Commander GP2

User Guide
COMMANDER
Gp
General Purpose Variable Speed Drive
for induction motors
0.75kW to 110kW
(1HP to 150HP)
Part Number: 0451-0010

Issue Number: 1
General information
The manufacturer accepts no liability for any
consequences resulting from inappropriate ,
negligent or incorrect installation or adjustment of
the optional operating parameters of the equipment
or from mismatching the variable speed drive
(Drive) with the motor.
The contents of this User Guide are believed to be

correct at the time of printing. In the interests of a
commitment to a policy of continuous development
and improvement, the manufacturer reserves the
right to change the specification of the product or
its performance, or the contents of the User Guide,
without notice.
All rights reserved. No parts of this User Guide may

be reproduced or transmitted in any form or by any
means, electrical or mechanical including
photocopying, recording or by any information-
storage or retrieval system, without permission in
writing from the publisher.
Important...
Drive software version
This product is supplied with the latest version of
user-interface and machine-control software. If this
product is to be used with other Control Techniques
variable speed drives in an existing system, there
may be some differences between their software
and the software in this product. These differences
will cause a difference in functions. This may also
apply to variable speed drives returned from a
Control Techniques Service Centre.
If there is any doubt, contact a Control Techniques

Drive Centre.
Copyright September 1998 Control Techniques Drives Ltd
Author: RFD
Issue Code: gpxu1
Issue Date: September 1998
S/W Version: 3.1.X

Contents
1 Introduction 1-1 A Programming Instructions A-1

1.1 How this User Guide can help you 1-1 A.1 Electrical connections A-1
1.2 Model sizes 1-1 A.2 Preparation A-1
1.3 Configuration layers 1-1 A.3 Status mode A-2
1.4 Default configurations 1-2 A.4 Displaying the parameter
number in Status mode A-2
1.5 Operating mode 1-2
A.5 Entering Parameter mode
1.6 User-interface modes 1-2
and returning to Status mode A-2
1.7 Macro configurations 1-3
A.6 Selecting a parameter to access A-3
1.8 Plug-in option modules 1-5
A.7 Changing the value of a parameter A-4
1.9 Serial communications 1-5
A.8 Saving new parameter values A-6
2 Getting Started 2-1 A.9 Flashing and non-flashing digits A-6
2.1 How to use this chapter 2-1 A.10 Negative values A-6
2.2 Making signal and power connections 2-1 A.11 Changing the setting
of a bit parameter A-6
2.3 Introduction to the display and keypad 2-6
A.12 Selecting a different option A-7
2.4 Working with software parameters 2-7
A.13 Restoring the Drive to a default
2.5 How macro configurations
configuration A-7
change the arrangement of
the Menu 0 parameters 2-8 A.14 Summary of key operation A-7
2.6 Initial setting up 2-9
B Security B-1
2.7 Operating instructions 2-13
B.1 User-defined Security B-1
2.8 Setting up operating limits 2-15
B.2 Setting-up User Security B-1
3 Setting Up the Drive B.3 Unlocking User Security B-1
(Macro Configurations) 3-1 B.4 Summary B-1
3.1 How to use this chapter 3-1
C Signal Connections C-1
3.2 Enabling a different
macro configuration 3-1 D Menu 0 Parameters D-1
3.3 Macro 0 General purpose D.1 Introduction D-1
(default configuration) 3-3
D.2 Fixed-function parameters common
3.4 Macro 1 Easy mode 3-9 to all macro configurations D-2
3.5 Macro 2 Motorized potentiometer 3-15 D.3 Parameters specific to the macro
3.6 Macro 3 Preset frequencies 3-21 configurations D-8
3.7 Macro 4 Torque control 3-27 E Diagnostics E-1

3.8 Macro 5 PID (set-point control) 3-33 E.1 Status indications E-1
E.2 Alarm indications E-1
E.3 Trip codes E-2
Commander GP User Guide

Issue code: gpxu1 i
ii Issue code: gpxu1
1 Introduction 1.2 Model sizes
This User Guide refers to the models listed below.
1.1 How this User Guide Model size Model code Nominal
rating for
can help you standard AC
motors
If this is your first encounter with a kW HP
Commander GP Drive, read this User Guide at at
before referring to the accompanying 380V 460V
Installation Guide. GPD 1401 0.75 1.0
This User Guide is arranged on a step-by-step basis GPD 1402 1.1 1.5
to lead you through the following: GPD 1403 1.5 2.0
Learning how to operate the Unidrive GPD 1404 2.2 3.0

(Drive) GPD 1405 4.0 5.0
When to refer to the Installation Guide GPD 2401 5.5 7.5
Setting up the Unidrive GPD 2402 7.5 10
Variable speed drives may be GPD 2403 11.0 15

hazardous if misused. Carefully GPD 3401 15.0 25
follow the instructions in this GPD 3402 18.5 30
Warning User Guide and the Installation
GPD 3403 22.0 30
Guide.
GPD 3404 30.0 40
GPD 3405 37.0 50
GPD 4401 45.0 75
GPD 4402 55.0 100
GPD 4403 75.0 125
GPD 4404 90.0 150
GPD 4405 110.0 150
1.3 Configuration layers

The Drive has three layers of configuration, starting
from the base layer (1) as follows:
1. Default configuration
2. User-interface mode
3. Macro configuration
Each of the upper layers (2, 3) is superimposed on its

preceeding layer.

Issue code: gpxu1 Introduction 1-1
1.4 Default configurations 1.5 Operating mode
The Drive has a separate default configuration for the For use with standard AC induction motors.
AC supply conditions in Europe or in the USA. These
two default configurations are distinguished as The Drive applies power to the motor at frequencies
follows: which are controlled by the user. The motor speed
European AC supply voltage at 50Hz is a result of the output frequency of the Drive and
slip due to the mechanical load.
USA AC supply voltage at 60Hz
The Drive is despatched from the factory in the The Drive can power a number of motors connected
appropriate default configuration for the continent in parallel (each motor must be protected against
in which it is to be sold. The default configuration overload; this is described in the Installation Guide).
is Macro 0 (described in Macro configurations later in
this chapter). The Drive can improve the performance of the
motor by applying the following:
The default configuration also defines the following Slip compensation
functions:
Fixed boost or Open-loop Vector operation
Europe Fixed boost applies a fixed voltage boost at low
Ability to select positive-logic for the digital frequencies.
control inputs Open-loop Vector operation maintains almost
Ability to adjust the current-loop PI gains constant flux by dynamically adjusting the
motor voltage according to the load on the
USA motor.
Ability to select digital control by two or
three wires 1.6 User-interface modes
Frequency demand indication
The motor can be started and stopped, the
(These functions apply to Macro 0 only.)
direction of rotation reversed and the speed
changed by operation of the Drive in either of the
Key used in this User Guide following user-interface modes:
The following key denotes the default
configuration: Terminal mode
EUR> 50Hz AC supply (Europe) Applying signals from electrical contacts, a
system controller or PLC to digital and analog
USA> 60Hz AC supply (USA)
inputs on the Drive.
When no key is stated, the information applies to For the USA default configuration, the Drive can
both default configurations. be configured for digital control by momentary
contacts.
Keypad mode
Manual operation of the keypad on the front
panel of the Drive. Minimal signal connections
are made to the Drive.

1-2 Introduction Issue code: gpxu1
1.7 Macro configurations Macro 2
Motorized potentiometer
The Drive can be used to control the motor speed in
The frequency is controlled incrementally by
various ways for different types of application. To
operation of up and down contacts.
reduce the number of adjustments to the Drive for
each type of application, six macro configurations The macro configuration can be used in Terminal
(0 to 5) are available. mode only.
Each macro configuration requires specific signal The principles of controlling motor speed are the
connections to be made to the Drive. same as for Macro 0.
The macro configurations are as follows:
Macro 3
Preset frequencies
Macro 0
General purpose Four preset frequencies that are selected by external
(default configuration) contacts.
Analog frequency control for general-purpose The macro configuration can be used in Terminal
applications. mode only.
The output frequency of the Drive is controlled by a The principles of controlling motor speed are the
frequency reference. The motor speed will follow the same as for Macro 0.
frequency reference so long as the maximum
permissible output current of the Drive is not Macro 4
exceeded. These principles also apply to Macros 1, Torque control
2, 3 and 5.
The motor torque is defined by a torque demand.
The macro configuration can be used in either The motor speed will vary continuously as a result
Keypad or Terminal mode. of the difference between the load torque and the
torque demand up to a maximum speed which is
The frequency can be controlled in either of the defined by a speed over-ride level.
following ways...
The torque demand is supplied by an analog torque
Terminal mode: An analog frequency or
reference signal that is applied to the Drive.
speed reference signal applied to the Drive
Keypad mode: By a user pressing keys on The macro configuration can be used in Terminal
the front panel of the Drive mode only.
Macro 1 Macro 5
Easy mode PID control
Frequency control for basic applications. This is The Drive is operated with a frequency reference
similar to Macro 0, except, for simplicity, fewer and an analog feedback device in order to
adjustments are required.
dynamically maintain the speed to a user-defined
The macro configuration can be used in either set-point under PID control.
Keypad or Terminal mode.
The macro configuration can be used in Terminal
The principles of controlling motor speed are the mode only.
same as for Macro 0. The principles of controlling motor speed are the
same as for Macro 0.

User interface
Frequency reference Drive

Functions of the software
selection (controlled by the macro configurations)
Minimum and maximum

Display and frequency limits
keypad
Skip frequencies
Acceleration and
deceleration ramps
User
control
S-ramp
Monitoring
Current limit
Stop mode
Spinning motor sync.
External
control and
monitoring
(analog and Voltage control
digital)
Motor parameters
PWM switching
frequency
Control
Monitoring
A A
AAAAA A
DC bus AAAAA
AAAAAAA
AC supply
AAAA
AA
A
AAA AA
AAAA
AAAA
A
AA A
AAA
AAA AA
A A
AA
Optional braking
Power circuits resistor
Figure 11 Block diagram of the Drive showing the main functions of the software,
and power connections (signal connections vary according to the
macro configuration)

1.8 Plug-in option modules 1.9 Serial communications
Operation of the Drive can be extended by the use The Drive can be configured and fully controlled
of plug-in option modules. The following modules from a system controller or PLC operating on a
are available from the supplier of the Drive; an RS232 or a 4-wire RS485 serial communications link.
appropriate User Guide is included with each A Basic serial communications large option module
module: must be fitted in the Drive. More information can
be obtained from a Drive Centre or distributor
Small option modules listed at the end of this User Guide.
UD50 Additional I/O Serial communications can be used in conjunction
UD55 Cloning (parameter copying) with Terminal mode or Keypad mode.
Large option modules
UD71 RS232/RS485 serial
communications

2 Getting Started 2.2 Making signal and power
connections
2.1 How to use this chapter Stored charge

The Drive contains capacitors
It is recommended that you follow the instructions Warning
that remain charged to a
in this chapter in the order that they appear. You potentially lethal voltage after
will be led through the initial stages of setting up the AC supply has been
the Drive (in Macro 1 Easy mode) as well as being able disconnected. If the Drive has
to familiarize yourself with operating the Drive. been energized, the AC supply
must be isolated at least
The Drive must be operated ten minutes before work may
only by personnel having the continue.
necessary training or
Warning
experience.
Isolation
If this is the first time the The control circuits and
Drive has been operated, Warning
terminals are isolated from the
ensure that no damage or power circuits only by basic
Warning
safety hazard could arise from insulation to IEC6641. The
the motor starting installer must ensure that all
unexpectedly. external control circuits are
separated from human contact
The motor must be fixed down by at least one layer of
and the shaft guarded against insulation rated for use at the
inadvertent contact. AC supply voltage.
Warning
Do not change parameter For instructions on removing the terminal covers,

values without careful see Mounting the Drive and RFI filter in Chapter 2
consideration; wrong values Installing the Drive in the Installation Guide.
Warning
may cause damage or a safety
hazard.
Notes
Keep a note of changes
When changing the values of parameters,
make a note of the new values in case they
need to be entered again.
Saving the changes

For new parameter-values to apply after
the AC supply to the Drive is interrupted,
new values must be saved. This is described Figure 21 Removing the terminal covers for
in Saving new parameter-values in Appendix A access to the connectors
Programming Instructions.

Issue code: gpxu1 Getting Started 2-1
1. Observe the safety warnings and cautions given
in Chapter 1 Safety information of the Installation
Guide and in this chapter.
2. Refer to the following:

1 11 Chapter 2 of the Installation Guide in order
to install the Drive
Figure 22 for the location of the
21 31 signal connector
Figure 23 for the locations of the
power connections
Figure 25 or 26 in this chapter in order to
make the signal and power connections for
Figure 22 Location of the signal connector operation in Terminal or Keypad mode.
Note that Macros 2 to 5 operate only in
Terminal mode. If one of these macro
configurations is to be enabled after the
initial setting up covered in this chapter, you
may wish to set up the Drive now in
Terminal mode in order to learn how to
operate it in this mode.
Signal connector for all models The two

terminal blocks of the signal connector can be
unplugged from the Drive by pulling them
downward.
Power connector for model sizes 1

and 2 The power connector can be unplugged
from the Drive by pulling it downward.
Power connections to model sizes 3
and 4 The power connections are made to
M10 studs located in the power section of the
Drive.
3. Note that the default user-interface mode is

as follows:
Continent User-interface
mode
EUR Terminal
USA Keypad
(Instructions for changing the user-interface

mode are given later.)
4. When connecting a motor to the Drive, observe

the following:
Preferably the motor should be identical to
the motor that is to be used in the
application, but this is not essential.
The motor shaft must not be attached to
Figure 23 Locations of the power connectors any equipment, or exposed.

2-2 Getting Started Issue code: gpxu1
After having made control
connections, carefully check
that terminal 30 is open-circuit
Warning
to ensure the Drive is in the
Stop state when the AC supply
is first connected.
5. After re-fitting the terminal cover, connect the

Drive to the AC supply.

Refer to the Installation Guide for
cable sizes and fuse ratings
Status relay
Drive healthy Optional
RFI filter
Analog frequency reference 1 Signal
(remote) connector
Connections for
single-ended input
signal Thermal
protection
device
0V common
Connections for
differential input signal Stop Start /
Reset
0V common
Analog frequency
reference 2 Optional braking resistor
(local)
Refer to the Installation Guide for sizing
of the optional braking resistor
Power
0V common terminals
SPEED
TORQUE
0V common
AT SPEED
RESET
JOG SELECT
RUN FORWARD
RUN REVERSE
LOCAL / REMOTE REMOTE
LOCAL
External trip
0V common
Figure 25 Power connections, and signal connections for Terminal mode (Macro 1 only)

Refer to the Installation Guide for
cable sizes and fuse ratings
Status relay
Drive healthy Optional
RFI filter
Signal
connector
Thermal
protection
device
Stop Start /
Reset
Optional braking resistor

Refer to the Installation Guide for sizing
of the optional braking resistor
Encoder
0V common Power
SPEED
TORQUE
0V common
AT SPEED
RESET
External trip
0V common
Figure 26 Power connections, and signal connections for Keypad mode (Macro 1 only)

2.3 Introduction to the Programming keys
display and keypad These are used for the following:
Changing the mode of operation of the
Display and keypad display
Selecting a parameter to edit
The display and keypad are used for the following: Editing the selected parameter
Reading and changing the values of software Saving new values given to parameters
parameters that are used to configure, The functions of the programming keys are as
control and monitor the Drive follows:
Displaying the operating status of the Drive
Displaying fault and trip codes Change the display mode
Select a parameter
Increase the value of a digit
Upper display
Lower display Select a parameter
Decrease the value of a digit
Programming keys
Display the parameter number

Select the next left display digit
Control keys Select another menu
Display the parameter number

Run Stop Forward /
Select the next right display digit
Reset Reverse Select another menu
Control keys
Figure 27 Display and keypad
The functions of the control keys are as follows:
Display
(RUN) Start the Drive running.
The display has three display modes as follows...
The RUN key is active only when the Drive is
Status mode operating in Keypad mode (parameter 0.05
Used to indicate the status of the Drive Reference select set at 4).
Parameter mode
Used for selecting a parameter to edit
(STOPRESET) The three functions of
Edit mode this key are as follows:
Used for editing the selected parameter
Stop the Drive
... and shows the following:
Reset the Drive after it has tripped
Display Display mode Make new parameter-values take effect
Status Parameter Edit The STOP-RESET key is active when the Drive
Upper Value of Value of Value of is operating in Keypad mode. This key acts only
parameter (0) parameter (0) parameter (0) as RESET when the Drive is operating in
(selected digit Terminal mode (parameter 0.05 Reference select
flashes) set at 0, 1, 2, 3 or 5).
Lower Status of the Parameter Parameter
Drive number (0.10) number (0.10)
rdY (FWD/REV) Change the direction of
rotation of the motor. (This is not enabled by
Operating instructions for the display and keypad default, and is described later in this chapter in
are given in Appendix A Programming Instructions. Enabling reverse direction in Keypad mode.)

Resetting the Drive Types of parameter
Terminal mode Variable and bit parameters

When the Drive is stopped, press: There are two types of parameter, as follows:
Bit parameters
Variable parameters
Alternatively, close the RESET contact (see Bit parameters can be set at 0 or 1 to carry out the
Figure 25). following:
Keypad mode Enable and disable functions

Select from two options
When the Drive is stopped, press:
Variable parameters can be set at any value within
the specified range to carry out the following:
Enter values
When the Drive is running, press at the same time:
Select from more than two options
No distinction is made in the parameter numbering
and
system between variable and bit parameters. When
a bit parameter is selected on the Drive display, the
2.4 Working with word bit appears.
software parameters Readwrite and read-only
Both types of parameter can be as follows:
Parameters Readwrite (RW)
The software parameters are contained in a menu Read-only (RO)
named Menu 0. Each parameter has a number as Readwrite parameters are programmable by the
well as a name. These are represented in this User user. Read-only parameters are for information
Guide as (for example, parameter 03 in Menu 0): purposes; they cannot be programmed.
0.03 Acceleration rate The settings of readwrite and read-only
When the value of a parameter is referred to, it is parameters can be read on the display or remotely
indicated as [0.03]. using serial communications.
Adjusting parameter values

Instructions on adjusting parameter values are given
in Appendix A Programming Instructions.
Making new values effective,

and saving them
The new value of most parameters takes effect as
soon as it is entered. Some parameters (such as the
destination-selection parameters for the analog
inputs) require the Drive to be reset before their
new values take effect.
Unless a save procedure is carried out, the new value

will be lost when the AC supply is disconnected from
the Drive (described in Saving new parameter-values
in Appendix A Programming Instructions).

Parameter 0.00 2.5 How macro configurations
Parameter 0.00 is a special readwrite parameter change the arrangement of
that is used for the following: the Menu 0 parameters
Saving new values given to parameters
Controlling security Note
Enabling macro configurations
Do not confuse the term Macro with the
These functions are controlled by the user entering term Menu. Menu 0 contains parameters;
specific values, as shown below: macro configurations re-define some of
these parameters to perform specific
Value Function
functions. Menu 0 always exists, but is
Saving new parameter-values affected by the macro configuration that is
The Drive can be running or stopped enabled.
(described in Appendix A Operating Instructions)
Only one macro configuration can be
1000 enabled at a time.
Controlling security
The Drive can be running or stopped Menu 0 contains 51 parameters which are arranged
(described in Appendix B Security and Accessing the in four groups, as shown in Figure 28.
Advanced Parameters)
0 ~ 255 User security code
2000 Lock security Common to
all macros 0.00
Restoring the Drive to a default configuration
The Drive must be stopped Configuration and saving
parameter
(described later in this chapter)
1233 Restore default values to all parameters for
50Hz AC supply frequency (Europe)
0.01 ~ 0.10
1244 Restore default values to all parameters for
60Hz AC supply frequency (USA)
Fixed-function parameters
Selecting Macros 0 to 5
The Drive must be stopped
(described in Chapter 3 Setting Up the Drive) Specific to
each macro
2001 Macro 1 Easy mode
2002 Macro 2 Motorized potentiometer
2003 Macro 3 Preset speeds 0.11 ~ 0.30 4
5
3
2004 Macro 4 Torque control 2
Re-programmable parameters 1
Macro 0
2005 Macro 5 PID (set-point) control
2009 Macro 0 General purpose
(USA default configuration) Common
to all 0.31 ~ 0.50
2010 Macro 0 General purpose macros
(EUR default configuration)
Fixed-function parameters
The Drive must be reset to make a newly selected
function or configuration take effect.
Figure 28 How the Menu 0 parameters are
Instructions for using parameter 0.00 are given at
grouped and the relationship with
the appropriate places in this User Guide
the macro configurations

Macro 0 2.6 Initial setting up
When Macro 0 is enabled, the re-programmable
parameters have their default functions. Noting the user values
A parameter table for each macro configuration in
Macro 1 Chapter 3 Setting Up the Drive has a column for you
When Macro 1 Easy Mode is enabled, none of the to note the values entered in the parameters.
re-programmable parameters are available.
Restoring the Drive
Macros 2 to 5 to a default configuration
When one of these macro configurations is enabled,
the functions of some re-programmable parameters Do not attempt to restore the
are specific to the macro configuration. Drive to a default
configuration when the Drive is
Other factors that affect the running.
Warning
re-programmable parameters Restoring the Drive to a
default configuration enables
In addition to the changes caused by the macro
Macro 0 and returns all
configurations, the functions of some
parameters to their default
re-programmable parameters are changed by the
values including the motor
default configuration of the Drive (EUR or USA)
parameters. (If any one of the
These are are shown in Appendix D Menu 0 macros 1 to 5 has been enabled,
Parameters. the Drive still reverts to
Macro 0.)
Where to find information on After restoring the Drive to a
parameters default configuration, it will be
necessary for the required
The functions of the parameters are listed for each parameter values to be
macro configuration in Chapter 3 Setting Up the Drive. re-entered before the Drive is
next run.
The functions of the parameters for each macro
configuration are described in detail in Appendix D
Restoring the Drive to a default configuration is not
Menu 0 Parameters.
essential for initial setting up, but should be used
for achieving the following:
When one of the macros 2 to 5 is currently
enabled, and a different macro
configuration is required
Intentionally restoring all parameters to
their default values (this includes the motor
parameters)
Changing (or re-applying) the default
configuration for the continent in which the
Drive is to be used
1. Enter either of the following values in
parameter 0.00:
EUR> (Europe, 50Hz AC supply): 1233
USA> (USA, 60Hz AC supply): 1244
2. Press (reset key).
3. Set 0.00 at 1000.
4. Press (reset key).

The following conditions now apply: Configuring the Drive for the motor
All the default values (including those of the
motor parameters) take effect The values of the motor
Macro 0 is enabled parameters affect the
protection of the motor and
If required, any other macro configuration can be Warning the safety of the system.
enabled.
When entering values, make
Enabling Macro 1 sure they are relevant to the
motor that is to be used. The
Caution
Do not attempt to enable any default values in the Drive
macro configuration when the should not be relied upon.
Drive is running. The motor parameters should
Warning be set to within 10% of the
required values for the motor.
1. Set parameter 0.00 at 2001. Failure to do this may result in
poor response.
2. Reset the Drive. It is essential that the correct
value is entered in parameter
The configuration layers (see Chapter 1 Introduction)
0.46 Motor rated current. This
are now as follows:
affects the thermal protection
1. Appropriate default configuration for the of the motor.
continent (EUR or USA)
Keep a note of the values given
2. Macro 1 Easy mode to the motor parameters, since
motor parameters are restored
to their default values when
the Drive is restored to a
default configuration (this
must be done if the Drive has
been used with Macro 2 to 5
enabled and a different macro
configuration is to be enabled)

Enter the motor ratings in the motor parameters of When the number of motor poles
the Drive, as follows: is not known
Default value Range Unit Calculate the number of poles from the following:
0.41 PWM switching frequency
f 120
3 3, 4.5, 6, 9, 12 kHz P=
N
0.42 Motor number of poles
Where:
4 2 ~ 32 poles
f AC supply frequency
0.43 Motor power factor
N Rated full-load speed of the motor
0.92 0 ~ 1.0
The number of poles will be the whole number
(See Autotune later in this chapter)
immediately below the value of P. Enter this whole
0.44 Motor rated voltage number in 0.42.
400 (EUR) 460 (USA) 0 ~ 480 V
Example
Enter the rated value.
Rated motor speed: 1450 RPM
0.45 Motor rated speed
AC supply frequency: 50Hz
0 0 ~ 6000 RPM
50 120
When 0.45 is set at 0, no slip compensation is applied by P= = 4.14
the Drive. When a value greater than zero is entered, slip 1450
compensation is applied but instability can occur with
motor loads that have predominant inertia. To avoid this Therefore, the number of poles = 4
instability, set 0.45 at 0. The value can be changed at a
later time. (The inaccuracy of the calculation is caused by slip,
in this case 50 RPM.)
0.46 Motor rated current
FLC 0 ~ FLC A Values of FLC
(see the following Values
of FLC table) Model FLC (A) Model FLC (A)
Ensure that the motor current-rating applies to the GPD 1401 2.1 GPD 3401 34
winding configuration used.
GPD 1402 2.8 GPD 3402 40
0.47 Motor rated frequency GPD 1403 3.8 GPD 3403 46
50 (EUR) 60 (USA) 0 ~ 1000.0 Hz GPD 1404 5.6 GPD 3404 60
Enter the rated value. GPD 1405 9.5 GPD 3405 70
GPD 2401 12 GPD 4401 96
GPD 2402 16 GPD 4402 124
GPD 2403 25 GPD 4403 156
GPD 4404 180
GPD 4405 202
Saving the values

Use the following procedure:
1. Set parameter 0.00 at 1000.
2. Press . The display returns to Parameter

mode. Do not press any keys within eight
seconds; the display then enters Status mode.
3. Momentarily press to reset the Drive.

Autotune Procedure
Autotune is a sequence of tests performed by the Note

Drive. The results of the tests are subsequently
used by the Drive for controlling the motor. If the settings of parameters 0.41 to 0.47
are changed by a user after Autotune has
Autotune should be used after the operating mode been performed, it is essential that
has been selected and after the motor parameters Autotune is repeated.
have been entered, but before the Drive is used.
1. Ensure the motor is unloaded and at a
Normally (and if the motor is not changed),
stand-still.
Autotune needs performing only once.
2. Ensure the EXTERNAL TRIP contact is closed.
During the following
procedures, the Drive will 3. Set parameter 0.40 Autotune enable at 1. The
power the motor and cause following tests are performed:
Warning
the shaft to rotate at up to The motor is accelerated up to two-thirds
2
/3 full speed. Before rated frequency in the forward direction
starting, make sure it will be while the magnetizing current is measured
safe for the motor to be run.
The motor is decelerated to a stand-still
Note 4. Parameter 0.43 Motor power factor is

automatically updated.
To stop the test at any time, press . 5. Parameter 0.40 is automatically returned
The motor will then coast to a stand-still to zero.
and the test will not be completed.
Saving the values
If the Drive trips 1. Set parameter 0.00 at 1000.
If the Drive trips during the test, note the trip code
that appears on the upper display and refer to
Appendix E Diagnostics. The test will not be
completed.
Direction of rotation 3. Momentarily press to reset the Drive.
Stored charge
The Drive contains capacitors
Warning
that remain charged to a
potentially lethal voltage after
the AC supply has been
disconnected. If the Drive has
been energized, the AC supply
must be isolated at least
ten minutes before work may
continue.
The motor shaft should rotate clockwise as viewed

from the free end of the shaft during Autotune. If
the shaft rotates in the reverse direction, stop the
test, remove the AC supply and check the motor
connections. If required, change the motor phase
connections and repeat Autotune.

Changing the user-interface mode
7. Press or momentarily close the RESET
Change the user-interface mode, as required. If jog contact.
is required, select Terminal mode (jog is available
only in Macro 0). 8. The display indication changes as follows:
User-interface mode Set parameter 0.05 at...

Terminal 0
Keypad 4
Note
The main function of parameter 0.05 is a
reference selector which has other settings
that operate the Drive in Terminal mode.
At this stage, do not use any of these other
settings.
9. Ensure parameter 0.10 Motor speed is displayed
Use of parameter 0.05 is described for (default).
Macros 0 and 1 in Chapter 3 Setting Up the
Drive. 10. Close the RUN FORWARD contact. The display
indicates as follows:
2.7 Operating instructions

Before completing the initial setting up of the Drive,
you will need to learn how to operate it. Refer to
the following instructions for Terminal mode or
Keypad mode, as appropriate. 11. Advance the FREQUENCY potentiometer.
12. The value shown by the upper display increases

Terminal mode accordingly, and the motor speed increases.
Variable frequency 13. Open the RUN FORWARD contact. The

following occur:
In Terminal mode (with Macro 1), the Drive can
control the motor as follows: The value of the upper display reduces
to zero
Run (forward and reverse) The lower display shows dEC, then rdY
Jog/Preset frequency (forward and reverse) The motor speed reduces to zero
1. Ensure the control signal connections shown in 14. If required, repeat steps 10 to 13 using the
Figure 25 are made. RUN REVERSE contact.
If you do not require to use jog / preset
2. Check that the FREQUENCY potentiometer is
frequency, go to Trip and Enable later in this
set at minimum.
chapter
3. Ensure that the EXTERNAL TRIP contact is Jog/Preset frequency
open.
The jog function can be used alternatively as a
4. Connect the Drive to the AC supply.
preset frequency. The default value is 1.5Hz.
5. The display indicates as follows:
1. Close the JOG/PRESET SELECT contact. Then
close the RUN FORWARD contact. It is
essential that the contacts are closed in this
order, otherwise the Drive will run forward (or
reverse) normally at variable speed.
The display indicates a fixed low speed that
6. Close the EXTERNAL TRIP contact. cannot be changed by the FREQUENCY
potentiometer. The motor runs at this low
speed.
2. Open the RUN FORWARD contact to stop 8. Ensure parameter 0.10 Motor speed is displayed
the Drive. (default).
3. If required, repeat steps 1 and 2 using the

RUN REVERSE contact. 9. Press to start the Drive running.
4. If the JOG/PRESET SELECT contact is opened 10. The upper display should indicate zero; the
before the RUN FORWARD or RUN REVERSE lower display will indicate as follows:
contact, the motor speed will become
controlled by the FREQUENCY potentiometer.
Go to Trip and Enable later in this chapter
Keypad mode
11. Press to increase the speed. The value
Motor direction in Keypad mode of the upper display increases and the motor
speed increases.
In Keypad mode (with Macro 1), (FWD/REV) is 12. Press to decrease the speed. The
disabled by default; the Drive can control the motor value of the upper display decreases and the
in the forward direction only. motor speed decreases.
Variable frequency
13. Press to stop the Drive. The following
1. Ensure the control signal connections shown in
occur:
Figure 26 are made.
The value of the upper display reduces
2. Ensure that the EXTERNAL TRIP contact is to zero
open. The lower display shows dEC, then rdY
3. Connect the Drive to the AC supply. The motor speed reduces to zero
4. The display indicates as follows: Trip and enable

1. If the Drive trips, and a motor is connected, the
motor will coast. See Appendix E Diagnostics.
To clear a trip, momentarily press or, for

5. Close the EXTERNAL TRIP contact. Terminal mode only, momentarily close the
RESET contact.
6. Press 2. If the EXTERNAL TRIP contact is opened while

the Drive is stopped or running, the Drive trips
7. The display indication changes as follows: (and the motor will coast). The display will
indicate as follows:

2.8 Setting up operating limits Acceleration rate
To adjust the acceleration rate, adjust parameter
Minimum and Maximum speeds 0.03 Acceleration rate. Increase the value to
increase the time taken for acceleration (ie. reduce
Do not set the maximum speed the acceleration rate).
at a value that is excessive for
the motor. Range Default Unit
Warning 0 ~ 3200 5 s/100Hz
If the intended maximum speed
affects the safety of the
If the required acceleration cannnot be achieved, it
machinery, additional
may be necessary to increase the value of
independent over-speed
0.06 Current limit.
protection must be used.
Set parameter 0.02 Maximum frequency/speed at the Deceleration rate

required value. When initially setting up the Drive,
To adjust the deceleration rate, adjust parameter
leave 0.01 Minimum frequency/speed at the default
0.04 Deceleration rate. Increase the value to
value of zero so that the motor shaft does not
increase the time taken for deceleration (ie. reduce
rotate as soon as a RUN command is received. When
the deceleration rate).
it is known to be safe to do so, set 0.01 at the
required value. Range Default Unit
Note the following: 0 ~ 3200 10 s/100Hz
Slip compensation can cause the output If the Drive trips when decelerating the motor and
frequency of the Drive to exceed [0.02]. the display indicates OU, this indicates that the
maximum permissible DC-bus voltage has been
For operation at motor speeds exceeded during braking. Increase the value of
greater than twice base speed, 0.04 Deceleration rate or, if a braking resistor is not
contact the supplier of the currently connected, return to Planning the
motor. installation in Chapter 2 Installing the Drive in the
Caution
Installation Guide for instructions on connecting a
braking resistor.
Default values and range
0.01 Default value Range Unit
Torque-producing current limit
0 0 ~ [0.02] Hz Set parameter 0.06 Current limit at the required
percentage of rated motor torque (or rated active
torque-producing current).
0.02 Default value Range Unit
The current limit is used to protect the motor and
50 Hz (EUR) 0 ~ 1000 Hz Drive from excessive current and applies under
60 Hz (USA)
motoring and regenerating conditions. When the
Drive is operating in torque control, the current
limit limits the value of torque demand.
The total motor current comprises a magnetizing

current and an active (torque-producing) current.
Since the maximum torque produced by the motor
is proportional to the value of parameter 0.06
Current limit, this current limit is a torque-producing
current limit.

When 0.06 is set at its maximum value, the Voltage-control modes
maximum total motor current is as follows:
150% x FLC The default setting is as follows:
Where FLC is the rated (full-load) current of the Macro 1: Fd

Drive. Macros 0, 2, 3, 4, 5: Ur_I
To change the voltage control mode, select the
The maximum value of 0.06 is given by the
following (but cannot exceed 400 (%)): required setting in parameter 0.07 Voltage mode
selector, as follows:
. ) 2 (1 cos 2 )
(15 FLC Setting Function
[0.06]MAX = 100 (%)
cos [ 0.46]
Vector modes
Where: Ur_S 0 Motor stator resistance is measured each
time the Drive is started.
[0.46] = Value of Motor rated current
Ur_I 1 Motor stator resistance is measured at
cos is the power factor of the motor
power-up if the EXTERNAL TRIP contact is
The value of FLC is given in the following table. closed and no other trip condition exists.
Ur 2 Motor stator resistance is not measured
Values of FLC (use this mode only after having used
Ur_S or Ur_I to measure the stator
Model FLC (A) Model FLC (A) resistance).
GPD 1401 2.1 GPD 3401 34 Fixed boost mode
GPD 1402 2.8 GPD 3402 40 Fd 3 Fixed voltage boost that can be manually
GPD 1403 3.8 GPD 3403 46 adjusted by parameter 0.08 Boost voltage.
GPD 1404 5.6 GPD 3404 60

The Vector modes give better performance at low
GPD 1405 9.5 GPD 3405 70 speed than the fixed-boost mode, but require the
GPD 2401 12 GPD 4401 96 stator resistance to be accurately measured by the
Drive.
GPD 2402 16 GPD 4402 124
GPD 2403 25 GPD 4403 156 Note
GPD 4404 180
If parameter 0.39 Synchronize to a spinning
GPD 4405 202
motor is to be set at 1, for reliable
operation of the Drive set parameter 0.07
at Fd.
When Ur_I is selected, the

motor might kick when the AC
supply is connected to the
Warning Drive (the EXTERNAL TRIP contact
already closed).

Boost voltage
Use this procedure only when 0.07 Voltage mode
selector has been set at Fd.
Where actions apply to a particular control mode,

the following key is used:
K> Keypad mode
T> Terminal mode
1. Connect the load to the motor.
2. Close the EXTERNAL TRIP contact.
3. Ensure the frequency reference is zero.
4. K> Press
T> Close the RUN FORWARD or RUN
REVERSE contact.
Increase the frequency reference to a value
slightly above zero. If the motor shaft does
not rotate, increase the value of parameter
0.08 Boost voltage sufficiently to cause the
shaft to rotate.
Default value: 3%
Range: 0 ~ 25%
5. If the motor is noisy and becomes unnecessarily

heated, reduce the value of 0.08.
6. Stop the Drive.
Save the new parameter-value.
Voltage/frequency characteristic
If the motor is to drive a pump or fan where the load
can vary, set parameter 0.09 Dynamic V/f select at 1.
This selects an automatic voltage/frequency
characteristic which reduces power consumption
and acoustic noise in the motor when lightly loaded.
For an explanation of the effects of the

voltage/frequency characteristic, see parameter 0.09
Dynamic V/f select in Appendix D Menu 0 Parameters.

3 Setting Up the Drive 3.2 Enabling a different
macro configuration
(Macro Configurations)
Do not attempt to enable any
macro configuration when the
Do not change parameter Drive is running.
values without careful
Warning
consideration; wrong values
Warning
may cause damage or a safety
hazard. Note
Only one macro configuration can be
Notes enabled at a time.
Keep a note of changes
When changing the values of parameters,
Enabling a different macro
make a note of the new values in case they configuration after getting started
need to be entered again. with Macro 1
Saving the changes If Macro 1 is to remain enabled, ignore this section

and go to Macro 1 later in this chapter.
For new parameter-values to apply after
the AC supply to the Drive is interrupted, 1. To enable a different macro configuration, set
new values must be saved. Refer to parameter 0.00 as follows:
Saving new parameter-values in Appendix A Macro Function Setting
Programming Instructions.
2 Motorized potentiometer 2002
(frequency control by up and
down contacts)
3.1 How to use this chapter 3 Four preset speeds (selected by 2003
digital control signals)
When setting up the Drive for the first time, you
must first have followed Chapter 2 Getting Started; 4 Torque control 2004
Macro 1 Easy mode will then be enabled. Whether 5 PID (set-point) control 2005
you keep Macro 1 or enable a different macro 0 General purpose 2009
configuration, the settings you made in Chapter 2 (USA default configuration)
will remain unchanged. During the course of setting
General purpose 2010
up the Drive, you may need to change some of these
(EUR default configuration)
settings. If so, refer again to Chapter 2.
It is recommended that you follow the instructions Note

in this chapter in the order that they appear. You
will be led through the following: The values of the fixed parameters are not
changed when any one of these macro
Enabling the required macro
configurations is enabled.
configuration (if a macro other than
Macro 1 is required)
Changing the signal connections When Macro 0 is enabled, the
accordingly functions of parameters
Adjusting parameters that are 0.27 to 0.29 differ between
specific to the macro configuration Caution the EUR and USA default
configurations.
A list of subsidiary functions that
can be set up
2. Reset the Drive.
3. Go to the relevant section in this chapter for

the macro configuration that has been enabled.
Commander GP User Drive

Issue code: gpxu1 Setting Up the Drive 3-1
Enabling a different macro
configuration after using Macros 2 to 5
If any one of the macros from 2 to 5 has been
enabled (after the instructions in this chapter have
previously been followed), proceed as follows...
1. Go to Initial setting up in Chapter 2 Getting

Started. Start proceeding through that section
by referring to Restoring the Drive to a default
configuration.
2. Follow the remainder of Initial setting up.
3. Return to this chapter and follow Enabling a

different macro configuration after getting started
with Macro 1 (above).

3-2 Setting Up the Drive Issue code: gpxu1
3.3 Macro 0 Signal connections for Macro 0
General purpose
(default configuration) Signal
connector
Status relay
Features Drive healthy
Analog frequency reference 1

Specific features (remote)
Macro 0 places the Drive in a default configuration

Connections for
for general-purpose use. single-ended input
signal
Standard features
0V common
Macro 0 operates in Terminal or Keypad
mode Connections for
differential input signal
In Terminal mode, digital control by
RUN FORWARD, RUN REVERSE and 0V common
JOG SELECT contacts
Local and remote analog frequency inputs, Analog frequency
or setting of frequency by use of the keypad reference 2
(local)
Keypad control of speed can be
uni-directional or bi-directional
Selection of analog input modes 0V common
Adjustable Jog/Preset frequency SPEED

Adjustment of minimum and maximum
frequencies TORQUE
Adjustment of acceleration and deceleration
ramps Motor thermistor
S-ramp
0V common
Skip frequencies
Selection of stopping modes
Selection of braking mode 0V common
AT SPEED
Motor thermistor input
Negative logic for the digital inputs RESET
(EUR> positive logic can be selected)
JOG SELECT
EUR> Adjustment of current-loop PI gains
RUN FORWARD
USA> Indication of frequency demand
RUN REVERSE
USA> Digital control by three-wire
momentary contacts can be selected LOCAL / REMOTE REMOTE
SPEED and TORQUE analog outputs LOCAL
AT SPEED digital output External trip
External trip digital input 0V common

Drive RESET digital input
Figure 31 Control signal and thermistor
connections for Macro 0
For electrical specifications, refer to Appendix C

Signal Connections.

LOCAL / JOG RUN RUN
REMOTE SELECT FORWARD REVERSE RESET EXTERNAL TRIP
29 26 27 28 25 30
Reference selection Reference
selector Maximum
0.02
Frequency reference 1 frequency
(remote) 0.05
Analog input 1
mode selector Minimum
5 frequency
0.24
6 0.01
Skip
frequencies
Analog input 2
mode selector
7 0.25
Frequency reference 2
(local)
Preset references 0.20

(use Macro 3)
Skip frequency
1
0.38 0.21
0.35 Initial Skip band 1

parameter
displayed
Keypad
reference 0.22
Skip frequency
2
0.23
Skip band 2
0.14
Jog
reference
Key
0.XX Read-write (RW)

parameter
0.XX Read-only (RO)

parameter
X X Input terminals
The parameters are shown at their default settings.
The logic diagram is valid when all parameters are
at their default settings but may not be valid when X X Output terminals
certain parameters are adjusted.
Figure 32 Programmable software for Macro 0

THERMISTOR SPEED TORQUE AT SPEED
8 9 10 24
Pre-ramp Post-ramp
reference reference
Motor control
0.11 0.12
0.06
S-ramp Torque Current
mode limit
S-ramp selector
Ramps enable
0.17 0.16
0.18
Stop mode
selector
0.39
Synchronize
to a spinning
0.03 motor
Acceleration
rate
Motor parameters
0.04
0.19
Deceleration 0.42 ~ 0.47
rate S-ramp
da/dt limit No. of poles
Power factor
0.15 Rated voltage
Rated speed
Ramp mode Rated current
selector Rated frequency
Other parameters
Motor-voltage control
0.31 Macro number
0.32 Serial comms. mode 0.07
0.33 Drive rated current Voltage mode
0.34 User security code selector
0.36 Serial comms. baud rate
0.10 0.08
0.37 Serial comms. address
0.40 Autotune Boost voltage
Estimated
0.48 Drive software build number motor
0.09
0.49 Security status speed
Dynamic V/f
0.50 Software version number select
Motor
active-current
Power stage
0.13 0.41
PWM switching
frequency

List of parameters specific to Macro 0
Pr Function User [M] indicates the parameter is for monitoring only

value
0.00 Configuration and saving For descriptions of these parameters,
0.01 Minimum frequency see Appendix D Menu 0 Parameters.
0.02 Maximum frequency
0.03 Acceleration rate
0.04 Deceleration rate
0.05 Reference selector
0.06 Current limit
0.07 Voltage mode selector Pr Function User
0.08 Boost voltage value
0.09 Dynamic V/f select 0.11 Pre-ramp reference [M]
0.10 Estimated motor speed [M] 0.12 Post-ramp reference [M]

0.13 Motor active-current [M]
0.14 Jog reference
0.15 Ramp mode selector
0.16 Stop mode selector
0.17 Torque mode selector
0.18 S-ramp enable
0.19 S-ramp da/dt limit
0.20 Skip frequency 1
0.21 Skip band 1
Pr Function User 0.22 Skip frequency 2

value 0.23 Skip band 2
0.31 Macro number [M] 0.24 Analog input 1 mode selector
0.32 Serial comms. mode 0.25 Analog input 2 mode selector
0.33 Drive rated current (FLC) [M] 0.26 Analog input 2 destination selector
0.34 User security code [M] 0.27 EUR> Positive logic select
0.35 Keypad reference [M] USA> Sequencing mode selector
0.36 Serial comms. baud rate 0.28 EUR> Current-loop proportional gain
USA> Frequency demand
0.29 EUR> Current-loop integral gain
0.38 Initial parameter displayed USA> Terminal-29
0.39 Synchronize to a spinning motor destination parameter
0.40 Autotune 0.30 FWD/REV key enable
0.41 PWM switching frequency selector
0.44 Motor rated voltage
0.47 Motor rated frequency
0.48 Drive software build number [M]
0.49 Security status [M]
0.50 Drive software version [M]

Setting up and using Macro 0 If jog or a preset frequency is required, ensure the
Drive is in Terminal mode and set 0.14 Jog reference
The following may require attention in addition to at the required value, as follows:
the settings made in Chapter 2.
Default Range Unit
value
Reference selection
1.5 0 ~ 400.0 Hz
Use 0.05 Reference selector to select the required
frequency source, as follows: To use jog or preset frequency, close the JOG
SELECT contact (terminal 26) before closing the
0.05 Source Terminal(s) RUN FORWARD contact (terminal 27) or RUN
0 Analog input 1 or 2 which can be 5 and 6, or 7 REVERSE contact (terminal 28).
selected using the LOCAL/REMOTE
contact EUR> Selecting positive logic
1 Analog input 1 5, 6
Ensure the logic sense is
2 Analog input 2 7
correct for the control circuit
3 Preset frequencies (Do not use this to be used. Incorrect logic
setting, use Macro 3 instead) sense could cause the motor to
Caution
4 Keypad control be started unexpectedly.
5 (Do not use)
By default, the digital inputs operate in negative
logic. For operation in positive logic, set
Analog input modes 0.27 Positive logic select at 1.
The analog inputs can be configured for the
following input signals:
USA> Digital control by three-wire
momentary contacts
0 ~ 20mA, 4 ~ 20mA or 0 ~ 10V
1. Set 0.05 Reference selector at 0, 1 or 2.
Refer to the following parameters in Appendix D
Menu 0 Parameters for selecting the required mode: 2. Set 0.27 Sequencing mode selector at 0.
Analog Terminal(s) Parameter 3. Set 0.29 Terminal-29 destination selector at 6.34

input to change the function of terminal 29 to
1 5, 6 0.24 RUN PERMIT / STOP.
Analog input 1 mode selector
2 7 0.25
Analog input 2 mode selector Signal connector
JOG
Forward and reverse direction RUN
in Keypad mode
REVERSE SELECT
STOP
The Drive is supplied with the (FWD/REV) key
disabled to ensure the Drive is run only in the
forward direction. To enable this key, set 0.30
FWD/REV enable at 1. 0V common
Jog/Preset frequency Figure 33 Connections for control by 3-wire

momentary contacts
The jog function can be used for low-speed jogging (see Figure 31 for
or as a preset frequency at any value up to the other connections)
maximum.

Stopping and braking modes Use this free space for notes
Menu 0 Parameters:
Parameter Setting Function

0.15 Stnd.Ct (Standard controlled)
Ramp mode selector Deceleration time is
extended if the DC-bus
voltage reaches its
maximum permissible
value during braking.
0.16 rP Ramp to stop then the
Stop mode selector Drive is disabled

Easy mode
Signal
Features connector
Analog frequency
reference 1
Specific features (remote) 0 ~ 10V
Easy mode gives the simplest operation of the Drive

for basic applications. 0V common
Analog frequency
reference 2
Standard features (local) 4 ~ 20mA
Macro 1 operates in Terminal or Keypad

0V common
mode
In Terminal mode, digital control by SPEED
RUN FORWARD, RUN REVERSE and
JOG SELECT contacts TORQUE
Local and remote analog frequency inputs,
or setting of frequency by use of the keypad
Keypad control of frequency is AT SPEED 0V common
uni-directional only
Fixed analog input modes RESET
Fixed jog frequency JOG SELECT
Adjustment of minimum and maximum RUN FORWARD

frequencies RUN REVERSE
Adjustment of acceleration and deceleration LOCAL / REMOTE REMOTE
ramps LOCAL
Negative logic for the digital inputs External trip

SPEED and TORQUE analog outputs
0V common
AT SPEED digital output
External trip digital input Figure 34 Control signal connections
Drive RESET digital input for Macro 1

Signal Connections.

LOCAL / JOG RUN RUN
REMOTE SELECT FORWARD REVERSE RESET EXTERNAL TRIP
29 26 27 28 25 30
selector 0.02 Maximum
(remote) 0.05
Minimum
5 frequency
6 0.01
(local)
Preset references
(use Macro 3)
0.38
0.35 Initial
parameter
displayed
Keypad
reference
Key

parameter
0.XX Read-only (RO)

parameter
X X Input terminals

SPEED TORQUE AT SPEED
9 10 24
Motor control
0.06
Current
limit
Ramps
0.39
Synchronize
to a spinning
motor
0.03
Acceleration
rate
Motor parameters
0.04
rate No. of poles
Power factor
Rated voltage
Rated speed
Rated current
Rated frequency
Other parameters
0.31 Macro number
0.32 Serial comms. mode 0.07
0.33 Drive rated current Voltage mode
0.10 0.08
Estimated
0.48 Drive software build number motor
0.09
Dynamic V/f
0.50 Software version number select
Power stage
0.41
PWM switching
frequency


value
For descriptions of these parameters, see Appendix D Menu
0.00 Configuration and saving
0 Parameters.
0.01 Minimum frequency
0.06 Current limit
0.07 Voltage mode selector
0.08 Boost voltage
0.09 Dynamic V/f select
0.10 Estimated motor speed [M]
0.31 Macro number [M]

0.32 Serial comms. mode
0.33 Drive rated current (FLC) [M]
0.34 User security code [M]
0.35 Keypad reference [M]
0.38 Initial parameter displayed
0.39 Synchronize to a spinning motor
0.40 Autotune

Setting up and using Macro 1
The following may require attention in addition to
the settings made in Chapter 2.
Reference selection
Use 0.05 Reference selector to select the required
frequency source, as follows:
0.05 Source Terminal(s)

0 Analog input 1 or 2 which can be 5 and 6, or 7
selected using the LOCAL/REMOTE
contact
1 Analog input 1 5, 6
2 Analog input 2 7
3 (Do not use)
4 Keypad control
5 (Do not use)
Frequency references
Keypad mode
The value of the keypad reference can be read by
displaying the value of 0.35 Keypad reference.
Terminal mode
Frequency reference 1 (terminals 5, 6) is configured
for 0 to 10V signal.
Frequency reference 2 (terminal 7) is configured for

4 to 20mA signal. Loss of the current signal will be
treated as zero reference.
Jog
To use jog, close the JOG SELECT contact
(terminal 26) before closing the RUN FORWARD
contact (terminal 27) or RUN REVERSE contact
(terminal 28).
Jog will occur at 1.5Hz. This value cannot be altered.

Use this free space for notes

Motorized potentiometer
Signal
connector
Features
Status relay
Drive healthy
Special features
The digital inputs are configured to accept Analog frequency
reference 1
momentary UP and DOWN contacts. (remote) 0 ~ 10V
Selection can be made between motorized

potentiometer operation and normal frequency 0V common
control. In both cases, analog input 1 remains Motor thermistor
configured for an analog frequency reference signal

(0 to 10V).
0V common
Motorized potentiometer is used by first closing the
RUN FORWARD or RUN REVERSE contact as SPEED
required, then closing the UP or DOWN contact to
increase or decrease the speed. When the UP and
TORQUE
DOWN contacts are both open, the Drive maintains
constant speed until the closed RUN contact is UP
opened.
RESET and
MOT. POT. RESET
The output of the motorized potentiometer can be
monitored by reading the value of 0.26 Motorized DOWN
pot. output indicator, and the frequency by reading RUN FORWARD
the value of 0.11 Pre-ramp reference.
RUN REVERSE
The motorized potentiometer is reset when the MOT. POT. ENABLE ANALOG I/P
RESET contact connected to terminal 25 is closed MOT. POT.

momentarily. (This also resets the Drive.)
External trip
Selection can be made for the motorized 0V common

potentiometer to return to the previous set speed,
or start at zero, after each power-up.
connections for Macro 2
Standard features
Macro 2 operates in Terminal mode only
Digital control by RUN FORWARD and Signal Connections.
RUN REVERSE contacts
Analog frequency input
Adjustment of minimum and maximum
frequencies
ramps
S-ramp
Skip frequencies
Selection of braking mode
Negative logic for the digital inputs
External trip digital input

MOTORIZED RESET and RUN RUN
POT. ENABLE MOT. POT. RESET FORWARD REVERSE EXTERNAL TRIP
29 25 27 28 30
selector Maximum
0.02
(remote) 0.05
Analog input 1
5 frequency
0.24
6 0.01
Skip
frequencies
0.20
0.25 Motorized pot.
reset indicator Skip
frequency 1
Motorized pot. 0.21

0.26
output indicator Skip band 1
0.27 Motorized pot.

UP 24 zero-start select 0.22
Skip
0.28 Motorized pot. frequency 2
bipolar select
DOWN 26
0.23
0.29 Motorized pot. rate Skip band 2
Motorized pot.
0.30
output scale factor
0.38
Initial
parameter
displayed
Key

parameter
0.XX Read-only (RO)

parameter
X X Input terminals
X X Output terminals
at their default settings but may not be valid when

THERMISTOR SPEED TORQUE
8 9 10
Pre-ramp Post-ramp
reference reference
Motor control
0.11 0.12
0.06
S-ramp Current
limit
S-ramp
Ramps enable
0.16
0.18
Stop mode
selector
0.39
Synchronize
to a spinning
0.03 motor
Acceleration
rate
Motor parameters
0.04
0.19
rate S-ramp
Power factor
0.15 Rated voltage
Rated speed
Other parameters
0.17 Status relay invert
0.31 Macro number 0.07
Voltage mode
0.33 Drive rated current selector
0.34 User security code
0.10 0.08
0.37 Serial comms. address Boost voltage
Estimated
0.40 Autotune motor
0.09
0.48 Drive software build number speed
Dynamic V/f
0.49 Security status select
0.50 Software version number
Motor
active-current
Power stage
0.13 0.41
PWM switching
frequency


value
0.00 Configuration and saving For descriptions of these parameters, see
0.01 Minimum frequency Appendix D Menu 0 Parameters.
0.05 Reference selector (do not adjust)
0.06 Current limit

0.14 Jog reference (not used)
0.18 S-ramp enable
0.19 S-ramp da/dt
0.21 Skip band 1

0.32 Serial comms. mode 0.25 Motorized pot. reset indicator [M]
0.33 Drive rated current (FLC) [M] 0.26 Motorized pot. output indicator
0.34 User security code [M] 0.27 Motorized pot. zero-start select
0.35 Keypad reference [M] 0.28 Motorized pot. bipolar select
0.36 Serial comms. baud rate 0.29 Motorized pot. rate
0.37 Serial comms. address 0.30 Motorized pot. output scale factor
0.40 Autotune

Setting up and using Macro 2 Reference selection
The following may require attention in addition to For correct operation of this macro configuration,
the settings made in Chapter 2. the setting of parameter of 0.05 Reference selection
should be at 0.
Motorized potentiometer settings
Analog input modes
1. By default, the Drive operates in frequency
control. To disable this and enable the The analog input can be configured for the
motorized potentiometer, close the MOT. POT. following input signals:
ENABLE contact (terminal 29). 0 ~ 20mA, 4 ~ 20mA or 0 ~ 10V
2. If required, change the value of 0.29 Motorized Refer to the following parameter in Appendix D
pot. rate to change the rate of increase and Menu 0 Parameters for selecting the required mode:
decrease. Increasing the value reduces the rate
of change of frequency. Analog Terminal(s) Parameter
input
Default value: 20 s
1 5, 6 0.24
Range: 0 ~ 250 s
3. If bipolar operation is required, set 0.28
Motorized pot. bipolar select at 1. Jog frequency
4. By default, every time the Drive is powered-up There is no need to adjust 0.14 Jog reference since
and enabled, the frequency will return under the jog function cannot be used.
ramp control to the last setting of the
motorized potentiometer. If the Drive is Stopping and braking modes
required to start at zero, set 0.27 Motorized
pot. zero-start select at 1. Refer to the following parameters in Appendix D
Menu 0 Parameters:
5. To reset the motorized potentiometer,
momentarily close the RESET contact. (This Parameter Setting Function
also resets the Drive.) 0.15 Stnd.Ct (Standard controlled)
6. If required, change the scaling of the extended if the DC-bus
motorized potentiometer outout by adjusting voltage reaches its
0.30 Motorized pot. output scale factor. maximum permissible
7. If required, monitor the output value of the
potentiometer by reading 0.26 Motorized pot. Stop mode selector Drive is disabled
output indicator.

Use this page for notes

Preset frequencies
Signal
Features connector
Status relay
Special features Drive healthy
Selection can be made between preset frequencies Analog frequency

reference 1
and analog frequency control. In both cases, analog (remote) 0 ~ 10V
input 1 remains configured for an analog frequency
reference signal (0 to 10V).
0V common
Up to four preset frequencies can be used; their Motor thermistor
values must be programmed into individual
parameters. Selection is made by external contacts
operating in binary logic. 0V common
Standard features SPEED
Macro 3 operates in Terminal mode only

TORQUE
Digital control by RUN FORWARD and
RUN REVERSE contacts PRESET SELECT A
Analog frequency input RESET
Adjustment of minimum and maximum PRESET SELECT B
frequencies
RUN FORWARD
RUN REVERSE
ramps
ANALOG I/P
Operation of the status relay can PRESET ENABLE
PRESET REFS.
be inverted
S-ramp External trip
Skip frequencies 0V common

Selection of braking mode Figure 38 Control signal and thermistor
Motor thermistor input connections for Macro 3
SPEED and TORQUE analog outputs For electrical specifications, refer to Appendix C
External trip digital input Signal Connections.

PRESET RUN RUN
ENABLE FORWARD REVERSE RESET EXTERNAL TRIP
29 27 28 25 30
selector Maximum
0.02
(remote) 0.05
Analog input 1
5 frequency
0.24
6 0.01
Skip
frequencies
0.25 Preset
reference 1 0.20
Skip
Preset frequency 1
PRESET 0.26
24 reference 2
SELECT A
0.21
Preset Skip band 1
0.27
reference 3
PRESET 26
SELECT B 0.22
0.28 Preset
reference 4 Skip
frequency 2
A B Preset 0.23
frequency Skip band 2
0 0 1
0 1 2
1 0 3
1 1 4
0.38
Initial
parameter
displayed
Key

parameter
0.XX Read-only (RO)

parameter
X X Input terminals

THERMISTOR SPEED TORQUE
8 9 10
Pre-ramp Post-ramp
reference reference
Motor control
0.11 0.12
0.06
S-ramp Current
limit
S-ramp
Ramps enable
0.16
0.18
Stop mode
selector
0.39
Synchronize
to a spinning
0.03 motor
Acceleration
rate
Motor parameters
0.04
0.19
rate S-ramp
Power factor
0.15 Rated voltage
Rated speed
Other parameters
0.31 Macro number 0.07
Voltage mode
0.33 Drive rated current selector
0.10 0.08
0.37 Serial comms. address Boost voltage
Estimated
0.40 Autotune motor
0.09
0.48 Drive software build number speed
Dynamic V/f
0.49 Security status select
Motor
active-current
Power stage
0.13 0.41
PWM switching
frequency


value
0.06 Current limit

0.18 S-ramp enable
0.19 S-ramp da/dt
0.21 Skip band 1

0.32 Serial comms. mode 0.25 Preset reference 1
0.33 Drive rated current (FLC) [M] 0.26 Preset reference 2
0.34 User security code [M] 0.27 Preset reference 3
0.35 Keypad reference [M] 0.28 Preset reference 4
0.36 Serial comms. baud rate 0.29 (Not used)
0.37 Serial comms. address 0.30 (Not used)
0.40 Autotune

Setting up and using Macro 3 Reference selection
The following may require attention in addition to For correct operation of this macro configuration,
the settings made in Chapter 2. the setting of parameter of 0.05 Reference selection
should be at 0.
Preset references
Analog input modes
control. To disable this and enable the preset The analog input can be configured for the
references, close the PRESET ENABLE contact following input signals:
(terminal 29). 0 ~ 20mA, 4 ~ 20mA or 0 ~ 10V
2. Enter the required values in the following Refer to the following parameter in Appendix D
parameters: Menu 0 Parameters for selecting the required mode:
0.25 Preset frequency 1 Analog Terminal(s) Parameter
0.26 Preset frequency 2 input
0.27 Preset frequency 3 1 5, 6 0.24

0.28 Preset frequency 4
Default value: 0 Jog frequency
Range: 1000 Hz
There is no need to adjust 0.14 Jog reference since
3. Select the required preset reference as follows: the jog function cannot be used.
Preset PRESET SELECT A PRESET SELECT B
reference (terminal 24) (terminal 26) Stopping and braking modes
1 Open Open Refer to the following parameters in Appendix D
2 Open Closed Menu 0 Parameters:
3 Closed Open Parameter Setting Function
4 Closed Closed 0.15 (Standard controlled)
Stnd.Ct
voltage reaches its
maximum permissible


Torque control
Signal
Features connector
Status relay
Drive healthy
Specific features
Selection can be made between torque control and Analog torque
reference 1 (0 ~ 10V)
frequency control.
When frequency control is selected, the Drive will 0V common

run at the speed demand irrespective of load so long
as the maximum permissible output current of the
Analog frequency
Drive is not reached. The frequency reference must reference 1 (0 ~ 10V)
be applied to analog input 2.
When torque control is selected, analog input 1 is 0V common

configured for an analog torque reference. The
maximum frequency is limited to the value of SPEED
0.02 Maximum frequency. Analog input 2 is not used.
TORQUE
Both inputs accept 0 to 10V.
Motor thermistor
Torque slaving
Macro 4 can be used in applications where two or AT SPEED 0V common
more motors are mechanically linked and must share
the torque load in a controlled way. AT MIN. SPEED
Standard features RESET

Macro 4 operates in Terminal mode only RUN FORWARD
Digital control by RUN FORWARD and RUN REVERSE
RUN REVERSE contacts
FREQUENCY CONTROL
TORQUE ENABLE
Analog torque and frequency inputs
TORQUE CONTROL
Adjustment of maximum frequencies

External trip
ramps 0V common
Operation of the status relay can

be inverted
Selection of braking mode connections for Macro 4
SPEED and TORQUE analog outputs Signal Connections.
AT MINIMUM SPEED digital output

RUN RUN
FORWARD REVERSE RESET EXTERNAL TRIP
27 28 25 30
selector 0.02 Frequency over-ride
Analog torque Analog
reference input 1 Analog 0.05
mode input 1
selector scaling Minimum
5 frequency
0.24 0.29
6 0.01
Skip
Analog
0.25 frequencies
input 1 0.30
Analog
input 2
7 0.26 scaling
Analog
Frequency control: input 2
Frequency reference mode
Torque control: selector
(Not used)
0.20
Analog Skip
0.27 input 2 frequency 1
0.21
Skip band 1
0.22
Skip
frequency 2
0.23
Skip band 2
0.38
Initial
parameter
displayed
Key

parameter
0.XX Read-only (RO)

parameter
X X Input terminals

TORQUE AT MIN.
ENABLE THERMISTOR SPEED TORQUE AT SPEED SPEED
29 8 9 10 24 26
Pre-ramp
reference
Motor control
Post-ramp
0.11 reference 0.12
0.06
S-ramp Current
limit
S-ramp
Ramps enable
0.16
0.18
Stop mode
selector
0.39
Synchronize
to a spinning
0.03 motor
Acceleration
rate
Motor parameters
0.04
0.19
rate S-ramp
Power factor
0.15 Rated voltage
Rated speed
Other parameters
0.28 Over-speed threshold 0.07
0.31 Macro number
Voltage mode
0.32 Serial comms. mode selector
0.33 Drive rated current
0.10 0.08
0.36 Serial comms. baud rate Boost voltage
Estimated
0.37 Serial comms. address motor
0.09
0.40 Autotune speed
Dynamic V/f
0.48 Drive software build number select
0.49 Security status
Motor
active-current
Power stage
0.13 0.41
PWM switching
frequency


value
0.06 Current limit

0.15 Braking mode selector
0.18 S-ramp enable
0.19 S-ramp da/dt
0.21 Skip band 1

0.32 Serial comms. mode 0.25 Analog input 1 (torque reference)
0.33 Drive rated current (FLC) [M] 0.26 Analog input 2 mode selector
0.34 User security code [M] 0.27 Analog input 2 (frequency reference)
0.35 Keypad reference [M] 0.28 Over-speed threshold
0.36 Serial comms. baud rate 0.29 Analog input 1 scaling
0.37 Serial comms. address 0.30 Analog input 2 scaling
0.40 Autotune

Setting up and using Macro 4 Refer to the following parameters in Appendix D
Menu 0 Parameters for selecting the required mode:
Torque control Analog Terminal(s) Parameter
input
control. To disable this and enable torque 1 5, 6 0.24
control, close the TORQUE ENABLE contact Analog input 1 mode selector
(terminal 29). 2 7 0.26
2. Set 0.02 Frequency over-ride at the required
value to limit the maximum speed of the motor. Torque slaving
3. Set the analog torque reference at the 1. Set up a master Drive in Macro 0 with
required level. frequency control.
4. If required, adjust 0.29 Analog input 1 scaling to 2. Set up slave Drive(s) in Macro 4.
change the scaling of the torque reference
input (see Torque slaving below). 3. Make connections between the Drives as shown
in Figure 312.
5. If required, adjust 0.30 Analog input 2 scaling to
change the scaling of the frequency reference
input. Master Drive Slave Drive
6. Set 0.28 Over-speed threshold at the frequency Signal Signal

that the Drive is to trip for protecting the connector connector
system. (part) (part)
Default value: ([0.02] x 1.2) Hz

Range: 0 ~ ([1.06] x 1.2) Hz
7. Monitor the torque reference by displaying

parameter 0.25 Analog input 1.
Figure 312 Torque slaving connections
Reference selection
4. If the slave Drive(s) is to deliver a different
For correct operation of this macro configuration, torque from that of the master Drive, for
the setting of parameter of 0.05 Reference selection (each) slave Drive, adjust 0.29 Analog input 1
should be at 0. scaling accordingly.
Jog frequency Stopping and braking modes

There is no need to adjust 0.14 Jog reference since Refer to the following parameters in Appendix D
the jog function cannot be used. Menu 0 Parameters:
Analog input modes Parameter Setting Function
The analog inputs can be configured for the 0.15 Stnd.Ct (Standard controlled)
0 ~ 20mA, 4 ~ 20mA or 0 ~ 10V voltage reaches its
maximum permissible


PID (set-point control)
Signal
Features connector
Status relay
Drive healthy
Specific features
PID control is used for applications where a process Frequency
reference 1 (0 ~ 10V)
is required to be maintained at a set-point. Typical
applications are as follows:
0V common
Closed-loop tension-control processes
where a dancer-arm is used PID reference
(0 ~ 10V)
Closed-loop pressure-control systems
Selection can be made between PID and analog
frequency control. When PID control is selected,
the three analog inputs are configured as follows:
PID feedback
Frequency reference to define the frequency
demand
PID feedback from the feedback device 0V common
PID reference to define the set-point SPEED

The dynamic performance, scaling and range of the
PID control can be adjusted. TORQUE
Two preset references and an optional software

PID-enable can be used. AT SPEED 0V common
Standard features RESET
Macro 5 operates in Terminal mode only RUN FORWARD
Digital control by RUN FORWARD and RUN REVERSE
RUN REVERSE contacts PID ENABLE FREQUENCY CONTROL
Analog frequency inputs PID CONTROL
Adjustment of acceleration and deceleration External trip

ramps
0V common
Figure 313 Control signal connections
for Macro 5
Signal Connections.

PID RUN RUN
ENABLE RESET FORWARD REVERSE EXTERNAL TRIP
29 25 27 28 30
selector Maximum
0.02
Frequency reference Analog frequency
input 1 0.05
mode
selector Minimum
5 frequency
0.14
6 0.01
0.17
Analog
input 2 Analog
input 1
0.18 PID
0.20
PID PID proportional
reference Analog input 2 gain
mode selector
0.15 0.21
7
PID integral
Analog gain
input 2 0.28
scaling 0.22
PID derivative
gain 0.38
Initial
0.23 parameter
Analog displayed
input 3 0.29 PID output high
scaling limit
8 0.16 0.24
Analog input 3 PID output
PID mode selector low limit
feedback
0.25
0.19 PID output

scale factor
Analog
input 3
Key

parameter
0.XX Read-only (RO)

parameter
X X Input terminals

SPEED TORQUE AT SPEED
9 10 24
Pre-ramp Post-ramp
reference reference
Motor control
0.11 0.12
0.06
Current
limit
Ramps
0.39
Synchronize
to a spinning
motor
0.03
Acceleration
rate
Motor parameters
0.04
rate No. of poles
Power factor
Rated voltage
Rated speed
Rated current
Rated frequency
Other parameters
0.31 Macro number
0.07
0.33 Drive rated current
Voltage mode
0.37 Serial comms. address 0.10 0.08

Estimated
0.48 Drive software build number
motor
0.09
0.50 Software version number Dynamic V/f
select
Motor
active-current
Power stage
0.13 0.41
PWM switching
frequency


value
0.06 Current limit
0.07 Voltage mode selector
Pr Function User
0.14 Analog input 1 (frequency reference)
mode selector
0.15 Analog input 2 (PID reference) mode
selector
0.16 Analog input 3 (PID feedback) mode
selector
0.17 Analog input 1
(frequency reference)
0.18 Analog input 2
(PID reference)
Pr Function User 0.19 Analog input 3
value (PID feedback)
0.31 Macro number [M] 0.20 PID proportional gain
0.32 Serial comms. mode 0.21 PID integral gain
0.33 Drive rated current (FLC) [M] 0.22 PID derivative gain
0.34 User security code [M] 0.23 PID output high limit
0.35 Keypad reference [M] 0.24 PID output low limit
0.36 Serial comms. baud rate 0.25 PID output scale factor
0.37 Serial comms. address 0.26 (Not used)
0.38 Initial parameter displayed 0.27 (Not used)
0.39 Synchronize to a spinning motor 0.28 Analog input 2 scaling
0.40 Autotune 0.29 Analog input 2 scaling
0.41 PWM switching frequency selector 0.30 (Not used)

Setting up and using Macro 5 3. To define the minimum value of PID error, set
0.24 PID low limit at the required value.
Setting up PID control Default value: 100 %
Range: 100 %
control. To disable this and enable PID control, 4. To define the degree of control on the
close the PID ENABLE contact (terminal 29). frequency reference, set 0.25 PID output scale
factor at the required value.
2. Set the PID REFERENCE potentiometer
(terminal 7) at the required set-point. Default value: 1
Range: 0 ~ 4.000
3. Set the FREQUENCY REFERENCE (terminals
5, 6) for the required nominal motor (process) Adjusting the PID gain settings
speed.
The following parameters are used:
4. Connect the feedback device to terminal 8
0.20 PID proportional gain
(PID FEEDBACK).
Default value: 1
5. The values of the three analog signals can be Range: 0 ~ 4.000
monitored by displaying the following
0.21 PID integral gain
parameters:
Default value: 0.5
0.17 Frequency reference Range: 0 ~ 4.000
0.18 PID reference
0.22 PID derivative gain
0.19 PID feedback Default value: 0
Range: 0 ~ 4.000
Adjusting the PID control range
In PID control, the PID reference and PID feedback Reference selection
are each passed through a scaling stage, and the
For correct operation of this macro configuration,
error resulting from differences between these
the setting of parameter of 0.05 Reference selection
references is passed through a limiter and then
should be at 0.
through a final scaling stage.
The limiter is used for applying minimum and Analog input modes
maximum limits to the PID error. The minimum
The analog inputs can be configured for the
error can be a negative value.
The final scaling stage is used for adjusting the
0 ~ 20mA, 4 ~ 20mA or 0 ~ 10V
degree of change to the frequency reference.
After these two stages, the error is added to the Menu 0 Parameters for selecting the required mode:
frequency reference.
Analog Terminal(s) Parameter
1. The default scaling for analog inputs 2 and 3 input
is 1. If required, adjust the following
1 5, 6 0.14
parameters to alter the scaling: Analog input 1 mode selector
0.28 Analog input 2 scaling (PID reference) 2 7 0.15
0.29 Analog input 3 scaling (PID feedback) Analog input 2 mode selector
3 8 0.16
2. To limit the maximum value of PID error, set Analog input 3 mode selector
0.23 PID high limit at the required value.
Default value: 100 %
Range: 0 ~ 100 %


A Programming A.2 Preparation
Instructions 1. Ensure that terminal 30 is connected to
terminal 31 or that a contact connected to
these terminals is closed.
The instructions in this appendix take you step-by-
2. If these instructions are being followed when a
step through learning how to use the display and
macro other than Macro 1 is enabled, ensure
keypad, and alert you to avoid actions that could
terminal 8 is connected to terminal 11 or a
cause confusion. It is in your interests to follow
motor thermistor is connected to these
these instructions carefully.
terminals. These connections will allow the
The instructions can be used when the Drive is Drive to be operated.
operating in Keypad or Terminal mode. They cover
3. Ensure that terminals 27 and 28 are
the basic procedure for accessing a numerical
open-circuit, or that contacts connected to
variable parameter. Instructions for accessing other
these terminals are open. This will prevent a
types of parameter, as well as for more advanced
motor (if connected) from being driven.
operations, are given later in this appendix.
4. Ensure that if a FREQUENCY potentiometer is
connected, it is set at minimum (wiper at
A.1 Electrical connections 0V common).
Before following the instructions in this chapter 5. Connect the AC supply to the Drive.
ensure the Drive has been connected in accordance
with the instructions in Chapter 2 Installing the Drive, 6. The display is in Status mode and should indicate
in the Installation Guide or Chapter 2 Getting Started as follows:
in this User Guide.
When following the instructions in this appendix, It

is your responsibility to connect and disconnect the
AC supply as required.
If the lower display shows triP and the upper

The terminal cover must be
display shows one of the following, check the
fitted to the Drive before the
cause and attend to the remedy:
AC supply is connected. If the
Warning cover needs to be removed, the Display Cause and remedy
AC supply must first be
th Motor thermistor not connected, or terminal 8
disconnected for ten minutes.
not connected to terminal 11. Make the
necessary connections.
The AC supply must be Et External trip signal received, or terminal 30 not
connected to the Drive with connected to terminal 31. Make the necessary
appropriate fuses or connections.
Warning
protection, as described in the rS Motor is not connected, one phase is not
Installation Guide. connected or the motor is open-circuit.
Adjustment of parameter Press to reset the Drive. The display

values must be performed only should now show rdY
by suitably trained or
Warning
experienced personnel. If the lower display still shows triP and another
Incorrect values could be code is shown on the upper display, see
hazardous. Appendix E Diagnostics.

Issue code: gpxu1 Programming Instructions A-1
A.3 Status mode A.5 Entering Parameter mode
and returning to Status
mode
1. Momentarily press . The display enters
Parameter mode.
The lower display shows rdY to indicate that the The lower display shows parameter number
Drive is ready to drive a motor, as follows: 0.10. (A different parameter number could be
shown if the Drive has been used previously.)
The upper display indicates the output frequency of The display appears as follows:
the Drive or the motor speed. This is the value of
parameter 0.10. (The value of a different parameter
could be shown if the Drive has been used
previously.)
A.4 Displaying the parameter

number in Status mode
When the display is in Status mode, the upper
display shows the value of parameter 0.10 (or of the
last parameter to be selected). The number of this
parameter can be shown on the lower display
instead of the Drive status.
8 seconds
1. To show the parameter number, press:
or
2. To show the status, press: . The status is

shown immediately.
2. Do not press any keys. After eight seconds, the

display returns to Status mode. This shows
that the display always returns from Parameter
mode to Status mode when no keys are pressed
within eight seconds.
You may repeat these two steps as many times
as required to obtain an understanding of the
operation.

A-2 Programming Instructions Issue code: gpxu1
A.6 Selecting Scrolling
a parameter to access 1. Within eight seconds, press and hold down:
If the display returns to Status mode during the

course of selecting parameters (because no keys The parameter number continuously increases
have been pressed for eight seconds), to re-enter (scrolls upward) until the highest numbered
Parameter mode, press: parameter in the menu is reached.
2. To start scrolling upward again from parameter

number 0.00, release then re-press:
1. Momentarily press . The display enters
Parameter mode.
Parameter number 0.10, or the number of the 3. Repeat steps 1 and 2 using
last selected parameter, appears on the lower
The parameter numbers will now decrease. In
display. The value shown on the upper display
step 2, when parameter 0.00 is reached,
remains the same.
releasing and re-pressing the key will re-start
downward scrolling from the highest numbered
parameter in the menu.
Quick selection of parameter 0.00

1. While the display is in Parameter mode, press at
the same time:
and
Parameter 0.00 is displayed.
2. Within eight seconds, press

The parameter number decreases by one.
Repeat this step until 0.06 is displayed.
2. Now select parameter number 0.06.
Notice that the upper display changes to show

the value of the parameter that is selected.

A.7 Changing the value of a
parameter
1. Within eight seconds of selecting parameter
0.06, press:
The display enters Edit mode.

(If more than eight seconds have elapsed, the
display will have returned to Status mode. In
this case, twice press:
On the first press, the display will re-enter 3. Press and hold down
Parameter mode where parameter 0.06 will The value scrolls downward. Release the key
again be displayed; on the second press, the when the required value is reached.
display will enter Edit mode.)
The upper display still shows the value of the To increase the value, press
parameter, but the least-significant digit
4. When the required value is displayed, press:
flashes. (The value shown is the default value
for 0.06; the value displayed may be different if
the Drive has been used previously.)
5. The display returns to Parameter mode. If no
keys are pressed within eight seconds, the
display enters Status mode.
Making large changes in value quickly
So far, you have changed the value by incrementing
or decrementing the least significant digit. The
speed of change can be increased by selecting, then
scrolling either of the more significant digits, as
follows:
1. When the display is in Edit mode, momentarily

press:
Note that when the display is in Edit mode, it

will not return to Status mode after eight When the key is released, the digit at the left of
seconds. You can spend as much time as the least significant digit flashes. This
required changing the value of a parameter. operation can be repeated to select the most
significant digit of the display. If this digit is
2. To decrease the value, momentarily press: not currently displayed, it can still be selected.
When selected, a bar appears in its place.
The value of the flashing digit decreases by one.

You can repeat this step as many times as
required. The new value takes effect
immediately.
You can then change the value of the newly

selected digit.

Quick selection from least to most Quick selection of the
significant digit least significant digit
To select the most significant digit when the Irrespective of the digit that is selected, to select
least significant digit is flashing, momentarily the least significant digit, press at the same time:
press:
and
Quick selection from most to Reaching the maximum

least significant digit or minimum value
If the most significant digit of the display (not
just the displayed value) is flashing, to select A special condition arises when both the following
the least significant digit, momentarily press: occur:
A digit other than the least significant digit
(LSD) is being increased, and the maximum
value is approached.
The displayed LSD is not the same value as
the LSD of the maximum value. For
example: if the displayed value is 126.4, and
the maximum value is 217.9, the displayed
LSD of 4 differs from 9.
The special condition allows the value to be set at
either of the following:
The highest permissible value that contains
the displayed LSD (eg. 4)
The maximum value for the parameter
Use the following procedure to see how the
operation works:
1. Ensure the selected digit is not the LSD.
2. Press and hold down . When the

maximum value is reached, the entire display
flashes the maximum value (eg. 217.9). Release
the key within three flashes of the display. The
display now shows the highest permissible value
(eg. 216.4) that contains the displayed LSD.
3. Again press and hold down . When the

maximum value is reached, the entire display
again flashes the maximum value (eg. 217.9).
Release the key after four flashes of the display.
The display now shows the maximum value.

When setting the value at maximum in normal A.9 Flashing and non-flashing
operation, it is not necessary to follow step 2.
digits
The same principles apply when reaching the
minimum value. When the display is in Edit mode, the flashing of a
digit indicates that the value of the digit can be
Setting the value at zero changed. If no digits flash, the parameter cannot be
edited because it is read-only (or protected).
1. Momentarily press at the same time:
and
A.10 Negative values
When the value of a bipolar variable parameter is
negative, a minus sign appears at the left of the
displayed value.
A.11 Changing the setting of a

bit parameter
When a bit parameter is selected and Edit mode
entered, the display appears as shown below. bit
appears at the left of the upper display. 0 or 1 is
displayed at the right.
Bench-testing? Return to default value When 0 is displayed, press to select 1.

If you have followed this procedure while
When 1 is displayed, press to select 0.
bench-testing the Drive, return the value to 150
before returning the display to
Parameter mode.
A.8 Saving new

parameter-values
Use the following procedure to save new
parameter-values. The new values will then apply
each time the AC supply is subsequently applied to
the Drive. If new parameter-values are not saved,
the previously saved (or default) values will apply
each time the AC supply is applied to the Drive.
1. Set parameter 0.00 at 1000.

3. Momentarily press to reset the Drive. If

the Drive is running, press at the same time:
and
The new parameter-value(s) are now saved.

A.12 Selecting a different option
2. Press
Some variable parameters are used for selecting The default values now take effect.
among a number of options. These options can be
shown as numbers (as 1 to 5 in parameter 0.05 (The Drive is automatically restored to a default
Reference selector) or as character strings (as Ur_S, state when the operating mode is changed.)
etc, in parameter 0.07 Voltage mode selector).
Saving the default values
1. To select a different option, press:
If new parameter-values had previously been saved,
to ascend through the range of options
these (not the default) values will apply when the
AC supply is next connected to the Drive. If the
to descend through the range of options
default values are required instead, they must be
When the first option is displayed, it is saved in the same way as new values. Refer to
necessary to ascend through the range in order Saving new parameter-values earlier in this chapter to
to select another option. When the last option save the default values.
is displayed, it is necessary to descend through
the range.
A.14 Summary of key operation
A.13 Restoring the Drive Change the display mode
to a default configuration
Parameter mode
Do not attempt to restore the Select a parameter
Drive to a default or
configuration when the Drive is Select parameter 0.00
and
running.
Warning Select another menu
Restoring the Drive to a or
default configuration enables Select Menu 0
Macro 0 and returns all and
parameters to their default
values including the motor Edit mode
parameters. (If any one of the
macros 1 to 5 has been enabled, Change the value of a digit
or
the Drive still reverts to Change the setting of a bit
Macro 0.) parameter
Select a different option
After restoring the Drive to a
Select the value at 0
default configuration, it will be and
necessary for the required
Select a different digit
parameter values to be or
re-entered before the Drive is Select the least significant
next run. and
digit
When the Drive is despatched from the factory, the

parameters have default values, some of which
depend on the AC supply frequency (European 50Hz
or USA 60Hz). Consequently, the Drive has a
default configuration for each of these supply
frequencies.
Use the following procedure:
1. Enter either of the following values in

parameter 0.00:
1233 (Europe, 50Hz AC supply frequency)
1244 (USA, 60Hz AC supply frequency)

B Security B.3 Unlocking User Security
When User Security has been set-up and AC power is
applied to the Drive, User Security is automatically
B.1 User-defined Security locked. No parameters can be edited except for
parameter .00 in any menu.
The Drive is supplied without User Security having Except for parameter 0.00, no parameters can be
been set-up. All parameters can be read and all edited.
readwrite parameters can be edited.
Unlock User Security as follows:
User-defined Security operates only when it has
been set-up by the user. When locked, it prevents 1. Select parameter 0.00.
editing of all parameters except for parameter
0.00. 2. Set the value at the User Security code number.
The code number used to unlock User-defined All readwrite parameters can now be edited.
Security is defined by the user. This gives
protection against unauthorized editing of
parameters. The code number can be read and B.4 Summary
edited only when User Security has been unlocked.
Condition User Security
Locked Only parameter 0.00 can be edited; all
B.2 Setting-up User Security other parameters can be read
Drive as None
Set-up User Security as follows: despatched
from the
1. Select parameter 0.34 User security code. The factory
default value 149 is displayed.
Setting up Set 0.34 at 0 ~ 255 (but not 149); the
security display reverts to 149 hiding the true
2. Change the value to the required User Security
value
number which must be within the range 0 to
255. Do not use the default value 149. Saving the code Occurs automatically at power-down
number
3. When the display is returned to Parameter Locking Occurs automatically at power-down or
mode, the displayed value reverts to 149. This when parameter 0.00 is set at 2000
hides the new User Security number.
Unlocking Set parameter 0.00 at the user security
4. Follow the procedure in Saving new code; the display reverts to 0, hiding the
true value
parameter-values in Appendix A Operating
Instructions. Changing the Set 0.34 at the required value
code
User Security is now set-up. Disabling Set 0.34 at 149 (this value is always
security displayed; just enter Edit mode and
return to Parameter mode)
Restoring a No change
default
configuration

Issue code: gpxu1 Security B-1
B-2 Security Issue code: gpxu1
Descriptions of the control
C Signal Connections signal connections
The function and possibly the specification of some
The control circuits are
terminals change according to the macro
isolated from the power
configuration that is enabled. In these cases, the
circuits in the Drive by basic
number of the associated macro configuration(s) is
insulation only. The installer
Warning stated in italics before the function of the terminal.
must ensure that the external
Where no indication is given, the function and
control circuits are insulated
specification apply to all the macro configurations.
from human contact by at least
one layer of insulation rated
for use at the AC supply 1 Status relay contact
voltage. 2
Function Drive healthy
If the control circuits are to be
connected to other circuits Contact voltage rating 240VAC
classified as Safety Extra Low Installation category 1
Voltage (SELV) (eg. to a Contact current rating 5A resistive
Warning
personal computer), an Contact condition Normally open
additional isolating barrier
Isolation 1.5kV
must be included in order to
maintain the SELV Update period 8ms
classification.
3 0V common (analog)
Logic levels of the digital inputs
Common connection for external analog devices.
Logic sense Logic Voltage Action
state
4 +10V reference voltage
Negative 0 15V Open-circuit
Function Supply for external analog
1 5V Connected to 0V
signal devices
Positive 0 5V Open-circuit
Voltage tolerance 1%
1 15V Connected to +24V
Maximum output current 10mA
For positive logic, the supply can be obtained from Protection Current limit and
terminal 22 +24V output. thermal trip
Signal modes of the analog inputs

Signal Condition Parameter
setting
0 ~ 10V VOLt
0 ~ 20 mA 020
20 ~ 0 mA 200
4 ~ 20 mA Trip on loss of signal 420.tr
current
20 ~ 4 mA Trip on loss of signal 204.tr
current
4 ~ 20 mA Minimum or low speed 420.Lo
on loss of signal current
20 ~ 4 mA Minimum or low speed 204.Lo
on loss of signal current
4 ~ 20 mA Previous speed on loss 420.Pr
of signal current
20 ~ 4 mA Previous speed on loss 204.Pr
of signal current

Issue code: gpxu1 Signal Connections C-1
Analog input 1 8 Analog input 3
5 Non-inverting input Function 0234 Motor thermistor input*
6 Inverting input Internal pull-up voltage <5V
Function 01235 Trip threshold resistance 3 k 15%

(remote) Reset resistance 1.9 k 15%
4 Analog torque reference Short-circuit detection R 51 12%
Type of input Bipolar differential analog
Function 5 PID feedback
(For single-ended use,
Type of input Bipolar single-ended analog
connect terminal 6 to
terminal 3) Operating in voltage mode
Operating in voltage mode Voltage range 10V ~ +10V
Voltage range 10V ~ +10V Absolute maximum 24V relative to 0V
voltage range
Absolute maximum 24V ~ +24V relative to 0V
voltage range 24V differential Input resistance 100k
Input resistance 100k Operating in current mode
Operating in current mode Current ranges 0 ~ 20mA

20mA ~ 0
Current ranges 0 ~ 20mA 4 ~ 20mA
20mA ~ 0 20 ~ 4mA
4 ~ 20mA
20 ~ 4mA Absolute maximum current 50mA
Absolute maximum current 50mA Equivalent input resistance 200 at 20mA
Equivalent input resistance 200 at 20mA * If a motor thermistor is not fitted, short terminal
Resolution 12-bit plus sign 8 to 0V.
Sampling period 2ms 9 FREQUENCY output signal
10 TORQUE output signal
7 Analog input 2 Type of output Single-ended analog voltage
Function 01 Frequency reference 2 Bipolar
(local)
Maximum output voltage 10V ~ +10V
5 PID reference
Maximum output current 10mA peak
Type of input Bipolar single-ended analog
Load resistance 1k minimum
Operating in voltage mode
Protection Short-circuit proof
Voltage range 10V ~ +10V
Resolution 10-bit plus sign
Absolute maximum 24V relative to 0V
voltage range Update period 8ms
Input resistance 100k

Operating in current mode
11 0V common (analog)
Current ranges 0 ~ 20mA Common connection for external analog devices.

20mA ~ 0
4 ~ 20mA 21 0V common
20 ~ 4mA
Absolute maximum current 50mA
Equivalent input resistance 200 at 20mA
When the Drive is used in torque control (Macro 4),

terminal 7 is used for the analog torque reference.

C-2 Signal Connections Issue code: gpxu1
22 +24V digital supply Outputs
Voltage tolerance 10% Type of output Negative-logic digital

(push-pull)
Nominal output current 200mA (total including
terminal 24) Voltage range 0V ~ +24V
Overload output current 240mA (total including Maximum output current 200mA (total including
terminal 24) terminal 22)
Protection Current foldback Overload output current 240mA (total including

above 240mA terminal 22)
Supply for external digital signal devices.

31 0V common (digital)
23 0V common (digital) Common connection for external digital devices.
Common connection for external digital devices.
24 Macro Function
0145 AT-SPEED output
2 UP input
3 PRESET SELECT A input
25 RESET input
26 Macro Function
01 JOG SELECT input
2 DOWN input
3 PRESET SELECT B input
4 AT MIN. SPEED output
27 RUN FORWARD input
28 RUN REVERSE input
29 Macro Function
01 LOCAL/REMOTE input
2 MOT. POT. ENABLE input
3 PRESET ENABLE input
4 TORQUE ENABLE input
5 PID ENABLE input
30 EXTERNAL TRIP input
Inputs
Input Negative-logic digital
Voltage range 0V ~ +24V
Absolute maximum 3V ~ +30V
voltage range
Input current when 3.2mA
0V applied
Negative-logic levels Inactive state
(input open-circuit): > +15V
Active state: < +5V
Positive-logic levels Inactive state
(input open-circuit): < +5V
Active state: > +15V

Issue code: gpxu1 Signal Connections C-3
C-4 Signal Connections Issue code: gpxu1
Categories of the
D Menu 0 Parameters fixed-function parameters
The parameters are arranged in the following
D.1 Introduction categories:
0.00 Configuration and saving

Key
0.01 ~ 0.02 Frequency limits
Type of parameter 0.03 ~ 0.06 Ramps
RO Read-only Frequency reference selection
Current limit
RW Readwrite
...selector Select from a number of settings 0.07 ~ 0.09 Voltage boost
...select Select from two settings 0.10 Speed indication
...enable Make or allow a function to operate
...disable Stop or disallow a function from 0.31 Macro-number indication
operating
...indicator The value can only be read 0.32 ~ 0.34 Miscellaneous
Limitations of use 0.35 Keypad-reference monitoring
R The Drive must be reset for a new value to 0.36 ~ 0.38 Serial communications
take effect. Parameter displayed at power-up
S The new parameter-value is saved when the
0.39 ~ 0.41 Spinning motor
AC supply is disconnected from the Drive.
Autotune
PWM switching frequency
Range
Bi Variable parameter having bipolar value 0.42 ~ 0.47 Motor parameters
range.
Uni Variable parameter having unipolar value
range. 0.49 ~ 0.50 Security and software information
Txt Variable parameter having text displayed. A
number is stated alongside the setting; this is
displayed on the system controller when the
Drive is accessed by serial communications
Bit Bit parameter
FLC Full-load current (maximum continuous
output current) (see Appendix C Data in the
Installation Guide)
Symbols
Default value
Range of values
[...] Indicates the value of the parameter
~ Indicates a range of values (in the case of bit

parameters, ~ indicates or.

Issue code: gpxu1 Menu 0 Parameters D-1
D.2 Fixed-function parameters Frequency limits
common to all macro
configurations 0.01 Minimum frequency
RW Uni
Configuration 0 ~ [0.02] 0 Hz
Set 0.01 at the required minimum output frequency

0.00 Macro selection, of the Drive for both directions of rotation. The
Configuration, Drive runs at the minimum frequency when the
Saving frequency reference is zero.
RW Uni R [0.01] is a nominal value; slip compensation may

0 ~ 2010 0 cause the actual frequency to be higher.
(When the Drive is jogging, [0.01] has no effect.)

Value Function
1000 Save new parameter-values
1233 Restore parameters to their default values
for 50Hz AC supply frequency (Europe) Maximum frequency RW Uni
1244 Restore parameters to their default values 0 ~ 1000.0 50 (EURO) Hz
for 60Hz AC supply frequency (USA)
60 (USA)
2001 Macro 1
Easy mode Set 0.02 at the required maximum output
frequency for both directions of rotation. The
2002 Macro 2
Motorized potentiometer frequency reference cannot cause the Drive to run
at a frequency higher than [0.02].
2003 Macro 3
Preset speeds [0.02] is a nominal value; slip compensation may
2004 Macro 4 cause the actual frequency to be higher.
Torque control
(The Drive has additional over-speed protection.)
2005 Macro 5
PID control
For operation at motor speeds
2009 Macro 0 greater than twice base speed,
General purpose (USA default configuration)
contact the supplier of the
2010 Macro 0 motor.
General purpose (EUR default configuration) Caution
Ramps,
Press after setting parameter 0.00 at the
required value.
Frequency reference selection,
Current limit
RW Uni
0 ~ 3200.0 5 s/100Hz
Set 0.03 at the required rate of acceleration. Note

that larger values produce lower acceleration. The
rate applies in both directions of rotation.

D-2 Menu 0 Parameters Issue code: gpxu1
0.04 Deceleration rate 0.06 limits the maximum output current of the
Drive (and hence maximum motor torque) to
RW Uni protect the Drive and motor from overload.
0 ~ 3200.0 10 s/100Hz Set 0.06 at the required maximum torque as a
percentage of the rated torque of the motor, as
Set 0.04 at the required rate of deceleration. Note
follows:
that larger values produce lower deceleration. The
rate applies in both directions of rotation. TR
[0.06] = 100 (%)
TRATED
Where:
RW Uni TR Required maximum torque
0~5 (See below) TRATED Motor rated torque
The default setting of 0.05 depends on the default Alternatively, set 0.06 at the required maximum
configuration of the Drive, as follows: active (torque-producing) current as a percentage
of the rated active current of the motor, as follows:
EUR 0 Terminal mode
IR
USA 4 Keypad mode [0.06] = 100 (%)
I RATED
Note Where:
Do not change the setting of parameter IR Required maximum active current
0.05 when one of the macros 2 to 5 is IRATED Motor rated active current
enabled.
Refer to Setting the torque-producing current limit in
Chapter 3 Setting up the Drive.
Use 0.05 to select the required frequency
reference, as follows:
Voltage boost
Setting User- Function
interface
mode 0.07 Voltage mode selector
0 Terminal Analog frequency reference
selected by LOCAL/REMOTE Voltage mode selector RW Uni
contact (See below) Ur_I
1 Terminal Analog frequency
reference 1 selected
2 Terminal Analog frequency Setting Function
reference 2 selected
Vector modes
3 Terminal Preset frequency references
selected (used with Ur_S 0 Motor stator resistance is measured each
Macro 3) time the Drive is started.
4 Keypad Frequency controlled by the Ur_I 1 Motor stator resistance is measured at

keypad power-up if the EXTERNAL TRIP contact is
closed and no other trip condition exists.
5 (Not used)
Ur 2 Motor stator resistance is not measured
(use this mode only after having used
Ur_S or Ur_I to measure the stator
resistance).
0.06 Current limit
Fixed boost mode
RW Uni Fd 3 Fixed voltage boost that can be manually
0 ~ 150 150 % IRATIO adjusted by parameter 0.08 Boost voltage.
FLC Use 0.07 to select fixed voltage boost, or Vector

I RATIO =
[ 0.46] control of voltage boost. Fixed boost requires a
value to be set in 0.08 Boost voltage by the user.
See Figure D1. Fixed boost should be used when
0.39 Synchronize to a spinning motor is set at 1.

Motor voltage
Motor
voltage
AC supply
voltage
IMOTOR
[0.08] Frequency
Voltage boost
Frequency
Figure D1 Effect of fixed voltage boost on
the voltage-to-frequency
characteristic
Figure D2 Fixed and variable
V/f characteristics
Vector control causes the voltage boost to be
automatically regulated according to the load on
the motor. Speed indication
Vector control requires the value of stator winding
resistance to be stored in a parameter in the Drive. 0.10 Estimated motor speed
The three Vector modes allow the resistance to be
measured under different circumstances. Estimated motor speed RO Bi
6000 RPM
0.08 Boost voltage

0.10 indicates the value of motor speed that is
estimated from the following:
Boost voltage RW Uni
0 ~ 25.0 3.0 % x [0.44] 0.12 Post-ramp frequency reference
0.42 Motor no. of poles
When 0.07 Voltage mode selector is set at Fd, set
0.08 at the required value for the motor to run The value of 0.10 is applied to the analog output on
reliably at low speeds. See Figure D1. terminal 9 to indicate estimated speed.
Excessive values of 0.08 can cause the motor to be Macro-number indication

overheated.
0.31 Macro number

0.09 Dynamic V/f select
RO Uni
Dynamic V/f select

RW

Bit
0~9
0~1 0
0.31 indicates the number of the macro
Set 0.09 at 0 when the V/f characteristic applied to
configuration that is currently in operation.
the motor is to be fixed. It is then based on the
rated voltage and frequency of the motor.
Set 0.09 at 1 when reduced power dissipation is

required in the motor when it is lightly loaded. The
V/f characteristic is then variable resulting in the
motor voltage being proportionally reduced for
lower motor currents. Figure D2 shows the change
in V/f slope when the motor current is reduced.

Miscellaneous Serial communications,
Parameter displayed after power-up
RW Txt R
ANSI 2 ANSI 4 RW Txt
ANSI 4
OUtPUt
4800 (0) 4800 baud
9600 (1) (0)
INPUt
19200 (2)
Use 0.32 to select the required serial
Use 0.36 to select the required baud rate for serial
communications mode as follows:
communications when a Basic serial communications
ANSI 2 ANSI protocol, two-wire large option module is fitted in the Drive.
ANSI 4 ANSI protocol, four-wire 0.37 Serial comms. address
RW Uni
0.33 Drive rated current (FLC)

0.0 ~ 9.9 1.1 Group.Unit
Use 0.37 to select the required address for serial

RO Uni communications when a Basic serial communications
2.10 ~ 1920 A large option module is fitted in the Drive.
Do not enter an address that contains a zero, since

this is used when addressing a group of Drives.
RW Uni S
RW Uni
0 ~ 255 149
0.00 ~ 0.50 0.10
Use 0.34 to set up a User Security code.
At the time the AC supply is connected to the Drive,
Irrespective of the code number entered in 0.34, it
parameter 0.10 Estimated motor speed is
always indicates the default value 149. When 0.34
automatically pre-selected as the initial parameter
is actually set at 149, no User Security is applied.
to be displayed. This results in the following:
See Setting-up User Security in Appendix B Security.
1. After the AC supply is connected to the Drive,
and before any other parameter is selected, the
Keypad-reference monitoring value of parameter 0.10 is shown on the upper
display. This allows the motor speed to be
monitored without the need to select the
0.35 Keypad reference parameter.
RO Bi S 2. If the keypad is subsequently used to select

[0.02] Hz another parameter, the value of the newly
selected parameter is displayed in place of the
0.35 indicates the value of the frequency reference initial parameter.
when the Drive is operating in Keypad mode. The
reference is then controlled by the following control To select a different parameter to be displayed
keys (when the display is in Status mode): initially, enter the required parameter number in
0.38 (eg. to display 0.12 Post-ramp reference, enter
0.12).
The value is automatically saved when the Drive is
powered-down. At the next power-up, the Drive
ramps up to the frequency that applied before the
power-down.

Spinning motor,
Autotune, 0.40 Autotune
PWM switching frequency RW Bit

0~1 0
Set 0.40 at 1 to start the Autotune sequence. See
Autotune in Chapter 2 Getting Started.
RW Bit
0~1 0
0.41 PWM switching frequency
Set 0.39 at 1 for the Drive always to automatically
synchronize itself to the motor if the motor is RW Txt
already rotating when the Drive is started. 3, 4.5, 6, 9, 12 3 kHz
If the Drive is started when the motor is already See PWM switching frequency in Planning the installation
spinning and 0.39 is set at 0, the Drive cannot in Chapter 2 Installing the Drive in the Installation
detect the speed of the motor; the normal Guide.
operation of the Drive will cause the motor to be
braked to a stand-still in the same way as
DC injection braking. The Drive will then accelerate Thermal protection
the motor to the value of the frequency reference.
Intelligent thermal modelling in the Drive effectively
monitors the junction temperature of the IGBTs in
Notes the power stage. When the junction temperature is
The Drive can be synchronized to a single calculated to reach the maximum permissible value,
motor only. If more than one motor is two levels of protection occur, as follows:
connected to the Drive, this function should 1. When a PWM switching frequency of 6kHz, 9kHz
not be used. or 12kHz is selected, the PWM switching
For the Drive to operate correctly during frequency is automatically halved. This reduces
and after synchronization, parameter switching losses in the IGBTs. (The value of
0.07 Voltage mode selector must be set at Fd. parameter 0.41 PWM switching frequency remains
at the value set by the user.)
The Drive starts a sequence of operations at one Then at one-second intervals, the Drive will
quarter of the rated motor voltage in order to attempt to return the PWM switching frequency
detect the frequency associated with the speed of to the original value. This will be successful
the motor. The sequence is stopped when the when the thermal modelling has calculated that
motor frequency is detected. The stages in the the temperature has reduced sufficiently.
sequence are as follows:
2. If the junction temperature continues to rise
1. The frequency of the Drive is set at maximum (due to the output current) after the PWM
(the value of 0.02) in the direction that the switching frequency has been halved, and the
motor was last driven. (If the AC supply to the temperature reaches the maximum permissible
Drive was interrupted before an attempt is value, the Drive will trip. The display will
made to synchronize to a spinning motor, the indicate trip code Oh1.
Drive always starts in the forward direction.)
Motor parameters
2. The frequency is reduced to zero. If the motor
frequency is detected during the reduction in
Drive frequency, the test is stopped. The Drive 0.42 Motor number of poles
frequency is set at the detected motor
frequency and the Drive takes control of the RW Txt
motor.
2 ~ 32 4 poles
3. If the motor frequency is not detected, the
Enter the number of motor poles (not pole pairs).
Drive is set at maximum frequency in the
(See Configuring the Drive for the motor in Chapter 2
opposite direction, and the test is repeated.
Getting Started.)
4. If the motor frequency is still not detected, the
Drive frequency is set at 0Hz, and the Drive
takes control of the motor.

0.43 Motor power factor Drive software build number
RW Uni S
0 ~ 1.000 0.92
When Autotune is used, the power factor of the RO Txt

motor is measured by the Drive and stored in 0.43. 0 ~ 99
The value can be seen when 0.43 is accessed. The
value may be higher than the value stated on the
Status information
motor rating plate.
If Autotune is not used, enter the value in 0.43.

0.49 Security status
0.44 Motor rated voltage RO Uni

0~1 1
RW Uni
EUR> 0 ~ 400 400 V
0.49 normally indicates 1. This shows that access
USA> 0 ~ 480 460 V
to the advanced parameters is not possible. (See
the Unidrive Advanced User Guide.
Enter the value from the rating plate of the motor.
(See Configuring the Drive for the motor in Chapter 2 0.50 Software version number
Getting Started.)
RO Uni
0.45 Motor rated speed 1 .00~ 99.99
RW Uni
0 ~ 6000 0 RPM

Setting up the Drive.)
RW Uni
0 ~ FLC FLC A
FLC is the maximum permissible continuous output

current of the Drive up to 40C ambient
temperature and 3kHz PWM switching frequency.

Getting Started.)
RW Uni
0 ~ 1000.0 50 (EUR) Hz
60 (USA)

Getting Started.)

D.3 Parameters specific 0.14 Jog reference
to the macro configurations RW Uni
Since parameters 0.11 to 0.30 are specific to 0 ~ 400.0 1.5 Hz

individual macros, most parameter numbers appear
more than once in this section, but with different
Applicable to Macros...
names; these are variants on the parameter number.
For guidance, a table headed Applicable to Macros... 0 1 2 3 4 5
appears for each parameter variant. (In places, the
listing is not able to be in strict numerical order.)
Enter the required value of jog frequency. The
A table at the end of this appendix shows the frequency limits affect the Drive when jogging as
variants for all the macros (except Macro 1 which follows:
does not use these parameters).
Frequency-limit parameter Limit applies
0.11 Pre-ramp reference 0.01 Minimum frequency No

0.02 Maximum frequency Yes
0.12 Post-ramp reference
RO Bi Note
1000.0 HZ
So that jog can be selected, the Drive must
be operated in either Macro 0 or Macro 1
Applicable to Macros... and in Terminal mode.
0 1 2 3 4 5
0.14 Analog input 1 mode selector
When the frequency is constant, [0.12] = [0.11]. 0.15 Analog input 2 mode selector
During acceleration and deceleration, the two 0.16 Analog input 3 mode selector
values may differ.
[0.12] differs from [0.11] also under either of the RW Txt

following conditions: (See below) VOLt
When the Drive is in current limit

During braking in a standard ramp mode Applicable to Macros...
(0.15 Ramp mode selector set at Stnd.Hd or 0 1 2 3 4 5
Std.Ct).

0.13 Motor active-current
RO Bi
FLC A
0 1 2 3 4 5

When the motor is being driven below its rated
speed, the torque is proportional to [0.13].

Set the required mode as follows: 0.15 set at Stnd.Hd (0)
Standard hold
Setting Input signal When current
signal 3mA... If motor regeneration causes the DC-bus voltage to
VOLt 0 0V to 10V reach the standard ramp voltage, the braking is
020 1 0 to 20mA Signal treated as zero
interrupted until the DC-bus voltage reduces
sufficiently. Braking then continues until the next
200 2 20mA to 0 Signal treated as zero time the DC-bus voltage reaches its limit, resulting in
420.tr 3 4mA to 20mA Drive trips maximum braking occurring in steps.
204.tr 4 20mA to 4mA Drive trips
0.15 set at FASt (1)
420.Lo 5 4mA to 20mA Drive runs at minimum Fast ramp
or low speed
204.Lo 6 20mA to 4mA Drive runs at minimum This setting gives continuous deceleration under
or low speed maximum braking conditions. This can give faster
420.Pr 7 4mA to 20mA Drive runs at previous
deceleration than the Stnd.Hd setting with the
speed result that the regenerated power is greater. A
braking resistor is normally required in order to
prevent the standard ramp voltage from being
speed
reached.
th.SC 9 Thermistor Drive trips if short-
(analog input 3 circuit detected 0.15 set at Stnd.Ct (2)
only) Standard controlled
th 10 Thermistor (No short-circuit (default setting)
(analog input 3 detection)
only) Deceleration is smoother than with the Stnd.Hd
setting. The deceleration is controlled by a current
controller in the Drive in order to maintain the
DC bus at the standard ramp voltage. When
0.15 Ramp mode selector necessary, this extends the deceleration time.
(2.04)

RW Txt
(See below) Stnd.Ct RW Txt
(See below) rP
0 1 2 3 4 5 Applicable to Macros...
0 1 2 3 4 5
Select the required ramp mode as follows:

Stnd.Hd (0) Standard ramp with ramp hold Select the required stop mode as follows:
FASt (1) Fast ramp COASt 0 The motor is allowed to coast
Stnd.Ct (2) Standard ramp with proportional rP 1 Ramp to a stop
control (refer to the Unidrive Advanced
User Guide) rP-dcI 2 Ramp followed by 1 second DC injection
dcI 3 AC injection braking followed by 1 second
Set 0.15 Ramp mode selector for the required means DC injection braking
of controlling regenerated energy. Regeneration td-dcI 4 DC injection braking for an adjustable time
arises when the Drive is braking the motor. This (see the Unidrive Advanced User Guide).
occurs when the Drive decelerates the motor, or
prevents the speed of the motor from being See Selecting the stopping mode in Chapter 3 Setting up
increased as a result of mechanical influences. the Drive.
Regeneration causes the DC-bus voltage to be

increased. The settings for 0.15 determine the
braking action in relation to a threshold level set in
parameter 2.08 Standard ramp voltage.

0.17 Torque mode selector 0.18 S-ramp enable
RW Uni RW Bit
0~1 0 0~1 0
Applicable to Macros... Applicable to Macros...

0 1 2 3 4 5 0 1 2 3 4 5

Set 0.17 as follows: Set at 1 to enable S-ramp. See 0.19 S-ramp da/dt
limit.
Setting Open-loop
0 Frequency control 0.19 S-ramp da/dt limit
1 Torque control
RW Uni
For operation in setting 1 Torque control, see Macro 4 0 ~ 3000.0 3.1
2
s /100Hz
in Chapter 3 Setting Up the Drive.
0.17 Status relay invert Applicable to Macros...

0 1 2 3 4 5
RW Bit

0~1 0
Use S-ramp to limit the rate of change of
acceleration and deceleration at the start and end
Applicable to Macros... of ramps.
0 1 2 3 4 5
If a different rate of change of acceleration and
deceleration is required, set 0.19 S-ramp da/dt limit
at the required rate. (The acceleration and
When 0.17 is set at 0 and the Drive trips, the status deceleration rates are set in parameters 0.03 and
relay contacts open. 0.04.)
If required, set 0.17 at 1 for the contacts to close
when the Drive trips.
0.17 Analog input 1 Speed demand
0.18 Analog input 2

0.19 Analog input 3 Acceleration
RO Bi
100 %
0 1 2 3 4 5

These parameters indicate the values of the
Actual speed Time
following inputs as percentages of the full-scale
values:
0.17 Frequency reference Figure D3 S-ramp time durations
0.18 PID reference
0.19 PID feedback

Refer to Figure D3. The time duration t of the deceleration, the Drive passes through the skip
curved sections can be calculated as follows: bands, but it does not stabilize in a skip band.
For acceleration: Up to two skip frequenciess can be programmed.
[ 0.19]
t= Enter the centre frequency of the band in 0.20 (or
[0.03]
0.22) Skip frequency, then enter the width of each
For deceleration: sideband in 0.21 (or 0.23) Skip band.
[0.19] When the value of a skip frequency is zero, the
t=
[0.04] related skip band is disabled.
In comparison with a normal ramp, S-ramp increases

the total ramp time by the value of t, since an [0.11]
t
additional /2 is added at the beginning and end of Pre-ramp reference
the ramp.

RW Uni
0 ~ 1000.0 0 Hz
With skip frequency
Without skip frequency
0 1 2 3 4 5 Input reference

Figure D4 Action of skip frequency 1
See 0.21 and 0.23 Skip bands. and skip band 1
0.20 PID proportional gain When the frequency (input) reference ascends into a
skip band, the resulting (output) reference remains
RW Uni at the lower edge of the band until the input
0~4 1 reference has reached the upper edge of the band.
The output reference then jumps to the value of the
input reference.
When the frequency (input) reference descends into
0 1 2 3 4 5
a skip band, the resulting (output) reference jumps
immediately to the lower edge of the band.
Refer to the setting up instructions for Macro 5 in Example
Chapter 3 Setting Up the Drive.
Skip frequency 1 = 20HZ
Enter 20 in parameter 0.20
0.21 Skip band 1
Required skip band = 4Hz
0.23 Skip band 2 Enter 2 in parameter 0.21
RW Uni (Skip band = 2 Value of skip-band parameter.)

0 ~ 5.0 0.5 Hz
0 1 2 3 4 5

Use skip frequencies and skip bands to prevent the
motor from running at speeds that cause mechanical
resonances in the machine. During acceleration and

0.21 PID integral gain 0.25 PID output scale factor
RW Uni RW Uni
0~4 0.5 0~4 1

0 1 2 3 4 5 0 1 2 3 4 5

Refer to the setting up instructions for Macro 5 in Refer to the setting up instructions for Macro 5 in
Chapter 3 Setting Up the Drive. Chapter 3 Setting Up the Drive.
0.22 PID derivative gain 0.24 Analog input 1 mode selector

RW Uni
0~4 0 RW Txt
(See below) VOLt
0 1 2 3 4 5 Applicable to Macros...
Pr 0 1 2 3 4 5
Refer to the setting up instructions for Macro 5 in 0.24

Chapter 3 Setting Up the Drive. 0.25
Set the required mode as follows:
0.23 PID output high limit
Setting Input signal When current
RW Uni signal 3mA...
0 ~ 100 100 % VOLt 0 0V to 10V
Applicable to Macros... 200 2 20mA to 0 Signal treated as zero
0 1 2 3 4 5 420.tr 3 4mA to 20mA Drive trips

420.Lo 5 4mA to 20mA Drive runs at minimum
Refer to the setting up instructions for Macro 5 in or low speed
or low speed
0.24 PID output low limit 420.Pr 7 4mA to 20mA Drive runs at previous
speed
RW Bi
100 100 % speed
0 1 2 3 4 5

Refer to the setting up instructions for Macro 5 in

0.25 Motorized potentiometer reset 0.26 Motorized potentiometer
indicator output indicator
RO Bit RO Bi S
0~1 100 %

0 1 2 3 4 5 0 1 2 3 4 5

When 0.25 is set at 1, this indicates that the 0.26 indicates the value of the output of the
motorized potentiometer output is reset to 0%. motorized potentiometer as a percentage of the
The motorized potentiometer is reset when the maximum value.
RESET contact is closed (terminal 25) (only when
Macro 2 is enabled).
0.25 Preset reference 1 RW Txt

0.26 Preset reference 2 (See below) VOLt
0.27 Preset reference 3

0.28 Preset reference 4 Applicable to Macros...
0 1 2 3 4 5
RW Bi

1000 0 Hz
Set the required mode as follows:
Applicable to Macros... Setting Input signal When current

signal 3mA...
0 1 2 3 4 5
VOLt 0 0V to 10V
Enter the required values.
200 2 20mA to 0 Signal treated as zero
0.25 Analog reference 1
RO Bi 420.Lo 5 4mA to 20mA Drive runs at minimum

1000 Hz
or low speed
or low speed
Applicable to Macros... 420.Pr 7 4mA to 20mA Drive runs at previous
0 1 2 3 4 5 speed

speed
0.25 indicates the value of the torque reference
applied to terminals 5 and 6 of the signal connector.
0.26 (Not used)
0 1 2 3 4 5


0.26 Preset reference 7 0.27 Motorized potentiometer
zero-start select
0.27 Preset reference 8
RW Bit
RW Bi
1000 0 Hz
0~1 0
0 1 2 3 4 5
0 1 2 3 4 5

Set 0.27 for the motorized potentiometer to
These parameters are used as preset references for
behave at power-up of the Drive as follows:
the Frequency reference and PID reference. Refer to
Macro 5 in Chapter 3 Setting Up the Drive. 0 The motorized-potentiometer output returns to
the value it held when the Drive was previously
powered-down
0.27 EUR> Positive logic select
1 The motorized-potentiometer output starts at
USA> Sequencing mode selector zero
0 1 2 3 4 5 0.27 Analog input 2
RO Bi
European configuration 100 %
Positive logic select RW Bit R Applicable to Macros...

0~1 0 0 1 2 3 4 5
Use 0.27 to select the logic polarity of the digital

inputs, as follows:
0.27 indicates the value of analog input 2 as a
0 Negative logic percentage of the full-scale value.
1 Positive logic
Analog input 2 is used for the frequency reference
when Macro 4 is used in frequency control and is
USA configuration not used in torque control.
Sequencing mode RW Uni 0.28 EUR> Current-loop

selector proportional gain
0~4 4
RW Uni
Use 0.27 to change the functions of the digital
inputs; these functions determine the digital control
0 ~ 30 000 20
mode.
The default setting (4) gives the functions shown in
the signal connection diagrams in Chapter 3 Setting 0 1 2 3 4 5
up the Drive.
Set 0.27 at 0 for digital control by momentary Do not adjust this parameter.
contacts. See Macro 0 in Chapter 3 Setting up the
Drive.
It is essential that you see 0.29 USA> Terminal-29

destination selector in order to set up a RUN PERMIT /
STOP input.

0.29 EUR> Current-loop integral gain 0.29 USA> Terminal-29
destination selector
RW Uni
0 ~ 30 000 40 RW Uni R
0.00 ~ 20.50 1.41 Menu.
parameter
0 1 2 3 4 5
0 1 2 3 4 5
Do not adjust this parameter.

0.28 Motorized potentiometer USA configuration
bipolar select
Use 0.29 to change the function of the digital input
RW Bit on terminal 29.
0~1 0 The default setting (1.41) gives LOCAL/REMOTE
switching.
Applicable to Macros... When 0.27 Sequencing mode selector is set at 0, it is
0 1 2 3 4 5 essential that you set 0.29 at 6.34. This makes
terminal 29 function as a stop input
(RUN PERMIT / STOP).
Set 0.28 as follows:
0.29 Motorized potentiometer rate
0 Unipolar output (0 ~ 100%)
1 Bipolar output (100%) RW Uni
0 ~ 250 20 s
0.28 USA> Frequency demand Applicable to Macros...

0 1 2 3 4 5
RO Bi
1000 HZ

Enter the required time for the
motorized-potentiometer output to change by
Applicable to Macros... 100%.
0 1 2 3 4 5
0.28 Analog input 2 (PID reference)

scaling
USA configuration
0.29 Analog input 3 (PID feedback)
0.28 differs from 0.11 Pre-ramp reference in that it scaling
indicates the demanded reference before frequency
limiting and skip bands. RW Uni
0~4 1
0 1 2 3 4 5

If required, change the scaling of the PID reference
and feedback inputs by entering appropriate values
in these parameters.

0.29 Analog input 1 0.30 Optional PID-enable source selector
(Torque reference) scaling
RW Bit
0.30 Analog input 2
(Frequency reference) scaling 0~1 0
RW Uni Applicable to Macros...

0~4 1 0 1 2 3 4 5

0.30 is used for selecting a source parameter as a
0 1 2 3 4 5
software enable for PID control. This software
enable is AND-gated with the PID enable signal
applied to terminal 29. Refer to Menu 14 in the
If required, change the scaling of the torque Unidrive Advanced User Guide.
reference and frequency reference inputs by
entering appropriate values in these parameters.
0.30 FWD/REV key enable
RW Bit
0~1 0
0 1 2 3 4 5

The Drive is supplied with the key disabled.

To enable this key, set 0.30 FWD/REV enable at 1.
0.30 Motorized potentiometer

output scale factor
RW Uni
0~4 1
0 1 2 3 4 5

By default, when the motorized potentiometer
output is 100%, the frequency is set at 100%. If
required, enter the required value to reduce the
frequency range.

Pr Macro 0 Macro 2 Macro 3 Macro 4 Macro 5
0.11 Pre-ramp reference Pre-ramp reference Pre-ramp reference Pre-ramp reference Pre-ramp reference
0.12 Post-ramp reference Post-ramp reference Post-ramp reference Post-ramp reference Post-ramp reference
0.13 Motor active-current Motor active-current Motor active-current Motor active-current Motor active-current
0.14 Jog reference Jog reference Jog reference Jog reference Analog input 1
mode selector
0.15 Ramp mode selector Ramp mode selector Ramp mode selector Ramp mode selector Analog input 2
(PID reference) mode
selector
0.16 Stop mode selector Stop mode selector Stop mode selector Stop mode selector Analog input 3
(PID feedback) mode
selector
0.17 Torque mode selector Status relay invert Status relay invert Status relay invert Analog input 1
0.18 S-ramp enable S-ramp enable S-ramp enable S-ramp enable Analog input 2
(PID reference)
0.19 S-ramp da/dt limit S-ramp da/dt limit S-ramp da/dt limit S-ramp da/dt limit Analog input 3
(PID feedback)
0.20 Skip frequency 1 Skip frequency 1 Skip frequency 1 Skip frequency 1 PID proportional gain
0.21 Skip band 1 Skip band 1 Skip band 1 Skip band 1 PID integral gain
0.22 Skip frequency 2 Skip frequency 2 Skip frequency 2 Skip frequency 2 PID derivative gain
0.23 Skip band 2 Skip band 2 Skip band 2 Skip band 2 PID output high limit
0.24 Analog input 1 mode Analog input 1 mode Analog input 1 mode Analog input 1 PID output low limit
selector selector selector (torque reference)
mode selector
0.25 Analog input 2 mode Motorized pot. reset Preset reference 1 Analog input 1 PID output scale
selector (torque reference) factor
0.26 Motorized pot. Preset reference 2 Analog input 2 Preset reference 7
output indicator (frequency reference)
mode selector
0.27 EUR> Positive logic Motorized pot. zero- Preset reference 3 Analog input 2 Preset reference 8
select start select (speed reference)
USA> Sequencing
mode selector
0.28 EUR> Current-loop Motorized pot. Preset reference 4 Over-speed threshold Analog input 2
proportional gain bipolar select scaling
USA> Frequency
demand
0.29 EUR> Current-loop Motorized pot. rate Analog input 1 scaling Analog input 3
integral gain scaling
USA> Terminal-29
destination selector
0.30 FWD/REV key enable Motorized pot. Analog input 2 Optional PID-enable
output scale factor scaling source selector

E Diagnostics E.1 Status indications
Lower Conditions Drive
display output
Users must not attempt to rdY

repair a Drive if it is faulty, nor The Drive is ready to be run. Enabled
carry out fault diagnosis other run
Warning than through the use of the
The Drive is running. Enabled
diagnostic features described
in this appendix. inh
Under no circumstances must The Drive cannot be run. Disabled

the casing of the Drive be SCAn
opened when the AC supply is The Drive is searching for the motor Enabled
connected. frequency when synchronizing to a
spinning motor.
If a Drive is faulty, it must be
returned to an authorized ACUU
Control Techniques distributor The Drive has detected that the AC supply Enabled
for repair. is lost and is attempting to maintain the
DC-bus voltage by decelerating the motor.
dc
When the Drive display is in Status mode, it is used
for displaying coded messages. These are The Drive is applying DC injection braking. Enabled
categorized as follows: POS
The Drive is positioning the motor shaft. Enabled
Status indications
triP
When the Drive is in normal operation, the
The Drive has tripped and is no longer Enabled
lower display shows a code which indicates the controlling the motor. The trip code
status of the Drive. appears on the upper display.
Alarm indications
If a critical condition is detected, the Drive E.2 Alarm indications
continues operating and the lower display
shows an alarm code in place of the status Lower Conditions
code. If the condition is not rectified, the Drive display
could trip. br.rS
The alarm message flashes alternately with the The braking-resistor [I x t] accumulator in the Drive has
normal display indication. reached 75% of the value at which the Drive will be
tripped.
Trip codes
OVLd
If the Drive trips, the output is disabled so that
The motor [I x t] accumulator in the Drive has reached 75%
the Drive stops controlling the motor. The
of the value at which the Drive will be tripped.
lower display indicates that a trip has occurred
and the upper display shows a trip code. hot
The Drive heatsink has reached 95C (203F) and the
output current has not been reduced (sufficiently).
Air
The temperature of the air around the control circuits is
near the maximum permissible.

Issue code: gpxu1 Diagnostics E-1
E.3 Trip codes Lower No. Conditions
display
The number shown in the table is transmitted when Oh1 21
parameters 10.20 to 10.29 Trip log are accessed by Excessive heatsink temperature due to excessive [I xt]
serial communications. (see the hot alarm).
Lower No. Conditions Oh2 22

display Excessive heatsink temperature detected by thermistor.
UU 1 OA 23
Insufficient DC-bus voltage. The temperature of the air around the control circuits is
This occurs when the AC supply is removed. excessive (see the Air alarm).
OU 2 th 24
Excessive DC-bus voltage. The motor thermistor has detected excessive motor
temperature (or the thermistor or wiring is open-circuit).
Excessive regenerated power caused by the following:
0.03 Acceleration rate value too low thS 25
Braking resistor not being used The motor thermistor or wiring is short-circuit.
OI.AC 3 OP.OVLd 26
Excessive output current caused by: The total current drawn from terminals 22 and 24
0.03 Acceleration rate value too low exceeds 200mA.
0.04 Deceleration rate value too low cL1 27
Excessive motor-cable capacitance When configured for current signal, loss of signal current
Short-circuit at the output of the Drive at terminals 5 and 6 (Analog input 1).
OI.br 4 cL2 28
Excessive current in the braking resistor. When configured for current signal, loss of signal current
The braking resistor value is too small. at terminal 7 (Analog input 2).
PS 5 cL3 29
Internal power supply fault. When configured for current signal, loss of signal current
at terminal 8 (Analog input 3).
Remove and re-connect the AC supply. If the trip persists,
contact the supplier of the Drive. EEF 31
Et 6 Fault in the internal EEPROM causing loss of parameter

values.
External trip signal applied to terminal 30.
Follow the procedure Restoring all parameters
Remove the trip signal, then reset the Drive. to the default values in Appendix A, then re-enter the values
OV.SPd 7 for the application.
The motor has exceeded the over-speed threshold. Ph 32
This can be caused by the following: Loss of an AC supply phase.
Sudden removal of a large mechanical load rS 33
0.04 Deceleration rate too low
Incorrect measurement of stator resistance due to the
Inappropriate 0.16 Stop mode setting following:
0.19 S-ramp da/dt too high (not used in Macro 5) Motor cable disconnected when the measurement was
SEP 9 occurring
Motor too small for the Drive
Trip in small option module.
If required, set 0.07 Voltage mode at Ur and enter the
ENC.PH8 18
value of stator resistance in parameter 5.17. (Not
Autotune fail (limit-switch operated, trip, etc). applicable to operation in Menu 0).
It.br 19
Excessive braking-resistor [I x t]
It.AC 20
The [I x t] thermal overload accumulator has reached 100%
(see the OVLd alarm).

E-2 Diagnostics Issue code: gpxu1
Lower No. Conditions
display
SEP.diS 180
EEPROM values show that a small option module is
present, but none is fitted
FSH.Err 182
Cloning small option module memory is corrupt; all data
will be erased
FSH.Dat 183
No data in the parameters of the Cloning small
option module
FSH.TyP 184
Operating mode does not match that specified in the
Cloning small option module
FSH.ACC 185
Write access to the Cloning small option module is
not enabled

Issue code: gpxu1 Diagnostics E-3
E-4 Diagnostics Issue code: gpxu1

Commander GP2

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User Guide

Part Number: 0451-0010

The contents of this User Guide are believed to be

All rights reserved. No parts of this User Guide may

If there is any doubt, contact a Control Techniques

Copyright September 1998 Control Techniques Drives Ltd

Issue Code: gpxu1

Issue Date: September 1998

S/W Version: 3.1.X

1 Introduction 1-1 A Programming Instructions A-1

3.7 Macro 4 Torque control 3-27 E Diagnostics E-1

Commander GP User Guide

Learning how to operate the Unidrive GPD 1404 2.2 3.0

Variable speed drives may be GPD 2403 11.0 15

1.3 Configuration layers

Each of the upper layers (2, 3) is superimposed on its

Commander GP User Guide

Commander GP User Guide

Commander GP User Guide

Frequency reference Drive

Minimum and maximum

Commander GP User Guide

Commander GP User Guide

2.1 How to use this chapter Stored charge

Do not change parameter For instructions on removing the terminal covers,

Saving the changes

Commander GP User Guide

2. Refer to the following:

Signal connector for all models The two

Power connector for model sizes 1

3. Note that the default user-interface mode is

(Instructions for changing the user-interface

4. When connecting a motor to the Drive, observe

Commander GP User Guide

5. After re-fitting the terminal cover, connect the

Commander GP User Guide

LOCAL / REMOTE REMOTE

Commander GP User Guide

Optional braking resistor

Commander GP User Guide

Display the parameter number

Display the parameter number

Commander GP User Guide

Terminal mode Variable and bit parameters

Keypad mode Enable and disable functions

Adjusting parameter values

Making new values effective,

Unless a save procedure is carried out, the new value

Commander GP User Guide

Commander GP User Guide

2. Press (reset key).

3. Set 0.00 at 1000.

4. Press (reset key).

Commander GP User Guide

Commander GP User Guide

Saving the values

1. Set parameter 0.00 at 1000.

2. Press . The display returns to Parameter

3. Momentarily press to reset the Drive.

Commander GP User Guide

Autotune is a sequence of tests performed by the Note

Note 4. Parameter 0.43 Motor power factor is

Direction of rotation 3. Momentarily press to reset the Drive.

The motor shaft should rotate clockwise as viewed