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Altivar 31
High performance
instinctively!
Catalogue
October
03
b Presentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . pages 2 to 9
b Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .pages 10 to 13
b References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . pages 14 to 17
b Options
v Braking resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . pages 18 and 19
v Line chokes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . pages 20 and 21
v Additional EMC input filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . pages 22 and 23
v Output filters and motor chokes . . . . . . . . . . . . . . . . . . . . . . . . . pages 24 and 25
v Communication options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . pages 26 and 27
b Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . pages 44 to 59
1
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Variable speed drives
for asynchronous motors 0
Altivar 31
ESC
ENT
stop
reset
FWO
RUN
REV
3
2 4
1
2
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Variable speed drives
for asynchronous motors 0
Altivar 31
Applications
The Altivar 31 drive is a frequency inverter for 3-phase squirrel cage asynchronous
motors. The Altivar 31 is robust, compact, easy to use and conforms to EN 50178,
IEC/EN 61800-2, IEC/EN 61800-3 standards, UL/CSA certification and to
e marking.
It incorporates functions that are suitable for the most common applications,
including:
b Materials handling (small conveyors, hoists, etc),
b Packing and packaging machines,
b Specialist machines (mixers, kneaders, textile machines, etc.),
b Pumps, compressors, fans.
Altivar 31 drives communicate on Modbus and CANopen industrial buses. These two
protocols are integrated as standard into the drive.
Altivar 31 drives are supplied with a heatsink for normal environments and ventilated
enclosures. Multiple units can be mounted side by side 3 to save space.
Drives are available for motor ratings between 0.18 kW and 15 kW, with four types
of power supply:
b 200 V to 240 V single phase, 0.18 kW to 2.2 kW
b 200 V to 240 V 3-phase, 0.18 kW to 15 kW
b 380 V to 500 V 3-phase, 0.37 kW to 15 kW
b 525 V to 600 V 3-phase, 0.75 kW to 15 kW
Functions
The Altivar 31 drive has six logic inputs, three analog inputs, one logic/analog output
and two relay outputs.
The main functions integrated in the drive are as follows:
b Motor and drive protection
b Linear, S, U and customised acceleration and deceleration ramps
b +/- speed
b 16 preset speeds
b PI references and regulator
b 2-wire/3-wire control
b Brake sequence
b Automatic catching a spinning load with speed detection and automatic restart
b Fault configuration and stop type configuration
b Saving the configuration in the drive
Several functions can be assigned to one logic input.
Various dialogue and communication options 4, 5, 6, 7 can be used with the drive,
see pages 7 and 8.
3
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for asynchronous motors 0
Altivar 31
Enclosed drive
ESC
ENT
stop
reset
FWO
RUN
REV
3
1
4
Presentation (continued) 0
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for asynchronous motors 0
Altivar 31
Enclosed drive
Applications
The enclosed Altivar 31 drive is suitable for applications requiring:
- IP 55 degree of protection in a hostile environment
- a drive that is ready for use in a motor starter
Once it has been customised, the enclosure can be installed next to the motor.
Enclosed drives are available in power ratings from 0.18 kW to 4 kW.
There are two types of power supply:
b 200 V to 240 V single phase, 0.18 kW and 2.2 kW
b 380 V to 500 V 3-phase, 0.37 kW and 4 kW
The combinations (drive, circuit-breaker, contactor) required for the motor starter
function can be found on pages 40 and 41.
Example references:
7 - 3-pole Vario switch disconnector (Vpp + KCp 1pZ)
- Selector switch with 3 fixed positions XB5 D33
- LED XB5 AVpp
- 2.2 kOhm potentiometer
These references can be found in our specialist catalogues.
All components must be ordered separately and wired by the customer.
9
Electromagnetic compatibility EMC
The incorporation of level A EMC filters (conducted and radiated) in ATV 31CppM2
and ATV 31CppN4 drives simplifies the installation of machines and provides an
economical means of meeting e marking requirements.
10
Options and accessories
The following options and accessories can be used with the enclosed Altivar 31
drive:
b Braking resistors
b Line chokes
b RJ45 connector with IP 55 cable
Various dialogue and communication options 2, 3, 4, 5 can be used with the drive,
see pages 7 and 8.
5
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Altivar 31
Drive kit
4 3 2 5
ESC
ENT
stop
reset
FWO
RUN
REV
2
10
11
12
8 7 4 3 6
6
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for asynchronous motors 0
Altivar 31
Drive kit
Applications
The drive kit is a new addition to the Altivar 31 drives range.
The drive kit comprises:
b Altivar 31 drive elements (heatsink, power and control subassemblies)
b EMC filter
b Mechanical fittings
b Seals required for use in difficult environments (IP 55)
The kit is mounted on a metal fixing support with no flange or protective cover.
The Altivar 31 drive kit can be built into a floor-standing or wall-mounted enclosure
or a machine frame.
The drive kit is available for power ratings from 0.18 kW to 15 kW.
There are two types of power supply:
b 200 V to 240 V single phase, 0.18 kW to 2.2 kW
b 380 V to 500 V 3-phase, 0.37 kW to 15 kW
Description
Various dialogue and communication options 9, 10, 11, 12 can be used with the
drive, see pages 7 and 8.
7
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Altivar 31
Dialogue options
Remote terminal
It can be used:
b to control, adjust and configure the drive remotely
b for visible remote signalling
b to save and download configurations (4 configuration files can be saved)
Description
563220
1 Display
v Four 7-segment displays visible at 5 m
v Displays numeric values and codes
v The display flashes when a value is stored.
1
v The display flashes to indicate a fault on the drive.
ESC
2 Use of keys:
v Navigation arrows and ENT, ESC for settings and configurations
ENT 2 v FWD/REV key: reverses the direction of rotation of the motor
stop
reset v RUN key: motor run command
RUN
FWO
REV
v STOP/RESET key: motor stop command or drive fault reset
8
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Altivar 31
Communication options
Ethernet/Modbus bridge
The Altivar 31 can be connected to an Ethernet network via an Ethernet/Modbus
563016
bridge.
Ethernet communication is primarily intended for the following applications:
b Coordination between PLCs
b Local or centralised supervision
b Communication with production management software
174 CEV 300 10 b Communication with remote I/O
b Communication with industrial control products
Communication gateways
The Altivar 31 can connect to other communication buses by means of the following
gateways:
563017
b Fipio/Modbus,
b DeviceNet/Modbus
b Profibus DP/Modbus
LUF P1
563018
LA9 P307
9
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Altivar 31
Environment
Conformity to standards Altivar 31 drives have been developed to conform to the strictest international
standards and the recommendations relating to electrical industrial control devices
(IEC, EN), in particular:
low-voltage EN 50178, EMC immunity and EMC conducted and radiated emissions.
EMC immunity b IEC/EN 61000-4-2 level 3
b IEC/EN 61000-4-3 level 3
b IEC/EN 61000-4-4 level 4
b IEC/EN 61000-4-5 level 3 (power access)
b IEC/EN 61800-3, environments 1 and 2
EMC conducted and radiated emissions for drives
All b IEC/EN 61800-3, environments: 2 (industrial supply) and 1 (public supply)
restricted distribution
ATV 31H018M2...HU15M2, b EN 55011 class A group 1, EN 61800-3 category C2
ATV 31C018M2...CU15M2, With additional EMC filter:
ATV 31H037N4...HU40N4, b EN 55022 class B group 1, EN 61800-3 category C1
ATV 31C037N4...CU40N4
ATV 31HU22M2, ATV 31CU22M2, b EN 55011 class A group 2, EN 61800-3 category C3
ATV 31HU55N4...HD15N4. With additional EMC filter (1):
b EN 55022 class A group 1, EN 61800-3 category C2
b EN 55022 class B group 1, EN 61800-3 category C1
ATV 31H018M3X...HD15M3X, With additional EMC filter (1):
ATV 31H075S6X....HD15S6X b EN 55011 class A group 1, EN 61800-3 category C2
b EN 55022 class B group 1, EN 61800-3 category C1
e marking The drives bear e marking in accordance with the European low voltage (73/23/EEC
and 93/68/EEC) and EMC (89/336/EEC) directives
Product certification UL, CSA, NOM 117 and C-Tick
Degree of protection ATV 31HpppM2, ATV 31HpppN4, b IP 31 and IP 41 on upper part and IP 21 on connection terminals
ATV 31HpppM3X, ATV 31HpppS6X b IP 20 without cover plate on upper part of cover
ATV 31CpppM2, ATV 31CpppN4 b IP 55
Degree of pollution 2
Climatic treatment TC
Vibration resistance Drive without 5 rail option Conforming to IEC/EN 60068-2-6: 1.5 mm peak to peak from 3 to 13 Hz, 1 gn from 13
to 150 Hz
Shock resistance 15 gn for 11 ms conforming to IEC/EN 60068-2-27
Relative humidity % 5…95 without condensation or dripping water, conforming to IEC 60068-2-3
Ambient temperature Storage °C - 25…+ 70
around the unit Operation
ATV 31Hppp °C - 10…+ 50 without derating, with protective cover on top of the drive
- 10…+ 60 with derating, without protective cover on top of the drive (see derating
curves, page 36)
ATV 31Cppp, °C - 10…+ 40 without derating
ATV 31Kppp
Maximum operating altitude m 1000 without derating (above this, derate the current by 1% per additional 100 m)
Operating position
Maximum permanent angle in relation to the normal vertical
mounting position
Drive characteristics
Output frequency range Hz 0…500
Switching frequency kHz 2…16 adjustable during operation
Speed range 1…50
Transient overtorque 170-200% of nominal motor torque (typical value)
Braking torque With braking resistor 100% of nominal motor torque continuously and up to 150% for 60 s
Without braking resistor Value of nominal motor torque (typical value) according to ratings:
30% for > ATV 31pU15pp
50% for y ATV 31pU15pp
100% for y ATV 31p075pp
150% for y ATV 31p018M2
Maximum transient current 150% of the nominal drive current for 60 seconds (typical value)
Voltage/frequency ratio Sensorless flux vector control with PWM (pulse width modulation) type motor control
signal.
Factory-set for most constant torque applications.
Possible options: specific ratios for pumps and fans, energy saving or constant torque
U/f for special motors.
Frequency loop gain Factory-set with the speed loop stability and gain
Possible options for machines with high resistive torque or high inertia, or for machines
with fast cycles.
Slip compensation Automatic whatever the load. Can be suppressed or adjusted.
(1) See table on page 23 to check authorised cable lengths
10
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Altivar 31
Electrical characteristics
Power supply Voltage V 200 - 15% to 240 + 10% single phase for ATV 31ppppM2p
200 - 15% to 240 + 10% 3-phase for ATV 31ppppM3X
380 - 15% to 500 + 10% 3-phase for ATV 31ppppN4p
525 - 15% to 600 + 10% 3-phase for ATV 31ppppS6X
Frequency Hz 50 - 5% to 60 + 5%
11
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Altivar 31
12
Characteristics, Variable speed drives
special uses 0
for asynchronous motors 0
Altivar 31
1,75
1,7 Special uses
3
Use with a motor with a different rating to that of the drive
1,50
The device can supply any motor which has a power rating lower than that for which
1,25 it is designed.
For motor ratings slightly higher than that of the drive, check that the current taken
1 does not exceed the continuous output current of the drive.
0,95
2
0,75
Test on a low power motor or without a motor
1 4
0,50
In a testing or maintenance environment the drive can be checked without having to
switch to a motor with the same rating as the drive (particularly useful in the case of
0,25 high power drives). This use requires deactivation of motor phase loss detection.
KM1
Altivar 31 M
(1) For power ratings ≤ 250 W, motor derating is less important (20% instead of 50% at very low
frequencies).
(2) The nominal frequency of the motor and the maximum output frequency can be adjusted
between 40 and 500 Hz.
Note: Check the mechanical overspeed characteristics of the selected motor with the
manufacturer.
13
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Altivar 31
3-phase supply voltage: 200…240 V 50/60 Hz, without EMC filters (7)
0.18 0.25 2.1 1.9 0.7 5 1.5 2.3 23 ATV 31H018M3X (6) 1.300
0.37 0.5 3.8 3.3 1.3 5 3.3 5 38 ATV 31H037M3X (6) 1.300
0.55 0.75 4.9 4.2 1.7 5 3.7 5.6 43 ATV 31H055M3X (6) 1.300
531249
0.75 1 6.4 5.6 2.2 5 4.8 7.2 55 ATV 31H075M3X (6) 1.300
1.1 1.5 8.5 7.4 3 5 6.9 10.4 71 ATV 31HU11M3X (6) 1.700
1.5 2 11.1 9.6 3.8 5 8 12 86 ATV 31HU15M3X (6) 1.700
2.2 3 14.9 13 5.2 5 11 16.5 114 ATV 31HU22M3X (6) 1.700
ATV 31HU40M3X 3 – 19.1 16.6 6.6 5 13.7 20.6 146 ATV 31HU30M3X (6) 2.900
4 5 24.2 21.1 8.4 5 17.5 26.3 180 ATV 31HU40M3X (6) 2.900
5.5 7.5 36.8 32 12.8 22 27.5 41.3 292 ATV 31HU55M3X (6) 6.400
7.5 10 46.8 40.9 16.2 22 33 49.5 388 ATV 31HU75M3X (6) 6.400
11 15 63.5 55.6 22 22 54 81 477 ATV 31HD11M3X (6) 10.500
15 20 82.1 71.9 28.5 22 66 99 628 ATV 31HD15M3X (6) 10.500
3-phase supply voltage: 380…500 V 50/60 Hz, with integrated EMC filters
531250
0.37 0.5 2.2 1.7 1.5 5 1.5 2.3 32 ATV 31H037N4 (6) 1.800
0.55 0.75 2.8 2.2 1.8 5 1.9 2.9 37 ATV 31H055N4 (6) 1.800
0.75 1 3.6 2.7 2.4 5 2.3 3.5 41 ATV 31H075N4 (6) 1.800
1.1 1.5 4.9 3.7 3.2 5 3 4.5 48 ATV 31HU11N4 (6) 1.800
1.5 2 6.4 4.8 4.2 5 4.1 6.2 61 ATV 31HU15N4 (6) 1.800
2.2 3 8.9 6.7 5.9 5 5.5 8.3 79 ATV 31HU22N4 (6) 3.100
ATV 31HU75N4 3 – 10.9 8.3 7.1 5 7.1 10.7 125 ATV 31HU30N4 (6) 3.100
4 5 13.9 10.6 9.2 5 9.5 14.3 150 ATV 31HU40N4 (6) 3.100
5.5 7.5 21.9 16.5 15 22 14.3 21.5 232 ATV 31HU55N4 (6) 6.500
7.5 10 27.7 21 18 22 17 25.5 269 ATV 31HU75N4 (6) 6.500
11 15 37.2 28.4 25 22 27.7 41.6 397 ATV 31HD11N4 (6) 11.000
15 20 48.2 36.8 32 22 33 49.5 492 ATV 31HD15N4 (6) 11.000
531251
3-phase supply voltage: 525…600 V 50/60 Hz, without EMC filters (7)
0.75 1 8 2.4 2.5 5 1.7 2.6 36 ATV 31H075S6X 1.700
1.5 2 8 4.2 4.4 5 2.7 4.1 48 ATV 31HU15S6X 1.700
2.2 3 6.4 5.6 5.8 5 3.9 5.9 62 ATV 31HU22S6X 2.900
4 5 10.7 9.3 9.7 5 6.1 9.2 94 ATV 31HU40S6X 2.900
5.5 7.5 16.2 14.1 15 22 9 13.5 133 ATV 31HU55S6X 6.200
7.5 10 21.3 18.5 19 22 11 16.5 165 ATV 31HU75S6X 6.200
11 15 27.8 24.4 25 22 17 25.5 257 ATV 31HD11S6X 10.000
15 20 36.4 31.8 33 22 22 33 335 ATV 31HD15S6X 10.000
ATV 31HD15N4A
(1) These power ratings are for a maximum switching frequency of 4 kHz, in continuous operation. The switching frequency is
adjustable from 2 to 16 kHz.
Above 4 kHz derate the nominal drive current. The nominal motor current should not exceed this value: see derating curve on
page 38.
(2) Typical value for a 4-pole motor and a maximum switching frequency of 4 kHz, with no additional line choke, for the max.
prospective line current.
(3) Nominal supply voltages, min. U1, max. U2 (200-240 V; 380-500 V; 525-600 V).
(4) If line Isc is greater than the values in the table, add line chokes (see page 21).
(5) To order a drive intended for wire guiding applications, add a T to the end of the reference.
(6) The drive can also be ordered complete with potentiometer. In this case add the letter A to the reference for the drive you require
(e.g. ATV 31H018M2A).
(7) Optional EMC filter, see pages 22 and 23.
14
References (continued) 0
Variable speed drives
for asynchronous motors 0
Altivar 31
Enclosed drive
0.55 0.75 6.8 5.8 1.4 1 3.7 5.6 46 ATV 31C055M2 6.300
1.1 1.5 12.1 10.2 2.4 1 6.9 10.4 74 ATV 31CU11M2 8.800
0.55 0.75 2.8 2.2 1.8 5 1.9 2.9 37 ATV 31C055N4 8.800
(1) These power ratings are for a maximum switching frequency of 4 kHz, in continuous operation. The switching frequency is
adjustable from 2 to 16 kHz.
Above 4 kHz derate the nominal drive current. The nominal motor current should not exceed this value: see derating curve on page
38.
(2) Typical value for a 4-pole motor and a maximum switching frequency of 4 kHz, with no additional line choke, for the max.
prospective line current.
(3) If line Isc is greater than the values in the table, add line chokes (see page 21).
(4) To order a drive intended for wire guiding applications, add a T to the end of the reference.
(5) Nominal supply voltages, min. U1, max. U2 (200-240 V; 380-500 V).
15
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Variable speed drives
for asynchronous motors 0
Altivar 31
Drive kit
0.55 0.75 6.8 5.8 1.4 1 3.7 5.6 46 ATV 31K055M2 6.300
1.1 1.5 12.1 10.2 2.4 1 6.9 10.4 74 ATV 31KU11M2 8.800
0.55 0.75 2.8 2.2 1.8 5 1.9 2.9 37 ATV 31K055N4 8.800
5.5 7.5 21.9 16.5 15 22 14.3 21.5 232 ATV 31KU55N4 16.500
(1) These power ratings are for a maximum switching frequency of 4 kHz, in continuous operation. The switching frequency is
adjustable from 2 to 16 kHz.
Above 4 kHz derate the nominal drive current. The nominal motor current should not exceed this value: see derating curve on
page 38.
(2) Typical value for a 4-pole motor and a maximum switching frequency of 4 kHz, with no additional line choke, for the max.
prospective line current.
(3) If line Isc is greater than the values in the table, add line chokes (see page 21).
(4) To order a drive intended for wire guiding applications, add a T to the end of the reference.
(5) Nominal supply voltages, min. U1, max. U2 (200-240 V; 380-500 V).
16
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Altivar 31
Accessories
ENT
Documentation
stop
reset
Description Reference Weight
FWO
RUN kg
REV
17
Presentation, Variable speed drives
characteristics 0
for asynchronous motors 0
Altivar 31
Options: braking resistors
Presentation
The resistor enables the Altivar 31 drive to operate while braking to a standstill or in
braked operation, by dissipating the braking energy.
Two types of resistor are available:
- enclosed model (IP 30 enclosure) designed to comply with EMC regulations and
protected by a temperature-controlled switch or thermal relay
- non-protected model (IP00) for low power ratings only
They are designed for machine applications with high inertia, driving loads, machines
with fast cycles.
Characteristics
References VW3 A58702 to VW3 A58732 to VW3 A58736 and VW3 A66704
VW3 A58704 VW3 A58735 VW3 A58737
Ambient air temperature °C 40
Degree of protection of IP 00 IP 30 IP 23
enclosure
Resistor protection None By temperature-controlled switch (1) By thermal relay (2)
Temperature-controlled Trip temperature °C – 130 ± 5% 260 ± 14% –
switch Max. voltage - max. current – a 110 V - 0.3 A a 220 V - 6 A –
Min. voltage - min. current – c 24 V - 0.01 A –
Maximum contact resistance mΩ – 150 50 –
Load factor of resistors The value of the average power that can be dissipated by the resistor in the enclosure
at 40°C is determined for a braking load factor corresponding to the majority of
common applications:
- braking for 2 seconds with a torque of 0.6 Tn every 40 seconds
- braking for 0.8 second with a torque of 1.5 Tn every 40 seconds
Load factor of drives The internal circuits for drives used for braking on external resistors are sized for the
following cycles. If they are exceeded, the drive will lock and display a fault.
- 1.5 TN for 60 seconds per 140-second cycle
- TN continuously
(1) The contact must be connected in sequence (used for signalling or for controlling the line contactor).
(2) To be ordered separately, 8 A rating.
Load factor and determining the nominal power
Speed The value of the average power that can be dissipated by the resistor in the
enclosure at 40°C is determined for a braking load factor corresponding to the
majority of common applications. This load factor is defined above.
0 Time For a specific application (e.g. handling), the nominal resistor power has to be
t
T redefined by taking account of the new load factor.
t
Load factor: ---
T
t: braking time in s
T: cycle time in s
Chart 1 Chart 2
Graph of the average power as a function of the braking Permissible resistor overload as a function of time (characteristic curve).
torque for a load factor.
K1 K2
1 20
60% 18
40% 16
20% 14
0,1
10% 12
0,06
5% 10
8
2% 7
6
0,01
4
2
0 t (s)
1 10 100 1000
0,001
0,1 0,5 0,6 1 1,5 Tb/Tn
Example:
Motor of power Pm = 4 kW Use chart 2 to determine the coefficient K2 corresponding to a braking time of
Motor efficiency η = 0.85 10 seconds.
Braking torque Tb = 0.6 Tn K2 = 7
Braking time t = 10 s
Cycle time T = 50 s The nominal resistor power (Pn) must be greater than:
Load factor Lf = --Tt- = 20%
Pn = Pm × K1 × η æ 1 + -------------------ö = 4,10 × 0,06 × 0,85 æ 1 + -----------------ö = 350W
1 3 1
è K2 × Lfø è 7 × 0,2ø
Use chart 1 to determine the coefficient K1
corresponding to a braking torque of 0.6 Tn and a load
factor of 20%. K1 = 0.06
18
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Altivar 31
Options: braking resistors
ATV 31H/C/KU30N4, 55
ATV 31H/C/KU40N4 36
ATV 31HU22M3X, 25
ATV 31HU30M3X 16
ATV 31H/C/KU30N4, 55 100 40 35 VW3 A58734 2.000
ATV 31H/C/KU40N4 36
ATV 31H/KU55N4, 29 60 80 69 VW3 A58735 3.400
ATV 31H/KU75N4 19
ATV 31HU55S6X 34
ATV 31HU75S6X 23
ATV 31HU40M3X 16 28 200 173 VW3 A58736 5.100
ATV 31H/KD11N4, ATV 31H/KD15N4 20
ATV 31HD11S6X, ATV 31HD15S6X 24
ATV 31HU55M3X, ATV 31HU75M3X 8 14 400 346 VW3 A58737 6.100
ATV 31HD11M3X, ATV 31HD15M3X 5 10 1000 866 VW3 A66704 (3) 17.000
19
Presentation, Variable speed drives
characteristics 0
for asynchronous motors 0
Altivar 31
Options: line chokes
Presentation
These chokes provide improved protection against overvoltages on the line supply
and reduce harmonic distortion of the current produced by the drive.
The values of the chokes are defined for a voltage drop between 3% and 5% of the
nominal line voltage. Values higher than this will cause loss of torque.
The prospective short-circuit current at the point of connection of the drive must not
exceed the maximum value indicated in the tables of references. The use of line
chokes allows connection on the following networks:
- Max. Isc 22 kA for 200/240 V
- Max. Isc 65 kA for 380/500 V and 525/600 V
Type of line choke VZ1 L00 VZ1 L00 VZ1 L01 VW3 A6 VW3 A6 VW3 A6 VW3 A6 VW3 A6 VW3 A6
4M010 7UM50 8UM20 6501 6502 6503 6504 6505 6506
Characteristics
Conformity to standards EN 50178 (VDE 0160 level 1 high energy overvoltages on the line supply)
Voltage drop Between 3 and 5% of the nominal line voltage. Values higher than this will cause loss of torque.
Loss W 17 20 30 45 65 75 90 80 –
20
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Altivar 31
Options: line chokes
Altivar 31 Choke
Single phase Line current without Line current with Reference Weight
or choke choke
3-phase at U min. at U max. at U min. at U max.
A A A A kg
Single phase supply voltage: 200…240 V (1) 50/60 Hz
ATV 31H/C/K018M2 3.0 2.5 2.1 1.8 VZ1 L004M010 0.630
ATV 31H/C/K037M2 5.3 4.4 3.9 3.3
ATV 31H/C/K055M2 6.8 5.8 5.2 4.3 VZ1 L007UM50 0.880
ATV 31H/C/K075M2 8.9 7.5 7.0 5.9
ATV 31H/C/KU11M2 12.1 10.2 10.2 8.6 VZ1 L018UM20 1.990
ATV 31H/C/KU15M2 15.8 13.3 13.4 11.4
ATV 31H/C/KU22M2 21.9 18.4 19.2 16.1
803687
21
Presentation, Variable speed drives
characteristics 0
for asynchronous motors 0
Altivar 31
Options: additional EMC input filters
Presentation
Function
The Altivar 31 has built-in radio interference input filters to meet EMC "product"
standards for variable speed drives IEC/EN 61800-3 and to comply with the
European EMC (electromagnetic compatibility) directive.
The additional filters enable the drives to meet more stringent requirements: these
filters are designed to reduce conducted emissions on the line supply below the limits
of standards EN 55011 class A (1) or EN 55022 class B.
These additional filters are installed underneath ATV 31H drives. They can be
installed at the side of the product in the case of ATV 31C and K drives. They act as
supports for the drives and are fixed to them via tapped holes.
The standard IEC 61800-3, annex D2.1, indicates that on IT (impedance earthed or
isolated neutral) networks the filters can randomise the operation of insulation
monitors.
The efficiency of additional filters on this type of network also depends on the nature
of the impedance between neutral and earth and is therefore unpredictable.
Characteristics
Conformity to standards EN 133200
Maximum relative humidity 93% without condensation or dripping water conforming to IEC 68-2-3
22
References 0
Variable speed drives
for asynchronous motors 0
Altivar 31
Options: additional EMC input filters
23
Presentation, Variable speed drives
characteristics 0
for asynchronous motors 0
Altivar 31
Options: output filters and motor chokes
Presentation
By inserting an output filter between the drive and the motor, it is possible to:
b Limit the dv/dt at the motor terminals (500 to 1500 V/µs), for cables longer
than 50 m
b Filter interference caused by opening a contactor placed between the filter and
the motor
b Reduce the motor earth leakage current
When using a downstream contactor between the drive and the motor, ferrite
suppressors should be fitted to each motor cable for certain drive ratings supplied
with a single phase or 3-phase 200 V supply.
Principle
LR filter cell LC filter cell
This cell comprises 3 high frequency chokes and This cell comprises 3 high frequency chokes
3 resistors. and 3 capacitors.
LR filter LC filter
U1
U1
V1
Altivar 31
V1 M1 W1
Altivar 31
3
W1
C
C
Altivar 31 M1
3 M1
Altivar 31 Contactor
3
Characteristics (1)
LR filter cells LC filter cells Motor chokes
(2)
VW3 A5845p VW3 A6641p VW3 A6650p
Drive switching frequency kHz 0.5 ... 4 2 or 4 12 4
max.
Length of motor cable Shielded cables m y 100 y 100 y 50 y 100
Degree of protection IP 20 IP 00 IP 00 IP 20
(1) Filter performance is ensured if the cable lengths between the motor and the drive given in
the above table are not exceeded.
For an application with several motors connected in parallel, the cable length must include all
tap-offs. If a cable longer than that recommended is used, the filters may overheat.
(2) Please consult your Regional Sales Office for frequencies greater than 4 kHz or cables longer
than 100 m.
24
References 0
Variable speed drives
for asynchronous motors 0
Altivar 31
Options: output filters and motor chokes
LR filter cells
For drives Loss Nominal Reference Weight
521425
current
W A kg
ATV 31H/C/K018M2 150 10 VW3 A58451 7.400
ATV 31H/C/K037M2
ATV 31H/C/K055M2
ATV 31H/C/K075M2
ATV 31H/C/KU11M2
ATV 31H/C/KU15M2
ATV 31H018M3X
VW3 A58451 ATV 31H037M3X
ATV 31H055M3X
ATV 31H075M3X
ATV 31HU11M3X
ATV 31HU15M3X
ATV 31H/C/K037N4
ATV 31H/C/K055N4
ATV 31H/C/K075N4
ATV 31H/C/KU11N4
ATV 31H/C/KU15N4
ATV 31H/C/KU22N4
ATV 31H/C/KU30N4
ATV 31H/C/KU40N4
ATV 31H075S6X
ATV 31HU15S6X
ATV 31HU22S6X
ATV 31HU40S6X
ATV 31HU55S6X
ATV 31H/C/KU22M2 180 16 VW3 A58452 7.400
ATV 31HU22M3X
ATV 31HU30M3X
ATV 31H/KU55N4
ATV 31HU75S6X
ATV 31HU40M3X 220 33 VW3 A58453 12.500
ATV 31HU55M3X
ATV 31HU75M3X
ATV 31H/KU75N4
ATV 31HD11S6X
ATV 31HD15S6X
LC filter cells
For drives Reference Weight
kg
ATV 31HD11M3X VW3 A66412 3.500
ATV 31HD15M3X
Motor chokes
For drives Loss Nominal Reference Weight
current
W A kg
ATV 31H/C/KU22N4 65 10 VW3 A66502 3.000
ATV 31H/C/KU30N4
ATV 31H/C/KU40N4
ATV 31HU40S6X, ATV 31HU55S6X
ATV 31H/C/KU22M2, ATV 31HU22M3X 75 16 VW3 A66503 3.500
ATV 31HU30M3X, ATV 31H/KU55N4
ATV 31HU75S6X
ATV 31HU40M3X 90 30 VW3 A66504 6.000
ATV 31HU55M3X
ATV 31HU75M3X
ATV 31H/KU75N4
ATV 31H/KD11N4
ATV 31HD11S6X
ATV 31HD15S6X
ATV 31H/KD15N4 80 60 VW3 A66505 11.000
ATV 31HD11M3X – 100 VW3 A66506 16.000
ATV 31HD15M3X
Ferrite suppressors for downstream contactor opening
For drives Sold in lots Unit Weight
of reference kg
ATV 31H018M2 3 VW3 A31451 –
ATV 31H037M2, ATV 31H018M3 3 VW3 A31452 –
ATV 31H037M3
ATV 31H055M2, ATV 31H075M2 3 VW3 A31453 –
ATV 31HU11M2, ATV 31HU15M2
ATV 31H055M3, ATV 31H075M3
25
Presentation 0
Variable speed drives
for asynchronous motors 0
Altivar 31
Communication options
CANopen Modbus
Connections via splitter blocks and Connections via junction boxes
RJ45 connectors
1 1 1
2 2 3 4 6 4 6 5
2 5 3 4
3 3 3
5
4 4 4 4 4 6 7
1 1 1 To network
2 2 2 Communication modules
3 Cables VW3 A8 306 Rpp,
3 VW3 P07 306 R10 or
4 3 VW3 A8 306 D30, depending on the
ATV 31 type of module.
4 Modbus splitter block LU9 GC3
5 Modbus drop cables VW3 A8 306 Rpp
6 6 Line terminator VW3 A8 306 RC
5 5 5
ATV 31
26
References 0
Variable speed drives
for asynchronous motors 0
Altivar 31
Communication options
Modbus T-junction boxes With integrated cable (0.3 m) VW3 A8 306 TF03 –
Connecting cables
Description Length Connectors Reference Weight
m kg
Cables 0.3 m 2 RJ45 connectors VW3 CAN CA RR03 0.050
for CANopen 10 m 2 RJ45 connectors VW3 CAN CA RR1 0.500
bus
Cables for 3 1 RJ45 connector VW3 A8 306 D30 0.150
Modbus bus and one end stripped
3 1 RJ45 connector and 1 male VW3 A8 306 0.150
15-way SUB-D connector for
TSX SCA 62
0.3 2 RJ45 connectors VW3 A8 306 R03 0.050
Profibus DP/Modbus gateway VW3 P07 306 R10 LA9 P307 0.240
Parameters set using standard
Profibus DP configurator (3)
27
Presentation 0
PowerSuite software workshop 0
The PowerSuite software workshop, for PC or Pocket PC, is designed for setting up
Telemecanique starters and variable speed drives.
This single program is an easy-to-use interface for configuring Altistart and Tesys
531439
model U starters and all Altivar drives in a Microsoft Windows® environment in five
languages (English, French, German, Italian and Spanish).
Functions
The PowerSuite software workshop can be used for preparing, programming, setting
up and maintaining Telemecanique starters and variable speed drives.
It can be used:
b stand alone to prepare and store starter or drive configuration files
b connected to the starter or drive to:
v configure
v adjust
v monitor (except for Altivar 11 drives)
v control (except for Altivar 11 drives)
PowerSuite with PC screen v transfer and compare configuration files between PowerSuite and the starter or
Oscilloscope function
drive
The software associated with the Altivar 31 has been enhanced to include the
following new functions:
oscilloscope function, parameter name customization, configuration locking using a
password, creation of a user menu, etc.
Connections
Telemecanique starters and variable speed drives are equipped with a Modbus
RS485 terminal port (except for Altivar 68 drives).
b The PowerSuite software workshop can be connected directly to the terminal port
via the serial port on the PC or Pocket PC.
Two types of connection are possible:
- connection to a single starter or drive (point-to-point connection)
- connection to a set of starters or drives (multidrop connection)
b The PowerSuite for PC software workshop can also be connected to an Ethernet
network (Please consult our catalogue "Soft starters and variable speed drives). In
531440
b The PowerSuite for Pocket PC software workshop is compatible with Pocket PCs
equipped with a Windows for Pocket PC 2002 operating system and an ARM or XSCALE
PowerSuite with Pocket PC screen processor.
Performance tests for version V2.0.0 of the PowerSuite software workshop have
been carried out on the following Pocket PCs:
v Hewlett Packard® Jornada series 560
v Compaq® IPAQ series 3800 and 3900
28
PowerSuite software workshop 0
(1) To find out about the latest available version, please consult your Regional Sales Office.
Compatibility
Compatibility of the PowerSuite software workshop with the Controller Soft start/ Drives
starters and variable speed drives starter soft stop
unit
TeSys ATS 48 ATV 11 ATV28 ATV 31 ATV 38 ATV 58, ATV 68
model U ATV 58F
PowerSuite software workshop with serial link for PC
Kit and CD-ROM VW3 A8101, u V 1.40 u V 1.30 u V 1.40 u V 1.0 u V 2.0.0 u V 1.40 u V 1.0 u V 1.50
VW3 A8104,
VW3 A8105
29
Dimensions 0
Variable speed drives
for asynchronous motors 0
Altivar 31
5
2xØ5
121,5
145
2xM5 screw
18,5
ATV 31H c
018M3X, 037M3X 120
60 055M3X, 075M3X 130
50
8 (1) = =
018M2, 037M2 130
c 72
055M2, 075M2 140 M5 4xM4
(1) Only for drives whose reference ends in A.
ATV 31HUppM2/M2A, ATV 31HU1pM3X/M3XA to ATV 31HU4pM3X/M3XA, ATV 31H0ppN4/N4A to ATV 31HU40N4/N4A,
ATV 31H075S6X to ATV 31HU40S6X
Plate for EMC mounting
(supplied with the drive)
J
Ø
ATV 31H a b c d G H J K Ø
U1pM3X 105 143 130 49 93 121.5 5 16.5 2x5
H
b
U1pM2, U22M3X 105 143 150 49 93 121.5 5 16.5 2x5 2xM5 screw
037N4 to U15N4
U75S6X, U15S6X
K
d
c a U22N4 to U40N4
U22S6X, U40S6X M5 4xM4
(1) Only for drives whose reference ends in A.
ATV 31HU55M3X/M3XA, ATV 31HU75M3X/M3XA, ATV 31HU55N4/N4A, ATV 31HU75N4/N4A, ATV 31HU55S6X, ATV 31HU75S6X
Plate for EMC mounting
(supplied with the drive)
5
4xØ5
210
232
2xM5 screw
17
8 (1) = 160 =
75
170 180
4xM4 M5
(1) Only for drives whose reference ends in A.
ATV 31HD1pM3X/M3XA, ATV 31HD1pN4/N4A, ATV 31HD1pS6X
Plate for EMC mounting
(supplied with the drive)
4xØ6
7
329,5
295
2xM5 screw
75
8 (1) = 225 =
27,5
190 245
4xM4 M5
(1) Only for drives whose reference ends in A.
30
Dimensions 0
Variable speed drives
for asynchronous motors 0
Altivar 31
Enclosed drive
ATV 31C0ppM2
4xØ5,5
240
218
163 192
210
ATV 31CU11M2, ATV 31CU15M2, ATV 31C0ppN4, ATV 31CU11N4, ATV 31CU15N4
4xØ5,5
297
277
192 197
215
4xØ5,5
340
318
208 212
230
31
Dimensions 0
Variable speed drives
for asynchronous motors 0
Altivar 31
Drive kit
a a1 E
10
K
K
H
b
b1
H
c1 F
c G F 7xØ5,5
G
ATV 31K a a1 b b1 c c1 E F G H K
0ppM2 254 214 280 240 153 123 10 117 234 260 130
U1pM2, 0ppN4, U1pN4 250 219 337 297 186 127 1 115 230 317 158.5
U22M2, UppN4 265 234 380 340 209 134 1 122.5 245 360 180
Note: product supplied with drilling template.
c a
8xØ8
15
a2
35
H
K
K1
b1
b
J
E Ø
H
7
35
19 F F 19
30 G 30
15
a1
ATV 31K a a1 a2 b b1 c E F G H J K K1 Ø
U55N4, U75N4 400 340 334 600 444 343 12 155 250 49 500 180 0 12 x 6
D11N4, D15N4 450 370 386 700 546 267 13 180 280 39 600 150 180 14 x 6
Note: product supplied with drilling template.
32
Dimensions (continued) 0
Variable speed drives
for asynchronous motors 0
Altivar 31
144
37,9 77,5 40 105
(1)
b
(2)
VW3 ∆b
A31812 77
A31813 and A31814 107
A31815 138
A31816 179
A31817 244
(1) Drive
(2) Kit for VW3 A3181p
Remote terminal
VW3 A31101
Mounting
55,6
24
52
79,6
4xØ3,5 Ø36
33
Dimensions (continued) 0
Variable speed drives
for asynchronous motors 0
Altivar 31
154
170
195
212
30 = 40 =
60 36 6
= =
62
c a
8,75
7,5 = =
=
332
310
H
b
2xØ5
3xØ5,5
61 = =
=
85
= 77,5 =
VW3 a b c H
A58735 163 340 61 320
A58736, A58737 156 434 167 415
VW3 A66704
410 540
370
4xØ13
350 384
380 480
34
Dimensions (continued) 0
Variable speed drives
for asynchronous motors 0
Altivar 31
b
H G 8xØ
c a
H G
c G1
c1 a
VZ1 a b c G H Ø VW3 a b c c1 G G1 H Ø
L004M010 60 100 80 50 44 4x9 A66501 100 135 55 60 40 60 42 6x9
L007UM50 60 100 95 50 60 4x9 A66502 130 155 85 90 60 80.5 62 6 x 12
L018UM20 85 120 105 70 70 5 x 11 A66503 130 155 85 90 60 80.5 62 6 x 12
A66504 155 170 115 135 75 107 90 6 x 12
A66505 180 210 125 165 85 122 105 6 x 12
A66506 275 210 130 160 105 181 100 11 x 22
Ø Ø
b1
b
b
H
=
c = G = a c
a
VW3 a b b1 c G H Ø
A31401, A31402 72 185 – 50 60 121.5 2 x M4
A31403, A31404 105 185 – 60 93 121.5 2 x M4
A31405, A31406 140 225 – 60 126 157 4 x M4
A31407 180 275 – 60 160 210 4 x M4
A31408, A31409 245 365 – 60 295 225 4 x M5
4xØ
b
c Ø a
H
b
c G
a
VW3 a b c G H Ø VW3 a b c Ø
A58451 169.5 340 123 150 315 7 A31451 33.5 33 33 13
A58452 A31452 33 21.5 22.5 9
A58453 239 467.5 139.5 212 444 7 A31453 30 19 19 6
35
Schemes, Variable speed drives
combinations 0
for asynchronous motors 0
Altivar 31
5
1
Q1 Q1
6
2
KM1 S2 KM1
S2
1 Q2 2 T1 1 Q3 2 S1 A1 A2 1 Q2 2 T1 1 Q3 2 S1 A1 A2
3 4 5 6 3 4 5 6
Q2 Q2
A1 A1
1
1
3
KM1 KM1
KM1 R1A R1C 13 14 KM1 R1A R1C 13 14
4
2
(1) (1)
(3) (3)
(2) (2)
A1 A1
R1A
R1C
R1B
R2A
R2C
L1
L2
LI1
LI2
LI3
LI4
LI5
LI6
+ 24
L1
L2
L3
R1A
R1C
R1B
R2A
R2C
LI1
LI2
LI3
LI4
LI5
LI6
+ 24
CLI
CLI
PA/+
PA/+
COM
+ 10
COM
+ 10
AOC
AOV
AOC
AOV
PC/-
PC/-
AI1
AI3
AI2
AI1
AI3
AI2
PB
PB
P0
P0
W
W
V
U
X-Y mA X-Y mA
W1
W1
U1
V1
U1
V1
Braking Braking
Reference 0 ± 10 V resistor
Reference 0 ± 10 V
M resistor M potentiometer
potentiometer
3 3
SZ1 RV1202 SZ1 RV1202
0V 24 V
AOC
CLI
CLI
LI1
LI1
0V
+ 24 V
COM
LI1
LI1
24 V
24 V
relay
10 mA
0V 0V 24 V
PLC PLC
2-wire control 3-wire control Analog voltage inputs Analog current input
± 10 V external ± 10 V external 0-20 mA, 4-20 mA, X-Y mA
ATV 31 control terminals ATV 31 control terminals ATV 31 control terminals ATV 31 control terminals ATV 31 control terminals
+ 24 V
+ 24 V
AI1
0V
AI3
0V
AI2
0V
LI1
LI1
LI2
LIx
LIx
Speed Source
reference ± 10 V 0-20 mA
LI1: Forward LI1: Stop + 10 V potentiometer 4-20 mA
LIx: Reverse LI2: Forward 2.2 to 10 kΩ X-Y mA
LIx: Reverse
36
Schemes, Variable speed drives
connections, for asynchronous motors 0
mounting 0
Altivar 31
Electromagnetic compatibility
Schemes
Additional radio interference suppression input filters VW3 A3140p
3-phase power supply Single phase power supply
L1
L2
L3
L1
L2
VW3 A3140 VW3 A3140
L'1
L'2
L'3
L'1
L'2
L1
L2
L3
L1
L2
ATV 31 ATV 31
b Grounds between the drive, motor and cable shielding must have “high frequency” equipotentiality.
b Use shielded cables with the shielding connected to ground throughout 360° at both ends for the motor cable, the braking resistor cable and
the control/command cables. Metal ducting or conduit can be used for part of the shielding length provided that there is no break in continuity.
b Ensure maximum separation between the power supply cable (line supply) and the motor cable.
Note: The HF equipotential ground connection between the drive, motor and cable shielding does not remove the need to connect the PE protective conductors
(green-yellow) to the appropriate terminals on each unit.
If using an additional input filter, it should be mounted beneath the drive and connected directly to the line supply via an unshielded cable. Link 3 on the drive is then
via the filter output cable.
Operation on an IT system
IT system: isolated or impedance earthed neutral.
Use a permanent insulation monitor compatible with non-linear loads, e.g. Merlin Gerin type XM200.
ATV 31pppM2 and N4 drives feature built-in RFI filters. There are two ways of isolating these filters from ground for operation on an IT system:
b ATV 31H018M2 to ATV 31HU22M2 and ATV 31H037N4 to ATV 31HU40N4, pull out a jumper to disconnect the filter.
b ATV 31HU55N4 to ATV 31HD15N4, move the cable tag to disconnect the filter.
37
Mounting Variable speed drives
and installation for asynchronous motors 0
recommendations 0
Altivar 31
Depending on the conditions in which the drive is to be used, its installation will
require certain precautions and the use of appropriate accessories.
Mounting recommendations for ATV 31H drives
Install the unit vertically, at ± 10°.
b Do not place it close to heating elements.
b Leave sufficient free space to ensure that the air required for cooling purposes can
circulate from the bottom to the top of the unit.
≥ 50 mm
≥d ≥d
≥ 50 mm
≥ 10 mm
Types of mounting
b Type A mounting
≥ 50 mm ≥ 50 mm
b Type B mounting
b Type C mounting
≥ 50 mm ≥ 50 mm
Removing the protective cover Removing the protective cover from the top of the drive (as shown opposite) changes
the degree of protection to IP 20.
Derating curves for the nominal drive current (In) as a function of the temperature,
switching frequency and type of mounting.
I / In In
100 %
-5%
- 10 % - 10 %
90 %
- 15 %
- 20 %
80 %
- 25 % 40°C Mounting types A and B
- 25 %
70 % - 30 %
38
Mounting Variable speed drives
and installation for asynchronous motors 0
k
S = ---------- K = thermal resistance per m2 of enclosure.
Rth
For metal enclosures: K = 0.12 with internal fan, K = 0.15 without fan
Note: Do not use insulated enclosures as they have a poor level of conductivity.
39
Combinations for Variable speed drives
self-assembly 0
for asynchronous motors 0
Altivar 31
Motor starters
Applications
The combinations suggested below can be used to assemble a complete motor
starter comprising a circuit-breaker, a contactor and an Altivar 31 variable speed
drive.
The circuit-breaker provides protection against accidental short-circuits, isolation, and
padlocking if required.
The contactor provides control and management of any safety features and isolation of
the motor on stopping.
The Altivar 31 variable speed drive is electronically protected against short-circuits
between phases and between phase and earth; it therefore provides continuity of
service and thermal protection of the motor.
Motor starter for drive with heatsink
Variable speed Standard power Circuit-breaker (2) Max. Contactor (3)
521466
40
Combinations for Variable speed drives
self-assembly 0
for asynchronous motors 0
Altivar 31
Motor starters
Applications
The combinations suggested below can be used to assemble a complete motor
starter comprising a circuit-breaker, a contactor and an Altivar 31 variable speed
drive.
The circuit-breaker provides protection against accidental short-circuits, isolation,
and padlocking if required.
The contactor provides control and management of any safety features and isolation
of the motor on stopping.
The Altivar 31 variable speed drive is electronically protected against short-circuits
between phases and between phase and earth; it therefore provides continuity of
service and thermal protection of the motor.
Motor starter for drive with heatsink
Variable speed Standard power Circuit-breaker (2) Max. Contactor (3)
521466
41
Combinations for Variable speed drives
self-assembly 0 for asynchronous motors 0
Altivar 31
Motor starters
Applications
The combinations suggested below can be used to assemble a complete motor
starter comprising a circuit-breaker, a contactor and an Altivar 31 variable speed
drive.
The circuit-breaker provides protection against accidental short-circuits, isolation,
and padlocking if required.
The contactor provides control and management of any safety features and isolation
of the motor on stopping.
The Altivar 31 variable speed drive is electronically protected against short-circuits
between phases and between phase and earth; it therefore provides continuity of
service and thermal protection of the motor.
Motor starter for customisable enclosed drive
Variable speed Standard power Circuit-breaker Max. Contactor
521466
42
Combinations for Variable speed drives
self-assembly 0 for asynchronous motors 0
Altivar 31
Motor starters
Applications
The combinations suggested below can be used to assemble a complete motor
starter comprising a circuit-breaker, a contactor and an Altivar 31 variable speed
drive.
The circuit-breaker provides protection against accidental short-circuits, isolation,
and padlocking if required.
The contactor provides control and management of any safety features and isolation
of the motor on stopping.
The Altivar 31 variable speed drive is electronically protected against short-circuits
between phases and between phase and earth; it therefore provides continuity of
service and thermal protection of the motor.
Motor starter for drive kit
Variable speed Standard power Circuit-breaker Max. Contactor
drive rating of 4-pole Reference Rating prosp. Add the voltage
Reference 50/60 Hz motors line Isc number to the basic
(1) reference to obtain the
full reference (2)
kW HP A kA
Single phase supply voltage: 200…240 V
ATV 31K018M2 0.18 0.25 GV2 L08 4 5 LC1 K0610
ATV 31K037M2 0.37 0.5 GV2 L10 6.3 5 LC1 K0610
ATV 31K055M2 0.55 0.75 GV2 L14 10 5 LC1 K0610
ATV 31K075M2 0.75 1 GV2 L14 10 5 LC1 K0610
ATV 31KU11M2 1.1 1.5 GV2 L14 14 22 LC1 K0610
ATV 31KU15M2 1.5 2 GV2 L20 18 22 LC1 K0610
ATV 31KU22M2 2.2 3 GV2 L22 25 22 LC1 D09
3-phase supply voltage: 380…500 V
ATV 31K037N4 0.37 0.5 GV2 L07 2.5 5 LC1 K0610
ATV 31K055N4 0.55 0.75 GV2 L08 4 5 LC1 K0610
ATV 31K075N4 0.75 1 GV2 L08 4 5 LC1 K0610
ATV 31KU11N4 1.1 1.5 GV2 L10 6.3 5 LC1 K0610
ATV 31KU15N4 1.5 2 GV2 L14 10 5 LC1 K0610
ATV 31KU22N4 2.2 3 GV2 L14 10 5 LC1 K0610
ATV 31KU30N4 3 3 GV2 L16 14 5 LC1 K0610
ATV 31KU40N4 4 5 GV2 L16 14 5 LC1 K0610
ATV 31KU55N4 5.5 7.5 GV2 L22 25 22 LC1 D09
ATV 31KU75N4 7.5 10 GV2 L32 32 22 LC1 D18
ATV 31KD11N4 11 15 NS80 HMA 50 22 LC1 D32
ATV 31KD15N4 15 20 NS80 HMA 50 22 LC1 D32
(1) The HP values given are NEC-compliant (National Electrical Code).
(2) Usual control circuit voltages.
a.c. control circuit
Volts a 24 48 110 220 230 240
LC1-D 50 Hz B5 E5 F5 M5 P5 U5
60 Hz B6 E6 F6 M6 – U6
50/60 Hz B7 E7 F7 M7 P7 U7
Volts a 24 48 110 220/230 230 230/240
LC1-K 50/60 Hz B7 E7 F7 M7 P7 U7
For other voltages between 24 and 660 V, or d.c. control circuit, please consult your Regional
Sales Office.
43
Functions 0
Variable speed drives
for asynchronous motors 0
Altivar 31
Summary of functions
563712
PI regulator page 52
Spooling page 52
Current limit switching page 53
Limiting low speed operating time page 53
Motor switching page 53
Control mode switching page 53
2-wire control page 54
3-wire control page 54
Forced local mode page 54
Freewheel stop page 54
Fast stop page 54
DC injection stop page 54
Brake control page 55
Management of limit switch page 55
Monitoring page 55
PowerSuite for Pocket PC
Fault management page 56
identification screen
Fault reset page 56
General reset (resets all faults) page 56
Controlled stop on loss of line supply page 56
Stop mode in the event of a fault page 56
Automatic catching a spinning load with speed detection page 57
Automatic restart page 57
Derated operation in the event of an overvoltage page 57
Fault relay, unlocking page 57
Operating time reset to zero page 57
Motor thermal protection page 58
Drive thermal protection page 58
R1, R2 relay configuration page 58
AOC/AOV analog outputs page 59
Saving and retrieving the configuration page 59
Function compatibility table page 59
44
Functions (continued) 0
Variable speed drives
for asynchronous motors 0
Altivar 31
1 5
4
2
3
6
7
8
b For ATV 31HppppM2A, ATV 31HpppM3XA and ATV 31HpppN4A drives only:
6 Speed reference potentiometer
7 “RUN”: Local control of motor operation
8 STOP/RESET: Controls motor stopping locally and resets any faults
45
Functions (continued) 0
Variable speed drives
for asynchronous motors 0
Altivar 31
The remote display terminal can be mounted on the door of a wall-fixing or floor-
standing enclosure.
It comprises an LCD display with programming and control keys and a switch for
locking access to the menus.
Drive control keys
v “FWD/RV”: reversal of the direction of rotation
ESC
v “RUN”: motor run command
ENT v “STOP/RESET”: motor stop command or fault reset
stop
reset
The speed reference is given by the remote display terminal. Only the freewheel, fast
FWO
RUN stop and DC injection stop commands remain active on the terminal block. If the
REV
f (Hz)
HSP
LSP
Reference
0V 10 V
x mA y mA
4 mA 20 mA
Used to define acceleration and deceleration ramp times according to the application
and the machine dynamics.
f (Hz) f (Hz)
50 50
0 t 0 t
t1 t2
46
Functions (continued) 0
Variable speed drives
for asynchronous motors 0
Altivar 31
0 t 0 t 0 t 0 t 0 t 0 t
t2 t2 t2 t2 tA1 tA2 tA3 tA4
t1 t1 t1 t1 ACC or AC2 dEC or dE2
b Ramp switching
Used to switch 2 acceleration or deceleration ramp times, which can be adjusted
separately.
Ramp switching can be enabled by:
v a logic input
v a frequency threshold
v a combination of logic input and frequency threshold
f(Hz)
HSP
dE2
AC2
ACC dEC
t
Forward
1
or
Reverse 0 t
1
LI4 0 t
47
Functions (continued) 0
Variable speed drives
for asynchronous motors 0
Altivar 31
b Voltage/frequency ratio
563715
The following values should be set for variable or constant torque applications with
or without overspeed:
- the base frequency corresponding to the supply
- the nominal motor frequency (in Hz) given on the motor rating plate
- the nominal motor voltage (in V) given on the motor rating plate
- the maximum output frequency of the drive (in Hz)
v Type of voltage/frequency ratio
Used to adapt the voltage/frequency ratio to the application in order to optimize
performance for the following applications:
Adjustment of the voltage/frequency ratio with
v Constant torque applications (machines with average loads operating at low
PowerSuite for PC speed) with motors connected in parallel or special motors (e.g.: resistive cage motor):
ratio L
v Variable torque applications (pumps, fans): ratio P
v Machines with heavy loads operating at low speed, machines with fast cycles, with
(sensorless) flux vector control: ratio n
v Energy saving, for machines with slow speed and torque variations: ratio nLd
Voltage is automatically reduced to a minimum according to the necessary torque
U (V)
Un
L
n
P
f (Hz)
frn
Un: Nominal motor voltage
frn: Nominal motor frequency
b Auto-tuning
Auto-tuning may be performed:
v voluntarily by the operator using dialogue tools via local control mode or the serial
link
v each time the drive is switched on
v on each run command
v by enabling a logic input
Auto-tuning is used to optimize application performance.
48
Functions (continued) 0
Variable speed drives
for asynchronous motors 0
Altivar 31
b Skip frequencies
563716
Used to suppress one or two critical speeds which may be the cause of mechanical
resonance.
It is possible to prohibit the prolonged operation of the motor on 1 or 2 frequency
bands (with a bandwidth of ± 1 Hz), which can be set within the operating range.
Function suitable for lightweight machines, bulk product conveyors with unbalanced
motor, fans and centrifugal pumps.
f (Hz)
2 Hz
Reference
b Analog inputs
There are 3 analog inputs:
v 2 voltage inputs:
- 0-10 V (AI1)
- ± 10 V (AI2)
v 1 current input:
- X-Y mA (AI3) where X is configurable between 0 and 20 mA, and Y is
configurable between 4 and 20 mA.
b Preset speeds
563717
f (Hz)
20 The speed obtained with inputs
15 LI3 and LI4 at state 0 is LSP or the
10 speed reference, depending on
the level of analog inputs AI1, AI2
LSP and AI3.
Factory settings:
t 1st speed: LSP (low speed or
Forward 1 speed reference)
Adjustment of preset speeds with PowerSuite for PC or
Reverse LI2 0 2nd speed: 10 Hz
t
3rd speed: 15 Hz
1
4th speed: 20 Hz (high speed)
LI3 0
t
LI4 0 t
49
Functions (continued) 0
Variable speed drives
for asynchronous motors 0
Altivar 31
b +/- speed
563718
f (Hz)
HSP
Adjustment of the +/- speed function with PowerSuite for PC
LSP t
Forward 1
or
Reverse 0 t
1
+ speed 0 t
- speed 0 t
Example of "+/- speed" with 2 logic inputs, single action buttons and reference saving
v Use of double action buttons (only one logic input assigned to “+ speed” is
necessary):
Logic inputs:
Forward Reverse “+ speed” Released 1st press 2nd press
(- speed) (speed (+ speed)
maintained)
a b c d Forward – a a and b
button
a and b: 1st press Reverse – c c and d
c and d: 2nd press button
f (Hz)
HSP
LSP
0
LSP
t
HSP
Forward operation
2nd press b b
1st press a a a a a a a
0 t
Reverse operation
2nd press
d
1st press
0 c c
t
b Save reference
This function is associated with “+/- speed” control.
Enables the reading and saving of the last speed reference prior to the loss of the
run signal or mains supply. The saved reference is applied at the next run signal.
50
Functions (continued) 0
Variable speed drives
for asynchronous motors 0
Altivar 31
b Reference switching
Switching between 2 speed references can be enabled via:
f (Hz) v a logic input
AI1 v a bit in a Modbus or CANopen control word
Reference 1 is active if the logic input (or control word bit) is at 0, reference 2 is active
if the logic input (or control word bit) is at 1.
AI2
The reference can be switched with the motor running.
t
Forward
COM
+10
or 1
AI1
AI2
AI3
LIx
Reverse 0 t
±10 V X-Y
1 (X is adjustable from 0 to 20 mA
t + 24 V 0 and Y is adjustable from 4 to 20 mA)
LIx 0
b Summing inputs
Used to add up 2 or 3 speed references from different sources.
The references to be added together are selected from all the possible types of
speed reference.
Example:
Reference 1 sent by AI1
Reference 2 sent by AI2
Reference 3 sent by AIP
Drive speed reference: reference 1 + reference 2 + reference 3.
51
Functions (continued) 0
Variable speed drives
for asynchronous motors 0
Altivar 31
Ramp + b PI regulator
PIC
X–1
PI inversion Used for simple control of a flow rate or a pressure with a sensor which supplies a
PI feedback signal adapted to the drive.
Feed- This function is suitable for pumping and ventilation applications.
back
FBS RPG PI regulator
RIG v PI reference:
Multiplier - internal regulator reference, adjustable from 0 to 100
X
- regulation reference selected from all the possible types of regulation reference
Ramp if PSP = 0
- preset PI references
Ramp v 2 or 4 preset PI references, adjustable from 0 to 100, require the use of 1 or 2
Auto HSP
ACC Reference logic inputs respectively
Man LSP DEC v Manual reference
Manual reference - speed reference selected from all the possible types of speed reference
Auto/man v PI feedback:
- analog input AI1, AI2 or AI3
ACC: Acceleration
DEC: Deceleration
v Auto/Man:
FBS: PI feedback multiplication coefficient - logic input LI for switching operation to speed reference (Man) or PI
HSP: High speed regulation (Auto).
PIC: Reversal of the direction of correction of the PI During operation in automatic mode it is possible to adapt the process feedback, to
regulator correct inverse PI, to adjust the proportional and integral gain and to apply a ramp
LSP: Low speed
RIG: PI regulator integral gain
(time = ACC - DEC) for establishing the PI action on starting and stopping.
RPG: PI regulator proportional gain The motor speed is limited to between LSP and HSP.
Note: The PI function is incompatible with the “preset speeds” and “step by step (JOG)”
PI regulator functions. The PI reference can also be transmitted on line via the Modbus RS 485 serial link or
via the CANopen bus.
Reel of thread
Main
Gearbox
shaft
Motor
Thread
Thread
guide
Gearbox
Motor Cam
The cam speed of rotation must follow a precise profile to ensure steady winding.
RUN command t
LI or bit
Wiring check trC t
Motor Ramp 0.1 s
qSH
Ramp 0.1 s
Start of function
End of function
t
When the function is configured, the ramp type is forced to linear ramp.
52
Functions (continued) 0
Variable speed drives
for asynchronous motors 0
Altivar 31
A 2nd current limit can be configured between 0.25 and 1.5 times the nominal drive
current.
Used to limit the torque and the temperature rise of the motor.
Switching between 2 current limits can be enabled via:
v a logic input
v a bit in a Modbus or CANopen control word
b Motor switching
Allows two motors with different powers to be supplied successively by the same
drive. Switching must take place with the drive stopped and locked, using an
appropriate sequence at the drive output.
The function can be used to adapt the motor parameters. The following parameters
are switched automatically:
v nominal motor voltage
v nominal motor frequency
v nominal motor current
v nominal motor speed
v motor cosine Phi
v selection of the type of voltage/frequency ratio for motor 2
v IR compensation, motor 2
v motor frequency loop gain
v motor stability
v motor slip compensation
Motor thermal protection is disabled by this function.
Motor switching can be enabled by:
v a logic input
v a bit in a Modbus or CANopen control word
With hoisting applications, this function enables a single drive to be used for vertical
and horizontal movements.
53
Functions (continued) 0
Variable speed drives
for asynchronous motors 0
Altivar 31
b 2-wire control
Used to control the direction of operation by means of a maintained contact.
Enabled by means of 1 or 2 logic inputs (one or two directions).
This function is suitable for all non-reversing and reversing applications.
3 operating modes are possible:
v detection of the state of the logic inputs
v detection of a change in state of the logic inputs
v detection of the state of the logic inputs with forward operation always having priority
over reverse
0 t b 3-wire control
Used to control the operating direction and stopping by means of pulsed contacts.
Stop 1 Enabled by means of 2 or 3 logic inputs (non-reversing or reversing).
0 t This function is suitable for all non-reversing and reversing applications.
1
Forward Altivar 31 control terminals LI1: Stop
0 t LI1 LI2 LIx LI2: Forward
24 V
LIx: Reverse
1
Reverse 0 t
Example of operation with 3-wire control Wiring diagram for 3-wire control
b Freewheel stop
563720
Stops the motor by resistive torque only if the motor power supply is cut.
A freewheel stop is achieved:
v by configuring a normal stop command as a freewheel stop (on disappearance of
a run command or appearance of a stop command)
v by enabling a logic input
b Fast stop
Used to achieve a braked stop with an acceptable deceleration ramp time (divided by
2 to 10) for the drive/motor unit to avoid locking on an excessive braking fault.
Used for conveyors with emergency stop electrical braking.
A fast stop is achieved:
v by configuring a normal stop as a fast stop (on disappearance of a run command
or appearance of a stop command)
v by enabling a logic input
54
Functions (continued) 0
Variable speed drives
for asynchronous motors 0
Altivar 31
b Monitoring
Monitoring the different parameters with PowerSuite The following data can be displayed:
for PC v frequency reference
v internal PI reference
v frequency reference (absolute value)
563722
55
Functions (continued) 0
Variable speed drives
for asynchronous motors 0
Altivar 31
b Fault management
563723
b Fault reset
Used to clear the last fault by means of a logic input.
The restart conditions after a reset to zero are the same as those of a normal
power-up.
Resets the following faults: overvoltage, overspeed, external fault, drive overheating,
motor phase loss, DC bus overvoltage, loss of 4-20 mA reference, load veering,
motor overload if the thermal state is less than 100%, serial link fault.
"Line supply undervoltage" and "line supply phase loss" faults are reset automatically
when the line supply is restored.
Function suitable for applications where the drives are difficult to access, for example
on moving parts in material handling systems.
56
Functions (continued) 0
Variable speed drives
for asynchronous motors 0
Altivar 31
b Automatic catching a spinning load with speed detection (“catch on the fly”)
Used to restart the motor smoothly after one of the following events, provided the run
command is still present:
v loss of line supply or simple switch off
v fault reset or automatic restart
v freewheel stop
On disappearance of the event, the effective speed of the motor is detected in order
to restart on a ramp at this speed and return to the reference speed. The speed
detection time can be up to 1 s depending on the initial deviation.
This function is automatically disabled if the brake sequence is configured.
This function is suitable for machines where the speed loss is negligible during the
time over which the mains supply is lost (machines with high inertia), fans and pumps
driven by residual flow, etc.
b Automatic restart
Enables the drive to be restarted automatically after locking following a fault if this
fault has disappeared and if the other operating conditions permit a restart.
This restart is performed by a series of automatic attempts separated by increasingly
longer wait periods of 1 s, 5 s, 10 s then 1 minute for the rest.
The whole restart procedure can last anywhere from 5 minutes to an unlimited time.
If the drive has not restarted after the configured time, it will lock and the procedure
is abandoned until it has been switched off and on again.
The fault relay is energised when the drive is powered up and is not faulty.
It contains a “C/O” common point contact.
The drive can be unlocked after a fault in one of the following ways:
v by powering down until the “ON” LED extinguishes, then switching the power
back on
v by assigning a logic input to the “reset faults” function
v by the “automatic restart” function, if it has been configured
57
Functions (continued) 0
Variable speed drives
for asynchronous motors 0
Altivar 31
t 13 5 10 20 50 Hz
10 000
( 2 h 45)
100
0,7 0,8 0,9 1 1,1 1,2 1,3 1,4 1,5 1,6
Motor current/ItH
Motor thermal protection curves
t
5000
3000
Trip time in seconds
1000
200
160
100
60
2
0
1 1,1 1,2 1,3 1,4 1,5 1,6 1,7 1,8 1,9 Motor current/Drive In
58
Functions (continued) 0
Variable speed drives
for asynchronous motors 0
Altivar 31
Preset speeds
X A
PI regulator
Jog operation
X X
Brake sequence
DC injection stop
A
Fast stop
A
Freewheel stop
X X
Incompatible functions Priority functions (functions which cannot be active at the same time)
Compatible functions X The arrow indicates which function has priority
Not applicable A Example: the "Freewheel stop" function has priority over the "Fast stop" function
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Installation manual
Variable speed drives
for asynchronous motors
Contents
When the drive is powered up, the power components and some of the control
components are connected to the line supply. It is extremely dangerous to touch
them. The drive cover must be kept closed.
In general, the drive power supply must be disconnected before any operation on
either the electrical or mechanical parts of the installation or machine.
After the ALTIVAR has been switched off and the display has disappeared
completely, wait for 10 minutes before working on the equipment. This is the time
required for the capacitors to discharge.
The motor can be stopped during operation by inhibiting start commands or the
speed reference while the drive remains powered up. If personnel safety requires
prevention of sudden restarts, this electronic locking system is not sufficient: fit
a cut-off on the power circuit..
The drive is fitted with safety devices which, in the event of a fault, can shut down
the drive and consequently the motor. The motor itself may be stopped by a
mechanical blockage. Finally, voltage variations, especially line supply failures,
can also cause shutdowns.
If the cause of the shutdown disappears, there is a risk of restarting which may
endanger certain machines or installations, especially those which must
conform to safety regulations.
In this case the user must take precautions against the possibility of restarts, in
particular by using a low speed detector to cut off power to the drive if the motor
performs an unprogrammed shutdown.
The drive must be installed and set up in accordance with both international and
national standards. Bringing the device into conformity is the responsibility of
the systems integrator who must observe the EMC directive among others within
the European Union.
The specifications contained in this document must be applied in order to
comply with the essential requirements of the EMC directive.
The drive must not be used as a safety device for machines posing a potential
risk of material damage or personal injury (lifting equipment, for example). In
such applications, overspeed checks and checks to ensure that the trajectory
remains under constant control must be made by separate devices which are
independent of the drive.
1
Drive references
(1) These power ratings and currents are for a maximum ambient temperature of 50°C and a switching frequency of 4 kHz in continuous
operation.The switching frequency is adjustable from 2 to 16 kHz.
Above 4 kHz, the drive will reduce the switching frequency in the event of excessive temperature rise. The temperature rise is controlled
by a PTC probe in the power module. Nonetheless, the nominal drive current should be derated if operation above 4 kHz needs to be
continuous.
Derating curves are shown on page 6 as a function of switching frequency, ambient temperature and mounting conditions.
(2) Current on a line supply with the "Max. prospective line Isc" indicated.
(3) Peak current on power-up, for the max. voltage (240 V + 10%).
(5) Reference for a drive with built-in terminal but no control unit. For a drive with control potentiometer and RUN/STOP buttons, add an A
at the end of the reference, e.g.: ATV31H018M2A.
2
Drive references
(1) These power ratings and currents are for a maximum ambient temperature of 50°C and a switching frequency of 4 kHz in continuous
operation. The switching frequency is adjustable from 2 to 16 kHz.
Above 4 kHz, the drive will reduce the switching frequency in the event of excessive temperature rise. The temperature rise is controlled
by a PTC probe in the power module. Nonetheless, the nominal drive current should be derated if operation above 4 kHz needs to be
continuous.
Derating curves are shown on page 6 as a function of switching frequency, ambient temperature and mounting conditions.
(2) Current on a line supply with the "Max. prospective line Isc" indicated.
(3) Peak current on power-up, for the max. voltage (500 V + 10%, 600 V + 10%).
(5) Reference for a drive with built-in terminal but no control unit. For a drive with control potentiometer and RUN/STOP buttons, add an A
at the end of the reference, e.g.: ATV31H037N4A.
3
Mounting
h
H
b
c = G =
a
4Ø
h
b
c = G =
a
(1) For drives in the A range, add 8 mm for the protruding potentiometer button.
4
Mounting
When IP20 protection is adequate, we recommend that the protective cover on the top of the drive be removed,
as shown below.
≥ 50 mm
Example ATV31HU11M3X
u 50 mm u 50 mm
Type B Drives mounted side-by-side, protective cover removed (the degree of protection becomes IP20)
mounting:
Type C Free space u 50 mm on each side, protective cover removed (the degree of protection becomes IP20)
mounting:
u 50 mm u 50 mm
5
Mounting
Derating curves for the drive current In as a function of the temperature, switching frequency and type of mounting.
I/In
In = 100 %
-5%
90 % - 10 % - 10 %
- 15 %
80 % - 20 %
40°C mounting types A, B and C
- 25 % - 25 %
70 % - 30 %
50°C mounting type C
- 35 %
- 35 %
60 % - 40 %
50°C mounting types A and B
- 45 %
50 % - 50 %
60°C mounting type C
- 55 %
40 %
60°C mounting types A and B
- 65 %
30 %
Switching frequency
4 kHz 8 kHz 12 kHz 16 kHz
If you are installing the drives in enclosures, make provision for a flow of air at least equal to the
value given in the table below for each drive.
6
Mounting
Electromagnetic compatibility
EMC mounting plate: Supplied with the drive
Fix the EMC equipotentiality mounting plate to the holes in the ATV 31 heatsink using the 2 screws supplied, as shown in the drawings
below.
2 2
50
49
48 2
75
2
75
Screws supplied:
4 x M4 screws for fixing the EMC clamps (clamps not supplied)
1 x M5 screw for ground
ATV31 ATV31
H018M3X, H037M3X Size 1 HU22M2, HU30M3X, HU40M3X, Size 7
H055M3X, H075M3X Size 2 HU22N4, HU30N4, HU40N4,
HU22S6X, HU40S6X
H018M2, H037M2 Size 3 HU55M3X, HU75M3X, Size 8
H055M2, H075M2 Size 4 HU55N4, HU75N4,
HU55S6X, HU75S6X
HU11M3X, HU15M3X Size 5 HD11M3X, HD15M3X, Size 9
HU11M2, HU15M2, HU22M3X, Size 6 HD11N4, HD15N4,
H037N4, H055N4, H075N4, HU11N4, HU15N4, HD11S6X, HD15S6X
H075S6X, HU15S6X
7
Wiring
Access to terminals
To access the terminals, open the cover as shown in the example below.
Example ATV31HU11M2
Power terminals
8
Wiring
ATV 31H018M3X, H037M3X, H055M3X, H075M3X ATV 31H018M2, H037M2, H055M2, H075M2
P0 PA/+ PB PC/- U/T1 V/T2 W/T3 P0 PA/+ PB PC/- U/T1 V/T2 W/T3
9
Wiring
Control terminals
COM
AOC
AOV
R1C
R2C
R1A
R1B
R2A
Logic input Source
AI3
configuration CLI
switch
SINK
COM
10V
CLI
AI1
AI2
LI4
LI5
LI6
Control
terminals
24V
LI1
LI2
LI3
RJ45
connector RJ45
10
Wiring
Control terminals
Arrangement, characteristics and functions of the control terminals
Terminal Function Electrical characteristics
R1A Common point C/O contact (R1C) of • Min. switching capacity: 10 mA for 5 V c
R1B programmable relay R1 • Max. switching capacity on resistive load (cos ϕ = 1 and L/R = 0 ms):
R1C 5 A for 250 V a and 30 V c
R2A N/O contact of programmable relay R2 • Max. switching capacity on inductive load (cos ϕ = 0.4 and L/R = 7 ms):
R2C 1.5 A for 250 V a and 30 V c
• Sampling time 8 ms
• Service life: 100,000 operations at max. switching power
1,000,000 operations at min. switching power
AI3 Analog current input Analog input X - Y mA. X and Y can be programmed from 0 to 20 mA
• Impedance 250 Ω
• Resolution 0.02 mA, 10-bit converter
• Precision ± 4.3%, linearity ± 0.2%, of max. value
• Sampling time 8 ms
COM Analog I/O common 0V
AOV Analog voltage output AOV Analog output 0 to 10 V, min. load impedance 470 Ω
or or
AOC Analog current output AOC Analog output X - Y mA. X and Y can be programmed from 0 to 20 mA,
or max. load impedance 800 Ω
Logic voltage output AOC • Resolution 8 bits (1)
AOV or AOC can be assigned • Precision ± 1% (1)
(either, but not both) • Linearity ± 0.2% (1)
• Sampling time 8 ms
This analog output can be configured as a 24 V logic output on AOC, min. load
impedance 1.2 kΩ.
(1) Characteristics of digital/analog converter.
24 V Logic input power supply + 24 V protected against short-circuits and overloads, min. 19 V, max. 30 V
Max. customer current available 100 mA
LI1 Logic inputs Programmable logic inputs
LI2 • + 24 V power supply (max. 30 V)
LI3 • Impedance 3.5 kΩ
• State 0 if < 5 V, state 1 if > 11 V (voltage difference between LI- and CLI)
• Sampling time 4 ms
11
Wiring
ATV31ppppM2
Single-phase supply
(1)
R / L1
S / L2
ATV31ppppM3X/N4/S6X
3-phase supply
Using the analog output as a
(1) logic output
(2)
U / T1 R / L1
S / L2
W / T3 T / L3
R1A
R1C
R1B
R2A
R2C
CLI
LI1
LI2
LI3
LI4
LI5
LI6
24V
PA / +
V / T2
PC / -
COM
COM
AOC
AOV
A0C
+10
AI1
AI3
AI2
PB
P0
24 V relay
W1
U1
V1
X - Y mA or
M Reference
3= potentiometer 24 V PLC input
Braking resistor,
0 ± 10 V or
if used LED
Note: Fit interference suppressors to all inductive circuits near the drive or coupled to the same circuit (relays, contactors, solenoid valves,
etc).
0V
SOURCE CLI at 0 V (factory setting)
24V
CLI at 24 V
SINK
12
Wiring
0V 24V
24V
0V 0V 24V
PLC PLC
Wiring recommendations
Power
The drive must be earthed to conform with the regulations concerning high leakage currents (over 3.5 mA).
When upstream protection by means of a "residual current device" is required by the installation standards, a type A device should be used
for single-phase drives and type B for 3-phase drives. Choose a suitable model incorporating:
• HF current filtering
• A time delay which prevents tripping caused by the load from stray capacitance on power-up. The time delay is not possible for 30 mA
devices. In this case, choose devices with immunity against accidental tripping, for example RCDs with reinforced immunity from the s.i
range (Merlin Gerin brand).
If the installation includes several drives, provide one "residual current device" per drive.
Keep the power cables separate from circuits in the installation with low-level signals (detectors, PLCs, measuring apparatus, video,
telephone).
If you are using cables > 50 m between the drive and the motor, add output filters (please refer to the catalogue).
Control
Keep the control circuits away from the power cables. For control and speed reference circuits, we recommend using shielded twisted
cables with a pitch of between 25 and 50 mm, connecting the shielding to ground at each end.
13
Wiring
Operation on an IT system
IT system: Isolated or impedance earthed neutral.
Use a permanent insulation monitor compatible with non-linear loads (a Merlin Gerin type XM200, for example).
ATV 31pppM2 and N4 drives feature built-in RFI filters. These filters can be isolated from ground for operation on an IT system as follows:
Pull out the jumper on the left of the ground terminal as illustrated below.
Normal
(filter connected)
IT system
(filter
disconnected)
ATV31HU55N4 to D15N4:
Move the cable tag on the top left of the power terminals as illustrated below (example ATV31HU55N4):
IT system
(filter disconnected)
Normal
(filter connected)
(factory setting)
14
Wiring
Electromagnetic compatibility
Principle
• Grounds between the drive, motor and cable shielding must have "high frequency" equipotentiality.
• Use shielded cables with shielding connected to ground throughout 360° at both ends for the motor cable 6, braking resistor (if used) 8,
and control-signalling cables 7. Metal ducting or conduit can be used for part of the shielding length provided that there is no break in
continuity.
• Ensure maximum separation between the power supply cable (line supply) and the motor cable.
2
2
2
4
3 3 5
3
5 1
1
1
4 8 8 4
8 5
6 6
6 7 7
7
1 Sheet steel grounded plate supplied with the drive, to be fitted as indicated on the diagram.
2 Altivar 31
5 Fix and ground the shielding of cables 6, 7 and 8 as close as possible to the drive:
- Strip the shielding.
- Use stainless steel cable clamps of an appropriate size on the parts from which the shielding has been stripped, to attach them to the
plate 1.
The shielding must be clamped tightly enough to the metal plate to ensure correct contact.
6 Shielded cable for motor connection with shielding connected to ground at both ends.
The shielding must be continuous and intermediate terminals must be in EMC shielded metal boxes.
For 0.18 to 1.5 kW drives, if the switching frequency is higher than 12 kHz, use cables with low linear capacitance: max. 130 pF
(picoFarads) per metre.
Note:
• If using an additional input filter, it should be mounted under the drive and connected directly to the line supply via an unshielded cable.
Link 3 on the drive is then via the filter output cable.
• The HF equipotential ground connection between the drive, motor and cable shielding does not remove the need to connect the PE
protective conductors (green-yellow) to the appropriate terminals on each unit.
15
VVDED303041EN atv31h_installing manual_EN_V2
2004-02
Altivar 31
User's manual
Communication variables
####
####
####
Contents
General _____________________________________________________________________________________________________ 3
Communication bus monitoring __________________________________________________________________________________ 5
Supervision and control in LINE mode _____________________________________________________________________________ 6
Function compatibility _________________________________________________________________________________________ 10
DRIVECOM variables _________________________________________________________________________________________ 11
Control variables_____________________________________________________________________________________________ 14
Monitoring variables __________________________________________________________________________________________ 16
Identification variables ________________________________________________________________________________________ 22
Configuration and adjustment variables ___________________________________________________________________________ 23
Replacing an ATV28 with an ATV31 _____________________________________________________________________________ 51
Code index _________________________________________________________________________________________________ 52
NOTE
While every precaution has been taken in the preparation of this document, Schneider Electric SA assumes no liability
for any omissions or errors it may contain, nor for any damages resulting from the application or use of the information
herein.
The products described in this document may be changed or modified at any time, either from a technical point of view
or in the way they are operated. Their description can in no way be considered contractual.
2
General
The Altivar 31 can be connected directly to Modbus and CANopen buses by means of an RJ45 connector, which supports both protocols.
The communication function provides access to the drive’s configuration, adjustment, control and monitoring functions.
The "Communication variables" User's Manual defines the drive control processes and the drive variables which can be accessed by these
buses.
• Modbus
• CANopen
These documents should be referred to for the hardware and software setup specific to each bus.
We also recommend consulting the Programming Manual for additional explanations (operation, factory settings, etc).
If the PowerSuite software workshop is used, consult the on-line help provided.
They are grouped into several different tables according to the following criteria:
• DRIVECOM variables
• control variables
• monitoring variables
• identification variables
• configuration and adjustment variables
Read/write
Whether the parameters have read and/or write access is indicated in the "Read/Write" column with the following codes:
• R: read only, drive stopped or running
• R/WS: read access when drive stopped or running and write access only when drive stopped
• R/W: read and write access when drive stopped or running
Authorized addresses
Only the addresses and values defined in this document can be used. Any other address or value must be considered to be
reserved and must never be written. Failure to observe this precaution may result in malfunctions.
3
Control modes
Priority stops
In line mode, stop requests which can be activated by the terminals or by the remote display terminal always have priority:
Type of stop From Drivecom state Actions for restoring control of the Altivar using the fieldbus
reached
Fast stop LI2 to LI6 "Operation enabled" - Set the logic input assigned to the "fast stop" function to 1 (active
at 0)
DC injection stop LI2 to LI6 "Operation enabled" - Set the logic input assigned to the "injection stop" function to 0
(active at 1)
Freewheel stop LI2 to LI6 "Switch on disabled" - Set the logic input assigned to the "freewheel stop" function to 1
(active at 0)
- Perform the transitions required to return the drive to "run" status
3-wire control stop via LI1 "Switch on disabled" - Set the logic input assigned to STOP to 1 (active at 0)
STOP logic input (LI1) (3-wire control) - Perform the transitions required to return the drive to "run" status
Stop by the display terminal STOP key "Switch on disabled" - Release the Stop key
(1) - Perform the transitions required to return the drive to "run" status
4
Communication bus monitoring
The drive behaviour in the event of loss of communication can be configured via the "SLL" parameter (page 47) for Modbus or the "COL"
parameter (page 47) for CANopen. This configuration is saved if the power supply is disconnected.
In its factory setting, loss of communication triggers a fault (COF for CANopen or SLF for Modbus) with freewheel stopping.
Bit 14 (NTO) of "Extended control word (CMI)" is also used to inhibit Modbus communication monitoring. This configuration is not
saved if the power supply is disconnected.
For safety reasons, inhibiting the communication fault should be restricted to the debug phase or to special applications.
5
Supervision and control in LINE mode
6
Supervision and control in LINE mode
The Altivar control process using the communication bus conforms to the CANopen DS402 profile status chart compatible with the
DRIVECOM standard. Each state represents an aspect of the internal behaviour of the drive.
This chart evolves according to whether the control word is sent (CMD W8501) or an event occurs (example: lock following malfunction).
The drive status can be identified by the value of the status word (ETA W3201).
Malfunction (Fault):
The drive is faulty.
The drive is locked.
7
Supervision and control in LINE mode
(1)This bit action depends on the LAC "Access levels" parameter and the functions configured by the user.
For example, to use bit 15 to switch the ramp, simply configure LAC = L3 (Access to advanced functions and management of mixed
modes) and set the "Ramp switching rPS" configuration parameter to Cd15.
8
Supervision and control in LINE mode
9
Function compatibility
Incompatible functions
The following functions will be inaccessible or deactivated in the cases described below:
Automatic restart
This is only possible for 2-wire level detection control (tCC = 2C and tCt = LEL or PFO).
Flying restart
This is only possible for 2-wire level detection control (tCC = 2C and tCt = LEL or PFO).
This function is locked if automatic injection on stopping is configured as DC (AdC = Ct).
Reverse
On the ATV31pppA range only, this function is locked if local control is active (tCC = LOC).
DC injection stop
Brake sequence
Summing inputs
Freewheel stop
Preset speeds
Jog operation
+/- speed (1)
PI regulator
Fast stop
Summing inputs p A p A
+/- speed (1) p p p p
Management of limit switches p
Preset speeds X p p A
PI regulator p p p p p p
Jog operation X p X p p
Brake sequence p p p
DC injection stop p A
Fast stop A
Freewheel stop X X
10
DRIVECOM variables
Factory assignments
bit 11 = 0: Forward direction command
bit 11 = 1: Reverse direction command
bit 12 = 0: No action
bit 12 = 1: Stop command depending on the Stt "Stop type" parameter
bit 13: No action
bit 14: No action
bit 15: No action
11
DRIVECOM variables
12
DRIVECOM variables
13
Control variables
Factory assignments
bit 11 = 0: Forward direction command
bit 11 = 1: Reverse direction command
bit 12 = 0: No action
bit 12 = 1: Stop command depending on the Stt "Stop type" parameter
bit 13: No action
bit 14: No action
bit 15: No action
14
Control variables
For safety reasons, inhibiting the Modbus communication fault (NTO) should be
restricted to the debug phase or to special applications.
15
Monitoring variables
16
Monitoring variables
17
Monitoring variables
18
Monitoring variables
19
Monitoring variables
20
Monitoring variables
21
Identification variables
22
Configuration and adjustment variables
Modifying UFt (page 27) will cause UFr to return to the factory setting (20%).
9620 2042 / 15 FLG R/W Frequency loop gain
Unit: 1%
Factory setting: 20
Adjustment range: 1 to 100
Parameter active only if UFt (page 27) = n or nLd.
The FLG parameter adjusts the following of the speed ramp on the basis of the inertia of the
machine being driven.
Too high a gain may result in operating instability.
9621 2042 / 16 StA R/W Frequency loop stability
Unit: 1%
Factory setting: 20
Adjustment range: 1 to 100
Parameter active only if UFt (page 27) = n or nLd.
Used to adapt the return to steady state after a speed transient (acceleration or deceleration),
according to the dynamics of the machine.
Gradually increase the stability to avoid any overspeed.
9625 2042 / 1A SLP R/W Slip compensation
Unit: 1%
Factory setting: 100
Adjustment range: 0 to 150
Parameter active only if UFt (page 27) = n or nLd.
Used to adjust the slip compensation value fixed by nominal motor speed.
The speeds given on motor rating plates are not necessarily exact.
If slip setting < actual slip: the motor is not rotating at the correct speed in steady state.
If slip setting > actual slip: the motor is overcompensated and the speed is unstable.
11301 2053 / 2 JPF R/W Skip frequency
Unit: 0.1 Hz
Factory setting: 0
Adjustment range: 0 to 5000
Prevents prolonged operation at a frequency range of ± 1 Hz around JPF. This function
prevents a critical speed which leads to resonance. Setting the function to 0 renders it inactive.
23
Configuration and adjustment variables
24
Configuration and adjustment variables
This parameter also affects the display parameter SPd1/SPd2/SPd3 in the SUP- menu
(See Programming Manual)
3015 2000 / 10 bFr R/WS Standard motor frequency
Factory setting: 0
0 = "50"
1 = "60"
50 Hz: IEC
60 Hz: NEMA
This parameter modifies the presets of the following parameters: HSP page 23, Ftd page 24, FrS
page 25 and tFr page 27.
9601 2042 / 2 UnS R/WS Nominal motor voltage given on the rating plate
Unit: 1 V
Factory setting: According to drive rating
Adjustment range according to drive rating:
ATV31ppp M2: 100 to 240 V
ATV31ppp M3X: 100 to 240 V
ATV31ppp N4: 100 to 500 V
ATV31ppp S6X: 100 to 600 V
9602 2042 / 3 FrS R/WS Nominal motor frequency given on the rating plate
Unit: 0.1 Hz
Factory setting: if bFr = 50: 500 if bFr = 60: 600
Adjustment range: 100 to 5000
UnS (in volts)
The ratio must not exceed the following values:
FrS (in Hz)
ATV31ppp M2: 7 max.
ATV31ppp M3X: 7 max.
ATV31ppp N4: 14 max.
ATV31ppp S6X: 17 max.
9603 2042 / 4 nCr R/WS Nominal motor current given on the rating plate
Unit: 0.1 A
Factory setting: According to drive rating
Adjustment range: 0.25 to 1.5 In (1)
(1) In corresponds to the nominal drive current indicated in the Installation Manual and on the
drive rating plate.
25
Configuration and adjustment variables
9606 2042 / 7 COS R/WS Motor Cos Phi given on the rating plate
Unit: 0.01
Factory setting: According to drive rating
Adjustment range: 50 to 100
9643 2042 / 2C rSC R/WS Cold state stator resistance
Factory setting: 0
0 = "nO": Function inactive. For applications which do not require high performance or do not
tolerate automatic auto-tuning (passing a current through the motor) each time the drive is
powered up.
1 = "InIt": Activates the function. To improve low-speed performance whatever the thermal state
of the motor.
>1 =" XXXX"
XXXX: Value of cold state stator resistance used, in mΩ.
Caution:
It is strongly recommended that this function is activated for Lifting and Handling applications.
The function should be activated (InIt) only when the motor is in cold state.
When rSC = InIt, parameter tUn is forced to POn. At the next run command or the next
power-up, the stator resistance is measured with an auto-tune. Parameter rSC then changes
to this value (XXXX) and maintains it; tUn remains forced to POn. Parameter rSC remains at
InIt as long as the measurement has not been performed.
Value XXXX can be forced or changed using the keys.
XXXX corresponds to half the resistance measured between 2 phases.
9608 2042 / 9 tUn R/WO Motor control auto-tuning
Factory setting: 0
It is essential that all the motor parameters (UnS, FrS, nCr, nSP, COS) are correctly configured
before performing the auto-tuning.
LI1 to LI6: Auto-tuning is performed on the transition from 0 V 1 of a logic input assigned to this
function.
Caution:
tUn is forced to POn if rSC is other than nO.
Auto-tuning is only performed if no command has been activated. If a "freewheel stop" or "fast
stop" function has been assigned to a logic input, this input must be set to 1 (active at 0).
Auto-tuning may last for 1 to 2 seconds. Do not interrupt; wait for the display to change to
"dOnE" or "nO".
26
Configuration and adjustment variables
If the remote display terminal option is connected to the drive, the following additional selection
options will appear:
11 = "FIL1"
12 = "FIL2"
13 = "FIL3"
14 = "FIL4"
FIL1, FIL2, FIL3, FIL4 are files available in the remote display terminal’s EEPROM memory for
saving the current configuration. They can be used to store between 1 and 4 different
configurations which can also be stored on or even transferred to other drives of the same
rating.
SCS automatically switches to nO as soon as the save has been performed.
27
Configuration and adjustment variables
If the remote display terminal option is connected to the drive, the following additional selection
options appear, as long as the corresponding files have been loaded in the remote display
terminal’s EEPROM memory (0 to 4 files):
11 = "FIL1": display terminal file 1 not empty
12 = "FIL2": display terminal file 2 not empty
13 = "FIL3": display terminal file 3 not empty
14 = "FIL4": display terminal file 4 not empty
They enable the current configuration to be replaced with one of the 4 configurations that may
be loaded on the remote display terminal.
FCS automatically changes to nO as soon as this action has been performed.
11101 2051 / 2 tCC R/WS 2-wire/3-wire control
(Type of control)
Factory setting: 0 except for ATV31ppp A: 2
Control configuration:
0 = "2C" = 2-wire control: The open or closed state of the input controls running or stopping.
1 = "3C" = 3-wire control (pulse control): A "forward" or "reverse" pulse is sufficient to control
starting, a "stop" pulse is sufficient to control stopping.
2 = "LOC "= local control (drive RUN/STOP/RESET) for ATV31ppp A only (inactive if LAC = L3,
see page 30).
Changing the assignment of tCC returns the following functions to their factory setting:
rrS, tCt and all functions affecting logic inputs.
11102 2051 / 3 tCt R/WS Type of 2-wire control
(parameter active only if tCC = 2C)
Factory setting: 1
0 = "LEL ": State 0 or 1 is taken into account for run or stop.
1 = "trn": A change of state (transition or edge) is necessary to initiate operation, in order to
prevent accidental restarts after a break in the power supply.
2 = "PFO": State 0 or 1 is taken into account for run or stop, but the "forward" input always takes
priority over the "reverse" input.
11105 2051 / 6 rrS R/WS Reverse operation via logic input
Factory setting:
- if tCC = 0: 130
- if tCC = 1: 131
- if tCC = 2: 0
If rrS = nO, reverse operation is active, by means of negative voltage on AI2 for example.
0 = "nO": Not assigned
129 = "LI1": Logic input LI1
130 = "LI2": Logic input LI2
131 = "LI3": Logic input LI3
132 = "LI4": Logic input LI4
133 = "LI5": Logic input LI5
134 = "LI6": Logic input LI6
4434 200E / 23 CrL3 R/WS Value for low speed (LSP) on input AI3
Unit: 0.1 mA
Factory setting: 40
Adjustment range: 0 to 200
CrL3 and CrH3 are used to configure the input for 0-20 mA, 4-20 mA, 20-4 mA, etc.
4444 200E / 2D CrH3 R/WS Value for high speed (HSP) on input AI3
Unit: 0.1 mA
Factory setting: 200
Adjustment range: 40 to 200
CrL3 and CrH3 are used to configure the input for 0-20 mA, 4-20 mA, 20-4 mA, etc.
4601 2010 / 2 AO1t R/WS Configuration of the analog output
Factory setting: 2
1 = "10U": 0 - 10 V configuration (use terminal AOV)
2 = "0A": 0 - 20 mA configuration (use terminal AOC)
3 = "4A": 4 - 20 mA configuration (use terminal AOC)
28
Configuration and adjustment variables
For the following assignments the output is logic type (see diagram in the Installation Manual):
29
Configuration and adjustment variables
Assigning LAC to L3 will restore the factory settings of the Fr1 (below), Cd1 (page 31),
CHCF (page 31), and tCC (page 28) parameters. The latter is forced to "2C" on
ATV31 pppA.
L3 can only be restored to L2 or L1 and L2 to L1 by means of a "factory setting" via
FCS (page 28).
8413 2036 / E Fr1 R/WS Configuration reference 1
Factory setting: 1 except for ATV31pppp A: 16
1 = "AI1": Analog input AI1
2 = "AI2": Analog input AI2
3 = "AI3": Analog input AI3
16 = "AIP": Potentiometer (ATV31pppA only)
remote display terminal. For operation, display the frequency rFr (see page 16)
163 = "LCC": Reference via the remote display terminal, LFr parameter page 14.
164 = "Mdb": Reference via Modbus
167 = "CAn": Reference via CANopen
(1) Caution, you cannot assign UPdt to Fr1 or Fr2 and UPdH to Fr1 or Fr2 at the same time.
Only one of the UPdt/UPdH assignments is permitted on each reference channel.
8414 2036 / F Fr2 R/WS Configuration reference 2
Factory setting: 0
0 = "nO": Not assigned
1 = "AI1": Analog input AI1
2 = "AI2": Analog input AI2
3 = "AI3": Analog input AI3
16 = "AIP": Potentiometer (ATV31pppA only)
remote display terminal. For operation, display the frequency rFr (see page 16)
163 = "LCC": Reference via the remote display terminal, LFr parameter page 14.
164 = "Mdb": Reference via Modbus
167 = "CAn": Reference via CANopen
(1) Caution, you cannot assign UPdt to Fr1 or Fr2 and UPdH to Fr1 or Fr2 at the same time.
Only one of the UPdt/UPdH assignments is permitted on each reference channel.
30
Configuration and adjustment variables
187 = "C111": bit 11 of the CMD control word (page 14) written by Modbus
188 = "C112": bit 12 of the CMD control word (page 14) written by Modbus
189 = "C113": bit 13 of the CMD control word (page 14) written by Modbus
190 = "C114": bit 14 of the CMD control word (page 14) written by Modbus
191 = "C115": bit 15 of the CMD control word (page 14) written by Modbus
203 = "C211": bit 11 of the CMD control word (page 14) written by CANopen
205 = "C213": bit 13 of the CMD control word (page 14) written by CANopen
206 = "C214": bit 14 of the CMD control word (page 14) written by CANopen
207 = "C215": bit 15 of the CMD control word (page 14) written by CANopen
8401 2036 / 2 CHCF R/WS Mixed mode (control channels separated from reference channels)
Factory setting: 1
Active if LAC = L3
1 = "SIM": Combined
2 = "SEP": Separate
8423 2036 / 18 Cd1 R/WS Configuration of control channel 1
Factory setting: 1 except for ATV31ppp A: 2
Active if CHCF = SEP and LAC = L3
1 = "tEr": Terminal block control
2 = "LOC": Keypad control (ATV31pppA only)
3 = "LCC": Remote display terminal control
10 = "Mdb": Control via Modbus
20 = "CAn": Control via CAN
8424 2036 / 19 Cd2 R/WS Configuration of control channel 2
Factory setting: 10
Active if CHCF = SEP and LAC = L3
1 = "tEr": Terminal block control
2 = "LOC": Keypad control (ATV31pppA only)
3 = "LCC": Remote display terminal control
10 = "Mdb": Control via Modbus
20 = "CAn": Control via CAN
31
Configuration and adjustment variables
Exceptions:
• If channel 2 is controlled via the terminal block (2-wire or 3-wire control), channel 1 control is
not copied.
• If channel 2 reference is set via analog input (AI1, AI2, AI3 or AIP), channel 1 reference is
not copied.
Reference copied:
• If channel 2 is the +/- speed type, the output frequency applied to the motor (rFr) is copied.
• In other cases (built-in keypad, remote display terminal or communication bus), the reference
before ramp (FrH) is copied.
Note: If channel 2 is a communication bus, the copy is "overwritten" as soon as a new control
or reference is received by the bus.
64003 2262 / 4 LCC R/WS Control via remote display terminal
Factory setting: 0
Parameter active only with the remote display terminal option and if LAC = L1 or L2.
0 = "nO": Function inactive
1 = "YES": Enables control of the drive using the STOP/RESET, RUN and FWD/REV buttons
on the display terminal. The speed reference is then given by parameter LFr page 14. Only the
freewheel, fast stop and DC injection stop commands remain active on the terminal block. If the
drive/terminal connection is cut or if the terminal has not been connected, the drive locks in an
SLF fault.
64002 2262 / 3 PSt R/WS Stop priority
Factory setting: 1
This function gives priority to the STOP key on the keypad (ATV31 pppA only) or the STOP key
on the remote display terminal, regardless of the control channel (terminal block or
communication bus).
0 = "nO": Function inactive
1 = "YES": STOP key priority
32
Configuration and adjustment variables
171 = "Cd11": bit 11 of the CMD control word (page 14) written by Modbus or CANopen
172 = "Cd12": bit 12 of the CMD control word (page 14) written by Modbus or CANopen
173 = "Cd13": bit 13 of the CMD control word (page 14) written by Modbus or CANopen
174 = "Cd14": bit 14 of the CMD control word (page 14) written by Modbus or CANopen
175 = "Cd15": bit 15 of the CMD control word (page 14) written by Modbus or CANopen
ACC and dEC are enabled when the logic input or control word bit is at state 0.
AC2 and dE2 are enabled when the logic input or control word bit is at state 1.
33
Configuration and adjustment variables
171 = "Cd11": bit 11 of the CMD control word (page 14) written by Modbus or CANopen
172 = "Cd12": bit 12 of the CMD control word (page 14) written by Modbus or CANopen
173 = "Cd13": bit 13 of the CMD control word (page 14) written by Modbus or CANopen
174 = "Cd14": bit 14 of the CMD control word (page 14) written by Modbus or CANopen
175 = "Cd15": bit 15 of the CMD control word (page 14) written by Modbus or CANopen
The stop is activated when the logic state of the input changes to 0 and the control word bit
changes to 1. The fast stop is a stop on a reduced ramp via parameter dCF. If the input falls
back to state 1 and the run command is still active, the motor will only restart if 2-wire level
control has been configured (tCC = 2C and tCt = LEL or PFO, see page 28). In other cases, a
new run command must be sent.
34
Configuration and adjustment variables
171 = "Cd11": bit 11 of the CMD control word (page 14) written by Modbus or CANopen
172 = "Cd12": bit 12 of the CMD control word (page 14) written by Modbus or CANopen
173 = "Cd13": bit 13 of the CMD control word (page 14) written by Modbus or CANopen
174 = "Cd14": bit 14 of the CMD control word (page 14) written by Modbus or CANopen
175 = "Cd15": bit 15 of the CMD control word (page 14) written by Modbus or CANopen
Braking is activated when the logic state of the input or control word bit is at 1.
11210 2052 / B IdC R/W Level of DC injection braking current activated via logic input or selected as stop mode
Caution: This setting is not related to the "automatic standstill DC injection" function.
Unit: 0.1 A
Factory setting: 0.7 In (1)
Adjustment range: 0 to In (1)
After 5 seconds the injection current is peak limited at 0.5 Ith if it is set at a higher value.
(1) In corresponds to the nominal drive current indicated in the Installation Manual and on the
drive rating plate.
11211 2052 / C tdC R/W Total DC injection braking time selected as normal stop mode
Caution: This setting is not related to the "automatic standstill DC injection" function.
Unit: 0.1 s
Factory setting: 5
Adjustment range: 1 to 300
11202 2052 / 3 nSt R/WS Freewheel stop via logic input
Factory setting: 0
0 = "nO": Not assigned
129 = "LI1": Logic input LI1
130 = "LI2": Logic input LI2
131 = "LI3": Logic input LI3
132 = "LI4": Logic input LI4
133 = "LI5": Logic input LI5
134 = "LI6": Logic input LI6
The stop is activated when the logic state of the input is at 0. If the input falls back to state 1
and the run command is still active, the motor will only restart if 2-wire level control has been
configured. In other cases, a new run command must be sent.
10401 204A / 2 AdC R/W Automatic standstill DC injection
(at the end of the ramp)
Factory setting: 1
0 = "nO": No injection
1 = "YES": Standstill injection for adjustable period
2 = "Ct": Continuous standstill injection
This parameter gives rise to the injection of current even if a run command has not been
sent.
35
Configuration and adjustment variables
Check that the motor will withstand this current without overheating.
(1) In corresponds to the nominal drive current indicated in the Installation Manual and
on the drive rating plate.
nd
10404 204A / 5 tdC2 R/W 2 automatic standstill DC injection time
Unit: 0.1 s
Factory setting: 0
Adjustment range: 0 to 300
10405 204A / 6 SdC2 R/W 2nd level of standstill DC injection current
Unit: 0.1 A
Factory setting: 0.5 In (1)
Adjustment range: 0 to 1.2 In (1)
Check that the motor will withstand this current without overheating.
(1) In corresponds to the nominal drive current indicated in the Installation Manual and
on the drive rating plate.
11801 2058 / 2 SA2 R/WS Summing input 2
Factory setting: 2
Can be used to sum one or two inputs to reference Fr1 only.
0 = "nO": Not assigned
1 = "AI1": Analog input AI1
2 = "AI2": Analog input AI2
3 = "AI3": Analog input AI3
16 = "AIP": Potentiometer (type A drives only)
163 = "LCC": Reference via the remote display terminal, LFr parameter in the SEt- menu
page 14.
164 = "Mdb": Reference via Modbus
167 = "CAn": Reference via CANopen
11802 2058 / 3 SA3 R/WS Summing input 3
Factory setting: 0
Can be used to sum one or two inputs to reference Fr1 only.
0 = "nO": Not assigned
1 = "AI1": Analog input AI1
2 = "AI2": Analog input AI2
3 = "AI3": Analog input AI3
16 = "AIP": Potentiometer (type A drives only)
163 = "LCC": Reference via the remote display terminal, LFr parameter in the SEt- menu
page 14.
164 = "Mdb": Reference via Modbus
167 = "CAn": Reference via CANopen
36
Configuration and adjustment variables
171 = "Cd11": bit 11 of the CMD control word (page 14) written by Modbus or CANopen
172 = "Cd12": bit 12 of the CMD control word (page 14) written by Modbus or CANopen
173 = "Cd13": bit 13 of the CMD control word (page 14) written by Modbus or CANopen
174 = "Cd14": bit 14 of the CMD control word (page 14) written by Modbus or CANopen
175 = "Cd15": bit 15 of the CMD control word (page 14) written by Modbus or CANopen
11402 2054 / 3 PS4 R/WS 4 preset speeds
Factory setting: if tCC = 1: 0 if tCC = 0 or 2: 132
Selecting the assigned logic input activates the function.
Check that PS2 has been assigned before assigning PS4.
171 = "Cd11": bit 11 of the CMD control word (page 14) written by Modbus or CANopen
172 = "Cd12": bit 12 of the CMD control word (page 14) written by Modbus or CANopen
173 = "Cd13": bit 13 of the CMD control word (page 14) written by Modbus or CANopen
174 = "Cd14": bit 14 of the CMD control word (page 14) written by Modbus or CANopen
175 = "Cd15": bit 15 of the CMD control word (page 14) written by Modbus or CANopen
11403 2054 / 4 PS8 R/WS 8 preset speeds
Factory setting: 0
Selecting the assigned logic input activates the function.
Check that PS4 has been assigned before assigning PS8.
171 = "Cd11": bit 11 of the CMD control word (page 14) written by Modbus or CANopen
172 = "Cd12": bit 12 of the CMD control word (page 14) written by Modbus or CANopen
173 = "Cd13": bit 13 of the CMD control word (page 14) written by Modbus or CANopen
174 = "Cd14": bit 14 of the CMD control word (page 14) written by Modbus or CANopen
175 = "Cd15": bit 15 of the CMD control word (page 14) written by Modbus or CANopen
37
Configuration and adjustment variables
171 = "Cd11": bit 11 of the CMD control word (page 14) written by Modbus or CANopen
172 = "Cd12": bit 12 of the CMD control word (page 14) written by Modbus or CANopen
173 = "Cd13": bit 13 of the CMD control word (page 14) written by Modbus or CANopen
174 = "Cd14": bit 14 of the CMD control word (page 14) written by Modbus or CANopen
175 = "Cd15": bit 15 of the CMD control word (page 14) written by Modbus or CANopen
11410 2054 / B SP2 R/W 2nd preset speed
Unit: 0.1 Hz
Factory setting: 100
Adjustment range: 0 to 5000
11411 2054 / C SP3 R/W 3rd preset speed
Unit: 0.1 Hz
Factory setting: 150
Adjustment range: 0 to 5000
11412 2054 / D SP4 R/W 4th preset speed
Unit: 0.1 Hz
Factory setting: 200
Adjustment range: 0 to 5000
11413 2054 / E SP5 R/W 5th preset speed
Unit: 0.1 Hz
Factory setting: 250
Adjustment range: 0 to 5000
11414 2054 / F SP6 R/W 6th preset speed
Unit: 0.1 Hz
Factory setting: 300
Adjustment range: 0 to 5000
11415 2054 / 10 SP7 R/W 7th preset speed
Unit: 0.1 Hz
Factory setting: 350
Adjustment range: 0 to 5000
11416 2054 / 11 SP8 R/W 8th preset speed
Unit: 0.1 Hz
Factory setting: 400
Adjustment range: 0 to 5000
11417 2054 / 12 SP9 R/W 9th preset speed
Unit: 0.1 Hz
Factory setting: 450
Adjustment range: 0 to 5000
11418 2054 / 13 SP10 R/W 10 th preset speed
Unit: 0.1 Hz
Factory setting: 500
Adjustment range: 0 to 5000
11419 2054 / 14 SP11 R/W 11 th preset speed
Unit: 0.1 Hz
Factory setting: 550
Adjustment range: 0 to 5000
38
Configuration and adjustment variables
39
Configuration and adjustment variables
171 = "Cd11": bit 11 of the CMD control word (page 14) written by Modbus or CANopen
172 = "Cd12": bit 12 of the CMD control word (page 14) written by Modbus or CANopen
173 = "Cd13": bit 13 of the CMD control word (page 14) written by Modbus or CANopen
174 = "Cd14": bit 14 of the CMD control word (page 14) written by Modbus or CANopen
175 = "Cd15": bit 15 of the CMD control word (page 14) written by Modbus or CANopen
40
Configuration and adjustment variables
171 = "Cd11": bit 11 of the CMD control word (page 14) written by Modbus or CANopen
172 = "Cd12": bit 12 of the CMD control word (page 14) written by Modbus or CANopen
173 = "Cd13": bit 13 of the CMD control word (page 14) written by Modbus or CANopen
174 = "Cd14": bit 14 of the CMD control word (page 14) written by Modbus or CANopen
175 = "Cd15": bit 15 of the CMD control word (page 14) written by Modbus or CANopen
11921 2059 / 16 rP2 R/W 2nd preset PI reference
Unit: 0.1%
Factory setting: 300
Adjustment range: 0 to 1000
Only active if Pr2 has been enabled by selecting an input.
11922 2059 / 17 rP3 R/W 3rd preset PI reference
Unit: 0.1%
Factory setting: 600
Adjustment range: 0 to 1000
Only active if Pr4 has been enabled by selecting an input.
11923 2059 / 18 rP4 R/W 4th preset PI reference
Unit: 0.1%
Factory setting: 900
Adjustment range: 0 to 1000
Only active if Pr4 has been enabled by selecting an input.
11960 2059 / 3D rSL RW0 Restart error threshold ("wake-up" threshold)
Unit: 0.1
Factory setting: 0
Adjustment range: 0 to 1000
If the "PI" and "Low speed operating time"(tLS) (see page 24) functions are configured at the
same time, the PI regulator may attempt to set a speed lower than LSP.
This results in unsatisfactory operation which consists of starting, operating at low speed then
stopping, and so on…
Parameter rSL (restart error threshold) can be used to set a minimum PI error threshold for
restarting after a stop at prolonged LSP.
The function is inactive if tLS = 0.
11908 2059 / 9 PII R/WS Internal PI regulator reference
Factory setting: 0
0 = "nO": The PI regulator reference is Fr1, except for UPdH and UPdt (+/- speed cannot be
used as the PI regulator reference).
1 = "YES": The PI regulator reference is internal via parameter rPI.
11920 2059 / 15 rPI R/W Internal PI regulator reference
Unit: 0.1%
Factory setting: 0
Adjustment range: 0 to 1000
41
Configuration and adjustment variables
42
Configuration and adjustment variables
171 = "Cd11": bit 11 of the CMD control word (page 14) written by Modbus or CANopen
172 = "Cd12": bit 12 of the CMD control word (page 14) written by Modbus or CANopen
173 = "Cd13": bit 13 of the CMD control word (page 14) written by Modbus or CANopen
174 = "Cd14": bit 14 of the CMD control word (page 14) written by Modbus or CANopen
175 = "Cd15": bit 15 of the CMD control word (page 14) written by Modbus or CANopen
CL1 is enabled when the logic input or control word bit is at state 0 (page 24).
CL2 is enabled when the logic input or control word bit is at state 1 (page 43).
9203 203E / 4 CL2 R/W 2nd current limit
Unit: 0.1 A
Factory setting: 1.5 In (1)
Adjustment range: 0.25 to 1.5 In (1)
(1) In corresponds to the nominal drive current indicated in the Installation Manual and on the
drive rating plate.
8011 2032 / C CHP R/WS Switching, motor 2
Factory setting: 0
Function active only if LAC = L2 or L3 (page 30).
0 = "nO": Not assigned
129 = "LI1": Logic input LI1
130 = "LI2": Logic input LI2
131 = "LI3": Logic input LI3
132 = "LI4": Logic input LI4
133 = "LI5": Logic input LI5
134 = "LI6": Logic input LI6
171 = "Cd11": bit 11 of the CMD control word (page 14) written by Modbus or CANopen
172 = "Cd12": bit 12 of the CMD control word (page 14) written by Modbus or CANopen
173 = "Cd13": bit 13 of the CMD control word (page 14) written by Modbus or CANopen
174 = "Cd14": bit 14 of the CMD control word (page 14) written by Modbus or CANopen
175 = "Cd15": bit 15 of the CMD control word (page 14) written by Modbus or CANopen
LI or bit = 0: Motor 1
LI or bit = 1: Motor 2
- The motor switching function disables motor thermal protection. An external means
of motor thermal protection must therefore be provided.
- If you use this function, do not use the tUn auto-tuning function (page 26) on motor
2 and do not configure tUn = rUn or POn.
- Changes to parameters are only taken into account when the drive is locked.
9701 2043 / 2 UnS2 R/WS Nominal motor voltage (motor 2) given on the rating plate
Unit: 1 V
Factory setting: According to drive rating
Adjustment range: According to drive rating:
ATV31ppp M2: 100 to 240 V
ATV31ppp M3X: 100 to 240 V
ATV31ppp N4: 100 to 500 V
ATV31ppp S6X: 100 to 600 V
43
Configuration and adjustment variables
9706 2043 / 7 COS2 R/WS Motor Cos Phi (motor 2) given on the rating plate
Unit: 0.01
Factory setting: According to drive rating
Adjustment range: 50 to 100
9707 2043 / 8 UFt2 R/W Selection of the type of voltage/frequency ratio for motor 2
Factory setting: 2
0 = "L": Constant torque for motors connected in parallel or special motors
1 = "P": Variable torque for pump and fan applications
2 = "n": Sensorless flux vector control for constant torque applications
3 = "nLd": Energy saving, for variable torque applications not requiring high dynamics (behaves
in a similar way to the P ratio at no load and the n ratio on load).
9723 2043 / 18 UFr2 R/W IR compensation/Voltage boost, motor 2
Unit: 1%
Factory setting: 20
Adjustment range: 0 to 100
For UFt2 = n or nLd: IR compensation. For UFt2 = L or P: Voltage boost.
Used to optimize the torque at very low speed (increase UFr2 if the torque is insufficient).
Check that the value of UFr2 is not too high for when the motor is warm (risk of instability).
Modifying UFt2 will cause UFr2 to return to the factory setting (20%).
9720 2043 / 15 FLG2 R/W Frequency loop gain, motor 2
Unit: 1%
Factory setting: 20
Adjustment range: 1 to 100
Parameter active only if UFt2 = n or nLd. The FLG2 parameter adjusts the drive’s ability to
follow the speed ramp based on the inertia of the machine being driven.
Too high a gain may result in operating instability.
44
Configuration and adjustment variables
45
Configuration and adjustment variables
Check that an automatic restart does not present any danger to personnel or
equipment.
7123 2029 / 18 tAr R/WS Max. duration of restart process
Factory setting: 0
0 = "5" : 5 minutes
1 = "10" : 10 minutes
2 = "30" : 30 minutes
3 = "1h": 1 hour
4 = "2h": 2 hours
5 = "3h": 3 hours
6 = "Ct": Unlimited
This parameter is active if Atr = YES. It can be used to limit the number of consecutive restarts
on a recurrent fault.
7124 2029 / 19 rSF R/WS Reset of current fault
Factory setting: 0
0 = "nO": Not assigned
129 = "LI1": Logic input LI1
130 = "LI2": Logic input LI2
131 = "LI3": Logic input LI3
132 = "LI4": Logic input LI4
133 = "LI5": Logic input LI5
134 = "LI6": Logic input LI6
3110 2001 / B FLr R/WS Flying restart (automatic catching a spinning load on ramp)
Factory setting: 0
Used to enable a smooth restart if the run command is maintained after the following events:
- Loss of line supply or disconnection
- Reset of current fault or automatic restart
- Freewheel stop
The speed given by the drive resumes from the estimated speed of the motor at the time of the
restart, then follows the ramp to the reference speed.
This function requires 2-wire control (tCC = 2C) with tCt = LEL or PFO.
0 = "nO": Function inactive
1 = "YES": Function active
When the function is operational, it activates on each restart following one of the above events,
resulting in a slight delay (1 second max).
FLr is forced to nO if brake control (bLC) is assigned (page 42).
46
Configuration and adjustment variables
171 = "Cd11": bit 11 of the CMD control word (page 14) written by Modbus or CANopen
172 = "Cd12": bit 12 of the CMD control word (page 14) written by Modbus or CANopen
173 = "Cd13": bit 13 of the CMD control word (page 14) written by Modbus or CANopen
174 = "Cd14": bit 14 of the CMD control word (page 14) written by Modbus or CANopen
175 = "Cd15": bit 15 of the CMD control word (page 14) written by Modbus or CANopen
7006 2028 / 7 EPL R/WS Stop mode in the event of an external fault EPF
Factory setting: 1
0 = "nO": Fault ignored
1 = "YES": Fault with freewheel stop
6 = "rMP": Fault with stop on ramp
7 = "FSt": Fault with fast stop
9611 2042 / C OPL R/WS Configuration of motor phase loss fault
Factory setting: 1
0 = "nO": Function inactive
1 = "YES": Triggering of OPF fault
2 = "OAC": No fault triggered but management of the output voltage in order to avoid an
overcurrent when the link with the motor is re-established and flying restart even if FLr = nO.
To be used with downstream contactor.
OPL is forced to YES if brake control bLC is assigned (page 42).
If OPL = OAC, bLC is forced to nO (page 42).
7002 2028 / 3 IPL R/WS Configuration of line phase loss fault
Factory setting: 1 except for ATV31ppp M2: 0
This parameter is only active on 3-phase drives.
0 = "nO": Fault ignored
1 = "YES": Fault with fast stop
7008 2028 / 9 OHL R/WS Stop mode in the event of a drive overheating fault OHF
Factory setting: 1
0 = "nO": Fault ignored
1 = "YES": Fault with freewheel stop
6 = "rMP": Fault with stop on ramp
7 = "FSt": Fault with fast stop
7009 2028 / A OLL R/WS Stop mode in the event of a motor overload fault OLF
Factory setting: 1
0 = "nO": Fault ignored
1 = "YES": Fault with freewheel stop
6 = "rMP": Fault with stop on ramp
7 = "FSt": Fault with fast stop
7010 2028 / B SLL R/WS Stop mode in the event of a Modbus serial link fault SLF
Factory setting: 1
0 = "nO": Fault ignored
1 = "YES": Fault with freewheel stop
6 = "rMP": Fault with stop on ramp
7 = "FSt": Fault with fast stop
7011 2028 / C COL R/WS Stop mode in the event of a CANopen serial link fault COF
Factory setting: 1
0 = "nO": Fault ignored
1 = "YES": Fault with freewheel stop
6 = "rMP": Fault with stop on ramp
7 = "FSt": Fault with fast stop
47
Configuration and adjustment variables
48
Configuration and adjustment variables
49
Configuration and adjustment variables
Caution: Before entering a code, do not forget to make a careful note of it.
50
Replacing an ATV28 with an ATV31
If necessary, it is easy to replace an ATV28 with a ATV31 in an installation communicating via Modbus.
In fact, most of the variables used in the ATV28 are found in the ATV31 with the same addresses (double addressing).
• To replace an ATV28, the ATV28 addresses in this table can be used, but only these. All the other ATV28 addresses must be
replaced with those for the ATV31.
• For any new installation, we recommend using the new addresses, as this enables the number of Modbus requests to be reduced.
51
Code index
52
Code index
53
Code index
54
Code index
55
Code index
56
VVDED303092 EN atv31_communication variables_EN_V1
2003-11
Altivar 31
Programming manual
Variable speed drives
for asynchronous motors
Contents
Warnings____________________________________________________________________________________________________ 2
Steps for setting up the starter ___________________________________________________________________________________ 3
Factory configuration __________________________________________________________________________________________ 4
Basic functions _______________________________________________________________________________________________ 5
Setup - Preliminary recommendations _____________________________________________________________________________ 7
Functions of the display and the keys______________________________________________________________________________ 8
Remote terminal option________________________________________________________________________________________ 10
Programming _______________________________________________________________________________________________ 11
Function compatibility _________________________________________________________________________________________ 13
List of functions which can be assigned to inputs/outputs _____________________________________________________________ 14
Settings menu SEt-___________________________________________________________________________________________ 16
Motor control menu drC-_______________________________________________________________________________________ 20
I/O menu I-O- _______________________________________________________________________________________________ 23
Control menu CtL- ___________________________________________________________________________________________ 26
Application functions menu FUn- ________________________________________________________________________________ 37
Fault menu FLt- _____________________________________________________________________________________________ 60
Communication menu COM- ___________________________________________________________________________________ 63
Display menu SUP- __________________________________________________________________________________________ 64
Maintenance ________________________________________________________________________________________________ 67
Faults - Causes - Remedies ____________________________________________________________________________________ 68
Configuration/Settings table ____________________________________________________________________________________ 70
Index of parameter codes ______________________________________________________________________________________ 74
Index of functions ____________________________________________________________________________________________ 75
1
Warnings
When the drive is powered up, the power components and some of the control
components are connected to the line supply. It is extremely dangerous to touch
them. The drive cover must be kept closed.
In general, the drive power supply must be disconnected before any operation on
either the electrical or mechanical parts of the installation or machine.
After the ALTIVAR has been switched off and the display has disappeared
completely, wait for 10 minutes before working on the equipment. This is the time
required for the capacitors to discharge.
The motor can be stopped during operation by inhibiting start commands or the
speed reference while the drive remains powered up. If personnel safety requires
prevention of sudden restarts, this electronic locking system is not sufficient: fit
a cut-off on the power circuit.
The drive is fitted with safety devices which, in the event of a fault, can shut down
the drive and consequently the motor. The motor itself may be stopped by a
mechanical blockage. Finally, voltage variations, especially line supply failures,
can also cause shutdowns.
If the cause of the shutdown disappears, there is a risk of restarting which may
endanger certain machines or installations, especially those which must
conform to safety regulations.
In this case the user must take precautions against the possibility of restarts, in
particular by using a low speed detector to cut off power to the drive if the motor
performs an unprogrammed shutdown.
The drive must be installed and set up in accordance with both international and
national standards. Bringing the device into conformity is the responsibility of
the systems integrator who must observe the EMC directive among others within
the European Union.
The specifications contained in this document must be applied in order to
comply with the essential requirements of the EMC directive.
The drive must not be used as a safety device for machines posing a potential
risk of material damage or personal injury (lifting equipment, for example). In
such applications, overspeed checks and checks to ensure that the trajectory
remains under constant control must be made by separate devices which are
independent of the drive.
2
Steps for setting up the starter
2 - Check that the line voltage is compatible with the supply voltage range of the drive
(see the ATV 31Installation Manual).
The user must ensure that the programmed functions are compatible with the wiring diagram used.
Practical recommendations
• Preparations can be made for programming the drive by filling in the configuration and settings tables (see page 70), in particular when
the factory configuration has to be changed.
• It is always possible to return to the factory settings using the FCS parameter in the drC-, I-O-, CtL- and FUn- menus (set InI to activate
the function, see page 22, 25, 36 or 59).
• Auto-tuning, which is performed using the drC- menu, can be applied to optimize performance in terms of accuracy and response time.
Auto-tuning measures the stator resistance of the motor in order to optimize the control algorithms.
3
Factory configuration
Factory settings
The Altivar 31 is factory-set for the most common operating conditions:
• Display: Drive ready (rdY) with motor stopped, and motor frequency with motor running
• Motor frequency (bFr): 50 Hz
• Constant torque application with sensorless flux vector control (UFt = n)
• Normal stop mode on deceleration ramp (Stt = rMP).
• Stop mode in the event of a fault: Freewheel
• Linear ramps (ACC, dEC): 3 seconds
• Low speed (LSP): 0 Hz
• High speed (HSP): 50 Hz
• Motor thermal current (ItH) = nominal motor current (value depending on drive rating)
• Standstill injection braking current (SdC) = 0.7 x nominal drive current, for 0.5 seconds
• Automatic adaptation of the deceleration ramp in the event of overvoltage on braking
• No automatic restarting after a fault
• Switching frequency 4 kHz
• Logic inputs:
- LI1, LI2 (2 directions of operation): 2-wire transition detection control, LI1 = forward, LI2 = reverse, inactive on ATV 31ppppppA drives
(not assigned)
- LI3, LI4: 4 preset speeds (speed 1 = speed reference or LSP, speed 2 = 10 Hz, speed 3 = 15 Hz, speed 4 = 20 Hz).
- LI5 - LI6: Inactive (not assigned)
• Analog inputs:
- AI1: Speed reference 0-10 V, inactive on ATV 31ppppppA (not assigned)
- AI2: Summed speed reference input 0±10 V
- AI3: 4-20 mA inactive (not assigned)
• Relay R1: The contact opens in the event of a fault (or drive off)
• Relay R2: Inactive (not assigned)
• Analog output AOC: 0-20 mA inactive (not assigned)
If the above values are compatible with the application, the drive can be used without changing the settings.
4
Basic functions
3000
1000
200
160
100
60
2
0
1 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 1.9 Motor current/Drive In
Drive ventilation
The fan starts up when the drive is powered up then shuts down after 10 seconds if a run command has not been received.
The fan is powered automatically when the drive is unlocked (operating direction + reference). It is powered down a few seconds after the
drive is locked (motor speed < 0.2 Hz and injection braking completed).
5
Basic functions
Caution: The memory of the motor thermal state returns to zero when the drive is disconnected.
Trip time t
in seconds
1 Hz 3 Hz 5 Hz
10 Hz 20 Hz 50 Hz
10 000
1 000
100
0.7 0.8 0.9 1 1.1 1.2 1.3 1.4 1.5 1.6
Motor current/ItH
6
Setup - Preliminary recommendations
- Check that changes to the current operating settings do not present any danger. Changes should preferably be made
with the drive stopped.
Start up
Important: In factory settings mode on power-up, or in a manual fault reset or after a stop command, the motor can only be powered once
the "forward", "reverse" and "DC injection stop" commands have been reset. If they have not been reset, the drive will display "nSt" but will
not start. If the automatic restart function is configured (parameter Atr in the FLt- menu, see page 60), these commands are taken into
account without a reset being necessary.
• Motor thermal protection will not be provided by the drive if the motor current is less than 0.2 times the nominal drive current.
• Motor thermal protection is no longer provided by the drive. Provide an alternative means of thermal protection on every motor.
7
Functions of the display and the keys
• Press and hold down (>2 s) or to scroll through the data quickly.
- 43.0: Display of the parameter selected in the SUP- menu (default selection: motor frequency).
In current limit mode, the display flashes.
- init: Initialization sequence
- rdY: Drive ready
- dcb: DC injection braking in progress
- nSt: Freewheel stop
- FSt: Fast stop
- tUn: Auto-tuning in progress
8
Functions of the display and the keys
ATV31ppppppA:
• Red LED
"DC bus ON" Altivar 31
RUN
• Four 7-segment displays CAN • 2 CANopen status LEDs
ERR
• Exits a menu or a parameter,
• Returns to the previous menu or or clears the displayed value to return
parameter, or increases the to the previous stored value
ESC
displayed value
• Press and hold down (>2 s) or to scroll through the data quickly.
9
Remote terminal option
This module is a local control unit which can be mounted on the door of the wall-mounted or floor-standing enclosure. It has a cable with
connectors, which is connected to the drive serial link (see the manual supplied with the terminal). It has the same display and the same
programming buttons as the Altivar 31 with the addition of a switch to lock access to the menus and three buttons for controlling the drive:
• FWD/REV: reversal of the direction of rotation
• RUN: motor run command
• STOP/RESET: Motor stop command or fault reset
Pressing the button a first time stops the motor, and if DC injection standstill braking is configured, pressing it a second time stops this
braking.
4-character
display unit
ESC
ENT Connector
FWD STOP
REV RUN RESET
• The access locking switch on the remote terminal also prevents the drive settings being accessed via the keypad.
• When the remote terminal is disconnected, if the drive has been locked, the keypad will remain locked.
• In order for the remote terminal to be active, the tbr parameter in the COM- menu must remain in factory settings mode: 19.2
(see page 73).
10
Programming
Access to menus
Power-up
ESC
ENT
ENT
ESC
SEt- ESC
Settings
ENT
ESC
drC- ESC
Motor control
ENT
ESC
I-O- ESC
I/O
ENT
ESC
CtL- ESC
Control
Menus
ENT
ESC
FUn- ESC
Functions
ENT
ESC
FLt- ESC
Faults
ENT
ESC
CON- ESC
Communication
ENT
ESC
SUP- ESC
Monitoring
A dash appears after menu and sub-menu codes to differentiate them from parameter codes.
Examples: FUn- menu, ACC parameter.
11
Programming
SEt- ACC 15 0
ENT ENT
. 1 flash
(save)
ESC
ESC ESC
dEC 26 0
.
ENT
26 0.
(Next parameter)
All the menus are "drop-down" type menus, which means that after the last parameter, if you continue to press , you will return to the
first parameter and, conversely, you can switch from the first parameter to the last parameter by pressing .
ENT
Menu 1st
ESC
nth
last
If, after modifying any of the parameters (nth), you quit a menu and return to this menu without having accessed another menu in the
meantime, you will be taken directly to the nth parameter (see below). If, in the meantime, you have accessed another menu or have
restarted the system, you will always be taken to the first parameter in the menu (see above).
1st
ENT
Menu nth
ESC
last
>.H
Code Description Adjustment Factory setting
range
bFr Standard motor frequency 50
This parameter is only visible the first time the drive is switched on.
It can be modified at any time in the drC- menu.
50 Hz: IEC
60 Hz: NEMA
This parameter modifies the presets of the following parameters: HSP page 16, Ftd page 19, FrS page 20 and tFr page
22.
12
Function compatibility
Incompatible functions
The following functions will be inaccessible or deactivated in the cases described below:
Automatic restart
This is only possible for 2-wire level detection control (tCC = 2C and tCt = LEL or PFO).
Flying restart
This is only possible for 2-wire level detection control (tCC = 2C and tCt = LEL or PFO).
This function is locked if automatic standstill injection is configured as DC (AdC = Ct).
Reverse
On the ATV31pppA range only, this function is locked if local control is active (tCC = LOC).
DC injection stop
Brake sequence
Summing inputs
Freewheel stop
Preset speeds
Jog operation
+/- speed (1)
PI regulator
Fast stop
Summing inputs p A p A
+/- speed (1) p p p p
Management of limit switches p
Preset speeds X p p A
PI regulator p p p p p p
Jog operation X p X p p
Brake sequence p p p
DC injection stop p A
Fast stop A
Freewheel stop X X
(1) Excluding special application with reference channel Fr2 (see diagrams 28 and 30)
The SUP- display menu (parameters LIA and AIA on page 66) can be used to display the functions assigned to each input in order to check
their compatibility.
13
List of functions which can be assigned to inputs/outputs
14
List of functions which can be assigned to inputs/outputs
15
Settings menu SEt-
ENT ENT
ENT
ESC
rPI
ESC
ENT
ACC
ESC
ESC
ESC ENT
The adjustment parameters can be modified with the drive running or stopped.
Check that it is safe to make changes during operation. Changes should preferably be made in stop mode.
These parameter appear regardless of how the other menus have been configured.
These parameters only appear if the corresponding function has been selected in another menu. When the corresponding
function is also accessible and adjustable from within the configuration menu, to aid programming their description is detailed
in these menus, on the pages indicated.
SEt-
Code Description Adjustment Factory setting
range
LFr Speed reference via the remote terminal 0 to HSP
This parameter appears if LCC = YES (page 35) or if Fr1/Fr2 = LCC (page 33), and if the remote terminal is
online. In this case, LFr can also be accessed via the drive keypad.
LFr is reset to 0 when the drive is powered down.
rPI Internal PI regulator reference See page 51 0.0 to 100% 0
ACC Acceleration ramp time 0.1 to 999.9 s 3s
Defined as the acceleration time between 0 and the nominal frequency FrS (parameter in the drC- menu).
AC2 2nd acceleration ramp time See page 38 0.1 to 999.9 s 5s
dE2 2nd deceleration ramp time See page 38 0.1 to 999.9 s 5s
dEC Deceleration ramp time 0.1 to 999.9 s 3s
Defined as the deceleration time between the nominal frequency FrS (parameter in the drC- menu) and 0.
Check that the value of dEC is not too low in relation to the load to be stopped.
tA1 Start of CUS-type acceleration ramp rounded See page 37 0 to 100 10%
as % of total ramp time (ACC or AC2)
tA2 End of CUS-type acceleration ramp rounded See page 37 0 to (100-tA1) 10%
as % of total ramp time (ACC or AC2)
tA3 Start of CUS-type deceleration ramp rounded See page 37 0 to 100 10%
as % of total ramp time (dEC or dE2)
tA4 End of CUS-type deceleration ramp rounded See page 37 0 to (100-tA3) 10%
as % of total ramp time (dEC or dE2)
LSP Low speed 0 to HSP 0 Hz
(Motor frequency at min. reference)
HSP High speed LSP to tFr bFr
(Motor frequency to max. reference): Check that this setting is suitable for the motor and the application.
ItH Motor thermal protection - max. thermal current 0.2 to 1.5 In (1) According to drive
rating
Set ItH to the nominal current on the motor rating plate.
Please refer to OLL on page 61 if you wish to suppress thermal protection.
(1) In corresponds to the nominal drive current indicated in the Installation Manual and on the drive rating plate.
16
Settings menu SEt-
SEt-
Code Description Adjustment Factory setting
range
UFr IR compensation/voltage boost 0 to 100% 20
- For UFt (page 21) = n or nLd: IR compensation
- For UFt = L or P: Voltage boost
Used to optimize the torque at very low speed (increase UFr if the torque is insufficient).
Check that the value of UFr is not too high for when the motor is warm (risk of instability).
Modifying UFt (page 21) will cause UFr to return to the factory setting (20%).
FLG Frequency loop gain 1 to 100% 20
Parameter can only be accessed if UFt (page 21) = n or nLd.
The FLG parameter adjusts the drive’s ability to follow the speed ramp based on the inertia of the machine
being driven.
Too high a gain may result in operating instability.
Hz FLG low Hz FLG correct Hz FLG high
50 50 50
40 40 40
30 In this case, 30 30 In this case,
20 increase FLG 20 20 reduce FLG
10 10 10
0 0 0
-10 -10 -10
0 0.1 0.2 0.3 0.4 0.5 t 0 0.1 0.2 0.3 0.4 0.5 t 0 0.1 0.2 0.3 0.4 0.5 t
(1) In corresponds to the nominal drive current indicated in the Installation Manual and on the drive rating plate.
(2) Caution: These settings are not related to the "automatic standstill DC injection" function.
These parameters only appear if the corresponding function has been selected in another menu. When the corresponding
function is also accessible and adjustable from within the configuration menu, to aid programming their description is detailed
in these menus, on the pages indicated.
Those which are underlined appear in factory settings mode.
17
Settings menu SEt-
SEt-
Code Description Adjustment Factory setting
range
JPF Skip frequency 0 to 500 0 Hz
Prevents prolonged operation at a frequency range of ± 1 Hz around JPF. This function prevents a critical
speed which leads to resonance. Setting the function to 0 renders it inactive.
JF2 2nd skip frequency 0 to 500 0 Hz
Prevents prolonged operation at a frequency range of ± 1 Hz around JF2. This function prevents a critical
speed which leads to resonance. Setting the function to 0 renders it inactive.
JGF Jog operating frequency See page 46 0 to 10 Hz 10 Hz
rPG PI regulator proportional gain See page 51 0.01 to 100 1
rIG PI regulator integral gain See page 51 0.01 to 100/s 1/s
FbS PI feedback multiplication coefficient See page 51 0.1 to 100 1
PIC Reversal of the direction of correction of the PI See page 51 nO - YES nO
regulator
rP2 2nd preset PI reference See page 51 0 to 100% 30%
rP3 3rd preset PI reference See page 51 0 to 100% 60%
rP4 4th preset PI reference See page 51 0 to 100% 90%
SP2 2nd preset speed See page 45 0 to 500 Hz 10 Hz
SP3 3rd preset speed See page 45 0 to 500 Hz 15 Hz
SP4 4th preset speed See page 45 0 to 500 Hz 20 Hz
SP5 5th preset speed See page 45 0 to 500 Hz 25 Hz
SP6 th
6 preset speed See page 45 0 to 500 Hz 30 Hz
SP7 7th preset speed See page 45 0 to 500 Hz 35 Hz
SP8 8th preset speed See page 45 0 to 500 Hz 40 Hz
SP9 9th preset speed See page 45 0 to 500 Hz 45 Hz
SP10 10th preset speed See page 45 0 to 500 Hz 50 Hz
SP11 11th preset speed See page 45 0 to 500 Hz 55 HZ
SP12 12th preset speed See page 45 0 to 500 Hz 60 Hz
SP13 13th preset speed See page 45 0 to 500 Hz 70 Hz
SP14 th
14 preset speed See page 45 0 to 500 Hz 80 Hz
SP15 15th preset speed See page 45 0 to 500 Hz 90 Hz
SP16 16th preset speed See page 45 0 to 500 Hz 100 Hz
CLI Current limit 0.25 to 1.5 In (1) 1.5 In (1)
Used to limit the torque and the temperature rise of the motor.
CL2 2nd current limit See page 55 0.25 to 1.5 In (1) 1.5 In (1)
tLS Low speed operating time 0 to 999.9 s 0 (no time limit)
Following operation at LSP for a defined period, a motor stop is requested automatically. The motor restarts
if the frequency reference is greater than LSP and if a run command is still present.
Caution: Value 0 corresponds to an unlimited time
rSL Restart error threshold ("wake-up" threshold) See page 52 0 to 100% 0
UFr2 IR compensation, motor 2 See page 57 0 to 100% 20
FLG2 Frequency loop gain, motor 2 See page 57 1 to 100% 20
StA2 Stability, motor 2 See page 57 1 to 100% 20
SLP2 Slip compensation, motor 2 See page 57 0 to 150% 100%
(1) In corresponds to the nominal drive current indicated in the Installation Manual and on the drive rating plate.
These parameters only appear if the corresponding function has been selected in another menu. When the corresponding
function is also accessible and adjustable from within the configuration menu, to aid programming their description is detailed
in these menus, on the pages indicated.
Those which are underlined appear in factory settings mode.
18
Settings menu SEt-
SEt-
Code Description Adjustment Factory setting
range
Ftd Motor frequency threshold above which the relay contact 0 to 500 Hz bFr
(R1 or R2 = FtA) closes or output AOV = 10 V (dO = StA)
ttd Motor thermal state threshold above which the relay contact (R1 0 to 118% 100%
or R2 = tSA) closes or output AOV = 10 V (dO = tSA)
Ctd Motor current threshold beyond which the relay contact 0 to 1.5 In (1) In (1)
(R1 or R2 = CtA) closes or output AOV = 10 V (dO = CtA)
SdS Scale factor for display parameter SPd1/SPd2/SPd3 (SUP- 0.1 to 200 30
menu on page 65)
Used to scale a value in proportion to the output frequency rFr: the machine speed, the motor speed, etc.
- If SdS y 1, SPd1 is displayed (possible definition = 0.01)
- If 1 < SdS y 10, SPd2 is displayed (possible definition = 0.1)
- If SdS > 10, SPd3 is displayed (possible definition = 1)
- If SdS > 10 and SdS x rFr > 9999:
SdS x rFr
Display of Spd3 = to 2 decimal places
1000
Example: For 24 223, display is 24.22
- If SdS > 10 and SdS x rFr > 65535, display locked at 65.54
(1) In corresponds to the nominal drive current indicated in the Installation Manual and on the drive rating plate.
19
Motor control menu drC-
ENT
bFr
ESC
Standard motor frequency
drC- ESC ENT
tAI
ESC
FCS
ESC ESC
Return to factory settings/restore configuration
ENT
With the exception of tUn, which can power up the motor, parameters can only be modified in stop mode, with no run command
present.
On the optional remote terminal, this menu can be accessed with the switch in the position.
drC-
Code Description Adjustment Factory setting
range
bFr Standard motor frequency 50
50 Hz: IEC
60 Hz: NEMA
This parameter modifies the presets of the following parameters: HSP page 16, Ftd page 19, FrS page 20 and
tFr page 22.
UnS Nominal motor voltage given on the rating plate According to drive According to drive
rating rating
ATV31pppM2: 100 to 240 V
ATV31pppM3X: 100 to 240 V
ATV31pppN4: 100 to 500 V
ATV31pppS6X: 100 to 600 V
FrS Nominal motor frequency given on the rating plate 10 to 500 Hz 50 Hz
UnS (in volts)
The ratio must not exceed the following values:
FrS (in Hz)
ATV31pppM2: 7 max.
ATV31pppM3X: 7 max.
ATV31pppN4: 14 max.
ATV31pppS6X: 17 max.
The factory setting is 50 Hz, or preset to 60 Hz if bFr is set to 60 Hz.
nCr Nominal motor current given on the rating plate 0.25 to 1.5 In (1) According to drive
rating
nSP Nominal motor speed given on the rating plate 0 to 32760 RPM According to drive
rating
0 to 9999 RPM then 10.00 to 32.76 KRPM
If, rather than the nominal speed, the rating plate indicates the synchronous speed and the slip in Hz or as
a %, calculate the nominal speed as follows:
100 - slip as a %
• Nominal speed = Synchronous speed x
100
or
50 - slip in Hz
• Nominal speed = Synchronous speed x (50 Hz motors)
50
or
60 - slip in Hz
• Nominal speed = Synchronous speed x (60 Hz motors)
60
COS Motor Cos Phi given on the rating plate 0.5 to 1 According to drive
rating
(1) In corresponds to the nominal drive current indicated in the Installation Manual and on the drive rating plate.
20
Motor control menu drC-
drC-
Code Description Adjustment Factory setting
range
rSC Cold state stator resistance nO
nO: Function inactive. For applications which do not require high performance or do not tolerate automatic
autotuning (passing a current through the motor) each time the drive is powered up.
InIt: Activates the function. To improve low-speed performance whatever the thermal state of the motor.
XXXX: Value of cold state stator resistance used, in mΩ.
Caution:
• It is strongly recommended that this function is activated in Lifting and Handling applications.
• The function should only be activated (InIt) when the motor is in cold state.
• When rSC = InIt, parameter tUn is forced to POn. At the next run command, the stator resistance is
measured with an auto-tune. Parameter rSC then changes to this value (XXXX) and maintains it; tUn
remains forced to POn. Parameter rSC remains at InIt as long as the measurement has not been performed.
• Value XXXX can be forced or modified using the keys.
tUn Motor control auto-tuning nO
It is essential that all the motor parameters (UnS, FrS, nCr, nSP, COS) are configured correctly before
performing auto-tuning.
nO: Auto-tuning not performed.
YES: Auto-tuning is performed as soon as possible, then the parameter automatically switches to dOnE
or nO in the event of a fault (the tnF fault is displayed if tnL = YES (see page 62).
dOnE: Use of the values given the last time auto-tuning was performed.
rUn: Auto-tuning is performed every time a run command is sent.
POn: Auto-tuning is performed on every power-up.
LI1 to LI6: Auto-tuning is performed on the transition from 0 V 1 of a logic input assigned to this function.
Caution:
tUn is forced to POn if rSC is other than nO.
Auto-tuning is only performed if no command has been activated. If a "freewheel stop" or "fast stop" function
is assigned to a logic input, this input must be set to 1 (active at 0).
Auto-tuning may last for 1 to 2 seconds. Do not interrupt; wait for the display to change to "dOnE" or "nO".
UnS
L
n
P
Frequency
FrS
21
Motor control menu drC-
drC-
Code Description Adjustment Factory setting
range
nrd Random switching frequency YES
YES: Frequency with random modulation
nO: Fixed frequency
Random frequency modulation prevents any resonance which may occur at a fixed frequency.
SFr Switching frequency 2.0 to 16 kHz 4 kHz
(1)
The frequency can be adjusted to reduce the noise generated by the motor.
If the frequency has been set to a value higher than 4 kHz, in the event of an excessive rise in temperature,
the drive will automatically reduce the switching frequency and increase it again once the temperature has
returned to normal.
tFr Maximum output frequency 10 to 500 Hz 60 Hz
The factory setting is 60 Hz, or preset to 72 Hz if bFr is set to 60 Hz.
SrF Suppression of the speed loop filter nO
nO: The speed loop filter is active (prevents the reference being exceeded).
YES: The speed loop filter is suppressed (in position control applications, this reduces the response time
and the reference may be exceeded).
For rECI, InI and FL1 to FL4 to be taken into account, the ENT key must be held down for 2 s.
(1) SCS and FCS can be accessed via several configuration menus but they concern all menus and parameters as a whole.
(2) Parameter can also be accessed in the settings menu (SEt-).
22
I/O menu I-O-
ENT
tCC
ESC
2-wire/3-wire control
I-O- ESC ENT
ESC
FCS
ESC ESC
Return to factory settings/restore configuration
ENT
The parameters can only be modified when the drive is stopped and no run command is present.
On the optional remote terminal, this menu can be accessed with the switch in the position.
I-O-
Code Description Factory setting
tCC 2-wire/3-wire control 2C
(Type of control) ATV31pppA: LOC
Control configuration:
2C = 2-wire control
3C = 3-wire control
LOC = local control (drive RUN/STOP/RESET) for ATV31pppA only (invisible if LAC = L3, see page 33).
2-wire control: The open or closed state of the input controls running or stopping.
ATV 31
Wiring example: 24 V LI1 LIx
LI1: forward
LIx: reverse
3-wire control (pulse control): A "forward" or "reverse" pulse is sufficient to control starting, a "stop" pulse is
sufficient to control stopping.
Example of wiring: ATV 31
LI1: stop 24 V LI1 LI2 LIx
LI2: forward
LIx: reverse
To change the assignment of tCC press the "ENT" key for 2 s. This causes the following functions
to return to their factory setting: rrS, tCt and all functions affecting logic inputs.
tCt Type of 2-wire control (parameter only accessible if tCC = 2C) trn
LEL: State 0 or 1 is taken into account for run or stop.
trn: A change of state (transition or edge) is necessary to initiate operation, in order to prevent accidental
restarts after a break in the power supply.
PFO: State 0 or 1 is taken into account for run or stop, but the "forward" input always takes priority over
the "reverse" input.
rrS Reverse operation via logic input if tCC = 2C: LI2
if tCC = 3C: LI3
if tCC = LOC: nO
If rrS = nO, reverse operation is active, by means of negative voltage on AI2 for example.
nO: Not assigned
LI2: Logic input LI2, can be accessed if tCC = 2C
LI3: Logic input LI3
LI4: Logic input LI4
LI5: Logic input LI5
LI6: Logic input LI6
23
I/O menu I-O-
I-O-
Code Description Factory setting
CrL3 Value for low speed (LSP) on input AI3, can be set between 0 and 20 mA 4 mA
CrH3 Value for high speed (HSP) on input AI3, can be set between 4 and 20 mA 20 mA
These two parameters are used to configure the input for 0-20 mA, 4-20 mA, 20-4 mA, etc.
Frequency Frequency
HSP Example: HSP
20 - 4 mA
LSP LSP
0 0
AI 3 CrH3 CrL3 AI 3
CrL3 CrH3 20 (mA)
(mA) (4 mA) (20 mA)
24
I/O menu I-O-
I-O-
Code Description Factory setting
SCS Saving the configuration
(1)
nO: Function inactive
StrI: Saves the current configuration (but not the result of auto-tuning) to EEPROM. SCS automatically
switches to nO as soon as the save has been performed. This function is used to keep another configuration
in reserve, in addition to the current configuration.
When drives leave the factory the current configuration and the backup configuration are both initialized with
the factory configuration.
• If the remote terminal option is connected to the drive, the following additional selection options will
appear: FIL1, FIL2, FIL3, FIL4 (files available in the remote terminal's EEPROM memory
for saving the current configuration). They can be used to store between 1 and 4 different configurations
which can also be stored on or even transferred to other drives of the same rating.
SCS automatically switches to nO as soon as the save has been performed.
FCS Return to factory settings/restore configuration
(1)
nO: Function inactive
rECI: The current configuration becomes identical to the backup configuration previously saved by
SCS = StrI. rECI is only visible if the backup has been carried out. FCS automatically changes to nO as soon
as this action has been performed.
InI: The current configuration becomes identical to the factory setting. FCS automatically changes to
nO as soon as this action has been performed.
• If the remote terminal option is connected to the drive, the following additional selection options appear,
as long as the corresponding files have been loaded in the remote terminal's EEPROM memory (0 to 4
files): FIL1, FIL2, FIL3, FIL4. They enable the current configuration to be replaced with one
of the 4 configurations that may be loaded on the remote terminal.
FCS automatically changes to nO as soon as this action has been performed.
Caution: If nAd appears on the display briefly once FCS has switched to nO, this means that the
configuration transfer is not possible and has not been performed (different drive ratings for example). If
ntr appears on the display briefly once the parameter has switched to nO, this means that a
configuration transfer error has occurred and the factory settings must be restored using InI.
In both cases, check the configuration to be transferred before trying again.
For rECI, InI and FL1 to FL4 to be taken into account, the ENT key must be held down for 2 s.
(1) SCS and FCS can be accessed via several configuration menus but they concern all menus and parameters as a whole.
25
Control menu CtL-
ENT
LAC
ESC
Function access level
CtL- ESC ENT
Fr1
ESC
FCS
ESC ESC
Return to factory settings/restore configuration
ENT
The parameters can only be modified when the drive is stopped and no run command is present.
On the optional remote terminal, this menu can be accessed with the switch in the position.
Note:
The STOP keys on the keypad and the remote terminal may retain priority (PSt parameter in the CtL- menu).
The LAC parameter in the CtL- menu can be used to select priority modes for the control and reference channels. It has 3 function levels:
• LAC = L1: Basic functions, with priority via communication bus. This level is interchangeable with ATV28.
• LAC = L2: Provides the option of additional functions compared with L1:
- +/- speed (motorized potentiometer)
- Brake control
- Switching for 2nd current limit
- Motor switching
- Management of limit switches
• LAC = L3: Same options as with L2, plus mixed mode for control and reference channels.
Terminal/Keypad
Modbus
LCC CANopen
FLO
Remote terminal
Forced local mode
• On ATV31 drives, in factory settings mode, control and reference are managed by the terminal.
• On ATV31pppA drives, in factory settings mode, control is via the keypad and the reference is set via the potentiometer for this keypad.
• With a remote terminal, if LCC = YES (CtL- menu), control and reference are managed by the remote terminal (reference via LFr, SEt-
menu).
26
Control menu CtL-
These channels can be combined in other ways described below if LAC = L3.
Parameter rFC can be used to select channel Fr1 or Fr2 or to configure a logic input or a control word bit for remote switching of either.
See the detailed diagrams on pages 30 et 32.
Reference
H.+
Selection of reference
channel: parameter Fr2
Parameter rFC can be used to select channel Fr1 or Fr2 or to configure a logic input or a control word bit for remote switching of either.
Control
Selection of control
channel: parameter Cdl
Control
Parameter CCS can be used to select channel Cd1 or Cd2 or to configure a logic input or a control word bit for remote switching of either.
27
Control menu CtL-
AI1
AI2
AI3
AIP
LFr
Preset speeds Remote
nO terminal
SA2
(SP1)
nO SP2
AI1 LI
AI2 SP16
Jog
AI3 operation
AIP LI
nO
PI assigned
AI1
Channel 1
AI2
AI3 PIF ) Ramps
YES
PI function
AIP nO see page 49 HSP ACC DEC
AI1 nO .H0 H.H
nO nO
AI2
LCC LSP AC2 DE2
AI3
rFC FLO
Modbus
Fr2
Channel 2
nO
AI1
AI2
AI3
AIP
Key:
28
Control menu CtL-
tCC
LCC
FLO
Forward
CMD Reverse
STOP
ATV31pppA Remote
keypad terminal ATV31pppA keypad
PSt
(STOP
priority)
Remote terminal
Key:
Parameter:
The black square represents
the factory setting assignment
29
Control menu CtL-
-
UPdH
speed
FLOC
AI1
AI1
AI2
AI2
AI3
LFr AIP
Preset speeds
LFr
AI3
AIP
LCC nO
LCC
Mdb
Remote (SP1)
LI
SA2 SP16
Jog
nO
operation
LI
AI1
PIF
Mdb
AI2 PI not assigned
CAn
nO
LFr
AI3
AIP
PI assigned
LCC
Mdb
Ramps
Channel 1
Remote LI
CAn
terminal
HSP ACC DEC
.H0 H.H
SA3 nO
nO
nO FLO
AI1 rFC Forced local mode
AI2
LFr AI3
AIP
PIF )
LCC PI function
nO
Mdb see page 49
Remote AI1
terminal CAn
AI2
Fr2 AI3
+
UPdt
speed
*
-
UPdH
speed
nO
AI1
Key:
AI2
LFr
AI3
AIP
Parameter:
The black square represents
LCC the factory setting assignment
Mdb
Remote CAn
terminal
30
Control menu CtL-
Fr1 FLOC
ATV31pppA keypad
ATV31pppA keypad
Remote terminal
Remote terminal
FLO Forced local
CHCF mode
rFC
Forward
ATV31pppA keypad Reverse
STOP
Fr2
PSt
(STOP has
Remote terminal priority)
ATV31pppA keypad
Remote terminal
Key:
Parameter:
The black square represents
the factory setting assignment
31
Control menu CtL-
Cd1 FLOC
Keypad
ATV31pppA keypad ATV31pppA
Remote terminal
Remote
terminal
Forward
Cd2
PSt
(STOP has
Remote terminal priority)
ATV31pppA keypad
Remote terminal
Key:
Parameter:
The black square represents
the factory setting assignment
32
Control menu CtL-
There may be an incompatibility between functions (see the incompatibility table 13). In this case, the first function configured will
prevent the remainder being configured.
CtL-
Code Description Adjustment Factory setting
range
LAC Function access level L1
L1: Access to standard functions. Significantly, this level is interchangeable with ATV28.
L2: Access to advanced functions in the FUn- menu:
- +/- speed (motorized potentiometer)
- Brake control
- Switching for second current limit
- Motor switching
- Management of limit switches
L3: Access to advanced functions and management of mixed control modes.
Assigning LAC to L3 will restore the factory settings of the Fr1 (below), Cd1 (page 34),
CHCF (page 34), and tCC (page 23) parameters. The latter is forced to "2C" on ATV31pppA.
L3 can only be restored to L2 or L1 and L2 to L1 by means of a "factory setting" via FCS
(page 36).
In order to change the assignment of LAC, you must press and hold down the "ENT" key for 2 seconds.
Fr1 Configuration reference 1 AI1
AIP for
ATV31pppA
AI1: Analog input AI1
AI2: Analog input AI2
AI3: Analog input AI3
AIP: Potentiometer (ATV31pppA only)
LCC: Reference via the remote terminal, LFr parameter in the SEt- menu page 16.
Ndb: Reference via Modbus
CAn: Reference via CANopen
Fr2 Configuration reference 2 nO
nO: Not assigned
AI1: Analog input AI1
AI2: Analog input AI2
AI3: Analog input AI3
AIP: Potentiometer (ATV31pppA only)
LCC: Reference via the remote terminal, LFr parameter in the SEt- menu page 16.
Ndb: Reference via Modbus
CAn: Reference via CANopen
(1) Caution: You cannot assign UPdt to Fr1 or Fr2 and UPdH to Fr1 or Fr2 at the same time. Only one of the UPdt/UPdH assignments is
permitted on each reference channel.
33
Control menu CtL-
CtL-
Code Description Adjustment Factory setting
range
rFC Reference switching Fr1
Parameter rFC can be used to select channel Fr1 or Fr2 or to configure a logic input or a control bit for
remote switching of Fr1 or Fr2.
Fr1: Reference = Reference 1
Fr2: Reference = Reference 2
LI1: Logic input LI1
LI2: Logic input LI2
LI3: Logic input LI3
LI4: Logic input LI4
LI5: Logic input LI5
LI6: Logic input LI6
34
Control menu CtL-
CtL-
Code Description Adjustment Factory setting
range
CCS Control channel switching Cd1
Can be accessed if CHCF = SEP and LAC = L3
Parameter CCS can be used to select channel Cd1 or Cd2 or to configure a logic input or a control bit for
remote switching of Cd1 or Cd2.
Cd1: Control channel = Channel 1
Cd2: Control channel = Channel 2
LI1: Logic input LI1
LI2: Logic input LI2
LI3: Logic input LI3
LI4: Logic input LI4
LI5: Logic input LI5
LI6: Logic input LI6
C111: Bit 11 of the Modbus control word
C112: Bit 12 of the Modbus control word
C113: Bit 13 of the Modbus control word
C114: Bit 14 of the Modbus control word
C115: Bit 15 of the Modbus control word
C211: Bit 11 of the CANopen control word
C212: Bit 12 of the CANopen control word
C213: Bit 13 of the CANopen control word
C214: Bit 14 of the CANopen control word
C215: Bit 15 of the CANopen control word
- Copying the control and/or the reference may change the direction of rotation.
35
Control menu CtL-
CtL-
Code Description Adjustment Factory setting
range
SCS Saving the configuration (1)
nO: Function inactive
StrI: Saves the current configuration (but not the result of auto-tuning) to EEPROM. SCS automatically
switches to nO as soon as the save has been performed. This function is used to keep another configuration
in reserve, in addition to the current configuration.
When drives leave the factory the current configuration and the backup configuration are both initialized with
the factory configuration.
• If the remote terminal option is connected to the drive, the following additional selection options will
appear: FIL1, FIL2, FIL3, FIL4 (files available in the remote terminal's EEPROM memory
for saving the current configuration). They can be used to store between 1 and 4 different configurations
which can also be stored on or even transferred to other drives of the same rating.
SCS automatically switches to nO as soon as the save has been performed.
For rECI, InI and FL1 to FL4 to be taken into account, the ENT key must be held down for 2 s.
(1) SCS and FCS can be accessed via several configuration menus but they concern all menus and parameters as a whole.
36
Application functions menu FUn-
FUn- ESC
rPC- ESC ESC
Sub-menu
ENT ENT
SA1- Sub-menu
ESC
ESC ESC
ENT
FCS
ESC
ESC
The parameters can only be modified when the drive is stopped and no run command is present.
On the optional remote terminal, this menu can be accessed with the switch in the position.
Some functions have numerous parameters. In order to clarify programming and avoid having to scroll through endless parameters, these
functions have been grouped in sub-menus.
Like menus, sub-menus are identified by a dash after their code: PSS- for example.
There may be an incompatibility between functions (see the incompatibility table 13). In this case, the first function configured will
prevent the remainder being configured.
FUn-
Code Description Adjustment Factory setting
range
rPC- Ramps
rPt Type of ramp LIn
Defines the shape of the acceleration and deceleration ramps.
LIn: Linear
S: S ramp
U: U ramp
CUS: Customized
S ramps
The curve coefficient is fixed,
with t2 = 0.6 x t1
with t1 = set ramp time.
U ramps
The curve coefficient is fixed,
with t2 = 0.5 x t1
with t1 = set ramp time.
Customized ramps
tA1: Can be set between 0 and 100% (of ACC or AC2)
tA2: Can be set between 0 and (100% - tA1) (of ACC
or AC2)
tA3: Can be set between 0 and 100% (of dEC or dE2)
tA4: Can be set between 0 and (100% - tA3) (of dEC or
dE2)
37
Application functions menu FUn-
FUn-
Code Description Adjustment Factory setting
range
rPC- tA2 End of CUS-type acceleration ramp rounded as 0 to (100-tA1) 10%
(continued) % of total ramp time (ACC or AC2)
tA3 Start of CUS-type deceleration ramp rounded 0 to 100 10%
as % of total ramp time (dEC or dE2)
tA4 End of CUS-type deceleration ramp 0 to (100-tA3) 10%
as % of total ramp time (dEC or dE2)
ACC Acceleration and deceleration ramp times (1) 0.1 to 999.9 s 3s
dEC 0.1 to 999.9 s 3s
Defined for accelerating and decelerating between 0 and the nominal frequency FrS
(parameter in the drC- menu).
Check that the value of dEC is not too low in relation to the load to be stopped.
rPS Ramp switching nO
This function remains active regardless of the control channel.
nO: Not assigned
LI1: Logic input LI1
LI2: Logic input LI2
LI3: Logic input LI3
LI4: Logic input LI4
LI5: Logic input LI5
LI6: Logic input LI6
ACC and dEC are enabled when the logic input or control word bit is in state 0.
AC2 and dE2 are enabled when the logic input or control word bit is in state 1.
Frt Ramp switching threshold 0 to 500 Hz 0
The second ramp is switched if the value of Frt is not equal to 0 (0 deactivates the function)
and the output frequency is greater than Frt.
Threshold ramp switching can be combined with switching via LI or bit as follows:
LI or bit Frequency Ramp
0 <Frt ACC, dEC
0 >Frt AC2, dE2
1 <Frt AC2, dE2
1 >Frt AC2, dE2
38
Application functions menu FUn-
FUn-
Code Description Adjustment Factory setting
range
StC- Stop modes
Stt Normal stop mode Stn
Stop mode on disappearance of the run command or appearance of a stop command.
rMP: On ramp
FSt: Fast stop
nSt: Freewheel stop
dCI: DC injection stop
FSt Fast stop via logic input nO
nO: Not assigned
LI1: Logic input LI1
LI2: Logic input LI2
LI3: Logic input LI3
LI4: Logic input LI4
LI5: Logic input LI5
LI6: Logic input LI6
The stop is activated when the logic state of the input changes to 0 and the control word
bit changes to 1. The fast stop is a stop on a reduced ramp via parameter dCF. If the input
falls back to state 1 and the run command is still active, the motor will only restart if 2-wire
level control has been configured (tCC = 2C and tCt = LEL or PFO, see page 23). In other
cases, a new run command must be sent.
dCF Coefficient for dividing the deceleration ramp 0 to 10 4
time for fast stopping.
Ensure that the reduced ramp is not too low in relation to the load to be stopped.
The value 0 corresponds to the minimum ramp.
dCI DC injection via logic input nO
nO: Not assigned
LI1: Logic input LI1
LI2: Logic input LI2
LI3: Logic input LI3
LI4: Logic input LI4
LI5: Logic input LI5
LI6: Logic input LI6
Braking is activated when the logic state of the input or control word bit is at 1.
IdC Level of DC injection braking current activated 0 to In (2) 0.7 In (2)
via logic input or selected as stop mode (1)(3)
After 5 seconds the injection current is peak limited at 0.5 Ith if it is set at a higher value.
tdC Total DC injection braking time selected as 0.1 to 30 s 0.5 s
normal stop mode (1)(3)
(1) Parameter can also be accessed in the settings menu (SEt-).
(2) In corresponds to the nominal drive current indicated in the Installation Manual and on the drive rating plate.
(3) Caution: These settings are not related to the "automatic standstill DC injection" function.
39
Application functions menu FUn-
FUn-
Code Description Adjustment Factory setting
range
StC- nSt Freewheel stop via logic input nO
(continued) nO: Not assigned
LI1: Logic input LI1
LI2: Logic input LI2
LI3: Logic input LI3
LI4: Logic input LI4
LI5: Logic input LI5
LI6: Logic input LI6
The stop is activated when the input is in logic state 0. If the input falls back to state 1 and
the run command is still active, the motor will only restart if 2-wire level control has been
configured. In other cases, a new run command must be sent.
40
Application functions menu FUn-
FUn-
Code Description Adjustment Factory setting
range
AdC- Standstill DC injection
AdC Automatic standstill DC injection YES
(at the end of the ramp)
nO: No injection
YES: Standstill injection for adjustable period
Ct: Continuous standstill injection
This parameter gives rise to the injection of current even if a run command has not
been sent. It can be accessed with the drive running.
tdC1 Automatic standstill DC injection time (1) 0.1 to 30 s 0.5 s
SdC1 Level of automatic standstill DC injection 0 to 1.2 In (2) 0.7 In (2)
current (1)
Check that the motor will withstand this current without overheating.
nd
tdC2 2 automatic standstill DC injection time (1) 0 to 30 s 0s
SdC2 2nd level of standstill DC injection current (1) 0 to 1.2 In (2) 0.5 In (2)
Check that the motor will withstand this current without overheating.
YES x
Ct ≠0
Ct =0
Run command
Speed
41
Application functions menu FUn-
FUn-
Code Description Adjustment Factory setting
range
SAI- Summing inputs
Can be used to sum one or two inputs to reference Fr1 only.
SA2 Summing input 2 AI2
nO: Not assigned
AI1: Analog input AI1
AI2: Analog input AI2
AI3: Analog input AI3
AIP: Potentiometer (type A drives only)
Summing inputs
Note:
.H
AI2 is an input ± 10 V, which can allow a subtraction by summing a
negative signal.
5)
5)!
See the complete diagrams on pages 28 and 30.
42
Application functions menu FUn-
Preset speeds
2, 4, 8 or 16 speeds can be preset, requiring 1, 2, 3 or 4 logic inputs respectively.
The following order of assignments must be observed: PS2, then PS4 then PS8, then PS16.
(1) See the diagrams on page 28 and page 30: Reference 1 = (SP1).
43
Application functions menu FUn-
FUn-
Code Description Adjustment Factory setting
range
PSS- Preset speeds
PS2 2 preset speeds If tCC = 2C: LI3
Selecting the assigned logic input activates the function. If tCC = 3C: nO
nO: Not assigned If tCC = LOC: LI3
LI1: Logic input LI1
LI2: Logic input LI2
LI3: Logic input LI3
LI4: Logic input LI4
LI5: Logic input LI5
LI6: Logic input LI6
44
Application functions menu FUn-
FUn-
Code Description Adjustment Factory setting
range
PS16 16 preset speeds nO
Selecting the assigned logic input activates the function.
Check that PS8 has been assigned before assigning PS16.
45
Application functions menu FUn-
FUn-
Code Description Adjustment Factory setting
range
JOG- Jog operation
JOG Jog operation If tCC = 2C: nO
If tCC = 3C: LI4
If tCC = LOC: nO
Selecting the assigned logic input activates the function.
nO: Not assigned
LI1: Logic input LI1
LI2: Logic input LI2
LI3: Logic input LI3
LI4: Logic input LI4
LI5: Logic input LI5
LI6: Logic input LI6
JGF reference
LI (JOG)
u 0.5 s
Forward
Reverse
46
Application functions menu FUn-
+/- speed
The function can only be accessed if LAC = L2 or L3 (see page 33).
Two types of operation are available.
1 Use of single action buttons: Two logic inputs are required in addition to the operating direction(s).
The input assigned to the "+ speed" command increases the speed, the input assigned to the "- speed" command decreases the speed.
2 Use of double action buttons: Only one logic input assigned to "+ speed" is required.
Description: 1 button pressed twice for each direction of rotation. Each action closes a contact.
Example of wiring:
LI1: forward
LIx: reverse
LIy: + speed
Motor frequency
LSP
0
LSP
Forward
2nd press
b b
1st press
a a a a a a a
0
Reverse
2nd press
d
1st press
c c
0
Whichever type of operation is selected, the max. speed is set by HSP (see page 16).
Note:
If the reference is switched via rFC (see page 34) from any reference channel to another with "+/- speed" the value of reference rFr (after
ramp) is copied at the same time. This prevents the speed being incorrectly reset to zero when switching takes place.
47
Application functions menu FUn-
FUn-
Code Description Adjustment Factory setting
range
UPd- +/- speed (motorized potentiometer)
The function can only be accessed if LAC = L2 or L3 and UPdH or UPdt has been selected
(see page 33).
USP + speed nO
Can only be accessed for UPdt.
Selecting the assigned logic input activates the function.
nO: Not assigned
LI1: Logic input LI1
LI2: Logic input LI2
LI3: Logic input LI3
LI4: Logic input LI4
LI5: Logic input LI5
LI6: Logic input LI6
dSP - speed nO
Can only be accessed for UPdt.
Selecting the assigned logic input activates the function.
nO: Not assigned
LI1: Logic input LI1
LI2: Logic input LI2
LI3: Logic input LI3
LI4: Logic input LI4
LI5: Logic input LI5
LI6: Logic input LI6
Str Save reference nO
Associated with the "+/- speed" function, this parameter can be used to save the reference:
• When the run commands disappear (saved to RAM)
• When the mains supply or the run commands disappear (saved to EEPROM)
On the next start-up, the speed reference is the last reference saved.
nO: No save
rAN: Save to RAM
EEP: Save to EEPROM
48
Application functions menu FUn-
PI regulator
Diagram
The function is activated by assigning an analog input to the PI feedback (measurement).
Restart error
threshold
Pr2 (wake-up) PIF
Pr4 Error rFC Ramps
Internal PIC inversion tLS
reference PII
.H0 H.H
Reference A
Pages 28 and Gains
30
Preset PI
Key:
PIF references
FbS Parameter:
PI
The black square
feedback represents the factory
setting assignment
Reference B
Pages 28 and 30
PI feedback:
The PI feedback must be assigned to one of the analog inputs (AI1, AI2 or AI3).
PI reference:
The PI reference can be assigned to the following parameters in order of priority:
- Preset references via logic inputs (rP2, rP3, rP4)
- Internal reference (rPI)
- Reference Fr1 (see page 33)
49
Application functions menu FUn-
2 Perform a test in factory settings mode (in most cases, this will be sufficient).
To optimize the drive, adjust rPG or rIG gradually and independently and observe the effect on the PI feedback in relation to the reference.
Perform a test with a speed reference in Manual mode (without PI regulator) and with the drive on load for the speed range of the system:
- In steady state, the speed must be stable and comply with the reference and the PI feedback signal must be stable.
- In transient state, the speed must follow the ramp and stabilize quickly and the PI feedback must follow the speed.
If this is not the case, see the settings for the drive and/or sensor signal and cabling.
Switch to PI mode.
Set brA to no (no auto-adaptation of the ramp).
Set the speed ramps (ACC, dEC) to the minimum permitted by the mechanics without triggering an ObF fault.
Set the integral gain (rIG) to minimum.
Observe the PI feedback and the reference.
Do several RUN/STOP or vary the load or reference rapidly.
Set the proportional gain (rPG) in order to ascertain the ideal compromise between response time and stability in transient phases (slight
overshoot and 1 to 2 oscillations before stabilizing).
If the reference varies from the preset value in steady state, gradually increase the integral gain (rIG), reduce the proportional gain (rPG)
in the event of instability (pump applications), find a compromise between response time and static precision (see diagram).
Perform in-production tests throughout the reference range.
Stabilization time
Regulated
value rPG high
Overshoot
Reference Static error
Proportional
gain
rPG low
Rise time
time
rIG high
Reference
Integral
gain
rIG low
time
Reference
rPG and rIG correct
time
The oscillation frequency depends on the system kinematics.
Stabilization
Parameter Rise time Overshoot Static error
time
rPG
=
rIG
50
Application functions menu FUn-
FUn-
Code Description Adjustment Factory setting
range
PI- PI regulator
PIF PI regulator feedback nO
nO: Not assigned
AI1: Analog input AI1
AI2: Analog input AI2
AI3: Analog input AI3
rPG PI regulator proportional gain (1) 0.01 to 100 1
Contributes to dynamic performance during rapid changes in the PI feedback.
rIG PI regulator integral gain (1) 0.01 to 100 1
Contributes to static precision during slow changes in the PI feedback.
FbS PI feedback multiplication coefficient (1) 0.1 to 100 1
For process adaptation
PIC Reversal of the direction of correction of the PI nO
regulator (1)
nO: normal
YES: reverse
Pr2 2 preset PI references nO
Selecting the assigned logic input activates the function.
nO: Not assigned
LI1: Logic input LI1
LI2: Logic input LI2
LI3: Logic input LI3
LI4: Logic input LI4
LI5: Logic input LI5
LI6: Logic input LI6
If LAC = L3, the following assignments are possible:
Cd11: Bit 11 of the Modbus or CANopen control word
Cd12: Bit 12 of the Modbus or CANopen control word
Cd13: Bit 13 of the Modbus or CANopen control word
Cd14: Bit 14 of the Modbus or CANopen control word
Cd15: Bit 15 of the Modbus or CANopen control word
Pr4 4 preset PI references nO
Selecting the assigned logic input activates the function.
Check that Pr2 has been assigned before assigning Pr4.
nO: Not assigned
LI1: Logic input LI1
LI2: Logic input LI2
LI3: Logic input LI3
LI4: Logic input LI4
LI5: Logic input LI5
LI6: Logic input LI6
If LAC = L3, the following assignments are possible:
Cd11: Bit 11 of the Modbus or CANopen control word
Cd12: Bit 12 of the Modbus or CANopen control word
Cd13: Bit 13 of the Modbus or CANopen control word
Cd14: Bit 14 of the Modbus or CANopen control word
Cd15: Bit 15 of the Modbus or CANopen control word
rP2 2nd preset PI reference (1) 0 to 100% 30%
Only appears if Pr2 has been enabled by selecting an input.
rP3 3rd preset PI reference (1) 0 to 100% 60%
Only appears if Pr4 has been enabled by selecting an input.
rP4 4th preset PI reference (1) 0 to 100% 90%
Only appears if Pr4 has been enabled by selecting an input.
51
Application functions menu FUn-
FUn-
Code Description Adjustment Factory setting
range
PI- rSL Restart error threshold ("wake-up" threshold) 0 to 100% 0
(continued) If the "PI" and "Low speed operating time"(tLS) (see page 18) functions are configured at
the same time, the PI regulator may attempt to set a speed lower than LSP.
This results in unsatisfactory operation which consists of starting, operating at low speed
then stopping, and so on...
Parameter rSL (restart error threshold) can be used to set a minimum PI error threshold
for restarting after a stop at prolonged LSP.
The function is inactive if tLS = 0.
PII Internal PI regulator reference nO
nO: The PI regulator reference is Fr1, except for UPdH and UPdt (+/- speed cannot be
used as the PI regulator reference).
YES: The PI regulator reference is internal via parameter rPI.
rPI Internal PI regulator reference (1) 0 to 100% 0
52
Application functions menu FUn-
Brake control
The function can only be accessed if LAC = L2 or L3 (page 28).
This function, which can be assigned to relay R2 or to logic output AOC, enables the drive to manage an electromagnetic brake.
Principle:
Synchronize brake release with the build-up of torque during start-up and brake engage at zero speed on stopping, to prevent jolting.
Brake sequence
Motor speed
Speed reference
t
0
t
0
Motor current
brt
Ibr
0 t
Motor frequency
bEt
Speed reference
brL
bEn
0 t
LI forward or reverse
1
0 t
53
Application functions menu FUn-
FUn-
Code Description Adjustment Factory setting
range
bLC- Brake control
The function can only be accessed if LAC = L2 or L3 (page 28).
bLC Brake control configuration nO
nO: Not assigned
r2: Relay R2
dO: Logic output AOC
If bLC is assigned, parameter FLr (page 61) and brA (page 38) are forced to nO, and
parameter OPL (page 61) is forced to YES.
brL Brake release frequency 0.0 to 10.0 Hz According to drive
rating
Ibr Motor current threshold for brake release 0 to 1.36 In (1) According to drive
rating
brt Brake release time 0 to 5 s 0.5 s
LSP Low speed 0 to HSP (page 16) 0 Hz
Motor frequency at min. reference. This parameter can also be modified in the SEt- menu
(page 16).
bEn Brake engage frequency threshold nO - 0 to LSP nO
nO: Not adjusted
0 to LSP: Adjustment range (Hz)
If bLC is assigned and bEn remains equal to nO, the drive will lock on a bLF fault at the
first run command.
bEt Brake engage time 0 to 5 s 0.5 s
bIP Brake release pulse nO
nO: Whilst the brake is releasing, the motor torque direction corresponds to the direction
of rotation commanded.
YES: Whilst the brake is releasing, the motor torque direction is always forward,
regardless of the direction of operation commanded.
Check that the motor torque direction for "Forward" control corresponds to the
upward direction of the load. If necessary, reverse two motor phases.
(1) In corresponds to the nominal drive current indicated in the Installation Manual and on the drive rating plate.
54
Application functions menu FUn-
FUn-
Code Description Adjustment Factory setting
range
LC2- Switching for second current limit
The function can only be accessed if LAC = L2 or L3 (page 28).
LC2 Switching for second current limit nO
Selecting the assigned logic input activates the function.
nO: Not assigned
LI1: Logic input LI1
LI2: Logic input LI2
LI3: Logic input LI3
LI4: Logic input LI4
LI5: Logic input LI5
LI6: Logic input LI6
CL1 is enabled when the logic input or control word bit is in state 0 (SEt- menu page 18).
CL2 is enabled when the logic input or control word bit is in state 1.
CL2 2nd current limit (1) 0.25 to 1.5 In (2) 1.5 In (2)
55
Application functions menu FUn-
FUn-
Code Description Adjustment Factory setting
range
CHP- Motor switching
The function can only be accessed if LAC = L2 or L3 (page 28).
CHP Switching, motor 2 nO
nO: Not assigned
LI1: Logic input LI1
LI2: Logic input LI2
LI3: Logic input LI3
LI4: Logic input LI4
LI5: Logic input LI5
LI6: Logic input LI6
LI or bit = 0: Motor 1
LI or bit = 1: Motor 2
56
Application functions menu FUn-
FUn-
Code Description Adjustment Factory setting
range
CHP- COS2 Motor Cos Phi (motor 2) given on the rating 0.5 to 1
According to drive
(continued) plate rating
UFt2 Selection of the type of voltage/frequency ratio n
motor 2
L: Constant torque for motors connected in parallel or special motors
P: Variable torque: Pump and fan applications
n: Sensorless flux vector control for constant torque applications
nLd: Energy saving, for variable torque applications not requiring high dynamics
(behaves in a similar way to the P ratio at no load and the n ratio on load).
Voltage
UnS
L
n
P
FrS Frequency
UFr2 IR compensation/Voltage boost, motor 2 (1) 0 to 100% 20
For UFt2 = n or nLd: IR compensation. For UFt2 = L or P: Voltage boost.
Used to optimize the torque at very low speed (increase UFr2 if the torque is insufficient).
Check that the value of UFr2 is not too high for when the motor is warm (risk of instability).
Modifying UFt2 will cause UFr2 to return to the factory setting (20%).
FLG2 Frequency loop gain, motor 2 (1) 1 to 100% 20
Parameter can only be accessed if UFt2 = n or nLd.
The FLG2 parameter adjusts the drive’s ability to follow the speed ramp based on the
inertia of the machine being driven.
Too high a gain may result in operating instability.
FLG2 low FLG2 correct FLG2 high
Hz Hz Hz
50 50 50
40 40 40
30
In this case, 30 30
In this case,
20 increase FLG2 20 20 reduce FLG2
10 10 10
0 0 0
-10 -10 -10
0 0.1 0.2 0.3 0.4 0.5 t 0 0.1 0.2 0.3 0.4 0.5 t 0 0.1 0.2 0.3 0.4 0.5 t
57
Application functions menu FUn-
FUn-
Code Description Adjustment Factory setting
range
LSt- Management of limit switches
The function can only be accessed if LAC = L2 or L3 (page 28).
LAF Limit, forward direction nO
nO: Not assigned
LI1: Logic input LI1
LI2: Logic input LI2
LI3: Logic input LI3
LI4: Logic input LI4
LI5: Logic input LI5
LI6: Logic input LI6
LAr Limit, reverse direction nO
nO: Not assigned
LI1: Logic input LI1
LI2: Logic input LI2
LI3: Logic input LI3
LI4: Logic input LI4
LI5: Logic input LI5
LI6: Logic input LI6
LAS Type of limit switch stop nSt
rMP: On ramp
FSt: Fast stop
nSt: Freewheel stop
These parameters only appear if the function has been enabled via the selection of a logic input.
58
Application functions menu FUn-
FUn-
SCS Saving the configuration (1) nO
nO: Function inactive
StrI: Saves the current configuration (but not the result of auto-tuning) to EEPROM. SCS
automatically switches to nO as soon as the save has been performed. This function is used
to keep another configuration in reserve, in addition to the current configuration.
When drives leave the factory the current configuration and the backup configuration are both
initialized with the factory configuration.
• If the remote terminal option is connected to the drive, the following additional selection
options will appear: FIL1, FIL2, FIL3, FIL4 (files available in the remote
terminal's EEPROM memory for saving the current configuration). They can be used to
store between 1 and 4 different configurations which can also be stored on or even
transferred to other drives of the same rating.
SCS automatically switches to nO as soon as the save has been performed.
FCS Return to factory setting/restore configuration (1) nO
nO: Function inactive
rECI: The current configuration becomes identical to the backup configuration previously
saved by SCS = StrI. rECI is only visible if the backup has been carried out. FCS
automatically changes to nO as soon as this action has been performed.
InI: The current configuration becomes identical to the factory setting. FCS automatically
changes to nO as soon as this action has been performed.
• If the remote terminal option is connected to the drive, the following additional selection
options appear, as long as the corresponding files have been loaded in the remote
terminal's EEPROM memory (0 to 4 files): FIL1, FIL2, FIL3, FIL4. They
enable the current configuration to be replaced with one of the 4 configurations that may
be loaded on the remote terminal.
FCS automatically changes to nO as soon as this action has been performed.
Caution: If nAd appears on the display briefly once FCS has switched to nO, this means
that the configuration transfer is not possible and has not been performed (different drive
ratings for example). If ntr appears on the display briefly once the parameter has
switched to nO, this means that a configuration transfer error has occurred and the factory
settings must be restored using InI.
In both cases, check the configuration to be transferred before trying again.
For rECI, InI and FL1 to FL4 to be taken into account, the ENT key must be held down
for 2 s.
(1) SCS and FCS can be accessed via several configuration menus but they concern all menus and parameters as a whole.
59
Fault menu FLt-
ENT
Atr
ESC
Automatic restart
FLt- ESC ENT
ESC
rPr
ESC ESC
Operating time reset to zero
ENT
The parameters can only be modified when the drive is stopped and no run command is present.
On the optional remote terminal, this menu can be accessed with the switch in the position.
FLt-
Code Description Factory setting
Atr Automatic restart nO
nO: Function inactive
YES: Automatic restart, after locking on a fault, if the fault has disappeared and the other operating
conditions permit the restart. The restart is performed by a series of automatic attempts separated by
increasingly longer waiting periods: 1 s, 5 s, 10 s, then 1 min for the following periods.
If the restart has not taken place once the configurable time tAr has elapsed, the procedure is aborted and
the drive remains locked until it is powered down then powered up.
The following faults permit this function:
External fault (EPF)
Loss of 4-20 mA reference (LFF)
CANopen fault (COF)
System overvoltage (OSF)
Loss of a line phase (PHF)
Loss of a motor phase (OPF)
DC bus overvoltage (ObF)
Motor overload (OLF)
Serial link (SLF)
Drive overheating (OHF)
The drive safety relay remains activated if this function is active. The speed reference and the operating
direction must be maintained.
Use 2-wire control (tCC = 2C) with tCt = LEL or PFO (page 23).
Check that an automatic restart will not endanger personnel or equipment in any way.
tAr Max. duration of restart process 5
5: 5 minutes
10: 10 minutes
30: 30 minutes
1h: 1 hour
2h: 2 hours
3h: 3 hours
Ct: Unlimited
This parameter appears if Atr = YES. It can be used to limit the number of consecutive restarts on a recurrent
fault.
rSF Reset of current fault no
nO: Not assigned
LI1: Logic input LI1
LI2: Logic input LI2
LI3: Logic input LI3
LI4: Logic input LI4
LI5: Logic input LI5
LI6: Logic input LI6
60
Fault menu FLt-
FLt-
Code Description Factory setting
FLr Flying restart (automatic catching a spinning load on ramp) nO
Used to enable a smooth restart if the run command is maintained after the following events:
- Loss of line supply or disconnection
- Reset of current fault or automatic restart
- Freewheel stop
The speed given by the drive resumes from the estimated speed of the motor at the time of the restart, then
follows the ramp to the reference speed.
This function requires 2-wire control (tCC = 2C) with tCt = LEL or PFO.
nO: Function inactive
YES: Function active
When the function is operational, it activates at each run command, resulting in a slight delay
(1 second max.).
FLr is forced to nO if brake control (bLC) is assigned (page 54).
EtF External fault nO
nO: Not assigned
LI1: Logic input LI1
LI2: Logic input LI2
LI3: Logic input LI3
LI4: Logic input LI4
LI5: Logic input LI5
LI6: Logic input LI6
61
Fault menu FLt-
FLt-
Code Description Adjustment Factory setting
range
SLL Stop mode in the event of a Modbus serial link fault SLF YES
nO: Fault ignored
YES: Fault with freewheel stop
rNP: Fault with stop on ramp
FSt: Fault with fast stop
COL Stop mode in the event of a CANopen serial link fault COF YES
nO: Fault ignored
YES: Fault with freewheel stop
rNP: Fault with stop on ramp
FSt: Fault with fast stop
tnL Configuration of auto-tuning fault tnF YES
nO: Fault ignored (the drive reverts to the factory settings)
YES: Fault with drive locked
LFL Stop mode in the event of a loss of 4 - 20 mA signal fault LFF nO
nO: Fault ignored (only value possible if CrL3 y 3 mA, see page 24)
YES: Fault with freewheel stop
LFF: The drive switches to the fallback speed (LFF parameter)
rLS: The drive maintains the speed at which it was travelling when the fault occurred until the fault has
disappeared.
rNP: Fault with stop on ramp
FSt: Fault with fast stop
Before setting LFL to YES , rMP or FSt, check the connection of input AI3. Otherwise, the drive may
immediately switch to an LFF fault.
LFF Fallback speed 0 to 500 Hz 10 Hz
Fallback speed setting for stopping in the event of a fault
drn Derated operation in the event of an overvoltage nO
nO: Function inactive
YES: The line voltage monitoring threshold is:
ATV31pppM2: 130 V
ATV31pppM3X: 130 V
ATV31pppN4: 270 V
ATV31pppS6X: 340 V
In this case, a line choke must be used and the performance of the drive cannot be guaranteed.
In order to assign this function, you must press and hold down the "ENT" key for 2 seconds.
StP Controlled stop on mains power break nO
nO: Locking of the drive and freewheel stopping of the motor
NNS: This stop mode uses the inertia to maintain the drive power supply as long as possible.
rNP: Stop according to the valid ramp (dEC or dE2)
FSt: Fast stop, the stopping time depends on the inertia and the braking ability of the drive.
InH Fault inhibit nO
Inhibiting faults may damage the drive beyond repair. This would invalidate the guarantee.
62
Communication menu COM-
ENT
Add
ESC
ESC
FLOC
ESC ESC
ENT
The parameters can only be modified when the drive is stopped and no run command is present. Modifications to parameters
Add, tbr, tFO, AdCO and bdCO are only taken into account following a restart.
On the optional remote terminal, this menu can be accessed with the switch in the position.
CON-
Code Description Adjustment Factory setting
range
Add Modbus: Drive address 1 to 247 1
tbr Modbus: Transmission speed 19200
4.8: 4800 bps
9.6: 9600 bps
19.2: 19200 bps (Caution: The remote terminal can only be used with this value.)
tFO Modbus communication format 8E1
8O1: 8 data bits, odd parity, 1 stop bit
8E1: 8 data bits, even parity, 1 stop bit (Caution: The remote terminal can only be used with this value.)
8n1: 8 data bits, no parity, 1 stop bit
8n2: 8 data bits, no parity, 2 stop bits
ttO Modbus: Time-out 0.1 to 10 s 10 s
AdCO CANopen: Drive address 0 to 127 0
bdCO CANopen: Transmission speed 125
10.0: 10 kbps
20.0: 20 kbps
50.0: 50 kbps
125.0: 125 kbps
250.0: 250 kbps
500.0: 500 kbps
1000: 1000 kbps
ErCO CANopen: Error registry (read-only)
0: "No error"
1: "Bus off error"
2: "Life time error"
3: "CAN overrun"
4: "Heartbeat error"
FLO Forced local mode nO
nO: Not assigned
LI1: Logic input LI1
LI2: Logic input LI2
LI3: Logic input LI3
LI4: Logic input LI4
LI5: Logic input LI5
LI6: Logic input LI6
In forced local mode, the terminal block and display terminal regain control of the drive.
FLOC Selection of the reference and control channel in forced local AI1
mode AIP for
Can only be accessed if LAC = 3 ATV31pppA
In forced local mode, only the speed reference is taken into account. PI functions, summing inputs, etc. are
not active.
See the diagrams on pages 28 to 31.
AI1: Analog input AI1, logic inputs LI
AI2: Analog input AI2, logic inputs LI
AI3: Analog input AI3, logic inputs LI
AIP: Potentiometer (type A drives only), RUN/STOP buttons
LCC: Remote terminal: LFr reference page 16, RUN/STOP/FWD/REV buttons.
63
Display menu SUP-
ENT ENT
SUP- ESC
LFr ESC
ESC
ENT ENT
LIA- Sub-menu
ESC
ESC ESC
ENT
CPU
ESC
ESC
Some functions have numerous parameters. In order to clarify programming and avoid having to scroll through endless parameters, these
functions have been grouped in sub-menus.
Like menus, sub-menus are identified by a dash after their code: LIA- for example.
When the drive is running, the value displayed is that of one of the monitoring parameters. By default, the value displayed is the output
frequency applied to the motor (rFr parameter).
Whilst the value of the new monitoring parameter required is being displayed, press and hold down the "ENT" key (2 seconds) to confirm
the change of monitoring parameter and store this. From now on, the value of this parameter will be displayed while the drive is running
(even after it has been disconnected).
If the new choice is not confirmed by pressing the "ENT" key a second time, the drive will return to the previous parameter after it has been
switched off.
64
Display menu SUP-
SUP-
Code Description Variation range
LFr Frequency reference for control via built-in 0 to 500 Hz
terminal or remote terminal
rPI Internal PI reference 0 to 100%
FrH Frequency reference before ramp (absolute 0 to 500 Hz
value)
rFr Output frequency applied to the motor - 500 Hz to + 500 Hz
SPd1
or
SPd2 Output value in customer units
or SPd1 or SPd2 or SPd3 depending on the SdS parameter, see page 19 (SPd3 in factory
SPd3 settings mode).
LCr Current in the motor
Opr Motor power
100% = Nominal motor power, calculated using the parameters entered in the drC- menu.
ULn Line voltage (gives the line voltage via the DC bus, motor running or stopped)
tHr Motor thermal state
100% = Nominal thermal state
118% = "OLF" threshold (motor overload)
tHd Drive thermal state
100% = Nominal thermal state
118% = "OHF" threshold (motor overload)
LFt Last fault
bLF: Brake control fault
CFF: Configuration (parameters) incorrect
CFI: Configuration (parameters) invalid
COF: Communication fault line 2 (CANopen)
CrF: Capacitor pre-charge fault
EEF: EEPROM memory fault
EPF: External fault
InF: Internal fault
LFF: 4 - 20 mA fault on AI3
nOF: No fault saved
ObF: DC bus overvoltage fault
OCF: Overcurrent fault
OHF: Drive overheating fault
OLF: Motor overload fault
OPF: Motor phase loss fault
OSF: Line supply overvoltage fault
PHF: Line supply phase loss fault
SCF: Motor short-circuit fault (phase, earth)
SLF: Modbus communication fault
SOF: Motor overspeed fault
tnF: Auto-tuning fault
USF: Line supply undervoltage fault
Otr Motor torque
100% = Nominal motor torque, calculated using the parameters entered in the drC- menu.
rtH Operating time 0 to 65530 hours
Total time the motor has been powered up:
0 to 9999 (hours), then 10.00 to 65.53 (kilo-hours).
Can be reset to zero by the rPr parameter in the FLt- menu (see page 62).
65
Display menu SUP-
SUP-
Code Description
COd Terminal locking code
Enables the drive configuration to be protected using an access code.
Caution: Before entering a code, do not forget to make a careful note of it.
State 0
LI1 LI2 LI3 LI4 LI5 LI6
Example above: LI1 and LI6 are at 1, LI2 to LI5 are at 0.
AIA- Analog input functions
AI1A Can be used to display the functions assigned to each input. If no functions have been
AI2A assigned, nO is displayed. Use the and arrows to scroll through the functions. If
AI3A a number of functions have been assigned to the same input, check that they are
compatible.
66
Maintenance
Servicing
The Altivar 31 does not require any preventative maintenance. It is nevertheless advisable to perform the following regularly:
• Check the condition and tightness of connections.
• Ensure that the temperature around the unit remains at an acceptable level and that ventilation is effective (average service life of fans:
3 to 5 years depending on the operating conditions).
• Remove any dust from the drive.
The first fault detected is stored and displayed, flashing, on the screen: the drive locks and the fault relay (RA - RC) contact opens, if it has
been configured for this function.
Monitoring menu:
This is used to prevent and find the causes of faults by displaying the drive status and its current values.
67
Faults - Causes - Remedies
68
Faults - Causes - Remedies
Faults which can be reset with the automatic restart function, after the cause has disappeared
These faults can also be reset by switching the drive off and on again or via a logic input (rSF parameter in the FLt- menu page 60)
69
Configuration/Settings table
>.H
Code Factory setting Customer setting
bFr 50
(1) In corresponds to the nominal drive current indicated in the Installation Manual and on the drive rating plate.
These parameters only appear if the corresponding function has been selected in another menu. The majority can also be
accessed and adjusted in the function configuration menu.
Those which are underlined appear in factory settings mode.
70
Configuration/Settings table
These parameters only appear if the corresponding function has been enabled.
71
Configuration/Settings table
72
Configuration/Settings table
These parameters only appear if the corresponding function has been enabled.
73
Index of parameter codes
74
Index of functions
+/- speed 47
2-wire/3-wire control 23
Analog/logic output AOC/AOV 24
Automatic restart 60
Automatic standstill DC injection 41
Brake control 53
CANopen: Drive address 63
Control and reference channels 26
Control channel switching 35
Current limit 18
DC injection via logic input 39
Deceleration ramp adaptation 38
Drive thermal protection 5
Drive ventilation 5
Fast stop via logic input 39
Flying restart (automatic catching a spinning load on ramp) 61
Forced local mode 63
Freewheel stop via logic input 40
Function access level 33
Jog operation 46
Management of limit switch 58
Modbus: Drive address 63
Motor control auto-tuning 21
Motor switching 56
Motor thermal protection 6
Motor thermal protection - max. thermal current 16
PI regulator 49
Preset speeds 43
Ramp switching 38
Ramps 37
Reference switching 34
Relay r1 24
Relay r2 24
Reset of current fault 60
Return to factory settings/restore configuration 22
Saving the configuration 22
Selection of the type of voltage/frequency ratio 21
Skip frequency 18
Stop modes 39
Summing inputs 42
Switching for second current limit 55
Switching frequency 22
75
VVDED303042 EN atv31_programming manual_EN_V1
2003-09