WNTC Manual Completo

IMPLEMENTATION AND STAR UP MANUAL
V VARIABLE SPEED DRIVE

N DIGITAL
T THREE PHASE
C DC MOTOR
CN 37903b AN APRIL 1996
For
VNTC 4025E to 41850E

WNTC 4025E to 41850E
Software version 4.9

FEATURES OF V/WNTC
V/WNTC PARAMETERS
V/WNTC is equipped with a range of parameters designed to give the utmost flexibility of application
to industrial requirements. The parameters are arranged in menus, as being the most convenient way
of making access easy and quick for the user.
Within each menu, those parameters which are needed only for customization of the drive for the more
complex applications have been made ‘invisible’ — that is, they are normally inaccessible except
through high level security access. With low level security access, ‘invisible’ parameters do not appear
in the digital display.
This arrangement has the effect of reducing the apparent size of the menus for greater convenience
in normal use, and ensuring the maximum protection for the parameters which are specially set up for
a particular application or process.
SUPPLY PHASE-SEQUENCE
Loss of one or more phases of input automatically detected. Drive will run irrespective of input phase
rotation.
OUTPUT
• 6-pulse firing of output thyristors (SCRs). Optionally configurable to (series) 12-pulse operation.
SPEED FEEDBACK
• Motor armature voltage, or
• Tachogenerator (tachometer), or
• Encoder (pulse tachometer).
• PID speed loop algorithm.
SPEED REFERENCE
• -10V to +10V, or 0 to 10V
• 4 to 20mA, or 0 to 10V
• 20 to 4mA, or 0 to 10V
• 0 to 20mA, or 0 to 10V
• 20 to 0mA, or 0 to 10V
• Encoder digital input, or
internally-generated digital reference.
OPT 9601 CN 37903b AN

APRIL 1996
SERIAL COMMUNICATIONS INTERFACE
• RS485 serial communications port, optically-isolated.
CURRENT FEEDBACK
• Resolution 0.1%.
• Current loop linearity 2%, speed 80Hz.
• Uniform response at all current values.
CONTROL
• All analog and most digital inputs configurable by the user for specific applications.
• PID speed loop algorithm.
• Provision for encoder inputs for position control.
• On-board provision for tachogenerator (tachometer) calibration.
• Programmable control of field-weakening for optional field-power unit.
• Phase sequence and phase-loss detection.
• Software includes current loop self-tuning algorithm.
• Optional remote control and monitoring unit.
• Menu-driven parameter structure.
• Drive returns to last parameter adjusted in each menu.
• User-defined menu for quick access to ‘most-used’ parameters.
SPEED RESOLUTION
Reference Feedback Combined resolution
Analog 0.025% Armature volts 0.83V 0.83V

Analog 0.025% Tachogenerator (tachometer) 0.1% 0.125%
Digital Tachogenerator (tachometer) 0.1% 0.1%
Analog 0.025% Encoder 0.01% 0.035%
Digital Encoder 0.01% 0.01%
Encoder Encoder Absolute
OPT 9601 CN 37903b AN

APRIL 1996
CONTENTS
Features of V/WNTC Drives
1 INTRODUCTION..................................................................................................1
2 DATA ....................................................................................................................4
2.1...Specifications.........................................................................................................................4
2.2...Ratings...................................................................................................................................6
— Current, Input and Output ........................................................................................................6
— Fuses and Cabling ...................................................................................................................7
— Ventilation and Weight .............................................................................................................8
— Losses ......................................................................................................................................9
3 INSTALLATION — MECHANICAL .......................................................................9
3.1...Dimensions ............................................................................................................................9
3.2...Mounting ................................................................................................................................9
3.3...Cooling and Ventilation ........................................................................................................11
4 INSTALLATION — ELECTRICAL ......................................................................17
4.1...Installation Criteria ...............................................................................................................17
4.2...Electrical Power Connections .............................................................................................18
4.3...Current Feedback Burden Resistors ...................................................................................20
4.4...Control Connections ............................................................................................................22
— Terminals Index .......................................................................................................................23
— Terminals Classified ................................................................................................................24
5 OPERATING PROCEDURES ............................................................................26
5.1...Keypad and Displays ...........................................................................................................26
5.2...Setting Up to Run ................................................................................................................27
5.3...Getting Started.....................................................................................................................29
OPT 9601 CN 37903b AN

APRIL 1996
6 PARAMETER SET .............................................................................................34
6.1...Adjustment of Parameters ...................................................................................................34
6.2...Security ................................................................................................................................36
6.3...Index of Parameters ............................................................................................................38
6.4...Descriptions of Parameters .................................................................................................49
7 DIAGNOSTIC PROCEDURES...........................................................................98
8 SERIAL COMMUNICATIONS ............................................................................99
9 ELECTROMAGNETIC COMPATIBILITY .........................................................106
OPT 9601 CN 37903b AN

APRIL 1996
1 INTRODUCTION
V/WNTC is the latest family of advanced, fully microprocessor-controlled DC variable speed industrial
drives. The range of output current is from 25A to 1850A. All sizes share control, monitoring, protection
and serial communications features.
All units are available alternatively in either ‘single-ended’ or ‘four-quadrant’ configuration. Single-
ended drives provide forward run operation only. Four-quadrant drives are fully-reversible. Both types
offer comprehensive control of motor speed and/or torque, the four-quadrant drives providing full
control in both directions of rotation.
Operating parameters are selected and changed either at the keypad or through the serial
communications link (interface). Access for writing or changing parameter values can be protected by
the three-level security code system.
As an option, a separate intelligent keypad-display unit is available, for local or remote mounting,
which offers a versatile multi-lingual plain text user interface.
DC MOTOR CONTROL
The functions of a DC motor which must be controllable for practical use are the speed, the torque
delivered, and the direction of rotation. Speed is proportional to armature back-emf and inversely
proportional to field flux. Torque is proportional to armature current and field flux. Direction of rotation
is simply a matter of the relative polarities of the armature and field voltages. It follows that it is
necessary to control —
1 The armature voltage; back-emf is a component of armature voltage. Thus, assuming the field to
be constant, control of armature voltage provides complete control of speed up to the point where
the voltage reaches the maximum value for which the armature is designed. Armature current is
also a function of armature voltage, so that within the speed range up to maximum voltage, torque
is controlled by voltage also. Provided that the field is fully-excited, the availability of maximum
torque is normally maintained from zero speed up to armature voltage maximum (base speed).
2 The field voltage; this determines the field current and, in consequence, field flux. If field voltage
can be varied independently of the armature voltage, speed can be increased at full power (full
armature voltage) beyond the point where the applied armature voltage and current are at
maximum. Since torque is directly proportional to field flux, maximum torque is reduced if speed
is increased by weakening the field .
Basically, therefore, a variable speed DC drive is a means of controlling the voltage applied to the
armature of the motor, and thus the current delivered to the motor. The drive may be equipped with
means for optional control of the field if speeds higher than base speed are required. Separate control
of the field within the operating range up to base speed can be exploited also, to obtain extended
control of speed and torque for more-complex motor applications. If a suitable feedback is available,
position control becomes possible.
PRINCIPLES of the VARIABLE SPEED DRIVE
A single phase voltage applied to a fully-controlled thyristor (SCR) bridge and a resistive load produces
an intermittent flow of current which is started by the firing of the thyristor (SCR), and stopped as a
result of the supply voltage passing through zero at the end of each half cycle. Maximum voltage is
delivered when the firing angle is fully advanced, that is, when f in Fig.1 becomes zero. Retarding the
firing angle reduces the current output. When the load is inductive, such as a motor, or the firing angle
is sufficiently advanced, current becomes continuous as shown in Fig.1. The fundamental of the
OPT 9601 CN 37903b AN

APRIL 1996 - 1
current characteristically lags behind the voltage due partly to the inductive nature of the load and
partly due to firing angle delay.
Inductive AC field supply

AC VDC
Load
Current
VDC fundamental
AC M
1 Behavior of a single-phase 2 Typical arrangement for reversing a ‘single-ended’

fully-controlled thyristor rectifier DC drive using an interlocked pair of contactors in
(SCR) supplying a highly-inductive the armature circuit.
load. f = firing angle.
Fig. 1 Fig. 2
Reversing
Reversal of rotation is done in one of two ways, dependent on the type of drive bridge
configuration. The simplest fully-controllable arrangement of thyristor (SCR) bridge configuration to
operate from a 3-phase AC supply is a full-wave bridge but this is not capable of reversing the output
polarity. This type, which is called ‘single-quadrant’ or ‘single-ended’, requires a means of switching
the motor terminals externally as shown in Fig.2 if reversing is required. For some applications this
simple system is an adequate practical solution.
If, however, the motor application is such that it demands complete control of motor operation in both
directions, with the ability to reverse motor torque rapidly and frequently, two anti-parallel bridges must
be used, Fig.3. This configuration provides full control of forward and reverse drive and forward and
reverse braking without the need for reversing contactors, and is called ‘four-quadrant’, Fig.4.
If braking is required with a single-ended drive, an external circuit has to be provided, Fig.5 (dynamic
braking). In this case, deceleration is neither controlled nor linear.
OPT 9601 CN 37903b AN

APRIL 1996 - 2
+ M, + I
AC field supply
2 1
REVERSE FORWARD
BRAKING DRIVE
-n, -V +n, +V
AC M REVERSE FORWARD
DRIVE BRAKING
3 4
I = Current
M = Torque
3 Dual bridge, or parallel-pair 3-phase thyristor (SCR) V = Voltage (emf) - M, - I
arrangement for a 4-quadrant DC motor drive. n = Speed
4 The four quadrants of the DC

Fig. 3 motor torque-speed diagram.
Fig. 4
Control
Regardless of whether a drive is single- or four-quadrant, motor response is fundamentally a function

of voltage output, which is a function of the firing angle of the thyristor (SCR) bridge, and this can be
controlled precisely.
The quality of the response obtained from the motor is, therefore, dependent on the ability of the drive
logic to receive, interpret and process a complete range of data concerning the state of the motor, and
the desired state. Some of this data may be from external sources, such as the speed reference
(demand), torque reference, motor speed feed-back, and so on; some are derived internally by the
drive logic itself, for example, output voltage and current, and the demand condition of the logic system
at various stages.
The logic system requires a set of instructions to allow it to undertake the process of interrogation,
processing and signal-generation to control thyristor (SCR) firing. The instructions are provided in the
form of data broken down into individual values or ‘parameters’ for the user to provide in accordance
with the particular operations required for the motor application. The behavior of the drive in terms of
any given industrial application is a function of the information it receives for processing from user-
written and internally-monitored parameter values.
For this reason, the V/WNTC drive is equipped with a dedicated microprocessor, and with software
which is configured by the parameters written to it by the user. The parameters cover every significant
factor related to motor performance, so that the user can set the drive up to meet the application
requirements exactly. Further parameters are provided for communications, security and other
operational functions.
OPT 9601 CN 37903b AN

APRIL 1996 - 3
AC field supply
BRAKING
RESISTOR
AC M
5 Typical arrangement for dynamic (resistive) braking

of a ‘single-ended’ DC drive.
Fig. 5
Menus
The number of parameters is large, but understanding of them and access to them have been greatly
facilitated by arranging them in menus, each menu covering a particular logical or functional
grouping. An overview of the control logic system of the drive and a graphical representation of each
individual menu will be found in the set of logic diagrams at the end of Chapter 6.
Serial Communications
The serial communications link (interface) with which the V/WNTC drive is equipped is a significant
feature in relation to operation within an industrial process application. For example, external
programmable process logic controllers (PLCs) can be set up with access to the whole or part of the
drive logic, enabling the setting of parameters to be changed, virtually instantaneously, to suit different
stages of a duty cycle or different operating conditions in the process.
The serial communications facility also provides for the operation of the drive to be continuously
monitored for control or analytical purposes.
2 DATA
2.1 Specifications
MAXIMUM INPUT VOLTAGE TO DRIVE
480V +10% standard

525V +10% optional
660V +10% special order
OPT 9601 CN 37903b AN

APRIL 1996 - 4
MAXIMUM RECOMMENDED MOTOR VOLTAGE
Supply Armature Voltage

Voltage 1- or 4-quad
V V
380 440
415 460
440 500
460 510
480 530
INPUT POWER SUPPLY VOLTAGE
Balanced 3-phase 3-wire, 45Hz to 62Hz, maximum 480V +10%.
The input to the control (electronic) circuits is —
Standard —
2-wire, 220V - 10% to 480V +10%
With ‘North American’ field bridge —

3-wire, 220V - 10% to 480V +10%
NOTE E1 & E3 must be connected to the same phases as L1 & L3
OUTPUT SUPPLIES and REFERENCES
(Short-circuit proof)
±10V reference ±1% 10mA drive capability.
Encoder supply 300mA drive capability at 5V, 12V or 15V selectable.
+24V supply 200mA drive capability for relays.
All outputs are ‘wire-proof’ — unaffected by accidental short circuiting.
AMBIENT TEMPERATURE & HUMIDITY

Rated ambient temperature 40oC (104oF)
Rated maximum altitude 1000m (3200ft).
Storage temperature range -40oC to +55oC
(-40oF to 131oF)
Humidity requirement Non-condensing.
DERATING
Nominal ratings are affected by —
• The altitude of the installation. Where the site is above 1000m(3200ft), reduce the normal full load
current by 1.0% for each additional 100m (320ft).
• The ambient temperature. Where the local ambient temperature is above 40oC (104oF), derate
by 1.5% per oC up to 55oC (0.75% per oF up to 131oF).
OPT 9601 CN 37903b AN

APRIL 1996 - 5
ENCLOSURE INGRESS PROTECTION
V/WNTC drives are constructed in accordance with European IP00 specification. V/WNTC drives are
suitable for mounting in NEMA ingress-protected enclosures.
For protection against accidental contact with live terminals when working on the exterior of, or on
other equipment near to the drive unit, optional additional protective shields are available for mounting
over the terminals.
2.2 Ratings
1 CURRENT, INPUT and OUTPUT
DRIVE TYPE & MODEL Typical* Maximum

ratings continuous
Single Four at 400V at 500V current rating
Quadrant Quadrant (armature) AC DC
input output
kW HP kW HP A A
VNTC4025 WNTC4025 7.5 10 9 12 21 25

VNTC4045 WNTC4045 15 20 19 25 38 45
VNTC4075 WNTC4075 30 40 38 50 60 75
VNTC4105 WNTC4105 37.5 50 47 63 88 105
VNTC4155 WNTC4155 56 75 70 94 130 155
VNTC4210 WNTC4210 75 100 94 126 175 210
VNTC4420 WNTC4420 150 201 188 252 350 420
VNTC4550 WNTC4550 200 268 250 335 460 550
VNTC4700 WNTC4700 250 335 313 420 585 700
VNTC4825 WNTC4825 300 402 375 503 690 825
VNTC4900 WNTC4900 340 456 425 570 750 900
VNTC41200 WNTC41200 450 603 563 755 1000 1200
VNTC41850 WNTC41850 750 1105 938 1258 1540 1850
* Motor rating may be increased at higher armature voltages. Refer to Section 2.1, Maximum
Recommended Motor Voltages.
OPT 9601 CN 37903b AN

APRIL 1996 - 6
2 FUSES and CABLING
DRIVE TYPE & MODEL Recommended Typical

fuse ratings cable size
Single Four HRC Semiconductor (1)
Quadrant Quadrant Rated Rated Rated AC input and
Input Input Output DC output
AC AC DC
A A A mm2 (2) AWG (3)
VNTC4025 32 35 NR 4 10
WNTC4025 32 35 40 (4) 4 10
VNTC4045 50 60 NR 6 6
WNTC4045 50 60 70 (4) 6 6
VNTC4075 100 100 NR 25 2
WNTC4075 100 100 125 (4) 25 2
VNTC4105 100 125 NR 35 1/0
WNTC4105 100 125 175 (4) 35 1/0
VNTC4155 160 175 NR 50 3/0
WNTC4155 160 175 250 (4) 50 3/0
VNTC4210 200 250 NR 95 300MCM
WNTC4210 200 250 300 (4) 95 300MCM
VNTC4420 450 500 NR 185 (5)
WNTC4420 450 500 700 (4) 185 (5)
VNTC4550 560 700 NR 300 (5)
WNTC4550 560 700 900 (4) 300 (5)
VNTC4700 630 900 NR 2 x 185 5)
WNTC4700 630 900 1000 (4) 2 x 185 (5)
VNTC4825 800 1000 NR 2 x 240 (5)
WNTC4825 800 1000 1200 (4) 2 x 240 (5)
VNTC4900 1000 1200 NR 2 x 240 (5)
WNTC4900 1000 1200 2 x 700 (4) 2 x 240 (5)
VNTC41200 1250 2 x 700 NR 2 x 400 (5)
WNTC41200 1250 2 x 700 2 x 900 (4) 2 x 400 (5)
VNTC41850 2000 2 x 1200 NR 3 x 400 (5)
WNTC41850 2000 2 x 1200 2 x 1000 (4) 3 x 400 (5)
(1) DC fuses must be fast ÔsemiconductorÕ type. Rated voltage Ñ

for 380V supply Ñ 500V DC
for 480V supply Ñ 700V DC
OPT 9601 CN 37903b AN

APRIL 1996 - 7
(2) The cable sizes are for 3-core (3-wire) and 4-core (4-wire) pvc-insulated armoured (conduited)
cable with copper conductors, and laid in accordance with defined conditions.
(3) Typical wire gauge sizes based on 30oC (86oF) ambient, 1.25 x rated current, 75oC (167oF)
copper wire with no more than 3 conductors in a conduit or raceway. Branch circuit protection must
be provided by the user. All wiring must conform to NEC Art. 310 and applicable electrical codes.
(4) In applications where load inertia is low and regeneration infrequent, DC fuses may not be
needed.
(5) Refer to NEC Table 310-16 for wire sizes.
NR Not required
3 VENTILATION and WEIGHT
DRIVE TYPE & MODEL Ventilation Approx.

weight
1-Quadrant Type Flow
4-Quadrant
m3 min-1 ft3 min-1 kg lb
VNTC4025, 4045, 4075 1 — — 10 22

WNTC4025, 4045, 4075 1 — — 11 24
VNTC4105, 4155 1 — — 14 31
WNTC4105, 4155 1 — — 15 33
VNTC4210 WNTC4210 2 — — 21 46
VNTC4420 3 7.6 270 22 48
WNTC4420 3 7.6 270 23 51
VNTC4550 3 17 600 22 48
WNTC4550 3 17 600 23 51
VNTC4700, 4825 3 17 600 27 59
WNTC4700, 4825 3 17 600 30 66
VNTC4900, 41200, 41850 3 20 700 70 154
WNTC4900, 41200, 41850 3 20 700 120 264
Type of Ventilation NOTE Supply voltages for ventilation fans are as follows —
1 Natural convection V/WNTC4420 - 4825 110V AC single phase (or 220V option if requested).
2 Built-in fan V/WNTC4420 - 4825 110V AC single phase (or 220V option if requested).
3 Forced ventilation V/WNTC4900 - 41850 415V AC three phase.
OPT 9601 CN 37903b AN

APRIL 1996 - 8
4 LOSSES
Losses are equivalent to 0.5% of drive rated output across the range. The following table lists the
losses in kW and HP for all models, at 400 V armature voltage.
DRIVE TYPE & MODEL

Single Four Typical LOSSES
Quadrant Quadrant motor ratings
kW HP kW HP
VNTC4025 WNTC4025 7.5 10 0.038 0.05
VNTC4045 WNTC4045 15 20 0.075 0.1

VNTC4075 WNTC4075 30 40 0.15 0.2
VNTC4105 WNTC4105 37.5 50 0.19 0.25
VNTC4155 WNTC4155 56 75 0.28 0.37
VNTC4210 WNTC4210 75 100 0.38 0.5
VNTC4420 WNTC4420 150 201 0.75 1
VNTC4550 WNTC4550 200 268 1.0 1.3
VNTC4700 WNTC4700 250 335 1.3 1.7
VNTC4825 WNTC4825 300 402 1.5 2
VNTC4900 WNTC4900 340 456 1.5 2
VNTC41200 WNTC41200 450 603 2.3 3
VNTC41850 WNTC41850 750 1005 3.8 5
3 MECHANICAL INSTALLATION
3.1 Dimensions
Principal dimensions are shown in Figs. 8 to 10, pages 14 to 16. Cut-out and drilling dimensions for
mounting a drive with the heat sink projecting through a panel into the space behind are shown in Figs.
8 and 9.
3.2 Mounting
The drive enclosure conforms to international enclosure specification IP00 and is suitable for mounting
in NEMA-rated enclosures.
Location
The drive should be installed in a place free from dust, corrosive vapors and gases, and all liquids.
Care must also be taken to avoid condensation of vaporized liquids, including atmospheric moisture.
OPT 9601 CN 37903b AN

APRIL 1996 - 9
If the drive is to be located where condensation is likely to occur when the drive is not in use, a suitable
anti-condensation heater must be installed. The heater must be switched OFF when the drive is
turned on. An automatic changeover switching arrangement is recommended.
V/WNTC drives are not to be installed in classified Hazardous Areas unless correctly mounted in an
approved enclosure and certified. (Refer also to Hazardous Areas, page 17.)
Mounting and Cooling
There are certain variations across the V/WNTC range of drives, in respect of mounting and cooling
arrangements. With most models there is the option of surface or through-panel mounting. The
higher-rated drives require forced ventilation and can optionally be supplied complete with ducted
cooling fans.
Alternatively, the installer may arrange to use separately-provided ducted cooling air. Air flow
requirements are shown in Table 3, page 8. The variants are summarized in the table below.
MOUNTING ARRANGEMENTS & VENTILATION
Drive model Mounting Ventilation Heat Sink

Surface Through-
panel
VNTC4025 to VNTC4075 Yes Yes Natural Isolated*

WNTC4025 to WNTC4075 Yes Yes Natural Isolated*
VNTC4105 and VNTC4155 Yes Yes Natural Isolated*
WNTC4105 and WNTC4155 Yes Yes Natural Isolated*
VNTC4210 and WNTC4210 Yes Yes(1) Forced Isolated*
(fan built in)
VNTC4420 to VNTC4550 Yes(2) Yes(3) Forced LIVE
WNTC4420 to WNTC4550 Yes(2) Yes(3) Forced LIVE
VNTC4700 and VNTC4825 Yes(2) Yes(3) Forced LIVE
WNTC4700 and WNTC4825 Yes(2) Yes(3) Forced LIVE
VNTC4900 to VNTC41850 Only — Forced(4) LIVE(5)
WNTC4900 to WNTC41850 Only — Forced(4) LIVE(5)
* Isolated heat sinks must be earthed (grounded) for safety.

A terminal is provided.
(1) For through-panel mounting, the integral fan assembly must be removed and adequate forced-
ventilation provided.
(2) Surface-mounting requires the optional fan ducting, with integral fans, mounting flanges and
earthing (grounding) stud.
(3) Adequate forced ventilation must be provided.
(4) A suitable fan can be supplied as an optional extra.
(5) Enclosed.
OPT 9601 CN 37903b AN

APRIL 1996 - 10
3.3 Cooling and Ventilation
Enclosure minimum dimensions
Care must be taken that the enclosure in which the drive is installed is of adequate size to dissipate
the heat generated by the drive. A minimum clearance of 100mm (4in) all around the drive is essential,
Fig. 6. All equipment in the enclosure must be taken into account in calculating the internal
temperature.
Effective heat-conducting area
The required surface area Ae for an enclosure containing equipment which generates heat is
calculated from the following equation —
Pl
Ae =
k(Ti - Tamb)
where,
Ae = Effective heat-conducting area, in m2, equal to the the sum of the areas of the surfaces
which are not in contact with any other surface.
Pl = Power loss of all heat-producing equipment in Watts.
Ti = Max. permissible operating temperature of the drive in oC.
Tamb = Maximum external ambient temperature in oC.
k = Heat transmission coefficient of the material from which the enclosure is made.
EXAMPLE:
Calculation of the size of an IP54 (NEMA 12) enclosure for a drive size VNTC4210
The ‘worst case’ is taken as the basis of the example, for which the following conditions are assumed
—
• The installation is to conform to IP54 (NEMA 12), which means that the drive and its heat sink
are to be mounted wholly within the enclosure, and that the enclosure is virtually sealed and
without any ventilation of the air inside. Heat can escape only by conduction through the skin o f
the enclosure, which is cooled by conduction, convection and radiation to the external air.
• The enclosure is to stand on the floor and against a wall, so that its base and back surfaces cannot
be considered to play any part in the cooling process. The effective heat- conducting area Ae is
provided by the top, front, and two sides only, Fig. 7.
• The enclosure is to be made of 2mm (0.1in) sheet steel, painted.
• The maximum ambient temperature is 25oC.
To find the effective heat-conducting area
The values of the variables appropriate to the above specification are:
Pl = 400W (losses)
Note It is essential to include any other heat-generating equipment in the value for Pl.
OPT 9601 CN 37903b AN

APRIL 1996 - 11
Ti = 40oC (for all MENTOR II drives)
Tamb = 25oC
k = 5.5 (typical value for 2mm (0.1in) sheet steel, painted)
400
Ae =
5.5 (40 - 25)
= 4.85m2 (52 ft2)
To find the dimensions of the enclosure
If a enclosure is to be fabricated to suit the installation, there is a free choice of

dimensions. Alternatively, it may be decided to choose an enclosure from a range of standard
products. Either way, it is important to take into account the dimensions of the drive, and the minimum
clearance of 100mm (4in) round it (Fig. 6).
The procedure is to estimate two of the dimensions — the height and depth, for example — then
calculate the third, and finally check that it allows adequate internal clearance.
The effective heat-conducting area of an enclosure as illustrated in Fig.7, located on the floor and
against one wall is —
Ae = 2AB + AC + BC
where A is the enclosure height, B is the depth, front to back, and C the width.
Suppose the enclosure height A is 2.2m (7ft 3in), and the depth B is 0.6m (2ft), as a first estimate.
The actual figures chosen in practice will be guided by available space, perhaps, or standard
enclosure sizes.
Since Ae, A, and B are known, the dimension to be calculated is C. The equation needs to be
rearranged to allow C to be found, thus —
Ae - 2AB = C (A + B)
Ae - 2AB
or, C =
A + B
4.85 - (2 x 2.2 x 0.6)

=
2.2 + 0.6
4.85 - 2.64
=
2.8
= 0.8m (2ft 7in) approx.
Clearance on either side of the drive must be checked. The width of the drive is 250mm (10in).
Clearance of 100mm (4in) is required on either side. So the minimum internal width of the enclosure
must be 450mm, or 0.45m (18in). This is within the calculated width, and therefore acceptable.
However, it allows limited space for any equipment to either side of the drive, and this may be a factor
in deciding the proportions of a suitable enclosure. If so, modify the calculated value of C to allow for
other equipment, and re-calculate either of the other two dimensions by the same method.
OPT 9601 CN 37903b AN

APRIL 1996 - 12
If an enclosure is to be selected from a stock catalogue, the corresponding surface area should be
not less than the figure calculated above for Ae.
As a general rule, it is better to locate heat-generating equipment low in an enclosure to encourage

internal convection and distribute the heat. If it is unavoidable to place such equipment near the top,
consideration should be given to increasing the dimensions of the top at the expense of the height, or
to installing internal circulation fans with drives which are not equipped with a built-in fan to ensure air
circulation.
Enclosure ventilation
If a high Ingress Protection rating is not a critical factor, the enclosure can be smaller if a ventilating
fan is used to exchange air between the inside and the outside of the enclosure.
To calculate the volume of ventilating air, V, the following formula is used:
3.1 Pl
V =
Ti - Tamb
where V is the required air flow in m3 h-1.
To find the ventilation required for an VNTC4210 drive
Pl = 400W
Ti = 40oC (for V/WNTC drives)
Tamb = 25oC (for example)
Then 3.1 x 400

V =
40 - 25
= 83 m3 h-1 (2930 ft3 h-1)
A minimum distance of
100mm (4in ) from
adjacen t contactors,
relays a nd oth er
equipment is required C
to allow fr ee circulation B
of cooling air. 7 Enclosure with typically
four surfaces abl e to
disperse heat.
Fig. 6 Fig. 7
OPT 9601 CN 37903b AN

APRIL 1996 - 13
NOTE
The diagram shows terminals A1 and A2 for
AIR 4-QUADRANT drives only . F
FLOW For 1-QUADRANT drives the locations of A1 Unit Dimensions
and A2 are REVERSED.
mm in
A C A 250 913/ 16
B 370 14 9/ 16
b b D C †
a D *
D 112 47/ 16
E 195 711/ 16
F 420 16 9/ 16
d L1 L2 L3 G 30 13/ 16
c
H 505 19 7/ 8
A1 G
197 73/ 4
A1 E * For VNTC4025 to WNTC4075
e f C = 150 mm, 5 7/ 8 in
B VNTC4210
WNTC4210 † For VNTC4105 to WNTC4155
A2
A2 C = 195 mm, 7 11/ 16 in
P
Q
12.5 x 1.5
g ( 1/ 2 x 1/ 16) H
TERMINALS XA
UNIT A1, A2
CUT-OUT & DRILLING P ATTERN XC XB
VNTC4025 Q
Terminal FOR THROUGH-PANEL MOUNTING
WNTC4025 Q Dimensions
VNTC4045 Q Through-Panel
mm in Mounting Dimensions
WNTC4045 Q
VNTC4075 Q
a 30 13/ 16 mm in
b 60 2 3/ 8 Cut-out
WNTC4075 Q XA 220 811/ 16
c 110 45/ 16 and
VNTC4105 Q XB 200 77/ 8
d 100 315/ 16 drilling
WNTC4105 P XC 42.5 111/ 16
e 115 4 1/ 2 pattern
VNTC4155 Q XD 360 14 3/ 16 XE
f 140 5 1/ 2 XD
WNTC4155 P XE 245 95/ 8
g 54 2 1/ 8 4 holes
VNTC4210 Q
M6 ( 1/ 4 in )
WNTC4210 P
TERMINALS L1, L2, L3 — M8 stud

TERMINALS A1, A2 and earth
(ground)
— drilled for M8 ( 5/ 16 in) bolt YB YA
YC
Surface Mounting
Dimensions
VNTC4210 and
VNTC4025 to mm in
DRILLING PATTERNS WNTC4210
VNTC4155 YA 186 7 5/16
FOR SURFACE MOUNTING and Fan duct is YB 32 1 1/4
WNTC4025 to
WNTC4155 drilled for YC 10 7/ 16
mounting to YD 389 15 5/ 16
YD Two brackets a panel ZA YE 42 1 11/ 16
are provided, YF 50 1 15/16
Not to scale
top and
Metric dimensions are exact. mm in
Inch dimensions are calculated. bottom.
ZA 245 95/ 8
ZB 87 37/ 16
ZB ZC 110 45/ 16
8 Units VNTC4025 and

WNTC4025 to VNTC4210 and
WNTC4210 inclusive are suitable YE YF ZC
for both surface mounting and MOUNTING HOLES
through-panel mounting. M6 ( 1/ 4 in) clearance
Fig. 8
OPT 9601 CN 37903b AN

APRIL 1996 - 14
OPT 9601
Not to scale
AIR Metric dimensions are exact.
FLOW Inch dimensions are calculated. J
A E J
C C
B
F Unit
G FANS Dimensions
FANS
mm in
A 450 17 3/ 4
B 85 33/ 8
C 140 51/ 2
D 363 1 45/ 16
VNTC 4700 L E 225 87/ 8
VNTC 4420 K WNTC 4700 F 112 4 7/16
D VNTC4420 H WNTC 4420 VNTC 4825
G 30 1 3/16
WNTC420 WNTC 4825
H 293 11 9/ 16
J 280 11
K 405 15 15/ 16
L 423 16 11/ 16
SURFACE SURFACE
A1 A2 MOUNTING MOUNTING
+ - THROUGH-P ANEL
Fig. 9
LIVE HEAT SINKS! MOUNTING

k m
TERMINAL DETAILS
XA YA
Through-Panel All ter minal
V/WNTC 4700,
XB Mounting Dimensions YB bolt holes ar e
V/WNTC 4825
M12 ( 1/ 2 in)
mm in Ter minal lug
clearance
XA 420 16 9/ 16 40 x 10 (1 9/ 16 x 3/ 8 in)
XB 405 15 15/ 16 YC BACKPLATE OF HEATSINK Ter minal
XC 310 12 3/ 16 FAN BOX 4 HOLES M8 V/WNTC 4350, Dimensions
XD 295.5 11 5/ 8 (5/ 16 in) V/WNTC 4420,
mm in
V/WNTC 4550. a 28 11/8
Terminal lug g
Cut-out and f b 43 111/ 16
XC 30 x 6 (1 3/ 8 x 1/ 4 in)
drilling patter n Sur face Mounting c 23 15/ 16
Dimensions YD YE e
XD d 38 11/ 2
4 holes M6 ( 1/ 4in) mm in M6 ( 1/ 4 in) EARTHING b e 35 13/ 8
YA 496 19 1/ 2 a f 65 29/ 16
(grounding)
YB 472 18 9/ 16 STUD ON FRONT FACE g 80 31/ 8
c
YC 62 2 7/16 h 53 21/ 16
YD 225 8 7/8 h j 68 211/ 16
APRIL 1996 - 15
j
CN 37903b AN
YE 347 13 11/ 16 c k 25 1
d m 60 23/8
9 Units VNTC4420 to VNTC 4825 and WNTC4420 to WNTC 4825.

NOTE : that the heat sinks ar e live.
AIR
Not to scale
FLOW
Metric dimensions are exact
Inch dimensions are calculated
OUTPUT terminals INPUT terminals
F
M
Units VNTC
G
H N Dimensions
mm in
A 175 6 7/ 8
J B 180 71/ 16
K C 175 6 7/ 8
D 90 39/ 16
J E 555 21 7/ 8
K Units VNTC
Dimensions
C
mm in
A 330 13
E B 330 13
A C 330 13
D 165 6 1/2
E 1015 39 15/ 16
J C
Common
Dimensions
B mm in
F 450 17 3/ 4
D G 393 15 1/ 2
H 125 415/ 16
J 25 1
K 30 13/ 16
L 315 12 3/ 8
M 185 75/ 16
N 48.5 115/ 16
Terminal pads drilled 2 holes P 470 18 1/ 2
12mm ( 1/ 2 in) clearance.
TOP FLANGE
a Top Flange
b Dimensions
mm in
a 280 11
b 100 3 15/16
f c 200 7 7/8
d 60 2 3/8
c e e 330 13
8 holes 7mm ( 1/ 4in)
f 210 8 1/4
d g 25 1
h 15 9/ 16
g h
10 Units VNTC4900 to VNTC41850 and WNTC4900

to WNTC41850
are suitable for surface mounting only.
NOTE Heat sinks are live.
Fig. 10
OPT 9601 CN 37903b AN

APRIL 1996 - 16
4 ELECTRICAL INSTALLATION
4.1 Installation Criteria
SAFETY
The voltages present in the supply cables, the output cables and terminals, the control power supply
wiring and in certain internal parts of the drive are capable of causing severe electric shock and may
be lethal.
ELECTRIC SHOCK RISK!
Whenever the drive has been connected to the main AC supply system it must be DISCONNECTED
and ISOLATED before any is done that requires the removal of a cover. A period of TWO minutes
MUST elapse after isolation to allow the internal capacitors to discharge fully. Until the discharge
period has passed, dangerous voltages may be present within the module.
Persons supervising and performing electrical installation or maintenance must be suitably-qualified

and competent in these duties, and should be given the opportunity to study, and to discuss if
necessary, this User’s Guide before work is started.
INGRESS PROTECTION
The drive enclosure conforms to international enclosure specification IP00 and is suitable for mounting
in NEMA-rated enclosures. It is necessary to consider the location of and access to the drive unit itself
in the light of local safety regulations applicable to the type of installation. For increased protection
against accidental contact with live metal, optional protective guards are available for installation on
site.
HAZARDOUS AREAS
The application of variable speed drives and soft starters of all types may invalidate the hazardous
area certification (Apparatus Group and/or Temperature Class) of ‘Ex-protected’ (externally-protected)
motors. Approval and certification should be obtained for the complete installation of motor and drive.
(Refer also to Location, page 9)
EARTHING (GROUNDING)
Safety
Drives with isolated heat sinks require that the heat sink is earthed (grounded) for safety. Refer to also
Section 3.2, page 9.
It is recommended that any metal components which could accidentally become live are solidly
earthed (grounded).
Earth (ground) impedance must conform to the requirements of local industrial safety regulations and
should be inspected and tested at appropriate and regular intervals.
OPT 9601 CN 37903b AN

APRIL 1996 - 17
Control System Earthing (Grounding)
External AC control circuits, for example, contactors, should be supplied (from any two phases of the
supply) through an isolating transformer equipped with an earthing (grounding) shield (screen)
between the primary and secondary as shown in Figs.12 and 13. The control wiring should be
connected to the same earthing (grounding) point if possible, or arrangements made to ensure that the
earth (ground) loop impedance complies with an authorized code of practice.
Location
The location of principal components is shown in Fig. 11.
PCB MDA1
(inside hinged lid),
and access to
thyristor (SCR)
board.
PCB MDA2B, for links

(jumpers) LK, switches,
potentiometers and
external control terminals
— refer to Fig. 14.
Fig. 11
4.2 Power Connections
Refer to Figs.12 and 13.
Access to the power terminals of the smaller drives is gained by opening the front cover, which is
secured by two captive screws, one at each upper corner, and hinged at the bottom (Fig. 11). The
higher-rated models have externally-accessible terminal lugs.
OPT 9601 CN 37903b AN

APRIL 1996 - 18
Motor Rotation
Check that the direction of rotation is as required as soon as the drive is first turned on. If not,
exchange the connections to the armature or the field (but not both); if an encoder or tachogenerator
(tachometer) feedback is installed, the sense of the signals to the drive must be reversed to
correspond.
The drive control options can alternatively be used to reverse the direction of rotation.
Single-quadrant
R
Y
B
LF
RR
*
LC
LC 3121 25 40 LK
E3 0V
E2
START STOP
MBS E1 37
RL1
L3 RR LC
L2
L1 DRIVE
READY MBS
L11 RR
FIELD 39
ON-OFF LC
L12
+10V
MANUAL 1 RR
SET 3 LC
SPEED
20 0V
9
T 10 0V 8
100W
Tachogenerator min.
A1 A2 F1 F2
(Tachometer)
+ -
B M
MOT OR
LC Line Contactor
BLOWER
LF Line Fuses MT
LK Link (Jumper) TERMINALS
MBS Motor Blower Switch
* Fuses for wiring
protection only . No. Function
MT Motor Thermal Switch
31 Enable
RR Run Relay
21 Run permit
T Tachogenerator (-meter)
12 Power connections and 25 Run fwd
typical control wiring for
single-quadrant drives.
Fig. 12
OPT 9601 CN 37903b AN

APRIL 1996 - 19
Four-quadrant
R
Y
B
LF
LC
*
RR
LC 3121 25 40 LK
E3 0V
E2
START STOP
MBS E1 37
RL1
L3 RR LC
L2
L1 DRIVE
READY MBS
L11 RR
FIELD 39
ON-OFF LC 34
L12 RL2
36
+10V 1
MANUAL
SET 3 ZERO RR
SPEED -10V 2 SPEED
20 0V LC
+10V 35
9 LC
T 10 0V 8
100W
Tachogenerator min.
A1 A2 F1 F2
(Tachometer)
+ -
B M
MOT OR
LC Line Contactor
BLOWER
LF Line Fuses MT
LK Link (Jumper) TERMINALS
MBS Motor Blower Switch
* Fuses for wiring
protection only . No. Function
MT Motor Thermal Switch
31 Enable
RR Run Relay
21 Run permit
T Tachogenerator (-meter)
13 Power connections and 25 Run fwd
typical control wiring for
four-quadrant drives.
Fig. 13
4.3 Current Feedback Burden Resistors
To allow the use of a motor which has a lower rating than the drive, the current feedback has to be
re-scaled by changing the burden resistors R234 and R235 (or in the case of drives size VNTC4420
and above, the three resistors R234, R235 and R236) mounted on the power board. The following
equations provide the value of the appropriate resistance. Resistors are in parallel.
Where Imax is 150% of the rated full load current of the motor —
For drives V/WNTC4025 up to V/WNTC4210 (up to 210A DC output) and PCBs MDA75, MDA75R,
MDA 210, and MDA210R —
OPT 9601 CN 37903b AN

APRIL 1996 - 20
400
Rtotal =
Imax
For drives VNTC4420 and above, and PCB MDA6, three burden resistors, R234, R235 and R236 are
used in parallel —
1600
Rtotal =
Imax
A worked example follows, next page
Worked Example of Current Feedback Burden Resistor Values
For an 350A drive —
Full load current output (Table 1, page 8) is 350A
Maximum current is 350 x 1.5 amps
Total burden resistance —
1600
Rtotal = = 3W
350 x 1.5
1 1 1 1
= + +
Rtotal R234 R235 R236
If R236 is given a high value, say 390W, then —
1 1 1 1
- = +
3 390 R234 R235
and —
1 1
+ = 0.33076W
R234 R235
From data tables of standard resistor values, find two which give the closest approximation;
for example if —
R234 = 5.6W and R235 = 6.8W, then
1 1
+ = 0.32563W
5.6 6.8
ª 0.33076W
The power rating of each burden resistor in turn is calculated from —
V2
Power (W) =
R
OPT 9601 CN 37903b AN

APRIL 1996 - 21
and where the voltage across the three resistors in parallel is 1.6V, power absorbed is —
1.6 2
R234 = 0.456W
5.6
a 0.5W or 0.6W rating is adequate
1.6 2
R235 = 0.376W
6.8
a 0.5W rating is adequate
1.6 2
R236 = 6mW
390
a 0.25W rating is adequate
4.4 Control Connections

Refer to Figs. 12, 13, 14, and 15.
The TERMINALS INDEX is on page 22.
The CLASSIFIED LIST of TERMINALS is on page 23.
SW1A = Pos.
SW1B = +5V
SW1C = +12V
SW1D = +15V
SW1F = 10-50V
SW1G = 50-200V
SW1H = 60-300V
MDA2B
PL6
PL5
MD29
(Option)
SW1A
SW1B
SW1C
SW1D
RV1
SW1F
SW1G
SW1H TB1 TB2 TB3 TB4
1 +10V CURR11 21 F1(STOP) 31 ENABLE
2 -10V DAC112 22 F2 (IR) 32 RESET
LK1 PL4 3 SPEED DAC2 13 23 F3 (IF) 33 =24V
4 GP1 DAC3 14 24 F4 (RR) 34 POLE
5 GP2 ST1 15 25 F5 (RF) 35 NC
PL3 6 ST2 16 36
R10 GP3 26 F6 NO
7 GP4 ST3 17 27 F7 37 POLE
R12 R11 8 THERM ST4 18 28 F8 38 NC
9 TACHO - ST5 19 SK2 29 F9 39 NO
10 TACHO + 0V 0V 20 30 F10 40 0V R6
Optional
Remote
SK3 Inter face Port PL2
Feedback Serial
encoder port
Mounting pillars
(standof fs)
for ter minating
R6, R10, R11, R12 should match the
resistors
characteristic impedance of the
Tachogenerator cable (appr ox. 120W for twisted-pair).
(tachometer)
potentiometer
Fig. 14 14 Location of principal components on PCB MDA2B issue (r evision) 2.
OPT 9601 CN 37903b AN

APRIL 1996 - 22
1 TERMINALS INDEX
Terminals are located on PCB MDA2B, Fig. 11 page 18 and Fig. 14 page 22.
Terminal Description Type Programmable
Block Number
TB1 1 +10V Reference supply
2 -10V Reference supply
3 Speed reference Analog input Yes
4, 5, 6, 7 General purpose GP1, GP2, GP3, GP4 Analog inputs Yes
8 Motor thermistor (tthermal) Analog input
9 Tachogenerator (tachometer) negative Analog input
10 Tachogenerator (tachometer) positive (0V) Analog input
TB2 11 Current Analog output
12 DAC1 Analog output Yes
15, 16, 17, 18, 19 ST1, 2, 3, 4, 5 Open collector outputs Yes
20 0V
TB3 21 F1 Run permit Digital input
22 F2 Inch reverse Digital input Yes
23 F3 Inch forward Digital input Yes
24 F4 RUN reverse (latched) Digital input Yes
25 F5 RUN forward (latched) Digital input Yes
26, 27, 28, 29, 30 F6, 7, 8, 9, 10 Digital inputs Yes
TB4 31 ENABLE Digital input
32 RESET Digital input
33 +24V relay supply
34 Pole ö Yes
35 Normally closed contact ÷ Zero speed (ST6) Yes
36 Normally open contact ø Yes
37 Pole ö
38 Normally closed contact ÷ Drive ready
39 Normally open contact ø
40 0V
PL5
Number Function Number Function Number Function

1 +10V 11 Current 21 F1
2 -10V 12 DAC1 22 F2
3 Speed ref. 13 DAC1 23 F3
4 GP1 14 DAC3 24 F4
5 GP2 15 ST1 25 F5
6 GP3 16 ST2 26 F6
7 GP4 17 ST3 27 F7
8 Thermistor (thermal switch) 18 ST4 28 F8
9 NC 19 ST5 29 F9
10 0V 20 0V 30 F10
31 ENABLE
32 RESET
33 External 24V
34 0V
OPT 9601 CN 37903b AN

APRIL 1996 - 23
2 TERMINALS CLASSIFIED
ANALOG OUTPUTS
Terminal block TB2, terminals 11 to 14 inclusive.

Armature current, 5mA drive capability.
Three undedicated outputs, 5mA drive capability. Output voltage range -10V to +10V.
ANALOG INPUTS

Five undedicated inputs , impedance 100kW. Input voltage range -10V to +10V.
Dedicated inputs for motor thermistor (thermal) or thermostat (trip level 3kW, reset 1.8kW approx.) and
tachogenerator (tachometer) feedback.
DIGITAL OUTPUTS

Five undedicated open-collector outputs.
Maximum current-sinking capability 100mA.
One undedicated relay output.
Dedicated ‘drive ready’ relay output.
Maximum relay current at — 250V AC 2.2A
110V AC 5A
5V DC 5A
DIGITAL INPUTS

Terminal block TB4, terminals 31, 32.
Nine undedicated inputs, impedance 10kW.
Drive enable signal — operates directly on the output gate-pulse circuits for safety. Delay 30ms
between removal of enable signal and inhibit firing. Drive enable control is internally interlocked with
fault detection signals for maximum safety.
Run Permit
Drive reset input for external control.
Input logic selectable — ‘active high’ or ‘active low’. Circuit voltage +24V.
Provision for inputs from two encoders.
Run Forward and Run Reverse, latched.
PROGRAMMABLE OUTPUTS
Terminal block TB2, terminals 12 to 14 inclusive — Analog.

Terminal block TB2, terminals 15 to 19 inclusive — Open collector (digital)
Terminal block TB4, terminals 34 to 36 inclusive — Relay.
PROGRAMMABLE INPUTS
Terminal block TB1, terminals 3 to 7 inclusive — Analog.

Terminal block TB3, terminals 22 to 30 inclusive — Digital.
OPT 9601 CN 37903b AN

APRIL 1996 - 24
ENCODER (PULSE TACHOMETER) — Reference & Feedback
Channel A must lead channel B for forward rotation.

CONNECTIONS FOR —
Encoder Serial Comms.
Pin Reference Feedback
PL4 SK3/PL3* PL2
1 0V 0V 0V isolated
2 NC Supply TX
3 A A RX
4 A A NC
5 B B NC
6 B B TX
7 NC NC RX
8 C C NC
9 C C NC
10 0V 0V (NOT SK3) —
*PL3 is connected in parallel with SK3

PL4 is a 10-way header for the Reference Encoder.
SK3 is a 9-way D-type female socket for the Feedback Encoder.
TB1 TB3
+10V (5mA) 1 F1 Run 21
-10V (5mA) 2 F2 Inch Rev. 22
Reference 3 F3 Inch Fwd. 23

0 to ±10V
GP1 4 F4 Run Rev . 24
0 to ±10V
GP2 5 F5 Run Fwd. 25
0 to ±10V
GP3 6 F6 26
0 to ±10V
GP4 7 F7 27
Thermo 8 F8 28
Tacho 9 F9 29
T
0V 10 F10 30
TB2 TB4
Current 11 Enable 31
DAC1 12 Reset 32
DAC2 13 +24V (200mA) 33
DAC3 14 34
ST1 15 35
N/O
ST2 16 36
ST3 17 37
ST4 18 38
Drive
ST5 19 39
Healthy (Normal)
0V 20 0V 40
GP: 100k in Programmable

DAC: 5mA max. F: 10k in
ST: 100mA max. Pull-up resistor Relays: 240V AC 2.2A
Fig. 15 15 Control connections.
OPT 9601 CN 37903b AN

APRIL 1996 - 25
5 OPERANTING PROCEDURES
5.1 Keypad and Displays
KEYPAD (Fig. 16)
The keypad serves two purposes—
1 It allows the operator to configure the drive to match particular applications and to change its
behavior in a variety of ways, for example by altering the times of acceleration and deceleration,
presetting levels of protection, and so on.
Subject to safety considerations, adjustments may be made with the drive running or stopped. If
running, the drive will respond immediately to the new setting.
2 It provides full information about the settings and the operational status of the drive, and
extensive diagnostic information if the drive trips.
For parameter adjustment, the keypad has five keys, Fig. 16. Use the ‹ or fi keys to select a Menu
(functional group of parameters). The menu number appears to the left of the decimal point in the
Index window.
Use the Ý or ß keys to select a Parameter from the chosen menu. The parameter number appears to
the right of the decimal point in the Index window, and the value of the chosen parameter appears in
the Data window.
Press the MODE key once to access the displayed parameter value for adjustment. The value flashes
if access is permitted.
Use the Ý or ß keys to adjust the value. To adjust rapidly, press and hold a key.
Press the MODE key again to exit from the adjustment mode.
Store (make permanently effective) parameter values after changes, other wise the new values will be
lost when the drive is powered-off. To store, set Parameter 00 = 1 and press RESET.
MENU PARAMETER
INSTRUCTIONS Drive Ready

Alarm
Zero Speed
PARAMETER DA TA Run Forward

Run Reverse
Bridge 1
Bridge 2
Current Limt
PARAMETER INDEX
MODE RESET
ADJUST PARAMETER
ADJUST MENU
16 Keypad.
Fig. 16
OPT 9601 CN 37903b AN

APRIL 1996 - 26
DISPLAYS
1 Index
The lower four-digit display indicates menu number to the left of the (permanent) decimal point,
and parameter number to the right.
2 Data
The upper four-digit display indicates the value of a selected parameter. The present value of
each parameter in turn appears in the data display as parameter numbers are changed.
Numerical parameters have values in ranges of 000 to 255, 000 to +1999, or 000 to
±1000. Refer to Chapter 6 for parameter unit values, eg volts, rpm, etc.
Bit parameter values are displayed as 0 or 1, preceded by a b. The first digit for integer
parameters (0 to 255) is a .
3 Status Indicators
Nine LEDs to the right of the parameter data and index panels present information, continuously
updated, about the running condition of the drive and enable basic information to be seen at a glance.
LED Illuminated Information

Drive ready The drive is switched on and is not tripped.
Drive ready flashing The drive is tripped.
Alarm flashing The drive is in an overload trip condition or is integrating in the I x t region.
Zero speed Motor speed < zero speed threshold (programmable).
Run forward Motor running forward.
Run reverse Motor running in reverse.
Bridge 1 Output bridge 1 is enabled.
Bridge 2 Output bridge 2 is enabled.
Note inactive in 1-quad drives.
At speed Motor running at the speed demanded by the speed reference.
Current limit Drive running and delivering maximum permitted current.
5.2 Setting Up to Run
Install the drive and make electrical power and control connections in accordance with Chapter 4, and
Figs. 12, 13, 14. Before attempting to run the drive, there are further connections and settings —
some optional — to make or to be considered. These are summarized in the next column.
Action Reference
Preset the link (jumper)LK1 and switches. 5.2.1 below
Preset the adjustable potentiometer
if tachogen. (tachometer) feedback selected 5.2.2 below
Adjust operating parameters Section 6.1
as appropriate to the application
Autotune current loop, parameter 05.09 page 60
Adjust field feedback scaling, param. 06.11 page 63
Allocate security code — optional Section 6.2
OPT 9601 CN 37903b AN

APRIL 1996 - 27
5.2.1 Link LK1 (Jumper) and Switches
The link LK1 (jumper) and switch block are located on PCB MDA2B (Fig. 14), accessible when the
lower, snap-on front cover is removed (Fig. 11).
Control Purpose
SW1A Logic input polarity. MDA2B is marked POS and NEG to indicate the positions of SW1A.
Pos. = 24V, neg. = 0V.
POWER-OFF BEFORE CHANGING.
SW1H 60V to 300V ö

SW1G 50V to 200V ÷ Tachogenerator (tachometer) feedback ranges*
SW1F 10V to 50V ø
LK1 Tachogenerator (tachometer) potentiometer calibration — adjustable link (jumper)
SW1D +15V ö
SW1C +12V ÷ Encoder supply voltage selectors*
SW1B +5V ø
* ONE ONLY to be selected
5.2.2 Potentiometer RV1
Refer to Fig. 14.
Pot. Purpose
RV1 Tachogenerator (tachometer) feedback adjustment
Procedure for Adjustment
1 Select the appropriate tach. range using SW1.

2 Set LK1 in the ‘ADJUST’ position.
3 Adjust RV1 until the value of parameter 03.02 (Speed Feedback) is
10 000
03.02 =
Vmax
where, Vmax = Tach. voltage at full speed.

4 Set LK1 in the ‘FEEDBACK’ position and fine tune RV1 with the motor running at
between half to threequarter speed.
OPT 9601 CN 37903b AN

APRIL 1996 - 28
5.3 Getting Started
ESSENTIAL DATA
Before attempting to tune a Mentor II to operate a particular load, collect the following information from
the nameplate of the motor, manufacturers data, and other sources. Data values are given here for
the sake of the worked examples which follow.
• Armature full load amps 67A
• Armature voltage 500V DC
• Field current 1.85A
• Field voltage 300V DC
• Base speed 1750rpm
• Max permissible speed with weakened field 2500rpm
• Mentor II drive Model Number M75
• The method of delivering speed feedback data to the drive — various examples are considered below.
WORKED EXAMPLES
1 ARMATURE CURRENT
1.1 Current Limit
Current limit is set in parameter 04.05 only if the drive is not regenerative, and in both 04.05 and 04.06
if it is regenerative.
An M75 drive is rated at 75A full load current. The default value (1000) of parameter 04.05 (and 04.06)
allows a maximum current limit of 150% of full load current, which would be 1.5 x 75 = 112.5A.
Full load current for the selected motor is 67A, and if its maximum current limit is 150%, which is
normal, the maximum current that it may experience is 100.5A.
Accordingly, the drive must be adjusted to correspond, or the motor will be damaged. Calculate the
ratio from —
Motor full load current 67

= = 0.89
Drive rating 75
The full-scale value of the Current Limit parameters, corresponding to 150% of full load current of the
motor, is 1000. The actual setting of the Current Limit parameters is therefore
1000 x 0.89 = 890
Set 04.05 = 890. If the drive system is regenerative, set 04.06 = 890 also.
Note — Current resolution
The rating of the selected drive is typically higher than the rating of the motor, but it should not be very
much higher. It would not be prudent to select a drive-to-motor ratio less than 2/3 (current limit
parameter setting 600). Current feedback resolution at any lower ratio would be unable to give good
current loop control.
OPT 9601 CN 37903b AN

APRIL 1996 - 29
Warning
Although full scale resolution can be achieved by changing the burden resistors of the drive current
transformer, this would create a non-standard drive that is not a stock item. The danger is that the
drive might be replaced by a standard drive of the same nominal rating; the motor could be
permanently damaged. Special modifications of this nature should always be supported by thorough
documentation, and the non-standard drive should itself be indelibly tagged in some way.
1.2 Current Overload I x t
The threshold at which I x t integration begins in parameter 05.06 is typically 105%. The parameter
full-scale value is 1000, corresponding to 150%, so that
105
05.06 threshold = x 1000 = 700
150
This value, as with the Current Limit, must be adjusted to take account of the actual motor full load
amps by applying the factor already calculated for Current Limit, namely, 0.89. The actual value
required for this motor and drive combination is therefore
700 x 0.89 = 623
Set 05.06 = 623.
Access to these parameters
To gain access to these parameters and set the values select parameter 00 and enter 200. This
permits access to all required parameters.
2 SPEED FEEDBACK
2.1 Armature Voltage Feedback
For armature voltage feedback, set parameter 03.13 = 1.
For practical applications a small tolerance of 2% or 3% above the nameplate voltage should be
allowed.For an armature voltage of 500V, set parameter 03.15 = 510 or 520.
2.2 Analog Speed Feedback
For analog tachogenerator (tachometer) feedback, set parameter 03.13 = 0 (default setting).
The default values of the speed loop proportional and integral gains are usually satisfactory for analog
feedback.
When an encoder (pulse tachometer) is employed, the P and I gains should be adjusted to the
following suggested values as a starting point —
03.09 = 15
03.10 = 5
Depending on the application — the characteristic behaviour of the load — adjustment may be needed
to obtain the optimum dynamic performance and speed-holding.
OPT 9601 CN 37903b AN

APRIL 1996 - 30
2.3 Encoder (pulse tachometer) Speed Feedback
For encoder (pulse tachometer) feedback, set parameter 03.12 = 1.
The scaling parameter, 03.14, must be adjusted to correspond with the encoder PPR (pulses per
revolution) and the intended maximum speed of the motor in rpm —
750 x 106
03.14 =
PPR x Max. rpm
For example,
Encoder (pulse tach.) 240 PPR
Motor rated max speed 1750 rpm
Motor max. speed required 1710 rpm
750 x 106
03.14 = = 1827
240 x 1710
Note — Encoders (pulse tachometers)
When this type of feedback is applied there are several additional factors to consider. The instrument
should be a dual-channel quadrature type with line driver outputs (using 8830 or 88C30 line drivers).
The Mentor II on-board power supply for the encoder (pulse tachometer) is selectable to 5V, 12V or
15V by means of the red DIP switch on PCB MDA2B. (Refer to Fig. 15, page 21.) This supply can
deliver 300mA. It is not isolated from the drive.
Transmission line terminating resistors should be installed on the mounting pillars (stand-offs) provided
at the lower left-hand corner of the PCB, Fig. 15. These resistors help to prevent line reflections and
to reduce noise pick-up into the differential receiver on the drive.
3 FIELD CURRENT
First enable the Field Controller. Set parameter 06.13 = 1.
3.1 Current Range
The Mentor II provides for a field current range of either 2A maximum or 8A — please refer to the table
in the description of parameter 06.11, 64. In the example chosen, the max. field current is 1.85A. This
is >1.5A and <2A.
Set 06.11 = 204 to select the correct range.
3.2 Maximum Field Current
The full-scale value of the Max. Field Current parameter 06.08 is 1000. The max. field current of the
chosen example is 1.85A. The setting for parameter 06.08 is —
Motor max. field current 1.85

= x 1000 = 925
Field range 2.00
OPT 9601 CN 37903b AN

APRIL 1996 - 31
3.3 Field Weakening
Since field weakening is not employed in this particular example, and since the default value of the
parameter is 400 (range 1000), field weakening has to be disabled.
Set 06.07 = 1000.
For details of settings and calculations for field weakening, please refer to paragraph 4, next column.
3.4 Field Economy
For applications which involve the drive being at zero speed no-load (i.e. motor stopped but on stand-
by) for periods in the duty cycle, provision is made to economise on the field current. The user can
set the value of the reduced field current (parameter 06.09) and the period of time before field current
is reduced (parameter 06.12).
To employ field economy, the following settings are required —
Field Economy Timeout Enable — set 06.15 = 1

Field Economy Current
Suppose the chosen value of the reduced field current is 0.5A —
Motor reduced field current 0.5

= x 1000 = 270
Motor max. field current 1.85
Set 06.09 = 270.
Test the effect by temporarily setting the Field Economy Timeout, 06.12, to 2 seconds (06.12 = 2).
Disable the drive and monitor the current value at parameter 06.03. Two seconds after the drive is
disabled, 06.03 will be seen to reduce to the selected value of 06.09.
Note — Internal Field Regulator
If Mentor II is supplied with the Internal Field Regulator, field economy is under automatic control of
the software and an external field ON-OFF control switch (Figs. 12 and 13, pages 18 and 19) is not
required. Link out (jumper across) terminals L11 and L12 with the appropriate rated wire size.
4 FIELD WEAKENING
In the example, the maximum armature voltage is 300V DC. If field weakening is required, a typical
practical setting for the back-EMF cross-over point 06.07 would be 15 to 20 volts below the maximum
armature voltage.
For example, set 06.07 = 480.

At the reduced voltage, the field would begin to weaken progressively down to the value set by
parameter 06.10. Since the field current feedback setting 06.11 in this example is 204 — 2A range —
the minimum is a selected percentage of it. Suppose 90% is selected. Then —
Selected value 0.9

= = 0.45
Feedback setting 2.0
The setting for minimum field current is —

06.10 = 0.45 x 1000 = 450
OPT 9601 CN 37903b AN

APRIL 1996 - 32
Note
For correct operation, field weakening requires speed feedback. (Armature voltage feedback would
not be adequate to ensure control.) Therefore, 03.13 would be set to 0 for AC or DC tach. feedback,
and speed scaling 03.16 would be set to 250, corresponding to 2500rpm maximum permissible motor
speed. Parameter 03.03 will then correctly read out the actual motor rpm.
If an encoder (pulse tach.) were to be employed, parameter 03.12 would be set to 1 and the encoder
scaling 03.14 would need to be set accordingly. The value of 03.14 is dependent on —
The maximum motor speed required, and
The number of encoder (pulse tach.) pulses per revolution.
5 CURRENT LOOP SELF-TUNING
Note
The following procedure is optional, and for most general applications is not required. However, if
optimum dynamic response is desirable, the current loop, which is the innermost control loop, must be
set up to enable the outer control loop (such as the speed loop) to function correctly. The dynamics
of the current loop are principally a function of the electrical characteristics of any particular motor.
The Mentor II has a built-in self-tuning procedure.
First, the motor rotor must be locked or the field disconnected to allow the drive to inject armature
current and determine the electrical characteristics of the armature. The rotor must not be allowed to
rotate during the self-tuning procedure. (Normally, if the field is disconnected, the rotor of a shunt
wound motor will not move.)
Mentor II units from M25 through to M210 contain an internal field regulator and do not require the field
to be disconnected.
Self-Tuning Procedure
1 Power-up the drive.
2 Set parameter 00 = 200 to satisfy security.
3 Set 05.09 = 1
4 Enable the drive — connect terminal TB4-31 to 0V (The drive must be disabled before it can be
enabled)
5 Perform a ‘Save parameter values’ procedure before disconnecting the drive. The parameters
affected by the self-tuning procedure are 05.12 to 05.15. (For the save procedure, refer to page 36.)
6 USER-DEFINED PARAMETERS
Although the following parameter settings are optional it is desirable to set them because doing so
allows the user to view various critical drive values without having to run through several menu sets to
find them. All are collected together in Menu 00.
Parameter Drive quantity Setting Accessed at
11.01 Armature voltage 03.04 00.01
11.02 Armature current 05.02* 00.02
11.03 Motor rpm 03.03 00.03
11.04 Speed reference 01.02 00.04
11.05 AC line voltage 07.06 00.05
OPT 9601 CN 37903b AN

APRIL 1996 - 33
* A direct armature current reading can be read on parameter 05.02 if 05.05 is set with the appropriate
scale factor. Using the same figures as before, for an M75 drive, in this instance the setting would be
150% of 75A, 05.05 = 113.
As for the motor and drive configuration parameters, perform a ‘Save parameter values’ procedure
before disconnecting the drive, page 36.
6 PARAMETERS SET
NOTE
The available range and units for the values of real parameters is given in the index, Section 6.3, and
with the descriptions, Section 6.4. Those parameters for which no range is shown are bit-
parameters. Comment or explanation of parameters is given in the descriptions where necessary.
6.1 Adjustment of Parameters
1 The Parameter Set
Parameters are of two principal kinds — numerical-value (real) parameters such as speed and
acceleration, and digital or ‘bit’ parameters. The numerical values are comparable to the adjustable
potentiometers used in purely analog drives. They are much more precise, and not subject to drift from
the set value. Bit values are comparable to links (jumpers) or switches, having an either-or function.
All parameters, of either kind, are either Read Only (RO) or Read-Write (R/W).
The parameter set with which V/WNTC drives are equipped is divided into two further groups for
operational convenience.
Those which are ordinarily needed for setting the drive up at the installation and start-up stage can be
called up whenever the drive is powered on, and are called the ‘visible’ parameters. (All parameters
of chapter 6).
The second group contains the ‘invisible’ parameters, so called because at Level 1 security they do
not appear in the Index display, even if called up. These are the parameters required for fine-tuning a
drive to operate, for example, in a process system, usually in conjunction with one or more other drives
of the same or different type.
2 Visible and Invisible Parameters
Visible parameters, both RO and R/W, are always available to read when the drive is powered on.
Visible R/W parameters are normally protected by one or more levels of security and cannot be
changed until the correct codes have been entered. This is Level 1 security, unless and until a higher
level code is set.
Invisible parameters always require Level 2 security code, and will require Level 3 (if set). With the
correct code(s), invisible RO parameters are accessible to read, and invisible R/W parameters are
accessible to write.
Visible and invisible parameters are distinguished in the text and in the control logic diagrams for
Menus 1 to 9 and 12. Visible parameter numbers are in plain typeface, eg 01.01, and invisible
parameters in italics, eg 01.01.
OPT 9601 CN 37903b AN

APRIL 1996 - 34
3 Organization
Parameters are organized into functionally-related sets — menus — so that access to any individual
parameter is logical and quick. The menus are listed at the beginning of Section 6.2.
4 Adjustment
Any menu, and any visible parameter can be selected and will display its value to read without need
for a Security Code. The procedure is the same if a parameter value is to be changed, except that
entering a Security Code will normally have to be the first action.
Any menu, and any invisible parameter can be selected and its value displayed to read and to write
when the correct security code has been entered.
Whenever the user returns to a menu (between power-on and power-off) the software immediately
goes to the last parameter to have been selected in that menu. This is convenient when making a
series of adjustments to a particular group of parameters.
5 Access to Parameters
Initially, when the drive is first powered on, and if Level 3 security is not set, access to write is
immediately available to a small group of the visible parameters — refer to Section 6.2 and the
Overview Control Logic Diagram ‘A’.
If Level 3 security is set, all parameters are protected at all times.
6 Procedure
The procedure for selecting and changing a parameter is illustrated in Fig. 17 and described on the
following pages. It is also described on the keypad.
PROCEDURES for SELECTING and CHANGING PARAMETERS
Action Keys Display

Select menu Ü or Þ Index, left of decimal point
Select parameter Ý or ß Index, right of decimal point
Read only — Data
Change value MODE, then Ý or ß Data
only if display is flashing
—refer to 6.2
Enter new value MODE Data
For most parameters, the drive accepts and uses the value entered, and the motor will respond to the
new value immediately. The exception is a change of Baud Rate (11.12), Serial Mode (11.13),
Threshold 1 Destination (12.07) and Threshold 2 Destination (12.12). To allow the drive to act on the
change in these cases it is necessary to press RESET after writing the new value.
Any new value is not saved however, and will be lost at power-off.
The keypad is ready to select another menu or parameter.
The procedure below SAVES the values of all parameters changed since the previous save.
OPT 9601 CN 37903b AN

APRIL 1996 - 35
To Save the Value(s) Written
Action Keys Display
Press DOWN ß until Index (param.) Æ xx.00
MODE, then Ý or ß Data, set value = 001
Press RESET
Value(s) saved
6.2 Security
After selecting a parameter number and pressing MODE —
• If the parameter data flashes, the user can change the value UNLESS the parameter has already
been configured to be controlled by a programmable input.
• If the data does not flash, either the parameter is RO or, if R/W, it is protected by security. The
procedure for gaining access to parameters protected by Level 1 security is given below.
If the Level 1 security code does not afford access when applied, the parameter is protected by
Level 3 security.
Visible parameters are always accessible to the user to read only. Unless the Level 1 security code
is entered, most R/W parameters are not accessible to write.
Exceptionally — and provided that Level 3 security is not set — a group of 24 parameters in Menus
1 to 6 plus parameters 11.01 to 11.10, are immediately accessible to write. These are illustrated in
the Overview diagram at the end of chapter 7. Refer also to paragraph 1 below.
SECURITY PROCEDURES
1 Power on.
1.1 The following visible parameters are immediately accessible, NOT protected by any security —
01.05 Inch reference
01.06 Maximum speed forward
01.09 Maximum speed reverse
01.11 Reference ‘ON’
01.12 REVERSE selector
01.13 INCH selector
02.04 Forward acceleration 1
02.05 Forward deceleration 1
02.06 Reverse deceleration 1
02.07 Reverse acceleration 1
03.09 Speed loop P gain (proportional)
03.10 Speed loop I gain (integral)
03.11 Speed loop D gain (differential)
03.14 Feedback encoder scaling
03.15 Maximum armature voltage
03.16 Maximum speed (scaling rpm)
03.17 IR compensation
04.05 I limit Bridge 1
04.06 I limit Bridge 2
05.05 Maximum current ( scaled )
06.06 IR compensation 2
06.07 Back-emf set point
06.08 Maximum field current 1
06.10 Minimum field current
and 11.01 to 11.10 — User Menu 00
OPT 9601 CN 37903b AN

APRIL 1996 - 36
1.2 Of the rest of the parameters —
• RO parameters are accessible to read.

• R/W parameters are read-only until a Level 1 security code is entered.
2 Level 1 Security to access the Visible R/W Parameters (Fig. 17)

• Ý or ß to set index to zero
• Press mode
• Ý or ß to write 149 in data (Level 1 security code)
• Press mode
Visible R/W parameters are now accessible to write new values.
3 Level 2 Security to access the Invisible R/W Parameters.

• Press mode
• Press mode
All R/W parameters are now accessible to write new values.
RO parameters can be read.
4 To Enable and Inhibit Free Access to ALL Parameters
4.1 To cancel security —

• Power on
• Press mode
• Press mode
• Ü or Þ plus Ý or ß to set index to 11.17.
• Press mode
• ß to write 0
If the parameters are now Saved (page 33) there is no protection for ANY parameter.
4.2 To reinstate security —
Repeat the procedure in paragraph 2.1 but make parameter 11.17 = 149, and Save (page 36).
5 Level 3 Security
An additional, private, security code, Level 3, is available to the user. The code is user-programmable
from 1 to 255 EXCEPT 149 (the Level 1 code). If applied, the effect is to prevent access to all
parameters until the Level 3 code has been entered prior to entering the Level 1 or Level 2 code.
OPT 9601 CN 37903b AN

APRIL 1996 - 37
5.1 To assign a Level 3 security code number —
• Power up
• Press mode
• Press mode
• Ü or Þ plus Ý or ß to set index to 11.17. Data display shows 149.
• Press mode
• Ý or ß to write any 3-digit number from 1 to 255 in data (excluding 149 — the Level 1 security code)
• Press mode
• Save (page 33)
There is now no access to any parameter, not even to read only, until the assigned Level 3 code has
been entered.
5.2 Level 3 Security access —

• Ü or Þ plus Ý or ß to set index to zero
• Press mode
• Ý or ß to write the assigned code number in data (Level 3 security code)
• Press mode
The user now has access through Level 1 and Level 2 Security, one or other of which has to be
entered next.
6.3 Index of Parameters
The Index of Parameters lists the sixteen Menus, followed by the basic data for each parameter of the
MENTOR II Parameter Set listed menu by menu. For detailed descriptions of parameters please refer
to Section 6.4.
1 MENUS LIST
Menu Description
00 User Menu — to give fast access to the most-used parameters
01 Speed Reference — selection of source and limits
02 Acceleration and Deceleration Ramps
03 Speed Feedback Selection and Speed Loop
04 Current — selection and limits
05 Current Loop
06 Field Control
07 Analog Inputs and Outputs
08 Logic Inputs
09 Status Outputs
10 Status Logic & Fault Information
11 Miscellaneous
12 Programmable Thresholds
13 Digital Lock
14 MD29 System Set-up
15 Applications Menu 1
OPT 9601 CN 37903b AN

APRIL 1996 - 38
2 PARAMETERS — NAMES, RANGE & DEFAULT VALUES
References in brackets (xx.xx) in the Default column indicate parameters which default to other
parameters.
Parameters shown in bold type are those which are freely accessible ONLY immediately after power-
on.
Parameters at the end of each menu list in italic type are invisible. Refer to sections 6.1 page 34 and
6.2 page 34.
00 User Library — Refer to Menu 11
Contains ten parameters (00.01 to 00.10). The user sets parameters 11.01 to 11.10 to any parameter
numbers most often required or used. These can then be accessed directly through the corresponding
numbers 00.01 to 00.10, avoiding the need to call up different menus.
01 Speed Reference — Selection of source and limits
Number Description Range Type Default
01.01 Pre-offset speed reference ±1000 RO
01.02 Post-offset speed reference ±1000 RO
01.03 Pre-ramp reference ±1000 RO
01.04 Offset ±1000 R/W + 000
01.05 Inch reference ±1000 R/W + 050
01.06 Maximum speed forward 0 to +1000 R/W +1000
01.07 Minimum speed forward 0 to +1000 R/W + 000
01.08 Minimum speed reverse -1000 to 0 R/W + 000
01.09 Maximum speed reverse (4Q) -1000 to 0 R/W - 1000
(1Q) - 1000 to 0 R/W 000
01.10 Bipolar reference selector (4Q) 0 or 1 R/W 1
(1Q) 0 or 1 R/W 0
01.11 Reference ‘ON’ 0 or 1 R/W 0
01.12 REVERSE selector 0 or 1 R/W 0
01.13 INCH selector 0 or 1 R/W 0
01.14 Reference select 1 0 or 1 R/W 0
01.15 Reference select 2 0 or 1 R/W 0
01.16 Zero reference interlock 0 or 1 R/W 0
01.17 Reference 1 ±1000 R/W (07.15)
01.18 Reference 2 ±1000 R/W + 300
01.19 Reference 3 ±1000 R/W (07.12)
01.20 Reference 4 ±1000 R/W (07.13)
02 Acceleration and Deceleration Ramps
02.01 Post-ramp reference ±1000 RO
02.02 Ramp enable 0 or 1 R/W 1
02.03 Ramp hold 0 or 1 R/W 0
02.04 Forward acceleration 1 0 to 1999 R/W + 050
02.05 Forward deceleration 1 0 to 1999 R/W + 050
02.06 Reverse deceleration 1 (4Q) 0 to 1999 R/W + 050
(1Q) 0 to 1999 R/W 000
02.07 Reverse acceleration 1 (4Q) 0 to 1999 R/W + 050
(1Q) 0 to 1999 R/W 000
02.08 Forward acceleration 2 0 to 1999 R/W + 100
02.09 Forward deceleration 2 0 to 1999 R/W + 100
OPT 9601 CN 37903b AN

APRIL 1996 - 39
02 Acceleration and Deceleration Ramps — continued
02.10 Reverse deceleration 2 (4Q) 0 to 1999 R/W + 100
(1Q) 0 to 1999 R/W 000
02.11 Reverse acceleration 2 (4Q) 0 to 1999 R/W + 100
(1Q) 0 to 1999 R/W 000
02.12 Inch ramp rate 0 to 1999 R/W + 100
02.13 Enable inch ramp 0 or 1 R/W 0
02.14 Forward acceleration selector 0 or 1 R/W 0
02.15 Forward deceleration selector 0 or 1 R/W 0
02.16 Reverse deceleration selector 0 or 1 R/W 0
02.17 Reverse acceleration selector 0 or 1 R/W 0
02.18 Common ramp selector 0 or 1 R/W 0
02.19 Ramp scaling (x 10) 0 or 1 R/W 0
03 Speed Feedback Selection and Speed Loop
03.01 Final speed demand ±1000 RO
03.02 Speed feedback ±1000 RO
03.03 Speed feedback (rpm) ±1999 RO
03.04 Armature voltage ±1000 RO
03.05 IR compensation output ±1000 RO
03.06 Speed error ±1000 RO
03.07 Speed loop output ±1000 RO
03.08 Speed error integral ±1000 RO
03.09 Speed loop P gain 0 to 255 R/W 080
03.10 Speed loop I gain 0 to 255 R/W 040
03.11 Speed loop D gain 0 to 255 R/W 0
03.12 Digital feedback selector 0 or 1 R/W 0
03.13 AV analog feedback selector 0 or 1 R/W 0
03.14 Feedback encoder scaling 0 to 1999 R/W + 419
03.15 Maximum armature voltage 0 to 1000 R/W + 600
03.16 Maximum speed (scaling rpm) 0 to 1999 R/W +1750
03.17 IR compensation 0 to 255 R/W 000
03.18 Hard speed reference ±1000 R/W (07.11)
03.19 Hard speed reference selector 0 or 1 R/W 0
03.20 IR droop selector 0 or 1 R/W 0
03.21 Ramp output selector 0 or 1 R/W 1
03.22 Speed offset fine 0 to 255 R/W 128
03.23 Zero speed threshold 0 to 255 R/W 16
03.24 D-term source 1 to 3 R/W 1
03.25 Speed error filter 0 to 255 R/W 128
03.26 Tacho. input ±1000 RO
03.27 Speed feedback range ±1000 RO
OPT 9601 CN 37903b AN

APRIL 1996 - 40
04 Current — selection and limits
04.01 Current demand ±1000 RO
04.02 Final current demand ±1000 RO
04.03 Over-riding current limit ±1000 RO
04.04 I limit (taper start point) 0 to 1000 R/W +1000
04.05 I limit Bridge 1 0 to 1000 R/W +1000
04.06 I limit Bridge 2 0 to 1000 R/W +1000
04.07 I limit 2 0 to 1000 R/W +1000
04.08 Torque reference ±1000 R/W + 000
04.09 Current offset ±1000 R/W + 000
04.10 I limit 2 selector 0 or 1 R/W 0
04.11 Current offset selector 0 or 1 R/W 0
04.12 Mode bit 0 0 or 1 R/W 0
04.13 Mode bit 1 0 or 1 R/W 0
04.14 Quadrant 1 enable 0 or 1 R/W 1
04.15 Quadrant 2 enable (4Q) 0 or 1 R/W 1
(1Q) 0 or 1 R/W 0
(1Q) 0 or 1 R/W 0
(1Q) 0 or 1 R/W 0
04.18 Enable Auto-I limit-change 0 or 1 R/W 0
04.19 Current limit timer 0 to 255 R/W 000
04.20 Current taper 1 threshold 0 to 1000 R/W +1000
04.21 Current taper 2 threshold 0 to 1000 R/W +1000
04.22 Current taper 1 slope 0 to 255 R/W 000
04.23 Current taper 2 slope 0 to 255 R/W 000
04.24 Taper 1 threshold exceeded 0 or 1 RO
04.25 Taper 2 threshold exceeded 0 or 1 RO
05 Current Loop
05.01 Current feedback ±1000 RO
05.02 Current feedback (amps) ±1999 RO
05.03 Firing angle 277 to 1023 RO
05.04 Slew rate limit 0 to 255 R/W 040
05.05 Maximum current (scaled ) 0 to 1999 R/W (rating)
05.06 Overload threshold 0 to 1000 R/W + 700
05.07 Overload time (heating) 0 to 255 R/W 030
05.08 Overload time (cooling) 0 to 255 R/W 050
05.09 Enable start-up autotune 0 or 1 R/W 0
05.10 Reduced endstop 0 or 1 R/W 0
05.11 Actual overload 0 to 1999 RO
OPT 9601 CN 37903b AN

APRIL 1996 - 41
05.12 Discontinuous I gain 0 to 255 R/W 65
05 Current Loop — continued
05.13 Continuous P gain 0 to 255 R/W 33
05.14 Continuous I gain 0 to 255 R/W 33
05.15 Motor constant 0 to 255 R/W 50
05.16 Current feedback range 0, 1 or 2 R/W 0
05.17 Inhibit firing 0 or 1 R/W 0
05.18 Standstill enable 0 or 1 R/W 1
05.19 Standstill mode 0 or 1 R/W 0
05.20 Direct firing-angle control 0 or 1 R/W 0
05.21 Bridge lockout enable (4Q12P) 0 or 1 R/W 0
05.22 Disable adaptive control 0 or 1 R/W 0
05.23 Enable (1Q 12P) 0 or 1 R/W 0
05.24 Series 12P operation 0 or 1 R/W 0
05.25 Parallel 12P operation 0 or 1 R/W 0
05.26 Extra-safe bridge change 0 or 1 R/W 0
06 Field Control
06.01 Back-emf 0 to 1000 RO
06.02 Field-current demand 0 to 1000 RO
06.03 Field-current feedback 0 to 1000 RO
06.04 Firing angle 261 to 1000 RO
06.05 IR compensation 2 output ±1000 RO
06.06 IR compensation 2 0 to 255 R/W 000
06.07 Back emf set point 0 to 1000 R/W + 1000
06.08 Maximum field current 1 0 to 1000 R/W + 1000
06.09 Maximum field current 2 0 to 1000 R/W + 500
06.10 Minimum field current 0 to 1000 R/W + 500
06.11 Field feedback scaling* 201 to 216 R/W +204
06.12 Field economy time-out 0 to 255 R/W 030
06.13 Enable field control 0 or 1 R/W 0
06.14 Maximum field 2 selector 0 or 1 R/W 0
06.15 Enable field economy time-out 0 or 1 R/W 0
06.16 Current loop gain 0 or 1 R/W 0
06.17 Voltage loop integral gain 0 or 1 R/W 0
06.18 Enable speed gain adjustment 0 or 1 R/W 0
06.19 Direct firing angle control 0 or 1 R/W 0
06.20 Select alternative IR Comp. 2 0 or 1 R/W 0
06.21 Firing angle front endstop 0 to 1000 R/W +1000
06.22 Full- or half-control 0 or 1 R/W 0
* Dependent on MDA3 card issue (revision) number
FXM5 Field Controller only.
OPT 9601 CN 37903b AN

APRIL 1996 - 42
07 Analog Inputs and Outputs
07.01 General-purpose input 1 ±1000 RO
07.05 Speed reference input ±1000 RO
07.06 RMS input voltage 0 to 1000 RO
07.07 Heatsink temperature 0 to 1000 RO
07.08 DAC 1 source 0 to 1999 R/W + 201
07.09 DAC 2 source 0 to 1999 R/W + 302
07.10 DAC 3 source 0 to 1999 R/W + 304
07.11 GP1 destination 0 to 1999 R/W + 318
07.15 Speed destination 0 to 1999 R/W + 117
07.16 GP1 scaling 0 to 1999 R/W +1000
07.17 GP2 scaling 0 to 1999 R/W +1000
07.18 GP3 scaling 0 to 1999 R/W +1000
07.19 GP4 scaling 0 to 1999 R/W +1000
07.20 Speed reference scaling 0 to 1999 R/W +1000
07.21 DAC1 scaling 0 to 1999 R/W +1000
07.22 DAC2 scaling 0 to 1999 R/W +1000
07.23 DAC3 scaling 0 to 1999 R/W +1000
07.24 Reference-encoder scaling 0 to 1999 R/W +419
07.25 Encoder reference selector 0 or 1 R/W 0
07.26 Current input selector 0 or 1 R/W 0
07.27 Current sense inverter 0 or 1 R/W 0
07.28 4mA offset selector 0 or 1 R/W 1
08 Logic Inputs
08.01 F1 input — run permit 0 or 1 RO
08.02 F2 input — inch reverse 0 or 1 RO
08.03 F3 input — inch forward 0 or 1 RO
08.04 F4 input — run reverse 0 or 1 RO
08.05 F5 input — run forward 0 or 1 RO
08.06 F6 input 0 or 1 RO
08.11 Enable input 0 or 1 RO
OPT 9601 CN 37903b AN

APRIL 1996 - 43
08 Logic Inputs — continued
08.12 F2 destination 0 to 1999 R/W + 000
08.21 Disable normal logic functions 0 or 1 R/W 0
08.22 Invert F2 input 0 or 1 R/W 0
08.31 Enable Inch Reverse 0 or 1 R/W 0
08.32 Enable Inch Forward 0 or 1 R/W 0
08.33 Enable Run Reverse 0 or 1 R/W 0
08.34 Enable Run Forward 0 or 1 R/W 0
09 Status Outputs
09.01 Status 1 output 0 or 1 RO
09.06 Status 6 output (relay) 0 or 1 RO
09.07 Status 1 source 1 0 to 1999 R/W + 111
09.08 Invert status 1 source 1 0 or 1 R/W 0
09.09 Status 1 source 2 0 to 1999 R/W 000
09.11 Invert status 1 output 0 or 1 R/W 0
09.12 Status 1 delay 0 to 255sec R/W 0
09.13 Status 2 source 1 0 to 1999 R/W + 1007
09.15 Status 2 source 2 0 to 1999 R/W 000
OPT 9601 CN 37903b AN

APRIL 1996 - 44
09 Status Outputs — continued
09.18 Status 2 delay 0 to 255sec R/W 0
09.19 Status 3 source 0 to 1999 R/W +1013
09.25 Status 6 source (relay) 0 to 1999 R/W +1009
10 Status Logic & Diagnostic Information
10.01 Forward velocity 0 or 1 RO
10.02 Reverse velocity 0 or 1 RO
10.03 Current limit 0 or 1 RO
10.04 Bridge 1 enabled 0 or 1 RO
10.05 Bridge 2 enabled 0 or 1 RO
10.06 Electrical phase-back 0 or 1 RO
10.07 At speed 0 or 1 RO
10.08 Overspeed 0 or 1 RO
10.09 Zero speed 0 or 1 RO
10.10 Armature voltage clamp active 0 or 1 RO
10.11 Phase rotation 0 or 1 RO
10.12 Drive healthy (normal) 0 or 1 RO
10.13 Alarm I x t 0 or 1 RO
10.14 Field loss 0 or 1 RO
10.15 Feedback loss 0 or 1 RO
10.16 Phase loss 0 or 1 RO
10.17 Instantaneous trip 0 or 1 RO
10.18 Sustained overload 0 or 1 RO
10.19 Processor 1 watchdog 0 or 1 RO
10.20 Processor 2 watchdog 0 or 1 RO
10.21 Motor overtemperature 0 or 1 RO
10.22 Heatsink overtemperature 0 or 1 RO
10.23 Speed loop saturated 0 or 1 RO
10.24 Zero current limit 0 or 1 RO
10.25 Last trip 0 to 255 RO
10.26 The trip before last trip (10.25) 0 to 255 RO
10.27 The trip before 10.26 0 to 255 RO
10.28 The trip before 10.27 0 to 255 RO
10.29 Disable field loss 0 or 1 R/W 0
OPT 9601 CN 37903b AN

APRIL 1996 - 45
10 Status Logic & Diagnostic Information — continued
10.30 Disable feedback loss 0 or 1 R/W 0
10.31 Disable phase loss 0 or 1 R/W 0
10.32 Disable motor oÕtemperature trip 0 or 1 R/W 1
10.33 Disable heatsink oÕtemperature trip 0 or 1 R/W 1
10.34 External trip 0 or 1 R/W 0
10.35 Processor 2 trip 0 to 255 R/W 0
10.36 Disable current loop loss trip 0 or 1 R/W 0
11 Miscellaneous
Note Parameters 11.07 through to 11.10 have functions associated with the MD29 PCB.
Refer to the MD29 User’s Guide.
11.01 Parameter 00.01 0 to 1999 R/W 0
11.02 Parameter 00.02 0 to 1999 R/W 0
11.03 Parameter 00.03 0 to 1999 R/W 0
11.04 Parameter 00.04 0 to 1999 R/W 0
11.05 Parameter 00.05 0 to 1999 R/W 0
11.06 Parameter 00.06 0 to 1999 R/W 0
11.07 Parameter 00.07 0 to 1999 R/W 0
11.08 Parameter 00.08 0 to 1999 R/W 0
11.09 Parameter 00.09 0 to 1999 R/W 0
11.10 Parameter 00.10 0 to 1999 R/W 0
11.11 Serial address 0 to 99 R/W 001
11.12 Baud rate 0 or 1 R/W 0
11.13 Serial Mode 1 to 4 R/W 001
11.14 Country code 0 to 255 R/W 044
11.15 Processor 1 version 0 to 255 RO
11.16 Processor 2 version 0 to 255 RO
11.17 Security code 3 0 to 255 R/W 149
11.18 Boot-up parameter 0 to 1999 R/W + 000
11.19 Serial programmable source 0 to 1999 R/W + 000
11.20 Serial scaling 0 to 1999 R/W +1000
11.21 LEDs byte 0 to 255 R/W
11.22 Disable normal LED functions 0 or 1 R/W 0
11.23 Permissive for MDA6 Issue (rev) 3 0 or 1 R/W 0
11.24 Enable mains dip ridethrough 0 or 1 R/W 0
OPT 9601 CN 37903b AN

APRIL 1996 - 46
12 Programmable thresholds
12.01 Threshold 1 exceeded 0 or 1 RO
12.02 Threshold 2 exceeded 0 or 1 RO
12.03 Threshold 1 source 0 to 1999 R/W + 302
12.04 Threshold 1 level 0 to 1000 R/W + 000
12.05 Threshold 1 hysteresis 0 to 255 R/W 002
12.06 Invert threshold 1 output 0 or 1 R/W 0
12.07 Threshold 1 destination 0 to 1999 R/W + 000
12.08 Threshold 2 source 0 to 1999 R/W + 501
12.09 Threshold 2 level 0 to 1000 R/W + 000
12.10 Threshold 2 hysteresis 0 to 255 R/W 002
12.11 Invert threshold 2 output 0 or 1 R/W 0
12.12 Threshold 2 destination 0 to 1999 R/W + 000
13 Digital Lock
13.01 Master counter value 0 to 1023 RO
13.02 Slave counter value 0 to 1023 RO
13.03 Master counter increment ±1000 RO
13.04 Slave counter increment ±1000 RO
13.05 Position error ±1000 RO
13.06 Precision reference lsb 0 to 255 R/W 000
13.07 Precision reference msb 0 to 255 R/W 000
13.08 Position loop gain 0 to 255 R/W 025
13.09 Position loop correction limit 0 to 1000 R/W + 010
13.10 Enable digital lock 0 or 1 R/W 0
13.11 Rigid lock selector 0 or 1 R/W 1
13.12 Precision reference selector 0 or 1 R/W 0
13.13 Precision reference latch 0 to 1 R/W 1
13.14 Precision speed reference (16-bit) 0 to 255 R/W 0
14 MD29 System Set-up
Refer to the MD29 User’s Guide for parameter descriptions.
15.01 RO variable 1 ±1999 RO
15.06 Real R/W variable 1 ±1999 R/W + 000
OPT 9601 CN 37903b AN

APRIL 1996 - 47
15 Applications Menu 1 — continued
15.11 Integer R/W variable 1 0 to 255 R/W 000
15.21 Bit variable 1 0 or 1 R/W 0
15.60 Ratio 1 wide integer = 15.16 & 15.17 0 to 255 R/W 000
15.61 Ratio 2 wide integer = 15.16 & 15.17 0 to 255 R/W 000
15.62 Serial Mode 4 input data RO
15.63 Serial Mode 4 output data RO
OPT 9601 CN 37903b AN

APRIL 1996 - 48
16 Applications Menu 2 — continued
6.4 Descriptions of Parameters
An overview of the control logic is shown in the Diagram ‘A’ at the end of this chapter, together with a
detailed diagram for each of the principal menus, Menu 01 to Menu 09 and Menu 12.
A newly-supplied drive has a standard setting applied to every parameter; this is its ‘default’ value or
state. The system of control is illustrated in its default condition in Diagram ‘A’, that is, before any
control or configuration option available to the user has been applied.
Diagram ‘A’ shows that, in the default state and without altering any parameter, the drive will operate
a motor under speed and torque control. Minimum essential inputs are —
a speed reference (demand) at terminal TB1-3;
a speed feedback — refer to parameters 03.12 and 03.13 ;
a ‘drive enable’ signal at terminal TB4-31;
a ‘run permit’ signal at terminal TB3-21;
a ‘drive run’ signal at terminal TB3-25.
OPT 9601 CN 37903b AN

APRIL 1996 - 49
The final output of the logic is to define the firing angle, upon which depends the output voltage to the
armature. External inputs (extreme left), parameter values, and selectors contribute to the final value
of the firing angle parameter.
The most significant value in normal operation is the speed reference. The diagram shows that the
external speed demand finally controls the firing angle, but that it may be modified several times and
in different ways by other factors.
The earliest option allows the speed reference input signal to be configured as a bipolar signal if
required. This is followed by a selector option which controls the dynamics of the speed reference
signal, and allows the operator rapidly to communicate ‘run’, ‘inch’, ‘forward’, ‘reverse’ and ‘stop’
signals.
Control of reversal of direction should follow, and after that a selector which provides a ‘stop’ signal by
imposing a ‘zero speed’ demand. Up to this stage there are also three read-only (RO) parameters,
01.01, 01.02, and 01.03, allowing the input signal state at each point to be displayed.
Next follows a set of parameters which provide control of rates of acceleration and deceleration. This
block of parameters has a bypass which allows it to be used or defeated, according to requirements.
At this point in the control logic, the external speed demand is compared with the chosen ‘actual’ speed
parameter to produce the speed error parameter. The source of the actual speed feedback can be
selected from one of two external sources, encoder (pulse tachometer) or tachogenerator
(tachometer), or from the internally-computed armature voltage parameter 03.04.
The proportional, integral, and derivative (PID) gains are then applied, followed by the four current-
limiting parameters. Note that the default values of the PID parameters are values which are likely to
be good for average loads, but that the default current limits are set at maximum. The rate of change
of the amplified speed error is finally limited if necessary by the slew rate parameter. By this stage, the
speed demand has become a current demand, and is now summed algebraically with current
feedback to generate the reference that controls the thyristor (SCR) bridge firing angle. From the ramp
to the firing angle there are four interposed RO parameters for interrogation and to assist with precise
modelling of the control system.
In addition, the most significant factors of drive condition are available from status bits (refer to Menu
10).
The purpose and application of the different menus and of each individual parameter is explained in
the following pages.
MENU 01
Speed Reference
There are four speed references, 01.17, 01.18, 01.19 and 01.20 Each of the four can be given any
single value in the range 1000 forward to 1000 in reverse (the value 1000 representing full speed), and
can be rewritten through the keypad, the programmable inputs or the serial link (interface) at any
time. The default destination for external speed reference (terminal TB1-3) is reference 1 (01.17),
meaning that the external reference is present in reference 1 unless a different selection is made, from
the other three references. The availability of four selectable speed reference parameters gives great
flexibility in the use of references from other equipment. Such additional external references would be
handled by general purpose analog inputs, Menu 07, or digital logic inputs, Menu 08.
Two selectors, 01.14 and 01.15, control the application of the four internal references as the source
speed reference.
OPT 9601 CN 37903b AN

APRIL 1996 - 50
Modifying factors applied to the source speed reference are, in sequence, an added offset, selection
of bipolar or unipolar input, inversion of polarity (reverse), and the maxima and minima of forward and
reverse speed, Menu 02.
Control selectors —
01.11 Reference ON (if 01.11 = 0, pre-ramp reference = 0),
01.12 Reverse (by reference inversion)
01.13 Inch speed reference (01.05).
The speed reference at source, 01.01 is the input to the zero reference interlock 01.16, which (when
selected, 01.16 = 1) prevents the drive starting until the speed reference is close to zero.
01.01 RO Pre-offset speed reference

Range ±1000
Monitors the value of the speed reference continuously. Parameter 01.01 is also used to initiate the
zero speed reference interlock, 01.16.
01.02 RO Post-offset speed reference
Range ±1000
Monitors the value of the speed reference after the offset, 01.04, has been added.
01.03 RO Pre-ramp reference
Range ±1000
The final speed reference before any ramp rates are applied (refer to Menu 02).
01.04 R/W Offset
Range ±1000 Default + 000
The analog reference offset (range -1000 to +1000) is a programmable speed demand term added to
the speed reference value 01.01. It is a practical speed trim input, as for example from a dancer arm
in tension control, or can be used to set a ‘creep’ or minimum speed.
01.05 R/W Inch reference
Range ±1000 Default + 050
Becomes the source of speed reference when selected by 01.13 (controlled in default by terminals
TB3-22 and TB3-23). It provides the convenient facility to set a speed demand different from (and
usually less than) the ordinary speed reference. Must be less than the maxima set by 01.06 and 01.09.
01.06 R/W Max. Speed Forward
Range 0 to +1000 Default +1000
Sets the upper limit of speed in the forward direction of rotation.
01.07 R/W Min. Speed Forward
Range 0 to +1000 Default +1000
Sets the lower limit of speed in the forward direction of rotation. The speed minima are disabled if
bipolar selector 01.10 =1 to prevent oscillation between the forward and reverse minimum speeds
when the input speed reference is zero.
01.08 R/W Min. Speed Reverse.
Range -1000 to 0 Default -1000
Sets the lower limit of speed in the reverse direction of rotation. The speed minima are disabled if
bipolar selector 01.10 =1 to prevent oscillation between the forward and reverse minimum speeds
when the input speed reference is zero.
01.09 R/W Max. Speed Reverse.
Range -1000 to 0 Default -1000
Sets the upper limit of speed in the reverse direction of rotation.
OPT 9601 CN 37903b AN

APRIL 1996 - 51
01.10 R/W Bipolar selector
Default — 4Q 1, bipolar mode
Default — 1Q 0, unipolar mode
In its normal state (= 1) allows the drive to respond to a bipolar analog speed reference (01.02) in
which case the direction of rotation is determined by the bipolar signal. Positive polarity causes forward
rotation; negative polarity, reverse. When 01.10 = 0 the drive responds in a unipolar mode, negative-
polarity signals being treated as a zero speed demand. Reversal of direction is then possible by 01.12
(in a four-quadrant drive).
01.11 R/W Reference ‘ON’
Default 0, no speed reference
Applies the speed reference to 01.03, pre-ramp reference. Defaults to zero if terminal TB3-21 (Run
permit) is de-activated. Cannot be set to 1 unless terminal TB3-21 is activated. Is also subject to the
status of the normal logic functions — refer to Menu 08. Controlled in default by terminals TB3-22,
TB3-23, TB3-24, TB3-25
01.12 R/W Reverse selector
Default 0, reverse not selected
Reverse select inverts the polarity of the speed reference signal. It has the effect (in a four-quadrant
drive) of reversing the sense of the speed signal without regard to the nominal direction of motor
rotation. Default value 01.12 = 0, inversion not applied. Controlled in default by terminals TB3-22, TB3-
23, TB3-24, and TB3-25.
01.13 R/W Inch selector
Default 0, inch not selected
Inch select replaces all other speed demand references by the inch reference 01.05. Default value
01.13 = 0, normal speed reference applied. Controlled in default by terminals TB3-22, TB3-23.
01.14 R/W Reference selector 1
Default 0
Selects references 1 and 3 or references 2 and 4.
The two reference selectors 01.14 and 01.15 in combination allow any one of the four speed
references 01.17 to 01.20 to be selected.
01.15 R/W Reference selector 2
Default 0
Selects references 1/2 or references 3/4.
The two reference selectors 01.14 and 01.15 in combination allow any one of the four internal speed
reference 01.17 to 01.20 to be selected.
01.16 R/W Zero reference interlock
Default 0, inhibit not applied
Prevents the starting of the drive until the analog speed reference, external or internal, is near to zero —
-16 < 01.01 < +16 (values in 0.1% of full speed)
This facility is convenient in applications where for safety or process reasons the operator determines
speed by observations of the process, for example extrusion, or traction drives.
01.17, 01.18, 01.19, 01.20 R/W References 1 to 4
Defaults
Reference 1, parameter 01.17 is the default destination of the external speed reference (terminal TB1-
3) through the programmable input 07.15.
References 3 and 4, parameters 01.19 and 01.20, default to programmable inputs GP2 (TB1-5) and
GP3 (TB1-6) respectively.
Reference 2, parameter 01.18, default +300.
OPT 9601 CN 37903b AN

APRIL 1996 - 52
MENU 02
Ramps
The principal alternatives available for setting ramps are as follows —
1 No ramps at all, bypassing the ramp functions.
2 A selection of forward and reverse ramps for normal run conditions and an optional separate
ramp for inching.
The arrangement for selecting running ramps affords the maximum flexibility. There are two possible
ramp values available for each mode of operation, eg forward accelerations 1 and 2, forward
decelerations 1 and 2, and so on. A common ramp selector allows switching between the two groups
(all the 1s or all the 2s). In addition it is possible to change ramps 1 and 2 of any quadrant within the
common selection. Ramp selectors may be controlled by any of the programmable inputs.
To activate the inch ramp, a ‘select’ signal is required from 01.13 in addition to the ‘enable’ function
02.13.
The ramp operation can be interrupted by the ramp hold parameter, which holds the ramp output at its
present value when set to 1. Ramp disable over-rides this feature.
The value of the speed reference signal after the ramp is monitored by the post-ramp reference.
02.01 RO Post-ramp Reference

Range ±1000rpm
Monitors the value of the speed reference after it has bypassed or been modified by the ramp selected.
02.02 R/W Ramp Enable
Default 1, enabled
If set to disable, makes the post-ramp speed reference 02.01 equal to the pre-ramp speed reference
01.03, effectively bypassing the ramp functions.
02.03 R/W Ramp Hold
Default 0
Holds the ramp output at its present value when set to 1. By using a programmable input to control
this parameter, the speed of the drive may be controlled from ‘increase’ and ‘decrease’ pushbuttons
instead of a potentiometer or other continuously-variable reference source.
02.04, 02.05, 02.06, 02.07 R/W
GROUP 1 Fwd. Accel & Decel., Rev. Decel & Accel
Range 0 to 1999 tenths of seconds
Default + 050 º 5s
Defines the time taken to accelerate from rest to maximum full-scale speed (01.03 = 1000), or to
decelerate from this speed to rest, as appropriate.
02.08, 02.09, 02.10, 02.11 R/W
GROUP 2 Fwd. Accel & Decel., Rev. Decel & Accel
Default + 100 º10s
02.12 R/W Inch Ramp Rate
Default + 100 º10s
To select, 02.13 =1. Defines the rate of acceleration and deceleration when the Inch Reference is
selected (01.13 =1).
02.13 R/W Enable Inch Ramp
Default 0, disable
Selects a dedicated ramp rate (defined by 02.12) when inching. If not selected, the normal ramps
02.04 through to 02.11 are used for inching as well as running.
OPT 9601 CN 37903b AN

APRIL 1996 - 53
02.14, 02.15, 02.16, 02.17 R/W
Fwd. Accel & Decel., Rev. Decel & Accel Ñ Select from Group 1 or 2
Default 0, Ramp 1
These selectors allow ramps to be chosen from either of the two groups at will, permitting individual
acceleration and/or deceleration rates to be changed on receipt of an appropriate command.
02.18 R/W Common Ramp Select
Default 0, Group 1
Enables selection between all ramps of Group 1 if 02.14 to 02.17 = 0, or all of Group 2.
02.19 R/W Ramp Scaling
Default 0, disable
When 02.19 = 1, acceleration and deceleration ramp time is multiplied by 10.
MENU 03
Feedback Selection and Speed Loop

The principal inputs are the post-ramp reference 02.01 and the hard speed reference 03.18. The post-
ramp reference can be summed with or replaced by the hard speed reference. The speed reference
can, alternatively, be the hard speed reference alone. The selected input can be modified by the
addition of an offset, which may be zero. The result of this summation is the final speed demand
(03.01) which is added algebraically to the speed feedback to become the speed error (03.06). The
speed error is finally proportioned by the PID function to become the speed loop output.
Speed feedback is derived from one of three possible sources, encoder (pulse tach.), tachogenerator
(tachometer) or armature voltage. Whichever source is selected becomes the speed feedback
(03.02). If the armature voltage is selected it is first summed with the IR compensation (03.05), which
is derived from the integral function of the speed error and the IR compensation factor and is then
either added to or subtracted from the scaled armature voltage feedback according to whether IR
compensation or IR droop is selected.
The armature voltage feedback is passed to a comparator to provide a voltage clamp, used internally
to prevent armature overvoltage. This clamp is used only if the armature voltage has not been selected
as the feedback. Parameter 03.15 becomes the clamp level.
The speed feedback value is used for two further purposes — to supply a speed indication in rpm, and
to indicate zero speed.
03.01 RO Final Speed Demand

Range ±1000
Monitors the value of the speed reference after it has bypassed or been modified by the ramps and/or
by the hard speed reference (03.18) and speed offset fine (03.22). It is the speed reference which is
presented to the speed control loop of the drive via the speed summation point.
03.02 RO Speed Feedback
Range ±1000
Monitors the value of the speed feedback, derived from one of the following three sources — encoder
(pulse tach.), tachogenerator (tachometer), or armature voltage. The selection is controlled by 03.12
and 03.13. The value is used for the closed-loop speed control of the motor. Scaling of the encoder
(pulse tach.) signal is set by 03.14, and of the armature voltage feedback is controlled by the setting
of maximum armature voltage 03.15. A potentiometer is provided for scaling the tachogenerator
(tachometer) feedback signal. The speed feedback 03.02 is summed with the final speed demand
03.01 at the speed loop summation point.
OPT 9601 CN 37903b AN

APRIL 1996 - 54
03.03 RO Speed Feedback
Range ±1999rpm
Scaled value of motor speed feedback for external information. Requires correct setting of 03.16,
maximum speed.
03.04 RO Armature Voltage
Range ±1000 (direct reading in Volts)
03.05 RO IR Compensation Output
Range ±1000
The result of selected value of IR compensation 03.17 acting on the speed loop integral output.
03.06 RO Speed Error
Range ±1000
The result of the summation of the final speed demand and the speed feedback, after filtering.
03.07 RO Speed Loop Output
Range ±1000
Speed demand forward to become current demand (menu 04).
03.08 RO Speed Error integral
Range ±1000
The integrated value of the speed error 03.06, used as input to the IR compensation calculation when
using armature voltage feedback (AVF).
03.09 R/W Speed Loop Proportional Gain
Range 0 to 255 Default 080
The factor by which the speed error is multiplied to produce the correction term.
value of 03.09
Factor =
8
Increasing this value increases both the system damping and the transient speed response, and if
made too high for a given load the system will become unstable. The optimum setting is the highest
value possible before instability starts to occur. Optimum speed loop performance is achieved by
judicious combination of all three gains of the PID algorithm.
03.10 R/W Speed Loop Integral Gain
The factor by which the speed error is multiplied to produce the correction term.
6f x (03.10)
Factor =
256
where f = supply frequency
This term ensures zero speed error during steady state load conditions, increasing the value
increases the rate of recovery after a disturbance. If the term is made too high, speed tends to
oscillate instead of settling quickly. The optimum setting is the highest value possible before oscillation
starts to occur. Optimum speed loop performance is achieved by judicious combination of all three
gains of the PID algorithm.
03.11 R/W Speed Loop Derivative Gain
The factor by which the speed error is multiplied to produce the correction term. There are three
possible sources of input to this term— either final speed demand 03.01, speed feedback 03.02, or
speed error 03.06. The selector is 03.24. The derivative term is a function of the rate of change of
value of the input.
If the input is the speed error 03.06, output is negative if speed error is increasing. This has a damping
effect.
OPT 9601 CN 37903b AN

APRIL 1996 - 55
If the input is the final speed demand 03.01, output is positive when the final speed demand is
increasing. This is called ‘velocity feed forward’.
If the input is the speed feedback 03.02, output is negative if speed feedback is increasing. This also
has a damping effect, but dependent on the changing value of the speed feedback only, not the speed
reference.
03.12 R/W Digital feedback selector
Default 0, analog feedback selected
Set to 1 to select encoder (pulse tach.) feedback. Set to 0 to select analog feedback.
03.13 R/W Armature voltage / external analog feedback selector
Default 0, analog feedback selected
Determines the type of analog speed feedback when 03.12 is set to 0. Set to 1 to select armature
voltage feedback. Default setting selects analog feedback from a tachogenerator (tachometer) or
equivalent external source connected to terminal TB1-09.
03.14 R/W Encoder Feedback Scaling
Range 0 to 1999 Default + 419
The value should be set to correspond with the maximum speed of the motor and with the number of
lines-per-revolution of the encoder (pulse tach.). To calculate the scale factor —
750 x 106
Scale factor =
Nxn
where N = PPR for the encoder (pulse tachometer)
n = max speed of motor in rpm.
Default value is determined on the basis of a 1024-line encoder (pulse tach.), and a maximum speed
of 1750rpm. Maximum frequency for the encoder is 105kHz.
03.15 R/W Maximum Armature Volts

Range 0 to 1000 Default + 600 (4-quadrant) or
+ 600 (1-quadrant)
Defines the maximum voltage permitted to be applied to the armature. When armature voltage is the
selected feedback (03.12 = 0 and 03.13 = 1), the max. armature voltage value is used for scaling the
armature voltage measurement so that speed feedback is full scale at maximum voltage. An
automatic scale factor of 1.2 is applied to clamp the armature voltage feedback to 20% above
maximum, to allow for overshoot.
If the speed feedback is derived from an encoder (pulse tach.) or tachogenerator (tachometer), the
armature voltage is continuously monitored, and a clamp is applied when the voltage exceeds that set
in 03.15. This can be used to prevent the voltage rising above a set level.
03.16 R/W Maximum Speed
Used only to scale the speed feedback so that the value displayed in 03.03 is actual speed in rpm. The
value applied to 03.16 should be the max. speed in rpm (divided by ten if the maximum speed is
>1999rpm; speed displayed in 03.03 is then rpm ÷ 10.)
03.17 R/W IR Compensation
(03.08) x (03.17)
Value of 03.05 =
2048
This value is used to calculate the compensation for the resistive voltage-drop of the armature to
improve speed control with varying loads when the selected speed feedback is the armature voltage.
OPT 9601 CN 37903b AN

APRIL 1996 - 56
IR compensation is a positive feedback, and may give rise to instability if set too high. Furthermore,
modern laminated-frame motors have typically a rising load-speed characteristic which is unsuited to
armature voltage feedback with IR compensation. IR compensation is more suited to compound-
wound motors with a flat (not rising) load-speed characteristic.
The integral of the speed error is used as the input to IR compensation rather than current feedback
because it is the most smooth of the variables; in speed control, the value of the speed error integral
is the steady-state value of current demand.
03.18 R/W Hard Speed Reference
Range ±1000 Default (07.11)
Speed reference fed into the speed loop without passing through the ramps.
03.19 R/W Hard Speed Reference Selector
Default 0
If 03.19 is set to 1,and Ref ‘ON’ (01.11) = 1, the Hard Speed reference (3.18) is added at the speed
loop summation point.
03.20 R/W IR Droop Selector
Default 0
If 03.20 = 1 when using armature voltage as the speed feedback, speed will decrease as load
increases.
A typical application, for example, is a mechanical blanking press fitted with a heavy flywheel. Applying
IR droop prevents the drive from delivering a sudden increase of current at the moment of impact
(sudden increase of torque demand). It is better that the drive should deliver energy to the flywheel
during the whole operating cycle rather than mostly at the moment of impact.
03.21 R/W Ramp Output Selector
Default 1
When 03.21 = 1, Ramp output is added at the speed loop summation point.
03.22 R/W Speed Offset Fine
Used as a fine trim on the speed reference signal to correct, or introduce, a small offset.
03.23 R/W Zero Speed Threshold
The threshold may be adjusted to any value up to 25.5% of maximum speed. Refer also to 10.09.
03.24 R/W Derivative Term Source
Range 1, 2 or 3 Default 1
The derivative term of the PID in the speed loop may use one of three sources —
1 = Speed error 03.06
Damping changes in speed demand and feedback
2 = Speed reference 03.01
Velocity feed-forward
3 = Speed feedback 03.02
Damping on feedback only (‘feedback forcing’).
03.25 R/W Speed Error Filter
256
Filter time-constant =
6 f x (03.25)
where, f = supply frequency
A low-pass filter to reduce the effect on the speed error signal (03,04) of interference — from a noisy
tachogenerator (tachometer), for example.
OPT 9601 CN 37903b AN

APRIL 1996 - 57
03.26 RO Tachogenerator Input
Range ±1000
Monitors the tacho input measurement. The tacho potentiometer is used to scale the feedback signal
such that at full motor speed, 03.26 = 1000. Units displayed = 0.1% of full speed per increment.
03.27 RO Speed Feedback Range
03.27 = 0 03.16 set up in rpm
03.27 = 1 03.16 is (rpm ÷ 10) ie 03.16 = 600 for 600 rpm
Similar to 05.15, this parameter indicates to the optional LCD pod the speed feedback range in which
parameter 03.16 has been set up.
MENU 04
Current Selection and Limits
The principal input is the speed loop output 03.07 in combination, for torque- or current-control modes,
with the torque reference 04.08. These inputs become the current demand to which an offset or trim
option may be applied. The result is then subject to an over-riding limitation derived from several
sources including the speed feedback. Six bit-parameters determine the mode of control — speed
control, current control, number of quadrants, etc.
A feature in this menu is the facility to apply a second current limit (04.07) automatically — refer to
04.10, 04.18 and 04.19 — which allow current limit 2 to be applied after a chosen time delay. This is
appropriate to applications where the initial load torque on start-up is high, but after some period
becomes less, as with some mechanical mixing processes, for example.
04.01 RO Current Demand

Range ±1000
The current demand signal is the controlling input to the current loop when the drive is being operated
in speed-control mode. The signal is subject to limitation by 04.03, 04.05 and 04.06 before being
passed to the current loop.
04.02 RO Final Current Demand
Range ±1000
Current demand final output, to the current loop (Menu 05) after limits have been applied.
04.03 RO Over-riding Current Limit
Range ±1000
This is the limiting value of current demand and is the result of the speed-dependent current taper
calculation or I-limit 2 (if selected), whichever is the lower. Refer to parameters illustrated in Logic
Diagram 04.
04.04 R/W I-limit 1 (taper start point)
Range 0 to 1000 Default +1000
This parameter provides symmetrical current-limitation for bridges 1 and 2 and is the datum level from
which the current taper functions operate — refer to 04.20 and 04.21. I-limit 1 can be used in
application where the motor kW rating is somewhat less than that of the drive, as an alternative to
changing the fixed current-burden resistors.
04.05 R/W I-limit Bridge 1
Determines the maximum limit of current demand when bridge 1, the ‘positive’ bridge, is conducting. It
causes any demand for current in excess of the limit set point to be ignored.
OPT 9601 CN 37903b AN

APRIL 1996 - 58
04.06 R/W I-limit Bridge 2
Determines the maximum limit of current demand when bridge 2, the ‘negative’ bridge, is conducting. It
causes any demand for current in excess of the limit set point to be ignored.
04.07 R/W I-limit 2
Available as an additional current limit. Applies to both bridges. The drive can be programmed, if
desired, to select 04.05 automatically at a programmed time interval after a RUN signal. Refer to
04.10, 04.18 and 04.19.
04.08 R/W Torque Reference
Range±1000 Default + 000
This value is an input to the current loop and can be selected for use in applications requiring direct
control of current (motor torque).
04.09 R/W Current Offset
Range±1000 Default + 000
Current offset is used to apply a trim to the current demand 04.01.
04.10 R/W I-limit 2 Selector
Default 0
Set 04.10 = 1 to select I-limit 2. Can be caused to change automatically — refer to 04.18 and 04.19.
04.11 R/W Current Offset Selector
Default 0
Set 04.11 = 1 to select current offset.
04.12 R/W Mode bit 0
Default 0, not selected
Set 04.12 = 1 to select. Operates in conjunction with 04.13 to configure the drive for speed control or
any of three modes of torque control. Refer to 04.13.
04.13 R/W Mode bit 1
Default 0, not selected
Set 04.13 = 1 to select. Operates in conjunction with 04.12 to configure the drive for speed control or
any of three modes of torque control, as follows —
04.12 = 0 and 04.13 = 0.
Speed mode control (normal configuration)
04.12 = 1 and 04.13 = 0.
Basic current- or torque-control mode.
In this mode, the torque reference 04.08 is the input to the current loop and is subject to the limitations
of the over-riding current limit 04.03, the Bridge 1 and Bridge 2 limits 04.05 and 04.06,and to the
current slew rate 05.04.
04.12 = 0 and 04.13 = 1.
Torque-control mode with speed override. Refer to Figs. 18 and 19.
In this mode, the output of the speed loop is clamped either to the value of the torque reference 04.08,
or to zero according to whether the speed error 03.06 is positive or negative, and depending on
whether the torque reference is positive or negative, ie dependent on relative polarities.
In the two motoring quadrants, speed is limited to the value of the final speed demand 03.01,
preventing uncontrolled increase of speed when load is removed. The drive should be adjusted to run
at a slight overspeed when off load, in order to ensure adequate current demand at all speeds.
In the two regenerative quadrants, the current demand set by torque reference 04.08 is disabled when
speed is less than that set by the final speed demand 03.01. This prevents the reducing load torque
resulting in reversal of rotation. The value of 03.01 should be zero.
OPT 9601 CN 37903b AN

APRIL 1996 - 59
A disadvantage of this mode is that it cannot provide torque at a particular speed both accelerating
and decelerating. Parameter 04.08 behaves as a controllable current limit in this mode.
M M
04.08 04.08
n n
03.06 +ve 03.06 -ve 03.06 +ve 03.06 -ve

03.01 03.01
a b
18 Torque control with speed over-ride. Positive torque reference.

a Q1 — Forward drive.
b Q2 — Reverse braking.
Positive torque, forward drive and reverse braking, is applied at
the value of 03.01 when the speed error 03.06 is positive. When
the speed error is negative, torque is zero.
Fig. 17
M M
a b
n n
04.08 04.08
03.06 +ve 03.06 -ve 03.06 +ve 03.06 -ve

03.01 03.01
19 Torque control with speed over-ride. Negative torque reference.

a Q4 — Forward braking.
b Q3 — Reverse drive.
Negative torque, forward braking and reverse drive, is applied at
the value of 03.01 when the speed error 03.06 is negative. When
the speed error is positive, torque is zero.
Fig. 18
04.12 = 1 and 04.13 = 1.

Coiler/uncoiler control mode. Refer to Figs. 20 and 21.
This mode allows torque to be applied in either sense, for acceleration or deceleration, while
preventing uncontrolled increase in speed or reversal if the load becomes zero. When the torque
demand is in the sense opposite to that of speed feedback, this mode automatically selects zero speed
reference.
For a coiler, the offset 01.04 should be set just slightly positive so that 03.01 is greater than the line
speed reference. When a full reel (of a coiler) is decelerating, the torque demand may be
negative. Since the speed feedback is positive, the speed reference is automatically made zero so that
the speed error becomes negative. Both torque demand and speed error being negative, decelerating
torque is applied.
OPT 9601 CN 37903b AN

APRIL 1996 - 60
For an uncoiler, the offset 01.04 should be set just slightly negative so that there is a negative speed
error at zero speed. (Negative speed error is necessary to produce a negative torque to maintain
tension at zero speed.) As the line speed reference increases, 03.01 becomes positive. A suitable
scaling of the input should be applied such that 03.01 is always greater than the speed feedback, thus
maintaining a positive speed error 03.06. Since the speed feedback is positive, zero speed is
automatically selected whenever the torque demand is negative — normal operation — but if the
torque demand becomes positive then the value of 03.01 becomes the speed demand, and
accelerating torque is allowed, provided that the reel speed is not greater than 03.01.
For coiler/uncoiler applications, line speed reference corresponds to reel speed at minimum diameter.
04.14 R/W Quadrant 1 enable
Default 1, enabled
Quadrant 1 operation is defined as motoring in the forward direction, speed and torque both having
positive values.
Default 1, enabled for 4Q drive
Default 0, disabled for 1Q drive
Quadrant 2 operation is defined as regenerating in the reverse direction, speed being negative and
torque positive.
Quadrant 3 operation is defined as motoring in the reverse direction, speed and torque both having
negative values.
M M
03.01
04.08 04.08
Accelerating 03.06 +ve 03.06 -ve
03.06 +ve 03.06 -ve
torque
n n
Decelerating
torque
03.01 Normal
running
21 Uncoiler accelerating.
+ve torque demand, 03.01 is
20 Coiler decelerating. -ve torque at set value. -ve torque
demand (at-speed) , 03.01 ®
demand. 03.01 ® 0, the speed 0 au tomatically, to maintain
feedback being +ve. tension.
Fig. 19 Fig. 20

Quadrant 4 operation is defined as regenerating in the forward direction, speed being positive and
torque negative.
04.18 R/W Enable automatic I-limit 2 change
Default 0, disabled
When this bit is enabled, the I-limit 2 selector is automatically changed to 1 after a time interval set by
04.19. The drive can be programmed to select 04.07 automatically at a programmed time-interval
(04.19) after a RUN signal.
OPT 9601 CN 37903b AN

APRIL 1996 - 61
04.19 R/W I-limit timer
A time interval up to 255 seconds can be programmed. If 04.18 =1, I-limit 2 is automatically selected
when the set time elapses after a RUN command. This feature is appropriate to applications WHERE
THE MOTOR IS SHORT-TIME RATED, such as mixing machinery, where the starting load is high and
falls to a lower, constant value only after the machine has run for some time.
04.20 R/W Current taper 1 threshold
Sets a threshold value of speed feedback, beyond which 04.24 changes to 1 to indicate that the
threshold has been exceeded, and is the starting point for taper 1 (if implemented). Armature current
reduces, as a function of speed, at a rate defined by 04.22. This parameter can also be used as a
general-purpose speed threshold.
If only one taper is used, it must be Taper 1. If both are used, Taper 1 must be the first.
04.21 R/W Current taper 2 threshold
Sets a threshold value of speed feedback, beyond which 04.25 changes to 1 to indicate that the
threshold has been exceeded, and is the starting point for taper 2 (if implemented). Armature current
reduces, as a function of speed, at a rate defined by 04.23. This parameter can also be used as a
general-purpose speed threshold.
04.22 R/W Current taper 1 slope
Sets the rate of change of armature I-limit with respect to speed in either direction of rotation, above
the threshold set by 04.20.
DI1
Scaling factor (refer to Fig. 22) — 04.22 = 128 x
Dn1
04.23 R/W Current taper 2 slope
Range0 to 255 Default 000
Sets the rate of change of armature I-limit with respect to speed in either direction of rotation, above
the threshold set by 04.21.
DI2
Scaling factor (refer to Fig. 22) — 04.23 = 128 x
Dn2
04.24 RO Taper threshold 1 exceeded
Default 0
Set to 1 when the threshold set point of 04.20 is exceeded.
04.25 RO Taper threshold 2 exceeded
Default 0
Set to 1 when the threshold set point of 04.21 is exceeded.
I 04.22
DI 1 04.23
DI 2
Dn 1 Dn 2
n
04.20 04.21
22 Calculation of current taper gradients 1 & 2.

Refer to text, parameters 04.22 and 04.23.
Fig. 21
OPT 9601 CN 37903b AN

APRIL 1996 - 62
MENU 05
Current Loop
This is the final stage in the processing of the speed and torque references and feedbacks to
determine the final firing angle signal. The normal principal input is the final current demand, which is
subject to the slew rate limit, summed algebraically with the current feedback and further modified by
whatever settings may have been applied to the group of Current Loop parameters.
Current feedback, after scaling, delivers a readable signal to display actual current in amps. Current
feedback also is an important function in the protection of the drive. The feedback signal is monitored
in relation to the selected overload threshold, modified according to preprogrammed values for
overload time. The provision of two parameters for overload timing allows settings to be applied so as
to take account of the fact that the cooling time of a motor can be longer than its heating time.
05.01 RO Current Feedback

Range ±1000
The current feedback signal is derived from internal current transformers. It is used for closed-loop
control and indication of the armature current, and to initiate motor protection.
05.02 RO Current —Feedback Amps
Range ±1999
The current feedback signal, modified by the scaling factor, becomes available as an indication in
amps. Refer also to 05.05.
05.03 RO Firing Angle
Range 277 to 1023
This is the output of the current loop algorithm, and the input reference to the ASIC, which generates
the firing pulses. 05.03 = 1023 indicates fully ‘phased forward’.
05.04 R/W Slew Rate Limit
This parameter limits the maximum rate of change of current demand. Older types of motor, especially
if of non-laminated construction, may have a tendency to flash over if the rate of change of current is
too high for the inherent lag of the interpole windings.
Defined as —
05.04
S = Imax x 6f x
256
Where, S = slew rate in amps s-1
f = frequency of the power supply in Hz
Imax = max. current (A)
05.05 R/W Maximum Current Scaling

Range 0 to 1999 Default Drive current rating
The maximum output current, in amps, is scaled by this parameter. This does not have any effect on
the motor protection. The setting for 05.05 is calculated as follows —
Imax if Imax >1999A
05.05 =
10
05.05 = Imax if 200A < Imax<1999A
05.05 = Imax x 10 if Imax <200A
OPT 9601 CN 37903b AN

APRIL 1996 - 63
05.06 R/W Overload Threshold
Sets the threshold of armature current feedback beyond which the current-time overload protection
begins to integrate.
05.07 R/W Overload Integrating Time (heating)
Integrating time for 05.06. For use in conjunction with 05.08, such that 05.07 < 05.08.
Time t to trip is —
1000 - (05.06)
t = (05.07) x
(05.01) - (05.06)
Refer also to Menu 10, parameter 10.18.
05.08 R/W Overload Integrating Time (cooling)
Integrating time for 05.06. For use in conjunction with 05.07, such that 05.07 < 05.08.
Time t to trip is —
1000 - (05.06)
t = (05.08) x
(05.06) - (05.01)
Refer also to Menu 10, parameter 10.18.
05.09 R/W Enable Start-up Autotune
Default 0, disabled
To autotune the current loop during start up—
• Disconnect the field of the motor if a fixed field is being used. (Open terminals L11 and
L12 in the European version of the drive. )
Observe approved safety procedures!
• Enable autotune — set 05.09 =1.
• Enable the drive by the input TB4-31.
When the autotune process is complete, the drive ready relay will open for 50ms after which the
autotune parameter will be automatically set to disable (05.09 = 0). The purpose of this process is to
allow the autotune sequence to be started when a ‘run permit’ is present but to return the drive to a
safe condition when the autotune is complete. It may be necessary to clamp the motor shaft if it tends
to rotate during this procedure.
NOTES
1 The foregoing assumes that the drive ready relay is interlocked with any ‘run permit’ that is present.
2 If the motor is being operated with field control (Menu 06), the field will be turned off automatically.
05.10 R/W Reduced Endstop
The endstop allows the armature voltage to rise, during regeneration, to 1.16 x supply voltage. On
very ‘soft’ supplies the endstop may be too close to the crossover point. Setting 05.10 = 1 increases
the safety margin but reduces the maximum regenerated armature voltage to 1.05 x supply voltage.
05.11 RO Actual overload
Range 0 to 1999
Monitors the value of the integrating current-time overload. When the value reaches the trip point
determined by 05.06, 05.07 and 05.08, an overload trip occurs. The overload trip will operate when
05.11 reaches the value given by
10
[1000 - (05.06)] x
16
The rate at which 05.11 increases or decreases is controlled by the values of 05.07 and 05.08 respectively.
OPT 9601 CN 37903b AN

APRIL 1996 - 64
05.12 R/W Discontinuous I-gain
Set by the Start-up Autotune parameter 05.09.
This parameter is set to correct any errors in the prediction of firing angle in the discontinuous current
region. If 05.15 is set correctly, 05.12 has little effect, but if set too high, instability can occur.
value of 05.12
Gain applied =
512
05.13 R/W Continuous P-gain
Set by the Start-up Autotune parameter 05.09.
This parameter allows the current loop to follow very closely a step-change in current. If set too high,
there will be an overshoot. If set too low, the new current value will be achieved unduly slowly.
value of 05.13
Gain applied =
512
05.14 R/W Continuous I-gain
Set by the Start-up Autotune parameter 05.09. Its value will depend on the motor time-
constant. Increasing the value of 05.14 will improve the response of the current loop but at the risk of
instability.
value of 05.14
Gain applied =
1024
05.15 R/W Motor Constant
This parameter is used to scale the current demand such that the control loop correctly predicts the
firing angle in the discontinuous current region. It is set automatically by the Start-up Autotune
parameter 05.09.
05.16 R/W Current Feedback Range
Range 0, 1 or 2 Default 0
Indicates to the optional LCD pod the scale factor applied to parameter 05.05.
05.16 = 0 05.05 set up in amps x 1
05.16 = 1 05.05 set up in amps x 10
eg In an VNTC4025 drive, 05.05 =
25A x 1.5 x 10 = 375
05.16 = 2 05.05 set up in amps x 0.1
eg In an VNTC41850 drive, 05.05 =
1850A x 1.5 x 0.1 = 277
05.17 R/W Inhibit Firing
Default 0, enabled
If set to 1, disables thyristor (SCR) firing (both bridges), and resets acceleration and deceleration
ramps.
05.18 R/W Enable Standstill Logic
Default 1, enable
When enabled, causes the firing angle to be fully phased back when the drive has received a STOP
command and when the speed falls below 0.8% of maximum speed. After a short time delay, the
thyristor (SCR) firing is stopped also. This prevents ‘creep’ and is used in applications in which there
is no requirement to maintain motor torque at standstill. Refer also to 05.19.
OPT 9601 CN 37903b AN

APRIL 1996 - 65
05.19 R/W Standstill Mode
Default 0
05.19 = 0 — standstill logic is enabled after STOP command or zero reference.
05.19 = 1 — standstill logic enabled after STOP command only.
Setting 05.19 = 1 has the effect of not enabling the standstill logic when the stopping signal is given
by the reference alone. This condition therefore allows creep speeds, shaft orientation, and other
functions which take place close to zero speed, while preventing any ‘creep’ after a STOP command.
05.20 R/W Enable Direct Firing Angle Control

Default 0, disabled
When enabled, the firing angle 05.03 is controlled by the value of the post-ramp reference 02.01. This
mode is valuable for system diagnosis, particularly where instability is present, since it allows the drive
to operate without the influence of either the speed loop or the current loop, thereby eliminating their
effect upon the system.
NOTE This facility must be used with caution. When the reference is 02.01, there is no protection
against excessive acceleration, output voltage or current other than the instantaneous
overcurrent trip. Also take care to reset 05.20 = 0 after completion of tests.
05.21 R/W Enable Bridge 2 Lockout

Default 0, disabled
Requires to be set only for parallel 12-pulse 4Q system installations comprising two drives which are
to share load, to prevent one drive changing bridges while the other is still conducting.
05.22 R/W Disable Adaptive Control
Default 0, enabled
Setting 05.22 =1 disables adaptive control.
When adaptive control is enabled (default status) the current loop employs two different algorithms,
one of which applies high gain in the discontinuous-current region. This is unsuitable for some
applications, such as non-motor loads, for which adaptive control should be disabled.
05.23 R/W Enable Single-quadrant Series 12-pulse
Default 0, disabled
Enabling this function configures the drive to deliver normal and delayed firing pulses to a single 12-
channel power board. Cannot be enabled If either of the Bridge 2 quadrants 04.16 and 04.17 are
enabled.
In 6-pulse thyristor (SCR) drives, the current drawn from each phase of the supply is not continuous.
Out of each 180o of the AC supply cycle, full load current is drawn for 120o and none for the remaining
60o. This imposes a degree of harmonic distortion on the supply.
Twelve-pulse thyristor (SCR) drives draw current for the full 360o of the AC supply cycle, and the
current waveform approximates very closely to a sine wave, with much-reduced distortion as a result.
A further advantage is the much smoother DC current output from 12-pulse drives, which is a benefit
in many applications.
Two 12-channel Power Boards are driven by PCB MDA1 for 4Q series 12 pulse.
05.24 R/W Series 12-pulse operation
Default 0, disabled
This parameter should be set for operation in either single- or four-quadrant 12-pulse mode.
Parameter 05.23 (see above) is read by the software only at power-on and during a cyclic reset (a
reset when the drive is disabled). If either of the Bridge 2 quadrants is enabled when 05.23 is read,
the outputs are not diverted within the ASIC and 05.23 is set to 0.
NOTE Series 12-pulse mode is phase-sensitive. The rotation on the stacks must be in the
sequence L1, L2, L3 (10.11 = 1).
OPT 9601 CN 37903b AN

APRIL 1996 - 66
05.25 R/W Parallel 12-pulse operation
Default 0, disabled
This parameter instructs the drive to operate in parallel 12-pulse mode and should be set for operation
in either single- or four-quadrant mode. For 4-quadrant operation, parameter 05.21 (see above) must
be set to 1 and the F10 input of each drive must be connected to the ST5 output of the other. Also,
the control 0V terminals of both drives must be connected.
05.26 R/W Extra-safe Bridge Change
Default 0, disabled
When enabled (=1) parameter 05.26 applies an additional safety margin to the bridge changeover
logic. This may be required for highly inductive loads, such as a motor field winding.
MENU 06
Field Control
The V/WNTC is equipped with field control as part of the on-board software. If a motor is being used
with an uncontrolled (‘fixed’) field supply, this menu does not apply.
Provision is made for programming two selectable values of maximum field current. Further, the lower
value of maximum field current can be controlled by a programmable timer so that, when the drive is
not running, the field can be switched automatically to economy mode.
The resulting field current demand is summed algebraically with the field current feedback to produce
a current error which is the input to the field current loop. The output of the field current loop is the
firing angle, subject to the front endstop limit.
The field current can alternatively be controlled directly by either of the maximum field parameters
06.08 and 06.09 via a programmable input or by application software, and there is a facility for direct
control of the firing angle, useful for diagnosis.
The principal inputs in spillover mode are, from the internal logic, the armature voltage; from external
input, a set point for back-emf.
Field current demand is the output of the the back-emf voltage loop, subject to programmed maximum
and minimum field current values. The voltage loop compares the calculated back-emf value with a
programmed set point which is used as factor in determining field current demand. The voltage loop
output, and consequently the field current demand, is maximum when the calculated back-emf is less
than the setpoint value. When the calculated value exceeds the set point value (at base speed) the
voltage loop reduces the field current demand to regulate the calculated back-emf to the set point
value.
Alternatively, the user may wish not to use the voltage loop, but to enter a current demand directly. The
user can set two maximum field current parameter values. In this mode, the value of the back-emf set
point should be set to maximum, such that the voltage loop always demands maximum field
current. The current demand is then the selected maximum field current parameter.
06.01 RO Back EMF

Range 0 to 1000
The calculated motor back emf based on armature voltage minus IR compensation value 2,
06.05. Feedback to the emf loop in spillover mode.
06.02 RO Field Current Demand
Range 0 to 1000
The current demand from the emf loop, subject to the limits of 06.08, 06.09 and 06.10.
OPT 9601 CN 37903b AN

APRIL 1996 - 67
06.03 RO Field Current Feedback
Range 0 to 1000
Feedback to the field current loop
06.04 RO Firing Angle
Range 261 to 1000
Scaling — 06.04 = 1000 corresponds to ‘fully phased forward’
06.05 RO IR Compensation 2 Output
Range ±1000
The value resulting from the application of 06.06 to the speed error integral input.
06.06 R/W IR Compensation 2
A programmable factor used for calculation of the armature IR-drop as correction to measured
armature voltage, to allow the back emf to be computed.
(03.08) x (06.06)
06.05 =
2048
06.07 R/W Back EMF Set Point
The programmable value of the armature back emf in volts, at which the field begins to
weaken. Defined as the voltage at which base speed is reached.
06.08 R/W Maximum Field Current 1
Programmable value of the maximum current demand of the emf loop. If the field control is to be used
in current mode, this parameter would become the the current reference of the field control loop, and
the back emf set point should normally be set to maximum to prevent spillover occurring; alternatively,
if motor overvoltage protection by spillover is required, the back emf set point should be set to
maximum armature voltage.
06.09 R/W Maximum Field Current 2
Alternative to 06.07, for use as an economy setting. Refer to 06.12, 06.14 and 06.15.
06.10 R/W Minimum Field Current
The minimum value of current demand, to prevent excessive field weakening, for example with
overhauling loads.
OPT 9601 CN 37903b AN

APRIL 1996 - 68
06.11 R/W Field Current Feedback Scaling
The MDA3 card has a fixed burden resistor. Parameter 06.11 permits the user to apply a scaling factor
to the current feedback. Output is the value 06.03. The max. current rating is 2A or 8A according to
the position of link (jumper) J1.
J1 06.11 MDA3
position setting amps max.
2A 201 0.5
2A 202 1.0
2A 203 1.5
2A 204 2.0
8A 205 2.5
8A 206 3.0
8A 207 3.5
8A 208 4.0
2A 201 0.5
8A 210 5.0
8A 211 5.5
8A 212 6.0
8A 213 6.5
8A 214 7.0
8A 215 7.5
8A 216 8.0
NOTES V/WNTC can be used with an Issue (rev) 1 MDA3 card, maximum current 10A.
parameter 06.11 then has the range 101 to 110 and a field current range from 0.5A to 5A in
steps of 0.5A.
Field control can alternatively be implemented by the FXM5 Field Control Unit (Chapter 9)
for a maximum field current of 20A.
06.12 R/W Field Economy Timeout
Permits the drive to be configured to select maximum field 2 (a reduced setting) automatically after the
drive has been disabled for a period (in seconds) defined by the value chosen for this
parameter. Provided so that the windings do not overheat if the drive is stopped and the motor
ventilation is switched off, or to maintain a reduced level of field current to prevent condensation when
the motor is not in use.
06.13 R/W Enable Field Control
Default 0, disabled
06.14 R/W Maximum Field 2 Selector
Default 0, disabled
Set to 1 to engage maximum field 2. Controlled automatically by field economy timeout function if
06.15 is set to 1. Maximum field 2 is selected after a time delay (refer to 06.12) when a drive disable
signal is given.
06.15 R/W Enable Field Economy Timeout
Default 0, disabled
When enabled (=1), parameter 06.14 is automatically controlled by the field economy timeout function
when a drive enable signal is removed. When the timeout is disabled, parameter 06.14 becomes user
R/W.
OPT 9601 CN 37903b AN

APRIL 1996 - 69
06.16 R/W Field Current Loop Gain Selector
Default 1, Normal gain
When set to = 0, the field loop gains are halved. This may have a practical application if instability is
encountered.
06.17 R/W Voltage Loop Integral Gain
Default 0, disabled
Set 06.17 = 1 to double the integral gain if less overshoot is desired.
06.18 R/W Enable Speed Gain Adjustment
Default 0, disabled
This parameter adjusts the speed loop gains (menu 03) to compensate for the weakening of the field
flux in field control mode so that the torque response remains substantially constant throughout the
whole speed range. Defined as —
06.08
G =
06.02
Where G = Speed loop gain adjustment factor
06.19 R/W Direct Firing Angle Control
Default 0, disabled
Enables 06.08 to control the firing angle directly, subject only to the front endstop. Permits operation
without the voltage or the current loop, for the purpose of diagnosis.
NOTE In this mode there is no protection against excessive field voltage and current.
06.20 R/W Alternative IR Comp. 2 Selector

Default 0 = 03.08 1 = 01.20 (Ref. 4)
Determines the source of the IR Compensation 2. The source selection may be either the Speed Error
Integral (03.08) or the Hard Speed Reference, REF 4 (01.20).
06.21 R/W Firing Angle Front Endstop
Restricts the advance of the firing angle in cases where 180o advance would result in overvoltage
being applied to the field windings.
06.22 R/W Full or Half Control Selector
Default 0, half control
Provides the option of full or half control. Available only with the FXM5 Field Controller. To use FXM5
in Full Control mode, set 06.22 = 1 and LK3 to ‘Full Control’ position.
MENU 07
Analog Inputs & Outputs

Scaling parameters have a multiplying range from 0.001 to 1.999 (a multiplier of zero would give the
parameter a null value).
Source and Destination parameters define a parameter to be used as either input or output, thereby
defining the function of the programmable input and output terminals.
Menu 07 contains three analog-input/output groupings. There are two separate groups of analog
input. The first is a 12-bit analog input which is normally used as the speed reference input (refer to
Menu 01, Diagram B), but can alternatively be programmed to any real R/W destination.
High accuracy is achieved by voltage-to-frequency conversion. The terminal can be programmed as a
OPT 9601 CN 37903b AN

APRIL 1996 - 70
voltage input or as a current loop input, with options 0-20mA, 20-0mA, 4-20mA or 20-4mA.
The second group provides a flexible means for scaling and assigning destinations to the four general
purpose inputs GP1, GP2, GP3 and GP4, all of which are 10-bit resolution.
Finally, three analog outputs, via digital-to-analog (DAC) converters, feature programmable-source
parameters and scaling.
07.01 RO General Purpose Input 1

Range ±1000
Displays the value of the analog signal applied to terminal TB1-04. Can be used as a general-purpose
input for monitoring, or for Processor 2 special applications.
Range ±1000
Range ±1000
Range ±1000
07.05 RO Speed Reference Input
Range ±1000
Displays the value of the analog speed demand at terminal TB1-03, or master encoder (pulse tach.)
reference via PL4, and after scaling by 07.24; dependent on reference mode being selected by 07.25.
07.06 RO RMS Input Voltage
Range 0 to 1000
Monitors the value of the voltage applied to line input terminals L1, L2, L3 (the thyristor (SCR) stack
supply).
07.07 RO SCR Heatsink Temperature
Range 0 to 1000
Monitors the temperature of the thyristor (SCR) stack on those drives provided with thermistors.
07.08 R/W DAC 1 Source
Selects the source of analog output 1 via terminal TB2-12.
Default value 201 = 02.01, ramp output.
Default value 302 = 03.02, speed feedback.
Default value 304 = 03.04, armature voltage.
NOTE Of the following ‘invisible’ parameters —
Scaling parameters have a multiplying range from 0.000 to 1.999
Source and Destination parameters define a parameter to be used as either input or output, thereby
OPT 9601 CN 37903b AN

APRIL 1996 - 71
defining the function of the programmable input and output terminals.
07.11 R/W GP 1 Destination

Selects the destination of analog input 1 via terminal TB1-04.
Default value 318 º 03.18, hard speed reference.
A changed value becomes effective only when the RESET pushbutton is pressed.
Selects the destination of analog input 2 via terminal TB1-05. Default value 119 º 01.19, speed
reference 3.
Selects the destination of analog input 3 via terminal TB1-06. Default value 120 º 01.20, speed
reference 4.
Selects the destination of analog input 4 via terminal TB1-07. Default value 408 º 04.08, torque
reference.
07.15 R/W Speed Reference Destination
Selects the destination of speed reference 07.05. Default value 117 º 01.17, speed reference 1.
07.16 R/W GP 1 Scaling
Sets the scaling for the signal from source GP1 via terminal TB1-04.
07.16
Scaling factor =
1000
07.17
Scaling factor =
1000
07.18
Scaling factor =
1000
07.19
Scaling factor =
OPT 9601 CN 37903b AN

APRIL 1996 - 72
1000
07.20 R/W Speed Reference Scaling

The factor by which 07.05 is multiplied to produce the speed reference.
07.20
Scaling factor =
1000
07.20 R/W DAC 1 Scaling
Sets the scaling for signals output from DAC1 TB2-12.
07.21
Scaling factor =
1000
07.22
Scaling factor =
1000
07.23
Scaling factor =
1000
07.24 R/W Reference Encoder Scaling
Sets the scaling for signals from the reference encoder (pulse tach.) connected to terminal socket PL4.
The value should be set to correspond with the maximum speed of the motor and with the number of
pulses-per-revolution (PPR) of the encoder. To calculate the scale factor —
750 x 106
Scale factor =
Nxn
where N = number of PPR
n = max speed of motor in rpm.
Default value is determined on the basis of a 1024-line encoder (pulse tach.), and a maximum speed
of 1750rpm. Maximum frequency for the encoder is 105kHz.
07.25 R/W Reference Encoder Selector
Default 0, analog reference selected
1 = encoder (pulse tach.) selected
Selects either the analog signal at terminal TB1-03 or the encoder (pulse tach.) input via PL4 as the
source of speed reference signal.
07.26 R/W 20mA Current loop selector
Default 0, voltage input selected
Configures the speed input terminal (TB1-03) to accept either a voltage or a 20mA input signal.
07.27 R/W 20mA Current Loop Mode Selector 1
Default 0
In conjunction with 07.28, configures 20mA current loop input. Refer to table on Logic Diagram 07.
OPT 9601 CN 37903b AN

APRIL 1996 - 73
07.28 R/W 20mA Current Loop Mode Selector 2 Ñ Offset Selector
Default 0
In conjunction with 07.27, configures 20mA current loop input. Refer to table on Logic Diagram 07.
When a 4mA offset is being used, the drive will trip if it senses that the current is <3.5mA — indicating
‘loop open’.
MENU 08
Digital Inputs
08.01 RO F1 Input — Run Permit

0 = stop drive 1 = start enabled
Monitors the drive start-permit control input from terminal TB3-21 and indicates status. This input
performs an over-riding drive stop function in speed control mode as follows
The input must be active in order that the drive can start.
If the input becomes inactive, 08.01 causes the pre-ramp reference 01.03 to be set to zero.
The drive will stop unless 02.03, ramp hold, is active.
08.02 RO F2 Input — Default Inch Reverse
0 = input not active 1 = input active
Monitors the control input from terminal TB3-22 and indicates status. The drive will respond to this
input as inch reverse command only if the external logic controls are enabled (08.21 = 0). Also its
function is freely programmable.
08.03 RO F3 Input — Default Inch Forward
input as inch forward command only if the external logic controls are enabled (08.21 = 0). Also its
08.04 RO F4 Input — Default Run Reverse
input as run reverse command only if the external logic controls are enabled (08.21 = 0). Also its
This is a latched input — parameter 01.11 will not revert to 0 if the input is removed, provided that
08.21 = 0.
08.05 RO F5 Input — Default Run Forward
input as run forward command only if the external logic controls are enabled (08.21 = 0). Also its
This is a latched input — parameter 01.11 will not revert to 0 if the input is removed, provided that
08.21 = 0.
08.06 RO F6 Input — User-Programmable
Monitors the control input from terminal TB3-26 and indicates status.
OPT 9601 CN 37903b AN

APRIL 1996 - 74

08.11 RO Drive Enable Input
0 = disable 1 = enable
Monitors the drive enable input from terminal TB4-31 and indicates status. Input must be active for the
drive to operate. When the drive is disabled by disconnecting the input, all firing pulses are switched
off after a 30s delay. If the drive is running when this occurs, the result is a coast-stop and ramps reset.
08.12 R/W F2 Destination
Defines the destination of external logic input at terminal TB3-22. Effective only after RESET.
Defines the destination of external logic input at terminal TB3-23.
Effective only after RESET.
OPT 9601 CN 37903b AN

APRIL 1996 - 75
08.21 R/W Disable Normal Logic Functions
0 = enable normal logic function
1 = disable normal logic function
Default 0
If set to enable (= 0), this parameter configures logic inputs in the following manner —
F2 TB3-22 Inch Reverse
F3 TB3-23 Inch Forward
F4 TB3-24 Run Reverse
F5 TB3-25 Run Forward
If set to disable (=1), the logic inputs must be programmed by the user.
If 08.21 = 0, F2/3/4/5 still perform their programmed functions.
See also parameters 08.31 to 08.34.
08.22 to 08.30 inclusive R/W Invert Inputs F2 to F10 inclusive respectively
0 = not invert (default) 1 = invert logic function
08.31 R/W Enable Inch Reverse
0 = not enable (default) 1 = enable Inch Reverse
When 08.21 = 1, normal logic functions disabled, 08.31 can enable Inch Rev.
08.32 R/W Enable Inch Forward
0 = not enable (default) 1 = enable Inch Forward
When 08.21 = 1, normal logic functions disabled, 08.31 can enable Inch Fwd.
08.33 R/W Enable Run Reverse
0 = not enable (default) 1 = enable Run Reverse
When 08.21 = 1, normal logic functions disabled, 08.31 can enable Run Rev.
08.34 R/W Enable Run Forward
0 = not enable (default) 1 = enable Run Forward
When 08.21 = 1, normal logic functions disabled, 08.31 can enable Run Fwd.
MENU 09
Status Outputs
Status Output parameters define a parameter to be used as a source, thereby defining the function
of programmable output terminals.
Menu 09 contains three status source groupings, and each is invertible. The two sources ST1 and ST2
can be combined in any convenient configuration for output to terminals TB2-15 and TB2-16. The
second group selects from sources ST3, ST4, ST5 for output to TB2-17, TB2-18, TB2-19 respectively,
or source ST6 (relay output).
Delays 09.12 and 09.18 status outputs ST1 and ST2 in 0 Æ 1 transitions.
In 1 Æ 0 transitions the effect is immediate, without delay.
For a complete list of the Status Outputs, refer to pages 44 and 45.
OPT 9601 CN 37903b AN

APRIL 1996 - 76
MENU 10
Status Logic & Diagnostic Information
All real (not bit) RO parameters are frozen at the instant of tripping as an aid to diagnosis of the
fault. They remain in this condition until the drive is reset.
10.01 RO Forward Velocity

0 = drive stationary or running in reverse
1 = drive running forward at >zero speed threshold
Forward direction defined as —
When tachometer feedback selected, terminal TB1-09 negative with respect to terminal TB1-10.
When armature voltage feedback selected, terminal A1 positive with respect to terminal A2.
When encoder (pulse tach.) feedback selected, A-channel leads B-channel.
10.02 RO Reverse Velocity
0 = drive stationary or running forward
1 = drive running in reverse at >zero speed threshold
Reverse direction defined as follows —
When tachometer feedback selected, terminal TB1-09 positive with respect to terminal TB1-10.
When armature voltage feedback selected, terminal A1 negative with respect to terminal A2.
When encoder (pulse tach.) feedback selected, A-channel lags B-channel.
NOTE If 10.01 = 10.02 = 0, the motor is either stationary or running at <zero speed threshold. In this
condition, 10.09 = 1 and the Zero Speed LED illuminates on the keypad (and RL2 is turned on, if
programmed to indicate zero speed).
10.03 RO Current Limit

0 = drive not in current limit
1 = drive in current limit
Indicates that the sum of the current demand 04.01 and the offset 04.09 is being limited by the current
limit over-ride 04.03 or by one of the bridge limits.
10.04 RO Bridge 1 Enabled
0 = disabled 1 = enabled
Indicates that thyristor (SCR) bridge 1 (the forward or positive bridge) is being fired. Does not
necessarily indicate that the bridge is conducting, since conduction depends on firing angle and
operating conditions.
10.05 RO Bridge 2 Enabled
Indicates that thyristor (SCR) bridge 2 (the reverse or negative bridge) is being fired. Does not
necessarily indicate that the bridge is conducting, since conduction depends on firing angle and
operating conditions.
10.06 RO Electrical Phase-Back
0 = firing pulses not phased back
1 = firing pulses phased back (at standstill)
Indicates that the firing pulses are being phased back by the action of the standstill function. Refer to
05.18 and 05.19.
10.07 RO At Speed
0 = drive not at speed 1 = drive at speed
OPT 9601 CN 37903b AN

APRIL 1996 - 77
Indicates that the drive has attained set speed, post-ramp reference 02.01 = pre-ramp reference
01.03, and also that comparison of final speed demand 03.01 with speed feedback 03.02 results in a
speed error of <1.5% of maximum speed. External signal also provided through open collector output
ST2 to terminal TB2-16 if source parameter 09.13 is at default setting.
10.08 RO Overspeed
0 = motor not overspeeding 1 = motor over speed
Indicates that the speed feedback 03.02 > ±1000, that is, the speed is out of range, suggesting that
the motor is being mechanically driven faster than the maximum speed of the drive. This function is a
monitor only, and does not initiate a trip signal.
10.09 RO Zero Speed

0 = speed not zero 1 = zero speed
Set if speed feedback 03.02 < zero speed threshold 03.23. Refer to 10.01 and 10.02
10.10 RO Armature Voltage Clamp Active
0 = clamp not active 1 = clamp active
Set when the armature voltage clamp is activated. Prevents the voltage from increasing further. Refer
to 03.15.
10.11 RO Phase Rotation
0 = L1 L3 L2 1 = L1 L2 L3
Rotation is detected from L1, L2, L3.
NOTE that connection to E1 and E3 must also be correct — refer to Figs. 12 and 13.
10.12 RO Drive Healthy (Normal)
1 = drive is powered-up and has not tripped.
10.13 RO Alarm
0 = no alarm condition present
1 = alarm condition present, impending sustained-overload trip
Indicates that the drive is in an overload condition and will eventually trip on sustained overload 10.18
if the overload condition is not removed. The time taken to trip is dependent on the settings of 05.06
and 05.07 and on the magnitude of overload.
Visual indication that the alarm has been actuated is given by the Alarm LED (flashing). External signal
also provided through status logic output ST3 to terminal TB2-17 — provided that source parameter
09.19 is at its default value.
10.14 RO Field Loss
0 = field healthy (normal) 1 = field failed
Indicates that no current is being drawn from the internal field supply (or the FXM5 optional external
field control unit if installed).
10.15 RO Feedback Loss
0 = speed feedback present
1 = speed feedback absent or polarity reversed
Indicates no feedback signal, or reversed polarity. Applies equally to tachogenerator (tachometer) and
encoder (pulse tach.) feedback, whichever is selected. Loss of feedback is not detected until the firing
angle has advanced to the point where the value of 05.03 (firing angle) >767. This condition can be
prevented from tripping the drive by disabling feedback loss detection 10.30.
10.16 RO Supply or Phase Loss
0 = healthy (normal) 1 = supply/phase loss
Indicates loss of one or more input phases connected to L1, L2, L3. Can be disabled by means of
10.31.
10.17 RO Instantaneous Trip
0 = no overcurrent peak detected
OPT 9601 CN 37903b AN

APRIL 1996 - 78
1 = overcurrent peak detected
Indicates that a current peak >2 x (max. current according to the burden resistor installed) has
occurred. The result is that firing pulses are immediately suppressed, shutting the drive down.
10.18 RO Sustained Overload

0 = sustained overload not detected
1 = sustained overload detected
Indicates that current feedback 05.01 has exceeded the overload threshold 05.06 for a length of time
determined by the overload time values 05.07 and 05.08 integrated with the magnitude of the overload
(the conventional I x t function).
When the current exceeds the overload threshold, the excess integrates with time causing the value
of the actual overload 05.11 to increase.
Conversely, if the current falls below the threshold during integration, the value of 05.11 falls towards
zero. The rate of integration is set by 05.07 when the current is > threshold, and by 05.08 when the
current is < threshold. The rate of integration is the trip time with full scale overload (05.01 =
1000). This function imitates the behavior of a thermal relay and simulates the thermal characteristic
of a motor.
10.19 RO Processor 1 Watchdog
0 = healthy (normal) 1 = trip
In normal operation of the drive the watchdog timer is reset periodically by Processor 1 as a check that
the processor and drive program are functioning normally. If a reset does not occur before the timer
has timed out the conclusion is either that the processor has failed or that the drive program has
crashed. The result is immediate controlled shutdown of the drive, accompanied by a watchdog fault
trip signal.
10.20 RO Processor 2 Watchdog
10.21 RO Motor Overtemperature
10.21 = 1 indicates trip detected at the motor thermistor input terminal.
trip level 3k½
detector reset level 1.8k½
10.22 RO Heatsink Overtemperature
10.22 = 1 indicates thyristor (SCR) stack overtemperature, >100oC (on drives fitted with a thyristor
(SCR) stack heatsink thermistor).
10.23 RO Speed Loop Saturated
0 = speed loop not saturated
1 = speed loop saturated
Indicates that the output of the speed loop algorithm, from which the current demand 04.01 is derived,
is at a limit. This may be due to the application of a current limit or a zero-current clamp, and may occur
if the motor is mechanically stalled.
10.24 RO Zero Current Demand
0 = current demand > 0
1 = current demand = 0
Indicates that the current demand signal is being limited to zero. This could occur, for example, as a
result of a sudden loss of load, the drive being in torque control mode with speed over-ride. The speed
could reach the set speed threshold as a consequence, causing the speed loop to reduce the current
demand to zero.
10.25 RO Last Trip
Range 0 to 255
OPT 9601 CN 37903b AN

APRIL 1996 - 79
Record of the last-trip code, forming the basis of a trip history.
10.26 RO The Trip Before the Last Trip (10.25)
Range 0 to 255
Record of the trip before that which is saved in 10.25.
10.27 RO The Trip Before 10.26
Range 0 to 255
10.28 RO The Trip Before 10.27
Range 0 to 255
The four parameters 10.25 to 10.28 provide a permanent memory of the last four trips. They are
updated only by a new trip occurring.
10.29 R/W Disable Field Loss Trip
Default 0, field loss trip enabled
Prevents the drive from tripping when field loss is detected, for example, in applications where the
internal field supply is not used or is switched off when the drive is not running.
10.30 R/W Disable Feedback Loss Trip
Default 0, feedback loss enabled
Prevents the drive from tripping when speed feedback loss is detected, for example in certain load-
sharing applications and in applications which do not involve motors, such as battery charging and
other electrolytic processes.
10.31 R/W Disable Supply or Phase Loss Trip
Default 0, supply/phase loss enabled
Prevents the drive from tripping when supply or supply phase loss is detected, allowing the drive to
ride through brief supply interruptions.
10.32 R/W Disable Motor Overtemperature Trip
Default 1, motor overtemperature trip disabled
Prevents the drive from tripping when motor temperature sensor input changes to high resistance, for
example when motor overtemperature protection is used in the alarm mode, or to achieve a line
normal stop.
10.33 R/W Disable Heatsink Overtemperature Trip
Default 1, heatsink overtemperature trip disabled
Prevents the drive from tripping when heatsink temperature sensor detects a temperature greater than
100oC, for example when the thyristor (SCR) heatsink overtemperature protection is used in the alarm
mode, or to achieve a system normal stop.
10.34 R/W External Trip
Default 0
If 10.34 = 1, the drive will trip. If an external trip is required, the user can program any logic input to
control this bit (refer to Menu 08). Alternatively it can be controlled by application software or through
the serial interface.
10.35 R/W Processor 2 Trip
Range 0 to 255
If the drive is healthy (normal), the data display for 10.35 is 0. The value of 10.35 is continuously
monitored by the processor. The drive trips immediately if a non-zero value (other than 255) appears
via the serial communications interface, or Processor 2 software.
If 10.35 = 255, this is the equivalent of a RESET.
10.36 R/W Disable Current Loop Loss Trip
Default 0
When 10.36 = 1 the trip which normally would follow loss of the current loop is disabled.
OPT 9601 CN 37903b AN

APRIL 1996 - 80
MENU 11
Miscellaneous
USER-DEFINED MENU
Parameters 11.01 through to 11.10 define the parameters in the user-defined Menu 00. For example,
if the user wishes parameter 00.01 to display speed in rpm (03.03), parameter 11.01 (corresponding
to 00.01) should be set to 303.
Parameters 11.07 through to 11.10 have functions associated with the MD29 PCB. Refer to the MD29
User’s Guide.
11.11 R/W Serial Address

Defines the unique address of a drive when several are connected to common serial bus in a multidrop
application. If set ³ 100, the value is taken as 99.
11.12 R/W Baud Rate
Two Baud rates are available for the communications interface with the standard drives. Enter the
‘setting’ number appropriate to the required Baud rate as shown —
Baud Setting
4800 0
9600 1
11.13 R/W Serial Mode
Defines the mode of operation of the serial port. There are three modes. Enter the ‘setting’ number
appropriate to the required mode as shown —
Mode Setting
ANSI protocol 1
Output variable defined by 11.19 2
Input variable into parameter defined by 11.19 3
Wide integer (16-bit) driver 4
Mode 1 is for communication between the drive and another serial device (terminal, PLC, computer).
Mode settings 2 and 3 are for rapid transfer of information between two drives, avoiding the need for
analog signals to pass between them. For example, mode settings 2 and 3 could be used in a load-
sharing application to output the current demand from one drive in Mode 2 and input a current demand
to another in Mode 3.
In Mode 4 the drive will output the wide integer 15.63 to the transmit lines, and put any received data
into 15.62. This permits a digital reference to be transmitted down a line of drives, and offers the
possibility of setting ratios at each stage. Data must be transferred from 15.62 to 15.63 by a ‘Basic’
program. If a Wide Integer is read from the serial comms link (interface), the data will be sent as five
ASCII characters with no sign. (The full range of parameters can be written by five ASCII characters
so long as no sign is included). Data is transferred by mode 4 at the rate of 3 x AC mains power
frequency.
11.14 R/W Country Code
(Used only with optional LCD Pod to display drive information in appropriate language. Refer to LCD
OPT 9601 CN 37903b AN

APRIL 1996 - 81
Pod Manual.)
11.15 RO Processor 1 Software Version

Range 0 to 255
Displays the revision number of the software installed in Processor 1. For example, version 1.0.0 is
displayed as 10 (data window).
11.16 RO Processor 2 Software Version
Range 0 to 255
Reserved for processor 2 special application software (MD29 option PCB).
11.17 R/W Level 3 Security Code
If this parameter is changed (to any value other than 0 or 149) and stored, the value set must be
entered into parameter 0 to return the drive to its ‘as-delivered’ state. Level 1 or Level 2 security must
then be used in the normal way. If 11.17 is set = 0, all parameters are freely read-write accessible
without the need to enter a security code. To store, set parameter 00 = 1 and press RESET.
11.18 R/W Boot-up Parameter
Used for setting the parameter displayed at the keypad at power-on.
11.19 R/W Serial Programmable Source
Defines an output or input parameter when serial mode 2 or 3 is selected. Refer to 11.13.
11.20 R/W Serial Scaling
Scales the input data in serial mode 3. Refer to 11.13.
11.21 R/W LEDs Byte
Range 0 to 255
Designations —
Bit 7 Alarm
Bit 6 Zero speed
Bit 5 Run forward
Bit 4 Run reverse
Bit 3 Bridge 1
Bit 2 Bridge 2
Bit 1 At speed
Bit 0 Current limit
The displayed value is the decimal equivalent of the bit-pattern.
11.22 R/W Disable Normal LED Functions

Default 0, enabled
Disables the normal functions of the keypad LED indicators (with the exception of Drive Ready ) and
renders them programmable. By setting 11.22 = 1, normal LED functions (with the exception of Drive
Ready ) can be controlled via the serial interface or processor 2 special application software. The
LEDs display the binary equivalent of the value in 11.21.
A6 Issue 3 power board is to be used for a high voltage V/WNTC, this parameter must be set to 1.
11.23 R/W Permissive for MDA6 Issue (rev) 3
Default 0 1 = MDA6 Issue (rev) 3
If the MDA6 Issue (rev) 3 power board is to be used for a high voltage Mentor II, this parameter must
OPT 9601 CN 37903b AN

APRIL 1996 - 82
be set = 1.
11.24 R/W Mains (AC Power) Dip Ride-Through

Default 0 1 = Enable ride-through
NOTE In order to maximize the ‘mains dip ride-through capability of the Mentor II it is necessary to
connect the circuit shown in Fig. 23. Software version V3.1.0, or later, must be installed.
Analog input GP2 (refer to
Menu 07) is set up as a mains
E1
healthy (AC power normal)
E2 TB1-5 input when parameter 11.02 =
E3 GP2 1. When set up in this way, if
1M IN4007
22 k the voltage on terminal TB1-5
0V
(GP2) falls below the 1 V
23 External circuit for mains (AC power) dip input threshold, the drive disables
firing immediately and shuts
the display off to reduce power consumption. When the drive detects that the ASIC has found
synchronisation again, it will reset and restart — provided that the appropriate RUN and ENABLE
commands are still present.
Fig. 22
MENU 12
Programmable Thresholds
12.01 RO Threshold 1 Exceeded
0 = healthy (normal) 1 = threshold exceeded
12.02 RO Threshold 2 Exceeded
0 = healthy (normal) 1 = threshold exceeded
12.03 R/W Threshold 1 Source
12.04 R/W Threshold 1 Level
12.05 R/W Threshold 1 Hysteresis
12.06 R/W Invert Threshold 1 Output
0 = default 1 = signal inverted
12.07 R/W Threshold 1 Destination
OPT 9601 CN 37903b AN

APRIL 1996 - 83
12.08 R/W Threshold 2 Source
12.09 R/W Threshold 2 Level
12.10 R/W Threshold 2 Hysteresis
12.11 R/W Invert Threshold 2 Output
0 = default 1 = signal inverted
12.12 R/W Threshold 2 Destination
MENU 13
Digital Lock
13.01 RO Master Encoder (Reference Encoder) Value

Range 0 to 1023
13.02 RO Slave Encoder (Feedback Encoder) Value
Range 0 to 1023
13.03 RO Master Counter Increment
Range ±1000
13.04 RO Slave Counter Increment
Range ±1000
13.05 RO Position Error
Range 0 to 255
Indicates the difference between the positions of the motor shaft and the slave shaft.
13.06 R/W Precision Reference
Range 0 to 255
— see also 13.07, 13.12 and 13.13
13.07 R/W Precision Reference
— see also 13.06, 13.12 and 13.13
Range 0 to 255
Parameters 13.06 and 13.07 are used, in conjunction with each other, to define a 16-bit velocity
reference when parameter 13.12 = 0.
Parameter 13.06 is the least-significant component.
Parameter 13.07 is the most-significant component.
Each unit of 13.07 represents 256 increments of 13.06.
13.08 R/W Position Loop Gain
Range 0 to 255
Determines the amount of velocity correction per unit of position error. The setting thus determines
how quickly the loop responds to a disturbance, and thus affects the motor output shaft position.
This parameter must be adjusted in conjunction with the Speed Loop PID Gains 03.09, 03.10 and
03.11 to attain the best balance between stability and quick response.
13.09 R/W Position Loop Correction Limit
Range 0 to 1000
Limits the amount of the velocity-correction resulting from a position error.
13.10 R/W Position Loop Software Enable
OPT 9601 CN 37903b AN

APRIL 1996 - 84
Enables the Position Loop software.
13.11 R/W Rigid Lock Enable
When 13.11 = 1, the position error, relative to the time the position loop is closed, is always absolute.
This means that if the slave output shaft is slowed down by an overload, position will be regained by
an automatic speed increase when the load reduces to or below maximum.
When 13.11 = 0 (default), the Position Loop is closed only when the ‘At Speed’ condition is reached.
This allows the accelerating Ramps to be used without overspeeding the slave output shaft.
13.12 R/W Reference Source

1 = master encoder (pulse tach.) 0 = precision reference
Determines the source of the digital loop reference, as between the master encoder (pulse tach.)
(13.01) or the precision references (13.06 and 13.07).
13.13 R/W Precision Reference Latch
0 = use last values 1 = use updated values
The two Precision Reference values, 13.06 and 13.07, cannot be changed simultaneously. To prevent
the Position Loop reading inconsistent values during the change, parameter 13.13 = 0 (default)
enables the Position Loop to continue to use the last values while the change is taking place. When
a change of both 13.06 and 13.07 has been completed, setting 13.13 = 0 causes the updated values
to be applied. 13.13 should then be reset to 0, ready for the next update.
13.14 R/W Precision Speed Reference (16-bit)
Range 000 to 255
This parameter is a ‘wide integer’ equivalent to the Precision Reference 13.06 and 13.07, and allows
the precision reference to be written as a single statement, removing the need for the latch, parameter
13.13.
Parameter 13.14 is intended primarily for use through serial communications.
MENU 14
MD29 System Set-Up
For descriptions of parameters please refer to the MD29 User’s Guide
MENU 15
Application Menu 1
For parameter values from 15.01 through to 15.36 please refer to the Parameter Index, Section 6.3
15.60 Ratio 1
This parameter is the equivalent of parameters 15.16 and 15.17, such that Ratio 1 in the Digital Lock
software can be written simultaneously, removing the need for the latch, 15.31.
15.61 Ratio 2
This parameter is the equivalent of parameters 15.18 and 15.19, such that Ratio 2 in the Digital Lock
software can be written simultaneously, removing the need for the latch, 15.31.
15.62 Serial ‘Mode 4’ Input Data
When serial (interface) Mode 4 is selected, this parameter is loaded with a variable input from the
serial (interface) port.
OPT 9601 CN 37903b AN

APRIL 1996 - 85
OPT 9601
AC POWER
SUPPL Y
OVERLOAD CURRENT
DETECT OR MONIT OR
CURRENT
TRANSFORMERS
CURRENT
FEEDBACK 05.01
ANALOG SELECTED RAMPED SPEED FIRING THYRIST OR
Refer also to parameter 11.13.

REF SPEED REF SPEED REF REF ANGLE
(SCR)
@?
BRIDGE
ANALOG REF REF CURRENT
15.63 Serial ‘Mode 4’ Output Data

01.01 REF SELECT 01.03 RAMP 02.01 CONTROL 03.01 + AMPLIFIER
05.03
SPEED CURRENT ?
?@@@ ?
J?
03.07 04.02 @ @
?
? @
@ N?
AMPLIFIER LIMIT
-
SPEED LOOP CURRENT
RUN FORWARD 25 OUTPUT REF
RUN REVERSE 24 FAULT SPEED M
DETECT OR 03.02 MONIT OR
INCH FORWARD 23
INCH REVERSE 22
ST OP 21 T
ENABLE 31
KEY
USER-PROGRAMMABLE
INPUTS AND OUTPUTS
KEY TEST POINTS

(LOOP VARIABLES)
TERMINALS FOR
EXTERNAL CONTROL
Diag.A CONTROL LOGIC OVERVIEW
APRIL 1996 - 86
CN 37903b AN
OPT 9601
MENU 16
line.
When serial (interface) Mode 4 is selected, this parameter is transmitted to the next drive down the
RUN PERMIT
08.01
TB3-21
Zero ref.
interlock Ref.
01.16 01.11
‘ON’
SPEED Ref. Ref. Bipolar
REFERENCE select select select
1 2 01.10
01.14 01.15
01.06 Max. fwd.
Offset Inch Rev.
REF 1 01.17 01.07 Min. fwd.
01.04 01.13 01.12 01.08 Min. rev.
0 Pre-offset Post-offset
speed speed 01.09 Max. rev.
1 reference reference
REF 2 01.18
0 0 PRE-RAMP
01.01 01.02 REFERENCE
REF 3 01.19 1 1 0 0
0 1 1 1
x (-1) 01.03
1
0
REF 4 01.20
Inch
ref.
01.05
KEY
R/W logic
R/O logic
Internal logic
APRIL 1996 - 87
CN 37903b AN
Invisible parameters are in italics, eg 01.14.
Menu 01 SPEED REFERENCE SELECTION & LIMITS

OPT 9601
For parameter values please refer to the Parameter Index, Section 6.3
Application Menu 2 Common ramp selector 02.18
Fwd. accel. select 02.14

Fwd. accel. 1 02.04
0
FORWARD ACCELERATION 1 0
1
Fwd. accel. 2 02.08
Fwd. decel. select 02.15

Fwd. decel. 1 02.05
0
FORWARD DECELERATION 1 0
1
Fwd. decel. 2 02.09
Rev. decel. select 02.16

Rev. decel. 1 02.06
0
REVERSE DECELERATION 1 0
1 Enable
Rev. decel. 2 † 02.10 inch
KEY
ramp Ramp Ramp
Rev accel. select 02.17 02.13 x 10 enable R/W logic
Rev. accel. 1 02.07 & 02.19 02.02
0 01.13 R/O logic
REVERSE ACCELERATION 1 0 Inch
select Internal logic
1
Rev. accel. 2 † 02.11 & Logic ‘and’
x 10
0 1
1 0
PRE-RAMP Inch ramp rate 02.12
REFERENCE Ramp 02.03 POST-RAMP
hold REFERENCE
01.03
APRIL 1996 - 88
CN 37903b AN
1
02.01
0
Menu 02 RAMP SELECTION
OPT 9601
Ramp output
select
03.21
POST-RAMP
SPEED REF. 0 SPEED LOOP
Final OUTPUT
1 P.I.D.
02.01 Speed speed Speed
offset demand error 03.09
fine Filter 03.07
Hard Ref. 03.22 03.01 03.25 03.06 03.10
speed ‘ON’
ref. 01.11 03.11
select 1
03.19 2
0
Hard 0 1
speed 3
ref. 1 Differential
03.18 Digital term source 03.24
feedback
ENCODER select Max.
(PULSE Encoder 03.12 speed
TACHO.) scaling 03.16 Speed
Speed (rpm)
03.14 feedback
1
03.02 Scaling 03.03
Armature voltage 0
analog feedback
TACHO. select 03.13 Zero speed
threshold
Zero
03.23 10.09 speed
03.26
0
1 KEY
IR droop
ARMATURE select R/W logic
VOLTAGE Speed
03.20 R/O logic
IR comp. error
03.04 Scaling output integral
IR comp. Internal logic
Max. arm. 1
voltage 03.05 03.17 03.08
APRIL 1996 - 89
0 Comparator
CN 37903b AN
03.15
Summation
Absolute x 1.2 Armature
value Invisible parameters are in italics, eg 03.18.
10.10 voltage
clamp active
Menu 03 FEEDBACK SELECTION & SPEED LOOP
OPT 9601
SPEED
FEEDBACK 04.04 I -limit 1
04.07 I -limit 2
03.02 04.10 Select I-limit 2
04.18 Enable auto I-limit change
04.19 I -limit timer
Threshold 1 04.22 Taper 1 slope
exceeded 04.23 Taper 2 slope
04.24
Over-riding
Taper 1 threshold 04.20 current limit
Taper 2 threshold 04.21
04.25 04.03
Threshold 2 I- limit B1 04.05 FINAL CURRENT

Current DEMAND
exceeded demand I-limit B2 04.06
Fig. 23
04.01 04.02
Mode bit 0 04.12

Mode bit 1 04.13
Quadrant 1 enable 04.14

Quadrant 3 enable 04.16 KEY
SPEED LOOP R/W logic
OUTPUT
R/O logic
03.07 Internal logic
Offset
select
Torque 04.11 Summation
ref. 04.08
APRIL 1996 - 90
CN 37903b AN
0 Limits
Current
offset 04.09
1
Menu 04 CURRENT SELECTION & LIMITS

OPT 9601
Inhibit firing 05.17

Standstill enable 05.18
Standstill mode 05.19
Enable 12p bridge lockout 05.21
Disable adaptive control 05.22
Enable 1Q series 12p 05.23
Series 12p operation 05.24
Parallel 12p operation 05.25
Safe bridge change 05.26 Post-ramp
reference
02.01
CURRENT LOOP PARAMETERS Direct firing-
Enable start-up autotune 05.09 angle control
Reduced Endstop 05.10 05.20
Actual overload 05.11 FIRING
Discontinuous I gain 05.12 ANGLE
FINAL CURRENT Continuous P gain 05.13
DEMAND Slew rate Continuous I gain 05.14 1
05.03
limit Motor constant 05.15
0
04.02 05.04
Fig. 24
Max.
current
05.05
CURRENT 05.16
FEEDBACK Current
(amps)
05.01 Scaling 05.02 KEY
R/W logic
Overload
R/O logic
Overload threshold 05.06
Overload time - heating 05.07 05.11
Internal logic
Overload time - cooling 05.08 Alarm
Summation
10.13
APRIL 1996 - 91
CN 37903b AN
Menu 05 CURRENT LOOP

OPT 9601
DRIVE Field
ENABLE economy
Economy timeout 06.12 Max. field 2
Enable economy timeout 06.15 select
08.11 06.14
Max. field
current 2 06.09
KEY 1
R/W logic Max. field 0
current 1 06.08
R/O logic
Internal logic Enable speed Speed loop

loop gain 06.18 gain adjustment
adjustment
Summation 0 03.09
1 03.10
• Division
• Firing
• angle front
• endstop
P
+I P + I loop 06.21
Field
Fig. 25
Field current Current Direct firing

Limitation feedback feedback loop angle control
I-Gain scaling gain 06.19
06.17 06.11 06.03 06.16
Field
current
Back- emf demand 1
set point Scaling 06.04
x1 0
06.07 P 06.02 P
ARMATURE 03.02 x 06.07 +I +I
Back FIRING
VOLTAGE emf ANGLE
03.04 06.01
06.22
Absolute 06.10 Full
IR Comp. 2 value control
source selector Min. field
SPEED IR comp. 2 current
06.20 06.05 06.13
ERROR output
Enable field
APRIL 1996 - 92
INTEGRAL IR
CN 37903b AN
control
comp. 2 Speed
feedback 03.02
03.08 06.06
0 Back emf
set point 06.07 Invisible parameters ar e in italics, eg 06.18.
REF. 4
1
01.20 Menu 06 FIELD CONTROL
OPT 9601
CURRENT Thermistor Disable

Current Loop / Encoder (Pulse Tach.) Inputs o/temp. 3300 W
LOOP INPUT (Thermal switch)
Input trip 1800 W
SELECTION
10.32
Input 07.28 07.27 TRIP
8
Current Encoder 0-20mA 0 0
loop select Current ref. select 0 Motor
loop mode 20-0mA 0 1 10.21 temp.
07.26 07.25 4-20mA 1 0
select Voltage- 1
07.27 to-frequ. 20-4mA 1 1 20
converter Speed ref.
07.28
TB1-03 1 destination
V/f Speed
0 Ref. 07.15 Tachogenerator (Tachometer) Input
Speed ref.
Input scaling
0 1H 60 to
07.05 07.20 9 300V
T
Encoder 1 10
scaling 1G 50 to
PL4 KEY 200V
07.24
R/W logic
1F 10 to
Hard speed ref. 07.11 50V
Default 03.18 R/O logic
Switches
Fig. 26
Scaling SW1F, G, H,
Internal logic refer to Fig. 14. RV1
07.01 07.16 Analog Outputs
Analog Inputs
Speed ref. 3 07.12 07.08 Final speed demand
Default 01.19 Default 02.01
Scaling Scaling 0 to +6.6V
07.02 07.17 07.21 corresp. to
0 to ±10V GP-1 0 to 150% I
4 11
0 to ±10V GP-2 DAC-1 0 to ±10V
5 Speed ref. 4 07.13 07.09 Actual speed 12
0 to ±10V GP-3 Default 03.02 DAC-2 0 to ±10V
6 Default 01.20 13
0 to ±10V GP-4 Scaling Scaling DAC-3 0 to ±10V
7 14
07.03 07.18 07.22 Imotor
20 20
Torque ref. 07.14 07.10 Armature voltage
Default 04.08 Default 03.04
Scaling Scaling Max. loading 5mA
APRIL 1996 - 93
CN 37903b AN
07.04 07.19 07.23
NOTE GP2 becomes dedicated as Mains Healthy (AC

Power Normal) input when parameter 11.24 = 1. Invisible parameters are in italics, eg 07.11.
Input impedance 100kW
Menu 07 ANALOG INPUTS & OUTPUTS
OPT 9601
08.12
08.22 08.13
RUN PERMIT 08.23 08.14
F1 08.01 08.24 08.15
TB3-21 08.25 08.2x
08.2x
08.02
08.03
08.04 0
F2 (IR) 08.05 1
F3 (IF) 08.0x
F4 (RR) TB3-22
F5 (RF) TB3.23 KEY
TB3.24 08.26 08.16
08.27 R/W logic
TB3.25 08.17 DESTINATIONS
08.28 08.18 CAN BE R/W BITS
ONLY Internal logic
08.29 08.19
08.30 08.20 Inversion
08.06
08.xx 08.xx
08.07
08.08
F6 08.09 0
Fig. 27
F7 08.10 1
F8 08.xx
Ref
F9 TB3-26 ON
F10 TB3.27 08.31
01.11
TB3.28 0
TB3.29 F2
1 08.32
TB3-30
NOTE 0
F10 becomes dedicated as F3
Bridge Selected input when 1 08.33
parameter 05.21 = 1
(12-pulse bridge lockout) 0 Disable normal
F4 logic functions
1 08.34 Reverse
08.21 select
0 01.12
F5 Inch
1 1
select
APRIL 1996 - 94
Enable NORMAL 0
CN 37903b AN
input LOGIC 01.13

ENABLE 08.11 FUNCTIONS
TB4-31
Menu 08 LOGIC INPUTS
OPT 9601
Source 1 Source 1 NOTE

select invert F10 becomes dedicated as
ST1 09.07 ST1 09.08 If the status source is not a bit
Bridge Selected input when parameter, the input to the ‘&’ gate
ST2Ê09.13 ST2 09.14 parameter 05.21 = 1
Status is taken as 1 so long as the other
09.xx 09.xx (12-pulse bridge lockout) source is a bit parameter.
input Invert
output
0 ST1 09.11
ST2 09.17 Status
1 output
09.xx Delay
ST1 09.01
ST1 09.12 ST2 09.02
ST2 09.18
0 09.xx 09.xx 15 ST1
Source 2 1
Source 2 &
select invert 16 ST2
ST1 09.09 ST1 09.10
ST2 09.15 ST2 09.16 Status ST3 09.19 Invert ST3 09.20
Status source ST4 09.21 status ST4 09.22 Open Collector
09.xx 09.xx Status
input selector ST5 09.23 output ST5 09.24 Transistor Outputs
output
Status 09.xx 09.xx ST3 09.03
0 input ST4 09.04
Fig. 28
1 ST5 09.05 17 ST3

0
09.xx
18 ST4
1
19 ST5
Status outputs 1 and 2 can be any of Invert

the following functions of any two bits: status Relay Outputs
OR A + B output
ST6 ST6 34
NOR A + B
Status 09.25 09.26 35 Default
AND A x B Status Zero speed
NAND A x B input output 36
ST6 37
For example: 0 38 Default
09.06
09.07 = 1003 I lim KEY 1 39 Drive ready
APRIL 1996 - 95
09.08 = no invert Controlled by Contact loading

CN 37903b AN
09.09 = 1009 Z speed R/W logic

parameter 5A, 240V AC
09.10 = no invert 10.12 (RO)
Inversion
09.11 = no invert
& Invisible parameters are in italics, eg 09.07.
ST1 = I lim x Z speed = Stall Logic ‘&’
Menu 09 STATUS OUTPUTS

OPT 9601
Threshold
destination
12.07
12.12
Threshold Output
source Hysteresis
12.05 invert 12.xx
12.03 12.06
12.08 12.10
12.11
Threshold 12.xx
12.xx level 12.xx
12.04 Threshold
12.09 exceeded
12.01
12.02 0
12.xx
1
12.xx
ºº
Fig. 29
Examples of the use o f

Programmable Thresholds:
1 To control para meter 02.18, th e

Common Ramp Selector, to change KEY
ramp rates at a certain speed.
R/W logic
2 Torque-pro ving (hoists and stri p Internal logic
handling).
Inversion
Hysteresis
ºº loop
APRIL 1996 - 96
CN 37903b AN
Menu 12 PROGRAMMABLE THRESHOLDS

OPT 9601
Reference
encoder Reference Position
selector source software
Speed enable
07.25 13.12
Master reference 13.10
Master counter input
Encoder increment 1 1 0
(Reference) Scaling 07.05 Speed
+ feed fwd
13.01 13.03 07.24
0 + 01.18
0 Reference ON 01.11 1
Precision INCH selector 01.13
reference 13.13 x 64 Hard speed ref. selector 03.19
latch
Ramp output ref. selector 03.21 &
1
(13.07 x 256) + 13.06 Position software enable 13.10
Precision OR x (-1)
13.14 At speed 10.07
references OR
0 Reverse Rigid lock enable 13.11
selector
F3 input F2 input 0 1
inch fwd. 08.03 inch rev. 08.02 01.12
Disable normal Correction
logic functions 08.21 limit
Fig. 30
Inch 1
+ Position 13.09
reference 0 1 - 1 error Position 0
01.05 gain Speed
0 EPOS 13.05 correction
+ 13.08
x (-1) 0 03.18
1 0 1
Digital feedback
selector
Slave 03.12
counter
Slave Encoder increment Position 0
(Feedback) gain
0
13.02 13.04 03.14 Speed
feedback
1 03.02
1
KEY
APRIL 1996 - 97
CN 37903b AN
R/W logic
R/O logic
Internal logic
Menu 13 DIGITAL LOCK
Fig. 31
Fig. 32
Fig. 33
Fig. 34
7 DIAGNOSTIC PROCEDURES
TRIP CODES
If the drive trips, the index display shows triP, and the data message will flash. The data display shows
a mnemonic to indicate the reason for the trip.
The last four trip codes are stored in parameters 10.25 through to 10.28, and are available for
interrogation unaffected by power down/up cycles. The data stored in these parameters is updated
only by the next trip event.
Mnem. Code Reason for the trip
AOC 121 Armature overcurrent. An instantaneous protection trip has been activated
due to excess current in the armature circuit.
AOP 126 Armature open circuit.
cL 104 Current (control) loop open circuit. If the input reference is either 4-20mA or
20-4mA, this trip indicates that input current is <3.0mA.
EEF 132 EEprom failure. Indicates that an error has been detected in the
parameter set read from the EEprom at power-up.
EPS 103 External power supply. Overcurrent trip at the 24V supply output terminal (TB4-33)
has operated, indicating an overload in the external circuit
connected to this supply. Investigate and rectify the cause.
Et 102 External trip. Parameter 10.34 = 1. The external trip set up by the
user has operated.
FbL 119 Feedback loss. No signal from tachogenerator (tachometer) or encoder
(pulse tachometer).
Fbr 109 Feedback reversal. The polarity of the feedback tacho or encoder polarity is
incorrect.
FdL 118 Field loss. No current in field supply circuit.
FdO 108 Field on. The user has initiated self-tuning (05.09) and field current has
been detected.
FOC 106 Field overcurrent. Excess current detected in field current feedback. If current
feedback is present and firing angle is phased back, then trip.
hF 100 Hardware fault. A hardware fault has been detected during the self-diagnosis
routine performed after power-up. Users are recommended to
consult the supplier of the drive.
It 122 I x t trip. The integrating overload protection has reached trip level.
Oh 107 Overheat. Thyristor (SCR) heatsink overtemperature. Only on drives
equipped with heatsink thermistors (thermal switches).
Pc1 124 Processor 1 watchdog. Indicates a fault in the MDA1 hardware has been detected by
malfunctioning of Processor 1 software.
OPT 9601 CN 37903b AN

APRIL 1996 - 98
Pc2 131 Processor 2 watchdog. Indicates a Processor 2 malfunction, or a software bug (MD29
option).
PhS 101 Phase sequence. Connections to E1 and E3 are not the same phases as are
connected to L1 and L3. Investigate and correct.
PS 125 Power supply. One or more of the internal power supplies is out of tolerance.
ScL 105 Serial communications link (interface) loss. (Only in serial comms mode 3) No input data
detected.
SL 120 Supply loss. One or more of the power (input) supply phases is open-
circuit.
th 123 Thermistor (thermal switch). Motor protection thermistor (thermal switch) has initiated a trip
indicating windings overheating. Trip threshold 50W±5%.
Reset 1.8kW.
thS 110 Thermistor (thermal switch) short circuit. Thermistor (thermal switch) input < 100W.
A29 41 - 59 Indicates an MD29 fault Refer to the MD29 User’s Guide.
IN THE EVENT OF ANY TRIP, all RO parameter values are ‘frozen’ and remain so for interrogation while the
cause of the fault is investigated. To enter parameter adjustment mode from the trip mode, press any of the five
adjustment keys. To re-enter trip mode, go to Menu 00 and press ‹.
Trip Codes in Numerical Order

A29 41 - 59 MD29 fault.
hF 100 Hardware fault.
PhS 101 Phase sequence
Et 102 External trip.
EPS 103 External power supply.
cL 104 Current (control) loop open circuit.
ScL 105 Serial communications link (interface) loss.
FOC 106 Field overcurrent.
Oh 107 Overheat.
FdO 108 Field on.
Fbr 109 Feedback reversal.
thS 110 Thermistor (thermal switch) short circuit.
FdL 118 Field loss.
FbL 119 Feedback loss.
SL 120 Supply loss.
AOC 121 Armature overcurrent.
It 122 I x t trip.
th 123 Thermistor (thermal switch).
Pc1 124 Processor 1 watchdog.
PS 125 Power supply.
AOP 126 Armature open circuit.
Pc2 131 Processor 2 watchdog.
EEF 132 EEprom failure.
8 SERIAL COMMUNICATIONS
OPT 9601 CN 37903b AN

APRIL 1996 - 99
A communications interface is standard in all V/WNTC drives. It is a machine-machine interface,
enabling one or more drives to be used in systems controlled by a host such as a process logic
controller (PLC) or computer.
MENTOR II drives can be directly controlled, their operating configuration can be altered, and their
status can be interrogated by such a host, and continuously monitored by data logging equipment. A
host can interface with up to thirty-two V/WNTC drives, Fig. 23, and up to 99 if line buffers are used.
The communication port of the drive unit is the connector PL2 (Fig.14). The standard connection is the
RS485. Protocol is ANSI x 3.28 - 2.5 - A4, as standard for industrial interfaces.
Fundamentals
Logic processors, such as computers, PLCs, and the communications systems of Control Techniques
drives communicate by means of binary logic. Binary logic is ‘two state’, and is readily implemented
by an electrical circuit which is either on or off. In V/WNTC drives, the on-state is represented by a
positive voltage, and the off-state by zero volts. The two voltages thus represent two distinct units of
data, each being a binary digit (‘bit’) — either 0 or 1.
By fixing a time duration for each bit, a series of bits transmitted can be recognized by a receiver. If,
also, a series or group always contains the same number of bits it becomes possible to construct a
variety of different ‘characters’ that the receiver can recognize and decode. A group of four bits has
sixteen possible variants — 0000, 0001, 0010, and so on to 1111. Each of the sixteen variants
represents one ‘hexadecimal’ character-unit — corresponding to the decimal numerals 0 to 9 followed
by the six letters A to F — making 16 different and distinct characters.
The scope of the data that can be represented is much increased if two hexadecimal characters are
combined to make a simple code. Since there are 16 hex characters, two in combination will produce
16 x 16 = 256 possible different characters. Using this as the basis of a code, it becomes possible to
represent a large
RS485 MULTIDROP LINK (INTERFACE) number of
Max 32 drives per port symbols, or units
M30 M31 M32 M33 M34 of data, by means
of only two hex
characters, each
of four bits,
30 31 32 33 34
making eight bits
R T R T R T R R T R T R
in all and known
as a ‘byte’.
R T R T
Port A Port B Early in the
development of
Host c o m p u t e r
Controller
technology it was
24 Serial address 11.11. Unique identity code for up to 32 recognized that a
drives per communications port at the host. long stream of bits
without, so to
speak, any punctuation marks would be unmanageable and at risk of transmission errors passing
unrecognized. The byte was adopted as a standard unit. To ensure that each byte is distinct, a start
bit and a stop bit are added. The convention is that the start bit is a 0 and the stop bit a 1.
Each byte, therefore, occupies a finite time in transmission, but the interval between successive bytes
is of no importance. Only the structure — the ‘framing’ or ‘character format’ — of the byte is significant.
There is more than one convention for ‘framing’ the character. The format in V/WNTC drives is ten bits
as shown diagrammatically —
OPT 9601 CN 37903b AN

APRIL 1996 - 100
The character set used in V/WNTC drives is the ‘low’ American Standard Code for Information
Interchange (ASCII), comprising 128 characters, decimally numbered 0 to 127. The ‘Low’ ASCII Set is
shown complete at the end of this Section. In the low ASCII set, the first hex character extends only
from 0 to 7, binary 000, 001 etc to 111. A ‘start bit’, 0, is added to the beginning of the message, and
a ‘parity bit’ and a ‘stop bit’,1, are attached at the end.
‘Low’ ASCII character byte
1st hex character 2nd hex character
Start Seven data bits, variable Parity Stop

bit bit bit
0 lsb msb 1
The parity bit is used by the receiver of the message to check the
integrity of the data byte.
Fig. 35
The first 32 characters in the ASCII set (hex 00 to 1F) are used to represent special codes. These
are the Control Codes, each of which has a particular meaning. For example, ‘start of text’ is STX,
and, from a keyboard, is made by holding down the Control key and striking B once (Control-B). This
is hex 02, and the actual transmission is the binary byte 0000 0010. The drive is programmed to know
that this character signals that a command will follow. The control code at the end is EOT — ‘end of
transmission’ — which tells all drives to look for a new message. If a host has a screen, control
characters appear on it in VDU (video) format.
The components of all messages between the host and a V/WNTC drive are formed of ASCII
characters. The format of a message, ie the sequence in which the characters appear, is standardized
for messages of each different kind, and is explained under Structure of Messages, below.
Preliminary Adjustments to the Drive
OPT 9601 CN 37903b AN

APRIL 1996 - 101
Each drive requires a unique identity number, or serial address, set by parameter 11.11. The Baud
rate 11.12 is required to be set to match the host. Data, drive status and the parameter set-up can be
read from the drive in any mode, provided only that the drive is powered up, and that the serial address
and Baud rate are correctly set.
Terminal designations for connector PL2 for RS232 and RS422 communications links (interfaces) are
—
Pin no. RS232 RS422

1 NC 0V
2 TXD TXD
3 RXD RXD
4 — —
5 — —
6 0V TXD
7 0V RXD
8 — —
9 — —
Resolution
Some parameters can be set to a higher resolution than that displayed or read by the serial interface.
These are the real parameters with a range of ±1000.
If the user wishes to set variable to a higher resolution, six digits must be written in the data field.
MENTOR II then recognizes the request for higher resolution. For example, to set the speed demand
to 47.65% of maximum speed, transmit
+04765
11-bit Data Frame
If the BASIC serial comms interface of MD29 is required to have an 11-bit data frame, set parameter
14.18 = 1.
CONTROL CHARACTERS in V/WNTC DRIVES
Character Meaning ASCII code Keyed as

HEX Control…
EOT Reset, or ‘Now hear this’ 04 D
or End of Transmission
ENQ Enquiry, interrogating the drive 05 E
STX Start of text 02 B
ETX End of text 03 C
ACK Acknowledge (message accepted) 06 F
BS Backspace (go to previous parameter) 08 H
NAK Negative acknowledge (message 15 U
not understood)
OPT 9601 CN 37903b AN

APRIL 1996 - 102
COMPONENTS OF MESSAGES
Control Characters
To conform to the standard structure of a message, the stages of a message are signalled by control
characters. Each character has a specific meaning, a standard abbreviation, and is transmitted and
received in ASCII code. If a message is initiated from a keyboard, the control characters are keyed
by holding the Control key down while making a single-letter keystroke. Of the 32 control characters
in the ASCII set, the seven in the following table are used in V/WNTC serial communications.
Serial Address
Each drive is given an identity or address (parameter 11.11) so that only the drive that is concerned
will respond. For security, the format is that each digit of the two-digit drive address is repeated, thus
the address of drive number 23 is sent as four characters—
2 2 3 3
The serial address follows immediately after the first control character of the message.
Parameter Identification
For transmission by serial link (interface), parameters are identified by the four digits representing the
menu and the parameter number, but without the decimal point, which is used in the text of this Guide
for clarity. For example, to send ‘menu 04, parameter 26’, write 0 4 2 6.
Data Field
Data to be sent or requested occupies the next five characters after the parameter number. All of the
operating parameters of the drive are numerical values, such as load, current, etc. The field for data
is variable in length up to five characters maximum (but see reference to increased resolution on the
previous page). No decimal point is used.
The state of bit-parameters is transmitted and received as real-value data, of value 0 or 1. Again, the
format is flexible so long as no more than five characters are comprized, for example —
0 1
— and so on.
Block Checksum (BCC)
To permit the drive and the host to ensure that messages from one to the other have not become
corrupted in transmission, all commands and data responses must be terminated by a block checksum
character (BCC, page 94).
STRUCTURE OF MESSAGES
Host to Drive
Messages from the host to the drive are of two kinds —
OPT 9601 CN 37903b AN

APRIL 1996 - 103
a request for information, or a command.
Both kinds must start with the control character EOT (Control-D) to initiate the drive to receive a new
message. This is followed by the serial address of the drive receiving the message. The format of the
data and the choice of control character to terminate the message is different for the two kinds.
For an information request, sending the parameter number followed by ENQ instructs the particular
drive addressed to supply data relating to that parameter.
For a command, a control character after the serial address tells the drive that the message is to be
an instruction concerning its operational parameters, and that the next part of the message will be a
parameter number and the instruction data. The instruction data occupies five to nine characters, or
ten for high resolution. An instruction message is terminated by control character ETX followed by a
block checksum (BCC, page 94).
Drive to Host
Messages
CONTROL ADDRESS CONTROL PARAM DATA CONTROL BCC from the
EOT 1 1 4 4 STX 0 1 1 7 - 0 4 7 6 ETX , drive to the
CONTROL CONTROL CONTROL host are of
-D -B -C
two kinds —
a reply to a data request, or acknowledgement of a message.
In reply to a data request, the start control character is STX, and is followed by the parameter number
to confirm the request from the host, and then the five characters of data. The message is terminated
by the control character ETX and a block checksum (BCC).
A message is acknowledged by the control character ACK if understood, or NAK if invalid, wrongly
formatted or corrupt.
Multiple Drives
A message can be sent to two or more addresses simultaneously. If all drives are to respond to the
same request or instruction, the message is transmitted to address 0 (zero).
CONTROL ADDRESS PARAM CONTROL Wide Integers — Serial

EOT 1 1 2 2 0 1 1 7 ENQ Mode 4
Control Control
-D -E
The wide integer (16-bit)
parameters are 13.14, 15.60, 15.61, 15.62 and 15.63. If a wide integer is sent through the comms link
(interface), the data is formatted as five ASCII characters, without a ‘sign’ in the data field. All
parameters can be written via the serial interface by means of five ASCII characters if no sign is
included. Refer to parameter 11.13, Chapter 6 or 7, for further information.
SENDING DATA
CONTROL PARAM DATA CONTROL BCC
Host command —
STX 0 1 1 7 - 0 4 7 6 ETX ,
Control Control reset -
-B -C
address - start of text -
menu and parameter -
OPT 9601 CN 37903b AN

APRIL 1996 - 104
1 to 5 data characters - end - BCC
For example, the message to the drive —

“change speed reference 1 of drive number 14 to 47.6% in reverse”
would be sent as —
The drive will respond with an acknowledgement, either —

ACK if the message is understood and implemented, or —
NAK if the message is invalid, the data is too long, or the BCC is incorrect.
If a value sent is outside the limits for a parameter, the drive will respond with NAK.
READING DATA
The drive will send any data to the host, provided that the request is valid. The format of a data request
message is —
Host request —
reset - address - parameter - end
For example, to find the speed set point 01.17 of drive number 12, send —
The drive replies in the following form —

start - parameter - 5 characters of data - end - BCC
For example —
The reply first confirms that the data sent is the speed reference 1 (01.17); the five characters
immediately following give the present setting as a percentage of full speed. The first character is
either + or -, to indicate direction of rotation; the remainder is the numerical value. The message
reads, “reverse at 47.6% of full speed” in this example.
Repeat Enquiry
The negative acknowledgement NAK (Control-U) can be used at a keyboard to cause the drive to send
data repeatedly for the same parameter. It saves time when monitoring the value of a parameter over
a period of time.
OPT 9601 CN 37903b AN

APRIL 1996 - 105
Next Parameter
To obtain data from the same drive for the next parameter in numerical order, send the positive
acknowledgement ACK (Control-F). The drive will respond by transmitting the data relating to the next
parameter in sequence
Previous Parameter
To obtain data from the same drive for the previous parameter in numerical order, send backspace BS
(Control-H).
Invalid Parameter Number
If the host sends a parameter number which the drive does not recognize, eg 1723, the drive will
respond with EOT.
BLOCK CHECKSUM (BCC)
To ensure that data received can be verified, a block checksum is attached to the end of each
command or data response. The BCC is automatically calculated by the sending logic and is derived
in the following manner.
First, a binary exclusive-OR is performed on all characters of the message after the start-of-text
command parameter..
For example, if the message to be sent to drive number 14 is —

“set speed reference 1 to 47.6% of full speed in reverse”
it is sent as —
Reset EOT (Control-D)
Serial address 1 1 4 4
Start of text STX (Control-B)
Not included in BCC calculation
BCC calculation starts here
Parameter 0 1 1 7 (Menu no. and parameter no.)
Reverse - (a minus sign)
476 0 4 7 6
End of message ETX (Control-C)
finally, BCC, calculated as shown
Each of the separate digits, 0117 - 0 4 7 6 and Control-C
is represented by a hexadecimal character and calculated in binary as shown in the table. The XOR
is shown progressively for each character.
Character ASCII Char. XOR
menu 0 011 0000

1 011 0001 000 0001
parameter 1 011 0001 011 0000
7 011 0111 000 0111
- (minus) 010 1101 010 1010
OPT 9601 CN 37903b AN

APRIL 1996 - 106
0 011 0000 001 1010
4 011 0100 010 1110
7 011 0111 001 1001
6 011 0110 010 1111
ETX 010 0011 010 1100
The final XOR, underlined, is the BCC provided that its equivalent decimal value exceeds 31. As the
ASCII characters from hex 00 to 1F are used only for control codes, the BCC has to exceed the value
of 31 decimal. Whenever the XOR produces a (decimal equivalent) number less than 32, 32 is added.
Thus, in the above XOR example,
010 1100 = 44 decimal, so that the BCC is the character 44
for which the ASCII character is = , systems will experience no difficulty with
interference. If very sensitive electronic
Thus the complete message to set the measuring equipment or low-frequency
speed of drive number 14, say, to 47.6% in radio receivers are to be used near the drive,
reverse is as shown in the example some special precautions may be required.
message at the top of the previous page. These may include the installation of a line
supply filter and the use of screened
(shielded) output cable to the motor.
9 ELECTROMAGNETIC DC drives also generate current harmonics

COMPATIBILITY at the supply input, which may cause short
‘notches’ to appear in the supply voltage.
Notches may be limited, where necessary,
Immunity by installing line reactors. Harmonics only
cause difficulty if the rating of the drive is a
Provided that the instructions in this User’s substantial proportion of the total capacity of
Guide are correctly implemented, MENTOR the electrical supply system. If this is the
II drives exhibit excellent immunity to case, power factor compensation and
interference from sources outside the drive possibly harmonics traps may be required.
unit.
In view of the high cost of power filters in the
In accordance with good engineering drive circuit it is often more economical to
practice, relays, contactors and switches in protect the associated circuits from the
power circuits adjacent to the drive should effects of harmonics and notches. A
be installed with suppressors if they control constant voltage transformer (CVT) provides
inductive loads. effective protection.
Emission GLOSSARY OF AMERICAIN AND

ENGLISH EQUIVALENT TERMS
All solid-state power controllers emit a
certain amount of radio-frequency energy The list is not exhaustive, and it may be
because of the fast switching of the power thought useful to extend it. additions sent to
devices. The thyristors (SCRs) in a DC the author will be recorded and added to the
drive are switched relatively slowly (by page as occasion offers.
comparison with the transistors in a PWM ENGLISH AMERICAN
AC drive) so the emission is predominantly
conducted through the connecting wires and Armoured (cable) Conduited
is at radio-frequencies less than 1MHz. Commissioning Start-up
Cubicle Enclosure
In most installations, nearby electronic
OPT 9601 CN 37903b AN

APRIL 1996 - 107
ADDENDUM
V/WNTC SOFTWARE V4.09.
This addendum should be used in conjunction with manual (CN 37903b AN).
Version 4.09. software has the following changes
1. A new parameter has been added (10.37) to disable the armature open circuit trip implemented in
V4.02.00. This has been necessary for non-motor applications such as the drive being used as a front end
bridge to an inverter.
2. Mentor I and all previous versions of Mentor II have hysteresis on bridge change over to prevent oscillation
between bridges under lightly loaded conditions. This level has been fixed at 1.6 % of the drives maximum
current level. It has been found that when the drive is being used as a current amplifier only, in applications
where fine control of current is required, this hysteresis level is too large. A new parameter has been added
(05.28) which when set reduces the hysteresis to only 0.2 % of drive maximum current.
3. In previous versions there has been a delay on the field loss trip of 0.2s to allow the field current to build
up. This has been found to be too short in some applications and so the delay has been increased to 0.5s.
4. A problem has been corrected in the coiler torque mode. In previous versions (including Mentor I) the
condition where zero speed reference is selected automatically when the sign of the feedback is opposite
to the sign of the torque demand, did not operate below the zero speed threshold. This problem has been
partly masked in the V/WNTC by allowing torque in any quadrant within the zero speed demand, but this
modification (made in V4.01.02) has a problem of its own in that the zero speed bit has a 200ms delay on
becoming active to stop the zero speed relay chattering when the speed is close to the zero speed
threshold. Both problems have been corrected in this version.
5. An additional autotune routine has been added which continually monitors the current during continuous
conduction and adjusts the current loop gains according to the amount of current ripple measured.
This feature is enabled by a new bit parameter in menu 5 (05.27). The commissioning autotune test should
still be carried out, as the continuous integral gain (05.14) is not adjusted by the new routine and the gain
calculated during the commissioning test in correct.
Calculations in the new routine are suspended when the Voltage spill over loop becomes active such that
the gains are not increased as the field is weakened.
The new routine does not operate when the drive is in serial 12 pulse mode.
6. The speed loop derivative term has been improved by reducing the delay in the derivative term. In this
version the differentiator sample time is fixed at twice the mains frequency and the derivative gain is a
multiplying constant. To reduce the ‘noisy’ effect of a differentiator a first order digital filter has been
implemented with a time constant of 4/F where F is the supply frequency.
The output of the derivative term when the filter has settled is:
#03.11 . dE where dE is the change in inpuy units

4F dt dt per second
7. Two new bit parameters have been put in the field control menu (06.23 & 06.24) which can be used to
reduce the field current loop gains.
Setting parameter 06.23 reduces the gains by a factor of 2, and setting 06.24 reduces them by a factor of
4. Setting both parameters will reduce the gains by a factor of 8.
Parameter 06.16 now only affects the ratio of proportional to integral gains. Clearing parameter 06.16 to 0
increases the integral gain which will help the loop to track the current demand more closely. However, in
doing this the loop becomes less stable, espacially if the overall gains have been reduced with parameter
06.23 or 06.24. Generally 06.16 should be left at I and should only be changed if fast changes in flux are
required and it is known that the time constant of the field is low.
8. Using the speed loop integral as input to the IR compensation in the field controller works well when the
drive is operating in speed control. In direct torque control the speed loop does not operate, and in the
torque with speed override modes the speed loop is normally saturated.
To overcome this the alternative IR compensation selected by bit parameter 06.20 is now derived from a
filtered level of the final current demand (04.02). The menu 6 diagram should be modified as follows:
9. In previous versions, setting the speed loop proportional gain to 0 would cause the speed loop to saturate
and the motor to accelerate very fast. This is no longer the case, but it is still not advisable to set low
proportional gains as this makes the speed loop very unstable.
Also, to realise new bit parameters required for the new features, the country code parameter (11.14) no
longer exists as an integer but only as a bit parameter.
OPT 9601 CN 37903b AN

APRIL 1996 - 109

WNTC Manual Completo

Uploaded by

Copyright:

Available Formats

WNTC Manual Completo

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

WNTC Manual Completo

Uploaded by

Copyright:

Available Formats

IMPLEMENTATION AND STAR UP MANUAL

V VARIABLE SPEED DRIVE

CN 37903b AN APRIL 1996

VNTC 4025E to 41850E

Software version 4.9

• Motor armature voltage, or

• Encoder (pulse tachometer).

• PID speed loop algorithm.

• -10V to +10V, or 0 to 10V

• Encoder digital input, or

internally-generated digital reference.

OPT 9601 CN 37903b AN

• RS485 serial communications port, optically-isolated.

• Current loop linearity 2%, speed 80Hz.

• Uniform response at all current values.

• PID speed loop algorithm.

• Provision for encoder inputs for position control.

• On-board provision for tachogenerator (tachometer) calibration.

• Programmable control of field-weakening for optional field-power unit.

• Phase sequence and phase-loss detection.

• Software includes current loop self-tuning algorithm.

• Optional remote control and monitoring unit.

• Menu-driven parameter structure.

• Drive returns to last parameter adjusted in each menu.

• User-defined menu for quick access to ‘most-used’ parameters.

Reference Feedback Combined resolution

Analog 0.025% Armature volts 0.83V 0.83V

Encoder Encoder Absolute

OPT 9601 CN 37903b AN

Features of V/WNTC Drives

— Current, Input and Output ........................................................................................................6

— Fuses and Cabling ...................................................................................................................7

— Ventilation and Weight .............................................................................................................8

3 INSTALLATION — MECHANICAL .......................................................................9

3.3...Cooling and Ventilation ........................................................................................................11

4 INSTALLATION — ELECTRICAL ......................................................................17

4.1...Installation Criteria ...............................................................................................................17

4.2...Electrical Power Connections .............................................................................................18

4.3...Current Feedback Burden Resistors ...................................................................................20

4.4...Control Connections ............................................................................................................22

— Terminals Index .......................................................................................................................23

— Terminals Classified ................................................................................................................24

5 OPERATING PROCEDURES ............................................................................26

5.1...Keypad and Displays ...........................................................................................................26

5.2...Setting Up to Run ................................................................................................................27

OPT 9601 CN 37903b AN

6.1...Adjustment of Parameters ...................................................................................................34

6.3...Index of Parameters ............................................................................................................38

6.4...Descriptions of Parameters .................................................................................................49

8 SERIAL COMMUNICATIONS ............................................................................99

9 ELECTROMAGNETIC COMPATIBILITY .........................................................106

OPT 9601 CN 37903b AN

PRINCIPLES of the VARIABLE SPEED DRIVE

OPT 9601 CN 37903b AN

Inductive AC field supply

1 Behavior of a single-phase 2 Typical arrangement for reversing a ‘single-ended’

OPT 9601 CN 37903b AN

4 The four quadrants of the DC

Regardless of whether a drive is single- or four-quadrant, motor response is fundamentally a function

OPT 9601 CN 37903b AN