ECO TECH EVO Man Install - EN

ECO2 / ECO4
EVOLUTION series
TECH series & Standard series
Installation Manual
Monari Sardè, 3 - Bentivoglio (BO) - Italy

+390516640464 - Fax +390516640784 - www.selema-srl.it
INDEX
Chapter
1 Safety Information Page 3
2 General Description Page 4
3 Technical specifications Page 5
4 Models and Options Page 10

4 Models Page 10
4.3 Ventilation set option Page 13
4.4 Controllable motors Page 13
5 Mechanical Installation Page 14

5.1 Mechanical Installation & Dimensions Page 13
5.2 Braking resistor Page 15
6 Electrical Installation Page 16
6.1 Description of Electrical Connections Page 16
6.2 Wiring Diagrams Page 17
6.3 Sizing the power circuit Page 33
7 Electrical Safety, Electromagnetic Compatibility, Emergency circuit, Page 36

criteria of wiring, EMC Components
7.1 Electrical Safety Page 36
7.2 Electromagnetic Compatibility Page 35
7.3 Emergency Circuit Page 36
7.4 Wiring standards Page 39
7.5 EMC Components Page 41
8 Commissioning & Maintenance Page 42
9 Parameters & Local keypad operation Page 49
10 Diagnostics & Alarms Page 54
11 Annex A Key to label Page 59
12 Annex B Motor tables Page 60
13 ECO EVOLUTION & ECO TECH series Page 71

STO Function Page 71
Debugging fieldbus and serial networks on RJ45 connectors Page 72
DC BUS Page 74
Holding brake control Page 74
HIPERFACE DSL Page 75
MANUAL REV 4.0 Cod. Man.: 01MTECOx10513

Cod. catalogue: 010113
ECO2D/ECO4D - Chapter 1: Safety information
1 SAFETY INFORMATION
This manual contains all information required to enable correct product installation and
maintenance. Its use is intended for technically qualified personnel with appropriate
knowledge of the management control technology employed as well as sufficient familiarity
with the general concepts of automation safety
For correct product use please consult “Instruction Manual”, “Additional
Information”, “Fieldbus Information” and “Mechatronic Functions”.
WARRANTY
In accordance with the terms and conditions of sale, the product is covered by the Selema
S.r.l. warranty with effect from purchase date. Such warranty shall be invalidated should
damage be due to negligence, misuse or incorrect installation/application.
In this respect it should be stressed that the Drive is one component of the
kinematic system and the user/installer shall therefore assess the product’s
suitability for its intended application.
In line with a policy of continuous improvement, the manufacturer reserves the right to
modify product manual and/or specifications without notice, whilst accepting no liability
arising from IMPROPER use.
Symbols and terminology
This manual makes use of special terms to highlight essential information requiring
particular attention. The purpose of these terms is to guarantee major safety in the
workplace and prevent damage being caused to the system.
The following terms and symbols are used:
DANGER High Voltage

Paragraphs are labelled in this manner when personnel would be placed at
serious risk should the safety rules not be respected.
WARNING Read carefully.

This term highlights important instructions that should be followed carefully in
order to avoid damaging the product.
NOTE
Notes contain some useful information and tips for the proper functioning of
the system .
Earth wire connection point.
WARNING: FILTERS
AC power filters should be permanently earthed, whilst filter leakages
could affect the performance of residual current devices.
3
ECO2D/ECO4D - Chapter 1: Safety information
DANGER HIGH VOLTAGE

Several product components are energised by high voltage and
could constitute a serious safety risk. Do not touch exposed
connections with the power supply connected. Always
disconnect power supply and wait 5 minutes before
DANGER carrying out any operation on connections or accessing
HIGH VOLTAGE internal components.
Installation should be performed by technically qualified
personnel who are fully aware of the possible sources of danger
and relevant safety and accident-prevention legislation.
The user should ensure that the installation complies with current
safety regulations.
The appliance should be properly earthed in order to prevent the
risk of electric shock.
WARNING: PROTECTION RATING

The product conforms to degree of protection IP20; full consideration
should be given to the environmental conditions of the installation site in
order to ensure safe and reliable operation.
The customer should give details of unusual operating conditions since
these may require special build or protection specifications.
WARNING: SALES DISTRIBUTION

For unrestricted sales distribution: “Not intended to be used on a low-
voltage public network which supplies domestic premises. May cause radio
frequency interference”.
2.1 GENERAL DESCRIPTION
ECO2x/ECO4x offers three lines of Drive with differing performance and price. ECO2D/ECO4D is the
standard line, ECO2T/ECO4T (TECH) implements all functions of the standard line but includes additional
software functions, RJ45 fieldbus connectors, STO function, external DC BUS, automatic holding brake control and
digital feedback with absolute encoders. ECO2E/ECO4E (EVOLUTION) includes all the above but also
features ETHERNET-based fieldbuses and improved performance of speed and position loops.
Due to the very large number of functions and parameters, use of the Drive Watcher software suite is
essential for programming and parameter setting, whilst individual parameters may be modified in a
simple, interactive manner, including via the drive’s on-board local keypad. The local display also
supplies information regarding operating status and any alarms that may have been triggered.
In this Manual, comprehensive information is provided only in the chapters dealing with product
installation, electrical connections, safety requirements and motor setup. In order to facilitate
consultation, the other functions are discussed only in summary form.
All functions are covered in full detail in the following manuals:

Instruction Manual, Additional Information, Field Bus Information and Mechatronic Functions.
4
ECO2D/ECO4D - Chapter 3: Technical Specifications
3 TECHNICAL SPECIFICATIONS
Please refer to the following tables for correct storage and use of the drive. The drive operating conditions
MUST comply with the requirements set out in the tables below. Failure to comply with these
requirements could lead to malfunction or premature failure of the drive.
Power Supply ECO2 230Vac ∼ RMS Three-phase ± 10 %, 50/60Hz

ECO4 400Vac ∼ RMS Three-phase ± 10 %, 50/60Hz
Control section power supply Isolated +24Vdc ± 15 %;

and digital inputs/outputs max 0.5 + 250 mA if coupled with vector motors with fan
+ 10 mA per digital input used + consumption of load
connected to each output.
Voltage dissymmetry, line
impedance, voltage harmonics,
commutation notches Comply with CEI EN 61800-2: 1999-09.
Rated output current / 4A RMS/ 1kW for ECO2x0410, 6A RMS/1.7kW for ECO2x0615
rated output power (referred to 4A RMS/2.2 kW for ECO4x0410 5A RMS/2.7 kW for ECO4x0515
motor control)
10A RMS/ 4.5kW for ECO4x1020, 20A RMS/ 9 kW for ECO4x2040
25A RMS/11.2 kW for ECO4x2550, 30A RMS/ 13.5KW for ECO4x3090
40A RMS/ 18KW for ECO4x40120, 60A RMS/ 27KW for ECO4x60180
Power output rated short-circuit ECO2x0410 = 25 A -- ECO2x0615 = 35 A

specifications ECO4x0410 = 30 A -- ECO4 x0515 = 30 A -- ECO4x1020 = 60 A
ECO4x2040 = 85 A -- ECO4x2550 = 110 A -- ECO4x3090 = 170 A
ECO4x40120 = 300 A -- ECO4x60180 = 300 A
Output Frequency
From 0 to 300 Hz.
Switching frequency 8 Khz PWM
Drive leakage current Max 3 mA
Table 3.1 Power supply - Electrical Specifications
Analogue inputs No. 2, resolution 1:5000,

- REF, REF\ differential ± 10V Impedance ≥ 47 k Ω
.
- EXTREF 0 − 10V Impedance ≥ 15 k Ω
.
5
Isolated Digital Inputs 12 isolated (according to options requested): Impedance = 10 k Ω
Input
0V24
Digital input reference circuit,

with signal reversal protection.
Input Signal at +24 V dc input at logic level 1.
Input signal at 0 V or disconnected input at logic level 0.
Table 3.2 Analogue and Digital Input Specifications
Digital Outputs 4 isolated (according to options): PNP type 0.5 A/ each output
The sum of all outputs shall not exceed 1A
+24V
Output
Digital output reference circuit.

1, Drive OK with 100mA relay contact already connected to
+24V.
Table 3.3 Digital Output Specifications
Motor encoder inputs Inputs are the 5V differential line receiver type for connection to a
5V line driver encoder (input impedance is 1 k Ω )
Resolver sine/cosine input A resolver can be used provided it meets the following specifications:
Resolver excitation output frequency 10 KHz, typical input impedance min. Ω 110+J140, output
impedance typical output impedance Ω 130+J240, sine/cosine to
excitation ratio = 0.5
Encoder Outputs 0-5V differential CMOS Line Driver Outputs.

(for motors with Encoder only) Impedance = Connect min. 100 Ω, max 1k Ω;
Resolution: the same as that of motor Encoder.
Simulated Encoder Outputs 0-5V differential CMOS Line Driver Outputs.

(only if Resolver To Encoder Impedance = 220 Ω (max = 1 kΩ); with 220 Ω load impedance on
option requested) phases A and B, the output signal changes to ≈ 2V
Resolution: 128, 256, 512, 1024 pulses/electric revolution; multiply
by 3 to calculate pulses/mechanical revolution when using a 6-pole
6
Resolver, multiply by 2 for a 4-pole resolver, do not multiply when

using a 2-pole Resolver .
Serial Port 1 full duplex RS422/RS485
Pulse positioner input Pulse: active high from 12 to 24 Vdc, impedance 2.2 kΩ.
We recommend use with PNP open drain or push-pull commands.
Table 3.4 Features Inputs/Outputs special.
Protections - Motor temperature rise: depends on the motor thermal resistor

- Heat sink temperature rise:: 75 ° C ± 5 °C.
- IGBT temperature rise: TJ = 105 °C ± 5 °C.
- Phase short circuit.
- Earth short circuit.
- Motor overcurrent: depends on model.
- Power supply overvoltage: ECO2D 400 Vdc, ECO4D 710 Vdc on
internal DC BUS ( + /- 3 % ).
- Power supply undervoltage: ECO2D 180 Vdc, ECO4D 425
Vdc on internal DC BUS ( + /- 3 % ).
Braking Circuit Dissipative on external resistance. Reponse thresholds ECO2D = 390

Vdc ( + /- 3 %) ECO4D = 680 Vdc ( + /- 3 %) on internal DC BUS
Dissipation to the braking resistor depends entirely on the
application, the resistor supplied as standard is designed for
typical applications.
For applications with particularly exacting cycles, please refer to
the calculations in chapter 5.2 .
Table 3.5 Protections and Braking Circuit.
Operating Temperature From 0 °C to +40 ° C, max 0 ÷ 55 °C; 40 to 55 °C derate.

at 55 °C consider derating drive’s rated I
by 50% and therefore set parameter d5 to
50..
Relative Humidity From 5% to 85% non-condensing.

Altitude Up to 1,000 meters above sea level.
Storage Temperature From -25 °C to + 85 ° C.
Relative Humidity From 5% to 95% non-condensing.

Table 3.6 Climatic operating and storage conditions.
Climatic conditions during transport In accordance with clause 4.3 of CEI EN 61800-2:1999-09.
Mechanical Conditions Complying with CEI EN 61800-2: 1999-09.
Protection Rating IP 20.
7
Table 3.7 Mechanical and transport conditions
Power loss
09ECO2x0410 19 W
09ECO2x0615 26 W
09ECO4x0410 25 W
09ECO4x0512 31 W
09ECO4x1020 56 W
09ECO4x2040 103 W
09ECO4x2550 140 W
09ECO4x3090 190 W
09ECO4x60180 280 W
Table 3.8 Joule heating losses calculated at rated current and ambient temperature (Ta) 25 C°.
Electromagnetic Compatibility The product complies with the International Technical Standard:
CEI EN 61800-3 2005-04 “Adjustable-speed electric power drive
systems - Part 3: EMC Product standard including specific tests”;
and therefore also satisfies the European Directive on
electromagnetic compatibility [89/336/EEC as amended
by 92/31/EEC and 93/68/EEC].
Product conformity is only guaranteed if installation is carried
out in strict accordance with the instructions set out herein in
the chapter covering “Electrical Installation.
Low Voltage and Safety Product safety and operating features meet with the requirements of
the following International Standards:
- CEI EN 61800-2 1999-09 “Adjustable speed electrical power
drive systems: Part 2: General requirements - Rating specifications
for low voltage adjustable frequency AC power drive systems”;
- CEI EN 61800-5-1 dated 2005-03 “Adjustable speed
electrical power drive systems - part 5-1: Safety requirements.
Electrical, thermal and energy”;
and thus comply with Low Voltage Directive 73/23/EEC
as amended by 93/68/EEC.
8
Table 3.9 Normative References.
CE Marking The product illustrated herein meets the requirements of the

European Low Voltage and Electromagnetic Compatibility
Directives specified in this table and therefore fulfils all conditions
necessary for CE marking.
Table 3.10 Normative References and CE marking
WARNING: EMC
Should a Power Drive System (PDS) be just one component of equipment subject to a
different EMC product standard, the EMC standard covering the equipment as a whole
shall apply.
The drive is used in conjunction with other components such as motor, transformer,
filter, circuits for assistance to switching, protective and auxiliary circuits, thus forming a
complete end. The person in charge of assembly shall ensure that the system or
product complies with all current regulations applicable in the country where the
system or product itself is to be used.
9
ECO2D/ECO4D - Chapter 4: Models and Options
4 Models and Options
There are three lines of Drive with differing performance and price. ECO2D/ECO4D represents the
standard line with several features implemented internally, management of encoder feedback, resolvers
and absolute encoders with BISS digital protocol. ECO2/ECO4 (TECH) implements all functions
of the standard line but includes additional of fieldbuses, STO safety functions, external DC BUS for
managing regenerative energy motor during braking, automatic holding brake control, sine/cosine
absolute digital feedback and absolute feedback with DSL protocol.
ECO2/ECO4 (EVOLUTION) includes all these functions of the ECO2/ECO4 TECH line but
also features ETHERNET-based fieldbuses, special axis anti-sway algorithms and improved performance
of speed and position loops. Your choice of series and drive depends on the application.
Tables 4.1 and 4.2 will allow you to select product and associated options .
Table 4.1 allows the drive to be chosen on the basis of current and voltage. Table 4.2 bases your choice
on the functions required, the type of motor feedback system, control type (analogue, with fieldbus, pulse
or using the other mechatronic functions).
ECO Models Current and voltage

Model Current rating Peak Current Voltage
(RMS amp) (RMS amp for 2 sec) (RMS Vac)
09ECO2x0410 4 Amp. 10 Amp. 230 Vac
09ECO2x0615 6 Amp. 15 Amp. 230 Vac
09ECO4x0410 4 Amp. 10 Amp. 400 Vac
09ECO4x0512 5 Amp. 12 Amp. 400 Vac
09ECO4x1020 10 Amp. 20 Amp. 400 Vac
09ECO4x2040 20 Amp. 40 Amp. 400 Vac
09ECO4x2550 25 Amp. 50 Amp. 400 Vac
09ECO4x3090 30 Amp. 90 Amp. 400 Vac
09ECO4x60180 60 Amp. 180 Amp. 400 Vac

Table 4.1 Models listed according to output current
ECO2D/ECO4D
10
Model Available Functions Motor Feedback

Analogue Pulse Modbus Electronic Field Buses Incr. Resolv. Absolute
Input & gearbox Encoder Encoders
S-CAN & CANOpen 2048 pulses
Speed & & Electronic SCAN or BiSS
Torque SAP CAM MODBUS 5000 pulses
& & & or Sin/Cos
Torque MSQ External 4096 pulses
Limit Encoder DSL
Code: Yes --- --- --- --- Yes --- ---
Analog
Code: Yes --- Yes --- CANOpen Yes --- ---
Modbus
Networks SCAN
MSQ & SAP
Code:
Yes Yes Yes Yes Yes Yes
Standard
--- ---
Full
Optional feedback hardware boards

Option Enables resolver feedback
09FRRTEN Yes Yes Yes Yes Yes Yes
--- ---
Option Enables BiSS absolute encoder feedback
09BiSS --- Yes Yes Yes Yes --- --- BiSS
Option Enables absolute encoder feedback with sine/cosine output and Hiperface protocol
Sin/Cos
Yes Yes Yes Yes Yes Yes Yes Sin/Cos
Table 4.2 Models listed according to feedback and required software options on ECO2/ECO4D
11
ECO2x/ECO4x
Model Available Functions Motor Feedback

Analogue Pulse Modbus Electronic Field Buses Increm. Resolv. Absolute
Input & gearbox Encoder Encoders
S-CAN & CANOpen 2048 pulses
Speed & & Electronic SCAN or BiSS
Torque SAP CAM MODBUS 5000 pulses
& & & or Sin/Cos
Torque MSQ External 4096 pulses
Limit Encoder DSL
Code: yes --- --- --- --- yes --- ---
Analogue
Code: yes --- yes --- CANOpen yes --- ---
Modbus
Networks & SCAN
MSQ &
SAP
Code:
yes yes yes yes yes yes
Standard
--- ---
Full
Optional hardware boards for feedback

09FRRTEN Enables resolver feedback
Option yes yes yes yes yes Yes
--- ---
09BiSS Enables BiSS absolute encoder feedback
Option --- Yes yes yes yes --- --- BiSS
Sin/Cos Enables absolute encoder feedback with sine/cosine output and Hiperface protocol
Option
yes yes yes yes yes yes Yes Sin/Cos
DSL Enables DSL absolute encoder feedback
Option yes yes yes yes yes yes yes DSL
Optional fieldbus hardware boards
09ETHERCAT Enables ETHERCAT fieldbus. No other network enabled.
Option
yes yes yes yes Standard yes Yes DSL
networks
enabled
through Mini-
DIN
09ETHERNET Activate field network on ETHERNET base. Modbus IP, Ethernet IP, Profinet
Option yes yes yes yes Standard yes yes DSL
networks
enabled
through Mini-
DIN
Table 4.3 Models listed according to feedback and required software options on ECO Evolution or
TECH.
12
4.3 “ VENTILATION SET” option, code: 09VF1ECO
ECO2D0410 and ECO2D0615 are both very small in size. For more exacting tasks or where there is very
little space inside the switchboard, it may be necessary to use the Ventilation Set option.
This option MUST be requested when placing the order, as subsequent fitting is not possible.
Please see chapter 5.3, table 5.1 for mechanical and installation specifications.
4.4 CONTROLLABLE MOTORS
Being fully digital, the ECO2/ECO4 drive utilises internal algorithms that predefine the exact set of
parameters with which the motor is controlled in order to optimise performance without having to set a
large number of parameters. This feature greatly facilitates Drive installation, notably reducing the time
required to tune axis dynamics.
It is therefore indispensable that it be coupled only with the motor for which it was designed. Every
model has been given a set of parameters for use with various factory-characterised motors that are all
rated to suit its control capabilities, therefore the recommendations of the motor table should be
followed to the letter.
The motor actually used is selectable via the “d8” parameter of the configuration file or via local
keypad.
In some cases it is possible to use other motors or the same motors with different mapping. To
this end, by using the dedicated “Motor SET-UP” software you can customise mapping for up
to 10 motors or 10 map configurations.
ECO can control Brushless Synchronous AC, Vector AC, Synchronous Torque
AC, Linear and Tubular motors
NOTE: MOTOR TABLE

Please see annex B for complete motor table.
13
ECO2D/ECO4D - Chapter 6.2 Electrical Installation - Wiring Diagrams
5.1 MECHANICAL INSTALLATION & DIMENSIONS
All mechanical dimensions of the ECO series (Standard, TECH and

EVOLUTION) are the same, therefore all tables in the manual referring to
ECO2D and ECO4D are also applicable to TECH and EVOLUTION
Check that the packaging is fully intact in its original box and the Drive, its connector Kit and
the brake resistor (if included) have suffered no visible damage during shipment. If this is not
the case, DO NOT under any circumstances connect the Drive or use the other components
The ECO2x/ECO4x drive is designed for use in fixed installations and on non-mobile surfaces. Suitable
measures should be taken if needing to be mounted on surfaces with strong vibrations, e.g. antivibration
mountings.
The ECO2/ECO4 drive is designed to allow fitting of a switchboard to the anchor plate using the fixing
holes provided on the external enclosure.
The mechanical dimensions are shown in figure 5.1 and tables 5.1.1 or 5.1.2 or 5.1.3 .
To allow for sufficient ventilation it is necessary that it be installed vertically in order to facilitate natural
air circulation through the heat sink vents. Should lack of space make horizontal fitting necessary
(horizontal fixing panel), it will require some form of forced ventilation or a performance downgrade.
ELECTRICAL SAFETY
In order to avoid malfunction of the drive, the installation must comply with the following guidelines
when fixing to the inside of the switchboard:
1. Install in a clean environment, free from dust and corrosive agents and with limited humidity.
2. Do not install it near any heat sources such as transformers etc., and do not place it above these
sources in order to avoid overheating.
3. Ensure that the ventilation holes on the top and bottom of the drive are completely free from
obstruction.
4. Maintain a gap of at least 20 mm from the surrounding components.
5. Install on a supporting base consisting of a single unpainted metal plate.
L3 P
L2
L2 L4 L4
H3 H3
H2 ( 4,5 ) ( 4,5 )
H1
L1 L1
Figure 5.1.1 ECO2/ECO4 mechanical dimensions.
14
Weight
Drive model L1 L2 L3 L4 H1 H2 H3 P kg
37,5 62 68 --- 186 168 179 150 1,3
09ECO2x0410P
09ECO2x0410G 37,5 62 82 --- 186 168 179 150 1,5
09ECO2x0615 37,5 62 82 --- 186 168 179 150 1,5
Table 5.1.2
ECO4x MECHANICAL DIMENSIONS
Weight
Drive Model L1 L2 L3 L4 H1 H2 H3 P kg
09ECO4x0410 42.5 67 87 --- 227 210 220 190 2.2

09ECO4x0512 42.5 67 87 --- 227 210 220 190 2.5
09ECO4x1020 70 104 --- 52 270 242 260 224 4.2
09ECO4x2040 70 130 --- 65 345 315 335 224 7.5
09ECO4x2550 105 140 --- 70 390 360 380 250 8.5
09ECO4x3090 105 140 --- 70 390 360 380 250 9.7
09ECO4x40120 140 249 --- 124,5 487 431 459 249 23
09ECO4x60180 140 249 --- 124,5 487 431 459 249 23
Table 5.1.3
ECO2x MECHANICAL DIMENSIONS with external ventilation
Under certain operating conditions it may be necessary to ventilate the drive. Subject to customer request
when placing order, the ECO2D drive can be supplied complete with ventilation set. The fan is secured to
the underside of the drive. The ventilation set requires +24Vdc power supply that is obtainable from the
drive's CN1 connector.
Drive Model P Weight

L1 L2 L3 L4 H1 H2 H3 kg
09ECO2D0410G/V 37,5 62 82 31 216 168 208 150 1,6
Table 5.1.4
5.2 BRAKING RESISTOR
ECO2xx, ECO40410 and ECO40512 drives are supplied with a braking resistor that is connected to the
M2 terminal block. Models ECO41020 and ECO42040 models have an internal resistor with the option of
connecting an external resistor to the M3 terminal block. In models ECO42550 and ECO43090, the
resistors are external and should be connected to the M3 terminal block. The braking resistors supplied
with the drive clearly vary according to model, and have the following specifications: ECO2 68Ω 100W
ECO4x410 150Ω 100W ECO4x1020 and ECO4x2040 150Ω 150W. There may be applications with
particularly demanding cycles that when faced with a strong inertial load do not allow the supplied
resistor to dissipate all the energy necessary. When this occurs you will need to connect a suitably-
rated external resistor to the M3 terminal block .
The braking resistor can reach very high temperatures depending on load inertia and the
machine cycle. It is therefore essential that the braking resistor be isolated in a section of the
switchboard where it does not represent a hazard for nearby equipment or the wiring itself. In
some cases where high load inertia is combined with an extremely short machine cycle,
mechanical separation is essential with a thermal resistor connected to an alarm. Use the following
2
formula in order to calculate dissipated power P= (0.5 × J t × ω × (f) - PL where Jt = total inertia [in
2
Kg m ] ω = max. angular velocity [rad/sec], f = work cycle repetition rate [in No. cycles per second]
PL = Power required to overcome friction.
15
6 ELECTRICAL INSTALLATION
Being digitally controlled, it is vital that the ECO2/ECO4 drive be connected to the motor for which it
was designed and therefore this operation should be rigorously supervised. To this end, you should ensure
correct setting of parameter d8 in the motor table.
If connection to an unsuitable model takes place, problems are likely to occur such as instability,
overheating and performance loss.
WARNING
Do not open the drive enclosure without prior authorisation from Selema; in any
event, always wait for three minutes after switching off before attempting to
access product.
6.1 ELECTRICAL CONNECTIONS
The ECO2/ECO4 drive has terminal blocks and connectors located on the front panel and top of the
enclosure. These connections are illustrated in the figure below. It should be noted that the M1 terminal
block on the ECO2 incorporates both power supply and motor, whilst on the ECO4 there are two separate
terminal blocks.
The TECH and EVOLUTION versions have the same terminal blocks and connectors as the
Standard series and therefore the common connections described hereafter can be used for all
models. TECH and EVOLUTION have extra connectors for the additional hardware functions and
details are given in the Annexes at the end of this manual.
CN4 :
CN3: Motor Feedback
Encoder Master Encoder/Resolver
Electronic Cam
Gearbox, Etc……
CN5:
CN2: Encoder Out
Input/Output or
Simulated Encoder
CN1:
Digital Drive
Command
Analogue Reference
Input Pulse CN6:
Serial Interface
Modbus
CANopen
S-Can
S-Net
M1 on ECO2D
LINE 230 Vac &
Motor Phases
M2: on ECO4D
M1 on ECO4D Motor Phases
LINE 400 Vac
16
Figure 6.1.1 ECO2/ECO4 drive connections (NB The photo shows an ECO4D. The ECO2D drive
has a single terminal block for LINE and Motor Phase signals. TECH and EVOLUTION series photos
can be found in the specific section at the end of this manual).
6.2 WIRING DIAGRAMS
This paragraph provides all information necessary for making the ECO2/ECO4 drive electrical
connections; in particular, the tables give details of all the terminal blocks and connectors fitted to the
drive, whilst the respective connections are illustrated in the diagrams.
M1 Terminal block for ECO2D xxxx
Power supply and motor connections
Connector type 7-way plug-in terminal block.
Pin No. Signal Signal description
1 L1 Phase L1, drive power supply.
4 SH Motor earth reference
5 U Motor phase. Please refer to the table for correct connection on the motor
side
6 V Motor phase.
7 W Motor phase.
Table 6.2.1 Description of M1 terminal block signals on ECO2xxxx (230 Vac)
MAINS SWITCHBOARD MACHINE WIRING

4 Metal Panel Machine Frame
L1
L2 To other
L3 equipment
NOTE
The connection inside
the switchboard with
Earth bar
the earth symbol (⏚)
indicates a direct
connection to the
Transformer metal panel at the
Metal panel earth
connection back of the
switchboard.
Fuses
PE L1 L2 L3
LINE NOTE
ECO2D LINE Filter
Please see 6.3 for
Earth CNW207 xx
LOAD information regarding
PE' L1' L2' L3'
M1 the transformer.
SH Screened Motor Cable U

U
V
V MOTOR
W
W
M2
NOTE
External
1
braking
Metal Back Panel
(Earth)
Please see chapters
2
resistor 6.4 and 6.5 for
The screen should be earthed using a metal
cable clamp (360° connection); remove information regarding
Max 10 cm
paint from the panel in the area where the
clamp will rest. This should be effected as
cables, earthing, and
Cable screen close as possible to the ends of the cable. EMC components.
WARNING Should it not be possible to connect the
Cable sheath cable clamp close to the drive, the braid
Earthing instructions should be followed to
wire may be led to the earth terminal
the letter, otherwise system noise immunity
could be compromised.
system noise immunity could be compromised
17
Figure 6.2.1 Power signal wiring diagram
Terminal block M2 for ECO2 xxxx: Brake Resistor

Connector type: 2-way terminal block on drive underside
Table 6.2.2 Description of M1 terminal block signals on ECO2Dxxxx (230 Vac)
M1 terminal block for ECO4 xxxx

M1 terminal block: Power supply connections
Connector type 3-way plug in terminal block.
Pin No. Signal Signal Description
3 L3 Phase L3, drive power supply..
Table 6.2.3 Description of M1 terminal block signals on ECO4Dxxxx (400 Vac)
SWITCHBOARD MACHINE WIRING

NETWO
RK 4 Metal Panel Machine Frame NOTE
L1
L2 To other The connection inside
L3 equipment
the switchboard with
the earth symbol (⏚)
Earth bar
indicates a direct
connection to the
metal panel at the
Fuses
back of the
Metal panel earth
connection switchboard.
PE L1 L2 L3
LINE
ECO 400 Line Filter

Earth
CNW207 xx NOTE
LOAD
PE' L1' L2' L3'
Please see 6.3 for
M1 information regarding
L1 the transformer.
L2
L3
M2
W Screened Motor Cable U
V
U V MOTOR
SH
W
M3 NOTE
External
1 braking
Metal Back Panel
(Earth)
Please see chapters
2 resistor 6.4 and 6.5 for
The screen should be earthed using a metal
cable clamp (360° connection); remove information regarding
Max 10 cm
paint from the panel in the area where the
clamp will rest. This should be effected as
cables, earthing, and
Cable screen close as possible to the ends of the cable. EMC components.
WARNING Should it not be possible to connect the
Earthing instructions should be followed to Cable sheath cable clamp close to the drive, the braid
the letter, otherwise system noise immunity wire may be led to the earth terminal
could be compromised.
Figure 6.2.2 ECO4D power signal wiring diagram.
18
M3 terminal block for ECO4: Brake Resistor

2-way terminal block on left underside of the ECO4D0410, ECO4D0512 drive
2-way plug-in terminal block on front panel of ECO4D1020, ECO4D2040, ECO4D2550 drive
Table 6.2.4 Description of M3 terminal block signals on ECO4Dxxxx
M2 terminal block for ECO4: MOTOR PHASES

Connector type 4-way plug-in terminal block.
1 W motor W phase
2 V motor V phase
3 U motor U phase
4 SH Motor ground reference
Table 6.2.5 Description of M2 terminal block signals on ECO4Dxxxx.
Motor side terminal block/connector connections
Motor terminal board connections have different names according to the type of motor used. Table 6.2.6
gives the different names and associates the Drive signal name with the motor terminal.
MOTOR PHASE connections

ECO2/ECO4 MOTOR type
M2 Terminal block ST HS HS DSM with DSM with smsT &
(Molex) Resolver Encoder smsN
Pin No. Signal Connector/ Hypertach Plug 4-way MIL 4-way MIL
Terminal block connector connector connector connector Terminal
block
3 way 6 6 4
ECO ECO + way way way
2 4
GND +
GND
7 1 W 3 C 3 6 4 3 C B W
6 2 V 2 B 2 2 2 2 B C V
5 3 U 1 A 1 1 1 1 A A U
4 4 SH 6 D GND GND 5 4 D D GND
x Brake + 4 6 ---
x Brake - 5 3 ---
Table 6.2.6 Description of ST, DSM, HS, smsT, smsN motor terminal block signals
WARNING: When connecting to motors not listed in table 5.5 (e.g. Torque Motors,
Linear Motors, etc.) please refer to the Selema publication:
MOTOR and FEEDBACK connections
19
CN1 terminal block

Main control signals and analogue inputs
Connector Type 12-way plug-in terminal block.
Pin no. Signal Signal Description
1 +V24 +24 Vdc power supply
2 0V24 +24 Vdc 0V reference and 0V reference for TEN, IEN isolated inputs
3 OK DRIVE OK (100 mAmax).
Relay output indicating drive status.
- +24 V dc closed contact under normal operating conditions.
- Open contact when in state of alarm
4 TEN TORQUE ENABLE, torque enable signal.
Isolated digital input, active at + 24Vdc.
Active signal enables drive to supply torque to motor.
In the absence of this signal, the motor immediately frees itself.
5 IEN INPUT ENABLE, speed setpoint enable signal
Isolated digital input, active at + 24 Vdc.
With signal on drive enables reading of speed/torque setpoint.
In the absence of the signal, reading of setpoint is disabled and it is assigned the
value 0V With motor running, absence of IEN signal causes the motor to come
to a halt in accordance with the emergency ramp set; after the ramp has been
completed, the motor remains in locked rotor condition
6 REF ± 10V speed/torque external analogue reference signal
Non-inverting input.
7 REF/ ± 10 V speed/torque external analogue reference signal
Inverting Input.
8 0V Reference ground of signals REF\, REF & EXTREF.
9 EXTREF EXTERNAL TORQUE REFERENCE.
Analogue input (0-10 V) limiting peak torque deliverable to the motor:
input at 0 V zero torque.
Input disconnected or +10V stall torque.
10 PULSE Only available with “Pulse Positioning” option.
Optoisolated input active at +24V, impedance 2K2Ω.
Pulse input, every time this signal is activated, the positioner advances a certain
distance corresponding to that programmed in parameters P1 and P2 of PL
menu.
11 DIR Only available with “Pulse Positioning” option.
Optoisolated input active at +24V, impedance 2K2Ω.
Direction of rotation input: the direction of rotation during positioning is defined
by the state of this signal.
DIR input at 0V clockwise direction (side with drive shaft visible).
DIR input at +24Vdc Anticlockwise direction (side with drive shaft
visible).
12 CONCLR Only available with “Pulse Positioning” option.
Optoisolated input active at +24V, impedance 10KΩ.
Control Clear signal, resets internal counter containing number of pulses
acquired.
Table 6.2.7 CN1 signal details.
20
SWITCHBOARD
Power supply
0V24 Metal Panel NOTE
Earth bar
+24V
If not utilised, the
+24V
EXTREF torque limiting
Metal panel earth signal must remain
connection
ECO2D/4D completely disconnected.
CN1
+24V CNC
+24V
0V24 or Please see chapters 6.4 and
0V24
OK
OK
PLC 6.5 for information
TEN regarding cables and EMC
TEN
IEN
IEN
REF components.
REF
REF/
REF/
0V
EXTREF
PULSE
DIR
CONCLR
Figure 6.2.3 CN1 enable and control signal wiring diagram in standard optionless version.
SWITCHBOARD
Metal Panel NOTE
0V24
Power supply Earth bar
+24V +24V
EXTREF torque
Metal panel earth limiting signal must
ECO2D/ 4D connection remain completely
CN1 disconnected.
+24V
+24V
0V24
0V24 CNC Please see chapters 6.4
OK OK
TEN or and 6.5 for information
TEN
IEN
IEN
PLC regarding cables and
REF EMC components.
REF/
0V
EXTREF
PULSE PULSE
DIR DIR
CONCLR CONCLR
CN2
OUTEOJ
12
13
14
15
16
Figure 6.2.4 CN1 enable and control signal wiring diagram in version with pulse positioner.
Inputs PULSE, DIR and CONCLR accept PNP or PUSH-PULL 12-24 V dc inputs.
21
SWITCHBOARD
Metal Panel NOTE
0V24
+24V +24V
EXTREF torque
ECO2D/4 D connection remain completely
CN1 disconnected.
+24V
+24V
0V24
0V24 CNC Please see chapters 6.4
OK OK
TEN or and 6.5 for information
TEN
IEN
IEN
REF
REF
REF\
EMC components.
REF/
0V
EXTREF
PULSE PULSE
DIR
DIR
CONCLR
CONCLR
CN2
3
4 MODE
5
........
11
OUTEOJ
12
13
Figure 6.2.5 Enable and control signal wiring diagram in version with PULSE POSITIONER and
possibility of external SWITCHING between PULSE POSITIONER and ANALOGUE INPUT (REF
and REF/) operation. For software parameter setting please see “Additional Information for
ECO2D/4D”.
Inputs PULSE, DIR and CONCLR accept PNP or PUSH-PULL 12-24 V dc inputs.
22
+24v
POWER SUPPLY
ECOD 0V
+24V
+24V
1
2 0V
C 3
TEN
N IEN
4 OK
1 5
6 REF
7 REF/
START PLC
1
2 S1 or
3 S2 CNC
S3
6
S4
7 SPEED SELECTION
10
HOMING MODE
C 5
14 HOME SWITCH
N LS1 +24V
8
2 LS2
9
11 FEEDBACK SELECTION
13 FEEDBACK_A
16 FEEDBACK_B
15 NEAR TARGET POSITION
12 OUTEOJ
Figure 6.2.6 Enable and control signal wiring diagram in SAP configuration
Extended mode. Signals with double wording depend on the SAP MODE register. They are fully
explained in the Mechatronic Functions manual
23
SWITCHBOARD
Metal Panel NOTE
0V24
+24V +24V
EXTREF torque
ECO2D/ 4D connection remain completely
CN1 disconnected.
+24V +24V
0V24 0V24 Please see chapters 6.4
OK CNC
OK and 6.5 for information
TEN TEN or
IEN IEN
REF
REF
REF\
EMC components.
REF/
0V
EXTREF
CN2
START
1
2
3
4 WAY
5
HOMING
8 Photocell or
LS1
9
LS2 proximity switch
10
Position LATCH *
11
12 +24V
13 OUTEOJ
14
Master
Encoder
CN3
PLC
3
CN6 1 4 6 CNC
2 7
5 8 PC
Figure 6.2.7 Enable and control signal wiring diagram in Electronic gearbox, CAM configuration
including homing mode and possibility of switching between electronic gearbox and analogue operation.
24
TERMINAL BLOCK CN2

Control Signals secondary to general use in mechatronics functions
Connector Type 16 Way plug in terminal block .
1 START Available with the SAP options and various mechatronic options (electronic
gearbox, CAM etc.). Its functions change according to the setting of parameter C9 that
selects the required option.
2 S1 Coding Input for selecting registers in SAP mode
4 MODE/S5 SAP MODE bit 0 =1 -> Mode selection signal

Only available with ELECTRONIC GEARBOX or PULSE POSITIONER OPTION.
Input = 24 Vdc, operates from analogue input (REF and REF/).
SAP MODE bit 3 =1 - Coding input for selecting registers in SAP mode.
5 Homing Enable signal for Homing procedure (Axis Zero) in electronic gearbox mode (c9 = 2).
The signal must be active throughout the procedure.
Interruption of the signal will cause the procedure to be halted.
At the end of the procedure the OUTEOJ bit is activated.
8 LS1 Negative Limit Switch.
9 LS2 Positive Limit Switch.
10 SELVEL Velocity selection (see SAP documentation)
11 POSITION Position Latch.

LATCH / Signal used for real-time axis position capture.
The position is stored on the leading edge of the signal within a maximum time of 3
FEEDBACK
mS (faster times available if requested when ordering) with MODBUS/S-NET/S-
SELECTION
CAN/CANopen options only.
Feedback Selection: used solely in SAP configuration
Used to switch FEEDBACK-A and FEEDBACK-B outputs to FEEDBACK-C and
FEEDBACK-D (see SAP Stand Alone Positioner documentation)
12 OUTEOJ End of job output signal, output not available with analogue configuration.
This signal assumes importance (active at +24V) when the positioning system has
completed the command
13 FEEDBACK- Used solely in SAP configuration. The code acquired in inputs S1, S2, S3, S4 is
A repeated in the FEEDBACK outputs (A or B). S1 or S3 is repeated on FEEDBACK-A
14 HOME SW Home switch, signal that identifies the zero micro. The functions it performs are
chosen according to programming mode, please see the sections “Parameters and
Messages” and “A parameters – Homing Methods”
15 Near Target Signal that becomes active when the difference between final position and current
POSITION position is inside a window specified in a register
16 FEEDBACK- As for FEEDBACK-A but S2 or S4 is repeated

B
25
CN3 connector
External encoder input available for electronic gearbox, CAM, SAP and positioner used in fieldbuses
Connector type 9-way, D plug
1 +5ENC + 5Vdc power supply for external encoder
2 N. C. Not connected
3 INA\ Master encoder phase A\
4 INA Master encoder phase A
5 05ENC +5Vdc power supply reference
6 INB Master encoder phase B
7 INB\ Master encoder phase B\
8 -- Pin Reserved
9 -- Pin Reserved
Table 6.2.9 CN3 signal details
SWITCHBOARD
Master Encoder
ECO2D/ 4D Metal Panel
for
CN3 Master Encoder Cable Electronic Gearbox
1 +5ENC +5ENC
2 MASTER
INA\ INA\ ENCODER
3
4 INA INA
5 05ENC 05ENC
6 INB INB
7 INB\ INB\
8
9
WARNING
For improved protection we recommend the use of shielded
twisted pair cables.
The shielding should be connected on the control side only.
Figure 6.2.8 External encoder wiring diagram
26
CN4 connector
Connections to be made when using standard brushless motors with RESOLVER
CN4 connector: Resolver Signals for brushless motors

Connector type 26-way, D socket, HD 3-row
8 COS2 Cosine input for resolver connector COS signal.
9 COS1 Cosine input for resolver connector COS\ signal.
17 SEN2 Sine Input for resolver connector SEN signal.
18 SEN1 Sine Input for resolver connector SEN\ signal.
22 0VECC Excitation signal output for resolver primary winding.
23 ETC. 8 kHz sine wave.
25 +24V +24Vdc power supply.
26 TMOT MOTOR THERMAL RESISTOR isolated input
Signal originates from PTC thermal situated inside the motor.
1, 2, 3, 4, 5, 6, These pins must NOT be Connected under any circumstances.
7, 10, 11, 12, N. C. It is sometimes necessary to connect pin 21 to the Resolver cable
13, 14, 15, 16, internal shield when the drive side metal clamp is positioned more
19, 20, 24 than 50 cm away from the Drive.

Metal Panel Machine frame
CN4
ECO2D1
ECO4D2 Metal panel earth
3 Metal panel earth connection
4 connection
NOTE
5 SMST/N motor Please see chapters 6.4
6 RESOLVER and 6.5 for information
7
Screened Resolver Cable
COS2 COSΦ C regarding cables and
8
COS1 COS\Φ E
9
SEN2 SENΦ G
EMC components.
10
SEN1 SEN\Φ H
11
0V B
12
V-Ref D
13
S
14
15
16
17
18 +24V A WARNING
19 Earthing instructions
20 Motor
21
0VECC
PTC should be followed to
0VECC
22
ECC
TMOT N the letter, otherwise
23
24
system noise immunity
+24V
25
TMOT
could be
26 Metal Back Panel compromised.
(Earth)
CN4 Signal Resolver Conn. The screen should be earthed using a
Pin No Details 19-way 10-way metal cable clamp (360° connection);
8 COS2 → COSΦ Φ C J Max 10 cm remove paint from the panel in the area
where the clamp will rest. This should be
9 COS1 → COSΦ Φ\ E C Cable screen effected as close as possible to the ends
17 SEN2 → SENΦ Φ G G of the cable. Should it not be possible to
Cable sheath
18 SEN1 → SENΦ Φ\ H K connect the cable clamp close to the
drive, the braid wire may be led
22 0VECC → 0 V B B to pin 22.
23 ECC → V-Ref D A
25 +24V → PTC A E
26 TMOT → PTC N F
Twisted pair screen → Screen S --
Screen
Figure 6.2.9 Brushless-motor resolver signal wiring diagram.
27
CN4 connector
Connections to be made when using AC brushless motors with RESOLVER and Fan
SWITCHBOARD
CN4
Metal Panel Frame NOTE
ECO2D1 Earth Bar
Ground Bar Please see chapters 6.4
ECO4D2 and 6.5 for information
3
Metal panel Metal panel
4 earth connection regarding cables and
earth connection
5
Vector Motor RESOLVER EMC components.
6
Screened Resolver Cable
7
COS2 COSΦ C
8
COS1 COS\Φ an
9
SEN2 SENΦ d
G
10
SEN1 SEN\Φ H
11
0V B
12
V-Ref D
13
S
14
15 WARNING
16
17
Earthing instructions
TMOT N
18 should be followed to
19 Vector
20 Motor the letter, otherwise
0VECI
21
0VECC +24V T
PTC system noise immunity
22
23
ETC. O could be
0V24 +24V
24
+24V Fan compromised.
25 0V24 M
TMOT 0V24
26
CN4 Signal Resolver Revolver Cable

N° Pin Details Connector Twisted pair type
Panel Rear Metal 8 COS2 → COSΦ C Shielded twisted
(Ground) 9 COS1 → COSΦ\ E pair
Max 10 cm
The screen should be earthed using a 17 SEN2 → SENΦ G Shielded twisted
metal cable clamp (360° connection); 18 SEN1 → SENΦ\ H pair
Cable screen
remove paint from the panel in the area
Cable sheath 22 0VECC → 0V B Shielded twisted
where the clamp will rest. This should be
effected as close as possible to the ends 23 ECC → V-Ref D pair
of the cable. Should it not be possible to 24 0V24 → 0V24V M
connect the cable clamp close to the Motor Fan. Twisted pair
drive, the braid wire may be led 25 +24V→Mot. PTC Therm. A
to pin 22. Motor Fan.+24V
Partly used
26 TMOT → Motor PTC N
Twisted pair
Figure 6.2.11 Resolver signal wiring diagram for AC Brushless (Vector) or standard forced-ventilation
brushless motors.
WARNING: The difference between the layout of fig. 6.2.9 and fig. 6.2.10 merely concerns
the forced-ventilation connection since all AC Brushless motors are fitted as standard with
forced ventilation
The arrangement of figure 6.2.10 can be used for connecting standard forced-ventilation
Brushless motors.
28
CN4 connector
Connections to be made when using
BRUSHLESS MOTORS with ENCODER
Connector CN4: Encoder Signals

Connector type 26-way, D socket, HD 3-row
1 A Phase A Encoder.
2 A\ Phase A\ Encoder.
3 B Phase B Encoder.
4 B\ Phase B\ Encoder.
5 EU Phase EU Encoder.
6 M Marker Encoder.
11 EW Phase EW Encoder.
12 EV Phase EV Encoder .
15 M\ Marker\ Encoder.
19 +5ENC +5Vdc power supply, Encoder.
20 05ENC +5Vdc power supply reference, Encoder.
25 +24V +24Vdc power supply .
MOTOR THERMAL RESISTOR isolated input.
26 TMOT
Signal originates from PTC thermal resistor situated inside of the
motor.
7, 8, 9, 10, 13, 14,
N. C. These pins must NOT be Connected under any circumstances
16, 17, 18, 21, 23, 24
Tables 2.6.10 Description of signals of the CN4

Metal Panel Machine Frame
ECO2D/ 4D
CN4 Encoder Cable
A A
1 A\
O
A\
2
B B
3
B\ B\
4
M\ M\
5
M
ENCODER
M
6
EU EU
7 EV
EV
8 EW
EW
9 +5ENC +5ENC
10
05ENC 05ENC
11
12
13 +24V
14 M\
15
16
Motor
17 PTC
TMOT
18 +5ENC
19
05ENC
20
NOTE NOTE
21
22
0VECC
Vector motors do not Please see chapters 6.4
23 utilise signals “EU”, and 6.5 for information
24 +24V “EV”, “EW”. regarding cables and
25
26
TMOT EMC components.
Figure 6.2.12 Encoder signal wiring diagram
29
The ECO2/ECO4 Drive can be connected to various types of motors with differing electrical performance
and mechanical dimensions. As a result, the type of connector and terminal block also varies according to
the type of motor.
Description of Encoder connections between CN4 on the drive side and ENCODER connectors on the
MOTOR side
ECO2/ECO4 Types MOTORS
Connector CN4 ST SC SC DSM DSM smsT HYPER Line
19-way 14-way 15-way 14-way 17-way & smsN
Pin No. Signal MIL MIL plug MIL Hypertac 19-way 12-way 17-way
connector connector connector conn. conn. MIL plug plug Hypertac
connector connector
(Molex)
1 A G E 1 E 12 G 10 12
2 A\ H D 2 D 11 H 2 11
3 B P F 3 F 1 P 8 1
4 B\ N L 4 L 2 N 9 2
6 M J H 5 H 3 J 11 3
15 M\ K M 6 M 13 K 7 13
20 0VENC B A 14 A 7 B 3 7
19 +5VENC A B 13 B 10 A 1 10
5 EU M N 7 N 4 M 6 4
12 EV E P 9 P 16 E 4 16
11 EW C R 11 R 5 C 5 5
26 +24V R J -- J 9 R Jump 9
with 25
on CN4
25 TMOT V K -- K 8 V Jump 8
with 26
on CN4
SHIELDING
Table 6.2.12 Description of drive side encoder connector and motor side ST, DSM, SC, smsT,
smsN & Hyperline connector signals
WARNING: When connecting to motors not specified in table 2.6.11 (e.g. Torque
Motors, Linear Motors) or sensors not mentioned herein, please refer to the Selema
publication:
MOTOR and FEEDBACK connections.
30
CN5 CONNECTOR
Using the CN5 connector, the ECO2D/ECO4D drive can provide positional information from the
transducer used on the motor. When using an incremental encoder, the output pulses are strictly
identical to those of the transducer as regards both electrical characteristics and the drive shaft’s
number of pulses/mechanical revolution. On the other hand, if using a resolver, the output pulses are
simulated and therefore the number of pulses per revolution is selectable, whilst output characteristics
are similar to those of an incremental encoder.
Connector CN5: Encoder or Encoder simulated outputs

Connector Type 9-way D socket
1 N. C. Pin Not Connected
2 N. C. Pin Not Connected
3 A\ Phase A\ output
4 A Phase A output
5 GND Encoder signal earth reference signal output
6 B Phase B output
7 B\ Phase B\ output
8 M Marker output
9 M\ Marker\ output
Table 6.2.1.3 CN5 signal details
Motor feedback utilised: Incremental Encoder

Encoder outputs are physically connected to the encoder input received from the motor, it is therefore
possible to connect loads with a minimum total impedance of 120 ohm. Fig 6.2.13 shows how the
incremental encoder operates. The M (marker) pulse is active only once per mechanical revolution and
lasts a half-period of Phase A. Encoders with an M signal of different duration are available on request.
Signals A and B have a phase shift of 90 electrical degrees.
PHASE A
PHASE B
M (zero pulse)
PHASE A\
PHASE B\
M\ (zero pulse)
Figure 6.2.13
Motor feedback utilised: Resolver
Using a motor with resolver offers output signals that simulate an encoder.
This can be obtained by requesting Drive with optional RTEN (resolver to encoder) board code
09FRRTEN. This board can control resolvers having a voltage ratio of 0.3 or 0.5 and has output pulse
31
selection via keypad. Marker (M) pulses depend on resolver pole pairs. A resolver with 1 pole pair will
have just one marker per mechanical revolution, whilst a resolver with 2 pole pairs will have 2 markers
per mechanical revolution and so on.
C1 Pulses/electri Pulses/mechanical revolution as a function of resolver pole pairs

Parameter c revolution
1 Pole pair 2 Pole pairs 3 Pole pairs 4 Pole pairs

(2 Poles ) (4 Poles) (6 Poles ) (8 Poles)
1 1024 1024 2048 3096 4096
Max 6000 rpm Max 6000 rpm Max 4500 rpm Max 3000 rpm
2 512 512 1024 1536 2048
3 256 256 512 768 1024
4 128 128 256 384 512
Table 6.2.14 Selecting simulated encoder output pulse resolution
WARNING: Encoder output

The encoder output is fitted with a current limiter that offers overload and short circuit
protection. However, this protection will cause an output voltage drop as a function of the
applied load. With an external load of ∼ 1 k Ω there is a voltage of 3.2 V between a phase
and its negative (e.g. A and A\); with 100 Ω the voltage drops to ∼ 2V. However, these
values conform to standard RS 422 specifications for differential outputs.
Motor feedback utilised: Absolute Encoders

The ECO2/ECO4 drive supports rotary absolute encoders using BiSS-B or DSL protocol. For further
details, please refer to the Selema publication “ECO2/ECO4 Additional Information”. DSL connections
are dealt with in the chapter EVOLUTION Series and TECH Series at the end of the manual.
CN6 Connector
CN6 is the fieldbus signal output connector
CN6 Connector: serial interface signals

Connector type 8-way, mini-DIN socket (round)

1 RX Receive data high, receive signal side non-inverting.
2 RX\ Receive data low, receive signal inverting side.
3 TX Transmit Data high, transmission signal non-inverting side.
4 GND 0V signal for +5 Vdc power supply.
5 VCC +5Vdc power supply.
6 TX\ Transmit Data low, transmission signal inverting side.
7 CANL CANBUS Low signal.
Only available in version with options S-CAN, CANopen options.
8 CANH CANBUS High signal.
Only available in version with S-CAN, CANopen options.
32
33
5
8
2
7
1 4
3 6
Front view of drive
The CN6 connector is used for debugging with the “Drive Watcher” software when installing the Drive or
connecting to a fieldbus. A fieldbus of several devices is established by connecting communication
signals in parallel; in addition, when connecting a large number of drives, implementing an isolated
connection is recommended in order to increase communication immunity to electromagnetic
interference.
NOTE
- In order to facilitate wiring the connector in fieldbus configuration when connecting
more than one drive, we recommend using the Selema cable and the “Network Box
Module A.
- Product order code: “09BM06NETA”.
- In order to optoisolate the fieldbus, order Drive with optoisolated configuration

and 09PSVNET800 power supply. A single power supply unit can handle 6
optoisolated drives in a CAN network and 11 drives in a Modbus or S-NET
network.
34
6. 3 SIZING THE POWER CIRCUITS
ECO2x Drives have a 230 Vac power supply. A transformer should be fitted when connecting to a 400
Vac three-phase network. On the other hand, ECO4D drives can be connected directly to the 400 V power
supply.
ECO2x
Details follow regarding size of transformer and safety fuses for positioning in series at the drive power
supply.
Connection to the 400 V ac supply network should be effected via a suitably sized transformer, if possible
with screen between primary and secondary winding and delta configuration for primary winding and star
configuration for secondary winding. In any event, safety regulations require that the star point of this
configuration be earthed.
Should earthing transformer secondary not be necessary, configurations featuring transformers with delta
secondary can also be used. This configuration keeps current harmonics to a minimum. Each drive should
be protected by a set of fuses. Table 6.3.1 shows the type of fuse to utilise according to drive current.
ECO2D Model Transformer Slow-blow fuses Notes

ECO2x 04 10 Single/three-phase 12 A -
ECO2x 06 15 Three-phase 16 A -
Table 6.3.1 Transformers and safety fuses.
The choice of the transformer must be made according to the rating of the motor with which the drive is
to be coupled and it is therefore advisable to consult the motor tables. For the more exacting tasks it may
be necessary to increase transformer power by 20-30%.
A single transformer can be used to power more than one drive in parallel. To determine the size required
it is necessary to consider whether or not they operate contemporarily and if so calculate the sum of their
respective capacities.
If powering more than three drives with a single transformer, it is appropriate advisable to fit a soft-start
circuit.
Fuses should be the time-delay type since high current peaks can occur when switching on that
originate from the charge of the filter's internal capacitors.
NOTE:
Depending on the motor connected, the drive may also be powered by using single-
phase voltage supplied to the L1-L2 terminals only.
If wishing to take advantage of this possibility by connecting to the 230 V ac supply,
it will be necessary to fix a current-limiting resistor to one of the two phases to be
shorted with a contactor ≅ 200msec after switch-on (soft-start).
35
WARNING: SOFT-START
Leaving aside the type of power supply utilised and the number of drives, it is in any
case advisable to fit a soft-start circuit whenever you intend switching on and off
dozens of times each day.
SOFT-START
The soft-start circuit consists of 2 current-limiting resistors (or 1 in the case of single-phase voltage) to be
connected in series with the L1-L2 power phases and shunted about 200 msec after switch on.
The must be the wire type and capable of withstanding current overloads 10 times greater than the rated
current.
Optimum values are 100 Ω, 50 Wmin, 250 V ac; for this reason we advise the use of our braking resistors.
It therefore follows that the contactor contacts should be adequately sized.
Closure of contacts
after 200 ms
ECO2D
M1
2× PE PE'
From R Line Filter L1
secondary L1 LI O
L L1'
winding of N A L2
L2 AND 09CNW207xx D L2'
transformer L3
L3 L3'
Figure 6.3.1 Soft-Start Circuit .
ECO4x
The ECO4D drive can be directly connected to the 400 Vac power supply and needs neither transformer
nor soft-start circuit. Each drive should be protected by a set of time-delay fuses. Table 6.3.2 shows the
type of fuse to utilise according to drive current.
Model ECO4-D Slow-blow fuses

ECO4x 04 10 12 A
ECO4x 05 12 16 A
ECO4x 10 20 25 A
ECO4x 20 40 50 A
ECO4x 25 50 63 A
ECO4x 30 90 100 A
ECO4x 40 120 160 A
ECO4x 60 180 200 A
Table 6.3.2 Fuses .
36
ECO2D/ECO4D - Chapter 7: Electrical Safety, Electromagnetic Compatibility, Emergency
circuit, criteria of wiring, EMC Components
7 .1 ELECTRICAL SAFETY
Earth connection
Earthing the drive is necessary to ensure ELECTRICAL SAFETY and

ELECTROMAGNETIC COMPATIBILITY. All instructions set out under
the heading ELECTRICAL SAFETY MUST be followed to the letter,
whilst we recommend compliance with those found under the heading
ELECTROMAGNETIC COMPATIBILITY if the installation is to meet EMC
regulations.
ELECTRICAL SAFETY
1. The cross-sectional area of the system earth conductor shall be at least
10 mm². If less, you should check that the minimum size meets local
safety regulations for equipment with stray current.
2. The The CSA of the wire leading from the drive to the switchboard earth
bonding point or terminal secured to its back panel shall be at least 2.5
mm².
3. The system earth point shall have a maximum impedance of 0.1 ohm.
4. The earth conductor shall be connected to the Drive screw on the drive
close to the Electrical Earth symbol.
5. Do not switch on the Drive before connecting the earth conductor to the
drive and system earth point
6. If removing the drive from the switchboard, the earth conductor should
be disconnected last of all.
7. 2 ELECTROMAGNETIC COMPATIBILITY
ELECTROMAGNETIC COMPATIBILITY
Correct build and set-up of the earth circuit of a drive-motor system keeps EMI to a minimum and thus
guarantees compliance with EMC regulations applicable to the specific system. Details follow of the
precautions to be taken when earthing in accordance with electromagnetic compatibility (EMC). For
further details, please consult the Selema S.r.l. publication “Filtering Solutions”.
1.- When fitting the drive to a panel inside the electrical cabinet, a good RF earth contact is required. n
this respect it is advisable to take advantage of broad surfaces and/or earthed metal parts using low-
impedance conductors for high frequencies, e.g. using rectangular cables such as stranded copper.
37
2.- Good bonding of drive metal housing is needed, both for safety and EMC reasons, if necessary
removing layers of rust or paint. A good low-impedance earth (0,1 Ω) is required in the switchboard, e.g.
copper bar.
3.- The motor casing should have a low-impedance RF earth and you should therefore ensure that its path
to earth is as short as possible. Simply connecting the motor cable is not enough.
4.- Connect the earth terminal (screw on drive) to the metal earthing plate on which the drive is mounted
with as short a connection as possible.
5.- Cable external screening must be bonded from both ends with nickel-brass cable clamps or similar
connectors using the maximum possible contact surface.
7 .3 EMERGENCY CIRCUIT
EMERGENCY
ECO2/ECO4 Drives of TECH and EVOLUTION series have STO
SIL 2 safety circuit and therefore it is thus ensured that the motor
will have no rotation, even in the absence of a failure of the drive;
current certification is “Pending”
If the STO function is not utilised, follow the procedures specified below:
In order to guarantee the safety of the operator and the machine itself,
international standards require that the drive should have its power supply shut
off and be disabled.
As regards the ECO2D/ECO4D drive, depending on the “risk analysis” performed
by the manufacturer of the machine or system, two different operating modes are
possible as detailed hereafter.
Mode 1 Immediately cuts off power supply connections and switches off TEN signal.
This will lead to motor axis being freed immediately. If choosing this mode, we
strongly recommend fitting an emergency brake to the motor.
Mode 2 Switch off the IEN signal immediately as shown in the figure “Enabling Emergency
Ramp” power supply connections and after max 0.5 sec (dependent on type of machine
and after performing “risk analysis”).
This mode may be used for braking the motor with an emergency ramp regardless of the
signal present on REF and REF\ pins.
38
Drive +24Vdc
ECO2D/EECOxxx
CN1 Emergency
Button +24Vdc
+24V
0V24
OK
TEN
TEN
IEN
IEN
REF
REF
REF\
REF/
0V
EXTREF Other emergency contacts (doors, limit switches,
PULSE etc.)
DIR
CONCLR
Figure 7.3.1 Enabling emergency ramp
This function is specially designed to the motor under machine emergency conditions or
at least slow it down with dynamics suited to the mechanics on which it is installed.
To achieve this, the connection of the IEN signal to the +24Vdc must be severed when
the machine is put in emergency, leaving feeding to +24Vdc input TEN.
During the emergency ramp, the+24 Vdc AUX SUPPLY should also remain connected,
whilst the power supply may be disconnected at the same time as the IEN signal or after
0.5 seconds according to the application.
The Ramp obtained with IEN disabled and TEN enabled is set by changing parameter
“F3” Emergency Ramp.
The functional diagram of Figure 6.4.1 merely illustrates operation of

the IEN input and is not intended to replace other equipment designed
to protect machinery or operator.
39
7 .4 Wiring standards
The technical specifications set out hereafter should be followed to the letter in order to guarantee correct
wiring of the drive.
Power Conductors, Motor Cable

Power supply basically means the drive three-phase circuit and the motor power-supply cable.
The following table lists recommended cable sizes for each ECO2/ECO4 model and also gives the code
of a suitable Selema motor cable.
ECO2x/ECO4x model Cable CSA Selema motor cable

(Trailing)
ECO2x 04 10 1.5 mm² Code 09CP15 S
ECO2x 06 15 1.5 mm² Code 09CP15 S
ECO4x 04 10 1.5 mm² Code 09CP15 S
ECO4x 05 12 1.5 mm² Code 09CP15 S
ECO4x 10 20 2.5 mm² Code 09CP25 S
ECO4x 20 40 4 mm² Code 09CP40 S
ECO4x 25 50 6 mm² ------------
ECO4x 30 90 10 mm² ------------
ECO4x 40 120 16 mm² ------------
ECO4x 60 180 25 mm² -------------
Table 7 .4.1 Motor cable specifications.
NOTE: Motor Cable

The motor cable requires a 4-way model with external stranded-copper
screening.
Good earth bonding is indispensable in order to ensure correct product operation
and conformity with EMC regulations and safety standards.
Bond the motor cable screening from both ends making use of as large a contact
surface as possible and utilising 360° metal clamps (nickel brass cable clamps).
Use trailing cables in installations where the motor is mounted to a moving part .
Control/signal conductors
- Control/signal conductors
Unless otherwise indicated, the recommended size is 0.5 mm² with screw terminals.
- Analogue signal cable (if using REF\, REF)
The cable must be the screened twisted-pair type (at least 0.22 mm²).
40
Resolver Cable
It is essential that the Resolver cable be provided with individually-screened twisted pairs for the
COS2, COS1, SEN2, SEN1, ECC and 0VECC signals, whilst for the thermal resistor signals screening
of the twisted pair is not indispensable. In addition to internal screening, the cable must also be fitted with
external screening.
When wiring it is most important that special attention be paid to the connection of the screens, both for
the twisted pairs and the outer screening (see wiring diagrams for the Resolver cable signals of Brushless
and AC Brushless motors).
NOTE: Selema recommended Resolver Cable

The recommended cable is a 6-twist duplex model (6 × 2 × 0.22 mm2) with 3
individually-screened twisted pairs and 3 unscreened twisted pairs plus an external
screening covering all 6 twisted pairs.
NOTE: Resolver Cable Wiring

The Resolver cable should have three screened twisted pairs (for COS2 and
COS1, SEN2 and SEN1, ETC and 0VECC signals); all three internal screens of
these twisted pairs must be connected together on the ECO2D/ECO4D side and
led to pin 21 (0VECC) of the CN4. On the other side (resolver connector - motor
side) they should be connected to pin S .
For the Motor thermal resistor (PTC) use an unscreened twisted pair.
The external screening must be bonded from both ends with nickel-brass cable
clamps using the maximum possible contact surface.
When the wiring arrangement makes it impossible to connect the outer screen
with metal cable clamps, there is the option of connecting the screen on the drive
side to pin 21 of the CN4 connector leaving the screen open on the motor side.
Encoder Cable
The encoder signal connection cable must be the screened type with screen connected per figure 6.2.11.
Alternatively, a screened cable with 7 twisted pairs can be used.
Serial Cable
The cable must be an 8-way screened model (at least 0.22 mm²).
WARNING: Cables
The routes followed by power cables and signal cables should be kept well apart.
The length of the Resolver and motor cables shall under no circumstances exceed
50 m if performance is not to suffer as a result of their excessive inductance and stray
capacitance; for longer distances please Selema S.r.l. Customer Care.
41
7 5 EMC COMPONENTS
Brief particulars follow of our recommended filtering components for the various sizes of ECO2/ECO4
drive which allow EMC problems to be partly resolved. For comprehensive details, please refer to our
“Filtering Solutions” guide where the matter is fully discussed.
- LINE FILTER
In order to meet EMC standards (conducted emissions), it is necessary to install a power line filter
just upstream from the ECO2/ECO4 between drive and any transformer.
The power line filter must be of sufficient size to handle the drive’s supply current.
WARNING: LINE FILTERS

In order for the drive to meet EMC , it is essential that filters from the
Selema series 09CNW207xx be used according to the application or
alternatively other filters with similar specifications. Pay a great deal of
attention to the filter’s attenuation capacity for the frequency range in
question and verify the leakage current to the earth cable.
NOTE: LINE FILTERS
The location of required filters should be carefully established, but it is evident
that filtering each PDS is not practicable.
Depending on the switchboard layout, a single filter can be used for more than
one drive. In such case it is necessary to add together the simultaneous power
consumption of the various drives.
For instructions and choice of filters please refer to the Selema S.r.l. guide
“Filtering Solutions”.
- FERRITE CORES
In order to meet EMC standards regarding immunity and emissions, in some cases it is imperative
that one or more ferrite cores be fitted so as to reduce the flow of EMI through cables. Cables
requiring core and recommended core type are listed below.
Cable Type Selema core Positioning
L1, L2, L3 power Core model SCK2 Position core close to M1 terminal block and
supply cables. (internal Φ = 9 mm, Z=80 include L1, L2, L3 cables
Ω).
Position core in the immediate vicinity of

Connection Cable Core model SCK3
CN1 terminal block and include all cables
signals and I/O. (internal Φ = 13 mm, Z=80
that converge into it.
Ω).
Table 7.5.1 Ferrite cores.
Should the serial cable route be situated close to sources of interference (transmission problems), a
core with suitably-sized internal diameter should also be fitted to this cable.
42
ECO2D/ECO4D - Chapter 8: Commissioning & Maintenance
8.1 SWITCH-ON / SWITCH-OFF PROCEDURE
Details follow of the sequence of steps required for a correct switch-on and switch-off of the
ECO2/ECO4 drive.
➯ SWITCH-ON
Supply +24 V dc power to logic (the drive display will show “In” followed by “UL”).
Switch on power (the display will show “Fr”).
Enable drive (TEN signal on).
WARNING: Switch-on
When switching on the drive’s power supply, the +24 V dc any auxiliary
power supply must always be on. Non compliance with this procedure could
cause damage to the drive.
Whenever there is a gap of more than 200 ms between supply of power to the logic and power
switch on, or in the absence of power, the drive sounds a low-voltage alarm; the alarm itself is
automatically reset by restoring the correct power supply level.
SWITCH-OFF
- Disable ECO2/ECO4 (TEN signal off).
- Disconnect power supply (L1,L2,L3).
- Disconnect +24V dc power supply.
These three switch-off steps can also take place contemporarily but not with a different
sequence to that specified.
8.2 INITIAL START-UP AND COMMISSIONING
The following paragraph assumes that the operator is fully conversant with product operating procedures.
Therefore, the start-up procedure indicated below is merely intended as a basic guide to the preliminary
checks and main operations required.
43
NOTE
Drive installation is greatly facilitated by using the Drive Watcher software whose
functions offer user-friendly parameter set-up and start-up
PRELIMINARY CHECKS
a) Check that mechanical installation carefully follows the instructions given in chapter 5.1.
b) Check that the electrical connections correspond to those indicated in chapter 6, ensuring clean and
secure contact of all connectors and terminal blocks.
c) Mechanically disconnect the drive shaft from the load (no-load motor).
DANGER
During testing the motor may be subject to high speed and acceleration and it is
therefore very important that its main body be securely mounted so as not to
constitute any form of human safety hazard.
The spline should remain on the drive shaft in such a way as to prevent its sudden
release at high speeds (use the spline cover).
PROCEDURE
The following operations should be carried out separately on each drive.
Please consult chapter 10 (Alarms) should a malfunction or an alarm be encountered during this
procedure.
1. Follow the switch-on procedure as indicated in the previous section without enabling the
ECO2/ECO4 Drive (TEN and IEN at 0V or disconnected).
The display will show “In” (initialization) and after 1 second “UL”; subsequently (after powering
up) “Fr” will appear to indicate that neither is enabled.
2. Ensure that the drive shaft is not in locked rotor condition (shaft free).
3. Check that parameter “d8” is set for the correct motor. Check that drive-motor are correctly matched
in accordance with the tables of annex B.
4. Check that parameters “F1”, “F2”, “d1” “d2”, “d5”, “d6”, “d7” are set to their default value.
NOTE
In the case of drive with “CANopen”, “S-CAN”, MODBUS/S-NET fieldbuses,
CAM or SAP options and other mechatronics functions, continue from point 26.
5. Enable TEN signal. Check that “Lo” appears on the display and that at the same time the motor is
placed in locked rotor condition.
The motor should remain in locked rotor condition, without any vibration or speed offset. If this is
not the case, carefully check wiring.
44
NOTE
In the case of Drive without options (standard version) continue from next point
(6) up to point 10.
For drive with Pulse Positioning option continue from point 11 up to point 18.
For drive with Electronic Gearbox option continue from point 19 to point 25.
6. Supply +0.5V speed setpoint across REF\ and REF (REF positive) using CN or control board or
potentiometer.
Enable IEN signal. Check that “En” appears on the display the motor should turn in an
anticlockwise direction (side with drive shaft visible) at 1/20 the rated speed of motor selected.
Test correct running maximum speed setpoint at +10V.
7. Use parameter “d4” in order to regulate offset, see 6.2 “Parameter Details”.
8. Switch off ECO2/ECO4 drive and apply load to motor.
9. Repeat points 1 and 2, and check remaining settings of the ECO2/ECO4 drive according to
application and true load, as indicated in chapter 6.2 “Parameter Details”.
10. Test machine cycle, including under the most stressful conditions, ensuring that neither an alarm nor
the I²T function is triggered (test to be performed by connecting the drive to a PC with Drive
WATCHER software).
For drive with Pulse Positioning option continue up to point 18.
11. Set IP and PL menu parameters according to application.

12. Enable IEN signal and check that “En” appears on the display. The motor must remain stationary.
13. The pulse sets a transition from 0V to 24V and the subsequent transition from 24 V to 0 V. Supply a
pulse to the PULSE input and check that the motor turns over at the step programmed in parameters
“P1” and “P2” of the PL menu .
With DIR = 0 V, the motor rotates in a clockwise direction (side with drive shaft visible).
If just a single transition is performed, the motor will move just ½ step.
14. With DIR input at +24Vdc, check that motor direction of rotation is the opposite to that noted at the
previous point (point 13).
15. Enable CONCLR input and sure that the motor does not turn over even if pulses are supplied.
16. Switch off drive and apply load to motor.
17. Repeat points 1 and 2, and check remaining settings of the drive according to application and true
load, as indicated in chapter 6.2 “Parameter Details”.
the I²T function is triggered (test to be performed by connecting the drive to a PC with Drive
WATCHER software).
For drive with Electronic Gearbox option continue up to point 25.
19. Set IP and PL menu parameters according to application.

20. Enable IEN signal and check that “En” appears on the display. The motor must remain stationary.
21. Enable IN0 signal (pin 1 of CN1 terminal block), input active at +24 V dc.
22. Move the Master Encoder and check that the electronic gearbox follows the movements of the
Master.
23. Switch off ECO2/ECO4 drive and apply load to motor.
24. Repeat points 1 and 2, and check remaining settings of the drive according to application and true
load, as indicated in chapter 6.2 “Parameter Details”.
45
the I²T function is triggered (to this end, monitor OP variables on keypad or connect drive to a PC
with Drive Watcher software).
In the case of fieldbus-networked drive with “CANopen”, “S-CAN”, “MODBUS”, “S-NET”

“Electrical Axis” or “Electronic Gearbox” options, continue up to point 28.
26. Set position loop parameters and speed/acceleration registers.
27. Switch on TEN signal, enable drive using network commands and check that the motor axis remains
in locked rotor condition without vibration.
28. Switch on IEN signal and start system by sending the appropriate commands over the network
(CANopen, S-CAN, S-NET, MODBUS).
NOTE
MODBUS and S-NET fieldbus functions require axis calibration before the network
can be used since the fieldbus commands and drive analysis programme use the same
serial port. The Drive Watcher AXIS TEST utility is therefore very useful. There are
also specific programmes for use with the more complex mechatronic functions such as
SAP for the Stand Alone Positioner function and CAM BUILDER for the Electronic
CAM function.
8.3 MAINTENANCE
The ECO2/ECO4 Drive has no components that require maintenance. When replacing the drive, it should
be returned to SELEMA in the original packaging.
Be careful when carrying out any operation on components situated close to the drive, some
parts of the drive can be hot.
When replacing the drive, you must disconnect the power supply and the respective
connectors, see chapter 6.2. Even after disconnecting the power supply, DO NOT open the drive for
any reason.
46
ECO2D/ECO4D - Chapter 9: Parameters & Local keypad operation
9 PARAMETERS
The Drive has several internal functions, some relatively simple, others decidedly complex, and these are
set by PARAMETERS and REGISTERS. The simpler functions rely on parameters alone, while the
more complex ones also require setting in specific REGISTERS. The local keypad is used solely to set
PARAMETERS and display alarms. For complex applications or the use of fieldbuses and mechatronic
functions that make extensive use of REGISTERS as well as PARAMETERS use of the “Drive
Watcher” programme is essential.
The front of the drive is fitted with a 2-button keypad + ENTER ) and a 2-figure display. You
will have to install Drive Watcher on your PC for comprehensive programming of all functions,
however, standard function parameters can be programmed using the local keypad. The display allows
viewing of operating STATUS, ALARMS, PARAMETERS and their respective values.
POWER ON display messages
When switching on, drive operating status is displayed and initialisation of internal software is confirmed
by “In” ( Initialisation, that appears for a few seconds); the message “Fr” (Free ) will then appear to
confirm that the drive has been supplied with power and is ready to receive commands or “UL” (Under
Level ) if not energised.
If TEN signal is enabled, the motor will be energised. At this point, the function performed depends on
the IEN signal. If IEN is on, the display shows “En” (Enable), the drive supplies torque to the motor and
is enabled to follow the analogue signal (if the parameter c9 = 0 ) present on REF and REF/ pins. If IEN
is off, the display shows “Lo” ( Lock ) and the drive supplies torque to the motor, although this remains in
locked rotor condition.
Parameters
Here is a summary of drive parameters. They can all be modified via keypad. Their functions are
described in detail at chapter 9 of the Instruction Manual.
d1 Speed loop proportional gain, KP . %

d2 Speed loop integral gain, KI . %
d3 Maximum motor speed, Vmax . %
d4 Speed offset adjustment %
d5 Maximum motor current. %
d6 Peak current/rated current ratio. %
d7 I²T function. %
d8 Motor Selection. Pure Number
Table 9.1.1 d Parameters
E1 Maximum rated speed. %

E2 Input setpoint filter %
E3 Exceptions Parameter. Number
E4 Brake Number
Table 9.1.2 E Parameters
F1 Acceleration ramp %
F2 Deceleration ramp %
F3 Emergency ramp %
F4 Reserved Number
Table 9.1.3 F Parameters
47
C1 RTE output pulse selection. Pure Number

C2 Motor direction of rotation Pure Number
C3 Control type selection (speed/torque). Pure Number
C4 Resolver pole pair selection Pure Number
C5 Encoder pulses/revolution selection Pure Number
C6 Transducer type selection Pure Number
C7 Network node number Pure Number
C8 NOT UTILISED. --
C9 Operating mode selection. Pure Number
Table 9.1.4 C Parameters
I1 Position loop proportional gain. %

I2 Position loop integral gain %
I3 Position loop derivative gain %
I4 Inertia compensation value. %
I5 Positioning error timeout (in hundredths of a second). Number
I6 External encoder mode selection Number
I7 Reserved Number
Table 9.1.5 . I Parameters with “Pulse Positioning or Electronic Gearbox” option
O1 Instantaneous current. Number

O2 RMS Current. Number
O3 Overload (% of I2T) Number
O4 Reserved Number
Table 9.1.6 O Parameters
P1 Drive shaft pulses/revolution (most significant part). Number

P2 Drive shaft pulses/revolution (least significant part). Number
P3 Maximum following error (degrees) (most significant part). Number
P4 Maximum following error (degrees) (least significant part). Number
P5 Ramp-up time (in ms/100 RPM). Number
P6 Ramp-down time (in ms/100 RPM). Number
P7 Maximum Speed (in RPM/100). Number
Table 9.1.7 P Parameters with “Pulse Positioning” option
A1 Master Encoder reference marks hi (most significant part). Number
A2 Master Encoder reference marks lo (least significant part). Number
A3 Gear ratio numerator Number
A4 Gear ratio denominator. Number
A5 Maximum following error (in degrees) hi (most significant part). Degrees
A6 Maximum following error (in degrees) lo (least significant part). Degrees
Table 9.1.8 A Parameters with “Electronic Gearbox” option
H1 Homing method Pure Number
H2 Switch homing speed as % of the rated speed. %
H3 Index Pulse homing speed in thousandths of rated speed. %
H4 Ramp-up/down time (in ms/100 RPM). Number
H5 Position offset sign Number
H6 Master Encoder position offset in pulses (hi), tens of thousands. Number
H7 Master Encoder position offset in pulses (mid), hundreds. Number
H8 Master Encoder position offset in pulses (lo), units. Number
48
H9 Position offset manual calibration utility. Number

Table 9.1.9 H (Homing) parameters with “Electronic Gearbox” option
n1 CANbus Baud rate. Pure Number

Table 1.9.10 n parameters with “CANopen”, “S-CAN” options .
Details follow of the C9 parameter, of paramount importance in selecting drive operating mode,
and network node parameter. Details of other parameters can be found in the Instruction Manual
or Additional Information.
C9 Operating mode selection Pure Number
Operating mode selection (analogue or positioning or fieldbus input). This is the

drive’s essential parameter.
(00- 09): 00 = Analogue input, the speed or torque setpoint is acquired by REF
and REF\ inputs. (00 = default value ).
01 = Pulse Positioning input, if this option is included.
02 = Electronic Gearbox input, if this option is included.
03 = MODBUS & S-NET network, if this option is included.
04 = S-CAN network, if this option is included.
05 = CANopen Network, if this option is included.
. 06 = Electronic CAM, if this option is included.
07 = SAP (Stand Alone Positioner) if this option is included.
08 = MSQ (Motion SeQuencer).
09 = CUSTOM - for special software changes only
10 = Synchronised start/stop electronic cam
11 = ETHERNET-based fieldbuses on TECH and EVOLUTION only
2
On TECH and EVOLUTION only I T hardware alarm
Signal assumes importance if I2T intervenes (pin 13 of CN2) only
with C9 = 0, 1, 2, 3, 4, 5, 6 10
n PARAMETERS
This menu is only available with the “CANopen” and “S-CAN” options.
n1 CANbus Baud rate Number
The Baud rate parameter is coded as follows:
Parameter value: 1 2 3 4 5 6 7 8
Baud rate (kbaud): 10 20 50 125 250 500 800 1000
This parameter is read only when switching on the drive.

Therefore, all changes (subject obviously to being saved in non-volatile memory) will only
take effect the next time you switch on.
49
(01-08): 08 = default value.
50
9.2 LOCAL KEYPAD OPERATION AND MENUS
The display shows Drive STATUS (“In”, “Fr”, “UL”, “En”, “Lo”). Press any key in order to access
the main parameters menu; once inside these menus, if no key is pressed, after 4-5 seconds the display
will once again show Drive STATUS.
Warning! changed, all parameters remain in the drive’s volatile memory

(RAM). In order to make parameter changes permanent, they must be saved
to the Drive flash memory using the procedure in the “EP” menu.
MAIN MENUS
The ECO2/ECO4 main menu differs according to the options requested by the user.
- The main menu of the STANDARD MODEL comprises separate menus; press [+] to pass from one
to another. Upon reaching the last menu the cycle is completed and you will return to the first one
(Figure 9.1.2).
- The main menu of the product with the “PULSE POSITIONER” option (c9 = 1) offers two
additional submenus “IP” and “PL”; press [+] to pass from one to another. Upon reaching the last
menu the cycle is completed and you will return to the first one (Figure 7.1.2).
- The main menu of the product with the “ELECTRONIC GEARBOX” option (c9 = 2) offers three
additional submenus “IP”, “AL” and “Ho”; press [+] to pass from one to another. Upon reaching the
last menu the cycle is completed and you will return to the first one (Figure 7.1.2).
- The main menu of the product with “CANopen” (c9 = 5) and “S-CAN” options (c9 = 4) also offers
the “nP” menu. Press [+] to pass from one to another. Upon reaching the last menu the cycle is
completed and you will return to the first one (Figure 7.1.3).
Press [ENTER] key to access menu currently shown on the display.
51
Main Menu of ECO2D/4D without options (standard product)
The figure illustrates the main menu of the ECO2D/ECO4D

ENTER without options (standard product). Details of the
d r submenus follow.
+
ENTER d r Drive parameter menu: Drive Parameters .
E d
Extended Drive parameter menu: Extended Drive
+ E d Parameters .
ENTER
F u
Ramp and special function menu: Function
+
F u Parameters .
ENTER
c n
c n Parameter control menu for the various operating
+ modes: Control Parameters .
ENTER
O P
R O P Menu that displays phase and peak currents, I2T
R etc.:
Output Parameters .
A A c9 = 3
Absolute encoder alignment.
+ A A
Procedure with password.
ENTER
S E
Function Menu: SEnsor. Procedure with password.
+ S E Resolver/Encoder alignment.
ENTER Only available if c9 = 0.
A b
A b Alarm buffer menu:
+ Alarm Buffer.
ENTER
E P E P Default parameter menu:
E2PROM.
+
ENTER
Parameter save menu:
S A S A SAve.
N. B. This menu will only appears if changes to
parameters have been made.
Figure 9.2.1 Main Menu of ECO2/ECO4 without options (standard product).
WARNING
The “SE” Resolver Alignment menu only appears in the main menu when
parameter c9 = 0.
The “AA” menu appears in some software option configurations for absolute
encoder management. Its use is explained in the publication Additional
Information.
52
SPECIAL MENUS
The menus listed below differ in some respects from the general ones described above
SA “ SAVE “ - Parameter save menu

This menu saves parameters (stored in RAM) in non-volatile memory (flash memory).
Such command allows permanent storage of the entire set of parameters in use at the time of saving.
Therefore, the next time the drive is switched on, parameters will retain the values saved.
In order to activate the choice of a new motor (change to “d8” parameter), the drive should be switched
off and back on again.
By pressing the [ENTER] when “SA” appears, the screen now shows “y?” seeking further confirmation
that you wish to save data to flash memory.
If you have made a mistake and do not wish to save the parameters hold down just one of the two keys
and the message “no” will appear for several seconds. On the other hand, if you wish to continue, press
down both keys contemporarily for at least 3 seconds, In this case, a sequence of two messages will
appear: “YE” and “- -”.
Since this operation is only allowed with drive disabled, if the TEN signal is enabled (drive enabled),
“YE” flashes on the screen in order to indicate the anomaly. After disabling the TEN signal, the flashing
stops and the operation is carried out. Upon completion, you will return to “Fr” status.
SE “ SEnsor “ - Resolver/Encoder alignment menu
The “SE” menu allows you to check Resolver or Encoder alignment. The value indicates the phase angle
in electrical degrees between the resolver or encoder and the electrical field of the magnets. In the event
of a considerable difference in phase, you can perform alignment by physically disconnecting the
Resolver or Encoder and changing its mechanical position with respect to the drive shaft. As the two
procedures are slightly different for resolver or encoder, the instructions provided in Figure 7.1.9 should
be followed to the letter.
The “SE” menu is only displayed when parameter c9 = 0.
In order to access this menu press [ENTER] key when “SE” appears on the display.
This is followed by the message “??”, indicating a request for the password.
Subsequent steps are explained in the diagram below.
ENTER + Drive status is displayed and you will return to the
S E ? ? home page.
ENTER
ENTER
Drive status is displayed and you will return to the
0 0
home page.
+
Press [+] key until reaching the numeric value of the
0 1 password.
After reaching the password value, press the
+ [ENTER] key.
Resolver
.. .. Enable TEN
The drive shaft moves to electrical zero.
ENTER
The misalignment value is displayed.
Password Value Encoder
DO NOT enable TEN
X. x. Manually rotate the drive shaft for at least two
mechanical revolutions
+ The alignment value is displayed
53
A value “x. X. = 00-99” indicates the misalignment in electrical degrees
(absolute value).
Resolver
X x.
A flashing value indicates that no torque is applied to the axis and therefore the
measurement is not valid. Apply torque to the axis by enabling the TEN signal
and misalignment will now be displayed.
The misalignment sign is shown by the decimal points of the two digits visible
on the display.
Encoder
A flashing value indicates that the measurement is not yet valid. The drive shaft
should be rotated for two mechanical revolutions. Once the TEN signal is
enabled, misalignment will be displayed.
Use of the password (and respective Resolver/Encoder alignment function) is for technical
support staff only; the technical support engineer should know the password. Consult the
publication “ECO2/ECO4 Additional Information” if you do not know the password.
WARNING
During the Resolver alignment stage you should ensure that the shaft is
completely free to move; for safety reasons you should also lock the motor
and not touch the drive shaft as it will be moved during this procedure.
Misalignment values of between [-08 and +08] can be considered correct.
Misalignment values exceeding 99 degrees are indicated by the flashing “--”
symbol.
EP “ E2PROM “ - Default parameter reset menu

This menu should be used if all parameter values have been modified incorrectly and you would like to restore a safe
configuration. Such menu therefore allows parameters to be loaded with their default settings as indicated by the following
diagram.
By pressing [ENTER] when “EP” appears on the display, the
A P “dE” menu will appear. Press [ENTER] again in order to load
N parameter default values.
ENTER The screen now shows “y?” seeking further confirmation that
you wish to load default values.
d E If you have made a mistake and do not wish to load the
default parameters, hold down just one of the two keys and
ENTER the message “no” will appear for several seconds. On the
other hand, if you wish to continue, press down both keys
contemporarily for at least 3 seconds. In this case a sequence
y ? of two messages will appear “YE” and “- -”.
ENTER ENTER
Since this operation is only permitted with drive disabled, if
or + +
TEN signal is enabled (drive enabled), the “YE” box will
an
flash in order to indicate this anomalous situation. Once the
TEN signal has been disabled, the box stops flashing and the
n o Y E operation will be carried out.
r Upon completion, you will return to “Fr” status.
- -
Main Menu
54
Ab “ Alarm buffer “ Alarm buffer menu
The alarm buffer menu allows you to view the last four alarms that have been triggered since the drive
was switched on.
In order to access press [ENTER] key when “Ab” appears on the display. The last detected will appear.
Continue pressing [+] in order to carry out complete scanning of the most recent alarms (in chronological
order).
Having reached the final alarm, press [+] again in order to return to the main menu in “Ab”.
ENTER Press [ENTER] when “Ab” appears on the

A b A L n. all. display and a list is shown of the most recent
alarms to be generated since switch-on.
+ “AL” will flash on the screen followed by
corresponding alarm code, e.g. “AL” “15”.
A L n. all.
Press [+] and [ENTER] to delete all alarms
+ ENTER stored in the buffer up until that time.
+
n. all. If no alarms have been generated, the display

A L shows the code n. all. = 0 0
+
A L n. all.
+ NOTE :
n. all. = alarm number or code (see chapter 10.1 ).
Figure 9.2.4 “Ab” menu
55
ECO2D/ECO4D - Chapter 10: Diagnostics and Alarms
10 DIAGNOSTICS and ALARMS
The Drive signals its operating status on the display and using a feedback contact called OK (CN2
connector). Provided there are no abnormal operating conditions, the OK signal is enabled and
“STATUS” is shown on the display. If an alarm has been triggered, its number will appear on the display.
Drive STATUS
“In” (Initialisation), appears for a few seconds when switching on the Drive
“UL” (Under Level) only when switching on the Drive after “In” status
Input conditions: 1. L1, L2, L3 NOT energised
2. TEN disabled
3. IEN of no importance
OK signal: On
Motor Conditions: Shaft Free
“Fr” (Free)
Input conditions: 1. L1, L2, L3 energised
2. TEN disabled
3. IEN of no importance
OK signal: On
Motor Conditions: Shaft Free
“Lo” (Lock)
2. TEN enabled
3. IEN disabled
OK signal: On
Motor Conditions: Shaft locked, motor in locked rotor condition. The Drive supplies the motor
with torque, but maintains position regardless of setpoint.
“En” (Enable)
2. TEN enabled
3. IEN enabled
OK signal: On
Motor Conditions: Drive shaft moves in accordance with setpoint (analogue or digital depending
on the setting of C9).
56
10 .1 ALARMS
The Drive continuously monitors its own operating status and when an abnormal situation arises, the
corresponding alarm code appears on the display, the DRIVE OK signal is disabled and the motor is
disabled in various ways depending on the type of alarm. “AL” and the respective alarm code will flash
alternately on the display in order to indicate an alarm. The drive can store sequences of up to 4 alarms,
so the alarm buffer menu allows you to view the last four alarms that have been triggered since the drive
was switched on. Menu access is explained in chapter 9.2 “Local keypad operation”.
The following table provides a list of possible alarms with respective codes and details the resultant
action taken by the drive.
Table 10.1a Alarm details
Code Description Drive action
AL 01 IGBT problem Immediately frees axis.
AL 02 Motor thermistor Brakes with set emergency ramp and frees axis.
AL 03 Motor overcurrent
Immediately frees axis
AL 04 DC bus overvoltage
Immediately frees axis
AL 05 Undervoltage Brakes with set emergency ramp and frees axis
AL 06 Drive thermistor. Brakes with set emergency ramp and frees axis
AL 07 DSP processor fault Frees axis, drive fails to complete POWER ON
AL 08 Motor transducer alarm Immediately frees axis
AL 09 Flash Memory Alarm Immediately frees axis
AL 10 No reset of braking resistor Brakes with set emergency ramp and frees axis.
AL 11 Network communication error Brakes with set emergency ramp and frees axis.
AL 12 Homing operation error Immediately frees axis
AL 13 CAN communication error Brakes with set emergency ramp and frees axis.
AL 14 Homing procedure not properly Immediately frees axis
completed
AL 15 Overflow alarm Immediately frees axis
AL 16 Following error Immediately frees axis
AL 20 LS1 alarm Brakes with emergency ramp and only allows
movement in the opposite direction
AL 21 LS2 alarm Brakes with emergency ramp and only allows
movement in the opposite direction
AL 23 No alignment using absolute encoder Immediately frees axis
AL 24 No communication with absolute Immediately frees axis
encoder
AL 25 Absolute encoder: axis moving at Immediately frees axis
start-up error
AL 26 Unauthorised operating mode alarm Immediately frees axis
57
Alarm reset procedure:

Once the cause of the malfunction has been removed, the alarm condition can be reset in two different
ways:
1. Turn the drive off and on again;
2. Disable and re-enable TEN signal( if the alarm is caused by incorrect parameters, etc. )
Here is a list of possible reasons for drive operational faults (signalled by a flashing alarm code) and some
suggestions as to how to remove the cause the of malfunction.
ALARM 01: Overcurrent, overtemperature or short circuit in IGBT.
IGBT hardware protection has been triggered indicating overtemperature or short circuit or
abnormally high current in the power stages.
Disconnect power supply and check that U, V, W phases have not shorted each other or caused
earth signal short or leakage. If so, check wiring for possible cause.
ALARM 02: Motor Thermistor.
Motor overtemperature, motor PTC thermistor triggered.
In case of initial switch-on, check the motor thermistor wiring is correct.
Otherwise, check that motor temperature is close to 120 °C. If motor temperature is
undoubtedly lower, check the presence of +24 Vdc on the TMOT terminal (pin 26 of CN4 ).
ALARM 03: Motor overcurrent.
Motor current exceeds that specified by the motor table
Ensure that motor selected is that actually utilised (check “d8” parameter in the motor
tables).
Check that motor and resolver cable wiring matches the provisions of the various wiring diagrams
in chapter 6.2; check correct alignment of Resolver or Encoder (keypad SE or AA menu). We recommend
that you consult the “ECO2/ECO4 Additional Information” manual when performing this procedure for
the first time.
Check the absence of strong sources of impulse noise in the immediate vicinity of the cables
and/or product (e.g. relays, contactors, solenoid valves, etc.).
Check that power cables are suitably isolated from signal cables (especially when using the
resolver cable).
ALARM 04: DC bus overvoltage.

DC BUS voltage exceeds rated maximum
Check that wiring and size of power supply circuit conform to the requirements of chapter 5 and
that supply voltage is within allowed tolerances, i.e. inside the range specified by chapter 3.1 .
In case of alarm during operating cycle, check whether braking resistor is connected (motor could
be in regenerative phase with braking resistor NOT CONNECTED).
If condition persists, then problem is due to fact that load inertia exceeds the drive’s braking
capacity. Recalculate the kinetic energy to be dissipated and choose a more suitable braking module, If
this problem persists, contact Selema “Customer Services”.
ALARM 05: Undervoltage
Supply voltage insufficient or below prescribed minimum.
Check that wiring and size of the power supply circuit conform to the requirements of chapter 5
and that supply voltage falls within rated values (chapter 3).
Should alarm be triggered during operating cycle, ensure that power transformer size is correct
especially for 230 V drives powered by an isolation transformer or autotransformer.
ALARM 06: Drive thermal resistor

Heat sink overtemperature
58
Ensure that the instructions regarding mechanical installation have been followed to the letter
(see chapter 4).
ALARM 07: DSP processor fault.
The alarm highlights an excessive level of on-line disturbance, resulting in failure
of processor hardware, or unsuccessful firmware update.
Carefully check that wiring and electrical specifications meet the requirements of chapter 5, in
particular as regards earthing, screening and noise filters.
ALARM 08: Motor feedback alarm
Alarm indicates that resolver or encoder or digital feedback is wrongly connected
or affected by bad interference.
Ensure resolver/encoder cable is correctly wired.
In applications with BiSS absolute encoder this alarm is triggered only after completion of start-up, so
during normal operation when noting inconsistencies between digital position readings.
In external encoder applications this alarm warns that the threshold set in parameter I7 has been
exceeded.
ALARM 09: Flash Memory Alarm
Flash Memory contains inconsistent data.
Switch drive off and back on and repeat storage operations.
If this problem persists, please contact Selema Customer Services.
ALARM 10: No reset of braking resistor
Operate time exceeds 10 seconds.
If this alarm is triggered it means that system kinetic energy is too large to be dissipated by the drive or
supply voltage exceeds rating plate data, thus the braking resistor remains permanently ON. Warning, do not reset
the alarm before checking supply voltage, failing which, damage may be caused to the braking resistor
ALARM 13: Network communication error alarm.

Verify that parameter C9 setting is correct
Check network node parameter and baud rate
Check fieldbus connections and correct positioning and value of termination resistors.
Check that fieldbus cables do not pass close or parallel to power cables and screening has been
carried out correctly and is not broken if a connector has been used to patch the cable.
ALARM 14: Homing error alarm

Homing procedure not completed.
Check for any mechanical problems or errors in the homing parameters.
Acceleration, deceleration or speed set is incompatible with system dynamics, check the respective
configuration parameters.
ALARM 15: Positioning system overflow error alarm

The system uses 32 bit variables to represent positions. Should an individual command call for
excessive linear displacement (about 40 minutes with the axis at 3000 RPM), there is a risk of causing
overflow in internal counting operations.
ALARM 16: Following error alarm

This alarm is triggered when the demand position of the movement differs from the measured
position, by an amount exceeding the maximum allowed following error (e.g. parameters “P3” and “P4”
of PL menu or “A5” and “A6” of AP menu) for a time exceeding that indicated in the relevant parameter
(e.g. “I5” of IP menu) .
59
Check for possible mechanical problems or errors in the above-mentioned parameters.

The acceleration or deceleration set is incompatible with system dynamics.
ALARM 20: LS1 signal enabled

ALARM 21: LS2 signal enabled
ALARM 22: Not used
ALARM 23: Electric field/absolute encoder alignment procedure not implemented
ALARM 24: Fault in serial communication with absolute encoder
ALARM 25: Error of absolute position read by serial interface due to excessive axis movement
during switch-on
ALARM 26: This alarm warns that the selected mode is not compatible with the options
configured in drive. The alarm will reset only by turning the Drive off.
Details now follow of other operating faults and their possible solutions.
1. Motor turns over jerkily or vibrates excessively.

1a) Check that motor and resolver cable wiring corresponds to that indicated in the “WIRING
DIAGRAMS” of paragraph 6.2, screening included.
1b)Check that motor parameters have been programmed correctly.
2. Motor remains in locked rotor condition but does not follow the analogue speed setpoint.
2a) Check that IEN signal has been enabled.
2b) Check the presence of the actual speed setpoint desired across REF and REF\ terminals of
CN1.
3. Motor follows the analogue speed setpoint irregularly.
3a) Check that speed setpoint reference earth is connected to 0V terminal (pin 8 of CN1).
4. Motor vibrates slightly whilst in “locked rotor” condition.
4a) Check that motor and resolver or encoder wiring corresponds to that indicated in the wiring
diagrams of chapter 5.2, screening included.
5. Motor occasionally suffers performance loss.
Check whether I²T function has been triggered by displaying via PC or O1-2-3 parameters.
60
ECO2D/ECO4D - Annex A: Key to label
Annex A KEY TO LABEL
This Annex describes the fields to be found on the ECO2/ECO4 label thus allowing all drive data to be
ascertained.
Via Monari Sardè, 3

40010 Bentivoglio
(BO) ITALY
Cod. 09ECO2D0410PE Date 24/01/08

S/N 11858 REV. 18 2.55 RM 1.0 MT A046
Sp. Opt.
AC-INPUT AC-OUTPUT
230V +/-10% 50/60 Hz 215V 3 PHASE
1 or 3 PHASE - 4,5 AMPS 1,0 KW A 4,0
Cod. = Product sales code (see chapter 4 Models and Options).

Dates = Product manufacturing date
S/N = Serial Number
Rev. = Identifies the new software or hardware release divided as follows:
- the first two numbers identify the hardware release,
- the subsequent two or three numbers identify the software release.
Example: Rev. 10102 indicates hardware release 1.0 and software 10.2.
RM = Indicates the release of the Instruction Manual supplied with the product.
MT = Indicates motor table release
Sp. This field is used for:
= - custom software versions (Vsx)
- special hardware settings (non standard)
Opt. = Specifies option type (see chapter 4 Models and Options)
AT = Specifies the rated RMS current that can be delivered to the drive.
AC-INPUT = Input specification details
AC- = Output specification details
OUTPUT
61
ECO2D/ECO4D - Annex B: Motor tables
Annex B MOTOR TABLES
Being fully digital, the drive utilises internal algorithms that predefine the exact set of parameters
used to control the motor.
It is therefore indispensable that it be coupled only with the motor for which it was
designed. Every model has been given a set of parameters for use with various motors that are all
rated to suit its driving capabilities, therefore the recommendations of the motor table should be
followed to the letter.
The motor to be used is selectable through the “d8” parameter of the configuration file or
via local keypad. The “d8” parameter is only acquired by the Drive when switching on, therefore
changes to it will only take effect after saving data (see “EP” menu), then switching the drive off and
back on again.
Warning!! For full details of the latest motor mapping, always consult the “Motor Tables”
reference manual by visiting www.selema-srl.it (see the download area)
Motor Table Revision A0 57 for drive 09ECO2D0410

Selectable Revision Notes Rated Rated Peak Rated Peak
motors Speed Current Current Torque Torque
D8 A RMS A RMS Nm Nm
25 DSM5 12 109 44 or next Resolver 2P 4800 0.8 2.9 0.4 1.45

52 DSM5 12 1x4 50 or next Enc. 2048 C5 =01 5000 0.8 4 0.4 2
26 DSM5 13 109 44 or next Resolver 2P 4800 1.6 6 0.82 3.06
35 DSM5 31 1x9 44 or next Resolver 2P 3000 1.6 6 1.4 4.9
43 DSM5 31 1x4 44 or next Enc.2048 C5 =01 3000 1.6 6 1.4 4.9
DSM5 32 1x4 Enc.2048 C5 =01
22 DSM6 32 1x4 44 or next 3000 2.7 10 2.4 7.8
49 DSM5 32 1x4 46 or next Enc.2048 C5 =01 3500 2.7 10 2.4 7.8
24 DSM5 13 1x4 48 or next Enc.2048 C5 =01 5000 1.6 6 0.7 2.6
48 DSM5 33 1x4 44 or next Enc.2048C5 =01 3000 3.8 10 3.5 8.6
34 DSM5 41 1x9 49 or next Resolver 2P 3000 3.6 10 3.2 9
4 MVQ 63 30 2 44 or next Resolver 4P 3000 3.5 7 2.5 5
6 MVQ 71 30 2 44 or next Resolver 4P 3000 4 10 3.5 9
33 G00 M4074 44 or next Resolver 2P 4000 1.2 3.7 0.46 1.35
27 ST0560051 TBM -------- 4500 0.84 2.6 0.5 1.5
28 ST0560091 TBM -------- 4500 1.51 4.6 0.9 2.7
29 ST0560131 TBM -------- 4500 2.27 6.8 1.3 4.05
30 ST0850121 TBM 4500 2.02 6 1.2 3.6
31 ST0850122 TBM -------- 3000 1.32 4 1.2 3.6
32 ST0850221 TBM -------- 4500 3.69 10 2.2 6
45 ST0850222R 44 or next Resolver 2P 3000 2.42 7.3 2.2 6.6
44 ST0850322 TBM -------- 3000 3.52 10 3.2 8
36 ST0850422 TBM ------- 3000 4 10 3.6 9.1
46 ST1150302R 44 or next Resolver 2P 3000 3.3 9.9 3 9
41 B60C582 47 or next Enc.2048 C5 =01 3000 0.72 2.36 0.5 1.6
62
The table Revision A0 57 for drive 09ECO2D0410 continues on next page
Continued Motor Table Revision A0 57 for drive 09ECO2D0410

D8 motors Speed Current Current Torque Torque
A RMS A RMS Nm Nm
37 SC600656B 45 or next Enc.2000C5 =05 5000 1.2 4.1 0.65 1.95
50 SC601306R 44 or next Resolver 2P 3000 1.2 4.1 1.3 3.9
51 SC601306R 44 or next Resolver 2P 4500 1.2 4.1 1.3 3.9
38 SC601306B 45 or next Enc. 2000C5 =05 5000 2.5 8.3 1.3 3.9
53 S0601B302 51 or next Enc.2048 C5 =01 3000 1.42 4.7 0.8 2.6
54 S0601B302 51 or next Enc.2048 C5 =01 4000 1.42 4.7 0.8 2.6
55 S0602B304 51 or next Enc.2048 C5 =01 3000 2.35 9.2 1.35 5.2
56 S0602B304 51 or next Enc.2048 C5 =01 4000 2.35 9.2 1.35 5.2
57 MV63400 51 or next Resolver 4P 2000 2 5 2.1 5.7
59 S0802B378 53 or next Res olver 2P 4500 3.5 10 1.9 6
60 SC40 032 6B 54 or next Enc 2000 C5 =05 5000 0.6 2 0.3 1
61 SMB60601 55 or next Resolver 2P 6000 3.1 9 1.4 4.2
(Prk) 4230
62 PMA24O 57 or next Resolver 2p 6000 4 10 2 4.5
63 DSM5 33 1x4 56 or next Enc.2048 C5 =01 3500 3.8 10 3.5 8.6
Warning: although not mentioned above, the SMST & SMSN motors are present in this table at the same
positions as the F1ECOD0410 tables. To make things clearer, the table with the SMST & SMSN motors appears
at the end of this chapter.

A RMS A RMS Nm Nm
T1M2 030 ------- -------
0 Factory used 3000 2.6 11.3 2.1 9
1 N0 M6 030 27 or next Res 6P 3000 1.9 10 1.2 6.3
2 N1 M2 030 27 or next Res 6P 3000 2.4 10.9 2 9
3 N1 M4 030 27 or next Res 6P 3000 4.4 14.1 3.8 12
4 N7 M2 030 27 or next Res 6P 3000 4.5 14.1 3.3 10
5 N7 M4 030 27 or next Res 6P 3000 6 14.1 4.9 11.5
6 MVQ 63 30 2 27 or next Res. 4P 3000 3.5 7 2.5 5
7 MVQ 71 30 2 27 or next Res 4P 3000 6 12 5.5 11
8 MVQ 80 30 2 27 or next Res 4 Pole 3000 6 14.1 5.5 12.9
9 T0 M4 030 27 or next Res 6 Pole 3000 1.4 6 1 4.5
10 T1 M2 030 27 or next Res 6 Pole 3000 2.6 11.3 2.1 9
11 T1 M2 060 27 or next Res 6 Pole 6000 5.2 14.1 2.1 5.8
14 MV 71 900 27 or next Res 4 Pole 2000 3.8 9.5 5.5 11.4
15 EX420EAJR 30 or next Res 2 Pole 3000 4.26 10.6 3.5 8.6
63
1200
--
The table Revision A0 37 to drive 09ECO2D0615 continues on the following page

A RMS A RMS Nm Nm
17 NOT USED
21 DSM5 32 1x4 TBM Enc.2048C5 =01 3000 2.7 11.5 2.5 9.5
DSM6 32 1x4
22 DSM5 32 1x9 34 or next Resolver 2 Pole 3000 2.7 13 2.5 11
19 DSM5331X4 27 or next Enc.2048C5 =01 3000 3.8 10 3.4 8.5
23 DSM5 33 1x9 31 or next Res 2 Pole 3000 3.8 15 3.3 12
24 DSM5 33 1x4 TBM Enc.2048C5 =01 3000 3.8 15 3.4 13
18 DSM5 341X9 27 or next Res 2 Pole 3000 4.6 15 4.1 12
20 DSM5 341X4 27 or next Enc.2048C5 =01 3000 4.6 15 4.1 13.2
-- .............. --------- ------- ------- ------ ----- ----- -----

25 ST0850221 TBM 4500 3.69 11 2.2 6
26 ST0850222 TBM 3000 2.42 7.3 2.2 6
27 ST0850322 TBM 3000 3.52 10.6 3.2 8.8
28 ST0850422 TBM 3000 4.62 13.8 4.2 11
29 ST1150302 TBM 3000 3.3 9.9 3 9
30 ST1150522F 28 or next Enc 2000 C5 =5 3000 5.72 15 5.2 13.2
31 ST1150702 TBM 3000 5.84 15 7 16.8
-- .............. --------- ------- ------- ------ ----- ----- -----
16 MVQ 63 30 2 27 or next Res 4 Pole 3000 4 10 2.8 7.1
32 B100L513 29 or next Enc. 2048 C5 =01 3000 7 15 5.6 12.5
33 DSM542 1X4 32 or next Enc. 2048 C5 =01 3000 5.9 15 5.4 13.5
34 DSM542 1X9 33 or next Res. 2P 3000 5.9 15 5.4 13.5
35 PMA44Q 35 or next Res. 2P 2500 6 15 6.6 16.5
36 B100C507 S3 36 or next Enc. 2048 C5 =01 3000 6 In S3 9.5 5.2 8.3
28% 20 min. 28%
20min
37 PMA24N 37 or next Res. 2P 2500 2.3 8 2.1 7.1
64

A RMS A RMS Nm Nm
N1 V4 030
0 Factory used
1 NOT USED ---- ---- ---- ---- ---- ---- ----
2 NOT USED ---- ---- ---- ---- ---- ---- ----
3 NOT USED ---- ---- ---- ---- ---- ---- ----
4 T1 V2 030 20 or next Res. 6P 3000 1.7 8.8 2.1 9.4
5 NOT USED ---- ---- ---- ---- ---- ---- ----
6 T1 V4 030 20 or next Res. 6P 3000 3.3 10 3.9 11.7
7 N0 V6 030 20 or next Res. 6P 3000 1.2 5.8 1.2 5.4
8 N1 V2 030 20 or next Res. 6P 3000 1.5 6 2 8
9 N1 V4 030 20 or next Res. 6P 3000 2.7 10 4 13.3
10 N7 V2 030 20 or next Res. 6P 3000 2.2 8 3.3 11.8
11 MVQ 63304 20 or next Res. 4P 3000 1.6 4.3 2.8 7.5
12 MVQ 71304 20 or next Res. 4P 3000 2.6 6.7 4.6 11.9
13 MVQ 80304 20 or next Res. 4P 3000 4.2 10 9.5 22.5
14 NOT USED ---- ---- ---- ---- ---- ---- ----
26 DSM5 31 2x4 23 or next Enc.2048 C5 =01 3000 0.9 4 1.3 5
36 DSM5 31 2x9 25 or next Res 2P 3000 0.9 4 1.3 5
31 DSM 5 32 2x4 20 or next Enc.2048C5 =01 3000 1.7 7 2.46 10
38 DSM 5 32 2x9 26 or next Res 2P 3000 1.7 7 2.46 10
32 DSM 5 33 2x4 20 or next Enc.2048C5 =01 3000 2.46 10 3.5 13.5
34 DSM 5 33 2x9 21 or nex t Res 2 Pole 3000 2.46 10 3.5 13.5
50 DSM 5 33 2x6 39 or next Enc.4096C5 =00 3000 2.46 10 3.5 13.5
25 DSM5 34 2x4 20 or next Enc.2048C5 =01 3000 2.75 9.95 4.2 14
37 DSM5 42 2X9 25 or next Res 2 Pole 3000 3.5 10 5.4 15.5
39 DSM5 42 2X4 26 or next Enc.2048 C5 =01 3000 3.5 10 5.4 15.5
40 DSM54 1 2x4 30 or next Enc.2048C5 =01 3000 2.1 10 3.2 15
41 DSM5 50 2X4 31 or next Enc.2048C5 =01 3000 3.4 10 3.6 10.5
42 DSM5 50 2X4 32 or next Enc.2048C5 =01 4000 3.4 10 3.6 10.5
43 DSM5 33 1X9 33 or next Res 2P 4000 3.8 10 3.3 9
44 DSM5 42 1X9 34 or next Res 2P 4000 4 10 3.6 9.1
45 DSM541 2X9 35 or next Res. 2P 3000 2.1 10 3.2 15
46 DSM5 50 2X9 35 or next Res 2P 3000 3.4 10 3.6 10.5
47 DSM5 42 2X4 36 or next Enc. 4096C5 =0 3000 3.5 10 5.4 15.5
15 NOT USED ---- ---- ---- ---- ---- ---- ----
16 ST0560052 TBM 4500 0.55 1.6 0.5 1.5
17 ST0560092 28 or next Res. 2P 4500 0.99 3 0.9 2.7
18 ST0560132 TBM 4500 1.43 4.5 1.35 4
65

motors Speed Current Current Torque Torque
19 ST0850122 TBM 4500 2.2 6 1.2 3.6
20 ST0850122 TBM 3000 2.2 6 1.2 3.6
21 ST0850222 28 or next Res 2 Pole 4500 2.4 7.3 2.2 6.6
22 ST0850222 28 or next Res 2 Pole 3000 2.4 7.3 2.2 6.6
35 ST0850224F 22 or next Enc.2000C5 =05 3000 1.38 4.1 2.2 6.56
23 ST0850322R 29 or next Res 2 Pole 4500 3.53 10 3.2 8.8
24 ST0850324F 27 or next Enc.2000 C5 =05 3000 2 6 3.2 9.5
27 ST0850422R 29 or next Res 2 Pole 4500 4 10 3.6 8.8
28 ST0850424F 22 or next Enc.2000 C5 =05 3000 2.63 7.9 4.2 12.6
29 ST1150303 TBM 3000 2.50 8.2 3 9
30 ST1150524 24 or next Enc.2000 C5 =05 3000 3.25 10 5.2 14
33 ST1150704 TBM 3000 4 10 6.2 14.8
48 SKA14830819 37 or next C5 =8 1000 2 10 8 32
49 S0802B377 38 or next Enc.2048 C5 =01 3000 1.3 5 1.9 7
51 B100C537E 40 or next Enc.2048 C5 =01 3000 1.7 5.6 2.5 8.4
66

A RMS A RMS Nm Nm
N1 V4 030
0 Factory used
1 NOT USED ---- ---- ---- ---- ---- ---- ----
2 NOT USED ---- ---- ---- ---- ---- ---- ----
3 NOT USED ---- ---- ---- ---- ---- ---- ----
4 NOT USED ---- ---- ---- ---- ---- ---- ----
5 NOT USED ---- ---- ---- ---- ---- ---- ----
Res 6 Pole
6 T1 V6030 19 or next 3000 4.26 12 5.9 16.5
7 NOT USED ---- ---- ---- ---- ---- ---- ----
8 NOT USED ---- ---- ---- ---- ---- ---- ----
9 N1 V4030 19 or next Res 6 Pole 3000 3 11.2 3.8 18
10 NOT USED ---- ---- ---- ---- ---- ---- ----
11 N7 V4030 19 or next Res 6 Pole 3000 4.6 12 6 18
12 N2 V2030 19 or next Res 6 Pole 3000 5 12 7.5 19
13 MVQ 80304 19 or next Res. 4 Pole 3000 4.5 12 8.8 28.8
14 MVQ 63304 19 or next Res 4 Pole 3000 1.6 4.3 2.5 7.5
15 MVQ 71304 19 or next Res 4 Pole 3000 2.6 6.7 5.9 12.3
16 MVQ 90304 19 or next Res. 4 Pole 3000 4.6 12 7.2 17.2
NOT USED ---- ---- ---- ---- ---- ---- ----
NOT USED ---- ---- ---- ---- ---- ---- ----
19 ST0560052 TBM Prefer 4500 0.55 1.6 0.5 1.5
20 ST0560092 TBM 4500 0.99 3 0.9 2.7
21 ST0560132 TBM 4500 1.43 4.5 1.35 4
22 ST0850122 TBM Prefer 4500 2.2 6 1.2 3.6
23 ST0850122 TBM Prefer 3000 2.2 6 1.2 3.6
41 ST0850222 TBM Prefer 4500 2.4 7.3 2.2 6.6
40 ST0850222 TBM Prefer 3000 2.4 7.3 2.2 6.6
24 ST1150703 A023 or Res 2 Pole 3000 5.8 12 7 14
next Hiperface
25 ST1150703 A023or next Res. 2 Pole 3000 5 12 6 14
26 ST1150704F 19 or next Enc.2000 C5 =05 3000 4.38 12 7 18.1
27 ST1150924F 19 or next Enc.2000 C5 =05 3000 5 12 8.25 18.8
28 ST0850324 TBM Prefer 3000 2 6.5 3.2 9.6
29 ST0850422 TBM 4500 4 10 3.2 8.8
30 ST0850424 TBM Prefer 3000 2.63 8.3 4.2 12.6
31 ST1150303 TBM 3000 2.50 8.2 3 9
67

A RMS A RMS Nm Nm
32 ST1150524 30 or next Enc.2000 C5 =05 3000 3.25 10 5.2 14
42 ST1150523 A024 or next Res. 2 Pole 3000 4.3 12 5.2 14
33 ST1150523F 29 or next Enc.2000 C5 =05 4000 4.3 12 5.2 14
34 ST0850322 TBM 4500 3. 53 10 3.2 8.8
35 ST1421203R 21 or next Res 2 Pole 4000 5 12 6 14
36 DSM5312x4 TBM Prefer .Enc. 3000 0.9 4 1.3 5
2048 C5 =01
37 DSM5322x4 TBM Prefer Enc. 3000 1.7 7 2.46 10
2048 C5 =01
38 DSM5332x4 22 or next Encoder 3000 2.46 10 3.5 13.5
2048 C5 =01
39 DSM5342x4 22 or next Encoder 3000 2.75 12 4.2 16.8
2048 C5 =01
17 DSM5512x4 20 or next Encoder 3000 5 12 7.6 18
2048 C5 =01
43 DSM5512x9 26 or next Res 2P 3000 5 12 7.6 18
44 DSM5421x9 27 or next Res. 2P 4000 5 12 4.6 11
45 DSM5331X9 28 or next Res. 2P 4000 3.8 10 3.3 9
46 DSM5412X9 28 or next Res. 2P 3000 2.1 10 3.2 15
47 DSM5502X9 28 or next Res. 2P 3000 3.4 12 3.6 12.5
18 DSM5432x9 A025 or next Res. 2P 3000 4.9 12 7.6 18
48 DSM5432x4 31 or next Enc. 2048 C5 3000 4.9 12 7.6 18
=01
68

A RMS A RMS Nm Nm
0 MVQ71304
Factory used
1 NOT USED ---- ---- ---- ---- ---- ---- ----
2 T1 V6030 TBM Res 6 Pole 3000 4.26 12 5.9 16.5
3 N1 V4030 TBM Res 6 Pole 3000 3 11.2 3.8 18
4 N7 V4030 TBM Res 6 Pole 3000 4.6 12 6 18
5 N2 V2030 TBM Res 6 Pole 3000 5 12 7.5 19
6 MVQ 80304 TBM Res 4 Pole 3000 4.5 12 8.8 23
7 MVQ 71304 TBM Res 4 Pole 3000 2.6 6.7 5.9 12.3
8 MVQ 90304 A007 Res 4 Pole 3000 7 18 12 26
9 MVQ 00304 TBM Res 4 Pole 3000 10 20 16 32
-- .............. --------- ------- ------- ------ ----- ----- -----
11 ST0850422 TBM 4500 4 10 3.6 8.8
12 ST0850424 TBM Prefer. 3000 2.63 8.3 4.2 12.6
13 ST1150303 TBM Prefer. 3000 2.50 8.2 3 9
14 ST1150524 TBM Prefer. 3000 3.25 10 5.2 14
15 ST1150523 TBM 4500 4.3 12 5.2 14
23 ST1150702R A004 Res 2 Pole 3000 7.7 20 7 18
24 ST1150702R A004 Res 2 Pole 4500 7.7 20 7 18
16 ST1150704F A005or next Enc.2000 C5 =05 3000 4.38 13.1 7 19.5
17 ST1150924F A006 or next Enc .2000 C5 =05 3000 5.75 17.3 9.2 26
18 ST1151104F A003 or next Enc .2000 C5 =05 3000 6.88 20 11 30
19 ST1421204 A011 or next Enc .2000 C5 =05 3000 7.5 20 12 30
25 ST1421653 A008or next Res 2 Pole 3000 13.7 25 16.5 30
20 ST1421654 A014or next Enc.4096 C5 =0 3000 11 20 17.5 31
21 ST1421204H A001or next Enc .4096 C5 =0 3000 7.5 20 12 30
22 ST1421204H A001or next Enc .4096 C5 =0 3000 7.5 20 12 30
44 130KB8A15015A A009or next Enc .4096 C5 =0 2000 8.5 20 15 34
45 N2V2030 A002or next Enc .4096 C5 =0 3000 4.52 15 7.5 23
46 N2V3030 A002or next Enc .4096 C5 =0 3000 7.9 20 11 26
30 SKA14830819 A010or next C5 =8 1000 2 10.7 8 35
31 SKA245304151 A010or next C5 =8 500 4.36 16.1 41 125
32 SKA245304151 A010or next C5 =8 500 4.36 16.1 41 125
with I 2T=10 sec.
33 SKF245120 A010ornext C5 =8 300 7.3 20 57 150
52115
34 SKA245607051 A012or next C5 =8 500 8.88 20 70 150
2
with I T=10 sec
70 Nm nominal
35 DSM55 2x9 A010or next Res 2 Pole 3000 8.3 20 12.3 30
36 DSM5 52 2x4 A012or next Enc.2048 C5 =01 3000 8.3 20 12.3 27
37 DSM5 43 1x9 A013or next Res 2 Pole 4000 7.8 20 7.7 19.5
69
Motor Table RevisionA0 10 for drive 09ECO4D2040

A RMS A RMS Nm Nm
0 MVQ71304
Factory used
1 T2 V4045 TBM Res 6 Pole 4500 10.6 35.4 10 30
2 T2 V2045 TBM Res 6 Pole 4500 7.9 29 7.5 25
3 T1 V4060 TBM Res 6 Pole 6000 5.5 24.9 3.7 15
-- .............. --------- ------- ------- ------ ----- ----- -----
9 MVQ00304 A004 or Res 4 Pole 3000 13.5 34.5 22 50
next
10 MVQ12304 TBM Res 4 Pole 3000 18 40 28 62
12 FAS T2 V6 030 A001 or Res 6 Pole 3000 11.4 39.5 19 65
next
13 MOOG G405 TBM Res. 2 Pole 4500 13 29 13.5 28
1020A
14 MOOG G405 TBM Res 2 Pole 4500 16.7 29 17.5 28
1020 A high
Current
15 T2 V4030 A003or next Res 6 Pole 3000 8.5 27 13 39
18 ST1150702 TBM 4500 7.69 23.1 6.99 19
19 ST1150703 TBM 4000 5.84 17.5 7 19
20 ST1150704 TBM Prefer 3000 4.38 13.1 7 19
21 ST1150922 TBM 4500 10.1 30.3 9.2 25
22 ST1150923 TBM 4000 7.67 23 9.2 25
23 ST1150924 TBM Prefer 3000 5.75 17.3 9.2 25
24 ST1151102 TBM 4500 12.09 36.3 11 30
25 ST1151103 TBM 4000 9.17 27.5 11 30
26 ST1151104 TBM Prefer 3000 6.88 20.6 11 30
27 ST1421202 TBM 4500 13.19 39.6 12 33
28 ST1421203 TBM 4000 10.01 30 12 33
29 ST1421204 A010 Enc.4096C5 =00 3000 7.5 20 12 30
30 ST1421652 TBM 4500 18.14 40 16.5 34.5
31 ST1421653 TBM 4000 13.76 40 16.5 44
32 ST1421654F A003or next Enc.2000 C5 =05 3000 10.32 31 16.5 45
33 ST1422103 TBM 4000 17.51 40 21 45.5
34 ST1422104F A002or next Enc.2000 C5 =05 3000 13.13 39.4 21 58
35 ST1422553 A006or next Res. 2 Pole 4000 20 40 24 45.5
36 ST1422554 TBM Prefer 3000 15.95 40 25.2 60
37 DSM5 52 2X4 A005or next Enc.2048 C5 =01 3000 8.3 40 12.3 55
38 DSM5 53 2X4 A007or next Enc.2048 C5 =01 3000 10.8 40 18 66
39 ALM 52 20A7 A008or next Encoder 3000 12.3 40 19 58
BiSS C6 =5
40 DSM5 54 2x4 A009or next Enc.2048 C5 =01 3000 13.9 40 23 68
70

A RMS A RMS Nm Nm
0 MVQ71304
Factory used
1 MVQ71304 TBM Res 4 Pole 3000 2.6 6.7 5.9 12.3
2 MVQ00304 TBM Res 4 Pole 3000 13.5 34.5 22 50
3 FAST2 V6 030 A001or next Res 6 Pole 3000 11.4 39.5 19 65
4 T2 V4030 A001or next Res 6 Pole 3000 8.5 27 13 39
5 FAST 2 V8 030 A003or next Res 6 Pole 3000 15.1 50 24 77
6 UL719303 A002or next Res. 2 Pole 3000 17.2 43.8 29 72
7 DSM56224 A001 or next Enc. 2048 C5 =01 2000 9 38 19 70
8 DSM55329 A008 or next Res 2 Pole 3000 10.8 50 18 85
10 MVQ12304 A007 or next Res 4 Pole 3000 18 45 28 66
-- .............. --------- ------- ------- ------ ----- ----- -----
-- .............. --------- ------- ------- ------ ----- ----- -----
-- .............. --------- ------- ------- ------ ----- ----- -----
17 ST1421652 TBM 4500 18.14 50 16.5 42
18 ST1421653 TBM 4000 13.76 41.3 16.5 45.5
19 ST1421654F A001 or next Enc.2000 C5 =05 3000 10.32 31 16.5 45
20 ST1422102 TBM 4500 23.08 50 21 43
21 ST1422103 TBM 4000 17.51 50 21 55
22 ST1422104F A001or next Enc.2000 C5 =05 3000 13.13 39.4 21 58
23 ST1422553 TBM 4000 21.26 50 25.5 55.8
24 ST1422554 A004 or next Enc.4096 C5 =00 3000 15.95 47.8 25.5 70
25 ST1421204 A005or next Enc.4096 C5 =00 3000 7.5 20 12 30
26 DSM5621X4 A006or next Enc.2048 C5 =01 3000 18 50 19 53

A RMS A RMS Nm Nm
0 MVQ00304
Factory used
1 T2 V4030 A001 or next Res. 6 Pole 3000 8.5 27 13 39
2 DSM56224 A00 or next Enc.2048C5 =1 3000 9 38 19 70
3 DSM56414 A001 or next Enc.4096 C5 =0 1500 27.3 90 47 98
4 DSM56414 A001 or next Enc.4096 C5 =0 2000 27.3 90 47 98
5 DSM56414 A001 or next Enc.4096 C5 =0 2500 27.3 90 47 98
6 DSM53424 A002or next Enc.2048 C5 =1 3000 2.75 12 4.2 16.8
7 SKADDRP A003or next C5 =8 500 23.4 90 220 710
3359051
8 DSM56314 A00 4or next Enc.2048 C5 =1 3000 20.7 84 35.5 140
9 ST1422554 A00 5 or next Enc.4096 C5 =0 3000 15.95 47.8 25.5 70
10 ST1421204 A006 or next Enc.4096 C5 =0 3000 7.5 20 12 30
71

A RMS A RMS Nm Nm
11 SKADDRP A007 or next C5 =8 556 23.4 90 220 710
3359051
12 SKADDRP A008 or next C5 =8 830 30 90 170 420
3359050
SKADDRP A009 or next C5 =8 830 30 95 170 445
13 3359050
Peak 95A
14 MVQ12304 A010 or next Res. 4 Pole 3000 18 75 28 115
SKADDRP A011 or next C5 =8 330 20.4 92 270 1210
15 33532052
Peak 92A
Motor table revision A0 46 for Drive 09ECO2D0410 for “SMST & SMSN motors”.
These motors appear as from A046 and in all subsequent releases and therefore
also in table A0 57.
Selectable motors Revision Notes Rated Rated Peak Rated Peak
Speed Current Current Torque Torque
0 MVQ71304
Factory used
1 N0M3030 A044 or next Res 6P 3000 1 5 0.6 3
2 N0M6030 Res 6P 3000 1.9 10 1.2 6.3
3 N1M2030 Res 6P 3000 2.4 10 2 8
4 MVQ63302 3000 3.5 7 2.5 5
5 T1M2030 Res 6P 3000 2.6 10 2.1 7.5
6 MVQ71302 3000 4 10 3.5 9
7 MV71900 2000 3.7 10 4.3 11.6
8 N1M4030 Res 6P 3000 4 10 3.42 8.5
9 N7M2030 Res 6P 3000 4 10 2.96 7.5
10 T00M2060 Res 6P 6000 0.85 3.82 0.3 1.35
11 T00M4060 Res 6P 6000 1.4 6.1 0.56 2.4
12 T0M2030 Res 6P 3000 0.8 3.54 0.5 2.2
13 T0M2060 Res 6P 6000 1.3 5.6 .05 2.2
14 T0M4030 Res 6P 3000 1.4 6 1 4.5
15 T0M4060 Res 6P 6000 2.4 10 1 4.2
16 T1M2030 Res 6P 3000 2.6 10 2.1 7.3
17 T1M2060 Res 6P 6000 4 10 1.64 4.1
18 T1M4030 Res 6P 3000 4 10 3.24 8.1
19 T000M3030 Res 6P 3000 1 2.1 0.14 0.3
72
20 T0M8030 Res 6P 3000 2.3 8 2 7
21 T00P060 Res 6P 6000 0.8 4.1 0.36 1.31
ECO2D/ECO4D - Chapter 13: ECO EVOLUTION / ECO TECH series
Functions exclusive to the
EVOLUTION series & TECH series
The series EVOLUTION ECO and ECO TECH drives differ from the standard series in the
implementation of certain hardware functions and different software functions.
A brief description of the hardware functions implemented is given herein. Please see the Instruction Manual
for any doubts regarding the STO safety circuit, whilst the software functions are described in the
“Additional Information” manual.
Hardware functions:
STO safety function, double RJ45 fieldbus connector for daisy chaining, DC BUS Connector, BRAKE
Connector.
Safe Torque Off Function
The series ECO TECH & ECO EVOLUTION series drives feature the STO safety function that prevents
accidental restarting of the motor.
WARNING
The STO circuit achieves SILCL (Safety Integrity Level Claim Limit) 2 as specified by
standard EN 62061 and PL (Performance Level) d of standard EN 13849-1. Certification is
pending.
A complete understanding of the stop and emergency functions is essential if the Drive’s STO function is to
be used correctly in accordance with applicable standards. Please refer to the Instruction Manual for details
of the functions involved and the relevant standards.
73
Installation enclosure
Since the controller has an IP20 rating, the installation enclosure should be chosen so that the surrounding
area also ensures safe operation of the Drive. The installation enclosure should provide at least an IP54
protection rating.
Wiring
If the STO harness is outside the installation enclosure, cables should be installed in a permanent (fixed)
manner, protected from external damage (e.g. with a duct), inserted in separate sleeves or protected one by
one by earthing. If the wiring is inside the enclosure it shall comply with the provisions of standard EN
60204-1.
CN9 STO connector signal connections
n.pin Signal Signal Description
1 STOA STOA +24V input for enabling motor torque

2 STOB STOB +24V input for enabling motor torque
3 0V 24V 24 volt 0V reference
4 +24 V +24 V
5 +24 V +24 V
STO Technical Specifications

Input voltage 20V-30V
Input current 100 mA (Ieff)
Peak current 150 mA (Is)
Debugging fieldbus and serial networks on RJ45
RJ45 connectors are used for connection to MODBUS, S-CAN and CANOPEN fieldbuses, thus allowing
several drives to be daisy chained. The same connections are also available in the 8-way miniDIN connector
providing full interchangeability of the Drive with the standard series or previous versions of ECO.
On the other hand, ETHERNET-based fieldbuses (ECAT PROFINET, MODBUS OVER IP and
ETHERNET IP) have different pinouts since they do not use the CANopen standard. However, the miniDIN
output is still available. miniDIN connections are illustrated in chapter 6.2 herein.
When ordering a Drive with CANopen protocol, this automatically includes the S-CAN and MODBUS RTU
protocols. These connectors contain the CAN and RS422 signals. The LEDs on the connector show the CAN
line status. Details follow of the pinouts of the CN7 and CN8 RJ45 connectors.
74
Connector Networ
Network
etwork CAN and RS232
RS232 -RS CAN-
CAN-RS422
1 CAN_H CAN High signal

2 CA N_L CAN Low signal
3 GND_CAN CAN and RS422 signals reference
4 TX RS422 TX signal
5 TX\ RS422TX\ signal
6 SHIELD Earthed shield
7 RX RS422 RX signal
8 RX\ RS422 RX\ signal
ETHERNET-based fieldbuses
A Drive ordered with multi-protocol ETHERNET configuration or dedicated ECAT board complies
with the pinout requirements of ETHERNET standard EIA/TIA T568A as shown in the following
table.
Two wiring standards, EIA/TIA-568 and EIA/TIA-568B, have been developed for such application
and the only difference between them is that pairs 2 and 3 are swapped. The two standards do not
have the same crosstalk as the tightness of winding the pairs is different. In Europe, EIA/TIA-568A
is the usual choice. The cables can be Unshielded Twisted Pairs (UTPs) or Shielded Twisted Pairs
(STPs). UTP and STP cables can be of different categories: we recommend category 5 or better.
RJ45 connector wiring according to standards EIA/TIA-568A/B
T568A T568B Cond

Pin T568A colour T568B colour
Pair Pair .
1 3 2 1
white/green stripe white/orange stripe
2 3 2 2 green solid orange solid
3 2 3 1
white/orange stripe white/green stripe
4 1 1 2 blue solid blue solid
5 1 1 1 white/blue stripe white/blue stripe
6 2 3 2 orange solid green solid
7 4 4 1 white/brown stripe white/brown stripe
75
8 4 4 2
brown solid brown solid
Colours used in direct connection

EIA/TIA-568A direct cable
External DC BUS
The DC BUS on the M5 terminal block allows wiring of a system that can recover the energy from the
motors’ electronic regenerative brakes and (if the cycle allows) use it for other drives, thus restricting
dissipation through the braking resistors. This use allows several drives (max. 4) to be interconnected, thus
mimicking a modular system. The drives should have similar power ratings.
Alternatively, you can use a proprietary Selema component called

RIG 400 that offers complete reuse of energy regenerated by the
Drives thus placing it at the disposal of machine auxiliary services.
Holding brake control connector
Vertically-mounted motors usually have a holding brake.

Whilst on the face of it holding brake control may appear simple, in actual fact there are some
hidden pitfalls under certain conditions.
For example, during emergency braking with consequent disconnection of
drive power supply it is necessary to carry out controlled braking and then
insert the holding brake with the motor still in locked rotor condition by
performing a timing sequence aimed at ensuring the axis is not lowered
from the position to which it was taken at the end of controlled braking.
This mechanism is implemented within the drive and can be set by a
parameter.
76
Holding brake control is turned on by enabling parameter E4.
E4 Holding brake control Number
Holding brake control (available from version 2.01 upwards).

0: No brake control
1: Automatic brake control
2..15: Reserved
16: Emergency stop when issuing the TEN command
17..31: Reserved
32: Drive Ready & axis in locked rotor condition
33: Drive Ready & axis in locked rotor condition + Automatic brake control
48: Drive Ready & axis in locked rotor condition + Emergency stop when
disabling the TEN command or triggering of alarm that generates a stop ramp
Details about brake control can be found in the Additional Information manual.
HIPERFACE DSL
HIPERFACE DSL ia a purely digital protocol that minimises the number of connections between drive and
motor/feedback system. The reliability of the protocol means that the encoder feedback communication is
fully integrated into the motor power cable. Selema implements a two-wire connection in which data is
transmitted as a waveguide on the encoder power supply wires using a pulse transformer (for high frequency
signals). The use of the transformer enhances common-mode interference rejection (common-mode rejection
ratio).
Here is a schematic diagram of the outgoing DSL connection from the Drive.
77
Initial setup in the machine

If the motor is fitted with a multi-turn absolute encoder you need to make the machine zero point coincide
with the absolute encoder zero point, however this is only necessary once when performing machine setup.
An incremental encoder system does not require a similar procedure in order to carry out axis zero return
(also because a zero return sensor is not usually fitted to the machine with a multi-turn absolute encoder) but
you merely need to jog the axis to a certain position, reset the position on the absolute encoder (see
procedure below) and if necessary set the position offset to the exact value of the mechanical reference
position. The position offset can be set within the Drive or directly on the CNC.
Details follow of the operations required for initial SETUP in the machine.
Parameter check
It is advisable to check the following parameters:

Ensure that the Drive is set with the fieldbus required for the application
Modbus RTU C9 = 3
S-CAN C9 = 4
CANOpen C9 = 5
EtherCAT C9 = 11
Check that the Drive is set to C6 = 5.
If a parameter is not set as specified it should be modified and saved to flash memory.
Switch Drive off and back on again!
Encoder position reset

Turn on Drive and connect power supply. Check that Drive is in “Fr”, enable Ten Ien and check that Drive
remains in “Fr”. Press “+” key until reaching AA menu. Press Enter. Two question marks ?? will appear on
the display. You should press Enter again and enter the password 73. Press Enter again. The motor will be
placed in locked rotor condition and oF will appear on the display or otherwise Er if an error has occurred.
Turn the drive off and on again.
Upon restarting the drive, the position (Register 6: Position Actual Value) will be 0. If replacing the Drive,
the encoder reset procedure will need to be repeated.
Encoder alignment with motor magnetic field

WARNING! Selema performs this procedure in-house and solely when replacing the
motor encoder. This is a standard factory procedure when replacing a motor/encoder
assembly and therefore does not need to be repeated.
DANGER! This procedure should be performed with driveshaft free. When carried
out on a bench, mechanically restrain the motor to prevent uncontrolled rotation of
the driveshaft that could represent a hazard for the operator.
Turn on Drive and connect power supply. Check that Drive is in “Fr”, enable Ten Ien and check that Drive
remains in “Fr”. Press “+” key until reaching AA menu. Press Enter. Two question marks ?? will appear on
78
the display. You should press Enter again and enter the password 87. Press Enter again. The motor will be
placed in locked rotor condition and oF will appear on the display or otherwise Er if an error has occurred.
Turn the drive off and on again.
Alignment data are written to the encoder (via serial link). This means we can couple the motor with any
drive.
Diagnostics
Monitor Software
By analysing the parameters listed below we can estimate connection quality and interference within the
machine. They can all be accessed by using the software: Encoder DSL Log ver 1.0
Link between ECOEvo and PC where the

monitor programme is installed.
The following parameters are monitored:
▪ Cable Delay: Delay set by DSL to compensate for the physical delay introduced by the
length of the table.
The following table provides a guide to delay as a function of cable length.
▪ Master RSSI: Strength of signal received by the master (Eco drive). The value ranges
from 0 to 12. The higher the value, the greater the quality of the connection. The drive
will issue a warning if the value is less than or equal to 4.
▪ Edges: The Edges register contains the DSL bit sample rate.
▪ Quality Monitor: Indicates improvement or deterioration in the data signal quality.
It is initialised at a value of 8. The optimum condition is 15 represents the default value
during operation.
▪ Temperature (°C): Temperature reached by the encoder’s internal board.
▪ Power supply voltage: Encoder power supply voltage. The approximate value provided
by the controller is 11.95 V. The encoder operates correctly between 7 and 12 V.
WARNING! should these values fall below the designated thresholds, the Drive will
trigger Alarm 8.
79
Diagnostics wiring diagram

To be used for system runtime diagnostics, it allows direct linking of the ECOEvo drive to the
Moxa RS 422 converter:
ECO Drive CN4 Moxa RS 422

converter
Cannon 26-way plug Cannon 9-way socket
CN10 terminal block signal details
Pin Signal Details of signal

No.
1 DSL + Encoder power supply DSL+ output (+ 12 V) and data

transmission signals
2 DSL - Encoder earth connection DSL- output (+ 0V12) and

data transmission signals
3 SH DSL twisted pair shield connection
4 BRK+ Holding/Emergency Brake at + 24 V when enabled
5 BRK- Holding/Emergency Brake at 0V24
6 SH BRAKE twisted pair shield connection
80
Wiring diagram for single-cable connection between an ECOE/ECOT drive and motor using DSL encoder
Wired cable code: 09CDSL441710
Drive side Motor side
MINI COMBICON, 3.81 pitch, 6-way terminal

block
Selema code FMAMC156ST381
MINI COMBICON, 7.62 pitch, 4-way terminal M17 9-way socket, front view
block Selema code FCCBSTA908FR118
Selema code FMAPC44ST762
Maximum cable length for 230 V DRIVE = 40

m/400 V DRIVE = 30 m
81
82

ECO TECH EVO Man Install - EN

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ECO2 / ECO4

Monari Sardè, 3 - Bentivoglio (BO) - Italy

1 Safety Information Page 3

2 General Description Page 4

3 Technical specifications Page 5

4 Models and Options Page 10

5 Mechanical Installation Page 14

7 Electrical Safety, Electromagnetic Compatibility, Emergency circuit, Page 36

8 Commissioning & Maintenance Page 42

9 Parameters & Local keypad operation Page 49

10 Diagnostics & Alarms Page 54

11 Annex A Key to label Page 59

12 Annex B Motor tables Page 60

13 ECO EVOLUTION & ECO TECH series Page 71

MANUAL REV 4.0 Cod. Man.: 01MTECOx10513

DANGER High Voltage

WARNING Read carefully.

Earth wire connection point.

DANGER HIGH VOLTAGE

WARNING: PROTECTION RATING

WARNING: SALES DISTRIBUTION

2.1 GENERAL DESCRIPTION

All functions are covered in full detail in the following manuals:

Power Supply ECO2 230Vac ∼ RMS Three-phase ± 10 %, 50/60Hz

Control section power supply Isolated +24Vdc ± 15 %;

Power output rated short-circuit ECO2x0410 = 25 A -- ECO2x0615 = 35 A

Switching frequency 8 Khz PWM

Drive leakage current Max 3 mA

Table 3.1 Power supply - Electrical Specifications

Analogue inputs No. 2, resolution 1:5000,

Isolated Digital Inputs 12 isolated (according to options requested): Impedance = 10 k Ω

Digital input reference circuit,

Table 3.2 Analogue and Digital Input Specifications

Digital output reference circuit.

Table 3.3 Digital Output Specifications

Encoder Outputs 0-5V differential CMOS Line Driver Outputs.

Simulated Encoder Outputs 0-5V differential CMOS Line Driver Outputs.

Resolver, multiply by 2 for a 4-pole resolver, do not multiply when

Serial Port 1 full duplex RS422/RS485

Protections - Motor temperature rise: depends on the motor thermal resistor

Braking Circuit Dissipative on external resistance. Reponse thresholds ECO2D = 390

Operating Temperature From 0 °C to +40 ° C, max 0 ÷ 55 °C; 40 to 55 °C derate.

Relative Humidity From 5% to 85% non-condensing.

Relative Humidity From 5% to 95% non-condensing.

Mechanical Conditions Complying with CEI EN 61800-2: 1999-09.

Protection Rating IP 20.

Table 3.7 Mechanical and transport conditions

Table 3.9 Normative References.

CE Marking The product illustrated herein meets the requirements of the

4 Models and Options

ECO Models Current and voltage

09ECO2x0410 4 Amp. 10 Amp. 230 Vac

09ECO2x0615 6 Amp. 15 Amp. 230 Vac

09ECO4x0410 4 Amp. 10 Amp. 400 Vac

09ECO4x0512 5 Amp. 12 Amp. 400 Vac

09ECO4x1020 10 Amp. 20 Amp. 400 Vac

09ECO4x2040 20 Amp. 40 Amp. 400 Vac

09ECO4x2550 25 Amp. 50 Amp. 400 Vac

09ECO4x3090 30 Amp. 90 Amp. 400 Vac

09ECO4x60180 60 Amp. 180 Amp. 400 Vac

Model Available Functions Motor Feedback

Optional feedback hardware boards

Model Available Functions Motor Feedback