ETD 790 DC DRIVE SCR Help File Drive

ETD 790 DC DRIVE
SCR Help File Drive
Version: SCRPy_16 USA

File date: 10/30/2007
790 SCR Help File Drive
ETD – All rights reserved

ETD DRIVES 790 DC DRIVE SCRPy16 jan 11 2008 w end notes.rtf
CONTENTS
Calibration
Calibration
Current Loop
current loop
Velocity parameters .........................................................................................................................21
Speed loop
encoders ........................................................................................................................................30
mdv ...............................................................................................................................................34
Analogue Inputs and Outputs .........................................................................................................36
Analog_IO ....................................................................................................................................36
Analog_out_1
analog_out_2
analog_in_1
analog_in_4
analog_in_2
analog_in_3
Digital Inputs and Outputs..............................................................................................................44
Digital_IO .....................................................................................................................................44
Digital_inp
Digital_out
autotune&mtr parameters
Curr_control ....................................................................................Error! Bookmark not defined.
Volts ..............................................................................................................................................56
synchronism .................................................................................................................................58
auto_tun........................................................................................................................................62
Filter parameters..............................................................................................................................66
Filters ............................................................................................................................................66
low_ps_flt1
low_ps_flt2
low_ps_flt3
low_ps_flt4
notchflt
Auxiliary PI parameters ..................................................................................................................73
PID
Function Blocks
Function_blocks
FB muldivfb
FB muldivfw
FB derivative
FB norm1 .....................................................................................................................................87
FB norm2 .....................................................................................................................................88
FB norm3 .....................................................................................................................................89
FB dp_tp_vel
FB vel_tp_dp
FB switch1
FB switch2
FB sum
FB Absolute value
FB min speed
PAGE 2 OF 221
FB limit
FB paper_functions
slack take_up
FB mop1
FB mop2
FB mop3
FB mop4
multiply ......................................................................................................................................110
divide ..........................................................................................................................................111
sincrocut .....................................................................................................................................112
positioning ..................................................................................................................................114
longs ............................................................................................................................................117
Task Functions .....................................................................................Error! Bookmark not defined.
taskprog ............................................................................................Error! Bookmark not defined.
Serial communication parameters................................................................................................121
Comunicat_s ..............................................................................................................................121
serial_tps ....................................................................................................................................123
can ...............................................................................................................................................126
any_bus.......................................................................................................................................135
conv_tab .....................................................................................................................................137
Software parameters ......................................................................................................................138
sw_param .........................................................................................Error! Bookmark not defined.
Reading and writing parameters ..................................................................................................140
par_wr_v ....................................................................................................................................140
Servodiameter / Tension control.........................................................Error! Bookmark not defined.
Introduction .....................................................................................Error! Bookmark not defined.
Radius calculation ...........................................................................Error! Bookmark not defined.
Tension control ................................................................................Error! Bookmark not defined.
servodiam ...................................................................................................................................159
rad_calc ............................................................................................Error! Bookmark not defined.
Block System...................................................................................................................................168
Commissioning ...............................................................................................................................169
Regulation configuration ................................................................Error! Bookmark not defined.
Running ............................................................................................Error! Bookmark not defined.
Current ring .....................................................................................Error! Bookmark not defined.
Velocity ring .....................................................................................Error! Bookmark not defined.
First start-up ....................................................................................Error! Bookmark not defined.
Feedback warning tuning ...............................................................Error! Bookmark not defined.
Maximum speed tuning ..................................................................Error! Bookmark not defined.
Velocity ring constant optimization ...............................................Error! Bookmark not defined.
General parameter information ...................................................................................................170
Table of Parameters .......................................................................................................................171
Table of Variables ..........................................................................................................................180
Flag Status ......................................................................................................................................205
Error Flags......................................................................................................................................206
Warning Flags ....................................................................................................................................4
PAGE 3 OF 221
Calibration
Calibration

Drive_Rated_Iarm
Parameter name Default Min Max Phys. unit displayed
Drive_Rated_Iarm 50 0 10000 A dc
(inormD)
Current normalisation constant

This parameter represents the direct current that the drive is able to supply; corresponding to size of
the converter itself. Therefore this value is set in Amps and is equal to the drive converter rating.
This value will automatically rescale the motor current and current limit ratings.

Spd_Fdbk_Scale
Spd_Fdbk_Scale 256 -32768 32767 //
(KvfbD)
Speed feedback scaling

Value entered in this block is set on the basis of the following formula:
Speed fdbk used = speed feedback x Spd_Fdbk_Scale/256

Normally this value is not changed and the default value of 256 is used, thus giving a 1:1 setting.

encoder_1_ppr, encoder_2_ppr
Parameter name Default Min Max Phys. unit display
encoder_1_ppr 1024 20 32767 //
encoder_2_ppr 1024 20 32767 //
Encoder pulse resolution

Set the number of pulses per revolution of the encoder connected to the inputs.

spd_fbk_select
spd_fbk_select encoder_1_fdbk 0 num_vars //
(c_velfbD)
PAGE 4 OF 221
Speed Feedback variable configuration

Connect the speed feedback block input to an internal variable in order to determine the type of
feedback; the most commonly used variables are:
encoder #1 feedback with variable " encoder_1_fdbk "
encoder #2 feedback with variable " encoder_2_fdbk "
tachometer feedback " tach_fdbk "
armature voltage feedback" arm_volt_fdbk "
PAGE 5 OF 221

arm_volt@1000rpm
arm_volt@1000rpm 61.1 1 32767 //
(V_x_krpmD)
Armature voltage normalisation

Expresses the motor armature voltage value per 1000 rpm, taken from the data indicated on the
motor nameplate. It is used for the armature feedback.
For example if the motor is 400volts rated @ 1500rpm, then (divide) 1000/1500 (times) the rated
voltage 400V gives 267volts at 1000rpm. Therefore enter 267 as the value.
The value can be calculated automatically during the self-calibration phase: using the auto tuning-
at comand= 3 feedback warning calculation procedure.
Note: the IR compensation is calculated automatically, so there is no parameter to adjust for this
item.

MTRrpm@max_spd
Default Min Max Phys. unit display
Parameter name
MTRrpm@max_spd 1000 1 30000 //
(rpm7500dtD)
Tachometer voltage normalisation

This parameter only needs to be calibrated when using a dc tachometer as feedback. This number
normalises the revolution speed with respect to the voltage supplied by the tachometer. The actual
speed is calibrated using the potentiometer mounted on the regulator board. This parameter is set
only to adjust the normalisation of tach volts to be proportional to armature volts, in order for the
tachometer loss circuit to operate correctly.

Max_Line_volts Min_Line_volts
Max_Line_volts 467 0 1000 V
(Vmax)
Min_Line_volts (Vmin) 298 0 100 V
Maximum and minimum Line voltage

These two parameters specify the voltage range outside which the maximum and minimum network
voltage protection takes over. The default values are set for 380vac line voltage.
394Vac = 790 bit.

Line_period_max Line_period_min
Line_period_max
21.7 15 25 msec
(period_max)
PAGE 6 OF 221
Line_period_min
18.3 12 18 msec
(period_min)
Maximum and minimum network frequency

These two parameters specify the network frequency period range outside which the protection
takes over. The default is set for 50hz line frequency, which is 20msec and the limits are 2msec
above and below rated.
20 msec = 9216 bit.
PAGE 7 OF 221

dummy
not in spreadsheet
dummy 0 0 32767 //
Internal constant
Parameter for internal use, do not modify.

set_to_analog_0 set digital to 0 
set digital to 1 
set_digital_to_-1

set high +32k set neg hi -32k
Variable name Phys. unit displayed
set_to_analog_0 0
set digital to 0 0
Set digital to 1 1
set_digital_to_-1 -1
set high +32k 32767
set neg hi -32k -32768
Default values
These variables are for general configurations assigned with fixed, non-modifiable values, in bits.
These values are used to have a defined preset to a function when either not used or if the function
needs to be set high or low or to zero.
For example:
jog_preset_val_1= set digital to 0 parameter 2 is assigned the constant value 0

sw_type
sw_type
control function
100
200
300 SCR dc drive
400
Drive type
Indicates the drive type to the 790 drive explorer supervisor.
PAGE 8 OF 221
Status warnings
  
status_flag error_flag warning_flag
status_flag
error_flag
warning_flag
Flag status
These variables contain the status of the various flags inside the mastercan, signalled by the bit
status.
The variables are subdivided into: status (status_flag), sampling (sampling_time
), error ( error_flag) and warning ( warning_flag) variables.
The meaning of the various status bites is explained below for each variable:
warning_flag
Function Description Number BIT
1 0
2 1
4 2
8 3
16 4
32 5
64 6
128 7
tx_done 256 8
flag_enabled 512 9
fl_enable_old 1024 10
par_tab_tx 2048 11
flag_fault 4096 12
flag_warning 8192 13
circ_buf_tx 16384 14
rec_stop 32768 15
-32768 16
error_flag
can_bus_off Can bus 1 error 1 0
can2_bus_off Can bus 2 error 2 1
eep_st_err 4 2
eep_err 8 3
ext_fault External fault, depends on the configuration 16 4
PAGE 9 OF 221
status_flag
1 0
2 1
4 2
8 3
16 4
32 5
64 6
128 7
256 8
512 9
1024 10
2048 11
4096 12
8192 13
16384 14
32768 15
-32768 16

sampling_time
sampling_time /
Sampling time

release_date
release_date /
Obsolete

err_warn_flg
err_warn_flg /

error_detail
error_detail /
Error code
PAGE 10 OF 221

err_code
err_code /

curr_p_err
curr_p_err /

statusold_flag
statusold_flag /

status_flag2
status_flag2 /

diag_line_pt
diag_line_pt
Buffer pointer
Current buffer memorisation line pointer.
diag_line_pt < buf_length

buf_length
buf_length
MasterCan line memorization

Length, less one, of the number of lines memorised by the MasterCan.
PAGE 11 OF 221

int_level
int_level /

port_brd
port_brd /

irq7_lo_cnt irq7_lo_cntt
irq7_lo_cnt /
irq7_lo_cntt /

win_cmd
win_cmd /

num_vam1
num_vam1 /
PAGE 12 OF 221
Current loop
Current loop

Motor_Rated_Iarm
Motor_Rated_Iarm 24.4 0 8192 A dc
(I_nom)
Nominal motor current

The rated or nameplate value of armature current for the motor at 100%. Above this value is where
the thermal protection begins to take over.
This parameter is used together with parameter I2t_time_overld
for thermal motor protection.

I2t_time_overld
I2t_time_overld 20 1 32767 s
(i2t_time)
i2t thermal protection time

Imax_Brk1_(spd1) Imax_Brk2_(spd2) Spd_Brk1_(low)

Spd_Brk2_(high)
Imax_Brk1_(spd1)
48.8 0 8192 A dc
imax_par1
Imax_Brk2_(spd2)
48.8 0 8192 A dc
imax_par2
Spd_Brk1_(low)
337 1 30001 rpm
vel_imax_par1
Spd_Brk2_(high)
337 1 30001 rpm
vel_imax_par2
Maximum current supplied

Imax_Brk1_(spd1) represents the maximum current up to the speed Spd_Brk1_(low)
Imax_Brk2_(spd2) represents the maximum current over the speed Spd_Brk2_(high)
The maximum current in the intermediate speed between Spd_Brk1_(low) and Spd_Brk2_(high) is
calculated using linear interpolation.
This maximum current is valid for both rotation directions and both bridges.
PAGE 13 OF 221

Current_Lim_Pos
Current_Lim_Pos 50 -100 8192 A dc
Maximum positive torque current

This parameter is used to limit the positive torque (bridge 1 or direct).
Normally this parameter is set to 100% motor current in amps.

Current_Lim_Neg
Current_Lim_Neg -50 100 -8192 A dc
Maximum negative torque current

This parameter is used to limit the negative torque (bridge 2 or inverse).
Normally this parameter is set to -100% motor current in amps.

c_curr_ref
c_curr_ref lopas_filt1_out set_to_analog_0 num vars //
Current limit block input variable configuration

Variable that represents the current demand. The current ref normally comes from the speed error
out from the speed loop or many times a low pass filter is inserted from the speed loop error and
then passed to the current ref.

c_curr_feedfwd
c_curr_feedfwd set_to_analog_0 set_to_analog_0 num vars //
Current feed forward variable configuration

Not normally used.
PAGE 14 OF 221

c_ang_ff

c_ang_ff set_to_analog_0 set_to_analog_0 num vars //
Current feed forward variable configuration

Not normally used.

c_curr_limit_pos_
c_curr_limit_pos_ set_high_+32K set_to_analog_0 num vars //
Maximum positive current limit variable configuration

Placed in series with Current_Lim_Pos
(see ……).
PAGE 15 OF 221

c_curr_limit_neg
c_curr_limit_neg set_high_+32K v_0 num vars //
Maximum positive current limit variable configuration

Placed in series with Current_Lim_Neg
(see).

Iarm_limit1_ramp Iarm_limit2_ramp
Iarm_limit1_ramp 50 0 10000 A
Iarm_limit2_ramp 50 0 10000 A
Modify ramps
These parameters can be used to slow down the ramp until stopping it, if the armature current
reaches the set value. The function is illustrated in the following
graph
This function can be enabled using the digital input second configuration parameters.
PAGE 16 OF 221

awind_noise
awind_noise 0 0 10000 //
Value added to the speed loop integral limit

This parameter works together with the “antiwindup" function which can be set using the
parameter.
The “antiwindup” function limits the value that can be taken on by the integral part of the speed
loop on the basis of the following formula:
Current_Lim_Pos, Current_Lim_Neg (in internal units) – proportional part of the speed
loop (in internal units).
The parameter awind_noise makes it possible to expand the PI part of the speed loop.
PAGE 17 OF 221

i1
i1 /

i1_offs
i1_offs /

I arm ref iq_ref1
I curr ref /
iq_ref1

l_arm_error
iq_err /

current_lim_pos
current_lim_pos A/dc

current_lim_neg
current_lim_neg A/dc

i_bf
i_bf /
PAGE 18 OF 221

it
it /

I_arm_avg
I_arm_avg A/dc
Average armature current.

i_ref
i_ref /

I_arm_fdbk
I_arm_fdbk A/dc
Actual dc current feedback for the armature current.

i_r
i_r /
Value of IR compensation inserted.

field_curr_fdbk
field_curr_fdbk A/dc
Actual dc current feedback for the field current.

op_pii
op_pii /
PAGE 19 OF 221

termic
termic /

motor_OL_curr_k1 motor_OL_curr_k2
motor_OL_curr_k1 /
motor_OL_curr_k2 /

di_dw
di_dw /
PAGE 20 OF 221
Speed Loop parameters

Speed loop

Speed_Offset
Speed_Offset 0 -32768 32767 rpm
Speed_Offset
Reference value of added speed in the regulator input.

Max_Speed
Max_Speed 1500 1 32767 rpm
Maximum motor speed

Maximum number of motor revolutions. This value is used to normalise the full scale of the
reference speed signal.
Warning if you use the tachometer feedback (spd_fbk_select= tach_fdbk), the maximum allowed
value in Max_Speed internal units is 7500.

Motor_Base_Spd
Motor_Base_Spd 1500 1 32767 rpm
Basic motor speed

Indicates the speed at which the motor reaches the nominal rated voltage. Above this value is
where the field weakening takes over.

Max_Spd_Pos Max_Spd_Neg
Max_Spd_Pos 7187 0 32767 rpm
Max_Spd_Neg -7187 -32768 0 rpm
Speed limits
Parameters which can be used to obtain different maximum speeds for the two rotation directions;
they are only valid if the absolute negative value is under the value set with the Max_Speed
parameter.
PAGE 21 OF 221

Spd_Prop_Gain Spd_Integrl_Gain
Spd_Prop_Gain 17 0 32767 A/rpm
Spd_Integrl_Gain 2 0 32767 A/rpms
Speed Loop PI regulator increases

In order to calibrate these parameters, refer to the chapter relative to Commissioning / Speed Loop /
Error! Reference source not found. .

Intg_gain_scaler
Intg_gain_scaler 16 0 16 A/rpm
Integral part divisor

Integral_clamp
Integral_clamp 200 0 32767 % of Imax_par
Speed regulator integral part limit

Defines the maximum value that can be assumed by the integral part of the speed regulator.
In order not to limit the integral part, put Integral_clamp = 512.
PAGE 22 OF 221
ADAPTIVE GAIN

gain_mult_0% gain_mult_12.5% gain_mult_25% gain_mult_37.5%

gain_mult_50% gain_mult_62.5% gain_mult_75% gain_mult_87.5%

gain_mult_100%
gain_mult_0% 256 0 500 %
gain_mult_12.5% 256 0 500 %
gain_mult_25% 256 0 500 %
gain_mult_37.5% 256 0 500 %
gain_mult_50% 256 0 500 %
gain_mult_62.5% 256 0 500 %
gain_mult_75% 256 0 500 %
gain_mult_87.5% 256 0 500 %
gain_mult_100% 256 0 500 %
Speed Loop increase template

The number placed after kv indicates the speed (in internal units) at which the increase is applied.
The intermediate speeds between the two points have a linearly interpolated increase.
It may be necessary to reduce the increase of the speed loop in certain systems in order to reduce
mechanical resonance or vibration problems: if, for example, the motor vibrates when stationary but
starts to operate well when in motion, you can reduce the increase corresponding to the zero speed
and maintain a high increase for the other speeds. You should select a gain_mult_0% value below
the normal value, as illustrated in the figure:
Note.
The default value is 256, which corresponds to 100% of the increase. A lower or higher value
reduces or increases the increase in proportion.

Ramp_Accel_Time
Ramp_Accel_Time .1 0 32767 s/10
Up ramp
When the ramp is enabled, this value represents the time necessary for the speed reference to pass
from the zero value to the maximum value.
The setting takes place within a few tenths of a second.
PAGE 23 OF 221
Blk Ramp
F_en
Auto_blk _ramp
F_en
Ramp out
F_ramp _en 107

F_en
Ramp ref1
+
RAMP
+
V
Ramp Ref1
2nd ramp
F_en 49 P Ramp Accel Time
50 P Ramp Decel Time

Auto ramp
F_en
51 P Ramp2 Accel Time
52 P Ramp 2 Decel Time
53 P S-ramp accel curve
54 P S-ramp decl curve

27 P Ramp I1 Lim
RAMP
28 P Ramp I2 Lim

Ramp_Decel_Time

Ramp_Decel_Time .1 0 32767 s/10
Down ramp
As above, this value represents the time necessary for the speed reference to pass from the
maximum value to the zero value.

Ramp2_Accel_Time
Ramp2_Accel_Time .1 0 32767 s/10
PAGE 24 OF 221
Up ramp
When the ramp is enabled, this value represents the time necessary for the speed reference to pass
from the zero value to that relative to the second ramp block.

Ramp2_Decel_Time
Ramp2_Decel_Time .1 0 32767 s/10
Down ramp
As above, this value represents the time necessary for the speed reference to pass from the
maximum value to that relative to the second ramp block.
 
S-ramp_Accel_crv S-ramp_Decel_crv
S-ramp_Accel_crv 10000 0 32767 //
S-ramp_Decel_crv 10000 0 32767 //
S-ramp function (Rounding ramps)

These parameters define the acceleration and deceleration for the S ramps. Be aware of the fact that
an increase in value reduces the rounding effect. The default of 10000 allows for no sS-curve
action taking place, by lowering the number the amount of s-curve will increase,
PAGE 25 OF 221

current_lim_time
current_lim_time 32767 0 32767 //
(sat_limit)
Current limit error
Establishes the time for which the converter can supply the limit current. The number refers to
output current cycles, therefore to 1/6 of the network period (in the case of a 50Hz network, the
current_lim_time number refers to cycles of 3.3 ms). This alarm is deactivated if
current_lim_time>= 32000.

c_ramp_ref_1 c_ramp_ref_2 c_ramp_ref_3 c_jog ref
Phys. unit
Parameter name Default Min Max
displayed
c_ramp_ref_1 scaled_ana_inp_1 set_to_analog_0 num_vars //
c_ramp_ref_2 set_to_analog_0 set_to_analog_0 num_vars //
c_ramp_ref_3 set_to_analog_0 set_to_analog_0 num_vars //
c_jog ref set_to_analog_0 set_to_analog_0 num_vars //
Reference block variables configuration

c_spd_ref_1 c_spd_ref_2
Phys. unit
displayed
c_spd_ref_1 ramp_output set_to_analog_0 num_vars //
c_spd_ref_2 set_to_analog_0 set_to_analog_0
num_vars //
Speed regulator input variables configuration

Spdfb_alrm_time
Spdfb_alrm_time 0 0 8192 //
(enc_err_time)
Feedback warning delay time

Time that passes between exceeding the warning threshold and the card being effectively blocked.
The imported value represents the number of internal cycles (3.3 ms for 50Hz).

Spdfb_alrm_level
PAGE 26 OF 221

Spdfb_alrm_level 256 -32768 32767 //
(enc_flt_max)
Spd selecte
Compares feedback used to the arm volt fdbk and RPM
the difference in error is measured and set by spd fb
alarm level
Spd
normalise
Rpm error
TRESHOLD
fo_enc_flt +
DELAY +
Fo1.4 - Compare
Volts normalise
P Spd_fb alarm time
P Spd_fb alarm level
P Arm volts @
1000rpm
Rpm err tot Rpm err cut Speed fdbk loss
Feedback warning threshold

Value that represents how far the speed feedback can differ from the calculated value. It is
automatically updated during autotuning ( Commissioning / Speed loop / Error! Reference source
not found. ).
PAGE 27 OF 221
 
total_spd_setpnt ramp_input_stpnt
total_spd_setpnt
/
(vel_ref)
ramp_input_stpnt
(vel_ref1)

fdbk_selected
fdbk_selected
/
(vel_used)

fdbk_abs_value
fdbk_abs_value
/
(velabs)

spd_loop_error
spd_loop_error
/
(evel)

speed_error_out
speed_error_out /
(op_piv)
PAGE 28 OF 221
 
accel_positive accel_negative
accel_positive
/
(accel_pos)
accel_negative
(accel_neg)
Ramp times.

time_ad
time_ad /
R & D use

ramp_satura_cnt
ramp_satura_cnt
/
(sat_count )

ramp_output
ramp_output /
PAGE 29 OF 221
encoders

tcnt1HI tcnt1LO tcnt2HI tcnt2LO
tcnt1HI
tcnt1LO
tcnt2HI
tcnt2LO

enc1_d_hldHI enc1_d_hldLO enc2_d_hldHI enc2_d_hldLO
enc1_d_hldHI
enc1_d_hldLO
enc2_d_hldHI
enc2_d_hldLO
Position of encoders 1 and 2

Position of encoders 1 and 2, sampled with the zero top on two channels.

enc1_hldHI enc1_hldLO enc2_hldHI enc2_hldLO
enc1_hldHI
enc1_hldLO
enc2_hldHI
enc2_hldLO
R & D use

err1_absHI err1_absLO err2_absHI err2_absLO
err1_absHI
err1_absLO
err2_absHI
err2_absLO
R & D use
PAGE 30 OF 221

enc1_oldHI enc1_oldLO enc2_oldHI enc2_oldLO
enc1_oldHI
enc1_oldLO
enc2_oldHI
enc2_oldLO
R & D use

enc1_absHI enc1_absLO enc2_absHI enc2_absLO
enc1_absHI
enc1_absLO
enc2_absHI
enc2_absLO
R & D use
 
encoder_1_fdbk encoder_2_fdbk
encoder_1_fdbk
rpm
(vel1)
encoder_2_fdbk
rpm
(vel2)
ENCODER SPEED FEEDBACK

arm_volt_fdbk
arm_volt_fdbk rpm
(vel_calc)
ARMATURE VOLTAGE SPEED FEEDBACK

tach_fdbk
tach_fdbk
rpm
(dtfb)
TACHOMETER SPEED FEEDBACK

dt_i
dt_i
R & D use
PAGE 31 OF 221

old_time_ad
old_time_ad
R & D use

dt
dt
R & D use

dv1 dv2
dv1
dv2
R & D use
 
enc_1_counts enc_2_counts
enc_1_counts
tcnt_1
enc_2_counts
tcnt_2

enc1_hld enc2_hld
enc1_hld
enc2_hld
R & D use

enc1_abs enc2_abs
enc1_abs
enc2_abs
PAGE 32 OF 221
R & D use

enc1_d_hld enc2_d_hld
enc1_d_hld
enc2_d_hld
R & D use

err1_abs err2_abs
err1_abs
err2_abs
R & D use

rpm_err rpm_err_cnt rpm_err_tot
rpm_err
rpm_err_cnt
rpm_err_tot

volt_fdbk_in_rpm spd_fdbk_in_rpm
volt_fdbk_in_rpm RPM
spd_fdbk_in_rpm RPM
ARM VOLTAGE AND FEEDBACK USED READOUT IN RPM
PAGE 33 OF 221
mdv

mdv_reduct_ratio
mdv_reduct_ratio 1000 1 32767 //
Reduction ratio
Value of the mechanical reduction ratio between motor and actuator, multiplied by krr, used for the
calculation of the effective peripheral velocity. See block end example.

mdv_diameter
mdv_diameter 10000 1 32767 mm/10
Diameter
Value of the actuator diameter, multiplied by kd, used for the calculation of the effective peripheral
velocity. See block end example.

mdv_line_spd_max
mdv_line_spd_max 10000 1 32767 //
Maximum linear velocity

Value of the maximum linear velocity, multiplied by kvlin, multiplied by 32767 and divided by
30000.
Linear velocity (n/min) = motor velocity (rpm) x diameter / (line velocity x rr).
See the example at the end of the block.

c_mdv_ip
c_mdv_ip encoder_1_fdbk v_0 num_vars //
Mdv block input configuration variable

The variable configured here is converted from internal units at
mdv_line_spd_max/ 2^15.
Note: the elaboration of this block is enabled by the software execution parameters (bit 14). When
the block is used for the speed feedback, the following parameter setting must be made
time_priority1-1= 14 (priority position).
PAGE 34 OF 221
Summary:
Reduct_ratio = reduction ratio (rr) x krr

diameter = diameter(m) x kd
mdv_line_spd_max = maximum linear speed (m/min) x kspdlin x 32767 / 30000
The k constants entered must be chosen so as not to exceed the limits (32767) and to maintain the
required resolution.
The following formula must also be respected: kd = kvlin x krr
For example:
rr = 2.033, diameter = 0.5003m, max linear velocity = 250m/min
parameters:
func_t1_1 = 14
c_mdv_ip = encoder_1_fdbk
spd_fbk_select = MDV_blk_out
mdv_reduct_ratio = 2033 (2.033 x 1000 therefore krr = 1000).
mdv_diameter = 5003 (0.5003 x 10000 therefore kd =10000).
mdv_line_spd_max = 2730 (250 x 10 x 32767 / 30000 therefore kvlin = 10).
The k coefficients are selected so as not to lose the diameter decimals and reduction ratio. The kvlin
is calculated as follows: kd = kvlin x krr. The values obtained for the three parameters respect the
limit of 32767 and are therefore correct.

MDV_blk_out
MDV_blk_out
PAGE 35 OF 221
Analogue Inputs and Outputs

Analog_IO
Analog_out_1

c_analog_out_1
c_analog_out_1 encoder_1_fdbk 0 num_vars //
Auxiliary analogue output #1 configuration

The written number corresponds to the variable to be taken to the first analogue output “analog
out1”
Analog output 1 is default connected to the encoder 1 speed feedback, therefore this output is setup
to provide an analog output proportional to speed as determined by the scaling. This output is
normally connected to terminal # 22.

anout_1_mult anout_1_scale
anout_1_mult 1 -32768 32767 //
anout_1_scale -2 -14 14 //
Auxiliary analogue output #1 normalisation

Parameters that make it possible to modify the analogue output normalisation using the following
formula:
PAGE 36 OF 221
anout_1_sc ale
2
out [ V ] 10V ( variable value ) anout_1_mult 
2 11
therefore, in order to obtain the maximum output, use the following formula:
2 ( 11 - anout_1_scale )
anout_1_mult 
variable full scale
If anout_1_scale >= 1, the output does not become saturated but overflows; if, on the other hand,
anout_1_mult < 1, the output becomes blocked upon saturation.
The output may vary from -10V at +10V with numbers between -2048 to +2048.

anout_1_offset
anout_1_offset 0 -32768 32767 //
Auxiliary analogue offset #1 value
PAGE 37 OF 221
Analog_out_2

c_analog_out_2
c_analog_out_2 I_arm_fdbk 0 num_vars //
Auxiliary analogue output #2 configuration

The written number corresponds to the variable to be taken to the second analogue output 2
Analog output 2 is default connected to the armature current feedback, therefore this output is setup
to provide an analog output proportional to arm current as determined by the scaling. This output is
normally connected to terminal # 23.

anout_2_mult anout_2_scale
anout_2_mult 1 -32768 32767 //
anout_2_scale 0 -14 14 //
PAGE 38 OF 221
Auxiliary analogue output #2 normalisation

Parameters that make it possible to modify the analogue output normalisation using the following
formula:
2 anout_2_scale
out [ V ] 10V ( variable value ) anout_2_mult 
2 11
therefore, in order to obtain the maximum output, use the following formula:
2 ( 11 - anout_2_scale )
anout_2_mult 
variable full scale
If anout_2_scale ≥1, the output does not become saturated but overflows; if,
on the other hand, anout_2_scale< 1, the output becomes blocked upon
saturation.
The output may vary from -10V at +10V with numbers between -2048 to +2048.

anout_2_offset
anout_2_offset 0 -32768 32767 //
Auxiliary analogue offset #2 value
Analog_out_3
Analog output 3 is not programmable and is permanently connected to the tachometer feedback
parameter. This output is normally connected to terminal # 26.
Analog_out_4
Analog output 4 is not programmable and is permanently connected to the armature current
parameter. This output is normally connected to terminal
PAGE 39 OF 221
Analog_in_1
Analog input 1 is scaled only by the Max speed setting, it has no other scaling
parameters. This analog input receives 8192 bits from the analog hardware at
10volts reference then it is multiplied by 4. This gives a value of 32767, which is
essentially cancelled by the divisor of the max speed block.
In order to utilize this analog input , a digital input must be configured to the function enable
(F_ANALOG_INP1_EN). This is done by entering a 1 in the specific 16 bit word for the digital
input chosen. See the section under digital inputs
 
analog_inp_1 scaled_ana_inp_1
analog_inp_1
scaled_ana_inp_1
Digital input 4
8
Digital input 2 swIntrnl_sp 1jog
Digital input 6
Digital input 6
10 6 10 6
195
153
Digital input 2
Jog preset val 1 C_jog ref
61
P
Analog_inp_1 Scaled_ana _inp_1

122
V C- Ramp ref1
17 x4 126 P Max speed
F_analog 1 EN
X 15
Scaled _ana _inp_2 58 2
Analog_inp_2
Analog2 max V Max speed +

124 8192 128
C-Ramp ref2
P
18 F- analog 2 EN + +
P
Scaled_ana_inp_3
59 + +
Analog3 max V C-Ramp ref 3

19 8192 129
125 F _analog3,4 EN P
Scaled_ana _inp_4 60
Analog_inp_3
20 Analog4 max V RAMP REFERENCE

8192
123 F_analog3,4 EN 127
Analog_inp_4
ANALOG INPUTS
PAGE 40 OF 221
Analog_in_4

analog_in_4_max
analog_in_4_max 8192 0 32767 //
Analog_in_4 normalisation
Analog_inp_4 input normalisation parameter; the block output follows the formula below:
analog_in_4_maxx
scaled_ana_inp_4 analog_inp_4  13
2
With the default values used, the divisor will be 8192 and the value produced by the analog input at
10vdc will be 8192. Therefore producing a multiply by 1. Thus the number entered in the
numerator will be the value read at the output (scaled_ana_inp_4). Normally the UI (internal units)
value of the encoder setting is placed in the numerator when using encoder feedback. If tachometer
feedback is used then 7500 is the number entered into the numerator. This will give full range of
the potentiometer connected to the analog input.
(F_ANALOG_INP3,4_EN). This is done by entering a 1 in the specific 16 bit word for the digital
input chosen. See the section under digital inputs.
 

analog_inp_4
scaled_ana_inp_4
PAGE 41 OF 221
Analog_in_2

c_analin2_aux_in
c_analin2_aux_in set_to_analog_0 v_0 num_vars //
Analog input 2 block input variable configuration

analog_in_2_max
analog_in_2_max 8192 0 32767 //
c_analin2_aux_in auxiliary input normalisation

c_analin2_aux_in auxiliary input normalisation parameter; the block output follows the formula
below:
analog_in_2_max
scaled_ana_inp_2 analog_inp_2 
8192
(F_ANALOG_INP2_EN). This is done by entering a 1 in the specific 16 bit word for the digital
 
analog_inp_2
scaled_ana_inp_2
#2 analogue input and #2 auxiliary analogue input after normalisation.
PAGE 42 OF 221
Analog_in_3

c_analin3_aux_in
c_analin3_aux_in set_to_analog_0 v_0 num_vars //
Analog input 3 block input variable configuration

analog_in_3_max
analog_in_3_max 8192 0 32767 //
analog_inp_3 auxiliary input normalisation

analog_inp_3 auxiliary input normalisation parameter; the block output follows the formula below:
analog_in_3_max
scaled_ana_inp_3 analog_inp_3 
8192
F_ANALOG_INP3,4_EN). This is done by entering a 1 in the specific 16 bit word for the digital

analog_inp_3 scaled_ana_inp_3
analog_inp_3
scaled_ana_inp_3
#3 analogue input and #3 analogue input after normalisation.
PAGE 43 OF 221
Digital Inputs and Outputs

Digital_IO
Digital_inp

digital_inp_1 digital_inp_2 digital_inp_3 digital_inp_4 digital_inp_5

digital_inp_6 digital_inp_7 digital_inp_8
digital_inp_1 1 -32768 32767 //
digital_inp_2 2 -32768 32767 //
digital_inp_3 2048 -32768 32767 //
digital_inp_4 2 -32768 32767 //
digital_inp_5 16384 -32768 32767 //
digital_inp_6 128 -32768 32767 //
digital_inp_7 0 -32768 32767 //
digital_inp_8 4096 -32768 32767 //
Digital input configuration

Each of these parameters is associated with a digital input in the terminal board: digital_inp_1
corresponds to terminal 5 and so on up to digital_inp_8.
The usable functions are set out in the following table:

F_DRIVE_ENABLE General drive enable 1 0
F_SPD_REF_IN Speed reference enable 2 1
F_ANALOG_INP1_EN Analog input 1 enable 4 2
F_ANALOG_INP2_EN Analog input 2 enable 8 3
F_ANALOG_INP3,4_EN Analog input 3 enable 16 4
F_JOG_INTREF1_EN JOG REF #1 internal reference enable 32 5
F_SLK_INTREF2_EN Slack take up #2 internal reference enable 64 6
F_FWD/REV_EN Reference inversion enable 128 7
F_RAMP_EN Internal ramp enable 256 8
F_SWITCH1_EN Switch 1 enable 512 9
Proximity reading enable for positioning
1024 10
F_PROXIMITY device
F_TORQ_ENABLE Torque reference enable 2048 11
F_RESET Warning reset 4096 12
F_SWITCH2_EN Switch 2 enable 8192 13
F_EXT_FAULT External warning input reading enable 16384 14
F_RESET_INTEGRAL Integral reset control -32768 15
By adding the numbers of 2 or more functions, a digital input can be made to perform more than
one function and, moreover, the same function can be written on several parameters. It should be
remembered that there are some input configuration limits:
Digital input 1 is semi-programmable since it also performs the converter release function.
Dig input 4, 5 and 6 may also be outputs, therefore there are some associated output configuration
parameters, for example, if you use dig inp 4 you should not use dig out 5 and vice versa.
There is also another set of functions (2nd group) which can be associated with the inputs described
below. The configuration through ETD drive explorer is facilitated by the presence of a binary
table.
PAGE 44 OF 221

invrt_dig_1-8
Default Min Max Phys. unit displayed
invrt_dig_1-8 2048 -32768 32767 //

Ips_inv
Digital input logic inversion

The written number expresses the seven digital inputs: 1 = dig 1, 2 = dig 2, 4 dig 3, up to 128 = dig
8. The operating logic is inverted to the inputs configured on this parameter: the functions combined
with them are activated with logic level 0.
When used together with invrt_sw_dig_1-8, this parameter makes it possible to implement the
inputs.
For example:
digital_inp_4, digital_inp_5_conf, digital_inp_6_conf, = 16384 (bit 14 external fault function)
invrt_dig_1-8= 8 + 16 + 32 = 56 (corresponds to digital_inp_4, digital_inp_5_conf,
digital_inp_6_conf)
invrt_sw_dig_1-8= 16384 (bit 14 external fault function)
In this way, the warning is only inactive with the 3 inputs, digital_inp_4, digital_inp_5_conf,
digital_inp_6_conf, are high.

set dig 1-8 hi
set dig 1-8 hi 2084 -32768 32767 //
is_sw_set
Forcing functions
By entering the number corresponding to one or more functions on this parameter, they are
implemented permanently and no longer depend on the digital inputs.

c_force_dig1-8
c_force_dig1-8 v_0 0 num_vars //
c_is_sw_set
Digital input configuration

With this parameter, it is possible to connect the input signal to a variable in order to make a serial
line or system bus command.

invrt_sw_dig_1-8
invrt_sw_dig_1-8 0 -32768 32767 //
ip_sw_inv
Inversion of functions combined with the digital inputs

The drive of the functions through digital inputs is normally performed by taking the input itself to
a high logic level. In order to activate them with a low level, it is sufficient to enter their coefficient
(sum) in this parameter.
PAGE 45 OF 221

digital_inp_1-1 digital_inp_1-2 digital_inp_1-3 digital_inp_1-4

digital_inp_1-5 digital_inp_1-6 digital_inp_1-7
digital_inp_1-1 12 -32768 32767 //
digital_inp_1-2 0 -32768 32767 //
digital_inp_1-3 0 -32768 32767 //
digital_inp_1-4 0 -32768 32767 //
digital_inp_1-5 0 -32768 32767 //
digital_inp_1-6 0 -32768 32767 //
digital_inp_1-7 0 -32768 32767 //
Second digital input configuration

Each of these parameters is associated with a digital input in the terminal board, as described for the
first set of parameters.
function Description Number BIT

No function 0
Increases motor-driven potentiometer
1 0
F2_MOP_UP speed
Reduces motor-driven potentiometer
2 1
F2_MOP_DOWN speed
F2_PID_PROP_EN Auxiliary PID proportional enable 4 2
F2_PID_INT_EN Auxiliary PID integrated enable 8 3
Auxiliary PI anti-saturation function
16 4
F2_TENSION_EN exclusion
F2_SLACK_EN Slack take up function enablement 32 5
nd
Auxiliary PID parameters 2 block
64 6
F2_PID_REF2_EN enable
F2_AUTORAMP_EN Ramp to ramp end enable 128 7
nd
F2_2ND_RAMP_EN 2 internal ramp enable 256 8
F2_TENSION_INV 512 9
F2_BLOCK_RAMP_EN Digital input ramp block 1024 10
F2_AUTOBLK_EN Modifies ramp current function time 2048 11
Diameter force at rad_init initial
4096 12
F2_DIACALC_STOP value
F2_DIA_UP_DISABLE Disable diameter up 8192 13
F2_DIA_DWN_DISABLE Disable diameter down 16384 14
F2_HOMING Homing function enable 32767 15
The statements made earlier still stand.

invrt_dig_1-1-8
invrt_dig_1-1-8 0 -32768 32767 //
ip_sw2_inv
Digital input inversion

As in the second set of instructions for parameter invrt_dig_1-8
.
PAGE 46 OF 221

set_dig_1-1-8 hi
set_dig_1-1-8 hi 0 -32768 32767 //
is_sw2_set
Forcing functions
As in the second set of instructions for parameter set_dig_1-8 hi
.

c_force dig1-1-8
c_force dig1-1-8 v_0 0 num_vars //
c_is_sw2_set
Forcing functions via serial

With this parameter, it is possible to connect the input signals to a variable in order to make a serial
line or system bus command. As in the second set of instructions for parameter c_force dig1-8
.
PAGE 47 OF 221
 
func_flagv func_flag2
Variable name Bit used
func_flagv
func_flag2
R&D diagnostic point

altera_rd
altera_rd

altera_ipsrd
altera_ipsrd 6
altera_ipsrd 7
Digital input status

dips
dips

setdigi_func_hi
is_sw_set
PAGE 48 OF 221
Digital_out

digital_out_1 digital_out_2 digital_out_3 digital_out_4 digital_out_5

digital_out_6 digital_out_7
digital_out_1 1 -32768 32767 //
digital_out_2 2 -32768 32767 //
digital_out_3 4 -32768 32767 //
digital_out_4 8 -32768 32767 //
digital_out_5 0 -32768 32767 //
digital_out_6 0 -32768 32767 //
digital_out_7 0 -32768 32767 //
digital_out_8 0 -32768 32767 //
Digital output 1 is not programmable; it is permanently defaulted to the “drive ok” signal.
Digital output configuration

Each one of these parameters is associated with a digital output: digital_out_1 corresponds to
terminal 13, out_2=terminal 14, out_3 = terminal 15, out_4 = terminal 16 .
The table shows the list of the functions available:

F_DRIVE_OK No faults 1 0
F_ABOVE_MIN_SPD Minimum speed indication 2 1
F_RAMP_END Ramp completed indication 4 2
F_IN_CURRENT_LIM Nominal current exceeded indication 8 3
F_ENCODER_FAULT Encoder fault indication 16 4
F_AUX_VOLT_THRES Auxiliary voltage relay threshold 32 5
F_FIELD_CURR_OK Field current ok 64 6
F_WARINGS Non serious warnings 128 7
F_AUX_VOLT_LATCH Threshold relay with mono-stable output 256 8
F_I2T Thermal motor protection intervention 512 9
F_THERMO_FLT Heatsink Thermal overload drive 1024 10
The functions are enabled in the same way, i.e. by entering the number corresponding to the
parameter.
It should be remembered that digital_inp_4, digital_inp_5, digital_inp_6
(combined with digital_out_3 , digital_out_4 , digital_out_5 ) share the digital input terminals.

dig_out_invert
dig_out_invert 0 -32768 32767 //
Digital output inversion

To invert the logic level of the outputs, enter the sum of the functions to be enabled on this
parameter.
PAGE 49 OF 221

enc_period_analog_out_3
Defa
Parameter name Min Max Phys. unit displayed
ult
enc_period_analog_out_3 1 1 100 //
freq_mul
Frequency output configuration

With encoder feedback, the analog out 3 speed output can be configured in frequency (jumper j2).
This parameter makes it possible to vary the active period of the output frequency.
PAGE 50 OF 221
Current Loop parameters

Autotune&mtr par
 
current_int_gain I_loop_prop_gain

current_int_gain
Kii 30 0 32767 V/A
I_loop_prop_gain This parameter not used

400 0 32767
Kpi in predictive mode
Current regulator increases

In the predictive current regulator, the I_loop_prop_gain Kpi, parameter is not used. For the
calibration of current_int_gain Kii, see Commissioning / Current ring. The traditional current
regulator can be enabled by the parameter.

I_loop_gain_mult

I_loop_gain_mult 30 0 32767 //
Current loop increase multiplication factor in the alternating zone of the traditional pi
regulator

i_contin
i_contin 10 0 32767 A dc
Current alternation limit value

Current value in which the passage from alternating to direct current takes place.
The parameter is calculated during the autotuning phase with the predictive current regulator.

i_0_wait
i_0_wait 1 0 10000 //
Inversion wait
Waiting time with no current in the bridge commutation.

input_1_delay

input_1_delay 20 20 32767 s/10
PAGE 51 OF 221
Running enable delay

Time that passes between the Input switch on and the effective regulation enablement.
PAGE 52 OF 221
curr_control

arm_resistance

arm_resistance 1 0 32767 ohm
Armature resistance
Parameter determined during the autotuning phase.

arm_inductunce

arm_inductunce
15000 0 32767 mH
(LmH)
Armature inductance
Parameter determined during the autotuning phase.

current_didt_max

current_didt_max
4000 0 8192 //
Maximum current derivative

Maximum current gradient supplied to the motor; very high values are not permitted by some motor
models – consult the manufacturer.

k_i_lim
k_i_lim 32000 0 32767 //
Parameter for internal use

Do not modify.
PAGE 53 OF 221

ecs
ecs

arm_back_emf
bemf

ts ts1 tks
R&D diagnostic point ts
ts1
tks

is
is

ilg
ilg

integral
integral
PAGE 54 OF 221

preang_us
preang_us

arccos
arccos

i_refm1 i_refm2
i_refm1
i_refm2

fire_reason
fire_reason

over_V_pk
over_V_pk

op_latch
op_latch
PAGE 55 OF 221
Volts

k_varm_ff

k_varm_ff 100 0 32767 //
Armature voltage feed forward multiplicative constant

Do not modify this parameter by means of predictive regulation.

lfvarm_freq
lfvarm_freq 80.6 0 32767 //
Armature voltage filter

Armature low voltage filter time constant

Vbb_Varm
Vbb_Varm 11 0 32767 //
Parameter for internal use

Do not modify.

ArmVMax_threshld
ArmVMax_threshld
488 0 32767 V
Maximum armature voltage

Maximum armature voltage permitted before intervention of the over-voltage protection.

Vratio_Max
Vratio_max 98 0 505 V
Inversion armature voltage

This is the maximum armature voltage at which bridge inversion is permitted.
PAGE 56 OF 221

Varm_lf ArmV_feedforward
Varm_lf
Varm_ff

Vbb_slow
Vbb_slow

volt_ratio
volt_ratio

Vbb
Vbb
Line voltage

V_r
V_r

Arm_Volts
Varm
Arm voltage

Varmc
Varmc
PAGE 57 OF 221
synchronism

ang_max_red preang_p sinc_delay sync_err_lev sinc_e_max sinc_trak
ang_max_red 100 0 32767 //
preang_p 256 0 500 //
sinc_delay 0 -100 100 //
sync_err_lev 10 1 100 //
sinc_e_max 300 0 32767 //
sinc_trak 300 0 32767 //
On circuit configuration
Parameters relative to the on circuit: do not modify.
The sinc_trak parameter establishes the variation window from the acquisition of one period to the
next (this prevents the acquisition of completely incorrect periods due to network disturbance).
The sinc_e_max defines the window used for the warning rst: every time a synchronism period is
red outside the window, a variable (sinc_no) is discounted. This variable is increased when the
synchronism is correct, until reaching the value set in the input_1_delay parameter. When the
sinc_no variable count reaches the value set in the sync_err_lev parameter, the rst. warning
intervenes.
Therefore for rigid, but dirty networks in frequency, the sinc_trak parameter will be low but
sinc_e_max will be high.
For networks that vary in frequency, both sinc_trak and sinc_e_max will be high.

tperiod
tperiod
Period after filter

In the scry_05 version, the filter that updates the network period on the basis of which the on circuit
is updated, has been made faster (faster frequency cut). Period read = period_time period after
filter = tperiod.

sinc_flag sinc_no
sinc_flag
sinc_no
PAGE 58 OF 221

tsinc_new
tsinc_new

tsincr tsincs tsinct
tsincr
tsincs
tsinct

rs_phase rt_phase
rs_phase
rt_phase

tsincr_old tsinc_old
tsincr_old
tsinc_old

Sync error
sinc_err

time0
time0
PAGE 59 OF 221

ang_max
ang_max

sixty_deg
sixty_deg

tsinc0 tsinc1 tsinc2 tsinc3 tsinc4 tsinc5
tsinc0
tsinc1
tsinc2
tsinc3
tsinc4
tsinc5

preang
preang

period_time
tper
Period read

rs_phase_slow rt_phase_slow
rs_phase_slow
rt_phase_slow
PAGE 60 OF 221

per_err_cnt
per_err_cnt

tsinc_psd
tsinc_psd

fire_scr0 fire_scr1 fire_scr2 fire_scr3 fire_scr4 fire_scr5
fire_scr0
fire_scr1
fire_scr2
fire_scr3
fire_scr4
fire_scr5
PAGE 61 OF 221
auto_tune

at_comand
at_comand 0 -32768 32767 //
Autotuning setting
Used for the motor electric parameter search procedure.
The autotuning phases are carried out in increasing order: for example, it is not possible to carry out
phase 10 before having completed phases 1 and 3.
Paragraph Commissioning describes the procedures.
at_comand
=1 => (CURREN LOOP AUTOTUNE) measurement of the motor inductance (LmH) and
resistance (res).
at_comand
=3 => (CALIBRATES THE ARMATURE VOLTAGE OF THE MOTOR) measurement of the
arm_volt@1000rpm parameter.
at_comand
=10 => (WINDER FRICTION AUTOTUNE)measurement of dynamic_friction and
static_friction friction.
at_comand
=13 => (WINDER INERTIA AUTOTUNE) measurement of the j-inertia_core core inertia.
at_comand
=20 => (WINDER MATERIAL SPECIFIC WEIGHT AUTOTUNE) measurement of the
Materialspecwght material inertia (requires the correct setting of the maximum radius and the coil
width).
at_comand
=30.=> (WINDER TENSION CONTROL AUTOTUNE) Warning. Configures the following
parameters for the tension control. The command must be confirmed using the sw_key parameter.
c_line_spdref_in = encoder_2_fdbk
c_winder_spd_in = encoder_1_fdbk
c_wind_dynamc_in = encoder_1_fdbk
c_derivative_inp = encoder_1_
derivative_gain = 5
derivative_scale = 0
derivat_gain_flt = 12
time_priority2-6 = 15 (diameter calc)
time_priority2-7 = 16 (tension calc)
time_priority1-5 = 5 (derivative)
preset_value_13 = kdiv_fw variable number
c_par3_wr_indx = Internal_setpt13
c_par3_wr_value = rad_lf
N.B.: For correct function of the inertia calculations, the derivative block must also be active with
derivative_gain = 5, derivative_scale = 0 e derivat_gain_flt = 12
PAGE 62 OF 221
Field Regulator
The field regulator is comprised of three functioning sections: First is the Flux regulator which
controls the field weakening portion of the regulator. The second section is the “field current
regulator” which controls the field current and lastly the “DAC3” converts the output from digital to
analog to control the firing of the field bridge.
MODE 1 CURRENT CONTROL (LINE VOLTAGE COMPENSATION)
If operating at or below base speed there are no adjustments required to the flux regulator only the
field current regulator. If set to mode 1 then simply adjust the
field _curr_ref to set the desired motor field current.
When operating in mode 1 the field regulator adjusts the current automatically to fluctuations in the
AC line supply.
To run the motor in field weakening, then the speed settings in the speed loop must be adjusted for
the motor rating. The motor base speed should be entered into the parameter Motor_Base_Spd
The desired field weakened speed should be entered into the Max_Speed parameter, set this
parameter for the maximum field weakened rpm desired. This number will be larger than the based
speed always so for example -1800rpm could be entered to extend the motor speed 300 rpm through
field weakening.
Be sure the Max_spd_pos and Max_spd_neg are higher or equal to the Max Spd unless a direction
speed is desired to be a lower speed.
Motor_Base_Spd-Set this parameter to the motor base speed in rpm- for example 1500rpm.
MODE 1 CURRENT CONTROL (LINE VOLTAGE COMPENSATION)

Mode 2 setup and adjustment is identical to Mode 1, the only difference is the compensation comes
from the am voltage and not the AC line mains.
MODE 3 VOLTAGE CONTROL (OPEN LOOP PHASE ANGLE CONTROL)

If operating in mode 3 (voltage control) then adjust the parameter “Varm_percent” to achieve the
desired field voltage. With an AC supply of approximately 400vac then the settings of the Varm%
parameter will give the following motor field volts. .
Varm % field volts
40 77
50 87
60 141
57 180
60 196
65 220
Since this is open loop phase angle control the voltage will vary with the actual voltage of the AC
line supply. Field weakening is not allowed when utilizing mode 3 voltage control
operation
PAGE 63 OF 221
PAGE 64 OF 221
F_en
F_en
PAGE 65 OF 221
Filter parameters
Filters
 
Zero_enc1pul_dis Zero_enc2pul_dis

Zero_enc1pul_dis 100 0 32767 imp
Zero_enc2pul_dis 100 0 32767 imp
Zero encoder pulse disablement

The encoder zero pulse capture can be disabled for Zero_enc1pul_dis encoder pulses after it has
taken place, so as to prevent rebounds.
PAGE 66 OF 221
low_ps_flt1

c_lowpassflt1_in

c_lowpassflt1_in
speed_error_out v_0 num_vars //
First low filter input variable configuration

low_ps_flt1_freq

low_ps_flt1_freq
40.3 0 32000 Hz
First low filter cutting frequency

Note: in order to activate a new cutting frequency if the drive takes place during operation, send the
following commands: “save to EEP” and then “load from EEP”.

lopas_filt1_out
lopas_filt1_out
Low filter output
PAGE 67 OF 221
low_ps_flt2

c_lowpassflt2_in

c_lowpassflt2_in set_to_analog_0 v_0 num_vars //
Second low filter input variable configuration

low_ps_flt2_freq

low_ps_flt2_freq 40.3 0 32000 Hz
Second low filter cutting frequency


lopas_filt2_out
lopas_filt2_out
Low filter output
PAGE 68 OF 221
low_ps_flt3

low_ps_flt3_freq

low_ps_flt3_freq 1.1 0 32000 Hz
Third low filter cutting frequency

   
lopas_filt3_out1 lopas_filt3_out2 lopas_filt3_out3 lopas_filt3_out4
lopas_filt3_out1
lopas_filt3_out2
lopas_filt3_out3
lopas_filt3_out4
Low filter output
PAGE 69 OF 221
low_ps_flt4
 
c_lowpassflt4in1 c_lowpassflt4in2
c_lowpassflt4in1 fdbk_selected v_0 num_vars //
c_lowpassflt4in2 I_arm_fdbk v_0 num_vars //
Fourth low filter input variable configuration

low_ps_flt4_freq

low_ps_flt4_freq 4 0 32000 Hz
Fourth low filter cutting frequency

Lowpass filter 4
LF4:13
lopas_filt4_ out1
LOW-PASS
c_lowpassflt4in1
LOW-PASS lopas_filt4_ out2
c_lowpassflt4in2
P lf4_time
 
lopas_filt4_out1 lopas_filt4_out2
lopas_filt4_out1
lopas_filt4_out2
Low filter output
PAGE 70 OF 221
notchflt

c_notchflt_inp

c_notch_ip set_to_analog_0 v_0 num_vars //
Notch filter input variable configuration
    
notc_flt_freq1 notc_flt_freq2 notc_flt_freq3 notc_flt_freq4 g1

g2 rsqrd
notc_flt_freq1 0 -32768 32767 //
notc_flt_freq2 0 -32768 32767 //
notc_flt_freq3 0 -32768 32767 //
notc_flt_freq4 0 -32768 32767 //
g1 0 -32768 32767 //
g2 0 -32768 32767 //
rsqrd 0 -32768 32767 //
Notch filter configuration

The values to be entered in the parameters relative to the notch (band elimination) filter are taken
from a calculation sheet in which the characteristic filter data should be entered.
The use of this block is very complicated as it could lead to incorrect converter+motor function
evaluations. We therefore recommend consulting the ETD technical office beforehand.
The filter is therefore to resolve resonance problems in the system that the dc motor is connected to.

notch_filt_out
notch_filt_out
PAGE 71 OF 221

x1h x2h
x1h
x2h
PAGE 72 OF 221
APPLICATIONS
PAGE 73 OF 221
Auxiliary PI parameters
PID

c_PID_ref1_inp

c_PID_ref1_inp set_to_analog_0 v_0 num_vars //
Auxiliary pi reference input variable configuration

c_PID_fbk1_inp

c_PID_fbk1_inp set_to_analog_0 v_0 num_vars //
Auxiliary pi feedback input variable configuration
PAGE 74 OF 221
c_PID _ff_out
c_PID_lim _inp P
Pid _lim_mult
P X 238
10
239 ABS 2
215 P Pid_lim_mult
c_PID_ff_i 216 P Min_ gain_limit
np Kfeed_ fwd_gain
P X
10
ex cl_awind F_en
F2_ p_ enab F_ en
2
F2_i_e na b F_en
237
214 P Feed_ fwd_gain
PI_ max_limit
PI_max_limit _out
PI_prop_out P
F2 _PID_REF2 _EN 217 V
F_ en
235
c_PID _ref1_inp V
PI_reference PI_error limit
205
P PI 233 +
+ 232
c_PID_ref 2_inp V + + V + + V
220
P 229 - 231 234
PI_output
V PI_max_limit _ou
PI_feedbac t
c_PID_fbk1_ k PI_ min_ limit
inp 210 P Prop_Gain 1 PI_intgr_out
P P V
206 211 P Integral_Gain 1
V 218 236
c_PID _fbk2_inp Prop_ gain_scale
212 P
P 230
221
213 P Integ _gain_ scale
224 P int_ rate_reset TO ENABLE BLOCK Auxillary PI

SET TIMING PRIORITY
222 P Prop_Gain 2 T2 -2=11
223 Integral_Gain 2
P

c_PID_ff_inp
PAGE 75 OF 221

c_PID_ff_inp set_to_analog_0 v_0 num_vars //
Auxiliary pi feed forward input variable configuration

c_PID_ff_out

c_PID_ff_out set_to_analog_0 v_0 num_vars //
Auxiliary pi feed forward variable configuration upon output from the block

c_PID_lim_inp

c_PID_lim_inp set_high_+32K v_0 num_vars //
Auxiliary pi limit input variable configuration
 
Prop_Gain1 Integral_Gain1
Prop_Gain1 10 -32768 32767 //
Integral_Gain1 0 -32768 32767 //
PID regulator constants

Auxiliary PID regulator proportional and integral increase.
PAGE 76 OF 221
 
Prop_gain_scale Integ_gain_scale
Prop_gain_scale 10 0 16 //
Integ_gain_scale 16 0 16 //
PID regulator constants

Division factor of the auxiliary PID block proportional and integral constants on the basis of the
following formulas:
Prop_gain_1 Integral_gain_1
proportion al part  Prop_gain_scale integral part  Integ_gain _scale
2 2

Feed_fwd_gain

Feed_fwd_gain 1024 -32768 32767 //
PID input configuration

Multiplication factor of auxiliary PID regulator feed forward input on the basis of the following
formulas:
Feed_fwd_gain
[ Feed_fwd_gain ] [ input variable] 
210

PID_lim_mult
PID_lim_mult
1024 0 32767 //
PID input configuration

Multiplication factor of auxiliary PID regulator limit input on the basis of the following formulas:
Integral_clamp
[ integral_clamp ] [ input vari able ] 
210

min_gain_limit
min_gain_limit 1024 0 32767 //
Auxiliary PI correction fixed threshold

The auxiliary PI output is limited by the variable configured in c_PID_lim_inp, the
min_gain_limitparameter guarantees a minimum correction value whatever the limit, due to the
variable configured in c_PID_lim_inp.
PAGE 77 OF 221
 
Pid_max_limit Pid_min_limit
Pid_max_limit 32767 -32768 32767 //
Pid_min_limit -32768 -32768 32767 //
PI regulator limits
Maximum and minimum values that can be taken on by the auxiliary PI regulator upon output.

int_rate_reset

int_rate_reset 32767 0 32767 //
Integral part discharge velocity

The higher the value the faster the discharge of the integral part. If the value equals 0, the integral
part is blocked, even if disabled.

c_PID_ref2_inp

c_PID_ref2_inp set_to_analog_0 v_0 num_vars //
Auxiliary pi reference second input variable configuration

Auxiliary PID block reference input for second set of parameters.

c_PID_fbk2_inp

c_PID_fbk2_inp set_to_analog_0 v_0 num_vars //
Auxiliary pi retroaction input second variable configuration

Auxiliary PID block retroaction input for second set of parameters.
 
Prop_Gain2 Integral_Gain2
Prop_Gain2 10 -32768 32767 //
Integral_Gain2 0 -32768 32767 //
PI regulator constants
Auxiliary PI regulator proportional and integral increase for the second set of parameters.
PAGE 78 OF 221

PI_reference
PI_reference

PI_feedback
PI_feedback

PI_error
PI_error
  
PI_output PI_prop_out PI_intgr_out
PI_output
PI_prop_out
PI_intgr_out
 
PI_max_limit out PI_min_limit_out
PI_max_limit
PI_min_limit
PAGE 79 OF 221
Function blocks
Function_blocks
FB muldivfb

kmul_fb kdiv_fb
kmul_fb 1 -32768 32767 //
kdiv_fb 1 1 32767 //
Precision Division multiplication block

This block is used to adapt the speeds or the space to desired ratios, for example, in a position loop
controlling phase relationship or electronic lineshafting. (also see the…..).
kmul_fb
delta_pos_norm delta_pos 
kdiv_fb
The normalisation blocks are built without remainders so the calculation is exact, and they can
therefore be used for both feedback and reference to the motor.

c_pos_fb c_delta_pos
c_pos_fb enc_1_counts v_0 num_vars //
c_delta_pos delta_pos v_0 num_vars //
muldivfb block input variable configuration

The parameters relate to the software selectors that select the variable to be entered in the point of
the circuit involved (see the……).
PAGE 80 OF 221

delta_pos
delta_pos

delta_pos_norm
delta_pos_norm

pos_old
pos_old

pos_resto
pos_resto

pos_fb
pos_fb
PAGE 81 OF 221
FB muldivfw
 
kmul_fw kdiv_fw
kmul_fw 1 -32768 32767 //
kdiv_fw 1 1 32767 //
Division multiplication block

This block is used to adapt the speeds or the space to desired ratios, for example, in a loop of space.
(also see the……)
kmul_fw
delta_pos_rf_norm delta_pos_reft 
kdiv_fw
The normalisation blocks are built without rest loss, and they can therefore be used for both
feedback and reference to the motor.
   
c_pos_ref1 c_pos_ref2 c_delta_pos_ref1 c_delta_pos_ref2
c_pos_ref1 enc_2_counts v_0 num_vars //
c_pos_ref2 set_to_analog_0 v_0 num_vars //
c_delta_pos_ref1 delta_pos_ref v_0 num_vars //
c_delta_pos_ref2 set_to_analog_0 v_0 num_vars //
muldivfw block input variable configuration

the circuit involved (see….).
PAGE 82 OF 221

eposHI eposLO

eposHI
eposLO

mdlHI mdlLO
mdlHI
mdlLO

mdhHI mdhLO
mdhHI
mdhLO

pos_ref delta_pos_ref
pos_ref
delta_pos_ref

pos_ref_old
pos_ref_old
PAGE 83 OF 221

delta_pos_reft pos_ref_resto
delta_pos_reft
pos_ref_resto

delta_pos_rf_nrm pos_ref_norm
delta_pos_rf_nrm
pos_ref_norm
PAGE 84 OF 221
FB derivative

c_derivative_inp

c_derivative_inp set_to_analog_0 v_0 num_vars //
Derived block input variable configuration
  
derivative_gain derivative_scale derivat_gain_flt
derivative_gain (kd) 1 -32768 32767 //
derivative_scale (kd_sh) 0 0 32 //
derivat_gain_flt (kd_flt) 32 0 64 //
Derivative block
The derivative block output derivat_blk_out is the difference of c_derivative_inp
on a number of samples determined by derivat_gain_flt multiplied by derivative_gain and
multiplied by 2 to the power of derivative_scale and multiplied by
der_intv.
deri_blk_out (c_derivat ive_inpk c _ derivative _ inpk kd _ flt ) kd_flt 2derivative scale der_intv
where k is the current sampling instant.
The derivative block needs to be activated with a software execution parameter (time_priority2-
7=)value 5.
PAGE 85 OF 221

der_intv
der_intv 4 0 32767 //
Derivative calculation
The derivative is calculated every
der_intv cycle.
It is needed to make the derivative long term.

derivat_blk_out
derivat_blk_out
PAGE 86 OF 221
FB norm1

c_norm1_ip
c_norm1_ip v_0 v_0 num_vars //
First normalising block input variable configuration

norm_1_multiply

norm_1_multiply 256 -32768 32767 //
First normalising block multiplication variable

The parameter defines the numerator in a normalising block for free use, in order to adjust the
value; the result, and therefore the output value, is expressed by the formula:
[ norm_1_multiply ]
[normal_blk_1_out] [ input vari able ]  15
2
Note.
The normalising block loses the rest during the division. This means that it is not recommended for
use in normalising variables when these represent space, as in the case of the encoder feedback. In
fact, the drive would lose precision as the pulse fractions would be lost.

normal_blk_1_out
normal_blk_1_out
Normalising block output
PAGE 87 OF 221
FB norm2

c_norm2_ip
c_norm2_ip set_to_analog_0 v_0 num_vars //
Second normalising block input variable configuration
 
norm_2_scale norm_2_multiply
norm_2_scale 0 0 15 //
norm_2_multiply 1 -32768 32767 //
Second normalising block multiplication variable

[ norm_2_multiply ]
[normal_blk_2_out] [ input variable ] 
2 [ norm_2_scale ]
Note.
use in normalising variables when these represent space, as in the case of the encoder feedback . In

normal_blk_2_out
normal_blk_2_out
PAGE 88 OF 221
FB norm3

c_norm3_ip
c_norm3_ip set_to_analog_0 v_0 num_vars //
Third normalising block input variable configuration
 
norm_3_scale norm_3_multiply
norm_3_scale 0 0 15 //
norm_3_multiply 1 -32768 32767 //
Third normalising block multiplication variable

[ norm_3_multiply ]
[normal_blk_3_out] [ input vari able ] 
2 [ norm_3_scale ]
Note.
use in normalising variables when these represent space, as in the case of the encoder feedback. In

normal_blk_3_out
normal_blk_3_out
PAGE 89 OF 221
FB dp_tp_vel

c_dp_to_v
c_dp_to_v v_0 v_0 num_vars
Velocity position delta scale

Configuration of the velocity position delta variable that has to be scaled.

v_f_dp
v_f_dp
PAGE 90 OF 221
FB vel_tp_dp

c_v_to_dp
c_dp_to_v v_0 v_0 num_vars
Position velocity delta scale

Configuration of the position velocity delta variable that has to be scaled.

dp_from_vel
dp_from_vel
PAGE 91 OF 221
FB Switch 1

c_switch1_inp1 c_switch1_inp2
c_switch1_inp1 set_to_analog_0 v_0 num_vars //
First deviator input variable configuration

the circuit involved (see the…..).

switch_1_blk_out
switch_1_blk_out
Switch 1 block output
PAGE 92 OF 221
FB Switch2
 
c_switch2_inp1 c_switch2_inp2
c_switch2_inp2 set_to_analog_0
v_0 num_vars //
Second SWITCH input variable configuration

the circuit involved (see
the…..).
F_switch2_en
Switch 2 F_en
switch_2_
c_switch2_inp1
blk_out
P
c_switch2_inp2
P

switch_2_blk_out
switch_2_blk_out
Switch 2 block output
PAGE 93 OF 221
FB sum
  
c_sum_inp1 c_sum_inp2 c_sum_inp3
c_sum_inp1 set_to_analog_0 v_0 num_vars //
Adder block input variable configuration

the circuit involved (see the…...).

summing_blk_out
summing_blk_out
Adder output
PAGE 94 OF 221
FB Absolute value

c_absolut_val_in

c_absolut_val_in set_to_analog_0 v_0 num_vars //
Absolute value block input configuration

the circuit involved (see the…..).

absl_val_blk_out
absl_val_blk_out
Absolute value output
PAGE 95 OF 221
FB min speed

c_min_speed_inp

c_min_speed_inp set_to_analog_0 v_0 num_vars //
Minimum speed block input variable configuration

min_speed
min_speed 45 0 32767 rpm
Minimum speed
Speed at which the minimum speed output is activated.

min_spd_level

min_spd_level 45 0 32767 rpm
Threshold level
Value at which the threshold output is activated. The block is normally configured as a speed,
however it can be used with any variable.
PAGE 96 OF 221

min_spd_hyster

min_spd_hyster 18 0 32767 rpm
Hysteresis
Hysteresis value for the minimum speed and the spd_loop_error

min_spd_delay

min_spd_delay 0 0 32767 //
Mono-stable time
When function 8 is activated in the digital output configuration, this parameter represents the mono-
stable time.
PAGE 97 OF 221
FB limit function

c_lim_funct_inp

c_lim_funct_inp set_to_analog_0 v_0 num_vars //
Limit block input variable configuration
 
maximum_limit minimum_limit
maximum_limit 32767 -32768 32767 //
minimum_limit -32768 -32768 32767 //
maximum_limit
limit_blk_
P out
Limit Function
c_lim_funct_inp
minimum_limit
Limit block
Limit software block positive and negative limits for free use.

limit_blk_out
limit_blk_out
Limit block output
PAGE 98 OF 221
paper_functions
slack take_up

c_slacktakeup_ip
The purpose of the slack take up block is to allow for loop recovery which is
typically associated with draw control systems used in paper mills. This
function allows for a speed reference signal to be added to the master ref while
the drive is running. The slack reference has its own ramp to gently enter the
additional speed demand to the section involved
c_slacktakeup_ip set_to_analog_0 v_0 num_vars //
Loop recovery block input variable configuration

Loop recovery block reference signal input.

max_slaketakeup

max_slaketakeup 120 0 32767 //
Loop recovery additional reference value.

slack_rmpup_time slack_rampdwn_tm
slack_rmpup_time 100 0 32767 //
slack_rampdwn_tm 30 0 32767 //
F_ en
Loop recovery reference ramp time
PAGE 99 OF 221

slack_reference
slack_reference

slack_pi_err_out
slack_pi_err_out

linear_spd_n_rpm
linear_spd_n_rpm
PAGE 100 OF 221

FB mop1

mop_select

mop_select 0 0 5 //
Motor-driven potentiometer selection

Parameter for the selection of the active motor-driven potentiometer which can be controlled using
the up and down inputs. mop_select is also controlled by (operator terminal), therefore, when
reading this parameter or making a back-up, you may find a different value from a previously
memorised datum.
mop_select Function
value
0 mop1 (cascade motor-driven potentiometer)
1 mop2 (single motor-driven potentiometer)
2 mop3 (tension1 motor-driven potentiometer or %dandy roller motor-
driven potentiometer)
3 mop4 (tension2 motor-driven potentiometer or % hehper motor-driven
potentiometer)

c_cascade_inp

c_cascade_inp canrxd1 v_0 num_vars //
Main motor-driven potentiometer input variable configuration

Cascade reference connection to the main motor-driven potentiometer. It is active when
mop_select= 0. If you use (operator terminal), it is the cascade motor-driven potentiometer.

c_cascade_corr

c_cascade_corr v_0 v_0 num_vars //
Motor-driven potentiometer correction input variable configuration

cascade_mult

cascade_mult 8192 -32768 32767 //
Cascade ratio
Cascade reference elaboration block multiplication coefficient.
PAGE 101 OF 221

This block contains a division by 8192, meaning that the ratio 1:1 can be obtained by writing 8192:
MP1_casc_out = casc_ip x cascade_mult/ 8192
PAGE 102 OF 221


Mpcascade_max Mpcascade_min
Mpcascade_max 9011 -32768 32767 //
Mpcascade_min 7373 -32768 32767 //
Main motor-driven potentiometer limits

These are the maximum and minimum limits for regulating the cascade ratio through the main
motor-driven potentiometer.
 
Mpcascade_uprate Mpcascade_dnrate
Mpcascade_uprate 1 -32768 32767 //
Mpcascade_dnrate
1 -32768 32767 //
Ratio variation velocity

This is the acceleration and deceleration speed of the cascade ratio (main motor-driven
potentiometer) upon the control to increase or reduce.
If mpc_uprate > 0
casc_mul /istante(k+1) = casc_mul /istantek + mpc_oprate
If mpc_uprate < 0
casc_mul /istante(k-mpc_uprate) = casc_mul /istantek + 1
the motor-driven potentiometer is updated during task2.

Task2 is carried out with a time of:
sampling of v[sample] x task2_mul (microseconds)

MP1_casc_out
MP1_casc_out
Cascade block output
PAGE 103 OF 221

FB mop2

c_mop2_input
c_mop2_input MP1_casc_out v_0 num_vars //
Second motor-driven potentiometer input variable configuration

Connection of the signal to be modified in the second motor-driven potentiometer. It is active when
mop_select = 1. If you use operator panel, it is the single motor-driven potentiometer.

mop2_multiply

mop2_multiply 8192 -32768 32767 //
Second motor-driven potentiometer ratio

Second motor-driven potentiometer elaboration block multiplication coefficient.
mtr_opr _pot2_out
F_ en F2_MOP_UP
F_ en F2_MOP_DOWN
up
c_mop2_input P
P 10 V
dwn 2
P mop2_multiply
P mop2_maximum
P mop2_minimim
MOP2 P mop2_up_rate
P mop2_down_rate
P mop_select
 
mop2_maximum mop2_minimim
mop2_maximum 9011 -32768 32767 //
mop2_minimim 7373 -32768 32767 //
Second motor-driven potentiometer limits

These are the maximum and minimum limits for regulating the second motor-driven potentiometer
ratio.
 
mop2_up_rate mop2_down rate
PAGE 104 OF 221

mop2_up_rate 1 -32768 32767 //

mop2_down rate 1 -32768 32767 //

This is the acceleration and deceleration velocity of the second motor-driven potentiometer ratio
upon the control to increase or reduce.
See Mpcascade_uprate Mpcascade_dnrate

mtr_opr_pot2_out
mtr_opr_pot2_out
PAGE 105 OF 221

FB mop3

c_mop3_input

c_mop3_input set_to_analog_0 v_0 num_vars //
Third motor-driven potentiometer input variable configuration

Connection of the signal to be modified in the third motor-driven potentiometer. It is active when
mop_select = 2. If you use operator panel, it is the tension1 motor-driven potentiometer or the %
dandy roller motor-driven potentiometer depending on the configuration.

mop3_multiply

mop3_multiply 8192 -32768 32767 //
Third motor-driven potentiometer ratio

Third motor-driven potentiometer elaboration block multiplication coefficient.
 
mop3_maximum mop3_minimim
mop3_maximum 8192 -32768 32767 //
mop3_minimim 0 -32768 32767 //
Third motor-driven potentiometer limits

These are the maximum and minimum limits for regulating the third motor-driven potentiometer
ratio.
PAGE 106 OF 221

 
mop3_up_rate mop3_down_rate
mop3_up_rate 1 -32768 32767 //
mop3_down_rate
1 -32768 32767 //
Ratio variation speed

This is the acceleration and deceleration velocity of the third motor-driven potentiometer ratio upon
the control to increase or reduce.
See Mpcascade_uprate Mpcascade_dnrate

mtr_opr_pot3_out
mtr_opr_pot3_out
PAGE 107 OF 221

FB mop4

c_mop4_input

c_mop4_input set_to_analog_0 v_0 num_vars //
Fourth motor-driven potentiometer input variable configuration

Connection of the signal to be modified in the fourth motor-driven potentiometer. It is active when
mop_select= 3. If you use operator panel, it is the tension2 motor-driven potentiometer or the %
hehper motor-driven potentiometer depending on the configuration.

mop4_multiply

mop4_multiply 8192 -32768 32767 //
Fourth motor-driven potentiometer ratio

Fourth motor-driven potentiometer elaboration block multiplication coefficient.

mop4_maximum mop4_minimim
mop4_maximum 8192 -32768 32767 //
mop4_minimim 0 -32768 32767 //
Fourth motor-driven potentiometer limits

These are the maximum and minimum limits for regulating the fourth motor-driven potentiometer
ratio.
PAGE 108 OF 221

 
mop4_up_rate mop4_down_rate
mop4_up_rate 1 -32768 32767 //
mop4_down_rate 1 -32768 32767 //

This is the acceleration and deceleration velocity of the fourth motor-driven potentiometer ratio
upon the control to increase or reduce.
See Mpcascade_uprate Mpcascade_uprate Mpcascade_dnrate.

mtr_opr_pot4_out
mtr_opr_pot4_out
PAGE 109 OF 221

multiply

mul_op_hiHI mul_op_hiLO mul_op_loHI mul_op_loLO
mul_op_hiHI
mul_op_hiLO
mul_op_loHI
mul_op_loLO
PAGE 110 OF 221

divide

c_dividend c_divisor
c_dividend set_to_analog_0 v_0 num_vars //
c_divisor set_to_analog_0 v_0 num_vars //
Divisor block input variable configuration

div_scale
Div_scale 0 -32768 32767 //
Divider
c_dividend
P
417 dividend
divider_out
366
divisor
X div_scale V
c_divisor
P
418
419 P div_scale
Normalisation factor
The block output is expressed by the following formula:
divider_out = (c_dividend / c_divisor) x div_scale.

divider_out
div_op
PAGE 111 OF 221

sincrocut

delta_cut_lo
Parameter name Default Min V/A Phys. unit displayed

Delta_cut_lo 0 -32768 32767 //
Register cut cutting length

Cutting length, least significant part.

delta_cut_hi

Delta_cut_hi 0 -32768 32767 //
Register cut cutting length

Cutting length, most significant part.

reverse_pos_lo

reverse_pos_lo 0 -32768 32767 //
Trolley inversion point

Trolley inversion point, least significant part.

reverse_pos_hi
reverse_pos_hi 0 -32768 32767 //
Trolley inversion point

Trolley inversion point, most significant part.

c_vlin_cut
c_vlin_cut v_0 v_0 num_vars //
Fast cut linear velocity variable configuration

cut_leangth
cut_leangth 0 -32768 32767 //
Cutting length
PAGE 112 OF 221


excurtion_lo
excurtion_lo 32767 -32768 32767 //
Not used

excurtion_hi
excurtion_hi 32767 -32768 32767 //
Not used

excrt_margin
excrt_margin 100 -32768 32767 //
Not used
PAGE 113 OF 221

positioning

pos_sh
pos_sh 0 0 16 //
Cutting length multiplier to the power of 2.

The parameter multiplies the register cutting length by 2^pos_sh.
The cut format is therefore the following:
format = (delta_cut_hi*65536+delta_cut_lo) * 2^pos_sh

accelerat vel_max_pos
accelerat 40 0 32767 //
vel_max_pos 16000 0 32767 //
Positioner
Work parameters relative to the internal positioning system.
accelerat is the acceleration during the positioning and vel_max_pos is the velocity at the end of the
acceleration phase.

c_posiz_ref
c_posiz_ref par1_sw v_0 num_vars //
Position reference variable configuration

soft_arrival
soft_arrival 0 0 16
Positioner velocity reference rounding
PAGE 114 OF 221


posiz_int_nHI posiz_int_nLO
posiz_int_nHI
posiz_int_nLO

posiz_op_HI posiz_op_LO
posiz_op_HI
posiz_op_LO

delta_tglioHI delta_tglioLO
delta_tglio_HI
delta_tglioLO

pos_fbHI pos_fbLO
pos_fbHI
pos_fbLO

pos_ref_normHI pos_ref_normLO
pos_ref_normHI
pos_ref_normLO
PAGE 115 OF 221


cut_error
cut_error

posiz_vel
posiz_vel

posiz_op2
posiz_op2

posiz_vel_new
posiz_vel_new

ramp_shift
ramp_shift

posiz_int
posiz_int
PAGE 116 OF 221

longs

ls_shift1 ls_shift2 ls_shift3 ls_shift4 c_ls_ip1 c_ls_ip2 c_ls_ip3

c_ls_ip4
ls_shift1 10 0 16 //
ls_shift2 10 0 16 //
ls_shift3 10 0 16 //
ls_shift4 10 0 16 //
c_ls_ip1 10 0 Num_vars //
Dividers for variable long to short conversion

The shift defines the number to the power of 2 at the denominator, while the configuration
parameters select the variable to be divided (see the specific variables list).

from_s_l1HI from_s_l1LO from_s_l2HI from_s_l2LO
from_s_l1HI /
from_s_l1LO /
from_s_l2HI /
from_s_l2LO /

ls_op1 ls_op2 ls_op3 ls_op4
ls_op1 /
ls_op2 /
ls_op3 /
ls_op4 /
PAGE 117 OF 221

current_int_gain Timing Priorities

Time priority

func_conf
func_conf 0 -32768 32767 //
Operating mode configuration

The enc2 input frequency rather than
fe2_enc2_not_1 1 0
encoder1
The enc2 input measurement by 2 rather
fe2_t2nt4 2 1
than by 4
Traditional current PI rather than
fe2_pid 4 2
predictive
phase_seq_all Phase_seq_all disablement once running 8 3
phase_rst_all Phase_rst_all disablement once running 16 4
fe2_can2_enable Can2 enable instead of anybus 32 5
fe2_unsig_muldiv Muldiv without sign 64 6
fe2cascad_recalc K_cascata recalculated by references 128 7
fe2_can_fres Fast can reset 256 8
fe2_no_can_error Can error does not remove run consent. 512 9
Enable can error rather than connection
fe2_caner_con 1024 10
error.
Synchronises can and calculates cascade on
fe2_sinc_onref 2048 11
the reference node
Automatic memorisation of reduction ratio
fe2_auto_eep 4096 12
and diameter on EEPROM
Dynamic anti wind-up in speed regulator
fe2_dynamic_awind 8192 13
enable.
fe2_extfltdel External fault delay 16384 14
fe2_DELTA_CUT Flying cut function 32767 15
PAGE 118 OF 221


func_conf2
func_conf2 0 -32768 32767 //
Operating mode configuration

fast_dac_ouput Fast output on DAC 1 0
Flying cut function enabled: the motor
Home prox_enable turns backwards upon enablement until 2 1
arriving in proximity of home
no_awind_pid Auxiliary PID anti wind-up disabled. 4 2
no_awind_spdlp Speed loop PI anti wind-up disabled. 8 3
Adaptation of the velocity increase as a
kv_j_adapt 16 4
function of the total inertia
The tension_lo and the tension_hi
c_tens_hilo_soft parameters become software 32 5
configuration parameters
When digital inp 1 is on the speed
fc2_zeroref_star 64 6
reference, then always start from zero.
Voltage and current regulator,
fc2_voltcurr_ind 128 7
independent for annealer.
When digital inp 1 turns off, the firing
fc2_zeroIwaitoff pulse goes off without wait the zero 256 8
current.
Alarm V supply related with V armature
fc2_Vratio alarm 512 9
enabled.
fc2_dc_bus Configuration for DC bus bidirectional. 1024 10
Don’t wait zero current for bridge
fce_unidir 2048 11
inversion.
Ang_max_alarm Maximum angle alarm enabled. 4096 12
fc2_fast_sinc Fast synchronization of firing pulse. 8192 13
Field regulator in current mode with line
current_reg_linevolt 16384 14
voltage feedback.
Field regulator in current mode with
current_reg_varm_max 32767 15
armature voltage feedback.
PAGE 119 OF 221


time_priority1-1time_priority1-2time_priority1-3time_priority1-
4time_priority1-5time_priority2-1time_priority2-2time_priority2-
3time_priority2-4time_priority2-5time_priority2-6time_priority2-
7time_priority2-8
time_priority1-1 0 0 15 //
Internal function execution

In certain cases, it may be necessary to modify the software execution sequence. This is made
possible by the 15 parameters listed.
The default values guarantee correct converter operation; any changes must be discussed with the
ETD technical office.
In the event in which the RPM to m/min velocity conversion block is used, it will be placed in
time_priority1-1
The following table lists the numbers corresponding to the routine software functions:
Function Description Number value
func_dummy No function 0
Spd_loop_enable Speed loop enable 1
Lowpassflt1_en firstlow pass filter enable 2
Lowpassflt2_en Second low pass filter enable 3
Notch_filter_en Notch filter enable 4
Derivative_blk_e Derivative function block enable 5
Muldiv_fw_enable Reference multiply/division block enable 6
Muldiv_fb_enable Feedback multiply/division block enable 7
func_dummy No function 8
Position_en Positioner (space root) 9
func_dummy2 No function 10
PIDaux_enable Auillary PID block enable 11
Slack_takeup_en Slack take up function enable 12
Lowpass_flt4_en Fourth low filter 13
RPM to meters/min speed conversion block
MDV_block_enable 14
(MDV)
Diam_calc_enable Diameter calculator enable 15
tension_calc_en Tension calculation block enable 16
divider_block_en Divisor block enable 17
dp_to_vel Normalization of position delta on scaled speed 18
Vel_to_dp Normalization of speed delta for position loop 19
Lowpassflt2_tcnt Low pass filter 2 on can overflow 20
Deriv_diam_divid Derivative function on diameter divide 21
Func_dummy2 No function 22
PAGE 120 OF 221

Serial communication parameters

Comunicat_s

drive_address
par0 0 0 10000 //
Drive address
Parameter that specifies the software address of the converter used for the remote connection
through the RS422 or RS232 serial line. This must not be modified using the control panel as it is
used by the PC supervisor for incoming recognition. The value must correspond to that written in
the canmy_nd parameter.

baud_rate
baud_rate 1 0 3 baud/s
Transmission velocity
Sets the serial line transmission velocity in Kbit/s.

canmy_nd
canmy_nd 0 0 32767 //
Package 1 identification in transmission and drive address.

The identification for package 1 in transmission is the canmy_nd parameter. Every drive that
features the canrf_nd or card_nd2 settings at canmy_nd receives the data package. Naturally, if
more than one drive transmits its package with the same identification, the data received from the
drives may be incompatible because they come from different sources.
The data transmitted is that described by parameters cantx_d1, cantx_d2, cantx_d3 and cantx_d4
and reception is completely disconnected from the reception. The package is transmitted upon
reception of the synchronism, after a suitable delay set by the cansync_del parameter.

buf_width
buf_width 0 -32768 32767 //
Circular buffer width

Number of variables to be memorised in the circular buffer.
PAGE 121 OF 221


sw_key
sw_key 0 -32768 32767 //
SW key
Serves to prevent some operations from being carried out involuntarily.

SWK_SER_MDB Parameter entry via modbus enablement 1 0
SWK_CAN_CASC Cascade parameter entry via CAN enablement 2 1
SWK_CAN_PAR Parameter entry via CAN enablement 4 2
SWK_SER_DOP Parameter entry via DOP enablement 8 3
SWK_ANY_BUS Parameter entry via anybus enablement 16 4
SWK_PAR_F_V Parameter entry by variables enablement 32 5
SWK_DEFLT_LD Default loading enablement 64 6
128 7
256 8
512 9
1024 10
2048 11
4096 12
8192 13
16384 14
-32768 15

par_comand
par_comand /
PAGE 122 OF 221

serial_tps

serial_tp01 serial_tp02 serial_tp03 serial_tp04 serial_tp05 serial_tp06
serial_tp01 0 0 32767 //
serial_tp02 0 0 32767 //
serial_tp03 0 0 32767 //
serial_tp04 0 0 32767 //
serial_tp05 0 0 32767 //
serial_tp06 0 0 32767 //
Test-point configuration
This series of parameters determines the variables to be transmitted to the PC supervisor for the
display.

rx0_timout
rx0_timout 1 0 32767 //
Serial timeout
Parameter for internal use, do not modify.

c_diag_rec1 c_diag_rec2
c_diag_rec1 v_0 v_0 num_vars //
c_diag_rec2 v_0 v_0 num_vars //
Circular buffer variables configuration

diagn_ts
diagn_ts 0 0 32767 //
Circular buffer sampling time
PAGE 123 OF 221


tx_par_num tx_var_num
tx_par_num /
tx_var_num /

error_rec_ptr error_aux

error_rec_ptr /
error_aux /

diagn_v1 diagn_v2
diagn_v1 /
diagn_v2 /

vel_norm_2_15
vel_norm_2_15 /
PAGE 124 OF 221


err_rec1 err_rec2 err_rec3 err_rec4 err_rec5 err_rec6 err_rec7

err_rec8
not in ver 16,17
err_rec1 /
err_rec2 /
err_rec3 /
err_rec4 /
err_rec5 /
err_rec6 /
err_rec7 /
err_rec8 /

stat_re1 stat_re2 stat_re3 stat_re4 stat_re5 stat_re6 stat_re7 stat_re8
not in ver 16, 17
stat_re1 /
stat_re2 /
stat_re3 /
stat_re4 /
stat_re5 /
stat_re6 /
stat_re7 /
stat_re8 /

tp1 tp2 tp3 tp4 tp5 tp6
not in ver 16, 17
not in tp1

tp6
PAGE 125 OF 221

can

can_baudr
can_baudr 1000 0 1000 //
Drive can line transmission baud-rate setting

In a can line, all the drives must have the same baud-rate.
To select the baud-rate, refer to the following table, which connects the maximum distance between
the two can nodes and the maximum permitted baud-rate.
Line length Max baud-rate

<25 metres 1000
<50 metres 500
<80 metres 250
Note. It is necessary to switch the drive off and back on again so that the parameter is activated by
the card.

can_tx_frequ
can_tx_frequ 0 0 32767 //
Data package 1 transmission frequency.

The basic period is that of the velocity ring internal cycle. The can_tx_frequ parameter indicates
when the data package 1 is transmitted.
Package 1 is only transmitted if the parameter is not set at zero.
Note. In order to verify the effective transmission frequency and to avoid any package transmission
conflicts, check the data present on the bus using the oscilloscope.

sinc_id
sinc_id 1024 -32768 32767
Synchronism address
Establishes at which node the inverter synchronises its data package.
PAGE 126 OF 221


canrf_nd
canrf_nd 1 0 32767 //
Package 1 reception identification.

When a package is transmitted whose identification coincides with canrf_nd, the corresponding
data is deposited in the canrx_d1, canrx_d2, canrx_d3 and canrx_d4 variables. The data remains the
same until the reception of the next package without setting off a warning (timeout). The drive
continues to receive the parameters, even if there is no transmission from the same (reception
channel always open).

canmy_nd2
canmy_nd2 0 0 32767 //
Package 2 transmission identification

The identification for package 2 in transmission is the canmy_nd2 parameter. Every drive that
features the canrf_nd or card_nd2 settings at canmy_nd2 receives the data package. Naturally, if
more than one activation transmits its package with the same identification, the data received from
the activations may be incompatible because they come from different sources.
The data transmitted is that described by parameters cantx_d1, cantx_d2, cantx_d3 and cantx_d4
and reception is completely disconnected from the reception. The package is transmitted upon
reception of the synchronism, after a suitable delay set by the cansync_del parameter.

canrf_nd2
canrf_nd2 2 0 32767 //
Package reception 2 identification.

When a package is transmitted whose identification coincides with canrf_nd2, the corresponding
data is deposited in the canrx2_d1, canrx2_d2, canrx2_d3 and canrx2_d4 variables. The data
remains the same until the reception of the next package without setting off a warning (timeout).
The drive continues to receive the parameters, even if there is no transmission from the same
(reception channel always open).
PAGE 127 OF 221


can_tx2_freq
can_tx2_freq 1 0 32767 //
Data package 2 transmission frequency.

The basic period is that of the velocity ring internal cycle. The can_tx2_frequ parameter indicates
when the data package 2 is transmitted.
Package 2 is only transmitted if the parameter is not set at zero.
Note.
In order to verify the effective transmission frequency and to avoid any package transmission
conflicts, check the data present on the bus using the oscilloscope.

cantx_d1 cantx_d2 cantx_d3 cantx_d4
cantx_d1 Tcnt1LO v_0 num_vars //
cantx_d4 v_0 v_0 num_vars //
Indexes of the variables transmitted in the can data package 1

The can data package comprises 4 data words. The words that make up the package are the
variables indicated by the parameters cantx_d1, cantx_d2, cantx_d3 and cantx_d4. The package is
transmitted upon reception of the synchronism package and after the delay set in the cansync_del
parameter and only if canmy_nd is not set at zero.

cantx2_d1 cantx2_d2 cantx2_d3 cantx2_d4
cantx2_d1 v_0 v_0 num_vars //
Indexes of the variables transmitted in the can data package 2

The can data package comprises 4 data words. The words that make up the package are the
variables indicated by the parameters cantx2_d1, cantx2_d2, cantx2_d3 and cantx2_d4. The
package is transmitted upon reception of the synchronism package and after the delay set in the
cansync_del parameter and only if canmy_nd2 is not set at zero.
PAGE 128 OF 221


canbrd_v1
canbrd_v1 v_0 v_0 num_vars //
Broadcast (global) variable 1 configuration

The drive is able to transmit to all the cards connected in 2 global variable can. These global
variables are present at the same time in all the cards, without setting the reception filters. The
variables are indicated by can_br1.. can_br10. The variable is only transmitted if the canbrd_id
parameter is not set at zero and the variable is transmitted upon reception of the synchronism after
the suitable delay set in the cansync_del parameter.

canbrd_id
canbrd_id 0 0 10 //
Transmitted global variable index (or identification).

The variable (indicated by canbrd_v1) is only transmitted if the canbrd_id parameter is not set at
zero and the variable is transmitted upon reception of the synchronism after the suitable delay set in
the cansync_del parameter.

canbrd_v2
canbrd_v2 v_0 v_0 num_vars //
Broadcast (global) variable 2 configuration.

The drive is able to transmit to all the cards connected in 2 global variable can. These global
variables are present at the same time in all the cards, without setting the reception filters. The
variables are indicated by can_br1.. can_br10. The variable is only transmitted if the canbrd_id2
parameter is not set at zero and the variable is transmitted upon reception of the synchronism after
the suitable delay set in the cansync_del parameter.

canbrd_id2
canbrd_id2 0 0 10 //
Transmitted global variable index (or identification).

The variable (indicated by canbrd_v2) is only transmitted if the canbrd_id2 parameter is not set at
zero and the variable is transmitted upon reception of the synchronism after the suitable delay set in
the cansync_del parameter.
PAGE 129 OF 221


can_s_tx_freq
can_s_tx_freq 0 0 32767 //
Synchronism transmission frequency.
If the parameter is not set at zero, the drive is enabled to transmit the synchronism on the can line.
The synchronism is necessary for the bus package transmission to be as compact and regular as
possible. All the drives connected in can will make the start of the velocity ring task coincide with
the reception of the synchronism. The transmission of the packages can therefore be synchronised
so as to create a situation in which every drive transmits in a specific moment with respect to the
synchronism.
If several cards transmit the synchronisation package, the synchronisation fails.
If the parameter is set at a value other than zero, the sync_cormax parameter is automatically reset.

sync_cormax
sync_cormax 0 0 20 //
Maximum cycle time correction

In order to synchronize the can signal, the internal cycle time is varied (current ring). If the
can_s_tx_freq parameter is set at a value other than zero, the sinc_cormax parameter is
automatically reset.
Note. Do not set values other than 0, 1 or 2.

cansync_del
cansync_del 0 0 200 //
Package transmission delay with respect to the synchronism signal.

Use an oscilloscope to check the effective transmission delay.

pwm_time
pwm_time 30000 0 32000 //
Data transmission time in the absence of synchronism

The value is expressed in multiples of the internal cycle.
PAGE 130 OF 221


can_tx_no
can_tx_no

canrxd1 canrxd2 canrxd3 canrxd4

canrx2d1 canrx2d2 canrx2d3 canrx2d4
canrxd1
canrxd2
canrxd3
canrxd4
canrx2d1
canrx2d2
canrx2d3
canrx2d4

can_rxb0 can_rxb1 can_rxb2 can_rxb3 can_rxb4 can_rxb5 can_rxb6

can_rxb7 can_rxb8 can_rxb9
can_rxb0

can_rxb9
Variables received via broadcast

can_cntrl_r
can_cntrl_r
Internal use

can_stat_r
can_stat_r
Internal use
PAGE 131 OF 221


can_cpui_r
can_cpui_r
Internal use

can_brx_r
can_brx_r
Internal use

can_prx_r
can_prx_r

can_vrx1r can_vrx2r
can_vrx1r
can_vrx2r

can_par_rqst
can_par_rqst

can2_cntrl_r
can2_cntrl_r
PAGE 132 OF 221


can2_stat_r
can2_stat_r

can2_cpui_r
can2_cpui_r

can2_vrx1r can2_vrx2r
can2_vrx1r
can2_vrx2r

can2_int_cnt
can2_int_cnt

can2_int_mis
can2_int_mis

can1_res_cnt can2_res_cnt
can1_res_cnt
can2_res_cnt
PAGE 133 OF 221


int_reg_can2
int_reg_can2

srx_reg_can2
srx_reg_can2

tinter_sinc
tinter_sinc

can_error_count
can_error_count
PAGE 134 OF 221

any_bus

c_any_tx0 c_any_tx1 c_any_tx2 c_any_tx3 c_any_tx4 c_any_tx5

c_any_tx6 c_any_tx7 c_atx8_baud c_atx9_frq c_atx10_my c_atx11_ref

c_atx12_my2 c_atx13_rf2 c_atx14_sync c_atx15_res
c_any_tx0 par1_sw v_0 num_vars //
c_atx8_baud par1_sw v_0 num_vars //
c_atx9_frq par1_sw v_0 num_vars //
c_atx10_my par1_sw v_0 num_vars //
c_atx11_ref par1_sw v_0 num_vars //
c_atx12_my2 par1_sw v_0 num_vars //
c_atx13_rf2 par1_sw v_0 num_vars //
c_atx14_sync par1_sw v_0 num_vars //
c_atx15_res par1_sw v_0 num_vars //
Parameters with dual any-bus or can-breakover configuration function.

If any-bus is the selected function, then bit5=0, these parameters determine the 16 variables that are
transmitted on anybus. If this is not the case ( bit5=1), the function with the can breakover card has
been selected:
c_any_tx0 … c_any_tx3 are the configuration of the variables transmitted with the can
c_any_tx10_my node.
c_any_tx4 … c_any_tx7 are the configuration of the variables transmitted with the can
c_any_tx12_my2 node.
c_atx8_baud is the can transmission baud-rate. Possible values are 1000, 500, 250 and 125.
c_atx11_ref is indicative of the message being read. Ever time a message is read with the
identification corresponding to this parameter, the data in the message is saved in the any_rx0 …
any_rx3 variables. Transmission of its own node is also automatically caused.
c_atx9_frq is the maximum time period (in task2 counts) with which a can breakover message is
transmitted. If you wish to transmit every time you receive a message with the reference
identification, you need to enter a large number in this parameter.
PAGE 135 OF 221

 
any_rx0 any_rx1 ... any_rx15
any_rx0

any_rx15

diagn1any diagn2any diagn3any diagn4any diagn5any
not in ver 16,17
diagn1any
diagn2any
diagn3any
diagn4any
diagn5any

apl_indi any_indi any_error
apl_indi
any_indi
any_error
PAGE 136 OF 221

conv_tab
 
c_conv_t0 … c_conv_t47
c_conv_t0 0 0 2000 //

c_conv_t47 0 0 2000 //
Remote instrument parameters

Data used for the configuration of the remote instrument via serial line. In order to understand the
meaning of these parameters, consult the DOP 2001 manual.
PAGE 137 OF 221

Software parameters
Preset values

jog_preset_val_1 slackpreset_val2 preset_value_3 preset_value_4

preset_value_5 preset_value_6 preset_value_7 preset_value_8

preset_value_9preset_value_10 preset_value_11 preset_value_12

preset_value_13
jog_preset_val_1 0 -32768 32767 //
slackpreset_val2 0 -32768 32767 //
preset_value_3 0 -32768 32767 //
preset_value_4 0 -32768 32767 //
preset_value_5 0 -32768 32767 //
preset_value_6 0 -32768 32767 //
preset_value_7 0 -32768 32767 //
preset_value_8 0 -32768 32767 //
preset_value_9 0 -32768 32767 //
preset_value_10 0 -32768 32767 //
preset_value_11 0 -32768 32767 //
preset_value_12 0 -32768 32767 //
preset_value_13 0 -32768 32767 //
Parameters and internal variables for generic use

These values can be used at any point.
The first two are enabled via switch.
The variables corresponding to the parameters are swIntrnl_sp1jog, swintrnl_sp2slck,
Internal_setpt3 and Interntal_setpt4. Variable swIntrnl_sp1jog takes on the value 0 if the function
F_JOG_INTREF1_EN is not enabled, while it takes on the value of parameter jog_preset_val_1 if the
function is enabled. The same thing happens with jog_preset_val_1, slackpreset_val2 through the
F_SLK_INTREF2_EN switch
The variables Internal_setpt3, Interntal_setpt4 take on the value of parameters preset_value_3,
preset_value_4 but without passing through a switch..
For example:
preset_value_3= 4444
Internal_setpt3 = 4444 continually updated by the drive
PAGE 138 OF 221

F_JOG_INTREF1_EN
swIntrnl_sp1jog
F_ en
Jog_preset_val_1
195
P V
153
F_SLK_INTREF2_EN
swIntrnl_sp2slck
F_ en
Slackpreset_val2 196
P V
154
Internal_ setpt3
Preset_value_3
197
P V
155

swIntrnl_sp1jog 
swIntrnl_setpt2 … Internal_setpt13
swIntrnl_sp1jog /
swintrnl_sp2slck /
Internal_setpt3
Interntal_setpt4
Interntal_setpt5 ---
Interntal_setpt13 /
PAGE 139 OF 221

Reading and writing parameters

par_wr_v

c_par_rd_indx
c_par_rd_indx par1_sw v_0 num_vars //
Reading the value of a parameter

The reading takes place by means of the par_rd_value variable.
For example:
If you want to read the value of the Speed proportional gain parameter.
Select a generic parameter as a support for using the relative variable.
Preset_value_3= number of the parameter being read = 35 (the number depends on the software
version).
c_par_rd_indx = Preset_value_3 =197 (the number depends on the software version) this number
represents the variable 197 which, in our case, has the value of 35.
In the par_rd_value variable, the value of the Speed proportional gain parameter is contained.
PAGE 140 OF 221


c_par1_wr_indx c_par2_wr_indx c_par3_wr_indx c_par1_wr_value

c_par2_wr_value c_par3_wr_value
c_par1_wr_indx v_0 v_0 num_pars //
c_par1_wr_value v_0 v_0 num_vars //
Writing variables on parameters

The purpose of this block is to convert a standard parameter that normally only can have data
(numbers) entered to it, to a connectable parameter. The best way to describe this function is through
an exaple as below:
In order to use this function a pair is required that is the indx and the value with the same number.
Secondly a preset value block must also be utilized. So for the example the destination parameter to be
converted is “norm_2_multipy” #186 and we want to control this parameter though analog input 1.
To do this the parameter number of the destination is entered into preset value 3 which is the number
186. Then the output of the preset value 3 which is “Inernal_setpt3” is connected to “c_par1_wr_indx”
and Analog_inp_1 is connected to “c_par1_wr_value”. This will now send the analog value of input
one to the multiply parameter of Norm2 and control it actively. In order to activate the writing, the
sw_key parameter must be = 32= bit5.
There are three sets of the read/write parameters allowing to control 3 independent signals in the
manner of the forementioned example.

par_rd_value
par_rd_value /
Page 141 of 221

Page 142 of 221

Servodiameter / Tension control

Introduction
The servodiameter – tension control block can be enabled to calculate the diameter and the tension
reference. The block operations are activated by calling up function 15 (“dia_calc” or diameter
calculation) and function 16 (“tension_calc” or material tension calculation) in the timing priority
cycle.
In order to be able to use the block in the regulation system, it is also necessary to have some additional
blocks available:
the auxiliary PI regulator (optional, depending on the type of tension regulation system that you intend
to implement)
the derivative block for inertia compensation (DERIV)
the MULDIVFW block for calculating the motor reference from the line reference.
The motor-drive potentiometer mop4 for increasing/reducing the diameter.
In order to make these blocks work, you must enable the settings in parameters timing priorities
time_priority1-1 thru
time_priority2-8
Radius/Diameter calculation
The diameter calculation can be performed in two different ways:
 ratio between the line speed and the winder speed of the motor coupled with the winder
line speed = motor speed x diameter).
 pulses from a sampled metric wheel in proximity to the winder revolution.
Page 143 of 221

In the first case, you must have access to the main motor speed (or the line speed reference) and the
velocity measured by the winder/unwinder. The block uses the absolute value of the two speeds for the
correct calculation of the instantaneous winder diameter (see diam_normalise).
F_en
The diameter calculation enablement takes place as soon as the line speed exceeds the threshold set by
the min_linespd parameter.
Once the pulse counters connected to c_winder_spd_in and c_line_spdref_in have both exceeded the
radc_pulses threshold, the rad_ist variable is updated and the two pulse counters are reset.
The line velocity integral is normalised by the diam_normalise parameter and is divided by the winder
motor angular speed integral in order to obtain the diameter.
The output of the above calculation is limited between the two min_diameter and max_diameter values.
The limited value is the rad_ist variable.
Page 144 of 221

Thev rad_ist ariable is then passed through a ramp block that limits the output increase or decrease
possibilities. The ramp settings are made in the same way as those of the motor-driven potentiometer
mop4 (see mop4_up_rate and Mpcascade_uprate, Mpcascade_dnrate).
The ramp block output value is further filtered through a specific filter with a cutting frequency set by
lfrad_freq
.
Should you wish to load an initial diameter, you have the mop4_multiply parameter available. In this
case, if the f2_daicalc_stop is enabled, the initial diameter is forced (see parameterdigital_inp1-1) and
the initial diameter is also loaded in the internal filter register.
In the event in which it is necessary to limit the winder diameter calculation in increase or decrease
only, it is possible to enable the two flags f2_dia_up_disable and f2_dia_dwn_disable in order to force
the drive and update the up or down diameter calculation (see parameter digital_inp1-1), or you can
limit the increase or decrease of the ramp by setting mop4_up_rate or mop4_down_rate at zero.
Page 145 of 221

In the second case, you must have access to the line encoder and use a drive proximity to sample the
instantaneous bobbin radius (channel z of the corresponding encoder input). The sample value is
deposited in the two
enc1_d_hld and enc2_d_hld variables, depending on the channel used. You can use the first block
described in order to make use of its potentials. The connections in the following list need to be made:
1. c_line_spdref_in=
2. enc1_d_hld;
3. c_line_spdref_in =
4. enc1_d_hld to divided by a positive number;
5. radc_pulses = 0 in order to calculate the diameter rad_ist
6. for every cycle;
Page 146 of 221

Tension control
The purpose of the regulator is to maintain the tension on the material at the set value, independently
from the line speed, diameter and motor torque variations.
The tension reference is principally elaborated by two blocks:
1) tension reference on the basis of the current diameter (see following figures and parameters
min_diameter , max_diameter,tension_hi and tension_lo
V(torq_ref1)
V(rad_If)
2) Warning the tension_hi and tension_lo parameters may become software configuration,
therefore variables and not numbers are set in them if bit 5 (c_tension_hilo) is set in the
func_conf2 parameter.
3) torque reference elaboration with motor flux compensation (see figure).
Page 147 of 221

F_e n
F_en
This second block makes it possible to invert the rotation direction of the winder / unwinder if, at the
same time as the material tension mark change, the line speed reference sign is inverted.
Page 148 of 221

The inertia and friction compensation of the winder/unwinder are calculated by a specific block. The
compensations made are:
1) winder core inertia (see j_inertia_core);
2) winder inertia (see Materialspecwght and material_width);
3) dynamic_friction (force that opposes rotation in proportion to speed (see dynamic_friction);
4) static_friction, or rather the force (constant) which opposes bobbin rotation (see
static_friction).
The parameters are calculated automatically calculated using the autotuning procedure (see at_comand
The speed reference for the winder/unwinder is calculated by the drive, by enabling the muldivfw
block. The drive configuration must provide a value as multiplier coefficient which, as we will see in
the examples, depends on the situation, and as denominator for the rad lf variable.
With the at_comand
= 30, the block and other servodiameter functions are automatically configured.
At_comand=30.=>
Warning. It configures the following tension control parameters. The command must be confirmed
with the sw_key parameter.
c_line_spdref_in = encoder_2_fdbk
c_winder_spd_in = encoder_1_fdbk
c_wind_dynamc_in = encoder_1_fdbk
c_derivative_inp = encoder_1_fdbk
derivative_gain = 5
derivative_scale = 0
deriva_gain_flt = 12
time_priority2-6= 15
time_priority2-7= 16
time_priority2-5= 5
preset_value_13= kdiv_fw parameter number (depends on the sw version)
c_par3_wr_indx = Interntal_setpt13
c_par3_wr_value = rad_lf
Page 149 of 221

The following two tension regulation diagrams can be implemented:
1) configuration with calculated current limit regulation in order to obtain the desired tension
and saturated speed loop (see figure). We will call this configuration open loop tension
regulator.
parameters to be configured:
c_curr_limit_pos = torque_current
c_curr_limit_neg = torque_current
c_delta_pos_ref1 = variable that contains the line speed
c_delta_pos_ref2 =delta_volt_ref
c_spd_ref_1 = delta_pos_rf_nrm
kdiv_fw = configured automatically with the radlf.
kmul_fw = is explained in the following examples.
Page 150 of 221

2) configuration with regulation of the speed reference in order to obtain the necessary armature
current for maintaining the desired material tension (see figure). We will call this
configuration closed loop tension regulator.
Parameters to be configured:
c_spd_ref_1 = delta_pos_rf_nrm
c_spd_ref_2 = PI_output
c_PID_ref1_inp = torque_reference
c_PID_fbk1_inp = torq_obs
c_delta_pos_ref1 = variable that contains the line velocity
kdiv_fw = configured automatically with the radlf.
kmul_fw = is explained in the following examples.

if you want to adapt the speed PI increase on the basis of the total inertia of the reel, it is necessary to
enable bit 4 (kv_j_adapt) in the func_conf2 parameter.
It is also possible to implement other systems if you have a dandy roller or loading cell at your
disposal.
The main variables provided by the drive are:

1) torque_disturb which is the overall torque resulting from all the compensations;
2) torque_current which is the sum of the variable torque_reference and torque_disturb;
3) torq_obs which is the difference between Iarm reference and torque_disturb.
4) tension_refer is the material tension reference.
5) torque_reference is the motor current reference for obtaining the desired material tension.
6) radlf is the filtered winder radius
7) kmfi is the motor torque constant and comprises the flux compensation.
Page 151 of 221

EXAMPLE 1:
Parameter kmul_fw setting for velocity normalisation.
For all motors:
encoder1D reduction ratio linespeed max

kmul_fw 
64 370597
For example:
1024 1000 220

kmul_fw  9.5
64 370597
if:
reduction ratio = 1
maximum line speed = 220m/min
encoder ppr number = 1024
Warning: if kmul_fw exceeds the variable radlf. at the minimum value, or rather at the minimum
radius, the muldiv block output would be over 32767 and this is not permitted. In this case it is
necessary to reduce the maximum line velocity.
Page 152 of 221

Page 153 of 221

EXAMPLE 2:
Line Speed Max=220m/min=32767ui
Muldivfw Muldivfw Muldivfw Muldivfw
Kmul_fw Kmul_fw Kmul_fw Kmul_fw
Kdiv_fw Kdiv_fw Kdiv_fw Kdiv_fw
Motor Motor Motor Motor
rr rr rr rr
EDGE WASTE SLITTER

Example 2 TRIMMER
WINDER UNWINDER
For winder:
encoder1D win reduction ratio win radius waste trim

kmul_fw 
encoder1D waste trim reduction ratio x waste trim
kdiv_fw = configured automatically with the radlf variable.
For filament pressure foot:
encoder1D reduction ratio vline max

kmul_fw 
64 370597
kdiv_fw = filament pressure foot radius.
See the filament pressure foot for the shears.

See the unwinder for the winder.
Page 154 of 221

Page 155 of 221

EXAMPLE 3:
Line Speed Max=220m/min=32767ui
Muldivfw
MDV MDV
Kmul_fw BLOCK BLOCK
Kdiv_fw
ENC ENC
Motor Motor Motor
rr rr rr
WINDER Example 3
In this case, there is a line in which the mdv blocks are used on the retroaction in order to transform the
motor revolutions into linear velocity.
For winder:
encoder _ 1 _ ppr reduction ratio linespd _ max

kmul_fw 
64 370597
kdiv_fw = configured automatically with the radlf. variable.
Page 156 of 221

EXAMPLE 4:
Setting diam_normalise on the diameter calculation block.
The diameter calculation will be correct if diam_normalise has been correctly set.
reduction ratio winder encoder _ 1 _ ppr radius master line motor

diam_normalise 
reduction ratio master line motor e ncoder _ 1 _ ppr master line motor
the instantaneous diameter is calculated with line speed ref and winder speed:
rad_ist = configured variable in c_line_spdref_in X diam_normalise

configured variable in c_winder_spd_in
Page 157 of 221

EXAMPLE 5:
Setting diam_normalise on the diameter calculation block.
In this case diam_normalise = kmul_fw.

kdiv_fw is automatically set at rad_lf (also see examples 1 and 2).
Page 158 of 221

servodiam

c_wind_dynamc_in
c_wind_dynamc_in vel1 v_0 num_vars //
Servodiameter block variable configuration

The variable configured here represents the velocity used for compensating the friction forces and
the calculation of the winder/unwinder friction.

j-inertia_scale
j-inertia_scale 1024 -32768 32767 //
Inertia shift
Indicates how much the inertia has moved.

j-inertia_core
j-inertia_core 1024 -32768 32767 //
Core inertia
N.B. For correct tension calculation operation, the derivative block must also be active with
derivative_gain =5
derivative_scale=0
derivat_gain_flt=12
j-inertia_core is measured during autotuning with the phase at_comand=100. It is advised to
measure the friction first and then the inertia compensation.

Materialspecwght,
Materialspecwght 1000 -32768 32767 //
Specific material weight

Together with rad_lf, min_diameter, , and material_width this parameter is used to calculate the
material inertia.

material_width
material_width 100 -32768 32767 mm
Winder width
Together with rad_lf, min_diameter and Materialspecwght this parameter is used to calculate the
material inertia.
Page 159 of 221


wind_gear_ratio
wind_gear_ratio 1000 -32768 32767 //
Winder/unwinder reduction ratio

The numerical value of the parameter corresponds to 1000 times the real value of the reduction
ratio.
For example:
The motor completes 6.2 revolutions for every bobbin revolution.
The corresponding reduction ratio is 1:6.2 and the correct parameter value is 6200.

Motor_Torq_Const
Motor_Torq_Const 1000 -32768 32767 //
Motor torque constant

Transformation from current to torque constant.
rad_max 1024 max imutorquereference

km_torq  
winder_rr maximum pull reference
where:
max_diameter = value set in the parameter in internal units.
wind_gear_ratio= value set in the parameter in internal units.
maximum tension reference = maximum value of the variable configured in c_tension_ref.
maximum torque reference = this value in internal units will be established by the operator,
bearing in mind the motor data and the machine requirements.
It represents the maximum current quantity to be supplied to the motor at the maximum diameter,
excluding compensations. The limit value is 8192 (internal units) corresponding to the drive limit.
EXAMPLE:
max_diameter = 1 metre =1000
wind_gear_ratio= 1:6.2 = 6200
maximum tension reference = 8192
maximum torque reference = we want to obtain the nominal motor current:
Drive_Rated_Iarm= 120A
Motor_Rated_Iarm= 80A = 5461
1000 1024 5461

Motor_Torq_Const   110
6200 8192
Page 160 of 221


tension_hi tension_lo
tension_hi 2000 -32768 32767 //
tension_lo 1000 -32768 32767
Maximum and minimum material tension

The maximum material tension corresponds to the tension value when the diameter is equal to
min_diameter .
The minimum material tension corresponds to the tension value when the diameter is equal to
max_diameter
Refer the following figure:
Warning the tension_hi and tension_lo parameters may become software configuration, therefore
variables and not numbers are set in them if bit 5 is set in the func_conf2 parameter.

min_tension
min_tension 1000 -32768 32767 //
Minimum material tension

(see graph in Tension control chapter).

c_tension_ref
c_tension_ref v_0 v_0 num_vars
Material tension reference variable configuration
(see graph in Tension control chapter).
Page 161 of 221


dynamic_friction
dynamic_friction 1000 -32768 32767 //
Dynamic friction constant

The parameter is calculated automatically by the autotuning procedure with at_comand
= 10.

static_friction
static_friction 1000 -32768 32767 //
Friction constant (static)

The parameter is calculated automatically by the autotuning procedure with at_comand
= 10.

delta_spd_ref
delta_spd_ref 1000 -32768 32767 //
Velocity parameters
Velocity delta used in the open loop tension control (see in Tension control chapter)

max_inertia
max_inertia 32767 0 32767 //
Maximum inertia
Speed loop increase adjustment value at inertia variations on the basis of the following formula:
(par[Kmax_inertia]*var[j_tot])/par[max_inertia)
]

K_max_inertia
K_max_inertia 512 0 32767 //
Speed loop increase adjustment maximum inertia

See the max_inertia parameter.
Page 162 of 221


at_gain_sh
at_increase_sh 15 -32768 32767 //
Autotuning increase transfer constant

If the autotuning does not converge, it is necessary to touch up this parameter.

at_freq
at_freq 15 -32768 32767 //
Autotuning frequency
Parameter linked to the autotuning sinusoid frequency.
Page 163 of 221


j_material
j_material /
Material inertia

j_tot
j_tot /
Total inertia

j_shift
j_shift /

torq_disturb
torq_disturb /
Overall torque resulting from all the compensations

jerr
jerr /

kverr
kverr /

vel_at
vel_at /
Page 164 of 221


torq_obs
torq_obs /
Difference between I_arm_ref and torq_disturb

torque_reference

torq_ref /
Motor current reference for obtaining the desired material tension

tension_refer1 tension_refer
tension_ref1 /
tension_ref
Material tension radius on the basis of the current radius

tension_grad
tension_grad /

kmfi
kmfi /
Motor torque constant and comprises the flow compensation

torque_current
torq_cur /
Sum of the variable I_arm_ref and torq_disturb

delta_volt_ref
delta_vref /
Velocity delta for open ring tension controllers
Page 165 of 221

diameter_calc

c_line_spdref_in c_winder_spd_in
Phys. unit
displayed
c_line_spdref_in delta_pos_rf_nrm v_0 num_vars //
c_winder_spd_in vel1 v_0 num_vars //
Servodiameter block variable configuration

The variables used for the bobbin diameter calculation are configured on these parameters (see
chapter radius calculation)
 
min_diameter max_diameter
min_diameter 100 -32768 32767 mm
max_diameter 1200 -32768 32767 mm
Minimum and maximum winder diameter.

The minimum range is usually set at the same level as that of the core (core diameter/2). The
diameter taken by rad_lf will always be comprises between the two values.

diam_normalise
diam_normalise 100 -32768 32767 //
Diameter normalization constant

Speed normalisation of the line used for the diameter calculation.
diam_normalise = (n2 * r1 * encoder_2_ppr) / (n1 * encoder_1_ppr)

n2 = winder or unwinder reduction ratio.
n1 = roller reduction ratio on the line velocity or on the line speed master motor.
r1 = roller radius on the line speed or on the line speed master motor.
The latter should be set in the same units in which you want to express rad_lf.
F_en
Page 166 of 221


lfrad_freq
lfrad_freq 30000 0 32000 Hz
Calculated radius filter frequency

N.B.: the cutting frequency must be low enough for the bobbin diameter not to interfere with the
normal motor velocity regulation.

radc_pulses
radc_pulses 1200 -32768 32767 //
Encoder pulse delta

Minimum encoder pulse delta number for calculating the radius.

min_linespd
min_linespd 0 0 32767 //
Radius calculation enablement

Line velocity threshold (configured in c_line_spdref_in) beyond which the diameter calculation is
enabled.

rad_lf
rad_lf /
Filtered bobbin radius

rad_ist
rad_ist /
PAGE 167 OF 221

Block System
The drive operating and programming software makes it possible to customise and make use of the
block systems present to suit your own requirements.
The connection of these blocks can be performed using the 790Drive Explorer programmer and can
be obtained in two different ways:
 by writing the number of the variable to be assigned to the parameter in the “UI
Value” field in the central window of the 790Drive Explorer
 by dragging the same from the window on the right, with the variables tree, into the
aforementioned field.
For the schematisation of the connections and the subdivision of the blocks, please refer to the
Schematic Block Diagram (Block System) in PDF format, enclosed with this document.
Note: the SCRy_r00.pdf block systems version is valid for the firmware release from SCRPy16 to
SCRPy16.
To view this document, use the Adobe Acrobat Reader® programme, version 3.0 onwards. This
programme can be downloaded free of charge from the official website
http://www.adobe.com/products/acrobat/.
PAGE 168 OF 221

Commissioning
PAGE 169 OF 221

General parameter information
PAGE 170 OF 221

Table of Parameters
(Numerical)
point # level sub menu description locked
drive_address 0 1 Calibration
baud_rate 1 1 Calibration
canmy_nd 2 1 Calibration
buffer_width 3 1 Calibration
Drive_Rated_Iarm 4 1 Calibration L
Spd_Fdbk_Scale 5 5 Calibration
encoder_1_ppr 6 1 Calibration
spd_fdk_select 8 1 Calibration L
arm_volt@1000rpm 9 1 Calibration
MTRrpm@max_spd 10 1 Calibration
Max_Line_volts 11 1 Calibration L
Min_Line_volts 12 1 Calibration L
Line_period_max 13 1 Calibration L
Line_period_min 14 1 Calibration L
Motor_Rated_Iarm 15 1 Current Loop
I2t_time_overld 16 2 Current Loop
Imax_Brk1_(spd1) 17 2 Current Loop
Spd_Brk1_(low) 19 2 Current Loop
Spd_Brk2_(high) 20 2 Current Loop
Current_Lim_Pos 21 1 Current Loop
Current_Lim_Neg 22 1 Current Loop
c_curr_ref 23 1 Current Loop L
c_curr_feedfwd 24 2 Current Loop L
c_curr_limit_pos 25 2 Current Loop L
c_curr_limit_neg 26 2 Current Loop L
Iarm_limit1_ramp 27 1 Current Loop
awind_noise 29 2 Current Loop
Speed_Offset 30 1 SpdLp1 SpeedLoop
Max_Speed 31 1 SpdLp1 SpeedLoop
Motor_Base_Spd 32 1 SpdLp1 SpeedLoop
Max_Spd_Pos 33 1 SpdLp1 SpeedLoop
Max_Spd_Neg 34 1 SpdLp1 SpeedLoop
Spd_Prop_Gain 35 1 SpdLp1 SpeedLoop
Spd_Integrl_Gain 36 1 SpdLp1 SpeedLoop
Intg_gain_scaler 37 1 SpdLp1 SpeedLoop L
Integral_clamp 38 1 SpdLp1 SpeedLoop
gain_mult_0% 39 2 SpdLp2 AdaptGain
gain_mult_12.5% 40 2 SpdLp2 AdaptGain
PAGE 171 OF 221
dt_lim 48 4 SpdLp2 AdaptGain

Ramp_Accel_Time 49 1 SpdLp3 Ramps
Ramp_Decel_Time 50 1 SpdLp3 Ramps
Ramp2_Accel_Time 51 1 SpdLp3 Ramps
Ramp2_Decel_Time 52 1 SpdLp3 Ramps
S-ramp_Accel_crv 53 1 SpdLp3 Ramps
S-ramp_Decel_crv 54 1 SpdLp3 Ramps
current_lim_time 55 4 SpdLp3 Ramps
Spdfb_alrm_time 56 1 SpdLp4 FdbkAlarm
Spdfb_alrm_level 57 1 SpdLp4 FdbkAlarm
c_ramp_ref_1 58 1 SpdLp5 Connect L
c_jog_ref 61 1 SpdLp5 Connect L
c_spd_ref_1 62 1 SpdLp5 Connect L
c_mdv_ip 64 3 SpdLp6 MDV Block L
mdv_reduct_ratio 65 3 SpdLp6 MDV Block
mdv_diameter 66 3 SpdLp6 MDV Block
mdv_line_spd_max 67 3 SpdLp6 MDV Block
c_analog_out_1 68 1 Analog I/O L
anout_1_mult 69 1 Analog I/O
anout_1_scale 70 1 Analog I/O
anout_1_offset 71 1 Analog I/O
analog_in_4_max 76 1 Analog I/O
c_analin2_aux_in 77 1 Analog I/O L
digital_inp_1 81 1 Digital I/O
digital_inp_2 82 1 Digital I/O L
invrt_dig_1-8 89 1 Digital I/O
set_dig_1-8_hi 90 1 Digital I/O
c_force_dig1-8 91 1 Digital I/O L
invrt_sw_dig_1-8 92 1 Digital I/O
digital_inp_1-1 93 1 Digital I/O
invrt_dig_1-1-8 100 1 Digital I/O
PAGE 172 OF 221

set_dig_1-1-8 hi 101 1 Digital I/O

c_force_digi_1-8 102 1 Digital I/O L
digital_out_2 103 1 Digital I/O
dig_out_invert 110 1 Digital I/O
enc_period_ua3 111 4 Digital I/O
current_int_gain 112 1 Autotune&mtr par
I_loop_prop_gain 113 5 Autotune&mtr par
I_loop_prop_mult 114 5 Autotune&mtr par
i_contin 115 5 Autotune&mtr par L
I_0_wait 116 2 Autotune&mtr par L
input_1_delay 117 2 Autotune&mtr par L
arm_resistance 118 5 Autotune&mtr par
arm_incuctance 119 5 Autotune&mtr par
current_didt_max 120 5 Autotune&mtr par L
TrafoRatio 121 5 Autotune&mtr par L
ang_max_red 122 5 Autotune&mtr par L
sinc_delay 123 5 Autotune&mtr par L
sync_err_lev 124 5 Autotune&mtr par L
sinc_e_max 125 5 Autotune&mtr par L
sinc_trak 126 5 Autotune&mtr par L
k_varm_ff 127 4 Autotune&mtr par L
lfvarm_freq 128 5 Autotune&mtr par L
Vbb_Varm 129 5 Autotune&mtr par L
ArmVMax_threshld 130 4 Autotune&mtr par L
ang_min_red 131 4 Autotune&mtr par
Vratio_Max 132 5 Autotune&mtr par L
dv_dt_ff 133 5 Autotune&mtr par
at_comand 134 4 Autotune&mtr par
Zero_enc1pul_dis 135 2 Filters
c_lowpassflt1_in 137 1 Filters L
low_ps_flt1_freq 138 1 Filters
c_lowpassflt4in1 143 2 Filters L
c_notchflt_inp 145 2 Filters L
notc_flt_freq1 146 2 Filters
g1 150 5 Filters
g2 151 5 Filters
rsqrd 152 5 Filters
jog_preset_val_1 153 1 Preset Values
PAGE 173 OF 221

slackpreset_val2 154 1 Preset Values

preset_value_3 155 1 Preset Values
kmul_fb 166 3 FB mult/divide
kdiv_fb 167 3 FB mult/divide
c_pos_fb 168 3 FB mult/divide L
c_delta_pos 169 3 FB mult/divide L
kmul_fw 170 3 FB mult/divide
kdiv_fw 171 3 FB mult/divide
c_pos_ref1 172 3 FB mult/divide L
c_delta_pos_ref1 174 3 FB mult/divide L
c_derivative_inp 176 3 FB Derivative L
derivative_gain 177 3 FB Derivative
derivative_scale 178 3 FB Derivative
derivat_gain_flt 179 3 FB Derivative
der_intv 180 3 FB Derivative
c_norm1_ip 181 1 FB Norm 1-2-3 L
norm_1_multiply 182 1 FB Norm 1-2-3
norm_2_scale 184 1 FB Norm 1-2-3
c_switch1_inp1 189 2 FB Switch 1-2 L
c_sum_inp1 193 2 FB Sum & Abs val L
c_absolut_val_in 196 2 FB Sum & Abs val L
c_min_speed_inp 197 1 FB min spd&limit L
min_speed 198 1 FB min spd&limit L
min_spd_level 199 1 FB min spd&limit L
min_spd_hyster 200 1 FB min spd&limit
min_spd_delay 201 2 FB min spd&limit
c_lim_funct_inp 202 2 FB min spd&limit
maximum_limit 203 2 FB min spd&limit
minimum_limit 204 2 FB min spd&limit L
c_PID_ref1_inp 205 3 FB - PID
c_PID_fbk1_inp 206 3 FB - PID
c_PID_ff_inp 207 3 FB - PID L
c_PID_ff_out 208 3 FB - PID L
PAGE 174 OF 221
c_PID_lim_inp 209 3 FB - PID L

Prop_Gain1 210 3 FB - PID L
Integral_Gain1 211 3 FB - PID L
Prop_gain_scale 212 3 FB - PID
Integ_gain_scale 213 3 FB - PID
Feed_fwd_gain 214 3 FB - PID
k_pid_lim 215 3 FB - PID
min_gain_limit 216 3 FB - PID
Pid_max_limit 217 3 FB - PID
Pid_min_limit 218 3 FB - PID
int_rate_reset 219 3 FB - PID
c_slacktakeup_ip 224 2 FB Slack Take-up
max_slaketateup 225 2 FB Slack Take-up
slack_rampup_tim 226 2 FB Slack Take-up L
slack_rampdwn_tm 227 2 FB Slack Take-up
mop_select 228 1 FB Mop - Cascade
c_cascade_inp 229 4 FB Mop - Cascade
c_cascade_corr 230 4 FB Mop - Cascade L
cascade_mult 231 4 FB Mop - Cascade L
Mpcascade_max 232 4 FB Mop - Cascade L
Mpcascade_min 233 4 FB Mop - Cascade
Mpcascade_uprate 234 4 FB Mop - Cascade
Mpcascade_dnrate 235 4 FB Mop - Cascade
c_mop2_input 236 4 FB Mop - Cascade
mop2_multiply 237 4 FB Mop - Cascade
mop2_maximum 238 4 FB Mop - Cascade L
mop2_minimim 239 4 FB Mop - Cascade
mop2_up_rate 240 4 FB Mop - Cascade
mop2_down rate 241 4 FB Mop - Cascade
mop3_down_rate 247 1 FB Mop - Cascade
c_par_rd_indx 254 5 Parameter Rd/Wr
c_par1_wr_indx 255 5 Parameter Rd/Wr
c_par2_wr_indx 256 5 Parameter Rd/Wr L
c_par1_wr_value 258 5 Parameter Rd/Wr L
sw_key 261 5 Parameter Rd/Wr L
PAGE 175 OF 221
ls_shift1 262 4 Convert 32-16 L

ls_shift2 263 4 Convert 32-16
c_ls_ip1 266 4 Convert 32-16
c_ls_ip3 268 4 Convert 32-16 L
func_conf 270 2 Time Priority L
func_conf2 271 2 Time Priority L
time_priority1-1 272 5 Time Priority L
serial_tp01 285 4 Serial TP & Diag L
serial_tp03 287 4 Serial TP & Diag
c_diag_rec1 291 4 Serial TP & Diag
c_diag_rec3 293 4 Serial TP & Diag L
diagn_ts 297 4 Serial TP & Diag L
trig_lev_pos 298 4 Serial TP & Diag L
trig_lev_neg 299 4 Serial TP & Diag
rec_stp_del 300 4 Serial TP & Diag
rx0_timout 301 4 Serial TP & Diag
can_baudr 302 4 Comms1 Can Bus
can_tx_frequ 303 4 Comms1 Can Bus
sinc_id 304 4 Comms1 Can Bus
canrf_nd 305 4 Comms1 Can Bus
canmy_nd2 306 4 Comms1 Can Bus
canrf_nd2 307 4 Comms1 Can Bus
can_tx2_freq 308 4 Comms1 Can Bus
cantx_d1 309 4 Comms1 Can Bus
cantx2_d1 313 4 Comms1 Can Bus
PAGE 176 OF 221


canbrd_v1 317 4 Comms1 Can Bus
canbrd_id 318 4 Comms1 Can Bus
canbrd_id2 320 4 Comms1 Can Bus
can_s_tx_freq 321 4 Comms1 Can Bus
sync_cormax 322 4 Comms1 Can Bus
cansync_del 323 4 Comms1 Can Bus
pwm_time 324 4 Comms1 Can Bus
c_any_tx0 325 4 Comms2 Anybus
c_any_tx2 327 4 Comms2 Anybus L
c_atx8_baud 333 4 Comms2 Anybus L
c_atx9_frq 334 4 Comms2 Anybus L
c_atx10_my 335 4 Comms2 Anybus L
c_atx11_ref 336 4 Comms2 Anybus L
c_atx12_my2 337 4 Comms2 Anybus L
c_atx13_rf2 338 4 Comms2 Anybus L
c_atx14_sync 339 4 Comms2 Anybus L
c_atx15_res 340 4 Comms2 Anybus L
c_conv_t0 341 4 Comms3 serial L
PAGE 177 OF 221

c_line_spdref_in 389 3 Winder L
c_winder_spd_in 390 3 Winder L
c_wind_dynamic_in 391 3 Winder L
min_diameter 392 3 Winder L
max_diameter 393 3 Winder L
diam_normalise 394 3 Winder
lfrad_freq 395 3 Winder
radc_pulses 396 3 Winder
min_linespd 397 3 Winder
j-inertia_scale 398 3 Winder L
j-inertia_core 399 3 Winder
Materialspecwght 400 3 Winder
material_width 401 3 Winder
wind_gear_ratio 402 3 Winder
Motor_Torq_Const 403 3 Winder
K_torque_referen 404 3 Winder
tension_hi 405 3 Winder
tension_lo 406 3 Winder
diameter_lo 407 3 Winder
min_tension 408 3 Winder
c_tension_ref 409 3 Winder
dynamic_friction 410 3 Winder
static_friction 411 3 Winder L
delta_speed_ref 412 3 Winder
max_inertia 413 3 Winder
K_max_inertia 414 3 Winder
at_gain_sh 415 3 Winder
at_freq 416 3 Winder
c_dividend 417 3 Winder
c_divisor 418 3 Winder
div_scale 419 3 Winder L
c_dp_to_v 420 5 R&D Parameters L
PAGE 178 OF 221
c_v_to_dp 421 5 R&D Parameters

CnstPrePos 422 5 R&D Parameters L
PrpPrePos 423 5 R&D Parameters L
CnstPreNeg 424 5 R&D Parameters
PrpPreNeg 425 5 R&D Parameters
uV_err_lev 426 5 R&D Parameters
oV_err_lev 427 5 R&D Parameters
kii_neg 428 5 R&D Parameters
kpi_neg 429 5 R&D Parameters
err_G1 430 5 R&D Parameters
pia_deadz_pos 432 5 R&D Parameters
pia_deadz_neg 433 5 R&D Parameters
field_curr_ref 434 1 Field Regulator
minimum_field_I 435 1 Field Regulator
prop_gain_I_reg 436 1 Field Regulator
intg_gain_I_reg 437 1 Field Regulator
prop_gain_V_reg 438 1 Field Regulator
intg_gain_V_reg 439 1 Field Regulator
min_field_angle 440 1 Field Regulator
Arm_volt_weak% 441 1 Field Regulator
fld_curr_scaling 442 1 Field Regulator
PAGE 179 OF 221

Table of Parameters
(Alphabetical)
point # level sub menu description locked
ang_max_red 122 5 Autotune&mtr par L
ang_min_red 131 4 Autotune&mtr par
arm_incuctance 119 5 Autotune&mtr par
arm_resistance 118 5 Autotune&mtr par
arm_volt@1000rpm 9 1 Calibration
Arm_volt_weak% 441 1 Field Regulator
ArmVMax_threshld 130 4 Autotune&mtr par L
at_comand 134 4 Autotune&mtr par
at_freq 416 3 Winder
at_gain_sh 415 3 Winder
awind_noise 29 2 Current Loop
baud_rate 1 1 Calibration
buffer_width 3 1 Calibration
c_absolut_val_in 196 2 FB Sum & Abs val L
c_atx10_my 335 4 Comms2 Anybus L
c_atx11_ref 336 4 Comms2 Anybus L
c_atx12_my2 337 4 Comms2 Anybus L
c_atx13_rf2 338 4 Comms2 Anybus L
c_atx14_sync 339 4 Comms2 Anybus L
c_atx15_res 340 4 Comms2 Anybus L
c_atx8_baud 333 4 Comms2 Anybus L
c_atx9_frq 334 4 Comms2 Anybus L
c_cascade_corr 230 4 FB Mop - Cascade L
c_cascade_inp 229 4 FB Mop - Cascade
PAGE 180 OF 221

c_curr_feedfwd 24 2 Current Loop L
c_curr_limit_neg 26 2 Current Loop L
c_curr_limit_pos 25 2 Current Loop L
c_curr_ref 23 1 Current Loop L
c_delta_pos 169 3 FB mult/divide L
c_derivative_inp 176 3 FB Derivative L
PAGE 181 OF 221


c_dividend 417 3 Winder
c_divisor 418 3 Winder
c_dp_to_v 420 5 R&D Parameters L
c_force_dig1-8 91 1 Digital I/O L
c_force_digi_1-8 102 1 Digital I/O L
c_jog_ref 61 1 SpdLp5 Connect L
c_lim_funct_inp 202 2 FB min spd&limit
c_line_spdref_in 389 3 Winder L
c_mdv_ip 64 3 SpdLp6 MDV Block L
c_min_speed_inp 197 1 FB min spd&limit L
c_notchflt_inp 145 2 Filters L
c_par_rd_indx 254 5 Parameter Rd/Wr
c_par1_wr_indx 255 5 Parameter Rd/Wr
c_PID_ff_inp 207 3 FB - PID L
c_PID_ff_out 208 3 FB - PID L
c_PID_lim_inp 209 3 FB - PID L
c_pos_fb 168 3 FB mult/divide L
c_slacktakeup_ip 224 2 FB Slack Take-up
PAGE 182 OF 221

c_tension_ref 409 3 Winder
c_v_to_dp 421 5 R&D Parameters
c_wind_dynamic_in 391 3 Winder L
c_winder_spd_in 390 3 Winder L
can_baudr 302 4 Comms1 Can Bus
can_s_tx_freq 321 4 Comms1 Can Bus
can_tx_frequ 303 4 Comms1 Can Bus
can_tx2_freq 308 4 Comms1 Can Bus
canbrd_id 318 4 Comms1 Can Bus
canbrd_id2 320 4 Comms1 Can Bus
canmy_nd 2 1 Calibration
canmy_nd2 306 4 Comms1 Can Bus
canrf_nd 305 4 Comms1 Can Bus
canrf_nd2 307 4 Comms1 Can Bus
cansync_del 323 4 Comms1 Can Bus
cascade_mult 231 4 FB Mop - Cascade L
CnstPreNeg 424 5 R&D Parameters
CnstPrePos 422 5 R&D Parameters L
current_didt_max 120 5 Autotune&mtr par L
current_int_gain 112 1 Autotune&mtr par
Current_Lim_Neg 22 1 Current Loop
Current_Lim_Pos 21 1 Current Loop
current_lim_time 55 4 SpdLp3 Ramps
delta_speed_ref 412 3 Winder
der_intv 180 3 FB Derivative
derivat_gain_flt 179 3 FB Derivative
derivative_gain 177 3 FB Derivative
derivative_scale 178 3 FB Derivative
diagn_ts 297 4 Serial TP & Diag L
diam_normalise 394 3 Winder
diameter_lo 407 3 Winder
dig_out_invert 110 1 Digital I/O
PAGE 183 OF 221


digital_inp_2 82 1 Digital I/O L
div_scale 419 3 Winder L
drive_address 0 1 Calibration
Drive_Rated_Iarm 4 1 Calibration L
dt_lim 48 4 SpdLp2 AdaptGain
dv_dt_ff 133 5 Autotune&mtr par
dynamic_friction 410 3 Winder
enc_period_ua3 111 4 Digital I/O
Feed_fwd_gain 214 3 FB - PID
field_curr_ref 434 1 Field Regulator
fld_curr_scaling 442 1 Field Regulator
func_conf 270 2 Time Priority L
func_conf2 271 2 Time Priority L
g1 150 5 Filters
g2 151 5 Filters
I_0_wait 116 2 Autotune&mtr par L
i_contin 115 5 Autotune&mtr par L
I_loop_prop_gain 113 5 Autotune&mtr par
I_loop_prop_mult 114 5 Autotune&mtr par
I2t_time_overld 16 2 Current Loop
input_1_delay 117 2 Autotune&mtr par L
PAGE 184 OF 221
int_rate_reset 219 3 FB - PID

Integ_gain_scale 213 3 FB - PID
Integral_clamp 38 1 SpdLp1 SpeedLoop
intg_gain_I_reg 437 1 Field Regulator
Intg_gain_scaler 37 1 SpdLp1 SpeedLoop L
intg_gain_V_reg 439 1 Field Regulator
invrt_dig_1-1-8 100 1 Digital I/O
invrt_dig_1-8 89 1 Digital I/O
invrt_sw_dig_1-8 92 1 Digital I/O
j-inertia_core 399 3 Winder
j-inertia_scale 398 3 Winder L
jog_preset_val_1 153 1 Preset Values
K_max_inertia 414 3 Winder
k_pid_lim 215 3 FB - PID
K_torque_referen 404 3 Winder
k_varm_ff 127 4 Autotune&mtr par L
kdiv_fb 167 3 FB mult/divide
kdiv_fw 171 3 FB mult/divide
kii_neg 428 5 R&D Parameters
kmul_fb 166 3 FB mult/divide
kmul_fw 170 3 FB mult/divide
kpi_neg 429 5 R&D Parameters
lfrad_freq 395 3 Winder
lfvarm_freq 128 5 Autotune&mtr par L
Line_period_max 13 1 Calibration L
Line_period_min 14 1 Calibration L
ls_shift1 262 4 Convert 32-16 L
material_width 401 3 Winder
Materialspecwght 400 3 Winder
max_diameter 393 3 Winder L
max_inertia 413 3 Winder
Max_Line_volts 11 1 Calibration L
max_slaketateup 225 2 FB Slack Take-up
Max_Spd_Neg 34 1 SpdLp1 SpeedLoop
Max_Spd_Pos 33 1 SpdLp1 SpeedLoop
Max_Speed 31 1 SpdLp1 SpeedLoop
maximum_limit 203 2 FB min spd&limit
mdv_diameter 66 3 SpdLp6 MDV Block
mdv_line_spd_max 67 3 SpdLp6 MDV Block
mdv_reduct_ratio 65 3 SpdLp6 MDV Block
min_diameter 392 3 Winder L
min_field_angle 440 1 Field Regulator
min_gain_limit 216 3 FB - PID
Min_Line_volts 12 1 Calibration L
PAGE 185 OF 221
min_linespd 397 3 Winder

min_spd_delay 201 2 FB min spd&limit
min_spd_hyster 200 1 FB min spd&limit
min_spd_level 199 1 FB min spd&limit L
min_speed 198 1 FB min spd&limit L
min_tension 408 3 Winder
minimum_field_I 435 1 Field Regulator
minimum_limit 204 2 FB min spd&limit L
mop_select 228 1 FB Mop - Cascade
mop2_down rate 241 4 FB Mop - Cascade
Motor_Base_Spd 32 1 SpdLp1 SpeedLoop
Motor_Rated_Iarm 15 1 Current Loop
Motor_Torq_Const 403 3 Winder
Mpcascade_dnrate 235 4 FB Mop - Cascade
Mpcascade_max 232 4 FB Mop - Cascade L
Mpcascade_min 233 4 FB Mop - Cascade
Mpcascade_uprate 234 4 FB Mop - Cascade
MTRrpm@max_spd 10 1 Calibration
oV_err_lev 427 5 R&D Parameters
pia_deadz_neg 433 5 R&D Parameters
pia_deadz_pos 432 5 R&D Parameters
Pid_max_limit 217 3 FB - PID
Pid_min_limit 218 3 FB - PID
PAGE 186 OF 221


prop_gain_I_reg 436 1 Field Regulator
Prop_gain_scale 212 3 FB - PID
prop_gain_V_reg 438 1 Field Regulator
PrpPreNeg 425 5 R&D Parameters
PrpPrePos 423 5 R&D Parameters L
pwm_time 324 4 Comms1 Can Bus
radc_pulses 396 3 Winder
Ramp_Accel_Time 49 1 SpdLp3 Ramps
Ramp_Decel_Time 50 1 SpdLp3 Ramps
Ramp2_Accel_Time 51 1 SpdLp3 Ramps
Ramp2_Decel_Time 52 1 SpdLp3 Ramps
rec_stp_del 300 4 Serial TP & Diag
rsqrd 152 5 Filters
rx0_timout 301 4 Serial TP & Diag
set_dig_1-1-8 hi 101 1 Digital I/O
set_dig_1-8_hi 90 1 Digital I/O
sinc_delay 123 5 Autotune&mtr par L
sinc_e_max 125 5 Autotune&mtr par L
sinc_id 304 4 Comms1 Can Bus
sinc_trak 126 5 Autotune&mtr par L
slack_rampdwn_tm 227 2 FB Slack Take-up
slack_rampup_tim 226 2 FB Slack Take-up L
slackpreset_val2 154 1 Preset Values
Spd_Brk1_(low) 19 2 Current Loop
Spd_Brk2_(high) 20 2 Current Loop
Spd_Fdbk_Scale 5 5 Calibration
spd_fdk_select 8 1 Calibration L
Spd_Integrl_Gain 36 1 SpdLp1 SpeedLoop
Spd_Prop_Gain 35 1 SpdLp1 SpeedLoop
Spdfb_alrm_level 57 1 SpdLp4 FdbkAlarm
Spdfb_alrm_time 56 1 SpdLp4 FdbkAlarm
Speed_Offset 30 1 SpdLp1 SpeedLoop
S-ramp_Accel_crv 53 1 SpdLp3 Ramps
S-ramp_Decel_crv 54 1 SpdLp3 Ramps
static_friction 411 3 Winder L
sw_key 261 5 Parameter Rd/Wr L
sync_cormax 322 4 Comms1 Can Bus
sync_err_lev 124 5 Autotune&mtr par L
tension_hi 405 3 Winder
tension_lo 406 3 Winder
PAGE 187 OF 221

TrafoRatio 121 5 Autotune&mtr par L
trig_lev_neg 299 4 Serial TP & Diag
trig_lev_pos 298 4 Serial TP & Diag L
uV_err_lev 426 5 R&D Parameters
Vbb_Varm 129 5 Autotune&mtr par L
Vratio_Max 132 5 Autotune&mtr par L
wind_gear_ratio 402 3 Winder
PAGE 188 OF 221

Table of Variables
(Numerical)
point # level description sub menu
set_to_analog_0 0 4 ParameterPresets
set_digital_to_0 1 4 ParameterPresets
set_digital_to_-1 3 4 ParameterPresets
set_high_+32K 4 4 ParameterPresets
set_neg_hi_-32K 5 4 ParameterPresets
tcnt1HI 6 4 Encoder R&D
tcnt1LO 7 4 Encoder R&D
enc1_d_hldHI 10 5 Encoder R&D
enc1_d_hldLO 11 5 Encoder R&D
enc1_hldHI 14 5 Encoder R&D
enc1_hldLO 15 5 Encoder R&D
err1_absHI 18 5 Encoder R&D
err1_absLO 19 5 Encoder R&D
enc1_oldHI 22 5 Encoder R&D
enc1_oldLO 23 5 Encoder R&D
enc1_absHI 26 5 Encoder R&D
enc1_absLO 27 5 Encoder R&D
from_s_l1HI 30 5 Encoder R&D
from_s_l1LO 31 5 Encoder R&D
mul_op_hiHI 34 5 Encoder R&D
mul_op_hiLO 35 5 Encoder R&D
mul_op_loH 36 5 Encoder R&D
mul_op_loLO 37 5 Encoder R&D
eposHI 38 5 Encoder R&D
eposLO 39 5 Encoder R&D
mdlHI 40 5 Encoder R&D
mdlLO 41 5 Encoder R&D
mdhHI 42 5 Encoder R&D
mdhLO 43 5 Encoder R&D
posiz_int_nHI 44 4 Encoder R&D
posiz_int_nLO 45 4 Encoder R&D
posiz_op_HI 46 4 Encoder R&D
posiz_op_LO 47 4 Encoder R&D
PAGE 189 OF 221
delta_tglioHI 48 4 Encoder R&D

delta_tglioLO 49 4 Encoder R&D
pos_fbHI 50 4 Encoder R&D
pos_fbLO 51 4 Encoder R&D
pos_ref_normHI 52 4 Encoder R&D
pos_ref_normLO 53 4 Encoder R&D
sw_type 54 5 Error & Warning
status_flag 55 5 Error & Warning
sampling_time 56 5 Error & Warning
error_flag 57 1 Error & Warning
warning_flag 58 1 Error & Warning
release_date 59 1 Error & Warning
err_warn_flg 60 1 Error & Warning
error_detail 61 1 Error & Warning
err_code 62 1 Error & Warning
curr_p_err 63 1 Error & Warning
statusold_flag 64 4 Error & Warning
status_flag2 65 4 Error & Warning
diag_line_pt 66 4 Error & Warning
buf_length 67 4 Error & Warning
int_level 68 4 Error & Warning
i1 69 4 Current Loop 2
i1_offs 70 4 Current Loop 3
I_arm_ref 71 1 Current Loop 1
iq_ref1 72 4 Current Loop 4
I_arm_error 73 1 Current Loop 5
current_lim_pos 74 1 Current Loop 6
current_lim_neg 75 1 Current Loop 7
i_bf 76 5 Current Loop 8
it 77 5 Current Loop 9
I_arm_avg 78 1 Current Loop 10
i_ref 79 4 Current Loop 11
I_arm_fdbk 80 1 Current Loop 12
i_r 81 1 Current Loop 13
field_curr_fdbk 82 1 Field Regulator
op_pii 83 4 Current Loop 2
termic 84 4 Current Loop 3
motor_OL_curr_k1 85 5 Current Loop 4
di_dw 87 5 Current Loop 6
ramp_input_stpnt 88 1 SpeedLoop&Ramps
total_spd_setpnt 89 1 SpeedLoop&Ramps
encoder_1_fdbk 90 1 SpeedLoop&Ramps
arm_volt_fdbk 92 1 SpeedLoop&Ramps
tach_fdbk 93 1 SpeedLoop&Ramps
fdbk_selected 94 1 SpeedLoop&Ramps
fdbk_abs_value 95 1 SpeedLoop&Ramps
spd_loop_error 96 1 SpeedLoop&Ramps
speed_error_out 97 1 SpeedLoop&Ramps
accel_positive 98 4 SpeedLoop&Ramps
accel_negative 99 4 SpeedLoop&Ramps
time_ad 100 5 SpeedLoop&Ramps
PAGE 190 OF 221
dt_I 101 5 SpeedLoop&Ramps

old_time_ad 102 5 SpeedLoop&Ramps
dt 103 5 SpeedLoop&Ramps
dv1 104 5 SpeedLoop&Ramps
ramp_satura_cnt 106 1 SpeedLoop&Ramps
ramp_output 107 1 SpeedLoop&Ramps
enc_1_counts 108 3 SpeedLoop&Ramps
enc1_hld 110 5 SpeedLoop&Ramps
enc1_abs 112 5 SpeedLoop&Ramps
enc1_d_hld 114 5 SpeedLoop&Ramps
err1_abs 116 5 SpeedLoop&Ramps
rpm_err 118 4 SpeedLoop&Ramps
rpm_err_cnt 119 4 SpeedLoop&Ramps
rpm_err_tot 120 4 SpeedLoop&Ramps
MDV_blk_out 121 3 SpeedLoop&Ramps
analog_inp_1 122 1 Analog Inputs
scaled_ana_inp_1 126 1 Analog Inputs
func_flagv 130 4 Current Loop R&D
func_flag2 131 4 Current Loop R&D
altera_rd 132 5 Current Loop R&D
altera_ipsrd 133 5 Current Loop R&D
dips 134 5 Current Loop R&D
setdigi_func_hi 135 2 Current Loop R&D
ecs 136 5 Current Loop R&D
arm_back_emf 137 1 Current Loop R&D
ts 138 5 Current Loop R&D
ts1 139 5 Current Loop R&D
tks 140 5 Current Loop R&D
is 141 5 Current Loop R&D
ilg 142 5 Current Loop R&D
integral 143 5 Current Loop R&D
Varm_lf 144 3 Current Loop R&D
ArmV_feedforward 145 3 Current Loop R&D
arccos 146 5 Current Loop R&D
Vbb_slow 147 5 Current Loop R&D
i_refm1 148 5 Current Loop R&D
fire_reason 150 5 Current Loop R&D
volt_ratio 151 5 Current Loop R&D
over_V_pk 152 5 Current Loop R&D
op_latch 153 5 Current Loop R&D
PAGE 191 OF 221

Vbb 154 1 Current Loop R&D

V_r 155 5 Current Loop R&D
Arm_Volts 156 1 Current Loop R&D
Varmc 157 1 Current Loop R&D
tperiod 158 1 Current Loop R&D
sinc_flag 159 5 Current Loop R&D
sinc_no 160 5 Current Loop R&D
tsinc_new 161 5 Current Loop R&D
tsincr 162 5 Current Loop R&D
tsincs 163 5 Current Loop R&D
tsinct 164 5 Current Loop R&D
rs_phase 165 5 Current Loop R&D
rt_phase 166 5 Current Loop R&D
tsincr_old 167 5 Current Loop R&D
tsinc_old 168 5 Current Loop R&D
Sync error 169 4 Current Loop R&D
time0 170 4 Current Loop R&D
ang_max 171 4 Current Loop R&D
sixty_deg 172 5 Current Loop R&D
tsinc0 173 5 Current Loop R&D
period_time 179 4 Current Loop R&D
rs_phase_slow 180 5 Current Loop R&D
rt_phase_slow 181 5 Current Loop R&D
per_err_cnt 182 5 Current Loop R&D
tsinc_psd 183 5 Current Loop R&D
lopas_filt1_out 184 1 Filters
lopas_filt3_out1 186 2 Filters
notch_filt_out 192 2 Filters
x1h 193 5 Filters
x2h 194 5 Filters
swIntrnl_sp1jog 195 1 PresetValsJogSlk
swIntrnl_sp2slck 196 1 PresetValsJogSlk
Internal_setpt3 197 1 PresetValsJogSlk
PAGE 192 OF 221

delta_pos 208 4 Function Blocks
delta_pos_norm 209 4 Function Blocks
pos_old 210 4 Function Blocks
pos_resto 211 4 Function Blocks
pos_fb 212 4 Function Blocks
pos_ref 213 4 Function Blocks
delta_pos_ref 214 4 Function Blocks
pos_ref_old 215 4 Function Blocks
delta_pos_reft 216 4 Function Blocks
pos_ref_resto 217 4 Function Blocks
delta_pos_rf_nrm 218 4 Function Blocks
pos_ref_norm 219 4 Function Blocks
derivat_blk_out 220 3 Function Blocks
normal_blk_1_out 221 1 Function Blocks
switch_1_blk_out 224 2 Function Blocks
summing_blk_out 226 2 Function Blocks
absl_val_blk_out 227 2 Function Blocks
limit_blk_out 228 2 Function Blocks
PI_reference 229 3 PID
PI_feedback 230 3 PID
PI_error 231 3 PID
PI_output 232 3 PID
PI_prop_out 233 3 PID
PI_intgr_out 234 3 PID
PI_max_limit_out 235 3 PID
PI_min_limit_out 236 3 PID
slack_reference 237 2 Slack Take Up
slack_pi_err_out 238 2 Slack Take Up
linear_spd_n_rpm 239 1 Speed Fdbk RPM
volt_fdbk_in_rpm 240 1 Speed Fdbk RPM
spd_fdbk_in_rpm 241 1 Speed Fdbk RPM
casc_op1 242 4 MOP & Cascade
MP1_casc_out 243 4 MOP & Cascade
mtr_opr_pot2_out 244 4 MOP & Cascade
par_rd_value 247 4 Position Loop
cut_error 248 4 Position Loop
posiz_vel 249 4 Position Loop
posiz_op2 250 4 Position Loop
posiz_vel_new 251 4 Position Loop
ramp_shift 252 4 Position Loop
posiz_int 253 4 Position Loop
ls_op1 254 4 32-16 Convert
par_comand 258 5 Comms & Diagnost
tx_par_num 259 5 Comms & Diagnost
PAGE 193 OF 221

tx_var_num 260 5 Comms & Diagnost

error_rec_ptr 261 5 Comms & Diagnost
error_aux 262 5 Comms & Diagnost
diagn_v1 263 5 Comms & Diagnost
vel_norm_2_15 269 5 Comms & Diagnost
err_rec1 270 5 Comms & Diagnost
stat_re1 273 5 Comms & Diagnost
can_tx_no 280 4 Can Bus
canrxd1 281 4 Can Bus
canrx2d1 285 4 Can Bus
can_rxb0 289 4 Can Bus
can_cntrl_r 299 4 Can Bus
can_stat_r 300 4 Can Bus
can_cpui_r 301 4 Can Bus
can_brx_r 302 4 Can Bus
can_prx_r 303 4 Can Bus
can_vrx1r 304 4 Can Bus
can_par_rqst 306 4 Can Bus
can2_cntrl_r 307 4 Can Bus
can2_stat_r 308 4 Can Bus
can2_cpui_r 309 4 Can Bus
can2_vrx1r 310 4 Can Bus
can2_int_cnt 312 4 Can Bus
can2_int_mis 313 4 Can Bus
can1_res_cnt 314 4 Can Bus
int_reg_can2 316 4 Can Bus
PAGE 194 OF 221

srx_reg_can2 317 4 Can Bus

tinter_sinc 318 4 Can Bus
can_error_count 319 4 Can Bus
any_rx0 320 4 AnyBus
diagn3any 336 4 AnyBus
apl_indi 337 4 AnyBus
any_indi 338 4 AnyBus
any_error 339 4 AnyBus
fire_scr0 340 4 SCR Firing
port_brd 346 4 IRQ & Count
irq7_lo_cnt 347 4 IRQ & Count
enab_cnt 348 4 IRQ & Count
rad_lf 349 3 Winder
rad_ist 350 3 Winder
j_material 351 3 Winder
j_tot 352 3 Winder
j_shift 353 3 Winder
torq_disturb 354 3 Winder
jerr 355 3 Winder
kverr 356 3 Winder
vel_at 357 3 Winder
torq_obs 358 3 Winder
torque_reference 359 3 Winder
tension_refer1 360 3 Winder
tension_refer 361 3 Winder
tension_grad 362 3 Winder
kmfi 363 3 Winder
torque_current 364 3 Winder
delta_volt_ref 365 3 Winder
divider_out 366 3 Winder
win_cmd 367 3 Winder
v_f_dp 368 4 V-fdp & Sinc
dp_from_vel 369 4 V-fdp & Sinc
PAGE 195 OF 221

vel_shifts 370 5 V-fdp & Sinc

Vbb_fast 371 5 V-fdp & Sinc
i_zero_count 372 5 V-fdp & Sinc
tsinc0f 373 5 V-fdp & Sinc
dop_cmd 379 4 V-fdp & Sinc
time_abs 380 5 V-fdp & Sinc
fld_curr_correct 381 4 V-fdp & Sinc
num_vam1 382 5 V-fdp & Sinc
PAGE 196 OF 221

Table of Variables
(Alphabetical)
point # level description sub menu
absl_val_blk_out 227 2 Function Blocks
accel_negative 99 4 SpeedLoop&Ramps
accel_positive 98 4 SpeedLoop&Ramps
altera_ipsrd 133 5 Current Loop R&D
altera_rd 132 5 Current Loop R&D
ang_max 171 4 Current Loop R&D
any_error 339 4 AnyBus
any_indi 338 4 AnyBus
apl_indi 337 4 AnyBus
arccos 146 5 Current Loop R&D
arm_back_emf 137 1 Current Loop R&D
arm_volt_fdbk 92 1 SpeedLoop&Ramps
Arm_Volts 156 1 Current Loop R&D
ArmV_feedforward 145 3 Current Loop R&D
buf_length 67 4 Error & Warning
can_brx_r 302 4 Can Bus
can_cntrl_r 299 4 Can Bus
can_cpui_r 301 4 Can Bus
can_error_count 319 4 Can Bus
can_par_rqst 306 4 Can Bus
can_prx_r 303 4 Can Bus
PAGE 197 OF 221

can_stat_r 300 4 Can Bus
can_tx_no 280 4 Can Bus
can2_cntrl_r 307 4 Can Bus
can2_cpui_r 309 4 Can Bus
can2_int_cnt 312 4 Can Bus
can2_int_mis 313 4 Can Bus
can2_stat_r 308 4 Can Bus
casc_op1 242 4 MOP & Cascade
curr_p_err 63 1 Error & Warning
current_lim_neg 75 1 Current Loop 7
current_lim_pos 74 1 Current Loop 6
cut_error 248 4 Position Loop
delta_pos 208 4 Function Blocks
delta_pos_norm 209 4 Function Blocks
delta_pos_ref 214 4 Function Blocks
delta_pos_reft 216 4 Function Blocks
delta_pos_rf_nrm 218 4 Function Blocks
delta_tglioHI 48 4 Encoder R&D
delta_tglioLO 49 4 Encoder R&D
delta_volt_ref 365 3 Winder
derivat_blk_out 220 3 Function Blocks
di_dw 87 5 Current Loop 6
diag_line_pt 66 4 Error & Warning
diagn3any 336 4 AnyBus
dips 134 5 Current Loop R&D
divider_out 366 3 Winder
dop_cmd 379 4 V-fdp & Sinc
dp_from_vel 369 4 V-fdp & Sinc
dt 103 5 SpeedLoop&Ramps
dt_I 101 5 SpeedLoop&Ramps
PAGE 198 OF 221

ecs 136 5 Current Loop R&D
enab_cnt 348 4 IRQ & Count
eposHI 38 5 Encoder R&D
eposLO 39 5 Encoder R&D
err_code 62 1 Error & Warning
err_warn_flg 60 1 Error & Warning
error_aux 262 5 Comms & Diagnost
error_detail 61 1 Error & Warning
error_flag 57 1 Error & Warning
error_rec_ptr 261 5 Comms & Diagnost
fdbk_abs_value 95 1 SpeedLoop&Ramps
fdbk_selected 94 1 SpeedLoop&Ramps
field_curr_fdbk 82 1 Field Regulator
fire_reason 150 5 Current Loop R&D
PAGE 199 OF 221


func_flag2 131 4 Current Loop R&D
func_flagv 130 4 Current Loop R&D
I_arm_avg 78 1 Current Loop 10
I_arm_error 73 1 Current Loop 5
I_arm_fdbk 80 1 Current Loop 12
I_arm_ref 71 1 Current Loop 1
i_bf 76 5 Current Loop 8
i_r 81 1 Current Loop 13
i_ref 79 4 Current Loop 11
i_zero_count 372 5 V-fdp & Sinc
i1 69 4 Current Loop 2
i1_offs 70 4 Current Loop 3
ilg 142 5 Current Loop R&D
int_level 68 4 Error & Warning
int_reg_can2 316 4 Can Bus
integral 143 5 Current Loop R&D
iq_ref1 72 4 Current Loop 4
irq7_lo_cnt 347 4 IRQ & Count
is 141 5 Current Loop R&D
it 77 5 Current Loop 9
j_material 351 3 Winder
j_shift 353 3 Winder
j_tot 352 3 Winder
jerr 355 3 Winder
kmfi 363 3 Winder
kverr 356 3 Winder
limit_blk_out 228 2 Function Blocks
linear_spd_n_rpm 239 1 Speed Fdbk RPM
PAGE 200 OF 221


mdhHI 42 5 Encoder R&D
mdhLO 43 5 Encoder R&D
mdlHI 40 5 Encoder R&D
mdlLO 41 5 Encoder R&D
MDV_blk_out 121 3 SpeedLoop&Ramps
MP1_casc_out 243 4 MOP & Cascade
mul_op_hiHI 34 5 Encoder R&D
mul_op_hiLO 35 5 Encoder R&D
mul_op_loH 36 5 Encoder R&D
mul_op_loLO 37 5 Encoder R&D
notch_filt_out 192 2 Filters
num_vam1 382 5 V-fdp & Sinc
old_time_ad 102 5 SpeedLoop&Ramps
op_latch 153 5 Current Loop R&D
op_pii 83 4 Current Loop 2
over_V_pk 152 5 Current Loop R&D
par_comand 258 5 Comms & Diagnost
par_rd_value 247 4 Position Loop
per_err_cnt 182 5 Current Loop R&D
period_time 179 4 Current Loop R&D
PI_error 231 3 PID
PI_feedback 230 3 PID
PI_intgr_out 234 3 PID
PI_max_limit_out 235 3 PID
PI_min_limit_out 236 3 PID
PI_output 232 3 PID
PI_prop_out 233 3 PID
PI_reference 229 3 PID
port_brd 346 4 IRQ & Count
pos_fb 212 4 Function Blocks
pos_fbHI 50 4 Encoder R&D
pos_fbLO 51 4 Encoder R&D
pos_old 210 4 Function Blocks
pos_ref 213 4 Function Blocks
pos_ref_norm 219 4 Function Blocks
pos_ref_normHI 52 4 Encoder R&D
PAGE 201 OF 221

pos_ref_normLO 53 4 Encoder R&D

pos_ref_old 215 4 Function Blocks
pos_ref_resto 217 4 Function Blocks
pos_resto 211 4 Function Blocks
posiz_int 253 4 Position Loop
posiz_int_nHI 44 4 Encoder R&D
posiz_int_nLO 45 4 Encoder R&D
posiz_op_HI 46 4 Encoder R&D
posiz_op_LO 47 4 Encoder R&D
posiz_op2 250 4 Position Loop
posiz_vel 249 4 Position Loop
posiz_vel_new 251 4 Position Loop
rad_ist 350 3 Winder
rad_lf 349 3 Winder
ramp_input_stpnt 88 1 SpeedLoop&Ramps
ramp_output 107 1 SpeedLoop&Ramps
ramp_satura_cnt 106 1 SpeedLoop&Ramps
ramp_shift 252 4 Position Loop
release_date 59 1 Error & Warning
rpm_err 118 4 SpeedLoop&Ramps
rpm_err_cnt 119 4 SpeedLoop&Ramps
rpm_err_tot 120 4 SpeedLoop&Ramps
rs_phase 165 5 Current Loop R&D
rs_phase_slow 180 5 Current Loop R&D
rt_phase 166 5 Current Loop R&D
rt_phase_slow 181 5 Current Loop R&D
sampling_time 56 5 Error & Warning
set_digital_to_-1 3 4 ParameterPresets
set_high_+32K 4 4 ParameterPresets
set_neg_hi_-32K 5 4 ParameterPresets
set_to_analog_0 0 4 ParameterPresets
setdigi_func_hi 135 2 Current Loop R&D
sinc_flag 159 5 Current Loop R&D
sinc_no 160 5 Current Loop R&D
sixty_deg 172 5 Current Loop R&D
slack_pi_err_out 238 2 Slack Take Up
slack_reference 237 2 Slack Take Up
spd_fdbk_in_rpm 241 1 Speed Fdbk RPM
spd_loop_error 96 1 SpeedLoop&Ramps
speed_error_out 97 1 SpeedLoop&Ramps
srx_reg_can2 317 4 Can Bus
status_flag 55 5 Error & Warning
status_flag2 65 4 Error & Warning
statusold_flag 64 4 Error & Warning
PAGE 202 OF 221

summing_blk_out 226 2 Function Blocks

sw_type 54 5 Error & Warning
swIntrnl_sp1jog 195 1 PresetValsJogSlk
swIntrnl_sp2slck 196 1 PresetValsJogSlk
Sync error 169 4 Current Loop R&D
tach_fdbk 93 1 SpeedLoop&Ramps
tension_grad 362 3 Winder
tension_refer 361 3 Winder
tension_refer1 360 3 Winder
termic 84 4 Current Loop 3
time_abs 380 5 V-fdp & Sinc
time_ad 100 5 SpeedLoop&Ramps
time0 170 4 Current Loop R&D
tinter_sinc 318 4 Can Bus
tks 140 5 Current Loop R&D
torq_disturb 354 3 Winder
torq_obs 358 3 Winder
torque_current 364 3 Winder
torque_reference 359 3 Winder
total_spd_setpnt 89 1 SpeedLoop&Ramps
tperiod 158 1 Current Loop R&D
ts 138 5 Current Loop R&D
ts1 139 5 Current Loop R&D
tsinc_new 161 5 Current Loop R&D
tsinc_old 168 5 Current Loop R&D
tsinc_psd 183 5 Current Loop R&D
tsincr 162 5 Current Loop R&D
tsincr_old 167 5 Current Loop R&D
tsincs 163 5 Current Loop R&D
tsinct 164 5 Current Loop R&D
tx_par_num 259 5 Comms & Diagnost
tx_var_num 260 5 Comms & Diagnost
v_f_dp 368 4 V-fdp & Sinc
V_r 155 5 Current Loop R&D
Varm_lf 144 3 Current Loop R&D
PAGE 203 OF 221

Varmc 157 1 Current Loop R&D

Vbb 154 1 Current Loop R&D
Vbb_fast 371 5 V-fdp & Sinc
Vbb_slow 147 5 Current Loop R&D
vel_at 357 3 Winder
vel_norm_2_15 269 5 Comms & Diagnost
vel_shifts 370 5 V-fdp & Sinc
volt_fdbk_in_rpm 240 1 Speed Fdbk RPM
volt_ratio 151 5 Current Loop R&D
warning_flag 58 1 Error & Warning
win_cmd 367 3 Winder
x1h 193 5 Filters
x2h 194 5 Filters
PAGE 204 OF 221

Flag Status
f_ok Drive faults ok 1 0
f_min_spd Minimum speed threshold exceeded 2 1
f_ramp_end Ramp end 4 2
f_over_I_rated Armature current over rated I 8 3
f_spd_fdbk_flt Speed feedback warning 16 4
f_spd_thres_exc Speed threshold exceeded 32 5
f_field_I_ok Field current present 64 6
Not used 128 7
Not used 256 8
Not used 512 9
Not used 1024 10
Not used 2048 11
flag_enabled Drive enabled 4096 12
flag_pwm_ Drive enabled 8192 13
PC comms_active P.C. initialisation in progress 16384 14
flag_fault Warning summary 32768 15
PAGE 205 OF 221

Error Flags
Initials Description Number BIT
Overvoltage: network overvoltage, value over the
Ov 1 0
Vmax parameter setting
2 1
4 2
EEp EEPROM reading error upon switching on 8 3
Excess speed caused by three situations: speed
reaches 200% of the maximum setting in max_speed.
spd armature voltage exceeds the maximum setting in 16 4
Varm_max.
firing angle greater than ang_max_red.
32 5
Absence of feedback:
the reference and the feedback different from the
fdbk limit set with spdfb_alrm_level 64 6
the motor remains at the limit current for a number of
cycles above that set with sat_limit.
128 7
Overcurrent: intervenes when the current exceeds the
Oc maximum current that can be supplied by the 256 8
converter by 50% .
Undervoltage: network undervoltage, value under the
Uv 512 9
Max_line_volts parameter setting
rst Absent phase or synchronism outside the limits 1024 10
2048 11
4096 12
8192 13
Incorrect phase sequence or phase cycles outside the
PhasSequ/per limits set in the line_period_max and line_period_min 16384 14
parameters.
32768 15
Alarm Detail Code

Ov Supply over voltage 0
Uv Supply under voltage 0
rst sinc_no<sinc_err_lev 0
PhasSequ/per rs_phase>rt_phase 0
PhasSequ/per Supply freq range 0
Oc over current 0
fdbk Varm_rpm>spd_fdbk_in_rpm 10
fdbk Varm_rpm< spd_fdbk_in_rpm 11
fdbk Varm=0 12
fdbk Fdbk selected=0 13
fdbk Current limit 14
spd Varm>Varm_max 2
spd spd>2max_speed 3
EEp Eeprom checksum 0
PAGE 206 OF 221

Warning Flags
Initials Description Number BIT
1 0
Ot Converter heatsink overheating 2 1
4 2
8 3
16 4
32 5
64 6
Thermal warning intervention according to that set
I2t 128 7
out in Motor_Rated_Iarm and i2t_time_overld
External warning, depends on the configuration of the
external 256 8
digital inputs
512 9
1024 10
2048 11
Field I Absent field intervention 4096 12
can_bus_off Can bus warning 8192 13
16384 14
32767 15
Warning Detail Code

8192 CAN1 in busOff 20
8192 CAN1 in discon 21
8192 CAN2 in busOff 22
PAGE 207 OF 221

END NOTES

Drive_Rated_Iarm

Spd_Fdbk_Scale

encoder_1_ppr

encoder_2_ppr

spd_fbk_select

arm_volt@1000rpm

MTRrpm@max_spd

Max_Line_volts

Min_Line_volts

Line_period_max

Line_period_min

dummy

set_to_analog_0

set digital to 0

set digital to 1

set_digital_to_-1

set high +32k

set neg hi -32k

sw_type

status_flag

error_flag

warning_flag

sampling_time

release_date

err_warn_flg

error_detail

err_code

curr_p_err

statusold_flag

status_flag2

diag_line_pt

buf_length

int_level

port_brd

irq7_lo_cnt

irq7_lo_cntt

win_cmd

num_vam1

Motor_Rated_Iarm

I2t_time_overld

Imax_Brk1_(spd1)

Imax_Brk2_(spd2)

Spd_Brk1_(low)

Spd_Brk2_(high

Current_Lim_Pos

Current_Lim_Neg

c_curr_ref

c_curr_feedfwd

c_ang_ff

c_curr_limit_pos
PAGE 208 OF 221


c_curr_limit_neg

Iarm_limit1_ramp

Iarm_limit2_ramp

awind_noise

i1

i1_offs

I arm ref

iq_ref1

l_arm_error

current_lim_pos

current_lim_neg

i_bf

it

I_arm_avg

i_ref

I_arm_fdbk

i_r

field_curr_fdbk

op_pii

termic

motor_OL_curr_k1

motor_OL_curr_k2

di_dw

Speed_Offset

Max_Speed

Motor_Base_Spd

Max_Spd_Pos

Max_Spd_Neg

Spd_Prop_Gain

Spd_Integrl_Gain

Intg_gain_scaler

Integral_clamp

gain_mult_0%

gain_mult_12.5%

gain_mult_25%

gain_mult_37.5%

gain_mult_50%

gain_mult_62.5%

gain_mult_75%

gain_mult_87.5%

gain_mult_100%

Ramp_Accel_Time

Ramp_Decel_Time

Ramp2_Accel_Time

Ramp2_Decel_Time

S-ramp_Accel_crv

S-ramp_Decel_crv

current_lim_time

c_ramp_ref_1

c_ramp_ref_2
PAGE 209 OF 221


c_ramp_ref_3

c_jog ref

c_spd_ref_1

c_spd_ref_2

Spdfb_alrm_time

Spdfb_alrm_level

total_spd_setpnt

ramp_input_stpnt

fdbk_selected

fdbk_abs_value

spd_loop_error

speed_error_out

accel_positive

accel_negative

time_ad

ramp_satura_cnt

ramp_output

tcnt1HI

tcnt1LO

tcnt2HI

tcnt2LO

enc1_d_hldHI

enc1_d_hldLO

enc2_d_hldHI

enc2_d_hldLO

enc1_hldHI

enc1_hldLO

enc2_hldHI

enc2_hldLO

err1_absHI

err1_absLO

err2_absHI

err2_absLO

enc1_oldHI

enc1_oldLO

enc2_oldHI

enc2_oldLO

enc1_absHI

enc1_absLO

enc2_absHI

enc2_absLO

encoder_1_fdbk

encoder_2_fdbk

arm_volt_fdbk

tach_fdbk

dt_i

old_time_ad

dt

dv1

dv2

enc_1_counts

enc_2_counts

enc1_hld
PAGE 210 OF 221


enc2_hld

enc1_abs

enc2_abs

enc1_d_hld

enc2_d_hld

err1_abs

err2_abs

rpm_err

rpm_err_cnt

rpm_err_tot

volt_fdbk_in_rpm

spd_fdbk_in_rpm

mdv_reduct_ratio

mdv_diameter

mdv_line_spd_max

c_mdv_ip

MDV_blk_out

c_analog_out_1

anout_1_mult

anout_1_scale

anout_1_offset

c_analog_out_2

anout_2_mult

anout_2_scale

anout_2_offset

analog_inp_1

scaled_ana_inp_1

analog_in_4_max

analog_inp_4

scaled_ana_inp_4

c_analin2_aux_in

analog_in_2_max

analog_inp_2

scaled_ana_inp_2

c_analin3_aux_in

analog_in_3_max

analog_inp_3

scaled_ana_inp_3

digital_inp_1

digital_inp_2

digital_inp_3

digital_inp_4

digital_inp_5

digital_inp_6

digital_inp_7

digital_inp_8

invrt_dig_1-8

set dig 1-8 hi

c_force_dig1-8

invrt_sw_dig_1-8

digital_inp_1-1

digital_inp_1-2

digital_inp_1-3
PAGE 211 OF 221


digital_inp_1-4

digital_inp_1-5

digital_inp_1-6

digital_inp_1-7

invrt_dig_1-1-8

set_dig_1-1-8 hi

c_force dig1-1-8

func_flagv

func_flag2

altera_rd

altera_ipsrd

dips

setdigi_func_hi

digital_out_1

digital_out_2

digital_out_3

digital_out_4

digital_out_5

digital_out_6

digital_out_7

dig_out_invert

enc_period_analog_out_3

current_int_gain

I_loop_prop_gain

I_loop_gain_mult

i_contin

i_0_wait

input_1_delay

arm_resistance

arm_inductunce

current_didt_max

k_i_lim

ecs

arm_back_emf

ts

ts1

tks

is

ilg

integral

preang_us

arccos

i_refm1

i_refm2

fire_reason

over_V_pk

op_latch

k_varm_ff

lfvarm_freq

Vbb_Varm

ArmVMax_threshld

Vratio_Max

Varm_lf

ArmV_feedforward

Vbb_slow

volt_ratio
PAGE 212 OF 221


Vbb

V_r

Arm_Volts

Varmc

ang_max_red

preang_p

sinc_delay

sync_err_lev

sinc_e_max

sinc_trak

tperiod

sinc_flag

sinc_no

tsinc_new

tsincr

tsincs

tsinct

rs_phase

rt_phase

tsincr_old

tsinc_old

Sync error

time0

ang_max

sixty_deg

tsinc0

tsinc1

tsinc2

tsinc3

tsinc4

tsinc5

preang

period_time

rs_phase_slow

rt_phase_slow

per_err_cnt

tsinc_psd

fire_scr0

fire_scr1

fire_scr2

fire_scr3

fire_scr4

fire_scr5

at_comand

Zero_enc1pul_dis

Zero_enc2pul_dis

c_lowpassflt1_in

low_ps_flt1_freq

lopas_filt1_out

c_lowpassflt2_in

low_ps_flt2_freq

lopas_filt2_out

low_ps_flt3_freq

lopas_filt3_out1

lopas_filt3_out2

lopas_filt3_out3
PAGE 213 OF 221


lopas_filt3_out4

c_lowpassflt4in1

c_lowpassflt4in2

low_ps_flt4_freq

lopas_filt4_out1

lopas_filt4_out2

c_notchflt_inp

notc_flt_freq1

notc_flt_freq2

notc_flt_freq3

notc_flt_freq4

g1

g2

rsqrd

notch_filt_out

x1h

x2h

c_PID_ref1_inp

c_PID_fbk1_inp

c_PID_ff_inp

c_PID_ff_out

c_PID_lim_inp

Prop_Gain1

Integral_Gain1

Prop_gain_scale

Integ_gain_scale

Feed_fwd_gain

PID_lim_mult

min_gain_limit

Pid_max_limit

Pid_min_limit

int_rate_reset

c_PID_ref2_inp

c_PID_fbk2_inp

Prop_Gain2

Integral_Gain2

PI_reference

PI_feedback

PI_error

PI_output

PI_prop_out

PI_intgr_out

PI_max_limit out

PI_min_limit_out

kmul_fb

kdiv_fb

c_pos_fb

c_delta_pos

delta_pos

delta_pos_norm

pos_old

pos_resto

pos_fb

kmul_fw

kdiv_fw

c_pos_ref1
PAGE 214 OF 221


c_pos_ref2

c_delta_pos_ref1

c_delta_pos_ref2

eposHI

eposLO

mdhHI

mdlLO

mdhHI

mdhLO

pos_ref

delta_pos_ref

pos_ref_old

delta_pos_reft

pos_ref_resto

delta_pos_rf_nrm

pos_ref_norm

c_derivative_inp

derivative_gain

derivative_scale

derivat_gain_flt

der_intv

derivat_blk_out

c_norm1_ip

norm_1_multiply

normal_blk_1_out

c_norm2_ip

norm_2_scale

norm_2_multip ly

normal_blk_2_out

c_norm3_ip

norm_3_scale

norm_3_multiply

normal_blk_3_out

c_dp_to_v

v_f_dp

c_v_to_dp

dp_from_vel

c_switch1_inp1

c_switch1_inp2

switch_1_blk_out

c_switch2_inp1

c_switch2_inp2

switch_2_blk_out

c_sum_inp1

c_sum_inp2

c_sum_inp3

summing_blk_out

c_absolut_val_in

absl_val_blk_out

c_min_speed_inp

min_speed

min_spd_level

min_spd_hyster

min_spd_delay

c_lim_funct_inp

maximum_limit
PAGE 215 OF 221


minimum_limit

limit_blk_out

c_slacktakeup_ip

max_ slaketakeup

slack_rmpup_time

slack_rampdwn_tm

slack_reference

slack_pi_err_out

linear_spd_n_rpm

mop_select

c_cascade_inp

c_cascade_corr

cascade_mult

Mpcascade_max

Mpcascade_min

Mpcascade_uprate

Mpcascade_dnrate

MP1_casc_out

c_mop2_input

mop2_multiply

mop2_maximum

mop2_minimim

mop2_up_rate

mop2_down rate

mtr_opr_pot2_out

c_mop3_input

mop3_multiply

mop3_maximum

mop3_minimim

mop3_up_rate

mop3_down_rate

mtr_opr_pot3_out

c_mop4_input

mop4_multiply

mop4_maximum

mop4_minimim

mop4_up_rate

mop4_down_rate

mtr_opr_pot4_out

mul_op_hiHI

mul_op_hiLO

mul_op_loHI

mul_op_loLO

c_dividend

c_divisor

div_scale

divider_out

delta_cut_lo

delta_cut_hi

reverse_pos_lo

reverse_pos_hi

c_vlin_cut

cut_leangth

excurtion_lo

excurtion_hi

excrt_margin
PAGE 216 OF 221


pos_sh

accelerat

vel_max_pos

c_posiz_ref

soft_arrival

posiz_int_nHI

posiz_int_nLO

posiz_op_HI

posiz_op_LO

delta_tglioHI

delta_tglioLO

pos_fbHI

pos_fbLO

pos_ref_normHI

pos_ref_normLO

cut_error

posiz_vel

posiz_op2

posiz_vel_new

ramp_shift

posiz_int

ls_shift1

ls_shift2

ls_shift3

ls_shift4

c_ls_ip1

c_ls_ip2

c_ls_ip3

c_ls_ip4

from_s_l1HI

from_s_l1LO

from_s_l2HI

from_s_l2LO

ls_op1

ls_op2

ls_op3

ls_op4

func_conf

func_conf2

time_priority1-1

time_priority1-2

time_priority1-3

time_priority1-4

time_priority1-5

time_priority2-1

time_priority2-2

time_priority2-3

time_priority2-4

time_priority2-5

time_priority2-6

time_priority2-7

time_priority2-8

drive_address

baud_rate

canmy_nd

buf_width
PAGE 217 OF 221


sw_key

par_comand

serial_tp01

serial_tp02

serial_tp03

serial_tp04

serial_tp05

serial_tp06

rx0_timout

c_diag_rec1

c_diag_rec2

diagn_ts

tx_par_num

tx_var_num

error_rec_ptr

error_aux

diagn_v1

diagn_v2

vel_norm_2_15

err_rec1

err_rec2

err_rec3

err_rec4

err_rec5

err_rec6

err_rec7

err_rec8

stat_re1

stat_re2

stat_re3

stat_re4

stat_re5

stat_re6

stat_re7

stat_re8

tp1

tp2

tp3

tp4

tp5

tp6

can_baudr

can_tx_frequ

sinc_id

canrf_nd

canmy_nd2

canrf_nd2

can_tx2_freq

cantx_d1

cantx_d2

cantx_d3

cantx_d4

cantx2_d1

cantx2_d2

cantx2_d3

cantx2_d4
PAGE 218 OF 221


canbrd_v1

canbrd_id

canbrd_v2

canbrd_id2

can_s_tx_freq

sync_cormax

cansync_del

pwm_time

can_tx_no

canrxd1

canrxd2

canrxd3

canrxd4

canrx2d1

canrx2d2

canrx2d3

canrx2d4

can_rxb0

can_rxb1

can_rxb2

can_rxb3

can_rxb4

can_rxb5

can_rxb6

can_rxb7

can_rxb8

can_rxb9

can_cntrl_r

can_stat_r

can_cpui_r

can_brx_r

can_prx_r

can_vrx1r

can_vrx2r

can_par_rqst

can2_cntrl_r

can2_stat_r

can2_cpui_r

can2_vrx1r

can2_vrx2r

can2_int_cnt

can2_int_mis

can1_res_cnt

can2_res_cnt

int_reg_can2

srx_reg_can2

tinter_sinc

can_error_count

c_any_tx0

c_any_tx1

c_any_tx2

c_any_tx3

c_any_tx4

c_any_tx5

c_any_tx6

c_any_tx7
PAGE 219 OF 221


c_atx8_baud

c_atx9_frq

c_atx10_my

c_atx11_ref

c_atx12_my2

c_atx13_rf2

c_atx14_sync

c_atx15_res

any_rx0

any_rx1

any_rx15

diagn1any

diagn2any

diagn3any

diagn4any

diagn5any

apl_indi

any_indi

any_error

c_conv_t0

c_conv_t47

jog_preset_val_1

slackpreset_val2

preset_value_3

preset_value_4

preset_value_5

preset_value_6

preset_value_7

preset_value_8

preset_value_9

preset_value_10

preset_value_11

preset_value_12

preset_value_13

swIntrnl_sp1jog

swIntrnl_setpt2

Internal_setpt13

c_par_rd_indx

c_par1_wr_indx

c_par2_wr_indx

c_par3_wr_indx

c_par1_wr_value

c_par2_wr_value

c_par3_wr_value

par_rd_value

c_wind_dynamc_in

j-inertia_scale

j-inertia_core

Materialspecwght

material_width

wind_gear_ratio

Motor_Torq_Const

tension_hi

tension_lo

min_tension

c_tension_ref
PAGE 220 OF 221


d ynamic_friction

static_friction

delta_spd_ref

max_inertia

K_max_inertia

at_gain_sh

at_freq

j_material

j_tot

j_shift

torq_disturb

jerr

kverr

vel_at

torq_obs

torque_reference

tension_refer1

tension_refer

tension_grad

kmfi

torque_current

delta_volt_ref

c_line_spdref_in

c_winder_spd_in

min_diameter

max_diameter

diam_normalise

lfrad_freq

radc_pulses

min_linespd

rad_lf

rad_ist
PAGE 221 OF 221

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ETD 790 DC DRIVE

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Current normalisation constant

Speed feedback scaling

Speed fdbk used = speed feedback x Spd_Fdbk_Scale/256

Encoder pulse resolution

Speed Feedback variable configuration

Armature voltage normalisation

Tachometer voltage normalisation

Maximum and minimum Line voltage

Maximum and minimum network frequency

jog_preset_val_1= set digital to 0 parameter 2 is assigned the constant value 0

diag_line_pt < buf_length

MasterCan line memorization

Nominal motor current

i2t thermal protection time

Maximum current supplied

Maximum positive torque current

Maximum negative torque current

Current limit block input variable configuration

Current feed forward variable configuration

Parameter name Default Min Max Phys. unit displayed

Current feed forward variable configuration

Maximum positive current limit variable configuration

Maximum positive current limit variable configuration

Value added to the speed loop integral limit

Actual dc current feedback for the armature current.

Actual dc current feedback for the field current.

Speed Loop parameters

Maximum motor speed

Basic motor speed

Speed Loop PI regulator increases

Integral part divisor

Speed regulator integral part limit

Speed Loop increase template

F_ramp _en 107

50 P Ramp Decel Time

54 P S-ramp decl curve

Parameter name Default Min Max Phys. unit displayed

S-ramp function (Rounding ramps)

Reference block variables configuration

Speed regulator input variables configuration

Feedback warning delay time

Parameter name Default Min Max Phys. unit displayed

P Spd_fb alarm time

P Spd_fb alarm level

Feedback warning threshold

Position of encoders 1 and 2

Maximum linear velocity

Mdv block input configuration variable

Reduct_ratio = reduction ratio (rr) x krr

The following formula must also be respected: kd = kvlin x krr

Analogue Inputs and Outputs

Auxiliary analogue output #1 configuration

Auxiliary analogue output #1 normalisation

Auxiliary analogue offset #1 value

Auxiliary analogue output #2 configuration

Auxiliary analogue output #2 normalisation

Auxiliary analogue offset #2 value

Analog_inp_1 Scaled_ana _inp_1

Analog2 max V Max speed +

Analog3 max V C-Ramp ref 3