Abb Drive Book PDF

ACS800
Firmware Manual
Application Program Template 7.x
Application Program Template 7.x
Firmware Manual
ACS800
Code: 3AFE64616340 REV D

EN
EFFECTIVE: 08.05.2006
© 2006 ABB Oy. All rights reserved.

5
Table of contents
Table of contents...............................................................................................................................5
Introduction to this manual ..............................................................................................................9

Overview .............................................................................................................................................9
Compatibility........................................................................................................................................9
Safety instructions ...............................................................................................................................9
Before you start ...................................................................................................................................9
What this manual contains ..................................................................................................................9
Overview of ACS800 programming ...............................................................................................11

Overview ...........................................................................................................................................11
ACS800 programming.......................................................................................................................11
Parameter Groups ........................................................................................................................11
Start-up Data Parameters ........................................................................................................11
Commissioning tools .........................................................................................................................12
DriveWindow ............................................................................................................................12
Control panel............................................................................................................................12
Control diagrams ...............................................................................................................................12
Commissioning; ACS800 SingleDrive...........................................................................................15
Software description.......................................................................................................................21
Drive functions...................................................................................................................................21
General .........................................................................................................................................21
Application program identification.................................................................................................22
Program boot ................................................................................................................................22
Control modes ..............................................................................................................................22
REMOTE mode ............................................................................................................................22
Local mode ...................................................................................................................................22
Reduced run function ........................................................................................................................23
Emergency stop ................................................................................................................................23
Emergency stop modes ................................................................................................................23
Action if the motor is stopped .......................................................................................................23
Action if the motor is running ........................................................................................................24
Communication .................................................................................................................................24
Fieldbus communication....................................................................................................................25
Fieldbus signal..............................................................................................................................25
Integer scaling ..............................................................................................................................25
I/O devices on parallel slots or channel CH1 ....................................................................................25
Master/Follower link on channel CH2................................................................................................26
Table of contents
6
Commissioning and supporting tools on channel CH3......................................................................26

Modbus link .......................................................................................................................................26
Communication profiles .....................................................................................................................27
ABB Drives communication profile ....................................................................................................27
Drive states...................................................................................................................................27
Main Control Word (MCW) ................................................................................................................29
Generic Drive communication profile.................................................................................................35
Speed reference and actual speed scaling...................................................................................36
I/O Configurations..............................................................................................................................37
Digital inputs .................................................................................................................................37
Digital outputs....................................................................................................................................37
Analogue inputs.................................................................................................................................38
RMIO Motor and I/O control board ...............................................................................................38
RAIO-01 Analogue I/O Extension module ....................................................................................39
Analogue outputs ..............................................................................................................................39
Pulse encoder interface RTAC-01.....................................................................................................41
The Master/Follower link ...................................................................................................................41
General .........................................................................................................................................41
Link configuration..........................................................................................................................41
Follower diagnostics .....................................................................................................................42
Master/Follower link specification .................................................................................................42
Diagnostics ........................................................................................................................................43
General .........................................................................................................................................43
Fault and event loggers .....................................................................................................................43
AMC time format and counting .....................................................................................................43
Data logger ........................................................................................................................................43
Positioning counter ............................................................................................................................44
Positioning counting function ........................................................................................................45
Back-up of parameters or software ...................................................................................................45
Signals..............................................................................................................................................47
Overview ...........................................................................................................................................47
How to read the signal table ..............................................................................................................47
AMC Table Signals............................................................................................................................49
Group 1 Actual Signals .................................................................................................................49
Group 4 Information......................................................................................................................55
Group 7 Control Words.................................................................................................................56
Group 8 Status Words ..................................................................................................................58
Group 9 Fault Words ....................................................................................................................62
Parameters .......................................................................................................................................67
Overview ...........................................................................................................................................67
Parameter groups..............................................................................................................................67
How to read the Parameter Table .....................................................................................................68
Group 10 Start/Stop/Dir .....................................................................................................................69
Group 13 Analogue inputs.................................................................................................................69
Group 14 Digital outputs....................................................................................................................70
Table of contents
7
Group 15 Analogue outputs ..............................................................................................................71

Group 16 System control inputs ........................................................................................................73
Group 17 DC HOLD ..........................................................................................................................74
Group 18 LED panel control..............................................................................................................75
Group 19 Data storage......................................................................................................................76
Group 20 Limits .................................................................................................................................77
Group 21 Start/Stop functions ...........................................................................................................78
Group 22 Accel/Decel .......................................................................................................................79
Group 23 Speed reference................................................................................................................81
Group 24 Speed control ....................................................................................................................83
Proportional gain parameter of the speed controller ................................................................84
The Adaptive speed control as a function of the torque reference...........................................84
Set point weighting...................................................................................................................84
Integration time parameters of the speed controller.................................................................85
Derivation parameters of the speed controller .........................................................................85
Acceleration compensation parameters...................................................................................85
Adaptive Speed Control as Function of the Speed ..................................................................86
Group 25 Torque reference...............................................................................................................86
Group 26 Torque reference handling ................................................................................................87
Group 27 Flux control........................................................................................................................89
Group 29 Scalar control ....................................................................................................................90
Group 30 Fault functions ...................................................................................................................92
Motor thermal model user mode ..............................................................................................93
Stall protection .........................................................................................................................94
Underload protection................................................................................................................95
Group 37 Brake chopper ...................................................................................................................98
Group 50 Speed measurement .........................................................................................................99
Group 51 Communication module (FBA) ........................................................................................102
Group 52 Standard Modbus ............................................................................................................102
Group 70 DDCS control ..................................................................................................................103
Group 90 D set rec ADDR...............................................................................................................106
Group 92 D set TR ADDR ...............................................................................................................106
Group 95 Hardware specific............................................................................................................107
Group 98 Option modules ...............................................................................................................108
Group 99 Start-up data....................................................................................................................112
Overview of the CDP 312R control panel....................................................................................115

Overview.....................................................................................................................................115
Panel link ....................................................................................................................................115
Display ........................................................................................................................................116
Keys............................................................................................................................................116
Panel operation ...............................................................................................................................117
Keypad modes............................................................................................................................117
Identification display...............................................................................................................117
Actual signal display mode ....................................................................................................117
Parameter mode ....................................................................................................................121
Function mode .......................................................................................................................123
Copying parameters from one unit to other units ...................................................................125
Setting the contrast ................................................................................................................125
Drive selection mode..............................................................................................................125
Table of contents
8
Operational commands...............................................................................................................127
Start, Stop, Direction and reference.......................................................................................127
Fault tracing ...................................................................................................................................129

Overview .........................................................................................................................................129
I/O error monitoring .........................................................................................................................129
Internal Fault on the I/O Board ...................................................................................................129
Communication monitoring..............................................................................................................129
Power plate overtemperature fault ..................................................................................................129
Ambient temperature .......................................................................................................................129
Overcurrent .....................................................................................................................................130
DC overvoltage................................................................................................................................130
DC undervoltage .............................................................................................................................131
Local control lost function ................................................................................................................131
Run enable interlocking function .....................................................................................................131
Short circuit .....................................................................................................................................131
DC Link intermediate current ripple fault .........................................................................................131
Overspeed fault ...............................................................................................................................132
Overswitching frequency fault .........................................................................................................132
System fault.....................................................................................................................................132
Motor protections.............................................................................................................................132
Motor thermal protection functions .............................................................................................132
Motor thermal model ..............................................................................................................133
Usage of PTC or PT100 temperature sensors ................................................................................133
Stall function ....................................................................................................................................135
Motor phase loss function................................................................................................................136
Fault and alarm messages ..............................................................................................................137
Fault message table ...................................................................................................................137
Alarm messages table ................................................................................................................144
Other messages .........................................................................................................................147
Table of contents
9
Introduction to this manual
Overview
This chapter describes the purpose, contents and the intended audience of this
manual. It also explains the terms used in this manual and lists related publications.
Compatibility
The manual is compatible with ACS800 Application Program Template 7.x.
Safety instructions
Follow all safety instructions delivered with the drive.
Read the complete safety instructions before you install, commission, or use the
drive. The complete safety instructions are given at the beginning of the Hardware
Manual.
Read the software function specific warnings and notes before changing the default
settings of the function. For each function, the warnings and notes are given in this
manual in the subsection describing the related user-adjustable parameters.
Before you start

The purpose of this manual is to provide you with the information necessary to
control and program your ACS800.
The audience for this manual is expected to have:
• Knowledge of standard electrical wiring practices, electronic components and
electrical schematic symbols.
What this manual contains

Introduction to this manual the chapter you are reading now, introduces you to this
manual.
Overview of ACS800 programming describes the programming principles of the
drive.
Commissioning; ACS800 SingleDrive describes the commissioning procedure of
the SingleDrive.
Software description describes the typical functions of the drive.
Signals describes the measured, calculated and control word signals of the drive.
Parameters describes the parameters of the drive.

10
Overview of CDP 312R control panel gives instructions for using the panel.
Fault tracing lists the alarm and fault messages with the possible causes and
remedies.

11
Overview of ACS800 programming
Overview
This chapter describes the programming principles of the ACS800 drive.
ACS800 programming
An application software template has been programmed using the FCB (Function
Chart Builder) tool, whose target is the Motor and I/O Control board (RMIO). The
trained user can further customize this template by FCB to extend the I/O, add
mathematic calculations, application parameters and signals, logic control,
communication between the RMIO boards, etc. Parameters are programmed during
commissioning by DriveWindow or the CDP 312R control panel.
Parameter Groups
In order to simplify programming, the parameters of the ACS800 drive are
organised into logical Groups. All of the parameters are described in the chapter
Parameters and signals in the chapter Signals.
Start-up Data Parameters
The Start-up Data parameters (group 99) contain the basic settings needed to
match the ACS800 with the motor and to set the Control Panel display language.
The Start-up Data Group includes parameters that are set at start-up and should
not need to be changed later on. See the chapter Parameters – group 99.

12
Commissioning tools
DriveWindow
The DriveWindow software is the commissioning and maintenance tool available for
ABB products. With this component structure, enhanced flexibility is achieved to
enable you to work with several different types of product through different target
and communication drivers.
Control panel
The CDP 312R control panel is the device used for locally controlling and
programming the ACS800. The CDP 312R control panel has 16 keys, and can
monitor and control up to 31 drives. The display has 4 lines of 20 characters. For
more information see the chapter Overview of CDP 312R control panel.
Control diagrams
The speed control is executed every 1 ms in the fixed part of the software. The
following figures shows the speed and torque control chains.

FIELD BUS FIELD BUS LOCAL REF1
COMMUN. ADAPTER ACCELERATION
98.02 COM M. MODULE = 98.02 COMM. MODULE COMPENSATION
SPEED CONTROL
= FBA DSET 1 SPEED REFERENCE CHAIN
FBA DSET10
Datasets 10...32 Dataset 1
CH0 MCW MCW
MCW MCW -1 TORQ ACC COMP REF
SPEED REF REF1
LOCAL LOCAL 2.07
TORQ REF A A REF2 B 1
DIRECTION
Datasets 11...33 CH0 Dataset 2
CH0 24.14 ACC COMP DER TIME
MSW MSW
SPEED ACT ACT1 24.15 ACC COMPFILT TIME
TORQ REF 2 ACT2

FOLL SPEED CORRECTION 23.04 +
SPEED
ANALOGUE COMM MODULE 98.02 REF LIMITER MCW B8, B9
INPUTS 70.17
30.03 CONST SPEED 2 23.03
(INCHING 2) 2.02 24.07 SET_P_WEIGHTING
13.01 AI1 HIGH VALUE 11.01 +
AI1 DROOP RATE
CONST SPEED 1 23.02 S PE ED R EF 3 24.08 SET_POINT_WEIGHT
13.02 AI1 LOW VALUE 24.02
98.06 98.06 (INCHING 1)
13.03 FILTER AI1 _
EXT1:AI1 20.0 1 MINI MU M S PE ED
13.12 MINIMUM AI1 MOTOR ACC/DEC/SHAPE
TEMP 20.02 MAXI MUM SPEE D
13.04 AI2 HIGH VALUE MCW B4
PTC, PT100 SPEED STEP 23.10 PID- CONTROLLER
AI2 MOTOR1 MCW B6 R AM P +
13.05 AI21 LOW VALUE
SPEED REF TORQUE DER REF 2.06
30.06 -1
13.06 MINIMUM AI2 MOTOR2 2.01
23.01 TORQUE PROP REF
FILTER AI2
EXT1:AI2 WINDOW 2.04
.
13.07 1 SPEED 0
B TORQ REF B
REF2 LIMITER D
13.08 AI3 HIGH VALUE MCW B5 H O LD
23.05 FILTER
13.09 AI31 LOW VALUE SPEED 0
AI3 1.02 SPEED SHARE LIMITER
MOTOR MEASUREMENT 2 2.01 ACCELER TIME TORQ REF2
13.10 MINIMUM AI3 2.18
MODEL SPEED
13.11 FILTER AI3 ESTIMATED 2 2.02 DECELER TIME 2.09
FILTER +
MOTOR SPEED
2 2.03 ACC/DEC TIME SCALE SPC TORQ MAX
NTAC-02 SPEED 20.01 MINIMUM 2.03
SPEED
REF4 SPC TORQ MIN
NIOB-01 50.01 SPEED SCALING .
1.04 2 2.04 EME STOP RAMP (-1) PI
PULSE ENCODER 20.02
SPEED ERROR SPC TORQ
SPEED MEASUREMENT 1.03 SPEED MEAS MODE 2 2.05 RAMP SHPE TIME M AXI MUM 8.03 bit 1
50.02 NEG MIN LIM
SPEED
SPEED S P A CT FI LT TIME 23.06 SPEED ERROR FILT 24.11 BAL REF
50.03 SPEED FB SEL 50.06 2 2.06 VARIABLE SLOPE SPC TORQ
MEASURED 8.03 bit 2
DIGITAL ACW b8 MAX LIM
WINDOW INTG ON BAL_NCONT
50.04 ENCODER PULSE NR VARIABLE SLOPE 23.07
INPUTS 2 2.07
RATE 20.07 SPC TORQMAX
Figure 1. Speed reference chain

50.05 ENCODER ALM/FLT 23.08 W INDOW W IDTH POS TORQUE INTEG REF
FILTER A CW B 3 BAL RAMP OUT 20.08 SPC TORQMIN 2.05
NO EME STOP DI 7 98.01 ENCODER MODULE 23.09 W INDOW WIDTH NEG KPS
2 2.08 BAL RAMP REF 24.03 KPS
RUN ENABLE DI2 RAMP BYPASS 24.04 KPS MIN
A CW B 2
PROGRAMMABLE 1.01 24.05 KPS WEAKPOINT T ORQ
START/STOP dV/dt 2.16 R EF2
FUNCTIONS: DI4 KPS WP FILT TIME
CONTROL TIME: 500 ms MOTOR SPEED 24.06
DI3...DI6, EXT2:DI1 Reverse
NO EME STOP SPEED ACTUAL
and EXT2:DI2 (Default) 24.09 TIS K PS
FILT (not shown in the signal
START, STOP T IS
10.01 RUN ENABLE 23.01 SPEED REF) 24.10 TIS INIT VALUE
REVERSE KPS VAL MAX FREQ
10.02 RESET 24.17 KPS TIS MIN FREQ
KPS
SYNC CMD LOCAL MASTER FOLLOWER 24.18 KPS TIS MAX FREQ
KLIXON Fast Master / Follower TIS
MOTOR FAN ACK DI3 Start/Stop START/STOP DRIVE DRIVE KPS VAL MIN FREQ
DDCS Link 24.19
10.09 HAND/AUTO (Default) 7.01 MCW 70.08 CH2 M/F MODE 70.08 CH2 M/F MODE
= MASTER = FOLLOWER 24.20 TIS VAL MIN FREQ TIS VAL MIN FREQ
CH2 Dataset 41 24.12 DERIVATION TIME m oto r freq

DI5 Reset
LOCAL CTRL 70.09 MASTER REF1 MCW
(Default) 24.13 DERIV. FILT TIME KPS TIS MAX FREQ
PANEL >1 RESET 70.10 MASTER REF2 SPEED REF 2.19 KPS TIS MIN FREQ
LOCAL REF MASTER REF3 TORQ REF A 2.20 C See next figure
REF 70.11
MCW MAIN CONTROL
CH2
LOC/REM LOCAL
WORD
START LOCAL
STARTING
STOP HANDLING
LOCAL FIGUR2_1_60.dsf
FORWARD
DIRECTION
LOCAL DIRECTION
CONTROL
REVERSE
RESET

13
TORQUE CONTROL CHAIN OUTPUT SIGNAL SELECTIONS 14
FOLL TORQ REF
70.18 DIGITAL
OUTPUTS
NIOC-01
14.01 DO1 CONTROL
See previous figure TORQ REF A DO1 GROUP+INDEX
14.02
FIELD BUS TORQUE REF A 25.01 DO1 BIT NUMBER
14.03
DS TORQ REF A 14.04 DO2 GROUP+INDEX
M/F link TORQUE REF C 2.20 14.05 DO2 BIT NUMBER
OSCILLATION 14.06 DO3 GROUP+INDEX

SPEED REF3 DAMPING DO3 BIT NUMBER
14.07
2.02
FILTER ANALOGUE
SPEE D ACTUAL OSC COMPENSATION TORQUE STEP OUTPUTS
26.04 26.03
TORQ REF A NIOC-01
1.02 26.05 OSCILLATION FREQ LO AD C OMPEN SAT ION
15.01 ANALOGUE OUTPUT 1
26.06 OSCILLATION PHASE 26.02 TORQ REF5 INVERT AO1

25.02 15.02
TORQ REF A FTC 2.12
26.07 OSCILLATION GAIN MINIMUM AO1 AO1

LIMITER 15.03
TORQ REF1 TORQ REF4 15.04 FILTER AO1
25.03
2.08 2.11 SCALE AO1
15.05
LOAD SHARE TORQUE REFERENCE
TORQ REF3 15.06 ANALOGUE OUTPUT 2
TREF TORQ MAX
SELECTOR
20.09 2.10 15.07 INVERT AO2
I/O TORQUE TREF TORQ MIN TO RQ REF SEL

20.10 26.01 15.08 MINIMUM AO2 AO2
REF LOCAL TREF TORQ MIN LIM 8.03 bit 7
RAMPING 0 15.09 FILTER AO2
B 25.04 TREF TORQ MAX LIM 8.03 bit 8 SCALE AO2

15.10
2 1
TORQ REF B 3 15.1 1 ANALOGUE OUTPUT 3
MIN 4
5 6 INVERT AO 3
LOCAL TOR QUE REF 15.1 2
(LOCA L REF 2)
2.08
15.1 3 MINIMUM AO3 AO3
25.05 TORQ RAMP UP TIME
MAX 15.1 4 FILTER AO 3
25.06 TORQ RAMP DN TIME
15.1 5 SCALE AO 3
SPEED CONTROLLER OUTPUT + 15.1 6 ANALOGUE OUTPUT 4

ADD
TORQ REF2 2.09 + 15.1 7 INVERT AO 4
15.1 8 MINIMUM AO4 AO4

TORQ REF 5 15.1 9 FILTER AO 4
DC-VOLTAGE POWER LIMIT

Available with optional NAIO-0x module
TORQUE LIMIT 15.2 0 SCALE AO 4

LIMITER CALCULATION TORQUE LIMIT ER
Figure 2. Torque and Flux control chain

TORQ DC TORQ POW CALCULATION
FREQ LIMITER DIRECT TORQUE and FLUX
TORQ FREQ LIM REF LIM REF TORQ HYSTERESIS CONTROL
LIM REF USED REF TORQ BITS
2.22 2.23 2.24 MOTOR ASICS
CURRENT 2.13
DC VOLTAGE FREQUENCY FLUX REF FLUX BITS
FLUX USED
29.02 FREQUEN CY MAX 1.10 1.06
1.05 27.03 INV MA X CURRENT REF CNTRL BITS OPTIMAL
29.03 FREQUENCY MIN SWITCHING S1,S2,S3
DC UNDERVOLTAGE 20.04 MAXIMUM CURRENT
20.17 P MOTORING LIM MAXIMUM TORQUE LOGIC
20.11 FREQ TRIP MARGIN 20.05 TORQ USER CUR LIM 8.03 bit 3
DC OVERVOLTAGE FLUX_HYST TORQ_HYST
FREQ MAX LIMIT 8.03 bit 11 20.18 P GENERATING LIM 20.06 MINIMUM TORQUE
DC UNDERVOLT LIM TORQ INV CUR LIM 8.03 bit 4
FREQ MIN LIMIT 8.03 bit 10 20.12 PULLOUT TCOEF MAX FLUX ACT MOTOR TORQUE
DC OVERVOLT LIM 8.03 bit 12
TORQ MAX LIM
FREQ LIMIT 8.03 bit 15 8.03 bit 13 P MOTORING LIM 20.13 PULLOUT TCOEF MIN 2.15 1.07
8.03 bit 6
FLU X BR A KE P GENERATING LIM
8.04 bit 0
TORQ MIN LIM
8.04 bit 1 F LU X MOTOR MODEL
FLU X FLUX REF R A M P IN G 8.03 bit 5
O PTIM IZA TIO N SELEC TOR CALCULATE
F IELD TORQ MOTOR LIM
ACTUAL VALUES
W EAKEN IN G 8.03 bit 0 DC VOLTAGE
FLUX REF MEASUREMENT
27.02 FLUX BRAKING ESTIMATE AND
27.03 CALCULATE
FLUXBRAKE_CUR_REF
MOTOR PARAMETERS
27.04 FLUX_MAX CURRENT
27.01 FLUX OPTIMIZATION
27.02 FLUX BRAKING MEASUREMENT
FLUX_MAX 27.05 FLUX_MIN
27.04
FLUX_MIN 1.10 FLUX MIN_LIMIT TORQUE LIMIT
27.05 DC_VOLTAGE
DC MAGN ETIZE
>1 8.03 bit 14
M
FLUX MIN LIMIT 1.05 FREQUENCY
8.03 bit 9 STAR T C O NTR O L
FIELDWK_POINT_ACT FLU X R EF
SELEC TOR
27.05 FLUX_MIN
FLUX_USED_REF
2.14 FIGURE_2_2_60.dsf
DC M AG N E TIZE O N
FLUX CONTROL CHAIN

15
Commissioning; ACS800 SingleDrive
Commissioning procedure using the control panel

1 - SAFETY
The start-up may only be carried out by a qualified electrician.
The safety instructions must be followed during the start-up procedure. See the appropriate hardware manual
for safety instructions.
Check the installation. See the installation checklist in the appropriate hardware/installation manual.
Check that the starting of the motor does not cause any danger.
De-couple the driven machine if:
- there is a risk of damage in case of incorrect direction of rotation, or
- a Standard ID Run needs to be performed during the drive start-up. (ID run is essential only in applications
which require the ultimate in motor control accuracy.)
2 - POWER-UP
Apply mains power. The Control Panel first enters the panel identification CDP 312R PANEL Vx.xx
data…
……
…then the Identification Display of the drive… ACS800 xx kW
ID NUMBER 1
…and after a few seconds the Control Panel automatically enters the 1 -> 0.0 rpm 0
Actual Signal Display. LED PANE 0.0 Hz
Drive set-up can be started. CURENT 0.0 A
POWER 0.00 %

16
3 - COMMISSIONING DATA ENTERING (parameter group 99)

Select the language. The general parameter setting procedure is given 1 -> 0.0 rpm O
below. 99 START-UP DATA
The general parameter setting procedure: 01 LANGUAGE
• Press PAR to select parameter mode.
ENGLISH
• Press or to scroll parameter groups (10 to 99).
• Press or to scroll parameters within the parameter group.

• Select a new value by ENTER (brackets appear around the parameter
value) and or (Fast change by or ).
• Press ENTER to accept the new value (brackets disappear).
Enter the motor data from the motor nameplate.

ABB Motors CE
3 ~ motor M2AA 200 MLA 4
IEC 200 M/L 55
No
Ins.cl. F IP 55
V Hz kW r/min A cos ϕ IA/IN t E/s
690 Y 50 30 1475 32.5 0.83
400 D 50 30 1475 56 0.83
660 Y 50 30 1470 34 0.83
380 D 50 30 1470 59 0.83
415 D 50 30 1475 54 0.83
440 D 60 35 1770 59 0.83
Cat. no. 3GAA 202 001 - ADA
6312/C3 6210/C3 180 kg

IEC 34-1
Note: Set the motor data to exactly the same value as on the motor
nameplate. For example, if the motor nominal speed is 1440 rpm on the
nameplate, setting the value of parameter 99.05 MOTOR NOM SPEED to
1500 rpm results in wrong operation of the drive.
Nominal voltage. The general parameter setting procedure is given on 1 -> 0.0 rpm O
above. 99 START-UP DATA
Allowed range: 1/2 UN…2 UN of ACS800. (UN refers to the highest voltage 02 MOTOR NOM VOLTAGE
in each of the nominal voltage ranges: 415 VAC for 400 VAC units, 500 [ ]
VAC for 500 VAC units and 690 VAC for 600 VAC units.)
Nominal current. The general parameter setting procedure is given on 1 -> 0.0 rpm O
Allowed range: 1/6 I2hd…2 I2hd of ACS800 03 MOTOR NOM CURRENT
[ ]
Nominal frequency. The general parameter setting procedure is given on 1 -> 0.0 rpm O
Range: 8…300 Hz 04 MOTOR NOM FREQ
[ ]
Nominal speed. The general parameter setting procedure is given on 1 -> 0.0 rpm O
Range: 1…18000 rpm 05 MOTOR NOM SPEED
[ ]

17
Nominal power. The general parameter setting procedure is given on Page 1 -> 0.0 rpm O
16. 99 START-UP DATA
Range: 0…9000 kW 06 MOTOR NOM POWER
[ ]
When the motor data has been entered a warning appears. It indicates that 1 -> 0.0 rpm O
the motor parameters have been set, and the ACS800 is ready to start the **WARNING**
motor identification (ID magnetisation or ID Run).
ID MAGN REQ
Select the motor identification. The general parameter setting procedure is 1 -> 0.0 rpm O
given on Page 16. 99 START-UP DATA
The default value NO is suitable for most applications. It is applied in this 07 MOTOR ID RUN
basic commissioning procedure. [NO]
The ID Run (STANDARD or REDUCED) should be selected instead if:
• Operation point is near zero speed.
• Operation at torque range above the motor nominal torque within wide
speed range and without any pulse encoder (i.e. without any measured
speed feedback) is required.
See the Firmware Manual for the ID Run procedure.

Select the motor control mode. The general parameter setting procedure is 1 -> 0.0 rpm O
given on Page 16. 99 START-UP DATA
DTC is suitable in most cases. The SCALAR control mode is 08 MOTOR CTRL MODE
recommended [DTC]
• for multimotor drives when the number of motors connected to the
ACS800 is variable.
• when the nominal current of the motor is less than 1/6 of the nominal
current of the inverter.
• when the inverter is used for test purposes with no motor connected.
4 - IDENTIFICATION MAGNETISATION with motor ID run selection NO

Press the LOC/REM key to change to local control (L shown on the first 1 L -> 0.0 rpm O
row). **WARNING**
Press the to start the magnetisation. The motor is magnetised at zero ID MAGN
speed for 20 to 60 s. Two warnings are displayed:
1 L -> 0.0 rpm O
• The upper warning is displayed while the magnetisation is on.
**WARNING**
• The lower warning is displayed after the magnetisation is completed. ID MAGN

18
5 - ROTATION DIRECTION OF THE MOTOR

Check the rotation direction of the motor. 1 L -> [xxx] rpm I
FREQ xxx Hz
• Press ACT to get the status row visible.
CURRENT xx A
• Increase the speed reference from zero to a small value by pressing POWER xx %
REF and then or ( or ).
• Press (Start) to start the motor.

• Check that the motor is running in the desired direction.
• Stop the motor by pressing .
• To change the rotation direction of the motor:

• Disconnect mains power from the drive, and wait 5 minutes for the
intermediate circuit capacitors to discharge. Measure the voltage
between each input terminal (U1, V1 and W1) and earth with a
multimeter to ensure that the drive is discharged.
• Exchange the position of two motor cable phase conductors at the
motor terminals or at the motor connection box.
• Verify your work by applying mains power and repeating the check as
described above.
6 - SPEED LIMITS AND ACCELERATION/DECELERATION TIMES

Set the minimum speed. The general parameter setting procedure is given 1 L -> 0.0 rpm O
on Page 16. 20 LIMITS
01 MINIMUM SPEED
[ ]
Set the maximum speed. The general parameter setting procedure is given 1 L -> 0.0 rpm O
on Page 16. 20 LIMITS
02 MAXIMUM SPEED
[ ]
Set the acceleration time 1. The general parameter setting procedure is 1 L -> 0.0 rpm O
given on Page 16. 22 RAMP FUNCTIONS
Note: Check also acceleration time 2, if two acceleration times will be used 01 ACCELER TIME
in the application. [ ]
Set the deceleration time 1. The general parameter setting procedure is 1 L -> 0.0 rpm O
given on Page 16. 22 ACCEL/DECEL
Note: Set also deceleration time 2, if two deceleration times will be used in 02 DECELER TIME
the application. [ ]

19
7 - STARTING THE DRIVE THROUGH THE I/O INTERFACE

As default the external start/stop signal is read from the digital input DI3,
and the external speed reference from the analogue input AI1.
Starting through a digital input:
• Press the LOC/REM key to change to external control (no L visible on
the first row of the panel display).
• Switch on digital input DI3.
Drive starts. The motor is accelerated to a speed determined by the voltage

level of analogue input AI1.
8 - STOPPING THE MOTOR
Stopping when in local control: Press .
Stopping when in external control: Switch off digital input DI3.
Press the LOC/REM key to change between local and external control.

20

21
Software description
Drive functions
This chapter describes the typical functions of the ACS800 drive.
General
Figure 3. Block diagram of the direct torque control method

The motor control of ACS800 drive is based on the direct control of motor
torque by means of the stator flux. Switching control of the power module is
made according to the calculated stator flux and torque of the motor. The used
selection of the switches forces the stator flux in the desired direction, so that
the reference values of the torque and the stator flux are achieved. The power
module is controlled only if the values of the actual torque and the stator flux
differ from their reference values more than the allowed hysteresis. The
reference value for the torque controller comes either from the speed controller
or an external reference.
The motor control requires the measurements of the intermediate circuit voltage
and two-phase currents of the motor. The stator flux is calculated by integrating
the motor voltage in vector space. The torque of the motor is calculated as a
cross product of the stator flux and rotor current. By utilising the identified motor
model, the stator flux estimate is improved. The measurement of the shaft
speed is not needed for the motor control. Good dynamic features of the control
performance are achieved with the new control method providing the
identification run is done during the commissioning.
The main difference between traditional control and this new control method is
that the torque control is made at the same time level as the control of power
switches (25 μs). There is no separate voltage and frequency controlled PWM
modulator. All selections of the switches are based on the electromagnetic state
of the motor.
22
This control method can only be realised by using high speed signal processing
technology. Digital signal processors (MOTOROLA 563xx) are used in ACS800
products to achieve this performance.
Application program identification

Each ACS800 product has a product specific loading package, which contains
all the necessary software files to be downloaded to the RMIO board. The
loading packages define for example, the inverter ratings which are different for
AC and DC supplied inverters. Loading Package type information can be
identified from the signal 4.01 SW PACKAGE VER.
The downloaded application program version is identifiable from signal 4.03
APPLIC SW VERSION.
Program boot
The application program on the RMIO board is saved into FPROM memory.
After switching the auxiliary power on, the program starts routines for
initialisation and loading of the all tasks, parameters and application program
from FPROM to RAM memory. The initialisation time can be minimised by
equipping the RMIO board with an external power supply. A reset is given at the
end of the boot procedure.
Control modes
The ACS800 Application Program Template has two main control modes:
REMOTE and LOCAL. The control mode is selected with the LOC/REM key on
the CDP 312R control panel or with the DriveWindow PC tool.
REMOTE mode
A drive is controlled either from the overriding system or from the drive I/O. The
desired alternative is selected by parameter 98.02 COMM MODULE LINK.
NO I/O control: DI3 -start/stop; DI4 -reverse; DI5 -reset.
FIELDBUS Overriding system control using data sets 1 and 2, which are
ADVANT typically used with fieldbus adapters. It consists of 3 words
STD MODBUS (of 16 bits) in both directions. The purpose of each word is fixed.
CUSTOMISED
Local mode
The purpose of the local control mode is mainly commissioning and servicing.
Local control is selected by the LOC/REM key on either the CDP 312R control
panel or DriveWindow. The controls from the overriding system have no effect
in this mode, but actual values from the drive are sent back as they are in
REMOTE mode. Parameter values can always be monitored and changed
regardless of the selected control mode.
23
Reduced run function

Reduced run function is available for parallel connected inverters. Reduced run
function makes it possible to continue the operation with limited current if an
inverter module(s) is out of order. If one of the modules is broken, it must be
removed. Parameter change is needed to continue the run with reduced current
(95.03 INT CONFIG USER). For instructions on how to remove and reconnect
an inverter module, see the appropriate drive hardware manual.
Emergency stop
The emergency stop signal can be connected to digital input 7 (D17) of the
Motor and I/O Control board (RMIO-01).
The emergency stop feedback signal can be sent through relay output RO1 of
the Motor and I/O Control board (RMIO-01) or (RDIO-01) Extension module 1 to
the control relays for the common emergency stop circuit. The purpose of the
feedback signal is to confirm that the emergency stop function has been
received and the drive program is running.
Note: When an emergency stop signal is detected, the emergency stop cannot
be cancelled, even if the signal is cancelled (emergency stop push button is
released).
Emergency stop modes

The emergency stop mode can be pre-selected by parameter 21.04 EME STOP
MODE. On an emergency stop, the torque selector is always set to position
SPEED CONTROL.
21.04 EME STOP MODE
1 = STOP RAMPNG Stop by ramping (default).
Deceleration time is set by parameter
22.04 EME STOP RAMP
2 = STOP TORQ Stop by torque limit.
3 = COAST STOP Stop by coasting (torque decreased to
zero).
4 = Not Selected Emergency stop function is not
required in the configuration.
Action if the motor is stopped

The motor is already at zero speed when the drive receives an emergency stop
signal. The following actions are taken:
• Run is prevented and magnetised modes in LOCAL and REMOTE control.
• Bit 5 is set to a 0 of the 8.01 MAIN STATUS WORD
• Bit 1 of 9.04 ALARM WORD 1 is set to 1.
• Relay output RO1 is energised until MCW bit 0 is set to 0.
24
Action if the motor is running

The motor is running when the drive receives an emergency stop signal. The
following actions are taken:
• The drive is stopped according to the emergency stop mode parameter
21.04 EME STOP MODE.
• Locks the emergency stop procedure and energises the relay output1 until
the motor has reached zero speed and the 7.01 MAIN CTRL WORD (MCW)
bit 0 is set to “0” state.
• Supervises if the deceleration of the drive is higher than the parameter
21.05 EMSTOP SPEED DIF. This supervision starts 5 seconds after the
drive has received the emergency stop signal. If the drive is not able to
decelerate in the specified rate, it is stopped by coasting and the 8.02 AUX
STATUS WORD (ASW) bit 3 (EMERG_STOP_COAST) is set to a “1” state.
If this function is not required, the value can be set to 0.
Communication
RMIO - Motor and I/O Control Board RINT -
Main Circuit
RO1-3 DI1-6+1 AI1-3 AO1,2 Board
Power SW ctrl
DSP ANYBUS ANYBUS Measurements
+ MEM or or PPCC-
+ ICMC Rxxx Rxxx Interface
Option Option Brk Chopper
Inv Fan Ctrl
Parallel Port Slot1 Slot2 RS485
RDCO DDCS link board

CH0 CH1 CH2 CH3
CDP312R
PC-tool Link
Old Rxxx Rxxx
Nxxx
FB MOD
Master / Follower Link
Rxxx Option
Mother Board
Figure 4. DDCS channels.

Several communication protocols are supported by fieldbus adapters Rxxx
mounted on the RMIO-01 board. The old adapter types Nxxx can be connected
to the DDCS (Distributed Drives Communication System) channel 0 (CH0) on
the RDCO board. The communication protocol of channels CH0…CH3 is
DDCS. The DDCS link between the overriding system and the drive uses what
is called data sets for the information packet exchange.
25
The link sends the information of a transmitted data set to the data set table in
the drive program and returns the content of the next data set to the overriding
system as a "return message". The transmission rate is 4 Mbit/s and the link can
send 1 data set every 1 ms. The data received from the overriding system
affects only the RAM (not FPROM) memory on the RMIO board.
Fieldbus communication
Fieldbus communication mainly uses data sets 1 and 2 between the fieldbus
adapter and the RMIO board. Additionally some of the adapters can transfer
more data and there is an offset parameter for the first transmitted data set in
parameter group 51. For example, by setting the offset to 9, the first data set is
used 10, that is supported in the System Application software.
Fieldbus signal
Data sets 1 and 2 are used in the communication between the RMIO board and
a fieldbus adapter. The updating time is 100 ms.
Table 1. Fieldbus signals.
Data set Index Signal Source or Target
1 index 1 MCW 7.01 MAIN CTRL WORD
index 2 REF1 23.01 SPEED REF in DTC or
29.01 FREQ REF in Scalar control
index 3 REF2 25.04 TORQUE REF B
2 index 1 MSW 8.01 MAIN STATUS WORD
index 2 ACT1 1.01 MOTOR SPEED FILT
index 3 ACT2 1.08 MOTOR TORQUE
Integer scaling
Due to the effectiveness of the communication method, the data is transferred
as integer values through the link. Therefore the actual and reference values
have to be scaled to 16-bit integers. The integer scaling factor is mentioned in
the AMC table parameter list in the column Integer scaling.
05 (16 1.3) CURRENT

Inde x D escrip tio n : M e asu re d m o tor cu rre n t a bso lute valu e .
un it: A typ e : R M in : 0 M ax: In te ge r sca lin g : 1 0 = = 1 A
Each parameter has two different gateways to write the value: integer format or
decimal. Finally, the result is exactly same in the RMIO program. This
relationship is always shown in the signal and parameter table as shown above.
I/O devices on parallel slots or channel CH1

The drive I/O devices are connected to parallel port slots or in a ring to channel
1 (CH1) on the RMIO board. The RMIO is the master in the communication link.
Before use, each I/O device must be activated from parameter group 98.
26
Master/Follower link on channel CH2

A Master/Follower link can be formed by connecting the CH2 channels of two or
more drives in a ring. Parameters 70.07 to 70.14 define the mode and the
references. The message type is broadcast.
Commissioning and supporting tools on channel CH3

The DriveWindow commissioning and other tools can be connected to channel
CH3 on the RMIO board. Node numbers must be set for each drive unit before
starting the communication through the connection: see Parameter 70.15 CH3
NODE ADDR. This setting can be made by a point to point connection with
either the control panel or DriveWindow. The new node address becomes valid
after auxiliary power shutdown of the RMIO board. The RMIO board channel 3
(CH3) has been configured to Slave in the communication point of view.
Modbus link
The control panel is connected to the ACS800 drive through a Modbus link. The
communication speed is 9600 bit/s (8 data bits, 1 stop bit, odd parity). The
connected device is the master of the communication link. A NBCI-01 bus
connection units must be used if the distance between the panel and drive is
over three metres.
Terminal block X39 of

RMIO-01 RS485
Transmit/Receive
GND 7 GDN
B- 6 TXD/RXD+
A+ TXD/RXD-
5
GND
+24V
Note:
Terminating resistor
Figure 5. RS 485 connection principle.

Modbus is designed for integration with Modicon PLCs or other automation
devices, and the services closely correspond to the PLC architecture. The
ACS800 drive looks like a Modicon PLC on the network.
27
Communication profiles
The ACS800 supports two communication profiles:
• ABB Drives communication profile
• Generic Drive communication profile.
The ABB Drives communication profile should be selected with type Nxxx
fieldbus adapter modules, and when the manufacturer-specific mode is selected
(via the PLC) with type Rxxx fieldbus adapter modules.
The Generic Drive profile is supported by type Rxxx fieldbus adapter modules
only.
ABB Drives communication profile
Drive states
The ABB Drives communication profile is active when parameter 98.07 COMM
PROFILE is set to ABB DRIVES.
The ABB Drives communication profile is a PROFIBUS-based interface
between the overriding system and the drive so that all ABB drives are
controlled in the same way. In order to achieve this, the ABB Drives
communication profile defines general states. A control word generally
commands transitions between these states. The table below gives an
interpretation for the most important states and also the ABB names for these
states.
28
Table 2. ABB Drives communication profile states
Action Name of signal Explanation
Switch on inhibit ON_INHIBIT The drive is moved to this state after the EMERGENCY
OFF/STOP or TRIPPED state. The main idea is to
guarantee that the ON command is removed.
Drive is moved to an OFF-state after the ON command
has been removed.
Not ready for OFF The drive stays in this state as long as the
switch on EMERGENCY OFF/STOP commands are active.
After these commands have been deactivated and the
command “Control from the automation unit” is
activated, the drive is moved to the RDYON state.
Ready to switch on RDY_ON After an “ON” command the drive is allowed to perform
equipment specific actions. For drives these are:
- Flux ON
- Stator pulses inhibited
Ready RDY_RUN After a “RUN” command the drive performs
- enabling internal controllers,
When all internal controllers are ready, the drive is
moved to RDYREF state.
Enable operation RDY_REF The drive is following the given references.
RFG: enable This is actually the speed ramp control, all drive
output controllers are activated but the output of the speed
ramp is clamped to zero. This causes the drive to
decelerate to zero speed and regulate zero speed.
RFG: Acceleration This is also the speed ramp control, the ramping can be
enabled started or stopped (HOLD).
Operating status This is also the speed ramp control, the input of ramp is
released.
OFF 1 active The ON command is removed. The drive deactivates all
of its functions which were commanded by the ON
command e.g..Drive is first decelerated to the zero
speed by emergency stop ramp.
- Stator and flux current to zero.
After this the drive is moved to the OFF-state.
OFF 2 active OFF_2_STA The voltage of the drive is immediately removed (coast
EMERGENCY stop), all functions created by the ON command are
OFF removed and after that the drive is moved to ON
INHIBIT state.
OFF 3 active OFF_3_STA The drive is decelerated to zero speed according to the
EMERGENCY parameter 21.04 EME STOP MODE, all of the functions
STOP created by the ON command are removed and after that
the drive is moved to the ON INHIBIT state.
Fault TRIPPED After tripping the drive remains in this state as long as
the rising edge of the RESET-signal is sent to the drive.
The drive is moved to the ON INHIBIT state, so the ON
command must first be turned OFF before the sequence
is allowed to continue.
29
Main Control Word (MCW)

The table below defines the use of the ABB Drives communication profile
command word for drives application.
Table 3. Main control word bits 0 and 7
Bit Name Value Description
0 ON 1 Command to “RDYRUN” -state.
OFF1 0 Command to “OFF” state. (Can go immediately to “RDYON”
-state if there are no other interlockings (OFF 2 / OFF 3).
Drive stops down to the zero speed by ramp. All pulses are
removed, when in zero speed. Restart is not possible before
zero speed.
1 OFF 2 1 No OFF 2 (Emergency OFF)
0 Command to “ON INHIBIT” state.
Inhibit pulses and drive coasts down.
Sequence control handles:
- Stator and flux current to zero
- All pulses are removed
2 OFF 3 1 No OFF 3 (Emergency STOP)
0 Command to “ON INHIBIT” state. Digital input 7 in the
hardware operates parallel with this bit.
Fast stop: The fastest possible deceleration, by current limit,
fast ramp or coast stop. Defined in the parameter 21.04
EME STOP MODE.
After zero speed the sequence control handles:
- Stator and flux current to zero
- All pulses are removed
3 RUN 1 Enable Operation
Command to RDYREF -states.
Enable stator/armature pulses.
Raise flux to the nominal reference if not already in that
value. Then accelerate via speed ramp to the given speed
reference set-point.
0 Inhibit Operation.
Inhibit inverter pulses and the drive coasts, and goes into
the “READY” status (refer to control word bit 0)
4 RAMP-OUT-ZERO 1 Operating condition.
0 Ramp-function generator output is set to zero.
Drive ramps down along the current limit or at the DC link
voltage limit.
5 RAMP-HOLD 1 Enable ramp-function generator.
0 Speed ramping stopped. Freeze the actual setpoint from the
ramp-function generator.
6 RAMP-IN-ZERO 1 Enable setpoint
0 Inhibit setpoint. Speed ramp input is forced to zero.
7 RESET 1 Fault resetting with a positive edge.
0 No significance
30
Table 4. Command word bits 8 to 10 meaning.
Bit Name Value Description
8 INCHING_1 1 Drive accelerates as fast as possible to inching setpoint 1, if
following conditions are fulfilled:
- bit RAMP-OUT-ZERO = 0
- bit RAMP-HOLD = 0
- bit RAMP-IN-ZERO = 0
0 Drive brakes as fast as possible if INCHING_1 was
previously ON
9 INCHING_2 1 Drive accelerates as fast as possible to inching setpoint 2, if
following conditions are fulfilled:
- bit RAMP-OUT-ZERO = 0
- bit RAMP-HOLD = 0
- bit RAMP-IN-ZERO = 0
0 Drive brakes as fast as possible if INCHING_1 was
previously ON
10 REMOTE_CMD 1 Overriding computer is requesting to control the drive
0 No control from the overriding system, except OFF1, OFF2
and OFF3 commands.
31
Switch on ABB Drive communication

Voltage
switched off inhibit Status Disable profile for AC Drives Control
ON INHIBIT (MSW Bit6=1) and States
Power ON OFF 1 (MCW Bit0=0)
Not ready
to swich on Status Not ready for startup
AB C DE F OFF (MSW Bit0=0)
from every device status

Main Control word basic condition
disable operation (MCW=XXXX X1XX XXXX X110)
(MCW Bit3=0 RUN) Fault
Inhibit Ready to Stop drive

Operation Status Ready for startup Fault Status:
switch on TRIPPED
active Inhibit inverter pulses RDY_ON (MSW Bit0=1)
Status: Operation Disabled (MSW Bit3=1)
operation (MSW Bit2=0 RDY_REF)
ON (MCW Bit0=1) Error corrected
disabled
confirm by
RESET (MCW Bit7= 1)
Ready Status Ready for operation

RDY_RUN (MSW Bit1=1)
Release
from every device status from any device status from any device status
operation
RUN Emergency Stop Emergency Off
OFF1 (MCW Bit0=0) OFF3 (MCW Bit2=0) OFF2 (MCW Bit1=0)
(MCW Bit3=1)
Stop drive
OFF1 Stop by EMESTOP_RAMP OFF3 according to
OFF2 Coast Stop
active (MSW Bit1=0 RDY_RUN) active active (no torque)
EME_STOP_MODE Status:
OFF_3_STA OFF_2_STA
(MSW Bit5=0) (MSW Bit4=0)
n(f)=0 / I=0 n(f)=0 / I=0
B CD
RFG-output
disable
(MCW Bit4=0
RAMP_OUT_ZERO) Enable Release electronics and pulses
RDY_REF (MSW Bit2=1) Status Operation released
Operation
CD
A MCW: Bit 4 = 0 and Bit 5 = 0 and Bit 6 = 0
RFG-output free Purpose: Main speed ref. is deactivated
RFG stop RAMP_OUT_ZERO
(MCW Bit5=0 INCHING 1 ON (MCW Bit 8 = 1)
(MCW Bit4=1)
RAMP_HOLD)
RFG: Enable Inching 1 Active
output Drive Running Inching 1 setpoint
D to speed control
B RFG-output released
Setpoint E
RAMP_HOLD
disabled INCHING 1 OFF (MCW Bit 8 = 0)
(MCW Bit6=0 (MCW Bit5=1)
RAMP_IN_ZERO)
RFG: Accelerator
INCHING 2 ON (MCW Bit 9 = 1)
enable
MCW = Main Control Word C Inching 2 Active
MSW = Main Status Word Setpoint released Inching 2 setpoint
n = Speed RAMP_IN_ZERO Drive Running to speed control
I = Power input current (MCW Bit6=1)
F
RFG = Ramp Function Generator
f = Frequency Operating n = n_set
INCHING 2 OFF (MCW Bit 9 = 0)
state AT_SETPOINT
D (MSW Bit8=1) CONTROL4.dsf 28.09.1998
Figure 6. Control and state diagram.
32
START by AUTO- or DC MAGN-mode, STOP by Ramp Generator Control
State
DC Voltage ON
1
100%
FLUX 30% FLUX ACTUAL
0%
23.01 SPEED REF

Par. 50.10 ABOVE_SPEED_LIMIT
Par. 20.03 ZERO_SPEED_LIMIT MOTOR SPEED

0 rpm
2 1
0 ON, OFF1
Control by Overriding System
1
1 OFF2
1
2 OFF3
MCW 7.01 bits
3 6 1
3 RUN
1
4 RAMP_OUT_ZERO
1
5 RAMP_HOLD
1
6 RAMP_IN_ZERO
4
7 RESET 7 0
8 INCHING1
0
9 INCHING2
0
10 REMOTE_CMD
0
1
0 RDY_ON
1
1 RDY_RUN
1
2 RDY_REF
MSW 8.01 bits
0
3 TRIPPED
0
4 OFF_2_STA
0
5 OFF_3_STA
0
6 ON_INHIBITED
0
7 ALARM
0
8 AT_SETPOINT
1
9 REMOTE
1
10 ABOVE_LIMIT
0
0
1
2 RAMP_BYPASS
0
ACW 7.02 bits
3 BAL_RAMP_OUT
0
4 FLUX_ON_DC
0
5 FLUX_ON
0
6
7
0
ASW 8.02 bits
...
1
3 MAGNETIZED
0
...
5 1
11 ZERO_SPEED
0
Time
Figure 7. Control example: Start by AUTO or DC MAGN mode, stop by ramp

generator.
33
FLUX ON, START, STOP by Torque Limit, FLUX ON
State
DC Voltage ON
1
100%
FLUX 0%
23.01 SPEED REF

Par. 20.03 ZERO_SPEED_LIMIT MOTOR SPEED

0 rpm
1
0 ON, OFF1
2 1
1 OFF2
1
2 OFF3
MCW 7.01 bits
9 1
3 RUN
4 1
4 RAMP_OUT_ZERO
6 10 1
5 RAMP_HOLD
1
6 RAMP_IN_ZERO
7 RESET
0
8 INCHING1
0
9 INCHING2
0
10 REMOTE_CMD
0
1
0 RDY_ON
0
1 RDY_RUN
0
2 RDY_REF
MSW 8.01 bits
0
3 TRIPPED
0
4 OFF_2_STA
1
5 OFF_3_STA
6 ON_INHIBITED
0
7 ALARM
0
8 AT_SETPOINT
1
9 REMOTE
1
10 ABOVE_LIMIT
0
0
1
2 RAMP_BYPASS
0
ACW 7.02 bits
3 BAL_RAMP_OUT
5 8 0
4 FLUX_ON_DC
3 0
5 FLUX_ON
0
6
7
0
ASW 8.02 bits
...
1
3 MAGNETIZED
0
...
7 1
11 ZERO_SPEED
0
Time
Figure 8. Control example: Start by FLUX ON DC command, stop by torque

limit.
34
FAULT, RESET, INCHING 1, INCHING 2, RUN by SPEED REF
State
DC Voltage ON
100%
FLUX
0%
23.01 SPEED REF

MOTOR SPEED
Par. 23.02 CONST SPEED1
Par. 20.03 ZERO_SPEED_LIMIT 0 rpm
Par. 23.03 CONST SPEED2
1
0 ON, OFF1
4 1
1 OFF2
1
2 OFF3
MCW 7.01 bits
2 1
3 RUN
6 1
4 RAMP_OUT_ZERO
9 1
5 RAMP_HOLD 5
1
6 RAMP_IN_ZERO
3
7 RESET
0
8 INCHING1
7 0
9 INCHING2
8 0
10 REMOTE_CMD
0
1
0 RDY_ON
1
1 RDY_RUN
1
2 RDY_REF
MSW 8.01 bits
1 0
3 TRIPPED
0
4 OFF_2_STA
0
5 OFF_3_STA
0
6 ON_INHIBITED
0
7 ALARM
0
8 AT_SETPOINT
1
9 REMOTE
1
10 ABOVE_LIMIT
0
0
1
2 RAMP_BYPASS
0
ACW 7.02 bits
3 BAL_RAMP_OUT
0
4 FLUX_ON_DC
0
5 FLUX_ON
0
6
7
0
ASW 8.02 bits
...
1
3 MAGNETIZED
0
...
1
11 ZERO_SPEED
0
Time
Figure 9. Control example: Fault reset, run by CONST SPEED 1 (inching 1),
CONST SPEED 2 (inching 2) and SPEED REF.
35
Generic Drive communication profile

The Generic Drive communication profile is active when parameter 98.07 is set
to GENERIC. The Generic Drive profile realises the device profile for drives –
speed control only – as defined by specific fieldbus standards such as
PROFIDRIVE for PROFIBUS, DriveCom for InterBus-S, AC/DC Drive for
DeviceNet, Drives and Motion Control for CANopen, etc. Each device profile
specifies its Control and Status Words, Reference and Actual value scaling. The
profiles also define Mandatory services which are transferred to the application
interface of the drive in a standardised way.
The proper functioning of the Generic drive profile requires that Control word
commands are enabled by setting parameter 98.02 to FIELDBUS and 98.07 to
GENERIC.
Note 1: The Generic Drive communication profile requires the use Speed
Control (26.01).
Note 2: The Generic Drive profile is only available with type Rxxx fieldbus
adapter modules.
Name Description
STOP The drive decelerates the motor to zero speed according to the deceleration ramp
(22.02 DECELER TIME).
START The drive accelerates to the set reference value according to the acceleration ramp
(22.01 ACCELER TIME). The direction of rotation is determined by the sign of the
reference value.
COAST STOP The drive coasts to stop, i.e. the drive stops modulating. However, this command
can be overridden by the Brake Control function, which forces the drive to
decelerate to zero speed by the active deceleration ramp.
QUICK STOP The drive decelerates the motor to zero speed within the emergency stop
deceleration time defined by parameter 22.04 EME STOP RAMP.
CURRENT LIMIT The drive decelerates the motor to zero speed according to the set current limit
STOP (CLS) (20.04 MAXIMUM CURRENT) or torque limit (20.05 MAXIMUM TORQUE),
whichever is first reached. The same procedure is valid in case of a Voltage Limit
Stop (VLS).
INCHING1 With this command active, the drive accelerates the motor to Constant Speed 1
(defined by parameter 23.02 CONST SPEED 1). After the command is removed,
the drive decelerates the motor to zero speed.
Note: The speed reference ramps are not effective. The speed change rate is only
limited by the current (or torque) limit of the drive.
Note: Inching 1 takes priority over Inching 2.
Note: Not effective in Scalar control mode.
INCHING2 With this command active, the drive accelerates the motor to Constant Speed 2
(defined by parameter 23.03 CONST SPEED 2). After the command is removed,
the drive decelerates the motor to zero speed.
Note: The speed reference ramps are not effective. The speed change rate is only
limited by the current (or torque) limit of the drive.
Note: Inching 1 takes priority over Inching 2.
Note: Not effective in Scalar control mode.
RAMP OUT ZERO When active, forces the output of the reference function generator to zero.
RAMP HOLD When active, freezes the reference function generator output.
FORCED TRIP Trips the drive. The drive will indicate a fault “FORCED TRIP”.
RESET Resets an active fault.
36
Speed reference and actual speed scaling
Both the nominal speed reference value given via the fieldbus interface and the
actual speed value received from the drive are related to the motor nominal
speed (DTC motor control mode) or motor nominal frequency (Scalar motor
control mode) as follows.
Motor control mode Speed reference/Actual speed scaling
DTC 0% = 0 rpm
100% = [par. 99.05] rpm
Scalar 0% = 0 Hz
100% = [par.99.04] Hz
Note: Parameter 50.01 SPEED SCALING should be set to nominal speed when
Generic profile is used.
37
I/O Configurations
Digital inputs
All the inputs can be read by the overriding controller. See signals 1.15 DI7-1
STATUS and 8.05 DI STATUS WORD. Input functions are preprogrammed.
RMIO I/O Type Command Description
STANDARD DI 2 +24 VDC RUN ENABLE Drive enable input. This digital input can be
used for external interlocking to disable the run
enable signal of the drive.
STANDARD DI 3 +24 VDC START/STOP Start = 1, Stop = 0 (stop by ramping)
Warning! After a power switch on, the drive
will start if the start signal is ON.
STANDARD DI 4 +24 VDC DIRECTION Forward = 0, Reverse = 1
STANDARD DI 5 +24 VDC RESET Fault reset = rising edge (0->1)
STANDARD DI 6 +24 VDC KLIXON Overtemperature switch located in the motor
windings can be connected to this input to
indicate overtemperature of the motor. Opening
contact causes a trip.
STANDARD DI 7 +24 VDC NO EME NO EMERGENCY STOP status is “1”. If the
STOP system does not require an emergency stop
function, it can be deactivated by setting
parameter 21.04 EME STOP MODE to value
NOT SELECTD.
Digital outputs
The following digital outputs are available in the RMIO program. Outputs are
programmable (see Parameter Group 14) and can also be controlled from the
overriding system.
38
Following digital outputs are available.
RMIO Output Type Signal Description
STANDARD DO 1 Relay output READY Emergency stop is activated and a drive is
2A 250 VAC or stopped according to the selected
EME STOP emergency stop mode.
(Overriding System can set the output if the
emergency stop function is not selected.)
STANDARD DO 2 Relay output RUN Selected bit status “1” from the selected
2A 250 VAC integer word sets the digital output to state
“1”.
- Control Words
- Status Words
- Limit Words
- Alarm Words
- Fault Words
or Overriding System can control the output.
The default status is RUN.
STANDARD DO 3 Relay output FAULT Selected bit status “1” from the selected
2A 250 VAC integer word sets the digital output to state
“1”.
- Control Words
- Status Words
- Limit Words
- Alarm Words
- Fault Words
or Overriding System can control the output.
The default status is FAULT
Analogue inputs
RMIO Motor and I/O control board

Three differential non-galvanically isolated analogue inputs (10 bits, accuracy
+/- 0.5%) are available in the RMIO board. The updating interval is 100 ms for
the speed reference chain.
RMIO Input Type Signal Description
STANDARD AI 1 -10 V/0V…+10 V, SPEED Motor temperature measurement by
Ri= 200 kΩ REFERENCE means of 1...3 PTC thermistors or
1…3 PT100 sensors.
MOTOR_TEMP (Overriding System application can
read the input if the motor temperature
measurement is not selected)
STANDARD AI 2 0(4)...20 mA (not used) (Overriding System application can
Ri= 100 Ω read the input)
STANDARD AI 3 0(4)...20 mA (not used) (Overriding System application can
Ri= 100 Ω read the input)
39
RAIO-01 Analogue I/O Extension module

It is possible to use RAIO-01 or NAIO-02 Analogue I/O Extension Module to
replace AI1, AI2, AO1 and AO2 inputs and outputs on the RMIO board. The
resolution of the RAIO-01 or NAIO-02 is 12 bits. The input range is selectable
by DIP switches and the maximum voltage or milliampere value corresponds
20000 unit as integer value in the SW. The module selection is done by
parameter 98.06 AI/O EXT MODULE 1.
RAIO-01, NAIO-02 Input Type Signal Description
Extension module 1 AI1 -20..0..+20 mA SPEED Speed reference of the drive or
0(4)…20 mA REFERENCE motor temperature measurement
Ri= 100 Ω or by means of 1…3 PTC thermistors
-2..0..+2 VDC MOTOR 1 or PT100 sensor(s).
-10..0..+10 VDC TEMP
Ri= 200 kΩ
Extension module 1 AI2 -20..0..+20 mA MOTOR 2 Motor temperature measurement
0(4)...20 mA TEMP by means of 1…3 PTC thermistors
Ri= 100 Ω or PT100 sensor(s).
-2..0..+2 VDC
-10..0..+10 VDC
Ri= 200 kΩ
Analogue outputs
Two non-galvanically isolated analogue outputs (10 bits, accuracy +/- 1%) are
available on the RMIO board. The output updating time is 20 ms.
RMIO Output Type Signal Description
AO 1 0(4)…20 mA AO1_OUT A programmable analogue output from
Ri = 700 Ω the program. The output can be used also
as a constant current source to supply the
temperature measurement sensor PT100
or PTC. The current is set automatically
according to the type of the sensor.
STANDARD 0(4)…20 mA AO2_OUT (The overriding system application can
I/O Board Ri = 700 Ω control the output)
AO 2
If extension module is used, the resolution is then 12 bits. These analogue
outputs operates in parallel with the RMIO outputs.
RAIO-01, NAIO-02 I/O Type Command Description
Extension module 1 AO1 0(4)…20 mA AO1_OUT See Standard AO1.
Ri= 700 Ω
Isolated from power supply
Extension module 1 AO2 0(4)…20 mA AO2_OUT See Standard AO2.
Ri= 700 Ω
Isolated from power supply
40
mA-type of alternative for Terminal Block X21 RMIO board
references
Motor Temperature 1 VREF Reference voltage 10 VDC
Measurement 2 GND max. 10 mA
1...3 PT100 or PTC Analogue input 1 1)
3 A I1 +
Speed reference (default)
4 A I1 - 0 ... 10 V
Analogue input 2
5 A I2 +
6 A I2 - 0(4) ... 20 mA
Analogue input 3
7 A I3 +
8 A I3 - 0(4) ... 20 mA
T Analogue output 1 1)
(%) 9 AO 1+
Motor torque
10 AO 1- 0 ... 20 mA <-> 0 ... Motor nom. current
rpm Analogue output 2 1)
(%) 11 AO 2+
Motor speed
12 AO 2- 0 ... 20 mA <-> 0 ... Motor nom. speed
1) Function according
to the parameter selection Terminal Block X22
1 D I1 Selectable
2 D I2 Run Enabled (default)
3 D I3 Start / Stop (default)
4 D I4 Reverse (default)
5 D I5 Reset (default)
6 D I6 Klixon in (if selected)

7 +24 VD C
+ 24 VDC max. 100 mA
8 +24 VD C
9 GNDDI Digital ground

10 G N D D I 2 Digital ground 2
11 D I7 Emergency Stop
Terminal Block X23
1 + 2 4 V D C Auxiliary voltage output 24 VDC, 250 mA
2 GND or 130 mA if NLMD-01 panel is included
Terminal Block X25
READY 1 RO 11 Relay output 1 1)

2 R O 12 Emergency Stop
3 RO 13
Terminal Block X26
1 RO 21 Relay output 2 1)
R U N N IN G
2 R O 22 Running (default)
3 RO 23
Terminal Block X27
1 RO 31 Relay output 3 1)
T R IP P E D 2 R O 32 Fault (default)
3 RO 33
Figure 10. RMIO board default signals when the drive is controlled from the I/O
(Parameter 98.02 COMM MODULE is set to NO).
41
Pulse encoder interface RTAC-01

The pulse encoder module (RTAC-01) is connected to the parallel port slot on
the RMIO board and activated by Parameter 98.01 ENCODER MODULE.
The feedback used is indicated in the 8.02 AUXILIARY STATUS WORD bit 12.
B12: 0 = External pulse encoder
1 = Internal speed
The Master/Follower link
General
The Master/Follower Application macro is designed for applications in which the
system is operated by several ACS800 drives and the shafts are coupled to
each other gearing, chain, belt etc. The Master drive controls the Follower
drive(s) via a fibre optic link.
The Master station is typically speed controlled and the other drives follow its
torque or speed reference. In general, torque control of the Follower should be
used when the motor shafts of the Master and Follower drives are coupled
fixedly to each other by gearing, a chain etc. and no speed difference between
the drives is possible.
In some applications both speed and torque controls of the Followers are
required. In those cases a flying change between speed and torque control can
be performed from the overriding system by controlling the torque selector
position and additional speed reference.
For more information, Master/Follower Application Guide (3AFE64590430
English).
Link configuration
Channel 2 (CH2) on the RDCO board is used for the Master/Follower link.
Channel 2 (CH2) is configurable by software to be either the master or the
follower in the communication. Typically the speed controlled process master
drive is configured also to the communication master. Also, the torque reference
source address in the Master Drive and the destination address in the Follower
Drive can be defined by parameters 70.09 MASTER SIGNAL 1, 70.10
MASTER SIGNAL 2 and 70.11 MASTER SIGNAL 3.
42
Figure 11. Connections. T = Transmitter; R = Receiver; RMIO = Motor and I/O

Control board (Please note that channels CH0/CH2/CH3 are located on the
optional RDCO-0x board.)
Follower diagnostics
The torque reference is sent from the Master as broadcast message. All of the
Followers receive the torque reference for the TORQUE REF A signal. The
follower drive is able to detect a communication break. The action is defined by
parameter 70.13 CH2 TIMEOUT and 70.14 CH2 COM LOSS CTRL.
Diagnostics feedback from the followers must be handled by the overriding
system through Channel 0 on the RMIO board.
Master/Follower link specification

Size of the Link: One Master and a maximum of ten Follower stations. If more
than ten followers are required, an ABB represantive should be consulted. The
maximum fibre optic cable length between stations is 15 metres.
Configuration: The link is configurable from the overriding system application.
See parameter 70.08 CH2 M/F MODE). This makes possible to change Master
and Follower ON LINE in the link by an overriding system or application without
changes in the hardware.
Transmission Rate: 4 Mbit/s
Total Performance of Link: max. 15 ms (between the master and follower
drives)
Protocol: Distributed Drives Communication System, DDCS
43
Diagnostics
General
A common method of drive diagnostics is to provide the user with information on
previous conditions. Signals, data loggers and fault loggers are commonly
implemented in most modern drives.
All of the loggers should provide the user with real time stamps to identify when
the event was logged. The time should be co-ordinated and common for all
system components. The following is a description of the data, event, and fault
loggers available in the System Application Program.
Fault and event loggers

The fault logger collects 64 of the most recent faults into the fault buffer in the
RAM memory. The latest 16 faults are stored into the FLASH memory at the
beginning of an auxiliary power loss. The fault logger records all available
information from the drive including faults, alarms, reset and system messages.
AMC time format and counting

The Time for the logger fault is taken from the power-on counter, whose format
is 9999 hr, xx min, yy.yyyy s. However, the counter can be updated cyclically
from the overriding system if the system includes an overriding controller (for
example APC2). DriveWindow and the CDP 312R control panel show the real
date and time.
Data logger
The purpose of the Data logger is to collect the history of signals related to an
incident and store it in the drive for later retrieval and analysis. The content of
the Data logger is stored to the RAM memory.
The Data Logger consist of 1...4 channels. The total memory size for the Data
logger is 1024 bytes. The maximum number of samples depends on the data
type:
• Integer type signal or parameters reserve 1 byte
• Real-type values reserve 2 bytes
Example: Four real-type signals are measured. The maximum number of
sample is 1024/(2 bytes x 4 channels) = 128.
The data logger stores the selected signals to the RAM memory every 5
milliseconds. By default the following signals are monitored:
1.01 MOTOR SPEED FILT
1.07 MOTOR TORQUE FILT
23.1 SPEED REF
25.1 TORQUE REF A
The signals to be monitored can be selected from DriveWindow; an auxiliary
power cut restores the default signals. The default triggering mode is Fault.
44
Positioning counter
The number of Pulse Encoder pulses can be counted and set using 7.02 AUX
CONTROL WORD (ACW) bits B9…11. The SYNC_COMMAND can also be
given by I/O to minimise the delays. The calculation has two output modes:
counted number of pulses or number of revolutions and motor shaft position in
degrees.
All the signals for this function can be seen with the description in group 3
(3.07…3.10), commands in the 7.02 AUX CONTROL WORD (ACW) and the
parameters in group 50 (50.07…50.11).
Figure 12. Positioning counting logic and calculation diagram.
45
Positioning counting function

A basic function can be seen in the following diagram. When synchronisation is
enabled (SYNC_DISABLE = 0) and the next positive edge of the
SYNC_COMMAND is encountered, the initial values of POS COUNT INIT LOW
and POS COUNT INIT HIGH are loaded into the counter and the counting
continues. The Initial values can only be used for the pulse edges count mode.
Status signal SYNC_RDY is set to indicate controlled SYNC_COMMAND.
When the positioning has been completed by the overriding system (i.e. the
motor can be stopped or some other sequence started), parameter SYNC_RDY
can be reset by RESET_SYNC_RDY.
SYNC_COMMAND 7.02 B9
SYNC_DISABLE 7.02 B10
SYNC_RDY 8.02 B5
RESET_SYNC_RDY 7.02 B11
ENCODER PULSES
POS_COUNT_LOW 3.07
POS_COUNT_HIGH 3.08
or
POS_COUNT_ROUNDS 3.10
POS_COUNT_DEGREES 3.09
POS_COUNT_INIT_LO 50.08
POS_COUNT_INIT_HI 50.09
or
POS_C_INIT_DEG 50.10 and
POS_C_INIT_ROUNDS 50.11
Figure 13. Example of the positioning counting function.
Back-up of parameters or software

At the end of the commissioning of the ACS800, backing up the (RMIO board)
parameters is recommended. The results of the Motor ID Run should also be
backed up. If necessary, the data can be restored later on (e.g. downloaded to a
spare board of the same type).
The back up can be done either with DriveWindow or the CDP 312R control
panel (there is an EEPROM memory in the panel). In case of CDP 312R, see
chapter Overview of CDP 312R control panel.
46
47
Signals
Overview
This chapter describes the measured, calculated and control word signals of the
ACS800.
How to read the signal table

Before you start to read the signal table, we first recommend you read this
description.
ACS800 Signals
Group + Index Description Quantity
1.1...1.26, 1.44…1.45 Actual Signals 28
2.1...2.17 Actual Signals 17
3.1...3.15, 3.20…3.29 Actual Signals 25
4.1...4.5 Information 5
5.1...5.32 (reserved for the application)
6.1...6.32 (reserved for the application)
7.1...7.3 Control Words 3
8.1...8.6 Status Words, Limit Words 6
9.1...9.5, 9.8…9.12 Fault Words, Alarm Words 10
Total 94
• All signals are read-only. However the overriding system can write to the control
words, but it only affects the RAM memory.
(161.3)
05 CURRENT
Index Description: Measured motor current absolute value.
unit: A type: R Min: 0 Max: Integer scaling: 10 == 1A
Figure 14. Sample of an actual signal table.
• If the application program utilizes individual bits of a word (for example 7.01
MAIN CTRL WORD), it must be understood that bit 15 is set by the SIGN. Also
bit 15 is read from the SIGN.
• If signal type is R (real value), it also has an integer scaling relation mentioned
in the column Integer scaling. For example, if the CURRENT signal is read to
the overriding system, an integer value of 10 corresponds to 1 Ampere. All the
read and sent values are limited to 16 bits (-32768…32767).
• Unit of the signal value can be seen on the lower left-hand corner of the signal
description.
Signals
48
• Minimum and maximum values are shown in decimal format.

• Data type is given with a short code:
B= Boolean value
I= 16-bit signed integer value
PB = Packet Boolean value
R= Real value
S= String
Signals
49
AMC Table Signals
Group 1 Actual Signals

1 Group name: ACTUAL SIGNALS
Description: Measured or calculated values
01 MOTOR SPEED FILT
Index Description: Filtered speed actual according to the speed feedback selection. See parameter 50.03.
unit: rpm type: R Min: Max: Integer scaling: see par. 50.01 SPEED SCALING
02 SPEED ESTIMATED
Index Description: Internally calculated actual speed.
03 SPEED MEASURED
Index Description: Measured actual speed from the pulse encoder. This measurement is active also in case of
the SPEED FB SEL = internal speed.
04 EXTERNAL SPEED (Not available)
Index Description: Measured external speed.
05 FREQUENCY
Index Description: Calculated frequency of the motor.
unit: Hz type: R Min: Max: Integer scaling: 100 == 1 Hz
06 MOTOR CURRENT
Index Description: Measured motor current absolute value.
unit: A type: R Min: Max: Integer scaling: 10 == 1 A
07 MOTOR TORQUE FILT
Index Description: Filtered motor torque in percent of the rated motor torque.
unit: % type: R Min: Max: Integer scaling: 100 == 1%
08 MOTOR TORQUE
Index Description: Motor torque in percent of the rated motor torque.
09 POWER
Index Description: Motor power in percent of the rated motor power.
10 DC VOLTAGE
Index Description: Measured DC bus voltage
unit: V type: R Min: Max: Integer scaling: 1 == 1 V
11 MOTOR VOLTAGE
Index Description: Calculated motor output voltage.
unit: V type: R Min: Max: Integer scaling: 1 == 1 V
12 PP TEMP
Index Description: Temperature of the heat sink plate in percentage. 0°C equals 0% and tripping limit is 100%.
unit: °C type: R Min: Max: Integer scaling: 1 == 1°
Signals
50

13 TIME OF USAGE
Index Description: This actual signal is an elapsed time indicator of the mains switched on.
unit: h type: R Min: Max: Integer scaling: 1 == 1 h
14 KILOWATT HOURS
Index Description: This actual signal counts the kilowatt-hours in operation.
unit: kWh type: R Min: Max: Integer scaling: 1 == 1 kWh
15 Interval: 10 ms DI7-1 STATUS
Index Description: Status of the digital inputs DI7...DI1 in the software.
Example: DI1 and DI4 are activated.
Table format: 0001001 (CDP 312R display view)
DI name 7654321.
unit: type: I Min: Max: Integer scaling: 1 == 1
16 Interval: 500 ms MOTOR 1 TEMP
Index Description: Value of analogue input 1 displayed in °C, when PT100 temperature measurement is
selected.
17 Interval: 500 ms MOTOR 2 TEMP
Index Description: Value of analogue input 2 displayed in °C, when PT100 temperature measurement is
selected.
18 MOTOR TEMP EST
Index Description: Calculated motor temperature when thermal model is used for the motor overtemperature
protection.
19 Interval: 500 ms AI1 [V]
Index Description: Scaled value of analogue input 1. See parameters 13.01...13.02.
unit: type: R Min: -10 Max: 10 Integer scaling: 10000 == 10 V
20 Interval: 500 ms AI2 [mA]
unit: type: R Min: -20 Max: 20 Integer scaling: 20000 == 20 mA
21 Interval: 500 ms AI3 [mA]
unit: type: R Min: -20 Max: 20 Integer scaling: 20000 == 20 mA
22 Interval: 500 ms RO3-1 STATUS
Index Description: Status of the RMIO board relay outputs.
Example: DO2 and DO3 are activated.
Table format: 0000110 (CDP 312R display view).
DO name 321.
unit: type: Min: 0 Max: Integer scaling:
23 Interval: 500 ms AO1 [mA]
Index Description: Value of analogue output 1 signal in milliamperes. Signal selecting and scaling, see
parameter group 15.
unit: mA type: R Min: 0 mA Max: 22 mA Integer scaling: 20000 == 20 mA
Signals
51

24 Interval: 500 ms AO2 [mA]
Index Description: Value of analogue output 2 signal in milliamperes. Signal selecting and scaling, see
parameter group 15.
unit: mA type: R Min: 0 mA Max: 22 mA Integer scaling: 20000 == 20 mA
25 Interval: 500 ms CONTROL MODE
Index Description: Control mode in use
1 = Speed control
2 = Torque control (TORQ_REF_1 affects the output of TORQ REF 3)
unit: type: I Min: 1 Max: 2 Integer scaling:
26 Interval: 500 ms LED PANEL OUT
Index Description: Output monitoring of the NLMD-01 LED panel. See parameter group 18.
unit: % type: R Min: Max: Integer scaling: 1 == 1
44 Interval: 500 ms FAN ON-TIME
Index Description: Running time of the drive cooling fan.
Note: The counter can be reset by the DriveWindow PC tool. Resetting is recommended
when the fan is replaced.
unit: type: Min: Max: Integer scaling: 1 == 1
45 Interval: 500 ms CTRL BOARD TEMP
Index Description: Control board temperature.
unit: % type: Min: Max: Integer scaling: 1 == 1

Description: Measured or calculated values in the speed and torque reference chain.
01 SPEED REF2
Index Description: Limited speed reference.
unit: rpm type: R Min: -18000 rpm Max: 18000rpm Integer scaling: see Par. 50.01 SPEED SCALING
02 SPEED REF3
Index Description: Speed reference after the speed ramp.
unit: rpm type: R Min: -18000 rpm Max: 18000rpm Integer scaling: see Par. 50.01 SPEED SCALING
03 SPEED ERROR NEG
Index Description: Difference between reference and the actual value. If parameter WINDOW_SEL_ON is
enabled, SPEED_ERROR_NEG is filtered through the window function.
unit: % type: R Min: Max: Integer scaling: see Par. 50.01 SPEED SCALING
04 TORQUE PROP REF
Index Description: P-part effect at the output of the of PID controller. Output of PID controller is formed from the
output parameters TORQUE PROP REF, TORQUE INTEG REF and TORQ ACC COMP
REF.
05 TORQUE INTEG REF
Index Description: I- part effect at the output of the PID controller. Output of PID controller is formed from the
output parameters TORQUE PROP REF, TORQUE INTEG REF, TORQ DER REF and
TORQ ACC COMP REF.
Signals
52

Description: Measured or calculated values in the speed and torque reference chain.
06 TORQUE DER REF
Index Description: D-part effect at the output of the PID controller. Output of PID controller is formed from the
output parameters TORQUE PROP REF, TORQUE INTEG REF, TORQ DER REF and
TORQ ACC COMP REF.
unit: % type: f Min: Max: Integer scaling: 100 == 1%
07 TORQ ACC COMP REF
Index Description: Output of the acceleration compensation.
08 TORQUE REF 1
Index Description: Limited torque reference value in the torque reference chain.
09 TORQUE REF 2
Index Description: Final torque reference from the speed control chain.
10 TORQUE REF 3
Index Description: Torque reference after the torque selector block.
11 TORQUE REF 4
Index Description: Sum of TORQUE REF 3 and LOAD COMPENSATION.
12 TORQUE REF 5
Index Description: Sum of TORQUE REF 4 and TORQUE STEP.
13 TORQ USED REF
Index Description: Limited torque reference. This is the final torque input for the internal torque controller.
14 FLUX USED REF
Index Description: Used flux reference.
15 FLUX ACT
Index Description: Flux actual value.
16 dV/dt
Index Description: Speed reference change in rpm/s at the output of the speed ramp generator.
unit: rpm/s type: R Min: Max: Integer scaling: See parameter 50.01
17 MOTOR ACCELERATIO
Index Description: Motor acceleration in rpm/s.
unit: rpm/s type: f Min: Max: Integer scaling:
Signals
53

Description: Data values
01 APPL DUTY
Index Description: Microprocessor load measurement. Value 100% means the overloading of the
microprocessor and causes delay for the tasks executions. Application duty counter is
recommended to be calibrated when application has been modified.
02 APPLICATION OVERL
Index Description: Possible overload of each application task can be detected by means of this signal in the
Packed Boolean format.
B0 = Application Task 1 overload
unit: type: PB Min: 0 Max: Integer scaling: 1 == 1
03 RS
Index Description: Estimated stator resistance RS
unit: Ω type: R Min: 0 Max: Integer scaling: 100 == 1 Ω
04 LS
Index Description: Estimated stator inductance LS
unit: mH type: R Min: 0 Max: Integer scaling: 100 == 1 mH
05 SIGMALS
Index Description: Estimated σLS value
unit: Ω type: R Min: 0 Max: Integer scaling: 100 == 1 Ω
06 TR
Index Description: Estimated time constant of the rotor.
unit: ms type: R Min: 0 Max: Integer scaling: 1 == 1 ms
07 POS COUNT LOW
Index Description: Position counter value in pulses (low word).
unit: type: I Min: 0 Max: 65536 Integer scaling: 1 == 1
08 POS COUNT HIGH
Index Description: Position counter value in pulses (high word).
unit: type: I Min: 0 Max: 65536 Integer scaling: 1 == 1
09 POS COUNT DEGREES
Index Description: Position counter value in degrees, when parameter 50.07 POS COUNT MODE has selection
ROUND&DEG. This signal is used together with signal 3.10 POS COUNT ROUNDS.
unit: deg type: R Min: -360 deg Max: 360 deg Integer scaling: 1 == 1 deg
10 POS COUNT ROUNDS
Index Description: Position counter value in total shafts rounds, when parameter 50.07 POS COUNT MODE has
selection ROUND&DEG.
unit: type: R Min: -8388608 Max: 8388608 Integer scaling: 1 == 1
Signals
54

11 DATALOG1 STATUS
Description: Datalogger 1 STATUS WORD
B0 = triggering conditions: fault
B1 = triggering conditions: level
B2 = triggering conditions: alarm
B3 = triggering conditions: limit
B4 = triggered by user
B5 = triggered from level
B6 = trend triggered from difference
B7 = initialising
B8 = over write (readpointer has reached write pointer)
B9 = filled
B10 = running
B11 = initialised
B12 = not initialised
B13 =
B14 =
B15 =
unit: type: I Min: -32768 Max: 32767 Integer scaling:
12 PP 0 TEMP
Index Description: The highest power plate temperature in degrees Celsius from the module 0 in the parallel
connected inverter. The IGPT module with the highest temperature is indicated by the LEDs
in the NINT board. This measurement is active only with parallel connected inverters.
unit: °C type: R Min: Max: Integer scaling: 1 == 1
13 PP 1 TEMP
14 PP 2 TEMP
15 PP 3 TEMP
20 FAULT CODE 1 LAST
Index Description: Fieldbus code of the latest fault.
Index Description: Fieldbus code of the 2nd latest fault.
Signals
55

Index Description: Fieldbus code of the 3rd latest fault.
unit: type: R Min: Max: Integer scaling: 1 == 1
Index Description: Fieldbus code of the 4th latest fault.
Index Description: Fieldbus code of the 5th latest fault.
25 WARN CODE 1 LAST
Index Description: Fieldbus code of the latest warning.
26 WARN CODE 2 LAST
Index Description: Fieldbus code of the 2nd latest warning.
27 WARN CODE 3 LAST
Index Description: Fieldbus code of the 3rd latest warning.
28 WARN CODE 4 LAST
Index Description: Fieldbus code of the 4th latest warning.
29 WARN CODE 5 LAST
Index Description: Fieldbus code of the 5th latest warning.
Group 4 Information
4 Group name: INFORMATION
Description: This signal group consists of information about the downloaded software on the RMIO board.
01 SOFTWARE INFORMATION
Index Description: Version information of the downloaded software loading package.
unit: type: C Min: Max:
02 DTC SW VERSION
Index Description: Software version of the flux software. This fixed part of the software consist of the motor
control, operational system, communication control of the DDCS channels and Modbus
software for the control panel.
03 APPL SW VERSION
Index Description: Application software name can be identified by means of this signal. This part of the software
has been done by function block programming.
Signals
56
4 Group name: INFORMATION

04 INV NOM VOLTAGE
Index Description: Downloaded inverter nominal supply voltage.
unit: V type: R Min: Max:
05 INV NOM CURRENT
Index Description: Downloaded inverter nominal current value.
unit: A type: R Min: Max:
Group 7 Control Words

7 Group name: CONTROL WORDS
Description: ABB Drives communication profile Control Word.
01 Interval: MAIN CTRL WORD (MCW) INPUT
10 ms
Index Bit Name Value Meaning
B0 ON 1 Command to “RDYRUN”-state
0 Command to “OFF”-state
B1 OFF 2 1 No OFF2 (Emergency OFF or Coast Stop)
0 Command to “ON INHIBIT” state
B2 OFF 3 1 No OFF 3 (Emergency STOP)
0 Command to “ON INHIBIT” state
B3 RUN 1 Command to “RDYREF”- states
0 Stop by coasting
B4 RAMP_OUT_ZERO 1 No other activities
0 Speed ramp output is forced to zero
B5 RAMP_HOLD 1 No other activities
0 Speed ramping stopped
B6 RAMP_IN_ZERO 1 No other activities
0 Speed ramp input is forced to zero
B7 RESET 1 Fault resetting with a positive edge
0
B8 INCHING1 1 Constant speed 1 defined by a parameter
0
B9 INCHING2 1 Constant speed 2 defined by a parameter
0
B10 REMOTE_CMD 1 Overriding computer is req. to control the drive
0 Only OFF commands are valid
B11 reserved 1 (reserved)
0
0
0
0
0
Signals
57
7 Group name: CONTROL WORDS

02 Interval: 10 ms AUX CONTROL WORD (ACW)
Index: Description: The drive specific auxiliary control word to ACS800.
Not available B0 = RESTART_DLOG Restart of data logger
Not available B1 = TRIGG_LOGGER Data logger triggering.
B2 = RAMP_BYPASS Speed ramp is bypassed.
B3 = BAL_RAMP_OUT Forcing of ramp output.
B4 = FLUX ON DC Flux on DC. (Flux off: set this bit and MCW bit 3 to 0)
B5 = FLUX ON Flux on (zero torque).
B6 = HOLD_NCONT Holding of the integral part in the speed controller
B7 = WINDOW_CTRL Parameter 26.01 TORGUE SELECTOR forcing to window
control (ADD)
B8 = BAL_NCONT Forcing of speed controller’s output
B9 = SYNC_COMMAND Position counting: synchronise command
B10 = SYNC_DISABLE Position counting: synchronise disabled command
B11 = RESET_SYNC_RDY Position counting: reset synchronous ready command
B12 =
B13 = DO1 CONTROL B13…B15: Digital output controls
B14 = DO2 CONTROL
B15 = DO3 CONTROL
03 FOLLOWER MCW
Index: A 16-bit data word.
The parameter are the same as 7.01 MAIN COMMAND WORD, except bits 0 = (OFF1),
1 = (OFF2), 2 = (OFF3), 4 (RAMP OUT ZERO), 5 = (RAMP HOLD) and 6 = (RAMP IN
ZERO) are blocked.
unit: type: Min: Max: Integer scaling:
Signals
58
Group 8 Status Words

8 Group name: STATUS WORDS
Description: Status signals of the drive according to the ABB Drives communication profile.
01 Interval: 100 ms MAIN STATUS WORD (MSW) INPUT
Index Bit Name Value Meaning
B0 RDYON 1 Ready to switch on
0 Not ready to switch on
B1 RDYRUN 1 Ready
0 Not ready
B2 RDYREF 1 Operation enabled (RUNNING)
0 Operation inhibited
B3 TRIPPED 1 Fault
0
B4 OFF_2_STA 1 No OFF 2
0 OFF 2
B5 OFF_3_STA 1 No OFF 3
0 OFF3
B6 SWC ON INHIB 1 Switch on inhibit
0
B7 ALARM 1 Alarm
0
B8 AT_SETPOINT 1 Setpoint/act. value monitoring in the tolerance
0
B9 REMOTE 1 Remote control
0 Local control
B10 ABOVE_LIMIT 1 Frequency or speed > par. Speed Above Limit
0
B11 ... (reserved)
B12 (reserved)
B13 (reserved)
B14 (reserved)
B15 (reserved)
Signals
59

02 Interval: 100 ms AUX STATUS WORD (ASW)
Index Description: Drive specific auxiliary status word
B0 = LOGG_DATA_READY Content of data logger is readable.
B1 = OUT_OF_WINDOW Speed actual is outside of the defined window.
B2 = EMERG_STOP_COAST Emergency stop function has failed.
B3 = MAGNETIZED A flux has been activated to the motor
B4 = RUN_DISABLED External interlocking (DI2) prevents the run.
B5 = SYNC_RDY Position counter synchronous ready status.
B6 = 1_START_NOT_DONE Not started after the parameter set of group 99.
B7 = IDENTIF_RUN_DONE Identification run has been completed.
B8 = START_INHIBITION Inhibition of false start
B9 = LIMITING Control at the limit. See signals 8.03-8.04
B10 = TORQ_CONTROL Drive is torque controlled
B11 = ZERO_SPEED Motor speed actual is below the zero speed limits.
B12 = INTERNAL_SPEED_FB Internal speed feedback selected
B13 =
B14 =
B15 =
03 LIMIT WORD 1
Index Description: B0 = TORQ_MOTOR_LIM
B1 = SPC_TORQ_MIN_LIM
B2 = SPC_TORQ_MAX_LIM
B3 = TORQ_USER_CUR_LIM
B4 = TORQ_INV_CUR_LIM
B5 = TORQ_MIN_LIM
B6 = TORQ_MAX_LIM
B7 = TREF_TORQ_MIN_LIM
B8 = TREF_TORQ_MAX_LIM
B9 = FLUX_MIN_LIMIT
B10 = FREQ_MIN_LIMIT
B11 = FREQ_MAX_LIMIT
B12 = DC_UNDERVOLT_LIM
B13 = DC_OVERVOLT_LIM
B14 = TORQUE_LIMIT
B15 = FREQ_LIMIT
Signals
60

04 LIMIT WORD 2
Index Description: B0 =
B1 =
B2 =
B3 =
B4 =
B5 =
B6 =
B7 =
B8 =
B9 =
B10 =
B11 =
B12 =
B13 =
B14 =
B15 =
05 Interval: 500 ms DI STATUS WORD
Index Description: Drive specific auxiliary status word
B0 = DI1 Status of the digital input 1
B6 =
B7 =
B8 =
B9 =
B10 =
B11 =
B12 =
B13 =
B14 =
B15 =
Signals
61

06 Interval: 500 ms LIMIT WORD INV
Index Description: LIMIT WORD INV to indicate e.g. that converter is limiting the max output current or power.
A 16-bit data word.
B0 = Current integrator 200%
B1 = Current integrator 150%
B2 = High pp temperature in low frequency with current integrators.
B3 = High pp temperature with current integrators.
B4 = PP junction overtemperature with temperature model.
B5 = PP junction to case overload with temperature model.
B6 = Inverter maximum power limit.
B7 = Inverter trip current.
B8 = Inverter maximum current limit.
B9 = Continuous DC current limit.
B10 = Continuous output current limit.
unit: type: epb Min: Max: Integer scaling:
Signals
62
Group 9 Fault Words

9 Group name: FAULT WORDS
Description: Fault signals of the drive.
01 Interval: 500 ms FAULT WORD 1
Index Description: B0 = SHORT CIRC Short circuit in the main circuit.
B1 = OVERCURRENT Overcurrent.
B2 = DC OVERVOLT Intermediate circuit DC overvoltage.
B3 = ACS800 TEMP Power plate overtemperature.
B4 = EARTH FAULT Earth fault.
B5 = MOTOR TEMP M Motor overtemperature (measured).
B6 = MOTOR TEMP Motor overtemperature (calculated).
B7 = SYSTEM_FAULT A fault is indicated by the System Fault Word 9.03.
B8 = UNDERLOAD Underload fault. See parameter 30.16.
B9 = OVERFREQ Overspeed fault.
B10 = LINE CONVRTR Line converter fault
B11 = CH2 COM LOS CH2 Master/Follower communication fault.
B12 = SC (INU1) Short circuit in parallel connected INU 1.
Index Description: B0 = SUPPLY PHASE High supply section ripple voltage.
B1 = NO MOTOR DATA No motor data entered in Group 99.
B2 = DC UNDERVOLT Intermediate circuit DC undervoltage.
B3 = (Reserved) Motor cable overtemperature.
B4 = RUN DISABLD External interlocking on DI2 active.
B5 = ENCODER FLT Speed measurement fault.
B6 = IO FAULT I/O device fault on CH1.
B7 = CABIN TEMP F Drive cabinet overtemperature
B8 = (reserved)
B9 = OVER SWFREQ Over switching frequency fault.
B10 =
B11 = PPCC LINK NINT board current measurement or comm. fault.
B12 = COMM MODULE Cyclical communication with drive and master station is lost.
B13 = PANEL LOST Local control lost.
B14 = MOTOR STALL Motor stalled.
B15 = MOTOR PHASE Motor circuit fault.
Signals
63

03 SYSTEM FAULT WORD
Index Description: B0 = FLT (F1_7) Factory default parameter file error.
B1 = USER MACRO User macro file error.
B2 = FLT (F1_4) FPROM operating error.
B3 = FLT (F1_5) FPROM data error.
B4 = FLT (F2_12) Internal time level T2 overflow (100μs).
B5 = FLT (F2_13) Internal time level T3 overflow (1 ms).
B6 = FLT (F2_14) Internal time level T4 overflow (50 ms).
B7 = FLT (F2_15) Internal time level T5 overflow (1 s).
B8 = FLT (F2_16) State machine overflow.
B9 = FLT (F2_17) Application program execution error.
B10 = FLT (F2_18) Application program execution error.
B11 = FLT (F2_19) Illegal instruction.
B12 = FLT (F2_3) Register stack overflow.
B13 = FLT (F2_1) System stack overflow.
B14 = FLT (F2_0) System stack underflow.
B15 =
04 Interval: 500 ms ALARM WORD 1
Index Description: B0 = START INHIBI Preventation of unexpected start-up active.
B1 = EM STOP Emergency stop function has been activated DI7=0.
B2 = MOTOR TEMP M Motor overtemperature (measured).
B3 = MOTOR TEMP Overtemperature alarm of the thermal model.
B4 = ASC 800 TEMP Power plate overtemperature.
B5 = ENCODER ERR Pulse encoder error. See Parameter 50.05.
B6 = T MEAS ALM Temperature measurement failure.
B7 = DIO ALARM Standard digital I/O alarm.
B8 = AIO ALARM Standard analogue I/O alarm.
B9 = EXT DIO ALM External digital I/O alarm.
B10 = EXT AIO ALM External analogue I/O alarm.
B11 = CH2 COM LOS CH2 Master/Follower communication error.
B12 =
B13 =
B14 = EARTH FAULT Earth fault.
B15 =
Signals
64

Index Description: B0 =
B1 = UNDERLOAD Underload.
B2 = (not in use)
B3 = CABLE TEMP Motor cable overtemperature.
B4 = (not in use)
B5 = (not in use)
B6 = (not in use)
B7 = POWFAIL FILE Error in restoring 'powerfail.ddf’.
B8 = POWDOWN FILE Error in restoring 'powerdown.ddf’.
B9 = MOTOR STALL Motor stalling.
B10 = (not in use)
B11 = COMM MODULE Cyclical communication with drive and master station is lost.
B12 = (not in use)
B13 = PANEL LOST Local control lost.
B14 = (not in use)
B15 = (not in use)
Index Description: A-16 bit data word.
B0 = BR BROKEN
B1 = BR WIRING
B2 = BR SHORT CIR
B3 = BR OVERHEAT
Index Description: A-16 bit data word.
B0 = REPLACE FAN
B1 = SYNCRO SPEED
B2 = BR OVERHEAT
B3 = IN CHOKE TEMP
10 Interval: INT INIT FAULT
B0 = AINT FAULT: Wrong EPLD version
B1 = AINT FAULT: Wrong AINT board version
B2 = AINT FAULT: Du/dt limitation hardware failure
B3 = AINT FAULT: Current measurement scaling error
B4 = AINT FAULT: Voltage measurement scaling error
B5…B15 Not in use
unit: type: Min: Max: Integer scaling:
Signals
65

11 Interval: INT FAULT INFO
Description: A 16-bit data word. The INT FAULT INFO Word includes information on the location of faults
PPCC LINK, OVERCURRENT, EARTH FAULT, SHORT CIRCUIT and ACS800 TEMP, (see
9.01 FAULT WORD 1 and 9.02 FAULT WORD 2 and the chapter Fault tracing).
0 INT 1 FLT INT 1 board fault
12…14 Not in use
15 PBU FLT PBU board fault
unit: type: Min: 0 Max: 65535 Integer scaling:
12 Interval: INT SC INFO
Description A 16-bit data word. The INT SC INFO Word includes information on the location of the
SHORT CIRCUIT fault (see 9.01 FAULT WORD 1 and the chapter Fault tracing).
0 U-PH SC U Phase U upper-leg IGBT(s) short circuit
1 U-PH SC L Phase U upper-leg IGBT(s) short circuit
2 V-PH SC U Phase V upper-leg IGBT(s) short circuit
3 V-PH SC L Phase V upper-leg IGBT(s) short circuit
4 W-PH SC U Phase W upper-leg IGBT(s) short circuit
5 W-PH SC L Phase W upper-leg IGBT(s) short circuit
6…15 Not in use
unit: type: Min: 0 Max: 65535 Integer scaling:
Signals
66
Signals
67
Parameters
Overview
This chapter explains the function of, and valid selections for, each parameter.
Parameter groups
The parameters are arranged into groups by their function. The figure below
illustrates the organisation of the parameter groups.
ACS800 Parameters
Group + Index Description Quantity
10.7…10.8 Start/Stop/Dir 2
13.1...13.11 Analogue Inputs 11
14.1...14.7 Digital Outputs 7
15.1...15.10 Analogue Outputs 10
16.1...16.5, 16.9 System Control Inputs 6
17.1...17.3 DC Hold 3
18.1...18.2 LED Panel Control 2
19.1...19.8 Data Storage 8
20.1...20.11 Limits 11
21.1...21.5 Start/Stop Functions 5
22.1...22.8 Accel/Decel 8
23.1...23.10 Speed Reference 10
24.1...24.20 Speed Control 20
25.1...25.6 Torque Reference 6
26.1...26.7 Torque Reference Handling 7
27.1...27.5 Flux Control 5
29.1...29.4 Scalar Control 4
30.1...30.23 Fault Functions 28
30.25…30.29
37.1…37.6 Brake Chopper 6
50.1...50.14 Speed Measurement 13
51.1...51.33 Communication Module 33
52.1…52.3 Standard Modbus 3
70.1...70.19 DDCS Control 17
90.1…90.5 D Set REC ADDR 5
92.1…92.6 D Set TR ADDR 6
95.1…95.3, Hardware specific 5
95.6…95.7
98.1...98.7 Option Modules 9
98.13…98.14
99.1...99.11 Start-Up Data 11
Total 261
Parameters
68
How to read the Parameter Table

Before you start to read the parameter table, we first recommend you read this
description.
• Parameter change by DriveWindow or the CDP 312R is stored to FPROM
memory; changes made by the overriding system are only stored to RAM.
• If the application software utilises individual bits of the word (for example 7.01
MAIN CTRL WORD), it must be understood that bit 15 is set by the SIGN. Also
bit 15 is read from the SIGN.
• From DriveWindow and the control panel, parameter values are set in decimal.
• Communication between the overriding system and the drive uses 16 bit integer
values (-32768...32767). To change a parameter value from the overriding
system, an integer value for the parameter must be calculated using the
information given in the Integer scaling column.
Example 1: If the signal type is R (real value), It has an integer scaling relation
mentioned in the column Integer scaling. For example if TREF TORQMAX is set
from the overriding system, an integer value of 100 corresponds to 1% (see below).
09 TREF TORQMAX
Index Description: Maximum torque reference as a percentage of the motor nominal torque.
unit: % type: R Min: 0 % Max: 300 % Def: 300 % Integer scaling: 100 == 1%
Figure 15. Sample of the parameter table.

Example 2: Speed reference from the overriding system.
• Speed reference input is given by parameter 23.01 SPEED REF. The Integer
scaling box reads “see parameter 50.01”. Parameter 50.01 defines the motor
speed (in rpm) at maximum reference (20000 for the overriding system). Thus,
sending a value of 20000 from the overriding system into Parameter 23.01 sets
the speed reference to the rpm value given with Parameter 50.01.
• Unit of the parameter value can be seen on the lower left-hand corner of the
parameter description.
• Minimum, maximum and default values are shown in decimal format.
• Data type is given with a short code:
B= Boolean value
I= 16-bit signed integer value
PB = Packet Boolean value
R= Real value
S= String
Parameters
69
Group 10 Start/Stop/Dir
10 Group name: START/STOP/DIR
Description:
07 NET CONTROL
Index: Description: When active, fieldbus control word is enabled when speed controlled.
Note: Only visible with the Generic Drive communication profile selected (98.07).
Note: The setting is not saved in the permanent memory (will reset to zero when power is
switched off).
0 = OFF Inactive
1 = ON Active
unit: type: I Min: Max: Def: 0 Integer scaling:
08 NET REFERENCE
Index: Description: When active, fieldbus reference REF1 is enabled when speed controlled.
Note: Only visible with the Generic Drive communication profile selected (98.07).
Note: The setting is not saved in the permanent memory (will reset to zero when power is
switched off).
0 = OFF Inactive
1 = ON Active
unit: type: I Min: Max: Def: 0 Integer scaling:
Group 13 Analogue inputs

13 Group name: ANALOGUE INPUTS
Description:
01 AI1 HIGH VALUE
Index: Description: This value corresponds to the maximum input voltage on AI1 produced by the device used.
This parameter is not active when AI1 is used for motor 1 temperature measurement. See
Parameter 30.03 MOT1 TEMP AI1 SEL.
unit: type: I Min: -32768 Max: 32767 Def: 20000 Integer scaling:
02 AI1 LOW VALUE
Index: Description: This value corresponds to the minimum input voltage on AI1. This parameter is not active
when AI1 is used for motor 1 temperature measurement. See parameter 30.03 MOT1 TEMP
AI1 SEL.
03 FILTER AI1
Index: Description: Filter time constant for analogue input AI1. The hardware filter time constant is 20 ms.
unit: ms type: I Min: 0 ms Max: 30000 ms Def: 1000 ms Integer scaling:
04 AI2 HIGH VALUE
Index: Description: This value corresponds to the maximum input in milliamperes (20 mA). This parameter is not
active when used for motor 2 temperature measurement. See parameter 30.06 MOT2 TEMP
AI2 SEL.
Parameters
70
13 Group name: ANALOGUE INPUTS

05 AI2 LOW VALUE
Index: Description: This value corresponds to the minimum input in milliamperes (0 or 4 mA). This parameter is
not active when used for motor 2 temperature measurement. See parameter 30.06 MOT2
TEMP AI2 SEL.
06 MINIMUM AI2
Index: Description: Minimum value of AI2. This value corresponds to the minimum reference.
1 = 0 mA (0…20 mA)
2 = 4 mA (4…20 mA)
unit: type: I Min: 1 Max: 2 Def: 1 Integer scaling:
07 FILTER AI2
08 AI3 HIGH VALUE
Index: Description: This value corresponds to the maximum input in milliamperes (20 mA).
09 AI3 LOW VALUE
Index: Description: This value corresponds to the minimum input in milliamperes (0 or 4 mA).
10 MINIMUM AI3
Index: Description: Minimum value of AI3. This value corresponds to the minimum reference.
1 = 0 mA
2 = 4 mA
11 FILTER AI3
unit: ms type: R Min: 0 ms Max: 30000 ms Def: 1000 ms Integer scaling:
Group 14 Digital outputs

14 Group name: DIGITAL OUTPUTS
Description: Control of the digital outputs.
01 DO1 CONTROL
Index Description: An emergency stop command energises DO1 until MAIN CONTROL WORD bit 0 is set to a 0
state and zero speed has been detected. If the emergency stop function is not activated (by
Parameter 21.04), the output can be controlled from the overriding system.
0 = OFF An emergency stop command controls the DO1.
1 = ON DO1 signal is selected by Parameter 14.02 and 14.03.
unit: type: B Min: Max: Def: OFF Integer scaling: 1 == 1
Parameters
71
14 Group name: DIGITAL OUTPUTS

02 DO1 GROUP+INDEX
Index Description: Digital output 1 is controlled by a selectable (see Par. 14.03) bit of the signal selected with
this parameter. The format is xyy, where, x = Group, yy = Index.
Examples: If Parameters 14.02 and 14.03 are set to 801 and 1 respectively (default), digital
output DO1 is active when 8.01 MAIN STATUS WORD bit 1 (READY) is 1. If this parameter
is set to 0, digital output DI1 is controlled by the overriding system (7.02 AUX CTRL WORD
bit 13). By default, DO1 indicates the READY state.
03 DO1 BIT NUMBER
Index Description: This parameter specifies the bit number for the signal selected at Parameter 14.02.
04 DO2 GROUP+INDEX
See parameter 14.02 If this parameter is set to 0, digital output DI1 is controlled by the
overriding system (7.02 AUX CTRL WORD bit 14).
By default, DO1 indicates the RUNNING state.
05 DO2 BIT NUMBER
Index Description: This parameter specifies the bit number for the signal selected at Parameter 14.04
06 DO3 GROUP+INDEX
See parameter 14.02. If this parameter is set to 0, digital output DI1 is controlled by the
overriding system (7.02 AUX CTRL WORD bit 15).
By default, DO3 indicates the FAULT state.
07 DO3 BIT NUMBER
Index Description: This parameter specifies the bit number for the signal selected at Parameter 14.06.
Group 15 Analogue outputs

15 Group name: ANALOGUE OUTPUTS
Description: It is possible to select a real signal or parameter to control the analogue outputs by defining
the group and index. The outputs can also be controlled from the overriding system.
01 ANALOGUE OUTPUT 1
Index Description: To direct a measured signal to analogue output AO1, set the parameter according to the
format (x)xyy. Where (x) is the group and yy the index of the desired signal; e.g. 2301
denotes Parameter 23.01.
If temperature measurement (Parameter 30.03) is selected, analogue output AO1 is used for
supplying a constant current for the sensor.
unit: type: I Min: 0 Max: 30000 Def: 106 (Mot curr) Integer scaling:
Parameters
72

02 INVERT AO1
Index Description: Analogue output AO1 signal inversion.
0 = NO minimum signal value corresponds to the minimum output value.
1 = YES maximum signal value corresponds to the minimum output value.
unit: type: B Min: Max: Def: NO Integer scaling: 1 == 1
03 MINIMUM AO1
Index Description: Analogue output 1 signal offset in milliamperes. This parameter is not effective if motor 1
temperature measurement is activated by parameter 30.01. Otherwise, the following settings
are available.
1 = 0 mA
2 = 4 mA
3 = 10 mA 50% offset in the range 0...20 mA for testing or indication of direction (torque,
speed etc.)
04 FILTER AO1
Index Description: Filter time constant for analogue output AO1.
unit: s type: R Min: 0 s Max: 10 s Def: 0.1 s Integer scaling: 100 == 1s
05 SCALE AO1
Index Description: Nominal value of the analogue output AO1signal, which is selected in Parameter 15.01. This
value corresponds to 20 mA at the output.
unit: type: R Min: 0 Max: 65536 Def: 100 Integer scaling: 1 == 1
06 ANALOGUE OUTPUT 2
Index Description: To direct a measured signal to analogue output AO1, set the parameter according to the
format (x)xyy. Where (x) is the group and yy the index of the desired signal; e.g. 1506
denotes Par. 15.06.
If temperature measurement (Parameter 30.06) is selected, analogue output AO2 is used for
supplying a constant current for the sensor.
unit: type: I Min: 0 Max: 30000 Def: 101 (Mot spd) Integer scaling:
07 INVERT AO2
Index Description: Analogue output AO2 signal inversion.
0 = NO minimum signal value corresponds to the minimum output value.
1 = YES maximum signal value corresponds to the minimum output value.
08 MINIMUM AO2
Index Description: Analogue output AO2 signal offset in milliamperes.
1 = 0 mA
2 = 4 mA
3 = 10 mA 50% offset in the range of 0…20 mA for testing or indication of direction (torque,
speed etc.)
09 FILTER AO2
Index Description: Filter time constant for analogue output AO2.
unit: s type: R Min: 0 s Max: 10 s Def: 0.1 s Integer scaling: 100 == 1s
Parameters
73

10 SCALE AO2
Index Description: Nominal value of analogue output AO2 signal, which is selected in Parameter 15.06.
This value corresponds to 20 mA at the output.
Group 16 System control inputs

16 Group name: SYSTEM CTR INPUTS
Description:
01 RUN ENABLE
Index Description: This parameter activates the RUN ENABLE input. Digital Input DI2 is dedicated for this input
permanently.
1 = NOT USED
2 = DI2
To activate the RUN ENABLE signal, voltage must be connected to digital input DI2. If the
voltage drops to 0V, the drive coasts to stop and a run enable fault is generated.
02 PARAMETER LOCK
Index Description: This parameter selects the state of the parameter lock. With the parameter lock you can
prevent unauthorised changes by CDP 312R or the DriveWindow Tool for Parameter groups
0…99.
1 = LOCKED Parameter changes are disabled.
0 = OPEN Parameter changes are enabled.
unit: type: B Min: Max: Def: OPEN Integer scaling: 1 == 1
03 PASS CODE
Index Description: This parameter enters the pass code for the Parameter Lock. The default value of this
parameter is 0. In order to open the Parameter Lock, change the value to 358. After the
Parameter Lock is opened, the value is automatically changed back to 0.
04 LOCAL LOCK
Index Description: Control place change of the drive from remote to local can be disabled by setting this
parameter to TRUE. If LOCAL LOCK is activated during local control, it takes effect only after
the control place is changed back to remote.
0 = FALSE No locking for control place change.
1 = TRUE Local control is disabled.
unit: type: B Min: Max: Def: FALSE Integer scaling: 1 == 1
05 PARAMETER BACKUP
Index Description: Parameter saves from the RAM memory to FPROM. This is needed only when parameter
changes by overriding system have to be stored to FPROM memory instead of RAM.
Note: Do not use the Parameter Backup function unnecessarily.
Note: Parameter changes by CDP 312R Control Panel or DriveWindow are immediately
saved to FPROM.
0 = DONE Parameter value after the saving has been completed.
1 = SAVE Parameter save to FPROM.
unit: type: B Min: 0 Max: 1 Def: DONE Integer scaling: 1 == 1
Parameters
74
16 Group name: SYSTEM CTR INPUTS

09 CTRL BOARD SUPPLY
Index Description: Defines the source of the control board power supply.
Note: If an external supply is used but this parameter has value INTERNAL, the drive trips to
a fault at power switch off.
INTERNAL 24V. Internal (default)
EXTERNAL 24V. External. The control board is powered from an external supply.
unit: type: IL Min: 1 Max: 2 Def: Integer scaling: 1 == 1
Group 17 DC HOLD
17 Group name: DC HOLD
Description:
01 DC HOLD
Index Description: DC HOLD is activated when both the speed reference and the actual speed drop below the
defined DC HOLD SPEED. The drive will then stop generating sinusoidal current and inject
DC current into the motor. The DC current value is set by the DC HOLD CURR parameter.
When the speed reference rises above the DC HOLD SPEED, the DC current will be
removed and normal operation resumed. This function is only possible in DTC control mode.
1 = YES DC HOLD is enabled
0 = NO DC HOLD is disabled
02 DC HOLD SPEED
Index Description: Sets the speed limit for the DC HOLD function.
SPEED DC Hold
Ref.
17.02
DC HOLD
SPEED t
unit: rpm type: R Min: 0 rpm Max: 3600 rpm Def: 5 rpm Integer scaling: 1 == 1
03 DC HOLD CURRENT
Index Description: Sets the DC current to be applied to the motor when the DC HOLD function is activated.
unit: % type: R Min: 0% Max: 100% Def: 30% Integer scaling: 1 == 1
Parameters
75
Group 18 LED panel control

18 Group name: LED PANEL CTRL
Description: The NLMD-01 Monitoring Display has a 0…150% LED bar to show an absolute real type
value. The source and the scale of this display signal are defined by this parameter group.
Note: If NLMD -01 and CDP 312R control panel are used together, the first signal selected in
the Actual Signal Display Mode of CDP 312R must be the default value 1.26 LED PANEL
OUTP. Otherwise the NLMD-01 LED bar display will not show the correct value.
1 L -> 0.0 rpm 0
LED PANEL OUTP
MOTOR SPEED FILT
MOTOR TORQUE FILT
01 LED PANEL OUTPUT
Index Description: Signal group and index for the LED monitor display. The default value for this signal is 1.07
MOTOR TORQUE FILT.
02 SCALE PANEL
Index Description: The signal value (defined in Parameter 18.01), which corresponds to 100% on the LED bar
display.
Parameters
76
Group 19 Data storage

19 Group name: DATA STORAGE
This parameter group consists of unconnected parameters for linking, testing and commissioning purposes.
Address of the Dataset 14 index 2 is 90.08. By setting parameter 90.08 to value 19.01, the value A can be
trended with the DriveWindow monitor tool.
APC2, AC80 RMIO
APC2 Application
software Dataset Table
DS VAL Address
NEDRX Assignment For
DS14 . .
. .
of Dataset DriveWindow
A* Index: 1 GRP Index Tool
1
Index: 2
14 2 90 .08 19.01
A* : Value assigned Index: 3
3
for drive control i.e., . .
tension control output . .
. .
APC2, AC80 RMIO

APC2 Application
software Dataset Table
DS VAL Address
NEDRX Assignment From
DS15 . .
. .
of Dataset DriveWindow
B* Index: 1
1
GRP Index Tool
Index: 2
15 2 92 .08 19.02
B * : Value assigned Index: 3
3
for APC2 application, . .
for example tension . .
. .
regulator gain.
Setting 92.08 to the value 19.02 by a CDP 312R control panel or DriveWindow it allows value being sent, for
example gain value for tension regulator.
01 DATA 1
Index Description: A storage parameter for receiving from or sending to the overriding system. For example, if
the signal from data set 18 words 3 (DW 18.3) is required for monitoring by DriveWindow, first
set Parameter 90.15 DATA SET VAL 3 to 1901 (denoting Par. 19.01), then select Parameter
19.01 DATA1 for the desired DriveWIndow monitoring channel.
02 DATA 2
Index Description: See 19.01 DATA 1
03 DATA 3
04 DATA 4
Parameters
77
19 Group name: DATA STORAGE

05 DATA 5
06 DATA 6
07 DATA 7
08 DATA 8
Group 20 Limits
20 Group name: LIMITS
Description: This parameter group defines the maximum and minimum limits for the speed, frequency,
current and torque algorithms.
Note: The absolute nominal torque is calculated in the application program from the motor
parameters (see parameter group 99).
01 MINIMUM SPEED
Index Description: Negative speed reference limit in rpm.
unit: rpm type: R Min: -18000 rpm Max: 18000 rpm Def: See 99.05 Integer scaling: See 50.01
02 MAXIMUM SPEED
Index Description: Positive speed reference limit in rpm.
unit: rpm type: R Min: -18000 rpm Max: 18000 rpm Def: See 99.05 Integer scaling: See 50.01
03 ZERO SPEED LIMIT
Index Description: The absolute speed value at which the drive coasts after a stop command.
unit: rpm type: R Min: 0 rpm Max: 15000 rpm Def: 60 rpm Integer scaling: See 50.01
04 MAXIMUM CURRENT
Index Description: Defines the allowed maximum motor current 0.0…x.x A. Current limit 0…100 x.x.
unit: A type: R Min: 0A Max: Type specific Def: 200% Integer scaling: 100 == 1%
05 MAXIMUM TORQUE
Index Description: Maximum positive output torque as a percentage of the motor nominal torque.
unit: % type: R Min: 0% Max: 300% Def: 600% Integer scaling: 100 == 1%
06 MINIMUM TORQUE
Index Description: Minimum negative output torque as a percentage of the motor nominal torque.
unit: % type: R Min: -600% Max: 0% Def: -300% Integer scaling: 100 == 1%
07 SPC TORQMAX
Index Description: Maximum speed controller output limit as a percentage of the motor nominal torque.
Parameters
78
20 Group name: LIMITS

08 SPC TORQMIN
Index Description: Minimum speed controller output limit as a percentage of the motor nominal torque.
09 TREF TORQMAX
Index Description: Maximum torque reference as a percentage of the motor nominal torque.
10 TREF TORQMIN
Index Description: Minimum torque reference as a percentage of the motor nominal torque.
11 FREQ TRIP MARGIN
Index Description: The purpose of this parameter is to protect the process against an overspeed condition.
This parameter defines, together with parameters SPEEDMAX and SPEEDMIN (FREQ MAX
and FREQ MIN in scalar control mode) the maximum allowed frequency of the drive. If this
frequency is reached, an OVER SPEED FAULT is activated.
Example: If the maximum process speed is 1420 rpm (Parameter 20.01 SPEED MAX = 1420
rpm == 50 Hz) and this parameter (20.11) is 10 Hz, the drive trips at 60 Hz.
unit: Hz type: R Min: 0 Hz Max: 500 Hz Def: 50 Hz Integer scaling: 100 == 1 Hz
Group 21 Start/Stop functions

21 Group name: START/STOP FUNC
Description: Start and stop functions. Note: Coast stop is always the stop mode in a fault situation.
01 START FUNCTION
Index Description: 1 = AUTO This setting is selected when starting to a rotating machine
Flying Start).
2 = DC MAGN If this setting is selected, a higher starting torque can be achieved. The
optimal magnetising current is calculated on the basis of the motor
parameters. The pre-magnetising time is calculated using the motor
information.
3= CNST DCMAGN Selects the constant magnetising mode. This is the fastest starting
method if the motor is at a standstill. The optimal magnetising current is
calculated on the basis of the motor parameters. The pre-magnetising
time is defined by parameter 21.02 CONST MAGN TIME.
Warning! You must know the motor data before you select this mode.
02 CONST MAGN TIME
Index Description: Defines the magnetising time for the constant magnetising mode.
unit: ms type: R Min: 30 ms Max: 10000 ms Def: 500 ms Integer scaling: 1 == 1 ms
03 STOP FUNCTION
Index Description: Conditions during motor deceleration in the LOCAL and I/O control modes.
1 = STOP RAMPING Stop by the deceleration ramp DECEL TIME (22.02)
2 = STOP TORQ Stop by the torque limit.
3 = COAST STOP Torque is zero.
Parameters
79
21 Group name: START/STOP FUNC

04 EME STOP MODE
Index Description: 1 = STOP RAMPNG Stop by the emergency stop ramp; see Parameter 22.04
2 = STOP TORQ Stop by the torque limit.
3 = COAST STOP Torque is zero.
4 = NOT SELECTD (emergency stop function is not in use)
05 EMSTOP SPEED DIF
Index Description: The deceleration speed of the drive is supervised during an emergency stop condition. This
supervision starts 5 seconds after the drive has received an emergency stop signal. If the
drive is not able to decelerate in this specified rate, it is stopped by issuing a coast stop and
the AUX_STATUS_WORD 08-02 bit 2 (EMERG_STOP_COAST) is set to state “1”. If this
function is not needed, the function is disabled by setting this parameter to a value of “0”.
unit: rpm/s type: R Min: 0 rpm/s Max: 18000 rpm/s Def: 10 rpm/s Integer scaling: 1 == 1
Group 22 Accel/Decel
22 Group name: ACCEL/DECEL
Description: Speed reference ramp functions.
RAMP
MCW Bit 4
SPEED_REF S-SHAPE
MCW Bit 6 SP EED RE F3
23.01 2.02
0
MCW Bit 5 HOLD 0
RAMP SHAPE TIME
ACW Bit 2 RAMP_BYPASS
ACW Bit 3 BAL_RAMP_OUT
ACCE LE R TIME 22.08 BAL_RAMP_REF
22.01 ACCELERATION
DECELERATION
ACC/DEC TIME SCLE VAR. SLOPE FUNC
22.03
RAMP SHAPE TIME
22.05
DECELER TIME
0
22.02
VAR SLOPE RATE
22.07
VAR. SLOP E
22.06
EME STOP RAMP
22.04
EME STOP ON
01 ACCELER TIME
Index Description: The time within the drive accelerates from zero speed to the maximum speed (see Parameter
20.02 MAXIMUM SPEED). The maximum acceleration time is 1800 s.
unit: s type: R Min: 0 s Max: 1000 s Def: 20 s Integer scaling: 100 == 1s
02 DECELER TIME
Index Description: The time within the drive decelerates from the absolute maximum (see parameter 20.02
MAXIMUM SPEED) to zero speed.
The maximum deceleration time is 1800 s defined together with parameter 22.03.
Parameters
80

03 ACC/DEC TIME SCLE
Index Description: Multiplier for ACCELER TIME and DECELER TIME parameters to expand the time.
unit: type: R Min: 0.1 Max: 100 Def: 1 Integer scaling: 100 == 1
04 EME STOP RAMP
Index Description: If an emergency stop is activated and Parameter EME STOP MODE 21.04 = 1 (STOP BY
RAMP), the drive will decelerate according to this parameter from maximum speed to zero
speed.
05 SHAPE TIME
Index Description: Speed reference softening time. This function is deactivated during an emergency stop
condition.
M AX SPEED REFERENCE
SPEED REFERENCE
0
change limited by the
RAMP FUNCTION
FILTERED SPEED
REFERENCE CHANGE
ACCELER
RAMP SHAPE TIME
TIME

06 VARIABLE SLOPE
Index Description: This function is used to control the slope of the speed ramp during a speed reference change.
The time t for step A is defined by Parameter 22.07 VAR SLOPE RATE, where
t = updating interval time of the overriding system.
A = speed reference change during the time t.
1 = ON Variable slope is enabled; the slope rate is defined by Parameter 22.07 VARIABLE
SLOPE RATE.
0 = OFF Function is disabled
Example: The overriding system transmits interval time for the speed reference and the VAR
SLOPE RATE value are equal. As a result, the shape of SPEED REF 3 is a straight line.
This function is active only in REMOTE mode.
Speed Ref
SPEED REF
A SPEED REF 3
time
Parameters
81

07 VAR SLOPE RATE
Index Description: This parameter defines speed ramp time t for the speed reference change A, when
Parameter 22.06 VARIABLE SLOPE is ON. Set this parameter to the same value as the
updating interval time of the overriding system.
unit: ms type: R Min: 4.05 ms Max: 30 000 ms Def: 4.05 ms Integer scaling: 1 == 1 ms
08 BAL RAMP REF
Index Description: The output of the speed ramp can be forced to the value defined by this parameter. The
function is activated by setting 7.02 AUX CONTROL WORD bit 3 to 1.
unit: rpm type: R Min: See 20.01 Max: See 20.02 Def: 0 rpm Integer scaling: See Par 50.01
Group 23 Speed reference

23 Group name: SPEED REF
Description: Speed reference functions.
ACCELERATION
SPEED REFERENCE CHAIN COMPENSATION
TORQ ACC COMP REF

2.07
LOCAL
SPEED REF 24.14 ACC COMP DER TIME
LOCAL REF
23.01 24.15 ACC COMPFILT TIME
REMOTE REF
SPEED SHARE 23.05
24.07 SET_P_WEIGHTING DROOP RATE

24.08 SET_POINT_WEIGHT
24.02
MCW B8, B9
LIMITER
CONST SPEED 2
(INCHING 2) 23.03
-
+
SPEED CONST SPEED 1 23.02
REF2 (INCHING 1) SPEED STEP 23.10
2.01 ACC/DEC/SHAPE
MCW B4 WINDOW
MCW B6 RAM P
+
20.01 MINIMUM SPEED FILTER
2.02
+
20.02 MAXIMUM SPEED SPEED REF3
0
MCW B5 HOLD
0
22.01 ACCELER TIME
2.03
(-1)
+
SPEED ERROR
22.02 DECELER TIME 23.04
NEG
22.03 ACC/DEC TIME SCALE SPEED 23.06 SPEED ERROR FILT
22.04 CORRECTION WINDOW SEL ON
EME STOP RAMP 23.07
22.05 RAMP SHPE TIME 23.08 WINDOW INTG ON
22.06 VARIABLE SLOPE 23.09 WINDOW W IDTH POS
22.07 VARIABLE SLOPE

RATE 23.10 WINDOW W IDT H NEG
ACW B3 BAL RAMP OUT

22.08
SPEED
BAL RAMP REF
ACTUAL
ACW B2 RAMP BYPASS
dV/dt 2.16
01 SPEED REF INPUT

Index Description: Main speed reference input for the speed control of the drive.
unit: rpm type: R Min: See 20.01 Max: See 20.02 Def: 0 rpm Integer scaling: See Par. 50.01
Parameters
82

02 CONST SPEED 1
Index: Description: Constant speed reference is activated from 7.01 MAIN CTRL WORD bit 8. See also MCW
bits 4…6.
unit: type: I Min: -18000 rpm Max: 18000 rpm Def: 0 Integer scaling: 1 == 1
03 CONST SPEED 2
Index: Description: Constant speed reference is activated from 7.01 MAIN CTRL WORD bit 9. See also MCW
bits 4…6.
unit: type: I Min: -18000 rpm Max: 18000 rpm Def: 0 Integer scaling: 1 == 1
04 SPEED CORRECTION INPUT
Index Description: This parameter value can be added to the filtered reference value.
Note: If the overriding system or RMIO application itself sends a reference value into this
parameter, it must be set to zero before a stop command of the drive.
unit: rpm type: R Min: See 99.05 Max: See 99.05 Def: 0 rpm Integer scaling: See Par. 50.01
05 SPEED SHARE
Index Description: Speed reference share coefficient.
06 SPEED ERROR FILT
Index Description: Speed reference and actual error filter time.
07 WINDOW INTG ON
Index Description: 1 = ON Integrator of the speed controller is released when window control is on
0 = OFF Integrator of the speed controller is blocked when window control is on.
The Idea of Window Control

The idea of Window Control is to deactivate speed control as long as the speed deviation
remains within the window set by Parameters 23.08WINDOW WIDTH POS and 23.09
WINDOW WIDTH NEG. This allows the external torque reference to affect the process
directly.
For example, in Master/Follower drives, where the follower is torque controlled, window
control is used to keep the speed deviation of the follower under control. The speed error
output to the speed controller is zero, when speed error is within the window. If the load of the
follower disappears due to a disturbance in the process, the speed error will be outside the
window. The speed controller reacts and its output is added to the torque reference. Speed
control brings the speed difference back into the window. This function could be called
overspeed or underspeed protection in the torque control mode.
08 WINDOW WIDTH POS
Index Description: Positive speed limit for the window control.
unit: rpm type: R Min: 0 rpm Max: See 20.02 Def: 0 rpm Integer scaling: see par 50.01
09 WINDOW WIDTH NEG
Index Description: Negative speed limit for the window control. The maximum limit is the absolute value of
parameter 23.097. WINDOW WIDTH POS.
unit: rpm type: R Min: 0 Max: See 20.02 Def: 0 rpm Integer scaling: see par 50.01
Parameters
83

10 SPEED STEP INPUT
Index Description: An additional speed step can be given to the speed controller directly as an additive error
input. The total speed reference is limited by the parameter 20.02 MAXIMUM SPEED and
20.01 MINIMUM SPEED. (SPEED STEP max = MAXIMUM SPEED - SPEED REF - SPEED
CORRECTION).
Note: If the overriding system or RMIO application itself sends a reference value to here, it
must be switched to zero before the stop command of the drive.
unit: rpm type: R Min: See above Max: See above Def: 0 rpm Integer scaling: see par 50.01
Group 24 Speed control

24 Group name: SPEED CONTROL
Description: The speed controller is based on the PID algorithm, which continuous time is presented as
follows:
⎡ 1 T s ⎤
u( s ) = KPS ⎢(bYr ( s ) − Y ( s )) + ( + d )e( s )⎥
⎢⎣ sTIS T f s + 1 ⎥⎦
Variable u is the output of the controller, e is the speed error (difference between the actual
and reference values).
1
Tis
yr + Tds + + u
τ s +1 +
Kp
- f
+
b
-
The PID controller also has set point weighting. y is the output; yr is the set point; u is the
controller’s output.
01 PI TUNE
Index Description: This parameter activates automatic tuning for the speed controller, which is based on the
estimation of the mechanical time constant. Parameters 24.03 KPS, 24.09 TIS and 24.15
ACC COMP DER TIME are updated after the PI TUNE test.
0 = OFF
1 = ON PI TUNE is activated.
02 DROOP RATE
Index Description: The amount of speed decrease caused by the load is determined by means of this
parameter. A setting of 1% causes (with nominal torque reference) a 1% decrease in speed
from the rated speed.
Parameters
84

Proportional gain parameter of the speed controller
03 KPS
Index Description: Relative gain for the speed controller. If you select a value of 1, a 10% change in the error
value (e.g. reference actual value) causes also the speed controller output to change by 10%.
The Adaptive speed control as a function of the torque reference
KPS
The adaptive gain of the speed controller is used to smooth out disturbances,
which are caused by low load and backlash. Moderate filtering of the speed
KPS error (Parameter 23.04) is typically not enough to tune the drive.
KPS MIN
Torque ref
KPS WEAKPOINT
04 KPS MIN
Index Description: KPS MIN determines the proportional gain when the speed controller output is zero.
05 KPS WEAKPOINT
Index Description: The value of the speed controller output where the gain is KPS
unit: % type: R Min: 0% Max: see 20.05 Def: 0% Integer scaling: 100 == 1%
06 KPS WP FILT TIME
Index Description: The rate of change for the proportional gain can be softened by this parameter.
Set point weighting
Set point weighting is a well known method in control engineering. In this method, the set point is weighted by a factor
b<1. This weighting is applied only to the P term. Integral and derivative terms have a normally weighted (b=1) setpoint
and speed error.
This kind of manipulation leads to a situation where, in a steady state, the P term is not zero. The controller output is still
‘right’ because the integral part compensates the P term error. Thus, in a steady state, the controller works normally; the
integral term “sees” error caused by load and noise. In set point changes, however, the controller’s overshoot can be
reduced by weighting factor b. Thus, good load rejection is not anymore related to huge overshoot. There are no free
lunches so we have to sacrifice strict ramp following. In applications where ramp following without time lag is necessary,
acceleration compensation is the right tool.
1
Ti s
yr + Td s + +
u
τf s +1 Kp
+
-
+
b
-
y
There is no overshoot in a set point change when factor b is set correctly (b<1). This results in the integral term’s energy
compensating the error caused by the P term. For example, if yr=1 and b=0.9, the P term set point is actually 0.9 which
naturally causes a 10% error for the integral term handle.
Parameters
85

07 SET P WEIGHTING
Index Description: Set Point Weighting is enabled by this parameter. The change over is smooth which enables
the on-line changing of weighting.
0 = OFF
1 = ON SET POINT WEIGHTING is activated.
unit: type: B Min: Max: Def: OFF Integer scaling: No
08 SET POINT WEIGHT
Index Description: The value of the speed controller output, where the gain is KPS.
Integration time parameters of the speed controller
09 TIS
Index Description: Integration time for the speed controller. This defines the time within the maximum output is
achieved if a constant error value exists and the relative gain of the speed controller is 1.
unit: s type: R Min: 0.01 s Max: 1000 s Def: 2.5 s Integer scaling: 1000 == 1 s
10 TIS INIT VALUE
Index Description: Initial value of the integrator.
unit: % type: R Min: see 20.06 Max: see 20.05 Def: 0% Integer scaling: 100 == 1%
11 BAL REF
Index Description: External value for the integral part of the speed controller when 7.02 AUX CONTROL WORD
bit 8 BAL_NCONT is 1.
Derivation parameters of the speed controller
12 DERIVATION TIME
Index Description: Derivation time for speed controller. Defines the time within the speed controller derives the
error value before the output of the speed controller is changed. If this is set to zero, the
controller works as a PI controller, otherwise as a PID controller.
13 DERIV FILT TIME
Index Description: The derivation filter time constant.
Acceleration compensation parameters
14 ACC COMP DER TIME
Index Description: Derivation time used during compensation of acceleration. In order to compensate inertia
during acceleration, the derivative of the reference is added to the output of the speed
controller. The function is deactivated by setting the parameter to 0.
unit: s type: R Min: 0 s Max: 1000 s Def: 0 s Integer scaling: 10 == 1 s
15 ACC COMPFILT TIME
Index Description: Acceleration compensation term filter coefficient.
16 SLIP GAIN
Index Description: This parameter Is effective only when the calculated internal speed is used as actual speed
feedback. 100% means full slip compensation. 0% corresponds no slip compensation (the
calculated speed equals to motor frequency).
Parameters
86

Adaptive Speed Control as Function of the Speed
KPS The adaptive speed control as a function of speed.
TIS
KPS VAL MIN FREQ
In certain applications it is useful to increase the relative gain and

KPS decrease the integration time at low speeds, which improves the
TIS performance of the speed control at low speeds. The linear increase and
decrease of these parameters is started at the speed of KPS TIS MIN
TIS VAL MIN FREQ FREQ and ended at KPS TIS MAX FREQ. Changing the rate of relative
gain and integration time is done by parameters KPS VAL MIN FREQ
motor frequency
and TIS VAL MIN FREQ.
KPS TIS MAX FREQ
KPS TIS MIN FREQ
17 KPS TIS MIN FREQ

Index Description: The minimum motor frequency limit above which the relative gain and integral time is defined
by parameters KPS VAL MIN FREQ and TIS VAL MIN FREQ.
18 KPS TIS MAX FREQ
Index Description: The frequency point at which KPS and TIS become constant.
unit: Hz type: R Min: 0 Hz Max: 200 Hz Def: 11.7 Hz Integer scaling: 100 == 1 Hz
19 KPS VAL MIN FREQ
Index Description: Relative gain percentage of KPS at the speed defined by KPS TIS MIN FREQ.
20 TIS VAL MIN FREQ
Index Description: Relative integral time percentage of TIS at the speed defined by KPS TIS MIN FREQ.
Group 25 Torque reference

25 Group name: TORQUE REF
Description: Torque reference chain.
FILTER
TORQ REF A
25.01
25.02 TORQ_REF_A_FTC
x +
LIMITER
25.03
TORQ_REF1
02.08
LOAD SHARE
20.09 TREF TORQMAX
20.10 TREF TORQMIN

RAMPING
TORQ REF B
25.04 +
25.05 T OR Q RAMP UP TIME
25.06 TORQ RAMP DN TIME
01 TORQUE REF A INPUT

Index Description: Torque reference. TORQUE REF A can be scaled by the parameter LOAD SHARE.
Parameters
87
25 Group name: TORQUE REF

02 TORQ REF A FTC
Index Description: TORQUE REF A low pass filter time constant.
03 LOAD SHARE
Index Description: TORQ REF A scaling factor, which scales the external torque, reference to a required level.
unit: % type: R Min: -400% Max: 400% Def: 100% Integer scaling: 10 == 1%
04 TORQUE REF B INPUT
Index Description: Torque reference. Torque reference B is ramped by the parameters TORQ RAMP UP TIME
and TORQ RAMP DN TIME.
05 TORQ RAMP UP
Index Description: Torque reference B ramp time from 0% to 100%.
06 TORQ RAMP DOWN
Index Description: Torque reference B ramp time from 100% to 0%.
Group 26 Torque reference handling

26 Group name: TORQ REF HANDLING
Description: The torque reference can be given from the speed reference chain (TORQ REF2) or from the
torque reference chain (TORQ REF1) depending on the control mode. This group defines
how to handle the reference after the torque selector block.
OPTIONAL FUNCTION
2.02 OSCILLATION
SPEED REF3
DAMPING
TORQUE STEP
26.04 26.03
SPEED ACTUAL 26.05 LOAD COMPENSATION
1.02 26.06 26.02 TORQ_REF5
2.12
26.07
TORQ_REF4
2.11
TORQUE REFERENCE
TORQ_REF3
SELECTOR
2.10
TORQ REF SEL
26.01
2 1
EXTERNAL TORQUE REFERENCE

3
4 TORQUE
MIN
TORQ REF1
5 6
REFERENCE
2.08
LIMITING TORQ USED
MAX
2.13
LIMITATIONS
+
SPEED CONTROLLER OUTPUT
2.09 +
TORQ REF2
01 TORQUE SELECTOR
Index Description: The torque reference selector includes.
1 = ZERO Zero control
2 = SPEED Speed control
3 = TORQUE Torque control
4 = MINIMUM Minimum control
5 = MAXIMUM Maximum control
6 = ADD Add control (normally used with the window control )
unit: type: I Min: 1 Max: 6 Def: 2 SPEED Integer scaling:
Parameters
88
26 Group name: TORQ REF HANDLING

02 LOAD COMPENSATION INPUT
Index Description: Load compensation added to TORQ REF3.
Note: If the overriding system or the RMIO application itself sends a reference value into this
parameter, it must be set to zero before the stop command of the drive.
unit: % type: R Min: See 20.06 Max: See 20.05 Def: 0% Integer scaling: 100 == 1%
03 TORQUE STEP INPUT
Index Description: Additional torque step added to TORQ REF4.
Note: If the overriding system or the RMIO application itself sends a reference value into this
parameter, it must be set to zero before the stop command of the drive.
unit: % type: R Min: See 20.06 Max: See 20.05 Def: 0% Integer scaling: 100 == 1%
04 OSC COMPENSATION
Index Description: TORSIONAL VIBRATION DAMPING
The filter uses the speed error as an input. The bandpass filter searches for certain
frequencies and calculates a sine wave, which is summed to the torque reference after the
phase shift. The phase shift can be set to phase angles between 0-360 degrees.
Typically this function is needed to dampen the mechanical oscillations. The following three
parameters also belong to this function.
0 = ON function is enabled
1 = OFF function is disabled
05 OSCILLATION FREQ
Index Description: OSCILLATION FREQ is the oscillation frequency (Hz). Oscillation frequency is determined
by viewing the speed difference signal and the following equation:
N peaks
f = , where
T
N peaks is the number of peaks in the time window T (seconds). For example, if we see 11
peaks in 1.5 seconds the frequency is f =11/1.5=7.3 Hz.

06 OSCILLATION PHASE
Index Description: Oscillation phase is the phase angle of the sine wave. The control algorithm produces a sine
wave whose phase can be shifted by this parameter.
0° 90° 180°
unit: ° deg type: R Min: 0° Max: 360° Def: 0° Integer scaling: 1 == 1.41°
07 OSCILLATION GAIN
Index Description: Oscillation gain determines how much the sine wave is amplified before it is summed to the
speed error signal. Oscillation gain is scaled according to the speed controller gain so that
changing the speed controller gain will not disturb the oscillation damping.
Parameters
89
Group 27 Flux control

27 Group name: FLUX CONTROL
Description:
01 FLUX OPTIMIZATION
Index Description: The motor flux can be optimised in order to minimise the motor losses and reduce motor
noise. Flux optimisation is used in drives that usually operate below nominal load.
1 = YES flux optimisation enabled.
0 = NO flux optimisation disabled.
02 FLUX BRAKING
Index Description: The braking ability of the drive can be highly improved by utilising flux braking. During
braking, the mechanical energy of the driven equipment has to be dissipated in the motor and
inverter. By modifying the magnetising level of the motor, thermal losses can be increased
and the motor can be stopped more effectively. This function can be used with the non-
regenerative incoming sections.
SPEED
No flux braking
Flux braking
Desired deceleration
Selection of the flux braking function.

1 = YES Flux braking enabled.
0 = NO Flux braking disabled.
unit: type: B Min: Max: Def: ON Integer scaling: 1 == 1
03 FLUX REF INPUT
Index Description: Flux reference value in percentage.
04 FLUX MAX
Index Description: Maximum limit of the flux percentage.
05 FLUX MIN
Index Description: Minimum limit of the flux percentage.
Parameters
90
Group 29 Scalar control

29 Group name: SCALAR CONTROL
Description: Scalar control is activated by selecting SCALAR at parameter 99.08 CONTROL MODE. This
parameter group is invisible when DTC control mode is selected.
Note: The following Start-Up parameters have no effect in scalar control:
99.03 MOTOR NOM CURRENT
99.05 MOTOR NOM SPEED
99.06 MOTOR NOM POWER
Note: Parameter 50.01 SPEED SCALING has only affect for scaling of the actual speed in
the Scalar motor control mode.
Scalar control parameters can be seen in the Control Diagram.
The scalar control mode is recommended for multimotor drives when the number of motors
connected to the ACS800 is variable. Scalar control is also recommended when the nominal
current of the motor is less than 1/6 of the nominal current of the inverter, or the inverter is
used for test purposes with no motor connected.
The motor identification Run, flying start, torque control, DC HOLD, motor phase loss check,
and stall functions are disabled in the scalar control mode.
01 FREQUENCY REF INPUT
Index Description: This is an input for the frequency reference.
unit: Hz type: R Min: See 29.03 Max: See 29.02 Def: 0 Integer scaling: 100 == 1 Hz
02 FREQUENCY MAX
Index Description: Operating range maximum frequency. This parameter has an internal link to the parameter
SPEED MAX; if SPEED MAX is changed, this parameter is changed accordingly by the
application program.
unit: Hz type: R Min: See 29.03 Max: 300 Hz Def: See 20.01 Integer scaling: 100 == 1 Hz
03 FREQUENCY MIN
Index Description: Operating range maximum frequency. This parameter has an internal link to the parameter
SPEED MIN; if SPEED MIN is changed, this parameter is changed accordingly by the
application program.
unit: Hz type: R Min: -300 Hz Max: See 29.02 Def: See 20.02 Integer scaling: 100 == 1 Hz
04 IR COMPENSATION
Index Description: This parameter sets the extra relative voltage that is fed to the motor at zero frequency. The
range is 0…30% of motor nominal voltage.
U(%)
Umax
Field weakening pointUmax f(Hz)
unit: % type: R Min: 0% Max: 30% Def: 0 Integer scaling: 100 == 1
Parameters
Scalar Control
ACC/DEC/SHAPE CURRENT
LOCAL DC VOLTAGE DC-VOLTAGE
LIMITER LIMITER LIMITATION
LOCAL FREQ REF 1.10
FREQ REF (LOCAL REF 3)
x rrampn_shp mruc
mrl
29.01 23.03
SPEED SHARE MOTOR CURRENT
29.02 FREQUENCY MAX FREQ REF 22.01 ACCELER TIME
29.03 FREQUENCY MIN
1.06
22.02 DECELER TIME
22.03 ACC/DEC TIME SCALE DC UNDERVOLTAGE INV MAX CURRENT
22.04 EME STOP RAMP DC OVERVOLTAGE MAXIMUM CURRENT
20.04
22.05 RAMP SHPE TIME
STABILIZER MAKE FLUX HYSTERESIS

REFERENCE CONTROL
ramp_sc_i flx_ref
Figure 16. Scalar control diagram.

mrl fly_ref
MOTOR TORQUE FLUX_X_ACT

FLUX USED REF
1.08
sine ROM table

FLUX_Y_ACT
uses torque modulator

FLUX REF
CONTROL
SWITCHING
FREQ CONTROL
FLUX USED REF
2.14
SW_FREQ_REF
hysteresis
IR COMP CALC COMPENSATION

ir_corr_coef
IR COMPENSATION
ir_k_coef
_ f
29.04
FLUX_X_ACT
FLUX_ACT
IR_COMP_WEAK 2.15
FLUX_Y_ACT
99.02 MOTOR NOM VOLT
FREQUENCY
99.04 MOTOR NOM FREQ
1.05.
91
Parameters
92
Group 30 Fault functions

30 Group name: FAULT FUNCTIONS
Description:
01 MOTOR THERM PMODE
Index Description: Motor thermal protection mode selections. Selection 1 and 2 are based on the thermal model
defined by the drive (DTC) or the user (USER MODE). Motor heating is calculated assuming
a load curve. Selections 3 and 4 are the measured indications from the motor temperature.
Note: Motor thermal mode (selections 1 and 2) can be used when only one motor is
connected to the output of inverter.
1 = DTC The drive defines the thermal model values during the identification run.
(see parameter 99.06)
2 = USER MODE User can define the thermal model values by parameters 30.09…30.12.
3 = THERMISTOR PTC thermistor or PT100 sensors, see parameter 30.03 and 30.06
4 = KLIXON Temperature switch in the motor windings using the DI6 input.
unit: type: I Min: 1 Max: 4 Def: 1 Integer scaling: 1 == 1
02 MOTOR THERM PROT
Index Description: Operation in case of an overload or over temperature condition.
1 = FAULT
2 = WARNING
3 = NO (no action)
03 MOT1 TEMP AI1 SEL
Index: Description: This parameter is used to activate an external motor temperature measurement circuit
connected to analogue input AI1. Analogue output AO1 supplies a constant current. The
measurement circuit employs 1 to 3 PT100 sensors or PTC thermistors.
1 = NOT IN USE Analogue input AI1 is not in use for motor temperature measurement.
2 = 1xPT100 One PT100 sensor; 9.1 mA current generator, (0…10 V or 0…2 V with
NAIO-01 or NAIO-02 extension module.
3 = 2xPT100 Two PT100 sensors; 9.1 mA current generator, 0…10 V.
4 = 3xPT100 Three PT100 sensors; 9.1 mA current generator, 0…10 V.
5 = 1…3 PTC 1 to 3 PTC thermistors; 1.6 mA current generator, 0…10 V.
04 MOT 1 TEMP ALM L
Index Description: Motor 1 temperature alarm is activated when the measured temperature rises above this limit.
unit: °C or Ω type: R Min: -10°C or 0 Ω Max: 180°C or 5000 Ω Def: 110°C or 0 Ω Integer scaling: 1 = 1°C
05 MOT 1 TEMP FLT L
Index Description: Motor 1 temperature trip is activated when the measured temperature rises above this limit.
Parameters
93

06 MOT2 TEMP AI2 SEL
Index: Description: This parameter is used to activate a second external motor temperature measurement circuit
connected to RAIO I/O extension module, analogue input AI2. Analogue output AO1 supplies
a constant current. The measurement circuit employs 1 to 3 PT100 sensors or PTC
thermistors.
Note: Both measurement circuits have to be connected to the RAIO I/O extension module.
1 = NOT IN USE Not in use for motor temperature measurement (0…10 V range)
2 = 1xPT100 1 PT100 temperature sensor (9.1 mA current generator, select 0…2 V
range.
3 = 2xPT100 Two PT100 temperature sensors (9.1 mA current generator, 0…10 V)
4 = 3xPT100 Three PT100 temperature sensors (9.1 mA current generator, 0…10 V)
5 = 1...3 PTC 1…3 PTC thermistor (1.6 mA current generator, 0…10 V range)
07 MOT 2 TEMP ALM L
Index Description: Motor 2 temperature alarm is activated when the measured temperature rises above this limit.
08 MOT 2 TEMP FLT L
Index Description: Motor 2 temperature trip is activated when the measured temperature rises above this limit.
Motor thermal model user mode
09 MOTOR THERM TIME
Index Description: Time for 63% temperature rise. Used with the motor thermal model when parameter 30.01
MOT THERM P MODE is set to USER MODE. For monitoring of the calculated temperature,
see signal 1.18 MOTOR TEMP EST.
Motor
Load
Temp
rise
t
100%
63%
Motor Thermal Time t

If thermal protection according to UL requirements for NEMA class motors is desired, use this
rule of thumb: Motor Thermal Time equals 35 times t6 (t6 in seconds is the time that the
motor can safely operate at six times its rated current, given by the motor manufacturer). The
thermal time for a Class 10 trip curve is 350 s, for Class 20 trip curve 700 s and for a Class
30 trip curve 1050 s.
unit: s type: R Min: 256 s Max: 9999 s Def: Integer scaling: 1 == 1 s
Parameters
94

10 MOTOR LOAD CURVE
Index Description: The motor load curve sets the maximum allowable operating load of the motor. It is active
when USER MODE is selected in Parameter 30.01 MOT THERM P MODE. When set to
100%, the maximum allowable load is equal to the value of Start-up Data Parameter 99.03
MOTOR NOM CURRENT. The load curve level should be adjusted if the ambient
temperature differs from the nominal value.
99.02 MOTOR NOM CURRENT
I(%)
150
30.10 MOTOR LOAD CURVE

100
50
30.11 ZERO SPEED LOAD
Speed
30.12 BREAK POINT

11 ZERO SPEED LOAD
Index Description: The maximum motor load at zero speed for the load curve. A higher value can be used if the
motor has an external fan motor to boost the cooling when running the drive at a low
frequency. See the motor manufacturer’s recommendations. This parameter is used when
USER MODE is selected in parameter 30.01 MOT THERM P MODE.
12 BREAK POINT
Index Description: The break point frequency for the load curve. This parameter defines the point at which the
motor load curve begins to decrease from the maximum value set by Parameter 30.10
MOTOR LOAD CURVE to the value of Parameter 30.11 ZERO SPEED LOAD. Used when
the USER MODE is selected in Parameter 30.01 MOT THERM P MODE.
Stall protection
13 STALL FUNCTION
Index Description: This parameter defines the operation of the stall protection. The protection is activated if the
following conditions are valid for a time longer than the period set by Parameter 30.15 STALL
TIME LIM.
1. The motor torque is close to the internal momentary changing limit of the motor control
program that prevents the motor and the inverter from overheating or the motor from
pulling out.
2. The output frequency is below the level set by Parameter 30.14. STALL FREQ HI.
3. SPC TORQ MAX limit value must be higher than MAXIMUM TORQUE limit and SPC
TORQ MIN must be negative than MINIMUM TORQUE.
Operation in case of a motor stall condition.
1 = NO No action
2 = WARNING A warning is produced.
3 = FAULT A fault is produced.
Parameters
95

14 STALL FREQ HI
Index Description: Frequency limit for the stall protection logic.
T
SPC TORQMAX
Stall region
MAXIMUM
TORQUE
f
STALL FREQ HI
30.11
unit: Hz type: R Min: 0.5 Hz Max: 50 Hz Def: 20 Hz Integer scaling: 100 == 1 Hz

15 STALL TIME
Index Description: Time value for the stall protection logic.
unit: s type: R Min: 10 s Max: 400 s Def: 20 s Integer scaling: 1 == 1 s
Underload protection
16 UNDERLOAD FUNC
Index Description: The absence of motor load may indicate a process
malfunction. The protection is activated if:
TM The motor torque drops below the load curve
selected by Parameter 30.18 UNDERLOAD
CURVE.
The condition has lasted longer than the time set
by Parameter 30.17 UNDERLOAD TIME.
Underload curve Output frequency is higher than 10% of the
nominal frequency of the motor.
The protection function assumes that the drive is
Underload region equipped with a motor of the rated power.
f
0.1*fn
Operation in case of the underload fault.
1 = NO No action
17 UNDERLOAD TIME
Index Description: Time limit for underload logic.
unit: s type: R Min: 0 s Max: 600 s Def: 600 s Integer scaling: 1 == 1
Parameters
96

18 UNDERLOAD CURVE
Index Description: One of the 5 fixed underload curves can be selected for the underload protection
TM
(%)
100
80 3
70 %
60 2
50 %
40 1
5
30 %
20
4
0
ƒN 2.4 * ƒN

19 MOTOR PHASE LOSS
Index Description: Operation in case a motor phase is lost.
1 = FAULT Enabled.
0 = NO Disabled.
20 EARTH FAULT
Index Description: Operation in case of an earth fault condition.
unit: type: B Min: Max: Def: FAULT Integer scaling: 1 == 1
21 PANEL LOSS
Index Description: Operation in case local control (control panel or DriveWindow) is lost.
Drive continues running at the last speed reference and generates a warning.
0 = LAST SPEED A warning is produced.
unit: type: B Min: Max: Def: FAULT Integer scaling: 1 == 1
22 UNDERVOLTAGE CTL
Index Description: This parameter activates the undervoltage controller. If the DC voltage level starts to
decrease, the torque reference is reduced and the motor acts as a generator.
1 = ON Enabled.
0 = OFF Disabled.
23 OVERVOLTAGE CTL
Index Description: This parameter activates the overvoltage controller. The overvoltage controller increases the
torque if the DC bus voltage exceeds the limit - typically when the motor is running as a
generator and there is no regenerative incoming supply or braking chopper with resistors.
1 = ON Enabled.
0 = OFF Disabled. (The normal mode with braking choppers and regenerative supply units.)
Parameters
97

25 COM LOSS CTRL
Index Description: This parameter defines the action after a communication fault. See also parameter 30.26
MAIN REF DS T-OUT and parameter 70.04 CH0 TIMEOUT
1 = STOP RAMPNG The drive is stopped by ramping. The deceleration time is defined by
parameter 22.02 DECELER TIME.
2 = STOP TORQ The drive is stopped by torque limit.
3 = COAST STOP The drive is stopped by coasting.
4 = LAST SPEED The drive continues running on the last reference, the warning COMM
MODULE is activated, and 9.05 ALARM WORD 2 bit 11 is set to 1. The
drive continues running at the last speed reference.
5 = CNST SPEED1 Parameters 23.02 CONST SPEED 1, the warning COMM MODULE is
activated, and 9.05 ALARM WORD 2 bit 11 is set to 1.
26 MAIN REF DS T-OUT
Index Description: Defines the time delay for the Main Reference Data Set supervision. See parameter 30.25.
unit: s type: R Min: 0.1 s Max: 60 s Def: 3 s Integer scaling: 100 == 1
27 COMM FLT RO
Index Description: Digital output control upon a communication fault on CH0, if controlled via ACW.
Note: that this parameter does not affect digital output DO1, if emergency stop function is
activated (see parameter 21.04).
0 = ZERO Digital outputs are de-energised.
1 = LAST VALUE The states of the digital outputs before the communication fault are
retained.
unit: type: B Min: Max: Def: ZERO Integer scaling: 1 == 1
28 AUX DS T-OUT
Index Description: Defines the delay time for the Auxiliary Reference Data Set supervision. See parameter
30.25. The supervision is active if the value is other than zero.
unit: s type: R Min: 0 s Max: 60 s Def: 3 s Integer scaling: 100 == 1
29 LIMIT WARNING
Index Description: Activates/deactivates limit alarms INV CUR LIM, DC BUS LIM, MOT CUR LIM, MOT TORQ
LIM and/or MOT POW LIM. For more information, see the chapter Fault tracing.
Value in decimal. As default only INV CUR LIM and DC BUS LIM alarms are active,
i.e. parameter value is 3 (bit 0 and bit 1 values are 1).
0= INV_CUR_LIM_IND
1= DC_VOLT_LIM_IND
2= MOT_CUR_LIM_IND
3= MOT_TORQ_LIM_IND
4= MOT_POW_LIM_IND
Parameters
98
Group 37 Brake chopper

37 Group name: BRAKE CHOPPER
01 BRAKE CHOPPER CTL
Index Description: Activates the brake chopper control.
0 = OFF Inactive
1 = ON Active
Note: Ensure the brake chopper and resistor are installed and the overvoltage control is
switched off (parameter 37.02).
unit: type: B Min: Max: 65535 Def: OFF Integer scaling: 1 == 1
02 BR OVERLOAD FUNC
Index Description: Activates the overload protection of the brake resistor. The user-adjustable variables are
parameters 37.03 BR RESISTANCE, 37.04 BR THERM TCONST and 37.05 MAX CONT BR
POWER.
0 = NO Inactive
1 = WARNING Active. If the drive detects an overload, it generates a warning.
2 = FAULT Active. If the drive detects on overload, it trips on a fault.
unit: type: I Min: 0 Max: 2 Def: NO Integer scaling: 1 == 1
03 BR RESISTANCE
Index Description: Defines the resistance value of the brake resistor. The value is used in the overload
protection. See parameter 37.02 BR OVERLAOD FUNC.
unit: ohm type: Min: 0 Max: 100 Def: 100 Integer scaling: 1 == 1
04 BR THERM TCONST
Index Description: Defines the thermal time constant of the brake resistor. The value is used in the overload
protection. See parameter 37.02 BR OVERLOAD FUNC.
unit: s type: Min: 0 Max: 10000 Def: 0.00 s Integer scaling: 1 == 1
05 MAX CONT BR POWER
Index Description: Defines the maximum continuous braking power, which will raise the resistor temperature to
the maximum allowed value. The value is used in the overload protection. See parameter
37.02 BR OVERLOAD FUNC.
unit: kW type: R Min: 0 Max: 10000 Def: 0.00 s Integer scaling: 1 == 1
Parameters
99
37 Group name: BRAKE CHOPPER

06 BC CTRL MODE
Index Description: Selects the control mode of the braking chopper.
1 = AS GENERATOR Chopper operation is allowed when the DC voltage exceeds the
braking limit, the inverter bridge modulates and the motor generates
power to the drive.
The selection prevents the operation in case the intermediate circuit
DC voltage rises due to abnormally high supply voltage level. Long
time supply voltage rise would damage the chopper.
2 = COMMON DC Chopper operation is allowed always when the DC voltage exceeds
the braking limit. The selection is to be used in applications where
several inverters are connected to the same intermediate circuit (DC
bus).
WARNING!
Excessive supply voltage will raise the intermediate circuit voltage
above the operation limit of the chopper. If the voltage remains
abnormally high for a long period, the braking chopper will be
overloaded and damaged.
unit: type: Min: Max: Def: Integer scaling: 1 == 1
Group 50 Speed measurement

50 Group name: SPEED MEASUREMENT
Description:
SPEED FEEDBACK
SPEED ESTIMATED SELECTION
1.02
MOTOR MODEL
FILTER
MOTOR SPEED
SPEED_MEASURED
1.04
1.03
50.06 SP ACT FILT TIME
50.01 SPEED SCALING

50.02 SPEED MEAS MODE
FILTER
50.03 SPEED FB SEL MOTOR SPEED FILT
50.04 ENCODER PULSE NR
1.01
50.05 ENCODER ALM/FLT
SP ACT FILT TIME
98.01 ENCODER MODULE
01 SPEED SCALING
Index Description: This parameter defines the speed reference (in rpm) that corresponds to the value of 20000
from the overriding system or I/O. This parameter has only scaling effect to speed actual
signals in the scalar control mode.
unit: rpm type: R Min: 0 rpm Max: 100000 rpm Def: 1500 rpm Integer scaling: 15000 = 1500 rpm
Parameters
100

02 SPEED MEAS MODE
Index Description: Selects the measurement type for the pulse encoder mode.
0 = A_-B DIR Positive edges for speed; channel B: direction
1 = A_-_ Positive and negative edges for speed; channel B: not used
2 = A_-_B DIR Positive and negative edges for speed; channel B: direction
3 = A_-_B_-_Channels A & B: positive and negative edges for speed and direction
03 SPEED FB SEL
Index Description: Source of the speed feedback to the speed controller.
1 = INTERNAL Internal actual speed.
2 = ENCODER Pulse encoder module (see also Parameter 98.01 ENCODER MODULE)
04 ENCODER PULSE NR
Index Description: Number of pulse encoder pulses per revolution.
05 ENCODER ALM/FLT
Index Description: Defines if an encoder error causes a warning or a fault.
1 = FAULT
0 = ALARM A warning is generated. The drive continues running at the internal actual speed.
unit: type: B Min: Max: Def: ALARM Integer scaling: 1 == 1
06 SP ACT FILT TIME
Index Description: The time constant of the first order actual speed filter.
07 POS COUNT MODE
Index Description: The position counter is based on the pulse count from the pulse encoder. It has two different
measurement modes:
0 = PULSE EDGES Both edges of the pulses are counted. Actual values can be read from
signals 3.07 POS COUNT LOW and 3.08 POS COUNT HIGH
1 = ROUND&DEG The application software counts the number of the motor shaft rounds
and the shaft angle in degrees. Actual values can be read from signals
3.09 POS COUNT DEGREES and 3.10 POS COUNT ROUNDS
The position counter is controlled by means of 7.02 AUX CONTROL WORD bits 9…11.
The status can be seen from 8.02 AUX STATUS WORD bit 5 (SYNC_RDY).
By means of the application program in the overriding system, it is possible to create the
positioning control function.
unit: type: I Min: 0 Max: 1 Def: ROUND Integer scaling: 1 == 1
08 POS COUNT INIT LO
Index Description: Position counter initial low word value when the mode is PULSE EDGES.
unit: type: PB Min: 0 Max: 65536 Def: 0 Integer scaling: 1 == 1
09 POS COUNT INIT HI
Index Description: Position counter initial high word value when the mode is PULSE EDGES.
unit: type: PB Min: 0 Max: 65536 Def: 0 Integer scaling: 1 == 1
10 ABOVE SPEED LIMIT
Index Description: When the actual speed has reached the value of this parameter, 8.01 MAIN STATUS WORD
bit 10 is set to 1.
unit: rpm type: R Min: See 20.01 Max: See 20.02 Def: 0 Integer scaling: See 50.01
Parameters
101

11 ENCODER DELAY
Index Description: Time of no encoder pulses received, and the drive being at the torque or current limit
simultaneously, before an alarm or a fault is produced. Setting this parameter to 0 disables
the function at the torque or current limit.
unit: ms type: R Min: 0 Max: 50000 Def: 1000 Integer scaling: 1 == 1 ms
13 ZERO DETECT DELAY
Index Description: The need to adjust this parameter is a good performance of speed control on the low speed
with pulse encoder, when pulses are not received during the 1 ms measurement cycle.
Definition of “low speed” depends on type of the encoder used. If for example encoder pulse
number is 2048 and both edges of A and B channel are calculated, there is 8192 pulses in
revolution. Then at least one pulse in millisecond is get at speed 7.3 rpm (1 pulse / ms ⇒
1000 pulses/s ⇒ 1000/8192 rev/s ≈ 7.3 rpm). Then 4 ms between pulses correspond to 1.8
rpm and 80 ms to 0.09 rpm.
See the following example with parameter settings:
50.13 = 250 ms, 50.14 = 4 ms and constant speed reference.
After receiving a pulse, measured speed is calculated and speed control P-part is set to value
related to speed error. When no new pulses are received during 1 ms, the measured speed
and P-part (due the constant speed reference) are upholded the same.
After the SPEED HOLD TIME P-part is forced to zero so that speed control would not be
based on too old speed measurement value.
After the ZERO DETECT DELAY it is assumed that speed is zero causing clearing of
measured speed and allowing use of P-part again.
After the next pulse some measured speed is calculated again and P-part accordingly. P-part
is cleared again after the SPEED HOLD TIME. The measured speed is not set to zero
anymore, because new pulse comes before the ZERO DETECT DELAY.
The time between pulses 3 and 4 is still bigger than SPEED HOLD TIME and P-part is forced
to zero.
The time between pulses 4 and 5 is already so small that either of P-part and the measured
speed is not forced to zero.
1 2 3 4 5
tacho pulse edges
t1
t1 t1 = zero detect delay
measured speed t2 = speed hold time
0
t2 t2
t2 t2
speed control P-part

0
ZERO DETECT DELAY = 250ms (t1) and SPEED HOLD TIME = 4ms (t2).
With the configuration of figure 1 there is a big ZERO DETECT DELAY that gives accurate
speed measurement. Short SPEED HOLD TIME keeps speed control stable in many cases,
because speed control output is not influenced by “old” speed measurement. On the other
hand, if P-part is very big, forcing it to zero causes unpleasant torque steps.
The tuning values depend on the clearances of mechanics. Therefore after the increasing
these parameter values, check that the torque actual value is still smooth.
Parameters
102

14 SPEED HOLD TIME
Index Description: The time after the P-part of speed control is forced to zero, if the time has been elapsed and
no new pulses received after the last sample. By increasing the value, it amplifies the effect of
P-part on low speed due to the longer effect time of P-part. An oscillation can be occurred, if
the time is too long.
See description of parameter 50.13 ZERO DETECT DELAY above.
Note: The value of SPEED HOLD TIME <= ZERO DETECT DELAY.
unit: ms type: I Min: 1 Max: 250 Def: 4 ms Integer scaling:
Group 51 Communication module (FBA)

51 Group name: COMMUNICATION MODULE
Description: This group defines the communication parameters for a fieldbus adapter module. The
parameter names are copied from the module when its connection to the drive is activated
using parameter 98.02 COMM MODULE LINK. See the module manual.
Note: Any changes in these parameters take effect only upon the next power-up of the
adapter module.
01 FIELDBUS PAR1 (Module type and software version)
Index Description:
unit type: S Min: Max: Def: Integer scaling:
02...33 FIELDBUS PAR2…33 (According to module type)
Index Description:
unit type: R Min: Max: Def: Integer scaling:
Group 52 Standard Modbus

52 Group name: STANDARD MODBUS
Description: The settings for the Standard Modbus Link.
01 STATION NUMBER
Index Description: Defines the address of the device. Two units with the same address are not allowed on-line.
Address 1…247.
unit type: I Min: 1 Max: 247 Def: 1 Integer scaling: 1 == 1
02 BAUDRATE
Index Description: Defines the transfer rate of the link.
Baudrate
600 1 = 600 bit/s
1200 2 = 1200 bit/s
2400 3 = 2400 bit/s
4800 4 = 4800 bit/s
9600 5 = 9600 bit/s
19200 6 = 19200 bit/s
unit type: I Min: 1 Max: 6 Def: 5 Integer scaling: 1=1
Parameters
103
52 Group name: STANDARD MODBUS

03 PARITY
Index Description: Defines the use of parity and stop bit(s). The same settings must be used in all on-line
station.
1 = NONE1STOPBIT. No parity bit, one stop bit
2 = NONE2STOPBIT. No parity bit, two stop bits.
3 = ODD. Odd parity indication bit, one stop bit.
4 = EVEN. Even parity indication bit, one stop bit.
unit type: I Min: 1 Max: 4 Def: 3 Integer scaling: 1 == 1
Group 70 DDCS control

70 Group name: DDCS CONTROL
Description: Parameter settings of the DDCS communication channels.
01 CH0 NODE ADDR
Index Description: Node address for channel CH0. When using the APC2 system, the address must be 1. If AC
70 or AC 80 is used through the Module Bus (adapters TB810 or TB811), CH0 NODE ADDR
and input POSITION in the data base element DRIENG are set according to the following
table.
AC70, AC80 Module Bus
POSITION (70.01)
101 17
102 18
103 19 etc
02 CH0 LINK CONTROL
Index Description: DDCS channel 0 intensity control for transmission LEDs. This parameter can be used in
special cases to optimise the communication performance of the link.
03 CH0 BAUD RATE-
Index Description: Channel CH0 communication speed. This must be set to 4 Mbit/s, when FCI or FBA
communication modules are used. Otherwise, the overriding system automatically sets the
communication speed.
0 = 8 Mbit/s (not in use)
1 = 4 Mbit/s
2 = 2 Mbit/s (not in use)
3 = 1 Mbit/s
unit: Mbit/s type: I Min: 1 Mbit/s Max: 8 Mbit/s Def: 1 Mbit/s Integer scaling: 1 == 1
04 CH0 TIMEOUT
Index Description: The delay time before a communication break fault is declared. The time count starts when
the link fails update the message. During the time elapsing, the warning COMM MODULE is
activated and 9.05 ALARM WORD 2 bit 11 is set to 1.Setting this parameter to 0 disables the
function.
Parameters
104

06 CH1 LINK CONTROL
Index Description: DDCS channel CH1 intensity control for transmission LEDs. This value is adjusted through
the link including each device on the link. This parameter can be used in special cases to
optimise the communication performance of the link.
07 CH2 NODE ADDR
Index Description: Node address for channel CH2. This is used in applications, with one or several point- to -
point communications connections between the RMIO boards.

08 CH2 M/F MODE
Index Description: Channel 2 is used in the Embedded software to send the torque reference from the Master
Drive to one or several Followers. Master/Follower is an application in which the system is
run by several ACS800 and the motor shafts are coupled to each other via gearing, a chain, a
belt etc.
1 = NOT IN USE CH2 is not activated.
2 = MASTER Drive is a master in the communication link and CH2 sends the TORQ
REF3 as broadcast message (See Index 09).
3 = FOLLOWER Drive is a follower in the communication and CH2 receives the master’s
TORQ REF3 as an input to TORQ REF A (See Index 10). For more
information, see the section “Master Follower Link”.
09 MASTER SIGNAL 1
Index Description: Group + Index of the signal to be sent as a broadcast message to data set 41 index 1 in the
follower drives. Example: the setting 701 broadcasts 7.01 MAIN CTRL WORD.
10 MASTER SIGNAL 2
follower drives (speed reference). Example: the setting 2301 broadcasts 23.01 SPEED REF.
11 MASTER SIGNAL 3
follower drives (torque reference). Example: 2.10 TORQ REF3 is typically used to send as
torque reference to the 25.01 TORQUE REF A in the follower drives. Parameter 70.11 value
is then 210.
12 CH2 LINK CONTROL
Index Description: DDCS channel 2 intensity controls for transmission LEDs. This parameter can be used in
special cases to optimise the communication performance in the link.
13 CH2 TIMEOUT
Index Description: The delay time before a communication break fault is declared. The time count starts when
the link does not update the message. During the time is elapsing, the alarm CH2 TIME OUT
is activated and bit 6 is activated in 9.04 ALARM WORD 1.
Parameters
105

14 CH2 COM LOSS CTRL
Index Description: This parameter defines the action in case of a communication fault on CH2 of the RMIO
board.
1 = FAULT Drive is tripped, fault M/F LINK FAULT is activated and bit 11 is set to 1 in the
9.01 FAULT WORD 1.
2 = ALARM M/F LINK ALARM is activated and bit 11 is set to 1 in 9.04 ALARM WORD 1.
15 CH3 NODE ADDR
Index Description: Node address for channel 3. This channel is normally used with the start-up and maintenance
tools. If CH3 of several drives have been connected to in a ring or star (by a branching unit)
connection, each one must be given a unique node address. The new node address
becomes valid only after auxiliary power shutdown of the RMIO-board.
16 CH3 LINK CONTROL
Index Description: DDCS channel 3 intensity controls for transmission LEDs. This value is adjusted through the
link including each device in the link. This parameter can be used in special cases to optimise
the communication performance in the link.
19 DDCS CH0 HW CONN
Index Description: This parameter is used to enable or disable the regeneration of CH0 transmitter with DDCS
mode. Regeneration means that drive echoes messages back. The DDCS mode is typically
used with APC2, AC70 and AC450 controllers.
0 = RING Regeneration is disabled. Used with ring type of bus topology.
1 = STAR Regeneration disabled. Used with star type of bus topology. Typically with
configurations: AC450 – CI810A – NDBU-95 branching unit(s) – ACS800.
Note: This parameter has no effect with DriveBus mode.
unit: type: B Min: 0 Max: 1 Def: 0 = RING Integer scaling: 1 == 1
SINGLE Connection
RMIO
Ch3
RING Connection
RMIO RMIO RMIO

Ch3 Ch3 Ch3
NPCM-01
...
PCMCIA NDBU-91 RMIO
board
Ch3
STAR
Connection RMIO RMIO
Ch3 Ch3
NPCM-01
PCMCIA Max. 200 drives/channel with several
board
NDBU-91 boards.
Figure 17. CH3 DDCS communication connection examples between the RMIO
board and a PC.
Parameters
106
Group 90 D set rec ADDR

90 Group name: D SET REC ADDR
Description: Addresses into which the received fieldbus data sets are written.
Numbers of the main and auxiliary data sets.
01 AUX DS REF3
Index Description: Selects the address into which the value of fieldbus reference REF3 is written.
0…8999 parameter index.
unit: type: Min: 0 Max: 8999 Def: 0 Integer scaling: 1 == 1
02 AUX DS REF4
03 AUX DS REF5
04 MAIN DS SOURCE
Index Description: Defines the data set from which the drive reads the Control Word, Reference REF1 and
Reference REF2.
0…255 Data set number.
05 AUX DS SOURCE
Index Description: Defines the data set from which the drive reads References REF3, REF4 and REF5.
0…255 Data set number.
Group 92 D set TR ADDR

92 Group name: D SET TR ADDR
Description: Main and Auxiliary Data Sets, which the drive sends to the fieldbus master station.
01 MAIN DS STATUS WORD
Index Description: Stores the address from which the Main Status Word is read. Fixed value, not visible.
801 (fixed) Parameter index.
02 MAIN DS ACT1
Index Description: Selects the address from which the Actual Signal 1 is read to the Main Data Set.
03 MAIN DS ACT2
Index Description: Selects the address from which the Actual Signal 2 is read to the Main Data Set.
04 AUX DS ACT3
Index Description: Selects the address from which the Actual Signal 3 is read to the Auxiliary Data Set.
Parameters
107
92 Group name: D SET TR ADDR

05 AUX DS ACT4
06 AUX DS ACT5
Group 95 Hardware specific

95 Group name: HARDWARE SPECIFIC
01 FAN SPD CTRL MODE
Index Description: Selects the speed control of the optional inverter cooling fan.
CONST 50 Hz Fan is running at constant frequency of 50 Hz when powered.
RUN/STOP Drive stopped: Fan is running at constant frequency of 10 Hz.
Drive running: Fan is running at constant frequency of 50 Hz.
CONTROLLED The speed of the fun is determined from IGBT temperature vs. fan speed
curve.
02 FUSE SWITCH CTRL
Index Description: Activates the inverter DC switch (switch fuse) monitoring function. The monitoring must be
active when the Switch Fuse Control board (ASFC) is in use and connected to the inverter
AINT board, i.e. in all frame R8i inverters equipped with the DC switch. The function must be
inactive in units that do not use the ASFC board with the DC switch, i.e. for frame R2i…R7i
inverters and all single drive units where no DC switch exists. The default setting (ON or
OFF) for each unit is set accordingly at the factory as default.
ACS800 IGBT pulses are always blocked when the program detects that the DC switch is
opened or inverter charging is ongoing (at power switch on). The application program
generates alarm INV DISABLED if the DC switch is opened when the inverter is stopped. The
inverter trips to fault INV DISABLED if the DC switch is opened when the inverter is running.
OFF Inactive
ON Active
unit: type: I Min: Max: Def: Integer scaling: 1 == 1
03 INT CONFIG USER
Index Description: Number of parallel connected inverter modules. Activates the Reduced run function. See the
subsection Reduced run function in Software description.
Actual value: 04.01 INT board fault
Faults: INT CONFIG chapter Fault tracing
06 LCU Q PW REF
Index Description: Reactive power reference to line converter.
unit: % type: I Min: -10000 Max: 10000 Def: 0 Integer scaling: 100 == 1%
07 LCU DC REF [V]
Index Description: DC voltage reference to line converter.
unit: V type: I Min: 0 Max: 1100 Def: 0 Integer scaling: 1 == 1 V
Parameters
108
Group 98 Option modules

98 Group name: OPTION MODULES
Description: Activation of the option modules.
01 ENCODER MODULE
Index Description: Activates the communication to the optional pulse encoder module. See also parameter
settings in group 50.
0 = NTAC Communication active. Module type: NTAC module.
Connection interface: Fibre optic DDCS link.
Note: Module node number must be set to 16. For directions, see
Installation and Start Guide for NTAC-0x/NDIO-0x/NAIO-0x Modules
(Code: 3AFY58919730 English).
1 = NO Inactive
2 = RTAC-SLOT1 Communication active. Module type: RTAC.
Connection interface: Option SLOT 1 of the drive.
3 = RTAC-SLOT2 Communication active. Module type: RTAC
4 = RTAC-DDCS Communication active. Module type: RTAC.
Connection interface: Option module rack of the drive (communication
with the drive through a fibre optic DDCS link).
Note: Module node number must be set to 16. For directions, see User's
Manual for RDIO Module (Code: 3AFE64485733 English).
02 COMM MODULE LINK
Index Description: Activates the external serial communication and selects the interface.
1 = NO No communication.
2 = FIELDBUS The drive communicates via a fieldbus adapter module in option SLOT 1
of the drive, or via CH0 on the RDCO board. See also parameter group
51.
3 = ADVANT The drive communicates with an ABB Advant OCS system via CH0 on
the RDCO board (optional). See also parameter group 70.
4 = STD MODBUS The drive communicates with a Modbus controller via the Modbus
Adapter Module (RMBA) in option SLOT 1 of the drive. See also
parameter group 52.
5 = CUSTOMISED The drive communicates via a customer specified link. The control
sources are defined by parameters 90.04 and 90.05.
unit: type: Min: Max: Def: 1 Integer scaling:
Parameters
109

03 DI/O EXT MODULE 1
Index Description: Activates the communication to the digital I/O extension module 1 (optional) and defines the
type and connection interface of the module.
Extension I/O replaces RMIO DI1 and DI2.
1 = NDIO Communication active. Module type: NDIO module.
Installation and Start-up Guide for NTAC-0x/NDIO-0x/NAIO-0x Modules
2 = NO Inactive
3 = RDIO-SLOT1 Communication active. Module type: RDIO.
5 = RDIO-DDCS Communication active. Module type: RDIO
Connection interface: Option module rack of the drive (communicates with
the drive through a fibre optic DDCS link).
1 = NDIO Communication active: Module type: NDIO module.
Installation and Start-up Guide for NTAC-0x/NDIO-0x/NAIO-0x Modules
2 = NO Inactive
5 = RDIO-DDCS Communication active. Module type: RDIO.
Connection interface: Option module rack of the drive (communication with
Parameters
110

1 = NDIO Communication active. Module type: NDIO module.
2 = NO Inactive
4 = SLOT2 Communication active. Module type: RDIO
5 = RDIO-DDCS Communication active. Module type: RDIO.
Connection interface: Option module rack of the drive (communicates with
06 AI/O EXT MODULE 1
Index Description: Activates the communication to the analogue I/O extension module (optional), and defines
the type and connection interface of the module.
Extension I/O replaces RMIO AI1 and AI2.
Module inputs:
- See parameters 98.13 and 98.14 for the signal type definitions.
1 = NAIO Communication active: Module type: NAIO
Note: Module node number must be set to 5. For direction, see Installation
and Start-up Guide for NTAC-0x/NDIO-0x/NAIO-0x Modules
2 = NO Communication inactive.
3 = RAIO-SLOT1 Communication active. Module type: RAIO.
4 = RAIO-SLOT2 Communication active: Module type: RAIO.
5 = RAIO-DDCS Communication active. Module type: RAIO. Connection interface: Optional
module rack, which communicates with the drive through a fibre optic
DDCS link.
Note: Module node number must be set to 5. For direction, see User's
Manual for RAIO Module (Code: 3AFE64484567 English).
unit: type: Min: 1 Max: 5 Def: 2 Integer scaling: no
07 COMM PROFILE
Index Description: Defines the profile on which the communication with the fieldbus or another drive is based.
ABB DRIVES ABB Drives profile.
GENERIC Generic drive profile. Typically used with the fieldbus modules that have
the type designation of form Rxxx (installed in the option slot of the drive).
unit: type: Min: 1 Max: 2 Def: 1 Integer scaling:
Parameters
111

13 AI/O EXT AI1 FUNC
Index Description: Defines the signal type for input 1 of the analogue I/O extension module. The setting must
match the signal connected to the module.
Note: The communication must be activated by parameter 98.06.
1 = UNIP AI5 Unipolar
2 = BIPO AI5 Bipolar
14 AI/O EXT AI2 FUNC
Index Description: Defines the signal type for input 2 of the analogue I/O extension module. The setting must
match the signal connected to the module.
Note: The communication must be activated by parameter 98.06.
1 = UNIP AI6 Unipolar
2 = BIPO AI6 Bipolar
Parameters
112
Group 99 Start-up data

Note: The drive will not start if the Start-up Data Parameters have not been
changed from the factory settings, or the nominal current of the motor is too small
compared to the nominal current of the inverter. A fault NO MOT DATA (no motor
data) is also indicated.
If the Motor Control Mode (Parameter 99.08) is set to SCALAR, the comparison
between the nominal current of the motor and the nominal current of the inverter is
not made.
WARNING! Running the motor and the drive equipment with incorrect start-up
data can result in improper operation, reduction in control accuracy and damage
to equipment.
If several motors are connected to the ACS800 drive, some additional instructions
must be considered when setting the Start-up Data Parameters. Please contact
your local ABB representative for more information.
Note: Changing any of the motor parameters in group 99, causes the cancellation
of all existing Motor ID Run results!
99 Group name: START-UP DATA
Description: Parameters for setting up the motor information.
01 LANGUAGE
Index Description: The CDP 312R control panel or DriveWindow shows 11 alternatives but only English is
loaded into the memory of the ACS800.
0 = ENGLISH
02 MOTOR NOM VOLTAGE
Index Description: Nominal voltage from the motor rating plate. It is not possible to start the ACS800 without
setting this parameter.
Note: It is not allowed to connect a motor with nominal voltage less than 1/2 * UN or more
than 2 * UN of the ACS800.
unit: V type: R Min: 207 V Max: 830 V Def: 0 V Integer scaling: 1 == 1 V
03 MOTOR NOM CURRENT
Index Description: Rated motor current. If several motors are connected to the inverter, enter the total current of
the motors.
unit: A type: R Min: 0 A Max: Def: 0 A Integer scaling: 10 == 1 A
04 MOTOR NOM FREQ
Index Description: Nominal frequency from the motor rating plate.
Note: If the nominal frequency of the motor is higher than 50 Hz, speed limits in DTC mode
or frequency limits in scalar control mode must be set before a ID Run command. See
Parameter Group 20 DTC mode or Group 29 (SCALAR control mode).
05 MOTOR NOM SPEED
Index Description: Nominal speed from the motor rating plate.
unit: rpm type: R Min: 1 rpm Max: 18000 rpm Def: 1 rpm Integer scaling: 1 == 1 rpm
Parameters
113

06 MOTOR NOM POWER
Index Description: Nominal power from the motor rating plate. If several motors are connected to the inverter,
enter the total power of the motors.
unit: kW type: R Min: 0 kW Max: 9000 kW Def: 0 kW Integer scaling: 10 == 1 kW
07 MOTOR ID RUN
Index Description: This parameter is used to initiate the Motor Identification Run. During the run, the drive will
identify the characteristics of the motor for optimum motor control. The ID Run takes about
one minute.
The ID Run cannot be performed if scalar control is selected (Parameter 99.08 is set to
SCALAR).
Note: The ID Run (Standard or Reduced) should be selected if:
• operation point is near zero speed
• operation at torques above the motor nominal torque within a wide speed range and
without a pulse encoder is required.
Note: Check the rotation direction of the motor by first start before starting the Motor ID Run.
During the run the motor will rotate in the forward direction.
Warning! The motor will run at up to approximately 50%…80% of nominal speed during the
Motor ID Run. BE SURE THAT IT IS SAFE TO RUN THE MOTOR BEFORE PERFORMING
THE MOTOR ID RUN.
1 = NO The Motor ID Run is not performed.
If an ID Run has not been done yet, or any of the motor parameters have
been changed, the motor will start the mode FIRST START after the start
command has been given. The DC-magnetising phase lasts much longer
than the normal start because the stator resistance and other electrical
losses are first identified and stored into FPROM memory. .
2 = STANDARD Performing the Standard Motor ID Run guarantees the best possible
control accuracy. The motor must be decoupled from the driven
equipment before performing the Standard ID Run.
3 = REDUCED Only to be selected if the motor cannot be decoupled from the driven
equipment. The Reduced Motor ID Run should be selected in applications
where mechanical losses are higher than 20% (i.e. the load cannot be
disconnected) or where flux reduction is not allowed (i.e. there are
auxiliary devices connected in parallel with the motor) while the motor is
running.
08 MOTOR CTRL MODE
Index Description: Motor control mode selection.
1 = SCALAR Scalar control mode
0 = -DTC Direct Torque Control mode.
If several motors are connected to the inverter, there are certain restrictions on the usage of
DTC. Please contact your local ABB representative for more information.
unit: type: B Min: Max: Def: DTC Integer scaling: 1 == 1
Parameters
114

09 APPLIC RESTORE
Index Description: 1 = YES Values are restored.
0 = NO
unit: type: B Min: 0 Max: 1 Def: 0 Integer scaling: 1 == 1
10 DRIVE ID NUMBER
Index Description: This parameter can be used by the overriding system to check the correct connections of the
optical cables to the drive type. This parameter requires support from the overriding system.
11 DEVICE NAME
Index Description: Defines the name for the drive or application. The name is visible on the control panel display
in the Drive Selection Mode. Note: The name can be typed only by using a drive PC tool.
unit: type: S Min: Max: Def: 0 Integer scaling:
Parameters
115
Overview of the CDP 312R control panel
Overview
This chapter describes the programming principles of the drive using the CDP 312R
control panel.
The user can change the configuration of the drive to meet the needs of the
requirements by programming. The drive is programmable through a set of
parameters. This chapter describes the operation of the CDP 312R control panel
and how to use the panel with the drive to modify the parameters, to measure the
actual values and to control the drive(s).
Panel link
The CDP 312R control panel is connected to the drive through a Modbus-protocol
communication bus. The communication speed is 9600 bit/s. 31 drives and one
panel can be connected on this bus. Each station must have a unique ID number.
1 L -> 0.0 rpm 0

LED PANE 0 %
MOTOR SP 0.0 rpm
MOTOR TO 0.00 %
ACT PAR FUNC DRIVE
ENTER
LOC RESET REF

REM
0
CDP 312
Figure 18. CDP 312R control panel.

116
Display
The LCD type display has 4 lines of 20 characters.
The language selection is made at Start-up by parameter 99.01 LANGUAGE.
Depending on the customer’s selection, a set of four languages is loaded into the
memory of the drive at the factory.
Keys
The Control Panel keys are flat, labelled, push button keys that allow you to monitor
drive functions, select drive parameters, and change settings.
Actual Signal Display Mode
Status Row 1 L -> 0.0 rpm 0 Display/group selection
LED PANE 0 % ACT
Actual Signals MOTOR SP 0.0 rpm
Names and Row/parameter selection
Values MOTOR TO 0.00 %
Enter selection mode
ENTER
Accept new parameter
Parameter Mode
Status Row 1 L -> 0.0 rpm 0 Group selection
Group number 99 START-UP DATA PAR
Fast value change
and name
Index number
01 LANGUAGE Parameter selection
ENGLISH Slow value change
and name
Parameter value Enter selection mode
ENTER
Accept new value
Status Row 1 L -> 0.0 rpm 0 Function Mode
Selectable
UPLOAD <= <=
FUNC
functions DOWNLOAD => => Row selection
CONTRAST 4 ENTER Function start
Device type ACS 800 0005_3 Drive Selection Mode

Drive name DRYER SECTION 1 DRIVE
Drive/ID selection
Application sw AMAM15D3 980605 Enter change mode
name + version. *) ENTER
ID-NUMBER 1 Accept new value
ID-number of drive
in the Modbus link *) Name of the downloaded FCB (Function Chart Builder) application.
Figure 19. Control Panel display indications and functions of the Control Panel
keys.
LOC
Keypad / Forward Start
REM External Control
RESET
Fault Reset Reverse Stop
0
REF Reference Setting
Function
Figure 20. Operational commands of the Control Panel keys.

117
Panel operation
The following is a description of the operation of the CDP 312R control panel. The
Control Panel Keys and Displays are explained in Figures 8-2 and 8-3.
Keypad modes
The CDP 312R control panel has four different keypad modes: Actual Signal
Display Mode, Parameter Mode, Function Mode, and Drive Selection Mode. In
addition, there is a special Identification Display, which is displayed after connecting
the panel to the link. The Identification Display and the keypad modes are
described briefly below.
Identification display
When the panel is connected for the first time, or the power is applied to the drive,
the Identification Display appears, showing the panel type and the number of drives
connected to the Panel Link.
Note: The panel can be connected to the drive while power is applied to the drive.
ACS 800 0005_3
ID NUMBER 1
After two seconds, the display will clear, and the Actual Signals of the drive will
appear.
Actual signal display mode
This mode includes two displays, the Actual Signal Display and the Fault History
Display. The Actual Signal Display is displayed first when the Actual Signal Display
mode is entered. If the drive is in a fault condition, the Fault Display will be shown
first.
The panel will automatically return to Actual Signal Display Mode from other modes
if no keys are pressed within one minute (exceptions: Status Display in Drive
Selection Mode and Fault Display Mode).
In the Actual Signal Display Mode you can monitor three Actual Signals at a time.
How to select the three Actual Signals to the display is explained in Table 6.
The Fault History includes information on the 16 most recent faults that have
occurred in your drive. The name of the fault and the total power-on time are
displayed. If the APC2 overriding system has been connected to the drive (DDCS
channel 0), this time can be seen in the date format instead of power-on time. The
procedure for clearing the Fault History is described in Table 7.
The following table shows the events that are stored in the Fault History. For each
event it is described what information is included.

118
Event Information Display

A fault is detected Sequential number of the event. 1 L -> 0.0 rpm
by drive Name of the fault and a “+” sign 2 LAST FAULT
in front of the name. Total power + OVERCURRENT
on time or date and time updated 12 H 49 MIN 10 S
by overriding system.
A fault is reset by Sequential number of the event. 1 L -> 0.0 rpm
user. -RESET FAULT text. 1 LAST FAULT
Total power on time or date and -RESET FAULT
time updated by the overriding 12 H 50 MIN 10 S
system.
A warning is Sequential number of the event. 1 L -> 0.0 rpm
activated by drive Name of the warning and a “+” 1 LAST WARNING
sign in front of the name. Total +EMESTOP
power on time or date and time 12 H 50 MIN 10 S
updated by the overriding system.
A warning is Sequential number of the event. 1 L -> 0.0 rpm
deactivated by Name of the warning and a “-” 1 LAST WARNING
drive sign in front of the name. Total +EMESTOP
power on time or date and time 12 H 50 MIN 35 S
updated by the overriding system.
When a fault or warning occurs in the drive, the message will be displayed
immediately, except in the Drive Selection Mode. Table 7, shows how to reset a
fault. From the fault display, it is possible to change to other displays without
resetting the fault. If no keys are pressed the fault or warning text is displayed as
long as the fault exists.
Table 5. How to display the full name of the three Actual Signals.
Step Function Press key Display after key is pressed
1. To display the full Hold 1 L -> 0.0 rpm 0
name of the three ACT LED PANEL OUTP
actual signals MOTOR SPEED FILT
MOTOR TORQUE FILT
2. To return to the Actual Release 1 L -> 0.0 rpm 0
Signal Display Mode. ACT LED PANE 0 %
MOTOR SP 0.0 rpm
MOTOR TO 0.00 %

119
Table 6. How to select Actual Signals to the display

1. To enter the Actual 1 L -> 0.0 rpm 0
Signal Display Mode ACT LED PANE 0 %
MOTOR SP 0.0 rpm
MOTOR TO 0.00 %
2. To select the desired 1 L -> 0.0 rpm 0
row. LED PANE 0 %
MOTOR SP 0.0 rpm
MOTOR TO 0.00 %
Signal Selection ENTER 1 ACTUAL SIGNALS
Mode. 01 MOTOR SPEED FILT
0.0 rpm
4. To select a different 1 L -> 0.0 rpm 0
group. 2 ACTUAL SIGNALS
01 SPEED REF 2
0 rpm
5. To select an index. 1 L -> 0.0 rpm 0
2 ACTUAL SIGNALS
02 SPEED REF 3
0 rpm
6. To accept the 1 L -> 0.0 rpm 0
selection and to ENTER LED PANE 0 %
return to the Actual SPEED RE 0.0 rpm
Signal Display Mode. MOTOR TO 0.00 %

120
Table 7. How to display a fault and reset the Fault History

Signal Display Mode ACT LED PANE 0 %
MOTOR SP 0.0 rpm
MOTOR TO 0.00 %
2. To enter the Fault 1 L -> 0.0 rpm
History Display. 2 LAST FAULT
The time of + PANEL LOST
occurrence can be 20 H 49 MIN 56 S
seen either as total 1 L -> 0.0 rpm
power-on time or in 1 LAST FAULT
the date format if an + PANEL LOST
overriding system 980621 10:26:19.3043
(e.g. APC2) has been s = fault or alarm logged into the
connected to control fault logger
the drive. r = fault or alarm reset
3. To clear all the faults 1 L -> 0.0 rpm

from the Fault History RESET 2 LAST FAULT
Buffer. + OVERCURRENT
12 H 49 MIN 10 S
A view of cleared fault 1 L -> 0.0 rpm 0
logger. 2 LAST FAULT
H MIN S
4. To return to the Actual 1 L -> 0.0 rpm 0
Signal Display Mode. LED PANE 0 %
MOTOR SP 0.0 rpm
MOTOR TO 0.00 %
Table 8. How to display and reset an active fault

Signal Display Mode. ACT ACS 800 75 kW
*** FAULT ***
PANEL LOST
2. To reset the fault. The 1 L -> 0.0 rpm 0
Reset button functions RESET LED PANE 0 %
also in the REMOTE MOTOR SP 0.0 rpm
mode. MOTOR TO 0.00 %

121
Parameter mode
The Parameter Mode is used for making changes to the drive parameters. When
this mode is entered for the first time after power up, the display will show the first
parameter of the first group. The next time, the Parameter Mode is entered, the
previously selected parameter is shown.
Note: If you try to write to a write-protected parameter, the following warning will be
displayed.
**WARNING**
WRITE ACCESS DENIED
PARAMETER SETTING
NOT POSSIBLE

122
Table 9. How to select a parameter and change the value

1. To enter the Parameter 1 L -> 0.0 rpm 0
Mode. ACT 13 ANALOGUE INPUTS
01 AI1 HIGH VALUE
10000
2. To select another 1 L -> 0.0 rpm 0
parameter group. 14 DIGITAL INPUTS
While holding the arrow
down, only the group
name and number are 1 L -> 0.0 rpm 0
displayed. When the 14 DIGITAL OUTPUTS
key is released, name, 01 DO1 CONTROL
number and value of OFF
the first parameter in
the group are
displayed.
3. To select an index 1 L -> 0.0 rpm 0
number. 14 DIGITAL OUTPUTS
While holding the arrow 01 DO1 GROUP+INDEX
down, only the
parameter name and
number are displayed. 1 L -> 0.0 rpm 0
When the key is 14 DIGITAL OUTPUTS
released the value of 02 DO1 GROUP+INDEX
the parameter is also 801
displayed.
4. To enter the parameter 1 L -> 0.0 rpm 0
value. ENTER 14 DIGITAL OUTPUTS
02 DO1 GROUP+INDEX
[801]
5. To change the 1 L -> 0.0 rpm 0
parameter value. 14 DIGITAL OUTPUTS
(slow change) 02 DO1 GROUP+INDEX
(fast change) [901]
6a. To send a new value to 1 L -> 0.0 rpm 0

the drive. ENTER 14 DIGITAL OUTPUTS
02 DO1 GROUP+INDEX
6b. ACT PAR 901
To cancel the new FUNC DRIVE 1 L -> 0.0 rpm 0

setting and keep the 14 DIGITAL OUTPUTS
original value. 02 DO1 GROUP+INDEX
801
The selected Keypad
Mode is entered.

123
Function mode
The Function Mode is used to select special functions. These functions include
Parameter Upload, Parameter Download and setting the contrast of the CDP 312R
Panel Display.
Parameter Upload will copy existing parameters from Groups 10 to 98 from the
drive to the panel. The upload function can be performed while the drive is running.
Only the STOP command can be given during the uploading process.
Parameter Download will copy existing parameter Groups 10 to 97 stored in the
panel to the drive.
Note: Parameters in Groups 99 concerning options, language and motor data are
not copied.
Table 10, describes how to select and perform the Parameter Upload and
Parameter Download functions.
If downloading is attempted before uploading, the following warning will be
displayed:
**WARNING**
NOT UPLOADED
DOWNLOADING
NOT POSSIBLE
The parameters can be uploaded and downloaded only if the DTC software version
and application software version (see Signals 4.1 DTC SW VERSION and 4.2
APPL SW VERSION) of the destination drive are the same as the software versions
of the source drive. Otherwise the following warning will be displayed:
**WARNING**
DRIVE INCOMPATIBLE
DOWNLOADING
NOT POSSIBLE
The drive must be stopped during the downloading process. If the drive is running
and downloading is selected, the following warning is displayed:
**WARNING**
DRIVE IS RUNNING
DOWNLOADING
NOT POSSIBLE

124
Table 10. How to select and perform a function

1. To enter the Function 1 L -> 0.0 rpm 0
Mode FUNC UPLOAD <= <=
DOWNLOAD => =>
CONTRAST 0
2. To select a function. 1 L -> 0.0 rpm 0
UPLOAD <= <=
DOWNLOAD => =>
CONTRAST 0
3. To activate the 1 L -> 0.0 rpm 0
selected function. ENTER => => => => => => =>
DOWNLOAD
4. Loading completed. 1 L -> 0.0 rpm 0
LED PANE 0 %
MOTOR SP 0.0 rpm
MOTOR TO 0.00 %
Table 11. How to set the contrast of the panel display.
1. To enter the Function 1 L -> 0.0 rpm 0
Mode. FUNC UPLOAD <= <=
DOWNLOAD => =>
CONTRAST 0
2. To select a function. 1 L -> 0.0 rpm 0
UPLOAD <= <=
DOWNLOAD => =>
CONTRAST 0
3. To enter the contrast 1 L -> 0.0 rpm 0
setting function. ENTER CONTRAST [0]
4. To set the contrast. 1 L -> 0.0 rpm 0

(0...7) CONTRAST [7]
5a. To accept the ENTER 1 L -> 0.0 rpm 0

selected value. UPLOAD <= <=
ACT PAR DOWNLOAD => =>
To cancel the new CONTRAST 7
setting and keep the FUNC DRIVE
original value, press 1 L -> 0.0 rpm 0
any of the Mode keys. UPLOAD <= <=
DOWNLOAD => =>
The selected Keypad CONTRAST 0
Mode is entered.

125
Copying parameters from one unit to other units

You can copy parameters in Groups 10...97 from one drive to another by using the
Parameter Upload and Parameter Download functions in the Function Mode.
Typically this kind of function can be used if the processes and the motor types are
same. Follow the procedure below:
• Select the correct options (Group 98) and language (Group 99) for each drive.
• Set the rating plate values for the motors (Group 99) and perform the
identification run for each motor if required.
• Set the parameters in Groups 10 to 97 as preferred in one drive.
• Upload the parameters from the drive to the panel (see Table 10).
• Disconnect the panel and reconnect it to the next drive unit.
• Download the parameters from the panel to the drive unit. (see Table 11).
• Repeat steps 5 and 6 for the rest of the units.
Note: Parameters in Groups 98 and 99 concerning options, language and motor
data are not copied.
Setting the contrast
If the Control Panel Display is not clear enough, set the contrast according to the
procedure explained in Table 11.
Drive selection mode
In normal use, the features available in the Drive Selection Mode are not needed;
these features are reserved for applications where several drives are connected to
one Modbus Link.
Modbus Link is the communication link connecting the Control Panel and the drive.
Each on-line station must have an individual identification number (ID).
CAUTION! The default ID number setting of the drive must not be changed unless
it is to be connected to the Modbus Link with other drives on-line.

126
Table 12. How to select a drive and change its ID number

1. To enter the Drive ACS 800 0005_3
Selection Mode DRIVE DRIVE NAME
AMAM1050 980612
ID NUMBER 1
2. To select the next ACS 800 0005_3
view. DRIVE NAME
The ID number of the AMAM1050 980612
station is changed by ID NUMBER 1
first pressing ENTER
1O-> 2I<- 3O<- 4I-> 5I->
(the brackets round
6O-> 7F 8I-> 9I-> 10I->
the ID number
appear) and then
O = Drive stopped
adjusting the value
I = Drive running
with arrow -> = Direction forward
buttons. <- = Direction reverse
The new value is
F = Drive has tripped on a fault
accepted with
ENTER. The power of
the ACS800 must be
switched off to
validate its new ID
number setting (the
new value is not
displayed until the
power is switched off
and on).
The Status Display of
all devices connected
to the Panel Link is
shown after the last
individual station. If all
stations do not fit on
the display at once,
press to view the
rest of them.
3. To connect to the last ACT PAR 1 L -> 0.0 rpm 0
displayed drive and to LED PANE 0 %
enter another mode, FUNC MOTOR SP 0.0 rpm
press one of the Mode MOTOR TO 0.00 %
keys.
The selected Keypad

Mode is entered.

127
Operational commands
Operational commands control the operation of the drive. They include starting and
stopping the drive, changing the direction of rotation and adjusting the reference.
The reference value is used for controlling motor speed (Local Reference 1), motor
torque (Local Reference 2) or frequency in scalar control (Local Reference 3).
Operational commands can be given from the CDP 312R control panel always
when the status row is displayed and the control location is the panel. This is
indicated by L (Local Control) on the display. See the following figure.
1 L -> 0.0 rpm 0
Remote Control (control from the overriding system or I/O is indicated by an empty
field.
1 -> 0.0 rpm 0
Operational commands cannot be given from this panel when in Remote Control.
Only monitoring actual signals, setting parameters, uploading and changing ID
numbers is possible.
The control is changed between Local and External control locations by pressing
the LOC/REM key. Only one of the Local Control devices (CDP 312R or
DriveWindow) can be used as the local control location at a time.
Direction of actual rotation is indicated by an arrow.
Forward Reverse
1 -> 0.0 rpm 0 1 <- 0.0 rpm 0
Start, Stop, Direction and reference

Start, Stop and Direction commands are given from the panel by pressing the keys.
Forward Reverse Start Stop

0

128
Table 13. How to set the reference from the CDP 312R panel.
1. To display enter a 1 L -> 0.0 rpm 0
Keypad Mode ACT PAR LED PANE 0 %
displaying the status MOTOR SP 0.0 rpm
row. FUNC
MOTOR TO 0.00 %
2. To enter the 1 L ->[ 0.0 rpm]0
Reference Setting REF
LED PANE 0 %
Mode MOTOR SP 0.0 rpm
MOTOR TO 0.00 %
3. To change the 1 L ->[ 1030.0 rpm]0
reference. LED PANE 0 %
(slow change) MOTOR SP 0.0 rpm
MOTOR TO 0.00 %
(fast change)
4. To escape the 1 L -> 0.0 rpm 0
Reference Setting ACT PAR LED PANE 0 %
Mode. MOTOR SP 0.0 rpm
FUNC DRIVE MOTOR TO 0.00 %
The selected Keypad
Mode is entered.

129
Fault tracing
Overview
This chapter describes the protections and fault tracing of drive.
I/O error monitoring
Internal Fault on the I/O Board

If there is communication problems with the basic RMIO board I/O or with an
extension module I/O, the following alarm is given:
DIO ALARM Bit 7 in AW_1 (9.04)
AIO ALARM Bit 8 in AW_1 (9.04)
EXT DIO ALM Bit 9 in AW_1 (9.04)
EXT AIO ALM Bit 10 in AW_1 (9.04)
Communication monitoring
Messages received from the overriding system are monitored in the RMIO
diagnostics program. The monitoring is activated by parameters 30.26, 30.28 and
70.04. The action in case of communication fault is defined in the parameter 30.25
COM LOSS CTRL. On a communication fault, bit 11 (alarm COMM MODULE) is
activated in 9.05 ALARM WORD 2 and bit 12 (fault COMM MODULE) in 9.02
FAULT WORD 2.
Power plate overtemperature fault

The drive supervises the inverter power plate module temperature. If it exceeds
115°C, a warning “ACS 800 TEMP” is given and 9.04 ALARM WORD 1 bit 4 is set
to 1.
If the power plate module temperature exceeds 125°C, a fault “ACS 800 TEMP” is
given and 09.01 FAULT WORD 1 bit 3 is set to 1.
Ambient temperature
The drive measures the ambient temperature on the surface of the RMIO board.
The drive will not start if the temperature is above 88°C (depending on converter
type). Also a fault “CABIN TEMP F” is given and 9.02 FAULT WORD 2 bit 7 is set
to 1.
Fault tracing
130
Overcurrent
The overcurrent trip limit is 3.5 * Ihd (nominal motor current for heavy duty use).
There are several sources of the overcurrent trip:
• SW trip (time level 100 μs, level = 97% of measurement scale)
• HW level trip (97% of measurement scale for 35 μs)
• HW derivative trip (12.5% of measurement scale for 75 μs)
• HW level trip in parallel connected units by PBU logic (94% of measurement
scale for 75 μs)
A fault “OVERCURRENT” is given and 09.01 FAULT WORD 1 bit 1 is set to 1.
The current measurement is calibrated automatically during the start procedure.
DC overvoltage
The DC overvoltage trip limit is 1.3 * U1max, where U1max is the maximum value of
the mains voltage range.
Nominal Voltage of Inverter Unit U1max
400 V 415 V
500 V 500 V
690 V 690 V
A fault “DC OVERVOLT” is given and 09.01 FAULT WORD 1 bit 2 is set to 1.
HIGH VOLTAGE TRIP LIMIT: 130%
HIGH VOLTAGE CONTROL LIMIT: 124%

BRAKE CHOPPER LIMIT: 120%
LOW VOLTAGE CONTROL LIMIT: 82%

CHARGING LIMIT: 79%
LOW VOLTAGE TRIPPING LIMIT: 60%
Figure 21. DC voltage control and tripping limits.
Fault tracing
131
DC undervoltage
The DC Undervoltage trip limit is 0.60 *U1min, where U1min is the minimum value of
the mains voltage range.
Nominal Voltage of Inverter Unit U1min
400 V 380 V
500 V 380 V
690 V 690 V
A fault “DC UNDERVOLT” is given and 9.02 FAULT WORD 2 bit 2 is
set to 1.
Local control lost function

The Local Control Lost function defines the operation of the drive when, while in
local control mode, the communication between the local control device (control
panel or DriveWindow) and the drive stops.
FAULT Stop2 the drive according to Parameter 21.03 LOCAL STOP
FUNC. FW_2 (09.02) bit 13 is set to 1.
LAST SPEED Run at last speed and an alarm “PANEL LOST” is activated.
AW_2 (09.05) bit 13 is set to 1.
Run enable interlocking function

Digital input DI2 state ”0” activates the RUN ENABLE function, used for external
RUN interlocking and for internal charging logic, when the optional load switch is
used at the input DC circuit of the inverter unit. When the state of DI2 switches to 0,
the drive stops by coasting, a fault “RUN DISABLD” is given and 9.02 FAULT
WORD 2 bit 4 and 08.02 AUX STATUS WORD (ASW) bit 4 are set to 1.
Short circuit
There are separate protection circuits for supervising the motor cable and the
inverter short circuits. If a short circuit occurs, the drive will not start and a fault
“SHORT CIRC” is given and 9.01 FAULT WORD 1 bit 0 are set to a “1”.
DC Link intermediate current ripple fault

Input phase loss protection circuits supervise the status of the mains in the supply
section by detecting intermediate current ripple. If an input phase is lost, the
intermediate current ripple increases. If the ripple exceeds 13% the drive is stopped
and a fault “SUPPLY PHASE” is given. 9.02 FAULT WORD 2 bit 0 is set to 1.
Fault tracing
132
Overspeed fault
If the drive output frequency exceeds the preset level (e.g. in the case of
overshooting in speed control), the drive is stopped and a fault “OVER FREQ” is
given. 9.01 FAULT WORD 1 bit 9 is set to 1.
The trip level frequency margin is adjustable by Parameter 20.11 FREQ TRIP
MARGIN
The RTAC pulse encoder module contains diagnostics for the communication link,
speed error between the internal and measured speeds, (difference limit 20% of
nominal speed), and pulse encoder timeout limits. In case of a fault, 9.02 FAULT
WORD 2 bit 5 is set to 1 and a fault “ENCODER FLT” is given. In case of an alarm,
9.04 ALARM WORD 1 bit 5 is set to 1 and an alarm “ENCODER ERR” is given.
The Fault/Alarm function is activated by Parameter 50.05 ENCODER ALM/FLT.
Overswitching frequency fault

If the inner control loop exceeds the maximum switching frequency, a fault “OVER
SWFREQ” is given and 9.02 FAULT WORD 2 bit 9 is set to 1.
System fault
If the program on the RMIO board has failed and causes an interruption, 09.01
FAULT WORD 1 bit 7 (SYSTEM_FAULT) is set to 1.
Motor protections
Motor thermal protection functions

The motor can be protected against overheating by:
• activating the DTC motor thermal model or User Mode.
• temperature measurement from the motor by using PT 100 or
PTC sensors (1 or 2 separate measurement channels)
• a thermal switch (KLIXON) inside the motor (contact opens above the rated
temperature) connected to digital input DI6. See Parameter Group 10, selection
KLIXON.
The motor thermal model can be used parallel with other protections.
Note: DTC motor thermal model is not active with parallel connected inverters and
therefore User Mode must be used. See parameter 30.01 MOTOR THERM
PMODE.
Fault tracing
133
180 15
155 10
130 Hot spot temperature margin 10
120
Permissible temperature rise
80 105 125
80
40
Maximum ambient 40 40 40
temperature
Insulation class B F H
Maximum winding temperature 130 C 155 C 180 C
Figure 22. Insulation classes according to IEC 85

Motor thermal model
The drive calculates the temperature of the motor based on the following
assumptions:
• The motor ambient temperature is 30°C.
• Motor temperature is calculated using either the user-adjustable or
automatically calculated Motor Thermal Time and Motor Load Curve. The load
curve should be adjusted in case the ambient temperature is higher than 30°C.
The thermal model provides protection equivalent to standard class 10, 20, or 30
overload relays by setting the Motor Thermal Time to 350, 700, or 1050 seconds
respectively.
There are two levels of temperature monitoring:
• alarm “MOTOR TEMP” is activated when the alarm temperature limit is reached
and 09.04 ALARM WORD 1 bit 3 is set to “1”.
• trip “MOTOR TEMP” is activated when the trip temperature limit is reached and
09.01 FAULT WORD 1 bit 6 is set to “1”.
Usage of PTC or PT100 temperature sensors

Motor temperature can be measured by using the analogue inputs and outputs of
the drive. The Application Program Template supports two measurement channels:
AI1 and AI2 for motor 1 and motor 2 temperature measurements.
WARNING! According to IEC 664, the connection of the thermistor to the
analogue I/O or to digital input DI6 requires double or reinforced insulation
between motor live parts and the thermistor. Reinforced insulation entails a
clearance and creepage of 8 mm (400/500 VAC equipment). If the thermistor
assembly does not fulfil the requirement, the other I/O terminals of drive must be
protected against contact, or a thermistor relay must be used to isolate the
thermistor from the digital input.
Fault tracing
134
AO+
AO-
AI+
AI-
Motor
Figure 23. Thermistor connection example using analogue I/O.

Motor overtemperature can be detected by connecting 1...3 PTC thermistors or
1...3 PT100 elements. The purpose of the analogue output is to supply a constant
current to the temperature element and analogue input measures the voltage
across the element. The application program sets the correct constant current
according to the sensor type selection.
• alarm “MOT TEMP” is activated when the alarm temperature limit is reached.
9.04 ALARM WORD 1 bit 2 is set to 1.
• fault “MOT TEMP” is activated when the trip temperature limit is reached and
the 9.01 FAULT WORD 1 bit 5 is set to 1.
• Note: The thermistor can also be connected to digital input DI6 according to the
following figure. If direct thermistor connection is used, digital input DI6 goes to
0 false when resistance rises higher than 4 kΩ. As a result, the drive is tripped,
fault “KLIXON” is activated and appended to the fault logger, and 9.01 FAULT
WORD 1 bit 5 is set to 1.
Motor overtemperature can be detected by connecting 1...3 PTC thermistors or
1...3 PT100 elements. The purpose of the analogue output is to supply a constant
current to the temperature element and analogue input measures the voltage
across the element. The application program sets the correct constant current
according to the sensor type selection.
• alarm “MOT TEMP” is activated when the alarm temperature limit is reached.
9.04 ALARM WORD 1 bit 2 is set to 1.
• fault “MOT TEMP” is activated when the trip temperature limit is reached and
the 9.01 FAULT WORD 1 bit 5 is set to 1.
• Note: The thermistor can also be connected to digital input DI6 according to the
following figure. If direct thermistor connection is used, digital input DI6 goes to
0 false when resistance rises higher than 4 kΩ. As a result, the drive is tripped,
fault “KLIXON” is activated and appended to the fault logger, and 9.01 FAULT
WORD 1 bit 5 is set to 1.
Fault tracing
135
Alternative 1 Alternative 2
RMIO RMIO
Thermistor
X22: X22:
relay
6 DI6 6 DI6
7 +24 V DC 7 +24 V DC
10 nF
T T
Motor Motor
Alternative 2: At the motor end, the cable shield should be earthed through a 10 nF
capacitor. If this is not possible, the shield is to be left unconnected.
Stall function
The drive protects the motor upon a stall situation. It is possible to adjust the
supervision limits (torque, frequency, time) and choose how the drive reacts to a
motor stall condition (warning indication; fault indication & stop; no reaction).
The protection is activated if all the following conditions are fulfilled at the same
time:
• The drive output frequency is below the Stall Frequency limit set by the user.
• The motor torque has risen to the maximum allowed value (the value Tm.a in the
figure) calculated by the drive application program. This limit is continuously
changing depending on variables such as the motor temperature calculated by
the frequency converter software.
• Conditions 1 and 2 have been fulfilled longer than the period set by the user
(Stall Time Limit).
An alarm or fault function can be selected by Parameter 30.13 STALL FUNCTION.
If FAULT is selected, a stall situation produces a fault “MOTOR STALL” and sets
9.02 FAULT WORD 2 bit 14 to 1. If WARNING is selected, a stall situation
produces a warning “MOTOR STALL” and sets 9.05 ALARM WORD 2 bit 9 to 1.
Torque
Stall region
Tm.a
f(Hz)
Stall
Frequency
Figure 24. Stall protection area
Fault tracing
136
The loss of motor load may indicate a process malfunction.

The drive provides an Underload Function to protect the machinery and process in
such a fault condition. The supervision limits (Underload Curve and Underload
Time) can be chosen as well as the drive operation in an underload condition
(warning indication; fault indication & stop; no reaction).
The protection is activated if all the following conditions are fulfilled at the same
time:
• The motor load is below the Underload Curve selected by the user.
• The motor load has been below the selected Underload Curve longer than the
time set by the user (Underload Time).
• The drive output frequency is more than 10% of the motor nominal frequency.
An alarm or fault function can be selected by Parameter 30.16 UNDERLOAD
FUNC. If FAULT is selected, an underload situation produces a fault
“UNDERLOAD” and sets 9.01 FAULT WORD 1 bit 8 to 1. If WARNING is
selected, an underload situation produces a warning “UNDERLOAD” and sets 9.05
ALARM WORD 2 bit 1 to 1.
Motor phase loss function

The Motor Phase Loss function monitors the status of the motor cable connections.
The function is most useful during motor start. The drive detects if any of the motor
phases have not been connected and refuses to start. The Phase Loss function
also supervises the motor connection status during normal operation.
The user can define the operation upon motor phase loss. The alternatives are
either a fault indication and Stop, or no reaction.
The fault indication is “MOTOR PHASE”. 9.02 FAULT WORD 2 bit 15 is
simultaneously set to a 1.
The Earth Fault protection detects earth faults in the motor, the motor cable or the
inverter. The Earth Fault protection is based on earth leakage current measurement
with a summation current transformer at the input of the converter. Depending on
the user’s selection, the Earth Fault function stops the drive and gives a fault
indication, or the drive continues operation and gives an alarm.
A fault function can be selected by selecting FAULT at parameter 30.20 EARTH
FAULT. In case of fault, “EARTH FAULT” is indicated and 9.01 FAULT WORD 1
bit 4 is set to 1. If NO is selected, an alarm “EARTH FAULT” is given and 9.04
ALARM WORD 1 bit 14 is set to 1.
Fault tracing
137
Fault and alarm messages
Fault message table

FAULT MESSAGES (in alphabetical order)
Alarm / Fault Text Cause What to do
ACS800 TEMP Drive IGBT temperature is Check ambient conditions.
(4210) excessive. Fault trip limit is 100%. Check air flow and fan operation.
Check heatsink fins for dust pick-up.
9.01 FW_1, bit 3
Check motor power against unit power.
CABIN TEMP F Cabinet over- or undertemperature Boost the cooling of air.
9.02 FW_2, bit 7 detected on the RMIO board
(thermistor). Environment
temperature is too high (>73°C).
COMM MODULE Cyclical communication between Check the optical fibres between the RMIO
(7510) drive and master is lost. (See board and overriding system (or fieldbus
parameters 30.26, 30.28 and 70.04.) adapter). Test with new optical fibres.
9.02 FW_2, bit 12
Check that the node address is correct in the
drive.
Check the status of the fieldbus adapter. See
appropriate fieldbus adapter manual.
Check parameter settings of Group 51, if a
fieldbus adapter is present.
Check the connections between the fieldbus
and the adapter.
Check that the bus master is communicating
and correctly configured.
CH2 COM LOS Communication break detected on Check the optical fibres between the RMIO
9.01 FW_1, bit 11 CH2 receive. boards.
(Programmable fault or alarm, see Check that the optical fibre loop is closed.
parameter 70.13) Test with new optical fibres.
DC BUS LIM Drive limits torque due to too high or Informative alarm
(3211) too low intermediate circuit DC Check Fault function parameters.
voltage.
(programmable
Alarm Function
30.29)
DC OVERVOLT Intermediate circuit DC voltage is Check the functioning of the braking chopper.
(3210) excessive. This can be caused by If using a regenerative incoming section check,
Static or transient overvoltages in the that the diode mode is not forced during
9.01 FW_1, bit 2
mains. deceleration.
Faulty braking chopper or resistor (if Check the level of DC voltage and inverter
used). nominal voltage.
Deceleration time being too short, if Replace the NINT-xx board (its voltage
there is no braking chopper or measurement circuit is faulty).
regenerative incoming section.
Internal fault in the inverter unit.
Fault tracing
138

DC UNDERVOLT Intermediate circuit DC voltage is not Checks mains supply and inverter fuses.
(3220) sufficient. This can be caused by a If Standard HW is used, check that digital input
missing mains phase in the diode DI2 is on 1, when the inverter is powered.
9.02 FW_2, bit 2
rectifying bridge.
DDF FORMAT File error in FLASH memory. Replace the RMIO board.
9.03 SFW, bit 3
EARTH FAULT The load on the incoming mains Check motor.
(2330) system is out of balance. This can be Check motor cable.
caused by a fault in the motor, motor Check that there are no power factor correction
9.01 FW_1, bit 4
cable or an internal malfunction. capacitors or surge absorbers in the motor
(programmable fault, see parameter cable.
30.20)
Tripping level setting is too sensitive
in the non parallel connected
R10i…R12i inverters.
ENCODER FLT Speed measurement fault detected. Check settings of parameter group 50.
9.02 FW_2 bit 5 This can be caused by loose cable Check pulse encoder and its cabling including
connection, communication time-out, Check A and B phasing. The sign of the signal
faulty pulse encoder, or too great a 1.03 SPEED MEASURED must be same as
difference between the internal and internal actual speed 1.02 MOTOR SPEED
measured actual speeds. when rotating the motor. If not, exchange
(programmable fault or alarm, see channels A and B.
parameter 50.05) Check fibre optic connection between the
RMIO board and the NTAC-0x module.
Check the proper earthing of equipment.
Check for highly emissive components nearby.
FACTORY FILE Factory macro parameter file error. Replace the RMIO board.
9.03 SFW bit 0
FLT (xx) There is an internal fault in the Check for loose connections inside of drive
8.01 MSW bit 3 drive. cabinet. Write down the Fault code (in
brackets). Contact ABB Service.
ID RUN FLT Motor ID Run not possible due to the Check that no overriding system is connected
8.01 MSW bit 3 limits or locked rotor. to the drive. Switch off the auxiliary voltage
supply from the RMIO board and power up
again.
Check the parameter values in Group 20. -
Check that no limits prevent the ID Run.
Restore factory settings and try again.
Check the motor shaft is not locked.
INV CUR LIM Drive limits inverter current. Informative alarm
(2212) See signal 08.06 LIMIT WORD INV for current
(programmable and power limits.
Alarm Function Check Fault function parameters.
30.29)
Fault tracing
139

INV DISABLED Optional DC switch has opened Close DC switch.
(3200) while unit was stopped. Check AFSC-0X Fuse Switch Controller unit.
Optional DC switch has opened
while unit was running or start
command was given
IO FAULT I/O communication fault or error Check for loose connections.

9.02 FW_2 bit 6 detected. This can be caused by a Test with new fibre optic cables.
fault in the I/O unit, a fibre optic Check the identification numbers of old
cable connection problem or extension I/O modules.
incorrect module identification If the fault is still active, replace the I/O
number (if old I/O extension modules board/extension unit(s).
are present).
KLIXON Motor 1 or 2 overtemperature fault. A Check motor ratings and load.
9.01 FW_1 bit 5 thermal switch or thermistor Check cable.
connected to DI6 has opened. Check thermistor (only to DI6 of NIOC-01) or
Also PTC thermistor connected to thermal switch connections to digital inputs. If
DI6 of RMIO detects motor the resistance of the thermistor is over 4 kΩ,
overtemperature. real overtemperature occurs in the motor. Wait
until motor has cooled. The state of DI6 returns
back to 1 when the resistance of the thermistor
is between 0…1.5 kΩ.
Replace the I/O board if the voltage in the
selected KLIXON digital input is correct, but
the state of DI6 is 0 in 1.15 D17-1 STATUS or
8.03 DI STATUS WORD.
MOT CUR LIM Drive limits motor current according Informative alarm
(2300) to current limit defined by parameter Check parameter 20.04 MAXIMUM CURRENT
20.04 MAXIMUM CURRENT. settings.
(programmable
Check Fault function parameters.
Alarm Function
30.29)
MOT POW LIM Drive limits motor power according to Informative alarm
(FF86) limits defined by parameter 20.05 Check parameter 20.05 MAXIMUM TORQUE
and 20.06. and 20.06 MINIMUM TORQUE settings.
(Programmable
Alarm Function Check Fault function parameters.
30.29)
MOT TEMP Motor 1 or 2 overtemperature fault. Check motor ratings, load and cooling.
(4310) (PT100 or PTC measurement to Check start-up data.
analogue I/O). Motor temperature Check MOTOR TEMP Fault Function
9.01 FW_1 bit 5
has exceeded the tripping level. parameters.
(Programmable fault or alarm, see
parameter 30.02)
Fault tracing
140

MOT TORQ LIM Drive limits motor torque according Informative alarm
(FF85) to calculated motor pull-out torque Check parameter 20.05 MAXIMUM TORQUE
limit and minimum and maximum and 20.06 MINIMUM TORQUE settings.
(programmable
torque limits defined by parameters Check Fault function parameters.
Alarm Function
20.05 and 20.06.
30.29) If LIMIT WORD 1 bit 0 TORQ MOTOR LIM is
1,
- check motor parameter settings (parameter
group 99 START-UP DATA)
- ensure that ID run has been completed
successfully.
Check setting of Fault function parameter

30.29.
MOTOR PHASE Fault in the motor circuit. One of the Check motor and motor cable. If the motor is
(FF56) motor phases is lost. This can be disconnected, this fault is activated.
caused by a fault in the motor, the Check thermal relay (if used).
9.02 FW_2 bit 15
motor cable, a thermal relay (if Check MOTOR PHASE Fault Function
used), or an internal fault. parameters. Disable this protection.
(Programmable fault or alarm, see If the cable and motor is ok, this fault can
parameter 30.19). appear with small motors (<30 kW) in low
speed. Deactivate protection in this case.
MOTOR STALL Motor or process stall. Motor is Check motor load and the ACx800 ratings.
(7121) operating in the stall region. This can Check MOTOR STALL Fault Function
be caused by excessive load or parameters (30.13…30.15).
9.02 FW_2 bit 14
insufficient motor power.
parameter 30.13)
MOTOR TEMP Overtemperature fault (thermal Check motor ratings, load and cooling. Check
(4310) model). Temperature has exceeded start-up data. Check MOTOR TEMP Fault
the tripping level of the thermal Function parameters.
9.01 FW_1 bit 6
model.
parameter 30.02)
NVOS ERROR Non-volatile operating system error. Replace the RMIO board.
9.03 SFW bit 2
OVER SWFREQ Over switching frequency fault. Replace the RMIO board.
(FF55) This may be due to a hardware fault Replace the NINT board.
in the electronics boards. On units with parallel connected inverters,
9.02 FW_2 bit 9
replace the NPBU board.
Fault tracing
141

OVERCURRENT Overcurrent has been detected. If the drive tripped during flying start, check
(2310) that parameter 21.01 START FUNCTION is set
to AUTO. (Other modes do not support flying
9.01 FW_1 bit 1
start).
Check motor load.
Check acceleration time.
Check motor and motor cable (including
phasing).
Check the pulse encoder and pulse encoder
cable.
Check there are no power factor correction
capacitors or surge absorbers in the motor
cable.
Check the nominal motor values from Group
99 to confirm that the motor model is correct.
OVERFREQ Motor is turning faster than the Check the minimum and maximum speed
(7123) highest allowed speed. This can be settings.
caused by an incorrect setting of Check the adequacy of motor braking torque.
9.01 FW_1 bit 9
parameters, insufficient braking Check the applicability of torque control.
torque or changes in the load when Check the need for a Braking Chopper and
using torque reference. Braking Resistor if the drive has a Diode
Supply Unit DSU.
Check parameter 20.11 FREQ TRIP MARGIN.
PANEL LOST A Local Control device (CDP 312R Check Control Panel connector. Replace
9.02 FW_2 bit 13 or DriveWindow) has ceased Control Panel in the mounting platform. Check
communicating. This can be caused PANEL LOST Fault Function parameters.
by the disconnection of the selected
local control device during local
control or an internal fault in the local
controlling device.
(programmable fault or alarm, see
parameter 30.21)
PPCC LINK Main circuit interface board current Check the fibre optic cables connected
(5210) measurement or communication fault between the RMIO and Main circuit interface
between the RMIO and Main circuit boards. In parallel connected inverters, also
9.02 FW_2 bit 11
interface boards. check the cabling on the NPBU-xx board.
If the fault is still active, replace the NPBU
board (only with parallel connected inverters),
RMIO and NINT board (in this order) until the
fault disappears.
Test with new fibre optic cables in the PPCC
link.
RUN DISABLD External interlocking (DI2=0) circuit Check the circuit connected to digital input DI2.
(FF54) is open. There is a fault in the
external devices.
9.02 FW_2 bit 4
Fault tracing
142

SC (INU 1) Short Circuit in (parallel connected) Short circuit detected in parallel connected
9.01 FW_1 bit 12 inverter unit 1 inverter unit 1. Check the optic fibre connection
from the NPBU-xx board channel CH1 (INT1)
to the inverter.
Check the motor and motor cable.
Check all power plates in inverter unit 1.
If a faulty power plate is detected, replace the
whole phase module by another.
SC (INU 2) Short Circuit in (parallel connected) Short circuit detected in the parallel connected
to the inverter.
to the inverter.
to the inverter.
SHORT CIRC Short circuit has been detected. The Check the motor and motor cable.
(2340) output current is excessive. Measure the resistances of the power plate(s).
9.01 FW_1 bit 0
power plate and the main circuit interface band
NGDR boards or the whole inverter phase
module.
Check that the prevention of unexpected start-
up circuit has not opened during the run.
SUPPLY PHASE Ripple voltage in the DC link is too Check for mains supply imbalance.
(3130) high. This can be caused by a Check the mains fuses.
missing mains phase in the diode
9.02 FW_2 bit 0
rectifier bridge, or DC voltage
oscillation by a thyristor rectifying
bridge (if used in the incoming
section).
Fault tracing
143

UNDERLOAD Process underload situation Check the driven equipment.
(FF6A) detected. Motor load is too low. This Check UNDERLOAD Fault Function
can be caused by a release parameters.
9.01 FW_1 bit 8
mechanism in the driven equipment.
parameter 30.16.)
USER MACRO User Macro parameter file error. Create the User Macro again.
(FFA1) There is no User Macro saved or the
file is defective.
9.03 SFW bit 1
Fault tracing
144
Alarm messages table

ALARM MESSAGES (in alphabetical order)
Alarm Message Cause Action
ACS 800 TEMP Power plate overtemperature alarm. The Check ambient conditions. Check
9.04 AW_1 bit 4 ACS800 internal temperature is airflow and fan operation. Check
excessive. heatsink fins for dust pick-up. Check
motor power against unit power.
AIO ALARM Analogue I/O error detected on the RMIO Check connections.
9.04 AW_1 bit 8 board.
ALM (xx) There is an internal alarm in the Check for loose connections inside of
8.01 MSW bit 7 drive. drive cabinet. Write down the Alarm
code (in brackets). Contact ABB
Service.
COMM MODULE Communication break detected Check the fibre optic cables between
9.05 AW_2 bit 11 (programmable fault, see parameter the RMIO board and the overriding
30.26, 30.28 and 70.04). . system (or fieldbus adapter). Test with
new fibre optic cables on CH0.
Check that the node address is correct
for the drive.
Check the status of the fieldbus adapter.

See appropriate fieldbus adapter
manual.
Check parameter settings of Group 51

in case of FBA module and connections
between control system and adapter
module.
Check if the bus master is not
communicating or configured.
CH2 COM LOS Communication break detected on CH2 Check the fibre optic cables on CH2
9.04 AW_1 bit 11 receive. between the RMIO boards. Check that
(programmable fault or alarm; see the fibre optic loop is closed. Test with
parameter 70.13) new fibre optic cables on CH2.
Check that there is one master drive
and the remainder are followers in the
M/F link. See parameter 70.08 CH2 M/F
MODE.
DIO ALARM Digital input malfunction detected. Check connections.
9.04 AW_1 bit 7
EARTH FAULT The load on the incoming mains system Check motor.
9.04 AW_1 bit 14 is out of balance. This can be caused by Check motor cable.
a fault in the motor, motor cable or an Check that there are no power factor
internal malfunction. correction capacitors or surge absorbers
(programmable fault or alarm; see in the motor cable.
parameter 30.20)
Fault tracing
145

EM STOP Emergency Stop has been activated Emergency stop push buttons must be
9.04 AW_1 bit 1 either by digital input DI7 (= 0) or MAIN returned to their normal position after
CONTROL WORD 7.01 bit 2 (= 0). the emergency stop situation is over.
Check that the overriding system keeps
sending the MAIN CONTROL WORD to
drive. See bit 2 of MCW.
To get drive to ready status, the MCW
bit 0 must be set to state FALSE and
back to TRUE.
ENCODER ERR Speed measurement alarm detected. Check settings of parameter group 50.
9.04 AW_1 bit 5 This can be caused by a loose cable Check the pulse encoder and its cabling
connection or faulty pulse encoder. (including CH A and CH B phasing).
(programmable fault or alarm, see The sign of signal 1.03 SPEED
parameter 50.05) MEASURED must be the same as
internal actual speed 1.02 SPEED
ESTIMATED. If it is not, reverse the
channels A and B.
Check fibre optic connection between
the RMIO board and the NTAC-0x
module.
Check the proper earthing of equipment.
Check for highly emissive components
nearby.
EXT AIO ALM Analogue I/O error detected in the If the alarm is continuously active,
9.04 AW_1 bit 10 Extension module. replace the module.
EXT DIO ALM Digital I/O error detected in the Extension If the alarm is continuously active,
9.04 AW_1 bit 9 module. replace the module.
MOT TEMP Motor 1 or 2 overtemperature alarm Check motor ratings and load. Check
9.04 AW_1 bit 2 (PT100 or PTC measurement to start-up data. Check PT100 or
Analogue I/O) thermistor connections for AI and AO of
(programmable fault or alarm; see the RMIO board or extension module
parameter (30.01, 30.03...30.05) according to the hardware configuration.
Check the DIP switches and selection of
parameter 98.06 AIO EXT MODULE 1,
if a NAIO-0x extension module is used
for temperature measurement.
MOTOR STALL Motor or process stall. Motor operating in Check motor load and the ACx800
9.05 AW_2 bit 9 the stall region. This can be caused by ratings. Check MOTOR STALL Fault
excessive load or insufficient motor Function parameters.
power.
(programmable fault or alarm; see
parameter 30.13)
MOTOR STARTS Motor ID Run has been selected and the Wait until the Motor ID Run is complete.
drive started in the Local control mode.
Fault tracing
146

MOTOR TEMP Overtemperature alarm (thermal model). Check motor ratings, load and cooling. If
9.04 AW_1 bit 3 Temperature has exceeded the alarm USER MODE is selected, check that
level of the thermal model. parameters 30.09…30.12 are set
(programmable fault or alarm; see correctly.
parameter 30.02)
NO MOTOR DATA Motor data is not given or motor data Check the motor data given by
9.02 FW_2 bit 1 does not match with inverter data. parameters 99.02…99.06.
PANEL LOST A Local Control device (CDP 312R or Check Control Panel connector.
9.05 AW_2 bit 13 DriveWindow) has ceased Replace Control Panel in the mounting
communicating. This can be caused by platform. Check PANEL LOST Fault
the disconnection of the selected local Function parameters.
control device during local control or an
internal fault in the local controlling
device.
parameter 30.21)
POWDOWN FILE Error in restoring powerdown.ddf file If the alarm keeps reappearing, replace
9.05 AW_2 bit 8 the RMIO board.
POWFAIL FILE Error in restoring powerfail.ddf file. If the alarm keeps reappearing, replace
9.05 AW_2 bit 7 the RMIO board.
START INHIBI Prevention of unexpected Start-Up has The Operator must close the prevention
9.04 AW_1 bit 0 been activated from the hardware of unexpected start-up switch.
typically by operator for equipment If the switch is closed and the alarm is
maintenance. still active, check that the “Power On”
LED is lit on the NGPS board. If the
LED is off but there is a voltage at the
input terminals of the NGPS, replace the
board.
T MEAS ALM Motor temperature measurement circuit Check the motor temperature sensor
9.04 AW_1 bit 6 is faulty. This can be caused by a broken connections.
temperature sensor or cable.
UNDERLOAD Process underload situation detected. Check for a problem in the driven
9.05 AW_2 bit 1 Motor load is too low. This can be equipment. Check UNDERLOAD Fault
caused by a release mechanism in the Function parameters.
driven equipment.
(programmable fault or alarm; see
parameter 30.16)
Fault tracing
147
Other messages
OTHER MESSAGES (in alphabetical order)
ID DONE Drive has performed the identification -
magnetisation and is ready to start.
ID MAGN Drive is performing identification Please wait 20 to 60 seconds.
magnetisation.
ID MAGN REQ Drive is ready to start identification This warning belongs to the normal
magnetisation. start-up procedure. Press PAR and
check parameter 99.07.
ID N CHANGED Modbus ID number of the drive has been To change the Modbus ID number
changed from 1 in Drive Selection Mode back to 1, go to Drive Selection Mode
of CDP 312R panel (the change is not by pressing DRIVE. Press ENTER.
shown on the display). Set the ID number to 1. Press
ENTER.
MACRO CHANGE A Macro is being restored or a user Please wait.
Macro is being saved.
NO COMMUNICATION Control Panel CDP 312R message. Check the fibre optic cable
The selected drive is not present on the connections in the I/O-link.
link. The link does not work because of a
hardware malfunction or problem in the
cabling.
SWC ON INHIB Drive is in the ON INHIBIT state. See Set MAIN CONTROL WORD bit 0 first
8.01 MSW bit 6 ABB Drives communication profile to 0, then back to 1 to proceed into the
description. next state.
Fault tracing
3AFE64616340 REV D / EN
EFFECTIVE: 08.05.2006
ABB Oy ABB Inc. ABB Beijing Drive Systems Co. Ltd.

AC Drives Automation Technologies No. 1, Block D, A-10 Jiuxianqiao Beilu
P.O. Box 184 Drives & Motors Chaoyang District
FI-00381 HELSINKI 16250 West Glendale Drive Beijing, P.R. China, 100015
FINLAND New Berlin, WI 53151 Telephone +86 10 5821 7788
Telephone +358 10 22 11 USA Fax +86 10 5821 7618
Fax +358 10 22 22681 Telephone 262 785-3200 Internet http://www.abb.com
Internet http://www.abb.com 800-HELP-365
Fax 262 780-5135

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ACS800

Code: 3AFE64616340 REV D

© 2006 ABB Oy. All rights reserved.

Introduction to this manual ..............................................................................................................9

Overview of ACS800 programming ...............................................................................................11

Commissioning; ACS800 SingleDrive...........................................................................................15

Commissioning and supporting tools on channel CH3......................................................................26

Group 15 Analogue outputs ..............................................................................................................71

Overview of the CDP 312R control panel....................................................................................115

Fault tracing ...................................................................................................................................129

Introduction to this manual

Before you start

What this manual contains

Introduction to this manual

Introduction to this manual

Overview of ACS800 programming

Overview of ACS800 programming

Overview of ACS800 programming

TORQ REF 2 ACT2

Figure 1. Speed reference chain

CH2 Dataset 41 24.12 DERIVATION TIME m oto r freq

Overview of ACS800 programming

M/F link TORQUE REF C 2.20 14.05 DO2 BIT NUMBER

OSCILLATION 14.06 DO3 GROUP+INDEX

26.06 OSCILLATION PHASE 26.02 TORQ REF5 INVERT AO1

Overview of ACS800 programming

I/O TORQUE TREF TORQ MIN TO RQ REF SEL

B 25.04 TREF TORQ MAX LIM 8.03 bit 8 SCALE AO2

SPEED CONTROLLER OUTPUT + 15.1 6 ANALOGUE OUTPUT 4

15.1 8 MINIMUM AO4 AO4

DC-VOLTAGE POWER LIMIT

TORQUE LIMIT 15.2 0 SCALE AO 4

Figure 2. Torque and Flux control chain

FLUX CONTROL CHAIN

Commissioning; ACS800 SingleDrive

Commissioning procedure using the control panel

Commissioning; ACS800 SingleDrive

3 - COMMISSIONING DATA ENTERING (parameter group 99)

• Press or to scroll parameters within the parameter group.

Enter the motor data from the motor nameplate.

6312/C3 6210/C3 180 kg

Commissioning; ACS800 SingleDrive

See the Firmware Manual for the ID Run procedure.

4 - IDENTIFICATION MAGNETISATION with motor ID run selection NO

Commissioning; ACS800 SingleDrive

5 - ROTATION DIRECTION OF THE MOTOR

• Press (Start) to start the motor.

• Stop the motor by pressing .

• To change the rotation direction of the motor:

6 - SPEED LIMITS AND ACCELERATION/DECELERATION TIMES

Commissioning; ACS800 SingleDrive

7 - STARTING THE DRIVE THROUGH THE I/O INTERFACE

Drive starts. The motor is accelerated to a speed determined by the voltage

Commissioning; ACS800 SingleDrive

Commissioning; ACS800 SingleDrive

Figure 3. Block diagram of the direct torque control method

Application program identification

Reduced run function

Emergency stop modes

Action if the motor is stopped

Action if the motor is running

RDCO DDCS link board

Figure 4. DDCS channels.