A2000 Door Operator Controller: QMA (Shanghai) Electric Co., LTD

QMA(Shanghai) Electric Co.
, Ltd
A2000 Door Operator Controller
User Manual
Contents
Chapter 1 Safety Information & Precautions .................................................................................... 6
1.1 Safety Information .............................................................................................................. 6
1.2 Safety Precautions ............................................................................................................... 8
Chapter 2 Product Information ....................................................................................................... 11
2.1Naming Rules and Nameplate ............................................................................................ 11
2.2 Technical Parameters......................................................................................................... 12
2.3 Mechanical Installation ..................................................................................................... 13
Chapter 3 Electrical Installation ...................................................................................................... 16
3.1 Electrical Installation ........................................................................................................ 16
3.2 Description of Wiring Terminals ....................................................................................... 16
Chapter 4 Operation Display & Application ................................................................................... 21
4.1 Operation and Display Interface ....................................................................................... 21
4.2 Basic Setting of Operation Panel ...................................................................................... 22
4.3 Application Example of Door Operator Controller ........................................................... 24
4.4 Typical Application ........................................................................................................... 28
Chapter 5 Function Parameter Table ............................................................................................... 37
5.1 Instructions for Use of Function Parameter Table............................................................. 37
5.2 Function Code Parameter Table ........................................................................................ 37
Chapter 6 Description of Function Parameter ................................................................................. 51
6.1 P0 Group: Basic Function Parameter ................................................................................ 51
6.2 PI Group: Motor Parameter ............................................................................................... 53
6.3 P2 Group: Performance Control Parameter ...................................................................... 56
6.4 P3 Group: Door Opening Running Parameter .................................................................. 58
6.5 P4 Group: Door Closing Running Curve .......................................................................... 60
6.6 P5 Group: Door Opening and Closing Auxiliary Parameter ............................................. 64
6.7 P6 Group: Distance Control Parameter ............................................................................. 67
6.9 P8 Group: Auxiliary Parameter ......................................................................................... 69
6.8 P7 Group: Demonstration Function Parameter ................................................................. 71
6.10 P9 Group: Input and Output Function Parameter............................................................ 73
6.11 PA Group: Display and Fault Parameter.......................................................................... 75
6.12 PP Group: User Parameter .............................................................................................. 81
Chapter 7 Fault Troubleshooting & Handling .............................................................................. 84
1 Safety Information & Precautions
Chapter 1 Safety Information & Precautions
In this manual, there are two types of safety information.
Danger: The label indicates that a failure to follow instructions may result in serious injury
or even death.
Caution: The label indicates that a failure to follow instructions may result in moderate or
slight injury and device damage.
Please read this chapter carefully before system installation, commissioning and maintenance and
always follow the safety precautions below during operation. Qma will not undertake any damage
or loss caused by a failure to follow the instructions.
1.1 Safety Information
1.1.1 Before Installation
Danger
 Do not install the controller if it is damaged.
 Don’t install the controller if the packing list is not identical to that on the controller
Caution
 Be careful when carrying or transporting the controller so as to avoid damage!
 Do not touch the parts of the controller with bare hands so as to avoid ESD!
1.1.2 During Installation
Danger
 The installation base shall be metal or other non-flammable material so as to prevent fire risk.
 Do not unscrew the fixing bolts, especially the bolts with red mark.
Caution
 Ensure that no cable strips or screws are dropped into the controller so as to avoid damage to
the controller.
 Install the controller at a place with less vibration and no direct sunlight.
1.1.3 During Wiring
Danger
 Wiring must be performed by authorized and qualified personnel so as to avoid unexpected
accidents.
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 A circuit breaker must be installed between the controller and the mains so as to prevent fire
risk.
 Ground the controller in accordance with the applicable wiring standard so as to avoid
electric shock.
Danger
 Never connect input power supply cables to output terminals U, V and W of the controller.
Pay attention to the terminal symbols and connect to the terminals correctly so as to prevent
risks of damaging the controller.
 Be sure that the wiring meets EMC requirements and local safety standards. Cables should be
in recommended sizes so as to prevent accident risk.
Danger
 Shielded cables must be used for encoder and make sure one end of the shielded layer is
grounded reliably!
 Use shielded twisted-pair wires with twist distance of 20-30mm and the shielded layer must
be grounded!
1.14 Before Power-on:
Caution
 Verify that input voltage is identical to rated voltage of the controller, input terminals (L, N)
and output terminals U, V and W are correctly connected, there are no short circuit
phenomena for the wiring of controller and its peripheral circuits, and all wires are in good
connection. Otherwise, this may result in controller damage.
 When applied to synchronous motor, please make sure to conduct motor parameter
autotuning before first run, otherwise, it may result in slip accident.
 Never perform the voltage withstanding test on the controller, because it has been done at the
factory. Otherwise, this may result in accident.
Danger
 The front cover of the controller must be closed before the controller is powered on.
Otherwise, it may result in an electric shock.
 All the peripheral accessories must be wired properly with the circuit connection methods
stipulated in the manual. Otherwise, this may result in an accident.
1.1.5 After Power-on
Danger
 The front cover of the controller must be closed after the controller is powered on. Otherwise,
it may result in an electric shock.
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 Never touch any input or output terminals of the controller. Otherwise, it may result in an
electric shock.
Danger
 If you need parameter autotuning, be careful of personal safety when motor is running so as
to avoid accidents.
 Do not change the default parameter setting without approval to avoid damage.
1.1.6 During Operation
Danger
 Never touch the cooling fan or the braking resistor with bare hands for checking temperature,
which may result in injury!
 Only qualified technicians are allowed to detect signals during operation so as to prevent
personal injury or device damage.
1.1.7 During maintenance
Danger
 Maintain and inspect the device only after the controller is powered off to avoid an electric
shock.
 Maintenance and inspection can be performed by well-trained technicians only, so as to avoid
personal injury or device damage.
 Parameter setting is required if the controller has been replaced. Plug-in & plug-out must be
performed after power-off!
1.2 Safety Precautions
1.2.1Motor Insulation Inspection

Motor insulation inspection shall be performed before it is put to use for the first time, put to use
after it is left unused for some time or during routine inspection, in order to avoid damaging the
controller due to disabled insulation performance of motor winding. Make sure to disconnect
motor cable from the controller during inspection; the 500V megohmmeter is recommended. The
obtained insulation resistance shall not be lower than 5MΩ.
1.2.2 Motor Heat and Noise
Since the output voltage of controller presents a PWM waveform along with some harmonic
waves, the temperature rise, noise and vibration of motor would increase a little in comparison
with the running under the industrial frequency.
1.2.3 Voltage-Sensitive Device or Power Factor Improvement Capacitor on the Output Side
The controller outputs PWM waves. Do not use the controller, if an improvement capacitor for
power factor or a lightning voltage-sensitive resistor is installed on the output side, which may
easily result in transient overcurrent of controller, or even damage the controller.
1.2.4 Beyond Rated Voltage
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Do not use A2000 controller outside the operating voltage specified in this manual, which may
easily damage its internal parts. If you have to do so, install a voltage rise or reduction device for
transformation.
1.2.5 Surge Suppressor
The driver is equipped with voltage-sensitive resistor inside, which can suppress surge voltage
caused upon start/stop of the inductive loads around the inverter. If the surge voltage caused by
inductive loads is too large, please make sure to use surge suppressor on the inductive load or use
diode together with the inductive load.
Note: Don’t connect the surge suppressor to the output side of the inverter.
1.2.6 Altitude and Derating
When the controller is used in an area at an altitude of over 1,000 m, the cooling effect will
degrade, so it must be derated. For details, please consult Qma.
1.2.7 Attentions at Controller Scrapping
Burning the electrolytic capacitors of the mains and PCB may result in explosion and burning
plastic parts may generate toxic gas. Please handle them as industrial wastes when the controller is
scrapped.
1.2.8 Applicable Motor
1) This controller is applicable to squirrel-cage induction motor and AC permanent magnet
synchronous motor. Please make sure to select the controller according to the motor nameplate.
2) In order to get better control effect, conduct motor parameter autotuning according to actual
conditions of the motor. Motor parameter autotuning must be performed for synchronous motors.
3) As short circuit of cables or inside the motor may result in controller alarm and even damages,
please conduct insulation and short circuit test for the motor and cables that are installed for the
first time. This test also shall be conducted during daily maintenance. Pay attention to
disconnecting the controller from the tested parts completely when conducting such test.
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2 Product Information
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Chapter 2 Product Information
Input/output terminal
Encoder input terminal
Power supply input

Operator
terminal
Motor output terminal
Figure 2-1 Product Appearance
2.1Naming Rules and Nameplate
2.1.1 Naming rules:
No. Power Ratings

A series 0R2 200W
0R4 400W
Model Controller Type
0R7 750W
2000 Elevator door operator
controller
No. Voltage Class
21 Single-phase
220V
System Model Input Power Supply Input Output Applicable

Voltage Capacity Current(A) Current (A) Motor(W)
(kVA)
A-2000-0R2-21 Single-pha 0.5 2.7 1.3 200
A-2000-0R4-21 se 220V 1.0 5.4 2.3 400
A-2000-0R7-21 -15%-20% 1.5 8.2 4.0 750
2.1.2 Example of nameplate
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Figure 2-2 Example of Nameplate
2.2 Technical Parameters
Table 2-1 Technical Parameters

Item Subitem Technical Parameters
Performance Maximum output frequency 99.00Hz
Control Speed governance 1:50 (magnetic flux vector control); 1:1000
(closed-loop vector control)
Steady speed accuracy ± 0.5% (magnetic flux vector control); ±
0.05%(closed-loop vector control)
Start torque 0Hz-180% (closed-loop vector control);
1Hz-150%(magnetic flux vector control)
Frequency resolution 0.01Hz
Current resolution 0.01A
Carrier frequency 2.0kHz-16.0kHz
Main For AC induction motor, supports stationary and dynamic autotuning for motor
Features parameters;
For AC permanent magnet synchronous motor, supports autotuning of motor
under load and no load and encoder zero position
Supports closed-loop vector control of AC permanent magnet synchronous motor
under normal ABZ encoder mode, with open collector output or push-pull output
mode of encoder
Under the magnet flux vector control mode, supports automatic torque boost,
manual torque boost and overexcitation mainly.
Offers door width autotuning function
Offers automatic demonstration function
Offers automatic hinder recognition function
Offers one-click commissioning function
Protection Overload protection: Rated current 150%, 1min protection; 180%, 1s protection
Functions Overvoltage protection, undervoltage protection, overcurrent protection, output
phase loss protection, power failure anti-pinch function, etc.
Environment Installation To be installed indoor, free from direct sunlight, dust,
al Conditions environment corrosive gas, flammable gas, oil stain, vapour, salt, etc.
Altitude Less than 1000m. If the altitude is higher than 100m, please
derate the controller
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Ambient -10℃-+40℃(if the ambient temperature is within range of
temperature 40℃ and 50℃, please derate the controller)
Humidity Less than 95%RH, no condensation
Vibration Less than 5.9m/s2 (0.6g)
Storage temperature -20℃-+60℃
Cooling method Self-cooling mode for 0.2kW model, forced air cooling
mode for 0.4kW and 0.75kW model
Protection grade IP20
Storage site To be stored indoor, clean and dry
Means of transport Placed in standard packing containers, which can be
transported by vehicles, trains, airplane, steamship, etc.
Transportation Sinusoidal vibration at 9-200Hz: 15m/s2 (1.5g)
vibration
2.3 Mechanical Installation
2.3.1 Installation Environment

1) Ambient temperature: Ambient temperature has a great influence on the service life of the
controller so the environment temperature of the controller shall be within the allowable range
(-10℃-50℃).
2) The controller shall be installed on flame retardant base, with enough space left around it for
radiation, as the controller will produce a large amount of heat during running. Install the
controller on the erection support vertically with screws.
3) Don’t install this product in a place with direct sunlight, moisture and water.
4) Don’t install this pro
5) duct in a place with corrosive, flammable or explosive gas.
6) Unit: mm
Figure 2-3 Product Overall Dimension
2.3.2 Recommended preset installation distance and air vent
If this product is installed in a closed space, please set aside corresponding space as shown in
figure 2-4.
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Hot air
Cold air
Figure 2-4 Preset Installation Distance
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3 Electrical Installation
15
Chapter 3 Electrical Installation
3.1 Electrical Installation
3.1.1 Peripheral Electrical Elements Options Guide

Table 3-1 Peripheral Elements Options
Controller Model Air Switch (A) Contactor (A) Main Circuit Cables (mm)
A-2000-0R2-21 10 10 2.5
A-2000-0R4-21 16 10 2.5
A-2000-0R7-21 16 10 2.5
3.1.2 Instruction for Use of Peripheral Optional Electrical Accessories
Table 3-2 Instruction for Use of Peripheral Accessories
Accessory Installation Position Terminal Function
Name
Air switch At the front end of the drive Cut the power of the controller and
power supply input of the provide short circuit protection
controller
AC input Input side of the system Improve the power factor at the input side;
reactor effectively eliminate the higher order
harmonics of the input side and protect the
rectifier bridge; eliminate the unbalance of
input current caused by unbalance between
power supply phases.
AC output Installed in a position between the Install another output AC reactor when the
reactor controller output side and motor distance between the vector driver and the
and close to one side of the motor exceeds 100m.
controller
3.2 Description of Wiring Terminals
3.2.1 Layout & Wiring of Terminals of Drive Circuit
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Single-phase power input terminal
Variable frequency output terminal
Figure 3-1 Terminal Layout of Drive Circuit

Table 3-3 Description of Terminals of Drive Circuit
Symbol Name Description
L, N Single-phase Power Input AC single-phase 220V power input terminal
Terminal
U, V, W Variable Frequency Output Connecting to 3-phase electric motor
Terminal
Grounding Terminal Grounding terminal
Ground
Figure 3-2 Drive Circuit Wiring

Under applications with large inertia, such as control on cold storage door, braking resistor is
required. Please refer to table 3-4. Braking resistor is not required in the capplication of elevator
door control.
Table 3-4 Relevant Parameters of Braking Resistor
Controller Model Recommended Power of Recommended Resistance of Braking
17
Braking Resistor Resistor
A-2000-0R2-21 80W ≥250Ω
A-2000-0R4-21 80W ≥200Ω
A-2000-0R7-21 80W ≥150Ω
3.2.2 Terminal Layout & Wiring of Control Circuit
Door status output terminal
Encoder and control
signal input terminal
Figure 3-3 Terminal Layout of Control Circuit

Table 3-5 Description of Terminals of Control Circuit
Terminal Name Mode Terminal No. Terminal Technical Specification
Function
Door Status Relay output TA1/TB1/TC1 Relay output 1. TA-TB:NC;
Output Terminal and shield TA2/TB2/TC2 TA-TC: NO;
grounding TA3/TB3/TC3 Contact capacity:
AC250V/3A; DC30V/1A
2. Isolation voltage level of
contact and control circuit:
2.5kVAC.
Encoder and Internal 24V +24V External 24V Used as the power supply
Control Signal power supply of the no-contact switch or
Input Terminal encoder. Maximum output
current: 200mA.
COM 24V power Isolated from internal
supply GND.
common port
Encoder input PGA Encoder A Open collector output or
phase push-pull output
PGB Encoder B
phase
PGZ Encoder Z
signal
Numeric DI1-DI8 Numeric Optocoupler isolation
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input quantity input, effective level: low
signal input level. Input voltage range:
0Vdc-30Vdc;
Input impedance: 3.3kΩ.
Terminal for Software RJ45 Software -
Manufacturer Programming Programming
Terminal Terminal
Before powering on the system, check peripheral wiring to ensure the safety of parts and
personnel.
1. The wiring of all peripherals must be conducted in accordance with drawings provided by the
manufacturer;
2. All switches work normally and reliably;
3. Check the resistance of phases of the main circuit and check if there exists short circuit between
phases and the ground;
4. Mechanical parts are installed properly and will not cause damages to device or result in
personal injury.
Check if the resistance between following terminals and the grounding terminals PE is infinite. If
it is relative small, check immediately:
1. L, N and PE;
2. U, V, W and PE;
3. Encoder 24V, PGA, PGB, PGZ, COM and PE.
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4 Operation Display & Application
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Chapter 4 Operation Display & Application
4.1 Operation and Display Interface
A user may operate A2000 controller by the operation panel through parameter setting, status
monitoring, control (start/stop operation), etc.
Function indicator
Data display zone
Up
PRG Enter
Shift Stop/Reset
Down
Open Close
Figure 4-1 Operation Panel

1) Description of indicator
Table 4-1 Description of Indicator
Indicator Indication of “On” LED indicators during stop Indication of “On” LED
Speed Control Distance Control indicators during running
DI1 signal enabled DI1 signal enabled External door close
command
D1
DI2 signal enabled AB-phase signal is Door closing
correct
D2
DI3 signal enabled Z-phase signal Door opening
D3
DI4 signal enabled DI4 signal enabled External door close
command
D4
2) Description of keypad of operation panel
Table 4-2 Description of buttons of keypad
Button Name Function
21
Programmable Enter and exit the level 1 menu.
Enter Enter the menu step by step, set and enter parameters.
Stop/Reset Press this button to stop the controller under running

status or reset the operation in fault alarm status.
Shift Select the display parameters of LED circularly under

stop status and running status; when modifying
parameters, it can be used to select the bit of
parameters.
Up Increase figure or function code progressively.
Down Reduce figure or function code progressively.
Open Press this button to open the door under the operation
panel mode.
Close Press this button to close the door under the operation
panel mode.
4.2 Basic Setting of Operation Panel
4.2.1 Operation Procedure of Three-level Menu:

A2000 controller adopts three-level menu to set parameters through operation panel, very easy to
view and modify function codes and parameters.
3-level menu: Function parameter group (level 1) → function codes (level 2)→function code
parameter setting (level 3). See figure 4-2 for operation procedure.
Status parameter Level 1 menu (function code
Pressing to modify a flashing
(Default screen) group number options)
bit
parameter
(Default screen) Enter Back

Switching
Level 2 menu (function code Enter
Enter
number option) Back
Next
Level 3 menu (function function
code no.
code parameter setting) Cancel R save
Figure 4-2 Operation Procedure of Three-level Menu

When setting a parameter under the level 3 menu, user can press either PRG or ENTER to back to
22
the level 2 menu. If ENTER is pressed, the system will save parameter setting first, return to the
level 2 menu and then go to the next function code automatically; if PRG is pressed, the system
will directly return to the level 2 menu without saving parameter setting and stay at current
function code. This is the difference.
Example: Changing the setting of function code P004 from 0.00Hz to 15.00Hz ( indicates
flashing bit).
Status parameter
Pressing to modify a flashing bit
(Default screen)
parameter
(Default screen) Enter Back

Switching
Back Enter
Cancel
R save
Figure 4-3 Example of Parameter Editing

Under the level 3 menu, if there is no flashing bit, it means that this function code can not be
modified. Possible causes:
1. The function code is a parameter that can not be modified, such as actual detection parameter,
operation log parameter.
2. This function code can not be modified under the running status. For modification, it is required
to stop the controller.
4.2.2 Read Fault Message
In the event of controller fault, fault code will be displayed on the panel. User, through the fault
code, can judge possible causes for fault and solve it as soon as possible.
A2000 controller can save the 4 latest fault codes and record the frequency, current, bus voltage,
numeric input terminal status and numeric output terminal status at the last fault.
Status parameter
Pressing to modify a flashing bit
(Default screen)
parameter
Enter Back
(Default screen)
Switching
Enter
Back
Cancel R save
Figure 4-4 View Fault Message

4.2.3 View Running/Stop Display Information
Under the running/stop status and when the controller has no fault, user can view the display
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parameters of the running/stop status through PA00/PA01 setting and the shift key.
Stop/Running Parameter Display Switching
Running Bus Output Output Output Output Door

Setting Input
frequency current status width
frequency voltage voltage torque status
position
Figure 4-5 Running Parameter Display

4.2.4 User Password Setting
For protecting parameters more effectively, the controller is provided with password protection for
parameters. For canceling the password protection, please enter the protection function with
password and set PP00 as 0.
The following example shows the procedure to change the password to 12345. ( indicates a
flashing bit)
Status parameter Pressing to modify a flashing bit

(Default screen)
parameter
(Default screen) Enter

Back
Switching Switching
Enter
Back
Cancel
R save
Figure 4-6 User Password Setting
4.3 Application Example of Door Operator Controller
4.3.1 Operation mode

The controller can start or stop in four ways: Operation panel control mode, door operator terminal
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control mode, door operator manual tuning mode and door operator automatic demonstration
mode,which can be selected through the function parameter P002.
Table 4-3 Setting Function Code for Start/Stop Command
Function Command Source Default: 0 Description
Code Option
P002 Setting 0 Operation panel Mainly used for motor tuning. At this time, the door
range control mode motor runs at the frequency set by P004. User can
press “OPEN” or “CLOSE” to control start/stop of
the door motor and press “STOP/RES” to stop
running.
1 Door operator terminal User can control the door operator by inputting door
control mode open or door close command through DI terminal.
This mode is generally applied to normal working
condition.
2 Door operator manual Please set this mode before door width autotuning.
tuning mode Under this mode, the door operator may have
acceleration/deceleration process. The start/stop
control mode of the door operator is same to that of
operation panel control mode.
3 Door operator It is applied to the door operator demonstration and
automatic trial operation at the factory. After door width
demonstration mode autotuning is completed under the distance control or
peripheral signal under speed control is connected,
set this mode to make the door operator run
automatically. Press “OPEN” or “CLOSE” to start
the demonstration, and “STOP/RES” to stop the
demonstration. Demonstration time interval and
demonstration times are set by F7 group.
4.3.2 Control Door Open/Close through DI Terminals
The control system sends the door open and close run commands through DI terminals to open
and close elevator door.
Supporting multiple terminal control modes, A2000 controller determines the input terminals and
open/close signal modes through function codes P901-P908. For specific setting methods, please
refer to detailed description of function codes, such as P901-P908.
Example: It is required to connect the door open run command of the control system to DI5
terminal of A2000 controller, and connect the door close run signal to DI6 terminal. See figure 4-7
for methods of use and setting.
Figure 4-7 Example of Start/Stop Controlled through DI Terminals
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4.3.3 Motor Parameter Autotuning
An example of autotuning of AC permanent magnet synchronous motor is given below.
Before AC permanent magnet synchronous motor runs for the first time, the position of its magnet
pole must be autotuned, otherwise it may not run normally. Autotuning of encoder position angle
must be performed again after motor wiring is changed, encoder is replaced or encoder wiring is
changed. Therefore, make sure that motor wiring is completely the same for both magnet pole
position autotuning and normal motor run. Motor may rotate or run when autotuned. Therefore,
make sure that worker would be safe before autotuning See figure 4-8 for the autotuning
procedure:
Note:
1. Before autotuning, please confirm encoder signal is normal. If door closes and motor stalls
when autotuning starts, it indicates abnormal motor running direction and it is required to
exchange motor wiring or encoder wiring.
2. When autotuned under no load, motor will firstly execute either forward autotuning command
or reserve autotuning command; some time later, it will run in the opposite direction; several
forward and reverse cycles later, motor will calculate all parameters; afterwards, the autotuning of
no-load motor finished. In case of PG fault in autotuning, change any two phases of UVW
terminals and perform autotuning again.
3. During autotuning of a motor with load, keep the door closed completely. Then, by pressing
“OPEN”, the motor will slowly execute the door opening operation at a speed of 25% of rated
rotation speed, after running for a certain distance, the motor will execute door closing operation.
After door close, open, close operation for three times, the controller will calculate all parameters.
Now, the autotuning of a motor with load finishes.
4. If motor does not run or its running direction is opposite to the door open or close command
during autotuning of a motor with load, it means motor wiring is incorrect. Please chagne any two
phases of motor wiring and conduct autotuning again.
5. In autotuning, zero compensation position angle of encoder can be viewed or modified through
P114, but it is not allowed to be modified after position autotuning. Otherwise, the controller may
not work properly. Zero compensation position angle of encoder acquired by on-load autotuning is
lower in accuracy than that acquired by idling autotuning. If conditions permit, please adopt idling
autotuning
6. In case ER warning occurs in autotuning of encoder position, please check the wiring.
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Figure 4-8 Autotuning Procedure of AC Permanent Magnet Synchronous Motor
4.3.4 One-click Commissioning
Application conditions:
1) This function is used to simplify the commissioning procedure under the distance control mode.
Therefore, don’t apply this function to the door operator system without encoder;
2) Before using this function, please set motor type, motor parameter and encoder pulse count
properly.
Operation procedure:
1) By pressing “OPEN” and “CLOSE” at the same time for 3s under the stop status, the one-click
commissioning function will be enabled; if the door operator controller is running, please stop it
firstly;
2) After the one-click commissioning function is enabled, the door operator controller will
conduct motor autotuning firstly and then conduct door width autotuning. During this period, user
can press “STOP” to stop commissioning;
3) During motor autotuning, TUNE is displayed; during door width autotuning, running speed is
displayed (no flashing); after the motor is stopped, the setting speed will be displayed (flashing).
4) After all commissioning is completed, the controller enters the external command control mode
and it can be directly put into use.
Attentions:
1) During one-click commissioning, the door operator controller will automatically modify P000,
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P001, P002, door width data and other parameters. If commissioning is stopped before completion,
please pay attention to these parameters:
2) For induction motor, please adopt stationary autotuning; for synchronous motor, adopt on-load
autotuning.
4.3.5 Power Failure Anti-pinch Function
During running, the door operator controller will detect input voltage. When the voltage is lower
than 175VAC, the door operator controller will automatically control the door to close slowly. At
this time, the door operator consumes the electric power saved in internal capacitor and before the
electric power is exhaustedt, the door will be closed to the closing position;
In case of power failure under the stop status, the door operator will not enable any action.
4.4 Typical Application
A2000 controller can control the door operator system through two modes: Speed control and
distance control.
Speed control mode can realize deceleration through deceleration point and realize in-position
judgment according to in-position signals; for distance control mode, door width pulse count must
be autotuned properly. Moreover, under this mode, the controller sets parameters of the door
open/close curves to decelerate at the deceleration point and conduct in-position processing.
4.4.1 Speed Control Mode
1. When the speed control mode is adopted, four limit switches must be installed on the door. The
controller conducts deceleration through deceleration points and limit handling through judging
the limit switch signal.
Installation positions of various signal contacts (limit switch) of the door operator system under
the speed control mode is as shown in figure 4-9.
Door opening limit Door opening deceleration

Door closing deceleration
Door closing limit
Close Open
Figure 4-9 Installation of Detection Switch for Door Operator

2. Under the speed control mode, check the door open and close deceleration signal wiring
Taking our elevator control system as an example to describe relevant signal wiring of the door
operator controller.
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Figure 4-10 Relevant Function Codes Setting of Wiring in Typical Application of Speed Control
System
Function Code Name Setting Value
P001 Door Open/Close Mode 0: Speed Control Mode
P002 Command Source Options 1: Door operator terminal control mode
P901 Switch Quantity Input Terminal DI1 13: NO input of door closing limit signal
P902 Switch Quantity Input Terminal DI2 15: NO input of door closing
deceleration point
P903 Switch Quantity Input Terminal DI3 14: NO input of door opening
deceleration point
P904 Switch Quantity Input Terminal DI4 12: NO input of door opening limit
signal
P905 Switch Quantity Input Terminal DI5 1: Door open command
P906 Switch Quantity Input Terminal DI6 2: Door close command
3: Door opening and closing running curve under the speed control mode
Figure 4-11 Door Opening Curve under Speed Control

When the door open command is enabled, the door operator will accelerate to the speed set by
P300 and run at the speed. When the door operator opens the door and runs at low speed for the
time set by P302, the door operator will accelerate to the high speed (P303). When the door
29
opening deceleration signal is enabled, the door operator will decelerate to the speed set by P305
and crawl at such speed. When the door opening in-position signal is enabled, the door operator
enters the door open holding status, with door open holding torque of P308.
Figure 4-12 Door Closing Curve under Speed Control

When the door close command is enabled, the door operator will accelerate to the speed set by
P400 and run at the speed. When the door close run time at low speed reaches to P402, the door
operator will accelerate to the high speed for closing door (P403). When the door closing
deceleration signal is enabled, the door operator will decelerate to the speed set by P405 and crawl
at the speed. When the door closing in-position signal is enabled, the motor will enter the door
open holing status and maintain the low speed P4-07 for the time set by P408. The door closing
in-position holding torque is P412. The door vane withdrawal speed and time are P409 and P410
respectively.
4.4.2 Distance Control Mode
1. Under the distance control mode, the door operator must be equipped with an encoder, through
which the controller can judge the position of the door. In the first run under the distance control
mode, the controller shall autotune door width pulse count correctly and realize deceleration at the
deceleration point and in-position processing by setting parameters of the door open and close
curve.
Taking our elevator control system as an example for describing relevant signal wiring of the door
operator controller.
30
Figure 4-13 Wiring Mode under Distance Control Mode
2. Check encoder
Feedback pulse signal of encoder is important for ensuring accurate system control so please
check it carefully before commissioning.
Encoder is installed firmly and wired reliably.
Signal cables of encoder are separated from circuits with heavy current to avoid interference.
Encoder cables shall be connected to the controller through the encoder directly. If cables are not
long enough and wiring is required, the extension part also shall adopt shielded cables and shall be
welded to original encoder cables by soldering iron.
Shielded layer of the encoder is required to be grounded on one end of the controller reliably.
3. Set relevant function codes
Function Code Name Setting Value
P001 Door Open and Close Mode 1: Distance control mod
P002 Command Source Options 1: Door operator terminal control mode
P905 Switch Quantity Input Terminal DI5 1: Door open command
P906 Switch Quantity Input Terminal DI6 2: Door close command
4. Door width autotuning
The controller shall conduct door width autotuning firstly before running under the distance
control mode, record the pulse count in real time during the door open and close process under the
distance control mode and conduct in-position control on door open and close and judgment
according to the door width pulse count.
For induction motor under the distance control mode, before autotuning the door width, user shall
first confirm AB phase signal wiring of encoder is normal. During autotuning of door width, the
door running direction may be changed automatically. So please ensure personal safety before
operations. Otherwise, it may result in personal injury.
31
For measurement of the door width, make sure there is no obstacle when the door runs. If there is
obstacle, the controller will determine that the door runs in-position, thus resulting in incorrect
measurement of door width. Door width measurement procedure is as shown in figure 4-14:
Figure 4-14 Door Width Measurement Procedure

5. Door open/close running curve under the distance control mode
Figure 4-15 Door Opening Curve under Distance Control Mode

When the door open command is enabled, the door operator will accelerate to the speed set by
P300 and run at the speed. When the door is opened to P604* door width, the door operator
accelerates to the speed set by P303. When the door is opened to P605* door width, the door
operator starts to decelerate and crawl with crawl speed P305 and the deceleration time P306.
When the door is opened to P606* door width, the door operator continues to open the door to
stop deceleration and crawling, and enter the door opening torque holding status. The holding
torque is determined by P308. At this time, the door position is reset to 100%.
After the command is canceled, the holding torque ends.
32
Figure 4-16 Door Closing Curve under Distance Control Mode
When the door close command is enabled, the door operator will accelerate to the speed set by
P400 and run at the speed. After the door closing position reaches to P607*door width, the door
operator will accelerate again to run at the speed set by P403. When the door is closed to P608*
door width, the door operator starts to decelerate to the speed P405. When the door is closed to
P609* door width, the door operator will decelerate again to run at the speed set by P407. P609 is
recommended to set greater than or equal to 96.0%. If there exists pulse loss phenomenon during
door open and close process, reduce P609. Set relevant action to take back the door vane by P620.
After taking back the door vane and when the door is blocked, the motor will enter the torque
holding stage. At this time, the holding speed is P407, the holding torque is P412 and the door
position is reset as 0.
If the door close command is disabled, holding torque ends.
4.4.3 Door Closing Blocked
Door closing blocked generally refers to following states occurred during the door closing process:
light curtain/touch panel signal is disabled, the output torque is larger than the door closing
blocked torque, door open command, etc. A2000 controller offers two control modes when the
door closing operation is blocked: ramp to stop or reopen the door, which can be selected through
the function code P414. Modes for judging if the door closing operation is blocked include time
and torque judgment.
1. Under the speed control mode, the effective curve of door open command during the door
closing process is as shown in figure 4-17:
Figure 4-17 Effective Running Curve of Door Open Command During Door Closing Process
under Speed Control Mode
The deceleration time is P500 (abnormal deceleration time). When the door is reopened, the motor
will run at low speed for door opening and after running for the low speed running time (P302),
the motor will run at high speed. When the door opening deceleration signal is enabled, the
controller will open the door in-position in low speed and output door opening in-position signal.
2. Setting relevant function codes
Function Name Setting Range Remarks
Code
P414 Working 0: Not used 2: Stop running immediately and output the
Mode Upon 1: Output the blocking door closing blocked signal. Within 10s, the
Door Closing signal controller will not respond to door close
Blocked 2: Stop running command, but will respond to the door
33
immediately close command immediately upon
3: Reopen the door reception of door open command or
cancellation of run commands.
3: Reopen the door in this circumstance and
the controller will not respond to external
door open or close command during door
reopening.
Door closing blocked includes following
statuses:
 During door closing process, the light
curtain/touch panel signal is enabled;
 During door closing process, the
output torque is greater than the door
closing blocked torque;
 During the door closing process, the
door closing time exceeds the setting
value of P502.
P415 Door Closing 0-9999ms Refers to the filter time of door closing
Blocked blocked. When this parameter is set as 0,
Judgment door closing blocked judgment is disabled.
Time
P417 Door Closing P418-P104, 12.00Hz Blocking torque
Blocked High
Speed Setting
P418 Door Closing 0.00Hz-P104, 2.00Hz
Blocked Low Curve
Speed Setting
P419 High Speed 0.00-150.0%, 100.0%
Running frequency
Torque
Hz
Setting
P420 Low Speed 0.00-150.0%, 100.0% These four function codes are used to judge
Torque the door closing blocking;
Setting  As shown above, these four function
codes must be set according to the
requirement: V1(P417)≥V2(P418).
T1(P419)≤T2(P420).
 The torque percentage of the door
closing blocked judgment is as shown
in curve 1 in the figure. The shaded
part in the figure is judged as the door
closing is blocked.
P500 Abnormal 0.1-5.0s This function code refers to the time
Deceleration required for decelerating from present door
Time closing speed to zero when the door closing
34
action is blocked. This parameter shall be
set as small as possible so as to ensure
system deceleration without overcurrent.
P502 Door Closing 0-9999s During the door closing process, if door
Time Setting closing in-position signal can not be
received within the setting time, it will be
judged that the door closing action is
blocked. The controller will reopen the door
or hold at zero speed according to P414;
this function code is disabled when it is set
as 0.
35
5 Function Parameter Table
36
Chapter 5 Function Parameter Table
5.1 Instructions for Use of Function Parameter Table
Based on the function of function parameters, A2000 controller has 13 groups of function codes,
such as P0-P9, PA and PP, each group containing multiple function codes. Function codes are
displayed in three-level menu. Words “PXYZ” mentioned in other parts in this manual refer to
No.“YZ” function code of the group “X”. For example, “P302” refers to the No.2 function code of
the group P3.
In order to set function codes, on the operation panel, the number of function group corresponds to
the level 1 menu, the number of function code corresponds to the level 2 menu and function code
parameter corresponds to the level 3 menu.
All columns of function parameter table are described as follows:
The first column “Function code”: No. of the function parameter group and parameter; the second
column “Name”: Complete names of function parameters; the third column “Setting range”:
Range of effective setting value; the fourth column “Minimum Unit”: Minimum unit of function
parameter setting values; the fifth column “Default”: Default of function parameter; the sixth
column “Property”: Change property of function parameters (whether the change is allowed and
conditions for change). Descriptions are as follows:
“”: Refer to that the parameter can be modified in controller, at stop status and running status.
“® ”: Refer to that the parameter can not be modified in controller,or in the running status.
“ ”: Refer to that this parameter value is recorded through actual test and can not be modified.
(In order to help users to avoid misoperation, the system has applied automatic checking and
restriction for the change property of all parameters automatically )
“Default”: Refer to the value of function code when reset to the default; however, the actual
detection value or recorded value can not be rest.
To better protect parameters, the system has applied password protection for function code .
5.2 Function Code Parameter Table
After PRG is pressed, all level 1 menus displayed by pressing UP/DOWN represent groups of
function groups. Specific information is as follows:
5.2.1 Grouping function parameters
P0----------Basic Function Parameter P7 Demonstration Function Parameter
P1 Motor Parameter P8 Auxiliary Parameter
P2 Performance Control Parameter P9 Input and Output Terminal Function Parameter
P3 Door Opening Running Parameter PA Display & Fault Parameter
P4 Door Closing Running Parameter PF Default Parameter
P5 Door Open/Close Auxiliary Parameter PP User Parameter
P6 Distance Control Parameter
37
5.2.2 Basic Function Parameter Table
Function Name Setting Range Minimum Default Property
code Unit
P0 Group-Basic Parameter
P000 Control Mode 0: Magnetic flux vector control 1 1 ®
1: Closed-loop vector control
P001 Door Open/Close Modes 0: Speed control mode 1 1 ®
1: Distance control mode
P002 Command Source 0: Operation panel control mode 1 0 ®
Options 1: Door operator terminal control
mode
2: Door operator manual tuning
mode
3: Door operator automatic
demonstration mode
P004 Panel Setting Frequency 0.00Hz-P104 0.01Hz 5.00Hz
P005 Quick Setting of Input 0-2 1 1 ®
Point
P006 Slow Running Speed 0.00-20.00Hz 0.01Hz 4.00Hz
Setting
P007 Carrier Frequency 2.0kHz-16.0kHz 0.1kHz 8.0kHz
Regulation
P010 Upper Limit of Panel 0.0-250.0% 0.1% 180.0%
Running Torque
P1 Group-Motor Parameter
P100 Motor Type 0: Induction motor 1 1 ®
1: Synchronous motor
P101 Rated Power 0-750W 1W Up to specific ®
model
P102 Rated Voltage 0-250V 1V Up to specific ®
model
P103 Rated Current 0.001A-9.900A 0.01A Up to specific ®
model
P104 Rated Frequency 1.00Hz-99.00Hz 0.01Hz Up to specific ®
model
P105 Rated Rotation Speed 1-9999rpm 1rpm Up to specific ®
model
P106 Stator Resistor 00.00-99.99Ω 0.01 Up to specific ®
model
P107 Rotor Resistor of 00.00-99.99Ω 0.01 Up to specific ®
Induction Motor model
P108 Leakage Inductance of 0-99.99mH 0.01mH Up to specific ®
P109 Mutual Inductance of 0-99.99mH 0.01mH Up to specific ®
38
P110 Idling Excitation Current 0.000-9.900A 0.01A Up to specific ®
of Induction Motor model
P111 D-shaft Inductance of 0-999.9mH 0.1mH Up to specific ®
Synchronous Motor model
P112 Q-shaft Inductance of 0-999.9mH 0.1mH Up to specific ®
P113 Autotuning Pulse Width 0-655 1 0 ®
of Magnetic Pole
P114 Encoder zero position of 0-359.9 0.1 Up to specific ®
P115 Real-time Angle of 0-359.9 0.1 Up to specific 
P116 Motor Autotuning 0: No operation 1 0 ®
1: Autotuning for induction
motor with load
2: Autotuning for induction
motor with no load
3: Autotuning for synchronous
motor with no load
4: Autotuning for synchronous
motor with load
P2 Group-Performance Control Parameter
P200 Speed Loop Proportional 0-100 1 15
Gain 1
P201 Speed Loop Integral 0.01-10.00s 0.01s 1.00s
Time 1
P202 Switching Frequency 1 0.00-P205 0.01Hz 5.00Hz
P203 Speed Loop Proportional 0-100 1 15
Gain 2
P204 Speed Loop Integral 0.01-10.00s 0.01s 1.00s
Time 2
P205 Switching Frequency 2 P202-P104 0.01Hz 10.00Hz
P206 Current Loop 10-500 1 120
Proportional Gain
P207 Current Loop Integral 10-500 1 50
Gain
P208 Slip Compensation 50%-200% 1% 100%
Factor
P209 Inertia Compensation 0-9999 1 0 ®
P210 Torque Boost 0-30.0% 0.1% 0.0%
P211 Over Excitation Gain 0-200 1 64
P212 Initial Position Judgment 0-2 1 1 ®
Mode of Synchronous
39
Motor
P213 Speed Feedback Filter 0-20 1 0
Level
P214 Encoder Pulse Setting 1-9999 1 1000 ®
P215 Encoder Pulse Direction 0: Forward 1 0 ®
Options 1: Reverse
P3 Group-Door Opening Running Parameter
P300 Door Opening Start Low 0.00Hz-P303 0.01Hz 5.00Hz
Speed Setting
P301 Door Opening Start 0.1-999.9s 0.1s 1.0s
Acceleration Time
P302 Door Opening Start Low 0.1-999.9s 0.1s 1.0s
Speed Running Time
under Speed Control
P303 Door Opening High 0.00Hz-P104 0.01Hz 15.00Hz
Speed Setting
P304 Door Opening 0.1-999.9s 0.1s 2.0s
Acceleration Time
P305 Door Opening End Low 0.00Hz-P303 0.01Hz 3.00Hz
Speed Setting
P306 Door Opening 0.1-999.9s 0.1s 1.5s
Deceleration Time
P307 Door Opening 0.0%-150.0% Motor Rated 0.1% 50.0%
In-position Torque Torque
Switching Point Setting
P308 Door Opening 0.0%-180.0% 0.1% 80.0%
In-position Holding
Torque
P309 Door Opening Interrupt 0.0%-150.0% Motor Rated 0.1% 80.0%
Torque Torque
P310 Door Opening Start 0.0%-150.0% Motor Rated 0.1% 0.0% ®
Torque Torque
P311 Door Opening Interrupt 0-9999ms 1ms 0ms
Judgment Time
P312 Door Opening 0.00-P303 0.01Hz 3Hz
In-position Low Speed
Setting
P313 Door Reopening Low 0.00Hz-P303 0.01Hz 0.00Hz
Speed Setting
P4 Group-Door Closing Running Parameter
P400 Door Closing Start Low 0.00Hz-P403 0.01Hz 400Hz
Speed Setting
P401 Door Closing Start 0.1-999.9s 0.1s 1.0s
Acceleration Time
40
P402 Door Closing Start Low 0.1-999.9s 0.1s 1.0s
Speed Running Time
under Speed Control
P403 Door Closing High 0.00Hz-P104 0.01Hz 12.00Hz
Speed Setting
P404 Door Closing 0.1-999.9s 0.1s 2.0s
Acceleration Time
P405 Door Closing End Low 0.00Hz-P403 0.01Hz 2.00Hz
Speed Setting
P406 Door Closing 0.1-999.9s 0.1s 1.5s
Deceleration Time
P407 Door Closing In-position 0.00Hz-P403 0.01Hz 1.00Hz
Low Speed Setting
P408 Door Closing In-position 1-9999ms 1ms 300ms
Low Speed Running
Time
P409 Door Vane Withdrawal 0.00Hz-P403 0.01Hz 2.00Hz
Speed Setting
P410 Door Vane Running 1-9999ms 1ms 500ms
Time
P411 Door Closing In-position 0.0%-150.0% Motor Rated 0.1% 50.0%
Torque Switching Point Torque
Setting
P412 Door Closing In-position 0.0%-P411 0.1% 30.0%
Holding Torque
P413 Door Closing Blocked 0.0-150.0% 0.1 100.0 ®
Torque
P414 Door Closing Blocked 0: Not used 1 1 ®
Operation Mode 1: Output blocking signal
2: Stop running immediately
3: Reopen the door
P415 Door Closing Blocked 0-9999ms 1ms 500ms
Judgment Time
P416 Fire Control Door 5.00Hz-P104 0.01Hz 10.00Hz
Closing High Speed
Setting
P417 Door Closing Blocked P418-P104 0.01Hz 12.00Hz
High Speed Setting
P418 Door Closing Blocked 0.00Hz-P104 0.01Hz 2.00Hz
Low Speed Setting
P419 High Speed Interrupt 0.0%-150.0% 0.1% 100.0%
Torque Setting
P420 Low Speed Interrupt 0.0%-150.0% 0.1% 100.0%
Torque Setting
41
P421 Forward Movement of 0.0-10.0% 0.1% 4.0%
Door Closing Limit
Point
P5 Group-Door Open/Close Auxiliary Parameter
P500 Abnormal Deceleration 0.1-5.0s 0.01 0.3s
Time
P501 Door Opening Time 0-999.9s 0.1s 30.0s
Limit
P503 Slow Speed Running 0-999.9s 0.1s 0.0s
Time Limit
P504 External Door Open 0-999.9s 0.1s 60.0s
Command Delay Time
P505 External Door Closing 0-999.9s 0.1s 60.0s
Command Delay Time
P506 Door Opening Curve 0: Linear 1 1 ®
acceleration/deceleration
1: S curve
P507 Door Opening 10.0%-50.0%(acceleration/de 0.1% 20.0% ®
Acceleration S Curve celeration time) (start section+
Start Section Time up section≤90%)
Acceleration S Curve Up celeration time) (start section+
Section Time up section≤90%)
Deceleration S Curve celeration time) (start section+
Start Section Time up section≤90%)
Deceleration S Curve celeration time) (start section+
Down Section Time down section≤90%)
P511 Door Closing Curve 0: Linear 1 1 ®
Options acceleration/deceleration
1: S curve
P512 Door Closing 10.0%-50.0% 0.1% 20.0% ®
Acceleration S Curve (acceleration/deceleration
Start Section Time time) start section+ up
section90%
P513 Door Closing 10.0%-80.0%(acceleration/de 0.1% 60.0% ®
Acceleration S Curve celeration time)start section+
Start Section Time up section 90%
P514 Door Closing 10.0%-50.0% 0.1% 20.0% ®
Deceleration S Curve (acceleration/deceleration
Start Section Time time) start section+ down
42
section 90%
P515 Door Closing 10.0%-80.0%(acceleration/de 0.1% 60.0% ®
Deceleration S Curve celeration time) start section+
Down Section Time down section 90%
P516 Speed Deviation Setting 0-80% 1% 50%
P517 Large Speed Deviation 0-5000ms 1ms 400ms
Judgment Time
P518 Door Closing Steady 0-9999ms 1ms 200ms ®
Speed Delay
P519 Fault Braking Current 0.1-150.0 0.10% 100
P6 Group-Distance Control Parameter
P600 Door Width Autotuning 0: Disabled 1 0 ®
Function 1: Enabled under the door
operator manual tuning mode
P601 Door Width Autotuning 0-20.00Hz 0.01Hz 3.00Hz
Speed
P602 Low Bit of Door Width 0-9999 1 0 ®
Pulse Count
P603 High Bit of Door Width 0-9999 1 0 ®
Pulse Count
P604 Door Opening Start Low 0.0%-30.0% (Door width) 0.0% 10.0%
Speed Running Distance
Under Distance Control
P605 Door Opening 60.0%-90.0%(Door width) 0.1% 70.0%
Deceleration Point
Setting Under Distance
Control
P606 Door Opening Limit 80.0%-99.0% (Door width) 0.1% 96.0%
Point Setting Under
Distance Control
P607 Door Closing Start Low 0.0%-30.0% (Door width) 0.0% 10.0%
Speed Running Distance
P608 Door Closing 60.0%-90.0%(Door width) 0.1% 70.0%
Deceleration Point
Setting Under Distance
Control
P609 Door Closing Limit 80.0%-99.0% (Door width) 0.1% 96.0%
Point Setting Under
Distance Control
P610 Output Torque Display 0.0-180.0% 0.1% 0.0%
P611 Low Bit of Door 0-9999 0 0 ®
Opening Limit Switch
Position
43
P612 High Bit of Door 0-9999 0 0 ®
Opening Limit Switch
Position
P613 Door Closing Limit 0-9999 0 0 ®
Switch Position
P614 Door Width Autotuning 0.0-150.0% 0.1% 80.0% ®
and Initial Running
Torque Setting
P615 Low Bit of Door 0-9999 0 0 ®
Opening Deceleration
Point Pulse
Opening Deceleration
Point Pulse
P617 Low Bit of Door Closing 0-9999 0 0 ®
Deceleration Point Pulse
Closing Deceleration
Point Pulse
P619 Door Width Setting 0-99.9% 0.1% 0
Upon Door Opening
In-position Output
P620 Door Width Setting 0-99.9% 0.1% 0
Upon Door Closing
In-position Output
P621 Door Position Pulse 0-99.9% 0.1% 33%
Feedback
P7 Group- Demonstration Function Parameter
P700 Holding Time of 1.0-999.9s 0.1s 2.0s
Demonstration Door
Opening In-Position
P701 Holding Time of 1.0-999.9s 0.1s 2.0s
Demonstration Door
Closing In-Position
P702 Demonstration Door 0-9999 1 0 ®
Open/Close Running
Times Record
P703 Demonstration Door 0-9999 1 0 ®
Open/Close Specific
Running Times
P8 Group- Auxiliary Parameter
P800 Software Version No. 0.0-99.00 0.01 1.00 
P801 Module Temperature 0-100℃ 1℃ 0 
P802 Fault Automatic Reset 0: No automatic reset function 1 0 ®
44
Times (reset interval: 2s). Cycle
time: 1h
P803 Brake Duty Ratio 0-100% 1 100%
P804 Working Time 0-9999h 1 0 ®
Accumulated
P805 Not Used (Working 0 1 0 ®
Time, Minutes)
P806 Running Time 0-9999h 1 0 ®
Accumulated
P807 Not Used (Running 0 1 0 ®
Time, Minutes)
P808 Working Time 0-9999h 1 0 ®
Accumulative Setting
P809 Running Time 0-9999h 1 0 ®
Accumulative Setting
P810 Auxiliary Function 0-9999 1 12 ®
Options
P811 Fault Function Options 0-9999 1 0 ®
P812 Driving Function 0-9999 1 0 ®
Options
P814 Overload Factor 0-10.00 0.01 2.00
P817 Auxiliary Function 0-9999 1 12 ®
Option 2
P9 Group- Input and Output Function Parameter
P900 Terminal Filter Time 0-100ms 1ms 20ms
P901 Switch Quantity Input 0: No function can be 1 0 ®

Terminal DI1 reselected
1:Door open command
2: Door close command
3: External RESET input
P902 Switch Quantity Input 4: Door opening prohibition 1 0 ®

Terminal DI2 terminal input
5: Torque holding prohibition
input terminal
6: Slow speed door closing
P903 Switch Quantity Input 1 0 ®
enable input
Terminal DI3
7: Fire control input
8-9: Not used
10: NO input of light curtain
45
P904 Switch Quantity Input signal 1 0 ®
Terminal DI4 11: NO input of touch panel
signal
12: NO input of door opening
limit signal
P905 Switch Quantity Input 1 1 ®
13: NO input of door closing
Terminal DI5
limit signal
14: NO input of door opening
deceleration point
15: NC input of door closing
deceleration point
16: NO input of door lock
signal
17-109: Not used
110: NC input of light curtain
signal
111: NC input of touch panel
P906 Switch Quantity Input signal 1 2 ®
Terminal DI6 112: NC input of door
opening limit signal
P907 Switch Quantity Input limit signal 1 10 ®

Terminal DI7 114: NC input of door
opening deceleration point
deceleration point
P908 Switch Quantity Input 116: NC input of door lock 1 6 ®

Terminal DI8 signal
P909 Programmable Relay 0: No function 1 2 ®

Output 1: Door opening in-position
TA1/TB1/TC1 signal output 0
2: Door closing in-position
signal output 0
3: Door opening in-position
signal output 0
46
P910 Programmable Relay output 1 1 5 ®
Output 5: Fault relay signal output 1
TA2/TB2/TC2 6: Not used
7: Door opening in-position
signal output 2
signal output 2
9: Door lock signal output
10: Reopening signal output
11: Interrupt signal output
P911 Programmable Relay 12: Door position feedback 1 6 ®
Output output
TA3/TB3/TC3 13: Door operator ready
output
PA Group- Display & Fault Parameter
Pa00 LED Running Display Select according to the binary 1 319
Parameters code, this bit=1
Specific display is described
as below:
BIT0: Setting frequency Hz
BIT1: Running frequency Hz
BIT2: DC bus voltage V
BIT3: Output Voltage
BIT4: Output current A
BIT5: Output torque %
BIT6: Switch quantity input
terminal status
BIT7: Switch quantity output
terminal status
BIT8: Door width pulse
percentage
Note: All monitoring items
selected by PA00 will be
displayed during running and
user can press the key “Shift”
to switch and display 1-511.
Pa01 LED Stop Display 0: Door opening setting 1 39
Parameter Frequency Hz
1: Door closing setting
frequency Hz
2: DC bus voltage V
3: Switch quantity input
terminal status
4: Switch quantity output
47
terminal status
5: Door width pulse
percentage
Note: All monitoring items
selected by PA00 will be
displayed during stop process
and user can press the key
Shift to switch and display
1-63
Pa02 First Fault Type Fault type setting range: 0 1 0 
Pa03 First Fault Warning 30 1 0 
Pa04 Second Fault Type Fault warning range: 0 9 1 0 
Pa05 Second Fault Warning 1 0 
Pa06 Third Fault Type 1 0 
Pa07 Third Fault Warning 1 0 
Pa08 Fourth Fault Type 1 0 
Pa09 Fourth Fault Warning 1 0 
Pa10 Latest Fault Type 1 0 
Pa11 Fifth Fault Warning 1 0 
Pa12 Bus Voltage at Last Fault 0-999.9V 01V 0.0V 
Pa13 Output Current at Last 0.000-9.900A 0.001A 0.000A 
Fault
Pa14 Running Frequency at 0.00Hz-99.00Hz 0.01Hz 0.00Hz 
Last Fault
Pa15 Output Torque at the 0.0-180.0% 0.1% 0.0% 
Last Fault
Pa16 Input Terminal Status at 0-123 1 0 
the Last Fault 0: OFF 1: ON
DI8/DI7/DI6/DI5/DI4/DI3/DI
2/DI1
Pa17 Output Terminal Status 0-15 1 0 
at the Last Fault 0: OFF; 1: ON; T1/T2/T3
Pa18 Terminal Status Inquiry * * * 
Pa19 Function Input Status * * * 
Inquiry
Pa20 Function Output Status * * * 
Inquiry
Pa21 Display Switch Control 0-9999 1 0
Pa22 Display 1 0-9999 1 0 
Pa23 Display 2 0-9999 1 0 
Pa24 Analogy Voltage Display 0.00-10.10V 0.01V 0.00V 
Pa25 Low Bit of Door Present 0-9999 1 0 
Position
48
Pa26 High Bit of Door Present 0-9999 1 0 
Position
Pa27 Running Status View 0-9999 1 0 
Pa28 Door Direction * * * 
Judgment
Pa29 Door Position 0.0-100.0% 0.1% 0.0% 
Percentage
Pa30 Setting Frequency 0.00-99.99Hz 0.01Hz 00.00Hz 
Pa31 Feedback Frequency 0.00-99.99Hz 0.01Hz 00.00Hz 
Pa32 Bus Voltage 0.0-999.9V 0.1V 0.0V 
Pa33 Output Voltage 0-9999V 1V 0V 
Pa34 Output Current 0.00-99.99A 0.01A 0.00A 
Pa35 Output Torque 0.0-999.9% 0.1% 0.0% 
Pf Group- Default Parameter (Not Used)
Pp Group- User Parameter
Pp00 User Password 0-9999(0 indicates no 1 0
password)
Pp01 Parameter Update 0: No 1 0 ®
1: Reset the default
2: Clear memory message
Pp02 User Setting 0-1 1 0
Examination
49
6 Description of Function Parameter
50
Chapter 6 Description of Function Parameter
6.1 P0 Group: Basic Function Parameter
P000 Control Modes Default 1 Minimum Unit 1

Setting Range 0-1
0: Magnetic flux vector control: Except synchronous motor, this mode shall be adopted in all
applications.
1: Closed-loop vector control: This control mode is only applied to synchronous motor under
distance control.
P001 Door Open/Close Mode Options Default 1 Minimum Unit 1
Setting Range 0-1
0: Speed control mode
Under this mode, four limit switches must be installed on the door. The motor shall decelerate
through the deceleration point and conduct processing related to in-position through judging the
signal of limit switch.
1: Distance control mode
Under this mode, autotuning door width pulse count correctly is required. The controller will set
parameters of door open and close curves to realize deceleration and in-position processing of
deceleration points. (If limit signal is set for P9 input terminal function option, it will conduct
in-position processing by judging the limit signal).
P002 Command Source Options Default 0 Minimum Unit 1
Setting Range 0-3
0: Operation panel control mode
The start and stop of the door operator is controlled through the operation panel. At this time, the
door operator will run at the frequency set by P004. That is to say: by pressing the key “OPEN”,
the motor will perform forward rotation; by pressing “CLOSE”, the motor will perform reverse
rotation; by pressing “STOP/RES”, the motor will stop running. Under this control mode, the
controller will run according to general functions of the controller and will not execute the special
logic process of door operator. This control mode is mainly applied to motor autotuning.
1: Terminal control mode of door operator
The controller receives the door open and close command sent by the control system through DI
terminals so as to achieve control on opening and closing of the door. The running logic is as
follows:
Door Open Command Door Closing Command Running Status
0 0 Stop
0 1 Closing the door
1 0 Opening the door
1 1 Keep running
2: Manual tuning mode of the door operator
Please set this mode before autotuning the door width. Under this mode, running and stop of
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motor are controlled with the operation panel. That is to say: by pressing down “OPEN”, the door
will be opened; by pressing “CLOSE”, the door will be closed; by pressing “STOP/RES”, the
motor will stop running. At this time, the door operator running includes the
acceleration/deceleration process.
3: Door operator automatic demonstration mode
This mode is applied to demonstration and trial operation in factory and control by control system
is not required. After commissioning the door operator running curve under the operation panel
control mode, the motor will enter the automatic demonstration mode. Pressing “OPEN” or
“CLOSE” to start repeated door open and close demonstration. The interval and times of door
open and close can be set through P7 group of demonstration function parameters. Press
“STOP/RES” to stop running.
Note:
1. Door width autotuning can be only enabled under the manual tuning mode of door operator.
2. Motor autotuning is only enabled under the operation control mode.
P004 Panel Running Frequency Default 5.00Hz Minimum Unit 0.01Hz
Setting Range 0.00-P104
Speed setting of door operator controller adopts the target frequency for running under the
operation panel control mode.
P005 Quick Setting of Input Point Default 0 Minimum Unit 1
Setting Range 0-2
Under the speed control mode (P001=0), this parameter is used to set the signal characteristics of
the limit switch and deceleration switch quickly. When P005 is not zero, the type of corresponding
input points is as follows:
P005=1 P005=2
P901=13(NO input of closing door in-position) P901=113(NC input of door closing
in-position)
P902=15(NO input of closing door by P902=115(NC input of closing door by
deceleration) deceleration)
P903=14(NO input of opening door by P903=114(NO input of opening door by
deceleration) deceleration)
P904=12 (NO input of opening door P904=112 (NC input of opening door
in-position) in-position)
Note: Only when P005=0, P901-P904 can be modified manually; otherwise, they can not be
modified.
P006 Slow Running Speed Setting Default 4.00Hz Minimum Unit 0.01Hz
Setting Range 0-1
This parameter refers to the setting speed when the slow speed door closing input function is
enabled or during the first running after power on under the distance control mode or when
inspection input is enabled.
P007 Carrier Frequency Default 8.0kHz Minimum Unit 0.1kHz
Setting Range 2.0-16.0kHz
This function code is used to regulate the carrier frequency of the controller. Regulating the carrier
frequency can reduce the motor noise, avoid the resonance point of mechanical system and reduce
the leakage current between wires and the ground and the interference of controller.
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If the carrier frequency is low, high-order harmonics component of output current increases, the
motor loss rises and the motor temperature rise goes up.
When the carrier frequency is higher, the motor loss gets down, the motor temperature rise
decreases, but loss, temperature rise and interference of the controller go up.
Carrier frequency Low ---- High
Motor noise Large ---- Small
Output current waveform Poor --- Better
Motor temperature rise High ---- Low
Controller temperature rise Low ---- High
Leakage current Small --- Big
External radiation Small ---- Big
interference
P010 Upper Limit of Panel Running Default 180.0% Minimum Unit 0.1%
Torque
Setting Range 0.0-250.0%
This function code is used to set the maximum output torque of the controller under the operation
control panel mode. 100.0% corresponds to the rated torque.
6.2 PI Group: Motor Parameter
Function Code Name Default Minimum Unit Setting Range

P100 Motor Type 1 1 0-2
P101 Rated Power Up to specific 1W 0-750W
model
P102 Rated Voltage 100V 1V 0-250V
P103 Rated Current Up to specific 0.001A 0.001-9.900A
model
P104 Rated Frequency 24.00Hz 0.01Hz 1.00-99.00Hz
P105 Rated Rotation 180rpm 1rpm 0-9999rpm
Speed
Please set these function codes according to motor nameplate.
Make sure to input correct motor parameters for better vector control performance. The system has
the function of parameter autotuning. Rated parameters of motor should be set properly for
accurate parameter autotuning. .
Function Code Name Default Minimum Unit Setting Range
P106 Motor Stator Up to specific 0.01Ω 0.00-99.99Ω
Resistor model
P107 Rotor Resistor of Up to specific 0.01Ω 0.00-99.99Ω
P108 Leakage Inductance Up to specific 0.01mH 0.0-99.99mH
P109 Mutual Inductance Up to specific 0.1mH 0-999.9mH
53
P110 Idling Excitation Up to specific 0.001A 0.001-9.900A
Current of model
Induction Motor
P111 D-shaft Inductance Up to specific 0.1mH 0.0-999.9mH
of Synchronous model
Motor
P112 Q-shaft Inductance Up to specific 0.1mH 0.0-999.9mH
of Synchronous model
Motor
P113 Magnetic Pole 0 1 0-655
Position Autotuning
Pulse Width
P114 Zero position of Up to specific 0.1 0.0-359.9
Encoder
P115 Real-time Angle of Up to specific 0.1 0.0-359.9
Please configure motor as per system standard motor to guarantee the control performance. If
there exists big difference between the motor power and standard applicable motor, the control
performance of the controller will be significantly lowered.
After motor autotuning is completed normally, P106 - P114 will be updated automatically.
(Update corresponding parameters after autotuning for induction motor and synchronous motor is
completed. )
In terms of the induction motor, A2000 controller can acquire parameters above through complete
autotuning or stationary autotuning. If it is impossible to autotune the motor due to field
conditions, user can manually input parameters by reference to parameters of motors with same
nameplate parameters. Every time after the motor rated power P101 of induction motor is changed,
the system will restore P106-P110 to the default standard motor parameter automatically.
When A2000 is applied to the permanent magnet synchronous motor: P106, P111, P112, P113 and
P114 can be acquired through the complete autotuning. After the motor rated power P101 is
changed, corresponding parameters will not be updated.
P115 is used to display the present magnet pole position of the synchronous motor in real time.
P116 Motor Autotuning Default 0 Minimum Unit 1
Setting Range 0-5(induction motor: 1, 2, 5 synchronous motor: 3, 4, 5)
Note:
1. Motor autotuning must be conducted under the operation panel control mode (P002=0). Set
correct motor rated parameter (P100-P105) and the encoder line number before autotuning.
2. For permanent synchronous motor, conduct motor autotuning after motor, encoder or the
encoder installationhas been changed before first running. Never run the permanent synchronous
motor before autotuning is successfully completed; otherwise there may exist the risk of runaway.
During autotuning, pay attention to preventing the motor from being blocked. Otherwise, the
autotuning can not be completed.
Autotuning operation:
54
After P116 is set, press ENTER, then “TUNE” is displayed while flashing and then press “OPEN”
or “CLOSE” to start parameter autotuning. At this time, “TUNE” stops flashing. After autotuning
is completed, the display will return to the stop status. During autotuning, user can press “STOP”
to stop autotuning. After the autotuning is completed, P116 will be restored to 0 automatically.
Autotuning function options:
0: No operation
1: Stationary autotuning of induction motor
Stationary autotuning is suitable for tuning stator resistor, rotor resistor and leakage inductance
parameter for applications when motor can not be easily disconnected from load and complete
autotuning can not be conducted. (Calculate idling current and mutual inductance).
2: Complete autotuning of induction motor
To ensure dynamic control of the controller, please select complete autotuning. During complete
autotuning, the motor must be disconnected from load (offload). The motor must be disconnected
from loads completely.
After the complete autotuning is selected, the controller will conduct stationary autotuning firstly.
After the stationary autotuning is completed, the induction motor will accelerate to 80% of motor
rated frequency according to the acceleration time 2s and hold the frequency for a certain time.
Then, it will decelerate to zero according to the deceleration time 2s. Then, the complete
autotuning ends.
3: Autotuning of permanent synchronous motor with no load
Autotuning contents include: Zero compensation angle of encoder (P114), stator resistor of
permanent magnet synchronous motor (P106), dq-shaft inductance (P110, P111) of permanent
magnet synchronous motor (non-salient-pole machine). The motor shall be disconnected from the
load completely because the zero compensation angle of encoder autotuned for a motor with load
will not be correct, thus affecting the control performance of the motor.
During autotuning, the motor will firstly execute the door opening or closing operation as directed
by door opening autotuning command or door closing autotuning command. After running for a
certain distance, it will run in the opposite direction and finally conduct calculation of all
parameters to complete the offload autotuning process.
If fault No.20 happens to the motor during autotuning, it may be caused by incorrect input
direction of the encoder. Please exchange motor AB phase or motor wiring and then conduct
autotuning again.
4: Autotuning for permanent magnet synchronous motor with load
Autotuning items include: zero point compensation angle of the encoder (P114), stator resistor of
the permanent synchronous motor (P106), dq-shaft inductance (P110, P111) of permanent magnet
synchronous motor (non-salient-pole machine). Under this mode, autotuning parameters and
encoder zero position for permanent magnet synchronous motor with load is allowed. However,
compared with idling autotuning, the encoder zero position angle acquired by autotuning will not
be so correct. Select idling autotuning whenever possible.
In autotuning a motor with load, when door is closed, press down the key “OPEN” to start
autotuning; when door is completely open, press down the key “CLOSE” to start autotuning. Then,
the controller shall open/close the door slowly by taking 25% of the motor rated frequency as the
target speed, repeat the operation again and then run reversely. Conduct autotuning for three times
(three forward and reverse cycles) and finally complete calculation of all parameters and the
55
autotuning process for a motor with load. If the motor is blocked after the key “OPEN” or
“CLOSE” is pressed down, motor wiring or encoder wiring has abnormality, conduct motor
autotuning again after they are replaced.
5: For detailed description, please refer to Chapter 4“Operation Display & Application”.
6.3 P2 Group: Performance Control Parameter
P200 Speed Loop Proportional Gain 1 Default 15 Minimum Unit 1

Setting Range 0-100
P201 Speed Loop Integral Time 1 Default 1.00s Minimum Unit 0.01s
Setting Range 0.01-10.00s
P202 Switching Frequency 1 Default 5.00Hz Minimum Unit 0.01Hz
Setting Range 0.00-P205 (Switching frequency 2)
P203 Speed Loop Proportional Gain 2 Default 15 Minimum Unit 1
Setting Range 0-100
P204 Speed Loop Integral Time 2 Default 1.00s Minimum Unit 0.01s
P205 Switching Frequency 2 Default 30 Minimum Unit 1Hz
Setting Range P202(switching frequency 1)-P104
P200 and P201 are PI regulation parameters when the running frequency is less than the switching
frequency 1(P202); P203 and P204 refer to PI regulation parameter when the running frequency is
greater than the switching frequency 2 (P205). PI regulation parameter between the switching
frequency 1 and the switching frequency 2 is the weighted average value of P200, P201 and P203
as well as P204, as shown in the figure below:
PI Parameter
Switching frequency 1 Switching frequency 2 Frequency command
Figure 6-1 PI Parameter

The controller adjusts the dynamic speed response under vector control mode by adjusting
the speed proportional gain and speed integral time of regulator. Either increasing the speed
proportional gain or reducing speed integral time would quicken the dynamic response of the
56
speed loop. However, if the speed proportional gain is too large or the speed integral time is too
small, this will result in oscillation.
Proposed regulation method:
If the default can not meet requirements, this parameter can be slightly increased based on the
default: Firstly increase the proportional gain to ensure no system oscillation; then reduce the
integral time so as to enable the system to response quickly without over control.
If the switching frequency 1 and switching frequency 2 are 0 at the same time, only P203 and
P204 are effective.
◆ Note: If PI is set improperly, it may result in speed over control and even result in
overvoltage when over-control backs to original status.
P206 Current Loop Proportional Gain Default 120 Minimum Unit 1
Setting Range 10-500
P207 Current Loop Integral Gain Default 50 Minimum Unit 1
Under the vector control mode, P206 and P207 are current loop regulation parameters. On general
conditions, users do not need to adjust this parameter and the default parameter can achieve the
control performance. If adjustmentis required, please refer to the regulation method of speed loop
regulator.
P208 Slip Compensation Factor Default 100% Minimum Unit 1%
Setting Range 50-200%
This parameter is only enabled under the magnetic flux vector control mode and affects the
dynamic response performance and load current of the motor. There is no need to regulate this
parameter generally.
P209 Inertia Compensation Default 0 Minimum Unit 1
This parameter is used to promote the system dynamic performance under the closed-loop vector
control mode. The inertia compensation torque is acquired by the formula: system inertia ×
acceleration speed; generally, there is no need to regulate this parameter and it is only required to
increase this parameter appropriately when the door is very heavy.
P210 Torque Boost Default 8.0% Minimum Unit 0.1%
In order to compensate for the low frequency torque under the magnetic flux vector control mode,
improve and compensate for the output voltage of the controller under low frequency. Excessive
torque boost setting may result in motor overheating and overcurrent of the controller. Effective
regulation of this parameter can avoid start overcurrent. Increase this parameter in case of heavy
load.
When the torque boost is set as 0, the controller adopts automatic torque boost.
P211 Overexcitation Gain Default 64 Minimum Unit 1
Setting Range 0-200
Overexcitation gain is used to suppress bus voltage during deceleration of the controller so as to
prevent the bus voltage from exceeding the overvoltage protection limit, which may result in
overvoltage fault. The larger the overexcitation gain, the better the suppression effect will be.
Setting description is as follows:
1. Under situations with small inertia, set the overexcitation gain as 0; for situations with large
57
inertia, increase the overexcitation gain appropriately.
2. For occasions with braking resistance, the overexcitation gain must be set as 0.
P212 Initial Position Judgment Mode Default 1 Minimum Unit 1
Setting Range 0-2
1. Initial position judgment mode of the pulse-type permanent magnet synchronous motor.
2. Initial position judgment mode of permanent magnet synchronous motor.
P213 Feedback Speed Filter Level Default 0 Minimum Unit 1
Setting Range 0-20
This parameter is used to set the filter level of encoder feedback speed and does not require
adjustment generally. In case of serious field interference or fewer encoder line number and when
the closed-loop vector control mode is adopted, increase the filter level of feedback speed
appropriately to ensure steady motor running.
Note: For situations with small motor and load inertia, excessive value of this parameter may
result in serious over control of the motor or cause motor oscillation.
P214 Encoder Pulse Count Setting Default 2048 Minimum Unit 1
If A2000 door-motor controller adopts closed-loop vector running mode, users must set
parameters related to pulse encoder correctly.
P215 Encoder Direction Options Default 0 Minimum Unit 1
Setting Range 0-1
When reset to the default, this parameter is reset to 0. Please use this function carefully.
6.4 P3 Group: Door Opening Running Parameter
Under the speed control mode, installation positions of various signal contact(limit
switch) of the door operator system is as shown in figure 6-2.
Figure 6-2 Installation of All Switches under Speed Control Mode

Set function parameters of P3 Group related to speed control properly and set the deceleration
signal switch and limit signal switch correctly. The door opening running speed curve is explained
in figure 6-3.
58
Figure 6-3 Door Opening Curve under Speed Control Mode
Under limit switch mode, the door opening process is:
1. When the door open command is enabled, the door operator will accelerate to the speed set by
P300 according to the acceleration time set by P301.
2. After the low-speed door opening and running time reaches to P302, the door operator will
accelerate to the high speed (P303) for opening the door according to the acceleration time set by
P304.
3. After the door opening deceleration signal is enabled, the door operator will decelerate to the
speed set by P305 based on the deceleration time set by P306 and crawl at the speed.
4. After the door opening limit signal is enabled, the door operator will enter the door open
holding status with the holding torque P308.
5. Increase P504 when holding torque is required.
6. Dotted line of the running curve: Refers to the linear acceleration/deceleration running curve for
door opening curve (P506).
Under the distance control mode, please set function parameters of P6 group related to distance
control. Door opening running speed curve is explained by figure 6-4.
Figure 6-4 Door Opening Curve Under Distance Control

The door opening process under distance control mode is as follows:
1. When the door open command is enabled, the door operator will accelerate to the speed set by
2. When the door opening position reaches to P604*door width, the door operator will accelerate
to the speed set by P303 according to the acceleration time set by P304.
3. When the door opening position reaches to P605*door width, the door operator will enter the
deceleration and crawl stage. Crawl speed: P305, deceleration time: P306.
4. When the door opening position reaches to P606*door width, the door operator will continue to
open the door and stops crawling in low speed, and enter the door opening torque holding status.
The holding torque is determined by P308 and then the door position is reset to 100%.
5. When the command is canceled, torque holding status ends. If holding torque is still required,
increase the delay time of P504.
6. Dotted line of the running curve: Refers to the linear acceleration/deceleration running curve for
door opening curve (P506).
P307 Door Opening In-position Torque Default 50.0% Minimum Unit 0.1%
Switching Point Setting
This function code is only enabled under the distance control mode. When the door operator opens
59
the door in-position and if the output torque is greater than P307, door width pulse will be reset to
100%. Meanwhile, the door operator enters the door openingIn-position torque holding phase; if
the output torque is not greater than P307 after the motor is blocked, reduce P307(P307 is less
than the output torque when the torque is blocked) appropriately to ensure that the door width
pulse can be reset.
P308 Door Opening In-position Default 50.0% Minimum Unit 0.1%
Holding Torque
This parameter is used to set the holding torque after the door is opened in position.
P309 Door Opening Interrupt Torque Default 80.0% Minimum Unit 0.1%
This parameter is the door opening blocking torque set during door opening and running process.
The upper limit of door opening torque is the door opening blocking torque plus 10.0%.
P310 Door Opening Start Torque Default 0.0% Minimum Unit 0.1%
Setting Range 0.0%-P309
This function code is used to set the start torque when opening the door for ensuring better effect
upon start of door operator. Torque is acquired by the following formula: P310×rated motor
torque.
P311 Door Opening Interrupt Judgment Default 0ms Minimum Unit 1ms
Time
Setting Range 0-9999ms
This parameter refers to the filter time when the door opening action is blocked. When this
parameter is set as 0, detection of door opening interrupt is disabled.
P312 Door Opening In-position Low Default 3Hz Minimum Unit 0.01Hz
Speed Setting
Setting Range 0.0-P303Hz
This parameter refers to the target running frequency of door operator when it receives the door
opening limit signal or the pulse meets the door openingIn-position requirement during the door
opening and running process.
P313 Reopening Door Low Speed Default 0.00Hz Minimum Unit 0.01Hz
Setting
Setting Range 0.00Hz-P303
In case the door is reopened because the light curtain is blocked or door closing action is blocked
during the door closing process, if the door reopening speed is too slow or the door can not be
reopened in position, user can increase this parameter appropriately.
This parameter is disabled when it is set as 0.
6.5 P4 Group: Door Closing Running Curve
Set function parameters of P4 group related to speed control properly and define the
deceleration point and limit signal accurately. Door closing running curve can be
described in figure 6-5.
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Figure 6-5 Door Closing Curve Under Speed Control
Stroke start/stop mode and the door opening process are described below:
1. When the door close command is enabled, the door operator will accelerate to the speed set by
P400 according to the acceleration time set by P401 and run at the speed.
2. When the low-speed door close running time reaches to P402, the door operator accelerates to
the high speed for closing door (P403) according to the acceleration time set by P404.
3. After the door closing deceleration signal is enabled, the door operator will decelerate to the
speed set by P405 and crawl according to the deceleration time set by P406.
4. When the door closing limit signal is enabled, the door operator will enter the door open
holding status. At this time, the motor maintains the low speed P4-07 with holding time of P408.
The holding torque for door closing in-position is P412.
5. The speed and time for taking the door vane back is P409 and P410.
6. When holding torque is required, increase P504.
7. Dotted line of the running curve represents as the running curve when linear
acceleration/deceleration curve is selected as door closing curve (P511).
Note: For synchronous door vane, set P409 consistent with P40-07.
Set function parameters of P6 group related to distance control properly. Door closing running
speed curve is illustrated by figure 6-6.
Figure 6-6 Door Closing Curve of Induction Door Vane Under Distance Control
Door closing process under distance control:
1. When the door close command is enabled, the door operator will accelerate to the speed set by
2. After the door closing position reaches to P607* door width, door operator will accelerate to the
speed set by P403 according to the deceleration time set by P404.
3. After the door closing position reaches to P608* door width, door operator starts to decelerate
61
and will decelerate to the speed set by P405 according to the deceleration time set by P406.
4. After the door closing position reaches to P609*door width, the door operator will accelerate
again to run at the speed set by P407.P609 is recommended to set greater than or equal to 96.0%.
If there exists pulse loss during door open and close process, reduce P609. Set relevant action to
take back the door vane by P620.
5. After taking back the door vane and when the door is blocked, the motor will enter the torque
holding stage. At this time, the holding speed is P407, the holding torque is P412 an the door
position is reset as 0.
6. If the door close command is disabled, the door operator will not hold torque. If it is required to
hold the torque continuously, increase the delay time of P505.
7. Dotted line of the running curve: Refers to the linear acceleration/deceleration running curve of
door closing curve (P511).
Note: For synchronous door vane, set P409 consistent with P407.
P407 Door Closing In-position Low Default 1.00Hz Minimum Unit 0.01Hz
Speed Setting
This parameter refers to the target running frequency of the door operator when the door closing
limit signal or pulse reaches to the requirements on door closing in-position during door close run
process.
P408 Door Closing In-position Low Default 300ms Minimum Unit 1ms
Speed Running Time
The door operator will run at slow speed(P407) after receiving the door closing in-position signal.
When the running time is greater than or equal to the running time set by P408, the door operator
enters the door vane withdrawal stage.
P409 Door Vane Withdrawal Speed Default 2.00Hz Minimum Unit 0.01Hz
Setting
During the door-closing process, this parameter refers to the running speed when the door operator
is in the door vane withdrawal running stage.
P410 Door Closing and Door Vane Default 500ms Minimum Unit 1ms
Withdrawal Running Time
When the door vane withdrawal running time is greater than or equal to the time set by P410, the
door operator will decelerate to run.
P411 Door Closing In-position Torque Default 50.0% Minimum Unit 0.1%
Switching Point
This function code is only enabled under distance control mode. After door is closed and door
vane is withdrawn, if the output torque of the controller is greater than the value set by P411, the
door width is reset to 0% and the controller enters into the door closing in-position torque holding
phase.
P412 Door Closing In-position Holding Default 30.0% Minimum Unit 0.1%
Torque
62
This parameter is used to set the holding torque after the door is closed in-position.
P414 Working Modes Upon Door Default 1 Minimum Unit 1
Closing Blocked
Setting Range 0-3
0: Not used.
1: When the door closing action is blocked, door closing blocked signal is output. But if the output
function of a certain relay is set as the blocking signal, then this signal will be output.
2: The door operator will stop immediately when the door closing action is blocked . Meanwhile,
the door closing blocked signal will be output. Within 10s upon interrupt, door close command
will not be responded. After one door open command is given or one run command is canceled,
door close command will be responded immediately.
3: Reopen the door after the door closing is blocked . No door open and close command will
response during the door reopening period.
P415 Door Closing Blocked Judgment Default 500ms Minimum Unit 1ms
Time
This parameter refers to the filter time when the door closing action is blocked. When this
parameter is set as 0, door closing blocked judgment is disabled.
P416 Fire Control Door Closing High Default 10.00Hz Minimum Unit 0.01Hz
Speed Setting
When the fire control input function is enabled, this parameter refers to the high-speed running
speed for closing the door.
P417 Door Closing Blocked High Default 12.00Hz Minimum Unit 0.01Hz
Speed Setting
Setting Range P418-P04
P418 Door Closing Blocked Low Speed Default 2.00Hz Minimum Unit 0.01Hz
Setting
Setting Range 0.00Hz-P104
P419 High Speed Torque Setting Default 100.0% Minimum Unit 0.1%
P420 Low Speed Torque Setting Default 100.0% Minimum Unit 0.1%
These four function codes are used to judge the principle of door closing blocked;
Figure 6-7 Door Closing Blocked Judgment
63
Note:
1. As shown above, these four function codes shall be set according to the requirement of
V1(P417)≥V2(P418), T1(P419)≤T2(P420);
2. The percentage of torque for door closing blocked judgment is as shown by curve 1 in the
figure. The shaded area in the figure represents that the door closing is blocked.
P421 Forward Movement of Door Default 4.0% Minimum Unit 0.1%
Closing Limit Point
It is used for the door system that adopts distance control mode and is equipped with door closing
limit switch. When the door-motor controller detects door closing limit switch signal abnormality,
it will automatically decrease the setting value of the door closing point (P609) so as to ensure the
door operator controller can enter the door closing in-position status more reliably. There is no
need to adjust this parameter generally.
6.6 P5 Group: Door Opening and Closing Auxiliary Parameter
P500 Abnormal Deceleration Time Default 0.3s Minimum Unit 0.1s

This parameter refers to the time that the door operator decelerates from the door closing speed to
zero speed when the door closing action is blocked. This parameter shall be set as lower as
possible on the condition of ensuring deceleration without overcurrent.
P501 Door Opening Time Limit Default 30.0s Minimum Unit 1s
Setting Range 0-9999s
During door opening process, if door opening limit signal is not received within the setting time
(under distance control mode, it manifests as pulse loss), then the door operator will conduct door
opening overtime protection (ODO). This function code is disabled when it is set as 0.
P502 Door Closing Time Limit Default 0s Minimum Unit 1s
During door close running process, if door closing in-position signal is not received within the
setting time, it will be considered that the door closing is blocked. the controller will reopen the
door or hold the zero speed; this parameter is disabled when it is set as 0.
P504 Delay Time of External Door Default 60s Minimum Unit 1s
Open Command
This function code is used to set the holing time of the door opening in-position torque;
This function code refers to the holding time of door open running status after the door opening
in-position signal is enabled and the door open command terminal is disabled. If the holding time
is greater than or equal to this function parameter, the controller stops running. During the
door-opening process but the door is not opened in-position, the controller will stop upon
cancellation of the door open command and the delay function is disabled at this time.
When this parameter is set as 9999, the external door open command delay is enabled all time
time.
P505 Delay Time of External Door Default 60s Minimum Unit 1s
64
Closing Command
This function code is used to set the holding time of door closing in-position torque;
This function code refers to the holding time of door close running status after the door closing
in-position signal is enabled and the door close command terminal is disabled. If the holding time
is greater than or equal to this function parameter, the controller stops running. During the
door-closing process but when the door is not closed in-position, the controller will stop upon
cancellation of the door close command and the delay function is disabled at this time.
When this parameter is set as 9999, the external door close command delay is enabled all time
time.
P506 Door Opening Curves Option Default 1 Minimum Unit 1
Setting Range 0-1
This parameter is used to select the door-motor running curve for door opening:
0: Linear acceleration/deceleration; 1: S curve acceleration/deceleration
P511 Door Closing Curves Option Default 1 Minimum Unit 1
Setting Range 0-1
This parameter is used to select the door-motor running curve for door close run:
0: Linear acceleration/deceleration; 1: S curve acceleration/deceleration
P507 Door Opening Acceleration S Default 20.0% Minimum Unit 0.1%
Curve Start Section Time
Setting Range 10.0%-50.0% (acceleration/deceleration time)(start
section +up section≤90%)
P508 Door Opening Acceleration S Default 60.0% Minimum Unit 0.1%

Curve Up Section Time
P509 Door Opening Deceleration S Default 20.0% Minimum Unit 0.1%

P510 Door Opening Deceleration S Default 60.0% Minimum Unit 0.1%

Curve Down Section Time
P512 Door Closing Acceleration S Default 20.0% Minimum Unit 0.1%

P513 Door Closing Acceleration S Default 60.0% Minimum Unit 0.1%
65
Curve Up Section Time
P514 Door Closing Deceleration S Default 20.0% Minimum Unit 0.1%

P515 Door Closing Deceleration S Default 60.0% Minimum Unit 0.1%

Curve Down Section Time
These eight acceleration/deceleration time sections are used to select the acceleration S curve
characteristics of each speed during the controller running process.
Speed acceleration and deceleration time of each group of the controller are symmetric. By taking
the S curve 1 as shown below as an example: T1 is the parameter defined by P507. During this
period, the change gradient of the output frequency (i.e., speed variation rate, same below)
increases gradually. T2 is the time defined by P508. During this time period, the variation gradient
of the output frequency will gradually change to the low frequency. During the time between T1
and T2, the variation gradient of the output frequency is fixed.
Frequency
Acceleration section Deceleration section Time
Figure 6-8 S Curve Acceleration/Deceleration

P516 Speed Deviation Setting Default 50% Minimum Unit 0%
Setting Range 0%-80%
P517 Judgment Time for Large Speed Default 400ms Minimum Unit 1ms
Deviation
A2000 has the speed deviation detection function, which is only enabled under the closed-loop
vector control mode. Judge if the deviation of current running frequency and the setting frequency
is too large according to the setting value of P516. If the accumulated time of large deviation is
greater than P517, the controller will enable large SDP speed deviation fault protection.
If P516 is set as 0, it will not conduct speed deviation judgment.
P518 Door Closing Steady Speed Delay Default 200ms Minimum Unit 1ms
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After the controller closes the door and runs at high speed and after the steady speed delay set by
P518, judge if door closing is blocked.
P519 Fault Braking Current Default 100 Minimum Unit 0.10%
Setting Range 0.1-150.0
In case of overspeed, reverse rotation or encoder signal abnormality and other conditions are
detected, conduct braking according to the current value set by this parameter. After braking is
completed and this parameter is set as 0, this function is disabled.
6.7 P6 Group: Distance Control Parameter
P600 Door Width Autotuning Function Default 0 Minimum Unit 1

Setting Range 0-1
Set P002=2. When P600 is changed from 0 to 1, the door width autotuning function is enabled.
Pressing down “OPEN”or “CLOSE” to start the autotuning of door width. With the running logic
of closing door->opening the door->closing the door, the controller will save the door width value
when door is blocked . See Chapter 5 for specific operations.
P601 Door Width Autotuning Speed Default 3.00Hz Minimum Unit 0.01Hz
Setting Range 0-P002(Maximum frequency )
The door width autotuning speed defines the running frequency of the door operator during door
width autotuning.
P602 Low Bit of Door Width Pulse Default 0 Minimum Unit 1
P603 High Bit of Door Width Pulse Default 0 Minimum Unit 1
Door width calculation formula: Door width=P603*10000+P602. The door width pulse count
acquired through autotuning can be modified properly through the keypad.
P604 Door Opening Start Low-Speed Default 10.0% Minimum Unit 0.1%
Running Distance Under Distance
Control
When the door is opened under the distance control mode, the controller will record the pulse
count in real time. When the pulse count is equal to or greater than the door with * P604, the door
operator will be switched from door opening start low-speed(P300) running to door opening start
high-speed running(P303).
P605 Setting of Door Opening Default 70.0% Minimum Unit 0.1%
Deceleration Point Under
Distance Control
Setting Range 60.0%-90.0%
When the door is opened under the distance control mode, the controller will record the pulse
count in real time. When the pulse count is equal to or greater than the door width * P605, the
door operator will be switched from door opening high-speed running (P303) to door opening
ending low-speed running (P305).
67
P606 Setting of Door Opening Limit Default 96.0% Minimum Unit 0.1%
Point Under Distance Control
When the door is opened under distance control mode, the controller will record the pulse count in
real time. When the pulse count is equal to or greater than door width * F606, the controller will
execute relevant action of door opening in-position.
P607 Door Closing Start Low-Speed Default 10.0% Minimum Unit 0.1%
Running Under Distance Control
When the door is closed under distance control mode, the controller will record the pulse count in
real time. If the pulse count is less than or equal to the value acquired by the formula: door width *
(100.0%-P607). The door operator will be switched from door opening low-speed running (P303)
to door open end low-speed running (P303).
P608 Door Closing Deceleration Point Default 70.0% Minimum Unit 0.1%
real time. If the pulse count is less than or equal to the value acquired by the formula: door width *
(100%-P608). The door operator will be switched from door opening low-speed running (P303) to
door open end low-speed running (P303).
P609 Door Closing Limit Point Under Default 96.0% Minimum Unit 0.1%
Distance Control
real time. When the pulse count is equal to or greater than door width * (100%-F609), the
controller will execute relevant action of door opening in-position.
P610 Output Torque Display Default 0.0% Minimum Unit 0.1%
This parameter is used to adjust and test the torque setting during door width autotuning of
induction motor (convenient for setting P614). When the door width autotuning is blocked , make
sure P614 is less than P610.
P611 Low Bit of Door Opening Limit Default 0 Minimum Unit 1
Switch Position
P612 High Bit of Door Opening Limit Default 0 Minimum Unit 1
Switch Position
P613 Door Closing Limit Switch Position Default 0 Minimum Unit 1
These three function codes are used to record the position of the limit switch autotuned by door
width autotuning. During normal running process, when the door opening limit switch is enabled,
reset the door position as P612*10000+P611; when the door closing limit switch is enabled, reset
the door position to P613.
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P614 Door Width Autotuning and Initial Default 80.0% Minimum Unit 0.1%
Running Torque Setting
Demonstration door opening in-position holding time refers to the interval of the torque holding
period after the door is opened in position and reverse door closing under the demonstration mode,
and can be set properly according to actual demonstration demands.
P701 Demonstration Door Closing Default 2.0s Minimum Unit 0.1s
In-position Holding Time
Demonstration door closing in-position holding time refers to the interval of the torque holding
period after the door is closed in position and forward door opening under the demonstration mode,
and can be set properly according to actual demonstration demands.
P702 Demonstration Door Open/Close Default 0 Minimum Unit 1
Running Times Record
This function code is used to demonstrate the record parameter of running times, and will be
automatically saved upon power failure. After the controller is powered on and runs into place
again, the value of this function code will be counted up on the basis of the original value. The
value will be increased by one every time when the door is opened or closed. Demonstration mode
is a automatic circular running process. Press down the Open or Close key to start the
demonstration running. Then the door operator will close the door slowly. After the door is closed
in position, the door operator will open the door and run according to the running curves. After the
door is opened in position, it start timing and then automatically close the door and run reversely
after the time reaches to the demonstration door opening in-position holding time set by P700.
When the door is closed in position, the controller starts timing, and after the time reaches to the
demonstration door closing in-position holding time set by P700, the door operator will open the
door positively. The door operator will run repeatedly and circularly until the Stop/Fault Reset key
is pressed down to stop the controller and then the demonstration running ends. Demonstration
running can adopt speed control mode or distance control mode. Moreover, demonstration mode
can be used for demonstration and aging test.
P703 Demonstration Door Open/Close Default 0 Minimum Unit 1
Running Times Setting
This parameter is used to set the times required for demonstration running. When the actual door
open and close times of demonstration running is equal to or greater than this function parameter
value, demonstration running ends automatically. When P703 is 0, this function is disabled and
demonstration running will not be stopped automatically.
6.9 P8 Group: Auxiliary Parameter
P800 Software Version No. Default 1.00 Minimum Unit 0.01

Setting Range 0.00-99.99
It is used to display the version no. of the present software, convenient for manufacturer to
69
conduct maintenance.
P801 Module Temperature Default Minimum Unit
0℃ 1℃
Setting Range
0-100℃
This parameter is used to update the temperature of the bottom module of the controller.
P802 Automatic Reset Times of Default 0 Minimum Unit 1
Fault
Setting Range 0-100
When a fault happens to the controller during running, it will stop running and automatically reset
after 2s (reset interval time) and continue to run. When the fault reset time is set as 0, automatic
reset function is disabled and faults can only be rest manually. When there is no fault within an
hour or manual fault reset is adopted, the door operator controller will automatically clear the
number of reset times.
Note: Faults that can not be reset automatically: ER, PSE, DTE; PSE: parameter setting error
warning, Er: Motor autotuning fault, DTE: Door width autotuning fault.
P803 Braking Utilization Rate Default 0 Minimum Unit 1
Setting Range 0-100%
This function code is only enabled under the distance control mode, and is used for setting the
torque judgment level during door width autotuning and first running after power-on. See Chapter
5 Application & commissioning for details.
P615 Pulse Low Bit of Door Default 0 Minimum Unit 1
Opening Deceleration Point
P616 Pulse High Bit of Door Default 0 Minimum Unit 1
Opening Deceleration Point
P617 Pulse Low Bit of Door Default 0 Minimum Unit 1
Closing Deceleration Point
P618 Pulse High Bit of Door Default 0 Minimum Unit 1
Closing Deceleration Point
These four groups of function codes are used to set the location of deceleration point.
Set the deceleration point through the number of pulse: (the mode of door width percentage is not
adopted)
Door opening deceleration point: P616*10000+P615; door closing deceleration point:
P618*10000+P617.
P619 Pulse Setting of Door Default 0.0 Minimum Unit 0.1
Opening In-position Output
This function code is only enabled under the distance control mode.
When the door width is larger than P619, the controller will output the opening in-position signal
70
and at this time, the door position will not be reset to 100% even though the output torque is larger
than the torque of the door opening in-position switching point; only when the door position is
larger than P606 and the output torque is greater than the torque of the door opening in-position
switching point, the door position can be reset to 100%.
When P619 is 0, decide whether to output the door opening in-position signal according to P606.
P620 Pulse Setting of Door Default 0.0 Minimum Unit 0.1
Closing In-position Output
This function code is only enabled under the distance control mode.
When the door width is larger than P620, the controller will output the door closing in-position
signal and take back the door vane. At this time, even though the output torque is greater than the
torque of the door closing in-position switching point, the door position will not be reset to 0%;
only when the door position is larger than P609 and the output torque is greater than the torque of
the door closing in-position switching point, the door position can be reset to 0%.
When P620 is 0, decide whether to output the door opening in-position signal according to P609.
P621 Feedback Pulse of Door Position Default 33.0% Minimum Unit 0.1
This function code is only enabled under the distance control mode and it will output the feedback
signal of door position when the door width position is larger than P621. This function code is
used together with the output function code P912(Feedback Signal Output of Door Position).
6.8 P7 Group: Demonstration Function Parameter
P700 Demonstration Door Default 2.0s Minimum Unit 0.1s

Opening In-position
Holding Time
This parameter is enabled for the controller of the built-in braking unit and can be used to adjust
the braking effect of braking units.
P804 Working Time Count Default 0 Minimum Unit 1

Refer to the actual accumulated power-on and working time(h) of the controller.
Maximum value: 9999h. The time will be recounted after exceeding 9999h.
P806 Accumulated Running Time Default 0 Minimum Unit 1

Refer to the actual accumulated running time(h) of the controller. The maximum value: 9999h.
The time will be recounted after exceeding 9999h.
P810 Accumulated Running Time Default 12 Minimum Unit 1

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Refer to the actual accumulated power-on and working time(h) of the controller. Maximum value:
9999h. The time will be recounted after exceeding 9999h.
Change to different values to complete functions required:

Bit Function Default
Bit0 1: Trigger-based door open and close command; 0
0: Non-triggered command.
Bit1 1: No reset of pulse after the initial running torque is reached; 0
0: Reset pulse after the initial running torque is reached.
Bit2 1: During autotuning of door width, position of the limit switch will be 1
autotuned and pulse signal will be reset when the limit switch is enabled;
0: Limit switch position will not be autotuned.
Bit3 Under magnetic flux vector control and distance control mode: 1
1: Based on the torque, judge whether the door width autotuning, initial
running are conducted properly and judge interrupt by torque;
0: When there is no pulse signal within a certain time (2s), it will be
judged that autotuning or initial running has been conducted properly or
the door closing is blocked.
Bit4 1: Priority door closing; 0
0: Priority door opening.
Bit5 Under terminal control mode: 0
1: During running, after the button “STOP” is pressed down, the controller
will work normally;
2: During running, pressing down the “STOP ” button, the controller will
stop working and “STP” is displayed. After pressing “STOP” again, the
controller will return to normal.
Bit6 Interrupt method: 0
1: Conduct blocking torque judgment according to P413;
0: Detect the interrupt during high-speed running and low-speed running
respectively.
Bit7 Demonstration running: 0
1: The controller can conduct demonstration running without operation
after it is powered on;
0: Demonstration running shall be started manually after power-on.
Bit8 Cancel current: 0
0: When the command is canceled, it will remove current;
1: Stop running immediately upon cancellation of commands;
Bit9 0: If the command is canceled when the controller is running, the 0
controller is in standby mode and hasn’t stopped running.
1: The controller is in stop status after the command is canceled and will
stop running.
Bit10 0: When door open and close commands are enabled at the same time, the 0
present status will be remained by default;
1: Processing according to the priority set by P810bit4.
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Bit11 0: With door closing limit switch, door closing blocked condition will not 0
be judged during initial running;
1: With door closing limit switch, judge the door closing blocked
condition during initial running.
P811 Fault Function Default 12 Minimum Unit 1

Change to different values to realize functions required:

Bit Function Default
Bi1 0: Enable the automatic detection function of magnetic pole position 0
1: Disable the automatic detection function of magnetic pole position
In some situations, there exists error in judgment of error of magnetic pole of door operator due to
Z signal interference. When the controller is started again, it will autotune the position of magnetic
pole, so there will be a “chocking” sound when the door is opened or closed. Autotuning of the
position of magnetic pole can be canceled by this function code.
P812 Driving Function Default 0 Minimum Unit 1
BIT0: 0: Seven segment modulation of the whole process (noise can be reduced); 1:
Automatic switch between seven segments/five segments during running.
P814 Overload Factor Default 2.00 Minimum Unit 0.01
Setting Range 0-10.00
P817 Auxiliary Function 2 Default 12 Minimum Unit 1

bit0: Not used
bit1: 0: Pulse will not be reset after the door is opened in position; 1: Reset the pulse after the door
is opened in position
bit2: 485 Communication baud rate. 0: 9600; 1: 38400
bit3, bit4: Not used
bit5: 0: Door opening into position output is just decided by the door position
1: Door opening into position output will be canceled upon door close command.
bit6: 0: Under distance control mode, judge if the door is opened or closed in position according to
the encoder or door open and close limit switch
1: Under distance control mode, judge if the door is opened or closed in position only
according to the door open and close limit switch.
6.10 P9 Group: Input and Output Function Parameter
P900 Terminal Filter Time Default 20ms Minimum Unit 1ms

73
This function code is used to set the sensitivity of terminals. If digital terminals are susceptible to
interference, which may result in incorrect actions, increase this parameter and then the
anti-interference performance will be improved but the sensitivity of input terminals is reduced.
P901-P90 Digital Input Terminal Default (See Chapter 5) Minimum Unit 1

8 Setting Range 0-116 (repeated selection is prohibited)
0: No function;
1: Door open command, the door open command signal given by the system;
2: Door close command, the door close command signal given by the system;
3: External RESET input, external fault reset terminal signal;
4: Door opening prohibition terminal input. When this signal is enabled, the controller will not
respond to external door open command;
5: Torque holding prohibition terminal input. During the torque holding process of the door open
and close into place, when this signal is enabled, it will hold at zero torque.
6: Slow speed door closing enable input. When this signal is enabled, the system will close the
door in slow frequency (P006);
7: Fire control input. When this signal is enabled, the controller will close the door in high
frequency(P416) during high-speed running;
8-109: Not used;
010/110: Light curtain signal NO/NC input. If this signal is enabled, the blocking signal is output
and corresponding interrupt processing shall be conducted according to the setting of P414;
011/111: NO/NC input of touch panel signal. If this signal is enabled, the blocking signal is output
and corresponding interrupt processing shall be conducted according to the setting of P414;
012/112: NO/NC input of door opening limit signal. If this signal is enabled, conduct relevant
processing of door opening limit;
013/113: NO/NC input of door closing limit signal. If this signal is enabled, conduct relevant
processing of door closing limit;
014/114: NO/NC input of door opening deceleration signal. During the door opening process
under speed control mode, after the NO/NC input of door opening deceleration signal is enabled,
switch to the low speed section and run in low speed;
015/115: NO/NC input of door closing deceleration signal. During the door closing process under
speed control mode, after the NO/NC input of door closing deceleration signal is enabled, switch
to the low speed section and run in low speed;
016/116: NO/NC input of door lock. Used to receive information related to door lock.
P909 Relay Output TA1/TB1/TC1 Default 2 Minimum Unit 1
Setting Range 0-12
Setting Range 0-12
Setting Range 0-12
0: No function.
1: Door opening in-position signal output is 0. During the door opening process, the door-motor
controller receives the door opening limit signal or the pulse count reaches to the door opening
74
limit and door opening in-position signal signal 0 is output.
2: Door closing in-position signal output is 0. During the door closing process, the door-motor
controller receives the door opening limit signal or the pulse count reaches to the door closing
limit and door closing in-position signal 0 is output.
3: Door opening in-position signal output: 1. During the door opening process, the door-motor
limit. Meanwhile, when the stalling torque reaches to the setting value of P316, door opening
in-position signal 1 is output.
4: Door closing in-position signal output: 1. During the door opening process, the door-motor
controller receives the door closing limit signal or the pulse count reaches to the door opening
limit. Meanwhile, when the ratio of stalling torque and the rated torque reaches to the setting value
of P417, door closing in-position signal 1 is output.
5: Fault signal output: 1(just as the prompt information, non fault.)
6: Not used.
7: Door opening in-position signal output is 2. During the door opening process, the door-motor
limit, the door lock signal is disabled. Meanwhile, when the ratio of stalling torque and the rated
torque reaches to the setting value of P316, door opening in-position signal 2 is output.
8: Door closing in-position signal output is 2. During the door closing process, the door-motor
controller receives the door closing limit signal or the pulse count reaches to the door closing limit,
the door lock signal is disabled. Meanwhile, when the ratio of stalling torque and the rated torque
reaches to the setting value of P417, door closing in-position signal 2 is output.
9: Door lock signal output. Synchronous input and output of door lock signal.
10: Door reopening signal output. When reopening the door, the blocking signal will be output in
case of interrupt.
11: Interrupt signal output. When closing the door, the blocking signal will be output in case of
interrupt.
12: Door position feedback signal output. When the door width is larger than P621, door position
feedback signal will be output.
13: Door operator ready output. This signal will be output when the door operator controller cam
respond to the external door open command.
6.11 PA Group: Display and Fault Parameter
Pa00 LED Running Parameter Display Default 319 Minimum Unit 1

Setting Range 1-511
This parameter group controls display of nine status parameters and each parameter is controlled
by one binary code. This parameter is displayed in case of the value is “1”. “0□”. Under the
running status of the control system, switch and display parameters through the shift key of the
keypad.
Pa02 First Fault Type Default 0 Minimum Unit 1
Setting Range 0-30
Pa03 First Fault Display Default 0 Minimum Unit 1
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Setting Range 0-9
Pa04 Second Fault Type Default 0 Minimum Unit 1
Setting Range 0-30
Pa05 Second Fault Display Default 0 Minimum Unit 1
Setting Range 0-9
Pa06 Third Fault Type Default 0 Minimum Unit 1
Setting Range 0-30
Pa07 Third Fault Display Default 0 Minimum Unit 1
Setting Range 0-9
Pa08 Fourth Fault Type Default 0 Minimum Unit 1
Setting Range 0-30
Pa09 Fourth Fault Display Default 0 Minimum Unit 1
Setting Range 0-9
Pa10 Fifth Fault Type Default 0 Minimum Unit 1
Setting Range 0-30
Pa11 Fifth Fault Display Default 0 Minimum Unit 1
Setting Range 0-9
Pa12 Bus Voltage under the Last Default 0V Minimum Unit 0.1V
Fault
Setting Range 0-999.9V
Pa13 Output Current at the Last Default 0.00A Minimum Unit 0.01A
Fault
Setting Range 0-99.99A
Pa14 Bus Voltage at the Last Fault Default 0.00Hz Minimum Unit 0.01Hz
Setting Range 0-99.00Hz
Pa15 Output Torque at the Last Default 0.0% Minimum Unit 0.1%
Fault
Setting Range 0.0-180.0% (percentage of the output torque and the rated
torque)
Pa16 Status of Fault Input Terminal Default 0 Minimum Unit 1
at the Last Fault
Pa17 Status of Fault Output Default 0 Minimum Unit 1
Terminal at the Last Fault
Setting Range 0-15
Parameters of this group records the detailed information of the latest 5 faults and the latest fault
of the controller. Please see Chapter 8 for detailed fault contents.
Note: PSE is only the prompt information of parameter setting error and will not be entered into
the fault record.
Pa18 Terminal Status Inquiry Default * Minimum Unit *
Setting Range *
This parameter is used for representing if the input and output of corresponding terminal side are
displayed validly. When the terminal input or output is enabled, some section of corresponding
76
digital nixie tube is on, and the digital nixie tubes from left and right are defined as LED1, LED2,
LED3 and LED3:
The definition of each section of each digital nixie tube is as follows:

Sections of Indication of Sections of Sections of Each Section Indication of
LED 1 “On” of Each LED2 LED3 of LED4 “On” of Each
Section Section
A DI1 input Door opening A TA1, TC1
enabled Door opening and running connected
B DI2 input and running procedure B TA2, TC2
enabled procedure (for connected
C DI3 input (for commissionin C TA3, TC3
enabled commissionin g and view) connected
D DI4 input g and view) D Not used
enabled
E DI5 input E
enabled
F DI6 input F
enabled
G DI7 input G CAN
enabled communicatio
n flashes
normally
DP DI8 input DP 485
enabled communicatio
n flashes
normally
Pa19 Function Input Status Inquiry Default * Minimum Unit *

Setting Range *
This function corresponds to input display of function parts. When the input function is enabled,
the section of corresponding digital nixie tube is on. When the section of corresponding digital
77
nixie tube is on, the digital nixie tube from left to right is defined as LED1, LED2, LED3 and
LED4:
The definition of each section of each digital nixie tube is as follows:

Sections of Indication of Sections of Indication of Each Section Indication of
LED 1 “On” of Each LED2 “On” of Each of LED4 “On” of Each
Section Section Section
A Door open A Not used
command
enabled
B Door close B Light curtain
command signal
enabled enabled Not used Not used
C External reset C Touch panel
enabled signal
enabled
D Door opening D Door opening
prohibition limit signal
input enabled enabled
E Torque E Door closing
holding limit signal
prohibition enabled
input enabled
F Low-speed F Door opening
door opening deceleration
input enabled signal
enabled
G Fire control G Door closing
input enabled deceleration
signal
enabled
DP Not used DP Door lock
signal
78
enabled
Pa20 Function Output Status Inquiry Default * Minimum Unit *

Setting Range *
This function corresponds to output display of function parts. When the input function is enabled,
the section of corresponding digital nixie tube is on and is defined as LED1, LED2, LED3 and
LED4 from left to right:
The definition of each section of every digital nixie tube is as follows:

Sections of Indication of Sections of Indication of Each Section Indication of
LED 1 “On” of Each LED2 “On” of Each of LED3- “On” of Each
Section Section LED4 Section
A Door opening A Door lock
in-position signal output
signal output
0
B Door closing B Door
in-position reopening Not used Not used
signal output signal output
0
C Door opening C Interrupt
in-position signal output
signal output
1
D Door closing D Door position
in-position feedback
signal output output
1
E Fault signal E Door operator
output 1 ready output
F Not used F
G Door opening G
79
in-position
signal output Not used
2
DP Door closing DP
in-position
signal output
2
Pa21 Display Switch Control Default 0 Minimum Unit 1

This parameter is used to set the actual display contents of Pa22 and Pa23, which are used for field
fault identification and commissioning. Its definition is as follows:
Setting Value Display Contents of Pa22 Display Contents of Pa23

1 Average speed within 1s (Hz) Average speed fluctuation within 1s
(Hz)
2 Maximum speed within 1s (Hz) Minimum speed within 1s (Hz)
3 Slip frequency (Hz) Actual feedback frequency (Hz)
4 Excitation current component (A) Torque current component (A)
Others Encoder pulse count received per second Encoder pulse count received per
(high bit) second (low bit)
Pa22 Display 1 Default 0 Minimum Unit 1

Pa23 Display 2 Default 0 Minimum Unit 1
Pa24 Analogy Voltage Display Default 0.00V Minimum Unit 0.01V

Setting Range 0.00-10.10V
This parameter is used to display the sampling voltage value of analogy in real time.
Pa25 Low Bit of Door Present Position Default 0 Minimum Unit 1

Pa26 High Bit of Door Present Position Default 0 Minimum Unit 1
These two function codes are used to record the present position of the door. Door present
position=PA26*10000+PA2 5.
Pa27 Running Status Display Default 0 Minimum Unit 1

80
This function code is used to view relevant statuses of door operator, such as door opening, door
closing and running.
Pa28 Door Direction Judgment Default * Minimum Unit *

Setting Range *
This function code is used to detect the AB phase signal wiring of the encoder:
When pulling the door towards the door opening direction manually, if this function code displays
“OPEN”, AB phase signal wiring is correct. Otherwise, the AB phase signal has abnormality;
When pulling the door towards the door closing direction manually, if this function code displays
“CLOSE”, AB phase signal wiring is correct. Otherwise, the AB phase signal has abnormality;
Pa29 Door Position Percentage Default 0.0% Minimum Unit 0.1%
Pa30 Setting Frequency Default 00.00Hz Minimum Unit 0.01Hz
Setting Range 0.01-99.99Hz
Pa31 Feedback Frequency Default 00.00Hz Minimum Unit 0.01Hz
Setting Range 0.01-99.99Hz
Pa32 Bus Voltage Default 0.0V Minimum Unit 0.1V
Setting Range 0.0-999.9V
Pa33 Output Voltage Default 0V Minimum Unit 1V
Setting Range 0-9999V
Pa34 Output Current Default 0.00A Minimum Unit 0.01A
Setting Range 0.00-99.99A
Pa35 Output Torque Default 0.0% Minimum Unit 0.1%
PA29-PA35 function codes respectively display present status parameter of door operator
controller.
6.12 PP Group: User Parameter
Pp00 User Parameter Default 0 Minimum Unit 1

The parameter protection function is enabled when this parameter is set as any non-zero value.
0000: Clear the password of former users and disable the password protection function.
After a user password is set and enabled and when entering the parameter setting status again, user
can not view or modify the parameter if the password input is not correct. Please keep your
password in mind and in case you set a wrong error or forget the password, please contact the
manufacturer.
Pp01 Parameter Update Default 0 Minimum Unit 1

Setting Range 0-2
0: No function;
1: Reset the default;
81
2: Clear the fault record and the time information.
Pp02 Parameter Update Default 0 Minimum Unit 1

User Setting Examination 0-1
0: Disabled;
1: Enabled; at this time, only parameters different from the default will be displayed.
82
7 Fault Troubleshooting & Handling
83
Chapter 7 Fault Troubleshooting & Handling
As the controller monitors various input signals, running conditions, external feedback
information and others all the time, it will immediately enable corresponding protection functions
in case of abnormality and display the fault code. When the door operator controller displays fault
alarm information, user can analyze fault, determine the fault cause and find a solution according
to this section.
Table 7.1 Fault Troubleshooting & Countermeasures
Fault Fault Type Cause Countermeasures Remarks
Code
C1 Acceleration 1. Main circuit output grounded or 1. Exclude external problems,
overcurrent short circuited; such as wiring;
2. If motor parameters have been 2. Autotune the motor
autotuned; parameters
3. Load is too large. 3. Reduce the impact load
C2 Deceleration 1. Main circuit output grounded or 1. Exclude external problems,
autotuned; parameters;
3. Load is too large; 3. Reduce the impact load;
4. Deceleration curve is too abrupt; 4. Regulate the curve
parameter.
C3 Constant 1. Main circuit output grounded or 1. Exclude external problems,
autotuned; parameters;
3. Load is too large; 3. Reduce the impact load;
4. The interference of rotary 4. Select appropriate rotary
encoder is too large; encoder and adopt shielded
cables for rotary encoder.
F1 Acceleration 1. Input voltage is too high; 1. Adjust the input voltage;
overvoltage 2. Braking resistance is too large; 2. Select appropriate braking
3. Acceleration curve is too abrupt. resistor;
3. Adjust curve parameters.
F2 Deceleration 1. Input voltage is too high; 1. Adjust the input voltage;
overcurrent 2.Braking resistance is too large; 2. Select appropriate braking
3.Acceleration curve is too abrupt. resistor;
3. Adjust curve parameters.
F3 Constant 1. Input voltage is too high; 1. Adjust the input voltage;
overvoltage 2. Braking resistance is too large 2. Select appropriate braking
resistor;
1F Undervoltage 1. Instantaneous input power 1. Troubleshoot external Automatic
84
protection failure; power supply failure; reset after the
2.Input voltage is too low; 2. Please contact the agent or voltage
3. Control board abnormality manufacturer. becomes
normal
B2 System 1. No foreign bodies in the guide 1. Check the elevator door
overload rail of elevator door; guide rail;
2. The load is too large 2. Reduce the load.
B1 Motor 1. P814 setting is improper; 1. Adjust the parameter and
overload 2. The load is too large; set P814 as the default;
3. Mechanical fault of door system. 2. Reduce the load;
3. Check if the guide rail of
elevator door and other
structure parts are normal.
2F Output side 1. Output wires of main circuit are 1. Check wires; Ramp-to-stop
phase loss loose; 2. Troubleshoot motor fault.
2. Motor damaged.
E1 Module 1. Ambient temperature is too high; 1. Lower down the ambient Ramp to stop.
overheating 2. Fan damaged; temperature; This fault will
3. Air duct is blocked . 2. Clean the air duct; be reset
3. Replace the fan. automatically
when the
temperature
becomes
normal
CE EEPROM EEPROM reading and writing Please contact the agent or
fault abnormality manufacturer.
CC Current Drive control board abnormality. Please contact the agent or
detection manufacturer.
fault
EE Motor 1.Motor parameter setting is wrong; 1. Input motor parameters
autotuning 2.Parameter autotuning overtime; correctly;
overtime 3.Rotary encoder of synchronous 2. Check the motor cables;
motor abnormality. 3. Check the wiring of rotary
encoder and confirm that the
pulse count per rotation is set
correctly.
BB Rotary 1. If the model of rotary encoder is 1. Select open collector type
encoder fault applicable; ABZ phase rotary encoder;
2. Rotary encoder wiring error. 2. Troubleshooting the wiring
fault.
PE Parameter 1. The limit of the door opening 1. Set a larger limit of door This is only
setting fault time (P500) is less than the total opening time and ensure P500 used as prompt
door opening time; is greater than the total door and there is no
2. The limit of the door closing time opening time; fault record.
85
(P501) is less than the total door 2. Set a larger limit of door
closing time; closing time and ensure P500
3. During autotuning of door width, is greater than the total door
the command source (P002) is not closing time;
in the manual tuning mode, or the 3. During autotuning of door
door open and close mode(P001) is width, the command source
not the distance control mode; (P002) is the manual tuning
4. When driving the synchronous mode, or the door open and
motor, select flux vector control as close mode(P001) is the
the control mode. distance control mode;
4. Select vector control mode
(P000) as control mode of
synchronous motor (P100).
FF Door width 1. The door width value acquired 1. Check the encoder wiring
autotuning through autotuning is less than 20; and relevant parameters;
fault 2. Before conducting door width 2. Check the mechanical
autotuning, make the controller run system of door operator;
under the distance control mode. 3. Conduct door width pulse
autotuning before running
under the distance control
mode.
D0 Door opening 1. Door opening limit signal fault or 1. Check the door opening This fault can
overtime setting error; limit signal; be
2. Pulse encoder disconnects. 2. Check the encoder wiring. automatically
reset
D1 Slow door 1. Door opening and closing limit 1. Check the door opening This fault can
open and signal fault or setting error; limit signal; be
close 2. Pulse encoder disconnects. 2. Check the encoder wiring. automatically
overtime reset
D2 Door opening 1. There are foreign bodies in the 1. Check if there exists This fault can
interrupt rail; foreign body in the rail; be
protection 2. Parameters of blocked parts for 2. Check if the upper limit of automatically
door opening are set improperly. the door opening torque is reset
appropriate;
3. Check if the time for
judging if the door opening is
blocked is appropriate.
D3 Speed 1. Rapid acceleration and 1. Increase the
deviation deceleration; acceleration/deceleration time;
protection 2. Motor angle autotuning error, 2. Conduct autotuning of
resulting in excessive speed of angles again;
elevator; 3. Change P516 and P517.
3. Speed deviation is set too low
and the time is too short.
86
D4 Door opening Under the distance control mode 1. Check if the door closing At this time,
limit switch and when the limit switch is used, limit switch is installed. If no the door
abnormality this switch signal is not detected limit switch is installed, operator can
during the door opening process. cancel setting of run normally
corresponding input points; according to
2. Check if the door closing encoder signal
limit switch wiring is correct; and this fault
3. Check if the door closing can be reset
limit switch is damaged. after the door
opening limit
switch runs
normally.
87

A2000 Door Operator Controller: QMA (Shanghai) Electric Co., LTD

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A2000 Door Operator Controller: QMA (Shanghai) Electric Co., LTD

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QMA(Shanghai) Electric Co.

A2000 Door Operator Controller

In this manual, there are two types of safety information.

1.1 Safety Information

1.1.1 Before Installation

1.14 Before Power-on:

1.1.5 After Power-on

1.1.6 During Operation

1.1.7 During maintenance

1.2 Safety Precautions

1.2.1Motor Insulation Inspection

Encoder input terminal

Power supply input

Motor output terminal

Figure 2-1 Product Appearance

2.1Naming Rules and Nameplate

2.1.1 Naming rules:

No. Power Ratings

System Model Input Power Supply Input Output Applicable

2.2 Technical Parameters

Table 2-1 Technical Parameters

2.3 Mechanical Installation

2.3.1 Installation Environment

Figure 2-4 Preset Installation Distance

3.1 Electrical Installation

3.1.1 Peripheral Electrical Elements Options Guide

3.2 Description of Wiring Terminals

3.2.1 Layout & Wiring of Terminals of Drive Circuit

Variable frequency output terminal

Figure 3-1 Terminal Layout of Drive Circuit

Figure 3-2 Drive Circuit Wiring

Door status output terminal

Encoder and control

signal input terminal

Figure 3-3 Terminal Layout of Control Circuit

4.1 Operation and Display Interface

Data display zone

Figure 4-1 Operation Panel

Stop/Reset Press this button to stop the controller under running

Shift Select the display parameters of LED circularly under

Down Reduce figure or function code progressively.

4.2 Basic Setting of Operation Panel

4.2.1 Operation Procedure of Three-level Menu:

(Default screen) Enter Back

Figure 4-2 Operation Procedure of Three-level Menu

(Default screen) Enter Back

Figure 4-3 Example of Parameter Editing

Figure 4-4 View Fault Message

Stop/Running Parameter Display Switching

Running Bus Output Output Output Output Door

Figure 4-5 Running Parameter Display

Status parameter Pressing to modify a flashing bit

(Default screen) Enter

Figure 4-6 User Password Setting

4.3 Application Example of Door Operator Controller

4.3.1 Operation mode

Figure 4-7 Example of Start/Stop Controlled through DI Terminals

4.4 Typical Application

Door opening limit Door opening deceleration

Figure 4-9 Installation of Detection Switch for Door Operator

Figure 4-11 Door Opening Curve under Speed Control

Figure 4-12 Door Closing Curve under Speed Control

Figure 4-14 Door Width Measurement Procedure