trips
1	Trip Immediately	Immediate trip, apply motor brake
2	Warning Only	Warning only, no trip.

Modbus RTU & CANopen Communication Fault

When controlling the drive over Modbus RTU or CANopen (P1-01 = 1) if a communication fault or loss occurs the drive will trip Sc-F01 or Sc-F02 respectively. However this may not be an appropriate reaction as the system may require the drive to still run.

Both fault reactions can be modified as detailed in the section below to suppress the potential trips.

Note

When using CANopen the drive will only trip if Heartbeat or Node Guarding is set.

P2-05 - Communication Loss Action & P2-09 CANopen Comms Loss Reaction

Controls the behaviour of the drive following a loss of communications from either Modbus RTU (P2-05) or CANopen (P2-09).

Setting	Drive Display	Reaction
0	triP	Immediate trip
1	r-triP	Ramp to stop then trip
2	StoP	Ramp to stop only (No Trip)
3	InSPct	Run at Inspection Speed (P8-08)

Fault Suppression FAQ

Below is the answers to some commonly asked questions about Fault Suppression.

Question	Answer
Can all fault reactions be changed?	No only the fault codes listed in this Topic can be altered all others are fixed.
Why does the drive not trip	Check the fault reaction setting from the relevant parameter.

Heatsink Fan

All drive ratings include an in-built heatsink fan to aid cooling, the fan automatically turns on when the heatsink temperature reaches 45°C / 113F.

The fan can be set to either automatically turn on when the drive reaches 45°C or when the drive stops running and the drive temperature has reached 45°C.

To control the heatsink fan use parameters P11-14 and P11-15 to specify when the fan should come on and customize how long it should run for.

Heatsink Fan Operating Conditions in Rescue Mode

While in Rescue Mode due to the nature of the reduce power to the drive additional conditions need to be met for the fan to turn on.

The table below specifies the conditions for the heatsink fan to operate while in Rescue Mode.

Conditions

Comments

IGBT Temperature (P0-48) ≥ 45°C

This is the turn on temperature for the Heatsink fan. This is the same as mains mode.

Rescue Mode Input Closed

Depending on your selected Macro the Digital Input assigned with the function 'Rescue Mode' must be closed so Rescue Mode is active.

You can check that status of Rescue Mode using P7-15 or check the status of the Digital Input using P0-01/P0-02 depending on the selected input.

24Vdc Supplied to Control terminals

If the control terminals do not have 24Vdc externally supplied then the fan will not come on even if P0-48 ≥ 45°C.

In addition if 24Vdc is not supplied to the drive (only powered via USB-C or RJ45 then P0-48 will not update.

Heatsink Fan Control Parameters

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P11-13

Reset Cooling Fan Run-time

N/A

0: Disabled

1: Reset

N/A

2459h

1113

P11-14

Cooling Fan Control

N/A

0 ... 1

N/A

245Ah

1114

P11-15

Cooling Fan Run-time After Disable

sec

60s

0 ... 600s

N/A

245Bh

1115

P11-13 - Reset Cooling Fan Run-time

Resets the internal fan run-time counter to zero (as displayed in P0-55).

Setting	Function
0	Disabled
1	Reset fan run-time counter in P0-55

P11-14 - Cooling Fan Control

Sets how the drive fan should operate when the turn on conditions are reached.

Setting

Function

If drive runs while above 45°C then the fan will stay on until the time in P11-15 has elapsed, even if the temperature in P0-48 drops below 40°C.

The fan will only run when the drive is given a run command and the value in P0-48 is 45°C or above.

P11-15 - Cooling Fan Run-time After Disable

This parameter defines the fan run time after the drive has stopped running when the temperature in P0-48 reaches 45°C.

Heatsink Fan Read Only Parameters

Parameter P0-55 displays the total operating time of the drive Heatsink fans. The first value shown is the number of hours. Pressing the Up key will display the minutes and seconds.

Parameter Number	Parameter Name	Units	Access	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P0-55	Drive Heatsink Cooling Fan Total operation Time	Hour	RO	N/A	2	-	-	10055
P0-55 - 1	Drive Heatsink Cooling Fan Total operation Time (s)	sec	RO	N/A	2	-	-	11551

Heatsink Fan FAQ

Below is the answers to some commonly asked questions about the Heatsink Fan.

Question	Answer
How do you know if the heatsink fan is working?	Press all 5 keypad buttons at once and the display should light up and the fan should spin.
Is the heatsink fan replaceable?	Yes the fan can be replaced. Contact your local Invertek Drives Ltd representitive for more information.

Motor Connected Check

When a run command is given the drive performs it's start sequence before running. One part of the start sequence is the Motor Connected Check where a pulse of current is sent to each of the three motor phases (terminals U, V and W).

This checks that all motor phases are connected before running to prevent current and voltage spikes on the motor terminals. If the drive detects that a motor phase is not connected the drive will trip to prevent running with a missing phase.

This feature is enabled by default and is performed using either the time based or torque speed brake release methods.

Motor Connected Check - Setup

Below is a guide to setup and optimise the Motor Connected Check function:

The Motor Connected Check function can be set with Parameter P10-08.
P10-08 Motor Connected Check is has a default value of 5.0% which should be sufficient to detect any missing motor phases. If your missing motor phase is not being detected you can increase P10-08 to a higher value in increments of 5%.
The ideal value should detect a missing motor phase consistently but without a loud clunk at the start.

Motor Connected Check Timing Diagram

Note

If P10-08 is set to 0.0% the Motor Connected Check is disabled and is not performed during the start sequence. This means that if a motor phase is missing the drive could potentially start and run with a missing phase.

Motor Connected Check - Parameter Descriptions

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P10-08	Motor Connected Check	%	5.0%	0.0 ... 100.0%	RW	N	1 = 0.1%	2	23F0h	0	1008

P10-08 - Motor Connected Check

To ensure that the motor is connected, the drive has a function which checks that at each start command all 3 phases of the motor are connected prior to releasing the electro-mechanical brake.

This function checks for breaks in the connection between the drive and the motor, for example a broken cable or a faulty contactor.

The drive will trip “OUt-Phx” if the drive detects the motor is not connected, where x is the phase that is missing e.g. "OUt-phU"

Setting 0.0 means function is disabled.

Motor Connected Check - Trip Codes

If the Motor Connected Check is active and detects that motor phases are not connected to the drive you will get these errors:

Display message	No.	Description	Corrective Action/Further information
Oph-U	85	Output (Motor) U Phase Loss	U phase is not connected to the drive, check that output contactors are closing fully, not arcing, or not opening whilst the drive is running, and see P10-08 (Motor connected check).
Oph-V	86	Output (Motor) V Phase Loss	V phase is not connected to the drive, check that output contactors are closing fully, not arcing, or not opening whilst the drive is running, and see P10-08 (Motor connected check).
Oph-wW	87	Output (Motor) W Phase Loss	W phase is not connected to the drive, check that output contactors are closing fully, not arcing, or not opening whilst the drive is running, and see P10-08 (Motor connected check).
Out-PH	49	Output phase loss	Check all 3 motor phases are connected, confirm that motor contactor is closing.

Motor Connected Check Function FAQ

Below are a few common problems encountered and simple solutions:

Problem	Solutions	Note
Motor Connected Check does not happen	Check that P10-08 has a value > 0.0	For the Motor Connected Check to be active P10-08 MUST have a value > 0.0
Drive trips during Motor Connected Check	Check that all three motor phases are properly connected to the drive	All three motor phases must be connected for this test to be complete

Motor Thermistor Protection

The drive has a Motor Thermistor Protection function that can be used to disable the drive or give a warning if the motor overheats.

The drive supports either a PTC or KTY thermistor and is connected to either Analog Input 1 or 2 (terminal DI4 or DI5 respectively).

Motor Thermistor Setup

To set up the parameters for a motor thermistor follow the steps below:

Set the thermistor type in either parameter P1-03 or P1-09 depending on if you are using Analog 1 or 2 as the thermistor input.
Notice
For a PTC thermistor set Ptc-th or for a KTY thermistor set ty-th.
Set the thermistor trip reaction in P4-23.
Set the thermistor threshold levels for trip and reset in P11-20 & P11-21 respectively.
Select a Macro using parameter P1-02 that has the thermistor function available. Using standard Macros (P1-02 = 1 - 12) only Analog Input 2 is used as a thermistor input.
Note
If no Macro matches your needs you can use Group 12 for a User Defined Macro.

Electrical connection for a PTC thermistor

Connect Between terminals +24 and DI5

Electrical connection for a KTY thermistor

Connect Between terminals +10 and DI5

Note

The diagram shows the connection to Analog Input 2 (terminal DI5) to connect the thermistor Analog Input 1 make the same connections but to terminal DI4 instead of DI5.

Motor Thermistor Setup - User Defined

If no standard Macro matches your requirement for operation while having a thermistor connected P1-02 can be set to 0 to enable the User Defined Macro. This allows the user to configure each Input to whatever function they would like. As noted above no standard Macro allows Analog Input 1 to be the motor thermistor. To change this you can you Macro 0 and set P12-04 to the thermistor function.

Thermistor Terminal

Group 12 Parameter

Settings

DI4 (Analog Input 1)

P12-04 - DI4 Input Function Select

9: E-Trip Mode 1

22: E-Trip Mode 3

DI5 (Analog Input 2

P12-05 - DI5 Input Function Select

9: E-Trip Mode 1

22: E-Trip Mode 3

Note

For more information on User Defined settings see User Defined I/O - Topic List.

Motor Thermistor Fault/Warning Messages

Depending on the settings of P4-23 the drive will either trip or show a warning message to indicate the motor has overheated.

When the drive trips on a thermistor fault the drive will display:

Display message	No.	Description	Corrective Action/Further information
F-Ptc	21	Motor PTC Over Temperature	The connected motor PTC device has caused the drive to trip
F-tY	57	Motor KTY84 Thermistor Fault	The connected motor KTY device has caused the drive to trip

When the drive shows a warning message for motor overtemperature the drive will display:

Warning message	Description	Corrective Action/Further information
Ot-Mm	Motor Overtemperature warning	Based on motor thermistor over temperature feedback via drive terminals.

Motor Thermistor Protection Setup Parameters

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P1-03	DI4 Analog Input 1 Format	N/A	0: U 0-10	0 ... 9	RW	N	N/A	1	2067h	103
P1-09	DI5 Analog Input 2 Format	N/A	0: U 0-10	0 ... 9	RW	Y	N/A	1	206Dh	109
P4-23	Motor Thermistor Trip Reaction	N/A	0: Stop at Next stop command and show thermistor fault message	0 ... 2	RW	Y	N/A	1	21A7h	423
P11-20	Motor Thermistor Trip Threshold	Ω	2500Ω	0 ... 5000Ω	RW	Y	1 = 1Ω	2	2460h	1120
P11-21	Motor Thermistor Reset Threshold	Ω	1900Ω	0 ... 5000Ω	RW	Y	1 = 1Ω	2	2461h	1121

Terminal Settings

P1-03 - DI4 Analog Input 1 Format

Digital Input 4 only operates as an Analog Input when P1-02 is set to 6 or 7 or configured via Group 12 when using Macro 0. Below are the analog configurations available for Analog Input 1.

Setting	Drive Display	Input Format
Ptc-th	Ptc-th	Motor PTC thermistor input
ty-th	ty-th	Motor KTY84 thermistor input

P1-09 - DI5 Analog Input 2 Format

Below are the analog configurations available for Analog input 2.

Setting	Drive Display	Input Format
Ptc-th	Ptc-th	Motor PTC thermistor input
ty-th	ty-th	Motor KTY84 thermistor input

P4-23 - Motor Thermistor Trip Reaction

Used to set the trip reaction when a motor thermistor fault occurs.

Setting	Reaction
0	Trip at next stop command and show thermistor fault message F-Ptc or F-tY depending on the setting of P1-03 or P1-09.
1	Trip Immediately and show thermistor fault message F-Ptc or F-tY depending on the setting of P1-03 or P1-09.
2	Continue running and show thermistor warning message Ot-Mm.

P11-20 - Motor Thermistor Trip Threshold

Sets the trip threshold resistance for the connected motor thermistor.

P11-21 - Motor Thermistor Reset Threshold

Sets the trip reset threshold resistance for the connected motor thermistor.

Motor Thermistor Protection FAQ

Below is the answers to some commonly asked questions about the Motor Thermistor Protection.

Question

Answer

Why is the drive not showing the correct fault code?

Make sure that the Analog Input is set to the correct thermistor setting.

Make sure that the Macro in P1-02 being used has a thermistor function available.

Where can I read the Motor Thermistor Resistance?

Use parameters P0-45 (Analog Input 1) & P0-46 (Analog Input 2).

Overspeed Governor Test

The Overspeed Governor test can be used to run the drive above maximum speed once during commissioning. The drive runs at the percentage set in P10-12 of P8-01. For example if P8-01 is set to 1500rpm & P10-12 is set set to 110% then the drive will run at 1650rpm.

Once the drive has performed this run the maximum speed is then clamped back to the value in P8-01 and the value in P10-12 is automatically set back to 0.0%.

Features_and_Functions_-_Overspeed_Govorner_-_Timing_Diagram.svg

Note

When performing the Overspeed Governor test the drive ignores all speed parameters in Group 8 and will only run at the speed assigned from the combination of P8-01 & P10-12 regardless of the state of the speed selection Digital Inputs.

Overspeed Governor - Parameters

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P10-12	Overspeed Governor test speed	%	0.0%	0.0 ... 125%	RW	-	-	2	23F4h	0	1012

P10-12 - Overspeed Governor test speed

Parameter P10-12 can be used for testing of overspeed governors, normally performed during initial installation or scheduled inspections.

Common Problems when using the Overspeed Governor Function

Below are a few common problems encountered and simple solutions:

Problem

Solutions

Note

Overspeed test does not go over P8-01 value

Check that P10-12 is > 100.0%

P10-12 = 100.0% is P8-01 value any value > 100.0% will force the drive above the value in P8-01.

For example if P8-01 = 1000rpm & P10-12 = 110.0% then the drive would run at 1100rpm during the test.

Where as if P8-01 = 1000rpm & P10-12 = 90% then the drive would run at 900rpm during the test.

Phase Orientation Selection

By default the drive assumes the motor phase sequence is U,V,W. When the drive receives a forward direction signal, this normally results in the elevator car moving in the Up direction (normally clockwise looking direct at the front face of the motor sheave). If this is not the case then parameter P11-09 can be set to 1 to swap the output phase sequence e.g. U,W,V.

In the case where an Encoder with incremental signals is used and the drive receives a forward direction signal then the drive expects to see the the pulses from the encoder in the following sequence (A channel high then B channel high), if this is not the case then parameter P6-02 can be set to a 1 to allow for the encoder feedback signal sequence to be swapped e.g (B channel high then A channel high)

The two functions negate the need of rewiring of the motor or encoder terminals and allows for easy retrofits or replacements.

The sections below detail the process of how to check that the orientation of the motor phases vs the encoder signal sequence (if operating with an Encoder) is correct.

Tip

Typically if the motor Phase sequence and Encoder pulse sequence are opposite then you will see nuisance Sp-Err or O-I faults on the drive.

Geared Induction Motor - Open Loop

When operating a Geared Induction Motor without an encoder the way to change the motor phase orientation without re-wiring the drive is to use parameter P11-09.

Steps to Change the Motor Phase Orientation

Make sure the drive is stopped. Showing either inhibit or Stop on the display
Set P11-09 to the opposite of the current setting.
The default value of P11-09 is 0: U,V,W and can be change to 1: U,W,V
At a reduced speed give a direction command and check the drive rotation matches the direction command given using the table below:
Direction Command
Correct Motor Direction (when facing the sheave)
Forward
Clockwise or Upwards
Reverse
Anti-Clockwise or Downwards

Motor Phase Orientation Diagram

Features_and_Functions_-_Phase_Orientation_-_Direction_Selection_Diagram.svg

Geared Induction Motor - Closed Loop

When operating a Geared Induction Motor with an encoder you need to match the encoder direction to the motor direction.

If the Motor and Encoder direction are opposite the drive will trip.

Steps to match the Motor and Encoder direction

Put the drive into Open Loop operation by setting P6-05 to 0.
Monitor P0-18, P0-19 and the motor sheave direction. Check that the signs for each parameter match.

If P0-18 and P0-19 have different signs like the image on the right then either P11-09 or P6-02 needs to be changed to get the signs to match. When to change each is detailed below:

Parameter to Change

When to Change

P6-02

If P0-18 matches the motor direction and P0-19 is the opposite sign.

Forward Command = Motor Rotates Clockwise or Upwards - P0-18 is Positive

Reverse Command = Motor Rotates Anti-Clockwise or Downwards - P0-18 is Negative

P11-09

If P0-18 does not match the Motor Direction

Forward Command = Motor Rotates Anti-Clockwise or Downwards - P0-18 is Negative

Reverse Command = Motor Rotates Clockwise or Upwards - P0-18 is Positive

Set P6-05 back to 1 to enable closed loop operation and run the drive at a reduced speed to check the signs of P0-18 and P0-19 now match.

Motor and Encoder Direction Check

Features_and_Functions_-_Phase_Orientation_-_Drive_Display.svg

Features_and_Functions_-_Phase_Orientation_-_Drive_Display_Correct.svg

Gearless Permanent Magnet Motor - Closed Loop

When operating a Gearless Permanent Magnet Motor with an encoder you need to match the encoder direction to the motor direction.

Steps to match the Motor and Encoder direction

With the Ropes Removed put the drive into Open Loop operation by setting P6-05 to 0.
Monitor P0-18, P0-19 and the motor sheave direction. Check that the signs for each parameter match.

If P0-18 and P0-19 have different signs like the image on the left then either P11-09 or P6-02 needs to be changed to get the signs to match. When to change each is detailed below:

Parameter to Change

When to Change

P6-02

If P0-18 matches the motor direction and P0-19 is the opposite sign.

Forward Command = Motor Rotates Clockwise or Upwards - P0-18 is Positive

Reverse Command = Motor Rotates Anti-Clockwise or Downwards - P0-18 is Negative

P11-09

If P0-18 does not match the Motor Direction

Forward Command = Motor Rotates Anti-Clockwise or Downwards - P0-18 is Negative

Reverse Command = Motor Rotates Clockwise or Upwards - P0-18 is Positive

Set P6-05 back to 1 to enable closed loop operation and run the drive at a reduced speed to check the signs of P0-18 and P0-19 now match.

Motor and Encoder Direction Check

Note

If you are using a Gearless Permanent Magnet Motor the encoder offset (P6-09) will be different when P6-02 or P11-09 is changed. An Encoder Offset Auto-tune will need to be performed to re-calculate the encoder offset when P6-02 or P11-09 is changed. To do this you will need to Auto-tune the drive again by setting P4-08 to 2.

Rope Wear Counter

The Rope Wear Counter counts the number of direction changes, to indicate rope lifetime and when maintenance/replacement of ropes is required.

Compared to the Travel Counter the Rope Wear Counter will only increase if the travel direction command is different to the previous travel.

When the Rope Wear Counter limit in parameter P10-05 is reached then any Digital/Relay Output set to Setting 18 will change status to 1.

Rope Wear Counter - Operation

Steps for the Rope Wear Counter to Increase

A forward direction command is given and the Travel Direction Change Counter (P10-04) does not change
Then a reverse direction command is given and now the Travel Direction Change Counter (P10-04) now increases by 1 as the drive begins to run because the direction is different from the previous travel.

Setting the Rope Wear Counter Limit

A travel limit can be set with Parameter P10-05 so when P10-04 reaches that value a Digital/Relay Output with the setting 18: Travel Counter Limit Reached will be changed to 1 to indicate the travel limit set in Parameter P10-04 has been reached.

Rope Wear Counter Timing Diagram

Tip

To reset the Rope Wear Counter to 0 set P10-06 to 1, this will reset P10-04 back to 0. Use this when new ropes are installed.

Rope Wear Counter - Indicators

When the Rope Wear Counter Limit set in P10-05 is reached Digital/Relay Outputs can be used to send a signal from the drive to the controller. The settings are listed below

Output	Drive Terminal Labels	Parameters	Parameter Setting
Digital Output 1	DA1	P1-15	18: Travel Limit Counter Reached	Setting Travel Counter Limit Reached via OptiTools Pro
Digital Output 2	DA2	P1-22
Digital Output 3	DO3	P1-28
Relay 1	1-C 1NO or 1NC	P1-30

Note

In addition to the Output Status change parameter P10-13 will change to 1 when the travel direction change counter limit is reached.

When the travel direction change counter limit has been reached the following warning message will be shown on the drive display: tr-lt.

Rope Wear Counter Parameters

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P10-04	Travel Direction Change Counter	N/A	0	0 ... 4294967295	RO	N	N/A	4	23ECh	1004
P10-05	Travel Direction Change Counter limit	N/A	0	0 ... 1013995	RW	Y	N/A	4	23EDh	1005
P10-06	Reset motor direction change counter	N/A	0: Disabled	0: Disabled 1: Reset	RW	Y	N/A	1	23EEh	1006
P10-13	Travel Direction Change Counter Limit Reached	N/A	0	0 ... 1	RO	N	N/A	1	23F5h	1013

P10-04 - Travel Direction Change Counter

Counts up by 1 every time there is a change in travel direction. This parameter can be reset with a factory/user default of the drive

P10-05 - Travel Direction Change Counter Limit

P10-06 - Reset motor direction change counter

Resets the value in P10-05

Setting	Function
0	Keeps the travel counter value.
1	Resets the Travel counter value (Returns to 0 when completed)

P10-13 - Travel Direction Change Counter Limit Reached

Used to detect if the travel counter limit in P10-05 has been reached or exceeded by P10-04.

Setting	Function
0	Travel direction change counter has not reached the limit
1	Travel direction change counter has reached or exceeded the limit

Short Floor Operation

The short floor function is used to reduce the travel time to the next floor if then high speed input is removed.

To enable Short Floor operation set P10-09 to 0.

When using Short Floor the travel profile will change depending on the Speed Reference value. Below are the different Short Floor operation profiles.

Travel Profile

Short Floor Operation Profile

Description

Normal Elevator travel profile

In a normal elevator travel profile, the drive will be traveling at the Run Speed when the leveling input is received (essentially, the Run Speed input is removed).

If the leveling input (run speed input removed) is received prior to the drive having reached the Run Speed (e.g., whilst still accelerating) the short floor operation will work to reduce the Elevator travel time by automatically adjusting the speed to reach the floor in a shorter time.

If the Output Frequency is >40% of Run Speed when leveling Input received

In this case, the drive will hold the present output frequency for the time period calculated (Line A) based on the travel distance from Run Speed to the present output frequency, before decelerating to the leveling speed.

If the Output Frequency Output Frequency is <40% of Run Speed when leveling Input received

In this case, the drive will accelerate to 40% of the Run Speed and maintain this frequency for a time period calculated (Line A) based on the travel distance from Run Speed to the present output frequency, before decelerating to the leveling speed.

Short Floor Operation Parameters

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P10-01

Enable Short Floor Operation

N/A

0: Disabled

1: Enabled

N/A

23E9h

1001

P10-01 - Enable Short Floor Operation

Used to Enable or Disable Short Floor Operation.

Setting	Function
0	Function Disabled
1	Function Enabled

Smooth Start Function

The Smooth Start function allows the starting comfort to be improved in applications with high stiction.

By adding a extra ramp before the normal travel curve you will feel reduced vibrations and a better quality start in stiff applications with high stiction.

The Smooth Start function provides an extra ramp at the start of travel before accelerating to the provided speed reference form the controller.

Smooth Start Description

The Smooth Start function is disabled by default and needs to be enabled via parameterisation. To do this follow the steps listed below:

Step Number	Steps to activate Smooth Start	Description
1	Commission the drive following the standard commissioning procedure.
2	Set the Smooth Start time in P9-08.	This will be the period that the drive runs at Smooth Start Speed for.
3	Then set the Smooth Start Speed in P9-09.	This will be the speed that the drive will initially accelerate to and then run at for the time set in P9-08.
4	Once Smooth Start is active set the ramp time in P9-10	This will be the time it takes to accelerate from 0 to your chosen speed set in P9-09.

Note

Both Steps 3 and 4 must be completed for Smooth Start to be active if either parameters have a value = 0, then Smooth Start will be disabled.

Smooth Start Active Conditions	Smooth Start Timing Diagram
Note Smooth Start does not replace the normal S-Ramp but instead adds an extra one. Once Smooth Start finishes the standard acceleration parameters are used.

Smooth Start Example

The image below shows the extra ramp when using the Smooth Start Function

Smooth_Start_Scope_Trace_-_State_Machine_Travel_Curve.png

Smooth Start - Parameters

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P9-08	Smooth Start Time	sec	0.0s	0.0 ... 5.0s	RW	Y	1 = 0.1s	1	238Ch	908
P9-09	Smooth Start Speed	Hz / rpm / Linear	0.00Hz	0.00 ... P8-01	RW	Y	1 = 0.01Hz	2	238Dh	909
P9-10	Smooth Start Ramp Time	sec	0.50s	0.00 ... 600.00s	RW	Y	1 = 0.01s	2	238Eh	910

P9-08 - Smooth Start Time

Sets the time that the Smooth Start Function is active for once the drive reaches the speed set in P9-09.

Must have a value > 0 for Smooth Start to be active.

P9-09 - Smooth Start Speed

Sets the target speed for the drive during the Smooth Start Function.

Must have a value > 0 for Smooth Start to be active.

P9-10 - Smooth Start Ramp Time

Sets the ramp time to reach the target speed set in P9-09.

Smooth Start FAQ

Below is the answers to some commonly asked questions about the Smooth Start function.

Question	Answer
Will the Smooth Start Ramp happen on every enable?	Yes if Smooth Start is active the ramp will always be present.
Is Smooth Start available while controlling the drive via Modbus or CANopen	Yes as long as Smooth Start is active then the drive will follow the extra ramp even while controlled over comms.

Speed Error Detection

The Speed Error Detection function is used to protect the motor from over speeding/rollback.

If the speed of the motor is detected to be outside of the defined range for a set time then the drive will trip.

Speed Error Detection Parameters

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P6-11	Speed Error Trip Level	%	10.0%	0.0 ... 100.0%	RW	Y	1 = 0.1%	2	2262h	0	611
P6-12	Speed Error Trip Detection Time	sec	0.5s	0.0 ... 5.0s	RW	Y	1 = 0.1s	1	2263h	0	612

P6-11 - Speed Error Trip Level

Figure 2. Speed Error Detection in Open Loop Operation

Note

The Speed Error Trip does not operate (Function disabled) under the following conditions :

When P6-11 is set to zero
When motor control mode P4-01 is set to 2 (IM VF Mode)
While DC Injection is active.

P6-12 - Speed Error Trip Detection Time

Used in Conjunction with P6-11 (Speed Error Trip Level) to define to allowed time when the speed is above the value in P6-11 before tripping.

Speed Error Detection - Fault Codes

If the Speed Error Detection function is active then the fault code you will see if the Speed Error trips the drive is:

Display message

No.

Description

Corrective Action/Further information

Sp-Err

Speed Error

Encoder Speed Error. The % error between the estimated (open loop)/measured encoder feedback speed and the actual motor speed is greater than the value set in P6-11 for the time set in P6-12.

Confirm that the speed loop gains have been optimised.
In Gearless applications can be caused by excess rollback, see Comfort Optimisation, pageComfort Optimisation
If operating a Gearless motor check the encoder offset is correct and try repeating the measurement to confirm consistent values are being measured (P4-08 to 3)
In Geared Open loop applications this can be caused by the motor stalling, check :
- Motor data is correct, and an auto-tune has been performed.
- Motor rated current is set correctly.
- Magnetising current in P4-28 is not too high.
- Brake is releasing.

Note: This fault is not active while DC Injection is active.

Torque Compensation during Start

Torque compensation during start is used to prevent rollback primarily in Gearless Permanent Magnet Motors.

Below is the timing diagram for Torque Compensation during Start which shows when the increased torque is active.

Features_and_Functions_-_Torque_Compensation_during_Start_-_Timing_Diagram.svg

How to setup Torque Compensation during Start

Below is how to setup Torque Compensation during Start:

Step

Instruction

Details

Select a torque compensation source Using P9-39. This will define the torque level during each start.

The options are shown to the right ->

Setting

Function

Disabled parameters P9-36 and P9-37 are used as the torque feed forward source.

If both P9-36 and P9-37 are 0 then there is no torque feed forward source.

Torque Sensor Input via an analog input which has the Torque Sensor function assigned to it.

This is available in Macro 7.

The Torque Sensor function can be assigned to Analog Input 1 or Analog Input 2 using P1-03 or P1-09 respectively.

Pre-loaded value of torque based on 50% of torque which was required at the last stop.

Set the Motor Brake Release time in P5-01

This time is to allow the motor brake to release but also the time which the torque compensation is active

Set the correct torque level

When using settings 1 or 2 in P9-39 the torque is automatically calculated however when using setting 0 the sure must decide how much torque is needed. A short guide to set the values can be found below.

Optimising the Torque Compensation values

Setting 0 of P9-39

When P9-39 is set to setting 0 the user must set the values in P9-36 & P9-37 for the torque levels at start.

These values should be enough to prevent rollback but not to high otherwise there will be a bump in the car during start. This must work for all loads of the elevator.

A good starting value is 5.0% with no load in the elevator car and then increase in increments of 5% until you get to the limit where there is no rollback and no bump.

This then needs to be repeated for full load to find a suitable value under the worse conditions.

Setting 1 of P9-39

When using setting 1 the drive assumes that an external torque sensor is beign used for feedback and uses that value to pre-laod the drive with sufficient torque. This torque is active during the Motor Brake Release Time (P5-01).

To use an external torque sensor P1-02 MUST be set to 7 and the torque sensor needs to be connected to Analog Input 1 (Terminal DI4). In addition P1-03 needs to be set to PrE-t (Pre-Torque Input (Bipolar -10V to +10V).

Setting 2 of P9-39

In this setting the drive automatically uses 50% torque from the previous run. This torque is active during the Motor Brake Release Time (P5-01).

The value for the torque reference is taken during stopping then pre-loaded for the next run.

Torque Compensation during Start Parameters

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P9-36

Motor Pre-Torque in Clockwise Direction

0.0%

-100.0 ... 100.0%

1 = 0.1%

23A8h

936

P9-37

Motor Pre-Torque in Counter-Clockwise Direction

0.0%

-100.0 ... 100.0%

1 = 0.1%

23A9h

937

P9-39

Torque Feed forward Source

N/A

0: Disabled

1: Torque Sensor

2: Pre-loaded value

N/A

23ABh

939

P9-36 - Motor Pre-Torque in Clockwise Direction

% of motor rated current. Used to provide torque immediately as the drive starts. Used to stop rollback.

P9-37 - Motor Pre-Torque in Counter-Clockwise Direction

% of motor rated current. Used to provide torque immediately as the drive starts. Used to stop rollback.

P9-39 - Torque Feed forward Source

Selects the torque feed forward source from the three options.

Setting

Function

Disabled parameters P9-36 and P9-37 are used as the torque feed forward source.

If both P9-36 and P9-37 are 0 then there is no torque feed forward source.

Torque Sensor Input via an analog input which has the Torque Sensor function assigned to it.

This is available in Macro 7.

The Torque Sensor function can be assigned to Analog Input 1 or Analog Input 2 using P1-03 or P1-09 respectively.

Pre-loaded value of torque based on 50% of torque which was required at the last stop.

Torque Reduction During Stopping

During stopping when the motor brake applies and the motor current is immediately removed a noise can sometimes be heard in the lift cabin, to help solve this problem parameter P4-17 can be adjusted so that the current is ramped down rather than switching the current sharply off, this is used in Gearless Permanent Magnet motor applications.

Torque Reduction During Stopping - Operation

Setting Torque Reduction During Stopping

Commission the drive as normal
Set P4-17 to the required torque reduction time
Note
The best value is one where there is enough time to properly reduce the torque but not to long so that the Safety Chain opens before the torque reduction has finished.
To see exactly when the torque reduction happens in your sequence use P0-35 to show the travel profile states.

Torque Reduction During Stopping Timing Diagram

Important

When operating with an Induction motor P4-01 = 0, 1 or 2, the drive uses an internal value of 100ms and P4-17 has no effect.

Torque Reduction During Stopping Parameters

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P4-17	Torque Reduction time during stopping	sec	1.0s	0.0 ... 10.0s	RW	Y	1 = 0.1s	1	21A1h	0	417

P4-17 - Torque Reduction time during stopping

This parameter has no effect when operating in an IM or V/F control mode (P4-01 = 0, 1 or 2) and the torque reduction time is fixed at 100ms.

Torque Reduction During Stopping FAQ

Below is the answers to some commonly asked questions about the Torque Reduction during Stopping function.

Question

Answer

How do I change the length of the torque drop off time?

Use P4-17 to set the time of the torque drop off

How to tell when the drive is performing torque reduction?

Normally the torque drop off is the last step in the sequence.

The exact time can be viewed with the Travel Profile State in Parameter P0-35. The state for Torque Reduction is 49.

Why does the drive trip STO-L before the torque drop off time has finished

If the torque reduction time in P4-17 is set to long then the controller may open the safety chain before the torque reduction is finished being causing an STO-L trip. The solution to this is to reduce the time in P4-17.

Travel Counter

The travel counter can be used to view the total number of travels since the drive was installed.

Each time the drive is run the travel counter increases by 1.

Travel Counter Operation

Below is the conditions for the Travel counter to increase:

A run command is given
The drive reaches a speed > 0.

Timing Diagram for Travel Counter Change

Features_and_Functions_-_Travel_Counter_-_Timing_Diagram.svg

Travel Counter Parameters

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P10-03	Travel Direction Change Counter (non-resettable)	N/A	0	0 ... 4294967295	RO	N	N/A	4	23EBh	0	1003
P10-07	Number of travels	N/A	0	0 ... 4294967295	RO	N	N/A	4	23EFh	0	1007

P10-03 - Travel Direction Change Counter (Non-Resettable)

Counts up by 1 every time there is a change in travel direction. This parameter is not reset with a factory/user default.

P10-07 - Number of travels

Travel Profile Monitoring

The drive has a Read Only parameter P0-35 that can monitor whatever the drive is doing at any moment.

This can be used to clearly see what the drive is doing during your sequence of operation and if the drive trips you can see exactly what the drive was doing.

Travel Profile States - Explained

State Number	Travel Profile State
0	Fault State
1	Drive Inhibited (P0-03 = 0)
2	Mains Supply Lost
3	Demagnatising
4	Drive Output not running
5	Motor Contactor Closing Time Active (P3-01)
6	Motor Connected Check Active (P10-08)
7	Drive Autotuning
8	DC Injection
9	Motor Magnatising Time Active (P4-30)
10	Motor Brake Release Time Active (P5-01)
11	Rescue Mode Active (P7-15 = 1)
12	Running at Rescue Mode Speed (P7-03)
13	DC Injection Time at Start Active (P9-11)
14	Smooth Start Time Active (P9-08)
15	Running at Speed Reference
16	Accelerating to Speed Reference
17	Decelerating to Speed Reference
18	Running at High Speed (P8-06)
19	Accelerating to High Speed
20	Decelerating to High Speed (P8-05)
21	Running at Leveling Speed (P8-05)
22	Accelerating to Levelling Speed (P8-05)
23	Decelerating to Levelling Speed
24	Running at Intermediate Speed (P8-07)
25	Accelerating to Intermediate Speed (P8-07)
26	Decelerating to Intermediate Speed
27	Running at Inspection Speed (P8-08)
28	Accelerating to Inspection Speed
29	Decelerating to Inspection Speed
30	Running at High Speed 2 (P8-09)
31	Accelerating to High Speed 2
32	Decelerating to High Speed 2
33	Running at high Speed 3 (P8-10)
34	Accelerating to High Speed 3
35	Decelerating to High Speed 3
36	Running at High Speed 4 (P8-11)
37	Accelerating to High Speed 4
38	Decelerating to high Speed 4
39	Running at High Speed 5 (P8-12)
40	Accelerating to High Speed 5
41	Decelerating to high Speed 5
42	Running at Zero Speed
43	Accelerating to Zero Speed
44	Decelerating to Zero Speed
45	Drive Stopped
46	Zero Speed Holding Time on disable Active (P9-22)
47	Motor Brake Apply Delay Active (P5-02)
48	DC Injection Time at Stop Active (P9-13)
49	Torque Reduction Time during Stop Active (P4-17)
50	Motor Contactor Opening Time Active
51	Running Short Floor Active
52	Parking State (Brake Applied at Zero Speed)
56	Motor Brake Release (P5-01) & DC Injection at Start (P9-11) Active
57	Motor Brake Apply (P5-02) & DC Injection at Stop (P9-13) Active

Travel Profile Monitoring - Parameters

Parameter Number	Parameter Name	Explanation	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P0-35	Travel Profile State	Displays what the drive is currently doing at any time.	N/A	0	0 ... 57	RO	N	N/A	1	-	-	10035
P0-36	Travel Profile State at Trip	This parameter indicates at what point on the travel curve the drive tripped.	N/A	0	0 ... 57	RO	N	N/A	1	-	-	10036

User Defaults

User Default Parameters

Parameter

Parameter Name

Default

Available Settings

P11-01

Save User Parameters as Defaults

0: No Action

1: Saves the current parameter settings as "User default parameters". When the User carries out a 3-button default parameter command (UP, DOWN and STOP), the parameters saved when P11-01 was last set to 1 will be restored. The display will show the message USr-PS to indicate the values have been saved.

2: Clears user parameters. A 3-button default with no user default parameters saved will restore factory defaults. The display will show the message USr-cl to indicate factory defaults have now been loaded.

Note

This parameter cannot be adjusted when the drive is running.

Saving parameter settings as User Defaults

Follow these steps to save the current parameter settings as User Default parameters

Set the required parameters in the drive.
Set parameter P11-01 to a value of 1
USr-PS will show on the display to confirm User Defaults have been stored in the drive.

Recalling User Defaults

Follow these steps to recall User Default parameters

To recall User Defaults perform the following button presses on the drive keypad.
User defaults are now loaded.

Clearing User Defaults

Follow these steps to clear User Default parameters

Set parameter P11-01 to a value of 2
USr-cL will show on the display to confirm User Defaults have been cleared

Note

Loading Factory defaults will not clear the saved user defaults.

Motor Brake Control - Topic List

Below is the topics associated with the motor brake

Default brake control based on a standard starting sequence	The default brake method that releases the brake in a standard starting sequence
Used for Unintended Car Monitoring - Externally certified function	Use either or both a Torque / Speed Reference to release the motor brake
Details how the motor brake applies during stopping

Motor Brake Control Overview

When using the Elevator Core motor brake control should be done with either of the two Relays provided on the Elevator Core. These are marked with the red terminals and are split into two different Relays and each Relay is detailed in the table below.

As default Relay 2 is used to control the motors electromechanical brake, the Relay is rated for 250VAC, 30VDC, 5A. Relay 2 has a fixed function of Brake Control (this can been seen in P1-30 setting 15).

Relay

AC Supply

DC Supply

Relay 1

N/C = 5A/250VAC

N/O = 6A/250VAC

N/C = 5A/30VDC

N/O = 6A/30VDC

Relay 2

8A/250VAC

10A/30VDC

Relay 2 provides a open or closed contact and has a fixed function of motor brake control.

Relay 1 has both normally open and normally closed contacts available; by default, the function of Relay 1 is to control the motor contactors, if an alternative function is required adjust parameter P1-30 (Relay 1 Function Select).

Warning

Using external methods to control the motor brake can result in trips or mismatched brake timings between the system and the drive.

Default Motor Brake Control Method - Time Based

The default method for releasing the brake is the time based brake control method which release the motor brake during the starting sequence after the drive has received a run command.

The start sequence is the standard operation of the drive when a run command is given. It involves closing the motor contactor, checking all motor phases are connected and releasing the brake while preventing rollback. The full start sequence is detailed in the section below.

Once the sequence reaches the point where the motor brake is to be released a signal is sent for the Relay to change state. Then the brake has the time set in parameter P5-01 as a window to mechanically open before the drive starts to accelerate to the target speed. Parameter P5-01 can be adjusted depending on the time it takes for the motor brake to release.

For the time based method to be active P5-01 must have a value > 0.

Motor Brake Control - Time based Method - Operation Guide

Motor Brake Time Based Method - Releasing the Brake Sequence

Timing Diagram

Sequence

Travel Sequence Step	What is happening
1	The Safe Torque Off, Direction Digital and High Speed Digital Input (Speed Reference) are all closed
2	Once all starting conditions are met from step 1 this starts the time in P3-01 for the motor contactor to close (normally using Relay 1 with P1-30 set to 11: Contactor Control).
3	Once the time in P3-01 has finished the Drive Output turns on.
4	The Motor Connected check is performed at the level set in P10-08.
5	If all motor phases are properly connected then the magnatising time in P4-30 starts
6	Once P4-30 time has finished: The Motor Brake Relay 2 Closes (Brake Releases) The time in P5-01 starts DC Injection time in P9-11 starts
7	Once the last timer in Step 6 finishes (either P9-11 or P5-01) whichever is longest the drive accelerates to the High Speed reference in P8-06. The acceleration ramp uses the time set in P8-03 using the jerks in P9-01 and P9-02 for the start and end of the ramp respectively.

Motor Brake Control - Time Based Method - Setup Guidance

The time based method uses a standard sequence to release the brake. This section details advice on how to setup the brake release for best performance and troubleshooting tips.

Problem	Cause	Solution
Brake does not release	Relay 1 is not set to the Brake Control Function	If you are using Relay 1 to control the motor brake P1-30 MUST be set to 15: Brake Control
	The dive has stopped (inhibit or stop is on the display)	Check that all of the start conditions are still active. These include direction digital input closed, STO closed & drive healthy. If one of these changes during the start sequence the drive will stop.
	Motor brake is not within the drives Relay specification	Check that the Drive Relay has not been damaged and is still operational
Brake releases to late	The drive has started to accelerate before the brake has released	Parameter P5-01 should be set to the time it actually takes for the motor brake to mechanically release. This can be found from the manufactures data sheet. Tip You can monitor what state the drive is in by using P0-35 Travel profile state. The brake should release before State 10 has finished.
Rollback after brake has released	The rollback gain parameter (P9-16) is not active for long enough causing the rollback of the system to not be solved	Increase the brake release time to allow for a longer period that the rollback is active for.
Rollback after brake has released	The load is to heavy	Increase the value of the DC Injection level in parameter P9-12. If this does not work you may need to switch to the Torque Speed Brake Release Method. Reduce the time the drive is held at zero with the brake released by decreasing the time in P9-12 & optimising the time in P5-01 so the drive accelerates as soon as the brake is released rather than trying to hold the load at zero speed.
Speed oscillations during the start of acceleration	The travel profile oscillates the drive tries to match the Post-Ramp speed	Setup the starting speed loop gains by entering a value in the transition speed during acceleration parameter P9-25. This value should be after the oscillations at start have stopped and the travel curve is smooth. Change the values in P9-23 & P9-24 to reduce oscillations in the travel curve at start. Tip When changing the speed loop gains in P9-23 & P9-24 start with the P-Gain in P9-23 and change the value in increments of 10% until you get the best results, there will be a point where the performance worsens when you change the value at that point stop and go back to the previous value. Then do the same for the I-Gain in P9-24 until the travel curve has been smoothed.

Motor Brake Control - Torque Speed Method

The Elevator Core can use both torque and speed as a reference to release the brake so the motor brake will never release without enough torque or hold at 0 speed.

This method should be used when the Elevator Core needs to accelerate away from 0 speed as quickly as possible.

This method is only used during the brake release for the brake apply the same conditions as the time based method are used.

Motor Brake Control - Torque Speed Method - Activation

To enable the Torque Speed Brake method the table below lists the conditions that must be fulfilled.

Condition

Steps

Brake Release time Must be set to 0.0

Set P5-01 to 0.0

The Relay controlling the Motor Brake must be set to the Brake Control setting

Relay 1 - Set P1-30 to 15

Relay 2 - No Action Required

Either a torque or speed reference Must be > 0.

Set one or both of P5-08 & P5-09 > 0.

Note

If any of these conditions are not met then the drive will use the time based method to control the motor brake.

Motor Brake Control - Torque Speed Method - Brake Release Conditions

There are three different condition combinations for the brake to release:

Release Condition	Parameter	Release Condition
Speed	P5-08 > 0	When P0-15 value is greater than the value set in P5-08 then the motor brake will release
Torque	P5-09 > 0	When P0-28 value is greater than the value set in P5-09 then the motor brake will release
Torque & Speed	P5-08 & P5-09 > 0	When both Conditions below are true the motor brake will release: When P0-28 value is greater than the value set in P5-08 then the motor brake will release When P0-15 value is greater than the value set in P5-09 then the motor brake will release

Motor Brake Control - Torque Speed Method - Setup Guidance

The torque speed method setup is application dependent based on the load and speeds required. This section gives general guidance for parameterisation and troubleshooting.

When using torque and speed as values to release the brake the best results should yield a travel where the load does not drop when the brake is released while also having a smooth acceleration profile with no bumps or jerks in the car.

The table below list common problems and solutions when using this method.

Problem	Cause	Solution
Brake does not release	The drive has not achieved the target values set in P5-08 or P5-09	As a starting point in Geared Induction systems use the slip speed of the motor as a target for the speed in P5-08. Reduce the target speed in P5-08 to allow the brake to release before to much torque is built up. If you are not using speed as a reference reduce the value in P5-09 so the drive can reach the required torque before entering torque or current limit.
	Motor brake is not within the drives Relay specification	Check that the Drive Relay has not been damaged and is still operational
	Relay 1 is not set to the Brake Control Function	If you are using Relay 1 to control the motor brake P1-30 MUST be set to 15: Brake Control
Drive trips Sp-Err during start	The drive has entered current/torque limit for more than 1 second	Reduce the values in P5-08 & P5-09 so the brake releases before the drive enters current or torque limit Note The real-time current & torque values can be monitored with P0-25 & P0-28 respectively
Drive trips Sp-Err during start	The drives speed has deviated from the intended speed for a time & value larger than the values in P6-11 & P6-12	Increase the values in P6-11 or P6-12 to allow for a larger window for the speed to deviate. The travel of the elevator needs tuning for smoother operation. Follow the guide in this section for tuning and comfort optimisation.
Motor Sheave snaps forward when the brake released	The Acceleration Jerk is to short causing the sheave to snap forward when the brake is released resulting in a bump or thud in the car	As the torque demand for the brake to release in P5-09 increases the drive must have a longer starting jerk to compensate. Increase P9-01 to lengthen the starting jerk to smooth out the travel curve.
Motor Sheave snaps forward when the brake released	The speed loop gains are not correct for starting	Setup the starting speed loop gains by entering a value in the transition speed during acceleration parameter P9-25. This value should be after the oscillations at start have stopped and the travel curve is smooth. Change the values in P9-23 & P9-24 to reduce oscillations in the travel curve at start. Tip When changing the speed loop gains in P9-23 & P9-24 start with the P-Gain in P9-23 and change the value in increments of 10% until you get the best results, there will be a point where the performance worsens when you change the value at that point stop and go back to the previous value. Then do the same for the I-Gain in P9-24 until the travel curve has been smoothed.
Rollback as the brake is released	If the torque is not sufficient to accelerate the load when the brake is released the load will drop causing rollback.	Increase the value in P5-08 to provided more torque at start when the brake is released. Increase in increments of 5% until the load can be accelerated without rollback.

Motor Brake Control - Torque Speed Method - Protections

Using the torque speed method additional protections are provided to prevent unintended car movement when the brake is released which are detailed in the table below.

Protection

Protection function

Parameters

Torque Timeout

If the load stalls and is unable to accelerate as the torque or current limits in either parameter P4-18/P4-19 or P4-03 have been reached or the brake does not release the drive will trip Sp-Err preventing the load from dropping

P4-18 & P4-19

Disable holding at 0 speed

When using the Torque Speed method the drive does not use brake release time (P5-01) or DC Injection time at start (P9-11) so the load is never held at zero while the brake is released.

As soon as the conditions to release the drive are met the drives starts to accelerate to the target speed rather than holding zero.

P5-01 & P9-11

Motor Brake Control - Torque Speed Method - Parameters

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P5-08	Brake Release Speed	Hz / rpm / Linear	0.00	0.00 ... 10.00Hz	RW	Y	1 = 0.01	2	21FCh	0	508
P5-09	Brake Release Torque	%	0.0%	0.0 ... 100.0%	RW	Y	1 = 0.1%	2	21FDh	0	509

P5-08 - Brake Release Speed

Set this to the speed at which you want the Motor Brake to be released. Once P5-08 & P5-09 values have been met the brake will be released.

This parameter is only active if P5-01 is set to 0 & both P5-08 & P5-09 have a value > 0.

P5-09 - Brake Release Torque

Set this to the torque value at which you want the Motor Brake to be released. Once P5-08 & P5-09 values have been met the brake will be released.

This parameter is only active if P5-01 is set to 0 & both P5-08 & P5-09 have a value > 0.

Motor Brake Control Applying the Brake

Both of the drives brake release methods, the time based method and the torque speed method use the same brake apply method which is detailed below for safety and consistency.

Drive Stopping Sequence

When the drive receives a stop command the stopping sequence will begin. The sequence below shows the drives stopping condition when the motor brake applies after the drive has decelerated to zero.

Motor Brake Applying the Brake

Travel Sequence Step	What is happening
Brake Apply Timing Diagram
1	The drive runs at the speed in P8-06 until both: The High Speed command (Digital Input 4) is removed The Levelling Speed command (Digital Input 3) applied
2	The drive then decelerates to the levelling speed reference in P8-05. The deceleration ramp uses the time set in P8-04 using the jerks in P9-03 and P9-04 for the start and end of the ramp respectively.
3	The drive runs at levelling speed until either: The direction command (Digital Input 1) is removed (Digital Input . The Levelling Speed reference (Digital Input 3) is removed.
4	The drive then decelerates to stop using the stopping ramp time in P9-06. The stopping ramp uses the jerks in P9-05 and P9-06 for the start and end of the ramp respectively.
5	Once the drive reaches 0 speed: DC Inject/Position Lock is applied for the time in P9-13 The Zero Speed Holding time in P9-22 starts
6	Once P9-13 has finished Relay 2 closes, applying the motor brake and the brake apply delay time in P5-02 starts.
7	Once both P5-02 and P9-22 time finishes, whichever is longest that is the trigger for the torque reduction time to begin
8	The torque drop off is performed for a fixed time of 100ms Note P4-17 has no effect on the torque reduction time for Induction Motors
9	Once the torque reduction time finishes Relay 1 Motor Contactor opens
10	End of travel sequence

Applying the motor brake at speed

To prevent rollback and undershoot the brake may be applied while the drive is still decelerating. Using parameter P5-03 Brake Apply Speed the user can set a speed at which the brake applies stopping the car.

This setting should be used at a low speed to prevent any bump or sudden shock in the car.

Note

If P5-03 > 0 then DC Injection at stop is disabled.

Drive stopping conditions

The stopping conditions for the drive are defined in parameter P8-13 Action of Zero Reference:

P8-13 - Action on Zero Reference

This parameter defines the stopping conditions for the Drive.

When set to 0 the stopping condition is direction command removed. If a zero speed reference is given the drive will stay enabled at zero speed until the direction command is removed.

Setting	Stopping Condition
0	Direction Input Removed
1	Direction Input Removed OR Zero Speed Reference

Motor Brake Apply Parameters

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P5-02

Brake Apply Delay

sec

0.2s

0.0 ... 5.0s

1 = 0.1s

21F6h

502

P5-03

Brake Apply Speed

Hz / rpm / Linear

0.00

0.00 ... P8-01

1 = 0.01Hz

21F7h

503

P8-13

Action on Zero Reference

N/A

0: Direction Removed

1: Direction Removed or Zero Speed Reference

N/A

232Dh

813

P5-02 - Brake Apply Delay

Sets the delay time, for the motor brake to apply (Relay 2 to open).

P5-03 - Brake Apply Speed

Sets the speed at which the drive will open Relay 2 and apply the motor brake.

If P5-03 has a value > 0 then DC Injection at Stop (P9-13) is not active in Geared Induction open loop control (P4-01 = 0 or 1).

Motor Brake Monitoring

In accordance with EN81-20 the drive can be used to monitor and verify (using Brake micro switches) the mechanical brake dropping mechanism after each brake release/apply (Relay 2 of the drive as default), and if verification fails then the drive will trip and prevent the drive reacting to any further run commands, once the trip occurs then it can only be reset by a “competent person“ and not by a normal trip reset or power cycle.

The brake micro switches can be connected to either the Universal Encoder Module or directly to the drive terminals as illustrated in the diagram below, noting that the function is enabled using parameter P5-04.

Features_and_Functions_-_Motor_Brake_Monitoring_-_UCM.svg

Motor Brake Monitoring - Operation

When the function (Motor brake monitoring) is enabled, the drive will monitor the chosen terminals as per set in P5-04 and check that each time the brake is commanded to open/close the micro-switches change to the correct state within a set time (P5-05), if the state is incorrect then the drive will display the warning message "bF-Err", reset and have another attempt, if after the number of attempts (as set in P5-06) the brake micro switches are indicating the incorrect state then the drive will permanently show the error message "bF-Loc".

Before the lift is put into service, test runs should be performed to ensure that the function works as expected.

In the instance of the permanent error message "bF-Loc" being shown, then it can be cleared as follows:

Disable drive.
Set P5-04 to Off.
Press Mode button.
Set P5-04 back to the required monitoring terminal as per set in (P5-04).

Checking for correct operation

Once the relevant parameters have been programmed (as detailed above) then the “Brake release monitoring” function should be verified for correct operation, this can be carried out by exercising the micro switches/monitoring input (during a low speed run) to simulate the brake not releasing/closing and checking that the "bF-Err" / "bF-Loc" error message/s is shown.

Motor Brake Monitoring - Parameters

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P5-04	Brake Release Monitoring Enable	N/A	0: Function Off	0 ... 2	RW	Y	N/A	1	21F8h	504
P5-05	Brake Release Monitoring Time	sec	0.5s	0.1 ... 5.0s	RW	Y	1 = 0.1s	1	21F9h	505
P5-06	Brake Release Number of Errors Before Lockout	N/A	0	0 ... 5	RW	Y	N/A	1	21FAh	506
P5-07	Brake Release Monitoring Errors	N/A	0	0 ... 65535	RO	N	N/A	2	21FBh	507

P5-04 - Brake Release Monitoring Enable

Setting	Function
0 (Function Disabled)	Motor Brake Release Monitoring Disabled
1	Motor Brake Release Monitoring Enabled and monitored via Daux 1 Input and Daux 2 Input on the Universal Encoder Module with 2 N/C contacts.
2	Motor Brake Release Monitoring Enabled and monitored via Digital Inputs DI5 and DI6 providing that P1-02 is set to Macro 8 and Digital input DI7 if P1-02 is set to 9.

P5-05 - Brake Release Monitoring Time

P5-06 - Brake Release Number of Errors Before Lockout

P5-07 - Brake Release Monitoring Errors

Total number of "bF-Err" trips since the drive was installed.

The counter can be reset when default the drive parameters.

Motor Contactor Topic List

The Topics below detail how to adjust, setup & monitor the motor contactor.

Features_and_Functions_-_Icons_-_Motor_Contactor_Delay_Times.svg

Set the time for the motor contactor to open and close

Features_and_Functions_-_Icons_-_Motor_Contactor_Monitoring.svg

Monitor the motor contactor state through a Digital Input

Motor Contactor delay times

The drive can set a delay for the time taken to close the motor contactor before starting. It is important for this time to be correct as if the motor contactors are open the drive could be damaged.

The time in P3-01 should be set long enough for the motor contactor to safely close before the drive output turns on.

During the drive's starting sequence the motor contactors will always be the first action after the drive has been given a run command. This part of the travel sequence can be monitored using P0-35 (Travel Profile State) and while the time in P3-01 is active the state will show 5: Motor Contactor time Active.

Motor Contactor delay time parameters

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P3-01	Motor Contactor Closing Time	sec	0.2s	0.0 ... 5.0s	RW	Y	1 = 0.1s	1	212Dh	0	301

P3-01 - Motor Contactor Closing Time

Typical values are 0.2 to 0.5 seconds.

During the delay time the drive will display “CC” to indicate Contactor Closing time.

Motor Contactor Monitoring

The drive can monitor the state of the motor contactor by using an auxiliary contact connected to one of the drives digital input terminals, this allows early detection of a motor contactor fault.

The diagram below illustrates the motor Contactor Monitoring function.

Figure 3. Function Diagram for Motor Contactor Monitoring

Above shows the configuration to setup the Motor Contactor Monitoring Function with Macros 1-12

If the contactor is not in the correct state during start run or stop the drive will trip. This prevents situations where the contactor has welded and is not opening and the drive is still running.

If Macro 0 is used (P1-02 = 0) Motor Contactor Monitoring can be assigned to input(s) using Group 12 and selecting either 9: E-trip Mode 1 or 13: E-trip Mode 2 to the Digital Input you wish to use for the monitoring.

Caution

The Input from the motor contactor the drive drive Control terminals should be within the voltage ratings of the drive terminals (maximum input voltage 30Vdc) to avoid damage to the drive.

Motor Contactor Monitoring Parameters

The following parameters are used to setup the Motor Contactor Monitoring Function.

In addition to the table below refer to the Macro tables for P1-02 to identify the Digital Input assigned to Motor Contactor Monitoring function.

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P3-02

Motor Contactor Monitoring Terminal Enable

N/A

0: Off

1: Enabled

N/A

212Eh

302

P3-03

Total Number of Motor Contactor Monitoring Errors

N/A

0 ... 65535

N/A

212Fh

303

P3-02 - Motor Contactor-Monitoring Terminal Enable

Sets the Motor Contactor Monitoring function to enabled or disabled.

Setting	Function
0	Off - Motor Contactor Monitoring disabled
1	Enabled - Motor Contactor Monitoring enabled

Applicable Macros (P1-02) for Motor Contactor Monitoring Function:

Through Digital Input 5 when P1-02 = 2 or 4
Through any Digital Input as selected in P12-32 when P1-02 = 0 (Setting the Digital Input functions via Group 12 to create your own macro).

P3-03 - Total Number of Motor Contactor Monitoring Errors

This value increases by 1 each time there is CF-Err error.

The value can only be reset by loading factory/user defaults.

Motor Contactor Monitoring Trip Codes

The following trip codes are used when the motor contactor is in the incorrect state. Each can be reset with the normal methods once the drive Digital Input with the Motor Contactor Monitoring function is in the correct state.

Display message	No.	Description	Corrective Action/Further information
CF-Err	96	Motor Contactor feedback Error	Motor contactor is in wrong state as indicated by feedback signal from contactor.

Control Terminals - Topic List

Each Topic details one of the I/O terminals and how to set them up for different functions

Details how to setup Analog Input 1 (terminal DI4)	Details how to setup Analog Input 2 (terminal DI5)
Details how to setup terminal DA1 as either a Digital or Analog Output	Details how to setup terminal DA2 as either a Digital or Analog Output
Details how to setup Digital Output 3	Details how to setup Relay 1

Analog Input 1 (DI4)

Terminal DI4 can operate either as a Digital Input or Analog Input, below details how the Terminal is configured and the parameters associated with it when operating as an Analog Input.

When you intend to use terminal DI4 as an analog input a macro must be selected using P1-02 to match the intended use of the connected Analog device and has one of the following functions assigned to DI4:

Analog Function

Available Macros for Function

Notes

Analog Speed Reference Input

P1-02 = 6

P1-02 = 0 (User Defined) (Set P12-04 to setting 17)

For this function the Analog Input 1 format in P1-03 must NOT be set to either of the two thermistor settings

Torque Sensor Input

P1-02 = 7

P1-02 = 0 (User Defined) (Set P12-04 to setting 18)

The torque sensor input must be selected by setting P9-38 to setting 1

Motor Thermistor Input

P1-02 = 0 (User Defined) (Set P12-04 to setting 9 or 22)

The drive supports both a PTC or KTY type thermistor. Each thermistor can be selected using P1-03.

Below is the configuration to setup Analog Input 1 (terminal DI4) for the different types of Functions.

Features_and_Functions_-_Control_Terminals_-_Analog_Input_1_-_Overview.svg

Analog Input 1 - Parameter List

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P1-03	DI4 Analog Input 1 Format	N/A	0: U 0-10	0 ... 9	RW	N	N/A	1	2067h	103
P1-04	DI4 Analog Input 1 Offset	%	0.0%	-500.0 ... 500.0%	RW	Y	1 = 0.1%	2	2068h	104
P1-05	DI4 Analog Input 1 Scaling	%	100.0%	-500.0 ... 500.0%	RW	Y	1 = 0.1%	2	2069h	105
P1-06	DI4 Analog Input 1 Filter	sec	0.00s	0.00 ... 2.00s	RW	Y	1 = 0.01s	1	206Ah	106
P1-07	DI4 Analog Input Signal Loss Reaction	N/A	0: No Reaction	0 ... 2	RW	Y	N/A	1	206Bh	107
P1-08	DI4/DI5 Analog Input Signal Loss Speed	%	80.00%	0.00 ... 100.00%	RW	Y	1 = 0.01%	1	206Ch	108
P4-23	Motor Thermistor Trip Reaction	N/A	0: Stop at Next stop command and show thermistor fault message	0 ... 2	RW	Y	N/A	1	21A7h	423
P11-20	Motor Thermistor Trip Threshold	Ω	2500Ω	0 ... 5000Ω	RW	Y	1 = 1Ω	2	2460h	1120
P11-21	Motor Thermistor Reset Threshold	Ω	1900Ω	0 ... 5000Ω	RW	Y	1 = 1Ω	2	2461h	1121
P12-04	DI4 input Function select	N/A	4: High Speed	0 ... 29	RW	Y	N/A	1	24B4h	1204

P1-03 - DI4 Analog Input 1 Format

Digital Input 4 only operates as an Analog Input when P1-02 is set to 6 or 7 or configured via Group 12 when using Macro 0. Below are the analog configurations available for Analog Input 1.

Setting	Drive Display	Input Format
U 0-10	U 0-10	0 to 10 Volt Signal (Uni-polar
U 10-0	U 10-0	10 to 0 Volt Signal (Uni-polar)
-10 - 10	- 10- 10	-10 to +10 Volt Signal (Bi-polar)
A 0-20	A 0-20	0 to 20mA Signal
A 20-4	A 20-0	20 to 0mA Signal
t 4-20	A 4-20	4 to 20mA Signal (4-20F trip if signal falls below 3mA)
t 20-4	A 20-4	20 to 4mA Signal (20-4F trip if signal falls below 3mA)
PrE-t	PrE-t	Pre-Torque Input (Bipolar -10V to +10V)
Ptc-th	Ptc-th	Motor PTC thermistor input
ty-th	ty-th	Motor KTY84 thermistor input

P1-04 - DI4 Analog Input 1 Offset

P1-05 - DI4 Analog Input 1 Scaling

The pre and post scaling values can be viewed in parameters P0-56 and P0-57.

P1-06 - DI4 Analog Input 1 Filter

This filter helps in situations where the analog input is used for the speed reference or from a Torque sensor and the source signal is noisy which would result in oscillation in speed.

The filters primary aim is to make the signal smoother to the internal speed reference but will result in less responsiveness.

P1-07 - DI4 Analog Input Signal Loss Reaction

Setting	Reaction
0	No Reaction
1	Run at speed in P1-08 (Analog Input Signal Loss speed) and return to speed reference when signal is reinstated.
2	Ramp to Stop using P8-04 (Deceleration ramp time) and trip Ai-LoS

P4-23 - Motor Thermistor Trip Reaction

Used to set the trip reaction when a motor thermistor fault occurs.

Setting	Reaction
0	Trip at next stop command and show thermistor fault message F-Ptc or F-tY depending on the setting of P1-03 or P1-09.
1	Trip Immediately and show thermistor fault message F-Ptc or F-tY depending on the setting of P1-03 or P1-09.
2	Continue running and show thermistor warning message Ot-Mm.

P11-20 - Motor Thermistor Trip Threshold

Sets the trip threshold resistance for the connected motor thermistor.

P11-21 - Motor Thermistor Reset Threshold

Sets the trip reset threshold resistance for the connected motor thermistor.

Analog Input 2 (DI5)

Terminal DI5 can operate either as a Digital Input or Analog Input, below details how the Terminal is configured and the parameters associated with it when operating as an Analog Input.

When you intend to use terminal DI5 as an analog input a macro must be selected using P1-02 to match the intended use of the connected Analog device and has one of the following functions assigned to DI5:

Analog Function

Available Macros for Function

Notes

Analog Speed Reference Input

P1-02 = 0 (User Defined) (Set P12-05 to setting 17)

For this function the Analog Input 1 format in P1-09 must NOT be set to either of the two thermistor settings

Torque Sensor Input

P1-02 = 0 (User Defined) (Set P12-05 to setting 18)

The torque sensor input must be selected by setting P9-38 to setting 1

Motor Thermistor Input

P1-02 = 2, 4 6 or 10

P1-02 = 0 (User Defined) (Set P12-05 to setting 9 or 22)

The drive supports both a PTC or KTY type thermistor. Each thermistor can be selected using P1-09.

Below is the configuration to setup the Terminal DI5 as an Analog Input.

Features_and_Functions_-_Control_Terminals_-_Analog_Input_2_-_Overview.svg

Analog Input 2 (DI5) - Parameter List

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P1-09	DI5 Analog Input 2 Format	N/A	0: U 0-10	0 ... 9	RW	Y	N/A	1	206Dh	109
P1-10	DI5 Analog Input 2 Offset	%	0.0%	-500.0 ... 500.0%	RW	Y	1 = 0.1%	2	206Eh	110
P1-11	DI5 Analog Input 2 Scaling	%	100.0%	-500.0 ... 500.0%	RW	Y	1 = 0.1%	2	206Fh	111
P1-12	DI5 Analog Input 2 Filter	sec	0.00s	0.00 ... 2.00s	RW	Y	1 = 0.01s	1	2070h	112
P1-13	DI5 Analog Input 2 Signal Loss Reaction	N/A	0: No Reaction	0 ... 2	RW	Y	N/A	1	2071h	113
P4-23	Motor Thermistor Trip Reaction	N/A	0: Stop at Next stop command and show thermistor fault message	0 ... 2	RW	Y	N/A	1	21A7h	423

P1-09 - DI5 Analog Input 2 Format

Below are the analog configurations available for Analog input 2.

Setting	Drive Display	Input Format
U 0-10	U 0-10	0 to 10 Volt Signal (Uni-polar
U 10-0	U 10-0	10 to 0 Volt Signal (Uni-polar)
-10 - 10	- 10- 10	-10 to +10 Volt Signal (Bi-polar)
A 0-20	A 0-20	0 to 20mA Signal
A 20-4	A 20-0	20 to 0mA Signal
t 4-20	A 4-20	4 to 20mA Signal (4-20F trip if signal falls below 3mA)
t 20-4	A 20-4	20 to 4mA Signal (20-4F trip if signal falls below 3mA)
PrE-t	PrE-t	Pre-Torque Input (Bipolar -10V to +10V)
Ptc-th	Ptc-th	Motor PTC thermistor input
ty-th	ty-th	Motor KTY84 thermistor input

P1-10 - DI5 Analog Input 2 Offset

When terminal DI5 is operating as an Analog input this parameter sets an offset, as a percentage of the full-scale range of the input, which is applied to the Analog Input signal.

P1-11 - DI5 Analog Input 2 Scaling

The pre and post scaling values can be viewed in parameters P0-58 and P0-59.

P1-12 - DI5 Analog Input 2 Filter

This filter helps in situations where the analog input is used for the speed reference or from a Torque sensor and the source signal is noisy which would result in oscillation in speed.

The filters primary aim is to make the signal smoother to the internal speed reference but will result in less responsiveness.

P1-13 - DI5 Analog Input 2 Signal Loss Reaction

Set the reaction method on a signal loss when terminal DI5 is used as Analog Input speed reference.

Setting	Reaction
0	No Reaction
1	Run at speed in P1-08 (Analog Input Signal Loss speed) flashing Ai-LoS and return to speed reference when signal is reinstated.
2	Ramp to Stop using P8-04 (Deceleration ramp time) and trip Ai-LoS or F-Ptc or F-tY depending on P1-09 setting.

P4-23 - Motor Thermistor Trip Reaction

Used to set the trip reaction when a motor thermistor fault occurs.

Setting	Reaction
0	Trip at next stop command and show thermistor fault message F-Ptc or F-tY depending on the setting of P1-03 or P1-09.
1	Trip Immediately and show thermistor fault message F-Ptc or F-tY depending on the setting of P1-03 or P1-09.
2	Continue running and show thermistor warning message Ot-Mm.

Digital/Analog Output 1

DA1 Output 1 is one of two Outputs that can operate as either a Digital Output or an Analog Output.

The output can be set to a pre-defined function that can be used to transmit a signal from the drive you your controller.

Below is the configuration to setup the Terminal DA1 as either a Digital or Analog Output.

Features_and_Functions_-_Control_Terminals_-_DA1_-_Overview.svg

DA1 Output 1 - Parameters

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P1-14	DA1 Output 1 Type	N/A	0: Digital Output	0 ... 1	RW	Y	N/A	1	2072h	114
P1-15	DA1 Digital Output 1 Function Select	N/A	1: Drive Healthy	0 ... 20	RW	Y	N/A	1	2073h	115
P1-16	DA1 Digital Output 1 Invert	N/A	0: Standard	0: Standard 1: Inverted	RW	Y	N/A	1	2074h	116
P1-17	DA1 Analog Output 1 Source Select	N/A	0 : Output Frequency	0 ... 5	RW	Y	N/A	1	2075h	117
P1-18	DA1 Analog Output 1 Format	N/A	0: U 0-10	0 ... 5	RW	Y	N/A	1	2076h	118
P1-19	DA1 Analog Output 1 Scaling	%	100.0%	0.0 ... 500.0 %	RW	Y	1 = 0.1%	1	2077h	119
P1-20	DA1 Analog Output 1 Offset	%	0.0%	-500.0 ... 500.0 %	RW	Y	1 = 0.1%	2	2078h	120

P1-14 - DA1 Output 1 Type

Sets if the output terminal DA1 is to operate as a Digital Output (24Vdc) or as an Analog Output.

Setting	DA1 Output Type
0	Digital Output
1	Analog Output

P1-15 - DA1 Digital Output 1 Function Select

This defines the output function when terminal DA1 is configured in digital mode (P1-14 = 0).

Setting	Function	Conditions for Status (Default Logic 1 = 24Vdc output)
0	Drive Enabled (Running)	Logic 1 when Drive is enabled and output stage is on
1	Drive Healthy	Logic 1 When no Fault condition exists on the drive. (“in ” is not included as a fault)
2	Motor at Zero speed	Logic 1 when motor speed is </= minimum output frequency (P8-02) or </= DC injection at stop speed (P9-15)
3	Motor at Target speed	Logic 1 when the output frequency matches the setpoint frequency
4	Motor Speed > 0	Logic 1 when the motor runs above zero speed
5	Motor Speed >/= Limit	Logic 1 when the motor speed exceeds the adjustable limit as per set in P1-31 and P1-32
6	Motor Current >/= Limit	Logic 1 when the motor current exceeds the adjustable limit as per set in P1-31 and P1-32
7	Motor Torque >/= Limit	Logic when the motor torque exceeds the adjustable limit as per set in P1-31 and P1-32
8	STO Status	Logic 1 when both STO inputs are present, and the drive is able to be operated
9	Rescue Mode active	Logic 1 when the drive is operating in Rescue Mode
10	2nd Anip > limit	Logic when the signal applied to the DI5 (Analog Input 2) exceeds the adjustable limit
11	Motor Contactor control	Used to control the operation of a motor contactor.
12	Motor Shorting Contactor control	Used to control the operation of a motor shorting contactor.
13	Direction of Travel	Logic 1 when direction down, Logic 0 when stopped or direction up. (Fwd cmd given and speed is positive): UP direction means UP command has been given and motor turns clockwise (Looking at the shaft) and motor speed is positive).
14	Service Indicator	Logic 1 when service time interval as per set in P11-17 has been met
15	Brake Control	Used to control the motor brake.
16	Door Zone	Logic 1 when door zone level motor speed (P10-02 Door Zone) has been reached.
17	Light Load direction	Logic 0=Easiest direction is up, Logic 1=easiest direction is downwards.
18	Travel limit counter reached	Logic 1 when Travel Direction Change Counter limit P10-05 has been reached.
19	Set speed and actual speed > P1-42	Logic 1 when the % difference (as per set in Speed following error P1-42) is exceeded between set speed and the actual speed (estimated speed in open loop/encoder speed in closed loop-with encoder)

P1-16 - DA1 Digital Output 1 Invert

Inverts the logic of DA1 output when operating in digital output mode (P1-14 = 0).

Setting	Function
0	Standard
1	Inverted

P1-17 - DA1 Analog Output 1 Source Select

This defines the output source when DA1 is configured in analog mode.

Setting	Status Source	Signal Source
0	Output Frequency (Motor Speed) -Estimated	0 to P8-01 (Maximum Frequency)
1	Output (Motor) current	0 to 200% of P4-03
2	Motor Torque	0 to 200% of motor rated torque
3	Electrical Output power	0 to 200% of drive rated power
4	Output Speed From Encoder	0 to 200% of P8-01 (Maximum speed rpm)
5	DC Bus voltage	0 to 1000Vdc

P1-18 - DA1 Analog Output 1 Format

Sets the format for DA1 when in Analog Mode selected by P1-14.

Setting	Output Format
U 0-10	0 to 10V
U 10-0	10 to 0V
A 0-20	0 to 20mA
A 20-0	20 to 0mA
A 4-20	4 to 20mA
A 20-4	20 to 4mA

P1-19 - DA1 Analog Output 1 Scaling

Defines the scaling percentage of DA1.

P1-20 - DA1 Analog Output 1 Offset

Defines the scaling factor as a %, where output value = (Input value-Offset P1-20) *Scaling factor P1-19

Digital/Analog Output 2

DA2 Output 2 is the second of two Outputs that can operate as either a Digital Output or an Analog Output.

Below is the configuration to setup the terminal as either a Digital or Analog Output.

Features_and_Functions_-_Control_Terminals_-_DA2_-_Overview.svg

DA1 Output 2 - Parameters

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P1-21	DA2 Output 2 Type	N/A	0: Digital Output	0 ... 1	RW	Y	N/A	1	2079h	121
P1-22	DA2 Digital Output 2 Function Select	N/A	0: Drive Enabled (Running)	0 ... 20	RW	Y	N/A	1	207Ah	122
P1-23	DA2 Digital Output 2 Invert	N/A	0: Standard	0: Standard 1: Inverted	RW	Y	N/A	1	207Bh	123
P1-24	DA2 Analog Output 2 Source Select	N/A	0: Output Frequency	0 ... 5	RW	Y	N/A	1	207Ch	124
P1-25	DA2 Analog Output 2 Format	N/A	0: U 0-10	0 ... 5	RW	Y	N/A	1	207Dh	125
P1-26	DA2 Analog Output 2 Scaling	%	100.0%	0.0 ... 500.0 %	RW	Y	1 = 0.1%	2	207Eh	126
P1-27	DA2 Analog Output 2 Offset	%	0.0%	-500.0 ... 500.0 %	RW	Y	1 = 0.1%	2	207Fh	127

P1-21 - DA2 Output 2 Type

Sets if the output from terminal DA2 is to operate as a Digital Output (24V dc) or as an Analog Output, the Analog type is defined in P1-25 DA2 Analog Output 2 Format.

Setting	Output Type
0	Digital Output
1	Analog Output

P1-22 - DA2 Digital Output 2 Function Select

This defines the output source when DA2 is configured in digital mode.

Setting	Function	Conditions for Status (Default Logic 1 = 24Vdc output)
0	Drive Enabled (Running)	Logic 1 when Drive is enabled and output stage is on
1	Drive Healthy	Logic 1 When no Fault condition exists on the drive. (“in ” is not included as a fault)
2	Motor at Zero speed	Logic 1 when motor speed is </= minimum output frequency (P8-02) or </= DC injection at stop speed (P9-15)
3	Motor at Target speed	Logic 1 when the output frequency matches the setpoint frequency
4	Motor Speed > 0	Logic 1 when the motor runs above zero speed
5	Motor Speed >/= Limit	Logic 1 when the motor speed exceeds the adjustable limit as per set in P1-31 and P1-32
6	Motor Current >/= Limit	Logic 1 when the motor current exceeds the adjustable limit as per set in P1-31 and P1-32
7	Motor Torque >/= Limit	Logic when the motor torque exceeds the adjustable limit as per set in P1-31 and P1-32
8	STO Status	Logic 1 when both STO inputs are present, and the drive is able to be operated
9	Rescue Mode active	Logic 1 when the drive is operating in Rescue Mode
10	2nd Anip > limit	Logic when the signal applied to the DI5 (Analog Input 2) exceeds the adjustable limit
11	Motor Contactor control	Used to control the operation of a motor contactor.
12	Motor Shorting Contactor control	Used to control the operation of a motor shorting contactor.
13	Direction of Travel	Logic 1 when direction down, Logic 0 when stopped or direction up. (Fwd cmd given and speed is positive): UP direction means UP command has been given and motor turns clockwise (Looking at the shaft) and motor speed is positive).
14	Service Indicator	Logic 1 when service time interval as per set in P11-17 has been met
15	Brake Control	Used to control the motor brake.
16	Door Zone	Logic 1 when door zone level motor speed (P10-02 Door Zone) has been reached.
17	Light Load direction	Logic 0=Easiest direction is up, Logic 1=easiest direction is downwards.
18	Travel limit counter reached	Logic 1 when Travel Direction Change Counter limit P10-05 has been reached.
19	Set speed and actual speed > P1-42	Logic 1 when the % difference (as per set in Speed following error P1-42) is exceeded between set speed and the actual speed (estimated speed in open loop/encoder speed in closed loop-with encoder)

P1-23 - DA2 Digital Output 2 Invert

Inverts the logic of DA2 output when operating in digital output mode.

Setting	Function
0	Standard
1	Inverted

P1-24 - DA2 Analog Output 2 Source Select

This defines the output source when DA2 is configured in analog mode.

Setting	Status Source	Signal Source
0	Output Frequency (Motor Speed) -Estimated	0 to P8-01 (Maximum Frequency)
1	Output (Motor) current	0 to 200% of P4-03
2	Motor Torque	0 to 200% of motor rated torque
3	Electrical Output power	0 to 200% of drive rated power
4	Output Speed From Encoder	0 to 200% of P8-01 (Maximum speed rpm)
5	DC Bus voltage	0 to 1000Vdc

P1-25 - DA2 Analog Output 2 Format

Defines the format of Analog Output 2

Setting	Output Format
U 0-10	0 to10V
U 10-0	10 to 0V
A 0-20	0 to 20mA
A 20-0	20 to 0mA
A 4-20	4 to 20mA
A 20-4	20 to 4mA

P1-26 - DA2 Analog Output 2 Scaling

Inverts the logic of DA2 output when operating in digital output mode.

P1-27 - DA2 Analog Output 2 Offset

Defines the scaling factor as a %, where output value = (Input value-Offset P1-27)*Scaling factor P1-26.

Digital Output 3

The drive has one Output that only functions as a Digital Output bringing the total number of available Digital Outputs to 3 (2 Digital/Analog Outputs and one Digital).

This Digital Output can be used to send signals from the drive to the elevator controller depending on the function selected. For example parameter P1-28 Setting 8 is STO Status, this setting has a Logic of 0 (0V output) when the Safety Chain (P0-03) is open and a Logic of 1 (24V) when closed. This can be used to tell the controller when the drives Safety Chain is open or closed.

Below is the configuration to setup terminal DO3 for use as a Digital Output.

Features_and_Functions_-_Control_Terminals_-_Digital_Output_3_-_Overview.svg

Digital Output 3 Parameters

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P1-28	DO3 Digital Output 3 Function Select	N/A	12: Motor Shorting Contactor	0 ... 20	RW	Y	N/A	1	2080h	128
P1-29	DO3 Digital Output 3 Invert	N/A	0: Standard	0: Standard 1: Inverted	RW	Y	N/A	1	2081h	129
P1-38	DO3 Threshold Upper Limit	%	100.0%	0.0 ... 200.0%	RW	Y	1 = 0.1%	1	208Ah	138
P1-39	DO3 Threshold Lower Limit	%	0.0%	0.0 ... 100.0%	RW	Y	1 = 0.1%	1	208Bh	139
P1-42	Speed Following Error	%	5.0%	0.0 ... 50.0%	RW	Y	1 = 0.1%	2	208Eh	142

P1-28 - DO3 Digital Output 3 Function Select

The settings of the DO3 terminal are listed below:

Setting	Status/Function Source	Conditions for Status
0	Drive Enabled (Running)	Logic 1 when Drive is enabled and output stage is on
1	Drive Healthy	Logic 1 when no Fault condition exists on the drive. (“InHibit” is not included as a fault)
2	Motor at Zero speed	Logic 1 when motor speed is </=minimum output frequency (P8-02) or </= DC injection at stop speed (P9-15)
3	Motor at Target speed	Logic 1 when the output frequency matches the setpoint speed
4	Motor Speed > 0	Logic 1 when the motor runs above zero speed
5	Motor Speed >/= Limit	Logic 1 when the motor speed exceeds the adjustable limit as per set in P1-35 and P1-36
6	Motor Current >/= Limit	Logic 1 when the motor current exceeds the adjustable limit as per set in P1-35 and P1-36
7	Motor Torque >/= Limit	Logic when the motor torque exceeds the adjustable limit as per set in P1-35 and P1-36
8	STO Status	Logic 1 when both STO inputs are present, and the drive is able to be operated
9	Rescue Mode active	Logic 1 when the drive is operating in Rescue Mode
10	2nd Anip > limit	Logic 1 when the signal applied to terminal DI5 (Analog Input 2) exceeds the adjustable limit as per set in P1-35 and P1-36
Note When using settings 5, 6, 7, 10, parameters P1-35 and P1-36 must be used together to control the behaviour. The output will switch to Logic 1 when the selected signal exceeds the value programmed in P1-35 and return to Logic 0 when the signal falls below the value in P1-36. P1-35 and return to Logic 0 when the signal falls below the value in P1-36.
11	Motor Contactor control	Used to control the operation of a motor contactor. Logic 1 when motor contactor is closed by the drive.
12	Motor Shorting Contactor Control Contactor control	Used to control the operation of a motor shorting contactor.
13	Direction of Travel	Logic 1 when direction down, Logic 0 when stopped or direction up. (Fwd command given and speed is positive): UP direction means a forward command has been given and motor turns clockwise (Looking at the shaft) and motor speed is positive.
14	Service Indicator	Logic 1 when service time interval set in P11-17 has been met.
15	Brake Control	Logic 1 when Relay is closed (Motor Brake Released)
16	Door Zone	Logic 1 when motor speed equals (P10-02 Early Door Opening Speed Threshold).
17	Light Load direction	Logic 0 = Easiest direction is up. Logic 1 = Easiest direction is downwards.
18	Travel limit counter reached	Logic 1 when Travel Direction Change Counter limit P10-05 has been reached.
19	Set speed and actual speed > P1-42	Logic 1 when the % difference (as per set in Speed following error P1-42) is exceeded between set speed and the actual speed (estimated speed in open loop/encoder speed in closed loop-with encoder)
20	Alarm	Logic 1 when an alarm is active, e.g P3-07 has been set to 2.

P1-29 - DO3 Digital Output 3 Invert

Inverts the logic of DO3 output terminal.

Setting	Function
0	Standard
1	Inverted

P1-38 - DO3 Threshold Upper Limit

Used in conjunction with settings 5,6,7,10 of Parameter P1-28 DO3 Digital Output 3 Function Select to set the upper limit of the threshold.

P1-39 - DO3 Threshold Lower Limit

Used in conjunction with settings 5,6,7,10 of Parameter P1-28 DO3 Digital Output 3 Function Select

P1-42 - Speed Following Error

Used in conjunction with Setting 19: Set speed and actual speed > P1-42 in parameters P1‑15, P1‑22, P1‑28 and P1‑30 as the % error difference between set speed and the actual speed.

Setting	Status/Function Source	Conditions for Status
19	Set speed and actual speed > P1-42	Logic 1 when the % difference (as per set in Speed following error P1-42) is exceeded between set speed and the actual speed (estimated speed in open loop/encoder speed in closed loop-with encoder)

Relay Output 1

Relay Output 1 is a freely programmable relay output on the drive. The Relay supports both Normally Open or Normally Closed configuration.

Relay

AC Supply

DC Supply

Relay 1

N/C = 5A/250VAC

N/O = 6A/250VAC

N/C = 5A/30VDC

N/O = 6A/30VDC

The diagram below illustrates the available settings for Relay 1.

Features_and_Functions_-_Control_Terminals_-_Relay_Output_1_-_Overview.svg

Relay 1 Parameters

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P1-30	Relay 1 Function Select	N/A	11: Motor Contactor Control	0 ... 20	RW	Y	N/A	1	2082h	130
P1-35	Relay 1 Threshold Upper Limit	%	100.0%	0.0 ... 200.0 %	RW	Y	1 = 0.1%	1	2087h	135
P1-36	Relay 1 Threshold Lower Limit	%	0.0%	0.0 ... 100.0 %	RW	Y	1 = 0.1%	1	2088h	136
P1-37	Digital/Relay Output Hysteresis Band	%	0.3%	0.0 ... 25.0 %	RW	Y	1 = 0.1%	1	2089h	137

P1-30 - Relay 1 Function Select

The settings of Relay 1 are listed below.

Setting	Status/Function Source	Conditions for Status
0	Drive Enabled (Running)	Logic 1 when Drive is enabled and output stage is on
1	Drive Healthy	Logic 1 when no Fault condition exists on the drive. (“InHibit” is not included as a fault)
2	Motor at Zero speed	Logic 1 when motor speed is </=minimum output frequency (P8-02) or </= DC injection at stop speed (P9-15)
3	Motor at Target speed	Logic 1 when the output frequency matches the setpoint speed
4	Motor Speed > 0	Logic 1 when the motor runs above zero speed
5	Motor Speed >/= Limit	Logic 1 when the motor speed exceeds the adjustable limit as per set in P1-35 and P1-36
6	Motor Current >/= Limit	Logic 1 when the motor current exceeds the adjustable limit as per set in P1-35 and P1-36
7	Motor Torque >/= Limit	Logic when the motor torque exceeds the adjustable limit as per set in P1-35 and P1-36
8	STO Status	Logic 1 when both STO inputs are present, and the drive is able to be operated
9	Rescue Mode active	Logic 1 when the drive is operating in Rescue Mode
10	2nd Anip > limit	Logic 1 when the signal applied to terminal DI5 (Analog Input 2) exceeds the adjustable limit as per set in P1-35 and P1-36
Note When using settings 5, 6, 7, 10, parameters P1-35 and P1-36 must be used together to control the behaviour. The output will switch to Logic 1 when the selected signal exceeds the value programmed in P1-35 and return to Logic 0 when the signal falls below the value in P1-36.
11	Motor Contactor control	Used to control the operation of a motor contactor. Logic 1 when motor contactor is closed by the drive.
12	Motor Shorting Contactor Control Contactor control	Used to control the operation of a motor shorting contactor.
13	Direction of Travel	Logic 1 when direction down, Logic 0 when stopped or direction up. (Fwd command given and speed is positive): UP direction means a forward command has been given and motor turns clockwise (Looking at the shaft) and motor speed is positive.
14	Service Indicator	Logic 1 when service time interval set in P11-17 has been met.
15	Brake Control	Logic 1 when Relay is closed (Motor Brake Released)
16	Door Zone	Logic 1 when motor speed equals (P10-02 Early Door Opening Speed Threshold).
17	Light Load direction	Logic 0 = Easiest direction is up. Logic 1 = Easiest direction is downwards.
18	Travel limit counter reached	Logic 1 when Travel Direction Change Counter limit P10-05 has been reached.
19	Set speed and actual speed > P1-42	Logic 1 when the % difference (as per set in Speed following error P1-42) is exceeded between set speed and the actual speed (estimated speed in open loop/encoder speed in closed loop-with encoder)
20	Alarm	Logic 1 when an alarm is active, e.g P3-07 has been set to 2.

P1-35 - Relay 1 Threshold Upper Limit

Used in conjunction with settings 5,6,7,10 of Parameter P1-30 (Relay 1 Source Selector)

The table below shows the settings of P1-30 and the parameter that P1-35/P1-36 look at for the % to change the state of the Relay.

Setting	Status/Function Setting	Parameter monitored for Relay State Change
5	Motor Speed >/= Limit	P0-15 Post-ramp Speed Controller Reference
6	Motor Current >/= Limit	P0-25 Motor Current
7	Motor Torque >/= Limit	P0-28 Output Torque

P1-36 - Relay 1 Threshold Lower Limit

Used in conjunction with settings 5,6,7,10 of Parameter P1-30 (Relay 1 Source Selector) to set the lower threshold of Relay 1.

P1-37 - Digital/Relay Output Hysteresis Band

User Defined I/O - Topic List

These topics detail how to setup and customize a User Defined Macro to assign each input custom functions

Details Macro 0 and how to use Group 12 to set up the I/O as a User Defined Macro	Use this topic to find out how to set the speeds and direction inputs for the User Defined Macro 0.
This topic shows how to set up each drive input as drive functions such as E-trip, contactor monitoring, Rescue Mode input and more.

User Defined I/O Details

Group 12 allows the user to select a function for each Digital Input making their own custom Macro to suit any controller. This topic breaks down each function and how that can be assigned to each Digital Input.

To assign a function to a Digital Input is done by using Parameters P12-01 to P12-08 and selecting from the options available listed in the User Defined Settings Table.

The image below shows the parameter that is used to select each Digital Inputs functions from the list in the User Defined I/O - Available Terminal Functions section.

Features_and_Functions_-_User_Defined_IO_-_Parameter_to_Terminal.svg

User Defined I/O - Setting Up Group 12

To set up Group 12 from default and create a User Defined Macro follow the steps below:

First set P1-02 to 0. This setting of P1-02 is the User Defined Macro and allows editing of Group 12.
To unlock Group 12 to view on the drive display or OptiTools Pro P11-02 must be set to equal the value of P11-04.
Once Group 12 is unlocked you can now assign a function to each digital input using parameters P12-01 - P12-08 for each Digital Input. All the functions available for each Digital Input are listed in the section User Defined I/O - Available Terminal Functions.
If you do not want to use a certain Digital Input then set the associated parameter in Group 12 to 0: No Function.

User Defined I/O - Pre-population

A time saving step is to pre-populate Group 12 with a pre-defined Macro that is available in P1-02 and then modify that macro rather than starting from scratch. For example setting P1-02 to 11 would pre-populate Group 12 with the functions of Macro 11. Which can then be modified to suit your controller needs.

In the case of Macro 11 it uses one Digital Input for Brake Release Monitoring (Digital Input 7) but you may want to add an addition Brake Monitoring Input as your motor has two switches. Digital Input 8 which in Macro 11 has no function assigned could be used as this input. Rather than having to set this up as a User Defined Macro from scratch you can quickly pre-load Macro 11 and simply add the additional Brake Release Monitoring function to Digital Input 8 without having to also populate every other Digital Input to match Macro 11.

Below are the steps to pre-populate Group 12 with Macro 11 then modify Group 12 to make Digital Input 8 the second Brake Release Monitoring Input.

Set P1-02 to a pre-defined macro in this case we will modify Macro 11 so we set P1-02 to 11.
This now populates Group 12 with the functions assigned to each Digital Input that comprise Macro 11.
Now set P1-02 to 0. This makes Group 12 available to edit while also leaving Macro 11 functions pre-populated in Group 12 for easy editing.
Now rather than creating a Macro from scratch you can slightly modify an existing Macro to fit your controller. In this example we wanted to add a second Brake Release Monitoring Input to Digital Input 8. So now we can just set parameter P12-08 to 24 to get the second Brake Monitoring Input and leave the rest of Group 12 with the pre-populated values from setting Macro 11 in Step 1.
Now we have created a User Defined Macro by modifying an existing Macro. This process can be used to quickly alter any Macro in the drive.

To use this method the drive must be powered on.

User Defined I/O - Available Terminal Functions

The table below lists the settings available to create a custom Macro using Group 12 to assign functions to each Terminal Input.

Note

Each terminal has the same functions available that are listed below, however only terminals DI4 (P12-04) & DI5 (P12-05) can operate as either a Digital or Analog Input.

Drop Down Options	Function
Drop Down Options	Open	Closed
0: No Function	Input Disabled	Input Disabled
1: Run Forward	Disabled	Run Forward
2: Run Reverse	Disabled	Run Reverse
3: Levelling Speed	Disabled	Run at Levelling Speed (P8-05)
4: High Speed	Disabled	Run at High Speed (P8-06)
5: High Speed 5	Disabled	Run at High Speed 5 (P8-12)
6: Inspection Speed	Disabled	Run at Inspection Speed (P8-08)
7: Fault Reset	Disabled	Reset Fault
8: Rescue Mode	Mains Mode	Rescue Mode
9: E-Trip Mode 1	E-Trip when open with no other functions enabled Thermistor trip if thermistor function selected in P1-09 Analog Input 2 (DI5) Format Motor Contactor feedback trip if P3-02 is set to 1 (Enabled)	Ok
10: Preset with override High Speed	Levelling Speed or Selected Speed from Setting 11 & 12	High Speed
11: Preset with override Inspection Speed	Levelling Speed or Selected Speed from Setting 10 & 12	Inspection Speed
12: Preset with override Intermediate Speed	Levelling Speed or Selected Speed from setting 10 & 11	Intermediate Speed
13: E-Trip Mode 2	E-Trip when open with no other functions enabled Motor Contactor feedback trip if P3-02 is set to 1 (Enabled)	Ok
14: Preset Bit 0 (2)	Speed Selection Bit 0 Low	Speed Selection Bit 0 High
15: Preset Bit 1 (2)	Speed Selection Bit 1 Low	Speed Selection Bit 1 High
16: Preset Bit 2 (2)	Speed Selection Bit 2 Low	Speed Selection Bit 2 High
17: Speed Reference	Speed Reference	Speed Reference
18: Torque Sensor	Input is used as torque feedback from external sensor	Input is used as torque feedback from external sensor
19: Forward, Contactor Control	Disabled	Close Motor Contactor & Run Forward
20: Reverse, Contactor Control	Disabled	Close Motor Contactor & Run Reverse
21: Drive Enable	Disabled	Enable Drive
22: E-Trip Mode 3	E-Trip when open with no other functions enabled Thermistor trip if thermistor function selected in P1-09 Analog Input 2 (DI5) Format	Ok
23: Brake Release Monitor Input 1	Brake Release Monitoring 1 Input Open	Brake Release Monitoring 1 Input Closed
24: Brake Release Monitor Input 2	Brake Release Monitoring 2 Input Open	Brake Release Monitoring 1 Input Closed
25: Analog mode	Analog Speed Reference	Analog Speed Reference
26: Direction (0 – Fwd, 1 - Rev)	Run Forward	Run Reverse
27: Preset Bit 0 With Active (3)	Speed Selection Bit 0 Low (requires 1 bit High to run)	Speed Selection Bit 0 Low (requires 1 bit High to run)
28: Preset Bit 1 With Active (3)	Speed Selection Bit 1 Low (requires 1 bit High to run)	Speed Selection Bit 1 Low (requires 1 bit High to run)
29: Preset Bit 2 With Active (3)	Speed Selection Bit 2 Low (requires 1 bit High to run)	Speed Selection Bit 2 Low (requires 1 bit High to run)

User Defined I/O - Drive Functions

The drive has multiple different functions that can assigned to the input terminals. When using Macro 0 these functions can be assigned to any compatible input.

This Topic details the different functions and the inputs they can be assigned to.

User Defined I/O - Monitoring Functions

Group 12 has multiple different monitoring functions that can be used to provide feedback to the drive about the overall system health that can be used disable the drive if the input are in the incorrect states these include:

E-Trip (Mode 1 - 3)
Motor Thermistor
Motor Contactor Feedback Monitoring
Brake Release Monitoring

Each function is detailed in the table below.

Function	Function Description	Group 12 Function Numbers	Available Terminals
E-Trip Mode 1	E-Trip Mode 1 by default is used as an E-Trip and can be assigned to any Digital Input. So when the input is opened the drive will trip and display the fault code E-Trip and while closed will not trip and run normally. The two states are shown below: Open = Drive will trip and show E-Trip Closed = Ok In addition when using Mode 1 two additional functions can be assigned: Thermistor Monitoring Motor Contactor Feedback Both of these functions are disabled by default and must be activated via parameters. When either of the functions are active the E-trip trip will not appear and will be replaced with either functions respective trip if the trip conditions are met. Note For more information on either of the two functions see their associated topics: Motor Contactor Monitoring Motor Thermistor Protection	9: E-Trip Mode 1	All Digital Inputs for E-trip and Motor Contactor Feedback Note Thermistor Monitoring can only be assigned to an Analog Input.
E-Trip Mode 2	E-Trip Mode 2 by default is used as an E-Trip and can be assigned to any Digital Input. So when the input is opened the drive will trip and display the fault code E-Trip and while closed will not trip and run normally. The two states are shown below: Open = Drive will trip and show E-Trip Closed = Ok In addition when using Mode 2 one additional function can be assigned: Motor Contactor Feedback This function is disabled by default and must be activated via parameters. Note For more information on either of the function see it's associated topics: Motor Contactor Monitoring	13: E-Trip Mode 2	All Digital Inputs
E-Trip Mode 3	E-Trip Mode 3 by default is used as an E-Trip and can be assigned to any Digital Input. So when the input is opened the drive will trip and display the fault code E-Trip and while closed will not trip and run normally. The two states are shown below: Open = Drive will trip and show E-Trip Closed = Ok In addition when using Mode 3 one additional function can be assigned: Thermistor Monitoring This function is disabled by default and must be activated via parameters. Note For more information on either of the two functions see their associated topics: Motor Thermistor Protection	22: E-Trip Mode 3	All Digital Inputs for E-Trip Note Thermistor Monitoring can only be assigned to an Analog Input.
Brake Release Monitoring Input 1 & 2	Up to two different Digital Inputs can be assigned the brake release monitoring function when using Macro 0. If a singular input is used as brake release monitoring only set one function to use. To activate the Brake Release Monitoring inputs parameters P5-04 must be set to 2 and P5-05 & P5-06 must bet set to the desired time & attempts respectively. If P5-04 is not set to 2 the Brake Release Monitoring Inputs will have no effect. If you are using either two brake release monitoring inputs both inputs must be in the correct state for the drive not to trip where as if you are only using one input only that input must be in the correct state. Note For full details on the brake release monitoring function see the Topic Motor Brake Monitoring	23: Brake Release Monitoring Input 1 24: Brake Release Monitoring Input 2	All Digital Inputs

User Defined I/O - Rescue Mode

To activate and deactivate Rescue Mode is done via the switching of a Digital Input (Open = Mains Mode and Closed = Rescue Mode). Using the standard Macros (P1-02 = 1 - 12), this function is assigned to either Digital Input 3 (P1-02 = 9 & 11) or Digital Input 8 (P1-02 = 1 - 8 & 10 & 12).

However when using the User Defined Macros (P1-02 = 0) then you can assign this function to any Digital Input.

Function	Function Description	Group 12 Function Numbers	Available Terminals
Rescue Mode	The state of the Digital Input assigned this function dictates what supply type the drive currently uses. Open = Mains Mode Closed = Rescue Mode Note To view what mode the drive is in use parameter P7-15. Where P7-15 = 0 is Mains Mode & P7-15 = 1 is Rescue Mode	8: Rescue Mode	All Digital Inputs

User Defined I/O - Fault Reset

A Digital Input can be used as a dedicated fault reset so when that Digital Input is toggled if the fault conditions have been fixed the fault will be cleared from the drive.

Function

Function Description

Group 12 Function Numbers

Available Terminals

Fault Reset

Can be used to clear a fault code on the drive.

To clear the fault make sure the conditions to clear the fault have been met and the toggle the Digital Input's state.

8: Fault Reset

All Digital Inputs

User Defined I/O - Torque Sensor

A torque sensor can be used to provide torque feedback to the drive which can be used to optimise the start so the correct amount of torque is pre-loaded into the drive.

Function	Function Description	Group 12 Function Numbers	Available Terminals
Torque Sensor	Used to provide a torque reference into the drive	18: Torque Sensor	Terminal DI4 or DI5

User Defined I/O - Customise Drive Starting & Speed Selection

When using the User Defined Macro (P1-02 = 0) there are a variety of direction and speed commands that can be used to control how the drive runs and customize the starting sequence of drive operation. This topic details the different type of direction and speed functions and how to set them up in the parameters.

User Defined I/O - Direction Commands

When using Group 12 there are three different direction command options to select from:

Option 1 & Option 2 (Forward & Reverse)
Option 19 & Option 20 (Forward with Contactor Control & Reverse with Contactor Control)
Option 26 Direction (0 - Fwd, 1 - Rev)

Options 1 & 2 are standard Run forward and Run reverse commands that are used in all the standard settings of P1-02 except Macro 11. When using options 1 & 2 the assigned Digital Inputs just acts as a direction command with no other part of the sequence to consider.

When using Option 19 & Option 20 this allows the user to give a direction command as well as closing the motor contactor (if Relay 1 is assigned the motor contactor control function P1-30 = 11) when the Digital Input assigned either Option 19 or 20 is closed. This allows the motor contactor to be closed before the Safety Chain (terminals STO1 & STO2) is closed. When using these settings the drive can run with the Safety Chain being the last input to close.

When using Option 26 both directions are assigned to one Digital Input. When the Digital Input is open the drive will run forward and when closed the drive will run in reverse. The starting sequence in this option is the same as Options 1 & 2 where the motor contactor is not controlled via the direction command.

User Defined I/O - Drive Enable

When using the drive the standard conditions to run are Direction, Speed and Safe Torque Off all need to be closed. However an extra condition can be added called Drive Enable and is used in Macro 9.

Macro 0 can be used to assign the drive enable function to any Digital Input. So an extra condition is needed to run and can be used to stop the drive when removed.

Function	Function Description	Group 12 Option Number	Available Terminals
Drive Enable	Used as one of the conditions to run the drive. When assigned to a Digital Input that input must be closed before the drive can be run and if opened can be sued to stop the drive. Open = Disabled Closed = Drive Enabled	21: Drive Enable	All Digital Inputs

User Defined I/O - Speed Selection

Four different sets of speed references are available to program the speed reference of the drive. These can be selected using Macro 0 and are detailed below.

Speed Reference Type	Explanation	Group 12 Option Numbers
Single Speed Selection	Each single speed can be assigned to a individual Digital Input so that speed is selected when the Digital Input is closed.	3 - Levelling Speed 4 - High Speed 5 - High Speed 5 6 - Inspection Speed
Single Speed with Override	Each single speed can be assigned to a individual Digital Input so that speed is selected when the Digital Input is closed and when inputs are open a Preset Speed is used	10: Preset with override High Speed 11: Preset with override Inspection Speed 12: Preset with override Intermediate Speed
Binary Speed Configuration	This method uses up to 3 Digital Inputs each assigned a preset bit which will form a table which selects a speed depending on the state of the bits.	14 - Preset Bit 0 15 - Preset Bit 1 16 - Preset Bit 2
Binary Speed Configuration with Active Reference	This method works the same ways as the Binary Speed Configuration, except the drive will not run unless at least one bit (Digital Input) is active.	27 - Preset Bit 0 with Active 28 - Preset Bit 1 with Active 29 - Preset Bit 2 with Active

Single Speed Selection

This section details the available single speed parameters. The parameters listed use one Digital Input to select a speed. So for example Digital Input 1 can be assigned 3: Levelling Speed, so when Digital Input 1 is closed levelling speed is selected and when opened Digital Input 1 is disabled.

Note

If two or More Digital Inputs are closed at the same time the speed with the highest value takes priority as the speed reference.

Group 12 Option	Associated Parameter	Notes
3 - Levelling Speed	P8-05 Levelling Speed	Use the associated parameters in Group 8 to set the speeds for the functions assigned to each Digital Input in Group 12.
4 - High Speed	P8-06 High Speed
5 - High Speed 5	P8-12 High Speed 5/Re-levelling Speed
6 - Inspection Speed	P8-08 Inspection Speed

Single Speed with Override

This section details the available single speed parameters as an override. The parameters listed use one Digital Input to select a speed. So for example Digital Input 1 can be assigned 10: Preset with override High Speed, so when Digital Input 1 is closed High Speed is selected and when opened leveling speed is used unless at least one of the other Digital Inputs are closed.

Note

If two or More Digital Inputs are closed at the same time the speed with the highest value takes priority as the speed reference.

Group 12 Option

Associated Parameter

Notes

10: Preset with override High Speed

P8-05 Levelling Speed & P8-06 High Speed

These speed options work similar to the single speed selection options (Setting 3 - 6) where when a specific Digital Input is closed that speed reference is selected.

However if none of the three Digital Inputs are closed then levelling speed is automatically selected as the speed reference.

11: Preset with override Inspection Speed

P8-05 Levelling Speed & P8-07 Inspection Speed

12: Preset with override Intermediate Speed

P8-05 Levelling Speed & P8-08 Intermediate Speed

Binary Speed Configuration - Tables

The drive has 3 Preset bits available that when assigned to Digital Inputs form a truth table that selects the drives speed reference depending on the combination of the assigned digital input's state. The Preset bits can be selected using Options 10 - 12.

You can assign up to 3 Preset bits to Digital Inputs to act as the speed references , though the amount of available speeds will vary depending on the number of bits used:

1 Preset Bit = 2 Speeds
2 Preset Bits = 4 Speeds
3 Preset Bits = 8 Speeds

The tables show how using a combination of either 1, 2 or 3 Digital Inputs are assigned to each speed. Each Digital Input is assigned to a one of three preset bits (Preset Bit 0, 1 and 2).

1 Preset Bit
Option 27: Preset Bit 0	Speed Parameter
0	P8-05 - Levelling Speed
1	P8-06 - High Speed

2 Preset Bits
Option 27: Preset Bit 0	Option 28: Preset Bit 1	Speed Parameter
0	0	P8-05 - Levelling Speed
1	0	P8-06 - High Speed
0	1	P8-07 - Intermediate Speed
1	1	P8-08 - Inspection Speed

3 Preset Bits
Option 27: Preset Bit 0	Option 28: Preset Bit 1	Option 29: Preset Bit 2	Speed Parameter
0	0	0	P8-05 - Levelling Speed
1	0	0	P8-06 - High Speed
0	1	0	P8-07 - Intermediate Speed
1	1	0	P8-08 - Inspection Speed
0	0	1	P8-09 - High Speed 2
1	0	1	P8-10 - High Speed 3
0	1	1	P8-11 - High Speed 4
1	1	1	P8-12 - High Speed 5/Re-levelling Speed

Binary Speed Configuration with Active Reference - Tables

Note

These option bits require at least one bit (Digital Input) to be active for the drive to run. If all three bits (Digital Inputs) are low the drive will not start.

You can assign up to 3 Preset bits to Digital Inputs to act as the speed references , though the amount of available speeds will vary depending on the number of bits used:

1 Preset Bit = 2 Speeds
2 Preset Bits = 4 Speeds
3 Preset Bits = 8 Speeds

The tables show how using a combination of either 1, 2 or 3 Digital Inputs are assigned to each speed. Each Digital Input is assigned to a one of three preset bits (Preset Bit 0, 1 and 2).

1 Preset Bit
Option 27: Preset Bit 0	Speed Parameter
0	Drive Disabled
1	P8-06 - High Speed

2 Preset Bits
Option 27: Preset Bit 0	Option 28: Preset Bit 1	Speed Parameter
0	0	Drive Disabled
1	0	P8-06 - High Speed
0	1	P8-07 - Intermediate Speed
1	1	P8-08 - Inspection Speed

3 Preset Bits
Option 27: Preset Bit 0	Option 28: Preset Bit 1	Option 29: Preset Bit 2	Speed Parameter
0	0	0	Drive Disabled
1	0	0	P8-06 - High Speed
0	1	0	P8-07 - Intermediate Speed
1	1	0	P8-08 - Inspection Speed
0	0	1	P8-09 - High Speed 2
1	0	1	P8-10 - High Speed 3
0	1	1	P8-11 - High Speed 4
1	1	1	P8-12 - High Speed 5/Re-levelling Speed

I/O Logic Select - Topic List

Select the polarity of the Logic for the Inputs & Outputs. Either PNP or NPN is available.

Features_and_Functions_-_Icons_-_IO_Logic_Select_-_Inputs.svg

Details how to swap the logic of the Digital Inputs

Features_and_Functions_-_Icons_-_IO_Logic_Select_-_Outputs.svg

Details how to swap the logic of the Digital/Analog Outputs

I/O Logic Select - Inputs

The Drive offers the possibility to operate the Digital Inputs in either PNP (Positive Logic) or NPN (Negative Logic).

I/O Logic Select Inputs - Setup Process

Below is the setup process for selecting the logic of the Digital Inputs.

Decide which configuration of logic you will be using. The default is positive logic (P1-43 = 0)
While the drive is powered off make the necessary wiring adjustments so that your I/O wiring matches your logic selection.
Set P1-43 to the relevant value.
Setting
Logic
0
Positive Logic
1
Negative Logic
Power on the drive.
Caution
When powering on the drive after switching logic always make sure the Safe Torque Off inputs are not closed so the drive can not start. Incorrect wiring/parameter settings could cause the car start start unintentionally.
Check P0-01 and P0-02 to make sure that your Digital Inputs are in the correct state and are changing state properly.

I/O Logic Select - Inputs - Parameters

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P0-01

Digital Input 1 to 5 Status

N/A

0 ... 31

N/A

2012

10001

P0-02

Digital Input 6 to 10 Status

N/A

0 ... 31

N/A

2012

10002

P1-43

Positive/Negative Logic Select

N/A

0: Positive Logic

1: Negative Logic

N/A

208Fh

143

P1-43 - Positive/Negative Logic Select

Changes the control logic for all Digital Inputs (including the Universal Encoder module terminals Daux1 and Daux2).

Setting	Logic
0	Positive Logic
1	Negative Logic

Note

STO1 and STO2 Inputs are always positive logic.

I/O Logic Select - Outputs

The Drive offers the possibility to operate the Digital Outputs with inverted logic to help install the drive with your controller. The drive will always deliver 24V to the Digital Output terminal when the Digital Output is High (1) and 0V when the Digital Output is low (0). You can use the invert parameters to change when the Logic is 0 or 1.

In addition the when using the drive's Analog Outputs their formats can be inverted in either Voltage or Current mode.

I/O Logic Select Outputs - Setup Process

Below the two Sections detail the setup process for selecting the Logic of either Digital or Analog Outputs.

I/O Logic Select - Setup Process - Digital Outputs

The table below shows the complete settings for each Digital Output and their relevant parameters:

Function	Digital Output 1 - Parameters	Digital Output 2 - Parameters	Digital Output 3 - Parameters
Set Terminal as a Digital Output	P1-14	P1-21	N/A - Always a Digital Output
Set Function of Digital Output	P1-15	P1-22	P1-28
Set Logic of Digital Output	P1-16	P1-23	P1-29
Note For full details on each parameter follow the links or see the Parameter Lists & Descriptions.

The Steps below show how to invert each Digital Output.

Identify which Digital Outputs you are using - Digital Output 1, 2 and/or 3
Check which Function of each Digital Output you are using. This can be found in the Section - Digital Output Function Settings.
Make sure each output you intended to use a Digital Output is set to be a Digital Output using P1-14, P1-21 for Digital Output 1 and 2 respectively.
If you wish to invert the logic of the Digital Outputs use parameters P1-16, P1-23 and P1-29 for Digital Outputs 1, 2 and 3 respectively.
Note
The status of each Digital Output can be viewed in P0-06.
Power on the drive and check the Outputs work as intended.
Caution
When powering on the drive after switching logic always make sure the Safe Torque Off inputs are not high so the drive can not start. Incorrect wiring/parameter settings could cause the car start start unintentionally.

The image below shows how when the Digital Output is inverted the Logic and voltage level output changes. In this example Digital Output 2 Function is set at Drive Healthy. With the default settings if the Drive is Healthy the Output Logic will be 1 (24V is output) and when the drive is tripped the Logic will switch to 0 (0V is output). By setting P1-23 this inverts the logic so when the drive has tripped the Logic is now 1 and 24V is now outputted from the terminal.

Digital Output Function Settings

Below is the list of functions and their setting numbers for each Digital Output.

Each Digital Output shares the same functions.

Setting	Status/Function Source	Conditions for Status
0	Drive Enabled (Running)	Logic 1 when Drive is enabled and output stage is on
1	Drive Healthy	Logic 1 when no Fault condition exists on the drive. (“InHibit” is not included as a fault)
2	Motor at Zero speed	Logic 1 when motor speed is </=minimum output frequency (P8-02) or </= DC injection at stop speed (P9-15)
3	Motor at Target speed	Logic 1 when the output frequency matches the setpoint speed
4	Motor Speed > 0	Logic 1 when the motor runs above zero speed
5	Motor Speed >/= Limit	Logic 1 when the motor speed exceeds the adjustable limit as set in the Output Threshold parameters
6	Motor Current >/= Limit	Logic 1 when the motor speed exceeds the adjustable limit as set in the Output Threshold parameters
7	Motor Torque >/= Limit	Logic 1 when the motor speed exceeds the adjustable limit as set in the Output Threshold parameters
8	STO Status	Logic 1 when both STO inputs are present, and the drive is able to be operated
9	Rescue Mode active	Logic 1 when the drive is operating in Rescue Mode
10	2nd Anip > limit	Logic 1 when the signal applied to terminal DI5 (Analog Input 2) exceeds the adjustable limit as per set in the Output Threshold parameters
Note When using settings 5, 6, 7, 10, the Output Threshold parameters must be used together to control the behaviour. The output will switch to Logic 1 when the selected signal exceeds the value programmed in the Upper Threshold Limit and return to Logic 0 when the signal falls below the Lower Threshold Limit value.
11	Motor Contactor control	Used to control the operation of a motor contactor. Logic 1 when motor contactor is closed by the drive.
12	Motor Shorting Contactor Control Contactor control	Used to control the operation of a motor shorting contactor.
13	Direction of Travel	Logic 1 when direction down, Logic 0 when stopped or direction up. (Fwd command given and speed is positive): UP direction means a forward command has been given and motor turns clockwise (Looking at the shaft) and motor speed is positive.
14	Service Indicator	Logic 1 when service time interval set in P11-17 has been met.
15	Brake Control	Logic 1 when Relay is closed (Motor Brake Released)
16	Door Zone	Logic 1 when motor speed equals (P10-02 Early Door Opening Speed Threshold).
17	Light Load direction	Logic 0 = Easiest direction is up. Logic 1 = Easiest direction is downwards.
18	Travel limit counter reached	Logic 1 when Travel Direction Change Counter limit P10-05 has been reached.
19	Set speed and actual speed > P1-42	Logic 1 when the % difference (as per set in Speed following error P1-42) is exceeded between set speed and the actual speed (estimated speed in open loop/encoder speed in closed loop-with encoder)
20	Alarm	Logic 1 when an alarm is active, e.g P3-07 has been set to 2.

I/O Logic Select - Setup Process - Analog Outputs

The table below shows the complete settings for each Analog Output and their relevant parameters:

Function	Analog Output 1 - Parameters	Analog Output 2 - Parameters
Set Terminal as a Analog Output	P1-14	P1-21
Set Function of Analog Output	P1-17	P1-24
Set Format of Analog Output	P1-18	P1-25
Note For full details on each parameter follow the links or see the Parameter Lists & Descriptions.

Find out what format your Analog device is.
Set the terminal type to Analog Output using P1-14 and P1-21 for Analog Output 1 and 2 respectively.
Set P1-18/P1-25 to match the your required Analog Output format.
Set P1-17 and P1-24 for the source of Analog Outputs 1 and 2 respectively. These sources can be found in the Analog Output Source Settings section.
Power on the drive and check the Outputs work as intended.
Caution
When powering on the drive after switching logic always make sure the Safe Torque Off inputs are not high so the drive can not start. Incorrect wiring/parameter settings could cause the car start start unintentionally.
Check P0-07 and/or P0-08 to make sure that your Analog Device is working correctly.

Analog Output Source Settings

Below is the list of sources and their setting numbers for each Analog Output.

Each Analog Output shares the same functions.

Setting	Status Source	Signal Source
0	Output Frequency (Motor Speed) -Estimated	0 to P8-01 (Maximum Frequency)
1	Output (Motor) current	0 to 200% of P4-03
2	Motor Torque	0 to 200% of motor rated torque
3	Electrical Output power	0 to 200% of drive rated power
4	Output Speed From Encoder	0 to 200% of P8-01 (Maximum speed rpm)
5	DC Bus voltage	0 to 1000Vdc

I/O Logic Select Outputs - Parameters

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P0-07	Analog Output 1 Value	N/A	0.0	0.0 ... 10.0	RO	N	1 = 0.1	1	-	-	10007
P1-16	DA1 Digital Output 1 Invert	N/A	0: Standard	0: Standard 1: Inverted	RW	Y	N/A	1	2074h	0	116
P1-18	DA1 Analog Output 1 Format	N/A	0: U 0-10	0 ... 5	RW	Y	N/A	1	2076h	0	118
P1-23	DA2 Digital Output 2 Invert	N/A	0: Standard	0: Standard 1: Inverted	RW	Y	N/A	1	207Bh	0	123
P1-25	DA2 Analog Output 2 Format	N/A	0: U 0-10	0 ... 5	RW	Y	N/A	1	207Dh	0	125
P1-29	DO3 Digital Output 3 Invert	N/A	0: Standard	0: Standard 1: Inverted	RW	Y	N/A	1	2081h	0	129

Rescue Mode

When the mains supply is lost the Elevator Core can operate at a lower supply voltage with either a UPS Supply or Battery Supply. The two links below detail their setup, specifications and operation.

Rescue Mode with Battery Supply - Topic List

Rescue operation is normally used in the event of a mains borne power failure, with the primary goal of moving the elevator car at a limited motor speed for passenger evacuation, the power source comes from either DC (Batteries) or a UPS power supply.

Battery Mode Setup

To setup Rescue Mode with a Battery Supply use the links below to find a specific section.

This Topic provides all the differences between Mains Mode and Rescue Mode	Cable connection and protection is critical when installing a battery. The connection diagram and protection to our drive can be found in this section
The voltage requirements to turn on the drive are lowered when using a Battery Supply. The exact values can be found by clicking the link above	Rescue Mode can be activated with a Digital Input. Find out about the full requirements in this Topic

Battery Mode Functions

The Elevator Core has multiple different operating functions while in Rescue Mode. Each function can be used to operate the drive differently depending on the system requirements and controller programs.

Below are links to the functions of each operating mode. The functions can be selected using P7-02.

This is the simplest Rescue Mode and is used when the controller always chooses the direction	Light Load Detection uses a test before running to pick the easiest direction to run
UPS Easiest Direction based on Measurement picks the easiest direction to run while in Mains Mode ready for when you switch into Rescue Mode	Used when only the Motor Brake is used to control the Elevator Car
Provides protection to the UPS from the drive to stop any damage or overcurrent.

Functional differences in Battery Mode

During Rescue Mode operation the following functions and trips are disabled/altered:

Function	Rescue Mode
Input Phase Loss Detection	Disabled
DC bus Ripple detection	Disabled
Undervoltage trip levels	Reduced - Exact values
Speed Loop Gains - Group 9	No Longer Active Rescue Mode has its own dedicated gains in (P7-06 and P7-07)
Motor Auto-tune	Disabled
Speed Reference	Rescue mode speed is governed by value set in P7-03. To run the drive in Rescue Mode the Inputs: STO1/STO2 and a Direction command must be closed.
DC Injection at Start/Stop	Disabled

Battery Supply Requirements

When operating in battery mode the drive uses a different set of conditions for operation voltage thresholds. These are detailed in the table below.

Rescue Power Supply Type

Required Connections

Nominal Rating

Minimum Voltage

Maximum Voltage

Current Requirements

Battery Power Supply

High Power connections to terminals +DC and -DC

32Vdc (<24Vdc will result in an undervoltage trip)

200-240V drives = 240Vdc

380-480V drives = 450Vdc

Motor Rated current (P4-03) and considering overload, typically no greater than 200%

Control +24V connection to terminals 0V and +24V

24V

20V

26V

2.2A (60W)

Battery Connection

Battery Supply Connections

Required Contactor Sequencing

Figure 4. Example Battery Supply Connection

The image shows an example Battery power supply connection to the drive that provides a supply voltage during rescue operation.

The Rescue Supply Contactor must only be closed when the Main Contactor is open.
A delay time of no less than 2 seconds must be included when changing over to/from Rescue supply to/from mains supply mode.
The Main Supply Contactor and Rescue Supply Contactor must be interlocked so that both cannot be energised at the same time, failure to do so may result in damage to the battery/contactor.
The Battery must have a reverse power protection diode fitted as shown in the diagram opposite.
The protection diode must have a voltage rating of at least 1000V and with a current rating of 2 x drive rated current.
The drive will always wait until the next stop command (Direction input removal) before rescue mode operation is activated and likewise when rescue mode is de-activated the drive will wait until the next stop command before changing back to normal mains supply operation.

Warning

A suitable protection diode must be fitted to the battery supply as shown in the example to prevent damage to the system.

Suitable protection must be provided for all wiring.

Enter Rescue Mode with a Battery Supply

Figure 5. Activation Conditions for Rescue Mode

Conditions to switch from mains to Rescue Mode

To switch into Rescue Mode the drive must be stopped.

Note

If the drive is running and the Rescue Mode Digital Input is closed then on the next stop the drive will go into rescue mode.

The drive does not need to be in a healthy state for Rescue Mode to be activated a fault can be present.

The Digital Input terminal (DI8 or DI3 depending on the setting of P1-02) that is used to activate Rescue Mode must have an external voltage supply of at least 18Vdc to activate Rescue Mode.

For battery mode P7-01 must be set to setting 2 : bAtt or the drive will be stuck in an Under-voltage condition.

From default Digital Input 8 is assigned to be Rescue Mode Enable, if a different setting of Macro is used in P1-02 then a different terminal maybe used, or if you are using Macro 0 the Rescue Mode function can be assigned to any Digital Input via Group 12 and selecting option 8: Rescue Mode.Group 1 User IO - Parameter List

Digital/Relay Outputs can be used to indicate if the drive is operating in rescue mode by setting the Digital/Relay Function to 9 (Rescue Mode Active).

Conditions to Run the Drive in Battery Mode

Rescue Mode Running Conditions in Battery Mode

Figure 6. Running Conditions in Rescue Mode with battery supply

All conditions above must be met for the drive to run. Each unfulfilled condition will have a separate issue.

Each of the following conditions must be met for the drive to run in Rescue Operation with a battery supply (P7-01 = 2 : bAtt):

P7-01 must be set to 2 : bAtt before entering Rescue Mode.
Suitably rated (voltage and power) battery connected to the +DC and -DC terminals.
An external 24Vdc must be supplied to the Control terminals (+24V) with respect to (0V) or the drive will not be able to switch into Rescue Mode.
Rescue Mode Enable Input must be on and confirmed as active.
Note
You can check if the drive is in Rescue Mode in P7-15.
When P7-15 = 1 the drive is in Rescue Mode.
1 Direction command to a Digital Input.
Safety Chain closed to both STO1 and STO2 with 24Vdc applied (The status of the STO inputs can be viewed in P0-03 = 1).

Note

A Speed Reference or Enable Digital Input is not needed in Rescue Mode

The drive must not be in a tripped state.

Rescue Mode UPS Supply - Topics

UPS Supply Setup

To setup Rescue Mode with a UPS Supply for the Elevator Core use the links below to find a specific section.

This Topic provides all the differences between Mains Mode and Rescue Mode	Cable connection is critical when installing a UPS. The connection diagram to our drive can be found in this section
The voltage requirements to turn on the drive are lowered when using Rescue Mode. The exact values can be found by clicking the link above	Rescue Mode can be activated with a Digital Input. Find out about the full requirements in this Topic

UPS Supply Functions

The Elevator Core has multiple different operating functions while in Rescue Mode.

Below are links to the functions of each operating mode. The functions can be selected using P7-02.

This is the simplest Rescue Mode and is used when the controller always chooses the direction	Light Load Detection uses a test before running to pick the easiest direction to run
UPS Easiest Direction based on Measurement picks the easiest direction to run while in Mains Mode ready for when you switch into Rescue Mode	Used when only the Motor Brake is used to control the Elevator Car
Provides protection to the UPS from the drive to stop any damage or overcurrent.

Functional differences in UPS Mode

During Rescue Mode operation the following functions and trips are disabled/altered:

Table 84. List of drive features that are different in Rescue Mode - UPS Supply to normal mains supply operation

Function	Rescue Mode
Input Phase Loss Detection	Disabled
DC bus Ripple detection	Disabled
Undervoltage trip levels	See Here
Speed Loop Gains - Group 9	No Longer Active Rescue Mode has its own dedicated gains in (P7-06 and P7-07)
Motor Auto-tune	Disabled
Speed Reference	Rescue mode speed is governed by value set in P7-03. To run the drive in Rescue Mode the Inputs: STO1/STO2 and a Direction command must be closed.
DC Injection at Start/Stop	Disabled

Rescue Operation UPS Supply Requirements

The Elevator Core is designed to operate with a Single Phase 230V UPS supply. In addition the drive can be used with a two phase 400V supply if a phase is lost. The values below are only applicable while in Rescue Mode.

If the drive is not in Rescue Mode then the normal operating specifications must be used, these can be found in Turn On/Off Levels Specification.Turn On/Off Levels Specification

Rescue Power Supply Type	Required Connections	Nominal Rating	Minimum Voltage	Maximum Voltage	Current Requirements
UPS Power Supply	UPS must be connected to terminals L1 and L2	230VAC 1Ph	160VAC (226Vdc)	280VAC	Motor Rated current (P4-03) and considering overload, typically no greater than 200%

UPS Supply Connection Method

The connection method below details how the drive should be connected to a single phase UPS supply.

UPS Supply Connections

Required Contactor Sequencing

Figure 7. Example UPS Supply Connection

The image shows an example UPS power supply connection to the drive that provides a supply voltage during rescue operation.

The Rescue Supply Contactor must only be closed when the Main Contactor is open (Interlocking Mechanism)
A delay time of no less than 2 seconds must be included when changing over to/from UPS supply to/from mains supply mode.
The Main Supply Contactor and Rescue Supply Contactor must be interlocked so that both cannot be energised at the same time, failure to do so may result in damage to the UPS and/or contactor.
The drive will always wait until the next stop command (direction input removal) before rescue mode operation is activated and likewise when rescue mode is de-activated the drive will wait until the next stop command before changing back to normal mains supply operation.

Warning

Circuit protection must be provided.

Note

Any Digital Input can be used to activate rescue mode not just Digital Input 8 (DI8).

To change the Digital Input for Rescue Mode use P1-02 to select a different Macro or set P1-02 to 0 and create your own Macro using Group 12 to define the function of each Digital Input.

Enter Rescue Mode With a UPS Supply

Table 85. Conditions to move from Mains to Rescue Mode

Conditions to activate Rescue Mode powered from UPS Supply

Figure 8. Activation Conditions for Rescue Mode

To switch into Rescue Mode the drive must be stopped.

Note

If the drive is running and the Rescue Mode Digital Input is closed then on the next stop the drive will go into rescue mode.

The drive does not need to be in a healthy state for Rescue Mode to be activated a fault can be present.

The correct supply type must be selected in P7-01 prior to entering Rescue Mode.

Digital/Relay Outputs can be used to indicate if the drive is operating in rescue mode by setting the Digital/Relay Function to 9 (Rescue Mode Active).

Rescue Operation UPS Supply - Running the Drive

To run in Rescue Mode the following conditions must be fulfilled:

Table 86. Running in Rescue Mode Conditions

Conditions	Criteria for Conditions to be fulfilled
The Drive must be setup as per the starting instructions for the motor connected to the drive	Motor Nameplate data entered Drive Auto-tuned Encoder data entered
The Safety Chain must be Closed	STO1 and STO2 must have 24V applied Check P0-03 for STO input status
A Direction command must be given	Either forward or reverse can be used
The Drive must NOT have an active trip	Any trip must be reset or be able to be cleared if using Auto-1-5 in P1-43

UPS Protection Function

When using a UPS supply there are two different protection functions to prevent damage to the UPS or excessive draw on the UPS. These are Power limit and Current limit, each function is detailed in the sections below.

UPS Protection - Power

The drive can be used to protect the external UPS unit. By using P7-04 and P7-16 to set the UPS power rating and overload time respectively the drive can protect the UPS from collapsing/overloading.

The function works by:

Set UPS power rating (in kW) in P7-04 and Overload time limit in P7-16.
Important
If P7-04 is set to 0 then this function is disabled.
When the drive is run in rescue mode if the value in P0-30 exceeds the value set in P7-04 for the total time in P7-16 the drive will trip UPS-L and immediately stop.
Important
The time in P7-16 is total cumulative time during running not consecutive time.
For example if the time in P7-04 is set at 2 seconds. When the drive is run and P0-30 is > P7-04 for 1 second then is below P7-04 for 2 seconds then above P7-04 again for 1 second the drive will trip as the total cumulative time has reached the 2 seconds set in P7-04.
To restart the drive the fault will need to be cleared and a new direction command issued.

Figure 9. UPS Protection Power Function - Timing Diagram

The is the standard sequence of operation that applies the the UPS protection function

Figure 10. UPS Protection Power Function - Example Scope Traces

This is an example scope traces showing the motor output power cumulatively above the limit set in P7-04 in this case 1.0kW

UPS Protection Current

The current limit during operation can be set in P7-05. This parameter limits the current operation while running in rescue mode to a percentage of P4-06 (Motor Rated Current), with 100% (default) being the value of P4-06.

Note

P7-05 value is only active in Rescue Mode.

UPS Protection Parameters

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P7-04	UPS Rating	kW	0.0kW	0.0 ... 65535kW	RW	Y	1 = 0.1kW	2	22C0h	704
P7-05	Rescue Mode Current Limit	%	100.0%	0.0 ... 200.0%	RW	Y	1 = 0.1%	2	22C1h	705
P7-16	UPS overload time limit	sec	2.0s	0.0 ... 10.0s	RW	N	1 = 0.1s	1	22CCh	716

P7-04 - UPS Rating

Used to protect overloading/ collapsing of voltage of the UPS power supply which could cause a motor stall condition.

If value is set to 0.0 then this function is disabled.

P7-05 - Rescue Mode Current Limit

Sets the current limit during rescue mode operation. If the drive current exceeds this value then the speed will be reduced until the current level falls below this value.

P7-16 - UPS overload time limit

Used in conjunction with parameter P7-04 (UPS rating).

When the value in P7-04 is exceeded for the cumulative time set in this parameter the drive will trip UPS-L.

Note

If P7-04 = 0 UPS Protection is disabled and the time in this parameter is not used.

UPS Easiest Direction based on Measurement

UPS Easiest Direction is a operation mode that is available when the drive is in Rescue Mode (P7-15 = 1). The UPS Easiest Direction function uses a combination of Mains Mode and Rescue Mode.

While in Mains mode during each run command the drive stores the easiest travel direction so when the drive switches to Rescue Mode operation the easiest direction is already measured.

Light Load Detection Test Procedure

Below is the operating procedure of the UPS Easiest Direction function:

Set P7-02 = 2 to enable UPS Easiest Direction function.
Set the measurement time using P5-01 for the initial measurement then P7-10 if extra time needed. A total of 15 seconds is available (5 seconds in P5-01 and 10 seconds in P7-10).
While in MAINS MODE (P7-15 = 0) run the drive as normal.
Once the drive has stopped P7-11 automatically stores the result of the easiest direction. This repeats after each run overwriting the value in P7-11 from the previous run.
When next switching to Rescue Mode (P7-15 =1), if the drive is given a run command the direction stored by P7-11 will be the running direction for travel, running at the speed in P7-03.

Timing Diagram for the UPS Easiest Direction function

Rescue_Mode_-_Functions_-_Easiest_Direction_Measurement_-_Timing_Diagram.svg

Important

If a balanced scenario occurs (P7-11 = 2), the drive will automatically switch to a different function of P7-02 depending on the motor control mode selected in P4-01.

The balanced scenarios for each motor type are:

Induction Motor (P4-01 = 0 or 1) - Light Load Detection (P7-02 = 1)
Permanent Magnet Motor (P4-01 = 3) - Basic Rescue Mode (P7-02 = 0)

UPS Easiest Direction based on Measurement Function - Indicators

While running the drive will indicate direction of travel by the keypad either display uP or dn.

After the measurement in mains mode has been completed the result can viewed in either:

P7-11 - Light Load Detection Results - (0 = Forward (Clockwise) / 1 = Downwards (Anti-clockwise) / 2 = Balanced)
Digital Output / Relay Output Function set to Setting 17: Light Load Direction - Output status - 0 = Easiest Direction is up or balanced / 1 = Easiest Direction is down

UPS Easiest Direction based on Measurement Parameters

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P7-02	Rescue Operation Function	N/A	0: Basic Rescue Mode	2: UPS Easiest Direction based on Load Measurement	RW	N	N/A	1	22BEh	702
P7-03	Rescue Mode Speed	Hz / rpm / Linear	5.00Hz	P8-02 ... P8-01	RW	Y *Does not take effect until next travel	1 = 0.1Hz	2	22BFh	703
P7-10	Load Measurement extended time	sec	0.0s	0.0 ... 10.0s	RW	Y	1 = 0.1s	1	22C6h	710
P7-11	Light Load Detection Results	N/A	0: Light direction is clockwise	0: Light direction is clockwise 1: Light direction is Anti-clockwise 2: Balanced	RO	N	N/A	1	22C7h	711

P7-02 - Rescue Operation Function

Setting	Function
2	UPS Easiest Direction based on Load Measurement

P7-02 lets you set the type running mode while in Rescue Mode.

If a test is required to find the easiest direction to run in then P7-02 should be set to Mode 2 (UPS Easiest Direction based on Load Measurement). This mode lets the drive measure which is the easiest direction of travel to consume the least amount of energy from the UPS/Battery before entering Rescue Mode. Mode 2 should be used if the drive should know the easiest direction to run in before entering Rescue Mode.

P7-03 - Rescue Mode Speed

The actual achievable speed will be limited depending on a number of factors such as DC bus voltage level, motor, travel speed, system efficiencies, estimated value can be calculated as follows:

P7-10 - Load Measurement extended time

Sets the extended measurement time which starts of P5-01 has finished.

Increasing this value can help improve the measurement accuracy of the feature.

P7-11 - Light Load Detection Results

Shows the result of either the Light Load Detection Test (P7-02 = 1) or the UPS Easiest direction based on measurement result (P7-02 = 2).

Value	Result
0	Light direction is clockwise
1	Light direction is Anti-clockwise
2	Balanced

Light Load Detection

Light Load Detection is a function that is available when the drive is in Rescue Mode (P7-15 = 1). It is used to run in the direction with the smallest load to minimize power consumption from the External UPS or Battery supply.

The Light Load Detection function works by running a test at the start of each travel in Rescue Mode to determine the easiest running direction. Then after the test is finished the drive runs in the selected direction without needing an additional run command.

To select the Light Load Detection function set P7-02 = 1.

Light Load Detection Test Procedure

Below is the operating procedure of the Light Load Detection function:

When a run command is given and the Safety Chain is closed, the drive runs in the forward direction for the time specified in P7-08 at the speed set in P7-09.
The drive then stops applies the brakes using P5-01 and P5-02 respectively as per normal operation and then runs in the reverse direction for the same time and speed as the forward direction.
Notice
The drive calculates the easiest direct during the forward and reverse runs and shows the result in P7-11 or in any Digital or Relay Output with the Setting 17: Light Load Direction.
The drive then stops again and applies the brake.
The brake is then released and the drive runs in the easiest direction displayed in P7-11 at the speed set in P7-03 until the direction command is removed.

Timing Diagram for the Light Load Detection function

Rescue_Mode_-_Functions_-_Light_Load_Detection_-_Timing_Diagram.svg

Note

The first direction during the test is always forward (clockwise) regardless of the direction selected from the controller.

If the Direction command is removed at any point during the test period the drive will stop.

Light Load Detection Indicators

While running the drive will indicate direction of travel by the keypad showing either display uP or dn.

After the Light Load Detection test has been completed the result can be viewed with either:

P7-11 - Light Load Detection Results - (0 = Forward (Clockwise) / 1 = Downwards (Anti-clockwise) / 2 = Balanced)
Digital Output / Relay Output Function set to Setting 17: Light Load Direction - Output status - 0 = Easiest Direction is up or balanced / 1 = Easiest Direction is down

Note

Any Output terminals which are set to Setting 17 will change state during the test when a change in the easiest direction is detected by the drive.

Light Load Detection Test Parameters

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P7-02	Rescue Operation Function	N/A	0: Basic Rescue Mode	1: Light Load Detection	RW	N	N/A	1	22BEh	702
P7-08	Light Load Detection Measurement time	sec	1.0s	0.0 ... 10.0s	RW	Y	1 = 0.1s	1	22C4h	708
P7-09	Light Load Detection Speed	Hz / rpm / Linear	5.00Hz	P8-02 ... P8-01	RW	Y *Does not take effect until next travel	1 = 0.01Hz	2	22C5h	709
P7-11	Light Load Detection Results	N/A	0: Light direction is clockwise	0: Light direction is clockwise 1: Light direction is Anti-clockwise 2: Balanced	RO	N	N/A	1	22C7h	711

P7-02 - Rescue Operation Function

Setting	Function
1	Light Load Detection

P7-02 lets you set the type running mode while in Rescue Mode.

If a test is required to find the easiest direction to run in then P7-02 should be set to Mode 1 (Light Load Detection). This mode performs a test after each run command to measure which is the easiest direction of travel to consume the least amount of energy from the UPS/Battery. Mode 1 (Light Load Detection) selects the easiest direction while in Rescue Operation.

P7-08 - Light Load Detection Measurement Time

P7-09 - Light Load Detection Speed

P7-11 - Light Load Detection Results

Shows the result of either the Light Load Detection Test (P7-02 = 1) or the UPS Easiest direction based on measurement result (P7-02 = 2).

Value	Result
0	Light direction is clockwise
1	Light direction is Anti-clockwise
2	Balanced

Energy Optimized

Energy Optimized is a function that is available when the drive is in Rescue Mode (P7-15 = 1).

Sometimes referred to as Gravity Mode, Energy Optimized mode switches off the output and controls the Elevator Car by opening and closing the brake via Relay 2 (or Relay 1 if P1-30 = 15) at set intervals using the value in P5-02 to control the Elevator Car speed, rather than via a speed control reference.

To select Energy Optimized function set P7-02 = 3.

Energy Optimized Function - Operation

The operation sequence for Energy Optimized mode is as follows:

Direction command given (Forward / Reverse)
The motor brake releases (Drive Relay controlling the brake closes)
The drive then either moves or stays still (balanced scenario)
If the drive reaches target speed set in P7-13 in the time set in P7-14 the motor brake applies (Drive Relay controlling the brake opens).
The brake then opens and closes at a fixed intervals to drop the car down.
This continues until a stop command is given.

Timing Diagram for the Energy Optimized function

Rescue_Mode_-_Functions_-_Energy_Optimized_-_Timing_Diagram.svg

Important

If a balanced scenario occurs (P7-11 = 2), the drive will automatically switch to a different function of P7-02 depending on the motor control mode selected in P4-01.

The balanced scenarios for each motor type are:

Induction Motor (P4-01 = 0 or 1) - Light Load Detection (P7-02 = 1)
Permanent Magnet Motor (P4-01 = 3) - Basic Rescue Mode (P7-02 = 0)

Energy Optimized Parameters

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P7-02	Rescue Operation Function	N/A	0: Basic Rescue Mode	3: Energy Optimized	RW	N	N/A	1	22BEh	702
P7-12	Energy Saving Rescue Unbalancing Max speed	Hz / rpm / Linear	5.00Hz	P8-02 ... P8-01	RW	Y	1 = 0.01Hz	2	22C8h	712
P7-13	Energy Saving Rescue Minimum Speed	Hz / rpm / Linear	5.00Hz	P8-02 ... P8-01	RW	Y	1 = 0.01Hz	2	22C9h	713
P7-14	Energy Saving Rescue Minimum Speed Time	sec	0.0s	0.0 ...10.0s	RW	Y	1 = 0.1s	1	22CAh	714

P7-02 - Rescue Operation Function

Setting	Function
3	Energy Optimized

P7-02 lets you set the type running mode while in Rescue Mode.

If no drive output is required then P7-02 should be set to Mode 3 (Energy Optimised). This when the drive output should be switched off and controlled only by the motor brake.

P7-12 - Energy Saving Rescue Unbalancing Max speed

This is the maximum allowable speed when the drive is operating in rescue mode and with P7-02 = 3, when this value is reached the drive will command the motor brake to apply.

P7-13 - Energy Saving Rescue Minimum Speed

P7-14 - Energy Saving Rescue Minimum Speed Time

This parameter is used in conjunction with P7-13, when Energy Saving mode (P7-02 = 3) is active the speed must be at least the value in P7-13 within the time set in P7-14.

Basic Rescue Mode

Basic Rescue Mode is available when using either a UPS or Battery supply and is enabled by setting P7-02 to 0.

When using Basic Rescue Mode the drive will simply follow the direction commands given by the Lift Controller (based on the Selected Primary Command Source chosen in parameter P1-01 i.e. Direction Digital Input, Modbus RTU Commands, or CANopen Commands). The drive will run until that command is removed.

When the drive is running forward the display will show uP and when running in reverse the display will show dn.

This function should be selected if the controller always selects the running direction of motor when in Rescue Mode.

How to Setup Basic Rescue Mode Function

This guide assumes you have matched the Rescue Mode supply type in parameter P7-01 to the actual supply type connected and have correctly commissioned the drive for operation.

Basic Rescue Mode Function Diagram

The image above shows how to program the drive to use Basic Rescue Mode:

Set P7-02 to 0 (Basic Rescue Mode)
Set your target Rescue Mode speed in P7-03
Now when the controller gives a direction command the drive will run in that direction.

Trave curve in both directions using Basic Rescue Mode

Rescue_Mode_-_Functions_-_Basic_Rescue_Mode_Travel_Curve.svg

The image above shows how the direction command selects the running direction:

Switch the drive to Rescue Mode using the relevant Digital Input (Factory Default is DI8)
Make sure all conditions (Shown in Note below) to run are met
The controller gives either an Up or Down command
The drive will run in the direction of the command

Note

The I/O conditions to run in Rescue Mode are:

Rescue input closed (factory default is DI8)
Safety Chain (terminals STO1 & STO2) closed
A Run Direction Signal needs to be given based on the selected primary command source chosen in P1-01 which is one of the following - Direction Digital Input, Modbus RTU run command or CANopen run command

Basic Rescue Mode Parameters

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	Modbus Register
P7-03	Rescue Mode Speed	Hz / rpm / Linear	5.00Hz	P8-02 ... P8-01	RW	Y *Does not take effect until next travel	1 = 0.1Hz	2	22BFh	703
P7-02	Rescue Operation Function	N/A	0: Basic Rescue Mode	0: Basic Rescue Mode	RW	N	N/A	1	22BEh	702
P7-06	Rescue Mode Proportional Speed Loop Gain	%	10.0%	0.0 ... 400.0%	RW	Y	1 = 0.1%	2	22C2h	706
P7-07	Rescue Mode Integral Speed Loop Gain	ms	50ms	0 ... 1000ms	RW	Y	1 = 0.1ms	2	22C3h	707
P7-15	Rescue mode active	N/A	0: Mains Supply	0: Mains Supply 1: Rescue Supply	RO	N	N/A	1	22CBh	715

P7-02 - Rescue Operation Function

Setting	Function
0	Basic Rescue Mode

P7-02 lets you set the type running mode while in Rescue Mode.

If the controller is to choose the direction of travel, then P7-02 should be set to Mode 0 (Basic Rescue Mode) should be used.

P7-03 - Rescue Mode Speed

The actual achievable speed will be limited depending on a number of factors such as DC bus voltage level, motor, travel speed, system efficiencies, estimated value can be calculated as follows:

P7-06 - Rescue Mode Proportional Speed Loop Gain

Sets the Rescue Mode P-Gain to improve speed stability during rescue operation.

P7-07 - Rescue Mode Integral Speed Loop Gain

Sets the Rescue Mode I-Gain to improve speed stability during rescue operation.

P7-15 - Rescue mode active

Displays the active supply that the drive is being operated from.

Setting	Supply
0	Mains Supply
1	Rescue Supply

Basic Rescue Mode Indicators

While running the drive will indicate direction of travel by the keypad either display uP or dn. When the display shows uP this indicates forward direction and dn indicates a reverse direction. The drive will show the travel speed in Hz on the display next to uP or dn.

All Group 0 monitoring parameters are available to be monitored through the keypad or OptiTools Pro while running in Basic Rescue Mode.

Basic Rescue Mode Comfort Tuning

In Rescue Mode the drive uses different parameters for the running gains. Use parameters P7-06 (Rescue Mode Proportional Speed Loop Gain) and P7-07 (Rescue Mode Integral Speed Loop Gain) to improve the travel comfort in the same way you would use the normal gains.

These may need to be adjusted to smooth out ride quality and subsequently draw less current, persevering the UPS / Battery Supply.

Communication Protocols

The Elevator Core can be controlled and monitored by either or .

Click the images below for your communication protocol.

Modbus RTU - Topic List

The Topics listed detail how to setup & use Modbus RTU communication with the Elevator Core.

Modbus RTU Elevator Core Specifications

Communications_-_Modbus_RTU_-_Icons_-_Modbus_RTU_Overview.svg

Introduction to Modbus RTU and how it works with the Elevator Core

Modbus RTU Elevator Core Setup

Communications_-_Modbus_RTU_-_Icons_-_Modbus_RTU_Communication_Setup_Parameters.svg

Use this section to setup the parameters in the Elevator Core for Modbus RTU communication

Communications_-_Modbus_RTU_-_Icons_-_Modbus_RTU_Physical_Connectivity.svg

Details the RJ45 pin connection

Modbus RTU Elevator Core Registers & Functions

Communications_-_Modbus_RTU_-_Icons_-_Modbus_RTU_Read___Writing_Parameters.svg

Instructions on how to read/write to any parameter over Modbus RTU

Communications_-_Modbus_RTU_-_Icons_-_Modbus_RTU_Control___Monitoring_Registers.svg

Provides the Register numbers for status monitoring of the drive

Modbus RTU Elevator Core Individual Register Details

Gives the Drive's Control Word Format for running the Elevator Core over Modbus RTU with examples	Provides the Status Word individual bit breakdown and an example of how to read and understand the drive's Status Word
Details how Register 18 Active Fault Code works	Learn how to send a speed reference with Register 2 over Modbus to the drive and how the travel profile is effected

Modbus RTU - Overview

Modbus RTU communication can be used to control and monitor the drive.

The following table details the Modbus Specification that is supported by the Elevator Core.

Protocol	Modbus RTU
Baud Rate	9600bps, 19200bps, 38400bps, 57600bps, 115200bps (default)
Parity	Even, Odd, or None
Stop Bits	1 bit (2 bits for no parity)
Optional Modules	None - Built in as Standard
Physical Signal	RS 485 (2-wire)
User interface	RJ45
Supported Function Codes	03 Read Holding Registers 06 Write Single Register 16 Write Multiple Registers
Communication Loss Actions	Trip (default) Ramp to stop then trip Ramp to stop only (No trip) Run at Inspection Speed (P8-08)
Maximum Number of drives on network	247

What can you do with Modbus RTU

The following features are available with Modbus and the table below briefly explains how to use them. For a full explanation see the topics linked.

Feature	How to use	Topic Links
Change Parameters	Change with Registers	Modbus RTU - Reading and Writing Parameters
Read Parameters	Read with Registers	Modbus RTU - Reading and Writing Parameters
Start and Stop the Drive	Use the Control Word to start and stop the drive	Modbus RTU - Control Word
Reset Faults	Use the Control Word to reset drive faults	Modbus RTU - Control Word
Set the Drive Speed	Use the Speed Reference Register to control the drive speed	Modbus RTU - Speed Reference
Fault & Status Monitoring	Monitor the Drive status and any fault code	Modbus RTU - Status Word Modbus RTU - Active Fault Code

Modbus Telegram Structure

The drive supports Master / Slave Modbus RTU communications, using the 03 Read Holding Registers and 06 Write Single Holding Register commands. Many Master devices treat the first Register address as Register 0; therefore, it may be necessary to convert the Register Numbers detailed by subtracting 1 to obtain the correct Register address.

The telegram structure is as follows:-

Command 03 – Read Holding Registers
Master Telegram	Length		Slave Response	Length
Slave Address	1	Byte	Slave Address	1	Byte
Function Code (03)	1	Byte	Starting Address	1	Byte
1^st Register Address	2	Bytes	1^st Register Value	2	Bytes
No. Of Registers	2	Bytes	2^nd Register Value	2	Bytes
CRC Checksum	2	Bytes	Etc...
			CRC Checksum	2	Bytes

Command 06 – Write Single Holding Register
Master Telegram	Length		Slave Response	Length
Slave Address	1	Byte	Slave Address	1	Byte
Function Code (06)	1	Byte	Function Code (06)	1	Byte
Register Address	2	Bytes	Register Address	2	Bytes
Value	2	Bytes	Register Value	2	Bytes
CRC Checksum	2	Bytes	CRC Checksum	2	Bytes

Modbus RTU - Physical Connectivity

The drive has a built-in RJ45 port for connection to Modbus RTU networks, this is highlighted in the table below.

Modbus Cable Pin Connections

Caution

Always ensure 0V connection is present on the RJ45 cable.

Important

A network terminating resistor (120Ω) may be used at the end of the network to reduce noise.

Common Problems with Modbus Cable Connection

Below details common issues faced when trying to connect to the drive via Modbus

Problem	Solutions	Note
Drive will not connect to controller	Check cable is using the correct pin assignments	See diagram above for pin assignment
Drive will not connect to controller	Check that the 0V pin is connected	Not connecting the 0V pin can cause port damage
Telegrams are being dropped	Check cables are routed properly	Excessive nosie can cause messages to be dropped
Telegrams are being dropped	Use a terminating resistor	resistor should be 120Ω

Modbus RTU - Communication Setup Parameters

The following parameters must be setup for the Modbus to be able to communicate with the Elevator Core.

Configure the Primary Command Source to RTU to run the drive via Modbus RTU
Parameter Number
Parameter Name
Default
Available Settings
Access
Change During Run
CAN Register
Modbus Register
P1-01
Primary Command Source
0: Terminal
0: Terminal
1: Modbus RTU
2: CANopen
RW
N
2065h
101
Set the Modbus Slave Address in P2-01.
The addresses of multiple devices on a network must not match each drive or device should have a different address.
Parameter Number
Parameter Name
Default
Available Settings
Access
Change During Run
Modbus Register
P2-01
Modbus Slave Address
1
0 ... 247
RW
N
201
Set the Modbus Baud Rate in P2-02 to match the connected controller.
Parameter Number
Parameter Name
Default
Available Settings
Access
Change During Run
Modbus Register
P2-02
Modbus RTU Baud Rate
4: 115200bps
0: 9600bps
1: 19200bps
2: 38400bps
3: 57600bps
4: 115200bps
RW
N
202
Set the Modbus RTU Data Format in P2-03 to match the connected controller.
Parameter Number
Parameter Name
Default
Available Settings
Access
Change During Run
Modbus Register
P2-03
Modbus RTU Data Format
0: n-1
0: n-1
1: n-2
2: 0-1
3: E-1
RW
N
203

Set the Modbus Communication Loss Action.

Parameter Number

Parameter Name

Default

Available Settings

Access

Change During Run

Modbus Register

P2-05

Communications Loss Action

0: Trip

1: Ramp to Stop the Trip

2: Ramp to Stop Only (No Trip)

3: Run at Inspection Speed (P8-08)

205

Set the Modbus Response Delay.
Parameter Number
Parameter Name
Default
Available Settings
Access
Change During Run
Modbus Register
P2-06
Modbus RTU Response Delay
0 char
0 ... 16 char
RW
N
206

Parameter can be Read/Write regardless of the drives command source in Parameter P1-01.

When accessing a drive parameter via Modbus, the Register number for the parameter is the same as the parameter number so for example to access P1-02 the Modbus Register is 102.

Modbus RTU supports sixteen bit integer values, hence where a decimal point is used in the drive parameter, the register value will be multiplied by a factor of ten.

Modbus RTU – Control & Monitoring Registers

All parameters are accessible for Read and Write over Modbus RTU communication. The following is a list of additional accessible Modbus Registers available in the drive which can be used to control and monitor the drive.

Note

Registers can be read regardless of the setting in parameter P1-01.

Register Number

Upper Byte

Lower Byte

Read/Write

Notes

Command Control Word

R/W

Command control word used to control the drive when operating with Modbus RTU.

Bit	Function when 0	Function when 1	Notes
0	Stop	Run Up (Forward)	Enables drive to run Forward when bit is 1
1	Stop	Run Down (Reverse)	Enables drive to run Reverse when bit is 1
2	Not Reset	Reset Command	This bit must be reset to zero once the fault has been cleared.
Bit 3-7	Reserved	Reserved	Reserved

Commanded Speed Reference

R/W

This Register is used to send the Speed Reference command to the drive over Modbus

Units	Write Values/Scaling
Hz	e.g. 50.0 = 50.0Hz

Reserved

R/W

Reserved

Internal Speed Reference

0.01Hz Reference

Status Word

Bit	Definition	Bit 0	Bit 1
0	Ready	Drive has any of the following a fault code, lost mains supply or Safety Chain is open	Drive is free from fault codes, has mains supply and Safety Chain is closed
1	Running	When drive is stopped	When drive is running
2	Tripped	When drive has no fault code	When drive has tripped and displays a fault code
3	Reserved	Reserved	Reserved
4	Reserved	Reserved	Reserved
5	Reserved	Reserved	Reserved
6	Speed Set-point Reached (At Speed)	When drive is not at target speed reference	When drive reaches target speed reference
7	Below Minimum Speed	When drive is above minimum speed (P8-02 value)	When drive speed is less than P8-02 value and drive is enabled
8	Overload	When drive output current is below P4-03 value	When drive output current is above P4-03 value (Overload Conditions)
9	Mains Loss	When drive is supplied from mains power	Whens mains power is lost
10	Heatsink > 85°C	When P0-48 is below 85°C	When P0-48 is > 85°C
11	Control Board > 80°C	When drive P0-49 temperature is < 80°C	When drive P0-49 temperature is > 80°C
12	Switching Frequency Reduction	When no switching frequency reduction is not active	When switching frequency reduction is active
13	Reverse Rotation	When drive speed sign is positive	When drive speed sign is negative
14	Auto-tune Active	When Auto-tune is not active	When Auto-tune is in progress
15	Live Toggle Bit	No message read	Message Read

Output Speed

Output speed in the units that the drive is operating in. e.g. rpm, m/s to one decimal place

Output Current

Output current of the drive to one decimal place, e.g.105 = 10.5 Amps

Output Torque

Motor output torque level to one decimal place, e.g. 474 = 47.4 %

Output Power

Output power of the drive to two decimal places, e.g.1100 = 11.00 kW

Digital Input Status

Represents the status of the drive inputs

Bits assigned to each input are:

Bit	8	7	6	5	3	2	1	0
	Digital Input 8	Digital Input 7	Digital Input 6	Digital Input 5	Digital Input 4	Digital Input 3	Digital Input 2	Digital Input 1

Reserved

Drive Power Rating

Drive Power Rating in kW

Drive Voltage Rating

Drive Power Rating in Volts

I/O Firmware

Major*100+Minor

Power Firmware

Major*100+Minor

Drive Type Code

Always 0x0330

Active Fault Code Sub Index

Active Fault Code

Bits 15 - 8 shows the fault codes sub index. If there is no Sub Index values are 0.

Bits 7 - 0 shows the active fault code that matches OptiTools Pro and other documentation.

Bit Number	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
Byte	High Byte								Low Byte
Bit Function	Active Fault Code sub Index								Active Fault Code

Alarm Code

When an Alarm is triggered from the drive this register shows what alarm is active.

Each bit corresponds to an alarm. The table shows the each bit and it's associated alarm.

Bit	7	6	5	4	3	2	1	0
Alarm	Motor Overload	Brake resistor over-temperature	Motor over-temperature	Drive over-temperature	Mains Loss	Reserved	Service required	Travel limit reached

Analog 1 Level

Analog Input 1 Applied Signal level in % to one decimal place, e.g. 1000 = 100.0%

Analog 2 Level

Analog Input 2 Applied Signal level in % to one decimal place, e.g. 1000 = 100.0%

Pre Ramp Speed Reference

Internal drive frequency setpoint

DC bus voltage

Measured DC Bus Voltage in Volts

Drive temperature

Measured Heatsink Temperature in °C

Serial Number Part 1

Modbus Registers 25 - 28 show the Drive Serial Number in parts, combining all these Registers together gives the complete Drive Serial Number.

Below is an Example for how Serial Number 62635604004 would look over Modbus and the format of the Registers.

Modbus Register

Serial Number Part

Example 62635604004

Digits 11 - 10

Digits 9 - 6

6356

Digits 5 - 4

Digits 3 - 1

004

Serial Number Part 2

Serial Number Part 3

Serial Number Part 4

Digital Output Status

Bit is set to 1 when Digital Output is closed (high)

Bit	Bit 2	Bit 1	Bit 0
Digital Output	Digital Output 3 Status	Digital Output 2 Status	Digital Output 1 Status

Energy Consumption kWh

Energy Consumption in kWh

Energy Consumption MWh

Energy Consumption in MWh

Reserved

Drive total run time (h)

Drive total run time in hours

Drive total run time (m)

Drive total run time in minutes

Run time since last enable (h)

Drive run time in hours since last enable

Run time since last enable (m)

Drive run time in minutes since last enable

Service time remaining

Time remaining until next service is due

Control Board Temperature

Control Board Temperature in °C

40 - 47

Reserved

STO Status

1 When Safe Torque Off is closed (both STO1 and STO2 ports need to be closed)

Modbus RTU - Reading and Writing Parameters

All parameters within the drive can be accessed over Modbus RTU.

For a full register map see the Parameter List Topics: Parameter Lists & Descriptions.

Below are examples of how to read and writie to each parameter group over modbus:

Reading/Writing Group 1 - 12 Parameters

Non Group 0 parameters can be accessed as per the following examples:

All parameter values can be read from the drive and written to, regardless of the operation state of the drive.

When accessing a drive parameter via Modbus, the Register number for the parameter is the same as the parameter number.

E.g. Parameter P1-01 = Modbus Register 101.

Reading Group 0 Parameters

Rule for reading Group 0 parameters is: Register = 10000 + Par

Example for reading P0-32:

To read the value in parameter P0-32 (Back EMF measured value), read register 10032).

Reading Group 0 Parameters with Sub Indexes

Rule for reading Sub Indexes is: Register = 11000 + (Par x 10) + Index

Example reading P0-38 Sub Index 4 over Modbus:

Warning

Sub indexes can only be read for Group 0.

Common Problems when Reading/Writing to Parameters

Below is a list of common problems with solutions:

Problem

Solutions

Note

Wrong parameter is changing

Check that you are using the correct Register Number

Check if the software uses 0 or 1 based addressing if 0 based is used all registers must have 1 subtracted from their original value.

Value Written not accepted

Check that the value you are writting is within the parameter range

Some parameters have a dynamic range to will change depending on other settings.

For example parameters P8-05 - P8-12 range will change depending on the settings of parameters P8-01 & P8-02.

Modbus RTU - Control Word

Modbus Register 1 is the Control Word and can be used to Run the drive Forward or Reverse, Stop the drive and Reset drive Fault Codes. When using the Control Word it needs to be used in combination with Register 2 Speed Reference. The speed reference register provides the drives running speed and details can be found in the topic: Modbus RTU - Speed Reference.

The Control Word consists of 16 bits (2 Bytes), though only bits 0 - 2 are used.

The table below shows the function of each bit in the Control Word.

Bit Number	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
Byte	High Byte								Low Byte
Bit Function when 1	Reserved													Fault Reset Request	Run Reverse	Run Forward

Important

Drive must be set to RTU command source in P1-01 to run the drive via Modbus RTU.

Running the drive over Modbus RTU

To start the drive over Modbus you will need to use the Control Word Register which is Register 1.

Register 1 - Bit Number	Running Direction	Drive Action
Register 1 - Bit Number	Running Direction	Action when Bit = 0	Action when Bit = 1
0	Forward	Drive Stopped / Stop the drive	Run the Drive Forward with Register 2 Speed Reference
1	Reverse	Drive Stopped / Stop the drive	Run the Drive Reverse with Register 2 Speed Reference
2	N/A	No Action	Reset Fault - If the drive is under a fault condition (fault code displayed)

Example Control Word Telegram to run the drive forward

An example Modbus telegram to run the drive forward by writing to Register 1 is as follows:

01 06 00 01 00 01 48 0A

Breaking down this message it translate as follows:

Part of Telegram	Description	Value in Hex (Decimal)	Drive Description
01	Drive Address	0x01 (1)	Needs to match P2-01 value
06	Function Code	0x06 (6)	Write Single Register command
00 00	Register Address	Physical: 0x0000 (0) Logical: 0x0001 (1)	Writing to Register 1 (Control Word)
00 01	Register Value	0x 0001 (1)	Writing a value of 1 as the run forward command is bit 0 = 1. In binary the control word would look like: 0000 0000 0000 0001
48 0A	CRC	0x480A (18442)	Message error checking code.

While the telegram above runs the drive forward there is currently no speed reference so the drive will just sit at 0 speed and not accelerate. To change the drives speed reference you need to write to Register 2.

An example Modbus telegram to give a speed reference of 50Hz is below by writing to Register 2.

Part of Telegram	Description	Value in Hex (Decimal)	Drive Description
01	Drive Address	0x01 (1)	Needs to match P2-01 value
06	Function Code	0x06 (6)	Write Single Register command
00 01	Register Address	Physical: 0x0001 (1) Logical: 0x0002 (2)	Writing to Register 1 (Speed Reference)
01 F4	Register Value	0x01F4 (500)	Writing a value of 500 to run the drive at 50Hz.
D8 1D	CRC	0xD81D (55325)	Message error checking code.

Now sending these two commands will run the drive forward at 50Hz speed reference.

Example Control Word Telegram to run the drive in reverse

In this example we will run the drive in Reverse over Modbus at a speed reference.

First we need to construct the telegram to give the drive a run command using Register 1 (Control Word) to send the command.

An example telegram is shown in the table below:

Part of Telegram	Description	Value in Hex (Decimal)	Drive Description
01	Drive Address	0x01 (1)	Needs to match P2-01 value
06	Function Code	0x06 (6)	Write Single Register command
00 00	Register Address	Physical: 0x0000 (0) Logical: 0x0001 (1)	Writing to Register 1 (Control Word)
00 02	Register Value	0x 0002 (2)	Writing a value of 2 to run the drive in reverse. In binary the control word would look like: 0000 0000 0000 0010
08 0B	CRC	0x080B (2059)	Message error checking code.

Now we need to send a speed reference to the drive so it does not sit at 0Hz.

To do this use Register 2 which is Speed Reference.

An example Modbus telegram to give a speed reference of 25Hz is below by writing to Register 2.

Part of Telegram	Description	Value in Hex (Decimal)	Drive Description
01	Drive Address	0x01 (1)	Needs to match P2-01 value
06	Function Code	0x06 (6)	Write Single Register command
00 01	Register Address	Physical: 0x0001 (1) Logical: 0x0002 (2)	Writing to Register 2 (Speed Reference)
00 FA	Register Value	0x00FA (250)	Writing a value of 250 to run the drive at 25Hz.
58 49	CRC	0x5849 (22601)	Message error checking code.

Now by sending these two telegrams we are running the drive in reverse at 25Hz.

Modbus Control Word - Common Problems

Below are a few common problems encountered and simple solutions:

Problem	Solutions	Note
Getting Modbus Timeout Error	Check the selected COM port is correct.
	Check that the Buad Rate and Address of the Modbus master match the drives parameter settings	P2-01 - Modbus Address P2-02 - Modbus Baud Rate
	Check that the value being set to the Registers is withing the parameter limits	Drive will not except a value outside of the parameter range
Drive is enabled but at 0 speed	Check that a Speed Reference has been sent via Register 2	Speed Reference via Modbus can be viewed in parameter P2-51
Drive will not stop	Check that in the Control Word either Bit 0 or Bit 1 is changed from 1 to 0.	When running either bit 0 or bit 1 will be 1 for the run command depending on the direction. To stop the drive the Control Word should be 0 or for binary 0000 0000 0000 0000.
Drive will not start	Check that BOTH bit 0 & bit 1 DO NOT have a value of 1	If both bits are high the drive will not start or will stop if running. Only one direction command should be given. The Control Word in Binary should NOT look like this: 0000 0000 0000 0011 as this has both the run forward & run rerverse bits high.
	Check that you are writing to the correct Modbus Register	Some software use 0 based addressing so in this case the Control Word would be Register 0 in that software rather than Register 1.
	Check that P1-01 is set to 1: rtu	The drive can only be controlled over Modbus if the Command Source in P1-01 is set to 1.
	Check that the drive does not have a fault code present	The drive must not have a fault code present. The fault code can be viewed either via the drive display, parameter P0-37, Modbus Register 6 (Upper Byte) or OptiTools Pro.
	Check that the Safety Chain is Closed	Terminals STO1 & STO2 should both have 24V present so they are in a closed state. The state of the STO ports can be viewed by either Parameter P0-03 or Modbus Register 10003 Note The drive does not need any Digital Input to be present to run.

Modbus RTU - Status Word

The drive's Status Word can be monitored in Modbus Register 6 and is a read only register.

The Status Word is comprised of 16 bits with each bit having it's own function assigned to it that will toggle 0 or 1 depending on which condition is met.

Bit	Definition	Bit 0	Bit 1
0	Ready	Drive has any of the following a fault code, lost mains supply or Safety Chain is open	Drive is free from fault codes, has mains supply and Safety Chain is closed
1	Running	When drive is stopped	When drive is running
2	Tripped	When drive has no fault code	When drive has tripped and displays a fault code
3	Reserved	Reserved	Reserved
4	Reserved	Reserved	Reserved
5	Reserved	Reserved	Reserved
6	Speed Set-point Reached (At Speed)	When drive is not at target speed reference	When drive reaches target speed reference
7	Below Minimum Speed	When drive is above minimum speed (P8-02 value)	When drive speed is less than P8-02 value and drive is enabled
8	Overload	When drive output current is below P4-03 value	When drive output current is above P4-03 value (Overload Conditions)
9	Mains Loss	When drive is supplied from mains power	Whens mains power is lost
10	Heatsink > 85°C	When P0-48 is below 85°C	When P0-48 is > 85°C
11	Control Board > 80°C	When drive P0-49 temperature is < 80°C	When drive P0-49 temperature is > 80°C
12	Switching Frequency Reduction	When no switching frequency reduction is not active	When switching frequency reduction is active
13	Reverse Rotation	When drive speed sign is positive	When drive speed sign is negative
14	Auto-tune Active	When Auto-tune is not active	When Auto-tune is in progress
15	Live Toggle Bit	No message read	Message Read

Reading the Drive Status Word

Request to Read drive drives Status Word

To read the drive Status Word use Register 6. Below is an example telegram using Modbus to request (Tx) the drive status word from Register 6:

Part of Telegram	Description	Value in Hex (Decimal)	Drive Description
01	Drive Address	0x01 (1)	Needs to match P2-01 value
06	Function Code	0x06 (6)	Read Holding Registers command
00 05	Register Address	Physical: 0x0005 (5) Logical: 0x0006 (6)	Reading to Register 6 (Status Word)
00 01	Register Value	0x 0001 (1)	Writing a value of 1 to read only the drive Status Word register
94 0B	CRC	0x940B (37899)	Message error checking code.

Response from the Drive showing the Status Word

Now below is the response from the drive (Rx) which details the Status Word after the request has been sent: 01 03 02 80 43 98 75.

Part of Telegram	Description	Value in Hex (Decimal)	Drive Description
01	Drive Address	0x01 (1)	Needs to match P2-01 value
03	Function Code	0x03 (3)	Read Holding Registers command
02	Byte Count	0x02 (2)	Number of Bytes (2 in this case)
8043	Register Value	0x8043 (32835)	This gives the current Drive Status Word In binary the control word would look like: 1000 0000 0100 0011
98 75	CRC	0x9875 (39029)	Message error checking code.

Understanding the Status Word from the Modbus message

From the deconstructed telegram above, the Status Word returns the value: 1000 0000 0100 0011

Lets break down this status word into its individual bits and using the table of each bits function we can define what the drive is doing below:

From the Status Word we can see that the drive is:

Running at target speed reference
Not in overload conditions

For full details of this Status Word example see the table below to fully define what the drive is doing in this example.

Bit	Status Word Individual Bit Status	What does each bit status mean
0	1	Bit 0 has a status of 1 which is Drive Ready so we know the drive is fee from faults, has mains supply and the Safety Chain is closed
1	1	Bit 1 being in a 1 state shows the drive is running
2	0	As bit 2 is 0 the drive has no fault codes present
3	0	Reserved
4	0
5	0
6	1	Bit 6 being 1 shows the drive is at it's target speed reference
7	0	Bit 7 being 1 shows the drive is NOT below the speed set in P8-02
8	0	Bit 8 being 0 means the drive is not in overload conditions and the Motor Current (P0-25) is below the value in P4-03
9	0	As bit 9 is 0 the drive is supplied from mains power
10	0	Bit 10 being 0 means the drive is not overheated
11	0	Bit 11 being 0 means the drive is not overheated
12	0	Bit 12 with a status of indicates there is no switching frequency reduction
13	0	Bit 13 being 0 shows the drive has a positive speed sign so should be running forward (upwards)
14	0	Bit 14 being 0 shows that an Auto-tune is not active
15	1	Bit 15 being toggled at 1 means a message is beign read

Common Problems when trying to Read the Status Word

Below are a few common problems encountered and simple solutions:

Problem	Solutions	Note
Status Word is not changing value	Check that the software you are using does not use 0 based addressing	If using 0 based address 1 must be subtracted from all Register address number
Status Word is not changing value	Check you are connected to the drive via Modbus	If you are not connected via Modbus the Status Word will not change

Modbus RTU - Speed Reference

The drives speed can be adjusted in real time over Modbus with Register 2 (Speed Reference). This can be used in combination with the drive Control Word in Register 1 to run the drive (the topic detailing the control word is found here: Modbus RTU - Control Word).

While controlling the drive over Modbus the Speed Reference Register acts as the only source of the drives speed reference.

When controlling the drive over Modbus the drive still follows the parameters settings for the S-curves (Group 8 & Group 9). For example if you set the acceleration ramp time to 5 seconds in P8-02 the drive will still take 5 seconds to reach the speed reference.

How to use different Speed Units for the Speed Reference

Only one speed unit can be used at any one time. The speed reference register unit will be the one the drive is currently using.

The table below lists the available speed reference units and how to set them

Speed Reference Unit	How to Set	Modbus Scaling
Hz	Default unit of the drive. P4-06 MUST = 0 P3-08 MUST = 0	1 = 0.1Hz
rpm	P4-06 > 0 - Should match the motor nameplate value	1 = 1 rpm
ft/s	P4-06 > 0 - Should match the motor nameplate value P3-08 < 100	1 = 0.01 ft/s
m/s	P4-06 > 0 - Should match the motor nameplate value P3-08 ≥ 100	1 = 0.01 m/s

How to change the drive Speed Reference with Modbus

To control the drive Speed Reference over Modbus you will need to use Register 2.

Sending Speed Reference Command via Modbus

An example telegram to sent to the drive to change the speed reference is: 01 06 00 01 05 DC DA C3

Lets decode this telegram

Part of Telegram	Description	Value in Hex (Decimal)	Drive Description
01	Drive Address	0x01 (1)	Needs to match P2-01 value
06	Function Code	0x06 (6)	Write Single Register command
00 01	Register Address	Physical: 0x0001 (1) Logical: 0x0002 (2)	Writing to Register 2 (Speed Reference) The software used fro this message uses 0 based addressing
05 DC	Register Value	0x05DC (1500)	This part of the telegram is where we write our desired speed reference In this case the value is 1500. As the drive is using rpm as the speed units then this equals 1500rpm
DA C3	CRC	0xDAC3 (56003)	Message error checking code

What we can see from this message is that we are sending a speed reference command with a value of 1500 to the drive with address 1.

Response to Speed Reference Command

The response we get back from the drive is as follows: 01 03 02 05 DC BA 8D

Decoding this telegram:

Part of Telegram	Description	Value in Hex (Decimal)	Drive Description
01	Drive Address	0x01 (1)	Should be the same as P2-01
03	Function Code	0x03 (3)	Read Holding Registers command
02	Byte Count	0x02 (2)	Number of Bytes (2 in this case)
05 DC	Register Value	0x05DC (1500)	This shows that 1500 has been accepted as a valid speed reference by the drive
BA 8D	CRC	0xBA8D (47757)	Message error checking code.

From this response telegram we can see that the drive has accepted the speed reference value and will now run at 1500rpm when the drive is enabled via the Control Word in Register 1.

Travel Curve Adjustments with Modbus

When controlling the drive over Modbus the travel curve parameters (Ramps, Jerks, Gains) can all be adjusted by their normal parameters. The drive will always follow these parameters for the travel curve profile.

These parameters can be read/written via the normal method over Modbus with the normal parameter access method which can be found in the topic: Modbus RTU - Reading and Writing Parameters.

Common Problems when trying to Change the drive Speed Reference

Below are a few common problems encountered and simple solutions:

Problem

Solutions

Notes

Getting invalid response

Check that the speed reference value sent is within the range of P8-01

If the speed reference is not in the range of P8-01 the drive will reject the value.

Drive is not running at the sent speed reference value

Check that the drive is set to the correct units

If you a sending a speed reference in rpm the drive should be set to use rpm as the units to Hz or linear. Use the table Units Setting to select the drives speed units.

Check that the correct scaling has been applied to your command

1 = 0.1Hz

1 = 1 rpm

1 = 0.01 ft/s

1 = 0.01 m/s

Modbus RTU - Active Fault Code

Modbus Register 18 can be used to view what the current drive fault code is.

The full register layout is below:

Bit Number	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
Byte	High Byte								Low Byte
Bit Function	Active Fault Code sub Index								Active Fault Code

Reading the Drive Fault Code

This section details how to use Register 18 to read the active fault code.

In our example the drive has tripped STO-L.

First we must send a request (Tx) to read the register with the telegram below:

Part of Telegram	Description	Value in Hex (Decimal)	Drive Description
01	Drive Address	0x01 (1)	Needs to match P2-01 value
06	Function Code	0x03 (3)	Read Holding Register command
00 11	Register Address	Physical: 0x0011 (17) Logical: 0x0012 (18)	Read Register 18 (Active Fault Code)
00 01	Register Value	0x 0001 (1)	Writing a value of 1 to read only the drive Active Fault Code Register
D4 0F	CRC	0xD40F (54287)	Message error checking code.

Now our response (Rx) from the drive is the telegram: 01 03 02 00 65 78 6F.

Breaking down this telegram it translates to the following:

Part of Telegram	Description	Value in Hex (Decimal)	Drive Description
01	Drive Address	0x01 (1)	Needs to match P2-01 value
03	Function Code	0x03 (3)	Read Holding Registers command
02	Byte Count	0x02 (2)	Number of Bytes (2 in this case)
00 65	Register Value	0x0065 (101)	This gives the current Drive Fault In binary the control word would look like: 0000 0000 0110 0101
78 6F	CRC	0x786F (30831)	Message error checking code.

Now to get the fault code from this message we need to look at the Register Value part.

We can see that the upper byte is 0 (from binary representation) with bits 15 - 8 all at 0. This means that the trip code has no sub index so we only need to take into account the lower byte to find out what the trip code is.

This is shown as:

Data Type	Register Value	Value In Decimal
Hexadecimal	0x0065	101
Binary	0000 0000 0110 0101	101

We can see from the table above that the value sent back from the drive is 101.

Then using the fault code table in Troubleshooting - Fault Messages we can see that fault 101 is STO-L. So from our register value of 101 this has given the active drive fault code.

Note

The drive fault codes listed in the topic Troubleshooting - Fault Messages use the decimal data type as their number. Make sure you are using the correct data type.

CANopen - Topic List

The following Topics detail how to setup & use CANopen communication with the Elevator Core.

CANopen Elevator Core Specifications

Introduction to CANopen and how it works with the Elevator Core	Provides a list of the available functions for communication
Gives the CANopen specific registers for the Elevator Core	Gives the standard Network Management functions that are supported

CANopen Elevator Core Setup

Use this section to setup the parameters in the Elevator Core for CANopen communication	Details the RJ45 pin connection
Instructions on how to read/write to any parameter in the Elevator Core

CANopen Elevator Core Object Transmission & Addressing

Gives to defaults settings of the two PDO	Details the allowed PDO transmission types
Instructions on how to send SDO to the drive

CANopen Elevator Core Individual Object Details

Gives the Drive's Control Word Format for running the Elevator Core over CANopen	Provides the Status Word individual bit breakdown and an example of how to read and understand the drive's Status Word
Guide and Example on how to read the current drive fault code

CANopen - Overview

CANopen communication can be used to control and monitor the drive.

The following table details the CANopen Specification that is supported by the Elevator Core.

Protocol	CANopen (CiA 301)
Baud Rate	125kbps, 250kbps, 500kbps (default), 1Mbps
Optional Modules	None - Built in as Standard
Physical Signal	RS 485 (2-wire)
User interface	RJ45
Supported Message Transmission Format	2x PDO
Communication Loss Actions	Trip (default) Ramp to stop then trip Ramp to stop only (No trip) Run at Inspection Speed (P8-08)
Maximum Number of drives on network	127

CANopen EDS File

The Elevator Core has an associated EDS file that can be downloaded from: www.invertekdrives.com

CANopen - Communication Methods

The CAN communication profile in the Elevator Core is implemented according to the specification DS301 version 4.02 of CAN in automation (https://www.can-cia.org/). Specific device profiles such as DS402 are not supported.

All parameter values can be read from the drive and written to, depending on the operating mode of the drive – some parameters may not be changed whilst the drive is enabled.

The Drive provides the following default COB-ID and functions:

Type	COB-ID	Function
NMT	000h	Network management.
Sync	080h	Synchronous message. COB-ID can be configured to other value.
Emergency	080h + Node address	Emergency message
PDO1 (TX)	180h + Node address	Process data object. PDO1 is pre-mapped and enabled by default. COB-ID can be configured to other value. PDO2 is pre-mapped and disabled by default. Transmission mode, COB-ID and mapping can be configured
PDO1 (RX)	200h + Node address
PDO2 (TX)	280h + Node address
PDO2 (RX)	300h + Node address
SDO (TX)	580h + Node address	SDO channel can be used for drive parameter access
SDO (RX)	600h + Node address	SDO channel can be used for drive parameter access
Error Control	700h + Node address	Guarding and Heartbeat function are supported. COB-ID can be configured to other value.

The Drive's SDO channel only supports expedited transmission.
The Drive can only support up to 2 Process Data Objects (PDO). All PDOs are pre-mapped; however PDO2 is disabled by default. The table below gives the default PDO mapping information.
Customer configuration (mapping) will NOT be saved during full power down. This means that the CAN open configuration will restore to its default condition each time the drive is powered up.

Note

Full power down is defined as:

Mains Power removed
USB-C Cable removed
24V External supply to IO removed

CANopen - Network Management (NMT)

The network management (NMT) service is used to control NMT states of CANopen devices.

An NMT message is a 2-byte CAN frame with COB-ID 0 (000h).

The first byte contains a command specifier which indicates an NMT command.
The second byte contains a Node-ID of a target device

If the node-ID is 0, the message is a global message to all devices on the CANopen network.

Following a Power ON, all CANopen devices will enter the initialisation state. Following completion of the initialisation, the device will switch to pre-operational state and transmit an emergency message to announce the completion of initialisation and availability on the network. In this state, the SDO telegram may be used to configure the node as required, and PDO communication is disabled. The NMT telegram is then used by the Network Controller to switch the device into operational state when configured and ready to operate.

Network Management Telegram Format

The NMT message has the following format:

Table 87. NMT Telegram Format

COB-ID	NMT Command	Target Node ID
0x0000	1 Byte	1 Byte

Note

The NMT telegram always has COB-ID 0x0000

If the target Node-ID is 0x00, the message is intended for all connected nodes.

Supported Network Management Function

The drive supports the following Network Management commands:

Table 88. Supported NMT Commands

NMT Command	Function	Target Node State Transition
0x01	Start Remote Node	Pre-Operational to Operational
0x02	Stop Remote Node	Any Sate to Stopped
0x80	Enter Pre-Operational	Operational to Pre-Operational
0x81	Reset Node	Any State to Initialisation followed by Pre-Operational
0x82	Reset Node Communication	Any State to Initialisation followed by Pre-Operational

CANopen - CAN Specific Objects

All parameters are accessible for Read and Write over CANopen communication. The following is a list of additional accessible CANopen Objects available in the drive which can be used to monitor the drive.

CANopen Index	Sub Index	PDO Map	Parameter Number	Upper Byte	Format	Type	Scaling
200Ah	0	Y	-	Status Word	WORD	RO	N/A
200Bh	0	Y	-	Output Frequency	S16	RO	1dp, e.g., 100 = 10.0Hz
200Dh	0	Y	P0-25	Motor Current	U16	RO	1dp, e.g., 100 = 10.0A
200Eh	0	Y	P0-28	Motor Torque	S16	RO	4096 = 100%
200Fh	0	Y	P0-29	Motor Power	U16	RO	0dp e.g., 1 = 1°C
2010h	0	Y	P0-48	Drive Temperature	U16	RO	N/A
2011h	0	Y	P0-40	DC Bus Voltage	U16	RO	N/A
2012h	0	Y	P0-01 / P0-02	Digital Input States	U16	RO	N/A
2012h	1	Y	P0-03	STO Input State	U8	RO	N/A
2013h	0	Y	P0-57	Analog Input 1 Percentage	S16	RO	1dp, e.g 10 = 1%
2013h	1	Y	P0-59	Analog Input 2 Percentage	S16	RO	1dp, e.g 10 = 1%
2014h	0	Y	P0-07	Analog Output 1 Value	S16	RO	N/A
2014h	1	Y	P0-08	Analog Output 2 Value	S16	RO	N/A
2015h	0	Y	P0-04	Relay 1 State	U8	RO	N/A
2015h	1	Y	P0-05	Relay 2 State	U8	RO	N/A

CANopen - Specific Object Table

Index	Sub Index	Function	Access	Type	PDO Map	Default Value
1000h	0	Device Type	RO	U32	N	0
1001h	0	Error Register	RO	U8	N	0
1002h	0	Manufacturer Status Register	RO	U16	N	0
1005h	0	COB-ID Sync	RW	U32	N	00000080h
1008h	0	Manufacturer Device Name	RO	String	N	ODL3
1009h	0	Manufacturer Hardware Version	RO	String	N	x.xx
100Ah	0	Manufacturer Software Version	RO	String	N	x.xx
100Ch	0	Guard Time (1ms)	RW	U16	N	0
100Dh	0	Life Time Factor	RW	U8	N	0
1014h	0	COB-ID EMCY	RW	U32	N	00000080h+Node ID
1015h	0	Inhibit Time Emergency (100μs)	RW	U16	N	0
1016h	0	Consumer Heartbeat items	RW	U32	N	0
1016h	1	Consumer Heartbeat Time	RW	U16	N	0
1017h	0	Producer Heartbeat Time (1ms)	RW	U16	N	0
1018h	0	Identity Object No. Of entries	RO	U8	N	4
	1	Vendor ID	RO	U32	N	0x0000031A
	2	Product Code	RO	U32	N	Drive Dependent
	3	Revision Number	RO	U32	N	x.xx
	4	Serial Number	RO	U32	N	Drive Dependent
1200h	0	SDO Parameter No. Of entries	RO	U8	N	2
	1	COB-ID Client -> Server (RX)	RO	U32	N	00000600h+Node ID
	2	COB-ID Server -> Client (TX)	RO	U32	N	00000580h+Node ID
1400h	0	RX PDO1 comms param. no. of entries	RO	U8	N	2
	1	RX PDO1 COB-ID	RW	U32	N	40000200h+Node ID
	2	RX PDO transmission type	RW	U32	N	254
1401h	0	RX PDO2 comms param. no. of entries	RO	U8	N	2
	1	RX PDO2 COB-ID	RW	U32	N	C0000300h+Node ID
	2	RX PDO2 transmission type	RW	U8	N	0
1600h	0	RX PDO1 1 mapping / no. of entries	RW	U8	N	4
	1	RX PDO1 1st mapped object	RW	U32	N	20000010h
	2	RX PDO1 2nd mapped object	RW	U32	N	20010010h
	3	RX PDO1 3rd mapped object	RW	U32	N	20030010h
	4	RX PDO1 4th mapped object	RW	U32	N	00060010h
1601h	0	RX PDO2 1 mapping / no. of entries	RW	U8	N	4
	1	RX PDO2 1st mapped object	RW	U32	N	00060010h
	2	RX PDO2 2nd mapped object	RW	U32	N	00060010h
	3	RX PDO2 3rd mapped object	RW	U32	N	00060010h
	4	RX PDO2 4th mapped object	RW	U32	N	00060010h
1800h	0	TX PDO1 comms parameter number of entries	RO	U8	N	3
	1	TX PDO1 COB-ID	RW	U32	N	40000180h+Node ID
	2	TX PDO1 transmission type	RW	U8	N	254
	3	TX PDO1 Inhibit time (100μs)	RW	U16	N	0
1801h	0	TX PDO2 comms param no. of entries	RO	U8	N	3
	1	TX PDO2 COB-ID	RW	U32	N	C0000280h+Node ID
	2	TX PDO2 transmission type	RW	U8	N	0
	3	TX PDO2 Inhibit time (100μs)	RW	U16	N	0
1A00h	0	TX PDO1 mapping / no. of entries	RW	U8	N	4
	1	TX PDO1 1st mapped object	RW	U32	N	200A0010h
	2	TX PDO1 2nd mapped object	RW	U32	N	200B0010h
	3	TX PDO1 3rd mapped object	RW	U32	N	200D0010h
	4	TX PDO1 4th mapped object	RW	U32	N	200E0010h
1A01h	0	TX PDO2 mapping / no. of entries	RW	U8	N	4
	1	TX PDO2 1st mapped object	RW	U32	N	200F0010h
	2	TX PDO2 2nd mapped object	RW	U32	N	20100010h
	3	TX PDO2 3rd mapped object	RW	U32	N	20110010h
	4	TX PDO2 4th mapped object	RW	U32	N	200C0010h

CANopen - PDO Transmission Type

Various transmission modes can be selected for each PDO. For RX PDO, the following modes are supported:

Transmission Type	Mode	Description
0-240	Synchronous	The received data will be transferred to the drive active control register when the next sync message is received.
254, 255	Asynchronous	The received data will be transferred to the drive active control register immediately without delay.

For TX PDO, the following modes are supported:

Transmission Type	Mode	Description
0	Acyclic synchronous	TX PDO will only be sent out if the PDO data has changed and PDO will be transmitted on reception of SYNC object.
1-240	Cyclic synchronous	TX PDO will be transmitted synchronously and cyclically. The transmission type indicates the number of SYNC object that are.
254	Asynchronous	TX PDO will only be transferred once corresponding RX PDO has been received.
255	Asynchronous	TX PDO will only be transferred anytime if PDO data value has changed.

CANopen - PDO Default Mapping

Table 89. Default PDO mapping on power up

	Objects No.	Mapped Object	Length	Mapped Function	Transmission Type
RX PDO1	1	2000h	Unsigned 16	Control Word	254 Valid immediately
	2	2001h	Integer 16	Speed reference	254 Valid immediately
	3	2003h	Unsigned 16	Reserved	254 Valid immediately
	4	0006h	Unsigned 16	Reserved	254 Valid immediately
TX PDO1	1	200Ah	Unsigned 16	Drive status register	254 Send after receiving RX PDO1
	2	200Bh	Integer 16	Motor speed Hz	254 Send after receiving RX PDO1
	3	200Dh	Unsigned 16	Motor current	254 Send after receiving RX PDO1
	4	2010h	Integer 16	Drive temperature	254 Send after receiving RX PDO1
RX PDO2	1	0006h	Unsigned 16	Dummy	254
	2	0006h	Unsigned 16	Dummy	254
	3	0006h	Unsigned 16	Dummy	254
	4	0006h	Unsigned 16	Dummy	254
TX PDO2	1	2011h	Unsigned 16	DC bus voltage	254
	2	2012h	Unsigned 16	Digital input status	254
	3	2013h	Integer 16	Analog input 1 (%)	254
	4	2014h	Integer 16	Analog input 2 (%)	254

CANopen - Service Data Objects (SDO)

Access to a devices object dictionary is provided by Service Data Object (SDO). SDO permits reading or writing entries in the object dictionary.

The operation of SDOs is on the basis of client/server relationship. The client sends requests and the server responds to those requests.

The SDO communication is peer-to-peer communication.

If an error occurs, for instance an entry does not exist, the device returns a message containing a completion code that represents the error.

SDO Functions

SDO message may be used for the following functions:

Read a value
Write a value

SDO COB-ID

By default, SDO messages have the following COB-ID's:

Client to server message has the COB-ID 600h + node ID
Server to client response will have the COB-ID 580h + node ID

SDO Control Byte

The following values for the SDO Control Byte are supported:

Table 90. Supported SDO Command Specifiers

Control Byte	Function
0x40	Read Request (Any Size Data)
0x4F	Read Request - Single Byte
0x4B	Read Request - Single Word
0x43	Read Request - Double Word
0x2F	Write Request - Single Byte
0x2B	Write Request - Single Word
0x23	Write Request - Double Word
0x60	Write Response - Successful
0x80	Write Response - Unsuccessful

SDO Message Format

SDO messages have the following format:

Table 91. SDO Message Format

Byte 0	Byte 1	Byte 2	Byte 3	Byte 4	Byte 5	Byte 6	Byte 7
Control Byte	Index (16 Bit)		Sub Index (8 Bit)	Data (Up to 32 Bits)
See Table Below	LSB	MSB

SDO Message Examples

The following are examples of using the SDO to read or write data.

Example 1: Client request the value of Index 1018h Sub Index 1 (Vendor ID) from server with node-ID = 1

SDO Message: Client to Server:

Table 92. Example Read Request

COB-ID	Control Byte	Index		Sub Index	Data
0x601	0x40	0x18	0x10	0x0	Not Required

Note

COB-ID of the request = 0x600 + node ID so for node ID= 1, 0x601

The Index value is transferred with MSB first

The expected response would be:

Table 93. Expected Response

COB-ID	Control Byte	Index		Sub Index	Data
0x581	0x4B	0x18	0x10	0x0	Data Value (Single Word)

Note

The COB-ID of the response telegram is 0x580 + Node-ID so for Node-ID = 1, the value is 0x581

The Control Byte will indicate the data length, in this example a single word value

Example 2: Client attempts to write the value of Index 1018h Sub Index 1 (Vendor ID) from server with node-ID = 1

In this case, the message from the Client to the server becomes:

Table 94. Client to Server Message

COB-ID	Control Byte	Index		Sub Index	Data
0x601	0x2B	0x18	0x10	0x0	e.g. 0x0001

The Vendor ID value will be read only and therefore the Server should reject the request as follows:

Table 95. Response Message Server to Client

COB-ID	Control Byte	Index		Sub Index	Data
0x581	80	0x18	0x10	0x0	0x06010002

The server will respond with an error code, see below for further information on error codes.

SDO Error Code Responses

The following table lists some of the common error code response that may be received.

Table 96. SDO Possible Error Responses

Data Value	Meaning
0x05040000	SDO Timeout
0x05040001	Invalid Control Byte
0x06010002	Write Access attempted to a Read Only value
0x0602000	SDO Object does not exist
0x06040041	The referenced object cannot be mapped to a PDO
0x06020042	The size or number of mapped objects results in an invalid PDO size
0x06070010	Data type or length is not compatible
0x06090011	SDO Sub Index does not exist
0x06090031	Parameter value too low
0x06090032	Parameter Value too high

CANopen - Physical Connectivity

The drive has a built-in RJ45 port for connection of a CANopen network, this is highlighted by the circle in the image below.

Caution

Always ensure 0V connection is present.

Notice

A Network terminating resistor (120Ω) may be used at the end of the network to reduce noise.

CANopen - Communication Setup Parameters

The following Parameters must be set for the drive to be controlled over CANopen

Configure the Command Source to CANopen in P1-01.

Set P1-01 to 2: CANopen for drive control via CAN communication.

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P1-01

Primary Command Source

N/A

0: Terminal

1: Modbus RTU

2: CANopen

3: Reserved

N/A

2065h

101

Set the CANopen Address in P2-07.
Parameter Number
Parameter Name
Units
Default
Available Settings
Access
Change During Run
Scaling
Size (Bytes)
CAN Register
CAN Sub Index
Modbus Register
P2-07
CANopen Address
N/A
1
1 ... 127
RW
N
N/A
1
20CFh
0
207

Set the CANopen Baudrate in P2-08.

Must match the controllers baud rate

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P2-08

CANopen Baud Rate

N/A

2: 500kbps

0: 125kbps

1: 250kbps

2: 500kbps

3: 1Mbps

N/A

20D0h

208

Set Heartbeat communication loss reaction in P2-09

Parameter Number

Parameter Name

Units

Default

Available Settings

Access

Change During Run

Scaling

Size (Bytes)

CAN Register

CAN Sub Index

Modbus Register

P2-09

CANopen Comms Loss Reaction

N/A

2: Ramp to Stop Only (No Trip)

0: Trip

1: Ramp to Stop then Trip

2: Ramp to Stop Only (No Trip)

3: Run at Inspection Speed (P8-09)

N/A

20D1h

209

CANopen - Group 1 - Group 12 Reading/Writing Parameters

All parameters can be accessed over CAN communication regardless of setting in P1-01.

Each parameter has it's own specific Object ID that can be calculated by the formula: Object ID = 2000h + (Group * 100) + Parameter Number

Hexadecimal Version: 2000h + (8h * 64h) + 1h = 2321h
Decimal Version: 8192 + (8 * 100) + 1 = 8993

For example using the above formula to calculate P8-01 (Maximum Frequency):

So if you were using Hexadecimal to write the Object ID you would enter 2321h or 8993 is using decimal.

CANopen - Control Word & Speed Reference

CANopen Object 2000h is the Control Word and can be used to Run the drive Forward or Reverse, Stop the drive and Reset drive Fault Codes.

The Control Word consists of 16 bits (2 Bytes), though only bits 0 - 2 are used.

The table below shows the function of each bit in the Control Word.

Bit Number	15	14	13	12	11	10	9	8	7	6	5	4	3	2	1	0
Byte	High Byte								Low Byte
Bit Function when 1	Reserved													Fault Reset Request	Run Reverse	Run Forward

Important

Drive must be set to CANopen command source in P1-01 to run the drive via CANopen.

Running the drive over CANopen

To start the drive over CANopen you will need to use the Control Word in Object 2000h.

Register 1 - Bit Number	Running Direction	Drive Action
Register 1 - Bit Number	Running Direction	Action when Bit = 0	Action when Bit = 1
0	Forward	Drive Stopped / Stop the drive	Run the Drive Forward with Object 2001h Speed Reference
1	Reverse	Drive Stopped / Stop the drive	Run the Drive Reverse with Object 2001h Speed Reference
2	N/A	No Action	Reset Fault - If the drive is under a fault condition (fault code displayed)

Example Control Word Telegram to run the drive forward

An example using CANopen PDO1 to run the drive forward at 50Hz by using the Control Word with COB-ID 201h for a drive with address 1 is as follows:

201 8 01 00 F4 01 00 00 00 00

Breaking down this message it translate as follows:

Part of Message	Description	Value in Hex (Decimal)	Drive Description
201h	COB-ID	0x201 (513)	Needs to be 200h + Drive address (Parameter P2-07)
8	Length	0x08 (8)	Message Length
01 00	PDO1 (1)	0x0001 (0)	Writing to PDO 1st mapped Object (Drive Control Word) Binary Value 0000 0001
F4 01	PDO1 (2)	0x 01F4 (500)	Writing to PDO 2nd Mapped Object (Speed Reference) Writing 500 for 50Hz
00 00	PDO1 (3)	0x0000 (0)	Writing to PDO 3rd Mapped Object (Dummy)
00 00	PDO1 (4)	0x0000 (0)	Writing to PDO 4th Mapped Object (Dummy)

CANopen - Status Word

The drive's Status Word can be monitored in CANopen Object 200Ah and is a read only register.

Bit	Definition	Bit 0	Bit 1
0	Ready	Drive has any of the following a fault code, lost mains supply or Safety Chain is open	Drive is free from fault codes, has mains supply and Safety Chain is closed
1	Running	When drive is stopped	When drive is running
2	Tripped	When drive has no fault code	When drive has tripped and displays a fault code
3	Reserved	Reserved	Reserved
4	Reserved	Reserved	Reserved
5	Reserved	Reserved	Reserved
6	Speed Set-point Reached (At Speed)	When drive is not at target speed reference	When drive reaches target speed reference
7	Below Minimum Speed	When drive is above minimum speed (P8-02 value)	When drive speed is less than P8-02 value and drive is enabled
8	Overload	When drive output current is below P4-03 value	When drive output current is above P4-03 value (Overload Conditions)
9	Mains Loss	When drive is supplied from mains power	Whens mains power is lost
10	Heatsink > 85°C	When P0-48 is < 85°C	When P0-48 is > 85°C
11	Control Board > 80°C	When drive P0-49 temperature is < 80°C	When drive P0-49 temperature is > 80°C
12	Switching Frequency Reduction	When no switching frequency reduction is not active	When switching frequency reduction is active
13	Reverse Rotation	When drive speed sign is positive	When drive speed sign is negative
14	Auto-tune Active	When Auto-tune is not active	When Auto-tune is in progress
15	Reserved	Reserved	Reserved

Reading the Drive Status Word

To read the drive Status Word use Object Address 200Ah. Below is an example using CANopen to send a message to read the drives Status Word and the drives response.

Transmit Message to Read Drive Status Word

First we need to send the read request (rx) to the Object Address 200Ah. We do this by using the telegram: 601 8 40 0A 20 00 00 00 00 00.

Breaking down this message it translate as follows:

Part of Message	Description	Value in Hex (Decimal)	Drive Description
601h	COB-ID	0x601 (1537)	Needs to be 600h + Drive address (Parameter P2-07) in this case the drive is address 1 so 600 + 1 = 601h
8	Length	0x08 (8)	Message Length
40	Read Request	0x40 (64)	Read request of any data size
0A 20	Object Address	0x200A (8202)	Reading Object Address 200Ah (Drive Status Word)
00	Object Address Sub Index	0x00 (0)	Objects Index
00 00 00 00	Object Value	0x00000000 (0)	Objects value

Response Message from Drive

When we send this message to the drive we get back a response message with the drives status word.

An example Status Word received from the drive is: 581 8 4B 0A 20 00 43 00 00 00.

Breaking down this message it translate as follows:

Part of Message	Description	Value in Hex (Decimal)	Drive Description
581h	COB-ID	0x581 (1049)	Will get back 580 + drive address
8	Length	0x08 (8)	Message Length
4B	Read Response	0x40 (64)	Read response saying the data is 2 bytes
0A 20	Object Address	0x200A (8202)	Reading Object Address 200Ah (Drive Status Word)
00	Object Address Sub Index	0x00 (0)	Objects Index
43 00 00 00	Object Value	0x0043 (67)	Objects value Binary Value: 0000 0000 0100 0011

Understanding the Status Word from the CAN message

So from the Object Value part of the message we can see that the drives status word is: 0000 0000 0100 0011.

Lets break down this status word into its individual bits and using the table of each bits function we can define what the drive is doing below:

From the Status Word we can see that the drive is:

Running at target speed reference
Not in overload conditions

For full details of this Status Word example see the table below to fully define what the drive is doing in this example.

Bit	Status Word Individual Bit Status	What does each bit status mean
0	1	Bit 0 has a status of 1 which is Drive Ready so we know the drive is fee from faults, has mains supply and the Safety Chain is closed
1	1	Bit 1 being in a 1 state shows the drive is running
2	0	As bit 2 is 0 the drive has no fault codes present
3	0	Reserved
4	0
5	0
6	1	Bit 6 being 1 shows the drive is at it's target speed reference
7	0	Bit 7 being 1 shows the drive is NOT below the speed set in P8-02
8	0	Bit 8 being 0 means the drive is not in overload conditions and the Motor Current (P0-25) is below the value in P4-03
9	0	As bit 9 is 0 the drive is supplied from mains power
10	0	Bit 10 being 0 means the drive is not overheated
11	0	Bit 11 being 0 means the drive is not overheated
12	0	Bit 12 with a status of indicates there is no switching frequency reduction
13	0	Bit 13 being 0 shows the drive has a positive speed sign so should be running forward (upwards)
14	0	Bit 14 being 0 shows that an Auto-tune is not active
15	1	Reserved

CANopen - How to Read Drive Fault Codes

When a fault code occurs the drive will send out a CAN message with the COB-ID 081h which will contain the fault code in it's message.

An example message when the drive trips is: 081 8 39 10 01 39 00 00 00 00.

Lets decode this message to find out what it means:

Part of Message	Description	Value in Hex (Decimal)	Drive Description
081	COB-ID	0x81 (129)	Value is 80h + Drive Address in this case 80+1 = 81h
8	Length	0x08 (8)	Message Length
39 10	Emergency Error Code	0x1039 (0)	First 2 bytes (0 & 1) make up the EEC (Emergency Error Code) The first byte gives the type of error. In this case it is a generic error 1000h
01	CANopen Error Register	0x01 (1)	CANopen Error Register
39 00 00 00 00	Fault Code	0x39 (57)	Manufacture specific error code. The last 5 bytes is the part of the message that gives the error code. In this message the value is 39h which is 57 in decimal indicating the fault code is F-ty

This is the standard message format when using CANopen for all fault codes.

Note

When the drive trips the error message is only sent once.

Universal Encoder Module

Follow the links below to explore the Universal Encoder Module Installation Guides & it's features.

Universal Encoder Module - Installation Topic List

Universal_Encoder_Module_-_Icons_-_Mechanical_Installation.svg

This Topic details how to mechanically install the Module to the drive

Universal_Encoder_Module_-_Icons_-_Electrical_Installation.svg

Details how to wire the encoder to the module

Universal Encoder Module - Electrical Installation

The encoder module is able to accept bare wire or bootlace ferrules.

The table below lists the terminal details for every terminal on the Universal Encoder Module.

Cable Termination Method	Cable Gauge Size			Screw Type	Recommended Screw Tightening Torque
Cable Termination Method	mm²	AWG	Length (mm)	Screw Type	Recommended Screw Tightening Torque
Bootlace Ferrule	1.5	14	6	Slotted Head M2	0.2Nm
Bare Cable	1	14	6	Slotted Head M2	0.2Nm

Universal Encoder Module - Electrical Installation - Terminal Details

Terminal Layout	Terminal Label	Terminal Function
Encoder Inputs
	24V	24V Supply
	0V	0V common for encoder
	5V	5V Supply
	A+/Sin+	A+ or Sin+ terminal
	A-/Sin-	A- or Sin- terminal
	B+/Cos+	B+ or Cos+ terminal
	B-/Cos-	B- or Cos- terminal
	Z+	Z+ terminal
	Z-	Z- terminal
	C+/CLK+	C+ or Clock+ terminal
	C-/CLK-	C- or Clock- terminal
	D+/DATA+	D+ or DATA+ terminal
	D-/DATA-	D- or DATA- terminal
	Shield	Encoder Shield terminal
Simulated Encoder Outputs
	0V	Simulated Output 0V common
	SimA+	A+ Output (simulated) terminal
	SimA-	A- Output (simulated) terminal
	SimB+	B+ Output (simulated) terminal
	SimB-	B- Output (simulated) terminal
Additional Digital Inputs
	24V	24V Supply
	DAUX1	Digital Input 9
	DAUX2	Digital Input 10
	0V	Digital Input 0V common

Universal Encoder Module - Electrical Installation - Matching Encoder to Module

To connect your motor's encoder to the universal module it is important to understand which cable should be plugged into which terminal. Below is a table that details how each encoder should be wired into the Universal Encoder Module:

Encoder Type	24V	0V	5V	A+/Sin+	A-/Sin-	B+/Cos+	B-/Cos-	C+/CLOCK	C-/CLOCK	D+/DATA	D-/DATA	Shield
Incremental TTL Differential		0V	5V	A+	A-	B+	B-					Cable Shield
Incremental HTL Differential	24V	0V		A+	A-	B+	B-
Incremental TTL		0V	5V	A	Connect to 0V	B	Connect to 0V
Incremental HTL	24V	0V		A	Connect to 0V	B	Connect to 0V
SinCos (ERN 1387)		0V	5V	A+	A-	B+	B-	C+	C-	D+	D-
Endat with Incremental Signals		0V	5V	A+	A-	B+	B-	CLOCK	/CLOCK	DATA	/DATA
Endat without Incremental Signals		0V	5V					CLOCK	/CLOCK	DATA	/DATA

Important

The shield must be connected to the Universal Encoder Module to prevent noise interference.

Universal Encoder Module - Mechanical Installation

If you have ordered the Universal Encoder Module as a separate option module you will need to mechanically install the module before operation.

Installing the Encoder Module			Installation Guide
			Place the Universal Encoder Module into the front of the drive as shown in the image to the left. Then once fitted into the front of the drive tighten the two screws to secure the module to the drive.

Universal Encoder Module - Features Topic List

Provides an overview of the module and the available features	Measures the Back EMF of Gearless motors for easy setup to run in open loop.
Displays the Real Time encoder offset to monitor for faults.	Detect if there is any fault on the encoder cables

Universal Encoder Module - Overview

The Universal Encoder Module can be used for both Geared Induction Motors and Gearless Permanent Magnet Motors to connect any type of encoder for closed loop operation.

To use the Elevator Core with an encoder which is referred to as closed loop you must use the Universal Encoder Module which can either be purchased as an option or factory fitted with the drive.

Option Module	Part Number
Universal Encoder Module	OPT-3-ENCU-IN

When using the Universal Encoder Module additional features are available:

Feature	Notes
Speed Feedback	Precise speed feedback at 0.1 resolution
Encoder Communication Quality	Check that the encoder readings are stable
Back EMF measurement	Measure Back EMF for operation in Open Loop
Real-time Encoder Offset	Read the real time encoder offset while the motor is running
Single Channel Wire Break Detection	Check if any cable is broken or missing on any specific channel
Encoder Fault Diagnostics	Module specific fault codes which can help diagnose any fault with the encoder
Universal Encoder Module Update	Update the Universal Encoder Module so any new encoder types can be supported
Extra Digital Inputs	Two freely programmable Digital Inputs are available taking the total number of Digital Inputs to 10
24V Supply	An additional 24V supply is available from the module
Simulated Outputs	A and B channel outputs that can be used for simulation of their respective channels

Universal Encoder Module Supported Encoder Types

The following encoders are supported by the Universal Encoder Module

Encoder Type	Variants
TTL Incremental Encoder	Differential With & Without Z Channels
HTL Incremental Encoder	Differential With & Without Z Channels
EnDat	With & without incremental signals ECN1313 / ECN113 / ECN 413 / ECN 1325 / ECN 125 / ECN 425
SinCos	ERN 1387 With CLK & DATA lines

Universal Encoder Module FAQ

Below is the answers to some commonly asked questions about the Universal Encoder Module

Question	Answer
Does the module support all encoder types?	Yes, all encoders are supported by one module
Does the module come as standard?	Yes the module can be factory fitted
How do I setup the encoder for closed lop operation?	Use Group 6 to enter the encoder information
Are there different encoder modules for different drive models?	No there is only one Universal Encoder Module. The one part code can be used with any Elevator Core.

Universal Encoder Module - Back EMF Measurement

When using the drive to run a Gearless Permanent Magnet Motor in Open Loop the Back EMF must be entered into parameter P4-02 Motor Rated Voltage to run the drive with no encoder feedback. If this is not done the drive will loose control and trip.

Normally you have to either calculate the Back EMF or find the value from the motor nameplate/datasheet. This is not always easily available.

When using the Universal Encoder Module while in closed loop (encoder feedback enabled) you can read P0-32 Back EMF Measured value and enter that value into P4-02.

Note

To get an accurate measurement run the drive at a speed greater than 25% of the motor rated speed e.g if you are using a motor with rated speed of 160rpm then you would need to run at a speed of 40rpm or more (the closer to rated speed the more accurate the measurement).

Universal Encoder Module - Back EMF Measurement - Setup

To run the drive in open loop commission the drive as normal for a Gearless Permanent Magnet Motor.

Once this is complete follow the steps below:

Run the drive at >25% of maximum speed (P8-01)
While the drive is at a stable speed monitor P0-32. This will give you the back EMF value
Once the drive has stopped enter the value monitored from P0-32 into P4-02. As this is your Back EMF value.

To run the drive in open loop make sure the steps above are completed

Set P6-05 to 0 to disable the encoder feedback
Set the boost parameters to 10% in P4-12 - P4-15
Make sure P4-02 has the measured Back EMF value entered
Run the drive as normal

Note

The drive can only be run in Open Loop with the ropes removed.

Back EMF Measurement - Parameters

Parameter Number	Parameter Name	Units	Default	Available Settings	Access	Change During Run	Scaling	Size (Bytes)	CAN Register	CAN Sub Index	Modbus Register
P0-32	Back EMF Measured Value	Volts	0V	0 ... 1200V	RO	N	N/A	2	-	-	10032
P4-02	Motor Rated Voltage/Back EMF-PM Motors	Volts	Rating Dependent	Rating Dependent	RW	N	N/A	2	2192h	0	402

P4-02 - Motor Rated Voltage/Back EMF‑PM Motors

When operating Gearless Permanent Magnet Motors in closed loop this value can be set to 0.

When operating Gearless Permanent Magnet Motors (P4-01 = 3) in open loop (P6-05 = 0) the Phase-to-Phase back emf voltage at rated speed must be entered in this parameter.

Troubleshooting

The topics below detail the fault/warning messages that can appear on the drive, what they mean and the action to fix them.

Fault messages that are displayed on the drive and OptiTools Pro with checks and diagnostics

Drive warning messages that will show on the displayed that will not stop the drive but should be addressed

Troubleshooting - Warning Messages

When these warning messages appear the drive will not trip and can continue running as normal. Though these messages do not trip the drive you should still follow the corrective action to fix them and not leave them for a prolonged period of time.

Warning message	Description	Corrective Action/Further information
OvLd	Drive is in Overload condition warning - currently delivering > 100% of P4-03.	Increase acceleration ramp (P8-03). Reduce the load, check the load mechanically to ensure it is free, and that no jams, blockages or other mechanical faults exist. If operating a Gearless motor check the encoder offset is correct and try repeating the measurement to confirm consistent values are being measured (P4-08=3)
Ot-br	Brake Resistor Overtemperature warning	Based on Brake resistor over temperature feedback via drive terminals.
Ot-Mm	Motor Overtemperature warning	Based on motor thermistor over temperature feedback via drive terminals.
Ot-Dr	Drive Overtemperature warning	Reduce drive temperature by providing sufficient cooling to the drive. Check drive heatsink fan is working with 5 button press.
noACin	Mains Loss	Check AC Supply is connected Check AC is connected to the drive input terminals and not the drive output terminals U,V,W
SEr	Service Required	The time programmed in parameter P11-17 (Service time interval) has elapsed
tr-lt	Travel Limit Reached	Travel direction Change counter (Rope wear Counter) as per set in parameter P10-05 has been reached

Troubleshooting - Fault Messages

Display message	No.	Description	Corrective Action/Further information
4-20 F	18	4-20mA Signal Lost	The reference signal on Analog Input 1 or 2 (DI4/DI5) has dropped below the minimum threshold of 3mA. Check the signal source and wiring to the drive terminals.
4-20 I	28	Current input >25mA	Reduce current to maximum of 20mA on terminals DI4/DI5.
Ai-Los	59	Analog Input Signal Loss	Drive has observed that there is no signal/speed reference being received at the Analog Input terminal DI4 (when P1-02 is set for Macro 6)
AtF-01	40	Auto-tune Failed	Measured motor stator resistance varies between phases. Ensure the motor is correctly connected and free from faults. Check the windings for correct resistance and balance.
AtF-02	41	Auto-tune Failed	Measured motor stator resistance is too large. Ensure the motor is correctly connected (motor contactor is closed) and free from faults. Check that the power rating corresponds to the power rating of the connected drive.
AtF-03	42	Auto-tune Failed	Z-channel not detected on Universal Encoder Module while using Auto-tune Mode 2, 3 or 4.
AtF-04	43	Auto-tune Failed	Reserved
AtF-05	44	Auto-tune Failed	Measured motor parameters are not convergent. Ensure the motor is correctly connected and free from faults. Check that the power rating corresponds to the power rating of the connected drive.
AtF-06	45	Encoder offset measurement failed	Drive has failed to measure the Encoder offset value using Auto-tune method 2 in P4-08. Normally occurs on Gearless Permanent Magnet motors with Surface Mounted magnets. Switch to Auto-tune method 4 by setting P4-08 to 4.
Atf-nA	109	Selected Auto-tune method incorrect for the selected motor	For Geared Induction motors use Auto-tune Mode 1 (P4-08 = 1).
bF-Err	46	Brake Release Monitoring Warning	Check Brake micro-switches are operating, and brake release monitoring time set in P5-05 is suitable.
bF-Loc	47	Brake Release Monitoring Lockout	The maximum number of brake release attempts set in P5-06 has been reached. This error must be reset by a competent person. To reset this error: Disable the drive. Set P5-04 to 0. Reset the fault. Set P5-04 back to the original setting.
bUS-01	60	Internal link to option module loss	Contact your local Invertek Drives Ltd representative.
bUS-02	61	Option module in exceptional condition	Contact your local Invertek Drives Ltd representative.
bUS-03	62	Internal Communication Error	Contact your local Invertek Drives Ltd representative.
bUS-04	63	Internal Communication Error	Contact your local Invertek Drives Ltd representative.
bUS-05	64	Internal Communication Error	Contact your local Invertek Drives Ltd representative.
bUS-06	65	Internal Communication Error	Contact your local Invertek Drives Ltd representative.
bUS-07	66	Internal Communication Error	Contact your local Invertek Drives Ltd representative.
bUS-08	67	Internal Communication Error	Power Cycle Drive, remove all power sources including USB-C. If error still shows after power cycle, then Contact your local Invertek Drives Ltd representative.
bUS-10	68	Internal Communication Error	Contact your local Invertek Drives Ltd representative.
CC	-	Motor Contactor Closing/Opening delay time	Shown during the period set in parameter P3-01 Motor Contactor Closing Time while the drive is giving the signal to either opening or closing the motor contactors.
CF9-dF	78	Drive configuration mismatch PS/IO	This is a critical failure. Contact your local Invertek Drives Ltd representative.
CF9-Er	79	Drive configuration data missing or corrupt	This is a critical failure. Contact your local Invertek Drives Ltd representative.
CF-Err	96	Motor Contactor feedback Error	Motor contactor is in wrong state as indicated by feedback signal from contactor.
Cfg-Ch	77	Drive configuration data changed	Fully power cycle the drive. If this issue persists contact your local Invertek Drives Ltdrepresentative.
CrFLT	30.03	Critical Module Error	The Module has Encountered a critical failure. Contact your local Invertek Drives Ltd representative.
dAtA-3	98	Internal data error	Contact your local Invertek Drives Ltd representative.
data-E	19	Internal memory fault	Reset drive (Red Button) Power Cycle Internal Comms Link Lost Refer to your Invertek Drives Ltd Sales Partner. Parameters not saved, defaults reloaded. Try again. If problem recurs, refer to your Invertek Drives Ltd Sales Partner
data-F	17	Internal memory fault	Can happen if the drive firmware has been downgraded and a feature which was being used previously is no longer available, in this case the solution is to cycle power and perform a parameter defaults and reprogram the drive with required parameter settings. Try again. If problem recurs, refer to your Invertek Drives Ltd Sales Partner.
E-103	103	Unexpected PS Firmware Change	Contact your local Invertek Drives Ltd representative.
E-250	250	Internal Error	Contact your local Invertek Drives Ltd representative.
E-251	251	Module not supported	Contact your local Invertek Drives Ltd representative.
E-252	252	IO not supported	Contact your local Invertek Drives Ltd representative.
E-253	253	Hardware ID not supported	Contact your local Invertek Drives Ltd representative.
E-254	254	Drive ID not supported	Contact your local Invertek Drives Ltd representative.
E-255	255	E255	Contact your local Invertek Drives Ltd representative.
Ed-1	30.77	Encoder Feedback Error - EnDat Error ‑ Light Unit Failure	The EnDat Encoder has reported that the light unit has failed.
Ed-2	30.78	Encoder Feedback Error - EnDat Error ‑ Signal Amplitude to low	The EnDat Encoder has reported that the signal amplitude is to low.
Ed-3	30.79	Encoder Feedback Error - EnDat Error ‑ Position calculation error	The EnDat Encoder has reported that there has been an error with the position calculation.
Ed-4	30.80	Encoder Feedback Error - EnDat Error ‑ Supply Overvoltage	The EnDat Encoder has reported that the supply voltage is too high.
Ed-5	30.81	Encoder Feedback Error - EnDat Error ‑ Supply Undervoltage	The EnDat Encoder has reported that the supply voltage is too low.
Ed-6	30.82	Encoder Feedback Error - EnDat Error ‑ Supply Overcurrent	The EnDat Encoder has reported that supply has gone over current.
Ed-7	30.83	Encoder Feedback Error - EnDat Error ‑ Battery need replacing	The EnDat Encoder has reported that the battery need replacing.
Ed-8	30.84	Encoder Feedback Error - Encoder Reported Unknown Error	Encoder Reported Unknown Error Contact your local Invertek Drives Ltd representative.
Ed-AOS	30.74	Encoder Feedback Error - EnDat ABS Overspeed	While in EnDat + SinCos mode the input frequency has exceeded 400KHz.
Ed-dAt	30.70	Encoder Feedback Error Data Loss ‑ Fault with CLK or DATA lines	Data Loss - Fault with CLK, DATA or supply lines.
Ed-inc	30.73	Encoder Feedback Error - Encoder Incompatible	The Connected encoder is not supported. The supported Encoder types can be found here.
Ed-LoS	30.72	Encoder Feedback Error - Communication Error	Comms Interruption due to excessive signal drop out or Line Loss on one of the encoder lines, if after a reset Ed-dAt shows it would indicate a Line Loss on one of the encoder lines. Check that the encoder cable is shielded and that the encoder shield is connected to the Universal Encoder Module. Encoder Communication quality can be viewed in P6-14.
Ed-Pd	30.71	Encoder Feedback Error - Cable to Long	Encoder cable length has exceeded 100m.
Ed-SAb	30.76	Encoder Feedback Error- Sin Cos Line Loss	There is a fault on the Sin or Cos input channels (A & B).
Ed-SOS	30.75	Encoder Feedback Error - EnDat SC Overspeed	While in EnDat + SinCos mode the input frequency has exceeded 400KHz.
Enc-CF8	111	Encoder Type Not Set	The encoder has been enabled in P6-05 with no type has not been selected in P6-04. Either: Disable the Encoder Feedback by setting P6-05 to 0. Select the Encoder Type in P6-04.
EncCF9	100	Encoder Configuration Error	Encoder offset measurement has been attempted with Encoder disabled, check Encoder is Enabled (P6-05 = 1)
Enc-CL	32	Encoder Module not fitted	The Universal Encoder Module has been enabled in P6-05 but the module is not fitted to the drive. Make sure the the Universal Encoder Module is properly fitted to the drive. Instructions on how to mechanically install the Universal Encoder Module can be found here.
Enc-Er	30	Encoder Feedback Faults (Only visible when an encoder module is fitted and enabled)	Will also show sub-trip code to identify specifically what has tripped. Encoder communication/data loss
Enc-PP	99	Encoder PPR is 0 with encoder enabled	Set Encoder Pulse per revolution into parameter (P6-03).
Err-06	-	Internal Error	Upgrade firmware to latest version. If issue persists contact your Invertek Drives Ltd Sales Partner.
E-trip	11	External trip	E-trip requested on control input terminals. Some settings of P1-02 require a normally closed contact to provide an external means of tripping the drive if an external device develops a fault. If a motor thermistor is connected check if the motor is too hot.
FaN-F	22	Cooling Fan Fault	Check and if necessary, replace the drive internal cooling fan. To check if the fan is working press all 5 buttons on the drive keypad at once while the drive is powered on. The display will show 8.8.8.8.8.8.8.8 and if the fan is working it will Can be caused by constantly turning on and off the heatsink fan. When the drive trips and shows FaN-F it will also alternate and show a number. The number indicates what fan has the issue (only Size 4 and above have more than one fan).
Flt-dc	13	Excessive DC Ripple	The DC Bus Ripple Voltage level is displayed in parameter P0-41. Check all three supply phases are present and within the 3% supply voltage level imbalance tolerance. Reduce the motor load.
F-Ptc	21	Motor PTC Over Temperature	The connected motor PTC device has caused the drive to trip
F-tY	57	Motor KTY84 Thermistor Fault	The connected motor KTY device has caused the drive to trip
h O-I	15	Instantaneous over current on drive output.	Refer to fault 3 below
HtLO	30.29	Quadrature TTL Over-speed	TTL Encoder Input frequency has exceeded the limit. Check that the motor nameplate data has been entered correctly or use the travel profile gains to smooth the travel curve.
IC-2	30.26	Channel Z Differential Fault	Encoder Channel Z Fault Check that there is no short on the Universal Encoder Module Terminals
IC-2n	30.28	Channel Z‑ Single‑Ended Fault	Check that there is no short on Z- Channel and that it is properly connected to the Universal Encoder Module terminal.
IC-2P	30.27	Channel Z+ Single‑Ended Fault	Check that there is no short on Z+ Channel and that it is properly connected to the Universal Encoder Module terminal.
IC-A	30.20	Channel A Differential Fault	Encoder Channel A Fault Check that there is no short on the Universal Encoder Module Terminals
IC-An	30.22	Channel A‑ Single‑Ended Fault	Check the terminal A-/Sin- for shorts.
IC-AP	30.21	Channel A+ Single‑Ended Fault	Check the terminal A+/Sin+ for shorts.
IC-b	30.23	Channel B Differential Fault	Encoder Channel B Fault Check that there is no short on the Universal Encoder Module Terminals
IC-bn	30.25	Channel B‑ Single‑Ended Fault	Check the terminal B-/Cos- for shorts.
IC-bP	30.24	Channel B+ Single‑Ended Fault	Check the terminal B+/Cos+ for shorts.
InLoSS	102	3 Phase input loss whilst running	Mains supply to the drive input phases has been lost during travel.
It-trp	04	Drive has tripped on overload after delivering >100% of value in P4-03 for a period of time	Increase acceleration rate (P8-03) or reduce the load. Check motor cable length does not exceed exceeds 100m (screened cable), or 150m (un-screened cable). Ensure the motor nameplate parameters are correctly entered in P4-02, P4-03, P4-04, P4-05. If operating in Vector mode (P4-01 – 0 or 1), also check the motor power factor in P4-07 and ensure an Auto-tune has been successfully completed for the connected motor. Check the load mechanically to ensure it is free, and that no jams, blockages or other mechanical faults exist. If operating a Gearless motor check the encoder offset is correct and try repeating the measurement to confirm consistent values are being measured (P4-08 = 3).
L1-LoS	92	L1 Phase is not present	No supply cable is connected to the L1 terminal.
L2-LoS	93	L2 Phase is not present	No supply cable is connected to the L2 terminal.
L3-LoS	94	L3 Phase is not present	No supply cable is connected to the L3 terminal.
no-Flt	0	No Fault	The drive has no fault.
Odr-Er	55	Wrong Run Sequence	Confirm STO and direction input is applied before speed commands. This function can be disabled by setting P11-23 to 1: Disabled.
O-heat	23	Ambient Temperature too High	The measured temperature around the drive is above the operating limit of the drive. Ensure the drive internal cooling fan is operating. Ensure there is the required space around the drive as shown in Mechanical Installation topic and that the cooling airflow path to and from the drive is not restricted. Increase the cooling airflow to the drive. Reduce the effective switching frequency setting in parameter P11-05. Reduce the load on the motor / drive.
O-I	03	Instantaneous over current on drive output (Triggered from Drive Output Current Measurement)	Fault Occurs on Drive Enable: Check the motor and motor connection cable for phase – phase and phase – earth short circuits. Check the load mechanically for a jam, blockage, or stalled condition. Is the drive sized correctly for the connected motor? Ensure the motor nameplate parameters are correctly entered in P4-02, P4-03, P4-04, P4-05. If operating in Vector mode (P4-01 = 0 or 1), also check the motor power factor in P4-07 and ensure an Auto-tune has been successfully completed for the connected motor. If operating in Enhanced V/F mode reduce the Boost voltage setting in P4-09. Increase the acceleration ramp up time in P8-03. If the connected motor has a holding brake, ensure the brake is correctly connected and controlled, and is releasing correctly. If operating a Gearless motor check the encoder offset is correct and try repeating the measurement to confirm consistent values are being measured (P4-08 = 3). Fault Occurs When Running: If operating in Vector Mode (P4-01 = 0, 1 or 3) reduce the speed loop gains.
OI-2	84	Ground current fault
OI-b	01	Brake channel over current	Ensure the connected brake resistor is above the minimum permissible level for the drive – refer to the ratings shown in the Technical Information topic. Check the brake resistor and wiring for possible short circuits.
OI-U	81	Output (Motor) U Phase overcurrent	See Instantaneous Overcurrent trip (Fault Code No. 03) for details on how to solve.
OI-v	82	Output (Motor) V Phase Loss overcurrent	See Instantaneous Overcurrent trip (Fault Code No. 03) for details on how to solve.
OI-ww	83	Output (Motor) W Phase Loss overcurrent	See Instantaneous Overcurrent trip (Fault Code No. 03) for details on how to solve.
OL-br	02	Brake resistor overload	The drive software has determined that the brake resistor is overloaded (based on the values entered in P3-04 and P3-05), and trips to protect the resistor. Always ensure the brake resistor is being operated within its designed parameter before making any parameter or system changes. To reduce the load on the resistor, increase deceleration time P8-04, reduce the load inertia or add further brake resistors in parallel, observing the minimum resistance value for the given drive.
Oph-U	85	Output (Motor) U Phase Loss	U phase is not connected to the drive, check that output contactors are closing fully, not arcing, or not opening whilst the drive is running, and see P10-08 (Motor connected check).
Oph-V	86	Output (Motor) V Phase Loss	V phase is not connected to the drive, check that output contactors are closing fully, not arcing, or not opening whilst the drive is running, and see P10-08 (Motor connected check).
Oph-wW	87	Output (Motor) W Phase Loss	W phase is not connected to the drive, check that output contactors are closing fully, not arcing, or not opening whilst the drive is running, and see P10-08 (Motor connected check).
O-SPd	91	Over Speed	Shown when the rotor speed is higher than 150% of maximum speed (P8-01) (immediate trip) or higher than 125% maximum speed (P8-01) for more than 100ms, whichever happens first.
O-t	08	Heatsink over temperature	The heatsink temperature can be displayed in P0-48. Check the drive ambient temperature. Ensure the drive internal cooling fan is operating. Ensure there is the required space around the drive as shown in Mechanical Installation topic and that the cooling airflow path to and from the drive is not restricted. Reduce the effective switching frequency setting in parameter P11-05. Reduce the load on the motor / drive.
Ot-br	58	Brake resistor overtemperature	Based on Brake resistor over temperature feedback via drive terminals.
Out-F	26	Drive output fault	Confirm all 3 motor phases are connected, check that output contactors are closing fully, not arcing, or not opening whilst the drive is running. Confirm contactor control connections to the drive are correct.
Out-PH	49	Output phase loss	Check all 3 motor phases are connected, confirm that motor contactor is closing.
OUt-U	88	U Phase PWM output Loss	Check all 3 motor phases are connected, confirm that motor contactor is closing
OUt-v	89	V Phase PWM output Loss	Check all 3 motor phases are connected, confirm that motor contactor is closing
OUtww	90	W Phase PWM output Loss	Check all 3 motor phases are connected, confirm that motor contactor is closing
O-Volt	06	Over voltage on DC bus	Check that the lift has been correctly balanced. Check that a brake resistor is connected correctly to terminals +DC and BR. Check the resistance of the brake resistor complies with the values in the Product Data Topic. If the fault occurs on stopping or during deceleration, increase the deceleration time in P8-04. If operating in Vector Mode (P4-01 = 0, 1 or 3) reduce the speed loop gains. Check that the mains voltage level is within the range detailed in Technical Data Topic. The value of the DC Bus Voltage can be displayed in P0-40.
P-ASY	95	Input phase voltage imbalance
P-def	10	Factory Default parameters have been loaded	The drive parameters have been set to factory default.
PE	30.02	Parameterisation Error	The set PPR and max motor speed exceed the operational speed range of the module.
P-LOss	14	Input phase loss trip	Drive intended for use with a 3 phase supply, one input phase has been disconnected or lost.
Prog-2	-	Drive firmware update is in progress.	Once the drive firmware has finished updating if this messages does not clear follow these steps: Reset drive (Red Button) Power Cycle Internal Comms Link Lost Refer to your Invertek Drives Ltd Sales Partner
PS-trp	05	Instantaneous over current on drive output (Triggered from Power Module Current Measurement)	Refer to fault 3 above
SC-Ab	30.50	Sin Cos AB Line Loss	Check the A/Sin channels and the B/Cos channels for any faults or wire breaks.
SC-C	30.51	Sin Cos C Line Loss	Check the C/CLK channels for any faults or wire breaks.
SC-d	30.52	Sin Cos D Line Loss	Check D/DATA channel for any faults or wire breaks.
Sc-F01	50	Modbus Communication Fault	A valid Modbus telegram has not been received within the watchdog time limit set in P5-06. Check the network master / PLC is still operating, check the connection cables. Increase the value of P2-06 to a suitable level.
Sc-F02	51	CANopen Communication Fault	A valid CANopen telegram has not been received within the watchdog time limit set in P5-06. Check the network master / PLC is still operating, check the connection cables. Increase the value of P2-06 to a suitable level.
Sc-F03	52	Communications Option Module Fault	Internal communication to the inserted Communication Option Module has been lost. Check the module is correctly inserted.
Sc-F04	53	IO card comms trip	Internal communication to the inserted Option Module has been lost. Check the module is correctly inserted.
SC-F06	56	App Comms Lost	Check communication cable to mobile. Make sure to use an isolator.
SC-LoS	97	Internal Comms Link Lost	Reset drive (Red Button) Power Cycle Internal Comms Link Lost Refer to your Invertek Drives Ltd Sales Partner.
SC-OS	30.53	Sin Cos Over-speed	Sin Cos encoder has excceded the maximum frequency.
SC-th	27	Motor thermistor short circuit	Check motor thermistor for wiring faults, check thermistor has not failed.
Shos	30.01	Motor Over Speed	The observed shaft speed has exceeded of the set max motor speed.
Sp-Err	31	Speed Error	Encoder Speed Error. The % error between the estimated (open loop)/measured encoder feedback speed and the actual motor speed is greater than the value set in P6-11 for the time set in P6-12. Confirm that the speed loop gains have been optimised. Check drive is not reaching torque or current limit for more than 1 second. In Gearless applications can be caused by excess rollback, see Optimsation - Rollback topic. If operating a Gearless motor check the encoder offset is correct and try repeating the measurement to confirm consistent values are being measured (P4-08 to 3) In Geared Open loop applications this can be caused by the motor stalling, check : Motor data is correct, and an auto-tune has been performed. Motor rated current is set correctly. Magnetising current in P4-28 is not too high. Brake is releasing. Note: This fault is not active while DC Injection is active.
Sto-F	29	Internal STO circuit Error or synchronisation delay between ports STO1 & STO2 greater than 120ms	Check supply to terminals STO1 and STO2 is >18V Ensure the synchronisation delay between STO1 and STO2 is no greater than 120ms Can also be caused by a short circuit in the safety circuit NOTE: A Power Cycle is required to clear this trip (Providing the cause of the trip has been removed) Otherwise refer to your Invertek Drives Ltd Sales Partner).
Sto-L	101	STO inputs opened whilst drive running	Both of the Drive STO terminals (STO1 and STO2) have been opened at exactly the same time while running. Check that the controller is waiting until the drive output has turned off before opening the Safety Chain. Check that a solid 24V is present on both terminals STO1 and STO2. Check that the systems Safety Chain has not been opened while running. Ensure that the all of the user I/O output terminals are not drawing more than 150mA, whilst running. Note: This trip can be disabled by setting P11-25 to 1. By default this trip is enabled. Invertek Drives Ltd recommends always leaving this trip enabled.
Sto-S	39	STO State Error	If the STO input has not changed state (Opened) in the time set in P11-24 when the drive stops. Check that when the drive stops the STO inputs are opened within the time set in P11-24. Can also be caused by a short circuit in the safety circuit. The STO input state can be monitored via P0-03. Feature can be disabled by setting P11-24 to 0.
th-FLt	16	Faulty thermistor on heatsink	Refer to your Invertek Drives Ltd Sales Partner.
ttlO	30.30	Quadrature HTL Over‑speed	HTL Encoder input frequency has exceeded the limits. Check that the motor nameplate data has been entered correctly or use the travel profile gains to smooth the travel curve.
U-Def	20	User Parameter Defaults	User Parameter defaults have been loaded.
UPS-L	110	UPS Overload	Whilst operating in Rescue mode the output power to the motor exceeded the value of UPS rating (P7-04) for the time set in parameter (P7-16) UPS Overload Time Limit, Reduce Rescue Mode Speed/Motor Load.
USB C	-	Drive is being powered from the USB-C port on the front of the drive	USB-C is connected to the drive with no mains supply and messages are being transferred.
USB P	-	Drive is being powered from the USB-C port on the front of the drive and no data is being transmitted.	P2-13 is set to 0 so the drive is no longer transmitting any messages via USB-C
USr-cL	-	Clear User defaults action has been performed	Shown when P11-01 is set to 2 to clear user default parameters.
Usr-PS	-	Save User defaults action has been performed	Shown when P11-01 is set to 1 to save values as user default parameters.
U-t	09	Under temperature	Trip occurs when ambient temperature is less than -20°C. The temperature must be raised over -20°C in order to start the drive.
U-Volt	07	Under voltage on DC bus	This occurs routinely when power is switched off. If it occurs during running, check the incoming supply voltage, and all connections into the drive, fuses, contactors etc. If in rescue mode confirm that the voltage is within the range detailed in Rescue Operation Topic. If in rescue mode try decreasing rescue mode speed (P7-03).

Elevator Core Reference Guide

Parameter Lists & Descriptions

Elevator System Setup

Motor Setup

Drive Speeds & Comfort

Drive Advanced Features

Group 0 Monitoring - Parameter List

Group 1 User IO - Parameter List

Group 1.1 - User IO - Primary Command Source Selection

P1-01 - Primary Command Source

Note

Group 1.2 - User IO - Control Terminal Function Select

P1-02 - Control Terminal Function Select

Macro Status Monitoring

Macro Tables

Group 1.3 - User IO - Analog Input 1 (DI4) configuration

P1-03 - DI4 Analog Input 1 Format

P1-04 - DI4 Analog Input 1 Offset

P1-05 - DI4 Analog Input 1 Scaling

P1-06 - DI4 Analog Input 1 Filter

P1-07 - DI4 Analog Input Signal Loss Reaction

P1-08 - DI4/DI5 Analog Input Signal Loss Speed

Group 1.4 User IO - Analog Input 2 (DI5) configuration

P1-09 - DI5 Analog Input 2 Format

P1-10 - DI5 Analog Input 2 Offset

P1-11 - DI5 Analog Input 2 Scaling

P1-12 - DI5 Analog Input 2 Filter

P1-13 - DI5 Analog Input 2 Signal Loss Reaction

Group 1.5 - User IO - DA1 Output 1 Configuration

P1-14 - DA1 Output 1 Type

P1-15 - DA1 Digital Output 1 Function Select

Note

P1-16 - DA1 Digital Output 1 Invert

P1-17 - DA1 Analog Output 1 Source Select

P1-18 - DA1 Analog Output 1 Format

P1-19 - DA1 Analog Output 1 Scaling

P1-20 - DA1 Analog Output 1 Offset

Group 1.6 - User IO - DA2 Output 2 configuration

P1-21 - DA2 Output 2 Type

P1-22 - DA2 Digital Output 2 Function Select

Note

P1-23 - DA2 Digital Output 2 Invert

P1-24 - DA2 Analog Output 2 Source Select

P1-25 - DA2 Analog Output 2 Format

P1-26 - DA2 Analog Output 2 Scaling

P1-27 - DA2 Analog Output 2 Offset

Group 1.7 - User IO - Digital Output 3 Configuration

P1-28 - DO3 Digital Output 3 Function Select

Note

P1-29 - DO3 Digital Output 3 Invert

Group 1.8 - User IO - User Relays

P1-30 - Relay 1 Function Select

Note

Group 1.9 - User IO - Hysteresis

P1-31 - DA1 Threshold Upper Limit

P1-32 - DA1 Threshold Lower Limit

P1-33 - DA2 Threshold Upper Limit

P1-34 - DA2 Threshold Lower Limit

P1-35 - Relay 1 Threshold Upper Limit

P1-36 - Relay 1 Threshold Lower Limit

P1-37 - Digital/Relay Output Hysteresis Band

P1-38 - DO3 Threshold Upper Limit

P1-39 - DO3 Threshold Lower Limit

Group 1.9 - User IO - Logic Control

P1-40 - Start Mode Select / Automatic Restart

Note

P1-41 - Auto-restart delay time

Note

P1-42 - Speed Following Error

P1-43 - Positive/Negative Logic Select

Note

Group 2 Communications - Parameter List

Group 2.1 - Communications - Modbus RTU

P2-01 - Modbus Slave Address

P2-02 - Modbus RTU Baud Rate

P2-03 - Modbus RTU Data Format

P2-04 - Modbus Communications Loss Timeout

P2-05 - Communication Loss Action

P2-06 - Modbus RTU Response Delay

Group 2.2 - Communications - CANopen