Delta VFD C200 User Manual
Delta VFD C200 User Manual
Delta VFD C200 User Manual
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Preface
Thank you for choosing DELTA’s high-performance VFD-C200 Series. The VFD-C200 Series is
manufactured with high-quality components and materials and incorporate the latest
microprocessor technology available.
This manual is to be used for the installation, parameter setting, troubleshooting, and daily
maintenance of the AC motor drive. To guarantee safe operation of the equipment, read the
following safety guidelines before connecting power to the AC motor drive. Keep this operating
manual at hand and distribute to all users for reference.
To ensure the safety of operators and equipment, only qualified personnel familiar with AC motor
drive are to do installation, start-up and maintenance. Always read this manual thoroughly before
using VFD-C200 series AC Motor Drive, especially the DANGER and CAUTION notes. Failure to
comply may result in personal injury and equipment damage. If you have any questions, please
contact your dealer.
; Never connect the AC motor drive output terminals U/T1, V/T2 and W/T3 directly to the
AC mains circuit power supply.
CAU TION
; Only qualified persons are allowed to install, wire and maintain the AC motor drives.
; Even if the 3-phase AC motor is stop, a charge may still remain in the main circuit
terminals of the AC motor drive with hazardous voltages.
; If the AC motor drive is stored in no charge condition for more than 3 months, the
ambient temperature should not be higher than 30 °C. Storage longer than one year is
not recommended, it could result in the degradation of the electrolytic capacitors.
NOTE
The content of this manual may be revised without prior notice. Please consult our distributors or download the most
updated version at http://www.delta.com.tw/industrialautomation
Table of Contents
CHAPTER 1 INTRODUCTION.............................................................................................................1-1
Chapter 1 Introduction
Receiving and Inspection
After receiving the AC motor drive, please check for the following:
1. Please inspect the unit after unpacking to assure it was not damaged during shipment. Make sure
that the part number printed on the package corresponds with the part number indicated on the
nameplate.
2. Make sure that the voltage for the wiring lie within the range as indicated on the nameplate. Please
install the AC motor drive according to this manual.
3. Before applying the power, please make sure that all the devices, including power, motor, control
board and digital keypad, are connected correctly.
4. When wiring the AC motor drive, please make sure that the wiring of input terminals “R/L1, S/L2,
T/L3” and output terminals”U/T1, V/T2, W/T3” are correct to prevent drive damage.
5. When power is applied, select the language and set parameter groups via the digital keypad
(KPE-LE02). When executes trial run, please begin with a low speed and then gradually increases
the speed untill the desired speed is reached.
Nameplate Information
A c Drive Mo d e l MODEL: VFD007CB43A-20
In p u t Vo lta g e /Cu rre n t INPUT :
Normal Duty: 3PH 380-480V 50/60Hz 4.3A
Heavy Duty: 3PH 380-480V 50/60Hz 4.1A
Ou tp u t Vo lta g e /Cu rre n t OUTPUT :
Normal Duty: 3PH 380-480V 3A 2.4KVA 1HP
Heavy Duty: 3PH 380-480V 2.9A 2.3KVA 1HP
F re q u e n cy Ra n g e FREQUENCY RANGE :
Normal Duty: 0-600Hz
Heavy Duty: 0-600Hz
F irm wa re Ve rsio n Version:VX.XX
Ce rtifica tio n s
E n c lo su re typ e (IP X X )
1-1
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Chapter 1 Introduction|C200 Series
Model Name
VFD 007 CB 43 A - 21 M
C200 Series
Applicable motor capcity
004:0.5HP(0.375kW)~ 075:10HP(7.5kW)
Refer to the specifications for details
Serial Number
007 CB EA I T 1 08 0001
Prcoduction number
Prcoduction week
Prcoduction year (2011)
Prcoduction factory
T:Taoyuan
W: Wujian
S: Shanghai
I : IP20/UL Open Type
J: IP20/NEMA1
EA : 460V 3 - PHASE
BA : 230V 1-PHASE
DA: 230V 3-PHASE
Product series:
CB: C200 standard
CM: C200 enhanced case protection model
1HP(0.75kW)
Model number
1-2
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Chapter 1 Introduction|C200 Series
RFI Jumper
RFI Jumper: The AC motor drive may emit the electrical noise. The RFI jumper is used to suppress the
interference (Radio Frequency Interference) on the power line.
Loosen the screws and remove the MOV-PLATE. Fasten the screws back to the original position after
MOV-PLATE is removed.
Frame A0
Frame A
CAUTION!
1. When power is applied to the AC motor drive, do not cut off the RFI jumper.
2. Make sure main power is switched off before cutting the RFI jumper.
1-3
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Chapter 1 Introduction|C200 Series
3. The gap discharge may occur when the transient voltage is higher than 1,000V. Besides,
electro-magnetic compatibility of the AC motor drives will be lower after cutting the RFI jumper.
4. Do NOT cut the RFI jumper when main power is connected to earth.
5. The RFI jumper cannot be cut when Hi-pot tests are performed. The mains power and motor must be
separated if high voltage test is performed and the leakage currents are too high.
6. To prevent drive damage, the RFI jumper connected to ground shall be cut off if the AC motor drive is
installed on an ungrounded power system or a high resistance-grounded (over 30 ohms) power
system or a corner grounded TN system.
1-4
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Chapter 1 Introduction|C200 Series
Dimensions
Frame A0
VFD004CB21A-20; VFD007CB21A-20; VFD004CB23A-20; VFD007CB23A-20; VFD007CB43A-20;
VFD015CB43A-20;
VFD015CB23A-20 (Fan Module included)
Unit: mm [inch]
W H D W1 H1 D1 S1 Φ1 Φ2 Φ3
110.0 180.0 160.0 99.6 169.0 151.0 5.5 - - -
[4.33] [7.09] [6.30] [3,92] [6.65] [5.94] [0.22]
1-5
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Chapter 1 Introduction|C200 Series
Frame A0
VFD015CB21A-20; VFD022CB21A-20; VFD022CB23A-20; VFD037CB23A-20; VFD022CB43A-20;
VFD037CB43A-20;
Unit: mm [inch]
W H D W1 H1 D1 S1 Φ1 Φ2 Φ3
110.0 180.0 151.0 99.6 169.0 142.0 5.5
- - -
[4.33] [7.09] [5.94] [3,92] [6.65] [5.59] [0.22]
1-6
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Chapter 1 Introduction|C200 Series
Frame A0
VFD007CB43A-21; VFD015CB43A-21; VFD004CB23A-21; VFD007CB23A-21; VFD004CB21A-21;
VFD007CB21A-21;
VFD015CB23A-21 (Fan Module included)
Unit: mm [inch]
W H D W1 H1 H2 D1 S1 Φ1 Φ2 Φ3
110.0 200.0 160.0 99.6 180.0 169.0 151.0 5.5
- - -
[4.33] [7.87] [6.30] [3,92] [7.09] [6.65] [5.94] [0.22]
1-7
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Chapter 1 Introduction|C200 Series
Frame A0
Unit: mm [inch]
W H D W1 H1 H2 D1 S1 Φ1 Φ2 Φ3
110.0 200.0 151.0 99.6 180.0 169.0 142.0 5.5
- - -
[4.33] [7.87] [5.94] [3,92] [7.09] [6.65] [5.59] [0.22]
1-8
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Chapter 1 Introduction|C200 Series
Frame A0
VFD004CB21A-21M; VFD004CB23A-21M; VFD007CB21A-21M; VFD007CB23A-21M;
VFD007CB43A-21M; VFD015CB43A-21M;
VFD015CB23A-21M (Fan Module included)
Unit: mm [inch]
W H D W1 H1 D1 S1 Φ1 Φ2 Φ3
110.0 200.0 160.0 99.6 180.0 151.0 5.5 - - -
[4.33] [7.87] [6.30] [3,92] [7.09] [5.94] [0.22]
1-9
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Chapter 1 Introduction|C200 Series
Frame A0
VFD015CB21A-21M; VFD022CB21A-21M; VFD022CB23A-21M; VFD037CB23A-21M;
VFD022CB43A-21M; VFD037CB43A-21M;
Unit: mm [inch]
W H D W1 H1 D1 S1 Φ1 Φ2 Φ3
110.0 200.0 151.0 99.6 180.0 142.0 5.5
- - -
[4.33] [7.87] [5.94] [3,92] [7.09] [5.59] [0.22]
1-10
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Chapter 1 Introduction|C200 Series
Frame A
VFD040CB43A-20; VFD055CB43A-20; VFD075CB43A-20;
VFD040CB43A-21; VFD055CB43A-21; VFD075CB43A-21
Unit: mm [inch]
W H D W1 H1 D1 S1 Φ1 Φ2 Φ3
130.0 250.0 179.0 116.0 236.0 170.0 6.2 22.2 34.0 28.0
[5.12] [9.84] [7.05] [4.57] [9.29] [6.69] [0.24] [0.87] [1.34] [1.10]
1-11
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Chapter 1 Introduction|C200 Series
Frame A
VFD040CB43A-21M; VFD055CB43A-21M; VFD075CB43A-21M;
Unit: mm [inch]
W H D W1 H1 D1 S1 Φ1 Φ2 Φ3
130.0 250.0 179.0 116.0 236.0 170.0 6.2 22.2 34.0 28.0
[5.12] [9.84] [7.05] [4.57] [9.29] [6.69] [0.24] [0.87] [1.34] [1.10]
1-12
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Chapter 1 Introduction|C200 Series
Digital Keypad
KPE-LE02
42.4 [1.67]
34.3 [1.35]
16.3 [0.64] 1.5 [0.06] 61.0 [2.40]
8.1 [0.32]
1-13
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Chapter 2 Installation|C200 Series
Chapter 2 Installation
; Prevent fiber particles, scraps of paper, shredded wood saw dust, metal particles, etc. from
adhereing to the heat sink
; Install the AC motor drive in a metal cabinet. When installing one drive below another one,
use a metal separation between the AC motor drives to prevent mutual heating and to
prevent the risk of fire accident.
; Install the AC motor drive in Pollution Degree 2 environments only: normallyl only
nonconductive pollution occurs and temporary conductivity caused by condensation is
expected.
The appearances shown in the following figures are for reference only.
Airflow direction: (Blue arrow) inflow (Red arrow) outflow
Single drive installation Side-by-side installation
2-1
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Chapter 2 Installation|C200 Series
2-2
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Chapter 2 Installation|C200 Series
NOT E
※ The mounting clearances stated in the figure is for installing the drive in an
open area. To install the drive in a confined space (such as cabinet or
electric box), please follow the following three rules: (1) Keep the minimum
mounting clearances. (2) Install a ventilation equipment or an air
conditioner to keep surrounding temperature lower than operation
temperature. (3) Refer to parameter setting and set up Pr. 00-16, Pr.00-17,
and Pr. 06-55.
※ The following table shows the heat dissipation and the required air
volume when installing a single drive in a confined space. When
installing multiple drives, the required air volume shall be multiplied
by the number the drives.
※ Refer to the chart (Air flow rate for cooling) for ventilation equipment
design and selection.
※ Refer to the chart (Power dissipation) for air conditioner design and
selection.
2-3
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Chapter 2 Installation|C200 Series
100 100
Ratio(%)
Ratio(%)
90 90
80 80
70 70
Fc Fc
60 60 (kHz)
4 5 6 7 8 9 10 11 12 13 14 15 (kHz) 4 5 6 7 8 9 10 11 12 13 14 15
Set Pr.06-55 = 1 Set Pr.06-55 = 0 or 2
Set Pr.06-55 = 0 or 2 (40℃: UL open-type)
(50℃: UL open-type) (30℃: UL type1 or open type_size by size)
(40℃:UL type1 or open type_size by size)
230V 230V
VFD004~037CB23A VFD004~037CB23A
VFD004~022CB21A VFD004~022CB21A
110 110
100 100
Ratio(%)
90 90
Ratio(%)
80 80
70 70
60 60
50 50
Fc Fc
40 (kHz) 40 (kHz)
2 3 4 5 6 7 8 9 10 11 12 13 14 15 2 3 4 5 6 7 8 9 10 11 12 13 14 15
2-4
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Chapter 2 Installation|C200 Series
Ratio(%)
90 90
80 80
70 70
60 60
50 50
Fc Fc
40 (kHz) 40
2 3 4 5 6 7 8 9 10 11 12 13 14 15
(kHz)
2 3 4 5 6 7 8 9 10 11 12 13 14 15
90 90
Ratio(%)
80 80
70 70
60 60
50 50
Fc Fc
40 (kHz) 40 (kHz)
2 3 4 5 6 7 8 9 10 11 12 13 14 15 2 3 4 5 6 7 8 9 10 11 12 13 14 15
2-5
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Chapter 3 How to Select the Right AC Motor Drive|C200 Series
But by simply selecting the AC motor drive of the same capacity as the motor, user application
requirements cannot be met completely. Therefore, a designer should consider all the conditions,
including load type, load speed, load characteristic, operation method, rated output, rated speed, power
and the change of load capacity. The following table lists the factors you need to consider, depending on
your requirements.
Related Specification
Item Speed and
Overload Starting
torque Time ratings
capacity torque
characteristics
Friction load and weight load
Liquid (viscous) load
Load type ● ●
Inertia load
Load with power transmission
Constant torque
Load speed and Constant output
● ●
torque characteristics Decreasing torque
Decreasing output
Constant load
Shock load
Load characteristics Repetitive load ● ● ● ●
High starting torque
Low starting torque
Continuous operation, Short-time operation
● ●
Long-time operation at medium/low speeds
Maximum output current (instantaneous)
● ●
Constant output current (continuous)
Maximum frequency, Base frequency ●
Power supply transformer capacity or percentage
impedance
Voltage fluctuations and unbalance ● ●
Number of phases, single phase protection
Frequency
Mechanical friction, losses in wiring ● ●
Duty cycle modification ●
3-1
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Chapter 3 How to Select the Right AC Motor Drive|C200 Series
[n + ns(ks − 1)] = PC1⎢⎢⎢⎢1 + n (ks − 1)⎥⎥⎥⎥ ≤ 1.5 × the _ capacity _ of _ AC _ motor _ drive(kVA)
s
η × cos ϕ
T
⎣ n T ⎦
η × cos ϕ
T
⎣T n ⎦
2.2 The current should be less than the rated current of AC motor drive(A)
Acceleration time ≦60 seconds
⎡ ⎤
n + IM ⎢⎢⎣1+ nn ⎛⎜⎝⎜ kS −1⎞⎟⎠⎟ ⎥⎥⎦ ≤ 1.5 × the _ rated _ current _ of _ AC _ motor _ drive( A)
T
S
⎣ T ⎦
3-2
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Chapter 3 How to Select the Right AC Motor Drive|C200 Series
Symbol explanation
PM : Motor shaft output for load (kW)
η : Motor efficiency (normally, approx. 0.85)
cos ϕ : Motor power factor (normally, approx. 0.75)
VM : Motor rated voltage(V)
IM : Motor rated current(A), for commercial power
k : Correction factor calculated from current distortion factor (1.05-1.1, depending on PWM
method)
P C1 : Continuous motor capacity (kVA)
kS : Starting current/rated current of motor
nT : Number of motors in parallel
nS : Number of simultaneously started motors
GD 2 : Total inertia (GD2) calculated back to motor shaft (kg m2)
TL : Load torque
tA : Motor acceleration time
N : Motor speed
3-3
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Chapter 3 How to Select the Right AC Motor Drive|C200 Series
3-4
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Chapter 3 How to Select the Right AC Motor Drive|C200 Series
Load duty-cycle
25%
40% 60%
100
82
torque(%)
70
60
50 continuous
0 3 6 20 60
Frequency (Hz)
5. If 100% continuous torque is required at low speed, it may be necessary to use a special inverter
duty motor.
6. Motor dynamic balance and rotor endurance should be considered once the operating speed
exceeds the rated speed (60Hz) of a standard motor.
7. Motor torque characteristics vary when an AC Motor Drive instead of commercial power supply
drives the motor. Check the load torque characteristics of the machine to be connected.
8. Because of the high carrier frequency PWM control of the VFD series, pay attention to the
following motor vibration problems:
Resonant mechanical vibration: anti-vibration (damping) rubbers should be used to mount
equipment that runs at varying speed.
Motor imbalance: special care is required for operation at 50 or 60 Hz and higher frequency.
To avoid resonances, use the Skip frequencies.
9. The motor fan will be very noisy when the motor speed exceeds 50 or 60Hz.
Special motors:
1. Pole-changing (Dahlander) motor:
The rated current is differs from that of a standard motor. Please check before operation and
select the capacity of the AC motor drive carefully. When changing the pole number the motor
needs to be stopped first. If over current occurs during operation or regenerative voltage is too
high, please let the motor free run to stop (coast).
2. Submersible motor:
The rated current is higher than that of a standard motor. Please check before operation and
choose the capacity of the AC motor drive carefully. With long motor cable between AC motor
drive and motor, available motor torque is reduced.
3. Explosion-proof (Ex) motor:
Needs to be installed in a safe place and the wiring should comply with the (Ex) requirements.
Delta AC Motor Drives are not suitable for (Ex) areas with special precautions.
4. Gear reduction motor:
The lubricating method of reduction gearbox and speed range for continuous operation will be
3-5
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Chapter 3 How to Select the Right AC Motor Drive|C200 Series
different and depending on brand. The lubricating function for operating long time at low speed
and for high-speed operation needs to be considered carefully.
5. Synchronous motor:
The rated current and starting current are higher than for standard motors. Please check before
operation and choose the capacity of the AC motor drive carefully. When the AC motor drive
operates more than one motor, please pay attention to starting and changing the motor.
Motor torque
The torque characteristics of a motor operated by an AC motor drive and commercial mains power
are different.
Below you’ll find the torque-speed characteristics of a standard motor (4-pole, 15kW):
torque (%)
100 100
80
55 55
38 38
03 20 60 120 0 3 20 60 120
Frequency (Hz) Frequency (Hz)
Base freq.: 60Hz Base freq.: 60Hz
V/F for 220V/60Hz V/F for 220V/60Hz
180
140 60 seconds 150 60 seconds
130
torque (%)
torque (%)
100
85 100
68 80
45 45
35 35
03 20 50 120 0 20 50 120
3
Frequency (Hz) Frequency (Hz)
Base freq.: 50Hz Base freq.: 50Hz
V/F for 220V/50Hz V/F for 220V/50Hz
3-6
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Chapter 4 Wiring|C200 Series
Chapter 4 Wiring
After removing the front cover, examine if the power and control terminals are clearly noted. Please read
following precautions before wiring.
; Make sure that power is only applied to the R/L1, S/L2, T/L3 terminals. Failure to comply may result
in damage to the equipments. The voltage and current should lie within the range as indicated on
the nameplate (Chapter 1-1).
; All the units must be grounded directly to a common ground terminal to prevent lightning strike or
electric shock.
; Please make sure to fasten the screw of the main circuit terminals to prevent sparks which is made
by the loose screws due to vibration
; It is crucial to turn off the AC motor drive power before any wiring installation are
made. A charge may still remain in the DC bus capacitors with hazardous voltages
even if the power has been turned off therefore it is suggested for users to measure
DANGER
the remaining voltage before wiring. For your personnel saftery, please do not
perform any wiring before the voltage drops to a safe level < 25 Vdc. Wiring
installation with remaninig voltage condition may caus sparks and short circuit.
; Only qualified personnel familiar with AC motor drives is allowed to perform
installation, wiring and commissioning. Make sure the power is turned off before
wiring to prevent electric shock.
; When wiring, please choose the wires with specification that complys with local
regulation for your personnel safety.
; Check following items after finishing the wiring:
1. Are all connections correct?
2. Any loosen wires?
3. Any short-circuits between the terminals or to ground?
4-1
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Chapter 4 Wiring|C200 Series
Wiring Diagram
* It provides 1-phase/3-phase power Please refer to chapter 5 Main Circuit Terminals
4-2
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Chapter 4 Wiring|C200 Series
Figure 1
SINK(NPN)/SOURCE(PNP)Mode
MI1 MI1
MI2 MI2
~
~
MI8 MI8
+2 4V DCM
COM COM
MI1 MI1
MI2 MI2
~
~
MI8 MI8
+2 4V +2 4V
COM COM
DCM DCM
external power +24V internal c irc ui t internal c irc ui t
external power +24V
4-3
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Chapter 5 Main Circuit Terminals|C200 Series
Terminals Descriptions
AC line input terminals 3-phase;
R/L1, S/L2, T/L3
AC line input terminals 1-phase (R/L1, S/L2);
U/T1, V/T2, W/T3 AC drive output terminals for connecting 3-phase induction motor
DC+, DC- Connections for brake unit (VFDB series)
B1, B2 Connections for brake resistor (optional)
Earth connection, please comply with local regulations.
Terminals Descriptions
R/L1, S/L2, T/L3 AC line input terminals 3-phase
U/T1, V/T2, W/T3 AC drive output terminals for connecting 3-phase induction motor
Connections for DC reactor to improve the power factor. It needs to remove the
+1, +2
jumper for installation.
+1/DC+, -/DC- Connections for brake unit (VFDB series)
B1, B2 Connections for brake resistor (built-in)
Earth connection, please comply with local regulations.
5-1
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Chapter 5 Main Circuit Terminals|C200 Series
; Do not connect 3-phase model to one-phase power. R/L1, S/L2 and T/L3
has no phase-sequence requirement, it can be used upon random
selection.
; It is recommend to add a magnetic contactor (MC) to the power input
wiring to cut off power quickly and reduce malfunction when activating
the protection function of the AC motor drive. Both ends of the MC
should have an R-C surge absorber.
; Fasten the screws in the main circuit terminal to prevent sparks condition
made by the loose screws due to vibration.
; Please use voltage and current within the specification.
; When using a general GFCI (Ground Fault Circuit Interrupter), select a
current sensor with sensitivity of 200mA or above and not less than
0.1-second operation time to avoid nuisance tripping.
; Please use the shield wire or tube for the power wiring and ground the
two ends of the shield wire or tube.
; Do NOT run/stop AC motor drives by turning the power ON/OFF.
Run/stop AC motor drives by RUN/STOP command via control terminals
or keypad. If you still need to run/stop AC motor drives by turning power
ON/OFF, it is recommended to do so only ONCE per hour.
Output terminals for main circuit
; When it needs to install the filter at the output side of terminals U/T1,
V/T2, W/T3 on the AC motor drive. Please use inductance filter. Do not
use phase-compensation capacitors or L-C (Inductance-Capacitance) or
R-C (Resistance-Capacitance), unless approved by Delta.
; DO NOT connect phase-compensation capacitors or surge absorbers at
the output terminals of AC motor drives.
; Use well-insulated motor, suitable for inverter operation.
Terminals for connecting DC reactor, external brake resistor, external
brake resistor and DC circuit
; This is the terminals used to connect the DC reactor to improve the
power factor. For the factory setting, it connects the short-circuit object.
Please remove this short-circuit object before connecting to the DC
reactor.
DC reactor (optional)
+1/DC+ +2
; When the AC Motor Drive is connected directly to a large-capacity power
transformer (600kVA or above) or when a phase lead capacitor is
switched, excess peak currents may occur in the power input circuit due
to the load changes and the converter section may be damaged. To
5-2
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Chapter 5 Main Circuit Terminals|C200 Series
B1 B2
; The external brake resistor should connect to the terminals (B1, B2) of
AC motor drives.
; For those models without built-in brake resistor, please connect external
brake unit and brake resistor (both of them are optional) to increase
brake torque.
; DC+ and DC- are connected by common DC bus, please refer to
Chapter 5-1(Main Circuit Terminal) for the wiring terminal specification
and the wire gauge information.
; Please refer to the VFDB manual for more information on wire gauge
when installing the brake unit.
5-3
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Chapter 5 Main Circuit Terminals|C200 Series
(600V, YDPU2).
Figure 1 Figure 2
5-4
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Chapter 5 Main Circuit Terminals|C200 Series
Figure 1 Figure 2
5-5
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Chapter 6 Control Terminals|C200 Series
6-1
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Chapter 6 Control Terminals|C200 Series
3. Put back the cover then fasten tightly the screw. Screw torque (M3): 6-8Kg-cm(5.2-6.9lb-in.)
AVI OPEN
2
AFM1 AUI ACI AVI DFM1 +24V COM FWD MI1 MI3 MI5 MI7 SG-
AFM2 +10V ACM DFM2 DCM DCM REV MI2 MI4 MI6 MI8 SG+
Frame A
0-20mA ON
4-20mA A
RA1 RB1 RC1 RA2 RC2
0-10V 2
ACI AVI
AFM1 AUI ACI AVI DFM1 +24V COM FWD MI1 MI3 MI5 MI7 SG-
B
120Ω
485
AFM2 +10V ACM DFM2 DCM DCM REV MI2 MI4 MI6 MI8 SG+ OPEN
setting of
terminal resistor
6-2
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Chapter 6 Control Terminals|C200 Series
Wiring precautions:
Reserves 5mm and properly install the wire into the terminal; fasten the installation by a
slotted screwdriver. If the wire is stripped, sort the wire before install into the terminal.
Flathead screwdriver: blade width 3.5mm, tip thickness 0.6mm
In the figure above, the factory setting for S1-SCM is short circuit. The factory setting for
+24V-COM is short circuit and SINK mode (NPN); please refer to Chapter 4 Wiring for more
detail.
Terminals Terminal Function Factory Setting (NPN mode)
Digital control signal common +24V±5% 100mA
+24V
(Source)
Digital control signal common Common for multi-function input terminals
COM
(Sink)
FWD-DCM:
FWD Forward-Stop command ONÎ forward running
OFFÎ deceleration to stop
REV-DCM:
REV Reverse-Stop command ONÎ reverse running
OFFÎ deceleration to stop
Refer to parameters 02-01~02-08 to program the
MI1
multi-function inputs MI1~MI8.
~ Multi-function input 1~6
ON: the activation current is 6.5mA≧11Vdc
MI6
OFF: leakage current tolerance is 10μA≦11Vdc
MI7 It can be a multi input option for Pr02-01 ~ 02-08. It
~ Multi-function input 7~8 can also be used as a PG function. For more
MI8 information on PG function, see page 6-5.
Multi-function relay output 1 Resistive Load:
RA1
(N.O.) a 5A(N.O.)/3A(N.C.) 250VAC
Multi-function relay output 1 5A(N.O.)/3A(N.C.) 30VDC
RB1
(N.C.) b
Inductive Load (COS 0.4):
RC1 Multi-function relay common 1 2.0A(N.O.)/1.2A(N.C.) 250VAC
Multi-function relay output 2 2.0A(N.O.)/1.2A(N.C.) 30VDC
RA2
(N.O.) a
It is used to output each monitor signal, such as drive
RC2 Multi-function relay common 2 is in operation, frequency attained or overload
indication.
Digital frequency meter 1 The AC motor drive releases various monitor signals,
such as drive in operation, frequency attained and
(when Pr.02-21=0, DFM1 is the setting of overload indication, via transistor (open collector).
DFM1
Pr.02-16)
Regard the pulse voltage as the output monitor signal
(When Pr.02-21≧1, DM1 is the pulse output.)
Duty-cycle: 50%
Digital frequency meter 2 Min. load impedance: 1kΩ/100pf
(When Pr.02-55 = 0, DFM2 is the setting value
Max. current: 30mA
DFM2 Max. voltage: 30Vdc
of Pr.02-17.)
DFM1 M ulti-function output
(When Pr.02-55≧1, DFM2 is the pulse output) frequency term inals
30V/30m A 33kHz
DFM2
DCM Digital frequency signal common
DCM
6-3
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Chapter 6 Control Terminals|C200 Series
; If the analog input signals are affected by noise from the AC motor drive, please connect a
capacitor and ferrite core as indicated in the following diagram.
6-4
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Chapter 6 Control Terminals|C200 Series
AVI/ACI/AUI
C
AC M
ferrite core
Wind each wires 3 times or more around the core
Digital inputs (FWD, REV, MI1~MI8, COM)
; When using contacts or switches to control the digital inputs, please use high quality
components to avoid contact bounce.
PG Function Explanation
1. When C200 is running at speed mode, it uses external terminal MI7~MI8 as PG connection
function terminal.
2. C200 uses encoder, open collector of only 24Vdc. The maximum cable length of encoder is 30m.
For example: Delta’s encoder (ES3-06CN6941).
3. For External terminal MI7~MI8, their the minimum working voltage is 21Vdc, maximum
input/output frequency is 33kHz. Refer to the formula below:
Maximum output rotation speed (rpm) /60*PG ≤33.000Hz
Maximum output rotation speed (rpm)=(120*frequency/motor pole number)
For example: Set up PG function to be 600pulse, pole number to be 4 and the maximum rotation
frequency is 60Hz.
The maximum rotation speed(rpm)=( 120*60)/4=1800rpm
1800/60*600=18000Hz
4. Set up Pr10-01~ 10-04 before using PG function. Its wiring diagram is shown as below:
Sink Mode Inter nal Power Supply(+24Vdc)
Vcc +24V
COM
A/B
MI7/MI8
A/ B
GND DCM
6-5
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Chapter 6 Control Terminals|C200 Series
Vcc +24V
COM
A/B
MI7/MI8
A/ B
GND DCM
5. Since MI1~MI8 shares the same COM, therefore when using a PG card, MI~MI6 can only be
applied at SINK MODE.
6-6
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Chapter 7 Optional Accessories|C200 Series
7-1
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Chapter 7 Optional Accessories |C200 Series
230V 1-phase
Applicable 1 2
* 125%Braking Torque 10%ED * Max. Brake Torque
Motor
Total
Braking *3Braking Resistor Resistor value Max. Total
Braking Min. Resistor Peak Power
HP kW Torque series for each Brake spec. for each Braking
Current Value (Ω) (kW)
(kg-m) Unit AC motor Drive Current (A)
(A)
0.5 0.4 0.27 BR080W200*1 80W200Ω 1.9 63.3 6 2.3
1 0.75 0.51 BR080W200*1 80W200Ω 1.9 63.3 6 2.3
2 1.5 1.0 BR200W091*1 200W91Ω 4.2 47.5 8 3.0
3 2.2 1.5 BR300W070*1 300W70Ω 5.4 38.0 10 3.8
230V 3-phase
Applicable 1 2
* 125%Braking Torque 10%ED * Max. Brake Torque
Motor
3 Total
Braking * Braking Resistor Resistor value Max. Total
Braking Min. Resistor Peak Power
HP kW Torque series for each Brake spec. for each Braking
Current Value (Ω) (kW)
(kg-m) Unit AC motor Drive Current (A)
(A)
0.5 0.4 0.27 BR080W200*1 80W200Ω 1.9 63.3 6 2.3
1 0.75 0.51 BR080W200*1 80W200Ω 1.9 63.3 6 2.3
2 1.5 1.0 BR200W091*1 200W91Ω 4.2 47.5 8 3.0
3 2.2 1.5 BR300W070*1 300W70Ω 5.4 38.0 10 3.8
5 3.7 2.5 BR400W040*1 400W40Ω 9.5 19.0 20 7.6
460V
Applicable
*1 125%Braking Torque 10%ED *2 Max. Brake Torque
Motor
Total
Braking *3Braking Resistor Resistor value Max. Total
Braking Min. Resistor Peak Power
HP kW Torque series for each Brake spec. for each Braking
Current Value (Ω) (kW)
(kg-m) Unit AC motor Drive Current (A)
(A)
1 0.75 0.5 BR080W750*1 80W750Ω 1 190.0 4 3.0
2 1.5 1.0 BR200W360*1 200W360Ω 2.1 126.7 6 4.6
3 2.2 1.5 BR300W250*1 300W250Ω 3 108.6 7 5.3
5 3.7 2.5 BR400W150*1 400W150Ω 5.1 84.4 9 6.8
5.5 4.0 2.7 BR1K0W075*1 1000W75Ω 10.2 54.3 14 10.6
7.5 5.5 3.7 BR1K0W075*1 1000W75Ω 10.2 54.3 14 10.6
10 7.5 5.1 BR1K0W075*1 1000W75Ω 10.2 47.5 16 12.2
1
* Calculation for 125% brake toque: (kw)*125%*0.8; where 0.8 is motor efficiency.
Because there is a resistor limit of power consumption, the longest operation time for 10%ED is 10sec (on: 10sec/ off:
90sec).
*2 Please refer to the Brake Performance Curve for “Operation Duration & ED” vs. “Braking Current”.
*3 For heat dissipation, a resistor of 400W or lower should be fixed to the frame and maintain the surface temperature below
50℃; a resistor of 1000W and above should maintain the surface temperature below 350℃.
NOTE
7-2
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Chapter 7 Optional Accessories|C200 Series
For safety concern, install an overload relay (O.L) between the brake unit and the brake resistor in conjunction with the
magnetic contactor (MC) prior to the drive for abnormal protection. The purpose of installing the thermal overload relay is to
protect the brake resistor from damage due to frequent brake, or due to brake unit keeping operating resulted from unusual
high input voltage. Under such circumstance, just turn off the power to prevent damaging the brake resistor.
2. If damage to the drive or other equipment is due to the fact that the brake resistors and brake modules in use are not
provided by Delta, the warranty will be void.
3. Take into consideration the safety of the environment when installing the brake resistors. If the minimum resistance value is
to be utilized, consult local dealers for the calculation of Watt figures.
4. This chart is for normal usage; if the AC motor drive is applied for frequent braking, it is suggested to enlarge 2~3 times of
the Watts.
5. Thermal Relay:
Thermal relay selection is basing on its overload capability. A standard braking capacity for C2000 is 10%ED (Tripping
time=10s). The figure below is an example of 406V, 110kw AC motor drive. It requires the thermal relay to take 260%
overload capacity in 10s (Host starting) and the braking current is 126A. In this case, user should select a rated 50A
thermal relay. The property of each thermal relay may vary among different manufacturer, please carefully read
specification.
60
40
30
20
10
Second
Tripping tim e
8
6
4
3
2
1
0. 8
0. 6
0.4
0.3
0.8 1 1. 5 2 3 4 5 6 7 8 9 10 15
M ultiple of current setting xln (A)
7-3
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Chapter 7 Optional Accessories |C200 Series
3-phase 230V
Model Recommended non-fuse breaker (A)
VFD004CB23A-20/-21/-21M 10
VFD007CB23A-20/-21/-21M 15
VFD015CB23A-20/-21/-21M 20
VFD022CB23A-20/-21/-21M 30
VFD037CB23A-20/-21/-21M 40
3-phase 460V
Model Recommended non-fuse breaker (A)
VFD007CB43A-20/-21/-21M 10
VFD015CB43A-20/-21/-21M 10
VFD022CB43A-20/-21/-21M 15
VFD037CB43A-20/-21/-21M 20
VFD040CB43A-20/-21/-21M 20
VFD055CB43A-20/-21/-21M 30
VFD075CB43A-20/-21/-21M 40
7-4
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Chapter 7 Optional Accessories|C200 Series
7-5
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Chapter 7 Optional Accessories |C200 Series
AC Reactor
Application 1
When more than one AC motor drive is connected to the same mains power, and one of
them is ON during operation.
Problem: When applying power to one of the AC motor drive, the charge current of the
capacitors may cause voltage dip. The AC motor drive may be damaged when
over current occurs during operation.
7-6
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Chapter 7 Optional Accessories|C200 Series
Correct wiring:
M1 reactor
AC motor drive motor
M2
AC motor drive motor
Mn
AC motor drive motor
Application 2
Silicon rectifier and AC motor drive are connected to the same power.
Problem: Switching spikes will be generated when the silicon rectifier switches ON/OFF.
These spikes may damage the mains circuit.
Correct wiring:
silicon rectifier
power reactor
DC
AC motor drive
reactor
motor
Application 3
When the power supply capacity exceeds 10 times of the inverter capacity.
Problem: When the mains power capacity is too large, line impedance will be small and the
charge current will be too high. This may damage AC motor drive due to higher
rectifier temperature.
Correct wiring
large-capacity small-capacity
power reactor AC motor drive
motor
DC Reactor
460V DC Choke
Input Voltage kW HP DC Amps Inductance (mh)
4 5.5 23 2.7
460Vac 50/60Hz
5.5 7.5 25 2.47
3-Phase
7.5 10 30 2.1
7-7
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Chapter 7 Optional Accessories |C200 Series
Recommended Diagram A
Cable 2
Wire Size (mm ) Wiring Wind each wire around the core for 4 times. The reactor
type Qty.
Nominal Method must be placed at the AC motor drive output side as
(Note) AWG mm
2
2 close as possible.
(mm )
Single- Diagram
≤10 ≤5.3 ≤5.5 1
core A
Diagram
≤2 ≤33.6 ≤38 4
B
Diagram
≤12 ≤3.3 ≤3.5 1
Three- A
core Diagram
≤1 ≤42.4 ≤50 4
B
NOTE Diagram B
Put the wires/cables through the middle of the 4 cores
600V insulated cable wire
that lines in parallel.
1. The table above gives approximate wire size for
the zero phase reactors but the selection is
ultimately governed by the type and the
diameter of the cable, i.e. the cable diameter
must small enough to go through the center of
the zero phase reactor.
2. When wiring, do not goes through the earth
core. It only needs to pass through the motor
cable or the power cable.
3. When a long motor cable for output is used, a
zero phase reactor may be necessary to reduce
the radiated emission.
7-8
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Chapter 7 Optional Accessories|C200 Series
EMI Filter
Applicable
Model Reference Website
EMI Filter
VFD004CB21A-20/-21/-21M; http://www.dem-uk.com/roxburgh/products/industrial_emc_filters/single_ph
VFD007CB21A-20/-21/-21M; ase_industrial_motor_inverter_servo_drive_filters/
MDF25
VFD015CB21A-20/-21/-21M; MDF25 Single Phase Industrial Motor Drive Filters - High Performance 25
VFD022CB21A-20/-21/-21M; Amps
VFD004CB23A-20/-21/-21M; http://www.dem-uk.com/roxburgh/products/industrial_emc_filters/three_pha
VFD015CB23A-20/-21/-21M; KMF318 Three Phase Industrial Mains Filters - General Purpose 18 Amps
http://www.dem-uk.com/roxburgh/products/industrial_emc_filters/three_pha
VFD022CB23A-20/-21/-21M; se_industrial_mains_filters_high_performance/
KMF325A
VFD037CB23A-20/-21/-21M; KMF325A Three Phase Industrial Mains Filters - High Performance 25
Amps
http://www.schaffner.com/en/products/emcemi.html
VFD007CB43A-20/-21/-21M;
FN 3258-7-45 FN 3258 Ultra-compact EMC/EMI Filter for three-phase systems and motor
VFD015CB43A-20/-21/-21M;
drives
http://www.schaffner.com/en/products/emcemi.html
VFD022CB43A-20/-21/-21M;
FN 3258-16-45 FN 3258 Ultra-compact EMC/EMI Filter for three-phase systems and motor
VFD037CB43A-20/-21/-21M;
drives
VFD040CB43A-20/-21/-21M; http://www.schaffner.com/en/products/emcemi.html
VFD055CB43A-20/-21/-21M; FN 3258-30-47 FN 3258 Ultra-compact EMC/EMI Filter for three-phase systems and motor
VFD075CB43A-20/-21/-21M; drives
General precaution
1. EMI filter and AC motor drive should be installed on the same metal plate.
2. Please install AC motor drive on footprint EMI filter or install EMI filter as close as possible to the AC motor drive.
3. Please wire as short as possible.
4. Metal plate should be grounded.
5. The cover of EMI filter and AC motor drive or grounding should be fixed on the metal plate and the contact area
should be as large as possible.
7-9
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Chapter 7 Optional Accessories |C200 Series
Figure 1
Figure 2
7-10
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Chapter 7 Optional Accessories|C200 Series
NOTE
Never connect phase lead capacitors or surge absorbers to the output terminals of the AC motor drive.
If the length is too long, the stray capacitance between cables will increase and may cause leakage current. It
will activate the protection of over current, increase leakage current or not insure the correction of current
display. The worst case is that AC motor drive may damage.
If more than one motor is connected to the AC motor drive, the total wiring length is the sum of the wiring
length from AC motor drive to each motor.
For the 460V series AC motor drive, when an overload relay is installed between the drive and the motor to
protect motor over heating, the connecting cable must be shorter than 50m. However, an overload relay
malfunction may still occur. To prevent the malfunction, install an output reactor (optional) to the drive or lower
the carrier frequency setting (Pr.00-17).
NOTE
When a thermal O/L relay protected by motor is used between AC motor drive and motor, it may malfunction
(especially for 460V series), even if the length of motor cable is only 165 ft (50m) or less. To prevent it, please use
AC reactor and/or lower the carrier frequency (Pr. 00-17 PWM carrier frequency).
7-11
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Chapter 7 Optional Accessories |C200 Series
Digital Keypad
KPC-CC01 KPC-CE01
Communication Interface
RJ-45 (socket)、RS-485 interface;
Installation Method
Embedded type and can be put flat on the surface
of the control box. The front cover is water proof.
ESC Key
ESC key function is to leave current menu and return to the last menu. It is also functioned as a
return key in the sub-menu.
Press menu to return to main menu.
Menu content:
KPC-CE01 does not support function 5 ~13.
1. Detail Parameter 7. Quick/Simple Setup 13. PC Link
2. Copy Parameter 8. Display Setup
3. Keypad Locked 9. Time Setup
4. PLC Function 10. Language Setup
5. Copy PLC 11. Startup Menu
6. Fault Record 12. Main Page
Direction: Left/Right/Up/Down
1. In the numeric value setting mode, it is used to move the cursor and change the numeric
value.
2. In the menu/text selection mode, it is used for item selection.
7-12
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Chapter 7 Optional Accessories|C200 Series
Function Key
1. It has the factory setting function and the function can be set by the user. The present
factory setting: F1 is JOG function.
2. Other functions must be defined by TPEditor first. TPEditor software V1.30.6 is available
for download at:
http://www.delta.com.tw/ch/product/em/download/download_main.asp?act=3&pid=1&cid=1&tp
id=3
HAND ON Key
1. This key is executed by the parameter settings of the source of Hand frequency and hand
operation. The factory settings of both source of Hand frequency and hand operation are
the digital keypad.
2. Press HAND ON key at stop status, the setting will switch to hand frequency source and
hand operation source. Press HAND ON key at operation status, it stops the AC motor
drive first (display AHSP warning), and switch to hand frequency source and hand
operation source.
3. Successful mode switching for KPC-CE01, “H/A” LED will be on; for KPC-CC01, it will
display HAND mode/ AUTO mode on the screen.
1. This key is executed by the parameter settings of the source of AUTO frequency and
AUTO operation. The factory setting is the external terminal (source of operation is
4-20mA).
2. Press Auto key at stop status, the setting will switch to hand frequency source and hand
operation source. Press Auto key at operation status, it stops the AC motor drive first
(display AHSP warning), and switch to hand frequency source and hand operation source.
3. Successful mode switching for KPC-CE01, “H/A” LED will be off; for KPC-CC01, it will
display HAND mode/ AUTO mode on the screen
7-13
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Chapter 7 Optional Accessories |C200 Series
For MKC-KPPK model, user can choose wall mounting or embedded mounting, protection level is IP56.
Applicable to the digital keypads (KPC-CC01 & KPC-CE01).
Wall Mounting Embedded Mounting
accessories*1 accessories*2
7-14
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Chapter 7 Optional Accessories|C200 Series
Part # Description
CBC-K3FT 3 feet RJ45 extension lead (approximately 0.9m)
CBC-K5FT 5 feet RJ45 extension lead (approximately 1.5 m)
CBC-K7FT 7 feet RJ45 extension lead (approximately 2.1 m)
CBC-K10FT 10 feet RJ45 extension lead (approximately 3 m)
CBC-K16FT 16 feet RJ45 extension lead (approximately 4.9 m)
7-15
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Chapter 7 Optional Accessories |C200 Series
Fan Kit
Applicable Model
VFD015CB21A-20/-21/-21M; VFD022CB21A-20/-21/-21M; VFD022CB23A-20/-21/-21M;
VFD037CB23A-20/-21/-21M; VFD022CB43A-20/-21/-21M; VFD037CB43A-20/-21/-21M;
VFD040CB43A-20/-21/-21M; VFD055CB43A-20/-21/-21M;
Model『MKCB-A0FKM』 Model『MKCB-AFKM2』
This fan is a12Vdc ON/OFF control fan. This fan is a12Vdc ON/OFF control fan.
Applicable Model VFD015CB23A-20/-21/-21M; Applicable Model VFD075CB43A-20/-21/-21M;
Fan Removal
Frame A0
Applicable model
VFD015CB21A-20/-21/-21M; VFD022CB21A-20/-21/-21M; VFD022CB23A-20/-21/-21M;
VFD037CB23A-20/-21/-21M; VFD022CB43A-20/-21/-21M; VFD037CB43A-20/-21/-21M;
1. Press the tabs on both side of the fan to 2. Disconnect the power terminal before removing
successfully remove the fan. (The arrow) the fan. (As shown below.)
7-16
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Chapter 7 Optional Accessories|C200 Series
Frame A0
Applicable model
VFD015CB23A-20/-21/-21M;
1) Disconnect the power terminal before removing the fan. (As shown below.)
2) Loosen the two screws to remove the fan.
Frame A
Applicable model
VFD040CB43A-20/-21/-21M; VFD055CB43A-20/-21/-21M;VFD075CB43A-20/-21/-21M
1. Press the tabs on both side of the fan to 2. Disconnect the power terminal before removing
successfully remove the fan. (The arrow) the fan. (As shown below.)
7-17
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Chapter 7 Optional Accessories |C200 Series
1. Introduction
IFD6530 is a convenient RS-485-to-USB converter, which does not require external power-supply and
complex setting process. It supports baud rate from 75 to 115.2kbps and auto switching direction of data
transmission. In addition, it adopts RJ-45 in RS-485 connector for users to wire conveniently. And its tiny
dimension, handy use of plug-and-play and hot-swap provide more conveniences for connecting all
DELTA IABU products to your PC.
Applicable Models: All DELTA IABU products.
(Application & Dimension)
2. Specifications
RJ-45
PIN Description PIN Description
1 Reserved 5 SG+
2 Reserved 6 GND
3 GND 7 Reserved
4 SG- 8 +9V
7-18
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Chapter 7 Optional Accessories|C200 Series
In order to coordinate with the integrity of parallel communication between RS485 and CANopen,
Delta has introduced a multi-function communication expansion card.
When using MODBUS RS-485, set the terminal resistor’s PIN short of the last VFD at 120Ω. And the
terminal resistor’s PIN short of the rest of VFD need to be set at OPEN.
CANopen
When using CANopen, connect the MKCB-HUB1 of the last VFD to a terminal resistor.
1 2 3 ............... N END
電腦 ...............
IF D8500
...............
MK CB -HUB 0 1 Co n n e ct to th e te rm in a l
re s isto r in th e HUB 0 1
Terminal resistor
PIN Note
3~8 NC
7-19
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Chapter 7 Optional Accessories |C200 Series
L
Title Part No.
mm inch
1 TAP-CB03 500 ± 10 19 ± 0.4
2 TAP-CB04 1000± 10 39 ± 0.4
Dimensions
Unit: mm [inch]
7-20
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Chapter 8 Specification |C200 Series
Chapter 08 Specification
230V Series -1 Phase
Frame Size A0
*1
Model VFD -_ _ _CB21A-_ _ _ 004 007 015 022
Applicable Motor Output (kW) 0.4 0.75 1.5 2.2
Applicable Motor Output (HP) 0.5 1 2 3
Rated Output Capacity (kVA) 1.2 2.0 3.2 4.4
NORMAL
8-1
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460V Series
Frame Size A0 A
*1
Model VFD-_ _ _CB43A-_ _ _ 015 022 007 037 040 055 075
Applicable Motor Output (kW) 1.5 2.2 0.75 3.7 4.0 5.5 7.5
Applicable Motor Output (HP) 2 3 1 5 5.5 7.5 10
Rated Output Capacity (kVA) 3.2 4.8 2.4 7.2 8.4 10 14
NORMAL
General Specifications
Control Method 1: V/F, 2: SVC, 3: VF+PG, 4: FOC+PG,
Reach up to 150% or above at 0.5Hz.
Starting Torque
Under FOC+PG mode, starting torque can reach 150% at 0Hz.
Speed Response Ability 5Hz (vector control can reach up to 40Hz)
Torque Limit Max. 200% torque current
Torque Accuracy ±5%
Max. Output Frequency (Hz) normal duty: 0.00~600.00Hz; Heavy duty: 0.00 ~ 600.00 Hz
Control Characteristics
Frequency Output Accuracy Digital command:±0.01%, -10℃~+40℃, Analog command: ±0.1%, 25±10℃
Output Frequency Digital command:0.01Hz, Analog command: 0.03 X max. output
Resolution frequency/60 Hz (±11 bit)
Frequency Setting Signal +10V~-10,0~+10V,4~20mA,0-20mA
Accel./decel. Time 0.00~600.00 seconds or 0.0~6000.0 seconds
Torque control, Droop control, Speed/torque control switching, Feed forward
control, Zero-servo control, Momentary power loss ride thru, Speed search,
Over-torque detection, Torque limit, 16-step speed (max), Accel/decel time
switch, S-curve accel/decel, 3-wire sequence, Auto-Tuning (rotational,
Main control function stationary), Dwell, Cooling fan on/off switch, Slip compensation, Torque
compensation, JOG frequency, Frequency upper/lower limit settings, DC
injection braking at start/stop, High slip braking, PID control (with sleep
function),Energy saving control, MODOBUS communication (RS-485 RJ45,
max. 115.2 kbps), Fault restart, Parameter copy
Fan Control User Pr07-19 to control cooling fans.
Motor Protection Electronic thermal relay protection
For drive model 230V and 460V
Over-current Protection Over-current protection for 240% rated current
Characteristics
Over-voltage Protection 230: drive will stop when DC-BUS voltage exceeds 410V
460: drive will stop when DC-BUS voltage exceeds 820V
Over-temperature Protection Built-in temperature sensor
Stall Prevention Stall prevention during acceleration, deceleration and running independently
Grounding Leakage Current
Leakage current is higher than 50% of rated current of the AC motor drive
Protection
Certifications
GB/T12668-2
8-2
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Chapter 8 Specification |C200 Series
8-3
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Chapter 9 Digital Keypad|C200
4
STOP/RESET
Stops AC drive operation and reset the drive
ENTER
after fault occurred. Used to enter/modify programming
parameters
1 Status Display
Display the driver's current status.
2 LED Display
Indicates frequency, voltage, current, user
defined units and etc.
3 Potentiometer
For master Frequency setting.
Displays the actual output frequency at terminals U/T1, V/T2, and W/T3.
9-1
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Chapter 9 Digital Keypad|C200 Series
External Fault.
Display “End” for approximately 1 second if input has been accepted by pressing
key. After a parameter value has been set, the new value is automatically
stored in memory. To modify an entry, use the and keys.
NOTE
When the setting exceeds 99.99 for those numbers with 2 decimals (i.e. unit is 0.01), it will only display 1
decimal due to 4-digital display.
9-2
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Chapter 9 Digital Keypad|C200
Setting Mode
START
GO STA RT
NOTE: In the selection mode, press to set the parameters.
Setting parameters
or
NOTE:In the parameter setting mode, you can press to return the selecting mode.
To shift data
9-3
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Chapter 9 Digital Keypad|C200 Series
Reference Table for the 7-segment LED Display of the Digital Keypad
Number 0 1 2 3 4 5 6 7 8 9
English letter A a B C c D d E e F
English letter f G g H h I i J j K
English letter k L l M m N n O o P
English letter p Q q R r S s T t U
English letter u V v W w X x Y y Z
English letter z
Keypad Dimensions
Dimensions are in millimeter [inch]
34.3 [1.35]
9-4
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Chapter 10 Summary of Parameter Settings|C200 Series
00 Drive Parameters
NOTE IM: Induction Motor; PM: Permanent Magnet Motor
Factory
Parameter Explanation Settings
Setting
2:230V, 04kW
4: 230V, 1HP
5: 460 V, 1HP
6: 230V,2HP
7: 460 V, 2HP
8: 230V, 3HP
Identity Code of the AC Motor 9: 460 V, 3HP Read
00-00
Drive 10: 230V, 5HP only
11: 460 V, 5HP
12: 230V, 7.5HP
13: 460 V, 7.5HP
14: 230V, 10HP
15: 460V, 10HP
93: 460V, 5HP(4kW)
Display AC Motor Drive
00-01 Display by models Read
Rated Current
only
0: No function
1: Read only
5: Reset KWH display to 0
6: Reset PLC
7: Reset CANopen Index (Slave)
00-02 Parameter Reset 0
8: keypad lock
9: All parameters are reset to factory settings(base
frequency is 50Hz)
10: All parameters are reset to factory settings
(base frequency is 60Hz)
0: F (frequency command)
1: H (output frequency)
00-03 Start-up Display Selection 0
2: U (multi-function display, see Pr.00-04)
3: A (output current)
0: Display output current (A)
1: Display counter value (c)
2: Display actual output frequency (H.)
3: Display DC-BUS voltage (v)
4: Display output voltage (E)
5: Display output power angle (n)
Content of Multi-function 6: Display output power in kW (P)
00-04 3
Display 7: Display actual motor speed rpm (r)
8: Display estimate output torque % (t)
9: Reserved
10: Display PID feedback in % (b)
11: Display AVI in % (1.)
12: Display ACI in % (2.)
13: Display AUI in % (3.)
10-1
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Chapter 10 Summary of Parameter Settings|C200 Series
Factory
Parameter Explanation Settings
Setting
14: Display the temperature of IGBT in oC (i.)
15: Display the temperature of capacitance in oC
(c.)
16: The status of digital input (ON/OFF) (i)
17: The status of digital output (ON/OFF) (o)
18: Multi-step speed (S)
19: The corresponding CPU pin status of digital
input (d.)
20: The corresponding CPU pin status of digital
output (0.)
21~24: Reserved
25: Overload count (0.00~100.00%) (h.)
26: Ground Fault GFF (Unit :%)(G.)
27: DC Bus voltage ripple (Unit: Vdc) (r.)
28: Display PLC data D1043 (C)
29: Reserved
30: Display output of user defined (U)
31: Display Pr.00-05 user Gain(K)
32~34: Reserved
35: Control Mode display: 0= Speed control mode
(SPD), 1= torque control mode (TQR) (t.)
36: Present operating carrier frequency of drive
(Hz) (J.)
Coefficient Gain in Actual
00-05 0~160.00 0
Output Frequency
Read-only
00-06 Software Version #.#
Parameter Protection 0~65535
00-07
Password Input 0~3: the times of password attempts 0
0 ~ 65535
Parameter Protection 0: No password protection / password is entered
00-08 0
Password Setting correctly (Pr00-07)
1: Parameter is locked
00-09 Reserved
0: Speed mode
00-10 Control Mode 1: Reserved 0
2: Torque mode
0: VF (IM V/f control)
1: VFPG (IM V/f control+ Encoder)
2: SVC(IM Sensorless vector control)
3: FOCPG (IM FOC vector control+ encoder)
00-11 Control of Speed Mode 0
4: Reserved
5: Reserved
6: PM Sensorless (PM field oriented sensorless
vector control)
00-12 Reserved
0: TQCPG(IM Torque control + Encoder)
00-13 Torque Mode Control 1: Reserved 0
2: Reserved
00-14 Reserved
00-15 Reserved
0: Normal load
00-16 Load Selection 0
1: Heavy load
Normal load: 1-15HP 8
00-17 Carrier Frequency
Heavy load: 1-15HP 2
0: 3-phase Read
00-18 Single or Three-phase setting
1: 1-phase only
10-2
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Chapter 10 Summary of Parameter Settings|C200 Series
Factory
Parameter Explanation Settings
Setting
Bit 0: Control command by PLC force control Read
00-19 PLC Command Mask
Bit 1: Frequency command by PLC force control only
0: Digital keypad
1: RS-485 serial communication
2: External analog input (Pr.03-00)
Source of Master Frequency 3: External UP/DOWN terminal
00-20 0
Command(AUTO) 4: Reserved
5: Reserved
6: CANopen communication
7: Digital keypad potentiometer
0: Digital keypad
1: External terminals. Keypad STOP disabled.
Source of the Operation
00-21 2: RS-485 serial communication. Keypad STOP 0
Command (AUTO)
disabled.
3: CANopen communication card
0: Ramp to stop
00-22 Stop Method 0
1: Coast to stop
0: Enable forward/reverse
00-23 Control of Motor Direction 1: Reverse disable 0
2: Forward disable
Memory of Frequency Read
00-24 Read only
Command only
Bit 0~3: user define on decimal place
0000b: no decimal place
0001b: one decimal place
0010b: two decimal place
0011b: three decimal place
00-25 User Defined Characteristics 0
Bit 4~15: user define on unit
000xh: Hz
001xh: rpm
002xh: %
003xh: kg
0: Disable
0~65535 (when Pr.00-25 set to no decimal place)
00-26 Max. User Defined Value 0.0~6553.5 (when Pr.00-25 set to 1 decimal place) 0
0.0~655.35 (when Pr.00-25 set to 2 decimal place)
0.0~65.535 (when Pr.00-25 set to 3 decimal place)
Read
00-27 User Defined Value Read only
Only
00-28 Reserved
0: Standard HOA function
1: Switching Local/Remote, the drive stops
2: Swithcing Local/Remote, the drive runs as the
REMOTE setting for frequency and operation
status
00-29 LOCAL/REMOTE Selection 3: Swithcing Local/Remote, the drive runs as the
LOCAL setting for frequency and operation status
4: Swithcing Local/Remote, the drive runs as
LOCAL setting when switch to Local and runs as
REMOTE setting when switch to Remote for
frequency and operation status.
0: Digital keypad
1: RS-485 serial communication
2: External analog input (Pr.03-00)
Source of the Master
3: External UP/DOWN terminal
00-30 Frequency Command 0
4: Reserved
(HAND)
5: Reserved
6: CANopen communication
7: Digital keypad potentiometer
10-3
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Chapter 10 Summary of Parameter Settings|C200 Series
Factory
Parameter Explanation Settings
Setting
0: Digital keypad
1: External terminals. Keypad STOP disabled.
Source of the Operation
00-31 2: RS-485 serial communication. Keypad STOP 0
Command (HAND)
disabled.
3: CANopen communication card
Digital Keypad STOP 0: STOP key disable
00-32 0
Function 1: STOP key enable
00-33
~ Reserved
00-47
00-48 Display Filter Time (Current) 0.001~65.535 sec 0.100
00-49 Display Filter Time (Keypad) 0.001~65.535 sec 0.100
00-50 Software Version (date) Read only #####
10-4
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Chapter 10 Summary of Parameter Settings|C200 Series
01 Basic Parameters
Factory
Parameter Explanation Settings
Setting
60.00/
01-00 Max. Operation Frequency 0.00~600.00Hz
50.00
60.00/
01-01 Output Frequency of Motor 1 0.00~600.00Hz
50.00
230V: 0.0V~255.0V 200.0
01-02 Output Voltage of Motor 1
460V: 0.0V~510.0V 400.0
Mid-point Frequency 1 of
01-03 0.00~600.00Hz 3.00
Motor 1
230V: 0.0V~240.0V 11.0
01-04 Mid-point Voltage 1 of Motor 1
460V: 0.0V~480.0V 22.0
Mid-point Frequency 2 of
01-05 0.00~600.00Hz 0.50
Motor 1
230V: 0.0V~240.0V 2.0
01-06 Mid-point Voltage 2 of Motor 1
460V: 0.0V~480.0V 4.0
Min. Output Frequency of
01-07 0.00~600.00Hz 0.00
Motor 1
230V: 0.0V~240.0V 0.0
01-08 Min. Output Voltage of Motor 1
460V: 0.0V~480.0V 0.0
01-09 Start-Up Frequency 0.00~600.00Hz 0.50
01-10 Output Frequency Upper Limit 0.00~600.00Hz 600.00
01-11 Output Frequency Lower Limit 0.00~600.00Hz 0.00
Pr.01-45=0: 0.00~600.00 second 10.00
01-12 Accel. Time 1
Pr.01-45=1: 0.00~6000.0 second 10.0
Pr.01-45=0: 0.00~600.00 second 10.00
01-13 Decel Time 1
Pr.01-45=1: 0.00~6000.0 second 10.0
Pr.01-45=0: 0.00~600.00 second 10.00
01-14 Accel Time 2
Pr.01-45=1: 0.00~6000.0 second 10.0
Pr.01-45=0: 0.00~600.00 second 10.00
01-15 Decel Time 2
Pr.01-45=1: 0.00~6000.0 second 10.0
Pr.01-45=0: 0.00~600.00 second 10.00
01-16 Accel Time 3
Pr.01-45=1: 0.00~6000.0 second 10.0
Pr.01-45=0: 0.00~600.00 second 10.00
01-17 Decel Time 3
Pr.01-45=1: 0.00~6000.0 second 10.0
Pr.01-45=0: 0.00~600.00 second 10.00
01-18 Accel Time 4
Pr.01-45=1: 0.00~6000.0 second 10.0
Pr.01-45=0: 0.00~600.00 second 10.00
01-19 Decel Time 4
Pr.01-45=1: 0.00~6000.0 second 10.0
Pr.01-45=0: 0.00~600.00 second 10.00
01-20 JOG Acceleration Time
Pr.01-45=1: 0.00~6000.0 second 10.0
Pr.01-45=0: 0.00~600.00 second 10.00
01-21 JOG Deceleration Time
Pr.01-45=1: 0.00~6000.0 second 10.0
01-22 JOG Frequency 0.00~600.00Hz 6.00
01-23 1st/4th Accel/decel Frequency 0.00~600.00Hz 0.00
S-curve Acceleration Begin Pr.01-45=0: 0.00~25.00 second 0.20
01-24
Time 1 Pr.01-45=1: 0.0~250.0 second 0.2
S-curve Acceleration Arrival Pr.01-45=0: 0.00~25.00 second 0.20
01-25
Time 2 Pr.01-45=1: 0.0~250.0 second 0.2
S-curve Deceleration Begin Pr.01-45=0: 0.00~25.00 second 0.20
01-26
Time 1 Pr.01-45=1: 0.0~250.0 second 0.2
S-curve Deceleration Arrival Pr.01-45=0: 0.00~25.00 second 0.20
01-27
Time 2 Pr.01-45=1: 0.0~250.0 second 0.2
01-28 Skip Frequency 1 (upper limit) 0.00~600.00Hz 0.00
01-29 Skip Frequency 1 (lower limit) 0.00~600.00Hz 0.00
10-5
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Chapter 10 Summary of Parameter Settings|C200 Series
Factory
Parameter Explanation Settings
Setting
01-30 Skip Frequency 2 (upper limit) 0.00~600.00Hz 0.00
01-31 Skip Frequency 2 (lower limit) 0.00~600.00Hz 0.00
01-32 Skip Frequency 3 (upper limit) 0.00~600.00Hz 0.00
01-33 Skip Frequency 3 (lower limit) 0.00~600.00Hz 0.00
0: Output waiting
01-34 Zero-speed Mode 1: Zero-speed operation 0
2: Fmin (the 4th output frequency)
60.00/
01-35 Output Frequency of Motor 2 0.00~600.00Hz
50.00
230V: 0.0V~255.0V 200.0
01-36 Output Voltage of Motor 2
460V: 0.0V~510.0V 400.0
Mid-point Frequency 1 of
01-37 0.00~600.00Hz 3.00
Motor 2
230V: 0.0V~240.0V 11.0
01-38 Mid-point Voltage 1 of Motor 2
460V: 0.0V~480.0V 22.0
Mid-point Frequency 2 of
01-39 0.00~600.00Hz 0.50
Motor 2
230V: 0.0V~240.0V 2.0
01-40 Mid-point Voltage 2 of Motor 2
460V: 0.0V~480.0V 4.0
Min. Output Frequency of
01-41 0.00~600.00Hz 0.00
Motor 2
230V: 0.0V~240.0V 0.0
01-42 Min. Output Voltage of Motor 2
460V: 0.0V~480.0V 0.0
0: V/f curve determined by Pr.01-00~Pr.01-08
01-43 V/f Curve Selection 1: Curve to the power of 1.5 0
2: Curve to the power of 2
0: Linear accel. /decel.
1: Auto accel.; linear decel.
Optimal
2: Linear accel.; auto decel.
01-44 Acceleration/Deceleration 0
3: Auto accel./decel.
Setting
4: Linear, stall prevention by auto accel./decel. (limit
by Pr.01-12 to 01-21)
Time Unit for Accel. /Decel. 0: Unit: 0.01 sec
01-45 0
and S Curve 1: Unit: 0.1sec
Pr. 01-45=0: 0.00~600.00 sec
01-46 CANopen Quick Stop Time 1.00
Pr. 01-45=1: 0.0~6000.0 sec
10-6
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Chapter 10 Summary of Parameter Settings|C200 Series
10-7
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Chapter 10 Summary of Parameter Settings|C200 Series
Factory
Parameter Explanation Settings
Setting
50: Master dEb action input
51: Selection for PLC mode bit0
52: Selection for PLC mode bit1
53: Trigger CANopen quick stop
54~55: Reserved
56: Local/Remote Selection
0: up/down by the accel. /decel. time
02-09 UP/DOWN key mode 0
1: up/down constant speed (Pr.02-10)
Constant speed. The
02-10 Accel. /Decel. Speed of the 0.01~1.00Hz/ms 0.01
UP/DOWN Key
Digital Input Response
02-11 0.000~30.000 second 0.005
Time
Digital Input Mode
02-12 0000h~FFFFh (0: N.O.; 1: N.C.) 0000
Selection
Multi-function Output 1
02-13 0: No function 11
RY1
Multi-function Output 2
02-14 1: Operation Indication 1
RY2
Multi-function Output 3
(MO1)
02-16 2: Operation speed attained 0
(When Pr02-21 =0, this
parameter is enabled.)
Multi-function Output 4
(MO2)
02-17 3: Desired frequency attained 1 (Pr.02-22) 0
(When Pr02-55 =0, this
parameter is enabled.)
4: Desired frequency attained 2 (Pr.02-24) 0
5: Zero speed (Frequency command) 0
6: Zero speed, include STOP(Frequency command) 0
7: Over torque 1(Pr.06-06~06-08) 0
8: Over torque 2(Pr.06-09~06-11) 0
9: Drive is ready 0
10: Low voltage warning(LV)(Pr.06-00) 0
11: Malfunction indication 0
12: Mechanical brake release(Pr.02-32) 0
13: Overheat warning (Pr.06-15) 0
14: Software brake signal indication(Pr.07-00) 0
15: PID feedback error
16: Slip error (oSL)
17: Terminal count value attained, does not return to 0
(Pr.02-20)
18: Preliminary count value attained, returns to 0
(Pr.02-19)
19: Base Block
20: Warning output
21: Over voltage warning
22: Over-current stall prevention warning
23: Over-voltage stall prevention warning
24: Operation mode indication
25: Forward command
26: Reverse command
27: Output when current >= Pr.02-33 (>= 02-33)
28: Output when current <=Pr.02-33 (<= 02-33)
29: Output when frequency >= Pr.02-34 (>= 02-34)
10-8
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Chapter 10 Summary of Parameter Settings|C200 Series
Factory
Parameter Explanation Settings
Setting
30: Output when frequency <= Pr.02-34 (<= 02-34)
31: Y-connection for the motor coil
32: △-connection for the motor coil
33: Zero speed (actual output frequency)
34: Zero speed include stop(actual output frequency)
35: Error output selection 1(Pr.06-23)
36: Error output selection 2(Pr.06-24)
37: Error output selection 3(Pr.06-25)
38: Error output selection 4(Pr.06-26)
39: Reserved
40: Speed attained (including Stop)
41: Reserved
42: Crane function
43: Actual motor speed slower than Pr.02-47
44: Low current output (use with Pr.06-71~06-73)
45: Reserved
46: Master dEb warning output
47: Closed brake output
48: Reserved
49: Reserved
50: Output for CANopen control
51: Output for RS485
Multi-function output
02-18 0000h~FFFFh (0: N.O.; 1: N.C.) 0000
direction
Terminal counting value
02-19 0~65500 0
attained (returns to 0)
Preliminary counting value
02-20 0~65500 0
attained (not return to 0)
02-21 Digital Output Gain (DFM) 0~106 1
Desired Frequency 60.00/
02-22 0.00~600.00Hz
Attained 1 50.00
The Width of the Desired
02-23 0.00~600.00Hz 2.00
Frequency Attained 1
Desired Frequency 60.00/
02-24 0.00~600.00Hz
Attained 2 50.00
The Width of the Desired
02-25 0.00~600.00Hz 2.00
Frequency Attained 2
02-26
~ Reserved
02-31
02-32 Brake Delay Time 0.000~65.000 sec. 0.000
Output Current Level
02-33 Setting for Multi-function 0~100% 0
External Terminals
Output frequency setting
02-34 for multi-function output 0.00~600.00Hz(Motor speed when using PG Card) 0.00
terminal
External Operation Control 0: Disable
02-35 Selection after Reset and 0
1: Drive runs if run command exists after reset
Activate
02-36
~ Reserved
02-46
02-47 Zero-speed Level of Motor 0~65535 rpm 0
Max. Frequency of
02-48 0.00~600.00Hz 60.00
Resolution Switch
Switch the delay time of
02-49 0~65000 ms 0
Max. output frequency
Status of Multi-function Read
02-50 Monitor the status of multi-function input terminals
Input Terminal only
10-9
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Chapter 10 Summary of Parameter Settings|C200 Series
Factory
Parameter Explanation Settings
Setting
Status of Multi-function Read
02-51 Monitor the status of multi-function output terminals
Output Terminal only
Display External Output Read
02-52 Monitor the status of PLC input terminals
terminal occupied by PLC only
Display Analog Input Read
02-53 Monitor the status of PLC output terminals
Terminal occupied by PLC only
Display the Frequency
Read
02-54 Command Executed by Read only
only
External Terminal
02-55 Digital Output Gain (DFM2) 0~106 1
10-10
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Chapter 10 Summary of Parameter Settings|C200 Series
10-11
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Chapter 10 Summary of Parameter Settings|C200 Series
Factory
Parameter Explanation Settings
Setting
Multi-function Output 2
03-23 1: Frequency command (Hz) 0
(AFM2)
2: Motor speed (Hz)
3: Output current (rms)
4: Output voltage
5: DC Bus voltage
6: Power factor
7: Power
8: Output torque
9: AVI
10: ACI
11: AUI
12: Iq current
13: Iq feedback value
14: Id current
15: Id feedback value
16: Vq-axis voltage
17: Vd-axis voltage
18: Torque command
19: Reserved
20: CANopen analog output
21: RS485 analog output
22: Reserved
23: Constant voltage/current output
Gain of Analog Output 1
03-21 0~500.0% 100.0
(AFM1)
0: Absolute output voltage
Analog Output 1 when in
03-22 1: Reverse output 0V; Positive output 0-10V 0
REV Direction (AFM1)
2: Reverse output 5-0V; Positive output 5-10V
Gain of Analog Output 2
03-24 0~500.0% 100.0
(AFM2)
0: Absolute output voltage
1: Output 0V in REV direction; output 0-10V in FWD
Analog Output 2 when in
03-25 direction 0
REV Direction (AFM2)
2: Output 5-0V in REV direction; output 5-10V in FWD
direction
03-26 Reserved
03-27 Reserved
0: 0-10V
03-28 AVI Selection 1: 0-20mA 0
2: 4-20mA
0: 4-20mA
03-29 ACI Selection 1: 0-10V 0
2: 0-20mA
Status of PLC Output Read
03-30 Monitor the status of PLC output terminals
Terminal only
AFM2 0-20mA Output 0: 0-20mA Output
03-31 0
Selection 1: 4-20mA Output
AFM1 DC output setting
03-32 0.00~100.00% 0.00
level
AFM2 DC Output Setting
03-33 0.00~100.00% 0.00
Level
03-34
~ Reserved
03-38
keypad potentiometer 0: No function
03-39 0
Selection 1: Frequency command
keypad potentiometer
03-40 -100.0~100.0% 0.0
Input Bias
10-12
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Chapter 10 Summary of Parameter Settings|C200 Series
Factory
Parameter Explanation Settings
Setting
0: No bias
1: Lower than or equal to bias
keypad potentiometer
2: Greater than or equal to bias
03-41 Positive/negative Bias 0
3: The absolute value of the bias voltage while serving
Mode
as the center
4: Serve bias as the center
keypad potentiometer
03-42 -500.0~500.0% 100.0
Input Gain
keypad potentiometer
03-43 0~2.00 sec. 0.01
Analog Input Filter Time
03-44
~ Reserved
03-49
0: Regular Curve
1: 3 point curve of AVI
2: 3 point curve of ACI
Analog Input Curve 3: 3 point curve of AVI & ACI
03-50 0
Selection 4: 3 point curve of AUI
5: 3 point curve of AVI & AUI
6: 3 point curve of ACI & AUI
7: 3 point curve of AVI & ACI & AUI
Pr.03-28=0, 0.00~10.00V
03-51 AVI Low Point 0.00
Pr.03-28≠0, 0.00~20.00mA
03-52 AVI Proportional Low Point 0.00~100.00% 0.00
Pr.03-28=0, 0.00~10.00V
03-53 AVI Mid Point 5.00
Pr.03-28≠0, 0.00~20.00mA
03-54 AVI Proportional Mid Point 0.00~100.00% 50.00
Pr.03-28=0, 0.00~10.00V
03-55 AVI High Point 10.00
Pr.03-28≠0, 0.00~20.00mA
AVI Proportional High
03-56 0.00~100.00% 100.00
Point
Pr.03-29=1, 0.00~10.00V
03-57 ACI Low Point 4.00
Pr.03-29≠1, 0.00~20.00mA
ACI Proportional Low
03-58 0.00~100.00% 0.00
Point
Pr.03-29=1, 0.00~10.00V
03-59 ACI Mid Point 12.00
Pr.03-29≠1, 0.00~20.00mA
03-60 ACI Proportional Mid Point 0.00~100.00% 50.00
Pr.03-29=1, 0.00~10.00V
03-61 ACI High Point 20.00
Pr.03-29≠1, 0.00~20.00mA
ACI Proportional High
03-62 0.00~100.00% 100.00
Point
Positive AUI Voltage Low
03-63 0.00~10.00V 0.00
Point
Positive AUI Voltage
03-64 0.00~100.00% 0.00
Proportional Low Point
Positive AUI Voltage Mid
03-65 0.00~10.00V 5.00
Point
Positive AUI Voltage
03-66 0.00~100.00% 50.00
Proportional Mid Point
Positive AUI Voltage High
03-67 0.00~10.00V 10.00
Point
Positive AUI Voltage
03-68 0.00~100.00% 100.00
Proportional High Point
Negative AUI Voltage Low
03-69 0.00~ -10.00V 0.00
Point
10-13
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Chapter 10 Summary of Parameter Settings|C200 Series
Factory
Parameter Explanation Settings
Setting
Negative AUI Voltage
03-70 0.00~ -100.00% 0.00
Proportional Low Point
Negative AUI Voltage Mid
03-71 0.00~ -10.00V -5.00
Point
Negative AUI Voltage
03-72 0.00~ -100.00% -50.00
Proportional Mid Point
Negative AUI Voltage High
03-73 0.00~ -10.00V -10.00
Point
Negative AUI Voltage -100.0
03-74 0.00~ -100.00%
Proportional High Point 0
10-14
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Chapter 10 Summary of Parameter Settings|C200 Series
10-15
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Chapter 10 Summary of Parameter Settings|C200 Series
05 Motor Parameters
Factory
Parameter Explanation Settings
Setting
0: No function
1: Rolling test for induction motor(IM) (Rs, Rr, Lm, Lx,
no-load current)
2: Static test for induction motor(IM)
3: No function
05-00 Motor Auto Tuning 0
4: Rolling test for PM motor magnetic pole
5: Rolling test for PM motor
6: Rolling test for IM motor flux curve
12: FOC Sensorless inertia estimation
13: High frequency and blocked rotor test for PM motor
Full-load Current of 10~120% of drive’s rated current
05-01 #.##
Induction Motor 1(A)
Rated Power of Induction 0~655.35kW
05-02 #.##
Motor 1(kW)
Rated Speed of Induction 0~65535
05-03 1710
Motor 1 (rpm) 1710(60Hz 4poles) ; 1410(50Hz 4 poles)
Pole Number of Induction 2~20
05-04 4
Motor 1
No-load Current of 0~ Pr.05-01 factory setting
05-05 #.##
Induction Motor 1 (A)
Stator Resistance (Rs) of 0~65.535mΩ
05-06 0
Induction Motor 1
Rotor Resistance (Rr) of 0~65.535mΩ
05-07 0
Induction Motor 1
Magnetizing Inductance 0~6553.5mH
05-08 0
(Lm) of Induction Motor 1
Stator Inductance (Lx) of 0~6553.5mH
05-09 0
Induction Motor 1
05-10 ~
Reserved
05-12
Full-load Current of 10~120%
05-13 #.##
Induction Motor 2 (A)
Rated Power of Induction 0~655.35kW
05-14 #.##
Motor 2 (kW)
Rated Speed of Induction 0~65535
05-15 1710
Motor 2 (rpm) 1710(60Hz 4 poles) ; 1410(50Hz 4 poles)
Pole Number of Induction 2~20
05-16 4
Motor 2
No-load Current of 0~ Pr.05-01 factory setting
05-17 #.##
Induction Motor 2 (A)
Stator Resistance (Rs) of 0~65.535mΩ
05-18 0
Induction Motor 2
Rotor Resistance (Rr) of 0~65.535mΩ
05-19 0
Induction Motor 2
Magnetizing Inductance 0~6553.5mH
05-20 0
(Lm) of Induction Motor 2
Stator Inductance (Lx) of 0~6553.5mH
05-21 0
Induction Motor 2
Induction Motor 1/ 2 1: motor 1
05-22 1
Selection 2: motor 2
Frequency for 0.00~600.00Hz
Y-connection/△-connectio
05-23 60.00
n Switch of Induction
Motor
Y-connection/△-connectio 0: Disable
05-24 n Switch of Induction 1: Enable 0
Motor
Delay Time for 0.000~60.000 sec.
05-25 Y-connection/△-connectio 0.200
n Switch of Induction
10-16
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Chapter 10 Summary of Parameter Settings|C200 Series
Factory
Parameter Explanation Settings
Setting
Motor
Accumulative
05-26 Watt-second of Motor in Read only #.#
Low Word (W-sec)
Accumulative
05-27 Watt-second of Motor in Read only #.#
High Word (W-sec)
Accumulative Watt-hour of
05-28 Read only #.#
Motor (W-Hour)
Accumulative Watt-hour of
05-29 Motor in Low Word Read only #.#
(KW-Hour)
Accumulative Watt-hour of
05-30 Motor in High Word Read only #.#
(KW-Hour)
Accumulative Motor 00~1439
05-31 0
Operation Time (Min)
Accumulative Motor 00~65535
05-32 0
Operation Time (day)
Induction Motor and 0: Induction Motor
05-33 Permanent Magnet Motor 1: Permanent Magnet Motor 0
Selection
Full-load current of 0.00~655.35Amps
05-34 0.00
Permanent Magnet Motor
Rated Power of 0.00~655.35kW
05-35 0.00
Permanent Magnet Motor
Rated speed of 0~65535rpm
05-36 2000
Permanent Magnet Motor
Pole number of 0~65535
05-37 10
Permanent Magnet Motor
2
Inertia of Permanent 0.0~6553.5 kg.cm
05-38 0.0
Magnet Motor
Stator Resistance of PM 0.000~65.535Ω
05-39 0.000
Motor
Permanent Magnet Motor 0.00~655.35mH
05-40 0.000
Ld
Permanent Magnet Motor 0.00~655.35mH
05-41 0.000
Lq
PG Offset angle of PM 0.0~360.0°
05-42 0.0
Motor
05-43 Ke parameter of PM Motor 0~65535 (Unit: V/1000rpm) 0
10-17
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Chapter 10 Summary of Parameter Settings|C200 Series
06 Protection Parameters
Factory
Parameter Explanation Settings
Setting
230V: 150.0~220.0Vdc 180.0
06-00 Low Voltage Level
460V: 300.0~440.0Vdc 360.0
0: Disabled
Over-voltage Stall
06-01 230V: 0.0~450.0Vdc 380.0
Prevention
460V: 0.0~900.0Vdc 760.0
Selection for Over-voltage 0: Traditional over-voltage stall prevention
06-02 0
Stall Prevention 1: Smart over-voltage prevention
Over-current Stall
Normal Load: 0~160%(100%: drive’s rated current) 120
06-03 Prevention during
Heavy Load: 0~180%(100%: drive’s rated current) 150
Acceleration
Over-current Stall
Normal Load: 0~160%(100%: drive’s rated current) 120
06-04 Prevention during
Heavy Load: 0~180%(100%: drive’s rated current) 150
Operation
0: by current accel/decel time
Accel. /Decel. Time 1: by the 1st accel/decel time
Selection of Stall 2: by the 2nd accel/decel time
06-05 0
Prevention at Constant 3: by the 3rd accel/decel time
Speed 4: by the 4th accel/decel time
5: by auto accel/decel
0: No function
1: Over-torque detection during constant speed
operation, continue to operate after detection
2: Over-torque detection during constant speed
Over-torque Detection
06-06 operation, stop operation after detection 0
Selection (OT1)
3: Over-torque detection during operation, continue to
operate after detection
4: Over-torque detection during operation, stop
operation after detection
Over-torque Detection
06-07 10~250% (100%: drive’s rated current) 120
Level (OT1)
Over-torque Detection
06-08 0.0~60.0 sec. 0.1
Time (OT1)
0: No function
1: Over-torque detection during constant speed
operation, continue to operate after detection
2: Over-torque detection during constant speed
Over-torque Detection
06-09 operation, stop operation after detection 0
Selection (OT2)
3: Over-torque detection during operation, continue to
operation after detection
4: Over-torque detection during operation, stop
operation after detection
Over-torque Detection
06-10 10~250% (100%: drive’s rated current) 120
Level (OT2)
Over-torque Detection
06-11 0.1~60.0 sec. 0.1
Time (OT2)
06-12 Current Limit 0~250% (100%: drive’s rated current) 150
0: Inverter motor
Electronic Thermal Relay
06-13 1: Standard motor 2
Selection (Motor 1)
2: Disable
Electronic Thermal
06-14 30.0~600.0 sec. 60.0
Characteristic for Motor 1
Heat Sink Over-heat (OH)
06-15 0.0~110.0℃ 85.0
Warning
Stall Prevention Limit
06-16 0~100% (Pr.06-03, Pr.06-04) 50
Level
06-17 Present Fault Record 0: No fault record 0
Second Most Recent Fault
06-18 1: Over-current during acceleration (ocA) 0
Record
10-18
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Chapter 10 Summary of Parameter Settings|C200 Series
Factory
Parameter Explanation Settings
Setting
Third Most Recent Fault
06-19 2: Over-current during deceleration (ocd) 0
Record
Fourth Most Recent Fault
06-20 3: Over-current during constant speed(ocn) 0
Record
Fifth Most Recent Fault
06-21 4: Ground fault (GFF) 0
Record
Sixth Most Recent Fault
06-22 5: IGBT short-circuit (occ) 0
Record
6: Over-current at stop (ocS)
7: Over-voltage during acceleration (ovA)
8: Over-voltage during deceleration (ovd)
9: Over-voltage during constant speed (ovn)
10: Over-voltage at stop (ovS)
11: Low-voltage during acceleration (LvA)
12: Low-voltage during deceleration (Lvd)
13: Low-voltage during constant speed (Lvn)
14: Stop mid-low voltage (LvS)
15: Phase loss protection (OrP)
16: IGBT over-heat (oH1)
17: Capacitance over-heat (oH2)
18: tH1o (TH1 open: IGBT over-heat
protection error)
19: tH2o (TH2 open: capacitance over-heat
protection error)
20: Reserved
21: Drive over-load (oL)
22: Electronics thermal relay 1 (EoL1)
23: Electronics thermal relay 2 (EoL2)
24: Motor overheat (oH3) (PTC)
25: Reserved
26: Over-torque 1 (ot1)
27: Over-torque 2 (ot2)
28: Low current (uC)
29: Reserved
30: Memory write-in error (cF1)
31: Memory read-out error (cF2)
32: Reserved
33: U-phase current detection error (cd1)
34: V-phase current detection error (cd2)
35: W-phase current detection error (cd3)
36: Clamp current detection error (Hd0)
37: Over-current detection error (Hd1)
38: Over-voltage detection error (Hd2)
39: Ground current detection error (Hd3)
40: Auto tuning error (AUE)
41: PID feedback loss (AFE)
42: PG feedback error (PGF1)
43: PG feedback loss (PGF2)
44: PG feedback stall (PGF3)
45: PG slip error (PGF4)
46: Reserved
47: Reserved
48: Analog current input loss (ACE)
49: External fault input (EF)
50: Emergency stop (EF1)
51: External Base Block (bb)
52: Password error (PcodE)
53: Reserved
54: Communication error (CE1)
55: Communication error (CE2)
56: Communication error (CE3)
10-19
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Chapter 10 Summary of Parameter Settings|C200 Series
Factory
Parameter Explanation Settings
Setting
57: Communication error (CE4)
58: Communication Time-out (CE10)
59: Reserved
60: Brake transistor error (bF)
61: Y-connection/△-connection switch error (ydc)
62: Decel. Energy Backup Error (dEb)
63: Slip error (oSL)
64: Electromagnet switch error (ryF)
65 : PG Card Error (PGF5)
66-78: Reserved
79: U phase over current (Uocc)
80: V phase over current (Vocc)
81: W phase over current (Wocc)
82: U phase output phase loss (OPHL)
83: V phase output phase loss (OPHL)
84: W phase output phase loss (OPHL)
85~100: Reserved
101: CANopen software disconnect1 (CGdE)
102: CAN open software disconnect2 (CHbE)
103: CANopen synchronous error (CSYE)
104: CANopen hardware disconnect (CbFE)
105: CANopen index setting error (CIdE)
106: CANopen slave station number setting error
(CAdE)
107: CANopen index setting exceed limit (CFrE)
111: Internal communication overtime error(InrCOM)
06-23 Fault Output Option 1 0~65535(refer to bit table for fault code) 0
06-24 Fault Output Option 2 0~65535(refer to bit table for fault code) 0
06-25 Fault Output Option 3 0~65535(refer to bit table for fault code) 0
06-26 Fault Output Option 4 0~65535(refer to bit table for fault code) 0
0: Inverter motor
Electronic Thermal Relay
06-27 1: Standard motor 2
Selection 2 (Motor 2)
2: Disable
Electronic Thermal
06-28 30.0~600.0 sec 60.0
Characteristic for Motor 2
0: Warn and keep operation
1: Warn and ramp to stop
06-29 PTC Detection Selection 0
2: Warn and coast to stop
3: No warning
06-30 PTC Level 0.0~100.0% 50.0
Frequency Command for Read
06-31 0.00~655.35 Hz
Malfunction only
Output Frequency at Read
06-32 0.00~655.35 Hz
Malfunction only
Output Voltage at Read
06-33 0.0~6553.5 V
Malfunction only
Read
06-34 DC Voltage at Malfunction 0.0~6553.5 V
only
Output Current at Read
06-35 0.00~655.35 Amp
Malfunction only
IGBT Temperature at Read
06-36 0.0~6553.5 ℃
Malfunction only
Capacitance Temperature Read
06-37 0.0~6553.5 ℃
at Malfunction only
Motor Speed in rpm at Read
06-38 0~65535
Malfunction only
Torque Command at Read
06-39 0~65535
Malfunction only
10-20
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Chapter 10 Summary of Parameter Settings|C200 Series
Factory
Parameter Explanation Settings
Setting
Status of Multi-function Read
06-40 Input Terminal at 0000h~FFFFh only
Malfunction
Status of Multi-function Read
06-41 Output Terminal at 0000h~FFFFh only
Malfunction
Drive Status at Read
06-42 0000h~FFFFh
Malfunction only
06-43 Reserved
06-44 Reserved
0: Warn and keep operation
Treatment to Output
1: Warn and ramp to stop
06-45 Phase Loss Detection 3
2: Warn and coast to stop
(OPHL)
3: No warning
Deceleration Time of
06-46 0.000~65.535 sec 0.500
Output Phase Loss
06-47 Current Bandwidth 0.00~655.35% 1.00
DC Brake Time of Output
06-48 0.000~65.535sec 0.000
Phase Loss
06-49 Reserved
Time for Input Phase Loss
06-50 0.00~600.00 sec. 0.20
Detection
06-51 Reserved
Ripple of Input Phase 230V model: 0.0~160.0 Vdc 30.0
06-52
Loss 460V model: 0.0~320.0 Vdc /60.0
Treatment for the detected 0: warn and ramp to stop
06-53 0
Input Phase Loss (OrP) 1: warn and coast to stop
06-54 Reserved
0: constant rated current and limit carrier wave by load
current and temperature
1: constant carrier frequency and limit load current by
06-55 Derating Protection 0
setting carrier wave
2: constant rated current(same as setting 0), but close
current limit
06-56
~ Reserved
06-59
Software Detection GFF 0.0~6553.5 %
06-60 60.0
Current Level
Software Detection GFF 0.0~6553.5 %
06-61 0.10
Filter Time
230V series: 0.0~220.0 Vdc 180.0
06-62 Disable Level of dEb
460V series: 0.0~440.0 Vdc /360.0
Read
06-63 Fault Record 1 (Min) 0~64799 min
only
Read
06-64 Fault Record 2 (Min) 0~64799 min
only
Read
06-65 Fault Record 3 (Min) 0~64799 min
only
Read
06-66 Fault Record 4 (Min) 0~64799 min
only
Read
06-67 Fault Record 5 (Min) 0~64799 min
only
Read
06-68 Fault Record 6 (Min) 0~64799 min
only
Read
06-69 Days of operation Read only
only
10-21
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Chapter 10 Summary of Parameter Settings|C200 Series
Factory
Parameter Explanation Settings
Setting
Read
06-70 Minutes of operation Read only
only
06-71 Low Current Setting Level 0.0 ~ 6553.5 % 0.0
Low Current Detection
06-72 0.00 ~ 655.35sec 0.00
Time
0 : No function
1 : Warn and coast to stop
06-73 Treatment for low current 0
2 : Warn and ramp to stop by 2nd deceleration time
3 : Warn and operation continue
10-22
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Chapter 10 Summary of Parameter Settings|C200 Series
07 Special Parameters
Factory
Parameter Explanation Settings
Setting
230V: 350.0~450.0Vdc 380.0
07-00 Software Brake Level
460V: 700.0~900.0Vdc 760.0
07-01 DC Brake Current Level 0~100% 0
07-02 DC Brake Time at Start-up 0.0~60.0 sec. 0.0
07-03 DC Brake Time at Stop 0.0~60.0 sec. 0.0
Startup Frequency for DC
07-04 0.00~600.00Hz 0.00
Brake
07-05 Reserved
0: Stop operation
Restart after Momentary
07-06 1: Speed search for last frequency command 0
Power Loss
2: Speed search for minimum output frequency
Maximum Power Loss
07-07 0.1~20.0 sec. 2.0
Duration
07-08 Base Block Time 0.1~5.0 sec. 0.5
Current Limit for Speed
07-09 20~200% 50
Search
0: Stop operation
Treatment to Reboots After
07-10 1: Speed search starts with current speed 0
Fault
2: Speed search starts with minimum output frequency
07-11 Auto Restart After Fault 0~10 0
0: Disable
Speed Search during 1: Speed search for maximum output frequency
07-12 0
Start-up 2: Speed search for start-up motor frequency
3: Speed search for minimum output frequency
0: Disable
1: 1st decel. time
2: 2nd decel. time
Decel. Time to Momentary
07-13 3: 3rd decel. time 0
Power Loss
4: 4th decel. time
5: current decel. time
6: Auto decel. time
07-14 DEB Return Time 0.0~25.0sec 0.0
07-15 Dwell Time at Accel. 0.00 ~ 600.00sec 0.00
07-16 Dwell Frequency at Accel. 0.00 ~ 600.00Hz 0.00
07-17 Dwell Time at Decel. 0.00 ~ 600.00sec 0.00
07-18 Dwell Frequency at Decel. 0.00 ~ 600.00Hz 0.00
0: Fan always ON
1: 1 minute after the AC motor drive stops, fan will be
OFF
2: When the AC motor drive runs, the fan is ON. When
07-19 Fan Cooling Control 0
the AC motor drive stops, the fan is OFF
3: Fan turns ON when preliminary heat sink
o
temperature (around 60 C) is attained.
4: Fan always OFF
0: Coast stop
1: By deceleration Time 1
2: By deceleration Time 2
Emergency Stop (EF) &
07-20 3: By deceleration Time 3 0
Force to Stop Selection
4: By deceleration Time 4
5: System Deceleration
6: Automatic Deceleration
Auto Energy-saving 0: Disable
07-21 0
Operation 1: Enable
10-23
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Chapter 10 Summary of Parameter Settings|C200 Series
Factory
Parameter Explanation Settings
Setting
07-22 Energy-saving Gain 10~1000% 100
0: Enable AVR
Auto Voltage
07-23 1: Disable AVR 0
Regulation(AVR) Function
2: Disable AVR during deceleration
Filter Time of Torque
07-24 Command (V/F and SVC 0.001~10.000 sec 0.020
control mode)
Filter Time of Slip
07-25 Compensation (V/F and 0.001~10.000 sec 0.100
SVC control mode)
Torque Compensation
07-26 Gain (V/F and SVC control 0~10 0
mode)
Slip Compensation Gain
07-27 (V/F and SVC control 0.00~10.00 0.00
mode)
07-28 Reserved
0.0~100.0%
07-29 Slip Deviation Level 0
0: No detection
Detection Time of Slip
07-30 0.0~10.0 sec 1.0
Deviation
0: Warn and keep operation
1: Warn and ramp to stop
07-31 Over Slip Treatment 0
2: Warn and coast to stop
3: No warning
07-32 Motor Hunting Gain 0~10000 1000
Auto Reset Time for
07-33 0.0~6000.0 sec 60.0
Restart after Fault
10-24
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Chapter 10 Summary of Parameter Settings|C200 Series
10-25
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Chapter 10 Summary of Parameter Settings|C200 Series
09 Communication Parameters
Factory
Parameter Explanation Settings
Setting
COM1 Communication
09-00 1~254 1
Address
COM1 Transmission
09-01 4.8~115.2Kbps 19.2
Speed
0: Warn and continue operation
COM1 Transmission Fault 1: Warn and ramp to stop
09-02 3
Treatment 2: Warn and coast to stop
3: No warning and continue operation
09-03 COM1 Time-out Detection 0.0~100.0 sec. 0.0
0: 7N1 (ASCII)
1: 7N2 (ASCII)
2: 7E1 (ASCII)
3: 7O1 (ASCII)
4: 7E2 (ASCII)
5: 7O2 (ASCII)
6: 8N1 (ASCII)
7: 8N2 (ASCII)
COM1 Communication 8: 8E1 (ASCII)
09-04 13
Protocol 9: 8O1 (ASCII)
10: 8E2 (ASCII)
11: 8O2 (ASCII)
12: 8N1 (RTU)
13: 8N2 (RTU)
14: 8E1 (RTU)
15: 8O1 (RTU)
16: 8E2 (RTU)
17: 8O2 (RTU)
09-05
~ Reserved
09-08
09-09 Response Delay Time 0.0~200.0ms 2.0
Main Frequency of the
09-10 0.00~600.00Hz 60.00
Communication
09-11 Block Transfer 1 0~65535 0
09-12 Block Transfer 2 0~65535 0
09-13 Block Transfer 3 0~65535 0
09-14 Block Transfer 4 0~65535 0
09-15 Block Transfer 5 0~65535 0
09-16 Block Transfer 6 0~65535 0
09-17 Block Transfer 7 0~65535 0
09-18 Block Transfer 8 0~65535 0
09-19 Block Transfer 9 0~65535 0
09-20 Block Transfer 10 0~65535 0
09-21 Block Transfer 11 0~65535 0
09-22 Block Transfer 12 0~65535 0
09-23 Block Transfer 13 0~65535 0
09-24 Block Transfer 14 0~65535 0
09-25 Block Transfer 15 0~65535 0
09-26 Block Transfer 16 0~65535 0
10-26
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Chapter 10 Summary of Parameter Settings|C200 Series
Factory
Parameter Explanation Settings
Setting
09-27
~ Reserved
09-29
Communication Decoding 0: Decoding Method 1
09-30 1
Method 1: Decoding Methond 2
Internal Communication
09-31 0: Modbus 485 0
Protocol
09-32
~ Reserved
09-34
09-35 PLC Address 1~254 2
0: Disable
09-36 CANopen Slave Address 0
1~127
0: 1M
1: 500k
2: 250k
09-37 CANopen Speed 0
3: 125k
4: 100k (Delta only)
5: 50k
09-38 CANopen Frequency Gain 0.00 ~ 2.00 1.00
bit 0: CANopen Guarding Time out
bit 1: CANopen Heartbeat Time out
bit 2: CANopen SYNC Time out
09-39 CANopen Warning Record bit 3: CANopen SDO Time out 0
bit 4: CANopen SDO buffer overflow
bit 5: Can Bus Off
bit 6: Error protocol of CANopen
CANopen Decoding 0: Delta defined decoding method
09-40 1
Method 1: CANopen DS402 Standard
0: Node Reset State
1: Com Reset State
CANopen Communication 2: Boot up State Read
09-41
Status 3: Pre Operation State Only
4: Operation State
5: Stop State
0: Not ready for use state
1: Inhibit start state
2: Ready to switch on state
3: Switched on state Read
09-42 CANopen Control Status
4: Enable operation state Only
7: Quick Stop Active state
13: Err Reaction Activation state
14: Error state
bit0: reset address 20XX to 0.
bit1: reset address 264X to 0
09-43 Reset CANopen Index 65535
bit2: reset address 26AX to 0
bit3: reset address 60XX to 0
Read
09-44 CAN error state 0~65535
only
10-27
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Chapter 10 Summary of Parameter Settings|C200 Series
10-28
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Chapter 10 Summary of Parameter Settings|C200 Series
Factory
Parameter Explanation Settings
Setting
10-30 Reserved
10-31 Obeserver Gain 0~65535 600
PM Sensorless Obeserver
10-32 Bandwith for High Speed 0.00~600.00Hz 4.00
Zone
PM Sensorless Obeserver
10-33 Bandwith for Low Speed 0.00~600.00Hz 0.50
Zone
PM Sensorless Observer
10-34 0.00~655.35 1.00
Low-pass Filter Gain
Speed bandwidth
10-35 0.00~655.35Hz 10.00
switching
High/Low speed OBS
10-36 0.00~655.35Hz 2.00
bandwidth
PM Sensorless Control
10-37 0000h~FFFFh 0000
Word
Required Time for PM
10-38 Sensorless d-axis Current 0.0~6553.5 sec 1.0
Command Return to 0
PM Sensorless Frequency
10-39 Level to switch from V/F 0.00~600.00Hz 20.00
Mode to Detection Mode
PM Sensorless Frequency
Level to switch from
10-40 0.00~600.00Hz 20.00
Detection Mode to V/F
Mode
I/F mode, low pass-filter
10-41 0.0~6.0sec 0.2
time
Initial Angle Detection
10-42 0~10ms 0
Time
10-29
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Chapter 10 Summary of Parameter Settings|C200 Series
11 Advanced Parameters
NOTE IM: Induction Motor; PM: Permanent Magnet Motor
Factory
Parameter Explanation Settings
Setting
bit 0: Auto tuning for ASR and APR
bit 1: Inertia estimate (only for FOCPG mode)
11-00 System Control bit 2: Zero servo 0
bit 3: Dead Time compensation closed
Bit 7: Selection to save or not save the freqeuncy
Per Unit of System
11-01 1~65535(256=1PU) 400
Inertia
ASR1/ASR2 Switch
11-02 5.00~600.00Hz (0: Disable) 7.00
Frequency
ASR1 Low-speed
11-03 1~40Hz (IM)/ 1~100Hz (PM) 10
Bandwidth
ASR2 High-speed
11-04 1~40Hz (IM)/ 1~100Hz (PM) 10
Bandwidth
11-05 Zero-speed Bandwidth 1~40Hz (IM)/ 1~100Hz (PM) 10
11-06 ASR Control ( P) 1 0~40Hz (IM)/ 1~100Hz (PM) 10
11-07 ASR Control (I) 1 0.000~10.000 sec 0.100
11-08 ASR Control ( P) 2 0~40Hz (IM)/ 0~100Hz (PM) 10
11-09 ASR Control (I) 2 0.000~10.000 sec 0.100
11-10 P Gain of Zero Speed 0~40Hz (IM)/ 0~100Hz (PM) 10
11-11 I Gain of Zero Speed 0.000~10.000 sec 0.100
Gain for ASR Speed
11-12 0~100% 0
Feed Forward
11-13 PDFF Gain 0~200% 30
Low-pass Filter Time of
11-14 0.000~0.350 sec 0.008
ASR Output
11-15 Notch Filter Depth 0~20db 0
11-16 Notch Filter Frequency 0.00~200.00Hz 0.00
Forward Motor Torque
11-17 0~500% 500
Limit
Forward Regenerative
11-18 0~500% 500
Torque Limit
Reverse Motor Torque
11-19 0~500% 500
Limit
Reverse Regenerative
11-20 0~500% 500
Torque Limit
Gain Value of Flux
11-21 Weakening Curve for 0~200% 90
Motor 1
Gain Value of Flux
11-22 Weakening Curve for 0~200% 90
Motor 2
Speed Response of Flux
11-23 0~150% 65
Weakening Area
11-24
~ Reserved
11-26
11-27 Max. Torque Command 0~500% 100
0: No function
1: Analog signal input (Pr.03-00)
11-28 Source of Torque Offset 0
2: RS485 communication (Pr.11-29)
3: Control by external terminal (Pr.11-30~11-32)
10-30
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Chapter 10 Summary of Parameter Settings|C200 Series
Factory
Parameter Explanation Settings
Setting
11-29 Torque Offset Setting 0~100% 0.0
11-30 High Torque Offset 0~100% 30.0
11-31 Middle Torque Offset 0~100% 20.0
11-32 Low Torque Offset 0~100% 10.0
0: Digital keypad
Source of Torque 1: RS-485 communication (Pr.11-34)
11-33 0
Command 2: Analog input (Pr.03-00)
3: CANopen
11-34 Torque Command -100.0~+100.0% (Pr.11-27=100%) 0.0
Filter Time of Torque
11-35 0.000~1.000sec 0.000
Command
0: Set by Pr.11-37 (Forward speed limit) and Pr.11-38
(Reverse speed limit)
1: Set by Pr.11-37,11-38 and Pr.00-20 (Source of
11-36 Speed Limit Selection 0
Master Frequency Command)
2: Set by Pr.00-20 (Source of Master Frequency
Command).
11-37 Forward Speed Limit 0~120% 10
(torque mode)
11-38 Reverse Speed Limit 0~120% 10
(torque mode)
Zero Torque Command 0: Torque mode
11-39 0
Mode 1: Speed mode
10-31
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Chapter 11 Description of Parameter Settings|C200 Series
460V Series
Frame A0 A
kW 0.4 0.75 1.5 2.2 3.7 4.0 5.5 7.5
HP 0.5 1 2 3 5 5.5 7.5 10
Pr.00-00 3 5 7 9 11 93 13 15
Rated Current for Heavy Duty (A) 1.5 2.9 3.8 5.7 8.1 9.5 11 17
Rated Current for Normal Duty (A) 1.6 3.0 4.0 6.0 9.0 10.5 12 18
Parameter Reset
Factory Setting: 0
Settings 0: No Function
1: Write protection for parameters
5: Reset KWH display to 0
6: Reset PLC
7: Reset CANopen Index (Slave)
8: keypad lock
9: All parameters are reset to factory settings(base frequency is 50Hz)
10: All parameters are reset to factory settings (base frequency is 60Hz)
When it is set to 1, all parameters are read only except Pr.00-02~00-08 and it can be used with
password setting for password protection. It needs to set Pr.00-02 to 0 before changing other
parameter settings.
When it is set to 9 or 10: all parameters are reset to factory settings. If password is set in Pr.00-08,
11-1
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Chapter 11 Description of Parameter Settings|C200 Series
11-2
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Chapter 11 Description of Parameter Settings|C200 Series
20: The corresponding CPU pin status of digital output (0.) (refer to NOTE
3)
21~24: Reserved
25: Overload counting (0.00~100.00%) (o.) (Refer to Note 5)
26: GFF Ground Fault (Unit :%)(G.)
27: DC Bus voltage ripple (Unit: Vdc)(r.)
28: Display PLC register D1043 data (C) display in hexadecimal
29: Reserved
30 : Display output of user defined (U)
31 : H page x 00-05 Display user Gain(K)
32~34: Reserved
35: Control Mode display: 0= Speed control mode (SPD), 1= torque control
mode (TQR) (t.)
36: Present operating carrier frequency of drive (Hz) (J.)
NOTE
1. It can display negative values when setting analog input bias (Pr.03-03~03-10).
Example: assume that AVI input voltage is 0V, Pr.03-03 is 10.0% and Pr.03-07 is 4 (Serve bias as the
center).
2. Example: If REV, MI1 and MI6 are ON, the following table shows the status of the terminals.
0: OFF, 1: ON
Terminal MI8 MI7 MI6 MI5 MI4 MI3 MI2 MI1 REV FWD
Status 0 0 1 0 0 0 0 1 1 0
If REV, MI1 and MI6 are ON, the value is 0000 0000 1000 0110 in binary and 0086h in HEX. When
Pr.00-04 is set to “16” or “19”, it will display “0086h” with LED U is ON on the keypad KPC-CE01. The
setting 16 is the status of digital input by Pr.02-12 setting and the setting 19 is the corresponding CPU
pin status of digital input, the FWD/REV action and the three-wire MI are not controlled by Pr.02-12.
User can set to 16 to monitor digital input status and then set to 19 to check if the wire is normal.
3. Assume that RY1: Pr.02-13 is set to 9 (Drive ready). After applying the power to the AC motor drive, if
there is no other abnormal status, the contact will be ON. The display status will be shown as follows.
N.O. switch status:
Terminal Reserved Reserved Reserved DFM2 DFM1 Reserved RY2 RY1
Status 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1
At the meanwhile, if Pr.00-04 is set to 17 or 20, it will display in hexadecimal “0001h” with LED U is ON
on the keypad. The setting 17 is the status of digital output by Pr.02-18 setting and the setting 20 is the
corresponding CPU pin status of digital output. User can set 17 to monitor the digital output status and
then set to 20 to check if the wire is normal.
4. Setting 8: 100% means the motor rated torque. Motor rated torque = (motor rated power x60/2π)/motor
rated speed
5. If Pr.00-04 = 25, when display value reaches 100.00%, the drive will show “oL” as an overload warning.
11-3
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Chapter 11 Description of Parameter Settings|C200 Series
Software Version
Factory Setting: #.#
Settings Read only
Parameter Protection Password Input
Factory Setting: 0
Settings 1~9998, 10000~65535
Display 0~3 (the times of password attempts)
This parameter allows user to enter their password (which is set in Pr.00-08) to unlock the
parameter protection and to make changes to the parameter.
Pr.00-07 and Pr.00-08 are used to prevent the personal misoperation.
When the user have forgotten the password, clear the setting by input 9999 and press ENTER key,
then input 9999 again and press Enter within 10 seconds. After decoding, all the settings will
return to factory setting.
Parameter Protection Password Setting
Factory Setting: 0
Settings 1~9998, 10000~65535
0: No password protection / password is entered correctly (Pr00-07)
1: Password has been set
To set a password to protect your parameter settings.If the display shows 0, no password is set
nor password has been correctly entered in Pr.00-07. All parameters can then be changed,
including Pr.00-08. The first time you can set a password directly. After successful setting of
password the display will show 1. Be sure to write down the password for later use. To cancel the
parameter lock, set the parameter to 0 after inputting correct password into Pr. 00-07.
How to retrieve parameter protection after decoding by Pr.00-07:
Method 1: Re-enter the password to Pr.00-08 (input the password once).
Method 2: After reboots, password function will be recovered.
Method 3: Input any value into Pr.00-07 (Do not enter the password).
Password Decode Flow Chart
Pass word Setting Pass word Forgotten Pass word Incor rect
00-07 00-07
00-08
Displays 01 afte r Enter 9999 and press ENTER, 3 chan ces of p assword inpu t:
correct passwo rd is then ente r 9999 aga in withi n 10 Incorre ct p ass word 1: d isplays "01"
entered to Pr.00 -08. se cond s an d pre ss ENTER. Incorre ct p ass word 2: disp lays "02 "
Then all pa ra meters will re set Incorre ct p ass word 3: "Pcode "(blin king)
to factory se ttings.
11-4
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Chapter 11 Description of Parameter Settings|C200 Series
00-08
Password Set
00-07
Password Input
No
Re-apply po we r.
(The p assword is still valid)
Reserved
Control Mode
Factory Setting: 0
Settings 0: Speed mode
1: Reserved
2: Torque mode
This parameter determines the control mode of C200 series AC motor drive.
11-5
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Chapter 11 Description of Parameter Settings|C200 Series
Current Detection
When setting Pr.00-11 to 1, the V/F control + encoder diagram is shown as follows.
Fcmd Frequ en cy Frequ en cy
Cu rren t
D etec t
00-20 Ina cc ura cy Ina ccura cy
V/F IGBT M
table PWM
Vol tage Compe nsate
Vol tage
Co mm an d +
X
+
Vol tage Powe r
Filter cmd Slip Factor EN
com p. Irm s
Fcmd Time
07-24 07-26
When setting Pr.00-11 to 2, the sensorless vector control diagram is shown as follows.
DC BUS
Voltage DC BUS Voltage
D etection Protection
Current
Fcm d Detection
Pr00-20
V/F 2/ 3 AV R I GBT
t able e-> s 07-23
M
PWM
11-6
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Chapter 11 Description of Parameter Settings|C200 Series
Wr_cmd Iq command
Wr_est ACRq
10-35 θ_est
11-01~11-05
10-31~10-33
10-36
Iq feedback
dq2abc
10-34
Reserved
11-7
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Chapter 11 Description of Parameter Settings|C200 Series
no offset
by P r.03- 00
by P r.11- 29
by multi -function input
+
Tor que command +
11- 34
06-12 11-35
11- 36 or 00- 20
Speed li mit or command
s peed/torque
+
-
ASR mode switc h
11-00 B it 0=0 T orque l imit 11-14
11-06~11- 11 11- 17~ 11- 20
11-00 B it 0=1
11-03~11- 05
flux weakening curve
11-21/11-22 lq
command
Curr en t IGBT
M En cod er
con tro l &
ld command 10-00
PWM Motor 1 Motor1
~
01- 01 0 1-3 5
0 1-3 6
10-02
01- 02
05- 01 0 5-1 3
~ ~
Curre nt 05- 09 0 5-2 1
me asu re C urrent feedback
actual fr equency
Reserved
Reserved
Load Selection
Factory Setting: 0
Settings 0: Normal load
1: Heavy load
Normal duty: over load, rated output current 160% in 3 second. Please refer to Pr.00-17 for the
setting of carrier wave. Refer to chapter specifications or Pr.00-01 for the rated current.
Heavy duty: over load, rated output current 180% in 3 second. Please refer to Pr.00-17 for the
setting of carrier wave. Refer to chapter specifications or Pr.00-01 for the rated current.
Carrier Frequency
Factory setting: Table below
Settings 2~15kHz
This parameter determinates the PWM carrier frequency of the AC motor drive.
230V Series 460V Series
Models 1-Phase 0.4-2.2kW 3-Phase 0.4-3.7 kW 3-Phase 0.75-7.5kW
Setting Range 02~15kHz 02~15kHz
Normal Duty Factory Setting 8kHz 8kHz
Heavy Duty Factory Setting 2kHz 2kHz
11-8
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Chapter 11 Description of Parameter Settings|C200 Series
From the table, we see that the PWM carrier frequency has a significant influence on the
electromagnetic noise, AC motor drive heat dissipation, and motor acoustic noise. Therefore, if the
surrounding noise is greater than the motor noise, lower the carrier frequency is good to reduce the
temperature rise. Although it is quiet operation in the higher carrier frequency, the entire wiring and
interference resistance should be considerate.
When the carrier frequency is higher than the factory setting, it needs to protect by decreasing the
carrier frequency. See Pr.06-55 for the related setting and details.
11-9
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Chapter 11 Description of Parameter Settings|C200 Series
Stop Method
Factory Setting: 0
Settings 0: Ramp to stop
1: Coast to stop
The parameter determines how the motor is stopped when the AC motor drive receives a valid stop
command.
11-10
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Chapter 11 Description of Parameter Settings|C200 Series
Free running
Time to stop
Time
Oper atio n Stops acc ording t o
deceler ation time Oper atio n
Co mmand RUN STOP Co mmand RUN STOP
11-11
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Chapter 11 Description of Parameter Settings|C200 Series
NOTE
The drive will display as Pr.00-25 setting when Pr.00-25 is properly set and Pr.00-26 is not 0.
Reserved
LOCAL/REMOTE Selection
Factory Setting: 0
Settings 0: Standard HOA function
1: Switching Local/Remote, the drive stops
2: Switching Local/Remote, the drive runs as the REMOTE setting for
frequency and operation status
3: Switching Local/Remote, the drive runs as the LOCAL setting for frequency
and operation status
4: Switching Local/Remote, the drive runs as LOCAL setting when switch to
Local and runs as REMOTE setting when switch to Remote for frequency
and operation status.
The factory setting of Pr.00-29 is 0 (standard Hand-Off-Auto function). The AUTO frequency and
source of operation can be set by Pr.00-20 and Pr.00-21, and the HAND frequency and source of
operation can be set by Pr.00-30 and Pr.00-31. AUTO/HAND mode can be selected or switched by
using digital keypad (KPC-CC01) or setting multi-function input terminal MI= 41, 42.
11-12
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Chapter 11 Description of Parameter Settings|C200 Series
When external terminal MI is set to 41 and 42 (AUTO/HAND mode), the settings Pr.00-29=1, 2, 3,
4 will be disabled. The external terminal has the highest priority among all command, Pr.00-29 will
always function as Pr.00-29=0, standard HOA mode.
When Pr.00-29 is not set to 0, Local/Remote function is enabled, the top right corner of digital
keypad (KPC-CC01) will display “LOC” or “REM” (the display is available when KPC-CC01 is
installed with firmware version higher than version 1.021). The LOCAL frequency and source of
operation can be set by Pr.00-20 and Pr.00-21, and the REMOTE frequency and source of
operation can be set by Pr.00-30 and Pr.00-31. Local/Remote function can be selected or switched
by using digital keypad(KPC-CC01) or setting external terminal MI=56. The AUTO key of the digital
keypad now controls for the REMOTE function and HAND key now controls for the LOCAL
function.
When MI is set to 56 for LOC/REM selection, if Pr.00-29 is set to 0, then the external terminal is
disabled.
When MI is set to 56 for LOC/REM selection, if Pr.00-29 is not set to 0, the external terminal has
the highest priority of command and the ATUO/HAND keys will be disabled.
11-13
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Chapter 11 Description of Parameter Settings|C200 Series
external terminal is OFF, the drive won’t receive any operation signal and can’t execute JOG.
~ Reserved
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Chapter 11 Description of Parameter Settings|C200 Series
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Chapter 11 Description of Parameter Settings|C200 Series
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Chapter 11 Description of Parameter Settings|C200 Series
4th Output
Voltage Setting
F requenc y
01-08 01-07 01-09 01-05 01-03 01-01 01-00
4t h F req. Start Freq. 2nd F req.1st F req. Maximum Output
3rd Fr eq. F requenc y
V/f Curve
Common settings of V/f curve:
(1) General purpose
Motor s pec. 6 0Hz Motor s pec. 5 0Hz
V V
220 Pr. Settin g 220 Pr. Settin g
01-00 60.0 01-00 50.0
01-01 60.0 01-01 50.0
01-02 220 .0 01-02 220 .0
01-03 01-03
1.50 1.30
01-05 01-05
01-04 01-04
10 10.0 10 12.0
01-06 01-06
F F
1.5 60.0 01-07 1.50 1.3 50.0 01-07 1.30
01-08 10.0 01-08 12.0
11-17
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Chapter 11 Description of Parameter Settings|C200 Series
Start-Up Frequency
Factory Setting: 0.50
Settings 0.0~600.00Hz
When start frequency is higher than the min. output frequency, drives’ output will be from start
frequency to the setting frequency. Please refer to the following diagram for details.
Fcmd=frequency command,
Fstart=start frequency (Pr.01-09),
fstart=actual start frequency of drive,
Fmin=4th output frequency setting (Pr.01-07/Pr.01-41),
Flow=output frequency lower limit (Pr.01-11)
NO
F cmd>Fmi n by Pr.01- 34
Y ES
NO YES
F star t>Fmin fstart=F min F low= 0 H=Fc md
Hz
F cmd
Y ES
F min
fstart=F star t
F star t
Time
operation after NO
start-up NO
F low= 0 F cmd>Fl ow
NO
Y ES by
YES F cmd<Fmi n Pr.01- 34
by NO
F cmd>Fmi n
Pr.01- 34
NO
Y ES H=Fl ow
Y ES
H=Fc md
H =Fc md Hz
Hz Hz
60H z
60Hz H=Fl ow
H=Fc md1 F low F low> Fcmd1
F cmd
F cmd1 F cmd1>Flow & F cmd1 >F min
F star t F min F cmd1>Fmin F min
F min F cmd2 F cmd2
Time F low Time
Time by Pr.01- 34
by Pr.01- 34 F min>Fc md2
F cmd2>Flow &
F cmd2<Fmin
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Chapter 11 Description of Parameter Settings|C200 Series
0 1.02
Motor r ated voltage
(V bas e)
0 1.04
Mid-point voltage
(V mid)
0 1.06 F requenc y
Min. output voltage 01.0 5 01.0 3 0 1.01 0 1.00
setting (V min) Min. output Mid-point Motor r ated Max. oper ation
frequency frequency frequency frequency
(F min) (F mid) (F base)
This setting will limit the min. output frequency of drive. When drive frequency command or
feedback control frequency is lower than this setting, drive output frequency will limit by the lower
limit of frequency.
When the drive starts, it will operate from min. output frequency (Pr.01-05) and accelerate to the
setting frequency. It won’t limit by this parameter setting.
The setting of output frequency upper/lower limit is used to prevent personal disoperation, overheat
due to too low operation frequency or damage due to too high speed.
If the output frequency upper limit setting is 50Hz and frequency setting is 60Hz, max. output
frequency will be 50Hz.
If the output frequency lower limit setting is 10Hz and min. operation frequency setting (Pr.01-05) is
1.5Hz, it will operate by 10Hz when the frequency command is greater than Pr.01-05 and less than
10Hz. If the frequency command is less than Pr.01-05, the drive will be in ready status and no
output.
11-19
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Chapter 11 Description of Parameter Settings|C200 Series
If the frequency output upper limit is 60Hz and frequency setting is also 60Hz, it won’t exceed 60Hz
even after slip compensation. If the output frequency needs to exceed 60Hz, it can increase output
frequency upper limit or max. operation frequency.
Accel. Time 1
Decel. Time 1
Accel. Time 2
Decel. Time 2
Accel. Time 3
Decel. Time 3
Accel. Time 4
Decel. Time 4
JOG Acceleration Time
JOG Deceleration Time
Factory Setting: 10.00/10.0
Settings Pr.01-45=0: 0.00~600.00 seconds
Pr.01-45=1: 0.00~6000.00 seconds
The Acceleration Time is used to determine the time required for the AC motor drive to ramp from
0Hz to Maximum Output Frequency (Pr.01-00).
The Deceleration Time is used to determine the time require for the AC motor drive to decelerate
from the Maximum Output Frequency (Pr.01-00) down to 0Hz.
The Acceleration/Deceleration Time is invalid when using Pr.01-44 Optimal
Acceleration/Deceleration Setting.
The Acceleration/Deceleration Time 1, 2, 3, 4 are selected according to the Multi-function Input
Terminals settings. The factory settings are Accel./Decel. time 1.
When enabling torque limits and stalls prevention function, actual accel./decel. time will be longer
than the above action time.
Please note that it may trigger the protection function (Pr.06-03 Over-current Stall Prevention
during Acceleration or Pr.06-01 Over-voltage Stall Prevention) when the setting of accel./decel.
time is too short.
Please note that it may cause motor damage or drive protection enabled due to over current during
acceleration when the setting of acceleration time is too short.
Please note that it may cause motor damage or drive protection enabled due to over current during
deceleration or over-voltage when the setting of deceleration time is too short.
It can use suitable brake resistor (see Chapter 07 Accessories) to decelerate in a short time and
prevent over-voltage.
When enabling Pr.01-24~Pr.01-27, the actual accel./decel. time will be longer than the setting.
11-20
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Chapter 11 Description of Parameter Settings|C200 Series
Frequency
01-00
M ax. O utput
Frequency
Frequency
Setting
Time
accel. time decel. time
01-12,14,16,18,20 01-13,15,17,19,21
Accel./Decel. Time
JOG Frequency
Factory Setting: 6.00
Settings 0.00~600.00Hz
Both external terminal JOG and key “F1” on the keypad KPC-CC01 can be used. When the jog
command is ON, the AC motor drive will accelerate from 0Hz to jog frequency (Pr.01-22). When the
jog command is OFF, the AC motor drive will decelerate from Jog Frequency to zero. The Jog
Accel./Decel. time (Pr.01-20, Pr.01-21) is the time that accelerates from 0.0Hz to Pr.01-22 JOG
Frequency.
The JOG command can’t be executed when the AC motor drive is running. In the same way, when
the JOG command is executing, other operation commands are invalid except forward/reverse
commands and STOP key on the digital keypad.
It does not support JOG function in the optional keypad KPC-CE01.
11-21
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Chapter 11 Description of Parameter Settings|C200 Series
Time
01-24 01-27
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Chapter 11 Description of Parameter Settings|C200 Series
01- 28
01- 29 fa ll in g fr eq ue ncy
Inter nal 01- 30
frequency
01- 31
command
01- 32
01- 33 r ising fre qu en cy
0
F requenc y s etting command
Zero-speed Mode
Factory Setting: 0
Settings 0: Output waiting
1: Zero-speed operation
2: Fmin (4th output frequency setting)
When the frequency is less than Fmin (Pr.01-07 or Pr.01-41), it will operate by this parameter.
When it is set to 0, the AC motor drive will be in waiting mode without voltage output from terminals
U/V/W.
When setting 1, it will execute DC brake by Vmin. (Pr.01-08 and Pr.01-42) in V/f, VFPG and SVC
modes. It executes zero-speed operation in VFPG and FOCPG mode.
When it is set to 2, the AC motor drive will run by Fmin (Pr.01-07, Pr.01-41) and Vmin (Pr.01-08,
Pr.01-42) in V/f, VFPG, SVC and FOCPG modes.
In V/f, VFPG and SVC modes
fout
01-34=1 01-34=2
01-34=0
stop output
fmin
01-07 0H z 0Hz
stop w aiting for output 0H z oper ation
(D C br ake)
In FOCPG mode, when Pr.01-34 is set to 2, it will act according Pr.01-34 setting.
fout
01-34=1 01-34=2
01-34=0
fmin
01-07
frequency command frequency command
11-23
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Chapter 11 Description of Parameter Settings|C200 Series
When setting to 0, refer to Pr.01-01~01-08 for motor 1 V/f curve. For motor 2, please refer to
Pr.01-35~01-42.
When setting to 1 or 2, 2nd and 3rd voltage frequency setting are invalid.
If motor load is variable torque load (torque is in direct proportion to speed, such as the load of fan
or pump), it can decrease input voltage to reduce flux loss and iron loss of the motor at low speed
with low load torque to raise the entire efficiency.
When setting higher power V/f curve, it is lower torque at low frequency and is not suitable for rapid
acceleration/deceleration. It is recommended Not to use this parameter for the rapid
acceleration/deceleration.
01-02
Voltage %
100
90
80
70 1.5 power c urve
60
50
40
30
20
Square curve 01-01
10
F requenc y%
0 20 40 60 80 100
11-24
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Chapter 11 Description of Parameter Settings|C200 Series
Pr.01-12~01-19. If the accel./decel. time is too short, the actual accel./decel. time is greater than
the setting of accel./decel. time.
F requenc y
1
01-00
Max.
Fr equency 2
01- 07
Min. T ime
Fr equency accel. time decel. time
01-12 01-14 01-13 01-15
01-16 01-18 01-17 01-19
Acc el./Decel. Time
1 When P r. 01-44 is set to 0.
2 When P r. 01-44 is set to 3.
11-25
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Chapter 11 Description of Parameter Settings|C200 Series
1
FWD:("OPEN":STOP)
2-wire mode 2 RUN/STOP
("CLOSE":RUN)
RUN/STOP FWD/REV REV:("OPEN": FWD)
REV/FWD ("CLOSE": REV)
DCM
VFD-Cx
3 FWD "CLOSE":RUN
STOP RUN
3-wire operation control MI1 "OPEN":STOP
Multi-function Input Command 1 (MI1) (MI1= STOP command when in 3-wire operation
control)
Factory Setting: 1
Multi-function Input Command 2 (MI2)
Factory Setting: 2
Multi-function Input Command 3 (MI3)
Factory Setting: 3
Multi-function Input Command 4 (MI4)
Factory Setting: 4
Multi-function Input Command 5 (MI5)
Multi-function Input Command 6 (MI6)
Multi-function Input Command 7 (MI7)
Multi-function Input Command 8 (MI8)
Factory Setting: 0
Settings
0: no function
1: multi-step speed command 1/multi-step position command 1
2: multi-step speed command 2/multi-step position command 2
3: multi-step speed command 3/multi-step position command 3
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Chapter 11 Description of Parameter Settings|C200 Series
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Chapter 11 Description of Parameter Settings|C200 Series
6 JOG Command
0 1- 07
Min. o utp ut freq ue ncy
o f moto r 1
JO G a ccel. time JO G d ece l. ti me
0 1-20 01 -2 1
MIx-G ND ON O FF
Time
MIx- GND ON ON ON ON
O pe ra tio n ON O FF
co mman d
st nd
The 1 , 2 acceleration or The acceleration/deceleration time of the drive could be selected from
8
deceleration time selection this function or the digital status of the terminals; there are 4
rd th
The 3 , 4 acceleration or acceleration/deceleration speeds in total for selection.
9
deceleration time selection
External fault input terminal. It will decelerate by Pr.07-20 setting (it
10 EF Input (EF: External fault)
will have fault record when external fault occurs)
When this contact is ON, output of the drive will be cut off immediately,
External B.B. Input (Base
11 and the motor will be free run and display B.B. signal. Refer to
Block)
Pr.07-08 for details.
If this contact is ON, output of the drive will be cut off immediately, and
12 Output Stop the motor will then be free run. And once it is turned to OFF, the drive
will accelerate to the setting frequency.
11-28
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Chapter 11 Description of Parameter Settings|C200 Series
Ti me
MI x - GND ON O FF ON
O pe ra tio n
ON
co mmand
Before using this function, Pr.01-44 should be set to 01/02/03/04 first.
Cancel the setting of the
13 When this function is enabled, OFF is for auto mode and ON is for
optimal accel./decel. time
linear accel./decel.
Switch between drive settings 1 When the contact is ON: use motor 2 parameters. OFF: use motor 1
14
and 2 parameters.
When the contact is ON, the source of the frequency will force to be
Operation speed command AVI. (If the operation speed commands are set to AVI, ACI and AUI at
15
form AVI
the same time. The priority is AVI>ACI>AUI)
When the contact is ON, the source of the frequency will force to be
Operation speed command ACI. (If the operation speed commands are set to AVI, ACI and AUI at
16
form ACI
the same time. The priority is AVI>ACI>AUI)
When this function is enabled, the source of the frequency will force to
Operation speed command be AUI. (If the operation speed commands are set to AVI, ACI and AUI
17
form AUI
at the same time. The priority is AVI>ACI>AUI)
When the contact is ON, the drive will ramp to stop by Pr.07-20
18 Emergency Stop (07-20)
setting.
19 Digital Up command
When the contact is ON, the frequency will be increased and
decreased. If this function is constantly ON, the frequency will be
increased/decreased by Pr.02-09/Pr.02-10.
20 Digital Down command
21 PID function disabled When the contact is ON, the PID function is disabled.
When the contact is ON, it will clear current counter value and display
22 Clear counter
“0”. Only when this function is disabled, it will keep counting upward.
Input the counter value
The counter value will increase 1 once the contact is ON. It needs to
23 (multi-function input command
be used with Pr.02-19.
6)
When the contact is ON, the drive will execute forward Jog command.
When execute JOG command under torque mode, the drive will
24 FWD JOG command
automatically switch to speed mode; after JOG command is done, the
drive will return to torque mode.
When the contact is ON the drive will execute reverse Jog command.
When execute JOG command under torque mode, the drive will
25 REV JOG command
automatically switch to speed mode; after JOG command is done, the
drive will return to torque mode.
FOCPG/TQCPG mode When the contact is ON: TQCPG mode.
26
selection When the contact is OFF: FOCPG mode.
11-29
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Chapter 11 Description of Parameter Settings|C200 Series
Fr eq ue ncy
S etti ng
fr eq ue ncy
Ti me
MI x - GND ON OFF ON
Re set ON O FF
O pe ra tio n
ON
co mman d
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Chapter 11 Description of Parameter Settings|C200 Series
F requenc y c ommand
UP Ml1~15
T ime
DOWN Ml1~15
External ter minal ON OFF DCM
U P k ey VFD-Cx
Pr.02-09 set to 1: it will increase/decrease frequency command (F) by the setting of
acceleration/deceleration (Pr.01-12~01-19) and only be valid during operation.
11-31
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Chapter 11 Description of Parameter Settings|C200 Series
Fr eq ue ncy
Fr eq ue ncy
co mman d
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Chapter 11 Description of Parameter Settings|C200 Series
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Chapter 11 Description of Parameter Settings|C200 Series
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Chapter 11 Description of Parameter Settings|C200 Series
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Chapter 11 Description of Parameter Settings|C200 Series
Output Frequency
< Pr.02-34
RUN RUN
Mu lti-function Output
Ti me
MO=d47 02-32
48~49 Reserved
Output for CANopen
50 For CANopen communication output
control
51 Output for RS-485 For RS-485 output
Example: Crane Application
Output
Frequency
Freq. Co mma nd>02-34 Freq. com mand <02 -3 4
& output current >02 -3 3 or o utput current <02 -33
mu lti-function output
MO=42 (Acti ve whe n
Fco m>=02-3 4, ou tput
cu rren t>0 2-33 a nd ti me 02-32 02-32
>02-32)
Multi-function output
MO = 4 2
( Activate when 02-32
Fcmd >= 02-34 02-32 Brake Delay Time
output current > 02-33 Brake Delay Time
Time > 02-32)
Reserved
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Chapter 11 Description of Parameter Settings|C200 Series
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Chapter 11 Description of Parameter Settings|C200 Series
Fcmd=60Hz
02-23=40Hz 42Hz
02-24=2Hz 40Hz
38Hz
12Hz
02-21=10Hz 10Hz
02-22=2Hz 8Hz
02-13,
02-14,
02-36, =3
02-37,
02-13,
02-14, =4
02-36,
02-37,
~ Reserved
11-38
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Chapter 11 Description of Parameter Settings|C200 Series
A
frequ ency
comma nd
07-0 2 07 -0 3
DC b ra ke DC bra ke
time du ri ng time du ri ng
s tart-u p B=A stopping
Outp ut DC b ra ke DC b ra ke
freq uen cy
RUN STOP
RUN/STOP
If this parameter is used without DC brake, it will be invalid. Refer to the following operation timing.
zero A ze ro
frequency speed sp eed
co mma nd
B=A
output
frequency
RUN STOP
RUN/STOP
Multi-function output
(mec hani cal brake
relea se)
Pr.02-11 to 02-14=d12
11-39
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Chapter 11 Description of Parameter Settings|C200 Series
~ Reserved
a ctua l mo tor
sp ee d
0 2-47
MO =d 43
Ti me
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Chapter 11 Description of Parameter Settings|C200 Series
Settings 0.000~65000 ms
It is used to improve the unstable speed or unstable position due to the insufficient of analog
resolution. It needs to be used with external terminal (set to 43). After setting this parameter, it
needs to adjust the analog output resolution of controller simultaneously by this setting.
AUI +10V
Acc el./D ecel. time
01-12~01-19
AUI 0V
Max. output frequency
Max. output frequency
01-00
AUI - 10V 01-00
F requenc y
command
Output
Resolution switch R esolution sw itch
frequency
0Hz frequency frequency
Delay time for max . Delay time for max .
10-25 10-25
frequency switch frequency switch
Resolution ON
10-24 10-24
switch
MI=43
F or war d r unni ng Revers e running
For Example:
If Pr.02-50 displays 0034h (Hex), i.e. the value is 52, and 110100 (binary). It means MI1, MI3 and
MI4 are active.
Weights 2
5
2
4
2
3
2
2
2
1
2
0
0=O N
Bit 1 1 0 1 0 0 MI1 1=O FF
MI2 Settings
5 4 2
MI3 = bit5x 2 +bit4x2 +bit2x2
5 4 2
MI4 = 1x2 +1x2 + 1x2
=32+16+4 =52 NOTE
MI5 5 4
2 =322 =1 6
3
2 =8
2
2 =4
1 0
MI6 2 =2 2 =1
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Chapter 11 Description of Parameter Settings|C200 Series
Weights
4 3 2 1 0
2 2 2 2 2
Bit 4 3 2 1 0 Relay 1
0=ON Relay 2
1=OFF
NOTE Reserved
4 3
2 =16
2
2 =8
1 0
DFM1
2 =4 2 =2 2 =1
DFM2
Bit 9 8 7 6 5 4 3 2 1 0 FWD
REV
0=ON MI1
1=OFF MI2
MI3
MI4
MI5
MI6
MI7
MI8
For Example:
When Pr.02-52 displays 0034h(hex) and switching to 110100 (binary), it means MI1, MI3 and MI4
are used by PLC.
Weights 2 7 2 6 2 5 2 4 23 22 21 20 0: not used by PLC
B it 0 0 1 1 0 1 0 0 1: used by PLC
Mi1
MI2 Displays
5 4 2
= bit5x2 +bit4x2 +bit2x2
MI3 5 4 2
= 1x2 +1x2 +1x2
MI4 =32+16+4 =52
MI5
NOTE
MI6 7 6
2 =128 2 =64
MI7 5 4 3 2
MI8 2 =322 =16 2 =8 2 =4
1 0
2 =2 2 =1
For Example:
If the value of Pr.02-53 displays 0003h (Hex), it means RY1and RY2 are used by PLC.
11-42
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Chapter 11 Description of Parameter Settings|C200 Series
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Chapter 11 Description of Parameter Settings|C200 Series
03-00~02=10
Positive/negative torque limit
Reverse Forward
03-00~02=10
Positive/negative torque limit 03-00~02=9
Regenerative
torque limit
03-00~02=8
Negative torque limit
Negative Torque
11-44
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Chapter 11 Description of Parameter Settings|C200 Series
Reserved
11-45
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Chapter 11 Description of Parameter Settings|C200 Series
Frequency Pr.03-03=10%
60Hz Pr.03-07~03-09 (Positive/ Negative Bias Mode)
0: N o bias
1: Lower than or equal t o bias
2: Greater than or equal t o bias
3: T he absolute value of the bias voltage
while serving as the center
4: Serve bias as the center
6Hz
-V V Pr.03-10 (Analog F requency Command f or Reverse R un)
10 9 8 7 6 5 4 3 2 1 1 2 3 4 5 6 7 8 9 10
0: Negat ive f requency is not valid.
F orward and reverse run is cont rolled
by digit al keypad or external terminal.
1: Neagt ive f requency is valid. Positive
frequency = forward run; negative
frequency = reverse run. Direction
can not be sw itched by digit al keypad or
ext ernal teriminal cont rol.
Pr.03-11Analog I nput Gain (AVI)=100%
Frequency Pr.03-03=10%
60Hz Pr.03-07~03-09 (Positive/ Negat ive Bias Mode)
54Hz 0: N o bias
1: Lower than or equal to bias
2: Greater than or equal to bias
3: T he absolute value of the bias voltage
while serving as the cent er
4: Serve bias as the center
6Hz
-V V Pr.03-10 (Analog F requency Command f or Reverse Run)
10 9 8 7 6 5 4 3 2 1 1 2 3 4 5 6 7 8 9 10
0: Negat ive frequency is not valid.
F orward and reverse run is controlled
by digital keypad or ext ernal terminal.
1: Neagt ive frequency is valid. Posit ive
f requency = forw ard run; negat ive
f requency = reverse run. Direct ion
can not be switched by digit al keypad or
external t eriminal control.
Pr.03-11 Analog I nput Gain (AVI) = 100%
Pr. 03-03=10%
Frequency
Pr. 03-07~03-09 (Posit ive/Negative Bias Mode)
60Hz
54Hz 0: No bias
1: Lower t han or equal to bias
2: Great er t han or equal to bias
3: T he absolut e value of the bias volt age
while serving as t he cent er
4: Serve bias as t he cent er
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Chapter 11 Description of Parameter Settings|C200 Series
Pr. 03-03=10%
F requency
Pr. 03-07~03-09 (Posit ive/Negative Bias Mode)
60Hz 0: No bias
54Hz 1: Low er t han or equal to bias
2: Greater t han or equal to bias
3: T he absolut e value of t he bias volt age
while serving as t he cent er
4: Serve bias as t he cent er
F requency Pr.03-03=10%
F requency Pr.03-03=10%
60Hz Pr.03-07~03-09 (Positive/ Negative Bias Mode)
54Hz
0: No bias
1: Lower than or equal t o bias
2: Greater than or equal t o bias
3: T he absolute value of t he bias voltage
while serving as the center
4: Serve bias as the center
6Hz
-V V
10 9 8 7 6 5 4 3 2 1 1 2 3 4 5 6 7 8 9 10 Pr.03-10 (Analog F requency Command f or Reverse Run)
0: Negat ive frequency is not valid.
F orward and reverse run is controlled
by digital keypad or external terminal.
1: Neagt ive frequency is valid. Positive
f requency = forward run; negative
f requency = reverse run. Direction
can not be switched by digit al keypad or
ext ernal t eriminal cont rol.
11-47
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Chapter 11 Description of Parameter Settings|C200 Series
F requency Pr.03-03=10%
60Hz Pr.03-07~03-09 (Positive/ Negative Bias Mode)
54Hz 0: No bias
1: Lower than or equal t o bias
2: Greater than or equal t o bias
3: T he absolute value of t he bias voltage
while serving as the center
4: Serve bias as the center
F requency Pr.03-03=-10%
60Hz Pr.03-07~03-09 (Positive/ Negat ive Bias Mode)
0: No bias
1: Lower than or equal t o bias
2: Greater than or equal t o bias
3: T he absolute value of the bias voltage
while serving as the center
6Hz
4: Serve bias as the center
-V V Pr.03-10 (Analog F requency Command f or Reverse Run)
10 9 8 7 6 5 4 3 2 1 1 2 3 4 5 6 7 8 9 10
0: Negat ive f requency is not valid.
Forward and reverse run is controlled
by digital keypad or ext ernal terminal.
1: Neagt ive f requency is valid. Posit ive
frequency = forward run; negative
frequency = reverse run. Direction
can not be switched by digit al keypad or
ext ernal t eriminal cont rol.
Pr.03-11 Analog I nput Gain (AVI)= 100%
11-48
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Chapter 11 Description of Parameter Settings|C200 Series
F requency Pr.03-03=-10%
60Hz Pr.03-07~03-09 (Positive/ Negat ive Bias Mode)
0: N o bias
1: Lower than or equal t o bias
2: Greater than or equal to bias
3: T he absolute value of the bias voltage
while serving as the cent er
4: Serve bias as the center
6Hz
-V V Pr.03-10 (Analog F requency Command f or Reverse R un)
10 9 8 7 6 5 4 3 2 1 1 2 3 4 5 6 7 8 9 10
0: Negat ive frequency is not valid.
F orward and reverse run is controlled
by digital keypad or external terminal.
1: Neagt ive frequency is valid. Positive
f requency = forward run; negative
f requency = reverse run. Direction
can not be switched by digit al keypad or
ext ernal t eriminal cont rol.
Pr.03-11 Analog I nput Gain (AVI)= 100%
11-49
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Chapter 11 Description of Parameter Settings|C200 Series
F requency Pr.03-03=-10%
60Hz Pr.03-07~03-09 (Posit ive/Negative Bias Mode)
0: No bias
1: Lower t han or equal to bias
2: Great er t han or equal to bias
3: T he absolut e value of the bias volt age
while serving as t he cent er
4: Serve bias as t he cent er
6Hz
-V V Pr.03-10 (Analog F requency Command for Reverse Run)
10 9 8 7 6 5 4 3 2 1 1 2 3 4 5 6 7 8 9 10
0: Negative frequency is not valid.
F orward and reverse run is controlled
by digital keypad or ext ernal t erminal.
1: Neagtive frequency is valid. Posit ive
f requency = forward run; negat ive
f requency = reverse run. Direct ion
can not be switched by digital keypad or
external t eriminal control.
Pr.03-11 Analog I nput Gain (AVI) = 100%
11-50
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Chapter 11 Description of Parameter Settings|C200 Series
F requency Pr.03-03=10%
60Hz Pr. 03-07~03-09 (Posit ive/Negative Bias Mode)
0: No bias
1: Lower t han or equal to bias
2: Great er t han or equal to bias
3: T he absolut e value of the bias volt age
while serving as t he cent er
4: Serve bias as t he cent er
F requency Pr.03-03=10%
60Hz Pr.03-07~03-09 (Positive/ Negat ive Bias Mode)
0: No bias
1: Lower than or equal t o bias
2: Greater than or equal t o bias
3: T he absolute value of the bias voltage
while serving as the center
6.66Hz
4: Serve bias as the center
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Chapter 11 Description of Parameter Settings|C200 Series
F requency Pr.03-03=10%
60Hz Pr.03-07~03-09 (Positive/ Negat ive Bias Mode)
0: No bias
1: Lower than or equal to bias
2: Great er than or equal to bias
3: T he absolute value of the bias volt age
w hile serving as t he cent er
4: Serve bias as t he cent er
Pr.03-10 (Analog F requency Command f or R everse Run)
-V V
10 9 8 7 6 5 4 3 2 1 1 2 3 4 5 6 7 8 9 10 0: N egat ive frequency is not valid.
F orward and reverse run is controlled
by digital keypad or ext ernal terminal.
1: N eagt ive frequency is valid. Posit ive
f requency = forward run; negative
f requency = reverse run. Direction
can not be switched by digit al keypad or
external t eriminal cont rol.
Pr03-11 Analog Input Gain (AVI ) = 111. 1%
10/9 =111.1%
F requency Pr.03-03=10%
60Hz Pr.03-07~03-09 (Positive/ Negat ive Bias Mode)
0: No bias
1: Lower than or equal to bias
2: Great er than or equal to bias
3: T he absolute value of the bias volt age
w hile serving as t he cent er
4: Serve bias as t he cent er
6.66Hz
-V V Pr.03-10 (Analog F requency Command f or Reverse Run)
10 9 8 7 6 5 4 3 2 1 1 2 3 4 5 6 7 8 9 10 0: N egat ive frequency is not valid.
F orward and reverse run is controlled
by digital keypad or ext ernal terminal.
1: N eagt ive frequency is valid. Posit ive
f requency = forward run; negative
f requency = reverse run. Direction
can not be switched by digit al keypad or
external t eriminal control.
Pr03-11Analog I nput Gain (AVI ) = 111.1%
10/ 9 =111. 1%
11-52
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Chapter 11 Description of Parameter Settings|C200 Series
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Chapter 11 Description of Parameter Settings|C200 Series
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Chapter 11 Description of Parameter Settings|C200 Series
6Hz
Pr.03-10 (Analog F requency Command for Reverse Run)
0: Negat ive f requency is not valid.
-V V
10 9 8 7 6 5 4 3 2 1 1 2 3 4 5 6 7 8 9 10 F orward and reverse run is cont rolled
by digital keypad or external t erminal.
1: Neagt ive f requency is valid. Positive
frequency = forward run; negative
frequency = reverse run. Direction
can not be sw itched by digital keypad or
ext ernal t eriminal cont rol.
Calculate the bias: 60-6Hz = 6-0Hz XV= 10 =1.11V
10V XV 9
Pr.03-03= 1.11 × 100%
10
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Chapter 11 Description of Parameter Settings|C200 Series
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Chapter 11 Description of Parameter Settings|C200 Series
F requency Pr. 00-21=0 (Digital keypad control and run in F WD direct ion )
Pr. 03-05 Analog Positive Voltage I nput Bias (AUI ) = 10%
60Hz
Pr. 03-07~03-09 (Posit ive/Negative Bias Mode)
54Hz
0: No bias
1: Lower t han or equal to bias
2: Great er t han or equal to bias
3: T he absolut e value of the bias volt age
while serving as t he cent er
4: Serve bias as t he cent er
10 9 8 7 6 5 4 3 2 1
-V V Pr. 03-10 (Analog F requency Command for Reverse Run)
1 2 3 4 5 6 7 8 9 10
0: Negative frequency is not valid.
F orward and reverse run is cont rolled
by digit al keypad or ext ernal t erminal.
1: Neagtive frequency is valid. Posit ive
frequency = f orward run; negat ive
frequency = reverse run. Direct ion
can not be swit ched by digital keypad or
60Hz external teriminal control.
Pr. 00-13 Analog Positive Input Gain (AUI)= 100%
Pr. 03-14 Analog Negative I nput Gain (AUI )= 100%
11-57
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Chapter 11 Description of Parameter Settings|C200 Series
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Chapter 11 Description of Parameter Settings|C200 Series
F requency Pr. 00-21=0 (Digital keypad control and run in F WD direct ion )
Pr.03-05 Analog Posit ive Volt age Input Bias (AUI ) = 10%
60Hz Pr.03-07~03-09 (Posit ive/N egat ive Bias Mode)
0: No bias
1: Lower t han or equal to bias
2: Great er t han or equal to bias
3: T he absolut e value of the bias volt age
while serving as t he cent er
4: Serve bias as t he cent er
10 9 8 7 6 5 4 3 2 1
-V V Pr. 03-10 (Analog F requency Command for Reverse Run)
1 2 3 4 5 6 7 8 9 10 0: Negat ive frequency is not valid.
F orward and reverse run is controlled
by digital keypad or ext ernal terminal.
1: Neagt ive frequency is valid. Posit ive
f requency = forw ard run; negat ive
f requency = reverse run. Direct ion
can not be switched by digit al keypad or
external t eriminal control.
60Hz
Pr.00-13 Analog Positive I nput Gain (AUI )= 111.1%
(10/9) *100% = 111. 1%
Pr.00-14 Analog Negat ive Input Gain (AUI) = 100%
F requency Pr.00-21=0 (Digit al keypad cont rol and run in F WD direct ion )
Pr.03-05 Analog Posit ive Volt age Input Bias (AUI ) = 10%
60Hz Pr.03-07~03-09 (Positive/ Negat ive Bias Mode)
0: No bias
1: Lower than or equal t o bias
2: Greater than or equal t o bias
3: T he absolute value of the bias voltage
while serving as the center
4: Serve bias as the center
10 9 8 7 6 5 4 3 2 1
-V V Pr.03-10 (Analog F requency Command f or Reverse R un)
1 2 3 4 5 6 7 8 9 10 0: Negat ive frequency is not valid.
F orward and reverse run is controlled
by digital keypad or ext ernal terminal.
1: Neagt ive frequency is valid. Posit ive
f requency = forw ard run; negat ive
f requency = reverse run. Direct ion
can not be switched by digit al keypad or
external t eriminal control.
60Hz
Pr.00-13 Analog Posit ive Input Gain (AUI)= 111. 1%
(10/ 9) *100% = 111.1%
Pr.00-14 Analog Negat ive Input Gain (AU I) = 100%
11-59
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Chapter 11 Description of Parameter Settings|C200 Series
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Chapter 11 Description of Parameter Settings|C200 Series
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Chapter 11 Description of Parameter Settings|C200 Series
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Chapter 11 Description of Parameter Settings|C200 Series
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Chapter 11 Description of Parameter Settings|C200 Series
It is used to adjust the analog voltage level (Pr.03-20) that terminal AFM outputs.
This parameter is set the corresponding voltage of the analog output 0.
03-18
03-21
0V 03-24 0V F requenc y 5V F requenc y
( 0mA) ( 0mA) ( 12mA)
Reserved
Reserved
AVI Selection
Factory Setting: 0
Settings 0: 0-10V
1: 0-20mA
2: 4-20mA
ACI Selection
Factory Setting: 0
Settings 0: 4-20mA
1: 0-10V
2: 0-20mA
When changing the input mode, please check if the switch of external terminal (SW3, SW4)
corresponds to the setting of Pr.03-28~03-29.
11-64
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Chapter 11 Description of Parameter Settings|C200 Series
0=ON
1=OFF
Weights 2 3 2 2 21 20
Bit 3 2 1 0 AFM 1
AFM 2
NOTE
3 2 1 0
2 =8 2 =4 2 =2 2 =1
For Example:
If the value of Pr.02-30 displays 0002h(Hex), it means AFM1and AFM2 are used by PLC.
Weig hts 2 3 2 2 21 20 0=No t used b y PL C
Bit 0 0 1 0 AFM 1 1=Used by PL C
AFM 2 Display value
2=1x21 +0x20
=bit 1x21 +bit 0x20
~ Reserve
11-65
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Chapter 11 Description of Parameter Settings|C200 Series
AFM1 DC output setting level Keypad potentiometer analog Input Filter Time
Factory Setting:0.01
Settings 0~2.00 sec.
~ Reserve
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Chapter 11 Description of Parameter Settings|C200 Series
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Chapter 11 Description of Parameter Settings|C200 Series
Settings 0.00~10.00V
Positive AUI Voltage Proportional Low Point
Factory Setting: 0.00
Settings 0.00~100.00%
Positive AUI Voltage Mid Point
Factory Setting: 5.00
Settings 0.00~10.00V
Positive AUI Voltage Proportional Mid Point
Factory Setting: 50.00
Settings 0.00~100.00%
Positive AUI Voltage High Point
Factory Setting: 10.00
Settings 0.00~10.00V
Positive AUI Voltage Proportional High Point
Factory Setting: 100.00
Settings 0.00~100.00%
When setting positive voltage AUI to frequency command, it 100% corresponds to Fmax (Pr.01-00
Max. operation frequency) and the motor runs in forward direction.
Three of the positive voltage AUI points can be set according to user’s demand on voltage and
proportion, there is no setting limit for AUI points.
11-68
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Chapter 11 Description of Parameter Settings|C200 Series
Three of the negative voltage AUI points can be set according to user’s demand on voltage and
proportion, there is no setting limit for AUI points.
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Chapter 11 Description of Parameter Settings|C200 Series
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Chapter 11 Description of Parameter Settings|C200 Series
04-07
F re que nc y
04-06
04-08
04-05
04-09
04-04
04-10
04-03
04-11
04-02
04-12 J OG F req.
04-01 01-22
04-13
04-00
04-14
Master Spee d
Run/ Sto p 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
PU/ ext ernal t erminals
/commu ni cat ion ON
1s t spee d
Mul ti -functi on
OFF ON ON ON ON ON ON ON ON
02-0 1~02-08
11-71
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Chapter 11 Description of Parameter Settings|C200 Series
P r.0 5- 09
P r.0 5- 06
P r.0 5- 21
P r.0 5- 18
VS Lm Rr
P r.0 5- 08 P r.0 5- 07
P r.0 5- 20 P r.0 5- 19
※ If Pr.05-00 is set to 2 (static test), user needs to input the no-load current value of motor
into Pr.05-05 for motor 1/Pr.05-17 for motor 2.
11-72
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Chapter 11 Description of Parameter Settings|C200 Series
NOTE
; In torque/vector control mode, it is not recommended to have motors run in parallel.
; It is not recommended to use torque/vector control mode if motor rated power exceeds
the rated power of the AC motor drive.
; When auto-tuning 2 motors, it needs to set multi-function input terminals (setting 14) or
change Pr.05-22 for motor 1/motor 2 selection.
; The no-load current is usually 20~50% X rated current.
; The rated speed can not be greater than or equal to 120f/p (f = rated frequency
Pr.01-01/01-35; P: number of motor poles Pr.05-04/05-16).
Set Pr.05-00= 5 or 13 and press [Run] to begin auto tuning for PM motor. The
measured values will be written into Pr.05-39(Rs), Pr.05-40 & 41(Ld & Lq)and
Pr.05-43(PM motor’s Ke parameter).
1. Make sure all the parameters are reset to factory setting and the motor wiring installtion is
correct.
2. For PM motor, set Pr.05-33=1 and complete the following settings according to your motor
specifications, Pr.05-34 rated current, Pr.05-35 rated power, Pr.05-36 rated speed and Pr.
05-37 pole number. The acceleration time and deceleration time should be set according to
your motor capacity.
3. Set Pr.05-00 to 5 and press [Run] to begin auto tuning for PM motor. Please be aware of the
motor that it starts spinning as [Run] is pressed.
4. When auto-tuning is completed, please check if the measured values are written into
Pr.05-39~05-41 and Pr.05-43 automatically.
Set Pr.05-00=4 and press [Run] to begin auto-tuning for PM motor PG offset angle. The
measured value will be written into Pr.05-42 automatically.
; Note 1: When execute auto-tuning for PM motor PG origin, please make sure the
encoder setting are correct (Pr.10-00, 10-01, 10-02), otherwise the PG origin measure
error and motor stall may occur.
; Note 2: If PM motor runs in an opposite direction of the drive’s command, switch any
two of the UVW cable and re-connect, then execute PG origin search again. It is crucial
to execute auto-tuning after the switch otherwise PG origin measure error and motor
stall may occur.
1. Set Pr.05-00=5 and press RUN, or manually input the values into Pr. 01-01, 05-34~-541 and
Pr.05-43.
2. It is strongly suggested to remove the motor and unload before beings auto-tuning.
11-73
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Chapter 11 Description of Parameter Settings|C200 Series
3. Set Pr.05-00=4 and press [Run] to begin auto-tuning. Please be aware of the motor that it
starts spinning as [Run] is pressed.
4. When auto-tuning is completed, please check if the PG offset angle is written into Pr.05-42
automatically.
NOTE
When auto-tuning for PM motor is completed and the control mode setting is done, it is
recommend to turn the drive’s power off and restart again to ensure the drive operates according
to the motor parameter settings.
11-74
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Chapter 11 Description of Parameter Settings|C200 Series
~ Reserved
11-75
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Chapter 11 Description of Parameter Settings|C200 Series
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Chapter 11 Description of Parameter Settings|C200 Series
-connection is finishe d U
Pr.02-01 ~08 =30
MI1 V
W
-connecti on c ontrol W V U
Y-c onnec tion is finis hed
Pr.02-13~14=32
Pr.02-01 ~08 =29
MI2 RA
Y-c onnec tion control IM
Pr.02-11~14=31
MRA
X Y Z
Y-conenction ON ON
Pr.02-13~14=29
confirmation input
△-connection output ON
Pr.02-13~14=32
△-connection ON
confirmation input
Pr.02-13~14=30 : mechanical bounc e time
f ree run stat us
output
frequency
Y-c onnection out put
ON
Pr.02-13~14=31
Y-c onnection
confir mat ion input ON
Pr. 02-01~08=29
△-connec ti on output
ON
Pr. 02-13~14=32
△-connect ion
confir mat ion input
Pr. 02-01~08=30
Y -△ s witch err or ON
f requency
2 seconds
delay ti me
Pr.05-25
11-77
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Chapter 11 Description of Parameter Settings|C200 Series
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Chapter 11 Description of Parameter Settings|C200 Series
Ke parameter of PM Motor
Unit: V/1000rpm
Factory Setting: 0
Settings 0~65535
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Chapter 11 Description of Parameter Settings|C200 Series
input voltage
30V(60V)
Pr. 06-00
LV
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Chapter 11 Description of Parameter Settings|C200 Series
High-vo ltage
a t DC si de
Ov er-v ol tage
detec ti on
level
Time
Ou tpu t
frequen cy
F requenc y Held
Time
pre vious deceleration time
requir ed time for d ecelerating to 0Hz when over- voltage
stall preven tion is enab led.
DCBUS Voltage
370Vdc
310Vdc
0 Time
230V Series
Settings Normal duty: 0~160% (100%: drive’s rated current) Factory Setting: 120
Heavy duty: 0~180% (100%: drive’s rated current) Factory Setting: 150
If the motor load is too large or drive acceleration time is too short, the AC drive output current may
increase abruptly during acceleration and it may cause motor damage or trigger protection
functions (OL or OC). This parameter is used to prevent this situation.
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Chapter 11 Description of Parameter Settings|C200 Series
During acceleration, the AC drive output current may increase abruptly and exceed the value
specified by Pr.06-03 due to rapid acceleration or excessive load on the motor. When this function
is enabled, the AC drive will stop accelerating and keep the output frequency constant until the
current drops below the maximum value.
When the over-current stall prevention is enabled, drive deceleration time will be larger than the
setting.
When the Over-Current Stall Prevention occurs due to too small motor capacity or in the factory
setting, please decrease Pr.06-03 setting.
When there is any problem by using acceleration time, refer to the following items to solve it.
Related parameters: Pr.01-12, 01-14, 01-16, 01-18 (settings of accel. time 1~4), Pr.01-44
1. dd the suitable acceleration time.
2. Setting Pr.01-44 Optimal Acceleration/Deceleration Setting to 1, 3 or 4 (auto accel.)
Optimal Acceleration/Deceleration Setting, Pr.02-13~02-14 (Multi-function Output 1 RY1, RY2), Pr.
02-16~02-17 Multi-function Output (MO1, 2)
Output current
06-03
Setting frequency
Over-Current
Detection
Level
Output frequency
Over-Current Stall prevention during
Acceleration,frequency held
Time
Original setting of acceleration time
actual acceleration time when over-current stall
prevention is enabled
Settings Normal duty: 0~160% (100%: drive’s rated current) Factory Setting: 120
Heavy duty: 0~180% (100%: drive’s rated current) Factory Setting: 150
It is a protection for drive to auto decrease output frequency when the motor is over-load abruptly
during motor constant operation.
If the output current exceeds the setting specified in Pr.06-04 when the drive is operating, the drive
will decrease its output frequency (according to Pr.06-05) to prevent the motor stall. If the output
current is lower than the setting specified in Pr.06-04, the drive will accelerate (according to
Pr.06-05) again to catch up with the set frequency command value.
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Chapter 11 Description of Parameter Settings|C200 Series
Ov er-Curr ent
D etec tion Level
06-04 Pr . 06-04 s etting
Current
Pr . 06-04 s et ting-
rated dr ive c urrent X 5%
Ov er-C urr ent Stall P revention
during Operation, output
frequency dec reases
D ecreases by Output
deceleration t ime F requenc y
T ime
over- curr ent stall pr eventi on during oper ation
11-83
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Chapter 11 Description of Parameter Settings|C200 Series
When Pr.06-06 and Pr.06-09 are set to 1 or 3, it will display a warning message and won’t have an
abnormal record.
When Pr.06-06 and Pr.06-09 are set to 2 or 4, it will display a warning message and will have an
abnormal record.
5%
Pr.06-07,
Pr.06-10
Pr.06-08, 06-11
Current Limit
Factory Setting: 150
Settings 0~250% (100%: drive’s rated current)
Pr.06-12 sets the maximum output current of the drive. Pr.06-12 and Pr.11-17 ~ Pr.11-20 are used
to set the drive’s output current limit. When the drive is in VF, SVC or VFPG control mode, output
frequency will decreases as the output current reaches current limit. It is a current stall prevention.
11-84
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Chapter 11 Description of Parameter Settings|C200 Series
1: Standard motor
2: Disable
It is used to prevent self-cooled motor overheats under low speed. User can use electronic thermal
relay to limit driver’s output power.
Operation
time(min)
5
60Hz or more
4
50Hz
3 10Hz
5Hz
2
1
Load
0 20 40 60 80100120140160180200 factor (%)
11-85
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Chapter 11 Description of Parameter Settings|C200 Series
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Chapter 11 Description of Parameter Settings|C200 Series
20: Reserved
21: Drive over-load (oL)
22: Electronics thermal relay 1 (EoL1)
23: Electronics thermal relay 2 (EoL2)
24: Motor PTC overheat (oH3) (PTC)
25: Reserved
26: Over-torque 1 (ot1)
27: Over-torque 2 (ot2)
28: Low current (uC)
29: Reserved
30: Memory write-in error (cF1)
31: Memory read-out error (cF2)
32: Reserved
33: U-phase current detection error (cd1)
34: V-phase current detection error (cd2)
35: W-phase current detection error (cd3)
36: Clamp current detection error (Hd0)
37: Over-current detection error (Hd1)
38: Over-voltage detection error (Hd2)
39: occ IGBT short circuit detection error (Hd3)
40: Auto tuning error (AUE)
41: PID feedback loss (AFE)
42: PG feedback error (PGF1)
43: PG feedback loss (PGF2)
44: PG feedback stall (PGF3)
45: PG slip error (PGF4)
46: Reserved
47: Reserved
48: Analog current input loss (ACE)
49: External fault input (EF)
50: Emergency stop (EF1)
51: External Base Block (bb)
52: Password error (PcodE)
53: Reserved
54: Communication error (CE1)
55: Communication error (CE2)
56: Communication error (CE3)
57: Communication error (CE4)
58: Communication Time-out (CE10)
59: Reserved
60: Brake transistor error (bF)
61: Y-connection/△-connection switch error (ydc)
11-87
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Chapter 11 Description of Parameter Settings|C200 Series
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Chapter 11 Description of Parameter Settings|C200 Series
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Chapter 11 Description of Parameter Settings|C200 Series
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Chapter 11 Description of Parameter Settings|C200 Series
PTC Level
Factory Setting: 50.0
Settings 0.0~100.0%
It needs to set AVI/ACI/AUI analog input function Pr.03-00~03-02 to 6 (P.T.C. thermistor input
value).
It is used to set the PTC level, and the corresponding value for 100% is max. analog input value.
DC Voltage at Malfunction
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Chapter 11 Description of Parameter Settings|C200 Series
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Chapter 11 Description of Parameter Settings|C200 Series
Reserved
Reserved
Current Bandwidth
Factory Setting:1.00
Settings 0.00~100.00%
Reserved
Reserved
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Chapter 11 Description of Parameter Settings|C200 Series
Reserved
Derating Protection
Factory Setting: 0
Settings 0: constant rated current and limit carrier wave by load current and
temperature
1: constant carrier frequency and limit load current by setting carrier wave
2: constant rated current(same as setting 0), but close current limit
Setting 0:
When the rated current is constant, carrier frequency (Fc) outputted by PWM will auto decrease
according to surrounding temperature, overload output current and time. If overload situation is
not frequent and only cares the carrier frequency operated with the rated current for a long time
and carrier wave changes during short overload, it is recommended to set to 0.
Refer to the following diagram for the level of carrier frequency. Take VFD007CB43A-20 in normal
duty as example, surrounding temperature 50oC with independent installation and UL open-type.
When the carrier frequency is set to 15kHz, it corresponds to 72% rated output current. When it
outputs higher than the value, it will auto decrease the carrier frequency. If the output is 83% rated
current and the carrier frequency will decrease to 12kHz. In addition, it will also decrease the
carrier frequency when overload. When the carrier frequency is 15kHz and the current is
120%*72%=86% for a minute, the carrier frequency will decrease to the factory setting.
Setting 1:
It is used for the fixed carrier frequency and prevents the carrier wave changes and motor noise
caused by the surrounding temperature and frequent overload.
Refer to the following for the derating level of rated current. Take VFD007CB43A-20 in normal
duty as example, when the carrier frequency keeps in 15kHz and the rated current is decreased to
72%, it will have OL protection when the current is 120%*72%=86% for a minute. Therefore, it
needs to operate by the curve to keep the carrier frequency.
Setting 2:
It sets the protection method and action to 0 and disables the current limit for the Ratio*160% of
output current in the normal duty and Ratio*180% of output current in the heavy duty. The
advantage is that it can provide higher output current when the setting is higher than the factory
setting of carrier frequency. The disadvantage is that it decreases carrier wave easily when
overload.
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Chapter 11 Description of Parameter Settings|C200 Series
Ratio(%)
90 90
80 80
70 70
60 60
50 50
Fc Fc
40 (kHz) 40
2 3 4 5 6 7 8 9 10 11 12 13 14 15
(kHz)
2 3 4 5 6 7 8 9 10 11 12 13 14 15
230V 230V
Pr.06-55 =1 Pr.06-55 =0 or 2
Pr.06-55 =0 or 2 (40℃: UL open-type)
(50℃: UL open-type) (30℃: UL type1 or open type_size by size)
VFD004~037CB23A
VFD004~022CB21A VFD004~037CB23A
110 VFD004~022CB21A
100 110
90 100
Ratio(%)
Ratio(%)
80 90
70 80
60 70
50 60
Fc
40 (kHz) 50
Fc
2 3 4 5 6 7 8 9 10 11 12 13 14 15
40
2 3 4 5 6 7 8 9 10 11 12 13 14 15
(kHz)
Ratio(%)
90 90
80 80
70 70
Fc Fc
60 60
4 5 6 7 8 9 10 11 12 13 14 15 (kHz) 4 5 6 7 8 9 10 11 12 13 14 15
(kHz)
11-95
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Chapter 11 Description of Parameter Settings|C200 Series
230V 230V
Pr.06-55=1 Pr.06-55=0 or 2
Pr.06-55=0 or 2 (40℃: UL open-type)
(50℃: UL open-type) (30℃: UL type1 or open type_size by size)
(40℃:UL type1 or open type_size by size)
VFD004~037CB23A VFD004~037CB23A
VFD004~022CB21A VFD004~022CB21A
110 110
100 100
Ratio(%)
90 90
Ratio(%)
80 80
70 70
60 60
50 50
Fc Fc
40 (kHz) 40 (kHz)
2 3 4 5 6 7 8 9 10 11 12 13 14 15 2 3 4 5 6 7 8 9 10 11 12 13 14 15
NOTE
※ The mounting clearances stated in the figure is for installing the drive in
an open area. To install the drive in a confined space (such as cabinet
or electric box), please follow the following three rules: (1) Keep the
minimum mounting clearances. (2) Install a ventilation equipment or an
air conditioner to keep surrounding temperature lower than operation
temperature. (3) Refer to parameter setting and set up Pr. 00-16,
Pr.00-17, and Pr. 06-55.
※ The following table shows heat dissipation and the required air volume
when installing a single drive in a confined space. When installing
multiple drives, the required air volume shall be multiplied by the
number the drives.
※ Refer to the chart (Air flow rate for cooling) for ventilation equipment
design and selection.
※ Refer to the chart (Power dissipation) for air conditioner design and
selection.
Minimum mounting clearances:
Frame A (mm) B (mm) C (mm) D (mm)
A~C 60 30 10 0
11-96
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Chapter 11 Description of Parameter Settings|C200 Series
~ Reserved
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Chapter 11 Description of Parameter Settings|C200 Series
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Chapter 11 Description of Parameter Settings|C200 Series
Settings 0 : No function
1 : warn and coast to stop
2 : warn and ramp to stop by 2nd deceleration time
3 : warn and operation continue
The drive will operate as the setting of Pr.06-73 when output current is lower than the setting of
Pr.06-71 and when low current continues for a period longer than the setting of Pr.06-72. This
parameter can also be used with external multi-function output terminal 44 (MO44) for low current
output.
11-99
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Chapter 11 Description of Parameter Settings|C200 Series
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Chapter 11 Description of Parameter Settings|C200 Series
This parameter determines the frequency when DC Brake will begin during deceleration. When
this setting is less than start frequency (Pr.01-09), the start-point for DC brake will start from the
min. frequency.
Output frequen cy
DC Br ak Time
07-04
01-09 Star t- point for during St opping
Minimum
DC br ake
out put time during
frequen cy
stopping
DC Brake at Start-up is used for loads that may move before the AC drive starts, such as fans and
pumps. Under such circumstances, DC Brake can be used to hold the load in position before
setting it in motion.
DC Brake at stop is used to shorten the stopping time and also to hold a stopped load in position,
such as crane or cutting machine.
DC Brake at Start-up is used for loads that may move before the AC drive starts, such as fans and
pumps. Under such circumstances, DC Brake can be used to hold the load in position before
setting it in motion.
DC Brake at stop is used to shorten the stopping time and also to hold a stopped load in position,
such as crane or cutting machine.
Reserved
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Chapter 11 Description of Parameter Settings|C200 Series
In PG control mode, the AC motor drive will execute the speed search function automatically by
the PG speed when this setting isn’t set to 0.
B.B.
B.B. Search with last output frequency downward timing chart
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Chapter 11 Description of Parameter Settings|C200 Series
Output frequency
(H) Input B.B. signal
Stop output voltage
Output voltage Disable B.B. signal
(V) Waiting time 08.07
output current A
07-09 Current Limit Speed Search
for Speed Search Speed Synchronization speed detection
Time
FWD Run
B.B.
B. B.
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Chapter 11 Description of Parameter Settings|C200 Series
Fault includes: bb,oc,ov,occ etc. To restart after oc, ov, occ, Pr.07-11 can not be set to 0.
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Chapter 11 Description of Parameter Settings|C200 Series
function is the AC motor drive decelerates to stop after momentary power loss. When the
momentary power loss occurs, this function can be used for the motor to decelerate to 0 speed with
deceleration stop method. When the power is on again, motor will run again after DEB return time.
(has applied on high-speed spindle)
Status 1: Insufficient power supply due to momentary power-loss/unstable power (due to low
voltage)/sudden heavy-load
DC BUS voltage
The level for DEB return tim e it doesn't need
(Lv=+30V+58V) multi-function terminals
The level for soft start relay to be ON
(Lv+30) Lv level
Output frequency
Pr.07-13 Decel. time selection for
momentary power loss
07-14
DEB return time
NOTE
When Pr.07-14 is set to 0, the AC motor drive will be stopped and won't re-start
at the power-on again.
DE B function is activated
Output frequency
07-14
DE B return time
NOTE
For example, in textile machinery, you will hope that all the machines can be decelerated to stop to prevent broken stitching
when power loss. In this case, the host controller will send a message to the AC motor drive to use dEb function with
deceleration time via EF.
11-105
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Chapter 11 Description of Parameter Settings|C200 Series
Settings 0.00~600.00Hz
Dwell Time at Decel.
Factory Setting: 0.00
Settings 0.00~600.00 sec
Dwell Frequency at Decel.
Factory Setting: 0.00
Settings 0.00~600.00 Hz
In the heavy load situation, Dwell can make stable output frequency temporarily, such as crane or
elevator.
Pr.07-15 to Pr.07-18 is for heavy load to prevent OV or OC occurs.
Frequency
07-18
07-16 Dwell
07-17
Dwell Frequency
Dwell Time
Frequency at Decel.
07-15 at Decel.
at Accel.
Dwell Time
at Accel. Time
Dwell at accel./decel.
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Chapter 11 Description of Parameter Settings|C200 Series
100 %
save up to 25%
output volt age
75%
Energy-saving Gain
Factory Setting: 100
Settings 10~1000%
When Pr.00-19 is set to 1, this parameter can be used to adjust the gain of energy-saving. The
factory setting is 100%. If the result is not good, it can adjust by decreasing the setting. If the
motor oscillates, it should increase the setting.
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Chapter 11 Description of Parameter Settings|C200 Series
For instance, if V/f curve is set at 200 VAC/50Hz and the input voltage is at 200V to 264VAC, then
the motor Output Voltage will automatically be reduced to a maximum of 200VAC/50Hz. If the
input voltage is at 180V to 200VAC, output voltage to motor and input power will be in direct
proportion.
Setting 0: when AVR function is enabled, the drive will calculate the output voltage by actual
DC-bus voltage. The output voltage won’t be changed by DC bus voltage.
Setting 1: when AVR function is disabled, the drive will calculate the output voltage by DC-bus
voltage. The output voltage will be changed by DC bus voltage. It may cause insufficient/over
current.
Setting 2: the drive will disable the AVR during deceleration, such as operated from high speed to
low speed.
When the motor ramps to stop, the deceleration time is longer. When setting this parameter to 2
with auto acceleration/deceleration, the deceleration will be quicker.
When it is in FOCPG or TQCPG, it is recommended to set to 0 (enable AVR).
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Chapter 11 Description of Parameter Settings|C200 Series
Reserved
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Chapter 11 Description of Parameter Settings|C200 Series
Settings 0~10000
0: Disable
The motor will have current wave motion in some specific area. It can improve this situation by
setting this parameter. (When it is high frequency or run with PG, it can be set to 0. when the
current wave motion happens in the low frequency, please increase Pr.05-29.)
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Chapter 11 Description of Parameter Settings|C200 Series
feedback signal
sens or
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Chapter 11 Description of Parameter Settings|C200 Series
steady-state error, an “integral part” needs to be added to the controller. The integral time
decides the relation between integral part and error. The integral part will be increased by
time even if the error is small. It gradually increases the controller output to eliminate the
error until it is 0. In this way a system can be stable without steady-state error by proportional
gain control and integral time control.
3. Differential control(D):
the controller output is proportional to the differential of the controller input. During
elimination of the error, oscillation or instability may occur. The differential control can be
used to suppress these effects by acting before the error. That is, when the error is near 0,
the differential control should be 0. Proportional gain(P) + differential control(D) can be used
to improve the system state during PID adjustment.
When PID control is used in a constant pressure pump feedback application:
Set the application’s constant pressure value (bar) to be the set point of PID control. The pressure
sensor will send the actual value as PID feedback value. After comparing the PID set point and
PID feedback, there will be an error. Thus, the PID controller needs to calculate the output by
using proportional gain(P), integral time(I) and differential time(D) to control the pump. It controls
the drive to have different pump speed and achieves constant pressure control by using a 4-20mA
signal corresponding to 0-10 bar as feedback to the drive.
no fuse breaker
(NFB) water pump
throttle
F eedback 4-20mA
cor responds pressure
0-10bar sensor
ACI/A VI
(4- 20mA /0- 10V )
DC
ACM - +
analog si gnal common
1. Pr.00-04 is set to 10 (Display PID analog feedback signal value (b) (%))
2. Pr.01-12 Acceleration Time will be set as required
3. Pr.01-13 Deceleration Time will be set as required
4. Pr.00-21=0 to operate from the digital keypad
5. Pr.00-20=0, the set point is controlled by the digital keypad
6. Pr.08-00=1 (Negative PID feedback from analog input)
7. ACI analog input Pr. 03-01 set to 5, PID feedback signal.
8. Pr.08-01-08-03 will be set as required
8.1 If there is no vibration in the system, increase Pr.08-01(Proportional Gain (P))
8.2 If there is no vibration in the system, reduce Pr.08-02(Integral Time (I))
8.3 If there is no vibration in the system, increase Pr.08-03(Differential Time(D))
Refer to Pr.08-00 to 08-21 for PID parameters settings.
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Settings 0.0~500.0%
It is used to eliminate the system error. It is usually used to decrease the error and get the faster
response speed. But if setting too large value in Pr.08-01, it may cause the system oscillation and
instability.
If the other two gains (I and D) are set to zero, proportional control is the only one effective.
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Chapter 11 Description of Parameter Settings|C200 Series
x (Pr.08-04 %).
Too large integral value will make the slow response due to sudden load change. In this way, it
may cause motor stall or machine damage.
Reserved
11-114
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Chapter 11 Description of Parameter Settings|C200 Series
+ P D +
Pro portio n Di ffere nti al
gain Time
Display of th e PID fee dback - 08- 01 08-03 +
00-04=1 0 display o f t he PID
PID feed back Delay
Time 08-05
Inp ut Selection I 08-07 PID Fr eq.
of the PID Fee dback out put
08-00:AVI/ACI 08-02
Int egral Time 08- 04 command
AUI /PG uppe r limit
limit
for
Int egral
08-09
Treatme nt o f t he
F eedback Signal Fau lt
If Hz>08 -05
time exce eds 08- 08
Parallel connection
In pu t Se le ctio n o f the
P ID Ta rg ete d Va lu e
0 0- 20 :KP C-CC0 1/RS48 5
0 3- 00 ~0 2: UP/Do wn ke y PG
PID Can cel le d 0 8- 00 =0 Fr eq ue ncy
o r 02 -0 1~06 =21 (p id off) co mman d
1
2
P
Pro po rti on ga in
P ID offset
+
08-01 08-06
+ D
Diffe re ntial
+
Time
- 08-03 + 08-05
Displ ay o f the PID fe ed ba ck PID Delay
I
0 0- 04 =1 0 d isp la y o f the Time
P ID fee db ack
08-07
P ID Fre q.
08-02 o utp ut
Integra l Time 08-04
In pu t Se le ctio n co mman d limi t
o f the PID Fe ed ba ck u pp er li mit
0 8- 00 :AVI/A CI fo r
In teg ra l 0 8- 09
A UI/PG Tre atme nt o f the Fee db a ck Sign al Fau lt
If Hz>08 -0 5, ti me exce ed s 08 -0 8
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Chapter 11 Description of Parameter Settings|C200 Series
Sleep Frequency
Factory Setting: 0.00
Settings Pr.08-18=0: 0.00~600.00Hz
Pr.08-18=1: 0.00~200.00%
Wake-up Frequency
Factory Setting: 0.00
Settings Pr.08-18=0: 0.00~600.00Hz
Pr.08-18=1: 0.00~200.00%
Sleep Time
Factory Setting: 0.0
Settings 0.00~6000.0 sec
If the command frequency falls below the sleep frequency, for the specified time in Pr. 08-12, then
the drive will shut off the output and wait until the command frequency rises above Pr.08-11.
Frequency command
08-11
Wake-up frequency actual output frequency
08-10
Sleep frequency
Sleep Function
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Chapter 11 Description of Parameter Settings|C200 Series
setting, the PID control fault occurs. The treatment will be done as Pr.08-09 setting.
PID Compensation
Factory Setting: 0
Settings -100.0~+100.0%
Factory Setting: 0
Settings 0: Follow PID output command
1: Follow PID feedback signal
Wake-up Integral Limit
Factory Setting: 50.0
Settings 0.0~200.0%
The upper limit when the VFD is at sleep mode to avoid running at high speed right after being
waken up.
There are three types of Sleep mode and Wakeup mode.
01: Frequency command(Not using PID, Pr08-00=0)
Output Frequency ≦ Sleep Frequency, the drive goes to Sleep mode, 0Hz.
Frequenc y C om mand
P r. 08-11
Actual Output Frequency
Wak e up
f requenc y when functioning
P r. 08-10
S leep f requenc y
Pr.08-12 0H z
Sleep Time
02: Internal PID Frequency Calculation Command (Not using PID, Pr08 ≠ 0)
When arriving at the sleep frequency, the system starts to calculating sleep time and the output
frequency starts to decrease. If it passes the preset sleep time, the system will go to seelp at 0Hz.
If the system is not yet reaching the preset sleep time, (if there is a preset) or will stay at Pr01-07,
waiting to reach the sleep time then go to sleep at 0Hz.
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Chapter 11 Description of Parameter Settings|C200 Series
Frequency
Pr.08-11
w ake up freq.
Deceleration
Pr.08-10 time limit
Sleep f req.
Time
Pr.08-12
Sleep Time
Frequency
Output Freq.
PID
Feedback value
Pr . 08 - 10
Sleep freq .
Pr . 08 - 11
wake up freq.
Time
Pr. 08- 12
Sleep time
Enable or disable the Sleep and Wakeup functions depends on the setting of Pr08-10. When
Pr08-10=0, it means Disable, while Pr08-10 ≠ 0, it means Enable.
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Chapter 11 Description of Parameter Settings|C200 Series
8 1
M odbus RS- 485
When us ing communication devi ces, Pin 1~2,7, 8: Reserv ed
connects AC dr ive with P C by us ing Pin 3, 6: GND
Delt a I FD6530 or I FD6500. Pin 4: SG-
Pin 5: SG+
RS-485
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Chapter 11 Description of Parameter Settings|C200 Series
9: 8, O, 1 for ASCII
10: 8, E, 2 for ASCII
11: 8, O, 2 for ASCII
12: 8, N, 1 for RTU
13: 8, N, 2 for RTU
14: 8, E, 1 for RTU
15: 8, O, 1 for RTU
16: 8, E, 2 for RTU
17: 8, O, 2 for RTU
Control by PC or PLC (Computer Link)
A VFD-C2000 can be set up to communicate on Modbus networks using one of the following
modes: ASCII (American Standard Code for Information Interchange) or RTU (Remote Terminal
Unit).Users can select the desired mode along with the RS-485 serial port communication
protocol in Pr.09-00.
MODBUS ASCII(American Standard Code for Information Interchange): Each byte data is the
combination of two ASCII characters. For example, a 1-byte data: 64 Hex, shown as ‘64’ in ASCII,
consists of ‘6’ (36Hex) and ‘4’ (34Hex).
1. Code Description
Communication protocol is in hexadecimal, ASCII: ”0”, “9”, “A”, “F”, every 16 hexadecimal
represent ASCII code. For example:
Character ‘0’ ‘1’ ‘2’ ‘3’ ‘4’ ‘5’ ‘6’ ‘7’
ASCII code 30H 31H 32H 33H 34H 35H 36H 37H
7-data bits
10-bits character frame
(7 , E , 1)
7-data bits
10-bits character frame
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Chapter 11 Description of Parameter Settings|C200 Series
(7 , O , 1)
7-data bits
10-bits character frame
2. Communication Protocol
Communication Data Frame: ASCII mode
STX Start character = ‘:’ (3AH)
Address Hi Communication address:
8-bit address consists of 2 ASCII codes
Address Lo
Function Hi Command code:
8-bit command consists of 2 ASCII codes
Function Lo
DATA (n-1) Contents of data:
Nx8-bit data consist of 2n ASCII codes
…….
n<=16, maximum of 32 ASCII codes
DATA 0
LRC CHK Hi LRC check sum:
8-bit check sum consists of 2 ASCII codes
LRC CHK Lo
END Hi End characters:
END1= CR (0DH), END0= LF(0AH)
END Lo
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Chapter 11 Description of Parameter Settings|C200 Series
RTU mode:
Command Message: Response Message
Address 01H Address 01H
Function 03H Function 03H
21H Number of data
Starting data address 04H
02H (count by byte)
Number of data 00H Content of data 17H
(count by world) 02H address 2102H 70H
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Chapter 11 Description of Parameter Settings|C200 Series
RTU mode:
Command Message: Response Message
Address 01H Address 01H
Function 06H Function 06H
01H 01H
Data address Data address
00H 00H
17H 17H
Data content Data content
70H 70H
CRC CHK Low 86H CRC CHK Low 86H
CRC CHK High 22H CRC CHK High 22H
ASCII Mode
Command Message: Response Message
STX ‘:’ STX ‘:’
ADR 1 ‘0’ ADR 1 ‘0’
ADR 0 ‘1’ ADR 0 ‘1’
CMD 1 ‘1’ CMD 1 ‘1’
CMD 0 ‘0’ CMD 0 ‘0’
‘0’ ‘0’
‘5’ ‘5’
Starting data address Starting data address
‘0’ ‘0’
‘0’ ‘0’
‘0’ ‘0’
Number of data ‘0’ Number of data ‘0’
(count by word) ‘0’ (count by word) ‘0’
‘2’ ‘2’
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Chapter 11 Description of Parameter Settings|C200 Series
RTU mode:
Command Message: Response Message
ADR 01H ADR 01H
CMD 10H CMD 1 10H
05H 05H
Starting data address Starting data address
00H 00H
Number of data 00H Number of data 00H
(count by word) 02H (count by word) 02H
Number of data 04 41H
CRC Check Low
(count by byte)
13H CRC Check High 04H
The first data content
88H
The second data content 0FH
A0H
CRC Check Low ‘9’
CRC Check High ‘A’
Check sum
ASCII mode:
LRC (Longitudinal Redundancy Check) is calculated by summing up, module 256, and the values
of the bytes from ADR1 to last data character then calculating the hexadecimal representation of the
2’s-complement negation of the sum.
For example,
01H+03H+21H+02H+00H+02H=29H, the 2’s-complement negation of 29H is D7H.
RTU mode:
CRC (Cyclical Redundancy Check) is calculated by the following steps:
Step 1:
Load a 16-bit register (called CRC register) with FFFFH.
Step 2:
Exclusive OR the first 8-bit byte of the command message with the low order byte of the 16-bit CRC
register, putting the result in the CRC register.
Step 3:
Examine the LSB of CRC register.
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Chapter 11 Description of Parameter Settings|C200 Series
Step 4:
If the LSB of CRC register is 0, shift the CRC register one bit to the right with MSB zero filling, then
repeat step 3. If the LSB of CRC register is 1, shift the CRC register one bit to the right with MSB
zero filling, Exclusive OR the CRC register with the polynomial value A001H, then repeat step 3.
Step 5:
Repeat step 3 and 4 until eight shifts have been performed. When this is done, a complete 8-bit
byte will have been processed.
Step 6:
Repeat step 2 to 5 for the next 8-bit byte of the command message. Continue doing this until all
bytes have been processed. The final contents of the CRC register are the CRC value. When
transmitting the CRC value in the message, the upper and lower bytes of the CRC value must be
swapped, i.e. the lower order byte will be transmitted first.
The following is an example of CRC generation using C language. The function takes two
arguments:
Unsigned char* data Å a pointer to the message buffer
Unsigned char length Å the quantity of bytes in the message buffer
The function returns the CRC value as a type of unsigned integer.
Unsigned int crc_chk(unsigned char* data, unsigned char length)
{
int j;
unsigned int reg_crc=0Xffff;
while(length--){
reg_crc ^= *data++;
for(j=0;j<8;j++){
if(reg_crc & 0x01){ /* LSB(b0)=1 */
reg_crc=(reg_crc>>1) ^ 0Xa001;
}else{
reg_crc=reg_crc >>1;
}
}
}
3. Address list
Content Address Function
GG means parameter group, nn means parameter number, for
AC drive Parameters GGnnH
example, the address of Pr 4-01 is 0401H.
0: No function
Command 1: Stop
2000H Bit 0-3
Write only 2: Run
3: Jog + Run
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Chapter 11 Description of Parameter Settings|C200 Series
4. Exception response:
The AC motor drive is expected to return a normal response after receiving command messages
from the master device. The following depicts the conditions when no normal response is replied to
the master device.
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Chapter 11 Description of Parameter Settings|C200 Series
The AC motor drive does not receive the messages due to a communication error; thus, the AC
motor drive has no response. The master device will eventually process a timeout condition.
The AC motor drive receives the messages without a communication error, but cannot handle them.
An exception response will be returned to the master device and an error message “CExx” will be
displayed on the keypad of AC motor drive. The xx of “CExx” is a decimal code equal to the
exception code that is described below.
In the exception response, the most significant bit of the original command code is set to 1, and an
exception code which explains the condition that caused the exception is returned.
Example:
ASCII mode: RTU mode:
STX ‘:’ Address 01H
‘0’ Function 86H
Address
‘1’ Exception code 02H
‘8’ CRC CHK Low C3H
Function
‘6’ CRC CHK High A1H
‘0’
Exception code
‘2’
‘7’
LRC CHK
‘7’
CR
END
LF
~ Reserved
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Chapter 11 Description of Parameter Settings|C200 Series
Settings 0.00~600.00Hz
When Pr.00-20 is set to 1 (RS485 communication). The AC motor drive will save the last
frequency command into Pr.09-10 when abnormal turn-off or momentary power loss. After reboots
the power, it will regards the frequency set in Pr.09-10 if no new frequency command is inputted.
Block Transfer 1
Block Transfer 2
Block Transfer 3
Block Transfer 4
Block Transfer 5
Block Transfer 6
Block Transfer 7
Block Transfer 8
Block Transfer 9
Block Transfer 10
Block Transfer 11
Block Transfer 12
Block Transfer 13
Block Transfer 14
Block Transfer 15
Block Transfer 16
Factory Setting: 0.00
Settings 0.00~655.35
There is a group of block transfer parameter available in the AC motor drive (Pr.09-11 to Pr.09-20).
User can use them (Pr.09-11 to Pr.09-20) to save those parameters that you want to read.
~ Reserved
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Chapter 11 Description of Parameter Settings|C200 Series
~ Reserved
PLC Address
Factory Setting: 2
Settings 1~254
CANopen Speed
Factory Setting: 0
Settings 0: 1M
1: 500k
2: 250k
3: 125k
4: 100k (Delta only)
5: 50k
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Chapter 11 Description of Parameter Settings|C200 Series
CANopen Status
Factory Setting: 0
Settings 0: Node Reset State
1: Com Reset State
2: Boot up State
3: Pre Operation State
4: Operation State
5: Stop State
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Chapter 11 Description of Parameter Settings|C200 Series
In this parameter group, ASR is the abbreviation for Adjust Speed Regulator and PG is the
abbreviation for Pulse Generator.
Reserved
Encoder Pulse
Factory Setting: 600
Settings 1~20000
A Pulse Generator (PG) or encoder is used as a sensor that provides a feedback signal of the
motor speed. This parameter defines the number of pulses for each cycle of the PG control, i.e.
the number of pulses for a cycle of A phase/B phase.
This setting is also the encoder resolution. With the higher resolution, the speed control will be
more accurate.
An errotic input to Pr.10-00 may result drive over current, motor stall, PM motor magnetic pole
origin detection error. If Pr.10-00 setting has changed, please trace the magnetic pole again, set
Pr.05-00=4 (static test for PM motor magnetic pole and PG origin again).
FWD REV
A
B
FWD REV
A
B
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Chapter 11 Description of Parameter Settings|C200 Series
5: Single-phase input
Reserved
PG D riv er
car d
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Chapter 11 Description of Parameter Settings|C200 Series
~ Reserved
Bit# Description
0 ASR control at sensorless torque
0:use PI as ASR; 1:use P as ASR
1~10 NA
11 Activate DC braking when executing zero torque command
0:ON , 1:OFF
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Chapter 11 Description of Parameter Settings|C200 Series
12 FOC Sensorless mode, cross zero means speed goes from negative to
positive or positive to negative (forward to reverse direction or reverse to
forward direction). 0: determine by stator frequency , 1: determine by speed
command
13~14 NA
15 Direction control at open loop status
0: Switch ON direction control
1: Switch OFF direction control
Reserved
Obeserver Gain
Factory Setting: 600
Settings 0~65535
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Chapter 11 Description of Parameter Settings|C200 Series
Frequency Point when switch from PM Sensorless Observation mde to I/F mode
Factory Setting: 20.00
Settings 0.00~600.00Hz
I/F mode, low pass-filter time
Factory Setting: 0.2
Settings 0.0~6.0 sec
Initial Angle Detection Time
Factory Setting: 0
Settings 0~10ms
PM Sensorless Adjustment Procedure
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Chapter 11 Description of Parameter Settings|C200 Series
1. When using high frequency standstill VFD parameter tuning, use VFD software v1.45 to
monitor adjustment procedure. To download VFD Sotware v1.45. go to:
http://www.delta.com.tw/product/em/drive/ac_motor/download/software/VFDSoft%20v1.45.zip
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Chapter 11 Description of Parameter Settings|C200 Series
In this parameter group, ASR is the abbreviation for Adjust Speed Regulator
System Control
Factory Setting: 0
Settings 0: Auto tuning for ASR and APR
1: Inertia estimate (only in FOCPG mode)
2: Zero servo
3: Dead time compensation closed
7: Selection to save or not save the freqeuncy
Bit 0=0: Pr.11-06 to 11-11 will be valid and Pr.11-03~11-05 are invalid.
Bit 0=1: system will generate an ASR setting. At this moment, Pr.11-06~11-11 will be invalid and
Pr.11-03~11-05 are valid.
Bit 1=0: no function.
Bit 1=1: Inertia estimate function is enabled. (Bit 1 setting would not activate the estimation
process, please set Pr.05-00=12 to begin FOC/TQC Sensorless inertia estimating)
Bit 2=0: no function.
Bit 2=1: when frequency command is less than Fmin (Pr.01-07), it will use zero servo function.
NO
Estimate i ner tia value
YES
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Chapter 11 Description of Parameter Settings|C200 Series
PI PI
Pr.11-05
11-06 us e to adjust the
11-07 1. Pr. 11-01 valu e
stren gth o f ze ro -
se rvo lo ck 2. set Pr.11 -0 0 to bit 0=1
11-08
11-04
11-09
11-10 11-05
11-11 5Hz 5Hz 5Hz 5Hz
Hz Hz
0Hz 11-02 0Hz 11-02
PI ad justment-ma nual gain PI ad justment-auto gai n
Bit 7=0: frequency is saved before power turns off. When power turns on again, the display
frequency will be the memorized frequency.
Bit 7=1: frequency is not saved before power turns off. When power turns ON again, the display
frequency will be 0.00Hz.
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Chapter 11 Description of Parameter Settings|C200 Series
11- 12
G ain for ASR
speed feed for war d
+
+
00- 20 ASR + Tor que
command
- +
Tor que limit 11- 14
11- 17~11- 20
Speed feedback
T q B ias
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Chapter 11 Description of Parameter Settings|C200 Series
PI
PD FF
T ime
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Chapter 11 Description of Parameter Settings|C200 Series
Po sitiv e
to rque
Rev ers e mot or mode Forward mo tor mo de
06-1 2 current limit 06-1 2 current limit
11-143
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Chapter 11 Description of Parameter Settings|C200 Series
100%
90%
01-01 frequency
or
01-35
Reserved
Reserved
Reserved
11-144
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Chapter 11 Description of Parameter Settings|C200 Series
11-145
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Chapter 11 Description of Parameter Settings|C200 Series
3: CANopen
When Pr.11-33 is set to 0, torque command can be set in Pr.11-34.
When Pr.11-33 is set to 1 or 2, Pr.11-34 would only display the torque command
Torque Command
Factory Setting: 0.0
Settings -100.0~100.0%(Pr.11-27=100%)
This parameter is for the torque command. When Pr.11-27 is set to 250% and Pr.11-34 is set to
100%, actual torque command=250X100%=250% motor rated torque.
The drive will save the setting to the record before power turns off.
11-146
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Chapter 11 Description of Parameter Settings|C200 Series
Settings 0~120%
These parameters are used in the torque mode to limit the running direction and opposite
direction. (Pr.01-00 max. output frequency=100%)
11-147
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Chapter 12 Warning Codes|C200 Series
Warning
Keypad COPY error 1
SE1
Save Error 1
Warning
Keypad COPY error 2
SE2
Save Err or 2
Warning
Keypad COPY error 3
SE3
Copy M odel Err 3
Warning
PID feedback error
PID
PID FBK Error
Warning
Low current
uC
Under Current
Warning
PG feedback error
PGFb
PG FBK Warn
Warning
PG feedback loss
PGL
PG Loss Warn
Warning
Over-speed warning
oSPd
Over Speed Warn
12-1
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Chapter 12 Warning Codes|C200 Series
Warning
Over speed deviation warning
dAvE
Deviation Warn
Warning
Auto tuning processing
tUn
Auto tuning
Warning
CAN guarding time-out 1
CGdn
Guarding T-out
Warning
CAN heartbeat time-out 2
CHbn
Heartbeat T-out
Warning
CAN synchrony time-out
CSyn
SYNC T-out
Warning
CAN bus off
CbFn
Can Bus Off
Warning
CAN SDO transmission time-out
CSdn
SDO T-out
Warning
CAN SDO received register overflow
CSbn
Buf Overflow
Warning
CAN boot up error
Cbtn
Boot up fault
Warning
CAN format error
CPtn
Error Protocol
Warning
CAN index error
CLdn
CAN/S Idx exceed
Warning
CAN station address error
CAdn
CAN/S Addres set
12-2
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Chapter 12 Warning Codes|C200 Series
Warning
CAN memory error
CFrn
CAN/S FRAM fail
Warning
PLC download error
PLod
Opposite Defect
Warning
Save error of PLC download
PLSv
Save mem defect
Warning
Data error during PLC operation
PLdA
Data defect
Warning
Function code of PLC download error
PLFn
Function defect
Warning
PLC register overflow
PLor
Buf overflow
Warning
Function code of PLC operation error
PLFF
Function defect
Warning
PLC checksum error
PLSn
Check sum error
Warning
PLC end command is missing
PLEd
No end command
Warning
PLC MCR command error
PLCr
PLC MCR error
Warning
PLC download fail
PLdF
Download fail
Warning
PLC scan time exceed
PLSF
Scane time fail
12-3
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Chapter 12 Warning Codes|C200 Series
Warning
CAN Master guarding error
PCGd
CAN/M G uard err
Warning
PCbF CAN Master bus off
CAN/M bus off
Warning
PCnL CAN Master node error
CAN/M Node Lack
Warning
CAN/M cycle time-out
PCCt
Warning
CAN/M SDOover
PCSF
CAN/M SDO over
Warning
CAN/M SDO time-out
PCSd
CAN/M Sdo Tout
Warning
CAN/M station address error
PCAd
CAN/M Addres set
Over-current during acceleration
Fault (Output current exceeds triple rated current during acceleration.)
ocA
Corrective Actions:
Oc at accel 1. Short-circuit at motor output: Check for possible poor insulation at the
output lines.
2. Acceleration Time too short: Increase the Acceleration Time.
3. AC motor drive output power is too small: Replace the AC motor
drive with the next higher power model.
Over-current during deceleration
Fault (Output current exceeds triple rated current during deceleration.)
ocd
Corrective Actions:
Oc at decel 1. Short-circuit at motor output: Check for possible poor insulation at the
output line.
2. Deceleration Time too short: Increase the Deceleration Time.
AC motor drive output power is too small: Replace the AC motor drive with
the next higher power model.
Over-current during steady state operation
Fault (Output current exceeds triple rated current during constant speed.)
ocn
Corrective Actions:
Oc at normal SPD 1. Short-circuit at motor output: Check for possible poor insulation at the
output line.
2. Sudden increase in motor loading: Check for possible motor stall.
AC motor drive output power is too small: Replace the AC motor drive with
the next higher power model.
12-4
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Chapter 12 Warning Codes|C200 Series
12-5
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Chapter 12 Warning Codes|C200 Series
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Chapter 12 Warning Codes|C200 Series
Corrective Actions:
Fault 1. Check whether the motor is overloaded.
ot2 2. Check whether motor rated current setting (Pr.05-01) is suitable
Over torque 2 3. Take the next higher power AC motor drive model.
Internal EEPROM can not be programmed.
Fault
cF1 Corrective Actions:
1. Press “RESET” key to the factory setting.
EEPROM write err 2. Return to the factory.
Internal EEPROM can not be read.
Fault
Corrective Actions:
cF2
1. Press “RESET” key to the factory setting.
EEPROM read err 2. Return to the factory.
U-phase error
Fault
cd1 Corrective Actions:
Re-power on to try it. If fault code is still displayed on the keypad, please
Ias sensor err return to the factory.
V-phase error
Fault
cd2 Corrective Actions:
Re-power on to try it. If fault code is still displayed on the keypad, please
Ibs sensor err return to the factory.
W-phase error
Fault
cd3 Corrective Actions:
Re-power on to try it. If fault code is still displayed on the keypad, please
Ics sensor err return to the factory.
CC (current clamp)
Fault
Hd0 Corrective Actions:
Re-power on to try it. If fault code is still displayed on the keypad, please
cc HW error return to the factory.
12-7
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Chapter 12 Warning Codes|C200 Series
PG feedback loss
Fault
PGF2 Corrective Actions:
PG Fbk loss Check the wiring of the PG feedback
PG feedback stall
Fault
PGF3 Corrective Actions:
1. Check the wiring of the PG feedback
PG Fbk over SPD 2. Check if the setting of PI gain and deceleration is suitable
3. Return to the factory
PG slip error
Fault
PGF4 Corrective Actions:
1. Check the wiring of the PG feedback
PG Fbk deviate 2. Check if the setting of PI gain and deceleration is suitable
3. Return to the factory
Pulse input error
Fault
PGr1 Corrective Actions:
1. Check the pulse wiring
PG Ref error 2. Return to the factory
Pulse input loss
Fault
PGr2 Corrective Actions:
1. Check the pulse wiring
PG Ref loss 2. Return to the factory
12-8
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Chapter 12 Warning Codes|C200 Series
Communication time-out
Fault
CE10 Corrective Actions:
PC time out Check if the wiring for the communication is correct.
Keypad (KPVL-CC01) communication time-out
Fault
CP10 Corrective Actions:
1. Check if the wiring for the communication is correct
PU time out 2. Check if there is any wrong with the keypad
Brake chopper fail
Fault
bF Corrective Actions:
Press RESET key to correct it. If fault code is still displayed on the keypad,
Braking fault please return to the factory.
12-9
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Chapter 12 Warning Codes|C200 Series
Fault
oPL1 Output phase loss (Phase U)
U phase lacked
Fault
oPL2 Output phase loss (Phase V)
V phase lacked
Fault
oPL3 Output phase loss (Phase W)
W phase lacked
Fault
CGdE CPU trap error
Guarding T-out
Fault
CHbE CANopen guarding error
Heartbeat T-out
Fault
CSYE CANopen heartbeat error
SYNC T-out
Fault
CbFE CANopen synchronous error
Can bus off
Fault
CIdE CANopen bus off error
Can bus Index Err
12-10
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Chapter 12 Warning Codes|C200 Series
Fault
CAdE CANopen index error
Can bus Add. Err
Fault
CFrE CANopen station address error
Can bus off
12-11
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Chapter 13 CANopen Overview |C200 Series
The built-in CANopen function is a kind of remote control. Master can control the AC motor drive by using CANopen
protocol. CANopen is a CAN-based higher layer protocol. It provides standardized communication objects, including
real-time data (Process Data Objects, PDO), configuration data (Service Data Objects, SDO), and special functions
(Time Stamp, Sync message, and Emergency message). And it also has network management data, including
Boot-up message, NMT message, and Error Control message. Refer to CiA website http://www.can-cia.org/ for
details. The content of this instruction sheet may be revised without prior notice. Please consult our distributors or
download the most updated version at http://www.delta.com.tw/industrialautomation/
13-1
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Chapter 13 CANopen Overview |C200 Series
OSI Layer 7
Application Communication Profile CiA DS-301
OSI Layer 2
CAN Controller CAN 2.0A
Data Link Layer
+ -
OSI Layer 1
Physical Layer + - ISO 11898
CAN bus
8~1
plug
13-2
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Chapter 13 CANopen Overview |C200 Series
The Network Management (NMT) follows a Master/Slave structure for executing NMT service. Only
one NMT master is in a network, and other nodes are regarded as slaves. All CANopen nodes have
a present NMT state, and NMT master can control the state of the slave nodes. The state diagram
of a node is shown as follows:
13-3
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Chapter 13 CANopen Overview |C200 Series
(1)
Initializing
(15)
Reset Communication
(2)F
(14)
Pre-Operation ABCD
(3) (4) (5) (7)
(13)
Stopped AB
(6) (8)
(12)
Operation ABCD
13-4
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Chapter 13 CANopen Overview |C200 Series
SDO is used to access the Object Dictionary in every CANopen node by Client/Server model. One
SDO has two COB-ID (request SDO and response SDO) to upload or download data between two
nodes. No data limit for SDOs to transfer data. But it needs to transfer by segment when data
exceeds 4 bytes with an end signal in the last segment.
The Object Dictionary (OD) is a group of objects in CANopen node. Every node has an OD in the
system, and OD contains all parameters describing the device and its network behavior. The access
path of OD is the index and sub-index, each object has a unique index in OD, and has sub-index if
necessary. The request and response frame structure of SDO communication is shown as follows:
13-5
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Chapter 13 CANopen Overview |C200 Series
All PDO transmission data must be mapped to index via Object Dictionary.
Example:
Master transmits PDO data to Slave
PDO1
CAN(H)
CAN(L)
Master Slave
PDO1 data value Data 0, Data 1, Data 2, Data 3, Data 4, Data 5, Data 6, Data 7,
0x11, 0x22, 0x33, 0x44, 0x55, 0x66, 0x77, 0x88,
Index Sub Definition Value R/W Size
U16
0x60400010 0x6040 0 0. Control word 0x2211 R/W (2 Bytes)
Master Slave
PDO1 data value Data 0, Data 1, Data 2, Data 3, Data 4, Data 5, Data 6, Data 7,
0xF3, 0x00,
13-6
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Chapter 13 CANopen Overview |C200 Series
Example:
13-7
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Chapter 13 CANopen Overview |C200 Series
13-8
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Chapter 13 CANopen Overview |C200 Series
5. CANopen station setting: set Pr.09-36 (Range of setting is 1~127. When Pr.09-36=0, CANopen
slave function is disabled. ) (Note: If error occurred (CAdE or CANopen memory error) as station
setting is completed, press Pr.00-02=7 for reset.)
6. CANopen baud rate setting: set Pr.09.37 (CANBUS Baud Rate: 1M(0), 500K(1), 250K(2),
125K(3), 100K(4) and50K(5))
7. Set multiple input functions to Quick Stop (it can also be enable or disable, default setting is
disable). If it is necessary to enable the function, set MI terminal to 53 in one of the following
parameter: Pr.02.01 ~Pr.02.08 or Pr.02.26 ~ Pr.02.31. (Note: This function is available in DS402
only.)
8. Switch to C2000 operation mode via the NMT string; control word 0x6040 (bit 0, bit 1, bit 2, bit 3
and bit 7) and status word 0x6041.
For example:
1. If the multi-function input terminal MI set Quick Stop to disable, enable the responsive
terminal of such MI terminal.
2. Set index 6040H to 7EH.
3. Set index 6040H to 7FH, the drive is now in operation mode.
4. Set index 6042H to 1500 (rpm), the default setting for pole is 4 (50Hz). Set the pole in
Pr.05.04 (Motor1) and Pr.05.16 (Motor 2).
120
Calculation for motor speed: n = f × where n = ramp per minute (rpm/min);
p
P = poles
f = frequency (Hz)
13-9
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Chapter 13 CANopen Overview |C200 Series
Switching mode:
Power
Start Fault Reaction Active
Disable
X0XX1111
0XXXXX0X
0XXXX110 or
and 0XXXX01X
Disable QStop=1 or
Disable QStop=0
Ready to Switch On
0XXXXX0X
X01X0001 or
0XXXX01X Fault
0XXXX111 0XXXX110 or
Disable QStop=0 Power
Switch On
Enable
X01X0011
0XXXXX0X
or
0XXX1111 0XXX0110 0XXXX01X Fout=0
or
0XXX1111 Disable QStop=0
Operation Enable Quick Stop Active
X01X0111 0XXX1111 X00X0111
and
Disable QStop=1
9. The operation of AC motor drive in DS402 standard is controlled by the Control Word 0x6040
(bit4~bit6), as shown in the following chart:
Index 6040
END
Bit 6 Bit 5 Bit 4
Other Decelerate to 0Hz
Speed 1 0 1 LOCK 在當前頻率
(Index 6060=2)
1 1 1 運轉到目標頻率
Index 6040
END
Bit 6 Bit 5 Bit 4
Torque X X X 運轉到目標扭力
(Index 6060=4)
10. Follow the same steps, refer to status switching process for status word 0x6041(bit 0 to bit 6), bit
7= warn, bit 9 = 1 (permanently), bit 10= target frequency reached, bit 11= output exceeds
maximum frequency.
13-10
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Chapter 13 CANopen Overview |C200 Series
13-11
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Chapter 13 CANopen Overview |C200 Series
0 Store Parameter 2 R U8
0 Restore Parameter 2 R U8
0 Number 2 R U8
13-12
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Chapter 13 CANopen Overview |C200 Series
0 Number 2 R U8
0 Number 3 RW U8
0 Number 3 RW U8
0 Number 3 RW U8
1800H 0 Number 5 R U8
13-13
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Chapter 13 CANopen Overview |C200 Series
0 Number 5 R U8
0 Number 5 R U8
0 Number 5 R U8
0 Number 2 RW U8
1A01H 0 Number 4 RW U8
13-14
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Chapter 13 CANopen Overview |C200 Series
0 Number 3 RW U8
0 Number 3 RW U8
C200 Index:
Parameter index corresponds to each other as following:
Index sub-Index
2000H + Group member+1
For example:
Pr.10.15 (Encoder Slip Error Treatment)
Group member
10(0 A H) - 15(0FH)
13-15
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Chapter 13 CANopen Overview |C200 Series
Factory
Index Sub Definition R/W Size Note
Setting
Bit1 1: Reset
Bit2~15 Reserved
2021H 0 Number DH R U8
1 Error code 0 R U16
2 AC motor drive status 0 R U16 Bit 0~1 00B: stop
01B: decelerate to stop
10B: waiting for operation
command
11B: in operation
Bit 2 1: JOG command
Bit 3~4 00B: forward running
01B: switch from reverse
running to forward running
10B: switch from forward
running to reverse running
11B: reverse running
Bit 5~7 reserved
Bit 8 1: master frequency command
controlled by communication
interface
Bit 9 1: master frequency command
controlled by analog signal
input
Bit 10 1: operation command
controlled by communication
interface
Bit
Reserved
11~15
3 Frequency command(F) 0 R U16
4 Output frequency(H) 0 R U16
5 Output current(AXX.X) 0 R U16
6 DC-BUS voltage 0 R U16
7 output voltage 0 R U16
The segment currently
8 executed by multi-segment 0 R U16
speed command
9 Display output current(A) 0 R U16
A Display counter value(c) 0 R U16
Display actual output
B 0 R U16
frequency (H)
C Display DC-BUS voltage (u) 0 R U16
D Display output voltage (E) 0 R U16
Display output power angle
E 0 R U16
(n)
Display output power in kW
F 0 R U16
(P)
Display actual motor speed
10 0 R U16
in rpm (r)
Display estimate output
11 0 R U16
torque % (t)
12 Reserved 0 R U16
Display PID feedback in %
13 0 R U16
(b)
14 Display AVI in % (1.) 0 R U16
15 Display ACI in % (2.) 0 R U16
16 Display AUI in % (3.) 0 R U16
Display the temperature of
17 0 R U16
IGBT in oC (i.)
13-16
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Chapter 13 CANopen Overview |C200 Series
Factory
Index Sub Definition R/W Size Note
Setting
Display the temperature of
18 0 R U16
capacitance in oC (c.)
The status of digital input
19 0 R U16
(ON/OFF) (i)
The status of digital output
1A 0 R U16
(ON/OFF) (o)
1B Multi-step speed (S) 0 R U16
The corresponding CPU
1C pin status of digital input 0 R U16
(d.)
The corresponding CPU pin
1D 0 R U16
status of digital output (0.)
1E Reserved 0 R U16
1F Reserved 0 R U16
20 Reserved 0 R U16
21 Reserved 0 R U16
22 Reserved 0 R U16
23 Reserved 0 R U16
24 Reserved 0 R U16
Display PLC data D1043
25 0 R U16
(C)
13-17
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Chapter 13 CANopen Overview |C200 Series
Factory
Index sub R/W bit
Setting
bit Priority Speed Mode Torque Mode
Speed command
03h RW
(unsigned decimal)
04h RW -
05h RW -
Torque command
06h RW
(signed decimal)
Speed limit
07h RW
(unsigned decimal)
Frequency command not
0 ARRIVE Torque command not reached
0 reached
1 Frequency attained Torque attained
00 DIR FWD FWD
01 REV run switches to FWD run REV run switches to FWD run
2~1
10 FWD run switches to REV run FWD run switches to REV run
11 REV REV
0 JOG None None
5
1 On JOG On JOG
0 QSTOP None None
6
1 On Quick Stop On Quick Stop
01h R
0 SERVO_ON PWM OFF PWM OFF
7
1 PWM ON PWM ON
0 PRLOCK Parameters NOT locked Parameters NOT locked
2061h 8
1 Parameter Lock Parameter Lock
0 WARN NO warning NO warning
9
1 Warning Warning
0 ERROR No error No error
10
1 Error detected Error detected
0 IGBT_OK IGBT OFF IGBT OFF
11
1 IGBT ON IGBT ON
15~11 - - - -
02h R Velocity cmd Actual output frequency Actual output frequency
03h R -
04h R - - -
05h R Actual position (absolute)
Actual position (absolute)
06h R Torq Cmd
07h R Actual torque Actual torque
DS402 Standard
Factory PDO
Index Sub Definition R/W Size Unit Mode Note
Setting Map
0: No action
6007h 0 Abort connection option code 2 RW S16 Yes 2: Disable Voltage,
3: quick stop
603Fh 0 Error code 0 R0 U16 Yes
6040h 0 Control word 0 RW U16 Yes
6041h 0 Status word 0 R0 U16 Yes
6042h 0 vl target velocity 0 RW S16 rpm Yes vl
6043h 0 vl velocity demand 0 RO S16 rpm Yes vl
6044h 0 vl control effort 0 RO S16 rpm Yes vl
604Fh 0 vl ramp function time 10000 RW U32 1ms Yes vl Unit must be: 100ms, and
6050h 0 vl slow down time 10000 RW U32 1ms Yes vl check if the setting is set to
6051h 0 vl quick stop time 1000 RW U32 1ms Yes vl 0.
605Ah 0 Quick stop option code 2 RW S16 No 0 : disable drive function
1 :slow down on slow down
ramp
2: slow down on quick stop
ramp
5 slow down on slow down
ramp and stay in QUICK
STOP
13-18
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Chapter 13 CANopen Overview |C200 Series
Factory PDO
Index Sub Definition R/W Size Unit Mode Note
Setting Map
6 slow down on quick stop
ramp and stay in QUICK
STOP
0: Disable drive function
Disable operation option 1: Slow down with slow
605Ch 0 1 RW S16 No
code down ramp; disable of the
drive function
1: Profile Position Mode
2: Velocity Mode
6060h 0 Mode of operation 2 RW S8 Yes
4: Torque Profile Mode
6: Homing Mode
6061h 0 Mode of operation display 2 RO S8 Yes Same as above
0.1
6071h 0 tq Target torque 0 RW S16 Yes tq Valid unit: 1%
%
0.1
6072h 0 tq Max torque 150 RW U16 No tq Valid unit: 1%
%
6075h 0 tq Motor rated current 0 RO U32 mA No tq
0.1
6077h 0 tq torque actual value 0 RO S16 Yes tq
%
0.1
6078h 0 tq current actual value 0 RO S16 Yes tq
%
6079h 0 tq DC link circuit voltage 0 RO U32 mV Yes tq
13-19
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Chapter 13 CANopen Overview |C200 Series
Fault
ocA 0001H Over-current during acceleration 2213 H 1
Oc at accel
13-20
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Chapter 13 CANopen Overview |C200 Series
CANopen
CANopen fault
Display Fault code Description
fault code register
(bit 0~7)
Fault
OrP 000FH Phase Loss Protection 3130H 2
Phase La cked
IGBT overheat
IGBT temperature exceeds protection
Fault
oH1 0010H level. 4310H 3
IGBT over heat 1~15HP: 90℃
20~100HP: 100℃
Fault
PWR 0014H Power RST off FF02H 2
Power RST OFF
13-21
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Chapter 13 CANopen Overview |C200 Series
CANopen
CANopen fault
Display Fault code Description
fault code register
(bit 0~7)
Overload. The AC motor drive detects
excessive drive output current.
Fault NOTE: The AC motor drive can
oL 0015H 2310H 1
withstand up to 150% of the rated
Inverter oL
current
for a maximum of 60 seconds.
Fault
EoL2
EoL1 0016H Electronics thermal relay 1 protection 2310H 1
Thermal relay 1
2
Fault
EoL2 0017H Electronics thermal relay 2 protection 2310H 1
Thermal relay 2
Motor overheating
Fault The AC motor drive detects that the
EoL2
oH3 0018H FF20H 1
internal temperature exceeds
Thermal
Motor over
relay
heat
2
Pr.06-30 (PTC level)
These two fault codes will be displayed
Fault
001AH when output current exceeds 8311H 3
EoL2
ot1
Thermal
Over torqrelay
ue 1 2 the over-torque detection level (Pr.06.07
or Pr.06.10) and exceeds
Fault over-torque detection(Pr.06.08 or
EoL2
ot2 001BH Pr.06.11) and it is set 2 or 4 in 8311H 3
Thermal
Over torqrelay
ue 2 2 Pr.06-06 or Pr.06-09.
Fault
EoL2
uC 001CH Low current 8321H 1
Thermal
Under to rque
relay12
Fault
EoL2
cF2 001FH Internal EEPROM can not be read. 5530H 5
Thermal relay
EEPROM read2Err
Fault
EoL2
cd1 0021H U-phase error FF04H 1
Thermal
Ias sensor
relay
Err 2
13-22
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Chapter 13 CANopen Overview |C200 Series
CANopen
CANopen fault
Display Fault code Description
fault code register
(bit 0~7)
Fault
EoL2
cd2 0022H V-phase error FF05H 1
Thermal
Ibs sensor
relay
Err 2
Fault
EoL2
cd3 0023H W-phase error FF06H 1
Thermal
Ics sensor
relay
Err 2
Fault
EoL2
Hd0 0024H cc (current clamp) hardware error FF07H 5
Thermal
cc HW Error
relay 2
Fault
EoL2
Hd1 0025H oc hardware error FF08H 5
Thermal
oc HW Error
relay 2
Fault
EoL2
Hd2 0026H ov hardware error FF09H 5
Thermal
ov HW Error
relay 2
Fault
EoL2
Hd3 0027H GFF hardware error FF0AH 5
Thermal
GFF HW relay
Error 2
Fault
EoL2
AUE 0028H Auto tuning error FF21H 1
Thermal
Auto tuning
relay
Err2
Fault
EoL2
AFE 0029H PID loss (ACI) FF22H 7
Thermal
PID Fbk Error
relay 2
Fault
EoL2
PGF1 002AH PG feedback error 7301H 7
Thermal
PG Fbk Error
relay 2
Fault
EoL2
PGF2 002BH PG feedback loss 7301H 7
Thermal
PG Fbk Loss
relay 2
Fault
EoL2
PGF3 002CH PG feedback stall 7301H 7
Thermal
PG Fbk Over
relaySPD
2
13-23
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Chapter 13 CANopen Overview |C200 Series
CANopen
CANopen fault
Display Fault code Description
fault code register
(bit 0~7)
Fault
EoL2
PGF4 002DH PG slip error 7301H 7
Thermal
PG Fbk deviate
relay 2
Fault
EoL2
PGF5 0041H PG hardware error 7301H 5
Thermal
PG HW erelay
rror 2
Fault
EoL2
PGr1 002EH Pulse input error 7300H 7
Thermal
PG ref Error
relay 2
Fault
EoL2
PGr2 002FH Pulse input loss 7300H 7
Thermal
PG ref loss
relay 2
Fault
EoL2
ACE 0030H ACI loss FF00H 1
Thermal
ACI loss relay 2
External Fault
Fault When input EF (N.O.) on external
EoL2
EF 0031H 9000H 5
terminal is closed to GND, AC motor
Thermal relay
External Fault 2
drive stops output U, V, and W.
Emergency stop
When the multi-function input terminals
Fault MI1 to MI6 are set to
EoL2
EF1 0032H 9000H 5
emergency stop, the AC motor drive
Thermal relay
Emergency stop
2
stops output U, V, W and
the motor coasts to stop
External Base Block
Fault When the external input terminals MI1 to
EoL2
bb 0033H 9000H 5
MI16 are set as bb and active, the AC
Thermal
Base block
relay 2
motor drive output will be turned off
Fault
EoL2
ccod 0035H Software error 6320H 5
Thermal
SW code relay
Error2
13-24
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Chapter 13 CANopen Overview |C200 Series
CANopen
CANopen fault
Display Fault code Description
fault code register
(bit 0~7)
Fault
EoL2
cE1 0036H Illegal function code 7500H 4
Thermal CMD
Modbus relay err
2
Fault
cE2 0037H Illegal data address (00H to 254H) 7500H 4
Thermal ADDR
Modbus relay 2err
Fault
cE3 0038H Illegal data value 7500H 4
Thermal DATA
Modbus relay 2err
Fault
cE4 0039H Data is written to read-only address 7500H 4
Thermal slave
Modbus relay FLT
2
Fault
cE10 003AH Modbus transmission timeout. 7500H 4
Thermal time
Modbus relayout
2
Fault
cP10 003BH Keypad transmission timeout. 7500H 4
Thermaltime
Keypad relayout
2
Fault
bF 003CH Brake resistor fault 7110H 4
Thermalfault
Braking relay 2
Fault
ydc 003DH Motor Y-Δ switch error 3330H 2
Thermalconnect
Y-delta relay 2
Fault
dEb 003EH Energy regeneration when decelerating 3320H 2
Thermal
Dec. Energy
relayback
2
Fault
ovU
ocU 0042H Over current caused by unknown reason 2310H 1
Over volt.
Thermal
Unknow Over
relay
Unknow
Apm
2
13-25
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Chapter 13 CANopen Overview |C200 Series
CANopen
CANopen fault
Display Fault code Description
fault code register
(bit 0~7)
Fault
ovU 0043H Over voltage caused by unknown reason 3210H 2
Thermal Over
Unknow relay volt.
2
Fault
S1 0049H External emergency stop 9000H 5
Thermal relay
S1-Emergy stop
2
Fault
OPHL 0052H U phase output phase loss 3131H 2
Thermal
U phase lacked
relay 2
Fault
OPHL 0053H V phase output phase loss 3132H 2
Thermal
U phase lacked
relay 2
Fault
OPHL 0054H W phase output phase loss 3133H 2
Thermal
U phase lacked
relay 2
Fault
aocc 004FH A-phase short 2240H 1
Thermal
A phase short
relay 2
Fault
bocc 0050H B-phase short 2240H 1
Thermal
B phase short
relay 2
Fault
cocc 0051H C-phase short 2240H 1
Thermal
C phase short
relay 2
Fault
CGdE 0065H Guarding time-out 1 8130H 4
Thermal relay
Guarding T-out2
Fault
CHbE 0066H Heartbeat time-out 8130H 4
Thermal relay
Heartbea t T-out
2
Fault
CSyE 0067H CAN synchrony error 8700H 4
Thermal
SYNC T-out
relay 2
13-26
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Chapter 13 CANopen Overview |C200 Series
CANopen
CANopen fault
Display Fault code Description
fault code register
(bit 0~7)
Fault
CbFE 0068H CAN bus off 8140H 4
Thermalb us
CAN/S relay
off 2
Fault
CIdE 0069H Can index exceed 8110H 4
Thermal relay 2
Fault
CAdE 006AH CAN address error 0x8100 4
Thermal relay 2
Fault
CFdE 006BH CAN frame fail 0x8100 4
Thermal relay 2
13-27
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Chapter 13 CANopen Overview |C200 Series
RUN LED:
LED status Condition CANopen State
OFF Initial
Blinking Pre-Operation
ON Operation
ERR LED:
LED status Condition/ State
OFF No Error
Single One Message fail
flash
ON Bus off
13-28
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Chapter 14 PLC Function |C200 Series
14-1
The built in PLC function in C2000 allows following commands: WPLSoft, basic commands and
application commands; the operation methods are the same as Delta DVPPLC series. Other than
that, CANopen master provides 8 stations for synchronous control and 126 asynchronous controls.
NOTE
In C2000, CANopen master synchronous control complies with DS402 standard and supports homing mode, speed mode,
torque mode and point to point control mode; CANopen slave supports two control modes, speed mode and torque mode.
14-2
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Chapter 14 PLC Function |C200 Series
0 ~ 999 display:
1000 ~ 9999 display: It will only display the first 3 digits. The
LED at the bottom-right corner will light to indicate 10 times of
the display value. For example, the actual value for the
following figure is 100X10=1000.
14-3
13. When PLC is programmed with TORQ command, AC motor drive torque is now under PLC
function control. The setting of Pr.11-33 and Hand ON/OFF function are disabled and has no
control over AC motor drive torque.
14-4
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Chapter 14 PLC Function |C200 Series
14.3 Start-up
14.3.1 The Steps for PLC Execution
Please operate PLC functions by following the steps indicate below:
When using KPC-CE01 series digital keypad, switch the mode to PLC2 for program
download/upload:
A. Press MODE key and select ‘PLC’.
B. Press ‘UP’ key and look for ‘PLC2’ then press ‘ENTER’.
C. If succeed, display ‘END’ for one to two seconds and return to ‘PLC2’ page.
The PLC warning that is displayed before program downloaded to C2000 can be ignored, please
continue the operation.
RS485
C200
2. Run the program.
PLC function, select function 2 (PLC Run).
PLC
1: Disable (PLC0)
1.Disable
2: PLC Run (PLC1)
2.PLC Run
3.PLC Stop 3: PLC Stop (PLC2)
Optional accessories: Digital keypad KPC-CE01, display
PLC function as shown in the ( ).
When external input terminals (MI1~MI8) are set to PLC Mode select bit0 (51) or PLC Mode
select bit1 (52), it will force to switch to PLC mode regardless the terminal is ON or OFF.
Meanwhile, switching via keypad is disabled. Please refer to the chart below:
PLC Mode PLC Mode select bit1(52) PLC Mode select bit0 (51)
Disable (PLC 0) OFF OFF
PLC Run (PLC 1) OFF ON
PLC Stop (PLC 2) ON OFF
Previous state ON ON
14-5
1 FWD REV MI1 MI2 MI3 MI4 MI5 MI6 MI7 MI8
1: I/O extension card
Output device:
Device Y0 Y1 Y2 Y3 Y4 Y5 Y6 Y7 Y10 Y11 Y12 Y13 Y14 Y15 Y16 Y17
1 RY1 RY2 MO1 MO2
1: I/O extension card
14-6
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Chapter 14 PLC Function |C200 Series
Step 2. After compiler is finished, choose the item “Write to PLC” in the communication items.
14-7
After finishing Step 2, the program will be downloaded from WPLSoft to the AC motor drive by
the communication format.
14-8
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Chapter 14 PLC Function |C200 Series
X0 X1
Calculate the result by Start Y0
Y0
ladder diagram
algorithm (it doesn’t M100 X3 X10 Repeats the
sent to the outer output Y1 execution in
:
point but the inner : cycle.
equipment will output X100 M505
immediately.) Y126
End
The kinds and amounts of PLC internal equipment will be different with brands. Although
internal equipment has the name of traditional electric control circuit, such as relay, coil and
contact. It doesn’t have the real components in it. In PLC, it just has a basic unit of internal
memory. If this bit is 1, it means the coil is ON and if this bit is 0, it means the coil is OFF. You
should read the corresponding value of that bit when using contact (Normally Open, NO or
contact a). Otherwise, you should read the opposite sate of corresponding value of that bit
when using contact (Normally Closed, NC or contact b). Many relays will need many bits, such
as 8-bits makes up a byte. 2 bytes can make up a word. 2 words make up double word. When
using many relays to do calculation, such as add/subtraction or shift, you could use byte, word
14-9
or double word. Furthermore, the two equipments, timer and counter, in PLC not only have coil
but also value of counting time and times.
In conclusion, each internal storage unit occupies fixed storage unit. When using these
equipments, the corresponding content will be read by bit, byte or word.
14-10
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Chapter 14 PLC Function |C200 Series
Falling-edge trigger in
ANDF X, Y, M, T, C
serial
Rising-edge trigger in
ORP X, Y, M, T, C
parallel
Falling-edge trigger in
ORF X, Y, M, T, C
parallel
14-11
MPS
Multiple output MRD none
MPP
Output command of coil
OUT Y, M
drive
Basic command/
Basic command,
Application
Application command
command
Inverse logic INV none
X0 X1 X2 X3 X4 X5 X6 X7 X10 C0 C1
00000
X11 X12 X13
00000 Y0
Row Number
The operation of ladder diagram is to scan from left upper corner to right lower corner. The
output handling, including the operation frame of coil and application command, at the most
right side in ladder diagram.
Take the following diagram for example; we analyze the process step by step. The number at
the right corner is the explanation order.
X0 X1 Y1 X4
Y1
M0 T0 M3
TMR T0 K10
X3 M1
14-12
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Chapter 14 PLC Function |C200 Series
AND M1
ORB
5 LD Y1
AND X4
The explanation of command order:
6 LD T0
AND M3
ORB
7 ANB
8 OUT Y1
TMR T0 K10
The detail explanation of basic structure of ladder diagram
The structures of ANDP and ANDF are the same but the action is in rising-edge or falling-edge.
14-13
ANB command
ORB command
If there are several blocks when operate ANB or ORB, they should be combined to blocks or
network from up to down or from left to right.
6. MPS, MRD, MPP commands: Divergent memory of multi-output. It can produce many various
outputs.
7. The command MPS is the start of divergent point. The divergent point means the connection place
between horizontal line and vertical line. We should determine to have contact memory command
or not according to the contacts status in the same vertical line. Basically, each contact could have
memory command but in some places of ladder diagram conversion will be omitted due to the
PLC operation convenience and capacity limit. MPS command can be used for 8 continuous times
and you can recognize this command by the symbol “┬”.
8. MRD command is used to read memory of divergent point. Because the logical status is the same
in the same horizontal line, it needs to read the status of original contact to keep on analyzing
other ladder diagram. You can recognize the command MRD by the symbol “├”.
9. MPP command is used to read the start status of the top level and pop it out from stack. Because
it is the last item of the horizontal line, it means the status of this horizontal line is ending.
MPS
( )
( )
( )
( )
MRD
( )
MPP ( )
( )
14-14
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Chapter 14 PLC Function |C200 Series
START
14-15
X1 X3
Y1 X1
Y1 X3
X2
X2 X4 Y1
Y2 X4
Y2
Y1
Y2
X2
X2 X4 Y1 X4
Y2
Y1
Y2
Y2
14-16
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Chapter 14 PLC Function |C200 Series
X0 Y1
TMR T0 Kn X0
T0
Y1
Y1
nT T
The figure above uses timer T0 to control coil Y1 to be ON. After Y1 is ON, timer T0 will be
closed at the next scan period and output Y1. The oscillating circuit will be shown as above. (n is
the setting of timer and it is decimal number. T is the base of timer. (clock period))
M0 Y1 T
Y1 M0
M0 Y1
Y1
In figure above, the rising-edge differential command of X0 will make coil M0 to have a single
pulse of ΔT (a scan time). Y1 will be ON during this scan time. In the next scan time, coil M0 will be
OFF, normally close M0 and normally close Y1 are all closed. However, coil Y1 will keep on being
ON and it will make coil Y1 to be OFF once a rising-edge comes after input X0 and coil M0 is ON
for a scan time. The timing chart is as shown above. This circuit usually executes alternate two
actions with an input. From above timing: when input X0 is a square wave of a period T, output coil
Y1 is square wave of a period 2T.
14-17
Example 11: Output delay circuit, in the following example, the circuit is made up of two
timers.
No matter input X0 is ON or OFF, output Y4 will be delay.
X0
TMR T5 K50 X0
T5 T6 5 seconds
Y4 T5
Y4
Y0
Y4 X0
TMR T6 K30
T6
3 seconds
X0
X0
TMR T11 Kn1 n1* T
T11
T11
TMR T12 Kn2
n2* T
T12
Y1 T12
Y1
(n1+n2)* T
14-18
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Chapter 14 PLC Function |C200 Series
14-19
X10
Y0 2
14-20
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Chapter 14 PLC Function |C200 Series
DW Double Word
W1 W0 Word
Bit
¾ Constant K:
In PLC, it is usually have K before constant to mean decimal number. For example, K100 means 100
in decimal number.
Exception: The value that is made up of K and bit equipment X, Y, M, S will be bit, byte, word or
double word. For example, K2Y10, K4M100. K1 means a 4-bit data and K2~K4 can be 8, 12
and 16-bit data separately.
¾ Constant H:
In PLC, it is usually have H before constant to mean hexadecimal number. For example, H100
means 100 in hexadecimal number.
14-21
1.Auxiliary relay for general : It will reset to Off when power loss during running. Its
state will be Off when power on after power loss.
2.Auxiliary relay for special : Each special auxiliary relay has its special function.
Please don’t use undefined auxiliary relay.
The Function of Timer
The unit of timer is 1ms, 10ms and 100ms. The count method is count up. The output coil will be On
when the present value of timer equals to the settings. The setting is K in decimal number. Data
register D can be also used as settings.
• The real setting time of timer = unit of timer * settings
Functions:
When pulse input signal of counter is from Off to On, the present value of counter equals to settings
and output coil is On. Settings are decimal system and data register D can also be used as settings.
16-bit counters C0~C79:
; Setting range of 16-bit counter is K0~K32, 767. (K0 is the same as K1. output contact will be
On immediately at the first count.
; General counter will be clear when PLC is power loss. If counter is latched, it will remember the
value before power loss and keep on counting when power on after power loss.
; If using MOV command, WPLSoft to send a value, which is large than setting to C0, register, at
the next time that X1 is from Off to On, C0 counter contact will be On and present value will be
set to the same as settings.
; The setting of counter can use constant K or register D (not includes special data register
D1000~D1044) to be indirect setting.
; If using constant K to be setting, it can only be positive number but if setting is data register D, it
can be positive/negative number. The next number that counter counts up from 32,767 is
-32,768.
14-22
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Chapter 14 PLC Function |C200 Series
Example:
LD X0 X0
RST C0 RST C0
LD X1 X1
CNT C0 K5 CNT C0 K5
LD C0 C0
OUT Y0 Y0
M1002 On only for 1 scan after RUN. Initial pulse is contact a. It will get positive pulse in the Read only
RUN moment. Pulse width=scan period.
M1003 Off only for 1 scan after RUN. Initial pulse is contact a. It will get negative pulse in Read only
the RUN moment. Pulse width=scan period.
M1004 Reserved -
M1005 Fault indication of the AC motor drives Read only
M1006 Output frequency is 0, M1006 On Read only
M1007 Operation direction of AC motor drives (FWD: M1007 Off, REV: M1007On) Read only
M1008 -
~ Reserved
M1010
M1011 10ms clock pulse, 5ms On/5ms Off Read only
M1012 100ms clock pulse, 50ms On / 50ms Off Read only
M1013 1s clock pulse, 0.5s On / 0.5s Off Read only
M1014 1min clock pulse, 30s On / 30s Off Read only
M1015 Frequency attained, M1015=On Read only
M1016 Parameter read/write error, M1016=On Read only
M1017 Succeed to write parameter, M1017 =On Read only
M1018 Reserved
M1019 Reserved
M1020 Zero flag Read only
M1021 Borrow flag Read only
M1022 Carry flag Read only
14-23
Special Read(R)/
Function
M Write(W)
M1023 Divisor is 0 Read only
M1024 Reserved -
M1025 RUN(ON) / STOP(OFF) the AC motor drive Read/Write
M1026 The operation direction of the AC motor drive (FWD: OFF, REV: ON) Read/Write
M1027 AC motor drive reset Read/Write
M1028 -
~ Reserved
M1039
M1040 Power On Read/Write
M1041 Reserved -
M1042 Quick stop Read/Write
M1043 Reserved -
M1044 Halt Read/Write
M1045 -
~ Reserved
M1051
M1052 Freuqency Lock Read/Write
M1053 -
~ Reserved
M1055
M1056 Power on ready Read only
M1057 Reserved -
M1058 On quick stopping Read only
M1059 -
~ Reserved
M1062
M1063 Target torque attained Read only
M1064 Read only
~ Reserved
M1071
M1072 Read/Write
~ Reserved
M1079
M1073 Read only
~ Reserved
M1079
14-24
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Chapter 14 PLC Function |C200 Series
Special D Read(R)/
Function
Write(W)
D1011 Minimum scan time (Unit: 0.1ms) Read only
D1012 Maximum scan time (Unit: 0.1ms) Read only
D1013
~ Reserved -
D1019
D1020 Output frequency (0.000~600.00Hz) Read only
D1021 Output current (####.#A) Read only
D1022
~ Reserved -
D1026
D1027 Frequency command of the PID control Read only
D1028 The responsive value of AUI AVI (analog voltage input) (0.00~100.00%) Read only
D1029 The responsive value of AUI ACI (analog current input) (0.0~100.00%) Read only
D1030 The corresponding value for AUI (-100.0~100.00%) Read only
D1031
~ Reserved -
D1035
D1036 AC motor drive error code Read only
D1037 AC motor drive output frequency Read only
D1038 DC Bus voltage Read only
D1039 Output voltage Read only
D1040 Analog output value AFM1 (-100.00~100.00%) Read/Write
D1041
~ Reserved -
D1042
User defined (When Pr.00.04 is set to 28, the register data will be
D1043 Read/Write
displayed as C xxx)
D1044 Reserved -
D1045 Analog output value AFM2 (-100.00~100.00%) Read/Write
D1046
~ Reserved -
D1049
Actual mode
0: Velocity mode
D1050 Read only
1: Position mode
2: Torque mode
+D1051
~ Reserved -
D1052
D1053 Actual torque Read only
D1054 Read only
~ Reserved
D1059
Mode setting
D1060 0: Speed Mode Read/Write
2: Torque Mode
D1061
~ Reserved Read/Write
D1069
14-25
Function Code
NOTE
When PLC function is activated, C2000 can Read/Write the PLC and drive’s parameter by different addresses (pre-defined
station number for the AC motor drive is 1, for PLC station number is 2)
14-26
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Chapter 14 PLC Function |C200 Series
14.6 Commands
14.6.1 Basic Commands
Commands
Commands Function Operands
LD Load contact A X, Y, M, T, C
LDI Load contact B X, Y, M, T, C
AND Series connection with A contact X, Y, M, T, C
ANI Series connection with B contact X, Y, M, T, C
OR Parallel connection with A contact X, Y, M, T, C
ORI Parallel connection with B contact X, Y, M, T, C
ANB Series connects the circuit block --
ORB Parallel connects the circuit block --
MPS Save the operation result --
Read the operation result (the pointer is
MRD --
not moving)
MPP Read the result --
Output Command
Commands Function Operands
OUT Drive coil Y, M
SET Action latched (ON) Y, M
RST Clear the contacts or the registers Y, M, T, C, D
14-27
End Command
Commands Function Operands
END Program end --
Other Command
Commands Function Operands
NOP No function --
INV Inverse operation result --
P Indicator P
Mnemonic Function
LD Load A contact
X0~X17 Y0~Y17 M0~M799 T0~159 C0~C79 D0~D399
Operand
9 9 9 9 9 -
L The LD command is used on the A contact that has its start from the left BUS or
the A contact that is the start of a contact circuit. Function of the command is to
save present contents, and at the same time, save the acquired contact status
into the accumulative register.
Mnemonic Function
LDI Load B contact
X0~X17 Y0~Y17 M0~M799 T0~159 C0~C79 D0~D399
Operand
9 9 9 9 9 -
The LDI command is used on the B contact that has its start from the left BUS or
the B contact that is the start of a contact circuit. Function of the command is to
save present contents, and at the same time, save the acquired contact status
into the accumulative register.
14-28
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Chapter 14 PLC Function |C200 Series
Mnemonic Function
AND Series connection- A contact
X0~X17 Y0~Y17 M0~M799 T0~159 C0~C79 D0~D399
Operand
9 9 9 9 9 -
The AND command is used in the series connection of A contact. The function of the
command is to readout the status of present specific series connection contacts first,
and then to perform the “AND” calculation with the logic calculation result before the
contacts, thereafter, saving the result into the accumulative register.
Ladder diagram: Command code: Operation:
Example
Load contact B of
X1 X0 LDI X1
Y1 X1
Connect to contact
AND X0
A of X0 in series
OUT Y1 Drive Y1 coil
Mnemonic Function
ANI Series connection- B contact
X0~X17 Y0~Y17 M0~M799 T0~159 C0~C79 D0~D399
Operand
9 9 9 9 9 -
The ANI command is used in the series connection of B contact. The function of the
command is to readout the status of present specific series connection contacts first,
and then to perform the “AND” calculation with the logic calculation result before the
contacts, thereafter, saving the result into the accumulative register.
X1
Load contact A of
Example X0 LD X1
Y1 X1
Connect to contact
ANI X0
B of X0 in series
OUT Y1 Drive Y1 coil
Mnemonic Function
OR Parallel connection- A contact
X0~X17 Y0~Y17 M0~M799 T0~159 C0~C79 D0~D399
Operand
9 9 9 9 9 -
The OR command is used in the parallel connection of A contact. The function of the
command is to readout the status of present specific series connection contacts, and
then to perform the “OR” calculations with the logic calculation result before the
contacts, thereafter, saving the result into the accumulative register.
14-29
Mnemonic Function
ORI Parallel connection- B contact
X0~X17 Y0~Y17 M0~M799 T0~159 C0~C79 D0~D399
Operand
9 9 9 9 9 -
The ORI command is used in the parallel connection of B contact. The function of the
command is to readout the status of present specific series connection contacts, and
then to perform the “OR” calculations with the logic calculation result before the
contacts, thereafter, saving the result into the accumulative register.
Ladder diagram: Command code: Operation:
Example
X0 LD X0 Load contact A of X0
Y1 Connect to contact B of
ORI X1
X1 X1 in parallel
OUT Y1 Drive Y1 coil
Mnemonic Function
ANB Series connection (Multiple Circuits)
Operand None
To perform the “ANB” calculation between the previous reserved logic results and
contents of the accumulative register.
Ladder diagram: Command code: Operation:
Example
X0 X1
LD X0 Load contact A of X0
ANB
Y1 Connect to contact B of
ORI X2
X2 in parallel
X2 X3 LDI X1 Load contact B of X1
Connect to contact A of
Block A Block B OR X3
X3 in parallel
Connect circuit block in
ANB
series
OUT Y1 Drive Y1 coil
Mnemonic Function
ORB Parallel connection (Multiple circuits)
Operand None
ORB is to perform the “OR” calculation between the previous reserved logic results
and contents of the accumulative register.
14-30
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Chapter 14 PLC Function |C200 Series
Mnemonic Function
MPS Store the current result of the internal PLC operations
Operand None
To save contents of the accumulative register into the operation result. (the result
operation pointer pluses 1)
Mnemonic Function
MRD Reads the current result of the internal PLC operations
Operand None
Reading content of the operation result to the accumulative register. (the pointer of
operation result doesn’t move)
Mnemonic Function
MPP Reads the current result of the internal PLC operations
Operand None
Reading content of the operation result to the accumulative register. (the stack pointer
will decrease 1)
Ladder diagram: Command code: Operation:
Example
LD X0 Load contact A of X0
MPS
X0 X1 MPS Save in stack
Y1 Connect to contact A of
X2 AND X1
X1 in series
MRD M0 OUT Y1 Drive Y1 coil
Read from the stack
Y2 MRD (without moving
MPP pointer)
END Connect to contact A of
AND X2
X2 in series
OUT M0 Drive M0 coil
MPP Read from the stack
OUT Y2 Drive Y2 coil
END End program
14-31
Mnemonic Function
OUT Output coil
X0~X17 Y0~Y17 M0~M799 T0~159 C0~C79 D0~D399
Operand
- 9 9 - - -
Output the logic calculation result before the OUT command to specific device.
Mnemonic Function
SET Latch (ON)
X0~X17 Y0~Y17 M0~M799 T0~159 C0~C79 D0~D399
Operand
- 9 9 - - -
When the SET command is driven, its specific device is set to be “ON,” which will
keep “ON” whether the SET command is still driven. You can use the RST command
to set the device to “OFF”.
Ladder diagram: Command code: Operation:
Example X0 Y0 LD X0 Load contact A of X0
SET Y1
Connect to contact B of
AN Y0
Y0 in series
SET Y1 Y1 latch (ON)
Mnemonic Function
RST Clear the contacts or the registers
X0~X17 Y0~Y17 M0~M799 T0~159 C0~C79 D0~D399
Operand
- 9 9 9 9 9
When the RST command is driven, motion of its specific device is as follows:
Device Status
Y, M Coil and contact will be set to “OFF”.
Present values of the timer or counter will be set to 0, and the coil
T, C
and contact will be set to “OFF.”
D The content value will be set to 0.
When the RST command is not driven, motion of its specific device is unchanged.
Command code: Operation:
Example Ladder diagram
LD X0 Load contact A of X0
14-32
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Chapter 14 PLC Function |C200 Series
X0
RST Y5 RST Y5 Clear contact Y5
Mnemonic Function
TMR 16-bit timer
T-K T0~T159, K0~K32,767
Operand
T-D T0~T159, D0~D399
When TMR command is executed, the specific coil of timer is ON and timer will start to
count. When the setting value of timer is attained (counting value >= setting value),
the contact will be as following
Open
NO(Normally Open) contact
collector
Close
NC(Normally Closed) contact
collector
When the RST command is not driven, motion of its specific device remains
unchanged.
Mnemonic Function
CNT Clear contact or register
C-K C0~C79, K0~K32,767
Operand
C-D C0~C79, D0~D399
When the CNT command is executed from OFFÆON, which means that the counter
coil is driven, and 1 should thus be added to the counter’s value; when the counter
achieved specific set value (value of counter = the setting value), motion of the
contact is as follows:
Open
NO(Normally Open) contact
collector
Close
NC(Normally Close) contact
collector
If there is counting pulse input after counting is attained, the contacts and the counting
values will be unchanged. To re-count or to conduct the CLEAR motion, please use
the RST command.
Command code: Operation
Example Ladder diagram:
LD X0 Load contact A of
X0
CNT C2 K100 Setting of C2 counter is
CNT C2 K100
K100.
14-33
Mnemonic Function
MC/MCR Master control Start/Reset
Operand N0~N7
1. MC is the main-control start command. When the MC command is executed, the
execution of commands between MC and MCR will not be interrupted. When MC
command is OFF, the motion of the commands that between MC and MCR is
described as follows:
Command Description
Timer The counting value is set back to zero, the coil and
the contact are both turned OFF
Accumulative timer The coil is OFF, and the timer value and the
contact stay at their present condition
Subroutine timer The counting value is back to zero. Both coil and
contact are turned OFF.
The coil is OFF, and the counting value and the
Counter
contact stay at their present condition
Coils driven up by the OUT
All turned OFF
command
Devices driven up by the SET
Stay at present condition
and RST commands
All of them are not acted , but the nest loop
FOR-NEXT command will still be executed for
Application commands
times defined by users even though the MC-MCR
commands is OFF.
2. MCR is the main-control ending command that is placed at the end of the
main-control program and there should not be any contact commands prior to the
MCR command.
3. Commands of the MC-MCR main-control program support the nest program
structure, with 8 layers as its greatest. Please use the commands in order from N0~
N7, and refer to the following:
Command code: Operation:
Ladder Diagram:
Example LD X0 Load A contact of X0
X0
MC N0
Enable N0 common
MC N0 series connection
X1
Y0
contact
LD X1 Load A contact of X1
X2
MC N1 OUT Y0 Drive Y0 coil
X3
Y1 :
LD X2 Load A contact of X2
MCR N1 Enable N1 common
MC
N1 series connection
MCR N0 contact
X10
MC N0 LD X3 Load A contact of X3
X11
OUT Y1 Drive Y1 coil
Y10
:
MCR N0 Disable N1 common
MCR N1 series connection
contact
14-34
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Chapter 14 PLC Function |C200 Series
:
Disable N0 common
MCR N0 series connection
contact
:
LD X10 Load A contact of X10
Enable N0 common
MC N0 series connection
contact
LD X11 Load A contact of X0
Enable N0 common
OUT Y10 series connection
contact
: Load A contact of X1
MCR N0 Drive Y0 coil
Mnemonic Function
LDP Rising-edge detection operation
X0~X17 Y0~Y17 M0~M799 T0~159 C0~C79 D0~D399
Operand
9 9 9 9 9 -
Usage of the LDP command is the same as the LD command, but the motion is
different. It is used to reserve present contents and at the same time, saving the
detection status of the acquired contact rising-edge into the accumulative register.
Command code: Operation:
Example Ladder diagram:
Start X0 rising-edge
LDP X0
X0 X1 detection
Y1 Series connection A
AND X1
contact of X1
OUT Y1 Drive Y1 coil
Please refer to the specification of each model series for the applicable range of
Remarks
operands.
If rising-edge status is ON when PLC power is off, then the rising-edge status will be
TRUE when PLC power is on.
Mnemonic Function
LDF Falling-edge detection operation
X0~X17 Y0~Y17 M0~M799 T0~159 C0~C79 D0~D399
Operand
9 9 9 9 9 -
Usage of the LDF command is the same as the LD command, but the motion is different. It is
used to reserve present contents and at the same time, saving the detection status of the
acquired contact falling-edge into the accumulative register.
Ladder diagram: Command code: Operation:
Example X0 X1 Start X0 falling-edge
LDF X0
Y1 detection
Series connection A
AND X1
contact of X1
OUT Y1 Drive Y1 coil
14-35
Mnemonic Function
ANDP Rising-edge series connection
X0~X17 Y0~Y17 M0~M799 T0~159 C0~C79 D0~D399
Operand
9 9 9 9 9 -
ANDP command is used in the series connection of the contacts’ rising-edge detection.
Mnemonic Function
ANDF Falling-edge series connection
X0~X17 Y0~Y17 M0~M799 T0~159 C0~C79 D0~D399
Operand
9 9 9 9 9 -
ANDF command is used in the series connection of the contacts’ falling-edge detection.
Mnemonic Function
ORP Rising-edge parallel connection
X0~X17 Y0~Y17 M0~M799 T0~159 C0~C79 D0~D399
Operand
9 9 9 9 9 -
The ORP commands are used in the parallel connection of the contact’s
rising-edge detection.
14-36
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Chapter 14 PLC Function |C200 Series
Mnemonic Function
ORF Falling-edge parallel connection
X0~X17 Y0~Y17 M0~M799 T0~159 C0~C79 D0~D399
Operand
9 9 9 9 9 -
The ORP commands are used in the parallel connection of the contact’s falling-edge
detection.
Ladder diagram: Command code: Operation:
Example X0 LD X0 Load A contact of X0
Y1 X1 falling-edge
X1 ORF X1 detection in parallel
connection
OUT Y1 Drive Y1 coil
Mnemonic Function
PLS Rising-edge output
X0~X17 Y0~Y17 M0~M799 T0~159 C0~C79 D0~D399
Operand
- 9 9 - - -
When X0=OFF→ON (rising-edge trigger), PLS command will be executed and M0 will
send the pulse of one time which the length is the time needed for one scan cycle.
Ladder diagram: Command code: Operation:
Example X0 LD X0 Load A contact of X0
PLS M0 PLS M0 M0 rising-edge output
M0
Load the contact A of
SET Y0 LD M0
M0
SET Y0 Y0 latched (ON)
Timing diagram:
X0
Y0
Mnemonic Function
PLF Falling-edge output
X0~X17 Y0~Y17 M0~M799 T0~159 C0~C79 D0~D399
Operand
- 9 9 - - -
When X0= ON→OFF (falling-edge trigger), PLF command will be executed and M0
will send the pulse of one time which the length is the time for scan one time.
14-37
Y0
Mnemonic Function
END Program End
Operand None
It needs to add the END command at the end of ladder diagram program or
command program. PLC will scan from address o to END command, after the
execution it will return to address 0 and scan again.
Mnemonic Function
NOP No action
Operand None
NOP command does no operation in the program; the result of executing this
command will remain the logic operation. Use NOP command if user wants to delete
certain command without changing the length of the program.
Command code: Operation:
Ladder diagram:
Example LD X0 Load contact B of X0
NOP command will be simplified and not
displayed when the ladder diagram is NOP No function
displayed.
OUT Y1 Drive Y1 coil
X0
NOP Y1
Mnemonic Function
INV Inverse operation result
Operand None
The operation result (before executing INV command) will be saved inversely into
cumulative register.
Command code: Operation:
Ladder diagram:
Example LD X0 Load contact A of X0
X0
Y1 Operation result
INV
inversed
OUT Y1 Drive Y1 coil
14-38
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Chapter 14 PLC Function |C200 Series
Mnemonic Function
P Indicator
Operand P0~P255
Indicator P allows API 00 CJ command and API 01 CALL command to skip from 0.
Though it is not necessary to start from number 0, same number can not be used
twice or serious error would occur.
Command code: Operation:
Ladder diagram:
Example LD X0 Load contact A of X0
X0
CJ P10
CJ P10 Skip command CJ to
P10
X1 :
P10 Y1
P10 Indicator P10
LD X1 Load contact A of X1
OUT Y1 Drive Y1 coil
14-39
14-40
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Chapter 14 PLC Function |C200 Series
API
CALL S Call Subroutine
01 P
14-41
API
FEND - The end of the main program (First End)
06
1. This instruction denotes the end of the main program. It has the same function
Explanation
as that of END instruction when being executed by PLC.
2. CALL must be written after FEND instruction and add SRET instruction in the
end of its subroutine. Interruption program has to be written after FEND
instruction and IRET must be added in the end of the service program.
3. If several FEND instructions are in use, place the subroutine and interruption
service programs between the final FEND and END instruction.
4. After CALL instruction is executed, executing FEND before SRET will result in
errors in the program.
When X1=ON,
CALL operation
Command procedure
Main Program
When X1=OFF, X1
operation
CALL P63
procedure
Main Program
Main Program
Main Program
14-42
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Chapter 14 PLC Function |C200 Series
API
CMP S1 S2 D Compare
10 D P
Y2
If K10<D10, Y2= On
RST M1
RST M2
14-43
API
ZCP S1 S2 S D Zone Compare
11 D P
E xplanation 1. S1: Lower bound of zone comparison S2: Upper bound of zone
comparison S: Comparison value D: Comparison result
2. S is compared with its S1 S2 and the result is stored in D.
3. When S1 > S2, the instruction performs comparison by using S1 as the
lower/upper bound.
4. The two comparison values are compared algebraically and the two
values are signed binary values. When b15 = 1 in 16-bit instruction or
b31 = 1 in 32-bit instruction, the comparison will regard the value as
negative binary values.
1. Designate device M0, and operand D automatically occupies M0, M1 and
Example
M2.
2. When X0 = On, ZCP instruction will be executed and one of M0, M1, and
M2 will be On. When X10 = Off, ZCP instruction will not be executed and
M0, M1, and M2 remain their status before X0 = Off.
3. If the user need to obtain a comparison result with ≥ ≤, and ≠, make a
series parallel connection between Y0 ~ Y2.
X0
ZCP K10 K100 C10 M0
M0
If C10 < K10, M0 = On
M1
If K10 <
= C10 <
= K100, M1 = On
M2
If C10 > K100, M2 = On
X0 X0
RST M0 ZRST M0 M2
RST M1
RST M2
14-44
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Chapter 14 PLC Function |C200 Series
API
MOV S D Moving the data
12 D P
Example
1. When X0 = Off, the content in D10 will remain unchanged. If X0 = On, the
value K10 will be moved to D10 data register.
2. When X1 = Off, the content in D10 will remain unchanged. If X1 = On, the
present value T0 will be moved to D10 data register.
X0
MOV K10 D0
X1
MOV T0 D10
14-45
API
BMOV S D n Block Move
15 P
Example When X10 = On, the contents in registers D0 ~ D3 will be moved to the 4 registers D20 ~ D23.
X10
1 D20 K4 D0 D20
D1 D21 n=4
D2 D22
D3 D23
Assume the bit devices KnX, KnY, KnM and KnS are designated for moving, the number of
Example digits of S and D has to be the same, i.e. their n has to be the same.
M1000
2 D0 D20 K4 M0
M1
M2
M3
M4
M5
n=3
M6
M7
M8 Y10
M9 Y11
M10 Y12
M11 Y13
Example To avoid coincidence of the device numbers to be moved designated by the two operands and
cause confusion, please be aware of the arrangement on the designated device numbers.
3
When S > D, the BMOV command is processed in the order as 1→2→3
X10
D20 1 D19
BMOV D20 D19 K3 2
D21 D20
3
D22 D21
14-46
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Chapter 14 PLC Function |C200 Series
API
ADD S1 S2 D BIN Addition
20 D P
X0
ADD D0 D10 D20
14-47
API
SUB S1 S2 D Subtraction
21 D P
X0
SUB D0 D10 D20
14-48
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Chapter 14 PLC Function |C200 Series
API
MUL S1 S2 D BIN Multiplication
22 D P
When D serves as a bit device, it can designate K1 ~ K4 and construct a 16-bit result,
occupying consecutive 2 groups of 16-bit data.
Example The 16-bit D0 is multiplied by the 16-bit D10 and brings forth a 32-bit product. The
higher 16-bit are stored in D21 and the lower 16-bit are stored in D20. On/Off of the
most left bit indicates the positive/negative status of the result value.
X0
MUL D0 D10 D20
14-49
API
DIV S1 S2 D BIN Division
23 D P
16-bit instruction:
Quotient Remainder
+1
/ =
If D is the bit device, it allocates K1~K14 to 16-bit and occupies 2 continuous sets
of quotient and remainder.
Example When X0 = On, D0 will be divided by D10; the quotient will be stored in D20 and
remainder in D21. On/Off of the highest bit indicates the positive/negative value of the
result.
X0
DIV D0 D10 D20
14-50
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Chapter 14 PLC Function |C200 Series
API
INC D Increment: BIN plus 1
24 D P
14-51
API
DEC D Decrement: BIN minus 1
25 D P
E xplanation D: Destination
1. If the command is not a pulse execution type, the content in the designated
device D will minus “1” in every scan period whenever the instruction is
executed.
2. This instruction adopts pulse execution instructions (DECP).
3. In 16-bit operation, -32,768 minuses 1 and obtains 32,767. In 32-bit operation,
-2,147,483,648 minuses 1 and obtains 2,147,483,647.
Example When X0 goes from Off to On, the content in D0 minuses 1 automatically.
X0
DECP D0
14-52
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Chapter 14 PLC Function |C200 Series
API
ROR D n Rotate to the Right
30 P
Example When X0 goes from Off to On, the 16-bit (4 bits as a group) in D10 will rotate to
the right, as shown in the figure below. The bit marked with ※ will be sent to carry
flag M1022.
X0
RORP D10 K4
14-53
API
ROL D n Rotate to the Left
31 P
Example When X0 goes from Off to On, the 16-bit (4 bits as a group) in D10 will rotate to
the left, as shown in the figure below. The bit marked with ※ will be sent to carry
flag M1022.
X0
D10 K4
14-54
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Chapter 14 PLC Function |C200 Series
API
ZRST D1 D2 Zero Reset
40 P
Example 1. When X0 = On, auxiliary relays M300 ~ M399 will be reset to Off.
2. When X1 = On, 16 counters C0 ~ C127 will all be reset (writing in 0; contact
and coil being reset to Off).
3. When X10 = On, timers T0 ~ T127 will all be reset (writing in 0; contact and coil
being reset to Off).
4. When X3 = On, data registers D0 ~ D100 will be reset to 0.
X0
ZRST M300 M399
X1
ZRST C0 C127
X10
ZRST T0 T127
X3
ZRST D0 D100
Remarks 1. Devices, e.g. bit devices Y, M, S and Word Devices T, C, D, can use RST
instruction.
2. API 16 FMOV instruction is also to send K0 to Word Devices T, C, D or bit
registers KnY, KnM, KnS for reset.
X0
RST M0
RST T0
RST Y0
FMOV K0 D10 K5
14-55
API
215~ LD# S1 S2 Contact Logical Operation LD#
D
217
Example 1. When the result of logical AND operation of C0 and C10 ≠ 0, Y10 = On.
2. When the result of logical OR operation of D200 and D300 ≠ 0 and X1 = On,
Y11 = On will be retained.
14-56
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Chapter 14 PLC Function |C200 Series
API
218~ AND# S1 S2 Contact Logical Operation AND#
D
220
Example 1. When X0 = On and the result of logical AND operation of C0 and C10 ≠ 0, Y10 =
On.
2. When X1 = Off and the result of logical OR operation of D10 and D0 ≠ 0 and X1 =
On, Y11 = On will be retained.
3. When X2 = On and the result of logical XOR operation of 32-bit register D200
(D201) and 32-bit register D100 (D101) ≠ 0 or M3 = On, M50 = On.
X0
AND & C0 C10 Y10
X1
AND I D10 D0 SET Y11
X2
DAND ^ D200 D100 M50
M3
14-57
API
221~ OR# S1 S2 Contact Logical operation OR#
D
223
Example When X1 = On and the result of logical AND operation of C0 and C10 ≠ 0, Y10 = On.
1. M60 will be On, if X2 and M30 are On with one of the following two conditions: 1.
The OR operation result of 32-bit register D10 (D11) and 32-bit register D20(D21)
does not equal to 0. 2. The XOR operation result of 32-bit counter C235 and
32bits register D200 (D201) does not equal 0.
X1
LD> D200 K-30 SET Y11
14-58
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Chapter 14 PLC Function |C200 Series
API
224~ LD※ S1 S2 Load Compare※
D
230
X1
Y0
OR & C0 C10
X2 M30
M60
14-59
API
232~ AND※ S1 S2 AND Compare※
D
238
X1
AND<> K-10 D0 SET Y11
X2
DAND> K678493 D10 M50
M3
14-60
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Chapter 14 PLC Function |C200 Series
API
240~ OR※ S1 S2 OR Compare※
D
246
X1
AND<> K-10 D0 SET Y11
X2
DAND> K678493 D10 M50
M3
14-61
API
RPR S1 S2 Read the AC motor drive’s parameters
139 P
E xplanation S1: Data address for reading S2: The register that saves the read data
API
WPR S1 S2 Write the AC motor drive’s parameters
140 P
E xplanation S1: The data for writing. S2: The parameters address for the write data.
1. It will read the data in parameter H2100 of the C2000 and write into D0; H2101 is
Example
read and write into D1.
2. When M0=On, data in D10 will be written into Pr. H2001 of C2000.
3. When M1=ON, data in H2 will be written into Pr. H2001 of C2000, which is to
activate the AC motor drive.
4. When M2=ON, data in H1 will be written into H2000 of C2000, which is to stop
the AC motor drive.
5. When data writing successfully, M1017 will be on.
M1000
RPR H2100 D0
RPR H2101 D1
M0
WPR D10 H2001
M1
WPRP H2 H2000
M2
WPRP H1 H2000
M1017
Y0
END
14-62
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Chapter 14 PLC Function |C200 Series
API
FPID S1 S2 S3 S4 PID control for the AC motor drive
141 P
E xplanation 1. S1: PID Set Point Selection, S2: Proportional Gain P, S3: Integral Time I, S4:
Derivative control D
2. This command FPID can control the PID parameters of the AC motor drive
directly, including Pr.08.00 PID set point selection, Pr.08.01 Proportional gain
(P), Pr.08.02 Integral time (I) and Pr.08.03 Derivative control (D)
Example 1. Assume that when M0=ON, S1 is set to 0 (PID function is disabled), S2=0, S3 =1
(unit: 0.01 seconds) and S4=1 (unit: 0.01 seconds).
2. Assume that when M1=ON, S1 is set to 0 (PID function is disabled), S2=1 (unit:
0.01), S3 =0 and S4=0.
3. Assume that when M2=ON, S1 is set to 1(frequency is inputted by digital
keypad), S2=1 (unit: 0.01), S3 =0 and S4=0.
4. D1027: frequency command after PID calculation.
M0
FPID H0 H0 H1 H1
M1
FPID H0 H1 H0 H0
M2
FPID H1 H1 H0 H0
M1000
MOV D1027 D1
END
14-63
API
FREQ S1 S2 S3 Operation control of the AC motor drive
142 P
M1025: controls RUN (On)/STOP (Off) of the drive. (Run is valid when Servo
On (M1040 On).)
M1026: Operation directions FWD (On)/REV (Off) of the drive.
M1040: controls Servo On (On)/ Servo Off (Off).
M1042: enable quick stop(ON)/ disable quick stop(Off)
M1044: enable Stop (On)/ disable stop(Off)
M1052: frequency locked (On)/ disable frequency locked(Off)
Example 1. M1025: controls RUN (On)/STOP (Off) of the drive. M1026: operation direction
FWD (On)/REV (Off) of the drive. M1015: frequency attained.
2. When M10=ON, setting frequency command of the AC motor drive to
K300(3.00Hz) and acceleration/deceleration time is 0.
3. When M11=ON, setting frequency command of the AC motor drive to
K3000(30.00Hz), acceleration time is 50 and deceleration time is 60.
M1000
M1025
M11
M1026
M1000
M1040
M12
M1042
M13
M1044
M14
M1052
M10 M11
FREQP K300 K0 K0
M11 M10
FREQ K3000 K50 K60
END
14-64
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Chapter 14 PLC Function |C200 Series
API
CANRX S1 S2 S3 D Read CANopen slave data
261 P
Example M1002: touch once to activate PLC and change K4M400=K1. After the change,
different message will be displayed when M1066 is set to 1.
0 M1002
MOV K1 K4M400
6 M1066
TMR T30 K5
T10
ROLP K4M400 K1
17 M400
CANRXP K1 H6041 D120
27 M401
CANRXP K2 H6041 D121
37 M402
CANTXP K1 D120 H6041
47 M403
CANTX K2 D120 H6041
57 M402
CANFLSP D2025
61
M403
65 CANFLSP D2125
9999
END
14-65
API
CANTX S1 S2 S3 S4 Write CANopen slave data
264 P
E xplanation 1. S1: slave station number, S2: the address to write, S3: main index, S4: sub-index+
bit length.
2. Command CANTX can read the corresponding index of the slave. When
executing this command, it will send SDO message to the slave. At this time,
M1066 and M1067 are 0 but when reading is complete M1066 will set to 1. If the
slave replied an accurate response, the value will be written to the designated
register and M1067 is now set to 1. However, if the slave replied an inaccurate
response, this error message will be recorded in D1076~D1079.
API
CANFLS D Update the mapping special D of CANopen
265 P
3. M1066 and M1067 are both 0. When reading is complete, M1066 will be 1 and
this value will write to the designated register if the slave replies an accurate
response. When slave replies a fault response then M1067 will be 0 and this
error message will be recorded to D1076~D1079.
14-66
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Chapter 14 PLC Function |C200 Series
14-67
The AC motor drive has a comprehensive fault diagnostic system that includes several different alarms
and fault messages. Once a fault is detected, the corresponding protective functions will be activated.
The following faults are displayed as shown on the AC motor drive digital keypad display. The six most
recent faults can be read from the digital keypad or communication.
The AC motor drive is made up by numerous components, such as electronic components, including IC,
resistor, capacity, transistor, and cooling fan, relay, etc. These components can’t be used permanently.
They have limited-life even under normal operation. Preventive maintenance is required to operate this
AC motor drive in its optimal condition, and to ensure a long life.
Check your AC motor drive regularly to ensure there are no abnormalities during operation and follows
the precautions:
; Wait 5 seconds after a fault has been cleared before performing reset via keypad of
input terminal.
; When the power is off after 5 minutes for ≦ 22kW models and 10 minutes for ≧
30kW models, please confirm that the capacitors have fully discharged by
measuring the voltage between + and -. The voltage between + and - should be less
than 25VDC.
; Only qualified personnel can install, wire and maintain drives. Please take off any
metal objects, such as watches and rings, before operation. And only insulated tools
are allowed.
; Never reassemble internal components or wiring.
; Make sure that installation environment comply with regulations without abnormal
noise, vibration and smell.
15-1
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Chapter 15 Suggestions and Error Corrections for Standard AC Motor Drives |C200 Series
Ambient environment
Maintenance
Check Items Methods and Criterion Period
Half One
Daily
Year Year
Check the ambient temperature, humidity, Visual inspection and
vibration and see if there are any dust, gas, measurement with equipment ○
oil or water drops with standard specification
If there are any dangerous objects Visual inspection ○
Voltage
Maintenance
Check Items Methods and Criterion Period
Half One
Daily
Year Year
Check if the voltage of main circuit and Measure with multimeter with ○
control circuit is correct standard specification
Mechanical parts
Maintenance
Check Items Methods and Criterion Period
Half One
Daily
Year Year
If there is any abnormal sound or vibration Visual and aural inspection ○
If there are any loose screws Tighten the screws ○
If any part is deformed or damaged Visual inspection ○
If there is any color change by overheating Visual inspection ○
If there is any dust or dirt Visual inspection ○
15-2
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Chapter 15 Suggestions and Error Corrections for Standard AC Motor Drives |C200 Series
Main circuit
Maintenance
Check Items Methods and Criterion Period
Half One
Daily
Year Year
If there are any loose or missing screws Tighten or replace the screw ○
Visual inspection
If machine or insulator is deformed, cracked,
NOTE: Please ignore the
damaged or with color change due to ○
color change of copper
overheating or ageing
plate
If there is any dust or dirt Visual inspection ○
15-3
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Chapter 15 Suggestions and Error Corrections for Standard AC Motor Drives |C200 Series
15-4
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Chapter 15 Suggestions and Error Corrections for Standard AC Motor Drives |C200 Series
NOTE
Please use the neutral cloth for clean and use dust cleaner to remove dust when necessary.
15-5
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Chapter 15 Suggestions and Error Corrections for Standard AC Motor Drives |C200 Series
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Chapter 15 Suggestions and Error Corrections for Standard AC Motor Drives |C200 Series
15-7
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Chapter 15 Suggestions and Error Corrections for Standard AC Motor Drives |C200 Series
15-8
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Chapter 15 Suggestions and Error Corrections for Standard AC Motor Drives |C200 Series
15-9
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Chapter 15 Suggestions and Error Corrections for Standard AC Motor Drives |C200 Series
15-10
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Chapter 15 Suggestions and Error Corrections for Standard AC Motor Drives |C200 Series
15-11
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